Floating wind power system control method, control device, and floating wind power system

Abstract

The embodiment of the application provides a floating wind power system control method, a control device and a floating wind power system, and relates to the technical field of power generation. The floating wind power system control method can control all dynamic ballast tanks located on the side of a shutdown wind turbine to inject water when one wind turbine is in a fault working condition and another wind turbine is in a normal operation working condition, and simultaneously control all dynamic ballast tanks located on the side of a normal operation wind turbine to discharge water, so as to adjust the weight distribution on both sides, generate a reverse stable moment, quickly offset the overturning trend caused by one-side thrust, right the floating foundation to a safe inclination angle range, and comprehensively improve the motion stability, operation reliability and fault tolerance capability of the system in a complex marine environment.

Description

Technical Field

[0001] This invention relates to the field of power generation technology, and more specifically, to a control method, control device, and floating wind power system for a floating wind power system. Background Technology

[0002] Dual-rotor floating wind turbines, as a novel offshore wind power technology, have attracted widespread attention in recent years. This technology involves installing two independent wind turbines on a floating foundation, including two complete sets of towers, hubs, nacelles, and power generation systems, aiming to improve the efficiency of wind energy utilization per unit area of ​​sea.

[0003] However, the inventors discovered that when one of the fans on a dual-fan floating foundation shuts down due to a malfunction, the impeller of the faulty fan stops rotating, and the aerodynamic thrust disappears instantly. Meanwhile, the other fan continues to operate normally and bears the full wind thrust, causing a sudden change in load. This uneven load distribution generates a strong unbalanced moment—a huge lateral or longitudinal tilting moment from the operating fan towards the faulty fan—causing the floating foundation to tilt violently towards the faulty fan side. This extreme condition may trigger a protective shutdown of the operating fan, leading to a power outage across the entire site, and even damage to the floating foundation structure and mooring system. Summary of the Invention

[0004] The present invention aims to provide a control method, device, and floating wind power system that can quickly straighten the floating foundation to a safe tilt angle range under single turbine failure conditions through dynamic center of gravity compensation, thereby improving the overall operational stability of the system.

[0005] The embodiments of the present invention can be implemented as follows: In a first aspect, the present invention provides a control method for a floating wind power system, comprising: Obtain real-time operating status data for the two wind turbines; If one wind turbine is in a fault condition and the other wind turbine is in a normal operating condition, control the water injection of all dynamic ballast tanks on the side where the wind turbine in the fault condition is located, and control the water drainage of all dynamic ballast tanks on the side where the wind turbine in the normal operating condition is located.

[0006] In an optional implementation, the steps of controlling the water injection of all dynamic ballast tanks on the side where the wind turbine is located under fault conditions, and controlling the water drainage of all dynamic ballast tanks on the side where the wind turbine is located under normal operating conditions, include: Obtain the real-time aerodynamic thrust generated by the wind turbine under normal operating conditions, as well as the current tilt angle of the floating foundation; Based on real-time aerodynamic thrust and tilt angle, calculate the anti-tilting moment required to maintain the balance of the floating foundation, the target water injection volume of all dynamic ballast tanks on the side where the wind turbine is located under normal operating conditions, and the target water displacement of all dynamic ballast tanks on the side where the wind turbine is located under normal operating conditions; Control the water injection of all dynamic ballast tanks on the side where the wind turbine is in fault condition to the target water injection volume, and control the water drainage of all dynamic ballast tanks on the side where the wind turbine is in normal operation condition to the target drainage volume.

[0007] In an optional implementation, if both fans are in normal operating condition, the method further includes: Get the current tilt angle of the floating foundation; Determine if the tilt angle is greater than the preset tilt angle threshold; If so, control the dynamic ballast pump to drive the ballast medium to flow from the dynamic ballast tank on the lower side to the dynamic ballast tank on the higher side; or, control the dynamic ballast tank on the lower side to drain water; or, control the dynamic ballast tank on the higher side to inject water.

