Heave motion control method and system for a floating wind turbine

Abstract

The present invention discloses a method and system for controlling the heave motion of a floating wind turbine, comprising the following steps: obtaining the effective azimuth angle of blade 1, the effective rotational speed of the wind rotor, and the vertical effective acceleration of the floating foundation platform; calculating additional pitch control instructions for three blades based on the effective azimuth angle of blade 1, the effective rotational speed of the wind rotor, and the vertical effective acceleration of the floating foundation platform, to generate an additional vertical force on the wind rotor that is opposite to the vertical motion speed of the floating foundation platform, thereby suppressing the vertical motion of the floating foundation platform; and superimposing the additional pitch control instructions for each blade with their respective pitch control instructions to obtain a final pitch control instruction for each blade, which is then transmitted to the pitch control system for execution. By controlling the additional pitch control instructions for each blade, the present invention generates a vertical force on the wind rotor, thereby suppressing the heave motion of the floating wind turbine foundation platform.

Description

Technical Field

[0001] The present invention relates to the technical field of floating wind turbine control, and in particular to a heave motion control method, system, storage medium and computing device for a floating wind turbine. Background Art

[0002] Floating wind turbines float on the water's surface via a floating foundation platform and are connected to the seabed via a mooring chain system. Due to the unique foundation fixing structure of floating wind turbines, the motion response of floating wind turbines under the combined action of wind, waves and currents is more significant. During the operation of floating wind turbines, the heave motion of the floating foundation platform has a significant impact on the fatigue load of the mooring chain. Traditional wind turbine control strategies do not suppress the heave motion of the floating foundation platform. Larger heave motions reduce the life of the mooring chain of the floating wind turbine. Installing heave plates to suppress the heave motion of the floating foundation platform will increase costs and increase the overall weight of the floating foundation platform. Summary of the Invention

[0003] The first purpose of the present invention is to overcome the shortcomings and deficiencies of the prior art and provide a method for controlling the heave motion of a floating wind turbine. By controlling the additional pitch instructions of each blade, a vertical force is generated on the wind rotor to suppress the heave motion of the foundation platform of the floating wind turbine.

[0004] A second object of the present invention is to provide a heave motion control system for a floating wind turbine.

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

[0006] A fourth object of the present invention is to provide a computing device.

[0007] The first object of the present invention is achieved by the following technical solution: A method for controlling the heave motion of a floating wind turbine generator system, comprising the following steps:

[0008] 1) Obtain the effective azimuth angle of blade 1, the effective rotational speed of the wind rotor, and the vertical effective acceleration of the floating foundation platform;

[0009] 2) Based on the effective azimuth angle of blade 1, the effective rotational speed of the wind rotor, and the vertical effective acceleration of the floating foundation platform, additional pitch control instructions for the three blades are calculated to generate an additional vertical force on the wind rotor that is opposite to the vertical motion speed of the floating foundation platform, thereby suppressing the vertical motion of the floating foundation platform;

[0010] 3) The additional pitch instruction of each blade is superimposed on the respective pitch instruction to obtain the final pitch instruction of each blade, and is transmitted to the pitch system for execution.

[0011] Furthermore, in step 1), the blade 1 measurement azimuth angle is measured by the hub slip ring encoding sensor. The blade 1 measurement azimuth angle refers to an angle at which the blade 1 is located within the rotor plane as the rotor rotates. The positive direction of the blade 1 measurement azimuth angle is clockwise, with the 12 o'clock direction of the rotor plane as the starting position of zero degrees, and the azimuth angle range is from 0 to 2π. The blade 1 measurement azimuth angle obtained by the hub slip ring encoding sensor may have jumps, vibration noise and electromagnetic interference. Therefore, the following data processing is required for the blade 1 measurement azimuth angle:

[0012] First, the measured azimuth angle of blade 1 is decomposed into two vertical axes, and the corresponding components on each vertical axis are obtained:

[0013]

[0014] In the above formula, Indicates the azimuth angle measured by blade 1; y θ represents the component of the azimuth angle measured by blade 1 on the y-axis; x θ represents the component of the azimuth angle measured by blade 1 on the x-axis;

[0015] Secondly, the y-axis component and the x-axis component of the azimuth angle of blade 1 are filtered respectively:

[0016]

[0017] In the above formula, represents the effective component of the azimuth angle measured by blade 1 on the y-axis; represents the effective component of the azimuth angle measured by blade 1 on the x-axis; F(s) represents the azimuth filter, which includes a low-pass filter and a band-stop filter;

[0018] Next, the effective component of the azimuth angle of blade 1 measured on the y-axis and the effective component on the x-axis are combined and calculated to obtain the effective azimuth angle of blade 1:

[0019]

[0020] In the above formula, Indicates the effective azimuth angle of blade 1; if indicates that the following is the judgment condition.

