Dynamic simulation analysis method for floating type offshore wind turbine generator

Abstract

The invention discloses a dynamic simulation analysis method for a floating type offshore wind turbine generator, and the method comprises the steps: carrying out the simulation and mechanical analysis of all parts in the floating type offshore wind turbine generator through dynamic analysis software in combination with a topological structure diagram; the dynamic analysis software performs joint simulation on the variable pitch control model and the yaw control model and controls rotation of blades and a main frame, so that full-coupling dynamic analysis of the floating type wind turbine generator is realized; the situation that offshore wind power is in an unattended state for a long time when the floating type offshore wind turbine generator is subjected to the wind wave coupling effect is avoided, and it can be guaranteed that parts of the wind turbine generator run reliably for a long time under the complex working condition.

Description

Technical Field

[0001] The present invention relates to the technical field of dynamic analysis of floating offshore wind turbines, and in particular to a dynamic simulation analysis method of a floating offshore wind turbine group. Background Art

[0002] Wind power is the world's fastest-growing green energy technology. While onshore wind farm construction is rapidly developing, concerns have been raised about limitations to onshore wind energy utilization, such as large land footprints and noise pollution. Due to the abundant offshore wind energy resources and the feasibility of current technologies, the ocean is poised to become a rapidly developing wind power market. In recent years, the development of fixed offshore wind turbines has reached saturation, and offshore space resources are limited. Approximately 80% of offshore wind energy resources are concentrated in waters deeper than 60 meters. The development of offshore wind power will shift from shallow offshore waters to deep waters. As water depth increases, wind power becomes stronger, making fixed support structures more challenging. Therefore, floating offshore wind power is expected to become the mainstream of the future.

[0003] Floating offshore wind turbines are subject to wind-wave coupling, and their dynamic response is more complex than that of onshore wind turbines. In addition, offshore wind power is unmanned for a long time, so it is very important to ensure that wind turbine components can operate long-term and reliably under complex working conditions. Summary of the Invention

[0004] Based on this, it is necessary to propose a dynamic simulation analysis method for floating offshore wind turbines to address the above problems.

[0005] A method for dynamic simulation analysis of a floating offshore wind turbine, wherein the floating offshore wind turbine mainly includes components such as an anchor chain, a floating platform, and a wind turbine. The wind turbine includes a tower, blades, a main shaft, a main frame, a gearbox, a coupling, and a generator. The gearbox includes gears, a planetary carrier, a shaft, a bearing, and a shaft. The method includes: Draw the topological structure diagram of floating offshore wind turbines; Establishing a three-dimensional solid model of each component according to the topological structure diagram, and setting the constraint relationship between each component in the dynamic analysis software; Simulating the dynamic characteristics of the gear, the bearing and the coupling by the dynamic analysis software; Obtaining a full rigid body model of the floating offshore wind turbine using the dynamic analysis software; Determining a rigid-flexible hybrid multi-body model of the floating offshore wind turbine according to the plurality of three-dimensional solid models; Obtaining the hydrodynamic coefficient of wind farm data and the motor speed torque curve, and writing the wind farm data hydrodynamic coefficient and the motor speed torque curve into the dynamic analysis software, wherein the dynamic analysis software combines the real-time speed of the generator to obtain the feedback torque of the generator; MATLAB / SIMULINK software establishes a pitch control model and a yaw control model of the wind turbine according to the real-time speed; The dynamic analysis software is co-simulated with the pitch control model and the yaw control model to control the rotation of the blades and the main frame, thereby realizing a fully coupled dynamic analysis of the floating wind turbine; Wave data is acquired, dynamic response data of each component is determined based on the wave data and the wind field data, and dynamic behavior of each component in full coupling is determined based on the dynamic response data.

[0006] In one embodiment, establishing a three-dimensional solid model of each component according to the topological structure diagram and setting the constraint relationship between the components in the dynamic analysis software includes: Establishing a three-dimensional solid model of each component by combining the topological structure diagram with CAD software, and measuring the mass and moment of inertia of each three-dimensional solid model by CAD software; Import the multiple three-dimensional solid models into the dynamics analysis software, and mark the mass and the moment of inertia corresponding to each three-dimensional solid model in the dynamics analysis software, and manually set the constraint relationship between the various components in the dynamics analysis software.

