Floating type storm integrated system dynamic response analysis method, device and equipment

Abstract

The invention provides a floating type wind wave integrated system dynamic response analysis method, device and equipment, and relates to the technical field of wind power generation, and the method comprises the steps: constructing a three-dimensional twin space, and defining environment conditions, model parameters and static reference points in the twin space; obtaining a near-field drainage basin range and a speed potential of parameter points in the twin space; calculating a frequency domain hydrodynamic load dimensionless coefficient; calculating a wind load, a mooring load and a constraint load; updating the movement speed, acceleration and displacement of the three-dimensional model in combination with the calculation result of the previous time step; and outputting a dynamic response analysis result of the floating storm integrated system. According to the integrated design method for the floating type storm integrated system, the comprehensive coupling floating type storm integrated system is adopted, power production can be stably increased through the integrated design, the cost and the rated power ratio can be reduced, engineering operation and maintenance cost can be shared, and positive dynamic interaction can be achieved.

Description

Technical Field

[0001] The present application belongs to the field of wind power generation technology, in particular to the field of dynamic response analysis technology of floating wind turbine integrated wave energy devices, and specifically relates to a method, device and equipment for dynamic response analysis of a floating wind and wave integrated system. Background Art

[0002] Compared with land and nearshore shallow waters, offshore wind energy resources are more stable, richer and of better quality. However, traditional fixed wind power generation equipment is not suitable for sea areas with a water depth of more than 30 meters. Therefore, research on floating wind power generation equipment suitable for deep sea will surely become the dominant direction of future development. In addition to wind energy, the ocean also contains a variety of energy sources such as solar energy, wave energy, and tidal energy. Therefore, the concept of offshore multi-energy complementary system has been proposed and has begun to develop. Multi-energy complementary system has multiple advantages: hybrid system shares platform, mooring system and other power generation facilities to reduce construction costs; improve the stability of power generation, make up for the intermittent nature of single power generation, and increase the energy capture capacity per unit space. Wave energy is rich and easy to develop. It is one of the energy sources with more mature development and utilization technology. It has obvious complementary advantages with wind energy utilization, so the development of wind and wave complementary power generation technology is relatively rapid.

[0003] The integrated system of floating wind turbines and wave energy devices is complex, mainly including floating foundations, wind turbines, wave energy devices and mooring systems. These systems are placed in a complex offshore environment and are subject to the combined effects of wind loads and wave loads. The structures interact with each other, which makes it very difficult to study the system dynamics using numerical methods. Traditional analysis methods use methods that independently solve each part of the aerodynamic, hydrodynamic and dynamic constraints, resulting in limitations in the analysis of the coupled dynamic response of the integrated system.

[0004] Therefore, how to provide a coupled floating wind-wave integrated system dynamic response analysis method to solve this limitation has become an urgent problem to be solved in this field. Summary of the invention

[0005] In order to solve the above technical problems, the present disclosure provides a method, device and equipment for dynamic response analysis of a floating wind-wave integrated system.

[0006] To achieve the above objectives, some embodiments of the present application provide a method for analyzing dynamic response of a floating wind-wave integrated system, the method comprising:

[0007] S101, constructing a three-dimensional twin space, wherein the three-dimensional twin space is used to store a three-dimensional model, gravity, density, environmental phase state, and physical control equations of a floating wind-wave integrated system; wherein the three-dimensional model includes a mooring system, a floating platform, a wave energy device, an articulated constraint module, and a wind turbine generator set, and the three-dimensional model exists in the form of a parameter point set;

[0008] S102, defining environmental conditions, a set of model parameter points, preset parameters and a spatial static reference point in the twin space; wherein the environmental conditions include inflow wind and incident waves; the set of model parameter points includes the number, position and stored velocity potential information of parameter points; the preset parameters include a model solver and a convergence criterion; the spatial static reference point is a reference point for determining the position and posture of a structure, and is used to analyze the stability and motion characteristics of the structure, and the spatial static reference point includes the center of gravity position of a floating platform or a point on a wave surface;

[0009] S103, obtaining the near-field flow domain range and velocity potential of the parameter point in the twin space; wherein the near-field flow domain range includes more than three parameter points, each parameter point stores velocity potential, and the velocity potential includes incident potential, diffraction potential and radiation potential; wherein the diffraction potential and radiation potential are calculated by the boundary integral method, and the formula is as follows:

[0010]

[0011] Among them, when the velocity potential is the diffraction potential, When the velocity potential is a radiation potential, Γ(x) = v 0j , σ(x) is the diffraction source, v 0j is the normal vector, SB represents the wet surface, x represents the location of the fluid particle, x' is the location of the velocity potential, and G(x) is the Green's function;

[0012] S104. Calculate the dimensionless coefficient of hydrodynamic load in frequency domain;

[0013] S105. Calculate wind loads, mooring loads and restraint loads;

[0014] S106, updating the motion speed, acceleration and displacement of the three-dimensional model in combination with the calculation result of the previous time step;

[0015] S107. Outputting the dynamic response analysis results of the floating wind and wave integrated system.

