Floating type wind power-gyro device coupling dynamic response analysis method

Abstract

The invention belongs to the field of ocean engineering, and particularly discloses a floating type wind power-gyro device coupling dynamic response analysis method which comprises the following steps: decoupling a Cummins equation and estimating a state space model; establishing a gyroscope device dynamic model; establishing a floating type wind power-gyro device coupling dynamic equation based on the coupling dynamic equation; and calculating the reaction torque of the gyro device to the floating type wind power structure, combining the reaction torque with the wave force, substituting the combined reaction torque into a state space model formed by the equivalent state space model and the coupling dynamic equation, and calculating the coupling motion response of the floating type wind power-gyro device. According to the method, the dynamic response of the coupling system can be accurately analyzed, and theoretical support is provided for design of a gyro device and effective suppression of pitching motion of a floating type offshore wind power structure.

Description

Technical Field

[0001] This application belongs to the field of marine engineering, and more specifically, relates to a method for analyzing the coupled dynamic response of a floating wind power-gyroscope device. Background Technology

[0002] Floating offshore wind turbines are crucial equipment for developing deep-sea wind energy resources. Under environmental loads such as wind, waves, and currents, they undergo six degrees of freedom motion. Among these, pitching motion causes changes in the rotor's angle of attack, resulting in aerodynamic load fluctuations. These fluctuations not only affect the aerodynamic performance of the turbine blades, leading to reduced power generation efficiency, but also increase the risk of blade fatigue damage and shorten the equipment's lifespan. Therefore, effectively suppressing pitching motion is of great significance for improving the safety of floating offshore wind turbines.

[0003] The use of gyroscopes to reduce the sway of floating structures is an engineering attempt in the current technology, suppressing structural motion through the torque generated by the precession of the gyroscope. However, there are coupling effects between the various degrees of freedom of motion in floating wind turbines, and considering the dynamic effects of the gyroscope makes the dynamic analysis very complex. Existing methods are difficult to accurately describe the dynamic characteristics of such coupled systems.

[0004] Therefore, how to accurately analyze the dynamic response of the floating wind power-gyroscope coupling system is an urgent problem to be solved. Summary of the Invention

[0005] To address the shortcomings of existing technologies, the purpose of this application is to provide a method for analyzing the coupled dynamic response of a floating wind turbine-gyroscope device. This method can accurately analyze the dynamic response of the coupled system, providing theoretical support for the design of gyroscope devices and the effective suppression of the pitching motion of floating offshore wind turbine structures.

[0006] To achieve the above objectives, in a first aspect, this application provides a method for analyzing the coupled dynamic response of a floating wind power-gyroscope device, comprising the following steps: S10, based on the hydrodynamic parameters of the floating offshore wind power structure, obtains the discrete transfer function by decoupling the Cummins equation and constructs its equivalent state space model; S20, Establish a dynamic model of the gyroscope device, including constructing a coordinate system for the coupled motion of the floating wind turbine and the gyroscope device, establishing the precession motion equation of the gyroscope device through the angular momentum theorem and Newton's second law, and obtaining the reaction torque equation of the gyroscope device on the floating offshore wind power structure. S30, combining the reaction torque and wave load, establish the motion equation of the floating wind turbine structure under the action of the gyroscope device, and combine it with the motion equation of the gyroscope device to form the coupled dynamic equation of the floating wind turbine-gyroscope device. Based on this coupled dynamic equation, calculate the precession angle and precession angular velocity of the gyroscope device during coupled motion. S40, Substitute the precession angle and precession angular velocity of the gyroscope into the reaction torque equation to calculate the reaction torque of the gyroscope on the floating wind power structure. Combine the reaction torque with the wave force and substitute it into the state space model composed of the equivalent state space model and the coupled dynamic equation to calculate the coupled motion response of the floating wind power-gyroscope device.

