Method, device and equipment for analyzing dynamic response of floating wind-wave integrated system

Abstract

The application provides a floating wind and wave integrated system dynamic response analysis method, device and equipment, relates to the wind power generation technical field, and the method comprises the following steps: a three-dimensional twin space is constructed, and environment conditions, model parameters and static reference points in the twin space are defined; the near-field flow range and velocity potential of a parameter point in the twin space are obtained; frequency domain hydrodynamic load non-dimensional coefficients are calculated; wind load, mooring load and constraint load are calculated; the three-dimensional model motion velocity, acceleration and displacement are updated in combination with the calculation results of the previous time step; and the dynamic response analysis result of the floating wind and wave integrated system is output. The application adopts a comprehensive coupling floating wind and wave integrated system integrated design method, the integrated design can stably increase power generation, reduce the cost and rated power ratio, share engineering operation and maintenance costs, and can realize active dynamic interaction.

Description

TECHNICAL FIELD

[0001] The application belongs to the technical field of wind power generation, in particular to the technical field of power response analysis of a floating wind turbine integrated wave energy device, and specifically relates to a floating wind wave integrated system power response analysis method, device and equipment. BACKGROUND

[0002] Compared with land and near-shore shallow water areas, the far-sea wind energy resource has the characteristics of more stable, more abundant and better quality. However, the 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 become the dominant direction of future development. In addition to wind energy, the ocean also contains solar energy, wave energy, tidal current energy and other energy. Therefore, the concept of offshore multi-energy complementary system has been proposed and started to develop. The multi-energy complementary system has multiple advantages: the mixed system shares the platform, mooring system and other power generation facilities, reduces the construction cost, improves the stability of power generation, makes up for the intermittency of single power generation, and increases the energy capture capacity of unit space. Wave energy is abundant and easy to develop, and is one of the energy sources with relatively mature development and utilization technology, and has obvious complementary advantages with wind energy utilization, so the development of wind wave complementary power generation technology is relatively rapid.

[0003] The floating wind turbine integrated system with wave energy device has a complex structure, mainly including a floating foundation, a wind turbine, a wave energy device and a mooring system. These systems are placed in a complex marine environment and are subjected to the combined action of wind load and wave load, and the structures interact with each other, which makes it very difficult to study the system dynamics by using numerical methods. The traditional analysis method uses the method of aerodynamic, hydrodynamic and dynamic constraints to solve each part independently, which leads to limitations in the coupled dynamic response analysis of the integrated system.

[0004] Therefore, how to provide a coupled floating wind wave integrated system power response analysis method to solve the limitation has become a problem to be solved in the field. SUMMARY

[0005] To solve the above technical problems, the present disclosure provides a floating wind wave integrated system power response analysis method, device and equipment.

[0006] To achieve the above purpose, some embodiments of the present application provide a floating wind wave integrated system power response analysis method, which comprises:

[0007] S101, a three-dimensional twin space is constructed, the three-dimensional twin space is used for storing a three-dimensional model, gravity, density, environmental phase state and physical control equation of a floating wind and wave integrated system; wherein the three-dimensional model comprises a mooring system, a floating platform, a wave energy device, a hinged constraint module and a wind turbine, and the three-dimensional model exists in the form of a parameter point set;

[0008] S102, an environmental condition, a model parameter point set, a preset parameter and a space static reference point are defined in the twin space; wherein the environmental condition comprises an inflow wind and an incident wave; the model parameter point set comprises a number, a position of a parameter point and stored velocity potential information; the preset parameter comprises a model solver and a convergence criterion; the space static reference point is a reference point for determining a position and an attitude of a structure, for analyzing stability and motion characteristics of the structure, and the space static reference point comprises a center of gravity position of the floating platform or a point on a wave surface;

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

[0010]

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

[0012] S104, a frequency domain hydrodynamic load dimensionless coefficient is calculated;

[0013] S105, wind load, mooring load and constraint load are calculated;

[0014] S106, three-dimensional model motion velocity, acceleration and displacement are updated in combination with a calculation result of a previous time step;

[0015] S107, a dynamic response analysis result of the floating wind and wave integrated system is output.

[0016] Further, the S104 further comprises: after the velocity potential is obtained, wave excitation force load is obtained by integration of the incident potential and the diffraction potential; radiation potential load is obtained by integration of the diffraction potential, and the wave excitation force and the diffraction force The calculation formula is as follows:

[0017]

[0018] Wherein, 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, and B is the additional damping, and the calculation formula of the additional mass and damping is as follows:

[0019]

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

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

[0022]

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

[0024]

[0025] Wherein, η is the wave surface.

