A floating front-end speed-regulation wind turbine generator unit stability control method and system

Abstract

The application relates to the technical field of wind power generation, in particular to a floating front-end speed regulation wind turbine unit stability control method and system. The method comprises the following steps: collecting wind speed data, optimizing wind wheel aerodynamic efficiency, obtaining and speed processing first variable speed mechanical energy to obtain second variable speed mechanical energy; driving the planet carrier to revolve around the sun based on the second variable speed mechanical energy, generating wind wheel power feedback and calculating minimum starting power demand; generating and executing initial electric energy distribution instructions according to the minimum starting power demand, obtaining starting process state feedback; switching the flywheel energy storage system to the normal operation mode based on the feedback, outputting compensation mechanical power to synthesize total mechanical power; driving the sun gear based on the total mechanical power, ensuring that the generator rotor operates at a constant speed, and performing grid connection operation. The application effectively improves the starting reliability, operation stability and power generation efficiency of the floating wind turbine unit.

Description

Technical Field

[0001] This application relates to the field of wind power generation technology, and in particular to a method and system for stable control of a floating front-end speed-regulating wind turbine. Background Technology

[0002] Currently, the development of floating wind power faces three major stability challenges: power generation stability (due to the intermittency and volatility of wind resources), structural stability (due to the multidimensional impact of ocean waves), and grid connection / transmission stability (due to the long grid connection distance and weak grid support in deep-sea areas). Existing mainstream wind turbine units (such as doubly-fed or permanent magnet direct-drive types) heavily rely on high-power power electronic converters for grid connection and power control. This not only brings high costs, complex cooling requirements, and potential failure points, but also often results in insufficient grid-friendliness and dynamic support capabilities (such as low-voltage ride-through and inertia response).

[0003] As an emerging configuration, front-end speed-regulating wind turbines achieve constant speed output through mechanical speed regulation, directly driving synchronous generators for grid connection. Theoretically, they offer advantages such as high-quality output power and strong inertia support. However, existing front-end speed regulation technologies (such as those using hydraulic torque converters) suffer from low regulation accuracy and slow dynamic response, making them ill-suited to rapidly changing wind conditions at sea. Meanwhile, traditional stabilization solutions for floating platforms (such as relying solely on mooring or vibration damping) have limited ability to suppress platform sway when faced with the combined effects of horizontal wind and waves.

[0004] Flywheel energy storage systems, due to their high power density and fast response characteristics, have been explored for mitigating power fluctuations. The angular momentum conservation (gyroscopic) effect of their high-speed rotating rotors has also been recognized as a potential way to increase platform stability. However, current technologies often use flywheel energy storage only as an independent power regulation unit or a simple stabilizer, failing to integrate it with the core transmission structure (planetary gear system) of the upstream speed-regulating wind turbine for deep collaborative design and unified control. This prevents the simultaneous, efficient, and adaptive resolution of the triple stability challenges related to power generation, structure, and grid connection. In particular, there is a lack of an intelligent control method capable of dynamically switching control objectives based on real-time wind, wave, and grid conditions, and coordinating the joint operation of flywheel energy storage (balancing power regulation and gyroscopic stability), the upstream speed-regulating system, and the generator excitation system.

[0005] Therefore, a stable control method and system for floating front-end speed-regulating wind turbines is proposed. This method deeply integrates the rapid power compensation and gyro stabilization capabilities of flywheel energy storage into the front-end speed-regulating wind turbine architecture. Through intelligent multi-condition collaborative control strategies, it achieves stable power generation, enhanced platform wave resistance, and direct grid connection without the need for high-power converters. This systematically solves the problems of power generation, structural stability, and grid connection stability faced by floating wind power in deep-sea environments, which has become an urgent technical challenge. Summary of the Invention

[0006] This application provides a method and system for stable control of floating front-end speed-regulating wind turbine units, which can improve the start-up reliability, operational stability and power generation efficiency of floating wind turbine units.

[0007] In a first aspect, this application provides a method for stabilizing a floating front-end speed-regulating wind turbine generator, the method comprising:

[0008] S1. Collect real-time wind speed data through sensors, calculate the theoretical wind energy power that the wind turbine can capture at the current time, combine the generator operating status, optimize the wind turbine aerodynamic efficiency, obtain the first variable speed mechanical energy, and speed up the first variable speed mechanical energy to obtain the second variable speed mechanical energy.

[0009] S2. Based on the second variable speed mechanical energy, drive the planetary carrier to generate revolution motion, monitor the revolution motion, generate a feedback signal of the wind turbine input power status, and calculate the minimum start-up power requirement;

[0010] S3. Generate an initial power allocation instruction based on the minimum startup power requirement, execute the initial power allocation instruction, and obtain startup process status feedback;

[0011] S4. Based on the startup process status feedback, switch the flywheel energy storage system control mode to normal operation mode. In the normal operation mode, output compensated mechanical power and obtain the synthesized mechanical power.

[0012] S5. Based on the synthesized mechanical power, drive the sun gear of the planetary gear system to determine the constant speed operation state of the generator rotor, and perform grid connection operation based on the constant speed operation state to maintain the power generation stability of the floating wind turbine.

[0013] Optionally, real-time wind speed data is acquired through a wind speed sensor; the theoretical wind power that the wind turbine can capture at the current wind speed is calculated based on the real-time wind speed data; based on the theoretical wind power and the generator operating status, a wind energy capture optimization command is generated to control the wind turbine pitch system; based on the real-time wind speed data and the current aerodynamic characteristics of the wind turbine, the optimal wind turbine pitch angle and tip speed ratio at the current wind speed are calculated using an aerodynamic efficiency model; the wind energy capture optimization command is executed to control the wind turbine pitch action, and combined with the optimal wind turbine pitch angle and tip speed ratio, the wind energy with the optimal aerodynamic efficiency of the wind turbine is captured; the wind energy is converted into first variable speed mechanical energy, and the first variable speed mechanical energy is transmitted to the input end of the speed-increasing gearbox through a coupling for speed-up processing to obtain second variable speed mechanical energy.

[0014] Optionally, the second speed-changing mechanical energy is transmitted to the planetary carrier of the front-end speed control system through a transmission shaft system, driving the planetary carrier to revolve; the revolve motion is monitored in real time by sensors to obtain the actual torque value and actual speed value of the mechanical energy; the actual torque value and the actual speed value are integrated into a feedback signal of the wind turbine input power state; based on the feedback signal, the minimum starting power requirement required to maintain the initial operation of the speed control motor of the front-end speed control system is calculated.

[0015] Optionally, based on the minimum startup power requirement, a system startup command is sent to the flywheel energy storage system, and an initial power allocation command is generated; the initial power allocation command is executed to control the power electronic converter to extract power from the flywheel unit in standby mode and obtain an initial stable DC bus voltage; the DC bus voltage is used to power the driver of the speed-regulating motor, and the pre-excitation operation of the speed-regulating motor is executed; after the pre-excitation operation is completed, the speed-regulating motor is started, and the startup process status feedback is obtained. The parameters in the startup process status feedback include: the actual speed value of the speed-regulating motor, the DC bus voltage of the speed-regulating motor driver, and the output torque of the speed-regulating motor.

