Full-process unattended pool test system for wind and wave integrated system

Abstract

This invention discloses a fully unattended pool test system for a wind-wave integrated system, belonging to the technical field of pool model testing for offshore floating wind-wave multi-energy integrated devices. It includes a sensing layer, a decision-making layer, a control layer, and an execution layer. The sensing layer synchronously collects data on waves, motion states, equipment operation, and loads across all dimensions. The decision-making layer integrates automated control, intelligent PTO optimization, and graded safety protection functions. The control layer achieves sequential, synchronous closed-loop control of wave generation, PTO damping adjustment, and aerodynamic load application. The execution layer is equipped with multiple functional modules to complete wave generation, aerodynamic load application, and continuous stepless adjustment of PTO damping. Using this system, multi-device collaborative control is achieved, eliminating manual dependence and enabling autonomous, fully automated test operation. This effectively improves the coupling control accuracy and test data accuracy of the wind-wave integrated test, enhancing the operational safety and continuity of the test system.

Description

Technical Field

[0001] This invention relates to the field of water tank model testing technology for offshore floating wind-wave multi-energy integrated devices, and particularly to a fully unattended water tank testing system for wind-wave integrated systems. Background Technology

[0002] Currently, the integrated wind and wave energy system, which couples floating wind power with wave energy, is a key research direction in the field of marine renewable energy. Scaled-down model tests in water tanks are the core R&D method for verifying the hydrodynamic coupling characteristics, load response laws, and energy capture performance of such devices. The existing test system has the capabilities of basic model deployment, fixed-condition wave generation, simplified wind turbine load simulation, fixed-value PTO (PowerTakeOff) damping loading, and distributed data acquisition. A single test component can achieve basic automated operation. The system relies on independent control equipment to complete the construction of basic wind and wave joint tests and monitor basic parameters, forming the basic technical framework for water tank tests of wind and wave integrated devices.

[0003] However, at present, the entire operation of the wind and wave combined pool test requires manual operation and monitoring. Switching between multiple operating conditions, starting and stopping equipment, and adjusting parameters all rely on manual operation, resulting in low overall test efficiency. Human error can also cause problems such as distorted test data and accidental damage to equipment. PTO damping mostly adopts a discrete adjustment mode with fixed gears, and the parameters cannot be continuously changed, making it difficult to adapt to the real-time dynamic wave environment. The test results deviate significantly from the actual marine operating performance of the equipment. The optimal damping parameters are determined by repeated trial and error adjustments by manual operation, which results in long test cycles, high resource consumption, and potential limitations in parameter optimization, making it difficult to fully utilize the comprehensive operating performance of the device. Equipment abnormalities and operating condition failures during the test operation rely on manual identification and handling, and the protection and handling methods are singular and lagging, making it difficult to support long-term, uninterrupted continuous test operations. Summary of the Invention

[0004] The purpose of this invention is to provide a fully unattended water tank testing system for wind and wave integrated systems, thereby solving the aforementioned technical problems.

[0005] To achieve the above objectives, the present invention provides a fully unattended water tank test system for a wind and wave integrated system, including a wave tank system, a central measurement and control system and a floating platform, and further including a perception layer, a decision layer, a control layer and an execution layer that are connected in sequence. The sensing layer is equipped with various types of synchronously acquired sensing devices. These sensing devices are deployed within the wave pool system to collect wave parameters, device motion status, equipment operating status, and load-based test data across all dimensions. The decision layer is mounted in the central measurement and control system and has a bidirectional communication connection with the perception layer. The decision layer has an automated management and control engine, an optimization algorithm module, and a safety protection module built in, which are used for test sequence analysis, full system time sequence management, PTO optimal damping optimization, abnormal working condition identification and graded protection. The control layer is a multi-system time-synchronous closed-loop control unit, which is bidirectionally connected to the decision layer and is used to generate closed-loop control commands for wave generation execution, PTO damping adjustment, and aerodynamic load loading. The execution layer and the control layer are bidirectionally connected. The execution layer includes a wave generation sequence execution module, a pneumatic load loading module, and a servo-driven hydraulic PTO damping loading module. The wave generation sequence execution module is deployed in the wave pool system to generate waves. The pneumatic load loading module is located on the floating platform to perform pneumatic load loading. The servo-driven hydraulic PTO damping loading module is assembled inside the floating platform to perform continuous stepless adjustment of PTO damping, thereby realizing unattended operation of the entire test process.

[0006] Preferably, the wave pool system includes a pool body and a wave-dissipating beach. The wave-generating sequence execution module is a wave-generating device, which is fixedly installed on one end of the pool body. The wave-dissipating beach is fixedly laid on the bottom and wall area of ​​the pool body at the other end. The pool body is a closed test water area. The wave-generating device is communicatively connected to the wave-generating sequence execution module to generate the target wave required for the test. The wave-dissipating beach is used to eliminate wave reflection interference.

[0007] Preferably, the floating platform is located in the middle of the main body of the pool. The floating platform is fixedly connected to the bottom anchor point of the main body of the pool via mooring components. A wind turbine tower is fixedly installed on the top of the floating platform. The top of the wind turbine tower is fixedly connected to the pneumatic load loading module. The bottom of the floating platform is located below the water surface and is equipped with a wave energy device. The upper end of the servo-driven hydraulic PTO damping loading module is fixedly connected to the inner top plate of the floating platform, and the lower end is fixed to the hinge end of the wave energy device.

[0008] Preferably, the aerodynamic load loading module includes a high-efficiency propeller, a carbon fiber support, and a brushless motor. The brushless motor is fixedly installed on the top of the wind turbine tower through the carbon fiber support. The high-efficiency propeller is coaxially fixedly connected to the output end of the brushless motor to simulate the actual aerodynamic load conditions of an offshore floating wind turbine.

[0009] Preferably, the servo-driven hydraulic PTO damping loading module includes: A servo drive control unit includes a servo motor, a nut assembly, a ball screw, a bearing housing, an upper support plate, a support optical shaft, and a lower support plate. The upper and lower support plates are fixedly connected by the support optical shaft to form a rigid frame. The bearing housing is fixed to the upper support plate, and the ball screw is rotatably mounted on the bearing housing. The servo motor is fixedly installed on the top of the upper support plate. The nut assembly is threaded onto the ball screw and slides with the support optical shaft to convert the rotational motion of the servo motor into linear motion. A hydraulic damping actuator includes an accumulator, a hydraulic oil chamber, a piston, a piston sealing assembly, and an auxiliary pressure relief valve. The accumulator is fixedly mounted on the lower support plate. The hydraulic oil chamber is sealed inside the accumulator. The piston sealing assembly is assembled between the outer periphery of the piston and the inner wall of the accumulator. The piston is slidably disposed in the hydraulic oil chamber and its top end is rigidly connected to the nut assembly. The auxiliary pressure relief valve is connected in parallel to the hydraulic oil circuit of the hydraulic oil chamber. The system includes a matching sensing and detection assembly, which comprises a dynamic torque sensor and a tension / compression sensor. The dynamic torque sensor is connected in series between the output end of the servo motor and the ball screw, and the tension / compression sensor is connected in series between the nut assembly and the piston, for real-time acquisition of torque and damping force data.

