Thrust Balance Control Method and System for Offshore Double Wind Turbine Floating Wind Turbine

Abstract

The present invention discloses a thrust balance control method and system for an offshore double - wind - turbine floating wind power generation unit, including: 1) collecting the wind - facing deviation angle of the floating wind power generation unit and performing data processing to obtain the effective wind - facing deviation angle of the floating wind power generation unit; 2) calculating the pitch compensation angles of the two wind turbines according to the effective wind - facing deviation angle of the floating wind power generation unit, and realizing the thrust balance control of the two wind turbines by superimposing the pitch compensation angles on the two wind turbines. By measuring the wind - facing deviation angle, calculating the pitch command for thrust compensation of the wind turbines, and applying it to the left and right wind turbines of the floating wind power generation unit, the present invention actively balances the thrust of the double wind turbines, realizes the wind - facing of the unit, and reduces the operating load.

Description

Technical Field

[0001] The present invention relates to the technical field of wind turbine control, and in particular to a thrust balance control method, system, storage medium and computing device for an offshore dual-rotor floating wind turbine. Background Art

[0002] For offshore floating wind turbines, the floating foundation, mooring system and construction installation account for the main costs. To reduce the unit cost of floating wind turbines, it is necessary to further reduce the operating loads of the turbines. To achieve larger megawatt floating wind turbines, two wind turbines are installed on the floating foundation to form a dual-rotor floating wind turbine. During the operation of the unit, due to the combined action of wind, wave and current, the thrusts of the two rotors of the floating unit are unbalanced, resulting in a large wind alignment deviation and an increase in fatigue loads for the floating wind turbine. Therefore, a thrust balance control method for the dual-rotor is required. Summary of the Invention

[0003] The first object of the present invention is to overcome the disadvantages and deficiencies of the prior art, and to provide a thrust balance control method for an offshore dual-rotor floating wind turbine. By measuring the wind alignment deviation angle, calculating the pitch compensation command for the rotor thrust, and applying it to the left and right rotors of the floating wind turbine, the thrusts of the dual-rotors are actively balanced, the wind alignment of the unit is achieved, and the operating load is reduced.

[0004] The second object of the present invention is to provide a thrust balance control system for an offshore dual-rotor floating wind turbine.

[0005] The third object of the present invention is to provide a storage medium.

[0006] The fourth object of the present invention is to provide a computing device.

[0007] The first object of the present invention is achieved by the following technical solution: A thrust balance control method for an offshore dual-rotor floating wind turbine performs the following operations:

[0008] 1) Collect the wind alignment deviation angle of the floating wind turbine and perform data processing to obtain the effective wind alignment deviation angle of the floating wind turbine;

[0009] 2) Calculate the pitch compensation angles of the two rotors according to the effective wind alignment deviation angle of the floating wind turbine, and realize the thrust balance control of the two rotors by superimposing the pitch compensation angles on the two rotors.

[0010] Further, in step 1), the wind alignment deviation angle of the floating wind turbine is collected by a wind direction sensor. The wind direction sensor can be installed on the floating foundation of the floating wind turbine or on the nacelles of the two wind wheels, and moves together with the floating foundation to collect the wind alignment deviation angle of the floating wind turbine in real time. Multiple wind direction sensors can be installed on the floating wind turbine, and redundant wind direction sensors can increase the reliability of the measurement of the wind alignment deviation angle. If multiple wind direction sensors are used, multiple measurement values can be used to obtain the wind alignment deviation of the unit by a weighted method;

[0011] The specific formula for the wind alignment deviation angle is as follows:

[0012]

[0013] In the above formula, represents the wind alignment deviation angle of the unit; θ1 represents the wind alignment deviation angle measured by wind direction sensor 1; η1 represents the weighting coefficient of wind direction sensor 1; θ2 represents the wind alignment deviation angle measured by wind direction sensor 2; η2 represents the weighting coefficient of wind direction sensor 2; θ n represents the wind alignment deviation angle measured by wind direction sensor n; η n represents the weighting coefficient of wind direction sensor n; The value ranges of the weighting coefficients η1, η2 to η n are between 0 and 1. A larger weighting coefficient is selected for a sensor with higher accuracy, and it satisfies that the sum of the weighting coefficients η1 + η2 + … + η n is equal to 1;

