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Nested control co-design of a spar buoy horizontal-axis floating offshore wind turbine
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The aerodynamics of floating offshore wind turbines in different working states during surge motion
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A Tutorial on the Control of Floating Offshore Wind Turbines: Stability Challenges and Opportunities for Power Capture
Climate change is a serious threat facing humanity. The United States (U.S.) and many other countries are increasing the amount of electrical power generated from renewable energy sources in an effort to combat climate change and ensure energy independence. The U.S. has set goals to achieve a 100% decarbonized electric grid by 2035 and a net-zero emissions economy by no later than 2050. Renewable energy currently accounts for about 20% of the U.S. power grid. According to the U.S. Department of Energy and the National Renewable Energy Laboratory (NREL), in the U.S. in 2021, wind and solar photovoltaic generation supplied 9.1% and 4% of total electricity generation, respectively, and the latest publicly available data show that hydropower represented 6.6% of all electricity generated in the U.S. in 2019. As wind farms have been built in many of the best wind resource areas on land, the U.S. and many other countries are turning to offshore wind for further growth of wind power capacity. Further, the U.S. has committed to deploy 30 GW of offshore wind by 2030, a significant increase from the 0.04 GW of installed offshore wind in the country as of the end of 2023. Many other countries have also established ambitious goals or plans to increase the amount of installed offshore wind power.
Heave Plate Hydrodynamic Coefficients for Floating Offshore Wind Turbines - A Compilation of Data
The National Renewable Energy Laboratory's OpenFAST software is utilized by academics and industry professionals alike to simulate offshore wind turbines. The software's modeling of hydrodynamic loads on heave plates attached to these structures relies on user-specified hydrodynamic coefficients. To guide the proper selection of these coefficients and potentially develop a new functionality within OpenFAST that automatically prescribes and/or adjusts the heave-plate hydrodynamic coefficients, we review past literature to examine the dependence of the added mass, damping, and drag coefficients on various relevant nondimensional parameters, including the Keulegan-Carpenter number, the frequency parameter, and the plate thickness ratio. Existing data in the literature show strong dependence of the hydrodynamic coefficients on the Keulegan-Carpenter number. We observe consistent trends across a range of different plate geometry, plate porosity, and flow conditions. Secondary dependence of the coefficients on the frequency parameter and plate thickness ratio is also present.
Heave-Plate Hydrodynamic Coefficients for Floating Offshore Wind Turbines - A Compilation of Data: Preprint
The National Renewable Energy Laboratory's OpenFAST software is utilized by academics and industry professionals alike to simulate offshore wind turbines. The software's modeling of hydrodynamic loads on heave plates attached to these structures relies on user specified hydrodynamic coefficients. To guide the proper selection of these coefficients and potentially develop a new functionality within OpenFAST that automatically prescribes and/or adjust the heave-plate hydrodynamic coefficients, this paper reviews past literature to examine the dependence of the added mass, damping, and drag coefficients on various relevant non-dimensional parameters, including the Keulegan-Carpenter number, the frequency parameter, and the plate thickness ratio. Existing data in the literature show strong dependence of the hydrodynamic coefficients on the Keulegan-Carpenter number. Consistent trends are observed across a range of different plate geometry, plate porosity, and flow conditions. Secondary dependence of the coefficients on the frequency parameter and plate thickness ratio is also present.
Control Co-Design of Wind Turbines
Wind energy is recognized worldwide as cost-effective and environmentally friendly, and it is among the fastest-growing sources of electrical energy. To further decrease the cost of wind energy, wind turbines are being designed at ever-larger scales. To expand the deployment of wind energy, wind turbines are also being designed on floating platforms for placement in deep-water locations offshore. Both larger-scale and floating wind turbines pose challenges because of their greater structural loads and deflections. Complex, large-scale systems such as modern wind turbines increasingly require a control co-design approach, whereby the system design and control design are performed in a more integrated fashion. This article reviews recent developments in control co-design of wind turbines. We provide an overview of wind turbine design objectives and constraints, issues in the design of key wind turbine components, modeling of the wind turbine and environment, and controller coupling issues. Wind turbine control functions and the integration of control design in co-design are detailed with a focus on co-design compatible control approaches.
