Wind turbine generator control method and device, electronic equipment and floating type double-machine-head wind turbine generator

Abstract

The embodiment of the invention provides a wind turbine generator control method and device, electronic equipment and a floating type double-machine-head wind turbine generator, and relates to the technical field of wind power. The method comprises the steps that the horizontal yaw angle speed of each cabin is obtained based on each gyroscope, and the equivalent floating body total yaw angle speed is obtained based on each horizontal yaw angle speed; and according to the equivalent floating body total yaw angular velocity, the equivalent yaw angular velocity corresponding to the rotation axis of each impeller is determined. And on the basis of a preset pitching gyroscopic moment calculation formula, determining a pitching gyroscopic moment value generated by each machine head according to each equivalent yaw angular velocity. And respectively controlling the pitch variation of the corresponding machine head based on the pitch gyro moment value corresponding to each machine head. The operation stability of the wind turbine generator can be improved.

Description

Technical Field

[0001] The present invention relates to the technical field of wind power generation, and more particularly, to a control method and device for a wind turbine, an electronic device, and a floating dual-head wind turbine. Background Art

[0002] A floating dual-head wind turbine is a non-fixed wind power generation unit floating on the water surface. Its floating foundation platform will move or deflect relative to the water surface under the combined action of wind, wave, and current. The low-frequency motion characteristics of the floating foundation platform are usually very close to the bandwidth of the pitch speed control, and they are coupled with each other, resulting in a significant increase in the motion of the unit in the pitch direction.

[0003] Especially for a single-point mooring floating dual-head wind turbine with co-rotating rotors, although the co-rotating configuration can effectively save the design and production costs of additional drive trains and blades, it will cause the coupling of the yaw motion (yaw) and pitch motion (pitch) of the floating body during the active yaw process, which has an adverse impact on the stable operation of the unit. Summary of the Invention

[0004] The objectives of the present invention include, for example, providing a control method and device for a wind turbine, an electronic device, and a floating dual-head wind turbine, which can at least partially solve the above technical problems.

[0005] Embodiments of the present invention may be implemented as follows: In a first aspect, an embodiment of the present invention provides a control method for a wind turbine, which is applied to a floating dual-head wind turbine. The floating dual-head wind turbine includes two rotors, and each rotor includes a nacelle, an impeller, and a gyroscope. The method includes: Obtaining the horizontal yaw angular velocity of each nacelle based on each gyroscope respectively, and obtaining the equivalent total yaw angular velocity of the floating body based on each horizontal yaw angular velocity; Determining the equivalent yaw angular velocity corresponding to the rotation axis of each impeller according to the equivalent total yaw angular velocity of the floating body; Determining the pitch gyroscopic moment value generated by each rotor based on a preset pitch gyroscopic moment calculation formula according to each equivalent yaw angular velocity; Controlling the pitch of the corresponding rotor respectively based on the pitch gyroscopic moment value corresponding to each rotor.

[0006] Optionally, the floating dual-head wind turbine further includes an anchor point. The obtaining the equivalent total yaw angular velocity of the floating body based on each horizontal yaw angular velocity includes: Determine the nacelle angle between each nacelle and the anchor point, and determine the yaw radius from the nacelle to the anchor point; wherein, the nacelle angle is the angle between the anchor point and the line connecting the two nacelles, and the yaw radius is the distance from the anchor point to the nacelle; Based on the equivalent floating body total yaw angular velocity calculation formula, obtain the equivalent floating body total yaw angular velocity according to each horizontal yaw angular velocity, the nacelle angle, and the yaw radius.

[0007] Optionally, the equivalent floating body total yaw angular velocity calculation formula is:

[0008] Wherein, is the equivalent floating body total yaw angular velocity, 、 are the horizontal yaw angular velocities corresponding to the two nacelles respectively.

[0009] Optionally, the determining the equivalent yaw angular velocity corresponding to the rotation axis of each impeller according to the equivalent floating body total yaw angular velocity includes: Taking the equivalent floating body total yaw angular velocity as the equivalent yaw angular velocity corresponding to the rotation axis of each impeller.