[0016] Optionally, if all parameter values ​​in the startup process status feedback are within the corresponding preset range, the auxiliary power startup is determined to be complete, and the control mode of the flywheel energy storage system is switched from the startup mode to the normal operation mode for real-time power compensation. In the normal operation mode, based on the feedback signal of the wind turbine input power status, the power deviation caused by wind energy fluctuations is calculated in real time, and a corresponding power compensation command is generated. Based on the power compensation command, the speed-regulating motor is driven to output compensation mechanical power. The wind turbine input mechanical power corresponding to the revolution motion within the planetary gear system is dynamically synthesized in real time with the compensation mechanical power to obtain the synthesized mechanical power.

[0017] Optionally, based on the synthesized mechanical power, the sun gear of the planetary gear train is driven to output constant-speed mechanical power at a constant rotational speed; the constant-speed mechanical power is transmitted to the rotor of the electrically excited synchronous generator to determine the constant-speed operating state of the generator rotor; based on the constant-speed operating state, the excitation current is adjusted to match the electromagnetic torque generated by the generator with the mechanical torque input by the sun gear, and grid connection is performed; in the grid-connected state, the power generation stability of the floating wind turbine is maintained by controlling the flywheel energy storage system and the excitation control system.

[0018] Optionally, under stable power generation conditions, the flywheel energy storage system is controlled to operate with a control strategy that prioritizes lifespan and efficiency. In this case, rapid power fluctuations at the second to millisecond level are responded to first by three instantaneous power-type flywheel energy storage devices, while energy shifts at the minute level are handled by one long-term energy-type flywheel energy storage device. In emergency wind and wave resistance conditions, maximizing the platform gyro stabilizing torque is set as the priority target, and the flywheel energy storage system is controlled to switch to the highest speed operation state.

[0019] Optionally, the wind turbine locking action is performed to recover the mechanical energy during the wind turbine braking process to the flywheel energy storage system; priority is given to charging the three instantaneous power type flywheel energy storage devices located at the outermost edge of the water platform.

[0020] Secondly, this application provides a floating front-end speed-regulating wind turbine stability control system, the system comprising:

[0021] The wind speed acquisition and aerodynamic optimization module is used to collect real-time wind speed data through sensors, calculate the theoretical wind energy power that the wind turbine can capture, optimize the aerodynamic efficiency of the wind turbine in combination with the generator operating status, obtain the first variable speed mechanical energy, and perform speed-up processing on the first variable speed mechanical energy to obtain the second variable speed mechanical energy.

[0022] The orbital calculation start-up module is used to drive the planetary carrier to generate orbital motion based on the second variable speed mechanical energy, monitor the orbital motion, generate feedback signals of the wind turbine input power status, and calculate the minimum start-up power requirement.

[0023] The power allocation and feedback module is used to generate an initial power allocation command based on the minimum start-up power requirement, execute the initial power allocation command, and obtain start-up process status feedback.

[0024] The switching mode output compensation module is used to switch the control mode of the flywheel energy storage system to the normal operation mode based on the status feedback during the startup process. In the normal operation mode, it outputs compensated mechanical power and obtains the synthesized mechanical power.

[0025] The constant-speed grid connection stability maintenance module is used to drive the sun gear of the planetary gear system based on the synthesized mechanical power, determine the constant-speed operation state of the generator rotor, and perform grid connection operation based on the constant-speed operation state to maintain the power generation stability of the floating wind turbine.

[0026] In this regard, this application provides a computer device, wherein the memory stores machine-readable instructions executable by the processor. When the computer device is running, the processor communicates with the memory via a bus, and when the machine-readable instructions are executed by the processor, the steps of the above-described floating front-end speed-regulating wind turbine stable control method are performed.

[0027] Compared with the prior art, the beneficial effects of the present invention are at least as follows:

[0028] 1. By collecting wind speed data in real time and combining it with an advanced aerodynamic efficiency model, the wind turbine pitch angle and tip speed ratio are dynamically optimized, maximizing wind energy capture efficiency. Simultaneously, utilizing the planetary gear train structure of the front-end speed control system, variable speed input is converted to constant speed output, and with the rapid power compensation of the flywheel energy storage system, millisecond-level response to wind speed fluctuations is achieved. This closed-loop optimization from aerodynamic to mechanical transmission enables the entire power generation system to maintain efficient and stable operation over a wide wind speed range.

[0029] 2. The flywheel energy storage system is used simultaneously as a power regulation unit and a platform stabilization device. During power generation, the flywheel system suppresses power fluctuations through rapid charging and discharging; in the event of severe sea conditions, it generates a powerful gyroscopic stabilizing torque by controlling the high-speed rotation of the flywheel, effectively resisting the horizontal swaying of the platform. This "one machine, multiple uses" design concept allows the system to solve the dual challenges of power generation stability and platform structural safety without adding extra equipment.

[0030] 3. To address the diverse operating conditions faced by offshore wind turbines (such as stable power generation, emergency wind and wave resistance, sudden wind speed changes, and surge impacts), this invention designs differentiated control strategies. The system can automatically identify operating conditions based on real-time environmental data and dynamically adjust the collaborative working modes of multiple subsystems, including flywheel energy storage, front-end speed regulation, and generator excitation, ensuring optimal control objectives are achieved under various complex conditions and improving the system's adaptability and reliability.

[0031] 4. By achieving mechanical constant speed through a front-end speed control system and combining it with direct grid connection technology of synchronous generators, this invention completely eliminates the need for high-power power electronic converters and their complex cooling systems required by traditional wind turbines. This not only reduces system costs (especially at the megawatt level and above) but also avoids converter-related failure risks, improving the overall reliability and maintainability of the system. Attached Figure Description

[0032] To more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings used in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0033] Figure 1 This is a flowchart of a method for stabilizing a floating front-end speed-regulating wind turbine generator according to this application;

[0034] Figure 2 This is a schematic diagram illustrating the structural principle of a floating front-end speed-regulating wind turbine generator according to this application.

[0035] Figure 3 This is a schematic diagram illustrating the division of control modes under different environmental conditions in this application.

[0036] Figure 4 This is a schematic diagram of the structure of a floating front-end speed-regulating wind turbine stability control system according to this application;

[0037] Figure 5 This is a schematic block diagram of the structure of a floating front-end speed-regulating wind turbine stability control device according to this application. Detailed Implementation

[0038] This application provides a method and system for stabilizing a floating front-end speed-regulating wind turbine. The terms "first," "second," "fourth," etc. (if present) in the specification, claims, and accompanying drawings 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 interchanged where appropriate so that the embodiments described herein can be implemented in a sequence other than that illustrated or described herein. Furthermore, the terms "comprising" or "having" and any variations thereof are intended to cover a non-exclusive inclusion; for example, a process, method, system, product, or device that includes 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 devices.

