A modelica-aerodyn-moordyn-based integrated coupling calculation method and system for a floating wind-wave combined power generation device

Abstract

This invention discloses an integrated coupling calculation method and system for a floating wind and wave combined power generation device based on Modelica-AeroDyn-MoorDyn, relating to the field of offshore wind power generation technology. The method includes: using Modelica to construct a floating wind turbine model and a wave energy buoy model that closely match the actual operation of the floating wind and wave combined power generation device; enabling precise loading of aerodynamic loads onto the floating wind turbine from all directions; establishing an attachment method between the wave energy buoy and the floating wind turbine that allows for free release of the buoy's degrees of freedom; and combining MoorDyn with the lumped mass method to provide sufficient accuracy for mooring reliability and stability assessment. Based on the Modelica-AeroDyn-MoorDyn co-simulation, the overall simulation results of the multi-buoy coupling response can realistically reflect the operating state of the floating wind and wave combined power generation device, improving coupling reliability.

Description

Technical Field

[0001] This invention relates to the field of offshore wind power generation technology, and in particular to an integrated coupling calculation method and system for a floating wind and wave combined power generation device based on Modelica-AeroDyn-MoorDyn. Background Technology

[0002] The floating wind turbine (FWT) combined with the wave energy converter (WEC) is a system that combines a floating wind turbine (FWT) with a wave energy converter (WEC). This system not only helps to develop the marine economy, reduce emissions and improve the environment, but also effectively saves marine space and reduces the construction costs of wind farms and wave farms.

[0003] Currently, the coupling simulation methods related to floating wind and wave combined power generation devices typically only perform fluid dynamic coupling analysis on a single floating wind turbine. Alternatively, although the entire floating wind and wave combined power generation device is subjected to integrated coupling calculation, the attachment method between the wave energy float (which serves as the wave energy conversion device) and the main platform of the floating wind turbine is simplified to a prismatic connection with only translational degrees of freedom. This restricts the float's degrees of freedom, making it difficult for the simulation results to accurately reflect the operating state of the floating wind and wave combined power generation device, resulting in low coupling reliability. Summary of the Invention

[0004] This invention provides an integrated coupled calculation method and system for floating wind and wave combined power generation devices based on Modelica-AeroDyn-MoorDyn, which solves the technical problem that existing coupled simulation methods for floating wind and wave combined power generation devices cannot accurately reflect the operating status of the floating wind and wave combined power generation devices and have low coupling reliability.

[0005] The first aspect of this invention provides an integrated coupled calculation method for a floating wind and wave combined power generation device based on Modelica-AeroDyn-MoorDyn, comprising:

[0006] Initialize the frequency domain hydrodynamic parameters, mooring parameters, and aerodynamic parameters of the floating wind and wave combined generator;

[0007] Modelica was used to build hydrodynamic load calculation models, viscous load calculation models, energy harvesting device force calculation models, and multibody dynamics models. The multibody dynamics model outputs the multibody motion information and guide hole position at the current time step and transmits them to the dynamic link library.

[0008] Based on the hydrodynamic load calculation model, the hydrodynamic load is determined according to the multibody motion information and frequency domain hydrodynamic parameters. Based on the energy harvesting device force calculation model, the energy harvesting device force is determined according to the multibody motion information. Based on the viscous load calculation model, the viscous load is calculated according to the preset viscous parameters.

[0009] The AeroDyn model is used to calculate the blade nodal aerodynamic load, tower nodal aerodynamic load, and generator torque based on aerodynamic operating parameters and multibody motion information called from the dynamic link library, and then transfers them to the dynamic link library.

[0010] The mooring load is calculated using the MoorDyn model with mooring parameters and multibody motion information and guide hole position called from the dynamic link library, and then transferred to the dynamic link library.

[0011] The multibody loads are obtained by calling the blade node aerodynamic loads, tower node aerodynamic loads, and mooring loads from the dynamic link library, combined with the hydrodynamic loads, the energy harvesting device forces, and the viscous loads. The generator torque is also called to load the multibody dynamics model. The multibody coupled motion equations are solved by the multibody dynamics model based on the fourth-order Runge-Kutta algorithm, and the multibody motion information and multibody loads of the next time step are output. The multibody dynamics model includes a coupled floating wind turbine model and a wave energy buoy model.

[0012] Furthermore, the floating wind turbine model includes a floating platform model and an upper wind turbine model that are coupled together;

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

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

[0015] The BodyShape component is used to build a wheel hub mass inertia model, and to_blade&nacelle connectors are set on the wheel hub mass inertia model to define the wheel hub model;

[0016] Multiple blade mass inertial models are built using the BodyShape component. A blade node aerodynamic load input interface is set on each blade mass inertial model, and a to_Blade connector is set at the root of each blade mass inertial model to connect with the fixedTranslation1 component.

[0017] The first end of the fixedRotation6 component is connected to the fixedTranslation1 component, and the second end of the fixedRotation6 component is connected to the fixedRotation4 component through the fixedRotation5 component.

[0018] Set a to_Plate connector on each fixedRotation4 component, connect the first end of the fixedRotation3 component to each to_Plate connector, and set a to_Nac. connector on the second end of the fixedRotation3 component;

[0019] An Aerodyn_I_O model is built based on the RealOutput and RealInput components. Input displacement variable transfer components, input rotation angle variable transfer components, input displacement velocity variable transfer components, input rotation angular velocity variable transfer components, input rotor rotation angle variable transfer components, output torque variable transfer components, output tower load variable transfer components, and multiple blade node aerodynamic load output interfaces are added to the Aerodyn_I_O model, and dynamic link library calling functions are set.

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

[0021] Among them, the to_blade&nacelle connector and the to_Nac. connector are connected 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, absolute angle detector, absolute velocity detector and absolute angular velocity detector are all used to connect to the floating platform model.

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

[0023] The first end of the origin component is set to connect to the first end of the fixedTranslation2 component, and the second end of the origin component is used to connect to the floating platform model.

[0024] 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.

[0025] The rod1 component is connected to the second end of the Revolute2 component and the first end of the rod2 component, respectively.

[0026] Configure the second end of the SpringDamperSeries component to connect to the first end of the rod2 component, and configure the second end of the rod2 component to connect to the first end of the hinged_Joint component;

[0027] A wave energy buoy mass inertia model was built using the BodyShape component. The wave energy buoy mass inertia model was then connected to the second end of the hinged_Joint component to determine the wave energy buoy model.