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

[0027]

[0028] Wherein, V rel is the incoming flow 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 attack angle, b L is the blade chord length; the V rel is formed by superimposing the incoming flow wind speed V t and the rotational speed of the rotation center Ωr, and the superposition formula is

[0029] The wind load calculation further comprises recalculating the thrust and torque load of the wind turbine by using one-dimensional momentum theory of the wind turbine disc surface, and iterating with the calculation result of the blade element momentum theory, and when the load value obtained by the iteration calculation is less than the error of the preset parameter, or the maximum iteration number is reached, the wind load calculation is completed;

[0030] Wherein, when the wind load acts on the center of gravity of the impeller, the wind load needs to be transmitted to the center of gravity of the floating platform through load transmission for the calculation of the response characteristics, and the formula of the wind load transmission is as follows:

[0031]

[0032] Wherein, when the wind load acts on the center of gravity of the impeller, the wind load needs to be transmitted to the center of gravity of the floating platform through load transmission for the calculation of the response characteristics, and the formula of the wind load transmission is as follows:

[0033] Further, the S105 further comprises that the tension catenary equation of the mooring load is as follows:

[0034]

[0035] Wherein, 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 stretching length of the catenary.

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

[0037]

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

[0039]

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

[0041] Further, the S106 further comprises: updating the dynamic response information of each geometric parameter point for the load physical information obtained by each quasi-static solution, including: parameter point Euler angle, angular velocity, angular acceleration, and 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 using the Newton 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 results 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 based on this information, and then solving the next time step; this process continues until the end condition of the solution is reached; the analysis results of the dynamic response cover the information obtained after solving a single or multiple time steps, or the information after all time steps are solved; the dynamic response analysis results include 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] Furthermore, 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 influence of viscosity is realized by introducing a viscous correction coefficient in different directions of motion, and the dynamic characteristics of the energy conversion system of the wave energy device are analyzed by adding additional stiffness and damping, with the specific formula as follows:

[0055]

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

[0057]

[0058] wherein k PTO is an additional stiffness coefficient of the wave energy conversion system, and b PTO is an additional damping coefficient of the wave energy conversion system; the wave force includes a stiffness term and a viscous term, and the sum of the two is the dynamic characteristic F PTO of the wave energy device.

[0059] In another aspect, the application also provides a floating wind-wave integrated system dynamic response analysis device, which is used to execute the floating wind-wave integrated system dynamic response analysis method described above, and the device comprises:

[0060] Twin module: used for constructing a physical twin space, establishing a three-dimensional twin model, defining environmental and model physical parameters and parameter point information;

[0061] Frequency domain hydrodynamic calculation module: used for calculating the hydrodynamic pressure of each parameter point and generating the dimensionless hydrodynamic force coefficient of the three-dimensional model;

[0062] Hinged constraint module: used for calculating the hinged constraint matrix according to the relative position between the wave energy device and the floating platform;

[0063] External load calculation module: used for calculating the six-degree-of-freedom force and moment of the platform caused by the impeller and the mooring system;

[0064] Updating module: used for calculating the dynamic load and motion response of the model in each time step and updating the acceleration, velocity and displacement information between time steps.

[0065] The application also provides a floating wind-wave integrated system dynamic response analysis electronic device, which comprises a memory, a processor and a computer program; the memory is used to store data and program required information; the processor is used to execute various calculations and operations; and the computer program is stored in the memory and can realize the floating wind-wave integrated system dynamic response analysis method described above when executed by the processor.

[0066] Compared with the prior art, the floating wind-wave integrated system provided by the application has multiple advantages of integrating wind energy and wave energy devices into the same platform, and compared with the commonly used decoupling design method, the integrated design can stably increase power production, reduce cost and rated power ratio, share engineering operation and maintenance costs, and actively interact dynamically. The wind-wave integrated system of the application adopts a fully coupled floating wind-wave integrated system integrated design method, and the fully coupled optimization design does not have redundancy and can perfect the full coupling simulation technology of the wind-wave integrated system. BRIEF DESCRIPTION OF DRAWINGS

[0067] Figure 1 A floating wind-wave integrated system power response analysis flowchart is provided for the embodiments of the present disclosure.