Dynamic Modelling of HiveWind Floating Wind Substructure in OpenFAST
Current aero-elastic modes tend to consider the wind turbine floating substructures as rigid. However, the new generation of offshore wind platforms are leaner, less rigid. The OpenFAST code has been updated to consider the flexibility of the floating substructure. This presentation shows how a numerical model of the HiveWind design was created within OpenFAST as well as some verifications performed. When comparing the flexible model to a simplified rigid model (previous state-of-the-art), there are some significant differences in key performance indicators. The new flexibility capability within OpenFAST allows to calculate ultimate and fatigue loads within the floating substructure, allowing for the development of more economical designs.
RAFT (Response Amplitudes of Floating Turbines) [SWR-22-40]
RAFT is a Python code for frequency-domain analysis of floating wind turbines. RAFT works in the frequency domain to provide efficient computations of a floating wind system's response spectra accounting for platform hydrodynamics, quasi-static mooring reactions, rotor aerodynamics, and linearized control. It can be used to calculate response amplitude operators (RAO's), power spectral densities, mean/static properties, and response metrics based on mean and root-mean-square values of each output. RAFT serves as the Level 1 model in the WEIS (Wind Energy with Integrated Servo-control) toolkit, and features an OpenMDAO wrapper.
Vertical-Axis Wind Turbines: a Solution for Floating Offshore Wind?.
Abstract not provided.
A systems engineering vision for floating offshore wind cost optimization
The U.S. offshore wind resource potential is immense, and often in close proximity to densely-populated coastal load centers. In many U.S. coastal areas, water depths favor the deployment of floating over fixed-bottom offshore wind technology. Floating offshore wind plants have the potential to be cost-competitive with fixed-bottom installations, but because the technology has not yet been deployed at commercial scale, it is not clear when and with what configurations this potential cost parity can be achieved. This article first reviews the state of floating offshore wind technology and deployments to identify key gaps that must be addressed to bring down the overall cost of energy produced. The article then puts forth a long-term vision for a research program and design methodology that may be able to push floating wind plants toward a lower levelized cost of energy than fixed-bottom offshore wind. The method involves a fully integrated systems-engineering and techno-economic design approach to capture the complex interactions between the physics, manufacturing, installation, and operation of floating wind turbines to achieve transformational cost reductions. The approach also envisions multifidelity and uncertainty management strategies to examine the most robust and viable concepts in the design trade-space. To better focus the computational resources, engineering lessons learned from existing offshore wind systems and concept studies are used to develop a set of criteria that can be applied to prefilter candidate technology building blocks that have the greatest cost reduction potential.
Innovative Deep-Water Mooring Systems for Floating Wind Farms (DeepFarm): Cooperative Research and Development (Final Report)
The DeepFarm project, led by Principle Power Inc (PPI), focused on design, modeling and development of innovative mooring and anchoring systems for semi-submersible floating wind turbine platforms in a deep water, commercial-size wind farm. It explored the possibility of sharing anchors amongst the floating platforms within the farm, and considers site conditions representative of the West Coast and Hawaii, with a variety of water depths, as case studies to ensure that the sensitivity to water depth and park size are well understood. NREL and PPI worked together to develop and apply NREL's computational tools for modeling floating wind farm dynamics and costs.
Implementation and Verification of Cable Bending Stiffness in MoorDyn: Preprint
Cable bending stiffness capabilities have been added to MoorDyn to enable modeling of dynamic power cables. The relatively large motions experienced by floating wind turbines and wave energy converters pose a challenge for power cables, whose internal components provide significant bending resistance and are sensitive to deformation. The behavior and associated design considerations of power cables in these highly dynamic applications make coupled analysis relevant for design. MoorDyn is a lumped-mass mooring dynamics model that is used for floating wind energy simulation (often coupled with OpenFAST) and floating wave energy converter simulation (often coupled with WEC-Sim). Its existing line elasticity formulation considers axial stiffness only. To properly capture the dynamics of power cables, a cable bending stiffness model has been added that approximates cable curvature based on the difference in tangent vectors of adjacent line elements. The resulting bending moment is realized by applying forces on adjacent nodes, leaving the underlying lumped-mass formulation unchanged. The bending stiffness implementation is verified in static conditions against analytical solutions and then in a dynamic power cable scenario in comparison with OrcaFlex. The dynamic scenario uses prescribed motions and includes wave loadings on the cable. Results indicate correct implementation of bending stiffness and show close agreement with OrcaFlex.
WEIS and FAST.Farm Advancements Beyond Wind Turbine Aeroelasticity
Presentation at the 7th Wind Energy Systems Engineering workshop from NREL principal engineer Jason Jonkman, Ph.D., on NREL's numerical tools Wind Energy with Integrated Servo-control (WEIS), which focuses on the integrated design of floating wind turbines, and FAST.Farm, a simulation tool for multi-turbine wind farms based on popular aero-servo-hydro-elastic solver OpenFAST. The presentation discusses recent advancements beyond wind turbine aero-elasticity.