[0014] To avoid the interference of high-frequency noise on the measurement data, necessary filtering should be performed on the wind alignment deviation angle of the unit. The filter includes low-pass filtering and band-stop filtering to attenuate the high-frequency components in the wind alignment deviation angle data. The wind alignment deviation angle of the unit after filtering is called the effective wind alignment deviation angle, and the specific formula is as follows:

[0015]

[0016] In the above formula, θ F represents the effective wind alignment deviation angle; F(s) represents the wind alignment deviation filter.

[0017] Further, in step 2), the effective wind alignment deviation angle of the floating wind turbine reflects the thrust imbalance degree of the two wind wheels and is controlled in the following two cases:

[0018] The first case: when the effective wind alignment deviation angle is greater than or equal to zero;

[0019] At this time, the thrust of the right wind wheel is greater than that of the left wind wheel. Therefore, by increasing the pitch angle of the right wind wheel to reduce the thrust of the right wind wheel and make the thrust of the two wind wheels reach balance, the specific formula is as follows:

[0020]

[0021] In the above formula, β R,1 represents the final pitch command of the right wind turbine blade 1; β R,2 represents the final pitch command of the right wind turbine blade 2; β R,3 represents the final pitch command of the right wind turbine blade 3; represents the pitch command of blade 1 output by the right wind turbine pitch controller; represents the pitch command of blade 2 output by the right wind turbine pitch controller; represents the pitch command of blade 3 output by the right wind turbine pitch controller; k p represents the thrust balance control proportional gain; θ F represents the effective angle of wind alignment deviation; k i represents the thrust balance control integral gain; ∫θ F dt represents the integral of the effective angle of wind alignment deviation; if(θ F ≥0) represents the judgment condition, when the effective angle of wind alignment deviation is greater than or equal to zero;

[0022] By superimposing an independent pitch angle on the left wind turbine, a moment for clockwise rotation around the mooring point is provided, causing the unit to deflect clockwise around the mooring point and reducing the wind alignment deviation. The specific formula is as follows:

[0023]

[0024] In the above formula, β L,1 represents the final pitch command of the left wind turbine blade 1; β L,2 represents the final pitch command of the left wind turbine blade 2; β L,3 represents the final pitch command of the left wind turbine blade 3; represents the pitch command of blade 1 output by the left wind turbine pitch controller; represents the pitch command of blade 2 output by the left wind turbine pitch controller; represents the pitch command of blade 3 output by the left wind turbine pitch controller; A L represents the left wind turbine restoring moment gain; φ L,1 represents the azimuth angle of the left wind turbine blade 1; φ L,2 represents the azimuth angle of the left wind turbine blade 2; φ L,3 represents the azimuth angle of the left wind turbine blade 3; ω r,L represents the rotational speed of the left wind turbine; τ represents the pitch system time delay; if(θ F ≥0) represents the judgment condition, when the effective angle of wind alignment deviation is greater than or equal to zero;

[0025] The second case: when the effective angle of wind alignment deviation is less than zero;

[0026] At this time, the thrust of the left wind turbine is greater than that of the right wind turbine. Therefore, by increasing the pitch angle of the left wind turbine, the thrust of the left wind turbine is reduced to balance the thrust of the two wind turbines. The specific formula is as follows:

[0027]

