202 results about "Yaw control" patented technology

The invention relates to an empennage structure of a flapping-wing robot, which comprises a yawing mechanism, a pitching mechanism and a connecting mechanism, the yawing mechanism comprises a yawing steering engine, a yawing steering engine rocker arm, a yawing rocker arm and a yawing control surface; the pitching mechanism comprises a pitching steering engine, a pitching steering engine rocker arm and a pitching surface; the connecting mechanism comprises a pitching steering engine fixing plate, an empennage surface plate and a fuselage. The pitching motion function of the empennage is achieved through the knuckle bearing and the connecting rod structure, the yawing motion function of the empennage is achieved through the flexible material, the steering engine rocker arm and the yawing rocker arm, the yawing structure and the pitching structure are combined through the empennage plane plate, and the whole empennage mechanism is formed. The yawing motion cannot be affected during pitching motion, decoupling of the pitching motion and the yawing motion is achieved, meanwhile, the yawing control steering engine and the pitching control steering engine are both installed on the fuselage, empennage structural parts are reduced, the loading capacity during empennage motion is reduced, and the beneficial effects of being compact in structure and high in adjusting capacity are achieved.

The invention discloses a yaw wind error compensation method and system based on wind measurement data, and relates to the technical field of wind power generation equipment control, and the method comprises the steps: setting a wind measurement point position, and collecting an original wind field data set; calculating an incoming flow and a cabin wind direction angle according to the original wind field data set; performing deviation calculation to obtain a yaw wind error angle; triggering a dual-channel compensation module, accumulating errors, constructing an error queue, and performing batch compensation to obtain a compensation result; yawing control parameters are called, the cabin attitude is analyzed according to the compensation result, the yawing control parameters are updated, and self-adaptive compensation of yawing to the wind error is achieved. The technical problems that in the operation process of the wind driven generator, due to wake flow, terrain, turbulent flow and other environmental factors and equipment loss, a traditional yaw system cannot accurately detect the wind direction and compensate the wind alignment error, the power generation efficiency is low, and the potential safety hazard of equipment is large are solved, and the purposes of accurately improving the wind alignment precision of a wind wheel and improving the power generation efficiency are achieved. The power generation efficiency is obviously improved; and the equipment operation safety is enhanced.

A coordinated control method and apparatus for the lateral stability of an electric vehicle and a storage medium. The method comprises: acquiring the current yaw velocity, the current sideslip angle, the current longitudinal velocity and a steering angle input by a driver; on the basis of the current yaw velocity, the current sideslip angle, the current longitudinal velocity and the steering angle, using a preset hybrid control rule to determine an additional yaw moment and an additional front wheel steering angle; sending the additional yaw moment to a DYC system, so that the DYC system allocates the additional yaw moment on the basis of a preset allocation rule, so as to obtain respective longitudinal braking forces of four hubs; and sending the additional front wheel steering angle to an AFWS system, so that the AFWS system allocates the additional front wheel steering angle on the basis of a preset steering control rule, so as to obtain respective steering angles of the four hubs. The present application avoids a lack of driving comfort and stability during single-system yaw control, ultimately remarkably improving the lateral control stability of vehicles.

The present invention relates to a yaw control method, system and electronic equipment for a wind turbine. The method first installs a laser radar on the wind turbine for a period of time to obtain sufficient historical measurement data, and then develops a data-driven machine learning method to obtain a laser radar wind direction estimation model. The laser radar can then be removed or migrated to other wind turbines, and the laser radar wind direction estimation model is used to replace the role of the laser radar in calibrating yaw deviation to improve the accuracy of inflow wind measurement in the wind turbine control process and significantly reduce costs.

