Method for potential flow hydrodynamic analysis of modular floating body coupled with array wave energy device

Abstract

This invention discloses a method for potential-current hydrodynamic analysis of modular floating bodies in a coupled array wave energy device, relating to the fields of marine engineering hydrodynamics and marine new energy technologies. The method includes the following steps: obtaining the geometric characteristics of each floating structure and dividing the boundary element computational mesh; obtaining the added mass matrix, radiation damping matrix, and wave excitation force vector of the floating structure; calculating the displacement continuity condition based on the connection methods and coupling factors between the modular floating bodies and the array wave energy device, and among the modular floating bodies themselves; constructing the displacement constraint matrix and wave energy output damping matrix between the modular floating bodies and the array wave energy device; constructing the equivalent stiffness matrix based on the kinematic constraint relationship between the modular floating bodies; constructing the motion equations of the multi-floating body system; solving the motion equations of the multi-floating body system to obtain the wave energy capture power and motion response of the multi-floating body system. This invention enables numerical evaluation of the motion response, structural load, and energy conversion performance under wave action.

Description

Technical Field

[0001] This invention belongs to the fields of marine engineering structure hydrodynamics and marine new energy technology, and particularly relates to a modular floating body potential flow hydrodynamic analysis method for coupled array wave energy devices. Background Technology

[0002] With the continued growth in global demand for clean energy and the increasing emphasis on the comprehensive utilization of marine space resources, modular floating structures of coupled array wave energy generation devices have become a cutting-edge direction in the development of marine energy technology. These devices typically consist of multiple floating structures (such as oscillating buoys and floating carriers) coupled through a complex connection system, aiming to improve wave energy capture characteristics and the overall functionality and economy of the platform through array layout and synergistic effects. Essentially, these devices are typical multi-body coupled marine structural systems, and their innovative design concepts differ significantly from traditional monolithic or simply rigidly connected marine platforms (such as fixed jacket platforms and conventional semi-submersible platforms).

[0003] From the perspectives of structural mechanics and hydrodynamics, the modular floating bodies of coupled array wave energy devices exhibit distinct multi-body connection and multi-field coupling characteristics. First, the system comprises floating structures with varying geometric properties, and the connection methods between these structures are diverse (e.g., hinges, elastic constraints), with complex connection point locations and constraint conditions. Furthermore, statically indeterminate structures easily form between the floating carriers. Second, each floating structure not only exhibits six-degree-of-freedom rigid body motion, but also shows significant dynamic coupling between their relative motions (e.g., heave, pitch, yaw), influenced by multiple factors including wave excitation forces, connector stiffness / damping, mooring systems, and energy output systems. In particular, the energy output system introduces feedback effects while converting wave energy, further increasing the complexity of the system's dynamic behavior. Therefore, traditional hydrodynamic analysis methods for modular marine structures and tree-like connection systems are insufficient for accurately predicting the overall motion response, connection load characteristics, and energy output performance of such complex multi-body coupled systems. Although there have been some research cases on multi-system marine structures both domestically and internationally in recent years (such as the "Sea Serpent" wave power generation device, Denmark's Wavestar wave power generation device, and China's first megawatt-class floating wave power generation device, the "Nankun"), these practices highlight the development trend of multi-body coupling and functional integration. However, their analytical methods are mostly targeted at specific configurations, lacking a universally applicable, efficient, and high-precision hydrodynamic analysis model and method that can systematically handle the complex array connections, multi-degree-of-freedom coupled dynamics, and energy output systems in floating structures. Especially at the array scale, the wave interference effect and structural coupling effect between floating structures are superimposed, making accurate computational simulation challenging.

[0004] Therefore, to support the optimized design and engineering application of integrated systems combining arrayed offshore new energy devices with floating offshore structures (especially modular floating bodies), a novel hydrodynamic analysis method is urgently needed. This method must effectively integrate the hydrodynamic interactions of multiple bodies, the mechanical properties of complex connection constraints, and the energy extraction coupling mechanism of the energy output system, enabling numerical simulation and evaluation of the motion response, structural loads, and energy conversion performance of the entire coupled system. This is precisely the key bottleneck that this invention aims to address. Summary of the Invention

[0005] The purpose of this invention is to provide a method for analyzing the potential flow hydrodynamics of a modular floating body in a coupled array wave energy device, in order to solve the problems mentioned in the background art, such as the inability of existing simulation methods to accurately characterize motion constraints when constructing a hydrodynamic analysis model of a modular floating integrated system of a coupled array wave energy device.

