Vibration reduction control method and device for offshore wind turbine system, medium and system

Abstract

The invention discloses a vibration reduction control method for an offshore wind turbine system. The vibration reduction control method comprises the steps that S100, state data of the offshore wind turbine system are obtained; s200, determining the motion state of the fan platform based on the acquired state data in combination with a preset dynamic model of the offshore fan system; s300, determining the system error of the offshore wind turbine system based on the deviation between the motion state and the expected stable state; s400, according to the system error, generating an active control force through a self-adaptive linear secondary regulator control strategy; and S500, the active control force is applied to an active tuned mass damper so as to control pitching motion of the offshore wind turbine system. According to the invention, efficient active control force application to pitching motion of the offshore wind turbine system is realized, so that the active control force can quickly adapt to dynamic changes of the system, and the optimal vibration reduction effect is achieved.

Description

Technical Field

[0001] The present invention relates to the technical field of offshore wind power control, and in particular to a vibration reduction control method, device, medium and system for an offshore wind power system. Background Art

[0002] Offshore wind energy has a vast space, and the wind power resources are stronger and more stable, gradually becoming the focus of wind energy development. Offshore wind turbines can obtain better wind sources than onshore wind turbines because they have faster speeds and less turbulence. Floating offshore wind turbines not only avoid the regional and social restrictions faced by onshore wind power projects, but also significantly improve the energy capture efficiency. Floating offshore wind turbines use floating structures to support wind turbines, enabling them to be deployed in deeper waters where more stable and powerful wind resources can be utilized. However, as the capacity of floating offshore wind turbines continues to grow, the sizes of these structures have increased accordingly. This expansion inevitably enhances the flexibility of the structures, especially due to the increased length and flexibility of the blades and towers. The increased structural flexibility, combined with the combined action of wind and wave forces, will generate significant vibration and fatigue loads on the key components of the turbines. Therefore, implementing vibration reduction control for floating offshore wind turbines has important practical significance for maintaining the optimal performance of wind turbines and extending the service life of equipment. Using the vibration control theory of civil engineering structures has become one of the main research strategies for reducing excessive vibration of floating offshore wind turbines.

[0003] Although the traditional tuned mass damper system can effectively reduce vibration, its vibration reduction effect is limited, especially when the initial amplitude is large. Compared with the tuned mass damper system, the active tuned mass damper based on general input control can significantly reduce the vibration amplitude in the initial stage, but the overall attenuation speed is relatively slow. Therefore, it is necessary to find a more effective control method in terms of reducing the vibration amplitude and accelerating the system stabilization process to solve the existing technical problems. Summary of the Invention

[0004] Aiming at the above problems existing in the prior art, the purpose of the present invention is to provide a vibration reduction control method for an offshore wind turbine system, which specifies a new control strategy by obtaining the pitch motion data of the floating offshore wind turbine system, and realizes the application of efficient active control force and vibration reduction effect.

[0005] Another object of the present invention is to provide a vibration reduction control device for an offshore wind turbine system.

[0006] Another object of the present invention is to provide a vibration reduction control system for an offshore wind turbine system.

[0007] To solve the above problems, the present invention adopts the following technical solutions: 1. A vibration reduction control method for an offshore wind turbine system, including the steps:

[0008] S100. Obtain the status data of the offshore wind turbine system;

[0009] S200. Based on the obtained status data and combined with the preset dynamic model of the offshore wind turbine system, determine the motion state of the wind turbine platform;

[0010] S300. Determine the system error of the offshore wind turbine system based on the deviation between the motion state and the desired stable state;

[0011] S400. According to the system error, generate the active control force through the adaptive linear quadratic regulator control strategy;

[0012] S500. Apply the active control force to the active tuned mass damper to control the pitching motion of the offshore wind turbine system.

[0013] In some embodiments, the dynamic model described in step S200 is specifically

[0014] (1)

[0015] In the formula, I represents the moment of inertia at the hinge joint between the tower structure and the wind turbine platform, R represents the distance from the hinge joint, m represents the mass, represents the pitching angle, represents the angular velocity, represents the acceleration; the parameter k represents the spring stiffness, the parameter d represents the damping coefficient, the parameter g represents the acceleration due to gravity; the subscript p represents the wind turbine platform, the subscript t represents the tower structure, the subscript T represents the active tuned mass damper, represents the active control force, and x represents the displacement.

