A method, device, equipment and product for analyzing power performance of a floating wind turbine

Abstract

The present application relates to the technical field of fan modeling, and discloses a floating type fan dynamic performance analysis method, device, equipment and product, comprising: calculating equivalent mass, stiffness and linear damping according to liquid column specification parameters; simulating the mechanical response of the fan components and the mooring system according to the motion response state of the fan to obtain external load and mooring system force characterization parameters; substituting the obtained data into the motion equation, and calculating in combination with the corresponding relationships to obtain and analyze the dynamic performance of the floating type fan according to the motion response state. The present application realizes the coupling analysis of the two kinds of stabilization systems under the same time domain framework by obtaining the specification parameters of the tuning liquid tank, calculating the equivalent mass, stiffness and damping, substituting them into the motion equation, and obtaining the corresponding relationship between the inclination angle of the floating body after the active ballast water is transferred, the center of gravity, the inertia and the hydrostatic restoring stiffness to update the motion equation matrix in real time, thereby improving the prediction accuracy of the motion response of the floating type fan.

Description

Technical Field

[0001] This invention relates to the field of wind turbine modeling technology, specifically to a method, apparatus, equipment, and product for analyzing the dynamic performance of a floating wind turbine. Background Technology

[0002] Currently, floating offshore wind power technology is developing rapidly, with large-capacity units rolling off the production line one after another. Several large-megawatt floating prototypes have been connected to the grid and are in operation. At the same time, a variety of advanced processes and technologies are being used, such as high-voltage output dynamic cables, composite fiber material mooring, active ballast water regulation systems, and tuned liquid column dampers. The application of these new technologies also brings more nonlinear factors to floating offshore wind power systems, placing higher demands on their dynamic performance analysis technology.

[0003] Some floating wind turbines are equipped with both an active ballast water regulation system and a tuned liquid column passive damping device. The active ballast system adjusts the tilt attitude of the floating body by transferring ballast water between different ballast compartments. During its operation, the mass distribution of the floating body, including the position of the center of gravity and the moment of inertia, changes continuously, making it a time-varying mass system. The tuned liquid column device uses the oscillation of the liquid column within a U-tube or similar structure to absorb and dissipate the swaying energy of the floating body. Its effect on the floating body is manifested as additional stiffness and additional damping effects related to the amplitude and frequency of the liquid column oscillation.

[0004] Currently, existing dynamic analysis methods for floating wind turbines typically treat floating foundations as rigid bodies with constant mass distribution, failing to reflect changes in mass distribution caused by ballast water transfer. For the simulation of tuned liquid column devices, some methods use equivalent spring-damped models for approximation, but their coupling with the floating body's motion equations is relatively simple, neglecting the impact of changes in the floating body's mass distribution on the liquid column's oscillation characteristics. Furthermore, when both the active ballast system and the tuned liquid column device exist simultaneously, a complex coupling relationship exists between them, making coupled solution impossible. Summary of the Invention

[0005] This invention provides a method, apparatus, equipment, and product for analyzing the dynamic performance of floating wind turbines, in order to solve the problem that it is impossible to simultaneously consider the time-varying mass effect of active ballast and the damping effect of tuned liquid column sloshing in the same framework to analyze the motion response of floating wind turbines.

[0006] In a first aspect, the present invention provides a method for analyzing the dynamic performance of a floating wind turbine, comprising: Obtain the specifications of the liquid column device in the tuning tank of the floating blower, the correspondence between the tilt angle of the floating blower and the coordinates of the center of gravity of the floating body after the ballast water is transferred, the correspondence between the tilt angle and the moment of inertia of the floating body, and the correspondence between the coordinates of the center of gravity of the floating body and the hydrostatic recovery stiffness of the floating body. The equivalent mass, equivalent stiffness, and equivalent linear damping of the tuned liquid tank are calculated based on the specifications of the liquid column device. Based on the motion response state of the floating wind turbine at the previous moment, the mechanical response of the wind turbine components and the mooring system at the current moment is simulated to obtain the characterization parameters of the external load on the floating body and the force of the mooring system at the current moment. The equivalent mass, equivalent stiffness, equivalent linear damping, the motion response state of the floating wind turbine at the previous moment, and the characterization parameters of the external load on the floating body and the force of the mooring system at the current moment are substituted into the motion equation corresponding to the preset analysis working condition type. The motion response state of the floating wind turbine at the current moment is obtained by combining the correspondence between the tilt angle and the coordinates of the floating body's center of gravity, the correspondence between the tilt angle and the inertia of the floating body, and the correspondence between the coordinates of the floating body's center of gravity and the still water restoring stiffness of the floating body. The dynamic performance of the floating wind turbine is analyzed based on its motion response at various times, and the performance analysis results are obtained.

[0007] In one optional implementation, obtaining the correspondence between the tilt angle of the floating fan and the coordinates of the floating body's center of gravity, the correspondence between the tilt angle and the moment of inertia of the floating body, and the correspondence between the coordinates of the floating body's center of gravity and the still water restoring stiffness of the floating body includes: Obtain the specifications of the ballast water tanks of the floating wind turbine, the coordinates of each ballast tank, and the roll hydrostatic stiffness and pitch hydrostatic stiffness of the floating wind turbine. Based on the specifications of the ballast water tanks of the floating wind turbine, the coordinates of each ballast tank, the roll hydrostatic stiffness and pitch hydrostatic stiffness, the adjustment ballast water mass data corresponding to multiple tilt angles are calculated. Input the ballast water mass data corresponding to each tilt angle into the preset floating body model for calculation to obtain the floating body center coordinates, floating body inertia and floating body static water recovery stiffness corresponding to each tilt angle. Based on the coordinates of the center of gravity of the floating body, the moment of inertia of the floating body, and the hydrostatic restoring stiffness of the floating body at each tilt angle, determine the correspondence between the tilt angle and the coordinates of the center of gravity of the floating body, the correspondence between the tilt angle and the moment of inertia of the floating body, and the correspondence between the coordinates of the center of gravity of the floating body and the hydrostatic restoring stiffness of the floating body.

[0008] In one optional implementation, based on the motion response state of the floating wind turbine at the previous moment, the mechanical response of the turbine components and the mooring system at the current moment is simulated to obtain the characterization parameters of the external load on the floating body and the force of the mooring system at the current moment, including: Select the appropriate wind turbine and mooring modeling strategy based on the type of operating condition to be simulated; Based on the modeling strategy of wind turbine and mooring corresponding to the type of working condition to be simulated, the floating wind turbine is modeled to obtain the integrated coupled model of the floating wind turbine corresponding to the type of working condition to be simulated. The integrated coupled model of the floating wind turbine simulates the mechanical response of the turbine components and mooring system at the current moment based on the motion response state of the floating wind turbine at the previous moment, and obtains the characterization parameters of the external load of the floating body and the force of the mooring system at the current moment.

[0009] In one optional implementation, if the operating condition to be simulated is a power generation condition, the wind turbine and mooring modeling strategy corresponding to the power generation condition includes: The wind turbine blade model and tower model were established using finite element beam elements; The connections between the nacelle mass point and the wind turbine blade model, the nacelle mass point and the tower model, and the tower model and the floating mass point are established using artificial spring connection units. A quasi-static equivalent spring is used to establish a mooring model, connecting the floating mass point to the seabed boundary node.

[0010] In one optional implementation, if the operating condition to be simulated is an extreme operating condition, the wind turbine and mooring modeling strategy corresponding to the extreme operating condition includes: The wind turbine, hub, and nacelle are combined to establish a concentrated mass point, and a preset wind load coefficient is applied to the concentrated mass point. The tower model was established using finite element beam elements, and the connection between the concentrated mass point and the tower model, and the connection between the tower model and the floating mass point were established using artificial spring connection elements. A mooring model is established using finite element beam elements. The single mooring chain in the mooring model is discretized into multiple beam elements along the chain length direction. The beam elements are connected by nodes. The connection between the top node of the mooring model and the floating mass point is established by artificial spring connection elements.

[0011] In one optional implementation, the motion equations include a floating body mass and inertia matrix and a floating body hydrostatic restoring stiffness matrix. The motion response state includes the floating body tilt angle. The motion response state of the floating wind turbine is calculated by combining the correspondences between the tilt angle and the floating body's center of gravity coordinates, the tilt angle and the floating body's inertia, and the floating body's center of gravity coordinates and hydrostatic restoring stiffness, including: The float inertia value at the previous moment is determined based on the float tilt angle and the correspondence between the tilt angle and the float inertia. The float mass and inertia matrix are then updated using the float inertia value to obtain the float mass and inertia matrix at the previous moment. The coordinates of the buoy's center of gravity at the previous moment are determined based on the buoy's tilt angle at the previous moment and the correspondence between the tilt angle and the coordinates of the buoy's center of gravity. Based on the coordinates of the buoyant's center of gravity and the correspondence between the coordinates of the buoyant's center of gravity and the static recovery stiffness of the buoyant body, the static recovery stiffness value of the buoyant body at the previous moment is determined. The still water recovery stiffness matrix of the floating body is updated using the still water recovery stiffness value of the floating body to obtain the still water recovery stiffness matrix of the floating body at the previous moment. The motion equations are calculated using the floating body mass and inertia matrix and the floating body hydrostatic restoring stiffness matrix from the previous moment to obtain the motion response state of the floating wind turbine at the current moment.

