Pitch angle control method and apparatus for floating wind turbine, and device

Abstract

A pitch angle control method for a floating wind turbine. The method comprises: on the basis of an inflow wind speed of a target wind turbine, a pitch angular velocity of the target wind turbine and a tower height of the target wind turbine, separately determining a rotation speed error correction ratio and a rotation speed error integral correction ratio of the target wind turbine; on the basis of the rotation speed error correction ratio, a rated rotation speed of a wind rotor in the target wind turbine and a first rotation speed of the wind rotor, determining a rotor rotation speed error of the target wind turbine, and on the basis of the rotation speed error integral correction ratio, the rated rotation speed and the first rotation speed, determining a rotor rotation speed integral error of the target wind turbine; on the basis of the first rotation speed, a current first pitch angle of the target wind turbine, the rotor rotation speed error and the rotor rotation speed integral error, determining a target pitch angle of the target wind turbine; and controlling the pitch angle of the target wind turbine to change to the target pitch angle, so that the stability of the target wind turbine can be improved to a certain extent. Further disclosed are a pitch angle control apparatus for a floating wind turbine, and a device.

Description

Pitch angle control method, device and equipment for floating wind turbine

[0001] Cross-reference to Related Applications

[0002] The present application claims priority to the Chinese patent application No. 202410537872.5, filed on April 30, 2024, and entitled "Pitch angle control method, device and equipment for floating wind turbine", the whole content of which is incorporated herein by reference. TECHNICAL FIELD

[0003] The present application belongs to the technical field of wind power generation, and particularly relates to a pitch angle control method, device and equipment for floating wind turbine. BACKGROUND

[0004] Currently, wind power generation has become one of the indispensable sources of new energy. With the planning of offshore wind turbines, the broad and stable deep sea area of wind energy has become the main area of future wind power development. The floating wind turbine is fixed on the floating body foundation structure, and is affected by the incoming wind and waves. The rotation of the wind wheel and the movement of the floating body will produce coupling, especially the dynamic rotation of the wind wheel and the pitch motion of the floating body. The pitch motion refers to the forward and backward pitching motion of the floating wind turbine in the plane perpendicular to the plane of the wind wheel. When the floating wind turbine operates in the area above the rated wind speed, the oscillation phenomenon of the pitch motion of the floating foundation can often be observed, which affects the power output of the floating wind turbine and increases the mechanical fatigue, threatening the safe and stable operation of the unit.

[0005] In the related art, the pitch angular velocity can be fed back and added to the pitch angle control instruction signal to offset the negative damping term caused by the aerodynamic thrust, increase the pitch motion damping, and suppress the pitch oscillation of the floating wind turbine.

[0006] However, the above method has great differences in the suppression effect of pitch oscillation under different incoming wind speeds in practice, resulting in poor stability of the wind turbine.

[0007] SUMMARY

[0008] The present application aims to provide a pitch angle control method, device, electronic equipment and storage medium for floating wind turbine to solve the problem of poor stability of floating wind turbine in the related art.

[0009] In order to solve the above technical problems, the present application is implemented as follows:

[0010] In a first aspect, the embodiments of the present application provide a pitch angle control method for floating wind turbine, comprising:

[0011] determine a rotational speed error correction proportion and a rotational speed error integral correction proportion of the target wind turbine based on an incoming wind speed of the target wind turbine, a pitch angular velocity of the target wind turbine, and a tower height of the target wind turbine;

[0012] determine a rotor rotational speed error of the target wind turbine based on the rotational speed error correction proportion, a rated rotational speed of a wind wheel in the target wind turbine, and a first rotational speed of the wind wheel, and determine a rotor rotational speed integral error of the target wind turbine based on the rotational speed error integral correction proportion, the rated rotational speed, and the first rotational speed;

[0013] determine a target pitch angle of the target wind turbine based on the first rotational speed, a current first pitch angle of the target wind turbine, the rotor rotational speed error, and the rotor rotational speed integral error;

[0014] control the target wind turbine to change the pitch angle to the target pitch angle.

[0015] Optionally, a first partial derivative of the rotational speed error correction proportion with respect to the pitch angular velocity is greater than 0, and a first partial derivative of the rotational speed error integral correction proportion with respect to the pitch angular velocity is greater than 0.

[0016] Optionally, the determining the target pitch angle of the target wind turbine based on the first rotational speed, the current first pitch angle of the target wind turbine, the rotor rotational speed error, and the rotor rotational speed integral error comprises:

[0017] obtain a proportional control gain coefficient and an integral control gain coefficient of a target blade pitch controller of the target wind turbine;

[0018] multiply the proportional control gain coefficient of the target blade pitch controller of the target wind turbine by the rotor rotational speed error to obtain a proportional control parameter of the target wind turbine, and multiply the integral control gain coefficient of the target blade pitch controller by the rotor rotational speed integral error to obtain an integral control parameter of the target wind turbine;

[0019] determine the target pitch angle of the target wind turbine based on the first rotational speed, the current first pitch angle of the target wind turbine, the proportional control parameter, and the integral control parameter.

[0020] Optionally, the determining the rotor rotational speed error of the target wind turbine based on the rotational speed error correction proportion, the rated rotational speed of the wind wheel in the target wind turbine, and the first rotational speed of the wind wheel comprises:

[0021] calculate a first product between the rotational speed error correction proportion and the first rotational speed of the wind wheel in the target wind turbine;

[0022] calculating a difference between the rated rotational speed of the wind wheel and the first product, to obtain a rotor rotational speed error of the target wind turbine.

[0023] Optionally, the determining the rotor rotational speed integral error of the target wind turbine based on the rotational speed error integral correction proportion, the rated rotational speed and the first rotational speed comprises:

[0024] calculating a second product between the rotational speed error integral correction proportion and the first rotational speed;

[0025] integrating a difference between the rated rotational speed of the wind wheel and the second product in a time domain, to obtain a rotor rotational speed integral error of the target wind turbine.

[0026] Optionally, the determining the target pitch angle of the target wind turbine based on the first rotational speed, a current first pitch angle of the target wind turbine, the proportional control parameter and the integral control parameter comprises:

[0027] determining a gain scheduling coefficient of the target wind turbine based on the first rotational speed and a current first pitch angle of the target wind turbine;

[0028] summing the proportional control parameter and the integral control parameter to obtain a first sum value;

[0029] multiplying the gain scheduling coefficient and the first sum value to obtain the target pitch angle of the target wind turbine.

