Simulation device and test method for model test of floating wind turbine

Abstract

The application provides a simulation device and a test method for a floating wind turbine model test, comprising a rotating frame, a mass inertia adjusting device, a stiffness adjusting device, a support frame and a pneumatic load simulation device; the support frame serves as a mounting base, the rotating frame simulates the single degree of freedom rotation and the function of applying damping of the wind turbine model, the mass inertia adjusting device provides the function of adjusting the mass, the gravity center height and the inertia of the test device, the stiffness adjusting device provides the function of adjusting the restoring stiffness of the wind turbine model, and the pneumatic load simulation device is installed on the rotating frame. The single degree of freedom motion characteristics of the model wind turbine are simulated, the rotation limit of the model wind turbine is limited, the problem of high simulation cost of the motion response simulation of the floating wind turbine model in the real-time numerical physical hybrid model is solved, and the problem that the model weight inertia is difficult to adjust in the real-time numerical physical hybrid model test and the model needs to be designed and manufactured separately for different floating wind turbine schemes is solved.

Description

Technical Field

[0001] This invention relates to the field of marine engineering technology, and more specifically, to a simulation device and testing method for floating wind turbine model testing. Background Technology

[0002] Floating wind turbine model tests are typically conducted in a wind, wave, and current test tank. However, unlike conventional tank model tests of marine engineering structures, floating wind turbine model tests require an additional device to simulate the aerodynamic forces of the turbine. Currently, there are three main simulation methods: passive methods, physical wind turbine model methods, and real-time numerical physics hybrid model methods. However, due to scale effects caused by Reynolds number differences in tank model tests and limitations in the performance of the wind-generating equipment, passive methods and physical wind turbine model methods cannot accurately and completely reflect the operating loads of actual-scale wind turbines.

[0003] Real-time numerical physics hybrid model testing combines physical experiments at the model scale with real-time numerical simulations. Specifically, a numerical simulation model is used in a computer to calculate the aerodynamic response of a full-scale wind turbine, while a physical model is used in a water tank to simulate the hydrodynamic response of a floating body. The two models are connected and interact in real time via sensors and actuators. Sensors collect motion data from the wind turbine, which is transmitted to the numerical simulation model for calculating aerodynamic loads. The actuators then apply the calculated loads to the physical model, thereby analyzing the coupled dynamic response of the floating wind turbine. However, conducting complete real-time numerical physics hybrid model tests in a water tank is costly. It requires a complete model of the lower floating body and a mooring system to simulate the hydrodynamic response of the floating wind turbine, which is inconvenient for model debugging. Furthermore, during the experiment, the physical characteristics of the floating wind turbine model can only be adjusted by changing the floating body model and the mooring system model, making it difficult to conveniently verify the accuracy of real-time numerical physics hybrid tests for different types of floating wind turbines.

[0004] A Chinese patent application with publication number CN116519261B discloses a floating offshore platform free decay test device, method, and application. The device includes a fixed frame, a base plate, an electromagnet, an adjustment device, an electromagnet chuck, an air-floating slider, an optical axis, a guide rod, a guide section, a displacement sensor, and a host computer. The guide rod is connected to the lower end of the air-floating slider, and the lower end of the guide rod is fixed to the floating platform test component. The air-floating slider moves freely in the vertical direction along the first and second optical axes, and the guide rod and the fixed floating platform test component follow the air-floating slider in the same vertical free decay movement. This synergistically improves the accuracy of the vertical free decay curve plotted from the collected displacement data.

[0005] Existing experimental setups are limited by the installation location of the electromagnets and can only be used to study vertical single-degree-of-freedom decaying motion. They cannot simulate the decaying conditions of multi-degree-of-freedom coupling on marine platforms or the complex conditions under the action of other external forces, and therefore need to be improved. Summary of the Invention

[0006] In view of the deficiencies in the prior art, the purpose of this invention is to provide a simulation device and test method for floating wind turbine model testing.

[0007] A simulation device for testing a floating wind turbine model according to the present invention includes a rotating frame, a mass inertia adjustment device, a stiffness adjustment device, a support frame, and an aerodynamic load simulation device. The support frame serves as the mounting base. The rotating frame simulates the single-degree-of-freedom rotation of the wind turbine model and applies damping. The mass inertia adjustment device provides the function of adjusting the mass, center of gravity height, and inertia of the experimental device. The stiffness adjustment device provides the function of adjusting the restoring stiffness of the wind turbine model. The aerodynamic load simulation device is mounted on the rotating frame.