[0039] For ease of understanding, the specific process of the embodiments of this application is described below. Please refer to [link / reference]. Figure 1 One embodiment of the stability control method for a floating front-end speed-regulating wind turbine in this application includes:

[0040] Step S1: Collect real-time wind speed data through sensors, calculate the theoretical wind energy power that the wind turbine can capture, optimize the aerodynamic efficiency of the wind turbine in combination with the generator operating status, obtain the first variable speed mechanical energy, and speed up the first variable speed mechanical energy to obtain the second variable speed mechanical energy.

[0041] In one specific embodiment, the process of performing step S1 may specifically include the following steps:

[0042] Real-time wind speed data is obtained through a wind speed sensor;

[0043] The theoretical wind energy power that the wind turbine can capture is calculated based on real-time wind speed data;

[0044] Based on theoretical wind power and generator operating status, wind energy capture optimization commands are generated to control the wind turbine pitch system.

[0045] Based on real-time wind speed data and the current aerodynamic characteristics of the wind turbine, the optimal wind turbine pitch angle and tip speed ratio under the current wind speed are calculated using an aerodynamic efficiency model.

[0046] Execute wind energy capture optimization commands to control the wind turbine pitch action, and combine the optimal wind turbine pitch angle and tip speed ratio to capture wind energy with the optimal aerodynamic efficiency of the wind turbine;

[0047] Wind energy is converted into first-speed mechanical energy, and this first-speed mechanical energy is transmitted to the input end of the speed-increasing gearbox via a coupling for speed-up processing, thereby obtaining second-speed mechanical energy.

[0048] Specifically, real-time wind speed data at the wheel hub height is acquired in real time through wind speed sensors (such as ultrasonic anemometers) installed on the nacelle. The sampling frequency is typically no less than 1Hz. Based on this, the theoretical wind energy power that the current wind turbine can capture is calculated according to the wind energy capture formula. :

[0049]

[0050] in, This refers to air density, expressed in kg / m³, and its value under standard sea conditions is approximately [value missing]. ; The swept area of ​​the wind turbine is expressed in units of... ; The wind energy utilization coefficient is a core parameter characterizing the aerodynamic efficiency of wind turbines, with a maximum value (Bates limit) of approximately 0.593.

[0051] Simultaneously, monitor the generator's operating status, including whether it is currently in grid-connected power generation, standby, or fault state, based on theoretical wind power. By comparing the wind turbine's rated capacity (e.g., 6MW) with the grid dispatch instructions (external operating instructions received by the wind turbine from the grid operator or the upper-level power plant control system), an optimized wind energy capture instruction is generated to control the wind turbine pitch system. The core objective of this instruction is to dynamically adjust the pitch angle to maximize wind energy capture. To achieve this goal, the control system is based on real-time wind speed data. Based on the current rotor speed, the optimal rotor pitch angle under the current operating conditions is calculated in real time using a built-in aerodynamic efficiency model (e.g., based on airfoil data table lookup). Compared with the optimal tip speed ratio The tip speed ratio is defined as the ratio of the linear velocity at the tip of the wind turbine blades to the incoming airflow velocity, i.e. ,in The angular velocity of the wind turbine. This refers to the rotor radius. For example, in a 6MW unit with a rated wind speed of 12m / s and a rotor radius of 80m, in order to maintain optimal power generation efficiency, the control system can adjust the optimal pitch angle to approximately 0 degrees and maintain the optimal tip speed ratio at around 7.

[0052] Execute wind energy capture optimization commands, i.e., drive the pitch servo system to achieve the optimal wind turbine pitch angle. To achieve this goal, the pitch angle of each blade is precisely adjusted; simultaneously, by adjusting the generator load, the actual tip speed ratio of the wind turbine is made to approach the optimal tip speed ratio. Through the coordinated adjustment of these two, the wind turbine is ensured to operate at the optimal aerodynamic efficiency point, thereby capturing wind energy with the best aerodynamic efficiency. The captured wind energy is then converted into the first variable-speed mechanical energy, which is typically manifested as the wind turbine main shaft output speed (e.g., the speed varies between 5 and 15 rpm in the wind speed range of 3 m / s to 25 m / s) and torque. This first variable-speed mechanical energy is transmitted to the input end of the speed-increasing gearbox through a high-strength coupling. The speed-increasing gearbox here adopts a multi-stage planetary / parallel shaft combination design, and its speed-increasing ratio is designed according to the synchronous speed of the generator. For example, the 10 rpm input of the wind turbine main shaft is increased to about 1500 rpm to meet the input requirements of the front-end speed control system. After this speed-up process, the second variable-speed mechanical energy is obtained on the high-speed output shaft of the speed-increasing gearbox. Its speed has been increased to a range suitable for subsequent power regulation, but the torque is reduced accordingly, which is ready for entering the front-end speed control system.

[0053] Step S2: Based on the second variable speed mechanical energy, drive the planetary carrier to generate revolution motion, monitor the revolution motion, generate a feedback signal of the wind turbine input power status, and calculate the minimum start-up power requirement.

[0054] In one specific embodiment, the process of performing step S2 may specifically include the following steps:

[0055] The second speed-changing mechanical energy is transmitted to the planetary carrier of the front-end speed regulating system through the transmission shaft system, driving the planetary carrier to revolve.

[0056] The actual torque and actual speed values ​​of mechanical energy are obtained by monitoring the revolution motion in real time through sensors.

[0057] The actual torque value and the actual speed value are integrated into a feedback signal for the wind turbine input power status;

[0058] Based on the feedback signal, calculate the minimum starting power requirement needed to maintain the initial operation of the speed control motor in the front-end speed control system.

[0059] Specifically, the second-speed mechanical energy output from the high-speed output shaft of the speed-increasing gearbox is directly transmitted and input to the core component of the front-end speed control system (the planetary carrier of the planetary gearbox) via a transmission shaft system with spline or flange connections. Driven by the input torque, the planetary carrier begins to rotate; this rotational motion is its revolution motion. Its revolution speed (i.e., the planetary carrier speed) and the input torque (i.e., the planetary carrier input torque) together constitute the mechanical input from the wind turbine. In a 6MW unit embodiment, when the wind speed is at the rated wind speed, the planetary carrier revolution speed may be designed to be maintained at approximately 1800 rpm, corresponding to an input torque of tens of kilo-N. m.

[0060] To accurately monitor energy input, high-precision sensors are used to monitor the revolution motion in real time. Specifically, torque sensors and speed sensors (such as photoelectric encoders) are installed on the transmission shaft system. The torque sensor is used to measure the actual torque acting on the planetary carrier in real time. The speed sensor is used to measure the actual speed of the planetary carrier in real time. These two real-time measurements are collected and sent to the central controller.

[0061] The controller integrates the collected actual torque value with the actual speed value for calculation, specifically, based on the mechanical power formula. ,in, angular velocity It can calculate the real-time input mechanical power of the wind turbine. ; and its dynamic rate of change Along with the original and These signals together constitute the feedback signal representing the wind turbine input power state, which characterizes the energy source state of the system. This signal is the basis for all subsequent regulation and control.

