A cross-physical field model test device and test method for floating wind turbines

Abstract

The present invention discloses a cross-physics-field model test device and test method for floating wind turbines, relating to the field of offshore wind power engineering technology. The device comprises a water tank test subsystem, a wind tunnel test subsystem, and a real-time interactive system. The water tank test subsystem comprises an aerodynamic load reproducer and a tower-floating body-mooring physical model; the wind tunnel test subsystem comprises a floating body motion simulator and a wind rotor-tower physical model; and the real-time interactive system is capable of controlling the motion of the aerodynamic load reproducer and the floating body motion simulator. The present invention simultaneously utilizes multifunctional wind tunnel and marine engineering water tank test conditions to reproduce the floating body motion characteristics and the aerodynamic characteristics of the wind turbine in real time. By dividing the floating wind turbine system into two test subsystems, the problem of the inability to simultaneously match the aerodynamic similarity criteria and the hydrodynamic similarity criteria in scaled model tests is avoided, thereby improving the accuracy and reliability of integrated floating wind turbine model tests.

Description

Technical Field

[0001] The present invention relates to the technical field of offshore wind power engineering, and in particular to a cross-physical field model test device and a test method for a floating wind turbine. Background Art

[0002] Offshore floating wind turbines are highly coupled systems composed of large wind turbines and large floating platforms. Operating in complex environments, they present numerous challenges in both design and verification. Currently, the mechanisms underlying the coupled dynamic behavior of floating wind turbines remain unclear, and numerical simulations can only serve as an initial design tool, with further improvements in accuracy and reliability needed. However, integrated scaled physical model testing can better reflect the coupled dynamic behavior of floating wind turbines and marine environmental conditions, playing a crucial role in the development of floating wind turbines.

[0003] In order to accurately restore the aerodynamic and hydrodynamic performance characteristics of floating wind turbines, it is necessary to ensure that the model and the prototype have the same Reynolds number Re, Froude number Fr, and tip speed ratio TSR. However, these three dimensionless parameters cannot be matched simultaneously in the scaled model. Traditional physical model tests are generally carried out in marine engineering tanks, striving to restore the physical characteristics of each part of the model as much as possible. Accurate simulation of waves and currents can be achieved in the tank, and wind field simulation can be achieved by setting up a wind-generating system. However, in tank experiments, the similarity of Froude numbers is followed, and the model wind wheel needs to be redesigned equivalently to achieve the target aerodynamic load. This method makes it difficult to restore the complex aerodynamic performance of the wind turbine, and the coupling effect between hydrodynamics and aerodynamics is insufficiently studied. In addition, the wind field generated in the open space of the tank is of low quality, which is not conducive to the study of the aerodynamic performance of the wind turbine.

[0004] To address the difficulty of accurately simulating wind turbine aerodynamic performance using physical model tests in water tanks, hybrid physical model testing methods based on numerical wind turbines have been developed. This method replaces the physical wind turbine in the water tank with an actuator. Numerical tools are used to calculate the wind turbine aerodynamic loads and transmit them to the actuator. Simultaneously, information about the floating body's motion is collected and fed back into the numerical aerodynamic load calculation model for real-time iterative calculations. This hybrid physical model testing method features real-time coupled interaction, accurately reproducing the coupled dynamic behavior of floating wind turbines. Furthermore, this method eliminates the need for a wind generation system in the water tank and the reconstruction of the physical wind turbine, improving the efficiency and accuracy of water tank model testing. To further investigate wind turbine aerodynamic characteristics, hybrid physical model testing based on numerical floating bodies has been developed in wind tunnels. This improves wind field quality in wind tunnels and allows model wind turbines to break through the constraints of Fr number similarity and gravity similarity, enabling a more refined nacelle model and implementing functions such as variable speed and pitch control. During the wind tunnel tests, a high-precision wind turbine model was placed on a floating body motion simulator, which served as an actuator to replace the floating body's motion in the tank. The numerical model was used to calculate the marine environment and mooring system. Furthermore, a load sensor was placed at the base of the tower as a data interface. The aerodynamic loads generated by the physical wind turbine under the influence of the wind field were collected in real time and transmitted to the numerical model that calculated the floating body's motion, thereby solving the floating body's position and posture in real time. This method can more accurately reproduce the wind turbine's aerodynamic performance, addressing the lack of research on wind turbine aerodynamics in marine engineering tanks.

