Active yaw control method of multi-impeller floating type wind generating set and related equipment

Abstract

The invention discloses an active yaw control method of a multi-impeller floating type wind generating set and related equipment. The active yaw control method comprises the steps that the incoming flow wind direction and the real-time azimuth angle and the motion state of a floating type platform are monitored in real time or periodically; filtering or state estimation processing is carried out on the real-time azimuth angle of the floating platform to filter out high-frequency oscillation components induced by waves, and an estimated azimuth angle reflecting the average yaw attitude of the floating platform is obtained; determining a target azimuth angle of the floating platform according to the incoming flow wind direction, and calculating a deviation angle between the estimated azimuth angle and the target azimuth angle; when the deviation angle exceeds a preset threshold value, according to the deviation angle and the environmental disturbance influence, generating a rotating torque control instruction used for driving the floating platform to rotate around the single-point mooring system; according to the rotation torque control instruction, at least one propeller installed on the floating type platform is controlled to generate thrust so as to drive the floating type platform to rotate till the deviation angle is reduced to be within a preset threshold value. The invention aims to realize quick, accurate and cooperative yaw control in the multi-impeller floating type fan, avoid the adoption of a complex and heavy independent yaw mechanism and inhibit the influence of wave disturbance on the yaw precision.

Description

Technical Field

[0001] This invention belongs to the field of wind power generation technology, specifically relating to an active yaw control method and related equipment for a multi-bladed floating wind turbine generator set. Background Technology

[0002] With the accelerated global energy transition, offshore wind power development is gradually extending from nearshore shallow waters to deep waters. In deep water areas, the installation cost of fixed foundations rises sharply, making floating wind turbines the mainstream technology for deep-sea wind power development. To further increase the power generation capacity of a single platform and reduce the cost per kilowatt, the industry has proposed a multi-rotor floating wind turbine solution, which involves installing two or more wind turbines on the same floating platform. This configuration can achieve better economic efficiency by sharing floating foundations, mooring systems, and power output facilities. For any configuration of wind turbine, the yaw system is a core component. The role of the yaw system is to drive the rotor to align with the wind direction in real time to maximize wind energy capture efficiency while controlling the unbalanced load on the unit. In existing technologies, yaw control is mainly implemented in two ways.

[0003] The first approach is the independent yaw scheme used in traditional onshore and stationary offshore wind turbines, where each unit is equipped with an independent yaw drive system, using a motor to drive a single nacelle to rotate relative to the tower. However, using this scheme in multi-rotor floating wind turbines introduces new problems. Since multiple units are installed on the platform, each unit requires a complete yaw drive system. This not only increases the platform's top weight and manufacturing costs but also places extremely high demands on the coordinated control of multiple units. Any deviation in the yaw angle of any unit can exacerbate aerodynamic interference between units, affecting overall power generation efficiency.

[0004] The second approach utilizes the inherent characteristics of floating wind turbines to achieve passive yaw. Some floating wind turbines employing single-point mooring systems allow the entire platform to rotate freely around the mooring point, creating a passive wind-following effect similar to a weathervane. This approach eliminates the need for an active yaw mechanism, resulting in a relatively simple structure. However, this approach has significant limitations when applied to multi-bladed floating wind turbines: First, passive yaw relies entirely on the natural action of wind, leading to a slow response. When wind direction changes rapidly, the platform often fails to follow in time, resulting in prolonged wind energy loss. Second, the floating platform generates high-frequency oscillating motion under wave action. These motions, superimposed on the platform's yaw response, make it difficult for passive yaw to achieve precise wind alignment. The platform's actual azimuth often fluctuates continuously around the target azimuth, making stable alignment impossible. Furthermore, the platform's rotational inertia is substantial, and relying solely on wind power is insufficient to overcome inertia and environmental damping, further limiting its yaw response capability.