[0008] Preferably, the rotating frame includes a rotating shaft, a first six-component force sensor, an extension rod, a tower, a first angle sensor, and a rotation damper; the two ends of the rotating shaft are respectively rotatably mounted on the support frame, the first six-component force sensor is fixedly connected to the rotating shaft through the extension rod, and the tower is fixedly connected to the first six-component force sensor; the first angle sensor is connected to one end of the rotating shaft, and the rotation damper is connected to the other end of the rotating shaft.

[0009] Preferably, the center of the rotating shaft corresponds to the center of rotation of the wind turbine model.

[0010] Preferably, the extension rod, the first six-component force sensor, and the tower are coaxially connected in sequence, and the central axis of the extension rod, the first six-component force sensor, and the tower is perpendicular to the rotation axis of the rotating shaft.

[0011] Preferably, the mass inertia adjustment device includes a vertical profile, a longitudinal profile, a load-bearing frame, and a load; the vertical profile and the longitudinal profile are connected to form a rectangular frame, the rectangular frame exerts a force on the rotation center of the rotating frame, and a load-bearing frame is provided at each end of the rectangular frame, and the load is placed inside the load-bearing frame.

[0012] Preferably, the stiffness adjustment device includes a linear optical axis, a linear optical axis slider, a rack, a gear, a hook spring, and a linear slide table; the linear optical axis is mounted on a support frame, the linear optical axis slider is slidably mounted on the linear optical axis, the rack is fixedly connected to the linear optical axis, the gear meshes with the rack, the gear is connected to a rotation damper on a rotating frame, and both ends of the rack are connected to a linear slide table via hook springs.

[0013] Preferably, the linear slide is fixed on the support frame, and the linear slide includes a linear reciprocating motion device, which is connected to a hook spring.

[0014] Preferably, the aerodynamic load simulation device includes a second six-component force sensor, a nacelle, a second angle sensor, and a load generation module; the nacelle is mounted on the second six-component force sensor, the second angle sensor is mounted on the lower rear of the nacelle, and the load generation module is fixed to the front of the nacelle via a three-way pipe structure; the second six-component force sensor is fixedly connected to the tower of the rotating frame.

[0015] A test method for a simulation device for floating wind turbine model testing, provided by the present invention, includes a device adjustment method:

[0016] Step S1: Determine the height of both the extension rod and the tower, so that the distance from the top of the first six-component force sensor to the axis of the rotating shaft is equal to the scaled value of the distance from the top of the target wind turbine floating platform, i.e., the bottom of the tower, to the still water surface, and make the distance from the corresponding hub center of the aerodynamic load simulation device to the axis of the rotating shaft equal to the distance from the hub center of the target wind turbine to the still water surface.

[0017] Step S2: Adjust the model weight so that the total mass of the rotatable parts of the test device and the total mass of the target fan meet the weight similarity condition.

[0018] Step S3: Adjust the height of the model's center of gravity to ensure that the height of the test device's center of gravity is similar to that of the target fan;

[0019] Step S4: Adjust the model's recovery stiffness to ensure that the recovery arm of the test device is similar to that of the target wind turbine;

[0020] Step S5: Adjust the model's moment of inertia to make the damping of the test device similar to that of the target wind turbine;

[0021] Step S6: Adjust the model damping so that the damping of the test device is similar to that of the target wind turbine.

[0022] Preferably, it also includes a test method:

[0023] The data receiving module in the data processing system receives the motion response and force information of the experimental device within the previous time step from the data acquisition system and transmits it to the data processing module. After reading the information, the data processing module performs scale conversion on the pitch motion response information and transmits it to the wind turbine simulation module. The wind turbine simulation module calculates the target value of the aerodynamic load on the physical wind turbine within that time step based on the motion response and transmits the force information back to the data processing module. The data processing module performs scale conversion and, based on the control feedback principle, compares the force information from the previous time step with the scaled force information obtained from the simulation. Comparative calculations are performed to obtain the aerodynamic load information that needs to be applied within the time step, and this information is transmitted to the signal generation module to generate a control signal that the execution system can read. After receiving the control signal, the aerodynamic load simulation device in the execution system applies a new aerodynamic load to the rotating frame of the test device. The six-component force sensor in the data acquisition system can measure the force and torque on the top of the rotating frame tower in real time and transmit them to the acquisition module. The force information acquired by the acquisition module and the pitching motion response information of the rotating frame measured in real time by the angle sensor are transmitted to the data receiving module in the data processing system to start the next operating cycle.