[0028] In the above formula, β L,1 represents the final pitch command of blade 1 of the left wind turbine; β L,2 represents the final pitch command of blade 2 of the left wind turbine; β L,3 represents the final pitch command of blade 3 of the left wind turbine; represents the pitch command of blade 1 output by the pitch controller of the left wind turbine; represents the pitch command of blade 2 output by the pitch controller of the left wind turbine; represents the pitch command of blade 3 output by the pitch controller of the left wind turbine; k p represents the thrust balance control proportional gain; θ F represents the effective angle of wind alignment deviation; k i represents the thrust balance control integral gain; ∫(-θ F )dt represents the integral of the effective angle of wind alignment deviation; if(θ F <0) represents the judgment condition, when the effective angle of wind alignment deviation is less than zero;

[0029] By superimposing an independent pitch angle on the right wind turbine, a moment for counterclockwise rotation around the mooring point is provided, causing the unit to deflect counterclockwise around the mooring point and reducing the wind alignment deviation. The specific formula is as follows:

[0030]

[0031] In the above formula, β R,1 represents the final pitch command of blade 1 of the right wind turbine; β R,2 represents the final pitch command of blade 2 of the right wind turbine; β R,3 represents the final pitch command of blade 3 of the right wind turbine; represents the pitch command of blade 1 output by the pitch controller of the right wind turbine; represents the pitch command of blade 2 output by the pitch controller of the right wind turbine; represents the pitch command of blade 3 output by the pitch controller of the right wind turbine; A R represents the restoring moment gain of the right wind turbine; φ R,1 represents the azimuth angle of blade 1 of the right wind turbine; φ R,2 represents the azimuth angle of blade 2 of the right wind turbine; φ R,3 represents the azimuth angle of blade 3 of the right wind turbine; ωr,R represents the rotational speed of the right wind turbine; τ represents the pitch system time delay; if(θ F <0) represents the judgment condition, when the effective angle of the wind deviation is less than zero.

[0032] Furthermore, based on the average wind speed of the current floating wind turbine, optimal thrust balance control proportional gain, thrust balance control integral gain, and restoring moment gain are provided for the thrust balance control of the two wind turbines;

[0033] During the normal operation of the floating wind turbine, the wind turbine thrust decreases with the increase of the average wind speed. Therefore, in different average wind speed intervals, the optimal thrust balance control proportional gain, thrust balance control integral gain, and restoring moment gain change with the wind speed. For this reason, the following look-up table function is defined:

[0034]

[0035] In the above formula, k p represents the thrust balance control proportional gain; k i represents the thrust balance control integral gain; A L represents the restoring moment gain of the left wind turbine; A R represents the restoring moment gain of the right wind turbine; Lookup_k p represents the look-up table function of the thrust balance control proportional gain; Lookup_k i represents the look-up table function of the thrust balance control integral gain; Lookup_A L represents the look-up table function of the restoring moment gain of the left wind turbine; Lookup_A R represents the look-up table function of the restoring moment gain of the right wind turbine; represents the filtered average wind speed.

[0036] The second object of the present invention is achieved by the following technical solution: A thrust balance control system for an offshore double-wind-turbine floating wind turbine, used to implement the thrust balance control method of the above-mentioned offshore double-wind-turbine floating wind turbine, which includes:

[0037] A wind deviation measurement module, used to collect the wind deviation angle of the floating wind turbine and perform data processing to obtain the effective wind deviation angle of the floating wind turbine;

[0038] A thrust balance control module, according to the effective wind deviation angle of the floating wind turbine, calculates the pitch compensation angles of the two wind turbines, and realizes the thrust balance control of the two wind turbines by superimposing the pitch compensation angles on the two wind turbines;

[0039] The non - linear gain scheduling module outputs the optimal thrust balance control proportional gain, thrust balance control integral gain, and restoring moment gain for the thrust balance control module based on the average wind speed of the current floating wind turbine.

[0040] 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 thrust balance control method of the above - mentioned offshore dual - rotor floating wind turbine is realized.

[0041] 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 thrust balance control method of the above - mentioned offshore dual - rotor floating wind turbine is realized.

[0042] Compared with the prior art, the present invention has the following advantages and beneficial effects:

[0043] 1. According to the measured effective angle of wind deviation, the present invention calculates the pitch compensation angles of the two rotors to actively balance the thrust of the dual - rotors.