[0005] However, hybrid physical model testing methods still face many challenges, such as the difficulty in solving numerical models efficiently and in real time, the difficulty in real-time and high-precision inversion of wind load actuators and floating body motion actuators, and the control closed-loop time delay. Therefore, technicians in this field are committed to developing a cross-physics field model testing device and testing method for floating wind turbines. Tests are conducted simultaneously in wind tunnels and water tanks. A high-quality, controllable wind field is generated in the wind tunnel, and a refined physical wind rotor model is connected to a floating body motion simulator via a tower. Simultaneously, real waves and currents are generated in an ocean engineering water tank, and an aerodynamic load replicator is mounted on the top of the tower of the physical floating body. The two physical spaces of the wind tunnel and water tank complete real-time measurement, communication, and control through a central control system. The aerodynamic load is monitored in real time in the wind tunnel and transmitted to the aerodynamic load replicator in the water tank. Simultaneously, the floating body motion is monitored in real time in the water tank, and the floating body motion is reproduced in real time by the floating body motion simulator in the wind tunnel. Ultimately, a technical framework for the virtual-real mixing and cross-domain interaction of wind tunnels and water tanks is formed to address the pain points of current floating wind turbine physical model tests, such as the conflict in scale theory, the difficulty in high-precision simulation of the marine environment, and the insufficient research on the coupling between wind turbine aerodynamics and floating body hydrodynamics. Summary of the Invention

[0006] In view of the above-mentioned defects of the prior art, the technical problem to be solved by the present invention is the problem of scale conflicts between different load components in a full physical model test of a floating wind turbine model.

[0007] To achieve the above-mentioned objectives, the present invention provides a cross-physical field model test device for a floating wind turbine, characterized in that it includes a water tank test subsystem, a wind tunnel test subsystem and a real-time interactive system, wherein the water tank test subsystem includes an aerodynamic load reproducer and a tower-floating body-mooring physical model; the wind tunnel test subsystem includes a floating body motion simulator and a wind rotor-tower physical model; the aerodynamic load reproducer is arranged at the upper end of the tower-floating body-mooring physical model and is connected to the real-time interactive system, the floating body motion simulator is arranged at the lower end of the wind rotor-tower physical model and is connected to the real-time interactive system, and the real-time interactive system can control the movement of the aerodynamic load reproducer and the floating body motion simulator.

[0008] Furthermore, the water tank test subsystem also includes an ocean wave and current simulation device. The tower-floating body-mooring physical model and the ocean wave and current simulation device simulate the ocean environment based on the length scaling coefficient and the acceleration scaling coefficient to construct the water tank side scaling criterion of the water tank test subsystem. The water tank side scaling criterion is based on the Froude scaling criterion theory:

[0009]

[0010] Where Fr is the Froude number, U is the characteristic velocity, g is the acceleration of gravity, and L is the characteristic length of the model.

[0011] Furthermore, the wind tunnel test subsystem also includes a wind field simulation device. The wind turbine-tower physical model and the wind field simulation device simulate the wind field environment based on the length scaling factor and the velocity scaling factor to construct a wind tunnel side scaling criterion for the wind tunnel test subsystem. The wind tunnel side scaling criterion is characterized by the motion similarity criterion:

[0012]

[0013] Among them, TSR is the tip speed ratio, ω is the angular velocity of the wind turbine, R is the radius of the wind turbine rotor, and U is the wind speed.

