A power limit control method and system for a double-impeller floating wind power generation unit

Abstract

The present invention discloses a power limit control method and system for a double - impeller floating wind power generation set, including: 1) Active power limit mode selection, where mode 0 is without power limit, mode 1 is power limit without feedback regulation, and mode 2 is power limit with feedback regulation; 2) Given the active power limit value, in mode 0, it is the initial power limit value, i.e., the rated power; in mode 1, a target power limit value is given and this value is evenly distributed to the left and right impellers; the process of issuing the initial given target value in mode 2 is the same as that in mode 1, but a dead zone is set, and no additional yaw pitch adjustment is performed within the dead zone. Moreover, when there are differences in the wind conditions of the left and right impellers resulting in uneven output, the power error can be tracked, enabling the side with higher output to generate more power while the other side generates power normally, achieving the purpose of tracking the total power target value; 3) The smaller value between the automatic power limit and the active power limit target value is issued. The control of the present invention is reliable, and there is no need to additionally increase hardware to achieve the power distribution effect, saving costs.

Description

Technical Field

[0001] The present invention relates to the technical field of wind power generation, and in particular to a power limit control method, system, storage medium and computing device for a dual-impeller floating wind turbine generator set. Background Art

[0002] In actual engineering applications, wind turbine generator sets often face the situation of being power-limited according to grid dispatching instructions, or power-limited operation due to the less serious alarms of the units themselves. The conventional single-impeller power limit implementation method is relatively simple. Usually, the power set value in the constant power control is reduced, and then the torque control loop is used to affect the speed control loop, and finally the pitch angle is changed to achieve the purpose of reducing power operation.

[0003] At present, the single-unit power limit control technology has been relatively mature, but there is no power limit technology for dual-impeller wind turbine generator sets in the wind power industry. This involves the problem of power distribution between the two impellers, and the problem of whether the power of the unit will fluctuate after power limit. Because the final issued instruction is reflected in the pitch, and the pitch is related to the yaw of the dual-impeller floating wind turbine generator set. Therefore, if there is a problem with power distribution, it will cause serious power fluctuations of the unit, resulting in unstable operation or even shutdown of the unit, thus losing power generation and bringing huge economic losses to the owner. Summary of the Invention

[0004] The first object of the present invention is to overcome the disadvantages and deficiencies of the prior art and provide a safe and reliable power limit control method for a dual-impeller floating wind turbine generator set.

[0005] The second object of the present invention is to provide a power limit control system for a dual-impeller floating wind turbine generator set.

[0006] The third object of the present invention is to provide a storage medium.

[0007] The fourth object of the present invention is to provide a computing device.

[0008] The first object of the present invention is achieved by the following technical solution: A power limit control method for a dual-impeller floating wind turbine generator set, wherein the dual-impeller floating wind turbine generator set is two wind turbines sharing a floating foundation platform through a Y-shaped tower, the two wind turbines are respectively installed at the left and right ends of the Y-shaped tower, the bottom of the Y-shaped tower is fixed on the floating foundation platform, and the impellers of the two wind turbines rotate in opposite directions to offset the centrifugal forces of the two wind turbines; it includes the following steps:

[0009] 1) Active power limit mode selection;

[0010] After the variables are initialized, enter the active power limit mode selection. Mode 0 means no power limit, Mode 1 means power limit without feedback regulation, and Mode 2 means power limit with feedback regulation;

[0011] 2) Set the active power limit value, that is, the active power limit target value;

[0012] For Mode 0, it is the initial power limit value, that is, the rated power; for Mode 1, it is the given target power limit value, and this value is evenly distributed to the left and right impellers; for Mode 2, the process of issuing the initial given target value is the same as that of Mode 1, but a certain yaw interval is set as the dead zone, and no additional yaw pitch adjustment is performed within this yaw interval. Moreover, when there are differences in the wind conditions of the left and right impellers themselves resulting in uneven output, it can track the power error, enabling the wind turbine on the side with more output to generate more power, while the other wind turbine outputs normally, thus achieving the purpose of tracking the total power target value;