[0030] Optionally, the controlling the pitch angle of the target wind turbine to change to the target pitch angle comprises:

[0031] correcting the target pitch angle based on a pitch angle actuator time constant of the target wind turbine to obtain a target corrected pitch angle of the target wind turbine;

[0032] controlling the pitch angle of the target wind turbine to change to the target corrected pitch angle.

[0033] Optionally, the correcting the target pitch angle based on a pitch angle actuator time constant of the target wind turbine to obtain a target corrected pitch angle of the target wind turbine comprises:

[0034] calculating a first order pitch angle derivative of the target pitch angle with respect to time;

[0035] calculating a third product between the first order pitch angle derivative and a pitch angle actuator time constant of the target wind turbine;

[0036] adding the third product and the target pitch angle, to obtain a target corrected pitch angle of the target wind turbine.

[0037] In a second aspect, the embodiments of the present application provide a pitch angle control device of a floating wind turbine, the device comprising:

[0038] a first determining module configured to determine a rotational speed error correction proportion and a rotational speed error integral correction proportion of the target wind turbine based on an incoming flow speed of the target wind turbine, a pitch angular velocity of the target wind turbine and a tower height of the target wind turbine;

[0039] a second determining module configured to determine a rotor rotational speed error of the target wind turbine based on the rotational speed error correction proportion, a rated rotational speed of a wind wheel in the target wind turbine and a first rotational speed of the wind wheel, and determine a rotor rotational speed integral error of the target wind turbine based on the rotational speed error integral correction proportion, the rated rotational speed and the first rotational speed;

[0040] a third determining module configured to determine a target pitch angle of the target wind turbine based on the first rotational speed, a first pitch angle of the target wind turbine at present, the rotor rotational speed error and the rotor rotational speed integral error;

[0041] a control module configured to control the target wind turbine to change the pitch angle to the target pitch angle.

[0042] Optionally, a first partial derivative of the rotational speed error correction proportion with respect to the pitch angular velocity is greater than 0, and a first partial derivative of the rotational speed error integral correction proportion with respect to the pitch angular velocity is greater than 0.

[0043] Optionally, the third determining module comprises:

[0044] an obtaining sub-module configured to obtain a proportional control gain coefficient and an integral control gain coefficient of a target blade pitch control device of the target wind turbine;

[0045] a first calculating sub-module configured to multiply the proportional control gain coefficient of the target blade pitch control device of the target wind turbine and the rotor rotational speed error to obtain a proportional control parameter of the target wind turbine, and multiply the integral control gain coefficient of the target blade pitch control device and the rotor rotational speed integral error to obtain an integral control parameter of the target wind turbine;

[0046] a first determining sub-module configured to determine the target pitch angle of the target wind turbine based on the first rotational speed, the first pitch angle of the target wind turbine at present, the proportional control parameter and the integral control parameter.

[0047] Optionally, the second determining module comprises:

[0048] a second calculating submodule, configured to calculate a first product between the speed error correction proportion and a first speed of a wind wheel in the target wind turbine;

[0049] a third calculating submodule, configured to calculate a difference between a rated speed of the wind wheel and the first product, to obtain a rotor speed error of the target wind turbine.

[0050] Optionally, the second determining module comprises:

[0051] a fourth calculating submodule, configured to calculate a second product between the speed error integral correction proportion and the first speed;

[0052] a fifth calculating submodule, configured to integrate a difference between the rated speed of the wind wheel and the second product in a time domain, to obtain a rotor speed integral error of the target wind turbine.

[0053] Optionally, the third determining module comprises:

[0054] a second determining submodule, configured to determine a gain scheduling coefficient of the target wind turbine based on the first speed and a current first pitch angle of the target wind turbine;

[0055] a sixth calculating submodule, configured to sum the proportional control parameter and the integral control parameter, to obtain a first sum value;

[0056] a seventh calculating submodule, configured to multiply the gain scheduling coefficient and the first sum value, to obtain a target pitch angle of the target wind turbine.

[0057] Optionally, the control module comprises:

[0058] a correcting submodule, configured to correct the target pitch angle based on a pitch angle actuator time constant of the target wind turbine, to obtain a target corrected pitch angle of the target wind turbine;

[0059] a control submodule, configured to control the pitch angle of the target wind turbine to change to the target corrected pitch angle.

[0060] Optionally, the correcting submodule comprises:

[0061] an eighth calculating submodule, configured to calculate a first pitch angle derivative of the target pitch angle with respect to time;

[0062] a ninth calculating submodule, configured to calculate a third product between the first pitch angle derivative and a pitch angle actuator time constant of the target wind turbine;

[0063] a tenth calculating sub-module, configured to add the third product and the target pitch angle to obtain a target corrected pitch angle of the target wind turbine.

[0064] In a third aspect, an electronic device is provided, which comprises the pitch angle control device of the floating wind turbine according to any one of the above, to implement the pitch angle control method of the floating wind turbine according to any one of the above.

[0065] In a fourth aspect, a computer readable storage medium is provided, which stores at least one instruction or at least one program, and the at least one instruction or the at least one program is loaded and executed by a processor to implement the pitch angle control method of the floating wind turbine according to any one of the above.

[0066] Compared with the prior art, the rotational speed error correction proportion and the rotational speed error integral correction proportion of the target wind turbine are determined based on the inflow wind speed of the target wind turbine, the pitch angular velocity of the target wind turbine and the tower height of the target wind turbine, the rotor rotational speed error of the target wind turbine is determined based on the rotational speed error correction proportion, the rated rotational speed of the wind wheel in the target wind turbine and the first rotational speed of the wind wheel, the rotor rotational speed integral error of the target wind turbine is determined based on the rotational speed error integral correction proportion, the rated rotational speed and the first rotational speed, the target pitch angle of the target wind turbine is determined based on the first rotational speed, the current first pitch angle of the target wind turbine, the rotor rotational speed error and the rotor rotational speed integral error, and the pitch angle of the target wind turbine is changed to the target pitch angle. The rotor rotational speed error and the rotor rotational speed integral error of the target wind turbine can be corrected according to the inflow wind speed of the target wind turbine, the difference in the pitch angle control effect of the target wind turbine under different inflow wind speeds can be reduced, and the stability of the pitch angle control effect of the wind turbine is improved to a certain extent.

[0067] The above description is only a summary of the technical solutions of the present application. In order to more clearly understand the technical means of the present application, the specific embodiments of the present application can be implemented according to the content of the description, and in order to make the above and other purposes, characteristics and advantages of the present application more obvious and easy to understand, the following specific embodiments of the present application are described. BRIEF DESCRIPTION OF DRAWINGS

[0068] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the following will briefly introduce the drawings needed to be used in the embodiments or the prior art description. Obviously, the drawings in the following description are some embodiments of the present application, and those skilled in the art can also obtain other drawings according to these drawings without creating any creative labor.