[0014] Furthermore, the tower-floating body-mooring physical model includes a first tower, a floating platform and a mooring system, the floating platform and the first tower are connected by a flange, the floating platform is connected to the false bottom of the pool through the mooring system, a single-component force sensor is arranged at the fairlead hole of the floating platform, a first non-contact six-degree-of-freedom motion monitoring system and a floating platform acceleration sensor are arranged on the surface of the floating platform, six-component force sensors are arranged at the bottom and top of the first tower respectively, and an acceleration sensor is also arranged at the top of the first tower.

[0015] Furthermore, the wind rotor-tower physical model includes a wind rotor model and a second tower, the wind rotor model is arranged at the top of the second tower, and the wind rotor model is connected to the floating motion simulator through the second tower. Six-component force sensors are respectively arranged at the hub of the wind rotor model, the top and bottom of the second tower, and a tower top acceleration sensor is also arranged at the top of the second tower. A second non-contact six-degree-of-freedom motion monitoring system and a platform acceleration sensor are arranged on the floating motion simulator.

[0016] Furthermore, the real-time interactive system includes a real-time data acquisition and extraction algorithm system, a data transmission and communication system, and a physical real-time loading system. The real-time data acquisition and extraction algorithm system can collect the motion parameters of the tower-floating body-mooring physical model and the wind rotor-tower physical model and generate control commands. The control commands are transmitted to the physical real-time loading system through the data transmission and communication system. The physical real-time loading system controls the aerodynamic load reproducer to generate the six-degree-of-freedom aerodynamic load of the wind rotor-tower physical model at the current moment. The physical real-time loading system controls the floating body motion simulator to generate the six-degree-of-freedom motion of the tower-floating body-mooring physical model at the current moment.

[0017] The present invention also provides a test method for a cross-physical field model test device for a floating wind turbine, characterized in that the method comprises the following steps:

[0018] Step 1: Establish a tower-floating body-mooring physical model in the water tank test subsystem, and establish a wind rotor-tower physical model in the wind tunnel test subsystem;

[0019] Step 2: In the water tank test subsystem, the wave and current environment is simulated by an ocean wave and current simulation device, and the sensor signals on the tower-floating body-mooring physical model are collected and transmitted to the real-time interactive system;

[0020] Step 3: In the wind tunnel test subsystem, a wind field simulation device is used to simulate an environmental wind field, and sensor signals on the wind rotor-tower physical model are collected and transmitted to the real-time interactive system;

[0021] Step 4: The real-time interactive system generates a control command to control the aerodynamic load reproducer in the water tank test subsystem to generate the six-degree-of-freedom aerodynamic load on the wind wheel in the wind wheel-tower physical model at the current moment, and at the same time controls the floating body motion simulator of the wind tunnel test subsystem to generate the six-degree-of-freedom motion of the floating platform in the tower-floating body-mooring physical model at the current moment.

[0022] Furthermore, in step 1, the water tank test subsystem designs the tower-float-mooring physical model based on the length scaling coefficient and the acceleration scaling coefficient, using the Froude scaling criterion theory; the wind tunnel test subsystem designs the wind rotor-tower physical model based on the length scaling coefficient and the velocity scaling coefficient, using the motion similarity criterion, and reduces the difference in Reynolds number between the model and the prototype.

[0023] Furthermore, the step 4 further includes:

[0024] Step 4.1. The real-time interactive system is embedded with an aerodynamic load extraction algorithm. Based on the data of the six-component force sensors at the top and bottom of the second tower and the tower top acceleration sensor at the top of the second tower in the wind tunnel test subsystem, the aerodynamic load extraction algorithm is used to calculate the six-degree-of-freedom aerodynamic load on the wind wheel at the current moment.

[0025] Furthermore, the step 4 further includes:

[0026] Step 4.2: The real-time interactive system is embedded with a floating platform motion extraction algorithm, which calculates the six-degree-of-freedom motion state of the floating platform at the current moment based on data from the first non-contact six-degree-of-freedom motion monitoring system and the floating platform acceleration sensor arranged on the surface of the floating platform in the water pool test subsystem.

