A method for controlling the forward, backward and lateral active resistance of an offshore wind turbine tower

Abstract

The present invention discloses a method for controlling the forward and backward and lateral active resistance of an offshore wind turbine tower. This control strategy allows the user to select the acceleration response or the tilt angle response of the wind turbine tower as the controlled variable based on the type of sensor possessed by the wind turbine monitoring system. The two-way active resistance of the tower is realized by calculating the response monitored by the sensor and adding additional pitch angle, pitch angle and additional torque. This method does not require additional cost for wind turbine manufacturing, construction and equipment procurement, and can effectively reduce the forward and backward and lateral vibration of the tower, thereby reducing the fatigue load of the tower and increasing the service life of the tower. In addition, according to the results of a large number of calculation tests, the active resistance control based on the tilt angle response is better than the active resistance control based on the acceleration response. Therefore, the present invention recommends that the user give priority to the tilt angle response for active resistance control when the corresponding conditions are met.

Description

Technical Field

[0001] The present invention relates to the field of offshore wind power, and in particular to a method for controlling the forward, backward and lateral active resistance of an offshore wind turbine tower. Background Art

[0002] A wind turbine is a device that converts wind energy into electricity. It consists of multiple components, primarily rotors (blades), generators, converters, towers, and control systems. The wind drives the rotors to rotate, activating the generators to generate electricity, which is then transmitted through the transmission system to the grid or other devices using electricity.

[0003] With the increasing demand for wind energy, the rated power of wind turbines and the size of key supporting structures have been designed to be large-scale, resulting in obvious flexibility characteristics of wind turbine structures.

[0004] In addition, large wind turbines are susceptible to elastic deformation due to the complex aerodynamic loads, which increases the load on the tower and affects the stability and service life of the wind turbine.

[0005] To address the problem of excessive fore-and-aft vibration of the turbine support structure caused by cutting out of large offshore wind turbines at high wind speeds, an active fore-and-aft damping control strategy for the tower has been introduced. The aerodynamic thrust acting on the turbine blades is directly related to the pitch angle, so tower vibration can be controlled by varying the pitch angle. This is achieved through velocity feedback control based on the fore-and-aft motion of the nacelle / tower top.

[0006] The development of modern electronic equipment has made it possible for the generator torque to change almost instantaneously within a certain range (time less than 10 -2 s), the generator torque can be used as an actuator for active damping control of the wind turbine structure. The torque controller can add additional damping to the tower by feedback from the lateral vibration of the tower.

[0007] However, there is currently no method that comprehensively considers both fore-aft and lateral control to simultaneously reduce tower fatigue loads in both directions. Furthermore, there is no active drag control strategy based on the wind turbine tower's inclination response. Summary of the Invention

[0008] In order to solve the above problems, the present invention proposes a method for controlling the fore-aft and lateral active resistance of the tower suitable for offshore wind turbines; the fore-aft and lateral damping of the tower can be actively performed during the operation of the wind turbine set, thereby reducing the fore-aft and lateral vibration of the tower and reducing the fatigue load of the tower as a whole.

[0009] The present invention solves the above technical problems through the following technical solutions:

[0010] A first aspect of an embodiment of the present invention provides a method for controlling the forward and backward and lateral active resistance of an offshore wind turbine tower, comprising the following steps:

[0011] S1. Obtain corresponding monitoring data from the acceleration or inclination sensor of the wind turbine tower to obtain an acceleration signal or inclination signal;

[0012] S2. Data preprocessing of the acceleration signal or the inclination signal; the data preprocessing includes filling missing values, correcting abnormal data and low-pass filtering;

[0013] S3. Integrate the acceleration signal or differentiate the inclination angle signal, and then calculate the additional pitch angle and additional torque based on the preset additional damping ratio;

[0014] S4. Use the additional pitch angle and the additional torque as the pitch control signal and torque control signal of the wind turbine controller, respectively, to implement pitch control and torque control, thereby reducing fatigue load on the wind turbine tower.

[0015] Furthermore, in step S1, the monitoring data includes: forward and backward and lateral acceleration signals of the tower top obtained by monitoring an acceleration sensor or an inclination signal obtained by monitoring an inclination sensor.

