Active yaw control method for single-point mooring floating type fan platform

Abstract

The invention provides an active yaw control method for a single-point mooring floating type draught fan platform, and belongs to the technical field of offshore wind power. A wind direction angle is obtained in real time through a wind direction sensor, and the deviation between the wind direction angle and the azimuth angle of a platform main shaft is judged; the system calculates the average wind direction in a set time window so as to suppress the influence of high-frequency wind direction disturbance. The controller dynamically calls a model predictive control (MPC) algorithm according to wind direction deviation, outputs a target rotation angle of the flow guide rudder, drives the flow guide rudder to adjust the direction of the flow guide rudder, generates a yaw moment acting on the platform, and guides the platform to rotate around a single-point mooring rotor to realize active wind facing; the guide rudder assembly and the hydraulic driving system are arranged between the vertical columns with the heaving plates in cooperation with the platform, accurate and rapid attitude control can be achieved, and the wind facing capacity and the structural stability of the draught fan are remarkably improved. According to the wind turbine platform, the wind facing posture can be adjusted in real time according to the change of the wind direction, so that the wind energy utilization efficiency is improved, and the power generation requirement under the deep and far sea complex environment is met.

Description

Technical Field

[0001] The present invention belongs to the technical field of offshore wind power, and in particular relates to an active yaw control method for a single-point mooring floating wind turbine platform. Background Art

[0002] As the offshore wind power industry accelerates its expansion into deep sea areas, floating wind turbines, with their superior ability to adapt to water depth, are facing new opportunities for large-scale development. Platform designs are becoming increasingly lightweight and modular to reduce construction costs and the difficulty of transportation and installation.

[0003] Compared with the traditional single-tower floating wind turbine structure, the design of the inclined nacelle and truss support platform significantly reduces the tower base load, making the overall structure lighter. However, this structural change also makes it difficult for the traditional nacelle yaw mechanism to adapt, and it is impossible to achieve rapid and stable wind adjustment in an environment with drastic changes in wind direction or frequent disturbances. For this reason, some existing platforms use a single-point mooring system to replace the traditional multi-point anchoring method, so that the platform can adaptively rotate in the wind direction under the action of wind force, realizing "passive wind control". Although this method has a certain wind direction adaptation capability, its rotation process is completely dependent on the changes in the natural wind field, flow field and the passive response of the structure itself. It has a slow response speed and delayed adjustment, and there is a large yaw error under inconsistent wind flow direction and extreme working conditions.

[0004] In the complex marine environment, single-point moored floating platforms not only withstand wind loads but also face the dynamic coupling of ocean currents and waves, leading to greater uncertainty in yaw response. When the ocean current and wind direction are at an angle, the turbine impeller will deviate from the optimal windward orientation, resulting in a significant decrease in power generation efficiency. The high degree of freedom of movement of the single-point mooring structure under wave excitation further exacerbates yaw instability.

[0005] In summary, passive yaw control methods suffer from response lag, insufficient precision, and significant environmental interference, making them incapable of meeting the demands for efficient power generation and safe structural operation in deep-sea environments. Therefore, an active yaw control method with real-time adjustment capabilities is urgently needed to enable rapid, accurate, and stable wind alignment of floating wind turbine platforms, effectively improving power generation efficiency and system reliability. Summary of the Invention

[0006] In response to the shortcomings of the existing technology, the present invention proposes an active yaw control method for a single-point moored floating wind turbine platform, which enables the wind turbine platform to adjust its wind attitude in real time according to changes in wind direction, maximize the aerodynamic efficiency of the impeller, thereby improving wind energy utilization efficiency, increasing power generation, and meeting power generation needs in complex deep-sea environments.

[0007] The present invention is achieved through the following technical solutions: a single-point mooring floating wind turbine platform with active yaw:

[0008] The wind turbine platform comprises three column structures, ballast water tanks are arranged inside the columns, and the columns are connected by horizontal braces and diagonal braces to form a stable triangular support structure;

[0009] A mooring rotor is provided below the first column, connected to a single-point mooring system consisting of multiple strands of polymer composite cables. The single-point mooring system consists of a mooring rotor and a mooring cable connected thereto.

