Method and device for suppressing yaw of floating wind turbine considering gyroscopic effect

Abstract

This invention discloses a method and device for suppressing yaw in floating wind turbines considering the gyroscopic effect. The method includes real-time acquisition of the yaw, pitch, roll angular rates of the floating platform and the yaw angle of the turbine, converting the angular rates to a fixed yaw coordinate system of the nacelle; using blade azimuth sensors to detect the blade azimuth angle and turbine rotation speed, and performing bandpass filtering on the yaw angular rate according to the natural frequencies of yaw and pitch respectively; calculating independent pitch control quantities based on the filtered natural frequency components of yaw and the blade azimuth angle, and calculating independent pitch control quantities with gyroscopic effect compensation by combining the natural frequency components of pitch, pitch angular rate, and turbine rotation speed; and superimposing the reference pitch angle and the two control quantities to obtain the total pitch angle setpoint. This solution integrates the gyroscopic effect into the control logic, relying on pitch control to suppress yaw, without the need for additional mechanical structures, avoiding the shortcomings of traditional solutions such as high drag, high cost, and interference with other degrees of freedom of motion, effectively suppressing low-frequency large-amplitude yaw oscillations of the platform, and improving the operational stability and structural safety of the unit.

Description

Technical Field

[0001] This invention belongs to the field of offshore wind power control technology, specifically relating to a method and device for suppressing the yaw rate of a floating wind turbine that takes into account the gyro effect. Background Technology

[0002] Floating offshore wind turbines are core equipment for deep-sea wind energy development. Their floating platforms possess six degrees of freedom of motion, and various platform movements directly affect the turbine's operational stability, power generation quality, and structural fatigue life. Currently, the industry focuses primarily on suppressing platform pitch and sway, generally neglecting the bow roll problem. Bow roll is prone to low-frequency, large-amplitude oscillations under environmental loads, accelerating the wear of yaw mechanism components and threatening the long-term safe operation of the turbine. Simultaneously, the gyroscopic effect generated by the rotor rotation causes nonlinear coupling between bow roll and pitch / roll, easily inducing resonance and over-limit responses. Changes in rotor speed further alter the gyroscopic torque, making conventional control methods prone to dynamic judgment errors. Existing bow roll suppression methods mostly employ adding damping structures, optimizing platform shape, or dynamic yaw control, which suffer from drawbacks such as high additional drag, narrow applicable frequency bands, high equipment maintenance costs, and significant power generation losses, and none of these methods specifically compensate for the gyroscopic effect. Summary of the Invention

[0003] The purpose of this invention is to provide a method and device for suppressing the yaw rate of floating wind turbines that takes into account the gyro effect, so as to solve the technical defects of existing floating wind turbine yaw suppression schemes that do not consider the gyro effect, have poor control accuracy, rely on traditional physical damping, have high resistance in dynamic yaw control methods, have weak adaptability, have high maintenance costs, and suffer damage to power generation.

[0004] To achieve the above objectives, the present invention employs the following technical solutions.

[0005] In a first aspect, this application provides a method for suppressing the yaw rate of a floating wind turbine considering the gyroscopic effect, comprising: The bow, pitch, and roll angular rates of the floating platform are collected in real time. The yaw angle of the wind turbine is obtained through the yaw encoder, and the angular rate is transformed into the fixed yaw coordinate system of the nacelle. The blade azimuth angle and rotor speed are detected by the blade azimuth sensor, and the bow roll rate in the nacelle yaw coordinate system is bandpass filtered according to the bow roll natural frequency and the pitch natural frequency, respectively. Based on the natural frequency component of the bow roll and the blade azimuth angle obtained by filtering, the independent pitch control quantity of the corresponding frequency band is calculated. By combining the natural pitch frequency component, pitch rate and rotor speed obtained from filtering, the independent pitch control quantity with gyro effect compensation is calculated. The reference pitch angle is superimposed with the two independent pitch control values ​​to generate the total pitch angle setpoint, in order to suppress the yaw motion of the floating platform.

[0006] Furthermore, the collected bow, pitch, and roll angular rates are transformed into a fixed yaw coordinate system in the cabin determined by the yaw encoder in order to quantify and identify the coupling effect between the gyro effect and the yaw angle position.

[0007] Furthermore, bandpass filtering is applied to the bow roll rate in the fixed yaw coordinate system of the nacelle to filter out low-frequency interference components and avoid low-frequency pitch angle movements from affecting the generator power and turbine speed stability.

[0008] Furthermore, when bandpass filtering the bow angular rate in the fixed yaw coordinate system of the cabin, the natural frequencies of the platform's bow mode and pitch mode are used as the filter center frequencies to achieve independent frequency-band control of the bow motion and the gyro-coupled motion.

[0009] Furthermore, the independent pitch control quantity of the bow roll natural frequency band is obtained by the controller through weighted calculation based on the bow roll angular rate after bandpass filtering of the bow roll natural frequency and the blade azimuth angle detected by the blade azimuth sensor.

[0010] Furthermore, the gyro effect compensation is quantified and compensated by the controller based on the gyro torque generated by the coupling of the pitch rate collected by the platform motion sensor and the wind turbine speed detected by the blade orientation sensor.

