A Wave Lateral Motion Control Method and System for Offshore Floating Wind Turbines

Abstract

The present invention discloses a method and system for controlling the lateral motion of a floating wind turbine in waves, including: obtaining the effective lateral inclination angle of the floating foundation platform and the effective left-right acceleration of the nacelle; outputting a first additional independent pitch command and a second additional independent pitch command by performing differential operation and integral operation on the effective lateral inclination angle of the floating foundation platform and the effective left-right acceleration of the nacelle; outputting an additional torque command by performing differential operation and integral operation on the effective lateral inclination angle of the floating foundation platform and the effective left-right acceleration of the nacelle; in the normal power generation state of the unit, superimposing the additional torque command on the generator torque command output by the torque controller, and obtaining the final generator torque command after superimposition. Superimposing the first and second additional independent pitch commands on the pitch command output by the pitch controller, and transmitting the final pitch command obtained after superimposition to the pitch system for execution, so as to suppress the lateral motion of the floating wind turbine along with the waves.

Description

Technical Field

[0001] The present invention relates to the technical field of wind turbine control, and in particular to a method, a system, a storage medium and a computing device for controlling the lateral movement of a floating offshore wind turbine caused by waves. Background Art

[0002] A floating offshore wind turbine uses a floating foundation platform to keep the wind turbine floating on the water surface and is connected to the seabed through a mooring system. Compared with a fixed foundation such as a monopile or a jacket, the floating offshore wind turbine has a greater motion response under the action of wind and waves. During the entire life cycle operation, the floating offshore wind turbine is affected by wind loads, wave loads and current loads, resulting in larger motion amplitudes, accelerations and load amplitudes. Among them, the floating offshore wind turbine is impacted by waves, and the whole unit generates periodic lateral swaying motion along with the waves; thus, the tower fatigue load of the floating offshore wind turbine will increase significantly. In order to reduce the lateral fatigue load of the tower of the floating offshore wind turbine, it is necessary to propose a method and a system for controlling the lateral movement of the floating offshore wind turbine caused by waves according to the characteristics of the lateral swaying motion of the floating offshore wind turbine along with the waves. Summary of the Invention

[0003] The first object of the present invention is to overcome the deficiencies of the prior art and provide a method for controlling the lateral movement of a floating offshore wind turbine caused by waves, which calculates the measured lateral inclination angle of the floating foundation platform and the left and right accelerations of the nacelle, introduces additional independent pitch commands and additional torque commands, and adjusts the lateral thrust of the wind turbine to suppress the lateral movement of the floating offshore wind turbine along with the waves.

[0004] The second object of the present invention is to provide a system for controlling the lateral movement of a floating offshore wind turbine caused by waves.

[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 method for controlling the lateral movement of a floating offshore wind turbine caused by waves, which performs the following operations:

[0008] Collect the lateral inclination angle of the floating foundation platform of the floating offshore wind turbine and the left and right accelerations of the nacelle and perform data processing to obtain the effective lateral inclination angle of the floating foundation platform and the effective left and right accelerations of the nacelle;

[0009] The obtained effective lateral inclination angle of the floating foundation platform and the effective left - right acceleration of the nacelle are subjected to differential operation and integral operation to output two types of additional independent pitch commands, namely the first additional independent pitch command and the second additional independent pitch command. Among them, the first additional independent pitch command is an additional independent pitch command related to the lateral inclination speed of the floating foundation platform, and the second additional pitch command is an additional independent pitch command consistent with the lateral speed of the nacelle.

[0010] The obtained effective lateral inclination angle of the floating foundation platform and the effective left - right acceleration of the nacelle are subjected to differential operation and integral operation to output an additional torque command.

[0011] Under the normal power generation state of the floating wind turbine, the output additional torque command is superimposed on the generator torque command output by the torque controller of the floating wind turbine. After superposition, the final generator torque command is obtained. The two types of output additional independent pitch commands are superimposed on the pitch command output by the pitch controller of the floating wind turbine. After superposition, the final pitch command is transmitted to the pitch system of the floating wind turbine for execution, so as to suppress the lateral movement of the floating wind turbine along with the waves.

[0012] Furthermore, the lateral inclination angle of the floating foundation platform is measured by an inclination sensor. The inclination sensor is installed on the floating foundation platform of the floating wind turbine. The inclination sensor can measure the inclination angles in two directions of the floating foundation platform in real - time, namely the pitch inclination angle of the floating foundation platform and the lateral inclination angle of the floating foundation platform. The lateral inclination angle of the floating foundation platform directly reflects the lateral movement of the floating wind turbine under the action of waves. However, the lateral inclination angle measured by the inclination sensor cannot be directly used for control.