[0069] Fig. 1 schematically shows a flow chart of a pitch angle control method of a floating wind turbine;

[0070] Fig. 2 schematically shows a flow chart of another pitch angle control method of a floating wind turbine;

[0071] Fig. 3 schematically shows a control block diagram of a blade pitch controller;

[0072] Fig. 4 schematically shows a logic block diagram of a pitch angle control device of a floating wind turbine;

[0073] Fig. 5 schematically shows a block diagram of a computing processing device for performing the method according to the present application; and

[0074] Fig. 6 schematically shows a storage unit for holding or carrying a program code implementing the method according to the present application. DETAILED DESCRIPTION

[0075] In order to make the objects, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be described clearly and completely below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only some but not all of the embodiments of the present application. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative work fall within the scope of protection of the present application.

[0076] Before introducing the embodiments of the present application, a floating wind turbine is analyzed.

[0077] For the pitch model of the floating wind turbine, the following analysis can be made:

[0078] The calculation method of the aerodynamic power, aerodynamic torque and aerodynamic thrust of the floating wind turbine is shown in the following formula 1:

[0079] In formula 1, P a is the aerodynamic power of the floating wind turbine, T a is the aerodynamic torque of the floating wind turbine, F a is the aerodynamic thrust of the floating wind turbine, Ω r is the first rotational speed of the wind wheel in the wind turbine, ρ is the air density of the environment where the floating wind turbine is located, R is the impeller radius of the wind wheel, v0 is the incoming wind speed of the floating wind turbine, is the relative wind speed, is the pitch angular velocity, q is the pitch angle, λ is the tip speed ratio of the floating wind turbine, C p (λ, β) is the aerodynamic power coefficient, C q(λ,β) is the aerodynamic torque coefficient, C t (λ,β) is the aerodynamic thrust coefficient. The aerodynamic power coefficient, the aerodynamic torque coefficient and the aerodynamic thrust coefficient are determined by a nonlinear function of the tip speed ratio and the pitch angle of the floating wind turbine, which can be fitted according to the experimental data provided by the wind turbine supplier. The aerodynamic power coefficient, the aerodynamic torque coefficient and the aerodynamic thrust coefficient have a certain relationship, as shown in the following formula 2:

[0080] In formula 2, the meanings of the parameter symbols contained in formula 2 are the same as those in formula 1, which will not be described here.

[0081] According to the above analysis, the rotor rotation degree of freedom model and the foundation pitch degree of freedom model are established from the rotor rotation and the foundation pitch of the floating wind turbine, as shown in the following formula 3 and formula 4:

[0082] In formula 3, J is the moment of inertia of the wind wheel, Ω r is the rotational speed of the wind wheel, v0 is the incoming wind speed, q is the floating foundation pitch angle, is the floating foundation pitch angular velocity, is the floating foundation pitch angular acceleration. β is the pitch angle, N Gear is the gear box ratio, T e is the electromagnetic torque, T a is the aerodynamic torque, I Mass is the floating foundation pitch moment of inertia, A ∞ is the hydrodynamic infinite frequency added mass, B is the hydrodynamic equivalent radiation damping, C HS is the hydrodynamic equivalent static water recovery stiffness, L T is the tower height of the floating wind turbine, F a is the aerodynamic thrust.

[0083] The pitch angle actuator dynamics of the floating wind turbine are as shown in the following formula 5:

[0084] In formula 5, T ac is the pitch angle actuator time constant, β is the real value of the pitch angle, β cmd is the pitch angle command value given by the wind wheel variable pitch controller of the floating wind turbine.

[0085] On the basis of the above formula 1 to formula 5, let u=[u1,u2] □ , The pitch model of the floating wind turbine can be obtained as shown in the following formula 6:

[0086] In formula 6, u1 and u2 are parameter symbols introduced in modeling process, and have no actual meaning. Other parameter symbols in formula 6 have the same meaning as the parameter symbols in formula 1 to formula 5, and will not be described here.

[0087] Based on the pitch model of the floating wind turbine shown in formula 6, according to the nonlinear system theory, the first order derivative of the output signal with respect to time can be obtained as formula 7 and formula 8 as follows:

[0088] In formula 8, u2 is explicitly shown, indicating that the relative order r2 of y2 is 1.

[0089] The derivative of formula 7 is taken to obtain formula 9 as follows:

[0090] In formula 9, The term contains a partial derivative The partial derivative is calculated by formula 10 as follows:

[0091] In formula 10, u1 is explicitly shown, indicating that the relative order r1 of y1 is 2.

[0092] Based on formula 7 to formula 10, formula 6 is converted into the Byrnes-Isidori standard form, and the transformation matrix is shown in formula 11 as follows:

[0093] In formula 11, η, ξ1, ξ2, ξ3 are all parameter symbols of the Byrnes-Isidori standard form. The zero dynamics of the Byrnes-Isidori standard form can be obtained from formula 11 as formula 12 as follows:

[0094] When ξ1 = 0, The first order derivative of η being 0 means that the value of η near the point where ξ1 = 0 is uncertain, so the pitch model of the floating wind turbine is a non-minimum phase model. It is noted that η = x1 is the pitch angle of the floating foundation, which indicates that the non-minimum phase characteristic of the pitch model of the floating wind turbine is caused by the pitch motion of the floating foundation. Therefore, increasing the pitch damping of the floating wind turbine can reduce the non-minimum phase characteristic of the floating wind turbine and improve the stability of the floating wind turbine.

[0095] Referring to FIG. 1, FIG. 1 is a flow diagram of a pitch angle control method of a floating wind turbine according to an embodiment of the present application. The method can include:

[0096] Step 101, based on the inflow wind speed of the target wind turbine, the pitch angular velocity of the target wind turbine and the tower height of the target wind turbine, respectively determine the rotation speed error correction proportion and the rotation speed error integral correction proportion of the target wind turbine.

[0097] In the embodiments of the present application, the target wind turbine is a floating wind turbine. The real wind speed of the environment where the target wind turbine is located can be measured as the inflow wind speed of the target wind turbine, and the rotation speed error correction proportion and the rotation speed error integral correction proportion of the target wind turbine are calculated according to the inflow wind speed, the pitch angular velocity of the target wind turbine and the tower height, as shown in the following formula 13:

[0098] In formula 13, K F,i is a preset parameter, i = 1, 2. When i = 1, is the rotation speed error correction proportion of the target wind turbine, i = 2, is the rotation speed error integral correction proportion of the target wind turbine. Generally, K F,1 and K F,2 may be different. The meanings of other parameter symbols in formula 13 are the same as those of the same symbols in formulas 1 to 12, which will not be described here.

