Floating wind turbine generator device and control method of floating wind turbine generator device

Abstract

The invention provides a floating type wind turbine generator device and a control method of the floating type wind turbine generator device. The floating type wind turbine generator device comprises a wind turbine generator; the floating type unit platform comprises a center stand column, a plurality of floating barrels and a plurality of executing mechanisms, the bottom end of the wind turbine unit is fixed to the center stand column, the center stand column is connected with the floating barrels through pipelines, the executing mechanisms are installed on the floating barrels, and each executing mechanism comprises at least one of an external movable floating body and a floating body variable control wing, the external movable floating body drives the floating type wind turbine generator device to float when moving in the preset direction, and the posture of the floating type wind turbine generator device is driven to change when the pitch angle of the floating body variable control wing changes. According to the device, a plurality of execution devices are mounted on a floating wind turbine generator platform, and actions of the execution devices are calculated and controlled in real time through a main control system, so that the posture of the floating wind turbine generator device is quickly and accurately adjusted.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of floating wind power generation, in particular to a floating wind turbine device and a control method of the floating wind turbine device. BACKGROUND

[0002] With the development of offshore wind power technology, floating wind turbine devices have gradually become a research hotspot in the field of wind power because they can be deployed in deeper sea areas to obtain more stable and strong wind resources. However, since the floating wind turbine device is installed on the floating unit platform, it is affected by various environmental factors such as sea waves, wind and ocean currents, and its attitude control faces great challenges.

[0003] Currently, the attitude control of the floating wind turbine device mainly relies on the active dynamic water ballast system. This method changes the center of gravity of the floating unit platform by adjusting the liquid distribution of different cabins, thereby achieving the control and adjustment of the attitude. This method can work effectively under certain conditions, but its response speed is usually slow, generally more than one hour, which is difficult to cope with the rapid changes of the marine environment. In addition, the active dynamic water ballast system has high requirements for the structural design and maintenance of the floating wind turbine device, which increases the overall complexity and cost.

[0004] In summary, the existing attitude control technology of the floating wind turbine device has the disadvantages of slow response speed, high complexity, insufficient reliability and high energy consumption, which is difficult to meet the needs of modern floating wind turbine devices in efficient, stable and economic operation. SUMMARY

[0005] The main purpose of the present application is to provide a floating wind turbine device and a control method of the floating wind turbine device, so as to at least solve the problems of slow response speed, high complexity, insufficient reliability and high energy consumption of the existing attitude control technology of the floating wind turbine device.

[0006] In order to achieve the above-mentioned purpose, according to one aspect of the present application, a floating wind turbine device is provided, comprising: a wind turbine; a floating unit platform comprising a central column, a plurality of pontoons and a plurality of actuators, the bottom end of the wind turbine being fixed on the central column, the central column being connected to each of the pontoons through a pipeline, and each of the pontoons being provided with an actuator, the actuator comprising at least one of an external movable float and a float variable control wing, wherein the external movable float drives the floating wind turbine device to float when moving in a predetermined direction, and the pitch angle of the float variable control wing changes to drive the attitude of the floating wind turbine device to change.

[0007] Optionally, the execution mechanism comprises the movable external floating body, and the floating body is further provided with a first driving device and a transmission device, the transmission device drives the movable external floating body to move along the preset direction under the driving of the first driving device, and the movable external floating body is in engagement with the transmission device or a predetermined part of the floating body is connected to one end of the transmission device.

[0008] Optionally, the transmission device is a rack parallel to the central axis of the floating body, the first driving device is arranged at one end of the rack, the first driving device is used to drive the rack to move, the movable external floating body is provided with a gear wheel, and the gear wheel is in engagement with the rack, so that the rack drives the movable external floating body to move under the driving of the first driving device.

[0009] Optionally, the transmission device comprises a cable guiding device parallel to the central axis of the floating body, a cable winding device arranged at one end of the cable guiding device and a cable, the cable guiding device is used to control the movement track of the cable, and the first driving device is used to drive the cable winding device to wind the cable, so that the movable external floating body moves along with the cable under the driving of the first driving device.

[0010] Optionally, the execution mechanism comprises the floating body variable control wing, and the floating body variable control wing comprises a blade, a second driving device arranged at one end of the blade connected to the floating body, the second driving device being used to drive the blade to rotate, and a sealing device, the second driving device being arranged in the sealing device.

[0011] According to another aspect of the present application, a control method of the floating wind turbine device is provided, the method comprising: collecting sensor data, the sensor data at least comprising pose data of the floating wind turbine device; calculating a control parameter according to the sensor data, and controlling the execution mechanism to act by using the control parameter, so that the posture of the floating wind turbine device is kept as a preset posture, wherein the control of the execution mechanism to act comprises control of position change of the movable external floating body and / or control of blade angle change of the floating body variable control wing.

[0012] Optionally, the control variable is calculated according to the sensor data, including: in the case that the actuator comprises external movable floating bodies, the height difference between any two external movable floating bodies is calculated according to the pose data of the floating wind turbine device, and / or the moving height of each external movable floating body is calculated according to the pose data of the floating wind turbine device and the environmental parameter data; in the case that the actuator comprises floating body variable control wings, the blade rotation angle of each floating body variable control wing is calculated according to the pose data of the floating wind turbine device and the environmental parameter data.

[0013] Optionally, the float has three, namely a first float, a second float and a third float, the pose data of the floating wind turbine device comprises the distance between adjacent two floats and the pitch angle and roll angle of the float, the distance between any two adjacent floats is the same, and the pitch angle and roll angle of all floats are the same, the height difference between any two external movable floating bodies is calculated according to the pose data of the floating wind turbine device, including: the height difference between the first floating body and the second floating body is calculated according to the first formula , wherein, is the height of the first floating body, is the height of the second floating body, L is the distance between adjacent two floats, is the pitch angle of the float collected by the six-degree-of-freedom sensor, is the roll angle of the float collected by the six-degree-of-freedom sensor, the first floating body is the external movable floating body installed on the first float, and the second floating body is the external movable floating body installed on the second float; the height difference between the first floating body and the third floating body is calculated according to the second formula , wherein, is the height of the third floating body, and the third floating body is the external movable floating body on the third float; the height difference between the second floating body and the third floating body is calculated according to the third formula .

[0014] Optionally, the three floats are a first float, a second float and a third float, and the moving heights of the external movable floats are calculated according to the pose data of the floating wind turbine generator device and the environmental parameter data, including: a first bending moment signal is calculated according to the pitch angle of the float and the moment of inertia of the floating unit platform, and a second bending moment signal is calculated according to at least the wind wheel aerodynamic thrust coefficient and the wind speed signal; the sum of the first bending moment signal and the second bending moment signal is determined as a float compensation bending moment; a first moving height, a second moving height and a third moving height are calculated according to the float compensation bending moment, wherein the sum of the first moving height, the second moving height and the third moving height is 0, the first moving height is the moving height of a first float installed on the first float, the second moving height is the moving height of a second float installed on the second float, and the third moving height is the moving height of a third float installed on the third float.

[0015] Optionally, the first bending moment signal is calculated according to the pitch angle of the float and the moment of inertia of the floating unit platform, including: the first bending moment signal is calculated according to a first bending moment formula , wherein is the first bending moment signal, is the moment of inertia of the floating unit platform rotating about the first direction as the axis, is the pitch angle of the float collected by the six-degree-of-freedom sensor.

[0016] Optionally, the second bending moment signal is calculated according to at least the wind wheel aerodynamic thrust coefficient and the wind speed signal, including: the second bending moment signal is calculated according to a second bending moment formula , wherein is the second bending moment signal, is the wind wheel aerodynamic thrust coefficient, V is the wind speed signal, and H is the distance from the center of the wind wheel in the wind turbine to the center of gravity of the floating wind turbine generator device.