[0008] In optional embodiments, the steps of controlling the dynamic ballast pump to drive the ballast medium to flow from the dynamic ballast tank on the lower side to the dynamic ballast tank on the higher side; or controlling the dynamic ballast tank on the lower side to drain water; or controlling the dynamic ballast tank on the higher side to inject water specifically include: Obtain the tilt direction of the floating foundation; If the floating foundation develops a longitudinal forward tilt angle, the dynamic ballast pump is controlled to drive the ballast medium from the front dynamic ballast tank to the rear dynamic ballast tank. If the floating foundation develops a longitudinal rearward tilt angle, the dynamic ballast pump is controlled to drive the ballast medium from the rear dynamic ballast tank into the front dynamic ballast tank. If the floating foundation develops a lateral right tilt angle, then control the water injection into the dynamic ballast tank on the left side, and / or control the water drainage into the dynamic ballast tank on the right side. If the floating foundation develops a lateral leftward tilt angle, then control the injection of water into the dynamic ballast tank on the right side, and / or control the drainage of water from the dynamic ballast tank on the left side.

[0009] In an optional embodiment, the dynamic ballast pump includes two pump bodies arranged in parallel, each pump body being used to drive fluid medium from the front dynamic ballast tank into the rear dynamic ballast tank, or from the rear dynamic ballast tank into the front dynamic ballast tank.

[0010] In an optional implementation, the floating foundation includes a front column, a cross brace, two rear columns, and two diagonal braces; wherein the cross brace is connected between the two rear columns, and each diagonal brace is connected to a rear column at one end and to a front column at the other end.

[0011] In an optional embodiment, a first static ballast tank is provided at the bottom of the front column, and the two ends of the cross brace are respectively connected to the bottom of the two rear columns, on which a second static ballast tank is provided.

[0012] In an optional implementation, the two fans are connected to two rear columns respectively, and both are tilted toward the front column.

[0013] In a second aspect, the present invention provides a control device for a floating wind power system, comprising: The acquisition module is used to acquire real-time operating status data of the two wind turbines; The control module is used to control the water injection of all dynamic ballast tanks on the side of the turbine in the fault condition and the water drainage of all dynamic ballast tanks on the side of the turbine in the normal operating condition when one turbine is in a fault condition and the other turbine is in a normal operating condition.

[0014] Thirdly, the present invention provides a floating wind power system, including a controller, which executes computer instructions to implement the floating wind power system control method as described in any of the foregoing embodiments.

[0015] The beneficial effects of the floating wind power system control method, device, and floating wind power system provided in the embodiments of the present invention include: This invention provides a floating wind power system control method, control device, and floating wind power system. The floating wind power system control method can control all dynamic ballast tanks on the side of the stopped wind turbine to inject water and simultaneously control all dynamic ballast tanks on the side of the operating wind turbine to drain water when one wind turbine is in a fault condition and another is in a normal operating condition. This adjusts the weight distribution on both sides, generates a reverse stabilizing torque, quickly counteracts the overturning tendency caused by unilateral thrust, and straightens the floating foundation to a safe tilt angle range. This comprehensively improves the system's motion stability, operational reliability, and fault tolerance in complex marine environments. Attached Figure Description

[0016] To more clearly illustrate the technical solutions of the embodiments of the present invention, the accompanying drawings used in the embodiments will be briefly introduced below. It should be understood that the following drawings only show some embodiments of the present invention and should not be regarded as a limitation on the scope. For those skilled in the art, other related drawings can be obtained based on these drawings without creative effort.

[0017] Figure 1 This is a flowchart illustrating a control method for a floating wind power system according to an embodiment of the present invention. Figure 2 for Figure 1A flowchart illustrating the sub-steps of sub-step S600 in the control method for floating wind power systems. Figure 3 for Figure 1 A flowchart illustrating the sub-steps of step S300 in the control of a floating wind power system. Figure 4 This is a schematic diagram of the structure of the floating wind power system provided in this embodiment; Figure 5 This is a schematic block diagram of the structure of a floating wind power system control device provided in an embodiment of the present invention.

