Simulación de aerogeneradores marinos por una aerodinámica, hidrodinámica enfoque dinámico y...
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6 DEWI MAGAZIN NO. 39, AUGUST 2011
EXTERNAL ARTICLE
A. Heege
ENGLISH
A. Heege, P. Bonnet, L. Bastard, S. G. Horcas,J.L. Sanchez, P. Cucchini, A. Gaull;
SAMTECH Iberica
Numerical Simulation of
Offshore Wind Turbines by a
Coupled Aerodynamic,
Hydrodynamic and Structural
Dynamic Approach
Abstract
The central point of the present publicaon is an implicitly
coupled aerodynamic, hydrodynamic and structural dynam-
ic approach dedicated to oshore wind turbine simulaon.
The mathemacal approach relies on an implicit non-linear
dynamic Finite Element Method extended by Mul-Body-
System funconalies, aerodynamics based on the Blade
Element Momentum theory, controller funconalies and
hydrodynamic loads.
Oshore loads are formulated in terms of hydrostac buoy-
ancy and hydrodynamic wave loads which are approximat-
ed through Morisons equaon. Special aenon is focused
on the implementaon of Morisons equaon in order to
capture hydrodynamic coupling eects which are induced
by the dynamic response of the oshore wind turbine.
Two disnct applicaons of oshore wind turbines are ana-
lyzed. First, a jacket-based oshore wind turbine is loaded
hydro-dynamically through a wave eld described by Airys
linear wave theory. As a second example, the aerodynamic
and hydrodynamic coupling eects are put in evidence by a
transient dynamic analysis of a oang oshore wind tur-bine anchored to the seabed by structural cables.
Introducon
The operaonal deecon modes and associated dynamic
loads of oshore wind turbines originate, on one hand,
from the aerodynamic and hydrodynamic loading, and, on
the other hand, from the proper dynamic response of the
enre oshore wind turbine system, including all control
mechanisms.
A decoupling of the dynamic oshore wind turbine system
into sub-systems bears the risk of missing dynamic coupling
eects which might prevail in many operaonal modes. In
parcular in the case of oang oshore wind turbines,
a decoupled aero-elasc and hydrodynamic formulaon
does not permit to reproduce properly the global dynamic
response of the wind turbine. This is because the speed
variaons which are induced in the rotor plane by dynamic
deecons of the oshore wind turbine aect directly the
rotor aerodynamics and associated controller acons on
the blade pitch posion and on the generator torque. As a
consequence, an accurate tuning of controller parameters
is dicult with simplied, decoupled oshore wind turbine
models. In order to remedy these deciencies, the pro-posed mathemacal approach is specically formulated in
order to capture dynamic coupling eects which might be
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DEWI MAGAZIN NO. 39, AUGUST 2011 7
induced simultaneously by aero-elasc and hydrodynamic
loading of oshore structures. Accordingly, the relave
velocity and acceleraon elds induced by a oang and/
or vibrang oshore wind turbine are accounted for in the
proposed coupled aerodynamic and hydrodynamic formu-
laon.
The implementaon of aerodynamic loads is based on the
Blade Element Momentum theory where wind turbine spe-
cic correcons for p and hub losses, wake eects and theimpact of the tower shadow are accounted. Hydrodynamic
loads are composed of drag loads and of ineral loads and
account for the relave velocity and acceleraon elds in
between the uid and the moving and/or vibrang oshore
structure.
Two dierent applicaons of dynamic analysis of oshore
wind turbines are presented. The wind turbine models are
discrezed by more than 3,000 Degrees of Freedom (DOF)
and account for all the abovemenoned coupling eects.
Coupled Aero-elasc, Hydro-dynamic, Structural FEM &
MBS Analysis
The applied mathemacal approach is based on a non-lin-
ear Finite Element formalism, which accounts simultane-
ously for exible Mul-Body-System funconalies [1][2]
[3][4], control devices, aerodynamics in terms of the Blade
Element Momentum theory [1][2][4][5][6][7], hydrostac
buoyancy loads and nally hydrodynamic loads in terms of
the Morison equaon [2][5][10][11][12][13][14].
