A stable self-compensating wind-wave coupled power generation floating wind turbine foundation and control method

Abstract

The present invention discloses a foundation and control method for a stable, self-compensating, wind-wave-coupled power generation floating wind turbine. The foundation comprises a column and a plurality of buoys, the buoys being arranged in a circular array with the column as the center. A cross brace is connected to the lower portion of each adjacent buoy. A power generation device is provided at the connection between the cross brace and the buoy. Each buoy is sheathed with a buoy sleeve, a piston is provided inside the buoy sleeve, a plurality of first connecting rods are embedded in the buoy sleeve, a plurality of second connecting rods are provided on the piston, the first connecting rods and the second connecting rods are arranged in correspondence, and each of the first connecting rods and the second connecting rods is provided with a rack. A gearbox is provided inside the buoy between the first and second connecting rods. The foundation also comprises a sensing device and a data processing and control device, the sensing device and the data processing and control device being connected. The present invention not only adjusts the balance attitude of the floating wind turbine and increases the self-stability of the floating wind turbine by adjusting the ballast of each buoy, but also fully utilizes wind and wave energy for power generation.

Description

Technical Field

[0001] The present invention relates to a floating wind turbine foundation and a control method, and in particular to a stability self-compensating wind-wave coupled power generation floating wind turbine foundation and a control method. Background Art

[0002] In the design and construction of offshore floating wind turbines, the primary goal is to ensure the stability of their floating foundations to prevent them from capsizing during all stages of their service life. Furthermore, tilting an offshore wind turbine at a certain angle significantly reduces the efficiency of the wind turbine generator. The basic force-bearing principle of a semi-shallow floating wind turbine is as follows: when the structure tilts under horizontal load, the buoyancy of the buoys on one edge increases, while that of the buoys on the other edge decreases. This buoyancy difference generates a restoring torque on the center of gravity. Furthermore, this restoring torque is provided by the tension of the mooring system's mooring lines in a geometrically deformed state. This restoring force primarily counteracts the loads acting on the floating foundation structure, ensuring structural stability in the operational floating state and safety in extreme sea conditions. Therefore, the mooring chains typically contain a significant preload and are subject to frequent alternating stresses with the movement of the wind turbine, making them susceptible to fatigue and other damage.

[0003] Since offshore floating wind turbines have tall tower structures, the aerodynamic thrust on the wind turbine blades will generate a huge overturning moment. Therefore, some floating wind turbines use active ballast adjustment systems to adjust the balance posture of the floating wind turbine and improve the stability of the floating wind turbine. The ballast compartments in the three columns of semi-submersible floating wind turbines can perform closed-loop ballast water adjustment according to the real-time posture of the floating platform to improve the stability of the floating wind turbine under wind loads. However, this active ballast adjustment system is not only complex and expensive, but also has a less than ideal ballast adjustment speed.

[0004] A large number of studies have shown that commercial wind farms or wave farms are expected to occupy a large ocean space. Integrating the different technical functions of wind energy and wave energy into one platform will have the following benefits: (1) Complementarity. The two are located in the same vast ocean. Their power generation methods do not conflict and are highly complementary. They can maximize the energy output per unit area in a certain area; (2) Economy. In most cases, the two are located on the same supporting platform, which often realizes the sharing of mooring and supporting platforms and has higher economic performance; (3) Safety. Due to the presence of wave energy power generation devices near the waterline, the wave distribution near the ocean platform can be changed, which plays a role in protecting wind turbines from strong wave impact to a certain extent. However, most of the existing wave energy and wind energy generation devices currently operate independently and require their own construction and installation foundations, which makes the development and maintenance costs of wave energy generation and offshore wind power generation relatively high. Offshore wind turbines have been able to achieve commercial use on a certain scale, but wave energy generation devices have not yet been put into commercial use on a large scale. Wind and wave combined power generation technology has also been actively developed in recent years, but large-scale commercial deployment is not yet mature. At this stage, both are mainly located in near-shallow waters. The wave energy and wind energy resources in near-shallow waters are not as rich as those in deep seas, and the resource quality is slightly worse. In addition, the development of wave energy and wind energy in near-shallow waters has a greater negative impact on activities such as fishery production. Summary of the Invention

[0005] Purpose of the invention: The purpose of the present invention is to propose a stability self-compensating wind-wave coupled power generation floating wind turbine foundation and control method, which can not only adjust the balance posture of the floating wind turbine and increase the self-stability of the floating wind turbine by adjusting the ballast of each buoy, but also make full use of wind and wave energy to generate electricity.