[0018] Icons: 010-Floating wind power system control device; 011-Acquisition module; 013-Control module; 10-Floating wind power system; 100-Wind turbine; 300-Floating foundation; 310-Front column; 320-Horizontal brace; 330-Rear column; 340-Diagonal brace; 410-First static ballast tank; 430-Second static ballast tank; 500-Dynamic ballast tank. Detailed Implementation

[0019] In related technologies, when one of the fans on a dual-fan floating foundation stops abruptly due to a fault, the thrust on that side disappears while the other side continues to operate. The resulting unbalanced torque causes the floating foundation to tilt violently toward the faulty side, which may trigger the protective shutdown of the operating fan or even damage the structure and mooring system.

[0020] To address the aforementioned problems, this invention provides a floating wind power system control method, control device, and floating wind power system, which can quickly straighten the floating foundation to a safe tilt angle range under single turbine failure conditions through dynamic center of gravity compensation, thereby improving the overall operational stability of the system.

[0021] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments 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, and not all embodiments. The components of the embodiments of the present invention described and shown in the accompanying drawings can generally be arranged and designed in various different configurations.

[0022] Therefore, the following detailed description of the embodiments of the invention provided in the accompanying drawings is not intended to limit the scope of the claimed invention, but merely to illustrate selected embodiments of the invention. All other embodiments obtained by those skilled in the art based on the embodiments of the invention without inventive effort are within the scope of protection of the invention.

[0023] It should be noted that similar labels and letters in the following figures indicate similar items. Therefore, once an item is defined in one figure, it does not need to be further defined and explained in subsequent figures.

[0024] In the description of this invention, it should be noted that if terms such as "upper," "lower," "inner," or "outer" are used to indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, or the orientation or positional relationship in which the product of this invention is usually placed, they are only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this invention.

[0025] Furthermore, the terms "first" and "second" are used only to distinguish descriptions and should not be interpreted as indicating or implying relative importance.

[0026] It should be noted that, where there is no conflict, the features in the embodiments of the present invention can be combined with each other.

[0027] Please see Figure 1 This invention provides a control method for a floating wind power system, applicable to a floating wind power system 10 with a dual-turbine configuration 100. The system includes a floating foundation 300 and two independent wind turbines 100 mounted on the foundation. This floating wind power system control method enables rapid response and precise suppression of the floating foundation 300's attitude even in the event of a single wind turbine 100 failure, comprehensively improving the system's motion stability, operational reliability, and fault tolerance in complex marine environments.

[0028] The floating wind power system control method provided in this embodiment may include the following steps: Step S100: Obtain real-time operating status data of the two fans 100.

[0029] In step S100, for example, the real-time collected operating status data of the two wind turbines 100 can be such as rotational speed, power output, and pitch speed.

[0030] In step S300, if one fan 100 is in a fault condition and the other fan 100 is in a normal operating condition, control all dynamic ballast tanks 500 on the side where the fan 100 in the fault condition is located to be injected with water, and control all dynamic ballast tanks 500 on the side where the fan 100 in the normal operating condition is located to be drained.

[0031] In step S300, when it is identified that one wind turbine 100 is in a fault condition and another is in a normal operating condition, all dynamic ballast tanks 500 on the side where the stopped wind turbine 100 is located are filled with water, and at the same time, all dynamic ballast tanks 500 on the side where the normal operating wind turbine 100 is located are drained, thereby adjusting the weight distribution on both sides, generating a reverse stabilizing torque, quickly offsetting the overturning tendency caused by the unilateral thrust, and straightening the floating foundation 300 to a safe tilt angle range.

[0032] In an optional embodiment of the present invention, the method further includes: Step S400: If both fans 100 are in normal operating condition, obtain the current tilt angle of the floating foundation 300.

[0033] Step S500: Determine whether the tilt angle is greater than the preset tilt angle threshold.

[0034] In step S500, the preset tilt angle threshold can be 5°.

[0035] In step S600, if yes, control the dynamic ballast pump to drive the ballast medium to flow from the dynamic ballast tank 500 on the lower side to the dynamic ballast tank 500 on the higher side; or control the dynamic ballast tank 500 on the lower side to drain water; or control the dynamic ballast tank 500 on the higher side to inject water.

