Sea-air forecast based floating wind turbine feedforward attitude control system and method

Abstract

The application relates to a floating type fan feedforward posture control system based on sea-air forecast, which comprises a sea and weather forecast information receiving device, a fan field monitoring device, a ballast tank liquid level adjusting device and an evaluation control device; the sea and weather forecast information receiving device is used for receiving sea information and weather forecast information; the fan field monitoring device is used for monitoring real-time six-degree-of-freedom motion information and environmental information of the fan; the ballast tank liquid level adjusting device is used for measuring and adjusting the liquid level height of the ballast tank; the evaluation control device can realize drafting a posture control pre-adjusting scheme, correcting the posture control scheme, drafting a control exit scheme and connecting the ballast tank ballast liquid adjusting device to complete ballast liquid transfer. The application uses sea-air forecast information to achieve the purpose of feedforward posture control, and based on the real-time evaluation, the fan posture control scheme can be corrected in real time, so that the safety of the posture control is improved.

Description

Technical Field

[0001] This invention relates to the field of marine engineering technology, specifically to a feedforward attitude control system and control method for a floating wind turbine based on ocean-atmosphere forecasting. Background Technology

[0002] Floating wind turbines for deep-sea and offshore applications are important equipment for the development of deep-sea resources.

[0003] As the offshore distance of floating wind turbines increases, the complexity of environmental loads increases significantly. At the same time, due to the demand for grid parity, the requirements for the amount of steel used per megawatt of foundation for deep-sea floating wind turbines are becoming more stringent.

[0004] Ensuring the structural safety of deep-sea floating wind turbines under harsh sea conditions through effective attitude control, improving power generation efficiency, and reducing the amount of steel used in wind turbine foundation design are technical problems that urgently need to be solved by those skilled in the art. Summary of the Invention

[0005] The purpose of this invention is to provide a feedforward attitude control system and method for floating wind turbines based on ocean-atmosphere forecasting, so as to solve the problem that the attitude of deep-sea floating wind turbines is not easy to control in the above-mentioned background art.

[0006] To achieve the above objectives, the present invention adopts the following technical solution:

[0007] A floating wind turbine feedforward attitude control system based on ocean-atmosphere forecasting includes an ocean and weather forecast information receiving device, a wind turbine on-site monitoring device, a ballast tank liquid level adjustment device, and an evaluation control device.

[0008] The marine and weather information receiving device is installed on the floating base of the wind turbine and is used to receive satellite signals for marine and weather forecast information.

[0009] The wind turbine on-site monitoring device includes wind turbine response monitoring and environmental monitoring. It is installed on the floating body of the floating wind turbine and is used to monitor the real-time six-degree-of-freedom motion information and environmental information of the floating wind turbine.

[0010] The ballast tank liquid level adjustment device is installed inside the ballast tank device and is used to measure and adjust the ballast tank liquid level.

[0011] The assessment and control device is installed inside the floating wind turbine. It can formulate attitude control pre-load adjustment schemes, correct attitude control schemes, and formulate control exit schemes based on the information received by the marine and weather information receiving device, the wind turbine on-site monitoring device, and the ballast tank liquid level adjustment device. The assessment and control device is connected to the ballast tank liquid level adjustment device to complete the transfer of ballast liquid.

[0012] Preferably, in the floating wind turbine feedforward attitude control system based on ocean-atmosphere forecasting, the ocean and weather forecast information acquisition device is installed above the floating body of the floating wind turbine to receive long-term or medium-term wind speed and direction information, wave height and period information, and ocean current speed and direction information.

[0013] The aforementioned floating wind turbine feedforward attitude control system based on ocean-atmosphere forecasting preferably includes a wind turbine field monitoring device comprising an inertial navigation angular acceleration measuring device, an tilt sensor, a GPS or BeiDou positioning device, an anemometer and wind direction meter, and a wave measuring radar, used to monitor the real-time response and environmental information of the floating wind turbine.

[0014] In the aforementioned floating wind turbine feedforward attitude control system based on ocean-atmosphere forecasting, preferably, the ballast tank device includes a fixed ballast tank and an adjustable ballast tank, with the fixed ballast tank located below the adjustable ballast tank.

