Method for calculating annual energy output of semi-submersible floating wind power plant

Abstract

The invention relates to a method for calculating annual energy production of a semi-submersible floating wind power plant. The method is suitable for the technical field of wind-power planning design. According to the technical scheme, the method comprises the steps of determining an effective wind speed based on a wind turbine position at a t moment in a time period corresponding to typical working conditions, determining an actual sensing wind speed of a wind turbine and determining aerodynamic force by combining a wind turbine movement speed; determining the hydrodynamic force of the wind turbine at the t moment based on the wind turbine structure information; based on the wind turbine structure information and the position of the wind turbine at the t moment, the mooring force of the wind turbine at the t moment is determined; the total load of the wind turbine is determined based on the aerodynamic force, the hydrodynamic force and the mooring force of the wind turbine at the t moment, the acceleration of the wind turbine is determined based on the total load, and the movement speed and the position of the wind turbine at the next moment are determined; determining the generating capacity of the wind power plant under the typical working condition based on the actually sensed wind speed of the wind turbine at each moment under the typical working condition; based on the wind power plant generating capacity under each typical working condition, calculating the wind power plant annual generating capacity.

Description

Technical Field

[0001] The invention relates to a method for calculating the annual power generation of a semi-submersible floating wind farm, which is applicable to the field of wind power planning and design. Background Art

[0002] As a clean, renewable new energy source, wind energy has been booming in recent years. As the development of offshore wind energy resources approaches saturation, it has become a general consensus in the industry that offshore wind power will gradually move towards the deep blue in the future. However, the current mainstream wind farm design software, such as WAsP, WT, etc., is only applicable to fixed wind farms. There is still a lack of efficient calculation methods for the evaluation of power loss in floating wind farms, and it is impossible to provide power generation results that take into account both calculation timeliness and engineering accuracy requirements, which seriously restricts the development of the industry.

[0003] Compared with fixed wind turbines that are only subjected to wind loads, semi-submersible floating wind turbines will also be subjected to loads generated by waves, currents, and mooring systems during actual operation. The interaction of these multiple loads will induce complex aerodynamic-hydrodynamic-mooring coupled motion responses, which will lead to changes in the relative positions of wind turbines and significantly affect the degree of interference with each other. Therefore, when evaluating the motion response and power generation of any floating wind turbine in a wind farm, it is necessary to scientifically and completely consider the combined effects of all upwind wind turbines on its aerodynamics, hydrodynamics, and mooring forces. These effects not only depend on the operating status of each upwind wind turbine, but also change with environmental flow field parameters such as wind, waves, and currents. In view of this, although the existing research results related to floating wind turbine modeling can achieve efficient prediction of the wake wind field at different downstream positions behind the rotor disk of an isolated floating wind turbine under the condition of specifying input parameters such as the frequency and amplitude of a single or multiple motion responses, it is difficult to directly apply the above modeling results to engineering practice because it is impossible to predict the motion response of each floating wind turbine before actual measurement or simulation, especially for downwind wind turbines under the influence of multiple coupling factors. It is more difficult to obtain reasonable input parameter values, so it is difficult to directly apply the above modeling results to engineering practice.

[0004] The method based on refined computational fluid dynamics (CFD) simulation can capture the complex motion response of floating wind turbines under the coupling of the above multiple factors and their mutual interference, so as to obtain a high-precision power generation calculation result. However, due to the high cost and long time consumption of CFD simulation, this method is only applicable to the integrated simulation research of a single or a small number of floating wind turbines in a specific flow field environment. Facing the problem of calculating the annual power generation of floating wind farms, the CFD simulation method seems powerless due to the large number of wind turbines involved and the complex joint distribution of wind and waves. Summary of the invention

[0005] The technical problem to be solved by the present invention is: in view of the above-mentioned problems, a method for calculating the annual power generation of a semi-submersible floating wind farm is provided.

[0006] The technical solution adopted by the present invention is: a method for calculating the annual power generation of a semi-submersible floating wind farm, comprising: Based on wind direction, wind speed, wave height and wave period, typical working conditions are divided, and the occurrence frequency of each typical working condition is determined in combination with historical data, and the representative values ​​of wind direction, wind speed, wave height and wave period under each typical working condition are determined; Based on the wind turbine position at time t in the period corresponding to the typical working condition and the representative values ​​of wind speed and wind direction under the typical working condition, the effective wind speed at the wind turbine is determined, and combined with the wind turbine movement speed at time t, the actual perceived wind speed of the wind turbine at time t is determined, and then the aerodynamic force of the wind turbine at time t is determined; Based on the wind turbine structure information and representative values ​​of wave height and wave period under typical working conditions, determine the hydrodynamic force of the wind turbine at time t; Determine the mooring force of the wind turbine at time t based on the wind turbine structure information and the wind turbine position at time t; Based on the aerodynamic force, hydrodynamic force and mooring force of the wind turbine at time t, the total load of the wind turbine is determined, and based on the total load, the acceleration of the wind turbine is determined, and then the movement speed and position of the wind turbine at the next moment are determined; Based on the actual wind speed sensed by the wind turbine at each moment under typical working conditions, the power generation of the wind turbine under typical working conditions is determined, and then the power generation of the wind farm under typical working conditions is determined; Based on the wind farm power generation under various typical operating conditions and the frequency of occurrence of each typical operating condition, the annual power generation of the wind farm is calculated.

[0007] The typical working conditions are divided based on wind direction, wind speed, wave height and wave period, including: Evenly divide the wind direction angle from 0 to 360° and divide it into multiple wind direction sectors; The wind speed range is determined based on the cut-in wind speed and the cut-out wind speed of each wind turbine, and a plurality of wind speed intervals are divided within the wind speed range; The wave height and wave period are graded based on the joint probability density function, where the wave height is determined to have multiple wave height intervals according to the joint distribution characteristics, and the wave period is set to have multiple wave period intervals according to the wave spectrum energy concentration characteristics; In each wind direction sector, the wind speed interval, wave height interval and wave period interval are arbitrarily combined to obtain several combined working condition combinations; The clustering algorithm is used to perform data clustering in the multidimensional parameter space composed of wind speed, wave height and wave period. The Copula function is used to describe the nonlinear correlation between variables, and the high-probability joint operating condition combination with probability density higher than the preset threshold is extracted as the typical operating condition under the wind direction sector.