The invention relates to a stability control method and system based on dynamic target yaw, and the method comprises the steps: obtaining a first output result based on a vehicle dynamics model, an input steering wheel rotation angle and a pedal signal; based on the operation parameters of the vehicle, the current driving intention of the vehicle is obtained, and the driving intention comprises forward driving and backward driving; calling a corresponding target yaw velocity formula based on the driving intention; obtaining a target yaw velocity based on the first output result and a target yaw velocity formula; on the basis of the target yaw velocity, the obtained side slip angle and the actual yaw velocity, additional yaw moment needing to be applied is obtained; and controlling the yaw stability of the vehicle based on the additional yaw moment. According to the method and the device, the problem of relatively poor yaw control stability caused by poor yaw stability control robustness due to improper single calculation of the target yaw in related technologies can be solved.

The invention relates to the technical field of new energy, and discloses an optimization method for an intelligent yaw system of a wind generating set, and the method comprises the steps: building the intelligent yaw system, enabling the system to be internally provided with seven modules, and enabling a multi-sensor data collection module to collect wind direction, wind speed and yaw angle data in real time, the data fusion module performs Kalman filtering fusion processing to obtain a high-confidence state estimation value, the intelligent decision output module generates an optimal yaw control instruction by adopting a multi-mode control strategy and a parameter self-adaptive mechanism based on fused data, an execution mechanism is driven to realize accurate wind alignment, and the system integrated hardware-in-the-loop test module is used for realizing accurate wind alignment. Omnibearing verification can be carried out before deployment, after actual operation, operation indexes are continuously monitored through the performance evaluation module, control parameters and fusion algorithm parameters are adjusted online through the optimization module on the basis of methods such as machine learning, closed-loop optimization is formed, finally, yaw precision, response speed and system stability are remarkably improved, and maintenance cost is reduced.

The invention relates to a fan yaw control method, device, system and equipment, a medium and a product. The method comprises the steps that sensor data corresponding to a target time interval are acquired, and the sensor data comprise radar sensing data collected by a laser radar, stress sensing data collected by a stress-strain sensor and fan sensing data collected by other sensors; the other sensors comprise a wind speed sensor, a wind direction sensor, an ultrasonic sensor and an inertial measurement unit; according to the sensor data and a preset wind power prediction model, obtaining corresponding wind power prediction data of the fan at the target moment; and controlling the fan to yaw according to the wind power prediction data. By adopting the method, the control precision can be improved.

An aircraft having a plurality of independent yaw control mechanisms includes an airframe having a central fuselage sized to hold at least one operator or payload and a wing extending from the fuselage. The aircraft includes a distributed thrust array coupled to the airframe, the thrust array having at least a first, second, and third pair of propulsion assemblies. Each propulsion assembly includes a rotor and is operable for at least single-axis thrust vectoring. The aircraft further includes a flight control system operable to independently control and combine each yaw mechanism of the propulsion assemblies. The yaw mechanisms for inducing a yaw moment include: canting at least one pair of propulsion assemblies away from the fuselage, selectively tilting at least one pair of propulsion assemblies forwards and backwards, varying an aerodynamic control surface of at least one propulsion assembly, and varying a rotational speed of at least one propulsion assembly.

The invention provides an active yaw control method for a single-point mooring floating type draught fan platform, and belongs to the technical field of offshore wind power. A wind direction angle is obtained in real time through a wind direction sensor, and the deviation between the wind direction angle and the azimuth angle of a platform main shaft is judged; the system calculates the average wind direction in a set time window so as to suppress the influence of high-frequency wind direction disturbance. The controller dynamically calls a model predictive control (MPC) algorithm according to wind direction deviation, outputs a target rotation angle of the flow guide rudder, drives the flow guide rudder to adjust the direction of the flow guide rudder, generates a yaw moment acting on the platform, and guides the platform to rotate around a single-point mooring rotor to realize active wind facing; the guide rudder assembly and the hydraulic driving system are arranged between the vertical columns with the heaving plates in cooperation with the platform, accurate and rapid attitude control can be achieved, and the wind facing capacity and the structural stability of the draught fan are remarkably improved. According to the wind turbine platform, the wind facing posture can be adjusted in real time according to the change of the wind direction, so that the wind energy utilization efficiency is improved, and the power generation requirement under the deep and far sea complex environment is met.

