Shutdown coordinated control method and system for offshore dual-rotor floating wind turbines

Abstract

The present invention discloses a shutdown coordinated control method and system for an offshore dual-rotor floating wind turbine, comprising: when any one wind rotor enters the shutdown logic, the other wind rotor is triggered to synchronously enter the same shutdown logic; when the two wind rotors are in the shutdown process, the average pitch angle of one wind rotor is greater than the average pitch angle of the other wind rotor, and the average pitch angles of the two wind rotors are synchronized by correcting the shutdown pitch rate of a certain wind rotor; when the two wind rotors are in the shutdown process, the rotational speed of one wind rotor is greater than the rotational speed of the other wind rotor, and the rotational speeds of the two wind rotors are synchronized by correcting the shutdown generator torque command of a certain wind rotor. When one wind rotor enters the shutdown logic, the present invention triggers the other wind rotor to enter the same shutdown logic, and by adjusting the shutdown pitch rate and the generator torque command mode, the pitch angles and rotational speeds of the two wind rotors are synchronized during the shutdown process.

Description

Technical Field

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

[0002] An offshore twin-rotor floating wind turbine uses two wind turbines sharing a floating foundation platform and is connected to the seabed through a mooring system. For a twin-rotor floating wind turbine, when one wind turbine fails and shuts down, if the other wind turbine continues to operate independently, the turbine will generate a large unbalanced load, so it should be ensured that both wind turbines enter the shutdown logic together. Under the influence of turbulence, the pitch angle and speed of the two wind turbines are different when they shut down, and the shutdown processes of the two wind turbines are controlled independently of each other, which results in a synchronization deviation between the pitch angle and speed of the two wind turbines throughout the entire shutdown process. The synchronization deviation between the two wind turbines during the shutdown process will generate a large unbalanced load, so it is necessary to coordinate the two wind turbines to achieve synchronization during the shutdown process. Summary of the Invention

[0003] The first purpose of the present invention is to overcome the shortcomings and deficiencies of the prior art and to provide a shutdown coordinated control method for an offshore dual-rotor floating wind turbine. When one wind rotor enters the shutdown logic, it triggers the other wind rotor to enter the same shutdown logic, and by adjusting the shutdown pitch rate and the generator torque command method, the pitch angles and speeds of the two wind rotors are synchronized during the shutdown process.

[0004] A second object of the present invention is to provide a shutdown coordinated control system for an offshore dual-wind-rotor floating wind turbine generator set.

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

[0006] A 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 shutdown coordinated control method for an offshore dual-rotor floating wind turbine generator system, performing the following operations:

[0008] When any wind rotor enters the shutdown logic, it triggers the other wind rotor to enter the same shutdown logic synchronously to ensure that the two wind rotors shut down synchronously;

[0009] During the shutdown process of the two wind rotors, the average pitch angle of one wind rotor is greater than the average pitch angle of the other wind rotor. By correcting the shutdown pitch rate of one wind rotor, the average pitch angles of the two wind rotors are synchronized to balance the loads of the two wind rotors.

[0010] When the two wind rotors are shut down, the speed of one wind rotor is greater than that of the other wind rotor. By correcting the shutdown generator torque command of one wind rotor, the speeds of the two wind rotors are synchronized to balance the loads of the two wind rotors.

[0011] Furthermore, by setting the shutdown status flag of each wind rotor, the two wind rotors are coordinated and controlled to enter the shutdown logic together. The specific steps are as follows:

[0012] a. If the normal shutdown status flag of the left wind rotor is detected to be true, indicating that the left wind rotor is in the normal shutdown process, then the normal shutdown status flag of the right wind rotor is set to true simultaneously, triggering the right wind rotor to enter the normal shutdown process. The specific definitions are as follows:

[0013]

[0014] In the above formula, Indicates the normal shutdown status flag of the right wind wheel, which is a Boolean logical variable; Indicates the normal shutdown status flag of the left wind wheel, which is a Boolean logical variable; if indicates conditional judgment; := indicates assignment operation;

[0015] b. If the normal shutdown status flag of the right wind rotor is detected to be true, indicating that the right wind rotor is in the normal shutdown process, the normal shutdown status flag of the left wind rotor is set to true simultaneously, triggering the left wind rotor to enter the normal shutdown process. The specific definitions are as follows:

[0016]

[0017] c. If the rapid shutdown status flag of the left wind rotor is detected to be true, indicating that the left wind rotor is in the rapid shutdown process, the rapid shutdown status flag of the right wind rotor is simultaneously set to true, triggering the right wind rotor to enter the rapid shutdown process. The specific definitions are as follows:

[0018]

[0019] In the above formula, Indicates the rapid shutdown status flag of the right wind wheel, which is a Boolean logical variable; Indicates the rapid shutdown status flag of the left wind wheel, which is a Boolean logical variable;

