Modelica-AeroDyn-MoorDyn-based floating type wind wave combined power generation device integrated coupling calculation method and system

Abstract

The invention discloses an integrated coupling calculation method and system for a floating type wind wave combined power generation device based on Modelica-AeroDyn-MoorDyn, and relates to the technical field of offshore wind power generation, and the method comprises the steps: constructing a floating type fan model and a wave energy floater model which are highly matched with the actual operation of the floating type wind wave combined power generation device through Modelica; the aerodynamic load can be accurately loaded to the floating fan in an omnibearing mode, meanwhile, the attachment mode between the wave energy floater and the floating fan is established, the freedom degree of the floater can be freely released, enough precision is provided for reliability and stability evaluation of mooring based on the concentrated mass method by combining MoorDyn, and based on collaborative simulation of Modelica-AeroDyn-MoorDyn, the reliability and stability of the floating fan can be evaluated. The simulation result of the multi-floating-body coupling response obtained on the whole can truly reflect the operation state of the floating type wind and wave combined power generation device, and the coupling reliability is improved.

Description

Technical Field

[0001] The present invention relates to the technical field of offshore wind power generation, and particularly to an integrated coupling calculation method and system for a floating wind and wave combined power generation device based on Modelica-AeroDyn-MoorDyn. Background Art

[0002] A floating wind and wave combined power generation device is a system that combines a floating wind turbine (FWT) and a wave energy converter (WEC). Such a device not only facilitates the development of the marine economy, reduces emissions and improves the environment, but also effectively saves marine space and significantly reduces the construction costs of wind farms and wave power plants.

[0003] In current coupling simulation methods related to floating wind and wave combined power generation devices, usually only hydrodynamic coupling analysis is carried out for a single-float floating wind turbine. Or, although an integrated coupling calculation is performed on the entire floating wind and wave combined power generation device, the attachment method of the swing arm between the wave energy float, which is used as a wave energy conversion device, and the main platform of the floating wind turbine is simplified to a rhombic connection with only translational degrees of freedom, restricting the degrees of freedom of the float and resulting in the simulation results being difficult to truly reflect the operating state of the floating wind and wave combined power generation device, with relatively low coupling reliability. Summary of the Invention

[0004] The present invention provides an integrated coupling calculation method and system for a floating wind and wave combined power generation device based on Modelica-AeroDyn-MoorDyn, which solves the technical problem that the simulation results of the existing coupling simulation methods for floating wind and wave combined power generation devices are difficult to truly reflect the operating state of the floating wind and wave combined power generation device, and the coupling reliability is relatively low.

[0005] An integrated coupling calculation method for a floating wind and wave combined power generation device based on Modelica-AeroDyn-MoorDyn provided by the first aspect of the present invention includes:

[0006] Initializing the frequency-domain hydrodynamic parameters, mooring parameters, and aerodynamic condition parameters of the floating wind and wave combined power generation device;

[0007] Using Modelica to build a hydrodynamic load calculation model, a viscous load calculation model, a force calculation model for the energy harvesting device, and a multibody dynamics model, and outputting the multibody motion information and the guide hole position at the current time step through the multibody dynamics model and transmitting them to the dynamic link library;

[0008] Determine the hydrodynamic load based on the hydrodynamic load calculation model according to the multi-body motion information and the frequency-domain hydrodynamic parameters, determine the energy harvesting device acting force based on the energy harvesting device acting force calculation model using the multi-body motion information, and calculate the viscous load according to the preset viscous parameters based on the viscous load calculation model;

[0009] Use the AeroDyn model to calculate the aerodynamic loads at the blade nodes, tower nodes, and generator torque according to the aerodynamic operating conditions parameters and the multi-body motion information called from the dynamic link library, and transfer them to the dynamic link library;

[0010] Calculate the mooring load through the MoorDyn model using the mooring parameters, the multi-body motion information called from the dynamic link library, and the fairlead hole position, and transfer it to the dynamic link library;

[0011] Call the aerodynamic loads at the blade nodes, tower nodes, and mooring load from the dynamic link library, combine them with the hydrodynamic load, energy harvesting device acting force, and viscous load as the multi-body load, and call the generator torque to load into the multi-body dynamics model, and solve the multi-body coupling motion equation based on the fourth-order Runge-Kutta algorithm through the multi-body dynamics model, and output the multi-body motion information and multi-body load at the next time step; the multi-body dynamics model includes a coupled floating wind turbine model and a wave energy buoy model.

[0012] Further, the floating wind turbine model includes a coupled floating body platform model and an upper wind turbine model;

[0013] The upper wind turbine model includes a coupled tower model, nacelle model, and impeller model.

[0014] Further, the modeling process of the impeller model includes:

[0015] Use the BodyShape component to build the hub mass inertia model, and set the to_blade&nacelle connector on the hub mass inertia model to determine the hub model;

[0016] Build multiple blade mass inertia models through the BodyShape component, set the aerodynamic load input interface at the blade nodes on each blade mass inertia model, and set the to_Blade connector at the blade roots of each blade mass inertia model to connect with the fixedTranslation1 component respectively;

[0017] Set the first end of the fixedRotation6 component to connect with the fixedTranslation1 component, and the second end of the fixedRotation6 component to connect with the fixedRotation4 component through the fixedRotation5 component;

[0018] Set the to_Plate connectors on each fixedRotation4 component respectively. Connect the first ends of the fixedRotation3 components to each to_Plate connector respectively, and set the to_Nac. connector at the second end of the fixedRotation3 component.

[0019] Build the Aerodyn_I_O model based on the RealOutput component and the RealInput component. Add an input displacement variable transfer component, an input rotation angle variable transfer component, an input displacement speed variable transfer component, an input rotational angular velocity variable transfer component, an input rotor rotation angle variable transfer component, an output torque variable transfer component, an output tower load variable transfer component, and multiple blade node aerodynamic load output interfaces in the Aerodyn_I_O model and set the dynamic link library call function.

[0020] Connect each blade node aerodynamic load output interface to each blade node aerodynamic load input interface one by one, and set the absolute position detector, absolute angle detector, absolute speed detector, and absolute angular velocity detector to be connected to the input displacement variable transfer component, input rotation angle variable transfer component, input displacement speed variable transfer component, and input rotational angular velocity variable transfer component respectively to determine the blade model.

[0021] Among them, the to_blade&nacelle connector is connected to the to_Nac. connector and is both used to connect to the nacelle model. The output tower load variable transfer component is used to connect to the tower model. The input rotor rotation angle variable transfer component and the output torque variable transfer component are both used to connect to the nacelle model. The absolute position detector, absolute angle detector, absolute speed detector, and absolute angular velocity detector are all used to connect to the floating body platform model.

[0022] Furthermore, the modeling process of the wave energy floater model includes:

[0023] Set the first end of the origin component to be connected to the first end of the fixedTranslation2 component, and the second end of the origin component is used to connect to the floating body platform model.

[0024] Use the second end of the fixedTranslation2 component to be connected to the first end of the Revolute2 component and the first end of the SpringDamperSeries component respectively.

[0025] Use the rod1 component to be connected to the second end of the Revolute2 component and the first end of the rod2 component respectively.

[0026] Set the second end of the SpringDamperSeries component to be connected to the first end of the rod2 component, and set the second end of the rod2 component to be connected to the first end of the hinged_Joint component;

[0027] Use the BodyShape component to build the wave energy floater mass inertia model, connect the wave energy floater mass inertia model to the second end of the hinged_Joint component, and determine the wave energy floater model.

[0028] Furthermore, the hydrodynamic load includes added mass force, hydrostatic restoring force, radiation damping force, and wave exciting force;

[0029] The wave exciting force includes first-order wave force and second-order wave force.

[0030] Furthermore, the calculation process of the energy harvesting device acting force includes:

[0031] ;

[0032] In the formula, is the energy harvesting device acting force, is the energy harvesting device damping, is the energy harvesting device moving speed, is the energy harvesting device stiffness, is the energy harvesting device displacement.