[0010] The bottom ends of the second column and the third column are respectively installed with heave plates, and the heave plates are connected to the columns through multiple brackets;

[0011] The wind turbine is supported by a tower fixed to the first column and two identical towers fixed to the tops of the second column and the third column respectively;

[0012] Two guide vanes are symmetrically arranged on the cross brace between the second and third columns. The double-row angular contact ball bearings of the guide vanes are mounted on the cross brace base. The inner ring of the bearing has an interference fit with the rudder blade shaft, and the outer ring is fixed by a flange. The rotation of the guide vanes is driven by a hydraulic system embedded in the cross brace. The piston rod of the hydraulic cylinder is connected to the rudder blade shaft, and the guide vanes can rotate around the axis within a range of 360 degrees.

[0013] Wind direction sensors and flow rate sensors are arranged around the wind turbine platform, and the central controller adjusts the rotation angle of the guide vane according to the sensor data.

[0014] Furthermore, a cable is connected to the bottom of the single-point mooring system, and the mooring cable is distributed in an umbrella shape, with its end anchored to the seabed;

[0015] Fiber optic sensors are arranged in the mooring cables to monitor the tension and wear of the cables. When a single cable anomaly is detected, the system can automatically switch to a redundant cable interface.

[0016] Furthermore, the two guide rudders are independently driven, respond to control instructions from the central controller, rotate to a set angle, generate directional fluid lift, and guide the platform to rotate around a single mooring point to achieve wind adjustment.

[0017] An active yaw control method for a single-point moored floating wind turbine platform:

[0018] The method specifically comprises the following steps:

[0019] Step 1: Obtain wind direction angle and platform azimuth angle in real time, perform sliding average processing on wind direction data; calculate the deviation angle between the average wind direction angle and the current azimuth angle of the platform, and determine whether it exceeds the set threshold;

[0020] Step 2: When the deviation angle exceeds the set threshold, the central controller issues an adjustment command to calculate the target deflection angle of the guide rudder;

[0021] Step 3: The guide rudder drives the platform to rotate; the rudder blades are driven to the target angle to generate directional fluid lift, causing the platform to rotate around the mooring point and reduce the deviation angle;

[0022] Step 4: Continuously update the wind direction and azimuth data, and repeat the above steps repeatedly to achieve active yaw control of the wind turbine platform.

[0023] Furthermore, in step 1,

[0024] The platform uses the deployed wind direction sensors and flow direction sensors to obtain the average wind direction angle, flow direction angle and current wind turbine main shaft azimuth in real time;

[0025] The wind direction angle, flow direction angle and main shaft azimuth angle are smoothed by the sliding average method; the deviation angle is calculated by the average wind direction angle and the current wind turbine main shaft azimuth angle.

[0026] Furthermore, it is characterized in that: in step 2,

[0027] When the deviation angle exceeds the set threshold, the central controller starts yaw control and calculates the target deflection angles of the two guide rudders respectively;

[0028] The yaw control method is Model Predict Control (MPC);

[0029] The MPC control is based on the dynamic modeling of the system, considers the dynamic response of the platform and the flow direction information measured by the flow direction sensor in real time, and predicts the optimal guide vane deflection angle in the future time domain.

[0030] Furthermore, in step 3,

[0031] The hydraulic system responds to yaw control commands to adjust the rudder blade angle to generate directional fluid lift; the fluid lift drives the platform to rotate around the single-point mooring point until the deviation angle approaches zero, completing the wind facing.

[0032] Furthermore, under extreme operating conditions (the measured wind speed exceeds the wind turbine cut-out (maximum) wind speed), the wind turbine group can adjust the pitch angle of the wind turbine blades to reduce wind thrust and collaboratively reduce the dynamic response of the platform; the ballast water tank can suppress roll and heave motion by adjusting the water volume; at the same time, the hydraulic system adjusts the rudder blade angle of the guide rudder to the same as the flow direction angle, reducing the rudder surface flow load and ensuring the overall safety of the system under extreme sea conditions.

