CN116663169A - Frequency domain simulation method, medium and system for floating wind turbines - Google Patents

Abstract

The application discloses a frequency domain simulation method, medium and system for a floating fan. A frequency domain simulation method for a floating fan, comprising: receiving an average wind speed of one working condition to be simulated in at least one working condition to be simulated; determining control parameters of the floating fan under the average wind speed, wherein the control parameters comprise impeller rotating speed, blade angle, proportional gain and integral gain; determining blade parameters and rotational inertia of the floating fan, wherein the blade parameters are determined based on shape characteristics of the blades; calculating first-order partial derivatives of aerodynamic loads of the floating fan based on the blade parameters and the control parameters, wherein the first-order partial derivatives of aerodynamic loads comprise first-order partial derivatives of aerodynamic thrust and aerodynamic torque with respect to average wind speed, impeller rotating speed and blade angle; and determining the corresponding relation between the pneumatic damping coefficient of the floating fan and the movement frequency of the floating fan under the average wind speed based on the first partial derivative of the pneumatic load, the proportional gain, the integral gain and the moment of inertia.

Description

Frequency domain simulation method, medium and system for floating wind turbines

technical field

The present invention relates to a frequency domain simulation method, medium and system for floating wind turbines, in particular to a frequency domain simulation method, medium and system for simulating the aerodynamic additional mass coefficient and/or aerodynamic damping coefficient of floating wind turbines.

Background technique

With the depletion of fossil energy, the development and utilization of clean and renewable energy is imminent. Compared with other forms of energy, offshore wind energy has the advantages of good stability and strong renewability, so it has attracted widespread attention worldwide. When the water depth is less than 30 meters, fixed fans are usually used. When the water depth further increases, the cost corresponding to the fixed fan will increase sharply, and the floating fan will be an economically feasible alternative.

Affected by environmental loads such as wind and waves, the surge and pitch motions of floating wind turbines are more significant. These two degrees of freedom motions will cause the reciprocating motion of the impeller-nacelle along the incoming wind direction. The reciprocating motion of the impeller-nacelle causes fluctuations in the aerodynamic load on the rotating impeller. The fluctuation of aerodynamic load mainly includes two parts: one part is related to the acceleration of reciprocating motion, that is, aerodynamic additional mass; the other part is related to the speed of reciprocating motion, that is, aerodynamic damping.

On the one hand, near the rated working condition of the floating wind turbine, the aerodynamic additional mass of the large megawatt floating wind turbine may be equivalent in magnitude to the rigid body motion mass of the system itself, which will cause the natural frequency of the rigid body motion of the system to change, and then Affect the overall dynamic response characteristics of the system. On the other hand, under the normal operating conditions of the floating wind turbine, aerodynamic damping can effectively suppress the vibration of the floating wind turbine tower and blades, platform surge and pitch resonance motion response. Therefore, aerodynamic additional mass and aerodynamic damping are factors that cannot be ignored in the simulation and design of large floating wind turbines.

Regarding the aerodynamic damping of floating wind turbines, current research focuses more on the influence of aerodynamic damping on the overall dynamic response of floating wind turbine systems. In the past, there are means to solve the aerodynamic damping of floating wind turbines by using fully coupled time domain simulation. Specifically, under the action of wind load, by imposing a forced motion on the impeller-nacelle along the surge direction, and monitoring the impeller thrust, the Fourier transform is used to extract the aerodynamic damping from the thrust time series. Although this method can solve the aerodynamic damping corresponding to the floating fan, it cannot directly calculate the aerodynamic additional mass and aerodynamic damping. Instead, it needs to carry out oscillation tests for different motion frequencies at each wind speed, so the calculation process is cumbersome and inefficient. It is relatively low and not universal, and it is impossible to realize the direct quantitative calculation of aerodynamic additional mass and aerodynamic damping. As a result, the preliminary design of floating wind turbines requires multiple rounds of iterative calculations, which is very time-consuming.

Another scholar has proposed a simplified calculation method for aerodynamic damping, and the aerodynamic damping is approximately equal to the first-order partial derivative of the impeller thrust with respect to the average wind speed. The calculation process of this simplified calculation method is simple, but it does not consider the dynamic effect of the controller and the influence of different motion frequencies, which will lead to the inability to consider the aerodynamic additional mass effect, and the prediction accuracy of aerodynamic damping is poor.

Regarding the aerodynamic additional mass of the floating fan, some studies have measured the aerodynamic additional mass by wind tunnel test, but the dynamic effect of the controller was not considered in the experiment, and the design of the experimental device is complicated and expensive.

Contents of the invention

It is to be understood that both the foregoing general description and the following detailed description of the invention are exemplary and explanatory and are intended to provide further explanation of the invention as claimed.

According to one aspect of the present invention, a frequency domain simulation method for floating wind turbines is provided, characterized in that it includes:

receiving an average wind speed of one of the working conditions to be simulated in at least one working condition to be simulated;

determining the control parameters of the floating fan at the average wind speed, the control parameters including impeller speed, blade angle, proportional gain and integral gain, wherein the impeller speed and the blade angle are based on the average wind speed determining, the proportional gain and the integral gain are determined based on the blade angle;

Determining the blade parameters and moment of inertia of the floating fan, wherein the blade parameters are determined based on the shape characteristics of the blade, the blade parameters include the radial chord length of the blade, the radial twist angle, and the lift resistance of the airfoil coefficient, the moment of inertia includes the moment of inertia of the impeller and the moment of inertia of the generator;

Calculate the first-order partial derivative of the aerodynamic load of the floating fan based on the blade parameters and the control parameters, the first-order partial derivative of the aerodynamic load includes aerodynamic thrust and aerodynamic torque with respect to the average wind speed, the impeller speed and the the first partial derivative of the blade angle; and

Based on the first-order partial derivative of the aerodynamic load, the proportional gain, the integral gain, and the moment of inertia, determine the aerodynamic damping coefficient of the floating fan and the motion of the floating fan at the average wind speed Corresponding relationship of frequency, wherein the aerodynamic damping coefficient is related to the reciprocating speed of the floating fan.

According to another aspect of the present invention, a computer-readable storage medium is provided, the computer-readable storage medium includes codes, and when executed, the codes cause a computer to execute the above method.

According to yet another aspect of the present invention, there is provided a computer-implemented system comprising means for performing the above method.

Description of drawings

The accompanying drawings are included to provide further understanding of the present invention, and they are incorporated and constitute a part of this application. The accompanying drawings illustrate embodiments of the present invention and together with the specification serve to explain the principle of the present invention. In the attached picture:

Fig. 1 is a flowchart of a frequency domain simulation method for a floating wind turbine according to an embodiment.

Fig. 2 is a flowchart of a frequency domain simulation method for a floating wind turbine according to an embodiment.

Fig. 3 is a flowchart of a frequency domain simulation method for a floating wind turbine according to an embodiment.

