Floating vertical axis wind turbine coupled calculation method based on wecsim-aerodyn

Abstract

The application belongs to the field of ocean energy utilization, and specifically discloses a floating type vertical shaft wind turbine coupling calculation method based on WECSim-AeroDyn, 1) modifying the AeroDyn bottom layer driving source code, establishing an external platform motion data step-by-step real-time reading interface, constructing a persistent data flow channel, and realizing external platform motion state real-time reading and injection grid accurate single-step calculation; 2) WEC-Sim transmits the platform displacement, speed and acceleration at the previous moment to AeroDyn; 3) AeroDyn solves the unsteady aerodynamic load at the previous moment based on the received base motion state; 4) WEC-Sim receives the wind turbine aerodynamic load, combines the data at the previous moment to carry out platform dynamics time advancement, and obtains the platform displacement and speed at the current moment; 5) AeroDyn calculates the aerodynamic load based on the platform displacement and speed at the current moment, and transmits the aerodynamic load to WEC-sim; 6) WEC-Sim carries out coupling calculation, and the iteration is carried out, so that the accurate modeling and coupling simulation of the single platform carrying vertical shaft wind turbine system are realized.

Description

Technical Field

[0001] This invention belongs to the field of marine energy utilization, and in particular, it is a coupled calculation method for floating vertical axis wind turbines based on WECSim-AeroDyn. Background Technology

[0002] With the deepening development of deep-sea wind energy, floating vertical axis wind turbines (FVAWTs) have become a research hotspot due to their significant advantages, such as low center of gravity, no need for wind countermeasures systems, ease of maintenance, and suitability for modular multi-rotor layouts. However, FVAWTs involve strong unsteady aerodynamic characteristics, dynamic stall, and severe platform-turbine dynamic coupling, making high-precision and high-efficiency simulation a persistent challenge for the industry.

[0003] With the development of deep-sea wind power generation technology, floating vertical axis wind turbines (FVAWTs) have become a research hotspot due to their advantages such as low center of gravity, no need for wind-fighting mechanisms, ease of scaling up, and modular multi-rotor layout. Currently, mainstream integrated analysis software for floating wind turbines (such as OpenFAST, an open-source computing software developed by the National Renewable Energy Laboratory (NREL) in the United States, Bladed, developed by DNV GL, and HAWC2, developed by the Technical University of Denmark (DTU)) are mainly designed for horizontal axis wind turbines (HAWTs). Although the latest AeroDynv15 module has integrated aerodynamic calculation functions for vertical axis wind turbines and provides access to arbitrary base motion, it only supports one-time file input and cannot perform step-by-step dynamic interaction with external hydrodynamic modules or real-time control algorithms, resulting in a "closed-loop" bottleneck in software coupling. Its overall architecture is deeply dependent on the ElastDyn multibody dynamics module. ElastDyn is hard-coded in its underlying logic as a tree topology adapted to horizontal axis wind turbines and cannot directly support the configuration of vertical axis wind turbines mounted on floating platforms.

[0004] While some researchers have proposed strategies such as FAST+AQWA or FAST+OrcaFlex in existing coupling schemes, they are still limited by the closed-loop data interaction mechanism within OpenFAST. Furthermore, although QBlade possesses good vertical axis fan analysis capabilities, it has limitations in integrating custom multibody dynamics constraints and complex real-time control algorithms. For coupled calculations of FVAWT, current solutions generally suffer from problems such as the inability of aerodynamic actuators to achieve step-by-step real-time interaction, deadlock in cross-software collaborative calculations, and inaccurate induced velocity corrections due to large-scale platform movements.

[0005] Chinese patent application CN117313526A discloses a coupled and collaborative simulation calculation method for a floating offshore wind turbine. Based on an artificial intelligence model, it selects input parameters of environmental conditions and calculates the physical quantities of the aerodynamic, hydrodynamic, and structural physical fields separately through multidisciplinary methods to construct the wind turbine physical field under multi-degree-of-freedom motion conditions. The method uses an artificial intelligence model to perform coupled calculations on the rigid-flexible coupled dynamic model of the wind turbine-floating body-mooring-anchoring structure to construct a collaborative solution framework for the whole machine simulation system. The method applies an artificial neural network algorithm to coupled and calculate the coupling effect of physical parameters in environmental conditions on the wind turbine, and finally outputs the aerodynamic response and load distribution of the wind turbine. This patent uses an artificial neural network algorithm as a bridge for the interaction of physical quantities in multiple disciplines (aerodynamics, hydrodynamics, and structure) to perform proxy calculations. This black-box model based on "data-driven" is extremely dependent on the quality of the training sample library and lacks a strict transient physical time step synchronization mechanism. When faced with the complex high-frequency dynamic stall and extreme transient sea conditions of floating vertical axis wind turbines, it is prone to physical distortion. Moreover, this solution does not solve the data closed-loop deadlock problem of the aerodynamic solver at the underlying source code level.