[0013] For the case where multiple inclination sensors are installed on the floating foundation platform, each inclination sensor measures the lateral inclination angle of the floating foundation platform. The average lateral inclination angle of the floating foundation platform can be obtained through a data - processing method of weighted averaging. The definition of the average lateral inclination angle of the floating foundation platform is as follows:

[0014]

[0015] In the above formula, represents the average lateral inclination angle of the floating foundation platform; k1 represents the weighting coefficient of the first inclination sensor; θ ss,1 represents the lateral inclination angle of the floating foundation platform measured by the first inclination sensor; k2 represents the weighting coefficient of the second inclination sensor; θ ss,2 represents the lateral inclination angle of the floating foundation platform measured by the second inclination sensor; k n represents the weighting coefficient of the nth inclination sensor; θ ss,n represents the lateral inclination angle of the floating foundation platform measured by the nth inclination sensor;

[0016] The lateral inclination angle of the floating foundation platform measured by the inclination sensor contains signals of various frequencies. Only the lateral inclination angle of the floating foundation platform in the wave frequency range can be used as the control input signal. Therefore, it is necessary to perform filtering data processing on the measured data, extract the lateral inclination angle of the floating foundation platform in the wave frequency range, and filter out other high-frequency harmonic noises. The effective lateral inclination angle of the floating foundation platform is defined as follows:

[0017]

[0018] In the above formula, represents the effective lateral inclination angle of the floating foundation platform; F ss (s) represents the effective lateral inclination angle filter, which contains a band-pass filter and a band-stop filter inside; represents the average lateral inclination angle of the floating foundation platform.

[0019] Furthermore, the left and right accelerations of the nacelle are measured by an acceleration sensor, and the acceleration sensor is installed on the nacelle of the floating wind turbine. The acceleration sensor can measure the accelerations in two directions of the nacelle in real time, that is, the front and back acceleration of the nacelle and the left and right acceleration of the nacelle. The left and right acceleration of the nacelle directly reflects the lateral movement of the floating wind turbine under the action of waves. However, the left and right acceleration of the nacelle measured by the acceleration sensor cannot be directly used for control;

[0020] For the case where multiple acceleration sensors are installed on the nacelle, each acceleration sensor measures the left and right acceleration of the nacelle. The average left and right acceleration of the nacelle can be obtained through a weighted averaging data processing method. The definition of the average left and right acceleration of the nacelle is as follows:

[0021]

[0022] In the above formula, represents the average left and right acceleration of the nacelle; m1 represents the weighting coefficient of the first acceleration sensor; a ss,1 represents the left and right acceleration of the nacelle measured by the first acceleration sensor; m2 represents the weighting coefficient of the second acceleration sensor; a ss,2 represents the left and right acceleration of the nacelle measured by the second acceleration sensor; m n represents the weighting coefficient of the nth acceleration sensor; a ss,n represents the left and right acceleration of the nacelle measured by the nth acceleration sensor;

[0023] The left and right accelerations of the nacelle measured by the acceleration sensor contain signals of various frequencies. Only the left and right accelerations of the nacelle in the wave frequency range can be used as control input signals. Therefore, it is necessary to perform filtering data processing on the measured data, extract the left and right accelerations of the nacelle in the wave frequency range, and filter out other high-frequency harmonic noises, and define the effective left and right accelerations of the nacelle as follows:

[0024]

[0025] In the above formula, represents the effective left and right accelerations of the nacelle; H ss (s) represents the effective left and right acceleration filter, which contains a band-pass filter and a band-stop filter inside; represents the average left and right accelerations of the nacelle.

[0026] Furthermore, when the floating wind turbine undergoes lateral movement along with the waves, if an additional independent pitch command related to the lateral tilt speed of the floating foundation platform is superimposed on the pitch command, a lateral thrust opposite to the direction of the lateral movement speed of the unit will be generated on the rotor side of the floating wind turbine, suppressing its lateral movement along with the waves. Therefore, this additional independent pitch command is defined as the first additional independent pitch command, and the method for obtaining the first additional independent pitch command is as follows:

[0027] After differentiating the effective lateral tilt angle of the floating foundation platform, the effective lateral tilt speed of the floating foundation platform is obtained, and then through proportional gain and introducing a cosine function, the first additional independent pitch command is obtained. The calculation formula for the first additional independent pitch command is as follows:

[0028]

[0029] In the above formula, represents the first additional independent pitch command of blade 1; represents the first additional independent pitch command of blade 2; represents the first additional independent pitch command of blade 3; A ss represents the proportional gain of the first additional independent pitch command; represents the effective lateral tilt angle of the floating foundation platform; represents the differential of the effective lateral tilt angle of the floating foundation platform with respect to time; represents the azimuth angle measured by blade 1; ω r represents the measured rotational speed of the rotor; τ represents the time delay of the pitch system.