[0010] Preferably, the sensing devices of the sensing layer further include a wave height meter, a six-degree-of-freedom motion sensor, an accelerometer, and a six-dimensional force sensor. The wave height meter is installed on the main body of the pool and located between the wave-generating device and the floating platform, and is used to collect the wave characteristic parameters of the pool in real time. The six-degree-of-freedom motion sensor and the accelerometer are both installed on the floating platform and are used to collect the motion response data of the floating platform. The six-dimensional force sensor is installed between the wind turbine tower and the aerodynamic load loading module and is used to collect the aerodynamic load data of the wind turbine.

[0011] Preferably, the central monitoring and control system is deployed in the shore-side monitoring and control area of ​​the wave pool system, and the central monitoring and control system includes an industrial control computer and an NI real-time controller.

[0012] Preferably, the multi-system timing synchronization closed-loop control unit is integrated within the central measurement and control system and includes a wave generation execution module, a PTO adjustment module, and a pneumatic load module. The wave generation execution module is communicatively connected to the decision-making layer and the wave generation sequence execution module to generate target wave conditions. The PTO adjustment module is communicatively connected to the decision-making layer and the servo-driven hydraulic PTO damping loading module to achieve continuous stepless closed-loop control of the PTO damping force. The pneumatic load module is communicatively connected to the decision-making layer and the pneumatic load loading module to complete the precise loading of the wind turbine aerodynamic load.

[0013] Preferably, the optimization algorithm module has a built-in PTO damping adaptive intelligent optimization algorithm, which adopts a two-stage architecture of working condition identification and variable step size perturbation iteration.

[0014] The preferred test method based on the fully unattended water tank test system includes the following steps: S1. Pre-test configuration and calibration stage: S1-1. Based on the Froude similarity criterion, complete the design, fabrication and water area layout of the pool model of the wind and wave combined multi-energy integrated system, complete the anchoring connection of the floating platform mooring components and the initial hydrodynamic state debugging to obtain the scaled model. S1-2. Based on the scaled-down model of S1-1, an aerodynamic load loading module is built to complete the construction, accuracy verification and interface encapsulation of the wind turbine aerodynamic numerical model, and simultaneously complete the calibration of the actuator and the timing synchronization calibration of multiple sensing devices. S1-3. Build a servo-driven hydraulic PTO damping loading module, complete the coaxial assembly of the servo drive control unit and the hydraulic damping execution unit, set the piston stroke limit parameters and debug the piston automatic reset and accumulator depressurization control logic. S1-4. Batch import and store operating parameters for the entire test cycle, configure multi-gradient wave, differentiated wind field and single-condition operating parameters, and preset two PTO optimization objectives that can be automatically switched, including maximizing energy capture and controlling the motion stability of the floating platform. S1-5. Power on the test system and automatically perform a full-dimensional self-test by traversing the hardware devices, sensor links, control circuits and hydraulic circuits. If the self-test is abnormal, an alarm will be triggered in time and the test start permission will be locked. After the self-test is qualified, the system will enter the standby ready state. S2, Fully Unmanned Automated Trial Execution Phase: S2-1, Based on the system self-test passed by S1-5, the standby ready state, the automated control engine parses the pre-stored test sequence form, and completes the accurate matching and binding of wave generation parameters, wind turbine loading parameters, timing instructions and PTO optimization targets under a single working condition; S2-2, The control layer issues multiple time-series synchronous control commands to drive the wave-generating equipment to output preset standard waves, and synchronously starts the aerodynamic load loading module. Combining the real-time collected six-degree-of-freedom motion data of the floating platform, it calls the pre-encapsulated aerodynamic numerical model to calculate the full-size wind turbine load, and performs physical loading after completing the load scaling transformation according to the Froude similarity criterion. S2-3. Real-time acquisition of wave height time series data in the pool, and calculation of effective wave height and wave period through sliding window filtering to accurately determine the current actual wave operation condition; S2-4. Based on the identified wave conditions, the optimization range is defined and the initial value of the iteration is set. The PTO damping adaptive intelligent optimization algorithm with a two-stage architecture of condition identification and variable step size disturbance iteration is adopted. When the system is far from the optimal damping range, a large step size is used for fast iteration to improve the calculation efficiency. When the system is close to the optimal range, a small step size is switched to fine positioning to ensure the control accuracy. The system calculates in real time and outputs the optimal damping command in combination with the currently selected optimization target. The servo-driven hydraulic PTO damping loading module is driven to realize the continuous stepless closed-loop adjustment of the damping force, dynamically adapting to the changing sea conditions and taking into account both wave energy capture efficiency and floating platform motion stability. S2-5. The system automatically issues a global synchronous shutdown command to control the wave-generating equipment and pneumatic load loading module to stop running synchronously. At the same time, it drives the hydraulic PTO damping loading module to complete the piston directional reset, the accumulator oil pressure relief and the cavity return to position. S2-6. The system automatically retrieves the next set of working condition parameters to be executed from the test sequence form, and repeatedly executes the fully unmanned automated test execution phase to complete the automatic switching and continuous test operation of multiple sets of differentiated wind and wave working conditions.

[0015] Therefore, the beneficial effects of this invention are as follows: 1. By constructing a hierarchical architecture with sequential communication and linkage between the perception layer, decision-making layer, control layer, and execution layer, and relying on the multi-system time-synchronous closed-loop control unit integrated in the central measurement and control system, the timing-unified scheduling and collaborative closed-loop control of the three major execution units of wave generation, aerodynamic load loading, and PTO damping adjustment are realized. This solves the problems of independent control of multiple devices, timing misalignment, and data asynchrony in traditional water tank tests, and realizes unified acquisition of test data, synchronous issuance of commands, and collaborative execution of actions across the entire test domain, significantly improving the overall coupling and control consistency of the wind and wave joint test.

[0016] 2. By combining the Flaud similarity criterion to complete the scaled model design and load conversion, and with the help of dedicated wave-generating equipment, wave-dissipating structures and aerodynamic load loading modules, the coupling effect of waves and wind fields in the real marine environment can be accurately reproduced. Through the encapsulation of the wind turbine aerodynamic numerical model and the motion attitude linkage loading design, the shortcomings of the pure physical model test conditions being single and the wind load simulation distortion are made up for, thereby improving the environmental fidelity and test data authenticity of the coupled test of floating platform and wave energy device.