[0007] 3. The method for dynamic simulation analysis of a floating offshore wind turbine according to claim 1, wherein obtaining a full rigid body model of the floating offshore wind turbine using the dynamic analysis software comprises: In the dynamic analysis software, a lumped parameter method is used to establish a catenary line model of the anchor chain, so as to obtain a full rigid body model of the floating offshore wind turbine through the dynamic analysis software.

[0008] In one embodiment, determining the rigid-flexible hybrid multi-body model of the floating offshore wind turbine according to the plurality of three-dimensional solid models includes: Importing the three-dimensional solid model of the main shaft, the three-dimensional solid model of the main frame, the three-dimensional solid model of the planetary carrier, and the three-dimensional solid model of the shaft into finite element analysis software for analysis, thereby obtaining a flexible body model of the main shaft, the flexible body model of the main frame, the flexible body model of the planetary carrier, and the flexible body model of the shaft; The flexible body models of the main shaft, the main frame, the planetary frame and the shaft are imported into the dynamic analysis software to replace the three-dimensional solid model of the main shaft, the main frame, the planetary frame and the shaft respectively; and a rigid-flexible hybrid multi-body model of the floating offshore wind turbine is obtained.

[0009] In one embodiment, the obtaining of the hydrodynamic coefficient of wind farm data and the motor speed torque curve, and writing the hydrodynamic coefficient of wind farm data and the motor speed torque curve into the dynamic analysis software, wherein the dynamic analysis software combines the real-time speed of the generator to obtain the feedback torque of the generator includes: The wind field data of the environment is calculated by TurbSim, and the hydrodynamic coefficient of the floating platform is calculated by WAMIT, and the wind field data and the hydrodynamic coefficient are imported into the dynamic analysis software; Writing the generator speed torque curve into the dynamics analysis software, and the dynamics analysis software establishing a feedback torque model of the generator according to the generator speed torque curve; The real-time rotational speed of the generator is input into the feedback torque model, and the feedback torque model outputs the feedback torque of the generator according to the real-time rotational speed.

[0010] In one embodiment, the co-simulating the dynamic analysis software with the pitch control model and the yaw control model to control the rotation of the blades and the main frame includes: The dynamics analysis software outputs the yaw angle to the yaw control model, and the yaw control model outputs the yaw acceleration, yaw velocity, and yaw displacement to the dynamics analysis software based on the yaw angle. The dynamic analysis software outputs the pitch angle, generator speed, and generator feedback torque to the pitch control model. The pitch control model outputs the pitch angular acceleration, pitch angular velocity, and pitch angular displacement to the dynamic analysis software based on the pitch angle, generator speed, and generator feedback torque. The dynamic analysis software controls the rotation of the blades and main frame according to the received angular acceleration, yaw angular velocity, yaw angular displacement, pitch angular acceleration, pitch angular velocity and pitch angular displacement, thereby realizing a fully coupled dynamic analysis of the floating wind turbine.

[0011] This application uses dynamic analysis software combined with a topological structure diagram to simulate and mechanically analyze the various components in a floating offshore wind turbine. The variable pitch control model and the yaw control model described in the dynamic analysis software are jointly simulated and control the rotation of the blades and the main frame to achieve a fully coupled dynamic analysis of the floating wind turbine. This avoids the floating offshore wind turbine being unmanned for a long time under the influence of wind and wave coupling, and can ensure the long-term and reliable operation of the wind turbine components under complex working conditions. BRIEF DESCRIPTION OF THE DRAWINGS

[0012] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0013] in: Figure 1 Flowchart of a dynamic simulation analysis method for a floating offshore wind turbine in one embodiment. DETAILED DESCRIPTION

[0014] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. All other embodiments obtained by ordinary technicians in this field based on the embodiments of the present invention without making any creative efforts shall fall within the scope of protection of the present invention.