[0016] Furthermore, the S104 further includes: after obtaining the velocity potential, obtaining the wave excitation force load by integrating the incident potential and the diffraction potential; obtaining the radiation potential load by integrating the diffraction potential, and the wave excitation force and diffraction force The calculation formula is as follows:

[0017]

[0018] where ρ is the density, is the incident potential, is the radiation potential, is the diffraction potential, ω is the circular frequency, M is the additional mass, B is the additional damping, and the calculation formulas of the additional mass and damping are as follows:

[0019]

[0020] where Re{Φ R} is the real part of the velocity potential, and Im{Φ R} represents the imaginary part of velocity potential;

[0021] After calculating the above hydrodynamic loads, the dimensionless impulse response function H(t) is calculated by convolution of the damping coefficient and cosine. The calculation formula is as follows:

[0022]

[0023] According to the calculated dimensionless impulse response function, the time domain hydrodynamic load is obtained, and its calculation formula is as follows:

[0024]

[0025] Where η is the wave surface.

[0026] Furthermore, the wind load calculation of the integrated system in S105 further includes calculating the wind turbine thrust F using a blade element method. turb and torque load M turb , the formula is as follows:

[0027]

[0028] Among them, V rel is the inflow velocity relative to the blade element, C l ,C d are the lift coefficient and drag coefficient of the blade element, is the sum of the pitch angle and the angle of attack, b L is the blade chord length; rel The inflow velocity V t The superposition formula is:

[0029] The wind load calculation further includes recalculating the thrust and torque loads of the wind turbine using the one-dimensional momentum theory of the wind turbine disk, and iterating with the calculation results of the blade element momentum theory, and completing the wind load calculation when the load value obtained by the iterative calculation is less than the error of the preset parameters or reaches the maximum number of iterations;

[0030] When the wind load acts on the center of gravity of the impeller, the wind load needs to be transferred to the center of gravity of the floating platform through load transfer for calculation of response characteristics. The formula for wind load transfer is as follows:

[0031]

[0032] Among them, when the subscript is aero, it means that the load acts on the center of gravity of the floating platform, when the subscript is turb, it means that the load acts on the center of the impeller, T is the load transfer matrix, r represents the center of the rotation axis of the impeller, and g is the center of gravity of the floating wind and wave integrated system.

[0033] Furthermore, the S105 further includes: the tension catenary equation of the mooring load is as follows:

[0034]

[0035] Where T(z) is the tension of the mooring line, T0 is the horizontal tension of the catenary, z is the vertical height of the catenary, and a is the horizontal stretch length of the catenary;

[0036] The constraint force calculation equation of the constraint load is as follows:

[0037]

[0038] Among them, K is the stiffness coefficient matrix, F is the external force on the wind-wave integrated system, and f is the constraint force. According to the geometric center of gravity position of the three-dimensional model and the center of gravity position between the floating platform, the formula for calculating the constraint matrix C is as follows:

[0039]

[0040] Wherein, subscript i represents the coordinates of the geometric center of gravity of the twin space three-dimensional model of the wave energy device, and subscript j represents the coordinates of the hinge constraint point of the twin space three-dimensional model of the floating platform.

[0041] Furthermore, the S106 further includes: updating the dynamic response information of each geometric parameter point for the load physical information obtained by each quasi-static solution, including: the parameter point Euler angle, angular velocity, angular acceleration, and the translation distance, translation velocity and translation acceleration relative to the reference point;

[0042] In each quasi-static calculation, it is necessary to refer to the previous calculation result; the method of referring to the previous calculation result is to construct the equation using the Hilbert-Huang-Taylor format:

[0043]

[0044] Among them, the value range of α is -1 / 3 to 0, and the calculation method of γ is The β calculation method is

[0045] The solution format is calculated by Newton's iteration method, and the specific iteration formula is:

[0046]

[0047] The superscript t+1 represents the first calculation at a new time step, and t represents the convergence result of the previous time step.

[0048] Furthermore, S107 further includes: after solving each time step, obtaining the calculation result corresponding to the time step and the dynamic response information of the floating wind and wave integrated system, updating the parameter point information of the collective model in the twin space according to this information, and then solving the next time step; this process continues until the end condition of the solution is reached; the analysis result of the dynamic response covers the information obtained after solving a single or multiple time steps, or the information after all time steps are solved; the dynamic response analysis result includes the displacement data of the parameter point, the force data, the number of cycles in the time step and the power characteristics of the system.

[0049] Further, the time domain load of the floating wind-wave integrated system is analyzed based on the dimensionless coefficient of the hydrodynamic load obtained in S104, specifically including:

[0050] By calculating the convolution of the hydrodynamic radiation damping coefficient of the three-dimensional model and the cosine function, the impulse response function of the time domain model motion is analyzed;

[0051] Calculating the hydrodynamic damping in the time domain based on the convolution result of the impulse response function and the velocity of the three-dimensional model;

[0052] Calculating the time-domain hydrodynamic excitation load based on the convolution of the impulse response function and the wave height;

[0053] The additional mass is calculated based on the infinite integral of the impulse response function and the sine function to obtain the displacement data of the three-dimensional model in the twin space.

[0054] Furthermore, the dynamic response analysis includes the fluid viscosity force F vis and F PTOThe viscosity effect is achieved by introducing a viscosity correction coefficient in different motion directions. The dynamic characteristics of the energy conversion system of the wave energy device are analyzed by adding additional stiffness and damping. The specific formula is as follows:

[0055]

[0056] Among them, K vis is a viscosity correction factor, which is obtained from a free decay curve of the platform or the wave energy device or determined according to a percentage of critical damping of the motion response calculated in the frequency domain;

[0057]

[0058] Among them, k pto is the additional stiffness coefficient of the wave energy conversion system, b pto is the additional damping coefficient of the wave energy conversion system; the wave force includes a rigid term and a viscous term, the sum of which is the dynamic characteristic F of the wave energy device PTO .