[0005] Therefore, how to achieve fast, accurate and coordinated yaw control in multi-blade floating wind turbines, while avoiding complex and cumbersome independent yaw mechanisms and suppressing the impact of wave disturbances on yaw accuracy, is a technical problem that urgently needs to be solved in this field. Summary of the Invention

[0006] To address the problems existing in the prior art, this invention provides an active yaw control method and related equipment for multi-blade floating wind turbine generators. The purpose is to achieve fast, accurate and coordinated yaw control in multi-blade floating wind turbines, while avoiding the use of complex and cumbersome independent yaw mechanisms and suppressing the impact of wave disturbances on yaw accuracy.

[0007] To solve the above-mentioned technical problems, the present invention is achieved through the following technical solution: According to a first aspect of the present invention, an active yaw control method for a multi-bladed floating wind turbine generator is provided, the multi-bladed floating wind turbine generator comprising a floating platform, at least two wind turbine generators mounted on the floating platform, and a single-point mooring system for anchoring the floating platform to the seabed and allowing the floating platform to rotate about it, the method comprising: Real-time or periodic monitoring of the incoming wind direction, as well as the real-time azimuth and motion status of the floating platform; The real-time azimuth angle of the floating platform is filtered or state estimated to remove the high-frequency oscillation component induced by waves, thereby obtaining an estimated azimuth angle that reflects the average yaw attitude of the floating platform. The target azimuth angle of the floating platform is determined based on the incoming wind direction, and the deviation angle between the estimated azimuth angle and the target azimuth angle is calculated. When the deviation angle exceeds a preset threshold, a rotational torque control command is generated based on the deviation angle and the influence of environmental disturbances to drive the floating platform to rotate around the single-point mooring system. According to the rotational torque control command, at least one thruster installed on the floating platform is controlled to generate thrust to drive the floating platform to rotate until the deviation angle is reduced to within the preset threshold.

[0008] In one possible implementation of the first aspect, the filtering or state estimation processing of the real-time azimuth angle of the floating platform includes: The real-time azimuth angle of the floating platform is processed by at least one of a low-pass filter, a notch filter, or a Kalman filter to filter out the high-frequency oscillation components induced by waves, thereby obtaining an estimated azimuth angle that reflects the average yaw attitude of the floating platform.

[0009] In one possible implementation of the first aspect, the environmental disturbance effect includes at least wave-induced disturbance torque.

[0010] In one possible implementation of the first aspect, when generating the rotational torque control command for driving the floating platform to rotate about the single-point mooring system, the control strategy is configured to: prioritize correcting yaw deviations caused by wind direction changes while suppressing responses to disturbances caused by waves.

[0011] In one possible implementation of the first aspect, a plurality of thrusters are mounted on the floating platform; When generating the rotational torque control command for driving the floating platform to rotate around the single-point mooring system, the rotational torque control command is decomposed into optimized control allocation commands for the multiple thrusters to collaboratively generate the required net rotational torque.

[0012] In one possible implementation of the first aspect, generating the rotational torque control command for driving the floating platform to rotate about the single-point mooring system further includes: Based on at least one of the wave parameters and ocean current parameters monitored in real time, the environmental disturbance torque is estimated, and the environmental disturbance torque is used to feedforward compensate the rotational torque control command.

[0013] In one possible implementation of the first aspect, the preset threshold is configured to have a dead zone characteristic, and when the deviation angle is within the dead zone range, the method does not start or stop the thruster from driving the floating platform to rotate.

[0014] According to a second aspect of the present invention, a computer device is provided, including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor, when executing the computer program, implements the active yaw control method for a multi-bladed floating wind turbine generator.

[0015] According to a third aspect of the present invention, a computer-readable storage medium is provided, the computer-readable storage medium storing a computer program, which, when executed by a processor, implements the active yaw control method for a multi-bladed floating wind turbine generator.

[0016] According to a fourth aspect of the present invention, a computer program product is provided, which, when executed by a processor, implements the active yaw control method for a multi-bladed floating wind turbine generator.

