Wave energy buoy and power take-off device cooperative design method, system and equipment

Abstract

This invention discloses a method, system, and device for the collaborative design of wave energy buoys and power output devices. The method involves: inputting a subset of buoy geometric parameters from a set of design variables into a parameterized geometric model to generate a three-dimensional buoy geometry; inputting the three-dimensional buoy geometry and a subset of power output device parameters into a frequency domain hydrodynamic analysis model to calculate an annual power generation assessment value; calculating a cost assessment value based on the buoy geometry; inputting the annual power generation assessment value and the cost assessment value into a comprehensive objective function to calculate a comprehensive evaluation value; and generating a new generation of design variable sets based on the comprehensive evaluation value, iterating until convergence and outputting the optimal design variable set; and resolving the optimal buoy geometric parameter subset and the optimal power output device parameter subset from the optimal design variable set for collaborative design of wave energy buoys and power output devices. Therefore, this invention can efficiently find the globally optimal combination of buoy shape and power output device parameters in a high-dimensional design space.

Description

Technical Field

[0001] This invention relates to the field of wave power generation, and more particularly to a method, system, and equipment for the coordinated design of wave energy floats and power output devices. Background Technology

[0002] The hydrodynamic performance, energy capture efficiency, and manufacturing cost of a wave energy buoy are jointly determined by the buoy's geometric parameters and the power take-off (PTO) parameters. These parameters are coupled in a complex nonlinear manner: the buoy's shape determines its added mass, radiation damping, wave excitation force, and other hydrodynamic characteristics, while the PTO parameters directly affect the degree of dynamic matching in energy extraction; only when the buoy's shape and PTO parameters are synergistically matched can the system achieve optimal energy capture under different sea conditions.

[0003] Existing technologies for finding the optimal combination of float shape and PTO parameters in high-dimensional design spaces generally employ sequential or independent design methods. This involves first determining the float shape based on experience or single-parameter sensitivity analysis, and then adjusting the PTO parameters to match this fixed shape. However, these two methods fail to achieve simultaneous joint optimization. Optimization techniques often rely on traditional trial-and-error or mesh traversal methods, manually adjusting a small number of parameters and performing hydrodynamic simulations one by one to compare performance. These methods suffer from significant efficiency drawbacks when facing a high-dimensional design space composed of multiple float geometric variables and PTO parameters: firstly, trial-and-error methods lack a systematic search direction, with the number of calculations increasing exponentially with the number of variables, resulting in optimization cycles lasting months or even longer; secondly, mesh traversal methods require an extremely large number of simulations in high-dimensional spaces, which is impractical for engineering applications. Furthermore, in existing technologies, geometric modeling, hydrodynamic simulation, and optimization decision-making often rely on multiple independent software programs. Data transfer and task execution require significant manual intervention, resulting in limited automation and hindering efficient closed-loop iterative optimization, further exacerbating the difficulty of finding the optimal solution in high-dimensional spaces. Summary of the Invention

[0004] This invention provides a collaborative design method, system, and device for wave energy floats and power output devices, which can efficiently find the globally optimal combination of float shape and power output device parameters in a high-dimensional design space.

[0005] The first aspect of this invention provides a method for the coordinated design of a wave energy buoy and a power output device, comprising: A subset of float geometric parameters from a preset set of design variables is input into a parametric geometric model to generate a corresponding three-dimensional float geometry. The set of design variables also includes a subset of power output device parameters. The three-dimensional geometry of the float and the subset of parameters of the power output device are input into the frequency domain hydrodynamic analysis model. Based on the preset wave environment parameters, the annual power generation assessment value of the three-dimensional geometry of the float under the configuration of the subset of parameters of the power output device is calculated. The cost assessment value is calculated based on the three-dimensional geometry of the float, and the annual power generation assessment value and the cost assessment value are input into the preset comprehensive objective function. The comprehensive evaluation value of each variable in the design variable set is calculated through the optimization algorithm. A new generation of design variable set is generated based on each comprehensive evaluation value. The above calculation and screening process is iteratively executed until the convergence condition is met, and the optimal design variable set is output. The optimal subset of buoy geometric parameters and the optimal subset of power output device parameters are extracted from the set of optimal design variables, and the wave energy buoy and the power output device are designed collaboratively according to the subset of optimal buoy geometric parameters and the optimal subset of power output device parameters, respectively.

[0006] This invention achieves unified parametric representation and automated geometric modeling of the float's shape and power output device parameters by defining a subset of float geometric parameters and a subset of power output device parameters as a set of design variables and inputting them into a parametric geometric model to automatically generate the corresponding three-dimensional geometry of the float. This lays the foundation for controllable variables and automatic model updates for subsequent collaborative optimization. By inputting the three-dimensional geometry of the float and the subset of power output device parameters into a frequency domain hydrodynamic analysis model and combining them with preset wave environment parameters, the annual power generation assessment value under different combinations of shape and power output device parameters can be quickly calculated. The high efficiency of frequency domain analysis replaces the high computational cost of traditional time domain simulation, thereby achieving [the desired result] in a high-dimensional design space. This invention enables rapid evaluation of the power generation performance of candidate schemes. Simultaneously, it calculates cost assessment values ​​based on the three-dimensional geometry of the float, and inputs both the annual power generation assessment value and the cost assessment value into a comprehensive objective function. An optimization algorithm calculates the comprehensive evaluation value of each design variable, and a new generation of design variable sets is generated based on these evaluation values, forming a closed-loop optimization mechanism of "evaluation-screening-iteration." This allows the optimization process to intelligently guide the search direction with fewer simulations, efficiently approximating the global optimum in a coupled high-dimensional space composed of the float's geometry and power output device parameters. Finally, the optimal subsets of float geometry parameters and power output device parameters are extracted from the optimal design variable set and used for collaborative design, ensuring that the optimization results can directly guide practical engineering applications. Therefore, this invention, through the organic combination of parametric modeling, frequency domain hydrodynamic analysis, multi-objective comprehensive optimization, and closed-loop iterative search, can efficiently find the globally optimal combination of float shape and power output device parameters in a high-dimensional design space.

[0007] Further, the step of inputting the three-dimensional geometry of the float and the subset of parameters of the power output device into the frequency domain hydrodynamic analysis model, and calculating the annual power generation assessment value of the three-dimensional geometry of the float under the configuration of the subset of parameters of the power output device based on preset wave environment parameters, includes: The three-dimensional geometry of the float is automatically exported from the parametric modeling platform to the hydrodynamic analysis software. In the hydrodynamic analysis software, set the stiffness parameters and damping parameters in the parameter subset of the power output device; Frequency domain hydrodynamic analysis is performed under preset wave environment parameters to obtain hydrodynamic coefficients, and the annual power generation assessment value is calculated based on the hydrodynamic coefficients.

[0008] By constructing a parametric geometric model, we can achieve flexible description and rapid geometric generation of the high-dimensional design space of the float's shape, laying the foundation for efficient search of the global optimal solution.