[0028] Furthermore, the hydrodynamic loads include additional mass force, hydrostatic restoring force, radiation damping force, and wave excitation force;

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

[0030] Furthermore, the calculation process for the force exerted by the energy harvesting device includes:

[0031] ;

[0032] In the formula, For the force of the energy harvesting device, Damping for the energy harvesting device, For the moving speed of the energy harvesting device, For the stiffness of the energy harvesting device, The displacement of the energy harvesting device.

[0033] The second aspect of this invention provides an integrated coupled computing system for a floating wind and wave combined power generation device based on Modelica-AeroDyn-MoorDyn, comprising:

[0034] The initialization module is used to initialize the frequency domain hydrodynamic parameters, mooring parameters, and aerodynamic parameters of the floating wind and wave combined generator.

[0035] The Modelica module is used to build hydrodynamic load calculation models, viscous load calculation models, energy harvester force calculation models, and multibody dynamics models using Modelica. The multibody dynamics model outputs the multibody motion information and guide hole position for the current time step and passes them to the dynamic link library. Based on the hydrodynamic load calculation model, hydrodynamic loads are determined according to multibody motion information and frequency domain hydrodynamic parameters. Based on the energy harvester force calculation model, the energy harvester force is determined using multibody motion information. Based on the viscous load calculation model, viscous loads are calculated according to preset viscous parameters. The module calls blade node aerodynamic loads, tower node aerodynamic loads, and mooring loads from the dynamic link library and combines them with hydrodynamic loads, energy harvester forces, and viscous loads as multibody loads. It also calls generator torque loading to the multibody dynamics model and solves the multibody coupled motion equations using the fourth-order Runge-Kutta algorithm, outputting the multibody motion information and multibody loads for 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 nodal aerodynamic load, tower nodal aerodynamic load, and generator torque based on aerodynamic operating parameters and multibody motion information called from the dynamic link library, and then transmits them to the dynamic link library.

[0037] The MoorDyn mooring module is used to calculate mooring loads using the moorDyn model with mooring parameters and multibody motion information and guide hole positions called from the dynamic link library, and then pass the loads to the dynamic link library.

[0038] The dynamic link library is used for data exchange between the Modelica module, the AeroDyn pneumatic load module, and the MoorDyn mooring module, and to coordinate the stepping threads between these modules.

[0039] A computer device provided in a third aspect of the present invention includes a memory and a processor. The memory stores a computer program. When the computer program is executed by the processor, the processor causes the processor to perform the steps of the integrated coupling calculation method for a floating wind and wave combined power generation device based on Modelica-AeroDyn-MoorDyn as described in any of the preceding claims.

[0040] The fourth aspect of the present invention provides a computer-readable storage medium having a computer program stored thereon, wherein when the computer program is executed, it implements the integrated coupling calculation method for a floating wind and wave combined power generation device based on Modelica-AeroDyn-MoorDyn as described in any of the preceding claims.

[0041] The fifth aspect of the present invention provides a computer program product, comprising a computer program / instruction, wherein when the computer program / instruction is executed by a processor, it implements the integrated coupling calculation method for a floating wind and wave combined power generation device based on Modelica-AeroDyn-MoorDyn as described in any of the preceding claims.

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

[0043] The above-mentioned solution of the present invention provides an integrated coupled calculation method for a floating wind and 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 and wave combined power generation device; using Modelica to build a hydrodynamic load calculation model, a viscous load calculation model, a power harvesting device force calculation model, and a multibody dynamics model, outputting the multibody motion information and guide hole position at the current time step through the multibody dynamics model and transmitting them to the dynamic link library; determining the hydrodynamic load based on the multibody motion information and frequency domain hydrodynamic parameters according to the hydrodynamic load calculation model, determining the power harvesting device force based on the multibody motion information according to the power harvesting device force calculation model, and calculating the viscous load based on preset viscous parameters according to the viscous load calculation model; using... The AeroDyn model calculates blade nodal aerodynamic loads, tower nodal aerodynamic loads, and generator torque based on aerodynamic parameters and multibody motion information retrieved from the dynamic link library, and transmits these to the dynamic link library. The MoorDyn model calculates mooring loads using mooring parameters, multibody motion information retrieved from the dynamic link library, and the guide hole position, and transmits these to the dynamic link library. The model retrieves blade nodal aerodynamic loads, tower nodal aerodynamic loads, and mooring loads from the dynamic link library, combining them with hydrodynamic loads, energy harvesting device forces, and viscous loads as multibody loads. It also retrieves generator torque and loads into the multibody dynamics model. The multibody dynamics model solves the multibody coupled motion equations based on the fourth-order Runge-Kutta algorithm, outputting the multibody motion information and multibody loads for the next time step. The multibody dynamics model includes a coupled floating wind turbine model and a wave energy buoy model. Based on the above scheme, Modelica is used to construct floating wind turbine models and wave energy float models that closely match the actual operation of floating wind and wave combined power generation devices. This enables precise loading of aerodynamic loads onto the floating wind turbine from all directions. At the same time, the attachment method between the wave energy float and the floating wind turbine can be established to freely release the float's degrees of freedom. Combined with MoorDyn based on the lumped mass method, sufficient accuracy is provided for the reliability and stability assessment of 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, thus improving the coupling reliability. Attached Figure Description

[0044] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0045] Figure 1 A flowchart illustrating the steps of an integrated coupled calculation method for a floating wind and wave combined power generation device based on Modelica-AeroDyn-MoorDyn, provided in this embodiment of the invention;

[0046] Figure 2 This is a schematic diagram of the overall logic structure of the integrated coupled simulation provided in an embodiment of the present invention;

[0047] Figure 3 A schematic diagram of the computational logic relationship of Modelica-Aerodyn-MoorDyn provided in an embodiment of the present invention;

[0048] Figure 4 This is a schematic diagram of the upper wind turbine model provided in an embodiment of the present invention;

[0049] Figure 5 This is a schematic diagram of the tower model provided in an embodiment of the present invention;

[0050] Figure 6 This is a schematic diagram of the cabin model provided in an embodiment of the present invention;

[0051] Figure 7 This is a schematic diagram of the blade model provided in an embodiment of the present invention;

[0052] Figure 8 This is a schematic diagram of the orientation transformation model provided in an embodiment of the present invention;

[0053] Figure 9 This is a schematic diagram of the energy harvesting device model provided in an embodiment of the present invention;

[0054] Figure 10 A schematic diagram illustrating the computational logic and decomposition method of the InflowWind module provided in an embodiment of the present invention;

[0055] Figure 11 This is a structural block diagram of an integrated coupled computing system for a floating wind and wave combined power generation device based on Modelica-AeroDyn-MoorDyn, provided for an embodiment of the present invention. Detailed Implementation

[0056] This invention provides an integrated coupled calculation method and system for floating wind and wave combined power generation devices based on Modelica-AeroDyn-MoorDyn, which solves the technical problem that existing coupled simulation methods for floating wind and wave combined power generation devices cannot accurately reflect the operating status of the device and have low coupling reliability.

