CN-121993348-A - Active yaw control method and related equipment of multi-impeller floating type wind generating set

CN121993348ACN 121993348 ACN121993348 ACN 121993348ACN-121993348-A

Abstract

The invention discloses an active yaw control method and relevant equipment of a multi-impeller floating wind generating set, wherein the method comprises the steps of monitoring incoming wind direction in real time or periodically, and real-time azimuth angle and motion state of a floating platform, conducting filtering or state estimation processing on the real-time azimuth angle of the floating platform to filter high-frequency oscillation components induced by waves to obtain an estimated azimuth angle reflecting average yaw attitude of the floating platform, determining a target azimuth angle of the floating platform according to the incoming wind direction, calculating a deviation angle between the estimated azimuth angle and the target azimuth angle, generating a rotating moment control instruction for driving the floating platform to rotate around a single-point mooring system according to the deviation angle and the influence of environmental disturbance when the deviation angle exceeds a preset threshold, and controlling at least one propeller arranged on the floating platform to generate thrust according to the rotating moment control instruction so as to drive the floating platform to rotate until the deviation angle is reduced to be within the preset threshold. The invention aims to realize rapid, accurate and cooperative yaw control in the multi-impeller floating fan, and simultaneously avoid adopting a complex and heavy independent yaw mechanism and inhibit the influence of wave disturbance on yaw precision.

Inventors

LIU XIN
HU HEWEN
GUO XIAOHUI
WEN DONGBIN
ZHU YABO
ZENG XIAOWEI

Assignees

中国华能集团清洁能源技术研究院有限公司
华能广东汕头海上风电有限责任公司
华能(广东)能源开发有限公司
华能海上风电科学技术研究有限公司

Dates

Publication Date: 20260508
Application Date: 20260323

Claims (10)

1. A method of active yaw control of a multi-bladed wheel floating wind turbine, the multi-bladed wheel floating wind turbine comprising a floating platform, at least two wind turbine mounted on the floating platform, and a single point mooring system anchoring the floating platform to the seabed and allowing the floating platform to rotate thereabout, the method comprising: Monitoring the incoming wind direction in real time or periodically, and the real-time azimuth angle and the motion state of the floating platform; Filtering or performing state estimation processing on the real-time azimuth angle of the floating platform to filter high-frequency oscillation components induced by waves and obtain an estimated azimuth angle reflecting the average yaw attitude of the floating platform; Determining a target azimuth angle of the floating platform according to the incoming wind direction, and calculating a deviation angle between the estimated azimuth angle and the target azimuth angle; When the deviation angle exceeds a preset threshold value, generating a rotation moment control instruction for driving the floating platform to rotate around the single-point mooring system according to the deviation angle and the influence of environmental disturbance; And controlling at least one propeller arranged on the floating platform to generate thrust according to the rotation moment control instruction so as to drive the floating platform to rotate until the deviation angle is reduced to be within the preset threshold value.
2. The method for active yaw control of a multi-blade wheel floating wind turbine generator set according to claim 1, wherein the filtering or state estimation process for the real-time azimuth angle of the floating platform comprises: and processing the real-time azimuth angle of the floating platform by adopting at least one of a low-pass filter, a notch filter or a Kalman filter to filter out high-frequency oscillation components induced by waves, so as to obtain an estimated azimuth angle reflecting the average yaw attitude of the floating platform.
3. The method of active yaw control of a multi-bladed wheel floating wind turbine generator set according to claim 1, wherein the environmental disturbance influence comprises at least a wave-induced disturbance torque.
4. The method of active yaw control of a multi-blade wheel floating wind power generation set of claim 1, wherein the control strategy employed in generating the rotational moment control commands for driving the floating platform to rotate about the single point mooring system is configured to preferentially correct yaw bias caused by wind direction changes while suppressing responses to wave induced disturbances.
5. The method for active yaw control of a multi-impeller floating wind turbine generator set of claim 1, wherein a plurality of propellers are mounted on the floating platform; and when generating a rotation moment control command for driving the floating platform to rotate around the single-point mooring system, decomposing the rotation moment control command into an optimized control distribution command for the plurality of propellers so as to cooperatively generate a required net rotation moment.
6. The method of active yaw control of a multi-lobed wheel floating wind turbine of claim 1, wherein the generating a rotational torque control command for driving the floating platform to rotate about the single point mooring system further comprises: and estimating an environmental disturbance torque based on at least one of the wave parameter and the ocean current parameter monitored in real time, and performing feedforward compensation on the rotating torque control command by utilizing the environmental disturbance torque.
7. The method of active yaw control of a multi-impeller floating wind turbine generator set of claim 1, wherein the preset threshold is configured to have a dead zone characteristic, and wherein the method does not start or stop a propeller to drive the floating platform to rotate when the deviation angle is within the dead zone range.
8. Computer device comprising a memory, a processor and a computer program stored in the memory and executable on the processor, characterized in that the processor implements a method for active yaw control of a multi-bladed wheel floating wind power generator set according to any one of claims 1 to 7 when executing the computer program.
9. A computer readable storage medium storing a computer program, wherein the computer program when executed by a processor implements a method of active yaw control of a multi-lobed wheel floating wind turbine generator set according to any one of claims 1 to 7.
10. A computer program product, characterized in that the computer program product, when executed by a processor, implements a method of active yaw control of a multi-bladed wheel floating wind power generation set according to any one of claims 1 to 7.

