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<p><span lang="ES-TRAD">En este tutorial se aborda el tema del modelado y control de las turbinas eólicas marinas flotantes. En primer lugar se describen estos sistemas de extracción de energía eólica que están situados en alta mar, en aguas profundas, y se comentan algunas aproximaciones a su modelado. El control de potencia de estas turbinas es presentado con detalle, explicando los distintos tipos de control que buscan maximizar la obtención de energía. Se resalta el problema de la inducción de dinámicas inestables en la plataforma flotante debido al control del rotor del aerogenerador, una dificultad que no aparece en otros tipos de turbinas. La reducción de las vibraciones mediante estrategias de control estructural se ilustra con un ejemplo, usando un dispositivo pasivo que es complementado con un mecanismo denominado inerter, mostrando con resultados de simulación cómo se consiguen eliminar las oscilaciones de la turbina flotante</span><span lang="EN-US">. Este ejemplo está basado en resultados preliminares obtenidos en la investigación que llevan a cabo los autores de este tutorial.</span></p>

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This is the accepted version of the paper.This version of the publication may differ from the final published version. Abstract This paper presents a study on the energy exchange taking place on articulated helicopter main rotor blades. The blades are hinged and the flap/lag modes are highly coupled. These dynamical couplings existing between the two degrees of freedom are clearly identifiable as the nonlinear terms that appear in the equations of motion, are key to understand the energy exchange process. The work here conducted is carried out using VehicleSim, a multibody software specialized in modelling mechanical systems composed by rigid bodies. A spring pendulum system is also studied in order to examine its nonlinear behaviour, and to establish existing analogies with the rotor blade nonlinear dynamics. The nonlinear couplings of both systems are compared to each other, and commensurability condition is analysed by means of Short Time Fourier Transform (STFT) methods as well as the flap and lag amplitudes spectrum. Simulations are carried out and the obtained results show clear analogies in the energy exchange process taking place in both systems. The stability of these modes is also studied using Poincare' map method. Permanent repository link