[0057] To make the objectives, features, and advantages of this invention more apparent and understandable, the technical solutions of the embodiments of this invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the embodiments described below are only some embodiments of this invention, and not all embodiments. Based on the embodiments of this invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this invention.

[0058] Terminology Explanation

[0059] Floating wind and wave combined power generation unit: The floating wind and wave combined power generation unit is a new type of system that combines floating wind turbines and wave energy converters (WEC). This unit is not only conducive to the development of the marine economy, reduction of emissions and improvement of the environment, but also can effectively save marine space and effectively reduce the construction cost of wind farms and wave farms.

[0060] Modelica is an object-oriented, equation-based non-causal modeling language. The term "equality-based non-causal modeling" refers to the fact that Modelica's "=" operator is equivalent to the mathematical equals sign; swapping the variables on both sides is equivalent to not swapping them, hence the "non-causal relationship." In other languages, the equals sign is often a simple assignment operator, where the left side is the result of the assignment statement on the right, hence the "causal relationship." When solving ordinary differential equations, Modelica only requires listing the equations and setting initial values ​​for the independent variables. The solver automatically discretizes time and solves the system of equations, greatly reducing the steps in the physical modeling process and lowering the difficulty of solving the system of 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, forming a coupled system. This coupled system can then be used as a component of other systems to build models. This unified form of components allows for easy replacement and debugging, facilitating the expansion and updating of the physical model.

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

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

[0063] Please see Figure 1 , Figure 1 A flowchart illustrating the steps of an integrated coupled calculation method for a floating wind and wave combined power generation device based on Modelica-AeroDyn-MoorDyn, provided for an embodiment of the present invention.

[0064] This invention provides an integrated coupled calculation method for a floating wind and wave combined power generation device based on Modelica-AeroDyn-MoorDyn, comprising:

[0065] Step 101: Initialize the frequency domain hydrodynamic parameters, mooring parameters, and aerodynamic operating parameters of the floating wind and wave combined generator.

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

[0067] Frequency domain hydrodynamic parameters refer to the relevant parameters used to calculate hydrodynamic loads. Depending on the type of hydrodynamic load involved, such as additional mass force, hydrostatic restoring force, radiation damping force, and wave excitation force, parameters can include additional mass, restoring force coefficient, radiation damping, and wave excitation force coefficient.

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

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

[0070] Step 102: Use Modelica to build hydrodynamic load calculation model, viscous load calculation model, energy harvesting device force calculation model and multibody dynamics model. Output the multibody motion information and guide hole position of the current time step through the multibody dynamics model and pass them to the dynamic link library.

[0071] It should be noted that this embodiment utilizes the Modelica language for modeling, constructing a hydrodynamic load calculation model for calculating hydrodynamic loads, a viscous load calculation model for calculating viscous loads, and a force calculation model for calculating the force of the energy harvesting device. It can be understood that the energy harvesting device here refers to the wave energy conversion device in the floating wind-wave combined power generation unit, which captures wave energy and is connected between the wave energy buoy and the main platform of the floating wind turbine, used to convert wave energy into electrical energy. Furthermore, a multibody dynamics model of the floating wind-wave combined power generation unit is constructed using the Modelica language. The multibody dynamics model refers to... This involves a mathematical model of the dynamic behavior of multiple interacting objects or systems in a floating wind and wave combined power generation device. Coupled simulation is performed step-by-step. The multibody dynamics model outputs the multibody motion information and guide hole position for the current time step and stores them in a dynamic link library. The multibody motion information corresponds to the six-degree-of-freedom displacement, six-degree-of-freedom velocity, and six-degree-of-freedom acceleration of the multiple interacting objects or systems in the floating wind and wave combined power generation device. The specific programming modeling software used can be OpenModelica, MWORKS, or other programming modeling software that also uses the Modelica language.

[0072] In this embodiment, as Figure 2 and Figure 3As shown, a Dynamic Link Library (DLL) can request shared memory (also known as shared space) to store data that needs to be transferred between Modelica, Aerodyn, and MoorDyn. Modelica, as a high-level modeling language based on C++, has the ability to call external DLLs. This allows models built with Modelica to establish data transfer channels and thread control with external programs using DLLs. In Windows operating systems, DLLs can request a segment of memory as shared memory. This memory segment exists while the DLL is being called and is reclaimed when the DLL call ends. Similarly, AeroDyn, written in Fortra, and MoorDyn, written in C++, also have the ability to call DLLs. Therefore, this embodiment will utilize DLLs as a data transfer bridge to achieve coupled computation between Modelica, Aerodyn, and MoorDyn.

[0073] In one specific embodiment of this example, the multibody dynamics model includes a coupled floating wind turbine model and a wave energy buoy model.

[0074] In a more specific embodiment of this example, the floating wind turbine model includes a floating platform model and an upper wind turbine model that are coupled together.

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

[0076] It should be noted that floating wind and wave combined power generation devices typically include floating wind turbines and wave energy floats. Floating wind turbines include floating platforms and upper turbines. Upper turbines include towers, nacelles, and impellers (rotors). Impellers include hubs and blades. Nacelles include transmission systems, servo controllers, etc. The specific multibody dynamics model is built according to the structural composition of different floating wind and wave combined power generation devices.

[0077] It is understood that the servo controller in this embodiment includes a generator torque controller and a unified pitch controller. These two aerodynamic controllers play a role at different stages of wind speed. When the wind speed is less than the rated wind speed, the generator torque controller mainly takes the lead 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 stabilize the aerodynamic load and thus stabilize the generator speed and power, avoiding power overload. Specifically, the open-source controller Discon is used. Discon is compiled into a Discon.dll file and called in AeroDyn to perform generator torque control and unified pitch control.

[0078] Step 103: Based on the hydrodynamic load calculation model, determine the hydrodynamic load according to the multibody motion information and frequency domain hydrodynamic parameters, and based on the energy harvesting device force calculation model, determine the energy harvesting device force using the multibody motion information, and based on the viscous load calculation model, calculate the viscous load according to the preset viscous parameters.

