海上浮式风力机系统环境载荷及耦合运动性能研究
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摘要
海洋风资源具有风速高、稳定的主导方向及能量收益高等优势。目前，世界上已建成的海上风电场因安装于近海水域，水深较浅，因而采用固定基础作为风力机支撑结构。但近海风资源能量相对深海风能资源而言，能量相对较小且开发区域有限，因而海上浮式风电场建设逐渐成为了海上风电场发展的新方向，海上浮式风力机也成为了国际研究热点。因此，本文以海上浮式风力机系统为研究对象，以空气动力学、水动力学等为理论基础，采用理论推导、数值模拟及模型试验三者相结合的方法，对海上浮式风力机系统的环境载荷及运动耦合问题开展了研究。这对全面深入地掌握海上浮式风力机系统的耦合机理、现象和规律具有重要的指导意义，也为海上浮式风力机系统的总体设计和系统性能分析奠定理论与技术基础。
风力机气动性能研究方面，首先概述了水平轴变桨矩风力机的气动性能特点。然后基于湍流风谱模型描述了海上风电场的湍流特性，采用谐波合成法模拟了海上风电场的湍流风速；基于经典动量叶素理论和动态失速修正、动态尾流模型等计算了定常来流风速与非定常来流风速下的水平轴风力机的气动性能，并且采用PID控制技术对叶片的变速变桨过程进行了仿真。最后将湍流风速模拟、动量叶素理论及修正和控制系统仿真相结合，开发了水平轴变桨矩风力机定常与非定常气动性能（包括功率、载荷等参数）的数值计算程序，并以美国可再生能源实验室提出的5MW风力机为算例，对气动性能进行了模拟，模拟结果与Bladed软件吻合较好，验证了本文计算程序的可靠性。
SPAR水动力性能研究方面，首先采用细长体理论预报了SPAR平台的波浪载荷，考虑了非线性波浪载荷对SPAR的影响，并且每个时间步的波浪载荷都是基于瞬时位置而得到的，然后建立了海上浮式风力机系统时域耦合的非线性运动方程，形成了SPAR浮式平台运动响应的时域预报方法，并以支撑5MW风力机的SPAR式风力机平台为算例，求解了SPAR在规则波和不规则波中的运动响应性能。
风力机-浮式平台-锚泊系统耦合研究方面，主要研究内容与结果如下：
1）首先阐释了浮式平台的运动响应对水平轴风力机的作用规律，分析了浮式平台对风轮载荷、功率等参数的影响规律。分析了波浪诱导的水平轴风力机的气动阻尼对浮式平台运动响应的影响规律。
2）将锚泊系统简化为水平和垂直方向的非线性弹簧来模拟锚泊载荷，弹簧刚度由锚泊系统的静力分析得到。然后，综合风力机气动性能预报程序、浮式平台水动力性能预报程序、锚泊系统模拟的方法，形成了风力机-浮式平台-锚泊系统时域耦合程序。
3）利用耦合程序，探索了风力机-浮式平台-锚泊系统之间的耦合机理，分析了随机海况条件下风力机功率、载荷及浮式平台的运动响应等参数的耦合特性。
水动力模型试验研究方面，设计了5MW SPAR海上浮式风力机水动力试验模型，给出了海上浮式风力机的水动力性能试验方案。将试验结果与本文计算程序结果对比，吻合较好。试验中，通过对比带垂荡模型和不带垂荡板模型的运动响应测量值，分析了垂荡板对海上浮式风力机垂荡、纵摇等自由度运动性能的作用机理，并将垂荡板的自由衰减阻尼结果应用于理论计算中。
The offshore wind resources have many advantages that the wind speed is high andstable dominant direction, and high energy gain. Currently, due to waters depth is veryshallow in the installation site, wind turbines are supported by fixed infrastructure in theoffshore wind farms which have been built in the world. But offshore wind resource energy inshallow water is relatively small and the development area are limited, so floating offshorewind farm in deep water become a new development direction of offshore wind farms, andfloating offshore wind turbine(FOWT) has become an international research focus. Therefore,as the research object of floating offshore wind turbine, based on aerodynamic, hydrodynamictheory, environment loads of FOWT and coupling motion are studied by the combination oftheoretical analysis, numerical simulation and model test. It has important theoretical andpractical significance for deeply master coupled characteristic, the phenomena and laws offloating offshore wind turbine, and for provide theoretical methods and design techniques fordeveloping reliable platform concept design.