Fig. 4 is a flowchart of a frequency domain simulation method for a floating wind turbine according to an embodiment.

Fig. 5 is a block diagram of a frequency domain simulation system for a floating wind turbine according to an embodiment.

Fig. 6 is a block diagram of a frequency domain simulation system for a floating wind turbine according to an embodiment.

Fig. 7 is a block diagram of a frequency domain simulation system for a floating wind turbine according to an embodiment.

Fig. 8 is a block diagram of a frequency domain simulation system for a floating wind turbine according to an embodiment.

Fig. 9 is a comparison chart of aerodynamic additional mass coefficient and aerodynamic damping coefficient under an average wind speed of 13m/s according to the embodiment.

Fig. 10 is a comparison chart of aerodynamic additional mass coefficient and aerodynamic damping coefficient at an average wind speed of 19m/s according to the embodiment.

Fig. 11 is a comparison chart of aerodynamic additional mass coefficient and aerodynamic damping coefficient under an average wind speed of 25m/s according to the embodiment.

Fig. 12 is a comparison chart of aerodynamic additional mass coefficient and aerodynamic damping coefficient under average wind speeds of 7m/s, 11.4m/s, and 20m/s according to the embodiment.

Detailed ways

Embodiments of the present invention will now be described in detail with reference to the accompanying drawings, but the invention is not limited thereto but only by the claims. In the drawings, the size of some of the elements may be exaggerated and not drawn on scale for illustrative purposes. Wherever possible, the same numbers will be used throughout the drawings to refer to the same or like parts.

Although the terms used in the present invention are selected from well-known and commonly used terms, some terms mentioned in the description of the present invention may be selected by the applicant according to his or her judgment, and their detailed meanings are described in this article. described in the relevant section of the . Furthermore, it is required that the present invention be understood not only by the actual terms used, but also by the meaning implied by each term.

In the description provided herein, numerous specific details are set forth. It is understood, however, that embodiments of the invention may be practiced without these specific details. In other instances, well-known methods, structures and techniques have not been shown in detail in order not to obscure the understanding of the present invention.

In view of the above existing problems, the present invention proposes a frequency domain simulation method, medium and system for floating wind turbines. Compared with the implicit consideration of time-domain simulation in the past, the present invention realizes the explicit solution of the aerodynamic additional mass and aerodynamic damping of the floating fan under different combinations of average wind speed and different motion frequency, which can greatly shorten the calculation time.

In order to solve the aerodynamic additional mass and aerodynamic damping of the floating fan, a scenario is introduced here: considering the action of steady wind, a forced simple harmonic motion is imposed on the impeller-cabin of the rotating fan: x=x ₀ sin(ωt), where x ₀ represents the amplitude of the motion, and ω represents the frequency of the motion. The imposed forced simple harmonic motion is used to equivalently simulate the motion of the floating body.

The reciprocating motion of the impeller-cabin along the wind direction will cause the average wind speed at the impeller to change. Under the influence of the dynamic adjustment of the controller, the impeller speed and blade angle will also change. The changes in these three physical quantities will lead to the aerodynamic load on the impeller. fluctuation. Assuming that the average wind speed, impeller speed, and blade angle change are small compared to their stable values, the aerodynamic thrust and aerodynamic torque received by the impeller can be approximated by the first-order Taylor expansion as follows:

where T and Q represent the aerodynamic thrust and aerodynamic torque, that is, the aerodynamic load; T ₀ and Q ₀ represent the average aerodynamic thrust and average aerodynamic torque, respectively; V, Ω, β represent the average wind speed, impeller speed, and blade angle, respectively; _V , T _Ω , T _β , Q _V , Q _Ω , and Q _β respectively represent the first-order partial derivatives of aerodynamic thrust and aerodynamic torque with respect to the average wind speed, impeller speed, and blade angle, that is, the first-order partial derivatives of aerodynamic load.

The first partial derivatives of the aerodynamic loads can be calculated based on the blade parameters and the control parameters. The blade parameters may be determined based on the shape characteristics of the blades of the floating fan, and may include the radial chord length, the radial twist angle and the lift-drag coefficient of the airfoil of the blades of the floating fan. The control parameters may include impeller speed Ω, blade angle β, proportional gain K _p and integral gain K _i . The impeller speed Ω and the blade angle β can be determined based on the average wind speed V. The proportional gain K _p and the integral gain K _i can be determined based on the blade angle β. gain value.

In one embodiment, calculating the first-order partial derivative of the aerodynamic load of the floating fan based on the blade parameters and the control parameters may include: calculating the aerodynamic load of the floating fan with respect to the blade parameters and the control parameters; and calculating the first-order partial derivative of the aerodynamic load with respect to the aerodynamic load Derivative.

In one embodiment, the aerodynamic load of the floating fan can be calculated for the blade parameters and the control parameters based on the blade element momentum theory. In other embodiments, the aerodynamic load of the floating fan can be calculated based on vortex theory method, computational fluid dynamics (Computational fluid dynamics, CFD) method and other methods with respect to blade parameters and control parameters.

In one embodiment, the first partial derivatives of the aerodynamic loads may be calculated for the aerodynamic loads using a central difference method.

According to formula (1), removing the contribution of the average aerodynamic load, the expression of the aerodynamic load fluctuation term can be obtained:

T _osc ＝T _V ·ΔV+T _Ω ·ΔΩ+T _β ·Δβ(2)

Q _osc = _V ΔV+Q _Ω ΔΩ+Q _β Δβ(3)

In the formula, T _osc and Q _osc represent the fluctuation items of aerodynamic thrust and aerodynamic torque, respectively. And note that the change in the average wind speed and the forced motion speed satisfy: In the formula /> Indicates the forced motion speed, and v ₀ =x ₀ ω represents the amplitude of the forced motion speed.

The fluctuation term of aerodynamic thrust can also be expressed as:

In the formula Indicates the forced motion acceleration; _maer and c _aer respectively indicate the aerodynamic additional mass coefficient and aerodynamic damping coefficient; /> is the aerodynamic additional mass, /> is aerodynamic damping.

Affected by the simple harmonic motion of the impeller-cabin, the impeller speed will also fluctuate. Here, it is assumed that the change of the impeller speed also has a simple harmonic form:

ΔΩ=asin(ωt)+bcos(ωt)(5)

In the formula, a and b are two parameters to be sought.

