Attitude control device, floating wind power generation device and attitude control method

Abstract

The invention provides a posture control device, a floating type wind power generation device and a posture control method, and the posture control device comprises a paddle board structure which comprises a first connecting rod and a paddle board, and the paddle board is arranged at the first end of the first connecting rod; the first driving structure comprises a first base, a driving piece and a transmission assembly, the transmission assembly comprises a transmission ring and a connecting piece, the driving piece is in driving fit with the transmission ring, the transmission ring is rotatably arranged on the first base in the axis direction of the transmission ring, and when the transmission ring rotates, the connecting piece can be driven to rotate in the axis direction of the transmission ring; the connecting piece is rotatably arranged on the transmission ring in the direction perpendicular to the axis of the transmission ring, and the second end of the first connecting rod is connected with the connecting piece so that the transmission ring can drive the paddle plate to rotate in the axis direction of the transmission ring through the connecting piece and the first connecting rod. According to the technical scheme, the problem that the attitude adjusting speed of the floating type wind turbine generator is low in the prior art is effectively solved.

Description

Technical Field

[0001] This invention relates to the field of offshore wind power generation technology, and more specifically, to an attitude control device, a floating wind power generation device, and an attitude control method. Background Technology

[0002] Floating wind turbines can capture wind energy at sea and convert it into electricity. However, when a floating wind turbine is placed on the sea surface, the water flow and wind force will change the attitude of the floating wind turbine, affecting its stability and thus affecting its power generation.

[0003] In the prior art, in order to achieve a stable attitude of a floating wind power generation device, multiple spaces for ballast water can be set up on the floating wind power generation device. By pumping ballast water between multiple different spaces of the floating wind power generation device, the distribution of ballast water in the floating wind power generation device is changed, thereby changing the center of gravity and attitude of the ballast water and achieving control over the stability of the platform.

[0004] Existing ballast water control technologies suffer from long response times. Specifically, under extreme weather conditions, such as when a large storm hits, floating wind turbines may experience sudden, large-amplitude swaying. However, the power of water pumps is limited, making it difficult to transfer large amounts of ballast water in a short time. The ballast water transfer takes a long time, which can cause floating wind turbines to lose stability in the instant when the wind and waves suddenly intensify, affecting the safe operation of the floating wind turbines. Summary of the Invention

[0005] The main objective of this invention is to provide an attitude control device, a floating wind power generation device, and an attitude control method to solve the problem of slow attitude adjustment speed of floating wind turbines in related technologies.

[0006] To achieve the above objectives, according to a first aspect of the present invention, an attitude control device is provided for controlling the attitude of a floating wind power generation device, comprising: a paddle structure including a first connecting rod and a paddle, the paddle being disposed at a first end of the first connecting rod; a first drive structure including a first base, a drive member, and a transmission assembly, the transmission assembly including a transmission ring and a connecting member, the drive member drivingly engaging with the transmission ring, the transmission ring being rotatably disposed on the first base in the direction of its axis, the transmission ring rotating to drive the connecting member to rotate in the direction of the axis of the transmission ring, the connecting member being rotatably disposed on the transmission ring in a direction perpendicular to the axis of the transmission ring, and a second end of the first connecting rod being connected to the connecting member, so that the transmission ring drives the paddle to rotate in the direction of the axis of the transmission ring through the connecting member and the first connecting rod.

[0007] Furthermore, the first drive structure also includes a linkage mechanism, which includes a connecting pin and a connecting hole. The connecting pin is rotatably inserted into the connecting hole. One of the connecting pin and the connecting hole is disposed on the transmission ring and extends in the radial direction of the transmission ring. The other of the connecting pin and the connecting hole is disposed on the connector.

[0008] Furthermore, the first drive structure also includes a gear disposed on the output shaft of the drive member, and a transmission tooth portion is disposed on the outer surface of the transmission ring, the gear meshing with the transmission tooth portion.

[0009] Furthermore, the attitude control device also includes a second base disposed on the first base and a damping adjustment structure disposed on the second base. The damping adjustment structure includes an adjustment part and a follower filling part. The adjustment part adjusts in coordination with the first link through the follower filling part to adjust the damping of the first link rotating about the axis perpendicular to the transmission ring.

[0010] Furthermore, the second base is provided with a receiving cavity, the follow-up filling part includes magnetorheological fluid disposed in the receiving cavity, the adjustment part is a magnetic field adjustment component, and the damping adjustment structure also includes a transmission plate linked with the first connecting rod. The transmission plate is rotatably disposed in the receiving cavity, and multiple through holes are provided at intervals on the transmission plate so that the magnetorheological fluid can flow through the multiple through holes.

[0011] Furthermore, the damping adjustment structure also includes a second link, the first end of which is hinged to the transmission plate, and the second end of which is movably disposed at the second end of the first link along the length direction of the first link.

[0012] Furthermore, the attitude control device also includes an elastic element. A first mounting hole is provided in the first link, the opening of the first mounting hole is located at the second end of the first link, the second end of the second link passes through the first mounting hole, and the elastic element is provided in the first mounting hole and located between the second end of the second link and the bottom wall of the first mounting hole.

[0013] Furthermore, the hinge axis of the second link and the transmission plate is parallel to the rotation axis of the connecting member. A first clearance part is provided in the middle of the transmission plate to avoid the second link. The first end of the second link is located in the first clearance part.

[0014] Furthermore, the connector includes a transmission ball, a portion of which protrudes from the first base and is disposed at the opening of the receiving cavity. A second clearance portion is provided on the transmission plate to clearance the transmission ball.

[0015] Furthermore, the receiving cavity is a spherical cavity, the side of the transmission plate slides with the inner surface of the receiving cavity, and / or, the second base includes a base body and a mounting ball disposed on the base body, with the receiving cavity disposed within the mounting ball.

[0016] Furthermore, a second mounting cavity is provided inside the first base, and a transmission ring is provided inside the second mounting cavity. A second mounting hole is also provided on the first base, which is connected to the second mounting cavity. The connector is rotatably provided at the second mounting hole and fits against the hole wall of the second mounting hole.

[0017] According to a second aspect of the present invention, a floating wind power generation device is provided, comprising a floating wind turbine generator set and an attitude control device disposed on the floating wind turbine generator set, wherein the attitude control device is the aforementioned attitude control device, and a first base of the attitude control device is connected to the floating wind turbine generator set.

