A floating wind turbine aerodynamic simulation real-time hybrid test method and system

Abstract

The application discloses a kind of floating wind turbine aerodynamic simulation real-time hybrid experiment method and system, method includes: S1, constructs floating platform physical scale model and high-frequency load analysis model;S2, simulation analysis is carried out to high-frequency load analysis model, and load F simu Is obtained;S3, scaling is carried out to F simu , and the load F scall of scale model is obtained;S4, F scall It is sent to scale model to produce wind wheel synthetic thrust and coupling pitch moment, and excitation scale model motion;S5, the physical six-degree-of-freedom motion value L scall Of scale model is measured, and scaling is carried out to full-size six-degree-of-freedom motion value L full ;S6, when L full / L simu It is less than set value, real-time hybrid test under turbulent flow wind and wave condition is carried out.The application can simultaneously satisfy reynolds scale law and Froude scale law to characterize the motion response of floating unit system.

Description

Technical Field

[0001] This invention mainly relates to the field of floating wind turbine technology, specifically to a real-time hybrid experimental method and system for aerodynamic simulation of floating wind turbines. Background Technology

[0002] Offshore wind power is an important renewable energy source. However, the use of stationary wind turbines in deep-sea areas presents significant challenges in terms of safety and economics. Floating wind turbines (FOWTs) have emerged to address this challenge, offering better economic benefits and a broader market prospect for deep-water wind energy resource development. A FOWT consists of a rotor, nacelle, tower, floating platform, and mooring system. The floating platform is connected to the seabed via the mooring system, ensuring the wind turbine can operate normally within a certain range under varying water depths and seabed soil conditions. Due to time and cost constraints, FOWTs require reliable numerical methods to characterize their system's motion response during the design phase. Compared to full-scale offshore model testing, scaled-down model testing requires less time and resources, carries less risk, and offers greater flexibility.

[0003] Currently, the most widely used method for obtaining the motion response of floating wind turbines (FOWTs) is to establish motion control equations based on potential flow theory, blade element momentum theory, and multibody dynamics theory, and combine them with automatic control algorithms to conduct aerodynamic-hydraulic-servo-elastic coupling numerical simulations. Due to the use of approximate theories and empirical models, numerical simulations exhibit significant uncertainties for some highly nonlinear operating conditions, necessitating scaled-down model experiments to correct and verify simulation results, and to take any necessary corrective measures before establishing actual FOWTs in production. Model experiments studying floating wind turbines must consider the aerodynamic loads of the wind turbine, the hydrodynamic loads on the floating platform, and the coupling effects between them. Specifically, aerodynamic loads must satisfy Reynolds scaling law (inertial force / viscous force), while hydrodynamic loads must satisfy Froude scaling law (inertial force / gravity). However, for model experiments, these two scaling laws are incompatible.

[0004] Currently, the main challenge in model experiments is to accurately simulate aerodynamic loads under Froude's proportionality law, that is, to simultaneously satisfy both Froude's proportionality law and Reynolds' scaling law. This challenge can be addressed through physical model experiments, which can be done in three ways:

[0005] (1) Thrust disk aerodynamic equivalent, that is, to simulate the main components of aerodynamic loads, using the thrust disk to replace the blades of the model size to simulate aerodynamic thrust, but due to the lack of blades, it is impossible to simulate other aerodynamic loads, such as aerodynamic torque and frequency doubling force.

[0006] (2) Geometric matching blade aerodynamic equivalence, that is, the model blade geometry is matched with the full-size blade, and a higher wind speed is used to obtain the aerodynamic thrust required for the operation of the wind turbine. However, the Reynolds number is significantly reduced, which will lead to a reduction in the aerodynamic performance of the model-scale wind turbine.

[0007] (3) Performance matching blade aerodynamic equivalence, that is, redesigning the blade model geometry using a low Reynolds number airfoil to obtain the required aerodynamic performance, but the mass distribution and torque characteristics of the model blade do not match those of the full-size blade, which will affect the rotation effect. Summary of the Invention

[0008] The technical problem to be solved by this invention is: in view of the technical problems existing in the prior art, this invention provides a real-time hybrid experimental method and system for aerodynamic simulation of floating wind turbine units that simultaneously satisfies Reynolds scaling law and Froude scaling law to characterize the motion response of floating wind turbine units.