[0016] In some embodiments, for the determination of the system error of the offshore wind turbine system based on the deviation between the motion state and the desired stable state described in step S300, the error representation formula is

[0017] (2)

[0018] In the formula, x(t) represents the state error and is used to evaluate the overall performance of the system.

[0019] In some embodiments, for the generation of the active control force through the adaptive linear quadratic regulator control strategy according to the system error described in step S400; the adaptive linear quadratic regulator control strategy includes the following steps:

[0020] S410. Introduce the time constant into the preset dynamic model;

[0021] S420. Adjust the time constant according to the system error,

[0022] Specifically, the time constant According to the systematic error Adjust as per the following rules:

[0023] (3)

[0024] In the formula, represents the initial value of and respectively represent the minimum and maximum allowable values of is determined according to the systematic error the adjustment coefficient of the adjustment rate of is a predefined threshold of

[0025] Step S430. Calculate the state weight matrix and feedback gain matrix of the preset dynamic model according to the adjusted time constant;

[0026] Step S440. Generate the active control force based on the feedback gain matrix and the state matrix corresponding to the state data, specifically

[0027] Based on the feedback gain matrix and the state matrix generate the active control force through the following formula ;

[0028] (8).

[0029] In some embodiments, step 420 includes the following steps:

[0030] S421. Determine the controllability Gram matrix of the offshore wind turbine system according to the time constant;

[0031] After obtaining the time constant through formula (3), calculate the controllability Gram matrix of the system through the following formula ,

[0032] (4)

[0033] S422. Determine the state weight matrix according to the controllability Gram matrix, and the controllability Gram matrix obtain the state weight matrix through the following formula ,

[0034] (5)

[0035] As can be seen from formula (5), the state weight matrix varies with the controllability Gram matrix Dynamic change;

[0036] Step S423: Based on the state weight matrix and by solving the Riccati equation of a preset dynamic model, determine the feedback gain matrix.

[0037] The Riccati equation is solved by the following formula

[0038] (6)

[0039] In the formula, is the solution of the Riccati equation;

[0040] The specific determination of the feedback gain matrix is as follows:

[0041] (7)

[0042] The feedback gain matrix is adjusted by the time constant and the system error for the adaptive control of the offshore wind turbine system.

[0043] In some embodiments, as described in step S500, applying the active control force to the active tuned mass damper to control the pitch motion of the offshore wind turbine system specifically means applying the active control force to the active tuned mass damper , for canceling the vibration of the offshore wind turbine system caused by external wind and wave disturbances, including the steps of:

[0044] S600: Obtain the actual response of the wind turbine platform to the active control force;

[0045] S700: Adjust the system error through the actual response, and use the adaptive linear quadratic regulator control strategy to adjust the active control force for optimizing the control performance of the offshore wind turbine system.

[0046] Another object of the present invention is to provide a system for implementing a vibration reduction control method for an offshore wind turbine system, including a tower structure, a wind turbine platform arranged at a preset position based on the tower structure, a tuned mass damper arranged inside the wind turbine platform, and a control device;

[0047] including a sensor module for obtaining the state data of the offshore wind turbine system and measuring the dynamic parameters related to the pitch motion of the offshore wind turbine system;

[0048] An actuator module for suppressing the pitch angle vibration of the wind turbine platform according to the applied active control force, and combining the passive characteristics of the tuned mass damper and the active control to improve the vibration reduction effect;

[0049] A data acquisition and communication system for realizing data transmission among a sensor module, a control device, and an actuator module;

[0050] The control device of the system sends instructions to the actuator module through the data acquisition and communication system. After receiving the instructions, the actuator module precisely generates an active control force through a servo motor or a hydraulic driver; a force sensor or a displacement sensor installed on the actuator module monitors the magnitude and direction of the control force in real time; after the monitored data is collected, it is fed back to the control device for error correction and dynamic adjustment.

[0051] In some embodiments, the system includes the joint debugging and testing of an offshore wind turbine system. Specifically, it tests the communication and response of the sensor module and the actuator module, verifies the measurement accuracy of the sensor module and the force control accuracy of the actuator module; adjusts the parameters of the control device to ensure the stable operation of the adaptive linear quadratic regulator control strategy configured therein.

[0052] Another object of the present invention is to provide a control device, including: a memory, a processor, and a computer program stored on the memory and executable on the processor. The processor executes the computer program to implement the above-mentioned vibration reduction control method.

[0053] Still another object of the present invention is to provide a machine-readable storage medium, on which instructions are stored, and the instructions cause the machine to execute the above-mentioned vibration reduction control method.

