KR101616427B1 - Floating offshore wind turbine - Google Patents

Abstract

A floating offshore wind turbine according to an embodiment of the present invention is provided. The floating offshore wind turbine according to the present invention comprises: a rotor which has a hub and a blade coupled to the hub to be rotated; a nacelle which is coupled to the hub and receives a rotating spindle and a generator for generating power by receiving the rotation force from the spindle therein; a support tower which supports the nacelle; a floating body which supports the support tower on the water by using buoyancy; and a center weight which is installed inside the nacelle to be moved and is moved according to the slope of the support tower to control the center of mass of the floating offshore wind turbine. Thus, the present invention enables stable and efficient wind power generation by uniformly maintaining the balance of the wind turbine.

Description

{Floating offshore wind turbine}

The present invention relates to a floating offshore wind turbine generator, more particularly, to a floating offshore wind turbine generator capable of stabilizing wind power generation by adjusting a constantly balanced state of a wind turbine generator vibrating largely by strong winds and waves will be.

As electricity consumption gradually increased, imbalance in electricity supply and demand became a problem. To solve these problems, electricity is being produced in a variety of ways such as nuclear power, hydro power and wind power. Among these, development of wind power generation which is high in efficiency at a low cost without causing environmental pollution is actively being developed.

Wind power generation is largely onshore wind power and offshore wind power generation. Of these, offshore wind power generation has the advantage of being less restricted in installation site and scale compared to onshore wind power generation, and being able to receive stable wind power while receiving less influence from the surrounding terrain.

The offshore wind power generation is largely divided into floating type and fixed type. The fixed type offshore wind power generation is simple in structure compared to floating offshore wind power generation, but the foundation cost for fixing is large, while floating type offshore generation is compared with fixed offshore wind power generation There is a disadvantage that the cost of foundation is low, but the cost of production is high.

Particularly, it is difficult to maintain a stable posture due to the influence of the surrounding environment such as waves and winds.

As an example of a solution to the disadvantages of such floating offshore wind power generation, Korean Unexamined Patent Application Publication No. 10-2010-0130666 discloses a study on a floating structure of ocean and its temporary buoyancy restoration method. However, the marine floating structure disclosed in this prior art has a disadvantage that it is not stable in the fluctuation of the water depth due to the difference in the tidal range only and in the shallow sea area. Although Korean Patent Laid-Open No. 10-2012-0021629 discloses a tower vibration suppression structure, it is difficult to suppress the vibration caused by a severe wave by using the structure disclosed in this prior art. Therefore, There is a problem in that it can not be coped with.

Korean Patent Laid-Open No. 10-2012-0021629 2012.03.09 Korean Patent Publication No. 10-2010-0130666 Nov. 14, 2010

SUMMARY OF THE INVENTION It is an object of the present invention to provide a floating offshore wind turbine generator capable of stably and efficiently generating wind power by adjusting a wind turbine generator vibrating largely due to strong winds and waves to maintain a constant equilibrium state.

The technical problem of the present invention is not limited to the technical problems mentioned above, and other technical problems which are not mentioned can be understood by those skilled in the art from the following description.

According to an aspect of the present invention, there is provided a floating offshore wind turbine including a hub, a rotor coupled to the hub, the rotor including a rotating blade, a main shaft rotating and coupled to the hub, A support tower for supporting the nacelle, a float for supporting the support tower on the water surface by forming buoyancy, and a movable body movably installed in the nacelle to move along a slope of the support tower, And a center weight for adjusting the center of gravity.

A tilt sensor for measuring a tilt of the support tower, and a center weight position controller for receiving the tilt measurement value measured by the tilt sensor and moving the center weight.

The center weight position controller may shift the center weight by converting the tilt measurement value to a position value of the center weight when the tilt measurement value exceeds a predetermined range.

A standard controller for adjusting the pitch angle of the blades by operating the pitch adjusting unit, and a controller for controlling the pitch angle of the blade by adjusting a value measured by the tilt sensor And adjusting the pitch angle of the blade by adding or subtracting the standard controller adjustment value according to the slope measurement value when adjusting the pitch angle of the standard controller when the slope measurement value is within a predetermined range can do.

A moving member coupled to the center weight for moving the center weight in the longitudinal direction, and a driving unit for receiving the control value from the center weight position controller and driving the moving member.

The present invention can maintain a stable posture by achieving an equilibrium state even in an environment where strong winds and waves are applied.