[0044] 2. By introducing independent pitch control, the present invention provides a moment for clockwise or counter - clockwise rotation around the mooring point, causing the unit to deflect clockwise or counter - clockwise around the mooring point and reducing the wind deviation.

[0045] 3. The present invention can be used for wind alignment control of larger - megawatt dual - rotor floating wind turbines, realizing a stable, reliable control process and minimizing pitch actions. BRIEF DESCRIPTION OF THE DRAWINGS

[0046] Figure 1 It is the architecture diagram of the system of the present invention. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0047] 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.

[0048] Embodiment 1

[0049] This embodiment discloses a thrust balance control method for an offshore dual - rotor floating wind turbine, which performs the following operations:

[0050] 1) Collect the wind deviation angle of the floating wind turbine through a wind direction sensor and complete necessary data processing to obtain the effective angle of wind deviation.

[0051] The floating foundation of the dual-rotor floating wind turbine adopts a single-point mooring type. Since the floating foundation can rotate freely around the mooring point, it yaws passively with the wind direction under the action of the rotor thrust to face the wind. The wind direction sensor can be installed on the floating foundation of the floating wind turbine or on the nacelles of the two rotors, moving together with the floating foundation to collect the wind-facing deviation angle of the floating wind turbine in real time. Multiple wind direction sensors can be installed on the floating wind turbine, and redundant wind direction sensors can increase the reliability of measuring the wind-facing deviation angle. If multiple wind direction sensors are used, multiple measurement values can be used to obtain the wind-facing deviation of the unit by weighting.

[0052] The specific formula for the wind-facing deviation angle is as follows:

[0053]

[0054] In the above formula, represents the wind-facing deviation angle of the unit; θ1 represents the wind-facing deviation angle measured by wind direction sensor 1; η1 represents the weighting coefficient of wind direction sensor 1; θ2 represents the wind-facing deviation angle measured by wind direction sensor 2; η2 represents the weighting coefficient of wind direction sensor 2; θ n represents the wind-facing deviation angle measured by wind direction sensor n; η n represents the weighting coefficient of wind direction sensor n; The value ranges of the weighting coefficients η1, η2 to η n are between 0 and 1. Sensors with high precision can select larger weighting coefficients, and it satisfies that the sum of the weighting coefficients η1 + η2 + … + η n is equal to 1.

[0055] To avoid the interference of high-frequency noise on the measurement data, necessary filtering should be performed on the wind-facing deviation angle of the unit. The filter includes low-pass filtering and band-stop filtering to attenuate the high-frequency components in the wind-facing deviation angle data. The wind-facing deviation angle of the unit after filtering is called the effective wind-facing deviation angle, and the specific formula is as follows:

[0056]

[0057] In the above formula, θ F represents the effective wind-facing deviation angle; F(s) represents the wind-facing deviation filter.

[0058] 2) Calculate the pitch compensation angles of the two rotors according to the effective wind-facing deviation angle of the floating wind turbine, and realize the thrust balance control of the two rotors by superimposing the pitch compensation angles on the two rotors.

[0059] The floating foundation of a floating wind turbine floats on the water surface and relies on the mooring system to provide tensile force to maintain movement within a certain area. Since the floating foundation is not fixed to the seabed, the floating wind turbine will move with waves, ocean currents, turbulence, and wind shear. When the thrusts received by the two wind wheels of the floating wind turbine are unbalanced, the entire floating foundation will rotate around the mooring point. If the thrust of the left wind wheel of the floating wind turbine is greater than that of the right wind wheel, the floating wind turbine will deflect clockwise around the mooring point, causing a negative wind alignment deviation angle; if the thrust of the right wind wheel of the floating wind turbine is greater than that of the left wind wheel, the floating wind turbine will deflect counterclockwise around the mooring point, causing a positive wind alignment deviation angle.