[0030] Furthermore, when the floating wind turbine undergoes lateral movement with the waves, if an additional independent pitch command consistent with the lateral speed of the nacelle is superimposed on the pitch command, a lateral thrust opposite to the direction of the lateral movement speed of the unit is generated on the wind turbine, suppressing its lateral movement with the waves. Therefore, this additional independent pitch command is defined as the second additional independent pitch command, and the method for obtaining the second additional independent pitch command is as follows:

[0031] After integrating the effective left - right acceleration of the nacelle, the effective left - right speed of the nacelle is obtained, and then the second additional independent pitch command is obtained through proportional gain. The calculation formula for the second additional independent pitch command is as follows:

[0032]

[0033] In the above formula, represents the second additional independent pitch command of blade 1; represents the second additional independent pitch command of blade 2; represents the second additional independent pitch command of blade 3; B ss represents the proportional gain of the second additional independent pitch command; represents the effective left - right acceleration of the nacelle; represents the integral of the effective left - right acceleration of the nacelle with respect to time; represents the azimuth angle measured by blade 1; ω r represents the measured rotational speed of the wind turbine; τ represents the time delay of the pitch system.

[0034] Furthermore, when the floating wind turbine undergoes lateral swaying movement with the waves, if the generator torque is slightly adjusted to generate a restoring torque opposite to the direction of the lateral movement speed of the unit, suppressing its lateral movement with the waves, by superimposing an additional torque command on the generator torque command output by the torque controller, it is possible to control the lateral movement of the unit under the action of the waves;

[0035] Define the additional torque command, and the specific formula is as follows:

[0036]

[0037] In the above formula, T ss represents the additional torque command; C ss represents the gain of the tilt additional torque command; represents the derivative of the effective lateral tilt angle of the floating foundation platform with respect to time; D ss represents the gain of the acceleration additional torque command; represents the integral of the effective left - right acceleration of the nacelle with respect to time.

[0038] Furthermore, the final generator torque command is defined as follows:

[0039]

[0040] In the above formula, represents the final generator torque command; T set represents the generator torque command output by the torque controller; T ss represents the additional torque command; the content after the comma represents the condition.

[0041] Furthermore, the final pitch command is defined as follows:

[0042]

[0043] In the above formula, represents the final pitch command of Blade 1; represents the final pitch command of Blade 2; represents the final pitch command of Blade 3; β c represents the unified pitch command output by the pitch controller; represents the first additional independent pitch command of Blade 1; represents the first additional independent pitch command of Blade 2; represents the first additional independent pitch command of Blade 3; represents the second additional independent pitch command of Blade 1; represents the second additional independent pitch command of Blade 2; represents the second additional independent pitch command of Blade 3; the content after the comma represents the condition.

[0044] Furthermore, when the floating wind turbine is in the normal power generation state, the first additional independent pitch command, the second additional independent pitch command and the additional torque command are superimposed to suppress the lateral movement of the floating wind turbine along with the waves, so as to reduce the lateral fatigue load of the tower of the floating wind turbine; when the floating wind turbine is in the abnormal power generation state, in order to ensure the reliability and safety of the unit, no commands are superimposed anymore, wherein the abnormal power generation state includes the starting process, the stopping process and the fault state.

[0045] The second object of the present invention is achieved by the following technical solution: A wave lateral movement control system for an offshore floating wind turbine, which is used to implement the wave lateral movement control method of the above-mentioned offshore floating wind turbine, and includes:

[0046] A measurement data processing module, which is used to collect the lateral inclination angle of the floating foundation platform of the floating wind turbine and the left and right accelerations of the nacelle and perform data processing to obtain the effective lateral inclination angle of the floating foundation platform and the effective left and right accelerations of the nacelle;

[0047] The pitch command calculation module is used to process the effective lateral inclination angle of the floating foundation platform and the effective left - right acceleration of the nacelle obtained by the measurement data processing module, and through differential operation and integral operation, output two types of additional independent pitch commands, namely the first additional independent pitch command and the second additional independent pitch command; wherein, the first additional independent pitch command is an additional independent pitch command related to the lateral inclination speed of the floating foundation platform, and the second additional pitch command is an additional independent pitch command consistent with the lateral speed of the nacelle;

[0048] The torque command calculation module is used to process the effective lateral inclination angle of the floating foundation platform and the effective left - right acceleration of the nacelle obtained by the measurement data processing module, and through differential operation and integral operation, output an additional torque command;

[0049] The command superposition execution module is used to, under the normal power generation state of the floating wind turbine, superpose the output additional torque command with the generator torque command output by the torque controller of the floating wind turbine. After superposition, the final generator torque command is obtained. Superpose the output two types of additional independent pitch commands with the pitch commands output by the pitch controller of the floating wind turbine. After superposition, the final pitch command is obtained and transmitted to the pitch system of the floating wind turbine for execution.

[0050] 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, the above - mentioned wave lateral motion control method of the offshore floating wind turbine is realized.

[0051] The fourth object of the present invention is achieved through the following technical solution: A computing device includes a processor and a memory for storing programs executable by the processor. When the processor executes the program stored in the memory, the above - mentioned wave lateral motion control method of the offshore floating wind turbine is realized.

[0052] Compared with the prior art, the present invention has the following advantages and beneficial effects:

[0053] 1. By extracting the signal in the wave frequency range in the lateral inclination angle of the floating foundation platform, through differential operation and proportional operation, the present invention establishes the connection between the effective lateral inclination angle of the floating foundation platform and the first additional independent pitch command, generates a lateral thrust on the wind turbine, suppresses the lateral motion of the floating wind turbine with the wave, and reduces the amplitude of the lateral motion of the floating wind turbine with the wave.

