Pneumatic-mechanical-hydraulic integrated load shedding and vibration suppression system and method for floating type wind turbine

Abstract

The invention provides a pneumatic-mechanical-hydraulic integrated load shedding and vibration suppression system and method for a floating type wind turbine. The system comprises a blade variable pitch control subsystem, a supporting structure mechanical resistance increasing subsystem, a floater motion control subsystem and an integrated controller. The integrated controller is internally provided with a torque control algorithm, a unified variable pitch control algorithm and a cooperative control algorithm; the torque control algorithm is used for adjusting motor torques and rotating speeds of the wind turbine generator and the floater generator set; the unified variable-pitch control algorithm and the cooperative control algorithm are used for controlling the blade variable-pitch control subsystem to realize adjustment of a pitch angle; meanwhile, the cooperative control algorithm cooperates with the supporting structure mechanical resistance increasing subsystem and the floater motion control subsystem to control output force. According to the method, the torque control algorithm, the unified variable pitch control algorithm and the cooperative control algorithm are integrated, the stability of the generated power of the wind turbine generator and the floater generator set is kept, the load and vibration response of the wind turbine are effectively reduced, and the stability and safety of the supporting tower are greatly improved.

Description

Technical Field

[0001] The present invention belongs to the technical field of wind power, and in particular relates to a floating wind turbine pneumatic-mechanical-hydraulic integrated load reduction and vibration suppression system and method. Background Art

[0002] As one of the core technologies in the field of new energy, wind power generation has become an important pillar of global energy transformation and climate change response with its significant technical maturity and commercialization potential. Its high efficiency and clean characteristics make wind power generation occupy a pivotal position in the energy structure. The installed capacity of onshore wind power is gradually saturated, and the development of offshore wind power is an important direction for the transformation of the energy structure. Deep sea areas usually have more stable and stronger wind resources. Floating wind turbines can make full use of these advantages due to their unique floating structure design to achieve higher power generation efficiency and economic benefits. Floating wind turbines are significantly superior to other types of offshore wind turbines in multiple dimensions. With their advantages of overcoming complex seabed restrictions, efficiently capturing deep sea wind energy, and reducing marine ecological impacts, they provide strong support for the deep sea development of the wind power industry. Furthermore, deep sea wave energy is also very abundant. Some studies have tried to install wave power generation floats at the bottom of floating wind turbines to build a wind and wave combined power generation system, thereby forming a new generation of floating wind turbines. However, it must be pointed out that due to the complexity of the operating environment, floating wind turbines are located in the deep sea, and the complex loads they are subjected to may cause excessive dynamic response of wind turbines and supporting structures, affecting the overall power output. Therefore, it is necessary to find an economical and effective control strategy to reduce the structural vibration of floating wind turbines, reduce wind turbine loads, improve the adaptability of wind turbines in different environments, and extend the service life of wind turbines.

[0003] The current load reduction and vibration suppression solutions for floating wind turbines mainly include blade pitch control, tower mechanical resistance and float motion control. Blade pitch control adjusts the blade pitch angle (i.e., the angle between the blade and the rotor rotation plane) in real time according to the wind speed, optimizes the efficiency of the blade in capturing wind energy, thereby controlling the output power of the wind turbine and reducing the wind load applied to the wind turbine. Mechanical resistance achieves the purpose of vibration control by installing mechanical vibration reduction devices on the wind turbine support structure, including passive, semi-active and active control, among which active control is the optimal strategy. Float motion control controls the dynamic response of the floating wind turbine support structure and wind turbine by adjusting the position, posture or motion trajectory of the float, through the coupling effect between the lower float and the upper support structure and wind turbine.

[0004] Currently, blade pitch control, support structure mechanical resistance and float motion control are independent of each other, which leads to potential sensor information non-intercommunication, increased control system complexity, and difficulty in effective coordination of control strategies among various controllers. In a complex environment, it is impossible to achieve truly effective floating wind turbine structure vibration reduction, wind turbine power generation, and floating generator power generation (if any) multi-objective simultaneous optimization. Summary of the invention

[0005] In order to solve the above problems, the present invention proposes a floating wind turbine pneumatic-mechanical-hydraulic integrated load reduction and vibration suppression system.