[0068] Figure 2 A twin space three-dimensional model diagram is provided for the embodiments of the present disclosure.

[0069] Figure 3 A three-dimensional model parameter point and its near-field basin diagram is provided for the embodiments of the present disclosure.

[0070] Figure 4 A floating wind-wave integrated system load calculation schematic diagram is provided for the embodiments of the present disclosure.

[0071] Figure 5 A structural schematic diagram of a floating wind-wave integrated system power response analysis device is provided for the embodiments of the present disclosure.

[0072] Figure 6 A structural schematic diagram of a floating wind-wave integrated system power response analysis electronic device is provided for the embodiments of the present disclosure. DETAILED DESCRIPTION

[0073] In order to more clearly understand the purposes, features and advantages of the present disclosure, the technical solutions in the embodiments of the present disclosure will be described clearly and completely below with reference to the drawings in the embodiments of the present disclosure. It should be noted that the embodiments of the present disclosure and their features can be combined with each other without conflict. In the following description, many specific details are provided in order to fully understand the present disclosure, but the present disclosure can be implemented in other ways which can be different from the following description. Obviously, the embodiments in the specification only represent part of the embodiments of the present disclosure, rather than all the embodiments of the present disclosure.

[0074] The offshore floating wind power system has a high cost, but integrating wind energy and wave energy devices into the same platform has multiple advantages. Such integrated design can stably increase power production, reduce cost and rated power ratio, share engineering operation and maintenance costs, and actively interact dynamically. For example, the wave energy device can be coupled with the floating wind turbine as an additional damping system to ensure smaller overall movement amplitude.

[0075] With the deepening of related research, the optimal design of the wind wave integrated system becomes crucial. This includes optimizing the stress conditions of the floating platform and the wave energy device, the power output of the wind turbine and the wave energy device, and the ultimate tension of the mooring system, etc. However, the current design method is usually decoupled, that is, the pre-calculated load of the wind turbine is transmitted to the floating platform, or the load of the hinged constraint is transmitted to the floating platform. The lack of a comprehensive coupling of the integrated design method of the floating wind wave integrated system leads to a certain redundancy in the optimal design.

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

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

[0078] Next, the floating wind wave integrated system dynamic response analysis method shown in the above table will be introduced. The specific steps of the method are as follows: Figure 1

[0079] S101, construct a three-dimensional twin space.

[0080] Those skilled in the art can understand that the twin space is a mathematical model based on the Lagrangian mechanics principle, and the twin space refers to the mapping relationship between the model space and the actual space, simulating the performance of the structure in the actual environment, and used to describe and study the motion response and dynamic characteristics of the floating wind wave integrated system. In the twin space, the wind 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 equation of the wind wave integrated system.

[0081] Specifically, the three-dimensional model exists in the form of a parameter point set; the environmental phase state usually includes gas phase and liquid phase; the physical control equation includes but is not limited to Laplace equation, Lagrange motion equation, mass conservation equation, momentum conservation equation and energy conservation equation.

[0082] ​The parameter point set can be a set in which the relationship between multiple elements is defined, or multiple sets in which there can be no relationship between the sets; the gas phase and the liquid phase include a general marine environment, i.e., the gravitational acceleration is 9.81 m / s 2 , the densities of the gas phase and the liquid phase are 1.225 kg / m3 and 1025 kg / m3 respectively, and 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 twin space three-dimensional model diagram is provided for the embodiments of the present disclosure. In the twin space, specific environmental conditions, model parameter point sets, preset parameters and spatial static reference points need to be defined.

[0085] In the above description, the environmental conditions include inflow wind (201) and incident wave (203); the three-dimensional model of the floating wind and wave integrated system includes mooring system (204), floating platform (205), wave energy device (206), hinged constraint module (207) and wind turbine generator (202); the preset parameters include model solver and convergence criterion; the model parameter point set includes the number, position and stored velocity potential information of the parameter points; the static reference point is a reference point for determining the position and attitude of the structure, for analyzing the stability and motion characteristics of the structure, and 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: generalized least residual solver, LU decomposition solver, conjugate gradient solver and Jacobian iteration solver; the hinged constraint mode includes but is not limited to vertical hinged constraint, rotational hinged constraint and spherical hinged constraint; the mooring system includes but is not limited to catenary mooring system, tension mooring system.