[0006] To achieve the above objectives, the present invention employs the following technical solution:

[0007] This invention proposes a modular floating body potential flow dynamics analysis method for coupled array wave energy devices, comprising the following steps: S1. Modular floating bodies and array wave energy devices constitute a multi-floating body system. The geometric features of each floating structure are obtained, and boundary element computational meshes are defined. S2. Calculate the added mass, radiation damping, and wave excitation force of the floating structure, and obtain the added mass matrix, radiation damping matrix, and wave excitation force vector. S3. Based on the connection method and coupling factors between the modular floating body and the array wave energy device, calculate the displacement continuity condition satisfied at the connection point between the two; based on the connection method and coupling characteristics between the modular floating bodies, calculate the displacement continuity condition satisfied at the connection point between the two. S4. Based on the displacement continuity condition and motion constraint relationship, construct the displacement limitation matrix and energy output damping matrix between the modular floating body and the array wave energy device; S5. Use the equivalent stiffness of connectors to construct the motion constraint relationship between modular floating bodies, and construct the equivalent stiffness matrix of modular floating bodies based on the motion constraint relationship between modular floating bodies. S6. Based on the wave excitation force, added mass matrix, radiation damping matrix, displacement limitation matrix, energy output damping matrix, and equivalent stiffness matrix obtained in S2-S5, construct the motion equations of the multi-floating body system according to the Lagrange multiplier method and the equivalent stiffness of the connector. S7. Solve the equations of motion for the multi-floating body system to obtain the motion response of the multi-floating body system. Based on the coupling characteristics of the multi-floating body system, obtain the wave energy capture power of the multi-floating body system.

[0008] Preferably, S1 is specifically as follows: The modular floating body includes several floating bodies connected in a ring, and the floating bodies rotate relative to each other; the array wave energy device includes oscillating floats, and multiple oscillating floats are provided on each floating body. The oscillating floats and the floating carrier achieve wave energy capture through relative rotational motion. The floating body is a floating carrier, and the array wave energy device is a float-type wave energy device. The floating structure includes a floating carrier and a float-type wave energy device.

[0009] Preferably, step S2 is as follows: For by N A multi-floating body system composed of several floating structures, with a total velocity potential. From the incident potential diffraction potential and radiation potential It consists of three parts, with a total velocity potential. The following boundary conditions must be met:

[0010] in, , and These are the seabed and the free surface, respectively. ( The average wetted surface area is for a floating structure. For this is the first The first floating structure The unit normal vector of one degree of freedom; This represents the horizontal distance between the far-field point and the source point. Angular frequency, It is the acceleration due to gravity. For wave number. and These are the rounding symbols for up and down, respectively.

[0011] The radiation potential and the diffraction potential satisfy the boundary integral equation:

[0012]

[0013] in, and These represent the three-dimensional coordinates of the field point and the source point, respectively. The boundary element method is used to numerically solve the boundary conditions, yielding the diffraction potential. and radiation potential Then the hydrodynamic coefficients of the multi-buoy system can be further obtained, from the first... i The motion of the first degree of freedom caused by the first j Additional mass in each degree of freedom and radiation damping (i , j = 1, 2, … , 6 N ), and the j ( j = 1, 2, … , 6 N First-order wave excitation force with 1 degree of freedom .

[0014]

[0015]

[0016]

[0017] in The density of seawater, based on added mass. and radiation damping The total added mass matrix is ​​obtained. and radiation damping matrix Based on first-order wave excitation force The total wave excitation force matrix is ​​obtained. .