[0015] Wind power is the world's fastest-growing green energy technology. While onshore wind farm construction is rapidly developing, limitations such as large land footprint and noise pollution have become increasingly apparent. Due to abundant offshore wind energy resources and the feasibility of current technologies, the ocean is poised to become a rapidly expanding wind power market. In recent years, the development of fixed offshore wind turbine platforms has reached saturation, and offshore space resources are limited. Approximately 80% of offshore wind energy resources are concentrated in waters deeper than 60 meters. The development of offshore wind power will shift from shallow offshore to deep offshore. As water depth increases, wind power becomes stronger, making fixed support structures more challenging. Therefore, floating offshore wind power is expected to become the mainstream of the future. Floating offshore wind turbines are subject to wind-wave coupling, resulting in more complex dynamic responses than onshore wind turbines. Furthermore, offshore wind power operates unmanned for extended periods of time, making it crucial to ensure the long-term and reliable operation of wind turbine components under these complex operating conditions. In order to solve the above technical problems, the present application provides a dynamic simulation analysis method for a floating offshore wind turbine. The floating offshore wind turbine mainly includes the following components: an anchor chain, a floating platform, and a wind turbine. The wind turbine includes: a tower, blades, a main shaft, a main frame, a gearbox, a coupling, and a generator. The gearbox includes: a gear, a planetary carrier, a shaft, a bearing, and a shaft. The method includes: S10: Draw the topological structure diagram of floating offshore wind turbines; S20: establishing a three-dimensional solid model of each component according to the topological structure diagram, and setting constraint relationships between the components in dynamic analysis software; S30: simulating the dynamic characteristics of the gear, the bearing, and the coupling using the dynamic analysis software; S40: Obtaining a full rigid body model of the floating offshore wind turbine using the dynamic analysis software; S50: Determine a rigid-flexible hybrid multi-body model of the floating offshore wind turbine according to the multiple three-dimensional solid models; S60: Obtaining a hydrodynamic coefficient of wind farm data and a motor speed torque curve, and writing the hydrodynamic coefficient of wind farm data and the motor speed torque curve into the dynamic analysis software, wherein the dynamic analysis software combines the real-time speed of the generator to obtain the feedback torque of the generator; S70: MATLAB / SIMULINK software establishes a pitch control model and a yaw control model of the wind turbine generator system according to the real-time rotation speed; S80: performing a joint simulation of the dynamic analysis software with the pitch control model and the yaw control model and controlling the rotation of the blades and the main frame to achieve a fully coupled dynamic analysis of the floating wind turbine; S90: Acquire wave data, determine the dynamic response data of each component based on the wave data and the wind field data, and determine the dynamic behavior of each component under full coupling based on the dynamic response data. Using wind field data and wave height and wave breaking period, dynamic response data for each component can be obtained. This allows for in-depth analysis of the dynamic behavior of refined structures such as gears, shafts, and bearings under full coupling, studying the impact mechanism of wave excitation and low-frequency motion of floating bodies on the dynamic response of the transmission system, analyzing the extreme impact of flexible structure coupling on the response of transmission system components, and accurately predicting fatigue damage to key components.

[0016] In one embodiment, the steps of establishing the three-dimensional solid models of the components according to the topological structure diagram and setting the constraint relationships between the components in the dynamics analysis software in step S20 include: S201: creating a three-dimensional solid model of each component by combining the topological structure diagram with CAD software, and measuring the mass and moment of inertia of each three-dimensional solid model by the CAD software; S202: Importing the plurality of three-dimensional solid models into a dynamics analysis software, and respectively marking the mass and the moment of inertia corresponding to each three-dimensional solid model in the dynamics analysis software, and manually setting the constraint relationship between the components in the dynamics analysis software.

[0017] In one embodiment, obtaining the full rigid body model of the floating offshore wind turbine using the dynamic analysis software in step S40 includes: S401: In the dynamic analysis software, a lumped parameter method is used to establish a catenary line model of the anchor chain, so as to obtain a full rigid body model of the floating offshore wind turbine through the dynamic analysis software.