[0017] Compared with the prior art, the present invention has at least the following beneficial effects: This invention provides an active yaw control method for multi-bladed floating wind turbine generators. This eliminates the need for a separate yaw drive system on each turbine, reducing the platform's top weight and overall manufacturing cost, while also minimizing maintenance workload. In real marine environments, waves cause continuous platform oscillations, leading to constant fluctuations in measured azimuth data. Directly using this fluctuation data for control results in the thrusters frequently following wave signals, wasting energy and failing to achieve stable wind alignment. By filtering and extracting the average yaw attitude, the control system only responds to actual yaw deviations caused by wind direction changes, remaining insensitive to high-frequency oscillations caused by waves, thus improving the smoothness and accuracy of yaw control. Because the platform rotates as a whole, all turbines on the platform rotate together, achieving synchronized yaw action. Compared to schemes where each turbine yaws independently, there are no coordination errors between multiple units, avoiding aerodynamic interference and uneven load caused by asynchronous yaw. The active thruster drive method can actively generate rotational torque as needed, overcoming the platform's own inertia and environmental disturbances, quickly driving the platform to the target azimuth. Compared to passive yaw schemes that rely on the natural action of wind, active yaw has a faster response speed, can follow changes in wind direction in a timely manner, reduces the duration of yaw error, and thus improves wind energy capture efficiency. Attached Figure Description

[0018] To more clearly illustrate the technical solutions in the specific embodiments of the present invention, the drawings used in the description of the specific 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 from these drawings without creative effort.

[0019] Figure 1 and Figure 2 This is a structural schematic diagram of a multi-bladed floating wind turbine generator set provided in an embodiment of the present invention.

[0020] Figure 3 This is a flowchart of an active yaw control method for a multi-bladed floating wind turbine generator set according to the present invention. Detailed Implementation

[0021] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0022] Figure 1 and Figure 2 This is a structural schematic diagram of a multi-bladed floating wind turbine generator set provided in an embodiment of the present invention. Figure 1 and Figure 2 As shown, this multi-bladed floating wind turbine includes a floating platform (floating body) on which two wind turbines are mounted. The floating platform is anchored to the seabed via a single-point mooring system that allows the entire floating platform to rotate around it. The mooring system includes a pile 1 anchored to the seabed, a turntable 2 rotatably connected to the platform, and a mooring 3 connected to the pile 1 and the turntable 2. Two thrusters 5 are installed in the column 4 of the floating platform, which can generate controllable thrust. As a preferred arrangement, the thrusters 5 are installed parallel to the plane of the wind turbine rotor, thus providing thrust in two directions. Alternatively, the thrusters 5 can be placed directly below the column 4, rather than being confined to the interior of the column 4. A sensor system is also provided to measure wind speed, wind direction, and the azimuth and motion status of the platform; and a control system is provided to receive sensor data and control the operation of the thrusters 5.

[0023] The core concept of this invention lies in controlling the thrusters 5 mounted on the floating body to achieve controllable rotation of the entire floating platform around a single mooring point, thereby enabling all wind turbine generators on the platform to quickly and accurately synchronize with the wind direction. Simultaneously, by filtering the platform's azimuth information, the impact of wave disturbances on yaw control accuracy is effectively suppressed.

[0024] like Figure 3 As shown, this invention provides an active yaw control method for a multi-bladed floating wind turbine generator, specifically including the following steps: S1. Monitor the incoming wind direction in real time or periodically, as well as the real-time azimuth and motion status of the floating platform.

[0025] Specifically, the wind direction and speed are measured in real time or periodically using an anemometer mounted on the platform. It should be understood that the anemometer can be any measurement device known in the art, such as ultrasonic, mechanical, or lidar type.

[0026] The floating platform's current azimuth and motion status are measured in real time or periodically using a sensor system on the platform. Specifically, sensors such as compasses, GPS (Global Positioning System), and inertial measurement units (IMUs) can be used to acquire the platform's azimuth information. IMUs can provide the platform's angular velocity and acceleration information, while GPS can provide the platform's position and orientation information. Through data fusion, an accurate platform motion status can be obtained.

[0027] S2. Filter or state estimate the real-time azimuth angle of the floating platform to filter out the high-frequency oscillation components induced by waves, and obtain the estimated azimuth angle reflecting the average yaw attitude of the floating platform.