[0018] Furthermore, the floating wind turbine generator set includes a floating foundation and wind power generation equipment installed on the floating foundation. The floating foundation includes multiple interconnected pontoons. The attitude control device includes multiple pontoons, and the multiple attitude control devices are set one-to-one with the multiple pontoons. The floating wind power generation equipment also includes a control unit, which controls and cooperates with multiple drive components.

[0019] Furthermore, the floating wind power generation device also includes an attitude monitoring structure, which is installed on the floating wind turbine generator and works in conjunction with the control unit signals.

[0020] According to a third aspect of the present invention, an attitude control method for a floating wind power generation device is provided, for controlling the floating wind power generation device, wherein the floating wind power generation device is the aforementioned floating wind power generation device, and the attitude control method for the floating wind power generation device includes:

[0021] Obtain the position and orientation data of the floating wind turbine generator set of the floating wind power generation device;

[0022] The state of the drive ring of the floating wind turbine is adjusted based on the pose data.

[0023] Furthermore, when the floating wind power generation device includes a damping adjustment structure, when the state of the transmission ring of the floating wind power generation device is adjusted according to the attitude data, the damping of the first link of the floating wind power generation device rotating about the axis perpendicular to the transmission ring is adjusted according to the attitude data.

[0024] The attitude control device of this invention includes a paddle structure and a first drive structure. The drive component can drive the transmission ring to rotate on the first base along its own axis, allowing the transmission ring to drive the first connecting rod to rotate via a connecting member. This first connecting rod then drives the paddle to rotate, changing its orientation. Consequently, when water flows through the attitude control device, the water flow drives the paddle to rotate around an axis perpendicular to the transmission ring, thus offsetting some of the water flow's impact force. This allows the attitude control device to more effectively stabilize the attitude of the floating wind turbine. In other words, by configuring the drive component, transmission assembly, and paddle structure, the attitude control device can rapidly adjust the attitude of the floating wind turbine. Therefore, the technical solution of this application effectively solves the problem of slow attitude adjustment speed of floating wind turbines in related technologies. Attached Figure Description

[0025] The accompanying drawings, which form part of this application, are used to provide a further understanding of the invention. The illustrative embodiments of the invention and their descriptions are used to explain the invention and do not constitute an undue limitation of the invention. In the drawings:

[0026] Figure 1 A three-dimensional structural schematic diagram of an embodiment of the attitude control device according to the present invention is shown;

[0027] Figure 2 It shows Figure 1 A cross-sectional schematic diagram of the attitude control device;

[0028] Figure 3 It shows Figure 2 A front view schematic diagram of the attitude control device;

[0029] Figure 4 It shows Figure 1 An exploded view of the attitude control device;

[0030] Figure 5 It shows Figure 1 A three-dimensional structural diagram of the mounting ball for the attitude control device;

[0031] Figure 6 It shows Figure 1 A three-dimensional structural diagram of the transmission ring of the attitude control device;

[0032] Figure 7 It shows Figure 1 A three-dimensional structural diagram of the transmission plate of the attitude control device;

[0033] Figure 8 It shows Figure 1 A three-dimensional structural diagram of the first base of the attitude control device;

[0034] Figure 9 It shows Figure 1 A three-dimensional structural diagram of the connector of the attitude control device;

[0035] Figure 10 A three-dimensional structural schematic diagram of an embodiment of a floating wind power generation device according to the present invention is shown;

[0036] Figure 11 A schematic diagram illustrating the steps of an attitude control method for a floating wind power generation device according to the present invention is shown.

[0037] The above figures include the following reference numerals:

[0038] 10. Paddle plate structure; 11. First connecting rod; 111. First mounting hole; 12. Paddle plate; 20. First drive structure; 21. First base; 211. Second mounting cavity; 212. Second mounting hole; 22. Drive component; 23. Transmission assembly; 231. Transmission ring; 232. Connecting component; 2321. Transmission ball; 24. Linkage mechanism; 241. Connecting pin; 242. Connecting hole; 25. Gear; 30. Second base; 31. Receiving cavity; 32. Seat body; 33. Mounting ball; 40. Damping adjustment structure; 41. Transmission plate; 411. Through hole; 412. First clearance part; 413. Second clearance part; 42. Second connecting rod; 50. Elastic element; 100. Floating wind turbine generator set; 101. Floating foundation; 1011. Float. Detailed Implementation

[0039] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. The following description of at least one exemplary embodiment is merely illustrative and is in no way intended to limit the present invention or its application or use. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0040] It should be noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to limit the exemplary embodiments according to this application. As used herein, the singular form is intended to include the plural form as well, unless the context clearly indicates otherwise. Furthermore, it should be understood that when the terms "comprising" and / or "including" are used in this specification, they indicate the presence of features, steps, operations, devices, components, and / or combinations thereof.

[0041] Unless otherwise specifically stated, the relative arrangement, numerical expressions, and values ​​of the components and steps set forth in these embodiments do not limit the scope of the invention. It should also be understood that, for ease of description, the dimensions of the various parts shown in the drawings are not drawn to actual scale. Techniques, methods, and devices known to those skilled in the art may not be discussed in detail, but where appropriate, such techniques, methods, and devices should be considered part of the specification. In all examples shown and discussed herein, any specific values ​​should be interpreted as merely exemplary and not as limitations. Therefore, other examples of exemplary embodiments may have different values. It should be noted that similar reference numerals and letters in the following figures denote similar items; therefore, once an item is defined in one figure, it need not be further discussed in subsequent figures.

[0042] like Figures 1 to 4 As shown, the attitude control device of this embodiment includes a paddle structure 10 and a first drive structure 20. The paddle structure 10 includes a first connecting rod 11 and a paddle 12, with the paddle 12 disposed at the first end of the first connecting rod 11. The first drive structure 20 includes a first base 21, a drive member 22, and a transmission assembly 23. The transmission assembly 23 includes a transmission ring 231 and a connecting member 232. The drive member 22 drives the transmission ring 231. The transmission ring 231 is rotatably disposed on the first base 21 about its axis. When the transmission ring 231 rotates, it can drive the connecting member 232 to rotate about the axis of the transmission ring 231. The connecting member 232 is rotatably disposed on the transmission ring 231 about a direction perpendicular to the axis of the transmission ring 231. The second end of the first connecting rod 11 is connected to the connecting member 232, so that the transmission ring 231 drives the paddle 12 to rotate about the axis of the transmission ring 231 through the connecting member 232 and the first connecting rod 11.