[0008] Determining representative values ​​of wind direction, wind speed, wave height and wave period under various typical working conditions includes: The central values ​​of the corresponding wind direction sectors, wind speed intervals, wave height intervals, and wave period intervals are taken as the representative values ​​of wind direction, wind speed, wave height, and wave period under the typical working conditions.

[0009] At the initial moment under typical working conditions, the wind turbine position is the initial installation position of the wind turbine, and the wind turbine movement speed is 0.

[0010] The determining of the effective wind speed at the wind turbine based on the wind turbine position at time t in the period corresponding to the typical working condition and the representative values ​​of the wind speed and wind direction under the typical working condition comprises: Based on the position of each wind turbine in the wind farm at time t and the representative value of wind direction under typical working conditions, the wind speed loss at the wind turbine affected by the wake of each wind turbine upwind is determined; Based on the representative value of wind speed under typical working conditions and the wind speed loss at each wind turbine, the effective wind speed at each wind turbine at time t is determined.

[0011] The step of determining the aerodynamic force of the wind turbine at time t comprises: ; in, is the wind turbine at time t The pneumatic force, is the air density, For wind turbines The wind wheel diameter, is the wind turbine at time t The actual perceived wind speed, Perpendicular to the wind turbine Unit vector of the wind wheel disk; ; in, Wind turbine in geodetic coordinate system i The yaw angle of the wind turbine i The effect of own motion, its actual perceived yaw angle , can be determined by the following formula: ; in, for The vector direction and wind turbine The angle between the central axes of the wind rotors, Wind turbine During yaw operation, the deflection angle of the wake immediately behind the wind rotor disk; For wind turbines The thrust coefficient is calculated as: ; in, For wind turbines The axial induction factor.

[0012] The method of determining the hydrodynamic force of the wind turbine at time t based on the wind turbine structure information and representative values ​​of wave height and wave period under typical working conditions includes: Based on the representative values ​​of wave height and wave period under typical working conditions, the wave surface lift at time t under typical working conditions, as well as the horizontal velocity and horizontal acceleration of the water particle are determined; Based on the wave surface lift, horizontal velocity and horizontal acceleration of the water particle at time t, the hydrodynamic force borne by each component on the floating foundation of the wind turbine is determined, and then the hydrodynamic force borne by the wind turbine as a whole is determined.

[0013] The method of determining the wave surface lift at each moment under typical working conditions, and the horizontal velocity and horizontal acceleration of the water particle based on representative values ​​of wave height and wave period under typical working conditions includes: ; ; ; in, , Height The horizontal velocity and horizontal acceleration of the water particle at For water depth, For wave surface lifting, is the wave height, is the wave number, For the cycle, is the angular frequency.

[0014] The determination of the hydrodynamic forces borne by each component on the floating foundation of the wind turbine based on the wave surface lift at time t, the horizontal velocity and the horizontal acceleration of the water particle, and then the determination of the hydrodynamic forces borne by the wind turbine as a whole, includes: ; in, is the wind turbine at time t The hydrodynamic force on the upper structure l under the action of waves, , Height The horizontal velocity and horizontal acceleration of the water particle at is the diameter of the component l, is the water density, is the drag force coefficient perpendicular to the central axis of component l, is the mass coefficient of component l, is the additional mass coefficient of component l, For water depth, For wave surface lifting, is the wave height, is the wave number, For the cycle, is the angular frequency, , and Height The horizontal displacement, velocity and acceleration of component l at position ; in, is the wind turbine at time t The hydrodynamic force that the whole body bears under the action of waves; m refers to the wind turbine The number of components supporting the bottom platform.

[0015] The determination of the hydrodynamic forces borne by each component on the floating foundation of the wind turbine based on the wave surface lift at time t, the horizontal velocity and the horizontal acceleration of the water particle, and then the determination of the hydrodynamic forces borne by the wind turbine as a whole, includes: ; in, is the wind turbine at time t The hydrodynamic force that the upper structure l is subjected to under the combined action of waves and currents, , Height The horizontal velocity and horizontal acceleration of the water particle at is the diameter of the component l, is the water density, is the drag force coefficient perpendicular to the central axis of component l, is the mass coefficient of component l, is the additional mass coefficient of component l, For water depth, For wave surface lifting, is the wave height, is the wave number, For the cycle, is the angular frequency, , and Height The horizontal displacement, velocity and acceleration of component l at position is the ocean current velocity; ; in, is the wind turbine at time t The hydrodynamic force under the combined action of waves and currents; m refers to the wind turbine The number of components supporting the bottom platform.

[0016] The determining the mooring force of the wind turbine at time t based on the wind turbine structure information and the wind turbine position at time t includes: Based on the wind turbine structure information and the wind turbine position at time t, determine the horizontal distance from the fairlead hole on the wind turbine to the mooring point at time t; Based on the horizontal distance from the fairlead hole to the mooring point and combined with the catenary equation, the mooring force of the wind turbine at time t is determined.

[0017] The step of determining the acceleration of the wind turbine based on the total load comprises: ; in, is the acceleration of wind turbine i at time t, is the total load of wind turbine i at time t; and Respectively represent wind turbines i The actual weight and the additional mass used to overcome the hydrodynamic damping are calculated as follows: ; in, Wind turbine i The collection of all underwater structural components, and Respectively refer to j The added mass coefficient and added mass reference area of ​​each underwater structural component, Refers to the density of sea water.

[0018] A semi-submersible floating wind farm annual power generation calculation device, comprising: The working condition classification module is used to classify typical working conditions based on wind direction, wind speed, wave height and wave period, determine the occurrence frequency of each typical working condition in combination with historical data, and determine the representative values ​​of wind direction, wind speed, wave height and wave period under each typical working condition; The aerodynamic force module is used to determine the effective wind speed at the wind turbine based on the wind turbine position at time t in the period corresponding to the typical working condition and the representative values ​​of wind speed and wind direction under the typical working condition, and determine the actual perceived wind speed of the wind turbine at time t in combination with the movement speed of the wind turbine at time t, thereby determining the aerodynamic force of the wind turbine at time t; A hydrodynamic module is used to determine the hydrodynamic force of the wind turbine at time t based on the structural information of the wind turbine and the representative values ​​of the wave height and wave period under typical working conditions; A mooring force module, used to determine the mooring force of the wind turbine at time t based on the wind turbine structure information and the wind turbine position at time t; An updating module is used to determine the total load of the wind turbine based on the aerodynamic force, hydrodynamic force and mooring force of the wind turbine at time t, determine the acceleration of the wind turbine based on the total load, and further determine the movement speed and position of the wind turbine at the next moment; The wind farm power generation calculation module is used to determine the power generation of the wind turbine under typical working conditions based on the actual sensed wind speed of the wind turbine at each moment under typical working conditions, and further determine the power generation of the wind farm under typical working conditions; The annual power generation calculation module is used to determine the annual power generation of the wind farm based on the power generation of the wind farm under various typical working conditions and the frequency of occurrence of each typical working condition.