Combined with the theory of impeller-generator rotation mechanics, the fluctuation term of aerodynamic torque can also be expressed as:

In the formula, I _d represents the moment of inertia of the transmission system about the low-speed shaft, including the moment of inertia of the impeller and the moment of inertia of the generator, and the moment of inertia of the design scheme of the given floating fan is a known parameter; Indicates the angular acceleration of the impeller rotation, according to formula (5), its expression can be written: />

The control system of a wind turbine mainly includes two controllers, namely, the generator torque controller used to control the impeller speed Ω and the pitch controller used to control the blade angle β. Generally speaking, when the average wind speed is lower than the rated wind speed, the wind turbine is mainly regulated by the generator torque controller, and the torque controller is used to adjust the impeller speed Ω to improve the maximum capture efficiency of the wind energy by the impeller to improve energy utilization efficiency. The blade angle β is fixed at zero. When the average wind speed is higher than the rated wind speed, the pitch controller adjusts the blade angle β of the blade, thereby reducing the aerodynamic load on the impeller and maintaining the safety of the wind turbine. In the following, the expressions of aerodynamic additional mass and aerodynamic damping will be deduced according to different controller adjustment strategies.

When it is in the adjustment range of the generator torque controller (below the rated wind speed), since the blade angle β is fixed at zero, the partial derivative of the aerodynamic load with respect to the blade angle β is equal to zero, formulas (2), (3) can be further simplified to:

T _osc =T _V ·ΔV+T _Ω ·ΔΩ(7)

Q _osc ＝ _V ·ΔV+ _QΩ ·ΔΩ(8)

Combine formulas (6) and (8) to get:

Will The expressions of ΔV, ΔΩ are substituted into formula (9), and simplified to get:

In order to ensure that formula (10) holds true at any time, the corresponding coefficients of the sine term and cosine term on both sides of the equation need to be equal, so that the following equations can be obtained:

Solving the above equations can solve the undetermined parameters a, b:

Substitute formula (12) into (5) and combine with formulas (4) and (7) to get:

According to formula (13), it can be found that in the adjustment interval of the generator torque controller, the aerodynamic additional mass coefficient and aerodynamic damping coefficient can be expressed as:

When it is in the adjustment range of the pitch controller (when it is higher than the rated wind speed), the blade angle will be dynamically adjusted, and the change of the blade angle satisfies:

where Δω _f represents the angular velocity of the low-speed shaft, which is equal to the rotational angular velocity of the impeller; K _p and K _i respectively represent the proportional gain and the integral gain, both of which are functions of the blade angle β, which can be obtained through the gain value at zero blade angle and The gain correction factor is used to determine the gain value at other blade angles β.

Combine formulas (6) and (3) to get:

Also assuming that the change of impeller speed still has a simple harmonic form and satisfies formula (5), substituting formula (5) into formula (15) can be obtained:

Will Substituting the expressions of ΔV, ΔΩ, Δβ into the formula (16), we can get:

In order to ensure that formula (18) holds true at any time, the corresponding coefficients of the sine term and cosine term on both sides of the equation need to be equal, so that the following equations can be obtained:

Solving the above equations can solve the undetermined parameters a, b:

Substitute formula (20) into (5) and combine with formulas (2) and (4) to get:

According to formula (21), it can be found that in the adjustment interval of the pitch controller, the aerodynamic additional mass coefficient and aerodynamic damping coefficient can be expressed as:

In one embodiment, after the aerodynamic added mass coefficient and the aerodynamic damping coefficient are determined, the aerodynamic added mass and the aerodynamic damping can be calculated. In one embodiment, the aerodynamic additional mass and aerodynamic damping of the floating fan in the direction of surge and pitch can be approximately expressed as:

In the formula, h represents the vertical distance between the nacelle and the motion reference point. Here, it is assumed that the pitching motion of the floating wind turbine is within 10deg, so h is approximately equal to the height of the propeller hub.

Formula (23) is only an example of calculating the aerodynamic additional mass and aerodynamic damping, and other methods known in the art can also be used to calculate the aerodynamic additional mass and aerodynamic damping using the aerodynamic additional mass coefficient and aerodynamic damping coefficient obtained in the present invention. In one embodiment, on the basis of establishing the nacelle-tower-floating foundation rigid-flexible coupling finite element model, the aerodynamic additional mass and aerodynamic damping can be applied to the nacelle to realize the effect of aerodynamic additional mass and aerodynamic damping on the power of the floating wind turbine. Response evaluation. The present application may calculate the aerodynamic additional mass and aerodynamic damping of the floating fan based on any known method based on the aerodynamic additional mass coefficient and the aerodynamic damping coefficient, without being limited to the method described above.

Based on the derived analytical expressions, the aerodynamic additional mass and aerodynamic damping of different megawatt floating wind turbines at different average wind speeds and different motion frequencies can be calculated. And using this method, the basic characteristics of aerodynamic additional mass and aerodynamic damping can be easily obtained, including: monotonicity, minimum value, maximum value, etc., as shown in Table 1 below:

Table 1 Basic characteristics of aerodynamic additional mass and aerodynamic damping

In the process of deriving the explicit analytical expressions of the aerodynamic additional mass and aerodynamic damping of the floating fan, the dynamic effects of the controller and the influence of different motion frequencies are considered, which is one of the main differences from the existing theoretical methods.

Based on the above calculations, the aerodynamic added mass and/or aerodynamic damping can be further used to evaluate the design of the floating wind turbine. For example, the frequency-domain dynamic response analysis of floating wind turbines can be improved based on the aerodynamic additional mass and/or aerodynamic damping, and the aerodynamic additional mass and/or aerodynamic damping can be effectively considered in the preliminary design stage of the foundation platform and mooring system of the floating wind turbine. The influence of aerodynamic additional mass and/or aerodynamic damping on the foundation platform and the main dimensions of the mooring system can effectively consider the aerodynamic additional mass and/or aerodynamic damping on the overall dynamic response of the system near the rated working condition of the fan, and so on.

Fig. 1 is a flowchart of a frequency domain simulation method 100 for a floating wind turbine according to an embodiment.

At step 102, an average wind speed of one working condition to be simulated in at least one working condition to be simulated may be received. The average wind speed is the average wind speed received by the impeller of the floating fan.

At step 104, control parameters of the floating wind turbine at an average wind speed may be determined. The control parameters may include impeller speed, blade angle, proportional gain and integral gain, wherein the impeller speed and blade angle are determined based on the average wind speed, and the proportional gain and integral gain are determined based on the blade angle. For example, the gain values at other blade angles can be determined through the gain value at zero blade angle and the gain correction factor.

At step 106, blade parameters and moments of inertia of the floating wind turbine may be determined. Blade parameters may be determined based on shape characteristics of the blade. Blade parameters may include blade radial chord, radial twist angle, and airfoil lift-drag coefficient. The moment of inertia may include the moment of inertia of the impeller and the moment of inertia of the generator. Given the design of a floating wind turbine, its moment of inertia is known.

Although step 106 is shown as following step 104, the invention is not limited to this illustration. The order of step 106 can be changed, as required, step 106 can occur at any point in time, for example, before step 102, between step 102 and step 104, concurrently with step 102, concurrently with step 104, etc.