[0013] 3) Issue the power limit target value;

[0014] After obtaining the active power limit value, enter the wind turbine fault self-check to check whether the current wind turbine has a fault. As long as a fault occurs in either the left or right wind turbine, power limit needs to be performed simultaneously. This can reduce the yaw fluctuation caused by the power limit of a single wind turbine on one side, thereby avoiding further power fluctuations in the entire unit. At this time, the current power of the left and right wind turbines is multiplied by the limit coefficient to obtain the final automatic power limit target values for the left and right wind turbines. The selection of the limit coefficient depends on the fault type. When obtaining the final automatic power limit target values of the wind turbines, compare the active and automatic power limit target values, and take the smaller value as the final power limit target value to be issued; if the wind turbine has no fault, directly compare the active and automatic power limit target values, and take the smaller value as the final power limit target value to be issued.

[0015] Preferably, in step 2), a proportional-integral-derivative controller is used to control the tracking of the power error. The difference between the total power limit target value and the actual power output of the two impellers is used as the input of the proportional-integral-derivative controller, and the output P D (t) is calculated by the following formula (1):

[0016]

[0017] In the formula, K Py is the proportional coefficient, K Iy is the integral coefficient, K Dy is the derivative coefficient, and e(t) is the total power error.

[0018] Preferably, in step 3), enter the fan fault self-check, detect whether there are fault alarms for the left and right impellers. If the judgment is true, set the automatic power limit flag positions of the left and right fans to true, and at the same time reset the exit time to 0 and start timing. When the alarm activation count is 1, multiply the current power of the left and right fans by the limit coefficient as the final automatic power limit target value of the left and right fans. The selection of the limit coefficient depends on the fault type. When the final automatic power limit target value of the fan is obtained, compare the active and automatic power limit target values and take the smaller value as the final power limit target value for distribution. When the alarm activation count is not 1, directly compare the active and automatic power limit target values and take the smaller value for distribution. After the fan fault self-check, if the fan has no fault, judge the conditions: whether the automatic power limit flags of the left and right fans are true and whether the exit time is less than the set threshold. If the conditions are true, accumulate the exit time and take the smaller value of the active and automatic power limit target values as the final power limit target value for distribution. If the conditions are false, reset the alarm activation count to 0, set the automatic power limit flags of the left and right fans to false, set the automatic power limit values of the left and right fans to the initial power limit values of the left and right fans, and take the smaller value of the active and automatic power limit target values as the final power limit target value for distribution.

[0019] Preferably, before performing step 1), it is also necessary to read the power information, which can read the real-time power information of the unit from the SCADA or remote main control interface. The power information will be filtered by a low-pass filter to obtain the filtered power information as the variable input for the active power limit mode selection.

[0020] The second object of the present invention is achieved by the following technical solutions: A power limit control system for a dual-impeller floating wind power generation unit, comprising:

[0021] An active power limit mode selection module, which is used to enter the active power limit mode selection after variable initialization. Mode 0 is no power limit, mode 1 is power limit without feedback regulation, and mode 2 is power limit with feedback regulation;

[0022] An active power limit value given module, which is used to give the active power limit value, that is, the active power limit target value; for mode 0, it is the initial power limit value, that is, the rated power; for mode 1, it is the given target power limit value, and this value is evenly distributed to the left and right impellers; for mode 2, the process of initially giving the target value for distribution is the same as that of mode 1, but a certain yaw interval is set as the dead zone, and no additional yaw pitch is performed within this yaw interval. And when there are differences in the wind conditions of the left and right impellers themselves resulting in uneven output, it can track the power error, so that the fan on the side that can output more power outputs more power, and the other fan outputs normally, so as to achieve the purpose of tracking the total power target value;

[0023] The limited power target value distribution module, after obtaining the active power limit value, checks whether the current wind turbine has a fault. As long as a fault occurs in either the left or right side wind turbine, power limitation needs to be carried out simultaneously. This can reduce the yaw fluctuation caused by the power limitation of a single side wind turbine, thereby leading to further power fluctuations of the entire unit. At this time, the current power of the left and right wind turbines is multiplied by the limit coefficient as the final automatic power limit target value of the left and right wind turbines. The selection of the limit coefficient depends on the fault type. When the final automatic power limit target value of the wind turbine is obtained, the active and automatic power limit target values are compared, and the smaller value is used as the final power limit target value for distribution; if the wind turbine has no fault, the active and automatic power limit target values are directly compared, and the smaller value is used as the final power limit target value for distribution.

