Anti-typhoon control method and system for large-scale semi-direct drive offshore wind turbines

Abstract

The present invention discloses a typhoon-resistant control method and system for a large-scale semi-direct-drive offshore wind turbine, including: 1) Reading the information of the wind speed sensor and the voltage information of the electric meter, and filtering the information of the wind speed sensor to obtain the filtered wind speed; 2) Judging whether it is in the typhoon mode according to whether the filtered wind speed exceeds the typhoon mode setting value. If it is in the typhoon mode, step 3) is executed, otherwise the process ends; 3) Judging whether the power grid is powered off according to the voltage information of the electric meter. If the power grid is not powered off, switch to the power grid power supply circuit. If the power grid is powered off, switch to the diesel generator power supply circuit; 4) Reading the wind direction information collected by multiple wind direction sensors, and obtaining the optimal wind direction through the weighted fusion method; 5) Inputting the optimal wind direction into the yaw position controller to obtain the yaw position control instruction, and multiple variable frequency drives cooperate to control and drive the wind turbine to yaw and face the wind. The present invention can reduce the load pressure of the unit during typhoons and achieve the purpose of typhoon resistance.

Description

Technical Field

[0001] The present invention relates to the technical field of offshore wind power generation, and in particular to a typhoon-resistant control method, system, storage medium and computing device for a large-scale semi-direct-drive offshore wind turbine generator unit. Background Art

[0002] Developing towards the mid and far seas has become the development trend of the wind power industry. However, the high construction cost restricts the development of offshore wind power. The large-scale of offshore wind turbine generator units is an effective way to "reduce costs and increase efficiency". As the single-unit capacity of offshore wind turbine generator units is getting larger and larger, the height of the tower barrel and the diameter of the impeller also increase accordingly. Higher tower barrels and longer blades mean that offshore wind turbine generator units often need to face greater load pressure tests. Typhoons can cause huge loads on the tower barrel, blades, and nacelle braking systems. Long-term load pressure will exacerbate the fatigue load of the unit and affect the service life of the unit. When the actual load exceeds the designed ultimate load, serious safety accidents will occur. Typhoon resistance is an essential skill for offshore wind turbine generator units. Most of the current typhoon-resistant technical solutions focus on improving the design margin of the tower barrel, adding damper and other typhoon-resistant structural components to reduce the load pressure during typhoons to achieve the typhoon-resistant function. Such methods will lead to a significant increase in costs. Based on the existing equipment of offshore wind turbine generator units, adopting the design concept of "active load reduction" to reduce the load pressure on the tower barrel and blades by actively yawing into the wind is a low-cost solution for typhoon resistance of offshore wind turbine generator units. There are still many challenges in currently using active yaw for typhoon resistance. When using the method of controlling yaw reduction to resist typhoons, there are problems such as high risk of power failure, low yaw accuracy, and overload of the drive, which seriously reduce the reliability of this method and can only be used as an auxiliary typhoon-resistant means. All offshore wind turbine generator units are equipped with diesel generators as backup power supplies to provide power for the wind turbine generator units when the power grid fails. However, the existing backup power supply control system has low reliability and low utilization efficiency of the backup power supply. The risk of power grid failure during typhoons increases significantly, posing higher requirements for the reliability of the diesel generator response. The power failure of the wind turbine generator unit will cause it unable to yaw normally; due to the occlusion of the blades, the accuracy of wind direction perception is reduced, and an accurate yaw reference basis cannot be provided, which cannot meet the load requirements, and the typhoon working conditions also pose higher requirements for the yaw control accuracy and response speed; during typhoons, the yaw load increases significantly, and the unreasonable load distribution is likely to cause the yaw drive equipment to overload and fail to yaw. Currently, the typhoon-resistant design of large-scale offshore wind turbine generator units is implemented according to the existing technical ideas such as increasing the tower barrel margin and adding typhoon-resistant mechanisms, which will increase the manufacturing cost of the whole machine and lack sustainability. Summary of the Invention

[0003] The first object of the present invention is to overcome the disadvantages and deficiencies of the prior art, and to provide a typhoon-resistant control method for large-scale semi-direct drive offshore wind turbines, constructing an integrated control scheme for a precise yaw system and a diesel generator backup power subsystem. Without increasing the design margin of the tower barrel or adding anti-typhoon structural components such as dampers, the typhoon-resistant function of large-scale offshore wind turbines can be realized, saving the material cost of the tower barrel while improving the typhoon resistance reliability of the wind turbine.

