Control method and device of floating type wind turbine based on collective and independent variable pitch, computer equipment and medium

Abstract

The embodiment of the invention provides a control method and device for a floating type wind turbine based on collective and independent variable pitch, computer equipment and a medium, and the method comprises the following steps: obtaining an actual pitch angle and an actual incoming flow wind speed from a sensor, and obtaining a high-sensitivity position pitch angle according to the set high-sensitivity position pitch angle, the actual pitch angle and the actual incoming flow wind speed; calculating a proportional gain and an integral factor of the variable proportion-integral controller in real time; the proportional gain and the integral factor are input into a variable proportion-integral controller, and collective variable pitch control is conducted on all blades of the floating type wind turbine based on the pitch angle adjusting quantity; a fixed proportion-integral controller is constructed based on the variable proportion-integral controller, and independent variable pitch control is conducted on a single blade of the floating type wind turbine through the actual torque value and the actual incoming flow wind speed of the blade root of the floating type wind turbine by means of the fixed proportion-integral controller. And the control effect of the floating type wind turbine control system of the wave wind light storage power generation system is effectively improved.

Description

Technical Field

[0001] This invention relates to the field of integrated energy generation technology of wind, solar and energy storage, and in particular to a control method, device, computer equipment and medium for a floating wind turbine based on collective and independent pitch control. Background Technology

[0002] With global population growth, energy structure transformation, and increasing demand for sustainable energy, ocean energy, as an important component of the renewable energy system, boasts advantages such as wide resource distribution, predictable energy characteristics, flexible load center placement, and diverse application scenarios. Ocean energy development is of strategic significance for alleviating the electricity consumption structure of coastal areas and ensuring energy needs for maritime defense. Offshore wave energy, wind energy, and solar energy are the main focus of ocean energy development. Currently, combined wind and wave power generation is still in the prototype or trial operation stage, and due to economic constraints, large-scale industrialization is still difficult to achieve.

[0003] To achieve multi-source excitation and multi-energy complementarity in marine environments, ensuring stable equipment operation and efficient power generation, it is urgent to tackle the key technologies for coordinated control of wave energy, foundation, turbine, and photovoltaic panels in wave-wind-solar-storage energy systems for deep-sea areas. Wave-wind-solar-storage energy systems incorporate wave energy generation devices at the platform's bottom to absorb wave energy and generate electricity while suppressing platform vibration, and photovoltaic panels at the platform's top to achieve solar power generation and energy complementarity. The operating conditions of floating offshore wind turbines in wave-wind-solar-storage energy systems differ from those of traditional floating offshore wind turbines; therefore, a strategy for optimizing the operation and power generation of floating offshore wind turbines based on wave-wind-solar-storage systems is needed to ensure stable system operation and efficient power generation. Summary of the Invention

[0004] In view of this, embodiments of the present invention provide a control method for a floating wind turbine based on collective and independent pitch control, to solve the technical problems of instability and low power generation efficiency in existing floating wind turbine systems. The method includes:

[0005] Obtain the actual pitch angle from the sensor Based on the actual incoming wind speed, a variable proportional-integral controller is constructed, and a high-sensitivity position pitch angle is set. The actual pitch angle The proportional gain of the variable proportional-integral controller is calculated in real time based on the actual incoming wind speed. and integral factor ; The proportional gain and the integral factor The input is sent to the variable proportional-integral controller, which outputs the pitch angle adjustment amount, and performs collective pitch control on all blades of the floating wind turbine based on the pitch angle adjustment amount. A fixed proportional-integral controller is constructed based on the variable proportional-integral controller. Using the fixed proportional-integral controller, the individual blades of the floating wind turbine are independently pitched by the actual torque value at the blade root and the actual incoming wind speed.

[0006] This invention also provides a control device for a floating wind turbine based on collective and independent pitch control, to solve the technical problems of instability and low power generation efficiency in existing floating wind turbine systems. The device includes: The controller parameter determination module is used to obtain the actual pitch angle from the sensor. Based on the actual incoming wind speed, a variable proportional-integral controller is constructed, and a high-sensitivity position pitch angle is set. The actual pitch angle The proportional gain of the variable proportional-integral controller is calculated in real time based on the actual incoming wind speed. and integral factor ; The collective pitch control module is used to adjust the proportional gain. and the integral factor The input is sent to the variable proportional-integral controller, which outputs the pitch angle adjustment amount, and performs collective pitch control on all blades of the floating wind turbine based on the pitch angle adjustment amount. An independent pitch control module is used to construct a fixed proportional-integral controller based on the variable proportional-integral controller. Using the fixed proportional-integral controller, the individual blades of the floating wind turbine are independently pitched based on the actual torque value at the blade root and the actual incoming wind speed.