[0021] Furthermore, in step 1), the measured speed of the wind wheel is obtained by measuring the speed sensor of the low-speed shaft. The measured speed of the wind wheel is affected by vibration and electromagnetic interference and contains many noise signals. Therefore, filtering is required. The effective speed of the wind wheel is defined as follows:

[0022]

[0023] In the above formula, Indicates the effective speed of the wind wheel; H(s) indicates the wind wheel speed filter, including low-pass filter and band-stop filter; Indicates the measured speed of the wind wheel.

[0024] Furthermore, in step 1), the vertical acceleration of the floating base platform is measured by an acceleration sensor installed on the floating base platform. The vertical acceleration of the floating base platform contains a lot of noise signals, so filtering is required. The vertical effective acceleration of the floating base platform is defined as follows:

[0025]

[0026] In the above formula, represents the vertical effective acceleration of the floating foundation platform; T(s) represents the acceleration filter, which includes high-pass filter, low-pass filter and band-stop filter; Indicates the vertical acceleration measured on the floating foundation platform.

[0027] Furthermore, in step 2), for each blade, if a positive pitch angle is superimposed on this blade, as the pitch angle of the blade increases, the blade generates an additional shimmying force in the rotor plane. If the resultant shimmying force on the three blades is controlled to be proportional to the vertical motion speed of the floating foundation platform and in the opposite direction, the vertical motion of the floating foundation platform is suppressed. The resultant shimmying force on the three blades is called the additional vertical force on the rotor.

[0028] The calculation formula of the additional vertical force of the wind wheel is as follows:

[0029]

[0030] In the above formula, ΔF heave Represents the additional vertical force of the wind wheel; μ represents the desired additional damping coefficient, which is an adjustable parameter; It represents the integral of the vertical effective acceleration of the floating foundation platform, that is, the vertical motion speed of the floating foundation platform;

[0031] According to the additional vertical force of the wind wheel, the additional oscillation force of each blade is obtained. The specific calculation formula is as follows:

[0032]

[0033] In the above formula, ΔF Edge,1 Indicates the additional oscillation force of blade 1; ΔF Edge,2 Indicates the additional oscillation force of blade 2; ΔF Edge,3 Indicates the additional shimmying force of blade 3; represents the effective azimuth angle of blade 1; τ represents the inherent time delay of the pitch system; Indicates the effective speed of the wind wheel;

[0034] According to the additional shimmy force of each blade, the additional pitch command of each blade is obtained. The specific calculation formula is as follows:

[0035]

[0036] In the above formula, Δβ1 represents the additional pitch command of blade 1; Δβ2 represents the additional pitch command of blade 2; Δβ3 represents the additional pitch command of blade 3; It represents the partial differential of the blade swing force with respect to the pitch angle.

[0037] Further, in step 3), the additional pitch instruction of blade 1 is superimposed on the pitch instruction of blade 1, the additional pitch instruction of blade 2 is superimposed on the pitch instruction of blade 2, and the additional pitch instruction of blade 3 is superimposed on the pitch instruction of blade 3 to obtain the final pitch instructions of blade 1, blade 2, and blade 3, and transmit them to the pitch system for execution;

[0038] The specific expression of the final pitch change instruction is as follows:

[0039]

[0040] In the above formula, Indicates the final pitch change command of blade 1; Indicates the final pitch change instruction of blade 2; Indicates the final pitch change instruction of blade 3; Indicates that the pitch controller outputs the pitch command for blade 1; Indicates that the pitch controller outputs the pitch command for blade 2; Indicates that the pitch controller outputs the pitch command for blade 3; Δβ1 indicates an additional pitch command for blade 1; Δβ2 indicates an additional pitch command for blade 2; and Δβ3 indicates an additional pitch command for blade 3.

