阅读说明：本技术 自平衡水上风力发电系统 (Self-balancing water wind power generation system ) 是由 付明志 郭小江 秦猛 李铮 李春华 于 2021-09-06 设计创作，主要内容包括：本发明提供一种自平衡水上风力发电系统,包括：风机(10),塔筒(20),水上平台(30)以及系泊系统(40),水上平台(30)包括支撑平台(31)和设置于支撑平台(31)上的多个飞轮储能装置(341),多个飞轮储能装置(341)围绕支撑平台(31)的中心均匀分布,每个飞轮储能装置(341)均与风机(10)电连接,以储存风机(10)产生的电能,每个飞轮储能装置(341)均具有用于连接电网的连接线,以将储存的电能并入电网；系泊系统(40)与水上平台(30)连接,用于锁定水上平台(30)的位置。由于设置了飞轮储能装置,因此当遇到大风大浪天气或者其他恶劣环境时,通过飞轮储能装置的高速旋转,使得水上平台具有保持稳定的能力。(The invention provides a self-balancing water wind power generation system, which comprises: the water platform (30) comprises a supporting platform (31) and a plurality of flywheel energy storage devices (341) arranged on the supporting platform (31), the flywheel energy storage devices (341) are uniformly distributed around the center of the supporting platform (31), each flywheel energy storage device (341) is electrically connected with the fan (10) to store electric energy generated by the fan (10), and each flywheel energy storage device (341) is provided with a connecting wire used for connecting a power grid to merge the stored electric energy into the power grid; a mooring system (40) is connected to the topside platform (30) for locking the position of the topside platform (30). Due to the fact that the flywheel energy storage device is arranged, when the offshore platform meets strong wind and strong wave weather or other severe environments, the offshore platform has the capability of keeping stable through high-speed rotation of the flywheel energy storage device.)

1. A self-balancing aquatic wind power generation system, comprising:

a fan (10), the fan (10) being for wind power generation;

the wind turbine is characterized by comprising a tower drum (20), wherein the wind turbine (10) is arranged at the top of the tower drum (20) and can synchronously rotate along with the tower drum (20);

the water platform (30) comprises a supporting platform (31), a plurality of buoys (34) fixed on the outer peripheral surface of the supporting platform (31), and a plurality of flywheel energy storage devices (341), wherein the plurality of flywheel energy storage devices (341) are uniformly distributed around the center of the supporting platform (31), each flywheel energy storage device (341) is electrically connected with the fan (10) to store electric energy generated by the fan (10), each flywheel energy storage device (341) is provided with a connecting wire for connecting a power grid to merge the stored electric energy into the power grid, and the tops of the buoys (34) are higher than the top of the supporting platform (31);

and a mooring system (40), the mooring system (40) being connected to the water platform (30) for locking the position of the water platform (30).

2. The self-balancing waterborne wind power generation system of claim 1, wherein the wind turbine (10) comprises: the wind power generation device comprises a cabin (12), a hub (13) arranged on the cabin (12) and three blades (14) fixed on the hub (13), wherein the three blades (14) can synchronously rotate along with the hub (13);

the nacelle (12) is fixed to the top of the tower (20).

3. The self-balancing waterborne wind power generation system of claim 1, wherein each flywheel energy storage device (341) is equidistant from a center of the support platform (31);

the rotating axial direction of each flywheel energy storage device (341) is perpendicular to the radial direction of the supporting platform (31), and the number of the flywheel energy storage devices (341) is more than or equal to 3.

4. The self-balancing waterborne wind power generation system according to claim 1, wherein an anemoscope is arranged on the top of the cabin to which the wind turbine (10) is connected, and is used for detecting the wind speed and direction of the environment where the wind turbine (10) is located in real time; the power supply of the anemorumbometer is provided by the fan (10).

5. The self-balancing waterborne wind power generation system of claim 1, wherein a plurality of said pontoons (34) are equally spaced around said support platform (31), one said flywheel energy storage device (341) being disposed within each said pontoon (34).

6. The self-balancing waterborne wind power generation system of claim 1, wherein the flywheel energy storage device (341) is a fully magnetically levitated flywheel device or a flywheel energy storage device with a combination of magnetic bearings and mechanical bearings.

7. The self-balancing waterborne wind power generation system of claim 1, wherein the energy storage method of the flywheel energy storage device (341) comprises:

when the power generation power output by the fan (10) is larger than the rated power, the flywheel energy storage device (341) absorbs energy and improves the energy storage energy; when the power generation power output by the fan (10) is smaller than the rated power, the flywheel energy storage device (341) releases energy and reduces the energy storage energy.

