Ant colony PID individual pitch control method of large wind turbine unit

The invention discloses an ant colony PID individual pitch control method of a large wind turbine unit. The method includes the following steps that a load model of the wind turbine unit is built, beating moments of blades of the wind turbine unit under a rotating coordinate system are calculated, and the beating moments are subjected to Colman coordinate transformation and transformed into the yawing bending moment and the pitching bending moment under the coordinate axis d and the coordinate axis q; individual variable pitch angles under the coordinate axis d and the coordinate axis q are obtained through an ant colony PID controller and then transformed to optimized pitch angles of the different blades through Colman inverse transformation, the optimized pitch angles and a unified variable pitch angle are subjected to comparative analysis, a pitch angle control signal is obtained, and execution actions of individual pitch control of the wind turbine unit are competed. The control method combines an intelli