Method, device and system for controlling yawing attitude of floating type wind turbine generator

Abstract

The invention provides a method, a device and a system for controlling the yawing attitude of a floating type wind turbine generator. The method comprises the following steps: acquiring a wind deviation angle, a wave direction deviation angle and a yawing angle; whether at least one of the wind deviation angle and the wave direction deviation angle is larger than a corresponding first angle threshold value or not is determined; under the condition that at least one of the wind deviation angle and the wave direction deviation angle is larger than a corresponding first angle threshold value, whether the yawing angle is smaller than a second angle threshold value or not and whether the duration is larger than or equal to first preset duration or not are determined; under the condition that the yawing angle is larger than or equal to a second angle threshold value or smaller than the second angle threshold value and the duration is smaller than a first preset duration, the target rotating speed is obtained through calculation at least according to the wind facing deviation angle, and the reaction wheel is controlled to rotate at the target rotating speed. The method solves the technical problem of low power generation efficiency caused by violent yawing of the floating type wind turbine generator in the prior art.

Description

Technical Field

[0001] This application relates to the field of renewable energy technology, and more specifically, to a method for controlling the yaw attitude of a floating wind turbine, a device for controlling the yaw attitude of a floating wind turbine, a computer-readable storage medium, and a control system for the yaw attitude of a floating wind turbine. Background Technology

[0002] In offshore wind power technology, floating wind turbines have attracted much attention due to their ability to be deployed in deep waters and far from land. However, this deployment method also brings technical challenges, one of which is the "bow rolling" phenomenon. Bow rolling specifically refers to the rotational vibration of a floating wind turbine around its vertical axis, producing a gyroscope-like effect, which in turn affects power generation efficiency and increases the load on the structure. During extreme weather events such as typhoons, the bow rolling of the turbine can become abnormally severe, thus threatening the safety and stability of the floating wind turbine.

[0003] Therefore, there is an urgent need for a method to solve the technical problem of low power generation efficiency caused by severe yaw of floating wind turbines. Summary of the Invention

[0004] The main objective of this application is to provide a method for controlling the yaw attitude of a floating wind turbine, a device for controlling the yaw attitude of a floating wind turbine, a computer-readable storage medium, and a control system for the yaw attitude of a floating wind turbine, so as to at least solve the technical problem of low power generation efficiency caused by severe yaw in the prior art.

[0005] According to one aspect of this application, a method for controlling the yaw attitude of a floating wind turbine is provided, comprising: acquiring a windward deviation angle, a wave direction deviation angle, and a yaw angle, wherein the windward deviation angle is the angle between the plane where the blades of the floating wind turbine are located and the actual wind direction, the wave direction deviation angle is the angle between the direction of wave propagation and the direction of travel of the floating wind turbine, and the yaw angle is the angle of rotation of the floating wind turbine about its vertical axis; and determining whether at least one of the windward deviation angle and the wave direction deviation angle is greater than a corresponding first angle threshold. If at least one of the wind deviation angle and the wave direction deviation angle is greater than the corresponding first angle threshold, determine whether the yaw angle is less than the second angle threshold and the duration is greater than or equal to the first predetermined duration; if the yaw angle is greater than or equal to the second angle threshold or the yaw angle is less than the second angle threshold and the duration is less than the first predetermined duration, calculate the target rotational speed based at least on the wind deviation angle, and control the reaction wheel to rotate at the target rotational speed, wherein the reaction wheel is used to adjust the yaw attitude of the floating wind turbine.

[0006] Optionally, calculating the target rotational speed based at least on the windward deviation angle includes: filtering the windward deviation angle to obtain a target yaw angle; obtaining a yaw reference angle and calculating the difference between the yaw reference angle and the target yaw angle to obtain a target difference; processing the target difference using a linear active disturbance rejection controller to obtain a target acceleration, wherein the linear active disturbance rejection controller includes a linear extended state observer and a linear state error feedback controller connected in sequence; and performing an integral operation on the target acceleration to obtain the target rotational speed.

[0007] Optionally, at least the windward deviation angle is filtered to obtain the target yaw angle, including: performing a Fourier transform on the windward deviation angle to obtain the blade rotation frequency; filtering the blade rotation frequency to remove frequencies greater than 4Hz or less than the yaw frequency of the floating wind turbine to obtain a preliminary rotation frequency; filtering the preliminary rotation frequency to remove frequencies greater than 6 times or less than 3 times the blade rotation frequency to obtain the target rotation frequency; and performing an inverse Fourier transform on the target rotation frequency to obtain the target yaw angle.

[0008] Optionally, a linear active disturbance rejection controller is used to process the target difference to obtain the target acceleration, including: acquiring the yaw damping coefficient, yaw moment of inertia, restoring force stiffness coefficient, equivalent moment of inertia, external excitation torque, and rotation angle. The yaw damping coefficient is the damping coefficient of the yaw motion of the floating wind turbine; the yaw moment of inertia is the moment of inertia in the direction of the yaw motion of the floating wind turbine; the restoring force stiffness coefficient is the stiffness coefficient corresponding to the restoring force of the yaw motion of the floating wind turbine; the equivalent moment of inertia is the equivalent moment of inertia of the reaction wheel; the external excitation torque is the torque caused by the external excitation of the floating wind turbine, the external excitation including at least wind force and waves; and the rotation angle is... The rotation angle of the reaction wheel; based on the yaw damping coefficient, the yaw moment of inertia, the restoring stiffness coefficient, the equivalent moment of inertia, the external excitation torque, the yaw angle, and the rotation angle, a dynamic equation is constructed; based on the dynamic equation, a first parameter and a second parameter are determined, wherein the first parameter is a parameter of the linear extended state observer, and the second parameter is a parameter of the linear state error feedback controller; at least the first parameter is substituted into the mathematical expression of the linear extended state observer to obtain a first expression, and at least the second parameter is substituted into the mathematical expression of the linear state error feedback controller to obtain a second expression; the target acceleration is obtained by simultaneously solving the first expression and the second expression.

[0009] Optionally, the first parameter includes a first coefficient, a second coefficient, and a third coefficient, and the second parameter includes a fourth coefficient and a fifth coefficient. Determining the first and second parameters according to the dynamic equation includes: converting the dynamic equation into a state-space equation, the state-space equation including a first relation, a second relation, and a third relation. The first relation is that the first derivative of the third parameter equals the fourth parameter. The second relation is that the first derivative of the fourth parameter equals the sum of the product of a first predetermined value and the fourth parameter, the product of a second predetermined value and the third parameter, the product of a third predetermined value and the fourth predetermined value, and a fifth predetermined value. The third relation is that the first derivative of the fifth parameter equals the first derivative of the fifth predetermined value. The third parameter is the bow angle, and the first predetermined value is the bow angle. The first predetermined value is the negative of the ratio of the damping coefficient to the bow moment of inertia; the second predetermined value is the negative of the ratio of the restoring stiffness coefficient to the bow moment of inertia; the third predetermined value is the negative of the ratio of the equivalent moment of inertia to the bow moment of inertia; and the fourth predetermined value is the second derivative of the rotation angle. The linear active disturbance rejection controller is frequency-domain configured according to the state-space equation to obtain a first bandwidth, a second bandwidth, and a first damping coefficient. The product of the first bandwidth and 3 is calculated to obtain the first coefficient. The product of the square of the first bandwidth and 3 is calculated to obtain the second coefficient. The cube of the first bandwidth is calculated to obtain the third coefficient. The square of the second bandwidth is calculated to obtain the fourth coefficient. The product of the first damping coefficient, the second bandwidth, and 2 is calculated to obtain the fifth coefficient.

[0010] Optionally, at least the first parameter is substituted into the mathematical expression of the linearly extended state observer to obtain a first expression, and at least the second parameter is substituted into the mathematical expression of the linear state error feedback controller to obtain a second expression. This includes: substituting the first parameter, the third parameter, the fourth parameter, the fifth parameter, and the third predetermined value into the mathematical expression of the linearly extended state observer to obtain an equation composed of a fourth relation, a fifth relation, a sixth relation, and a seventh relation. In the fourth relation, the first derivative of the estimated value of the third parameter is equal to the sum of the estimated value of the fourth parameter and a first product; the fifth relation is equal to the sum of the estimated value of the fourth parameter, the product of the estimated value of the fifth parameter, the third predetermined value, and the fourth predetermined value, and a second product; and the sixth relation is equal to the sum of the first derivative of the estimated value of the fifth parameter and the difference between the input of the linearly extended state observer and the estimated value of the input of the linearly extended state observer. The product of the third parameter, the sixth relation is that the estimated value of the input of the linear extended state observer is equal to the estimated value of the third parameter, the first product is the product of the difference between the input of the linear extended state observer and the estimated value of the input of the linear extended state observer and the first parameter, the second product is the product of the difference between the input of the linear extended state observer and the estimated value of the input of the linear extended state observer and the second parameter; substituting the second parameter, the third predetermined value, the third parameter, the fourth parameter, and the fifth parameter into the mathematical expression of the linear state error feedback controller, an eighth relation is obtained, wherein the eighth relation is that the target acceleration is equal to the ratio of the difference between the estimated value of the third product, the fourth product, and the fifth parameter to the third predetermined value, the third product is the product of the difference between the yaw reference angle and the estimated value of the third parameter and the fourth coefficient, and the fourth product is the product of the fifth coefficient and the estimated value of the fourth parameter.