[0099] Step 102, based on the rotation speed error correction proportion, the rated rotation speed of the wind wheel in the target wind turbine and the first rotation speed of the wind wheel, determine the rotor rotation speed error of the target wind turbine, and based on the rotation speed error integral correction proportion, the rated rotation speed and the first rotation speed, determine the rotor rotation speed integral error of the target wind turbine.

[0100] In the embodiments of the present application, the wind wheel refers to the wind turbine component that converts wind energy into mechanical energy, which is usually composed of blades and a hub. According to the calculated rotation speed error correction proportion, combined with the rated rotation speed of the wind wheel in the target wind turbine and the first rotation speed currently measured, the rotor rotation speed error of the target wind turbine can be calculated, and the calculation method is shown in the following formula 14:

[0101] In formula 14, e Ω is the rotor rotation speed error of the target wind turbine, is the rated wind speed, Ω r is the first rotation speed. At the same time, according to the calculated rotation speed error integral correction proportion, combined with the rated rotation speed and the first rotation speed, the rotor rotation speed integral error of the target wind turbine can be calculated, as shown in the following formula 15:

[0102] In formula 15, is the rotor rotation speed integral error.

[0103] In step 103, a target pitch angle of the target wind turbine is determined based on the first rotational speed, a current first pitch angle of the target wind turbine, the rotor rotational speed error and the rotor rotational speed integral error.

[0104] In the embodiment of the present application, the pitch angle of the wind turbine is defined as the angle between the chord of the blade (i.e. the line connecting the leading edge and the trailing edge of the airfoil) and the plane of rotation of the rotor. The target wind turbine can be equipped with a gain scheduling proportional integral (GSPI) controller, in which the gain scheduling coefficient of the target wind turbine can be determined by the first rotational speed and the current first pitch angle of the target wind turbine first, then the rotor rotational speed integral error is sent to the integrator, and the rotor rotational speed error and the output of the integrator are input into the multiplier together, combined with the gain scheduling coefficient, and finally the target pitch angle of the target wind turbine is obtained.

[0105] In step 104, the pitch angle of the target wind turbine is controlled to change to the target pitch angle.

[0106] In the embodiment of the present application, after the target pitch angle of the target wind turbine is determined, the controller of the target wind turbine can control the pitch angle of the target wind turbine to change to the target pitch angle.

[0107] In the embodiment of the present application, based on the inflow wind speed of the target wind turbine, the pitch angle of the target wind turbine, the yaw angle speed of the target wind turbine and the tower height of the target wind turbine, the rotational speed error correction proportion and the rotational speed integral error correction proportion of the target wind turbine are determined respectively, based on the rotational speed error correction proportion, the rated rotational speed of the rotor of the target wind turbine and the first rotational speed of the rotor, the rotor rotational speed error of the target wind turbine is determined, based on the rotational speed integral error correction proportion, the rated rotational speed and the first rotational speed, the rotor rotational speed integral error of the target wind turbine is determined, based on the first rotational speed, the current first pitch angle of the target wind turbine, the rotor rotational speed error and the rotor rotational speed integral error, the target pitch angle of the target wind turbine is determined, and the pitch angle of the target wind turbine is controlled to change to the target pitch angle, which can correct the rotor rotational speed error and the rotor rotational speed integral error of the target wind turbine according to the inflow wind speed of the target wind turbine, reduce the difference in the pitch angle control effect of the target wind turbine under different inflow wind speeds, and improve the stability of the pitch angle control effect of the target wind turbine to a certain extent.

[0108] Referring to FIG. 2, FIG. 2 is a flowchart of another pitch angle control method of a floating wind turbine according to an embodiment of the present application, which can include:

[0109] Step 201, based on the inflow wind speed of the target wind turbine, the pitch angle velocity of the target wind turbine and the tower height of the target wind turbine, respectively determine the rotation speed error correction proportion and the rotation speed error integral correction proportion of the target wind turbine.

[0110] In the embodiments of the present application, the implementation content of the present step can refer to the implementation content of the embodiment of step 101, which will not be described here.

[0111] Optionally, the first-order partial derivative of the rotation speed error correction proportion with respect to the pitch angle velocity is greater than 0, and the first-order partial derivative of the rotation speed error integral correction proportion with respect to the pitch angle velocity is greater than 0.

[0112] In the embodiments of the present application, the first-order partial derivatives of the rotation speed error correction proportion and the rotation speed error integral correction proportion with respect to the pitch angle velocity of the target wind turbine can be greater than 0, that is, the rotation speed error correction proportion and the rotation speed error integral correction proportion are monotonically increasing with respect to the pitch angle velocity. The reasons for doing so are as follows:

[0113] Only F a For the change of , the first-order Taylor expansion of the base pitch freedom model (formula 4) of the target wind turbine is shown in formula 16 as follows:

[0114] In formula 16, F a0 is the aerodynamic thrust of the target wind turbine in the free state. Wherein, the aerodynamic thrust F a is the first-order partial derivative of the pitch angle velocity . The calculation method is shown in formula 17 as follows:

[0115] The calculation formula of the pitch damping of the target wind turbine is shown in formula 18 as follows:

[0116] After introducing the rotation speed error correction proportion and the rotation speed error integral correction proportion, the calculation formula of the pitch angle is changed to the form shown in formula 19 as follows:

[0117] In formula 19, β1 is the output pitch angle of the variable pitch controller in the target wind turbine.

[0118] The aerodynamic thrust F a in the partial derivative contains the aerodynamic thrust coefficient C t , so the first-order partial derivative of C t with respect to can be calculated as shown in formula 20 as follows:

[0119] In formula 20, the partial derivative The calculation formula of the partial derivative is shown in the following formula 21.

[0120] Since K P <0, the partial derivative

[0121] In combination with formula 18 to formula 21, formula 22 can be obtained as follows:

[0122] In formula 22, since K P <0 and Therefore, the minuend in formula 22 is reduced, so that the pitch damping D is increased. According to the analysis result of the pitch model of the floating wind turbine mentioned above, it can be known that in the case of the increased pitch damping, the stability of the floating wind turbine can be improved, and therefore, when the first partial derivative of the speed error correction proportion and the speed error integral correction proportion with respect to the pitch angular velocity of the target wind turbine is greater than 0, the stability of the target wind turbine can be improved to a certain extent.