[0041] The second object of the present invention is achieved by the following technical solution: a heave motion control system for a floating wind turbine, used to implement the above-mentioned heave motion control method for a floating wind turbine, comprising:

[0042] A data acquisition module is used to obtain the effective azimuth angle of blade 1, the effective rotation speed of the wind rotor and the vertical effective acceleration of the floating foundation platform;

[0043] The additional pitch command calculation module calculates the additional pitch commands for the three blades based on the effective azimuth angle of blade 1, the effective speed of the wind rotor, and the vertical effective acceleration of the floating foundation platform. The additional pitch commands are used to generate an additional vertical force on the wind rotor, which is opposite to the vertical movement speed of the floating foundation platform, thereby suppressing the vertical movement of the floating foundation platform.

[0044] The pitch instruction superposition module is used to superimpose the additional pitch instruction of each blade with its own pitch instruction, obtain the final pitch instruction of each blade, and transmit it to the pitch system for execution.

[0045] 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 heave motion control method of the floating wind turbine is implemented.

[0046] The fourth objective of the present invention is achieved through the following technical solution: a computing device, comprising a processor and a memory for storing a program executable by the processor, wherein when the processor executes the program stored in the memory, the heave motion control method of the above-mentioned floating wind turbine is implemented.

[0047] Compared with the prior art, the present invention has the following advantages and beneficial effects:

[0048] 1. No additional sensors or heave plate structures are required. Existing sensors are used to measure the azimuth angle of blade 1, the rotation speed of the wind rotor, and the vertical acceleration of the floating foundation platform to control the pitch angle of each blade and suppress the heave motion of the floating wind turbine.

[0049] 2. By superimposing additional pitch control instructions on each blade, an additional swing force is generated on each blade. The resultant force of the additional swing forces on the three blades is controlled to be opposite to the heave motion speed of the floating foundation platform, which can effectively suppress the heave motion of the floating wind turbine.

[0050] 3. The floating wind turbine heave motion control system proposed in the present invention includes a sensor measurement and data processing module, an additional pitch command calculation module and a pitch command superposition module. It has a simple structure and is suitable for engineering applications. BRIEF DESCRIPTION OF THE DRAWINGS

[0051] Figure 1 Schematic diagram of the additional swing force on floating wind turbine blades.

[0052] Figure 2 This is an architecture diagram of the system of the present invention. DETAILED DESCRIPTION

[0053] The present invention will be described in further detail below with reference to the embodiments and drawings, but the embodiments of the present invention are not limited thereto.

[0054] Example 1

[0055] This embodiment discloses a method for controlling the heave motion of a floating wind turbine, comprising the following steps:

[0056] 1) The sensor measures the blade 1 azimuth angle, the rotor speed, and the floating platform vertical acceleration. The effective azimuth angle of blade 1, the rotor speed, and the floating platform vertical acceleration are obtained through data processing. The details are as follows:

[0057] The azimuth angle of blade 1 shown is the angle at which blade 1 is located within the rotor plane as the rotor rotates. The positive direction of the azimuth angle of blade 1 is clockwise, with the 12 o'clock direction of the rotor plane as the starting position of zero degrees, and the azimuth angle range is from 0 to 2π. The azimuth angle of blade 1 shown is obtained by measuring with a hub slip ring encoding sensor. The azimuth angle of blade 1 obtained by the hub slip ring encoding sensor may be subject to jumps, vibration noise, and electromagnetic interference. Therefore, the following data processing is required for the azimuth angle of blade 1:

[0058] First, the measured azimuth angle of blade 1 is decomposed into two vertical axes, and the corresponding components on each vertical axis are obtained:

[0059]

[0060] In the above formula, Indicates the azimuth angle measured by blade 1; y θ represents the component of the azimuth angle measured by blade 1 on the y-axis; x θ represents the component of the azimuth angle measured by blade 1 on the x-axis;

[0061] Secondly, the y-axis component and the x-axis component of the azimuth angle of blade 1 are filtered respectively:

[0062]

[0063] In the above formula, represents the effective component of the azimuth angle measured by blade 1 on the y-axis; represents the effective component of the azimuth angle measured by blade 1 on the x-axis; F(s) represents the azimuth filter, which includes a low-pass filter and a band-stop filter;

[0064] Next, the effective component of the azimuth angle of blade 1 measured on the y-axis and the effective component on the x-axis are combined and calculated to obtain the effective azimuth angle of blade 1:

[0065]

[0066] In the above formula, Indicates the effective azimuth angle of blade 1; if indicates that the following is the judgment condition.