[0062] Based on the feedback signal of the wind turbine's input power status, external auxiliary power needs to be calculated and prepared during the startup phase. Specifically, the control system calculates the minimum kinetic energy required to accelerate the speed-regulating motor from a standstill to a point where it can initially establish a stable meshing relationship with the planetary carrier's revolution, based on the current actual rotational speed and parameters such as the planetary gear system's transmission ratio and moment of inertia. Specifically, the target synchronous speed that the speed-regulating motor needs to achieve is directly calculated by multiplying the actual rotational speed of the planetary carrier by a fixed coefficient determined by the planetary gear ratio; this target speed is the speed necessary for the gears driven by the speed-regulating motor to smoothly and without impact engage with the rotational motion of the planetary carrier currently driven by the wind turbine. The control system calculates the minimum kinetic energy required to accelerate this rotating system from a standstill to the aforementioned target speed based on the total moment of inertia of the speed-regulating motor and its associated transmission components. The moment of inertia reflects the ease with which these components can accelerate; the larger the value, the more energy is required to accelerate to the same speed. The control system sets a reasonable startup acceleration time for this acceleration process, for example, 2 seconds. Dividing the calculated minimum kinetic energy by the set start-up time yields the average mechanical power required to accelerate these components. By further considering the efficiency losses in converting electrical energy to mechanical energy in the speed-regulating motor and its driver, as well as the basic power consumption required for the control system itself, adding these factors together accurately calculates the minimum starting power requirement needed to maintain the initial operation of the speed-regulating motor in the front-end speed-regulating system. (Reference) Figure 2 The figure shows a schematic diagram of the structural principle of a floating front-end speed-regulating wind turbine.

[0063] Step S3: Generate an initial power allocation command based on the minimum startup power requirement, execute the initial power allocation command, and obtain startup process status feedback.

[0064] In one specific embodiment, the process of performing step S3 may specifically include the following steps:

[0065] Based on the minimum startup power requirement, a system startup command is sent to the flywheel energy storage system, and an initial power distribution command is generated.

[0066] Execute the initial power distribution command to control the power electronic converter to extract power from the flywheel unit in standby state and obtain an initial stable DC bus voltage;

[0067] The DC bus voltage is used to power the driver of the speed-regulating motor and to perform the pre-excitation operation of the speed-regulating motor.

[0068] After the pre-excitation operation is completed, the speed-regulating motor is started, and the startup process status feedback is obtained. The parameters in the startup process status feedback include: the actual speed value of the speed-regulating motor, the DC bus voltage of the speed-regulating motor driver, and the output torque of the speed-regulating motor.

[0069] Specifically, once the central controller calculates the minimum startup power requirement (e.g., 50kW for a 6MW system), it sends a system startup command to the main controller of the flywheel energy storage system. Based on this command and the minimum startup power requirement, the main controller of the flywheel energy storage system generates a specific initial power allocation command. The core content of this command includes: determining which (or which) flywheel units in standby mode (e.g., prioritizing the power-type flywheel with a higher state of charge (SOC)) will provide energy, and setting the initial output power setting value of its power electronic converter (in this embodiment, a back-to-back converter consisting of a bidirectional AC / DC converter and a DC / AC inverter). This setting value is slightly larger than the minimum startup power requirement to leave a margin, for example, it can be set to 55kW.

[0070] The process of executing the initial power distribution command is as follows: After receiving the command, the controller of the target flywheel unit controls its power electronic converter to operate in inverter mode, extracting kinetic energy from the high-speed rotating flywheel rotor and converting it into electrical energy. The converter, through closed-loop control, ensures that its DC side output has an initially stable DC bus voltage. The stability of this voltage is crucial, and its typical value is set according to the requirements of the subsequent driver, for example, it can be stabilized at 700VDC. Voltage stability is ensured by a voltage loop PI controller, whose control law can be summarized as follows: ,in This is the duty cycle control signal for the converter switching transistors. This is the reference value for the DC bus voltage. This is the actual sampled value of the DC bus voltage. and These are the proportional and integral coefficients, respectively. Adjustment is made by... ,make Quickly track and stabilize .

[0071] After obtaining an initial stable DC bus voltage, this voltage is led to the DC input terminal of the speed-regulating motor driver (usually a vector control inverter) to power its power circuit. After the driver control circuit is powered on and initialized, it performs the pre-excitation operation of the speed-regulating motor. For permanent magnet synchronous motors (PMSMs), this operation mainly involves detecting the initial position of the rotor poles (e.g., by injecting high-frequency pulses); for electrically excited synchronous motors, it involves applying a small excitation current to the excitation winding. (For example, 10% of the rated excitation current) to establish a defined initial magnetic field in the motor air gap, laying the foundation for subsequent vector control orientation.

[0072] After the pre-excitation operation is confirmed to be complete (e.g., position detection is successful or...), After stable establishment, the driver issues a command to start the variable-speed motor. At this time, based on the rotor position information of the variable-speed motor, the driver begins to output three-phase AC voltage according to a preset ramp function (e.g., accelerating from 0 to 100 rpm within 2 seconds), driving the rotor of the variable-speed motor to start rotating. During the start-up acceleration process, the system continuously acquires feedback on the start-up status. Key feedback parameters are collected in real time by sensors and transmitted to the controller, mainly including:

[0073] (1) The actual rotational speed measured by the encoder installed on the shaft of the speed-regulating motor;

[0074] (2) The actual value of the DC bus voltage of the speed-regulating motor driver measured by the sampling circuit;

[0075] (3) The output torque of the speed-regulating motor is observed through the internal algorithm of the motor driver or directly measured by the torque sensor.

[0076] For example, during startup, the actual speed should smoothly rise from 0 to the target value, the actual DC bus voltage should stabilize within 700V±10V, and the output torque of the speed-regulating motor should reflect the load torque required for acceleration. These real-time data collectively constitute a complete startup process status feedback, used to determine whether the startup is normal and when to switch to the next stage. When these parameters all reach and stabilize within the preset threshold range (e.g., the actual speed reaches 100rpm and stabilizes, the actual DC bus voltage stabilizes at 690-710V, and the output torque fluctuation is less than ±5%), the startup stage is considered successfully completed.

[0077] Step S4: Based on the startup process status feedback, switch the flywheel energy storage system control mode to normal operation mode. In normal operation mode, output compensated mechanical power and obtain the synthesized mechanical power.

[0078] In one specific embodiment, the process of performing step S4 may specifically include the following steps:

[0079] If all parameter values ​​in the status feedback during the startup process are within the corresponding preset range, it is determined that the auxiliary power startup is complete, and the control mode of the flywheel energy storage system is switched from the startup mode to the normal operation mode for real-time power compensation.

[0080] In normal operation mode, based on the feedback signal of the wind turbine input power status, the power deviation caused by wind energy fluctuations is calculated in real time, and corresponding power compensation commands are generated.

[0081] Based on the power compensation command, drive the speed-regulating motor to output compensated mechanical power;

[0082] The wind turbine input mechanical power corresponding to the revolution motion within the planetary gear system is dynamically synthesized in real time with the compensation mechanical power to obtain the synthesized mechanical power.