[0006] Chinese patent application CN118423237A discloses an integrated coupled calculation method for floating wind turbines based on OpenFAST-OpenFOAM. The method steps are as follows: (1) OpenFOAM transmits the six degrees of freedom displacement, velocity, and acceleration of the wind turbine float to OpenFAST at the previous moment; (2) OpenFAST receives the motion data of the wind turbine float, performs time progression, calculates the aerodynamic load on the upper structure of the wind turbine, obtains the tower base load, and solves the kinematic equations of the multibody structure to obtain the motion response of the upper structure of the wind turbine; (3) OpenFAST transmits the tower base load and applies it to the corresponding position of the wind turbine float, performs the calculation of the hydrodynamic load and mooring load at the current time step, and updates the motion of the float. Although this patent achieves coupled computation between the open-source wind turbine software OpenFAST and the computational fluid dynamics software OpenFOAM, the dynamic solution of its wind turbine superstructure is still completely limited by the multibody structure kinematic equations built into OpenFAST (i.e., the ElastDyn multibody dynamics module). This module is hardcoded at the bottom layer as a tree-like topology adapted to horizontal axis wind turbines (HAWT), which cannot support extended analysis of vertical axis wind turbine configurations on floating platforms. In addition, the full-scale CFD calculation method used in this scheme consumes too much computational resources and cannot efficiently meet the engineering requirements of long-duration wind and wave coupled time-domain analysis of floating wind turbines.

[0007] Chinese patent application CN120449761A discloses a hybrid nonlinear hydrodynamic load coupling calculation method for floating wind turbines. The method involves: obtaining the velocity potential of the wave field within the computational domain through OceanWave3D numerical simulation (wave field calculation model), and then post-processing the wave field data; furthermore, based on the six-degree-of-freedom motion of the floating wind turbine at each time step calculated using OpenFAST (floating wind turbine calculation model), dividing the instantaneous wetted surface, and performing pressure integration to obtain the Froude-Krylov force; updating the hydrostatic stiffness matrix based on the real-time change in the wind turbine's buoyancy center position, and calculating the hydrostatic restoring force; calculating the linear radiation force and diffraction force through temporal convolution of the frequency domain data, and considering the nonlinearity of the radiation force and diffraction force based on the instantaneous wetted volume change coefficient, and coupling this into OpenFAST to complete the calculation of the hydrodynamic load and structural motion response at the current time step. This patent improves computational accuracy under extreme sea conditions by combining the nonlinear potential flow solver OceanWave3D with OpenFAST. However, the technical improvements of this solution are strictly limited to the level of hydrodynamic nonlinear loads. Its overall architecture still passively inherits the closed nature of the OpenFAST main program and the single horizontal axis topology limitation. This method does not touch the underlying interface modification for single-step real-time communication between the aerodynamic solution module and the external environment, and does not completely decouple aerodynamic forces and structural forces from the wind turbine analysis software to open environments such as Simulink. This severely limits the efficient solution of complex multibody dynamics for floating vertical axis systems and the joint development of subsequent advanced real-time control strategies (such as platform roll reduction). Summary of the Invention

[0008] The purpose of this invention is to overcome the problems of "OpenFAST topology not being able to support the layout of vertical axis fans" and "the inability of the aerodynamic driver closed loop to interact in real time" in the existing technology, and to provide a coupling calculation method for floating vertical axis fans based on WECSim-AeroDyn. By calculating unsteady aerodynamics through a modified AeroDyn driver, the original dynamic constraints of OpenFAST are removed, and WEC-Sim (based on MATLAB / Simulink) is used as the dominant dynamic engine to achieve efficient coupling of floating vertical axis fans.