[0079] In one specific embodiment of this example, the hydrodynamic load calculation model includes an additional mass force calculation model, a still water restoring force calculation model, a radiation damping force calculation model, and a wave excitation force calculation model; correspondingly, the hydrodynamic load includes additional mass force, still water restoring force, radiation damping force, and wave excitation force, wherein the wave excitation force includes first-order wave force and second-order wave force.

[0080] It should be noted that the floating wind and wave combined power generation device is a multi-floating body device. The motion of the floating wind turbine affects the water surface flow field, thus exerting a force on the wave energy buoy. Conversely, the motion of the wave energy buoy also affects the water surface flow field, thus exerting a force on the floating wind turbine. These interacting forces are realized through radiation damping and added mass force between the two. The specific calculation process for the force exerted by the floating wind turbine on the wave energy buoy includes: using the six degrees of freedom velocity of the floating wind turbine and the radiation damping parameters of the floating wind turbine on the corresponding wave energy buoy, calculating the delay function (i.e., radiation damping force) of the floating wind turbine on the corresponding buoy; and using the six degrees of freedom acceleration of the floating wind turbine and the added mass parameters of the floating wind turbine on the corresponding wave energy buoy, calculating the added mass force of the floating wind turbine on the corresponding buoy. The process for the force exerted by the wave energy buoy on the floating wind turbine is the reverse of the above, i.e., using the six degrees of freedom velocity and acceleration of the corresponding wave energy buoy, and the radiation damping parameters and added mass parameters of the corresponding wave energy buoy on the floating wind turbine.

[0081] For the static water restoring force calculation model, the static water restoring force parameters of the floating wind turbine and the corresponding float, the six degrees of freedom displacement of the floating wind turbine and the corresponding float, and the static water restoring force calculation formula are used to calculate the static water restoring force of the floating wind turbine and the corresponding float.

[0082] For the wave excitation force calculation model, the wave excitation force parameters of the floating wind turbine and its corresponding float, the wave height and period of regular waves, or the meaningful wave height and spectral peak period of irregular waves are used. The wave force calculation formula is used to calculate the wave force of the floating wind turbine and its corresponding float. It should be noted that the wave excitation force includes first-order wave force and second-order wave force.

[0083] It is understandable that the formulas for calculating the additional mass force, still water restoring force, radiation damping force, and wave excitation force involved in the calculation models of additional mass force, still water restoring force, radiation damping force, and wave excitation force can be referred to existing technologies and will not be elaborated here.

[0084] In one specific embodiment of this example, the calculation process of the force exerted by the energy harvesting device includes:

[0085] ;

[0086] In the formula, For the force of the energy harvesting device, Damping for the energy harvesting device, For the moving speed of the energy harvesting device, For the stiffness of the energy harvesting device, The displacement of the energy harvesting device.

[0087] Step 104: Using the AeroDyn model, calculate the blade nodal aerodynamic load, tower nodal aerodynamic load, and generator torque based on aerodynamic operating parameters and multibody motion information called from the dynamic link library, and then 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 momentum blade element theory. It can be coupled with the integrated simulation software FAST, or it can be used as a standalone module to calculate aerodynamic loads. In this embodiment, the AeroDyn model is further developed to add the function of data exchange with Modelica during the simulation process. The position and velocity information of the nodes on the blades and tower are provided by the multibody dynamics model built in Modelica. At the same time, the AeroDyn model reads the aerodynamic operating parameters and performs dynamic coupling calculations, outputting aerodynamic loads and aerodynamic torques. The aerodynamic loads include the blade node aerodynamic loads and tower node aerodynamic loads acting on the blade nodes and tower nodes. The aerodynamic torques are converted and output as the generator torque in the multibody dynamics model. After completing one time step iteration, the torques are transferred back to Modelica through the shared memory built by the stepping control module for the calculation of the next time step.

[0089] In one specific implementation of this embodiment, the AeroDyn model reads wind field data from aerodynamic operating parameters through an improved InflowWind module. The improved InflowWind module includes variable definitions, the InflowWind_Init function, the InflowWind_Calc function, and the InflowWind_End function.

[0090] It should be noted that the Aerodyn model requires the InflowWind module in the FAST program to read wind field data. When InflowWind retrieves wind field data, it calculates the exact wind speed of the aerodynamic nodes by subtracting the data from the adjacent grid points based on the location of the aerodynamic nodes. The standalone version of Aerodyn does not include code coupled with InflowWind; this functionality needs to be extended. In fact, a standalone version of InflowWind also exists, and its main program's execution logic is as follows: Figure 10 As shown in the left-hand block diagram; in order to enable it to be coupled with Aerodyn, this embodiment decomposes the functions of each part of the main program. Figure 10 The right-hand diagram shows the modified InflowWind module. As you can see, the modified InflowWind module divides the main program into four parts: variable definition, InflowWind_Init, InflowWind_Calc, and InflowWind_End. The latter three are independent functions that can be called from Aerodyn. Aerodyn's calculations also contain similar subroutines for initialization, calculation, and memory release, such as the Init_Aerodyn, Set_AD_Inputs, and AD_End functions. Calling these functions at the same stage during the calculation process achieves coupling with the InflowWind program. Furthermore, since InflowWind defines a large number of global variables in the main program, to facilitate parameter access by Aerodyn, these variables need to be unified into a custom local variable type, Type_Inflow.

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

[0092] Step 105: Calculate the mooring load using the MoorDyn model with mooring parameters and multibody motion information and guide hole position called from the dynamic link library, and then transfer it 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. It can be coupled with integrated simulation software such as FAST, OpenFoam, or Simcenter STAR-CCM+, or it can be used as a standalone module to calculate mooring loads. This embodiment further develops the MoorDyn mooring simulation model, adding the function of data exchange with the Modelica simulation process. Information such as the guide hole position and velocity is provided by the multibody dynamics model built in Modelica. After completing an iteration of one time step, MoorDyn uploads the mooring load to the shared memory built by the stepping 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 use in the written dynamic link library module.

[0094] Step 106: Call the blade node aerodynamic load, tower node aerodynamic load, and mooring load from the dynamic link library, and combine them with the hydrodynamic load, the energy harvesting device force, and the viscous load as multibody loads. Also, call the generator torque to load the multibody dynamics model, and solve the multibody coupled motion equations based on the fourth-order Runge-Kutta algorithm through the multibody dynamics model, and output the multibody motion information and multibody loads for the next time step.