[0011] Optionally, after determining whether at least one of the windward deviation angle and the wave direction deviation angle is greater than the corresponding first angle threshold, the method further includes: obtaining a maximum rotational speed, wherein the maximum rotational speed is the maximum value of the rotational speed of the reaction wheel; if both the windward deviation angle and the wave direction deviation angle are less than or equal to the corresponding first angle threshold, or if the yaw angle is less than the second angle threshold and its duration is greater than or equal to the first predetermined duration, determining whether the maximum rotational speed is less than a rotational speed threshold and its duration is greater than or equal to a second predetermined duration, wherein the second predetermined duration is less than the first predetermined duration; if the maximum rotational speed is less than the rotational speed threshold and its duration is greater than or equal to the second predetermined duration, controlling the rotational speed of the reaction wheel to 0.

[0012] According to another aspect of this application, a control device for the yaw attitude of a floating wind turbine is provided, comprising: a first acquisition unit, configured to acquire a windward deviation angle, a wave direction deviation angle, and a yaw angle, wherein the windward deviation angle is the angle between the plane where the blades of the floating wind turbine are located and the actual wind direction, the wave direction deviation angle is the angle between the direction of wave propagation and the direction of travel of the floating wind turbine, and the yaw angle is the angle of rotation of the floating wind turbine about its vertical axis; and a first determination unit, configured to determine whether at least one of the windward deviation angle and the wave direction deviation angle is greater than a corresponding first angle threshold. The second determining unit is configured to determine whether the yaw angle is less than a second angle threshold and the duration is greater than or equal to a first predetermined duration when at least one of the wind deviation angle and the wave direction deviation angle is greater than the corresponding first angle threshold; the first control unit is configured to calculate a target rotational speed based at least on the wind deviation angle when the yaw angle is greater than or equal to the second angle threshold or when the yaw angle is less than the second angle threshold and the duration is less than the first predetermined duration, and control the reaction wheel to rotate at the target rotational speed, wherein the reaction wheel is used to adjust the yaw attitude of the floating wind turbine.

[0013] According to another aspect of this application, a computer-readable storage medium is provided, the computer-readable storage medium including a stored program, wherein, when the program is executed, it controls the device on which the computer-readable storage medium is located to perform any of the methods described.

[0014] According to another aspect of this application, a control system for the yaw attitude of a floating wind turbine is provided, comprising: a floating wind turbine; a reaction wheel, wherein the reaction wheel is connected to the floating wind turbine, and the central axis of the reaction wheel coincides with the central axis of the floating wind turbine; and a control device for the yaw attitude of the floating wind turbine, which is communicatively connected to the reaction wheel and the floating wind turbine, wherein the control device for the yaw attitude of the floating wind turbine executes any one of the methods described above.

[0015] This application provides a method for controlling the yaw attitude of a floating wind turbine. First, the wind deviation angle, wave direction deviation angle, and yaw angle are obtained. Then, it is determined whether at least one of the wind deviation angle and wave direction deviation angle is greater than a corresponding first angle threshold. Next, if at least one of the wind deviation angle and wave direction deviation angle is greater than the corresponding first angle threshold, it is determined whether the yaw angle is less than a second angle threshold and its duration is greater than or equal to a first predetermined duration. Finally, if the yaw angle is greater than or equal to the second angle threshold, or if the yaw angle is less than the second angle threshold and its duration is less than the first predetermined duration, at least based on the wind deviation angle, a target rotational speed is calculated, and the reaction wheel is controlled to rotate at the target rotational speed. By judging the threshold values ​​and durations of the wind deviation angle, wave direction deviation angle, and yaw angle, control of the reaction wheel can be achieved when the wind and waves are opposite or when the wind turbine has a large wind deviation. Furthermore, calculating the target rotational speed using the wind deviation angle improves the accuracy of the reaction wheel control. By controlling the reaction force generated by the reaction wheel and combining it with the principle of conservation of angular momentum, the yaw motion of the floating wind turbine can be mitigated in a timely and effective manner, improving the wind turbine's ability to withstand wind and its attitude stability against wind and waves, thereby increasing power generation efficiency. This solves the technical problem of low power generation efficiency caused by severe yaw motion in existing floating wind turbines. Attached Figure Description

[0016] The accompanying drawings, which form part of this application, are used to provide a further understanding of this application. The illustrative embodiments and descriptions of this application are used to explain this application and do not constitute an undue limitation of this application. In the drawings:

[0017] Figure 1 A hardware block diagram of a mobile terminal for implementing a control method for the yaw attitude of a floating wind turbine is shown in an embodiment of this application.

[0018] Figure 2 A flowchart illustrating a method for controlling the yaw attitude of a floating wind turbine according to an embodiment of this application is shown.

[0019] Figure 3 A schematic diagram of the connection relationship between a reaction wheel and a floating wind turbine provided according to an embodiment of this application is shown.

[0020] Figure 4 A schematic diagram of the hardware structure of a reaction wheel according to an embodiment of this application is shown;

[0021] Figure 5 A detailed flowchart of a method for controlling the yaw attitude of a floating wind turbine according to an embodiment of this application is shown.

[0022] Figure 6 A structural block diagram of a control device for the yaw attitude of a floating wind turbine provided according to an embodiment of this application is shown.

[0023] The above figures include the following reference numerals:

[0024] 102. Processor; 104. Memory; 106. Transmission device; 108. Input / output device; 302. Floating wind turbine; 304. Reaction wheel; 306. Reaction wheel shaft; 308. Drive motor. Detailed Implementation

[0025] 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.

[0026] 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.

[0027] It should be noted that the terms "first," "second," etc., in the specification, claims, and accompanying drawings of this application are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be used interchangeably where appropriate for the embodiments of this application described herein. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover non-exclusive inclusion; for example, a process, method, system, product, or apparatus that comprises a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such processes, methods, products, or apparatus.

[0028] As described in the background section, existing floating turbine units undergo six degrees of freedom motion at sea: sway, pitch, roll, pitch, heave, and bow roll. To address these motions, the industry currently employs three main types of attitude control technologies: active ballast water regulation, tuned dampers, and heave plates. Active ballast water systems suppress sway and pitch, as well as some roll and pitch, by adjusting the distribution of water within the floating body, but their adjustment speed is limited. Tuned dampers utilize damping principles to mitigate these motions, improving the unit's stability, but their real-time response to environmental changes is insufficient. Heave plates effectively control heave, but their suppression of bow roll is limited. These technologies each have advantages in addressing sway, pitch, roll, pitch, and bow roll, but they are significantly insufficient in specifically regulating bow roll. To address the problem of low power generation efficiency caused by severe yaw in floating wind turbines, embodiments of this application provide a method for controlling the yaw attitude of a floating wind turbine, a device for controlling the yaw attitude of a floating wind turbine, a computer-readable storage medium, and a control system for the yaw attitude of a floating wind turbine.

[0029] The technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention.

[0030] The methods and embodiments provided in this application can be executed on a mobile terminal, computer terminal, or similar computing device. Taking running on a mobile terminal as an example, Figure 1 This is a hardware structure block diagram of a mobile terminal for a method of controlling the yaw attitude of a floating wind turbine according to an embodiment of the present invention. Figure 1 As shown, a mobile terminal may include one or more ( Figure 1 Only one is shown in the diagram. A processor 102 (which may include, but is not limited to, a microprocessor MCU or a programmable logic device FPGA, etc.) and a memory 104 for storing data are also shown. The mobile terminal may further include a transmission device 106 for communication functions and an input / output device 108. Those skilled in the art will understand that... Figure 1 The structure shown is for illustrative purposes only and does not limit the structure of the mobile terminal described above. For example, the mobile terminal may also include components that are more... Figure 1 The more or fewer components shown, or having the same Figure 1 The different configurations shown.

[0031] The memory 104 can be used to store computer programs, such as application software programs and modules, like the computer program corresponding to the floating wind turbine yaw attitude control method in this embodiment of the invention. The processor 102 executes various functional applications and data processing by running the computer program stored in the memory 104, thereby implementing the above-described method. The memory 104 may include high-speed random access memory and non-volatile memory, such as one or more magnetic storage devices, flash memory, or other non-volatile solid-state memory. In some instances, the memory 104 may further include memory remotely located relative to the processor 102, and these remote memories can be connected to the mobile terminal via a network. Examples of the aforementioned networks include, but are not limited to, the Internet, corporate intranets, local area networks, mobile communication networks, and combinations thereof. The transmission device 106 is used to receive or send data via a network. Specific examples of the aforementioned networks may include wireless networks provided by the mobile terminal's communication provider. In one example, the transmission device 106 includes a network interface controller (NIC), which can be connected to other network devices via a base station to communicate with the Internet. In one example, the transmission device 106 may be a radio frequency (RF) module, which is used to communicate with the Internet wirelessly.

[0032] This embodiment provides a method for controlling the yaw attitude of a floating wind turbine that runs on a mobile terminal, computer terminal, or similar computing device. It should be noted that the steps shown in the flowchart in the accompanying drawings can be executed in a computer system such as a set of computer-executable instructions. Also, although the logical order is shown in the flowchart, in some cases, the steps shown or described can be executed in a different order than that shown here.

[0033] Figure 2 This is a flowchart of a method for controlling the yaw attitude of a floating wind turbine according to an embodiment of this application. Figure 2 As shown, the method includes the following steps:

[0034] Step S201: Obtain the wind deviation angle, wave direction deviation angle, and yaw angle, wherein the wind deviation angle is the angle between the plane where the blades of the floating wind turbine are located and the actual wind direction, the wave direction deviation angle is the angle between the direction of wave travel and the direction of travel of the floating wind turbine, and the yaw angle is the angle of rotation of the floating wind turbine around its vertical axis.