[0017] 3. By adopting an integrated design of servo drive control unit, hydraulic damping actuator and multi-dimensional sensing and detection components, through ball screw drive, sealed hydraulic cavity, pressure relief protection and real-time acquisition and feedback of torque and tension / compression dual parameters, the servo rotary motion is stably converted into linear damping force, realizing continuous stepless adjustment and closed-loop precise control of PTO damping force. It also has stroke limit, automatic reset and overpressure relief protection capabilities. The structure is compact and the operation is stable, which can be adapted to complex wave reciprocating load conditions, improving the accuracy of damping loading and the safety of equipment operation.

[0018] 4. The system adopts a two-stage optimization architecture of working condition identification and variable step size disturbance iteration, combined with real-time wave monitoring and filtering analysis to achieve accurate sea state judgment. The iteration step size is dynamically switched according to the differences in working conditions, and the dual-mode optimization target of energy capture and platform stability is automatically switched. This overcomes the shortcomings of fixed parameter damping control, such as poor adaptability, slow optimization convergence, and insufficient control accuracy. It can match the optimal damping parameters for different wave conditions in real time, taking into account both wave energy utilization efficiency and floating platform motion stability, and realize intelligent adaptive control of the PTO system.

[0019] 5. By setting up a standardized pre-configuration calibration process before the test and an automated operation logic that automatically analyzes the sequence, matches the working conditions, switches between multiple working conditions, and resets the actuators during the test, there is no need for real-time manual intervention in parameter adjustment, equipment start-up and shutdown, and mechanism reset. This reduces manual operation costs and human error, and enables long-term, multi-working-condition, uninterrupted continuous testing operations, significantly improving the operating efficiency of water tank tests and the continuity of test batches.

[0020] 6. Based on the full hardware and full-loop self-test function before integrated testing, coupled with the real-time monitoring system of equipment status and operating parameters throughout the testing process, a graded protection strategy is established for minor abnormalities, load reduction and continuation, serious faults, emergency shutdown, and power failure emergency lockout of stored data. This can identify potential equipment faults in advance, handle various operational anomalies in a timely manner, effectively avoid risks such as mechanical collisions, hydraulic overpressure, and equipment overload, and ensure the reliability and safety of the entire testing system for long-term continuous unmanned operation.

[0021] The technical solution of the present invention will be further described in detail below with reference to the accompanying drawings and embodiments. Attached Figure Description

[0022] Figure 1 The structural block diagram of the fully unattended water tank test system for the wind and wave integrated system provided by the present invention; Figure 2 A schematic flowchart of the test method provided by the present invention; Figure 3This is a schematic diagram of the layout of the fully unattended water tank test system for the wind and wave integrated system provided by the present invention. Figure 4 A schematic diagram of the servo-driven hydraulic PTO damping loading module provided by the present invention. Figure 5 The logical block diagram of the PTO intelligent optimization algorithm for the fully unattended water tank test system of the wind and wave integrated system provided by the present invention. Figure 6 The present invention provides a principle block diagram of a full-scenario redundant safety protection mechanism for a fully unattended water tank test system for a wind and wave integrated system.

[0023] Figure Labels 1. Wave Pool System; 101. Pool Body; 102. Wave Generating Equipment; 103. Wave Dissipation Beach; 2. Central Measurement and Control System; 301. Wave Height Meter; 302. Six-DOF Kinematic Instrument; 303. Accelerometer; 304. Six-Dimensional Force Sensor; 4. Floating Platform; 5. Wind Turbine Tower; 601. High-Efficiency Propeller; 602. Carbon Fiber Support Components; 603. Brushless Motor; 7. Mooring Components; 8. Wave Energy Device; 9. Servo-Driven Hydraulic PTO Damping Loading Module; 901. Servo Motor; 902. Dynamic Torque Sensor; 903. Nut Pair; 904. Ball Screw; 905. Bearing Housing; 906. Upper Support Plate; 907. Support Optical Axis; 908. Piston; 909. Tension / Compression Sensor; 910. Energy Storage Cylinder; 911. Lower Support Plate. Detailed Implementation

[0024] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the embodiments of the present invention will be further described in detail below with reference to the accompanying drawings and examples. It should be understood that the specific embodiments described herein are merely illustrative of the embodiments of the present invention and are not intended to limit the embodiments of the present invention. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without creative effort are within the scope of protection of this application. Examples of the embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout.

[0025] It should be noted that the terms "comprising" and "having," and any variations thereof, are intended to cover non-exclusive inclusion, such as a process, method, system, product, or server that includes a series of steps or units, not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such process, method, product, or device.

[0026] The embodiments of the present invention will now be described in detail with reference to the accompanying drawings.

[0027] At present, the pool model test of the wind and wave combined multi-energy integrated system has the problems of high human participation, low test efficiency, and human operation is prone to data distortion and equipment damage. In addition, the PTO damping adopts a discrete fixed adjustment mode, which cannot be adapted to dynamic wave conditions. The optimal damping parameters rely on manual trial and error, which has the problems of long cycle and optimization limitations. At the same time, test anomalies need to be identified and handled manually, and the protection is delayed, making it difficult to achieve long-term continuous test.

[0028] Based on the above analysis, this invention is designed, see appendix. Figures 1-6 The system is designed for a fully unattended water tank test system for a wind and wave integrated system. It includes a wave tank system 1, a central measurement and control system 2, and a floating platform 4, as well as a perception layer, decision layer, control layer, and execution layer that are connected in sequence. The sensing layer is equipped with various types of synchronously acquired sensing devices. These sensing devices are deployed within the wave pool system 1 to collect wave parameters, device motion status, equipment operating status, and load-based test data across all dimensions. The decision-making layer is installed in the central measurement and control system 2 and has a two-way communication connection with the perception layer. The decision-making layer has built-in automated management and control engine, optimization algorithm module, and safety protection module, which are used for test sequence analysis, full system time sequence control, PTO optimal damping optimization, abnormal working condition identification and graded protection. The automated control engine is used to parse and match preset test sequences, coordinate the timing of the entire system, automatically classify and store test data, and automatically switch operating conditions. The optimization algorithm module is used to accurately identify wave conditions, adaptively optimize the PTO optimal damping based on measured wave parameters, and output the optimal damping control command. The safety protection module is used to identify abnormal system conditions in real time, trigger graded protection responses, record fault information, and trace the source of faults. After the decision layer completes data processing and command generation, it sends various control commands to the control layer. The control layer is a multi-system time-synchronous closed-loop control unit that communicates bidirectionally with the decision layer and is used to generate closed-loop control commands for wave generation, PTO damping adjustment, and aerodynamic load loading. The execution layer and control layer are connected by bidirectional communication. The execution layer includes a wave generation sequence execution module, a pneumatic load loading module, and a servo-driven hydraulic PTO damping loading module 9. The wave generation sequence execution module is installed in the wave pool system 1 to generate waves. The pneumatic load loading module is installed on the floating platform 4 to load pneumatic loads. The servo-driven hydraulic PTO damping loading module 9 is assembled inside the floating platform 4 to perform continuous stepless adjustment of PTO damping, thereby realizing unattended operation of the entire test process.