[0009] Further, the step of performing frequency domain hydrodynamic analysis under preset wave environment parameters to obtain hydrodynamic coefficients, and calculating the annual power generation assessment value based on the hydrodynamic coefficients, includes: Within a set wave frequency range, potential flow theory frequency domain calculations are performed to solve for the radiation velocity potential and the diffraction velocity potential. Based on the radiation velocity potential and the diffraction velocity potential, the additional mass, radiation damping, and wave excitation force are calculated. The hydrodynamic coefficients include the additional mass, the radiation damping, and the wave excitation force. Based on the added mass, the radiation damping, the wave excitation force, the preset still water recovery stiffness, the stiffness parameter, and the damping parameter, the heave motion response amplitude of the wave energy buoy is solved, and the response amplitude operator is calculated based on the heave motion response amplitude. The wave environment parameters of the target sea area are obtained, and the average output power is calculated by combining the wave environment parameters, the response amplitude operator and the damping parameters. The annual power generation assessment value is estimated based on the average output power.

[0010] By automatically exporting geometry to hydrodynamic analysis software and setting PTO parameters through a parametric modeling platform, a seamless connection and automated execution of the "design-simulation" process is achieved, eliminating inefficiencies and errors caused by manual intervention and significantly improving the evaluation efficiency of candidate solutions in high-dimensional design space.

[0011] Further, the step of solving for the heave motion response amplitude of the wave energy buoy based on the added mass, the radiation damping, the wave excitation force, the preset still water restoring stiffness, the stiffness parameter, and the damping parameter, and calculating the response amplitude operator based on the heave motion response amplitude, includes: The total inertial force of the heave motion is determined based on the mass of the wave energy buoy and the additional mass. The total damping force for heave motion is determined based on the radiation damping and the damping parameters. Based on the still water restoring stiffness and the stiffness parameters, determine the total restoring force of the heave motion; Based on the wave excitation force, the total inertial force, the total damping force, and the total restoring force, the dynamic equation of the heave motion of the wave energy buoy under the action of waves is established. Solving the heave motion dynamics equations yields the amplitude of the heave motion response of the wave energy buoy at different wave frequencies. The response amplitude operator is obtained by dividing the amplitude of the heave motion response by the amplitude of the incident wave.

[0012] By solving for the added mass, radiation damping, and wave excitation force through frequency domain hydrodynamic analysis, and then calculating the response amplitude operator and average output power, the evaluation speed is greatly improved while ensuring calculation accuracy, enabling the optimization algorithm to fully explore the high-dimensional design space within a limited time.

[0013] Further, the calculation of the average output power by combining the wave environment parameters, the response amplitude operator, and the damping parameters includes: Based on the response amplitude operator, the response transfer value of the wave energy buoy to wave excitation at different wave frequencies is determined; Multiply the damping parameter, the response transfer value, and the wave spectrum value at the same frequency to obtain the power contribution value of the wave energy float at the corresponding wave frequency, wherein the wave environment parameter includes the wave spectrum. Integrating the power contribution value within the preset wave frequency range yields the average output power of the wave energy float under the influence of the wave spectrum.

[0014] By decomposing the heave motion dynamics equations into total inertial force, total damping force, and total restoring force, the coupling relationship between the float geometric parameters and PTO parameters in the dynamics equations is clearly presented, ensuring the physical accuracy and numerical stability of the motion response calculations and providing a reliable performance evaluation basis for optimization.

[0015] Further, the step of inputting a subset of float geometric parameters from a preset set of design variables into a parametric geometric model to generate the corresponding float 3D geometry includes: Construct a parametric three-dimensional geometric model of the wave energy buoy in a parametric modeling platform; The key features of the wave energy buoy's shape are defined as adjustable input parameters in the subset of the buoy's geometric parameters, wherein the subset of the buoy's geometric parameters includes cylinder diameter, draft, sidewall inclination angle, bottom curvature radius, and freeboard height. The adjustable input parameters are adjusted in the parametric modeling platform to automatically generate the corresponding three-dimensional geometry of the float.

[0016] By multiplying the damping parameters, response transfer values, and wave spectrum at the same frequency and then integrating the results to obtain the average output power, a complete quantitative evaluation model from wave environment to power generation performance is constructed. This enables the optimization algorithm to accurately evaluate the power generation efficiency of different design schemes and effectively guide the search towards the high-performance region.

[0017] Further, the annual power generation assessment value and the cost assessment value are input into a preset comprehensive objective function, and the comprehensive evaluation value of each variable in the design variable set is calculated through an optimization algorithm. Based on each comprehensive evaluation value, a new generation of design variable sets is generated. The above calculation and selection process is iteratively executed until the convergence condition is met, and the optimal design variable set is output, including: A comprehensive objective function is constructed with the weighted sum of the negative value of the annual power generation assessment value and the cost assessment value as the objective. The comprehensive objective function is used as the fitness function of the optimization algorithm to calculate the comprehensive evaluation value of each design scheme in the current population; Based on the comprehensive evaluation value, the design schemes in the current population are ranked according to their merits. The design schemes with better comprehensive evaluation values ​​are retained, and a new generation of design variable set is generated through genetic operations. The above calculation and screening process is repeated until the preset maximum number of iterations is reached or the comprehensive objective function value converges to a stable minimum value. The design scheme with the best comprehensive evaluation value in the final generation population is output as the optimal design variable set.

[0018] By using the comprehensive objective function as the fitness function and employing genetic operations such as selection, crossover, and mutation to iteratively evolve the population until the objective function converges, the intelligent algorithm achieves global optimization of the high-dimensional design space and can efficiently approximate the globally optimal combination of float shape and PTO parameters.

[0019] Furthermore, the construction of a comprehensive objective function based on the weighted sum of the negative value of the annual power generation assessment and the cost assessment includes: Obtain the first weighting coefficient corresponding to the preset annual power generation assessment value and the second weighting coefficient corresponding to the cost assessment value; The annual power generation assessment value is negativeized and then multiplied by the first weighting coefficient to obtain the first weighting term; Multiply the cost assessment value by the second weighting coefficient to obtain the second weighting term; The first weighted term and the second weighted term are added together to construct the comprehensive objective function.

[0020] By setting weight coefficients for annual power generation and cost assessment, a comprehensive objective function in the form of a weighted sum is constructed, providing a flexible performance-cost trade-off mechanism for engineering applications. This allows the optimization results to be dynamically adjusted according to actual needs, accurately obtaining the globally optimal solution that meets engineering preferences.