[0011] Furthermore, the independent pitch control quantity incorporating gyro effect compensation is calculated by the controller based on the gyro torque generated by the pitch rate collected by the platform motion sensor and the wind turbine speed detected by the blade orientation sensor, and the pitch angle compensation quantity increases accordingly with the increase of the gyro torque.

[0012] Furthermore, the reference pitch angle is obtained by the floating wind turbine main control system through a reference pitch control algorithm; The total pitch angle setting value is generated by the main control system by superimposing the reference pitch angle, the independent pitch control quantity in the yaw frequency band, and the gyro compensation control quantity in the pitch frequency band.

[0013] A second aspect of this application provides a yaw suppression system for floating wind turbines that considers the gyroscopic effect, comprising: The signal acquisition module is used to acquire the yaw rate, pitch rate, roll rate, rotor yaw angle, blade azimuth angle, and rotor speed of the floating platform. The coordinate transformation module is used to convert the angular rate to the cabin fixed yaw coordinate system; The filtering module is used to perform bandpass filtering on the bow roll rate according to the natural bow roll frequency and the natural pitch frequency, respectively. An independent pitch control module is used to calculate the independent pitch control parameters in the natural frequency band of the bow roll. The gyro effect compensation module is used to calculate the independent pitch control quantity incorporating gyro effect compensation; The main control overlay module is used to overlay the reference pitch angle and two independent pitch control variables to generate a total pitch angle setpoint to suppress platform yaw motion.

[0014] In a third aspect, this application provides a computer product that stores a computer program, which, when executed by a processor, implements the above-described method for suppressing the yaw rate of a floating wind turbine considering the gyroscopic effect.

[0015] Compared with the prior art, the present invention has the following beneficial effects: 1. By collecting platform motion parameters and unit operating parameters, coordinate system transformation, frequency band filtering, and calculation and superposition of dual-path independent pitch control quantities are completed to obtain the total pitch angle setpoint. The gyro effect is incorporated into the control logic, and pitch control is used to suppress yaw. No additional damping, flow guide or other mechanical structures are required. This avoids the problems of large additional resistance, high modification cost and impact on other degrees of freedom of traditional solutions. It can effectively reduce the platform's low-frequency large yaw oscillation and improve the overall operational stability and structural safety of the unit.

[0016] 2. The collected multi-directional angular rates are uniformly converted to the fixed yaw coordinate system of the cabin. The coordinate reference is determined by the yaw encoder, which can accurately quantify the coupling relationship between the gyro effect and the yaw angle position. This solves the problem of weak correlation of motion parameters and difficulty in identifying coupling effects under different coordinate systems. It provides a unified and standard data foundation for subsequent filtering and control calculations, ensures the accuracy of gyro effect analysis and yaw suppression control logic, and improves the adaptability and calculation accuracy of the overall control scheme.

[0017] 3. Bandpass filtering is applied to the yaw rate in the transformed coordinate system to effectively filter out low-frequency interference components in the signal. This avoids frequent pitch angle movements caused by low-frequency signals, prevents significant fluctuations in the unit's power generation, and ensures stable turbine speed operation. While suppressing yaw motion, the system also considers the unit's power generation performance, reduces the interference of control actions on normal power generation conditions, balances platform vibration suppression requirements with unit power generation efficiency, and improves the overall practicality of the control scheme.

[0018] 4. By using the natural frequencies of the platform's yaw and pitch modes as the center frequencies of the bandpass filter, independent frequency band control of the two types of motion can be achieved. This allows for precise differentiation of the signal components corresponding to simple yaw motion and gyro-coupled motion, avoiding mutual interference between different motion modes and enabling control commands to be specifically matched to different vibration conditions. This significantly improves the effectiveness of frequency band control, strengthens the suppression capability of complex yaw conditions under gyro-coupled effects, and optimizes the targeting of the control strategy.

[0019] 5. The controller performs a weighted calculation by combining the filtered bow roll rate and the blade azimuth angle to solve for the independent pitch control quantity for the corresponding frequency band. By combining the platform motion state and the real-time position characteristics of the blades, the pitch control quantity is made to fit the actual operating conditions, improving the rationality and accuracy of the control output. It can specifically offset the oscillation amplitude of the inherent frequency band of the bow roll, effectively reduce the platform's bow roll motion, and at the same time ensure the stability and reliability of the single-frequency band control logic, thus strengthening the foundation vibration suppression effect.

[0020] 6. The controller uses the gyroscopic torque generated by the coupling of the pitch rate and the wind turbine speed to complete the quantitative calculation and compensation of the gyroscopic effect. It captures the characteristics of the change in amplitude and direction of the gyroscopic torque caused by the change in wind turbine speed, makes up for the deficiency of traditional control that ignores the gyroscopic effect, eliminates the deviation caused by the nonlinear coupling of the gyro to the judgment of the yaw dynamics, avoids the risks of resonance and over-limit response, and significantly improves the control reliability of yaw suppression under complex working conditions.