[0009] To solve the above-mentioned technical problems, the technical solution proposed by this invention is as follows:

[0010] A real-time hybrid experimental method for aerodynamic simulation of floating wind turbine units includes the following steps:

[0011] S1. Construct a scaled-down physical model of the floating platform and a high-frequency load analysis model for the wind turbine; the high-frequency load analysis model for the wind turbine includes six-degree-of-freedom initial motion values ​​L. simu ;

[0012] S2. Under steady-state wind and wave-free conditions, a high-frequency load analysis model of the wind turbine is simulated and the simulation results are obtained. The simulation results include the initial motion values ​​L of the six degrees of freedom. simu Corresponding load F simu ;

[0013] S3. Load F of the high-frequency load analysis model of the wind turbine based on Froude's proportionality law. simu Scale the model to obtain the load F of the physical scale model of the floating platform. scall ;

[0014] S4. Load F of the physical scale model of the floating platform scall The drive sent to the physical scale model of the floating platform generates a load F. scall The corresponding wind turbine combined thrust T sum The coupled pitching moment M excites the motion of the physical scale model of the floating platform.

[0015] S5. Measure the physical six-degree-of-freedom motion value L of the floating platform's physical scale-down model during its motion. scall And the physical six-degree-of-freedom motion value L of the floating platform scallScale to full size six-DOF motion value L full ;

[0016] S6. Calculate the six-DOF motion values ​​L of the scaled full-size floating platform from S5. full The initial motion values ​​L of the six degrees of freedom of the high-frequency load analysis model in S2 simu Compare; when L full / L simu If the value is less than the set value, a real-time mixed test is conducted under turbulent wind and wave conditions;

[0017] When L full / L simu If the value is greater than the set value, then the full-size six-DOF motion value L will be... full Real-time replacement of the six-degree-of-freedom initial motion values ​​L in the high-frequency load analysis model simu Repeat steps S2-S5 until L full / L simu If the value is less than the set value, a real-time mixed test under turbulent wind and wave conditions will be conducted.

[0018] Preferably, in step S1, when constructing the physical scale model of the floating platform, the Froude scaling law is used for scaling; the Froude number F r The ratio between the magnitude of the inertial force of the flow and the magnitude of gravity is expressed as follows:

[0019]

[0020] Where ρ is the fluid density, v is the fluid velocity, L is the characteristic length of the object in the flow field, μ is the dynamic coefficient of viscosity, and g is the gravitational acceleration.

[0021] Preferably, in step S5, the physical six degrees of freedom motion values ​​of the floating platform are scaled according to Froude's proportionality law.

[0022] Preferably, in step S4, the driver consists of a multi-fan structure composed of several single fans, and the speed and direction of each fan are adjusted by a controller and a motor to provide the load F. scall The corresponding wind turbine combined thrust T sum And coupled pitching moment M; at the same time, cable-driven machines are used to apply complex aerodynamic and inertial loads to the top of the wind turbine tower.

[0023] Preferably, in step S4, the process of generating the combined thrust and coupled pitching moment of the wind turbine is as follows:

[0024] The swaying and rolling motions of a floating platform under wave loads will have an additional coupling effect with the rotational motion of a wind turbine under wind loads. The influence of this coupling effect on the wind turbine thrust is as follows:

[0025] T sum =T S +C T ΔV

[0026] T sum The combined thrust on the wind turbine; T S The wind turbine thrust generated by steady-state wind load under six-degree-of-freedom motion disturbance without a platform; ΔV is the rate of change of thrust with velocity; ΔV is the velocity at the wind turbine hub caused by the platform's swaying and rolling motions.

[0027] When the average incoming airflow is in the positive x direction, then ΔV is as shown in the following formula:

[0028] ΔV=-x′-θ′H

[0029] x′ - the velocity of the platform's swaying motion, in m / s; θ′ - the angular velocity of the platform's pitching motion, in rad / s; H - the distance from the platform's pitching rotation center to the wind turbine hub;

[0030] At this time, the combined thrust T of the wind turbine sum for:

[0031] T sum =T S -C T x′-C T θ′H

[0032] The coupled pitching moment M experienced by the floating platform is:

[0033] M = T sum H=T S HC T x′HC T θ′H 2 .