[0007] The method for analyzing the coupled dynamic response of a floating wind turbine-gyroscope device provided in this application has the following advantages: First, by decoupling the Cummins equations and constructing a state-space model, an accurate mathematical model foundation can be provided for the coupled dynamic response analysis. Second, by establishing a dynamic model of the gyroscope device and obtaining the reaction torque equation, the dynamic interaction between the gyroscope device and the floating offshore wind turbine structure can be included in the analysis. Then, by combining the reaction torque with wave loads to form coupled dynamic equations and calculating the precession angle and precession angular velocity, the analysis of the coupled dynamic response can be further deepened, enabling a more accurate simulation of the dynamic behavior of the coupled system. Finally, by combining the calculated reaction torque with wave force and substituting it into the state-space model of the displacement response of the floating wind turbine structure to complete the coupled motion response calculation, a comprehensive and accurate analysis of the dynamic response of the coupled system can be achieved. The synergistic effect of these steps enables this application to accurately analyze the dynamic response of the coupled system, providing theoretical support for the design of gyroscope devices and the effective suppression of the pitching motion of floating offshore wind turbine structures.

[0008] As a further preferred embodiment, in step S10, the hydrodynamic parameters include an additional mass matrix and a radiation damping matrix.

[0009] As a further preferred option, in step S10, a Fourier transform is performed on the Cummins equation to decouple the Cummins equation in the frequency domain.

[0010] As a further preferred embodiment, in step S10, the rational fraction coefficients of the discrete transfer function are calculated using an iterative solution method, and the rational fraction form of the discrete transfer function is constructed based on the rational fraction coefficients. An equivalent state-space model is derived by introducing auxiliary variables and the inverse Laplace transform.

[0011] As a further preferred embodiment, in step S20, the torque in a specific direction is eliminated by arranging the gyroscope devices in pairs and making their precession angle opposite to the direction of rotor rotation.

[0012] As a further preferred embodiment, in step S20, the coordinate system includes a fixed coordinate system, a body coordinate system of the floating foundation, a coordinate system of the gyroscope frame, and a body coordinate system of the rotor. As a further preferred option, in step S30, the fourth-order Runge-Kutta method is used to solve the coupled dynamic equations, and the precession angle and precession angular velocity of the gyroscope device during coupled motion are calculated.

[0013] Secondly, this application provides a floating wind power-gyroscope coupled dynamic response analysis system, comprising: The model estimation module is used to obtain discrete transfer functions by decoupling the Cummins equations based on the hydrodynamic parameters of floating offshore wind power structures, and to construct their equivalent state space models. The gyroscope model module is used to establish a dynamic model of the gyroscope device, including constructing a coordinate system for the coupled motion of the floating wind turbine and the gyroscope device, establishing the precession motion equation of the gyroscope device through the angular momentum theorem and Newton's second law, and obtaining the reaction torque equation of the gyroscope device on the floating offshore wind power structure. The coupling equation module is used to combine the reaction torque and wave load to establish the motion equation of the floating wind turbine structure under the action of the gyroscope device. It is combined with the motion equation of the gyroscope device to form the coupled dynamic equation of the floating wind turbine-gyroscope device. Based on the coupled dynamic equation, the precession angle and precession angular velocity of the gyroscope device during coupled motion are calculated. The response calculation module is used to substitute the precession angle and precession angular velocity of the gyroscope into the reaction torque equation to calculate the reaction torque of the gyroscope on the floating wind power structure. The reaction torque is combined with the wave force and substituted into the state space model composed of the equivalent state space model and the coupled dynamic equation to calculate the coupled motion response of the floating wind power-gyroscope.

[0014] Thirdly, this application provides an electronic device, including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the program to implement the floating wind power-gyroscope coupled dynamic response analysis method as described in any one of the above.

[0015] Fourthly, this application provides a computer-readable storage medium storing computer instructions thereon, which, when executed by a processor, implement the floating wind power-gyroscope coupled dynamic response analysis method as described in any one of the above.