8. The self-balancing waterborne wind power generation system of claim 7, wherein the energy storage method of the flywheel energy storage device (341) further comprises:

when the water surface fluctuation is smaller than a preset range, the flywheel energy storage device (341) operates at a preset rotating speed; and when the water surface fluctuation is larger than or equal to a preset range, the rotating speed of the flywheel energy storage device (341) is increased so as to inhibit the shaking amplitude of the water platform (30) along with the waves.

9. The self-balancing waterborne wind power generation system of claim 8, wherein the energy storage method of the flywheel energy storage device (341) further comprises:

detecting an incoming flow wind speed parameter in real time, wherein when the incoming flow wind speed is less than a preset value, the flywheel energy storage device (341) operates at a preset rotating speed; when the incoming flow wind speed is larger than or equal to a preset value, the rotating speed of the flywheel energy storage device (341) is increased so as to inhibit the shaking amplitude of the above-water platform (30) along with waves.

10. The self-balancing waterborne wind power generation system of claim 8, wherein the wind turbine (10) comprises a nacelle (12), a hub (13) mounted on the nacelle (12), and three blades (14) secured to the hub (13).

11. Self-balancing aquatic wind power generation system according to any of claims 1-10, characterized in that the moment of momentum H of the flywheel energy storage means (341) is_M＝J_M(ω + θ); the momentum moment H of the fan (10)_G＝(J_G—J_M)θ；

Incoming flow wind speed pair unitOverturning moment M_{Wind power}The following conditions are satisfied:

overturning moment M of water surface waves on unit_{Wave of}The following conditions are satisfied:

in the formula: h_M-moment of momentum of the flywheel energy storage means;

H_G-the momentum moment of the fan;

J_M-flywheel energy storage means moment of inertia;

J_G-the rotational inertia of the fan;

omega-flywheel energy storage device rotor angular velocity;

theta is the included angle between the axis of the tower and the normal line of the water surface;

l is the distance between the top of the fan and the water surface;

r is the distance from the outer edge of the submerged bottom surface of the fan to the gravity center of the fan and the vertical line of the water surface;

a is the area of the windward side of the fan;

s, wetting the surface of a fan;

c is wind resistance coefficient;

ρ is air density;

v-incoming wind speed;

Δ P-wave pressure;

n-the unit external normal vector of S;

r-position vector of wave pressure action point relative to fan coordinate system.

12. The self-balancing waterborne wind power generation system of claim 11, wherein the target rotational speed of the flywheel energy storage device (341) is calculated according to the following balancing formula:

Technical Field

The invention relates to the technical field of wind power generation, in particular to a self-balancing water wind power generation system.

Background

Wind energy is increasingly receiving attention as a renewable new energy source due to its advantages of wide source, large storage capacity, no pollution and the like. The electric energy is used as a special carrier of energy and has the characteristics of cleanness, high efficiency, environmental friendliness and the like, so that the great significance in the rapid development of new energy power generation is achieved.

With the deepening of the understanding of human beings on the offshore wind resources and the progress of the wind energy development technology, the development of the wind resources has a trend of developing from a near-shallow sea to a deep-open sea. The floating type fan is an important direction for deep sea wind energy development, and the comprehensive cost is lower than that of the traditional fixed type fan.

However, the floating type fan in the related art has the problem that the yaw rotation angle is limited, and in addition, the whole yaw of the fan tower barrel easily causes the problems of overlarge load of a yaw bearing, overlarge volume, very inconvenient installation and maintenance and the like.

In addition, the floating platform has insufficient wind resistance when encountering strong wind at sea, thereby causing further damage to the bearings.

Moreover, in the offshore wind power generation, the stability of the platform is very important, and the solution in the related art is difficult to solve the problem, or if the platform is maintained to be stable, the measures are very complicated and high in cost, and other new problems may be brought.

Disclosure of Invention

The present invention is directed to solving, at least to some extent, one of the technical problems in the related art. To this end, an embodiment of the present invention provides a self-balancing aquatic wind power generation system, including:

the fan is used for wind power generation;

the fan is mounted at the top of the tower drum and can synchronously rotate along with the tower drum;

the water platform comprises a supporting platform, a plurality of floating drums and a plurality of flywheel energy storage devices, wherein the plurality of floating drums are fixed on the outer peripheral surface of the supporting platform, the plurality of flywheel energy storage devices are uniformly distributed around the center of the supporting platform, each flywheel energy storage device is electrically connected with the fan to store electric energy generated by the fan, each flywheel energy storage device is provided with a connecting wire used for connecting a power grid to merge the stored electric energy into the power grid, and the top of each floating drum is higher than the top of the supporting platform;

and the mooring system is connected with the water platform and used for locking the position of the water platform.

