Floating type wind turbine and stability control method thereof

Abstract

The application provides a floating wind turbine and a stability control method thereof. The stability control method is applied to a controller in a cabin. A first sensor is used to obtain an inclination angle of a floating body, a second sensor in the cabin is used to obtain an operating state parameter of the floating wind turbine, the inclination angle and the operating state parameter are respectively transmitted to the controller, and the controller controls operating states of a damper, a ballast water adjusting assembly and an anchor chain tension adjusting assembly based on the operating state parameter and the inclination angle, so that the damper, the ballast water adjusting assembly and the anchor chain tension adjusting assembly work cooperatively, the inclination angle of the floating wind turbine is reduced, the stability of the floating wind turbine is greatly improved, the power generation capacity is increased, the floating body structure of the floating wind turbine can be optimized and lightened, the floating body is prevented from being oversized, and the cost is reduced.

Description

Technical Field

[0001] This invention relates to the field of offshore wind power generation technology, and more specifically, to a floating wind turbine and its stability control method. Background Technology

[0002] Unlike traditional fixed offshore wind turbines, floating wind turbines replace fixed foundations with floating foundations, allowing the turbine to "float" on the water surface. The overall stability of floating wind turbines is more susceptible to environmental factors such as wind, waves, and currents. The structural stability of floating wind turbines is a key concern in their design. The stability of floating wind turbines not only affects their power generation but also their safety.

[0003] Currently, there are two main methods for improving the stability of floating wind turbines. One method is to improve the stability of the floating body, which is common. This is achieved by lowering the center of gravity of the floating body, increasing its freeboard, and increasing its width. However, these methods all lead to larger floating bodies, which increases costs. The other method is pitch control strategy. Although this method has lower costs, it leads to power generation loss and has less effect under extreme operating conditions.

[0004] Therefore, how to increase power generation and reduce costs while improving the stability of floating wind turbines is a technical problem that urgently needs to be solved by those skilled in the art. Summary of the Invention

[0005] In view of this, to solve the above problems, the present invention provides a floating fan and a method for controlling its stability, the technical solution of which is as follows:

[0006] A stability control method for a floating wind turbine, the floating wind turbine comprising: a float, a tower, a nacelle, an impeller, a first sensor, and multiple anchor chain tension adjustment components;

[0007] The nacelle is connected to the impeller and the tower respectively, the tower is connected to the floating body, the nacelle includes a controller and multiple second sensors, and the tower includes a damper;

[0008] The floating body includes a base and a plurality of columns located on one side of the base. Each column includes a ballast water regulating component and a first sensor is provided on the column. The plurality of anchor chain tension regulating components are respectively connected to the plurality of columns one by one.

[0009] The stability control method is applied to the controller, and the stability control method includes:

[0010] The system receives the tilt angle of the floating body obtained by the first sensor, and the operating status parameters of the floating fan obtained by multiple second sensors.

[0011] Based on the operating status parameters and the tilt angle, the operating status of the damper, the ballast water regulating component, and the anchor chain tension regulating component are controlled to control the tilt angle of the floating wind turbine.

[0012] Preferably, in the above-mentioned stability control method for floating wind turbines, the operating state parameters include wind speed, power of the floating wind turbine, rotational speed of the impeller, and blade pitch angle.

[0013] Upon receiving the operating status parameters, and before controlling the operating status of the damper, the ballast water regulating assembly, and the anchor chain tension regulating assembly, the stability control method includes:

[0014] The operating status of the floating wind turbine is determined based on the wind speed, the power of the floating wind turbine, the rotational speed of the impeller, and the blade pitch angle.

[0015] Based on the operating status of the floating wind turbine and the tilt angle, the operating status of the damper, the ballast water regulating component, and the anchor chain tension regulating component are controlled.

[0016] Preferably, in the above-mentioned stability control method for floating wind turbines, controlling the operating states of the damper, the ballast water regulating component, and the anchor chain tension regulating component based on the operating state of the floating wind turbine and the tilt angle includes:

[0017] The maximum and average values ​​of the tilt angle within the first time period are obtained, as well as the operating status of the floating wind turbine within the first time period;

[0018] When the floating wind turbine is in normal power generation mode, and the maximum value of the tilt angle is not less than 2° and less than 5°, the operating status of the damper, the ballast water regulating component, and the anchor chain tension regulating component are controlled based on the ratio of the average value to the maximum value of the tilt angle.

[0019] Preferably, in the above-mentioned stability control method for floating wind turbines, the ballast water regulating component includes a ballast water tank, a water pump, and a pipeline. The ballast water tanks in the plurality of columns are connected through the pipeline, and the water pump is installed on the pipeline.