[0027] The beneficial technical effects of the present invention are as follows:

[0028] 1. There is a problem of conflicting scaling of different load components in full-physical model tests. The present invention divides the floating wind turbine model test into two subsystems and conducts them simultaneously in an ocean engineering water tank and a multi-functional wind tunnel. By applying scaling theory and similarity criteria, the Froude number Fr scaling is adopted in the water tank to restore the hydrodynamic performance of the floating body. In the wind tunnel, a new scaling rule based on the independence of length and speed is adopted to establish a more refined wind turbine rotor model, thereby improving the accuracy of converting the scaled model test results to the actual scale.

[0029] 2. In full-physical model tests, there is a problem that complex marine environments cannot be simulated with high precision. The present invention generates high-quality waves and currents in a marine engineering pool and a high-quality wind field in a multi-functional wind tunnel. Through hydrodynamics and aerodynamics, waves and currents are simulated in the pool. At the same time, there is no need to build a wind generation system in the open space of the pool. High-quality wind fields can be simulated in the wind tunnel, and complex marine environmental conditions can be restored with high precision.

[0030] 3. In hybrid physical model tests, there are problems with the accuracy and efficiency of the numerical solution of wind loads / floating body motion. The present invention uses a central control system for measurement, communication, and control to achieve real-time monitoring and simulation of aerodynamic loads and floating body motion. Through communication theory and control theory, there is no need to simplify and solve the dynamic equations of the numerical model. Through real-time measurement and communication technology, accurate reproduction of aerodynamic loads and floating body motion can be achieved, allowing physical model tests to return to their essence, that is, obtaining data from the test.

[0031] The offshore floating wind turbine cross-physical field model test device proposed in the present invention, at the technical advantage level, simultaneously utilizes the test conditions of a multifunctional wind tunnel and a marine engineering water tank, and based on advanced control technology and communication means, can reproduce the motion characteristics of the floating body and the aerodynamic characteristics of the wind turbine in real time. There is no need to build a large-scale wind-generating system in the water tank, which simplifies the test process; the refined wind turbine model in the wind tunnel is more conducive to studying the aerodynamic performance of the floating wind turbine. At the performance index level, the present invention can avoid the problem that the aerodynamic similarity coefficient and the hydrodynamic similarity coefficient cannot be matched simultaneously in the scaled model test by dividing the floating wind turbine system into two test subsystems, thereby improving the accuracy of the floating wind turbine water tank model test. At the production implementation level, the present invention has great advantages for large-scale floating wind turbine model tests.

[0032] The concept, specific structure and technical effects of the present invention will be further described below in conjunction with the accompanying drawings to fully understand the purpose, characteristics and effects of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0033] Figure 1 This is a schematic diagram of the working principle of a water tank-wind tunnel cross-domain linkage system for a cross-physical field model test device for a floating wind turbine according to a preferred embodiment of the present invention;

[0034] Figure 2 This is a schematic structural diagram of a water tank test subsystem of a cross-physical field model test device for a floating wind turbine according to a preferred embodiment of the present invention;

[0035] Figure 3 This is a structural schematic diagram of a wind tunnel test subsystem of a cross-physical field model test device for a floating wind turbine according to a preferred embodiment of the present invention;

[0036] Among them, 1-floating platform, 2-first tower, 3-pneumatic load reproducer, 4-mooring system, 5-six-component force sensor at the top of the first tower, 6-six-component force sensor at the bottom of the first tower, 7-first non-contact six-degree-of-freedom motion monitoring system, 8-floating platform acceleration sensor, 9-waves, 10-ocean currents, 11-wind turbine blades, 12-engine room, 13-second tower, 14-floating body motion simulator, 15-six-component force sensor at the top of the second tower, 16-six-component force sensor at the bottom of the second tower, 17-second non-contact six-degree-of-freedom motion monitoring system, 18-tower top acceleration sensor, 19-platform acceleration sensor, 20-ambient wind field. DETAILED DESCRIPTION

[0037] The following describes several preferred embodiments of the present invention with reference to the accompanying drawings to make its technical content clearer and easier to understand. The present invention can be embodied in many different forms of embodiments, and the scope of protection of the present invention is not limited to the embodiments mentioned herein.