Definition of the UMaine VolturnUS-S Reference Platform Developed for the IEA Wind 15-Megawatt Offshore Reference Wind Turbine
The following report defines the UMaine VolturnUS-S reference floating offshore wind turbine (FOWT) semi-submersible designed to support the IEA-15-240-RWT 15-megawatt (MW) reference turbine. The semi-submersible is a generic steel version of the UMaine patented concrete floating foundation technology developed by the US Department of Energy. This report serves as an addendum to the previously published report, NREL/TP-5000-75698 IEA Wind TCP Task 37: Definition of the IEA Wind 15-Megawatt Offshore Reference Wind Turbine, and provides details on a floating semi-submersible design developed to support the15MW reference wind turbine.
Implementation and Verification of Cable Bending Stiffness in MoorDyn
The relatively large motions experienced by floating wind turbines and wave energy converters pose a challenge for power cables, whose internal components provide significant bending resistance and are sensitive to deformation. The behavior and associated design considerations of power cables in these highly dynamic applications make coupled analysis relevant for design. Bending stiffness capabilities have recently been added to the lumped-mass mooring dynamics model MoorDyn to enable simulation of dynamic power cables. MoorDyn is a common modeling choice for floating wind energy simulation (often coupled with OpenFAST) and floating wave energy converter simulation (often coupled with WEC-Sim) but the model’s previous line elasticity formulation only considered axial stiffness. To properly capture the dynamics of power cables, a bending stiffness model has been added that approximates cable curvature based on the difference in tangent vectors of adjacent elements. The resulting bending moment is realized by applying forces on adjacent nodes, enabling cable modeling while leaving the underlying lumped-mass formulation unchanged. In this paper, the new bending stiffness implementation is verified in static conditions against analytical solutions and then in a dynamic power cable scenario in comparison with the commercial simulator OrcaFlex. The dynamic scenario uses prescribed motions and includes wave loadings on the cable. Results indicate correct implementation of bending stiffness and show close agreement with OrcaFlex.
Reference Design Cases for Floating Offshore Wind Arrays
Given the immature nature of the Floating Offshore Wind (FLOW) industry, there is a need for reference FLOW farm designs to allow researchers and technology developers to study the behavior of floating wind turbine systems, without having to design every part of those systems or without having to get access to a wide range of information that is often confidential. The International Energy Agency (IEA) Wind Task 49 is facilitating research collaboration on the integrated design of Floating Offshore Wind Arrays (FOWA), and will develop several reference FOWAs to facilitate R&D activities of the floating wind community and efficient scale change of the floating wind industry (from pilot farms to commercial ones). This paper will outline the key design considerations the task has identified for the sustainable deployment of large-scale FOWAs. The aim is to prepare a comprehensive overview of the different elements that impact the design of FOWA to support the development of best practices for FOWA design. The paper will also present three baseline reference design cases that are being prepared for shallow, intermediate and deep water sites. The final designs will be made open access including the engineering and cost inputs to accelerate further innovation, research and the deployment of FOWAs.
Verification and Validation of Model-Scale Turbine Performance and Control Strategies for the IEA Wind 15 MW Reference Wind Turbine
To enable the fast growth of the floating offshore wind industry, simulation models must be validated with experimental data. Floating wind model-scale experiments in wind–wave facilities have been performed over the last two decades with varying levels of fidelity and limitations. However, the turbine controls in these experiments have considered only limited control strategies and implementations. To allow for control co-design, this research focuses on implementing and experimentally validating more advanced turbine control actions and strategies in a wind–wave basin for a 1:70-scale model of the International Energy Agency’s wind 15 MW reference wind turbine. The control strategies analyzed include torque control, collective pitch control, and transition region control (setpoint smoothing). Our experimental and numerical results include the effects of varying rotor speeds, blade pitches, and wind environments on the turbine thrust and torque. Numerical models from three different software tools are presented and compared to the experimental results. Their ability to effectively represent the aero-dynamic response of the wind turbine to the control actions is successfully validated. Finally, turbine controller tuning parameters based on the derivatives of thrust and torque are derived to allow for improved offshore wind turbine dynamics and to validate the ability of modeling tools to model the dynamics of floating offshore wind turbines with control co-design.