Wind turbine control method, device, electronic equipment and floating dual-head wind turbine

Abstract

Embodiments of the present invention provide a wind turbine control method, device, electronic equipment, and a floating dual-head wind turbine, relating to the field of wind power technology. The method comprises: obtaining the horizontal yaw angular velocity of each nacelle based on each gyroscope, and obtaining the equivalent total yaw angular velocity of the floating body based on each horizontal yaw angular velocity. Determine the equivalent yaw angular velocity corresponding to the rotation axis of each impeller based on the equivalent total yaw angular velocity of the floating body. Based on a preset pitch gyro moment calculation formula, determine the pitch gyro moment value generated by each head according to each equivalent yaw angular velocity. Control the corresponding head pitch change based on the pitch gyro moment value corresponding to each head. The present invention can improve the stability of wind turbine operation.

Description

Technical Field

[0001] The present invention relates to the field of wind power technology, and in particular to a wind turbine control method, device, electronic equipment and a floating dual-head wind turbine. Background Art

[0002] Floating twin-head wind turbines are non-stationary wind turbines that float on the water. Their floating foundation platforms are subject to movement or deflection relative to the water surface under the combined effects of wind, waves, and currents. The low-frequency motion characteristics of the floating foundation platforms are often very close to the bandwidth of the pitch control system, resulting in a significant increase in the pitch motion of the turbine.

[0003] Especially for single-point moored, co-rotating twin-head floating wind turbines, although the co-rotating configuration can effectively save the design and production costs of additional transmission chains and blades, it will cause the coupling of the yaw motion (yaw) and pitch motion (pitch) of the floating body during active yaw, which will have an adverse effect on the stable operation of the unit. Summary of the Invention

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

[0005] The embodiments of the present invention can be implemented as follows:

[0006] In a first aspect, an embodiment of the present invention provides a wind turbine control method, which is applied to a floating twin-head wind turbine, wherein the floating twin-head wind turbine includes two heads, each of which includes a nacelle, an impeller, and a gyroscope; the method includes:

[0007] Acquiring a horizontal yaw angular velocity of each of the nacelles based on each of the gyroscopes, and obtaining an equivalent total yaw angular velocity of the floating body based on each of the horizontal yaw angular velocities;

[0008] 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;

[0009] Based on a preset pitch gyro moment calculation formula, and according to each of the equivalent yaw angular velocities, the pitch gyro moment value generated by each of the aircraft heads is determined;

[0010] The corresponding nose pitch is controlled based on the pitch gyro moment value corresponding to each nose.

[0011] Optionally, obtaining the equivalent total yaw angular velocity of the floating body based on each of the horizontal yaw angular velocities includes:

[0012] Based on the calculation formula of the equivalent floating body total yaw angular velocity, the equivalent floating body total yaw angular velocity is obtained according to each of the horizontal yaw angular velocities;

[0013] The calculation formula for the total yaw angular velocity of the equivalent floating body is:

[0014]

[0015] in, is the total yaw angular velocity of the equivalent floating body, 、 are the horizontal yaw angular velocities corresponding to the two nacelles respectively.

[0016] Optionally, 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 includes:

[0017] The equivalent total yaw angular velocity of the floating body is used as the equivalent yaw angular velocity corresponding to the rotation axis of each impeller.

[0018] Optionally, the floating twin-head wind turbine further includes a plurality of impeller speed sensors, each of which corresponds to one of the heads; and determining the pitch gyro moment value generated by each head based on a preset pitch gyro moment calculation formula and according to each of the equivalent yaw angular velocities includes:

[0019] For each of the handpieces, obtaining the impeller speed corresponding to the handpiece based on the impeller speed sensor corresponding to the handpiece;

[0020] Based on the pitch gyro moment value calculation formula, the pitch gyro moment value generated by the nose is determined according to the impeller speed and the equivalent yaw angular velocity.

[0021] Optionally, the pitch gyro moment value calculation formula is:

[0022]

[0023] Among them, M g is the pitch gyro moment value, J is the equivalent rotational inertia of the nose, ω is the impeller speed, and ψ is the equivalent yaw angular velocity.