[0015] The aforementioned floating wind turbine feedforward attitude control system based on ocean-atmosphere forecasting preferably includes a ballast tank liquid level adjustment device comprising a liquid level telemetry device, a fixed ballast tank draft sensor, an adjustable ballast tank draft sensor, a centrifugal pump, ballast pipeline, valves, and an air compressor. The liquid level telemetry device is located at the top of the adjustable ballast tank, the fixed ballast tank draft sensor is located at the bottom of the fixed ballast tank, the adjustable ballast tank draft sensor is located at the bottom of the adjustable ballast tank, the centrifugal pump is located inside the adjustable ballast tank and is connected to the ballast pipeline, the valve is located on the ballast pipeline, and the air compressor is located at the top of the adjustable ballast tank.

[0016] The aforementioned floating wind turbine feedforward attitude control system based on ocean-atmosphere forecasting preferably includes an evaluation control device comprising a housing, a power supply, a computer workstation, and an angular acceleration measuring device. The housing contains the power supply, the computer workstation, the angular acceleration measuring device, the tilt sensor, and the positioning device.

[0017] A control method for a feedforward attitude control system of a floating wind turbine based on ocean-atmosphere forecasting specifically includes the following stages:

[0018] 1) Pre-load adjustment stage, the specific evaluation conditions for the pre-load adjustment stage are as follows:

[0019] 11) Receive satellite signals for long-term or medium-term marine environment and weather condition forecasts through marine and weather forecast information acquisition devices;

[0020] 12) The evaluation control device collects information from the ballast tank liquid level adjustment device to determine whether the valve system and pump system are normal. If there is a hardware failure, attitude control is abandoned. If all system hardware is normal, the evaluation control device's workstation generates a pre-load adjustment plan.

[0021] 13) The pre-load adjustment scheme generated by the workstation of the evaluation control device is evaluated to see if the increased power generation after control intervention is greater than the power consumption of the control system. If it is not satisfied, the load adjustment control is abandoned; if it is satisfied, the pre-load adjustment scheme is implemented.

[0022] 14) After the workstation of the evaluation control device implements the pre-load adjustment scheme, whether the extreme values ​​of the six degrees of freedom motion of the wind turbine, the six degrees of freedom acceleration and the mooring force meet the service safety indicators of the platform. If they do not meet the requirements, the load adjustment control is abandoned. If they meet the requirements, the volume of ballast liquid in the ballast tank device is adjusted by the ballast tank liquid level adjustment device to complete the pre-load adjustment transfer of ballast liquid.

[0023] 15) The on-site information monitoring device obtains real-time environmental and response information of the floating wind turbine, predicts short-term data through measured information, and then judges the accuracy of the medium- and long-term marine environment and weather condition prediction information received by the marine and weather forecast information receiving device. If the accuracy of the medium- and long-term marine environment condition prediction information does not meet the requirements, the attitude control strategy is corrected and the pre-load adjustment scheme is regenerated. If the requirements are met, the control scheme correction and exit stage is entered.

[0024] 2) Control scheme modification and exit phase, the specific evaluation conditions for the control scheme modification and exit phase are as follows:

[0025] 21) The workstation of the evaluation control device transfers the ballast liquid through the ballast tank liquid level adjustment device until the complete transfer of the ballast liquid is completed.

[0026] 22) Obtain short-term marine environment and weather conditions forecast information through environmental monitoring data, obtain wind turbine response information through wind turbine on-site monitoring device, evaluate environmental information and wind turbine status during transfer, and determine whether the extreme values ​​of wind, waves, current, wind turbine six degrees of freedom motion, six degrees of freedom acceleration and mooring force meet the platform service safety indicators. If not, modify the control scheme. After evaluating and modifying the scheme, the workstation of the evaluation control device continues to adjust the ballast liquid inside the ballast tank device through the ballast tank liquid level adjustment device.

[0027] 23) Obtain short-term marine environmental and weather condition forecasts through environmental monitoring, and determine whether the forecasts of the end time of environmental changes in the medium- and long-term marine environmental conditions are accurate. If not, revise the control scheme. After evaluating the revised scheme, the workstation of the evaluation control device continues to adjust the ballast liquid inside the ballast tank device through the ballast tank liquid level adjustment device. If accurate, gradually withdraw from control according to the control strategy and return the ballast liquid in each ballast tank to the initial state.