[0028] Specifically, in real-world marine environments, floating platforms generate high-frequency oscillating motions under wave action. These motions are superimposed on the platform's yaw response, resulting in measured azimuth data containing high-frequency noise components. Directly using this noisy data for yaw control would lead to frequent thruster actuations, increasing energy consumption and accelerating equipment wear. Therefore, it is necessary to extract the low-frequency components reflecting the platform's true yaw trend from the measured data.

[0029] S3. Determine the target azimuth angle of the floating platform based on the incoming wind direction, and calculate the deviation angle between the estimated azimuth angle and the target azimuth angle.

[0030] Specifically, the target azimuth angle should ensure that the rotor planes of all wind turbines on the platform are perpendicular to the incoming wind direction, i.e., the rotor axes are parallel to the wind direction. For multi-rotor platforms, when the platform rotates to the target azimuth angle, all rotors are simultaneously in optimal windward position. The deviation angle between the estimated azimuth angle obtained from the filtered estimation and the target azimuth angle is calculated. Yaw error : Yaw error =Target azimuth -P azimuth_estimated in, Target azimuth The target azimuth angle, P azimuth_estimated To estimate the azimuth.

[0031] S4. When the deviation angle exceeds a preset threshold, a rotational torque control command is generated based on the deviation angle and the influence of environmental disturbances to drive the floating platform to rotate around the single-point mooring system.

[0032] Specifically, it determines whether the absolute value of the deviation angle exceeds a preset threshold. The preset threshold can be determined comprehensively based on factors such as yaw control accuracy requirements and thruster energy consumption.

[0033] if Yaw erro If the value is not greater than the preset threshold, it means that the current wind condition of the platform is within the allowable range and there is no need to make active yaw adjustments. The system returns to S1 to continue monitoring.

[0034] if Yaw erroIf the deviation angle exceeds a preset threshold, active yaw adjustment is required. The control system calculates the net rotational torque that needs to be generated by the thruster system to overcome the disturbance and drive the platform to rotate toward the target azimuth angle, based on the magnitude and direction of the deviation angle, and taking into account the platform's dynamic model, current motion state, and estimated environmental disturbance torque (caused by wind, waves, and currents).

[0035] When calculating the rotational torque, a PID controller can be used, with the deviation angle as input and the target rotational torque as output. After tuning the PID parameters, the system can achieve good dynamic response performance and steady-state accuracy. For more advanced control schemes, linear quadratic regulators (LQR) or model predictive control (MPC) can also be used to achieve even better control performance.

[0036] It is important to emphasize that the control algorithm design should focus on correcting low-frequency yaw deviations while maintaining robustness to high-frequency wave disturbances. Since S2 has already obtained the estimated azimuth angle reflecting the average yaw attitude through filtering, and the controller input itself has already filtered out high-frequency components, the controller will not overreact to high-frequency wave disturbances.

[0037] S5. According to the rotation torque control command, control at least one thruster installed on the floating platform to generate thrust to drive the floating platform to rotate until the deviation angle is reduced to within the preset threshold.

[0038] In other words, the control system decomposes the generated rotational torque command into specific control commands for each thruster. For the two thrusters configured in this embodiment, it is necessary to determine the thrust magnitude and direction of each thruster so that the resultant torque generated by the thrust around the single-point mooring point is equal to the required rotational torque. Preferably, when allocating thrust, optimization objectives such as minimizing energy consumption or balancing thruster load are considered.

[0039] The control system sends control commands to the corresponding thrusters. The thrusters activate according to the commands and generate thrust. The thrust acts on the floating body, generating a net rotational torque around the single mooring point, driving the entire floating platform along with all the wind turbines on it to rotate, causing its azimuth to change towards the target azimuth.

[0040] It should be understood that during thruster operation, the control system continuously monitors changes in the platform's azimuth angle, repeats steps S1 to S4, recalculates the deviation angle, and dynamically adjusts the control commands to the thrusters based on the real-time deviation angle. This closed-loop feedback mechanism ensures the platform rotates smoothly and accurately to the target azimuth angle, avoiding overshoot or oscillation.

[0041] When the deviation angle gradually decreases to within the preset threshold, the control system can reduce the thrust of the thruster and eventually stop the thruster, so that the system enters the holding state or standby state.