[0010] Optionally, the floating dual-nacelle wind turbine further includes a plurality of impeller speed sensors, each impeller speed sensor corresponding to one nacelle; the determining the pitch gyroscopic torque value generated by each nacelle based on the preset pitch gyroscopic torque calculation formula according to each equivalent yaw angular velocity includes: For each nacelle, based on the impeller speed sensor corresponding to the nacelle, obtain the impeller speed corresponding to the nacelle; Based on the pitch gyroscopic torque value calculation formula, determine the pitch gyroscopic torque value generated by the nacelle according to the impeller speed and the equivalent yaw angular velocity.

[0011] Optionally, the pitch gyroscopic torque value calculation formula is:

[0012] Wherein, M g is the pitch gyroscopic torque value, J is the equivalent moment of inertia of the nacelle, ω is the impeller speed, and ψ is the equivalent yaw angular velocity.

[0013] Optionally, the respectively controlling the pitch of the corresponding nacelle based on each pitch gyroscopic torque value includes: Based on each pitch gyroscopic torque value, generate corresponding independent pitch control commands respectively; According to each independent pitch control command, control the pitch of the corresponding nacelle respectively.

[0014] In a second aspect, an embodiment of the present invention provides a wind turbine control device, which is applied to a floating dual-head wind turbine. The floating dual-head wind turbine includes two heads, and each head includes a nacelle, an impeller, and a gyroscope; the wind turbine control device includes: An equivalent floating body total yaw angular velocity acquisition unit, configured to respectively acquire the horizontal yaw angular velocity of each nacelle based on each gyroscope, and obtain the equivalent floating body total yaw angular velocity based on each horizontal yaw angular velocity; An equivalent yaw angular velocity calculation unit, configured to determine the equivalent yaw angular velocity corresponding to the rotation axis of each impeller according to the equivalent floating body total yaw angular velocity; A pitch gyroscopic moment value calculation unit, configured to determine the pitch gyroscopic moment value generated by each head based on a preset pitch gyroscopic moment calculation formula according to each equivalent yaw angular velocity; A pitch control unit, configured to respectively control the pitch of the corresponding head based on the pitch gyroscopic moment value corresponding to each head.

[0015] In a third aspect, an embodiment of the present invention provides an electronic device, including: a memory, a processor, and a computer program stored on the memory and executable on the processor. When the processor executes the program, the steps of the method described in any one of the above are implemented.

[0016] In a fourth aspect, an embodiment of the present invention provides a floating dual-head wind turbine, and the floating dual-head wind turbine implements the steps of the method described in any one of the above during operation.

[0017] In a fifth aspect, an embodiment of the present invention provides a computer-readable storage medium, which includes a computer program. When the computer program runs, it controls the server where the computer-readable storage medium is located to implement the steps of the method described in any one of the above.

[0018] The beneficial effects of the embodiments of the present invention include, for example: By calculating the pitch gyroscopic moment values generated by the two heads of the floating dual-head wind turbine, and respectively controlling the pitch of the corresponding head based on the pitch gyroscopic moment value corresponding to each head, the purpose of suppressing the pitch of the floating dual-head wind turbine is achieved, and the operating stability of the unit is improved. Description of the Drawings

[0019] To more clearly illustrate the technical solutions of the embodiments of the present invention, the following will briefly introduce the accompanying drawings required for the embodiments. It should be understood that the following drawings only show some embodiments of the present invention, and thus should not be regarded as limiting the scope. For those of ordinary skill in the art, without creative efforts, other related drawings can also be obtained based on these drawings.

[0020] Figure 1 A schematic diagram of yaw and pitch provided for an embodiment of the present invention; Figure 2 A block diagram of an electronic device provided for an embodiment of the present invention; Figure 3 A flowchart of the steps of a wind turbine control method provided for an embodiment of the present invention; Figure 4 A top view of a floating dual-head wind turbine provided for an embodiment of the present invention; Figure 5 An architecture diagram of a wind turbine control device provided for an embodiment of the present invention.

[0021] Icons: 100 - Electronic device; 110 - Memory; 120 - Processor; 130 - Communication module; 300 - Wind turbine control device; 301 - Equivalent floating body total yaw angular velocity acquisition unit; 302 - Equivalent yaw angular velocity calculation unit; 303 - Pitch gyroscopic moment value calculation unit; 304 - Pitch control unit. Specific embodiments

[0022] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the following will clearly and completely describe the technical solutions in the embodiments of the present invention with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are some, but not all, of the embodiments of the present invention. Usually, the components of the embodiments of the present invention described and illustrated in the accompanying drawings here can be arranged and designed in various different configurations.