[0034] Preferably, errors in the kinematics of the tower base or tower top are inserted into the calculation of the aeroelastic response of the wind turbine in the high-frequency load analysis model to correct the model.

[0035] Preferably, by inserting the additional force occurring at the coupling point into the high-frequency load analysis model simulation, the error of the force applied by the actuator to the floating platform or tower top is modeled, correcting the difference between the actual driving force generated by the actuator and the driving force required by the simulation.

[0036] Preferably, the delay in the overall coupled system response is modeled by adding a discrete number of time step delays to the kinematics of the base or top of the aircraft rotor section provided to the high-frequency load analysis model.

[0037] The present invention also discloses a computer-readable storage medium having a computer program stored thereon, the computer program performing the steps of the method described above when run by a processor.

[0038] The present invention further discloses a real-time hybrid experimental system for aerodynamic simulation of a floating wind turbine, including a memory and a processor connected to each other. The memory stores a computer program, which executes the steps of the method described above when run by the processor.

[0039] Compared with the prior art, the advantages of the present invention are as follows:

[0040] The real-time hybrid aerodynamic simulation experiment for floating wind turbines of this invention divides the model experiment into two sub-models: a physical sub-structure and a numerical sub-structure. It employs a method combining physical experiments and real-time numerical simulation. The floating platform is scaled according to Froude's scaling law, while the wind turbine uses numerical simulation to replace the physical model for aerodynamic evaluation, resolving the conflict between the two scaling laws and effectively avoiding the problem of the two scaling laws not being satisfied simultaneously. The real-time hybrid aerodynamic simulation experiment method and system for floating wind turbines of this invention simultaneously satisfies Reynolds' scaling law and Froude's scaling law to characterize the motion response of the floating turbine system, and the response speed of the actuators meets the requirements, enabling the correction and verification of simulation results. Attached Figure Description

[0041] Figure 1 The flowchart is shown in an embodiment of the real-time hybrid experimental method of the present invention.

[0042] Figure 2 This is a structural diagram of the real-time hybrid experimental system of the present invention in an embodiment. Detailed Implementation

[0043] The present invention will be further described below with reference to the accompanying drawings and specific embodiments.

[0044] like Figure 1-2 As shown, the real-time hybrid experimental method for aerodynamic simulation of a floating wind turbine generator according to an embodiment of the present invention includes the following steps:

[0045] S1. Construct a physical scaled-down model of the floating platform and a high-frequency load analysis model for the wind turbine; the high-frequency load analysis model for the wind turbine includes a preset six-degree-of-freedom initial motion value L. simu ;

[0046] S2. Under steady-state wind and wave-free conditions, a high-frequency load analysis model of the wind turbine is simulated and the simulation results are obtained. The simulation results include the initial motion values ​​L of the six degrees of freedom. simu Corresponding load F simu ;

[0047] S3. Load F of the high-frequency load analysis model of the wind turbine based on Froude's proportionality law. simuScale the model to obtain the load F of the physical scale model of the floating platform. scall ;

[0048] S4. Load F of the physical scale model of the floating platform scall The drive sent to the physical scale model of the floating platform generates a load F. scall The corresponding wind turbine combined thrust T sum The coupled pitching moment M excites the motion of the physical scale model of the floating platform.

[0049] S5. Measure the physical six-degree-of-freedom motion value L of the floating platform's physical scale-down model during its motion. scall And the physical six-degree-of-freedom motion value L of the floating platform scall Scale to full size six-DOF motion value L full ;

[0050] S6. Calculate the six-DOF motion values ​​L of the scaled full-size floating platform from S5. full The initial motion values ​​L of the six degrees of freedom of the high-frequency load analysis model in S2 simu Compare; when L full / L simu If the value is less than the set value, a real-time mixed test is conducted under turbulent wind and wave conditions;

[0051] When L full / L simu If the value is greater than the set value, then the full-size six-DOF motion value L will be... full Real-time replacement of the six-degree-of-freedom initial motion values ​​L of the high-frequency load analysis model simu Repeat steps S1-S5, that is, by using L full Replace L simu Then, in the simulation analysis of step S2, the new load F is obtained. simu Then execute steps S3-S5 sequentially until L full / L simu If the value is less than the set value, a real-time mixed test under turbulent wind and wave conditions will be conducted.