[0024] Preferably, in the active power limit value setting module, a proportional-integral-derivative controller is used to control the tracking power error. The difference between the total power limit target value and the actual power output of the two impellers is used as the input of the proportional-integral-derivative controller. The output P D (t) is calculated by the following formula (1):

[0025]

[0026] In the formula, K Py is the proportional coefficient, K Iy is the differential coefficient, K Dy is the integral coefficient, and e(t) is the total power error.

[0027] Preferably, in the power limit target value distribution module, it is detected whether there are fault alarms for the left and right impellers. If the judgment is true, the automatic power limit flags of the left and right wind turbines are set to true, and at the same time, the exit time is reset to 0 and the timing starts; when the alarm activation count is 1, the current power of the left and right wind turbines is multiplied by the limit coefficient as the final automatic power limit target value of the left and right wind turbines. The selection of the limit coefficient depends on the fault type. When the final automatic power limit target value of the wind turbine is obtained, the active and automatic power limit target values are compared, and the smaller value is used as the final power limit target value for distribution; when the alarm activation count is not 1, the active and automatic power limit target values are directly compared, and the smaller value is distributed; after the wind turbine fault self-check, if the wind turbine has no fault, the judgment conditions are: whether the automatic power limit flags of the left and right wind turbines are true, and whether the exit time is less than the set threshold. If the conditions are true, the exit time is accumulated, and the smaller value of the active and automatic power limit target values is used as the final power limit target value for distribution; if the conditions are false, the alarm activation count is reset to 0, the automatic power limit flags of the left and right wind turbines are set to false, the automatic power limit values of the left and right wind turbines are the initial power limit values of the left and right wind turbines, and the smaller value of the active and automatic power limit target values is used as the final power limit target value for distribution.

[0028] Preferably, the power limit control system further includes a power information reading module, which reads the real-time power information of the unit from the SCADA or remote master control interface. The power information will be filtered by a low-pass filter to obtain the filtered power information as the variable input of the active power limit mode selection module.

[0029] The third object of the present invention is achieved by the following technical solution: a storage medium stores a program, and when the program is executed by a processor, the power limit control method of the above-mentioned double-impeller floating wind turbine generator set is realized.

[0030] The fourth object of the present invention is achieved by the following technical solution: a computing device includes a processor and a memory for storing a program executable by the processor. When the processor executes the program stored in the memory, the power limit control method of the above-mentioned double-impeller floating wind turbine generator set is realized.

[0031] Compared with the prior art, the present invention has the following advantages and beneficial effects:

[0032] 1. The present invention does not require additional hardware to achieve the effect of power distribution, saving costs.

[0033] 2. The present invention takes into account the automatic power limit situation caused by minor faults of the unit itself and there will be no logical conflict.

[0034] 3. The present invention is provided with multiple power limit modes. For application scenarios with high control accuracy requirements, such as responding to grid dispatching requirements, mode 2 can be adopted; for application scenarios with low control accuracy requirements but requiring stable control quantities of the unit itself, mode 1 can be adopted.

[0035] 4. When the wind-wave angle is too large, active power limit operation can reduce the yaw error, reduce the load of the unit, and increase the service life of the large components of the unit. BRIEF DESCRIPTION OF THE DRAWINGS

[0036] Figure 1 It is a flowchart of the method of the present invention.

[0037] Figure 2 It is an architecture diagram of the system of the present invention. DETAILED DESCRIPTION OF THE INVENTION

[0038] The present invention will be further described in detail below in conjunction with embodiments and the accompanying drawings, but the embodiments of the present invention are not limited thereto.