[0017] Optionally, the first moving height, the second moving height and the third moving height are calculated according to the float compensation bending moment, including: the first moving height, the second moving height and the third moving height are calculated according to a height calculation formula , wherein is the float compensation bending moment, is the torque of the buoyancy provided by the first float, is the torque of the buoyancy provided by the second float, is the torque of the buoyancy provided by the third float, is the distance between the external movable float and the center column of the floating unit platform. a density of a liquid in which the floating wind turbine device is floating, g is a gravitational acceleration, S is a cross-sectional area of the external movable float, is the first moving height, is the second moving height, is the third moving height.

[0018] Optionally, the blade rotation angle of each of the floating variable control wings is calculated according to the pose data of the floating wind turbine device and the environmental parameter data, including: a floating body compensation bending moment is calculated according to the pose data of the floating wind turbine device and the environmental parameter data; and a lift-drag force of the floating variable control wing corresponding to the external movable float is calculated according to a fourth formula , wherein, is the floating body compensation bending moment, is a distance between the external movable float and a central column of the floating wind turbine platform, is the lift-drag force of the floating variable control wing corresponding to the external movable float; and the blade rotation angle of the floating variable control wing is determined according to the lift-drag force of the floating variable control wing.

[0019] Optionally, the blade rotation angle of the floating variable control wing is determined according to the lift-drag force of the floating variable control wing, including: a pitch angle of the floating variable control wing is determined according to a lift-drag force formula , wherein, is the lift-drag force of the floating variable control wing corresponding to the external movable float, is a lift coefficient of a cross-sectional airfoil of the floating variable control wing, is the pitch of the floating variable control wing, is a flow velocity of a liquid in which the floating wind turbine device is floating, and L is a blade length of the floating variable control wing; and the blade rotation angle of the corresponding floating variable control wing is determined according to the pitch angle of the floating variable control wing.

[0020] According to the technical solution of the application, the floating unit platform of the floating wind turbine device comprises a central column, a plurality of pontoons and a plurality of actuators, the bottom end of the wind turbine is fixed on the central column, the central column is connected to each of the pontoons through a pipeline, each of the pontoons is provided with an actuator, the actuator comprises at least one of an external movable floating body and a floating body variable control wing, wherein the external movable floating body drives the floating wind turbine device to float when moving in a preset direction, and the pitch angle of the floating body variable control wing changes to drive the posture of the floating wind turbine device to change. The device installs a plurality of actuators on the floating unit platform, and calculates and controls the actions of the plurality of actuators in real time through the master control system, so as to realize the rapid and accurate adjustment of the posture of the floating wind turbine device, solve the problems of slow response speed, high complexity, insufficient reliability and high energy consumption of the posture control technology of the floating wind turbine device in the prior art, so as to not only improve the operation stability of the floating wind turbine device under complex conditions, but also improve the power generation efficiency and overall reliability. BRIEF DESCRIPTION OF DRAWINGS

[0021] The drawings accompanying the specification of the present application form a part thereof, serve to provide further understanding of the present application, and together with the description of the present application, serve to explain the present application, and do not constitute improper limitations to the present application. In the drawings:

[0022] Figure 1 A structural schematic diagram of a floating wind turbine device provided in an embodiment of the present application is shown;

[0023] Figure 2 A structural schematic diagram of an external movable floating body provided in an embodiment of the present application is shown;

[0024] Figure 3 A connection structure schematic diagram of an external movable floating body and a pontoon provided in an embodiment of the present application is shown;

[0025] Figure 4 Another connection structure schematic diagram of an external movable floating body and a pontoon provided in an embodiment of the present application is shown;

[0026] Figure 5 A connection structure schematic diagram of a floating body variable control wing and a pontoon provided in an embodiment of the present application is shown;

[0027] Figure 6 A structural schematic diagram of another floating wind turbine device provided in an embodiment of the present application is shown;

[0028] Figure 7 A control logic schematic diagram of a floating wind turbine device provided in an embodiment of the present application is shown;

[0029] Figure 8 A schematic flowchart of a control method for a floating wind turbine generator provided in an embodiment of this application is shown.

[0030] Figure 9 A schematic diagram of a reference coordinate system provided in an embodiment according to this application is shown;

[0031] Figure 10 A schematic diagram illustrating the principle of a height calculation formula provided in an embodiment of this application is shown;

[0032] Figure 11 A schematic diagram illustrating the working principle of each component in a floating wind turbine unit provided in an embodiment of this application is shown.

[0033] The above figures include the following reference numerals:

[0034] 10. Wind turbine; 20. Floating turbine platform; 21. Central column; 22. Float; 23. Actuator; 231. External movable float; 2311. Auxiliary air chamber; 2312. Fixed frame; 2313. Connecting component; 232. Variable volume control wing; 2321. Blade; 2322. Second drive unit; 241. Rack; 242. Cable guide device; 243. Cable winding device; 244. Cable; 25. First drive unit. Detailed Implementation

[0035] It should be noted that, unless otherwise specified, the embodiments and features described in this application can be combined with each other. This application will now be described in detail with reference to the accompanying drawings and embodiments.

[0036] To enable those skilled in the art to better understand the present application, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present application, and not all embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative effort should fall within the scope of protection of the present application.

[0037] It should be noted that the terms "first", "second", etc. in the specification and claims of the present application and the above-mentioned drawings are used to distinguish similar objects, and do not necessarily describe a specific order or sequence. It should be understood that the data thus used can be interchanged under appropriate circumstances, so that the embodiments of the present application described herein can be implemented. In addition, the terms "include" and "have" and any variations thereof are intended to cover non-exclusive inclusion, for example, a process, method, system, product or device including a series of steps or units does not necessarily limit to those steps or units clearly listed, but can include other steps or units not clearly listed or inherent to these processes, methods, products or devices.

[0038] As introduced in the background, the prior art has the following disadvantages: 1. Slow response speed, the active dynamic water ballast system relies on the movement of liquid water to adjust the overall attitude, which often takes a long time, and it is difficult to respond to rapidly changing wind and sea conditions, resulting in a lag in the adjustment of the attitude of the unit, affecting the overall power generation efficiency; 2. High complexity: due to the need to achieve dynamic adjustment of water under large span and the overall execution mechanism being covered by liquid, the design and maintenance of the dynamic ballast water system is complex, increasing the construction and operation cost of the unit; 3. Insufficient reliability, under extreme marine conditions, the effectiveness and stability of the active dynamic water ballast system may be affected, which cannot guarantee the safe operation of the unit; In addition, the current water ballast pump has low reliability, and once damaged, it cannot be replaced; 4. High energy consumption, the operation of the active dynamic water ballast system requires additional energy to drive the movement of the liquid, which adversely affects the overall energy efficiency.

[0039] To solve the problems of slow response speed, high complexity, insufficient reliability and high energy consumption of the attitude control technology of the floating wind turbine device in the prior art, the embodiments of the present application provide a floating wind turbine device and a control method of the floating wind turbine device.

[0040] The technical solutions in the embodiments of the present application will be described clearly and completely in combination with the drawings in the embodiments of the present application.

