Pitch and Roll Motion Control of a Floating Wind Turbine With Hybrid Actuation

2014 ◽  
Author(s):  
Kaveh Jalili ◽  
Yaoyu Li ◽  
Mario A. Rotea
Keyword(s):  
Degrees Of Freedom ◽  
Bending Moment ◽  
Offshore Wind ◽  
Load Testing ◽  
Combined System ◽  
Actuation System ◽  
Floating Offshore Wind Turbines ◽  
Standard Design ◽  
Equivalent Load ◽  
Hybrid Actuation

Platform stabilization and load reduction are of great importance for the successful development of floating offshore wind turbines. The increased degrees-of-freedom (DOF) for the relevant dynamics presents the challenge of underactuation. Recently, a tuned-mass damper (TMD) and active vane have been proposed to control the pitch and roll motions of a floating turbine platform. Simulations have indicated that TMD in the fore-aft (FA) direction cannot reduce the damage equivalent load (DEQL) for the side-to-side (SS) bending moment at the tower-base across all the loading conditions. In this study, the TMD in the FA direction is combined with an active vertical vane to reduce both the FA and SS platform motions and DEQLs. We refer to this combined system of actuation as the “hybrid actuation system”. The effectiveness of this hybrid scheme is demonstrated via simulations which are carried out in accordance with the IEC 61400-3 standard design load case 1.2–fatigue load testing.

scholarly journals An efficient frequency-domain model for quick load analysis of floating offshore wind turbines

2018 ◽  
Vol 3 (2) ◽  
pp. 693-712 ◽  
Author(s):  
Antonio Pegalajar-Jurado ◽  
Michael Borg ◽  
Henrik Bredmose
Keyword(s):  
Wind Speed ◽  
Frequency Domain ◽  
Wind Turbines ◽  
Degrees Of Freedom ◽  
Bending Moment ◽  
Domain Model ◽  
Offshore Wind ◽  
Hydrodynamic Damping ◽  
Floating Offshore Wind Turbines ◽  
Load Analysis

Abstract. A model for Quick Load Analysis of Floating wind turbines (QuLAF) is presented and validated here. The model is a linear, frequency-domain, efficient tool with four planar degrees of freedom: floater surge, heave, pitch and first tower modal deflection. The model relies on state-of-the-art tools from which hydrodynamic, aerodynamic and mooring loads are extracted and cascaded into QuLAF. Hydrodynamic and aerodynamic loads are pre-computed in WAMIT and FAST, respectively, while the mooring system is linearized around the equilibrium position for each wind speed using MoorDyn. An approximate approach to viscous hydrodynamic damping is developed, and the aerodynamic damping is extracted from decay tests specific for each degree of freedom. Without any calibration, the model predicts the motions of the system in stochastic wind and waves with good accuracy when compared to FAST. The damage-equivalent bending moment at the tower base is estimated with errors between 0.2 % and 11.3 % for all the load cases considered. The largest errors are associated with the most severe wave climates for wave-only conditions and with turbine operation around rated wind speed for combined wind and waves. The computational speed of the model is between 1300 and 2700 times faster than real time.

scholarly journals An efficient frequency-domain model for quick load analysis of floating offshore wind turbines

2018 ◽  
Author(s):  
Antonio Pegalajar-Jurado ◽  
Michael Borg ◽  
Henrik Bredmose
Keyword(s):  
Wind Speed ◽  
Frequency Domain ◽  
Wind Turbines ◽  
Degrees Of Freedom ◽  
Bending Moment ◽  
Domain Model ◽  
Offshore Wind ◽  
Hydrodynamic Damping ◽  
Floating Offshore Wind Turbines ◽  
Load Analysis

