Aero-Hydro-Servo-Elastic Modelling and Control of a Scaled Floating Offshore Wind Turbine on a Tension Leg Platform Including Experimental Validation
Authors
Jensen, Jesper Kirkegaard ; Laugesen, Kasper ; Jessen, Kasper ; Mortensen, Signe Møller
Term
4. semester
Education
Publication year
2018
Submitted on
2018-06-06
Pages
420
Abstract
Efterspørgslen efter ren energi stiger, og nye teknologier kommer til. En af dem er flydende havvindmøller (FOWT), som kan placeres, hvor havet er for dybt til faste fundamenter. Når fundamentet flyder, bevæger anlægget sig dog med vind og bølger, hvilket gør systemet mere komplekst. Derfor er der brug for præcise og validerede modeller, der beskriver vandkræfter (hydrodynamik), vindkræfter (aerodynamik), hvordan konstruktionen bevæger sig (strukturdynamik), hvordan aktuatorer opfører sig (servodynamik), og hvordan alt dette kobles sammen med styringssystemet. I denne afhandling præsenteres to fuldt koblede matematiske modeller af AAUE‑TLP, en funktionsdygtig fysisk skalamodel af en flydende vindmølle, som forfatterne har udviklet. Den ene model er implementeret i CAE‑værktøjet FAST, og den anden er en Simulink‑model udviklet under projektet. Dele af modellerne bestemmes gennem simple forsøg på AAUE‑TLP, mens andre dele er baseret på teori. Alle modeller testes og valideres mod mere avancerede forsøg på AAUE‑TLP. Endelig designes og testes to styringssystemer på AAUE‑TLP: ét til generatoren og ét til pitch‑systemet (som justerer vinkler) for at styre møllens drift.
As the demand for clean energy grows, new technologies emerge. One is floating offshore wind turbines (FOWTs), which can operate where the sea is too deep for fixed foundations. Because the foundation floats, the turbine moves with wind and waves, making the system more complex. This creates a need for precise, validated models that capture water forces (hydrodynamics), wind forces (aerodynamics), how the structure moves (structural dynamics), how actuators behave (servo dynamics), and the coupling of these with the control system. This thesis presents two fully coupled mathematical models of the AAUE‑TLP, a functional, scaled physical model of a floating wind turbine developed by the authors. One model is implemented in the computer‑aided engineering tool FAST, and the other is a Simulink model developed during the project. Parts of the models are identified through simple experiments on the AAUE‑TLP, while other parts are based on theory. All models are tested and validated against more advanced experiments on the AAUE‑TLP. Finally, two control systems are designed and tested on the AAUE‑TLP: one for the generator and one for the pitching system (which adjusts angles) to manage turbine operation.
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