[0035] Specifically, the wind alignment angle refers to the angle between the nacelle axis (or rotor axis) of the wind turbine and the actual wind direction. This angle reflects the alignment of the wind turbine with the wind and directly affects its power generation efficiency. The wave direction deviation angle refers to the angle between the sailing direction (or rotor axis direction) of the floating wind turbine and the wave direction. This angle determines the forces and motion of the wind turbine in the waves. The rotor yaw angle refers to the rotation angle of the rotor (or floating wind turbine) around its vertical axis (i.e., around the Y-axis). Yaw motion affects the relative position of the rotor and the incoming wind and the inflow wind speed, thus affecting the aerodynamic performance of the wind turbine. The wind alignment angle can be obtained through wind vane measurement and lidar measurement methods, while the wave direction deviation angle can be obtained through wave sensor measurement and numerical simulation methods. The rotor yaw angle can be measured using an inertial measurement unit or camera equipment. In practical applications, the rotor wind alignment angle can also be used to equate the turbine's yaw angle.

[0036] Step S202: Determine whether at least one of the above-mentioned wind deviation angle and the above-mentioned wave direction deviation angle is greater than the corresponding first angle threshold.

[0037] Specifically, the first angle threshold corresponding to the wind deviation angle and the first angle threshold corresponding to the wave direction deviation angle can be the same or different. The range of the first angle threshold can be 10~20°.

[0038] Step S203: If at least one of the above-mentioned wind deviation angle and the above-mentioned wave direction deviation angle is greater than the corresponding above-mentioned first angle threshold, determine whether the above-mentioned yaw angle is less than the second angle threshold and the duration is greater than or equal to the first predetermined duration.

[0039] Specifically, if the wind deviation angle is greater than a first angle threshold, or the wave direction deviation angle is greater than a first angle threshold, or both the wind deviation angle and the wave direction deviation angle are greater than the first angle threshold, it is determined whether the yaw angle is less than a second angle threshold and its duration is greater than or equal to a first predetermined duration. In practical applications, the aforementioned second angle threshold can be determined based on the upper limit of the statistical values ​​of the operating data of a floating wind turbine in normal operation and power generation when facing wind and waves.

[0040] Step S204: When the yaw angle is greater than or equal to the second angle threshold or the yaw angle is less than the second angle threshold and the duration is less than the first predetermined duration, the target rotational speed is calculated based at least on the wind deviation angle, and the reaction wheel is controlled to rotate at the target rotational speed, wherein the reaction wheel is used to adjust the yaw attitude of the floating wind turbine.

[0041] Specifically, the reaction wheel can be simplified into a simple model, considering only the reaction wheel in the yaw direction and the yaw motion of the floating wind turbine, and assuming that the reaction wheel is installed on the yaw motion axis of the floating wind turbine (if not installed on the axis, it can also be equivalently represented by the axis translation theorem). Let the moment of inertia in the yaw direction of the floating wind turbine be J1, the yaw velocity be ω1, the moment of inertia of the reaction wheel be J2, and the rotational speed be ω2. According to the law of conservation of angular momentum, we know that: J1ω1-J2ω2=0. Therefore, the yaw motion velocity ω1 of the turbine can be controlled by adjusting the rotational speed ω2 of the reaction wheel. From the above equation, it can be seen that the greater the moment of inertia of the reaction wheel (for example, the moment of inertia of a disc-shaped reaction wheel is proportional to its mass and the square of its radius) or the greater the rotational speed of the reaction wheel (the rotational speed is adjusted by the drive motor), the stronger the yaw attitude adjustment capability of the reaction wheel. Therefore, those skilled in the art can select appropriate reaction wheel materials, structural dimensions, and drive motor power according to the required degree of yaw motion suppression.

[0042] The connection relationship between the reaction wheel and the floating wind turbine is as follows: Figure 3 As shown, the reaction wheel 304 is mechanically fixed to the bottom of the floating wind turbine 302. In practical applications, the installation position of the reaction wheel can be calculated based on the overall structure of the specific floating wind turbine to maximize its resistance to external disturbances. Furthermore, the installation design of the reaction wheel also considers factors such as tides, waves, and salt spray in the marine environment to ensure its stability during long-term operation. A schematic diagram of the hardware structure of the reaction wheel is shown below. Figure 4 As shown, the hardware structure includes a reaction wheel 304, a reaction wheel shaft 306, and a drive motor 308. The reaction wheel 304 is the main power unit used to generate the reaction force against the turbine's yaw motion, and is controlled by the drive motor 308. The reaction wheel shaft 306 is the connecting component between the drive motor 308 and the reaction wheel 304, used to drive the reaction wheel 304. The drive motor 308 is regulated by a converter, and the control signal can be provided by a Programmable Logic Controller (PLC), and it can be powered externally. In practical applications, the drive motor 308 can be built into the interior of the floating wind turbine, using a closed installation to reduce external interference and environmental corrosion during operation. The connection method of the reaction wheel shaft 306 not only needs to have high strength but also needs to withstand the inertial torque and other dynamic loads generated by the reaction wheel 304 to ensure the efficient and safe operation of the system.

[0043] This embodiment provides a method for controlling the yaw attitude of a floating wind turbine. First, the wind deviation angle, wave direction deviation angle, and yaw angle are acquired. Then, it is determined whether at least one of the wind deviation angle and wave direction deviation angle is greater than a corresponding first angle threshold. Next, if at least one of the wind deviation angle and wave direction deviation angle is greater than the corresponding first angle threshold, it is determined whether the yaw angle is less than a second angle threshold and its duration is greater than or equal to a first predetermined duration. Finally, if the yaw angle is greater than or equal to the second angle threshold, or if the yaw angle is less than the second angle threshold and its duration is less than the first predetermined duration, at least based on the wind deviation angle, a target rotational speed is calculated, and the reaction wheel is controlled to rotate at the target rotational speed. By judging the threshold values ​​and durations of the wind deviation angle, wave direction deviation angle, and yaw angle, control of the reaction wheel can be achieved when the wind and waves are in opposite directions or when the wind turbine has a large wind deviation. Furthermore, calculating the target rotational speed using the wind deviation angle improves the accuracy of the reaction wheel control. By controlling the reaction force generated by the reaction wheel and combining it with the principle of conservation of angular momentum, the yaw motion of the floating wind turbine can be mitigated in a timely and effective manner, improving the wind turbine's ability to withstand wind and its attitude stability against wind and waves, thereby increasing power generation efficiency. This solves the technical problem of low power generation efficiency caused by severe yaw motion in existing floating wind turbines.

[0044] In specific implementation, step S204 can be achieved through the following steps: Step S2041, at least the wind deviation angle is filtered to obtain the target yaw angle; Step S2042, the yaw reference angle is obtained, and the difference between the yaw reference angle and the target yaw angle is calculated to obtain the target difference; Step S2043, the target difference is processed using a linear active disturbance rejection controller to obtain the target acceleration, wherein the linear active disturbance rejection controller includes a linear extended state observer and a linear state error feedback controller connected in sequence; Step S2044, the target acceleration is integrated to obtain the target rotational speed. This method uses a linear active disturbance rejection controller to process the difference between the yaw reference angle and the target yaw angle, which can estimate and compensate for the total disturbance in the floating wind turbine system in real time, including internal uncertainties and external interference, thereby significantly improving the system's anti-interference capability. In addition, the parameter tuning of linear active disturbance rejection controllers is relatively simple, especially the adjustment of the linear extended state observer and controller gain. The above method can further simplify the adjustment of controller parameters to adapt to different reference signals and disturbance types.

[0045] Specifically, Active Disturbance Rejection Control (ADRC) is a control method that does not rely on a precise mathematical model. Its core idea is to transform the control problem into an active disturbance suppression problem. ADRC includes an Extended State Observer (ESO), a State Error Feedback Control Law (SEF), and a Tracking Differentiator (TD). The ESO introduces extended state variables, treating internal uncertainties and external disturbances as a unified "total disturbance," and estimates this total disturbance in real time. The SEF designs a control law based on the system state and total disturbance estimated by the ESO to compensate for the disturbance, thereby achieving precise control of the system. The TD is used to arrange the system's transient response, generating a smooth input signal and its differential signal, resolving the contradiction between response speed and overshoot. The aforementioned pitch reference angle can be 0.

[0046] To further filter out high-frequency noise in the wind deviation angle, step S2041 of this application can be implemented through the following steps: Step S20411, performing a Fourier transform on the wind deviation angle to obtain the blade rotation frequency; Step S20412, filtering the blade rotation frequency to remove frequencies greater than 4Hz or less than the bow roll frequency of the floating wind turbine, obtaining a preliminary rotation frequency; Step S20413, filtering the preliminary rotation frequency to remove frequencies greater than the 6th harmonic or less than the 3rd harmonic of the blade rotation frequency, obtaining a target rotation frequency; Step S20414, performing an inverse Fourier transform on the target rotation frequency to obtain the target bow roll angle. This method, through the above two filtering processes, can ensure that resonance between the reaction wheel and the floating wind turbine is avoided while further filtering out high-frequency noise.