[0041] In this embodiment, a floating wind turbine device is provided, which comprises a floating platform and a plurality of water ballast pumps arranged on the floating platform, Figure 1As shown, it comprises: a wind turbine 10; a floating turbine platform 20, including a central column 21, a plurality of pontoons 22 and a plurality of actuators 23, the bottom end of the wind turbine 10 is fixed on the central column 21, the central column 21 is connected to each of the pontoons 22 through a pipeline, each of the pontoons 22 is installed with an actuator 23, the actuator 23 includes at least one of an external movable float and a float variable control wing, wherein the external movable float drives the floating wind turbine device to float when moving in a predetermined direction, and the pitch angle of the float variable control wing changes to drive the posture of the floating wind turbine device to change.

[0042] The design motivation of the actuator is derived from the in-depth study of the existing floating wind turbine posture control system and the practical problems encountered in practice. With the rapid development of offshore wind power industry, especially in deep sea area, floating wind turbine becomes an important direction of future wind power development due to its characteristics of adapting to deep water environment. Floating wind turbine is a new technology at present, its unique six-degree-of-freedom operating posture (pitch, surge, roll, sway, yaw, heave) makes it different from fixed offshore wind turbine, and the requirements for its safe and reliable operation are more stringent. The posture control system can improve the power generation efficiency and safety of the wind turbine, and is one of the key core technologies in the current floating wind turbine. With the development of floating wind turbine to deeper water and more complex marine environment, higher requirements are put forward for the posture control system.

[0043] However, in the process of research and application, researchers found that the most commonly used dynamic water ballast system has significant limitations, which is difficult to meet the high reliability and high efficiency requirements of wind turbine posture control. Especially in the face of complex and changeable marine environment, the existing active dynamic water ballast system cannot provide sufficient rapid response and accurate control. In some complex working conditions, even the instability of the floating turbine platform (i.e. the floating turbine platform) will affect the stability and safety of the whole machine operation.

[0044] In order to overcome the limitations of the traditional active dynamic water ballast system, the floating wind turbine device of the present application adds extra execution devices on the basis of the existing floating unit platform, that is, the floating unit platform of the floating wind turbine device of the present application includes a central column, a plurality of pontoons and a plurality of execution mechanisms, the bottom end of the wind turbine is fixed on the central column, the central column is connected with each pontoon through a pipeline, and each pontoon is provided with an execution mechanism, the execution mechanism includes at least one of an external movable floating body and a floating body variable control wing, wherein the external movable floating body drives the floating wind turbine device to float when moving in a predetermined direction, and the pitch angle of the floating body variable control wing changes to drive the attitude of the floating wind turbine device to change. The device realizes rapid and accurate adjustment of the attitude of the floating wind turbine device by installing a plurality of execution devices on the floating unit platform and calculating and controlling the actions of the plurality of execution devices in real time through the master control system, solves the problems of slow response speed, high complexity, insufficient reliability and high energy consumption of the attitude control technology of the floating wind turbine device in the prior art, which not only improves the operation stability of the floating wind turbine device under complex conditions, but also improves the power generation efficiency and overall reliability.

[0045] As shown in Figure 1 , the floating unit platform 20 is generally composed of a large closed floating body welded by steel structure, and contains certain fixed ballast weight inside. The wind turbine 10 includes wind wheel, transmission chain, main frame, tower and other mechanical and electrical components.

[0046] As shown in Figure 2 , the execution mechanism includes the external movable floating body 231, and the pontoon 22 is further provided with a first driving device (not shown in Figure 2 ) and a transmission device, the transmission device drives the external movable floating body 231 to move along the predetermined direction under the driving of the first driving device, wherein the external movable floating body 231 is engaged with the transmission device or the predetermined part of the floating body body is connected with one end of the transmission device.

[0047] As shown in Figure 2 , the floating body body is the body of the external movable floating body, the external movable floating body includes an additional air chamber 2311 composed of fiber material, a fixed frame 2312 of steel structure air chamber, a connecting part 2313 with the floating unit platform, and a position sensor (not shown in Figure 2The position sensor is used to monitor the position of the current additional movable floating body, which can be installed at any position on the external movable floating body. The additional air chamber 2311 is a lightweight air chamber floating body made of fiber material, mainly providing buoyancy. The fixed frame 2312 is mainly used to fix the additional air chamber of fiber material. The connecting component 2313 is structured so that the fixed frame 2312 of the steel structure can be connected with the floating unit platform and can move up and down.

[0048] Specifically, the external movable floating body receives signals transmitted by the main control system, and changes the up-down position of different additional floating bodies on the floating unit platform through the execution device to provide different buoyancy, thereby performing attitude control of the whole machine.

[0049] Some embodiments, as shown in Figure 3 The transmission device is a rack 241 parallel to the central axis of the floating body 22. The first driving device 25 is installed at one end of the rack 241, and the first driving device 25 is used to drive the rack 241 to move. The external movable floating body 231 is installed with a gear ( Figure 3 not shown in the figure), which is engaged with the rack 241. Wherein, in the case that the first driving device 25 drives the rack 241 to move, the rack 241 moves with the external movable floating body 231. Wherein, the brake fixing device is also installed on the gear, which can fix the external movable floating body at a certain position, and the first driving device can be a motor.

[0050] Wherein, the cooperation of motor, gear and rack is mainly used to drive the external movable floating body to move up and down.

[0051] Specifically, the cooperation of rack and gear can realize very precise position control, which benefits from the high precision and repeatability of gear transmission. In the attitude control system, such precision helps to more accurately adjust the position of the additional floating body, thereby realizing more delicate attitude control of the floating wind turbine generator. The combination of gear and rack can transmit larger force, which is suitable for driving heavier load. In the application of wind turbine generator, even if the weight of the additional floating body to be moved is larger, the rack execution mechanism can also provide sufficient driving force to ensure the stable movement of the floating body and realize the expected attitude adjustment.

[0052] Some embodiments, as shown in Figure 4As shown, the transmission device includes a cable guide device 242 parallel to the central axis of the float 22, a cable winding device 243 installed at one end of the cable guide device 242, and a cable 244. The cable guide device 242 controls the movement trajectory of the cable 244, and the first drive device 25 drives the cable winding device 243 to wind the cable 244. When the first drive device 25 drives the cable winding device 243 to wind the cable 244, the external movable float 231 moves with the cable 244. The transmission device is also equipped with a stop cable device and a brake fixing device to fix the external movable float in a certain position. The first drive device can be an electric motor.

[0053] Specifically, cables, guide cables, stop cables, reeling cables, and motors are primarily used to drive the up-and-down movement of an externally mounted, movable float. Cable mechanisms can adapt to complex paths and spatial layouts through bending and extension, allowing for precise control over long distances, making them particularly suitable for space-constrained or wide-range motion applications. Compared to other actuators, cables and related accessories (such as pulleys) are lighter, which is highly beneficial when reducing overall system weight or improving mobility. The initial investment and maintenance costs of cable actuators are typically lower, especially when long-distance or multi-dimensional motion is required, making cable systems more cost-effective than other types of actuators. High-quality cable materials (such as steel wire rope and polyester fiber) can withstand greater tension, making cable actuators suitable for heavy-load or high-stress applications.

[0054] In some embodiments, such as Figure 5 As shown, the aforementioned actuator includes the aforementioned variable control wing 232 of the float, which includes: a blade 2321; a second drive device 2322, installed at the end where the blade connects to the float, the second drive device being used to drive the blade to rotate; and a sealing device ( Figure 5 (Not shown in the image), the second drive device is installed in the sealing device. The second drive device is a drive motor or a hydraulic drive device. The variable control wing of the float also includes a pitch angle position sensor, which can be installed at any position on the variable control wing.