[0019] A storage medium stores a computer program executable by a processor, wherein the computer program, when executed, implements the steps of the method for calculating the annual power generation of a semi-submersible floating wind farm.

[0020] A wind farm annual power generation calculation device comprises a memory and a processor. The memory stores a computer program executable by the processor. When the computer program is executed, the steps of the semi-submersible floating wind farm annual power generation calculation method are implemented.

[0021] The beneficial effects of the present invention are as follows: the present invention respectively adopts an analytical model, a Morison formula and a catenary equation to calculate the aerodynamic force, hydrodynamic force and mooring force of a semi-submersible floating wind turbine, determines the total load of the wind turbine, and then determines the movement speed and position of the wind turbine at each moment, so as to more accurately reflect the actual working conditions of the wind farm and improve the calculation accuracy of power generation.

[0022] The present invention processes the historical observation data of wind and waves in the target sea area through multi-dimensional joint distribution clustering, and performs fine division based on key environmental flow field characteristic quantities such as wind speed, wind direction, wave height and wave period to form multiple typical working conditions. The power generation of each typical working condition is calculated based on the representative values ​​of wind speed, wind direction, wave height and wave period under each typical working condition, and then the annual power generation is calculated, thereby ensuring that the typical wind and wave joint working conditions that contribute to the annual power generation of the floating wind farm are fully considered while greatly reducing the amount of calculation.

[0023] The present invention respectively adopts analytical model, Morison formula and catenary equation to calculate the aerodynamic force, hydrodynamic force and mooring force of semi-submersible floating wind turbine, constructs an integrated and efficient coupling calculation model for engineering practicality, and based on this model, combined with typical working conditions, proposes a technical solution for calculating the annual power generation of semi-submersible floating wind farms, breaking through the limitation that the current mainstream commercial software is only applicable to fixed wind farms.

[0024] The integrated and efficient coupled calculation model in the present invention can respond to the dynamic changes of flow field parameters in wind and wave environments, capture the complex motion responses of semi-submersible floating wind turbines under the coupling of aerodynamic, hydrodynamic and mooring loads, and the mutual interference between wind turbines, so that the power generation calculation results based on this can meet the engineering accuracy requirements. At the same time, it avoids the high calculation cost and long time caused by similar technologies that rely heavily on refined CFD simulation, significantly improves the calculation efficiency, and can better meet the strict requirements of engineering practice for timeliness. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] Figure 1 It is a flow chart of the method for calculating the annual power generation of a semi-submersible floating wind farm in the embodiment.

[0026] Figure 2 Schematic diagram of aerodynamic calculation of floating wind turbine in the embodiment.

[0027] Figure 3 Schematic diagram of the hydrodynamic calculation of the floating wind turbine in the embodiment.

[0028] Figure 4 Schematic diagram of calculation of mooring load of floating wind turbine in the embodiment.

[0029] Figure 5 It is a schematic diagram of the structure of a semi-submersible floating wind turbine in an example of an embodiment.

[0030] Figure 6 It is a schematic diagram of the arrangement of a floating wind turbine mooring system in an example of an embodiment.

[0031] Figure 7 It is a rose diagram of wind direction frequency distribution in the target sea area in the example of the embodiment.

[0032] Figure 8 : is the relationship between the horizontal component of the mooring force and the horizontal distance between the mooring point and the fairlead hole in the example of the embodiment.

[0033] Fig. 9 : is the relationship between the vertical component of the mooring force and the horizontal distance between the mooring point and the fairlead hole in the example of the embodiment.

[0034] Fig.10 1 is a power history curve of a foreground floating wind turbine in an example of an embodiment.

[0035] Fig.11 1 is a power history curve of a background floating wind turbine in an example of an embodiment. DETAILED DESCRIPTION

[0036] The embodiments of the present invention are described in detail below, and examples of the embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present invention, and are not to be construed as limitations of the present invention. For the step numbers in the following embodiments, they are only provided for the convenience of explanation, and the order between the steps is not limited in any way, and the execution order of each step in the embodiment can be adaptively adjusted according to the understanding of those skilled in the art.

[0037] In the description of the present invention, the meaning of "a plurality" is two or more than two. If there is a description of "a first" or "a second", it is only used for the purpose of distinguishing technical features, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features or implicitly indicating the order of the indicated technical features. In addition, unless otherwise defined, all technical and scientific terms used in this document have the same meaning as those commonly understood by those skilled in the art.

[0038] like Figure 1 As shown, a method for calculating the annual power generation of a semi-submersible floating wind farm in the present invention comprises the following steps: S100: Obtain wind farm information and set calculation parameters.

[0039] In this embodiment, the wind farm information includes the initial installation position of each wind turbine, the type of wind turbine and the basic parameters of each type of wind turbine, including wind turbine structure information, cut-in wind speed and cut-out wind speed, etc. The wind turbine structure information includes the diameter of the wind rotor and the height of the hub; the weight of the wind turbine as a whole, the vertical distance between the center of gravity and the still water surface; the number of mooring cables, the angle between adjacent mooring cables, the vertical distance between the mooring point and the still water surface, the vertical distance between the fairlead hole and the still water surface, the horizontal distance from the mooring point to the center line of the floating support platform, the horizontal distance from the fairlead hole to the center line of the floating support platform, the original length, diameter, equivalent wet density, equivalent tensile stiffness, etc. of the mooring cable.

[0040] The calculation parameters in this embodiment include water density, drag force coefficient of each column of the support platform, additional mass coefficient and additional mass reference area of ​​each column of the support platform, static friction coefficient when the mooring cable contacts the seabed, length of the contact part of the mooring cable with the seabed and wake attenuation coefficient in the analytical model, as well as simulation physical duration set according to actual needs and time step .

[0041] S200, dividing typical working conditions based on wind direction, wind speed, wave height and wave period, determining the occurrence frequency of each typical working condition in combination with historical data, and determining representative values ​​of wind direction, wind speed, wave height and wave period under each typical working condition.