At step 108, the first partial derivative of the aerodynamic load of the floating fan may be calculated based on the blade parameters and the control parameters. The first partial derivatives of aerodynamic loads may include first partial derivatives of aerodynamic thrust and aerodynamic torque with respect to mean wind speed, rotor speed, and blade angle.

In one embodiment, calculating the first partial derivative of the aerodynamic load of the floating fan based on the blade parameters and control parameters of the floating fan may include: calculating the aerodynamic load of the floating fan with respect to the blade parameters and control parameters; and calculating the aerodynamic load with respect to the aerodynamic load The first partial derivative of the load.

In one embodiment, the aerodynamic load of the floating fan can be calculated for the blade parameters and the control parameters based on the blade element momentum theory. In other embodiments, the aerodynamic load of the floating fan can be calculated for blade parameters and control parameters based on methods such as eddy current theory and computational fluid dynamics.

In one embodiment, the first partial derivative of the aerodynamic loads may be calculated for the aerodynamic loads using a central difference method.

At step 110, the corresponding relationship between the aerodynamic damping coefficient of the floating fan and the motion frequency of the floating fan can be determined based on the first partial derivative of the aerodynamic load, the proportional gain, the integral gain and the moment of inertia. The aerodynamic damping coefficient is related to the speed of the reciprocating motion of the floating fan.

In one embodiment, the reciprocating motion can be assumed to be the forced simple harmonic motion of the floating fan under the action of steady wind.

In one embodiment, when the average wind speed is higher than the rated wind speed of the floating fan, the following formula can be used to determine the corresponding relationship between the aerodynamic damping coefficient of the floating fan and the motion frequency of the floating fan at the average wind speed:

Among them, _aer represents the aerodynamic damping coefficient, ω represents the motion frequency, V, Ω, β represent the average wind speed, impeller speed and blade angle respectively, T _V , T _Ω , T _β , Q _V , Q _Ω , Q _β represent the aerodynamic The first-order partial derivatives of thrust and aerodynamic torque with respect to the average wind speed, impeller speed and blade angle, K _p and _Ki represent the proportional gain and integral gain, respectively, and I _d represents the moment of inertia.

In one embodiment, when the average wind speed is lower than the rated wind speed of the floating fan, the blade angle, proportional gain and integral gain are zero, and the aerodynamic damping coefficient and floating The corresponding relationship between the movement frequency of the fan:

Among them, _aer represents the aerodynamic damping coefficient, ω represents the motion frequency, V and Ω represent the average wind speed and impeller speed respectively, T _V , T _Ω , Q _V , Q _Ω represent the ratio of aerodynamic thrust and aerodynamic torque to the average wind speed and impeller speed respectively Order partial derivative, I _d represents moment of inertia.

In one embodiment, by executing the method 100 at a plurality of average wind speeds corresponding to each of the plurality of operating conditions to be simulated, the speed of the floating wind turbine at different average wind speeds and different motion frequencies can be determined. Aerodynamic damping coefficient. Based on the corresponding relationship between the aerodynamic damping coefficient and different average wind speeds and different motion frequencies, the design of floating wind turbines can be further evaluated.

Fig. 2 is a flowchart of a frequency domain simulation method 200 for a floating wind turbine according to an embodiment.

Steps 202 to 210 are the same as steps 102 to 110 in the method 100 described with reference to FIG. 1 . To avoid redundancy, the specific details of steps 202 to 210 are not repeated here.

At step 212, the aerodynamic damping of the floating wind turbine may be calculated based on the aerodynamic damping coefficient. In one embodiment, the aerodynamic damping of the floating fan can be calculated based on the aerodynamic damping coefficient by formula (23). In one embodiment, based on the rigid-flexible coupling finite element model of the nacelle-tower-floating foundation, the aerodynamic damping can be applied to the nacelle to realize the evaluation of the dynamic response of the floating wind turbine by the aerodynamic damping. The present application may calculate the aerodynamic damping of the floating wind turbine based on the aerodynamic damping coefficient based on any known method, not limited to the method described above.

In one embodiment, by executing the method 200 at multiple average wind speeds corresponding to each of the multiple working conditions to be simulated, the speed of the floating wind turbine at different average wind speeds and different motion frequencies can be determined. Aerodynamic damping. Based on the corresponding relationship between aerodynamic damping and different average wind speeds and different motion frequencies, the design of floating wind turbines can be further evaluated.

Fig. 3 is a flowchart of a frequency domain simulation method 300 for a floating wind turbine according to an embodiment.

At step 302, an average wind speed of one working condition to be simulated in at least one working condition to be simulated may be received. The average wind speed is the average wind speed received by the impeller of the floating fan.

At step 304, control parameters of the floating wind turbine at an average wind speed may be determined. The control parameters may include impeller speed, blade angle, proportional gain and integral gain, wherein the impeller speed and blade angle are determined based on the average wind speed, and the proportional gain and integral gain are determined based on the blade angle. For example, the gain values at other blade angles can be determined through the gain value at zero blade angle and the gain correction factor.

At step 306, blade parameters and moments of inertia of the floating wind turbine may be determined. Blade parameters may be determined based on shape characteristics of the blade. Blade parameters may include blade radial chord, radial twist angle, and airfoil lift-drag coefficient. The moment of inertia may include the moment of inertia of the impeller and the moment of inertia of the generator. Given the design of a floating wind turbine, its moment of inertia is known.

Although step 306 is shown as following step 304, the invention is not limited to this illustration. The order of step 306 can be changed, as required, step 306 can occur at any point in time, for example, before step 302, between step 302 and step 304, concurrently with step 302, concurrently with step 304, and so on.

At step 308, the first partial derivative of the aerodynamic load of the floating fan may be calculated based on the blade parameters and the control parameters. The first partial derivatives of aerodynamic loads may include first partial derivatives of aerodynamic thrust and aerodynamic torque with respect to mean wind speed, rotor speed, and blade angle.

In one embodiment, calculating the first partial derivative of the aerodynamic load of the floating fan based on the blade parameters and control parameters of the floating fan may include: calculating the aerodynamic load of the floating fan with respect to the blade parameters and control parameters; and calculating the aerodynamic load with respect to the aerodynamic load The first partial derivative of the load.

In one embodiment, the aerodynamic load of the floating fan can be calculated for the blade parameters and the control parameters based on the blade element momentum theory. In other embodiments, the aerodynamic load of the floating fan can be calculated for blade parameters and control parameters based on methods such as eddy current theory and computational fluid dynamics.

In one embodiment, the first partial derivative of the aerodynamic loads may be calculated for the aerodynamic loads using a central difference method.

At step 310, based on the first partial derivative of the aerodynamic load, the proportional gain, the integral gain and the moment of inertia, the correspondence between the aerodynamic additional mass coefficient and the aerodynamic damping coefficient of the floating fan and the motion frequency of the floating fan can be determined under the average wind speed relation. The aerodynamic additional mass coefficient is related to the acceleration of the reciprocating motion of the floating fan, and the aerodynamic damping coefficient is related to the speed of the reciprocating motion of the floating fan.