[0054] 2. By introducing the second additional independent pitch command, establishing the connection between the effective left - right acceleration of the nacelle and the second additional independent pitch command, the present invention generates a lateral thrust on the wind turbine, suppresses the lateral motion of the floating wind turbine with the wave, and reduces the amplitude of the lateral motion of the floating wind turbine with the wave.

[0055] 3. The present invention introduces an additional torque command. By establishing the relationship between the effective lateral inclination angle of the floating foundation platform and the effective left - right acceleration of the nacelle and the additional torque command, the generator torque is adjusted to generate a lateral counter - torque on the floating wind turbine to suppress the lateral movement of the floating wind turbine following the waves, and reduce the amplitude of the lateral movement of the floating wind turbine following the waves.

[0056] 4. The present invention uses the measurement data of existing sensors without increasing the cost of additional sensor devices. BRIEF DESCRIPTION OF THE DRAWINGS

[0057] Figure 1 It is a block diagram of the system of the present invention. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0058] The present invention will be further described in detail below in conjunction with the embodiments and the drawings, but the embodiments of the present invention are not limited thereto.

[0059] Embodiment 1

[0060] This embodiment discloses a method for controlling the lateral movement of a floating wind turbine in the sea, which performs the following operations:

[0061] a. Collect the lateral inclination angle of the floating foundation platform of the floating wind turbine and the left - right acceleration of the nacelle, and perform data processing to obtain the effective lateral inclination angle of the floating foundation platform and the effective left - right acceleration of the nacelle, specifically as follows:

[0062] Measure the lateral inclination angle of the floating foundation platform through an inclination sensor. The inclination sensor is installed on the floating foundation platform of the floating wind turbine. The inclination sensor can measure the inclination angles of the floating foundation platform in two directions in real time, that is, the pitch inclination angle of the floating foundation platform and the lateral inclination angle of the floating foundation platform. The lateral inclination angle of the floating foundation platform directly reflects the lateral movement of the floating wind turbine under the action of waves. However, the lateral inclination angle measured by the inclination sensor cannot be directly used for control;

[0063] For the case where multiple inclination sensors are installed on the floating foundation platform, each inclination sensor measures the lateral inclination angle of the floating foundation platform. The average lateral inclination angle of the floating foundation platform can be obtained through a data processing method of weighted averaging. The definition of the average lateral inclination angle of the floating foundation platform is as follows:

[0064]

[0065] In the above formula, represents the average lateral inclination angle of the floating foundation platform; k1 represents the weighting coefficient of the first inclination sensor; θ ss,1 represents the lateral inclination angle of the floating foundation platform measured by the first inclination sensor; k2 represents the weighting coefficient of the second inclination sensor; θ ss,2Denote the lateral inclination angle of the floating foundation platform measured by the second inclination sensor; k n Denote the weighting coefficient of the nth inclination sensor; θ ss,n Denote the lateral inclination angle of the floating foundation platform measured by the nth inclination sensor;

[0066] The lateral inclination angle of the floating foundation platform measured by the inclination sensor contains signals of various frequencies. Only the lateral inclination angle of the floating foundation platform in the wave frequency range can be used as the control input signal. Therefore, it is necessary to perform filtering data processing on the measured data, extract the lateral inclination angle of the floating foundation platform in the wave frequency range, and filter out other high-frequency harmonic noises. Define the effective lateral inclination angle of the floating foundation platform as follows:

[0067]

[0068] In the above formula, Denote the effective lateral inclination angle of the floating foundation platform; F ss (s) represents the effective lateral inclination angle filter, which contains a band-pass filter and a band-stop filter inside; Denote the average lateral inclination angle of the floating foundation platform.

[0069] Measure the left and right accelerations of the nacelle through an acceleration sensor. The acceleration sensor is installed on the nacelle of the floating wind turbine. The acceleration sensor can measure the accelerations in two directions of the nacelle in real time, namely the front and back acceleration of the nacelle and the left and right acceleration of the nacelle. The left and right acceleration of the nacelle directly reflects the lateral movement of the floating wind turbine under the action of waves. However, the left and right acceleration of the nacelle measured by the acceleration sensor cannot be directly used for control;

[0070] For the case where multiple acceleration sensors are installed on the nacelle, each acceleration sensor measures the left and right acceleration of the nacelle. The average left and right acceleration of the nacelle can be obtained through the data processing method of weighted averaging. The definition of the average left and right acceleration of the nacelle is as follows:

[0071]

[0072] In the above formula, Denote the average left and right acceleration of the nacelle; m1 represents the weighting coefficient of the first acceleration sensor; a ss,1 Denote the left and right acceleration of the nacelle measured by the first acceleration sensor; m2 represents the weighting coefficient of the second acceleration sensor; a ss,2 Denote the left and right acceleration of the nacelle measured by the second acceleration sensor; m n Denote the weighting coefficient of the nth acceleration sensor; a ss,n Denote the left and right acceleration of the nacelle measured by the nth acceleration sensor;