[0020] The anchor chain tension adjustment assembly includes: an anchor winch and an anchor chain; multiple anchor winches are connected to multiple columns in a one-to-one correspondence; the first end of the anchor chain is connected to the anchor winch; and the second end of the anchor chain is connected to a fixing device.

[0021] The method of controlling the operating status of the damper, the ballast water regulating assembly, and the anchor chain tension regulating assembly based on the ratio of the average and maximum values ​​of the tilt angle includes:

[0022] When the ratio of the average to the maximum tilt angle is less than 0.2, the damper is controlled to provide additional damping to the tower, the water pump is controlled to close the passage between the ballast water tank and the pipeline, and the anchor winch is controlled to stop retracting and extending the anchor chain.

[0023] When the ratio of the average value to the maximum value of the tilt angle is not less than 0.2 and less than 0.8, the damper is controlled to provide additional damping to the tower, the water pump is controlled to open the passage between the ballast water tank and the pipeline to adjust the water storage of the ballast water tank, and the anchor winch is controlled to stop retracting and extending the anchor chain.

[0024] When the ratio of the average to the maximum tilt angle is not less than 0.8, the damper is controlled to stop providing additional damping to the tower, the water pump is controlled to open the passage between the ballast water tank and the pipeline to adjust the water storage of the ballast water tank, and the anchor winch is controlled to stop retracting and extending the anchor chain.

[0025] Preferably, in the above-described stability control method for a floating wind turbine, after obtaining the maximum and average values ​​of the tilt angle within a first time period, and obtaining the operating status of the floating wind turbine during the first time period, the stability control method further includes:

[0026] When the floating wind turbine is in normal power generation mode, and the maximum tilt angle is not less than 5° and less than 10°, the damper is controlled to provide additional damping to the tower, the water pump is controlled to open the passage between the ballast water tank and the pipeline to adjust the water storage of the ballast water tank, and the anchor winch is controlled to stop retracting and extending the anchor chain.

[0027] When the floating wind turbine is in an abnormal power generation state, and the maximum value of the tilt angle is not less than 2° and less than 5°, the damper is controlled to provide additional damping to the tower, the water pump is controlled to close the passage of the ballast water tank and the pipeline, and the anchor winch is controlled to stop retracting and extending the anchor chain.

[0028] When the floating wind turbine is in an abnormal power generation state and the maximum tilt angle is not less than 5°, the damper is controlled to stop providing additional damping to the tower, the water pump is controlled to open the passage between the ballast water tank and the pipeline to adjust the water storage of the ballast water tank, and the anchor winch is controlled to retract and extend the anchor chain to change the floating state of the float.

[0029] This application also provides a floating fan, the floating fan comprising:

[0030] The floating body, tower, nacelle, impeller, first sensor, and multiple anchor chain tension adjustment components;

[0031] The float includes a base and a plurality of columns located on one side of the base. Each column includes a ballast water regulating component and a first sensor is provided on the column. The plurality of anchor chain tension regulating components are respectively connected to the plurality of columns one by one. The first sensor is used to obtain the tilt angle of the float.

[0032] The nacelle is connected to the impeller and the tower, and the tower is connected to the floating body. The nacelle includes a controller and multiple second sensors. The tower includes a damper. The multiple second sensors are used to acquire the operating status parameters of the floating wind turbine. The controller is used to control the operating status of the damper, the ballast water regulating component, and the anchor chain tension regulating component based on the operating status parameters and the tilt angle, so as to control the tilt angle of the floating wind turbine.

[0033] Preferably, in the above-mentioned floating wind turbine, the damper is a tuned mass damper.

[0034] Preferably, in the above-mentioned floating wind turbine, the ballast water regulating assembly includes a ballast water tank, a water pump, and pipelines;

[0035] Ballast water tanks in the multiple columns are connected by the pipes, and water pumps are installed on the pipes. The water pumps are used to control the passage between the ballast water tanks and the pipes to adjust the water storage capacity of the ballast water tanks.

[0036] Preferably, in the above-mentioned floating wind turbine, two adjacent columns are connected by a connecting rod, the connecting rod being parallel to the plane of the base, and the pipe being located inside the connecting rod. The pipe is used to connect the ballast water tanks in the multiple columns through the connecting rod.

[0037] Preferably, in the above-mentioned floating wind turbine, the anchor chain tension adjustment assembly includes: an anchor winch and an anchor chain;

[0038] Multiple anchor winches are connected to multiple columns in a one-to-one correspondence. The first end of the anchor chain is connected to the anchor winch, and the second end of the anchor chain is connected to the fixing device. The anchor winch is used to control the raising and lowering of the anchor chain to change the buoyancy of the float.