[0024] Compared with the prior art, the present invention has the following beneficial effects:

[0025] 1. This invention designs a simulation device capable of single-degree-of-freedom motion, thereby simulating the single-degree-of-freedom motion characteristics of a model wind turbine and limiting the rotational limits of the model wind turbine. This solves the problem of high simulation cost for the motion response of floating wind turbine models in real-time numerical physics hybrid models.

[0026] 2. This invention solves the problem of adjusting the recovery stiffness of the floating body in motion response simulation by using a stiffness adjustment device controlled by a rotating handwheel, in conjunction with springs of different wire diameters and outer diameters to adjust the recovery stiffness of the fan model.

[0027] 3. This invention employs a weight inertia adjustment device that can adjust the load height and longitudinal position, enabling the device to adjust the model's weight, center of gravity height, and inertia to adapt to different floating wind turbine schemes. This solves the problem of difficulty in adjusting the model's weight and inertia in real-time numerical physics hybrid model experiments, which requires the separate design and manufacture of models for different floating wind turbine schemes.

[0028] 4. This invention provides damping force for the pitching motion of the model wind turbine by installing a rotation damper between the rotating frame and the stiffness adjustment device, making the damping of the pitching motion of the model wind turbine similar to that of the target wind turbine, thus solving the problem of insufficient accuracy when using a rotating frame to simulate motion response.

[0029] 5. Based on the rotating frame and adjustment device, this invention proposes a real-time numerical physics hybrid model test method for pitching motion. It can collect the load and pitching motion status of the wind turbine model, and adjust the load and motion status of the wind turbine based on the feedback control principle and combined with the aerodynamic thrust target value. This solves the problem that floating wind turbine model tests cannot accurately reproduce aerodynamic load simulation and motion simulation. Attached Figure Description

[0030] 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:

[0031] Figure 1 This is an axonometric schematic diagram illustrating the overall structure of the simulation device in this invention.

[0032] Figure 2 This is a front view of the overall structure of the simulation device, which is the main feature of this invention.

[0033] Figure 3 This is a side view of the overall structure of the simulation device, which is the main feature of this invention.

[0034] Figure 4 This is an axonometric schematic diagram illustrating the overall structure of the rotating frame, which is the main feature of this invention.

[0035] Figure 5 This is a front view of the overall structure of the rotating frame, which is the main feature of this invention.

[0036] Figure 6 This is a schematic diagram of the aerodynamic load simulation device, which is the main feature of this invention.

[0037] Figure 7 This is a schematic diagram illustrating the overall structure of the mass inertia adjustment device of this invention.

[0038] Figure 8 This is a schematic diagram illustrating the overall structure of the stiffness adjustment device of the present invention.

[0039] Figure 9 The flowchart illustrates the main experimental method of this invention.

[0040] As shown in the figure:

[0041] Rotating frame 100, linear optical axis 301

[0042] Rotating shaft 101, linear optical axis seat 302

[0043] Main bearing housing 102, linear optical axis slider 303

[0044] First six-component force sensor 103 rack 304

[0045] Extension rod 104, gear 305

[0046] Tower 105 hook bolts 306

[0047] First angle sensor 106, linear slide 307

[0048] First angle sensor connector 107 with hook spring 308

[0049] Rotary damper 108, support frame 400

[0050] Mass inertia adjustment device 200; aerodynamic load simulation device 500

[0051] Vertical profile 201, second six-component force sensor 501

[0052] Longitudinal profile 202, cabin 502

[0053] Load frame 203, second angle sensor 503

[0054] Load capacity 204 Load generation module 504

[0055] Stiffness adjustment device 300 Detailed Implementation

[0056] 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 protection scope of the present invention.