[0024] Optionally, the controlling the corresponding nose pitch based on each pitch gyro moment value includes:

[0025] generating corresponding independent pitch control instructions based on each of the pitch gyro moment values;

[0026] The corresponding nose pitch is controlled respectively according to each of the independent pitch control instructions.

[0027] In a second aspect, an embodiment of the present invention provides a wind turbine control device, which is applied to a floating twin-head wind turbine. The floating twin-head wind turbine includes two heads, each of which includes a nacelle, an impeller, and a gyroscope. The wind turbine control device includes:

[0028] an equivalent floating body total yaw angular velocity acquisition unit, configured to acquire the horizontal yaw angular velocity of each of the nacelles 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;

[0029] an equivalent yaw angular velocity calculation unit, configured to determine an equivalent yaw angular velocity corresponding to the rotation axis of each impeller according to the total yaw angular velocity of the equivalent floating body;

[0030] a pitch gyro moment value calculation unit, configured to determine the pitch gyro moment value generated by each of the aircraft heads according to each of the equivalent yaw angular velocities based on a preset pitch gyro moment calculation formula;

[0031] The pitch control unit is used to control the pitch of the corresponding nose based on the pitch gyro torque value corresponding to each nose.

[0032] In a third aspect, an embodiment of the present invention provides an electronic device comprising: a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor implements the steps of any one of the above methods when executing the program.

[0033] In a fourth aspect, an embodiment of the present invention provides a floating twin-head wind turbine generator set, which implements the steps of any one of the above methods when in operation.

[0034] In a fifth aspect, an embodiment of the present invention provides a computer-readable storage medium, wherein the computer-readable storage medium includes a computer program, and when the computer program is executed, the server where the computer-readable storage medium is located is controlled to implement the steps of any one of the above methods.

[0035] The beneficial effects of the embodiments of the present invention include, for example:

[0036] By calculating the pitch gyro torque values generated by the two heads of the floating twin-head wind turbine set and controlling the corresponding head pitch control based on the pitch gyro torque values corresponding to each head, the pitch of the floating twin-head wind turbine set can be suppressed, thereby improving the stability of the unit operation. BRIEF DESCRIPTION OF THE DRAWINGS

[0037] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the following briefly introduces the drawings required for use in the embodiments. It should be understood that the following drawings only illustrate certain embodiments of the present invention and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other relevant drawings can be obtained based on these drawings without paying any creative work.

[0038] Figure 1 A schematic diagram of bow and pitch provided in an embodiment of the present invention;

[0039] Figure 2 A block diagram of an electronic device provided by an embodiment of the present invention;

[0040] Figure 3 A flow chart of the steps of a wind turbine control method provided by an embodiment of the present invention;

[0041] Figure 4 A top view of a floating dual-head wind turbine generator system provided by an embodiment of the present invention;

[0042] Figure 5 This is an architectural diagram of a wind turbine control device provided by an embodiment of the present invention.

[0043] 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 gyro torque value calculation unit; 304 - pitch control unit. DETAILED DESCRIPTION

[0044] To make the objectives, technical solutions, and advantages of the embodiments of the present invention more clear, the technical solutions of the embodiments of the present invention will be clearly and completely described below in conjunction with the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Generally, the components of the embodiments of the present invention described and shown in the drawings herein can be arranged and designed in various different configurations.

[0045] 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 invention as claimed, but rather merely represents selected embodiments of the present invention. All other embodiments derived by persons of ordinary skill in the art based on the embodiments of the present invention without creative effort are intended to fall within the scope of protection of the present invention.

[0046] It should be noted that similar reference numerals and letters denote similar items in the following drawings, and therefore, once an item is defined in one drawing, it does not need to be further defined or explained in subsequent drawings.

[0047] In addition, the terms "first", "second", etc., if used, are merely used to distinguish and describe, and should not be understood as indicating or implying relative importance.

[0048] It should be noted that, in the absence of conflict, the features in the embodiments of the present invention may be combined with each other.

[0049] Floating twin-head wind turbines are non-stationary wind turbines that float on the water. Their floating foundation platforms are subject to movement or deflection relative to the water surface under the combined effects of wind, waves, and currents. The low-frequency motion characteristics of the floating foundation platforms are often very close to the bandwidth of the pitch control system, resulting in a significant increase in the pitch motion of the turbine.