[0039] Compared with the prior art, the beneficial effects achieved by the present invention are as follows:

[0040] This invention provides a floating wind turbine and its stability control method. The floating wind turbine includes: a float, a tower, a nacelle, an impeller, a first sensor, and multiple anchor chain tension adjustment components. The nacelle is connected to the impeller and the tower, and the tower is connected to the float. The nacelle includes a controller and multiple second sensors. The tower includes a damper. The float includes a base and multiple columns located on one side of the base. Each column includes a ballast water adjustment component and a first sensor is mounted on it. The multiple anchor chain tension adjustment components are connected to the columns one-to-one. The stability control method is applied to the controller and includes: receiving the tilt angle of the float acquired by the first sensor and receiving the operating status parameters of the floating wind turbine acquired by the multiple second sensors; and controlling the operating status of the damper, the ballast water adjustment component, and the anchor chain tension adjustment components based on the operating status parameters and the tilt angle to control the tilt angle of the floating wind turbine.

[0041] This invention utilizes a first sensor to acquire the tilt angle of the floating body and a second sensor to acquire the operating status parameters of the floating wind turbine. The tilt angle and operating status parameters are transmitted to a controller. Based on these parameters, the controller outputs control signals to the damper, the ballast water regulating component, and the anchor chain tension regulating component, controlling their operational states. This enables the damper, ballast water regulating component, and anchor chain tension regulating component to work collaboratively, thereby reducing the tilt angle of the floating wind turbine, significantly improving its stability, increasing power generation, and allowing for optimization and weight reduction of the floating body structure to avoid excessively large floating bodies and thus lower costs. Attached Figure Description

[0042] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on the provided drawings without creative effort.

[0043] Figure 1 This is a schematic diagram of the structure of a floating fan provided in an embodiment of the present invention;

[0044] Figure 2 A schematic flowchart illustrating a stability control method for a floating wind turbine provided in an embodiment of the present invention;

[0045] Figure 3A schematic flowchart illustrating another method for stability control of a floating fan provided in an embodiment of the present invention;

[0046] Figure 4 A schematic flowchart illustrating another method for stability control of a floating wind turbine provided in an embodiment of the present invention;

[0047] Figure 5 A flowchart illustrating another method for stability control of a floating fan provided in an embodiment of the present invention. Detailed Implementation

[0048] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0049] Based on the background information, the inventors discovered during the invention process that there are two main methods for improving the stability of floating wind turbines in the prior art. One method is to improve the stability of the floating body, which is commonly achieved by lowering the center of gravity of the floating body, increasing its freeboard, and increasing its width. However, these methods all lead to larger floating bodies, thus increasing costs. The other method is pitch control strategy. Although this method has lower costs, it results in power generation loss and has limited effectiveness under extreme operating conditions. Therefore, how to improve the stability of floating wind turbines while increasing power generation and reducing costs is a technical problem that urgently needs to be solved by those skilled in the art.

[0050] Based on this, this application provides a floating wind turbine and its stability control method, which can improve the stability of the floating wind turbine, increase power generation, and reduce costs.

[0051] To make the above-mentioned objects, features and advantages of the present invention more apparent and understandable, the present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments.

[0052] This invention provides a floating fan, see reference. Figure 1 , Figure 1 This is a structural schematic diagram of a floating fan provided in an embodiment of the present invention, combined with... Figure 1 The floating wind turbine includes: a float 1, a tower 2, a nacelle 3, an impeller 4, a first sensor 5, and multiple anchor chain tension adjustment components 6.

[0053] The float 1 includes a base 7 and a plurality of columns 8 located on one side of the base 7. Each column 8 includes a ballast water adjustment component 9 and a first sensor 5 is provided on the column 8. The plurality of anchor chain tension adjustment components 6 are respectively connected to the plurality of columns 8 in a one-to-one correspondence. The first sensor 5 is used to obtain the tilt angle of the float 1.

[0054] The nacelle 3 is connected to the impeller 4 and the tower 2 respectively. The tower 2 is connected to the floating body 1. The nacelle 3 includes a controller and multiple second sensors. The tower 2 includes a damper 10. The multiple second sensors are used to acquire the operating status parameters of the floating wind turbine. The controller is used to control the operating status of the damper 10, the ballast water regulating component 9 and the anchor chain tension regulating component 6 based on the operating status parameters and the tilt angle, so as to control the tilt angle of the floating wind turbine.