Abstract. A model for Quick Load Analysis of Floating wind turbines, QuLAF, is presented and validated here. The model is a linear, frequency-domain, efficient tool with four planar degrees of freedom: platform surge, heave, pitch and tower modal deflection. The model relies on state-of-the-art tools from which hydrodynamic, aerodynamic and mooring loads are extracted and cascaded into QuLAF. Hydrodynamic and aerodynamic loads are precomputed in WAMIT and FAST respectively, while the mooring system is linearized around the equilibrium position for each wind speed using MoorDyn. An approximate approach to viscous hydrodynamic damping is developed, and the aerodynamic damping is extracted from decay tests specific for each degree of freedom. Without any calibration, the model predicts the motions of the system in stochastic wind and waves with good accuracy when compared to FAST. The damage-equivalent bending moment at the tower bottom is estimated with errors between 0.2 % and 11.3 % for all the load cases considered. The largest errors are associated with the most severe wave climates for wave-only conditions and with turbine operation around rated wind speed for combined wind and waves. The computational speed of the model is between 1300 and 2700 times faster than real-time.

Individual Blade Pitch Control for Alleviation of Vibratory Loads on Floating Offshore Wind Turbines

2021 ◽  
Author(s):  
Luca Pustina ◽  
Claudio Pasquali ◽  
Jacopo Serafini ◽  
Claudio Lugni ◽  
Massimo Gennaretti
Keyword(s):  
Renewable Energy ◽  
Wind Turbine ◽  
Bending Moment ◽  
Offshore Wind ◽  
Synthesis Process ◽  
Control Synthesis ◽  
Offshore Wind Turbine ◽  
Floating Offshore Wind Turbine ◽  
Blade Root ◽  
Floating Offshore Wind Turbines

Abstract Among the renewable energy technologies, offshore wind energy is expected to provide a significant contribution for the achievement of the European Renewable Energy (RE) targets for the next future. In this framework, the increase of generated power combined with the alleviation of vibratory loads achieved by application of suitable advanced control systems can lead to a beneficial LCOE (Levelized Cost Of Energy) reduction. This paper defines a control strategy for increasing floating offshore wind turbine lifetime through the reduction of vibratory blade and hub loads. To this purpose a Proportional-Integral (PI) controller based on measured blade-root bending moment feedback provides the blade cyclic pitch to be actuated. The proportional and integral gain matrices are determined by an optimization procedure whose objective is the alleviation of the vibratory loads due to a wind distributed linearly on the rotor disc. This control synthesis process relies on a linear, state-space, reduced-order model of the floating offshore wind turbine derived from aero-hydroelastic simulations provided by the open-source tool OpenFAST. In addition to the validation of the proposed controller, the numerical investigation based on OpenFAST predictions examines also the corresponding control effort, influence on platform dynamics and expected blade lifetime extension. The outcomes show that, as a by-product of the alleviation of the vibratory out-of-plane bending moment at the blade root, significant reductions of both cumulative blade lifetime damage and sway and roll platform motion are achieved, as well. The maximum required control power is less than 1% of the generated power.

scholarly journals A New Conceptual Design and Dynamic Analysis of a Spar-Type Offshore Wind Turbine Combined with a Moonpool

Energies ◽  
2019 ◽  
Vol 12 (19) ◽  
pp. 3737 ◽  
Author(s):  
Thanh Dam Pham ◽  
Hyunkyoung Shin
Keyword(s):  
Wind Turbine ◽  
Bending Moment ◽  
Time Domain Analysis ◽  
Domain Analysis ◽  
Frequency Domain Analysis ◽  
Dynamic Responses ◽  
Offshore Wind ◽  
Offshore Wind Turbine ◽  
Operational Conditions ◽  
Floating Offshore Wind Turbines

Floating offshore wind turbines promise to provide an abundant source of energy. Currently, much attention is being paid to the efficient performance and the economics of floating wind systems. This paper aims to develop a spar-type platform to support a 5-MW reference wind turbine at a water depth of 150 m. The spar-type platform includes a moonpool at the center. The design optimization process is composed of three steps; the first step uses a spreadsheet to calculate the platform dimensions; the second step is a frequency domain analysis of the responses in wave conditions; and the final step is a fully coupled simulation time domain analysis to obtain the dynamic responses in combined wind, wave, and current conditions. By having a water column inside the open moonpool, the system’s dynamic responses to horizontal and rotating motions are significantly reduced. Reduction of these motions leads to a reduction in the nacelle acceleration and tower base bending moment. On the basic of optimization processes, a spar-type platform combined with a moonpool is suggested, which has good performance in both operational conditions and extreme conditions.