[0055] Specifically, the floating body variable control wing receives signals transmitted by the main control system, and different wave flow forces are obtained by changing the pitch angle of the variable control wing at different positions, so as to perform the floating wind turbine attitude compensation control. The blades are composed of corrosion-resistant materials, and the lift is provided by using the sea current; the pitch angle position sensor is used to monitor the pitch angle of the current control wing blade; the second driving device is used to control the rotation of the variable control wing blade, so as to change the pitch angle and change the lift; the sealing device is used to prevent seawater from entering the driving motor cabin.

[0056] Figure 6 For another floating wind turbine device structure provided in the embodiments according to the present application, as shown in Figure 6 The floating wind turbine device simultaneously includes an external movable floating body 231 and a floating body variable control wing 232.

[0057] In some embodiments, the above-mentioned floating wind turbine device further includes an attitude sensor, an acceleration sensor, a wave flow sensor, a position sensor and the like acquisition system, which is generally installed on the floating turbine platform and the wind turbine, and acquires different required signals. The floating wind turbine device further includes a PLC (programmable logic controller), a control cabinet, a power supply and the like hardware, which is generally installed at the bottom of the wind turbine tower; includes filtering, attitude control algorithm and the like software, which is the core of the whole attitude control system, and is generally programmed in the PLC (programmable logic controller), which controls the normal operation of the unit.

[0058] The specific control logic is shown in Figure 7 First, the monitoring system collects signals through sensors and transmits the collected signals to the control system (controller). The monitoring system generally includes an attitude sensor, a position sensor, a wave flow sensor and a wind direction and speed sensor. The attitude sensor collects the six-degree-of-freedom attitude of the whole machine, the position sensor collects the position of the external movable floating body and the pitch angle of the floating body control wing, the wave flow sensor collects the wave signal and the flow signal, and the wind direction and speed sensor collects the wind speed and direction signal. These signals are transmitted to the control system, the control system processes the signal input, and outputs the signal to the execution device through the control strategy. The control system includes a filter and an attitude control algorithm. After the control system calculates the up-and-down movement distance of the external movable floating body and the pitch angle of the floating body control wing, it outputs to the execution system. The execution system receives the signals transmitted by the control system to change the state of the execution device. The execution device includes an external floating body (external movable floating body) and a floating body control wing.

[0059] Among them, the functions of the above components are as follows:

[0060] 1、Floating unit platform: the base support structure of the floating wind turbine, mainly used for supporting the entire floating wind turbine and providing sufficient stability for the entire machine, and can be installed with a monitoring system and additional execution device thereon;

[0061] 2、Wind turbine: the core of the floating wind turbine, mainly used for energy capture and power generation, and can be installed with a monitoring system and control system thereon;

[0062] 3、Monitoring system: the monitoring system is generally arranged on the entire floating wind turbine, and various operating signals of the floating wind turbine are monitored through various sensors and transmitted to the main control system; wherein:

[0063] 1) The attitude sensor is installed on the floating unit platform, and can monitor the six-degree-of-freedom motion signals of the floating unit platform and transmit them to the main control system;

[0064] 2) The position sensor is installed on the additional execution device, and can monitor the current position signal of the execution device and transmit it to the main control system;

[0065] 3) The wave current sensor is installed on the floating unit platform, and can monitor the size of the wave and the current and transmit it to the main control system;

[0066] 4) The wind direction and speed sensor is installed at the top of the wind turbine, and can monitor the size of the incoming wind speed and direction and transmit it to the main control system;

[0067] 5) The acceleration sensor is installed on the wind turbine, and can monitor the motion signal of the nacelle and the tower bottom load and transmit it to the main control system;

[0068] 4、Main control system: the main control system is generally installed at the tower bottom of the wind turbine, and the operating signals of the floating wind turbine transmitted by the monitoring system are processed through the attitude control algorithm, and the processed signals are transmitted to the additional execution device.

[0069] Based on the above, the embodiments of the present application also provide a control method of a floating wind turbine device. It should be noted that the steps shown in the flowchart of the accompanying drawings can be executed in a computer system such as a group of computer executable instructions, and although the logical order is shown in the flowchart, in some cases, the steps shown or described can be executed in an order different from that shown here.

[0070] Figure 8 The flowchart of the control method of the floating wind turbine device provided in the embodiments of the present application is shown in FIG. 1, which comprises the following steps: Figure 8

[0071] ​Step S101, collecting sensor data, wherein the sensor data at least includes the pose data of the floating wind turbine device;

[0072] Step S102, calculating a control parameter according to the sensor data, and controlling the actuator to act according to the control parameter, so that the posture of the floating wind turbine device is kept as a preset posture, wherein the actuator includes a position change of an external movable floating body and / or a blade angle change of a floating body variable control wing.

[0073] The above control method of the present application first collects sensor data, wherein the sensor data at least includes the pose data of the floating wind turbine device; then calculates a control parameter according to the sensor data, and controls the actuator to act according to the control parameter, so that the posture of the floating wind turbine device is kept as a preset posture, wherein the actuator includes a position change of an external movable floating body and / or a blade angle change of a floating body variable control wing. This method provides higher posture adjustment accuracy and flexibility through the movable floating body and the variable control wing. The accurate adjustment of the floating body position and the lift adjustment of the control wing can compensate the posture change of the wind turbine in multiple dimensions, adapt to different sea conditions and wind conditions. Compared with the single adjustment mode of the traditional ballast water system, the multiple adjustment mode of the system is more flexible, ensuring higher operation reliability and power generation efficiency.

[0074] In some embodiments, the control parameter is calculated according to the sensor data, including the following steps:

[0075] Step S1021, in the case that the actuator includes an external movable floating body, calculating the height difference between any two external movable floating bodies according to the pose data of the floating wind turbine device, and / or calculating the moving height of each external movable floating body according to the pose data of the floating wind turbine device and the environmental parameter data;

[0076] Step S1022, in the case that the actuator includes a floating body variable control wing, calculating the blade rotation angle of each floating body variable control wing according to the pose data of the floating wind turbine device and the environmental parameter data.

[0077] Specifically, calculating the height difference between the external movable floating bodies or their moving height according to the pose data of the floating wind turbine can enable the system to adjust the position of the floating bodies in real time, achieve rapid attitude correction, and ensure that the wind turbine remains stable under environmental conditions such as sea waves and wind changes. By inputting environmental parameter data such as wind speed and wave height, the system can predict and adjust the floating body height in advance, enhance the adaptability and control accuracy to complex marine environments, and reduce the loss of power generation efficiency caused by attitude changes. Accurate calculation of the moving amount of the floating body can effectively reduce unnecessary energy consumption, especially when fine-tuning the attitude, avoiding the energy consumption caused by large-scale movement of the floating body, making the entire system more energy-saving and environmentally friendly.

[0078] Based on the pose data and environmental parameters, the blade rotation angle of the control wing is calculated, which can achieve multi-dimensional attitude control, not limited to vertical adjustment, but also can generate thrust in the horizontal direction, making the attitude adjustment of the wind turbine more flexible and accurate. The control wing's blade rotation angle adjustment speed is fast, which can quickly respond to environmental changes such as sudden wind direction changes, ensuring that the wind turbine quickly recovers to the optimal attitude, avoiding power interruption or efficiency decline. By accurately adjusting the angle of the control wing, the system can better resist environmental disturbances and keep the wind wheel facing the direction of maximum wind energy, thereby improving the power generation efficiency of the wind turbine, especially in rapidly changing marine climate conditions.

[0079] In some embodiments, the above-mentioned floating cylinders are three, namely the first floating cylinder, the second floating cylinder and the third floating cylinder, and the pose data of the floating wind turbine device includes the distance between two adjacent floating cylinders and the pitch angle and roll angle of the floating cylinder. The distance between any two adjacent floating cylinders is the same, and the pitch angle and roll angle of all floating cylinders are the same.