[0123] In step 202, a rotor speed error of the target wind turbine is determined based on the speed error correction proportion, a rated speed of a wind wheel in the target wind turbine, and a first speed of the wind wheel, and a rotor speed integral error of the target wind turbine is determined based on the speed error integral correction proportion, the rated speed, and the first speed.

[0124] In the embodiments of the present application, the implementation content of the present step can refer to the implementation content of the embodiments of step 102, which will not be described here.

[0125] Optionally, in step 202, the following substep can be included:

[0126] In substep 2021, a first product between the speed error correction proportion and the first speed of the wind wheel in the target wind turbine is calculated.

[0127] In the embodiments of the present application, the first product between the speed error correction proportion and the first speed of the wind wheel in the target wind turbine, i.e., the part in formula 19, can be calculated.

[0128] In substep 2022, a difference between the rated speed of the wind wheel and the first product is calculated to obtain the rotor speed error of the target wind turbine.

[0129] In the embodiments of the present application, the difference between the rated speed of the wind wheel and the first product before the calculation can be calculated to obtain the rotor speed error of the target wind turbine, i.e., the part in formula 19.

[0130] In the embodiment of the present application, the first product between the rotational speed error correction ratio and the first rotational speed of the wind wheel in the target wind turbine is calculated, the difference between the rated rotational speed of the wind wheel and the first product is calculated to obtain the rotor rotational speed error of the target wind turbine. The first rotational speed can be corrected according to the rotational speed error correction ratio, and the rotor rotational speed error of the target wind turbine is calculated, which improves the accuracy and reliability of the rotor rotational speed error.

[0131] In the embodiment of the present application, the second product between the rotational speed error correction integral ratio and the first rotational speed is calculated, that is, the

[0132] In the embodiment of the present application, the second product between the rotational speed error correction integral ratio and the first rotational speed is calculated, that is, the

[0133] In the embodiment of the present application, the second product between the rotational speed error correction integral ratio and the first rotational speed is calculated, that is, the

[0134] In the embodiment of the present application, the second product between the rotational speed error correction integral ratio and the first rotational speed is calculated, that is, the

[0135] In the embodiment of the present application, the second product between the rotational speed error correction integral ratio and the first rotational speed is calculated, that is, the

[0136] In the embodiment of the present application, the second product between the rotational speed error correction integral ratio and the first rotational speed is calculated, that is, the

[0137] In the embodiment of the present application, the second product between the rotational speed error correction integral ratio and the first rotational speed is calculated, that is, the P I In the embodiment of the present application, the second product between the rotational speed error correction integral ratio and the first rotational speed is calculated, that is, the

[0138] ​​​Referring to FIG. 3, FIG. 3 is a control block diagram of a blade pitch controller according to an embodiment of the present application. In the diagram, the controller can first calculate a speed error correction proportion of the floating wind turbine according to a current pitch angle speed of the floating wind turbine, and in combination with an incoming wind speed of the floating wind turbine and a speed error integral correction proportion and multiply the speed error correction proportion and the speed error integral correction proportion respectively with a current first speed of the wind wheel r to correct the first speed, and then input the opposite of the two values obtained after the correction respectively into a multiplier in combination with a rated speed of the wind wheel of the floating wind turbine, to obtain a first rotor speed error and a second rotor speed error Then, the first rotor speed error is multiplied with a proportional control gain coefficient K P to obtain a proportional control parameter and the rotor speed integral error is input into an integrator with an integral control gain coefficient to obtain an integral control parameter Then, the proportional control parameter and the integral control parameter are input into the multiplier, and a gain scheduling algorithm G K (Ω r ,β) in the controller is used to calculate a target pitch angle of the floating wind turbine, and then the pitch angle of the floating wind turbine is controlled to change to the target pitch angle in combination with a rated electromagnetic torque of the floating wind turbine, and a new pitch angle speed and a wind wheel speed are obtained, so that a new round of control process can be started. Wherein, β is a current pitch angle of the floating wind turbine, and s is a Laplace operator.

[0139] In step 204, the proportional control gain coefficient of the target blade pitch controller of the target wind turbine is multiplied with the rotor speed error to obtain a proportional control parameter of the target wind turbine, and the integral control gain coefficient of the target blade pitch controller is multiplied with the rotor speed integral error to obtain an integral control parameter of the target wind turbine.

[0140] In the embodiment of the present application, the proportional control gain coefficient of the target blade pitch controller of the target wind turbine can be multiplied with the rotor speed error to obtain the proportional control parameter of the target wind turbine, i.e. the part of formula 19. At the same time, the integral control gain coefficient of the target blade pitch controller can be multiplied with the rotor speed integral error to obtain the integral control parameter of the target wind turbine, i.e. the part of formula 19.

[0141] ​​At step 205, a target pitch angle of the target wind turbine is determined based on the first rotational speed, the current first pitch angle of the target wind turbine, the proportional control parameter and the integral control parameter.

[0142] In the embodiments of the present application, the target pitch angle of the target wind turbine can be calculated and determined according to the first rotational speed of the wind wheel, the first pitch angle of the target wind turbine, the proportional control parameter and the integral control parameter. Wherein, the gain scheduling coefficient of the target blade pitch controller can be calculated according to the first rotational speed of the wind wheel and the first pitch angle of the target wind turbine, that is, G in formula 19. K (Ω r Then, the target pitch angle of the target wind turbine can be calculated according to the gain scheduling coefficient, the proportional control parameter and the integral control parameter, as shown in formula 19.

[0143] Optionally, at step 205, the following sub-steps can be included:

[0144] At sub-step 2051, a gain scheduling coefficient of the target wind turbine is determined based on the first rotational speed and the current first pitch angle of the target wind turbine.

[0145] In the embodiments of the present application, the gain scheduling coefficient of the target wind turbine can be determined according to the first rotational speed of the wind wheel and the first pitch angle of the target wind turbine. For different wind turbines, different gain scheduling coefficient calculation formulas are usually provided. For example, the gain scheduling coefficient calculation formula of a 15MW floating wind turbine is shown in formula 23 as follows:

[0146] In formula 23, Ω r is the first rotational speed, is the rated rotational speed, β is the current pitch angle, β K1 = 10.3465° and β K2 = 464.8335° are experimental values.

[0147] At sub-step 2052, the proportional control parameter and the integral control parameter are summed to obtain a first sum value.

[0148] In the embodiments of the present application, the proportional control parameter and the integral control parameter can be added to obtain a first sum value, that is, the part of K in formula 19.