The embodiment of the invention provides an offshore wind field simulation and wind turbine generator control system and method and a wind turbine generator, and the system comprises a data preprocessing module which is used for carrying out format conversion, projection transformation and quality control on multi-source heterogeneous meteorological data; the data fusion module is used for performing intelligent fusion on the preprocessed multi-source heterogeneous meteorological data to generate three-dimensional fusion field data; the mode adjusting module is used for dynamically optimizing a data fusion strategy based on the sea condition change; the resolution conversion module is used for performing temporal-spatial resolution conversion on the three-dimensional fusion field data to generate refined three-dimensional wind field data; and the zone control module is used for performing zone division on the wind field based on the refined three-dimensional wind field data, generating differential yaw control strategies of the corresponding zones according to related data and zone characteristics of each zone, and driving a unit to execute the yaw control strategies. The wind field simulation precision and the adaptability to complex sea conditions are improved, and wind energy capture and equipment loads are balanced through a differential yaw strategy.

The invention discloses an emergency yaw control method, device and equipment for the out-of-control rotating speed of a wind turbine generator and a medium. The emergency yaw control method comprises the steps that real-time operation data of the wind turbine generator are obtained; determining a predicted operation state of the wind turbine generator according to the operation data of the wind turbine generator; if the emergency yaw is triggered, acquiring real-time environment data, and determining a target yaw angle according to the real-time environment data; according to the current yaw angle and the brake temperature data, the yaw speed is dynamically adjusted, and an emergency yaw system of the wind turbine generator set is controlled to output a control signal at the dynamically adjusted yaw speed till the target yaw angle is reached. The invention belongs to the field of wind turbine generators. The yaw speed can be adjusted in real time, the energy consumption of a hydraulic system is reduced, and the overall energy utilization efficiency is improved.

The invention belongs to the technical field of unmanned aerial vehicles, and discloses a tandem rigid rotor heavy-load unmanned aerial vehicle and a control method thereof. The tandem rigid rotor heavy-load unmanned aerial vehicle comprises a vehicle body, horizontal attitude control small propellers are installed at the two ends of the front portion and the two ends of the rear portion of the vehicle body respectively and used for roll control and pitching fine adjustment, a front main rotor is installed on the front side of the top of the vehicle body, and a rear main rotor is installed on the rear side of the top of the vehicle body. The front main rotor and the rear main rotor are used for generating lift force and adjusting pitching moment, and a plurality of vertical yaw control small paddles are installed at the bottom of the aircraft body and used for generating yaw control moment; driving systems are mounted on the small horizontal attitude control propellers, the front main rotor, the rear main rotor and the small vertical yaw control propellers, a controller system is further mounted at the top of the aircraft body and used for constructing a closed-loop feedback control framework, and the controller system is connected with the driving systems; according to the invention, the heavy load requirement can be met, and the cost benefit and the good flight control performance are realized.

The invention relates to the technical field of wind power generation, particularly provides a multi-target yaw wake flow optimization method for a wind power plant, electronic equipment and a storage medium, and aims to solve the technical problem that the service life of a wind turbine generator is remarkably shortened possibly due to the fact that an existing yaw control strategy considers the whole power generation capacity but does not consider fatigue damage of the generator. In order to achieve the purpose, the wind power plant multi-target yaw wake flow optimization method comprises the steps that unit information, inflow condition information and a fatigue damage agent model of a target wind power plant are acquired; establishing an initial population based on the unit information; starting from the initial population, performing target iteration by using a genetic algorithm to maximize a first optimization target and minimize a second optimization target; when the first optimization target and the second optimization target converge, obtaining a Pareto frontier of multi-target optimization; and obtaining the optimal yaw angle combination of the target wind power plant based on the Pareto front. The fatigue damage of the unit is effectively inhibited while the total generating capacity is improved by bringing the fatigue damage of the unit into a control optimization target.