[0059] On the other hand, the present application also provides a floating wind-wave integrated system dynamic response analysis device, the device is used to perform the above floating wind-wave integrated system dynamic response analysis method, the device comprises:

[0060] Twin module: used to construct physical twin space, establish three-dimensional twin model, define environment and model physical parameters and parameter point information;

[0061] Frequency domain hydrodynamic calculation module: used to calculate the hydrodynamic pressure at each parameter point and generate the dimensionless hydrodynamic coefficient of the three-dimensional model;

[0062] Articulation constraint module: calculates the articulation constraint matrix according to the relative position between the wave energy device and the floating platform;

[0063] External load calculation module: calculates the six-degree-of-freedom forces and moments of the impeller and mooring system on the platform;

[0064] Update Module: Calculates the dynamic loads and motion response of the model at each time step and updates the acceleration, velocity, and displacement information between time steps.

[0065] The present application also provides an electronic device for dynamic response analysis of a floating wind and wave integrated system, comprising a memory, a processor and a computer program; the memory is used to store data and information required by the program; the processor is used to perform various calculations and operations; the computer program is stored in the memory and can implement the above-mentioned dynamic response analysis method of the floating wind and wave integrated system when executed by the processor.

[0066] Compared with the prior art, the floating wind-wave integrated system provided by the present application integrates wind energy and wave energy devices on the same platform, which has multiple advantages. Compared with the currently commonly used decoupling design method, this integrated design can steadily increase power production, reduce costs and rated power ratios, share engineering operation and maintenance costs, and actively interact dynamically. The wind-wave integrated system of the present application adopts a fully coupled floating wind-wave integrated system integrated design method. The fully coupled optimization design will not have redundancy and can improve the fully coupled simulation technology of the wind-wave integrated system. BRIEF DESCRIPTION OF THE DRAWINGS

[0067] Figure 1 A flow chart of dynamic response analysis of a floating wind-wave integrated system provided in an embodiment of the present disclosure;

[0068] Figure 2 A three-dimensional model diagram of a twin space provided in an embodiment of the present disclosure;

[0069] Figure 3 The three-dimensional model parameter points and near-field flow domain diagram provided by the embodiment of the present disclosure;

[0070] Figure 4 A schematic diagram of load calculation for a floating wind-wave integrated system provided in an embodiment of the present disclosure;

[0071] Figure 5 A schematic diagram of the structure of a floating wind-wave integrated system dynamic response analysis device provided in an embodiment of the present disclosure;

[0072] Figure 6 A schematic diagram of the structure of an electronic device for dynamic response analysis of a floating wind-wave integrated system provided in an embodiment of the present disclosure. DETAILED DESCRIPTION

[0073] In order to more clearly understand the purpose, features and advantages of the present disclosure, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. It should be noted that the embodiments of the present disclosure and their features can be combined with each other without conflict. Many specific details are provided in the following description to fully understand the present disclosure, but in fact the present disclosure can be implemented in other ways, which may be different from the following description. Obviously, the embodiments in the specification only represent some embodiments of the present disclosure, not all embodiments.

[0074] The cost of offshore floating wind power systems is high, but integrating wind and wave energy devices on the same platform has multiple advantages. This integrated design can steadily increase power production, reduce costs and rated power ratios, share engineering operation and maintenance costs, and have positive dynamic interactions. For example, wave energy devices can be coupled with floating wind turbines as an additional damping system to ensure smaller overall motion.

[0075] With the deepening of relevant research, the optimization design of wind-wave integrated systems has become crucial. This includes optimizing the stress conditions of floating platforms and wave energy devices, the power output of wind turbines and wave energy devices, and the ultimate tension of mooring systems. However, the decoupled design method is usually adopted, that is, the pre-calculated load of the wind turbine is transferred to the floating platform, or the load of the hinge constraint is transferred to the floating platform. The lack of a fully coupled integrated design method for floating wind-wave integrated systems leads to a certain redundancy in the optimization design.

[0076] To solve this problem, the present disclosure provides a method for analyzing the dynamic response of a floating wind-wave integrated system. Next, the method will be introduced in conjunction with a specific embodiment.

[0077] Figure 1 The flowchart of the dynamic response analysis method of the floating wind and wave integrated system provided by the embodiment of the present disclosure is shown. The method is applicable to the integrated system of the point suction oscillating buoy wave energy device and the semi-submersible wind turbine platform, the integrated system of the pendulum buoy wave energy device and the wind power platform, or the integrated system of the oscillating buoy wave energy device and the tension leg platform, etc. It should be noted that the dynamic response analysis method provided by the embodiment of the present disclosure can also be applied to other scenarios. Among them, the floating wind and wave integrated system is a system used in marine engineering, which captures wave energy and wind energy through the movement of the system under the action of wind and waves to achieve power generation.

[0078] Below Figure 1 The dynamic response analysis method of the floating wind-wave integrated system shown in the figure is introduced, and the specific steps of the method are as follows:

[0079] S101. Construct a three-dimensional twin space.