[0054] Compared with the prior art, the beneficial technical effects of the present invention are as follows:

[0055] 1. According to the acquired state data and in combination with a preset dynamic model of the offshore wind turbine system, this application determines the motion state of the wind turbine platform; based on the deviation between the motion state and the expected stable state, it determines the system error of the offshore wind turbine system; according to the system error, through the adaptive linear quadratic regulator control strategy, it generates an active control force and applies the active control force to the active tuned mass damper to control the pitching motion of the offshore wind turbine system and achieve a vibration reduction effect. The embodiments of the present invention apply the adaptive linear quadratic regulator to a barge-type floating offshore wind turbine with a tuned mass damper, and establish a new dynamic model of the floating offshore wind turbine based on the active tuned mass damper. The embodiments of the present invention achieve the efficient application of the active control force to the pitching motion of the offshore wind turbine system, enabling the active control force to quickly adapt to the dynamic changes of the system to achieve the best vibration reduction effect. Description of the Drawings

[0056] Figure 1 It is a schematic diagram of a barge-type floating offshore wind turbine and an active tuned mass damper in the platform;

[0057] Figure 2It is a schematic flowchart of the vibration damping control method for the offshore wind turbine system provided by the embodiments of the present invention;

[0058] Figure 3 It is a schematic configuration diagram of the active tuned mass damper;

[0059] Figure 4 It is a schematic flowchart of the adaptive linear quadratic regulator control strategy;

[0060] Figure 5 It is a schematic flowchart for determining the state weight matrix and feedback gain matrix of the offshore wind turbine system;

[0061] Figure 6 It is a schematic design architecture diagram of the floating offshore wind turbine system;

[0062] Figure 7 It is a schematic diagram of the control scheme based on the adaptive linear quadratic regulator;

[0063] Figure 8 It is a schematic diagram of the pitch angle vibration damping control based on the adaptive linear quadratic regulator, linear quadratic regulator and proportional-integral-derivative controller;

[0064] Figure 9 It is Figure 8 The enlarged schematic diagram from 0 to 50 seconds in

[0065] Figure 10 It is Figure 8 The enlarged schematic diagram from 200 to 240 seconds in

[0066] Figure 11 It is a schematic diagram of the change in the active control force;

[0067] Figure 12 It is Figure 11 The enlarged schematic diagram from 0 to 20 seconds in

[0068] Among them, 1. Platform, 2. Tower, 3. Wind turbine. Specific embodiments

[0069] Hereinafter, the technical solutions of the present invention will be further clearly and detailedly described in conjunction with the embodiments and the drawings.

[0070] Embodiment 1

[0071] Figure 1 It is a schematic diagram of a barge-type floating offshore wind turbine and an active tuned mass damper in Platform 1. Refer to Figure 1 , the floating offshore wind turbine provided by the embodiments of the present invention includes a tower 2 structure, a wind turbine platform 1 arranged at a preset position of the tower 2 structure, and an active tuned mass damper arranged inside the wind turbine platform 1.

[0072] Please refer toFigure 1 In the embodiments of the present invention, the model of the offshore wind turbine system can adopt a barge-type floating offshore wind turbine model with a tuned mass damper installed on platform 1. The reference model of this model can be fixed on a TLP barge, such as a 5 MW wind turbine 3. This turbine model can be used to evaluate the performance and dynamic performance of floating offshore wind turbines. It is a horizontal-axis, three-blade, upwind, variable-speed, pitch-controlled turbine, with a rotor diameter of, for example, 126 m and a hub height of, for example, 90 m.

[0073] Please refer to Figure 2 The vibration damping control method for an offshore wind turbine system provided by the embodiments of the present invention includes the following steps:

[0074] Step S100: Obtain the state data of the offshore wind turbine system;

[0075] For example, the state data of the offshore wind turbine system includes, for example, the pitch angle, angular velocity, top displacement, acceleration, etc. of platform 1. The above data can be obtained through sensors such as gyroscopes, accelerometers, and tilt sensors. Data processing is performed on the obtained state data to obtain corresponding state variables or state matrices (for example, the pitch angle of platform 1 , angular velocity , acceleration , etc.).

[0076] This step can collect the dynamic data of the offshore wind turbine system in real time. Through the state monitoring of the offshore wind turbine system, the dynamic parameters related to the pitching motion are measured, providing real-time data for the adaptive linear quadratic regulator control strategy and capturing the dynamic changes caused by external disturbances.