[0029] A specific embodiment of the wave pool system 1 of the present invention includes a pool body 101 and a wave-dissipating beach 103. The wave-generating sequence execution module is a wave-generating device 102, which is fixedly installed on one end of the pool body 101. The wave-dissipating beach 103 is fixedly laid on the bottom and wall area of ​​the pool body 101 at the other end. The pool body 101 is a closed test water area. The wave-generating device 102 is communicatively connected to the wave-generating sequence execution module and is used to generate the target wave required for the test. The wave-dissipating beach 103 is used to eliminate wave reflection interference. The main body of the water tank 101 serves as a closed test water area, providing a stable and independent test environment to ensure the consistency and stability of the wind and wave joint test conditions, and providing a basic carrier for the accurate conduct of the entire process test; the wave generating equipment 102 can accurately generate the target waves required for the test, adapt to the test requirements of different gradient wave conditions, and meet the wave excitation requirements of multi-condition test; the wave-dissipating beach 103 can effectively eliminate wave reflection interference, avoid test interference caused by the superposition of reflected waves and incident waves, and improve the accuracy of wave parameter acquisition and the reliability of test data during the test.

[0030] In a specific embodiment of the present invention, the floating platform 4 is arranged in the middle of the main body 101 of the pool. The floating platform 4 is fixedly connected to the bottom anchor point of the main body 101 of the pool via mooring components 7. A wind turbine tower 5 is fixedly installed on the top of the floating platform 4. The top of the wind turbine tower 5 is fixedly connected to the pneumatic load loading module. The bottom of the floating platform 4 is located below the water surface and is equipped with a wave energy device 8. The upper end of the servo-driven hydraulic PTO damping loading module 9 is fixedly connected to the inner top plate of the floating platform 4, and the lower end is fixed to the hinged end of the wave energy device 8. The floating platform 4 provides a stable installation and support carrier for the wind turbine tower 5, wave energy device 8, and servo-driven hydraulic PTO damping loading module 9, ensuring the installation stability of each test component. The mooring component 7 fixes the floating platform 4 to the anchor point on the bottom of the pool, resisting displacement caused by wave impact and preventing platform offset from affecting test accuracy. The wind turbine tower 5 provides a stable installation foundation for the aerodynamic load loading module, ensuring the stability and test accuracy of wind load loading. The wave energy device 8, as the core test component, works with the servo-driven hydraulic PTO damping loading module 9 to achieve damping adjustment testing. The fixed connection between the servo-driven hydraulic PTO damping loading module 9 and the floating platform 4 and wave energy device 8 enables precise transmission and closed-loop control of damping force, while providing a realistic coupled test scenario for the experiment.

[0031] A specific embodiment of the aerodynamic load loading module in this invention includes a high-efficiency propeller 601, a carbon fiber support 602, and a brushless motor 603. The brushless motor 603 is fixedly installed on the top of the wind turbine tower 5 via the carbon fiber support 602. The output ends of the high-efficiency propeller 601 and the brushless motor 603 are coaxially fixedly connected to simulate the actual aerodynamic load conditions of an offshore floating wind turbine. Specifically, based on preset parameters such as wind speed, turbulence intensity, and wave yaw angle, combined with real-time platform motion data collected by the sensing layer, the aerodynamic load of the full-size wind turbine is calculated in real time using the FAST numerical model. The model is then scaled down according to the Froude similarity criterion, and finally, the aerodynamic load is loaded through the drive actuator.

[0032] A brushless motor 603 provides stable power to drive a high-efficiency propeller 601 to rotate at high speed, simulating the force of a real wind field on a floating platform. The carbon fiber support 602 is lightweight and high-strength, which can firmly fix the brushless motor and propeller, while avoiding interference from the support structure to the experiment and ensuring the installation stability of the loading device. The full-size aerodynamic load is calculated in real time through the FAST numerical model, and the scale conversion is completed by combining the Froude similarity criterion to ensure that the loaded aerodynamic load is consistent with the force on the wind turbine in the actual marine environment, thus improving the realism of the experiment. Based on the platform motion data collected by the sensing layer, the aerodynamic load is dynamically adapted to accurately simulate the actual stress state of the offshore wind turbine, effectively making up for the limitations of pure theoretical simulation.

[0033] A specific embodiment of the servo-driven hydraulic PTO damping loading module 9 in this invention includes: The servo drive control unit includes a servo motor 901, a nut assembly 903, a ball screw 904, a bearing housing 905, an upper support plate 906, a support optical shaft 907, and a lower support plate 911. The upper support plate 906 and the lower support plate 911 are fixedly connected by the support optical shaft 907 to form a rigid frame. The bearing housing 905 is fixed on the upper support plate 906. The ball screw 904 is rotatably mounted on the bearing housing 905. The servo motor 901 is fixedly installed on the top of the upper support plate 906. The nut assembly 903 is threaded onto the ball screw 904 and slides with the support optical shaft 907 to convert the rotational motion of the servo motor 901 into linear motion. The hydraulic damping actuator includes an accumulator 910, a hydraulic oil chamber, a piston 908, a piston 908 sealing assembly, and an auxiliary pressure relief valve. The accumulator 910 is fixedly installed on the lower support plate 911. The hydraulic oil chamber is sealed inside the accumulator 910. The piston 908 sealing assembly is assembled between the outer periphery of the piston 908 and the inner wall of the accumulator 910. The piston 908 is slidably disposed in the hydraulic oil chamber and its top end is rigidly connected to the nut pair 903. The auxiliary pressure relief valve is connected in parallel to the hydraulic oil circuit of the hydraulic oil chamber. The matching sensing and detection components include a dynamic torque sensor 902 and a tension / compression sensor 909. The dynamic torque sensor 902 is connected in series between the output end of the servo motor 901 and the ball screw 904, and the tension / compression sensor 909 is connected in series between the nut assembly 903 and the piston 908, for real-time acquisition of torque and damping force data.