[0039] Embodiment 1

[0040] This embodiment discloses a power limit control method for a dual - impeller floating wind power generation unit. The dual - impeller floating wind power generation unit consists of two wind turbines sharing a floating foundation platform through a Y - shaped tower. The two wind turbines are respectively installed at the left and right ends of the Y - shaped tower, and the bottom of the Y - shaped tower is fixed on the floating foundation platform. The impellers of the two wind turbines rotate in opposite directions to offset the centrifugal forces of the two wind turbines; see Figure 1 As shown, the specific steps of this method are implemented as follows:

[0041] 1) Active power limit mode selection

[0042] After variable initialization, enter the active power limit mode selection. Mode 0 is no power limit, mode 1 is power limit without feedback regulation, and mode 2 is power limit with feedback regulation.

[0043] 2) Set the active power limit value (i.e., the active power limit target value)

[0044] For mode 0, it is the initial power limit value, i.e., the rated power; for mode 1, it is the given target power limit value, and this value is evenly distributed to the left and right impellers; for mode 2, the process of initially issuing the target value is the same as that of mode 1, but a certain yaw interval is set as a dead zone, and no additional yaw pitch adjustment is performed within this yaw interval. And when there are differences in the wind conditions of the left and right impellers resulting in uneven output, it can track the power error, enabling the wind turbine on the side with more output to output more power, while the other wind turbine outputs normally, so as to achieve the purpose of tracking the total power target value. Among them, the tracking of power error is controlled by a proportional - integral - derivative controller. The difference between the total power limit target value and the actual power output of the two impellers is used as the input of the proportional - integral - derivative controller, and the output P D (t) is calculated by the following formula (1):

[0045]

[0046] In the formula, K Py is the proportional coefficient, K Iy is the differential coefficient, K Dy is the integral coefficient, and e(t) is the total power error.

[0047] 3) Issue the power limit target value

[0048] After obtaining the active power limit value, enter the fan fault self-check to check whether the current fan has a fault. As long as a fault occurs in either the left or right fan, power limit needs to be performed simultaneously, which can reduce the yaw fluctuation caused by the power limit of a single-side fan, thereby leading to further power fluctuations in the entire unit. The specific process is as follows: Detect whether there are fault alarms in the left and right impellers. If the judgment is true, set the automatic power limit flags of the left and right fans to true, and at the same time reset the exit time to 0 and start timing; when the alarm activation count is 1, multiply the current power of the left and right fans by the limit coefficient as the final automatic power limit target value of the left and right fans. The selection of the limit coefficient depends on the fault type. When obtaining the final automatic power limit target value of the fan, compare the active and automatic power limit target values and take the smaller value as the final power limit target value to be issued; when the alarm activation count is not 1, directly compare the active and automatic power limit target values and take the smaller value to be issued; after the fan fault self-check, if the fan has no fault, then judge the conditions: whether the automatic power limit flags of the left and right fans are true and whether the exit time is less than the set threshold. If the conditions are true, accumulate the exit time and issue the smaller value of the active and automatic power limit target values as the final power limit target value; if the conditions are false, reset the alarm activation count to 0, set the automatic power limit flags of the left and right fans to false, set the automatic power limit values of the left and right fans to the initial power limit values of the left and right fans, and issue the smaller value of the active and automatic power limit target values as the final power limit target value.

[0049] Preferably, before performing step 1), it is also necessary to read the power information, which can read the real-time power information of the unit from the SCADA or remote main control interface. The power information will be filtered by a low-pass filter to obtain the filtered power information as the variable input for the active power limit mode selection.