[0077] Step S200: Determine the motion state of the wind turbine platform 1 according to the obtained state data and in combination with the preset dynamic model of the offshore wind turbine system.

[0078] See Figure 3 , Figure 3 is the configuration diagram of the tuned mass damper. Refer to Figure 1 and Figure 3 , in the preferred embodiment of the present application, the dynamic model of the offshore wind turbine system is represented by the following formula:

[0079] (1)

[0080] Where: I represents the moment of inertia at the hinge joint between the tower 2 structure and the wind turbine platform 1, R represents the distance from the hinge joint, m represents the mass, represents the pitch angle, represents the angular velocity, denotes acceleration; parameter k represents the spring stiffness, parameter d represents the damping coefficient, and parameter g represents the acceleration due to gravity. Subscript p represents the wind turbine platform 1, subscript t represents the tower 2 structure, and subscript T represents the active tuned mass damper, denotes the active control force.

[0081] Taking an example, the motion state of the wind turbine platform 1 can be determined through the model of Equation (1).

[0082] Step S300: Determine the system error of the offshore wind turbine system based on the deviation between the motion state and the desired stable state.

[0083] The system error is expressed by the following formula:

[0084] (2)

[0085] Continuing with the above example, the deviation between the motion state obtained through the above steps and the desired stable state can be used to determine the system error of the offshore wind turbine system through Equation (2) ; this system error serves as the basis for adjusting the adaptive linear quadratic regulator control strategy.

[0086] Step S400: Generate the active control force according to the system error through the adaptive linear quadratic regulator control strategy.

[0087] The adaptive linear quadratic regulator control strategy is used to achieve the adaptive optimization of the offshore wind turbine system, enabling the active control force to be adjusted according to the changes in the motion state and the system error to ensure the best system performance.

[0088] In some preferred embodiments, as Figure 4 shown, the adaptive linear quadratic regulator control strategy includes the following steps: Step S410: Introduce a time constant into the preset dynamic model;

[0089] Step S420: Adjust the time constant according to the system error;

[0090] Continuing with the above example, the time constant is adjusted according to the system error according to the following rules: (3)

[0091] where denotes the initial value of and respectively denote the minimum and maximum allowable values of and The adjustment coefficient of the adjustment rate is a predefined threshold for judging the error magnitude;

[0092] Step S430: Calculate the state weight matrix and the feedback gain matrix of a preset dynamic model according to the adjusted time constant;

[0093] In some preferred embodiments, as Figure 5 shown, this step includes the following steps: S431 - S433:

[0094] Step S431: Determine the controllability Gram matrix of the offshore wind turbine system according to the time constant;

[0095] Continuing the above example, after obtaining the time constant through Equation (3) the controllability Gram matrix of the system is calculated through the following formula :

[0096] (4)

[0097] Step S432: Determine the state weight matrix according to the controllability Gram matrix;

[0098] Continuing the above example, the controllability Gram matrix obtains the state weight matrix through the following formula :

[0099] (5)

[0100] It can be seen from Equation (5) that the state weight matrix varies dynamically with the controllability Gram matrix

[0101] Step S433: Based on the state weight matrix, determine the feedback gain matrix by solving the Riccati equation of the preset dynamic model.

[0102] Continuing the above example, the Riccati equation can be solved by the following formula:

[0103] (6)

[0104] Wherein, is the solution of the Riccati equation.

[0105] Thereafter, the feedback gain matrix can be obtained through the following formula:

[0106] (7)

[0107] It can be seen from Equations (1) - (7) that the feedback gain matrix ​Adjusted by the time constant and the system error to achieve the adaptive control of the offshore wind turbine system.

[0108] Step S440: Generate the active control force based on the feedback gain matrix and the state matrix corresponding to the state data.

[0109] Continuing with the above example, based on the feedback gain matrix and the state matrix , generate the active control force through the following formula ;

[0110] (8)

[0111] Step S500: Apply the active control force to the active tuned mass damper to control the pitch motion of the offshore wind turbine system and achieve the vibration reduction effect.

[0112] Applying the active control force to the active tuned mass damper can cancel out the vibration of the offshore wind turbine system caused by external wind and wave disturbances.

[0113] In the preferred embodiment of the present application, after applying the active control force to the active tuned mass damper in step S500 to control the pitch motion of the offshore wind turbine system, the following steps S600 - S700 may further be included:

[0114] Step S600: Obtain the actual response of the wind turbine platform 1 to the active control force;

[0115] Step S700: Adjust the system error through the actual response, and adjust the active control force by using the adaptive linear quadratic regulator control strategy to optimize the control performance of the offshore wind turbine system.