[0033] An integrated coupling calculation system for a floating wind-wave combined power generation device based on Modelica-AeroDyn-MoorDyn provided by the second aspect of the present invention includes:

[0034] An initialization module for initializing the frequency-domain hydrodynamic parameters, mooring parameters, and aerodynamic operating conditions of the floating wind-wave combined power generation device;

[0035] A Modelica module for building a hydrodynamic load calculation model, a viscous load calculation model, a power generation device force calculation model, and a multibody dynamics model using Modelica. The multibody dynamics model outputs the multibody motion information and the position of the navigation hole at the current time step and transfers them to a dynamic link library. Based on the hydrodynamic load calculation model, the hydrodynamic load is determined according to the multibody motion information and the frequency-domain hydrodynamic parameters. Based on the power generation device force calculation model, the power generation device force is determined using the multibody motion information. Based on the viscous load calculation model, the viscous load is calculated according to the preset viscous parameters. The blade node aerodynamic load, the tower node aerodynamic load, and the mooring load are called from the dynamic link library and combined with the hydrodynamic load, the power generation device force, and the viscous load as the multibody load. The generator torque is called and loaded into the multibody dynamics model. The multibody dynamics model solves the multibody coupling motion equation based on the fourth-order Runge-Kutta algorithm and outputs the multibody motion information and the multibody load at the next time step. The multibody dynamics model includes a coupled floating wind turbine model and a wave energy buoy model.

[0036] The AeroDyn aerodynamic load module uses the AeroDyn model to calculate the blade node aerodynamic load, the tower node aerodynamic load, and the generator torque according to the aerodynamic working condition parameters and the multibody motion information called from the dynamic link library, and transfers them to the dynamic link library.

[0037] The MoorDyn mooring module is used to calculate the mooring load using the mooring parameters, the multibody motion information, and the position of the navigation hole called from the dynamic link library through the MoorDyn model, and transfers it to the dynamic link library.

[0038] The dynamic link library is used for data exchange between the Modelica module, the AeroDyn aerodynamic load module, and the MoorDyn mooring module, and coordinates the stepping threads between the Modelica module, the AeroDyn aerodynamic load module, and the MoorDyn mooring module.

[0039] A computer device provided in the third aspect of the present invention includes a memory and a processor. A computer program is stored in the memory. When the computer program is executed by the processor, the processor executes the steps of the integrated coupling calculation method of the floating wind and wave combined power generation device based on Modelica - AeroDyn - MoorDyn as described in any one of the above.

[0040] A computer-readable storage medium provided in the fourth aspect of the present invention has a computer program stored thereon. When the computer program is executed, it implements the integrated coupling calculation method of the floating wind and wave combined power generation device based on Modelica - AeroDyn - MoorDyn as described in any one of the above.

[0041] A fifth aspect of the present invention provides a computer program product, comprising a computer program / instruction, which, when executed by a processor, implements the integrated coupling calculation method for a floating wind-wave combined power generation device based on Modelica-AeroDyn-MoorDyn as described in any one of the above items.

[0042] It can be seen from the above technical solutions that the present invention has the following advantages:

[0043] The above scheme of the present invention provides an integrated coupling calculation method for a floating wind-wave combined power generation device based on Modelica-AeroDyn-MoorDyn, including: initializing the frequency domain hydrodynamic parameters, mooring parameters and aerodynamic operating parameters of the floating wind-wave combined power generation device; using Modelica to build a hydrodynamic load calculation model, a viscous load calculation model, an energy acquisition device force calculation model and a multi-body dynamics model, outputting the multi-body motion information and the position of the navigation hole of the current time step through the multi-body dynamics model and transmitting them to a dynamic link library; determining the hydrodynamic load according to the multi-body motion information and the frequency domain hydrodynamic parameters based on the hydrodynamic load calculation model, and determining the energy acquisition device force based on the multi-body motion information based on the energy acquisition device force calculation model, and calculating the viscous load according to the preset viscous parameters based on the viscous load calculation model; using The AeroDyn model calculates the blade node aerodynamic load, tower node aerodynamic load and generator torque according to the aerodynamic operating parameters and the multi-body motion information called from the dynamic link library, and transmits them to the dynamic link library; the MoorDyn model uses the mooring parameters and the multi-body motion information and the guide hole position called from the dynamic link library to calculate the mooring load, and transmits it to the dynamic link library; the blade node aerodynamic load, tower node aerodynamic load and mooring load are called from the dynamic link library and combined with the hydrodynamic load, the force of the energy harvesting device and the viscous load as the multi-body load, and the generator torque is called to load the multi-body dynamics model, and the multi-body coupled motion equations are solved by the multi-body dynamics model based on the fourth-order Runge-Kutta algorithm, and the multi-body motion information and multi-body loads for the next time step are output; the multi-body dynamics model includes a coupled floating wind turbine model and a wave energy float model. Based on the above scheme, Modelica is used to build a floating wind turbine model and a wave energy buoy model that are highly consistent with the actual operation of the floating wind and wave combined power generation device. The aerodynamic load can be accurately loaded to the floating wind turbine in all directions. At the same time, the attachment method between the wave energy buoy and the floating wind turbine is established to freely release the freedom of the float. Combined with MoorDyn based on the lumped mass method, sufficient accuracy is provided for the reliability and stability evaluation of the mooring. Based on the collaborative simulation of Modelica-AeroDyn-MoorDyn, the simulation results of the multi-floating body coupling response obtained as a whole can truly reflect the operating status of the floating wind and wave combined power generation device and improve the coupling reliability. BRIEF DESCRIPTION OF THE DRAWINGS

[0044] To more clearly illustrate the technical solutions in the embodiments of the present invention or in the prior art, the following will briefly introduce the accompanying drawings required for the description of the embodiments or the prior art. Obviously, the accompanying drawings in the following description are only some embodiments of the present invention. For those of ordinary skill in the art, without creative efforts, other accompanying drawings can be obtained based on these drawings.

[0045] Figure 1 It is a step flowchart of an integrated coupling calculation method for a floating wind and wave combined power generation device based on Modelica - AeroDyn - MoorDyn provided by an embodiment of the present invention;

[0046] Figure 2 It is a schematic diagram of the overall logical structure of the integrated coupling simulation provided by an embodiment of the present invention;

[0047] Figure 3 It is a schematic diagram of the calculation logical relationship of Modelica - Aerodyn - MoorDyn provided by an embodiment of the present invention;

[0048] Figure 4 It is a schematic diagram of the structure of the upper - part fan model provided by an embodiment of the present invention;

[0049] Figure 5 It is a schematic diagram of the structure of the tower model provided by an embodiment of the present invention;

[0050] Figure 6 It is a schematic diagram of the structure of the nacelle model provided by an embodiment of the present invention;

[0051] Figure 7 It is a schematic diagram of the structure of the blade model provided by an embodiment of the present invention;

[0052] Figure 8 It is a schematic diagram of the structure of the azimuth conversion model provided by an embodiment of the present invention;

[0053] Figure 9 It is a schematic diagram of the structure of the energy - harvesting device model provided by an embodiment of the present invention;

[0054] Figure 10 It is a schematic diagram of the operation logic and decomposition method of the InflowWind module provided by an embodiment of the present invention;

[0055] Figure 11 It is a structural block diagram of an integrated coupling calculation system for a floating wind and wave combined power generation device based on Modelica - AeroDyn - MoorDyn provided by an embodiment of the present invention. Specific embodiments

[0056] The embodiment of the present invention provides an integrated coupling calculation method and system for a floating wind-wave combined power generation device based on Modelica - AeroDyn - MoorDyn, which is used to solve the technical problems that in the existing coupling simulation method of the floating wind-wave combined power generation device, the simulation result is difficult to truly reflect the operation state of the floating wind-wave combined power generation device, and the coupling reliability is relatively low.

[0057] In order to make the objectives, features, and advantages of the present invention more obvious and understandable, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the embodiments described below are only a part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without making creative efforts shall fall within the protection scope of the present invention.

[0058] Term Explanation

[0059] Floating wind-wave combined power generation device: The floating wind-wave combined power generation device is a new type of system that combines a floating wind turbine and a wave energy converter (WEC). This device not only helps to develop the marine economy, reduce emissions and improve the environment, but also can effectively save marine space and reduce the construction costs of wind farms and wave power plants.