[0018] Preferably, step S3 is as follows: Since the oscillating float generates electricity by utilizing its relative rotation with the floating carrier, releasing the relative rotation between the two, the other degrees of freedom satisfy the displacement continuity condition at the hinge point:

[0019] in,( X ij , Y ij , Z ij () is an oscillating float in the global coordinate system I and floating carrier J The coordinates of the hinge point, For the angle between the local coordinate system and the global coordinate system, ( X IC ,Y IC , Z IC )and( X JC , Y JC , Z JC ) are respectively oscillating floats I and floating carrier J The coordinates of the rotation center, e Ii and eJi ( i =1,2,3,4,5,6) are oscillating floats. I and floating carrier J Motion response in each constrained degree of freedom; Since the translational degrees of freedom between the floating carriers are continuous, the rotational degrees of freedom between them are released. The translational degrees of freedom then satisfy the displacement continuity condition at the hinge point of the floating carriers.

[0020] in,( X jk , Y jk , Z jk (a floating carrier in the global coordinate system) J and floating carrier K The coordinates of the hinge point, ( X JC , Y JC , Z JC )and( X KC , Y KC , Z KC ) are floating carriers J and floating carrier K The coordinates of the rotation center, e Ji and e Ki ( i =1,2,3) are floating carriers J and floating carrier K Motion response in each constrained degree of freedom.

[0021] Preferably, the displacement constraint matrix in S4 is as follows: Based on the displacement continuity condition satisfied by the oscillating float and the floating carrier at the connection point, the oscillating float is transformed into a matrix form. I and floating carrier J Release the constraint matrix for rotation:

[0022]

[0023] Based on the actual hinge relationship, the displacement constraint matrix .

[0024] Preferably, the energy output damping matrix in S4 is as follows: Oscillating float I and floating carrier J Wave energy capture is achieved using relative rotational motion. The local force at the constrained position is expressed as:

[0025] in, Damping for the energy output of the float. Represented as:

[0026] The local forces are transformed into a column vector of forces acting on the global coordinate system, which is obtained as follows:

[0027] Energy output damping matrix [B pto The expression for ] is as follows:

[0028] in, M The number of oscillating floats.

[0029] Preferably, step S5 is as follows: If floating carrier J and floating carrier K If the six degrees of freedom displacement is continuous, then it is expressed as:

[0030]

[0031] In the floating body coordinate system, the force vector of the connectors between the various modules of the floating carrier is expressed as: Equivalent stiffness matrix Represented as:

[0032] in, U This represents the number of ball joints between floating carriers.

[0033] Preferably, the equations of motion for the multi-buoy system in S6 are as follows:

[0034] The overall stiffness matrix K of the overall multi-floating body system is:

[0035] in, , These are the mass matrix and the hydrostatic stiffness matrix, respectively. The zero matrix is ​​{λ}, which represents the connection force between the floating structures, and [L] is the displacement constraint matrix. Represents the displacement vector. The wave excitation force can be expressed as:

[0036]

[0037] in, and Represented as the first The first floating structure Motion response and wave excitation force of each degree of freedom.

[0038] Preferably, step S7 is as follows: Oscillating float I and floating carrier J The relative rotational displacement is used to determine the relative displacement. Represented as Total wave energy captured by the oscillating float and the I ( I = 1, 2, … , M The power generation of the oscillating floats Represented as:

[0039] floating carrier J and floating carrier K The hinge force is: .

[0040] Compared with the prior art, the beneficial effects of the present invention are: (1) The method in this invention can effectively integrate the mechanical properties of multibody hydrodynamic interaction, complex connection constraints, and energy extraction coupling mechanism of wave energy utilization system, so as to realize the evaluation of motion response, structural load and energy conversion performance of the entire coupled system.

[0041] (2) The method in this invention considers the motion constraint relationship between the array wave energy device and the modular floating body, and the modular floating body, respectively, and constructs the corresponding matrix through the Lagrange multiplier method and the equivalent stiffness of the connector.

[0042] (3) The method in this invention considers the overall stiffness matrix of the modular floating body with equivalent stiffness of the connector, which is used to avoid the problems of static indeterminacy and non-uniqueness of solutions caused by the circular arrangement of the structure.