In addition, it is possible to extend the operation time of the wind power generator by adjusting the vibration of the wind power generator as much as possible.

1 is a schematic view of a floating offshore wind turbine that vibrates according to a wave height.
2 is a perspective view schematically illustrating a floating offshore wind turbine according to an embodiment of the present invention.
3 is a schematic view illustrating an upper structure of a floating offshore wind turbine according to a first embodiment of the present invention.
FIG. 4 is a view schematically showing an equilibrium state of the floating offshore wind turbine generator of FIG. 3;
5 is a schematic view showing an operation example of the floating offshore wind power generator of FIG.
FIG. 6 is a schematic view showing an example of operation of the floating offshore wind turbine generator of FIG. 3;
7 is a view schematically showing an upper structure of a floating offshore wind turbine generator according to a second embodiment of the present invention.
FIG. 8 is a view schematically showing an equilibrium state of the floating offshore wind turbine of FIG. 7; FIG.
Fig. 9 is a schematic view showing an operation example of the floating offshore wind power generator of Fig. 7;
10 is a schematic view showing an operation example of the floating offshore wind power generator of FIG.
11 is a control block diagram showing the operation of the floating offshore wind turbine of the present invention.
12 is a flowchart showing the operation of a floating offshore wind turbine according to the present invention.

Brief Description of the Drawings The advantages and features of the present invention and methods of accomplishing the same will be apparent from the following detailed description of embodiments thereof taken in conjunction with the accompanying drawings. The present invention may, however, be embodied in many different forms and should not be construed as limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the invention to those skilled in the art. Is provided to fully convey the scope of the invention to those skilled in the art, and the present invention is only defined by the claims. Like reference numerals refer to like elements throughout the specification.

1 is a schematic view of a floating offshore wind turbine that vibrates according to a wave height.

As shown in Fig. 1, the floating offshore wind turbine is not fixed on the seabed ground and floats on the sea, so that it is greatly affected by waves. Thus, a floating offshore wind turbine is vibrated by the flow of seawater constantly moving. Particularly, when the wind turbine vibrates due to the high crest, the floating offshore wind turbine is largely shaken, making stable wind turbine generation difficult.

Hereinafter, a floating offshore wind turbine generator according to the present invention will be described in detail with reference to FIGS. 2 to 12. FIG.

2 is a perspective view schematically illustrating a floating offshore wind turbine according to an embodiment of the present invention.

Referring to FIG. 2, the floating offshore wind turbine generator 1 can generate electricity stably by maintaining a constant attitude even in an environment where strong winds and waves are generated. The floating type offshore wind turbine generator 1 includes a rotor 10 rotated by a wind direction, a nacelle 13 surrounding a generator for generating electric power by the rotational force of the rotor, a support tower 20 connected to the nacelle 13 at an upper end thereof A float 30 for supporting the support tower 20, a center weight 110 for adjusting the center of gravity, a moving member 120 for moving the center weight 110, a driving unit for driving the moving member 120, A tilt sensor 140 that measures the tilt of the support tower 20, and a controller 150 that adjusts the tilt and vibration of the support tower 20.

Hereinafter, each component of the floating offshore wind turbine generator 1 according to the present invention having such characteristics will be described in more detail.

The rotor 10 includes a blade 11 whose pitch angle is controlled, and a hub 12 provided with a plurality of blades 11 spaced at the same angle. The rotor 10 is installed at the upper end of the support tower 20 and receives the wind blowing from the front so that the hub 11 coupled to the hub 11 rotates while the blade 11 rotates.

The blade 11 is arranged around the hub 12 and receives the wind blowing from the front, and rotates in one direction, and can be adjusted to maintain a constant rotational speed. As the blade 11 rotates with the wind, the hub 12 and the main shaft 40 rotate together.

Further, the pitch angles of the plurality of blades 11 and the blades 11 are independently controlled, so that the rotational speed of the blades 11 can be easily controlled by the wind.

In addition, as shown in the figure, three blades 11 are provided on the hub 12 to overcome the noise and stability problems of the wind rotor 10. However, the number of the blades 11 is not necessarily limited to three, and the number of the blades 11 may be more or less than necessary.

