Passivity based hierarchical multi-task tracking control for redundant manipulators with uncertainties

Sun, Weichao; Yuan, Yeqing

doi:10.1016/j.automatica.2023.111159

Cited by 21 publications

(1 citation statement)

References 28 publications

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“…Therefore, FOWTs are usually modelled as aero-hydro-servo-elastic systems in numerical dynamic analysis [9]. Thus, in order to improve the dynamic behaviours of FOWTs, contributions have to be made not only to floating structure design optimisation for better hydrodynamic stability [10], but also to control design for more motion damping and stability [11][12][13][14][15].…”

Section: Introductionmentioning

confidence: 99%

Catenary Mooring Length Control for Motion Mitigation of Semi-Submersible Floating Wind Turbines

Zhou,

Zhang,

Chen

et al. 2024

JMSE

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Besides improving the generator torque and blade pitch controller, incorporating additional control actuations, such as a vibration absorber and active ballast, into the floating offshore wind turbine (FOWT) system is also promising for the motion mitigation of FOWTs. This work aims to study the catenary mooring length re-configuration effect on the dynamic behaviours of semi-submersible FOWTs. The mooring length re-configuration mentioned here is achieved by altering the mooring length with winches mounted on the floating platform, which is in a period of minutes to hours, so that the mooring tensions could be adjusted to reduce the aerodynamic load induced platform mean pitch. Control designs for both single mooring line and multiple mooring lines have been described and studied comparatively. In order to assess the motion mitigation performance of the proposed mooring line length re-configuration methods, fully coupled numerical simulations under different environmental cases have been conducted. Results indicate that the catenary mooring length re-configuration is able to reduce the platform pitch motion by up to 15.8% under rated condition, while careful attention must be paid to the scenarios where the catenary moorings become taut, which may lead to large load variations.

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