[0080] Figure 9 is a schematic view of a reference coordinate system, based on the directions of the x-axis, y-axis and z-axis of the reference coordinate system shown in Figure 9 , the height difference between any two external movable floating bodies is calculated to control the external movable floating bodies, that is, the height difference between any two external movable floating bodies is calculated according to the pose data of the floating wind turbine device, including the following steps:

[0081] Step S201, the height difference between the first floating body and the second floating body is calculated according to the first formula , wherein is the height of the first floating body, is the height of the second floating body, and L is the distance between two adjacent floating cylinders, is the pitch angle of the floating cylinder collected by the six-degree-of-freedom sensor, The roll angle of the float obtained by the above-mentioned six-degree-of-freedom sensor is the first float, which is the external movable float installed on the first float, and the second float is the external movable float installed on the second float.

[0082] Step S202, according to the second formula The height difference between the first and third floating bodies was calculated, where, The height of the third float is the height of the external movable float mounted on the third pontoon.

[0083] Step S203, according to the third formula The height difference between the second and third floating bodies was calculated.

[0084] Specifically, once the height difference is obtained, the attitude of the floating generator platform can be balanced by changing the external movable floats through the actuators. The logic for the aforementioned height difference is a closed-loop control algorithm. By monitoring and feeding back the pitch attitude signal, the attitude controller calculates the required heights of the external movable floats corresponding to the first, second, and third floats, and transmits this information to the actuators for execution. In other words, the heights of the three external movable floats only need to satisfy the aforementioned three height differences.

[0085] In some embodiments, there are three floats, namely a first float, a second float, and a third float. Based on the attitude data of the floating wind turbine device and the environmental parameter data, the moving height of each of the external movable floats is calculated, including the following steps:

[0086] Step S301: Based on the pitch angle of the above-mentioned pontoon and the moment of inertia of the floating turbine platform, the first bending moment signal is calculated, and at least based on the wind turbine aerodynamic thrust coefficient and wind speed signal, the second bending moment signal is calculated.

[0087] Specifically, the above steps, by combining the pitch angle of the pontoon with the rotational inertia of the floating turbine platform, and analyzing the aerodynamic thrust coefficient of the wind turbine and real-time wind speed data, can accurately predict and quantify the bending moment effect of the external environment (wind and waves) on the turbine platform. This enables the system to respond instantly to environmental changes, especially in scenarios with rapid changes in sea state and wind speed. The calculated first and second bending moment signals reflect the torque changes related to the pontoon attitude and wind force, respectively. By fusing these two signals, the total bending moment compensation required to maintain or adjust the stability of the turbine platform can be accurately determined, providing an accurate data basis for subsequent control strategies.

[0088] Step S302: The sum of the first bending moment signal and the second bending moment signal is determined as the floating body compensation bending moment;

[0089] Specifically, the above steps determine the sum of the first and second bending moment signals as the float compensation bending moment. This calculation result directly guides the precise control of the external movable float or variable control wing. By compensating for the bending moment caused by the external environment, the system can more effectively adjust the attitude of the unit platform, ensuring that it maintains optimal operating conditions even under complex conditions. After determining the float compensation bending moment, the system can adjust the operation of the actuators in real time. Whether it is changing the buoyancy distribution by moving the float or generating additional torque by adjusting the angle of the control wing, it can respond quickly and achieve rapid attitude adjustment.

[0090] Step S303: Calculate the first moving height, the second moving height, and the third moving height based on the above-mentioned floating body compensation bending moment. The sum of the first moving height, the second moving height, and the third moving height is 0. The first moving height is the moving height of the first floating body installed on the first pontoon, the second moving height is the moving height of the second floating body installed on the second pontoon, and the third moving height is the moving height of the third floating body installed on the third pontoon.

[0091] Specifically, the above steps achieve independent control of the actuators installed on different pontoons by calculating the first, second, and third movement heights. The movement height of each pontoon can be precisely adjusted according to the required bending moment compensation. This multi-point independent control method significantly improves the system's stability and control accuracy. Ensuring that the sum of the movement heights of the three pontoons is zero means that the overall torque of the actuators remains balanced in three-dimensional space, avoiding the risks that may arise from overcompensation or unbalanced control, and ensuring the safe operation of the wind turbine. Through the calculated movement heights, the actuators can respond quickly and precisely adjust the pitch attitude of the floating wind turbine, reducing vibration and attitude changes caused by environmental factors (such as wind and waves), thereby improving the power generation efficiency and operational reliability of the wind turbine. Precise control of the actuators not only effectively improves the attitude of the turbine platform but also reduces unnecessary energy consumption, especially in situations requiring fine-tuning of attitude, avoiding energy consumption caused by over-driving the actuators.

[0092] The basic control logic of the above steps involves collecting attitude signals and wind speed and direction signals, fusing them to solve for the bending moment compensation signal required by the external movable floats, then obtaining the required height of the three external movable floats through inverse solving, and transmitting this result to the actuator. This constitutes an open-loop control algorithm.

[0093] The specific calculation principle involves calculating the first bending moment signal based on the pitching angle of the aforementioned pontoon and the moment of inertia of the floating power unit platform. This includes: calculating the first bending moment according to the formula... The first bending moment signal mentioned above was calculated, where, is the first bending moment signal, is the moment of inertia of the floating unit platform rotating about the first direction, is the pitch angle of the floating unit platform obtained by the six-degree-of-freedom sensor.

[0094] Specifically, the pitch angle of the floating unit platform is collected in real time by the six-degree-of-freedom sensor, which is the key information for evaluating the current attitude state of the wind turbine platform. Continuous monitoring of the sensor ensures that the first bending moment signal can timely reflect the actual environmental changes, providing real-time feedback data for the control system, so that it can respond quickly. The first bending moment formula combines the moment of inertia of the floating unit platform and the pitch angle, which can accurately calculate the first bending moment signal that needs to be compensated at a certain moment. The moment of inertia represents the ability of the platform to resist attitude changes, while the pitch angle reflects the degree of influence of the current environment on the platform. This formula enables the system to accurately understand and quantify the moment of force that the wind turbine platform is subjected to under the current environmental conditions, providing a scientific basis for the next step of compensation control.

[0095] In some embodiments, the second bending moment signal is calculated according to at least the wind wheel aerodynamic thrust coefficient and the wind speed signal, including: calculating the second bending moment signal according to the second bending moment formula , wherein, is the second bending moment signal, is the wind wheel aerodynamic thrust coefficient, V is the wind speed signal, and H is the distance from the center of the wind wheel in the wind turbine to the center of gravity of the floating wind turbine device.

[0096] Specifically, through the second bending moment formula, the system can accurately calculate the moment effect of the wind wheel aerodynamic thrust on the platform of the wind turbine. This calculation is based on the wind wheel aerodynamic thrust coefficient, the current wind speed V, and the distance H between the center of the wind wheel and the center of gravity of the wind turbine, which comprehensively reflects the direct impact of wind on the platform attitude. Therefore, this formula can help the system predict the bending moment generated by the wind wheel on the platform under different wind speed and wind direction conditions, providing a scientific basis for subsequent moment compensation. The calculated second bending moment signal can guide the actuator to respond optimally to the impact of wind on the platform. For example, the system can adjust the position of the external movable float or change the pitch angle of the variable control wing of the float to offset or compensate for the bending moment generated by the wind, so that the platform can maintain the best attitude to improve power generation efficiency and operational stability. The accurate calculation of the second bending moment signal helps to optimize the energy consumption of the actuator. The system can accurately adjust the size of the compensation moment according to the calculation results to avoid excessive compensation or unnecessary energy waste, thereby improving the operational efficiency and economic benefits of the entire wind turbine while ensuring the stability of the platform attitude. In the face of extreme weather conditions such as strong winds and storms, the second bending moment formula can help the control system more accurately predict the impact of wind on the platform, so as to take more effective attitude adjustment measures to ensure the safe operation of the wind turbine under harsh conditions and reduce the risk of structural damage.