[0004] The second object of the present invention is to provide a typhoon-resistant control system for large-scale semi-direct drive offshore wind turbines.

[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 solutions: A typhoon-resistant control method for large-scale semi-direct drive offshore wind turbines, including the following steps:

[0008] 1) Read the information of the wind speed sensor and the voltage information of the electric meter, and perform filtering processing on the wind speed sensor information to obtain the filtered wind speed;

[0009] 2) Judge whether it is in the typhoon mode according to whether the filtered wind speed exceeds the typhoon mode setting value. If it is in the typhoon mode, execute step 3), otherwise end the process;

[0010] 3) Judge whether the power grid is powered off according to the voltage information of the electric meter. If the power grid is not powered off, the double power switch of the diesel generator backup power subsystem is switched to the power grid power supply circuit. If the power grid is powered off, the double power switch of the diesel generator backup power subsystem is switched to the diesel generator power supply circuit;

[0011] 4) Read the wind direction information collected by multiple wind direction sensors, and obtain the optimal wind direction through weighted fusion;

[0012] 5) Input the optimal wind direction into the yaw position controller to obtain the corresponding yaw position control instruction. Multiple variable frequency drives cooperate to control and execute the yaw position control instruction to drive the wind turbine to yaw and face the wind, reducing the load pressure of the unit during typhoons and achieving the purpose of typhoon resistance.

[0013] Further, in step 1), the wind speed sensor information is filtered to obtain the filtered wind speed, and the formula is expressed as follows:

[0014] x p =x t-1 -(C T (x t-1 -x t )) / F T (1)

[0015] Wherein, C T is the operating cycle of the PLC controller of the wind turbine, F T is the filter time constant, x t is the input signal, x t-1 is the input signal of the previous control cycle, x p is the filtered value of the wind speed sensor information.

[0016] Furthermore, in step 3), the diesel generator backup power subsystem includes a diesel generator and a double power switch (ATS). The diesel generator serves as the backup power for the wind turbine, and the double power switch is used to isolate and switch the power supply circuit of the wind turbine. One end of its input is connected to the grid power supply circuit, and the other end is connected to the diesel generator power supply circuit, where the grid power supply circuit has a higher priority than the diesel generator power supply circuit; to prevent the failure of the diesel generator start command, two methods of manual start and automatic start are adopted, where the manual control has a higher priority than the automatic control. When the grid power fails and the typhoon mode is entered, the diesel generator is automatically started as the backup power. When the typhoon mode is exited or the grid power supply is restored, the diesel generator is automatically stopped; the PLC controller of the wind turbine executes the following automatic control algorithm for the diesel generator backup power subsystem:

[0017]

[0018]

[0019] M = M0 * T p (4)

[0020] Wherein, M0 is the control mode, x Limit is the set threshold, T p is the activation mode, t is the holding time of the M0 state, T′ is the time constant, and M is the start-stop control instruction for the backup power supply.

[0021] Furthermore, in step 4), 4 wind direction sensors are configured at the top of the nacelle of the wind turbine to collect wind direction information, which is used to prevent the failure of a single sensor and wake disturbance, and the optimal wind direction is obtained through weighted fusion; among them, the larger the mean square error of the wind direction, the lower the reliability. Based on this, the mean square error of the reciprocal of the wind direction is normalized, and the weight coefficients of the 4 wind directions are obtained respectively, and the optimal wind direction is calculated through weighted fusion. The calculation algorithm is as follows:

[0022]

[0023] Wherein, w1, w2, w3, and w4 respectively represent 4 different wind directions, are the mean square errors of the reciprocals of w1, w2, w3, and w4 respectively, is the normalization denominator, w o is the optimal wind direction.