[0006] The present invention provides a floating wind turbine pneumatic-mechanical-hydraulic integrated load reduction and vibration suppression system, comprising: a blade pitch control subsystem, a support structure mechanical resistance subsystem, a float motion control subsystem and an integrated controller; the blade pitch control subsystem, the support structure mechanical resistance subsystem and the float motion control subsystem are respectively connected to the integrated controller; the integrated controller has built-in torque control algorithm, unified pitch control algorithm and LQG-based collaborative control algorithm; the torque control algorithm is used to adjust the motor torque and speed of the wind turbine and the float generator; the unified pitch control algorithm and the LQG-based collaborative control algorithm are used to control the blade pitch control subsystem to adjust the blade pitch angle; the LQG-based collaborative control algorithm coordinates and controls the actions of the blade pitch control subsystem, the support structure mechanical resistance subsystem and the float motion control subsystem under the condition of maintaining the stable power generation of the wind turbine and the float generator by establishing a dynamic model of blade pitch, support structure mechanical resistance and float motion; wherein the dynamic model can be expressed as:

[0007]

[0008] Among them, x, are the displacement, velocity and acceleration responses of the wind turbine structure respectively; M, C, K are the mass, damping and stiffness matrices of the wind turbine structure respectively; Q a , Q g and Q w They are the aerodynamic force, gravity and wave force on the wind turbine structure; F p is the active force of mechanical resistance, F f It is the active force of the float.

[0009] Preferably, the control strategy of the blade pitch control subsystem includes a unified pitch control strategy and an independent pitch control strategy; the unified pitch control strategy calculates a unified pitch angle value based on a PID unified pitch control algorithm according to the error between the speed value of the wind turbine motor and the target reference value obtained by real-time monitoring and the rate of change of the error; the independent pitch control strategy calculates the independent pitch angle adjustment value of each blade through a collaborative control algorithm based on LQG.

[0010] Preferably, the blade pitch control subsystem includes a pitch actuator and a first monitoring unit; the pitch actuator adjusts the pitch angle of each blade in real time according to the superposition value of the unified pitch angle value and the independent pitch angle adjustment value; the first monitoring unit is used to monitor the pitch angle and azimuth angle, wind turbine motor torque and speed, blade root strain, blade tip acceleration, and wind speed at hub height.

[0011] Preferably, the mechanical damping subsystem of the support structure includes an auxiliary damping device, a damping actuator and a second monitoring unit; the auxiliary damping device is arranged on the inner wall of the wind turbine support structure; the damping actuator connects the auxiliary damping device and the inner wall of the support structure; the second monitoring unit is used to monitor the displacement and acceleration response of the top and four-quarter positions of the support structure, the relative displacement of the actuator end, and the actuating force acting on the inside of the support structure in real time; the damping actuator outputs the actuating force according to the control value obtained by the collaborative control algorithm based on LQG.

[0012] Preferably, the float motion control subsystem includes a third monitoring unit and a float actuator; the third monitoring unit is used to monitor the float motion data, the motor torque and speed of the float generator set, the actuating force applied by the float actuator, and the relative displacement of the actuator end; the float actuator outputs the actuating force according to the control value obtained by the LQG-based collaborative control algorithm to adjust the posture and motion angle of each float.