[0060] The effective wind alignment deviation angle of a floating wind turbine reflects the degree of thrust imbalance between the two wind wheels. It is controlled in the following two cases:

[0061] The first case: when the effective wind alignment deviation angle is greater than or equal to zero.

[0062] At this time, the thrust of the right wind wheel is greater than that of the left wind wheel. Therefore, by increasing the pitch angle of the right wind wheel to reduce the thrust of the right wind wheel, the thrusts of the two wind wheels are balanced. The specific formula is as follows:

[0063]

[0064] In the above formula, β R,1 represents the final pitch command of blade 1 of the right wind wheel; β R,2 represents the final pitch command of blade 2 of the right wind wheel; β R,3 represents the final pitch command of blade 3 of the right wind wheel; represents the pitch command of blade 1 output by the pitch controller of the right wind wheel; represents the pitch command of blade 2 output by the pitch controller of the right wind wheel; represents the pitch command of blade 3 output by the pitch controller of the right wind wheel; k p represents the thrust balance control proportional gain; θ F represents the effective wind alignment deviation angle; k i represents the thrust balance control integral gain; ∫θ F dt represents the integral of the effective wind alignment deviation angle; if(θ F ≥0) represents the judgment condition, when the effective wind alignment deviation angle is greater than or equal to zero.

[0065] By superimposing an independent pitch angle on the left wind wheel, a moment for clockwise rotation around the mooring point is provided, so that the unit deflects clockwise around the mooring point and reduces the wind alignment deviation. The specific formula is as follows:

[0066]

[0067] In the above formula, β L,1 represents the final pitch command of the left wind turbine blade 1; β L,2 represents the final pitch command of the left wind turbine blade 2; β L,3 represents the final pitch command of the left wind turbine blade 3; represents the pitch command of blade 1 output by the left wind turbine pitch controller; represents the pitch command of blade 2 output by the left wind turbine pitch controller; represents the pitch command of blade 3 output by the left wind turbine pitch controller; A L represents the restoring moment gain of the left wind turbine; φ L,1 represents the azimuth angle of the left wind turbine blade 1; φ L,2 represents the azimuth angle of the left wind turbine blade 2; φ L,3 represents the azimuth angle of the left wind turbine blade 3; ω r,L represents the rotational speed of the left wind turbine; τ represents the pitch system time delay; if(θ F ≥0) represents the judgment condition, when the effective angle of the wind alignment deviation is greater than or equal to zero.

[0068] The second case: when the effective angle of the wind alignment deviation is less than zero.

[0069] At this time, the thrust of the left wind turbine is greater than that of the right wind turbine. Therefore, by increasing the pitch angle of the left wind turbine, the thrust of the left wind turbine is reduced to balance the thrust of the two wind turbines. The specific formula is as follows:

[0070]

[0071] In the above formula, β L,1 represents the final pitch command of the left wind turbine blade 1; β L,2 represents the final pitch command of the left wind turbine blade 2; β L,3 represents the final pitch command of the left wind turbine blade 3; represents the pitch command of blade 1 output by the left wind turbine pitch controller; represents the pitch command of blade 2 output by the left wind turbine pitch controller; represents the pitch command of blade 3 output by the left wind turbine pitch controller; k p represents the thrust balance control proportional gain; θ F represents the effective angle of the wind alignment deviation; k i represents the thrust balance control integral gain; ∫(-θ F )dt represents the integral of the effective angle of the wind alignment deviation; if(θ F <0) represents the judgment condition, when the effective angle of the wind alignment deviation is less than zero.