[0007] This invention also provides a computer device, including a memory, a processor, and a computer program stored in the memory and executable on the processor. When the processor executes the computer program, it implements any of the above-mentioned control methods for floating wind turbines based on collective and independent pitch, thereby solving the technical problems of instability and low power generation efficiency of floating wind turbine systems in the prior art.

[0008] This invention also provides a computer-readable storage medium storing a computer program that executes any of the above-described control methods for floating wind turbines based on collective and independent pitch control, in order to solve the technical problems of instability and low power generation efficiency of existing floating wind turbine systems.

[0009] Compared with the prior art, the beneficial effects that at least one technical solution adopted in the embodiments of this specification can achieve include at least: The variable proportional-integral controller based on the collective pitch strategy effectively improves the control effect of the floating wind turbine control system of the wave-wind-solar-storage power generation system. Attached Figure Description

[0010] To more clearly illustrate the technical solutions of the embodiments of this application, the drawings used in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0011] Figure 1 This is a flowchart of a control method for a floating wind turbine based on collective and independent pitch control, provided by an embodiment of the present invention. Figure 2 This is a schematic diagram of a semi-submersible wind turbine according to an embodiment of the present invention; Figure 3 This is a schematic diagram of the oscillation of a semi-submersible wind turbine in the direction of incoming wind 1 according to an embodiment of the present invention. Figure 4 This is a schematic diagram of the oscillation of a semi-submersible wind turbine in the direction of incoming wind 2 according to an embodiment of the present invention; Figure 5 This is a schematic diagram of the pitching of a semi-submersible wind turbine in the direction of incoming wind 1 according to an embodiment of the present invention; Figure 6 This is a schematic diagram of the pitching of a semi-submersible wind turbine in the direction of incoming wind 2 according to an embodiment of the present invention; Figure 7 This is a logic diagram for determining pneumatic sensitivity according to an embodiment of the present invention; Figure 8 This is a logic diagram of the variable proportional-integral controller according to an embodiment of the present invention; Figure 9 This is a logic diagram of the wind turbine dual closed-loop pitch controller according to an embodiment of the present invention; Figure 10 This is a structural block diagram of a computer device provided in an embodiment of the present invention; Figure 11 This is a structural block diagram of a control device for a floating wind turbine based on collective and independent pitch control, provided in an embodiment of the present invention. Detailed Implementation

[0012] The embodiments of this application will now be described in detail with reference to the accompanying drawings.

[0013] The following specific examples illustrate the implementation of this application. Those skilled in the art can easily understand other advantages and effects of this application from the content disclosed in this specification. Obviously, the described embodiments are only a part of the embodiments of this application, and not all of them. This application can also be implemented or applied through other different specific embodiments, and the details in this specification can also be modified or changed based on different viewpoints and applications without departing from the spirit of this application. It should be noted that, in the absence of conflict, the following embodiments and features in the embodiments can be combined with each other. Based on the embodiments in this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0014] In this embodiment of the invention, a control method for a floating wind turbine based on collective and independent pitch control is provided, such as... Figure 1 As shown, the method includes: Step S101: Obtain the actual pitch angle from the sensor Based on the actual incoming wind speed, a variable proportional-integral controller is constructed, and a high-sensitivity position pitch angle is set. The actual pitch angle The proportional gain of the variable proportional-integral controller is calculated in real time based on the actual incoming wind speed. and integral factor ; Step S102: Adjust the proportional gain and the integral factor The input is sent to the variable proportional-integral controller, which outputs the pitch angle adjustment amount, and performs collective pitch control on all blades of the floating wind turbine based on the pitch angle adjustment amount. Step S103: Construct a fixed proportional-integral controller based on the variable proportional-integral controller, and use the fixed proportional-integral controller to perform independent pitch control on a single blade of the floating wind turbine by using the actual torque value at the blade root of the floating wind turbine and the actual incoming wind speed.

[0015] In specific implementation, the following steps are used to achieve the desired result based on the set high-sensitivity position pitch angle. The actual pitch angle The proportional gain of the variable proportional-integral controller is calculated in real time based on the actual incoming wind speed. and integral factor : Set high-sensitivity position pitch angle According to the high-sensitivity position pitch angle and actual pitch angle The dimensionless gain related to the pitch angle was calculated. The actual incoming air velocity is corrected to generate the corrected incoming air velocity. According to the aforementioned correction, the subsequent airflow velocity Obtaining the real-time aerodynamic sensitivity of the wind turbine ; through the dimensionless gain and aerodynamic sensitivity The proportional gain was calculated. and integral factor ,in, GK , GK ,in, For proportional gain, As the integrating factor, This is the proportional gain coefficient. For the low-speed end of rotational inertia, This is the rated speed at the low-speed end. For the damping ratio, For the natural frequency, For speed ratio, These are the coefficients of the integral factor.