[0060] Modelica: Modelica is an object-oriented, equation-based non-causal modeling language. The so-called "equation-based non-causal modeling" means that when constructing a model in the Modelica language, its "=" operator is the same as the equal sign in mathematics, and it is equivalent whether the variables on both sides of the equal sign are swapped or not, that is, the so-called "non-causal relationship"; while in other languages, the equal sign operator is often a simple assignment operator, and the left side of the equal sign is the result of the right side assignment statement, that is, the so-called "causal relationship"; when solving ordinary differential equations, Modelica only needs to list the equations and set the initial values of the independent variables, and the solver will automatically discretize the time and solve the equations, greatly reducing the steps in the physical modeling process and the difficulty of solving the equations. Another feature of Modelica is its hierarchical component model. Components are the units that make up the model in Modelica. Components can interact with other components through connectors and can be combined into a coupled system, and the coupled system can be used as a component of other systems to build models. This unified form of components can be easily replaced and debugged to facilitate the expansion and update of physical models.

[0061] AeroDyn: AeroDyn is an open-source time-domain wind turbine aerodynamics calculation software that can be used to calculate the aerodynamic loads on blades and towers.

[0062] MoorDyn: MoorDyn is a simple, efficient, and versatile open-source dynamic mooring system model designed to work in conjunction with other simulation tools. It is based on the lumped mass discretization of mooring cable dynamics and adds point mass and rigid body objects to enable the simulation of various mooring and wiring arrangements.

[0063] See Figure 1 , Figure 1 which is the flowchart of the steps of an integrated coupling calculation method for a floating wind and wave combined power generation device based on Modelica - AeroDyn - MoorDyn provided by an embodiment of the present invention.

[0064] An integrated coupling calculation method for a floating wind and wave combined power generation device based on Modelica - AeroDyn - MoorDyn provided by the present invention includes:

[0065] Step 101, initialize the frequency-domain hydrodynamic parameters, mooring parameters, and aerodynamic condition parameters of the floating wind and wave combined power generation device.

[0066] Mooring parameters refer to the relevant parameters used to calculate mooring loads, such as mooring cable parameters including mooring cable diameter, mooring cable density, mooring cable equivalent tensile stiffness, initial guide hole position of the mooring cable, mooring point position, and unstretched length of the mooring cable, and the initial mooring position.

[0067] Frequency-domain hydrodynamic parameters refer to the relevant parameters used to calculate hydrodynamic loads. According to the types of loads including added mass force, hydrostatic restoring force, radiation damping force, and wave excitation force involved in the hydrodynamic loads, parameters such as added mass, restoring force coefficient, radiation damping, and wave excitation force coefficient can be included.

[0068] Aerodynamic condition parameters refer to the relevant parameters used to calculate aerodynamic loads, such as wind field data, airfoil parameters, and initial positions of blade elements. The airfoil parameters include the lift coefficient and drag coefficient of the blade. Wind field data such as Turbsim turbulent wind field data includes the wind speed with specified wind speed and turbulence intensity within a given area; Turbsim is an open-source stochastic simulator for turbulent wind developed by NREL. It uses a statistical model to simulate the vector time series of wind speed in three directions, and the wind field data given by Turbsim is the time series of wind speed vectors at each point in a two-dimensional vertical rectangular grid.

[0069] It should be noted that the initialization of parameters is mainly used to set the initial state for the simulation of the floating combined wind and wave power generation device. The corresponding hydrodynamic parameters in the frequency domain can be obtained through frequency domain potential flow software such as AQWA or WAMIT. The mooring cable parameters and initial mooring positions and other mooring parameters are defined in the MoorDyn initial file. The wind field data is generated by Turbsim and combined with the airfoil parameters and the initial positions of the blade elements as the aerodynamic condition parameters to define the AeroDyn initial file.

[0070] Step 102: Use Modelica to build a hydrodynamic load calculation model, a viscous load calculation model, an energy harvesting device force calculation model, and a multibody dynamics model. The multibody motion information and the guide hole position at the current time step are output by the multibody dynamics model and transmitted to the dynamic link library.

[0071] It should be noted that in this embodiment, Modelica language is used for modeling. A hydrodynamic load calculation model for calculating hydrodynamic loads, a viscous load calculation model for calculating viscous loads, and an energy harvesting device force calculation model for calculating the forces of the energy harvesting device are built. It can be understood that the energy harvesting device here refers to the wave energy conversion device that captures wave energy in the floating combined wind and wave power generation device, which is connected between the wave energy float and the main platform of the floating wind turbine and is used to convert wave energy into electrical energy. And a multibody dynamics model of the floating combined wind and wave power generation device is built using Modelica language. The multibody dynamics model refers to a mathematical model of the dynamic behavior of multiple interacting objects or systems in the floating combined wind and wave power generation device. Coupled simulations are performed step by step in time. The multibody motion information and the guide hole position at the current time step can be output by the multibody dynamics model and stored in the dynamic link library. The multibody motion information corresponds to the motion information such as the six-degree-of-freedom displacement, six-degree-of-freedom velocity, and six-degree-of-freedom acceleration of multiple interacting objects or systems in the floating combined wind and wave power generation device. The specific programming modeling software can be OpenModelica, MWORKS, or other programming modeling software that also uses Modelica language.

[0072] In this embodiment, as Figure 2 and Figure 3As shown, a Dynamic Link Library (DLL) can apply for shared space in memory (also known as shared memory) to store the data information that needs to be transmitted between Modelica, Aerodyn, and MoorDyn. It can be understood that Modelica, as a high-level modeling language with C++ as its underlying language, itself has the function of calling external dynamic link libraries. This enables the models established by Modelica to build data transmission channels and thread control with external programs by means of the functions of dynamic link libraries. The dynamic link library in the Windows operating system can apply for a section of space in memory as shared memory (Share Memory). This section of memory can exist all the time during the call of the DLL and will be recycled when the call of the DLL ends. On the other hand, AeroDyn, a calculation software written in Fortra language, and MoorDyn, a calculation software written in C++ language, also have the function of calling the DLL. Therefore, in this embodiment, the DLL will be used as a bridge for data transmission to achieve the coupled calculation of Modelica, Aerodyn, and MoorDyn.

[0073] In a specific implementation manner of this embodiment, the multi-body dynamics model includes a coupled floating wind turbine model and a wave energy buoy model.

[0074] In a more specific implementation manner of this embodiment, the floating wind turbine model includes a coupled floating body platform model and an upper wind turbine model;

[0075] The upper wind turbine model includes a coupled tower model, nacelle model, and impeller model.

[0076] It should be noted that the floating wind and wave combined power generation device generally includes a floating wind turbine and a wave energy buoy. The floating wind turbine includes a floating body platform and an upper wind turbine. The upper wind turbine includes a tower, a nacelle, and an impeller (rotor). The impeller includes a hub and blades. The nacelle includes a transmission system, a servo controller, etc. Specifically, the corresponding multi-body dynamics model is built according to the structural composition of different floating wind and wave combined power generation devices.

[0077] It can be understood that the servo controller in this embodiment includes a generator torque controller and a unified pitch controller. These two pneumatic controllers play roles at different stages of wind speed. When the wind speed is less than the rated wind speed, the generator torque controller is mainly used to keep the wind turbine operating at the optimal wind energy capture efficiency. When the wind speed is greater than the rated wind speed, the unified pitch controller will control the pitch angle of the wind turbine blades to achieve the goal of stabilizing the aerodynamic load and thus stabilizing the generator speed and power, avoiding the situation of power overload. Specifically, the open-source controller Discon is used. Discon is compiled into a Discon.dll file and called in AeroDyn for generator torque control and unified pitch control.

[0078] Step 103: Determine the hydrodynamic load based on the multi-body motion information and the frequency-domain hydrodynamic parameters according to the hydrodynamic load calculation model, determine the energy harvesting device acting force based on the multi-body motion information according to the energy harvesting device acting force calculation model, and calculate the viscous load according to the preset viscous parameters according to the viscous load calculation model.

