Floating supporting foundation, wind turbine generator, and control method

Abstract

A floating supporting foundation (200), a wind turbine generator, and a control method. The floating supporting foundation (200) comprises a floating main body; the floating main body comprises n floating upright posts (210) arranged at intervals with a first axis as the center and connectors (220) each connected between two adjacent floating upright posts (210), wherein n≥3; the n floating upright posts (210) comprise a first floating upright post (211) and n-1 second floating upright posts (212); the first floating upright post (211) is used for supporting a tower (10); each second floating upright post (212) is connected to a stabilizing device (300); the stabilizing device (300) comprises a driving member (320), a first impeller (330), and a base (310) connected to the second floating upright post (212); the base (310) has an inner cavity (310a) and a first opening (310b) and a second opening (310c) which are in communication with the inner cavity (310a); the first opening (310b), the inner cavity (310a) and the second opening (310c) form a seawater flow channel; the first impeller (330) is arranged in the inner cavity (310a); the driving member (320) drives the first impeller (330) to rotate and drive seawater to flow in the flow channel so as to adjust the second floating upright post (212) connected to the stabilizing device (300) to float or sink.

Description

Floating support foundation, wind turbine generator set and control method

[0001] CROSS-REFERENCE TO RELATED APPLICATIONS

[0002] This application claims priority to Chinese patent application No. 202310818984.3 filed on June 30, 2023, the entire contents of which are incorporated herein by reference. Technical Field

[0003] The present application relates to the field of wind power technology, and in particular to a floating support foundation, a wind turbine generator set, and a control method. Background Art

[0004] The wind power industry continues to contribute to the achievement of the dual carbon goals. Wind turbines are currently developing in the direction of larger single-unit capacity, lighter overall weight, intelligentization, and offshore applications. Statistics show that the cumulative installed capacity of offshore wind power is increasing annually. With the large-scale development of offshore resources, the development and utilization of deep-sea resources has attracted considerable attention. Within this industry scenario, floating wind turbines are gradually gaining momentum and will become a major contributor to the subsequent development of offshore wind power.

[0005] The floating support foundation is used to support the tower, nacelle and other components of the floating wind turbine. When the unit faces wind loads, wave loads, ocean current loads, ice loads, etc., from the perspective of the overall machine dynamics, due to the "floating" characteristics of the floating wind turbine, the floating support foundation has all-round six degrees of freedom. Under the intertwined coupling of external load randomness and the complexity of the unit's own motion, the overall linear characteristics of the floating wind turbine become more complex. The motion stability of the floating wind turbine is one of the most important indicators to ensure the unit's continuous, stable, safe and efficient output and to ensure power generation. Therefore, how to ensure the stability of the floating wind turbine is one of the problems that need to be urgently solved in the wind power field.

[0006] The floating support foundation in the related art mainly adjusts the overall inclination angle of the floating support foundation by controlling the mutual circulation of fluid between different floating columns, so as to ensure the stability of the floating wind turbine generator set where the floating support foundation is located. However, this design method makes the overall structure of the floating support foundation complex and costly.

[0007] Summary of the Invention

[0008] The embodiments of the present application provide a floating support foundation, a wind turbine generator set, and a control method. The floating support foundation has a simple structure and relatively low cost.

[0009] On the one hand, according to an embodiment of the present application, a floating support foundation is proposed, which can be set in seawater and used to support a tower. The floating support foundation includes: a floating body, including n floating columns arranged at intervals with a first axis as the center and a connector connected between each adjacent two floating columns, n≥3, the n floating columns include a first floating column and n-1 second floating columns, the first floating column is used to connect and support the tower; a stabilizing device, each second floating column is connected to a stabilizing device, the stabilizing device includes a driving member, a first impeller and a base connected to the second floating column, the base has an inner cavity and a first opening and a second opening connected to the inner cavity, the first opening, the inner cavity and the second opening form a circulation channel for seawater, the first impeller is arranged in the inner cavity, the driving member drives the first impeller to rotate and drives the seawater to flow in the circulation channel to adjust the second floating column connected to the stabilizing device to float or sink.

[0010] On the other hand, according to an embodiment of the present application, a wind turbine generator set is provided, including: the above-mentioned floating support foundation; a wind turbine body, arranged on a first floating column, the wind turbine body including a tower connected to the first floating column, a cabin arranged on the tower, and an impeller arranged on the cabin.

[0011] According to another aspect of an embodiment of the present application, a controller is further included, which is configured to: obtain current power information of the wind turbine generator set; if the current power information continues to exceed a first threshold value within a preset time period, obtain the inclination angle information of the floating support base; when the inclination angle information exceeds a preset range, determine the steering information of the first impeller of each stabilizing device according to the direction of the incoming wind; control the driving member to drive each first impeller to rotate according to the steering information, so as to adjust the inclination angle information of the floating support base to within the preset range.

[0012] In another aspect, according to an embodiment of the present application, a control method for the wind turbine generator set as described above includes:

[0013] Get the current power information of the wind turbine;

[0014] If the current power information continues to exceed the first threshold within a preset time period, obtaining the inclination angle information of the floating support foundation;

[0015] When the tilt angle information exceeds a preset range, the direction of the first impeller of each stabilizing device is determined according to the incoming wind direction;

[0016] The driving member is controlled to drive each first impeller to rotate according to the steering information, so as to adjust the inclination angle information of the floating support foundation to a preset range.

[0017] According to the embodiments of the present application, the floating support foundation, wind turbine generator set, and control method provided herein include a floating body and a stabilizing device. The floating body includes n floating columns, which are spaced apart about a first axis and connected by connectors between adjacent floating columns, thereby ensuring good integrity and high strength. One of the n floating columns is a first floating column for supporting a tower, and the remaining columns are second floating columns that cooperate with the first floating column to support the tower. Each second floating column is connected to a stabilizing device, which includes a driving member, a first impeller, and a base connected to the second floating column. The base has an inner cavity and first and second openings communicating with the inner cavity. The first opening, the inner cavity, and the second opening form a flow channel for seawater. The first impeller is disposed in the inner cavity. The driving member drives the first impeller to rotate, driving seawater to flow within the flow channel. The flowing seawater causes the corresponding second floating column to float or sink, thereby enabling the entire floating support foundation to adjust its posture and ensure the power generation efficiency of the wind turbine generator set. Furthermore, by providing the aforementioned stabilizing device to achieve attitude adjustment, each second floating column can be adjusted independently, without requiring interconnecting pipes, valves, or other connections, resulting in a simple structure and low cost. Furthermore, this can be achieved by simply controlling the rotation of the first impeller, resulting in a fast response speed. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] FIG1 is a schematic structural diagram of a wind turbine generator set according to an embodiment of the present application;

