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工作OKRs/25.6-8 OKR.canvas
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{
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{"id":"8359617e1edc48ba","type":"text","text":"状态指标：\n推进OKR的时候也要关注这些事情，它们是完成OKR的保障。\n\n\n效率状态 green","x":-76,"y":-306,"width":456,"height":347},
{"id":"a4eaccbbfadaaf17","type":"text","text":"# 目标：多体动力学模块完善\n### 每周盘点一下它们\n\n\n关键结果：建模原理、建模方法掌握 （9.2/10）\n\n关键结果：风机多体动力学文献调研情况完成 （5.5/10）\n关键结果：风机模型线性化原理、方法掌握 （7/10）","x":-76,"y":-693,"width":456,"height":347},
{"id":"a4eaccbbfadaaf17","type":"text","text":"# 目标：多体动力学模块完善\n### 每周盘点一下它们\n\n\n关键结果：建模原理、建模方法掌握 （9.2/10）\n\n关键结果：风机多体动力学文献调研情况完成 （5.5/10）\n关键结果：风机模型线性化原理、方法掌握 （7.5/10）","x":-76,"y":-693,"width":456,"height":347},
{"id":"d2c5e076ba6cf7d7","type":"text","text":"# 推进计划\n未来四周计划推进的重要事情\n\n文献调研启动\n\n建模重新推导\n\n\n","x":-600,"y":-306,"width":456,"height":347},
{"id":"82708a439812fdc7","type":"text","text":"# 7月已完成\n\nP1 工况点稳态变形量求解，F=kx\n- 文献调研，初步确定思路 done\n- 推导方程 done\n- 编写组建增广矩阵，求解广义坐标代码 done","x":-220,"y":134,"width":440,"height":560},
{"id":"82708a439812fdc7","type":"text","text":"# 7月已完成\n\nP1 工况点稳态变形量求解，F=kx\n- 文献调研，初步确定思路 done\n- 推导方程 done\n- 编写组建增广矩阵，求解广义坐标代码 done\n- 测试广义坐标到叶片变形量功能 可以变形，气动Cp会改变\n\nP1 职称评审系统填写，材料梳理上传 盖章","x":-220,"y":134,"width":440,"height":560},
{"id":"505acb3e6b119076","type":"text","text":"# 6月已完成\n\n\nP1 结果对比\n- Herowind 带3.5气动与fast3.5对比 相同\n- Herowind 带4.0气动与fast4.0对比 相同\n- Herowind 带hrl气动与fast对比 需气动支持15MW\n- 叶根坐标系转换 \n\t- 叶尖变形量 - 变形向量 dot product 叶根坐标系方向\n\t- 叶片载荷输入量呢 载荷传递在blade mesh.force moment，mesh.orientation = coord_sys.n\n\nP1 Bladed交流问题汇总\n\nP1 模型线性化原理 done\n- Bladed 线性化理论手册 仔细阅读\n- multibody blade transform\n- fast线性化理论\n- 梳理Bladed线性化方法框架\n\n\nP1 编写线性化理论手册 done\nP1 上手Bladed \\ fast 线性化功能，研究OpenFAST线性化实现原理 done","x":-700,"y":134,"width":440,"height":560},
{"id":"30cb7486dc4e224c","type":"text","text":"# 8月已完成\n\n","x":260,"y":134,"width":440,"height":560},