[0020] d. If the fast shutdown status flag of the right wind rotor is detected to be true, it indicates that the right wind rotor is in the fast shutdown process; then the fast shutdown status flag of the left wind rotor is set to true synchronously, triggering the left wind rotor to enter the fast shutdown process. The specific definitions are as follows:

[0021]

[0022] e. If the slow shutdown status flag of the left wind rotor is detected to be true, indicating that the left wind rotor is in the slow shutdown process, the slow shutdown status flag of the right wind rotor is set to true synchronously, triggering the right wind rotor to enter the slow shutdown process. The specific definitions are as follows:

[0023]

[0024] In the above formula, Indicates the slow shutdown status flag of the right wind wheel, which is a Boolean logical variable; Indicates the slow shutdown status flag of the left wind wheel, which is a Boolean logical variable;

[0025] f. If the slow shutdown status flag of the right wind rotor is detected to be true, indicating that the right wind rotor is in the slow shutdown process, the slow shutdown status flag of the left wind rotor is set to true synchronously, triggering the left wind rotor to enter the slow shutdown process. The specific definitions are as follows:

[0026]

[0027] g. If the grid power failure shutdown status flag of the left wind rotor is detected to be true, indicating that the left wind rotor is in the grid power failure shutdown process, the grid power failure shutdown status flag of the right wind rotor is simultaneously set to true, triggering the right wind rotor to enter the grid power failure shutdown process. The specific definitions are as follows:

[0028]

[0029] In the above formula, Indicates the grid power failure shutdown status flag of the right wind rotor, which is a Boolean logic variable; Indicates the grid power failure shutdown status flag of the left wind rotor, which is a Boolean logical variable;

[0030] h. If the grid power failure shutdown status flag of the right wind rotor is detected to be true, indicating that the right wind rotor is in the grid power failure shutdown process; then the grid power failure shutdown status flag of the left wind rotor is simultaneously set to true, triggering the left wind rotor to enter the grid power failure shutdown process. The specific definitions are as follows:

[0031]

[0032] i. If the safety shutdown status flag of the left wind rotor is detected to be true, indicating that the left wind rotor is in the safety shutdown process, the safety shutdown status flag of the right wind rotor is simultaneously set to true, triggering the right wind rotor to enter the safety shutdown process. The specific definitions are as follows:

[0033]

[0034] In the above formula, Indicates the safety shutdown status flag of the right wind wheel, which is a Boolean logical variable; Indicates the safety shutdown status flag of the left wind wheel, which is a Boolean logical variable;

[0035] j. If the safety shutdown status flag of the right wind rotor is detected to be true, indicating that the right wind rotor is in the safety shutdown process, the safety shutdown status flag of the left wind rotor is simultaneously set to true, triggering the left wind rotor to enter the safety shutdown process. The specific definitions are as follows:

[0036]

[0037] Furthermore, when a twin-rotor floating offshore wind turbine is shut down, the hub center wind speeds of the left and right rotors are not exactly the same. Therefore, the average pitch angles of the left and right rotors at the time of shutdown are necessarily different. Moreover, because the two rotors are shut down at different times, the average pitch angles of the left and right rotors during the shutdown process are not synchronized. During the shutdown process, the asynchronous average pitch angles of the two rotors will cause uneven loading of the turbine and lead to extreme load.

[0038] Set the shutdown status flag of the left wind wheel to: When the left wind wheel is in any shutdown state, the shutdown status flag of the left wind wheel is set to true. The specific definition is as follows:

[0039]

[0040] In the above formula, f L Indicates the shutdown status flag of the left wind wheel; Indicates the normal shutdown status flag of the left wind wheel; Indicates the rapid shutdown status flag of the left wind wheel; Indicates the slow shutdown status flag of the left wind wheel; Indicates the power failure and shutdown status flag of the left wind turbine; Indicates the safety shutdown status flag of the left wind wheel; or represents the logical "or" operation;

[0041] Set the shutdown status flag of the right wind wheel to: When the right wind wheel is in any shutdown state, the shutdown status flag of the right wind wheel is set to true. The specific definition is as follows:

[0042]

[0043] In the above formula, f R Indicates the shutdown status flag of the right wind wheel; Indicates the normal shutdown status flag of the right wind wheel; Indicates the rapid shutdown status flag of the right wind wheel; Indicates the slow shutdown status flag of the right wind wheel; Indicates the grid power failure shutdown status flag of the right wind rotor; Indicates the safe shutdown status flag of the right wind wheel;

[0044] When both the left and right wind rotors are in the shutdown state, and the average pitch angle of the left wind rotor is greater than the average pitch angle of the right wind rotor, the shutdown rate of the left wind rotor is reduced until the average pitch angles of the left and right wind rotors reach the allowable synchronization deviation, which is specifically defined as follows:

[0045]

[0046] In the above formula, Indicates the shutdown pitch rate command of the left wind rotor after correction; μ indicates the synchronous pitch rate reduction factor, which is a positive number less than 1; Indicates the original shutdown pitch rate command output by the left wind rotor controller; Indicates the average pitch angle of the three blades of the left wind rotor; Indicates the average pitch angle of the three blades of the right wind rotor; ε indicates the allowable pitch synchronization deviation; if indicates conditional judgment; and indicates logical "and" operation; else indicates other situations;

[0047] When both the left and right wind rotors are in the shutdown state, and the average pitch angle of the right wind rotor is greater than the average pitch angle of the left wind rotor, the shutdown rate of the right wind rotor is reduced until the average pitch angles of the left and right wind rotors reach the allowable synchronization deviation, which is specifically defined as follows:

[0048]

[0049] In the above formula, Indicates the right wind rotor shutdown pitch rate instruction after correction; Indicates the original shutdown pitch rate command output by the right wind rotor controller.

[0050] Furthermore, when a twin-rotor floating offshore wind turbine is shut down, the wind speeds at the hub centers of the left and right rotors are not exactly the same. Therefore, the rotational speeds of the left and right rotors at the moment of shutdown are necessarily different. Furthermore, because the two rotors are shut down at different times, the rotational speeds of the left and right rotors during the shutdown process are not synchronized. During the shutdown process, the asynchronous rotational speeds of the two rotors will cause uneven loading of the turbine and result in extreme load.

[0051] When both the left and right wind rotors are in the shutdown state and the speed of the left wind rotor is greater than that of the right wind rotor, the generator torque command of the left wind rotor is increased until the speeds of the left and right wind rotors reach the allowable synchronization deviation, which is specifically defined as follows:

[0052]

[0053] In the above formula, It represents the torque command of the generator after the left wind rotor is corrected; η represents the synchronous torque command boost factor, which is a positive number greater than 1; represents the original shutdown generator torque command output by the left wind rotor controller; f L Indicates the shutdown status flag of the left wind wheel; f R Indicates the shutdown status flag of the right wind wheel; ω L Indicates the speed of the left wind wheel after filtering; ω R Indicates the speed of the right wind wheel after filtering; δ indicates the allowable speed synchronization deviation; if indicates conditional judgment; and indicates logical "and" operation; else indicates other situations;

[0054] When both the left and right wind rotors are in the shutdown state and the speed of the right wind rotor is greater than that of the left wind rotor, the generator torque command of the right wind rotor is increased until the speeds of the left and right wind rotors reach the allowable synchronization deviation, which is specifically defined as follows:

[0055]

[0056] In the above formula, Indicates the torque command for the generator to stop after the right wind wheel is corrected; Represents the original shutdown generator torque command output by the right wind rotor controller.

[0057] The second object of the present invention is achieved by the following technical solution: a shutdown coordinated control system for an offshore twin-rotor floating wind turbine, used to implement the above-mentioned shutdown coordinated control method for the offshore twin-rotor floating wind turbine, comprising:

[0058] The coordinated shutdown control module is used to trigger the other wind rotor to enter the same shutdown logic when any wind rotor enters the shutdown logic, so as to ensure that the two wind rotors shut down synchronously;

[0059] The synchronous pitch control module is used when the average pitch angle of one wind rotor is greater than that of the other wind rotor during the shutdown process of the two wind rotors. By correcting the shutdown pitch rate of one wind rotor, the average pitch angles of the two wind rotors are synchronized to balance the loads of the two wind rotors.

[0060] The synchronous speed control module is used when the speed of one wind wheel is greater than that of the other wind wheel during the shutdown process of the two wind wheels. By correcting the shutdown generator torque command of a certain wind wheel, the speed of the two wind wheels is synchronized to balance the load of the two wind wheels.

[0061] The third object of the present invention is achieved through the following technical solution: a storage medium stores a program, and when the program is executed by a processor, it implements the above-mentioned shutdown coordinated control method of the offshore dual-wind-rotor floating wind turbine set.

[0062] The fourth purpose of the present invention is achieved through the following technical solution: a computing device, comprising a processor and a memory for storing a program executable by the processor, wherein when the processor executes the program stored in the memory, the above-mentioned shutdown coordinated control method of the offshore dual-wind-rotor floating wind turbine set is implemented.

[0063] Compared with the prior art, the present invention has the following advantages and beneficial effects:

[0064] 1. The present invention is aimed at a wind rotor of an offshore dual-rotor floating wind turbine set entering a shutdown logic, and can coordinate the other wind rotors to synchronously enter the same shutdown logic, thereby avoiding the extreme load of the unit caused by the independent operation of a single wind rotor.