[0012] The dynamic performance analysis method for a floating wind turbine provided by this invention obtains the specifications of the tuned liquid tank column device and calculates its equivalent mass, equivalent stiffness, and equivalent linear damping. These parameters are then substituted into the motion equations of the floating wind turbine, thus fully considering the sway damping effect and dynamic contribution of the additional stiffness of the tuned liquid column device in the dynamic analysis. Simultaneously, by obtaining the correspondence between the floating body tilt angle and the coordinates of the center of gravity, moment of inertia, and still water restoring stiffness, the mass matrix and restoring stiffness matrix are updated in real time at each time step by substituting them into the motion equations. This accurately accounts for the time-varying inertial effect and restoring stiffness changes caused by the change in the floating body mass distribution during the adjustment process of the active ballast system. By simultaneously introducing both aspects into the motion equations for solution, this invention can simultaneously capture the dynamic coupling effect of the tuned liquid tank column device and the active ballast system, improving the accuracy of motion response prediction for the floating wind turbine under the combined action of active ballast and the tuned liquid column.

[0013] To obtain the correspondence between the tilt angle and the coordinates of the floating body's center of gravity, the tilt angle and the inertia of the floating body, and the coordinates of the floating body's center of gravity and the still water restoring stiffness of the floating body, the ballast water adjustment amount at multiple tilt angles is pre-calculated. Based on a preset floating body model, the coordinates of the floating body's center of gravity, the inertia of the floating body, and the still water restoring stiffness of the floating body corresponding to each tilt angle are obtained in batches. This establishes three mapping relationships between the tilt angle and the coordinates of the floating body's center of gravity, the tilt angle and the inertia of the floating body, and the coordinates of the floating body's center of gravity and the still water restoring stiffness of the floating body. This eliminates the need to recalculate the weight attributes of the floating body or call external hydrodynamic software at each time step in the subsequent time-domain solution process. The mass matrix and the restoring stiffness matrix in the motion equation can be updated in real time by simply looking up tables. This accurately reflects the impact of the change in the mass distribution of the floating body on the dynamic characteristics when the active ballast system is working, while reducing the computational burden and balancing the analysis accuracy and computational efficiency.

[0014] Based on the motion response state of the floating wind turbine at the previous moment, the mechanical response of the turbine components and mooring system at the current moment is simulated to obtain the external load on the floating body and the force characterization parameters of the mooring system at the current moment. Under the power generation condition, the wind turbine is in normal operation, the blades rotate continuously and bear periodic aerodynamic loads, and the motion amplitude of the floating body is relatively small. At this time, the aeroelastic response of the blades is the dominant factor affecting the dynamic characteristics of the system, while the force change of the mooring system is relatively gradual. Under extreme conditions, the wind turbine is in a stopped or idling state, and the wind turbine can be simplified to the wind load coefficient. Under extreme sea conditions, the floating body undergoes a large displacement, and the mooring system enters a nonlinear force state. Tension distribution and transient impact are the key factors affecting the motion response of the floating body. Since the dominant physical characteristics of the two conditions are fundamentally different, it is necessary to select more targeted modeling strategies for the two cases respectively, so as to ensure that the key mechanical behaviors of each condition are accurately characterized while controlling the computational cost.

[0015] If the operating condition to be simulated is a power generation condition, the modeling strategy for the wind turbine and mooring corresponding to the power generation condition is as follows: considering that the aeroelastic response of the blades is the dominant factor and the mooring force changes gradually under the power generation condition, the finite element beam element is used to finely establish the blade and tower models to accurately capture the distribution of internal forces in the structure. Quasi-static equivalent springs are used to simplify the mooring system, and the load transfer and motion coupling between the wind turbine and the floating body are realized through artificial spring connection units. While ensuring the accurate transfer of aerodynamic loads and the accurate solution of the floating body motion response under the power generation condition, the computational redundancy caused by the fine modeling of the mooring system is avoided.

[0016] If the operating condition to be simulated is an extreme condition, then the modeling strategy for the wind turbine and mooring corresponding to the extreme condition is as follows: Under extreme conditions, the wind turbine is in a stopped or idling state, and the aeroelastic effect of the blades is no longer the focus. However, the mooring system enters a nonlinear stress state under the large displacement of the floating body. Tension distribution and transient impact become the key factors affecting the motion response of the floating body. Therefore, the scheme combines the wind turbine, hub and nacelle into a concentrated mass point and applies a wind load coefficient, avoiding the computational redundancy caused by fine finite element discretization of the blades. At the same time, finite element beam elements are used to finely model the tower and mooring chain, and load transfer between components is realized through artificial spring connection elements. Thus, while accurately capturing the extreme wind thrust transmission path and the nonlinear stress characteristics of the mooring system, the scheme avoids the invalid calculation of the fine blade model under the power generation condition in the extreme condition, and realizes the rational allocation of computing resources.

[0017] The equations of motion include the mass and inertia matrix of the floating body and the hydrostatic restoring stiffness matrix of the floating body. The motion response state includes the tilt angle of the floating body. By combining the correspondence between the tilt angle and the coordinates of the floating body's center of gravity, the tilt angle and the inertia of the floating body, and the coordinates of the floating body's center of gravity and the hydrostatic restoring stiffness of the floating body, the motion response state of the floating wind turbine at the current moment is obtained. Using the tilt angle of the floating body at the previous moment, the correspondence between the tilt angle and the inertia of the floating body is queried to update the mass and inertia matrix of the floating body. After obtaining the center of gravity coordinates by querying the correspondence between the tilt angle and the coordinates of the floating body's center of gravity, the correspondence between the center of gravity coordinates and the hydrostatic restoring stiffness of the floating body is queried to update the hydrostatic restoring stiffness matrix of the floating body. This realizes the updating of the two matrices within the same time step. The updated two matrices, together with the equivalent parameters of the tuning liquid column, are substituted into the equations of motion to solve the response at the current moment. Thus, at each time step, the changes in the mass distribution of the floating body caused by the operation of the active ballast system and the additional dynamic effects of the tuning liquid column device are simultaneously incorporated into the equations of motion, realizing the coordinated coupling analysis of the two types of anti-roll systems.

[0018] Secondly, the present invention provides a floating wind turbine dynamic performance analysis device, comprising: The data acquisition module is used to acquire the specifications of the liquid column device in the tuning tank of the floating blower, the correspondence between the tilt angle of the floating blower and the coordinates of the center of gravity of the floating body after the ballast water is transferred, the correspondence between the tilt angle and the moment of inertia of the floating body, and the correspondence between the coordinates of the center of gravity of the floating body and the hydrostatic recovery stiffness of the floating body. The equivalent dynamic calculation module is used to calculate the equivalent mass, equivalent stiffness, and equivalent linear damping of the tuned liquid tank based on the specifications of the liquid column device. The mechanical simulation module is used to simulate the mechanical response of the floating wind turbine components and mooring system at the current moment based on the motion response state of the floating wind turbine at the previous moment, and to obtain the characterization parameters of the external load of the floating body and the force of the mooring system at the current moment. The motion calculation module is used to substitute the equivalent mass, equivalent stiffness, equivalent linear damping, the motion response state of the floating wind turbine at the previous moment, and the characterization parameters of the external load of the floating body and the force of the mooring system at the current moment into the motion equation corresponding to the preset analysis condition type. It also combines the correspondence between the tilt angle and the coordinates of the floating body's center of gravity, the correspondence between the tilt angle and the inertia of the floating body, and the correspondence between the coordinates of the floating body's center of gravity and the still water restoring stiffness of the floating body to calculate and obtain the motion response state of the floating wind turbine at the current moment. The performance analysis module is used to analyze the dynamic performance of the floating wind turbine based on its motion response at various times, and obtain the performance analysis results.

[0019] Thirdly, the present invention provides an electronic device, comprising: a memory and a processor, wherein the memory and the processor are communicatively connected to each other, the memory stores computer instructions, and the processor executes the computer instructions to perform a floating wind turbine dynamic performance analysis method according to the first aspect or any corresponding embodiment described above.