[0028] The control method of the aforementioned control system, preferably, includes step 14) specifically comprising:

[0029] The workstation valves and centrifugal pumps of the evaluation control unit can transfer the ballast fluid inside the ballast tank;

[0030] The liquid level telemetry device and the draft sensor of the fixed ballast tank monitor the ballast liquid and adjust its volume in real time.

[0031] In the control method of the aforementioned control system, preferably, the ballast fluid for pre-load transfer accounts for 20%-50% of the total volume of the ballast fluid for complete load transfer.

[0032] The control method of the control system, preferably, after step 21), also includes the step of "evaluating the workstation of the control device to collect information on valves and centrifugal pumps, determining whether the hardware of each instrument is normal, and if there is a hardware failure, activating the emergency air compressor for emergency load adjustment, and completing the transfer of liquid inside each ballast tank through the air pressure difference".

[0033] The present invention has the following advantages due to the adoption of the above technical solutions:

[0034] 1. Improving wind turbine power generation efficiency: Compared to previous wind turbine attitude control systems, this invention employs a feedforward control method based on ocean-atmosphere forecasts, initiating control intervention before significant changes in the marine environment occur. This solves the problem of intervention lag in existing attitude control methods. Furthermore, the attitude control system described in this invention can predict the duration of environmental changes based on ocean-atmosphere forecast information, enabling the determination of control intervention and withdrawal times, thus mitigating the power losses caused by attitude control in existing control systems due to short-term environmental changes.

[0035] 2. Safety control mechanism: Compared with previous wind turbine control systems, the attitude control system described in this invention predicts short-term environmental information and motion response information by collecting on-site environmental and wind turbine attitude information, and promptly corrects or terminates the control strategy, further ensuring the rationality and safety of the wind turbine attitude control strategy, forming an effective safety control mechanism, and solving the problem of lack of real-time safety intervention in the control stage of existing control systems.

[0036] 3. Emergency Ballast Adjustment Drive: Compared with previous wind turbine control systems, the attitude control system described in this invention takes into account the ballast fluid adjustment method in case of pump system failure or other emergency situations. By adjusting the internal pressure of the ballast tank through the air compressor system installed on the top of the column, the ballast fluid flow is driven and accelerated to complete the ballast water adjustment operation. Attached Figure Description

[0037] Figure 1 This is a schematic diagram of the structure of the wind turbine feedforward attitude control system according to an embodiment of the present invention;

[0038] Figure 2 This is a schematic diagram of the ballast tank structure of the wind turbine feedforward attitude control system according to an embodiment of the present invention;

[0039] Figure 3 This is a schematic diagram of the structure of the ballast evaluation control device of the wind turbine feedforward attitude control system according to an embodiment of the present invention;

[0040] Figure 4 This is a preload adjustment flowchart of the wind turbine feedforward attitude control system according to an embodiment of the present invention;

[0041] Figure 5 This is a flowchart illustrating the control scheme modification and exit process of the wind turbine feedforward attitude control system according to an embodiment of the present invention.

[0042] Labels for each item in the figure:

[0043] 1. Fixed ballast tanks; 2. Adjustable ballast tanks; 3. Ballast piping; 4. Air compressor; 5. Assessment and control devices;

[0044] 6. Wind speed and direction instrument; 7. Ocean-atmosphere forecast receiving device; 8. Wave measurement device; 9. Ocean current profile measurement device;

[0045] 10. Valves; 11. Centrifugal pumps; 12. Telemetry device for liquid level; 13. Draft sensor for fixed ballast tanks;

[0046] 14. Adjustable ballast tank draft sensor; 15. Power supply; 16. Workstation; 17. Tilt sensor;

[0047] 18. Partition; 19. Inertial navigation angular acceleration measuring device; 20. Positioning device; 21. Box body. Detailed Implementation

[0048] To make the objectives, technical solutions, and advantages of this invention clearer, the technical solutions of this invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of this invention. All other embodiments obtained by those skilled in the art based on the embodiments of this invention without creative effort are within the scope of protection of this invention.

[0049] In the description of this invention, it should be noted that the terms "above", "below", "top" and "bottom" indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the system or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limiting this invention.

[0050] In the description of this invention, it should be noted that, unless otherwise explicitly specified and limited, the terms "set up," "equipped with," and "installed" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this invention based on the specific circumstances.