[0023] Therefore, the following detailed description of the embodiments of the present invention provided in the accompanying drawings is not intended to limit the scope of the claimed present invention, but merely represents selected embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts fall within the scope of protection of the present invention.

[0024] It should be noted that: Similar reference numerals and letters denote similar items in the following drawings. Therefore, once an item is defined in one drawing, it does not need to be further defined and explained in subsequent drawings.

[0025] In addition, terms such as "first" and "second" are only used for distinguishing descriptions and should not be construed as indicating or implying relative importance.

[0026] It should be noted that, without conflict, the features in the embodiments of the present invention can be combined with each other.

[0027] A floating dual-head wind turbine is a non-fixed wind turbine floating on the water surface. Its floating foundation platform will move or deflect relative to the water surface under the combined action of wind, waves and currents. The low-frequency motion characteristics of the floating foundation platform are usually very close to the bandwidth of the pitch speed control and are coupled with each other, resulting in a significant increase in the motion of the unit in the pitching direction.

[0028] Especially for a single-point mooring co-rotating dual-head floating wind turbine, although the co-rotating configuration can effectively save the design and production costs of additional drive trains and blades, it will cause the coupling of the yaw motion (yaw) and pitching motion (pitch) of the floating body during the active yaw process (see Figure 1 ), which has an adverse effect on the stable operation of the unit.

[0029] In the prior art, there are various wind turbine control methods to suppress the pitching of wind turbines. For example: 1. Adding a dynamic damping suppression structure, such as adding a damping plate on the foundation platform or adding an underwater thruster, which increases the hardware cost.

[0030] 2. By reducing the bandwidth frequency of the pitch speed control loop, the motion of the foundation platform can be alleviated to a certain extent, but its ability to tune the impeller speed is reduced, and the fatigue and power fluctuations of the unit are aggravated under certain conditions.

[0031] 3. Adding a pitch or lateral feedback loop to the existing wind turbine control loop, using CPC (Collective Pitch Control) or IPC (Independent Pitch Control) methods to control the pitch, actively suppressing the pitching motion of the floating wind turbine, and using a torque control speed feedback loop to suppress the lateral motion. However, the above methods are only applicable to counter-rotating dual-impeller or single-impeller wind turbines and cannot be applied to co-rotating dual-impeller floating wind turbines with single-point mooring and co-rotation.

[0032] Based on the above situation, the embodiments of the present invention provide a wind turbine control method, device, electronic device and floating dual-head wind turbine, which can effectively alleviate the above technical problems.

[0033] Please refer to Figure 2, is a block diagram of an electronic device 100 provided by the present application. The electronic device 100 can be a device capable of data processing, and this embodiment does not limit this. The electronic device 100 includes a memory 110, a processor 120, and a communication module 130. The memory 110, the processor 120, and the communication module 130 are electrically connected directly or indirectly to each other to achieve data transmission or interaction. For example, these components can be electrically connected to each other through one or more communication buses or signal lines.

[0034] Among them, the memory 110 is used to store programs or data. The memory 110 can be, but is not limited to, a random access memory (RAM), a read-only memory (ROM), a programmable read-only memory (PROM), an erasable programmable read-only memory (EPROM), an electrically erasable programmable read-only memory (EEPROM), etc.

[0035] The processor 120 is used to read / write the data or programs stored in the memory and execute corresponding functions.

[0036] The communication module 130 is used to establish a communication connection between the server and other communication terminals through the network, and is used to transmit and receive data through the network.

[0037] It should be understood that Figure 2 The structure shown is only a schematic diagram of the structure of the electronic device 100, and the electronic device 100 may further include more or fewer components than those shown Figure 2 in, or have a different configuration from that shown Figure 2 in. Figure 2 The components shown in can be implemented by hardware, software, or a combination thereof. The electronic device 100 can be set among other devices or can be set as an independent device.