[0095] It should be noted that the aerodynamic loads at blade nodes, tower nodes, mooring loads, hydrodynamic loads, and the forces of the energy harvesting device are applied as multibody loads to the corresponding structures in the multibody dynamics model. It is assumed that the six degrees of freedom motion of the floating body is... Based on the fundamental principles of potential flow theory, the multibody coupled motion equations can be written in the following form:

[0096] ;

[0097] In the formula, For the displacement of the floating body, Let the velocity of the floating body be denoted as . For the acceleration of the floating body, Let the inertia matrix of the floating body be... This is the additional mass force at infinite frequency. Indicates radiation damping force. For still water restoring force; subscripts 1 to N with the same number indicate their own action, while different numbers indicate mutual interference. This is a multibody load, which includes hydrodynamic, aerodynamic, and mooring loads, and its specific forms are as follows:

[0098] ;

[0099] In the formula, For hydrodynamic loads, For aerodynamic loads, For mooring load, For viscous loads, The force applied by the energy harvesting device;

[0100] The multibody coupled motion equation can be understood as a second-order ordinary differential non-homogeneous differential equation. To solve this equation, the Runge-Kutta fourth-order integration method can be used to perform step-by-step integration, and finally obtain the motion values ​​of each degree of freedom of the floating body, thereby obtaining the multibody motion information of the next time step. Then, substitute it back into the multibody coupled motion equation to solve it, and the multibody load of the next time step can be obtained.

[0101] Understandably, since Modelica, Aerodyn, and MoorDyn operate as parallel threads during computation, their step order needs to be controlled at each step. For example, the program written in this embodiment, when running on a Windows operating system, requires the use of Windows' thread control APIs, with the step order as follows: Figure 3 As shown, the integration method for solving the multibody coupled motion equations in Modelica is the fourth-order Runge-Kutta algorithm. Therefore, it inserts an integration calculation between given step sizes during the integration process, that is, at t=t n+1 / 2 The stepping coordinater will call Aerodyn and MoorDyn once, and this stepping coordination can be coordinated through dynamic link libraries to coordinate the stepping relationship between the Modelica, Aerodyn and MoorDyn threads. During the simulation, Modelica, Aerodyn and MoorDyn will 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 wind turbine model and the wave energy buoy model, including:

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

[0104] The tower of the floating wind and wave combined power generation unit is 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] In the tower mass inertia model, frame_a connector and frame_b connector are respectively installed at the tower base and the tower top;

[0106] Add input tower load variable transfer components at each tower segment of the tower mass inertia model to determine the tower model;

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

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

[0109] A cabin mass inertia model is built using the BodyShape component, and the two ends of the cabin mass inertia model are connected to the to_tower connector and the fixedRotation1 component, respectively.

[0110] The inertial equivalent model of the transmission system is built using the BodyShape component. A to_nacelle connector is set at the first end of the inertial equivalent model of the transmission system and connected to the fixedRotation1 component through the Revolute1 component. An output rotor rotation angle variable transmission component is set on the Revolute1 component.

[0111] Connect the first end of the fixedRotation2 component to the second end of the equivalent inertial model of the transmission system, and set the to_hub&blade connector at the second end of the fixedRotation2 component;

[0112] A generator torque controller model is built based on the WorldTorque and RealInput components. The first end of the generator torque controller model is connected to the second end of the fixedRotation2 component. An input torque variable transmission component is set at the second end of the generator torque controller model to determine the nacelle model.

[0113] The to_tower connector is used to connect to the tower model, while 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 to the impeller model.

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

[0115] The BodyShape component is used to build a wheel hub mass inertia model, and to_blade&nacelle connectors are set on the wheel hub mass inertia model to define the wheel hub model;

[0116] Multiple blade mass inertial models are built using the BodyShape component. A blade node aerodynamic load input interface is set on each blade mass inertial model, and a to_Blade connector is set at the root of each blade mass inertial model to connect with the fixedTranslation1 component.

[0117] The first end of the fixedRotation6 component is connected to the fixedTranslation1 component, and the second end of the fixedRotation6 component is connected to the fixedRotation4 component through the fixedRotation5 component.

[0118] Set a to_Plate connector on each fixedRotation4 component, connect the first end of the fixedRotation3 component to each to_Plate connector, and set a to_Nac. connector on the second end of the fixedRotation3 component;

[0119] An Aerodyn_I_O model is built based on the RealOutput and RealInput components. Input displacement variable transfer components, input rotation angle variable transfer components, input displacement velocity variable transfer components, input rotation angular velocity variable transfer components, input rotor rotation angle variable transfer components, output torque variable transfer components, output tower load variable transfer components, and multiple blade node aerodynamic load output interfaces are added to the Aerodyn_I_O model, and dynamic link library calling functions are set.

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

[0121] Among them, the to_blade&nacelle connector and the to_Nac. connector are connected 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, absolute angle detector, absolute velocity detector and absolute angular velocity detector are all used to connect to the floating platform model.

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

[0123] The first end of the origin component is set to connect to the first end of the fixedTranslation2 component, and the second end of the origin component is used to connect to the floating platform model.

[0124] 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.

[0125] The rod1 component is connected to the second end of the Revolute2 component and the first end of the rod2 component, respectively.

[0126] Configure the second end of the SpringDamperSeries component to connect to the first end of the rod2 component, and configure the second end of the rod2 component to connect to the first end of the hinged_Joint component;

[0127] A wave energy buoy mass inertia model was built using the BodyShape component. The wave energy buoy mass inertia model was then connected to the second end of the hinged_Joint component to determine the wave energy buoy model.

[0128] It should be noted that the layered nature of the Modelica language provides a relatively clear modeling method for the complex relationships between different modules of a wind turbine, such as... Figure 4 As shown, this diagram illustrates the structure of the upper wind turbine model obtained by graphically modeling the upper wind turbine using Modelica. The parameters connected by dashed lines represent the transmission of variable values. Among the variables connected by dashed lines, solid triangles or circles represent the data receiving end, and hollow triangles represent the data sending end. Solid lines indicate the equivalent relationship of their coordinates. The meanings of connecting lines and icons are the same in other model diagrams.

[0129] Figure 5A schematic diagram of the tower model is shown. Since the tower is a cone structure with a variable cross-section, the cone can be divided into n tower segments based on these cross-sectional properties. Preferably, n can be set to 10, so the length of each segment accounts for 1 / 10 of the total length of the tower. The "bodyShape" component is used to model the above tower segments, resulting in a tower mass inertia model composed of bodyShape1-bodyShape10. "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 used to describe the aerodynamic characteristics of the tower. Input tower load variable transfer components are added at each tower segment. In the figure, "force1" to "force11" represent the aerodynamic loads acting on different nodes of the tower. The specific values ​​of these loads are calculated by Aerodyn and transmitted through the Modelica internal data channel.