[0016] In practice, the following steps are used to correct the actual incoming air velocity and generate the corrected incoming air velocity. According to the aforementioned correction, the subsequent airflow velocity Obtaining the real-time aerodynamic sensitivity of the wind turbine : By pitch angular velocity and tower height The wind turbine pitch data in the direction of the incoming wind speed is calculated and corrected for the wind speed. Wind speed is corrected using wind turbine oscillation data in the direction of incoming wind speed. Wind turbine pitch data correction wind speed For the actual incoming wind speed Make corrections to generate the corrected downstream air velocity. ,in, ; Determine the corrected airflow velocity The wind speed zone in which the object is located is used to determine the aerodynamic sensitivity zone; the minimum wind speed of the wind speed zone is then obtained. The maximum wind speed of the wind speed zone The minimum aerodynamic sensitivity of the aerodynamic sensitivity zone and the maximum aerodynamic sensitivity of the aerodynamic sensitivity zone ; through the minimum wind speed The maximum wind speed The minimum aerodynamic sensitivity and the maximum aerodynamic sensitivity Real-time aerodynamic sensitivity was calculated .

[0017] In specific implementation, the minimum wind speed is achieved through the following steps. The maximum wind speed The minimum aerodynamic sensitivity and the maximum aerodynamic sensitivity Real-time aerodynamic sensitivity was calculated : The minimum wind speed Transmit to The memory stores the maximum wind speed. Transmit to The memory stores the minimum aerodynamic sensitivity. Transmit to The memory stores the maximum aerodynamic sensitivity. Transmit to Memory; utilizing the Memory, the Memory, the Memory and the Real-time aerodynamic sensitivity is calculated from the memory. ,in, To correct the subsequent airflow velocity.

[0018] In practice, the following steps are used to determine and correct the incoming air velocity. Wind speed zone: Based on the sensitivity table of aerodynamic power to changes in blade pitch angle, and according to the corrected backflow wind speed... The corrected airflow velocity was obtained by querying. The corresponding wind speed zones, wherein the sensitivity table is used to characterize the correspondence between wind speed zones and aerodynamic sensitivity zones.

[0019] In specific implementation, the proportional gain is achieved through the following steps. and the integral factor The input is given to the variable proportional-integral controller, which then outputs the pitch angle adjustment. Calculate the wind speed difference between the set rated wind speed and the actual incoming wind speed; when the wind speed difference is between the positive and negative limits of the fixed proportional-integral controller, activate the integral regulator; when the wind speed difference is between the rated wind speed and the proportional gain... When the same signal is present, the enable adder of the integral regulator is activated, and the accumulated integral value of enable EN1 is output as the output value through the MOV1 channel; if the wind speed difference is related to the proportional gain... When the sign is different, the enable subtractor of the integral regulator is activated, and the accumulated integral value of enable EN2 is output as the output value through the MOV2 channel. The output value is then transmitted to... Input terminal; when the absolute value of the wind speed difference is less than the set first limit, the wind speed difference is stabilized within the first limit through delay processing, the enable transmitter is activated, the cumulative integral is calculated, and the output value of the MOV1 channel or MOV2 channel is saved to the storage value IMV; when the absolute value of the wind speed difference is greater than the set second limit, the storage value IMV is transmitted to the input terminal of the enable adder and the enable subtractor via the MOV channel; when the absolute value of the wind speed difference is less than the set second limit, the cumulative integral output of the MOV1 channel and MOV2 channel is transmitted to the input terminal of the enable adder or the enable subtractor via the MOV channel; the wind speed difference is compared with the proportional gain. kp The product of the two is used as the proportional adjustment amount of the wind speed of the variable proportional-integral controller, and the sum of the proportional adjustment amount of the wind speed and the cumulative integral amount is used as the pitch angle adjustment amount.

[0020] In specific implementation, a fixed proportional-integral controller is constructed based on the variable proportional-integral controller through the following steps. Using the fixed proportional-integral controller, the individual blades of the floating wind turbine are independently pitched based on the actual torque value at the blade root and the actual incoming wind speed: A fixed proportional-integral controller is constructed, comprising an outer loop controller and an inner loop controller, wherein the outer loop controller is the variable proportional-integral controller; the inner loop controller uses the deviation between the average torque at the blade root of each blade of the floating wind turbine and the actual torque value at the current blade root as the independent pitch setpoint, and performs independent pitch control on a single blade of the floating wind turbine using the independent pitch setpoint; the outer loop controller uses the rated wind speed of the wind turbine as the collective pitch setpoint and the actual incoming wind speed as the actual collective pitch value, and performs collective pitch control on all blades of the floating wind turbine.

[0021] In one embodiment of the present invention, the control method for a floating wind turbine based on collective and independent pitch control includes: (a) Collective pitch control strategy.

[0022] 1. The collective pitch control strategy includes the development of a variable proportional-integral controller and the design of a wind condition correction component.

