This paper presents a fully coupled aero-hydro-servo-elastic method to simulate floating offshore wind turbines (FOWT) based on Modelica language and AeroDyn co-simulations. The main features of this method are as follows. (1) The features of Modelica language (equation-based, object-oriented, and hierarchy structure) afford extreme flexibility and efficiency in the modeling process, and wind turbine structures or theoretical methods can be easily upgraded or replaced. (2) AeroDyn, a relatively precise aerodynamic load calculation module, is integrated into the system; thus, the model is more accurate than the previous Modelica library in calculating the responses of FOWTs. First, this paper introduces the theory of the proposed model in Modelica and AeroDyn module to calculate offshore FOWT response. Second, the implementation method for Modelica with AeroDyn is introduced. A dynamic link library (DLL) is programmed as the channel for exchanging data, and a controller to coordinate the stepping relationship between Modelica and AeroDyn is established. Third, code-to-code comparisons are performed based on International Energy Agency (IEA) Wind Task 23 Subtask 2. The results show excellent agreements between the proposed method and FAST in predicting dynamic responses of the rotor, tower, platform, and mooring system under both steady and turbulent winds combined with wave conditions. Finally, a case about high altitude work is carried out to demonstrate the flexibility of modeling processes. A single pendulum model constrained at the bottom is used to model the motion of the worker at a high altitude, coupled to the motion of a FOWT. The results show that the motion along the Y-axis is effectively suppressed as the damping force at the bottom increases, while the suppression is less pronounced on the X-axis. This method comprising the structure properties of blade and time domain potential flow hydrodynamic loads is more complete than the previous method using Modelica language to construct the fully coupled FOWT simulation model. Besides, it provides a more flexible modeling and simulation tool for some engineering practices, such as FOWT combined with fish cages, and FOWT operation and maintenance.

本文提出了一种基于 Modelica 语言和 AeroDyn 联合仿真的全耦合气动-液压-伺服-弹性方法来模拟浮动海上风力涡轮机 (FOWT)。该方法的主要特点如下。(1) Modelica语言的特点（基于方程、面向对象、层次结构）在建模过程中提供了极大的灵活性和效率，风力机结构或理论方法可以很容易地升级或替换。(2) 系统中集成了较为精确的气动载荷计算模块AeroDyn；因此，该模型在计算 FOWT 的响应时比以前的 Modelica 库更准确。首先，本文介绍了Modelica和AeroDyn模块中提出的模型计算海上FOWT响应的理论。第二，介绍Modelica with AeroDyn的实现方法。编写动态链接库（DLL）作为数据交换的通道，建立控制器协调Modelica和AeroDyn的步进关系。第三，基于国际能源署 (IEA) 风力任务 23 子任务 2 执行代码间比较。结果表明，所提出的方法与 FAST 在预测转子、塔架、平台和系泊系统的动态响应方面具有极好的一致性在稳定和湍流风结合波浪条件下。最后，通过一个高空作业案例展示了建模过程的灵活性。底部约束的单摆模型用于模拟工人在高空的运动，并与 FOWT 的运动耦合。结果表明，随着底部阻尼力的增大，沿Y轴的运动得到有效抑制，而X轴的抑制作用较不明显。这种包括叶片结构特性和时域势流水动力载荷的方法比以前使用Modelica语言构建全耦合FOWT仿真模型的方法更加完整。此外，它还为一些工程实践提供了更灵活的建模和仿真工具，如FOWT与网箱结合、FOWT运维等。这种包括叶片结构特性和时域势流水动力载荷的方法比以前使用Modelica语言构建全耦合FOWT仿真模型的方法更加完整。此外，它还为一些工程实践提供了更灵活的建模和仿真工具，如FOWT与网箱结合、FOWT运维等。这种包括叶片结构特性和时域势流水动力载荷的方法比以前使用Modelica语言构建全耦合FOWT仿真模型的方法更加完整。此外，它还为一些工程实践提供了更灵活的建模和仿真工具，如FOWT与网箱结合、FOWT运维等。