[0021] Another embodiment of the present invention provides a collaborative design system for wave energy buoys and power output devices, comprising: The first module is used to input a subset of float geometric parameters from a preset set of design variables into a parametric geometric model to generate a corresponding three-dimensional float geometry. The set of design variables also includes a subset of power output device parameters. The second module is used to input the three-dimensional geometry of the float and the power output device parameter subset into the frequency domain hydrodynamic analysis model, and calculate the annual power generation assessment value of the three-dimensional geometry of the float under the configuration of the power output device parameter subset based on the preset wave environment parameters. The third module is used to calculate the cost assessment value based on the three-dimensional geometry of the float, and input the annual power generation assessment value and the cost assessment value into a preset comprehensive objective function. The comprehensive evaluation value of each variable in the design variable set is calculated through an optimization algorithm. A new generation of design variable set is generated based on each comprehensive evaluation value. The above calculation and screening process is iteratively executed until the convergence condition is met, and the optimal design variable set is output. The fourth module is used to parse the optimal float geometric parameter subset and the optimal power output device parameter subset from the optimal design variable set, and to perform the collaborative design of the wave energy float and the power output device according to the optimal float geometric parameter subset and the optimal power output device parameter subset, respectively.

[0022] Another embodiment of the present invention provides a terminal device, including: a processor, a memory, and a computer program stored in the memory and configured to be executed by the processor. When the processor executes the computer program, it implements the steps of the co-design method of wave energy float and power output device as described in the present invention. Attached Figure Description

[0023] To more clearly illustrate the technical solution of this application, the drawings used in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0024] Figure 1 This is a flowchart illustrating an embodiment of the collaborative design method for wave energy buoys and power output devices provided in this application; Figure 2 This is a schematic diagram of the structure of the parametric three-dimensional geometric model provided in this application; Figure 3 This is a flowchart illustrating one embodiment of steps S301 to S303 provided in this application; Figure 4 This is a flowchart illustrating one embodiment of steps S401 to S404 provided in this application; Figure 5 This is a schematic diagram of an embodiment of the collaborative design system of wave energy float and power output device provided in this application. Detailed Implementation

[0025] To make the objectives, technical solutions, and advantages of this application clearer, the technical solutions of this application will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of this application, not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0026] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application pertains; the terminology used herein is for the purpose of describing particular embodiments only and is not intended to limit the application; the terms “comprising” and “having”, and any variations thereof, in the specification, claims, and foregoing description of the drawings are intended to cover non-exclusive inclusion.

[0027] In the description of the embodiments of this application, technical terms such as "first" and "second" are used only to distinguish different objects and should not be construed as indicating or implying relative importance or implicitly specifying the number, specific order, or primary and secondary relationship of the indicated technical features. In the description of the embodiments of this application, "multiple" means two or more, unless otherwise explicitly defined.

[0028] In this document, the term "embodiment" means that a particular feature, structure, or characteristic described in connection with an embodiment may be included in at least one embodiment of this application. The appearance of this phrase in various places throughout the specification does not necessarily refer to the same embodiment, nor is it a separate or alternative embodiment mutually exclusive with other embodiments. It will be explicitly and implicitly understood by those skilled in the art that the embodiments described herein can be combined with other embodiments.

[0029] In the description of the embodiments in this application, the term "and / or" is merely a description of the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can represent: A existing alone, A and B existing simultaneously, and B existing alone. Additionally, the character " / " in this document generally indicates that the preceding and following related objects have an "or" relationship.

[0030] In the description of the embodiments of this application, the term "multiple" refers to two or more (including two), similarly, "multiple sets" refers to two or more (including two sets), and "multiple pieces" refers to two or more (including two pieces).

[0031] In the description of the embodiments of this application, unless otherwise expressly specified and limited, technical terms such as "installation," "connection," "joining," and "fixing" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components. For those skilled in the art, the specific meaning of the above terms in the embodiments of this application can be understood according to the specific circumstances.

[0032] See Figure 1 To efficiently find the globally optimal combination of float shape and power output device parameters in a high-dimensional design space, an embodiment of the present invention provides a collaborative design method for wave energy floats and power output devices, including steps S101 to S104: Step S101: Input a subset of float geometric parameters from a preset set of design variables into a parametric geometric model to generate a corresponding three-dimensional float geometry. The set of design variables also includes a subset of power output device parameters. In some embodiments, step S101 includes: constructing a parametric three-dimensional geometric model of the wave energy buoy in a parametric modeling platform; defining the key features of the wave energy buoy's shape as adjustable input parameters in a subset of the buoy's geometric parameters, wherein the subset of the buoy's geometric parameters includes cylinder diameter, draft, sidewall inclination angle, bottom curvature radius, and freeboard height; and automatically generating the corresponding buoy three-dimensional geometry by adjusting the adjustable input parameters in the parametric modeling platform.

[0033] Specifically, firstly, in a parametric modeling platform built with 3D modeling software (such as Rhino) and its visual programming plugin Grasshopper, the float's shape is decomposed into several independently adjustable feature parameters, including: cylinder diameter D, draft t, sidewall inclination θ, bottom curvature radius R, freeboard height f, etc. In the battery pack connection of the visual programming plugin, these parameters are defined as sliding numerical sliders or input numerical domains. After any parameter is adjusted, the background geometry calculator will drive basic geometric units such as cylinders, cones, and spheres to perform Boolean operations and surface lofting in real time, automatically generating a 3D solid model of the float that completely corresponds to the current parameter combination.

[0034] It should be noted that the structural diagram of the parametric 3D geometric model is as follows: Figure 2 As shown, the core of this approach lies in integrating the float's shape and power take-off (PTO) device into a unified design variable system for collaborative optimization. The figure indicates that the key design geometric parameters of the float include the cylinder diameter, draft, sidewall inclination, bottom curvature radius, and freeboard height. These parameters collectively determine the float's hydrodynamic characteristics, such as added mass, radiation damping, and wave excitation force. The PTO parameter subset includes the PTO's equivalent stiffness coefficient and equivalent damping coefficient, directly affecting the dynamic matching of energy extraction. The float's shape parameters are automatically generated into a three-dimensional geometry through a parametric geometric model and input into a frequency domain hydrodynamic analysis model to calculate the annual power generation assessment value under different PTO parameter configurations. Simultaneously, the float geometry is also used for cost assessment, ultimately forming a comprehensive objective function together with the power generation, driving the optimization algorithm to globally optimize within the high-dimensional design space composed of the float's shape and PTO parameters. The float's geometric parameters determine the hydrodynamic characteristics, while the PTO parameters directly affect the energy extraction efficiency; the two form a strong coupling relationship, jointly determining the wave energy capture and power generation output effects. Compared with traditional sequential design or trial-and-error methods, this method innovatively achieves simultaneous joint optimization of float geometry and PTO parameters. Through a closed-loop mechanism of parametric modeling, automatic simulation and intelligent iteration, it significantly improves the analytical and computational efficiency and engineering applicability of the global optimal solution in high-dimensional space.

[0035] It should be noted that the cylinder diameter D determines the width of the wave-facing surface of the float and the size of the main body of the drainage system; the draft t controls the submersion ratio of the float and directly affects the still water restoring stiffness and the natural frequency of heave; the side wall inclination angle θ is used to adjust the inclination of the float's side walls to change the added mass and radiation damping characteristics; the bottom curvature radius R is used to optimize the bottom streamline shape to reduce wave impact load and added drag; and the freeboard height f affects the risk of the float being hit by waves in extreme sea conditions and the dry and wet zoning of the structure.