[0038] An embodiment of the present invention provides a wind turbine control method, which is applied to a floating dual-head wind turbine. The floating dual-head wind turbine includes two heads, and each head includes a nacelle, an impeller, and a gyroscope. The method includes the following steps as shown Figure 3 in: Step S110: Obtain the horizontal yaw angular velocity of each nacelle based on each of the gyroscopes, and obtain the equivalent floating body total yaw angular velocity based on each of the horizontal yaw angular velocities.

[0039] Step S120: Determine the equivalent yaw angular velocity corresponding to the rotation axis of each impeller according to the equivalent floating body total yaw angular velocity.

[0040] Step S130: Based on a preset pitch gyroscopic moment calculation formula, determine the pitch gyroscopic moment value generated by each nose according to each of the equivalent yaw angular velocities.

[0041] Step S140: Control the pitch of the corresponding nose respectively based on the pitch gyroscopic moment value corresponding to each nose.

[0042] In step S110, obtain the horizontal yaw angular velocity of each nacelle based on each of the gyroscopes, and obtain the equivalent floating body total yaw angular velocity based on each of the horizontal yaw angular velocities.

[0043] During the active yaw (i.e., weathercocking) process of the floating dual-nose wind turbine, both noses will generate horizontal yaw angular velocities. A gyroscope can be set in each nose of the floating dual-nose wind turbine, that is, the horizontal yaw angular velocity of each nacelle can be obtained during the weathercocking process of the floating dual-nose wind turbine.

[0044] After obtaining the horizontal yaw angular velocity of each nacelle, the yaw angular velocities of each nacelle can be fitted to obtain the equivalent floating body total yaw angular velocity of the entire floating dual-nose wind turbine.

[0045] Optionally, the floating dual-nose wind turbine further includes an anchor point; the obtaining the equivalent floating body total yaw angular velocity based on each of the horizontal yaw angular velocities includes: Determine the nacelle angle between each nacelle and the anchor point, and determine the yaw radius from the nacelle to the anchor point; wherein, the nacelle angle is the angle between the anchor point and the line connecting the two nacelles, and the yaw radius is the distance from the anchor point to the nacelle.

[0046] Based on the equivalent floating body total yaw angular velocity calculation formula, obtain the equivalent floating body total yaw angular velocity according to each of the horizontal yaw angular velocities, the nacelle angle, and the yaw radius.

[0047] As an optional implementation manner, such as Figure 4As shown, an anchor point can be set between the two nacelles. The angle between the lines connecting the anchor point to the two nacelles is taken as the nacelle angle, and the distances from the anchor point to each nacelle are determined as the yaw radii (in actual situations, the distances from the anchor point to the two nacelles are generally the same). The controller of the floating dual-nacelle wind turbine can obtain the nacelle angle and the yaw radius through the data pre-stored in the memory, or can obtain the nacelle angle and the yaw radius through the input provided by the staff.

[0048] After obtaining the nacelle angle and the yaw radius, combined with the horizontal yaw angular velocities corresponding to each nacelle, substituting them into the equivalent floating body total yaw angular velocity calculation formula, the equivalent floating body total yaw angular velocity can be obtained.

[0049] Optionally, the equivalent floating body total yaw angular velocity calculation formula is: 。

[0050] Wherein, is the equivalent floating body total yaw angular velocity, 、 are the horizontal yaw angular velocities corresponding to the two nacelles respectively.

[0051] In an alternative embodiment, the arithmetic mean can be taken after adding the yaw angular velocities corresponding to each nacelle respectively, so as to obtain the equivalent floating body total yaw angular velocity. In actual situations, for the convenience of calculation, the counterclockwise direction with the anchor point as the center can be defined as the positive direction of the equivalent floating body total yaw angular velocity.

[0052] In step S120, determine the equivalent yaw angular velocity corresponding to the rotation axis of each impeller according to the equivalent floating body total yaw angular velocity.

[0053] After determining the equivalent floating body total yaw angular velocity, the equivalent yaw angular velocity corresponding to the rotation axis of each impeller can be obtained according to the angular relationship between the equivalent floating body total yaw angular velocity and the impellers of each nacelle.

[0054] Optionally, the determining the equivalent yaw angular velocity corresponding to the rotation axis of each impeller according to the equivalent floating body total yaw angular velocity includes: Taking the equivalent floating body total yaw angular velocity as the equivalent yaw angular velocity corresponding to the rotation axis of each impeller.