[0130] Cabin model such 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 diagram. "to_tower" connects to the "frame_b" connector at the top of the tower. "to_hub&blade" connects to the "to_Nac." connector of the blade model and the "to_blade&nacelle" connector of the hub model, respectively. The "nacelle" nacelle mass inertia model is the "bodyShape" component used for the nacelle's mass and moment of inertia. For example, for a standard NERL 5MW wind turbine, its center of gravity relative to the "to_tower" frame connector is (1.9, 0, 1.75), and its other end coordinates are (0, 0, ...). 1.75); "fixedRotation1" is a coordinate rotation component used to change the relative angle between end "a" and end "b". Here, it is set to rotate 5° around the y-axis, where 5° represents the rotor shaft tilt angle. The specific center of gravity position angle parameter can be adaptively set according to the specific fan. The "Revolution1" component is a rotary joint, whose end "b" can rotate freely relative to end "a" according to a given axis. This component has two outputs: the variable "p" is the rotation angle, and the variable "w" is the rotation angular velocity. "Drivetrain" is the equivalent inertial model of the transmission system, which includes 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" refers to the generator torque controller, which provides a torque that varies with the rotational speed to control the rotor speed of the wind turbine during the generator torque control phase. Additionally, the nacelle model includes two external variable transfer components: the input torque variable transfer component transfers "T" as the input variable, and the output rotor rotation angle variable transfer component transfers "p" as the output variable, corresponding to the generator low-speed shaft equivalent torque and the rotor rotation angle, respectively. Furthermore, when analyzing the rotor rotational angular velocity, the output rotor rotational angular velocity variable transfer component can be set to transfer "w" on the Revolute1 component.

[0131] In the wheel hub model, such as Figure 4 As shown, only the mass inertia model of the hub is abstracted and simulated using the bodyShape component. A 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] like Figure 7As shown, the blade model includes a multibody model of the blade and an Aerodyn interaction module; on the left side of the model is the frame connector "to_Nac." that connects to the hub and nacelle; "fixedRotation3" is used to rotate the impeller center to the axis of rotation; "bla_a", "bla_b", and "bla_c" are multibody models of the blade composed of blade mass inertia models built using the BodyShape component; "1# Blade", "2# Blade", and "3# Blade" are also shown. "Blade" is the orientation transformation model, its function is to rotate the blades to the corresponding orientation; "Aerodyn_I_O" is the Modelica and Aerodyn load interaction module, its main function is to transmit position information, velocity information, rotation angle and other data to Aerodyn, and transmit the loads calculated by Aerodyn to Modelica. The dynamic link library call functions are set to facilitate shared space and step coordination; "Aerodyn_I_O" has output interfaces 1#, 2#, and 3# on the left, which are connected to the "AeroLoad" input interface of the three blades "bla_a", "bla_b", and "bla_c". This actually transmits the aerodynamic loads calculated by Aerodyn and acting on each node of the three blades respectively; on the upper right of "Aerodyn_I_O" are four output variables. " " "and" "", "and" "These represent the displacement and rotation angle of the tower base, i.e., the floating platform." "and" "for" "and" "Regarding the derivative of time, that is, velocity and angular velocity, it can be understood that, as..." Figure 4 As shown, “frame_a” is connected to the lower floating platform. The four detectors built by the Sensors component—absolute position detector, absolute angle detector, absolute velocity detector, and absolute angular velocity detector—can be connected to “frame_a” to detect the displacement, angle, velocity, and angular velocity of the floating 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 of each node on the tower.

[0133] See the structure of the orientation transformation model. Figure 8As shown, "fixedRotation4" rotates the blade along the x-axis to the impeller disk surface at an angle of 0° for blade #1, 120° for blade #2, and 240° for blade #3; "fixedRotation5" rotates the blade along the z-axis to the blade disk surface at a rotation angle of 90°; "fixedRotation6" rotates the blade along the y-axis to a precone angle of 2.5° relative to the disk surface; "fixedTranslation1" converts the blade along the z-axis to the hub radius.

[0134] Therefore, by interconnecting the to_hub & to_blade connectors, the to_Nac. connector, and the to_blade & to_nacelle connector, the output rotor rotation angle variable transmission component is connected to the input rotor rotation angle variable transmission component, the input tower load variable transmission component is connected to the output tower load variable transmission component, the output torque variable transmission component is connected to the input torque variable transmission component, the to_tower connector is connected to the frame_b connector, and the absolute position detector, absolute angle detector, absolute velocity detector, and absolute angular velocity detector are connected to the frame_a connector. The frame_a connector is then connected to the floating platform model, thus forming the overall upper wind turbine model.

[0135] Figure 9 This diagram illustrates the arm attachment method of an energy harvesting device built on Modelica, connecting a wave energy buoy to a floating wind turbine. The energy harvesting device model is composed of `origin`, `fixedTranslation2`, `Revolute2`, `SpringDamperSeries`, `rod1`, `rod2`, and `hinged_Joint` components. This device connects the wave energy buoy to the floating wind turbine, converting wave energy into electrical energy while ensuring the buoy's free movement. The number of `fixedTranslation` components can be adaptively adjusted based on the buoy's position relative to the floating wind turbine; for example, additional components can be added. Figure 9 In addition to the fixedTranslation3 component, different connectors can be added between the hinged_Joint component and the wave energy buoy mass inertia model, such as revolute, prismatic, cylindrical, universal, planar, spherical, and gearConstraint components, to release different degrees of freedom of the buoy.

[0136] Understandably, the components for building the model can be found in the Multi-body library under the Modelica standard library. Adding numbers or specific names to components is mainly to distinguish components in different locations.

[0137] In this embodiment, Modelica is used to construct floating wind turbine models and wave energy float models that closely match the actual operation of the floating wind and wave combined power generation device. This allows for precise loading of aerodynamic loads onto the floating wind turbine from all directions. At the same time, the attachment method between the wave energy float and the floating wind turbine, which includes the energy harvesting device, allows for the free release of the float's degrees of freedom. Combined with MoorDyn based on the lumped mass method, sufficient accuracy is provided for the reliability and stability assessment of 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 operating status of the floating wind and wave combined power generation device, thus improving the coupling reliability.

[0138] Please see Figure 11 , Figure 11 This is a structural block diagram of an integrated coupled computing system for a floating wind and wave combined power generation device based on Modelica-AeroDyn-MoorDyn, provided for an embodiment of the present invention.