[0036] It should be noted that the design variable set X consists of two parts: one is the set of float geometric parameters. Second, the parameter set of the PTO power take-off device. ,in This represents the PTO equivalent stiffness system. This is a PTO equivalent damped system. All design variables constitute a total design parameter vector. .

[0037] By multiplying the damping parameters, response transfer values, and wave spectrum at the same frequency and then integrating the results to obtain the average output power, a complete quantitative evaluation model from wave environment to power generation performance is constructed. This enables the optimization algorithm to accurately evaluate the power generation efficiency of different design schemes and effectively guide the search towards the high-performance region.

[0038] Step S102: Input the three-dimensional geometry of the float and the parameter subset of the power output device into the frequency domain hydrodynamic analysis model. Based on the preset wave environment parameters, calculate the annual power generation assessment value of the three-dimensional geometry of the float under the configuration of the parameter subset of the power output device. Please refer to Figure 3 In some embodiments, step S102 includes steps S301 to S303; Step S301: Automatically export the three-dimensional geometry of the float from the parametric modeling platform to the hydrodynamic analysis software; In some embodiments, after the float geometry model is constructed in the parametric modeling platform, the 3D geometry of the float corresponding to the current parameter combination is automatically output into a geometric model format recognizable by hydrodynamic analysis software via the export component provided by the script or plugin. Common 3D exchange formats such as IGES (.igs) or STEP (.stp) are typically chosen. This export process is entirely driven by the background program of the parametric platform, requiring no manual "Save As" or manual selection of file paths. The script automatically saves the model file to the specified working directory according to preset naming rules and records the file path for subsequent simulation calls.

[0039] Step S302: Set the stiffness parameters and damping parameters in the parameter subset of the power output device in the hydrodynamic analysis software; In some embodiments, after the model is exported, the geometric model is automatically imported by calling the API interface of hydrodynamic analysis software (such as ANSYS AQWA) or executing a pre-written Python script. Simultaneously, the script will import a subset of the PTO parameters from the current optimization iteration—namely, the stiffness coefficients. With damping coefficient It is directly written into the PTO system attribute setting module of the hydrodynamic analysis software.

[0040] This automatic assignment via script ensures that the PTO configuration in each iteration strictly corresponds to the geometric model, avoiding parameter mismatches that may occur due to manual input.

[0041] Step S303: Perform frequency domain hydrodynamic analysis under preset wave environment parameters to obtain hydrodynamic coefficients, and calculate the annual power generation assessment value based on the hydrodynamic coefficients.

[0042] Please refer to Figure 4 In some embodiments, step S303 includes steps S401 to S404; Step S401: Perform potential flow theory frequency domain calculation within the set wave frequency range to solve for radiation velocity potential and diffraction velocity potential, and calculate the additional mass, radiation damping and wave excitation force based on the radiation velocity potential and the diffraction velocity potential, wherein the hydrodynamic coefficients include the additional mass, the radiation damping and the wave excitation force. In some embodiments, in the frequency domain hydrodynamic analysis of wave-energy buoys, hydrodynamic analysis software (such as ANSYS AQWA) first decomposes the flow field velocity potential into three parts based on potential flow theory: incident potential, radiation potential, and diffraction potential. Specifically, the software uses the boundary element method to discretize and solve the surface boundary conditions and free water surface conditions within a set wave frequency range to obtain the radiation velocity potential. With diffraction velocity potential Numerical solutions were obtained. Based on this, the additional mass was calculated by integrating the real and imaginary parts of the radiation potential at the wetted surface of the floating body. With radiation damping The wave excitation force is calculated by integrating the incident potential and diffraction potential over the wetted surface. .

[0043] In some embodiments, added mass With radiation damping The influence of the wave generated by the floating body undergoing simple harmonic oscillation in still water on the surrounding flow field is described, and the calculation formulas are as follows: Additional mass: ; Radiation damping: ; in, Let j be the j-th component of the generalized normal vector on the wetted surface S of the floating body; It is the fluid density. It is the radiation potential that satisfies both the object surface condition and the free surface condition; Radiation velocity potential The real part; Radiation velocity potential The imaginary part; ω represents the area of ​​a micro-element on the wetted surface; ω represents the set wave frequency range.

[0044] In some embodiments, wave excitation force This describes the forces generated by a regular wave acting on a supposedly stationary floating body (i.e., the diffraction problem). It consists of two parts: first, the force generated by the undisturbed wave pressure field (Froude-Krylov force, FK force); and second, the force generated by the diffraction pressure field due to the wave's diffraction caused by the floating body. The solution involves solving the diffraction potential. Obtain the diffraction potential and the known incident potential. The combined effect satisfies the condition that the normal velocity at the surface of the floating body is zero, where the total velocity potential is... + The wave excitation force is obtained by integrating the dynamic pressure over the wetted surface: , where n is the normal vector of the object surface; i is the imaginary unit; Let be the diffraction velocity potential.

[0045] It should be noted that the radiation potential describes the effect of the wave generated by the motion of a floating body in still water on the flow field when the body is undergoing simple harmonic oscillation, while the diffraction potential describes the effect of wave scattering when it encounters a fixed floating body.

[0046] It should be noted that the hydrodynamic coefficients mentioned above are obtained by numerically solving boundary value problems in potential flow theory, rather than by a unified, explicit formula that can be directly substituted into wave parameters. In professional hydrodynamic software (such as AQWA and WAMIT), this process is completed automatically; users only need to define the floating body geometry and wave frequency range.

[0047] Step S402: Based on the added mass, the radiation damping, the wave excitation force, the preset still water recovery stiffness, the stiffness parameter and the damping parameter, solve the heave motion response amplitude of the wave energy buoy, and calculate the response amplitude operator based on the heave motion response amplitude. In some embodiments, step S402 includes: determining the total inertial force of the heave motion based on the mass of the wave energy buoy and the additional mass; determining the total damping force of the heave motion based on the radiation damping and the damping parameter; determining the total restoring force of the heave motion based on the still water restoring stiffness and the stiffness parameter; establishing the heave motion dynamic equation of the wave energy buoy under wave action based on the wave excitation force, the total inertial force, the total damping force and the total restoring force; solving the heave motion dynamic equation to obtain the heave motion response amplitude of the wave energy buoy at different wave frequencies; and dividing the heave motion response amplitude by the incident wave amplitude to obtain the response amplitude operator.