[0047] Specifically, filtering the blade rotation frequency to remove frequencies greater than 4Hz or less than the bow roll frequency of the floating wind turbine can be achieved using a bandpass filter, where 4Hz is the upper cutoff frequency of the bandpass filter and the bow roll frequency of the floating wind turbine is the lower cutoff frequency. Filtering the pre-rotation frequency to remove frequencies greater than a 6th harmonic or less than a 3rd harmonic of the blade rotation frequency can be achieved using a notch filter, where a 6th harmonic of the blade rotation frequency is the upper stopband frequency of the notch filter, and a 3rd harmonic of the blade rotation frequency is the lower stopband frequency of the notch filter.

[0048] Step S2043 above can also be implemented in other ways, for example: Step S20431, obtaining the yaw damping coefficient, yaw moment of inertia, restoring force stiffness coefficient, equivalent moment of inertia, external excitation torque, and rotation angle, wherein the yaw damping coefficient is the damping coefficient of the yaw motion of the floating wind turbine, the yaw moment of inertia is the moment of inertia in the direction of the yaw motion of the floating wind turbine, the restoring force stiffness coefficient is the stiffness coefficient corresponding to the restoring force of the yaw motion of the floating wind turbine, the equivalent moment of inertia is the equivalent moment of inertia of the reaction wheel, the external excitation torque is the torque caused by the external excitation of the floating wind turbine, the external excitation includes at least wind force and waves, and the rotation angle is the rotation angle of the reaction wheel; Step S20432, based on the yaw damping coefficient, the yaw moment of inertia... The dynamic equations are constructed based on the quantities, restoring stiffness coefficient, equivalent moment of inertia, external excitation torque, yaw angle, and rotation angle. These dynamic equations describe the yaw motion of the floating wind turbine under reaction wheel control. Step S20433: Based on the dynamic equations, a first parameter and a second parameter are determined. The first parameter is a parameter of the linear extended state observer, and the second parameter is a parameter of the linear state error feedback controller. Step S20434: At least the first parameter is substituted into the mathematical expression of the linear extended state observer to obtain a first expression, and at least the second parameter is substituted into the mathematical expression of the linear state error feedback controller to obtain a second expression. Step S20435: The first and second expressions are combined to solve for the target acceleration. This method, by combining the dynamic equations, can further improve the accuracy of the target acceleration calculation.

[0049] Specifically, the above-mentioned construction dynamic equations are as follows: The aforementioned dynamic equations describe the yaw motion of the floating wind turbine under the control of the reaction wheel. The above-mentioned bow roll moment of inertia, For the aforementioned bow roll angle, The above refers to the bow roll damping coefficient. The restoring stiffness coefficient mentioned above, The above is the equivalent moment of inertia. For the above rotation angle, The external excitation torque is given above. The above dynamic equations can be obtained by describing the yaw motion of the floating wind turbine under reaction wheel control using the Lagrange equations. The linear active disturbance rejection control structure includes a Linear Extended State Observer (LESO) and a Linear State Error Feedback (LSEF) controller.

[0050] In some embodiments, the first parameter includes a first coefficient, a second coefficient, and a third coefficient, and the second parameter includes a fourth coefficient and a fifth coefficient. Step S20433 can be specifically implemented through the following steps: Step S204331, converting the above dynamic equation into a state-space equation, the state-space equation including a first relation, a second relation, and a third relation. The first relation is that the first derivative of the third parameter equals the fourth parameter. The second relation is that the first derivative of the fourth parameter equals the product of a first predetermined value and the fourth parameter, the product of a second predetermined value and the third parameter, the product of a third predetermined value and the fourth predetermined value, and the sum of a fifth predetermined value. The third relation is that the first derivative of the fifth parameter equals the first derivative of the fifth predetermined value. The third parameter is the yaw angle, and the first predetermined value is the yaw damping coefficient and the yaw angle. The second predetermined value is the negative of the ratio of the moments of inertia to the restoring stiffness coefficient and the bow moment of inertia; the third predetermined value is the negative of the ratio of the equivalent moment of inertia to the bow moment of inertia; and the fourth predetermined value is the second derivative of the rotation angle. Step S204332: The linear active disturbance rejection controller is frequency-domain set according to the above state-space equation to obtain a first bandwidth, a second bandwidth, and a first damping coefficient. Step S204333: The product of the first bandwidth and 3 is calculated to obtain the first coefficient; the product of the square of the first bandwidth and 3 is calculated to obtain the second coefficient; the cube of the first bandwidth is calculated to obtain the third coefficient. Step S204334: The square of the second bandwidth is calculated to obtain the fourth coefficient; and the product of the first damping coefficient, the second bandwidth, and 2 is calculated to obtain the fifth coefficient. This method obtains three parameters—first bandwidth, second bandwidth, and first damping coefficient—by setting the frequency domain of the aforementioned linear active disturbance rejection controller. Then, it calculates the first and second parameters based on these three parameters. Compared to directly calculating the first and second parameters, which total six parameters, this method can further reduce computational complexity.

[0051] Specifically, the above dynamic equations are transformed into state-space equations as follows: ,in, , , , , , , According to the formula , as well as The first parameter mentioned above is calculated, where, , as well as For the first parameter mentioned above, This is the first bandwidth mentioned above. According to the formula... and Calculate the second parameter mentioned above, where, and For the second parameter mentioned above, For the aforementioned second bandwidth, The first damping coefficient is given above. The formulas for calculating the first and second parameters can be obtained by tuning the first and second parameters using the bandwidth method. The first bandwidth is the LESO bandwidth, the second bandwidth is the LSEF bandwidth, and the first damping coefficient is the LSEF damping coefficient.

[0052] In some embodiments, step S20434 above can be implemented by the following steps: Step S204341, substituting the first parameter, the third parameter, the fourth parameter, the fifth parameter, and the third predetermined value into the mathematical expression of the linearly extended state observer, to obtain an equation composed of a fourth relation, a fifth relation, a sixth relation, and a seventh relation, wherein the fourth relation is that the first derivative of the estimated value of the third parameter is equal to the sum of the estimated value of the fourth parameter and the first product; the fifth relation is that the first derivative of the estimated value of the fourth parameter is equal to the sum of the estimated value of the fifth parameter, the product of the third predetermined value and the fourth predetermined value, and the second product; the sixth relation is that the first derivative of the estimated value of the fifth parameter is equal to the product of the difference between the input of the linearly extended state observer and the estimated value of the input of the linearly extended state observer and the third parameter; the sixth relation is that the first derivative of the estimated value of the fifth parameter is equal to the product of the difference between the input of the linearly extended state observer and the estimated value of the input of the linearly extended state observer and the third parameter; the sixth relation is that the linearly extended state observer... The estimated value of the input of the device is equal to the estimated value of the third parameter. The first product is the product of the difference between the input of the linear extended state observer and the estimated value of the input of the linear extended state observer and the first parameter. The second product is the product of the difference between the input of the linear extended state observer and the estimated value of the input of the linear extended state observer and the second parameter. In step S204342, the second parameter, the third predetermined value, the third parameter, the fourth parameter, and the fifth parameter are substituted into the mathematical expression of the linear state error feedback controller to obtain the eighth relation. The eighth relation is the ratio of the difference between the estimated value of the third product, the fourth product, and the fifth parameter to the third predetermined value. The third product is the product of the difference between the yaw reference angle and the estimated value of the third parameter and the fourth coefficient. The fourth product is the product of the fifth coefficient and the estimated value of the fourth parameter. In this method, LESO treats the external excitation torque M(ω,t) as part of the total disturbance f, expanding it into a system state x3 for real-time estimation and compensation. f also includes errors for modeling dynamics and for equivalence to wind deviation angle and yaw angle. This method can further improve the reliability of the reaction wheel control.

[0053] Specifically, , , , , , as well as Substituting these expressions into the mathematical expression for the linearly extended state observer, we obtain the first expression: ,in, The input to the linearly extended state observer described above; , , , , as well as Substituting these expressions into the mathematical expression for the linear state error feedback controller, we obtain the second expression: ,in, To accelerate towards the aforementioned goals, The above refers to the bow roll reference angle. The above LSEF uses multiple proportional-derivative controllers. It is the proportional gain of LSEF. This is the differential gain of the LSEF. In practical applications, the LSEF described above can also be achieved using other types of controllers. To further improve the effectiveness of the design, the second expression above can also be in the following form: .

[0054] Following step S202, the method further includes: step S205, obtaining the maximum rotational speed, wherein the maximum rotational speed is the maximum value of the rotational speed of the reaction wheel; step S206, when both the wind deviation angle and the wave deviation angle are less than or equal to the corresponding first angle threshold, or when the yaw angle is less than the second angle threshold and the duration is greater than or equal to the first predetermined duration, determining whether the maximum rotational speed is less than the rotational speed threshold and the duration is greater than or equal to the second predetermined duration, wherein the second predetermined duration is less than the first predetermined duration; step S207, when the maximum rotational speed is less than the rotational speed threshold and the duration is greater than or equal to the second predetermined duration, controlling the rotational speed of the reaction wheel to 0. This control method can achieve passive control of the reaction wheel when the deviation angle is small, without applying active motor drive, further saving system control costs and further reducing power consumption.