[0006] Technical solution: The present invention includes a column and multiple pontoons. The multiple pontoons are distributed in a circular array with the column as the center. The lower parts of adjacent pontoons are connected with cross braces. The connection between the cross braces and the pontoons is provided with a power generation device. Each pontoon is provided with a pontoon sleeve on the outside, and a piston is provided inside the pontoon. Multiple first connecting rods are embedded in the pontoon sleeve, and multiple second connecting rods are provided on the piston. The first connecting rods and the second connecting rods are arranged correspondingly, and racks are provided on the first connecting rods and the second connecting rods. A gear box is provided inside the pontoon between the first connecting rod and the second connecting rod.

[0007] It also includes a sensing detection device and a data processing and control device, and the sensing detection device is connected to the data processing and control device.

[0008] The power generation device is a shaftless variable pitch turbine generator, including a stator, a rotor and blades. The blades are fixed to the stator through a rotating shaft. When the water flow direction changes, the direction of the rotor will not change, which can make the generated electricity more stable.

[0009] A middle compartment is provided inside the buoy, including an inner chamber and an outer chamber. A piston is provided inside the inner chamber. The inner chamber below the piston is filled with ballast water, which is communicated with adjacent buoys through a cross brace.

[0010] A gear box is provided on the top of the outer cabin, an engine is provided in the gear box, and the electric motor is connected to the motor output gear.

[0011] The gearbox is further provided with a moving gear and a gearbox moving gear. The moving gear is controlled by a data processing and control device and can be engaged with the first connecting rod and the motor output gear respectively; the gearbox moving gear is engaged with the second connecting rod.

[0012] The sensing detection device includes a wind speed and direction sensor, a temperature and humidity sensor, an atmospheric pressure sensor, a water level sensor and an inclination sensor.

[0013] A control method for a floating wind turbine foundation using self-stabilizing compensation for wind-wave coupled power generation comprises the following steps:

[0014] Step 1: The sensor detection device collects signals and uploads them to the data processing and control device;

[0015] Step 2: The data processing and control device performs signal analysis and processing: The data processing and control device analyzes the change in wind direction angle and the size of the fan inclination angle. If the change in wind direction angle and the fan inclination angle are less than a preset value, step 3 is executed; if the change in wind direction angle or the fan inclination angle is greater than the preset value, step 4 is executed.

[0016] Step 3: Passive ballast adjustment and wave energy generation at small inclination angles;

[0017] Step 4: Active ballast adjustment and yaw stability control at large inclination angles.

[0018] The step three is specifically as follows: the data processing and control device sends a control instruction to the movable gear so that it engages with the rack of the first connecting rod, entering the passive ballast adjustment and wave energy power generation mode, and the buoy sleeve controls the up and down movement of the piston to adjust the ballast water, while the power generation device enters the power generation state.

[0019] The step four is specifically as follows: the data processing and control device sends a control instruction to the moving gear to make it mesh with the motor output gear, enter the active ballast adjustment mode, and the motor controls the piston to move up and down to adjust the ballast water.

[0020] Beneficial effects:

[0021] (1) In the passive adjustment mode, the present invention utilizes the draft changes of each buoy to drive the movement of the buoy sleeve to adjust the ballast of each buoy in real time. This can not only effectively reduce the tilt angle of the floating wind turbine and improve its stability, but also greatly offset the bow and roll of the floating wind turbine and improve its wave resistance. During the adjustment process, the power generation device can generate electricity driven by the water flow, which can achieve full and effective utilization of wave energy.