[0023] The variable proportional-integral (VPI) controller adjusts its proportional gain and integral factor based on the aerodynamic sensitivity of power to pitch angle changes. This ensures significantly improved response speed, stability, and vibration suppression for the floating wind turbine across the entire variable pitch wind speed range. The formulas for calculating the VPI controller's proportional gain and integral factor are as follows: GK(1) GK(2) in, For proportional gain, This is the proportional gain coefficient. For the low-speed end of rotational inertia, This is the rated speed at the low-speed end. For the damping ratio, For the natural frequency, For speed ratio, These are the integral factor coefficients. This represents the aerodynamic sensitivity of power to changes in propeller pitch angle.

[0024] (3) in, The dimensionless gain is related to the pitch angle. To set a high-sensitivity position pitch angle, This is the actual pitch angle.

[0025] For different models of wind turbines, relevant parameters need to be determined, such as aerodynamic sensitivity. Natural frequency Damping ratio The aerodynamic sensitivity of relevant wind turbines was determined using FAST software. .

[0026] The pitch angle corresponding to a doubling of the aerodynamic sensitivity compared to the rated power operating point.

[0027] 2. Wind condition correction component.

[0028] By integrating platform sway and pitch motion data, wind condition estimation biases are corrected, improving system control accuracy. The wave-wind-solar-storage energy system utilizes semi-submersible floating wind turbines, as illustrated in the diagram. Figure 2 As shown: The six degrees of freedom motion of semi-submersible floating wind turbines is a crucial characteristic for their operation in complex marine environments. These motions are coupled and influenced by various environmental factors such as wind, waves, and currents. They also affect the aerodynamic performance, structural loads, and mooring system forces of the wind turbine, requiring comprehensive consideration in design and research. Sway refers to the horizontal movement of the wind turbine, i.e., its forward and backward movement parallel to the wind or current direction. Under strong winds or currents, the wind turbine may move forward or backward in the direction of the wind or current.

[0029] Pitching refers to the wind turbine tilting back and forth around its horizontal axis. When encountering large waves or strong winds blowing from the front or back, the wind turbine may tilt forward or backward.

[0030] A schematic diagram of the pitching and swaying of a semi-submersible wind turbine is shown below. Figures 3-6 As shown: The corrected wind conditions are as follows: (4) Corrected backflow velocity (unit: m / s); Actual incoming air velocity (unit: m / s); Incoming wind speed direction wind turbine oscillation data correction wind speed (unit: m / s); Incoming wind speed direction wind turbine pitch data correction wind speed (unit: m / s); All of the above parameters are vector data.

[0031] (5) in, The pitch angular velocity (unit: radians / second). The tower height is expressed in meters.

[0032] The real-time aerodynamic sensitivity of the wind turbine is determined based on the corrected downstream wind speed, such as... Figure 7 As shown, the wind turbine's incoming wind speed is zoned. First, the wind speed zone where the corrected real-time incoming wind speed is located is determined. Based on the wind speed zone, the minimum wind speed, maximum wind speed, aerodynamic sensitivity corresponding to the minimum wind speed, and aerodynamic sensitivity corresponding to the maximum wind speed within the zone are determined. Then, the real-time aerodynamic sensitivity is calculated based on the corrected real-time incoming wind speed and the above parameters. Figure 7 The corrected aerodynamic sensitivity determination logic diagram is shown below, where V is the corrected inflow wind speed (unit: m / s); V min Minimum wind speed within the interval (unit: meters per second); V max Maximum wind speed within the interval (unit: meters per second); S min The aerodynamic sensitivity corresponding to the minimum wind speed within the interval; S maxis the aerodynamic sensitivity corresponding to the maximum wind speed within the interval.

[0033] When the actual wind speed ≥ V1 and the actual wind speed < V2, the controller flag value is [0···0 1], V1 is transmitted to V min memory, V2 is transmitted to V max memory, S1 is transmitted to S min memory, S2 is transmitted to S max memory; When the actual wind speed ≥ V2 and the actual wind speed < V3, the controller flag value is [0···1 0], V2 is transmitted to V min memory, V3 is transmitted to V max memory, S2 is transmitted to S min memory, S3 is transmitted to S max memory; When the actual wind speed ≥ V8 and the actual wind speed < V9, the controller flag value is [1···0 0], V8 is transmitted to V min memory, V9 is transmitted to V max memory, S8 is transmitted to S min memory, S9 is transmitted to S max memory; (6) The aerodynamic sensitivity of power to the change of pitch angle .

[0034] According to the real-time pitch angle β and β k ​​​​​​​​​​​​​​​At the input end, when the absolute value of the difference is less than the limit 1, after a delay, the difference stabilizes within the limit 1 (first limit), and the enable transmitter is started, and the accumulated integral value of the MOV1 channel or MOV2 channel output value is saved to the IMV storage value.

[0036] When the absolute value of the difference is greater than the limit 2 (second limit), the IMV stored value is transmitted to the input of the adder and subtractor via the MOV channel, and is used to adjust the cumulative integral amount together with the integral factor Ki.