The invention provides an explicit model prediction control system and method, and the method comprises the steps: obtaining a current yaw angle and a yaw angular velocity of a three-degree-of-freedom helicopter, and generating an error vector of the three-degree-of-freedom helicopter; determining the current yaw motion state of the three-degree-of-freedom helicopter, and determining a control state vector for explicit model prediction control according to the error vector and the yaw motion state; the state space region of the three-degree-of-freedom helicopter is calculated off line based on explicit model predictive control in advance, and a target state space partition corresponding to a state vector is identified and controlled based on the state space region; and retrieving a control law associated with the identified state space partition, and controlling the yaw motion of the three-degree-of-freedom helicopter by using a yaw control signal generated by the retrieved control law. According to the technical scheme provided by the invention, the control signal can be updated in time when the three-degree-of-freedom helicopter is subjected to yaw control.

The invention discloses a yaw variable pitch control method, device and system based on wind regime prediction. The method comprises the steps that an original sensor data stream related to wind regime prediction is pulled from a message queue; pre-processing the original sensor data stream to obtain pre-processed first data; performing data windowing on the preprocessed first data; calculating a fuzzy entropy corresponding to the first data after windowing; selecting a corresponding reference model based on the fuzzy entropy to determine a predicted wind direction and a predicted wind speed; formulating a yaw control strategy according to the predicted wind direction, and formulating a variable pitch control strategy according to the predicted wind speed; and performing yaw control according to the yaw control strategy, and performing variable pitch control according to the variable pitch control strategy. According to the method, the wind direction and the wind speed are determined through wind regime prediction, the yaw control action is assisted, the control hysteresis is reduced, the system response speed is increased, and the accuracy of yaw and variable pitch control is improved.

The invention belongs to the technical field of floating equipment, and particularly relates to a tethered airship with a propelling device and a conveying system for the tethered airship. A connecting part is arranged on the outer surface of a boat body, a propelling device comprises a horizontal propelling part and a vertical propelling part, the horizontal propelling part is arranged on the peripheral surface of the boat body and used for moving the boat body in the horizontal direction, and the vertical propelling part is arranged on the peripheral surface of the boat body and used for moving the boat body in the vertical direction. The horizontal direction is perpendicular to the vertical direction, and the mooring rope is detachably connected with the connecting part. According to the tethered airship with the propelling device in the technical scheme, the horizontal propelling part is used for providing propelling force in the horizontal direction to achieve the functions of headwind adjustment, yaw control and the like of the airship body, and the vertical propelling part is used for providing pulling force in the vertical direction to achieve height adjustment and pitching control of the airship body. The propulsion device improves the propulsion efficiency of the boat body, and further enhances the wind measurement resistance and attitude stability of the boat body.

The invention discloses a yaw control method based on data driving and multi-objective optimization, and the method comprises the steps: dividing a wind speed interval: according to the wind resource characteristics, yaw behavior, wind direction distribution characteristics, wind speed frequency distribution, turbulence intensity in different wind speed intervals, and the influence of a yaw deviation angle on output power in different wind speed intervals of a mountain wind power plant, determining the wind speed interval of the mountain wind power plant; the wind speed range below the rated wind speed is divided into a low-speed stable interval of 3-6 m / s, a medium-speed optimization interval of 6-8 m / s and a high-speed balance interval of 8-11 m / s. A data driving and multi-objective optimization algorithm is adopted, so that the yaw system can flexibly adjust yaw control parameters in real time according to dynamic changes of the wind speed, the wind direction and the turbulence intensity. No matter whether the wind direction changes suddenly or the turbulence intensity fluctuates, the yaw system can make a response rapidly, and it is ensured that the wind turbine generator is in the best windward state all the time.