[0149] At sub-step 2053, the gain scheduling coefficient and the first sum value are multiplied to obtain the target pitch angle of the target wind turbine.

[0150] ​In the embodiment of the present application, the gain scheduling coefficient and the first sum value can be multiplied, so that the target pitch angle of the target wind turbine can be obtained, as shown in formula 19.

[0151] In the embodiment of the present application, the gain scheduling coefficient of the target wind turbine is determined based on the first rotational speed and the current first pitch angle of the target wind turbine, the proportional control parameter and the integral control parameter are summed to obtain the first sum value, and the gain scheduling coefficient and the first sum value are multiplied to obtain the target pitch angle of the target wind turbine. The gain scheduling coefficient of the target wind turbine can be calculated, and the target pitch angle of the target wind turbine can be calculated in combination with the proportional control parameter and the integral control parameter, thereby improving the accuracy and reliability of the target pitch angle.

[0152] In the embodiment of the present application, the proportional control gain coefficient and the integral control gain coefficient of the target blade variable pitch controller of the target wind turbine are obtained, the proportional control gain coefficient of the target blade variable pitch controller of the target wind turbine is multiplied by the rotor speed error to obtain the proportional control parameter of the target wind turbine, the integral control gain coefficient of the target blade variable pitch controller is multiplied by the rotor speed integral error to obtain the integral control parameter of the target wind turbine, and the gain scheduling coefficient and the first sum value are multiplied to obtain the target pitch angle of the target wind turbine. The proportional control gain coefficient and the integral control gain coefficient of the target blade variable pitch controller can be used to correct the rotor speed error and the rotor speed integral error respectively, and the target pitch angle of the target wind turbine can be calculated, thereby improving the accuracy and reliability of the target pitch angle.

[0153] Step 206, changing the pitch angle of the target wind turbine to the target pitch angle.

[0154] In the embodiment of the present application, the implementation content of this step can refer to the embodiment content of step 104, which will not be described here.

[0155] Optionally, in step 206, the following substep can be included:

[0156] Substep 2061, correcting the target pitch angle based on the pitch angle actuator time constant of the target wind turbine to obtain the target corrected pitch angle of the target wind turbine.

[0157] In the embodiment of the present application, the pitch angle actuator time constant of the target wind turbine is the change duration of the controller changing the pitch angle to the target pitch angle. The pitch angle actuator time constant is the inherent property of the target wind turbine, which can be determined by experiment before leaving the factory. The target pitch angle can be corrected according to the pitch angle actuator time constant of the target wind turbine, so that the target corrected pitch angle of the target wind turbine can be obtained.

[0158] Optionally, in substep 2061, the following substeps can be included:

[0159] Substep A1, calculating a first pitch angle derivative of the target pitch angle with respect to time.

[0160] In embodiments of the present application, the first pitch angle derivative of the target pitch angle with respect to time can be calculated, i.e.

[0161] Substep A2, calculating a third product between the first pitch angle derivative and a pitch angle actuator time constant of the target wind turbine.

[0162] In embodiments of the present application, after the first pitch angle derivative of the target pitch angle with respect to time is calculated, the third product between the first pitch angle derivative and a pitch angle actuator time constant of the target wind turbine can be calculated.

[0163] Substep A3, adding the third product and the target pitch angle to obtain a target corrected pitch angle of the target wind turbine.

[0164] In embodiments of the present application, after the third product between the first pitch angle derivative and a pitch angle actuator time constant of the target wind turbine is calculated, the third product and the target pitch angle can be added to obtain a target corrected pitch angle of the target wind turbine, as shown in the following equation 24:

[0165] In equation 24, T ac is the pitch angle actuator time constant, β is the target pitch angle, is the first pitch angle derivative, β cmd is the target corrected pitch angle.

[0166] In embodiments of the present application, the first pitch angle derivative of the target pitch angle with respect to time is calculated, the third product between the first pitch angle derivative and a pitch angle actuator time constant of the target wind turbine is calculated, and the third product and the target pitch angle are added to obtain a target corrected pitch angle of the target wind turbine, which can correct the target pitch angle by the derivative of the current pitch angle of the target wind turbine in combination with the pitch angle actuator time constant of the target wind turbine to obtain the target corrected pitch angle, thereby improving the accuracy of the target corrected pitch angle.

[0167] Substep 2062, controlling the pitch angle of the target wind turbine to change to the target corrected pitch angle.

[0168] In embodiments of the present application, after the target pitch angle is corrected to obtain the target corrected pitch angle, the target blade pitch control controller can be used to control the pitch angle of the target wind turbine to change to the target corrected pitch angle.

[0169] In the embodiment of the present application, the target pitch angle is corrected based on the pitch angle actuator time constant of the target wind turbine, to obtain a target corrected pitch angle of the target wind turbine, the pitch angle of the target wind turbine is changed to the target corrected pitch angle, the target corrected pitch angle can be obtained by correcting the pitch angle actuator time constant of the target wind turbine, and the target wind turbine can output the target corrected pitch angle, thereby further improving the stability of the operation of the target wind turbine.

[0170] Referring to FIG. 4, FIG. 4 is a logic block diagram of a pitch angle control device of a floating wind turbine according to an embodiment of the present application. The pitch angle control device 400 of the floating wind turbine can include:

[0171] A first determining module 401 is configured to determine a speed error correction proportion and a speed error integral correction proportion of a target wind turbine based on an incoming flow speed of the target wind turbine, a pitch angular velocity of the target wind turbine, and a tower height of the target wind turbine, respectively.

[0172] A second determining module 402 is configured to determine a rotor speed error of the target wind turbine based on the speed error correction proportion, a rated speed of a wind wheel in the target wind turbine, and a first speed of the wind wheel, and determine a rotor speed integral error of the target wind turbine based on the speed error integral correction proportion, the rated speed, and the first speed.

[0173] A third determining module 403 is configured to determine a target pitch angle of the target wind turbine based on the first speed, a first pitch angle of the target wind turbine at present, the rotor speed error, and the rotor speed integral error.

[0174] A control module 404 is configured to control the pitch angle of the target wind turbine to change to the target pitch angle.

[0175] Optionally, a first-order partial derivative of the speed error correction proportion with respect to the pitch angular velocity is greater than 0, and a first-order partial derivative of the speed error integral correction proportion with respect to the pitch angular velocity is greater than 0.

[0176] Optionally, the third determining module 403 includes:

[0177] An obtaining sub-module is configured to obtain a proportional control gain coefficient and an integral control gain coefficient of a target blade pitch controller of the target wind turbine.