In one embodiment, the reciprocating motion can be assumed to be the forced simple harmonic motion of the floating fan under the action of steady wind.

In one embodiment, when the average wind speed is higher than the rated wind speed of the floating fan, the formula (22) described above can be used to determine the difference between the aerodynamic additional mass coefficient and aerodynamic damping coefficient of the floating fan and the floating fan at the average wind speed. Correspondence between the movement frequency of the fan.

In one embodiment, when the average wind speed is lower than the rated wind speed of the floating fan, the blade angle, proportional gain and integral gain are zero, which can be determined by formula (14) described above. The corresponding relationship between the aerodynamic additional mass coefficient and aerodynamic damping coefficient of the floating fan.

In one embodiment, by executing the method 300 at a plurality of average wind speeds corresponding to each of the plurality of operating conditions to be simulated, the speed of the floating wind turbine at different average wind speeds and different motion frequencies can be determined. Aerodynamic additional mass coefficient and aerodynamic damping coefficient. Based on the corresponding relationship between the aerodynamic additional mass coefficient and aerodynamic damping coefficient with different average wind speeds and different motion frequencies, the design of floating wind turbines can be further evaluated.

Fig. 4 is a flowchart of a frequency domain simulation method 400 for a floating wind turbine according to an embodiment.

Steps 402 to 410 are the same as steps 302 to 310 in the method 300 described with reference to FIG. 3 . To avoid redundancy, the specific details of steps 402 to 410 are not repeated here.

At step 412, the aerodynamic added mass of the floating wind turbine may be calculated based on the aerodynamic added mass coefficient, and the aerodynamic damping of the floating wind turbine may be calculated based on the aerodynamic damping coefficient. In one embodiment, the aerodynamic additional mass and aerodynamic damping of the floating fan can be calculated based on the aerodynamic additional mass coefficient and the aerodynamic damping coefficient through formula (23). In one embodiment, on the basis of establishing the nacelle-tower-floating foundation rigid-flexible coupling finite element model, the aerodynamic additional mass and aerodynamic damping can be applied to the nacelle to realize the effect of aerodynamic additional mass and aerodynamic damping on the power of the floating wind turbine. Response evaluation. The present application may calculate the aerodynamic additional mass and aerodynamic damping of the floating fan based on any known method based on the aerodynamic additional mass coefficient and the aerodynamic damping coefficient, without being limited to the method described above.

In one embodiment, by executing the method 400 at a plurality of average wind speeds corresponding to each of the plurality of operating conditions to be simulated, the speed of the floating wind turbine at different average wind speeds and different motion frequencies can be determined. Aerodynamic additional mass and aerodynamic damping. Based on the corresponding relationship between aerodynamic additional mass and aerodynamic damping with different average wind speeds and different motion frequencies, the design of floating wind turbines can be further evaluated.

Fig. 5 is a block diagram of a frequency domain simulation system 500 for a floating wind turbine according to an embodiment. The system 500 may include a receiving module 502 , a control parameter determining module 504 , a blade parameter and moment of inertia determining module 506 , an aerodynamic load first partial derivative calculating module 508 and a coefficient determining module 510 .

The receiving module 502 may be configured to receive an average wind speed of one working condition to be simulated in at least one working condition to be simulated. The average wind speed is the average wind speed received by the impeller of the floating fan.

The control parameter determination module 504 can be used to determine the control parameters of the floating wind turbine at the average wind speed. The control parameters may include impeller speed, blade angle, proportional gain and integral gain, wherein the impeller speed and blade angle are determined based on the average wind speed, and the proportional gain and integral gain are determined based on the blade angle. For example, the gain values at other blade angles can be determined through the gain value at zero blade angle and the gain correction factor.

The blade parameter and moment of inertia determination module 506 can be used to determine the blade parameters and moment of inertia of the floating fan.

Blade parameters may be determined based on shape characteristics of the blade. Blade parameters may include blade radial chord, radial twist angle, and airfoil lift-drag coefficient. The moment of inertia may include the moment of inertia of the impeller and the moment of inertia of the generator. Given the design of a floating wind turbine, its moment of inertia is known.

Although the blade parameter and moment of inertia determination module 506 is shown coupled between the control parameter determination module 504 and the aerodynamic load first partial derivative calculation module 508, the invention is not limited to this illustration. The position of the blade parameter and moment of inertia determination module 506 can be changed, and the blade parameter and moment of inertia determination module 506 can be located at any position, for example, before the receiving module 502, between the receiving module 502 and the control parameter determining module 504 etc.

The first-order partial derivative calculation module 508 of the aerodynamic load can be used to calculate the first-order partial derivative of the aerodynamic load of the floating fan based on the blade parameters and the control parameters. The first partial derivatives of aerodynamic loads may include first partial derivatives of aerodynamic thrust and aerodynamic torque with respect to mean wind speed, rotor speed, and blade angle.

In one embodiment, calculating the first partial derivative of the aerodynamic load of the floating fan based on the blade parameters and control parameters of the floating fan may include: calculating the aerodynamic load of the floating fan with respect to the blade parameters and control parameters; and calculating the aerodynamic load with respect to the aerodynamic load The first partial derivative of the load.

In one embodiment, the aerodynamic load of the floating fan can be calculated for the blade parameters and the control parameters based on the blade element momentum theory. In other embodiments, the aerodynamic load of the floating fan can be calculated for blade parameters and control parameters based on methods such as eddy current theory and computational fluid dynamics.

In one embodiment, the first partial derivative of the aerodynamic loads may be calculated for the aerodynamic loads using a central difference method.

The coefficient determination module 510 can be used to determine the corresponding relationship between the aerodynamic damping coefficient of the floating fan and the motion frequency of the floating fan at the average wind speed based on the first partial derivative of the aerodynamic load, the proportional gain, the integral gain and the moment of inertia. The aerodynamic damping coefficient is related to the speed of the reciprocating motion of the floating fan.

In one embodiment, the reciprocating motion can be assumed to be the forced simple harmonic motion of the floating fan under the action of steady wind.

In one embodiment, when the average wind speed is higher than the rated wind speed of the floating fan, the coefficient determination module 510 can be used to determine the correspondence between the aerodynamic damping coefficient of the floating fan and the motion frequency of the floating fan at the average wind speed by the following formula relation:

Among them, _aer represents the aerodynamic damping coefficient, ω represents the motion frequency, V, Ω, β represent the average wind speed, impeller speed and blade angle respectively, T _V , T _Ω , T _β , Q _V , Q _Ω , Q _β represent the aerodynamic The first-order partial derivatives of thrust and aerodynamic torque with respect to the average wind speed, impeller speed and blade angle, K _p and _Ki represent the proportional gain and integral gain, respectively, and I _d represents the moment of inertia.