The hub 12 connects and protects the end of the blade 11 with the main shaft 40 and may be formed in a conical shape having a smaller cross sectional area toward the front of the floating offshore wind power generator 1 . Since the hub 12 is formed in a conical shape, the flow of air can be guided smoothly, and the wind rotor 10 can rotate more easily. However, the hub 12 is not limited to being formed in a conical shape, and the shape can be variously modified. For example, the hub 12 may be formed in an elliptical shape.

The nacelle 13 is an engine room connected to the hub 12 to produce electric power by using the rotational force of the hub 12. The nacelle 13 includes a main shaft 40 connected to the hub 12, a gear box 50 for receiving the rotational force from the hub 12 to produce electric power, a subsidiary shaft 41, a generator 60 and a transformer 70, I wrap my back.

The main shaft 40 is rotatably coupled to the hub 12 to become the main shaft 40 of the blade 11. The main shaft 40 transfers the rotational force transmitted from the hub 12 to the generator 60 in the nacelle 13.

The gear box 50 serves to transmit the rotational force of the main shaft 40 to the generator 60 through the auxiliary shaft 41. The gear box 50 accommodates therein a main shaft 40 connected to the hub 12 and an auxiliary shaft 41 connected to the generator 60. The main shaft 40 and the auxiliary shaft 41 are arranged side by side . The main shaft 40 and the auxiliary shaft 41 are respectively coupled with gears having teeth.

The generator 60 serves to convert the mechanical rotational energy generated by the rotation of the blade 11 into electric energy and at least one generator 60 may be installed in the floating offshore wind turbine 1. [ The generator 60 generates electricity using the rotational force transmitted through the main shaft 40 and the auxiliary shaft 41. The generator 60 may receive electricity from the outside to transmit the driving force to the main shaft 40 and rotate the blade 11.

The transformer 70 is connected to one side of the generator 60 and converts electric energy supplied from the generator 60 into a state having a usable voltage and phase. The electric energy converted by the generator 60 is in an unstable state of voltage and phase and can not be supplied to a power system unit (not shown). Therefore, the transformer 70 converts the unstable electric energy into a state having a stable voltage and phase, and supplies it to the power system unit (not shown).

The nacelle 13 described above is connected to the support tower 20 by a bearing structure and can be easily rotated corresponding to the wind direction. Therefore, the rotor 10 coupled with the main shaft 40 in the nacelle 13 and the nacelle 13 rotating in accordance with the wind can smoothly produce electricity using the wind.

The support tower 20 is a pillar of the floating offshore wind turbine generator 1. The support tower 20 is preferably formed in a hollow shape so as to have minimum displacement from wind and waves. The upper end of the support tower 20 is connected to the nacelle 13 and the lower end thereof is connected to the float 30 forming buoyancy.

The float (30) is positioned on the water surface to support the support tower (20). The float 30 may take various forms depending on the installation position of the floating offshore wind turbine generator 1. For example, there is a semi-submersible offshore wind turbine in which a spill type offshore wind turbine or float 30 having a long float 30 and a small repair area is formed in a cylindrical shape and has a large water area.

The center weight 110 is installed in the nacelle 13 and moves according to the inclination of the support tower 20 to adjust the center of gravity. The center weight 110 is provided to maintain the equilibrium state of the floating offshore wind turbine generator 1. That is, the center weight 110 is installed considering not only the weight of the components installed in the nacelle 13 but also the weight of the blade 11 and the hub 12. The center weight 110 is moved by the moving member 120 and the driving unit 130. However, the present invention is not limited to this, and the center weight 11 can be moved without the driving unit 13. [ In addition, the center weight 110 may have various shapes. For example, cylindrical, semicircular or conical. The center weight 110 preferably has a curved upper surface or a lower surface so as to utilize the empty space in the nacelle 13 to the maximum.

The moving member 120 driven by the driving unit 130 is connected to one end of the center weight 110 to move the center weight 110. The moving member 120 may be a ball screw that can move linearly using the rotational force of the driving unit. However, the present invention is not limited thereto, and various combinations of companies such as a rack-and-pinion gear for linear movement or a single pinion planetary gear for rotational movement can be used.

The driving unit 130 includes a motor, and moves the moving member 120 in the longitudinal direction or the rotating direction by using the rotational force generated by the motor. The center of gravity 130 is moved by the movement length or the rotation angle of the movable member 120 so that the center of gravity changed by the vibration of the floating marine wind power generator 1 is adjusted. The driving unit 130 may be coupled to the plurality of moving members 120 or may operate the plurality of moving members 120 through one driving unit 130.

