Floating type offshore wind turbine self-energy-supply structure damping device and control method

Abstract

The invention provides a floating type offshore wind turbine self-energy-supply structure vibration reduction device and a control method.The device comprises an electromagnetic damper, a tuned mass block, an energy recovery circuit and a spring-damping device.The electromagnetic damper is used for converting mechanical vibration into electromagnetic energy and providing electromagnetic damping force to restrain structural vibration; pulleys are arranged at the bottom of the tuned mass block and reciprocate along the guide rails in the cabin under the inertia effect; the energy recovery circuit is used for processing the electric energy emitted by the electromagnetic damper to realize storage and utilization of the electric energy; the spring-damping device provides an elastic restoring force and additional passive damping for optimizing the frequency response characteristics of the system. The device can adapt to a complex marine environment, provides dynamic and adjustable active control force, inhibits vibration of a fan structure, and improves the running stability of the fan.

Description

Technical Field

[0001] The present invention relates to the technical field of offshore wind power generation, and in particular, to a vibration reduction device and a control method for a self-powered structure of a floating offshore wind turbine. Background Art

[0002] As a clean and renewable energy utilization method, offshore wind power generation has developed rapidly in recent years. Floating offshore wind turbines are one of the important development directions of offshore wind power. They can effectively utilize the wind energy resources in the deep and far sea areas and have broad application prospects. However, during the operation of floating offshore wind turbines, due to the influence of various complex marine environmental factors such as wind waves and ocean currents, their structures are prone to vibration, which will not only reduce the power generation efficiency of the wind turbines, but also may cause structural fatigue damage, affecting the safe operation and service life of the wind turbines.

[0003] At present, the vibration control methods of offshore wind turbines mainly include passive control, semi-active control and active control. Passive vibration reduction devices such as tuned mass dampers are usually designed according to a fixed mass ratio, and they have a large mass, and it is difficult to install them in the limited internal space of the wind turbine nacelle. Semi-active control relies on a small amount of external energy to adjust parameters such as stiffness or damping. Although it can track the changes of external excitation to a certain extent, its adjustment ability is relatively limited and the vibration reduction effect is not stable enough. Active control outputs an active control force through a force actuator and has a good vibration reduction effect, but its energy consumption is high. For floating offshore wind turbines operating offshore, the energy supply problem is relatively difficult.

[0004] The existing vibration control technologies for offshore wind turbines have certain limitations. Passive control devices have a large mass, limited installation space, and are only effective for specific frequencies, making it difficult to adapt to complex marine operating environments; semi-active control can partially track the changes of external excitation, but its adjustment ability is insufficient and the vibration reduction effect is unstable; active control has a good vibration reduction effect, but its energy consumption is too high, and it is difficult to supply energy in the offshore environment of floating offshore wind turbines. Therefore, how to solve the structural vibration problem during the operation of floating offshore wind turbines, overcome the deficiencies of traditional vibration control technologies at the same time, reduce energy consumption and improve the convenience of energy supply is an urgent technical problem to be solved in the current offshore wind power generation field. Summary of the Invention

[0005] In view of the structural vibration problems during the operation of floating offshore wind turbines and the high energy consumption of traditional active mass dampers, as well as the technical problems of difficult energy supply for vibration reduction of offshore wind turbine structures, a self-powered structural vibration reduction device for floating offshore wind turbines is provided. The present invention can adapt to complex marine environments, provide dynamically adjustable active control forces, and suppress the vibration of the wind turbine structure. During actual application, the designed vibration reduction device is installed in the nacelle of the wind turbine. When the wind turbine vibrates, the device outputs the optimal control force according to the motion state of the wind turbine, suppresses the structural vibration while recovering the vibration energy, and improves the economic benefits.

[0006] The technical means adopted in the present invention are as follows:

[0007] A self-powered structural vibration reduction device for floating offshore wind turbines, comprising: an electromagnetic damper, a tuned mass block, an energy recovery circuit, and a spring-damper device, wherein:

[0008] The electromagnetic damper is used to convert mechanical vibration into electromagnetic energy and provide an electromagnetic damping force to suppress structural vibration;

[0009] The tuned mass block is provided with pulleys at the bottom and reciprocates in the nacelle along the guide rail under the action of inertia;

[0010] The energy recovery circuit is used to process the electric energy generated by the electromagnetic damper and realize the storage and utilization of electric energy;

[0011] The spring-damper device provides an elastic restoring force and additional passive damping to optimize the frequency response characteristics of the system.