The present invention relates to the technical field of aircraft performance analysis, and specifically discloses a structural angle design and performance analysis method and system for an inclined thrust quadrotor. First, the angular parameters of the two degrees of freedom of the inclined thrust quadrotor are set, and the three-axis thrust equation in the body coordinate system is constructed. Then, the components of the x-axis and y-axis in the three-axis thrust equation are set to zero, and the self-stabilization boundary of the quadrotor is calculated to obtain the self-stabilization domain. Next, the lift coefficient and yaw moment coefficient are calculated according to the three-axis thrust equation. After discretizing the angular parameters within the self-stabilization domain, the lift coefficient values and yaw moment coefficient values at each discrete point are calculated. Finally, the desired lift efficiency and desired yaw control efficiency are set, and the values of the angular parameters that satisfy the desired efficiency are solved respectively. The present invention explores the coupling relationship and sensitivity between flight performance and two structural angles from both quantitative and qualitative levels, providing a guiding direction for the structural optimization of aircraft.

The present invention discloses a yaw control method for efficiently capturing wind in a wind turbine. The wind turbine is a horizontal-axis wind turbine equipped with a laser radar anemometer at the front of its nacelle and a mechanical wind vane at the rear. The yaw control method yaws the wind turbine in a sequence of first detecting the normal state of the wind measuring equipment and then detecting the faulty state of the wind measuring equipment. This method enables the wind turbine to efficiently capture wind, reduce unnecessary power loss, and maintain safe operation during service, resulting in significant economic benefits.

The present invention relates to the field of aircraft technology, and discloses a distributed asynchronous tilt-rotor aircraft and a control method, comprising: receiving instructions from the ground to obtain ground instructions, obtaining position information, speed information and the health status of the aircraft; deciding the flight mode to be adopted; when in a multi-rotor mode, adopting an optimized cross-tilt angle to enhance the yaw control performance of the aircraft; when in a fixed-wing mode, providing an optimized control amount; when in a transition flight mode, obtaining corresponding control strategies based on different asynchronous tilt strategies for control; adjusting the aircraft attitude according to control instructions; being conducive to controlling different flight modes by adopting corresponding control allocation algorithms, being able to effectively solve the problems of complex control and low reliability encountered by the tilt-rotor aircraft during the transition process, realizing the flight capability of the tilt-rotor aircraft in the full angle of attack and full speed range during the transition process, and avoiding the aircraft from stalling during the transition process.

The invention provides a wind turbine generator yaw control method, system and device and a medium, and the control method comprises the steps: obtaining a theoretical thrust-lateral force along a cabin coordinate system according to wind speed-wind direction data; carrying out vector fusion on the real thrust-lateral force and the theoretical thrust-lateral force to obtain a wind load resultant force direction and a yaw moment estimation value generated by the wind load resultant force direction to the center of the tower drum; when the wind load resultant force direction is consistent with the deviation direction of the current wind direction and the yaw moment estimated value exceeds a preset moment threshold value, wind direction prediction data of the wind direction in future preset time are obtained: when the wind direction prediction data meet preset conditions or not, a wind load auxiliary mode is entered, a yaw brake is controlled to release braking force, and the yaw brake is controlled to release braking force; the wind load leading is mainly utilized, and the yaw motor drives the cabin to rotate in a partial rated torque compliant following mode, so that the axis direction of the cabin is consistent with the current wind direction. The yaw control of the wind turbine generator has the advantages of low hysteresis quality, low frequency impact and low energy consumption.

The invention relates to the technical field of intelligent driving, and discloses a vehicle drift control method, device and equipment and a medium, and the method comprises the steps: firstly determining a road adhesion coefficient and a drift target parameter based on the current transverse and longitudinal acceleration of a vehicle; and comparing the current drifting parameter with the drifting target parameter, and judging whether the vehicle enters a drifting state or not. And in combination with the road adhesion coefficient and the accelerator pedal opening degree, the initial target slip rate and the initial torque are obtained through table look-up, and the initial target slip rate and the initial drift target yaw velocity are corrected in real time through the dynamic adjustment model. The yaw error between the target yaw velocity and the actual yaw velocity and the slip error between the target slip rate and the actual slip rate are further calculated, and finally the target torque is comprehensively calculated based on the two errors, so that the driving torque is controlled to be transited to the target value from the initial value. According to the technical scheme provided by the invention, the contradiction between slip control and yaw control in the drifting process can be solved.