[0178] The first calculation submodule is configured to multiply the proportional control gain coefficient of the target blade pitch controller of the target wind turbine and the rotor speed error to obtain a proportional control parameter of the target wind turbine, and multiply the integral control gain coefficient of the target blade pitch controller and the rotor speed integral error to obtain an integral control parameter of the target wind turbine.

[0179] The first determination submodule is configured to determine the target pitch angle of the target wind turbine based on the first speed, the current first pitch angle of the target wind turbine, the proportional control parameter and the integral control parameter.

[0180] Optionally, the second determination module 402 comprises:

[0181] The second calculation submodule is configured to calculate a first product between the speed error correction proportional and the first speed of the wind wheel of the target wind turbine.

[0182] The third calculation submodule is configured to calculate a difference between the rated speed of the wind wheel and the first product to obtain a rotor speed error of the target wind turbine.

[0183] Optionally, the second determination module 402 comprises:

[0184] The fourth calculation submodule is configured to calculate a second product between the speed error integral correction proportional and the first speed.

[0185] The fifth calculation submodule is configured to integrate a difference between the rated speed of the wind wheel and the second product in the time domain to obtain a rotor speed integral error of the target wind turbine.

[0186] Optionally, the third determination module 403 comprises:

[0187] The second determination submodule is configured to determine a gain scheduling coefficient of the target wind turbine based on the first speed and the current first pitch angle of the target wind turbine.

[0188] The sixth calculation submodule is configured to sum the proportional control parameter and the integral control parameter to obtain a first sum value.

[0189] The seventh calculation submodule is configured to multiply the gain scheduling coefficient and the first sum value to obtain the target pitch angle of the target wind turbine.

[0190] Optionally, the control module 404 comprises:

[0191] The correction submodule is configured to correct the target pitch angle based on a pitch angle actuator time constant of the target wind turbine to obtain a target corrected pitch angle of the target wind turbine.

[0192] The control submodule is configured to control the target wind turbine to change the pitch angle to the target corrected pitch angle.

[0193] Optionally, the correction submodule comprises:

[0194] The eighth calculation submodule is configured to calculate a first-order pitch angle derivative of the target pitch angle with respect to time.

[0195] The ninth calculation submodule is configured to calculate a third product between the first-order pitch angle derivative and a pitch angle actuator time constant of the target wind turbine.

[0196] The tenth calculation submodule is configured to add the third product and the target pitch angle to obtain the target corrected pitch angle of the target wind turbine.

[0197] For the device embodiment, since it is basically similar to the method embodiment, the description is relatively simple, and the related parts refer to the part of the method embodiment.

[0198] The target floating wind turbine pitch angle control device has the same advantages as the floating wind turbine pitch angle control method of the preceding embodiments relative to the prior art, and details are not repeated here.

[0199] The device embodiment described above is only schematic, wherein the units described as separate components may or may not be physically separate, and the components displayed as units may or may not be physical units, that is, they may be located in one place, or distributed on multiple network units. Some or all of the modules can be selected according to actual needs to achieve the purpose of the embodiment scheme. Those skilled in the art can understand and implement it without creative labor.

[0200] The embodiment of the application provides an electronic device comprising the floating wind turbine pitch angle control device as described in any of the above, to implement the floating wind turbine pitch angle control method as described in any of the above.

[0201] The embodiment of the application further provides a readable storage medium, wherein the readable storage medium stores a program or instructions, the program or instructions are executed by a processor to implement each process of the transmission method embodiment, and the same technical effects can be achieved. To avoid repetition, details are not repeated here.

[0202] The processor is the processor in the terminal device in the above-mentioned embodiments. The readable storage medium includes a computer readable storage medium, such as a computer readable only memory (ROM), a random access memory (RAM), a magnetic disk or an optical disk, etc.

[0203] The embodiment of the present application further provides a chip, which comprises a processor and a communication interface, the communication interface is coupled with the processor, the processor is used for running programs or instructions, realizes various processes of the above-mentioned transmission method embodiments, and can achieve the same technical effects. To avoid repetition, details are not repeated here.

[0204] It should be understood that the chip mentioned in the embodiment of the present application can also be referred to as a system chip, a system chip, a chip system or a system on chip, etc.

[0205] The embodiment of the present application further provides a computer program / program product, which is stored in a storage medium, and is executed by at least one processor to realize various processes of the above-mentioned transmission method embodiments, and can achieve the same technical effects. To avoid repetition, details are not repeated here.

[0206] The above-mentioned device embodiments are only schematic, wherein the units illustrated as separate components can or can not be physically separated, and the components illustrated as units can or can not be physical units, i.e., can be located in one place, or can be distributed on multiple network units. Part or all of the modules can be selected according to actual needs to achieve the purpose of the embodiment of the present application. Those skilled in the art can understand and implement without creative labor.

[0207] The various component embodiments of the present application can be implemented in hardware, or in software modules running on one or more processors, or in a combination thereof. Those skilled in the art should understand that microprocessors or digital signal processors (DSP) can be used in practice to implement some or all of the functions of some or all of the components in the computing processing device according to the embodiments of the present application. The present application can also be implemented as a device or apparatus program (for example, a computer program and a computer program product) for executing part or all of the methods described herein. Such program implementing the present application can be stored on a computer readable medium, or can have one or more signals in the form. Such signals can be downloaded from an Internet website, or provided on a carrier signal, or provided in any other form.

[0208] For example, Fig. 5 shows a computing processing device that can implement the methods according to the present application. The computing processing device conventionally comprises a processor 1010 and a computer program product or computer readable medium in the form of a memory 1020. The memory 1020 can be an electronic storage medium such as a flash memory, EEPROM (Electrically Erasable Programmable Read-Only Memory), EPROM, hard disk or ROM. The memory 1020 has a storage space 1030 for program code 1031 for performing any of the method steps in the above described methods. For example, the storage space 1030 for program code can comprise individual program codes 1031 for implementing the various steps in the above methods, respectively. These program codes can be read from or written to one or more computer program products. These computer program products comprise program code carriers such as hard disks, compact disks (CDs), memory cards or floppy disks. Such computer program products are typically portable or stationary memory units as described with reference to Fig. 6. The memory unit can have a storage section, storage space or the like arranged similarly to the memory 1020 in the computing processing device of Fig. 5. The program code can be compressed, for example, in a suitable form. Typically, the memory unit comprises computer readable code 1031', i.e. code that can be read by a processor such as 1010, which code, when run by the computing processing device, causes the computing processing device to perform the various steps in the above described methods.