[0012] Further, the electromagnetic damper includes: a motion input terminal, a ball screw, a nut, a mechanical motion rectifier, and a permanent magnet synchronous motor, wherein:

[0013] One end of the motion input terminal is fixed to the inner wall of the wind turbine nacelle, and the other end is rigidly connected to the nut;

[0014] The nut is threadedly connected to the ball screw. When the nut makes a linear motion, the ball screw rotates bidirectionally accordingly;

[0015] The mechanical motion rectifier includes a driving shaft, a bidirectional ratchet, a transmission gear, and a driven shaft, and is used to convert the bidirectional rotational motion of the driving shaft into the unidirectional rotational motion of the driven shaft; the driving shaft of the mechanical motion rectifier is connected to the ball screw through a coupling, and the driven shaft is connected to the rotor of the permanent magnet synchronous motor through a coupling;

[0016] The permanent magnet synchronous motor is an energy conversion link, outputs electric energy and generates an electromagnetic torque.

[0017] Furthermore, the energy recovery circuit includes: a three-phase voltage source converter, a main capacitor, a bidirectional DC / DC converter, and a storage battery, where:

[0018] The electric energy generated by the permanent magnet synchronous motor is connected to the energy recovery circuit through the stator winding, converted from AC to DC by the three-phase voltage source converter, and the voltage is regulated by the bidirectional DC / DC converter, and finally stored in the storage battery.

[0019] The present invention also provides a control method for a structural vibration damping device based on economic model predictive control implemented by the above floating offshore wind turbine self-powered structure vibration damping device, including:

[0020] S1. Based on the dynamic model, establish the state space equation of the floating offshore wind turbine structure vibration damping system;

[0021] S2. Divide the floating offshore wind turbine structure vibration damping system into a reference system and an adaptive error system, and design an economic model predictive controller;

[0022] S3. Discretize the adaptive error system, solve the economic model prediction problem, and obtain the optimal equivalent control force;

[0023] S4. Based on the optimal equivalent control force and the storage battery reference voltage, control the operation of the energy recovery circuit.

[0024] Furthermore, step S1 specifically includes:

[0025] S11. Establish the mathematical model of the floating offshore wind turbine structure vibration damping system as follows:

[0026]

[0027] Where, θ p is the platform pitch angle, θ t is the tower pitch angle, x a is the relative displacement of the tuned mass block; E is the disturbance coefficient matrix, F is the control coefficient matrix, F = [0, -R a , 1] T , R a is the distance from the hinge to the centroid of the tuned mass block; M, C, and K are the system mass, damping, and stiffness matrices respectively; M ext is the wind and wave excitation matrix; F u is the equivalent control force of the electromagnetic damper;

[0028] S12. Define the system state variables Establish the system state equation as follows:

[0029]

[0030] Among them, A m is the system matrix, B m is the control input matrix, B mw is the disturbance input matrix,

[0031] Furthermore, step S2 specifically includes:

[0032] S21. Define the state variables of the reference system as As the reference value of the system state variables, establish the state - space equation of the reference system as follows:

[0033]

[0034] Among them, F ur is the reference value of the equivalent control force of the electromagnetic damper, and the LQR controller is used to solve the reference value F of the equivalent control force of the electromagnetic damper ur ;

[0035] S22. Define the error variable of the adaptive error system as x err = x m - x mr , and establish the state - space equation of the adaptive error system according to the state - space equations of the original system and the reference system as follows:

[0036]

[0037] Among them, F uo is the optimal control force error, F uo = F u - F ur ;

[0038] S23. In the adaptive error system, with the optimal energy recovery of the electromagnetic damper as the optimization objective and the boundedness of the state of the adaptive error system as the constraint condition, define the economic model predictive controller as follows:

[0039]

[0040] Among them, P is the energy recovered by the electromagnetic damper; Q is the coefficient matrix; x err_min is the minimum error variable; x err_max is the maximum error variable.

[0041] Furthermore, step S3 specifically includes:

[0042] S31. Discretize the dynamic response of the floating offshore wind turbine vibration reduction system by the Newmark - β method, and solve to obtain the optimal control force error Fuo ;

[0043] S32. Obtain the reference value F of the equivalent control force of the electromagnetic damper based on the solution of the reference system ur , and obtain the optimal equivalent control force of the electromagnetic damper as F u = F uo + F ur .