[0050] Especially for the single-point moored co-rotating twin-head floating wind turbines, although the co-rotating configuration can effectively save the design and production costs of additional transmission chains and blades, it will cause the floating body to yaw (YAW) and pitch (PITCH) during the active yaw process (see Figure 1 ) coupling, which has an adverse effect on the stable operation of the unit.

[0051] In the prior art, there are a variety of wind turbine control methods to suppress wind turbine pitch. For example:

[0052] 1. Adding dynamic damping suppression structures, such as adding damping plates or underwater thrusters to the base platform, increases hardware costs.

[0053] 2. By reducing the bandwidth frequency of the variable pitch speed control loop, the movement of the foundation platform can be alleviated to a certain extent, but it reduces the ability to set the impeller speed and aggravates unit fatigue and power fluctuations under certain conditions.

[0054] 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) to control pitch, actively suppressing the pitch motion of the floating wind turbine, and using a torque-controlled speed feedback loop to suppress lateral motion. However, the above method is only applicable to wind turbines with counter-rotating twin impellers or single impellers, and is not applicable to co-rotating twin impeller floating wind turbines moored to a single point.

[0055] Based on the above situation, the embodiments of the present invention provide a wind turbine control method, device, electronic equipment and a floating dual-head wind turbine, which can effectively alleviate the above technical problems.

[0056] Please refer to Figure 2, is a block diagram of an electronic device 100 provided in this application. The electronic device 100 can be a device capable of data processing, which is not limited in this embodiment. The electronic device 100 includes a memory 110, a processor 120, and a communication module 130. The memory 110, processor 120, and communication module 130 are electrically connected to each other directly or indirectly to achieve data transmission or interaction. For example, these components can be electrically connected to each other via one or more communication buses or signal lines.

[0057] The memory 110 is used to store programs or data. The memory 110 may be, but is not limited to, random access memory (RAM), read-only memory (ROM), programmable read-only memory (PROM), erasable programmable read-only memory (EPROM), electrically erasable programmable read-only memory (EEPROM), etc.

[0058] The processor 120 is used to read / write data or programs stored in the memory and execute corresponding functions.

[0059] The communication module 130 is used to establish a communication connection between the server and other communication terminals through the network, and to send and receive data through the network.

[0060] It should be understood that Figure 2 The structure shown is only a schematic diagram of the structure of the electronic device 100. The electronic device 100 may also include Figure 2 More or fewer components than shown, or with Figure 2 Different configurations shown. Figure 2 The components shown in the figure can be implemented by hardware, software or a combination thereof. The electronic device 100 can be set in other devices or as an independent device.

[0061] The embodiment of the present invention provides a wind turbine control method, which is applied to a floating double-head wind turbine, wherein the floating double-head wind turbine includes two heads, each of which includes a nacelle, an impeller, and a gyroscope. The method includes: Figure 3 The following steps are shown:

[0062] Step S110: acquiring the horizontal yaw angular velocity of each of the nacelles based on each of the gyroscopes, and obtaining the equivalent total yaw angular velocity of the floating body based on each of the horizontal yaw angular velocities.

[0063] Step S120: 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.

[0064] Step S130: Based on a preset pitch gyro moment calculation formula and according to each of the equivalent yaw angular velocities, the pitch gyro moment value generated by each of the aircraft heads is determined.

[0065] Step S140: controlling the corresponding nose pitches based on the pitch gyro moment values corresponding to the respective noses.

[0066] In step S110, the horizontal yaw angular velocity of each nacelle is acquired based on each gyroscope, and the equivalent total yaw angular velocity of the floating body is obtained based on each horizontal yaw angular velocity.

[0067] During active yaw (i.e., pitching) of a floating twin-head wind turbine, both turbine heads generate horizontal yaw angular velocity. By installing a gyroscope in each turbine head of the floating twin-head wind turbine, the horizontal yaw angular velocity of each nacelle can be determined during pitching.