[0016] It is understandable that the beneficial effects of the second, third and fourth aspects mentioned above can be found in the relevant descriptions in the first aspect above, and will not be repeated here. Attached Figure Description

[0017] Figure 1 This is a flowchart of the floating wind power-gyroscope coupled dynamic response analysis method provided in the embodiments of this application; Figure 2This is the coupling system coordinate system provided in the embodiments of this application; wherein, (a) is the floating offshore wind power foundation-gyroscope coupling system; and (b) is the coordinate system definition; Figure 3 This is a schematic diagram of a floating offshore wind power foundation and hydrodynamic model provided in the embodiments of this application; Figure 4 The transfer function provided in the embodiments of this application A comparison chart of estimated and original values; Figure 5 The transfer function provided in the embodiments of this application A comparison chart of estimated and original values; Figure 6 The acceleration of the floating offshore wind power structure provided in the embodiments of this application. ; Figure 7 These are the pitching speed, gyroscope precession angle, and precession angular velocity of a floating offshore wind power structure under irregular wave excitation provided in the embodiments of this application; Figure 8 This is a comparison diagram of the pitch response of a floating wind turbine structure when the gyroscope device provided in this application is turned on and off. Detailed Implementation

[0018] To make the objectives, technical solutions, and advantages of this application clearer, the following detailed description is provided in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the scope of this application.

[0019] like Figure 1 As shown, this application provides a method for analyzing the coupled dynamic response of a floating wind power-gyroscope device, including steps S10 to S40, which are detailed below: Step S10: Based on the hydrodynamic parameters of the floating offshore wind power structure, the discrete transfer function is obtained by decoupling the Cummins equation, and its equivalent state space model is constructed.

[0020] In step S10, the hydrodynamic parameters may specifically include the added mass matrix and the radiation damping matrix, which are calculated numerically. The Cummins equations are decoupled by performing a Fourier transform on them, achieving decoupling in the frequency domain. An equivalent state-space model is constructed by using an iterative solution method to calculate the rational fraction coefficients of the discrete transfer function, and then constructing the rational fractional form of the discrete transfer function based on these coefficients, derived through the introduction of auxiliary variables and the inverse Laplace transform.

[0021] Step S20: Establish a dynamic model of the gyroscope device, including constructing a coordinate system for the coupled motion of the floating wind turbine and the gyroscope device, establishing the precession motion equation of the gyroscope device through the angular momentum theorem and Newton's second law, and obtaining the reaction torque equation of the gyroscope device on the floating offshore wind power structure.

[0022] In step S20, the coordinate system may specifically include a fixed coordinate system, a body coordinate system of the floating foundation, a coordinate system of the gyroscope frame, and a body coordinate system of the rotor. Furthermore, by arranging gyroscopes in pairs and ensuring their precession angle is opposite to the rotor's rotation direction, torque in a specific direction can be eliminated, thereby accurately establishing the precession motion equation of the gyroscope and obtaining the reaction torque, providing key parameters for establishing the coupled dynamic equation.

[0023] Step S30: Combining the reaction torque and wave load, establish the motion equation of the floating wind turbine structure under the action of the gyroscope device. Combine it with the motion equation of the gyroscope device to form the coupled dynamic equation of the floating wind turbine-gyroscope device. Based on the coupled dynamic equation, calculate the precession angle and precession angular velocity of the gyroscope device during coupled motion.

[0024] In step S30, the fourth-order Runge-Kutta method can be used to solve the coupled dynamic equations, thereby calculating the precession angle and precession angular velocity of the gyroscope device during coupled motion.

[0025] Step S40: Substitute the precession angle and precession angular velocity of the gyroscope into the reaction torque equation to calculate the reaction torque of the gyroscope on the floating wind turbine structure. Combine the reaction torque with the wave force and substitute it into the state space model of the motion response of the floating offshore wind turbine structure (constructed by the equivalent state space model obtained in step S10 and the coupled dynamic equation formed in step S30). Calculate the displacement response components of each degree of freedom. By superimposing the components, obtain the displacement response of each degree of freedom of the floating offshore wind turbine structure under the action of the gyroscope, and complete the calculation of the coupled motion response of the floating wind turbine-gyroscope device.