[0079] In a specific implementation manner of this embodiment, the hydrodynamic load calculation model includes an added mass force calculation model, a hydrostatic restoring force calculation model, a radiation damping force calculation model, and a wave exciting force calculation model; correspondingly, the hydrodynamic load includes an added mass force, a hydrostatic restoring force, a radiation damping force, and a wave exciting force, and the wave exciting force includes a first-order wave force and a second-order wave force.

[0080] It should be noted that the floating wind-wave combined power generation device is a multi-floating body device. That is, the movement of the floating wind turbine will affect the water surface flow field, thus exerting a force on the wave energy float, and the movement of the wave energy float will also affect the water surface flow field, thus exerting a force on the floating wind turbine. The interacting forces are realized through the radiation damping and added mass forces between the two. The specific calculation process of the force exerted by the movement of the floating wind turbine on the wave energy float includes using the six-degree-of-freedom velocity of the floating wind turbine and the radiation damping parameter of the floating wind turbine to the corresponding wave energy float to calculate the delay function of the floating wind turbine to the corresponding float, that is, the radiation damping force, and using the six-degree-of-freedom acceleration of the floating wind turbine and the added mass parameter of the floating wind turbine to the corresponding wave energy float to calculate the added mass force of the floating wind turbine to the corresponding float. The process of the force exerted by the movement of the wave energy float on the floating wind turbine is opposite to the above, that is, using the six-degree-of-freedom velocity and acceleration of the corresponding wave energy float, the radiation damping parameter and added mass parameter of the corresponding wave energy float to the floating wind turbine;

[0081] For the hydrostatic restoring force calculation model, the hydrostatic restoring force of the floating wind turbine and the corresponding float is calculated by using the hydrostatic restoring force parameters of the floating wind turbine and the corresponding float and the six-degree-of-freedom displacements of the floating wind turbine and the corresponding float through the hydrostatic restoring force calculation formula;

[0082] For the wave excitation force calculation model, the wave excitation force parameters of the floating wind turbine and the corresponding floating body, the wave height and period of regular waves, or the significant wave height and spectral peak period of irregular waves are used. Through the wave force calculation formula, the wave forces of the floating wind turbine and the corresponding floating body are calculated. It should be noted that the wave excitation force includes the first-order wave force and the second-order wave force;

[0083] It can be understood that the additional mass calculation formula, the hydrostatic restoring force calculation formula, the radiation damping force calculation formula, and the wave excitation force calculation formula involved in the additional mass force calculation model, the hydrostatic restoring force calculation model, the radiation damping force calculation model, and the wave excitation force calculation model can refer to the prior art and will not be elaborated here.

[0084] In a specific implementation manner of this embodiment, the calculation process of the energy harvesting device acting force includes:

[0085] ;

[0086] In the formula, is the energy harvesting device acting force, is the energy harvesting device damping, is the moving speed of the energy harvesting device, is the energy harvesting device stiffness, is the displacement of the energy harvesting device.

[0087] Step 104: Use the AeroDyn model to calculate the blade node aerodynamic load, the tower node aerodynamic load, and the generator torque according to the aerodynamic condition parameters and the multi-body motion information called from the dynamic link library, and transfer them to the dynamic link library.

[0088] It should be noted that AeroDyn is a horizontal axis wind turbine aerodynamic calculation component developed based on the momentum blade element theory. It can be coupled with the integrated simulation software FAST or used as a separate module to calculate the aerodynamic load. In this embodiment, the AeroDyn model is redeveloped to add the function of data exchange during the Modelica simulation process. The position and speed information of the nodes on the blade and the tower are provided by the multi-body dynamics model built in Modelica. At the same time, the AeroDyn model reads the aerodynamic condition parameters for dynamic coupling calculation and outputs the aerodynamic load and aerodynamic torque. The aerodynamic load includes the blade node aerodynamic load and the tower node aerodynamic load acting on the blade node and the tower node, and the aerodynamic torque is converted and output as the generator torque in the multi-body dynamics model. After completing the iteration of one time step, it is passed back to Modelica through the shared memory built by the step control module for the calculation of the next time step.

[0089] In a specific implementation of this embodiment, the AeroDyn model reads the wind field data in the aerodynamic operating conditions through the improved InflowWind module. The improved InflowWind module includes variable definition, InflowWind_Init function, InflowWind_Calc function, and InflowWind_End function.

[0090] It should be noted that the Aerodyn model needs to read the wind field data through the InflowWind module in the FAST program. When InflowWind calls the wind field data, it will interpolate based on the data of the grid points adjacent to the aerodynamic nodes to obtain the exact wind speed of the aerodynamic nodes. There is no code coupling InflowWind in the independent running version of Aerodyn, and this part of the function needs to be expanded; in fact, there is also an independent running version of InflowWind, and its main program operation logic is as Figure 10 shown in the left block diagram; in order to make it have the function of coupling with Aerodyn, this embodiment disassembles the functions of each part of the main program. Figure 10 The right block diagram shows the modified InflowWind module. It can be seen that the modified InflowWind module divides the main program into four parts: variable definition, InflowWind_Init, InflowWind_Calc, and InflowWind_End. The latter three are all independent functions and can be called in Aerodyn; in the operation of Aerodyn, there are also similar subroutines such as initialization, calculation, and memory release, such as Init_Aerodyn, Set_AD_Inputs, and AD_End functions. By calling the functions in the same stage during the calculation process, the coupling of the InflowWind program can be achieved. In addition, since a large number of global variables are defined in the main program of InflowWind, in order to facilitate Aerodyn to call parameters, these variables need to be unified into the custom local variable type Type_Inflow.

[0091] In specific implementation, after defining a series of variables such as the wind field parameters describing the basic characteristics of the wind field and the input / output variables required for interaction, the parameters required for wind field simulation are read from the specified configuration file through the InflowWind_Init initialization function, memory is allocated for the data structure storing the wind field data and intermediate calculation results, the aerodynamic node parameters are initialized according to the read parameters and the defined variables, the InflowWind_Calc calculation function calculates the wind field data such as the wind speed of the aerodynamic nodes based on the initialized aerodynamic node parameters and outputs it to the predefined variables for AeroDyn to use, and the InflowWind_End end function releases the memory allocated for the data structure during initialization.

[0092] Step 105: Calculate the mooring loads using the mooring parameters and the multi-body motion information called from the dynamic link library and the fairlead position through the MoorDyn model, and transfer them to the dynamic link library.

[0093] It should be noted that MoorDyn is a mooring cable calculation component developed based on the lumped mass method, which can be coupled with the integrated simulation software FAST or OpenFoam, Simcenter STAR-CCM+, or can be used as a separate module to calculate the mooring loads; in this embodiment, the MoorDyn mooring simulation model is redeveloped to add the function of data exchange during the Modelica simulation process. Information such as the fairlead position and speed is provided by the multi-body dynamics model built in Modelica. After completing one time-step iteration, MoorDyn will upload the mooring loads to the shared memory built by the step control module for the Modelica module to calculate the next time-step; in specific implementation, the MoorDyn model can be compiled into MoorDyn.dll for calling in the written dynamic link library module.

[0094] Step 106: Call the aerodynamic loads of the blade nodes, the aerodynamic loads of the tower nodes, and the mooring loads from the dynamic link library, combine them with the hydrodynamic loads, the forces of the energy harvesting device, and the viscous loads as the multi-body loads, and call the generator torque to be loaded into the multi-body dynamics model, and solve the multi-body coupled motion equations based on the fourth-order Runge-Kutta algorithm through the multi-body dynamics model, and output the multi-body motion information and multi-body loads of the next time-step.