[0016] Furthermore, step S2 includes the following sub-steps:

[0017] S21. Upsampling or downsampling the acceleration signal or the inclination signal so that the signal frequency meets the requirements;

[0018] S22. Fill missing values ​​in the acceleration signal or the inclination signal using deep learning or interpolation methods;

[0019] S23. Trim or delete abnormal data of acceleration signal or inclination signal;

[0020] S24. Perform low-pass filtering on the acceleration signal or the inclination signal using a Butterworth filter.

[0021] Furthermore, in step S3, calculating the additional pitch angle and the additional torque based on the preset additional damping ratio includes:

[0022] S31. Active damping and pitch control for the front and rear of the tower:

[0023] The aerodynamic thrust on the wind turbine is changed by changing the pitch angle, thereby controlling the vibration of the tower. The speed feedback control is based on the forward and backward movement of the nacelle / tower top. Considering the forward and backward movement of the tower, it is approximately regarded as a single-degree-of-freedom damped simple harmonic motion system. Its motion equation is expressed as:

[0024]

[0025] Where T is the aerodynamic thrust, x is the displacement of the tower top; M, C and K are the modal mass, modal damping and modal stiffness of the tower respectively, and the natural frequency f is used to represent the modal stiffness of the tower. n and the damping ratio ζ is expressed as C = 4πf n ζM, The above formula is expressed as:

[0026]

[0027] The thrust is directly related to the pitch angle. Take the first-order Taylor expansion of the thrust with respect to the pitch angle:

[0028]

[0029] in, is the rate of change of aerodynamic thrust with respect to pitch angle, θ is the pitch angle, and Δθ is the change in pitch angle. The change in pitch angle is related to the tower top speed:

[0030]

[0031] Among them, G FA is the gain coefficient. Substituting the above formula into the motion equation, we can get:

[0032]

[0033] That is, an additional damping term appears in the motion equation. Then the value of the gain coefficient is:

[0034]

[0035] According to the above formula, the additional damping ratio Δζ is specified, the gain coefficient is obtained, and then the pitch control command is obtained;

[0036] S32. Tower lateral active damping torque control:

[0037] The torque controller adds additional damping by feedback of the tower's lateral vibration, which can be expressed as follows:

[0038]

[0039] Among them, T g is the generator torque, ΔT g,0 is the generator torque change at the operating point, T g,0 is the generator torque at the working point, y is the lateral displacement of the tower top; G SS is the gain coefficient; the generator power P at this time is:

[0040] P=(T g,0+ΔT g,0 )(N gb Ω+N gb ΔΩ)=P0+ΔP

[0041] Among them, N gb is the gearbox speed ratio, Ω is the speed, ΔΩ is the speed error value, P0 is the working point power, and the deviation between the current power and the working point power is obtained by the above formula: ΔP=ΔT g,0 (N gb Ω+N gb ΔΩ)+N gb T g,0 ΔΩ; when there is no active damping control, only N gb T g,0 The ΔΩ term, which is the ΔT produced by active damping control g,0 This leads to a deviation in the generator power; the gain coefficient G is obtained by introducing the weight W in the following formula SS Value:

[0042]

[0043] Among them, σ y is the standard deviation of the tower top lateral displacement, σ P is the standard deviation of generator power, σ y,0 is the standard deviation of the tower top lateral displacement without active damping control, σ P,0 is the standard deviation of generator power without active damping control.

[0044] Furthermore, in step S4, the additional pitch angle and the additional torque are simultaneously subjected to pitch control and torque control, while the fore-aft and lateral tower damping is increased to reduce the fore-aft and lateral fatigue loads of the tower.

[0045] A second aspect of an embodiment of the present invention provides a device for controlling the fore-aft and lateral active resistance of an offshore wind turbine tower, comprising one or more processors for implementing the fore-aft and lateral active resistance control method of an offshore wind turbine tower.

[0046] A third aspect of an embodiment of the present invention provides an electronic device, comprising a memory and a processor, wherein the memory is coupled to the processor; wherein the memory is used to store program data, and the processor is used to execute the program data to implement the above-mentioned method for active forward and backward and lateral resistance control of an offshore wind turbine tower.

[0047] A fourth aspect of an embodiment of the present invention provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the above-mentioned method for controlling the forward and backward and lateral active resistance of an offshore wind turbine tower.