[0026] The method for analyzing the coupled dynamic response of a floating wind turbine-gyroscope device provided in this application has the following advantages: First, by decoupling the Cummins equations and constructing a state-space model, an accurate mathematical model foundation can be provided for the coupled dynamic response analysis. Second, by establishing a dynamic model of the gyroscope device and obtaining the reaction torque, the dynamic interaction between the gyroscope device and the floating offshore wind turbine structure can be included in the analysis. Then, by combining the reaction torque with wave loads to form coupled dynamic equations and calculating the precession angle and angular velocity, the analysis of the coupled dynamic response can be further deepened, enabling a more accurate simulation of the dynamic behavior of the coupled system. Finally, by combining the calculated reaction torque with wave force and substituting it into the state-space model of the displacement response of the floating wind turbine structure to complete the coupled motion response calculation, a comprehensive and accurate analysis of the dynamic response of the coupled system can be achieved. The synergistic effect between these steps enables this application to accurately analyze the dynamic response of the coupled system, providing theoretical support for the design of gyroscope devices and the effective suppression of the pitching motion of floating offshore wind turbine structures.

[0027] In one embodiment, the technical solution to achieve the above objective can be as follows: This embodiment considers the motion coupling of each degree of freedom of the floating offshore wind power and the dynamic coupling of the floating offshore wind power and the gyroscope device, constructs the coupled motion equation of the floating offshore wind power-gyroscope device, and proposes a dynamic response analysis method for the coupled system based on the transfer function and state space model, thereby guiding the design of the gyroscope device and evaluating the anti-roll effect of the gyroscope device.

[0028] This embodiment addresses the coupling effect of a floating wind turbine-gyroscope device by constructing the dynamic equations of the coupled system and proposing a novel method for calculating the dynamic response of the floating wind turbine-gyroscope device coupled system. The specific solution process is as follows: Step 1. Decoupling of the Cummins equation and estimation of the state-space model; Step 2. Establishment of the dynamic model of the gyroscope anti-roll device; Step 3. Construction of the coupled dynamic equations for the floating wind turbine-gyroscope device; Step 4. Calculation of the coupled motion response of the floating wind turbine-gyroscope device.

[0029] In step 1, the decoupling of the Cummins equation and the estimation of the state-space model are specifically as follows: The motion of a floating offshore wind turbine structure under wave excitation can be represented by the Cummins equation: (1) In the formula, For the quality matrix, To add a mass matrix, The delay function matrix, For wave force, , and The displacement, velocity, and acceleration of the floating offshore wind turbine structure.

[0030] Performing a Fourier transform on equation (1) yields the frequency domain Cummins equation: (2) In the formula, For added mass, Radiation damping, and They are respectively and Fourier transform.

[0031] Treating the external loads and motion of a floating offshore wind turbine as the input and output of a system, its impedance function can be expressed as: (3) The corresponding transfer function and impedance function have the following relationship: (4) To solve for the system's transfer function, the discrete hydrodynamic parameters obtained by numerical methods will be used. and Substituting into equations (3) and (4), the discrete transfer function is obtained as follows: (5) In the formula, These are elements of the impedance matrix.

[0032] at this time, Let represent the transfer function for discrete decoupling. For a linear system, the transfer function can be expressed as a rational fraction. Using frequency domain fitting, the coefficients of the rational fraction are obtained as follows: .

[0033] Substituting the estimated rational fraction coefficients into the rational fraction of the transfer function, we get: (6) Introducing auxiliary variables Substituting this into equation (7), we get: (7) (8) Performing an inverse Laplace transform on equations (7) and (8), we obtain: (9) (10) In the formula, for The inverse Laplace transform.

[0034] Equations (9) and (10) can be rewritten in the following state-space form: (11) when When the state space matrix is ​​in the form of the state space matrix, it is as follows: (12) when When the state space matrix is ​​in the form of the state space matrix, it is as follows: (13) In step 2, the dynamic model of the gyroscope anti-roll device is established as follows: To reduce the pitch amplitude of floating offshore wind turbine structures, gyroscope devices are installed in the floating foundation. Figure 2 A coordinate system for the floating foundation and gyroscope device. Let be the fixed coordinate system of the coupled system, and its basis vectors be... Around Axis rotation After the angle, the coordinate system is obtained. This coordinate system is a floating-base body coordinate system, with basis vectors being... Go around again. Axis rotation Angle, to obtain the coordinate system It is the coordinate system of the gyroscope frame, and the basis vectors are... Finally, go around Axis rotation Angle, which defines the body coordinate system of the rotor. Its basis vectors are The relationship between the four coordinate systems is shown in the attached figure. Figure 2 As shown.