[0009] To achieve the above objectives, the present invention adopts the following technical solution: A coupled calculation method for floating vertical axis wind turbines based on WECSim-AeroDyn includes the following steps: 1) Modify the AeroDyn underlying driver source code to establish a step-by-step real-time reading interface for motion data from external platforms, build a persistent data stream channel, and realize real-time reading of the motion state of external platforms and precise single-step calculation of the injected mesh; 2) WEC-Sim will shift the platform's 6-DOF displacement from the previous moment. x WEC ( t i-1 ),speed v WEC ( t i-1 acceleration a WEC ( t i-1 ) is passed to AeroDyn; 3) AeroDyn solves for the 6-DOF unsteady aerodynamic loads of the previous moment based on the received base motion state. F x , F y , F z , M x , M y , M z ); 4) WEC-Sim receives the aerodynamic load of the wind turbine and combines it with the platform displacement at the previous moment. x WEC ( t i-1 ),speed v WEC ( t i-1 acceleration a WEC ( t i-1 The platform load and the structural load of the wind turbine are used to advance the platform dynamics over time, thereby obtaining the platform displacement and velocity at the current moment; 5) AeroDyn calculates the aerodynamic loads based on the platform displacement and velocity at the current moment and transmits them to WEC-Sim; 6) WEC-Sim receives aerodynamic loads and performs coupled calculations, iterating in this way.

[0010] Step 1) involves modifying the underlying driver source code of AeroDyn. This means modifying the logic in the official AeroDyn driver that was originally used to read motion input files once. It adopts a bidirectional dynamic file read / write mechanism, has a built-in state preservation mechanism in case of data anomalies, and imports initial values ​​at the start of the simulation to activate the data exchange link. This breaks the initial double-blind deadlock between AeroDyn and the WEC-Sim solver, breaks the closed-loop coupling bottleneck of the original software, and creates a key real-time data interaction interface for the joint simulation of floating wind turbines.

[0011] During the real-time synchronization process in steps 2) to 6), intelligent pointer tracking technology is used to locate the latest data line of the dynamically read and written file in real time, and microstep filtering technology is used to eliminate redundant signals caused by inconsistent time steps in cross-software communication, ensuring strong synchronization between MATLAB and the Fortran solver in physical time steps.

[0012] AeroDyn is only used as an unsteady aerodynamics solver, and its output aerodynamic loads only include the aerodynamic lift and drag generated by the interaction between the fluid and the blades. The structural mass, spatial center of gravity distribution, and moment of inertia matrix of the upper multi-wheel system (including the tower, nacelle, and blades) are all natively integrated into the Simulink rigid body dynamics model of WEC-Sim.

[0013] In this invention, the mass properties of the upper multi-rotor wind turbine are not directly attached to the platform body parameters of WEC-Sim, but are solved by constructing an explicit structural mechanics feedback module (StructForce) in the Simulink environment. As a pure floating hydrodynamic platform, WEC-Sim uses all the effects (aerodynamic + structural forces) of the upper part as external module coupling inputs, realizing the explicit separation and synchronous solution of the wind turbine aerodynamic load and structural load.

[0014] In step 2), after WEC-Sim obtains the displacement of the platform's center of gravity at the previous moment, it uses a coordinate transformation matrix to convert it into motion state data at the tower base reference point, and transmits it to AeroDyn through a real-time data interaction interface as the base motion condition for aerodynamic calculation.

[0015] The 6-DOF unsteady aerodynamic load mentioned in step 3) includes the axial force acting on the wind turbine system. F x lateral force F y Vertical force F z And the torque about the three coordinate axes M x , M y , M z .

[0016] In step (4), after receiving the aerodynamic load, WEC-Sim performs time progression based on the Newton-Euler rigid body dynamics framework. Its core control equation comprehensively considers the structural effects of the upper wind turbine, and is specifically expressed as follows: ; in, M For platform quality, a To accelerate the platform, A∞ To add a mass matrix, F hydro(t) For hydrodynamic loads, F aero(t) For aerodynamic loads, F moor(t) For mooring loads, F pto(t) For PTO power output control load, F struct(t) This is a collection of static and dynamic loads of the structure explicitly calculated within Simulink. The static loads include the torque response caused by the wind turbine's own weight and center of gravity shift, while the dynamic loads include the inertial reaction forces of the superstructure (d'Alembert translational inertial force and rotational inertial moment) caused by the platform's violent motion.

[0017] In steps 4) and 6), WEC-Sim receives the aerodynamic load of the wind turbine at the tower base output by AeroDyn, and uses the load transfer algorithm to translate the aerodynamic load and make it equivalent to the center of gravity of the platform; then, WEC-Sim performs time advance.

[0018] The beneficial effects of this application are: bypassing the horizontal axis topology constraints of OpenFAST / ElastDyn, it realizes accurate modeling and coupled simulation of a single platform carrying a vertical axis wind turbine (VAWT) system.