[0019] FIG2 is a schematic diagram of the degrees of freedom of movement of a floating support foundation according to an embodiment of the present application;

[0020] FIG3 is a schematic structural diagram of a floating support foundation according to an embodiment of the present application;

[0021] FIG4 is a schematic structural diagram of the cooperation between the second floating column and the stabilizing device according to one embodiment of the present application;

[0022] FIG5 is a schematic structural diagram of the cooperation between the second floating column and the stabilizing device according to another embodiment of the present application;

[0023] FIG6 is a flow chart of a control method according to an embodiment of the present application;

[0024] FIG7 is a control logic diagram of a control method according to an embodiment of the present application;

[0025] 8 to 11 are schematic diagrams of different incoming airflow directions according to an embodiment of the present application. 100 - Wind turbine body; 10 - Tower; 20 - Nacelle; 30 - Generator; 40 - Rotor; 41 - Hub; 42 - Blades; 50 - Mooring system; 60 - Seabed; 200 - Floating support foundation; 210 - Floating column; 211 - First floating column; 212 - Second floating column; 212a - Second upper floating column; 212b - Second lower floating column; 2121 - Bottom wall; 2122 - Hollow cavity; 220 - Connector; 300 - Stabilizer; 310 - Base; 311 - End wall; 312 - Side wall; 310a - Inner cavity; 310b - First opening; 310c - Second opening; 320 - Drive element; 321 - Drive motor; 322 - Gearbox; 323 - Drive shaft; 324 - Rotor; 325 - Stator. 330 - first impeller; 331 - first hub; 332 - first blade; 340 - fairing; 341 - second hub; 342 - second blade; W - first direction. DETAILED DESCRIPTION

[0026] The features and exemplary embodiments of various aspects of the present application will be described in detail below. In the detailed description below, many specific details are set forth in order to provide a comprehensive understanding of the present application. However, it will be apparent to those skilled in the art that the present application can be implemented without some of these specific details. The following description of the embodiments is merely intended to provide a better understanding of the present application by illustrating examples of the present application. In the accompanying drawings and the following description, at least some of the well-known structures and technologies are not shown in order to avoid unnecessary ambiguity in the present application; and, for clarity, the sizes of some structures may be exaggerated. In addition, the features, structures, or characteristics described below may be combined in any suitable manner in one or more embodiments.

[0027] The directional words appearing in the following description are all directions shown in the figures, and do not limit the specific structure of the floating support foundation, wind turbine generator set and control method of this application. In the description of this application, it should also be noted that, unless otherwise clearly specified and limited, the terms "installation" and "connection" should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral connection; it can be directly connected or indirectly connected. For ordinary technicians in this field, the specific meanings of the above terms in this application can be understood according to the specific circumstances.

[0028] As shown in Figure 1, an embodiment of the present application provides a wind turbine generator set comprising a floating support base 200 and a wind turbine body 100. The wind turbine body 100 comprises a tower 10, a nacelle 20, a generator 30, and a rotor 40. The tower 10 is connected to the floating support base 200, the nacelle 20 is disposed at the top of the tower 10, and the generator 30 is disposed within the nacelle 20. In some examples, the generator 30 may be located outside the nacelle 20, or in other examples, inside the nacelle 20. The rotor 40 comprises a hub 41 and a plurality of blades 42 connected to the hub 41. The rotor 40 is connected to the rotor of the generator 30 via the hub 41, thereby driving the rotor to rotate relative to the stator, thereby generating power for the wind turbine set. The floating support base 200 floats in the seawater and, to limit its range of motion, is anchored to the seabed 60 via a mooring system 50, thereby constraining its range of motion.

[0029] Due to the huge differences between floating wind turbines and onshore wind turbines and offshore monopile-fixed wind turbines, floating wind turbines have their own unique floating body and mooring system in terms of the overall system composition.

[0030] As shown in Figure 2, from the perspective of external loads, the floating support foundation 200 as a whole faces wind loads, wave loads, ocean current loads, ice loads, and other loads. From the perspective of overall dynamics, due to the "floating" nature of the floating wind turbine, the floating support foundation and the wind turbine on which it is located have six degrees of freedom in all directions. The three translational degrees of freedom include surge, sway, and heave, and the three rotational degrees of freedom include roll, pitch, and yaw. Under the influence of external random load input and the coupling of multiple systems of the turbine, the motion characteristics and mechanisms of the floating wind turbine are further complex.

[0031] Continuing to refer to FIG2 , the motion stability of a floating wind turbine is one of the most important indicators for ensuring the continuous, stable, safe, and efficient output of the turbine and ensuring the power generation. However, while the impeller captures wind energy to generate rotational mechanical energy, it also synchronously generates a thrust in the same direction as the incoming wind. This force is transmitted to the floating support foundation 200, causing the wind turbine to generate an elevation angle in the y rotation direction in FIG2 , resulting in an angle between the impeller of the wind turbine and the incoming wind direction. According to formula (1), the power generation P is proportional to A. The existence of the elevation angle will reduce A, thereby reducing the power generation of the turbine.

[0032] To improve the stability of floating wind turbines, a ballast control system (i.e., a floating support foundation) has been proposed for floating wind turbine platforms. This system consists of multiple internal volume stabilizing columns for accommodating ballast (water) and a control system. The ballast loads on these columns are adjusted and controlled based on the incoming wind and the turbine's posture, thereby ensuring that the turbine's impellers face the wind directly, minimizing power generation losses. This allows for control of the floating wind turbine's posture, thereby optimizing the overall power generation.

[0033] However, during the implementation and application process, although this type of floating support foundation can improve the stability of the floating wind turbine to a certain extent, the mutual linkage and adjustment of the ballast water between multiple internal volume stabilization pillars for accommodating ballast (water) based on the incoming wind speed and the posture of the unit requires a large pump group (several thousand cubic meters / hour), pipelines, valve bodies and other supporting hardware guarantees. On the one hand, it makes the structure complex, and on the other hand, it places high demands on the reliability and redundancy design of the system. Once any component in the system fails, it will affect the performance and safety of the entire machine, and the cost is very high.

[0034] At the same time, from another dimension, the speed of ballast water adjustment between different stabilizing pillars through pump groups and pipeline types is extremely slow, generally between half an hour and an hour. The response speed of the system determines that the unit cannot match the incoming wind and wave loads in the optimal posture in most scenarios.