[0055] Specifically, in this embodiment of the invention, the float 1 includes, but is not limited to, the following: Figure 1 The tower shown has three columns 8, but may also include four columns 8, etc.; the tower 2 includes, but is not limited to, such as Figure 1 The sensor 5 is located on one of the columns 8, or it can be located at the center of the base 7; the first sensor 5 and the tower 2 can be located on the same column 8 at the same time, or they can be located on different columns 8 respectively; each column 8 is provided with a ballast water regulating component 9, and each column 8 is connected to an anchor chain tension regulating component 6.

[0056] Optionally, in another embodiment of the invention, combined with Figure 1 The damper 10, ballast water regulating component 9, and anchor chain tension regulating component 6 in the above-mentioned floating wind turbine are further described below:

[0057] The damper 10 is a tuned mass damper.

[0058] Specifically, in this embodiment of the invention, the damper 10 includes, but is not limited to, a tuned mass damper, and may also be other dampers 10 whose damping magnitude can be actively controlled; the damper 10 mainly provides additional damping for the tower 2 of the floating wind turbine to reduce the amplitude of the first-order reciprocating motion of the tower 2, thereby reducing the influence of the pitching motion of the floating body 1 and reducing the fatigue load on the tower 2 and the floating body 1; in addition, the damping value of the damper 10 can be adjusted according to the amplitude of the first-order reciprocating motion of the tower 2.

[0059] The ballast water regulating assembly 9 includes a ballast water tank 11, a water pump 12, and a pipe 13. The ballast water tanks 11 in the plurality of columns 8 are connected by the pipe 13. The water pump 12 is installed on the pipe 13. The water pump 12 is used to control the passage between the ballast water tank 11 and the pipe 13 to regulate the water storage capacity of the ballast water tank 11. Two adjacent columns 8 are connected by a connecting rod 14. The connecting rod 14 is parallel to the plane of the base 7. The pipe 13 is located inside the connecting rod 14. The pipe 13 is used to connect the ballast water tanks 11 in the plurality of columns 8 through the connecting rod 14.

[0060] Specifically, in this embodiment of the invention, each of the columns 8 is equipped with a ballast water tank 11 and a water pump 12. The ballast water tank 11 and the water pump 12 are connected by a pipe 13, and the ballast water tanks 11 in multiple columns 8 are connected by the pipe 13. The center of gravity of the float 1 is changed by adjusting the water storage volume between different ballast water tanks 11 through the water pump 12, thereby controlling the tilt angle of the floating wind turbine. Since the adjustment of the water storage volume in the ballast water regulating component 9 cannot be completed in a short time, the main function of the ballast water regulating component 9 is to prevent the float 1 of the floating wind turbine from tilting continuously and stably under the action of wind, waves and currents. Without real-time adjustment, a continuous and stable tilt state can be avoided, which would prevent the impeller 4 from facing the wind directly, thus affecting the power generation of the floating wind turbine. In addition, in order to improve the response speed of the ballast water regulating component 9, this embodiment of the invention can also optimize the design and selection of the pipe 13 layout and the water pump 12 performance.

[0061] The anchor chain tension adjustment assembly 6 includes: an anchor winch 15 and an anchor chain 16; multiple anchor winches 15 are connected one-to-one with multiple columns 8, the first end of the anchor chain 16 is connected to the anchor winch 15, the second end of the anchor chain 16 is connected to the fixing device 17, and the anchor winch 15 is used to control the extension and retraction of the anchor chain 16 to change the buoyancy of the float 1.

[0062] Specifically, in this embodiment of the invention, each column 8 is provided with an anchor winch 15, and the number of anchor chains 16 connected to each anchor winch 15 can be in the range of 1-3. The anchor winches 15 and anchor chains 16 are arranged in multiple directions of the floating wind turbine, and the floating state of the float 1 can be controlled by the coordinated adjustment of the anchor winches 15 in different directions. Under normal circumstances, considering the wear and service life of the anchor winches 15 and anchor chains 16, the anchor chain tension adjustment component 6 will not be activated frequently. The anchor chain tension adjustment component 6 will only be used to adjust the floating state of the float 1 when the floating wind turbine is in extreme wind conditions and has a large tilt.

[0063] Optionally, based on the above embodiments, the present invention also provides a stability control method for a floating wind turbine, wherein the stability control method is applied to the controller, refer to Figure 2 , Figure 2 This is a flowchart illustrating a stability control method for a floating wind turbine provided in an embodiment of the present invention, combined with... Figure 2 The stability control method includes:

[0064] S100: Receive the tilt angle of the float 1 obtained by the first sensor 5, and receive the operating status parameters of the floating fan obtained by multiple second sensors.