[0083] Specifically, the central controller continuously monitors the startup process status feedback obtained from step S3. This feedback includes the actual speed of the speed-regulating motor, the DC bus voltage of the speed-regulating motor driver, and the output torque of the speed-regulating motor. The system presets allowable ranges for each parameter: for example, the actual speed of the speed-regulating motor must be stable at 100±5 rpm, the DC bus voltage must be maintained at 700±15V, and the fluctuation of the output torque of the speed-regulating motor must be less than 10% of its average value. When the controller confirms that all feedback parameter values ​​are within the corresponding preset range and remain stable for more than a set time window (e.g., 5 seconds), the logic determines that the auxiliary power startup is complete. Subsequently, the controller sends a mode switching command to the flywheel energy storage system, officially switching its control mode from the startup mode, which aims to establish voltage and achieve smooth startup, to the normal operation mode, which aims to achieve dynamic response and precise adjustment for real-time power compensation. In this mode, the control objective of the flywheel energy storage system changes to rapidly tracking power commands, and the control loop bandwidth of its power electronic converter is increased, for example, from tens of hertz at startup to hundreds of hertz, to adapt to millisecond-level power fluctuations.

[0084] Once in normal operating mode, the core basis for control is the feedback signal of the wind turbine input power status generated in step S2, which provides real-time information on the wind turbine input mechanical power. Based on this signal and its rate of change, the controller calculates the power deviation caused by wind energy fluctuations in real time. Specifically, a smooth reference power is set. (For example, through a first-order low-pass filter) (obtained by filtering), then the instantaneous power deviation In an example of a sudden increase in wind speed, if If the power increases from 4MW to 5MW within 1 second, while the reference power only increases slowly due to filtering, a positive power deviation of approximately 1MW will occur. Based on this deviation, and combined with the power flow model of the front-end speed control system (which establishes a constant relationship between the speed control motor's compensation power and the sun gear's output power), the controller generates a corresponding power compensation command. This command determines the power that the speed control motor should absorb (if...). ) or release (if power value For example, in the above example, the instruction requires the speed-regulating motor to operate as a generator, absorbing approximately 800kW of power (considering efficiency losses).

[0085] Based on the power compensation command, the speed-regulating motor driver (vector control frequency converter) reacts rapidly, and the driver receives... Then, it is converted into motor torque. Instructions ( ,in The variable speed motor's angular velocity is controlled by a fast current inner loop, which drives the variable speed motor to precisely output compensating mechanical power corresponding to the command. This power is applied to the planetary gear system (usually acting on the ring gear or planetary gears, driving them to generate additional rotation) through the output shaft of the variable speed motor.

[0086] Within a planetary gear train, two mechanical power inputs exist simultaneously: one is the revolution motion, representing the mechanical power input from the wind turbine via the planetary carrier; the other is the additional rotation motion, representing the compensating mechanical power input from the speed-regulating motor. According to the kinematics of planetary gears, these two motions are dynamically synthesized in real time at the gear meshing point, and their synthesis relationship can be expressed by the formula... Description, in which The sun gear outputs angular velocity. The angular velocity of the planetary carrier (wind turbine input) is... The angular velocity of the gear ring (input of the speed-regulating motor) is... This refers to the characteristic parameters of the planetary gear (the ratio of the number of teeth on the ring gear to the number of teeth on the sun gear). The control objective is to maintain... Constant. Therefore, when When the wind speed increases and the height rises, adjust accordingly. Increasing it can offset the effect. Changes This allows for the acquisition of synthesized mechanical power, specifically the output power of the sun gear, where the torque may vary but the rotational speed remains constant. This output is ultimately transmitted to the synchronous generator. The torque of the sun gear output shaft is measured using torque and speed sensors. With rotational speed This allows for real-time verification of the synthesized mechanical power. And whether the constant speed target has been achieved.

[0087] Step S5: Drive the sun gear of the planetary gear system based on the synthesized mechanical power to determine the constant speed operation state of the generator rotor, and perform grid connection operation based on the constant speed operation state to maintain the power generation stability of the floating wind turbine.

[0088] In one specific embodiment, the process of performing step S5 may specifically include the following steps:

[0089] Based on the synthesized mechanical power, the sun gear of the planetary gear system is driven to output constant speed mechanical power at a constant rotational speed;

[0090] Constant-speed mechanical power is transmitted to the rotor of the electrically excited synchronous generator to determine the constant-speed operation state of the generator rotor.

[0091] The excitation current is adjusted based on constant speed operation to match the electromagnetic torque generated by the generator with the mechanical torque input by the sun gear, and then the grid connection operation is performed.

[0092] In grid-connected mode, the power generation stability of floating wind turbines is maintained by controlling the flywheel energy storage system and the excitation control system.

[0093] Specifically, the synthesized mechanical power output by the sun gear of the planetary gear train in the front-end speed control system is characterized by a highly constant rotational speed. In a 50Hz power grid system, for a two-pole electrically excited synchronous generator, the synchronous speed is 1500 revolutions per minute. Through precise compensation control in step S4, the output speed of the sun gear is... The speed is stably maintained at this synchronization value, for example, fluctuating within 99.5% to 100.5% of the rated speed, thus ensuring its output is constant-speed mechanical power. This power is directly transmitted to the rotor of the electrically excited synchronous generator via a rigid coupling, driving its rotation; its speed is measured in real time by a high-precision speed sensor (such as a photoelectric encoder) mounted on the generator rotor shaft. This allows us to determine the constant-speed operation of the generator rotor; when monitoring... When the speed stabilizes within the range of 1500±5 rpm for more than 10 seconds, the control system determines that the generator has entered a stable constant-speed operation state, creating the primary condition for grid connection.

[0094] Based on constant speed operation, the system initiates precise control of the electrically excited synchronous generator. This control is based on the generator's current speed. The excitation current is adjusted according to the preset rated voltage; the excitation control system (usually an automatic voltage regulator based on silicon controlled rectifier, AVR) adjusts the excitation current. To control the air gap magnetic flux inside the generator Thus, controlling its no-load electromotive force. , This indicates a direct proportional relationship; the control objective is to make the terminal voltage of the generator stator winding... Amplitude and grid voltage The amplitudes are equal. Simultaneously, the electromagnetic torque generated by the generator is matched with the mechanical torque input from the sun gear; the electromagnetic torque of the generator... The load current and air gap flux are jointly determined; the control system monitors the generator output power or stator current in real time and refers to the mechanical drive torque calculated from the input torque of the sun gear. Dynamically fine-tuning the excitation current The power angle of the generator makes Real-time balance This avoids rotor acceleration or deceleration, thus maintaining a stable constant-speed operation while regulating voltage; when the generator terminal voltage is detected by the synchronizing device... With grid voltage When the differences in amplitude, frequency, and phase are all less than preset thresholds (e.g., voltage difference < ±0.5%, frequency difference < ±0.05Hz, phase difference < ±10°), the system automatically issues a command to perform grid connection operation, closes the grid connection circuit breaker, and achieves smooth and shock-free grid connection.