[0051] A floating wind turbine feedforward attitude control system based on ocean-atmosphere forecasting includes an ocean and weather forecast information receiving device, a wind turbine on-site monitoring device, a ballast tank liquid level adjustment device, and an evaluation control device.

[0052] The marine and weather information receiving device is installed on the floating base of the wind turbine and is used to receive satellite signals for marine and weather forecast information.

[0053] The wind turbine on-site monitoring device includes wind turbine response monitoring and environmental monitoring. It is installed on the floating body of the floating wind turbine and is used to monitor the real-time six-degree-of-freedom motion information and environmental information of the floating wind turbine.

[0054] The ballast tank liquid level adjustment device is installed inside the ballast tank device and is used to measure and adjust the ballast tank liquid level.

[0055] The assessment and control device is installed inside the floating wind turbine. It can formulate attitude control pre-load adjustment schemes, correct attitude control schemes, and formulate control exit schemes based on the information received by the marine and weather information receiving device, the wind turbine on-site monitoring device, and the ballast tank liquid level adjustment device. The assessment and control device is connected to the ballast tank liquid level adjustment device to complete the transfer of ballast liquid.

[0056] Preferably, in the floating wind turbine feedforward attitude control system based on ocean-atmosphere forecasting, the ocean and weather forecast information acquisition device is installed above the floating body of the floating wind turbine to receive long-term or medium-term wind speed and direction information, wave height and period information, and ocean current speed and direction information.

[0057] The floating wind turbine's feedforward attitude control system utilizes ocean-atmosphere forecast information to estimate the environmental loads on the floating wind turbine, uses an evaluation control device to determine the pressure regulation control scheme, and then uses a ballast pump system to transfer ballast fluid to achieve feedforward attitude control. Simultaneously, based on the wind turbine attitude monitoring system and environmental information monitoring system, the control strategy is evaluated in real time, and the wind turbine attitude control scheme is corrected in real time to improve attitude control safety. The floating wind turbine, based on the attitude control system, can maintain the turbine in the optimal windward position, improving the turbine's power generation efficiency while ensuring the structural safety of the turbine under harsh sea conditions. Furthermore, the system includes an air compressor to ensure the attitude recovery capability of the control system under emergency conditions.

[0058] The following is a detailed description, with reference to the accompanying drawings, of a floating wind turbine feedforward attitude control system based on ocean-atmosphere forecasting provided by an embodiment of the present invention.

[0059] like Figure 1 , Figure 2 and Figure 3 As shown, a floating wind turbine feedforward attitude control system based on ocean-atmosphere forecasting includes an ocean and weather forecast information receiving device, a wind turbine on-site monitoring device, a ballast tank liquid level adjustment device, and an evaluation control device.

[0060] The ballast tank liquid level adjustment device is installed inside the ballast tank device and is used to measure and adjust the liquid level height of the ballast tank. The ballast tank device includes a fixed ballast tank 1 and an adjustable ballast tank 2, with the fixed ballast tank 1 located below the adjustable ballast tank 2.

[0061] The ballast tank liquid level adjustment device includes a liquid level telemetry device 12, a fixed ballast tank draft sensor 13, an adjustable ballast tank draft sensor 14, a centrifugal pump 11, a ballast pipeline 3, a valve 10, and an air compressor 4. The liquid level telemetry device 12 is installed on the top of the adjustable ballast tank 2. The fixed ballast tank draft sensor 13 is installed at the bottom of the fixed ballast tank 1. The adjustable ballast tank draft sensor 14 is installed at the bottom of the adjustable ballast tank 2. The centrifugal pump 11 is installed inside the adjustable ballast tank 2. The centrifugal pump 11 is connected to the ballast pipeline 3. The valve 10 is installed on the ballast pipeline 3. The air compressor 4 is installed on the top of the adjustable ballast tank 2.

[0062] The marine and weather information receiving device 7 is installed on the wind turbine float and is used to receive long-term or medium-term satellite signals of wind speed and direction, wave height and period, and ocean current speed and direction. The long-term period is 1 to 3 days, and the medium-term period is 3 to 7 hours.