[0065] Specifically, in step S100, since floating wind turbines generally have 6 degrees of freedom, namely pitch, roll, yaw, sway, sway and heave, the two horizontal movements of pitch and roll are the most important stability indicators, affecting the power generation and safety of the floating wind turbine. Therefore, in step S100, obtaining the tilt angle of the floating body 1 mainly includes obtaining the pitch angle and the yaw angle.

[0066] S200: Based on the operating status parameters and the tilt angle, control the operating status of the damper 10, the ballast water regulating component 9 and the anchor chain tension regulating component 6 to control the tilt angle of the floating wind turbine.

[0067] This invention utilizes a first sensor 5 to acquire the tilt angle of the floating body 1 and a second sensor to acquire the operating status parameters of the floating wind turbine. The tilt angle and operating status parameters are transmitted to a controller. Based on the operating status parameters and the tilt angle, the controller outputs control signals to the damper 10, the ballast water regulating component 9, and the anchor chain tension regulating component 6, controlling their operating states. This enables the damper 10, ballast water regulating component 9, and anchor chain tension regulating component 6 to work collaboratively, thereby reducing the tilt angle of the floating wind turbine, significantly improving its stability, increasing power generation, and allowing for optimization and weight reduction of the floating body 1 structure to avoid excessively large floating bodies, thus lowering costs.

[0068] Optionally, the implementation process of step S200 in the stability control method for the above-mentioned floating wind turbine, which controls the operating states of the damper 10, the ballast water regulating component 9, and the anchor chain tension regulating component 6 based on the operating state parameters and the tilt angle, will be further explained. (Refer to...) Figure 3 , Figure 3This is a flowchart illustrating another method for stability control of a floating wind turbine provided in an embodiment of the present invention, combined with... Figure 3 Specifically, the operating status parameters include wind speed, the power of the floating wind turbine, the rotational speed of the impeller 4, and the blade pitch angle; after receiving the operating status parameters, and before controlling the operating status of the damper 10, the ballast water regulating component 9, and the anchor chain tension regulating component 6, the stability control method includes:

[0069] S210: Determine the operating status of the floating wind turbine based on the wind speed, the power of the floating wind turbine, the rotational speed of the impeller 4, and the blade pitch angle.

[0070] Specifically, in step S210, since the functions of the multiple second sensors are different, the second sensors with different functions can acquire different operating status parameters. These operating status parameters are transmitted to the controller, and the controller can determine whether the floating wind turbine is in a normal power generation state based on these operating status parameters.

[0071] S220: Based on the operating status of the floating wind turbine and the tilt angle, control the operating status of the damper 10, the ballast water regulating component 9 and the anchor chain tension regulating component 6.

[0072] Optionally, the implementation process of step S220 of the stability control method for the above-mentioned floating wind turbine, which controls the operating states of the damper 10, the ballast water regulating component 9, and the anchor chain tension regulating component 6 based on the operating state of the floating wind turbine and the tilt angle, will be further explained. (Refer to...) Figure 4 , Figure 4 A flowchart illustrating another method for stability control of a floating wind turbine provided in this embodiment of the invention, combined with... Figure 4 The control of the operating states of the damper 10, the ballast water regulating assembly 9, and the anchor chain tension regulating assembly 6 based on the operating state of the floating wind turbine and the tilt angle includes:

[0073] S221: Obtain the maximum and average values ​​of the tilt angle within the first time period, and obtain the operating status of the floating fan within the first time period.

[0074] Specifically, in step S221, the process includes, but is not limited to, obtaining the maximum and average values ​​of the tilt angle within 10 minutes, and obtaining the operating status of the floating wind turbine within 10 minutes. When the floating wind turbine is operating normally and generating electricity, the main focus is on the pitch angle. When the floating wind turbine is operating in a stopped or idling state, the main focus is on the pitch and roll angles. The controller analyzes the pitch and roll angle data of the float 1 in real time. When the maximum value of the tilt angle is greater than 2°, the controller starts to output different control signals based on different floating wind turbine operating states and tilt angles to control the operating states of the damper 10, the ballast water regulating component 9, and the anchor chain tension regulating component 6, so that the maximum value of the tilt angle is controlled within 2°, ensuring that the impeller 4 faces the wind, increasing power generation, and reducing the fatigue load on the tower 2 and the float 1.