[0072] By superimposing an independent pitch angle on the right wind turbine, a moment that rotates counterclockwise around the mooring point is provided, causing the unit to deflect counterclockwise around the mooring point and reducing the deviation from the wind. The specific formula is as follows:

[0073]

[0074] In the above formula, β R,1 represents the final pitch command of blade 1 of the right wind turbine; β R,2 represents the final pitch command of blade 2 of the right wind turbine; β R,3 represents the final pitch command of blade 3 of the right wind turbine; represents the pitch command of blade 1 output by the pitch controller of the right wind turbine; represents the pitch command of blade 2 output by the pitch controller of the right wind turbine; represents the pitch command of blade 3 output by the pitch controller of the right wind turbine; A R represents the restoring moment gain of the right wind turbine; φ R,1 represents the azimuth angle of blade 1 of the right wind turbine; φ R,2 represents the azimuth angle of blade 2 of the right wind turbine; φ R,3 represents the azimuth angle of blade 3 of the right wind turbine; ω r,R represents the rotational speed of the right wind turbine; τ represents the pitch system time delay; if(θ F <0) represents the judgment condition, when the effective angle of deviation from the wind is less than zero.

[0075] Furthermore, based on the average wind speed of the current floating wind turbine, optimal thrust balance control proportional gain, thrust balance control integral gain, and restoring moment gain are provided for the thrust balance control of the two wind turbines;

[0076] During the normal operation of the floating wind turbine, the thrust of the wind turbine decreases with the increase of the average wind speed. Therefore, in different average wind speed intervals, the optimal thrust balance control proportional gain, thrust balance control integral gain, and restoring moment gain change with the wind speed. For this reason, the following look-up table function is defined:

[0077]

[0078] In the above formula, k p represents the thrust balance control proportional gain; k i represents the thrust balance control integral gain; A L represents the restoring moment gain of the left wind turbine; A R represents the restoring moment gain of the right wind turbine; Lookup_k p represents the look-up table function of the thrust balance control proportional gain; Lookup_k i represents the look-up table function of the thrust balance control integral gain; Lookup_AL Denotes the lookup table function for the restoring moment gain of the left wind turbine; Lookup_A R Denotes the lookup table function for the restoring moment gain of the right wind turbine; Denotes the filtered average wind speed.

[0079] Embodiment 2

[0080] This embodiment discloses a thrust balance control system for an offshore double - wind - turbine floating wind power generation unit, which is used to implement the thrust balance control method of the offshore double - wind - turbine floating wind power generation unit described in Embodiment 1, as Figure 1 shown. This system includes the following functional modules:

[0081] Wind alignment deviation measurement module, which is used to collect the wind alignment deviation angle of the floating wind power generation unit and perform data processing to obtain the effective wind alignment deviation angle of the floating wind power generation unit;

[0082] Thrust balance control module, which calculates the pitch compensation angles of the two wind turbines according to the effective wind alignment deviation angle of the floating wind power generation unit, and realizes the thrust balance control of the two wind turbines by superimposing the pitch compensation angles on the two wind turbines;

[0083] Non - linear gain scheduling module, which outputs the optimal thrust balance control proportional gain, thrust balance control integral gain, and restoring moment gain for the thrust balance control module based on the average wind speed of the current floating wind power generation unit.

[0084] Embodiment 3

[0085] This embodiment discloses a storage medium storing a program, which, when executed by a processor, implements the thrust balance control method of the offshore double - wind - turbine floating wind power generation unit described in Embodiment 1.

[0086] The storage medium in this embodiment can be a magnetic disk, an optical disk, a computer memory, a read - only memory (ROM), a random access memory (RAM), a USB flash drive, a mobile hard disk, and other media.

[0087] Embodiment 4

[0088] 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 thrust balance control method of the offshore double - wind - turbine floating wind power generation unit described in Embodiment 1.

[0089] 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.