[0020] Fourthly, the present invention provides a computer-readable storage medium storing computer instructions for causing a computer to execute a floating wind turbine dynamic performance analysis method according to the first aspect or any corresponding embodiment described above.

[0021] Fifthly, the present invention provides a computer program product, including computer instructions, which are used to cause a computer to execute a floating wind turbine dynamic performance analysis method according to the first aspect or any corresponding embodiment described above. Attached Figure Description

[0022] To more clearly illustrate the specific embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the specific embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0023] Figure 1 This is a schematic diagram of an application scenario according to an embodiment of the present invention; Figure 2 This is a flowchart illustrating a method for analyzing the dynamic performance of a floating wind turbine according to an embodiment of the present invention. Figure 3 This is a head-up view of a floating wind power integrated model according to an embodiment of the present invention; Figure 4 This is a top view schematic diagram of a floating wind power integrated model according to an embodiment of the present invention; Figure 5 This is a schematic diagram of the main dimensions of the tuning liquid column device according to an embodiment of the present invention; Figure 6 This is a schematic diagram of the coordinate relationship of a three-column floating wind power carrier according to an embodiment of the present invention; Figure 7 This is a schematic diagram of determining the relationship curve using a particle model according to an embodiment of the present invention; Figure 8 This is a schematic diagram of the establishment of a floating body model according to an embodiment of the present invention; Figure 9 This is a schematic diagram of the finite element model of the wind turbine and tower under power generation conditions according to an embodiment of the present invention; Figure 10 This is a schematic diagram of a quasi-static equivalent mooring model for power generation conditions according to an embodiment of the present invention; Figure 11 This is a schematic diagram illustrating the establishment of an integrated power generation operating condition model according to an embodiment of the present invention; Figure 12 This is a schematic diagram of a finite element model of a wind turbine and tower under extreme operating conditions according to an embodiment of the present invention; Figure 13 This is a schematic diagram of a finite beam element mooring model under extreme working conditions according to an embodiment of the present invention; Figure 14 This is a schematic diagram illustrating the establishment of an integrated model for extreme operating conditions according to an embodiment of the present invention; Figure 15 This is a structural block diagram of a floating wind turbine dynamic performance analysis device according to an embodiment of the present invention; Figure 16 This is a schematic diagram of the hardware structure of an electronic device according to an embodiment of the present invention. Detailed Implementation

[0024] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, 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, 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.

[0025] It is understood that before using the technical solutions disclosed in the various embodiments of the present invention, users should be informed of the types, scope of use, and usage scenarios of the personal information involved in the present invention and their authorization should be obtained in accordance with relevant laws and regulations through appropriate means.

[0026] As an optional application scenario of this invention, such as Figure 1 As shown, this floating wind turbine dynamic performance analysis system may include at least one terminal device and at least one server. Figure 1 The system is illustrated in the example, which includes a computer 101, a mobile terminal 102, and a server 103, and the terminal devices such as the computer 101 and the mobile terminal 102 are connected to the server 103 through a network 110.

[0027] Specifically, the terminal device can be a smartphone, tablet, laptop, PDA, desktop computer, smart TV, smart wearable device, in-vehicle terminal, VR (Virtual Reality) device, AR (Augmented Reality) device, etc. Server 103 can be a standalone physical server, a server cluster, a distributed system, or a cloud server providing cloud services. Network 110 can be a wired or wireless network, examples of which include, but are not limited to, the Internet, corporate intranet, local area network, wide area network, mobile communication network, and combinations thereof.

[0028] This invention provides a method for analyzing the dynamic performance of a floating wind turbine. By obtaining the specifications of the tuned liquid tank, the equivalent mass, stiffness, and damping are calculated and substituted into the equation of motion. The method also obtains the correspondence between the tilt angle of the floating body and the center of gravity, inertia, and still water recovery stiffness to update the equation of motion matrix in real time. This enables coupled analysis of two anti-rolling systems in the same time domain, improving the prediction accuracy of the motion response of the floating wind turbine.

[0029] According to an embodiment of the present invention, a method for analyzing the dynamic performance of a floating wind turbine is provided. It should be noted that the steps shown in the flowchart in the accompanying drawings can be executed in a computer system such as a set of computer-executable instructions. Furthermore, although a logical order is shown in the flowchart, in some cases, the steps shown or described may be executed in a different order than that shown here.

[0030] This embodiment provides a method for analyzing the dynamic performance of a floating wind turbine. Figure 2 This is a flowchart of a method for analyzing the dynamic performance of a floating wind turbine according to an embodiment of the present invention, such as... Figure 2 As shown, the process includes the following steps: Step S201: Obtain the specifications of the liquid column device in the tuning tank of the floating blower, the correspondence between the tilt angle of the floating blower and the coordinates of the center of gravity of the floating body after the ballast water is transferred, the correspondence between the tilt angle and the moment of inertia of the floating body, and the correspondence between the coordinates of the center of gravity of the floating body and the hydrostatic recovery stiffness of the floating body.

[0031] Floating wind turbines refer to floating offshore wind turbine units, which are devices that install traditional wind turbine units on floating foundations and anchor them to the seabed through a mooring system, thereby generating wind power in deep waters.

[0032] Figure 3 This is a head-up view of a floating wind power integrated model. Figure 4 This is a top-view schematic diagram of a floating wind power integrated model, such as... Figure 3 and Figure 4As shown, the wind turbine unit includes blades, a nacelle, and a tower. The blades are connected to the nacelle, which is fixed to the top of the tower, and the lower end of the tower is connected to a floating body. The floating body floats on the sea surface and contains an active ballast tank and a tuning fluid column device. One end of the mooring chain is connected to the floating body, and the other end is connected to the seabed. The active ballast tank is used to adjust the tilt attitude of the floating body by transferring ballast water between the compartments; the tuning fluid column device is used to absorb and dissipate the swaying energy of the floating body through the oscillation of the internal fluid column.

[0033] A tuning liquid tank refers to the main structure of a tuning liquid column device. It is a closed liquid tank located inside the float of a floating wind turbine, typically a U-shaped tubular structure filled with a certain amount of liquid. The oscillation of the liquid inside the tank absorbs and dissipates the swaying energy of the float. A tuning liquid column device is a passive anti-sway device, also typically a U-shaped tubular structure filled with liquid. The oscillation of the liquid column within the U-shaped tube absorbs and dissipates the swaying energy of the float. Specification parameters refer to a series of data on the geometric dimensions and physical properties of the tuning liquid column device, used to calculate the device's equivalent mass, equivalent stiffness, and equivalent linear damping.

[0034] Figure 5 This is a schematic diagram of the main dimensions of the tuned liquid column device, such as... Figure 5 As shown, the tuning liquid column device is a U-shaped tubular structure filled with liquid. The device's geometry includes the vertical section, with the height of the vertical sections on both sides of the U-shaped tube being... The cross-sectional area of ​​the vertical segment is Horizontal section: The length of the horizontal section at the bottom of the U-shaped tube is... The cross-sectional area of ​​the horizontal segment is The total mass of the liquid within the U-shaped structure is determined by the combined volumes of the vertical and horizontal sections, and is used to calculate the equivalent mass of the tuning liquid column.

[0035] The center of gravity coordinates of the floating body refer to the spatial location of the center of gravity of the entire floating body of the floating wind turbine. The moment of inertia of the floating body refers to the mass distribution of the floating body about its axis of rotation; as an example, it can include the moments of inertia about the X, Y, and Z axes, as well as the product of inertia. The hydrostatic restoring stiffness of the floating body refers to the ratio of the restoring torque generated by the combined effects of gravity and buoyancy to the tilt angle when the floating body tilts.

[0036] The active ballast system adjusts the attitude of the float by transferring ballast water between the ballast compartments. During this process, the mass distribution of the float changes continuously, the center of gravity moves, and the moment of inertia changes, which in turn causes the still water restoring stiffness of the float to resist tilting to also change.

[0037] Step S202: Calculate the equivalent mass, equivalent stiffness, and equivalent linear damping of the tuned liquid tank based on the specifications of the liquid column device.

[0038] Equivalent mass refers to the mass of a single concentrated mass point, representing the total mass of the oscillating liquid within the tuned liquid column device, and thus the inertial effect of the overall oscillation of the liquid column. Equivalent stiffness refers to the restoring force effect of the oscillating liquid column within the tuned liquid column device, representing the stiffness coefficient of a spring, and thus the restoring capability of the liquid column oscillation. Equivalent linear damping refers to the energy dissipation effect of the oscillation of the liquid column within the tuned liquid column device, representing the damping coefficient of a linear damper.