[0013] The present invention further provides a floating wind turbine pneumatic-mechanical-hydraulic integrated load reduction and vibration suppression method, comprising:

[0014] (1) Acquiring monitoring data, including the current incoming wind speed, wind turbine motor torque, wind turbine motor speed, three blade pitch angles and azimuth angles, blade root strain, blade tip acceleration, support structure top and four-quarter position displacement and acceleration response, support structure actuator end relative displacement and actuator end force, float six-degree-of-freedom motion data, float generator motor torque, float generator motor speed, float actuator end relative displacement and actuator end force;

[0015] (2) When the incoming wind speed is lower than the rated wind speed, the impeller and wind turbine motor speeds do not reach the rated speeds, and the blade pitch angle value is zero; at this time, the torque and speed of the wind turbine motor are adjusted according to the torque control algorithm built into the integrated controller to increase the power generation;

[0016] (3) When the incoming wind speed is higher than the rated wind speed, the blade pitch angle is adjusted according to the unified variable pitch control algorithm built into the integrated controller and the collaborative control algorithm based on LQG to reduce the effect of aerodynamic loads on the hub rotor and structure, and the wind turbine motor torque is adjusted according to the torque control algorithm to maintain the wind turbine motor speed;

[0017] (4) The motor torque and speed of the float generator set are controlled by the torque control algorithm built into the integrated controller, and the control law is similar to that of the motor of the wind turbine set;

[0018] (5) Under any wind speed, based on the monitoring information, the actuator output force of the supporting structure mechanical resistance subsystem and the float motion control subsystem is adjusted in real time through the integrated controller.

[0019] Compared with the traditional PID pitch control, tower passive control scheme and float motion control, the present invention integrates the torque control algorithm and the unified pitch control algorithm. The LQG-based collaborative control algorithm can maintain the stability of the power generation of the wind turbine and the float generator set, and can effectively reduce the load and vibration response of the wind turbine under different working conditions, and can achieve efficient utilization of wind energy and wave energy, greatly improving the stability and safety performance of the supporting tower. At the same time, the LQG-based collaborative control algorithm coordinates the support structure mechanical resistance subsystem and the float motion control subsystem to control the output force. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 It is a composition diagram of the pneumatic-mechanical-hydraulic integrated load reduction and vibration suppression system of a floating wind turbine;

[0021] Figure 2 It is a control logic diagram of the pneumatic-mechanical-hydraulic integrated load reduction and vibration suppression system of a floating wind turbine;

[0022] Figure 3 It is a schematic diagram of an embodiment of mechanical resistance of a support structure in an integrated load reduction and vibration suppression system of the present invention, taking tuned mechanical active control as an example;

[0023] Figure 4 It is a schematic diagram of an embodiment of float motion control in the integrated load reduction and vibration suppression system of the present invention;

[0024] Figure 5 It is a schematic diagram of the collaborative control algorithm based on LQG in the integrated controller of the present invention;

[0025] In the figure: 1. Blades; 2. Hub and nacelle; 3. Floating platform cabin; 4. Support structure; 5. Mooring system; 11. Blade pitch control subsystem; 12. Support structure mechanical damping subsystem; 13 Float motion control subsystem; 14. Integrated controller. DETAILED DESCRIPTION

[0026] In order to facilitate the understanding of this study, the following is a more detailed description of this study in conjunction with the accompanying drawings and specific embodiments. However, this study can be implemented in many different forms and is not limited to the embodiments described in this specification. On the contrary, the purpose of providing these embodiments is to make the understanding of the disclosure of this study more thorough and comprehensive.

[0027] The floating wind turbine mainly includes blades 1, hub and nacelle 2, floating platform cabin 3, support structure 4 and mooring system 5. Figure 1 As shown, the pneumatic-mechanical-hydraulic integrated load reduction and vibration suppression system provided by the present invention includes a blade pitch control subsystem 11, a support structure mechanical resistance subsystem 12, a float motion control subsystem 13 and an integrated controller 14. Figure 2 The control logic diagram of the pneumatic-mechanical-hydraulic integrated load reduction and vibration suppression system corresponding to the present invention is displayed.

[0028] Among them, the integrated control system 14 has built-in torque control algorithm, unified pitch control algorithm and LQG-based collaborative control algorithm. The LQG-based collaborative control algorithm coordinates the control of the blade pitch control subsystem 11, the support structure mechanical resistance subsystem 12, and the float motion control subsystem 13.