[0090] 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 thrust balance control method for an offshore dual - wind - turbine floating wind power generation unit, characterized in that, Perform the following operations: 1) Collect the wind alignment deviation angle of the floating wind turbine and perform data processing to obtain the effective wind alignment deviation angle of the floating wind turbine, specifically as follows: Collect the wind alignment deviation angle of the floating wind turbine through a wind direction sensor. The wind direction sensor can be installed on the floating foundation of the floating wind turbine or on the nacelles of the two wind wheels and move together with the floating foundation to collect the wind alignment deviation angle of the floating wind turbine in real time. Multiple wind direction sensors can be installed on the floating wind turbine, and redundant wind direction sensors can increase the reliability of the measurement of the wind alignment deviation angle. If multiple wind direction sensors are used, multiple measurement values can be used to obtain the wind alignment deviation of the unit by weighting. The specific formula for the wind alignment deviation angle is as follows: ； In the above formula, represents the wind alignment deviation angle of the unit; represents the wind alignment deviation angle measured by wind direction sensor 1; represents the weighting coefficient of wind direction sensor 1; represents the wind alignment deviation angle measured by wind direction sensor 2; represents the weighting coefficient of wind direction sensor 2; represents the wind alignment deviation angle measured by wind direction sensor n; represents the weighting coefficient of wind direction sensor n; Weighting coefficient , to The value range is between 0 and 1. For sensors with high precision, larger weighting coefficients are selected, and the sum of the weighting coefficients equals 1; To avoid interference from high-frequency noise on the measurement data, necessary filtering should be performed on the wind alignment deviation angle of the unit. The filter includes low-pass filtering and band-stop filtering to attenuate the high-frequency components in the wind alignment deviation angle data. The wind alignment deviation angle of the unit after filtering is called the effective wind alignment deviation angle, and the specific formula is as follows: ； In the above formula, represents the effective angle of wind deviation; represents the wind deviation filter; 2) Calculate the pitch compensation angles of the two wind wheels based on the effective wind alignment deviation angle of the floating wind turbine, and achieve the thrust balance control of the two wind wheels by superimposing the pitch compensation angles on the two wind wheels, specifically as follows: The effective wind alignment deviation angle of the floating wind turbine reflects the degree of thrust imbalance between the two wind wheels and is controlled in the following two cases: The first case: when the effective wind alignment deviation angle is greater than or equal to zero; At this time, the thrust of the right wind wheel is greater than that of the left wind wheel. Therefore, by increasing the pitch angle of the right wind wheel to reduce the thrust of the right wind wheel, the thrust of the two wind wheels is balanced. The specific formula is as follows: ； In the above formula, represents the final pitch command of the right wind turbine blade 1; represents the final pitch command of the right wind turbine blade 2; represents the final pitch command of the right wind turbine blade 3; represents the pitch command of blade 1 output by the right wind turbine pitch controller; represents the pitch command of blade 2 output by the right wind turbine pitch controller; represents the pitch command of blade 3 output by the right wind turbine pitch controller; represents the thrust balance control proportional gain; represents the effective angle of wind alignment deviation; represents the thrust balance control integral gain; represents the integral of the effective angle of wind alignment deviation; represents the judgment condition, when the effective angle of wind alignment deviation is greater than or equal to zero; By superimposing an independent pitch angle on the left wind wheel, a moment for clockwise rotation around the mooring point is provided, causing the unit to deflect clockwise around the mooring point and reducing the wind alignment deviation. The specific formula is as follows: ； In the above formula, represents the final pitch command of the left wind turbine blade 1; represents the final pitch command of the left wind turbine blade 2; represents the final pitch command of the left wind turbine blade 3; represents the pitch command of blade 1 output by the left wind turbine pitch controller; represents the pitch command of blade 2 output by the left wind turbine pitch controller; represents the pitch command of blade 3 output by the left wind turbine pitch controller; represents the restoring moment gain of the left wind turbine; represents the azimuth angle of the left wind turbine blade 1; represents the azimuth angle of the left wind turbine blade 2; represents the azimuth angle of the left wind turbine blade 3; represents the rotational speed of the left wind turbine; represents the time delay of the pitch system; represents a judgment condition, when the effective angle of the wind alignment deviation is greater than or equal to zero; The second case: when the effective wind alignment deviation angle is less than zero; At this time, the thrust of the left wind wheel is greater than that of the right wind wheel. Therefore, by increasing the pitch angle of the left wind wheel to reduce the thrust of the left wind wheel, the thrust of the two wind wheels is balanced. The specific formula is as follows: ； In the above formula, represents the final pitch command of the left wind turbine blade 1; represents the final pitch command of the left wind turbine blade 2; represents the final pitch command of the left wind turbine blade 3; represents the pitch command of blade 1 output by the left wind turbine pitch controller; represents the pitch command of blade 2 output by the left wind turbine pitch controller; represents the pitch command of blade 3 output by the left wind turbine pitch controller; represents the thrust balance control proportional gain; represents the effective angle of wind alignment deviation; represents the thrust balance control integral gain; represents the integral of the effective angle of wind alignment deviation; represents the judgment condition, when the effective angle of wind alignment deviation is less than zero; By superimposing an independent pitch angle on the right wind wheel, a moment for counterclockwise rotation around the mooring point is provided, causing the unit to deflect counterclockwise around the mooring point and reducing the wind alignment deviation. The specific formula is as follows: ； In the above formula, represents the final pitch command of the right wind turbine blade 1; represents the final pitch command of the right wind turbine blade 2; represents the final pitch command of the right wind turbine blade 3; represents the pitch command of blade 1 output by the right wind turbine pitch controller; represents the pitch command of blade 2 output by the right wind turbine pitch controller; represents the pitch command of blade 3 output by the right wind turbine pitch controller; represents the restoring moment gain of the right wind turbine; represents the azimuth angle of the right wind turbine blade 1; represents the azimuth angle of the right wind turbine blade 2; represents the azimuth angle of the right wind turbine blade 3; represents the rotational speed of the right wind turbine; represents the time delay of the pitch system; represents the judgment condition when the effective angle of the wind alignment deviation is less than zero.