[0039] For example, the equivalent mass can be calculated according to the following formula:

[0040] in, For equivalent quality, To adjust the density of the liquid inside the liquid column device, Let be the cross-sectional area of ​​the horizontal segment. The length of the horizontal segment. Let be the cross-sectional area of ​​the vertical segment. This represents the height of the vertical segment.

[0041] For example, the equivalent stiffness can be calculated according to the following formula:

[0042] in, For equivalent stiffness, For equivalent quality, It is the acceleration due to gravity. Let be the cross-sectional area of ​​the horizontal segment. The length of the horizontal segment. Let be the cross-sectional area of ​​the vertical segment. This represents the height of the vertical segment.

[0043] For example, the equivalent linear damping can be calculated according to the following formula:

[0044] Due to nonlinear damping With linear damping Dissipation of energy They are equal, which can be derived from the following formula:

[0045] in, For equivalent linear damping, For equivalent quality, For nonlinear damping, To tune the natural frequency of the liquid column device, This represents the amplitude of the liquid column oscillation. Let be the cross-sectional area of ​​the horizontal segment. The length of the horizontal segment. Let be the cross-sectional area of ​​the vertical segment. The height of the vertical segment. The total head loss coefficient can be obtained from engineering specifications.

[0046] The natural frequency can be calculated using the following formula:

[0047] in, To tune the natural frequency of the liquid column device, It is the acceleration due to gravity. Let be the cross-sectional area of ​​the horizontal segment. The length of the horizontal segment. Let be the cross-sectional area of ​​the vertical segment. This represents the height of the vertical segment.

[0048] Step S203: Based on the motion response state of the floating wind turbine at the previous moment, simulate the mechanical response of the wind turbine components and the mooring system at the current moment to obtain the external load of the floating body and the force characterization parameters of the mooring system at the current moment.

[0049] Motion response state refers to the total kinematic response of a floating wind turbine under the influence of the external environment, including its various components such as the float, nacelle, tower, and blades. As an example, this can include the displacement, velocity, and acceleration of the float's six degrees of freedom motion, as well as structural responses such as tower top displacement and nacelle acceleration. Simulating the mechanical response of the floating wind turbine's components and mooring system at the current moment means calculating the forces acting on the turbine components and mooring system at each time step in the time-domain solution, based on the simulation model. External loads on the float refer to the external environmental forces acting on the float. The mooring system force characterization parameters are parameters describing the constraint reaction forces generated by the mooring system on the float.

[0050] Step S204: Substitute the equivalent mass, equivalent stiffness, equivalent linear damping, the motion response state of the floating wind turbine at the previous moment, and the characterization parameters of the external load on the floating body and the force of the mooring system at the current moment into the motion equation corresponding to the preset analysis condition type. Combine the correspondence between the tilt angle and the coordinates of the floating body's center of gravity, the correspondence between the tilt angle and the inertia of the floating body, and the correspondence between the coordinates of the floating body's center of gravity and the still water restoring stiffness of the floating body to calculate and obtain the motion response state of the floating wind turbine at the current moment.

[0051] The equations of motion describe the dynamics of a floating wind turbine under external loads, used to solve for the acceleration, velocity, and displacement data of the floating body at every moment. Equivalent mass, equivalent stiffness, and equivalent linear damping characterize the dynamic contribution of the tuned liquid column device to the floating body's motion. Substituting these three types of data into the equations of motion considers the influence of the additional mass, additional stiffness, and additional damping generated by the liquid column oscillation on the floating body's swaying motion. The correspondences between the tilt angle and the floating body's center of gravity coordinates, the tilt angle and the floating body's moment of inertia, and the floating body's center of gravity coordinates and the floating body's still-water restoring stiffness characterize the influence of changes in the floating body's mass distribution on its dynamic characteristics during operation of the active ballast system. Substituting these three types of correspondences into the equations of motion considers the influence of the time-varying inertial effect and the change in restoring stiffness caused by the transfer of ballast water between compartments on the floating body's motion response. Therefore, substituting these two types of data into the equations of motion allows the floating body's motion equations to simultaneously reflect the time-varying inertial effect caused by ballast water transfer and the additional stiffness and damping effects generated by the liquid column oscillation.

[0052] For example, the general equation of motion can be expressed as:

[0053] in, Here is the mass and inertia matrix of the floating body. To tune the equivalent mass of the liquid column device, The additional mass of the floating body at infinite frequency. For linearized viscous damping, To tune the equivalent damping of the liquid column device. The delay function of the buoyant body's radiation force can be obtained through frequency domain hydrodynamic analysis. Here is the still water stiffness matrix of the floating body. To adjust the equivalent stiffness of the liquid column device For mooring cable stiffness, For external loads acting on the float, For the acceleration response of a floating wind turbine, For the speed response of floating wind turbines, For the displacement response of the floating wind turbine, For the current moment, For the previous moment, This represents the time interval between the previous moment and the current moment. Let be the delay function of the buoyancy radiation force.

[0054] Step S205: Analyze the dynamic performance of the floating wind turbine based on its motion response state at various times to obtain the performance analysis results.

[0055] The motion response data such as displacement, velocity, acceleration and attitude angle of the floating body at each time moment obtained by time domain solution are used as the evaluation basis to evaluate whether the motion performance of the floating wind turbine meets the design requirements under specific sea conditions and operating conditions.

[0056] This embodiment provides a method for analyzing the dynamic performance of a floating wind turbine. By acquiring the specifications of the tuned liquid tank column device and calculating its equivalent mass, equivalent stiffness, and equivalent linear damping, these parameters are substituted into the motion equations of the floating wind turbine. This fully considers the swaying damping effect and dynamic contribution of the additional stiffness of the tuned liquid column device in the dynamic analysis. Simultaneously, by acquiring the correspondence between the floating body tilt angle and the coordinates of the center of gravity, moment of inertia, and still water restoring stiffness, the mass matrix and restoring stiffness matrix are updated in real time at each moment by substituting them into the motion equations. This accurately accounts for the time-varying inertial effect and restoring stiffness change caused by the change in the mass distribution of the floating body during the adjustment of the active ballast system. By simultaneously introducing both aspects into the motion equations for solution, this invention can simultaneously capture the dynamic coupling effect of the tuned liquid tank column device and the active ballast system, two anti-sway devices, thus improving the accuracy of motion response prediction for the floating wind turbine under the combined action of active ballast and tuned liquid column.

[0057] In an optional embodiment, when performing step S201, the correspondence between the tilt angle of the floating fan and the coordinates of the floating center of gravity, the correspondence between the tilt angle and the moment of inertia of the floating body, and the correspondence between the coordinates of the floating center of gravity and the still water restoring stiffness of the floating body are obtained, specifically including: Step a1: Obtain the specifications of the ballast water tanks of the floating wind turbine, the coordinates of each ballast tank, and the roll hydrostatic stiffness and pitch hydrostatic stiffness of the floating wind turbine.

[0058] The specifications of ballast water tanks refer to the design data describing the geometric arrangement and physical properties of the various ballast compartments within the floating wind turbine's buoy body. These specifications are used to establish the correspondence between the tilt angle and the coordinates of the floating buoy's center of gravity and moment of inertia. Roll hydrostatic stiffness refers to the ratio of the hydrostatic restoring moment generated by the floating buoy body itself to the roll angle during roll motion. Pitch hydrostatic stiffness refers to the ratio of the hydrostatic restoring moment generated by the floating buoy body itself to the pitch angle during pitch motion.

[0059] like Figure 6 As shown, obtain the coordinates of the three-column floating wind power carrier.

[0060] Step a2: Based on the specifications of the floating wind turbine ballast water tanks, the coordinates of each ballast tank, the roll hydrostatic stiffness, and the pitch hydrostatic stiffness, calculate the ballast water mass data corresponding to multiple tilt angles.

[0061] Multiple tilt angles refer to several discrete tilt angle values ​​pre-selected within the possible tilt range of the floating wind turbine, which serve as sampling points for subsequent calculations of ballast water distribution. Ballast water mass adjustment data refers to the amount of water that needs to be transferred between the various ballast compartments at a given tilt angle to restore the floating wind turbine to balance.

[0062] For example, the mass of ballast water can be calculated according to the following formula:

[0063]

[0064]

[0065] in, The mass of ballast water transferred from Ballast Tank No. 1 The mass of ballast water transferred from Ballast Tank No. 2 The mass of ballast water transferred from Ballast Tank No. 3 The still water stiffness of the buoyant body during rolling. The pitching still water stiffness of the floating body, The angle of roll of the floating body. The pitch angle of the floating body. The coordinates of the planar installation position of Ballast Tank No. 1 in the floating body design coordinate system are: The coordinates of the planar installation position of Ballast Tank No. 2 in the design coordinate system of the floating body are given. The coordinates of the planar installation position of Ballast Tank No. 3 in the floating body design coordinate system.