[0033] An electronic device includes a memory and a processor, wherein the memory stores a computer program, and the processor implements the steps of the above method when executing the computer program.

[0034] A computer-readable storage medium is used to store computer instructions, which implement the steps of the above method when executed by a processor.

[0035] Beneficial effects of the present invention

[0036] Unlike the traditional passive rotation mode, the control strategy adopted in the present invention has the advantages of fast response speed, high adjustment accuracy and strong robustness; at the same time, since the core component is the rudder blade control unit, the system structure is simple and easy to maintain, and does not rely on large active propulsion devices, which significantly reduces the energy consumption and cost of the platform.

[0037] The present invention can also link the ballast water tank, wind turbine blade pitch and guide rudder for coordinated control, thereby enhancing the adaptability of the platform in extreme sea conditions and having good robustness and engineering feasibility.

[0038] The present invention can be widely used in floating wind turbine platforms with single-point mooring structures, and is particularly suitable for deep-sea areas with significant wind-flow coupling and complex hydrodynamic interference. It can effectively improve the stability and reliability of wind turbine operation and provide an intelligent and active yaw control solution for deep-sea floating wind turbines. BRIEF DESCRIPTION OF THE DRAWINGS

[0039] Figure 1 This is the single-point mooring floating wind turbine platform with active yaw of the present invention.

[0040] Figure 2 It is a three-dimensional structural diagram of the present invention.

[0041] Figure 3 It is a control flow chart of the present invention. DETAILED DESCRIPTION

[0042] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. All other embodiments obtained by ordinary technicians in this field based on the embodiments of the present invention without making any creative efforts shall fall within the scope of protection of the present invention.

[0043] The experimental methods used in the following examples are conventional methods unless otherwise specified. The materials, reagents, methods, and instruments used are conventional in the art and can be obtained commercially by those skilled in the art unless otherwise specified.

[0044] A single-point moored floating wind turbine platform with active yaw: Figure 1 As shown, the system comprises three columns, each housing a ballast tank. These columns are connected by horizontal and diagonal braces, forming a stable triangular support structure. A mooring rotor is located beneath one of the columns, connecting it to a single-point mooring system comprised of multiple strands of polymer composite cables arranged in an umbrella shape, their ends anchored to the seabed.

[0045] To enhance the platform's stability in complex marine environments, a guide vane is installed on the cross brace between the two columns with heave plates. The guide vane is mounted on the cross brace base using double-row angular contact ball bearings. The inner ring of the bearing is an interference fit with the rudder blade shaft, while the outer ring is secured by a flange. The guide vane is driven by a hydraulic system embedded in the cross brace. The piston rod of the hydraulic cylinder is connected to the rudder blade shaft, enabling highly precise angular adjustment. The guide vane can rotate 360° around its axis, ensuring stable adjustment in all sea conditions.

[0046] Wind direction sensors located around the platform measure wind direction in real time, monitor the azimuth of the turbine shaft, and calculate the angular deviation between the two. To suppress disturbances to the control system caused by high-frequency fluctuations in wind direction, the controller calculates a sliding average of wind direction within a fixed time window and uses this average as the reference direction for yaw adjustment.

[0047] In one embodiment, the wind turbine platform includes three column structures, ballast water tanks are provided inside the columns, and the columns are connected by horizontal braces and diagonal braces to form a stable triangular support structure;

[0048] A mooring rotor is provided below the first column 1, connected to a single-point mooring system consisting of multiple strands of polymer composite cables. The single-point mooring system consists of a mooring rotor and a mooring cable connected thereto. The mooring cable is distributed in an umbrella shape, and its end is anchored to the seabed. An electric cable is also connected below the single-point mooring system.