[0034] The servo motor 901 achieves precise power conversion through the ball screw 904 and nut pair 903. Combined with a rigid frame consisting of the upper support plate 906, support optical shaft 907, and lower support plate 911, it enhances the overall structural load-bearing strength and operational rigidity, resisting reciprocating alternating load interference. The bearing housing 905 reduces transmission friction loss, ensuring smooth and reliable transmission operation. The accumulator cylinder 910, along with the sealed hydraulic oil chamber, piston 908, and sealing components, can stably output controllable hydraulic damping. An auxiliary pressure relief valve balances the oil circuit pressure in real time, avoiding overpressure and overload risks, and improving the operational safety and service life of the hydraulic unit. The dynamic torque sensor 902 and tension / compression sensor 909 can collect key data on transmission torque and actual damping force in real time and synchronously, constructing a complete closed-loop feedback link. This provides precise data support for intelligent optimization calculations at the decision-making level and real-time damping adjustment at the control level. Simultaneously, it achieves continuous stepless adaptive control of damping force, accurately matching dynamic wave conditions and improving PTO loading control accuracy and condition adaptability.

[0035] Specifically, the process for applying and continuously variable control of the damping force is as follows: (1) During the experiment, the wave energy device 8 moves under the excitation of waves, and drives the piston 908 of the energy storage cylinder 910 to make linear reciprocating motion along the cylinder body of the energy storage cylinder 910 through mechanical connection; (2) The linear motion of piston 908 drives the nut pair 903 of ball screw to make linear motion, which in turn drives the ball screw to make rotational motion. The rotational power of the ball screw is transmitted to the output shaft of servo motor 901 through the coupling, which drives servo motor 901 to make passive follow-up rotation. (3) The control layer sends the target optimal damping force calculated by the decision layer to the controller of the servo motor 901. After receiving the command, the servo motor 901 actively outputs a constant reverse torque while passively rotating. The reverse torque is reduced and increased by the reducer and then transmitted to the ball screw, which is then converted into a reverse linear resistance acting on the piston 908. (4) The reverse linear resistance and the oil pressure in the hydraulic oil chamber of the energy storage cylinder 910 work together to form a controllable damping force acting on the wave energy device 8, thereby realizing the damping loading of the energy capture process of the wave energy device 8, and the magnitude of the damping force is precisely controlled by the reverse torque output by the servo motor 901. (5) During the damping loading process, the dynamic torque sensor 902 collects the actual reverse torque output by the motor in real time, and the tension and pressure sensor 909 collects the actual damping force on the piston 908 in real time. All data are synchronously fed back to the control layer. The control layer compares the actual damping force with the target damping force in real time. If there is a deviation, it immediately corrects and sends the target reverse torque command to the motor to ensure that the actual damping force always accurately follows the target damping force and realizes the continuous stepless adjustment of the damping force.

[0036] After a single set of operating conditions is completed, the servo motor 901 can actively drive forward and reverse rotation to transmit power to the ball screw, driving the ball screw to rotate in a specific direction. The ball screw converts the rotational motion into linear motion, which, through the nut pair 903, drives the piston 908 to move in a specific direction along the cylinder body of the accumulator 910, thereby completing the reset of the piston 908 and the emptying of the accumulator 910. This ensures that all moving parts quickly return to their initial reference positions after the test, eliminating the problem of accumulated offset loads and reducing the risk of mechanical fatigue wear and jamming failures. Through the automated reset and emptying design, the hydraulic oil circuit pressure is kept stable and the initial state of the mechanism is consistent, providing reliable hardware conditions for seamless continuation of the next set of wind and wave operating conditions.

[0037] In a specific embodiment of the perception layer in this invention, the sensing devices of the perception layer also include a wave height meter 301, a six-degree-of-freedom kinematic sensor 302, an accelerometer 303, and a six-dimensional force sensor 304. The wave height meter 301 is deployed on the main body of the water tank 101 and located between the wave-generating device 102 and the floating platform 4, and is used to collect the wave characteristic parameters of the water tank in real time. The six-degree-of-freedom kinematic sensor 302 and the accelerometer 303 are both deployed on the main body of the floating platform 4, and are used to collect the motion response data of the floating platform 4. The six-dimensional force sensor 304 is deployed between the wind turbine tower 5 and the aerodynamic load loading module, and is used to collect the aerodynamic load data of the wind turbine. The multiple types of sensing devices are deployed in zones and sampled synchronously to construct an integrated full-dimensional data acquisition system for waves, platform motion, and aerodynamic loads. This provides comprehensive, real-time, and reliable data support for decision-making layer algorithm calculations, control layer closed-loop adjustment, and safety protection logic judgment, ensuring the accuracy of the system's time-series synchronous control and adaptive regulation.

[0038] In a specific embodiment of the central monitoring and control system 2 in this invention, it is deployed in the shore-side monitoring and control area of ​​the wave pool system 1. The central monitoring and control system 2 includes an industrial control computer and an NI real-time controller. It is the decision-making and control center of the entire system. It receives real-time data uploaded by the perception layer, performs logical operations and decision-making, and then sends synchronous control commands to the control layer.

[0039] A specific embodiment of the multi-system time-synchronous closed-loop control unit in this invention is integrated within the central measurement and control system 2 and includes a wave generation execution module, a PTO adjustment module, and an aerodynamic load module. The wave generation execution module communicates with the decision-making layer and the wave generation sequence execution module to generate the target wave condition. The PTO adjustment module communicates with the decision-making layer and the servo-driven hydraulic PTO damping loading module 9 to achieve continuous stepless closed-loop control of the PTO damping force. The aerodynamic load module communicates with the decision-making layer and the aerodynamic load loading module to complete the precise loading of the wind turbine aerodynamic load. Each functional module independently interfaces with its corresponding execution device and responds uniformly to the decision-making layer's scheduling commands, achieving time-coordination and synchronous linkage of the three core test actions: wave generation, damping control, and aerodynamic load loading, thus avoiding the time misalignment and command delay problems caused by the decentralized control of multiple devices.

[0040] This invention relates to a specific implementation of an optimization algorithm module, which incorporates a PTO damping adaptive intelligent optimization algorithm. This algorithm employs a two-stage architecture: condition identification and variable step-size perturbation iteration. It can accurately determine sea conditions based on real-time wave monitoring data. Through dynamic adaptive switching of the iteration step size, it accelerates the convergence speed under complex conditions while ensuring the control accuracy of the optimal damping range. This eliminates the traditional manual trial-and-error parameter adjustment mode, reducing experimental resource consumption and human intervention errors. It can dynamically output optimal damping control commands based on real-time sea conditions and preset control targets, coordinating with the servo-driven hydraulic PTO damping loading module 9 to complete adaptive closed-loop adjustment, thereby enhancing the experimental system's adaptability to different operating conditions and its intelligent control level.