In aerodynamic performance research of wind turbine, firstly, the aerodynamicperformance of the horizontal axis variable-pitch wind turbine are summarized.turbulencecharacteristics of offshore wind farm is described based on wind spectral, turbulent wind ofoffshore wind farm is simulated by means of harmonic synthesis method. Steady and unsteadyaerodynamic performances of horizontal axis wind turbine are calculated by blade elementtheory and dynamic stall, dynamic wake model. Variable-speed and variable-pitch process ofwind turbine are simulated by PID control technology. Finally, numerical calculation programof steady and unsteady aerodynamic performance (including power, load, and otherparameters) for a horizontal axis variable pitch wind turbine are developed by combinationsof the above three methods. The simulation agrees well with the result calculated by Bladedsoftware of a5MW horizontal-axis offshore wind turbine designed by National RenewableEnergy Laboratory.
In SPAR hydrodynamic performance research, wave loads of SPAR platform arepredicted by use of Full Slender Formulation. Considering the influence of SPAR nonlinearwave loads, in each time step, wave loads are based on SPAR instantaneous position. Nonlinear motion equations of FOWT system are established in time domain. Finally,dynamic response of SPAR platform is developed in time-domain. The wave loads anddynamic response of SPAR are predicted by means of my codes under regular and irregularwave.
In coupled research of wind turbine-platform-mooring system, the main research and theresults are as follows:
1) Firstly, the effects on the horizontal axis wind turbine from platform motion areillustrated. The influence laws on Power and other parameters from platform are analyzed.Then variation laws of platform motion response caused by aerodynamic damping ofhorizontal axis wind turbine are analyzed.
2) Mooring system loads are simulated by means of horizontal and vertical nonlinearspring. The spring stiffness is obtained by static analysis of the mooring system. Thenaerodynamic performance prediction program of wind turbine, hydrodynamic performanceprediction program of the platform and mooring system simulation method are integrated,coupled program of wind turbine-platform-mooring system are developed in time domain.
3) By use of the coupling program, coupling characteristic of windturbine-platform-mooring system is investigated and coupling characteristics of power, loadand platform motion response parameter are analyzed under random sea conditions.
In hydrodynamic model test, hydrodynamic model test of5MW SPAR FOWT isdesigned. Hydrodynamic performance model test scheme of FOWT is established and modeltest method of hydrodynamic performance is mastered. Test results agree with results bynumerical simulation. In the test, heave motion response measured value of model withoutheave plate and model with it are compared. heave plate decreased heave and pitch motionresponse. Then free decay damping results of model with heave plate are applied to thenumerical calculation.
风力机气动性能研究方面，首先概述了水平轴变桨矩风力机的气动性能特点。然后基于湍流风谱模型描述了海上风电场的湍流特性，采用谐波合成法模拟了海上风电场的湍流风速；基于经典动量叶素理论和动态失速修正、动态尾流模型等计算了定常来流风速与非定常来流风速下的水平轴风力机的气动性能，并且采用PID控制技术对叶片的变速变桨过程进行了仿真。最后将湍流风速模拟、动量叶素理论及修正和控制系统仿真相结合，开发了水平轴变桨矩风力机定常与非定常气动性能（包括功率、载荷等参数）的数值计算程序，并以美国可再生能源实验室提出的5MW风力机为算例，对气动性能进行了模拟，模拟结果与Bladed软件吻合较好，验证了本文计算程序的可靠性。
SPAR水动力性能研究方面，首先采用细长体理论预报了SPAR平台的波浪载荷，考虑了非线性波浪载荷对SPAR的影响，并且每个时间步的波浪载荷都是基于瞬时位置而得到的，然后建立了海上浮式风力机系统时域耦合的非线性运动方程，形成了SPAR浮式平台运动响应的时域预报方法，并以支撑5MW风力机的SPAR式风力机平台为算例，求解了SPAR在规则波和不规则波中的运动响应性能。
风力机-浮式平台-锚泊系统耦合研究方面，主要研究内容与结果如下：
1）首先阐释了浮式平台的运动响应对水平轴风力机的作用规律，分析了浮式平台对风轮载荷、功率等参数的影响规律。分析了波浪诱导的水平轴风力机的气动阻尼对浮式平台运动响应的影响规律。
2）将锚泊系统简化为水平和垂直方向的非线性弹簧来模拟锚泊载荷，弹簧刚度由锚泊系统的静力分析得到。然后，综合风力机气动性能预报程序、浮式平台水动力性能预报程序、锚泊系统模拟的方法，形成了风力机-浮式平台-锚泊系统时域耦合程序。
3）利用耦合程序，探索了风力机-浮式平台-锚泊系统之间的耦合机理，分析了随机海况条件下风力机功率、载荷及浮式平台的运动响应等参数的耦合特性。
水动力模型试验研究方面，设计了5MW SPAR海上浮式风力机水动力试验模型，给出了海上浮式风力机的水动力性能试验方案。将试验结果与本文计算程序结果对比，吻合较好。试验中，通过对比带垂荡模型和不带垂荡板模型的运动响应测量值，分析了垂荡板对海上浮式风力机垂荡、纵摇等自由度运动性能的作用机理，并将垂荡板的自由衰减阻尼结果应用于理论计算中。