Force Measurements of the Flow Around Arrays of Three and Four Columns With Different Geometry Sections, Spacing Ratios, and Incidence Angles

2019 ◽  
Vol 142 (2) ◽  
Author(s):  
Rodolfo Trentin Gonçalves ◽  
Shinichiro Hirabayashi ◽  
Guilherme Vaz ◽  
Hideyuki Suzuki
Keyword(s):  
Degrees Of Freedom ◽  
Incidence Angle ◽  
Offshore Structures ◽  
Offshore Wind ◽  
Cfd Validation ◽  
Numerical Work ◽  
Drag Forces ◽  
Floating Offshore Wind Turbines ◽  
Spacing Ratio ◽  
Lift And Drag

Abstract An experimental campaign for the flow around a stationary array of three and four columns with low aspect ratio, H/L = 1.5, piercing the water free surface, was carried out in a towing tank. These numbers of columns correspond to typical multi-column offshore systems, such as semi-submersibles (SS), tension leg platforms (TLPs), and floating offshore wind turbines (FOWTs). Three parameters were investigated: the spacing ratio between column centers (from two up to four characteristic lengths), current incidence angles, and column section geometries (circular, square, and diamond). The Reynolds number of the experiments was 100,000. Forces were measured in each column using a three degrees-of-freedom load cell, and results of lift and drag forces were presented for each column separately and the whole system. The results of mean and standard deviation of forces were assessed using a statistical uncertainty analysis procedure for finite length measurements’ signals. This methodology not only assesses the quality of the experimental data but also facilitates validation of numerical tools. The objectives of the current work were therefore manifold: to better understand the influence of the relative position, shape, and incidence angle on multi-column offshore structures; to create a reliable database for computational fluid dynamics (CFD) validation; and to prepare the path to flow-induced motions (FIMs) experimental and numerical work of free-moving multi-column offshore systems.

Control Co-Design for Rotor Blades of Floating Offshore Wind Turbines

2020 ◽  
Author(s):  
Xianping Du ◽  
Laurent Burlion ◽  
Onur Bilgen
Keyword(s):  
Wind Turbine ◽  
Pitch Angle ◽  
Cone Angle ◽  
Bending Moment ◽  
Rotor Blades ◽  
Offshore Wind ◽  
Step Response ◽  
Offshore Wind Turbine ◽  
Blade Root ◽  
Floating Offshore Wind Turbines

Abstract This paper aims to demonstrate the application of control co-design methodology for the rotor blades of a floating offshore wind turbine. A 10 MW reference wind turbine model is utilized in the co-design framework. In this paper, the coupling effect between the system, defined by the pre-cone angle, and the controller, defined by pitch angle, is analyzed with a parametric study. The system parameters of the blade are identified by exciting the system with a step input, and by using the step response. The identified model is used to demonstrate the coupling effects of the structural parameters. The control co-design process is implemented to reduce the blade root bending moment by controlling the pitch angle as a function of the pre-cone angle. Utilizing the 10 MW reference model, the proposed control co-design method can reduce the blade root bending moment and attenuate transverse vibrations faster than the original design. Compared to a sequentially designed controller, the co-design demonstrated reduction of the blade root bending moment with similar attenuation time.