[0043] (4) The method in this invention solves both motion response and wave energy capture simultaneously, which is highly efficient. The hydrodynamic coefficients can be obtained from the potential flow solver. Attached Figure Description

[0044] Figure 1 This is a top view of the modular floating body of the coupled array wave energy device in this invention; Figure 2 This is a side view of the modular floating body of the coupled array wave energy device in this invention. Detailed Implementation

[0045] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0046] Example 1: This invention relates to floating structures with multi-body ring structures, such as... Figure 1 and Figure 2 As shown in the figure, the floating carriers are connected by ball joints, releasing the relative rotation between the floating carriers. Multiple oscillating floats are configured on each floating carrier, rotating around the carrier to drive the energy output damping system to capture wave energy. The characteristic of this complex multibody system lies in the separate release of the relative rotation between the oscillating floats and the floating carriers, as well as the three-degree-of-freedom rotational motion between the floating carriers, making the solution to the multibody system's motion more complex. This invention proposes a hydrodynamic analysis method for a modular floating coupled array wave energy device, including the following steps: S1. Obtain the geometric features of each floating structure and divide the boundary element computation mesh.

[0047] This invention is applicable to various geometries of marine floating structures, such as box-shaped, cylindrical, and spherical structures. To demonstrate the effectiveness of this method in complex multibody coupling analysis, this embodiment uses a specific system as an example. This system consists of a floating platform system with a ring-shaped connection structure and an array of hemispherical floats. The core of this invention lies in handling the hydrodynamic coupling mechanism of wave energy capture between the ring structure of such a platform and the array of floats. Boundary element mesh data of the underwater surface of each floating structure will be used as the computational input.

[0048] S2. Calculate the wave excitation force, added mass, and radiation damping of the floating structure, and obtain the added mass array and radiation damping array.

[0049] Within the framework of potential flow theory, for the... N The system comprises several floating structures, including a floating carrier and a float-type wave energy device, with a total velocity potential. From the incident potential diffraction potential and radiation potential It consists of three parts: (1) in, , They represent the first The first floating structure The motion response and radiation potential of each degree of freedom. In this invention, the six degrees of freedom represent sway, sway, heave, roll, pitch, and bow roll, respectively. and These are the rounding symbols for up and down, respectively.

[0050] velocity potential The following boundary conditions must be met: (2) in, , and They are the seabed and the free surface, respectively. ( The average wetted surface area is for a floating structure. For this is the first The first floating structure The unit normal vector with one degree of freedom (DOF). This represents the horizontal distance between the far-field point and the source point. Angular frequency, It is the acceleration due to gravity. For wave number.

[0051] The boundary integral equations satisfied by the radiation potential and the diffraction potential are: (3) (4) in, , These represent the three-dimensional coordinates of the field point and the source point, respectively. The boundary element method is used to numerically solve the boundary conditions, yielding the diffraction potential. and radiation potential Then we can further obtain the first i The motion of the first degree of freedom caused by the first j Additional mass in each degree of freedom and radiation damping ( i , j = 1, 2, … , 6 N ), No. j ( j = 1, 2, … , 6 N First-order wave excitation force with 1 degree of freedom The solution is as follows: (5) (6) (7) in This refers to the density of seawater.

[0052] S3. Determine the connection method and coupling factors between modular floating bodies, and determine the connection method and coupling factors between modular floating bodies and array wave energy devices, such as relative motion characteristics and energy output damping.

[0053] like Figure 2 As shown, since the oscillating float generates electricity using its relative rotation with the floating carrier, the relative rotation between the two is released, and the other degrees of freedom satisfy the displacement continuity condition at the hinge point: (8) The specific expression of the above formula (8) is as follows: (9) In formula (9): ( X ij , Y ij , Z ij () is an oscillating float in the global coordinate system I and floating carrier J The coordinates of the hinge point, For the angle between the local coordinate system and the global coordinate system, ( X IC ,Y IC , Z IC )and( X JC , Y JC , Z JC ) are respectively oscillating floats I and floating carrier J The center of rotation, e Ii and e Ji ( i =1,2,3,4,5,6) are oscillating floats. I and floating carrier J Motion response in each constrained degree of freedom.