[0036] In step S600, if the tilt angle is greater than a preset tilt angle threshold, any of the above actions can, without interrupting the power generation operation of the dual wind turbines 100, generate a restoring torque pointing towards the higher side by adjusting the mass distribution on both sides of the floating foundation 300, effectively suppressing the development of the tilting trend and stabilizing the attitude of the floating foundation 300 within the allowable fluctuation range. If the system continuously monitors that the tilt angle decreases to within the preset tilt angle threshold, the current state of the dynamic ballast tank 500 is maintained.

[0037] Specifically, such as Figure 2 As shown, the steps of controlling the dynamic ballast pump to drive the ballast medium to flow from the lower dynamic ballast tank 500 to the higher dynamic ballast tank 500; or controlling the lower dynamic ballast tank 500 to drain water; or controlling the higher dynamic ballast tank 500 to inject water (i.e., step S600) specifically include: Step S610: Obtain the tilt direction of the floating foundation 300; In step S620, if the floating foundation 300 generates a longitudinal forward tilt angle, the dynamic ballast pump is controlled to drive the ballast medium from the front dynamic ballast tank 500 into the rear dynamic ballast tank 500.

[0038] In step S620, if a longitudinal forward tilt angle is detected, the dynamic ballast pump is controlled to drive the ballast medium from the front dynamic ballast tank 500 to the rear dynamic ballast tank 500, so as to increase the rear mass, lift the front, and counteract the forward tilting trend.

[0039] In step S630, if the floating foundation 300 generates a longitudinal rearward tilt angle, the dynamic ballast pump is controlled to drive the ballast medium from the rear dynamic ballast tank 500 into the front dynamic ballast tank 500.

[0040] In step S630, if a longitudinal backward tilt angle is detected, the dynamic ballast pump is controlled to drive the ballast medium from the rear dynamic ballast tank 500 into the front dynamic ballast tank 500 to increase the front mass, lift the rear, and counteract the backward tilting trend.

[0041] In step S640, if the floating foundation 300 produces a lateral right tilt angle, then control the left dynamic ballast tank 500 to inject water, and / or control the right dynamic ballast tank 500 to drain water.

[0042] In step S640, if a lateral right tilt angle is detected, the dynamic ballast tank 500 on the left side is controlled to inject ballast medium, and / or the dynamic ballast tank 500 on the right side is controlled to discharge ballast medium, so as to increase the mass on the left side, lift the right side, and counteract the right tilt trend.

[0043] In step S650, if the floating foundation 300 tilts to the left, the dynamic ballast tank 500 on the right side is injected with water, and / or the dynamic ballast tank 500 on the left side is drained.

[0044] In step S650, if a leftward tilt angle is detected, the dynamic ballast tank 500 on the right side is controlled to inject ballast medium, and / or the dynamic ballast tank 500 on the left side is controlled to discharge ballast medium, so as to increase the mass of the right side, lift the left side, and counteract the leftward tilting trend.

[0045] It should be noted that in steps S620 to S650, after confirming the tilt direction of the floating foundation 300, the system further calculates the amount of ballast medium required to restore the horizontal attitude based on the current tilt angle. This amount of medium includes the volume of medium that needs to be transferred from the front to the rear or from the rear to the front, or the volume of medium that needs to be injected to the left / right side and discharged from the right / left side.

[0046] Throughout the adjustment process, the system continuously collects the real-time tilt angle of the floating foundation 300 and dynamically updates the control commands based on this data. When the tilt angle is detected to decrease to within the preset tilt angle threshold, the current ballast action is automatically terminated, thus forming a timely, precise, and closed-loop attitude stabilization control process.

[0047] Furthermore, it should be noted that the aforementioned dynamic ballast pump comprises two pump bodies arranged in parallel. Each pump body is used to drive the fluid medium from the front dynamic ballast tank 500 into the rear dynamic ballast tank 500, or from the rear dynamic ballast tank 500 into the front dynamic ballast tank 500. Based on the arrangement of the two pump bodies, not only can the longitudinal ballast medium delivery rate and attitude adjustment response speed be significantly improved through flow superposition and coordinated start-stop, but also, even if one pump body fails or is under maintenance, the other pump body can still maintain basic longitudinal adjustment functions, ensuring the safe and continuous operation of the system.