[0021] 7. The compensation-type independent pitch control quantity is calculated based on the real-time generated gyro torque, so that the pitch angle compensation quantity increases or decreases synchronously with the gyro torque, realizing dynamic matching between the compensation force and the intensity of the gyro effect. The larger the torque, the stronger the compensation effect, which can effectively offset the yaw disturbance caused by strong gyro coupling, and adapt to the working conditions where the wind turbine speed varies in some load areas. This avoids the problems of insufficient control or over-compensation due to fixed compensation parameters, and improves the working condition adaptability range.

[0022] 8. The unit's main control system calculates the reference pitch angle and generates the total pitch angle setpoint by superimposing multiple control quantities. It integrates control logic based on the unit's original main control architecture, eliminating the need for additional control hardware, reducing equipment modification costs and maintenance difficulty. It organically combines basic pitch control, yaw frequency band control, and gyro compensation control, ensuring smooth control logic connection, unified and stable command output, and balancing normal pitch control and yaw suppression effects. Attached Figure Description

[0023] 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.

[0024] Figure 1 A flowchart of a method for suppressing the yaw rate of a floating wind turbine considering the gyro effect, provided by the present invention; Figures 2-6 A schematic diagram of simulation results for a floating wind turbine bow roll suppression method considering the gyro effect provided by this invention. Detailed Implementation

[0025] 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.

[0026] To address the technical deficiencies mentioned in the background section, this embodiment provides a method and apparatus for suppressing the yaw rate of a floating wind turbine that considers the gyroscopic effect. The invention will be further described in detail below with reference to the accompanying drawings: In a first aspect, this invention provides a method for suppressing the yaw rate of a floating wind turbine that considers the gyroscopic effect, such as... Figure 1 As shown, it includes: S101. Real-time acquisition of the bow, pitch, and roll angular rates of the floating platform, obtaining the wind turbine yaw angle through the yaw encoder, and transforming the angular rates to the fixed yaw coordinate system of the nacelle; For example, motion sensors installed on a floating platform are used to collect the platform's bow rate, pitch rate, and roll rate in real time, while the turbine's yaw encoder is used to obtain the wind turbine's yaw angle signal. Using this yaw angle as a reference, the collected angular rates are transformed to the nacelle's fixed yaw coordinate system determined by the yaw encoder. This not only quantifies the coupling effect between the gyro effect and the yaw angle position, but also provides a unified and standardized data reference for subsequent signal filtering and control quantity calculation.

[0027] Specifically, real-time monitoring of the bow roll rate of the floating platform. Pitch rate Roll rate and wind turbine yaw angle .

[0028] The monitored platform bow roll rate Pitch rate and roll rate Perform a coordinate transformation to the cabin yaw coordinate system.

[0029]

[0030] in, , and These are the platform's bow rate, pitch rate, and roll rate in the cabin yaw coordinate system, respectively.

[0031] S102. The blade azimuth angle and rotor speed are detected by the blade azimuth sensor, and the bow roll rate in the nacelle yaw coordinate system is bandpass filtered according to the bow roll natural frequency and the pitch natural frequency, respectively. For example, the blade azimuth angle and rotor speed are detected in real time by the blade azimuth sensor deployed on the unit, and bandpass filtering is performed on the bow angular rate converted to the fixed yaw coordinate system of the nacelle. During the filtering process, the natural frequency of the platform's bow mode and the natural frequency of the pitch mode are used as the center frequency. On the one hand, low-frequency interference components in the signal are filtered out to prevent low-frequency pitch angle movement from interfering with the unit's power generation and rotor speed stability. On the other hand, different mode signals are accurately distinguished to achieve independent frequency-band control of bow motion and gyro-coupled motion.

[0032] Specifically, the azimuth angle of each blade and the rotor speed are monitored in real time, with the azimuth angle recorded as follows: , , The wind turbine speed is recorded as .

[0033] The platform's bow roll rate in the obtained cabin yaw coordinate system Bandpass filters were applied based on the natural angular frequencies of yaw and pitch to eliminate the impact of low-frequency pitch angle actuation caused by the low-frequency platform yaw rate on power generation and turbine speed. The transfer functions of the bandpass filters are as follows:

[0034]

[0035] in, The platform's bow natural angular frequency, The platform's natural pitch frequency, This is the damping coefficient of the filter. For the Laplace operator, and These are the platform bow roll rates after bandpass filtering based on the platform's bow roll natural angular frequency and pitch natural angular frequency, respectively.

[0036] S103. Based on the natural frequency component of the bow roll and the blade azimuth angle obtained by filtering, calculate the independent pitch control quantity for the corresponding frequency band. For example, the unit controller retrieves the bow roll rate after bandpass filtering at the bow roll natural frequency, combines it with the blade azimuth angle detected by the blade azimuth sensor, and performs weighted calculations based on a preset weighted calculation model to obtain the independent pitch control quantity corresponding to the bow roll natural frequency band. This control quantity can accurately match the platform's pure bow roll oscillation condition, specifically counteracting the platform oscillation disturbance under the bow roll natural mode, providing a precise and adaptable single-band pitch control basis for subsequent suppression of the bow roll motion of the floating platform, and ensuring the specific bow roll suppression effect.