[0050] Embodiment 2

[0051] This embodiment discloses a power limit control system for a double-impeller floating wind power generation unit. Refer to Figure 2 As shown, the system includes the following functional modules:

[0052] The active power limit mode selection module is used to enter the active power limit mode selection after variable initialization. Mode 0 is no power limit, mode 1 is power limit without feedback regulation, and mode 2 is power limit with feedback regulation;

[0053] The active power limit value setting module is used to set the active power limit value, that is, the active power target value. For mode 0, it is the initial power limit value, that is, the rated power. For mode 1, it is the set target power limit value, and this value is evenly distributed to the left and right impellers. For mode 2, the process of initially setting the target value is the same as that of mode 1, but a certain yaw interval is set as the dead zone, and no additional yaw pitch adjustment is performed within this yaw interval. Moreover, when there are differences in the wind conditions of the left and right impellers resulting in uneven output, it can track the power error, enabling the wind turbine on the side with higher output to generate more power while the other wind turbine operates at normal output, thereby achieving the purpose of tracking the total power target value. Among them, the tracking of the power error is controlled by a proportional-integral-derivative controller. The difference between the total power limit target value and the actual power output of the two impellers is used as the input of the proportional-integral-derivative controller, and the output P D (t) is calculated by the following formula (1):

[0054]

[0055] In the formula, K Py is the proportional coefficient, K Iy is the differential coefficient, K Dy is the differential coefficient, and e(t) is the total power error;

[0056] After obtaining the active power limit value, the power limit target value distribution module checks whether the current wind turbine has a fault. As long as a fault occurs in either the left or right wind turbine, power limiting needs to be performed simultaneously, which can reduce the yaw fluctuation caused by power limiting on a single side of the wind turbine, thereby preventing further power fluctuations in the entire unit. The specific process is as follows: Detect whether there are fault alarms in the left and right impellers. If the judgment is true, set the automatic power limit flags of the left and right wind turbines to true, and at the same time reset the exit time to 0 and start timing. When the alarm activation count is 1, multiply the current power of the left and right wind turbines by the limit coefficient as the final automatic power limit target values of the left and right wind turbines. The selection of the limit coefficient depends on the type of fault. When the final automatic power limit target values of the wind turbines are obtained, compare the active and automatic power limit target values and take the smaller value as the final power limit target value for distribution. When the alarm activation count is not 1, directly compare the active and automatic power limit target values and take the smaller value for distribution. After the wind turbine fault self-check, if the wind turbine has no fault, then judge the conditions: whether the automatic power limit flags of the left and right wind turbines are true and whether the exit time is less than the set threshold. If the conditions are true, accumulate the exit time and take the smaller value between the active and automatic power limit target values as the final power limit target value for distribution. If the conditions are false, reset the alarm activation count to 0, set the automatic power limit flags of the left and right wind turbines to false, set the automatic power limit values of the left and right wind turbines to the initial power limit values of the left and right wind turbines, and take the smaller value between the active and automatic power limit target values as the final power limit target value for distribution.

[0057] Preferably, the system further includes a power information reading module, which reads the real-time power information of the unit from the SCADA or the remote master control interface. The power information is filtered by a low-pass filter to obtain the filtered power information as the variable input of the active power limit mode selection module.

[0058] Embodiment 3

[0059] This embodiment discloses a storage medium storing a program, which when executed by a processor, implements the power limit control method of the double-impeller floating wind turbine set described in Embodiment 1.

[0060] The storage medium in this embodiment may be a magnetic disk, an optical disc, a computer memory, a read-only memory (ROM), a random access memory (RAM), a USB flash drive, a mobile hard disk, or other media.

[0061] Embodiment 4

[0062] This embodiment discloses a computing device including a processor and a memory for storing the executable program of the processor. When the processor executes the program stored in the memory, it implements the power limit control method of the double-impeller floating wind turbine set described in Embodiment 1.

[0063] The computing device described in this embodiment may be a desktop computer, a laptop computer, a smart phone, a PDA handheld terminal, a tablet computer, a programmable logic controller (PLC), or other terminal devices with processor functions.

[0064] The above embodiments are preferred embodiments of the present invention, but the embodiments of the present invention are not limited to the above embodiments. Any other changes, modifications, substitutions, combinations, and simplifications made without departing from the spirit and principle of the present invention shall be equivalent replacement methods and are all included in the protection scope of the present invention.