[0049] The bottom ends of the second column 2 and the third column 3 are respectively installed with heave plates, and the heave plates are connected to the columns through multiple brackets;

[0050] A tower 1 fixed to the first column 1, and two identical towers 2 fixed to the tops of the second column 2 and the third column 3, respectively, jointly support the wind turbine;

[0051] Two guide vanes are symmetrically arranged on the cross brace between the second column 2 and the third column 3. The double-row angular contact ball bearings of the guide vanes are installed on the cross brace base and are driven to rotate by a servo motor. The two guide vanes are independently driven and respond to the control instructions of the central controller to rotate to the set angle, generating directional fluid lift and guiding the platform to rotate around the single-point mooring point to achieve wind adjustment.

[0052] Wind direction sensors and flow rate sensors are arranged around the platform; the central controller adjusts the rotation angle of the guide rudder according to the sensor data.

[0053] In one embodiment, under certain extreme operating conditions (the measured wind speed exceeds the wind turbine cut-out (maximum) wind speed), such as when the wind flow angle is significant and the wave interference is severe, the system can link the variable pitch system in the nacelle to adjust the pitch angle of the wind turbine blades, reduce wind thrust, and collaboratively reduce the dynamic response of the platform; at the same time, the ballast water tank can suppress roll and heave motion by adjusting the water volume, and the hydraulic system adjusts the rudder blade angle of the guide rudder to the same as the flow direction angle, reducing the rudder surface flow load and ensuring the overall safety of the system under extreme sea conditions.

[0054] In one embodiment, to enhance structural reliability, the spacing and mounting angles between the guide vanes and cross braces were optimized to prevent interference and enhance overall load-bearing capacity. Multiple sets of reinforcing brackets were installed between the heave plates and columns, increasing local connection strength and effectively preventing long-term fatigue damage.

[0055] In addition, fiber optic sensors are installed in the mooring cables to monitor cable tension and wear. If a single cable anomaly is detected, the system automatically switches to the redundant cable interface, achieving fault isolation and fault-tolerant operation.

[0056] An active yaw control method for a single-point moored floating wind turbine platform based on the above-mentioned wind turbine platform:

[0057] Step 1: Obtain wind direction angle and platform azimuth angle in real time, perform sliding average processing on wind direction data; calculate the deviation angle between the average wind direction angle and the current azimuth angle of the platform, and determine whether it exceeds the set threshold;

[0058] The platform uses the deployed wind direction sensors and flow direction sensors to obtain the average wind direction angle, flow direction angle and current wind turbine main shaft azimuth in real time;

[0059] The wind direction angle, flow direction angle and main shaft azimuth angle are smoothed by the sliding average method; the deviation angle is calculated by the average wind direction angle and the current wind turbine main shaft azimuth angle.

[0060] Step 2: When the deviation angle exceeds the set threshold, the central controller issues an adjustment command to calculate the target deflection angle of the guide rudder;

[0061] When the deviation angle exceeds the set threshold, the central controller starts yaw control and calculates the target deflection angles of the two guide rudders respectively;

[0062] The yaw control method is Model Predict Control (MPC);

[0063] The MPC control is based on the dynamic modeling of the system, considers the dynamic response of the platform and the flow direction information measured by the flow direction sensor in real time, and predicts the optimal guide vane deflection angle in the future time domain.

[0064] MPC control reduces control lag by optimizing future rudder angle adjustments, ensuring the platform can operate smoothly in changing wind and flow speed environments.

[0065] Step 3: The guide rudder drives the platform to rotate; the rudder blades are driven to the target angle to generate directional fluid lift, causing the platform to rotate around the mooring point and reduce the deviation angle;

[0066] The hydraulic system responds to yaw control commands to adjust the rudder blade angle to generate directional fluid lift; the fluid lift drives the platform to rotate around the single-point mooring point until the deviation angle approaches zero, completing the wind facing.

[0067] Step 4: Continuously update the wind direction and azimuth data, and repeat the above steps repeatedly to achieve active yaw control of the wind turbine platform.