[0116] Continuing with the above example, the actual response of the wind turbine platform 1 to the active control force can be obtained through sensors, and the system error can be updated according to the actual response so as to update the time constant and the state weight matrix , obtain a new feedback gain matrix by solving the Riccati equation , and realize the adjustment of the active control force .

[0117] The above steps can provide closed-loop feedback for the offshore wind turbine system, enabling the time constant , the state weight matrix and the feedback gain matrix to continuously adjust to adapt to the changes in external disturbances, so that the system can continuously optimize the control performance.

[0118] Figure 7 Schematic diagram of a control scheme based on an adaptive linear quadratic regulator. As can be seen from Figure 7 it, in the embodiments of the present application, the state variables or state matrices can be obtained according to the acquired state data , and combined with the preset dynamic model of the offshore wind turbine system, the motion state of the wind turbine platform 1 is determined; based on the deviation between the motion state and the desired stable state, the system error of the offshore wind turbine system is determined ; according to the system error , the time constant and the controllability Gram matrix are obtained, and the feedback gain matrix is determined by solving the Riccati equation, thereby obtaining the control force . By applying the active control force to the active tuned mass damper, the vibration reduction control of the offshore wind turbine system is realized. Then, the actual response of the wind turbine platform 1 to the active control force can be obtained, and the system error is adjusted through the actual response , and the active control force is adjusted by using the adaptive linear quadratic regulator control strategy , to achieve the optimal control of the pitching motion of the offshore wind turbine system.

[0119] Embodiment 2

[0120] The embodiments of the present application also provide a control device, which may include: a memory, a processor, and a computer program stored on the memory and executable on the processor. The processor executes the computer program to implement the above vibration reduction control method.

[0121] In some preferred embodiments, the control device may be an industrial real-time control device such as dSPACE, NI CompactRIO, or a custom control device based on FPGA.

[0122] The processor may be an embedded processor of the TI DSP or ARM Cortex series.

[0123] The control device receives the state data transmitted by the sensor, completes state estimation and error calculation, thereby implementing the adaptive linear quadratic regulator control strategy, including dynamic adjustment of the time constant, state weight matrix, and feedback gain matrix, and generates an active control force, and transmits it to the actuator.

[0124] Embodiment 3

[0125] The embodiments of the present application also provide a machine-readable storage medium, on which instructions may be stored, and these instructions cause the machine to execute the above vibration reduction control method.

[0126] Embodiment 4

[0127] Reference Figure 1 In addition, an embodiment of the present application further provides an off - shore wind turbine system for vibration damping control, including a tower 2 structure, a wind turbine platform 1 arranged at a preset position of the tower 2 structure, a tuned mass damper arranged inside the wind turbine platform 1, and a control device.

[0128] Preferably, the off - shore wind turbine system further includes: a sensor module for acquiring the state data of the off - shore wind turbine system and measuring the dynamic parameters related to the pitching motion of the off - shore wind turbine system;

[0129] An actuator module for suppressing the pitching angle vibration of the wind turbine platform 1 according to the applied active control force, and combining the passive characteristics of the tuned mass damper with active control to improve the vibration damping effect;

[0130] A data acquisition and communication system for realizing data transmission among the sensor module, the control device, and the actuator module, and ensuring the real - time performance of the control algorithm and the efficient transmission of data.

[0131] For example, the sensor module may include: an inclination sensor for monitoring the pitching angle of the wind turbine platform 1; a gyroscope for real - time monitoring of the angular velocity of the wind turbine platform 1; an accelerometer for monitoring the acceleration of the platform 1 and other dynamic information. A wind speed meter and a wave monitoring device, as optional sensors, can monitor the external wind and wave disturbance data for the prediction and optimization of the off - shore wind turbine system.

[0132] For example, the actuator module may include: a tuned mass damper including a tuned mass, a spring, and a damper for passive vibration damping; an active drive unit including a servo motor or a hydraulic actuator for providing the required force / displacement control, and a force sensor for real - time monitoring of the active control force to ensure accurate execution; a control interface connected to the control device for receiving the instruction to apply the active control force and executing it.

[0133] For example, the data acquisition and communication system may include: a data acquisition card for receiving sensor data and transmitting it to the control device; a communication module such as EtherCAT, CAN, Modbus, etc. for realizing real - time communication among the sensor, the control device, and the actuator. A wireless communication module, as an optional structure, is used for remote monitoring and debugging.