[0042] The system continuously repeats the above steps to cope with the constant changes in wind direction and always keep the multi-bladed turbine unit in the best windward condition.

[0043] In one possible implementation, the filtering or state estimation processing of the real-time azimuth angle of the floating platform includes: processing the real-time azimuth angle of the floating platform using at least one of a low-pass filter, a notch filter, or a Kalman filter to filter out high-frequency oscillation components induced by waves, thereby obtaining an estimated azimuth angle reflecting the average yaw attitude of the floating platform.

[0044] Specifically, a low-pass filter is used to process the real-time azimuth data, setting an appropriate cutoff frequency. For example, based on the dominant wave frequency range of the local sea area, the cutoff frequency is set below the wave frequency to filter out high-frequency wave components and retain the low-frequency components reflecting the platform's average yaw attitude. As one implementation scheme, a first-order or second-order low-pass filter can be used to process the measured azimuth. The cutoff frequency of the low-pass filter should be selected based on the wave spectrum characteristics of the local sea area. Typically, the wave energy concentration band is between 0.05Hz and 0.2Hz (corresponding to a period of 5 to 20 seconds), so the cutoff frequency can be set below 0.05Hz, such as 0.01Hz or 0.02Hz, to effectively attenuate the oscillation components of the wave frequency band.

[0045] As an alternative, notch filters can be used to suppress oscillations in specific wave frequencies. If wave energy is mainly concentrated in a narrow frequency range, such as when swells dominate under certain sea conditions, a notch filter can be designed with its center frequency set to the wave frequency to specifically suppress oscillations in that frequency band, while having less impact on other frequency components, thus better preserving the true changes in the platform's yaw response.

[0046] As a preferred approach, a Kalman filter can be used for state estimation. The Kalman filter can combine the platform's motion model with measured data to optimally estimate the platform's yaw attitude. By setting appropriate process noise and measurement noise covariance matrices, the Kalman filter can effectively filter out high-frequency wave disturbances while accurately tracking changes in the platform's yaw angle.

[0047] In one possible implementation, the environmental disturbance effects include at least wave-induced disturbance moments. The environmental disturbances faced by floating platforms at sea mainly include wind loads, wave loads, and ocean current loads. These environmental loads all affect the platform's yaw motion, generating disturbance moments around a single mooring point. Among these, wave-induced disturbance moments are dominant and exhibit periodic characteristics.

[0048] It should be understood that wave loads can be calculated using potential flow theory or computational fluid dynamics methods. The average yaw moment exerted by waves on a floating platform is related to wave height, wave period, wave direction, and the underwater geometry of the platform. For a given platform configuration, wave moment coefficients under different wave conditions can be pre-calculated using hydrodynamic analysis software, forming lookup tables or fitting formulas. In actual operation, the current estimated wave disturbance moment is obtained by looking up tables or calculating based on real-time monitored wave parameters.

[0049] When generating rotational torque control commands, wave-induced disturbance torque is taken into account as a feedforward term or disturbance compensation term. In this way, the thruster not only needs to generate torque to correct yaw deviation, but also needs to overcome wave-induced disturbance torque, thereby achieving more precise yaw control.

[0050] In one possible implementation, when generating the rotational torque control command for driving the floating platform to rotate about the single-point mooring system, the control strategy is configured to: prioritize correcting yaw deviations caused by wind direction changes while suppressing responses to disturbances caused by waves.

[0051] Specifically, yaw deviation caused by wind direction changes is a target change that the system needs to track and should be corrected quickly and accurately; while high-frequency platform oscillation caused by waves is interference that should be suppressed to avoid unnecessary responses from the control system.

[0052] In practical implementation, this control strategy is mainly achieved through two stages: The first stage involves filtering the measured azimuth angle to extract the low-frequency component reflecting the average yaw attitude, which is then fed into the controller as a feedback signal. This is equivalent to embedding a pre-filter in the control loop, ensuring that the controller receives a clean yaw angle signal, with high-frequency wave components attenuated before entering the controller. The second stage involves specifically designing the controller's frequency response characteristics. For example, in PID controller design, the controller can have higher gain in the low-frequency range to ensure tracking of wind direction changes, while having lower gain in the high-frequency range (corresponding to the wave frequency band) to avoid amplifying high-frequency disturbances.