[0038] In the drawings, components with identical structures are denoted by the same reference numerals, and components with similar structures or functions are denoted by similar reference numerals. The size and thickness of each component shown in the drawings are arbitrary and are not limited by the present invention. For clarity, the thickness of components in some places in the drawings is appropriately exaggerated.

[0039] like Figure 1 As shown, a floating wind turbine cross-physical field model test device includes a water tank test subsystem, a wind tunnel test subsystem and a real-time interaction system. The water tank includes a physical ocean, a floating platform 1 and an aerodynamic load reproducer 3; the wind tunnel includes an environmental wind field 20, wind rotor blades 11 and a floating body motion simulator 14; the real-time interaction system is a signal interaction, processing and communication system between the water tank test subsystem and the wind tunnel test subsystem, and has functions such as data acquisition, data conditioning, data processing, and command generation. It is composed of a real-time data acquisition and extraction algorithm system, a data transmission and communication system, and a physical real-time loading system; the water tank test subsystem and the wind tunnel test subsystem can adopt different scaling criteria, and the two are connected through the time synchronization criterion to form a complete scaling principle.

[0040] The essence of scaled model testing is to construct a small-scale model in the laboratory through a certain mapping relationship that can reflect the dynamic behavior of the large-scale prototype. In the tank test subsystem, first, the scale ratio λ of the test model is determined based on the size of the floating structure of the floating wind turbine prototype and the size of the tank test site:

[0041]

[0042] Where L is the model size, the subscript p represents the prototype value, and the subscript m represents the model value. To avoid distortion of the marine environment due to small-scale effects, the value of λ is generally in the range of 40 to 80. In the tank test subsystem, the inertial force and gravity must be similar to those of the prototype. The Froude number Fr is used to represent this:

[0043]

[0044] Where U is the characteristic velocity, g is the acceleration of gravity, and L is the characteristic length of the model. The scaled model needs to ensure that the Fr number is similar, that is,

[0045] Fr p =Fr m

[0046] All other parameters are characterized by the Fr similarity criterion. The ocean wave and current simulation device is based on the pool side scaling criterion and can simulate complex ocean environments such as waves 9 and currents 10.

[0047] like Figure 2 As shown, in the water tank test subsystem, a floating platform 1 is connected to the false bottom of the water tank via a mooring system 4. The floating platform 1 and the first tower 2 are connected via flanges. An aerodynamic load reproducer 3 is located on top of the first tower 2. The inertia properties of the entire system match those of the prototype floating wind turbine system. During the test, sensor systems deployed at various locations on the model monitor model motion and loads. A single-component force sensor is located at the buoy's fairlead to monitor the mooring forces of each anchor chain. A first non-contact six-degree-of-freedom motion monitoring system 7 and a floating platform acceleration sensor 8 are located on the surface of the floating platform 1 to monitor the buoy's motion. A first six-component force sensor 6 is located at the bottom of the first tower 2 to monitor the load at the bottom. A first six-component force sensor 5 and an acceleration sensor are located at the top of the first tower 2 to measure the aerodynamic loads generated by the aerodynamic load reproducer. The water tank test subsystem has real-time signal acquisition and monitoring capabilities. The aerodynamic load reproducer 3, through a communication system, can reproduce the aerodynamic loads of the physical wind turbine measured in the wind tunnel in real time. At the same time, the movement of the floating body is measured in real time in the water pool and transmitted to the wind tunnel test subsystem through the communication system.

