Arrayed floating wind turbine aerodynamic load simulation device and simulation method thereof

Abstract

The application relates to the field of wind power technology, and provides an array type floating wind turbine aerodynamic load simulation device and a simulation method thereof. The simulation device is provided with an execution system, the execution system comprises a rotor, a multi-pass shaft sleeve pipe and a plurality of load generation units arranged in the circumferential direction of the multi-pass shaft sleeve pipe, the load generation unit is provided with a load generation module, and the orientation, rotating speed and distance from the center of the multi-pass shaft sleeve pipe of the load generation module can be adjusted; and the rotor is provided with a main shaft driver capable of driving the multi-pass shaft sleeve pipe to rotate around the shaft center, so that the plurality of load generation units can be driven to rotate simultaneously. By adopting the load generation units arranged in multiple groups in an array mode and independent adjusting mechanisms, the load simulation of omnidirectional force and torque can be realized, and the problem that the complex load under extreme working conditions and fault working conditions cannot be accurately simulated in the model test of the prior art method is solved.

Description

Technical Field

[0001] This invention relates to the field of wind power technology, specifically to an array-type floating wind turbine aerodynamic load simulation device and simulation method. Background Technology

[0002] With the goal of carbon neutrality being set, offshore wind power has developed rapidly, and floating wind turbine technology is considered a key means of developing deep-sea wind power. However, unlike traditional offshore oil and gas platforms and other structures, the system coupling dynamics of floating wind turbines are more complex, posing new challenges to design, construction, installation, and maintenance. Therefore, it is essential to conduct pool model tests of floating wind turbines in the early design phase.

[0003] In floating wind turbine tank model tests, accurately simulating the aerodynamic loads on the floating wind turbine model under various operating conditions is crucial for correctly evaluating the motion response of the floating body. Currently, the commonly used aerodynamic load simulation method in floating wind turbine tank model tests involves setting up a physical wind field above the water surface and constructing a physical wind turbine model based on the Froude number similarity law. Alternatively, other methods include simplifying the wind turbine by applying equivalent forces using cables, thrust fans, etc., to replace the physical wind turbine model and physical wind field, or using a rotating disk in the wind field to generate thrust and gyroscopic torque for aerodynamic load simulation.

[0004] However, the aforementioned existing technical methods all have their own simplifications and limitations, and cannot truly and completely reflect the aerodynamic loads of floating wind turbines under various operating conditions. For example, the method combining physical wind field and physical wind turbine models is one of the most commonly used and most faithful methods in floating wind turbine tank model tests. It can simulate the main aerodynamic loads under some operating conditions, such as the axial thrust of the wind turbine rotor at steady wind speed, but ignores other secondary aerodynamic loads such as aerodynamic torque. In addition, due to the dissimilarity of Reynolds numbers, model tests are difficult to achieve complete similarity to real-scale wind turbines, and strict weight requirements also limit the feasibility of adding more complex control mechanisms and measuring equipment to simulate and monitor more complex operating conditions.

[0005] Simplified methods such as cables and thrust fans further simplify the simulation of aerodynamic loads. While avoiding the need to build physical wind fields with high costs, these methods only consider the equivalent of steady axial thrust and ignore the coupling between aerodynamic loads and floating body motion. They cannot simulate aerodynamic characteristics such as aerodynamic torque, blade-to-tower aerodynamic interaction, aerodynamic damping, and gyroscopic effects generated by blade rotation. They can only meet the experimental verification needs of a very small number of simplified steady operating conditions.

[0006] Although the rotating disk method in the wind field takes into account the gyro effect, it can only simulate the steady axial thrust in a single direction and cannot fully take into account the fluctuations in the aerodynamic load of the floating wind turbine and the characteristic differences under different operating conditions.

[0007] Therefore, those skilled in the art are dedicated to developing a floating wind turbine aerodynamic load simulation device. This device can simulate forces and torques whose magnitude and direction can be adjusted and controlled in real time within a certain range, thus accurately and reliably reflecting the aerodynamic load characteristics of floating wind turbines under various operating, survival, and fault conditions. This is achieved without the need to construct a physical wind field in the floating wind turbine pool model test, thereby avoiding the Reynolds number dissimilarity problem.

[0008] Patent document CN204877800U discloses an experimental model for the kinematic performance of a floating wind turbine. This experimental model uses a wind turbine model and a wind-generating system to simulate aerodynamic loads, repeatedly adjusting the motor speed and the output wind speed of the wind-generating system to ensure that the rotational speed of the wind turbine blades and the thrust acting on them are similar to those in the prototype. However, this design only considers the similarity of steady aerodynamic thrust, neglecting other aerodynamic load characteristics; it also cannot accurately control the magnitude and direction of aerodynamic load changes in real time, limiting its applicability to certain operating conditions; and it does not directly address the problem of Reynolds number dissimilarity.