[0053] Through the synergistic effect of the two aforementioned steps, the system can prioritize correcting yaw deviations caused by wind direction changes, while effectively suppressing responses to disturbances caused by waves, thereby achieving smooth and precise yaw control.

[0054] In one possible implementation, the floating platform is equipped with multiple thrusters; when generating a rotational torque control command to drive the floating platform to rotate about the single-point mooring system, the rotational torque control command is decomposed into optimized control allocation commands for the multiple thrusters to collaboratively generate the required net rotational torque.

[0055] In other words, when multiple thrusters (e.g., three or four) are installed on a floating platform, the required total rotational torque command needs to be broken down into specific thrust commands for each thruster.

[0056] The thrusters can be distributed at different locations on the platform, such as being installed at the bottom or sides of different columns. The thrust direction and magnitude of each thruster can be controlled independently. The goal of the control allocation is to generate the required net rotational torque while minimizing energy consumption, balancing the thruster load, and avoiding thrust saturation.

[0057] In one possible implementation, the generation of rotational torque control commands for driving the floating platform to rotate around the single-point mooring system further includes: estimating environmental disturbance torque based on at least one of real-time monitored wave parameters and ocean current parameters, and using the environmental disturbance torque to feedforward compensate the rotational torque control commands.

[0058] Specifically, the environmental disturbance moments experienced by floating platforms, especially wave moments, are somewhat predictable. By monitoring wave and current parameters in real time, the current environmental disturbance moments can be estimated and introduced into the control system as feedforward compensation.

[0059] For example, in practical implementation: First, wave parameters (wave height, period, direction) and current parameters (velocity, direction) are monitored in real time. These parameters can be acquired through sensors such as wave radar and acoustic Doppler current profilers installed on the platform, or from regional marine environmental forecast data; the sampling frequency can be set as needed. Second, environmental disturbance torque is estimated based on the monitored environmental parameters using a pre-established hydrodynamic model. During the design phase, hydrodynamic analysis software is used to calculate the forces acting on the platform under different wave and current conditions, establishing a mapping relationship: (wave height, period, wave direction, velocity, direction) → (wave torque, current torque). In actual operation, the estimated environmental disturbance torque is obtained through interpolation or function calculation based on the real-time monitored environmental parameters. Then, when generating rotational torque control commands, the estimated environmental disturbance torque is used as a feedforward compensation term.

[0060] Feedforward compensation can counteract predictable disturbances before feedback control takes effect, thereby improving the response accuracy of the control system. When facing periodic wave loads, feedforward compensation can effectively reduce the fluctuation amplitude of yaw error.

[0061] In one possible implementation, the preset threshold is configured to have a dead zone characteristic, and when the deviation angle is within the dead zone range, the method does not start or stop the thruster from driving the floating platform to rotate.

[0062] Specifically, to avoid frequent start-stop cycles of the thruster within a small deviation angle range, and to reduce thruster wear and energy consumption, a preset threshold can be configured to have dead-zone characteristics. Specifically, a dead-zone range of [-Δ, +Δ] is set, for example, [3°, +3°]. When the deviation angle... Yaw erro When within the dead zone, i.e. | Yaw erro If |≤Δ, the control system determines that the current deviation is within an acceptable range and does not initiate yaw adjustment, or if adjustment is in progress, it terminates the adjustment and stops the thruster from working.

[0063] When the deviation angle exceeds the dead zone range, i.e. | Yaw erro |>Δ, the control system initiates yaw adjustment, driving the thrusters to work.

[0064] To further avoid frequent switching near the dead zone boundary, hysteresis can be introduced. For example, two thresholds can be set: the start-up threshold Δ start and stopping threshold Δ stop , and Δ start >Δ stop When the deviation angle exceeds Δ start Initiate yaw adjustment when the deviation angle decreases to below Δ stop The adjustment stops when the time is right. Dead-zone control with hysteresis can effectively prevent the system from oscillating near the threshold.