[0052] In the above experimental methods, on the one hand, it is necessary to select a suitable actuator, and on the other hand, it is necessary to determine the main aerodynamic load components, remove load components that cause insignificant responses, and reduce the complexity of the hybrid model experimental system.

[0053] The real-time hybrid aerodynamic simulation experiment of the floating wind turbine of this invention divides the model experiment into two sub-models: a physical sub-model and a numerical sub-model. It employs a method combining physical experiments and real-time numerical simulation. The floating platform is scaled according to the Froude scaling law, while the wind turbine uses numerical simulation to replace the physical model for aerodynamic evaluation, resolving the conflict between the two scaling laws and effectively avoiding the problem of the two scaling laws not being satisfied simultaneously. Specifically, the experiment includes two sub-models: a physical sub-model and a numerical sub-model. The physical sub-model refers to the experimentally verified model, which involves water tank testing on a scaled-down physical model of the floating platform. The numerical sub-model is a computer-based numerical simulation, which involves simulation analysis of a high-frequency load analysis model.

[0054] The specific process for constructing the physical scale model of the floating platform is as follows:

[0055] Because the actual size of floating wind turbines is too large to conduct full-scale testing, a scaled-down design of the actual turbine was implemented, taking into account the wave pool test site, including the following:

[0056] (1) Froude number F r Setup: Wave loads are critical for floating wind turbines because inertia and gravity are the primary drivers of surface waves. Therefore, Froude's scaling law is used for scaling to simulate hydrodynamic loads relatively completely and accurately. Froude number F r The ratio between the magnitude of the inertial force of the flow and the magnitude of gravity is expressed as follows:

[0057]

[0058] ρ is the density of the fluid, v is the velocity of the fluid, L is the characteristic length of the object in the flow field, μ is the dynamic coefficient of viscosity, and g is the acceleration due to gravity.

[0059] (2) Geometric scale factor: Based on the size of the test site, determine an appropriate scaling factor to ensure that the floating platform model is geometrically similar to a full-scale structure. The geometric scale factor is defined as λ = L s / L m L S It is the full-scale length, L m It is the same distance in the model scale.

[0060] (3) Parameter scaling: The parameter scaling for data exchange between the physical substructure and the numerical substructure in the real-time hybrid experimental method of aerodynamic simulation of floating wind turbine is calculated using the formula in Table 1.

[0061] Table 1

[0062]

[0063]

[0064] Specifically, the design and calibration of the wind turbine equivalent drive system includes:

[0065] (1) High-frequency load analysis model: Based on the FAST open-source aeroelastic code, a high-frequency load analysis model integrating the wind turbine rotor, nacelle, transmission system, and other systems is constructed, and the unit load F is calculated accordingly. full The evaluation yielded the aerodynamic load F. simu Numerical simulations essentially capture aerodynamic damping and then apply its loads to the physical models of the floating platform and mooring system.

[0066] (2) Scaling of aerodynamic load: The aerodynamic load F is scaled using Froude's proportionality law in Table 1. simu Scale the model to obtain the aerodynamic load F of the scaled-down model. scall .

[0067] (3) Wind turbine drive design: Aerodynamic load F of scaled-down model scall The loads are applied to the top of the wind turbine tower using different types of actuators. The actuators can be multi-fan structures consisting of several single fans (similar to the structure of a multi-rotor aircraft), whose speed and direction are regulated by controllers and motors to provide thrust and torque (aerodynamics and gyroscopes); simultaneously, cable-driven machines apply complex aerodynamic and inertial loads to the top of the wind turbine tower, a method that allows multiple loads to be applied by connecting the top of the wind turbine tower to several winches.

