Comparative dynamic analysis of two-rotor wind turbine on spar-type, semi-submersible, and tension-leg floating platforms

Multi-rotor floating offshore wind turbines have been recently proposed as an innovative technology to further reduce the cost of offshore wind energy. Even though examples of commercial prototypes are present, the literature lacks studies on the dynamic performance of such systems. This work presents a comparative analysis of a two-rotor wind turbine concept mounted on spar-type, semi-submersible, and tension-leg platforms. Their short-term performance is assessed by considering six different load cases considering directionally congruent turbulent wind profiles and irregular sea states. The analysis is carried out through an in-house fully-coupled code developed in Modelica. AeroDyn v15 within FAST v8 by NREL is coupled to the Modelica code to achieve blade-element momentum capabilities. Results indicate that platform yaw motion is an important dynamic mode of the systems, particularly for the spar configuration. Stiffer station-keeping lines and longer fairlead distance to the platform centerline reduce significantly yaw motion, as in the case of the semi-submersible and tension-leg configurations. Large tower base bending moment standard deviations and the associated concentration of energy at the platform heave and pitch motion frequencies indicate an increased risk for fatigue damage for the TLP configuration, especially at above-rated wind speeds. Moreover, large tendon loads can pose concerns in terms of fatigue and limit state performance. Large mean platform pitch angle and yaw standard deviation contribute to the reduction of electric power output quality. Extreme storm conditions greatly increase the response standard deviation, especially for the semi-submersible configuration.publishedVersio

LQR optimal control of two-rotor wind turbine mounted on spar-type floating platform

Interest is steadily growing for multi-rotor wind turbine concepts. This type of wind turbine offers a practical solution for scaling issues of large wind turbine components and for the reduction of costs associated with manufacturing, logistics, and maintenance. However, the literature lacks thorough knowledge of the dynamic performance of multi-rotor wind turbine concepts installed on floating platforms. Previous research studied the dynamic response of a two-rotor wind turbine concept mounted on a spar-type floating platform (2WT). Platform yaw motion is a significant dynamic factor directly caused by differential turbulence intensity experienced by the two hubs coupled with the distribution of thrust loads on the tower structure. Blade-pitch control analysis also showed how the 2WT yaw response is extremely sensitive to the control strategy employed. In this work, a linear quadratic regulator (LQR) is used to design an optimal controller for the 2WT prototype. Three LQR gain schedules corresponding to three operation regions are considered. An in-house tool for the dynamic analysis of multi-rotor floating wind turbines is used for linear state-space extraction and dynamic analysis. The control performance in different load conditions is assessed against the baseline OC3 proportional-integral (PI) control strategy and a PI-P control strategy in a previous article presented by the authors.acceptedVersio

Prediction of long-term extreme response of two-rotor floating wind turbine concept using the modified environmental contour method

The modified environmental contour method (MECM) is assessed for the prediction of 50-year extreme response of a two-rotor floating wind turbine concept (2WT) deployed in two offshore sites in the northern North Sea (Norway 5) and the North Atlantic Ocean (Buoy Cabo Silleiro). The sites considered are in areas known for their floating wind development potential. The environmental contour method (ECM) is used to reduce the computational effort of full long-term analysis (FLTA) by only considering environmental conditions associated with a given return period. MECM is a modification of the ECM where additional environmental contours are included to account for discontinuous operation modes of dynamic structures. The results obtained in MECM are benchmarked against FLTA results and compared to ECM results. ECM leads to large underpredictions of responses governed by wind loads if compared to FLTA, as it is not capable of taking into account important operational modes of the 2WT. It is found that MECM, which includes the wind turbines cut-off contour, is able to reduce most response underpredictions within 15% difference compared to FLTA results. MECM may thus be considered as a sufficiently accurate and computationally efficient method for the long-term extreme analysis of 2WT concepts.publishedVersio

An object-oriented method for fully coupled analysis of floating offshore wind turbines through mapping of aerodynamic coefficients