[0048] Specifically, after solving for the hydrodynamic coefficients, since the heave motion of the float under wave action is essentially a single-degree-of-freedom forced vibration system, its equations of motion need to simultaneously consider the inertial effects, damping effects, and restoring effects arising from the coupling between the float itself and the fluid. Specifically, the inertial force term consists of the float's own mass *m* and the added mass... Together, they constitute the inertial resistance that the system needs to overcome during acceleration, i.e., the total inertial force. The total damping force is caused by fluid radiation damping. Damping parameters provided by the PTO system The former is a superposition of two components: the former originates from the energy dissipation caused by the wave-generating motion of the floating body, and the latter corresponds to the equivalent damping of the energy extracted from the wave energy by the PTO device, i.e., the total damping force is... The total restoring force is achieved by restoring stiffness from still water. Stiffness parameters provided by the PTO system It is formed by superposition, that is After establishing the heave motion dynamics equation based on Newton's second law, the software solves the equation at each preset wave frequency to obtain the amplitude of the float's heave motion response. The calculation formula is: Where m is the float mass and i is the virtual / real element. The response amplitude... Dividing by the incident wave amplitude A yields the response amplitude operator. .

[0049] It should be noted that the PTO stiffness parameters The equivalent stiffness effect of the elastic connection or hydraulic system of the power generation device was simulated, and the hydrostatic restoring stiffness was measured. The static water restoring stiffness depends on the product of the float's waterline surface area, fluid density, and gravitational acceleration. ,in, Let be the surface area of ​​the waterline.

[0050] It should be noted that the response amplitude operator It describes the amplification of the floating body's response to waves of different frequencies and is the core transfer function connecting the wave environment and the floating body's motion response.

[0051] By solving for the added mass, radiation damping, and wave excitation force through frequency domain hydrodynamic analysis, and then calculating the response amplitude operator and average output power, the evaluation speed is greatly improved while ensuring calculation accuracy, enabling the optimization algorithm to fully explore the high-dimensional design space within a limited time.

[0052] Step S403: Obtain the wave environment parameters of the target sea area, and calculate the average output power by combining the wave environment parameters, the response amplitude operator and the damping parameters; In some embodiments, step S403 includes: determining the response transfer value of the wave energy float to wave excitation at different wave frequencies according to the response amplitude operator; multiplying the damping parameter, the response transfer value, and the wave spectrum value at the same frequency to obtain the power contribution value of the wave energy float at the corresponding wave frequency, wherein the wave environment parameter includes the wave spectrum; integrating the power contribution value within a preset wave frequency range to obtain the average output power of the wave energy float under the action of the wave spectrum.

[0053] Specifically, the response amplitude operator is obtained. Then, the power generation capacity of the buoy needs to be estimated by considering the actual wave environment of the target sea area. Among these parameters, wave environment parameters are usually expressed in terms of wave spectrum. The formal characterization describes the distribution of wave energy at different frequencies, generally based on the annual average significant wave height of the target sea area. With spectral peak period The wave spectrum for this sea area can be generated using standard empirical formulas (such as the JONSWAP spectrum). .

[0054] In some embodiments, wave spectrum The calculation formula is: ; In the formula, It is the angular frequency of the wave (rad / s); It is the angular frequency of the spectral peak (rad / s). ; It is an energy scale parameter, related to wind speed or significant wave height. For engineering applications, significant wave height is commonly used. Spectral peak period As input, at this time It can be determined by the following formula: ; It is the acceleration due to gravity (9.81 m / s²). It is the peak enhancement factor; It is the peak shape parameter. ( ), ( ).

[0055] For wave energy conversion under irregular sea conditions, the average output power of the buoy cannot be simply calculated using a single frequency; instead, integration over the entire frequency domain is required. Therefore, at each wave frequency ω, the wave spectrum S(ω) gives the energy density of the wave at that frequency. square This reflects the amplification factor of the floating body's response to waves of that frequency, and the damping parameters. This determines the PTO system's ability to extract energy from the buoyancy of the float, which is then multiplied by ω² to convert the motion response into power output. Therefore, the average output power... The calculation formula is After the software automatically completes this integral calculation, it can output the average output power of the floating body under the current wave spectrum conditions.

[0056] By decomposing the heave motion dynamics equations into total inertial force, total damping force, and total restoring force, the coupling relationship between the float geometric parameters and PTO parameters in the dynamics equations can be clearly presented. This ensures the physical accuracy and numerical stability of the motion response calculations and provides a reliable performance evaluation basis for optimization.

[0057] Step S404: Estimate the annual power generation assessment value based on the average output power.

[0058] In some embodiments, the calculation of annual power generation (AEP) typically considers the annual wave energy resource distribution characteristics of the target sea area, due to the average output power... The annual power generation assessment (AEP) is calculated based on the typical annual wave spectrum S(ω) of the target sea area. Therefore, the annual power generation assessment value can be directly estimated by multiplying the annual average power by the number of hours throughout the year, i.e., AEP = × 8760 (hours / year).

[0059] By automatically exporting geometry to hydrodynamic analysis software and setting PTO parameters through a parametric modeling platform, a seamless connection and automated execution of the "design-simulation" process is achieved, eliminating inefficiencies and errors caused by manual intervention and significantly improving the evaluation efficiency of candidate solutions in high-dimensional design space.

[0060] By constructing a parametric geometric model, we can achieve flexible description and rapid geometric generation of the high-dimensional design space of the float's shape, laying the foundation for efficient search of the global optimal solution.

[0061] Step S103: Calculate the cost assessment value based on the three-dimensional geometry of the float, and input the annual power generation assessment value and the cost assessment value into a preset comprehensive objective function. Calculate the comprehensive evaluation value of each variable in the design variable set through an optimization algorithm. Select and generate a new generation of design variable sets based on each comprehensive evaluation value. Iterate the above calculation and selection process until the convergence condition is met, and output the optimal design variable set. In some embodiments, the cost assessment value is calculated based on the three-dimensional geometry of the float. Specifically, according to engineering practice of wave energy floats, the manufacturing cost is mainly determined by the amount of materials used and the surface protection process: the amount of material used in the main structure of the float is positively correlated with its drainage volume V (i.e., the volume of the submerged part of the float); the larger the drainage volume, the more main materials such as steel or concrete are required. Meanwhile, the amount of protective materials such as anti-corrosion coatings and antifouling paints on the outer surface of the float is positively correlated with its wetted surface area S. Based on this engineering experience, a simplified cost estimation model can be established, defining the cost assessment value as a weighted linear combination of drainage volume and wetted surface area, i.e. ,in The surface treatment cost coefficient per unit area (unit: yuan / square meter). This refers to the structural material cost coefficient per unit volume (unit: yuan / cubic meter). In the parametric modeling platform, after the 3D geometry of the float is generated, the platform's built-in area and volume calculation functions can automatically extract the wetted surface area of ​​the current geometry. (The submerged portion needs to be determined based on the draft depth t) and the drainage volume. (i.e., the volume of the submerged portion), by substituting these two values ​​into the cost model above, the cost assessment value corresponding to the current design scheme can be automatically calculated.

