Abstract: The fast exploit of wind energy has necessitated wind turbines to shift from onshore to nearshore and far-shore development, accompanied by the evolution of wind turbine foundation from early onshore foundations to recent fixed offshore foundations and future anticipated floating offshore foundations. This study aims to systematically derive the rigid-flexible coupling dynamic equations of onshore wind turbine, offshore wind turbine, and floating wind turbine based on Kane's dynamic theory, then to propose a unified expression of dynamics equations of wind turbines resting on various foundation configurations based on the sway-rocking model (SR model). Via the above dynamic equations, a wind turbine integrated analysis and design software Zwind is developed, which updates and transfers foundation motions and forces through the Runge-Kutta and Adams prediction-correction algorithm in real-time, to achieve the coupling of turbine and foundation subsystems. Zwind software shows comparable accuracy to commercial software Bladed, in terms of power production, modal properties, steady-state and dynamic responses. Influences of foundation configuration are demonstrated by the tower base moment, main shaft torque and blade root moment through a NREL 5MW wind turbine resting on footing, monopile, jacket, semi-submersible, spar and tension leg platform, respectively. The results show that the foundation configuration significantly affects the tower base moment, with reduced impact on the main shaft torque and blade root moment.The rotational impedance of foundation configuration, ranked from strong to weak, is as follows: footing, tension leg platform, monopile, jacket, semi-submersible and spar.With consistent external loads, a smaller rotational impedance of foundation configuration would result in a greater tower base moment.