[0097] In some embodiments, the first moving height, the second moving height, and the third moving height are calculated according to the floating body compensation bending moment based on the height calculation formula , wherein is the floating body compensation bending moment, is the moment of the buoyancy provided by the first floating body, is the moment of the buoyancy provided by the second floating body, is the moment of the buoyancy provided by the third floating body, is the distance between the external movable floating body and the central column of the floating wind turbine platform, is the density of the liquid in which the floating wind turbine device floats, is the acceleration of gravity, and S is the cross-sectional area of the external movable floating body, is the first moving height, is the second moving height, is the third moving height.

[0098] wherein the sum of the first moving height, the second moving height, and the third moving height is zero, and the second moving height and the third moving height are equal. The liquid in which the floating wind turbine device floats can be seawater, i.e. is the density of seawater, , and All are greater than or equal to 0. Figure 10 A schematic diagram of the height calculation formula, such as Figure 10 As shown, Figure 10 The diagram shows the directions of the x, y, and z axes of the reference coordinate system, as well as the meaning of each parameter in the height calculation formula.

[0099] Specifically, the above formula, by calculating the first, second, and third movement heights, can precisely guide the movement of the externally mounted movable float on the floating turbine platform to counteract or compensate for the bending moment caused by environmental factors (such as wind and waves) and turbine thrust. The precise calculation of these heights ensures the accuracy of the float's position when providing the necessary buoyancy torque, thereby effectively adjusting the turbine platform's attitude to adapt to constantly changing environmental conditions. Through precise calculation of the movement height, the actuator (external movable float) can quickly respond to control system commands, rapidly adjust to the new position, and achieve real-time control of the platform's attitude. This not only improves the wind turbine's response speed in the face of rapidly changing environmental conditions but also significantly enhances the overall system's control efficiency and power generation efficiency. The application of the height calculation formula in the floating wind turbine attitude control system achieves precise calculation and control of the float's movement height, ensures torque balance, provides rapid and adaptive environmental response capabilities, and ultimately improves the system's operating efficiency, stability, and reliability in complex marine environments. This represents a significant innovation in floating wind turbine attitude control technology.

[0100] The principle behind the above formula is to compensate for the bending moment by moving the air chamber, thereby reducing the pitch angle of the entire machine.

[0101] In some embodiments, the blade rotation angle of each of the aforementioned floating variable control blades is calculated based on the attitude data of the floating wind turbine unit and the aforementioned environmental parameter data, including the following steps:

[0102] Step S401: Calculate the floating body compensation bending moment based on the attitude data of the floating wind turbine device and the environmental parameter data.

[0103] Step S402, according to the fourth formula The lift and drag of the aforementioned variable control wing of the floating body were calculated, where, To compensate for the bending moment of the aforementioned floating body, This refers to the distance between the aforementioned externally mounted movable float and the central column of the floating turbine platform. The lift and drag of the variable control wing of the aforementioned external movable float corresponding to the aforementioned external movable float;

[0104] Step S403: Determine the blade rotation angle of the variable control wing of the floating body based on the lift and drag of the variable control wing.

[0105] Specifically, the application of the lift-drag formula means that the lift-drag required by the floating body variable control wing can be accurately calculated according to the bending moment compensation of the floating body and the distance of the external movable floating body relative to the central column. This accurate calculation is the basis for achieving rapid attitude adjustment and energy optimization, ensuring the accuracy of the control wing in providing the necessary compensation moment. The calculation of the lift-drag of the control wing directly guides the adjustment of the blade rotation angle, which controls the lift-drag ratio by changing the blade angle to generate the required moment to offset or compensate for the deviation of the wind turbine caused by environmental factors. Through the above calculation, the floating body variable control wing can quickly respond to system requirements to adjust the blade rotation angle at a response speed of seconds to achieve rapid control. The efficient control mechanism reduces the time to execute actions and avoids delays when dealing with external disturbances, which is crucial for improving the survival ability and power generation efficiency of wind turbines in harsh conditions.

[0106] The above fourth formula is based on the formula , where F L is the wing lift of the floating body variable control wing. The basic control logic of the above steps is to collect attitude signals, sea current speed and flow direction signals, solve the pitch angle of the three floating body variable control wings through the attitude controller, and transmit it to the three floating body variable control wings to control them to execute the corresponding commands and adjust to the corresponding attitude. According to the different moments generated at different buoy positions, the bending moment compensation is carried out.

[0107] In some embodiments, the blade rotation angle of the floating body variable control wing is determined according to the lift-drag of the floating body variable control wing, including the following steps:

[0108] Step S4031, determining the pitch angle of the floating body variable control wing according to the lift-drag formula , where is the lift-drag of the floating body variable control wing corresponding to the external movable floating body, is the lift coefficient of the cross-sectional airfoil of the floating body variable control wing, is the pitch of the floating body variable control wing, is the flow speed of the liquid in which the floating wind turbine device floats, and L is the length of the blade of the floating body variable control wing;

[0109] Step S4032, determining the corresponding blade rotation angle of the floating body variable control wing according to the pitch angle of the floating body variable control wing.

[0110] Specifically, the lift and drag forces calculated by the lift and drag formula, combined with the lift coefficient, can determine the pitch angle of the control wing. The precise adjustment of the pitch angle is the key to generating appropriate lift and drag forces for the control wing, which directly affects the rapid response capability of the wind turbine when facing external disturbances such as wind and waves, and helps to achieve efficient attitude correction, improving the overall power generation efficiency and operational safety of the system. Based on the calculated pitch angle, the system can further determine the blade rotation angle of the floating body variable control wing, which embodies the use of intelligent control strategy. By adjusting the blade rotation angle, the control wing can efficiently change the lift-drag ratio to achieve fine control of the attitude of the wind turbine. The application of the lift and drag formula allows the system to minimize energy consumption while meeting the attitude control requirements by optimizing the pitch angle and blade rotation angle. In offshore wind power operations, the improvement of energy efficiency directly translates into increased economic benefits, helping to reduce operating costs and improve the economic feasibility of the project.

[0111] Figure 11 The working principles of each component of the floating wind turbine device are shown in FIG. 1. Figure 11 The floating turbine platform is the support structure of the entire floating wind turbine, bearing the entire wind turbine and itself through buoyancy; it is installed with a monitoring system to collect sea current and position signals of the execution device, and has external movable floating bodies and variable control wings installed at different positions.

[0112] The wind turbine is installed on the floating turbine platform to capture energy; it is installed with a monitoring system to collect wind speed and direction signals, load and motion signals, etc.; and it is installed with a main control system at the bottom of its tower.

[0113] The monitoring system is installed on the wind turbine and the floating turbine platform, among which the wind direction and speed sensors are installed on the top of the wind turbine nacelle to collect incoming wind direction and speed signals and output the collected signals to the main control system; the acceleration sensors are installed inside the nacelle and at the bottom of the tower to collect nacelle motion and tower bottom load and output the collected signals to the main control system; the attitude sensor is installed on the floating nacelle to monitor the six-degree-of-freedom motion signals of the floating turbine platform and transmit them to the main control system; the wave and current sensor is installed on the floating turbine platform to monitor wave and current signals and transmit them to the main control system; the position sensor is installed on the external movable floating body and the variable control wing to monitor the position of the movable floating body and the pitch angle of the variable control wing and transmit them to the main control system.