The self-balancing overwater wind power generation system provided by the embodiment of the invention has the following technical effects: due to the arrangement of the flywheel energy storage device, when the offshore platform meets high-wind and high-wave weather or other severe environments, the offshore platform has the capability of keeping stability through the high-speed rotation of the flywheel energy storage device; further, the top of the buoy 34 is higher than the top of the supporting platform 31, so that the self-balancing overwater wind power generation system has the capability of automatically controlling balance, and the impact of wind waves on the self-balancing overwater wind power generation system is resisted.

Optionally, the fan includes: the wind power generator comprises a cabin, a hub arranged on the cabin and three blades fixed on the hub, wherein the three blades can synchronously rotate along with the hub;

the nacelle is fixed to the top of the tower.

Optionally, the distance between each flywheel energy storage device and the center of the supporting platform is equal;

the rotating axial direction of each flywheel energy storage device is perpendicular to the radial direction of the supporting platform, and the number of the flywheel energy storage devices is more than or equal to 3.

Optionally, an anemoscope is arranged at the top of the cabin connected to the fan, and the anemoscope is used for detecting the wind speed and direction of the environment where the fan is located in real time; and the power supply of the anemorumbometer is provided by the fan.

Optionally, the plurality of buoys are distributed around the support platform at equal intervals, and each buoy is provided with one flywheel energy storage device.

Optionally, the flywheel energy storage device is a full magnetic suspension flywheel device or a flywheel energy storage device combining a magnetic suspension bearing and a mechanical bearing.

Optionally, the energy storage method of the flywheel energy storage device includes:

when the power generation power output by the fan is larger than the rated power, the flywheel energy storage device absorbs energy and improves the energy storage energy; when the power generation power output by the fan is smaller than the rated power, the flywheel energy storage device releases energy, and the energy storage energy is reduced.

Optionally, the energy storage method of the flywheel energy storage device further includes:

when the water surface fluctuation is smaller than a preset range, the flywheel energy storage device operates at a preset rotating speed; and when the water surface fluctuation is larger than or equal to a preset range, the rotating speed of the flywheel energy storage device is increased so as to inhibit the shaking amplitude of the water platform along with the waves.

Optionally, the energy storage method of the flywheel energy storage device further includes:

detecting an incoming flow wind speed parameter in real time, and when the incoming flow wind speed is less than a preset value, operating the flywheel energy storage device at a preset rotating speed; and when the incoming flow wind speed is greater than or equal to a preset value, the rotating speed of the flywheel energy storage device is increased so as to inhibit the shaking amplitude of the overwater platform along with the waves.

Optionally, the wind turbine includes a nacelle, a hub mounted on the nacelle, and three blades fixed to the hub.

Optionally, the moment of momentum H of the flywheel energy storage device_M＝J_M(ω + θ); moment of momentum H of the fan_G＝(J_G—J_M) θ；

Overturning moment M of incoming flow wind speed on unit_{Wind power}The following conditions are satisfied:

overturning moment M of water surface waves on unit_{Wave of}The following conditions are satisfied:

in the formula: h_M-moment of momentum of the flywheel energy storage means;

H_G-the momentum moment of the fan;

J_M-flywheel energy storage means moment of inertia;

J_G-the rotational inertia of the fan;

omega-flywheel energy storage device rotor angular velocity;

theta is the included angle between the axis of the tower and the normal line of the water surface;

l is the distance between the top of the fan and the water surface;

r is the distance from the outer edge of the submerged bottom surface of the fan to the gravity center of the fan and the vertical line of the water surface;

a is the area of the windward side of the fan;

s, wetting the surface of a fan;

c is wind resistance coefficient;

ρ is air density;

v-incoming wind speed;

Δ P-wave pressure;

n-the unit external normal vector of S;

r-position vector of wave pressure action point relative to fan coordinate system.

Optionally, the target rotation speed of the flywheel energy storage device is calculated according to the following balance formula:

additional aspects and advantages of the invention will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the invention.

Drawings

FIG. 1 is a schematic structural diagram of a self-balancing waterborne wind power generation system employing dual wind wheels according to an embodiment of the present invention;

FIG. 2 is a schematic structural view of a fixed link ring plate and mooring system according to an embodiment of the present invention;

FIG. 3 is a schematic structural diagram of a self-balancing waterborne wind power generation system employing a single wind wheel according to an embodiment of the present invention;

FIG. 4 is a schematic circuit diagram of a self-balancing above-water wind power generation system in accordance with an embodiment of the present invention;

FIG. 5 is a schematic view of yaw control of a self-balancing waterborne wind power generation system in accordance with an embodiment of the present invention.