[0043] Applying the technical solution of this embodiment, the attitude control device includes a paddle structure 10 and a first drive structure 20. The drive member 22 can drive the transmission ring 231 to rotate around its own axis on the first base 21, allowing the transmission ring 231 to drive the first connecting rod 11 to rotate via the connecting member 232. This, in turn, allows the first connecting rod 11 to drive the paddle 12 to rotate, changing the orientation of the paddle 12. Consequently, when water flows through the attitude control device, the water flow can drive the paddle 12 to rotate around an axis perpendicular to the transmission ring 231, thus enabling the paddle 12 to counteract part of the water flow's impact force. This allows the attitude control device to more effectively stabilize the attitude of the floating wind turbine. In other words, by setting up the drive member 22, the transmission assembly 23, and the paddle structure 10, the attitude control device can quickly adjust the attitude of the floating wind turbine. Therefore, the technical solution of this embodiment effectively solves the problem of slow attitude adjustment speed of floating wind turbines in related technologies.

[0044] like Figure 2 , Figure 6 as well as Figure 9 As shown, in this embodiment, the first driving structure 20 further includes a linkage mechanism 24. The linkage mechanism 24 includes a connecting pin 241 and a connecting hole 242. The connecting pin 241 is rotatably inserted into the connecting hole 242. The connecting pin 241 is disposed on the transmission ring 231 and extends in the radial direction of the transmission ring 231. The connecting hole 242 is disposed on the connector 232. By providing the connecting pin 241 and the connecting hole 242, the transmission ring 231 and the connector 232 can be connected, thereby enabling the transmission ring 231 to drive the connector 232 to rotate, and the connector 232 to rotate on the transmission ring 231.

[0045] It should be noted that the connecting pin 241 is disposed on the inner surface of the transmission ring 231. The axis of the connecting pin 241 is perpendicular to the axis of the transmission ring 231, that is, when the connecting member 232 rotates relative to the transmission ring 231, the axis of rotation of the connecting member 232 is the axis of the connecting pin 241.

[0046] In other embodiments, a connecting hole 242 is provided on the transmission ring 231 and extends in the radial direction of the transmission ring 231, and another connecting pin 241 is provided on the connector 232.

[0047] like Figure 2 and Figure 4 As shown, in this embodiment, the first drive structure 20 further includes a gear 25 disposed on the output shaft of the drive member 22, and a transmission tooth portion is disposed on the outer surface of the transmission ring 231, with the gear 25 meshing with the transmission tooth portion. Through the meshing of the gear 25 with the transmission tooth portion, when the drive member 22 is running, the drive member 22 drives the gear 25 to rotate, the gear 25 drives the transmission ring 231 to rotate, and then the transmission ring 231 drives the connecting member 232 to rotate.

[0048] In other embodiments, the connecting pin 241 is disposed on the outer surface of the transmission ring 231, the transmission ring 231 is located inside the connector 232, and the transmission teeth are disposed on the inner surface of the transmission ring 231.

[0049] like Figures 2 to 4As shown, in this embodiment, the attitude control device further includes a second base 30 disposed on the first base 21 and a damping adjustment structure 40 disposed on the second base 30. The damping adjustment structure 40 includes an adjustment part and a follower filling part. The adjustment part adjusts in coordination with the first connecting rod 11 through the follower filling part to adjust the damping of the rotation of the first connecting rod 11 around the axis perpendicular to the transmission ring 231. By providing the damping adjustment structure 40, the damping of the rotation of the first connecting rod 11 around the axis of the transmission ring 231 can be adjusted, thereby adjusting the damping of the rotation of the paddle plate 12 around the axis of the transmission ring 231. By adjusting the damping of the rotation of the first connecting rod 11 around the axis perpendicular to the transmission ring 231, the paddle plate 12 can more effectively cope with the impact of the water flow when it impacts the floating wind turbine, thereby achieving attitude adjustment of the floating wind turbine. The adjustment part can adjust the follower filling part, thereby changing the damping of the rotation of the first connecting rod 11 around the axis perpendicular to the transmission ring 231.

[0050] The second base 30 is provided with a mounting groove, and the opening of the receiving cavity 31 is located on the bottom wall of the mounting groove. The first base 21 is disposed in the mounting groove. The first base 21 can be installed onto the second base 30 through the mounting groove.

[0051] like Figures 2 to 4 as well as Figure 7 As shown, in this embodiment, the second base 30 is provided with a receiving cavity 31. The follower filling part includes a magnetorheological fluid disposed in the receiving cavity 31. The adjusting part is a magnetic field adjusting component. The damping adjusting structure 40 also includes a transmission plate 41 linked with the first connecting rod 11. The transmission plate 41 is rotatably disposed in the receiving cavity 31. The transmission plate 41 is provided with a plurality of through holes 411 at intervals to allow the magnetorheological fluid to flow through the plurality of through holes 411. The magnetic field adjusting component can adjust the viscosity of the magnetorheological fluid, thereby changing the resistance experienced by the transmission plate 41 when it rotates in the receiving cavity 31. That is, it changes the damping when the transmission plate 41 rotates, thereby changing the damping when the first connecting rod 11 rotates, and thus changing the damping of the paddle plate 12 rotating about the axis perpendicular to the transmission ring 231. When the transmission plate 41 rotates, the magnetorheological fluid can flow through the through hole 411 in the receiving cavity 31, so that the magnetorheological fluid can be located on both sides of the transmission plate 41, avoiding the presence of too much magnetorheological fluid on one side of the transmission plate 41, which would affect the rotation of the transmission plate 41.

[0052] The second base 30 allows the magnetic field to pass through.

[0053] The magnetorheological fluid (MRF) is placed within the containment cavity 31. In the absence of an external magnetic field, it exhibits low-viscosity Newtonian fluid characteristics. Under an applied magnetic field, it becomes a high-viscosity, low-flow Bingham fluid. The viscosity of the MRF corresponds to the magnetic flux. The MRF mainly consists of magnetic particles (dispersed phase), a base fluid (dispersion medium), and additives (stabilizers). Magnetic particles are soft magnetic particles used in the preparation of the MRF, typically including carbonyl iron powder, Fe3O4, cobalt powder, iron-cobalt alloys, nickel-zinc alloys, and composite soft magnetic particles. The base fluid is the continuous medium through which the soft magnetic particles are suspended and is an important component of the MRF, such as synthetic oil, mineral oil, and water. Additives include dispersants and anti-settling agents, whose main function is to improve the sedimentation stability, redispersibility, zero-field viscosity, and shear yield strength of the MRF; these mainly include oleic acid, oleates, and naphthenates.