[0134] The active tuned mass damper is the core execution unit of the off - shore wind turbine system, and its design involves a passive tuning part and an active control part.

[0135] The passive tuning part may be a tuned mass, and the mass range is, for example, 2 - 5% of the total mass of the platform 1. The installation position refers to Figure 1 being located on the platform 1 or the tower 2, close to the main vibration center of the pitching motion.

[0136] The active control part may include: a servo drive, which uses a high-precision servo motor or a hydraulic drive to provide fast and accurate force control, and the servo response time is < 10 ms; the active control force range depends on the pitch angle and disturbance force range of the platform 1.

[0137] Continuing with the above example, when the offshore wind turbine system is running, the control device sends instructions to the actuator module through the data acquisition and communication system. After receiving the instructions, the actuator module accurately generates active control force through the servo motor or hydraulic drive. Force sensors or displacement sensors are installed on the actuator module to monitor the size and direction of the control force in real time. After the monitoring data is collected, it can be fed back to the control device for error correction and dynamic adjustment.

[0138] In some preferred embodiments, please refer to Figure 6 , this application also provides a design architecture for a floating offshore wind turbine system, including:

[0139] a. Hardware installation and deployment:

[0140] For example, sensors and actuators are fixed to key parts of floating offshore wind turbines (such as the center of platform 1, the top of tower 2, etc.);

[0141] The control unit and communication module are installed in the protective housing and connect the sensors and actuators.

[0142] b. Communication network configuration:

[0143] For example, to establish communication links between sensors, control devices and actuators, EtherCAT or CAN bus protocols can be used to ensure real-time data transmission;

[0144] c. Control device programming and algorithm implementation:

[0145] For example, deploy an adaptive linear quadratic regulator algorithm in the control device and write procedures for data acquisition, error calculation, and control force generation;

[0146] Ensure that the control device can adjust the time constant, state weight matrix and feedback gain matrix in real time and output active control force.

[0147] d.Joint debugging and testing:

[0148] For example, testing the communication and response of sensors and actuators, verifying the sensor measurement accuracy and the actuator force control accuracy;

[0149] Adjust the control device parameters to ensure stable operation of the adaptive linear quadratic regulator control strategy.

[0150] The adaptive linear quadratic regulator (ALQR) is compared with the generalized proportional-integral-derivative controller (PID) and the linear quadratic regulator (LQR). The comparison test results are as follows: Figure 8 shown.

[0151] Zooming in on the 0-50 second and 200-240 second time periods, the results are as follows Figure 9 and Figure 10 shown.

[0152] like Figures 8 - 10 As shown in the figure, through comparative analysis, it can be concluded that the initial amplitude of the passive tuned mass damper (TMD) system is large, and the vibration gradually decays over time, but the decay rate is slow, resulting in a longer vibration period. This shows that although the traditional tuned mass damper system can effectively reduce vibration, its vibration reduction effect is limited, especially when the initial amplitude is large.

[0153] Compared with the tuned mass damper, the active tuned mass damper (ATMD) based on the general input (GPI) control can significantly reduce the vibration amplitude in the initial stage, but the overall attenuation speed is slower than the linear quadratic regulator and adaptive linear quadratic regulator strategies. This shows that although the general input control improves the vibration response of the system to a certain extent, it is still inferior to more advanced control methods such as the linear quadratic regulator and the adaptive linear quadratic regulator.

[0154] The LQR control suppresses initial vibration better than the universal input, with significantly smaller amplitudes and faster vibration decay. This indicates that the LQR control strategy is more effective in reducing vibration amplitudes and accelerating the system stabilization process. The adaptive LQR control strategy works best, with extremely small initial amplitudes, rapid vibration decay, and minimal vibration throughout the response. This indicates that the adaptive LQR control strategy provides the most significant vibration suppression, almost completely eliminating vibrations, through real-time adjustments based on system dynamics.

[0155] In summary, although tuned mass damper control can reduce vibration, its effect is limited. Active control strategies based on universal input and linear quadratic regulator show significantly better vibration reduction effects, among which the linear quadratic regulator outperforms the universal input. Adaptive linear quadratic regulator control shows the best performance, providing the fastest and most effective vibration suppression. This shows that the adaptive linear quadratic regulator is an efficient control method, especially suitable for floating offshore wind turbines.

[0156] The result of controlling the input active control force is as follows Figure 11 As shown, Figure 11 The enlarged picture of 0-20 seconds is as follows Figure 12 shown.