Detailed Description

Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings. The embodiments described below with reference to the drawings are illustrative and intended to be illustrative of the invention and are not to be construed as limiting the invention.

Referring to fig. 1 to 2, the present embodiment provides a self-balancing aquatic wind power generation system, including: a wind turbine 10, a tower 20, a topside 30, and a mooring system 40.

Wherein, the fan 10 is used for wind power generation; the wind turbine 10 is mounted on the top of the tower 20 and can synchronously rotate along with the tower 20; the above-water platform 30 comprises a supporting platform 31, a plurality of buoys 34 fixed on the outer circumferential surface of the supporting platform 31, and a plurality of flywheel energy storage devices 341, wherein the plurality of flywheel energy storage devices 341 are uniformly distributed around the center of the supporting platform 31, each flywheel energy storage device 341 is electrically connected with the fan 10 to store the electric energy generated by the fan 10, and each flywheel energy storage device 341 is provided with a connecting wire for connecting a power grid to merge the stored electric energy into the power grid; a mooring system 40 is connected to the water platform 30 for locking the position of the water platform 30.

Referring to fig. 1, the top of the pontoon 34 is higher than the top of the supporting platform 31, so that when floating on water, the pontoon 34 may be partially in the water and partially out of the water, and when encountering wind waves, the water may submerge the entire pontoon 34 for a short time, so that the buoyancy of the pontoon 34 is increased to resist the impact of the wind waves on the self-balanced water wind power generation system. It can be seen that the self-balancing offshore wind power generation system has the function of automatically adjusting balance by arranging the top of the buoys 34 higher than the top of the support platform 31, which further improves the reliability of offshore wind power generation.

The main improvement point of the above scheme is that the flywheel energy storage device 341 is added on the above water platform 30, and by arranging the flywheel energy storage device 341, when the above water platform 30 encounters strong wind and strong wave weather or other severe environments, the above water platform 30 has the capability of keeping stable through the high-speed rotation of the flywheel energy storage device 341.

In one embodiment, referring to FIG. 3, the number of wind turbines 10 is one, with one wind turbine 10 mounted directly on top of the tower 20. The rotational axis of the wind turbine 10 may be perpendicular to the length direction of the tower 20. Referring to FIG. 3, a wind turbine 10 includes a nacelle 12, a hub 13 mounted to the nacelle 12, and three blades 14 secured to the hub 13.

In one embodiment, referring to fig. 1, the number of the wind turbines 10 is two, two wind turbines 10 are respectively mounted on the top of the tower 20 through the inclined towers 11, and the two inclined towers 11 and the tower 20 form a Y-shaped structure. The two fans 10 can generate power simultaneously, so that more power can be generated on one water platform 30. If necessary, a person skilled in the art can provide more fans 10 on this basis.

In one embodiment, each of the propeller yaw assemblies 33 is equidistant from the center of the rotating support platform 31, thereby making the propeller yaw assemblies 33 more stable when controlling the rotation of the water platform 30.

In one embodiment, the axial direction of rotation of each of the propeller yaw assemblies 33 is perpendicular to the radial direction of the rotating support platform 31, and the number of the propeller yaw assemblies 33 is equal to or greater than 3. For example, the number of propeller yaw arrangements 33 may be 4, 5, 6, 7, 8, or even more. The number of propeller yaw assemblies 33 may be determined based on their power and the circumferential size of the water platform 30. The greater the power of the propeller yaw arrangements 33, the relatively smaller the number of their arrangements, and the larger the circumference of the water platform 30, the greater the number of propeller yaw arrangements 33, to ensure sufficient propulsion.

In one embodiment, an anemoscope is disposed on the top of the nacelle to which the wind turbine 10 is connected, and is used for detecting the wind speed and direction of the environment in which the wind turbine 10 is located in real time. Wherein, the power of anemorumbometer is provided by the fan 10, and the output signal of the anemorumbometer is sent to the floating fan controller through the cable.

In one embodiment, the water platform 30 further includes a plurality of pontoons 34 secured to the outer perimeter of the rotating support platform 31, the plurality of pontoons 34 being equally spaced around the rotating support platform 31. The pontoons 34 increase the buoyancy of the water platform 30, thereby increasing the stability of the water platform 30.

In one embodiment, the water platform 30 further includes a plurality of pontoons 34 fixed to the outer periphery of the rotating support platform 31, the plurality of pontoons 34 being equally spaced around the rotating support platform 31, and a flywheel energy storage device 341 is disposed within each pontoon 34.