[0080] It can be understood by those skilled in the art that the twin space is a mathematical model based on the principle of Lagrangian mechanics. The twin space refers to the mapping relationship between the model space and the actual space, which simulates the performance of the structure in the actual environment and is used to describe and study the motion response and dynamic characteristics of the floating wind and wave integrated system. In the twin space, the wind and wave integrated system is regarded as an element in a finite set, and the performance of the device is studied by defining the relationship between the set and the element and the relationship between the elements. In the embodiment of the present disclosure, the twin space stores the three-dimensional model, gravity, density, environmental phase state and physical control equations of the wind and wave integrated system.

[0081] Specifically, the three-dimensional model exists in the form of a set of parameter points; the environmental phases usually include gas phase and liquid phase; the physical control equations include but are not limited to Laplace equations, Lagrange equations of motion, mass conservation equations, momentum conservation equations and energy conservation equations.

[0082] The parameter point set can be a set in which the relationship between multiple elements is defined, or it can be multiple sets, which may not have a relationship between them; the gas phase and liquid phase include the general ocean environment, that is, the gravitational acceleration is 9.81m / s 2 The density of the gas phase and liquid phase are 1.225kg / m3 and 1025kg / m3 respectively. The density parameters can be adjusted according to the water temperature and salinity of the local marine environment.

[0083] S102. Define environmental conditions, model parameters and static reference points.

[0084] Figure 2 A three-dimensional model diagram of a twin space provided in an embodiment of the present disclosure. In the twin space, specific environmental conditions, a set of model parameter points, preset parameters, and a spatial static reference point need to be defined.

[0085] In the above description, environmental conditions include inflow wind (201) and incident waves (203); the three-dimensional model of the floating wind and wave integrated system includes a mooring system (204), a floating platform (205), a wave energy device (206), an articulated constraint module (207) and a wind turbine (202); the preset parameters include a model solver and a convergence criterion; the model parameter point set includes the number and position of the parameter points and the stored velocity potential information; the static reference point is a reference point used to determine the position and posture of the structure, and is used to analyze the stability and motion characteristics of the structure. The spatial static reference point includes the center of gravity of the floating platform, the center of gravity of the floating wind and wave integrated system, or a point on the sea surface when stationary.

[0086] Specifically, the model solver includes but is not limited to: a generalized minimum residual solver, an LU decomposition solver, a conjugate gradient solver and a Jacobi iteration solver; the articulation constraint method includes but is not limited to a vertical articulation constraint, a rotational articulation constraint and a spherical articulation constraint; the mooring system includes but is not limited to a catenary mooring system and a tensioned mooring system.

[0087] S103. Obtain the near-field flow domain range and velocity potential of the parameter point in the twin space.

[0088] Figure 3 The three-dimensional model parameter points and their near-field flow domain model diagram provided by the embodiment of the present disclosure. These parameter points are located in the twin space (301), and each near-field flow domain (302) can be composed of three to four parameter points (303). The position of the parameter point relative to the twin space static reference point (304) is defined.

[0089] Among them, the topological relationship model for obtaining the parameter point and the nearby parameter points includes a breadth-first search model, a recursive traversal model, and an iterative traversal model. Furthermore, the Dijkstra algorithm is used to search for the nearest two or three parameter points to form the near-field flow domain of the parameter point. Each parameter point stores three velocity potentials: incident potential, radiation potential, and diffraction potential. The diffraction potential and radiation potential can be calculated by the boundary integral method, and the formula is as follows:

[0090]

[0091] Among them, for the diffraction potential For the radiation potential, Γ(x) = v 0j , x represents the location of the fluid particle, x' is the location of the velocity potential, and G(x) is the Green's function, which can be applicable to finite or infinite water depth.

[0092] S104. Calculate the dimensionless coefficient of the frequency domain hydrodynamic load.

[0093] After the velocity potential is obtained, the wave excitation force load is obtained by integrating the incident potential and the diffraction potential; the radiation potential load is obtained by integrating the diffraction potential. The calculation formula is as follows:

[0094]

[0095] in, It is the exciting force of the waves, is the diffraction force of the wave, M is the additional mass, and B is the additional damping; the calculation formulas for the additional mass and damping are as follows:

[0096]

[0097] where Re{Φ R} is the real part of the velocity potential, and Im{Φ R} represents the imaginary part of the velocity potential.

[0098] To calculate the dimensionless coefficient of the frequency domain hydrodynamic load, it is necessary to calculate the surface pressure of the three-dimensional model by the adaptive Simpson integral algorithm. The formula for calculating the surface pressure by the adaptive Simpson integral algorithm in the near-field flow domain of the parameter point is:

[0099]

[0100] Among them, a i1 ,b i1 Defines the left side of the interval, a i2 ,b i2 Defines the right side of the interval, S represents the pressure value interpolation function, p i represents the pressure value, dx represents the interval length, and F is the surface pressure of the model.

[0101] The formula for transforming the pressure acting on the surface into the excitation force acting on the center of gravity of the three-dimensional model through coordinate transformation is:

[0102]

[0103] Among them, sx, sy, sz are scaling factors, r x ,r y ,r z is a unit vector, s θ ,c θ represents sine and cosine, t x ,t y ,t z is the translation distance, x', y', z' are the coordinates of the parameter point, and x, y, z are the coordinate values ​​after transformation.

[0104] After calculating the above hydrodynamic loads, the dimensionless impulse response function is calculated by convolution of the damping coefficient and cosine. The calculation formula is as follows:

[0105]

[0106] Where H is the impulse response function.

[0107] According to the calculated dimensionless impulse response function, the time domain hydrodynamic load can be obtained, and its calculation formula is as follows:

[0108]

[0109] Where η is the wave surface.