[0035] Assuming the rotor frame and rotor are relative to the moving shaft The principal moments of inertia are respectively denoted as as well as The rotor frame and rotor are considered as an integrated system, using a coordinate system. The total angular momentum of the system is expressed as: (14) The torque generated by the base on the gyroscope is According to the angular momentum theorem, we can obtain: (15) Considering the rotor spin speed ,neglect and From the higher-order terms, we can obtain: (16) According to the principle of interaction of forces, the torque generated by the rotor frame on the floating wind turbine foundation is: To eliminate and The axial torque is generated by arranging the gyroscopes in pairs, with their precession angles opposite to the rotor's rotation direction. This torque is then projected onto a fixed coordinate system. In the process, the torque exerted by the gyroscope on the floating foundation is obtained as follows: (17) A torsion spring is used to fix the frame of the gyroscope, thereby controlling its azimuth angle. The stiffness of the torsion spring is... The damping coefficient is According to Newton's second law, the equation of motion for the gyroscope frame is: (18) In step 3, the construction of the coupled dynamic equations for the floating wind turbine-gyroscope device is specifically as follows: exist In the coordinate system, where shaft and OY Align the negative direction of the axis. shaft and OX Axis coincidence, shaft and OZ The axes coincide. In this coordinate system, the equation of motion for a floating offshore wind turbine can be expressed as: (19) In the formula, The torque generated by the gyroscope can be expressed as: (20) The pitching motion of a floating foundation, i.e. .

[0036] Equations (18) and (19) describe the coupled motion characteristics of the floating foundation and the gyroscope device. Substituting equation (20) into equation (19), we obtain the motion equation for the floating offshore wind turbine: (twenty one) in, (twenty two) (twenty three) Inertial term generated by gyroscope device This indicates that the added mass of the gyroscope device can be ignored, thus yielding the coupled dynamic equations of the floating wind turbine-gyroscope device: (twenty four) (25) Performing a Fourier transform on equation (24) yields: (26) Therefore, the impedance function of the floating wind turbine structure after adding the gyroscope device is: (27) Discrete Added Mass Sum of potential damping Substituting into equation (27) and taking the reciprocal of the impedance function, we obtain the discrete decoupling transfer function in the form of equation (5). The relative order of each element in the transfer function is 2, resulting in: (28) Meanwhile, the transfer function is defined as the ratio of the Laplace transform of the system output to the Laplace transform of the system input. For the motion of a coupled system, the transfer function can be expressed as follows: (29) Based on the relationship between the Laplace transform of acceleration response and displacement response, we can obtain: (30) The transfer function of the acceleration response is then: (31) Based on equations (15) and (35), a state-space model of the acceleration of the floating wind turbine structure is constructed, yielding: (32) Equation (13) gives the matrix of the state-space model.

[0037] According to equation (32), the acceleration caused by wave excitation in the pitch direction can be calculated efficiently. The total pitch acceleration is Substituting it into equation (32) and combining it with the motion equation of the gyroscope, we get: (33) To solve equation (33), let At this point, equation (33) can be rewritten as: (34) The pitching velocity of the floating wind turbine structure is obtained by solving equation (34) using the fourth-order Runge-Kutta method. Precession angle of the gyroscope device and precession angular velocity .

[0038] In step 4, the calculation of the coupled motion response of the floating wind turbine-gyroscope device is as follows: Precession angle and precession angular velocity Substituting into equation (17), the torque exerted by the gyroscope on the floating offshore wind turbine structure can be obtained. Based on equations (11) and (29), a state-space model of the displacement response of the floating wind turbine structure is constructed, and the state-space model for calculating the displacement response is obtained: (35) Substituting the wave force and the torque generated by the gyroscope into equation (35), the displacement response of the floating wind turbine structure can be calculated efficiently. By superimposing the components, the displacement response of each degree of freedom of the floating offshore wind turbine structure under the action of the gyroscope is obtained: (36) The beneficial effects of this embodiment are: This embodiment provides a new method for the coupled dynamic response analysis of a floating offshore wind power-gyroscope device, the specific benefits of which are as follows: (1) For step 1, this embodiment performs a Fourier transform on the Cummins equation to decouple the Cummins equation in the frequency domain. The rational fraction of the transfer function is fitted using a discrete decoupled transfer function, and an equivalent state-space model of the transfer function is further established.