[0041] The test method based on the fully unattended water tank test system includes the following steps: S1. Pre-test configuration and calibration stage: S1-1. Based on the Froude similarity criterion, complete the design, fabrication and water area layout of the scaled-down model of the wind and wave combined multi-energy integrated system pool, complete the 4 mooring components 7 anchoring connection and hydrodynamic initial state debugging of the floating platform to obtain the scaled-down model. S1-2. Based on the scaled-down model of S1-1, an aerodynamic load loading module is built to complete the construction, accuracy verification and interface encapsulation of the wind turbine aerodynamic numerical model, and simultaneously complete the calibration of the actuator and the timing synchronization calibration of multiple sensing devices. Specifically, a full-scale floating wind turbine aerodynamic numerical model was built and verified in the wind turbine aeroelasticity simulation software (FAST), encapsulated into a callable dynamic link library (DLL) interface, the installation thrust calibration of multiple sets of drive actuators was completed, the relationship between control signals and actuator output loads was established, and a six-dimensional force sensor 304 and a six-degree-of-freedom motion acquisition device were installed to complete the timing synchronization calibration of wind turbine load acquisition and platform motion acquisition. S1-3. Build the servo-driven hydraulic PTO damping loading module 9, complete the coaxial assembly of the servo drive control unit and the hydraulic damping execution unit, set the stroke limit parameters of piston 908 and debug the automatic reset of piston 908 and the pressure relief control logic of accumulator 910. Specifically, complete the full-range static calibration and dynamic response calibration of the servo system, establish the precise correspondence between the PWM control signal and the servo output torque and damping force, and simultaneously complete the debugging and calibration of the piston 908 stroke limit and automatic reset logic; S1-4. Batch import and store operating parameters for the entire test cycle, configure multi-gradient wave, differentiated wind field and single-condition operating parameters, and preset two PTO optimization targets that can be automatically switched, including maximizing energy capture and controlling the motion stability of the floating platform 4. Specifically, the operating parameters include wave operating parameters such as characteristic wave height, peak period, and wave spectrum type; wind field operating parameters such as wind speed, turbulence intensity, and wind-wave yaw angle; and supporting execution parameters such as single-condition test duration, data acquisition rules, and PTO optimization objectives. S1-5. Power on the test system and automatically perform a full-dimensional self-test by traversing the hardware devices, sensor links, control circuits and hydraulic circuits. If the self-test is abnormal, an alarm will be triggered in time and the test start permission will be locked. After the self-test is qualified, the system will enter the standby ready state. Specifically, the self-test process includes sensor zeroing, communication and status verification of the pneumatic load loading module, wave generation file sequence verification, piston 908 reset and accumulator 910 emptying, and servo system status inspection. S2, Fully Unmanned Automated Trial Execution Phase: S2-1, Based on the system self-test passed by S1-5, the standby ready state, the automated control engine parses the pre-stored test sequence form, and completes the accurate matching and binding of wave generation parameters, wind turbine loading parameters, timing instructions and PTO optimization targets under a single working condition; S2-2, The control layer issues multiple time-series synchronous control commands to drive the wave-generating equipment 102 to output preset standard waves, and synchronously starts the aerodynamic load loading module. Combined with the real-time collected six-degree-of-freedom motion data of the floating platform 4, the pre-encapsulated aerodynamic numerical model is called to calculate the full-size wind turbine load, and the physical loading is implemented after the load scaling is completed according to the Froude similarity criterion. S2-3. The wave height time series data of the water tank is collected in real time by wave height meter 301. The effective wave height and wave period are calculated by sliding window filtering to accurately determine the current actual wave operation condition. S2-4. Based on the identified wave conditions, the optimization range is defined and the initial value of the iteration is set. The PTO damping adaptive intelligent optimization algorithm with a two-stage architecture of condition identification and variable step size disturbance iteration is adopted. When the system is far from the optimal damping range, a large step size is used for fast iteration to improve the calculation efficiency. When the system is close to the optimal range, a small step size is switched to fine positioning to ensure the control accuracy. The system calculates in real time and outputs the optimal damping command in combination with the currently selected optimization target. The servo-driven hydraulic PTO damping loading module 9 is driven to realize the continuous stepless closed-loop adjustment of the damping force, dynamically adapting to the changing sea conditions and taking into account both the wave energy capture efficiency and the motion stability of the floating platform 4. For details on the specific operational logic of the PTO damping adaptive intelligent optimization algorithm, please refer to [link / reference needed]. Figure 5 As shown, it specifically includes: Parameter input: The input parameters of the algorithm include: wave height time series data collected in real time by wave height meter 301, pre-imported PTO optimization target, preset optimization convergence threshold, and physical range parameters of servo-driven hydraulic PTO damping loading module 9. Working condition identification: Based on the input wave height time series data, the unstable wave surface data in the initial stage of wave generation is removed by sliding window filtering, the effective wave height and wave period of the current stable working condition are calculated, and the current experimental wave working condition is accurately identified. Delineation of optimization interval and iterative initialization: Based on the identified current working condition parameters, combined with the physical range of the servo-driven hydraulic PTO damping loading module 9 and the design working range of the wave energy device 8, the reasonable upper and lower boundaries of damping optimization are delineated, and the initial value of iteration and the optimization convergence threshold are set. Variable step size iterative optimization: It has a built-in switchable dual-objective optimization mode. One is the energy capture mode, which aims to maximize the real-time capture power of the wave energy device 8. The other is the stability control mode, which aims to optimize the stability of the floating platform 4. It can automatically switch according to the preset test plan. It adopts a variable step size perturbation iterative strategy. When it is far from the optimal damping range, it uses a large step size for fast iteration. When it is close to the optimal range, it automatically switches to a small step size for precise positioning to avoid getting trapped in local optima. Convergence judgment: The convergence of the iteration results is checked. If the iteration results do not meet the preset convergence threshold, the iteration value is updated and the variable step size iteration optimization stage is returned to enter the next round of optimization. If the iteration results meet the preset convergence threshold, the optimal damping value under the current working condition is locked. Output and closed-loop update: The locked optimal damping value is sent to the control layer of the central measurement and control system 2 in real time, driving the servo-driven hydraulic PTO damping loading module 9 to complete the continuous stepless closed-loop adjustment of the damping force; at the same time, the working condition data is updated in real time, and the next round of dynamic optimization is entered, forming a complete real-time adaptive optimization closed loop.