[0209] The terms "one embodiment", "an embodiment" or "one or more embodiments” as used herein mean that a particular feature, structure, or characteristic described in connection with the embodiment is included in at least one embodiment of the application. The appearances of the phrase "in one embodiment” in various places in the specification are not necessarily all referring to the same embodiment.

[0210] In the description provided herein, numerous specific details are set forth. However, it is understood that embodiments of the application can be practiced without these specific details. In some instances, well-known methods, structures and techniques have not been described in detail in order not to obscure the understanding of this description.

[0211] In the claims, any reference signs placed between parentheses shall not be construed as limiting the claim. The word "comprising” does not exclude the presence of elements or steps not listed in a claim. The word "a” or "an” preceding an element does not exclude the presence of a plurality of such elements. The application can be implemented by means of both hardware and software, and any combination thereof. In a unitary claim, several devices or sub-claims can be listed, comprising different combinations of elements. The phrase "first”, "second”, "third” etc. does not require or imply any ordinality or order among the claim features. The terms "first”, "second”, "third” etc. are to be interpreted as names of different elements.

[0212] It should be noted that the above examples are only used to illustrate the technical solutions of the present application, and are not intended to limit the same. Although the present application has been described in detail with reference to the foregoing examples, it should be understood by those skilled in the art that the technical solutions recorded in the foregoing examples can still be modified, or some technical features thereof can be replaced by equivalent replacements. Such modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present application.

Claims

1. A method of pitch angle control for a floating wind turbine, wherein, The method comprises: determining a rotational speed error correction proportion and a rotational speed error integral correction proportion of the target wind turbine respectively based on an inflow wind speed of the target wind turbine, a pitch angular velocity of the target wind turbine and a tower height of the target wind turbine; determining a rotor rotational speed error of the target wind turbine based on the rotational speed error correction proportion, a rated rotational speed of a wind wheel in the target wind turbine and a first rotational speed of the wind wheel, and determining a rotor rotational speed integral error of the target wind turbine based on the rotational speed error integral correction proportion, the rated rotational speed and the first rotational speed; determining a target pitch angle of the target wind turbine based on the first rotational speed, a first pitch angle of the target wind turbine at present, the rotor rotational speed error and the rotor rotational speed integral error; controlling the target wind turbine to change the pitch angle to the target pitch angle.

2. The method of claim 1, wherein, The first partial derivative of the rotational speed error correction proportion with respect to the pitch angular velocity is greater than 0, and the first partial derivative of the rotational speed error integral correction proportion with respect to the pitch angular velocity is greater than 0.

3. The method of claim 1, wherein, The determining of the target pitch angle of the target wind turbine based on the first rotational speed, the first pitch angle of the target wind turbine at present, the rotor rotational speed error and the rotor rotational speed integral error comprises: obtaining a proportional control gain coefficient and an integral control gain coefficient of a target blade pitch control device of the target wind turbine; multiplying the proportional control gain coefficient of the target blade pitch control device of the target wind turbine by the rotor rotational speed error to obtain a proportional control parameter of the target wind turbine, and multiplying the integral control gain coefficient of the target blade pitch control device by the rotor rotational speed integral error to obtain an integral control parameter of the target wind turbine; determining the target pitch angle of the target wind turbine based on the first rotational speed, the first pitch angle of the target wind turbine at present, the proportional control parameter and the integral control parameter.

4. The method of claim 1, wherein, The determining of the rotor rotational speed error of the target wind turbine based on the rotational speed error correction proportion, the rated rotational speed of the wind wheel in the target wind turbine and the first rotational speed of the wind wheel comprises: calculating a first product between the rotational speed error correction proportion and the first rotational speed of the wind wheel in the target wind turbine; calculating a difference between the rated rotational speed of the wind wheel and the first product to obtain the rotor rotational speed error of the target wind turbine. The determining of the rotor rotational speed integral error of the target wind turbine based on the rotational speed error integral correction proportion, the rated rotational speed and the first rotational speed comprises:

5. The method of claim 1, wherein, calculating a second product between the rotational speed error integral correction proportion and the first rotational speed; integrating a difference between the rated rotational speed of the wind wheel and the second product in a time domain to obtain the rotor rotational speed integral error of the target wind turbine. The determining of the target pitch angle of the target wind turbine based on the first rotational speed, the first pitch angle of the target wind turbine at present, the proportional control parameter and the integral control parameter comprises:

6. The method of claim 3, wherein, ​ determine a gain scheduling coefficient of the target wind turbine based on the first rotational speed, a first pitch angle of the target wind turbine at present; sum the proportional control parameter and the integral control parameter to obtain a first sum value; multiply the gain scheduling coefficient and the first sum value to obtain a target pitch angle of the target wind turbine.

7. The method of claim 1, wherein, the control of the pitch angle of the target wind turbine to change to the target pitch angle comprises: correct the target pitch angle based on a pitch actuator time constant of the target wind turbine to obtain a target corrected pitch angle of the target wind turbine; control the pitch angle of the target wind turbine to change to the target corrected pitch angle.

8. The method of claim 7, wherein, the correction of the target pitch angle based on the pitch actuator time constant of the target wind turbine to obtain the target corrected pitch angle of the target wind turbine comprises: calculate a first pitch angle derivative of the target pitch angle with respect to time; calculate a third product between the first pitch angle derivative and the pitch actuator time constant of the target wind turbine; add the third product and the target pitch angle to obtain the target corrected pitch angle of the target wind turbine.

9. A pitch control apparatus for a floating wind turbine, wherein, the device comprises: a first determining module configured to determine a rotational speed error correction proportion and a rotational speed error integral correction proportion of a target wind turbine respectively based on an incoming wind speed of the target wind turbine, a pitch angular velocity of the target wind turbine and a tower height of the target wind turbine; a second determining module configured to determine a rotor rotational speed error of the target wind turbine based on the rotational speed error correction proportion, a rated rotational speed of a wind wheel in the target wind turbine and a first rotational speed of the wind wheel, and determine a rotor rotational speed integral error of the target wind turbine based on the rotational speed error integral correction proportion, the rated rotational speed and the first rotational speed; a third determining module configured to determine a target pitch angle of the target wind turbine based on the first rotational speed, a first pitch angle of the target wind turbine at present, the rotor rotational speed error and the rotor rotational speed integral error; a control module configured to control the pitch angle of the target wind turbine to change to the target pitch angle. the pitch angle control device of the floating wind turbine of claim 9 is used to implement the pitch angle control method of the floating wind turbine of any one of claims 1 to 8.

10. An electronic device, comprising: ​

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