[0067] Furthermore, in step 1), the measured speed of the wind wheel is obtained by measuring the speed sensor of the low-speed shaft. The measured speed of the wind wheel is affected by vibration and electromagnetic interference and contains many noise signals. Therefore, filtering is required. The effective speed of the wind wheel is defined as follows:

[0068]

[0069] In the above formula, Indicates the effective speed of the wind wheel; H(s) indicates the wind wheel speed filter, including low-pass filter and band-stop filter; Indicates the measured speed of the wind wheel.

[0070] Furthermore, in step 1), the vertical acceleration of the floating base platform can be measured by an acceleration sensor installed on the floating base platform. The measured vertical acceleration of the floating base platform contains a lot of noise signals, so filtering is required. The vertical effective acceleration of the floating base platform is defined as follows:

[0071]

[0072] In the above formula, represents the vertical effective acceleration of the floating foundation platform; T(s) represents the acceleration filter, which includes high-pass filter, low-pass filter and band-stop filter; Indicates the vertical acceleration measured on the floating foundation platform.

[0073] 2) Based on the effective azimuth angle of blade 1, the effective speed of the wind rotor, and the vertical effective acceleration of the floating foundation platform, the additional pitch control instructions for the three blades are calculated to generate an additional vertical force on the wind rotor, which is opposite to the vertical movement speed of the floating foundation platform and suppresses the vertical movement of the floating foundation platform. The specific situation is as follows:

[0074] For each blade, if a positive pitch angle is superimposed on this blade, as the pitch angle of the blade increases, the blade generates an additional oscillating force in the wind rotor plane, such as Figure 1 As shown in the figure, if the resultant force of the shimmying forces on the three blades is controlled to be proportional to the vertical motion speed of the floating foundation platform and in the opposite direction, the vertical motion of the floating foundation platform is suppressed. The resultant force of the shimmying forces on the three blades is called the additional vertical force of the wind rotor.

[0075] The calculation formula of the additional vertical force of the wind wheel is as follows:

[0076]

[0077] In the above formula, ΔF heaveRepresents the additional vertical force of the wind wheel; μ represents the desired additional damping coefficient, which is an adjustable parameter; It represents the integral of the vertical effective acceleration of the floating foundation platform, that is, the vertical motion speed of the floating foundation platform;

[0078] According to the additional vertical force of the wind wheel, the additional oscillation force of each blade is obtained. The specific calculation formula is as follows:

[0079]

[0080] In the above formula, ΔF Edge,1 Indicates the additional oscillation force of blade 1; ΔF Edge,2 Indicates the additional oscillation force of blade 2; ΔF Edge,3 Indicates the additional shimmying force of blade 3; represents the effective azimuth angle of blade 1; τ represents the inherent time delay of the pitch system; Indicates the effective speed of the wind wheel;

[0081] According to the additional shimmy force of each blade, the additional pitch command of each blade is obtained. The specific calculation formula is as follows:

[0082]

[0083] In the above formula, Δβ1 represents the additional pitch command of blade 1; Δβ2 represents the additional pitch command of blade 2; Δβ3 represents the additional pitch command of blade 3; It represents the partial differential of the blade swing force with respect to the pitch angle.

[0084] 3) Superimpose the additional pitch command of blade 1 on the pitch command of blade 1, superimpose the additional pitch command of blade 2 on the pitch command of blade 2, and superimpose the additional pitch command of blade 3 on the pitch command of blade 3 to obtain the final pitch commands of blade 1, blade 2, and blade 3, and transmit them to the pitch system for execution;

[0085] The specific expression of the final pitch change instruction is as follows:

[0086]

[0087] In the above formula, Indicates the final pitch change command of blade 1; Indicates the final pitch change instruction of blade 2; Indicates the final pitch change instruction of blade 3; Indicates that the pitch controller outputs the pitch command for blade 1; Indicates that the pitch controller outputs the pitch command for blade 2; Indicates that the pitch controller outputs the pitch command for blade 3; Δβ1 indicates an additional pitch command for blade 1; Δβ2 indicates an additional pitch command for blade 2; and Δβ3 indicates an additional pitch command for blade 3.

[0088] Example 2

[0089] This embodiment discloses a heave motion control system for a floating wind turbine generator set, which is used to implement the heave motion control method for a floating wind turbine generator set described in Example 1. Figure 2 As shown, the system includes the following functional modules:

[0090] A data acquisition module is used to obtain the effective azimuth angle of blade 1, the effective rotation speed of the wind rotor and the vertical effective acceleration of the floating foundation platform;

[0091] The additional pitch command calculation module calculates the additional pitch commands for the three blades based on the effective azimuth angle of blade 1, the effective speed of the wind rotor, and the vertical effective acceleration of the floating foundation platform. The additional pitch commands are used to generate an additional vertical force on the wind rotor, which is opposite to the vertical movement speed of the floating foundation platform, thereby suppressing the vertical movement of the floating foundation platform.