[0037] When the absolute value of the difference is less than the limit of 2, the cumulative integral of the outputs of MOV1 and MOV2 is... The channel is transmitted to the input of the adder or subtractor, and is used to calculate the cumulative integral together with the integration factor Ki.

[0038] The product of the difference and Kp is the proportional adjustment of the controller, and the sum of the proportional adjustment and the cumulative integral is the pitch angle adjustment.

[0039] (ii) Independent pitch control strategy.

[0040] As wind turbine capacity increases, the impact of asymmetric aerodynamic loads on operating equipment is exacerbated by factors such as tower shadow effect, wind shear, and yaw deviation during operation. To reduce asymmetric loads and improve wind turbine lifespan, an independent pitch control strategy is proposed. Torque monitoring sensors are installed at the blade roots of each wind turbine to monitor the actual torque at each blade root in real time during operation, enabling independent pitch control. Figure 9 The block diagram of the dual-closed-loop pitch controller for wind turbines is shown below. The outer loop represents collective pitch control, while the inner loop represents independent pitch control. The inner loop uses the deviation between the average torque at the blade root and the actual torque at the current blade root as the setpoint for independent pitch control. This reduces asymmetric loads, achieves load balance, protects the wind turbine equipment, and extends the turbine's service life. The outer loop of the dual-closed-loop pitch control system, with its large pitch amplitude, employs a variable proportional-integral factor controller to achieve rapid and stable collective pitch control. The inner loop, with its small pitch amplitude, uses a fixed proportional-integral controller to ensure the stability of independent pitch control, guiding the control system to achieve rapid and stable speed control while simultaneously achieving load balance among the blades.

[0041] like Figure 9 As shown, the ASR outer loop controller is used for wind turbine speed control, i.e., wind turbine collective pitch control. Its controller is as follows: Figure 8 As shown, the variable proportional-integral controller, the ASR controller setpoint and the actual value are the rated wind speed and the actual wind speed of the wind turbine, and the ASR setpoint and the actual value of the collective pitch control of each blade are the same.

[0042] ATR is an inner-loop controller used for torque control at the blade root of wind turbines to achieve load balance, i.e., independent pitch control of the wind turbine. The target value of the ATR controller is the weighted average of the actual torque at each blade root of the wind turbine, so that the actual torque at each blade root is infinitely close to the target value.

[0043] In this embodiment, a computer device is provided, such as... Figure 10 As shown, it includes a memory 1001, a processor 1002, and a computer program stored in the memory and executable on the processor. When the processor executes the computer program, it implements any of the above-mentioned control methods for floating wind turbines based on collective and independent pitch control.

[0044] Specifically, the computer device can be a computer terminal, a server, or a similar computing device.

[0045] In this embodiment, a computer-readable storage medium is provided, which stores a computer program that executes any of the above-described control methods for a floating wind turbine based on collective and independent pitch control.

[0046] Specifically, computer-readable storage media include both permanent and non-permanent, removable and non-removable media, which can store information using any method or technology. Information can be computer-readable instructions, data structures, modules of programs, or other data. Examples of computer-readable storage media include, but are not limited to, phase-change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technologies, CD-ROM, digital versatile optical disc (DVD) or other optical storage, magnetic tape, magnetic disk storage or other magnetic storage devices, or any other non-transferable medium that can be used to store information accessible by a computing device. As defined herein, computer-readable storage media do not include transient media, such as modulated data signals and carrier waves.

[0047] Based on the same inventive concept, this invention also provides a control device for a floating wind turbine based on collective and independent pitch control, as described in the following embodiments. Since the principle of the control device for a floating wind turbine based on collective and independent pitch control is similar to the control method for a floating wind turbine based on collective and independent pitch control, the implementation of the control device for a floating wind turbine based on collective and independent pitch control can refer to the implementation of the control method for a floating wind turbine based on collective and independent pitch control; repeated details will not be elaborated further. As used below, the terms "unit" or "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.

[0048] Figure 11 This is a structural block diagram of a control device for a floating wind turbine based on collective and independent pitch control, according to an embodiment of the present invention. Figure 11 As shown, it includes: a controller parameter determination module 1101, a collective pitch control module 1102, and an independent pitch control module 1103. The structure is described below.

[0049] The controller parameter determination module 1101 is used to obtain the actual pitch angle from the sensor. Based on the actual incoming wind speed, a variable proportional-integral controller is constructed, and a high-sensitivity position pitch angle is set. The actual pitch angle The proportional gain of the variable proportional-integral controller is calculated in real time based on the actual incoming wind speed. and integral factor ; Collective pitch control module 1102 is used to adjust the proportional gain. and the integral factor The input is sent to the variable proportional-integral controller, which outputs the pitch angle adjustment amount, and performs collective pitch control on all blades of the floating wind turbine based on the pitch angle adjustment amount. The independent pitch control module 1103 is used to construct a fixed proportional-integral controller based on the variable proportional-integral controller, and to use the fixed proportional-integral controller to perform independent pitch control on a single blade of the floating wind turbine by means of the actual torque value at the blade root of the floating wind turbine and the actual incoming wind speed.