[0042] S210. Evenly divide the wind direction angle of 0-360° according to the preset number of wind direction sectors to obtain a plurality of wind direction sectors.

[0043] S220, determining a wind speed range based on the cut-in wind speed and the cut-out wind speed of the wind turbine in step S100, and dividing the wind speed range into a plurality of different wind speed intervals that match the performance of the wind turbine equipment.

[0044] S230. Classifying wave heights and wave periods based on a joint probability density function, wherein the wave heights are determined to have multiple wave height intervals according to joint distribution characteristics, and the wave periods are set to have multiple wave period intervals according to wave spectrum energy concentration characteristics.

[0045] S240. In each wind direction sector, the wind speed interval, the wave height interval and the wave period interval are arbitrarily combined to obtain a plurality of combined working condition combinations.

[0046] S250. Perform data clustering on the multidimensional parameter space composed of wind speed, wave height and wave period through clustering algorithms (such as K-means algorithm), combine Copula function to describe the nonlinear correlation between variables, extract high-probability joint operating condition combinations with probability density higher than the preset threshold as the typical operating condition in the wind direction sector, and eliminate rare combinations with probability density lower than 0.5%.

[0047] S260, respectively take the central values ​​of the corresponding wind direction sector, wind speed interval, wave height interval, and wave period interval as the representative values ​​of the key environmental flow field parameters under the typical working condition, and set the time length corresponding to the typical working condition to the simulated physical time length set in step S100 .

[0048] S270. Based on the historical observation data of the target sea area where the floating wind farm is located in a representative year, the occurrence frequency of each typical operating condition in each wind direction sector is statistically obtained.

[0049] Based on the historical observation data, each period (the length of a single period is T ) and the wind direction angle range of each wind direction sector, determine the wind direction sector to which each period of the year belongs, and then determine the wind direction frequency of each wind direction sector based on the ratio of the number of time periods corresponding to each wind direction sector to the total number of time periods in the year (see Figure 7 ).

[0050] Based on the wind speed, wave height and wave period corresponding to each time period of the wind direction sector, as well as the wind speed range, wave height range and wave period range of each typical operating condition under the wind direction sector, the typical operating conditions belonging to each time period under each wind direction sector are determined, and then based on the ratio of the number of time periods corresponding to each typical operating condition under each wind direction sector to the total number of time periods representing the year, the occurrence frequency of each typical operating condition under each wind direction sector is determined.

[0051] S280, generating a structured table including typical operating condition parameter ranges and occurrence frequencies to facilitate load and power generation calculation calls in subsequent steps.

[0052] S300. Based on the position of the wind turbine at time t in the period corresponding to the typical working condition and the representative values ​​of the wind speed and wind direction under the typical working condition, the effective wind speed at the wind turbine is determined, and combined with the movement speed of the wind turbine at time t, the actual perceived wind speed of the wind turbine at time t is determined, and then the aerodynamic force of the wind turbine at time t is determined.

[0053] S310, with the east direction as the positive direction of the x-axis (corresponding to a wind direction angle of 270°), the north direction as the positive direction of the y-axis (corresponding to a wind direction angle of 180°), and the positive direction of the z-axis and the x- and y-axes satisfying the right-hand rule, a geodetic coordinate system is established, and the wave direction angle is defined as the same as the wind direction angle. For each wind turbine, a relative coordinate system with its own position as the origin is established.

[0054] The order and numbering of each wind turbine are determined according to the relative position along the wind direction. Specifically, the first wind turbine is numbered 1, and the numbers of the other downwind wind turbines are incremented one by one. If the number of wind turbines in the wind farm is N, the numbering sequence can be expressed as ; According to the set grid resolution, the rotor disk of each wind turbine is discretized, and the set of disk coordinate points belonging to each wind turbine can be integrated. Regarding the grid resolution, it is recommended to take a value less than 1 / 4 times the rotor diameter to take into account the accuracy and timeliness of aerodynamic calculation requirements.

[0055] Initialize the wind farm at time t=0: the position of each wind turbine is taken as its installation position, and the wind turbine movement speed and acceleration are both taken as 0. In the relative coordinate system bound to each wind turbine itself, the wake width at the wind rotor disk is taken as the wind rotor diameter, and it is assumed that the wake width expands approximately linearly as it moves away from the wind rotor disk, and the wake width at time t=0 at different downstream positions behind the wind rotor disk is initialized. Taking the wind turbine numbered i as an example, the calculation formula for the wake width at time t=0 is: ; in, is the spatial growth rate of the wake width, represents the downstream distance behind the disk in the relative coordinate system of wind turbine i, It's a wind turbine The wind wheel diameter.

[0056] S320, obtaining the speed and position of each wind turbine at time t.

[0057] S330, using the analytical model, calculate the effective wind speed and aerodynamic force at each wind turbine at time t. Taking the wind turbine numbered i as an example, the calculation formula for the effective wind speed is: ; in, represents the set of wind turbine numbers in the wind direction of wind turbine i, The wind speed representative value under typical working conditions The unit vector of : ; The wind speed of the upwind wind turbine numbered q at wind turbine i in the geodetic coordinate system is calculated as follows: ; in, , Wind turbine and The coordinates in the geodetic coordinate system are: It refers to the speed of the wind turbine q in the upwind direction in the geodetic coordinate system. represents the wind speed of the isolated wake of wind turbine q at the target wind turbine i in the relative coordinate system bound to wind turbine q.

[0058] Assuming that the velocity loss profile at any downstream position in the wake area of ​​wind turbine q presents a Gaussian distribution, Description, the calculation formula is: ; in, is the standard deviation of the Gaussian velocity loss profile, referring to the experimental data of Bastankhah and Porté-Agel, , is the radial distance relative to the central axis of the wind wheel, is the diameter of the wake influence area (assumed to be circular) of wind turbine q at the target wind turbine i, and is calculated as follows: ; in, The following partial differential equation can be solved numerically and iteratively by the finite difference method, and combined with the initial condition of the wake width given in step S310, it is obtained: ; Calculated The average value within the wind turbine i wind wheel disk surface can be obtained .