[0037] Specifically, the platform's bow angular rate after bandpass filtering based on the platform's natural angular frequency, obtained from the above steps. and the obtained azimuth angles of each blade , , Calculate the independent pitch control parameters at the natural angular frequency of the bow of the platform:

[0038] in, The gain of the independent pitch control at the platform's bow natural angular frequency. , , These are the independent pitch control quantities at the platform bow angular frequency for blades 1, 2, and 3, respectively.

[0039] S104. Combine the natural pitch frequency component, pitch rate and wind turbine speed obtained by filtering to calculate the independent pitch control quantity with gyro effect compensation. For example, the unit controller extracts the effective pitch rate component after bandpass filtering of the pitch natural frequency, and combines it with the pitch rate collected by the platform motion sensor and the wind turbine speed detected by the blade orientation sensor to quantify and compensate for the gyroscopic torque generated by the coupling of the two. The controller solves for the independent pitch control quantity that incorporates gyroscopic effect compensation based on the generated gyroscopic torque. The pitch angle compensation quantity will increase synchronously with the increase of gyroscopic torque, which can adapt to gyroscopic coupling disturbances of different intensities and effectively avoid the deviation in bow dynamics judgment caused by gyroscopic nonlinear coupling.

[0040] Specifically, based on the obtained platform pitch rate after bandpass filtering according to the platform's inherent pitch frequency. The obtained pitch rate in the cabin yaw coordinate system and the obtained azimuth angles of each blade , , Wind turbine speed Calculate the independent pitch control parameters at the platform's natural pitch frequency, taking into account the gyro effect:

[0041] in, The gain of the independent pitch control at the platform's bow natural angular frequency. , , These are the independent pitch control quantities at the platform bow roll natural angular frequencies of blades 1, 2, and 3, respectively. Where, The quantitative characterization of the gyroscopic torque generated by the coupling of pitch and wind turbine rotation angular velocity due to the gyroscopic effect shows that the larger the gyroscopic torque, the more significant the pitch angle compensation at the platform's natural pitch frequency.

[0042] S105. The reference pitch angle is superimposed with the two independent pitch control values ​​to generate the total pitch angle setpoint in order to suppress the yaw motion of the floating platform.

[0043] For example, the main control system of the floating wind turbine calculates the reference pitch angle required for normal operation of the unit through the built-in reference pitch control algorithm. The controller superimposes and fuses the reference pitch angle, the independent pitch control quantity in the yaw frequency band, and the gyro compensation control quantity in the pitch frequency band to generate the final total pitch angle setpoint.

[0044] Specifically, the reference pitch angle control quantity is calculated using the reference master control algorithm of the floating wind turbine. Since the algorithm is mature, it will not be elaborated here.

[0045] Finally, based on the obtained independent pitch control quantity and the obtained reference pitch angle control quantity Calculate the total pitch angle setpoint:

[0046] The control method proposed in this invention was simulated and verified using the OC4-DeepCWind semi-submersible wind turbine as the application object. The traditional floating wind turbine reference pitch control strategy was used for comparative analysis. The rated wind speed of this semi-submersible wind turbine is 11.4 m / s, the rated rotor speed is 12.1 rpm, and the gearbox ratio is 97. Detailed parameters and control strategies can be found in the literature (ROBERSTON A, JONKMAN JM, MASCIOLA M, et al. Definition of these misubmersible floating system for phase II of OC4[R].NREL / TP-5000-60601,2014.).

[0047] The simulation conditions reference standard IEC61400-3-1(2019), using a standard turbulent wind model of 18 m / s, turbulence intensity level B, wind shear index 0.14, effective wave height 3.673 m, spectral peak period 13.376 s, and a simulation time of 10 minutes. The bandpass filter damping coefficient is set to... Platform bow natural angular frequency Platform pitch natural angular frequency The gain of the independent pitch control at the platform's bow natural angular frequency is taken as The gain of the independent pitch control at the platform's bow natural angular frequency. .

[0048] Simulation results are as follows Figures 2-6 As shown, the proposed control method significantly reduces the platform's yaw angle and angular rate fluctuations while minimizing the impact on power generation and turbine speed.

[0049] A second aspect of the present invention provides a yaw suppression system for floating wind turbines that considers the gyroscopic effect, comprising: The signal acquisition module is used to acquire the yaw rate, pitch rate, roll rate, rotor yaw angle, blade azimuth angle, and rotor speed of the floating platform. The coordinate transformation module is used to convert the angular rate to the cabin fixed yaw coordinate system; The filtering module is used to perform bandpass filtering on the bow roll rate according to the natural bow roll frequency and the natural pitch frequency, respectively. An independent pitch control module is used to calculate the independent pitch control parameters in the natural frequency band of the bow roll. The gyro effect compensation module is used to calculate the independent pitch control quantity incorporating gyro effect compensation; The main control overlay module is used to overlay the reference pitch angle and two independent pitch control variables to generate a total pitch angle setpoint to suppress platform yaw motion.

[0050] The system's key component is the signal acquisition module, which collects critical state parameters during the operation of the floating platform and wind turbine. Specifically, it acquires parameters such as the platform's bow rate, pitch rate, roll rate, rotor yaw angle, blade azimuth angle, and rotor speed. The sensing unit used to acquire the platform's bow, pitch, and roll rates is a platform motion sensor. This sensor is fixedly installed near the floating platform's center of gravity, where it is least affected by local structural vibrations, thus maximizing the reproduction of the platform's overall six-degree-of-freedom motion.