In one embodiment, when the average wind speed is lower than the rated wind speed of the floating fan, the blade angle, proportional gain and integral gain are zero, and the coefficient determination module 510 can be used to determine the average wind speed of the floating fan by the following formula The corresponding relationship between the aerodynamic damping coefficient and the motion frequency of the floating fan:

Among them, _aer represents the aerodynamic damping coefficient, ω represents the motion frequency, V and Ω represent the average wind speed and impeller speed respectively, T _V , T _Ω , Q _V , Q _Ω represent the ratio of aerodynamic thrust and aerodynamic torque to the average wind speed and impeller speed respectively Order partial derivative, I _d represents moment of inertia.

Fig. 6 is a block diagram of a frequency domain simulation system 600 for a floating wind turbine according to an embodiment. The system 600 may include a receiving module 602 , a control parameter determination module 604 , a blade parameter and moment of inertia determination module 606 , an aerodynamic load first partial derivative calculation module 608 , a coefficient determination module 610 , and a calculation module 612 .

The receiving module 602 to the coefficient determining module 610 are the same as the receiving module 502 to the coefficient determining module 510 in the system 500 described with reference to FIG. 5 . To avoid redundancy, the specific details of the receiving module 602 to the coefficient determining module 610 will not be repeated here.

The calculation module 612 can be used to calculate the aerodynamic damping of the floating wind turbine based on the aerodynamic damping coefficient. In one embodiment, the aerodynamic damping of the floating fan can be calculated based on the aerodynamic damping coefficient by formula (23). In one embodiment, based on the rigid-flexible coupled finite element model of the nacelle-tower-floating foundation, the aerodynamic damping can be applied to the nacelle to realize the evaluation of the dynamic response of the floating wind turbine to the aerodynamic additional mass and aerodynamic damping. The present application may calculate the aerodynamic damping of the floating wind turbine based on the aerodynamic damping coefficient based on any known method, not limited to the method described above.

Fig. 7 is a block diagram of a frequency domain simulation system 700 for a floating wind turbine according to an embodiment. The system 700 may include a receiving module 702 , a control parameter determining module 704 , a blade parameter and moment of inertia determining module 706 , an aerodynamic load first partial derivative calculating module 708 and a coefficient determining module 710 .

The receiving module 702 may be configured to receive an average wind speed of one working condition to be simulated in at least one working condition to be simulated. The average wind speed is the average wind speed received by the impeller of the floating fan.

The control parameter determination module 704 can be used to determine the control parameters of the floating wind turbine at the average wind speed. The control parameters may include impeller speed, blade angle, proportional gain and integral gain, wherein the impeller speed and blade angle are determined based on the average wind speed, and the proportional gain and integral gain are determined based on the blade angle. For example, the gain values at other blade angles can be determined through the gain value at zero blade angle and the gain correction factor.

The blade parameter and moment of inertia determination module 706 can be used to determine the blade parameters and moment of inertia of the floating wind turbine.

Blade parameters may be determined based on shape characteristics of the blade. Blade parameters may include blade radial chord, radial twist angle, and airfoil lift-drag coefficient. The moment of inertia may include the moment of inertia of the impeller and the moment of inertia of the generator. Given the design of a floating wind turbine, its moment of inertia is known.

Although the blade parameter and moment of inertia determination module 706 is shown coupled between the control parameter determination module 704 and the aerodynamic load first partial derivative calculation module 708, the invention is not limited to this illustration. The position of the blade parameter and moment of inertia determination module 706 can be changed. According to the needs, the blade parameter and moment of inertia determination module 706 can be located in any position, for example, before the receiving module 702, between the receiving module 702 and the control parameter determining module 704 etc.

The first-order partial derivative calculation module 708 of the aerodynamic load can be used to calculate the first-order partial derivative of the aerodynamic load of the floating fan based on the blade parameters and the control parameters. The first partial derivatives of aerodynamic loads may include first partial derivatives of aerodynamic thrust and aerodynamic torque with respect to mean wind speed, rotor speed, and blade angle.

In one embodiment, calculating the first partial derivative of the aerodynamic load of the floating fan based on the blade parameters and control parameters of the floating fan may include: calculating the aerodynamic load of the floating fan with respect to the blade parameters and control parameters; and calculating the aerodynamic load with respect to the aerodynamic load The first partial derivative of the load.

In one embodiment, the aerodynamic load of the floating fan can be calculated for the blade parameters and the control parameters based on the blade element momentum theory. In other embodiments, the aerodynamic load of the floating fan can be calculated for blade parameters and control parameters based on methods such as eddy current theory and computational fluid dynamics.

In one embodiment, the first partial derivative of the aerodynamic loads may be calculated for the aerodynamic loads using a central difference method.

The coefficient determination module 710 can be used to determine the correspondence between the aerodynamic additional mass coefficient and the aerodynamic damping coefficient of the floating fan and the motion frequency of the floating fan at the average wind speed based on the first partial derivative of the aerodynamic load, the proportional gain, the integral gain and the moment of inertia relation. The aerodynamic additional mass coefficient is related to the acceleration of the reciprocating motion of the floating fan, and the aerodynamic damping coefficient is related to the speed of the reciprocating motion of the floating fan.

In one embodiment, the reciprocating motion can be assumed to be the forced simple harmonic motion of the floating fan under the action of steady wind.

In one embodiment, when the average wind speed is higher than the rated wind speed of the floating fan, the coefficient determination module 710 can be used to determine the aerodynamic additional mass coefficient and the aerodynamic additional mass coefficient of the floating fan at the average wind speed through the formula (22) described above. The corresponding relationship between the damping coefficient and the motion frequency of the floating fan.

In one embodiment, when the average wind speed is lower than the rated wind speed of the floating wind turbine, the blade angle, proportional gain and integral gain are zero, and the coefficient determination module 710 can be used to determine the average wind speed Below, the corresponding relationship between the aerodynamic additional mass coefficient and aerodynamic damping coefficient of the floating fan and the motion frequency of the floating fan.

Fig. 8 is a block diagram of a frequency domain simulation system 800 for a floating wind turbine according to an embodiment. The system 800 may include a receiving module 802 , a control parameter determination module 804 , a blade parameter and moment of inertia determination module 806 , an aerodynamic load first partial derivative calculation module 808 , a coefficient determination module 810 , and a calculation module 812 .

The receiving module 802 to the coefficient determining module 810 are the same as the receiving module 702 to the coefficient determining module 710 in the system 700 described with reference to FIG. 7 . To avoid redundancy, the specific details of the receiving module 802 to the coefficient determining module 810 will not be repeated here.