[0059] S340, calculate the aerodynamic force of wind turbine i at time t with reference to the following formula: ; in, is the air density, is the rotor diameter of wind turbine i, is the actual perceived wind speed of the wind turbine at the time it, refer to Figure 2 , which can be calculated by the following formula: ; in, and are the moving speed of wind turbine i in the geodetic coordinate system and the wind speed after considering the influence of the wake interference of the upwind wind turbine. is the unit vector perpendicular to the wind turbine i wind wheel disk surface, and is defined as: ; in, is the yaw angle of wind turbine i in the geodetic coordinate system. Considering the influence of the movement of wind turbine i itself, its actual perceived yaw angle is , can be determined by the following formula: ; in, for The angle between the vector direction of and the central axis of the wind turbine i rotor, It refers to the deflection angle of the wake immediately behind the wind rotor when the wind turbine i is yawed, which can be calculated by referring to the following empirical formula: ; is the thrust coefficient of wind turbine i, and the calculation formula is: ; in, is the axial induction factor of wind turbine i.

[0060] S400, based on wind turbine structure information (wind turbine structure see Figure 5 , Figure 6 ), as well as representative values ​​of wave height and wave period under typical operating conditions, determine the hydrodynamic force of the wind turbine at time t.

[0061] S410. Based on representative values ​​of wave height and wave period under typical working conditions, determine the wave surface lift at each moment under typical working conditions, as well as the horizontal velocity and horizontal acceleration of the water particle.

[0062] If the incident wave is a linear wave, the wave surface equation, fluid particle velocity and acceleration calculation formula are: ; in, , Height The horizontal velocity and horizontal acceleration of the water particle at For water depth, For wave surface lifting, is the wave height, is the wave number, For the cycle, is the angular frequency, and the calculation formula is: .

[0063] S420, based on the wave surface lift at each moment, the horizontal velocity and horizontal acceleration of the water particles, determine the hydrodynamic force on each component of the floating foundation of the wind turbine, and then determine the hydrodynamic force on the wind turbine as a whole.

[0064] This embodiment uses the Morison formula to calculate the hydrodynamic force of each wind turbine at time t. Considering that the bottom support platform of a semi-submersible floating wind turbine is mostly composed of a column structure, Figure 3 In the example of a fixed column, the following are given: Horizontal wave force The schematic diagram of , the calculation formula is: ; in, , Height The horizontal velocity and horizontal acceleration of the water particle at is the diameter, is the water density, is the drag force coefficient perpendicular to the central axis of the cylinder, is the quality coefficient, is the additional mass coefficient, and the calculation formula is: .

[0065] Specifically for wind turbine i, for the first Column, in motion, set height The horizontal displacement, velocity and acceleration of the component at , and , then the corresponding horizontal wave force can be calculated by the following formula: ; Convert the above formula from arrive By integrating, we can get the effect on the column Overall wave force: ;

[0066] In addition to wave force, when it is necessary to consider the influence of ocean current, the flow velocity is , you can also refer to the following formula to calculate the column under the combined action of waves and currents Withstands water forces: ; Referring to the above calculation formula, after obtaining the hydrodynamic forces of all components of the bottom support platform of wind turbine i, the hydrodynamic forces acting on the entire wind turbine i can be obtained through vector superposition: ; Here, m refers to the number of components that make up the bottom support platform of wind turbine i.

[0067] S500: Determine the mooring force of the wind turbine at time t based on the wind turbine structure information and the wind turbine position at time t.

[0068] S510: Based on the wind turbine structure information and the wind turbine position at time t, determine the horizontal distance from the fairlead hole on the wind turbine to the mooring point at time t.

[0069] S520. Determine the mooring force of the wind turbine at time t based on the horizontal distance from the fairlead hole to the mooring point and in combination with the catenary equation.

[0070] See also Figure 4 According to the relative relationship between the mooring cable of the wind turbine and the seabed plane, three typical calculation states with obvious differences can be divided, corresponding to the mooring cable being in a vertical state (state 1), the mooring cable partially contacting the seabed (state 2), or the mooring cable completely out of the seabed plane (state 3). In view of this, the present embodiment adopts a piecewise function to calculate the mooring tension of the mooring cable. The horizontal component : ; in, is the horizontal distance from the fairlead hole to the mooring point, , They correspond to the critical points of transition from state 1 to state 2, and from state 2 to state 3, respectively. The calculation formulas are: ; in, , , and are the length, weight per unit length, cross-sectional area and elastic modulus of the mooring line, respectively. is the vertical distance between the fairlead and the mooring point, is the horizontal tension of the mooring line when transitioning from state 2 to state 3, and the calculation formula is: ; The following is for wind turbines No. Example of calculation of horizontal mooring tension of the root mooring line: When corresponding to state 1, the magnitude of the horizontal mooring tension is ; When corresponding to state 2, the magnitude of the horizontal mooring tension is , can be obtained by and the vertical component The nonlinear equations formed are numerically solved and calculated; ; in, is the static friction coefficient when the mooring line contacts the seabed, is the length of the mooring line in contact with the seabed, and the calculation formula is: ; in, The calculation formula is: ; When corresponding to state 3, the magnitude of the horizontal mooring tension is , or by its horizontal component and the vertical component The nonlinear equations formed are numerically solved to obtain: .

[0071] Figure 8 : is the relationship between the horizontal component of the mooring force and the horizontal distance between the mooring point and the fairlead hole in the embodiment. Fig. 9 is the relationship between the vertical component of the mooring force and the horizontal distance between the mooring point and the fairlead hole in the embodiment.

[0072] S600, determining the total load of the wind turbine based on the aerodynamic force, hydrodynamic force and mooring force of the wind turbine at time t, determining the acceleration of the wind turbine based on the total load, and then determining the movement speed and position of the wind turbine at the next moment.

[0073] S610, integrating the aerodynamic force, hydrodynamic force and mooring force of each wind turbine calculated in steps S300 to S500, and obtaining the total load of each wind turbine by vector superposition. Specifically, for the wind turbine numbered i, there are: ; in, Indicates wind turbine Number of mooring lines.

[0074] S620: Based on the total load at each wind turbine, calculate their respective accelerations according to Newton's second law. For example, the calculation formula is: ; in, for Wind turbine The acceleration of for Wind turbine The total load, and They represent the actual weight of wind turbine i and the additional mass used to overcome the hydrodynamic damping, respectively. The calculation formula is: ; in, Refers to the collection of all underwater structural components of wind turbine i. and They respectively refer to the added mass coefficient and the added mass reference area of ​​the jth underwater structural component, Refers to the density of seawater; After numerical integration of the acceleration, the wind turbine at the next moment is updated The speed and position of the , the calculation formula is: .