[0073] The left and right accelerations of the nacelle measured by the acceleration sensor contain signals of various frequencies. Only the left and right accelerations of the nacelle in the wave frequency range can be used as control input signals. Therefore, it is necessary to perform filtering data processing on the measured data, extract the left and right accelerations of the nacelle in the wave frequency range, and filter out other high-frequency harmonic noises, and define the effective left and right accelerations of the nacelle as follows:

[0074]

[0075] In the above formula, represents the effective left and right accelerations of the nacelle; H ss (s) represents the effective left and right acceleration filter, which contains a band-pass filter and a band-stop filter inside; represents the average left and right accelerations of the nacelle.

[0076] b. Differentiate and integrate the obtained effective lateral tilt angle of the floating foundation platform and the effective left and right accelerations of the nacelle to output two types of additional independent pitch commands, namely the first additional independent pitch command and the second additional independent pitch command, as follows:

[0077] When the floating wind turbine performs lateral movement along with the waves, if an additional independent pitch command related to the lateral tilt angle speed of the floating foundation platform is superimposed on the pitch command, a lateral thrust opposite to the direction of the lateral movement speed of the unit will be generated on the wind turbine side of the floating wind turbine, suppressing its lateral movement along with the waves. Therefore, this additional independent pitch command is defined as the first additional independent pitch command, and the method for obtaining the first additional independent pitch command is as follows:

[0078] Differentiate the effective lateral tilt angle of the floating foundation platform to obtain the effective lateral tilt angle speed of the floating foundation platform, and then through proportional gain and introducing a cosine function, obtain the first additional independent pitch command. The calculation formula of the first additional independent pitch command is as follows:

[0079]

[0080] In the above formula, represents the first additional independent pitch command of blade 1; represents the first additional independent pitch command of blade 2; represents the first additional independent pitch command of blade 3; A ss represents the proportional gain of the first additional independent pitch command; represents the effective lateral tilt angle of the floating foundation platform; represents the differential of the effective lateral tilt angle of the floating foundation platform with respect to time; represents the azimuth angle measured by blade 1; ω r represents the measured rotational speed of the wind turbine; τ represents the time delay of the pitch system.

[0081] When the floating wind turbine undergoes lateral movement with the waves, if an additional independent pitch command consistent with the lateral speed of the nacelle is superimposed on the pitch command, a lateral thrust opposite to the direction of the lateral movement speed of the unit is generated on the wind turbine rotor, suppressing its lateral movement with the waves. Therefore, this additional independent pitch command is defined as the second additional independent pitch command, and the method for obtaining the second additional independent pitch command is as follows:

[0082] After integrating the effective left - right acceleration of the nacelle, the effective left - right speed of the nacelle is obtained, and then the second additional independent pitch command is obtained through proportional gain. The calculation formula for the second additional independent pitch command is as follows:

[0083]

[0084] In the above formula, represents the second additional independent pitch command of blade 1; represents the second additional independent pitch command of blade 2; represents the second additional independent pitch command of blade 3; B ss represents the proportional gain of the second additional independent pitch command; represents the effective left - right acceleration of the nacelle; represents the integral of the effective left - right acceleration of the nacelle with respect to time; represents the azimuth angle measured by blade 1; ω r represents the measured rotational speed of the wind turbine rotor; τ represents the time delay of the pitch system.

[0085] c. By performing differential and integral operations on the obtained effective lateral inclination angle of the floating foundation platform and the effective left - right acceleration of the nacelle, an additional torque command is output as follows:

[0086] When the floating wind turbine undergoes lateral swaying movement with the waves, if the generator torque is slightly adjusted to generate a restoring moment opposite to the direction of the lateral movement speed of the unit, suppressing its lateral movement with the waves, by superimposing an additional torque command on the generator torque command output by the torque controller, it is possible to control the lateral movement of the unit under the action of waves;

[0087] Define the additional torque command, and the specific formula is as follows:

[0088]

[0089] In the above formula, T ss represents the additional torque command; C ss represents the gain of the inclination additional torque command; represents the differential of the effective lateral inclination angle of the floating foundation platform with respect to time; D ss represents the gain of the acceleration additional torque command; Represents the integral of the effective left - right acceleration in the nacelle with respect to time.

[0090] d. Under the normal power generation state of the floating wind turbine, the output additional torque command is superimposed on the generator torque command output by the torque controller of the floating wind turbine. After superposition, the final generator torque command is obtained. The two types of output additional independent pitch commands are superimposed on the pitch command output by the pitch controller of the floating wind turbine. After superposition, the final pitch command is transmitted to the pitch system of the floating wind turbine for execution to suppress the lateral movement of the floating wind turbine with the waves, thereby reducing the lateral fatigue load of the tower of the floating wind turbine; when the floating wind turbine is in an abnormal power generation state such as the starting process, shutdown process, and fault state, in order to ensure the reliability and safety of the unit, no commands are superimposed.