[0009] For example, patent document CN109377841B discloses a floating offshore wind turbine test device and method using a wind and wave equivalent device. This floating offshore wind turbine test device uses 3 sets of electric cylinders, 6 sets of pulley tracks and several traction lines to simulate the thrust, restoring force and torque received by the wind turbine through traction. It can control the equivalent force and torque on the wind turbine in real time. However, this design uses traction lines to provide forces and torques in different directions. The cables can only withstand tension and cannot withstand pressure, making force control difficult and inaccurate. On the other hand, it cannot accurately simulate the rotational inertia of the actual wind turbine or the gyro effect. Summary of the Invention

[0010] To address the shortcomings of existing technologies, the purpose of this invention is to provide an array-type floating wind turbine aerodynamic load simulation device and simulation method.

[0011] An array-type floating wind turbine aerodynamic load simulation device according to the present invention is configured with an execution system, the execution system comprising:

[0012] The rotor is equipped with a multi-pass shaft sleeve and a plurality of load active generation units arranged circumferentially along the multi-pass shaft sleeve. The load active generation unit has a load generation module and can adjust the orientation, rotational speed and distance from the center of the multi-pass shaft sleeve of the load generation module.

[0013] The engine compartment has a spindle drive that can drive the multi-port sleeve to rotate around its axis, thereby driving multiple load active generation units to rotate simultaneously.

[0014] Preferably, the load active generation unit further includes an angle adjustment support end, an angle adjustment module, an angle adjustment output end, and a functional body arranged sequentially along the radially outward direction of the multi-port sleeve, and disposed on the connector, wherein:

[0015] The outer end of the connector is fastened to the load generation module, and the inner end of the connector slides with the outer end of the functional body to adjust the center distance between the load generation module and the multi-port sleeve. The inner end of the functional body is connected to the outer end of the angle adjustment output end, and the angle adjustment module is connected to the inner end of the angle adjustment output end and can drive the angle adjustment output end to rotate, thereby adjusting the orientation of the load generation module.

[0016] Preferably, the rotor is equipped with a main shaft and a slip ring fitted on the main shaft, and the main shaft driver can drive the multi-port sleeve to rotate through the main shaft;

[0017] The slip ring is used to supply power for adjusting the orientation, rotational speed, and distance from the center of the multi-port sleeve of the load generation module.

[0018] Preferably, it further includes:

[0019] The data acquisition system monitors and acquires real-time operational status data of the simulation device.

[0020] The simulation system receives the real-time operating status data, processes the data, performs simulation, and generates decision instructions to guide the execution system.

[0021] Preferably, the acquisition system includes at least one of the following sensors:

[0022] Spindle torque sensor, used to collect the real-time torque on the spindle;

[0023] The spindle motor speed sensor is used to collect the real-time speed of the spindle driven by the spindle driver.

[0024] Spindle motor status monitor, used to collect real-time temperature and operating current of the spindle driver;

[0025] Cabin acceleration sensors are used to monitor and output cabin acceleration data in real time.

[0026] The six-component force sensor in the cabin is used to monitor and output three-directional force and torque data at the bottom of the cabin in real time;

[0027] The servo motor angle sensor is used to collect the real-time angle position of the angle adjustment module.

[0028] Preferably, the nacelle includes a nacelle shell and a nacelle cover arranged above the nacelle shell. The nacelle shell and the nacelle cover together form an accommodating space. The spindle drive and the spindle torque sensor are both arranged in the accommodating space. The spindle drive is connected to the spindle through the spindle torque sensor.

[0029] The nacelle acceleration sensor and the nacelle six-component force sensor are both installed on the outside of the nacelle shell.

[0030] Preferably, the load generation module uses a ducted fan, and the spindle driver uses a brushless servo motor;

[0031] The orientation of the load generation module is adjusted by rotating the internal teeth of the circular hole driven by the external teeth of the cylinder.

[0032] According to the present invention, an aerodynamic load simulation method for an array-type floating wind turbine is provided, which simulates under normal operating conditions or under extreme operating conditions, wherein:

[0033] The method for simulating normal operating conditions is as follows:

[0034] Step 101: Before starting the normal operating condition simulation test, adjust the rotor's moment of inertia to the target value.

[0035] Step 102: Under the drive of the main shaft driver, the rotor actively rotates according to the blade rotation speed of the load generation module and the corresponding rotation speed obtained by the similar scaling of the Froude number, thereby simulating the gyro effect.

[0036] Step 103: The simulation system begins to perform numerical simulation of the corresponding working conditions, calculates the aerodynamic load on the actual wind turbine unit at each moment, solves the load into force and torque, obtains the stress and torque of the model scale after using the Froude number similarity scaling, and sends commands to the rotor 1 of the execution system at fixed time intervals.

[0037] Step 104: At any time interval, after the rotor receives the instruction, the load generation module adjusts the magnitude and direction of the force in real time according to the instructions of the simulation system to ensure that the generated aerodynamic thrust and torque reach the target value.

[0038] Step 105: The simulation ends. The simulation system sends an end command to both the rotor and the nacelle. After receiving the end command, the rotor reduces the output force of the load generation module to 0 and stops working. The angle adjustment module resets, and the angle returns to the initial position. After receiving the end command, the spindle drive speed of the nacelle reduces to 0 and stops working.