[0095] It should be noted that the aerodynamic loads of the blade nodes, the aerodynamic loads of the tower nodes, the mooring loads, the hydrodynamic loads, and the forces of the energy harvesting device are used as multi-body loads and loaded into the corresponding structures of the multi-body dynamics model. Assuming the six-degree-of-freedom motion of the floating body is , then based on the basic principle of potential flow theory, the multi-body coupled motion equations can be written in the following form:

[0096] ;

[0097] In the formula, is the displacement of the floating body, is the velocity of the floating body, is the acceleration of the floating body, is the inertia matrix of the floating body, is the added mass force at infinite frequency, represents the radiation damping force, is the hydrostatic restoring force; the same numbers from subscript 1 to N represent self-action, and different numbers indicate mutual interference; is the multi-body load, which includes hydrodynamic, aerodynamic and mooring loads, etc. The specific form is as follows:

[0098] ;

[0099] In the formula, is the hydrodynamic load, is the aerodynamic load, is the mooring load, is the viscous load, is the force of the energy harvesting device;

[0100] The multi-body coupled motion equation can be understood as a second-order ordinary differential non-homogeneous differential equation. To solve this kind of equation, the Runge-Kutta 4th order integration method can be used for step-by-step integration. Finally, the motion values of each degree of freedom of the floating body can be obtained, so as to obtain the multi-body motion information of the next time step. Then, substituting it back into the multi-body coupled motion equation to solve, the multi-body load of the next time step can be obtained;

[0101] It can be understood that since Modelica, Aerodyn and MoorDyn are parallel threads during calculation, it is necessary to control their stepping relationship during each step of calculation. Exemplarily, when the program written in this embodiment runs under the Windows operating system, the Windows API for thread control needs to be used. The stepping relationship is as Figure 3 shown. The integration method for solving the multi-body coupled motion equation in Modelica is the fourth-order Runge-Kutta algorithm. Therefore, it will insert an integration calculation between the given step sizes during the integration process. That is to say, Aerodyn and MoorDyn will be called once at t = t n+1 / 2 . And this stepping coordination can be achieved through a dynamic link library to coordinate the stepping relationship between the Modelica, Aerodyn and MoorDyn threads. During the simulation process, Modelica, Aerodyn and MoorDyn will all call the corresponding subroutines to update the data calculated at the current time step to the shared memory.

[0102] Preferably, this embodiment provides a modeling process for the upper fan model and the wave energy buoy model, including:

[0103] 1) The modeling process of the tower model includes:

[0104] The tower in the floating wind and wave combined power generation device is evenly divided into multiple tower segments along the height direction. The BodyShape component is used to model each tower segment to construct a tower mass inertia model;

[0105] A frame_a connector and a frame_b connector are respectively set at the tower base and the tower top of the tower mass inertia model;

[0106] An input tower load variable transfer component is added at each tower segment of the tower mass inertia model to determine the tower model;

[0107] Among them, the frame_a connector is used to connect with the floating body platform model, the frame_b connector is used to connect with the nacelle model, and the input tower load variable transfer component is used to connect with the impeller model.

[0108] 2) The modeling process of the nacelle model includes:

[0109] The BodyShape component is used to build a nacelle mass inertia model, and both ends of the nacelle mass inertia model are set to be connected with a to_tower connector and a fixedRotation1 component respectively;

[0110] The BodyShape component is used to build a transmission system inertia equivalent model. A to_nacelle connector is set at the first end of the transmission system inertia equivalent model and is connected to the fixedRotation1 component through a Revolute1 component. An output rotor rotation angle variable transfer component is set on the Revolute1 component;

[0111] The first end of the fixedRotation2 component is set to be connected with the second end of the transmission system inertia equivalent model, and a to_hub&blade connector is set at the second end of the fixedRotation2 component;

[0112] Based on the WorldTorque component and the RealInput component, a generator torque controller model is built. The first end of the generator torque controller model is set to be connected with the second end of the fixedRotation2 component, and an input torque variable transfer component is set at the second end of the generator torque controller model to determine the nacelle model;

[0113] Among them, the to_tower connector is used to connect with the tower model, and the to_hub&blade connector, the output rotor rotation angle variable transmission component, and the input torque variable transmission component are all used to connect with the impeller model.

[0114] 3) The modeling process of the impeller model includes:

[0115] Build a hub mass inertia model using the BodyShape component, set the to_blade&nacelle connector on the hub mass inertia model, and determine the hub model;

[0116] Build multiple blade mass inertia models through the BodyShape component, set blade node aerodynamic load input interfaces on each blade mass inertia model, and set to_Blade connectors at the blade roots of each blade mass inertia model to connect with the fixedTranslation1 component;

[0117] Set the first end of the fixedRotation6 component to be connected with the fixedTranslation1 component, and the second end of the fixedRotation6 component is connected with the fixedRotation4 component through the fixedRotation5 component;

[0118] Set to_Plate connectors on each fixedRotation4 component respectively, set the first end of the fixedRotation3 component to be connected with each to_Plate connector respectively, and set a to_Nac. connector at the second end of the fixedRotation3 component;

[0119] Build an Aerodyn_I_O model based on the RealOutput component and the RealInput component, add an input displacement variable transmission component, an input rotation angle variable transmission component, an input displacement speed variable transmission component, an input rotation angular velocity variable transmission component, an input rotor rotation angle variable transmission component, an output torque variable transmission component, an output tower load variable transmission component, and multiple blade node aerodynamic load output interfaces in the Aerodyn_I_O model and set dynamic link library call functions;

[0120] Connect each blade node aerodynamic load output interface with each blade node aerodynamic load input interface one by one, and set an absolute position detector, an absolute angle detector, an absolute speed detector, and an absolute angular velocity detector to be connected with the input displacement variable transmission component, the input rotation angle variable transmission component, the input displacement speed variable transmission component, and the input rotation angular velocity variable transmission component respectively to determine the blade model;

[0121] Among them, the to_blade&nacelle connector is connected to the to_Nac. connector and both are used to connect to the nacelle model. The output tower load variable transfer component is used to connect to the tower model. The input rotor rotation angle variable transfer component and the output torque variable transfer component are both used to connect to the nacelle model. The absolute position detector, the absolute angle detector, the absolute speed detector, and the absolute angular velocity detector are all used to connect to the floating body platform model.

[0122] 4) The modeling process of the wave energy float model includes:

[0123] Set the first end of the origin component to be connected to the first end of the fixedTranslation2 component, and the second end of the origin component is used to connect to the floating body platform model;

[0124] Use the second end of the fixedTranslation2 component to be connected to the first end of the Revolute2 component and the first end of the SpringDamperSeries component respectively;

[0125] Use the rod1 component to be connected to the second end of the Revolute2 component and the first end of the rod2 component respectively;

[0126] Set the second end of the SpringDamperSeries component to be connected to the first end of the rod2 component, and set the second end of the rod2 component to be connected to the first end of the hinged_Joint component;

[0127] Use the BodyShape component to build the wave energy float mass inertia model, connect the wave energy float mass inertia model to the second end of the hinged_Joint component, and determine the wave energy float model.

[0128] It should be noted that the hierarchical feature of the Modelica language provides a relatively clear modeling method for the complex relationships between different modules of the wind turbine. For example, Figure 4 As shown, it shows the schematic diagram of the upper wind turbine model structure obtained by graphical modeling of the upper wind turbine based on Modelica. Among them, the parameters connected by dotted lines represent the transfer of variable values. Among the variables connected by dotted lines, the solid triangle or circle icon represents the data receiving end, the hollow triangle icon represents the data sending end, and the solid line connection represents the equivalent relationship of its coordinates. The meanings of the connection lines and icons in other model schematic diagrams are the same as this;

[0129] Figure 5A schematic diagram of the tower model is shown. Since the tower is a conical structure with a variable cross-section, the cone can be divided into n tower segments according to these cross-sectional properties. Preferably, n can be set to 10, and the length of each segment accounts for 1 / 10 of the overall length of the tower. The "bodyShape" component is used to model the above tower segments, and a tower mass inertia model composed of bodyShape1 - bodyShape10 is obtained. "frame_a" and "frame_b" represent the frame connectors between the tower and other external components. "frame_a" is set at the tower base, and "frame_b" is set at the top of the tower. Each tower segment is used as a tower aerodynamic node, that is, a node for describing the aerodynamic characteristics of the tower. An input tower load variable transfer component is added at each tower segment. In the figure, "force1" to "force11" represent the aerodynamic loads acting on different nodes of the tower, and the specific values of these loads are obtained by Aerodyn calculation and transmitted through the internal data channel of Modelica.