[0054] For oscillating floats I and floating carrier J Wave energy capture using relative rotational motion. The expressions are as follows: (10) Since the translational degrees of freedom between the floating carriers are continuous, the rotational degrees of freedom between them are released, and the translational free pair satisfies the displacement continuity condition at the hinge point of the floating carrier: (11) The specific expression of the above formula (11) is as follows: (12) In formula (12): ( X jk , Y jk , Z jk (a floating carrier in the global coordinate system) J and floating carrier K The coordinates of the hinge point, ( X JC ,Y JC , Z JC )and( X KC , Y KC , Z KC ) are floating carriers J and floating carrier K The center of rotation, e Ji and e Ki ( i =1,2,3) are floating carriers J and floating carrier K Motion response in each constrained degree of freedom.

[0055] S4. Based on the displacement continuity condition and motion constraint relationship, construct the motion constraint matrix and energy output damping matrix between the modular floating body and the wave energy device.

[0056] By shifting the right side of equation (9) to the left side and transforming it into matrix form, the oscillating float can be obtained. I and floating carrier J Release the constraint matrix for rotation: (13) (14) Based on the actual hinge relationship, the displacement constraint matrix .

[0057] For oscillating floats I and floating carrier J Wave energy capture using relative rotation The expression is shown in (10). The local force at the constraint position can be expressed as: , To dampen the energy output of the oscillating float, the local forces are transformed into a column vector of forces acting on the global coordinate system. Therefore, its energy output matrix [B pto The expression form of ] is as follows: (15) in M The number of oscillating floats.

[0058] S5. Based on the motion constraint relationship between modular floating bodies, construct the equivalent stiffness matrix of the modular floating bodies.

[0059] According to formulas (11) and (12), floating carrier J and floating carrier K The displacement continuity condition exists, but since the floating carriers are hinged together to form a ring structure, the result of directly solving the problem using the Lagrange multiplier method is not unique. Therefore, the equivalent stiffness of the connector is used to construct the motion constraint relationship between the modular floating bodies.

[0060] If floating carrier J and floating carrier K If the six degrees of freedom of displacement are continuous, then it can be expressed as: (16) (17) In the floating body coordinate system, the force vector of the connectors between the various modules of the floating carrier is expressed as: Therefore, its equivalent stiffness matrix It can be represented as: (18) in U This represents the number of ball joints between floating carriers.

[0061] S6. Determine the frequency domain motion equations of the multi-floating body system based on the Lagrange multiplier method and the equivalent stiffness of the connector.

[0062] When a regular wave is incident, for a multi-floating body system, each floating structure is considered a rigid body. It is assumed that the total external force is applied to the center of gravity of each floating structure, simplifying each floating structure as a generalized concentrated mass acting at its center of gravity. For articulated multi-floating body systems, in addition to considering the interactions between floating structures due to wave radiation and diffraction, the influence of the connecting forces between floating structures must also be considered.

[0063] The equations of motion for a complex multi-floating body system are: (19) In equation (19) M The number of oscillating floats, N Let K be the number of floating carriers. The overall stiffness matrix [K] of the multi-floating body system is: (20) In equation (20) , , , , , These are the mass matrix, additional mass matrix, radiation damping matrix, energy output damping matrix, still water stiffness matrix, and equivalent stiffness matrix, respectively. {λ} is a zero matrix, representing the connecting forces between floating structures, and [L] is the displacement constraint matrix. Displacement vector. and wave excitation force The forms are as follows: (twenty one) (twenty two) In the formula: and Represented as the first The first floating structure Motion response and wave excitation force of one degree of freedom (DOF).

[0064] S7. Solve the equations of motion to obtain the motion response of the multi-floating body system. Based on the coupling characteristics of the system, the wave energy capture power of the system can be further obtained.