[0039] (2) For step 2, construct a coordinate system to describe the coupled motion of the floating wind power-gyroscope device, establish the precession motion equation of the gyroscope device through the angular momentum theorem and Newton's second law, and obtain the reaction torque equation of the gyroscope device on the floating offshore wind power structure for subsequent coupling analysis.

[0040] (3) For step 3, combining the reaction force of the gyroscope device on the floating offshore wind power and the wave load, establish the motion equation of the floating wind power structure under the action of the gyroscope device, and combine it with the motion equation of the gyroscope device to form the coupled dynamic equation of the floating wind power-gyroscope device. Based on the coupled dynamic equation, calculate the precession angle and precession angular velocity of the gyroscope device during coupled motion.

[0041] (4) For step 4, substitute the precession angle and precession angular velocity of the gyroscope into the reaction torque equation, calculate the reaction torque of the gyroscope on the floating offshore wind power structure, and combine it with the wave force, substitute it into the state space model for calculating the motion response of the floating offshore wind power structure, and complete the calculation of the coupled motion response of the floating wind power-gyroscope.

[0042] The following is a specific implementation example of this application: like Figure 3As shown, this embodiment uses hydrodynamic analysis software to construct a hydrodynamic model of the floating offshore wind turbine structure. To reduce the pitching motion of the floating offshore wind turbine structure, a pair of gyroscopes are installed in the wind turbine foundation columns. The added mass of the floating wind turbine structure is calculated through hydrodynamic analysis. and radiation damping Substituting the mooring stiffness matrix into equation (5), we obtain the discrete decoupling transfer function.

[0043] The coefficients of the rational fraction of the transfer function are estimated using a frequency domain fitting method. The transfer function obtained from the rational fraction is then compared with the original value. Figure 4 and 5 As shown in the comparison chart, the estimated rational fraction matches the original discrete values ​​well, indicating that the estimated rational fraction can replace the original discrete values ​​in subsequent calculations.

[0044] A state-space model is constructed based on the coefficients of the rational fraction of the transfer function. Irregular wave forces are substituted into equation (32), and the acceleration of the floating offshore wind turbine structure is calculated using the state-space model. The result is as follows Figure 6 As shown. The pitching acceleration of the floating offshore wind turbine structure is... Substituting this into equation (32), we obtain the state equation of equation (34). Solving this equation using the fourth-order Runge-Kutta method yields the pitching velocity, gyroscope precession angle, and precession angular velocity of the floating offshore wind turbine structure under irregular wave excitation, as shown below. Figure 7 As shown.

[0045] Substituting the precession angle and precession angular velocity of the gyroscope into equation (17), the torque exerted by the gyroscope on the floating offshore wind turbine structure is calculated. The sum of this force matrix and the wave force is the resultant external force acting on the floating offshore wind turbine structure. Substituting this into the state-space model in equation (35), the displacement response of each component is calculated, and the total response of the floating offshore wind turbine structure is obtained through equation (36). Comparison of the pitch response of the floating wind turbine structure when the gyroscope is turned on and off is as follows: Figure 8 As shown.

[0046] Those skilled in the art will readily understand that the above description is merely a preferred embodiment of this application and is not intended to limit this application. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of this application should be included within the protection scope of this application.