[0065] 2. The present invention addresses the problem of asynchronous pitch angles of the two wind rotors during the shutdown process and can correct the shutdown pitch rate of one wind rotor so that the average pitch angles of the two wind rotors are synchronized to balance the loads of the two wind rotors.

[0066] 3. In view of the asynchronous impeller rotation speeds of the two wind wheels during the shutdown process, the present invention can correct the generator torque instruction of one wind wheel so that the rotation speeds of the two wind wheels are synchronized to balance the loads of the two wind wheels. BRIEF DESCRIPTION OF THE DRAWINGS

[0067] Figure 1 This is an architecture diagram of the system of the present invention. DETAILED DESCRIPTION

[0068] The present invention will be described in further detail below with reference to the embodiments and drawings, but the embodiments of the present invention are not limited thereto.

[0069] Example 1

[0070] This embodiment discloses a shutdown coordinated control method for an offshore dual-rotor floating wind turbine generator system, which is characterized by performing the following operations:

[0071] A. When any wind rotor enters the shutdown logic, it triggers the other wind rotor to enter the same shutdown logic synchronously to ensure that the two wind rotors are shut down synchronously to avoid the unit's extreme load caused by the independent operation of a single wind rotor. The specific situation is as follows:

[0072] By setting the shutdown status flag of each wind rotor, the two wind rotors are coordinated and controlled to enter the shutdown logic together. The specific steps are as follows:

[0073] a. If the normal shutdown status flag of the left wind rotor is detected to be true, indicating that the left wind rotor is in the normal shutdown process, then the normal shutdown status flag of the right wind rotor is set to true simultaneously, triggering the right wind rotor to enter the normal shutdown process. The specific definitions are as follows:

[0074]

[0075] In the above formula, Indicates the normal shutdown status flag of the right wind wheel, which is a Boolean logical variable; Indicates the normal shutdown status flag of the left wind wheel, which is a Boolean logical variable; if indicates conditional judgment; := indicates assignment operation;

[0076] b. If the normal shutdown status flag of the right wind rotor is detected to be true, indicating that the right wind rotor is in the normal shutdown process, the normal shutdown status flag of the left wind rotor is simultaneously set to true, triggering the left wind rotor to enter the normal shutdown process. The specific definitions are as follows:

[0077]

[0078] c. If the rapid shutdown status flag of the left wind rotor is detected to be true, indicating that the left wind rotor is in the rapid shutdown process, the rapid shutdown status flag of the right wind rotor is simultaneously set to true, triggering the right wind rotor to enter the rapid shutdown process. The specific definitions are as follows:

[0079]

[0080] In the above formula, Indicates the rapid shutdown status flag of the right wind wheel, which is a Boolean logical variable; Indicates the rapid shutdown status flag of the left wind wheel, which is a Boolean logical variable;

[0081] d. If the fast shutdown status flag of the right wind rotor is detected to be true, it indicates that the right wind rotor is in the fast shutdown process; then the fast shutdown status flag of the left wind rotor is set to true synchronously, triggering the left wind rotor to enter the fast shutdown process. The specific definitions are as follows:

[0082]

[0083] e. If the slow shutdown status flag of the left wind rotor is detected to be true, indicating that the left wind rotor is in the slow shutdown process, the slow shutdown status flag of the right wind rotor is set to true synchronously, triggering the right wind rotor to enter the slow shutdown process. The specific definitions are as follows:

[0084]

[0085] In the above formula, Indicates the slow shutdown status flag of the right wind wheel, which is a Boolean logical variable; Indicates the slow shutdown status flag of the left wind wheel, which is a Boolean logical variable;

[0086] f. If the slow shutdown status flag of the right wind rotor is detected to be true, indicating that the right wind rotor is in the slow shutdown process, the slow shutdown status flag of the left wind rotor is set to true synchronously, triggering the left wind rotor to enter the slow shutdown process. The specific definitions are as follows:

[0087]

[0088] g. If the grid power failure shutdown status flag of the left wind rotor is detected to be true, indicating that the left wind rotor is in the grid power failure shutdown process, the grid power failure shutdown status flag of the right wind rotor is simultaneously set to true, triggering the right wind rotor to enter the grid power failure shutdown process. The specific definitions are as follows:

[0089]

[0090] In the above formula, Indicates the grid power failure shutdown status flag of the right wind rotor, which is a Boolean logic variable; Indicates the grid power failure shutdown status flag of the left wind rotor, which is a Boolean logical variable;

[0091] h. If the grid power failure shutdown status flag of the right wind rotor is detected to be true, indicating that the right wind rotor is in the grid power failure shutdown process; then the grid power failure shutdown status flag of the left wind rotor is simultaneously set to true, triggering the left wind rotor to enter the grid power failure shutdown process. The specific definitions are as follows:

[0092]

[0093] i. If the safety shutdown status flag of the left wind rotor is detected to be true, indicating that the left wind rotor is in the safety shutdown process, the safety shutdown status flag of the right wind rotor is simultaneously set to true, triggering the right wind rotor to enter the safety shutdown process. The specific definitions are as follows:

[0094]

[0095] In the above formula, Indicates the safety shutdown status flag of the right wind wheel, which is a Boolean logical variable; Indicates the safety shutdown status flag of the left wind wheel, which is a Boolean logical variable;

[0096] j. If the safety shutdown status flag of the right wind rotor is detected to be true, indicating that the right wind rotor is in the safety shutdown process, the safety shutdown status flag of the left wind rotor is simultaneously set to true, triggering the left wind rotor to enter the safety shutdown process. The specific definitions are as follows:

[0097]

[0098] B. When the two wind rotors are shut down, the average pitch angle of one wind rotor is greater than the average pitch angle of the other wind rotor. By correcting the shutdown pitch rate of one wind rotor, the average pitch angles of the two wind rotors can be synchronized to balance the loads of the two wind rotors. The specific situation is as follows:

[0099] When an offshore twin-rotor floating wind turbine is shut down, the hub center wind speeds of the left and right rotors are not exactly the same. Therefore, the average pitch angles of the left and right rotors at the time of shutdown are necessarily different. Moreover, because the two rotors are shut down at different times, the average pitch angles of the left and right rotors during the shutdown process are not synchronized. During the shutdown process, the unsynchronized average pitch angles of the two rotors will cause uneven loading of the turbine and lead to extreme load.

[0100] Set the shutdown status flag of the left wind wheel to: When the left wind wheel is in any shutdown state, the shutdown status flag of the left wind wheel is set to true. The specific definition is as follows:

[0101]

[0102] In the above formula, f L Indicates the shutdown status flag of the left wind wheel; Indicates the normal shutdown status flag of the left wind wheel; Indicates the rapid shutdown status flag of the left wind wheel; Indicates the slow shutdown status flag of the left wind wheel; Indicates the grid power failure shutdown status flag of the left wind rotor; Indicates the safety shutdown status flag of the left wind wheel; or represents the logical "or" operation;

[0103] Set the shutdown status flag of the right wind wheel to: When the right wind wheel is in any shutdown state, the shutdown status flag of the right wind wheel is set to true. The specific definition is as follows:

[0104]

[0105] In the above formula, f R Indicates the shutdown status flag of the right wind wheel; Indicates the normal shutdown status flag of the right wind wheel; Indicates the rapid shutdown status flag of the right wind wheel; Indicates the slow shutdown status flag of the right wind wheel; Indicates the grid power failure shutdown status flag of the right wind rotor; Indicates the safe shutdown status flag of the right wind wheel;

[0106] When both the left and right wind rotors are in the shutdown state, and the average pitch angle of the left wind rotor is greater than the average pitch angle of the right wind rotor, the shutdown rate of the left wind rotor is reduced until the average pitch angles of the left and right wind rotors reach the allowable synchronization deviation, which is specifically defined as follows:

[0107]

[0108] In the above formula, Indicates the shutdown pitch rate command of the left wind rotor after correction; μ indicates the synchronous pitch rate reduction factor, which is a positive number less than 1; Indicates the original shutdown pitch rate command output by the left wind rotor controller; Indicates the average pitch angle of the three blades of the left wind rotor; Indicates the average pitch angle of the three blades of the right wind rotor; ε indicates the allowable pitch synchronization deviation; if indicates conditional judgment; and indicates logical "and" operation; else indicates other situations;

[0109] When both the left and right wind rotors are in the shutdown state, and the average pitch angle of the right wind rotor is greater than the average pitch angle of the left wind rotor, the shutdown rate of the right wind rotor is reduced until the average pitch angles of the left and right wind rotors reach the allowable synchronization deviation, which is specifically defined as follows:

[0110]

[0111] In the above formula, Indicates the right wind rotor shutdown pitch rate instruction after correction; Indicates the original shutdown pitch rate command output by the right wind rotor controller.

[0112] C. When the two wind rotors are shut down, if the speed of one wind rotor is greater than that of the other wind rotor, the speed of the two wind rotors can be synchronized by correcting the shutdown generator torque command of one wind rotor to balance the loads of the two wind rotors. The specific definitions are as follows:

[0113] When a twin-rotor floating offshore wind turbine is shut down, the wind speeds at the hubs of the left and right rotors are not exactly the same. Therefore, the rotational speeds of the left and right rotors at the moment of shutdown are necessarily different. Furthermore, because the two rotors are triggered to shut down at different times, the rotational speeds of the left and right rotors are not synchronized during the shutdown process. During the shutdown process, the asynchronous rotational speeds of the two rotors can lead to uneven loading of the turbine and the occurrence of extreme loads.