[0075] S700, according to the set time step , update the calculation step t, and determine whether the physical simulation time set in step 1 is reached ,like , then go to the next step; otherwise, the updated wind turbine The speed and position are input to step S320, and the aerodynamic force, hydrodynamic force and mooring force are calculated again.

[0076] S800, based on the actual perceived wind speed of the wind turbine at each moment under each typical working condition calculated in each iteration of step S340, determine the power generation of the wind turbine under each typical working condition, and then determine the power generation of the wind farm under the typical working condition.

[0077] Based on the actual wind speed sensed by the wind turbines at each wind turbine, their respective power generation is calculated. Taking wind turbine i as an example, the calculation formula is: ; in, is the air density, is the power coefficient of wind turbine i. According to the actuator disk theory, we have: ; The average power of each wind turbine in the wind farm when it reaches steady state is recorded as ,right By summing, we can obtain the average power generation of the entire wind farm under the target typical operating conditions: ; in, For the number The average power generation of the entire wind farm under typical operating conditions; Nis the number of wind turbines in the wind farm.

[0078] Fig.10 1 is a power history curve of the foreground floating wind turbine in the embodiment. Fig.11 1 is a power history curve of a backstage floating wind turbine in an embodiment.

[0079] S900. Determine the annual power generation of the wind farm based on the power generation of the wind farm under each typical operating condition and the occurrence frequency of each typical operating condition.

[0080] Taking the occurrence frequency of each typical working condition as the weight, the weighted sum of the power generation of each wind turbine in the wind farm after reaching steady state under each typical working condition is calculated to obtain the annual power generation of the target wind farm. The calculation formula is: ; ; in, represents the average power generation in a single period of the year; Refers to the total number of typical operating conditions obtained by division in step S200; and The numbers represent The frequency of occurrence of typical operating conditions, and the wind farm power generation after each wind turbine reaches steady state under the corresponding flow field conditions; W is the annual power generation of the target wind farm; T is the length of time for a single period (in hours), which is also the length of time corresponding to the typical working condition. T 1 hour can be taken, a total of 8760 hours in a year.

[0081] This embodiment also provides a semi-submersible floating wind farm annual power generation calculation device, which specifically includes: The working condition classification module is used to classify typical working conditions based on wind speed, wind direction, wave height and wave period, determine the occurrence frequency of each typical working condition in combination with historical data, and determine the representative values ​​of wind speed, wind direction, wave height and wave period under each typical working condition; The aerodynamic force module is used to determine the effective wind speed at the wind turbine based on the wind turbine position at time t in the period corresponding to the typical working condition and the representative values ​​of wind speed and wind direction under the typical working condition, and determine the actual perceived wind speed of the wind turbine at time t in combination with the movement speed of the wind turbine at time t, thereby determining the aerodynamic force of the wind turbine at time t; A hydrodynamic module is used to determine the hydrodynamic force of the wind turbine at time t based on the structural information of the wind turbine and the representative values ​​of the wave height and wave period under typical working conditions; A mooring force module, used to determine the mooring force of the wind turbine at time t based on the wind turbine structure information and the wind turbine position at time t; An updating module is used to determine the total load of the wind turbine based on the aerodynamic force, hydrodynamic force and mooring force of the wind turbine at time t, determine the acceleration of the wind turbine based on the total load, and further determine the movement speed and position of the wind turbine at the next moment; The wind farm power generation calculation module is used to determine the power generation of the wind turbine under typical working conditions based on the actual sensed wind speed of the wind turbine at each moment under typical working conditions, and further determine the power generation of the wind farm under typical working conditions; The annual power generation calculation module is used to determine the annual power generation of the wind farm based on the power generation of the wind farm under various typical working conditions and the frequency of occurrence of each typical working condition.

[0082] This embodiment also provides a storage medium on which a computer program executable by a processor is stored. When the computer program is executed, the steps of the above-mentioned method for calculating the annual power generation of a semi-submersible floating wind farm are implemented.

[0083] This embodiment also provides a wind farm annual power generation calculation device, which has a memory and a processor, and the memory stores a computer program that can be executed by the processor. When the computer program is executed, the steps of the above-mentioned semi-submersible floating wind farm annual power generation calculation method are implemented.

[0084] In some selectable embodiments, the function / operation mentioned in the block diagram may not occur in the order mentioned in the operation diagram. For example, depending on the function / operation involved, the two boxes shown in succession can actually be executed substantially simultaneously or the above-mentioned boxes can sometimes be executed in reverse order. In addition, the embodiment presented and described in the flow chart of the present invention is provided by way of example, for the purpose of providing a more comprehensive understanding of technology. The disclosed method is not limited to the operation and logic flow presented herein. Selectable embodiments are expected, wherein the order of various operations is changed and the sub-operation of a part for which is described as a larger operation is performed independently.

[0085] In addition, although the present invention is described in the context of functional modules, it should be understood that, unless otherwise specified to the contrary, one or more of the above-mentioned functions and / or features can be integrated into a single physical device and / or software module, or one or more functions and / or features can be implemented in a separate physical device or software module. It is also understood that a detailed discussion of the actual implementation of each module is unnecessary for understanding the present invention. More specifically, in view of the properties, functions and internal relationships of the various functional modules in the device disclosed herein, the actual implementation of the module will be understood within the conventional skills of the engineer. Therefore, those skilled in the art can implement the present invention set forth in the claims without excessive experimentation using ordinary techniques. It is also understood that the specific concepts disclosed are merely illustrative and are not intended to limit the scope of the present invention, which is determined by the full scope of the appended claims and their equivalents.

[0086] If the above functions are implemented in the form of software functional units and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention, or the part that contributes to the prior art or the part of the technical solution, can be embodied in the form of a software product. The computer software product is stored in a storage medium, including several instructions to enable a computer device (which can be a personal computer, server, or network device, etc.) to perform all or part of the steps of the above methods of various embodiments of the present invention. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), disk or optical disk, etc., which can store program codes.

[0087] The logic and / or steps represented in the flowchart or otherwise described herein, for example, can be considered as an ordered list of executable instructions for implementing logical functions, and can be embodied in any computer-readable medium for use by an instruction execution system, device or apparatus (such as a computer-based system, a system including a processor, or other system that can fetch instructions from an instruction execution system, device or apparatus and execute instructions), or in conjunction with such instruction execution systems, devices or apparatuses. For the purposes of this specification, "computer-readable medium" can be any device that can contain, store, communicate, propagate or transmit a program for use by an instruction execution system, device or apparatus, or in conjunction with such instruction execution systems, devices or apparatuses.