{"id":"c18d25521d773705","type":"text","text":"# 计划\n这周要做的3~5件重要的事情，这些事情能有效推进实现OKR。\n\nP1 必须做。P2 应该做\n\n\nP1 柔性部件 叶片、塔架主动力惯性力算法 主线\n- 变形体动力学 简略看看ing\n- 柔性梁弯曲变形振动学习，主线 \n\t- 广义质量 刚度矩阵及含义\n- 如何静力学求解 \n\t- 基于本构方程 读孟的论文\n\t- normal mode shape 能否使用？\n\t\n- 梳理bladed动力学框架 this week\n\t- 子结构文献阅读\n\t- 叶片模型建模 done\n\nP1 工况点稳态变形量求解，F=kx\n- 测试广义坐标到叶片变形量功能\n- 连接气动测试，存在一个问题，气动是否要用稳态模型\n- 迭代，有限差分？用虚拟时间步来迭代了\nP1 数值扰动+回归的线性化方法原理探究\n\nP1 职称评审系统填写，材料梳理上传 盖章\n\nP2 如何优雅的存储、输出结果。\nP2 yaw 自由度再bug确认 已知原理了\n","x":-597,"y":-693,"width":450,"height":347}
{"id":"c18d25521d773705","type":"text","text":"# 计划\n这周要做的3~5件重要的事情，这些事情能有效推进实现OKR。\n\nP1 必须做。P2 应该做\n\n\nP1 柔性部件 叶片、塔架主动力惯性力算法 主线\n- 变形体动力学 简略看看ing\n- 柔性梁弯曲变形振动学习，主线 \n\t- 广义质量 刚度矩阵及含义\n- 如何静力学求解 \n\t- 基于本构方程 读孟的论文\n\t- normal mode shape 能否使用？\n\t\n- 梳理bladed动力学框架 this week\n\t- 子结构文献阅读\n\t- 叶片模型建模 done\n\nP1 工况点稳态变形量求解，F=kx\n\n- 连接气动测试，完成。存在一个问题，气动是否要用稳态模型\n- 直接迭代到变形量收敛 思路确定了\n- x.qt x.qdt数据如何从dxdt.qdt拿来/更新，预估校正方法\n\n\nP1 数值扰动+回归的线性化方法原理探究\n\n\n\nP2 如何优雅的存储、输出结果。\nP2 yaw 自由度再bug确认 已知原理了\n","x":-597,"y":-693,"width":453,"height":347}
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自主开发基于Python的风电机组叶片气动设计软件，实现稳态叶素动量理论（BEM）方法的全自主实现。该软件在气动性能评估精度上达到行业主流软件Bladed的水平相当，构建高自由度叶片外形控制点体系。采用多目标优化算法确保各叶素截面工作在最优攻角区间。软件架构采用模块化设计思想，集成多线程并行计算框架，显著缩短复杂叶片的优化设计周期。应用于16MW级叶片气动设计，气动性能满足设计要求。
自主开发基于Rust语言的风电机组多体动力学求解器，实现从基础结构到关键柔性部件（叶片、塔架）的全系统建模能力，支持固定式与漂浮式风电机组的多场景仿真。采用多体系统动力学理论建立风电机组各部件（塔架、叶片、机舱等）的运动学与动力学方程，考虑柔性体的模态分解与刚柔耦合效应。该求解器采用完全自主知识产权的算法框架，基于Rust语言的内存安全机制与高性能编译特性，实现代码自主可控，计算精度达到国际主流软件OpenFAST的同等水平。通过理论建模、算法开发实现了多体动力学理论在风电工程中的深度落地。
基于Rust语言，独立开发风电机组多体动力学求解器，实现从基础结构到关键柔性部件（叶片、塔架）的全系统建模能力，支持固定式与漂浮式风电机组的多场景仿真。采用多体系统动力学理论建立风电机组各部件（塔架、机舱、传动链、轮毂、叶片等）的运动学与动力学方程，考虑柔性体的模态分解与刚柔耦合效应。编写yaml文件解析模块，该求解器可使用yaml格式输入文件，实现模型和工况的快速读取。该求解器采用完全自主知识产权的算法框架，基于Rust语言的内存安全机制与高性能编译特性，实现代码自主可控，计算精度达到国际主流软件OpenFAST的同等水平。
基于Rust语言，牵头开发风电机组正常发电工况求解器，使用预估矫正方法实现风电机组整机状态的时间推进，耦合气动、多体、水动模块，同时为控制模块保留接口。能够实现固定式、漂浮式风电机组正常发电工况时域仿真。牵头开发稳态运行工况，稳态停机工况求解器，编写稳态机组变形量计算求解器，基于有限差分方法实现气动、多体耦合迭代，创新性实现稳态运行工况中转速、变桨速度自动查找算法，显著提升稳态工况仿真效率。
基于Python，独立开发风电机组叶片气动外形设计软件，实现稳态叶素动量理论（BEM）方法的全自主实现。该软件在气动性能评估精度上与行业主流软件Bladed水平相当，构建高自由度叶片外形控制点体系。采用多目标优化算法确保各叶素截面工作在最优攻角区间。软件架构采用模块化设计思想，集成多线程并行计算框架，显著缩短复杂叶片的优化设计周期。应用于16MW级叶片气动设计，气动性能满足设计要求。
| 技术报告 | |
| ------------- | --- |
| 软件调研报告 | |
| 气动设计报告 | |
| 气动理论及叶片设计软件开发 | |
| 多体动力学求解器开发手册 | |
| | |