[0068] (4) Calibration of the drive system of the real-time hybrid coupling system: The drive installed on the top of the scaled-down model tower can be calibrated in principle to eliminate the influence of aerodynamic loads other than thrust, specifically:

[0069] Under steady-state wind load, when the wind turbine rotor speed and blade pitch angle remain constant, the local angle of attack of the wind turbine blades and the relative inflow velocity U... r The relationship is almost linear, but for floating wind turbines, the six-degree-of-freedom motion of the platform affects the inflow velocity on the rotor blades, and the local angle of attack at the corresponding position will also change. Among these, sway and pitch motions dominate the platform's motion. Therefore, the sway and pitch motions generated by the floating platform under wave loads will have an additional coupling effect with the rotational motion of the wind turbine under wind loads. The effect of this coupling effect on the wind turbine thrust is as follows:

[0070] T sum =T S +C T ΔV

[0071] T sumThe combined thrust on the wind turbine; T S The wind turbine thrust generated by steady-state wind load under six-degree-of-freedom motion disturbance without a platform; ΔV is the rate of change of thrust with velocity; ΔV is the velocity at the wind turbine hub caused by the platform's swaying and rolling motions.

[0072] When the average incoming airflow is in the positive x direction, then ΔV is as shown in the following formula:

[0073] ΔV=-x′-θ′H

[0074] x′ - velocity of platform oscillation (m / s); θ′ - angular velocity of platform pitching motion (rad / s); H - distance from the platform pitching rotation center to the wind turbine hub.

[0075] At this time, the combined thrust T of the wind turbine sum for:

[0076] T sum =T S -C T x′-C T θ′H

[0077] The coupled pitching moment M experienced by the floating platform is:

[0078] M = T sum H=T S HC T x′HC T θ′H 2

[0079] Based on the calculated combined thrust T of the wind turbine sum A coupled pitching moment M is used to excite the motion of a scaled-down physical model of the floating platform; while the scaled-down physical model of the floating platform is moving, the physical six degrees of freedom motion values ​​L of the scaled-down physical model of the floating platform are measured. scall And the physical six-degree-of-freedom motion value L of the floating platform scall Scale to full size six-DOF motion value L full ;

[0080] The scaled full-size floating platform's six-DOF motion values ​​L full Motion value L of the high-frequency load analysis model simu Compare; when L full / L simu If the value is less than the set value, a real-time mixed test is conducted under turbulent wind and wave conditions;

[0081] When L full / L simu If the value is greater than the set value, then the full-size six-DOF motion value L will be... full The six-degree-of-freedom initial motion value L calculated in real time to replace the high-frequency load analysis modelsimu Repeat the above process until L full / L simu If the value is less than the set value, a real-time mixed test under turbulent wind and wave conditions will be conducted.

[0082] The floating platform underwent physical testing at a scaled-down model in a water tank laboratory, while the aeroelastic model of the wind turbine was simulated at full scale on a computer to obtain the load F. full Then, the load F is scaled using a scaling factor. scall It is applied to the scaled-down model; the real-time interaction between the two substructures is achieved by a network of sensors, controllers and actuators.

[0083] Furthermore, by analyzing and quantifying the errors of hybrid coupled systems, the tolerances for motion tracking errors, force-driven errors, bandwidth limitations, and delays in the hybrid coupled system are determined. This guides the design of the hybrid coupled system to achieve the required accuracy level, enabling the design of a coupled system that meets the requirements. Specifically, the process of real-time hybrid coupled system error analysis and quantification is as follows:

[0084] Errors in a real-time hybrid model experimental system for aerodynamic simulation of floating wind turbines were simulated to quantify the sensitivity of the floating wind turbine response to coupled motion. The sensitivity results can be used to determine the tolerances for motion tracking errors, load-driven errors, bandwidth limitations, and delays in the hybrid coupled system. These tolerances can guide the design of a real-time hybrid model experimental system for aerodynamic simulation of floating wind turbines to achieve the required level of accuracy.

[0085] (1) Measurement correction on the pool side to correct inaccuracies in motion tracking of the physical platform or tower top. Errors in the kinematics of the tower base or tower top are inserted into the FAST calculation of the aeroelastic response of the wind turbine to correct the model. Errors occurring during motion tracking of the physical model (floating platform) tested by sensors in the pool are corrected.

[0086] (2) Numerical correction on the simulation side corrects the difference between the actual driving force generated by the actuator and the driving force required by the simulation. The error of the force applied by the drive system to the floating platform or tower top is modeled by inserting the additional force occurring at the coupling point in the FAST simulation. represents the error of the force applied to the platform by the drive system (simulation system), which can reflect the capabilities of the drive mechanism, force sensors, and control algorithms.