[0055] Specifically, the control methods for the reaction wheel include two types: active control and passive control. Active control involves applying a rotational speed to the reaction wheel via a drive motor, while passive control involves not applying a rotational speed to the reaction wheel. It should be noted that, according to the law of conservation of angular momentum, even without active motor drive, the device of this invention can still achieve a certain degree of suppression of the yaw motion of the floating wind turbine, i.e., passive control. However, the effect is weaker than active control; therefore, passive control is only applied when the deviation angle is small. The aforementioned rotational speed threshold can be determined based on the upper limit of the statistical values ​​of the operating data of the floating wind turbine under normal operating power generation conditions when facing wind and waves.

[0056] To enable those skilled in the art to better understand the technical solution of this application, the implementation process of the method for controlling the yaw attitude of a floating wind turbine in this application will be described in detail below with reference to specific embodiments.

[0057] This embodiment relates to a specific method for controlling the yaw attitude of a floating wind turbine, such as... Figure 5 As shown, it includes the following steps:

[0058] Step S1: Measure the wind deviation angle and the wave direction deviation angle;

[0059] Step S2: If the wind deviation angle is greater than the set deviation threshold, or the wave direction deviation angle is greater than the set deviation threshold, proceed to step S3; otherwise, proceed to step S4.

[0060] Step S3: Output the command to activate the reaction-action active control system, and proceed to step S5;

[0061] Step S4: Output the command to shut down the reaction-action active control system, and proceed to step S6;

[0062] Step S5: If the wind turbine bow roll angle is less than the set angle threshold and continues for 2 minutes, proceed to step S6; otherwise, proceed to step S7.

[0063] Step S6: If the maximum speed of the reaction wheel is less than the set speed threshold and this continues for 1 minute, proceed to step S8;

[0064] Step S7: Active control mode of reaction wheel;

[0065] Step S8: Passive control mode of reaction wheel.

[0066] This application also provides a control device for the yaw attitude of a floating wind turbine. It should be noted that this control device can be used to execute the control method for the yaw attitude of a floating wind turbine provided in this application. This device is used to implement the above embodiments and preferred embodiments; details already described will not be repeated. As used below, the term "module" can refer to a combination of software and / or hardware that performs a predetermined function. Although the device described in the following embodiments is preferably implemented in software, hardware implementation, or a combination of software and hardware, is also possible and contemplated.

[0067] The following describes the control device for the yaw attitude of a floating wind turbine provided in the embodiments of this application.

[0068] Figure 6 This is a schematic diagram of a control device for the yaw attitude of a floating wind turbine according to an embodiment of this application. Figure 6 As shown, the device includes:

[0069] The first acquisition unit 10 is used to acquire the wind deviation angle, the wave direction deviation angle, and the yaw angle. The wind deviation angle is the angle between the plane where the blades of the floating wind turbine are located and the actual wind direction. The wave direction deviation angle is the angle between the direction of the wave and the direction of the floating wind turbine. The yaw angle is the angle of rotation of the floating wind turbine around its vertical axis.

[0070] Specifically, the wind alignment angle refers to the angle between the nacelle axis (or rotor axis) of the wind turbine and the actual wind direction. This angle reflects the alignment of the wind turbine with the wind and directly affects its power generation efficiency. The wave direction deviation angle refers to the angle between the sailing direction (or rotor axis direction) of the floating wind turbine and the wave direction. This angle determines the forces and motion of the wind turbine in the waves. The rotor yaw angle refers to the rotation angle of the rotor (or floating wind turbine) around its vertical axis (i.e., around the Y-axis). Yaw motion affects the relative position of the rotor and the incoming wind and the inflow wind speed, thus affecting the aerodynamic performance of the wind turbine. The wind alignment angle can be obtained through wind vane measurement and lidar measurement methods, while the wave direction deviation angle can be obtained through wave sensor measurement and numerical simulation methods. The rotor yaw angle can be measured using an inertial measurement unit or camera equipment. In practical applications, the rotor wind alignment angle can also be used to equate the turbine's yaw angle.

[0071] The first determining unit 20 is used to determine whether at least one of the above-mentioned wind deviation angle and the above-mentioned wave direction deviation angle is greater than the corresponding first angle threshold.

[0072] Specifically, the first angle threshold corresponding to the wind deviation angle and the first angle threshold corresponding to the wave direction deviation angle can be the same or different. The range of the first angle threshold can be 10~20°.

[0073] The second determining unit 30 is used to determine whether the yaw angle is less than the second angle threshold and the duration is greater than or equal to the first predetermined duration when at least one of the wind deviation angle and the wave direction deviation angle is greater than the corresponding first angle threshold.

[0074] Specifically, if the wind deviation angle is greater than a first angle threshold, or the wave direction deviation angle is greater than a first angle threshold, or both the wind deviation angle and the wave direction deviation angle are greater than the first angle threshold, it is determined whether the yaw angle is less than a second angle threshold and its duration is greater than or equal to a first predetermined duration. In practical applications, the aforementioned second angle threshold can be determined based on the upper limit of the statistical values ​​of the operating data of a floating wind turbine in normal operation and power generation when facing wind and waves.

[0075] The first control unit 40 is configured to calculate a target rotational speed based at least on the wind deviation angle when the yaw angle is greater than or equal to the second angle threshold or when the yaw angle is less than the second angle threshold and the duration is less than the first predetermined duration, and control the reaction wheel to rotate at the target rotational speed, wherein the reaction wheel is used to adjust the yaw attitude of the floating wind turbine.

[0076] Specifically, the reaction wheel can be simplified into a simple model, considering only the reaction wheel in the yaw direction and the yaw motion of the floating wind turbine, and assuming that the reaction wheel is installed on the yaw motion axis of the floating wind turbine (if not installed on the axis, it can also be equivalently represented by the axis translation theorem). Let the moment of inertia in the yaw direction of the floating wind turbine be J1, the yaw velocity be ω1, the moment of inertia of the reaction wheel be J2, and the rotational speed be ω2. According to the law of conservation of angular momentum, we know that: J1ω1-J2ω2=0. Therefore, the yaw motion velocity ω1 of the turbine can be controlled by adjusting the rotational speed ω2 of the reaction wheel. From the above equation, it can be seen that the greater the moment of inertia of the reaction wheel (for example, the moment of inertia of a disc-shaped reaction wheel is proportional to its mass and the square of its radius) or the greater the rotational speed of the reaction wheel (the rotational speed is adjusted by the drive motor), the stronger the yaw attitude adjustment capability of the reaction wheel. Therefore, those skilled in the art can select appropriate reaction wheel materials, structural dimensions, and drive motor power according to the required degree of yaw motion suppression.

[0077] The connection relationship between the reaction wheel and the floating wind turbine is as follows: Figure 3 As shown, the reaction wheel 304 is mechanically fixed to the bottom of the floating wind turbine 302. In practical applications, the installation position of the reaction wheel can be calculated based on the overall structure of the specific floating wind turbine to maximize its resistance to external disturbances. Furthermore, the installation design of the reaction wheel also considers factors such as tides, waves, and salt spray in the marine environment to ensure its stability during long-term operation. A schematic diagram of the hardware structure of the reaction wheel is shown below. Figure 4As shown, the hardware structure includes a reaction wheel 304, a reaction wheel shaft 306, and a drive motor 308. The reaction wheel 304 is the main power unit used to generate the reaction force against the turbine's yaw motion, and is controlled by the drive motor 308. The reaction wheel shaft 306 is the connecting component between the drive motor 308 and the reaction wheel 304, used to drive the reaction wheel 304. The drive motor 308 is regulated by a converter, and the control signal can be provided by a Programmable Logic Controller (PLC), and it can be powered externally. In practical applications, the drive motor 308 can be built into the interior of the floating wind turbine, using a closed installation to reduce external interference and environmental corrosion during operation. The connection method of the reaction wheel shaft 306 not only needs to have high strength but also needs to withstand the inertial torque and other dynamic loads generated by the reaction wheel 304 to ensure the efficient and safe operation of the system.

[0078] This embodiment provides a control device for the yaw attitude of a floating wind turbine. A first acquisition unit acquires the windward deviation angle, wave direction deviation angle, and yaw angle. A first determination unit determines whether at least one of the windward deviation angle and wave direction deviation angle is greater than a corresponding first angle threshold. A second determination unit, if at least one of the windward deviation angle and wave direction deviation angle is greater than the corresponding first angle threshold, determines whether the yaw angle is less than a second angle threshold and its duration is greater than or equal to a first predetermined duration. A first control unit, if the yaw angle is greater than or equal to the second angle threshold or less than the second angle threshold and its duration is less than the first predetermined duration, calculates a target rotational speed based at least on the windward deviation angle and controls the reaction wheel to rotate at the target rotational speed. By judging the threshold values ​​and durations of the windward deviation angle, wave direction deviation angle, and yaw angle, control of the reaction wheel can be achieved when the wind and waves are opposite or the wind turbine has a large windward deviation. Furthermore, calculating the target rotational speed based on the windward deviation angle improves the accuracy of the reaction wheel control. By controlling the reaction force generated by the reaction wheel and combining it with the principle of conservation of angular momentum, the yaw motion of the floating wind turbine can be mitigated in a timely and effective manner, improving the wind turbine's ability to withstand wind and its attitude stability against wind and waves, thereby increasing power generation efficiency. This solves the technical problem of low power generation efficiency caused by severe yaw motion in existing floating wind turbines.