[0054] like Figures 2 to 4 As shown, in this embodiment, the damping adjustment structure 40 further includes a second link 42. The first end of the second link 42 is hinged to the transmission plate 41, and the second end of the second link 42 is movably disposed at the second end of the first link 11 along the length direction of the first link 11. The second link 42 can connect the transmission plate 41 to the first link 11, so that when the damping of the transmission plate 41 changes during rotation, the damping experienced by the transmission plate 41 can be transmitted to the first link 11 through the second link 42. The second end of the second link 42 is movably disposed at the second end of the first link 11 along the length direction of the first link 11, so that the relative position between the second link 42 and the first link 11 can be changed. Therefore, when the transmission plate 41 rotates in the receiving cavity 31, it can prevent the transmission plate 41 from getting stuck in the receiving cavity 31 when the relative position between the first link 11 and the second link 42 is fixed.

[0055] like Figure 2 and Figure 3 As shown, in this embodiment, the attitude control device further includes an elastic element 50. A first mounting hole 111 is provided within the first connecting rod 11, with the opening of the first mounting hole 111 located at the second end of the first connecting rod 11. The second end of the second connecting rod 42 passes through the first mounting hole 111. The elastic element 50 is disposed within the first mounting hole 111 and located between the second end of the second connecting rod 42 and the bottom wall of the first mounting hole 111. The second end of the second connecting rod 42 can slide within the first mounting hole 111. This reduces the space occupied by the first connecting rod 11 and the second connecting rod 42 compared to the second connecting rod 42 being completely outside the first connecting rod 11 and movably disposed on the outer surface of the first connecting rod 11. The elastic element 50 allows a restoring force to be applied to the second connecting rod 42, enabling the second connecting rod 42 to move away from the paddle plate 12 when the second end of the second connecting rod 42 moves within the first mounting hole 111.

[0056] It should be noted that the cross-section of the second link 42 is polygonal, and the shape of the first mounting hole 111 is adapted to the shape of the second link 42. This can prevent the second link 42 from rotating relative to the first link 11, and can also effectively make the transmission plate 41 and the paddle plate 12 rotate together with the connecting member 232 to achieve the best damping effect.

[0057] Of course, the cross-section of the second link 42 can also be circular. A first anti-rotation plate is provided on the outer surface of the second link 42, and a first anti-rotation groove is provided on the first link 11. The first anti-rotation plate is located in the first anti-rotation groove, and the first anti-rotation plate and the first anti-rotation groove are anti-rotationally engaged.

[0058] like Figure 2 and Figure 3 As shown, in this embodiment, the hinge axis between the second connecting rod 42 and the transmission plate 41 is parallel to the rotation axis of the connecting member 232. A first clearance portion 412 is provided in the middle of the transmission plate 41 to avoid the second connecting rod 42. The first end of the second connecting rod 42 is located inside the first clearance portion 412. The hinge axis between the second connecting rod 42 and the transmission plate 41 is parallel to the rotation axis of the connecting member 232, which makes the relative positions of the second connecting rod 42, the transmission plate 41, and the first connecting rod 11 more reasonable, facilitating the rotation of the transmission plate 41 within the receiving cavity 31. The first clearance portion can avoid the second connecting rod 42, allowing the transmission plate 41 to have a larger range of rotation within the receiving cavity 31.

[0059] It should be noted that a rotating shaft is provided on the transmission plate 41, the rotating shaft is located in the first clearance part, and a first bushing is provided at the first end of the second connecting rod 42. The rotating shaft passes through the first bushing, and the first bushing is rotatably arranged relative to the rotating shaft around the axis of the rotating shaft.

[0060] The first clearance part is the first clearance groove.

[0061] like Figure 3 , Figure 4 as well as Figure 9As shown, in this embodiment, the connector 232 includes a transmission ball 2321. A portion of the transmission ball 2321 protruding from the first base 21 is disposed at the opening of the receiving cavity 31. A second clearance portion 413 is provided on the transmission plate 41 to avoid the transmission ball 2321. By providing the transmission ball 2321, the movement trajectory of the connector 232 is made more reasonable. The portion of the transmission ball 2321 protruding from the first base 21 is disposed at the opening of the receiving cavity 31, which reduces the space occupied by the transmission ball 2321, the first base 21, and the second base 30. The transmission ball 2321 can also slide and engage with the opening of the receiving cavity 31, sealing the opening of the receiving cavity 31. The second clearance portion 413 avoids the transmission ball 2321, thus preventing interference between the transmission plate 41 and the transmission ball 2321 when the transmission plate 41 rotates within the receiving cavity 31.

[0062] The connector 232 also includes a second bushing disposed on the outer surface of the transmission ball 2321, a connecting hole 242 disposed inside the second bushing, and a connecting pin 241 passing through the second bushing.

[0063] The connector 232 has a third mounting hole that passes through it. The first connecting rod 11 passes through the third mounting hole. The paddle structure 10 also includes a first limiting member and a second limiting member spaced apart on the first connecting rod 11. The connector 232 is sandwiched between the first limiting member and the second limiting member. The first limiting member and the second limiting member can fix the connector 232 to the first connecting rod 11.

[0064] The third mounting hole is provided on the transmission ball 2321, and the axial direction of the third mounting hole coincides with the radial direction of the transmission ball 2321. The axis of the third mounting hole is perpendicular to the axis of the connecting pin 241.

[0065] It should be noted that the cross-section of the first connecting rod 11 is polygonal, and the shape of the third mounting hole is adapted to the shape of the first connecting rod 11. This can prevent the first connecting rod 11 from rotating relative to the connecting member 232, and can also effectively make the transmission plate 41 and the paddle plate 12 rotate together with the connecting member 232 to achieve the best damping effect.

[0066] Of course, the cross-section of the first connecting rod 11 can also be circular. A second anti-rotation plate is provided on the outer surface of the first connecting rod 11, and a second anti-rotation groove is provided on the first connecting rod 11. The second anti-rotation plate is located in the first anti-rotation groove, and the second anti-rotation plate and the second anti-rotation groove are anti-rotationally engaged.