[0050] In one embodiment, the controller parameter determination module includes: Dimensionless gain calculation unit, used to set the high-sensitivity position propeller pitch angle. According to the high-sensitivity position pitch angle and actual pitch angle The dimensionless gain related to the pitch angle was calculated. ; The sensitivity calculation unit is used to correct the actual incoming air velocity and generate the corrected incoming air velocity. According to the aforementioned correction, the subsequent airflow velocity Obtaining the real-time aerodynamic sensitivity of the wind turbine ; The proportional gain and integral factor calculation unit is used to calculate the dimensionless gain. and aerodynamic sensitivity The proportional gain was calculated. and integral factor ,in, GK , GK ,in, For proportional gain, As the integrating factor, This is the proportional gain coefficient. For the low-speed end of rotational inertia, This is the rated speed at the low-speed end. For the damping ratio, For the natural frequency, For speed ratio, These are the coefficients of the integral factor.

[0051] In one embodiment, the sensitivity calculation unit is also used to calculate the pitch angular velocity. and tower height The wind turbine pitch data in the direction of the incoming wind speed is calculated and corrected for the wind speed. Wind speed is corrected using wind turbine oscillation data in the direction of incoming wind speed. Wind turbine pitch data correction wind speed For the actual incoming wind speed Make corrections to generate the corrected downstream air velocity. ,in, ; Determine the corrected airflow velocity The wind speed zone in which the object is located is used to determine the aerodynamic sensitivity zone; the minimum wind speed of the wind speed zone is then obtained. The maximum wind speed of the wind speed zone The minimum aerodynamic sensitivity of the aerodynamic sensitivity zone and the maximum aerodynamic sensitivity of the aerodynamic sensitivity zone ; through the minimum wind speed The maximum wind speed The minimum aerodynamic sensitivity and the maximum aerodynamic sensitivity Real-time aerodynamic sensitivity was calculated .

[0052] In one embodiment, the sensitivity calculation unit is further configured to calculate the minimum wind speed. Transmit to The memory stores the maximum wind speed. Transmit to The memory stores the minimum aerodynamic sensitivity. Transmit to The memory stores the maximum aerodynamic sensitivity. Transmit to Memory; utilizing the Memory, the Memory, the Memory and the Real-time aerodynamic sensitivity is calculated from the memory. ,in, To correct the subsequent airflow velocity.

[0053] In one embodiment, the sensitivity calculation unit is further configured to, based on a sensitivity table of aerodynamic power to changes in blade pitch angle, calculate the following afterflow wind speed according to the correction. The corrected airflow velocity was obtained by querying. The corresponding wind speed zones, wherein the sensitivity table is used to characterize the correspondence between wind speed zones and aerodynamic sensitivity zones.

[0054] In one embodiment, the collective pitch control module includes: The wind speed difference calculation unit is used to calculate the wind speed difference between the set rated wind speed and the actual incoming wind speed. An integral regulator activation unit is used to activate the integral regulator when the wind speed difference is between the positive and negative limits of the fixed proportional-integral controller. MOV1 channel output unit, used when the wind speed difference is related to the proportional gain When the same sign is present, the enable adder of the integral regulator is activated, and the accumulated integral value of enable EN1 is output as the output value through the MOV1 channel; The MOV2 channel output unit is used to determine if the wind speed difference is related to the proportional gain. When the sign is different, the enable subtractor of the integral regulator is activated, and the accumulated integral value of enable EN2 is output as the output value through the MOV2 channel. The output value is then transmitted to... Input terminal; The cumulative integral calculation unit is used to stabilize the wind speed difference within the first limit through delay processing when the absolute value of the wind speed difference is less than the set first limit, start the enable transmitter, calculate the cumulative integral, and save the output value of the MOV1 channel or MOV2 channel to the storage value IMV. The first data transmission unit is used to transmit the stored value IMV to the input terminals of the enable adder and the enable subtractor via the MOV channel when the absolute value of the wind speed difference is greater than the set second limit. The second data transmission unit is used to transmit the cumulative integral output from the MOV1 channel and the MOV2 channel to the input terminal of the enable adder or the enable subtractor via the MOV channel when the absolute value of the wind speed difference is less than the set second limit. The pitch angle adjustment calculation unit is used to calculate the wind speed difference and the proportional gain. The product of the two is used as the proportional adjustment amount of the wind speed of the variable proportional-integral controller, and the sum of the proportional adjustment amount of the wind speed and the cumulative integral amount is used as the pitch angle adjustment amount.