[0062] Please refer to Figure 5 In some embodiments, the step of inputting the annual power generation assessment value and the cost assessment value into a preset comprehensive objective function, calculating the comprehensive evaluation value of each variable in the design variable set through an optimization algorithm, filtering and generating a new generation of design variable sets based on each comprehensive evaluation value, iteratively executing the above calculation and filtering process until the convergence condition is met, and outputting the optimal design variable set includes steps S501 to S503: Step S501: Construct a comprehensive objective function with the weighted sum of the negative value of the annual power generation assessment value and the cost assessment value as the objective. In some embodiments, step S501 includes: obtaining a preset first weighting coefficient corresponding to the annual power generation assessment value and a second weighting coefficient corresponding to the cost assessment value; multiplying the negative value of the annual power generation assessment value by the first weighting coefficient to obtain a first weighted term; multiplying the cost assessment value by the second weighting coefficient to obtain a second weighted term; and adding the first weighted term and the second weighted term to construct the comprehensive objective function. Specifically, firstly, two weighting coefficients are preset according to actual engineering needs, the first weighting coefficient... The corresponding annual power generation assessment value (AEP) and the second weighting factor The corresponding cost assessment value is Cost, where the relative magnitudes of these two weighting coefficients reflect the designer's preference between power generation performance and economic efficiency. Since optimization algorithms are typically guided by minimizing the objective function, and annual power generation is the indicator that needs to be maximized, the annual power generation assessment value is negative (i.e., -AEP) and then multiplied by the first weighting coefficient. This yields the first weighting term; the cost assessment value itself is the indicator we want to minimize, so we directly multiply it by the second weighting coefficient. The second weighted term is obtained; finally, the first weighted term and the second weighted term are added together to construct the comprehensive objective function. Through this transformation, the optimization algorithm calculates the comprehensive objective function value for each design scheme in each iteration. Comprehensive objective function value The smaller the value, the better the overall performance of the scheme in terms of power generation and economy. Based on this, the algorithm selects the better individuals and performs crossover mutation to approach the global optimal solution generation by generation.

[0063] It should be noted that the weighting coefficients can be flexibly adjusted according to the actual engineering situation. For example, they can be increased in scenarios that emphasize power generation efficiency. In cost-sensitive scenarios, it can increase .

[0064] It should be noted that the negative value of the annual power generation assessment is used to transform the maximization problem into a minimization problem. The optimization objective is to find the combination of design variables X that minimizes F(X).

[0065] By setting weight coefficients for annual power generation and cost assessment, a comprehensive objective function in the form of a weighted sum is constructed, providing a flexible performance-cost trade-off mechanism for engineering applications. This allows the optimization results to be dynamically adjusted according to actual needs, accurately obtaining the globally optimal solution that meets engineering preferences.

[0066] Step S502: Use the comprehensive objective function as the fitness function of the optimization algorithm to calculate the comprehensive evaluation value of each design scheme in the current population; In some embodiments, the comprehensive objective function F(X) is set as the fitness function of the genetic algorithm. The current population contains several individuals defined by the design variable set X, each individual being a complete combination of float shape and PTO parameters. The optimization algorithm calls the aforementioned automated simulation process, sequentially performing parametric geometric modeling, frequency domain hydrodynamic analysis, annual power generation assessment, and cost calculation for each individual in the population, obtaining the comprehensive objective function value F(X) for each individual, which is the comprehensive evaluation value of that individual. After evaluating all individuals in the population, the algorithm sorts the individuals according to their comprehensive evaluation values, retaining individuals with better comprehensive evaluation values ​​as parents, and selecting individuals with higher fitness through tournament selection, roulette wheel selection, etc., and then performing crossover operations (such as simulated binary crossover) and mutation operations (such as polynomial mutation) on these individuals to generate a new generation of the design variable set population. Crossover and mutation operations introduce new combinations of design variables, enabling the algorithm to continuously explore better feasible regions in the high-dimensional design space and avoid getting trapped in local optima.

[0067] Step S503: Sort the design schemes in the current population according to the comprehensive evaluation value, retain the design schemes with better comprehensive evaluation values, and generate a new generation of design variable set through genetic operations; repeat the above calculation and screening process until the preset maximum number of iterations is reached or the comprehensive objective function value converges to a stable minimum value, and output the design scheme with the best comprehensive evaluation value in the final generation population as the optimal design variable set.

[0068] In some embodiments, the algorithm sets two convergence conditions: first, a preset maximum number of iterations, where optimization terminates when the number of iterations reaches this upper limit; second, a stable convergence condition for the comprehensive objective function value, where the algorithm is considered to have converged to a stable minimum when the change in the comprehensive evaluation value of the best individual in multiple consecutive generations of the population is less than a preset threshold, at which point optimization terminates. The individual with the best comprehensive evaluation value in the final generation of the population is extracted and output as the optimal design scheme; this individual corresponds to a complete set of optimal design variable combinations. .

[0069] By using the comprehensive objective function as the fitness function and employing genetic operations such as selection, crossover, and mutation to iteratively evolve the population until the objective function converges, the intelligent algorithm achieves global optimization of the high-dimensional design space and can efficiently approximate the globally optimal combination of float shape and PTO parameters.

[0070] Step S104: Extract the optimal float geometric parameter subset and the optimal power output device parameter subset from the optimal design variable set, and perform the collaborative design of wave energy float and power output device according to the optimal float geometric parameter subset and the optimal power output device parameter subset respectively.

[0071] In some embodiments, when the optimal combination of design variables is obtained Then, two parts are extracted from this set of optimal design variables: a subset of optimal float geometry parameters. It includes five parameters: cylinder diameter, draft, sidewall inclination, bottom curvature radius, and freeboard height; the optimal PTO parameter subset. This includes the PTO equivalent stiffness coefficient and equivalent damping coefficient. Subsequently, the optimal float geometry parameter subset... The parameters are input into a parametric modeling platform (such as Rhino / Grasshopper). The platform automatically generates a 3D solid geometric model of the float with the optimal shape based on these parameters. This geometric model can be directly used for subsequent machining drawings or numerical simulation verification. Simultaneously, the optimal subset of PTO parameters is... The stiffness and damping settings of the power output device are configured into the PTO system of the wave energy device.

[0072] It should be noted that, in order to verify the performance of the optimal solution, the generated float geometry model and PTO parameters can be substituted into the hydrodynamic frequency domain simulation tool to recalculate the float's heave response and power generation, and predict the actual power generation efficiency of the optimal solution in the target sea area.