[0067] It should be noted that a limiting plate is provided at the second end of the second connecting rod 42. The limiting plate cooperates with the first limiting member to prevent the second connecting rod 42 from detaching from the first mounting hole 111.

[0068] The first limiting component is the first limiting ring, the second limiting component is the second limiting ring, the second connecting rod 42 passes through the first limiting ring, and the first connecting rod 11 passes through the second limiting ring.

[0069] It should be noted that there are two connecting pins 241 arranged at intervals, the axes of the two connecting pins 241 are coaxial, and the axis of the connecting pin 241 coincides with the diameter direction of the transmission ball 2321.

[0070] The second clearance portion 413 is a second clearance groove, and the second clearance portion 413 is connected to the first clearance portion.

[0071] The opening of the receiving cavity 31 is arc-shaped, which can fit against the outer surface of the transmission ball 2321.

[0072] like Figure 3 and Figure 5 As shown, in this embodiment, the receiving cavity 31 is a spherical cavity, and the side of the transmission plate 41 slides in conjunction with the inner surface of the receiving cavity 31. With the above arrangement, the transmission plate 41 can slide more smoothly within the receiving cavity 31, and the amount of magnetorheological fluid flowing through the gap between the transmission plate 41 and the receiving cavity 31 can be reduced. This allows the magnetorheological fluid and the magnetic field regulating component to more effectively adjust the rotational damping of the transmission plate 41, thereby adjusting the damping of the paddle 12's oscillation.

[0073] It should be noted that the side profile of the transmission plate 41 is adapted to the surface of the spherical cavity.

[0074] The second base 30 includes a base body 32 and a mounting ball 33 disposed on the base body 32, with a receiving cavity 31 disposed within the mounting ball 33. The base body and mounting ball make the assembly of the second base 30 and the transmission plate 41 easier.

[0075] like Figure 3 and Figure 8 As shown, in this embodiment, a second mounting cavity 211 is provided inside the first base 21, and a transmission ring 231 is disposed inside the second mounting cavity 211. A second mounting hole 212 penetrating the first base 21 is also provided on the first base 21, communicating with the second mounting cavity 211. A connector 232 is rotatably disposed at the second mounting hole 212 and fits against the wall of the second mounting hole 212. The transmission ring 231 can be mounted to the first base 21 through the second mounting cavity 211. The second mounting hole 212 allows the connector 232 to be mounted to the first base 21. The communication between the second mounting hole 212 and the second mounting cavity 211 facilitates the transmission ring 231 driving the connector 232 to rotate.

[0076] It should be noted that a mounting ring is also provided on the end face of the transmission plate 41, and a mounting groove communicating with the second mounting cavity 211 is provided in the second base 30, and the mounting ring is rotatably disposed in the mounting groove.

[0077] Gear 25 is also located in the second mounting cavity 211.

[0078] The transmission ball 2321 is rotatably mounted on the first base 21 and is sealed to the first base 21. That is, the contact point between the transmission ball 2321 and the first base 21 is sealed. The opening of the second mounting hole 212 is arc-shaped and can fit against the outer surface of the transmission ball 2321 to prevent water leakage.

[0079] The first base 21 is provided with a fourth mounting hole, and the drive component 22 is disposed in the fourth mounting hole.

[0080] It should be noted that in other embodiments, the damping adjustment structure 40 does not include a magnetic field adjustment component and a magnetorheological fluid. The damping adjustment structure 40 includes a first drive motor, a nut, a screw, and a first spring. The first drive motor can drive the nut to rotate, and the nut can drive the first spring to move. The transmission plate 41 is movably disposed on the screw along the axial direction of the screw. The first spring is located between the transmission plate 41 and the nut. In this way, the damping can be adjusted by adjusting the preload of the first spring.

[0081] The elastic element 50 includes a second spring. The driving element 22 is a second drive motor.

[0082] It should be noted that the first base 21 includes a first housing and a second housing connected to the first housing. The first housing and the second housing are disposed opposite to each other. Part of the structure of the second mounting cavity 211 is located inside the first housing and part of the structure of the second mounting cavity 211 is located inside the second housing. The second mounting hole 212 includes a first hole body and a second hole body. The first hole body is disposed on the first housing and the second hole body is disposed on the second housing.

[0083] The connecting pin 241 and the transmission gear 25 are separate structures, which facilitates the connection of the connecting pin 241 and the connecting piece 232, and then the connection of the connecting piece 232 and the transmission gear 25.

[0084] The first limiting ring and / or the second limiting ring can be threadedly connected to the first connecting rod 11. The limiting plate and the second connecting rod 42 can be threadedly connected. The first mounting hole 111 passes through the first connecting rod 11. The second connecting rod 42 is first placed into the first mounting hole 111, and the limiting plate is placed into the first mounting hole 111. The second connecting rod 42 is then connected to the limiting plate, thereby achieving the limiting engagement between the limiting plate and the first limiting ring.

[0085] The mounting ball includes a first ball and a second ball connected to the first ball, which facilitates the installation of the transmission plate 41 into the mounting ball. The opening of the receiving cavity 31 is located on the second ball.

[0086] In this embodiment, the paddleboard is a rectangular plate. Of course, in other embodiments, the paddleboard can also be other shapes.

[0087] The attitude control device of this embodiment has the following advantages:

[0088] 1. The attitude control device can realize active control of the stability of the floating wind turbine generator 100: the blade 12 degrees is adjustable and the orientation of the blade 12 can be actively adjusted according to the direction of the wave flow; the viscosity of the magnetorheological fluid in the accommodating cavity 31 is adjustable, so that the damping of the attitude control device can be adjusted according to the attitude adjustment needs of the floating wind turbine generator.

[0089] 2. The attitude control device can improve the rapid response capability of the floating wind turbine generator 100 to attitude changes: The energy transfer of the attitude control device is directly converted from electrical energy to mechanical energy or magnetic field energy to drive the blades 12 to rotate. Compared with the conversion between electrical energy, mechanical energy and gravitational potential energy in the existing scheme of controlling the attitude of the floating wind turbine generator 100 by ballast water, the energy transfer path is simple, the energy conversion efficiency is improved, and the response speed of the attitude control device is accelerated from minutes to seconds in the existing technology.