[0051] The platform motion sensor uses a high-precision inertial measurement unit, and the sampling frequency can be flexibly set according to sea conditions and unit operating conditions. It can capture the platform's weak angular rate changes in real time and output continuous and stable analog or digital signals, completely recording the rotational motion data generated by the platform under the impact of waves and currents.

[0052] The yaw angle of the wind turbine is acquired by a yaw encoder, which is installed at the yaw bearing of the wind turbine and linked with the yaw drive mechanism. It can detect the rotation angle of the nacelle relative to the floating platform and output a standardized angle electrical signal to provide core reference parameters for subsequent coordinate system transformation.

[0053] The blade azimuth angle and rotor speed are detected by the blade azimuth sensor, which is located inside the rotor hub and rotates synchronously with the rotor. On the one hand, it collects the spatial azimuth angle of each blade in real time to determine the real-time position of the blade during the rotation cycle; on the other hand, it calculates the real-time rotation speed of the rotor through the pulse counting principle to provide complete feedback on the operating status of the unit's power end.

[0054] The signal acquisition module integrates signal conditioning circuitry, which amplifies, denoises, and shapes the raw signals output from the sensors, filtering out noise signals from marine electromagnetic interference and mechanical vibrations to ensure the authenticity and validity of the acquired data. Simultaneously, the signal acquisition module employs industrial bus communication to transmit the processed standardized parameters to downstream functional modules in real time, with extremely low data transmission latency, meeting the real-time requirements of wind turbine dynamic control.

[0055] The signal acquisition module enables comprehensive perception of the platform's motion and the unit's operating status, breaking through the limitations of traditional control schemes that rely on single parameter acquisition and insufficient data dimensions. Traditional yaw suppression schemes mostly only acquire single vibration parameters, failing to consider the linkage between the platform's multi-degree-of-freedom motion and the wind turbine's rotation. In contrast, the signal acquisition module acquires multi-dimensional parameters that fully cover platform motion, nacelle yaw, and wind turbine rotation, providing comprehensive and reliable raw data support for subsequent identification of gyroscopic effects, analysis of motion coupling relationships, and calculation of various control quantities.

[0056] The coordinate transformation module is used to uniformly convert the platform's yaw, pitch, and roll angular rates to the nacelle's fixed yaw coordinate system. In the actual operation of floating wind turbines, the floating platform and the wind turbine nacelle are two relatively moving structural systems: the floating platform is subjected to ocean loads and undergoes overall rotation and sway, while the nacelle performs yaw actions according to changes in wind direction. The two belong to two independent spatial coordinate systems.

[0057] If calculations are performed directly based on the angular rate data in the platform's original coordinate system, the positional deviation between different coordinate systems will lead to disordered correlation of motion parameters, making it impossible to accurately analyze the coupling relationship between the bow motion, platform swaying motion, and wind turbine rotation motion. In particular, it is difficult to quantify and evaluate the intrinsic relationship between the gyro effect and the yaw angle position, which in turn causes deviations in the control logic.

[0058] The coordinate transformation module uses the wind turbine yaw angle collected by the yaw encoder as the coordinate transformation reference. It is equipped with a preset spatial coordinate transformation algorithm to perform matrix operations and coordinate mapping on the yaw, pitch, and roll angular rates output by the platform motion sensors, and convert all angular rate parameters from the platform global coordinate system to the cabin fixed yaw coordinate system.

[0059] During the transformation process, the coordinate transformation module dynamically corrects the coordinate offset based on the real-time yaw angle. Regardless of the yaw position of the cabin, it can ensure that the transformed angular rate parameters remain consistent with the cabin spatial position, thus achieving consistency of the coordinate system under all operating conditions.

[0060] The module's internal algorithm has been optimized through multi-condition marine simulation and field testing, resulting in high coordinate transformation accuracy, fast processing speed, no significant data delay, and the ability to simultaneously complete the conversion and processing of multiple angular rate signals.

[0061] After coordinate transformation, all platform angular rate parameters were unified to the same reference coordinate system, and the previously independent platform motion parameters and nacelle yaw parameters formed a complete data system. Based on this, technicians and system control logic can quantify and identify the coupling effect between the gyro effect and the wind turbine yaw angle position, clearly understand the interaction laws of the three types of motions: yaw, pitch, and roll, and completely solve the industry problem of difficulty in identifying motion coupling relationships caused by the coexistence of multiple coordinate systems.

[0062] Meanwhile, the standardized coordinate system data can match the algorithm models of downstream filtering and control calculation modules, avoiding calculation errors caused by inconsistent coordinate references, and building a standardized and unified data operating environment for subsequent signal screening and control quantity calculation.