[0114] The main control system is the key device that receives and processes the signals transmitted by the monitoring system and outputs execution signals to the external movable floating body and the variable control wing through control algorithms, and is installed at the bottom of the wind turbine tower.

[0115] The additional execution device has two sets, and the external movable floating body is installed on the side of the floating unit platform, receives the signal of the main control system, and moves up and down through the motor driven gear or cable, and the position change is monitored through the position sensor; the variable control wing is installed below the floating unit platform, receives the signal of the main control system, and rotates to change the pitch angle through the motor or hydraulic device, and the change of the pitch angle is monitored by the position sensor.

[0116] The key point of the above device is the additional executable device, including the external movable floating body and the variable control wing. These devices are installed on the floating unit platform, and the main control system adjusts their positions to compensate for the attitude change of the wind turbine caused by wind and waves by using the buoyancy or lift of the control wing. Through this mechanism, the floating wind turbine can quickly complete the attitude adjustment, greatly improving the power generation efficiency and operation reliability. The above-mentioned additional executable device (external movable floating body and variable control wing) has faster response speed and lower energy consumption than the traditional attitude ballast water control. The response time of the traditional attitude active ballast water control is more than 30 minutes, and the larger floating wind turbine is more than 1 hour. According to the estimation of the additional executable mechanism, the response speed of the external movable floating body and the variable control wing is in the order of seconds, and the energy consumption is lower.

[0117] In the traditional attitude active ballast water control scheme, the existing technology generally has the disadvantages of slow response speed and high energy consumption. Generally, the response time of the active ballast water system is about 200 tons of ballast water per 30 minutes, and the horizontal transportation span is more than 50 meters. This large-scale water transportation leads to poor performance in response speed and energy consumption, which is difficult to meet the demand of floating wind turbine for rapid attitude adjustment.

[0118] In contrast, the attitude control scheme of the additional executable device adopted by the present application can effectively overcome these defects. Specifically, the fiber air chamber in the present application has a light weight and a longitudinal span of not more than 10 meters, thus greatly reducing the complexity of execution. At a speed of 0.5 meters per second, the response time of the air chamber can be controlled to less than 20 seconds, which is several orders of magnitude shorter than the 30 minutes of the traditional system. In addition, due to the light weight and shorter horizontal span of the air chamber, its energy consumption is significantly lower.

[0119] At the same time, the motor-driven variable control wing further enhances the rapid response capability of the system. The pitch angle requirement of the variable control wing is 180°, and the conventional pitch angle change speed is 5° / s, so the time to complete the full angle adjustment is within 30 seconds. Compared with the traditional ballast water system, the control wing not only has a overwhelming advantage in response speed, but also greatly reduces the energy consumption.

[0120] Through this combined attitude control scheme, the application effectively solves the technical bottleneck in the traditional system, realizes fast and efficient attitude adjustment, and greatly improves the power generation efficiency and operation reliability of the floating wind turbine. This technical breakthrough not only achieves faster response speed, but also ensures lower energy consumption, making the system more suitable for wind turbines in complex sea conditions.

[0121] From the perspective of function, the highlight of the application is the innovative use of floating body additional actuators to achieve fast attitude adjustment and efficient operation of the floating wind turbine, including the following specific highlights:

[0122] 1. Response speed is significantly improved:

[0123] The traditional active ballast water system has a long response time, usually taking 30 minutes or more to adjust the position of more than 200 tons of ballast water. The new scheme of the application uses external movable floating bodies and variable control wings for attitude control, greatly improving the response speed. The longitudinal movement of the fiber air chamber only takes less than 20 seconds, and the pitch angle adjustment of the variable control wing can be completed within 30 seconds, realizing fast attitude adjustment at the level of seconds and better reaction ability in complex sea conditions.

[0124] 2. Lower energy consumption:

[0125] The application fully considers energy consumption optimization. The traditional ballast water system has huge energy consumption due to large-scale water transportation, while the air chamber in the new scheme is designed with lightweight materials, significantly reducing energy consumption during operation. The variable control wing driven by the motor not only has the ability of fast response, but also maintains the advantage of low energy consumption.

[0126] 3. Flexibility and controllability are enhanced:

[0127] The application scheme provides higher attitude adjustment accuracy and flexibility through movable floating bodies and variable control wings. The precise adjustment of the floating body position combined with the lift adjustment of the control wing can compensate for the attitude changes of the wind turbine in multiple dimensions, adapting to different sea conditions and wind conditions. Compared with the single adjustment mode of the traditional ballast water system, the multiple adjustment mode of the system is more flexible, ensuring higher operation reliability and power generation efficiency.

[0128] 4. Ability to adapt to complex sea conditions is enhanced:

[0129] By integrating additional actuators, the system can quickly adjust the attitude in an environment with dramatic changes in wind and waves, ensuring stable operation of the wind turbine. Compared with the traditional ballast water scheme, the design of the application has stronger ability to respond to fluctuations in the marine environment, improving the safety and reliability of the wind turbine in harsh conditions.

[0130] It is also to be noted that the terms "comprising", "comprises" or any other variation thereof are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but can also include other elements not expressly listed or inherent to such process, method, article, or apparatus. An element proceeded by "comprises a... " does not, without more constraints, exclude the presence of additional identical elements in the process, method, article, or apparatus that comprises the element.

[0131] From the above description, it can be seen that the above-mentioned embodiments of the present application achieve the following technical effects:

[0132] 1) The above-mentioned floating wind turbine device of the present application increases additional execution devices on the basis of the existing floating device platform, i.e. the floating device platform of the above-mentioned floating wind turbine device of the present application comprises a central column, a plurality of pontoons and a plurality of execution mechanisms, the bottom end of the wind turbine is fixed on the central column, the central column is connected to each pontoon through a pipeline, and each pontoon is provided with an execution mechanism, the execution mechanism comprises at least one of an external movable floating body and a floating body variable control wing, wherein the external movable floating body drives the floating wind turbine device to float when moving in a predetermined direction, and the pitch angle of the floating body variable control wing changes to drive the attitude of the floating wind turbine device to change. The device installs a plurality of execution devices on the floating device platform, and calculates and controls the actions of the plurality of execution devices in real time through the main control system, so as to realize the rapid and accurate adjustment of the attitude of the floating wind turbine device, solve the problems of slow response speed, high complexity, insufficient reliability and high energy consumption in the attitude control technology of the existing floating wind turbine device, so as to not only improve the operation stability of the floating wind turbine device under complex conditions, but also improve the power generation efficiency and overall reliability.

[0133] 2) The above-mentioned control method of the present application first collects sensor data, and the above-mentioned sensor data at least includes the pose data of the above-mentioned floating wind turbine device; then according to the above-mentioned sensor data, the control parameters are calculated, and the above-mentioned control parameters are used to control the action of the execution mechanism, so that the attitude of the above-mentioned floating wind turbine device is kept as a predetermined attitude, wherein the action of the execution mechanism includes controlling the position change of the external movable floating body and / or controlling the blade angle change of the floating body variable control wing. The method provides higher attitude adjustment accuracy and flexibility through the movable floating body and the variable control wing. The accurate adjustment of the floating body position and the lift adjustment of the control wing can compensate the attitude change of the wind turbine in multiple dimensions, adapt to different sea conditions and wind conditions. Compared with the single adjustment mode of the traditional ballast water system, the multiple adjustment mode of the system is more flexible, which ensures higher operation reliability and power generation efficiency.

