Control system, method and program, and floating wind turbine generator provided therewith

1. A control system of a floating wind turbine generator, the floating wind turbine generator comprising: a yaw driving device adapted to cause a nacelle to perform turning in a yaw direction relative to a tower provided with the nacelle at the upper end thereof, the nacelle being provided with a rotor head that rotates by a plurality of wind turbine blades receiving wind power; and a pitch angle control section adapted to drive the wind turbine blades to control a pitch angle thereof, wherein

the control system controls the pitch angle control section according to a pitch angle instruction value calculated on the basis of a signal detected by a second sensor for detecting a relative angle between the nacelle and the tower and a signal detected by a third sensor for detecting a yaw angle from a reference position of the tower so as to keep a signal indicating an angle within a predetermined range relative to a vertical direction of a rotation plane of the wind turbine blades, the signal being detected by a first sensor for detecting a wind direction deviation relative to the vertical direction of the rotation plane of the wind turbine blades, and controls the yaw driving device according to a yaw driving instruction value calculated on the basis of the signals detected by the second sensor and the third sensor.

2. The control system of the floating wind turbine generator according to claim 1 , wherein the floating wind turbine generator comprises a foundation with a floating structure that floats on a sea surface and the tower installed on the foundation.

3. The control system of the floating wind turbine generator according to claim 1 , wherein the floating wind turbine generator comprises the tower floating on a sea surface.

4. A wind farm comprising the control system according to claim 1 , and a floating wind turbine generator.

5. A control system of a floating wind turbine generator, the floating wind turbine generator comprising a pitch angle control section adapted to drive a plurality of wind turbine blades to control a pitch angle of each of the wind turbine blades, and having a tilt angle, which is an angle between a horizontal plane and a main shaft, wherein

the control system controls the pitch angle control section according to a pitch angle instruction value for controlling the pitch angle of each of the wind turbine blades so as to keep a signal indicating an angle within a predetermined range, the signal being detected by a fourth sensor for detecting a turbine pitch angle, which is an angle between a vertical axis of the horizontal plane and a tower provided with a nacelle at the upper end of the tower, the nacelle being provided with a rotor head that rotates by the wind turbine blades receiving wind power.

6. The control system of the floating wind turbine generator according to claim 5 , wherein the floating wind turbine generator comprises a foundation with a floating structure that floats on a sea surface and the tower installed on the foundation.

7. The control system of the floating wind turbine generator according to claim 5 , wherein the floating wind turbine generator comprises the tower floating on a sea surface.

8. A wind farm comprising the control system according to claim 5 , and a floating wind turbine generator.

9. A control method for a floating wind turbine generator, the floating wind turbine generator comprising: a yaw driving device adapted to cause a nacelle to perform turning in a yaw direction relative to a tower provided with the nacelle at the upper end thereof, the nacelle being provided with a rotor head that rotates by a plurality of wind turbine blades receiving wind power; and a pitch angle control section adapted to drive the wind turbine blades to control a pitch angle thereof, the control method comprising:

controlling the pitch angle control section according to a pitch angle instruction value calculated on the basis of a signal detected by a second sensor for detecting a relative angle between the nacelle and the tower and a signal detected by a third sensor for detecting a yaw angle from a reference position of the tower so as to keep a signal indicating an angle within a predetermined range relative to a vertical direction of a rotation plane of the wind turbine blades, the signal being detected by a first sensor for detecting awing direction deviation relative to the vertical direction of the rotation plane of the wind turbine blades; and controlling the yaw driving device according to a yaw driving instruction value calculated on the basis of the signals detected by the second sensor and the third sensor.

10. A control program for a floating wind turbine generator, the floating wind turbine generator comprising: a yaw driving device adapted to cause a nacelle to perform turning in a yaw direction relative to a tower provided with the nacelle at the upper end thereof, the nacelle being provided with a rotor head that rotates by a plurality of wind turbine blades receiving wind power; and a pitch angle control section adapted to drive the wind turbine blades to control a pitch angle thereof, wherein

the control program controls the pitch angle control section according to a pitch angle instruction value calculated on the basis of a signal detected by a second sensor for detecting a relative angle between the nacelle and the tower and a signal detected by a third sensor for detecting a yaw angle from a reference position of the tower so as to keep a signal indicating an angle within a predetermined range relative to a vertical direction of a rotation plane of the wind turbine blades, the signal being detected by a first sensor for detecting a wind direction deviation relative to the vertical direction of the rotation plane of the wind turbine blades, and controls the yaw driving device according to a yaw driving instruction value calculated on the basis of the signals detected by the second sensor and the third sensor.

11. A control method for a floating wind turbine generator, the floating wind turbine generator comprising a pitch angle control section adapted to drive a plurality of wind turbine blades to control a pitch angle of each of the wind turbine blades, and having a tilt angle, which is an angle between a horizontal plane and a main shaft, the control method comprising: controlling the pitch angle control section according to a pitch angle instruction value for controlling the pitch angle of each of the wind turbine blades so as to keep a signal indicating an angle within a predetermined range, the signal being detected by a fourth sensor for detecting a turbine pitch angle, which is an angle between a vertical axis of the horizontal plane and a tower provided with a nacelle at the upper end of the tower, the nacelle being provided with a rotor head that rotates by the wind turbine blades receiving wind power.

12. A control program for a floating wind turbine generator, the floating wind turbine generator comprising a pitch angle control section adapted to drive a plurality of wind turbine blades to control a pitch angle of each of the wind turbine blades, and having a tilt angle, which is an angle between a horizontal plane and a main shaft, wherein

the control program controls the pitch angle control section according to a pitch angle instruction value for controlling the pitch angle of each of the wind turbine blades so as to keep a signal indicating an angle within a predetermined range, the signal being detected by a fourth sensor for detecting a turbine pitch angle, which is an angle between a vertical axis of the horizontal plane and a tower provided with a nacelle at the upper end of the tower, the nacelle being provided with a rotor head that rotates by the wind turbine blades receiving wind power.