The flywheel energy storage device 341 is a full magnetic suspension flywheel device or a flywheel energy storage device combining a magnetic suspension bearing and a mechanical bearing.

In one embodiment, the flywheel energy storage device 341 is a full magnetic levitation flywheel device, and the flywheel energy storage device 341 may also be a flywheel energy storage device combining a magnetic levitation bearing and a mechanical bearing.

In one embodiment, the moment of momentum H of the flywheel energy storage 341_M＝J_M(ω + θ); moment of momentum H of fan 10_G＝(J_G—J_M)θ；

Overturning moment M of incoming flow wind speed on unit_{Wind power}The following conditions are satisfied:

overturning moment M of water surface waves on unit_{Wave of}The following conditions are satisfied:

in the formula: h_M-moment of momentum of the flywheel energy storage means;

H_G-the momentum moment of the fan;

J_M-flywheel energy storage means moment of inertia;

J_G-the rotational inertia of the fan;

omega-flywheel energy storage device rotor angular velocity;

theta is the included angle between the axis of the tower and the normal line of the water surface;

l is the distance between the top of the fan and the water surface;

r is the distance from the outer edge of the submerged bottom surface of the fan to the gravity center of the fan and the vertical line of the water surface;

a is the area of the windward side of the fan;

s, wetting the surface of a fan;

c is wind resistance coefficient;

ρ is air density;

v-incoming wind speed;

Δ P-wave pressure;

n-the unit external normal vector of S;

r-position vector of wave pressure action point relative to fan coordinate system.

In one embodiment, the target rotational speed of the flywheel energy storage device 341 is calculated according to the following balancing formula:

and calculating the target rotating speed of the flywheel energy storage device by taking the incoming flow wind speed and the wave vibration amplitude as input conditions through the moment balance relational expression. Through the control of the rotating speed of the flywheel, the balance of the momentum moment of the flywheel, the inflow wind overturning moment and the wave overturning moment is realized, and the stable state of the offshore floating type fan is kept.

Referring to fig. 1, in an embodiment, the above-water platform 30 includes a rotary supporting platform 31, a fixed connection ring disc 32 fixedly connected to the rotary supporting platform 31, a plurality of propeller yaw devices 33, and a plurality of flywheel energy storage devices 341, an annular guiding structure 321 is formed at the bottom of the fixed connection ring disc 32, the plurality of propeller yaw devices 33 are uniformly fixed on the outer circumference of the fixed connection ring disc 32 and are used for driving the above-water platform 30 to rotate, and a tower 20 is fixed to the rotary supporting platform 31 and can synchronously rotate with the rotary supporting platform 31; the flywheel energy storage devices 341 are uniformly distributed around the center of the rotary supporting platform 31, each flywheel energy storage device 341 is electrically connected with the fan 10 to store the electric energy generated by the fan 10, and each flywheel energy storage device 341 is provided with a connecting wire for connecting a power grid to merge the stored electric energy into the power grid; the mooring system 40 is connected with the water platform 30 and forms guiding fit with the annular guiding structure 321, and the mooring system 40 is used for locking the position of the water platform 30; a yaw control is in electrical signal communication with each of the propeller yaw assemblies 33 to control the operational state of each of the propeller yaw assemblies 33 to rotate the water platform 30.

The mooring system 40 comprises at least three groups of fixing mechanisms 41, connecting ropes 42 and locking devices 43 which are sequentially connected, the fixing mechanisms 41 are used for being fixed at the water bottom, and the locking devices 43 and the annular guide structures 321 form guide fit; the locking device 43 can be switched between a locking state, in which the locking device 43 is fixed with respect to the fixed connection ring plate 32, and an unlocking state, in which the locking device 43 can slide along the annular guide 321 with respect to the fixed connection ring plate 32; the yaw controller is electrically connected to each locking device 43 to control the locking state of each locking device 43.

Referring to fig. 1, the bottom of the pontoon 34 is higher than the bottom of the fixed connection ring plate 32, so that when floating on water, most of buoyancy is provided by the supporting platform 31 and the fixed connection ring plate 32, and the pontoon 34 plays a role in supplementing and providing buoyancy, so that the whole self-balancing water wind power generation system can keep automatic balance performance all the time when encountering stormy waves, and the stability is improved.

In one embodiment, referring to FIG. 2, the annular guide structure 321 is an annular guide slot opening at the bottom of the stationary connecting ring 32. The locking device 43 is disposed in the annular guide groove and is capable of sliding along the annular guide groove, and when the locking device 43 is in a locked state, the locking device 43 cannot slide along the annular guide groove.