[0130] The nacelle model is as Figure 6As shown, "to_tower" and "to_hub&blade" are frame connectors. "to_hub&blade" can be understood as "to_hub" and "to_blade" in the figure. "to_tower" is connected to the "frame_b" connector at the top of the tower, and "to_hub&blade" is respectively connected to the "to_Nac." connector of the blade model and the "to_blade&nacelle" connector of the hub model. The nacelle mass inertia model "nacelle" is a "bodyShape" component for the mass and moment of inertia of the nacelle. Exemplarily, for a standard NERL 5MW wind turbine, the center of gravity position is (1.9, 0, 1.75) relative to the "to_tower" frame connector, and the coordinates of the other end are (0, 0, 1.75). "fixedRotation1" is a coordinate rotation component used to change the relative angle between the "a" end and the "b" end. Here, it is set to rotate 5° around the y-axis. 5° represents the inclination angle of the rotor shaft. The specific center of gravity position angle parameters can be adaptively set according to the specific wind turbine. The "Revolution1" component is a revolute joint, and its "b" end can rotate freely relative to the "a" end according to the given axis. This component has two output quantities. The variable "p" is the rotation angle, and the variable "w" is the angular velocity of rotation. "Drivetrain" is an equivalent model of the drivetrain inertia, which contains a "bodyShape" component representing the equivalent mass of the drive shaft and the moment of inertia relative to the rotor shaft. "fixedRotation2" is used to adjust the initial rotation phase of the rotor. "Gen Control" is a generator torque controller, which will provide a torque that changes according to the speed to control the rotor speed of the wind turbine in the generator torque control stage. In addition, there are 2 external variable transfer components in the nacelle model. The "T" transferred by the input torque variable transfer component is the input variable, and the "p" transferred by the output rotor rotation angle variable transfer component is the output variable, corresponding to the equivalent torque of the low-speed shaft of the generator and the rotor rotation angle respectively. In addition, when it is necessary to analyze the angular velocity of the rotor rotation, an output rotor rotation angular velocity variable transfer component can also be considered to transfer "w" on the Revolute1 component.

[0131] In the hub model, as Figure 4 shown, only the mass inertia model of the hub is abstracted and simulated with the bodyShape component. The to_blade&nacelle connector is set on the hub mass inertia model to connect the "to_hub&blade" of the nacelle model and the "to_Nac." frame connector of the blade model.

[0132] As Figure 7As shown, the blade model includes the multi-body model of the blade and the module for Aerodyn interaction; on the left side of the model is the frame connector "to_Nac." connected to the hub and nacelle. "fixedRotation3" is used to rotate the impeller center to the axis direction. "bla_a", "bla_b", and "bla_c" are the multi-body models of the blade composed of the blade mass inertia model built by the BodyShape component; "1# Blade", "2# Blade", and "3# Blade" are the azimuth conversion models, whose function is to rotate the blade to the corresponding azimuth; "Aerodyn_I_O" is the Modelica and Aerodyn load interaction module. Its main function is to transfer data such as position information, speed information, and rotation angle to Aerodyn, and transfer the load calculated by Aerodyn to Modelica. The set dynamic link library call function is used to facilitate the realization of shared space and step coordination; on the left side of "Aerodyn_I_O", there are 1#, 2#, and 3# output interfaces, which are connected to the "AeroLoad" input interfaces of the three blades "bla_a", "bla_b", and "bla_c". Actually, what is transferred is the aerodynamic load acting on each node of the three blades calculated by Aerodyn; above the right side of "Aerodyn_I_O", there are four output variables " ", " ", " ", and " ". " " and " " are respectively the displacement and rotation angle of the tower base, i.e., the floating body platform. " " and " " are the derivatives of " " and " " with respect to time, that is, velocity and angular velocity. It can be understood that, as Figure 4 shown, "frame_a" is connected to the lower floating body platform. Four detectors, namely the absolute position detector, absolute angle detector, absolute velocity detector, and absolute angular velocity detector built by the Sensors component, can be connected to "frame_a" to detect the displacement, angle, velocity, and angular velocity of the floating body platform; the variable "p" is the rotation angle of the low-speed shaft of the impeller, the variable "T" is the torque output by the generator control, and the variable "TF" is the aerodynamic load on each node of the tower;

[0133] For the structure of the azimuth conversion model, refer to Figure 8As shown, "fixedRotation4" rotates the blade along the x-axis to the direction angle of the impeller disk surface, with the 1# blade at 0°, the 2# blade at 120°, and the 3# blade at 240°; "fixedRotation5" rotates the blade along the z-axis to the blade disk surface, with a rotation angle of 90°; "fixedRotation6" rotates the blade along the y-axis to the pre-cone angle of 2.5° relative to the blade disk surface; "fixedTranslation1" translates the blade along the z-axis to the hub radius;

[0134] Thus, through the to_hub&to_blade connector, to_Nac. connector, and to_blade&to_nacelle connector, they are interconnected to connect the output rotor rotation angle variable transfer component with the input rotor rotation angle variable transfer component, connect the input tower load variable transfer component with the output tower load variable transfer component, connect the output torque variable transfer component with the input torque variable transfer component, connect the to_tower connector with the frame_b connector, and connect the absolute position detector, absolute angle detector, absolute speed detector, and absolute angular velocity detector with the frame_a connector. Through the frame_a connector, it is connected to the floating body platform model, and the overall upper part of the wind turbine model is formed;

[0135] Figure 9 The schematic diagram of the attachment method of the swing arm of the energy harvesting device connecting the wave energy float and the floating wind turbine built based on Modelica is shown. The energy harvesting device model is composed of the origin component, fixedTranslation2 component, Revolute2 component, SpringDamperSeries component, rod1 component, rod2 component, and hinged_Joint component; the energy harvesting device is used to connect the wave energy float and the floating wind turbine, convert wave energy into electrical energy while ensuring the free movement of the float. On this basis, the number of fixedTranslation components can be adaptively set according to the position of the wave energy float relative to the floating wind turbine. For example, add Figure 9 the fixedTranslation3 component in it. In addition, different connectors can be added between the hinged_Joint component and the wave energy float mass inertia model, such as revolute, prismatic, cylindrical, universal, planar, sphericalSpherical, and gearConstraint components, etc., to release different degrees of freedom of the float.

[0136] It is understandable that the components for constructing the model can be found in the Multi-body library under the Modelica standard library. Adding numbers or specific names to the components is mainly used to distinguish components in different positions.

[0137] In this embodiment, a floating wind turbine model and a wave energy buoy model that highly match the actual operation of the floating wind and wave combined power generation device are constructed using Modelica. The pneumatic load can be accurately loaded onto the floating wind turbine in all aspects. At the same time, the attachment method including the energy harvesting device between the wave energy buoy and the floating wind turbine can freely release the degrees of freedom of the buoy. Combining MoorDyn based on the lumped mass method provides sufficient accuracy for the reliability and stability assessment of the mooring. Based on the co-simulation of Modelica-AeroDyn-MoorDyn, the simulation results of the multi-floating body coupling response obtained as a whole can truly reflect the operation state of the floating wind and wave combined power generation device, improving the coupling reliability.

[0138] Please refer to Figure 11 , Figure 11 which is the structural block diagram of an integrated coupling calculation system for a floating wind and wave combined power generation device based on Modelica-AeroDyn-MoorDyn provided by an embodiment of the present invention.

[0139] An integrated coupling calculation system for a floating wind and wave combined power generation device based on Modelica-AeroDyn-MoorDyn provided by the present invention includes:

[0140] An initialization module 1101, configured to initialize the frequency-domain hydrodynamic parameters, mooring parameters, and aerodynamic condition parameters of the floating wind and wave combined power generation device;

[0141] A Modelica module 1102, configured to build a hydrodynamic load calculation model, a viscous load calculation model, an energy harvesting device force calculation model, and a multi-body dynamics model using Modelica. The multi-body motion information and the position of the access hole at the current time step are output through the multi-body dynamics model and transmitted to the dynamic link library; based on the hydrodynamic load calculation model, the hydrodynamic load is determined according to the multi-body motion information and the frequency-domain hydrodynamic parameters, and based on the energy harvesting device force calculation model, the force of the energy harvesting device is determined using the multi-body motion information, and based on the viscous load calculation model, the viscous load is calculated according to the preset viscous parameters; the aerodynamic loads at the blade nodes, the aerodynamic loads at the tower nodes, and the mooring loads are called from the dynamic link library and combined with the hydrodynamic load, the force of the energy harvesting device, and the viscous load as the multi-body load, and the generator torque is called and loaded onto the multi-body dynamics model, and the multi-body coupling motion equation is solved based on the fourth-order Runge-Kutta algorithm through the multi-body dynamics model, and the multi-body motion information and the multi-body load at the next time step are output; the multi-body dynamics model includes a floating wind turbine model and a wave energy buoy model that are coupled and connected.