[0057] like Figure 1 , Figure 2 as well as Figure 3 As shown, a simulation device for testing a floating wind turbine model according to the present invention includes a rotating frame 100, a mass inertia adjustment device 200, a stiffness adjustment device 300, a support frame 400, and an aerodynamic load simulation device 500. The support frame 400 serves as the mounting base. The rotating frame 100 simulates the single-degree-of-freedom rotation of the wind turbine model and applies damping. The mass inertia adjustment device 200 provides the function of adjusting the mass, center of gravity height, and inertia of the experimental device. The stiffness adjustment device 300 provides the function of adjusting the restoring stiffness of the wind turbine model. The aerodynamic load simulation device 500 is mounted on the rotating frame 100.

[0058] Specifically, the overall structure of the support frame 400 is a frame structure, preferably constructed by connecting multiple 2020 aluminum profiles and 4040 double-slot aluminum profiles using corner brackets. Other construction methods can also be used for this frame.

[0059] like Figure 1 , Figure 2 , Figure 3 , Figure 4 as well as Figure 5 As shown, the rotating frame 100 includes a rotating shaft 101, a first six-component force sensor 103, an extension rod 104, a tower 105, a first angle sensor 106, and a rotation damper 108. Both ends of the rotating shaft 101 are rotatably mounted on the support frame 400. The first six-component force sensor 103 is fixedly connected to the rotating shaft 101 via the extension rod 104, and the tower 105 is fixedly connected to the first six-component force sensor 103. The first angle sensor 106 is connected to one end of the rotating shaft 101, and the rotation damper 108 is connected to the other end of the rotating shaft 101. The axis of the rotating shaft 101 corresponds to the rotation center of the wind turbine model. The extension rod 104, the first six-component force sensor 103, and the tower 105 are coaxially connected in sequence, and the central axes of the extension rod 104, the first six-component force sensor 103, and the tower 105 are perpendicular to the rotation axis of the rotating shaft 101.

[0060] More specifically, the rotating frame 100 provides the function of simulating single-degree-of-freedom rotation and applying damping to the wind turbine model, including a rotating shaft 101, main bearing seats 102, a first six-component force sensor 103, an extension rod 104, a tower 105, a first angle sensor 106, a first angle sensor connecting seat 107, and a rotational damper 108. The rotating shaft 101 is a cylindrical vertical metal part with two slender shafts extending outwards on the left and right, preferably CNC machined from aluminum alloy. The two main bearing seats 102 provide external support for the two shafts extending from the rotating shaft 101, preferably vertical bearing seats, fixed to the smooth upper surface of the support frame 400, with the axis of the rotating shaft 101 corresponding to the rotation center of the wind turbine model. The first six-component force sensor 103 is fixed to the rotating shaft 101 via an extension rod 104 connected by a flange. The extension rod 104 has a flange at both the top and bottom. The height of the extension rod 104 is preferably such that the distance from the top of the first six-component force sensor 103 to the axis of the rotating shaft 101 is equal to a scaled-down value of the height from the bottom of the target wind turbine tower 105 to the still water surface. The tower 105 has a flange at both the top and bottom, which is fixed to the first six-component force sensor 103 via flange connection. The first angle sensor 106 is connected to one end of the rotating shaft 101 via a D-shaped shaft hole connection and is supported by a first angle sensor connecting seat 107 fixed to the support frame 400. The rotation damper 108 is connected to the other end of the extended shaft of the rotating shaft 101.

[0061] like Figure 1 and Figure 6As shown, the aerodynamic load simulation device 500 includes a second six-component force sensor 501, a nacelle 502, a second angle sensor 503, and a load generation module 504. The nacelle 502 is mounted on the second six-component force sensor 501, the second angle sensor 503 is mounted on the lower rear of the nacelle 502, and the load generation module 504 is fixed to the front of the nacelle 502 via a three-way pipe structure. The second six-component force sensor 501 is fixedly connected to the tower 105 of the rotating frame 100.

[0062] More specifically, the aerodynamic load simulation device 500 includes a second six-component force sensor 501, a nacelle 502, a second angle sensor 503, and a load generation module 504. The second six-component force sensor 501 is connected to the tower 105 via a flange. The nacelle 502 is mounted on the second six-component force sensor 501. The second angle sensor 503 is mounted at the lower rear of the nacelle 502. The load generation module 504 is preferably a ducted fan, fixed to the front of the nacelle 502 via a three-way pipe structure. The length direction of the nacelle 502 is perpendicular to the horizontal axis 101 of the rotating frame 100.