The annular guide structure 321 is not limited to an annular guide groove, and in some embodiments, the annular guide structure 321 may be an annular guide rail opened at the bottom of the fixed connection ring disk 32. The locking device 43 is guided by the annular guide rail into engagement with the fixed connection ring 32.

In one embodiment, the energy storage method of the flywheel energy storage device 341 includes: when the power generation power output by the fan 10 is greater than the rated power, the flywheel energy storage device 341 absorbs energy to increase the energy storage energy; when the power generation output by the fan 10 is smaller than the rated power, the flywheel energy storage device 341 releases energy to reduce the energy storage energy.

In one embodiment, the energy storage method of the flywheel energy storage device 341 further includes: when the water surface fluctuation is smaller than the preset range, the flywheel energy storage device 341 operates at the preset rotation speed; when the water surface fluctuation is greater than or equal to the preset range, the rotating speed of the flywheel energy storage device 341 is increased to suppress the shaking amplitude of the water platform 30 along with the waves.

Specifically, the energy storage method of the flywheel energy storage device 341 further includes: detecting an incoming flow wind speed parameter in real time, and when the incoming flow wind speed is less than a preset value, operating the flywheel energy storage device 341 at a preset rotating speed; when the incoming flow wind speed is greater than or equal to the preset value, the rotating speed of the flywheel energy storage device 341 is increased to suppress the shaking amplitude of the overwater platform 30 along with the waves.

In one embodiment, the wind turbine 10 includes a nacelle 12, a hub 13 mounted on the nacelle 12, and three blades 14 secured to the hub 13. The three blades 14 are distributed on the hub 13 at equal intervals, and the three blades 14 can synchronously rotate along with the hub 13; the nacelle 12 is secured atop the tower 20.

A specific embodiment of the present invention will be described with reference to fig. 1 to 5.

When the fan 10 needs to perform yawing action, the main control system issues a yawing control command to the yawing controller, the yawing controller issues a control signal to the locking device, and the locking device enables the locking device to be in an open state; after receiving a feedback signal of the loosening state of the yaw locking device, the yaw controller sends a yaw operation command to a yaw propeller, and the propeller is started to push the floating fan 10 to rotate around the center of the rotary supporting platform 31; after the yaw controller receives a feedback signal that the yaw angle of the fan 10 reaches a preset control angle position, the yaw controller controls the propeller system to stop yawing; and after the yaw controller receives a feedback signal of the stop operation state of the propeller, the yaw locking device is controlled to be locked, and the floating type fan foundation complete machine keeps a locking state.

In one embodiment, a certain number of flywheel energy storage devices 341 may be disposed on the water platform 30, a flywheel converter of the flywheel energy storage devices is connected to a converter dc bus of the wind turbine 10, the energy absorbed or released by the flywheel energy storage devices 341 is connected to the wind turbine and the power grid through the dc bus of the wind turbine converter, and the rotational energy of the flywheel energy storage devices is adjusted by adjusting the rotational speed of the flywheel energy storage devices, so as to adjust the capability of the flywheel energy storage system to stabilize the floating wind turbine against external force fluctuation.

Specifically, the installation position of the flywheel energy storage device 341 is determined according to the basic flat structure and the gravity center position of the floating wind turbine, and for the semi-submersible type water platform 30, the flywheel energy storage device can be arranged in three buoys of a triangular platform and is stably fixed on the basic platform through mechanical rigid connection. For the single-column type floating unit, the flywheel energy storage device is arranged inside the single-column type foundation and is fixed on the single-column type fan foundation through rigid mechanical connection. For other floating type wind turbines, the installation position of the flywheel energy storage device is determined according to the structural form of the floating type wind turbine foundation platform and the central position of the whole wind turbine.

For the selection principle of the flywheel energy storage device, the large-inertia disk-shaped structure flywheel is selected, so that the axial outward state and the self weight of the flywheel can be improved, and the stability of the floating fan can be improved.

The total power of the arranged flywheel energy storage devices is less than or equal to the rated power P of the fan 10_{Fan blower}Power P of single flywheel energy storage device_{Flywheel wheel}Equal to the rated power of the floating fan divided by the number N of flywheel energy storage devices_{Flywheel wheel}I.e. P_{Flywheel wheel}＝P_{Fan blower}/N_{Flywheel wheel}。

The flywheel energy storage device can adopt a full magnetic suspension flywheel device or a flywheel energy storage device combining a magnetic suspension bearing and a mechanical bearing.