Claims

1. A power limit control method for a double - impeller floating wind power generation unit, where the double - impeller floating wind power generation unit consists of two wind turbines sharing a floating foundation platform through a Y - shaped tower. The two wind turbines are respectively installed at the left and right ends of the Y - shaped tower, and the bottom of the Y - shaped tower is fixed to the floating foundation platform. The impellers of the two wind turbines rotate in opposite directions to cancel out the centrifugal forces of the two wind turbines; it is characterized in that, It includes the following steps: 1) Active power limit mode selection; After variable initialization, enter the active power limit mode selection. Mode 0 means no power limit, mode 1 means power limit without feedback regulation, and mode 2 means power limit with feedback regulation; 2) Set the active power limit value, that is, the active power limit target value; For mode 0, it is the initial power limit value, that is, the rated power; for mode 1, it is the given target power limit value, and this value is evenly distributed to the left and right impellers; for mode 2, the process of initially giving the target value is the same as that of mode 1, but a certain yaw interval is set as the dead zone, and no additional yaw pitch change is performed within this yaw interval. And when there is a difference in the wind conditions of the left and right impellers resulting in uneven output, it can track the power error, enabling the wind turbine on the side that can output more power to output more power, while the other wind turbine outputs normally, so as to achieve the purpose of tracking the total power target value; 3) Send down the power limit target value; After obtaining the active power limit value, enter the wind turbine fault self-check to check whether the current wind turbine has a fault. As long as a fault occurs in either the left or right wind turbine, power limit needs to be performed simultaneously. This can reduce the yaw fluctuation caused by power limit on a single side of the wind turbine, thereby causing further power fluctuation of the entire unit. At this time, multiply the current power of the left and right wind turbines by the limit coefficient as the final automatic power limit target value of the left and right wind turbines. The selection of the limit coefficient depends on the fault type. When obtaining the final automatic power limit target value of the wind turbine, compare the active and automatic power limit target values, and take the smaller value as the final power limit target value to send down; if the wind turbine has no fault, directly compare the active and automatic power limit target values, and take the smaller value as the final power limit target value to send down.

2. The power limit control method for a double - impeller floating wind power generation unit according to claim 1, characterized in that, In step 2), a proportional-integral-derivative (PID) controller is adopted to track the power error. The difference between the total power limit target value and the actual power output of the two impellers is used as the input of the PID controller, and the output P D (t) is calculated by the following formula (1): where K Py is the proportionality coefficient, K Iy is the differential coefficient, K Dy is the differential coefficient, and e(t) is the total power error.

3. The power limit control method for a double - impeller floating wind power generation unit according to claim 1, characterized in that, In step 3), enter the wind turbine fault self-check to detect whether there is a fault alarm for the left and right impellers. If the judgment is true, set the automatic power limit flag of the left and right wind turbines to true, and at the same time reset the exit time to 0 and start timing; when the alarm activation count is 1, multiply the current power of the left and right wind turbines by the limit coefficient as the final automatic power limit target value of the left and right wind turbines. The selection of the limit coefficient depends on the fault type. When obtaining the final automatic power limit target value of the wind turbine, compare the active and automatic power limit target values, and take the smaller value as the final power limit target value to send down; when the alarm activation count is not 1, directly compare the active and automatic power limit target values and take the smaller value to send down; when there is no fault in the wind turbine after the wind turbine fault self-check, judge the conditions: whether the automatic power limit flag of the left and right wind turbines is true and whether the exit time is less than the set threshold. If the condition is true, accumulate the exit time and take the smaller value of the active and automatic power limit target values as the final power limit target value to send down; if the condition is false, reset the alarm activation count to 0, set the automatic power limit flag of the left and right wind turbines to false, set the automatic power limit values of the left and right wind turbines to the initial power limit values of the left and right wind turbines, and take the smaller value of the active and automatic power limit target values as the final power limit target value to send down.

4. The power limit control method for a double - impeller floating wind power generation unit according to claim 1, characterized in that, Before performing step 1), it is also necessary to read the power information. The real-time power information of the unit can be read from the SCADA or the remote main control interface. This power information will be filtered by a low-pass filter to obtain the filtered power information as the variable input for the active power limit mode selection.