[0035] As shown in Figures 3 and 4, based on this, an embodiment of the present application provides a new floating support foundation 200, which can be set in seawater and used to support the tower 10. The floating support foundation 200 includes a floating body and a stabilizing device 300. The floating body includes n floating columns 210 arranged at intervals with a first axis as the center and a connector 220 connected between each adjacent two floating columns 210, n≥3, the n floating columns 210 include a first floating column 211 and n-1 second floating columns 212, and the first floating column 211 is used to connect and support the tower 10. Each second floating column 212 is connected to a stabilizing device 300, which includes a driving member 320, a first impeller 330, and a base 310 connected to the second floating column 212. The base 310 has an inner cavity 310a and a first opening 310b and a second opening 310c connected to the inner cavity 310a. The first opening 310b, the inner cavity 310a, and the second opening 310c form a circulation channel for seawater. The first impeller 330 is disposed in the inner cavity 310a. The driving member 320 drives the first impeller 330 to rotate and drives seawater to flow in the circulation channel to adjust the second floating column 212 connected to the stabilizing device 300 to float or sink.

[0036] The value of n can be 3, 4, 5 or even more. The center line of each floating column 210 can be a triangle, a quadrilateral, a pentagon, etc., and can be a regular polygon. The center of each floating column 210 is located at the vertex position of the polygon.

[0037] For example, when n is 3, the line connecting the centers of the floating columns 210 forms a triangle, which may be an equilateral triangle. When n is 4, the line connecting the centers of the floating columns 210 forms a quadrilateral, which may be a regular quadrilateral. When n is 5, the line connecting the center lines of the floating columns 210 forms a pentagon, which may be a regular pentagon.

[0038] Each floating column 210 can be cylindrical as a whole. In the direction perpendicular to the sea level, or in the extension direction of the tower 10, the orthographic projection shape of the floating column 210 can be a regular geometric shape. The center line connecting the floating columns 210 is a polygon, which can also be understood as the center line connecting the orthographic projections of the floating columns 210 is a polygon.

[0039] Optionally, the orthographic projection shape of the floating column 210 in the direction perpendicular to the sea level may be a circle, an ellipse or a polygon. If it is a polygon, it may be a regular polygon.

[0040] Sea level can be understood as the surface of the sea water in a calm state without being affected by wind and waves.

[0041] The connector 220 may be in the form of a connecting rod, a connecting plate, or the like. Two adjacent floating columns 210 may be connected with the connector 220. The connector 220 and the floating columns 210 may be connected with fasteners or an integrated structure.

[0042] The n floating columns 210 may be spaced and evenly arranged around the first axis. A connector 220 may be connected between each two adjacent floating columns 210, and the extension length of each connector 220 between the two adjacent floating columns 210 may be equal.

[0043] The first impeller 330 is arranged in the inner cavity 310a of the base 310 and has rotational freedom relative to the base 310 and does not interfere with the side wall 312 of the base 310. The driving member 320 can be arranged in the inner cavity 310a and connected to the base 310. Of course, the driving member 320 can also be partially arranged on the floating column 210, both of which can ensure the driving of the first impeller 330.

[0044] The stabilizing device 300 may be disposed on one side of the second floating column 212 in the first direction W. The first opening 310b and the second opening 310c may have a height difference in the first direction W. When seawater flows, the second floating column 212 may be driven to float or sink in the first direction W. The first direction W may be the axial direction of the second floating column 212.

[0045] The base 310 of the stabilizing device 300 may be a closed cylindrical structure. Of course, it may also be a cylindrical structure with an open opening, and the open opening is closed by the bottom wall 2121 of each connected second floating column 212 .

[0046] The floating support foundation 200 provided in this embodiment comprises a floating structure comprising n floating columns 210, spaced apart and centered about a first axis. Adjacent floating columns 210 are connected by connectors 220, ensuring a strong and integrated structure. One of the n floating columns 210 is a first floating column 211, used to support the tower 10. The remaining columns are second floating columns 212, which cooperate with the first floating column 211 to support the tower 10. Since each second floating column 212 is connected to a stabilizing device 300, and the stabilizing device 300 includes a driving member 320, a first impeller 330 and a base 310 connected to the second floating column 212, the base 310 has an inner cavity 310a and a first opening 310b and a second opening 310c connected to the inner cavity 310a, the first opening 310b, the inner cavity 310a and the second opening 310c form a circulation channel for seawater, and the first impeller 330 is arranged in the inner cavity 310a. The driving member 320 drives the first impeller 330 to rotate and drives the seawater to flow in the circulation channel. Under the action of the flowing seawater, the corresponding second floating column 212 can float or sink, thereby realizing the posture adjustment of the entire floating support foundation 200, thereby ensuring the power generation efficiency of the wind turbine generator set.

[0047] Furthermore, by providing the stabilizing device 300 of the above structure to achieve posture adjustment, each second floating column 212 can be adjusted independently of each other, and does not require connecting pipes, valve groups, etc., which has a simple structure and low cost.

[0048] At the same time, the floating support base 200 provided in the embodiment of the present application, when external factors such as incoming wind cause the floating support base 200 to have an inclination angle, only needs to control the rotation of the first impeller 330 of the stabilizing device 300 at the corresponding position to achieve attitude adjustment, and respond instantly without waiting for half an hour to an hour. The response speed of the system determines that the unit cannot match the incoming wind and wave load with the optimal attitude in most scenarios, thereby ensuring the power generation efficiency of the wind turbine generator set where the floating support base 200 is located.

[0049] In some optional embodiments, the base 310 is cylindrical as a whole, and the base 310 has an end wall 311 arranged opposite to the bottom wall 2121 of the second floating column 212 in the first direction W, and a side wall 312 arranged around the end wall 311. The end wall 311 and the side wall 312 enclose an inner cavity 310a, the bottom wall 2121 is arranged to close the inner cavity 310a, the first opening 310b is arranged on the end wall 311, and the second opening 310c is arranged on the bottom wall 2121.

[0050] The end wall 311 and the bottom wall 2121 are spaced apart in the first direction W, and their surfaces may intersect and may be parallel to each other.

[0051] The side wall 312 is hollow, and one end of the side wall 312 in the first direction W is closed by the end wall 311 and the other end is closed by the bottom wall 2121 of the connected second floating column 212 .

[0052] The number of first openings 310b can be one, or two or more. If there are two or more first openings 310b, the two or more first openings 310b are spaced apart from each other. Correspondingly, the number of second openings 310c can be one, or two or more. If there are two or more second openings 310c, the two or more second openings 310c can be spaced apart and distributed around the periphery of the sidewall 312.

[0053] The floating support foundation 200 provided in the embodiment of the present application has a base 310 of the above-mentioned form, which has a simple structure and can enclose a relatively independent space for the first impeller 330, so that the first impeller 330 can guide the seawater during rotation, guiding the seawater to flow between the first opening 310b and the second opening 310c, thereby ensuring the floating and sinking requirements of the connected second floating column 212, and thus reliably ensuring the attitude adjustment requirements of the floating support foundation 200 and the tower supported by it.