[0134] The above descriptions are only the preferred embodiments of the present application, and are not intended to limit the present application. The present application can have various modifications and changes for those skilled in the art. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principle of the present application shall be included in the protection scope of the present application.

Claims

1. A floating wind turbine generator set, characterized in that, include: Wind turbine units; A floating wind turbine platform includes a central column, multiple pontoons, and multiple actuators. The bottom end of the wind turbine is fixed to the central column. The central column is connected to each of the pontoons via pipes. Each pontoon is equipped with an actuator, which includes at least one of an external movable float and a variable control wing of the float. When the external movable float moves in a preset direction, it causes the floating wind turbine to float. When the pitch angle of the variable control wing of the float changes, it causes the attitude of the floating wind turbine to change.

2. The floating wind turbine generator set according to claim 1, characterized in that, The actuator includes the external movable float. The float is also equipped with a first driving device and a transmission device. When the transmission device moves along the preset direction under the drive of the first driving device, it drives the external movable float to move. The external movable float is engaged with the transmission device or a predetermined part of the float body is connected to one end of the transmission device.

3. The floating wind turbine generator set according to claim 2, characterized in that, The transmission device is a rack parallel to the central axis of the float. The first driving device is installed at one end of the rack and is used to drive the rack to move. A gear is installed on the external movable float and the gear meshes with the rack. When the first driving device drives the rack to move, the rack moves the external movable float.

4. The floating wind turbine generator set according to claim 2, characterized in that, The transmission device includes a cable guide device parallel to the central axis of the float, a cable winding device installed at one end of the cable guide device, and a cable. The cable guide device is used to control the movement trajectory of the cable. The first drive device is used to drive the cable winding device to wind the cable. When the first drive device drives the cable winding device to wind the cable, the external movable float moves with the cable.

5. The floating wind turbine generator set according to claim 1, characterized in that, The actuator includes the float variable control wing, and the float variable control wing includes: blade; A second driving device is installed at the end where the blade is connected to the float, and the second driving device is used to drive the blade to rotate. A sealing device, wherein the second driving device is installed in the sealing device.

6. A control method for a floating wind turbine generator according to any one of claims 1 to 5, characterized in that, The method includes: Collect sensor data, which includes at least the position and orientation data of the floating wind turbine unit; Based on the sensor data, control parameters are calculated, and these parameters are used to control the actuator to maintain the floating wind turbine unit in a preset attitude. The control actuator actions include controlling the position changes of the externally movable float and / or controlling the blade angle changes of the float's variable control wing.

7. The method according to claim 6, characterized in that, Based on the sensor data, control parameters are calculated, including: When the actuator includes an external movable float, the height difference between any two external movable floats is calculated based on the pose data of the floating wind turbine device, and / or the moving height of each external movable float is calculated based on the pose data and environmental parameter data of the floating wind turbine device. When the actuator includes a floating variable control wing, the blade rotation angle of each floating variable control wing is calculated based on the attitude data of the floating wind turbine and the environmental parameter data.

8. The method according to claim 7, characterized in that, There are three pontoons, namely the first pontoon, the second pontoon, and the third pontoon. The attitude data of the floating wind turbine unit includes the distance between two adjacent pontoons and the pitch and roll angles of the pontoons. The distance between any two adjacent pontoons is the same, and the pitch and roll angles of all pontoons are the same. Based on the attitude data of the floating wind turbine unit, the height difference between any two external movable floating bodies is calculated, including: According to the first formula The height difference between the first and second floating bodies was calculated, where, The height of the first floating body. L is the height of the second float, and L is the distance between two adjacent floats. The pitch angle of the pontoon is obtained from the data collected by the six-degree-of-freedom sensor. The roll angle of the pontoon is acquired by the six-degree-of-freedom sensor. The first float is the external movable float mounted on the first pontoon, and the second float is the external movable float mounted on the second pontoon. According to the second formula The height difference between the first and third floating bodies was calculated, where, The height of the third float is the external movable float on the third pontoon; According to the third formula The height difference between the second float and the third float is calculated.

9. The method according to claim 7, characterized in that, There are three pontoons, namely the first pontoon, the second pontoon, and the third pontoon. Based on the attitude data of the floating wind turbine unit and the environmental parameter data, the movement height of each of the externally mounted movable floats is calculated, including: The first bending moment signal is calculated based on the pitch angle of the pontoon and the moment of inertia of the floating turbine platform, and the second bending moment signal is calculated based at least on the aerodynamic thrust coefficient of the wind turbine and the wind speed signal. The sum of the first bending moment signal and the second bending moment signal is determined as the floating body compensation bending moment; The first moving height, the second moving height, and the third moving height are calculated based on the compensated bending moment of the float. The sum of the first moving height, the second moving height, and the third moving height is 0. The first moving height is the moving height of the first float installed on the first pontoon, the second moving height is the moving height of the second float installed on the second pontoon, and the third moving height is the moving height of the third float installed on the third pontoon.

10. The method according to claim 9, characterized in that, Based on the pitch angle of the pontoon and the moment of inertia of the floating turbine platform, the first bending moment signal is calculated, including: According to the first bending moment formula The first bending moment signal is calculated, wherein, The first bending moment signal, Let be the moment of inertia of the floating turbine platform rotating about the first direction as an axis. The pitch angle of the pontoon is obtained by a six-degree-of-freedom sensor.

11. The method according to claim 9, characterized in that, The second bending moment signal is calculated based at least on the wind turbine aerodynamic thrust coefficient and wind speed signal, including: According to the second bending moment formula The second bending moment signal is calculated, where, This is the second bending moment signal. V is the aerodynamic thrust coefficient of the wind turbine, V is the wind speed signal, and H is the distance from the center of the wind turbine to the center of gravity of the floating wind turbine unit.

12. The method according to claim 9, characterized in that, The first, second, and third moving heights are calculated based on the buoy compensation bending moment, including: According to the height calculation formula The first moving height, the second moving height, and the third moving height are calculated, wherein, To compensate for the bending moment of the floating body, The torque of the buoyancy force provided to the first floating body The torque that provides buoyancy to the second float. The torque that provides buoyancy to the third float. The distance between the externally mounted movable float and the central column of the floating turbine platform. The density of the liquid on which the floating wind turbine unit floats. Let S be the acceleration due to gravity, and S be the cross-sectional area of ​​the externally mounted movable float. The first moving height, The second moving height, This refers to the third moving height.

13. The method according to claim 7, characterized in that, Based on the attitude data of the floating wind turbine unit and the environmental parameter data, the blade rotation angle of each of the variable control blades of the floating body is calculated, including: The floating body compensation bending moment is calculated based on the attitude data of the floating wind turbine device and the environmental parameter data. According to the fourth formula The lift and drag of the variable control wing of the floating body were calculated, where, To compensate for the bending moment of the floating body, The distance between the externally mounted movable float and the central column of the floating turbine platform. The lift and drag of the variable control wing of the float corresponding to the externally movable float; The blade rotation angle of the variable control wing of the floating body is determined based on the lift and drag of the variable control wing.

14. The method according to claim 13, characterized in that, Determining the blade rotation angle of the variable control wing of the floating body based on its lift and drag includes: According to the lift resistance formula Determine the pitch angle of the variable control wing of the floating body, wherein, The lift and drag of the variable control wing of the float corresponding to the externally mounted movable float are as follows: To control the lift coefficient of the variable control wing section of the floating body, The pitch of the variable control wing of the floating body. L is the flow velocity of the liquid floating in the floating wind turbine unit, and L is the blade length of the variable control wing of the floating body. The blade rotation angle of the variable control wing of the floating body is determined based on the pitch angle of the wing.

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