[0048] In the wind tunnel test subsystem, the model can remove the Fr scaling criterion restriction and establish a new scaling criterion based on independent scaling of length and speed. The motion similarity criterion can be used to design the wind rotor-tower physical model:

[0049]

[0050] Where TSR is the tip speed ratio, ω is the turbine angular velocity, R is the rotor radius, and U is the wind speed. The difference in Reynolds number between the model and prototype can be minimized by increasing the wind speed in the wind tunnel.

[0051] The length scale in the wind tunnel model is defined as:

[0052]

[0053] The speed scale is:

[0054]

[0055] All other parameters are characterized using length scaling and velocity scaling. By establishing a new scaling rule, the strict scaling requirements for wind turbine model quality can be overcome in wind tunnel models, reducing the many limitations on model rotor design and manufacturing. This model can more realistically reflect the wind turbine structure and operating mechanism, facilitating research on issues such as the aeroelasticity and servo control strategies of the model wind turbine's blades and tower. Based on this wind tunnel-side scaling rule, wind field simulation devices can simulate various types of real-world wind field environments, including uniform wind, turbulent wind, and wind shear.

[0056] like Figure 3 As shown, in the wind tunnel test subsystem, a refined wind rotor model is placed at the top of the second tower 13, and the bottom of the second tower 13 is connected to the floating body motion simulator 14. The properties of the physical wind rotor match those of the prototype wind turbine. During the test, a sensor system is deployed to monitor the aerodynamic loads generated by the wind rotor, and the floating body motion simulator 14 is used to accurately reproduce the motion of the floating body in the water pool. First, a second tower top six-component force sensor 15 and a tower top acceleration sensor 18 are placed at the top of the second tower 13, and a six-component force sensor is placed at the wind rotor hub to monitor the aerodynamic loads generated by the wind rotor. After conditioning by the data exchange system, these are used as input to the aerodynamic load reproducer 3 in the water pool subsystem. Simultaneously, a second tower bottom six-component force sensor 16 is placed at the bottom of the second tower 13 to monitor the load at the tower bottom. A second non-contact six-degree-of-freedom motion monitoring system 17 and a platform acceleration sensor 19 are placed on the floating body motion simulator 14 to monitor the floating body motion reproduction of the floating body in the water pool by the floating body motion simulator 14. The wind tunnel test subsystem has real-time signal acquisition and monitoring capabilities, and the floating body motion simulator 14 can reproduce the motion of the physical floating body measured in the pool in real time through the communication system.

[0057] The cross-physics field test facility enables high-precision simulation of the marine environment. The water tank test subsystem and the wind tunnel test subsystem utilize different scaling criteria, interconnected by time synchronization to form a comprehensive scaling principle. In the water tank subsystem, the wave-generating system generates three-dimensional irregular waves, while the flow-generating system produces deep-water currents with a typical vertical velocity profile, reproducing the complex deep-sea environment and accurately simulating the operational environment of floating wind turbines. Furthermore, in the multifunctional wind tunnel, the enclosed wind-generating system provides high-quality wind fields, meeting the requirements for detailed simulation of the spatiotemporal distribution of wind fields.