[0087] (3) Finite coupling bandwidth correction, representing the finite frequency response of motion measurement and force drive. It may be caused by measurement filtering and controller stability limits, respectively, by adding a first-order low-pass filter to the kinematics (displacement, velocity, acceleration generated by the floating platform) of the calculated wind turbine aeroelastic response sent to FAST, or by the force returned from the aeroelastic part simulated by FAST (feedback instructions to the drive unit to generate the required force).

[0088] (4) Time delay correction: Additional time delays that may occur when measuring platform motion, simulating wind turbine dynamics, and applying the generated forces back to the platform. The delay in the overall coupled system response is modeled by adding a discrete number of time step delays to the kinematics of the tower base or top of the FAST aircraft rotor section. The effect is the same whether the delay is applied to the kinematics or the reaction force.

[0089] The real-time hybrid experimental method and system for aerodynamic simulation of floating wind turbines of the present invention simultaneously satisfies Reynolds scaling law and Froude scaling law to characterize the motion response of the floating turbine system, and the response speed of the actuator meets the requirements, thereby realizing the correction and verification of simulation results.

[0090] This invention also discloses a computer-readable storage medium storing a computer program thereon, which, when run by a processor, executes the steps of the method described above. This invention further discloses a real-time hybrid experimental system for aerodynamic simulation of a floating wind turbine, comprising an interconnected memory and a processor, wherein the memory stores a computer program, which, when run by a processor, executes the steps of the method described above. The medium and system of this invention, corresponding to the methods described above, also possess the advantages described above.

[0091] The present invention can implement all or part of the processes in the methods of the above embodiments, or it can be implemented by a computer program instructing related hardware. The computer program can be stored in a computer-readable storage medium. When the computer program is executed by a processor, it can implement the steps of the above method embodiments. The computer program includes computer program code, which can be in the form of source code, object code, executable file, or some intermediate form. Computer-readable media include: any entity or device capable of carrying computer program code, recording media, USB flash drives, portable hard drives, magnetic disks, optical disks, computer memory, read-only memory (ROM), random access memory (RAM), electrical carrier signals, telecommunication signals, and software distribution media, etc. The memory is used to store computer programs and / or modules. The processor implements various functions by running or executing the computer programs and / or modules stored in the memory, and by calling data stored in the memory. The memory may include high-speed random access memory, as well as non-volatile memory, such as hard disks, RAM, plug-in hard disks, smart media cards (SMC), secure digital (SD) cards, flash cards, at least one disk storage device, flash memory device, or other volatile solid-state storage devices.

[0092] The above are merely preferred embodiments of the present invention. The scope of protection of the present invention is not limited to the above embodiments. All technical solutions falling within the scope of the present invention's concept are within the scope of protection of the present invention. It should be noted that for those skilled in the art, any improvements and modifications made without departing from the principles of the present invention should be considered within the scope of protection of the present invention.

Claims

1. A real-time hybrid experimental method for aerodynamic simulation of a floating wind turbine, characterized in that, Including the following steps: S1. Construct a scaled-down physical model of the floating platform and a high-frequency load analysis model for the wind turbine; the high-frequency load analysis model for the wind turbine includes six-degree-of-freedom initial motion values ​​L. simu ; S2. Under steady-state wind and wave-free conditions, a high-frequency load analysis model of the wind turbine is simulated and the simulation results are obtained. The simulation results include the initial motion values ​​L of the six degrees of freedom. simu Corresponding load F simu ; S3. Load F of the high-frequency load analysis model of the wind turbine based on Froude's proportionality law. simu Scale the model to obtain the load F of the physical scale model of the floating platform. scall ; S4. Load F of the physical scale model of the floating platform scall The drive sent to the physical scale model of the floating platform generates a load F. scall The corresponding wind turbine combined thrust T sum The coupled pitching moment M excites the motion of the physical scale model of the floating platform. S5. Measure the physical six-degree-of-freedom motion value L of the floating platform's physical scale-down model during its motion. scall And the physical six-degree-of-freedom motion value L of the floating platform scall Scale to full-size six-DOF motion value L full ; S6. Calculate the six-DOF motion values ​​L of the scaled full-size floating platform from S5. full The initial motion values ​​L of the six degrees of freedom of the high-frequency load analysis model in S2 simu Compare; when L full / L simu If the value is less than the set value, a real-time mixed test under turbulent wind and wave conditions will be conducted; When L full / L simu If the value is greater than the set value, then the full-size six-DOF motion value L will be... full Real-time replacement of the six-degree-of-freedom initial motion values ​​L in the high-frequency load analysis model simu Repeat steps S2-S5 until L full / L simu If the value is less than the set value, a real-time mixed test under turbulent wind and wave conditions will be conducted.