[0039] The method for simulating extreme operating conditions is as follows:

[0040] Step 201: Before starting the simulation test of extreme wind speed shutdown and yaw failure conditions, the rotor rotates the main shaft to a certain angle position under the drive of the main shaft driver and then locks it to stop rotating.

[0041] Step 202: The simulation system begins to perform numerical simulation of the corresponding working conditions, calculates the aerodynamic load on the actual wind turbine unit at each moment, solves the load into force and moment, and obtains the stress and moment of the model scale after using the Froude number similarity scaling. The simulation system sends commands to the rotor at fixed time intervals.

[0042] Step 203: At any time interval, after the rotor receives the command, the load generation module adjusts the force magnitude in real time according to the simulation system command, and the angle adjustment module adjusts the force generation angle of the load generation module in real time according to the simulation system command. By adjusting the force magnitude and force direction angle of the load generation module in real time, the generated aerodynamic thrust and torque are ensured to reach the target value.

[0043] Step 204: The simulation ends. The simulation system sends an end command to both the rotor and the nacelle. After receiving the end command, the rotor reduces the output force of the load generation module to 0 and stops working. The angle adjustment module is reset, and the angle returns to the initial position. After receiving the end command, the spindle driver is unlocked and resumes free rotation.

[0044] Preferably, in step 101, the adjustment of the rotor's rotational inertia is achieved by controlling the functional body and the connecting parts.

[0045] Preferably, in step 104, the rotational speed of the load generation module is adjusted, and the force generation angle of the load generation module is adjusted in real time by the angle adjustment module to ensure that the generated aerodynamic thrust and torque reach the target value.

[0046] Compared with the prior art, the present invention has the following beneficial effects:

[0047] 1. This invention, by employing multiple array-arranged load active generation units and independent adjustment mechanisms, can realize the simulation of loads in all directions of force and torque, solving the problem that existing technical methods cannot accurately simulate complex loads under extreme and fault conditions in model tests.

[0048] 2. This invention adopts an active rotational design based on the array layout of the load active generation unit, and combines a telescopic mechanism that cooperates with the functional body and connecting parts, so that the device of this invention can adjust the rotational inertia of the rotor to adapt to different wind turbine schemes and simulate the gyroscopic effect in the operating conditions, thus solving the problem that the prior art cannot accurately simulate rotational inertia and gyroscopic effect.

[0049] 3. This invention connects the actively rotating rotor and the stationary nacelle through a slip ring, enabling cable power supply and data transmission to the rotor load generation module and angle adjustment module without interfering with the continuous rotation of the rotor. This solves the problems of low precision and poor controllability of the existing technology that uses mechanical structures to manually adjust the internal rotor devices.

[0050] 4. This invention enables independent control of the array-type load active generation unit and each independent adjustment mechanism, which can realize real-time and accurate simulation of the aerodynamic load of the fan under different working conditions. It solves the problem that the existing technology can only simulate steady forces under some working conditions and lacks effective time-varying load simulation and control methods applicable to all working conditions. Attached Figure Description

[0051] Other features, objects, and advantages of the present invention will become more apparent from the following detailed description of non-limiting embodiments with reference to the accompanying drawings:

[0052] Figure 1 This is a structural diagram of an application scenario in this invention;

[0053] Figure 2 This is a schematic diagram of the simulation device;

[0054] Figure 3 This is a schematic diagram of the side structure of the simulation device;

[0055] Figure 4 This is a schematic diagram of the internal structure of the simulation device;

[0056] Figure 5 A schematic diagram showing the working process of the telescopic mechanism formed by the sliding cooperation between the central functional body and the connecting parts;

[0057] Figure 6 This is a schematic diagram of the rotating mechanism of the load generation module in the simulation device.

[0058] Figure 7 This is a schematic diagram simulating the operating conditions of the device;

[0059] Figure 8 This is a schematic diagram simulating extreme operating conditions of the device;

[0060] Figure 9 This is a block diagram of the simulation device.

[0061] The diagram shows:

[0062] 1-Rotor

[0063] 100-Load Active Generation Unit

[0064] 1001-Load Generation Module

[0065] 1002-Connector

[0066] 1003-Functional Entities

[0067] 1004 - Angle Adjustment Output Terminal

[0068] 1005 - Angle Adjustment Module

[0069] 1006-Angle Adjustment Support End

[0070] 101-Multi-port shaft sleeve

[0071] 102-Frostguard

[0072] 103-Spindle

[0073] 104-Collector Ring

[0074] 105-Spindle Connection Key

[0075] 2-Cabin

[0076] 201-Nacelle Shell

[0077] 202-Navy Canopy

[0078] 203-Spindle Driver

[0079] 204-First Coupling

[0080] 205-Second Coupling

[0081] 206-Bearing

[0082] 207-Torque Sensor

[0083] 208-Acceleration Sensor

[0084] 209-Six-component force sensor

[0085] 3-Tower

[0086] 4-Floating body Detailed Implementation

[0087] The present invention will now be described in detail with reference to specific embodiments. These embodiments will help those skilled in the art to further understand the present invention, but do not limit the invention in any way. It should be noted that those skilled in the art can make several changes and improvements without departing from the concept of the present invention. These all fall within the scope of protection of the present invention.