[0044] Furthermore, step S4 specifically includes:

[0045] S41. Based on the optimal equivalent control force F of the electromagnetic damper u , calculate the reference current of the q-axis of the permanent magnet synchronous motor Let the reference current of the d-axis Adopt a vector control strategy to obtain the switching signals of the three-phase voltage source converter;

[0046] S42. Based on the reference voltage of the battery Adopt a voltage control strategy to obtain the switching signals of the bidirectional DC / DC converter.

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

[0048] 1. A vibration damping device for a floating offshore wind turbine self-powered structure provided by the present invention can adapt to different wind and wave excitations compared with traditional vibration damping methods, provide actively adjustable control force, and improve the stability of the wind turbine operation.

[0049] 2. A vibration damping device for a floating offshore wind turbine self-powered structure provided by the present invention adopts a mechanical motion rectification device to convert the reciprocating vibration of the structure into the unidirectional rotational operation of the permanent magnet synchronous motor, improving the electromechanical energy conversion efficiency of the system, avoiding the frequent commutation operation of the motor, reducing current impact and mechanical wear, and prolonging the service life of the motor.

[0050] 3. A vibration damping device for a floating offshore wind turbine self-powered structure provided by the present invention has an energy recovery circuit that converts the vibration energy of the wind turbine into electrical energy, realizes the storage and reuse of vibration energy, and reduces the external energy supply demand.

[0051] 4. A control method for a structure vibration damping device based on economic model predictive control provided by the present invention, based on the design of an adaptive error system, adopts an economic model predictive control method, enables the vibration damping device to operate efficiently in a complex marine environment, takes into account vibration suppression and energy recovery, and improves the economy and reliability of the floating offshore wind turbine.

[0052] Based on the above reasons, the present invention can be widely promoted in the fields of offshore wind power generation, etc. Description of the Drawings

[0053] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the following will briefly introduce the accompanying drawings required for the description of the embodiments or the prior art. Obviously, the accompanying drawings in the following description are some embodiments of the present invention. For those of ordinary skill in the art, without creative efforts, other accompanying drawings can also be obtained based on these drawings.

[0054] Figure 1 It is a schematic diagram of the overall structure of the vibration damping device for the self-powered structure of the floating offshore wind turbine of the present invention.

[0055] Figure 2 It is a schematic diagram of the structure of the electromagnetic damper of the present invention.

[0056] Figure 3 It is a schematic diagram of the structure of the energy recovery circuit of the present invention.

[0057] Figure 4 It is a flowchart of the control method for the vibration damping device of the self-powered structure of the floating offshore wind turbine of the present invention.

[0058] Figure 5 It is a control structure diagram of the adaptive error system of the present invention.

[0059] Figure 6 It is a schematic diagram of the wind speed input of the present invention.

[0060] Figure 7 It is a schematic diagram of the wave height input of the present invention.

[0061] Figure 8 It is a schematic diagram of the control effect of the displacement structure at the top of the wind turbine of the present invention.

[0062] Figure 9 It is a schematic diagram of the energy consumption of the active control of the present invention.

[0063] In the figure: 1. Electromagnetic damper; 101. Motion input terminal; 102. Ball screw; 103. Nut; 104. Mechanical motion rectifier; 105. Permanent magnet synchronous motor; 2. Tuned mass damper; 3. Energy recovery circuit; 301. Three-phase voltage source type converter; 302. Main capacitor; 303. Bidirectional DC / DC converter; 304. Battery; 4. Spring-damper device. Detailed implementation manners

[0064] To enable those skilled in the art to better understand the solution of the present invention, the following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the scope of protection of the present invention.

[0065] It should be noted that the terms "first", "second", etc. in the specification and claims of the present invention and the above-mentioned drawings are used to distinguish similar objects, and do not necessarily need to describe a specific order or sequence. It should be understood that such data can be interchanged under appropriate circumstances so that the embodiments of the present invention described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "comprising" and "having" and any variations thereof are intended to cover non-exclusive inclusion. For example, a process, method, system, product or device comprising a series of steps or units does not necessarily have to be limited to those steps or units clearly listed, but may include other steps or units not clearly listed or inherent to these processes, methods, products or devices.