2. The thrust balance control method for an offshore dual - wind - turbine floating wind power generation unit according to claim 1, characterized in that, Based on the average wind speed of the current floating wind turbine, provide the optimal thrust balance control proportional gain, thrust balance control integral gain, and restoring moment gain for the thrust balance control of the two wind wheels; During the normal operation of the floating wind turbine, the wind wheel thrust decreases with the increase of the average wind speed. Therefore, in different average wind speed intervals, the optimal thrust balance control proportional gain, thrust balance control integral gain, and restoring moment gain change with the wind speed. For this reason, the following look-up table function is defined: ； In the above formula, represents the thrust balance control proportional gain; represents the thrust balance control integral gain; represents the restoring moment gain of the left wind turbine; represents the restoring moment gain of the right wind turbine; represents the look-up table function of the thrust balance control proportional gain; represents the look-up table function of the thrust balance control integral gain; represents the look-up table function of the restoring moment gain of the left wind turbine; represents the look-up table function of the restoring moment gain of the right wind turbine; represents the filtered average wind speed.

3. A thrust balance control system for an offshore dual - wind - turbine floating wind power generation unit, characterized in that, A method for thrust balance control of an offshore double-wind-wheel floating wind turbine according to claim 1 or 2, which includes: The wind alignment deviation measurement module is used to collect the wind alignment deviation angles of the floating wind turbine and perform data processing to obtain the effective wind alignment deviation angles of the floating wind turbine; The thrust balance control module calculates the pitch compensation angles of the two wind turbines according to the effective wind alignment deviation angles of the floating wind turbine, and realizes the thrust balance control of the two wind turbines by superimposing the pitch compensation angles on the two wind turbines; The non-linear gain scheduling module outputs the optimal thrust balance control proportional gain, thrust balance control integral gain and restoring moment gain for the thrust balance control module based on the average wind speed of the current floating wind turbine.

4. A storage medium storing a program, characterized in that,When the program is executed by the processor, the thrust balance control method of the offshore double-wind-turbine floating wind turbine described in claim 1 or 2 is realized.

5. 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 thrust balance control method of the offshore double-wind-turbine floating wind turbine described in claim 1 or 2 is realized.

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