Development of a Control-Oriented Model of Floating Wind Turbines

Betti, Giulio; Farina, Marcello; Guagliardi, Giuseppe A.; Marzorati, Andrea; Scattolini, Riccardo

doi:10.1109/tcst.2013.2242073

Cited by 57 publications

(58 citation statements)

References 37 publications

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“…Therefore, a lot of research has been conducted in the area of floating offshore wind turbines (FOWTs) in the last years. The idea behind this concept is to mount the wind turbine on a floating platform which is moored to the seabed, see [1], [2], [3], [4]. This concept enables offshore wind energy to exploit the vast deep water regions common in many areas of the world.…”

Section: Introductionmentioning

confidence: 99%

Nonlinear model predictive control of floating wind turbines with individual pitch control

Raach¹,

Schlipf²,

Sandner³

et al. 2014

2014 American Control Conference

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Abstract-In this work a nonlinear model predictive controller with individual pitch control for a floating offshore wind turbine is presented. An aerodynamic model of the collective pitch control approach is extended by describing pitching and yawing moments based on rotor disk theory. This extension is implemented in a reduced nonlinear model of the floating wind turbine including disturbance preview of wind speed, linear vertical and horizontal wind shear, and wave height to compute optimal input trajectories for the individual pitch control inputs and the generator torque. An extended cost functional for individual pitch control is proposed based on the collective pitch control approach. The controller is evaluated in aero-servohydro-elastic simulations of a 5 MW reference wind turbine disturbed by a three-dimensional stochastic turbulent wind field. Results show a significant blade fatigue load reduction compared to a baseline controller through minimizing yawing and pitching moments on the rotor hub while maintaining the advantages of the model predictive control approach with collective pitch control.

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Section: Introductionmentioning

confidence: 99%

Nonlinear model predictive control of floating wind turbines with individual pitch control

Raach¹,

Schlipf²,

Sandner³

et al. 2014

2014 American Control Conference

View full text Add to dashboard Cite

show abstract

“…Trajectories of rotor speed, tower oscillation linear speed, pitch, surge and heave of the platform are shown in Fig.9. The proposed H  controller outperforms the one in [11]. In all DOFs, fluctuations are much less than what reported in [11].…”

Section: Closed-loop Simulationmentioning

confidence: 64%

“…The proposed H  controller outperforms the one in [11]. In all DOFs, fluctuations are much less than what reported in [11]. …”

Section: Closed-loop Simulationmentioning

confidence: 64%

“…pitch angle and generator torque) are demonstrated in Fig.8. According to these figures, the mean value of blade pitch angle is 6 degree in this study which is much lower than in [11]. The generator torque is also regulated on its nominal value of 25 kN.m.…”

Section: Closed-loop Simulationmentioning

confidence: 66%

“…This model is suitable for maximizing output power but it is not appropriate for goals such as blades and tower vibration attenuation. They used H  control technique for rotor speed regulation [11,12].…”

Section: Introductionmentioning

confidence: 99%

See 2 more Smart Citations

Dynamic Modeling and H∞ Control of Offshore Wind Turbines

Haghjoo¹,

Eghtesad²,

Yazdi³

2017

IJEM

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In this paper, vibration control problem in tension leg platform offshore wind turbines is investigated. First a non-linear model of the wind turbine is obtained. Six degrees of freedom are considered in the model including surge, heave and pitch of the platform, tower fore-aft vibrations, rotor rotation and drivetrain torsional vibration. Moreover all external loads acting on the offshore wind turbine such as aerodynamic loads, hydrodynamic loads and mooring line forces are taken into account. To achieve an accurate model of the wind turbine, tower and drivetrain are modelled as flexible components. The model output is compared with FAST simulator; a popular open source software for modeling wind turbines.Then, a robust H  controller is designed to regulate rotor speed and output power, increase wind turbine efficiency and attenuate tower fore-aft vibration. The controller is implemented on the non-linear dynamic model to investigate the closed loop performance.

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Platform stabilization and load reduction of floating offshore wind turbines with tension‐leg platform using dynamic vibration absorbers

2020

Wind Energy

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Floating offshore wind turbines (FOWT) are subject to significant increases in structural loads due to the platform motion under turbulent wind and wave. The underactuation challenge in FOWT control demands for development of extra actuators for platform stabilization. For FOWT with tension-leg platform (TLP), this paper presents a comprehensive study on design and control simulation for realizing active mooring line control via the deployment of vertically operated dynamic vibration absorbers (DVAs) at the spokes of TLP structure. The DVA is designed based on the suppression of the primary modes of platform pitch and roll motion. In addition to the enhancement of FAST-based simulation module, an 11 degrees-of-freedom (DOFs) control-oriented model is derived for the TLP-FOWT-DVA system. Based on the control-oriented model, a linear quadratic regulator (LQR) controller is designed. Simulations are performed for 9 m/s and 18 m/s turbulent winds with different wind and wave directions. The wind turbine performance, platform motions, and structural fatigue loads are evaluated. The results show that the platform motion and tower loads in the lateral direction are significantly reduced, while the tower load in the fore-aft direction can be moderately reduced. Also, significant reduction in the mooring line tension loads is observed. For achieving the performance in platform motion stabilization and load reduction, the average power consumption of the DVA actuators is less than 0.27% of the wind turbine power generated during the simulated periods. The figures of merits promise significant potential for the feasibility of DVA based control for TLP-FOWT. K E Y W O R D Sactive mooring line control, dynamic vibration absorber, floating offshore wind turbine, load reduction, platform stabilization, tension-leg platform, vibration control

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Development of a Control-Oriented Model of Floating Wind Turbines

Cited by 57 publications

References 37 publications

Nonlinear model predictive control of floating wind turbines with individual pitch control

Nonlinear model predictive control of floating wind turbines with individual pitch control

Dynamic Modeling and H∞ Control of Offshore Wind Turbines

Platform stabilization and load reduction of floating offshore wind turbines with tension‐leg platform using dynamic vibration absorbers

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