[0066] As Figure 1 shown, the present invention provides a vibration damping device for a floating offshore wind turbine self-power supply structure, including: an electromagnetic damper 1, a tuned mass block 2, an energy recovery circuit 3, and a spring-damper device 4, where:

[0067] The electromagnetic damper 1 is used to convert mechanical vibration into electromagnetic energy and provide an electromagnetic damping force to suppress structural vibration;

[0068] The tuned mass block 2 is provided with pulleys at the bottom and reciprocates along the guide rail in the nacelle under the action of inertia;

[0069] The energy recovery circuit 3 is used to process the electric energy generated by the electromagnetic damper and realize the storage and utilization of electric energy;

[0070] The spring-damper device 4 provides an elastic restoring force and additional passive damping to optimize the frequency response characteristics of the system.

[0071] Specifically, as a preferred embodiment of the present invention, as Figure 2 shown, the electromagnetic damper 1 includes: a motion input terminal 101, a ball screw 102, a nut 103, a mechanical motion rectifying device 104, and a permanent magnet synchronous motor 105, where:

[0072] One end of the motion input terminal 101 is fixed to the inner wall of the wind turbine nacelle, and the other end is rigidly connected to the nut 103;

[0073] The nut 103 is threadedly connected to the ball screw 102. When the nut 103 moves linearly, the ball screw 102 rotates bidirectionally accordingly.

[0074] The mechanical motion rectifying device 104 includes a driving shaft, a bidirectional ratchet, a transmission gear, and a driven shaft, and is used to convert the bidirectional rotational motion of the driving shaft into the unidirectional rotational motion of the driven shaft; the driving shaft of the mechanical motion rectifying device 104 is connected to the ball screw 102 through a coupling, and the driven shaft is connected to the rotor of the permanent magnet synchronous motor 105 through a coupling.

[0075] The permanent magnet synchronous motor 105 is an energy conversion link, outputting electric energy and generating an electromagnetic torque.

[0076] In this embodiment, when the wind turbine is excited by the sea waves and undergoes structural vibration, under the action of inertia, the tuned mass block 2 reciprocates along the guide rail in the nacelle. The motion input terminal 101 of the electromagnetic damper 1 transmits the reciprocating motion to the nut 103, causing the ball screw 102 to rotate bidirectionally. The mechanical motion rectifying device 104 converts the bidirectional rotation of the ball screw 102 into the unidirectional rotation of the rotor of the permanent magnet synchronous motor 105, driving the permanent magnet synchronous motor 105 to operate; the electromagnetic torque generated by the permanent magnet synchronous motor 105 is converted into an equivalent control force, acting on the wind turbine nacelle to suppress the vibration of the wind turbine.

[0077] During specific implementation, as a preferred implementation manner of the present invention, as Figure 3 shown, the energy recovery circuit 3 includes: a three-phase voltage source type converter 301, a main capacitor 302, a bidirectional DC / DC converter 303, and a storage battery 304, where:

[0078] The electric energy generated by the permanent magnet synchronous motor 105 is connected to the energy recovery circuit 3 through the stator winding, undergoes AC / DC conversion by the three-phase voltage source type converter 301, and the voltage is regulated by the bidirectional DC / DC converter 303, and finally stored in the storage battery 304.

[0079] As Figure 4 shown, the present invention also provides a control method for a structural vibration damping device based on economic model predictive control implemented by the above floating offshore wind turbine self-powered structural vibration damping device, including:

[0080] S1. Based on the dynamic model, establish the state space equation of the floating offshore wind turbine structural vibration damping system;

[0081] S2. Divide the floating offshore wind turbine structural vibration damping system into a reference system and an adaptive error system, and design an economic model predictive controller;

[0082] S3. Discretize the adaptive error system, solve the economic model prediction problem, and obtain the optimal equivalent control force;

[0083] S4. Based on the optimal equivalent control force and the battery reference voltage, control the operation of the energy recovery circuit.

[0084] When specifically implemented, as a preferred implementation manner of the present invention, step S1 specifically includes:

[0085] S11. Establish a mathematical model of the floating offshore wind turbine structure vibration reduction system as follows:

[0086]

[0087] Wherein, θ p is the platform pitch angle, θ t is the tower pitch angle, x a is the relative displacement of the tuned mass block; E is the disturbance coefficient matrix, F is the control coefficient matrix, F = [0, -R a , 1] T , R a is the distance from the hinge to the centroid of the tuned mass block; M, C, and K are the system mass, damping, and stiffness matrices respectively; M ext is the wind and wave excitation matrix; F u is the equivalent control force of the electromagnetic damper;

[0088] S12. Define the system state variables Establish the system state equation as follows:

[0089]

[0090] Wherein, A m is the system matrix, B m is the control input matrix, B mw is the disturbance input matrix,