[0079] In its specific implementation, the first control unit includes a filtering module, a calculation module, a first processing module, and a second processing module. The filtering module filters the wind deviation angle to obtain the target yaw angle. The calculation module acquires the yaw reference angle and calculates the difference between the reference angle and the target yaw angle to obtain the target difference. The first processing module processes the target difference using a linear active disturbance rejection controller (ADC) to obtain the target acceleration. The ADC includes a linear extended state observer and a linear state error feedback controller connected in sequence. The second processing module performs integral calculations on the target acceleration to obtain the target rotational speed. This device uses an ADC to process the difference between the yaw reference angle and the target yaw angle, enabling real-time estimation and compensation of the total disturbance in the floating wind turbine system, including internal uncertainties and external interference, thereby significantly improving the system's anti-interference capability. In addition, the parameter tuning of the linear active disturbance rejection controller is relatively simple, especially the adjustment of the linear extended state observer and the controller gain. The above-mentioned device can further simplify the adjustment of the controller parameters to adapt to different reference signals and disturbance types.

[0080] Specifically, Active Disturbance Rejection Control (ADRC) is a control method that does not rely on a precise mathematical model. Its core idea is to transform the control problem into an active disturbance suppression problem. ADRC includes an Extended State Observer (ESO), a State Error Feedback Control Law (SEF), and a Tracking Differentiator (TD). The ESO introduces extended state variables, treating internal uncertainties and external disturbances as a unified "total disturbance," and estimates this total disturbance in real time. The SEF designs a control law based on the system state and total disturbance estimated by the ESO to compensate for the disturbance, thereby achieving precise control of the system. The TD is used to arrange the system's transient response, generating a smooth input signal and its differential signal, resolving the contradiction between response speed and overshoot. The aforementioned pitch reference angle can be 0.

[0081] To further filter out high-frequency noise in the wind deviation angle, the filtering module of this application includes a first transformation submodule, a first processing submodule, a second processing submodule, and a second transformation submodule. The first transformation submodule performs a Fourier transform on the wind deviation angle to obtain the blade rotation frequency. The first processing submodule filters the blade rotation frequency to remove frequencies greater than 4Hz or less than the bow roll frequency of the floating wind turbine, obtaining a preliminary rotation frequency. The second processing submodule filters the preliminary rotation frequency to remove frequencies greater than the sixth harmonic of the blade rotation frequency or less than the third harmonic of the blade rotation frequency, obtaining a target rotation frequency. The second transformation submodule performs an inverse Fourier transform on the target rotation frequency to obtain the target bow roll angle. Through these two filtering processes, the device can ensure that resonance between the reaction wheel and the floating wind turbine is avoided while further filtering out high-frequency noise.

[0082] Specifically, filtering the blade rotation frequency to remove frequencies greater than 4Hz or less than the bow roll frequency of the floating wind turbine can be achieved using a bandpass filter, where 4Hz is the upper cutoff frequency of the bandpass filter and the bow roll frequency of the floating wind turbine is the lower cutoff frequency. Filtering the pre-rotation frequency to remove frequencies greater than a 6th harmonic or less than a 3rd harmonic of the blade rotation frequency can be achieved using a notch filter, where a 6th harmonic of the blade rotation frequency is the upper stopband frequency of the notch filter, and a 3rd harmonic of the blade rotation frequency is the lower stopband frequency of the notch filter.

[0083] The first processing module includes an acquisition submodule, a construction submodule, a determination submodule, a first substitution submodule, and a solution submodule. The acquisition submodule acquires the yaw damping coefficient, yaw moment of inertia, restoring force stiffness coefficient, equivalent moment of inertia, external excitation torque, and rotation angle. The yaw damping coefficient is the damping coefficient of the yaw motion of the floating wind turbine; the yaw moment of inertia is the moment of inertia in the direction of the yaw motion of the floating wind turbine; the restoring force stiffness coefficient is the stiffness coefficient corresponding to the restoring force of the yaw motion of the floating wind turbine; the equivalent moment of inertia is the equivalent moment of inertia of the reaction wheel; the external excitation torque is the torque caused by the external excitation of the floating wind turbine, which includes at least wind force and waves; and the rotation angle is the rotation angle of the reaction wheel. The construction submodule is used to acquire the yaw damping coefficient, yaw moment of inertia, restoring force stiffness coefficient, equivalent moment of inertia, external excitation torque, external excitation torque (including at least wind force and waves), and rotation angle. The device constructs a dynamic equation using the yaw coefficient, the aforementioned bow moment of inertia, the aforementioned restoring stiffness coefficient, the aforementioned equivalent moment of inertia, the aforementioned external excitation torque, the aforementioned bow angle, and the aforementioned rotation angle. This dynamic equation describes the bow motion of the floating wind turbine under the control of the reaction wheel. A determination submodule determines a first parameter and a second parameter based on the dynamic equation. The first parameter is a parameter of the linear extended state observer, and the second parameter is a parameter of the linear state error feedback controller. A first substitution submodule substitutes at least the first parameter into the mathematical expression of the linear extended state observer to obtain a first expression, and at least the second parameter into the mathematical expression of the linear state error feedback controller to obtain a second expression. A solution submodule solves for the target acceleration by combining the first and second expressions. This device, by incorporating the dynamic equation, can further improve the accuracy of the target acceleration calculation.

[0084] Specifically, the above-mentioned construction dynamic equations are as follows: The aforementioned dynamic equations describe the yaw motion of the floating wind turbine under the control of the reaction wheel. The above-mentioned bow roll moment of inertia, For the aforementioned bow roll angle, The above refers to the bow roll damping coefficient. The restoring stiffness coefficient mentioned above, The above is the equivalent moment of inertia. For the above rotation angle, The external excitation torque is given above. The above dynamic equations can be obtained by describing the yaw motion of the floating wind turbine under reaction wheel control using the Lagrange equations. The linear active disturbance rejection control structure includes a Linear Extended State Observer (LESO) and a Linear State Error Feedback (LSEF) controller.

[0085] In some embodiments, the first parameter includes a first coefficient, a second coefficient, and a third coefficient; the second parameter includes a fourth coefficient and a fifth coefficient; the aforementioned determining submodule includes a conversion submodule, a setting submodule, a first calculation submodule, and a second calculation submodule; wherein, the conversion submodule is used to convert the aforementioned dynamic equations into state-space equations, the state-space equations including a first relation, a second relation, and a third relation; the first relation is that the first derivative of the third parameter equals the fourth parameter; the second relation is that the first derivative of the fourth parameter equals the sum of the product of a first predetermined value and the fourth parameter, the product of a second predetermined value and the third parameter, the product of a third predetermined value and the fourth predetermined value, and a fifth predetermined value; the third relation is that the first derivative of the fifth parameter equals the first derivative of the fifth predetermined value; wherein, the third parameter is the bow roll angle, and the first predetermined value is the bow... The first predetermined value is the negative of the ratio of the rolling damping coefficient to the bow rolling moment of inertia; the second predetermined value is the negative of the ratio of the restoring stiffness coefficient to the bow rolling moment of inertia; the third predetermined value is the negative of the ratio of the equivalent moment of inertia to the bow rolling moment of inertia; and the fourth predetermined value is the second derivative of the rotation angle. A setting submodule is used to perform frequency domain settings on the linear active disturbance rejection controller according to the above state-space equations to obtain a first bandwidth, a second bandwidth, and a first damping coefficient. A first calculation submodule is used to calculate the product of the first bandwidth and 3 to obtain the first coefficient; calculate the square of the first bandwidth and the product of 3 to obtain the second coefficient; calculate the cube of the first bandwidth to obtain the third coefficient; a second calculation submodule is used to calculate the square of the second bandwidth to obtain the fourth coefficient; and calculate the product of the first damping coefficient, the second bandwidth, and 2 to obtain the fifth coefficient. This device obtains three parameters—first bandwidth, second bandwidth, and first damping coefficient—by setting the frequency domain of the aforementioned linear active disturbance rejection controller. The first and second parameters are then calculated based on these three parameters. Compared to directly calculating the first and second parameters, which total six parameters, this method can further reduce computational complexity.

[0086] Specifically, the above dynamic equations are transformed into state-space equations as follows: ,in, , , , , , , According to the formula , as well as The first parameter mentioned above is calculated, where, , as well as For the first parameter mentioned above, This is the first bandwidth mentioned above. According to the formula... and Calculate the second parameter mentioned above, where, and For the second parameter mentioned above, For the aforementioned second bandwidth, The first damping coefficient is given above. The formulas for calculating the first and second parameters can be obtained by tuning the first and second parameters using the bandwidth method. The first bandwidth is the LESO bandwidth, the second bandwidth is the LSEF bandwidth, and the first damping coefficient is the LSEF damping coefficient.