[0065] It should be noted that the specific value of the dead zone threshold can be optimized based on the yaw control accuracy requirements and propeller characteristics. An excessively small dead zone will cause frequent propeller maneuvers, while an excessively large dead zone will affect wind alignment accuracy. A suitable dead zone range can be determined through trial and error in simulations and field tests.

[0066] In summary, this invention achieves rapid and precise coordinated yaw control of multi-bladed floating wind turbines by employing an active yaw method that drives the platform to rotate as a whole through a propeller, combined with filtering of the platform's azimuth angle. This effectively avoids the structural complexity issues caused by using an independent yaw mechanism, while also suppressing the impact of wave disturbances on yaw accuracy.

[0067] In another embodiment of the present invention, a computer device is provided, comprising a processor and a memory. The memory stores a computer program, which includes program instructions. The processor executes the program instructions stored in the computer storage medium. The processor may be a Central Processing Unit (CPU), or other general-purpose processors, digital signal processors (DSPs), application-specific integrated circuits (ASICs), field-programmable gate arrays (FPGAs), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. It is the computing and control core of the terminal, suitable for implementing one or more instructions, specifically suitable for loading and executing one or more instructions from the computer storage medium to achieve a corresponding method flow or corresponding function. The processor described in this embodiment of the present invention can be used in the operation of an active yaw control method for a multi-bladed floating wind turbine generator.

[0068] In another embodiment of the present invention, a storage medium is provided, specifically a computer-readable storage medium (Memory), which is a memory device in a computer device used to store programs and data. It is understood that the computer-readable storage medium here can include both the built-in storage medium in the computer device and extended storage media supported by the computer device. The computer-readable storage medium provides storage space that stores the terminal's operating system. Furthermore, the storage space also stores one or more instructions suitable for loading and execution by a processor. These instructions can be one or more computer programs (including program code). It should be noted that the computer-readable storage medium here can be Random Access Memory (RAM) or non-volatile memory, such as at least one disk storage device. The processor can load and execute one or more instructions stored in the computer-readable storage medium to implement the corresponding steps of the active yaw control method for a multi-bladed floating wind turbine generator in the above embodiments.

[0069] Those skilled in the art will understand that embodiments of the present invention can be provided as methods, systems, or computer program products. Therefore, the present invention can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, the present invention can take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, optical storage, etc.) containing computer-usable program code.

[0070] This invention is described with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the invention. It will be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, generate instructions for implementing the flowchart illustrations and / or block diagrams. Figure 1 One or more processes and / or boxes Figure 1 A device that provides the functions specified in one or more boxes.

[0071] These computer program instructions may also be stored in a computer-readable storage medium that can direct a computer or other programmable data processing device to function in a particular manner, such that the instructions stored in the computer-readable storage medium produce an article of manufacture including instruction means, which are implemented in a process Figure 1 One or more processes and / or boxes Figure 1 The function specified in one or more boxes.

[0072] These computer program instructions may also be loaded onto a computer or other programmable data processing equipment to cause a series of operational steps to be performed on the computer or other programmable equipment to produce a computer-implemented process, thereby providing instructions that execute on the computer or other programmable equipment for implementing the process. Figure 1 One or more processes and / or boxes Figure 1 The steps of the function specified in one or more boxes.

[0073] This invention also provides a computer program product, which is used to execute any of the above-described active yaw control methods for a multi-bladed floating wind turbine generator set. Since the computer program product provided by this invention and the above-described active yaw control method for a multi-bladed floating wind turbine generator set belong to the same inventive concept, the computer program product provided by this invention possesses all the advantages of the above-described active yaw control method for a multi-bladed floating wind turbine generator set. Therefore, the beneficial effects of the computer program product provided by this invention will not be elaborated upon here.

[0074] In this invention, the terms "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., refer to a specific feature, structure, material, or characteristic described in connection with that embodiment or example, which is included in at least one embodiment or example of the invention. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples. Moreover, without contradiction, those skilled in the art can combine and integrate the different embodiments or examples described in this specification, as well as the features of different embodiments or examples.