[0048] Compared with existing technologies, the present invention offers the following advantages: it eliminates the need for additional wind turbine manufacturing, construction, and equipment procurement costs, effectively reduces fore-aft and lateral tower vibration, thereby reducing tower fatigue loads and increasing tower service life. Furthermore, extensive computational testing demonstrates that active drag control based on inclination response is superior to active drag control based on acceleration response. Therefore, the present invention recommends that users prioritize active drag control based on inclination response when appropriate conditions are met. BRIEF DESCRIPTION OF THE DRAWINGS

[0049] To more clearly illustrate the technical solutions of the present invention or the prior art, the following briefly introduces the drawings required for the embodiments or the prior art descriptions. Obviously, the drawings described below are merely illustrative, and those skilled in the art can derive other implementation drawings based on the provided drawings without inventive effort.

[0050] Figure 1 is a flow chart of the method of the present invention;

[0051] Figure 2 This is a comparison diagram of the effects before and after the active resistance control of the present invention;

[0052] Figure 3 It is a structural schematic diagram of the device of the present invention;

[0053] Figure 4 It is a schematic diagram of an electronic device provided by the present invention. DETAILED DESCRIPTION

[0054] Exemplary embodiments will be described in detail herein, examples of which are illustrated in the accompanying drawings. In the following description, when referring to the drawings, like numbers in different figures represent like or similar elements unless otherwise indicated. The embodiments described in the following exemplary embodiments are not intended to represent all possible embodiments consistent with the present invention. Rather, they are merely examples of apparatus and methods consistent with certain aspects of the present invention, as detailed in the appended claims.

[0055] The terms used in this invention are for the purpose of describing specific embodiments only and are not intended to limit the invention. The singular forms "a," "the," and "the" used in this invention and the appended claims are also intended to include plural forms unless the context clearly indicates otherwise. It should also be understood that the term "and / or" as used herein refers to and includes any or all possible combinations of one or more of the associated listed items.

[0056] It should be understood that although the terms "first," "second," "third," etc. may be used in the present invention to describe various information, such information should not be limited to these terms. These terms are merely used to distinguish information of the same type from one another. For example, first information may also be referred to as second information, and similarly, second information may also be referred to as first information, without departing from the scope of the present invention. Depending on the context, the term "if" as used herein may be interpreted as "when," "when," or "in response to determining."

[0057] The present invention will be described in detail below with reference to the accompanying drawings. Unless there is any conflict, the features of the following embodiments and implementations may be combined with each other.

[0058] The following specific embodiments illustrate the implementation of the present invention. Obviously, the embodiments described are only a part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making any creative efforts are within the scope of protection of the present invention.

[0059] like Figure 1 As shown, the present invention provides a method for controlling the forward and backward and lateral active resistance of an offshore wind turbine tower, comprising the following steps:

[0060] S1. Acquire corresponding monitoring data from the acceleration or inclination sensor of the wind turbine tower. The monitoring data includes the front-to-back and lateral acceleration signals of the tower top obtained by the acceleration sensor or the inclination signal obtained by the inclination sensor.

[0061] S2. Data preprocessing: filling missing values ​​and correcting abnormal data before low-pass filtering. Upsampling or downsampling the acceleration or inclination signals to adjust the signal frequency to the required frequency. Filling missing values ​​in the acceleration or inclination signals using deep learning or interpolation. Crop or delete abnormal data in the acceleration or inclination signals. Low-pass filtering the acceleration or inclination signals using a Butterworth filter.

[0062] S3. Integrate the acceleration signal or differentiate the inclination angle signal, and then obtain the additional pitch angle and additional torque based on the preset additional damping ratio;

[0063] The additional pitch angle and additional torque are calculated by the following control calculation method:

[0064] S31. Active damping and pitch control for the front and rear of the tower:

[0065] Similarly, to address the problem of excessive vibration of the wind turbine support structure in the front and rear directions when large offshore wind turbines are cut out at high wind speeds, an active damping control strategy for the front and rear of the tower has been introduced. The aerodynamic thrust on the wind turbine blades is directly related to the pitch angle, so the aerodynamic thrust on the wind turbine can be changed by changing the pitch angle, thereby controlling the vibration of the tower; feedback control is performed based on the speed of the front and rear movement of the nacelle / tower top. Considering the front and rear movement of the tower, it can be approximately regarded as a single-degree-of-freedom damped simple harmonic motion system, and its motion equation can be expressed as:

[0066]

[0067] Where T is the aerodynamic thrust, x is the displacement of the tower top; M, C and K are the modal mass, modal damping and modal stiffness of the tower respectively, and the natural frequency f is used to represent the modal stiffness of the tower. n and the damping ratio ζ is expressed as C = 4πf n ζM, The above formula can be written as:

[0068]

[0069] As mentioned above, the thrust is directly related to the pitch angle. Take the first-order Taylor expansion of the thrust with respect to the pitch angle:

[0070]

[0071] in, is the rate of change of aerodynamic thrust with respect to pitch angle, θ is the pitch angle, and Δθ is the change in pitch angle. The change in pitch angle is related to the tower top speed:

[0072]

[0073] Among them, G FA is the gain coefficient. Substituting the above formula into the motion equation, we can get:

[0074]

[0075] That is, an additional damping term appears in the motion equation. Then the gain coefficient G FA The value of is:

[0076]

[0077] in, is the rate of change of aerodynamic thrust to pitch angle, and Similarly, the gain coefficient can be obtained by linearizing the wind turbine system's operating point at different wind speeds and pitch angles. According to the above formula, specifying the additional damping ratio Δζ allows the gain coefficient to be calculated, and then the pitch command can be obtained. Typically, Δζ can be set to 15%.

[0078] S32. Tower lateral active damping torque control:

[0079] The simulation of multi-directional load conditions reveals that load reversal can lead to an amplification of the lateral vibration of the wind turbine. To address this issue, tower lateral active damping torque control is introduced. The development of modern electronic devices enables the generator torque to vary almost instantaneously within a certain range (time less than 10 -2 s), so the generator torque can be used as an actuator for the active damping control of the wind turbine structure. The torque controller can add additional damping based on the feedback of the tower lateral vibration:

[0080]

[0081] where T g is the generator torque, ΔT g,0 is the change value of the generator torque at the operating point, T g,0 is the generator torque at the operating point, T g,0 = P0 / N gb Ω; y is the lateral displacement of the tower top; G SS is the gain coefficient. The generator power P at this time is:

[0082] P = (T g,0 + ΔT g,0 )(N gb Ω + N gb ΔΩ) = P0 + ΔP

[0083] where N gb is the gearbox speed ratio, Ω is the rotational speed, ΔΩ is the rotational speed error value, P0 is the power at the operating point. From the above formula, the deviation between the current power and the power at the operating point is ΔP = ΔT g,0 (N gb Ω + N gb ΔΩ) + N gb T g,0 ΔΩ. When there is no active damping control, only the N gb T g,0 ΔΩ term exists, that is, the ΔT g,0 generated by the active damping control leads to the deviation of the generator power. From the perspective of power generation quality, it is desired that the deviation can be minimized, while from the perspective of vibration control, it is desired that the additional damping can be larger. Therefore, a trade-off needs to be made between the two, and a weight W (0 < W < 1) is introduced through the following formula to obtain the value of the gain coefficient G SS :

[0084]

[0085] where σ y is the standard deviation of the lateral displacement of the tower top, σP is the standard deviation of generator power, σ y,0 is the standard deviation of the tower top lateral displacement without active damping control, σ P,0 is the standard deviation of generator power without active damping control.

[0086] S4. The additional pitch angle and additional torque are used as the pitch control signal and torque control signal of the wind turbine controller, respectively, to implement pitch control and torque control, thereby reducing the fatigue load on the wind turbine tower.

[0087] After using the method for controlling the forward and backward and lateral active resistance of the offshore wind turbine tower of the present invention, the comparison diagram of the effects before and after active resistance control is as follows: Figure 2 As shown in the figure, the effect of active resistance control is significantly improved.

[0088] Corresponding to the aforementioned embodiment of the method for controlling the fore-aft and lateral active resistance of an offshore wind turbine tower, the present invention further provides an embodiment of a device for controlling the fore-aft and lateral active resistance of an offshore wind turbine tower.

[0089] See also Figure 3 The embodiment of the present invention provides an offshore wind turbine tower forward and backward and lateral active resistance control device, which includes one or more processors for implementing the offshore wind turbine tower forward and backward and lateral active resistance control method in the above embodiment.