[0063] like Figure 1 and Figure 7 As shown, the mass inertia adjustment device 200 includes a vertical profile 201, a longitudinal profile 202, a load-bearing frame 203, and a load 204. The vertical profile 201 and the longitudinal profile 202 are connected to form a rectangular frame, which exerts a force on the rotation center of the rotating frame 100. One load-bearing frame 203 is provided at each end of the rectangular frame, and the load 204 is placed inside the load-bearing frame 203. The length direction of the rectangular frame is perpendicular to the axis of the rotating shaft 101 in the horizontal plane.

[0064] More specifically, the mass inertia adjustment device 200 provides the function of adjusting the mass, center of gravity height, and inertia of the test device, and includes four vertical profiles 201, four longitudinal profiles 202, two load-bearing frames 203, and several loads 204. The vertical profiles 201 are connected to two upper and two lower longitudinal profiles 202 via angle brackets. A load-bearing frame 203 is fixed to each end of each longitudinal profile 202, and loads 204 can be placed inside the load-bearing frames 203, preferably circular weights. Preferably, the vertical profiles 201 are made of profiles with a length of 450mm or more, so that the adjustable height of the longitudinal profiles 202 is sufficiently large, and the overall center of gravity of the fan can be adjusted within a sufficiently large range. Preferably, the longitudinal profiles 202 are made of profiles with a length of 1.2 meters or more, so that the adjustable distance between the two load-bearing frames 203 is sufficiently large, and the overall inertia of the fan can be adjusted within a sufficiently large range. It should be noted that the four vertical profiles 202 extend to the four corners of the pivot 101.

[0065] like Figure 1 and Figure 8As shown, the stiffness adjustment device 300 includes a linear optical axis 301, a linear optical axis slider 303, a rack 304, a gear 305, a hook spring 308, and a linear slide table 307. The linear optical axis 301 is mounted on the support frame 400. The linear optical axis slider 303 is slidably mounted on the linear optical axis 301. The rack 304 is fixedly connected to the linear optical axis 301. The gear 305 meshes with the rack 304 and is connected to a rotation damper 108 on the rotating frame 100. Both ends of the rack 304 are connected to a linear slide table 307 via hook springs 308. The linear slide table 307 is fixed to the support frame 400 and includes a linear reciprocating motion device connected to the hook spring 308.

[0066] More specifically, the stiffness adjustment device 300 provides the function of adjusting the restoring stiffness of the fan model, and includes a linear optical axis 301, a linear optical axis seat 302, a linear optical axis slider 303, a rack 304, a gear 305, a hook bolt 306, a hook spring 308, and a linear slide 307. The linear optical axis 301 and the connected linear optical axis seat 302 are mounted longitudinally on the support frame 400. The linear optical axis slider 303 on the linear optical axis seat 302 is connected to the rack 304, and the rack 304 meshes with the gear 305 of the same model. The gear 305 has multiple holes and can be connected to the rotary damper 108 by screw fastening. The hook bolt 306 can be installed in the holes of the linear optical axis slider 303 and the linear slide 307 by threaded connection, and the two ends of the hook spring 308 are hooked on the corresponding hook bolt 306. The linear slide 307 is fixed on the support frame 400. The longitudinal position of the linear slide 307 can be adjusted by shaking the handwheel on the linear slide 307, thereby changing the elongation of the hook spring 308.

[0067] This invention also provides a test method for a simulation device used in floating wind turbine model testing, including a device adjustment method:

[0068] Step S1: Determine the heights of the extension rod 104 and the tower 105, ensuring that the distance from the top of the first six-component force sensor 103 to the axis of the rotating shaft 101 is equal to the scaled distance from the top of the target wind turbine floating platform (i.e., the bottom of the tower 105) to the still water surface, and that the distance from the corresponding hub center of the aerodynamic load simulation device 500 to the axis of the rotating shaft 101 is equal to the distance from the hub center of the target wind turbine to the still water surface. Specifically, according to the wind turbine test plan, the axis of the rotating shaft 101 is defined as the still water surface of the wind turbine. The first six-component force sensor 103 mainly measures the force condition at the bottom of the wind turbine model tower 105; therefore, an extension rod 104 of appropriate height is selected so that the distance from the top of the first six-component force sensor 103 to the axis of the rotating shaft 101 is equal to the scaled distance from the top of the target wind turbine floating platform (i.e., the bottom of the tower 105) to the still water surface. The top of the tower 105 can be equipped with a suitable aerodynamic load simulation device 500 and other sensors as needed. Therefore, the tower 105 of appropriate height is selected so that the distance from the corresponding hub center of the aerodynamic load simulation device 500 to the axis of the shaft 101 is equal to the distance from the hub center of the target wind turbine to the still water surface.