[0024] Further, in step 5), a yaw position control algorithm is designed, control boundaries and control margins are set, and the optimal wind direction w calculated by Equation (5) o is input into the yaw position controller. The yaw position control algorithm is as follows:

[0025]

[0026] U = k p *u (7)

[0027] where w Limit is the set threshold, w c is the wind direction margin, u is the yaw direction, k p represents the yaw speed, and U is the yaw position control command.

[0028] Further, in step 5), the variable frequency drive receives the yaw position control command U obtained from Equation (7). When U > 0, the wind turbine yaws in the clockwise direction; when U < 0, the wind turbine yaws in the counterclockwise direction. Multiple variable frequency drives cooperate to control and drive the wind turbine to yaw and align with the wind. Among them, the cooperative control between variable frequency drives adopts the master-slave following load distribution method, that is, one variable frequency drive is selected as the master station, and other variable frequency drives act as slave stations to follow the master station.

[0029] Further, the cooperative control between variable frequency drives adopts a constant speed and torque-adaptive speed-torque double-loop control method. Specifically: the speed loop of the master station executes the command U issued by Equation (7), and the torque loop executes the torque T. The speed loop of the slave station follows the master station, and the torque loop of the slave station constructs a control deviation based on the respective speed feedback and the master station speed, and calculates the torque T using Equation (8);

[0030]

[0031] where e U is the speed control error, U s is the yaw speed, K P , K I , K D are all constants, and T is the torque control amount; the variable frequency drive executes the control commands U and T to drive the wind turbine to yaw and track the optimal wind direction w o , realizing the anti-typhoon function.

[0032] The second object of the present invention is achieved by the following technical solution: A large-scale semi-direct drive offshore wind turbine anti-typhoon control system for implementing the above-mentioned large-scale semi-direct drive offshore wind turbine anti-typhoon control method, which includes:

[0033] The wind speed acquisition and filtering module is used to read the wind speed sensor information and the meter voltage information, and filter the wind speed sensor information to obtain the filtered wind speed;

[0034] The first judgment module is used to judge whether it is in the typhoon mode according to whether the filtered wind speed exceeds the typhoon mode setting value. If it is in the typhoon mode, the second judgment module is executed; otherwise, the process ends;

[0035] The second judgment module is used to judge whether the power grid has lost power according to the meter voltage information. If the power grid has not lost power, the double power switch of the diesel generator backup power subsystem is switched to the power grid power supply circuit; if the power grid has lost power, the double power switch of the diesel generator backup power subsystem is switched to the diesel generator power supply circuit;

[0036] The optimal wind direction acquisition module is used to read the wind direction information collected by multiple wind direction sensors and obtain the optimal wind direction through weighted fusion;

[0037] The yaw control module is used to input the optimal wind direction into the yaw position controller to obtain the corresponding yaw position control instruction. Multiple variable frequency drives cooperate to control and execute the yaw position control instruction to drive the wind turbine to yaw and face the wind, reducing the load pressure of the unit during typhoons and achieving the purpose of typhoon resistance.

[0038] The third object of the present invention is achieved by the following technical solution: A storage medium stores a program, and when the program is executed by a processor, the above-mentioned anti-typhoon control method for large-scale semi-direct-drive offshore wind turbines is realized.

[0039] The fourth object of the present invention is achieved by the following technical solution: A computing device includes a processor and a memory for storing a program executable by the processor. When the processor executes the program stored in the memory, the above-mentioned anti-typhoon control method for large-scale semi-direct-drive offshore wind turbines is realized.