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

[0088] Figure 3 A three-dimensional model parameter point and its near-field flow domain model diagram are provided for the embodiments 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 each parameter point relative to the static reference point (304) of the twin space is defined.

[0089] The topological relation model of the parameter point and the nearby parameter points includes a breadth-first search model, a recursive traversal model and an iterative traversal model. Further, two or three parameter points closest to the parameter point are searched by using the Dijkstra algorithm to form a near-field basin of the parameter point. The parameter point stores three kinds of velocity potentials, i.e., an incident potential, a radiation potential and a diffraction potential. The diffraction potential and the radiation potential can be calculated by using a boundary integral method, and the formulae are as follows:

[0090]

[0091] For the diffraction potential, Γ(x) = v For the radiation potential, Γ(x) = v 0j x represents the position of a fluid particle, x' represents the position of a velocity potential, and G(x) is a Green function which can be applied to a finite water depth or an infinite water depth.

[0092] S104, calculating a dimensionless coefficient of the frequency-domain hydrodynamic load.

[0093] After the velocity potential is obtained, the exciting force load of the wave is obtained by integrating the incident potential and the diffraction potential, and the radiation potential load is obtained by integrating the diffraction potential, and the calculation formulae are as follows:

[0094]

[0095] wherein, is the exciting force of the wave, is the diffraction force of the wave, M is the added mass, and B is the added damping; wherein the calculation formulae of the added mass and the damping are as follows:

[0096]

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

[0098] In order to calculate the surface pressure of the three-dimensional model by using the adaptive Simpson integral algorithm, the dimensionless coefficient of the frequency-domain hydrodynamic load is calculated, and the formula for calculating the surface pressure in the near-field basin of the parameter point by using the adaptive Simpson integral algorithm is as follows:

[0099]

[0100] wherein a i1 and b i1 define the left side of the interval, a i2 and b i2 define the right side of the interval, S represents a 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 as follows:

[0102]

[0103] wherein sx, sy, and sz are scaling factors, r x ,r y ,r z are unit vectors, s θ ,c θ denote sine and cosine, t x ,t y , and t z are translation distances, x', y', and z' are coordinates of the parameter point, and x, y, and z are coordinate values after transformation.

[0104] After the above hydrodynamic load is calculated, the dimensionless impulse response function is calculated through convolution of the damping coefficient and the cosine, and the calculation formula is as follows:

[0105]

[0106] wherein H is the impulse response function.

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

[0108]

[0109] wherein η is the wave surface.

[0110] S105, calculate the wind load, mooring load, and constraint load.

[0111] Figure 4 A load calculation schematic diagram of a floating wind and wave integrated system is provided in the embodiments of the present disclosure; a system force module (403) of the wind and wave integrated system is used for load analysis, and the load analysis includes the wave excitation force and the wave radiation force described above, in addition to the hydrostatic restoring force load and the viscous load. Furthermore, in order to calculate the force of the impeller (401) on the floating wind and wave integrated system, the blade element theory module (402) needs to be used, and the formula for calculating the thrust F turb and the torque load M turb of the wind turbine according to the blade element theory is as follows:

[0112]

[0113] wherein V rel is the inflow velocity relative to the blade element, C l , and C d are the lift coefficient and the drag coefficient of the blade element. is the sum of the pitch angle and the attack angle, b L is the blade chord length; the V rel is formed by superimposing the incoming wind speed V t and the rotational speed of the rotation center Ωr, and the superimposition formula is

[0114] Further, in order to improve the accuracy of the 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 disc surface, and the calculation results of the blade element momentum theory are iterated. 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, it is considered that the wind load calculation is completed.

[0115] Further, the wind load acting on the center of gravity of the impeller calculated according to the above steps needs to be transmitted to the center of gravity of the floating platform through load transmission for the calculation of the response characteristics. The formula of the load transmission 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 transmission 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] Wherein, T(z) is the tension of the mooring line, T0 is the catenary horizontal tension, z is the vertical height of the catenary, and a is the horizontal stretching length of the catenary.

[0121] Further, the disclosure embodiment also provides a constraint force calculation method of the vertical hinged constraint module (404). According to the method, the constraint force of the rotary hinged constraint or the spherical hinged constraint can also be calculated without additional work. The calculation equation of the constraint force is as follows:

[0122]

[0123] Wherein, K is the stiffness coefficient matrix, F is the external force received by the wind and wave integrated system, and f is the constraint force; according to the geometric center position of the three-dimensional model and the center position between the floating platform, the formula for calculating the constraint matrix C is as follows:

[0124]

[0125] where subscript i represents the coordinate of the geometric center of the twin space three-dimensional model of the wave energy device, and subscript j represents the coordinate of the hinged constraint point of the twin space three-dimensional model of the floating platform.