[0073] This invention achieves unified parametric representation and automated geometric modeling of the float's shape and power output device parameters by defining a subset of float geometric parameters and a subset of power output device parameters as a set of design variables and inputting them into a parametric geometric model to automatically generate the corresponding three-dimensional geometry of the float. This lays the foundation for controllable variables and automatic model updates for subsequent collaborative optimization. By inputting the three-dimensional geometry of the float and the subset of power output device parameters into a frequency domain hydrodynamic analysis model and combining them with preset wave environment parameters, the annual power generation assessment value under different combinations of shape and power output device parameters can be quickly calculated. The high efficiency of frequency domain analysis replaces the high computational cost of traditional time domain simulation, thereby achieving [the desired result] in a high-dimensional design space. This invention enables rapid evaluation of the power generation performance of candidate schemes. Simultaneously, it calculates cost assessment values ​​based on the three-dimensional geometry of the float, and inputs both the annual power generation assessment value and the cost assessment value into a comprehensive objective function. An optimization algorithm calculates the comprehensive evaluation value of each design variable, and a new generation of design variable sets is generated based on these evaluation values, forming a closed-loop optimization mechanism of "evaluation-screening-iteration." This allows the optimization process to intelligently guide the search direction with fewer simulations, efficiently approximating the global optimum in a coupled high-dimensional space composed of the float's geometry and power output device parameters. Finally, the optimal subsets of float geometry parameters and power output device parameters are extracted from the optimal design variable set and used for collaborative design, ensuring that the optimization results can directly guide practical engineering applications. Therefore, this invention, through the organic combination of parametric modeling, frequency domain hydrodynamic analysis, multi-objective comprehensive optimization, and closed-loop iterative search, can efficiently find the globally optimal combination of float shape and power output device parameters in a high-dimensional design space.

[0074] like Figure 5 As shown, based on the above method embodiments, corresponding apparatus embodiments are provided; One embodiment of the present invention provides a collaborative design system for a wave energy buoy and a power output device, comprising: The first module 100 is used to input a subset of float geometric parameters from a preset set of design variables into a parametric geometric model to generate a corresponding three-dimensional float geometry. The set of design variables also includes a subset of power output device parameters. The second module 200 is used to input the three-dimensional geometry of the float and the power output device parameter subset into the frequency domain hydrodynamic analysis model, and calculate the annual power generation assessment value of the three-dimensional geometry of the float under the configuration of the power output device parameter subset based on the preset wave environment parameters. The third module 300 is used to calculate the cost assessment value based on the three-dimensional geometry of the float, and input the annual power generation assessment value and the cost assessment value into a preset comprehensive objective function. The comprehensive evaluation value of each variable in the design variable set is calculated through an optimization algorithm. A new generation of design variable set is generated based on each comprehensive evaluation value. The above calculation and screening process is iteratively executed until the convergence condition is met, and the optimal design variable set is output. The fourth module 400 is used to parse the optimal float geometric parameter subset and the optimal power output device parameter subset from the optimal design variable set, and to perform the collaborative design of wave energy float and power output device according to the optimal float geometric parameter subset and the optimal power output device parameter subset respectively.

[0075] It is understood that the above-described device embodiments correspond to the method embodiments of the present invention, and can realize the collaborative design method of wave energy float and power output device provided by any of the above-described method embodiments of the present invention.

[0076] It should be noted that the device embodiments described above are merely illustrative, and some or all of the modules can be selected to achieve the purpose of this embodiment according to actual needs. Furthermore, in the accompanying drawings of the device embodiments provided by this invention, the connection relationships between modules indicate that they have communication connections, which can specifically be implemented as one or more communication buses or signal lines. Those skilled in the art can understand and implement this without any creative effort.

[0077] Based on the above embodiments of the collaborative design method of wave energy buoy and power output device, another embodiment of the present invention provides a terminal device, which includes a processor, a memory, and a computer program stored in the memory and configured to be executed by the processor. When the processor executes the computer program, it implements the collaborative design method of wave energy buoy and power output device of any embodiment of the present invention.

[0078] For example, in this embodiment, the computer program can be divided into one or more modules, which are stored in the memory and executed by the processor to complete the present invention. The one or more modules may be a series of computer program instruction segments capable of performing a specific function, which describe the execution process of the computer program in the terminal device.

[0079] The terminal device may be a desktop computer, laptop, handheld computer, or cloud server, etc. The terminal device may include, but is not limited to, a processor and a memory.

[0080] The processor can be a Central Processing Unit (CPU), or other general-purpose processors, digital signal processors (DSPs), application-specific integrated circuits (ASICs), field-programmable gate arrays (FPGAs), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. A general-purpose processor can be a microprocessor or any conventional processor. The processor is the control center of the terminal device, connecting all parts of the terminal device via various interfaces and lines.

[0081] Based on the above-described method embodiments, another embodiment of the present invention provides a computer-readable storage medium including a stored computer program, wherein, when the computer program is executed, it controls the device where the computer-readable storage medium is located to execute the co-design method of wave energy float and power output device described in any of the above-described method embodiments of the present invention.

[0082] The modules / units integrated in the device / terminal equipment, if implemented as software functional units and sold or used as independent products, can be stored in a computer-readable storage medium. Based on this understanding, all or part of the processes in the above embodiments of the present invention can also be implemented by a computer program instructing related hardware. The computer program can be stored in a computer-readable storage medium, and when executed by a processor, it can implement the steps of the various method embodiments described above. The computer program includes computer program code, which can be in the form of source code, object code, executable files, or certain intermediate forms. The computer-readable medium can include: any entity or device capable of carrying the computer program code, a recording medium, a USB flash drive, a portable hard drive, a magnetic disk, an optical disk, a computer memory, a read-only memory (ROM), a random access memory (RAM), an electrical carrier signal, a telecommunication signal, and a software distribution medium, etc.

[0083] The above description represents the preferred embodiments of the present invention. It should be noted that those skilled in the art can make various improvements and modifications without departing from the principles of the present invention, and these improvements and modifications are also considered to be within the scope of protection of the present invention.

Claims

1. A method of co-designing a wave energy buoy and a power take-off device, characterised by, include: A subset of float geometric parameters from a preset set of design variables is input into a parametric geometric model to generate a corresponding three-dimensional float geometry. The set of design variables also includes a subset of power output device parameters. The three-dimensional geometry of the float and the subset of parameters of the power output device are input into the frequency domain hydrodynamic analysis model. Based on the preset wave environment parameters, the annual power generation assessment value of the three-dimensional geometry of the float under the configuration of the subset of parameters of the power output device is calculated. The cost assessment value is calculated based on the three-dimensional geometry of the float, and the annual power generation assessment value and the cost assessment value are input into the preset comprehensive objective function. The comprehensive evaluation value of each variable in the design variable set is calculated through the optimization algorithm. A new generation of design variable set is generated based on each comprehensive evaluation value. The above calculation and screening process is iteratively executed until the convergence condition is met, and the optimal design variable set is output. The optimal subset of buoy geometric parameters and the optimal subset of power output device parameters are extracted from the set of optimal design variables, and the wave energy buoy and the power output device are designed collaboratively according to the subset of optimal buoy geometric parameters and the optimal subset of power output device parameters, respectively.