[0068] In an embodiment, the active yaw control method is specifically as follows:

[0069] The platform obtains the average wind direction angle in real time through the wind direction sensors and flow direction sensors deployed and the current fan main shaft azimuth angle θ yaw , calculate its deviation angle α, the formula is as follows:

[0070]

[0071] In order to reduce the impact of high-frequency disturbances in wind direction, the wind direction angle is smoothed using the sliding average method:

[0072]

[0073] The platform's yaw control method adopts model predictive control (MPC). The control goal is to enable the floating wind turbine platform to optimize the deflection angle of the guide rudder based on real-time measured wind direction and flow direction information, thereby achieving precise yaw adjustment.

[0074] First, the state variables of the system are the deviation angle α (the difference between the average wind direction angle and the azimuth angle) and its velocity Composition, defined as the state vector x(k):

[0075]

[0076] The control input u(k) contains the deflection angles θ1(k) and θ2(k) of the two rudder blades, namely:

[0077]

[0078] The dynamic model of the system is represented by a linear discrete state space equation. The change of state is determined by the current state x(k) and the control input u(k). The specific form is as follows:

[0079] x(k+1)=Ax(k)+Bu(k) (6)

[0080] Where A and B are the state transfer matrix and control matrix of the system, respectively. The control input u(k) affects the system state x(k) through the matrix B. The output y(k) of the system is the deviation angle α(k), which is obtained by the following equation:

[0081]

[0082] The optimization objective function J aims to minimize the yaw error and control energy, and its specific form is as follows:

[0083]

[0084] Where y(k) is the system output (i.e., the deviation angle α(k)), is the wind direction angle after sliding average processing, which is used as the target wind direction. λ1 and λ2 are penalty factors used to balance the yaw error and the change of control input.

[0085] By solving this optimization problem, the controller can calculate the optimal control input u(k) in the future time domain T, namely the deflection angles θ1(k) and θ2(k) of the two rudder blades. These optimal control inputs serve as instructions for adjusting the rudder angles in real time, thereby generating the appropriate fluid torque to guide the platform's yaw adjustment.

[0086] The optimization calculations take into account the platform's dynamic characteristics, wind-flow coupling effects, and the physical constraints of the rudder blades to ensure control accuracy and system stability. This MPC control approach enables the platform to proactively predict and respond to changes in wind direction and velocity in dynamic environments, significantly improving the turbine's wind-direction accuracy and power generation efficiency.

[0087] Through the above-mentioned device and control method, the present invention realizes active yaw control of the floating wind turbine platform, which can always keep the wind turbine running against the wind under conditions such as inconsistent wind flow and drastic fluctuations in sea conditions, thereby improving wind energy utilization and enhancing the stability and anti-interference ability of the system.

[0088] An electronic device includes a memory and a processor, wherein the memory stores a computer program, and the processor implements the steps of the above method when executing the computer program.

[0089] A computer-readable storage medium is used to store computer instructions, which implement the steps of the above method when executed by a processor.

[0090] The memory in the embodiments of the present application can be volatile memory or non-volatile memory, or can include both volatile and non-volatile memory. Among them, the non-volatile memory can be read-only memory (ROM), programmable read-only memory (PROM), erasable programmable read-only memory (EPROM), electrically erasable programmable read-only memory (EEPROM), or flash memory. The volatile memory can be random access memory (RAM), which is used as an external cache. By way of example and not limitation, many forms of RAM are available, such as static random access memory (SRAM), dynamic random access memory (DRAM), synchronous dynamic random access memory (SDRAM), double data rate synchronous dynamic random access memory (DDR SDRAM), enhanced synchronous dynamic random access memory (ESDRAM), synchronous link dynamic random access memory (SLDRAM), and direct RAM bus random access memory (DR RAM). It should be noted that memory of the methods described herein is intended to comprise, but not be limited to, these and any other suitable types of memory.