[0088] Example 1:

[0089] This invention provides an array-type floating wind turbine aerodynamic load simulation device, configured with an execution system, a data acquisition system, and a simulation system. The data acquisition system monitors and acquires real-time operating status data of the simulation device; the simulation system receives the real-time operating status data, processes the data, performs simulation, and generates decision instructions to guide the execution system. The execution system includes a rotor 1 and a nacelle 2. The rotor 1 is equipped with a multi-pass shaft sleeve 101 and multiple load active generation units 100 arranged circumferentially along the multi-pass shaft sleeve 101. Each load active generation unit 100 has a load generation module 1001 and can adjust the orientation, rotational speed, and distance from the center of the multi-pass shaft sleeve 101. The nacelle 2 has a main shaft driver 203 capable of driving the multi-pass shaft sleeve 101 to rotate around its axis, thereby simultaneously driving the multiple load active generation units 100 to rotate.

[0090] Specifically, the load active generation unit 100 also includes an angle adjustment support end 1006, an angle adjustment module 1005, an angle adjustment output end 1004, and a functional body 1003 arranged sequentially along the radial outward direction of the multi-shaft sleeve 101. A connector 1002 is also included; the outer end of the connector 1002 is fastened to the load generation module 1001, and the inner end of the connector 1002 slides against the outer end of the functional body 1003, thereby adjusting the center distance between the load generation module 1001 and the multi-shaft sleeve 101. The inner end of the functional body 1003 is connected to the outer end of the angle adjustment output end 1004, and the angle adjustment module 1005 is connected to the inner end of the angle adjustment output end 1004 and can drive the angle adjustment output end 1004 to rotate, thereby adjusting the orientation of the load generation module 1001.

[0091] Preferably, the rotor 1 is equipped with a main shaft 103 and a slip ring 104 fitted on the main shaft 103, and the main shaft driver 203 can drive the multi-shaft sleeve 101 to rotate through the main shaft 103.

[0092] The slip ring 104 is used to supply power for adjusting the orientation, rotational speed, and distance from the center of the multi-port sleeve 101 of the load generation module 1001.

[0093] The data acquisition system includes at least one of the following sensors:

[0094] The spindle torque sensor 207 is used to collect the real-time torque received by the spindle 103;

[0095] The spindle motor speed sensor is used to collect the real-time speed of the spindle 103 driven by the spindle driver 203.

[0096] The spindle motor status monitor is used to collect the real-time temperature and operating current of the spindle driver 203;

[0097] The cabin acceleration sensor 208 is used to monitor and output the acceleration data of cabin 2 in real time;

[0098] The six-component force sensor 209 in the cabin is used to monitor and output the three-directional force and torque data at the bottom of the cabin 2 in real time;

[0099] The servo motor angle sensor is used to collect the real-time angle position of the angle adjustment module 1005.

[0100] Preferably, the cabin 2 includes a cabin shell 201 and a cabin cover 202 arranged above the cabin shell 201. The cabin shell 201 and the cabin cover 202 together form an accommodating space. The spindle drive 203 and the spindle torque sensor 207 are both arranged in the accommodating space. The spindle drive 203 is connected to the spindle 103 through the spindle torque sensor 207.

[0101] The nacelle acceleration sensor 208 and the nacelle six-component force sensor 209 are both installed on the outside of the nacelle shell 201.

[0102] Specifically, the load generation module 1001 adopts a ducted fan, the spindle driver 203 adopts a brushless servo motor, and the orientation adjustment of the load generation module 1001 is achieved by driving the internal teeth of the circular hole to rotate through the external teeth of the cylinder.

[0103] This invention also provides a method for simulating the aerodynamic load of an array-type floating wind turbine, preferably implemented using an array-type floating wind turbine aerodynamic load simulation device. This method can simulate the aerodynamic load of a floating wind turbine model under different operating conditions. The simulation system can be implemented via computer. The specific operation steps for simulating the aerodynamic load of a floating wind turbine model under different operating conditions are as follows:

[0104] Normal operating condition simulation:

[0105] Step 101: Before starting the normal operating condition simulation test, the rotational inertia of the rotor 1 is pre-adjusted to the target value by the extension and retraction action of the functional body 1003 in the load generation module 1001 in conjunction with the connecting piece 1002, thereby ensuring that the rotational inertia is similar.

[0106] Step 102: Under the drive of the main shaft driver 203, the rotor 1 actively rotates according to the corresponding rotational speed obtained by the similarity scaling of the Froude number, thereby simulating the gyro effect.

[0107] Step 103: The computer begins to perform numerical simulation of the corresponding working conditions, calculates the aerodynamic load on the actual wind turbine unit at each moment, solves the load into force and torque, and obtains the stress and torque of the model scale after using the Froude number similarity scaling. The computer sends instructions to rotor 1 at fixed time intervals.

