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

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

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

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

Fluid Structure Interaction for Cascading Seismic and Tsunami Events using Real-Time Hybrid Simulation

While real-time hybrid simulation has been utilized for structures subjected to seismic events for decades, its use in fluid-structure interaction problems is still a novel endeavor. Gathering data for cascading seismic and tsunami events is difficult due to space constraints in existing experimental facilities, complications regarding the application of scaling laws for both the fluid and structure, and limitations of computational software in simulating multiple hazards within the same analysis. To alleviate these constraints, this study demonstrates the feasibility of a real-time hybrid simulation testing method to enhance fluid-structure interaction simulations. A cylindrical bridge pier specimen and three-dimensional numerical bridge model were subjected to cascading seismic and tsunami events within a three-tier real-time hybrid simulation architecture. The domain was partitioned such that the wave-structure interaction was physically simulated and coupled to a numerical model of the remaining bridge. To simulate existing damage, seismic loading was applied in the structural model prior to the wave loading. Textbook short pulse response was exhibited by the specimen, and the results illustrate that a real-time hybrid simulation approach is both feasible and economical for future investigations using this method

Advanced Computational Modeling and Design of Wave Energy and Floating Offshore Wind Energy Technologies

Given the immense energy potential of o�shore wind and ocean waves, offshore renewable energy can significantly contribute to the renewable energy landscape. Fixed floating wind is already making strides internationally with increased electricity capacity, while floating offshore wind turbines and marine hydrokinetic (MHK) technology have significant potential that can aid in powering maritime applications and contribute to the larger electricity grid. One of the inherent challenges of floating wind and MHK technology are their associated costs. However, using computational tools to aid in the design, validation, and optimization of such technology can help lower costs associated with research and development. Three studies are presented implementing the use of computational modeling to aid in understanding o�shore renewable energy technologies. The first utilizes computational modeling to verify the ability to model an array of wave energy converters (WECs) in the Matlab toolbox WEC-Sim. The second study provides initial results into a case study investigating the coupled optimization of size and control of a point absorber WEC. The third study investigates the use of a surrogate model for supporting a hybrid computational/physical prototype of a floating offshore wind turbine. Each study demonstrates how computational modeling can aid in the advancement of the design of o�shore renewable energy systems