[0142] The AeroDyn aerodynamic load module 1103 uses the AeroDyn model to calculate the blade node aerodynamic load, tower node aerodynamic load, and generator torque based on the aerodynamic condition parameters and the multibody motion information called from the dynamic link library, and transfers them to the dynamic link library;

[0143] The MoorDyn mooring module 1104 is used to calculate the mooring load by using the mooring parameters, the multibody motion information called from the dynamic link library, and the fairlead hole position through the MoorDyn model, and transfers it to the dynamic link library;

[0144] The dynamic link library 1105 is used to perform data exchange among the Modelica module, the AeroDyn aerodynamic load module, and the MoorDyn mooring module, and to coordinate the stepping threads among the Modelica module, the AeroDyn aerodynamic load module, and the MoorDyn mooring module.

[0145] Furthermore, the floating wind turbine model includes a floating body platform model and an upper wind turbine model that are coupled;

[0146] The upper wind turbine model includes a tower model, a nacelle model, and an impeller model that are coupled.

[0147] Furthermore, the modeling process of the impeller model includes:

[0148] Build a hub mass inertia model using the BodyShape component, and set the to_blade&nacelle connector on the hub mass inertia model to determine the hub model;

[0149] Build multiple blade mass inertia models through the BodyShape component, set the blade node aerodynamic load input interface on each blade mass inertia model, and set the to_Blade connector at the blade root of each blade mass inertia model to be connected to the fixedTranslation1 component;

[0150] Set the first end of the fixedRotation6 component to be connected to the fixedTranslation1 component, and the second end of the fixedRotation6 component to be connected to the fixedRotation4 component through the fixedRotation5 component;

[0151] Set the to_Plate connector on each fixedRotation4 component respectively, set the first end of the fixedRotation3 component to be connected to each to_Plate connector respectively, and set the to_Nac. connector at the second end of the fixedRotation3 component;

[0152] Build the Aerodyn_I_O model based on the RealOutput component and the RealInput component, add an input displacement variable transfer component, an input rotation angle variable transfer component, an input displacement speed variable transfer component, an input rotational angular velocity variable transfer component, an input rotor rotation angle variable transfer component, an output torque variable transfer component, an output tower load variable transfer component, and multiple blade node aerodynamic load output interfaces in the Aerodyn_I_O model, and set the dynamic link library call function;

[0153] Connect each blade node aerodynamic load output interface with each blade node aerodynamic load input interface one by one, and set the absolute position detector, absolute angle detector, absolute speed detector, and absolute angular velocity detector to be connected to the input displacement variable transfer component, input rotation angle variable transfer component, input displacement speed variable transfer component, and input rotational angular velocity variable transfer component respectively to determine the blade model;

[0154] Among them, the to_blade&nacelle connector is connected to the to_Nac. connector and both are used to connect to the nacelle model, the output tower load variable transfer component is used to connect to the tower model, the input rotor rotation angle variable transfer component and the output torque variable transfer component are both used to connect to the nacelle model, and the absolute position detector, absolute angle detector, absolute speed detector, and absolute angular velocity detector are all used to connect to the floating body platform model.

[0155] Furthermore, the modeling process of the wave energy float model includes:

[0156] Set the first end of the origin component to be connected to the first end of the fixedTranslation2 component, and the second end of the origin component is used to connect to the floating body platform model;

[0157] Use the second end of the fixedTranslation2 component to be connected to the first end of the Revolute2 component and the first end of the SpringDamperSeries component respectively;

[0158] Use the rod1 component to be connected to the second end of the Revolute2 component and the first end of the rod2 component respectively;

[0159] Set the second end of the SpringDamperSeries component to be connected to the first end of the rod2 component, and set the second end of the rod2 component to be connected to the first end of the hinged_Joint component;

[0160] Build a mass inertia model of the wave energy buoy using the BodyShape component, connect the mass inertia model of the wave energy buoy to the second end of the hinged_Joint component, and determine the wave energy buoy model.

[0161] Further, the hydrodynamic load includes added mass force, hydrostatic restoring force, radiation damping force, and wave exciting force;

[0162] The wave exciting force includes first-order wave force and second-order wave force.

[0163] Further, the calculation process of the force of the energy harvesting device includes:

[0164] ;

[0165] In the formula, is the force of the energy harvesting device, is the damping of the energy harvesting device, is the moving speed of the energy harvesting device, is the stiffness of the energy harvesting device, is the displacement of the energy harvesting device.

[0166] An embodiment of the present invention also provides a computer device, including a memory and a processor, and a computer program is stored in the memory; when the computer program is executed by the processor, the processor executes the steps of the integrated coupling calculation method of the floating wind and wave combined power generation device based on Modelica-AeroDyn-MoorDyn as described in any of the above embodiments.

[0167] An embodiment of the present invention also provides a computer-readable storage medium, on which a computer program / instructions are stored, and when the computer program / instructions are executed by the processor, the steps of the integrated coupling calculation method of the floating wind and wave combined power generation device based on Modelica-AeroDyn-MoorDyn as described in any of the above embodiments are realized.

[0168] An embodiment of the present invention also provides a computer program product, including a computer program / instructions, and when the computer program / instructions are executed by the processor, the steps of the integrated coupling calculation method of the floating wind and wave combined power generation device based on Modelica-AeroDyn-MoorDyn as described in any of the above embodiments are realized.

[0169] Those skilled in the art can clearly understand that for the convenience and simplicity of description, the specific working processes of the above-described systems and modules can refer to the corresponding processes in the foregoing method embodiments, and will not be described herein again.

[0170] In several embodiments provided by this application, it should be understood that the disclosed systems and methods can be implemented in other ways. For example, the device embodiments described above are merely illustrative. For example, the division of the units is only a logical function division. In actual implementation, there may be other division methods. For example, multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the displayed or discussed couplings or direct couplings or communication connections between each other can be through some interfaces. The indirect couplings or communication connections of the devices or units can be in electrical, mechanical or other forms.

[0171] The units described as separate components may or may not be physically separated. The components shown as units may or may not be physical units, that is, they can be located in one place or distributed to multiple network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0172] In addition, in each embodiment of the present invention, the functional units can be integrated in a processing unit, or each unit can exist physically alone, or two or more units can be integrated in one unit. The above-mentioned integrated units can be implemented in the form of hardware or in the form of software functional units.

[0173] If the above-mentioned integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention, in essence, or the part that contributes to the prior art, or all or part of this technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions for causing a computer device (which can be a personal computer, a server, or a network device, etc.) to execute all or part of the steps of the methods described in each embodiment of the present invention. The foregoing storage medium includes: various media such as USB flash drives, mobile hard disks, read-only memories (ROM, Read-Only Memory), random access memories (RAM, Random Access Memory), magnetic disks, or optical discs that can store program codes.

[0174] As described above, the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that they can still modify the technical solutions described in the foregoing embodiments, or perform equivalent replacements for some of the technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of each embodiment of the present invention.