Under the condition that the fan 10 is in a steady state, the flywheel energy storage device is driven to accelerate to a rated rotating speed through the flywheel energy storage converter connected to the direct current bus of the fan converter, and the flywheel energy storage device absorbs energy from the floating fan or a power grid in the process. At the moment, the rotational kinetic energy of the flywheel energy storage device rotating at a high speed reaches a rated value, and the flywheel energy storage device has the capacity of resisting overturning moment. The flywheel rotor rotating at a high speed is coupled with the floating type fan foundation through electromagnetic force to transfer torque, and the stress relation between the flywheel rotor and the floating type fan foundation is balanced.

When the output power of the fan is larger than the rated power, the flywheel energy storage device absorbs energy and improves the energy storage energy. When the output power of the fan is smaller than the rated power, the flywheel energy storage device releases energy, and the energy storage energy is reduced. In the process, the flywheel energy storage device can be used for balancing the power fluctuation of the floating type fan.

And under the working mode that the flywheel energy storage device operates on the stable floating type fan foundation platform, the rotating speed of the flywheel energy storage device is adjusted according to the fluctuation parameters of the sea water waves. When the seawater fluctuation is small, the flywheel energy storage device operates at a rated rotating speed, and the shaking of the platform foundation caused by the seawater fluctuation can be completely resisted. When the sea water fluctuation is large, the rotating speed of the flywheel energy storage device is increased, and the shaking amplitude of the base platform along with the waves is restrained.

The floating type fan controller detects incoming flow wind speed parameters in real time, and the flywheel energy storage device stably operates in a rated rotating speed range under the condition that the incoming flow wind speed is smaller than the rated rotating speed of the flywheel energy storage device and the influence of the incoming flow wind speed on the floating type fan base platform is correspondingly inhibited. At the moment, the flywheel energy storage system can operate in an external charging and discharging mode to smooth the output power of the wind turbine generator. Under the condition that the incoming flow speed is greater than or equal to the rated speed of the flywheel energy storage device and the influence of the incoming flow speed on the floating type fan foundation platform is correspondingly inhibited, the flywheel energy storage device improves the rotating speed by absorbing the electric energy of the wind turbine generator, the capacity of the flywheel energy storage device for inhibiting the floating type fan from being influenced by the incoming flow speed is further enhanced, and at the moment, the flywheel energy storage system only operates in a charging mode.

And when the rotating speed of the flywheel energy storage device reaches the upper limit rotating speed allowing operation, the wind generating set controller starts to execute a pitch control mode. When the output power of the floating fan reaches the rated power value, the rotating speed of the floating fan exceeds the rated rotating speed n0 and is more than or equal to n1, at the moment, n1 is more than n0, the floating fan controller starts to issue a pitch change instruction, and the mechanism executes a pitch change action of increasing the pitch angle. When the rotating speed of the floating fan is reduced to the stop variable pitch rotating speed n2, at the moment, n is larger than n2, the floating fan controller starts to issue a stop variable pitch instruction, the mechanism executes the stop variable pitch action, and the fan blade is maintained at the current pitch angle position.

Particularly, when the output power of the floating fan reaches the rated power value and the pitch angle is larger than the initial pitch angle beta 0 of the floating fan, the rotating speed of the floating fan is smaller than the rated rotating speed n0 and is smaller than or equal to n2, at the moment, n2 is larger than n0, the floating fan controller starts to issue a pitch change command, and then the mechanism executes a pitch change action of reducing the pitch angle. When the rotating speed of the floating fan is increased to the stop variable pitch rotating speed n1, at the moment, n1 is larger than n0, the floating fan controller starts to issue a stop variable pitch command, the mechanism executes the stop variable pitch action, and the fan blade is maintained at the current position of the pitch angle.

Particularly, when the blade pitch angle of the floating type fan is equal to the initial pitch angle beta 0, the variable pitch is stopped, and the unit enters a flywheel energy storage system again to stabilize the stable operation working mode of the floating type fan.

In one embodiment, the floating wind turbine controller may include a signal detection and processing module, a signal filtering module, a pitch control module, a yaw control module, a generator speed/torque control module, and a flywheel energy storage control module.