[0126] S106, update the motion velocity, acceleration and displacement of the three-dimensional model in combination with the calculation result of the previous time step.

[0127] For the above load calculation, it is understood that each calculation is performed in a single time step, and the motion velocity, 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 quantities of the previous time step need to be considered. Without additional work, the formula provided by the present disclosure can be used to consider the calculation of the response characteristics of the wind-wave integrated system with one or more external loads. The formula is as follows:

[0128]

[0129] where the value range of a is -1 / 3 to 0, and the calculation method of g is The calculation method of b is

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

[0131]

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

[0133] Further, when each static calculation starts, the result of the previous quasi-static calculation needs to be considered, and the assumptions that need to be made in the first iteration of each static calculation are as follows:

[0134]

[0135] S107, output the dynamic response of the floating wind-wave integrated system.

[0136] In the iterative solution in each time step, the calculation results should at least include the pressure of the parameter point, the mooring tension, the incident wave velocity potential function, the diffracted wave velocity potential function, the radiated wave velocity potential function, and the 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, and the number of iterations and the result error.

[0137] The dynamic response analysis result of the wind-wave integrated system includes displacement data of the parameter point, force data, cycle number in a time step, and power characteristics of the system, etc. After solving at each time step, the calculation result corresponding to the time step and the dynamic response information of the wind-wave integrated system are obtained. According to the information, the parameter point information of the set model in the twin space is updated, and then the solving of the next time step is performed. This process continues until the end condition of the solving is reached. The dynamic response analysis result can cover the information obtained after the solving of a single or multiple time steps, or the information after the solving of all time steps. The embodiments of the present disclosure do not limit this.

[0138] For example, the hydrodynamic load dimensionless coefficient obtained by 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 hydrodynamic damping in the time domain is calculated based on the convolution result of the impulse response function and 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 additional 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] On the basis of the above-mentioned embodiments, for the dynamic response analysis of the three-dimensional geometric model in the twin space, the influence of the fluid viscous force F vis can be considered first, which is realized by introducing viscous correction coefficients in different motion directions, and the specific implementation is shown in the following formula:

[0141]

[0142] Wherein, K vis is the viscous correction coefficient.

[0143] Preferably, the viscous correction coefficient can be obtained from the free decay curve of the platform or the wave energy device.

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

[0145] In some embodiments, the dynamics characteristics of the energy conversion system of the wave energy device can be considered by increasing additional damping and stiffness. The specific calculation method of the dynamics characteristics of the wave energy device is as follows:

[0146]

[0147] Wherein, k PTOAdding stiffness coefficient to wave energy conversion system PTO Adding damping coefficient to wave energy conversion system. The wave force contains a stiffness term and a viscous term, both of which are summed to the wave energy device dynamics F PTO .

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

[0149] P wind = M turb ·Ω

[0150]

[0151] Where P is the power output of the wind turbine, F turb is the first-order power of the wave energy device, Ω is the impeller speed, and f hydro is the wave excitation force on the wave energy device, exc-WEC is the wave excitation force on the wave energy device, is the motion speed of the wave energy device.

[0152] Figure 5 A structural schematic diagram of a dynamic response analysis device of a floating wave energy integrated system is shown. The device can execute the processing flow described in the dynamic response analysis method embodiment, and specifically includes the following components:

[0153] Twin module (502): used to build a physical twin space, establish a three-dimensional twin model, and define environmental 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] Hinged constraint module (504): calculates the hinged 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 force and moment of the impeller and mooring system on the platform.

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

[0158] Optionally, the external load calculation module (505) can derive a convergence judgment calculation module (506) that judges whether the calculation has reached the convergence requirement according to the convergence criteria after each time step is completed. If the convergence criteria or the maximum number of iterations is reached, the result is output to the update module.

[0159] In some examples, the input parameters are analyzed by starting the analysis module (501), 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, it also includes the translation distance, the translation speed, the rotation angle, the angular velocity of the three-dimensional floating platform model in the twin space, and the displacement distance and the displacement speed of the wave energy device. In addition, it also includes the wave excitation force of the wind wave integrated system, the aerodynamic thrust and torque of the impeller, and other data. Based on these calculation results, the power characteristics of the wind 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 iteration number and result error.