[0090] 3. The attitude control device can operate in single-channel or multi-channel, multi-mode mode: The attitude control device is deployed separately on different buoys 1011. The control unit can be a single-input single-output circuit or a combination of multi-input multi-output circuits, enabling partial or overall control of the floating wind turbine, thus improving the device's applicability and flexibility to different wind and sea conditions. Therefore, the device can simultaneously function as a roll-damping fin, bilge keel, and heave plate.

[0091] like Figure 10 As shown, the floating wind power generation device of this embodiment includes a floating wind turbine generator 100 and an attitude control device mounted on the floating wind turbine generator 100. The attitude control device is the aforementioned attitude control device, and its first base 21 is connected to the floating wind turbine generator 100. The aforementioned attitude control device, through the drive component 22, transmission assembly 23, and paddle structure 10, can quickly adjust the attitude of the floating wind turbine generator, avoiding the slow adjustment speed problem that exists in the prior art when using ballast water to adjust the attitude of the floating wind turbine generator. The floating wind power generation device with the aforementioned attitude control device also has the above-mentioned advantages.

[0092] It should be noted that the second base 30 is mounted on the floating wind turbine generator 100, and the first base 21 is connected to the floating wind turbine generator 100 through the second base 30.

[0093] The side of the second base 30 away from the first base 21 is a planar side, which facilitates the connection of the second base 30 to the floating wind turbine generator 100.

[0094] like Figure 10 As shown, in this embodiment, the floating wind turbine generator 100 includes a floating foundation 101 and wind power generation equipment mounted on the floating foundation 101. The floating foundation 101 includes multiple interconnected pontoons 1011. Multiple attitude control devices are also included, each corresponding to one of the pontoons 1011. The floating wind power generation equipment also includes a control unit, which controls and coordinates with multiple drive components 22. This control unit's coordination with the multiple drive components 22 results in higher attitude adjustment efficiency for the floating wind turbine generator.

[0095] It should be noted that the control unit and the adjustment unit also coordinate with each other.

[0096] like Figure 10 As shown, in this embodiment, the floating wind power generation device further includes a wind speed and direction monitoring structure, a wave and current monitoring structure, and a position and orientation monitoring structure. These structures are all mounted on the floating wind turbine generator set 100 and are coordinated with the control unit signals. The wind speed and direction monitoring structure acquires wind speed and direction data, the wave and current monitoring structure acquires wave and current data, and the position and orientation monitoring structure acquires the position and orientation data of the floating wind turbine generator set 100. The control unit can control the operation of the drive unit 22 based on the position and orientation data.

[0097] It should be noted that the wind speed and direction monitoring structure includes wind speed and direction monitoring sensors, the wave and current monitoring structure includes wave and current monitoring sensors, and the attitude monitoring structure includes unit attitude monitoring sensors.

[0098] When a floating wind turbine generates electricity, wind and wave currents affect its orientation. Wind speed and direction monitoring structures acquire wind speed and direction data, while wave current monitoring structures acquire wave current data. The control unit records these data. As the floating wind turbine's orientation changes under the influence of wind and wave currents, the orientation monitoring structure acquires the orientation data. The control unit then uses this data to control the operation of the drive components and adjust the damping using the damping adjustment structure.

[0099] like Figure 11As shown, the attitude control method for a floating wind power generation device in this embodiment is used to control the floating wind power generation device, which is the aforementioned floating wind power generation device. The attitude control method for the floating wind power generation device includes:

[0100] Step S10: Obtain the pose data of the floating wind turbine generator set 100 of the floating wind power generation device;

[0101] Step S20: Adjust the state of the transmission ring 231 of the floating wind power generation device according to the pose data.

[0102] Through the above settings, the position and orientation data of the floating wind turbine generator set 100 of the floating wind power generation device can be obtained, and then the drive component 22 can be controlled according to the position and orientation data, so that the drive component 22 can control the rotation of the transmission ring 231.

[0103] Step S20: The step of adjusting the state of the transmission ring 231 of the floating wind power generation device according to the pose data includes:

[0104] Step S21: When the attitude data meets the preset attitude conditions, the drive component 22 of the floating wind power generation device runs to drive the transmission ring 231 to rotate.

[0105] With the above settings, the transmission ring 231 can drive the paddle 12 to rotate toward the direction of the incoming wave flow.

[0106] After adjusting the state of the transmission ring 231 of the floating wind power generation device according to the pose data in step S20, the attitude control method of the floating wind power generation device further includes:

[0107] Step S30: When the pose data does not meet the preset pose conditions, stop adjusting the state of the transmission ring 231; otherwise, continue to adjust the state of the transmission ring 231 until the pose data meets the preset pose conditions.

[0108] The above settings enable the adjustment of the attitude of floating wind power generation devices.

[0109] Step S30: When the pose data does not meet the preset pose conditions, the step of stopping the adjustment of the state of the transmission ring 231 includes:

[0110] Step S31: Control drive 22 to stop running.

[0111] In other embodiments, when the floating wind power generation device includes a damping adjustment structure 40, step S20: when adjusting the state of the transmission ring 231 of the floating wind power generation device according to the pose data, the damping of the first connecting rod 11 of the floating wind power generation device rotating about the axis perpendicular to the transmission ring 231 is adjusted according to the pose data. Step S30: when the pose data does not meet the preset attitude conditions, when the state of the transmission ring 231 is stopped, the damping of the first connecting rod 11 rotating about the axis perpendicular to the transmission ring 231 is stopped; otherwise, the state of the transmission ring 231 and the damping of the first connecting rod 11 rotating about the axis perpendicular to the transmission ring 231 are adjusted until the pose data does not meet the preset attitude conditions.

[0112] By adjusting the damping of the first link 11 rotating about the axis perpendicular to the transmission ring 231, the damping of the blade 12 rotating about the axis perpendicular to the transmission ring 231 can be changed, thereby making the damping of the blade 12 rotating about the axis perpendicular to the transmission ring 231 match the damping of the blade 12 required for attitude adjustment of the floating wind turbine generator set 100.

[0113] In other embodiments, after step S21: the drive unit 22 of the floating wind power generation device operates to drive the transmission ring 231 to rotate, step S20: adjusting the state of the transmission ring 231 of the floating wind power generation device according to the pose data further includes:

[0114] Step S22: Adjust the damping of the first link 11 of the floating wind power generation device rotating about the axis perpendicular to the transmission ring 231 according to the pose data.