[0068] After obtaining the horizontal yaw angular velocity of each nacelle, the yaw angular velocity of each nacelle can be fitted to obtain the equivalent total yaw angular velocity of the floating body of the entire floating twin-head wind turbine set.

[0069] Optionally, obtaining the equivalent total yaw angular velocity of the floating body based on each of the horizontal yaw angular velocities includes:

[0070] Based on the calculation formula of the equivalent floating body total yaw angular velocity, the equivalent floating body total yaw angular velocity is obtained according to each of the horizontal yaw angular velocities.

[0071] The calculation formula for the total yaw angular velocity of the equivalent floating body is:

[0072] .

[0073] in, is the total yaw angular velocity of the equivalent floating body, 、 are the horizontal yaw angular velocities corresponding to the two nacelles respectively.

[0074] In an optional embodiment, the yaw angular velocity corresponding to each nacelle can be added together and the arithmetic average is taken to obtain the equivalent total yaw angular velocity of the floating body. Figure 4As shown, an anchor point can be set between the two noses. For the convenience of calculation, the positive direction of the total yaw angular velocity of the equivalent floating body can be taken as the counterclockwise direction with the anchor point as the center.

[0075] In step S120, the equivalent yaw angular velocity corresponding to the rotation axis of each impeller is determined according to the equivalent total yaw angular velocity of the floating body.

[0076] After determining the total yaw angular velocity of the equivalent floating body, the equivalent yaw angular velocity corresponding to the rotation axis of each impeller can be obtained according to the angle relationship between the total yaw angular velocity of the equivalent floating body and the impeller of each head.

[0077] Optionally, 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 includes:

[0078] The equivalent total yaw angular velocity of the floating body is used as the equivalent yaw angular velocity corresponding to the rotation axis of each impeller.

[0079] Since the yaw velocity of the entire floating twin-head wind turbine is the same, the horizontal yaw velocity of each head is also the same, so the equivalent total yaw velocity of the floating body can be directly used as the equivalent yaw velocity corresponding to the rotation axis of each impeller.

[0080] Step S130 is executed to determine the pitch gyro moment value generated by each of the aircraft heads based on a preset pitch gyro moment calculation formula and according to each of the equivalent yaw angular velocities.

[0081] After obtaining the equivalent yaw angular velocity corresponding to each impeller, it can be substituted into the preset pitch gyro moment calculation formula to obtain the pitch gyro moment value generated by each head.

[0082] Optionally, the floating twin-head wind turbine further comprises a plurality of impeller speed sensors, each of which corresponds to one of the heads. The pitch gyro moment calculation formula based on a preset pitch gyro moment calculation formula and the equivalent yaw angular velocity of each head are used to determine the pitch gyro moment value generated by each head, including:

[0083] For each of the handpieces, the impeller speed corresponding to the handpiece is obtained based on the impeller speed sensor corresponding to the handpiece.

[0084] Based on the pitch gyro moment value calculation formula, the pitch gyro moment value generated by the nose is determined according to the impeller speed and the equivalent yaw angular velocity.

[0085] As an optional implementation, a rotor speed sensor can be installed on each rotor head of the floating dual-head wind turbine set. The controller obtains the rotor speed of each impeller through the rotor speed sensor, substitutes the rotor speed of each impeller into the pitch gyro torque value calculation formula, and obtains the pitch gyro torque value generated by each rotor head.

[0086] Optionally, the pitch gyro moment value calculation formula is:

[0087] .

[0088] Among them, M g is the pitch gyro moment value, J is the equivalent rotational inertia of the nose, ω is the impeller speed, and ψ is the equivalent yaw angular velocity.

[0089] Specifically, the pitch gyro moment calculation formula can be shown above. Substitute the equivalent moment of inertia, impeller speed, and equivalent yaw rate corresponding to each head into the pitch gyro moment calculation formula to obtain the pitch gyro moment value generated by each head. Figure 4 As shown, the clockwise direction upwind can be determined as the positive direction of the impeller speed. The direction that causes the impeller to overturn downwind can be determined as the positive direction of the pitch gyro moment value.

[0090] In step S140, the pitch of each aircraft head is controlled based on the pitch gyro moment value corresponding to each aircraft head.