[0055] Since the yaw angular velocity of the entire floating dual-nacelle wind turbine is the same, and the horizontal yaw angular velocity of any nacelle is also the same, the equivalent floating body total yaw angular velocity can be directly taken as the equivalent yaw angular velocity corresponding to the rotation axis of each impeller.

[0056] Execute step S130, and based on a preset pitch gyroscopic moment calculation formula, determine the pitch gyroscopic moment values generated by each nose according to the respective equivalent yaw angular velocities.

[0057] After obtaining the equivalent yaw angular velocities corresponding to each impeller, they can be substituted into the preset pitch gyroscopic moment calculation formula to obtain the pitch gyroscopic moment values generated by each nose.

[0058] Optionally, the floating dual-nose wind turbine further includes a plurality of impeller speed sensors, and each impeller speed sensor corresponds to one nose. The determining the pitch gyroscopic moment values generated by each nose based on the preset pitch gyroscopic moment calculation formula according to the respective equivalent yaw angular velocities includes: For each nose, based on the impeller speed sensor corresponding to the nose, obtain the impeller speed corresponding to the nose.

[0059] Based on the pitch gyroscopic moment value calculation formula, determine the pitch gyroscopic moment value generated by the nose according to the impeller speed and the equivalent yaw angular velocity.

[0060] As an optional implementation manner, an impeller speed sensor can be installed on each nose of the floating dual-nose wind turbine. The controller obtains the impeller speeds of each impeller through the impeller speed sensors, and substitutes the respective impeller speeds into the pitch gyroscopic moment value calculation formula to obtain the pitch gyroscopic moment values generated by each nose.

[0061] Optionally, the pitch gyroscopic moment value calculation formula is: .

[0062] Where M g is the pitch gyroscopic moment value, J is the equivalent moment of inertia of the nose, ω is the impeller speed, and ψ is the equivalent yaw angular velocity.

[0063] Specifically, the pitch gyroscopic moment value calculation formula can be as shown above. Substitute the equivalent moment of inertia, impeller speed, and equivalent yaw angular velocity corresponding to each nose into the pitch gyroscopic moment value calculation formula respectively, and the pitch gyroscopic moment values generated by each nose can be obtained. For the convenience of calculation, as Figure 4 shown, the clockwise direction of the upwind can be determined as the positive direction of the impeller speed. The direction that causes the impeller to overturn downwind is determined as the positive direction of the pitch gyroscopic moment value.

[0064] In step S140, control the pitch of the corresponding nose respectively based on the pitch gyroscopic moment values corresponding to each nose.

[0065] After obtaining the pitch gyroscopic moment values of each nacelle, the pitch gyroscopic moment values of each nacelle can be used as the moment target values required for each nacelle to suppress pitch. The controller can directly use the pitch gyroscopic moment values of each nacelle as pitch control commands to control the pitch of the corresponding nacelle, thereby canceling the pitch motion of the floating dual-nacelle wind turbine and improving the stability of the floating dual-nacelle wind turbine.

[0066] Optionally, the separately controlling the pitch of the corresponding nacelle based on each of the pitch gyroscopic moment values includes: Generating corresponding independent pitch control commands respectively based on each of the pitch gyroscopic moment values. Controlling the pitch of the corresponding nacelle respectively according to each of the independent pitch control commands.

[0067] As an optional implementation manner, the IPC control method can be adopted to generate independent pitch control (IPC) commands for the corresponding nacelles respectively according to each of the pitch gyroscopic moment values, superimpose the independent pitch control commands into the original pitch control link, and use each of the independent pitch control commands to control the pitch of the corresponding nacelle respectively to suppress the pitch of the floating dual-nacelle wind turbine.

[0068] Based on the same inventive concept, as Figure 5 shown, an embodiment of the specification of the present invention provides a wind turbine control device 300, which is applied to a floating dual-nacelle wind turbine. The floating dual-nacelle wind turbine includes two nacelles, and each nacelle includes a nacelle, a wind turbine rotor and a gyroscope. The wind turbine control device 300 includes: An equivalent floating body total yaw angular velocity acquisition unit 301, configured to respectively obtain the horizontal yaw angular velocities of each nacelle based on each of the gyroscopes, and obtain an equivalent floating body total yaw angular velocity based on each of the horizontal yaw angular velocities.