[0066] Step a3: Input the ballast water mass data corresponding to each tilt angle into the preset floating body model for calculation to obtain the floating body center coordinates, floating body inertia and floating body static water recovery stiffness corresponding to each tilt angle.

[0067] The floating body model is a mathematical model used in the dynamic analysis of floating wind turbines to describe the motion characteristics of floating foundations; it is a rigid body mass model.

[0068] For example, the coordinates of the buoyant's center of gravity, the buoyant's inertia, and the buoyant's hydrostatic restoring stiffness at each tilt angle can be expressed as:

[0069] The table lists statistics for different tilt angles. and regulating ballast water quality Below, the corresponding coordinates of the buoyancy center of gravity Moment of inertia of floating body and the still water recovery stiffness of the floating body .

[0070] Step a4: Based on the coordinates of the center of gravity of the floating body, the moment of inertia of the floating body, and the hydrostatic restoring stiffness of the floating body at each tilt angle, determine the correspondence between the tilt angle and the coordinates of the center of gravity of the floating body, the correspondence between the tilt angle and the moment of inertia of the floating body, and the correspondence between the coordinates of the center of gravity of the floating body and the hydrostatic restoring stiffness of the floating body.

[0071] For example, the correspondences can be represented as a graph.

[0072] Figure 7 A schematic diagram for determining the relationship curve for a point mass model, such as... Figure 7 As shown, by inputting the various tilt angles and the corresponding ballast water mass data into a preset floating body model, the current wind turbine state is simulated to obtain the floating body's center of gravity coordinates, moment of inertia, and hydrostatic restoring stiffness at each tilt angle. Furthermore, the corresponding curves for the tilt angle and the floating body's center of gravity coordinates, the tilt angle and the floating body's moment of inertia, and the floating body's center of gravity coordinates and hydrostatic restoring stiffness are determined.

[0073] This embodiment provides a method for analyzing the dynamic performance of a floating wind turbine. By pre-calculating the ballast water adjustment at multiple tilt angles and obtaining the coordinates of the floating body's center of gravity, the moment of inertia, and the hydrostatic restoring stiffness of the floating body at each tilt angle in batches based on a preset floating body model, three mapping relationships are established: tilt angle and the coordinates of the floating body's center of gravity, tilt angle and the moment of inertia, and the coordinates of the floating body's center of gravity and the hydrostatic restoring stiffness. This eliminates the need to recalculate the floating body's weight attributes or call external hydrodynamic software at each time step during the subsequent time-domain solution process. The mass matrix and restoring stiffness matrix in the motion equation can be updated in real time simply by looking up tables. This method accurately reflects the impact of changes in the floating body's mass distribution on the dynamic characteristics during the operation of the active ballast system while reducing the computational burden and balancing analytical accuracy and computational efficiency.

[0074] In an optional embodiment, step S203 involves simulating the mechanical response of the floating wind turbine components and mooring system at the current moment based on the motion response state of the floating wind turbine at the previous moment, to obtain the characterization parameters of the external load on the floating body and the force of the mooring system at the current moment, specifically including: Step b1: Select the corresponding wind turbine and mooring modeling strategy according to the type of operating condition to be simulated.

[0075] Operating condition type refers to the classification of different working states or environmental conditions that a floating wind turbine may encounter during operation, including power generation conditions and extreme operating conditions. Wind turbine and mooring modeling strategy refers to using different levels of modeling refinement methods for the turbine components and mooring system of a floating wind turbine for different operating condition types, thereby optimizing computational efficiency while ensuring computational accuracy.

[0076] Step b2: Based on the wind turbine and mooring modeling strategy corresponding to the type of operating condition to be simulated, model the floating wind turbine to obtain the integrated coupled model of the floating wind turbine corresponding to the type of operating condition to be simulated.

[0077] An integrated coupled model refers to a complete dynamic model that integrates the wind turbine components, the floating body containing the active ballast tank and the tuning liquid column device, and the mooring system of a floating wind turbine into a unified model and coupled solution within the same numerical framework.

[0078] Figure 8 Create a schematic diagram for the floating body model, such as Figure 8 As shown, this is the modeling of the floating body part of the integrated coupled model of a floating wind turbine, which is a common part of the modeling strategy corresponding to different operating conditions. The weight, center of gravity, and inertia parameters of the floating body in equilibrium state are obtained through modeling software. The model is established by extracting the geometry of the outer surface of the floating body, and the hydrodynamic performance transfer function is calculated based on the model using hydrodynamic analysis. At the same time, wind and current drag coefficients are input for the calculation of environmental loads in subsequent time-domain analysis.

[0079] Step b3: The integrated coupled model of the floating wind turbine simulates the mechanical response of the turbine components and mooring system of the floating wind turbine at the current moment based on the motion response state of the floating wind turbine at the previous moment, and obtains the characterization parameters of the external load of the floating body and the force of the mooring system at the current moment.

[0080] This embodiment provides a method for analyzing the dynamic performance of a floating wind turbine. Under power generation conditions, the wind turbine is in normal operation, with blades continuously rotating and bearing periodic aerodynamic loads. The motion amplitude of the floating body is relatively small. At this time, the aeroelastic response of the blades is the dominant factor affecting the dynamic characteristics of the system. However, the force change of the mooring system is relatively gradual. Under extreme conditions, the wind turbine is in a stopped or idling state, and the wind turbine can be simplified to the wind load coefficient. Under extreme sea conditions, the floating body undergoes a large displacement, and the mooring system enters a nonlinear stress state. Tension distribution and transient impact are the key factors affecting the motion response of the floating body. Since the dominant physical characteristics of the two conditions are fundamentally different, it is necessary to select more targeted modeling strategies for the two situations respectively, so as to control the computational cost while ensuring that the key mechanical behaviors of each condition are accurately characterized.

[0081] In an optional embodiment, when performing step b1, if the operating condition to be simulated is a power generation condition, the wind turbine and mooring modeling strategy corresponding to the power generation condition specifically includes: Step c1: Use finite element beam elements to establish the wind turbine blade model and tower model.

[0082] Figure 9 This is a schematic diagram of the finite element model of the wind turbine and tower under power generation conditions, such as... Figure 9As shown, the wind turbine blades and tower of the floating wind turbine are discretized into multiple beam elements, each with mass and stiffness properties. The elements are connected by nodes to form a continuous finite element model, which is used to describe the deformation and stress distribution of the blades and tower under stress.

[0083] Both the blades and the tower are slender and flexible structures that will undergo significant bending deformation under wind load and floating body motion. At the same time, the deformation of the blades during rotation is coupled with the aerodynamic forces. This aeroelastic effect has an important impact on the dynamic characteristics of the system. However, the rigid mass model cannot reflect the elastic deformation and internal force distribution of the structure. Therefore, the finite element beam element is required for modeling.

[0084] Step c2: Establish connections between the nacelle mass point and the wind turbine blade model, between the nacelle mass point and the tower model, and between the tower model and the floating mass point using artificial spring connection units.

[0085] The nacelle, blades, tower, and float are physically interconnected as a whole, but in the model they are created as point masses, namely the nacelle and float, and finite element beam element models, namely the blades and tower. Since the different parts are not interconnected, artificial spring connection elements are used to establish the connections between the components.

[0086] Step c3: Establish a mooring model using a quasi-static equivalent spring and connect the floating mass point to the seabed boundary node.

[0087] Figure 10 This is a schematic diagram of the quasi-static equivalent mooring model under power generation conditions, such as... Figure 10 As shown, under power generation conditions, the floating body's motion amplitude is small, and the stress change of the mooring cable is gradual, eliminating the need for detailed calculation of the instantaneous response of each segment of the mooring chain. Therefore, the entire mooring cable is equivalent to a nonlinear spring element. The relationship curve between its restoring force and the floating body displacement is pre-calculated, and this curve is used as the spring stiffness input model. Connecting the floating body mass point to the anchor point on the seabed, the corresponding mooring reaction force is obtained by looking up a table based on the real-time displacement of the floating body in the time domain simulation. This significantly reduces the computational cost while ensuring the accuracy of mooring load calculation under power generation conditions.

[0088] Figure 11 This is a schematic diagram of the integrated model for power generation operating conditions, such as... Figure 11As shown, the tower bottom is connected to the floating body mass point via artificial springs, coupling the elastic deformation of the tower with the rigid motion of the floating body. The floating body integrates curves showing the changes in tilt angle, center of gravity, and moment of inertia, as well as the equivalent mass, stiffness, and damping of the tuning liquid column. By updating the floating body mass matrix and restoring stiffness matrix in real-time based on the floating body's tilt angle during time-domain solving, the dynamic effects of active ballast and the tuning liquid column are coupled into the floating body's motion equations. The aerodynamic load of the wind turbine is transmitted through the tower to the artificial spring connection point and then acts on the floating body. The floating body's motion response, in turn, affects the inertial load of the wind turbine. Thus, through the combined effect of the artificial spring connection and the real-time updating of the motion equations, the wind turbine and floating body are fully integrated.