2. The collaborative design method of wave energy buoy and power output device according to claim 1, characterized in that, The step of inputting the three-dimensional geometry of the float and the subset of parameters of the power output device into the frequency domain hydrodynamic analysis model, and calculating the annual power generation assessment value of the three-dimensional geometry of the float under the configuration of the power output device parameter subset based on preset wave environment parameters, includes: The three-dimensional geometry of the float is automatically exported from the parametric modeling platform to the hydrodynamic analysis software. In the hydrodynamic analysis software, set the stiffness parameters and damping parameters in the parameter subset of the power output device; Frequency domain hydrodynamic analysis is performed under preset wave environment parameters to obtain hydrodynamic coefficients, and the annual power generation assessment value is calculated based on the hydrodynamic coefficients.

3. The collaborative design method of wave energy buoy and power output device according to claim 2, characterized in that, The step of performing frequency domain hydrodynamic analysis under preset wave environment parameters to obtain hydrodynamic coefficients, and calculating the annual power generation assessment value based on the hydrodynamic coefficients, includes: Within a set wave frequency range, potential flow theory frequency domain calculations are performed to solve for the radiation velocity potential and the diffraction velocity potential. Based on the radiation velocity potential and the diffraction velocity potential, the additional mass, radiation damping, and wave excitation force are calculated. The hydrodynamic coefficients include the additional mass, the radiation damping, and the wave excitation force. Based on the added mass, the radiation damping, the wave excitation force, the preset still water recovery stiffness, the stiffness parameter, and the damping parameter, the heave motion response amplitude of the wave energy buoy is solved, and the response amplitude operator is calculated based on the heave motion response amplitude. The wave environment parameters of the target sea area are obtained, and the average output power is calculated by combining the wave environment parameters, the response amplitude operator and the damping parameters. The annual power generation assessment value is estimated based on the average output power.

4. The collaborative design method of wave energy buoy and power output device according to claim 3, characterized in that, The process of calculating the heave response amplitude of the wave-energy buoy based on the added mass, the radiation damping, the wave excitation force, the preset still water restoring stiffness, the stiffness parameter, and the damping parameter, and then calculating the response amplitude operator based on the heave response amplitude, includes: The total inertial force of the heave motion is determined based on the mass of the wave energy buoy and the additional mass. The total damping force for heave motion is determined based on the radiation damping and the damping parameters. Based on the still water restoring stiffness and the stiffness parameters, determine the total restoring force of the heave motion; Based on the wave excitation force, the total inertial force, the total damping force, and the total restoring force, the dynamic equation of the heave motion of the wave energy buoy under the action of waves is established. Solve the heave motion dynamics equation to obtain the heave motion response amplitude of the wave energy buoy at different wave frequencies. Divide the heave motion response amplitude by the incident wave amplitude to obtain the response amplitude operator.

5. The collaborative design method of wave energy buoy and power output device according to claim 3, characterized in that, The calculation of the average output power by combining the wave environment parameters, the response amplitude operator, and the damping parameters includes: Based on the response amplitude operator, the response transfer value of the wave energy buoy to wave excitation at different wave frequencies is determined; Multiply the damping parameter, the response transfer value, and the wave spectrum value at the same frequency to obtain the power contribution value of the wave energy float at the corresponding wave frequency, wherein the wave environment parameter includes the wave spectrum; Integrating the power contribution value within the preset wave frequency range yields the average output power of the wave energy float under the influence of the wave spectrum.

6. The collaborative design method of wave energy buoy and power output device according to claim 1, characterized in that, The step of inputting a subset of float geometric parameters from a preset set of design variables into a parametric geometric model to generate the corresponding float 3D geometry includes: Construct a parametric three-dimensional geometric model of the wave energy buoy in a parametric modeling platform; The key features of the wave energy buoy's shape are defined as adjustable input parameters in the subset of the buoy's geometric parameters, wherein the subset of the buoy's geometric parameters includes cylinder diameter, draft, sidewall inclination angle, bottom curvature radius, and freeboard height. The adjustable input parameters are adjusted in the parametric modeling platform to automatically generate the corresponding three-dimensional geometry of the float.

7. The collaborative design method of wave energy buoy and power output device according to claim 1, characterized in that, The process involves inputting the annual power generation assessment value and the cost assessment value into a preset comprehensive objective function, calculating the comprehensive evaluation value of each variable in the design variable set using an optimization algorithm, filtering and generating a new generation of design variable sets based on each comprehensive evaluation value, iteratively executing the above calculation and filtering process until the convergence condition is met, and outputting the optimal design variable set, including: A comprehensive objective function is constructed with the weighted sum of the negative value of the annual power generation assessment value and the cost assessment value as the objective. The comprehensive objective function is used as the fitness function of the optimization algorithm to calculate the comprehensive evaluation value of each design scheme in the current population; Based on the comprehensive evaluation value, the design schemes in the current population are ranked according to their merits. The design schemes with better comprehensive evaluation values ​​are retained, and a new generation of design variable set is generated through genetic operations. The above calculation and screening process is repeated until the preset maximum number of iterations is reached or the comprehensive objective function value converges to a stable minimum value. The design scheme with the best comprehensive evaluation value in the final generation population is output as the optimal design variable set.

8. The collaborative design method of wave energy buoy and power output device according to claim 7, characterized in that, The construction of a comprehensive objective function based on the weighted sum of the negative value of the annual power generation assessment and the cost assessment includes: Obtain the first weighting coefficient corresponding to the preset annual power generation assessment value and the second weighting coefficient corresponding to the cost assessment value; The annual power generation assessment value is negativeized and then multiplied by the first weighting coefficient to obtain the first weighting term; Multiply the cost assessment value by the second weighting coefficient to obtain the second weighting term; The first weighted term and the second weighted term are added together to construct the comprehensive objective function.

9. A collaborative design system for a wave energy buoy and a power output device, characterized in that, include: The first module is used to input a subset of float geometric parameters from a preset set of design variables into a parametric geometric model to generate a corresponding three-dimensional float geometry. The set of design variables also includes a subset of power output device parameters. The second module is used to input the three-dimensional geometry of the float and the power output device parameter subset into the frequency domain hydrodynamic analysis model, and calculate the annual power generation assessment value of the three-dimensional geometry of the float under the configuration of the power output device parameter subset based on the preset wave environment parameters. The third module is used to calculate the cost assessment value based on the three-dimensional geometry of the float, and input the annual power generation assessment value and the cost assessment value into a preset comprehensive objective function. The comprehensive evaluation value of each variable in the design variable set is calculated through an optimization algorithm. A new generation of design variable set is generated based on each comprehensive evaluation value. The above calculation and screening process is iteratively executed until the convergence condition is met, and the optimal design variable set is output. The fourth module is used to parse the optimal float geometric parameter subset and the optimal power output device parameter subset from the optimal design variable set, and to perform the collaborative design of the wave energy float and the power output device according to the optimal float geometric parameter subset and the optimal power output device parameter subset, respectively.

10. A terminal device, characterized in that, include: One or more processors; A memory, coupled to the processor, for storing one or more programs; When the one or more programs are executed by the one or more processors, the one or more processors implement the steps of the co-design method for wave energy floats and power output devices as described in any one of claims 1-8.

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