[0075] S222: When the floating wind turbine is in normal power generation mode, and the maximum value of the tilt angle is not less than 2° and less than 5°, the operating status of the damper 10, the ballast water regulating component 9 and the anchor chain tension regulating component 6 are controlled based on the ratio of the average value and the maximum value of the tilt angle.

[0076] Specifically, in step S222, controlling the operating state of the damper 10, the ballast water regulating component 9, and the anchor chain tension regulating component 6 based on the ratio of the average and maximum values ​​of the tilt angle includes:

[0077] When the ratio of the average to the maximum tilt angle is less than 0.2, the damper 10 is controlled to provide additional damping to the tower 2, the water pump 12 is controlled to close the passage between the ballast water tank 11 and the pipeline 13, and the anchor winch 15 is controlled to stop retracting and extending the anchor chain 16.

[0078] Specifically, when the ratio of the average value to the maximum value of the tilt angle is less than 0.2, the damper 10 is activated to provide additional damping to the tower 2, reducing the amplitude of the first-order reciprocating motion of the tower 2 so that the maximum value of the tilt angle is less than 2°, and both the ballast water regulating component 9 and the anchor chain tension regulating component 6 stop operating.

[0079] When the ratio of the average value to the maximum value of the tilt angle is not less than 0.2 and less than 0.8, the damper 10 is controlled to provide additional damping to the tower 2, the water pump 12 is controlled to open the passage between the ballast water tank 11 and the pipe 13 to adjust the water storage of the ballast water tank 11, and the anchor winch 15 is controlled to stop retracting and extending the anchor chain 16.

[0080] Specifically, when the ratio of the average value to the maximum value of the tilt angle is not less than 0.2 and less than 0.8, the ballast water regulating component 9 and the damper 10 are activated simultaneously. The water pump 12 is controlled to open the passage between the ballast water tank 11 and the pipeline 13 to regulate the water storage of the ballast water tank 11, change the center of gravity of the float 1, and eliminate the average value of the tilt angle. The damper 10 is activated to provide additional damping to the tower 2, reduce the amplitude of the first-order reciprocating motion of the tower 2, and reduce the maximum value of the tilt angle. The anchor chain tension regulating component 6 stops operating.

[0081] When the ratio of the average value to the maximum value of the tilt angle is not less than 0.8, the damper 10 is controlled to stop providing additional damping to the tower 2, the water pump 12 is controlled to open the passage between the ballast water tank 11 and the pipe 13 to adjust the water storage of the ballast water tank 11, and the anchor winch 15 is controlled to stop retracting and extending the anchor chain 16.

[0082] Specifically, when the ratio of the average value to the maximum value of the tilt angle is not less than 0.8, the ballast water regulating component 9 is activated, and the water pump 12 is activated to open the passage between the ballast water tank 11 and the pipeline 13 to regulate the water storage of the ballast water tank 11, change the center of gravity of the float 1, and eliminate the average value of the tilt angle; the damper 10 and the anchor chain tension regulating component 6 both stop operating.

[0083] Optional, see reference Figure 5 , Figure 5 A flowchart illustrating another method for stability control of a floating wind turbine provided in this embodiment of the invention, combined with... Figure 5 After obtaining the maximum and average values ​​of the tilt angle within the first time period in step S221, and obtaining the operating status of the floating wind turbine within the first time period, the stability control method further includes:

[0084] S223: When the floating wind turbine is in normal power generation mode, and the maximum value of the tilt angle is not less than 5° and less than 10°, control the damper 10 to provide additional damping to the tower 2, control the water pump 12 to open the passage between the ballast water tank 11 and the pipeline 13 to adjust the water storage of the ballast water tank 11, and control the anchor winch 15 to stop retracting and extending the anchor chain 16.

[0085] Specifically, in step S223, when the floating wind turbine is in normal power generation mode and the maximum tilt angle is not less than 5° and less than 10°, the ballast water regulating component 9 and the damper 10 are activated simultaneously. The water pump 12 is controlled to open the passage between the ballast water tank 11 and the pipeline 13 to regulate the water storage of the ballast water tank 11, change the center of gravity of the float 1, and eliminate the average value of the tilt angle. The damper 10 is activated to provide additional damping to the tower 2, reduce the amplitude of the first-order reciprocating motion of the tower 2, and reduce the maximum value of the tilt angle. The anchor chain tension regulating component 6 stops operating.

[0086] S224: When the floating wind turbine is in an abnormal power generation state, and the maximum value of the tilt angle is not less than 2° and less than 5°, control the damper 10 to provide additional damping to the tower 2, control the water pump 12 to close the passage of the ballast water tank 11 and the pipeline 13, and control the anchor winch 15 to stop retracting and extending the anchor chain 16.