[0022] (2) In the active adjustment mode, the present invention uses an intelligent control method to control the motor to adjust the ballast over a wide range. It can adjust the attitude of the floating wind turbine without human intervention, ensuring the stability of the wind turbine operation. When the wind speed on one side is high, the ballast water is pressed into the buoy on the tilted side, which can greatly correct the wind turbine's wind angle. When the wind direction changes, the ballast of each buoy is adjusted in real time, which can make the wind turbine's yaw process more stable. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] Figure 1 It is a schematic diagram of the overall structure of the present invention;

[0024] Figure 2 for Figure 1 A partial cross-sectional view of

[0025] Figure 3 Schematic diagram of the gear box of the present invention Figure 1 ;

[0026] Figure 4 Schematic diagram of the gear box of the present invention Figure 2 ;

[0027] Figure 5 Schematic diagram of the generator of the present invention Figure 1 ;

[0028] Figure 6 Schematic diagram of the generator of the present invention Figure 2 ;

[0029] Figure 7 This is a schematic diagram of the force analysis of the fan foundation structure of the present invention;

[0030] Figure 8 This is a schematic diagram of the structure of the buoy sleeve of the present invention;

[0031] Figure 9 Schematic diagram of the piston structure of the present invention;

[0032] Figure 10 It is a control flow chart of the present invention. DETAILED DESCRIPTION

[0033] The present invention will be further described below with reference to the accompanying drawings.

[0034] like Figure 1 and Figure 2 As shown, the present invention comprises a column 1 and three pontoons 2. The column 1 is topped with a tower, and the three pontoons 2 are arranged in a circular array centered on the column 1. Each pontoon 2 is connected to the column 1 by multiple horizontal braces 7 and diagonal braces 8. A horizontal brace 7 is connected to the lower portions of adjacent pontoons 2. All horizontal braces 7 and diagonal braces 8 are constructed of cylindrical structures with internal T-shaped materials to ensure strength. Except for the bottom horizontal brace 7, which contains ballast water, all structures are watertight. The column 1 is the center of the entire foundation, used to install and secure the wind turbine. The upper end of the column 1 is a cylindrical structure, while the lower end is a column with a larger base area to reduce heave in the wind turbine foundation.

[0035] Each buoy 2 is provided with a buoy cover 3 on the outside. The buoy cover 3 floats on the water surface and can slide up and down along the buoy 2. Figure 8 As shown, four first connecting rods 31 are embedded in the buoy sleeve 3. The four first connecting rods 31 are evenly distributed along the circumference of the buoy sleeve 3. Racks are provided on the opposite sides of the first connecting rods 31.

[0036] The buoy 2 is divided into three parts: upper, middle and lower. The upper part is a hollow plate shell structure; the middle cabin is a double-shell structure, which is further divided into two compartments, the inner and outer compartments. The outer compartment is equipped with a gearbox 6 on the top, and the lower part can be used as a ballast tank. The inner compartment is divided into two parts, the upper and lower parts, by the piston 4. The piston 4 can move up and down along the inner compartment. The upper part is air, and the lower part is ballast water. The ballast water is connected to the adjacent buoy 2 through the cross brace 7. The connection between the cross brace 7 and the buoy 2 is equipped with a generator 5, which is placed inside the cross brace 7. The bottom compartment of the buoy 2 is a fixed ballast tank to lower the center of gravity of the wind turbine. The piston 4 is evenly spaced along its circumference and has four second connecting rods 32 embedded therein, as shown in FIG. Figure 9 As shown, the top of the second connecting rod 32 extends out of the upper surface of the piston 4, and a rack is provided on the opposite side of the second connecting rod 32. The first connecting rod 31 and the second connecting rod 32 are correspondingly arranged.