2. The real-time hybrid experimental method for aerodynamic simulation of floating wind turbine units according to claim 1, characterized in that, In step S1, when constructing the physical scale model of the floating platform, Froude's scaling law is used for scaling; the Froude number F r The ratio between the magnitude of the inertial force of the flow and the magnitude of gravity is expressed as follows: Where ρ is the fluid density, v is the fluid velocity, L is the characteristic length of the object in the flow field, μ is the dynamic coefficient of viscosity, and g is the gravitational acceleration.

3. The real-time hybrid experimental method for aerodynamic simulation of floating wind turbine units according to claim 2, characterized in that, In step S5, the physical six-degree-of-freedom motion values ​​of the floating platform are scaled according to Froude's proportionality law.

4. The real-time hybrid experimental method for aerodynamic simulation of floating wind turbine units according to claim 1, 2, or 3, characterized in that, In step S4, the driver consists of a multi-fan structure composed of several single fans, the speed and direction of each fan being adjusted by a controller and a motor to provide power to the load F. scall The corresponding wind turbine combined thrust T sum And coupled pitching moment M; at the same time, cable-driven machines are used to apply complex aerodynamic and inertial loads to the top of the wind turbine tower.

5. The real-time hybrid experimental method for aerodynamic simulation of floating wind turbine units according to claim 4, characterized in that, In step S4, the process of generating the combined thrust and coupled pitching moment of the wind turbine is as follows: The swaying and rolling motions of a floating platform under wave loads will have an additional coupling effect with the rotational motion of a wind turbine under wind loads. The influence of this coupling effect on the wind turbine thrust is as follows: T sum =T S +C T ΔV T sum The combined thrust on the wind turbine; T S The wind turbine thrust generated by steady-state wind load under six-degree-of-freedom motion disturbance without a platform; ΔV is the rate of change of thrust with velocity; ΔV is the velocity at the wind turbine hub caused by the platform's swaying and rolling motions. When the average incoming airflow is in the positive x direction, then ΔV is as shown in the following formula: ΔV=-x′-θ′H x′ - the velocity of the platform's swaying motion, in m / s; θ′ - the angular velocity of the platform's pitching motion, in rad / s; H - the distance from the platform's pitching rotation center to the wind turbine hub; At this time, the combined thrust T of the wind turbine sum for: T sum =T S -C T x′-C T θ′H The coupled pitching moment M experienced by the floating platform is: M=T sum H=T S H-C T x′H-C T θ′H 2 。 6. The real-time hybrid experimental method for aerodynamic simulation of floating wind turbine units according to claim 1, 2, or 3, characterized in that, Errors in the kinematics of the tower base or tower top are inserted into the calculation of the aeroelastic response of the wind turbine in the high-frequency load analysis model to correct the model.

7. The real-time hybrid experimental method for aerodynamic simulation of floating wind turbine units according to claim 1, 2, or 3, characterized in that, By inserting the additional force occurring at the coupling point into the high-frequency load analysis model simulation, the error of the force applied by the actuator to the floating platform or tower top is modeled, correcting the difference between the actual driving force generated by the actuator and the driving force required by the simulation.

8. The real-time hybrid experimental method for aerodynamic simulation of floating wind turbine units according to claim 1, 2, or 3, characterized in that, The delay in the overall coupled system response is modeled by adding a discrete number of time step delays to the kinematics of the base or top of the aircraft rotor section provided to the high-frequency load analysis model.

9. A computer-readable storage medium having a computer program stored thereon, characterized in that, The computer program, when run by a processor, performs the steps of the method as described in any one of claims 1 to 8.

10. A real-time hybrid experimental system for aerodynamic simulation of a floating wind turbine, comprising an interconnected memory and a processor, wherein the memory stores a computer program, characterized in that, The computer program, when run by a processor, performs the steps of the method as described in any one of claims 1 to 8.

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