[0048] Furthermore, such as Figure 3 As shown, the steps of controlling the water injection of all dynamic ballast tanks 500 on the side where the wind turbine 100 is located under fault conditions and controlling the water drainage of all dynamic ballast tanks 500 on the side where the wind turbine 100 is located under normal operating conditions (i.e., step S300) specifically include: Step S310: Obtain the aerodynamic thrust generated by the fan 100 under normal operating conditions, and the tilt angle of the floating foundation 300.

[0049] Step S330: Based on the real-time aerodynamic thrust and tilt angle, calculate the anti-tilting moment required to maintain the balance of the floating foundation 300, the target water injection volume of all dynamic ballast tanks 500 on the side where the wind turbine 100 is located under normal operating conditions, and the target water discharge volume of all dynamic ballast tanks 500 on the side where the wind turbine 100 is located under normal operating conditions.

[0050] In step S350, control all dynamic ballast tanks 500 on the side where the wind turbine 100 is in fault condition to inject water to the target water injection volume, and control all dynamic ballast tanks 500 on the side where the wind turbine 100 is in normal operation condition to drain water to the target drainage volume.

[0051] Based on steps S310 to S350 above, through rapid, accurate and coordinated adjustment of the ballast mass on both sides, the system can generate gravity restoring moments with opposite directions and appropriate sizes in a short time, significantly reducing the tilt rate of the floating foundation 300, and stabilizing the tilt angle within the threshold range that does not affect the safe operation of the wind turbine 100. This effectively prevents the operating wind turbine 100 from triggering protective shutdown due to attitude over-limit, and ensures the continuous power supply capability of the wind power system under single wind turbine 100 failure conditions.

[0052] It should be noted that during the above-mentioned ballast adjustment process, the system always maintains the ballast medium in each dynamic ballast tank 500 at no less than 10% of its total volume to ensure that the tank has a basic liquid volume, thereby maintaining the system's rapid response capability. At the same time, the maximum filling amount of ballast medium does not exceed 90% of the total volume of the tank, reserving sufficient safety margin for liquid thermal expansion and contraction, dynamic sloshing and instantaneous pressure fluctuations, effectively avoiding risks such as tank wall damage caused by sudden pressure rise or liquid level exceeding the limit.

[0053] In addition, to reduce the requirements for the instantaneous adjustment capability of the ballast system and improve the stability of the attitude recovery process of the floating foundation 300, the system can send a transient load reduction command to the wind turbine 100, which is still operating normally, while starting dynamic ballast adjustment. This means briefly reducing its output power, thereby moderately reducing the aerodynamic thrust it generates. This coordinates with the water injection and drainage response speed of the dynamic ballast tank 500, which helps to alleviate the sudden tilting trend of the floating foundation 300 and achieve a smoother and more controllable attitude transition under fault conditions.

[0054] In addition, after completing the dynamic ballast adjustment under the fault condition of the single wind turbine 100 corresponding to step S300 and the attitude of the floating foundation 300 has returned to a stable state, the system continues to monitor its tilt angle. If the tilt angle exceeds the preset threshold again due to wind and wave disturbances, the system will automatically trigger and execute step S500 and the collaborative control process recorded in steps S610 to S650 to achieve continuous tracking and dynamic maintenance of the attitude of the floating foundation 300, and ensure the attitude stability during long-term operation in complex sea conditions.

[0055] Please see Figure 4 In the embodiments provided by this invention, the floating foundation 300 includes a front column 310, a horizontal brace 320, two rear columns 330, and two diagonal braces 340. The front column 310 is located at the center of the front end of the floating foundation 300, and the two rear columns 330 are located on both sides of the rear end of the floating foundation 300, forming a stable three-point support layout. The horizontal brace 320 connects the two rear columns 330, and each diagonal brace 340 is connected at one end to a rear column 330 and at the other end to a front column 310. Thus, the floating foundation 300 has an overall triangular structure and possesses good stability.

[0056] Furthermore, the two wind turbines 100 are respectively connected to the two rear columns 330, and both are tilted towards the front column 310. Specifically, the tower axis of the wind turbine 100 is tilted relative to the vertical direction towards the front column 310, forming a preset forward tilt angle, so that the projection position of the center of gravity of the wind turbine 100 tower and the turbine head assembly in the horizontal plane is stably placed within the triangular support area formed by the front column 310 and the two rear columns 330.