[0069] Step S2: Adjust the model weight so that the total mass of the rotatable parts of the test device meets the weight similarity condition with the total mass of the target fan. Specifically, adjust the weight of each part of the rotating frame 100 and add ballast to the load frame 203 so that the total mass of the rotatable parts of the test device meets the weight similarity condition with the total mass of the target fan, that is, the total mass of the rotating frame 100, the mass inertia adjustment device 200 and the gear 305 meets the weight similarity condition with the total mass of the target fan.

[0070] Step S3: Adjust the height of the model's center of gravity to ensure that the height of the test device's center of gravity is similar to that of the target fan. Specifically, the distance from the center of gravity of the rotatable part of the test device to the center of rotation can be determined through a tilt test. The center of gravity of the test device is adjusted by adjusting the height of the longitudinal profile 202 to adjust the vertical height of the load 204 in the load frame 203, thereby ensuring that the height of the test device's center of gravity is similar to that of the target fan.

[0071] Step S4: Adjust the model's recovery stiffness to ensure that the recovery arm of the test device is similar to that of the target fan. Specifically, the recovery stiffness of the rotatable part of the test device can be determined through a tilting test. A spring can simulate the recovery stiffness of the fan model. Select a hook spring 308 with appropriate wire diameter, outer diameter, and length, and hang it on the hook bolt 306 of the rack 304 and the linear slide 307 to ensure that the recovery arm of the test device is similar to that of the target fan.

[0072] Step S5: Adjust the rotational inertia of the model to make the damping of the test device similar to that of the target wind turbine. Specifically, the pitching period of the rotatable part of the test device can be determined and its rotational inertia calculated through the pitching free decay test. The inertia of the rotatable part is adjusted by adjusting the longitudinal position of the load frame 203 along the longitudinal profile 202, and is ensured to be similar to that of the target wind turbine.

[0073] Step S6: Adjust the model damping to make the damping of the test device similar to that of the target wind turbine. The damping of the rotatable part of the test device can be determined through the pitch free decay test. By selecting a suitable rotary damper 108 and installing it on the rotating frame 100, the damping of the test device can be made similar to that of the target wind turbine.

[0074] like Figure 9 As shown, the experimental method is also included: Based on the aforementioned rotating frame 100 and adjustment device, a real-time numerical physics hybrid model experimental system and method for pitch motion are proposed. This experimental system consists of three parts: a data acquisition system, a data processing system, and an execution system. The data acquisition system mainly comprises an acquisition module, a six-component force sensor, an angle sensor, and other sensors, primarily used to acquire the motion attitude and force conditions of the rotating frame 100. The data processing system mainly comprises a data receiving module, a data processing module, a fan simulation module, and a signal generation module. A suitable aerodynamic load simulation device 500 can be selected for the execution system.

[0075] During each time step of the real-time numerical physics hybrid model experiment, the data receiving module in the data processing system receives the motion response and force information of the experimental device from the data acquisition system in the previous time step and transmits it to the data processing module. After reading the information, the data processing module performs scale transformation on the pitch motion response information and transmits it to the wind turbine simulation module. The wind turbine simulation module calculates the target value of the aerodynamic load on the physical wind turbine in that time step based on the motion response and transmits the force information back to the data processing module. The data processing module performs scale transformation and, based on the control feedback principle, compares the force information from the previous time step with the scale obtained from the simulation. The force information is compared and calculated to obtain the aerodynamic load information to be applied within the time step, and transmitted to the signal generation module to generate a control signal that the execution system can read. After receiving the control signal, the aerodynamic load simulation device 500 in the execution system applies a new aerodynamic load to the rotating frame 100 of the test device. The six-component force sensor in the data acquisition system can measure the force and torque on the top of the tower 105 of the rotating frame 100 in real time and transmit it to the acquisition module. The force information acquired by the acquisition module and the pitch motion response information of the rotating frame 100 measured in real time by the angle sensor are transmitted to the data receiving module in the data processing system to start the next operating cycle.