Mathemacal background
In the context of an Augmented Lagrangian Approach and
the one-step me integraon method of Newmark [1][3],
the incremental form of the equaons of moon in the pres-ence of constraints is given in equaon (1). According to the
denion of the residual vector ofequaon (1), the vectorg
assembles the sum of elasto-visco-plasc internal forcesInt.
g , complementary ineral forces where centrifugal and
gyroscopic eects are included, external forces Ext.g , the
aero-dynamic forces AeroF
and nally the hydro-dynamic
and hydrostac loads HydroF
. The vector introduces ad-
dional equaons of the generalized soluon
,q , whichare used to include general Mul-Body-System/MBS func-
onalies for the modelling of the power train, pitch and
yaw drives and nally further DOF which are related to con-
troller state variables for blade pitch, yaw orientaon and
generator modelling.
The non-linear set ofequaons (1) is solved iteravely and
further details on the me integraon procedure, error es-
mators and soluon strategies can be found in the SAM-
CEF-Mecano user manual [1].
Aero-dynamic and structural coupling
Blades are modeled in the S4WT soware [1][2] through a
non-linear FEM formalism adapted to large transformaons
and large rotaons. For computaonal eciency, the struc-
tural blade model is presented either in terms of Super Ele-
ments [1][3], or in terms of non-linear beam elements. The
elemental aerodynamic forces are computed according tothe Blade Element Momentum/BEM theory including spe-
cic correcons and addional models for the p and hub
losses, turbulent wake state, tower shadow eect, dynamic
inow and dynamic stall [1][2][5][6][7][8][9].
The structural/aerodynamic coupling is performed implic-
itly at the blade secon nodes of the structural blade model
through the connecon of Aerodynamic Blade Secon Ele-
ments which contribute in terms of elemental aerodynam-
ic forces to the global equilibrium equaon (1). The discre-
saon of the aerodynamic loads corresponds to the FEM
discresaon of the structural blade model and the nodesfor the aero-elasc coupling are generally located at the
chord length posions of typically about 15 to 20 blade sec-
ons distributed along the blade span. Taking into account
that the aerodynamic loadsI
Pitch
I
Drag
I
Lift M,F,F presentedin equaon (2) are included in the residual vector ofequa-
on (1), once the iterave soluon ofequaon (1) to (8) is
found, the induced velocies, angles of aack, Prandtl loss
coecients, hydrodynamic forces and the global structural
dynamic response are consistent.
It is emphasized that this methodology features a strong
coupling, i.e. all equaons associated either with aerody-
namics, hydrodynamics, structures, mechanisms, or control
loops are solved simultaneously. A major advantage of astrong coupling is that blade vibraons induced by aero-
dynamic forces and/or hydrodynamic loads, implicitly aect
the structural response of the global dynamic wind turbine
model. Accordingly, the relave speeds relV
that enter in
the aerodynamic load computaon, account implicitly for
the aerodynamically induced speeds indV
and the result-
ing speeds BV of the structural Blade Secon nodes.
where a and a are respecvely the axial and tangenal in-
ducon factors. Details on the procedure applied in order
to compute the induced speed vector indV in terms of the
aerodynamic inducons are given in references [1][2][5].
Hydrostac buoyancy & hydrodynamic wave loads
In the present work, oshore loads are presented by hydro-
stac buoyancy loads and by hydrodynamic forces which
approximate wave loads. The hydrostac buoyancy loads
are composed of a buoyancy force vector ,t)q(Buoy
F and
of a buoyancy restoring moment ,t)q(Buoy
M . The hydro-
dynamic wave loads ,t)q,q,q(orison
F
are approximated
through Morisons equaon in terms of a drag and an iner-
a term [10][11][12].
Analogously to the aero-elasc coupling through the connec-
on of Aerodynamic Blade Secon Elements to the FEM
model of the rotor blades, the coupling of hydrodynamic
loads to the oshore structure is realized through Hydro-
dynamic Load Elements/HLE. In the context of a non-linear
FEM formalism, the Hydrodynamic Load Elements are
to be considered as 1-noded elements connected to the
nodes of the FEM mesh of the oshore structure. Accord-
ingly, each node of the FEM model of the oshore struc-
ture is loaded by a six-dimensional vector ,t)q,q,q(Hydro
F
according to equaon (3).