[0090] The embodiment of the active forward and backward and lateral resistance control device for offshore wind turbine towers of the present invention can be applied to any device with data processing capabilities, and the device with data processing capabilities can be a device or apparatus such as a computer. The device embodiment can be implemented through software, or through hardware or a combination of software and hardware. Taking software implementation as an example, as a device in a logical sense, it is formed by the processor of any device with data processing capabilities in which it is located reading the corresponding computer program instructions in the non-volatile memory into the memory for execution. From the hardware level, if Figure 3 As shown, it is a hardware structure diagram of any device with data processing capability where the offshore wind turbine tower forward and backward and lateral active resistance control device of the present invention is located. Figure 3 In addition to the processor, memory, network interface, and non-volatile memory shown, any device with data processing capabilities in which the apparatus in the embodiment is located may also include other hardware, generally based on the actual functions of the device with data processing capabilities, which will not be described in detail.

[0091] The implementation process of the functions and effects of each unit in the above-mentioned device is specifically described in the implementation process of the corresponding steps in the above-mentioned method, and will not be repeated here.

[0092] For the device embodiments, since they basically correspond to the method embodiments, the relevant parts can be referred to the partial description of the method embodiments. The device embodiments described above are merely illustrative, wherein the units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed across multiple network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the present invention. A person of ordinary skill in the art can understand and implement the present invention without inventive work.

[0093] Corresponding to the embodiment of the foregoing method for controlling the fore-aft and lateral active resistance of an offshore wind turbine tower, the embodiment of the present application further provides an electronic device, comprising: one or more processors; a memory for storing one or more programs; when the one or more programs are executed by the one or more processors, the one or more processors implement the fore-aft and lateral active resistance control method of an offshore wind turbine tower. Figure 4 As shown, it is a hardware structure diagram of any device with data processing capability in the method for controlling the forward and backward and lateral active resistance of an offshore wind turbine tower provided by the embodiment of the present application, except Figure 4 In addition to the processor, memory, DMA controller, disk, and non-volatile memory shown, any device with data processing capabilities in which the apparatus in the embodiment is located may also include other hardware, generally based on the actual functions of the device with data processing capabilities, which will not be described in detail.

[0094] Corresponding to the embodiment of the aforementioned method for actively controlling the fore-aft and lateral resistance of an offshore wind turbine tower, an embodiment of the present invention further provides a computer-readable storage medium on which a program is stored. When the program is executed by a processor, the method for actively controlling the fore-aft and lateral resistance of an offshore wind turbine tower in the aforementioned embodiment is implemented.

[0095] The computer-readable storage medium may be an internal storage unit of any device with data processing capabilities described in any of the aforementioned embodiments, such as a hard disk or memory. The computer-readable storage medium may also be any device with data processing capabilities, such as a plug-in hard disk, a smart media card (SMC), an SD card, a flash card, etc. equipped on the device. Furthermore, the computer-readable storage medium may also include both an internal storage unit of any device with data processing capabilities and an external storage device. The computer-readable storage medium is used to store the computer program and other programs and data required by any device with data processing capabilities, and may also be used to temporarily store data that has been output or is to be output.

[0096] Although the present invention has been described in detail above using general descriptions and specific embodiments, it will be apparent to those skilled in the art that modifications and improvements may be made thereto. Therefore, such modifications and improvements, without departing from the spirit of the present invention, are intended to be within the scope of protection claimed herein.