[0037] Guides can also be provided between the first and second connecting rods 31, 32, and the buoy 2 to guide their relative motion. These guides can be constructed in the form of pulley blocks positioned at the interface between the buoy sleeve 3 and the buoy 2. These guides can be constructed in the form of guide holes and pulley blocks positioned between the first and second connecting rods 31, 32, and the buoy 2 to constrain horizontal motion and smooth vertical motion.

[0038] like Figure 3 and Figure 4As shown, the gear box 6 is provided with a motor, which is connected to the motor output gear 61. The gear box 6 is also provided with a movable gear 62 and a gear box movable gear 63. The movable gear 62 is controlled by the data processing and control device 10 and can move left and right. When it is on the left side, it is meshed with the rack on the first connecting rod 31, and when it is on the right side, it is meshed with the motor output gear 61; the gear box movable gear 63 is meshed with the rack on the second connecting rod 41.

[0039] like Figure 5 and Figure 6 As shown, the generator 5 is a shaftless variable-pitch turbine generator, comprising a stator 51, a rotor 52, and blades 53. The stator 51 is equipped with a strong permanent magnet, and the rotor 52 houses an electromagnetic induction coil. The blades 53 have a teardrop-shaped cross-section and are fixed to the stator 51 via a rotating shaft 54, allowing them to rotate within a certain angle around the shaft. When water flows from left to right within the cross brace 7, the distal ends of the blades 53 deflect to the right, forming a certain angle with the water flow, generating thrust that causes the blades 53 to rotate toward their proximal ends. The stator 51 cuts through the magnetic flux lines, generating electrical energy. When the flow direction changes, the distal ends of the blades 53 deflect to the other side, also forming an angle with the water flow, causing the blades 53 to rotate toward their proximal ends. This indicates that the direction of the rotor 52 remains unchanged when the water flow direction changes, resulting in more stable electrical energy generation. Furthermore, since this shaftless variable-pitch turbine generator lacks a shafting structure, it significantly reduces resistance to the water flow and improves power generation efficiency.

[0040] The floating wind turbine of the present invention is further provided with a sensing detection device 9 and a data processing and control device 10. The sensing detection device 9 includes a wind speed and direction sensor 91, a temperature and humidity sensor 92, an atmospheric pressure sensor 93 placed on the nacelle of the tower superstructure, a water level sensor 94 on the buoy 2, and an inclination sensor 95 on the column 1. The wind speed and direction sensor 91, the temperature and humidity sensor 92, the atmospheric pressure sensor 93, the water level sensor 94, and the inclination sensor 95 are used to collect signals and upload them. The data processing and control device 10 is arranged in the column 1 and is connected to the sensing detection device 9 to analyze the collected signals, analyze the size of the wind and waves and the inclination angle of the wind turbine foundation. If it is less than a preset value, the data processing and control device 10 issues a command to adjust the moving gear 62 of the gear box 6 to a position where it is engaged with the rack of the first connecting rod 31 of the buoy sleeve 3, as shown in FIG. Figure 4As shown, the buoy sleeve 3 controls the piston movement to adjust the ballast water in the three buoys 2 in a small range; if the size of the wind and waves and the inclination angle of the wind turbine foundation are greater than the preset value, the movable gear 62 is adjusted to engage with the motor output gear 61, and the data processing and control device 10 analyzes the platform rotation angles in the x and y directions measured by the inclination sensor 95, calculates the inclination height position information of the floating platform through coordinate conversion, and obtains the specific direction of water level adjustment, thereby controlling the motor to adjust the mass distribution of the ballast water in the three buoys 2 in a large range.

[0041] The present invention also includes a mooring system, which is composed of multiple mooring chains. The mooring method adopts a catenary type. The mooring chains are connected to the bottom end of the buoy 2 to assist in stabilizing the buoy 2.