[0139] This invention provides an integrated coupled computing system for a floating wind and wave combined power generation device based on Modelica-AeroDyn-MoorDyn, comprising:

[0140] Initialization module 1101 is used to initialize the frequency domain hydrodynamic parameters, mooring parameters and aerodynamic operating parameters of the floating wind and wave combined power generation device.

[0141] The Modelica module 1102 is used to build hydrodynamic load calculation models, viscous load calculation models, energy harvester force calculation models, and multibody dynamics models using Modelica. The multibody dynamics model outputs the multibody motion information and guide hole position for the current time step and transmits them to the dynamic link library. Based on the hydrodynamic load calculation model, hydrodynamic loads are determined according to multibody motion information and frequency domain hydrodynamic parameters. Based on the energy harvester force calculation model, the energy harvester force is determined using multibody motion information. Based on the viscous load calculation model, viscous loads are calculated according to preset viscous parameters. The module calls blade node aerodynamic loads, tower node aerodynamic loads, and mooring loads from the dynamic link library and combines them with hydrodynamic loads, energy harvester forces, and viscous loads as multibody loads. It also calls generator torque to load the multibody dynamics model and solves the multibody coupled motion equations using the fourth-order Runge-Kutta algorithm, outputting the multibody motion information and multibody loads for the next time step. The multibody dynamics model includes a coupled floating wind turbine model and a wave energy buoy model.

[0142] AeroDyn aerodynamic load module 1103 uses the AeroDyn model to calculate the blade nodal aerodynamic load, tower nodal aerodynamic load, and generator torque based on aerodynamic operating parameters and multibody motion information called from the dynamic link library, and then transmits them to the dynamic link library.

[0143] MoorDyn mooring module 1104 is used to calculate mooring loads using mooring parameters from the MoorDyn model and multibody motion information and guide hole positions called from the dynamic link library, and then transfer them to the dynamic link library.

[0144] Dynamic link library 1105 is used for data exchange between the Modelica module, the AeroDyn pneumatic load module, and the MoorDyn mooring module, and to coordinate the stepping threads between the Modelica module, the AeroDyn pneumatic load module, and the MoorDyn mooring module.

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

[0146] The upper wind turbine model includes a coupled tower model, nacelle model, and rotor model.

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

[0148] A wheel hub mass inertia model is built using the BodyShape component, and a to_blade&nacelle connector is set on the wheel hub mass inertia model to define the wheel hub model;

[0149] Multiple blade mass inertial models are built using the BodyShape component. A blade node aerodynamic load input interface is set on each blade mass inertial model, and a to_Blade connector is set at the root of each blade mass inertial model to connect with the fixedTranslation1 component.

[0150] The first end of the fixedRotation6 component is connected to the fixedTranslation1 component, and the second end of the fixedRotation6 component is connected to the fixedRotation4 component through the fixedRotation5 component.

[0151] Set a to_Plate connector on each fixedRotation4 component, connect the first end of the fixedRotation3 component to each to_Plate connector, and set a to_Nac. connector on the second end of the fixedRotation3 component;

[0152] An Aerodyn_I_O model is built based on the RealOutput and RealInput components. Input displacement variable transfer components, input rotation angle variable transfer components, input displacement velocity variable transfer components, input rotation angular velocity variable transfer components, input rotor rotation angle variable transfer components, output torque variable transfer components, output tower load variable transfer components, and multiple blade node aerodynamic load output interfaces are added to the Aerodyn_I_O model, and dynamic link library calling functions are set.

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

[0154] Among them, the to_blade&nacelle connector and the to_Nac. connector are connected 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, absolute angle detector, absolute velocity detector and absolute angular velocity detector are all used to connect to the floating platform model.

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

[0156] The first end of the origin component is set to connect to the first end of the fixedTranslation2 component, and the second end of the origin component is used to connect to the floating platform model.

[0157] 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.

[0158] The rod1 component is connected to the second end of the Revolute2 component and the first end of the rod2 component, respectively.

[0159] Configure the second end of the SpringDamperSeries component to connect to the first end of the rod2 component, and configure the second end of the rod2 component to connect to the first end of the hinged_Joint component;

[0160] A wave energy buoy mass inertia model was built using the BodyShape component. The wave energy buoy mass inertia model was then connected to the second end of the hinged_Joint component to determine the wave energy buoy model.

[0161] Furthermore, the hydrodynamic loads include additional mass force, hydrostatic restoring force, radiation damping force, and wave excitation force;

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

[0163] Furthermore, the calculation process for the force exerted by the energy harvesting device includes:

[0164] ;

[0165] In the formula, For the force of the energy harvesting device, Damping for the energy harvesting device, For the moving speed of the energy harvesting device, For the stiffness of the energy harvesting device, The displacement of the energy harvesting device.

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

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

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

[0169] Those skilled in the art will understand that, for the sake of convenience and brevity, the specific working process of the system and modules described above can be referred to the corresponding process in the foregoing method embodiments, and will not be repeated here.

[0170] In the several embodiments provided in 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 instance, the division of units is only a logical functional division, and in actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the coupling or direct coupling or communication connection shown or discussed may be through some interfaces; the indirect coupling or communication connection between devices or units may be electrical, mechanical, or other forms.

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

[0172] Furthermore, the functional units in the various embodiments of the present invention can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. The integrated unit can be implemented in hardware or as a software functional unit.

[0173] If the integrated unit is implemented as 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 the 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 to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of the present invention. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.

[0174] The above-described embodiments are only used to illustrate the technical solutions of the present invention, and are not intended to limit it. Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. An integrated coupled calculation method for a floating wind and wave combined power generation device based on Modelica-AeroDyn-MoorDyn, characterized in that, include: Initialize the frequency domain hydrodynamic parameters, mooring parameters, and aerodynamic parameters of the floating wind and wave combined generator; Modelica was used to build hydrodynamic load calculation models, viscous load calculation models, energy harvesting device force calculation models, and multibody dynamics models. The multibody dynamics model outputs the multibody motion information and guide hole position at the current time step and transmits them to the dynamic link library. Based on the hydrodynamic load calculation model, the hydrodynamic load is determined according to the multibody motion information and frequency domain hydrodynamic parameters. Based on the energy harvesting device force calculation model, the energy harvesting device force is determined according to the multibody motion information. Based on the viscous load calculation model, the viscous load is calculated according to the preset viscous parameters. The AeroDyn model is used to calculate the blade nodal aerodynamic load, tower nodal aerodynamic load, and generator torque based on aerodynamic operating parameters and multibody motion information called from the dynamic link library, and then transfers them to the dynamic link library. The mooring load is calculated using the MoorDyn model with mooring parameters and multibody motion information and guide hole position called from the dynamic link library, and then transferred to the dynamic link library. The multibody loads are obtained by calling the blade node aerodynamic loads, tower node aerodynamic loads, and mooring loads from the dynamic link library, combined with the hydrodynamic loads, the energy harvesting device forces, and the viscous loads. The generator torque is also called to load the multibody dynamics model. The multibody coupled motion equations are solved by the multibody dynamics model based on the fourth-order Runge-Kutta algorithm, and the multibody motion information and multibody loads of the next time step are output. The multibody dynamics model includes a coupled floating wind turbine model and a wave energy buoy model.