[0108] Step 104: At any given time interval, after receiving the command, the rotor 1 load generation module 1001 adjusts the force magnitude in real time according to the computer command, preferably by adjusting the ducted fan speed. The angle adjustment module 1005 adjusts the force generation angle of the load generation module 1001 in real time according to the computer command. By adjusting the force magnitude and force direction angle of the load generation module 1001 in real time, the generated aerodynamic thrust and torque are ensured to reach the target values.

[0109] Step 105: The simulation ends, and the computer simultaneously sends a termination command to rotor 1 and nacelle 2. Upon receiving the termination command, rotor 1 reduces the output force of load generation module 1001 to 0 and stops working; preferably, the ducted fan speed is reduced to 0, and angle adjustment module 1005 is reset, returning the angle to its initial position. Upon receiving the termination command, nacelle 2 reduces the speed of spindle drive 203 to 0 and stops working.

[0110] Extreme operating condition simulation:

[0111] Taking the case of wind turbine shutdown and yaw failure under extreme wind speed as an example, the actual wind turbine stops in feathering mode at this time, the blades no longer rotate and the pitch is changed to feathering angle, i.e., 90° pitch angle. However, due to the failure of the yaw system, the wind turbine is in a relatively dangerous side wind state, and the aerodynamic load on the wind turbine is mainly the lateral thrust relative to the unit.

[0112] Step 201: Before starting the simulation test of extreme wind speed shutdown and yaw failure conditions, rotor 1 rotates the main shaft 103 to a certain angle position under the drive of the main shaft driver 203, and then locks it to stop rotating. The preferred angle position is where a certain load generation module is located at the lowest point of the rotor 1 rotation plane, such as... Figure 7 As shown.

[0113] Step 202: The computer begins to perform numerical simulation of the corresponding working conditions, calculates the aerodynamic load on the actual wind turbine unit at each moment, solves the load into force and torque, and obtains the stress and torque of the model scale after using the Froude number similarity scaling. The computer sends instructions to rotor 1 at fixed time intervals.

[0114] Step 203: At any given time interval, after receiving the command, the rotor 1 load generation module 1001 adjusts the force magnitude in real time according to the computer command, preferably by adjusting the speed of the ducted fan. The angle adjustment module 1005 adjusts the force generation angle of the load generation module 1001 in real time according to the computer command. By adjusting the force magnitude and force direction angle of the load generation module 1001 in real time, the generated aerodynamic thrust and torque are ensured to reach the target values.

[0115] Taking three sets of thrusters as an example, if the aerodynamic load of the wind turbine obtained by computer simulation at a certain moment is only the lateral horizontal force F, then the alignment direction of all three load generation modules 1001 is adjusted to be within the rotor rotation plane, specifically as follows: Figure 7 As shown, a load generation module 1001 located at the bottom needs to generate... The force, which is generated by the two load generation modules 1001 located at the top, needs to be generated by each of them. The force is such that the overall resultant force is a horizontal force F, and no additional torque acts on the spindle 103, thus avoiding the risk of damage to the spindle drive 203. If, in addition to the lateral horizontal force, the computer also simulates aerodynamic torque, then according to step 203, the rotational speed of the load generation module 1001 is adjusted in real time by in-loop feedback control to achieve the target value.

[0116] Step 204: The simulation ends, and the computer simultaneously sends a termination command to rotor 1 and nacelle 2. Upon receiving the termination command, rotor 1 reduces the output force of load generation module 1001 to 0 and stops working; preferably, the ducted fan speed is reduced to 0. Angle adjustment module 1005 resets, and the angle returns to its initial position. Upon receiving the termination command, nacelle 2 unlocks spindle driver 203 and resumes free rotation.

[0117] In addition to the aforementioned operating conditions, all aerodynamic load simulations that can be achieved by the combination of the load generation unit and the angle adjustment module array of this invention can be simulated by analogy with the above-mentioned operating condition control methods, and will not be described exhaustively here.

[0118] Example 2:

[0119] This embodiment is a preferred example of Embodiment 1;

[0120] This embodiment provides an array-type floating wind turbine aerodynamic load simulation device, which has an execution system. The execution system includes a rotor 1 and a nacelle 2. The rotor 1 includes multiple load active generation units 100, a multi-shaft sleeve 101, a flow guide 102, a main shaft 103, a slip ring 104, and a main shaft connecting key 105. Figure 1 , Figure 2 , Figure 3 , Figure 4 As shown, the load active generation unit 100 includes a load generation module 1001, a connector 1002, a functional body 1003, an angle adjustment output end 1004, an angle adjustment module 1005, and an angle adjustment support end 1006.

[0121] The number of load active generation units 100 is consistent with the number of extended channels of the multi-pass shaft sleeve 101, and the number of extended channels of the multi-pass shaft sleeve 101 is preferably 3 or more. Several load generation modules 1001 are evenly arranged circumferentially about the main shaft 103. The outermost end of the rotor 1 part is the load generation module 1001, which can generate axial force in a single direction, and is the main force simulation source of the aerodynamic load of the present invention. The load generation module 1001 is preferably a ducted fan.