[0091] When specifically implemented, as a preferred implementation manner of the present invention, as Figure 5 shown, step S2 specifically includes:

[0092] S21. Define the state variables of the reference system as As the reference value of the system state variables, establish the state space equation of the reference system as follows:

[0093]

[0094] Wherein, F uris the reference value of the equivalent control force of the electromagnetic damper. The LQR controller is used to solve the reference value F of the equivalent control force of the electromagnetic damper ur ;

[0095] S22. Define the error variable of the adaptive error system as x err = x m - x mr . According to the state space equations of the original system and the reference system, establish the state space equation of the adaptive error system as follows:

[0096]

[0097] where, F uo is the optimal control force error, F uo = F u - F ur ;

[0098] S23. In the adaptive error system, with the optimal energy recovery of the electromagnetic damper as the optimization objective and the boundedness of the state of the adaptive error system as the constraint condition, define the economic model predictive controller as follows:

[0099]

[0100] where, P is the energy recovered by the electromagnetic damper; Q is the coefficient matrix; x err_min is the minimum error variable; x err_max is the maximum error variable.

[0101] In specific implementation, as a preferred implementation manner of the present invention, step S3 specifically includes:

[0102] S31. Use the Newmark-β method to discretize the dynamic response of the floating offshore wind turbine vibration reduction system, and solve to obtain the optimal control force error F uo ;

[0103] S32. Based on the reference value F ur of the equivalent control force of the electromagnetic damper obtained by solving the reference system, obtain the optimal equivalent control force of the electromagnetic damper as F u = F uo + F ur .

[0104] In specific implementation, as a preferred implementation manner of the present invention, step S4 specifically includes:

[0105] S41. Based on the optimal equivalent control force F u of the electromagnetic damper, calculate the q-axis reference current of the permanent magnet synchronous motor Let the d-axis reference current Adopt a vector control strategy to obtain the switching signals of a three-phase voltage source converter;

[0106] S42. Based on the battery reference voltage Adopt a voltage control strategy to obtain the switching signals of a bidirectional DC / DC converter.

[0107] The specific control effect of the structural vibration damping device control method is as Figure 8 shown, where the wind speed and wave height of the wind turbine under the excitation of wind and waves are respectively as Figure 6 and Figure 7 shown. The control period of the proposed economic model predictive control is selected as 0.01 s, and the prediction step is 20. As can be seen from Figure 8 , compared with not applying any structural control, the adoption of TMD passive control, LQR control, and the control method provided by the present invention can all better suppress the displacement of the wind turbine tower top. At the same time, when the economic model predictive control method provided by the present invention is adopted, the root mean square value of the tower top displacement is smaller than that of TMD passive control and LQR control, which can effectively improve the structural stability during the operation of the wind turbine. While achieving a good structural control effect, as Figure 9 shown, the electromagnetic damper adopting LQR control needs to consume a large amount of energy during operation, while the electromagnetic damper adopting the economic model predictive control method provided by the present invention can recover part of the energy on the basis of providing effective control force, realizing the dual optimization of structural vibration damping and energy utilization efficiency improvement of the floating offshore wind turbine.

[0108] Finally, it should be noted that: the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that: they can still modify the technical solutions recorded in the foregoing embodiments, or perform equivalent replacements on some or all of the technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. A floating offshore wind turbine self-powered structure vibration reduction device, characterized in that: include: An electromagnetic damper, a tuned mass, an energy recovery circuit, and a spring-damper device, wherein: The electromagnetic damper is used to convert mechanical vibration into electromagnetic energy and provide electromagnetic damping force to suppress structural vibration; The tuning mass block has a pulley at the bottom and reciprocates along the guide rail in the cabin under the action of inertia; The energy recovery circuit is used to process the electric energy generated by the electromagnetic damper to achieve the storage and utilization of electric energy; The spring-damper device provides elastic restoring force and additional passive damping to optimize the frequency response characteristics of the system.