[0087] In some embodiments, the first substitution submodule includes a second substitution submodule and a third substitution submodule. The second substitution submodule is used to substitute the first parameter, the third parameter, the fourth parameter, the fifth parameter, and the third predetermined value into the mathematical expression of the linearly expanded state observer, obtaining an equation composed of a fourth relation, a fifth relation, a sixth relation, and a seventh relation. The fourth relation states that the first derivative of the estimated value of the third parameter is equal to the sum of the estimated value of the fourth parameter and the first product. The fifth relation states that the first derivative of the estimated value of the fourth parameter is equal to the sum of the estimated value of the fifth parameter, the product of the third predetermined value and the fourth predetermined value, and the second product. The sixth relation states that the first derivative of the estimated value of the fifth parameter is equal to the product of the difference between the input of the linearly expanded state observer and the estimated value of the input of the linearly expanded state observer, and the third parameter. The sixth relation states that the first derivative of the estimated value of the fifth parameter is equal to the product of the difference between the input of the linearly expanded state observer and the estimated value of the input of the linearly expanded state observer, and the third parameter. The estimated value of the input of the linear extended state observer is equal to the estimated value of the third parameter. The first product is the product of the difference between the input of the linear extended state observer and the estimated value of the input of the linear extended state observer and the first parameter. The second product is the product of the difference between the input of the linear extended state observer and the estimated value of the input of the linear extended state observer and the second parameter. The third substitution submodule is used to substitute the second parameter, the third predetermined value, the third parameter, the fourth parameter, and the fifth parameter into the mathematical expression of the linear state error feedback controller to obtain the eighth relation. The eighth relation is the target acceleration equal to the ratio of the difference between the estimated value of the third product, the fourth product, and the fifth parameter to the third predetermined value. The third product is the product of the difference between the yaw reference angle and the estimated value of the third parameter and the fourth coefficient. The fourth product is the product of the fifth coefficient and the estimated value of the fourth parameter. In this method, LESO treats the external excitation torque M(ω,t) as part of the total disturbance f, expanding it into a system state x3 for real-time estimation and compensation. f also includes errors for modeling dynamics and equivalent to wind deviation angle and yaw angle. The above device can further improve the reliability of the reaction wheel control.

[0088] Specifically, , , , , , as well as Substituting these expressions into the mathematical expression for the linearly extended state observer, we obtain the first expression: ,in, The input to the linearly extended state observer described above; , , , , as well as Substituting these expressions into the mathematical expression for the linear state error feedback controller, we obtain the second expression: ,in, To accelerate towards the aforementioned goals, The above refers to the bow roll reference angle. The above LSEF uses multiple proportional-derivative controllers. It is the proportional gain of LSEF. This is the differential gain of the LSEF. In practical applications, the LSEF described above can also be achieved using other types of controllers. To further improve the effectiveness of the design, the second expression above can also be in the following form: .

[0089] The aforementioned device further includes: a second acquisition unit, a third determination unit, and a second control unit. The second acquisition unit acquires the maximum rotational speed, which is the maximum value of the rotational speed of the reaction wheel. The third determination unit determines whether the maximum rotational speed is less than a rotational speed threshold and its duration is greater than or equal to a second predetermined duration, provided that both the wind deviation angle and the wave direction deviation angle are less than or equal to the corresponding first angle threshold, or that the yaw angle is less than the second angle threshold and its duration is greater than or equal to the first predetermined duration. The second predetermined duration is less than the first predetermined duration. The second control unit controls the rotational speed of the reaction wheel to 0 when the maximum rotational speed is less than the rotational speed threshold and its duration is greater than or equal to the second predetermined duration. This control method enables passive control of the reaction wheel when the deviation angle is small, eliminating the need for active motor drive, further saving system control costs and reducing power consumption.

[0090] Specifically, the control methods for the reaction wheel include two types: active control and passive control. Active control involves applying a rotational speed to the reaction wheel via a drive motor, while passive control involves not applying a rotational speed to the reaction wheel. It should be noted that, according to the law of conservation of angular momentum, even without active motor drive, the device of this invention can still achieve a certain degree of suppression of the yaw motion of the floating wind turbine, i.e., passive control. However, the effect is weaker than active control; therefore, passive control is only applied when the deviation angle is small. The aforementioned rotational speed threshold can be determined based on the upper limit of the statistical values ​​of the operating data of the floating wind turbine under normal operating power generation conditions when facing wind and waves.

[0091] The aforementioned control device for the yaw attitude of a floating wind turbine includes a processor and a memory. The first acquisition unit, first determination unit, second determination unit, and first control unit are all stored as program units in the memory. The processor executes these program units stored in the memory to achieve the corresponding functions. All of the above modules reside in the same processor; alternatively, the modules may be located in different processors in any combination.

[0092] The processor contains a kernel, which retrieves the corresponding program unit from memory. One or more kernels can be configured, and adjusting kernel parameters controls the yaw attitude of the floating wind turbine.

[0093] The memory may include non-permanent memory in computer-readable media, such as random access memory (RAM) and / or non-volatile memory, such as read-only memory (ROM) or flash RAM, and the memory includes at least one memory chip.

[0094] This invention provides a computer-readable storage medium, which includes a stored program, wherein, when the program is executed, it controls the device containing the computer-readable storage medium to perform the control method for the yaw attitude of the floating wind turbine.

[0095] This invention provides a processor for running a program, wherein the program executes the above-mentioned method for controlling the yaw attitude of a floating wind turbine.

[0096] This invention provides a device including a processor, a memory, and a program stored in the memory and executable on the processor. When the processor executes the program, it implements at least the steps of the above-described method for controlling the yaw attitude of a floating wind turbine. The device described herein can be a server, PC, PAD, mobile phone, etc.

[0097] This application also provides a computer program product that, when executed on a data processing device, is adapted to perform the steps of initializing a control method having at least the above-described yaw attitude of a floating wind turbine.

[0098] It is obvious to those skilled in the art that the modules or steps of the present invention described above can be implemented using general-purpose computing devices. They can be centralized on a single computing device or distributed across a network of multiple computing devices. They can be implemented using computer-executable program code, and thus can be stored in a storage device for execution by a computing device. In some cases, the steps shown or described can be performed in a different order than those described herein, or they can be fabricated as separate integrated circuit modules, or multiple modules or steps can be fabricated as a single integrated circuit module. Thus, the present invention is not limited to any particular combination of hardware and software.

[0099] Those skilled in the art will understand that embodiments of this application can be provided as methods, systems, or computer program products. Therefore, this application can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, this application can take the form of a computer program product embodied on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0100] This application is described with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of this application. It will be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, generate instructions for implementing the flowchart... Figure 1 One or more processes and / or boxes Figure 1 A device that provides the functions specified in one or more boxes.

[0101] It should also be noted that the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such process, method, article, or apparatus. Unless otherwise specified, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes that element.

[0102] As can be seen from the above description, the embodiments of this application achieve the following technical effects:

[0103] 1) The method for controlling the yaw attitude of a floating wind turbine in this application firstly acquires the windward deviation angle, wave direction deviation angle, and yaw angle; then determines whether at least one of the windward deviation angle and wave direction deviation angle is greater than a corresponding first angle threshold; next, if at least one of the windward deviation angle and wave direction deviation angle is greater than the corresponding first angle threshold, determines whether the yaw angle is less than a second angle threshold and its duration is greater than or equal to a first predetermined duration; finally, if the yaw angle is greater than or equal to the second angle threshold or less than the second angle threshold and its duration is less than the first predetermined duration, calculates the target rotational speed based at least on the windward deviation angle, and controls the reaction wheel to rotate at the target rotational speed. By judging the threshold values ​​and durations of the windward deviation angle, wave direction deviation angle, and yaw angle, control of the reaction wheel can be achieved when the wind and waves are opposite or the wind turbine has a large windward deviation. Furthermore, calculating the target rotational speed based on the windward deviation angle improves the accuracy of the reaction wheel control. By controlling the reaction force generated by the reaction wheel and combining it with the principle of conservation of angular momentum, the yaw motion of the floating wind turbine can be mitigated in a timely and effective manner, improving the wind turbine's ability to withstand wind and its attitude stability against wind and waves, thereby increasing power generation efficiency. This solves the technical problem of low power generation efficiency caused by severe yaw motion in existing floating wind turbines.

[0104] 2) The control device for the yaw attitude of the floating wind turbine of this application comprises: a first acquisition unit acquiring the wind deviation angle, wave direction deviation angle, and yaw angle; a first determination unit determining whether at least one of the wind deviation angle and wave direction deviation angle is greater than a corresponding first angle threshold; a second determination unit determining whether the yaw angle is less than a second angle threshold and its duration is greater than or equal to a first predetermined duration if at least one of the wind deviation angle and wave direction deviation angle is greater than the corresponding first angle threshold; and a first control unit calculating the target rotational speed based at least on the wind deviation angle if the yaw angle is greater than or equal to the second angle threshold or if the yaw angle is less than the second angle threshold and its duration is less than the first predetermined duration, and controlling the reaction wheel to rotate at the target rotational speed. By judging the threshold values ​​and durations of the wind deviation angle, wave direction deviation angle, and yaw angle, control of the reaction wheel can be achieved when the wind and waves are opposite or the wind turbine has a large wind deviation. Furthermore, calculating the target rotational speed based on the wind deviation angle improves the accuracy of the reaction wheel control. By controlling the reaction force generated by the reaction wheel and combining it with the principle of conservation of angular momentum, the yaw motion of the floating wind turbine can be mitigated in a timely and effective manner, improving the wind turbine's ability to withstand wind and its attitude stability against wind and waves, thereby increasing power generation efficiency. This solves the technical problem of low power generation efficiency caused by severe yaw motion in existing floating wind turbines.

[0105] The above description is merely a preferred embodiment of this application and is not intended to limit this application. Various modifications and variations can be made to this application by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application should be included within the protection scope of this application.