[0091] In the above embodiments, all or part of the embodiments can be implemented using software, hardware, firmware, or any combination thereof. When implemented using software, all or part of the embodiments can be implemented in the form of a computer program product. The computer program product includes one or more computer instructions. When the computer instructions are loaded and executed on a computer, all or part of the processes or functions described in the embodiments of the present application are generated. The computer can be a general-purpose computer, a special-purpose computer, a computer network, or other programmable device. The computer instructions can be stored in a computer-readable storage medium or transmitted from one computer-readable storage medium to another. For example, the computer instructions can be transmitted from one website, computer, server, or data center to another website, computer, server, or data center via a wired connection such as a coaxial cable, optical fiber, digital subscriber line (DSL), or wireless connection such as infrared, wireless, or microwave. The computer-readable storage medium can be any available medium that can be accessed by a computer, or a data storage device such as a server or data center that integrates one or more available media. The available medium can be a magnetic medium such as a floppy disk, hard disk, magnetic tape, an optical medium such as a high-density digital video disc (DVD), or a semiconductor medium such as a solid-state disc (SSD).

[0092] During implementation, each step of the above method can be completed by an integrated logic circuit of the hardware in the processor or by instructions in the form of software. The steps of the method disclosed in conjunction with the embodiments of the present application can be directly embodied as being executed by a hardware processor, or can be executed by a combination of hardware and software modules in the processor. The software module can be located in a storage medium mature in the art such as a random access memory, a flash memory, a read-only memory, a programmable read-only memory or an electrically erasable programmable memory, a register, etc. The storage medium is located in the memory, and the processor reads the information in the memory and completes the steps of the above method in conjunction with its hardware. To avoid repetition, it will not be described in detail here.

[0093] It should be noted that the processor in the embodiments of the present application can be an integrated circuit chip with signal processing capabilities. During implementation, each step of the above-described method embodiment can be completed by hardware integrated logic circuits in the processor or by software instructions. The above-described processor can be a general-purpose processor, a digital signal processor (DSP), an application-specific integrated circuit (ASIC), a field-programmable gate array (FPGA), or other programmable logic device, discrete gate or transistor logic device, or discrete hardware components. The various methods, steps, and logic block diagrams disclosed in the embodiments of the present application can be implemented or executed. The general-purpose processor can be a microprocessor or any conventional processor. The steps of the methods disclosed in the embodiments of the present application can be directly implemented and executed by a hardware decoding processor, or by a combination of hardware and software modules in the decoding processor. The software module can be located in a storage medium well-known in the art, such as random access memory, flash memory, read-only memory, programmable read-only memory, electrically erasable programmable memory, registers, etc. The storage medium is located in the memory, and the processor reads the information in the memory and, in conjunction with its hardware, completes the steps of the above-described method.

[0094] The above is a detailed introduction to the active yaw control method for a single-point moored floating wind turbine platform proposed in the present invention, and the principles and implementation methods of the present invention are explained. The description of the above embodiments is only used to help understand the method and core ideas of the present invention; at the same time, for those skilled in the art, according to the ideas of the present invention, there may be changes in the specific implementation methods and application scopes. In summary, the contents of this specification should not be understood as limiting the present invention.

Claims

1. An active yaw single-point mooring floating wind turbine platform, characterized by: The wind turbine platform comprises three column structures, ballast water tanks are arranged inside the columns, and the columns are connected by horizontal braces and diagonal braces to form a stable triangular support structure; Wherein, a mooring rotor is provided below the first column (1), connected to a single-point mooring system consisting of multiple strands of polymer composite cables, wherein the single-point mooring system consists of a mooring rotor and a mooring cable connected thereto; The bottom ends of the second column (2) and the third column (3) are respectively provided with heave plates, and the heave plates are connected to the columns via a plurality of toggle plates; The wind turbine unit is supported by a tower (1) fixed to the first column (1) and two identical towers (2) respectively fixed to the tops of the second column (2) and the third column (3); Two guide rudders are symmetrically arranged on the cross brace between the second column (2) and the third column (3); the double-row angular contact ball bearings of the guide rudders are installed on the cross brace base; the inner ring of the bearing is interference-fitted with the rudder blade shaft, and the outer ring is fixed by a flange; the rotation of the guide rudder is driven by a hydraulic system embedded in the cross brace; the piston rod of the hydraulic cylinder is connected to the rudder blade shaft, and the guide rudder can rotate around the axis within a range of 360 degrees; Wind direction sensors and flow rate sensors are arranged around the wind turbine platform, and the central controller adjusts the rotation angle of the guide vane according to the sensor data.