[0040] Compared with the prior art, the present invention has the following advantages and beneficial effects:

[0041] 1. The present invention can realize the anti-typhoon function of large-scale offshore wind turbines without increasing the design margin of the tower barrel and adding anti-typhoon structural components such as dampers, greatly saving the tower barrel material cost.

[0042] 2. The present invention adopts the integrated redundancy design idea, redundant wind speed and wind direction sensors, redundant backup power supply, coordinated control of variable frequency drives, etc., to realize active yaw and facing the wind, improving the anti-typhoon reliability of the wind turbine.

[0043] 3. The present invention can manually or automatically start the backup power supply when the power grid loses power during typhoons, with a faster response speed. Brief Description of the Drawings

[0044] Figure 1 This is the logic flow chart of the method of the present invention.

[0045] Figure 2 This is the architecture diagram of the system of the present invention. Specific embodiments

[0046] The present invention will be further described in detail below in conjunction with embodiments and the accompanying drawings, but the embodiments of the present invention are not limited thereto.

[0047] Embodiment 1

[0048] As Figure 1 shown, this embodiment discloses an anti-typhoon control method for a large-scale semi-direct-drive offshore wind turbine (also known as a wind turbine), and the specific situation is as follows:

[0049] 1) Read the information of the wind speed sensor and the voltage information of the electric meter, and perform filtering processing on the information of the wind speed sensor to obtain the filtered wind speed. The formula is expressed as follows:

[0050] x p =x t-1 -(C T (x t-1 -x t )) / F T (1)

[0051] In the formula, C T is the operating cycle of the PLC controller of the wind turbine, F T is the filtering time constant, x t is the input signal, x t-1 is the input signal of the previous control cycle, and x p is the filtering value of the wind speed sensor information.

[0052] 2) Determine whether it is in the typhoon mode according to whether the filtered wind speed exceeds the typhoon mode setting value. If it is in the typhoon mode, execute step 3); otherwise, end the process.

[0053] 3) Determine whether the power grid is powered off according to the voltage information of the electric meter. If the power grid is not powered off, the double-power switch of the diesel generator backup power subsystem is switched to the power grid power supply circuit; if the power grid is powered off, the double-power switch of the diesel generator backup power subsystem is switched to the diesel generator power supply circuit;

[0054] The diesel generator backup power subsystem includes a diesel generator (which can be abbreviated as diesel gen) and a dual power switch (ATS). The diesel generator serves as the backup power source for the wind turbine generator set, and the dual power switch is used to isolate and switch the power supply circuit of the wind turbine generator set. One end of its input is connected to the grid power supply circuit, and the other end is connected to the diesel gen power supply circuit, where the grid power supply circuit has a higher priority than the diesel gen power supply circuit. To prevent the diesel generator start command from failing, two methods of manual start and automatic start are adopted, where manual control has a higher priority than automatic control. When the grid power fails and the typhoon mode is in effect, the diesel generator is automatically started as the backup power source. When exiting the typhoon mode or the grid power supply is restored, the diesel generator is automatically stopped. The PLC controller of the wind turbine generator set executes the following automatic control algorithm for the diesel generator backup power subsystem:

[0055]

[0056]

[0057] M = M0 * T p (4)

[0058] In the formula, M0 is the control mode, x Limit is the set threshold, T p is the activation mode, t is the M0 state holding time, T' is the time constant, and M is the start-stop control instruction for the backup power source.

[0059] 4) Due to blade occlusion, there is a certain deviation between the measured value of the wind direction sensor and the true wind direction. At the same time, under harsh typhoon conditions, it is easy for the wind direction sensor to fail. The occluded wind direction by the blade is closely related to the installation position of the sensor. At the same time, to prevent the failure of a single sensor and wake disturbance, 4 wind direction sensors (installed at different measurement positions) are set at the top of the nacelle of the wind turbine generator set to collect wind direction information, and the optimal wind direction is obtained through weighted fusion. Among them, the greater the mean square error of the wind direction, the lower the reliability. Based on this, the mean square error of the reciprocal of the wind direction is normalized to obtain the weight coefficients of the 4 wind directions respectively, and the optimal wind direction is calculated by weighted fusion. The calculation algorithm is as follows:

[0060]

[0061] In the formula, w1, w2, w3, and w4 respectively represent 4 different wind directions, are the mean square errors of the reciprocals of w1, w2, w3, and w4 respectively, is the normalization denominator, w o is the optimal wind direction.