[0042] like Figure 7 As shown, the force and working principle of the floating wind turbine of the present invention are as follows: when the floating wind turbine is subjected to relatively small wind and waves, the sensing detection device 9 transmits the collected signal to the data processing and control device 10. After analysis, it is found that the wind direction has not changed and the wind turbine tilt angle is less than the preset value, and there is no need to adjust the ballast water in a large range, the movable gear 62 in the gear box is adjusted to the first connecting rod 31, and the buoy sleeve 3 controls the piston 4 to move up and down within a certain range to adjust the ballast water; at this time, the force process is as follows: the draft of the three buoys is inconsistent due to waves or wind turbine tilt, and the draft on one side increases. The buoy sleeve 3 moves upward relative to the buoy. The first connecting rod 31 drives the gearbox to rotate. After the torque is increased by the gearbox 6, it is transmitted to the second connecting rod 41, causing the piston 4 to move downward, thereby forcing the ballast water in the central compartment of the buoy into the other buoys 2. The buoyancy on one side increases, while the gravity decreases. The buoyancy on the other side decreases, while the gravity increases. The torque generated by this combined force prevents the floating wind turbine from tilting and reduces the tilt angle of the floating foundation, restoring the floating wind turbine to its initial equilibrium position. The reverse is also true, significantly offsetting the floating wind turbine's pitch and roll. During this process, as the ballast water flows through the shaftless variable-pitch turbine generator, it drives the blades to rotate, generating electricity.

[0043] When the wind direction changes and the yaw system faces the wind or the unilateral wind direction continues to increase, the sensing detection device 9 transmits the collected signal to the data processing and control device 10. After analysis, when the wind direction changes or the fan tilt angle is greater than the preset value, a signal is sent to disengage the movable gear 62 from the first connecting rod 31, move inward, and engage with the motor output gear 61. Driven by the motor, the piston 4 on one side of the low-position buoy with a deep draft moves downward, and the piston 4 on the other side moves upward. The motors in all the buoys 2 work together to quickly adjust the platform ballast water to change the mass distribution, adjust the fan posture, and ensure the stable operation of the entire machine.

[0044] like Figure 10 As shown, the control method of the present invention includes the following steps:

[0045] Step 1: Signal acquisition and transmission of sensing detection device

[0046] The wind speed and direction sensor 91, the temperature and humidity sensor 92, the atmospheric pressure sensor 93, the water level sensor 94 on the float 2 and the inclination sensor 95 on the column 1 respectively collect signals such as wind speed and direction, temperature and humidity sensors, atmospheric pressure, float water level and inclination, and upload them to the data processing and control device 10.

[0047] Step 2: Data processing and control device performs signal analysis and processing

[0048] Wind speed and direction sensor 91 detects wind speed and direction signals, temperature and humidity sensor 92 detects temperature and humidity signals, and atmospheric pressure sensor 93 detects atmospheric pressure signals. Blade element momentum theory is used to calculate the horizontal aerodynamic thrust at the wind turbine rotor. Water level sensor 94 detects the ballast water level within the three buoys of the floating wind turbine foundation, which is used to calculate the deadweight of each buoy. Tilt sensor 95 detects the tilt angle signal of the floating platform. Data processing and control device 10 first analyzes the wind speed and direction signals detected by wind speed and direction sensor 91 and the wind turbine tilt angle signal from tilt sensor 95. It then analyzes the change in wind direction angle and wind turbine tilt angle. If the change in wind direction angle and wind turbine tilt angle is less than a preset value, step three is executed. If the change in wind direction angle or wind turbine tilt angle is greater than a preset value, step four is executed.

[0049] Step 3: Passive ballast adjustment and wave energy generation at low inclination angles

[0050] The data processing and control device issues a control command to the driven gear 62, causing it to mesh with the rack of the first connecting rod 31, entering a passive ballast regulation and wave energy generation mode. The buoy sleeve 3 controls the piston 4 to move up and down within a certain range to adjust the ballast water, while the generator unit simultaneously enters a power generation state. In this mode, when the wind turbine is subjected to variable-amplitude wind loads or waves, the draft of the three buoys will continuously change. The buoy sleeve will then reciprocate up and down relative to the buoys. The torque increased by the gearbox 6 drives the piston movement, thereby regulating the ballast water. Ballast water in the deep-draft buoy is then pushed into the shallow-draft buoy. The torque generated by this combined force prevents the floating wind turbine from tilting and reduces the tilt angle of the floating foundation, thereby significantly offsetting the turbine's pitch and roll. During this process, as the ballast water flows through the shaftless variable-pitch turbine generator, it drives the blades to rotate and generate electricity, thereby fully utilizing the energy of the waves.