Hereinafter, the center weight 110, the moving member 120, and the driving unit 130 in the nacelle 13 having such characteristics will be described in detail with reference to various embodiments.

FIG. 3 is a schematic view showing an upper structure of a floating offshore wind turbine 1 according to a first embodiment of the present invention, FIG. 4 is a view schematically showing an equilibrium state of a floating offshore wind turbine of FIG. 3 FIG. 5 is a schematic view showing an operation example of the floating offshore wind turbine of FIG. 3, and FIG. 6 is a view schematically showing an operation example of the floating offshore wind turbine of FIG.

3 to 6, the floating offshore wind turbine generator 1 according to the first embodiment of the present invention is configured to move the center weight 111 along the longitudinal direction of the main shaft 40, Keep the center in equilibrium.

The center weight 111 is installed radially spaced from the main shaft 40 in the nacelle 13. The shifting member 121 is installed in the longitudinal direction of the main shaft 40 and moves the center weight 111 in the longitudinal direction of the main shaft 40. The driving unit 131 is installed at one side of the moving member 121 and moves the moving member 121 in the longitudinal direction of the main shaft 40. [ That is, the center of gravity 111 is moved in the longitudinal direction of the nacelle 13 to adjust the center of gravity which changes. 3, when the moving member 121 is a ball screw, the driving unit 131 is coupled to one side of the screw shaft 121a, and the center weight 111 is coupled to the ball bearing 121b. When the screw shaft 121a is rotated by the rotation of the driving unit 131, the center weight 111 coupled with the ball bearing 121b moves in a linear direction. Therefore, the moving distance of the center weight 111 is determined by the number of revolutions of the ball screw.

Referring to FIGS. 4 to 6, the center weight 111 is moved to a support tower 20 inclined to a peak, so that the support tower 20 is maintained in an equilibrium state. FIG. 4 shows a case where the support tower 20 maintains the equilibrium state, and the position of the center weight may be changed in consideration of the relationship with other components in the nacelle.

5, when the supporting tower 20 is inclined toward the blade 11 (indicated by a dotted line), the driving unit 131 and the moving member 121 move the center weight 111 in the opposite direction . Thus, the floating offshore wind turbine generator 1 is tilted toward the blade 11 by the digging, and is maintained in an equilibrium state (indicated by a solid line). 6, when the supporting tower 20 is inclined rearward (indicated by a dotted line), the driving unit 131 and the moving member 121 move the center weight 111 (solid line) Move in the opposite direction. Thus, the floating offshore wind turbine 1 is tilted toward the rear side of the nacelle 13 by the digging to maintain the equilibrium state (indicated by a solid line). Although not shown in the drawing, when the support tower 20 is equilibrated as shown in FIG. 4 because the waves are still frozen, the center weight 11 also returns to the equilibrium position as shown in FIG.

FIG. 7 is a schematic view showing an upper structure of a floating offshore wind turbine according to a second embodiment of the present invention, FIG. 8 is a view schematically showing an equilibrium state of the floating offshore wind turbine of FIG. 7, 7 is a schematic view showing an example of operation of the floating offshore wind turbine generator of Fig. 7, and Fig. 10 is a view schematically showing an example of operation of the floating offshore wind turbine generator of Fig.

7 to 10, a floating offshore wind turbine generator 1 according to a second embodiment of the present invention includes a plurality of center weights 112 and 113 and moving members 122 and 123, In an equilibrium state.

A plurality of center weights 112 and 113 are provided radially spaced apart from the main shaft 40 in the nacelle 13. The center weights 112 and 113 are spaced apart from each other. The plurality of central weights 112 and 113 may be different in weight or shape depending on positions in consideration of other components in the nacelle 13 or the center of gravity of the equilibrium state. In addition, the positions of the plurality of central weights 112 and 113 in the equilibrium state and the movement length in moving the center of gravity may be different from each other in consideration of the center of gravity in the equilibrium state or the position of the center of gravity in the case where the equilibrium state is broken.

