| With the rapid development of wind power technology,available onshore wind farm resources are gradually scarce,and the development of wind power industry from onshore to shallow sea and from shallow sea to deep sea has become an irresistible trend.Offshore floating wind turbines are not limited by the depth of the sea,and can make full use of the rich wind resources in the deep sea,so it is of great significance to develop them.In the service process of floating wind turbine,the load is more complex.When the external load changes,the floating platform will produce translation and rotation,which will affect the stable operation of the wind turbine.Therefore,how to control the stable operation of floating platform of offshore wind turbine is the key problem that needs to be studied.Therefore,this paper takes the floating platform of offshore semi-submersible（three-buoy）wind turbine as the research object,and carries out relevant research work from the main line of "stability control strategy design--stability control system development--experimental system design--experimental research" for the floating platform.The main contents and innovations are as follows:（1）A stability control strategy for floating platform of offshore wind turbine is proposed.This strategy uses MPU6050 attitude sensor module and complementary filtering algorithm to detect and calculate the attitude information of the floating platform.Then it is transformed into the position and height change information of the platform buoy through coordinate transformation.Finally,the allowable rotation range of a platform is set.When the pitch Angle or roll Angle changes beyond the set range,ballast water is transmitted from the lowest cylinder to the highest cylinder according to the information of the buoy position and height change.By redistributing the ballast water amount in the buoy,the center of gravity position of the platform is changed to control the stability of the platform.（2）The floating platform stability control system of offshore wind turbine is developed.With STM32F103RCT6 embedded microcontroller controller for the system as the central processing unit,adopt the attitude sensor,water level sensor and the wind speed sensor signals detection platform,buoy internal water level signal and speed signal,through the start-stop control relay control water pump on and off,and then adjust the buoy in ballast water level change,the stability of the control platform.In addition,the control system communicates with the upper computer through RS485 communication.（3）The offshore floating wind turbine experiment system is designed.The experimental system mainly includes wind generator,wind generator,floating platform and mooring system.The wind generating device is used to provide the air source needed for the experiment.The floating platform is used to support the wind generator and other components,and is connected to the bottom of the pool through the mooring system.In the design of the floating platform,its structural parameters are mainly calculated by analyzing the forces on the floating platform in different states,establishing the balance relation group of space force system and the constraint conditions of relevant parameters.（4）The experimental study on the stability control of the floating platform was carried out.In order to verify the stability control effect of the control system on the floating platform,several groups of experiments were carried out under the conditions of relatively stable wind speed（4m/s,5m/s and 6m/s,respectively）and variable wind speed（the wind speed gradually increases and then decreases）by controlling the rotating speed of the wind generator and then controlling the variation of incoming wind speed.The experimental results show that the developed stability control system can effectively suppress the pitch and roll motion of the floating platform under the action of wind load,and control the stability of the platform. |
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