[0057] It should be noted that the above-mentioned structural configuration can pre-counteract part of the pitching moment generated by the aerodynamic thrust on the foundation under rated wind speed, thereby enabling the matching load adjustment system to adjust the ballast water volume more evenly and quickly under various complex working conditions, thus significantly improving the energy efficiency and economy of the ballast system.

[0058] Furthermore, to provide sufficient initial stability, lower the center of gravity of the floating foundation 300, and increase the restoring moment, so that the floating foundation 300 can maintain a relatively stable upright posture in still water or under small disturbances, the bottom of the front column 310 is provided with a first static ballast tank 410, and the two ends of the cross brace 320 are respectively connected to the bottom of the two rear columns 330, on which a second static ballast tank 430 is provided.

[0059] It should also be noted that each diagonal brace 340 is connected at one end to the upper middle part of the front column 310 and at the other end to the upper middle part of the rear column 330. Two dynamic ballast tanks 500 are spaced apart along the axial direction in the upper middle region of each diagonal brace 340. Since the two wind turbines 100 are respectively installed on the tops of the two rear columns 330, and each rear column 330 is connected to the front column 310 via a diagonal brace 340, the two dynamic ballast tanks 500 carried by the diagonal brace 340 connected to a certain rear column 330 constitute the ballast adjustment unit on the side where the wind turbine 100 is located. When the floating foundation 300 generates a longitudinal forward tilt angle or a longitudinal backward tilt angle, the controller preferentially activates the dynamic ballast tanks 500 on that diagonal brace 340. Similarly, since the two diagonal braces 340 are symmetrically arranged about the longitudinal center plane of the floating foundation 300, the dynamic ballast tanks 500 on them are also symmetrically distributed. When the foundation has a lateral left tilt angle or a lateral right tilt angle, the controller coordinates the dynamic ballast tanks 500 on the left and right diagonal braces 340.

[0060] Furthermore, this invention employs a spatially layered configuration of static and dynamic ballast: the static ballast chamber is located at the lower part of the foundation (such as at the bottom of the front column 310 and on the cross brace 320) to provide a stability benchmark and lower the center of gravity; the dynamic ballast chamber 500 is integrated into the upper and middle structures such as the diagonal brace 340, with its mass closer to the load application point of the wind turbine 100, resulting in a relatively smaller moment of inertia and more sensitive response. This layered design can effectively suppress pitching, rolling, and tower top vibrations under normal operation, significantly reducing the risk of tower sweeping; it also has good scalability and can be adapted to large dual-turbine units of 30MW and above.

[0061] Please see Figure 5To execute the possible steps of the floating wind power system control method provided in the above embodiments, this embodiment of the invention provides a floating wind power system control device 010, applied to a floating wind power system 10, for executing the above-described floating wind power system control method. It should be noted that the basic principle and technical effects of the floating wind power system control device 010 provided in this embodiment are basically the same as those in the above embodiments. For the sake of brevity, any parts not mentioned in this embodiment can be referred to the corresponding content in the above embodiments.

[0062] The floating wind power system control device 010 provided in this embodiment of the invention includes an acquisition module 011 and a control module 013.

[0063] The acquisition module 011 is used to acquire real-time operating status data of the two wind turbines 100. In this embodiment, the acquisition module 011 is used to execute step S100 in the above method to achieve the corresponding technical effect.

[0064] The control module 013 is used to control the injection of water into all dynamic ballast tanks 500 on the side of the wind turbine 100 in the fault condition and to control the drainage of water from all dynamic ballast tanks 500 on the side of the wind turbine 100 in the normal operating condition if one wind turbine 100 is in a fault condition and the other wind turbine 100 is in a normal operating condition. In this embodiment, the judgment module is used to execute step S300 and its sub-steps in the above method to achieve the corresponding technical effects.

[0065] In addition, embodiments of the present invention also provide a floating wind power system 10, including a controller, which executes computer instructions to implement the floating wind power system control method provided in the embodiments of the present invention.