[0087] Specifically, in step S224, when the floating wind turbine is in an abnormal power generation state and the maximum value of the tilt angle is not less than 2° and less than 5°, the damper 10 is activated to provide additional damping to the tower 2, reducing the amplitude of the first-order reciprocating motion of the tower 2, so as to reduce the maximum value of the tilt angle, and the ballast water regulating component 9 and the anchor chain tension regulating component 6 both stop operating.

[0088] S225: When the floating wind turbine is in an abnormal power generation state and the maximum value of the tilt angle is not less than 5°, control the damper 10 to stop providing additional damping to the tower 2, control the water pump 12 to open the passage between the ballast water tank 11 and the pipeline 13 to adjust the water storage of the ballast water tank 11, and control the anchor winch 15 to retract and extend the anchor chain 16 to change the floating state of the float 1.

[0089] Specifically, when the floating wind turbine is operating in normal power generation mode, and the maximum tilt angle is not less than 5° and less than 10°, the ballast water regulating component 9 and the anchor chain tension regulating component 6 are activated simultaneously. The water pump 12 is controlled to open the passage between the ballast water tank 11 and the pipeline 13 to regulate the water storage of the ballast water tank 11, change the center of gravity of the float 1, and eliminate the average value of the tilt angle. The anchor winch 15 is controlled to retract and extend the anchor chain 16 to change the floating state of the float 1, so that the average value of the tilt angle is less than 5°. The damper 10 stops operating.

[0090] The above provides a detailed description of a floating wind turbine and its stability control method provided by the present invention. Specific examples have been used to illustrate the principle and implementation of the present invention. The description of the above embodiments is only for the purpose of helping to understand the method and core idea of ​​the present invention. At the same time, for those skilled in the art, there will be changes in the specific implementation and application scope based on the idea of ​​the present invention. Therefore, the content of this specification should not be construed as a limitation of the present invention.

[0091] It should be noted that the various embodiments in this specification are described in a progressive manner, with each embodiment focusing on the differences from other embodiments. Similar or identical parts between embodiments can be referred to interchangeably. For the apparatus disclosed in the embodiments, since it corresponds to the method disclosed in the embodiments, the description is relatively simple; relevant parts can be referred to the method section.

[0092] It should also be noted that, in this document, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that elements inherent to a process, method, article, or apparatus that comprises a list of elements, or elements inherent to such processes, methods, articles, or apparatus, are also included. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

[0093] The above description of the disclosed embodiments enables those skilled in the art to make or use the invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the invention. Therefore, the invention is not to be limited to the embodiments shown herein, but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A stability control method for a floating wind turbine, characterized in that, The floating wind turbine includes: a float, a tower, a nacelle, an impeller, a first sensor, and multiple anchor chain tension adjustment components; The nacelle is connected to the impeller and the tower respectively, the tower is connected to the floating body, the nacelle includes a controller and multiple second sensors, and the tower includes a damper; The floating body includes a base and a plurality of columns located on one side of the base. Each column includes a ballast water regulating component and a first sensor is provided on the column. The plurality of anchor chain tension regulating components are respectively connected to the plurality of columns one by one. The stability control method is applied to the controller, and the stability control method includes: The system receives the tilt angle of the floating body obtained by the first sensor, and the operating status parameters of the floating fan obtained by multiple second sensors. Based on the operating status parameters and the tilt angle, the operating status of the damper, the ballast water regulating component, and the anchor chain tension regulating component are controlled to control the tilt angle of the floating wind turbine. The operating parameters include wind speed, power of the floating wind turbine, rotational speed of the impeller, and blade pitch angle. Upon receiving the operating status parameters, and before controlling the operating status of the damper, the ballast water regulating assembly, and the anchor chain tension regulating assembly, the stability control method includes: The operating status of the floating wind turbine is determined based on the wind speed, the power of the floating wind turbine, the rotational speed of the impeller, and the blade pitch angle. Based on the operating status of the floating wind turbine and the tilt angle, control the operating status of the damper, the ballast water regulating component, and the anchor chain tension regulating component; The control of the operating states of the damper, the ballast water regulating assembly, and the anchor chain tension regulating assembly based on the operating state of the floating wind turbine and the tilt angle includes: The maximum and average values ​​of the tilt angle within the first time period are obtained, as well as the operating status of the floating wind turbine within the first time period; When the floating wind turbine is in normal power generation mode, and the maximum value of the tilt angle is not less than 2° and less than 5°, the operating status of the damper, the ballast water regulating component and the anchor chain tension regulating component are controlled based on the ratio of the average value and the maximum value of the tilt angle. The ballast water regulating assembly includes a ballast water tank, a water pump, and a pipeline. The ballast water tanks in the multiple columns are connected through the pipeline, and the water pump is installed on the pipeline. The anchor chain tension adjustment assembly includes: an anchor winch and an anchor chain; multiple anchor winches are connected to multiple columns in a one-to-one correspondence; the first end of the anchor chain is connected to the anchor winch; and the second end of the anchor chain is connected to a fixing device. The method of controlling the operating status of the damper, the ballast water regulating assembly, and the anchor chain tension regulating assembly based on the ratio of the average and maximum values ​​of the tilt angle includes: When the ratio of the average to the maximum tilt angle is less than 0.2, the damper is controlled to provide additional damping to the tower, the water pump is controlled to close the passage between the ballast water tank and the pipeline, and the anchor winch is controlled to stop retracting and extending the anchor chain. When the ratio of the average value to the maximum value of the tilt angle is not less than 0.2 and less than 0.8, the damper is controlled to provide additional damping to the tower, the water pump is controlled to open the passage between the ballast water tank and the pipeline to adjust the water storage of the ballast water tank, and the anchor winch is controlled to stop retracting and extending the anchor chain. When the ratio of the average to the maximum tilt angle is not less than 0.8, the damper is controlled to stop providing additional damping to the tower, the water pump is controlled to open the passage between the ballast water tank and the pipeline to adjust the water storage of the ballast water tank, and the anchor winch is controlled to stop retracting and extending the anchor chain.