[0089] This embodiment provides a method for analyzing the dynamic performance of a floating wind turbine. Considering the characteristics of blade aeroelastic response as the dominant factor and the gradual change in mooring forces under power generation conditions, it uses finite element beam elements to meticulously establish blade and tower models to accurately capture the distribution of internal forces in the structure. A quasi-static equivalent spring is used to simplify the mooring system, and an artificial spring connection unit is used to achieve load transfer and motion coupling between the wind turbine and the floating body. This method ensures accurate transmission of aerodynamic loads under power generation conditions and precise solution of the floating body's motion response, while avoiding computational redundancy caused by meticulous modeling of the mooring system.

[0090] In an optional embodiment, when performing step b1, if the operating condition to be simulated is an extreme operating condition, the wind turbine and mooring modeling strategy corresponding to the extreme operating condition specifically includes: Step d1: Combine the wind turbine, hub, and nacelle to establish a concentrated mass point, and apply the preset wind load coefficient to the concentrated mass point.

[0091] Figure 12 This is a schematic diagram of a finite element model of a wind turbine and tower under extreme operating conditions, such as... Figure 12 As shown, under extreme conditions, the wind turbine is in a stopped or idling state, and the blades no longer rotate. Therefore, there is no need to consider the aeroelastic effect. Thus, the wind turbine, hub, and nacelle are combined into a single concentrated mass point, and a preset wind load coefficient is applied to characterize the ultimate wind thrust. This avoids the computational burden caused by finite element discretization and aero-elastic coupling solution of the blades while ensuring the accurate transmission of the overall aerodynamic load. The computational resources are then concentrated on the mooring system, which requires more detailed modeling.

[0092] Step d2: Use finite element beam elements to build the tower model, and use artificial spring connection elements to establish the connection between the concentrated mass point and the tower model, and the connection between the tower model and the floating mass point.

[0093] Under extreme conditions, the tower, as the structure connecting the upper wind turbine and the lower floating body, needs to transmit the force generated by wind thrust. Simultaneously, it itself undergoes significant bending deformation under extreme loads. Therefore, a finite element beam model is used to establish the tower model, thereby accurately calculating the deformation response and the distribution of internal forces within the cross-section. The top of the tower is connected to a concentrated mass point via artificial spring connection units, and the bottom of the tower is connected to the floating body mass point via artificial spring connection units, thus achieving coupling between the wind turbine and floating body sections under extreme conditions.

[0094] Step d3: A mooring model is established using finite element beam elements. The single mooring chain in the mooring model is discretized into multiple beam elements along the chain length direction. The beam elements are connected by nodes. The connection between the top node of the mooring model and the floating mass point is established by artificial spring connection elements.

[0095] Figure 13 This is a schematic diagram of a finite beam element mooring model under extreme working conditions, such as... Figure 13 As shown, under extreme conditions, the floating body undergoes significant displacement, and the mooring system operates under nonlinear stress. The mooring chain may bear substantial tension and impact loads. Therefore, finite element beam elements are needed to discretize each individual mooring chain along its length to accurately calculate the tension distribution and bending deformation of each chain segment. The beam elements are connected by nodes, and artificial spring connection elements connect the top nodes of the mooring chain to the floating body mass points, enabling the transfer of tension from the deformed mooring chain to the floating body. This allows for accurate capture of the nonlinear response of the mooring system and its impact on the floating body's motion under extreme conditions.

[0096] Figure 14 This is a schematic diagram of the integrated model for extreme operating conditions, such as... Figure 14 As shown, the wind turbine, hub, and nacelle are combined as a concentrated mass point, and an extreme wind load coefficient is applied to characterize the ultimate wind thrust. The tower is constructed using finite element beam elements. The concentrated mass point is connected to the tower model, and the tower model is connected to the floating body mass point, respectively, through artificial spring connection elements. The floating body is represented as a rigid mass point, internally integrating curves showing the changes in tilt angle, center of gravity, and inertia, as well as the equivalent mass, equivalent stiffness, and equivalent damping of the tuned liquid column, used to reflect the time-varying mass effect of active ballast and the sloshing damping effect of the liquid column, respectively. The mooring chain is discretized into multiple beam elements along its length, and each beam element is connected by nodes. The top node of the mooring model is connected to the floating body mass point through artificial spring connection elements. The components achieve load transfer and motion coupling through artificial spring connection elements, forming an integrated coupled analysis model under extreme conditions.

[0097] This embodiment provides a method for analyzing the dynamic performance of a floating wind turbine. Under extreme conditions, the wind turbine is either shut down or idling, and the aeroelastic effect of the blades is no longer the focus. Instead, the mooring system enters a nonlinear stress state under significant displacement of the floating body. Tension distribution and transient impacts become key factors affecting the motion response of the floating body. Therefore, this method combines the rotor, hub, and nacelle into a concentrated mass point and applies a wind load coefficient, avoiding computational redundancy caused by fine finite element discretization of the blades. At the same time, finite element beam elements are used to finely model the tower and mooring chain, and artificial spring connection units are used to realize load transfer between components. This accurately captures the extreme wind thrust transmission path and the nonlinear stress characteristics of the mooring system, while avoiding invalid calculations of the fine blade model under extreme conditions during power generation, thus achieving a reasonable allocation of computational resources.

[0098] In an optional embodiment, the motion equations include a floating body mass and inertia matrix and a floating body hydrostatic restoring stiffness matrix. The motion response state includes the floating body tilt angle. During step S204, the motion response state of the floating wind turbine is calculated by combining the correspondences between the tilt angle and the floating body's center of gravity coordinates, the tilt angle and the floating body's inertia, and the floating body's center of gravity coordinates and the floating body's hydrostatic restoring stiffness. Specifically, this includes: Step e1: Determine the float inertia value at the previous moment based on the float tilt angle and the correspondence between the tilt angle and the float inertia. Then, update the float mass and inertia matrix using the float inertia value to obtain the float mass and inertia matrix at the previous moment.

[0099] The mass and inertia matrix of a floating body is a mathematical matrix that describes the mass distribution and rotational inertia characteristics of the floating body. In the equation of motion, it is used to characterize the inertial force of the floating body itself.

[0100] At each time step in the time-domain solution, the tilt angle of the floating body, which was obtained from the equations of motion at the previous moment, is stored as part of the motion response state. By looking up the correspondence between the tilt angle and the inertia of the floating body at the previous moment, the inertia value of the floating body in the tilt state can be determined. The inertia value is then used to update the floating body mass and inertia matrix in the equations of motion, obtaining the floating body mass and inertia matrix at the previous moment, which is then used to solve the equations of motion at the current moment.

[0101] Step e2: Determine the coordinates of the center of gravity of the buoy at the previous moment based on the tilt angle of the buoy at the previous moment and the correspondence between the tilt angle and the coordinates of the center of gravity of the buoy.

[0102] By querying the correspondence between the tilt angle and the center of gravity coordinates of the floating body at the previous moment, the center of gravity coordinates of the floating body in the tilted state can be determined. The center of gravity coordinates serve as the basis for determining the still water restoring stiffness at the previous moment.

[0103] Step e3: Determine the previous moment's still water recovery stiffness value of the floating body based on the coordinates of the floating body's center of gravity and the correspondence between the coordinates of the floating body's center of gravity and the still water recovery stiffness of the floating body.

[0104] Using the center of gravity coordinates of the previous moment as the basis for querying, the correspondence between the center of gravity coordinates of the floating body and the still water recovery stiffness of the floating body can be found, thereby determining the still water recovery stiffness value of the floating body at the previous moment, which is then used to update the still water recovery stiffness matrix of the floating body.

[0105] Step e4: Update the still water recovery stiffness matrix of the floating body using the still water recovery stiffness value to obtain the still water recovery stiffness matrix of the floating body at the previous moment.

[0106] The still water restoring stiffness matrix of a floating body is a mathematical matrix in the motion equations of a floating wind turbine that describes the relationship between the restoring force generated by the combined action of gravity and buoyancy and the displacement when the floating body undergoes displacement.

[0107] Step e5: Calculate the motion equations using the floating body mass and inertia matrix and the floating body hydrostatic recovery stiffness matrix from the previous moment to obtain the current motion response state of the floating wind turbine.