[0075] Finally, it should be noted that the above-described embodiments are merely specific implementations of the present invention, used to illustrate the technical solutions of the present invention, and not to limit them. The scope of protection of the present invention is not limited thereto. Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that any person skilled in the art can still modify or easily conceive of changes to the technical solutions described in the foregoing embodiments within the scope of the technology disclosed in the present invention, or make equivalent substitutions for some of the technical features; and these modifications, changes, 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 the present invention, and should all be covered within the scope of protection of the present invention.

Claims

1. An active yaw control method for a multi-bladed floating wind turbine generator set, the multi-bladed floating wind turbine generator set comprising a floating platform, at least two wind turbine generator sets mounted on the floating platform, and a single-point mooring system anchoring the floating platform to the seabed and allowing the floating platform to rotate around it, characterized in that, The method includes: Real-time or periodic monitoring of the incoming wind direction, as well as the real-time azimuth and motion status of the floating platform; The real-time azimuth angle of the floating platform is filtered or state estimated to remove the high-frequency oscillation component induced by waves, thereby obtaining an estimated azimuth angle that reflects the average yaw attitude of the floating platform. The target azimuth angle of the floating platform is determined based on the incoming wind direction, and the deviation angle between the estimated azimuth angle and the target azimuth angle is calculated. When the deviation angle exceeds a preset threshold, a rotational torque control command is generated based on the deviation angle and the influence of environmental disturbances to drive the floating platform to rotate around the single-point mooring system. According to the rotational torque control command, at least one thruster installed on the floating platform is controlled to generate thrust to drive the floating platform to rotate until the deviation angle is reduced to within the preset threshold.

2. The active yaw control method for a multi-bladed floating wind turbine generator set according to claim 1, characterized in that, The filtering or state estimation processing of the real-time azimuth angle of the floating platform includes: The real-time azimuth angle of the floating platform is processed by at least one of a low-pass filter, a notch filter, or a Kalman filter to filter out the high-frequency oscillation components induced by waves, thereby obtaining an estimated azimuth angle that reflects the average yaw attitude of the floating platform.

3. The active yaw control method for a multi-bladed floating wind turbine generator set according to claim 1, characterized in that, The environmental disturbance effects include at least wave-induced disturbance torque.

4. The active yaw control method for a multi-bladed floating wind turbine generator set according to claim 1, characterized in that, When generating the rotational torque control command to drive the floating platform to rotate around the single-point mooring system, the control strategy is configured to: prioritize correcting yaw deviations caused by wind direction changes while suppressing responses to disturbances caused by waves.

5. The active yaw control method for a multi-bladed floating wind turbine generator set according to claim 1, characterized in that, The floating platform is equipped with multiple thrusters; When generating the rotational torque control command for driving the floating platform to rotate around the single-point mooring system, the rotational torque control command is decomposed into optimized control allocation commands for the multiple thrusters to collaboratively generate the required net rotational torque.

6. The active yaw control method for a multi-bladed floating wind turbine generator set according to claim 1, characterized in that, The generation of rotational torque control commands for driving the floating platform to rotate around the single-point mooring system further includes: Based on at least one of the wave parameters and ocean current parameters monitored in real time, the environmental disturbance torque is estimated, and the environmental disturbance torque is used to feedforward compensate the rotational torque control command.

7. The active yaw control method for a multi-bladed floating wind turbine generator set according to claim 1, characterized in that, The preset threshold is configured to have a dead zone characteristic. When the deviation angle is within the dead zone range, the method does not start or stop the thruster from driving the floating platform to rotate.

8. 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 an active yaw control method for a multi-bladed floating wind turbine generator as described in any one of claims 1 to 7.

9. A computer-readable storage medium storing a computer program, characterized in that, When the computer program is executed by the processor, it implements an active yaw control method for a multi-bladed floating wind turbine generator as described in any one of claims 1 to 7.

10. A computer program product, characterized in that, When the computer program product is executed by the processor, it implements an active yaw control method for a multi-bladed floating wind turbine generator as described in any one of claims 1 to 7.

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