[0091] The final generator torque command is defined as follows:

[0092]

[0093] In the above formula, represents the final generator torque command; T set represents the generator torque command output by the torque controller; T ss represents the additional torque command; the content after the comma represents the condition.

[0094] The final pitch command is defined as follows:

[0095]

[0096] In the above formula, represents the final pitch command of blade 1; represents the final pitch command of blade 2; represents the final pitch command of blade 3; β c represents the unified pitch command output by the pitch controller; represents the first additional independent pitch command of blade 1; represents the first additional independent pitch command of blade 2; represents the first additional independent pitch command of blade 3; represents the second additional independent pitch command of blade 1; represents the second additional independent pitch command of blade 2; represents the second additional independent pitch command of blade 3; the content after the comma represents the condition.

[0097] Embodiment 2

[0098] This embodiment discloses a wave side motion control system for an offshore floating wind turbine, which is used to implement the wave side motion control method of the offshore floating wind turbine described in Embodiment 1, as Figure 1 shown. The system includes the following functional modules:

[0099] A measurement data processing module, which is used to collect the lateral inclination angle of the floating foundation platform of the floating wind turbine and the left and right accelerations of the nacelle, and perform data processing to obtain the effective lateral inclination angle of the floating foundation platform and the effective left and right accelerations of the nacelle;

[0100] A pitch command calculation module, which is used to output two types of additional independent pitch commands, namely a first additional independent pitch command and a second additional independent pitch command, through differential operation and integral operation on the effective lateral inclination angle of the floating foundation platform and the effective left and right accelerations of the nacelle obtained by the measurement data processing module; wherein, the first additional independent pitch command is an additional independent pitch command related to the lateral inclination angle speed of the floating foundation platform, and the second additional pitch command is an additional independent pitch command consistent with the lateral speed of the nacelle;

[0101] A torque command calculation module, which is used to output an additional torque command through differential operation and integral operation on the effective lateral inclination angle of the floating foundation platform and the effective left and right accelerations of the nacelle obtained by the measurement data processing module;

[0102] An instruction superposition execution module, which is used to superpose the output additional torque command with the generator torque command output by the torque controller of the floating wind turbine under the normal power generation state of the floating wind turbine, and obtain the final generator torque command after superposition, and superpose the output two types of additional independent pitch commands with the pitch command output by the pitch controller of the floating wind turbine, and obtain the final pitch command after superposition and transmit it to the pitch system of the floating wind turbine for execution.

[0103] Embodiment 3

[0104] This embodiment discloses a storage medium storing a program, which when executed by a processor, implements the wave side motion control method of the offshore floating wind turbine described in Embodiment 1.

[0105] The storage medium in this embodiment can be a magnetic disk, an optical disk, a computer memory, a read-only memory (ROM, Read-Only Memory), a random access memory (RAM, Random Access Memory), a USB flash drive, a mobile hard disk, and other media.

[0106] Embodiment 4

[0107] This embodiment discloses a computing device, including a processor and a memory for storing programs executable by the processor. When the processor executes the programs stored in the memory, it implements the wave lateral motion control method of the offshore floating wind turbine set described in Embodiment 1.

[0108] 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.

[0109] The above embodiments are preferred embodiments of the present invention. However, 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 method for controlling the lateral motion of a floating offshore wind turbine due to waves, characterized in that, Perform the following operations: Collect the lateral inclination angle of the floating foundation platform of the floating wind turbine and the left and right accelerations of the nacelle, and perform data processing to obtain the effective lateral inclination angle of the floating foundation platform and the effective left and right accelerations of the nacelle; Perform differential operation and integral operation on the obtained effective lateral inclination angle of the floating foundation platform and the effective left and right accelerations of the nacelle, and output two types of additional independent pitch commands, namely the first additional independent pitch command and the second additional independent pitch command; wherein, the first additional independent pitch command is an additional independent pitch command related to the lateral inclination angle speed of the floating foundation platform, and the second additional independent pitch command is an additional independent pitch command consistent with the lateral speed of the nacelle; When the floating wind turbine performs lateral movement along with the waves, if an additional independent pitch command related to the lateral inclination angle speed of the floating foundation platform is superimposed on the pitch command, a lateral thrust opposite to the direction of the lateral movement speed of the wind turbine will be generated on the wind turbine side of the floating wind turbine, suppressing its lateral movement along with the waves. Therefore, this additional independent pitch command is defined as the first additional independent pitch command. The method for obtaining the first additional independent pitch command is as follows: After performing differential operation on the effective lateral inclination angle of the floating foundation platform, the effective lateral inclination angle speed of the floating foundation platform is obtained. Then, through proportional gain and introducing a cosine function, the first additional independent pitch command is obtained. The calculation formula for the first additional independent pitch command is as follows: In the above formula, represents the first additional independent pitch command of blade 1; represents the first additional independent pitch command of blade 2; represents the first additional independent pitch command of blade 3; A ss represents the proportional gain of the first additional independent pitch command; represents the effective lateral inclination angle of the floating foundation platform; represents the differential of the effective lateral inclination angle of the floating foundation platform with respect to time; represents the azimuth angle measured by blade 1; ω r represents the measured rotational speed of the wind turbine; τ represents the time delay of the pitch system; Perform differential operation and integral operation on the obtained effective lateral inclination angle of the floating foundation platform and the effective left and right accelerations of the nacelle, and output an additional torque command; Under the normal power generation state of the floating wind turbine, superimpose the output additional torque command on the generator torque command output by the torque controller of the floating wind turbine. After superimposition, the final generator torque command is obtained. Superimpose the output two types of additional independent pitch commands on the pitch command output by the pitch controller of the floating wind turbine. After superimposition, the final pitch command is obtained and transmitted to the pitch system of the floating wind turbine for execution, so as to suppress the lateral movement of the floating wind turbine along with the waves; The final pitch command is defined as follows: In the above formula, represents the final pitch command of blade 1; represents the final pitch command of blade 2; represents the final pitch command of blade 3; β c represents the unified pitch command output by the pitch controller; represents the first additional independent pitch command of blade 1; represents the first additional independent pitch command of blade 2; represents the first additional independent pitch command of blade 3; represents the second additional independent pitch command of blade 1; represents the second additional independent pitch command of blade 2; represents the second additional independent pitch command of blade 3; The part after the comma represents the condition.