[0054] In some optional embodiments, the floating support foundation 200 provided by the present application is implemented, and the center line connecting each floating column 210 is a regular polygon as a whole, and the base 310 of each stabilizing device 300 is coaxially arranged with the connected second floating column 212.

[0055] That is to say, the centers of the first floating columns 211 and the centers of the second floating columns 212 are connected to form a regular polygon in the distribution pattern around the first axis.

[0056] For example, when n=3, the number of the first floating column 211 is one, and the number of the second floating column 212 is two, the center line connecting the two second floating columns 212 and the one first floating column 211 forms an equilateral triangle as a whole.

[0057] For another example, when n = 4, there is one first floating column 211 and three second floating columns 212, the line connecting the centers of the three second floating columns 212 and the one first floating column 211 forms a regular quadrilateral. Similarly, when n is 5, the line connecting the centers of the floating columns 210 forms a regular pentagon. The specific distribution pattern can be set according to the value of n and is not listed here.

[0058] The floating support foundation 200 provided in this embodiment of the present application utilizes a regular polygonal shape formed by the centerline connecting each floating column 210. The base 310 of each stabilizing device 300 is coaxially arranged with the second floating column 212 to which it is connected. This ensures rapid response to the rising and sinking of each second floating column 212 in the first direction W, or in the axial direction of the second floating column 212. Furthermore, the regular polygonal shape of the centerline ensures overall stability of the floating body, enhancing the safety of the floating support foundation 200.

[0059] In some optional embodiments, in the floating support foundation 200 provided by the embodiments of the present application, along the first direction W, the radial dimension of the side wall 312 first decreases and then increases.

[0060] That is to say, the side wall 312 may be in the shape of a waist tube or a dumbbell.

[0061] The floating support foundation 200 provided in the embodiment of the present application, through the above-mentioned configuration, is conducive to guiding the seawater upward or downward in the first direction W, ensuring the posture adjustment requirements of the second floating column 212.

[0062] In some optional embodiments, the driving member 320 of the floating support foundation 200 provided in the embodiments of the present application may include a motor and a drive shaft 323. The motor is connected to at least one of the base 310 and the second floating column 212. The motor may be directly or indirectly connected to the drive shaft 323. The first impeller 330 is connected to the drive shaft 323. The motor may be a direct drive motor or a doubly fed motor.

[0063] The driving member 320 adopts the above-mentioned form, which can ensure the driving requirements for the first impeller 330, and has a simple and compact structure, which is convenient for installation.

[0064] In some optional embodiments, the floating support foundation 200 provided in the embodiments of the present application, the driving component 320 includes a driving motor 321, a gearbox 322 and a driving shaft 323, the input end of the gearbox 322 is connected to the driving motor 321 and the output end is connected to the driving shaft 323, and the first impeller 330 is connected to the driving shaft 323.

[0065] The gearbox 322 can adopt a multi-stage transmission. The gearbox 322 is connected between the drive motor 321 and the drive shaft 323, so that the kinetic energy of the drive motor 321 can be transmitted to the drive shaft 323 through the gearbox 322. The speed output by the drive motor 321 can be accelerated or decelerated by the gearbox 322 before being transmitted to the drive shaft 323 to ensure the driving requirements of the drive shaft 323.

[0066] The axis of the drive shaft 323 and the axis of the drive motor 321 can be arranged to intersect, or of course, can be parallel. If they are arranged to intersect, they can be reversed through the gearbox 322, or an additional reversing structure can be provided to ensure the transmission of kinetic energy.

[0067] The floating support base 200 provided in the embodiment of the present application, wherein the driving member 320 adopts the above-mentioned form, can ensure the driving requirements of the first impeller 330. Furthermore, the first impeller 330 can achieve a higher rotation speed, thereby improving the response rate of the floating support base 200 when performing attitude adjustment.

[0068] In the floating support foundation 200 provided in the embodiment of the present application, the driving member 320 can be entirely located within the inner cavity 310a of the base 310, and the driving motor 321 and the gearbox 322 can be supported by a mounting frame or other structure. Of course, this is an optional embodiment.

[0069] In some optional embodiments, the floating support foundation 200 provided in the embodiments of the present application, the second floating column 212 has a hollow cavity 2122, the drive motor 321 and the gearbox 322 are located in the hollow cavity 2122, the drive shaft 323 is inserted into the bottom wall 2121 of the second floating column 212 and connected to the output end of the gearbox 322, and the drive shaft 323 is dynamically sealed with the bottom wall 2121.

[0070] The driving motor 321 and the gearbox 322 may both be supported by the bottom wall 2121 .

[0071] Dynamic seal can be understood as: the seal between relatively moving parts in a machine (or equipment), that is, the two parts can move relative to each other while ensuring sealing between each other.

[0072] The floating support foundation 200 provided in the embodiment of the present application has a hollow cavity 2122 in the second floating column 212, which provides installation space for the drive motor 321 and the gearbox 322, thereby reducing the space occupied by the base 310 and the volume of the base 310. Furthermore, the drive motor 321 and the gearbox 322 provide a certain amount of weight for the second floating column 212, providing a certain amount of ballast and ensuring the stability of the second floating column 212.

[0073] The dynamic seal between the drive shaft 323 and the bottom wall 2121 ensures the rotation of the drive shaft 323 and drives the first impeller 330. At the same time, the dynamic seal ensures the sealing performance of the hollow cavity 2122 of the second floating column 212, preventing seawater from entering and causing corrosion of the second floating column 212, flooding of the generator and gearbox, and even affecting the weight of the second floating column 212.

[0074] In some optional embodiments, the floating support base 200 provided by the embodiment of the present application, the first impeller 330 includes a first hub 331, a plurality of first blades 332 and a pitch system, the first hub 331 is connected to the driving member 320, and the plurality of first blades 332 are arranged at intervals in the circumferential direction of the first hub 331 and are connected to the first hub 331 through the pitch system to adjust the pitch angle of the first blades 332.

[0075] The structure of the variable pitch system may adopt the variable pitch form of the wind turbine rotor, and the angle of attack of the fluid on the first blade 332 is changed by changing the pitch angle between the first blade 332 and the first hub 331 .

[0076] The floating support base 200 provided in the embodiment of the present application is configured such that the first impeller 330 includes a first blade 332 and a first hub 331, and the two are rotatably connected via a variable pitch system, so that the pitch angle of the first blade 332 is adjustable, thereby changing the interaction force with the seawater to control the torque and power captured by the first impeller 330.

[0077] Optionally, the pitch system may include a pitch bearing and a power source. The pitch bearing may include an inner ring and an outer ring that are rotatably coupled, one of which is connected to the first hub 331 and the other to the first blade 332. The power source may cooperate with the pitch bearing and drive the inner and outer rings of the pitch bearing to rotate relative to each other, thereby achieving pitch control. The power source includes, but is not limited to, an electric motor and a transmission wheel, and may be consistent with the pitch control principle of the hub and blades of a wind turbine generator set.