The invention relates to a distributed propulsion aircraft yaw control method and system.The method comprises the steps that in response to received yaw control instruction information, yaw moment needed for achieving yaw is determined; based on the yaw moment, a control signal used for driving the thrust reverser is generated; based on the control signal and the state information of the aircraft, through a cooperative control strategy, obtaining a global control instruction of a thrust reverser and a propulsion device; and executing the global control instruction, and controlling the thrust reverser and the propulsion device to cooperatively act. The problem of how to improve the yaw control efficiency of the aircraft in the related technology is solved.

1. Name of the design product: Display screen panel with a graphical user interface for vehicle information. 2. Use of the design product: To display the vehicle driving status on the display screen panel. 3. Design key points of the design product: Lies in the graphical user interface. 4. Picture or photo that best shows the design key points: Interface change status diagram 2. 5. Use of the graphical user interface: To display vehicle information. 6. Human-computer interaction method of the graphical user interface: This graphical user interface displays three categories of information related to the vehicle driving status. The first category of information is the gear mode of the vehicle, which is displayed in the outline of the vehicle in the center of the interface. The second category of information is the turning direction of the vehicle, which is displayed by the "く character" at the top of the simulated arrow lighting up. The third category of information is the intensity of the yaw torque controlled by the activation of the yaw control function, which is displayed by the scale extending from two horizontal lines to the upper left and lower right, or lower left and upper right, in an elliptical arc shape respectively. The front view is the interface diagram displayed when the gear mode is 2H (high-speed two-wheel drive) and the vehicle is driving straight. Interface change status diagram 1 is the interface diagram displayed when the gear mode is 4H (high-speed four-wheel drive), the vehicle is turning right, and the yaw torque is large. Interface change status diagram 2 is the interface diagram displayed when the gear mode is 4HLc (high-speed four-wheel drive + center lock), the vehicle is turning right, and the yaw torque is at a medium level. Interface change status diagram 3 is the interface diagram displayed when the gear mode is 4LLc (low-speed four-wheel drive + center lock), the vehicle is turning left, and the yaw torque is large. Interface change status diagram 4 is the interface diagram displayed when the gear mode is rear differential lock, the vehicle is turning left, and the yaw torque is small. Interface change status diagrams 1 to 4 are an example when the vehicle turns left or right. The "く character" part lights up or goes out corresponding to the turning direction of the vehicle, and the extension (lit part) of the scale increases or decreases according to the intensity of the yaw torque. In the outline of the vehicle in the center, the parts of the tires and the simulated differential and the text "4L" light up or go out corresponding to the gear mode.

This invention relates to the field of medical device technology, and discloses a composite yaw control device and a laparoscopic surgical instrument. The composite yaw control device includes: a first tube; a second tube, the inner peripheral wall of which is radially spaced from the outer peripheral wall of the first tube to form a receiving gap; a yaw control mechanism disposed at the proximal end of the first tube, one end of which is provided with a plurality of first yaw control lines; a flexible motion joint disposed at the distal end of the second tube, one end of which is provided with a plurality of second yaw control lines; and a plurality of transmission rods movably disposed within the receiving gap, each transmission rod having one axial end connected to a first yaw control line and the other end connected to a second yaw control line. This invention not only avoids the yaw control lines from being stretched and / or sag due to their own tension during operation, improving the force application accuracy, but also ensures the directionality and correspondence of the assembly of the transmission rods and the first and second yaw control lines at both ends.