This work presents a novel object-oriented approach to model the fully-coupled dynamic response of floating offshore wind turbines (FOWTs). The key features offered by the method are the following: 1) its structure naturally allows for easy implementation of arbitrary platform geometries and platform/rotor configurations, 2) the analysis time is significantly faster than that of standard codes and results are accurate in situations where rotor dynamic contribution is negligible, and 3) an extremely flexible modeling environment is offered by the object-oriented nature of Modelica. Moreover, the current modeling facility used for the code development is open source and is naturally suitable for code sharing. In the present method, the aerodynamic model computes the aerodynamic loads through the mapping of steady-state aerodynamic coefficients. This modeling approach can be placed at the intersection between simplified aerodynamic methods, such as TDHMill, and full beam element/momentum-based aerodynamic methods. Aerodynamic loads obtained from the coefficients mapping are composed of a concentrated thrust and a concentrated torque. The thrust acts at the hub, while the torque is applied at the rotor low-speed shaft of a simplified rigid rotor equation of motion (EoM) used to emulate the rotor response. The aerodynamic coefficients are computed in FAST for a baseline 5 MW wind turbine. A standard rotor-collective blade-pitch control model is implemented. The system is assumed to be rigid. Linear hydrodynamics is employed to compute hydrodynamic loads. The industry-standard numerical-panel code Sesam-Wadam (DNV-GL) is used to preprocess the frequency-domain hydrodynamic problem. Validation of the code considers a standard spar-buoy platform, based on the Offshore Code Comparison Collaboration (OC3-Hywind). The dynamic response is tested in terms of free-decay response, Response Amplitude Operator (RAO), and the time histories and power spectral densities (PSDs) of several load cases including irregular waves and turbulent wind. The resulting model is benchmarked against well-known code-to-code comparisons and a good agreement is obtained.publishedVersio

Dynamic analysis of a two-rotor wind turbine on spar-type floating platform

The dynamic response of a two-rotor wind turbine mounted on a spar-type floating platform is studied. The response is compared against the baseline OC3 single-rotor design. Structural design shows how the two-rotor design may lead to a mass saving of about 26% with respect to an equivalent single-rotor configuration. Simulations predict significant platform yaw response of the two-rotor floating wind turbine — about 6 deg standard deviation at the rated operating wind speed. It is shown how the platform yaw response is directly caused by the turbulence intensity at the hub coupled with the transversal distribution of thrust loads on the structure. A coupled control strategy for the rotor-collective blade pitch controller is proposed, in which a simple proportional control mitigating platform yaw motion is superimposed to the baseline OC3 PI controller. Numerical simulations show how platform yaw response is reduced by about 60%, at the cost of mean power loss at below-rated wind speeds of about 100 kW and maximum increase of the rotor-collective blade-pitch angles standard deviation of about 2 deg. Parametric analysis of mooring lines design shows how an equivalent mass density of the line of at least 190 kg/m is needed to avoid vertical loads at the anchors.publishedVersio

Modelica‐AeroDyn: Development, benchmark, and application of a comprehensive object‐oriented tool for dynamic analysis of non‐conventional horizontal‐axis floating wind turbines

Abstract The exploitation of offshore wind energy by means of floating wind turbines is gaining traction as a suitable option to produce sustainable energy. Multi‐rotor floating wind turbines have been proposed as an appealing option to reduce the costs associated with manufacturing, logistics, offshore installations, and operation and maintenance of large wind turbine components. The development of such systems is forestalled by the lack of a dedicated tool for dynamics and load analysis. Standard codes, such as FAST by NREL, offer the desired fidelity level but are not able to accommodate multi‐rotor configurations. A few experimental codes have been also proposed, which may accommodate multi‐rotor systems, but low flexibility makes them impractical to study a vast range of innovative multi‐rotor FWTs concepts. To close the gap, this work presents the development and comprehensive benchmark of a fully coupled aero‐hydro‐servo‐elastic tool able to easily accommodate arbitrary platform and tower geometries and the number of wind turbines employed. Development is carried out in Modelica, which allows for the employment of the same code functionality in a virtually unlimited number of physical configurations. Full blade‐element momentum capabilities are achieved by integrating into Modelica the well‐established NREL aerodynamic module AeroDyn v15 within FAST v8. Structural dynamics of tower and blades are implemented through a lumped‐element approach. Hydrodynamic loads are computed by employing the DNV software SESAM WADAM. Thorough benchmark is performed against FAST, and positive results are obtained. The dynamic performance of a two‐rotor floating wind turbine is finally assessed considering different turbulence spectrums