Large transformaons & uid kinemacs
In parcular in the case of oang oshore wind turbines,
the enre wind turbine, or sub-components like for exam-
ple the mooring lines, might by subjected to large oscilla-ons which produce eventually large rotaons. In order to
account properly for large displacements, large rotaons
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length[m]wave:waveL[s],periodwave:waveT,[rad/m]numberwaveangular:wave2pi/Lk
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volumesubmerged,diameter:Dspan,submerged
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8 DEWI MAGAZIN NO. 39, AUGUST 2011
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DEWI MAGAZIN NO. 39, AUGUST 2011 9
and/or deformaons of the oshore wind turbine, the
kinemacal variables which are involved in the hydrostac
& hydrodynamic formulaon of equaons (3) to (8) are
formulated implicitly as a funcon of the soluon of the
respecve me integraon step of the global equilibrium
equaon (1). According to Fig. 1 and Fig.2, the eecvely
submerged depth ),q(eff
E t is measured w.r.t. to a me
variable Free Water Level/FWL dened by the wave height
t),q(W
. It is noted that a span length vector t),q(Span
L
and the associated envelope surface ),tqS( are aachedto each node of the FEM mesh of the oshore. The surface
normal vector ,t)q(n
ofequaon (5) is to be interpreted as
the outward normal for any point of the integral of the en-
velope surface ),tqS( . Since the span vector t),q(SpanL and
the envelope surface ),tqS( are moving and rotang with
the associated structural node of the FEM mesh, the uid
depth ),q(eff
E t depends implicitly on the soluon vector
(t)q
of the respecve me integraon step. As a conse-
quence, the buoyancy, drag and ineral loads ofequaons
(5) to (8) account implicitly for the soluon-dependent ef-
fecvely submerged span length ),q( teff
L and for the ef-
fecvely submerged volume ),q( teffV .
Hydrostac buoyancy force and restoring moment
Hydrodynamic loads are introduced through 1-noded Hy-
drodynamic Load Elements/HLE aached to each node
of the FEM mesh of the oshore component. According
to equaon (5), the buoyancy force ,t)q(Buoy
F and the
restoring moment ,t)q(Buoy
M are obtained from the in-
tegraon of the pressure distribuon that acts on the en-
velope surface of the submerged oshore components. In
case of cylindrical geometries, the integrals ofequaon (5)
are obtained analycally. According to the rst integral
term ofequaon (5), the direcon of the buoyancy force,t)q(
BuoyF
is opposed to the gravity vector and funcon
of the integral of the pressure acng on the submerged
envelope surface. The restoring moment ,t)q(Buoy
M is
determined by the second integral term of equaon (5)
where the lever vector ,t)q(l points from the origin of the
local coordinate system of the Hydrodynamic Load Ele-
ment to the respecve integraon point of the envelope
surface ),tqS( with the normal vector ,t)q(n .The orienta-
on of the local axis of the restoring moment ,t)q(Buoy
M
results from the integral soluon of the second term of
equaon (5) which is funcon of the inclinaon of the o-
shore component w.r.t. to the gravity vector.
Hydrodynamic wave loads according to Morisons equa-
on
Morisons formula was originally applied to the computa-
on of uncoupled hydrodynamic forces on vercal, xed
piles with shallow water wave loading. It has since been
extended to a three-dimensional formulaon for arbitrar-
ily oriented moving structures, with both wave and cur-
rent loadings [10][11][12]. As stated in equaons (6) to
(8), the coupled Morison equaon presents an empirical
formulaon that describes the hydro-dynamic loads as a
superposion of a uid drag DragF
and an ineral term
InertiaF
that accounts for the added uid mass acceler-ated due to the uid-structure interacon.
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Wind Turbine inspecTion
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10 DEWI MAGAZIN NO. 39, AUGUST 2011
The uid drag vector formulated in equaon (7) and the u-
id ineral load vector formulated in equaon (8) are both
contained in the plane perpendicular to the span direcon,
but show generally dierent direcons, i.e. the angle of
aack of the drag forces and the angle of aack of the
inera forces do not generally coincide.