[0029] The blade pitch control subsystem 11 includes a pitch actuator 111 and a first monitoring unit 112. The pitch actuator 111 receives the control signal output by the integrated controller 14, and adjusts the pitch angle of each blade in real time according to the superposition value of the unified pitch angle value and the independent pitch angle adjustment value. The first monitoring unit 112 includes an angle sensor, an accelerometer, a torque speed sensor, a strain gauge, an anemometer, etc. The angle sensor is located at the root of the blade to monitor the pitch angle and azimuth; the torque speed sensor is located at the high-speed transmission shaft of the wind turbine to monitor the torque and speed of the wind turbine motor; the strain gauge is located at the root of the blade to monitor the root strain and estimate the tip displacement based on this; the accelerometer is arranged at the tip of the blade to monitor the tip acceleration; the anemometer is placed at the tail of the nacelle to monitor the wind speed at the hub height.

[0030] The support structure mechanical damping subsystem 12 includes an auxiliary tuned damping device 121, a damping actuator 122 and a second monitoring unit 123. Figure 3As shown, the auxiliary tuned damping device 121 is installed at the supporting platform inside the supporting structure 4; the resistance actuator 122 is installed between the inner wall of the supporting structure 4 and the auxiliary tuned damping device 121, receives the control signal of the integrated controller 14, and provides active mechanical actuation force. The second monitoring unit 123 includes a displacement meter, an accelerometer, a force sensor, etc. The displacement meter and the accelerometer are located at the top and the four-division position of the supporting structure to monitor the displacement and acceleration response of the top and the four-division position of the supporting structure; the force sensor is located at the end of the resistance actuator 122 to monitor the actuation force acting on the supporting structure 4 in real time. It should be understood that by changing the installation position, a similar effect can be achieved by using a non-tuned auxiliary damping device, so it cannot be used to limit the scope of the patent of the present invention.

[0031] The float motion control subsystem 13 includes a float housing 131, a float actuator 132 and a third monitoring unit 133. Figure 4 As shown, the float housing 131 not only serves to block external impurities such as water, but also protects the internal components; the float actuator 132 receives the control signal of the integrated controller 14, provides active actuation force, and adjusts the posture and movement angle of each float; the third monitoring unit 133 includes a six-degree-of-freedom sensor, a torque and speed sensor, a force sensor, a displacement meter, etc. The six-degree-of-freedom sensor is installed in the float to monitor the float motion data in real time; the torque and speed sensor is located on the transmission shaft of the float generator set to monitor the motor torque and speed of the float generator set; the force sensor and the displacement meter are located at the end of the float actuator to monitor the actuation force applied by the float actuator and the relative displacement of the actuator end. It should be understood that the float generator set is not necessary for the integrated control system of the present invention. Removing the float generator set requires slight modifications to the third monitoring unit and the LQG-based collaborative control algorithm, but it will not affect the load reduction and vibration suppression system of the present invention, so it cannot be used to define the scope of protection of the present invention.

[0032] The integrated controller 14 receives the monitoring information of the first monitoring unit 112, the second monitoring unit 123 and the third monitoring unit 133, and calculates the independent variable pitch angle adjustment value of each blade, the required output force of the resistance actuator 122 and the output force of the float actuator 132 according to the built-in torque control algorithm, the unified variable pitch control algorithm and the LQG-based collaborative control algorithm. It should be understood that the support structure mechanical resistance subsystem 12 and the float motion control subsystem 13 may include one or more resistance actuators and float actuators, depending on the specific application conditions. In addition, both the torque control algorithm and the unified variable pitch control algorithm can use the traditional algorithms of the wind power structure. There are currently a variety of corresponding control algorithms under research, and this cannot limit the scope of protection of the present invention.