[0095] In grid-connected mode, the system's control objective shifts to maintaining the power generation stability of the floating wind turbines. This is achieved through the coordinated control of the flywheel energy storage system and the excitation control system. For rapid power fluctuations on the order of seconds or even milliseconds (such as those caused by turbulence or gusts), the flywheel energy storage system rapidly adjusts the power throughput of the speed-regulating motor through its power electronic converter, instantly absorbing or releasing power to smooth out fluctuations at the front end and prevent them from being directly transmitted to the generator and the grid. For example, when a power deficit of 500kW is detected within 1 second, the flywheel system can instruct the speed-regulating motor to switch to motor mode within 100 milliseconds, releasing the corresponding power to compensate. For voltage stability and reactive power support, the excitation control system operates continuously. Based on grid dispatch instructions or local voltage measurements, it dynamically adjusts the excitation current. To regulate the reactive power output of the generator. The formula is ,in For generator synchronization reactance, The angle of effort. By increasing... To improve This increases the reactive power supplied to the grid, supporting grid voltage. In severe operating conditions such as surges that cause platform sway, the control strategy prioritizes structural safety. The flywheel energy storage system switches to its highest operating speed to maximize gyroscopic stability torque, while the excitation control system may briefly switch to a "strong robustness mode," appropriately relaxing voltage accuracy control to overcome disturbances. Through continuous, coordinated closed-loop control of the flywheel energy storage system and the excitation control system, the unit's power generation stability is ensured after grid connection, even under complex sea conditions and grid interference.

[0096] In one specific embodiment, maintaining the power generation stability of a floating wind turbine includes:

[0097] Under stable power generation conditions, the flywheel energy storage system operates with a control strategy that prioritizes lifespan and efficiency. Rapid power fluctuations at the second to millisecond level are responded to by three instantaneous power-type flywheel energy storage devices, while energy shifts at the minute level are handled by one long-duration energy-type flywheel energy storage device.

[0098] In emergency wind and wave resistance, the priority is to maximize the stability torque of the platform gyroscope and control the flywheel energy storage system to switch to the highest speed operation state.

[0099] Specifically, under stable power generation conditions, the core objective of control is to ensure the long-term economic efficiency and reliability of operation, i.e., implementing a control strategy prioritizing lifespan and efficiency. In this case, for rapid power fluctuations ranging from seconds to milliseconds caused by wind speed turbulence, the control system prioritizes the response of three instantaneous power-type flywheel energy storage devices deployed at the outermost edge of the platform. Each of these devices features high power density and millisecond-level rapid response characteristics, specifically designed to absorb or release short-term, intense power pulses. For example, when a gust of wind power lasting 2 seconds with an amplitude of 800kW is detected, the control system will instruct one or two power-type flywheels with appropriate states of charge to switch to power generation mode within 100 milliseconds to absorb the excess power. For energy shifting demands on a minute-by-minute scale caused by a gradual decrease in wind speed over ten minutes, such as a 300kW reduction in average power due to a gradual decrease in wind speed, the primary regulation task is undertaken by a long-duration energy-type flywheel energy storage device located underwater at the very center of the platform. This device has a large energy storage capacity and is suitable for continuous charging and discharging to balance energy gaps or surpluses over longer timescales. By clearly defining the division of labor, with "high-frequency fluctuations handled by the power-type flywheel and low-frequency energy shifting undertaken by the energy-type flywheel," the system ensures that output power fluctuations are smoothed while allowing each flywheel to operate within its optimal characteristic range. This protects the cycle life of the power-type flywheel and improves the energy storage utilization efficiency of the energy-type flywheel.

[0100] In emergency wind and wave conditions, when the monitoring system predicts or encounters extreme wind and wave weather, the primary control objective immediately shifts from power generation optimization to ensuring platform structural safety, prioritizing maximizing the platform's gyroscopic stabilizing torque. The control system then issues the highest priority command, controlling the flywheel energy storage system to switch to its highest operating speed. Specifically, the system overrides all normal power compensation commands, forcibly sending a unified acceleration command to all four flywheel energy storage units, driving their rotor speeds to increase from normal operating speeds to their respective mechanically designed maximum speeds in the shortest possible time (e.g., within one minute). According to the principle of gyroscopic stability, a high-speed rotating object has the characteristic of maintaining the stability of its axis of rotation, i.e., the gyroscopic effect. When all flywheel rotors rotate at their maximum speed, their angular momentum reaches its maximum value. At this time, if wind and waves cause the floating platform to sway horizontally, the flywheel's huge angular momentum will generate a powerful gyroscopic stabilizing torque to resist this swaying, thereby enhancing the platform's stability. For example, when encountering large waves, this measure can reduce the platform's roll angle by more than 30%. In this state, power generation is temporarily secondary. The flywheel energy storage system will continue to operate at its highest speed as a gyro stabilizer until environmental monitoring indicates that the threat of wind and waves has decreased below a safe threshold. Only then will the system control mode switch back to stable power generation. (Reference) Figure 3 The diagram illustrates the division of control modes under different environmental conditions.

[0101] In one specific embodiment, control under emergency wind and wave conditions includes:

[0102] Perform the wind turbine locking action to recover the mechanical energy during the wind turbine braking process to the flywheel energy storage system;

[0103] Priority is given to charging the three instantaneous power flywheel energy storage devices located at the outermost edge of the floating platform.

[0104] Specifically, the action involves executing a rotor locking maneuver. The control system issues an emergency command to the rotor pitch system, driving all blades to rapidly feather to the full feather position to completely eliminate the aerodynamic thrust of the rotor. Simultaneously, it controls the speed-regulating motor in the front-end speed control system, switching it to controlled generator operation mode. At this point, the enormous rotational kinetic energy stored in the entire rotor drivetrain, still rotating due to inertia, no longer drives the generator but instead generates electricity through the speed-regulating motor. The generated electrical energy is then transmitted to the DC bus via a power electronic converter. The flywheel energy storage system's controller then instructs its power converter to operate in charging mode, using all the electrical energy from the DC bus to drive the rotor of the flywheel energy storage device to accelerate its rotation. Through this process, the mechanical energy generated during rotor braking is successfully recovered to the flywheel energy storage system, achieving safe energy recovery and utilization while avoiding the losses caused by mechanical braking.

[0105] While recovering energy, the system executes a specific energy allocation strategy to maximize the platform's anti-sway capability: prioritizing charging the three instantaneous power flywheel energy storage devices located at the outermost edge of the platform. The control system concentrates all available electrical energy, prioritizing the replenishment of energy to these three flywheels in specific locations. The control objective is to force the rotor speed of these three flywheels to increase to the maximum safe operating speed allowed by their mechanical design in the shortest possible time. For example, rapidly increasing the speed from the normal operating state by approximately 20%. Prioritizing acceleration of these three flywheels is chosen because they are located at the outermost edge of the platform, farthest from the platform's center. According to physical principles, the farther the mass distribution is from the center, the stronger the stabilizing effect produced during high-speed rotation. Accelerating these outermost flywheels to their maximum speed most effectively utilizes the gyroscopic effect generated during high-speed rotation to resist the horizontal swaying of the platform caused by wind and waves, thereby providing maximum anti-overturning stability for the entire floating structure. This process continues until the target flywheels reach and stabilize at their maximum operating speed, and maintains operation in this state until the extreme external environmental conditions end.