[0122] Inside the load generation module 1001 is a connector 1002. One end of the connector 1002 is fastened to the load generation module 1001. The outer end of the functional body 1003 extends into the interior of the other end of the connector 1002 and can slide relative to the connector 1002 to achieve a sliding engagement. The sliding engagement between the functional body 1003 and the connector 1002 allows the load generation module 1001 to move closer to or further away from the center of the rotor 1, thereby adjusting the distance between the load generation module 1001 and the axis of the rotor 1. Figure 5 The diagram shown is a schematic representation of the sliding fit between the functional body 1003 and the connecting member 1002 in this invention. Figure 5 The left and right diagrams show the load generation module 1001 being adjusted in a direction away from the rotor 1. By adjusting the distance between the load generation module 1001 and the axis of rotor 1, the moment of inertia of rotor 1 can be adjusted. The sliding mechanism can utilize the driving principle of an existing electro-hydraulic cylinder, or other existing technologies capable of sliding extension and retraction; these will not be elaborated upon here.

[0123] Furthermore, the inner end of the functional body 1003 is tightly connected to the outer end face of the angle adjustment output end 1004, preventing relative rotation. The angle adjustment output end 1004 has a circular opening at its center, and the inner cylindrical surface of the circular opening is a toothed surface that meshes with the cylindrical gear extending from the angle adjustment module 1005. This gear meshing method causes the angle adjustment module 1005 to drive the angle adjustment output end 1004, the functional body 1003, and the connecting piece 1002 to rotate synchronously around their axis, thus causing deflection. Figure 6 As shown, this ultimately adjusts the orientation of the load generation module 1001, thereby achieving force direction control of a single load generation module 1001.

[0124] like Figure 4 , Figure 7As shown, the inner end of the angle adjustment module 1005 is fastened to the angle adjustment support end 1006. The angle adjustment support end 1006 is fixedly connected to the outer channel of the multi-port sleeve 101. The angle adjustment support end 1006 is preferably a cylindrical shell with a protruding inner end for fastening to the outer channel of the multi-port sleeve 101. The multi-port sleeve 101 is a rotating body with a circular hole in its central axis and has multiple outer channels. The number of outer channels is the same as the number of load active generation units 100.

[0125] like Figure 3 , Figure 4 As shown, the central hole of the multi-port sleeve 101 is used to connect with the main shaft 103. The connection method between the two can preferably be an interference fit. A main shaft connecting key 105 is installed at the connection to transmit the torque of the main shaft 103 to the multi-port sleeve 101. The main shaft connecting key 105 is preferably a flat key.

[0126] like Figure 2 As shown, the fairing 102 is preferably a streamlined housing, installed on the front side of the multi-shaft sleeve 101. One end of the main shaft 103 is connected to the multi-shaft sleeve 101, and the other end of the main shaft 103 passes through the slip ring 104 and is connected to the nacelle 2. The slip ring 104 is installed on the front exterior of the nacelle housing 201. The slip ring 104 can provide power and signal transmission to the load generation module 1001 and the angle adjustment module 1005 on the rotor 1, without interfering with the continuous rotation of the rotor 1.

[0127] like Figure 1 , Figure 2 , Figure 3 , Figure 4 As shown, the cabin 2 includes a cabin shell 201, a cabin cover 202, a spindle drive 203, a first coupling 204, a second coupling 205, a bearing 206, and an acceleration sensor 208. The cabin shell 201 is a hollow, irregularly shaped cuboid metal part, preferably CNC machined from aluminum alloy to ensure accuracy and weight control.

[0128] In one application scenario, such as Figure 1 As shown, the bottom of the cabin 2 can be mounted on the float 4 via the tower 3.

[0129] This invention also includes a data acquisition system and a simulation system, such as... Figure 9As shown, the data acquisition system mainly consists of various sensors arranged on the device, including a spindle torque sensor 207, a spindle motor speed sensor, a spindle motor status monitor, a nacelle acceleration sensor, a nacelle six-component force sensor 209, and a servo motor angle sensor. Its main function is to monitor and collect real-time operating status data of the device, provide it to the simulation system for data processing, simulation, and generation of decision instructions. Specifically, the spindle torque sensor 207 is used to collect the real-time torque received by the spindle 103; the spindle motor speed sensor is used to collect the real-time speed of the spindle driven by the spindle driver 203; the spindle motor status monitor is used to collect parameters such as the real-time temperature and operating current of the spindle driver 203 to monitor and ensure that the spindle driver 203 is operating normally; the nacelle acceleration sensor 208 is arranged below the nacelle 2 to monitor and output the acceleration data of the nacelle 2 in real time; the nacelle six-component force sensor 209 is arranged below the nacelle 2 and connected to the floating wind turbine model tower 3 to monitor and output the three-directional force and torque data at the bottom of the nacelle 2 in real time. The servo motor angle sensor is used to collect the real-time angle position of the angle adjustment module 1005.

[0130] like Figure 4 As shown, the nacelle cover 202 is installed on the nacelle housing 201, forming an internal receiving space. The receiving space is used to accommodate the spindle drive 203, the first coupling 204, the second coupling 205, the bearing 206, and the torque sensor 207. The acceleration sensor 208 and the six-component force sensor 209 are installed on the outside of the nacelle housing 201. The nacelle cover 202 is a housing installed on top of the nacelle housing 201, with a hole in the middle for cables to pass through.