[0078] In some optional embodiments, the floating support base 200 provided by the embodiment of the present application, the stabilizing device 300 also includes a fairing 340 arranged in the inner cavity 310a and connected to the base 310, and the fairing 340 is arranged between the first opening 310b and the first impeller 330 to rectify the flow direction of seawater entering through the first opening 310b.

[0079] The rectifying member 340 may be connected to the base 310 . The rectifying member 340 may be a plate with rectifying holes or may be in the form of an impeller.

[0080] The floating support base 200 provided in the embodiment of the present application, by making the stabilizing device 300 also include a fairing 340, can use the fairing 340 to adjust the direction of the incoming seawater flow, thereby preventing seawater from entering from multiple directions and contacting the first impeller 330 to cause energy loss.

[0081] In some optional embodiments, the floating support foundation 200 provided by the embodiment of the present application, the fairing 340 includes a second hub 341 and a plurality of second blades 342, the plurality of second blades 342 are arranged at intervals in the circumferential direction of the second hub 341 and are connected to the second hub 341, the end of the second blade 342 facing away from the second hub 341 is connected to the base 310, and a fairing hole is formed between two adjacent second blades 342.

[0082] The number of the second blades 342 included in the fairing 340 can be two, three, or more, as long as the incoming seawater can be rectified and energy loss can be reduced.

[0083] The floating support foundation 200 provided in the embodiment of the present application and the fairing member 340 adopt the above-mentioned form, which can not only meet the requirements for the fairing of the incoming and outgoing seawater, but also has a simple structure and a good fairing effect.

[0084] It can be understood that the floating support foundation 200 provided in the above embodiments of the present application is illustrated by taking the driving component 320 including the driving motor 321, the gearbox 322 and the driving shaft 323 as examples. These are some optional embodiments, but are not limited to the above methods.

[0085] As shown in Figure 5, in some embodiments, the driving member 320 can also include a direct drive motor, which is connected to the bottom wall 2121 of the second floating column 212 and at least one of the base 310 and includes a rotor 324 and a stator 325 that are rotatably matched. The driving shaft 323 is coaxially arranged with the direct drive motor and connected to the rotor 324.

[0086] The direct drive motor can be directly connected to the base 310, and of course, can also be connected to the bottom wall 2121 of the second floating column 212. Of course, in order to ensure the connection strength, it can also be connected to the base 310 and the bottom wall 2121 at the same time.

[0087] Optionally, the direct drive motor can be located in the inner cavity 310a of the base 310. Of course, when the second floating column 212 has a hollow cavity 2122, the direct drive motor can also be located in the hollow cavity 2122. Optionally, it can be located in the inner cavity 310a of the base 310.

[0088] The fan foundation provided in the embodiment of the present application adopts the above-mentioned form of the driving component 320, which can also meet the driving requirements of the first impeller 330, thereby ensuring the posture adjustment requirements of the fan foundation.

[0089] All the advantages of the floating support foundation 200 are omitted here.

[0090] As shown in FIG6 and FIG7 , on the other hand, the embodiment of the present application further provides a control method for the above wind turbine generator set, including:

[0091] S100: Obtain current power information P of the wind turbine generator set.

[0092] S200 : If the current power information continuously exceeds a first threshold value within a preset time period, obtain the inclination angle information of the floating support base 200 .

[0093] S300 , when the tilt angle information exceeds a preset range, the turning information of the first impeller 330 of each stabilizing device 300 is determined according to the incoming wind direction.

[0094] S400 , controlling the driving member 320 to drive each first impeller 330 to rotate according to the steering information, so as to adjust the inclination angle information of the floating support base 200 to within a preset range.

[0095] In step S100 , the current power information of the wind turbine generator set may be directly obtained through its master controller, or may be obtained by calculation based on its current rotation speed.

[0096] In step S200, the preset time and the first threshold value can be set according to the area where the wind turbine is located and the safety level requirements. For example, the value t of the preset time period can be b=20min, and the first threshold value m can be 3000kw. Of course, the above is only an example given based on a model and safety level requirements, and is not limited to the above form.

[0097] In step S300, the posture of the offshore wind turbine generator set is closely related to the incoming wind and waves. The incoming wind is taken as an example to describe the different states of the wind turbine generator set impeller. Combined with the shape of the floating support base 200 and the state of the unit impeller, the motion posture of the impeller can be defined as four directions. Different directions determine the direction of the thrust and are strongly related to the posture of the floating support base 200. Therefore, the steering information of the first impeller 330 of each stabilizing device 300 can be determined based on the direction of the incoming wind, the direction of the incoming wind, and the target posture information when it is adjusted to the target posture. The target posture can be a horizontal posture or a posture in the form of a predetermined angle with the horizontal posture.

[0098] For example, the current state of the floating wind turbine generator set can be first obtained through the unit information, such as mooring tension, gravity, floating body bending moment, and center of buoyancy information. Based on this input, theoretical calculation can be performed to obtain the target attitude information, that is, the corresponding center of gravity position and center of buoyancy position. The adjustment of the two centers can be achieved by rotating the first impeller 330 of each stabilizing device 300, and the input to be achieved needs to be combined with the impeller orientation state.

[0099] In step S400, the first impeller 330 can be driven to rotate by controlling the driving member 320 of the stabilizing device 300 connected to each second floating column 212, so that seawater flows in the circulation channel, thereby driving the connected second floating column 212 to float or sink, thereby achieving posture adjustment of the floating support base 200.

[0100] In the control method provided in the embodiment of the present application, the stabilizing device 300 is connected to its second floating column 212. Through the above-mentioned steps, the rotation of the first impeller 330 of the stabilizing device 300 on each second floating column 212 can be controlled to drive seawater to flow in the circulation channel, thereby realizing the floating and sinking movements of the second floating column 212, and realizing the posture adjustment of the floating support base 200, so that the wind turbine generator set maintains the optimal output posture of the unit when dealing with complex and uncertain external loads and its own different operating conditions, thereby ensuring the output of the wind turbine generator set.

[0101] In some optional embodiments, in the control method provided by the embodiments of the present application, the steering information includes forward rotation and reverse rotation.

[0102] When the first impeller 330 of the stabilizing device 300 rotates in the forward direction, the stabilizing device 300 provides a driving force for the connected second floating column 212 to float upward.

[0103] When the first impeller 330 of the stabilizing device 300 rotates in the reverse direction, the stabilizing device 300 provides a driving force for sinking to the connected second floating column 212 .