Claims

1. A method for controlling the yaw attitude of a floating wind turbine, characterized in that, include: The wind deviation angle, wave direction deviation angle, and yaw angle are obtained. The wind deviation angle is the angle between the plane where the blades of the floating wind turbine are located and the actual wind direction. The wave direction deviation angle is the angle between the direction of wave travel and the direction of travel of the floating wind turbine. The yaw angle is the angle of rotation of the floating wind turbine around its vertical axis. Determine whether at least one of the wind deviation angle and the wave direction deviation angle is greater than the corresponding first angle threshold; If at least one of the wind deviation angle and the wave direction deviation angle is greater than the corresponding first angle threshold, determine whether the yaw angle is less than the second angle threshold and the duration is greater than or equal to the first predetermined duration; If the yaw angle is greater than or equal to the second angle threshold, or if the yaw angle is less than the second angle threshold and the duration is less than the first predetermined duration, the target rotational speed is calculated based at least on the wind deviation angle, and the reaction wheel is controlled to rotate at the target rotational speed, wherein the reaction wheel is used to adjust the yaw attitude of the floating wind turbine.

2. The method according to claim 1, characterized in that, The target rotational speed is calculated based at least on the windward deviation angle, including: At least the wind deviation angle is filtered to obtain the target bow roll angle; Obtain the bow roll reference angle and calculate the difference between the bow roll reference angle and the target bow roll angle to obtain the target difference; The target difference is processed by a linear active disturbance rejection controller to obtain the target acceleration. The linear active disturbance rejection controller includes a linear extended state observer and a linear state error feedback controller connected in sequence. The target acceleration is integrated to obtain the target rotational speed.

3. The method according to claim 2, characterized in that, At least the wind deviation angle is filtered to obtain the target bow roll angle, including: The blade rotation frequency is obtained by performing a Fourier transform on the windward deviation angle. The blade rotation frequency is filtered to remove frequencies greater than 4Hz or less than the yaw frequency of the floating wind turbine, thus obtaining a preliminary rotation frequency. The proposed rotation frequency is filtered to remove frequencies that are greater than 6 times the blade rotation frequency or less than 3 times the blade rotation frequency, thus obtaining the target rotation frequency. The target's roll angle is obtained by performing an inverse Fourier transform on the target's rotation frequency.

4. The method according to claim 2, characterized in that, The target difference is processed using a linear active disturbance rejection controller to obtain the target acceleration, including: The following parameters are obtained: bow damping coefficient, bow moment of inertia, restoring stiffness coefficient, equivalent moment of inertia, external excitation torque, and rotation angle. The bow damping coefficient is the damping coefficient of the bow motion of the floating wind turbine; the bow moment of inertia is the moment of inertia in the direction of the bow motion of the floating wind turbine; the restoring stiffness coefficient is the stiffness coefficient corresponding to the restoring force of the bow motion of the floating wind turbine; the equivalent moment of inertia is the equivalent moment of inertia of the reaction wheel; the external excitation torque is the torque caused by the external excitation of the floating wind turbine, which includes at least wind force and waves; and the rotation angle is the rotation angle of the reaction wheel. Based on the yaw damping coefficient, the yaw moment of inertia, the restoring stiffness coefficient, the equivalent moment of inertia, the external excitation torque, the yaw angle, and the rotation angle, a dynamic equation is constructed, wherein the dynamic equation is used to describe the yaw motion of the floating wind turbine under the control of the reaction wheel. Based on the dynamic equation, a first parameter and a second parameter are determined, wherein the first parameter is a parameter of the linear extended state observer, and the second parameter is a parameter of the linear state error feedback controller; Substituting the first parameter into the mathematical expression of the linear extended state observer yields the first expression, and substituting the second parameter into the mathematical expression of the linear state error feedback controller yields the second expression. By combining the first expression and the second expression, the target acceleration can be obtained.

5. The method according to claim 4, characterized in that, The first parameter includes a first coefficient, a second coefficient, and a third coefficient; the second parameter includes a fourth coefficient and a fifth coefficient. Determining the first and second parameters based on the kinetic equation includes: The dynamic equations are converted into state-space equations, which include a first relation, a second relation, and a third relation. The first relation is that the first derivative of the third parameter equals the fourth parameter. The second relation is that the first derivative of the fourth parameter equals the product of a first predetermined value and the fourth parameter, the product of a second predetermined value and the third parameter, the product of a third predetermined value and the fourth predetermined value, and the sum of a fifth predetermined value. The third relation is that the first derivative of the fifth parameter equals the first derivative of the fifth predetermined value. The third parameter is the yaw angle. The first predetermined value is the negative of the ratio of the yaw damping coefficient to the yaw moment of inertia. The second predetermined value is the negative of the ratio of the restoring stiffness coefficient to the yaw moment of inertia. The third predetermined value is the negative of the ratio of the equivalent moment of inertia to the yaw moment of inertia. The fourth predetermined value is the second derivative of the rotation angle. The linear active disturbance rejection controller is frequency-domain configured according to the state-space equation to obtain the first bandwidth, the second bandwidth, and the first damping coefficient. Calculate the product of the first bandwidth and 3 to obtain the first coefficient; calculate the product of the square of the first bandwidth and 3 to obtain the second coefficient; calculate the cube of the first bandwidth to obtain the third coefficient. The square of the second bandwidth is calculated to obtain the fourth coefficient, and the product of the first damping coefficient, the second bandwidth, and 2 is calculated to obtain the fifth coefficient.

6. The method according to claim 5, characterized in that, Substituting at least the first parameter into the mathematical expression of the linearly extended state observer yields a first expression, and substituting at least the second parameter into the mathematical expression of the linear state error feedback controller yields a second expression, including: Substituting the first parameter, the third parameter, the fourth parameter, the fifth parameter, and the third predetermined value into the mathematical expression of the linearly expanded state observer, we obtain an equation composed of a fourth relation, a fifth relation, a sixth relation, and a seventh relation. The fourth relation states that the first derivative of the estimated value of the third parameter is equal to the sum of the estimated value of the fourth parameter and the first product. The fifth relation states that the first derivative of the estimated value of the fourth parameter is equal to the sum of the estimated value of the fifth parameter, the product of the third predetermined value and the fourth predetermined value, and the second product. The sixth relation states that... The first derivative of the estimated value of the fifth parameter is equal to the product of the difference between the input of the linearly expanded state observer and the estimated value of the input of the linearly expanded state observer and the third parameter. The sixth relation is that the estimated value of the input of the linearly expanded state observer is equal to the estimated value of the third parameter. The first product is the product of the difference between the input of the linearly expanded state observer and the estimated value of the input of the linearly expanded state observer and the first parameter. The second product is the product of the difference between the input of the linearly expanded state observer and the estimated value of the input of the linearly expanded state observer and the second parameter. Substituting the second parameter, the third predetermined value, the third parameter, the fourth parameter, and the fifth parameter into the mathematical expression of the linear state error feedback controller, an eighth relation is obtained. The eighth relation is the ratio of the difference between the estimated value of the third product, the fourth product, and the fifth parameter to the third predetermined value. The third product is the product of the difference between the yaw reference angle and the estimated value of the third parameter and the fourth coefficient. The fourth product is the product of the fifth coefficient and the estimated value of the fourth parameter.

7. The method according to claim 1, characterized in that, After determining whether at least one of the wind deviation angle and the wave direction deviation angle is greater than the corresponding first angle threshold, the method further includes: Obtain the maximum rotational speed, wherein the maximum rotational speed is the maximum value of the rotational speed of the reaction wheel; If both the wind deviation angle and the wave direction deviation angle are less than or equal to the corresponding first angle threshold, or if the yaw angle is less than the second angle threshold and the duration is greater than or equal to the first predetermined duration, determine whether the maximum rotational speed is less than the rotational speed threshold and the duration is greater than or equal to the second predetermined duration, wherein the second predetermined duration is less than the first predetermined duration. When the maximum rotational speed is less than the rotational speed threshold and the duration is greater than or equal to the second predetermined duration, the rotational speed of the reaction wheel is controlled to be 0.

8. A control device for the yaw attitude of a floating wind turbine, characterized in that, include: The first acquisition unit is used to acquire the wind deviation angle, the wave direction deviation angle, and the yaw angle, wherein the wind deviation angle is the angle between the plane where the blades of the floating wind turbine are located and the actual wind direction, the wave direction deviation angle is the angle between the direction of the wave and the direction of the floating wind turbine, and the yaw angle is the angle of rotation of the floating wind turbine around its vertical axis. The first determining unit is used to determine whether at least one of the wind deviation angle and the wave direction deviation angle is greater than the corresponding first angle threshold. The second determining unit is used to determine whether the yaw angle is less than a second angle threshold and the duration is greater than or equal to a first predetermined duration when at least one of the wind deviation angle and the wave direction deviation angle is greater than the corresponding first angle threshold. The first control unit is configured to calculate a target rotational speed based at least on the wind deviation angle when the yaw angle is greater than or equal to the second angle threshold or when the yaw angle is less than the second angle threshold and the duration is less than the first predetermined duration, and control the reaction wheel to rotate at the target rotational speed, wherein the reaction wheel is used to adjust the yaw attitude of the floating wind turbine.

9. A computer-readable storage medium, characterized in that, The computer-readable storage medium includes a stored program, wherein, when the program is executed, it controls the device on which the computer-readable storage medium is located to perform the method according to any one of claims 1 to 7.

10. A control system for the yaw attitude of a floating wind turbine, characterized in that, include: Floating wind turbines; A reaction wheel, wherein the reaction wheel is connected to the floating wind turbine, and the central axis of the reaction wheel coincides with the central axis of the floating wind turbine; The control device for the bow attitude of the floating wind turbine is communicatively connected to the reaction wheel and the floating wind turbine, respectively, and the control device for the bow attitude of the floating wind turbine performs the method described in any one of claims 1 to 7.

Images