[0018] In one embodiment, determining the rigid-flexible hybrid multi-body model of the floating offshore wind turbine according to the multiple three-dimensional solid models in step S50 includes: S501: Importing the three-dimensional solid model of the main shaft, the three-dimensional solid model of the main frame, the three-dimensional solid model of the planetary carrier, and the three-dimensional solid model of the shaft into finite element analysis software for analysis, thereby obtaining a flexible body model of the main shaft, the flexible body model of the main frame, the flexible body model of the planetary carrier, and the flexible body model of the shaft; S502: Importing the flexible body model of the main shaft, the flexible body model of the main frame, the flexible body model of the planetary frame, and the flexible body model of the shaft into the dynamic analysis software to replace the three-dimensional solid model of the main shaft, the three-dimensional solid model of the main frame, the three-dimensional solid model of the planetary frame, and the three-dimensional solid model of the shaft respectively; obtaining the rigid-flexible hybrid multi-body model of the floating offshore wind turbine.

[0019] In one embodiment, the step S60 of obtaining the hydrodynamic coefficient of the wind farm data and the motor speed torque curve, and writing the hydrodynamic coefficient of the wind farm data and the motor speed torque curve into the dynamic analysis software, wherein the dynamic analysis software combines the real-time speed of the generator to obtain the feedback torque of the generator includes: S601: The wind field data of the environment calculated by TurbSim and the hydrodynamic coefficient of the floating platform calculated by WAMIT are imported into the dynamic analysis software; S602: Writing the generator speed torque curve into the dynamics analysis software, and the dynamics analysis software establishing a feedback torque model of the generator according to the generator speed torque curve; S603: Inputting the real-time rotation speed of the generator into the feedback torque model, and the feedback torque model outputs the feedback torque of the generator according to the real-time rotation speed.

[0020] In one embodiment, the step S80 of jointly simulating the dynamic analysis software with the pitch control model and the yaw control model and controlling the rotation of the blades and the main frame includes: S801: The dynamics analysis software outputs the yaw angle to the yaw control model, and the yaw control model outputs yaw acceleration, yaw velocity, and yaw displacement to the dynamics analysis software based on the yaw angle. S802: The dynamics analysis software outputs the pitch angle, generator speed, and generator feedback torque to the pitch control model. The pitch control model outputs the pitch angular acceleration, pitch angular velocity, and pitch angular displacement to the dynamics analysis software based on the pitch angle, generator speed, and generator feedback torque. S803: The dynamic analysis software controls the rotation of the blades and the main frame according to the received angular acceleration, yaw angular velocity, yaw angular displacement, pitch angular acceleration, pitch angular velocity and pitch angular displacement, thereby realizing a fully coupled dynamic analysis of the floating wind turbine.

[0021] The beneficial effects of the present invention are as follows: the technical solution provided by the present invention first uses CAD software to establish a three-dimensional model of a floating offshore wind turbine, which can effectively ensure modeling accuracy and avoid result errors caused by modeling errors.

[0022] Furthermore, drawing a model topology diagram can avoid or facilitate checking constraint errors between components during modeling, thereby improving modeling efficiency.

[0023] Furthermore, the flexible body model of the floating offshore wind turbine includes blades, a tower, a main shaft, planetary gears, a sun gear shaft, a secondary gear shaft and a tertiary gear shaft.

[0024] The modeling objects of flexible bodies are parts with high flexibility, complex forces and parts to be optimized. Creating too many flexible bodies will greatly consume computing resources and increase computing costs.

[0025] Furthermore, in order to reduce the difficulty of modeling and improve the efficiency of modeling, the anchor chain, gearbox, blades and tower are set as substructures.

[0026] Furthermore, the bearings in the floating offshore wind turbine model are simulated using FE43 force elements.

[0027] Since the FE43 force element can input the bearing stiffness matrix, the wind turbine bearings are simulated using the FE43 force element.

[0028] Furthermore, the gear meshing in the floating offshore wind turbine model is simulated using FE225 force element.