The calculation module 812 can be used to calculate the aerodynamic additional mass of the floating fan based on the aerodynamic additional mass coefficient, and calculate the aerodynamic damping of the floating fan based on the aerodynamic damping coefficient. In one embodiment, the aerodynamic additional mass and aerodynamic damping of the floating fan can be calculated based on the aerodynamic additional mass coefficient and the aerodynamic damping coefficient through formula (23). In one embodiment, on the basis of establishing the nacelle-tower-floating foundation rigid-flexible coupling finite element model, the aerodynamic additional mass and aerodynamic damping can be applied to the nacelle to realize the effect of aerodynamic additional mass and aerodynamic damping on the power of the floating wind turbine. Response evaluation. The present application may calculate the aerodynamic additional mass and aerodynamic damping of the floating fan based on any known method based on the aerodynamic additional mass coefficient and the aerodynamic damping coefficient, without being limited to the method described above.

Taking the 10 MW class OO-Star semi-submersible floating fan as an example, under three different average wind speeds, the aerodynamic additional mass coefficient and aerodynamic additional mass coefficient and aerodynamic Calculation result of damping coefficient.

Fig. 9, Fig. 10, and Fig. 11 are comparison charts of aerodynamic additional mass coefficient and aerodynamic damping coefficient under the average wind speeds of 13m/s, 19m/s, and 25m/s respectively according to the embodiment. The relationship between the frequency f on the horizontal axis and the motion frequency ω is ω=2πf. Since the frequency of the wind load is low, it is easier to identify the contribution of low-frequency components by using the frequency f to highlight the differences between the calculation results of different methods.

The fully coupled time-domain simulation considers nonlinear coupling effects such as aerodynamics-hydrodynamics-structure-mooring-servo control, so it can be regarded as the most accurate method for calculating the aerodynamic additional mass and aerodynamic damping of floating fans. However, the time required for full-coupling time-domain simulation is relatively long. Under the condition of fixed wind speed, the total time required for the calculation of aerodynamic additional mass and aerodynamic damping at different frequencies is about 12 hours, while the time required for the method proposed by the present invention is only It is 1.8s. According to the results in Figs. 9-11, it can be seen that the accuracy difference between the fully coupled time-domain simulation method and the method proposed by the present invention is small. Although the calculation accuracy of the fully coupled time-domain simulation method is the most satisfactory, the calculation period of this method is long, and for different research objects, remodeling is required, which makes this method not universal. In contrast, the method proposed by the present invention greatly shortens the forecast period under the premise of acceptable accuracy, and can be applied to the calculation of aerodynamic additional mass and aerodynamic damping of floating fans of different megawatt-level fans, and is more universal. fitness.

Through comparison, it can be found that the aerodynamic additional mass effect cannot be considered because the simplified calculation method does not consider the influence of the dynamic effect of the controller, which is contrary to the actual situation. At the same time, the aerodynamic damping predicted by the simplified calculation method does not vary with frequency. At a wind speed of 13m/s, when the system moves at a lower frequency, the aerodynamic damping predicted by the simplified calculation method is quite different from the results of the fully coupled time-domain simulation; , there is a significant deviation between the aerodynamic damping predicted by the simplified calculation method and the fully coupled time-domain simulation results in the entire frequency range.

On the whole, the method proposed by the present invention has a good consistency with the fully coupled time-domain simulation prediction results, especially in the case of high wind speed. The comparison with the fully coupled time-domain simulation results shows that, under the premise of acceptable accuracy, the method proposed by the present invention can increase the calculation efficiency of the aerodynamic additional mass and aerodynamic damping of the floating fan by 23665 times. Compared with the simplified calculation method, the method proposed by the invention improves the prediction accuracy of the aerodynamic additional mass and aerodynamic damping of the floating fan under the consideration of the dynamic effect of the controller and the influence of different motion frequencies.

With the help of the method proposed by the invention, the influence of different motion frequencies on the aerodynamic additional mass and aerodynamic damping can be studied under a fixed wind speed. Taking the 10 MW class OO-Star semi-submersible floating fan as an example, the aerodynamic additional mass coefficient and aerodynamic damping coefficient that vary with the movement frequency are calculated under three different average wind speeds.

Fig. 12 is a comparison chart of aerodynamic additional mass coefficient and aerodynamic damping coefficient under average wind speeds of 7m/s, 11.4m/s, and 20m/s according to the embodiment. Figure 12 shows that under the condition of low wind speed, there is a nonlinear relationship between the aerodynamic additional mass and aerodynamic damping and the motion frequency, especially under the condition of rated wind speed, the nonlinearity is very significant. However, under the condition of higher wind speed, the relationship between the aerodynamic additional mass and aerodynamic damping and the motion frequency is approximately linear.

To sum up, the present invention proposes a frequency-domain simulation method for a floating fan in consideration of the dynamic effects of the controller of the floating fan and the influence of different motion frequencies, which can be used to calculate the aerodynamic damping coefficient and/or the aerodynamic additional mass coefficient, While improving the calculation accuracy, the calculation time is greatly shortened.

Reference throughout this specification to "one embodiment" or "an embodiment" means that a particular feature, structure, or characteristic described in connection with the embodiment is included in at least one embodiment of the present invention. Thus, appearances of the phrases "in one embodiment" or "in an embodiment" in various places throughout this specification are not necessarily all referring to the same embodiment, but may instead be referring to the same embodiment. Furthermore, the particular features, structures or characteristics may be combined in any suitable manner, as would be apparent to one of ordinary skill in the art from this disclosure, in one or more embodiments.

Similarly, it should be appreciated that in describing exemplary embodiments of the invention, various features of the invention are sometimes grouped together for the purpose of streamlining the disclosure and assisting an understanding of one or more of the various inventive aspects. grouped in a single embodiment, figure or description thereof. This method of disclosure, however, is not to be interpreted as reflecting an intention that the claimed invention requires more features than are expressly recited in each claim. Rather, as the following claims reflect, inventive aspects lie in less than all features of a single foregoing disclosed embodiment. Thus, the following claims of the invention are hereby expressly incorporated into this Detailed Description, with each claim standing on its own as a separate embodiment of this invention.

Furthermore, although some embodiments described herein include some features included in other embodiments but not others, combinations of features from different embodiments are intended to fall within the scope of the invention , and form different embodiments as will be understood by those skilled in the art. For example, in the appended claims, any of the claimed embodiments may be used in any combination.

A module as used herein refers to any combination of hardware, software, and/or firmware. As an example, a module includes hardware, such as a microcontroller, associated with a non-transitory medium for storing code adapted to be executed by the microcontroller. Thus, in one implementation, a reference to a module refers to hardware that is specifically configured to recognize and/or execute code to be stored on a non-transitory medium. Also, in another implementation, the use of a module refers to a non-transitory medium comprising code specifically adapted to be executed by a microcontroller to perform predetermined operations. And as may be inferred, in yet another implementation, the term module may refer to a combination of a microcontroller and a non-transitory medium. In general, the boundaries of modules that are illustrated as separate may vary and potentially overlap. For example, a first module and a second module may share hardware, software, firmware, or a combination thereof, while potentially retaining some independent hardware, software, or firmware.