[0115] With the above settings, the damping of the first connecting rod 11 rotating about the axis perpendicular to the transmission ring 231 can be adjusted.

[0116] After step S31: controlling the drive unit 22 to stop running, step S30: when the pose data does not meet the preset attitude conditions, the step of stopping the adjustment of the state of the transmission ring 231 further includes:

[0117] Step S32: Control the damping adjustment structure 40 to stop adjustment.

[0118] The above settings can be used to control the damping adjustment structure 40 to stop operating.

[0119] The control method for the floating wind power generation device adjusts the attitude control device based on the sway signal measured from the floating wind turbine generator 100. The paddles 12 propel the water to generate a reaction force against the swaying of the floating foundation 101, thereby maintaining the attitude stability of the floating foundation 101. The specific control method is as follows:

[0120] 1. Sensing and Monitoring: Environmental and status monitoring information such as wind speed and direction, wave current, and unit attitude is acquired through the installation of sensors. For example, wind speed and direction monitoring sensors include laser wind radar and ultrasonic anemometers; wave current monitoring sensors include pressure sensors and acoustic Doppler current profilers; and unit attitude monitoring sensors include inertial measurement units integrating accelerometers, gyroscopes, and magnetometers, gravity acceleration sensors, and strain sensors.

[0121] 2. Signal Processing: Filtering and denoising algorithms are used to process filtered signals and denoised signals. Filtering algorithms include moving average filtering and Kalman filtering, while commonly used denoising algorithms include wavelet transform denoising and active denoising.

[0122] 3. Control Calculation: The control unit calculates the control strategy for the processed signals based on the control algorithm. The control unit typically includes hardware such as a programmable logic controller (PLC), control cabinet, and power supply. Considering the coupling characteristics of the six-degree-of-freedom motion of a floating wind turbine, the control unit can control multiple attitude control devices independently, in combination, or simultaneously.

[0123] 4. Control Execution: The required displacement and acceleration values ​​for each float 1011 are calculated and transmitted to the drive unit 22 and the damping adjustment structure 40 for execution. Driven by the sensing and monitoring signals and the results of the control calculations, the drive unit 22 rotates the transmission ring 231 to rotate the paddle plate 12 to the desired orientation. The magnetic field adjustment component adjusts the current to change the electromagnetic field strength, thereby adjusting the viscosity of the magnetorheological fluid. This allows the damping of the transmission plate 41 to match factors affecting the stability of the floating wind turbine, such as wind speed, wind direction, and wave current. Considering the continuous operation of the floating wind turbine and the time-varying nature of environmental factors such as wind and waves, the control algorithm adopts closed-loop control. The basic control logic is to dynamically control the attitude signal of the floating foundation 101 by feeding back the sensing and monitoring signals. In other words, after the above four stages, the attitude of the floating wind turbine and the damping provided by the damping adjustment structure 40 will meet the real-time stability control requirements of the floating wind turbine.

[0124] If the floating wind turbine meets the stability requirements, the control drive unit 22 and the damping adjustment structure 40 will stop operating; if the floating wind turbine does not meet the stability requirements, steps 1-4 will be repeated.

[0125] In this embodiment, the attitude control device requires the second base 30 to be mounted on the float 1011 of the floating wind power generator, with the second base 30 positioned between the first base 21 and the float 1011. The paddle 12 is located on the side of the first base 21 away from the second base 30. Multiple attitude control devices are located within the vertical space enclosed by multiple floats 1011. Under the influence of wind and currents, the attitude of the floating wind power generator changes. Specifically, the attitude of the floating wind power generator can be reflected by parameters such as its tilt angle and acceleration. Based on the tilt angle and acceleration of the floating wind turbine, the control unit controls the drive unit 22 to rotate the transmission ring 231. This, in turn, causes the transmission ring 231 to rotate the paddle plate 12 via the connector 232 and the first connecting rod 11, aligning the paddle plate 12 with the direction of the wave flow. Simultaneously, the control unit controls the magnetic field regulating component to adjust the viscosity of the magnetorheological fluid, reducing its viscosity. This decreases the damping provided by the damping adjustment structure 40, allowing the transmission plate 41 to rotate more easily. Under the influence of the wave flow, the paddle plate drives the transmission plate 41 to rotate, facilitating the paddle plate 12's propulsion. The propeller plate 12 generates a reaction force to resist the swaying of the floating foundation, adjusting its attitude and thus making the floating wind turbine more stable. When the tilt angle and acceleration of the floating wind turbine do not meet the preset range, the control unit stops the drive unit 22 and increases the damping provided by the damping adjustment structure 40 to prevent the paddle plate 12 from rotating.

[0126] In the description of this invention, it should be understood that "a plurality of" means two or more. Directional terms such as "front, back, up, down, left, right," "horizontal, vertical, perpendicular, horizontal," and "top, bottom" indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings. These terms are used solely for the convenience of describing the invention and simplifying the description. Unless otherwise stated, these directional terms do not indicate or imply that the device or element referred to must have a specific orientation or be constructed and operated in a specific orientation, and therefore should not be construed as limiting the scope of protection of this invention. The directional terms "inner" and "outer" refer to the inner or outer contours relative to the outline of each component itself.

[0127] For ease of description, spatial relative terms such as "above," "on top of," "on the upper surface of," "above," etc., are used herein to describe the spatial positional relationship of a device or feature as shown in the figures to other devices or features. It should be understood that spatial relative terms are intended to encompass different orientations in use or operation beyond the orientation of the device as described in the figures. For example, if the device in the figures were inverted, a device described as "above" or "on top of" other devices or structures would subsequently be positioned as "below" or "under" other devices or structures. Thus, the exemplary term "above" can include both "above" and "below." The device may also be positioned in other different ways (rotated 90 degrees or in other orientations), and the spatial relative descriptions used herein will be interpreted accordingly.

[0128] Furthermore, it should be noted that the use of terms such as "first" and "second" to define components is merely for the purpose of distinguishing the corresponding components. Unless otherwise stated, the above terms have no special meaning and therefore should not be construed as limiting the scope of protection of this invention.

[0129] The above description is merely a preferred embodiment of the present invention and is not intended to limit the invention. Various modifications and variations can be made to the present invention by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the scope of protection of the present invention.