[0063] The wind turbine on-site monitoring device is installed on the floating body of the floating wind turbine and is used to monitor the real-time six-degree-of-freedom motion information and environmental information of the floating wind turbine. The real-time six-degree-of-freedom motion information includes latitude and longitude, altitude, and the roll, pitch, yaw and rotation acceleration of the floating body foundation.

[0064] The wind turbine on-site monitoring device includes an anemometer 6, an inertial navigation angle acceleration measuring device 19, an inclination sensor 17, a positioning device 20, a current profile measuring device 9, and a wave radar 8. The anemometer 6 is installed on top of the wind turbine column, the inertial navigation angle acceleration measuring device 19 is installed at the bottom of the wind turbine column, the wave radar 8 is located on the outside of the wind turbine column, and the current profile measuring device 9 is located at the bottom of the wind turbine column. The positioning device 20 is a GPS or Beidou positioning device, and the inclination sensor 17 and the positioning device 20 are located within the evaluation and control device 5.

[0065] The evaluation control device 5 is installed inside the wind turbine structure. It can formulate an attitude control pre-load adjustment scheme by combining information received by the marine and weather forecast information receiving device and information measured by the ballast tank liquid level adjustment device; it can correct the attitude control scheme by combining information received by the environmental information monitoring device, the wind turbine on-site monitoring device and the ballast tank liquid level adjustment device; it can formulate a control exit scheme by combining information received by the marine and weather forecast information receiving device, the environmental information monitoring device and the ballast tank liquid level adjustment device; and it can connect the centrifugal pump 11 and the valve 10 to complete the transfer of ballast liquid.

[0066] The evaluation control device 5 includes a housing 21, a power supply 15, and a workstation 16. The housing 21 has a partition 18 inside, and the workstation 16, the inertial navigation angle acceleration measuring device 19, the tilt sensor 17, and the positioning device 20 are mounted on the partition 18. The power supply 15 is located below the partition 18.

[0067] like Figure 4 and Figure 5 As shown, a control method for a floating wind turbine feedforward attitude control system based on ocean-atmosphere forecasting specifically includes a pre-load adjustment stage and a control scheme correction and exit stage, with each stage specifically including the following steps:

[0068] 1) Pre-load adjustment stage, the specific evaluation conditions for the pre-load adjustment stage are as follows:

[0069] 11) Receive medium- and long-term marine environmental condition forecasts for the wind turbine service area through the ocean-atmosphere forecast receiving device 7;

[0070] 12) The evaluation control system workstation 16 collects information from valve 10 and centrifugal pump 11 to determine whether the hardware of each instrument is normal. If there is a hardware failure, attitude control is abandoned. If all system hardware is normal, proceed to the next step.

[0071] 13) The evaluation control system workstation 16 generates a pre-load adjustment scheme based on medium- and long-term marine environmental condition prediction information;

[0072] 14) Evaluate whether the control scheme of the control system workstation 16 meets the requirement that the increased power generation after control intervention is greater than the power consumption of the control system. If it does not meet the requirement, abandon the load control. If it does meet the requirement, proceed to the next step.

[0073] 15) Evaluation control system workstation 16 After the implementation of the control scheme, evaluate whether the extreme values ​​of the six degrees of freedom motion of the wind turbine, the six degrees of freedom acceleration, and the mooring force meet the platform service safety indicators. If they do not meet the requirements, abandon the load control. If they meet the requirements, proceed to the next step.

[0074] 16) The evaluation control system workstation 16 controls valves 10 and centrifugal pumps 11 to transfer ballast liquid inside each adjustable ballast tank 2. The pre-load transfer ballast liquid accounts for 20%-50% of the total volume of the ballast liquid. The liquid level telemetry device 12 and the fixed ballast tank draft sensor 13 monitor the ballast liquid adjustment volume in real time.

[0075] 17) Obtain environmental monitoring information through the wind speed and direction instrument 6, wave measurement device 8 and ocean current profile measurement device 9, and obtain wind turbine response information through the tilt sensor 17, inertial navigation angular acceleration measurement device 19 and positioning device 20. Determine the accuracy of medium- and long-term marine environmental condition prediction information. If the accuracy of medium- and long-term marine environmental condition prediction information does not meet the requirements, correct the attitude control strategy and return to S4 to regenerate the pre-load adjustment scheme. If the requirements are met, proceed to the next step.