[0051] Step 4: Active ballast adjustment and yaw stability control at large inclination angles

[0052] The data processing and control device 10 issues a control command to the driven gear 62, meshing it with the motor output gear 61, entering active ballast adjustment mode. The motor controls the piston's large-scale vertical movement to adjust the ballast water. This is because the gearbox 6 (increasing torque and reducing speed) causes the piston 4's travel to be smaller than the travel of the buoy sleeve 3, limiting the passive adjustment range. In this mode, the data processing and control device 10 analyzes the overall structure based on the wind load acting on the turbine. It determines the direction of ballast water adjustment within the three buoys based on the torque balance relationship and the turbine's inclination angle.

[0053] When the unilateral wind force continues to increase, causing the wind turbine inclination angle to increase, the ballast water needs to be adjusted beyond the passive adjustment float. At this time, the electric motor drives the piston to further adjust the ballast water, thereby reducing the wind turbine inclination angle and reducing the angle between the wind turbine blades and the wind to improve power generation efficiency; when the wind direction changes, the direction in which the wind turbine is tilted by the wind will also change. At this time, the ballast in the three buoys needs to be adjusted to readjust the mass distribution of the floating platform to ensure the stable operation of the entire machine.

[0054] A minimum ballast level limit is set for each buoy. When the ballast level of a buoy reaches this limit, continuous ballast adjustment is suspended. When the wind speed on one side decreases or the wind direction stabilizes, the data processing and control device 10 analyzes and processes the real-time signals transmitted by the wind speed and direction sensor 91 and the tilt sensor 95. If it detects a change in wind direction and a wind turbine tilt angle less than a preset value, it will proceed to step three, entering passive ballast adjustment and wave energy generation mode.

[0055] The overall structure of the floating wind turbine foundation of the present invention is relatively simple. It can not only adjust the balance posture of the floating wind turbine by adjusting the ballast of each buoy 2 to increase the self-stability of the floating wind turbine, but also fully utilize wind and wave energy to generate electricity.

Claims

1. A stable self-compensating wind-wave coupled power generation floating wind turbine foundation, characterized in that: It includes a column and multiple pontoons, which are distributed in a circular array with the column as the center. The lower parts of adjacent pontoons are connected with cross braces. The connection between the cross braces and the pontoons is provided with a power generation device. Each pontoon is provided with a pontoon sleeve on the outside, and a piston is provided inside the pontoon. Multiple first connecting rods are embedded in the pontoon sleeve, and multiple second connecting rods are provided on the piston. The first connecting rods and the second connecting rods are correspondingly arranged, and the first connecting rods and the second connecting rods are both provided with racks. A gear box is provided inside the pontoon between the first connecting rods and the second connecting rods. When the floating wind turbine is subject to relatively light waves, the sensing device transmits the collected signals to the data processing and control device. After analysis, the wind direction remains unchanged and the turbine's tilt angle is less than a preset value, indicating that no extensive ballast water adjustment is required. The moving gear in the gearbox is adjusted to the first connecting rod, and the buoy sleeve controls the piston to move up and down within a certain range to adjust the ballast water. At this point, the force applied is as follows: waves or turbine tilt cause the three buoys to have different drafts. The draft on one side increases, causing the buoy sleeve to move upward relative to the buoy. The first connecting rod drives the moving gear to rotate, and after the torque is increased by the gearbox, it transmits force to the second connecting rod, causing the piston to move downward, thereby forcing the ballast water in the central compartment of the buoy into the other buoys. This increases the buoyancy on one side, reducing gravity, while the buoyancy on the other side decreases, increasing gravity. The torque generated by the combined forces prevents the floating wind turbine from tilting and reduces the tilt angle of the floating foundation, restoring the floating wind turbine to its initial equilibrium position. The reverse is also true, significantly offsetting the pitch and roll of the floating wind turbine. When the wind direction changes and the yaw system faces the wind or the wind direction on one side continues to increase, the sensor detection device transmits the collected signal to the data processing and control device. After analysis, when the wind direction changes or the inclination angle of the wind turbine is greater than the preset value, a signal is sent to disengage the movable gear from the first connecting rod, move inward, and engage with the output gear of the motor. Driven by the motor, the piston on one side of the low-position buoy with a deep draft moves downward, and the piston on the other side moves upward. The motors in all the buoys work together to quickly adjust the platform ballast water to change the mass distribution, adjust the wind turbine attitude, and ensure the stable operation of the entire machine.