[0058] The real-time interactive system provides data acquisition, data conditioning, data processing, and command generation. It consists of a real-time data acquisition and extraction algorithm system, a data transmission and communication system, and a physical real-time loading system. Depending on the physical distance between the water tank test subsystem and the wind tunnel test subsystem and the signal transmission requirements, the real-time interactive system can achieve real-time communication through technologies such as fiber optic communication, 5G mobile communication, and quantum communication. The real-time interactive system includes an embedded aerodynamic load extraction algorithm. Based on the six-component force sensors and accelerometers at the bottom and top of the second tower in the wind tunnel test subsystem, this algorithm calculates the current six-degree-of-freedom aerodynamic loads on the rotor. The real-time interactive system also includes embedded signal conversion and command generation algorithms. Based on the water tank scale criteria, the six-degree-of-freedom aerodynamic loads on the wind tunnel rotor are converted into water tank-side descriptive signals. These signals are then transmitted to the water tank test subsystem, generating control commands that are executed by the aerodynamic load reproducer to generate the current six-degree-of-freedom aerodynamic loads. The real-time interactive system also incorporates a floating platform motion extraction algorithm. Based on the first non-contact six-degree-of-freedom motion monitoring system and accelerometer in the water tank test subsystem, it extracts the current six-degree-of-freedom motion state of the floating platform. Simultaneously, based on the wind tunnel-side scaling principle, the calculated six-degree-of-freedom motion on the water tank side is converted into wind tunnel-side descriptive signals. These signals are then transmitted to the wind tunnel test subsystem, generating control commands that are executed by the floating body motion simulator to produce the current six-degree-of-freedom motion. Specifically, the real-time interactive system measures the motion of the floating body under the influence of the aerodynamic load replicator 3 in the water tank, processes the data through real-time conditioning and scaling conversion in the central control system, and then transmits it to the floating body motion simulator 14 in the wind tunnel. Furthermore, the aerodynamic loads under the influence of the floating body motion are measured in the wind tunnel and, after real-time conditioning and scaling conversion in the central control system, are then transmitted to the aerodynamic load replicator 3 in the water tank. Real-time data transmission and interaction between the wind tunnel and water tank subsystems ultimately establishes a test method that integrates real-time linkage and cross-domain interaction between the wind tunnel and water tank.

[0059] The preferred embodiments of the present invention have been described in detail above. It should be understood that numerous modifications and variations based on the concepts of the present invention are possible without inventive effort by those skilled in the art. Therefore, any technical solution that can be derived by one skilled in the art through logical analysis, reasoning, or limited experimentation based on the concepts of the present invention and the prior art should be within the scope of protection defined by the claims.

Claims

1. A cross-physical field model test device for floating wind turbines, characterized in that: The system comprises a water tank test subsystem, a wind tunnel test subsystem and a real-time interactive system, wherein the water tank test subsystem comprises an aerodynamic load reproducer and a tower-floating body-mooring physical model; the wind tunnel test subsystem comprises a floating body motion simulator and a wind rotor-tower physical model; the aerodynamic load reproducer is arranged at the upper end of the tower-floating body-mooring physical model and is connected to the real-time interactive system, the floating body motion simulator is arranged at the lower end of the wind rotor-tower physical model and is connected to the real-time interactive system, and the real-time interactive system can control the movement of the aerodynamic load reproducer and the floating body motion simulator.

2. A cross-physical field model test device for a floating wind turbine according to claim 1, characterized in that: The water tank test subsystem also includes an ocean wave and current simulation device. The tower-floating body-mooring physical model and the ocean wave and current simulation device simulate the ocean environment based on the length scaling factor and the acceleration scaling factor to construct the water tank side scaling criterion of the water tank test subsystem. The water tank side scaling criterion is based on the Froude scaling criterion theory: Where Fr is the Froude number, U is the characteristic velocity, g is the acceleration of gravity, and L is the characteristic length of the model.

3. The cross-physical field model test device for a floating wind turbine according to claim 1, characterized in that: The wind tunnel test subsystem also includes a wind field simulation device. The wind turbine-tower physical model and the wind field simulation device simulate the wind field environment based on the length scaling factor and the velocity scaling factor to construct a wind tunnel side scaling criterion for the wind tunnel test subsystem. The wind tunnel side scaling criterion is characterized by the motion similarity criterion: Among them, TSR is the tip speed ratio, ω is the angular velocity of the wind turbine, R is the radius of the wind turbine rotor, and U is the wind speed.

4. The cross-physical field model test device for a floating wind turbine according to claim 1, characterized in that: The tower-floating body-mooring physical model includes a first tower, a floating platform and a mooring system. The floating platform and the first tower are connected by a flange. The floating platform is connected to the false bottom of the pool through the mooring system. A single-component force sensor is arranged at the fairlead hole of the floating platform. A first non-contact six-degree-of-freedom motion monitoring system and a floating platform acceleration sensor are arranged on the surface of the floating platform. Six-component force sensors are arranged at the bottom and top of the first tower respectively, and an acceleration sensor is also arranged at the top of the first tower.