[0076] 2) Control scheme modification and exit phase, the specific evaluation conditions for the control scheme modification and exit phase are as follows:

[0077] 21) The evaluation control system workstation 16 controls valves 10 and centrifugal pumps 11 to transfer the ballast liquid inside each adjustable ballast tank 2, and gradually transfers the ballast liquid.

[0078] 22) The evaluation control system workstation 16 collects information from valve 10 and centrifugal pump 11 to determine whether the hardware of each instrument is normal. If there is a hardware failure, the emergency air compressor is activated for emergency load adjustment. The liquid transfer inside each ballast tank is completed through the air pressure difference. If the hardware of each system is normal, proceed to the next step.

[0079] 23) Obtain environmental monitoring information through the wind speed and direction instrument 6, wave measurement device 8 and ocean current profile measurement device 9, and obtain wind turbine response information through the tilt sensor 17, angular acceleration measurement device 19 and positioning system 20. Evaluate the wind turbine service status and environmental information during the transfer process, and determine whether the extreme values ​​of wind, waves, current, wind turbine six degrees of freedom motion, six degrees of freedom acceleration and mooring force meet the platform service safety indicators. If they do not meet the requirements, modify the control scheme. After evaluating the modified scheme, return to S8. If they meet the requirements, proceed to the next step.

[0080] 24) Obtain environmental monitoring information through the wind speed and direction instrument 6, wave measurement device 8 and ocean current profile measurement device 9, and determine whether the predicted end time of environmental changes in the medium and long-term marine environmental conditions prediction information is accurate. If it is not accurate, revise the control scheme, evaluate the revised scheme and return to S8. If it is accurate, gradually exit control according to the control strategy and return the ballast liquid in each ballast tank to the initial state.

[0081] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and not to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features; and these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A control method based on a feedforward attitude control system for a floating wind turbine, characterized in that, The floating wind turbine feedforward attitude control system includes a marine and weather forecast information receiving device, a wind turbine on-site monitoring device, a ballast tank liquid level adjustment device, and an evaluation control device. The marine and weather forecast information receiving device is installed on the floating base of the wind turbine and is used to receive satellite signals for marine and weather forecast information; The wind turbine on-site monitoring device includes wind turbine response monitoring and environmental monitoring. It is installed on the floating body of the floating wind turbine and is used to monitor the real-time six-degree-of-freedom motion information and environmental information of the floating wind turbine. The ballast tank liquid level adjustment device is installed inside the ballast tank device and is used to measure and adjust the ballast tank liquid level. The assessment and control device is installed inside the floating wind turbine. It can formulate attitude control pre-load adjustment scheme, correct attitude control scheme and formulate control exit scheme based on the information received by the marine and weather forecast information receiving device, the wind turbine on-site monitoring device and the ballast tank liquid level adjustment device. The assessment and control device is connected to the ballast tank liquid level adjustment device to complete the transfer of ballast liquid. The marine and weather forecast information receiving device is installed above the floating base of the floating wind turbine and is used to receive long-term or medium-term wind speed and direction information, wave height and period information, and ocean current speed and direction information. The wind turbine on-site monitoring device includes an inertial navigation angular acceleration measuring device, an tilt sensor, a GPS or Beidou positioning device, an anemometer and a wave measuring radar, used to monitor the real-time response and environmental information of the floating wind turbine. Specifically, it includes the following stages: 1) Pre-load adjustment stage, the specific evaluation conditions for the pre-load adjustment stage are as follows: 11) Receive long-term or medium-term marine environment and weather condition forecast information satellite signals through marine and weather forecast information receiving devices; 12) The evaluation control device collects information from the ballast tank liquid level adjustment device to determine whether the valve system and pump system are normal. If there is a hardware failure, attitude control is abandoned. If all system hardware is normal, the evaluation control device's workstation generates a pre-load adjustment plan. 13) The pre-load adjustment scheme generated by the workstation of the evaluation control device is evaluated to see if the increased power generation after control intervention is greater than the power consumption of the control system. If it is not satisfied, the load adjustment control is abandoned; if it is satisfied, the pre-load adjustment scheme is implemented. 14) After the workstation of the evaluation control device implements the pre-load adjustment scheme, whether the extreme values ​​of the six degrees of freedom motion of the wind turbine, the six degrees of freedom acceleration and the mooring force meet the service safety indicators of the platform. If they do not meet the requirements, the load adjustment control is abandoned. If they meet the requirements, the volume of ballast liquid in the ballast tank device is adjusted by the ballast tank liquid level adjustment device to complete the pre-load adjustment transfer of ballast liquid. 15) The wind turbine field monitoring device obtains real-time environmental and response information of the floating wind turbine, predicts short-term data based on the measured information, and then judges the accuracy of the medium- and long-term marine environment and weather condition prediction information received by the marine and weather forecast information receiving device. If the accuracy of the medium- and long-term marine environment condition prediction information does not meet the requirements, the attitude control strategy is corrected and the pre-load adjustment scheme is regenerated. If the requirements are met, the control scheme correction and exit stage is entered. 2) Control scheme modification and exit phase, the specific evaluation conditions for the control scheme modification and exit phase are as follows: 21) The workstation of the evaluation control device transfers the ballast liquid through the ballast tank liquid level adjustment device until the complete transfer of the ballast liquid is completed. 22) Obtain short-term marine environment and weather conditions forecast information through environmental monitoring data, obtain wind turbine response information through wind turbine on-site monitoring device, evaluate environmental information and wind turbine status during transfer, and determine whether the extreme values ​​of wind, waves, current, wind turbine six degrees of freedom motion, six degrees of freedom acceleration and mooring force meet the platform service safety indicators. If not, modify the control scheme. After evaluating and modifying the scheme, the workstation of the evaluation control device continues to adjust the ballast liquid inside the ballast tank device through the ballast tank liquid level adjustment device. 23) Obtain short-term marine environmental and weather condition forecasts through environmental monitoring, and determine whether the forecasts of the end time of environmental changes in the medium- and long-term marine environmental conditions are accurate. If not, revise the control plan. After evaluating the revised plan, the workstation of the evaluation control device continues to adjust the ballast liquid inside the ballast tank device through the ballast tank liquid level adjustment device. If accurate, gradually withdraw from control according to the control strategy and return the ballast liquid in each ballast tank to the initial state.