Claims

1. An integrated coupling calculation method for a floating wind-wave combined power generation device based on Modelica-AeroDyn-MoorDyn, characterized in that: include: Initialize frequency domain hydrodynamic parameters, mooring parameters and aerodynamic parameters of floating wind-wave combined power generation device; Modelica is used to build the hydrodynamic load calculation model, viscous load calculation model, energy harvesting device force calculation model and multi-body dynamics model. The multi-body motion information and the position of the guide hole at the current time step are output through the multi-body dynamics model and transmitted to the dynamic link library; Determine the hydrodynamic load according to the multi-body motion information and the frequency domain hydrodynamic parameters based on the hydrodynamic load calculation model, determine the energy harvesting device force according to the multi-body motion information based on the energy harvesting device force calculation model, and calculate the viscous load according to the preset viscous parameters based on the viscous load calculation model; The AeroDyn model is used to calculate the blade node aerodynamic load, tower node aerodynamic load and generator torque according to the aerodynamic condition parameters and the multi-body motion information called from the dynamic link library, and then transmitted to the dynamic link library; The mooring load is calculated by the MoorDyn model using the mooring parameters and the multi-body motion information and the position of the guide hole called from the dynamic link library, and then transferred to the dynamic link library; The aerodynamic loads of blade nodes, tower nodes and mooring loads are called from the dynamic link library and combined with the hydrodynamic loads, the force of the energy harvesting device and the viscous load as multi-body loads, and the generator torque is called to load the multi-body dynamics model. The multi-body coupled motion equations are solved through the multi-body dynamics model based on the fourth-order Runge-Kutta algorithm, and the multi-body motion information and multi-body loads for the next time step are output; the multi-body dynamics model includes a coupled floating wind turbine model and a wave energy buoy model.

2. The integrated coupling calculation method for floating wind-wave combined power generation device based on Modelica-AeroDyn-MoorDyn according to claim 1 is characterized in that: The floating wind turbine model includes a coupled floating platform model and an upper wind turbine model; The upper wind turbine model includes a tower model, a nacelle model and an impeller model which are coupled to each other.

3. The integrated coupling calculation method for floating wind-wave combined power generation device based on Modelica-AeroDyn-MoorDyn according to claim 2 is characterized in that: The modeling process of the impeller model includes: Use the BodyShape component to build the wheel mass inertia model, and set the to_blade&nacelle connector on the wheel mass inertia model to determine the wheel model; Build multiple blade mass inertia models through the BodyShape component, set the blade node aerodynamic load input interface on each blade mass inertia model, and set the to_Blade connector at the blade root of each blade mass inertia model to connect with the fixedTranslation1 component; Set the first end of the fixedRotation6 component to be connected to the fixedTranslation1 component, and the second end of the fixedRotation6 component to be connected to the fixedRotation4 component through the fixedRotation5 component; A to_Plate connector is provided on each fixedRotation4 component, a first end of a fixedRotation3 component is connected to each to_Plate connector, and a to_Nac. connector is provided on a second end of the fixedRotation3 component; Build the Aerodyn_I_O model based on the RealOutput component and the RealInput component, add the input displacement variable transfer component, the input rotation angle variable transfer component, the input displacement velocity variable transfer component, the input rotation angular velocity variable transfer component, the input rotor rotation angle variable transfer component, the output torque variable transfer component, the output tower load variable transfer component and multiple blade node aerodynamic load output interfaces in the Aerodyn_I_O model and set the dynamic link library call function; Connect the aerodynamic load output interface of each blade node with the aerodynamic load input interface of each blade node one by one, and set an absolute position detector, an absolute angle detector, an absolute speed detector and an absolute angular speed detector to be connected with the input displacement variable transfer component, the input rotation angle variable transfer component, the input displacement speed variable transfer component and the input rotation angular speed variable transfer component to determine the blade model; Among them, the to_blade&nacelle connector is connected to the to_Nac. connector and are both used to connect to the cabin model, the output tower load variable transfer component is used to connect to the tower model, the input rotor rotation angle variable transfer component and the output torque variable transfer component are both used to connect to the cabin model, the absolute position detector, absolute angle detector, absolute speed detector and absolute angular velocity detector are all used to connect to the floating platform model.

4. The integrated coupling calculation method for floating wind-wave combined power generation device based on Modelica-AeroDyn-MoorDyn according to claim 1 is characterized in that: The modeling process of the wave energy buoy model includes: Set the first end of the origin component to be connected to the first end of the fixedTranslation2 component, and the second end of the origin component to be connected to the floating platform model; The second end of the fixedTranslation2 component is connected to the first end of the Revolute2 component and the first end of the SpringDamperSeries component respectively; The rod1 component is connected to the second end of the Revolute2 component and the first end of the rod2 component respectively; Set the second end of the SpringDamperSeries component to be connected to the first end of the rod2 component, and set the second end of the rod2 component to be connected to the first end of the hinged_Joint component; The BodyShape component is used to build the wave energy buoy mass inertia model, and the wave energy buoy mass inertia model is connected to the second end of the hinged_Joint component to determine the wave energy buoy model.

5. The integrated coupling calculation method for floating wind-wave combined power generation device based on Modelica-AeroDyn-MoorDyn according to claim 1 is characterized in that: The hydrodynamic loads include added mass force, hydrostatic restoring force, radiation damping force and wave excitation force; The wave excitation force includes first-order wave force and second-order wave force.

6. The integrated coupling calculation method for floating wind-wave combined power generation device based on Modelica-AeroDyn-MoorDyn according to claim 1 is characterized in that: The calculation process of the force of the energy harvesting device includes: ； In the formula, is the force of the energy harvesting device, For the damping of the energy harvesting device, is the moving speed of the energy harvesting device, is the stiffness of the energy harvesting device, Displacement of the energy harvesting device.

7. An integrated coupling calculation system for floating wind-wave combined power generation devices based on Modelica-AeroDyn-MoorDyn, characterized in that: include: An initialization module, used to initialize frequency domain hydrodynamic parameters, mooring parameters and aerodynamic operating parameters of the floating wind-wave combined power generation device; Modelica module, used to build hydrodynamic load calculation model, viscous load calculation model, energy harvesting device force calculation model and multi-body dynamics model using Modelica, output the multi-body motion information and navigation hole position of the current time step through the multi-body dynamics model and pass it to the dynamic link library; Determine the hydrodynamic load according to the multi-body motion information and the frequency domain hydrodynamic parameters based on the hydrodynamic load calculation model, determine the energy harvesting device force according to the multi-body motion information based on the energy harvesting device force calculation model, and calculate the viscous load according to the preset viscous parameters based on the viscous load calculation model; The blade node aerodynamic load, tower node aerodynamic load and mooring load are called from the dynamic link library and combined with the hydrodynamic load, energy harvesting device force and viscous load as multi-body loads, and the generator torque is called to load the multi-body dynamics model. The multi-body coupled motion equations are solved through the multi-body dynamics model based on the fourth-order Runge-Kutta algorithm, and the multi-body motion information and multi-body loads for the next time step are output; the multi-body dynamics model includes a coupled floating wind turbine model and a wave energy float model; AeroDyn aerodynamic load module, which uses the AeroDyn model to calculate blade node aerodynamic loads, tower node aerodynamic loads and generator torque based on aerodynamic operating parameters and multi-body motion information called from the dynamic link library, and transmits them to the dynamic link library; The MoorDyn mooring module is used to calculate the mooring loads through the MoorDyn model using the mooring parameters and the multi-body motion information and guide hole positions called from the dynamic link library, and pass them to the dynamic link library; Dynamic link library for data exchange between Modelica modules, AeroDyn aerodynamic loads modules, and MoorDyn mooring modules, and for coordinating stepping threads between Modelica modules, AeroDyn aerodynamic loads modules, and MoorDyn mooring modules.

8. A computer device, characterized in that: The invention comprises a memory and a processor, wherein a computer program is stored in the memory, and when the computer program is executed by the processor, the processor executes the steps of the integrated coupling calculation method for a floating wind-wave combined power generation device based on Modelica-AeroDyn-MoorDyn as claimed in any one of claims 1 to 6.

9. A computer-readable storage medium having a computer program / instruction stored thereon, characterized in that: When the computer program / instructions are executed by the processor, the steps of the integrated coupling calculation method for a floating wind-wave combined power generation device based on Modelica-AeroDyn-MoorDyn are implemented as described in any one of claims 1 to 6.

10. A computer program product comprising a computer program / instructions, characterized in that When the computer program / instructions are executed by the processor, the steps of the integrated coupling calculation method for a floating wind-wave combined power generation device based on Modelica-AeroDyn-MoorDyn are implemented as described in any one of claims 1 to 6.

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