[0106] It is understood that the executing entity of this application can be a floating front-end speed-regulating wind turbine stability control system, or it can be a terminal or a server; the specific implementation is not limited here. This application's embodiments use a server as an example for illustration.

[0107] The above describes a method for stabilizing a floating front-end speed-regulating wind turbine in an embodiment of this application. The following describes a method for stabilizing a floating front-end speed-regulating wind turbine in an embodiment of this application. Please refer to [link to relevant documentation]. Figure 4 One embodiment of the floating front-end speed-regulating wind turbine stability control system in this application includes:

[0108] The wind speed acquisition and aerodynamic optimization module is used to collect real-time wind speed data through sensors, calculate the theoretical wind energy power that the wind turbine can capture, optimize the aerodynamic efficiency of the wind turbine in combination with the generator operating status, obtain the first variable speed mechanical energy, and perform speed-up processing on the first variable speed mechanical energy to obtain the second variable speed mechanical energy.

[0109] The orbital calculation start-up module is used to drive the planetary carrier to generate orbital motion based on the second variable speed mechanical energy, monitor the orbital motion, generate feedback signals of the wind turbine input power status, and calculate the minimum start-up power requirement.

[0110] The power allocation and feedback module is used to generate an initial power allocation command based on the minimum start-up power requirement, execute the initial power allocation command, and obtain start-up process status feedback.

[0111] The switching mode output compensation module is used to switch the control mode of the flywheel energy storage system to the normal operation mode based on the status feedback during the startup process. In the normal operation mode, it outputs compensated mechanical power and obtains the synthesized mechanical power.

[0112] The constant-speed grid connection stability maintenance module is used to drive the sun gear of the planetary gear system based on the synthesized mechanical power, determine the constant-speed operation state of the generator rotor, and perform grid connection operation based on the constant-speed operation state to maintain the power generation stability of the floating wind turbine.

[0113] Through the coordinated efforts of all the aforementioned components, wind energy can be efficiently converted into electrical energy, ensuring the stable operation of floating wind turbines under complex environmental conditions. The close cooperation between modules ensures efficient and precise operation throughout the entire process, from wind speed acquisition and rotor aerodynamic optimization to startup control and final grid connection stability maintenance. The wind speed acquisition and aerodynamic optimization module obtains wind speed data in real time and adjusts the rotor's operating parameters accordingly to ensure the rotor always operates at optimal aerodynamic efficiency. Combined with the generator's operating status, it can maximize the capture of wind energy and its conversion into mechanical energy, providing a highly efficient input power source. This is used for subsequent speed change processes; under the monitoring and calculation of the orbital start-up module, the minimum required start-up power can be accurately calculated, and the planetary carrier can be driven to generate stable orbital motion based on the mechanical energy of the second speed change; by monitoring the orbital state of the planetary carrier in real time, a feedback signal of the wind turbine input power state can be generated, providing accurate data support for subsequent power distribution and start-up processes; the power distribution and feedback module formulates an initial power distribution command based on the calculated minimum start-up power requirement, and obtains the status feedback during the start-up process in real time by executing the command; this module ensures that the speed-regulating motor can start... The system receives sufficient energy support during startup and adjusts its operating status based on feedback data to ensure a smooth startup process. Once startup is successful and a stable startup state is achieved, the switching mode output compensation module switches the control mode of the flywheel energy storage system to normal operation mode based on the startup status feedback. In this mode, the system can quickly respond to wind speed fluctuations, output compensating mechanical power in real time, and regulate energy through the flywheel energy storage system to maintain the stable operation of the wind turbine. At this time, the synergistic effect of the flywheel energy storage system and the generator enables the wind turbine to effectively cope with rapid wind speed fluctuations and avoid the impact of power fluctuations on the generator. The constant speed grid connection and stability maintenance module uses the synthesized mechanical power to drive the generator rotor to maintain a constant speed operation through the sun gear of the planetary gear system, ensuring that the generator's output power matches the grid power, thus completing the grid connection operation. When the generator's speed, frequency, and voltage are consistent with the grid parameters, the system automatically executes the grid connection operation, ensuring a smooth and shock-free grid connection process. At the same time, through continuous monitoring and adjustment, the system continuously maintains the power generation stability of the wind turbine, ensuring that the floating wind turbine can still operate stably under any external disturbances and provide reliable power output.

[0114] In summary, the close cooperation and dynamic adjustment of each module enable wind turbines to operate efficiently and stably in a variable environment. Through precise control and feedback mechanisms, the system not only optimizes wind energy capture and conversion but also ensures that every stage of the power generation process is in an optimal state to meet the ever-changing grid demands. This efficient and stable operating mode provides valuable practical experience for the further development of wind power technology and paves the way for the widespread application of renewable energy.

[0115] above Figure 4 The present invention provides a detailed description of a floating front-end speed-regulating wind turbine stability control system from the perspective of modular functional entities. The following describes a floating front-end speed-regulating wind turbine stability control device from the perspective of hardware processing.

[0116] Reference Figure 5 This invention also provides a floating front-end speed-regulating wind turbine stability control device, which can be a server, and its internal structure can be as follows: Figure 5 As shown, this floating front-end speed-regulating wind turbine stability control device includes a processor, memory, display screen, input device, network interface, and database connected via a system bus. The processor, designed as a computer, provides computing and control capabilities. The memory of this floating front-end speed-regulating wind turbine stability control device includes a non-volatile storage medium and internal memory. The non-volatile storage medium stores the operating system, computer programs, and database. The internal memory provides an environment for the operation of the operating system and computer programs in the non-volatile storage medium. The database of this floating front-end speed-regulating wind turbine stability control device stores the data corresponding to this embodiment. The network interface of this floating front-end speed-regulating wind turbine stability control device is used for communication with external terminals via a network connection. When the computer program is executed by the processor, it can implement the above-described methods.

[0117] Those skilled in the art will understand that Figure 5 The structure shown is merely a block diagram of a portion of the structure related to the present invention and does not constitute a limitation on the floating front-end speed-regulating wind turbine stability control device to which the present invention is applied.

[0118] The present invention also provides a computer-readable storage medium, which can be a non-volatile computer-readable storage medium or a volatile computer-readable storage medium, wherein the computer-readable storage medium stores instructions that, when the instructions are executed on a computer, cause the computer to perform the steps of the floating front-end speed-regulating wind turbine stable control method.

[0119] Those skilled in the art will clearly understand that, for the sake of convenience and brevity, the specific working processes of the systems and units described above can be referred to the corresponding processes in the foregoing method embodiments, and will not be repeated here.

[0120] If the integrated unit is implemented as a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of this application, in essence, or the part that contributes to the prior art, or all or part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of this application. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.

[0121] The above-described embodiments are only used to illustrate the technical solutions of this application, and are not intended to limit them. Although this application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of this application.