[0063] The filtering module receives the bow rate signal from the coordinate transformation module, which is located in the fixed yaw coordinate system of the engine room. It performs bandpass filtering on the bow rate according to the platform's natural bow frequency and natural pitch frequency. When the floating platform is operating in the marine environment, the bow rate signal collected by the sensor is a mixed signal. It not only contains the natural bow oscillation signal that needs to be suppressed and the pitch-related oscillation signal caused by gyro coupling, but also a large number of low-frequency environmental interference signals and equipment mechanical vibration clutter signals. These invalid interference signals have small amplitude and random frequency. If they are directly sent to the control calculation module, the controller will misjudge the motion state and trigger unnecessary pitch control, which will cause fluctuations in the unit's power generation and instability of the wind turbine speed, seriously affecting the normal power generation of the wind turbine.

[0064] Based on this, the filtering module uses a high-performance digital bandpass filter and combines the two characteristic frequencies of the bow mode natural frequency and the pitch mode natural frequency obtained from the factory test of the floating platform to set up two independent bandpass filter channels.

[0065] The first set of channels uses the natural frequency of the yaw as the center frequency to filter out the pure yaw oscillation component, which corresponds to the platform's native low-frequency yaw motion. The second set of channels uses the natural frequency of the pitch mode as the center frequency to extract the associated oscillation component affected by the gyro effect coupling. This component directly reflects the gyro disturbance formed by the coupling of pitch motion and wind turbine rotation. The two sets of filtering channels work in parallel without interfering with each other. While filtering out low-frequency interference clutter across the entire frequency band, they accurately decompose the mixed yaw angular rate signal into two types of effective signal components with different physical meanings.

[0066] In actual operation, bandpass filtering can completely shield invalid signals such as low-frequency disturbances from sea waves and vibrations of equipment foundations, fundamentally preventing low-frequency noise from inducing frequent pitch angle movements, effectively protecting the stability of the unit's power generation and turbine speed, and achieving a balance between yaw suppression and normal power generation.

[0067] Meanwhile, the design concept of frequency band filtering can accurately distinguish between simple yaw motion mode and gyro-coupled motion mode, allowing the two types of motion signals to be separated and output independently, thus completely solving the problem of mutual superposition and interference of motion signals of different modes.

[0068] The two characteristic signals, after filtering, are matched with the computational requirements of the subsequent independent pitch control module and gyroscope effect compensation module, respectively, so that the control commands can be applied to different types of oscillation conditions, greatly improving the system's adaptability and suppression effect to complex pitch conditions.

[0069] The independent pitch control module, serving as the system's first control input calculation unit, receives the yaw natural frequency component output from the filtering module and the blade azimuth data transmitted from the signal acquisition module, and calculates the independent pitch control input corresponding to the yaw natural frequency band. The independent pitch control module uses an embedded controller as its hardware platform and incorporates a pre-defined weighted calculation model to achieve precise suppression of pure yaw oscillations.

[0070] The native yaw oscillation generated by a floating platform is an inherent modal motion formed by direct excitation of environmental loads. Its oscillation law is closely related to the platform's structural characteristics and sea conditions. The real-time spatial position of the wind turbine blades directly affects the force output direction of the pitch action. Therefore, the optimal control quantity cannot be calculated by simply relying on the yaw rate. It is necessary to combine the blade azimuth angle for joint calculation.

[0071] In terms of workflow, the independent pitch control module first reads the natural frequency angular rate component of the bow roll after bandpass filtering and purification. This component truly reflects the amplitude and trend of the platform's current native bow roll oscillation. Then, it synchronously retrieves the blade azimuth angle parameters detected in real time by the blade azimuth sensor to determine the specific position of each blade in the plane of rotation.

[0072] The independent pitch control module uses a built-in dynamic weighting algorithm to perform weighted calculations on the two parameters, combining the yaw oscillation intensity and blade spatial position to dynamically calculate the independent pitch control quantity adapted to the current operating conditions. The weighting coefficients have been determined through extensive simulation experiments and on-site debugging, and can be adaptively fine-tuned according to the magnitude of the yaw oscillation amplitude to ensure that the control output always closely matches the real-time motion state of the platform.

[0073] The independent pitch control output of this module is specifically designed to counteract the oscillation disturbances generated by the platform's inherent pitch mode, representing a targeted vibration suppression control command. Compared to the traditional uniform pitch mode, the independent pitch control module employs independent pitch control logic, which can allocate differentiated pitch angles to blades at different positions. By utilizing the differentiated output of blade aerodynamic loads, it generates a counter-torque, precisely reducing the platform's low-frequency pitch oscillations. Operationally, this module can stably handle simple pitch motion conditions, with simple control logic and fast response speed. It can continuously reduce the pitch oscillation amplitude and lower the wear load on the yaw mechanism without affecting the unit's normal power generation. Furthermore, the module's independent operational logic is not affected by gyroscope coupling signals, ensuring the stability of the native pitch suppression function.

[0074] The gyro effect compensation module receives the pitch natural frequency component output by the filtering module and the pitch angular rate and rotor speed acquired by the signal acquisition module to calculate the independent pitch control quantity incorporating gyro effect compensation. As mentioned in the background section, the high-speed rotation of the rotor generates a strong gyroscopic torque, which couples with the platform's pitch motion, further exacerbating bow oscillations. Moreover, in the partial load range of the wind turbine, the rotor speed changes continuously with the wind speed, and the amplitude and direction of the gyroscopic torque also change synchronously. Traditional control schemes completely fail to consider this characteristic, ultimately leading to bow oscillation suppression failure under complex operating conditions.