[0029] Since the FE225 force element can calculate the stiffness, damping and friction of gear meshing, and according to the ISO6336-1 standard, the variable stiffness meshing of gears is taken into account, the gears of the wind turbine are simulated using the FE225 force element.

[0030] Furthermore, the spline between the main shaft and the gearbox planetary carrier in the floating offshore wind turbine model is simulated using FE242 force element.

[0031] Furthermore, the wind field data were calculated by TurbSim, and the hydrodynamic coefficients of the floating platform were calculated by WAMIT.

[0032] Furthermore, the aerodynamic calculation is completed by force element FE237.

[0033] Since force element FE237 is an AeroDyn plug-in in SIMPACK, which was developed by NREL and calculates aerodynamic forces based on the position, direction, and speed of the wind rotor movement, this force element is used to calculate the aerodynamic forces of the wind turbine.

[0034] Furthermore, the hydrodynamic calculations are completed by force element FE244.

[0035] Since force element FE244 is a HydroDyn plug-in in SIMPACK, which was developed by NREL and calculates the hydrodynamic force based on the displacement, direction, velocity and acceleration of the floating platform, this force element is used to calculate the hydrodynamic force of the floating platform.

[0036] Furthermore, the elastic connection between the gearbox output shaft and the generator shaft is simulated using FE43 force element.

[0037] Furthermore, the anchor chain is established using the lumped parameter method and the catenary equation.

[0038] Furthermore, SIMPACK and MATLAB / SIMULINK data exchange uses the SIMAT interface, which supports bidirectional exchange of data between SIMPACK and MATLAB / SIMULINK.

[0039] SIMPACK transmits the pitch angle, generator power, and generator speed to MATLAB / SIMULINK through SIMAT, and MATLAB / SIMULINK transmits the angular displacement, angular velocity, and angular acceleration of pitch and yaw to SIMPACK through SIMAT.

[0040] Furthermore, the method further includes the following steps: inputting different wind field files and wave parameters to obtain different dynamic responses of various components of the floating wind turbine.

[0041] The floating offshore wind turbine dynamics simulation analysis method provided by the present invention adopts a fully coupled modeling and analysis form, which overcomes the accuracy defects caused by decoupling calculations, helps to accurately calculate loads, and is beneficial to component design and optimization.

[0042] The technical features of the above embodiments can be combined arbitrarily. To make the description concise, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0043] The above-described embodiments merely represent several implementation methods of the present application. While the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the present invention. It should be noted that a person of ordinary skill in the art may make various modifications and improvements without departing from the spirit of the present invention, all of which fall within the scope of protection of the present invention. Therefore, the scope of protection of the present invention shall be determined by the appended claims.

Claims

1. A dynamic simulation analysis method for a floating offshore wind turbine, wherein the floating offshore wind turbine mainly includes the following components: an anchor chain, a floating platform, and a wind turbine. The wind turbine includes: A tower, blades, a main shaft, a main frame, a gearbox, a coupling and a generator, wherein the gearbox comprises: a gear, a planetary carrier, a shaft, a bearing and a shaft; wherein the method comprises: Draw the topological structure diagram of floating offshore wind turbines; Establishing a three-dimensional solid model of each component according to the topological structure diagram, and setting the constraint relationship between each component in the dynamic analysis software; Simulating the dynamic characteristics of the gear, the bearing and the coupling by the dynamic analysis software; Obtaining a full rigid body model of the floating offshore wind turbine using the dynamic analysis software; Determining a rigid-flexible hybrid multi-body model of the floating offshore wind turbine according to the plurality of three-dimensional solid models; Obtaining the hydrodynamic coefficient of wind farm data and the motor speed torque curve, and writing the wind farm data hydrodynamic coefficient and the motor speed torque curve into the dynamic analysis software, wherein the dynamic analysis software combines the real-time speed of the generator to obtain the feedback torque of the generator; MATLAB / SIMULINK software establishes a pitch control model and a yaw control model of the wind turbine according to the real-time speed; The dynamic analysis software is co-simulated with the pitch control model and the yaw control model to control the rotation of the blades and the main frame, thereby realizing a fully coupled dynamic analysis of the floating wind turbine; Wave data is acquired, dynamic response data of each component is determined based on the wave data and the wind field data, and dynamic behavior of each component in full coupling is determined based on the dynamic response data.