[0091] After obtaining the pitch gyro torque values for each turbine, these values can be used as target torque values for suppressing pitch. The controller can use these values as pitch commands to control the corresponding turbine pitch, thereby offsetting the pitch motion of the floating twin-turbine wind turbine and improving its stability.

[0092] Optionally, the controlling the corresponding nose pitch based on each pitch gyro moment value includes:

[0093] Based on each of the pitch gyro moment values, a corresponding independent pitch control instruction is generated, and the corresponding nose pitch is controlled according to each of the independent pitch control instructions.

[0094] As an optional implementation method, IPC control can be used to generate independent pitch control (IPC) instructions for the corresponding head according to each pitch gyro torque value, superimpose the independent pitch control instructions into the original pitch control link, and use each independent pitch control instruction to control the corresponding head pitch, so as to achieve the suppression of the pitch of the floating dual-head wind turbine.

[0095] Based on the same inventive concept, Figure 5 As shown, the embodiment of the present invention provides a wind turbine control device 300, which is applied to a floating dual-head wind turbine. The floating dual-head wind turbine includes two heads, each of which includes a nacelle, an impeller, and a gyroscope. The wind turbine control device 300 includes:

[0096] The equivalent floating body total yaw angular velocity obtaining unit 301 is configured to obtain 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.

[0097] The equivalent yaw angular velocity calculation unit 302 is configured to determine 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.

[0098] The pitch gyro moment value calculation unit 303 is configured to determine the pitch gyro moment value generated by each of the aircraft heads according to each of the equivalent yaw angular velocities based on a preset pitch gyro moment calculation formula.

[0099] The pitch control unit 304 is used to control the pitch of the corresponding nose based on the pitch gyro torque value corresponding to each nose.

[0100] Regarding the above-mentioned wind turbine control device 300 , the specific functions of each unit therein have been described in detail in the embodiment of the wind turbine control method provided in this specification, and will not be elaborated on here.

[0101] Based on the same inventive concept, an embodiment of the present invention provides a floating twin-head wind turbine generator set, which implements the steps of any one of the above methods when in operation.

[0102] Based on the same inventive concept, an embodiment of the present invention provides a computer-readable storage medium having a computer program stored thereon, which implements the steps of any of the above-mentioned wind turbine control methods when executed by a processor.

[0103] The present invention has at least the following beneficial effects:

[0104] 1. This embodiment of the present invention calculates the pitch gyro torque values generated by the two turbine heads of a floating twin-turbine wind turbine and uses the corresponding pitch gyro torque values as the pitch gyro torque values required to suppress pitch of each turbine head. Finally, based on the respective pitch gyro torque values, the corresponding turbine head is controlled to adjust the pitch of the floating twin-turbine wind turbine, thereby suppressing the pitch of the turbine and improving the operational stability of the turbine.

[0105] 2. The solution provided by the embodiment of the present invention can be applied to a single-point moored dual-head floating wind turbine with co-rotating impellers.

[0106] In the 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 merely illustrative. For example, the flowcharts and block diagrams in the accompanying drawings show the possible architectures, functions, and operations of the devices, methods, and computer program products according to multiple embodiments of the present invention. In this regard, each box in the flowchart or block diagram can represent a module, program segment, or part of the code, which contains one or more executable instructions for implementing the specified logical functions. It should also be noted that in some alternative implementations, the functions marked in the boxes can also occur in an order different from that marked in the accompanying drawings. For example, two consecutive boxes can actually be executed substantially in parallel, and they can sometimes be executed in the opposite order, depending on the functions involved. It should also be noted that each box in the block diagram and / or flowchart, as well as the combination of boxes in the block diagram and / or flowchart, can be implemented using a dedicated hardware-based system that performs the specified functions or actions, or can be implemented using a combination of dedicated hardware and computer instructions.

[0107] In addition, the functional modules in the various embodiments of the present invention may be integrated together to form an independent part, or each module may exist independently, or two or more modules may be integrated to form an independent part.

[0108] If the functions are implemented as software 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, or the portion that contributes to the prior art, or the portion of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes instructions for enabling a computer device (which can be a personal computer, server, or network device, etc.) to perform all or part of the steps of the methods described in various embodiments of the present invention. The aforementioned storage media include various media capable of storing program code, such as USB flash drives, mobile hard drives, read-only memories (ROMs), random access memories (RAMs), magnetic disks, or optical disks.