The offshore wind resources have many advantages that the wind speed is high andstable dominant direction, and high energy gain. Currently, due to waters depth is veryshallow in the installation site, wind turbines are supported by fixed infrastructure in theoffshore wind farms which have been built in the world. But offshore wind resource energy inshallow water is relatively small and the development area are limited, so floating offshorewind farm in deep water become a new development direction of offshore wind farms, andfloating offshore wind turbine(FOWT) has become an international research focus. Therefore,as the research object of floating offshore wind turbine, based on aerodynamic, hydrodynamictheory, environment loads of FOWT and coupling motion are studied by the combination oftheoretical analysis, numerical simulation and model test. It has important theoretical andpractical significance for deeply master coupled characteristic, the phenomena and laws offloating offshore wind turbine, and for provide theoretical methods and design techniques fordeveloping reliable platform concept design.
In aerodynamic performance research of wind turbine, firstly, the aerodynamicperformance of the horizontal axis variable-pitch wind turbine are summarized.turbulencecharacteristics of offshore wind farm is described based on wind spectral, turbulent wind ofoffshore wind farm is simulated by means of harmonic synthesis method. Steady and unsteadyaerodynamic performances of horizontal axis wind turbine are calculated by blade elementtheory and dynamic stall, dynamic wake model. Variable-speed and variable-pitch process ofwind turbine are simulated by PID control technology. Finally, numerical calculation programof steady and unsteady aerodynamic performance (including power, load, and otherparameters) for a horizontal axis variable pitch wind turbine are developed by combinationsof the above three methods. The simulation agrees well with the result calculated by Bladedsoftware of a5MW horizontal-axis offshore wind turbine designed by National RenewableEnergy Laboratory.
In SPAR hydrodynamic performance research, wave loads of SPAR platform arepredicted by use of Full Slender Formulation. Considering the influence of SPAR nonlinearwave loads, in each time step, wave loads are based on SPAR instantaneous position. Nonlinear motion equations of FOWT system are established in time domain. Finally,dynamic response of SPAR platform is developed in time-domain. The wave loads anddynamic response of SPAR are predicted by means of my codes under regular and irregularwave.
In coupled research of wind turbine-platform-mooring system, the main research and theresults are as follows:
1) Firstly, the effects on the horizontal axis wind turbine from platform motion areillustrated. The influence laws on Power and other parameters from platform are analyzed.Then variation laws of platform motion response caused by aerodynamic damping ofhorizontal axis wind turbine are analyzed.
2) Mooring system loads are simulated by means of horizontal and vertical nonlinearspring. The spring stiffness is obtained by static analysis of the mooring system. Thenaerodynamic performance prediction program of wind turbine, hydrodynamic performanceprediction program of the platform and mooring system simulation method are integrated,coupled program of wind turbine-platform-mooring system are developed in time domain.
3) By use of the coupling program, coupling characteristic of windturbine-platform-mooring system is investigated and coupling characteristics of power, loadand platform motion response parameter are analyzed under random sea conditions.
In hydrodynamic model test, hydrodynamic model test of5MW SPAR FOWT isdesigned. Hydrodynamic performance model test scheme of FOWT is established and modeltest method of hydrodynamic performance is mastered. Test results agree with results bynumerical simulation. In the test, heave motion response measured value of model withoutheave plate and model with it are compared. heave plate decreased heave and pitch motionresponse. Then free decay damping results of model with heave plate are applied to thenumerical calculation.
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