Portions of the various embodiments may be provided as a computer program product, which may include a computer-readable medium having stored thereon computer program instructions that may be used to control a computer (or other electronic device) Programmed for execution by one or more processors to perform processes in accordance with certain embodiments. Computer readable media may include, but are not limited to, magnetic disks, optical disks, read only memory (ROM), random access memory (RAM), erasable programmable read only memory (EPROM), electrically erasable programmable read only memory (EEPROM), magnetic or optical cards, flash memory, or other types of computer-readable media suitable for storing electronic instructions. Furthermore, embodiments may also be downloaded as a computer program product, where the program may be transferred from a remote computer to a requesting computer. In some embodiments, a non-transitory computer-readable storage medium has stored thereon data representing sequences of instructions that, when executed by a processor, cause the processor to perform certain operations.

Embodiments of the mechanisms disclosed herein may be implemented in hardware, software, firmware, or a combination of such implementations. Embodiments of the invention may be implemented as computer programs or program code executing on a programmable system comprising at least one processor, memory system (including volatile and non-volatile memory and/or storage elements) , at least one input device, and at least one output device.

It will be apparent to those skilled in the art that various modifications and variations can be made to the above-described exemplary embodiments of the present invention without departing from the spirit and scope of the invention. Thus, it is intended that the present invention cover the modifications and variations of this invention that come within the scope of the appended claims and their equivalents.

Claims (10)

1. A frequency domain simulation method for a floating fan, comprising:

receiving an average wind speed of one working condition to be simulated in at least one working condition to be simulated;

determining control parameters of the floating fan at the average wind speed, wherein the control parameters comprise impeller rotating speed, blade angle, proportional gain and integral gain, wherein the impeller rotating speed and the blade angle are determined based on the average wind speed, and the proportional gain and the integral gain are determined based on the blade angle;

Determining blade parameters and rotational inertia of the floating fan, wherein the blade parameters are determined based on shape characteristics of the blades, the blade parameters comprise radial chord lengths, radial torsion angles and lift resistance coefficients of wing profiles of the blades, and the rotational inertia comprises impeller rotational inertia and generator rotational inertia;

calculating aerodynamic load first order partial derivatives of the floating wind turbine based on the blade parameters and the control parameters, the aerodynamic load first order partial derivatives including first order partial derivatives of aerodynamic thrust and aerodynamic torque with respect to the average wind speed, the impeller speed and the blade angle; and

determining a correspondence of a pneumatic damping coefficient of the floating wind turbine to a frequency of motion of the floating wind turbine at the average wind speed based on the first partial derivative of the pneumatic load, the proportional gain, the integral gain, and the moment of inertia, wherein the pneumatic damping coefficient is related to a speed of reciprocation of the floating wind turbine.

2. The method of claim 1, wherein when the average wind speed is higher than the rated wind speed of the floating wind turbine, determining a correspondence of the aerodynamic damping coefficient of the floating wind turbine to the frequency of movement of the floating wind turbine at the average wind speed by:

Wherein c _aer Represents aerodynamic damping coefficient, ω represents motion frequency, V, Ω, β represents average wind speed, impeller rotation speed and blade angle, T, respectively _V ，T _Ω ，T _β ，Q _V ，Q _Ω ，Q _β Represents the first partial derivatives, K, of the aerodynamic thrust and aerodynamic torque with respect to the average wind speed, the impeller speed and the blade angle, respectively _p And K _i Respectively representing the proportional gain and the integral gain, I _d Representing moment of inertia.

3. The method of claim 1, wherein the blade angle, the proportional gain, and the integral gain are zero when the average wind speed is below a rated wind speed of the floating wind turbine, and wherein the correspondence of the aerodynamic damping coefficient of the floating wind turbine to the frequency of movement of the floating wind turbine at the average wind speed is determined by the following equation:

wherein C is _aer Represents pneumatic damping coefficient, omega represents motion frequency, V, omega represents average wind speed and impeller rotating speed, T respectively _V ，T _Ω ，Q _V ，Q _Ω Respectively representing first partial derivatives of aerodynamic thrust and aerodynamic torque with respect to average wind speed and impeller rotation speed, I _d Representing moment of inertia.

4. The method of any one of claims 1-3, further comprising:

and determining the corresponding relation between the pneumatic additional mass coefficient of the floating fan and the motion frequency of the floating fan at the average wind speed based on the first partial derivative of the pneumatic load, the proportional gain, the integral gain and the moment of inertia, wherein the pneumatic additional mass coefficient is related to the acceleration of the reciprocating motion of the floating fan.

5. The method of claim 4, wherein when the average wind speed is higher than the rated wind speed of the floating wind turbine, determining a correspondence of the aerodynamic additional mass coefficient of the floating wind turbine to the frequency of motion of the floating wind turbine at the average wind speed by:

wherein m is _aer Represents pneumatic additional mass coefficient, omega represents motion frequency, V, omega and beta respectively represent average wind speed, impeller rotating speed and blade angle, T _V ，T _Ω ，T _β ，Q _V ，Q _Ω ，Q _β Represents the first partial derivatives, K, of the aerodynamic thrust and aerodynamic torque with respect to the average wind speed, the impeller speed and the blade angle, respectively _p And K _i Respectively representing the proportional gain and the integral gain, I _d Representing moment of inertia.

6. The method of claim 4, wherein the blade angle, the proportional gain, and the integral gain are zero when the average wind speed is below a rated wind speed of the floating wind turbine, and wherein the correspondence of the aerodynamic additional mass coefficient of the floating wind turbine to the frequency of movement of the floating wind turbine at the average wind speed is determined by the following equation:

wherein m is _aer Represents the pneumatic additional mass coefficient, omega represents the motion frequency, V and omega respectively represent the average wind speed and the impeller rotating speed, T _V ，T _Ω ，Q _V ，Q _Ω Respectively representing first partial derivatives of aerodynamic thrust and aerodynamic torque with respect to average wind speed and impeller rotation speed, I _d Representing moment of inertia.

7. The method as recited in claim 4, further comprising:

calculating the pneumatic damping of the floating fan based on the pneumatic damping coefficient; and

and calculating the pneumatic additional mass of the floating fan based on the pneumatic additional mass coefficient.

8. The method of claim 1, wherein the calculating the first partial derivative of the aerodynamic load of the floating wind turbine based on the blade parameters and the control parameters comprises:

calculating the aerodynamic load of the floating fan for the blade parameters and the control parameters; and

the aerodynamic load first partial derivative is calculated for the aerodynamic load.

9. A computer readable storage medium comprising code which, when executed, causes a computer to perform the method of any of claims 1-8.

10. A computer-implemented system comprising means for performing the method of any of claims 1-8.