[0069] An equivalent yaw angular velocity calculation unit 302, configured to determine the equivalent yaw angular velocity corresponding to the rotation axis of each wind turbine rotor according to the equivalent floating body total yaw angular velocity.

[0070] A pitch gyroscopic moment value calculation unit 303, configured to determine the pitch gyroscopic moment values generated by each nacelle based on a preset pitch gyroscopic moment calculation formula according to each of the equivalent yaw angular velocities.

[0071] A pitch control unit 304, configured to respectively control the pitch of the corresponding nacelle based on the pitch gyroscopic moment values corresponding to each nacelle.

[0072] Regarding the above wind turbine control device 300, the specific functions of each unit have been described in detail in the embodiments of the wind turbine control method provided in this specification, and will not be elaborated here.

[0073] Based on the same inventive concept, an embodiment of the specification of the present invention provides a floating dual-head wind turbine, and the steps of any of the above-mentioned methods are implemented when the floating dual-head wind turbine is operating.

[0074] Based on the same inventive concept, an embodiment of the specification of the present invention provides a computer-readable storage medium, on which a computer program is stored, and when the program is executed by a processor, the steps of any of the above-mentioned wind turbine control methods are implemented.

[0075] The present invention has at least the following beneficial effects: 1. In the embodiment of the present invention, by calculating the pitch gyroscopic moment values generated by the two heads of the floating dual-head wind turbine, and respectively taking the pitch gyroscopic moment values corresponding to each head as the pitch gyroscopic moment values required for suppressing pitch of each head. Finally, based on each pitch gyroscopic moment value, the corresponding blade pitch of the head is controlled respectively, so as to achieve the purpose of suppressing the pitch of the floating dual-head wind turbine and improve the operation stability of the unit.

[0076] 2. The solution provided by the embodiment of the present invention can be applied to a single-point mooring floating dual-head wind turbine with co-rotating impellers.

[0077] In several embodiments provided by the present invention, it should be understood that the disclosed devices and methods can also be implemented in other ways. The device embodiments described above are only illustrative. For example, the flowcharts and block diagrams in the drawings show the possible architectures, functions, and operations of devices, methods, and computer program products according to multiple embodiments of the present invention. In this regard, each block in the flowchart or block diagram may represent a module, a program segment, or a part of code, and the module, program segment, or part of code contains one or more executable instructions for implementing the specified logical function. It should also be noted that in some alternative implementations, the functions marked in the blocks may occur in a different order than marked in the drawings. For example, two consecutive blocks may actually be executed substantially in parallel, and they may sometimes be executed in the reverse order, depending on the functions involved. It should also be noted that each block in the block diagram and / or flowchart, and the combination of blocks in the block diagram and / or flowchart, can be implemented by a dedicated hardware-based system for performing the specified functions or actions, or can be implemented by a combination of dedicated hardware and computer instructions.

[0078] In addition, in each embodiment of the present invention, the various functional modules may be integrated together to form an independent part, or each module may exist alone, or two or more modules may be integrated to form an independent part.

[0079] When the above-mentioned functions are implemented in the form of software function modules and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention, in essence, or the part that contributes to the prior art or a part of this technical solution can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to execute all or part of the steps of the methods described in various embodiments of the present invention. The aforementioned storage medium includes: various media that can store program codes, such as USB flash drives, mobile hard disks, read-only memories (ROM, Read-Only Memory), random access memories (RAM, Random Access Memory), magnetic disks, or optical discs.

[0080] As described above, the above are only specific embodiments of the present invention, but the protection scope of the present invention is not limited thereto. Any changes or substitutions that can be easily thought of by those skilled in the art within the technical scope disclosed by the present invention should be covered by the protection scope of the present invention. Therefore, the protection scope of the present invention should be subject to the protection scope of the claims.