[0110] S105. Calculate wind loads, mooring loads and restraint loads.

[0111] Figure 4 A schematic diagram of load calculation for a floating wind-wave integrated system provided in an embodiment of the present disclosure; the system force module (403) of the wind-wave integrated system is used to perform load analysis, and the load analysis includes the above-mentioned wave excitation force and wave radiation force, in addition to static water restoring force load and viscous load. Furthermore, in order to calculate the force of the impeller (401) on the floating wind-wave integrated system, it is necessary to use the blade element theory module (402) to calculate the wind turbine thrust F according to the blade element theory. turb and torque load M turb The formula is as follows:

[0112]

[0113] Among them, V rel is the inflow velocity relative to the blade element, C l ,C d are the lift coefficient and drag coefficient of the blade element, is the sum of the pitch angle and the angle of attack, b L is the blade chord length; rel The inflow velocity V t The superposition formula is:

[0114] Furthermore, in order to improve the accuracy of load calculation, the thrust and torque loads of the wind turbine need to be recalculated using the one-dimensional momentum theory of the wind turbine disk, and iterated with the calculation results of the blade element momentum theory. When the load values ​​calculated by the two methods are less than the error of the preset parameters, or the maximum number of iterations is reached, the wind load calculation is considered to be completed.

[0115] Furthermore, the wind load calculated according to the above steps acts on the center of gravity of the impeller, and needs to be transferred to the center of gravity of the floating platform through load transfer for calculation of response characteristics. The formula for load transfer is as follows:

[0116]

[0117] Wherein, when the subscript is aero, it represents that the load acts on the center of gravity of the floating platform, when the subscript is turb, it represents that the load acts on the center of the impeller, T is the load transfer matrix, r represents the rotation center (407), and g is the center of gravity of the floating wind and wave integrated system.

[0118] Further, the tension catenary equation of the mooring system (405) is as follows:

[0119]

[0120] Where T(z) is the tension of the mooring line, T0 is the horizontal tension of the catenary, z is the vertical height of the catenary, and a is the horizontal stretch length of the catenary.

[0121] Furthermore, the embodiment of the present disclosure also provides a method for calculating the constraint force of a vertical hinge constraint module (404). According to this method, the constraint force of a rotational hinge constraint or a spherical hinge constraint can also be calculated without additional work. The calculation equation of the constraint force is as follows:

[0122]

[0123] Among them, K is the stiffness coefficient matrix, F is the external force on the wind-wave integrated system, and f is the constraint force. According to the geometric center of gravity position of the three-dimensional model and the center of gravity position between the floating platform, the formula for calculating the constraint matrix C is as follows:

[0124]

[0125] Wherein, subscript i represents the coordinates of the geometric center of gravity of the twin space three-dimensional model of the wave energy device, and subscript j represents the coordinates of the hinge constraint point of the twin space three-dimensional model of the floating platform.

[0126] S106. Update the motion speed, acceleration and displacement of the three-dimensional model in combination with the calculation results of the previous time step.

[0127] For the above load calculation, it is understood that each calculation is performed within a single time step, and the motion speed, acceleration and displacement of the three-dimensional model in the twin space should be updated after each calculation. When calculating in each new time step, the physical quantity of the previous time step needs to be considered. Without additional work, the response characteristics of the wind and wave integrated system considering one or more external loads can be calculated according to the formula provided in the present disclosure. The formula is as follows:

[0128]

[0129] Among them, the value range of α is -1 / 3 to 0, and the calculation method of γ is The β calculation method is

[0130] The solution format is calculated by Newton's iteration method, and the specific iteration formula is:

[0131]

[0132] The superscript t+1 represents the first calculation at a new time step, and t represents the convergence result of the previous time step.

[0133] Furthermore, when each static calculation starts, the result of the last quasi-static calculation needs to be considered. The assumptions that need to be made at the first iteration of each static calculation are as follows:

[0134]

[0135] S107. Output the dynamic response of the floating wind and wave integrated system.

[0136] In the iterative solution within each time step, the calculation results should at least include the pressure, mooring tension, incident wave velocity potential function, diffraction wave velocity potential function, radiation wave velocity potential function and displacement of the parameter point. Based on these calculation results, the power characteristics of the wind-wave integrated system can be further derived, including but not limited to the power output of the wind turbine, the power output of the wave energy device, as well as the number of iterations and result errors.

[0137] The dynamic response analysis results of the wind and wave integrated system include the displacement data of the parameter points, force data, the number of cycles within the time step, and the power characteristics of the system. After solving each time step, the calculation results corresponding to the time step and the dynamic response information of the wind and wave integrated system will be obtained. Based on this information, the parameter point information of the collective model in the twin space will be updated, and then the next time step will be solved. This process continues until the end condition of the solution is reached. The dynamic response analysis results can cover the information obtained after solving a single or multiple time steps, or the information after all time steps are solved. The embodiments of the present disclosure are not limited to this.

[0138] Exemplarily, the dimensionless coefficient of the hydrodynamic load obtained in S104 is used to analyze the time domain load of the wind-wave integrated system, specifically including:

[0139] By calculating the convolution of the hydrodynamic radiation damping coefficient of the three-dimensional model and the cosine function, the impulse response function of the time domain model motion is analyzed; the time domain hydrodynamic damping is calculated based on the convolution results of the impulse response function with the angular velocity and linear velocity of the three-dimensional model; the time domain hydrodynamic excitation load is calculated based on the convolution of the impulse response function and the wave height; the added mass is calculated based on the infinite integral of the impulse response function and the sine function, and the displacement data of the three-dimensional model in the twin space is obtained.