The shifters 122 and 123 are connected to the center weights 112 and 113 in the longitudinal direction of the main shaft 40 and move the center weights 112 and 113 in the longitudinal direction of the main shaft 40, respectively. The driving units 132 and 133 are connected to one side of the moving members 122 and 123 to move the moving members 122 and 123 in the longitudinal direction of the main shaft 40. The driving units 132 and 133 may be provided to the moving members 122 and 123 or may be connected to the moving members 122 and 123 by one driving unit 132 and 133, respectively. That is, the plurality of central weights 112 and 113 move in the longitudinal direction of the nacelle 13 to adjust the changing center of gravity. As shown in FIG. 7, the center weights 112 and 113 may be installed at the upper and lower portions of the nacelle 13, respectively. As shown in FIG. 3, when the moving members 122 and 123 are ball screws, the center weights 112 and 113 are coupled to the ball bearings. When the screw shaft coupled to the driving units 132 and 133 rotates, the center weights 112 and 113 move in a linear direction. At this time, the moving distances of the center weights 112 and 113 are determined according to the number of revolutions of the ball screw.

Referring to FIGS. 8 to 10, a plurality of center weights 112 and 113 move in a supporting tower 20 inclined to a peak, respectively, so that the supporting tower 20 maintains an equilibrium state. As shown in FIG. 8, when the support tower 20 maintains the equilibrium state, the positions of the center weights 112 and 113 may be different according to the center weights 112 and 113, respectively.

As shown in Fig. 9, when the support tower 20 is inclined toward the blade 11 (indicated by a dotted line), the respective center weights 112 and 113 are moved to move the changed center of gravity to an equilibrium state. Thus, the floating offshore wind turbine generator 1 is tilted toward the blade 11 by the digging, and is maintained in an equilibrium state (indicated by a solid line). Then, as shown in Fig. 10, when the support tower 20 is tilted backward (indicated by a dotted line), the respective center weights 112 and 113 are moved to move the changed center of gravity to the equilibrium state. Thus, the floating offshore wind turbine 1 is tilted toward the rear side of the nacelle 13 by the digging to maintain the equilibrium state (indicated by a solid line). Although not shown in the drawing, when the support tower 20 is equilibrated as shown in FIG. 8 because the waves are still calm, the center weight 11 also returns to the equilibrium position shown in FIG.

The floating offshore wind turbine generator 1 of the present invention is not limited to the first and second embodiments described above. For example, the center weight may be both linear and rotational. Further, the center weight, the moving member, and the driving unit can be provided in various forms at various positions. In particular, the moving member can be installed in various directions to move the center weight to various positions in consideration of the changed center of gravity.

Hereinafter, the control method of the floating offshore wind turbine according to the present invention will be described in detail.

Fig. 11 is a control block diagram showing the operation of the floating offshore wind turbine generator 1 of the present invention, and Fig. 12 is a flowchart showing the operation of the floating offshore wind turbine generator 1 according to the present invention.

11 and 12, a floating offshore wind turbine generator 1 according to the present invention includes a tilt sensor 140 for measuring the tilt of the support tower 20, a tilt sensor 140 for adjusting the tilt of the support tower 20, (150).

The control unit 150 receives the movement of the support tower 20, which changes occasionally due to wind and wave, from the tilt sensor 140. That is, the tilt sensor 140 informs the control unit 150 of the current state of the support tower 20 and allows the control unit 150 to adjust the current state.

The control unit 150 determines the value received from the tilt sensor 140 and stops the wind power generation or adjusts the pitch value of the blade 11 or the position value of the center weight 110. That is, the control unit 150 reduces the vibration by adjusting the pitch of the blades 11 by dividing the inclination value of the supporting tower 20 within a certain range, and when the value exceeds the predetermined range, the position of the center weight 110 And stops the wind power generation when the position of the center weight 110 exceeds the position adjustable range.

The control unit 150 includes a center weight position controller 151, a standard controller 153, and a tilt compensation controller 154.

The center weight position controller 151 converts the tilt measurement value to the position of the center weight 110 when the slope of the support tower 20 measured from the tilt sensor 140 exceeds a preset range, The driver is operated according to the value. As an example of operation, the center weight position controller 151 can adjust the rotation speed and time of the driving unit 130 based on the position value of the center weight 110 in the equilibrium state. That is, the center of gravity is calculated by calculating the center of gravity which changes according to the tilt measurement value received from the tilt sensor 140. This can command the drive unit 130 to operate by inferring the moving distance or rotation angle of the movable member 120, the rotation speed and time of the drive unit 130, and the like. This adjusts the center of gravity, which is changed by the crest, to keep the floating offshore wind turbine (1) in a safe equilibrium.