[0019] Based on the real-time interactive interface built with Simulink-Simscape, it facilitates joint simulation research on advanced control strategies such as torque control and platform sway reduction, and can also use Simulink modules to explicitly monitor tower base loads.

[0020] By explicitly calculating the structural inertial force and gravitational overturning moment, and in conjunction with intelligent pointer tracking and microstep filtering technology, we ensure tight synchronization across software on the physical time step. Attached Figure Description

[0021] Figure 1 This is the interaction logic diagram of the WECSim-AeroDyn module of the present invention; Figure 2 This is a real-time coupled data flow topology diagram of AeroDyn in the Simulink environment of this invention.

[0022] Figure 3 This is a time-progression sequence diagram of the WECSim-AeroDyn real-time coupling algorithm of the present invention.

[0023] Figure 4 This is a time series diagram of the 6-DOF displacement at the center of gravity of the VolturnUS-S semi-submersible platform in an example, using the coupled calculation method of the present invention. Figure 5 This is an AeroForce time series diagram showing how the aerodynamic load generated by the vertical axis fan in the example of the coupled calculation method of the present invention is equivalent to the platform's center of gravity. Figure 6 The coupled calculation method of the present invention is shown in the example of the StructForce time series diagram, which is equivalent to the structural load generated by the vertical axis fan at the center of gravity of the platform. Detailed Implementation

[0024] The present invention will be further described below with reference to the accompanying drawings and embodiments.

[0025] The structures, proportions, and sizes illustrated in the accompanying drawings are merely for illustrative purposes and to aid those skilled in the art in understanding and reading the invention. They are not intended to limit the scope of the invention and therefore have no substantial technical significance. Any modifications to the structure, changes in proportions, or adjustments to size, provided they do not affect the effectiveness or purpose of the invention, should still fall within the scope of the technical content disclosed herein. Furthermore, the terms "upper," "lower," "left," "right," "middle," and "one" used in this specification are merely for clarity and not intended to limit the scope of the invention. Changes or adjustments to their relative relationships, without substantially altering the technical content, should also be considered within the scope of the invention's implementation.

[0026] like Figure 1 This is a module interaction logic diagram of a floating vertical axis wind turbine coupling calculation method based on WECSim-AeroDyn according to the present invention. The method is based on decoupling AeroDyn from OpenFAST and modifying the underlying layer. The official AeroDyn driver is modified to change the logic that originally reads motion files once to a loop polling mode. It is responsible for dynamically injecting the received real pose and velocity of the floating body into the underlying boundary conditions of AeroDyn, thereby directly driving the aerodynamic module to calculate the accurate aerodynamic load including the platform sway effect. It forms a real-time aerodynamic-hydrodynamic-mooring time domain solver with the Simulink solver in WEC-Sim.

[0027] The coupling between AeroDyn and WEC-Sim revolves around the dynamic equations of a floating wind turbine: ; in, M For platform quality, a To accelerate the platform, A ∞ To add a mass matrix, F hydro(t) For hydrodynamic loads, F aero(t) For aerodynamic loads,F moor(t) For mooring loads, F pto(t) For PTO power output control load, F struct(t) This is a collection of structural static and dynamic loads explicitly calculated within Simulink.

[0028] This embodiment uses the Volturn US-S semi-submersible platform, a standardized platform in the field of marine engineering, as the hydrodynamic foundation model. The original horizontal axis fan in the superstructure is replaced with a three-bladed H-type vertical axis fan, with the blade airfoil selected as NACA0021. Regular wave height is set. H s =2.8m, wave period T p =6s; wind speed set to a steady wind of 10m / s. The upper fan is defined as an independent force source, its mass attribute is removed, and an explicit structural force feedback module is built in WECSim-Simulink, such as... Figure 2 As shown. Within each simulation time step, the platform's displacement (disp), velocity (vel), and acceleration (acc) are extracted via the WEC-Sim interface. The platform state data is divided into two paths: one path is fed into the aerodynamic calculation interface module, which performs coordinate transformation to the tower base and bidirectional dynamic file reading and writing, driving the external AeroDyn in real time to solve the unsteady aerodynamic characteristics of the multi-rotor, and outputting the aerodynamic load vector AeroForce equivalent to the platform's center of gravity; the other path is fed into the structural mechanics function module, which explicitly solves and outputs the structural load vector StructForce by combining the actual mass and center of gravity configuration of the upper turbine. Finally, the two are linearly superimposed by the Sum module within the same time step to generate the external excitation load (TurbineForce) acting on the floating platform. This load is fed into the WEC-Sim rigid body dynamics solver in real time, driving the time progression of the platform state and forming a tight air-water-rigid body coupled calculation closed loop.