The invention relates to the technical field of yaw control, in particular to a wind power plant robust yaw control method considering wind direction uncertainty. The method comprises the following steps: acquiring historical and real-time wind direction data of each fan in a wind power plant, and preprocessing the wind direction data; extracting wind direction statistical characteristics based on the preprocessed wind direction data, constructing a wind direction uncertainty representation model based on the wind direction statistical characteristics, and representing wind direction uncertainty in a probability form; and establishing a robust wake flow prediction model based on a wind direction uncertainty representation result in combination with terrain and fan layout information so as to predict a change trend of a fan wake flow superimposed effect under a wind direction uncertainty condition. According to the method, the wind direction uncertainty probability representation model based on the circle statistics theory is constructed, the wind direction distribution parameters are updated online in combination with a sliding time window mechanism, and random fluctuation, rapid change and space inconsistency of the wind direction can be accurately described.

Horizontal translation, pendular motion, and or yaw control of a load suspended from a carrier with a suspended load control system comprising a thruster which comprises a fan and a multi-pendant management module, wherein control input to the suspended load control system may be provided through the use of more than one remote pendant.

The invention relates to a tiltable eight-rotor unmanned aerial vehicle and a control method thereof. The tiltable eight-rotor unmanned aerial vehicle comprises a vehicle body, four vehicle arms, two tilting mechanisms, four sets of coaxial motor pairs and a flight controller. The fuselage and the four arms are distributed in an H shape, the tail end of each arm is provided with two coaxial motors with opposite rotating directions, and a large thrust-weight ratio can be provided. Besides, the arms on the two sides of the unmanned aerial vehicle can be driven by the two tilting mechanisms respectively to realize synchronous tilting, so that decoupling of pitch angle and position control is realized, the flexibility of yaw angle control is improved, and the flight speed, efficiency and attitude stability of the unmanned aerial vehicle are improved. The flight controller is electrically connected with the tilting mechanism and the motor and used for controlling the position and attitude of the unmanned aerial vehicle. The control method comprises a position controller, an attitude controller and a control distribution algorithm with a clear analytical solution, and stable flight of the tiltable eight-rotor unmanned aerial vehicle can be achieved.

The invention discloses a wind turbine generator yaw control method, device and equipment and a medium, is applied to a wind turbine generator yaw system and relates to the field of automation, and the method comprises the steps that whether load reduction yaw is triggered or not is determined according to the running state of a wind turbine generator and environmental wind power data, if yes, a current target time node is recorded, and a corresponding load reduction preparation mark is set; determining whether a preset load shedding yaw condition is met or not based on the operation state of the wind turbine generator, the environmental wind power data, the target time node and the load shedding preparation mark, and setting the current load shedding yaw mark as a first mark or a second mark according to the met condition; if the mark is the first mark, directly executing the load reduction yaw operation, and if the mark is the second mark, adjusting the current rotating speed of the engine, and executing the load reduction yaw operation after the rotating speed is smaller than a preset rotating speed threshold value; and if the load shedding yaw operation is completed, setting the current load shedding yaw mark as a second mark. Therefore, yaw control can be carried out through an intelligent load reduction yaw control means.

The invention discloses a multi-unmanned ship formation predefined time distributed control method, and relates to the technical field of under-actuated multi-unmanned ship formation control, and the method comprises the following steps: (1), building a horizontal plane motion mathematical model of a three-degree-of-freedom unmanned ship; (2) defining an ideal offset vector and an actual offset vector of the ith unmanned ship relative to the jth unmanned ship; step (3), constructing a communication topology of the unmanned ship formation system, and defining a distributed position error vector; (4) designing a predefined time surging virtual control law and a predefined time yawing virtual control law of the ith unmanned ship; (5) designing a predefined time surging control law and a predefined time yawing control law of the ith unmanned ship; and (6) performing simulation verification. The invention aims to combine the design of the distributed controller with the predefined time control strategy, so that the tracking error can be stably converged within the preset time, thereby improving the transient response performance and the steady state control precision of the system, and achieving the rapidity, robustness and distributed characteristics of the formation control of multiple unmanned ships.