2. The wave lateral motion control method of an offshore floating wind turbine unit according to claim 1, characterized in that Measure the lateral inclination angle of the floating foundation platform through an inclination sensor. The inclination sensor is installed on the floating foundation platform of the floating wind turbine. The inclination sensor can measure the inclination angles in two directions of the floating foundation platform in real time, namely the pitch inclination angle of the floating foundation platform and the lateral inclination angle of the floating foundation platform. The lateral inclination angle of the floating foundation platform directly reflects the lateral movement of the floating wind turbine under the action of waves. However, the lateral inclination angle measured by the inclination sensor cannot be directly used for control; For the case where multiple inclination sensors are installed on the floating foundation platform, each inclination sensor measures the lateral inclination angle of the floating foundation platform. The average lateral inclination angle of the floating foundation platform can be obtained through a data processing method of weighted averaging. The definition of the average lateral inclination angle of the floating foundation platform is as follows: In the above formula, represents the average lateral inclination angle of the floating foundation platform; k1 represents the weighting coefficient of the first inclination sensor; θ ss,1 represents the lateral inclination angle of the floating foundation platform measured by the first inclination sensor; k2 represents the weighting coefficient of the second inclination sensor; θ ss,2 represents the lateral inclination angle of the floating foundation platform measured by the second inclination sensor; k n represents the weighting coefficient of the nth inclination sensor; θ ss,n represents the lateral inclination angle of the floating foundation platform measured by the nth inclination sensor; The lateral inclination angles of the floating foundation platform measured by the inclination sensors contain signals of various frequencies. Only the lateral inclination angles of the floating foundation platform in the wave frequency range can be used as control input signals. Therefore, it is necessary to perform filtering data processing on the measured data, extract the lateral inclination angles of the floating foundation platform in the wave frequency range, and filter out other high-frequency harmonic noises. The effective lateral inclination angle of the floating foundation platform is defined as follows: In the above formula, represents the effective lateral inclination angle of the floating foundation platform; F ss (s) represents the effective lateral inclination angle filter, which internally contains a band-pass filter and a band-stop filter; represents the average lateral inclination angle of the floating foundation platform.

3. A wave lateral motion control method for an offshore floating wind turbine according to claim 2, characterized in that The left and right accelerations of the nacelle are measured by acceleration sensors, and the acceleration sensors are installed on the nacelle of the floating wind turbine. The acceleration sensors can measure the accelerations in two directions of the nacelle in real time, that is, the front-back acceleration and the left-right acceleration of the nacelle. The left-right acceleration of the nacelle directly reflects the lateral movement of the floating wind turbine under the action of waves. However, the left-right acceleration of the nacelle measured by the acceleration sensors cannot be directly used for control; For the case where multiple acceleration sensors are installed on the nacelle, each acceleration sensor measures the left-right acceleration of the nacelle. The average left-right acceleration of the nacelle can be obtained through a data processing method of weighted averaging. The definition of the average left-right acceleration of the nacelle is as follows: In the above formula, represents the average left - right acceleration of the engine nacelle; m1 represents the weighting coefficient of the first acceleration sensor; a ss,1 represents the left - right acceleration of the engine nacelle measured by the first acceleration sensor; m2 represents the weighting coefficient of the second acceleration sensor; a ss,2 represents the left - right acceleration of the engine nacelle measured by the second acceleration sensor; m n represents the weighting coefficient of the nth acceleration sensor; a ss,n represents the left - right acceleration of the engine nacelle measured by the nth acceleration sensor; The left and right accelerations of the nacelle measured by the acceleration sensors contain signals of various frequencies. Only the left and right accelerations of the nacelle in the wave frequency range can be used as control input signals. Therefore, it is necessary to perform filtering data processing on the measured data, extract the left and right accelerations of the nacelle in the wave frequency range, and filter out other high-frequency harmonic noises. The effective left and right accelerations of the nacelle are defined as follows: In the above formula, represents the effective left and right acceleration of the cabin; H ss (s) represents the effective left and right acceleration filter, which internally contains a band-pass filter and a band-stop filter; represents the average left and right acceleration of the cabin.