Claims

1. A control method for a wind turbine unit, characterized in that, Applied to a floating dual - head wind turbine, the floating dual - head wind turbine includes two heads, and each head includes a nacelle, an impeller, and a gyroscope; the method includes: Obtaining the horizontal yaw angular velocity of each nacelle respectively based on each gyroscope, and obtaining the equivalent floating body total yaw angular velocity based on each horizontal yaw angular velocity; Determining the equivalent yaw angular velocity corresponding to the rotation axis of each impeller according to the equivalent floating body total yaw angular velocity; Based on a preset pitch gyroscopic moment calculation formula, determining the pitch gyroscopic moment value generated by each head according to each equivalent yaw angular velocity; Controlling the pitch of the corresponding head respectively based on the pitch gyroscopic moment value of each head.

2. The wind turbine control method according to claim 1, wherein The floating dual - head wind turbine further includes an anchor point; the obtaining the equivalent floating body total yaw angular velocity based on each horizontal yaw angular velocity includes: Determining the nacelle angle between each nacelle and the anchor point, and determining the yaw radius from the nacelle to the anchor point; wherein, the nacelle angle is the angle between the anchor point and the line connecting the two nacelles, and the yaw radius is the distance from the anchor point to the nacelle; Based on the equivalent floating body total yaw angular velocity calculation formula, obtaining the equivalent floating body total yaw angular velocity according to each horizontal yaw angular velocity, the nacelle angle, and the yaw radius.

3. The wind turbine control method according to claim 2, wherein The equivalent floating body total yaw angular velocity calculation formula is: wherein, is the total yaw angular velocity of the equivalent floating body, , are respectively the horizontal yaw angular velocities corresponding to the two nacelles.

4. The wind turbine control method according to claim 3, wherein The determining the equivalent yaw angular velocity corresponding to the rotation axis of each impeller according to the equivalent floating body total yaw angular velocity includes: Taking the equivalent floating body total yaw angular velocity as the equivalent yaw angular velocity corresponding to the rotation axis of each impeller.

5. The wind turbine control method according to claim 2, characterized in that, The floating dual - head wind turbine further includes a plurality of impeller speed sensors, and each impeller speed sensor corresponds to one head; the determining the pitch gyroscopic moment value generated by each head based on a preset pitch gyroscopic moment calculation formula according to each equivalent yaw angular velocity includes: For each head, obtaining the impeller speed corresponding to the head based on the impeller speed sensor corresponding to the head; Based on the pitch gyroscopic moment value calculation formula, determining the pitch gyroscopic moment value generated by the head according to the impeller speed and the equivalent yaw angular velocity.

6. The wind turbine control method according to claim 5, characterized in that, The pitch gyroscopic moment value calculation formula is: Among them, M g is the pitching gyroscopic moment value, J is the equivalent moment of inertia of the nose, ω is the impeller rotation speed, and ψ is the equivalent yaw angular velocity.

7. The wind turbine control method according to claim 1, wherein The controlling the pitch of the corresponding head respectively based on the pitch gyroscopic moment value of each head includes: Generating corresponding independent pitch control commands respectively based on the pitch gyroscopic moment values of each head; Controlling the pitch of the corresponding head respectively according to each independent pitch control command.

8. A wind turbine control device, characterized in that Applied to a floating dual - head wind turbine, the floating dual - head wind turbine includes two heads, and each head includes a nacelle, an impeller, and a gyroscope; the wind turbine control device includes: An equivalent floating body total yaw angular velocity obtaining unit, configured to obtain the horizontal yaw angular velocity of each nacelle respectively based on each gyroscope, and obtain the equivalent floating body total yaw angular velocity based on each horizontal yaw angular velocity; An equivalent yaw angular velocity calculating unit, configured to determine the equivalent yaw angular velocity corresponding to the rotation axis of each impeller according to the equivalent floating body total yaw angular velocity; A pitch gyroscopic moment value calculation unit, configured to determine the pitch gyroscopic moment values generated by each nose based on a preset pitch gyroscopic moment calculation formula and according to each of the equivalent yaw angular velocities; A pitch control unit, configured to respectively control the pitch of the corresponding nose based on the pitch gyroscopic moment values corresponding to each nose.

9. An electronic device, characterized in that, Comprising: A memory, a processor, and a computer program stored on the memory and executable on the processor, wherein when the processor executes the program, the steps of the method according to any one of claims 1 to 7 are implemented.

10. A floating double-head wind turbine, characterized in that, When the floating dual-nose wind turbine operates, the steps of the method according to any one of claims 1 to 7 are implemented.

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