[0157] Through comparative analysis, it can be concluded that: for universal input, the control force fluctuates greatly and lasts for a long time, which means that the universal input control has a longer effect on the system during the adjustment process, and the effect is not as significant as that of the harmonic mass damper and the active tuned mass damper; for the harmonic mass damper, the amplitude is relatively small and smooth, and gradually converges to zero, which means that although its control force is relatively stable, its vibration reduction effect is slightly slower than that of the active tuned mass damper; for the active tuned mass damper, it quickly reaches a large value in the initial stage, but can quickly decrease and approach zero in a short time, which means that the active tuned mass damper can quickly adapt to the dynamic changes of the system and achieve efficient control force application and vibration reduction.

[0158] Depend on Figures 8 - 12 It can be seen that the vibration reduction control method for the offshore wind turbine system provided in the embodiment of the present application is significantly superior to the vibration reduction control method for the offshore wind turbine system using the prior art, and has outstanding substantial characteristics and significant advancement.

[0159] Those skilled in the art will appreciate that the embodiments of the present application may be provided as methods, systems, or computer program products. Therefore, the present application may adopt the form of a complete hardware embodiment, a complete software embodiment, or an embodiment combining software and hardware. Moreover, the present application may adopt the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program codes.

[0160] The present application is described with reference to the flowcharts and / or block diagrams of the methods, devices (systems), and computer program products according to the embodiments of the present application. It should be understood that each process and / or box in the flowchart and / or block diagram, as well as the combination of the processes and / or boxes in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to generate a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the processes in the flowchart and / or block diagram. Figure 1 A process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0161] These computer program instructions may also be stored in a computer-readable memory capable of directing a computer or other programmable data processing device to operate in a specific manner, so that the instructions stored in the computer-readable memory produce an article of manufacture comprising an instruction device, which implements the process Figure 1 A process or multiple processes and / or boxes Figure 1 A function specified in one or more boxes.

[0162] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operating steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing instructions for implementing the process. Figure 1 A process or multiple processes and / or boxes Figure 1 The steps for the functions specified in one or more boxes.

[0163] In a typical configuration, a computing device includes one or more processors (CPU), input / output interfaces, network interfaces, and memory.

[0164] The memory may include non-permanent memory in a computer-readable medium, random access memory (RAM) and / or non-volatile memory in the form of read-only memory (ROM) or flash RAM. The memory is an example of a computer-readable medium.

[0165] Computer-readable media include permanent and non-permanent, removable and non-removable media that can be implemented by any method or technology to store information. The information can be computer-readable instructions, data structures, program modules or other data. Examples of computer storage media include, but are not limited to, phase change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technology, compact disk read-only memory (CD-ROM), digital versatile disk (DVD) or other optical storage, magnetic cassettes, magnetic disk storage or other magnetic storage devices or any other non-transmission media that can be used to store information that can be accessed by a computing device. As defined herein, computer-readable media does not include temporary computer-readable media. , such as modulated data signals and carrier waves.

[0166] Finally, it is necessary to point out here that the above description is only a preferred specific implementation manner of the present invention, but the protection scope of the present invention is not limited thereto, and any changes or substitutions that can be easily thought of by any technician familiar with the present invention within the technical scope disclosed in the present invention should be covered within the protection scope of the present invention.

Claims

1. A vibration reduction control method for an offshore wind turbine system, characterized in that: Includes steps: S100, obtaining status data of an offshore wind turbine system; S200, determining the motion state of the wind turbine platform based on the acquired state data and in combination with a preset dynamic model of the offshore wind turbine system; S300, determining a system error of the offshore wind turbine system based on a deviation between a motion state and an expected stable state; S400, generating active control force through an adaptive linear quadratic regulator control strategy according to the system error; S500: Apply the active control force to the active tuned mass damper to control the pitch motion of the offshore wind turbine system.

2. The vibration reduction control method for an offshore wind turbine system according to claim 1, characterized in that: The dynamic model described in step S200 is specifically: （1） Where I represents the moment of inertia of the hinge between the tower structure and the wind turbine platform, R represents the distance from the hinge, and m represents the mass. represents the pitch angle, represents the angular velocity, represents acceleration; Parameter k represents the spring stiffness, parameter d represents the damping coefficient, and parameter g represents the acceleration of gravity; subscript p represents the wind turbine platform, subscript t represents the tower structure, and subscript T represents the active tuned mass damper. represents the active control force and x represents the displacement.