2. The stable self-compensating wind-wave coupled power generation floating wind turbine foundation according to claim 1, characterized in that: It also includes a sensing detection device and a data processing and control device, and the sensing detection device is connected to the data processing and control device.

3. The stable self-compensating wind-wave coupled power generation floating wind turbine foundation according to claim 1, characterized in that: The power generation device is a shaftless variable pitch turbine generator, comprising a stator, a rotor and blades. The blades are fixed to the stator via a rotating shaft, and the direction of the rotor does not change when the water flow direction changes.

4. The stable self-compensating wind-wave coupled power generation floating wind turbine foundation according to claim 1, characterized in that: A middle compartment is provided inside the buoy, including an inner chamber and an outer chamber. A piston is provided inside the inner chamber. The inner chamber below the piston is filled with ballast water, which is communicated with adjacent buoys through a cross brace.

5. The stable self-compensating wind-wave coupled power generation floating wind turbine foundation according to claim 4, characterized in that: A gear box is provided on the top of the outer chamber. A motor is provided in the gear box. The motor is connected to a motor output gear.

6. A stable self-compensating wind-wave coupled power generation floating wind turbine foundation according to claim 1 or 5, characterized in that: The gear box is further provided with a moving gear and a gear box moving gear. The moving gear is controlled by a data processing and control device and is respectively engaged with the first connecting rod and the motor output gear; the gear box moving gear is engaged with the second connecting rod.

7. The stable self-compensating wind-wave coupled power generation floating wind turbine foundation according to claim 2, characterized in that: The sensing detection device includes a wind speed and direction sensor, a temperature and humidity sensor, an atmospheric pressure sensor, a water level sensor and an inclination sensor.

8. A control method for a stable self-compensating wind-wave coupled power generation floating wind turbine foundation according to any one of claims 1 to 7, characterized in that: The following steps are involved: Step 1: The sensor detection device collects signals and uploads them to the data processing and control device; Step 2: The data processing and control device performs signal analysis and processing: The data processing and control device analyzes the change in wind direction angle and the size of the fan inclination angle. If the change in wind direction angle and the fan inclination angle are less than a preset value, step 3 is executed; if the change in wind direction angle or the fan inclination angle is greater than the preset value, step 4 is executed. Step 3: Passive ballast adjustment and wave energy generation at small inclination angles; Step 4: Active ballast adjustment and yaw stability control at large inclination angles.

9. The control method for a stable self-compensating wind-wave coupled power generation floating wind turbine foundation according to claim 8, characterized in that: The step three is specifically as follows: the data processing and control device sends a control instruction to the movable gear so that it engages with the rack of the first connecting rod, entering the passive ballast adjustment and wave energy power generation mode, and the buoy sleeve controls the up and down movement of the piston to adjust the ballast water, while the power generation device enters the power generation state.

10. The control method for a stable self-compensating wind-wave coupled power generation floating wind turbine foundation according to claim 8, characterized in that: The step four is specifically as follows: the data processing and control device sends a control instruction to the moving gear to make it mesh with the motor output gear, enter the active ballast adjustment mode, and the motor controls the piston to move up and down to adjust the ballast water.

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