[0088] More specific examples of computer-readable media (a non-exhaustive list) include the following: an electrical connection with one or more wires (electronic device), a portable computer disk case (magnetic device), a random access memory (RAM), a read-only memory (ROM), an erasable and programmable read-only memory (EPROM or flash memory), an optical fiber device, and a portable compact disk read-only memory (CDROM). In addition, the computer-readable medium may even be a paper or other suitable medium on which the above-mentioned program is printed, since the above-mentioned program can be obtained electronically, for example, by optically scanning the paper or other medium, followed by editing, deciphering or processing in other suitable ways as necessary, and then stored in a computer memory.

[0089] It should be understood that the various parts of the present invention can be implemented by hardware, software, firmware or a combination thereof. In the above-mentioned embodiments, multiple steps or methods can be implemented by software or firmware stored in a memory and executed by a suitable instruction execution system. For example, if implemented by hardware, as in another embodiment, it can be implemented by any one of the following technologies known in the art or their combination: a discrete logic circuit having a logic gate circuit for implementing a logic function for a data signal, a dedicated integrated circuit having a suitable combination of logic gate circuits, a programmable gate array (PGA), a field programmable gate array (FPGA), etc.

[0090] In the above description of this specification, the description with reference to the terms "one embodiment / example", "another embodiment / example" or "certain embodiments / examples" etc. means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representation of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments or examples in a suitable manner.

[0091] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the claims and their equivalents.

[0092] The above is a specific description of the preferred implementation of the present invention, but the present invention is not limited to the above embodiments. Those skilled in the art may make various equivalent modifications or substitutions without violating the spirit of the present invention. These equivalent modifications or substitutions are all included in the scope defined by the claims of this application.

Claims

1. A method for calculating the annual power generation of a semi-submersible floating wind farm, characterized in that: include: Based on wind direction, wind speed, wave height and wave period, typical working conditions are divided, and the occurrence frequency of each typical working condition is determined in combination with historical data, and the representative values ​​of wind direction, wind speed, wave height and wave period under each typical working condition are determined; Based on the wind turbine position at time t in the period corresponding to the typical working condition and the representative values ​​of wind speed and wind direction under the typical working condition, the effective wind speed at the wind turbine is determined, and combined with the wind turbine movement speed at time t, the actual perceived wind speed of the wind turbine at time t is determined, and then the aerodynamic force of the wind turbine at time t is determined; Based on the wind turbine structure information and representative values ​​of wave height and wave period under typical working conditions, determine the hydrodynamic force of the wind turbine at time t; Determine the mooring force of the wind turbine at time t based on the wind turbine structure information and the wind turbine position at time t; Based on the aerodynamic force, hydrodynamic force and mooring force of the wind turbine at time t, the total load of the wind turbine is determined, and based on the total load, the acceleration of the wind turbine is determined, and then the movement speed and position of the wind turbine at the next moment are determined; Based on the actual wind speed sensed by the wind turbine at each moment under typical working conditions, the power generation of the wind turbine under typical working conditions is determined, and then the power generation of the wind farm under typical working conditions is determined; Based on the wind farm power generation under various typical operating conditions and the frequency of occurrence of each typical operating condition, the annual power generation of the wind farm is calculated.

2. The method for calculating annual power generation of a semi-submersible floating wind farm according to claim 1, characterized in that: The typical working conditions are divided based on wind direction, wind speed, wave height and wave period, including: Evenly divide the wind direction angle from 0 to 360° and divide it into multiple wind direction sectors; The wind speed range is determined based on the cut-in wind speed and the cut-out wind speed of each wind turbine, and a plurality of wind speed intervals are divided within the wind speed range; The wave height and wave period are graded based on the joint probability density function, where the wave height is determined to have multiple wave height intervals according to the joint distribution characteristics, and the wave period is set to have multiple wave period intervals according to the wave spectrum energy concentration characteristics; In each wind direction sector, the wind speed interval, wave height interval and wave period interval are arbitrarily combined to obtain several combined working condition combinations; The clustering algorithm is used to perform data clustering in the multidimensional parameter space composed of wind speed, wave height and wave period. The Copula function is used to describe the nonlinear correlation between variables, and the high-probability joint operating condition combination with a probability density higher than the preset threshold is extracted as the typical operating condition in the wind direction sector.

3. The method for calculating annual power generation of a semi-submersible floating wind farm according to claim 2, characterized in that: Determining representative values ​​of wind direction, wind speed, wave height and wave period under various typical working conditions includes: The central values ​​of the corresponding wind direction sectors, wind speed intervals, wave height intervals, and wave period intervals are taken as the representative values ​​of wind direction, wind speed, wave height, and wave period under the typical working conditions.

4. The method for calculating annual power generation of a semi-submersible floating wind farm according to claim 1, characterized in that: At the initial moment under typical working conditions, the wind turbine position is the initial installation position of the wind turbine, and the wind turbine movement speed is 0.

5. The method for calculating annual power generation of a semi-submersible floating wind farm according to claim 1 or 4, characterized in that: The determining of the effective wind speed at the wind turbine based on the wind turbine position at time t in the period corresponding to the typical working condition and the representative values ​​of the wind speed and wind direction under the typical working condition comprises: Based on the position of each wind turbine in the wind farm at time t and the representative value of wind direction under typical working conditions, the wind speed loss at the wind turbine affected by the wake of each wind turbine upwind is determined; Based on the representative value of wind speed under typical working conditions and the wind speed loss at each wind turbine, the effective wind speed at each wind turbine at time t is determined.

6. The method for calculating annual power generation of a semi-submersible floating wind farm according to claim 1, characterized in that: The step of determining the aerodynamic force of the wind turbine at time t comprises: ； in, is the wind turbine at time t The pneumatic force, is the air density, For wind turbines The wind wheel diameter, is the wind turbine at time t The actual perceived wind speed, Perpendicular to the wind turbine Unit vector of the wind wheel disk; ； in, Wind turbine in geodetic coordinate system i The yaw angle of the wind turbine i The effect of own motion, its actual perceived yaw angle , can be determined by the following formula: ； in, for The vector direction and wind turbine The angle between the central axes of the wind wheels, Wind turbine During yaw operation, the deflection angle of the wake immediately behind the wind rotor disk; For wind turbines The thrust coefficient is calculated as: ； in, For wind turbines The axial induction factor.