[0076] This application designs a simulation device capable of single-degree-of-freedom motion, achieving the simulation of the single-degree-of-freedom motion characteristics of a model wind turbine and limiting its rotational limits, thus solving the problem of high cost in simulating the motion response of floating wind turbine models in real-time numerical physics hybrid models. By employing a stiffness adjustment device 300 controlled by a rotating handwheel, combined with springs of different wire diameters and outer diameters to adjust the restoring stiffness of the wind turbine model, the problem of difficulty in adjusting the restoring stiffness of the floating body in motion response simulation is solved. Furthermore, by employing a weight inertia adjustment device that can adjust the height and longitudinal position of the load 204, this device allows for adjustment of the model's weight, center of gravity height, and inertia to adapt to different floating wind turbine schemes, solving the problem of difficulty in adjusting the model's weight and inertia in real-time numerical physics hybrid model experiments, which necessitates the separate design and manufacture of models for different floating wind turbine schemes. By installing a rotary damper 108 between the rotating frame 100 and the stiffness adjustment device 300, damping force is provided for the pitching motion of the model wind turbine, making the damping of the pitching motion of the model wind turbine similar to that of the target wind turbine, thus solving the problem of insufficient accuracy when using the rotating frame 100 to simulate motion response. Based on the aforementioned rotating frame 100 and adjustment device, a real-time numerical physics hybrid model test method for pitching motion is proposed. This method can collect the loads and pitching motion conditions of the wind turbine model, and adjust the loads and motion conditions of the wind turbine based on feedback control principles and combined with the target value of aerodynamic thrust, thus solving the problem that floating wind turbine model tests cannot accurately reproduce aerodynamic load simulation and motion simulation.

[0077] Those skilled in the art will understand that, besides implementing the system and its various devices, modules, and units provided by this invention in the form of purely computer-readable program code, the same functions can be achieved entirely through logical programming of the method steps, making the system and its various devices, modules, and units of this invention function in the form of logic gates, switches, application-specific integrated circuits, programmable logic controllers, and embedded microcontrollers. Therefore, the system and its various devices, modules, and units provided by this invention can be considered as a hardware component, and the devices, modules, and units included therein for implementing various functions can also be considered as structures within the hardware component; alternatively, the devices, modules, and units for implementing various functions can be considered as both software modules implementing the method and structures within the hardware component.

[0078] 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.

[0079] 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. A simulation device for model test of floating wind turbine, characterized in that, It includes a rotating frame (100), a mass inertia adjustment device (200), a stiffness adjustment device (300), a support frame (400), and an aerodynamic load simulation device (500). The support frame (400) serves as the installation base. The rotating frame (100) simulates the single-degree-of-freedom rotation of the wind turbine model and applies damping. The mass inertia adjustment device (200) provides the function of adjusting the mass, center of gravity height, and inertia of the experimental device. The stiffness adjustment device (300) provides the function of adjusting the recovery stiffness of the wind turbine model. The aerodynamic load simulation device (500) is mounted on the rotating frame (100). The mass inertia adjustment device (200) includes a vertical profile (201), a longitudinal profile (202), a load-bearing frame (203), and a load (204). The vertical profile (201) and the longitudinal profile (202) are connected to form a rectangular frame. The rectangular frame exerts a force on the rotation center of the rotating frame (100). The load-bearing frame (203) is provided at both ends of the rectangular frame. The load (204) is placed inside the load-bearing frame (203). The stiffness adjustment device (300) includes a linear optical axis (301), a linear optical axis slider (303), a rack (304), a gear (305), a hook spring (308), and a linear slide (307). The linear optical axis (301) is mounted on the support frame (400), the linear optical axis slider (303) is slidably mounted on the linear optical axis (301), the rack (304) is fixedly connected to the linear optical axis (301), the gear (305) meshes with the rack (304), the gear (305) is connected to the rotation damper (108) on the rotating frame (100), and both ends of the rack (304) are respectively connected to a linear slide (307) through hook springs (308). The linear slide (307) is fixed on the support frame (400), and the linear slide (307) includes a linear reciprocating motion device, which is connected to a hook spring (308).

