Design of a 6-DoF Robotic Platform for Wind Tunnel Tests of Floating Wind Turbines

Bayati, Ilmas; Belloli, Marco; Ferrari, Davide; Fossati, F.; Giberti, Hermes

doi:10.1016/j.egypro.2014.07.240

Cited by 61 publications

(33 citation statements)

References 18 publications

(26 reference statements)

Supporting

Mentioning

Contrasting

Order By: Relevance

“…The first is permanently fixed on the wind tunnel floor for the HIL tests planned for the LIFES50+ experimental activities [14]. The second robot has been designed on a 1:3 scale with the same controller, electrical architecture and communication infrastructure in order to be able to develop, verify and optimize the control and safety algorithms without keeping the wind tunnel occupied.…”

Section: The Hil Systemmentioning

confidence: 99%

High Performance Motion-Planner Architecture for Hardware-In-the-Loop System Based on Position-Based-Admittance-Control

Mura

Todeschini²,

Giberti

2018

Robotics

View full text Add to dashboard Cite

This article focuses on a Hardware-In-the-Loop application developed from the advanced energy field project LIFES50+. The aim is to replicate, inside a wind gallery test facility, the combined effect of aerodynamic and hydrodynamic loads on a floating wind turbine model for offshore energy production, using a force controlled robotic device, emulating floating substructure's behaviour. In addition to well known real-time Hardware-In-the-Loop (HIL) issues, the particular application presented has stringent safety requirements of the HIL equipment and difficult to predict operating conditions, so that extra computational efforts have to be spent running specific safety algorithms and achieving desired performance. To meet project requirements, a high performance software architecture based on Position-Based-Admittance-Control (PBAC) is presented, combining low level motion interpolation techniques, efficient motion planning, based on buffer management and Time-base control, and advanced high level safety algorithms, implemented in a rapid real-time control architecture.

show abstract

Section: The Hil Systemmentioning

confidence: 99%

High Performance Motion-Planner Architecture for Hardware-In-the-Loop System Based on Position-Based-Admittance-Control

Mura

Todeschini²,

Giberti

2018

Robotics

View full text Add to dashboard Cite

show abstract

“…The first one is installed below the wind tunnel floor and properly dimensioned for HIL tests in the contest of the LIFES50+ experimental activities [10][11][12]. The second robot is a 1:3 faithful scaled reproduction of the first installed in a laboratory and designed to develop, verify and optimize the control and safety algorithms without the use of the wind tunnel.…”

Section: Hexafloat Robot Descriptionmentioning

confidence: 99%

“…The component of this vector along the normal direction on the ellipsoid surface is calculated as: (10) and the tangential velocity vector is obtained as:…”

Section: Workpace Safety Algorithmmentioning

confidence: 99%

Workspace Limiting Strategy for 6 DOF Force Controlled PKMs Manipulating High Inertia Objects

et al. 2018

View full text Add to dashboard Cite

Abstract:This article describes an efficient and effective strategy for limiting the workspace of a six degrees of freedom parallel manipulator, with challenging motion smoothness requirements due to both the high inertia objects carried by the end effector and the pose references coming from a force feedback loop. Firstly, a suitable formulation of the workspace is studied, distinguishing between different conventions and procedures. Thereafter a discrete and analytical formulation of the workspace is obtained and developed in order to suit this application. Having obtained the limits, a methodology to evaluate the robot pose is discussed, taking into account the reference pose buffering technique and the real time pose estimation through the numeric solution of the nonlinear forward kinematics equations. The safety algorithm designed checks the actual robot pose and future poses to be commanded, and takes control of the reference pose generation process, if an exit of the safety workspace is detected. The result obtained is a soft compliant surface within which the robot is free to move, but outside of which a "force field" pushes the robot end-effector to return smoothly. To reach this objective, the control deflects the end effector trajectory safely and smoothly and moves it back to within the workspace limits. Nevertheless, this preserves the continuity of the velocity and controls the acceleration, to avoid dangerous vibrations and shocks. Simulation and experimental result tests are conducted to verify the algorithm effectiveness and the efficient implementation.

show abstract

“…This paper illustrates the non-trivial aero-elastic optimal design, the realization and the experimental verification of the wind tunnel 1/75 scale rotor of the DTU 10 MW wind turbine. More specifically, this work was developed for floating offshore wind turbine (FOWT) applications (Lifes50þ, Bayati et al, 2013Bayati et al, , 2014; nevertheless, the methodology reported and the conclusions drawn are of general validity in scaling rotors of wind turbines.…”

Section: Introductionmentioning

confidence: 99%

Aerodynamic design methodology for wind tunnel tests of wind turbine rotors

Bayati

Belloli

Bernini

et al. 2017

Journal of Wind Engineering and Industrial Aerodynamics

View full text Add to dashboard Cite

Design of a 6-DoF Robotic Platform for Wind Tunnel Tests of Floating Wind Turbines

Cited by 61 publications

References 18 publications

High Performance Motion-Planner Architecture for Hardware-In-the-Loop System Based on Position-Based-Admittance-Control

High Performance Motion-Planner Architecture for Hardware-In-the-Loop System Based on Position-Based-Admittance-Control

Workspace Limiting Strategy for 6 DOF Force Controlled PKMs Manipulating High Inertia Objects

Aerodynamic design methodology for wind tunnel tests of wind turbine rotors

Contact Info

Product

Resources

About