Claims

1. A method for analyzing the coupled dynamic response of a floating wind turbine-gyroscope device, characterized in that, The method comprises the following steps: S10, based on the hydrodynamic parameters of the floating offshore wind power structure, a discrete transfer function is obtained by decoupling the Cummins equation, and an equivalent state space model is constructed; S20, a gyro device dynamics model is established, including constructing a coordinate system of the coupled motion of the floating wind power-gyro device, establishing a gyro device precession motion equation through the angular momentum theorem and Newton's second law, and obtaining a gyro device reaction torque equation on the floating offshore wind power structure; S30, the reaction torque and the wave load are combined to establish a motion equation of the floating wind power structure under the action of the gyro device, which is combined with the gyro device motion equation to form a floating wind power-gyro device coupled dynamic equation, based on which the precession angle and the precession angular velocity of the gyro device coupled motion are calculated; S40, the precession angle and the precession angular velocity of the gyro device are substituted into the reaction torque equation to calculate the reaction torque of the gyro device on the floating offshore wind power structure, and the reaction torque is combined with the wave force to be substituted into the state space model composed of the equivalent state space model and the coupled dynamic equation to calculate the floating wind power-gyro device coupled motion response.

2. The floating wind turbine-gyroscope device coupled dynamic response analysis method of claim 1, wherein, In step S10, the hydrodynamic parameters include an added mass matrix and a radiation damping matrix.

3. The floating wind turbine-gyroscope device coupled dynamic response analysis method of claim 1, wherein, In step S10, Fourier transform is performed on the Cummins equation to decouple the Cummins equation in the frequency domain.

4. The floating wind turbine-gyroscope device coupled dynamic response analysis method of claim 1, wherein, In step S10, the rational fraction coefficients of the discrete transfer function are calculated by an iterative solution method, and the rational fraction form of the discrete transfer function is constructed based on the rational fraction coefficients, and the equivalent state space model is derived by introducing auxiliary variables and Laplace inverse transform.

5. The floating wind turbine-gyroscope device coupled dynamic response analysis method of claim 1, wherein, In step S20, the gyro devices are arranged in pairs and the precession angles thereof are opposite to the rotation direction of the rotor to eliminate the torque in a specific direction.

6. The floating wind turbine-gyroscope device coupled dynamic response analysis method of claim 1, wherein, In step S20, the coordinate system includes a fixed coordinate system, a body coordinate system of the floating foundation, a gyro device frame coordinate system, and a rotor body coordinate system.

7. The floating wind turbine-gyroscope device coupled dynamic response analysis method of claim 1, wherein, In step S30, the fourth-order Runge-Kutta method is used to solve the coupled dynamic equation to calculate the precession angle and the precession angular velocity of the gyro device coupled motion.

8. A floating wind turbine-gyroscope device coupled dynamic response analysis system, characterized in that, It comprises: a model estimation module for obtaining a discrete transfer function by decoupling the Cummins equation based on the hydrodynamic parameters of the floating offshore wind power structure, and constructing an equivalent state space model thereof; a gyro model module for establishing a gyro device dynamics model, including constructing a coordinate system of the coupled motion of the floating wind power-gyro device, establishing a gyro device precession motion equation through the angular momentum theorem and Newton's second law, and obtaining a gyro device reaction torque equation on the floating offshore wind power structure; a coupled equation module for combining the reaction torque and the wave load to establish a motion equation of the floating wind power structure under the action of the gyro device, which is combined with the gyro device motion equation to form a floating wind power-gyro device coupled dynamic equation, based on which the precession angle and the precession angular velocity of the gyro device coupled motion are calculated; The response calculation module is configured to substitute the precession angle and the precession angular velocity of the gyro device into the reaction torque equation, calculate the reaction torque of the gyro device on the floating wind power structure, combine the reaction torque with the wave force, substitute the combined reaction torque and wave force into a state space model formed by the equivalent state space model and the coupling dynamic equation, and calculate the coupled motion response of the floating wind power-gyro device.

9. An electronic device comprising a memory, a processor, and a computer program stored on the memory and executable on the processor, characterized in that, The processor implements the floating wind power-gyro device coupling dynamic response analysis method according to any one of claims 1-7 when executing the program.

10. A computer readable storage medium having stored thereon computer instructions, wherein, The computer instructions implement the floating wind power-gyro device coupling dynamic response analysis method according to any one of claims 1-7 when executed by the processor.

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