2. The simulation device for floating wind turbine model testing as described in claim 1, characterized in that, The rotating frame (100) includes a rotating shaft (101), a first six-component force sensor (103), an extension rod (104), a tower (105), a first angle sensor (106), and a rotation damper (108). The two ends of the rotating shaft (101) are respectively rotatably mounted on the support frame (400), the first six-component force sensor (103) is fixedly connected to the rotating shaft (101) through the extension rod (104), and the tower (105) is fixedly connected to the first six-component force sensor (103); The first angle sensor (106) is connected to one end of the rotating shaft (101), and the rotation damper (108) is connected to the other end of the rotating shaft (101).

3. The simulation device for floating wind turbine model testing as described in claim 2, characterized in that, The center of the rotating shaft (101) corresponds to the center of rotation of the wind turbine model.

4. The simulation device for floating wind turbine model testing as described in claim 2, characterized in that, The extension rod (104), the first six-component force sensor (103), and the tower (105) are connected coaxially in sequence, and the central axis of the extension rod (104), the first six-component force sensor (103), and the tower (105) is perpendicular to the rotation axis of the rotating shaft (101).

5. The simulation device for floating wind turbine model testing as described in claim 1, characterized in that, The aerodynamic load simulation device (500) includes a second six-component force sensor (501), a cabin (502), a second angle sensor (503), and a load generation module (504). The cabin (502) is mounted on the second six-component force sensor (501), the second angle sensor (503) is mounted on the lower rear of the cabin (502), and the load generation module (504) is fixed to the front of the cabin (502) through a three-way pipe structure; The second six-component force sensor (501) is fixedly connected to the tower (105) of the rotating frame (100).

6. A test method for a simulation device used in floating wind turbine model testing, characterized in that, The simulation device for floating wind turbine model testing as described in any one of claims 1-5 includes a device adjustment method: Step S1: Determine the heights of the extension rod (104) and the tower (105) so that the distance from the top of the first six-component force sensor (103) to the axis of the rotating shaft (101) is equal to the scaled value of the distance from the top of the target wind turbine floating platform, i.e., the bottom of the tower (105), to the still water surface. Also, make the distance from the corresponding hub center of the aerodynamic load simulation device (500) to the axis of the rotating shaft (101) equal to the distance from the hub center of the target wind turbine to the still water surface. Step S2: Adjust the model weight so that the total mass of the rotatable parts of the test device and the total mass of the target fan meet the weight similarity condition. Step S3: Adjust the height of the model's center of gravity to ensure that the height of the test device's center of gravity is similar to that of the target fan; Step S4: Adjust the model's recovery stiffness to ensure that the recovery arm of the test device is similar to that of the target wind turbine; Step S5: Adjust the rotational inertia of the model so that the rotational inertia of the test device is similar to that of the target fan; Step S6: Adjust the model damping so that the damping of the test device is similar to that of the target wind turbine.

7. The test method of the simulation device for floating wind turbine model testing as described in claim 6, characterized in that, It also includes test methods: The data receiving module in the data processing system receives the motion response and force information of the experimental device within one time step from the data acquisition system and transmits it to the data processing module. After reading the information, the data processing module performs scale conversion on the pitch motion response information and transmits it to the wind turbine simulation module. The wind turbine simulation module calculates the target value of the aerodynamic load on the physical wind turbine within the time step based on the motion response and transmits the force information back to the data processing module. The data processing module performs scale conversion and, based on the control feedback principle, compares and calculates the force information of the previous time step with the scaled force information obtained from the simulation to obtain the aerodynamic load information to be applied within the current time step. This information is then transmitted to the signal generation module to generate control signals that the execution system can read. After receiving the control signal, the aerodynamic load simulation device (500) in the execution system applies a new aerodynamic load to the rotating frame (100) of the test device. The six-component force sensor in the data acquisition system can measure the force and torque on the top of the rotating frame (100) and tower (105) in real time and transmit them to the acquisition module. The force information collected by the acquisition module and the pitching motion response information of the rotating frame (100) measured in real time by the angle sensor will be transmitted to the data receiving module in the data processing system to start the next operating cycle.

Images