Numerical Simulations of OC3 Spar and OC4 Semi-Submersible Type Platforms Under Extreme Conditions in the East Sea, Korea

2019 ◽  
Author(s):  
Hyunkyoung Shin ◽  
Youngjae Yu ◽  
Thanh Dam Pham ◽  
Junbae Kim ◽  
Rupesh Kumar
Keyword(s):  
Renewable Energy ◽  
Numerical Simulations ◽  
Degrees Of Freedom ◽  
Reanalysis Data ◽  
Environmental Data ◽  
Offshore Wind ◽  
East Sea ◽  
Mooring Line ◽  
Six Degrees Of Freedom ◽  
Floating Offshore Wind Turbines

Abstract Since the Paris Conference of the parties in 2015, interest in renewable energy around the world is higher than ever. Korea also has plans to increase the proportion of renewable energy to 20% by 2030 through the renewable energy 3020 policy. Of these, 16.5GW is filled with wind power, the installation area is expanding from land to sea. Among them, some of big plans are using floating offshore wind turbines based on the marine environments in Korea. In this study, numerical simulations of the NREL 5MW wind turbine were performed using NREL FAST V.8. A comparison was made between two types of floaters, spar and semi-submersible, installed 58km off the Ulsan Coast with 150m water depth in the East Sea, Korea. The environmental data were obtained from the Meteorological Administration’s measured data and NASA’s reanalysis data, MERRA-2. Design Load Cases were selected by referring to IEC 61400-3. Maximum moments at both blade root and tower base, six-degrees of freedom motions and three mooring line tensions were compared.

Linear coupled model for floating wind turbine control

2018 ◽  
Vol 42 (2) ◽  
pp. 115-127 ◽  
Author(s):  
Alessandro Fontanella ◽  
Ilmas Bayati ◽  
Marco Belloli
Keyword(s):  
Degrees Of Freedom ◽  
Coupled Model ◽  
Control Design ◽  
Offshore Wind ◽  
Order Model ◽  
Reduced Order ◽  
Offshore Wind Turbines ◽  
Wind Turbine Control ◽  
Floating Offshore Wind Turbines ◽  
Three Degrees Of Freedom

This work deals with an analytical linear coupled model describing the integrated aero-hydrodynamics of floating offshore wind turbines. Three degrees of freedom (platform surge, platform pitch and rotor azimuth) were considered with the goal of building a reduced-order model suitable for being integrated in control design algorithms as well as to be used for a straightforward evaluation and comprehension of the global system dynamics.

scholarly journals The TripleSpar Campaign: Validation of a Reduced-Order Simulation Model for Floating Wind Turbines

2018 ◽  
Author(s):  
Frank Lemmer (né Sandner) ◽  
Wei Yu ◽  
Po Wen Cheng ◽  
Antonio Pegalajar-Jurado ◽  
Michael Borg ◽  
...  
Keyword(s):  
Simulation Model ◽  
Wind Turbines ◽  
Degrees Of Freedom ◽  
Coupled System ◽  
Offshore Wind ◽  
Drag Coefficients ◽  
Reduced Order ◽  
Irregular Wave ◽  
Floating Offshore Wind Turbines ◽  
Decay Tests

Different research groups have recently tested scaled floating offshore wind turbines including blade pitch control. A test conducted by the University of Stuttgart (Germany), DTU (Denmark) and CENER (Spain) at the Danish Hydraulic Institute (DHI) in 2016 successfully demonstrated a real-time blade pitch controller on the public 10MW TripleSpar semi-submersible concept at a scale of 1/60. In the presented work a reduced-order simulation model including control is compared against the model tests. The model has only five degrees of freedom and is formulated either in the time-domain or in the frequency-domain. In a first step the Morison drag coefficients are identified from decay tests as well as irregular wave cases. The identified drag coefficients depend clearly on the sea state, with the highest ones for the decay tests and small sea states. This is an important finding, for example for the design of a robust controller, which depends on the system damping. It is shown that the simplified model can well represent the dominant physical effects of the coupled system with a substantially reduced simulation time, compared to state-of-the-art models.

Pitch Angle Control of Floating Offshore Wind Turbines by H∞ Control

2014 ◽  
Vol 134 (8) ◽  
pp. 1096-1103 ◽  
Author(s):  
Sho Tsujimoto ◽  
Ségolène Dessort ◽  
Naoyuki Hara ◽  
Keiji Konishi
Keyword(s):  
Wind Turbines ◽  
Pitch Angle ◽  
Offshore Wind ◽  
Offshore Wind Turbines ◽  
Floating Offshore Wind Turbines
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