[0033] The control strategies of the blade pitch control subsystem 11 include a unified pitch control strategy and an independent pitch control strategy. The unified pitch control strategy calculates a unified pitch angle value based on the PID unified pitch control algorithm according to the error between the speed value of the wind turbine motor and the target reference value obtained by real-time monitoring and the rate of change of the error. The independent pitch control strategy is implemented by a collaborative control algorithm based on LQG, and an independent pitch angle adjustment value is output. The pitch actuator 111 adjusts the pitch angle of each blade in real time according to the superposition value of the unified pitch angle value and the independent pitch angle adjustment value.

[0034] The resistance actuator 122 and the float actuator 132 output corresponding actuating forces in real time according to the control signal provided by the integrated controller 14 using the LQG-based collaborative control algorithm.

[0035] In the system provided by the present invention, the principle of the LQG-based collaborative control algorithm built into the integrated controller 14 is as follows: Figure 5 As shown, the details are as follows:

[0036] The variable pitch angle and azimuth angle of the three blades, the blade root strain (estimated blade tip displacement), the blade tip acceleration, the wind turbine motor speed, the wind turbine motor torque and the wind speed at the hub height monitored by the first monitoring unit 112 are transmitted to the integrated controller 14; the displacement and acceleration response of the top and four-quarter position of the support structure 4, the relative displacement of the actuator end and the actuator end actuation force monitored by the second monitoring unit 123 are transmitted to the integrated controller 14; the float motion data, the float generator motor torque, the float generator motor speed, the actuator end relative displacement and the actuator end actuation force monitored by the third monitoring unit 133 are transmitted to the integrated controller 14.

[0037] The collaborative control algorithm in the present invention is mainly based on LQG control. First, an integrated model of blade pitch control, support structure mechanical resistance and float motion control is established, and linear processing is performed under calculation conditions to obtain the following dynamic model:

[0038]

[0039] Among them, x,

[0040] are the displacement, velocity and acceleration responses of the wind turbine structure respectively; M, C, K are the mass, damping and stiffness matrices of the wind turbine structure respectively; Q a , Q g and Q w They are the aerodynamic force, gravity and wave force on the wind turbine structure; F p is the active force of mechanical resistance, F f is the active force of the float. The wind turbine torque T of the floating wind turbineb , Float generator set torque T f 、Pneumatic force Q a , wave force Q w With wind speed v w 、Wind turbine motor speedω b , pitch angle β, wave information h, motor speed ω of the float unit f It is a nonlinear relationship, but it can be at a certain working point (v w0 ,ω b0 ,β0,h0,ω f0 ) is linearized and can be expressed as (δ, denote the perturbation term and partial derivative respectively):

[0041]

[0042] Considering the three blades of the floating wind turbine and the potential multi-float working condition of the floating generator, the blade pitch angle and the motor speed of the floating generator are expressed as vectors. Considering that the wave information includes but is not limited to the wave height and wave period, the wave information is expressed as a vector.

[0043] Similarly, near the operating point, the dynamic response of the structure can be expressed as the sum of the steady-state term x0 and the perturbation term δx, that is, x = x0 + δx. Substituting into equation (1), the steady-state term (x0, T b0 , Q a0 , T f0 , Q w0 ), and the perturbation term δ is expressed in the form of incremental Δ, then the general differential equation at the working point can be expressed as follows:

[0044]

[0045] In the formula, R p and R E The Jacobi matrices corresponding to the disturbance term and the control input term respectively. P is the external excitation disturbance vector; E is the control input vector.

[0046]

[0047] Rewrite equation (3) into a state space equation as follows:

[0048]

[0049] Among them, A, B, C, and D are the system state matrix, input matrix, output matrix, and direct transfer matrix respectively; the forms of C and D are determined by the specific system output; W and N are the input noise and measurement noise of the measurement system respectively; X and Y are the system state vector and output variable respectively. Γ and H are the position vectors of input noise and measurement noise respectively.

[0050] Assume that the input noise W and measurement noise N of the measurement system are random disturbances and zero-mean Gaussian white noise, and the covariance matrix is:

[0051] E[W(t)W(t) T ]=Ξ≥0,E[N(t)N(t) T ]=Θ≥0; (7)

[0052] Wherein, t represents time, and T represents the transpose of the matrix.