[0092] The pitch instruction superposition module is used to superimpose the additional pitch instruction of each blade with its own pitch instruction, obtain the final pitch instruction of each blade, and transmit it to the pitch system for execution.

[0093] Example 3

[0094] This embodiment discloses a storage medium storing a program. When the program is executed by a processor, the heave motion control method of the floating wind turbine generator set described in Example 1 is implemented.

[0095] The storage medium in this embodiment can be a magnetic disk, an optical disk, a computer memory, a read-only memory (ROM), a random access memory (RAM), a USB flash drive, a mobile hard disk, or the like.

[0096] Example 4

[0097] This embodiment discloses a computing device, including a processor and a memory for storing a program executable by the processor. When the processor executes the program stored in the memory, the heave motion control method of the floating wind turbine described in Example 1 is implemented.

[0098] The computing device described in this embodiment may be a desktop computer, a laptop computer, a smart phone, a PDA handheld terminal, a tablet computer, a programmable logic controller (PLC), or other terminal devices with a processor function.

[0099] The above embodiments are preferred implementation modes of the present invention, but the implementation modes of the present invention are not limited to the above embodiments. Any other changes, modifications, substitutions, combinations, and simplifications that do not deviate from the spirit and principles of the present invention should be considered as equivalent replacement methods and are included in the scope of protection of the present invention.

Claims

1. A method for controlling the heave motion of a floating wind turbine, characterized in that: The following steps are involved: 1) Obtain the effective azimuth angle of blade 1, the effective rotational speed of the wind rotor, and the vertical effective acceleration of the floating foundation platform; The blade 1 azimuth is measured by the hub slip ring encoding sensor. The blade 1 azimuth refers to the angle at which the blade 1 is located within the rotor plane as the rotor rotates. The positive direction of the blade 1 azimuth is clockwise, with the 12 o'clock direction of the rotor plane as the starting position of zero degrees. The azimuth range is from 0 to 2π. The blade 1 azimuth obtained by the hub slip ring encoding sensor may be subject to jumps, vibration noise, and electromagnetic interference. Therefore, the following data processing is required for the blade 1 azimuth: First, the measured azimuth angle of blade 1 is decomposed into two vertical axes, and the corresponding components on each vertical axis are obtained: In the above formula, Indicates the azimuth angle measured by blade 1; y θ represents the component of the azimuth angle measured by blade 1 on the y-axis; x θ represents the component of the azimuth angle measured by blade 1 on the x-axis; Secondly, the y-axis component and the x-axis component of the azimuth angle of blade 1 are filtered respectively: In the above formula, represents the effective component of the azimuth angle measured by blade 1 on the y-axis; represents the effective component of the azimuth angle measured by blade 1 on the x-axis; F(s) represents the azimuth filter, which includes a low-pass filter and a band-stop filter; Next, the effective component of the azimuth angle of blade 1 measured on the y-axis and the effective component on the x-axis are combined and calculated to obtain the effective azimuth angle of blade 1: In the above formula, Indicates the effective azimuth angle of blade 1; if indicates the following is the judgment condition; 2) Based on the effective azimuth angle of blade 1, the effective rotational speed of the wind rotor, and the vertical effective acceleration of the floating foundation platform, additional pitch control instructions for the three blades are calculated to generate an additional vertical force on the wind rotor that is opposite to the vertical motion speed of the floating foundation platform, thereby suppressing the vertical motion of the floating foundation platform; 3) The additional pitch instruction of each blade is superimposed on the respective pitch instruction to obtain the final pitch instruction of each blade, and is transmitted to the pitch system for execution.

2. The heave motion control method of a floating wind turbine according to claim 1, characterized in that: In step 1), the measured speed of the wind wheel is obtained by measuring the speed sensor of the low-speed shaft. The measured speed of the wind wheel is affected by vibration and electromagnetic interference and contains many noise signals. Therefore, filtering is required. The effective speed of the wind wheel is defined as follows: In the above formula, Indicates the effective speed of the wind wheel; H(s) indicates the wind wheel speed filter, including low-pass filter and band-stop filter; Indicates the measured speed of the wind wheel.