5. The cross-physical field model test device for a floating wind turbine according to claim 1, characterized in that: The wind rotor-tower physical model includes a wind rotor model and a second tower. The wind rotor model is arranged at the top of the second tower. The wind rotor model is connected to the floating motion simulator through the second tower. Six-component force sensors are respectively arranged at the hub of the wind rotor model, the top and bottom of the second tower. A tower top acceleration sensor is also arranged at the top of the second tower. A second non-contact six-degree-of-freedom motion monitoring system and a platform acceleration sensor are arranged on the floating motion simulator.

6. The cross-physical field model test device for a floating wind turbine according to claim 1, characterized in that: The real-time interactive system includes a real-time data acquisition and extraction algorithm system, a data transmission and communication system, and a physical real-time loading system. The real-time data acquisition and extraction algorithm system can collect the motion parameters of the tower-floating body-mooring physical model and the wind rotor-tower physical model and generate control commands. The control commands are transmitted to the physical real-time loading system through the data transmission and communication system. The physical real-time loading system controls the aerodynamic load reproducer to generate the six-degree-of-freedom aerodynamic load of the wind rotor-tower physical model at the current moment. The physical real-time loading system controls the floating body motion simulator to generate the six-degree-of-freedom motion of the tower-floating body-mooring physical model at the current moment.

7. A test method for a cross-physical field model test device for a floating wind turbine according to any one of claims 1 to 6, characterized in that: The method comprises the following steps: Step 1: Establish a tower-floating body-mooring physical model in the water tank test subsystem, and establish a wind rotor-tower physical model in the wind tunnel test subsystem; Step 2: In the water tank test subsystem, the wave and current environment is simulated by an ocean wave and current simulation device, and the sensor signals on the tower-floating body-mooring physical model are collected and transmitted to the real-time interactive system; Step 3: In the wind tunnel test subsystem, a wind field simulation device is used to simulate an environmental wind field, and sensor signals on the wind rotor-tower physical model are collected and transmitted to the real-time interactive system; Step 4: The real-time interactive system generates a control command to control the aerodynamic load reproducer in the water tank test subsystem to generate the six-degree-of-freedom aerodynamic load on the wind wheel in the wind wheel-tower physical model at the current moment, and at the same time controls the floating body motion simulator of the wind tunnel test subsystem to generate the six-degree-of-freedom motion of the floating platform in the tower-floating body-mooring physical model at the current moment.

8. A cross-physical field model test method for a floating wind turbine according to claim 7, characterized in that: In step 1, the water tank test subsystem designs the tower-floating body-mooring physical model based on the length scaling coefficient and the acceleration scaling coefficient, using the Froude scaling criterion theory; the wind tunnel test subsystem designs the wind rotor-tower physical model based on the length scaling coefficient and the velocity scaling coefficient, using the motion similarity criterion, and reduces the difference in Reynolds number between the model and the prototype.

9. A cross-physical field model test method for a floating wind turbine according to claim 7, characterized in that: The step 4 further comprises: Step 4.

1. The real-time interactive system is embedded with an aerodynamic load extraction algorithm. Based on the data of the six-component force sensors at the top and bottom of the second tower and the tower top acceleration sensor at the top of the second tower in the wind tunnel test subsystem, the aerodynamic load extraction algorithm is used to calculate the six-degree-of-freedom aerodynamic load on the wind wheel at the current moment.

10. The cross-physical field model test method for a floating wind turbine according to claim 7, characterized in that: The step 4 further comprises: Step 4.2: The real-time interactive system is embedded with a floating platform motion extraction algorithm, which calculates the six-degree-of-freedom motion state of the floating platform at the current moment based on data from the first non-contact six-degree-of-freedom motion monitoring system and the floating platform acceleration sensor arranged on the surface of the floating platform in the water pool test subsystem.

Images