[0131] Furthermore, the spindle driver 203 is preferably a brushless servo motor, installed at the rear of the housing 201. It is connected to one end of the torque sensor 207 via a first coupling 204, and the other end of the torque sensor 207 is connected to one end of the spindle 103 via a second coupling 205. When the spindle driver 203 rotates, it can drive the spindle 103 to rotate sequentially through the first coupling 204, the torque sensor 207, and the second coupling 205, realizing the active and controllable rotation of the rotor 1. The torque sensor 207 can monitor and output the torque data on the spindle 103 in real time. The bearing 206 is installed inside the front side of the housing 201, preferably a thrust bearing. The end of the spindle 103 facing the spindle driver 203 passes through the slip ring 104, the bearing 206, and then connects to the second coupling 205. The acceleration sensor 208 is installed at the bottom of the housing 201 and can monitor and output the acceleration data of the housing 2 in real time. The six-component force sensor 209 is installed at the bottom front side of the cabin shell 201 and can monitor and output the three-directional force and torque data at the bottom of the cabin 2 in real time.

[0132] This invention provides an aerodynamic load simulation device consisting of multiple arrayed active load generation units and independent adjustment mechanisms. Based on this device, an aerodynamic load simulation method is proposed, enabling accurate simulation of the aerodynamic loads of floating wind turbines under various operating conditions without relying on complex and expensive physical wind fields. This eliminates the dependence of existing technologies on physical wind fields and model blades, and solves the problem of inaccurate simulation of complex loads under extreme and fault conditions. Based on the arrayed layout of the active load generation units, this invention adopts an active rotational design. Combined with the telescopic structure of the load generation module, this allows the device to adjust the rotor's moment of inertia to adapt to different wind turbine designs and simulate gyroscopic effects during operation. By connecting the continuously rotating rotor to the stationary nacelle via a slip ring, this invention enables cable power supply and data transmission to the rotor's load generation and angle adjustment modules without interfering with the rotor's continuous rotation. This solves the problems of low precision and poor controllability associated with manual adjustment of the rotor's internal components using mechanical structures in existing technologies. This invention enables independent control of the array-type load active generation unit and each independent adjustment mechanism, which can realize real-time and accurate simulation of the aerodynamic load of the fan under different operating conditions. It solves the problem that the existing technology can only simulate steady loads under some operating conditions and lacks an effective means of simulating time-varying loads under all operating conditions.

[0133] In the description of this application, it should be understood that the terms "upper", "lower", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this application.

[0134] Specific embodiments of the present invention have been described above. It should be understood that the present invention is not limited to the specific embodiments described above, and those skilled in the art can make various changes or modifications within the scope of the claims, which do not affect the essence of the present invention. Unless otherwise specified, the embodiments and features described in this application can be arbitrarily combined with each other.

Claims

1. An array-type floating wind turbine aerodynamic load simulation device, characterized in that, An execution system is configured, the execution system comprising: The rotor (1) is equipped with a multi-pass shaft sleeve (101) and a plurality of load active generation units (100) arranged circumferentially along the multi-pass shaft sleeve (101). The load active generation unit (100) has a load generation module (1001) and is able to adjust the orientation, rotational speed and distance from the center of the multi-pass shaft sleeve (101) of the load generation module (1001). The cabin (2) has a spindle drive (203) that can drive the multi-port sleeve (101) to rotate around the axis, thereby driving multiple load active generation units (100) to rotate simultaneously. The load active generation unit (100) further includes an angle adjustment support end (1006), an angle adjustment module (1005), an angle adjustment output end (1004), a functional body (1003), and a connector (1002) arranged sequentially along the radial outward direction of the multi-port sleeve (101), wherein: The outer end of the connector (1002) is fastened to the load generation module (1001), and the inner end of the connector (1002) is slidably engaged with the outer end of the functional body (1003) so as to adjust the center distance between the load generation module (1001) and the multi-port sleeve (101). The inner end of the functional body (1003) is connected to the outer end of the angle adjustment output end (1004), and the angle adjustment module (1005) is connected to the inner end of the angle adjustment output end (1004) and can drive the angle adjustment output end (1004) to rotate so as to adjust the orientation of the load generation module (1001).

2. The array-type floating wind turbine aerodynamic load simulation device according to claim 1, characterized in that, The rotor (1) is equipped with a main shaft (103) and a slip ring (104) fitted on the main shaft (103). The main shaft driver (203) can drive the multi-port sleeve (101) to rotate through the main shaft (103). The slip ring (104) is used to supply power for adjusting the orientation, rotation speed, and distance from the center of the multi-port sleeve (101) of the load generation module (1001).

3. The array-type floating wind turbine aerodynamic load simulation device according to claim 2, characterized in that, Also includes: The data acquisition system monitors and acquires real-time operational status data of the simulation device. The simulation system receives the real-time operating status data, processes the data, performs simulation, and generates decision instructions to guide the execution system.