The standard controller 153 adjusts the pitch angle of the blade 11. The pitch angle is an angle at which the blade 11 is tilted with respect to the hub 12 as it rotates, and when the pitch angle is 0 degree, the blade 11 receives 100% of the amount of wind blowing from the front. The standard controller 153 controls the pitch angle by operating the pitch adjusting unit 160 in consideration of the output power error. Therefore, the floating type offshore wind turbine generator 1 vibrating by the wind direction and the wind speed is adjusted to adjust the pitch angle of the blade 11 to maintain a safe equilibrium state.

The tilt compensating controller 154 adjusts the pitch of the blade 11 by adding or subtracting the value of the standard controller 153 when adjusting the pitch of the standard controller 153 when the inclination of the supporting tower 20 is within the preset range . That is, when the degree of inclination of the support tower 20 is not large, the pitch angle of the blade 11 is adjusted without moving the center weight 110 to maintain the floating offshore wind turbine 1 in a safe equilibrium state.

Referring to Fig. 12, the floating offshore wind turbine generator 1 according to the present invention operates as follows.

When power is supplied to the floating offshore wind turbine generator 1 to operate normally, the tilt sensor 140 also operates. If the measured value of the tilt sensor 140 is within the preset range, the controller 150 informs the inclination compensating controller 154 of the value of the pitch angle of the blade 11 through the standard controller 153 do. If the measured value of the tilt sensor 140 exceeds a preset range, the controller 150 informs the center weight position controller 151 to convert the center value to a position value of the center weight 110, The driving unit 130 is operated. The driving unit 130 moves the movable member 120 to move the center weight 110.

As described above, the floating offshore wind turbine generator 1 according to the present invention measures the degree of tilt by the tilt sensor 140, adjusts the center weight 110 to maintain the equilibrium state when the tilt angle is more than a predetermined slope, The vibration can be easily reduced by adjusting the pitch angle of the blade 11 when the inclination is within a predetermined slope.

While the present invention has been described in connection with what is presently considered to be practical exemplary embodiments, it is to be understood that the invention is not limited to the disclosed embodiments, but, on the contrary, You can understand that you can. It is therefore to be understood that the above-described embodiments are illustrative in all aspects and not restrictive.

1: Floating offshore wind power generator 10: Rotor
11: blade 12: hub
13: Naselle 20: Support Tower
30: float 40: spindle
41: auxiliary shaft 50: gear box
60: Generator 70: Transformer
110, 111, 112, 113: center weight 120, 121, 122, 123:
130, 131, 132, 133: driving unit 140: tilt sensor
150: control unit 151: center weight position controller
153: Standard controller 154: Slope compensation controller
160:

Claims (5)

A rotor including a hub and a blade coupled to the hub;
A nacelle for receiving a rotating main shaft coupled to the hub and a generator for receiving power of rotation of the main shaft and generating electric power;
A support tower for supporting the nacelle;
A float forming buoyancy to support the support tower above the water surface;
A center weight movably installed in the nacelle and spaced apart from and parallel to the main axis in a radial direction of the main shaft coupled with the hub to receive a rotational force;
A moving member connected to the center weight and including a screw shaft and a ball bearing for moving the center weight along a longitudinal direction of the main shaft;
A driving unit coupled to one side of the screw shaft to drive the moving member;
A pitch adjusting unit for adjusting a pitch angle of the blade;
A tilt sensor for measuring a tilt of the support tower; And
And a controller for adjusting at least one of a position of the center weight and a pitch angle of the blade according to a tilt measurement value received from the tilt sensor,
The control unit
Wherein the center weight position and the movement distance are calculated in consideration of the weight distribution of the main shaft, the gear box, the auxiliary shaft, the generator, and the transformer in the nacelle. The method according to claim 1,
Wherein the control unit calculates at least one of the number of revolutions, the revolving speed and the time of the driving unit according to the calculated position and distance of the center weight to control the driving unit. The method according to claim 1,
The control unit
And the center weight is moved in accordance with the tilt value when the tilt value measured by the tilt sensor exceeds a preset range. The method according to claim 1,
A plurality of moving members are provided so as to be spaced apart from each other around the main shaft,
Wherein the center weight is coupled to the ball bearings of the plurality of moving members,
Wherein the control unit converts the position and the movement distance of the plurality of center weights and adjusts the center of gravity of the support tower by moving each of the center weights according to the measured value of the tilt sensor. The method according to claim 1,
Wherein the center weight has a curved upper or lower surface.

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