[0042] S2-5. The system automatically issues a global synchronous shutdown command to control the wave-generating equipment 102 and the pneumatic load loading module to stop running synchronously. At the same time, it drives the hydraulic PTO damping loading module to complete the directional reset of piston 908, the oil pressure relief of accumulator cylinder 910 and the return of the cavity to its original position. S2-6. The system automatically retrieves the next set of working condition parameters to be executed from the test sequence form, and repeatedly executes the fully unmanned automated test execution phase to complete the automatic switching and continuous test operation of multiple sets of differentiated wind and wave working conditions.

[0043] In addition, this invention includes full-process safety protection steps, see [link to relevant documentation]. Figure 6 As shown: The system monitors the operating status and data of each device in real time and handles them according to the degree of abnormality; in case of minor abnormality, the equipment load is reduced and the test is suspended, and the test is automatically resumed after the abnormality is resolved; in case of severe abnormality, the machine is immediately shut down and the actuator is locked; in case of sudden power failure, the servo motor 901 brake is immediately triggered, and the emergency power supply is started to ensure the preservation of test data, ensuring the safety of equipment and test data when unattended; Minor anomalies include slight fluctuations in data acquisition signals, slight overload of servo motor 901, and slight instability of the wave surface. The central measurement and control system 2 immediately issues a load reduction and pause command to suspend the current test. The test will automatically resume after the anomaly is eliminated, without the need for manual intervention throughout the process. Serious anomalies include piston 908 overtravel, mooring tension exceeding the threshold, core equipment communication interruption, platform motion exceeding the threshold, etc. The central measurement and control system 2 immediately issues an emergency shutdown command to control the wave-generating equipment 102, pneumatic load loading module, and servo-driven hydraulic PTO damping loading module 9 to shut down synchronously and lock the actuators to prevent damage to the test model and equipment. In the event of a sudden power outage, the system's built-in UPS uninterruptible power supply will immediately start, locking the servo motor 901 and storing the current test data in an emergency, thus preventing the loss of test data and loss of control of the actuator.

[0044] In summary, this invention constructs an integrated measurement and control architecture linking perception, decision-making, control, and execution across four layers. Relying on multi-system time-series synchronous closed-loop control technology, it achieves coordinated and synchronous operation of wave generation simulation, aerodynamic load application, and PTO damping adjustment. Combined with semi-physical wind load simulation and precise scale conversion, it highly reproduces the actual working conditions of the combined wind and wave environment at sea. Furthermore, through a servo-hydraulic integrated damping loading structure and real-time data acquisition and feedback from multiple sensors, it achieves continuous, stepless, closed-loop, precise adjustment of the PTO damping force. Coupled with an intelligent optimization algorithm based on working condition identification and variable step-size iteration, it dynamically adapts to complex and ever-changing wave environments, balancing wave energy capture efficiency and floating platform operational stability. Simultaneously, relying on standardized pre-configuration calibration, automatic test sequence analysis, automatic cyclic switching of multiple working conditions, and autonomous mechanism reset—a fully automated operation logic—combined with comprehensive status monitoring and hierarchical safety protection mechanisms, it achieves fully unattended autonomous operation of the pool test. This improves test control accuracy and data integrity, ensures equipment operational stability and operational safety during long-term continuous testing, and enhances the overall operational efficiency and engineering test reference value of the wind-wave combined integrated system model test.

[0045] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and not to limit them. Although the present invention has been described in detail with reference to preferred embodiments, those skilled in the art should understand that modifications or equivalent substitutions can still be made to the technical solutions of the present invention, and these modifications or equivalent substitutions cannot cause the modified technical solutions to deviate from the spirit and scope of the technical solutions of the present invention.

Claims

1. A full-process unattended pool test system for a wind-wave combined integrated system, comprising a wave pool system, a central measurement and control system and a floating platform, characterized in that: It also includes the perception layer, decision layer, control layer and execution layer connected in sequence; The perception layer is configured with a plurality of types of sensing devices that are synchronously collected, and the sensing devices are arranged in the wave pool system to collect wave parameters, device motion state, device operating state and full-dimensional test data of load; The decision layer is loaded in the central control system and is in bidirectional communication connection with the perception layer, and the decision layer is internally provided with an automatic control engine, an optimization algorithm module and a safety protection module for test sequence analysis, full-system timing control, PTO optimal damping optimization, abnormal condition identification and hierarchical protection; The control layer is a multi-system timing synchronous closed-loop control unit in bidirectional communication connection with the decision layer and used for generating closed-loop control instructions of wave making execution, PTO damping adjustment and aerodynamic load loading; The execution layer is in bidirectional communication connection with the control layer, and the execution layer includes a wave making sequence execution module, an aerodynamic load loading module and a servo-driven hydraulic PTO damping loading module, the wave making sequence execution module is arranged in the wave pool system to execute wave making, the aerodynamic load loading module is arranged on the floating platform to load aerodynamic load, and the servo-driven hydraulic PTO damping loading module is assembled inside the floating platform to continuously and steplessly adjust the PTO damping, thereby realizing full-process unmanned operation of the test.

2. The full-process unattended water tank test system for the wind and wave combined integrated system according to claim 1, characterized in that: The wave pool system includes a pool main body and a wave absorbing beach, the wave making sequence execution module is a wave making device, the wave making device is fixedly installed on one end of the pool main body, the wave absorbing beach is fixedly laid on the other end of the pool main body, the pool main body is a closed test water area, the wave making device is in communication connection with the wave making sequence execution module to generate a target wave required by the test, and the wave absorbing beach is used to eliminate wave reflection interference.

3. The full-process unattended water tank test system for the wind and wave combined integrated system according to claim 2, characterized in that: The floating platform is arranged in the middle of the pool main body, the floating platform is fixedly connected with the pool bottom anchoring point of the pool main body through a mooring piece, a fan tower is fixedly installed on the top of the floating platform, the top end of the fan tower is fixedly connected with the aerodynamic load loading module, the bottom of the floating platform is below the water surface and is provided with a wave energy device, the upper end of the servo-driven hydraulic PTO damping loading module is fixedly connected with the inner top plate of the floating platform, and the lower end is fixedly connected with the hinged end of the wave energy device.

4. The full-process unattended water tank test system for the wind and wave combined integrated system according to claim 3, characterized in that: The aerodynamic load loading module includes a high-energy-efficiency propeller, a carbon fiber support and a brushless motor, the brushless motor is fixedly installed on the top end of the fan tower through the carbon fiber support, and the high-energy-efficiency propeller is coaxially fixedly connected with the output end of the brushless motor to simulate the real aerodynamic load working condition of the offshore floating wind turbine.