[0062] 5) Input the optimal wind direction into the yaw position controller to obtain the corresponding yaw position control command. Multiple variable frequency drives cooperate to control and execute the yaw position control command to drive the wind turbine to yaw against the wind, reducing the load pressure on the unit during typhoons and achieving the purpose of typhoon resistance, specifically as follows:

[0063] Design a yaw position control algorithm, set the control boundary and control margin, and input the optimal wind direction w calculated by Equation (5) into the yaw position controller. The yaw position control algorithm is as follows: o Input it into the yaw position controller. The yaw position control algorithm is as follows:

[0064]

[0065] U = k p *u (7)

[0066] In the formula, w Limit is the set threshold, w c is the wind direction margin, u is the yaw direction, k p represents the yaw speed, and U is the yaw position control command;

[0067] The variable frequency drive receives the yaw position control command U obtained from Equation (7). When U > 0, the wind turbine yaws clockwise; when U < 0, the wind turbine yaws counterclockwise. Multiple variable frequency drives cooperate to control and drive the wind turbine to yaw against the wind. Among them, the cooperative control between variable frequency drives adopts the master-slave following load distribution method, that is, one variable frequency drive is selected as the master station, and other variable frequency drives operate as slave stations following the master station;

[0068] Due to the huge yaw load pressure on the wind turbine during typhoons, a torque control loop needs to be added to prevent overload faults in the variable frequency drive actuator. The cooperative control between variable frequency drives adopts a constant speed and torque adaptive speed-torque dual-loop control method. Specifically: the speed link of the master station executes the command U issued by Equation (7), and the torque link executes the torque T. The speed link of the slave station follows the master station, and the torque link of the slave station constructs a control deviation based on the speed feedback of each station and the speed of the master station, and calculates the torque T using Equation (8);

[0069]

[0070] In the formula, e U is the speed control error, U s is the yaw speed, K P 、K I 、K D are all constants, and T is the torque control amount; the variable frequency drive executes the control commands U and T to drive the wind turbine to yaw and track the optimal wind direction w o to achieve the typhoon resistance function.

[0071] Embodiment 2

[0072] This embodiment discloses an anti-typhoon control system for a large-scale semi-direct-drive offshore wind turbine, which is used to implement the anti-typhoon control method for the large-scale semi-direct-drive offshore wind turbine described in Embodiment 1, such as Figure 2 shown, the system includes the following functional modules:

[0073] A wind speed acquisition and filtering module, which is used to read the wind speed sensor information and the meter voltage information, and perform filtering processing on the wind speed sensor information to obtain the filtered wind speed;

[0074] A first judgment module, which is used to judge whether it is in the typhoon mode according to whether the filtered wind speed exceeds the typhoon mode setting value. If it is in the typhoon mode, the second judgment module is executed, otherwise the process ends;

[0075] A second judgment module, which is used to judge whether the power grid has lost power according to the meter voltage information. If the power grid has not lost power, the dual-power switch of the diesel generator backup power subsystem is switched to the power grid power supply circuit. If the power grid has lost power, the dual-power switch of the diesel generator backup power subsystem is switched to the diesel generator power supply circuit;

[0076] An optimal wind direction acquisition module, which is used to read the wind direction information collected by multiple wind direction sensors and obtain the optimal wind direction through a weighted fusion method;

[0077] A yaw control module, which is used to input the optimal wind direction into the yaw position controller to obtain the corresponding yaw position control instruction. Multiple variable frequency drives cooperate to control and execute the yaw position control instruction to drive the wind turbine to yaw and face the wind, reducing the load pressure of the unit during typhoons and achieving the purpose of anti-typhoon.