2. The dynamic simulation analysis method of a floating offshore wind turbine according to claim 1, characterized in that: The step of establishing a three-dimensional solid model of each component according to the topological structure diagram and setting the constraint relationship between the components in the dynamic analysis software includes: Establishing a three-dimensional solid model of each component by combining the topological structure diagram with CAD software, and measuring the mass and moment of inertia of each three-dimensional solid model by CAD software; Import the multiple three-dimensional solid models into the dynamics analysis software, and mark the mass and the moment of inertia corresponding to each three-dimensional solid model in the dynamics analysis software, and manually set the constraint relationship between the various components in the dynamics analysis software.

3. The dynamic simulation analysis method of a floating offshore wind turbine according to claim 1, characterized in that: The full rigid body model of the floating offshore wind turbine generator system obtained by the dynamic analysis software includes: In the dynamic analysis software, a lumped parameter method is used to establish a catenary line model of the anchor chain, so as to obtain a full rigid body model of the floating offshore wind turbine through the dynamic analysis software.

4. The method for dynamic simulation analysis of a floating offshore wind turbine according to claim 1, characterized in that: Determining the rigid-flexible hybrid multi-body model of the floating offshore wind turbine according to the plurality of three-dimensional solid models includes: Importing the three-dimensional solid model of the main shaft, the three-dimensional solid model of the main frame, the three-dimensional solid model of the planetary carrier, and the three-dimensional solid model of the shaft into finite element analysis software for analysis, thereby obtaining a flexible body model of the main shaft, the flexible body model of the main frame, the flexible body model of the planetary carrier, and the flexible body model of the shaft; The flexible body models of the main shaft, the main frame, the planetary frame and the shaft are imported into the dynamic analysis software to replace the three-dimensional solid model of the main shaft, the main frame, the planetary frame and the shaft respectively; and a rigid-flexible hybrid multi-body model of the floating offshore wind turbine is obtained.

5. The dynamic simulation analysis method of a floating offshore wind turbine according to claim 1, characterized in that: The step of obtaining the hydrodynamic coefficient of wind farm data and the motor speed torque curve, and writing the hydrodynamic coefficient of wind farm data and the motor speed torque curve into the dynamic analysis software, wherein the dynamic analysis software combines the real-time speed of the generator to obtain the feedback torque of the generator includes: The wind field data of the environment is calculated by TurbSim, and the hydrodynamic coefficient of the floating platform is calculated by WAMIT, and the wind field data and the hydrodynamic coefficient are imported into the dynamic analysis software; Writing the generator speed torque curve into the dynamics analysis software, and the dynamics analysis software establishing a feedback torque model of the generator according to the generator speed torque curve; The real-time rotational speed of the generator is input into the feedback torque model, and the feedback torque model outputs the feedback torque of the generator according to the real-time rotational speed.

6. The method for dynamic simulation analysis of a floating offshore wind turbine according to claim 1, characterized in that: The method of co-simulating the dynamic analysis software with the pitch control model and the yaw control model and controlling the rotation of the blades and the main frame includes: The dynamics analysis software outputs the yaw angle to the yaw control model, and the yaw control model outputs the yaw acceleration, yaw velocity, and yaw displacement to the dynamics analysis software based on the yaw angle. The dynamic analysis software outputs the pitch angle, generator speed, and generator feedback torque to the pitch control model. The pitch control model outputs the pitch angular acceleration, pitch angular velocity, and pitch angular displacement to the dynamic analysis software based on the pitch angle, generator speed, and generator feedback torque. The dynamic analysis software controls the rotation of the blades and main frame according to the received angular acceleration, yaw angular velocity, yaw angular displacement, pitch angular acceleration, pitch angular velocity and pitch angular displacement, thereby realizing a fully coupled dynamic analysis of the floating wind turbine.

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