[0140] Based on the above embodiments, for the dynamic response analysis of the three-dimensional geometric model in the twin space, the fluid viscosity force F can be given priority. vis The influence of the viscosity can be achieved by introducing a viscosity correction coefficient in different motion directions. The specific implementation method is shown in the following formula:

[0141]

[0142] Among them, K vis is the viscosity correction factor.

[0143] Preferably, the viscosity correction factor may be obtained from a free decay curve of the platform or the wave energy device.

[0144] In addition, the viscosity correction coefficient may also be determined according to the percentage of critical damping of the motion response calculated in the frequency domain, and the present disclosure does not specifically limit the value of this percentage.

[0145] In some embodiments, the dynamic characteristics of the energy conversion system of the wave energy device can be taken into account by adding additional damping and stiffness. The following is a specific calculation method for the dynamic characteristics of the wave energy device:

[0146]

[0147] Among them, kpt oAdd stiffness factor for wave energy conversion system, bpt o is the additional damping coefficient of the wave energy conversion system. The wave force includes a rigid term and a viscous term, and the sum of the two is the dynamic characteristic F of the wave energy device. PTO .

[0148] Specifically, in some embodiments, the method for analyzing the power characteristics of the wind-wave integrated system is:

[0149] P wind =M turb ·Ω

[0150]

[0151] Where M turb Power output of wind turbine, F hydro is the primary power of the wave energy device, Ω is the impeller speed, f exc-WEC is the wave excitation force on the wave energy device, is the movement speed of the wave energy device.

[0152] Figure 5 The schematic diagram of the structure of the floating wind-wave integrated system dynamic response analysis device provided by the embodiment of the present disclosure is shown. The device can execute the processing flow described in the embodiment of the dynamic response analysis method, and specifically includes the following components:

[0153] Twin module (502): used to construct a physical twin space, establish a three-dimensional twin model, and define the environment and model physical parameters and parameter point information.

[0154] Frequency domain hydrodynamic calculation module (503): used to calculate the hydrodynamic pressure of each parameter point and generate dimensionless hydrodynamic coefficients of the three-dimensional model.

[0155] The articulation constraint module (504) calculates the articulation constraint matrix according to the relative position between the wave energy device and the floating platform.

[0156] External load calculation module (505): calculates the six-degree-of-freedom forces and moments of the impeller and mooring system on the platform.

[0157] Update module (507): calculates the dynamic load and motion response of the model in each time step and updates the acceleration, velocity and displacement information between time steps.

[0158] Optionally, the external load calculation module (505) may derive a module for judging the convergence of calculation (506), and judge whether the calculation has reached the convergence requirement according to the convergence criterion after each time step is completed. If the convergence criterion or the maximum number of iterations is reached, the result is output to the update module.

[0159] In some instances, the parameters are inputted by starting the analysis (501) module, and the analysis is performed by the analysis device (509), and finally the output results (508) are obtained. These output results include at least the pressure of the parameter point, the mooring tension, the incident wave velocity potential function, the diffraction wave velocity potential function, the radiation wave velocity potential function and the displacement data of the parameter point. In addition, the translation distance, translation speed, rotation angle, angular velocity of the three-dimensional floating platform model in the twin space, and the displacement distance and displacement speed of the wave energy device are also included. In addition, the wave excitation force, impeller aerodynamic thrust and torque of the wind and wave integrated system are also included. Based on these calculation results, the power characteristics of the wind and wave integrated system can be further derived, including the power output of the wind turbine, the power output of the wave energy device, and the number of iterations and the result error.

[0160] Figure 6 The schematic diagram of the structure of the electronic device provided by the embodiment of the present disclosure is shown. The electronic device can execute the processing flow described in the embodiment of the method for analyzing the dynamic response of the floating wind-wave integrated system. Specifically, it includes the following components:

[0161] Memory (602): used to store data and computer programs.

[0162] Processor (604): performs computation and control tasks.

[0163] Computer program and communication interface (603): A computer program stored in the memory (602), configured to execute the dynamic response analysis method described above by the processor (604).

[0164] These components together constitute an electronic device (601) for executing a dynamic response analysis method for a wind-wave integrated system.

[0165] In addition, the embodiment of the present disclosure also includes a computer storage medium on which a computer program is stored. The program is executed on a processor to implement a dynamic response analysis method for a floating wind and wave integrated system.

[0166] In addition, a computer program product is provided, which includes a computer program or instructions executable on a processor, so as to implement the above-mentioned method for analyzing the dynamic response of the floating wind-wave integrated system.

[0167] In summary, the floating wind-wave integrated system provided by the present application adopts a fully coupled integrated design method for the floating wind-wave integrated system, and integrates wind energy and wave energy devices on the same platform, which has multiple advantages. This integrated design can steadily increase power production, reduce costs and rated power ratios, share engineering operation and maintenance costs, and achieve active dynamic interaction. The optimization design method of the fully coupled wind-wave integrated system adopted in the present application will not have certain redundancy problems such as the currently commonly used decoupled design method, and can improve the fully coupled simulation technology of the wind-wave integrated system.