[0104] The control method provided in the embodiment of the present application makes the steering information include forward rotation and reverse rotation, and limits the relationship between forward rotation and reverse rotation corresponding to floating and sinking. It can accurately give steering information according to the direction of the incoming wind and ensure the posture adjustment requirements of the floating support base 200.

[0105] In some optional embodiments, the control method provided in the embodiments of the present application has two second floating columns 212, that is, n=3. When the tilt angle information exceeds a preset range, the step of determining the steering information of the first impeller 330 of each stabilizing device 300 according to the incoming wind direction includes:

[0106] When the tilt angle information exceeds a preset range, the two stabilizing devices 300 are controlled to rotate forward or backward synchronously or one of them rotates forward and the other rotates backward according to the angle between the incoming wind direction and the reference wind direction.

[0107] Through the above arrangement, the synchronous forward rotation, synchronous reverse rotation, or one forward rotation and one reverse rotation of each stabilizing device 300 is utilized to meet the posture adjustment of the floating support foundation 200 under the action of different incoming winds, thereby ensuring the power generation efficiency of the wind turbine generator set connected thereto.

[0108] For better description, the two second floating columns 212 above the figure are called second upper floating columns 212a, and the one below the figure is called second lower floating columns 212b. A connector 220 is connected between the first floating column 211 and the second upper floating column 212a, the second lower floating column 212b, and between the two second upper floating columns 212a and the second lower floating columns 212b.

[0109] As shown in Figures 7 to 11, exemplarily, the tilt angle information includes the tilt angle θ of the floating body relative to the preset reference plane. Based on the environmental input, the power and continuous power generation time of the wind turbine are first determined. When the unit power P≥a (for example, a=3000kW) and the duration t≥b (for example, b=20min) are simultaneously satisfied, the tilt angle θ (θ can be α roll, β pitch, γ yaw) can be measured by the tilt sensor combination. If the angle θ≥c (for example, c=5°), the stability adjustment calculation module of the floating wind turbine is performed. The module first obtains the current state of the wind turbine through the unit information, such as mooring tension, gravity, floating body bending moment, and center of buoyancy information; further theoretical calculation based on this input can obtain the target attitude information, that is, the corresponding center of gravity position and center of buoyancy position. The adjustment of the two centers can be achieved by the stabilization device 300 connected to the two second floating columns 212, and the input to be achieved needs to be combined with the impeller orientation state.

[0110] Exemplarily, step S300 may include:

[0111] When the inclination angle of the floating support base 200 relative to the preset reference plane is greater than a second threshold value c, and the angle a between the incoming wind X and the reference wind direction Y is 90°, this is achieved through the coordinated movement of the stabilization device 300 connected to the second upper floating column 212a and the second lower floating column 212b. At this time, it is necessary to simultaneously activate the stabilization devices of the second upper floating column 212a and the second lower floating column 212b, and cause the first blades 332 of the stabilization devices 300 connected to the second upper floating column 212a and the second lower floating column 212b to rotate in opposite directions, causing the second upper floating column 212a and the second lower floating column 212b to sink, restoring the inclination angle θ to within the preset threshold range.

[0112] When the inclination angle of the floating support base 200 relative to the preset reference plane is greater than a second threshold value c, and the angle a between the incoming wind X and the reference wind direction Y is 180°, this is achieved through the coordinated movement of the stabilization device 300 connected to the second upper floating column 212a and the second lower floating column 212b. At this time, it is necessary to simultaneously activate the stabilization devices of the second upper floating column 212a and the second lower floating column 212b, and cause the first impeller 330 of the stabilization device 300 connected to the second upper floating column 212a to rotate in the reverse direction, causing the second upper floating column 212a to sink, while the first impeller 330 of the second lower floating column 212b rotates in the forward direction, causing the second lower floating column 212b to float, so that the inclination angle θ returns to within the preset threshold range.

[0113] When the inclination angle of the floating support base 200 relative to the preset reference plane is greater than the second threshold value c, and the angle a between the incoming wind X and the reference wind direction Y is 270°, this is achieved through the coordinated movement of the stabilization device 300 connected to the second upper floating column 212a and the second lower floating column 212b. At this time, it is necessary to simultaneously activate the stabilization devices of the second upper floating column 212a and the second lower floating column 212b, and cause the first blades 332 of the stabilization devices 300 connected to the second upper floating column 212a and the second lower floating column 212b to rotate in the forward direction, so that the second upper floating column 212a and the second lower floating column 212b float upward, and the inclination angle θ returns to within the preset threshold range.

[0114] When the inclination angle of the floating support base 200 relative to the preset reference plane is greater than a second threshold value c, and the angle a between the incoming wind X and the reference wind direction Y is 360° or 0°, this is achieved through the coordinated movement of the stabilization device 300 connected to the second upper floating column 212a and the second lower floating column 212b. At this time, it is necessary to simultaneously activate the stabilization devices of the second upper floating column 212a and the second lower floating column 212b, and cause the first impeller 330 of the stabilization device 300 connected to the second upper floating column 212a to rotate forward, causing the second upper floating column 212a to float upward, while the first impeller 330 of the second lower floating column 212b rotates backward, causing the second lower floating column 212b to sink, so that the inclination angle θ returns to within the preset threshold range.

[0115] When the angle a between the incoming wind and the reference wind direction is within the above-mentioned values, the corresponding second floating columns 212 can be adjusted in both states. By adjusting the direction of the first impellers 330 of the stabilizing devices 300 connected to the second floating columns 212, the stabilizing devices 300 connected to the second floating columns 212 cooperate with each other to ensure the overall posture of the floating support base 200 is adjusted, so that its tilt angle is within the preset range, thereby ensuring the power generation efficiency of the wind turbine generator set.

[0116] In some optional embodiments, the floating support foundation 200 provided in the embodiments of the present application,

[0117] The first impeller 330 includes a first hub 331, a plurality of first blades 332, and a pitch system. The plurality of first blades 332 are spaced apart in the circumferential direction of the first hub 331 and connected to the first hub 331 through the pitch system. The control method further includes:

[0118] At least one of the rotation speed information of the first impeller 330 and the angle information between the first blade 332 and the first hub 331 is determined according to the height difference between the draft of each second floating column 212 connected to the stabilizer 300 and the set water surface line.

[0119] The driving member 320 is controlled to drive each first impeller 330 to rotate according to at least one of the rotation speed information and the angle information, so as to adjust the tilt angle information of the floating support base 200 to a preset range.

[0120] Alternatively, the set water surface line can be understood as a line pre-set on the second floating column 212, which can be a marked line with a mark, etc. The draft can be understood as the position line where the second floating column 212 is immersed relative to the set water surface line when the floating support base 200 is tilted.