5. The full-process unattended water tank test system for the wind and wave combined integrated system according to claim 4, characterized in that: The servo-driven hydraulic PTO damping loading module includes: A servo drive control unit, comprising a servo motor, a nut pair, a ball screw, a bearing seat, an upper support plate, a support optical shaft, and a lower support plate, the upper support plate and the lower support plate are fixedly connected through the support optical shaft to form a rigid frame, the bearing seat is fixed on the upper support plate, the ball screw is rotatably assembled on the bearing seat, the servo motor is fixedly installed on the top of the upper support plate, and the nut pair is threadedly connected with the ball screw and slidably matched with the support optical shaft, for converting the rotary motion of the servo motor into linear motion; A hydraulic damping execution unit, comprising an energy storage cylinder, a hydraulic oil cavity, a piston, a piston sealing assembly, and an auxiliary pressure relief valve, the energy storage cylinder is fixedly installed on the lower support plate, the hydraulic oil cavity is hermetically installed inside the energy storage cylinder, the piston sealing assembly is assembled between the outer periphery of the piston and the inner wall of the energy storage cylinder, the piston is slidably arranged in the hydraulic oil cavity and rigidly connected with the nut pair at the top end, and the auxiliary pressure relief valve is connected in parallel with the hydraulic oil circuit of the hydraulic oil cavity; A matching sensing detection assembly, comprising a dynamic torque sensor and a tension and pressure sensor, the dynamic torque sensor is connected in series between the output end of the servo motor and the ball screw, and the tension and pressure sensor is connected in series between the nut pair and the piston, for real-time acquisition of torque and damping force data.

6. The full-process unattended water tank test system for the wind and wave combined integrated system according to claim 5, characterized in that: The sensing devices of the perception layer further include a wave height meter, a six-degree-of-freedom motion instrument, an acceleration sensor, and a six-dimensional force sensor, the wave height meter is arranged on the pool body and located between the wave making device and the floating platform, for real-time acquisition of pool wave characteristic parameters; the six-degree-of-freedom motion instrument and the acceleration sensor are arranged on the floating platform, for acquisition of motion response data of the floating platform; and the six-dimensional force sensor is arranged between the fan tower and the pneumatic load loading module, for acquisition of fan pneumatic load data.

7. The full-process unattended water tank test system for the wind and wave combined integrated system according to claim 6, characterized in that: The central measurement and control system is arranged on the shore side measurement and control area of the wave pool system, and comprises an industrial control computer and an NI real-time controller.

8. The full-process unattended water tank test system for the wind and wave combined integrated system according to claim 7, characterized in that: The multi-system time sequence synchronization closed-loop control unit is integrated in the central measurement and control system and comprises a wave making execution module, a PTO adjusting module, and a pneumatic load module, the wave making execution module is in communication connection with the decision layer and the wave making sequence execution module, for generating a target wave working condition; the PTO adjusting module is in communication connection with the decision layer and the servo drive type hydraulic PTO damping loading module, for realizing continuous stepless closed-loop regulation and control of PTO damping force; and the pneumatic load module is in communication connection with the decision layer and the pneumatic load loading module, for completing precise loading of fan pneumatic load.

9. The full-process unattended water tank test system for the wind and wave combined integrated system according to claim 8, characterized in that: The optimization algorithm module is internally provided with a PTO damping self-adaptive intelligent optimization algorithm, which adopts a two-stage architecture of working condition identification and variable step perturbation iteration.

10. A test method applied to the full-process unattended pool test system of the wind and wave combined integrated system according to claim 9, characterized in that: The method comprises the following steps: S1, pre-configuration and calibration stage before test: S1-1. Based on the Froude similarity criterion, complete the design, fabrication and water area layout of the scaled-down model of the wind and wave combined multi-energy integrated system pool, complete the anchoring connection of the floating platform and mooring components and the initial hydrodynamic state debugging to obtain the scaled-down model. S1-2. Based on the scaled-down model of S1-1, an aerodynamic load loading module is built to complete the construction, accuracy verification and interface encapsulation of the wind turbine aerodynamic numerical model, and simultaneously complete the calibration of the actuator and the timing synchronization calibration of multiple sensing devices. S1-3. Build a servo-driven hydraulic PTO damping loading module, complete the coaxial assembly of the servo drive control unit and the hydraulic damping execution unit, set the piston stroke limit parameters and debug the piston automatic reset and accumulator depressurization control logic. S1-4. Batch import and store operating parameters for the entire test cycle, configure multi-gradient wave, differentiated wind field and single-condition operating parameters, and preset two PTO optimization objectives that can be automatically switched, including maximizing energy capture and controlling the motion stability of the floating platform. S1-5. Power on the test system and automatically perform a full-dimensional self-test by traversing the hardware devices, sensor links, control circuits and hydraulic circuits. If the self-test is abnormal, an alarm will be triggered in time and the test start permission will be locked. After the self-test is qualified, the system will enter the standby ready state. S2, Fully Unmanned Automated Trial Execution Phase: S2-1, Based on the system self-test passed by S1-5, the standby ready state, the automated control engine parses the pre-stored test sequence form, and completes the accurate matching and binding of wave generation parameters, wind turbine loading parameters, timing instructions and PTO optimization targets under a single working condition; S2-2, The control layer issues multiple time-series synchronous control commands to drive the wave-generating equipment to output preset standard waves, and synchronously starts the aerodynamic load loading module. Combining the real-time collected six-degree-of-freedom motion data of the floating platform, it calls the pre-encapsulated aerodynamic numerical model to calculate the full-size wind turbine load, and performs physical loading after completing the load scaling transformation according to the Froude similarity criterion. S2-3. Real-time acquisition of wave height time series data in the pool, and calculation of effective wave height and wave period through sliding window filtering to accurately determine the current actual wave operation condition; S2-4. Based on the identified wave conditions, the optimization range is defined and the initial value of the iteration is set. The PTO damping adaptive intelligent optimization algorithm with a two-stage architecture of condition identification and variable step size disturbance iteration is adopted. When the system is far from the optimal damping range, a large step size is used for fast iteration to improve the calculation efficiency. When the system is close to the optimal range, a small step size is switched to fine positioning to ensure the control accuracy. The system calculates in real time and outputs the optimal damping command in combination with the currently selected optimization target. The servo-driven hydraulic PTO damping loading module is driven to realize the continuous stepless closed-loop adjustment of the damping force, dynamically adapting to the changing sea conditions and taking into account both wave energy capture efficiency and floating platform motion stability. S2-5. The system automatically issues a global synchronous shutdown command to control the wave-generating equipment and pneumatic load loading module to stop running synchronously. At the same time, it drives the servo-driven hydraulic PTO damping loading module to complete the piston directional reset, accumulator oil pressure relief and cavity return. S2-6. The system automatically retrieves the next set of working condition parameters to be executed from the test sequence form, and repeatedly executes the fully unmanned automated test execution phase to complete the automatic switching and continuous test operation of multiple sets of differentiated wind and wave working conditions.

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