[0065] For oscillating floats I and floating carrier J Using relative rotational displacement, according to formula (10), the relative displacement can be expressed as follows: The expression is The oscillating float wave can capture the total power. and the I ( I = 1, 2, … , M The power generation of the oscillating floats It can be represented as: (twenty three) Similarly, floating carriers J and floating carrier K The hinge force can be expressed as: (twenty four) Of course, the above description is not intended to limit the invention, nor is the invention limited to the examples given above. By modifying the displacement conditions and the equivalent stiffness matrix, it can also be applied to other complex multi-body articulation situations (coupling of ultra-large floating bodies and array floats, multi-body combined structural forms of offshore urban structures, offshore installation vessels, crane vessel hoisting, etc.). Changes in the articulation forms between modular floating bodies and modifications to the working principle of wave energy devices can also be calculated and analyzed by modifying this model.

[0066] The above description is only for the purpose of helping to understand the technical solution and core idea of ​​the present invention, and is not intended to limit the scope of protection of the present invention. Any equivalent substitutions, conventional modifications, or equivalent variations made by those skilled in the art within the scope of the technology disclosed in the present invention, based on the technical solution and inventive concept of the present invention, should fall within the scope of protection of the present invention. Therefore, the content of this specification should not be construed as any limitation on the present invention.

Claims

1. A method for potential flow hydrodynamic analysis of a modular floating body coupled to an array of wave energy devices, characterized by, Includes the following steps: S1. Modular floating bodies and array wave energy devices constitute a multi-floating body system. The geometric features of each floating structure are obtained, and boundary element computational meshes are defined. S2. Calculate the added mass of the floating structure, the radially damped floating body and the wave excitation force, and obtain the added mass matrix, the radially damped matrix and the wave excitation force vector. S3. Based on the connection method and coupling factors between the modular floating body and the array wave energy device, calculate the displacement continuity condition satisfied at the connection point between the two; based on the connection method and coupling characteristics between the modular floating bodies, calculate the displacement continuity condition satisfied at the connection point between the two. S4. Based on the displacement continuity condition and motion constraint relationship, construct the displacement limitation matrix and energy output damping matrix between the modular floating body and the array wave energy device; S5. Use the equivalent stiffness of connectors to construct the motion constraint relationship between modular floating bodies, and construct the equivalent stiffness matrix of modular floating bodies based on the motion constraint relationship between modular floating bodies; S6. Based on the additional mass matrix, radiation damping matrix, wave excitation force vector, displacement limitation matrix, energy output damping matrix, and equivalent stiffness matrix obtained in S2-S5, construct the motion equations of the multi-floating body system according to the Lagrange multiplier method and the equivalent stiffness of the connector. S7. Solve the equations of motion for the multi-floating body system to obtain the motion response of the multi-floating body system. Based on the coupling characteristics of the multi-floating body system, obtain the wave energy capture power of the multi-floating body system.

2. The method of potential hydrodynamic analysis of a modular float of a coupled array wave energy device according to claim 1, wherein, S1 is specifically as follows: The modular floating body includes several floating bodies connected in a ring and rotating relative to each other; the array wave energy device includes oscillating floats, with multiple oscillating floats installed on each floating body, and the oscillating floats and the floating body achieve wave energy capture through relative rotational motion. The floating body is a floating carrier, and the array wave energy device is a float-type wave energy device. The floating structure includes a floating carrier and a float-type wave energy device.

3. The method of hydrodynamic analysis of a modular floating body coupled array wave energy device of claim 2, wherein, S2 is specifically as follows: For a multi-floater system consisting of N floating structures, the total velocity potential is composed of three parts: the incident potential , the diffraction potential and the radiation potential The total velocity potential satisfies the following boundary conditions: wherein, , , are the sea bottom and the free water surface, respectively; is the mean wet surface of the floating structure, is the unit normal vector of the th degree of freedom of the th floating structure; is the horizontal distance between the far-field point and the source point; is the angular frequency, is the acceleration of gravity, is the wave number; and are the upward and downward rounding symbols, respectively;​ The boundary integral equations satisfied by the radiation potential and the diffraction potential are: in, , The three-dimensional coordinates of the field point and the source point are given respectively; the boundary element method is used to numerically solve the boundary conditions to obtain the diffraction potential. and radiation potential Then, the hydrodynamic coefficients of the multi-buoy system are further obtained from the first... i The motion of the first degree of freedom caused by the first j Additional mass in each degree of freedom and radiation damping ( i , j = 1, 2, … , 6 N ), and the j ( j = 1,2, … ,6 N First-order wave excitation force with 1 degree of freedom : in, The density of seawater, based on added mass. and radiation damping Obtain the total added mass matrix. and radiation damping matrix Based on first-order wave excitation force Obtain the total wave excitation force vector. .