[0121] The control method provided in the embodiment of the present application determines the rotational speed information of the first impeller 330 based on the height difference between the draft depth of each second floating column 212 connected to the stabilizing device 300 and the set water surface line. It can accurately control the rotational speed of the first impeller 330 of each stabilizing device 300, and can also match the corresponding angle between the first blade 332 and the first hub 331 to quickly adjust the posture of the floating support base 200 to meet the optimal angle requirement of the wind turbine generator set in which it is located.

[0122] Controlling the driving component 320 to drive each first impeller 330 to rotate according to at least one of the speed information and the angle information and controlling the driving component 320 to drive each first impeller 330 to rotate according to the steering information can be implemented simultaneously. Of course, the rotation direction can also be controlled and adjusted first, and then the speed and the rotation angle can be controlled and adjusted to ensure that the attitude adjustment requirements of the floating support base 200 are met.

[0123] In some optional embodiments, the control method provided in the embodiments of the present application, wherein the rotation angle a of the first blade 332 relative to the first hub 331 satisfies 0°<a≤90°, and the step of determining at least one of the rotational speed information of the first impeller 330 and the angle information between the first blade 332 and the first hub 331 based on the height difference between the draft of each second floating column 212 connected to the stabilizing device 300 and a set water surface line includes:

[0124] When the height difference H is in the range of 0<H≤h1, the first blade 332 rotates relative to the first hub 331 to a=90°, or the first blade 332 rotates relative to the first hub 331 to 50°<a≤60°, and the speed of the first impeller 330 is 800rpm-1500rpm;

[0125] When the height difference H is in the range of h1<H≤h2, the first blade 332 rotates relative to the first hub 331 to 30°<a≤50°, and the rotation speed of the first impeller 330 is 1500rpm-2500rpm;

[0126] When the value range of the height difference H is h2<H≤h3, the first blade 332 rotates relative to the first hub 331 to 0°<a≤20°, and the rotation speed of the first impeller 330 is 2500 rpm-3500 rpm.

[0127] The control method provided in the embodiment of the present application can, through the above-mentioned setting, match the angle of the first blade 332 relative to the first hub 331 and the rotation speed of the first impeller 330 according to different height differences, so as to quickly adjust the posture of the floating support base 200 to meet the optimal angle requirement of the wind turbine generator set in which it is located.

[0128] The specific values ​​of h1, h2, and h3 can be set according to the wind turbine model and adjustment accuracy requirements, as long as the posture adjustment of the wind turbine can be guaranteed so that it can always operate at a better angle.

[0129] In some optional embodiments, the control method provided in the embodiments of the present application, after step S400, further includes:

[0130] Get the current power information of the wind turbine;

[0131] If the current power information is continuously less than the first threshold value within a preset time period, the first impeller 330 in the stabilizing device 300 connected to the floating column 210 is controlled to move in the reverse direction, so that the inclination angle information of the floating support base 200 is within a preset range.

[0132] The initial state may be understood as a state before the tilt angle information exceeds a preset range.

[0133] In some optional embodiments, based on the impeller being in the azimuth state, the rotation speed of the first impeller 330 of each stabilizing device 300 can be first reduced, and then the first blade 332 can be retracted (returned to 90°), and finally the power source can be cut off and the movement of the first blade 332 can be shut down until the floating support base 200 enters the reset state.

[0134] For example, when the angle a between the incoming wind X and the reference wind direction Y is 90°, restoring the initial state can be accomplished through the coordinated movement of the stabilization device 300 connected to the second upper floating column 212a and the second lower floating column 212b. In this case, it is necessary to simultaneously activate the stabilization devices of the second upper floating column 212a and the second lower floating column 212b, and cause the first blades 332 of the stabilization devices 300 connected to the second upper floating column 212a and the second lower floating column 212b to rotate in the forward direction, so that the second upper floating column 212a and the second lower floating column 212b float upward, restoring the tilt angle θ to within the preset threshold range.

[0135] Of course, when the angle a between the incoming wind X and the reference wind direction Y is 90°, when restoring the initial state, the rotation speed of the first impeller 330 of the stabilizing device 300 connected to the second upper floating column 212a and the second lower floating column 212b can also be reduced, and then the first blade 332 is retracted (returned to 90°), and finally the power source is cut off and the movement of the first blade 332 is shut down until the wind turbine generator set enters the reset state.

[0136] The operation methods corresponding to other orientation states are the same as above and will not be repeated here.

[0137] The wind turbine generator set provided in an embodiment of the present application also includes a controller, which is configured to obtain current power information of the wind turbine generator set; if the current power information continues to exceed a first threshold value within a preset time period, the inclination angle information of the floating support base 200 is obtained; when the inclination angle information exceeds a preset range, the steering information of the first impeller 330 of each stabilizing device 300 is determined according to the direction of the incoming wind; and the driving member 320 is controlled to drive each first impeller 330 to rotate according to the steering information to adjust the inclination angle information of the floating support base 200 to within the preset range.

[0138] Optionally, the controller may be configured to execute the steps corresponding to the control methods provided in the above embodiments, which will not be described in detail here.

[0139] The controller of the wind turbine generator set provided in the embodiment of the present application may be a separately provided control cabinet, or may be integrated into the master control of the wind turbine generator set.

[0140] The wind turbine generator set provided in the embodiment of the present application can be used to execute the control methods provided in the above-mentioned embodiments by setting a controller, which is beneficial to the control of the floating support base 200, so that it can control and adjust the corresponding stabilizing device 300 according to the incoming wind, current posture and target posture, thereby ensuring the overall power generation efficiency of the wind turbine generator set.

[0141] Although the present application has been described with reference to preferred embodiments, various modifications may be made thereto and components may be substituted with equivalents without departing from the scope of the present application. In particular, the various technical features described in the various embodiments may be combined in any manner as long as there are no structural conflicts. The present application is not limited to the specific embodiments disclosed herein, but encompasses all technical solutions within the scope of the claims.

Claims

1. A floating support foundation capable of being arranged in seawater and used to support a tower, wherein: The floating support foundation comprises: A floating body, comprising n floating columns spaced apart from each other with a first axis as the center and a connector connected between every two adjacent floating columns, n≥3, the n floating columns comprising a first floating column and n-1 second floating columns, the first floating column being used to connect and support the tower; A stabilizing device, each of the second floating columns is connected to the stabilizing device, the stabilizing device comprises a driving member, a first impeller and a base connected to the second floating column, the base has an inner cavity and a first opening and a second opening communicated with the inner cavity, the first opening, the inner cavity and the second opening form a circulation channel for the seawater, the first impeller is arranged in the inner cavity, the driving member drives the first impeller to rotate and drives the seawater to flow in the circulation channel to adjust the second floating column connected to the stabilizing device to float or sink.