4. A method for controlling the lateral motion of a floating offshore wind turbine according to claim 3, characterized in that, When the floating wind turbine performs lateral movement along with the waves, if an additional independent pitch command consistent with the lateral speed of the nacelle is superimposed on the pitch command, a lateral thrust opposite to the direction of the lateral movement speed of the unit will be generated on the wind turbine rotor, suppressing its lateral movement along with the waves. Therefore, this additional independent pitch command is defined as the second additional independent pitch command. The method for obtaining the second additional independent pitch command is as follows: After integrating the effective left and right accelerations of the nacelle, the effective left and right speeds of the nacelle are obtained, and then the second additional independent pitch command is obtained through proportional gain. The calculation formula for the second additional independent pitch command is as follows: In the above formula, represents the second additional independent pitch command of blade 1; represents the second additional independent pitch command of blade 2; represents the second additional independent pitch command of blade 3; B ss represents the second additional independent pitch command proportional gain; represents the effective left - right acceleration of the nacelle; represents the integral of the effective left - right acceleration of the nacelle with respect to time; represents the azimuth angle measured by blade 1; ω r represents the measured rotational speed of the wind turbine; τ represents the pitch system time delay.

5. A wave lateral motion control method for an offshore floating wind turbine according to claim 4, characterized in that, When the floating wind turbine performs lateral swaying movement along with the waves, if the generator torque is slightly adjusted to generate a restoring torque opposite to the direction of the lateral movement speed of the unit, suppressing its lateral movement along with the waves, the lateral movement of the unit under the action of waves can be controlled by superimposing an additional torque command on the generator torque command output by the torque controller; Define the additional torque command, and the specific formula is as follows: In the above formula, T ss represents an additional torque command; C ss represents the gain of the additional torque command for the inclination angle; represents the differential of the effective lateral inclination angle of the floating foundation platform with respect to time; D ss represents the gain of the additional torque command for acceleration; represents the integral of the effective left - right acceleration of the nacelle with respect to time.

6. A wave lateral motion control method for an offshore floating wind turbine according to claim 5, characterized in that, The final generator torque command is defined as follows: In the above formula, represents the final generator torque command; T set represents the generator torque command output by the torque controller; T ss represents the additional torque command; the part after the comma represents the condition.

7. A wave lateral motion control method for an offshore floating wind turbine according to claim 6, characterized in that, When the floating wind turbine is in the normal power generation state, the first additional independent pitch command, the second additional independent pitch command, and the additional torque command are superimposed to suppress the lateral movement of the floating wind turbine along with the waves, thereby reducing the lateral fatigue load of the tower of the floating wind turbine; when the floating wind turbine is in the abnormal power generation state, in order to ensure the reliability and safety of the unit, no commands are superimposed. Among them, the abnormal power generation state includes the start-up process, the shutdown process, and the fault state.

8. A wave lateral motion control system for an offshore floating wind turbine, characterized in that, A method for controlling the lateral motion of a floating offshore wind turbine according to any one of claims 1 to 7, comprising: A measurement data processing module for collecting the lateral inclination angle of the floating foundation platform of the floating wind turbine and the left and right accelerations of the nacelle and processing the data to obtain the effective lateral inclination angle of the floating foundation platform and the effective left and right accelerations of the nacelle; A pitch command calculation module for outputting two types of additional independent pitch commands, namely a first additional independent pitch command and a second additional independent pitch command, through differential operation and integral operation on the effective lateral inclination angle of the floating foundation platform and the effective left and right accelerations of the nacelle obtained by the measurement data processing module; wherein, the first additional independent pitch command is an additional independent pitch command related to the lateral inclination angle speed of the floating foundation platform, and the second additional independent pitch command is an additional independent pitch command consistent with the lateral speed of the nacelle; A torque command calculation module for outputting an additional torque command through differential operation and integral operation on the effective lateral inclination angle of the floating foundation platform and the effective left and right accelerations of the nacelle obtained by the measurement data processing module; A command superposition execution module for, in the normal power generation state of the floating wind turbine, superposing the output additional torque command with the generator torque command output by the torque controller of the floating wind turbine, and after superposition, obtaining the final generator torque command, and superposing the output two types of additional independent pitch commands with the pitch command output by the pitch controller of the floating wind turbine, and after superposition, obtaining the final pitch command and transmitting it to the pitch system of the floating wind turbine for execution.

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