本报告详细介绍了叶片、塔架的模态计算方法，基于多体动力学理论建立塔架、机舱、传动链、轮毂、叶片等刚性、柔性部件的多体动力学公式。基于此报告理论内容，开发了多体动力学求解器，包含每个部件随体坐标系定义，偏速度、偏角速度、加速度求解，力和力矩的求解等函数。同时开发正常发电工况求解器，使用预估校正方法实现风电机组整机状态的时间推进，耦合气动、多体、水动模块，同时为控制模块保留接口。能够实现固定式、漂浮式风电机组正常发电工况时域仿真。因保密原因在报告中隐去软件架构相关内容。该求解器采用完全自主知识产权的算法框架，基于Rust语言的内存安全机制与高性能编译特性，实现代码自主可控，计算精度达到国际主流软件OpenFAST的同等水平。
| 技术报告 | |
| ------------ | --- |
| 软件调研报告 | |
| 气动设计报告 | |
| 多体动力学求解器开发手册 | |

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工作总结/周报/周报86-郭翼泽.docx Normal file
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线性化求解器/计算流程框架.canvas
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{"id":"4a884b5e3feb7e40","type":"text","text":"气动力 = (K结构 + K钢化）q","x":540,"y":-220,"width":250,"height":60},
{"id":"498cc5a9e1e188ac","type":"text","text":"fast中两个K如何求？","x":880,"y":-220,"width":250,"height":60},
{"id":"158be82aaa1bd0b4","type":"text","text":"气动力如何求","x":880,"y":-140,"width":250,"height":60},
{"id":"2a5628f97c424f0d","type":"text","text":"直接去掉$\\dot{q}、\\ddot{q}$项如何","x":1220,"y":-220,"width":250,"height":60},
{"id":"52bb8df9e6cff736","x":1620,"y":-220,"width":250,"height":60,"type":"text","text":"有戏"}
{"id":"2a5628f97c424f0d","type":"text","text":"直接去掉$\\dot{q}、\\ddot{q}$项","x":1220,"y":-220,"width":250,"height":60},
{"id":"0fbf8b3541d79def","x":1540,"y":-220,"width":250,"height":60,"type":"text","text":"形成新的增广矩阵，求解得到q"},
{"id":"799124dab8c18b5d","x":880,"y":-15,"width":250,"height":60,"type":"text","text":"气动+多体耦合迭代至收敛"},
{"id":"fad5bc614aaee083","x":1220,"y":-15,"width":250,"height":60,"type":"text","text":"q = 0 直叶片算气动力"},
{"id":"cc8c72de61dbdb4e","x":1220,"y":98,"width":250,"height":60,"type":"text","text":"算出一个变形量"},
{"id":"c88b095b542d6843","x":1220,"y":200,"width":250,"height":60,"type":"text","text":"气动再计算"},
{"id":"e0c849b33a39c56e","x":1220,"y":300,"width":250,"height":60,"type":"text","text":"结构再算变形量"},
{"id":"f1503269ba230604","x":1220,"y":420,"width":250,"height":60,"type":"text","text":"直至变形量收敛/a a'收敛"},
{"id":"e9c01c636e40c0b3","x":1540,"y":-15,"width":250,"height":60,"type":"text","text":"t=0时刻改进 成 稳态增广矩阵"},
{"id":"45421c5911e8d893","x":1540,"y":98,"width":250,"height":60,"type":"text","text":"能不能算？应该可以"}
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