Description

Active yaw control method and related equipment of multi-impeller floating type wind generating set Technical Field The invention belongs to the technical field of wind power generation, and particularly relates to an active yaw control method and related equipment of a multi-blade wheel floating type wind generating set. Background With the acceleration of global energy transformation, offshore wind power development is gradually extended from offshore shallow sea to deep open sea. In deep water areas, the installation cost of a fixed foundation rises sharply, and the floating wind power generator set becomes a main technical route for deep sea wind power development. In order to further improve the power generation capacity of a single platform and reduce the cost of unit kilowatt, a multi-impeller floating fan scheme is proposed in the industry, namely, two or more wind generating sets are arranged on the same floating platform. This configuration may allow for better economies by sharing the floating foundation, mooring system and power take-off facilities. For any configuration of wind turbine, the yaw system is one of the core components. The yaw system is used for driving the wind wheel to aim at the wind direction in real time so as to maximize wind energy capturing efficiency and simultaneously control unbalanced load born by the unit. In the prior art, yaw control is mainly implemented in two ways. The first approach is an independent yaw scheme employed by conventional onshore and stationary offshore wind turbines, i.e., each unit is equipped with an independent yaw drive system that rotates a single nacelle relative to the tower via a motor. But the use of this approach in multi-impeller floating fans presents new problems. Because a plurality of units are installed on the platform, each unit is required to be provided with a set of complete yaw driving system, the top weight and the manufacturing cost of the platform are increased, extremely high requirements are also provided for cooperative control of a plurality of units, and the yaw angle deviation of any unit can possibly cause the aggravation of pneumatic interference among the units, so that the overall power generation efficiency is influenced. The second way is to utilize the self-characteristics of the floating wind turbine to achieve passive yaw. The whole platform of the floating type wind turbine can freely rotate around mooring points to form a passive wind effect similar to a wind vane. This solution does not require an active yaw mechanism and is relatively simple in structure. The scheme is applied to the multi-impeller floating fan, and has the obvious limitations that firstly, the passive yaw completely depends on the natural action of wind power, the response speed is slower, when the wind direction changes rapidly, the platform cannot always follow timely, long-time wind energy loss is caused, secondly, the floating platform can generate high-frequency oscillation motions under the action of waves, and the motions are overlapped on the yaw response of the platform, so that the passive yaw is difficult to realize accurate wind alignment, the actual azimuth angle of the platform always continuously fluctuates near a target azimuth angle and cannot be aligned stably, and in addition, the moment of inertia of the platform is larger, the inertia and environmental damping are difficult to overcome only by wind power driving, and the yaw response capability of the platform is further limited. Therefore, how to realize rapid, accurate and coordinated yaw control in a multi-impeller floating fan, and avoid complex and heavy independent yaw mechanisms and inhibit the influence of wave disturbance on yaw precision is a technical problem to be solved in the field. Disclosure of Invention Aiming at the problems in the prior art, the invention provides an active yaw control method and related equipment of a multi-blade wheel floating wind generating set, and aims to realize rapid, accurate and collaborative yaw control in a multi-blade wheel floating fan, avoid adopting a complex and heavy independent yaw mechanism and inhibit the influence of wave disturbance on yaw precision. In order to solve the technical problems, the invention is realized by the following technical scheme: According to a first aspect of the present invention there is provided a method of active yaw control of a multi-bladed wheel floating wind power generator set comprising a floating platform, at least two wind power generator sets mounted on the floating platform, and a single point mooring system anchoring the floating platform to the seabed and allowing the floating platform to rotate thereabout, the method comprising: Monitoring the incoming wind direction in real time or periodically, and the real-time azimuth angle and the motion state of the floating platform; Filtering or performing state estimation processing on the real-time azimuth angle of the floating