[0029] The structural load vector StructForce specifically includes static loads: calculating the overturning moment generated by gravity in real time based on the height of the wind turbine's center of gravity and the real-time tilt angle of the platform; and dynamic loads: acquiring the platform's acceleration in real time, calculating the d'Alembert inertial force generated by the wind turbine's mass, and simultaneously calculating the Euler inertial moment and Coriolis / gyro effect moment generated when rotating around the wind turbine's center of gravity.

[0030] This invention is based on the WECSim-AeroDyn-based coupled calculation method for floating vertical axis wind turbines. The time-progression sequence diagram of the real-time coupling algorithm is shown below. Figure 3 As shown, the specific coupling steps are as follows: 1) WEC-Sim will perform a 6-DOF (6 degrees of freedom) displacement of the platform from the previous moment. x WEC ( t i-1 ),speed v WEC ( t i-1 acceleration a WEC ( t i-1 ), using matrix operations to compensate for the tower base induced displacement caused by platform pitch or roll. x base ( t i-1 ),speed v base ( t i-1 and acceleration a base ( t i-1 Ensure AeroDyn receives the movement of the wind turbine base; 2) AeroDyn reads the motion state at the wind turbine tower base and solves for the 6-DOF unsteady aerodynamic loads including dynamic stall effects at the previous moment. F x , F y , F z , M x , M y , M z ), and in Simulink, the aerodynamic load is translated and equivalently placed at the platform's center of gravity; 3) WEC-Sim receives the aerodynamic loads of the wind turbine and the static and dynamic loads caused by the platform movement driving the wind turbine in the previous moment, combined with the platform displacement in the previous moment. x WEC ( t i-1 ),speed v WEC ( t i-1 acceleration a WEC ( t i-1 The platform dynamics time advances along with other loads on the platform to obtain the platform displacement, velocity, and acceleration at the current moment.

[0031] Other loads include hydrodynamic loads, mooring loads, and PTO power output control loads. 4) Calculate the platform displacement at the current moment. x WEC ( t i ) and speed v WEC ( t i After that, AeroDyn calculates the aerodynamic load at the current moment, passes it to WEC-Sim, and translates and equivalently places the aerodynamic load at the platform's center of gravity in Simulink; 5) WEC-Sim receives the aerodynamic load of the wind turbine and performs coupled calculations, and then iterates over this process.

[0032] Through joint analysis of system displacement and various loads, the breakthrough of this invention in solving the "multi-field coupling problem of floating vertical axis fans" was verified. Figure 4 and Figure 5 As shown in the AeroForce aerodynamic load, it not only accurately reflects the low-pass filtering characteristics of the semi-submersible platform under shortwave conditions (heave RAO is approximately 0.39), but also that the aerodynamic module successfully captured the high-frequency 3P periodic oscillation unique to the vertical axis fan and the aerodynamic envelope induced by the platform's low-frequency motion, confirming the successful establishment of high-fidelity air-water bidirectional dynamic coupling. Figure 6 The StructForce data of the wind turbine structure is closely related to the platform displacement changes. The huge top mass of the vertical axis wind turbine, as the platform sways, generates alternating inertial forces that transfer to the platform's center of gravity, reaching as high as 10. 5 On the order of N, and 10 3 The N-level pure aerodynamic load has a huge order of magnitude range. This invention completely separates this massive "large inertia structural load" from the aerodynamic feedback system through an innovative explicit decoupling architecture, effectively avoiding the numerical instability caused by strong coupling of complex giant loads and ensuring the absolute stability of long-duration time-domain coupled calculations.

[0033] While the specific embodiments of the present invention have been described above in conjunction with the accompanying drawings, this is not intended to limit the scope of protection of the present invention. Those skilled in the art should understand that various modifications or variations that can be made by those skilled in the art without creative effort based on the technical solutions of the present invention are still within the scope of protection of the present invention.