A coupled formulaon of Morisons approach is exposed
in references [11][12] in a form analogous to equaon (8)
where the direcon of the Morison inera load vector is
determined by 2 disnct contribuons with a-priori 2 dif-
ferent vector orientaons. The rst term of the Morison
equaon (8),
t
u
t),q(eff
V ,
contributes to the Morison inera forces, if the unperturbed
uid ow is accelerated. The direcon of that vector compo-
nent corresponds to the direcon of the unperturbed uid
direcon, but projected into the plane which is perpendicu-
lar to the span direcon of the oshore component. The
second term of the Morison equaon (8) contributes to theinera forces through the relave uid-structure accelera-
on
)(t
v
t
u
which results from the unperturbed uid ow accelera-
on and from the dynamic response of the oshore struc -
ture. It should be noted that both vector components
ofequaon (8) are projected onto the same plane which is
perpendicular to the span wise direcon, but the respecve
vector orientaons of these two terms are not necessarily
aligned if the structure vibrates and/or oats.
It is conjectured that the inclusion of the uncoupled inera
term of the Morison equaon (8) might not be straighor-
ward for a formulaon dedicated to the simulaon of cou-
pled hydrodynamic and structural dynamic phenomena.
It is spulated that the basic Morison equaon as stated in
references [10][11][12] might lead to an overesmaon of
hydrodynamic drag and/or inera loads, because hydrody-
namic inducons and/or wave dispersion are not accounted
for in that formulaon.
Added Mass & Eigen-ModesThe inera term InertiaF
of the Morison equaon (8) mod-
ies the total mass associated to the submerged oshore
Fig. 1: S4WT wind turbine model supported by
OC4 jacket oshore structure
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DEWI MAGAZIN NO. 39, AUGUST 2011 11
Fig. 2: Submerged span for node above Free Water Level/FWL and below FWL
structure and as a consequence the Eigen-Modes of the o-
shore wind turbine are aected.
As outlined, the implemented algorithm for the hydrody-
namic loads accounts implicitly for the kinemacs induced
by a heavily moving oshore wind turbine and transient
wave height. The total mass taken into account in the Ei-
gen-mode computaon of the oshore structure is comple-
mented through the derivave of the inera term of the
Morison equaon (8) with respect to the relave accelera-
ons in between the uid and the vibrang and/or oang
oshore structure. Equaons (9, 10) dene the added mass
term in terms of the derivave of the Morison inera force
with respect to the structural acceleraons of the respec-
ve node of the FEM model. As stated in equaon (10) in
tensorial form using the Einstein summaon convenon,
the added uid mass is obtained through the derivave of
the Morison inera term and can be presented in terms of
two contribuons. The rst contribuon is determined by
the added massa
Csub
V mulplied by the dyadic productof the acceleraon unit vector aa
. It is emphasized that
the unit vector a is contained in the plane perpendicular tothe span wise direcon of the respecve component and
might be interpreted as the vector dening the direcon of
the inera loads. The second term ofequaon (10) depends
not only on the vector a
, but as well on the structural ac-
celeraon of the respecve FEM node q and on the deriva-
ve of the acceleraon unit vector a
. As a consequence
the addional uid mass included in the global mass and
inera matrix of equaon (1) becomes me dependent
and also dependent on the instantaneous spaal direcon
of the relave acceleraon which occurs in between the
uid and the submerged oshore structure. Therefore, not
only do the Eigen-Frequencies of the oshore wind turbine
become me dependent, but also the Eigen-Shapes are af-
fected by the added uid mass, because the added mass is
direconal.
Airys linear wave theory
In the present studies, the unperturbed uid velocity/accel-
eraon eld is modelled according to equaon (11) through
Airys wave theory [13][14] that approximates the transient
uid dynamics of waves as a funcon of parameters like wa-
ter depth, wave height and period.
The following application examples are based on fluid/
water speed distributions according to equation (11) andare generated by the independent program Waveloads of
the University of Hannover [13].
Fig. 3: Zoom on wave speed & wave height at node #40 located at limit
to free uid surface of jacket
Fig. 4: hydrodynamic drag force, Morison inera force & and buoyancy
force at node#40
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12 DEWI MAGAZIN NO. 39, AUGUST 2011
Applicaon Examples
Two disnct simulaons of oshore wind turbines are
presented. Even though the implemented methodologysupports the implementaon of very complex oshore
structures in terms of general FEM models, in the present
examples the oshore structures are modelled by non-line-
ar beam elements of circular geometry.