5. A power limit control system for a double - impeller floating wind power generation unit, characterized in that, Including: An active power limit mode selection module, which is used to enter the active power limit mode selection after variable initialization. Mode 0 is no power limit, mode 1 is power limit without feedback regulation, and mode 2 is power limit with feedback regulation; An active power limit value setting module, which is used to set the active power limit value, that is, the active power limit target value; for mode 0, it is the initial power limit value, that is, the rated power; for mode 1, it is the given target power limit value, and this value is evenly distributed to the left and right impellers; for mode 2, the process of initially sending the given target value is the same as that of mode 1, but a certain yaw interval is set as the dead zone, and no additional yaw pitch change is performed within this yaw interval. Moreover, when there are differences in the wind conditions of the left and right impellers resulting in uneven output, it can track the power error, enabling the wind turbine on the side that can output more power to output more power, while the other wind turbine outputs normally, so as to achieve the purpose of tracking the total power target value; A power limit target value sending module. After obtaining the active power limit value, it checks whether the current wind turbine has a fault. As long as a fault occurs in either the left or right wind turbine, power limit needs to be performed simultaneously. This can reduce the yaw fluctuation caused by power limit on a single side of the wind turbine, thereby avoiding further power fluctuation of the entire unit. At this time, the current power of the left and right wind turbines is multiplied by the limit coefficient as the final automatic power limit target value of the left and right wind turbines. The selection of the limit coefficient depends on the fault type. When the final automatic power limit target value of the wind turbine is obtained, the active and automatic power limit target values will be compared, and the smaller value will be used as the final power limit target value for sending; if the wind turbine has no fault, the active and automatic power limit target values will be directly compared, and the smaller value will be used as the final power limit target value for sending.

6. The power limit control system for a double - impeller floating wind power generation unit according to claim 5, characterized in that, In the active power limit value setting module, a proportional integral derivative controller is used to control the tracking power error. The difference between the total power limit target value and the actual power output of the two impellers is used as the input of the proportional integral derivative controller, and the output P D (t) is calculated by the following formula (1): where K Py is the proportionality coefficient, K Iy is the differential coefficient, K Dy is the differential coefficient, and e(t) is the total power error.

7. The power limit control system for a double - impeller floating wind power generation unit according to claim 5, characterized in that, In the limited power target value sending module, it is detected whether there are fault alarms for the left and right impellers. If the judgment is true, the automatic limited power flags of the left and right fans are set to true, and at the same time, the exit time is reset to 0 and the timing starts. When the alarm activation count is 1, the current power of the left and right fans is multiplied by the limit coefficient as the final automatic limited power target value of the left and right fans. The selection of the limit coefficient depends on the fault type. When the final automatic limited power target value of the fan is obtained, the active and automatic limited power target values are compared, and the smaller value is taken as the final limited power target value for sending. When the alarm activation count is not 1, the active and automatic limited power target values are directly compared, and the smaller value is sent. After the fan fault self-check, if the fan has no fault, the judgment conditions are: whether the automatic limited power flags of the left and right fans are true, and whether the exit time is less than the set threshold. If the condition is true, the exit time is accumulated, and the smaller value of the active and automatic limited power target values is taken as the final limited power target value for sending. If the condition is false, the alarm activation count is reset to 0, the automatic limited power flags of the left and right fans are set to false, the automatic limited power values of the left and right fans are the initial power limit values of the left and right fans, and the smaller value of the active and automatic limited power target values is taken as the final limited power target value for sending.

8. The power limit control system for a double - impeller floating wind power generation unit according to claim 5, characterized in that, It further includes a power information reading module, which reads the real-time power information of the unit from the SCADA or the remote main control interface. The power information will be filtered by a low-pass filter, and the filtered power information is used as the variable input of the active limited power mode selection module.

9. A storage medium storing a program, characterized in that, When the program is executed by the processor, the limited power control method of the double-impeller floating wind power generation set according to any one of claims 1-4 is implemented.

10. A computing device, comprising a processor and a memory for storing processor-executable programs, characterized in that When the processor executes the program stored in the memory, the limited power control method of the double-impeller floating wind power generation set according to any one of claims 1-4 is implemented.

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