3. The heave motion control method of a floating wind turbine according to claim 1, characterized in that: In step 1), the vertical acceleration of the floating platform is measured by an acceleration sensor installed on the floating platform. The vertical acceleration of the floating platform contains a lot of noise signals, so filtering is required. The vertical effective acceleration of the floating platform is defined as follows: In the above formula, represents the vertical effective acceleration of the floating foundation platform; T(s) represents the acceleration filter, which includes high-pass filter, low-pass filter and band-stop filter; Indicates the vertical acceleration measured on the floating foundation platform.

4. The heave motion control method of a floating wind turbine according to claim 1, characterized in that: In step 2), if a positive pitch angle is superimposed on each blade, as the blade pitch angle increases, the blade generates an additional shimmy force within the rotor plane. If the resultant shimmy force on the three blades is controlled to be proportional to the vertical motion speed of the floating foundation platform and in the opposite direction, the vertical motion of the floating foundation platform is suppressed. The resultant shimmy force on the three blades is called the additional vertical force on the rotor. The calculation formula of the additional vertical force of the wind wheel is as follows: In the above formula, ΔF heave Represents the additional vertical force of the wind wheel; μ represents the desired additional damping coefficient, which is an adjustable parameter; It represents the integral of the vertical effective acceleration of the floating foundation platform, that is, the vertical motion speed of the floating foundation platform; According to the additional vertical force of the wind wheel, the additional oscillation force of each blade is obtained. The specific calculation formula is as follows: In the above formula, ΔF Edge,1 Indicates the additional oscillation force of blade 1; ΔF Edge,2 Indicates the additional oscillation force of blade 2; ΔF Edge,3 Indicates the additional shimmying force of blade 3; represents the effective azimuth angle of blade 1; τ represents the inherent time delay of the pitch system; Indicates the effective speed of the wind wheel; According to the additional shimmy force of each blade, the additional pitch command of each blade is obtained. The specific calculation formula is as follows: In the above formula, Δβ1 represents the additional pitch command of blade 1; Δβ2 represents the additional pitch command of blade 2; Δβ3 represents the additional pitch command of blade 3; It represents the partial differential of the blade swing force with respect to the pitch angle.

5. The heave motion control method of a floating wind turbine according to claim 1, characterized in that: In step 3), the additional pitch instruction of blade 1 is superimposed on the pitch instruction of blade 1, the additional pitch instruction of blade 2 is superimposed on the pitch instruction of blade 2, and the additional pitch instruction of blade 3 is superimposed on the pitch instruction of blade 3 to obtain the final pitch instructions of blade 1, blade 2, and blade 3, and transmit them to the pitch system for execution; The specific expression of the final pitch change instruction is as follows: In the above formula, Indicates the final pitch change command of blade 1; Indicates the final pitch change instruction of blade 2; Indicates the final pitch change instruction of blade 3; Indicates that the pitch controller outputs the pitch command for blade 1; Indicates that the pitch controller outputs the pitch command for blade 2; Indicates that the pitch controller outputs the pitch command for blade 3; Δβ1 indicates an additional pitch command for blade 1; Δβ2 indicates an additional pitch command for blade 2; and Δβ3 indicates an additional pitch command for blade 3.

6. A heave motion control system for a floating wind turbine, characterized in that: A method for controlling the heave motion of a floating wind turbine according to any one of claims 1 to 5, comprising: A data acquisition module is used to obtain the effective azimuth angle of blade 1, the effective rotation speed of the wind rotor and the vertical effective acceleration of the floating foundation platform; The additional pitch command calculation module calculates the additional pitch commands for the three blades based on the effective azimuth angle of blade 1, the effective speed of the wind rotor, and the vertical effective acceleration of the floating foundation platform. The additional pitch commands are used to generate an additional vertical force on the wind rotor, which is opposite to the vertical movement speed of the floating foundation platform, thereby suppressing the vertical movement of the floating foundation platform. The pitch instruction superposition module is used to superimpose the additional pitch instruction of each blade with its own pitch instruction, obtain the final pitch instruction of each blade, and transmit it to the pitch system for execution.

7. A storage medium storing a program, characterized in that: When the program is executed by a processor, the heave motion control method of a floating wind turbine according to any one of claims 1 to 5 is implemented.

8. A computing device comprising a processor and a memory for storing a program executable by the processor, characterized in that: When the processor executes the program stored in the memory, the heave motion control method of the floating wind turbine set according to any one of claims 1 to 5 is implemented.

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