The rst applicaon corresponds to an oshore wind tur-
bine supported by a jacket structure that corresponds to
the OC4 reference base line model [15]. The second exam-
ple presents a oang oshore wind turbine whose oater
and mooring lines correspond to the OC3 reference model
[16].
Oshore wind turbine supported by Jacket structure
Fig. 1 presents the S4WT wind turbine model supported by a
jacket structure according to the OC4 reference model [15].
The applied wind turbine model comprises in total 3732
DOFs and includes a detailed gearbox model, pitch and yaw
drives and further exible structural components like the
bedplate and nacelle structure in terms of Super Elements.
The jacket structure is modelled by non-linear beam ele-
ments and loaded by buoyancy and hydrodynamic loads.
The following simulaon results correspond to a load case
with wind eld of a mean speed of 10 [m/s] and a wave
denion according to Airys linear wave model with the
following characteriscs:
Wave Height: 6m, Wave Period: 10s, Water Depth: 50m
Angle in between wave & wind direction: 0 [deg.]
Note that the spaal uid speed distribuon is obtained
from the external soware Waveloads [13]. The corre-
sponding acceleraon eld of the external wave and the
relave structural-uid acceleraons of equaons (8) are
computed in the hydrodynamic element of the solver SAM-CEF-Mecano.
Fig. 3 presents the hydrodynamic boundary condions for
the jacket node #40 located closely to the Sll Water Level/
SWL. The applied wave velocies in longitudinal XGL and
vercal ZGL direcons refer to the le ordinate ofFig. 3 and
the wave height refers to the right ordinate of Fig. 3. The
locaon of the jacket node #40 considered here is depicted
in Fig. 1. Fig. 4 presents for node #40 the resulng buoyancy
force, the uid drag and nally the Morison inera force.
Floang oshore wind turbine
Fig. 5 presents the S4WT model of a floating offshore wind
turbine supported by a floating structure according to ref-
erence [16]. The wind turbine model comprises in total
3402 DOFs and includes a detailed power train model, pitch
and yaw drives and further flexible structural components
like the mooring lines.
The simulated load case corresponds to a constant wind
eld of a mean speed of 16 [m/s] and a wave denion ac-
cording to equaon (11) with the following characteriscs:
Wave Height: 6m, Wave Period: 10s, Water Depth:
320m
Angle in between wave & wind direction: 45 [deg.]
As depicted in Fig. 5, the floating offshore wind turbine is
attached by 3 cables which are separated each by a rotationof 120 [degrees] w.r.t. to the vertical reference axis. The
length of each cable is about 700 [m]. In S4WTs floating
Fig. 5: S4WT model of OC3 oshore 5-MW baseline wind turbine
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Werbung
Samtech
1/1
4c
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14 DEWI MAGAZIN NO. 39, AUGUST 2011
Fig. 6: Generator speed, blade pitch & power transients induced by the oang wind turbine oscillaons
wind turbine model, the cables are presented either by
non-linear cable elements (neither compression, nor bend-
ing stiffness), or respectively by non-linear Beam Ele-
ments.
The large oscillations of the floating wind turbine induce
large low frequency speed variations in the rotor plane.
Fig. 6 clearly shows the low frequency speed and rotor
torque variations induced by the global tilt oscillations of
the floating turbine. It can be noted that further controller
tuning would be required in order to reduce these oscilla-
tions induced by the floating wind turbine concept.Fig. 6 presents the blade pitch, speed and power transients
of the presented oang oshore wind turbine. The pre-
sented transients of blade pitch angle and the produced
power show low frequency oscillaons induced by the ro-
tor plane speed variaons due to the lt oscillaons of the
enre oang wind turbine.
The tower-top trajectory in longitudinal XGL direcon (direc-
on of incoming wind) and in the horizontal YGL, is shown
on the top-right corner ofFig. 5. The maximum oscillaon
of the tower-top of the oang wind turbine in the longi-
tudinal direcon is evaluated from -1.5 [m] to 9 [m], i.e. a
total displacement range of the tower-top of nearly 14[m]
in the longitudinal direcon. In the case of the simulated
wave height of 6 [m], due to the induced buoyancy loads,
the wind turbine top oscillates approximately 2[m] in the
vercal direcon.