[0114] When both the left and right wind rotors are in the shutdown state and the speed of the left wind rotor is greater than that of the right wind rotor, the generator torque command of the left wind rotor is increased until the speeds of the left and right wind rotors reach the allowable synchronization deviation, which is specifically defined as follows:

[0115]

[0116] In the above formula, It represents the torque command of the generator after the left wind rotor is corrected; η represents the synchronous torque command improvement factor, which is a positive number greater than 1; represents the original shutdown generator torque command output by the left wind rotor controller; f L Indicates the shutdown status flag of the left wind wheel; f R Indicates the shutdown status flag of the right wind wheel; ω L Indicates the speed of the left wind wheel after filtering; ω R Indicates the speed of the right wind wheel after filtering; δ indicates the allowable speed synchronization deviation; if indicates conditional judgment; and indicates logical "and" operation; else indicates other situations;

[0117] When both the left and right wind rotors are in the shutdown state and the speed of the right wind rotor is greater than that of the left wind rotor, the generator torque command of the right wind rotor is increased until the speeds of the left and right wind rotors reach the allowable synchronization deviation, which is specifically defined as follows:

[0118]

[0119] In the above formula, Indicates the torque command for the generator to stop after the right wind wheel is corrected; Represents the original shutdown generator torque command output by the right wind rotor controller.

[0120] Example 2

[0121] This embodiment discloses a shutdown coordinated control system for an offshore twin-rotor floating wind turbine, which is used to implement the shutdown coordinated control method for the offshore twin-rotor floating wind turbine described in Example 1. Figure 1 As shown, the system includes the following functional modules:

[0122] The coordinated shutdown control module is used to trigger the other wind rotor to enter the same shutdown logic when any wind rotor enters the shutdown logic, so as to ensure that the two wind rotors shut down synchronously;

[0123] The synchronous pitch control module is used when the average pitch angle of one wind rotor is greater than that of the other wind rotor during the shutdown process of the two wind rotors. By correcting the shutdown pitch rate of one wind rotor, the average pitch angles of the two wind rotors are synchronized to balance the loads of the two wind rotors.

[0124] The synchronous speed control module is used when the speed of one wind wheel is greater than that of the other wind wheel during the shutdown process of the two wind wheels. By correcting the shutdown generator torque command of a certain wind wheel, the speed of the two wind wheels is synchronized to balance the load of the two wind wheels.

[0125] Example 3

[0126] This embodiment discloses a storage medium storing a program. When the program is executed by a processor, the shutdown coordinated control method of the offshore dual-wind-rotor floating wind turbine set described in Example 1 is implemented.

[0127] 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, or the like.

[0128] Example 4

[0129] This embodiment discloses a computing device, including a processor and a memory for storing a program executable by the processor. When the processor executes the program stored in the memory, the shutdown coordinated control method of the offshore dual-wind-rotor floating wind turbine set described in Example 1 is implemented.

[0130] 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 a processor function.

[0131] The above embodiments are preferred implementation modes of the present invention, but the implementation modes of the present invention are not limited to the above embodiments. Any other changes, modifications, substitutions, combinations, and simplifications that do not deviate from the spirit and principles of the present invention should be considered as equivalent replacement methods and are included in the scope of protection of the present invention.