[0053] Define the indicator function for optimal control:

[0054]

[0055] Where: Q and R are the weighted matrices of the system state and input, respectively, and Q and R are semi-positive definite matrices and symmetric positive definite matrices, respectively, that is, Q = Q T ≥0, R=R T >0.

[0056] In the present invention, the LQG problem can be decomposed into the LQR optimal state feedback control problem and the state estimation problem with disturbance. The present invention adopts the Kalman observer to observe the state variables of the wind turbine, and obtains the optimal state feedback and the steady-state gain of the state estimator by independently solving the Riccati algebraic equations, which are expressed as follows:

[0057]

[0058] Solve P in equation (9) c and P f (P c , P f Represent the constant matrices of the controller and observer respectively), the optimal state feedback matrix K c and K f They are:

[0059] K c =R -1 BP c , K f =P f C T Θ -1 (10)

[0060] Finally, the system state estimation value and optimal feedback control are obtained as follows:

[0061]

[0062] This embodiment provides a floating wind turbine pneumatic-mechanical-hydraulic integrated load reduction and vibration suppression method, which specifically includes the following steps:

[0063] 1. Obtain the current incoming wind speed, wind turbine motor torque, wind turbine motor speed, variable pitch angle and azimuth angle of three blades, blade root strain (estimated blade tip displacement), blade tip acceleration, displacement and acceleration response of the top and quarter positions of the supporting structure, relative displacement of the actuator end of the supporting structure and the actuator end actuation force, six-degree-of-freedom motion data of the float, motor torque of the float generator set, motor speed of the float generator set, actuation force of the float actuator and displacement of the actuator end.

[0064] 2. When the incoming wind speed is lower than the rated wind speed, the impeller and the wind turbine motor speed do not reach the rated speed, and the blade pitch angle value is zero. At this time, the blade pitch control subsystem does not work, and the torque and speed of the wind turbine motor are adjusted according to the torque control algorithm module built into the integrated controller 14 to increase the power generation.

[0065] 3. When the incoming wind speed is higher than the rated wind speed, in order to maintain the stability of the motor speed and power generation of the wind turbine, the blade pitch angle is adjusted according to the unified variable pitch control algorithm built into the integrated controller 14 and the collaborative control algorithm based on LQG to reduce the effect of the aerodynamic load on the hub rotor and structure, and the motor torque of the wind turbine is adjusted according to the torque control algorithm to maintain the motor speed of the wind turbine.

[0066] 4. At any wind speed, based on the monitoring information, the integrated controller 14 adjusts the output force of the resistance actuator 122 and the float actuator 132 in real time.

[0067] In addition, it should be mentioned that the float generator set in the float can be controlled by the torque control algorithm built into the integrated controller 14 to avoid exceeding the rated torque and speed.

Claims

1. A floating wind turbine pneumatic-mechanical-hydraulic integrated load reduction and vibration suppression system, It is characterized in that include: Blade pitch control subsystem, support structure mechanical resistance subsystem, float motion control subsystem and integrated controller; The blade pitch control subsystem, the support structure mechanical resistance subsystem, and the float motion control subsystem are respectively connected to the integrated controller; the integrated controller has built-in torque control algorithm, unified pitch control algorithm and LQG-based collaborative control algorithm; the torque control algorithm is used to adjust the motor torque and speed of the wind turbine and the float generator; the unified pitch control algorithm and the LQG-based collaborative control algorithm are used to control the blade pitch control subsystem to adjust the blade pitch angle; the LQG-based collaborative control algorithm coordinates and controls the actions of the blade pitch control subsystem, the support structure mechanical resistance subsystem, and the float motion control subsystem under the condition of maintaining the stable power generation of the wind turbine and the float generator by establishing the dynamic models of blade pitch, support structure mechanical resistance, and float motion; wherein the dynamic model is expressed as: Among them, x, are the displacement, velocity and acceleration responses of the wind turbine structure respectively; M, C, K are the mass, damping and stiffness matrices of the wind turbine structure respectively; Q a , Q g and Q w They are the aerodynamic force, gravity and wave force on the wind turbine structure; F p is the active force of mechanical resistance, F f It is the active force of the float.