2. A floating offshore wind turbine self-powered structure vibration reduction device according to claim 1, characterized in that: The electromagnetic damper comprises: a motion input terminal, a ball screw, a nut, a mechanical motion rectifier and a permanent magnet synchronous motor, wherein: One end of the motion input terminal is fixed to the inner wall of the fan cabin, and the other end is rigidly connected to the nut; The nut is threadedly connected to the ball screw, and when the nut moves linearly, the ball screw also generates bidirectional rotational motion; The mechanical motion rectifier comprises a driving shaft, a bidirectional ratchet, a transmission gear, and a driven shaft, and is used to convert the bidirectional rotational motion of the driving shaft into the unidirectional rotational motion of the driven shaft; the driving shaft of the mechanical motion rectifier is connected to the ball screw through a coupling, and the driven shaft is connected to the rotor of the permanent magnet synchronous motor through a coupling; The permanent magnet synchronous motor is an energy conversion link, outputs electrical energy and generates electromagnetic torque.

3. A floating offshore wind turbine self-powered structure vibration reduction device according to claim 1, characterized in that: The energy recovery circuit comprises: a three-phase voltage source converter, a main capacitor, a bidirectional DC / DC converter and a battery, wherein: The electric energy generated by the permanent magnet synchronous motor is connected to the energy recovery circuit 3 through the stator winding, converted to AC / DC by a three-phase voltage source converter, and the voltage is adjusted by a bidirectional DC / DC converter, and finally stored in the battery.

4. A method for controlling a structural vibration reduction device based on economic model predictive control implemented by the floating offshore wind turbine self-powered structural vibration reduction device according to any one of claims 1 to 3, characterized in that: include: S1. Based on the dynamic model, the state space equation of the floating offshore wind turbine structure vibration reduction system is established; S2. Divide the floating offshore wind turbine structure vibration reduction system into a reference system and an adaptive error system, and design an economic model predictive controller; S3, discretized adaptive error system, solves the economic model prediction problem and obtains the optimal equivalent control force; S4. Based on the optimal equivalent control force and the battery reference voltage, control the operation of the energy recovery circuit.

5. The control method of a structural vibration reduction device based on economic model predictive control according to claim 4 is characterized in that: Step S1 specifically includes: S11. Establish a mathematical model of the floating offshore wind turbine structure vibration reduction system as follows: in, θ p is the platform pitch angle, θ t is the tower pitch angle, x a is the relative displacement of the tuning mass block; E is the perturbation coefficient matrix, F is the control coefficient matrix, F = [0, -R a ,1] T , R a is the distance from the hinge to the center of mass of the tuning mass block; M, C, and K are the system mass, damping, and stiffness matrices, respectively; M ext is the wind and wave excitation matrix; F u is the equivalent control force of the electromagnetic damper; S12. Define system state variables Establish the system state equation as follows: Among them, A m is the system matrix, B m The control input matrix B mw is the perturbation input matrix, 6. The control method of a structural vibration reduction device based on economic model predictive control according to claim 4, characterized in that: Step S2 specifically includes: S21. Define the state variables of the reference system as As the reference value of the system state variable, the state space equation of the reference system is established as follows: Among them, F ur is the reference value of the equivalent control force of the electromagnetic damper. The LQR controller is used to solve the reference value of the equivalent control force of the electromagnetic damper F ur ; S22, define the error variable of the adaptive error system as x err =x m -x mr , according to the state space equations of the original system and the reference system, the state space equations of the adaptive error system are established as follows: Among them, F uo is the optimal control force error, F uo =F u -F ur ; S23. In the adaptive error system, the optimal energy recovery of the electromagnetic damper is taken as the optimization goal, and the state boundedness of the adaptive error system is taken as the constraint condition. The economic model predictive controller is defined as follows: x err_min ≤x err ≤x err_max Where P is the energy recovered by the electromagnetic damper; Q is the coefficient matrix; x err_min is the minimum error variable; x err_max is the maximum error variable.

7. The control method of a structural vibration reduction device based on economic model predictive control according to claim 4, characterized in that: Step S3 specifically includes: S31. Use the Newmark-β method to discretize the dynamic response of the floating offshore wind turbine vibration reduction system and solve the optimal control force error F uo ; S32, the reference value F of the equivalent control force of the electromagnetic damper obtained based on the reference system solution ur , the optimal electromagnetic damper equivalent control force is obtained as F u =F uo +F ur .

8. The control method of a structural vibration reduction device based on economic model predictive control according to claim 4, characterized in that: Step S4 specifically includes: S41, based on the optimal electromagnetic damper equivalent control force F u , calculate the q-axis reference current of the permanent magnet synchronous motor Let the d-axis reference current A vector control strategy is adopted to obtain the switching signal of the three-phase voltage source converter; S42, based on battery reference voltage A voltage control strategy is adopted to obtain the switching signal of the bidirectional DC / DC converter.

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