2. The control method for the feedforward attitude control system of the floating wind turbine according to claim 1, characterized in that, The ballast tank device includes a fixed ballast tank and an adjustable ballast tank, with the fixed ballast tank located below the adjustable ballast tank.

3. The control method for the feedforward attitude control system of the floating wind turbine according to claim 2, characterized in that, The ballast tank liquid level adjustment device includes a liquid level telemetry device, a fixed ballast tank draft sensor, an adjustable ballast tank draft sensor, a centrifugal pump, ballast pipeline, valves, and an air compressor. The liquid level telemetry device is located at the top of the adjustable ballast tank. The fixed ballast tank draft sensor is located at the bottom of the fixed ballast tank. The adjustable ballast tank draft sensor is located at the bottom of the adjustable ballast tank. The centrifugal pump is located inside the adjustable ballast tank and is connected to the ballast pipeline. The valve is located on the ballast pipeline. The air compressor is located at the top of the adjustable ballast tank.

4. The control method for the feedforward attitude control system of the floating wind turbine according to claim 3, characterized in that, The evaluation control device includes a housing, a power supply, a computer workstation, and an angular acceleration measuring device. The power supply, the computer workstation, the angular acceleration measuring device, the tilt sensor, and the positioning device are located inside the housing.

5. The control method for the feedforward attitude control system of a floating wind turbine according to any one of claims 1 to 4, characterized in that, Step 14 above specifically includes: The workstation valves and centrifugal pumps of the evaluation control unit can transfer the ballast fluid inside the ballast tank; The liquid level telemetry device and the draft sensor of the fixed ballast tank monitor the ballast liquid and adjust its volume in real time.

6. The control method for the feedforward attitude control system of the floating wind turbine according to claim 5, characterized in that, The ballast fluid used for pre-load transfer accounts for 20%-50% of the total volume of ballast fluid used in the complete load transfer.

7. The control method for the feedforward attitude control system of the floating wind turbine according to claim 6, characterized in that, Step 21) is followed by the step "Evaluate the workstation of the control device to collect information on valves and centrifugal pumps, determine whether the hardware of each instrument is normal, and if there is a hardware failure, activate the emergency air compressor to perform emergency load adjustment, and complete the transfer of liquid inside each ballast tank through the air pressure difference".

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