On the lower right poron ofFig. 5, the external hydrody-
namic uid loads applied on a specic node of the mooring
line FEM model are presented. The locaon of mooring line
node #49 is presented in Fig. 5. It is noted that the Morison
inera force module presents a phase oset with respect
to the drag force. The drag and ineral forces are both con-
tained in the same plane perpendicular to the span direc-
on, but the orientaon of both force components do not
generally coincide.
Conclusions
Morisons equaon was implemented in the solver SAM-
CEF-Mecano in an extended form proposed in several refer-
ences such as [11] and [12] in order to account for struc-
tural dynamics and hydrodynamics coupling eects. The
coupled form of the Morison equaon is interpreted as an
empirical approximaon for the modelling of hydrodynamic
currents and/or waves and can be decomposed into two
principal contribuons. On the one hand, an uncoupled in-
era term which is only funcon of the acceleraon of theuid ow, and, on the other hand, a coupled inera term
which is funcon of the relave acceleraon in between
the oshore structure and the unperturbed uid ow. It
is conjectured that the precision and applicaon range of
the coupled form of Morisons equaon might be improved
with some further modicaons. First, it might be conven-
ient to formulate not only the second term, but as well the
rst term of the Morison equaon (8) implicitly as a func-
on of the dynamic response of the oshore structure. Sec-
ond, Morisons model does not account for hydrodynamic
inducons on the unperturbed uid speeds and/or accel-
eraons which would result from the uid-structure inter-
acon. Analogously, the dispersion of an impacng wave
on the oshore structure is not accounted for in Morisons
empirical model. As a consequence, it is spulated that the
applicaon of the Morison equaon might tend to an over-
esmaon of hydrodynamic drag and/or uid inera loads.
It is conjectured that the empirical formulaon of Morison
might be improved if the added mass coecient, or respec-
vely the Morison coecient, is formulated as an empirical
decay funcon of the rao between the hydraulic diameter
and the wavelength, as stated by MacCamy and Fuchs [17].
These empirical decay funcons might approximate roughly
the eect of uid-structure inducons and/or wave disper-
sion, as it has been already reected in some recommendedpracces regarding oshore structures [18]. Future imple-
mentaons will be devoted to automacally modifying the
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Morison coecient taking into account these experimental
observaons and the corresponding wave dynamics. The
fully coupledphilosophy of the current code will be kept
during this new development, so the eects of the struc-
ture kinemacs will be considered during hydrodynamic
load computaon.
Two disnct oshore wind turbines have been analyzed by
a fully coupled aerodynamic, hydrodynamic and structural
dynamic approach. In the rst applicaon example, theOC4 reference oshore wind turbine model was chosen.
The corresponding aero-elasc S4WT wind turbine model
is supported by a hydro-dynamically loaded jacket FEM
model, includes exible MBS models of the major mecha-
nisms like the power train including the gearbox, the yaw
and the pitch drives, and comprises in total 3732 Degrees
of Freedom. The required CPU me for transient analysis
on a standard Intel Duo Core 3.2GHz computer, was similar
compared to standard onshore high delity wind turbine
models with a CPU me factor of about 45 with respect to
real me. It is menoned that required CPU mes depend
strongly on the number of Degrees of Freedom and on the
excited frequency content of the respecve model. In the
case of simplied wind turbine models that comprise less
than 1000 DOFs, the required CPU is generally less than a
factor of 10 with respect to real me.
In the case of the OC3 oshore reference model, the oat-
ing wind turbine model is not restrained by xaons as in
the case of clamped jacket supports. Instead, the oater is
aached to exible mooring lines aached to the seabed.
As a consequence, the dynamic equilibrium of the oscillat-
ing oang wind turbine is strongly inuenced by coupled
buoyancy, hydrodynamic and aero-elasc loads which all
strongly mutually interact together with controller acons.
In parcular the low frequency oscillaons of the oangturbine induce large speed variaons in the rotor plane.
In order to reduce the observed rotor plane speed varia-
ons induced by the oscillang oang wind turbine, spe-
cic controller tuning for blade pitch and generator torque
would be required. Future research will include specic
control strategies in order to reduce these oscillaons, for
instance via the integraon of acve damping techniques.
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