Parameter-varying modeling and nonlinear model predictive control with disturbance prediction for spar-type floating offshore wind turbines

This paper proposes novel methods for the modeling and control of spar-type floating offshore wind turbines (FOWTs) by focusing on the dependency of the equilibrium and perturbed dynamics on the rotor azimuth angle. In addition, three new reduced models for controller design are derived using trajectory linearization by accounting for the dependency of the equilibrium on the azimuth angle. A thorough simulation study shows that the proposed models reproduce the important dynamic characteristics of FOWTs more accurately than the conventional models. Then, nonlinear model predictive controllers (NMPCs) minimizing the nonquadratic cost functions are developed for the proposed models, which include nonlinear terms for the rotor azimuth angle. These NMPCs suppress the variation in the forces applied to the blades better than the conventional linear MPCs while maintaining a low computational cost. The best NMPC for the models is one that accounts for the dependency of both the equilibrium and perturbed dynamics on the rotor azimuth angle. This NMPC suppresses the platform yaw and forces added on the blades. The performance of such an NMPC can be further improved using the inflow wind disturbance data predicted using a light detection and ranging wind sensor

Wave and Wind Responses of a Very-Light FOWT with Guy-Wired-Supported Tower: Numerical and Experimental Studies

A floating offshore wind turbine (FOWT) concept with a guy-wire-supported tower was investigated to obtain motion results in waves considering its elastic model characteristics. The FOWT concept studied aims to reduce the construction costs by using a light-weight structure tensioned with guy wires and a downwind type. Wave tank experiments of an elastically similar segmented backbone model in the 1:60 scale were carried out to clarify the dynamic elastic response features of the structure. The experimental results were compared with numerical simulations obtained from NK-UTWind and WAMIT codes. The bending moment measured at the tower and pontoons had two peak values for different wave periods carried out. The short-wave period peak was due to sagging/hogging when the wavelength matched the floater length. The second peak was due to the large tower top acceleration, which caused a large bending moment at the tower base and pontoon to support the inertia force. The wind force was not significant to modify the FOWT response. The sensibility analysis in pontoons and tower rigidities confirmed the importance of the guy wires to support the inertia due to the waves and wind incidence. The new concept of a very-light FOWT with a guy-wire-supported tower may be an option for future FOWT developments