[0055] In one embodiment, the independent pitch control module includes: A fixed proportional-integral control unit is constructed to construct a fixed proportional-integral controller including an outer loop controller and an inner loop controller, wherein the outer loop controller is the variable proportional-integral controller; The inner loop control unit is used by the inner loop controller to take the deviation between the average torque value at the blade root of each blade of the floating wind turbine and the actual torque value at the current blade root as the independent pitch setpoint, and to perform independent pitch control on a single blade of the floating wind turbine through the independent pitch setpoint. The outer loop control unit is used by the outer loop controller to perform collective pitch control on all blades of the floating wind turbine by taking the rated wind speed of the wind turbine as the collective pitch setpoint and the actual incoming wind speed as the collective pitch actual value.

[0056] The embodiments of the present invention achieve the following technical effects: A variable proportional-integral controller based on a collective pitch strategy effectively improves the speed and stability of the control performance of the floating wind turbine control system in a wave-solar-storage power generation system. It innovatively incorporates platform motion into the wind speed model, significantly improving the accuracy of spatial wind speed estimation for the turbine. Based on an independent pitch strategy, it adjusts the pitch angle of individual blades according to real-time detection signals of blade root torque, suppressing load imbalances caused by uneven wind conditions or structural asymmetry, thereby improving wind turbine operational stability, reducing vibration, and enhancing system operational safety and wind turbine lifespan.

[0057] Obviously, those skilled in the art should understand that the modules or steps of the above-described embodiments of the present invention 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. Optionally, they can be implemented using computer-executable program code, thereby storing them 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 presented here, 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 embodiments of the present invention are not limited to any particular hardware and software combination.

[0058] The above description is merely a preferred embodiment of the present invention and is not intended to limit the present invention. For those skilled in the art, various modifications and variations can be made to the embodiments of the present invention. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. A control method for a floating wind turbine based on collective and independent pitch control, characterized in that, include: Obtain the actual pitch angle from the sensor Based on the actual incoming wind speed, a variable proportional-integral controller is constructed, and a high-sensitivity position pitch angle is set. The actual pitch angle The proportional gain of the variable proportional-integral controller is calculated in real time based on the actual incoming wind speed. and integral factor ; The proportional gain and the integral factor The input is sent to the variable proportional-integral controller, which outputs the pitch angle adjustment amount, and performs collective pitch control on all blades of the floating wind turbine based on the pitch angle adjustment amount. A fixed proportional-integral controller is constructed based on the variable proportional-integral controller. Using the fixed proportional-integral controller, the individual blades of the floating wind turbine are independently pitched by the actual torque value at the blade root and the actual incoming wind speed.

2. The control method for a floating wind turbine based on collective and independent pitch control as described in claim 1, characterized in that, Based on the set high-sensitivity position pitch angle The actual pitch angle The proportional gain of the variable proportional-integral controller is calculated in real time based on the actual incoming wind speed. and integral factor ,include: Set high-sensitivity position pitch angle According to the high-sensitivity position pitch angle and actual pitch angle The dimensionless gain related to the pitch angle was calculated. ; The actual incoming air velocity is corrected to generate the corrected incoming air velocity. According to the aforementioned correction, the subsequent airflow velocity Obtaining the real-time aerodynamic sensitivity of the wind turbine ; Through the dimensionless gain and aerodynamic sensitivity The proportional gain was calculated. and integral factor ,in, GK , GK ,in, For proportional gain, As the integrating factor, This is the proportional gain coefficient. For the low-speed end of rotational inertia, This is the rated speed at the low-speed end. For the damping ratio, For the natural frequency, For speed ratio, These are the coefficients of the integral factor.

3. The control method for a floating wind turbine based on collective and independent pitch control as described in claim 2, characterized in that, The actual incoming air velocity is corrected to generate the corrected incoming air velocity. According to the aforementioned correction, the subsequent airflow velocity Obtaining the real-time aerodynamic sensitivity of the wind turbine ,include: By pitch angular velocity and tower height The wind turbine pitch data in the direction of the incoming wind speed is calculated and corrected for the wind speed. Wind speed is corrected using wind turbine oscillation data in the direction of incoming wind speed. Wind turbine pitch data correction wind speed For the actual incoming wind speed Make corrections to generate the corrected downstream air velocity. ,in, ; Determine the corrected flow velocity The wind speed zone in which the wind speed zone is located is used to determine the aerodynamic sensitivity zone; Obtain the minimum wind speed of the wind speed zone. The maximum wind speed of the wind speed zone The minimum aerodynamic sensitivity of the aerodynamic sensitivity zone and the maximum aerodynamic sensitivity of the aerodynamic sensitivity zone ; By the minimum wind speed The maximum wind speed The minimum aerodynamic sensitivity and the maximum aerodynamic sensitivity Real-time aerodynamic sensitivity was calculated .