[0168] It should be noted that the present application can be implemented in software and / or a combination of software and hardware, for example, can be implemented using an application specific integrated circuit (ASIC), a general purpose computer or any other similar hardware device. In one embodiment, the software program of the present application can be executed by a processor to implement the steps or functions described above. Similarly, the software program of the present application (including relevant data structures) can be stored in a computer-readable recording medium, for example, a RAM memory, a magnetic or optical drive or a floppy disk and similar devices. In addition, some steps or functions of the present application can be implemented using hardware, for example, as a circuit that cooperates with a processor to perform each step or function.

[0169] Computer storage media includes permanent and non-permanent, removable and non-removable media that can be implemented by any method or technology to store information. Information can be computer-readable instructions, data structures, program modules or other data. Examples of computer storage media include, but are not limited to, phase change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technology, compact disk read-only memory (CD-ROM), digital versatile disk (DVD) or other optical storage, magnetic cassettes, magnetic disk storage or other magnetic storage devices or any other non-transmission media that can be used to store information that can be accessed by a computing device. As defined herein, computer-readable media does not include non-transitory media such as modulated data signals and carrier waves.

[0170] In addition, the computer program product provided by the present application, such as computer program instructions, when executed by a computer, can call or provide the method and / or technical solution according to the present application through the operation of the computer. The program instructions for calling the method of the present application may be stored in a fixed or removable recording medium, and / or transmitted through a data stream in a broadcast or other signal-bearing medium, and / or stored in a working memory of a computer device that runs according to the program instructions. Here, according to an embodiment of the present application, a device is included, the device including a memory for storing computer program instructions and a processor for executing program instructions, wherein, when the computer program instructions are executed by the processor, the device is triggered to run the method and / or technical solution based on the aforementioned multiple embodiments according to the present application.

[0171] The above is only a specific embodiment of the present disclosure, which is intended to help those skilled in the art understand or implement the present disclosure. It is obvious to the technician to make various modifications to these embodiments. The general principles defined herein can be applied to other embodiments without departing from the spirit or scope of the present disclosure. Therefore, the present disclosure is not limited to these embodiments described herein, but should cover the widest range that conforms to the principles and novel features of the present disclosure.

Claims

1. A method for analyzing dynamic response of a floating wind-wave integrated system, characterized in that: The method comprises: S101, constructing a three-dimensional twin space, wherein the three-dimensional twin space is used to store a three-dimensional model, gravity, density, environmental phase state, and physical control equations of a floating wind-wave integrated system; wherein the three-dimensional model includes a mooring system, a floating platform, a wave energy device, an articulated constraint module, and a wind turbine generator set, and the three-dimensional model exists in the form of a parameter point set; S102, defining environmental conditions, a set of model parameter points, preset parameters and a spatial static reference point in the twin space; wherein the environmental conditions include inflow wind and incident waves; the set of model parameter points includes the number, position and stored velocity potential information of parameter points; the preset parameters include a model solver and a convergence criterion; the spatial static reference point is a reference point for determining the position and posture of a structure, and is used to analyze the stability and motion characteristics of the structure, and the spatial static reference point includes the center of gravity position of a floating platform or a point on a wave surface; S103, obtaining the near-field flow domain range and velocity potential of the parameter point in the twin space; wherein the near-field flow domain range includes more than three parameter points, each parameter point stores velocity potential, and the velocity potential includes incident potential, diffraction potential and radiation potential; wherein the diffraction potential and radiation potential are calculated by the boundary integral method, and the formula is as follows: Among them, when the velocity potential is the diffraction potential, When the velocity potential is a radiation potential, Γ(x) = v 0j , σ(x) is the diffraction source, v 0j is the normal vector, SB represents the wet surface, x represents the location of the fluid particle, x' is the location of the velocity potential, and G(x) is the Green's function; S104. Calculate the dimensionless coefficient of hydrodynamic load in frequency domain; S105. Calculate wind loads, mooring loads and restraint loads; S106, updating the motion speed, acceleration and displacement of the three-dimensional model in combination with the calculation result of the previous time step; S107. Outputting the dynamic response analysis results of the floating wind and wave integrated system.

2. The method according to claim 1, characterized in that The S104 further includes: after obtaining the velocity potential, obtaining the wave excitation force load by integrating the incident potential and the diffraction potential; obtaining the radiation potential load by integrating the diffraction potential, and the wave excitation force and diffraction force The calculation formula is as follows: where ρ is the density, is the incident potential, is the radiation potential, is the diffraction potential, ω is the circular frequency, M is the additional mass, B is the additional damping, and the calculation formulas of the additional mass and damping are as follows: where Re{Φ R } is the real part of the velocity potential, and Im{Φ R } represents the imaginary part of velocity potential; After calculating the above hydrodynamic loads, the dimensionless impulse response function H(t) is calculated by convolution of the damping coefficient and cosine. The calculation formula is as follows: According to the calculated dimensionless impulse response function, the time domain hydrodynamic load is obtained, and its calculation formula is as follows: Where η is the wave surface.