2. The stability control method according to claim 1, characterized in that, After obtaining the maximum and average values ​​of the tilt angle within the first time period, and obtaining the operating status of the floating wind turbine within the first time period, the stability control method further includes: When the floating wind turbine is in normal power generation mode, and the maximum tilt angle is not less than 5° and less than 10°, the damper is controlled to provide additional damping to the tower, the water pump is controlled to open the passage between the ballast water tank and the pipeline to adjust the water storage of the ballast water tank, and the anchor winch is controlled to stop retracting and extending the anchor chain. When the floating wind turbine is in an abnormal power generation state, and the maximum value of the tilt angle is not less than 2° and less than 5°, the damper is controlled to provide additional damping to the tower, the water pump is controlled to close the passage of the ballast water tank and the pipeline, and the anchor winch is controlled to stop retracting and extending the anchor chain. When the floating wind turbine is in an abnormal power generation state and the maximum tilt angle is not less than 5°, the damper is controlled to stop providing additional damping to the tower, the water pump is controlled to open the passage between the ballast water tank and the pipeline to adjust the water storage of the ballast water tank, and the anchor winch is controlled to retract and extend the anchor chain to change the floating state of the float.

3. A floating fan, characterized in that, The floating fan includes: The floating body, tower, nacelle, impeller, first sensor, and multiple anchor chain tension adjustment components; The float includes a base and a plurality of columns located on one side of the base. Each column includes a ballast water regulating component and a first sensor is provided on the column. The plurality of anchor chain tension regulating components are respectively connected to the plurality of columns one by one. The first sensor is used to obtain the tilt angle of the float. The nacelle is connected to the impeller and the tower respectively, the tower is connected to the floating body, the nacelle includes a controller and a plurality of second sensors, the tower includes a damper, the plurality of second sensors are used to acquire the operating status parameters of the floating wind turbine, and the controller is used to execute the stability control method of the floating wind turbine as described in claim 1 or 2.

4. The floating fan according to claim 3, characterized in that, The damper is a tuned mass damper.

5. The floating fan according to claim 3, characterized in that, The ballast water regulating assembly includes a ballast water tank, a water pump, and pipelines; Ballast water tanks in the multiple columns are connected by the pipes, and water pumps are installed on the pipes. The water pumps are used to control the passage between the ballast water tanks and the pipes to adjust the water storage capacity of the ballast water tanks.

6. The floating fan according to claim 5, characterized in that, Two adjacent columns are connected by a connecting rod, which is parallel to the plane of the base. The pipe is located inside the connecting rod and is used to connect the ballast water tanks in the multiple columns through the connecting rod.

7. The floating fan according to claim 3, characterized in that, The anchor chain tension adjustment assembly includes: an anchor winch and an anchor chain; Multiple anchor winches are connected to multiple columns in a one-to-one correspondence. The first end of the anchor chain is connected to the anchor winch, and the second end of the anchor chain is connected to the fixing device. The anchor winch is used to control the raising and lowering of the anchor chain to change the buoyancy of the float.

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