2. The floating support foundation according to claim 1, wherein: The base is cylindrical as a whole, and has an end wall arranged opposite to the bottom wall of the second floating column in a first direction and a side wall arranged around the end wall, the end wall and the side wall enclose the inner cavity, the bottom wall closes the inner cavity, the first opening is arranged on the end wall, and the second opening is arranged on the bottom wall.

3. The floating support foundation according to claim 2, wherein: The center line connecting each of the floating columns is a regular polygon as a whole, and the base of each of the stabilizing devices is coaxially arranged with the second floating column connected thereto.

4. The floating support foundation according to claim 2, wherein: Along the first direction, the radial dimension of the side wall decreases first and then increases.

5. The floating support foundation according to claim 1, wherein: The driving component includes a driving motor, a gearbox and a driving shaft. The input end of the gearbox is connected to the driving motor and the output end is connected to the driving shaft. The first impeller is connected to the driving shaft.

6. The floating support foundation according to claim 5, wherein: The second floating column has a hollow cavity, the drive motor and the gearbox are located in the hollow cavity, the drive shaft is inserted into the bottom wall of the second floating column and connected to the output end of the gearbox, and the drive shaft is dynamically sealed with the bottom wall.

7. The floating support foundation according to claim 1, wherein: The driving member includes a direct drive motor and a driving shaft. The direct drive motor is connected to at least one of the bottom wall and the base of the second floating column and includes a rotor and a stator that are rotatably matched. The driving shaft is coaxially arranged with the direct drive motor and connected to the rotor. The first impeller is connected to the driving shaft.

8. The floating support foundation according to claim 1, wherein: The first impeller includes a first hub, a plurality of first blades and a pitch system. The first hub is connected to the driving member. The plurality of first blades are spaced apart in the circumferential direction of the first hub and are connected to the first hub through the pitch system to adjust the pitch angle of the first blades.

9. The floating support foundation according to claim 1, wherein: The stabilizing device further includes a rectifying member disposed in the inner cavity and connected to the base, wherein the rectifying member is disposed between the first opening and the first impeller to rectify the flow direction of the seawater entering through the first opening.

10. The floating support foundation according to claim 9, wherein: The fairing component includes a second hub and a plurality of second blades, wherein the plurality of second blades are spaced apart in the circumferential direction of the second hub and connected to the second hub, an end of the second blade facing away from the hub is connected to the base, and a fairing hole is formed between two adjacent second blades.

11. A wind turbine generator set, wherein: include: The floating support foundation according to any one of claims 1 to 10; The wind turbine body is arranged on the first floating column, and the wind turbine body includes a tower connected to the first floating column, a nacelle arranged on the tower, and an impeller arranged on the nacelle.

12. The wind turbine generator set according to claim 11, wherein: Also included is a controller configured to: Acquire current power information of the wind turbine generator set; if the current power information continuously exceeds a first threshold value within a preset time period, acquire inclination angle information of the floating support foundation; when the inclination angle information exceeds a preset range, determine the steering information of the first impeller of each of the stabilizing devices according to the incoming wind direction; The driving member is controlled to drive each of the first impellers to rotate according to the steering information, so as to adjust the inclination angle information of the floating support foundation to within the preset range.

13. A control method for a wind turbine generator set as claimed in claim 11, wherein: include: Get the current power information of the wind turbine generator set; If the current power information continues to exceed the first threshold value within a preset time period, the inclination angle information of the floating support foundation is obtained; When the tilt angle information exceeds a preset range, the steering information of the first impeller of each of the stabilizing devices is determined according to the incoming wind direction; The driving member is controlled to drive each of the first impellers to rotate according to the steering information, so as to adjust the inclination angle information of the floating support foundation to within the preset range.

14. The control method according to claim 13, wherein: The steering information includes forward rotation and reverse rotation; When the first impeller of the stabilizing device rotates in the positive direction, the stabilizing device provides a driving force for buoyancy to the connected second floating column; When the first impeller of the stabilizing device rotates in the opposite direction, the stabilizing device provides a driving force for sinking the connected second floating column.

15. The control method according to claim 14, wherein: The number of the second floating columns is two, and when the inclination angle information exceeds a preset range, the step of determining the steering information of the first impeller of each of the stabilizing devices according to the incoming wind direction comprises: When the tilt angle information exceeds a preset range, the two stabilizing devices are controlled to rotate forward synchronously, rotate reversely synchronously, or one rotates forward and the other rotates reversely according to the angle between the incoming wind direction and the reference wind direction.

16. The control method according to claim 13, wherein the first impeller comprises a first hub, a plurality of first blades and a pitch system, wherein the plurality of first blades are arranged at intervals in the circumferential direction of the first hub and are connected to the first hub through the pitch system, and the method further comprises: Determine at least one of the rotation speed information of the first impeller and the angle information between the first blade and the first hub according to the height difference between the draft depth of each second floating column connected to the stabilizing device and a set water surface line; The driving member is controlled to drive each of the first impellers to rotate according to at least one of the rotation speed information and the angle information, so as to adjust the inclination angle information of the floating support foundation to within the preset range.

17. The control method according to claim 16, wherein: The rotation angle a of the first blade relative to the first hub satisfies 0°<a≤90°, and the step of determining at least one of the rotation speed information of the first impeller and the angle information between the first blade and the first hub according to the height difference between the draft of each second floating column connected to the stabilizing device and a set water surface line comprises: When the value range of the height difference H is 0<H≤h1, the first blade rotates to a=90° relative to the first hub, or the first blade rotates to 50°<a≤60° relative to the first hub, and the speed of the first impeller is 800rpm-1500rpm; When the value range of the height difference H is h1<H≤h2, the first blade rotates relative to the first hub to 30°<a≤50°, and the speed of the first impeller is 1500rpm-2500rpm; When the value range of the height difference H is h2<H≤h3, the first blade rotates relative to the first hub to 0°<a≤20°, and the rotation speed of the first impeller is 2500rpm-3500rpm.

18. The control method according to claim 13, wherein: After the step of controlling the driving member to drive each of the first impellers to rotate according to the steering information to adjust the inclination angle information of the floating support foundation to within the preset range, the control method further includes: Get the current power information of the wind turbine generator set; If the current power information is continuously less than the first threshold value within a preset time period, the first impeller in the stabilizing device connected to the floating column is controlled to move in the reverse direction, so that the inclination angle information of the floating support foundation is within the preset range; or, Get the current power information of the wind turbine generator set; If the current power information is continuously less than the first threshold value within the preset time period, the the rotational speed of the first impeller in the stabilizing device to which the second floating column is connected; The first impeller of each stabilizing device is retracted and the rotation of the first impeller is stopped to adjust the floating support foundation to return to the initial state.

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