4. The control method for a floating wind turbine based on collective and independent pitch control as described in claim 3, characterized in that, By the minimum wind speed The maximum wind speed The minimum aerodynamic sensitivity and the maximum aerodynamic sensitivity Real-time aerodynamic sensitivity was calculated ,include: The minimum wind speed Transmit to The memory stores the maximum wind speed. Transmit to The memory stores the minimum aerodynamic sensitivity. Transmit to The memory stores the maximum aerodynamic sensitivity. Transmit to Memory; Using the Memory, the Memory, the Memory and the Real-time aerodynamic sensitivity is calculated from the memory. ,in, To correct the subsequent airflow velocity.

5. The control method for a floating wind turbine based on collective and independent pitch control as described in claim 3, characterized in that, Determine the corrected flow velocity The wind speed zone it is located in includes: Based on the sensitivity table of aerodynamic power to changes in blade pitch angle, and according to the corrected backflow wind speed... The corrected airflow velocity was obtained by querying. The corresponding wind speed zones, wherein the sensitivity table is used to characterize the correspondence between wind speed zones and aerodynamic sensitivity zones.

6. The control method for a floating wind turbine based on collective and independent pitch control as described in claim 1, characterized in that, The proportional gain and the integral factor The input is given to the variable proportional-integral controller, and the variable proportional-integral controller outputs the pitch angle adjustment amount, including: Calculate the wind speed difference between the set rated wind speed and the actual incoming wind speed; When the wind speed difference is between the positive and negative limits of the fixed proportional-integral controller, the integral regulator is activated; When the wind speed difference is related to the proportional gain When the same sign is present, the enable adder of the integral regulator is activated, and the accumulated integral value of enable EN1 is output as the output value through the MOV1 channel; If the wind speed difference is related to the proportional gain When the sign is different, the enable subtractor of the integral regulator is activated, and the accumulated integral value of enable EN2 is output as the output value through the MOV2 channel. The output value is then transmitted to... Input terminal; When the absolute value of the wind speed difference is less than the set first limit, the wind speed difference is stabilized within the first limit through delay processing, the enable transmitter is started, the cumulative integral is calculated, and the output value of the MOV1 channel or MOV2 channel is saved to the storage value IMV. When the absolute value of the wind speed difference is greater than the set second limit, the stored value IMV is transmitted to the input terminals of the enable adder and the enable subtractor via the MOV channel; When the absolute value of the wind speed difference is less than the set second limit, the cumulative integral output of the MOV1 channel and the MOV2 channel is transmitted to the input of the enable adder or the enable subtractor via the MOV channel. The wind speed difference and the proportional gain The product of the two is used as the proportional adjustment amount of the wind speed of the variable proportional-integral controller, and the sum of the proportional adjustment amount of the wind speed and the cumulative integral amount is used as the pitch angle adjustment amount.

7. The control method for a floating wind turbine based on collective and independent pitch control as described in any one of claims 1 to 6, characterized in that, A fixed proportional-integral controller is constructed based on the aforementioned variable proportional-integral controller. Using this fixed proportional-integral controller, independent pitch control is performed on individual blades of the floating wind turbine based on the actual torque value at the blade root and the actual incoming wind speed. This includes: Construct a fixed proportional-integral controller comprising an outer loop controller and an inner loop controller, wherein the outer loop controller is the variable proportional-integral controller; The inner loop controller uses the deviation between the average torque at the blade root of each blade of the floating wind turbine and the actual torque value at the current blade root as the independent pitch setpoint, and performs independent pitch control on a single blade of the floating wind turbine through the independent pitch setpoint. The outer loop controller uses the wind turbine's rated wind speed as the collective pitch setpoint and the actual incoming wind speed as the actual collective pitch value to perform collective pitch control on all blades of the floating wind turbine.

8. A control device for a floating wind turbine based on collective and independent pitch control, characterized in that, include: The controller parameter determination module is used to obtain the actual pitch angle from the sensor. Based on the actual incoming wind speed, a variable proportional-integral controller is constructed, and a high-sensitivity position pitch angle is set. The actual pitch angle The proportional gain of the variable proportional-integral controller is calculated in real time based on the actual incoming wind speed. and integral factor ; The collective pitch control module is used to adjust the proportional gain. and the integral factor The input is sent to the variable proportional-integral controller, which outputs the pitch angle adjustment amount, and performs collective pitch control on all blades of the floating wind turbine based on the pitch angle adjustment amount. An independent pitch control module is used to construct a fixed proportional-integral controller based on the variable proportional-integral controller. Using the fixed proportional-integral controller, the individual blades of the floating wind turbine are independently pitched based on the actual torque value at the blade root and the actual incoming wind speed.

9. A computer device, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that, When the processor executes the computer program, it implements the control method for a floating wind turbine based on collective and independent pitch control as described in any one of claims 1 to 7.

10. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores a computer program that performs the control method for a floating wind turbine based on collective and independent pitch control as described in any one of claims 1 to 7.

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