3. The method according to claim 1, characterized in that The wind load calculation of the integrated system in S105 further includes calculating the wind turbine thrust F using the blade element method turb and torque load M turb , the formula is as follows: Among them, V rel is the inflow velocity relative to the blade element, C l ,C d are the lift coefficient and drag coefficient of the blade element, is the sum of the pitch angle and the angle of attack, b L is the blade chord length; rel The inflow velocity V t The superposition formula is: The wind load calculation further includes recalculating the thrust and torque loads of the wind turbine using the one-dimensional momentum theory of the wind turbine disk, and iterating with the calculation results of the blade element momentum theory, and completing the wind load calculation when the load value obtained by the iterative calculation is less than the error of the preset parameters or reaches the maximum number of iterations; When the wind load acts on the center of gravity of the impeller, the wind load needs to be transferred to the center of gravity of the floating platform through load transfer for calculation of response characteristics. The formula for wind load transfer is as follows: Among them, when the subscript is aero, it means that the load acts on the center of gravity of the floating platform, when the subscript is turb, it means that the load acts on the center of the impeller, T is the load transfer matrix, r represents the center of the rotation axis of the impeller, and g is the center of gravity of the floating wind and wave integrated system.

4. The method according to claim 2, characterized in that: The S105 further includes: the calculation formula of the tension catenary of the mooring load is as follows: Where T(z) is the tension of the mooring line, T0 is the horizontal tension of the catenary, z is the vertical height of the catenary, and a is the horizontal stretch length of the catenary; The constraint force calculation formula of the constraint load is as follows: Among them, K is the stiffness coefficient matrix, F is the external force on the wind-wave integrated system, and f is the constraint force. According to the geometric center of gravity position of the three-dimensional model and the center of gravity position between the floating platform, the formula for calculating the constraint matrix C is as follows: Wherein, subscript i represents the coordinates of the geometric center of gravity of the twin space three-dimensional model of the wave energy device, and subscript j represents the coordinates of the hinge constraint point of the twin space three-dimensional model of the floating platform.

5. The method according to claim 4, characterized in that The step S106 further includes: updating the dynamic response information of each geometric parameter point for the load physical information obtained by each quasi-static solution, including: the Euler angle, angular velocity, angular acceleration of the parameter point, and the translation distance, translation velocity and translation acceleration relative to the reference point; In each quasi-static calculation, it is necessary to refer to the previous calculation result; the method of referring to the previous calculation result is to construct the equation using the Hilbert-Huang-Taylor format: Among them, the value range of α is -1 / 3 to 0, and the calculation method of γ is The β calculation method is The solution format is calculated by Newton's iteration method, and the specific iteration formula is: The superscript t+1 represents the first calculation at a new time step, and t represents the convergence result of the previous time step.

6. The method according to claim 1, characterized in that The S107 further includes: after solving each time step, obtaining the calculation result corresponding to the time step and the dynamic response information of the floating wind and wave integrated system, updating the parameter point information of the collective model in the twin space according to this information, and then solving the next time step; this process continues until the end condition of the solution is reached; the analysis result of the dynamic response covers the information obtained after solving a single or multiple time steps, or the information after all time steps are solved; the dynamic response analysis result includes the displacement data of the parameter point, the force data, the number of cycles in the time step and the power characteristics of the system.

7. The method according to claim 1, characterized in that Analyzing the time domain load of the floating wind and wave integrated system based on the dimensionless coefficient of the hydrodynamic load obtained in S104 specifically includes: By calculating the convolution of the hydrodynamic radiation damping coefficient of the three-dimensional model and the cosine function, the impulse response function of the time domain model motion is analyzed; Calculating the hydrodynamic damping in the time domain based on the convolution result of the impulse response function and the velocity of the three-dimensional model; Calculating the time-domain hydrodynamic excitation load based on the convolution of the impulse response function and the wave height; The additional mass is calculated based on the infinite integral of the impulse response function and the sine function to obtain the displacement data of the three-dimensional model in the twin space.

8. The method according to claim 1, characterized in that The dynamic response analysis includes the fluid viscosity force F vis and F PTO The viscosity effect is achieved by introducing a viscosity correction coefficient in different motion directions. The dynamic characteristics of the energy conversion system of the wave energy device are analyzed by adding additional stiffness and damping. The specific formula is as follows: Among them, K vis is a viscosity correction factor, which is obtained from a free decay curve of the platform or the wave energy device or determined according to a percentage of critical damping of the motion response calculated in the frequency domain; Among them, k pto is the additional stiffness coefficient of the wave energy conversion system, b pto is the additional damping coefficient of the wave energy conversion system; the wave force includes a rigid term and a viscous term, the sum of which is the dynamic characteristic F of the wave energy device PTO .

9. A floating wind-wave integrated system dynamic response analysis device, characterized in that: The device is used to execute the floating wind-wave integrated system dynamic response analysis method according to any one of claims 1 to 8, and the device comprises: Twin module: used to construct physical twin space, establish three-dimensional twin model, define environment and model physical parameters and parameter point information; Frequency domain hydrodynamic calculation module: used to calculate the hydrodynamic pressure at each parameter point and generate the dimensionless hydrodynamic coefficient of the three-dimensional model; Articulation constraint module: calculates the articulation constraint matrix according to the relative position between the wave energy device and the floating platform; External load calculation module: calculates the six-degree-of-freedom forces and moments of the impeller and mooring system on the platform; Update Module: Calculates the dynamic loads and motion response of the model at each time step and updates the acceleration, velocity, and displacement information between time steps.

10. An electronic device for dynamic response analysis of a floating wind and wave integrated system, comprising a memory, a processor and a computer program; the memory is used to store data and information required by the program; the processor is used to perform various calculations and operations; the computer program is stored in the memory and when executed by the processor can implement the dynamic response analysis method of a floating wind and wave integrated system according to any one of claims 1 to 8.

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