Wave disturbance reduction of a floating wind turbine using a reference model-based predictive control

Christiansen, Søren; Tabatabaeipour, Seyedmojtaba; Bak, Thomas; Knudsen, Torben

doi:10.1109/acc.2013.6580164

Cited by 9 publications

(6 citation statements)

References 18 publications

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“…These models aimed in the first place at including the "soft" fore-aft motion of the floating platform in control design models. Only a single representative DoF of this fore-aft motion was considered in [11] and [17]. A dedicated model, specific to TLPtype FOWTs, was derived in [6].…”

Section: Reduced-order Modelingmentioning

confidence: 99%

Multibody modeling for concept-level floating offshore wind turbine design

Lemmer

Luhmann³

et al. 2020

Multibody Syst Dyn

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Existing Floating Offshore Wind Turbine (FOWT) platforms are usually designed using static or rigid-body models for the concept stage and, subsequently, sophisticated integrated aero-hydro-servo-elastic models, applicable for design certification. For the new technology of FOWTs, a comprehensive understanding of the system dynamics at the concept phase is crucial to save costs in later design phases. This requires low-and medium-fidelity models. The proposed modeling approach aims at representing no more than the relevant physical effects for the system dynamics. It consists, in its core, of a flexible multibody system. The applied Newton-Euler algorithm is independent of the multibody layout and avoids constraint equations. From the nonlinear model a linearized counterpart is derived. First, to be used for controller design and second, for an efficient calculation of the response to stochastic load spectra in the frequency-domain. From these spectra the fatigue damage is calculated with Dirlik's method and short-term extremes by assuming a normal distribution of the response. The set of degrees of freedom is reduced, with a response calculated only in the two-dimensional plane, in which the aligned wind and wave forces act. The aerodynamic model is a quasistatic actuator disk model. The hydrodynamic model includes a simplified radiation model, based on potential flow-derived added mass coefficients and nodal viscous drag coefficients with an approximate representation of the second-order slow-drift forces. The verification through a comparison of the nonlinear and the linearized model against a higher-fidelity model and experiments shows that even with the simplifications, the system response magnitude at the system eigenfrequencies and the forced response magnitude to wind and wave forces can be well predicted. One-hour simulations complete in about 25 seconds and even less in the case of the frequency-domain model. Hence, large sensitivity studies and even multidisciplinary optimizations for systems engineering approaches are possible.

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Section: Reduced-order Modelingmentioning

confidence: 99%

Multibody modeling for concept-level floating offshore wind turbine design

Lemmer

Luhmann³

et al. 2020

Multibody Syst Dyn

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“…Similar but more detailed analysis was provided by van der Veen et al and Namik and Stol used individual pitch control (IPC) to stabilize the platform pitch. Christiansen et al developed linear quadratic control and model predictive control strategies for FOWT to deal with wave disturbance. Raach et al minimized the yawing and pitching moments on the rotor hub via a nonlinear model predictive control scheme with IPC inputs and generator torque.…”

Section: Introductionmentioning

confidence: 99%

Active vertical vane control for stabilizing platform roll motion of floating offshore turbines

Yang

2018

Wind Energy

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For floating offshore wind turbines, control of the platform roll motion is important for performance, load, and structural stability. This paper proposes an active control strategy for stabilizing the platform roll motion of downwind wind turbine via a vertical vane installed underneath the nacelle bedplate. The aerodynamic lift induced by the vertical vane from the incoming wind renders a lateral force imposed on the tower top, which leads to a significant stabilizing torque on the platform via the tower height as moment arm. Such control authority can be manipulated by the vane pitch angle.The proposed idea is evaluated with a 5 MW turbine model combined with the Hywind platform, using the Fatigue, Aerodynamics, Structures, and Turbulence software. The vane models are implemented based on slight modification of the tail furling module in Fatigue, Aerodynamics, Structures, and Turbulence. Simulation study is performed under different feedback measurements, vane areas, airfoil designs, wind speeds, wave heights, wind directions, and wave directions. The feedback of tower-top velocity feedback is shown to be more effective than the acceleration feedback. For all cases, the variance of platform roll angle shows reduction of approximately 73% to 95%, the damage equivalent load for the tower-base side-to-side bending moment can be reduced by 20% to 61%, and the power consumption of vane actuator is up to 0.075% of the turbine power generated during the simulated periods. The proposed actuation scheme promises a low-power and high-bandwidth solution to floating offshore wind turbines roll motion stabilization, more advantageous especially for higher winds when the structural stability is of greater concern. KEYWORDS active control, airfoil, offshore floating wind turbine, platform roll, vertical vane actuator 1 | INTRODUCTION Compared with onshore wind power, offshore wind power has advantages including higher wind with less turbulence, reduced transmission cost due to proximity to load centers, and relief from the pressure of land scarcity. 1 The offshore wind turbines that have been installed so far are mostly deployed in shallow water on piles or gravity-based substructures. For water depths from 20 to 60 m, various designs of tripod and jacket structures have been proposed. 2 Visual and noise annoyance of nearshore wind turbine operation has motivated the development of deep-water Nomenclature: A=, vane area; C m =, pitching moment coefficients of airfoils; J=, the inertial moment of vertical vane; PI=, proportional-integral; P m =, power supply for vane motor; T aero =, aerodynamic torque of vertical vane; TLCD=, tuned liquid column damper; T m =, torque from vane motor; TMD=, tuned mass-spring damper; α=, angle of attack for vertical vane; ρ=, air density; θ=, pitch angle of vertical vane /journal/we 997 wind power. For deeper water, only floating substructures would be economically justifiable. 3 In addition to reaping more wind power from the advantageous offshore wind resource, the floating offshore wind tur...

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“…Previous studies have proposed compensating for tower fore-aft oscillations using collective and individual blade pitch control to modify the wind thrust forces [10,17,2]. This solution has the advantage of requiring no structural modification, but delivers limited performance.…”

Section: Introductionmentioning

confidence: 99%

Modelling of a tuned liquid multi-column damper. Application to floating wind turbine for improved robustness against wave incidence

2018

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In this paper, the coupling of a float with a tuned liquid multi-column damper (TLMCD), a novel structural damping device inspired by the classical tuned liquid column damper (TLCD), is modelled using Lagrangian mechanics. We detail the tuning of the design parameters for each considered variant of the TLMCD, and compare each of them against a layout of multiple TLCDs. The results show that the proposed TLMCD is superior to multiple TLCDs for this application as it is more robust against wave incidence and it creates significantly less parasitic oscillations.

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Wave disturbance reduction of a floating wind turbine using a reference model-based predictive control

Cited by 9 publications

References 18 publications

Multibody modeling for concept-level floating offshore wind turbine design

Multibody modeling for concept-level floating offshore wind turbine design

Active vertical vane control for stabilizing platform roll motion of floating offshore turbines

Modelling of a tuned liquid multi-column damper. Application to floating wind turbine for improved robustness against wave incidence

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