Claims

1. A method for controlling the forward and backward and lateral active resistance of an offshore wind turbine tower, characterized in that: The steps include: S1. Obtain corresponding monitoring data from the acceleration or inclination sensor of the wind turbine tower to obtain an acceleration signal or inclination signal; S2. Data preprocessing of the acceleration signal or the inclination signal; the data preprocessing includes filling missing values, correcting abnormal data and low-pass filtering; S3. Integrate the acceleration signal or differentiate the inclination angle signal, and then calculate the additional pitch angle and additional torque based on the preset additional damping ratio; The additional pitch angle and additional torque calculated based on the preset additional damping ratio include: S31. Active damping and pitch control for the front and rear of the tower: The aerodynamic thrust on the wind turbine is changed by changing the pitch angle, thereby controlling the vibration of the tower. The speed feedback control is based on the forward and backward movement of the nacelle / tower top. Considering the forward and backward movement of the tower as a single-degree-of-freedom damped simple harmonic motion system, its motion equation is expressed as: Where T is the aerodynamic thrust, x is the displacement of the tower top; M, C and K are the modal mass, modal damping and modal stiffness of the tower respectively, and the natural frequency f is used to represent the modal stiffness of the tower. n and the damping ratio ζ is expressed as C = 4πf n ζM, The above formula is expressed as: The thrust is directly related to the pitch angle. Take the first-order Taylor expansion of the thrust with respect to the pitch angle: in, is the rate of change of aerodynamic thrust with respect to pitch angle, θ is the pitch angle, and Δθ is the change in pitch angle. The change in pitch angle is related to the tower top speed: Among them, G FA is the gain coefficient. Substituting the above formula into the motion equation, we can get: That is, an additional damping term appears in the motion equation. Then the value of the gain coefficient is: According to the above formula, the additional damping ratio Δζ is specified, the gain coefficient is obtained, and then the pitch control command is obtained; S32. Tower lateral active damping torque control: The torque controller adds additional damping by feedback of the tower's lateral vibration, which can be expressed as follows: Among them, T g is the generator torque, ΔT g,0 is the generator torque change at the operating point, T g,0 is the generator torque at the working point, y is the lateral displacement of the tower top; G SS is the gain coefficient; the generator power P at this time is: P=(T g,0 +ΔT g,0 )(N gb Oh+N gb ΔΩ)=P0+ΔP Among them, N gb is the gearbox speed ratio, Ω is the speed, ΔΩ is the speed error value, P0 is the working point power, and the deviation between the current power and the working point power is obtained by the above formula: ΔP=ΔT g,0 (N gb Ω+N gb ΔΩ)+N gb T g,0 ΔΩ; when there is no active damping control, only N gb T g,0 The ΔΩ term, which is the ΔT produced by active damping control g,0 This leads to a deviation in the generator power; the gain coefficient G is obtained by introducing the weight W in the following formula SS Value: Among them, σ y is the standard deviation of the tower top lateral displacement, σ P is the standard deviation of generator power, σ y,0 is the standard deviation of the tower top lateral displacement without active damping control, σ P,0 is the standard deviation of generator power without active damping control; S4. Using the additional pitch angle and additional torque as the pitch control signal and torque control signal of the wind turbine controller, respectively, to achieve pitch control and torque control and reduce fatigue load on the wind turbine tower; Among them, the additional pitch angle and additional torque are simultaneously controlled by variable pitch control and torque control, and the fore-aft and lateral tower damping is increased to reduce the fore-aft and lateral fatigue load of the tower.

2. The method for controlling the forward and backward and lateral active resistance of an offshore wind turbine tower according to claim 1, characterized in that: In step S1, the monitoring data includes: forward and backward and lateral acceleration signals of the tower top obtained by monitoring an acceleration sensor or an inclination signal obtained by monitoring an inclination sensor.

3. The method for controlling the forward and backward and lateral active resistance of an offshore wind turbine tower according to claim 1, characterized in that: The step S2 includes the following sub-steps: S21. Upsampling or downsampling the acceleration signal or the inclination signal so that the signal frequency meets the requirements; S22. Fill missing values ​​in the acceleration signal or the inclination signal using deep learning or interpolation methods; S23. Trim or delete abnormal data of acceleration signal or inclination signal; S24. Perform low-pass filtering on the acceleration signal or the inclination signal using a Butterworth filter.

4. A device for controlling the forward and backward and lateral active resistance of an offshore wind turbine tower, characterized in that: The method comprises one or more processors for implementing the method for controlling the forward and backward and lateral active resistance of an offshore wind turbine tower according to any one of claims 1 to 3.

5. An electronic device comprising a memory and a processor, characterized in that: The memory is coupled to the processor; wherein, the memory is used to store program data, and the processor is used to execute the program data to implement the forward and backward and lateral active resistance control method of the offshore wind turbine tower as described in any one of claims 1-3 above.

6. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the program is executed by a processor, the method for controlling the forward and backward and lateral active resistance of an offshore wind turbine tower according to any one of claims 1 to 3 is implemented.

Images