2. The single-point mooring floating wind turbine platform according to claim 1, characterized in that: A cable is also connected to the bottom of the single point mooring system, and the mooring cable is distributed in an umbrella shape, with its end anchored to the seabed; Fiber optic sensors are arranged in the mooring cables to monitor cable tension and wear; when a single cable anomaly is detected, the system automatically switches to a redundant cable interface; The two guide rudders are driven independently and respond to control instructions from the central controller to rotate to a set angle to generate directional fluid lift, guiding the platform to rotate around a single mooring point to achieve wind adjustment.

3. An active yaw control method for a single-point moored floating wind turbine platform according to claim 1 or 2, characterized in that: The method specifically comprises the following steps: Step 1: Obtain wind direction angle and platform azimuth angle in real time, perform sliding average processing on wind direction data; calculate the deviation angle between the average wind direction angle and the current azimuth angle of the platform, and determine whether it exceeds the set threshold; Step 2: When the deviation angle exceeds the set threshold, the central controller issues an adjustment command to calculate the target deflection angle of the guide rudder; Step 3: The guide rudder drives the platform to rotate; the rudder blades are driven to the target angle to generate directional fluid lift, causing the platform to rotate around the mooring point and reduce the deviation angle; Step 4: Continuously update the wind direction and azimuth data, and repeat the above steps repeatedly to achieve active yaw control of the wind turbine platform.

4. The control method according to claim 3, characterized in that: In step 1, The platform uses the deployed wind direction sensors and flow direction sensors to obtain the average wind direction angle, flow direction angle and current wind turbine main shaft azimuth in real time; The wind direction angle, flow direction angle and main shaft azimuth angle are smoothed by the sliding average method; the deviation angle is calculated by the average wind direction angle and the current wind turbine main shaft azimuth angle.

5. The control method according to claim 4, characterized in that: In step 2, When the deviation angle exceeds the set threshold, the central controller starts yaw control and calculates the target deflection angle of each guide rudder separately; The yaw control method is Model Predict Control (MPC); The model predictive control is based on the dynamic modeling of the system, takes into account the dynamic response of the platform and the flow direction information measured by the flow direction sensor in real time, and predicts the optimal guide rudder deflection angle in the future time domain.

6. The control method according to claim 5, characterized in that: In step 3, The hydraulic system responds to yaw control commands to adjust the rudder blade angle to generate directional fluid lift; the fluid lift drives the platform to rotate around the single-point mooring point until the deviation angle approaches zero, completing the wind facing.

7. The control method according to claim 6, characterized in that: The active yaw control method for the wind turbine platform also includes: under extreme working conditions, the wind turbine group can adjust the pitch angle of the wind turbine blades to reduce wind thrust and collaboratively reduce the dynamic response of the platform; at the same time, the ballast water tank can suppress roll and heave motion by adjusting the water volume; at the same time, the hydraulic system adjusts the rudder blade angle of the guide rudder to the same as the flow direction angle, reducing the rudder surface flow load and ensuring the overall safety of the system under extreme sea conditions.

8. The control method according to claim 7, characterized in that: When the measured wind speed exceeds the wind turbine cut-out (maximum) wind speed, the wind turbine platform considers the current operating condition to be an extreme condition.

9. An electronic device comprising a memory and a processor, wherein the memory stores a computer program, wherein: When the processor executes the computer program, the steps of the method according to any one of claims 3 to 8 are implemented.

10. A computer-readable storage medium for storing computer instructions, characterized in that: When the computer instructions are executed by a processor, the steps of the method according to any one of claims 3 to 8 are implemented.

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