[0066] The controller can be an integrated circuit chip with signal processing capabilities. The aforementioned controller can be a general-purpose processor, including a central processing unit (CPU), or a microcontroller, microcontroller unit (MCU), complex programmable logic device (CPLD), field-programmable gate array (FPGA), application-specific integrated circuit (ASIC), embedded ARM, etc. The controller can implement or execute the methods, steps, and logic block diagrams disclosed in the embodiments of this invention.

[0067] In one feasible implementation, the air conditioner may further include a memory for storing program instructions executable by the controller. For example, the floating wind power system control device 010 provided in this application embodiment includes at least one programmable instruction stored in the memory in the form of software or firmware. The memory may be a separate external memory, including but not limited to Random Access Memory (RAM), Read Only Memory (ROM), Programmable Read-Only Memory (PROM), Erasable Programmable Read-Only Memory (EPROM), and Electrically Erasable Programmable Read-Only Memory (EEPROM). The memory may also be integrated with the controller; for example, the memory may be integrated with the controller within the same chip.

[0068] In summary, the embodiments of the present invention provide a floating wind power system control method, control device, and floating wind power system 10. The floating wind power system control method can control all dynamic ballast tanks 500 located on the side of the stopped wind turbine 100 to inject water when one wind turbine 100 is in a fault condition and another is in a normal operating condition. At the same time, it controls all dynamic ballast tanks 500 located on the side of the normal operating wind turbine 100 to drain water, thereby adjusting the weight distribution on both sides, generating a reverse stabilizing torque, quickly offsetting the overturning tendency caused by unilateral thrust, and righting the floating foundation 300 to a safe tilt angle range. This comprehensively improves the system's motion stability, operational reliability, and fault tolerance in complex marine environments.

[0069] In the several embodiments provided in this application, it should be understood that the disclosed apparatus and methods can also be implemented in other ways. The apparatus embodiments described above are merely illustrative; for example, the flowcharts and block diagrams in the accompanying drawings illustrate the architecture, functionality, and operation of possible implementations of apparatus, methods, and computer program products according to various embodiments of the present invention. In this regard, each block in a flowchart or block diagram may represent a module, segment, or portion of code, which contains one or more executable instructions for implementing a specified logical function. It should also be noted that in some alternative implementations, the functions marked in the blocks may occur in a different order than those marked in the drawings. For example, two consecutive blocks may actually be executed substantially in parallel, and they may sometimes be executed in reverse order, depending on the functions involved. It should also be noted that each block in a block diagram and / or flowchart, and combinations of blocks in block diagrams and / or flowcharts, can be implemented using a dedicated hardware-based system that performs the specified function or action, or using a combination of dedicated hardware and computer instructions.

[0070] In addition, the functional modules in the various embodiments of the present invention can be integrated together to form an independent part, or each module can exist independently, or two or more modules can be integrated to form an independent part.

[0071] If the functionality is implemented as a software module and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of this invention, or the part that contributes to the prior art, or a part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods of the various embodiments of this invention. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.

[0072] While the present invention has been disclosed above, it is not limited thereto. Any person skilled in the art can make various modifications and alterations without departing from the spirit and scope of the invention; therefore, the scope of protection of the present invention should be determined by the scope defined in the claims.

Claims

1. A control method for a floating wind power system, characterized in that, include: Obtain real-time operating status data of two fans (100); If one of the wind turbines (100) is in a fault condition and the other wind turbine (100) is in a normal operating condition, control the filling of all dynamic ballast tanks (500) on the side where the wind turbine (100) is in the fault condition with water, and control the drainage of all dynamic ballast tanks (500) on the side where the wind turbine (100) is in the normal operating condition with water.