[0075] The gyroscopic effect compensation module integrates a gyroscopic torque calculation model and an adaptive compensation algorithm. Its workflow consists of two stages: The first stage is the quantification calculation of the gyroscopic torque. Based on the real-time pitch rate collected by the platform's motion sensors and the rotor speed detected by the blade orientation sensors, combined with the wind turbine's dynamic parameters, the module accurately calculates the real-time gyroscopic torque generated by the coupling of pitch motion and rotor rotation, fully restoring the intensity and direction of the gyroscopic effect. The second stage is the adaptive compensation calculation. Based on the calculated gyroscopic torque and the filtered components of the pitch natural frequency, the module solves for the independent pitch control quantity with gyroscopic compensation. This module sets an adaptive matching rule: the pitch angle compensation is positively correlated with the gyroscopic torque. When sea conditions are severe or rotor speed fluctuates significantly, the gyroscopic torque increases accordingly, and the pitch angle compensation increases synchronously, strengthening the compensation and suppression effect. When the gyroscopic torque weakens, the compensation automatically decreases to avoid overcompensation.

[0076] This module addresses the shortcomings of existing technologies that neglect the gyroscopic effect from a dynamic perspective. It can capture the dynamic changes of gyroscopic torque in real time and accurately compensate for the yaw disturbances caused by gyroscopic coupling. On the one hand, it can effectively correct the yaw dynamic judgment deviation caused by the gyroscopic effect and avoid dangerous conditions such as multimodal resonance and excessive operating parameters of the unit. On the other hand, the adaptive compensation mechanism can perfectly adapt to the complex operating conditions of variable rotor speed in some load areas, greatly expanding the system's operating condition adaptability range.

[0077] The gyro effect compensation module constructs the second control link for the system to deal with gyro-coupled disturbances. It works in conjunction with the independent pitch control module to handle the native yaw motion and the yaw motion induced by gyro coupling, respectively, to achieve comprehensive yaw control under all causes. This is also a concentrated manifestation of the core technical advantages of this system.

[0078] The main control overlay module is responsible for overlaying the reference pitch angle and two independent pitch control signals to generate the final total pitch angle setpoint. This command is then sent to the wind turbine's pitch actuator, ultimately achieving comprehensive suppression of the floating platform's yaw motion. This module is built upon the existing main control system of the floating wind turbine, eliminating the need for an additional independent controller. It maximizes the use of the unit's existing hardware resources, effectively controlling equipment modification costs and installation difficulty, while ensuring high compatibility between control commands and the unit's native control system.

[0079] Regarding data sources, the reference pitch angle is generated by the reference pitch control algorithm built into the wind turbine's main control system. This pitch angle is the basic pitch angle required for the wind turbine to capture wind energy and maintain rated power generation, ensuring the unit's normal power generation function. The two independent pitch control quantities come from the aforementioned independent pitch control module and gyro effect compensation module, corresponding to the native yaw suppression command and gyro effect compensation command. The main control overlay module linearly overlays and fuses the three types of parameters according to the preset calculation logic. While retaining the unit's normal pitch function, it embeds the control commands for yaw suppression and gyro compensation, generating a unique and unified total pitch angle setpoint. The overlay algorithm has been optimized for operating conditions to balance power generation and vibration suppression requirements, ensuring that the wind turbine's basic power generation performance is not affected by yaw control commands.

[0080] After the command is generated, the main control overlay module transmits the total pitch angle setpoint to the corresponding pitch actuator of each blade in real time through the unit's original control bus, driving the pitch motor, reducer, and other components to complete precise pitch control actions. The aerodynamic load generated by the pitch control action acts in the opposite direction on the wind turbine and nacelle, thereby forming a reverse torque that is transmitted to the floating platform, continuously counteracting the platform's bow oscillation, and ultimately achieving the goal of suppressing bow motion and stabilizing unit operation.

[0081] From the perspective of the overall system operation logic, the main control superimposed module realizes the organic integration of three functions: normal power generation, bow roll suppression and gyroscope compensation, so that the entire modular system forms a complete closed loop.

[0082] In summary, the yaw suppression system for floating wind turbines that considers the gyroscopic effect provided in this embodiment combines the operating characteristics of floating wind turbines with the dynamic laws of gyroscopic coupling. It abandons outdated solutions such as adding mechanical damping structures and dynamic yaw control, and achieves active control based on the wind turbine's original sensors, main control system and pitch mechanism. This not only solves the problems of large additional drag, easy tuning mismatch, power generation loss and high operation and maintenance costs of traditional solutions, but also specifically compensates for the nonlinear coupling disturbances caused by the gyroscopic effect, thereby improving the yaw suppression effect from the root.

[0083] The entire system boasts a compact structure, low hardware modification costs, clear algorithm logic, and strong adaptability to various operating conditions, making it suitable for floating wind turbines under different sea states and operating loads. In practical applications, it effectively reduces low-frequency, large-amplitude yaw oscillations of the platform, minimizes wear on core components such as the yaw mechanism, avoids safety risks such as resonance and parameter exceeding limits, extends the overall service life of the unit, and ensures the wind turbine's power generation efficiency throughout the entire process. This achieves a simultaneous improvement in the stability, safety, and economy of deep-sea floating wind turbines, demonstrating extremely high engineering application value and promising prospects for widespread adoption.