The floating fan controller signal detection module is used for acquiring signals sent by various sensors of the floating fan in real time and carrying out level conversion, filtering and digital processing on the acquired signals; the floating fan controller signal filtering module is used for digitally filtering the signals sent by the signal detection and processing module in real time, filtering interference signals in the floating fan sensor signals and sending various filtered signals to the subsequent control module; the variable-pitch control module of the floating fan controller is used for calculating the variable-pitch angle of the blades of the floating fan in real time, sending the calculation result of the variable-pitch angle to the variable-pitch executing mechanism in real time, monitoring the variable-pitch executing mechanism and judging the running state of the variable-pitch executing mechanism; the floating fan controller yaw control module is used for calculating the yaw angle of the cabin of the floating fan in real time, sending the yaw angle calculation result to the yaw executing mechanism in real time, monitoring the yaw executing mechanism and judging the running state of the yaw executing mechanism; the floating type fan controller generator speed/torque control module is used for calculating the speed and the torque of a generator set of the floating type fan in real time, transmitting the calculation result of the speed and the torque to a machine side converter of the floating type fan converter in real time, monitoring the speed and the torque value of the generator set and judging the running states of the generator set and the machine side converter; the floating type fan controller flywheel energy storage control module is used for calculating and judging the rotating speed and the charging and discharging states of the flywheel energy storage device in real time, sending the rotating speed calculation result and the charging and discharging states of the flywheel energy storage device to the flywheel energy storage converter in real time, monitoring the flywheel energy storage device and the flywheel energy storage converter, and judging the running states of the flywheel energy storage device and the flywheel energy storage converter.

In summary, in the self-balancing overwater wind power generation system and the yaw control method thereof according to the embodiment, the types of the flywheel energy storage devices are determined to be installed on the floating fans of different types, and the power and the energy storage capacity of the flywheel energy storage devices are calculated according to the power of the floating fans, so that the number and the installation positions of the flywheel energy storage devices are determined. According to the gyro stable operation principle of the flywheel energy storage device, the integral external force resistant stable operation capacity of the floating type fan is improved through the self anti-interference stable operation capacity of the flywheel energy storage device rotating at a high speed, and the problem that the external force resistant stable operation capacity of the floating type fan is poor is solved. Through the connection of the direct current bus of the converter of the floating fan and the direct current side of the converter of the flywheel energy storage device, a charge-discharge energy transfer interface is provided for the flywheel energy storage device, and when the running state of the floating fan is stabilized by the flywheel energy storage device, the problem of fluctuation of output power of the floating fan is greatly improved through charge-discharge control of energy, and the friendliness of grid-connected electric energy quality of the floating fan is improved. The method has the advantages that signals such as incoming flow wind speed, wind direction, generator rotating speed, flywheel rotating speed, grid-connected power and the like are detected in real time, parameters such as grid-connected power, wind wheel rotating speed, fan shaking and the like of the floating fan are accurately controlled in real time by adopting a coordination control method of a floating fan flywheel energy storage device and a variable pitch system under the condition of high wind speed through real-time calculation and analysis of a floating fan controller, stable power generation of the floating fan under the condition of high wind speed is achieved, the problems that stable operation control of a unit is low in efficiency, high in cost, poor in safety and the like due to the fact that a mooring system and a variable pitch control strategy are completely relied on in the prior art of the floating fan are solved, and the method has a good application prospect.

In the description of the present invention, it is to be understood that the terms "central," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise," "axial," "radial," "circumferential," and the like are used in the orientations and positional relationships indicated in the drawings for convenience in describing the invention and to simplify the description, and are not intended to indicate or imply that the referenced devices or elements must have a particular orientation, be constructed and operated in a particular orientation, and are therefore not to be considered limiting of the invention.

Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In the description of the present invention, "a plurality" means at least two, e.g., two, three, etc., unless specifically limited otherwise.

In the present invention, unless otherwise expressly stated or limited, the terms "mounted," "connected," "secured," and the like are to be construed broadly and can, for example, be fixedly connected, detachably connected, or integrally formed; may be mechanically coupled, may be electrically coupled or may be in communication with each other; they may be directly connected or indirectly connected through intervening media, or they may be connected internally or in any other suitable relationship, unless expressly stated otherwise. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.

In the present invention, unless otherwise expressly stated or limited, the first feature "on" or "under" the second feature may be directly contacting the first and second features or indirectly contacting the first and second features through an intermediate. Also, a first feature "on," "over," and "above" a second feature may be directly or diagonally above the second feature, or may simply indicate that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature may be directly under or obliquely under the first feature, or may simply mean that the first feature is at a lesser elevation than the second feature.

In the present disclosure, the terms "one embodiment," "some embodiments," "an example," "a specific example," or "some examples" and the like mean that a specific feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the present disclosure. In this specification, the schematic representations of the terms used above are not necessarily intended to refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. Furthermore, various embodiments or examples and features of different embodiments or examples described in this specification can be combined and combined by one skilled in the art without contradiction.

Although embodiments of the present invention have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present invention, and that variations, modifications, substitutions and alterations can be made to the above embodiments by those of ordinary skill in the art within the scope of the present invention.