Claims

1. A method for stabilizing a floating front-end speed-regulating wind turbine generator, characterized in that, The method includes: S1. Collect real-time wind speed data through sensors, calculate the theoretical wind energy power that the wind turbine can capture at the current time, combine the generator operating status, optimize the wind turbine aerodynamic efficiency, obtain the first variable speed mechanical energy, and speed up the first variable speed mechanical energy to obtain the second variable speed mechanical energy. S2. Based on the second variable speed mechanical energy, drive the planetary carrier to generate revolution motion, monitor the revolution motion, generate a feedback signal of the wind turbine input power status, and calculate the minimum start-up power requirement; S3. Generate an initial power allocation instruction based on the minimum startup power requirement, execute the initial power allocation instruction, and obtain startup process status feedback; S4. Based on the startup process status feedback, switch the flywheel energy storage system control mode to normal operation mode. In the normal operation mode, output compensated mechanical power and obtain the synthesized mechanical power. S5. Based on the synthesized mechanical power, drive the sun gear of the planetary gear system to determine the constant speed operation state of the generator rotor, and perform grid connection operation based on the constant speed operation state to maintain the power generation stability of the floating wind turbine. S1 includes: acquiring real-time wind speed data through a wind speed sensor; calculating the theoretical wind power that the wind turbine can capture at the current wind speed based on the real-time wind speed data; generating a wind energy capture optimization command to control the wind turbine pitch system based on the theoretical wind power and the generator operating status; calculating the optimal wind turbine pitch angle and tip speed ratio at the current wind speed based on the real-time wind speed data and the current aerodynamic characteristics of the wind turbine using an aerodynamic efficiency model; executing the wind energy capture optimization command to control the wind turbine pitch action, and capturing wind energy with the optimal aerodynamic efficiency of the wind turbine by combining the optimal wind turbine pitch angle and tip speed ratio; converting the wind energy into first variable speed mechanical energy, and transmitting the first variable speed mechanical energy to the input end of the speed-increasing gearbox through a coupling for speed-up processing to obtain second variable speed mechanical energy; S2 includes: transmitting the second variable speed mechanical energy to the planetary carrier of the front-end speed control system through a transmission shaft system, driving the planetary carrier to revolve; monitoring the revolve motion in real time through sensors to obtain the actual torque value and actual speed value of the mechanical energy; integrating the actual torque value and the actual speed value into a feedback signal of the wind turbine input power state; and calculating the minimum starting power requirement required to maintain the initial operation of the speed control motor of the front-end speed control system based on the feedback signal. S3 includes: sending a system start command to the flywheel energy storage system based on the minimum start-up power requirement, and generating an initial power allocation command; executing the initial power allocation command to control the power electronic converter to extract power from the flywheel unit in standby mode and obtain an initial stable DC bus voltage; using the DC bus voltage to power the driver of the speed-regulating motor and performing a pre-excitation operation on the speed-regulating motor; after the pre-excitation operation is completed, starting the speed-regulating motor and obtaining start-up process status feedback, wherein the parameters in the start-up process status feedback include: the actual speed value of the speed-regulating motor, the DC bus voltage of the speed-regulating motor driver, and the output torque of the speed-regulating motor.

2. The method according to claim 1, characterized in that, S4 includes: If all parameter values ​​in the startup process status feedback are within the corresponding preset range, it is determined that the auxiliary power startup is complete, and the control mode of the flywheel energy storage system is switched from the startup mode to the normal operation mode for real-time power compensation. In the normal operation mode, based on the feedback signal of the wind turbine input power status, the power deviation caused by wind energy fluctuations is calculated in real time, and corresponding power compensation commands are generated. Based on the power compensation command, drive the speed-regulating motor to output compensated mechanical power; The wind turbine input mechanical power corresponding to the revolution motion within the planetary gear system is dynamically synthesized in real time with the compensated mechanical power to obtain the synthesized mechanical power.

3. The method according to claim 1, characterized in that, S5 includes: Based on the synthesized mechanical power, the sun gear of the planetary gear system is driven to output constant speed mechanical power at a constant rotational speed; The constant-speed mechanical power is transmitted to the rotor of the electrically excited synchronous generator to determine the constant-speed operation state of the generator rotor. Based on the constant speed operating state, the excitation current is adjusted to match the electromagnetic torque generated by the generator with the mechanical torque input by the sun gear, and grid connection operation is performed. In grid-connected mode, the power generation stability of floating wind turbines is maintained by controlling the flywheel energy storage system and the excitation control system.

4. The method according to claim 3, characterized in that, Maintaining the power generation stability of floating wind turbines includes: Under stable power generation conditions, the flywheel energy storage system operates with a control strategy that prioritizes lifespan and efficiency. In this system, rapid power fluctuations ranging from seconds to milliseconds are responded to by three instantaneous power-type flywheel energy storage devices, while energy shifts at the minute level are handled by one long-duration energy-type flywheel energy storage device. In emergency wind and wave resistance, maximizing the platform gyro stabilizing torque is set as the priority target, and the flywheel energy storage system is controlled to switch to the highest speed operation state.

5. The method according to claim 4, characterized in that, The control measures under emergency wind and wave conditions include: Perform the wind turbine locking action to recover the mechanical energy during the wind turbine braking process to the flywheel energy storage system; Priority is given to charging the three instantaneous power flywheel energy storage devices located at the outermost edge of the floating platform.

6. A floating front-end speed-regulating wind turbine stability control system, used to implement the method as described in any one of claims 1-5, characterized in that, The floating front-end speed-regulating wind turbine stability control system includes: The wind speed acquisition and aerodynamic optimization module is used to collect real-time wind speed data through sensors, calculate the theoretical wind energy power that the wind turbine can capture, optimize the aerodynamic efficiency of the wind turbine in combination with the generator operating status, obtain the first variable speed mechanical energy, and speed up the first variable speed mechanical energy to obtain the second variable speed mechanical energy. The orbital calculation start-up module is used to drive the planetary carrier to generate orbital motion based on the second variable speed mechanical energy, monitor the orbital motion, generate feedback signals of the wind turbine input power status, and calculate the minimum start-up power requirement. The power allocation and feedback module is used to generate an initial power allocation command based on the minimum start-up power requirement, execute the initial power allocation command, and obtain the start-up process status feedback. The switching mode output compensation module is used to switch the control mode of the flywheel energy storage system to the normal operation mode based on the status feedback of the startup process. In the normal operation mode, it outputs the compensated mechanical power and obtains the synthesized mechanical power. The constant-speed grid connection stability maintenance module is used to drive the sun gear of the planetary gear system based on the synthesized mechanical power, determine the constant-speed operation state of the generator rotor, and perform grid connection operation based on the constant-speed operation state to maintain the power generation stability of the floating wind turbine.

7. A floating front-end speed-regulating wind turbine stability control device, characterized in that, The device includes: a memory and at least one processor, wherein the memory stores instructions; The at least one processor invokes the instructions in the memory to cause the floating front-end speed-regulating wind turbine stability control device to perform a floating front-end speed-regulating wind turbine stability control method as described in any one of claims 1-5.

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