2. The integrated coupled calculation method for floating wind and wave combined power generation devices based on Modelica-AeroDyn-MoorDyn as described in claim 1, 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 coupled tower model, nacelle model, and rotor model.

3. The integrated coupled calculation method for a floating wind and wave combined power generation device based on Modelica-AeroDyn-MoorDyn as described in claim 2, is characterized in that, The modeling process of the impeller model includes: A wheel hub mass inertia model is built using the BodyShape component, and a to_blade&nacelle connector is set on the wheel hub mass inertia model to define the wheel hub model; Multiple blade mass inertial models are built using the BodyShape component. A blade node aerodynamic load input interface is set on each blade mass inertial model, and a to_Blade connector is set at the root of each blade mass inertial model to connect with the fixedTranslation1 component. The first end of the fixedRotation6 component is connected to the fixedTranslation1 component, and the second end of the fixedRotation6 component is connected to the fixedRotation4 component through the fixedRotation5 component. Set a to_Plate connector on each fixedRotation4 component, connect the first end of the fixedRotation3 component to each to_Plate connector, and set a to_Nac. connector on the second end of the fixedRotation3 component; An Aerodyn_I_O model is built based on the RealOutput and RealInput components. Input displacement variable transfer components, input rotation angle variable transfer components, input displacement velocity variable transfer components, input rotation angular velocity variable transfer components, input rotor rotation angle variable transfer components, output torque variable transfer components, output tower load variable transfer components, and multiple blade node aerodynamic load output interfaces are added to the Aerodyn_I_O model, and dynamic link library calling functions are set. Connect the aerodynamic load output interface of each blade node to the aerodynamic load input interface of each blade node one by one, and set the absolute position detector, absolute angle detector, absolute velocity detector and absolute angular velocity detector to be connected to the input displacement variable transmission component, input rotation angle variable transmission component, input displacement velocity variable transmission component and input rotation angular velocity variable transmission component respectively to determine the blade model; Among them, the to_blade&nacelle connector and the to_Nac. connector are connected 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, absolute angle detector, absolute velocity detector and absolute angular velocity detector are all used to connect to the floating platform model.

4. The integrated coupled calculation method for a floating wind and wave combined power generation device based on Modelica-AeroDyn-MoorDyn as described in claim 1, characterized in that, The modeling process of the wave energy buoy model includes: The first end of the origin component is set to connect to the first end of the fixedTranslation2 component, and the second end of the origin component is used to connect 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. Configure the second end of the SpringDamperSeries component to connect to the first end of the rod2 component, and configure the second end of the rod2 component to connect to the first end of the hinged_Joint component; A wave energy buoy mass inertia model was built using the BodyShape component. The wave energy buoy mass inertia model was then connected to the second end of the hinged_Joint component to determine the wave energy buoy model.

5. The integrated coupled calculation method for a floating wind and wave combined power generation device based on Modelica-AeroDyn-MoorDyn as described in claim 1, characterized in that, The hydrodynamic loads include additional 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 coupled calculation method for a floating wind and wave combined power generation device based on Modelica-AeroDyn-MoorDyn as described in claim 1, characterized in that, The calculation process for the force exerted by the energy harvesting device includes: ； In the formula, For the force of the energy harvesting device, Damping for the energy harvesting device, For the moving speed of the energy harvesting device, For the stiffness of the energy harvesting device, The displacement of the energy harvesting device.

7. An integrated coupled computing system for a floating wind and wave combined power generation device based on Modelica-AeroDyn-MoorDyn, characterized in that, include: The initialization module is used to initialize the frequency domain hydrodynamic parameters, mooring parameters, and aerodynamic parameters of the floating wind and wave combined generator. The Modelica module is used to build hydrodynamic load calculation models, viscous load calculation models, energy harvesting device force calculation models, and multibody dynamics models using Modelica. The multibody dynamics model outputs the multibody motion information and guide hole position at the current time step and passes them to the dynamic link library. Based on the hydrodynamic load calculation model, the hydrodynamic load is determined according to the multibody motion information and frequency domain hydrodynamic parameters. Based on the energy harvesting device force calculation model, the energy harvesting device force is determined according to the multibody motion information. Based on the viscous load calculation model, the viscous load is calculated according to the preset viscous parameters. The multibody dynamics model calls blade node aerodynamic loads, tower node aerodynamic loads, and mooring loads from the dynamic link library, along with hydrodynamic loads, energy harvesting device forces, and viscous loads. It also calls generator torque loading to the multibody dynamics model. The multibody dynamics model is then used to solve the multibody coupled motion equations based on the fourth-order Runge-Kutta algorithm, and the multibody motion information and multibody loads for the next time step are output. The multibody dynamics model includes a coupled floating wind turbine model and a wave energy buoy model. The AeroDyn aerodynamic load module uses the AeroDyn model to calculate the blade nodal aerodynamic load, tower nodal aerodynamic load, and generator torque based on aerodynamic operating parameters and multibody motion information called from the dynamic link library, and then transmits them to the dynamic link library. The MoorDyn mooring module is used to calculate mooring loads using the moorDyn model with mooring parameters and multibody motion information and guide hole positions called from the dynamic link library, and then pass the loads to the dynamic link library. The dynamic link library is used for data exchange between the Modelica module, the AeroDyn pneumatic load module, and the MoorDyn mooring module, and to coordinate the stepping threads between these modules.

8. A computer device, characterized in that, The device includes a memory and a processor. The memory stores a computer program. When the computer program is executed by the processor, the processor performs the steps of the integrated coupling calculation method for the floating wind and wave combined power generation device based on Modelica-AeroDyn-MoorDyn as described in any one of claims 1-6.

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

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

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