[0084] In a third aspect, this application provides a computer product that stores a computer program, which, when executed by a processor, implements the above-described method for suppressing the yaw rate of a floating wind turbine considering the gyroscopic effect.

[0085] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and not to limit its scope of protection. Although the present invention has been described in detail with reference to the above embodiments, those skilled in the art should understand that after reading the present invention, they can still make various changes, modifications or equivalent substitutions to the specific implementation of the invention, but these changes, modifications or equivalent substitutions are all within the scope of protection of the pending claims of the invention.

Claims

1. A method for suppressing yaw in floating wind turbines considering gyroscopic effects, characterized in that, include: The bow, pitch, and roll angular rates of the floating platform are collected in real time. The yaw angle of the wind turbine is obtained through the yaw encoder, and the angular rate is transformed into the fixed yaw coordinate system of the nacelle. The blade azimuth angle and rotor speed are detected by the blade azimuth sensor, and the bow roll rate in the nacelle yaw coordinate system is bandpass filtered according to the bow roll natural frequency and the pitch natural frequency, respectively. Based on the natural frequency component of the bow roll and the blade azimuth angle obtained by filtering, the independent pitch control quantity of the corresponding frequency band is calculated. By combining the natural pitch frequency component, pitch rate and rotor speed obtained from filtering, the independent pitch control quantity with gyro effect compensation is calculated. The reference pitch angle is superimposed with the two independent pitch control values ​​to generate the total pitch angle setpoint, in order to suppress the yaw motion of the floating platform.

2. The method for suppressing yaw rate of floating wind turbines considering gyroscopic effects according to claim 1, characterized in that, The collected bow, pitch, and roll angular rates are transformed into a fixed yaw coordinate system in the cabin determined by the yaw encoder in order to quantify the coupling effect between the gyro effect and the yaw angle position.

3. The method for suppressing yaw rate of floating wind turbines considering gyroscopic effects according to claim 1, characterized in that, Bandpass filtering is applied to the yaw rate in the fixed yaw coordinate system of the nacelle to filter out low-frequency interference components and avoid low-frequency pitch angle movement from affecting the generator power and turbine speed stability.

4. The method for suppressing bow roll of a floating wind turbine considering gyroscopic effects according to claim 1, characterized in that, When bandpass filtering is applied to the bow roll rate in the fixed yaw coordinate system of the cabin, the natural frequencies of the platform's bow roll mode and pitch mode are used as the filter center frequencies to achieve independent frequency-band control of the bow roll motion and the gyro-coupled motion.

5. The method for suppressing yaw rate of a floating wind turbine considering gyroscopic effects according to claim 1, characterized in that, The independent pitch control quantity of the bow roll natural frequency band is obtained by the controller through weighted calculation based on the bow roll angular rate after bandpass filtering of the bow roll natural frequency and the blade azimuth angle detected by the blade azimuth sensor.

6. The method for suppressing yaw rate of a floating wind turbine considering gyroscopic effects according to claim 1, characterized in that, The gyro effect compensation is calculated and compensated by the controller based on the gyro torque generated by the coupling of the pitch rate collected by the platform motion sensor and the wind turbine speed detected by the blade orientation sensor.

7. The method for suppressing yaw rate of a floating wind turbine considering gyroscopic effects according to claim 1, characterized in that, The independent pitch control quantity incorporating gyro effect compensation is calculated by the controller based on the gyro torque generated by the pitch rate collected by the platform motion sensor and the wind turbine speed detected by the blade orientation sensor, and the pitch angle compensation increases accordingly as the gyro torque increases.

8. The method for suppressing yaw rate of a floating wind turbine considering gyroscopic effects according to claim 1, characterized in that, The reference pitch angle is obtained by the floating wind turbine main control system through a reference pitch control algorithm. The total pitch angle setting value is generated by the main control system by superimposing the reference pitch angle, the independent pitch control quantity in the yaw frequency band, and the gyro compensation control quantity in the pitch frequency band.

9. A yaw suppression system for a floating wind turbine considering the gyroscopic effect, characterized in that, include: The signal acquisition module is used to acquire the yaw rate, pitch rate, roll rate, rotor yaw angle, blade azimuth angle, and rotor speed of the floating platform. The coordinate transformation module is used to convert the angular rate to the cabin fixed yaw coordinate system; The filtering module is used to perform bandpass filtering on the bow roll rate according to the natural bow roll frequency and the natural pitch frequency, respectively. An independent pitch control module is used to calculate the independent pitch control parameters in the natural frequency band of the bow roll. The gyro effect compensation module is used to calculate the independent pitch control quantity incorporating gyro effect compensation; The main control overlay module is used to overlay the reference pitch angle and two independent pitch control variables to generate a total pitch angle setpoint to suppress platform yaw motion.

10. A computer product storing a computer program, which, when executed by a processor, implements the method for suppressing the yaw rate of a floating wind turbine considering the gyroscopic effect as described in any one of claims 1-8.

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