4. The modular floating body potential hydrodynamic analysis method for the coupled array wave energy device according to claim 2, characterized in that, S3 is specifically as follows: Since the oscillating float generates electricity by utilizing its relative rotation with the floating carrier, releasing the relative rotation between the two, the other degrees of freedom satisfy the displacement continuity condition at the hinge point: in,( X ij , Y ij , Z ij ( ) is an oscillating float in the global coordinate system I and floating carrier J The coordinates of the hinge point, For the angle between the local coordinate system and the global coordinate system, ( X IC ,Y IC , Z IC )and( X JC , Y JC , Z JC ) are respectively oscillating floats I and floating carrier J The coordinates of the rotation center, ε Ii and ε Ji ( i =1,2,3,4,5,6) are oscillating floats. I and floating carrier J Motion response in each constrained degree of freedom; Since the translational degrees of freedom between the floating carriers are continuous, the rotational degrees of freedom between them are released. The translational degrees of freedom then satisfy the displacement continuity condition at the hinge point of the floating carriers. in,( X jk , Y jk , Z jk (a floating carrier in the global coordinate system) J and floating carrier K The coordinates of the hinge point, ( X JC ,Y JC , Z JC )and( X KC , Y KC , Z KC ) are floating carriers J and floating carrier K The coordinates of the rotation center, ε Ji and ε Ki ( i =1,2,3) are floating carriers J and floating carrier K Motion response in each constrained degree of freedom.

5. The modular floating body potential hydrodynamic analysis method for the coupled array wave energy device according to claim 4, characterized in that, The displacement constraint matrix in S4 is as follows: Based on the displacement continuity condition satisfied by the oscillating float and the floating carrier at the connection point, the oscillating float is transformed into a matrix form. I and floating carrier J Release the constraint matrix for rotation: Based on the actual hinge relationship, the displacement constraint matrix .

6. The modular floating body potential hydrodynamic analysis method for the coupled array wave energy device according to claim 5, characterized in that, The energy output damping matrix in S4 is as follows: Oscillating float I and floating carrier J Wave energy capture is achieved using relative rotational motion, and the local force at the constrained position is expressed as: ,in For relative rotation matrices, The energy output damping coefficient is obtained by transforming the local forces into a column vector of forces acting on the global coordinate system. Energy output damping matrix [B pto The expression for ] is as follows: in, M The number of oscillating floats.

7. The modular floating body potential flow dynamic analysis method for the coupled array wave energy device according to claim 6, characterized in that, S5 is specifically as follows: If floating carrier J and floating carrier K If the six degrees of freedom of displacement are continuous, then it is expressed as: The local forces at the hinge points between the floating bodies are converted into force vectors acting on the global coordinate system: Then the equivalent stiffness matrix Represented as: in, For the stiffness of the ball joint connector. U This represents the number of ball joints between floating carriers.

8. The modular floating body potential flow dynamic analysis method for the coupled array wave energy device according to claim 7, characterized in that, The equations of motion for the multi-floating body system in S6 are as follows: The overall stiffness matrix K of the overall multi-floating body system is: in, , These are the mass matrix and the hydrostatic stiffness matrix, respectively. {λ} is a zero matrix, where {λ} represents the connection force between floating structures, and [L] is the displacement constraint matrix; Represents the displacement vector. The wave excitation force vector is represented as: in and Represented as the first The first floating structure Motion response and wave excitation force of each degree of freedom.

9. The modular floating body potential flow dynamic analysis method for the coupled array wave energy device according to claim 8, characterized in that, The wave energy capture power in S7 is as follows: Oscillating float I and floating carrier J The relative rotational displacement is used to determine the relative displacement. Represented as ; Oscillating float wave energy captures total power Passing the exam I ( I = 1, 2, … , M Energy output power of ) oscillating floats Represented as: floating carrier J and floating carrier K The hinge force is: .

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