[0078] Embodiment 3

[0079] This embodiment discloses a storage medium storing a program, which when executed by a processor, implements the anti-typhoon control method for the large-scale semi-direct-drive offshore wind turbine described in Embodiment 1.

[0080] 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.

[0081] Embodiment 4

[0082] This embodiment discloses a computing device, including a processor and a memory for storing the executable program of the processor. When the processor executes the program stored in the memory, it implements the anti-typhoon control method for the large-scale semi-direct-drive offshore wind turbine described in Embodiment 1.

[0083] 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.

[0084] The above embodiments are preferred embodiments of the present invention, but the embodiments of the present invention are not limited to the above embodiments. Any other changes, modifications, substitutions, combinations, and simplifications made without departing from the spirit and principle of the present invention shall be equivalent replacement methods and shall be included in the protection scope of the present invention.

Claims

1. Anti-typhoon control method for large-scale semi-direct-drive offshore wind turbines, characterized in that, It includes the following steps: 1) Read the information of the wind speed sensor and the voltage information of the electric meter, and filter the information of the wind speed sensor to obtain the filtered wind speed. The formula is expressed as follows: x p = x t-1 -(C T (x t-1 - x t )) / F T (1) Where, C T is the operating cycle of the PLC controller of the wind turbine, F T is the filtering time constant, x t is the input signal, x t-1 is the input signal of the previous control cycle, x p is the filtered value of the wind speed sensor information; 2) Determine whether it is in the typhoon mode according to whether the filtered wind speed exceeds the typhoon mode setting value. If it is in the typhoon mode, execute step 3); otherwise, end the process. 3) Judge whether the power grid has lost power according to the voltage information of the electric meter. If the power grid has not lost power, the double power switch of the diesel generator backup power subsystem is switched to the power grid power supply circuit. If the power grid has lost power, the double power switch of the diesel generator backup power subsystem is switched to the diesel generator power supply circuit, as follows: The diesel generator backup power subsystem includes a diesel generator and a double power switch. The diesel generator is used as the backup power supply of the wind turbine. The double power switch is used to isolate and switch the power supply circuit of the wind turbine. One end of its input is connected to the power grid power supply circuit, and the other end is connected to the diesel generator power supply circuit. Among them, the power grid power supply circuit has a higher priority than the diesel generator power supply circuit; to prevent the diesel generator start command from failing, two methods of manual start and automatic start are adopted, and the manual control has a higher priority than the automatic control. When the power grid loses power and is in the typhoon mode, the diesel generator is automatically started as the backup power supply. When exiting the typhoon mode or the power grid power supply is restored, the diesel generator is automatically stopped; the PLC controller of the wind turbine executes the following automatic control algorithm for the diesel generator backup power subsystem: M = M0 * T p (4) where M0 is the control mode, and x Limit is the set first threshold value, T p is the activation mode, t is the holding time of the M0 state, T' is the time constant, and M is the start / stop control instruction for the backup power supply; 4) Read the wind direction information collected by multiple wind direction sensors, and obtain the optimal wind direction through weighted fusion, as follows: Four wind direction sensors are configured at the top of the nacelle of the wind turbine to collect wind direction information, which is used to prevent the failure of a single sensor and wake disturbance, and the optimal wind direction is obtained through weighted fusion; among them, the larger the mean square deviation of the wind direction, the lower the reliability. Accordingly, the mean square deviation of the reciprocal of the wind direction is normalized to obtain the weight coefficients of the four wind directions, and the optimal wind direction is calculated by weighted fusion. The calculation algorithm is as follows: Wherein, w1, w2, w3, and w4 respectively represent four different wind directions, are respectively the mean square deviations of the reciprocals of w1, w2, w3, and w4, is the normalization denominator, w o is the optimal wind direction; 5) Input the optimal wind direction into the yaw position controller to obtain the corresponding yaw position control command. Multiple variable frequency drives cooperate to control and execute the yaw position control command to drive the wind turbine to yaw against the wind, reduce the load pressure of the unit during typhoons, and achieve the purpose of typhoon resistance.