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

[0161] Memory (602): for storing data and computer programs.

[0162] Processor (604): for performing calculations and control tasks.

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

[0164] These components collectively constitute the electronic device (601) for executing the wind wave integrated system dynamic response analysis method.

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

[0166] In addition, a computer program product is also provided, which includes a computer program or instructions that can be executed on a processor, thereby implementing the above-mentioned floating wind wave integrated system dynamic response analysis method.

[0167] In summary, the floating wind-wave integrated system provided in this application utilizes a fully coupled integrated design approach for floating wind-wave integrated systems, integrating wind and wave energy devices onto the same platform. This integrated design offers multiple advantages, including steadily increasing power production, reducing costs and rated power ratios, sharing project operation and maintenance costs, and enabling positive dynamic interaction. The optimized design approach for the fully coupled wind-wave integrated system employed in this application eliminates the redundancy inherent in currently employed decoupled design approaches and improves the fully coupled simulation technology for wind-wave integrated systems.

[0168] It should be noted that the 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 application can be executed by a processor to realize the steps or functions described above. Similarly, the software program of the 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 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 disc read-only memory (CD-ROM), digital versatile disc (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, for example, 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 calling the method of the present application can 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 the working memory of the computer device running according to the program instructions. Here, according to an embodiment of the present application, the device includes 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 foregoing according to the plurality of embodiments of the present application.

[0171] The above description is merely a specific implementation of the present disclosure, and is intended to help those skilled in the art to understand or implement the present disclosure. Various modifications to these implementations will be apparent to those skilled in the art. The general principles defined herein can be applied to other implementations without departing from the spirit or scope of the present disclosure. Therefore, the present disclosure is not limited to these implementations described herein, but should encompass the broadest scope consistent with 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. Construct a three-dimensional twin space, wherein the three-dimensional twin space is used to store a three-dimensional model, gravity, density, environmental phase, 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, and the three-dimensional model exists in the form of a parameter point set; S102. Define 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 the 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 for analyzing the stability and motion characteristics of the structure, and includes the center of gravity of a floating platform or a point on the wave surface; S103. Obtain 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 a velocity potential, and the velocity potential includes an incident potential, a diffraction potential, and a radiation potential; wherein the diffraction potential and the radiation potential are calculated by a boundary integral method, and the formula is as follows: Among them, when the velocity potential is the diffraction potential, When the velocity potential is the 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 frequency domain hydrodynamic load; S105. Calculate wind loads, mooring loads, and restraint loads; S106, combining the calculation results of the previous time step, updating the motion velocity, acceleration and displacement of the three-dimensional model; S107: Output the dynamic response analysis results of the floating wind-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, and B is the additional damping. The calculation formulas for 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 the 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 wavefront.

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; the V rel The inflow wind speed 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 the calculation results with the blade element momentum theory. When the load value obtained by the iterative calculation is less than the error of the preset parameters or the maximum number of iterations is reached, the wind load calculation is completed; When the wind load acts on the center of gravity of the impeller, it is necessary to transfer the wind load to the center of gravity of the floating platform through load transfer for calculation of the response characteristics. The formula for wind load transfer is as follows: 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 center of 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 calculation formula of the constraint force of the constraint load is as follows: Where K is the stiffness coefficient matrix, F is the external force acting on the wind-wave integrated system, and f is the constraint force. Based on the geometric center of gravity of the 3D model and the center of gravity of the floating platform, the constraint matrix C is calculated as follows: Wherein, subscript i represents the coordinates of the geometric center of gravity of the twin space 3D model of the wave energy device, and subscript j represents the coordinates of the hinge constraint points of the twin space 3D 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 from 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 using the Newton 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 results 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 based on this information, and then solving the next time step; this process continues until the end condition of the solution is reached; the analysis results of the dynamic response cover the information obtained after solving a single or multiple time steps, or the information after all time steps are solved; the dynamic response analysis results include 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-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 the free decay curve of the platform or wave energy device or determined based on the 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 perform the dynamic response analysis method of the floating wind-wave integrated system according to any one of claims 1 to 8, and the device comprises: Twin module: used to construct physical twin space, establish 3D 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 based on 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 analyzing the dynamic response of a floating wind-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 method for analyzing the dynamic response of a floating wind-wave integrated system according to any one of claims 1 to 8.

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