2. The control method for a floating wind power system according to claim 1, characterized in that, The steps of controlling the water injection of all dynamic ballast tanks (500) located on the side of the wind turbine (100) under fault conditions and controlling the water drainage of all dynamic ballast tanks (500) located on the side of the wind turbine (100) under normal operating conditions include: The real-time aerodynamic thrust generated by the fan (100) under normal operating conditions and the current tilt angle of the floating foundation (300) are obtained. Based on the real-time aerodynamic thrust and tilt angle, calculate the anti-tilting moment required to maintain the balance of the floating foundation (300), the target water injection volume of all the dynamic ballast tanks (500) located on the side where the wind turbine (100) is located under normal operating conditions, and the target water displacement of all the dynamic ballast tanks (500) located on the side where the wind turbine (100) is located under normal operating conditions; Control all dynamic ballast tanks (500) located on the side of the fan (100) in the fault condition to inject water to the target water injection volume, and control all dynamic ballast tanks (500) located on the side of the fan (100) in the normal operation condition to drain water to the target drainage volume.

3. The control method for a floating wind power system according to claim 1, characterized in that, The method further includes: If both of the aforementioned wind turbines (100) are in normal operating condition, then the current tilt angle of the floating foundation (300) is obtained; Determine whether the tilt angle is greater than a preset tilt angle threshold; If so, the dynamic ballast pump is controlled to drive the ballast medium to flow from the dynamic ballast tank (500) on the lower side to the dynamic ballast tank (500) on the higher side; or, the dynamic ballast tank (500) on the lower side is controlled to drain water; or, the dynamic ballast tank (500) on the higher side is controlled to inject water.

4. The control method for a floating wind power system according to claim 2, characterized in that, The steps of controlling the dynamic ballast pump to drive the ballast medium to flow from the dynamic ballast tank (500) on the lower side to the dynamic ballast tank (500) on the higher side; or controlling the dynamic ballast tank (500) on the lower side to drain water; or controlling the dynamic ballast tank (500) on the higher side to inject water specifically include: Obtain the tilt direction of the floating foundation (300); If the floating foundation (300) generates a longitudinal forward tilt angle, the dynamic ballast pump is controlled to drive the ballast medium from the dynamic ballast tank (500) on the front side to flow into the dynamic ballast tank (500) on the rear side. If the floating foundation (300) generates a longitudinal rearward tilt angle, the dynamic ballast pump is controlled to drive the ballast medium from the dynamic ballast tank (500) on the rear side to flow into the dynamic ballast tank (500) on the front side. If the floating foundation (300) produces a lateral right tilt angle, the dynamic ballast tank (500) on the left side is controlled to be filled with water, and / or the dynamic ballast tank (500) on the right side is controlled to be drained. If the floating foundation (300) tilts to the left laterally, the dynamic ballast tank (500) on the right side is controlled to be filled with water, and / or the dynamic ballast tank (500) on the left side is controlled to be drained.

5. The control method for a floating wind power system according to claim 3, characterized in that, The dynamic ballast pump includes two pump bodies arranged in parallel. Each pump body is used to drive the fluid medium from the front dynamic ballast tank (500) into the rear dynamic ballast tank (500), or from the rear dynamic ballast tank (500) into the front dynamic ballast tank (500).

6. The control method for a floating wind power system according to any one of claims 2 to 5, characterized in that, The floating foundation (300) includes a front column (310), a cross brace (320), two rear columns (330) and two diagonal braces (340); wherein the cross brace (320) is connected between the two rear columns (330), and each diagonal brace (340) is connected at one end to the rear column (330) and at the other end to the front column (310).

7. The control method for a floating wind power system according to claim 6, characterized in that, The bottom of the front column (310) is provided with a first static ballast tank (410), and the two ends of the cross brace (320) are respectively connected to the bottom of the two rear columns (330), on which a second static ballast tank (430) is provided.

8. The control method for a floating wind power system according to claim 6, characterized in that, The two fans (100) are respectively connected to the two rear columns (330) and are both inclined toward the front column (310).

9. A control device for a floating wind power system, characterized in that, include: The acquisition module (011) is used to acquire real-time operating status data of the two fans (100); The control module (013) is used to control the injection of water into all dynamic ballast tanks (500) on the side of the fan (100) in the fault condition and to control the drainage of all dynamic ballast tanks (500) on the side of the fan (100) in the normal operation condition when one of the fans (100) is in a fault condition and the other fan (100) is in a normal operation condition.

10. A floating wind power system, characterized in that, Includes a controller for executing computer instructions to implement the floating wind power system control method as described in any one of claims 1 to 8.

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