2. The anti-typhoon control method for large-scale semi-direct-drive offshore wind turbines according to claim 1, wherein: In step 5), design a yaw position control algorithm, set the control boundary and control margin, and input the optimal wind direction w calculated by Equation (5) into the yaw position controller. The yaw position control algorithm is as follows: o ​ U = k p *u(7) where w Limit is the set second threshold, w c is the wind direction margin, u is the yaw direction, and k p represents the yaw speed, and U is the yaw position control command.

3. The anti-typhoon control method for large-scale semi-direct-drive offshore wind turbines according to claim 2, characterized in that: In step 5), the variable frequency drive receives the yaw position control command U obtained by formula (7). When U>0, it yaws in the clockwise direction; when U<0, it yaws in the counterclockwise direction. Multiple variable frequency drives cooperate to control and drive the wind turbine to yaw against the wind. Among them, the cooperative control between variable frequency drives adopts the master-slave following load distribution method, that is, one variable frequency drive is selected as the master station, and other variable frequency drives are used as slave stations to follow the master station operation.

4. The anti-typhoon control method for a large-scale semi-direct-drive offshore wind turbine according to claim 3, characterized in that: The cooperative control between variable frequency drives adopts a constant speed and torque-adaptive speed-torque double-loop control method. Specifically: the speed link of the master station executes the command U issued by formula (7), and the torque link executes the torque T. The speed link of the slave station follows the master station operation, and the torque link of the slave station constructs a control deviation according to the speed feedback of each station and the master station speed, and calculates the torque T using formula (8); where e U is the rotational speed control error, U s is the yaw speed, K P , K I , K D are all constants, and T is the torque control amount; The variable-frequency drive executes control instructions U and T to drive the yaw of the wind turbine to track the optimal wind direction w o , thus realizing the typhoon resistance function.

5. The anti-typhoon control system for large-scale semi-direct-drive offshore wind turbines is characterized in that, It is used to implement the typhoon resistance control method of the large-scale semi-direct drive offshore wind turbine described in any one of claims 1 to 4, and it includes: The wind speed acquisition and filtering module is used to read the wind speed sensor information and the meter voltage information, and filter the wind speed sensor information to obtain the filtered wind speed; The first judgment module is used to judge whether it is in the typhoon mode according to whether the filtered wind speed exceeds the typhoon mode setting value. If it is in the typhoon mode, the second judgment module is executed; otherwise, the process ends; The second judgment module is used to judge whether the power grid has lost power according to the meter voltage information. If the power grid has not lost power, the dual-power switch of the diesel generator backup power subsystem is switched to the power grid power supply circuit; if the power grid has lost power, the dual-power switch of the diesel generator backup power subsystem is switched to the diesel generator power supply circuit; The optimal wind direction acquisition module is used to read the wind direction information collected by multiple wind direction sensors and obtain the optimal wind direction through weighted fusion; The yaw control module is used to input the optimal wind direction into the yaw position controller to obtain the corresponding yaw position control instruction. Multiple variable frequency drives cooperate to control and execute the yaw position control instruction to drive the wind turbine to yaw and align with the wind, reducing the load pressure of the unit during typhoons and achieving the purpose of typhoon resistance.

6. A storage medium stores a program, characterized in that, When the program is executed by the processor, the anti-typhoon control method for a large-scale semi-direct drive offshore wind turbine as described in any one of claims 1 to 4 is implemented.

7. A computing device, comprising a processor and a memory for storing processor-executable programs, characterized in that, When the processor executes the program stored in the memory, the anti-typhoon control method for a large-scale semi-direct drive offshore wind turbine as described in any one of claims 1 to 4 is implemented.

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