7. The method for calculating annual power generation of a semi-submersible floating wind farm according to claim 1, characterized in that: The method of determining the hydrodynamic force of the wind turbine at time t based on the wind turbine structure information and representative values ​​of wave height and wave period under typical working conditions includes: Based on the representative values ​​of wave height and wave period under typical conditions, determine the wave surface lift at time t under typical conditions, as well as the horizontal velocity and horizontal acceleration of the water particle; Based on the wave surface lift, horizontal velocity and horizontal acceleration of the water particle at time t, the hydrodynamic force borne by each component on the floating foundation of the wind turbine is determined, and then the hydrodynamic force borne by the wind turbine as a whole is determined.

8. The method for calculating annual power generation of a semi-submersible floating wind farm according to claim 7, characterized in that: The method of determining the wave surface lift at each moment under typical working conditions, and the horizontal velocity and horizontal acceleration of the water particle based on representative values ​​of wave height and wave period under typical working conditions includes: ; ; ; in, , Height The horizontal velocity and horizontal acceleration of the water particle at For water depth, For wave surface lifting, is the wave height, is the wave number, For the cycle, is the angular frequency.

9. The method for calculating annual power generation of a semi-submersible floating wind farm according to claim 7, characterized in that: The determination of the hydrodynamic forces borne by each component on the floating foundation of the wind turbine based on the wave surface lift at time t, the horizontal velocity and the horizontal acceleration of the water particle, and then the determination of the hydrodynamic forces borne by the wind turbine as a whole, includes: ; in, is the wind turbine at time t The hydrodynamic force on the upper structure l under the action of waves, , Height The horizontal velocity and horizontal acceleration of the water particle at is the diameter of the component l, is the water density, is the drag force coefficient perpendicular to the central axis of component l, is the mass coefficient of component l, is the additional mass coefficient of component l, For water depth, For wave surface lifting, is the wave height, is the wave number, For the cycle, is the angular frequency, , and Height Horizontal displacement, velocity and acceleration of component l at location; ; in, is the wind turbine at time t The hydrodynamic force that the whole body bears under the action of waves; m refers to the wind turbine The number of components supporting the bottom platform.

10. The method for calculating annual power generation of a semi-submersible floating wind farm according to claim 7, characterized in that: The determination of the hydrodynamic forces borne by each component on the floating foundation of the wind turbine based on the wave surface lift at time t, the horizontal velocity and the horizontal acceleration of the water particle, and then the determination of the hydrodynamic forces borne by the wind turbine as a whole, includes: ; in, is the wind turbine at time t The hydrodynamic force that the upper structure l is subjected to under the combined action of waves and currents, , Height The horizontal velocity and horizontal acceleration of the water particle at is the diameter of the component l, is the water density, is the drag force coefficient perpendicular to the central axis of component l, is the mass coefficient of component l, is the additional mass coefficient of component l, For water depth, For wave surface lifting, is the wave height, is the wave number, For the cycle, is the angular frequency, , and Height The horizontal displacement, velocity and acceleration of component l at position is the ocean current velocity; ; in, is the wind turbine at time t The hydrodynamic force under the combined action of waves and currents; m refers to the wind turbine The number of components supporting the bottom platform.

11. The method for calculating annual power generation of a semi-submersible floating wind farm according to claim 1, characterized in that: The determining the mooring force of the wind turbine at time t based on the wind turbine structure information and the wind turbine position at time t includes: Based on the wind turbine structure information and the wind turbine position at time t, determine the horizontal distance from the fairlead hole on the wind turbine to the mooring point at time t; Based on the horizontal distance from the fairlead hole to the mooring point and combined with the catenary equation, the mooring force of the wind turbine at time t is determined.

12. The method for calculating annual power generation of a semi-submersible floating wind farm according to claim 1, characterized in that: The step of determining the acceleration of the wind turbine based on the total load comprises: ; in, is the acceleration of wind turbine i at time t, is the total load of wind turbine i at time t; and Respectively represent wind turbines i The actual weight and the additional mass used to overcome the hydrodynamic damping are calculated as follows: ; in, Wind turbine i The collection of all underwater structural components, and Respectively refer to j The added mass coefficient and added mass reference area of ​​each underwater structural component, Refers to the density of sea water.

13. A semi-submersible floating wind farm annual power generation calculation device, characterized in that: include: The working condition classification module is used to classify typical working conditions based on wind direction, wind speed, wave height and wave period, determine the occurrence frequency of each typical working condition in combination with historical data, and determine the representative values ​​of wind direction, wind speed, wave height and wave period under each typical working condition; The aerodynamic force module is used to determine the effective wind speed at the wind turbine based on the wind turbine position at time t in the period corresponding to the typical working condition and the representative values ​​of wind speed and wind direction under the typical working condition, and determine the actual perceived wind speed of the wind turbine at time t in combination with the movement speed of the wind turbine at time t, thereby determining the aerodynamic force of the wind turbine at time t; A hydrodynamic module is used to determine the hydrodynamic force of the wind turbine at time t based on the structural information of the wind turbine and the representative values ​​of the wave height and wave period under typical working conditions; A mooring force module, used to determine the mooring force of the wind turbine at time t based on the wind turbine structure information and the wind turbine position at time t; An updating module is used to determine the total load of the wind turbine based on the aerodynamic force, hydrodynamic force and mooring force of the wind turbine at time t, determine the acceleration of the wind turbine based on the total load, and further determine the movement speed and position of the wind turbine at the next moment; The wind farm power generation calculation module is used to determine the power generation of the wind turbine under typical working conditions based on the actual sensed wind speed of the wind turbine at each moment under typical working conditions, and further determine the power generation of the wind farm under typical working conditions; The annual power generation calculation module is used to determine the annual power generation of the wind farm based on the power generation of the wind farm under various typical working conditions and the frequency of occurrence of each typical working condition.

14. A storage medium having stored thereon a computer program executable by a processor, characterized in that: When the computer program is executed, the steps of the method for calculating the annual power generation of a semi-submersible floating wind farm according to any one of claims 1 to 12 are implemented.

15. A device for calculating annual power generation of a wind farm, comprising a memory and a processor, wherein the memory stores a computer program executable by the processor, wherein: When the computer program is executed, the steps of the method for calculating the annual power generation of a semi-submersible floating wind farm according to any one of claims 1 to 12 are implemented.

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