[0109] The above description is merely a specific embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any changes or substitutions that can be easily conceived by a person skilled in the art within the technical scope disclosed in the present invention should be included in the scope of protection of the present invention. Therefore, the scope of protection of the present invention should be based on the scope of protection of the claims.

Claims

1. A wind turbine control method, characterized in that: Applied to a floating twin-head wind turbine, the floating twin-head wind turbine includes two heads, each of which includes a nacelle, an impeller, and a gyroscope; the method includes: Acquiring a horizontal yaw angular velocity of each of the nacelles based on each of the gyroscopes, and obtaining an equivalent total yaw angular velocity of the floating body based on each of the horizontal yaw angular velocities; 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; Based on a preset pitch gyro moment calculation formula, and according to each of the equivalent yaw angular velocities, the pitch gyro moment value generated by each of the aircraft heads is determined; The corresponding nose pitch is controlled based on the pitch gyro moment value corresponding to each nose.

2. The wind turbine control method according to claim 1, wherein: The obtaining of the equivalent total yaw angular velocity of the floating body based on each of the horizontal yaw angular velocities comprises: Based on the calculation formula of the equivalent floating body total yaw angular velocity, the equivalent floating body total yaw angular velocity is obtained according to each of the horizontal yaw angular velocities; The calculation formula for the total yaw angular velocity of the equivalent floating body is: in, is the total yaw angular velocity of the equivalent floating body, 、 are the horizontal yaw angular velocities corresponding to the two nacelles respectively.

3. The wind turbine control method according to claim 2, wherein: 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 includes: The equivalent total yaw angular velocity of the floating body is used as the equivalent yaw angular velocity corresponding to the rotation axis of each impeller.

4. The wind turbine control method according to claim 2, wherein: The floating dual-head wind turbine further includes a plurality of impeller speed sensors, each of which corresponds to one of the heads; and determining the pitch gyro moment value generated by each head based on a preset pitch gyro moment calculation formula and the equivalent yaw angular velocity, including: For each of the handpieces, obtaining the impeller speed corresponding to the handpiece based on the impeller speed sensor corresponding to the handpiece; Based on the pitch gyro moment value calculation formula, the pitch gyro moment value generated by the nose is determined according to the impeller speed and the equivalent yaw angular velocity.

5. The wind turbine control method according to claim 4, wherein: The pitch gyro moment calculation formula is: Among them, M g is the pitch gyro moment value, J is the equivalent rotational inertia of the nose, ω is the impeller speed, and ψ is the equivalent yaw angular velocity.

6. The wind turbine control method according to claim 1, wherein: The controlling the corresponding nose pitch based on each pitch gyro moment value includes: generating corresponding independent pitch control instructions based on each of the pitch gyro moment values; The corresponding nose pitch is controlled respectively according to each of the independent pitch control instructions.

7. A wind turbine control device, characterized in that: Applicable to a floating double-head wind turbine generator set, the floating double-head wind turbine generator set includes two heads, each of which includes a nacelle, an impeller, and a gyroscope; the wind turbine generator set control device includes: an equivalent floating body total yaw angular velocity acquisition unit, configured to acquire the horizontal yaw angular velocity of each of the nacelles 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; an equivalent yaw angular velocity calculation unit, configured to determine an equivalent yaw angular velocity corresponding to the rotation axis of each impeller according to the total yaw angular velocity of the equivalent floating body; a pitch gyro moment value calculation unit, configured to determine the pitch gyro moment value generated by each of the aircraft heads according to each of the equivalent yaw angular velocities based on a preset pitch gyro moment calculation formula; The pitch control unit is used to control the pitch of the corresponding nose based on the pitch gyro torque value corresponding to each nose.

8. An electronic 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 implements the steps of the method according to any one of claims 1 to 6 when executing the program.

9. A floating double-head wind turbine generator set, characterized in that: The floating dual-head wind turbine set implements the steps of the method according to any one of claims 1 to 6 when in operation.

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