Claims

1. A shutdown coordinated control method for an offshore twin-rotor floating wind turbine generator system, characterized in that: Do the following: When any wind rotor enters the shutdown logic, it triggers the other wind rotor to enter the same shutdown logic synchronously to ensure that the two wind rotors shut down synchronously; During the shutdown process of the two wind rotors, the average pitch angle of one wind rotor is greater than the average pitch angle of the other wind rotor. By correcting the shutdown pitch rate of one wind rotor, the average pitch angles of the two wind rotors are synchronized to balance the loads of the two wind rotors. When the two wind rotors are shut down, the speed of one wind rotor is greater than that of the other wind rotor. By correcting the shutdown generator torque command of one wind rotor, the speeds of the two wind rotors are synchronized to balance the loads of the two wind rotors. When an offshore twin-rotor floating wind turbine is shut down, the hub center wind speeds of the left and right rotors are not exactly the same. Therefore, the average pitch angles of the left and right rotors at the time of shutdown are necessarily different. Moreover, because the two rotors are shut down at different times, the average pitch angles of the left and right rotors during the shutdown process are not synchronized. During the shutdown process, the unsynchronized average pitch angles of the two rotors will cause uneven loading of the turbine and lead to extreme load. Set the shutdown status flag of the left wind wheel to: When the left wind wheel is in any shutdown state, the shutdown status flag of the left wind wheel is set to true. The specific definition is as follows: In the above formula, f L Indicates the shutdown status flag of the left wind wheel; Indicates the normal shutdown status flag of the left wind wheel; Indicates the rapid shutdown status flag of the left wind wheel; Indicates the slow shutdown status flag of the left wind wheel; Indicates the grid power failure shutdown status flag of the left wind rotor; Indicates the safety shutdown status flag of the left wind wheel; or represents the logical "or" operation; Set the shutdown status flag of the right wind wheel to: When the right wind wheel is in any shutdown state, the shutdown status flag of the right wind wheel is set to true. The specific definition is as follows: In the above formula, f R Indicates the shutdown status flag of the right wind wheel; Indicates the normal shutdown status flag of the right wind wheel; Indicates the rapid shutdown status flag of the right wind wheel; Indicates the slow shutdown status flag of the right wind wheel; Indicates the grid power failure shutdown status flag of the right wind rotor; Indicates the safe shutdown status flag of the right wind wheel; When both the left and right wind rotors are in the shutdown state, and the average pitch angle of the left wind rotor is greater than the average pitch angle of the right wind rotor, the shutdown rate of the left wind rotor is reduced until the average pitch angles of the left and right wind rotors reach the allowable synchronization deviation, which is specifically defined as follows: In the above formula, Indicates the shutdown pitch rate command of the left wind rotor after correction; μ indicates the synchronous pitch rate reduction factor, which is a positive number less than 1; Indicates the original shutdown pitch rate command output by the left wind rotor controller; Indicates the average pitch angle of the three blades of the left wind rotor; Indicates the average pitch angle of the three blades of the right wind rotor; ε indicates the allowable pitch synchronization deviation; if indicates conditional judgment; and indicates logical "and" operation; else indicates other situations; When both the left and right wind rotors are in the shutdown state, and the average pitch angle of the right wind rotor is greater than the average pitch angle of the left wind rotor, the shutdown rate of the right wind rotor is reduced until the average pitch angles of the left and right wind rotors reach the allowable synchronization deviation, which is specifically defined as follows: In the above formula, Indicates the right wind rotor shutdown pitch rate instruction after correction; Indicates the original shutdown pitch rate command output by the right wind rotor controller.

2. The shutdown coordinated control method for an offshore twin-rotor floating wind turbine according to claim 1, characterized in that: By setting the shutdown status flag of each wind rotor, the two wind rotors are coordinated and controlled to enter the shutdown logic together. The specific steps are as follows: a. If the normal shutdown status flag of the left wind rotor is detected to be true, indicating that the left wind rotor is in the normal shutdown process, then the normal shutdown status flag of the right wind rotor is set to true simultaneously, triggering the right wind rotor to enter the normal shutdown process. The specific definitions are as follows: In the above formula, Indicates the normal shutdown status flag of the right wind wheel, which is a Boolean logical variable; Indicates the normal shutdown status flag of the left wind wheel, which is a Boolean logical variable; if indicates conditional judgment; := indicates assignment operation; b. If the normal shutdown status flag of the right wind rotor is detected to be true, indicating that the right wind rotor is in the normal shutdown process, the normal shutdown status flag of the left wind rotor is simultaneously set to true, triggering the left wind rotor to enter the normal shutdown process. The specific definitions are as follows: c. If the rapid shutdown status flag of the left wind rotor is detected to be true, indicating that the left wind rotor is in the rapid shutdown process, the rapid shutdown status flag of the right wind rotor is simultaneously set to true, triggering the right wind rotor to enter the rapid shutdown process. The specific definitions are as follows: In the above formula, Indicates the rapid shutdown status flag of the right wind wheel, which is a Boolean logical variable; Indicates the rapid shutdown status flag of the left wind wheel, which is a Boolean logical variable; d. If the fast shutdown status flag of the right wind rotor is detected to be true, it indicates that the right wind rotor is in the fast shutdown process; then the fast shutdown status flag of the left wind rotor is set to true synchronously, triggering the left wind rotor to enter the fast shutdown process. The specific definitions are as follows: e. If the slow shutdown status flag of the left wind rotor is detected to be true, indicating that the left wind rotor is in the slow shutdown process, the slow shutdown status flag of the right wind rotor is set to true synchronously, triggering the right wind rotor to enter the slow shutdown process. The specific definitions are as follows: In the above formula, Indicates the slow shutdown status flag of the right wind wheel, which is a Boolean logical variable; Indicates the slow shutdown status flag of the left wind wheel, which is a Boolean logical variable; f. If the slow shutdown status flag of the right wind rotor is detected to be true, indicating that the right wind rotor is in the slow shutdown process, the slow shutdown status flag of the left wind rotor is set to true synchronously, triggering the left wind rotor to enter the slow shutdown process. The specific definitions are as follows: g. If the grid power failure shutdown status flag of the left wind rotor is detected to be true, indicating that the left wind rotor is in the grid power failure shutdown process, the grid power failure shutdown status flag of the right wind rotor is simultaneously set to true, triggering the right wind rotor to enter the grid power failure shutdown process. The specific definitions are as follows: In the above formula, Indicates the grid power failure shutdown status flag of the right wind rotor, which is a Boolean logic variable; Indicates the grid power failure shutdown status flag of the left wind rotor, which is a Boolean logical variable; h. If the grid power failure shutdown status flag of the right wind rotor is detected to be true, indicating that the right wind rotor is in the grid power failure shutdown process; then the grid power failure shutdown status flag of the left wind rotor is simultaneously set to true, triggering the left wind rotor to enter the grid power failure shutdown process. The specific definitions are as follows: i. If the safety shutdown status flag of the left wind rotor is detected to be true, indicating that the left wind rotor is in the safety shutdown process, the safety shutdown status flag of the right wind rotor is simultaneously set to true, triggering the right wind rotor to enter the safety shutdown process. The specific definitions are as follows: In the above formula, Indicates the safety shutdown status flag of the right wind wheel, which is a Boolean logical variable; Indicates the safety shutdown status flag of the left wind wheel, which is a Boolean logical variable; j. If the safety shutdown status flag of the right wind rotor is detected to be true, indicating that the right wind rotor is in the safety shutdown process, the safety shutdown status flag of the left wind rotor is simultaneously set to true, triggering the left wind rotor to enter the safety shutdown process. The specific definitions are as follows:

3. The shutdown coordinated control method for an offshore twin-rotor floating wind turbine according to claim 1, characterized in that: When a twin-rotor floating offshore wind turbine is shut down, the wind speeds at the hubs of the left and right rotors are not exactly the same. Therefore, the rotational speeds of the left and right rotors at the moment of shutdown are necessarily different. Furthermore, because the two rotors are triggered to shut down at different times, the rotational speeds of the left and right rotors are not synchronized during the shutdown process. During the shutdown process, the asynchronous rotational speeds of the two rotors can lead to uneven loading of the turbine and the occurrence of extreme loads. When both the left and right wind rotors are in the shutdown state and the speed of the left wind rotor is greater than that of the right wind rotor, the generator torque command of the left wind rotor is increased until the speeds of the left and right wind rotors reach the allowable synchronization deviation, which is specifically defined as follows: In the above formula, Indicates the torque command for the generator to stop after the left wind wheel is corrected; η represents the synchronous torque command boost factor, which is a positive number greater than 1; represents the original shutdown generator torque command output by the left wind rotor controller; f L Indicates the shutdown status flag of the left wind wheel; f R Indicates the shutdown status flag of the right wind wheel; ω L Indicates the speed of the left wind wheel after filtering; ω R Indicates the speed of the right wind wheel after filtering; δ indicates the allowable speed synchronization deviation; if indicates conditional judgment; and indicates logical "and" operation; else indicates other situations; When both the left and right wind rotors are in the shutdown state and the speed of the right wind rotor is greater than that of the left wind rotor, the generator torque command of the right wind rotor is increased until the speeds of the left and right wind rotors reach the allowable synchronization deviation, which is specifically defined as follows: In the above formula, Indicates the torque command for the generator to stop after the right wind wheel is corrected; Represents the original shutdown generator torque command output by the right wind rotor controller.

4. A shutdown coordination control system for an offshore twin-rotor floating wind turbine generator system, characterized in that: A shutdown coordinated control method for implementing an offshore dual-wind-rotor floating wind turbine generator system according to any one of claims 1 to 3, comprising: The coordinated shutdown control module is used to trigger the other wind rotor to enter the same shutdown logic when any wind rotor enters the shutdown logic, so as to ensure that the two wind rotors shut down synchronously; The synchronous pitch control module is used when the average pitch angle of one wind rotor is greater than that of the other wind rotor during the shutdown process of the two wind rotors. By correcting the shutdown pitch rate of one wind rotor, the average pitch angles of the two wind rotors are synchronized to balance the loads of the two wind rotors. The synchronous speed control module is used when the speed of one wind wheel is greater than that of the other wind wheel during the shutdown process of the two wind wheels. By correcting the shutdown generator torque command of a certain wind wheel, the speed of the two wind wheels is synchronized to balance the load of the two wind wheels.

5. A storage medium storing a program, characterized in that: When the program is executed by a processor, the shutdown coordinated control method of the offshore dual-wind-rotor floating wind turbine set according to any one of claims 1 to 3 is implemented.

6. A computing device comprising a processor and a memory for storing a program executable by the processor, characterized in that When the processor executes the program stored in the memory, the shutdown coordinated control method of the offshore dual-wind-rotor floating wind turbine set according to any one of claims 1 to 3 is implemented.

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