3. The vibration reduction control method for an offshore wind turbine system according to claim 1, characterized in that: The system error of the offshore wind turbine system is determined based on the deviation between the motion state and the expected stable state in step S300. The error expression formula is: （2） Where x(t) represents the state error, which is used to evaluate the overall performance of the system.

4. The vibration reduction control method for an offshore wind turbine system according to claim 1, characterized in that: In step S400, according to the system error, an active control force is generated by an adaptive linear quadratic regulator control strategy; the adaptive linear quadratic regulator control strategy includes the following steps: S410, introducing a time constant into a preset dynamic model; S420, adjust the time constant according to the system error, Specifically, the time constant According to the system error Adjust according to the following rules: （3） In the formula, express The initial value of and Respectively The minimum and maximum permissible values ​​of To determine the system error The adjustment factor of the adjustment rate, yes The predefined threshold is used to determine the error size; Step S430, calculating a state weight matrix and a feedback gain matrix of a preset dynamic model according to the adjusted time constant; Step S440: Generate active control force based on the feedback gain matrix and the state matrix corresponding to the state data, specifically: Based on the feedback gain matrix and the state matrix , the active control force is generated by the following formula ; （8）。 5. The vibration reduction control method for an offshore wind turbine system according to claim 4, characterized in that: Step 420 includes the following steps: S421. Determine a controllable Gramian matrix of the offshore wind turbine system according to the time constant; The time constant is obtained by formula (3): Then, the controllable Gram matrix of the system is calculated by the following formula , （4） S422, determining a state weight matrix according to a controllable Gramian matrix, wherein the controllable Gramian matrix The state weight matrix is ​​obtained by the following formula , （5） From formula (5), we can see that the state weight matrix Randomly nullable Gramian matrix Dynamic changes; Step S423: Based on the state weight matrix, the feedback gain matrix is ​​determined by solving the Riccati equation of the preset dynamic model. The Riccati equation is solved by the following formula （6） In the formula, is the solution of the Riccati equation; The feedback gain matrix is ​​determined as follows: （7） The feedback gain matrix Through the time constant and systematic error The adaptive control of offshore wind turbine systems can be adjusted according to the changes in 6. The vibration reduction control method for an offshore wind turbine system according to claim 1, characterized in that: In step S500, an active control force is applied to the active tuned mass damper to control the pitch motion of the offshore wind turbine system. Specifically, an active control force is applied to the active tuned mass damper. , used to offset the vibration of offshore wind turbine system caused by external wind and wave disturbance, including the steps of: S600, obtaining an actual response of the wind turbine platform to the active control force; S700, adjusts the system error through actual response, and uses the adaptive linear quadratic regulator control strategy to adjust the active control force to optimize the control performance of the offshore wind turbine system.

7. A system for implementing a vibration reduction control method for an offshore wind turbine system, characterized in that: It includes a tower structure, a wind turbine platform arranged based on a preset position of the tower structure, a tuned mass damper arranged inside the wind turbine platform, and a control device; It includes a sensor module for acquiring status data of an offshore wind turbine system and measuring dynamic parameters of the offshore wind turbine system related to pitch motion; An actuator module, used to suppress the pitch angle vibration of the wind turbine platform according to the applied active control force, and to improve the vibration reduction effect by combining the passive characteristics of the tuned mass damper with the active control; Data acquisition and communication system, used to realize data transmission between sensor modules, control devices, and actuator modules; The control device of the system sends instructions to the actuator module through the data acquisition and communication system. After receiving the instructions, the actuator module accurately generates active control force through a servo motor or a hydraulic driver. The force sensor or displacement sensor installed on the actuator module monitors the size and direction of the control force in real time. After the monitoring data is collected, it is fed back to the control device for error correction and dynamic adjustment.

8. The vibration reduction control system for an offshore wind turbine system according to claim 7, characterized in that: The system includes joint debugging and testing of the offshore wind turbine system, specifically, testing the communication and response of the sensor module and the actuator module, verifying the measurement accuracy of the sensor module and the force control accuracy of the actuator module; adjusting the parameters of the control device to ensure the stable operation of the adaptive linear quadratic regulator control strategy configured therein.

9. A control device, characterized in that: include: A memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the computer program to implement the vibration reduction control method. 10 . The machine-readable storage medium according to claim 1 , wherein instructions are stored on the machine-readable storage medium, and the instructions enable a machine to execute the vibration reduction control method.

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