[0108] For example, when the operating condition is the power generation condition, the equation of motion can be expressed as:

[0109] When the operating condition is an extreme condition, the equation of motion can be expressed as:

[0110] in, Here is the mass and inertia matrix of the floating body. To tune the equivalent mass of the liquid column device, The additional mass of the floating body at infinite frequency. For linearized viscous damping, To tune the equivalent damping of the liquid column device. The delay function of the buoyant body's radiation force can be obtained through frequency domain hydrodynamic analysis. Here is the still water stiffness matrix of the floating body. To adjust the equivalent stiffness of the liquid column device The equivalent spring stiffness for mooring quasi-static conditions. For the instantaneous forces in the finite beam element mooring model, For external loads acting on the float, For the acceleration response of a floating wind turbine, For the speed response of floating wind turbines, For the displacement response of the floating wind turbine, For the current moment, For the previous moment, This represents the time interval between the previous moment and the current moment. Let be the delay function of the buoyancy radiation force.

[0111] Under power generation conditions, the floating body's motion amplitude is relatively small, and the mooring cable's stress changes gradually. The primary focus is on the constraint effect of the overall restoring force provided by the mooring system on the floating body's motion. Therefore, a quasi-static equivalent spring stiffness is used to characterize the linear or nonlinear restoring force response of the mooring system to the floating body's displacement. Under extreme conditions, the floating body experiences significant displacement, and the mooring chain may exhibit non-uniform tension distribution or even be subjected to impact loads. A single equivalent spring stiffness cannot reflect the tension differences between different segments of the mooring chain and its contact state with the seabed. Therefore, it is necessary to substitute the mooring force as an instantaneous force at each moment and calculate the tension distribution at each node of each chain using a finite element beam element model.

[0112] This embodiment provides a method for analyzing the dynamic performance of a floating wind turbine. By using the tilt angle of the floating body at the previous moment, the method sequentially queries the correspondence between the tilt angle and the inertia of the floating body to update the mass and inertia matrix of the floating body, queries the correspondence between the tilt angle and the coordinates of the center of gravity of the floating body to obtain the coordinates of the center of gravity, and then queries the correspondence between the coordinates of the center of gravity and the hydrostatic recovery stiffness of the floating body to update the hydrostatic recovery stiffness matrix of the floating body. This achieves the updating of the two matrices within the same time step. The updated two matrices, together with the equivalent parameters of the tuning liquid column, are substituted into the equation of motion to solve the response at the current moment. Thus, at each time step, the changes in the mass distribution of the floating body caused by the operation of the active ballast system and the additional dynamic effects of the tuning liquid column device are simultaneously incorporated into the equation of motion, realizing the coordinated coupling analysis of the two types of anti-roll systems.

[0113] This embodiment also provides a floating wind turbine dynamic performance analysis device, which is used to implement the above embodiments and preferred embodiments; details already described will not be repeated. As used below, the term "module" can refer to a combination of software and / or hardware that performs a predetermined function. Although the device described in the following embodiments is preferably implemented in software, hardware implementation, or a combination of software and hardware, is also possible and contemplated.

[0114] This embodiment provides a floating wind turbine dynamic performance analysis device, such as... Figure 15 As shown, it includes: The data acquisition module 1501 is used to acquire the specification parameters of the liquid column device in the tuning liquid tank of the floating blower, the correspondence between the tilt angle of the floating blower and the coordinates of the center of gravity of the floating body after the ballast water is transferred, the correspondence between the tilt angle and the moment of inertia of the floating body, and the correspondence between the coordinates of the center of gravity of the floating body and the hydrostatic recovery stiffness of the floating body. The equivalent dynamic calculation module 1502 is used to calculate the equivalent mass, equivalent stiffness and equivalent linear damping of the tuned liquid tank based on the specification parameters of the liquid column device. The mechanical simulation module 1503 is used to simulate the mechanical response of the floating wind turbine components and the mooring system at the current moment based on the motion response state of the floating wind turbine at the previous moment, and to obtain the characterization parameters of the external load of the floating body and the force of the mooring system at the current moment. The motion calculation module 1504 is used to substitute the equivalent mass, equivalent stiffness, equivalent linear damping, motion response state of the floating wind turbine at the previous moment, and the characterization parameters of the external load of the floating body and the force of the mooring system at the current moment into the motion equation corresponding to the preset analysis working condition type. It also calculates the motion response state of the floating wind turbine at the current moment by combining the correspondence between the tilt angle and the coordinates of the floating body's center of gravity, the correspondence between the tilt angle and the moment of inertia of the floating body, and the correspondence between the coordinates of the floating body's center of gravity and the still water restoring stiffness of the floating body. The performance analysis module 1505 is used to analyze the dynamic performance of the floating wind turbine based on its motion response state at various times, and obtain the performance analysis results.

[0115] The floating wind turbine dynamic performance analysis device provided in this embodiment of the invention can execute the floating wind turbine dynamic performance analysis method provided in any embodiment of the invention, and has the corresponding functional modules and beneficial effects of the method. Further functional descriptions of the above modules and units are the same as in the corresponding embodiments described above, and will not be repeated here.

[0116] Figure 16 This is a schematic diagram of the structure of an electronic device provided in an embodiment of the present invention.

[0117] The following is a detailed reference. Figure 16 The diagram illustrates a structural schematic suitable for implementing an electronic device according to embodiments of the present invention. The electronic device may include a processor (e.g., a central processing unit, graphics processor, etc.) 1601, which can perform various appropriate actions and processes according to a program stored in read-only memory (ROM) 1602 or a program loaded from memory 1608 into random access memory (RAM) 1603. The RAM 1603 also stores various programs and data required for the operation of the electronic device. The processor 1601, ROM 1602, and RAM 1603 are interconnected via a bus 1604. An input / output (I / O) interface 1605 is also connected to the bus 1604.

[0118] Typically, the following devices can be connected to the I / O interface 1605: input devices 1606 including, for example, a touchscreen, touchpad, keyboard, mouse, camera, microphone, accelerometer, gyroscope, etc.; output devices 1607 including, for example, a liquid crystal display (LCD), speaker, vibrator, etc.; memory devices 1608 including, for example, magnetic tape, hard disk, etc.; and communication devices 1609. Communication device 1609 allows electronic devices to communicate wirelessly or wiredly with other devices to exchange data. Although Figure 16 Electronic devices with various devices are shown, but it should be understood that it is not required to implement or have all of the devices shown, and more or fewer devices may be implemented or have instead.

[0119] In particular, according to embodiments of the present invention, the processes described above with reference to the flowcharts can be implemented as computer software programs. For example, embodiments of the present invention include a computer program product comprising a computer program carried on a non-transitory computer-readable medium, the computer program containing program code for performing the methods shown in the flowcharts. In such embodiments, the computer program can be downloaded and installed from a network via a communication device 1609, or installed from a memory 1608, or installed from a ROM 1602. When the computer program is executed by the processor 1601, it performs the functions defined in the floating wind turbine dynamic performance analysis method of an embodiment of the present invention.

[0120] Figure 16 The electronic device shown is merely an example and should not be construed as limiting the functionality and scope of use of the embodiments of the present invention.

[0121] This invention also provides a computer-readable storage medium. The methods described above according to embodiments of the invention can be implemented in hardware or firmware, or implemented as computer code that can be recorded on a storage medium, or implemented as computer code downloaded via a network and originally stored on a remote storage medium or a non-transitory machine-readable storage medium and then stored on a local storage medium. Thus, the methods described herein can be processed by software stored on a storage medium using a general-purpose computer, a dedicated processor, or programmable or dedicated hardware. The storage medium can be a magnetic disk, optical disk, read-only memory, random access memory, flash memory, hard disk, or solid-state drive, etc.; further, the storage medium can also include combinations of the above types of memory. It is understood that computers, processors, microprocessor controllers, or programmable hardware include storage components capable of storing or receiving software or computer code. When the software or computer code is accessed and executed by the computer, processor, or hardware, it implements the floating wind turbine dynamic performance analysis method shown in the above embodiments.

[0122] A portion of this invention can be applied as a computer program product, such as computer program instructions, which, when executed by a computer, can invoke or provide the methods and / or technical solutions according to the invention through the operation of the computer. Those skilled in the art will understand that the forms in which computer program instructions exist in a computer-readable medium include, but are not limited to, source files, executable files, installation package files, etc. Correspondingly, the ways in which computer program instructions are executed by a computer include, but are not limited to: the computer directly executing the instructions, or the computer compiling the instructions and then executing the corresponding compiled program, or the computer reading and executing the instructions, or the computer reading and installing the instructions and then executing the corresponding installed program. Here, the computer-readable medium can be any available computer-readable storage medium or communication medium accessible to a computer.