2. The floating wind turbine pneumatic-mechanical-hydraulic integrated load reduction and vibration suppression system according to claim 1, Features: The control strategies of the blade pitch control subsystem include a unified pitch control strategy and an independent pitch control strategy; the unified pitch control strategy obtains a unified pitch angle value based on a PID unified pitch control algorithm according to the error between the speed value of the wind turbine motor and the target reference value obtained through real-time monitoring and the rate of change of the error; the independent pitch control strategy calculates the independent pitch angle adjustment value of each blade through a collaborative control algorithm based on LQG.

3. The floating wind turbine pneumatic-mechanical-hydraulic integrated load reduction and vibration suppression system according to claim 2, Features: The blade pitch control subsystem includes a pitch actuator and a first monitoring unit; the pitch actuator adjusts the pitch angle of each blade in real time according to the superposition value of the unified pitch angle value and the independent pitch angle adjustment value; the first monitoring unit is used to monitor the blade pitch angle and azimuth angle, wind turbine motor torque and speed, blade root strain, blade tip acceleration, and wind speed at hub height.

4. The floating wind turbine pneumatic-mechanical-hydraulic integrated load reduction and vibration suppression system according to claim 1, Features: The supporting structure mechanical damping subsystem includes an auxiliary damping device, a damping actuator and a second monitoring unit; the auxiliary damping device is arranged on the inner wall of the wind turbine supporting structure; the second monitoring unit is used to monitor the displacement and acceleration response of the top and four-quarter positions of the supporting structure, the relative displacement of the actuator end, and the actuating force acting on the supporting structure in real time; the damping actuator connects the auxiliary damping device and the inner wall of the supporting structure, and outputs the actuating force according to the control value obtained by the LQG-based collaborative control algorithm.

5. The floating wind turbine pneumatic-mechanical-hydraulic integrated load reduction and vibration suppression system according to claim 1, Features: The float motion control subsystem includes a float actuator and a third monitoring unit; the third monitoring unit is used to monitor the six-degree-of-freedom motion data of the float, the motor torque and speed of the float generator set, the actuating force applied by the float actuator, and the relative displacement of the actuator end; the float actuator outputs the actuating force according to the control value obtained by the LQG-based collaborative control algorithm to adjust the posture and motion angle of each float.

6. A pneumatic-mechanical-hydraulic integrated load reduction and vibration suppression method for floating wind turbines. It is characterized in that The system of claim 1 specifically comprises: (1) Acquiring monitoring data, including the current incoming wind speed, wind turbine motor torque, wind turbine motor speed, three blade pitch angles and azimuth angles, blade root strain, blade tip acceleration, support structure top and four-quarter position displacement and acceleration response, support structure actuator end relative displacement and actuator end force, float six-degree-of-freedom motion data, float generator motor torque, float generator motor speed, float actuator end relative displacement and actuator end force; (2) When the incoming wind speed is lower than the rated wind speed, the impeller and wind turbine motor speeds do not reach the rated speeds, and the blade pitch angle value is zero; at this time, the torque and speed of the wind turbine motor are adjusted according to the torque control algorithm built into the integrated controller to increase the power generation; (3) When the incoming wind speed is higher than the rated wind speed, the blade pitch angle is adjusted according to the unified variable pitch control algorithm built into the integrated controller and the collaborative control algorithm based on LQG to reduce the effect of aerodynamic loads on the hub rotor and structure, and the wind turbine motor torque is adjusted according to the torque control algorithm to maintain the wind turbine motor speed; (4) The motor torque and speed of the float generator set are controlled by the torque control algorithm built into the integrated controller; (5) Under any wind speed, based on the monitoring information, the actuator output force of the supporting structure mechanical resistance subsystem and the float motion control subsystem is adjusted in real time through the integrated controller.

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