Claims

1. A coupled calculation method for floating vertical axis wind turbines based on WECSim-AeroDyn, characterized in that, Includes the following steps: 1) Modify the AeroDyn underlying driver source code to establish a step-by-step real-time reading interface for motion data from external platforms, build a persistent data stream channel, and realize real-time reading of the motion state of external platforms and precise single-step calculation of the injected mesh; 2) WEC-Sim transmits the platform's 6-DOF displacement, velocity, and acceleration from the previous moment to AeroDyn; 3) AeroDyn solves for the 6-DOF unsteady aerodynamic loads at the previous moment based on the received base motion state; 4) WEC-Sim receives the aerodynamic load of the wind turbine and combines it with the platform displacement, velocity, acceleration, platform load and wind turbine structural load of the previous moment to perform platform dynamic time propagation, thereby obtaining the platform displacement and velocity at the current moment; 5) AeroDyn calculates the aerodynamic loads based on the platform displacement and velocity at the current moment and transmits them to WEC-Sim; 6) WEC-Sim receives aerodynamic loads and performs coupled calculations, iterating in this way.

2. The WECSim-AeroDyn floating vertical axis wind turbine coupling calculation method as described in claim 1, characterized in that, Step 1) involves modifying the underlying driver source code of AeroDyn. This means modifying the logic in the official AeroDyn driver that was originally used to read motion input files once. It adopts a bidirectional dynamic file read / write mechanism, has a built-in state preservation mechanism in case of data anomalies, and imports initial values ​​at the start of the simulation to activate the data exchange link. This breaks the initial double-blind deadlock between AeroDyn and the WEC-Sim solver, breaks the closed-loop coupling bottleneck of the original software, and creates a key real-time data interaction interface for the joint simulation of floating wind turbines.

3. The WECSim-AeroDyn floating vertical axis wind turbine coupling calculation method as described in claim 1, characterized in that, During the real-time synchronization process in steps 2) to 6), intelligent pointer tracking technology is used to locate the latest data line of the dynamically read and written file in real time, and microstep filtering technology is used to eliminate redundant signals caused by inconsistent time steps in cross-software communication, ensuring strong synchronization between MATLAB and the Fortran solver in physical time steps.

4. The WECSim-AeroDyn floating vertical axis wind turbine coupling calculation method as described in claim 1, characterized in that, AeroDyn is used only as an unsteady aerodynamics solver, and its output aerodynamic loads only include the aerodynamic lift and drag generated by the interaction between the fluid and the blades. The static and dynamic structural effects of the upper multi-wheel system are completely separated from the hydrodynamic core of AeroDyn and WEC-Sim and are processed and calculated by independent modules.

5. The coupled calculation method for floating vertical axis wind turbines based on WECSim-AeroDyn according to claim 1, characterized in that: In step 2), after WEC-Sim obtains the displacement of the platform's center of gravity at the previous moment, it uses a coordinate transformation matrix to convert it into motion state data at the tower base reference point, and then transmits it to AeroDyn through a real-time data interaction interface as the base motion condition for aerodynamic calculation.

6. The coupled calculation method for floating vertical axis wind turbines based on WECSim-AeroDyn according to claim 1, characterized in that: The mass properties of the upper multi-rotor wind turbine are not directly attached to the platform body parameters of WEC-Sim, but are solved by building an explicit structural mechanics feedback module in the Simulink environment. As a pure floating hydrodynamic platform, WEC-Sim uses all the effects of the upper part as external module coupling inputs, realizing the explicit separation and synchronous solution of wind turbine aerodynamic loads and structural loads.

7. The coupled calculation method for floating vertical axis wind turbines based on WECSim-AeroDyn according to claim 1, characterized in that: In step 3), the 6-DOF unsteady aerodynamic load includes axial force, lateral force, vertical force and torque about the three coordinate axes acting on the wind turbine system.

8. The coupled calculation method for floating vertical axis wind turbines based on WECSim-AeroDyn according to claim 1, characterized in that: In step (4), after receiving the aerodynamic load, WEC-Sim performs time progression based on the Newton-Euler rigid body dynamics framework; its core control equation comprehensively considers the structural effects of the upper wind turbine, and is specifically expressed as: ； in, M For platform quality, a To accelerate the platform, A ∞ To add a mass matrix, F hydro(t) For hydrodynamic loads, F aero(t) For aerodynamic loads, F moor(t) For mooring loads, F pto(t) For PTO power output control load, F struct(t) This is a collection of structural static and dynamic loads explicitly calculated within Simulink.

9. The coupled calculation method for floating vertical axis wind turbines based on WECSim-AeroDyn according to claim 1, characterized in that: In step 4), WEC-Sim receives the aerodynamic load of the wind turbine at the tower base output by AeroDyn, and uses the load transfer algorithm to translate the aerodynamic load and make it equivalent to the center of gravity of the platform; then, WEC-Sim performs time advance.

Images