4. The array-type floating wind turbine aerodynamic load simulation device according to claim 3, characterized in that, The data acquisition system includes at least one of the following sensors: A spindle torque sensor (207) is used to collect the torque received by the spindle (103) in real time; The spindle motor speed sensor is used to collect the real-time speed of the spindle (103) driven by the spindle driver (203); A spindle motor status monitor is used to collect the real-time temperature and operating current of the spindle driver (203); A cabin acceleration sensor (208) is used to monitor and output the acceleration data of the cabin (2) in real time; A six-component force sensor (209) for the cabin is used to monitor and output three-directional force and torque data at the bottom of the cabin (2) in real time; A servo motor angle sensor is used to acquire the real-time angle position of the angle adjustment module (1005).

5. The array-type floating wind turbine aerodynamic load simulation device according to claim 4, characterized in that, The cabin (2) includes a cabin shell (201) and a cabin cover (202) arranged above the cabin shell (201). The cabin shell (201) and the cabin cover (202) together form an accommodating space. The spindle drive (203) and the spindle torque sensor (207) are both arranged in the accommodating space. The spindle drive (203) is connected to the spindle (103) through the spindle torque sensor (207). The cabin acceleration sensor (208) and the cabin six-component force sensor (209) are both installed on the outside of the cabin shell (201).

6. The array-type floating wind turbine aerodynamic load simulation device according to claim 1, characterized in that, The load generation module (1001) adopts a ducted fan, and the spindle driver (203) adopts a brushless servo motor; The orientation adjustment of the load generation module (1001) is achieved by rotating the internal teeth of the circular hole by the external teeth of the cylinder.

7. A method for simulating the aerodynamic load of an array-type floating wind turbine, characterized in that, The array-type floating wind turbine aerodynamic load simulation device according to any one of claims 1 to 6 is used to simulate under normal operating conditions or under extreme operating conditions, wherein: The method for simulating normal operating conditions is as follows: Step 101: Before starting the normal operating condition simulation test, adjust the moment of inertia of the rotor (1) to the target value. Step 102, the rotor (1) is driven by the main shaft driver (203) to actively rotate according to the blade rotation speed of the load generation module (1001) and the corresponding rotation speed obtained by the similar scaling of the Froude number, thereby simulating the gyro effect; Step 103, the simulation system begins to perform numerical simulation of the corresponding working conditions, calculates the aerodynamic load on the actual wind turbine unit at each moment, solves the load into force and torque, obtains the model scale relative to stress and torque after using the Froude number similarity scaling, and sends instructions to the rotor (1) of the execution system at fixed time intervals. Step 104: During any time interval, after the rotor (1) receives the instruction, the load generation module (1001) adjusts the magnitude and direction of the force in real time according to the instructions of the simulation system to ensure that the generated aerodynamic thrust and torque reach the target value. Step 105, the simulation ends. The simulation system sends an end command to the rotor (1) and the nacelle (2) at the same time. After receiving the end command, the load generation module (1001) outputs a force of 0 and stops working. The angle adjustment module (1005) is reset and the angle returns to the initial position. After receiving the end command, the spindle drive (203) speed of the nacelle (2) is reduced to 0 and stops working. The method for simulating extreme operating conditions is as follows: Step 201: Before starting the simulation test of extreme wind speed shutdown and yaw failure, the rotor (1) rotates the main shaft (103) to a certain angle position under the drive of the main shaft driver (203) and then locks it and stops rotating. Step 202, the simulation system starts to perform numerical simulation of the corresponding working conditions, calculates the aerodynamic load on the actual wind turbine unit at each moment, solves the load into force and torque, and obtains the model scale relative to stress and torque after using the Froude number similarity scaling. The simulation system sends instructions to the rotor (1) at fixed time intervals. Step 203: At any time interval, after the rotor (1) receives the instruction, the load generation module (1001) adjusts the force magnitude in real time according to the simulation system instruction, and the angle adjustment module (1005) adjusts the force generation angle of the load generation module (1001) in real time according to the simulation system instruction. By adjusting the force magnitude and force direction angle of the load generation module (1001) in real time, the generated aerodynamic thrust and torque are ensured to reach the target value. Step 204: The simulation ends. The simulation system sends an end command to the rotor (1) and the nacelle (2) at the same time. After receiving the end command, the load generation module (1001) outputs a force of 0 and stops working. The angle adjustment module (1005) is reset and the angle returns to the initial position. After receiving the end command, the spindle driver (203) is unlocked and resumes free rotation.

8. The aerodynamic load simulation method for array-type floating wind turbines according to claim 7, characterized in that, In step 101, the rotational inertia of the rotor (1) is adjusted by controlling the functional body (1003) and the connecting piece (1002).

9. The aerodynamic load simulation method for array-type floating wind turbines according to claim 7, characterized in that, In step 104, the rotation speed of the load generation module (1001) is adjusted, and the force generation angle of the load generation module (1001) is adjusted in real time by the angle adjustment module (1005) to ensure that the generated aerodynamic thrust and torque reach the target value.

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