US 12,129,825 B2
Wind turbine control
Bjørn Skaare, Trondheim (NO)
Assigned to EQUINOR ENERGY AS, Stavanger (NO)
Appl. No. 17/757,166
Filed by EQUINOR ENERGY AS, Stavanager (NO)
PCT Filed Dec. 21, 2020, PCT No. PCT/NO2020/000006
§ 371(c)(1), (2) Date Jun. 10, 2022,
PCT Pub. No. WO2021/125966, PCT Pub. Date Jun. 24, 2021.
Claims priority of application No. 1919010 (GB), filed on Dec. 20, 2019.
Prior Publication US 2023/0054921 A1, Feb. 23, 2023
Int. Cl. F03D 13/25 (2016.01); B63B 35/44 (2006.01); F03D 7/02 (2006.01)
CPC F03D 13/25 (2016.05) [B63B 35/44 (2013.01); F03D 7/0224 (2013.01); F03D 7/0276 (2013.01); B63B 2035/446 (2013.01)] 20 Claims
OG exemplary drawing
 
1. A controller for a floating wind turbine comprising a rotor with a plurality of rotor blades connected to a generator, wherein the controller comprises:
an active damping controller for calculating one or more outputs for damping both a first motion of the floating wind turbine in a first frequency range and a second motion of the floating wind turbine in a second frequency range based on an input of the first motion and an input of the second motion, wherein the first motion comprises pitch and/or surge motions in the first frequency range and the second motion comprises pitch and/or surge motions in the second frequency range, wherein the pitch and/or surge motions are rigid body motions, and wherein the first frequency range is higher than the second frequency range;
wherein the active damping controller comprises a first control loop and a second control loop, wherein the first control loop receives the input of the first motion and the second control loop receives the input of the second motion; and
wherein the active damping controller comprises a low pass filter, wherein a first low pass filter frequency for the first control loop and a second low pass filter frequency for the second control loop is set according to the first frequency range and the second frequency range respectively;
wherein the controller is arranged to calculate an output for controlling a blade pitch of one or more of the plurality of rotor blades and/or for controlling a torque of the generator based on an actual rotor speed, a target rotor speed, and the one or more outputs from the active damping controller such that both the first motion and the second motion will be damped.