Claims

1. An attitude control device, characterized in that, include: The paddle structure (10) includes a first connecting rod (11) and a paddle (12), wherein the paddle (12) is disposed at the first end of the first connecting rod (11); The first drive structure (20) includes a first base (21), a drive member (22), and a transmission assembly (23). The transmission assembly (23) includes a transmission ring (231) and a connector (232). The drive member (22) drives the transmission ring (231) to rotate. The transmission ring (231) is rotatably mounted on the first base (21) about its axis. When the transmission ring (231) rotates, it can drive the connector (232) to rotate about the axis of the transmission ring (231). The connector (232) is rotatably mounted on the transmission ring (231) about a direction perpendicular to the axis of the transmission ring (231). The second end of the first connecting rod (11) is connected to the connector (232) so that the transmission ring (231) drives the paddle plate (12) to rotate about the axis of the transmission ring (231) through the connector (232) and the first connecting rod (11).

2. The attitude control device according to claim 1, characterized in that, The first drive structure (20) further includes a linkage mechanism (24), which includes a connecting pin (241) and a connecting hole (242). The connecting pin (241) is rotatably inserted into the connecting hole (242). One of the connecting pin (241) and the connecting hole (242) is disposed on the transmission ring (231) and extends in the radial direction of the transmission ring (231). The other of the connecting pin (241) and the connecting hole (242) is disposed on the connector (232).

3. The attitude control device according to claim 1, characterized in that, The first drive structure (20) further includes a gear (25) disposed on the output shaft of the drive member (22), and a transmission tooth is disposed on the outer surface of the transmission ring (231), and the gear (25) meshes with the transmission tooth.

4. The attitude control device according to any one of claims 1 to 3, characterized in that, The attitude control device further includes a second base (30) disposed on the first base (21) and a damping adjustment structure (40) disposed on the second base (30). The damping adjustment structure (40) includes an adjustment part and a follower filling part. The adjustment part is adjusted and cooperates with the first connecting rod (11) through the follower filling part to adjust the damping of the first connecting rod (11) rotating about the axis perpendicular to the transmission ring (231).

5. The attitude control device according to claim 4, characterized in that, The second base (30) is provided with a receiving cavity (31). The follow-up filling part includes a magnetorheological fluid disposed in the receiving cavity (31). The adjustment part is a magnetic field adjustment component. The damping adjustment structure (40) also includes a transmission plate (41) that is linked with the first connecting rod (11). The transmission plate (41) is rotatably disposed in the receiving cavity (31). The transmission plate (41) is provided with a plurality of through holes (411) spaced apart, so that the magnetorheological fluid flows through the plurality of through holes (411).

6. The attitude control device according to claim 5, characterized in that, The damping adjustment structure (40) further includes a second link (42), the first end of which is hinged to the transmission plate (41), and the second end of which is movably disposed at the second end of the first link (11) along the length direction of the first link (11).

7. The attitude control device according to claim 6, characterized in that, The attitude control device further includes an elastic element (50). The first connecting rod (11) is provided with a first mounting hole (111). The opening of the first mounting hole (111) is located at the second end of the first connecting rod (11). The second end of the second connecting rod (42) passes through the first mounting hole (111). The elastic element (50) is provided in the first mounting hole (111) and is located between the second end of the second connecting rod (42) and the bottom wall of the first mounting hole (111).

8. The attitude control device according to claim 6, characterized in that, The hinge axis of the second link (42) and the transmission plate (41) is parallel to the rotation axis of the connector (232). The transmission plate (41) is provided with a first clearance part (412) in the middle. The first clearance part (412) is used to avoid the second link (42). The first end of the second link (42) is located in the first clearance part (412).

9. The attitude control device according to claim 5, characterized in that, The connector (232) includes a transmission ball (2321), and a portion of the transmission ball (2321) protruding from the first base (21) is provided at the opening of the receiving cavity (31). A second clearance part (413) is provided on the transmission plate (41) to clearance the transmission ball (2321).

10. The attitude control device according to claim 5, characterized in that, The receiving cavity (31) is a spherical cavity, and the side of the transmission plate (41) slides in cooperation with the inner surface of the receiving cavity (31), and / or, the second base (30) includes a seat body (32) and a mounting ball (33) disposed on the seat body (32), and the receiving cavity (31) is disposed in the mounting ball (33).

11. The attitude control device according to any one of claims 1 to 3, characterized in that, The first base (21) is provided with a second mounting cavity (211), and the transmission ring (231) is provided in the second mounting cavity (211). The first base (21) is also provided with a second mounting hole (212) that penetrates the first base (21). The second mounting hole (212) is connected to the second mounting cavity (211). The connector (232) is rotatably provided at the second mounting hole (212) and fits against the hole wall of the second mounting hole (212).

12. A floating wind power generation device, comprising a floating wind turbine generator set (100) and an attitude control device disposed on the floating wind turbine generator set (100), characterized in that, The attitude control device is the attitude control device according to any one of claims 1 to 11, and the first base (21) of the attitude control device is connected to the floating wind turbine generator set (100).

13. The floating wind power generation device according to claim 12, characterized in that, The floating wind turbine generator set (100) includes a floating foundation (101) and wind power generation equipment installed on the floating foundation (101). The floating foundation (101) includes a plurality of interconnected pontoons (1011). The attitude control device includes a plurality of devices, and the plurality of attitude control devices are configured one-to-one with the plurality of pontoons (1011). The floating wind power generation equipment also includes a control unit, and the control unit controls and cooperates with the plurality of drive components (22).

14. The floating wind power generation device according to claim 13, characterized in that, The floating wind power generation device also includes a posture monitoring structure, which is installed on the floating wind turbine generator set (100) and works in conjunction with the control unit signals.

15. A method for attitude control of a floating wind power generation device, used to control the floating wind power generation device, characterized in that, The floating wind power generation device is the floating wind power generation device according to any one of claims 12 to 14, and the attitude control method of the floating wind power generation device includes: Obtain the pose data of the floating wind turbine generator set (100) of the floating wind power generation device; The state of the transmission ring (231) of the floating wind power generation device is adjusted according to the pose data.

16. The attitude control method for a floating wind power generation device according to claim 15, characterized in that, When the floating wind power generation device includes a damping adjustment structure (40), when the state of the transmission ring (231) of the floating wind power generation device is adjusted according to the pose data, the damping of the first link (11) of the floating wind power generation device rotating about the axis perpendicular to the transmission ring (231) is adjusted according to the pose data.

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