[0123] Although embodiments of the invention have been described in conjunction with the accompanying drawings, those skilled in the art can make various modifications and variations without departing from the spirit and scope of the invention, and such modifications and variations all fall within the scope defined by the appended claims.

Claims

1. A method for analyzing the dynamic performance of a floating wind turbine, characterized in that, The method includes: Obtain the specifications of the liquid column device in the tuning tank of the floating blower, the correspondence between the tilt angle of the floating blower and the coordinates of the center of gravity of the floating body after the ballast water is transferred, the correspondence between the tilt angle and the moment of inertia of the floating body, and the correspondence between the coordinates of the center of gravity of the floating body and the hydrostatic recovery stiffness of the floating body. The equivalent mass, equivalent stiffness, and equivalent linear damping of the tuned liquid tank are calculated based on the specifications of the liquid column device. Based on the motion response state of the floating wind turbine at the previous moment, the mechanical response of the wind turbine components and mooring system at the current moment is simulated to obtain the characterization parameters of the external load on the floating body and the force of the mooring system at the current moment. The equivalent mass, equivalent stiffness, equivalent linear damping, the motion response state of the floating wind turbine at the previous moment, and the external load on the floating body and the force characteristics of the mooring system at the current moment are substituted into the motion equation corresponding to the preset analysis condition type. The motion response state of the floating wind turbine at the current moment is obtained by combining the correspondence between the tilt angle and the coordinates of the floating body's center of gravity, the correspondence between the tilt angle and the floating body's moment of inertia, and the correspondence between the coordinates of the floating body's center of gravity and the floating body's still water restoring stiffness. The dynamic performance of the floating wind turbine is analyzed based on its motion response state at various times, and the performance analysis results are obtained.

2. The method according to claim 1, characterized in that, Obtain the correspondence between the tilt angle of the floating wind turbine and the coordinates of the floating body's center of gravity, the correspondence between the tilt angle and the moment of inertia of the floating body, and the correspondence between the coordinates of the floating body's center of gravity and the still water restoring stiffness of the floating body, including: Obtain the specifications of the ballast water tanks of the floating wind turbine, the coordinates of each ballast tank, and the roll hydrostatic stiffness and pitch hydrostatic stiffness of the floating wind turbine. Based on the specifications of the floating wind turbine ballast water tanks, the coordinates of each ballast tank, the roll hydrostatic stiffness and the pitch hydrostatic stiffness, the adjustment ballast water mass data corresponding to multiple tilt angles are calculated. Each tilt angle and the corresponding ballast water mass data are input into a preset floating body model for calculation to obtain the floating body center coordinates, floating body inertia and floating body static water recovery stiffness at each tilt angle. Based on the coordinates of the center of gravity of the buoyant body, the moment of inertia of the buoyant body, and the hydrostatic restoring stiffness of the buoyant body corresponding to each tilt angle, determine the correspondence between the tilt angle and the coordinates of the center of gravity of the buoyant body, the correspondence between the tilt angle and the moment of inertia of the buoyant body, and the correspondence between the coordinates of the center of gravity of the buoyant body and the hydrostatic restoring stiffness of the buoyant body.

3. The method according to claim 1, characterized in that, Based on the motion response state of the floating wind turbine at the previous moment, the mechanical response of the turbine components and mooring system at the current moment is simulated to obtain the characterization parameters of the external load on the floating body and the force of the mooring system at the current moment, including: Select the appropriate wind turbine and mooring modeling strategy based on the type of operating condition to be simulated; Based on the modeling strategy of wind turbine and mooring corresponding to the type of working condition to be simulated, the floating wind turbine is modeled to obtain the integrated coupled model of the floating wind turbine corresponding to the type of working condition to be simulated. The integrated coupling model of the floating wind turbine simulates the mechanical response of the wind turbine components and mooring system at the current moment based on the motion response state of the floating wind turbine at the previous moment, and obtains the characterization parameters of the external load of the floating body and the force of the mooring system at the current moment.

4. The method according to claim 3, characterized in that, If the operating condition to be simulated is a power generation condition, then the wind turbine and mooring modeling strategy corresponding to the power generation condition includes: The wind turbine blade model and tower model were established using finite element beam elements; The connections between the nacelle mass point and the wind turbine blade model, the connections between the nacelle mass point and the tower model, and the connections between the tower model and the floating mass point are established using artificial spring connection units. A quasi-static equivalent spring is used to establish a mooring model, connecting the floating mass point to the seabed boundary node.

5. The method according to claim 3, characterized in that, If the operating condition to be simulated is an extreme operating condition, then the wind turbine and mooring modeling strategy corresponding to the extreme operating condition includes: The wind turbine, hub, and nacelle are combined to establish a concentrated mass point, and a preset wind load coefficient is applied to the concentrated mass point. A tower model is established using finite element beam elements, and the connection between the concentrated mass point and the tower model, and the connection between the tower model and the floating mass point are established using artificial spring connection elements. A mooring model is established using finite element beam elements. The single mooring chain in the mooring model is discretized into multiple beam elements along the chain length direction. The beam elements are connected by nodes. The connection between the top node of the mooring model and the floating mass point is established by artificial spring connection units.

6. The method according to claim 1, characterized in that, The motion equations include a floating body mass and inertia matrix and a floating body hydrostatic restoring stiffness matrix. The motion response state includes the floating body tilt angle. The motion response state of the floating wind turbine is calculated by combining the correspondences between the tilt angle and the floating body's center of gravity coordinates, the tilt angle and the floating body's inertia, and the floating body's center of gravity coordinates and hydrostatic restoring stiffness, including: The float inertia value at the previous moment is determined based on the float tilt angle at the previous moment and the correspondence between the tilt angle and the float inertia. The float mass and inertia matrix at the previous moment are then updated using the float inertia value to obtain the float mass and inertia matrix at the previous moment. The coordinates of the buoy's center of gravity at the previous moment are determined based on the buoy's tilt angle at the previous moment and the correspondence between the tilt angle and the buoy's center of gravity coordinates. Based on the coordinates of the buoy's center of gravity and the correspondence between the coordinates of the buoy's center of gravity and the still water recovery stiffness of the buoy, the still water recovery stiffness value of the buoy at the previous moment is determined. The still water recovery stiffness matrix of the floating body is updated using the still water recovery stiffness value of the floating body to obtain the still water recovery stiffness matrix of the floating body at the previous moment. The motion equations are calculated using the floating body mass and inertia matrix and the floating body hydrostatic recovery stiffness matrix from the previous moment to obtain the motion response state of the floating wind turbine at the current moment.

7. A floating wind turbine dynamic performance analysis device, characterized in that, The device includes: The data acquisition module is used to acquire the specifications of the liquid column device in the tuning tank of the floating blower, the correspondence between the tilt angle of the floating blower and the coordinates of the center of gravity of the floating body after the ballast water is transferred, the correspondence between the tilt angle and the moment of inertia of the floating body, and the correspondence between the coordinates of the center of gravity of the floating body and the hydrostatic recovery stiffness of the floating body. The equivalent dynamic calculation module is used to calculate the equivalent mass, equivalent stiffness, and equivalent linear damping of the tuned liquid tank based on the specification parameters of the liquid column device. The mechanical simulation module is used to simulate the mechanical response of the floating wind turbine components and mooring system at the current moment based on the motion response state of the floating wind turbine at the previous moment, and to obtain the characterization parameters of the external load of the floating body and the force of the mooring system at the current moment. The motion calculation module is used to substitute the equivalent mass, equivalent stiffness, equivalent linear damping, motion response state of the floating wind turbine at the previous moment, and the characterization parameters of the external load of the floating body and the force of the mooring system at the current moment into the motion equation corresponding to the preset analysis condition type. It also calculates the motion response state of the floating wind turbine at the current moment by combining the correspondence between the tilt angle and the coordinates of the floating body's center of gravity, the correspondence between the tilt angle and the moment of inertia of the floating body, and the correspondence between the coordinates of the floating body's center of gravity and the still water restoring stiffness of the floating body. The performance analysis module is used to analyze the dynamic performance of the floating wind turbine based on its motion response state at various times, and obtain the performance analysis results.

8. An electronic device, characterized in that, include: The system includes a memory and a processor, which are interconnected. The memory stores computer instructions, and the processor executes the computer instructions to perform a method for analyzing the dynamic performance of a floating wind turbine as described in any one of claims 1 to 6.

9. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores computer instructions for causing the computer to execute the method for analyzing the dynamic performance of a floating wind turbine according to any one of claims 1 to 6.

10. A computer program product, characterized in that, Includes computer instructions, which are used to cause a computer to execute a method for analyzing the dynamic performance of a floating wind turbine according to any one of claims 1 to 6.

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