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DOE OSTI2024

Geometry Optimization of Cable-Based Actuation for Small-Scale Model Testing of a Floating Marine Turbine: Preprint

This research aims to apply combined wave and tidal current loads to a small-scale floating marine current turbine in a wave tank, where an actuation system applies hydrodynamic and mooring forces on the hardware based on results from a simulation. We use a real-time hybrid test setup with physical wave forcing from the wave tank and simulated current and mooring forces implemented through a tensioned cable array. For this paper, we developed an optimization algorithm that adjusts the hardware geometry of the cable array to achieve more efficient tension allocation across the cables for the loads that need to be actuated. By adjusting the points where the cables are attached to the floating platform and the angles between the platform and the winches, an optimal cable geometry can be found to minimize tension variations in the lines, maintain the desired pretension, and prevent excessive tensions. We present the optimization problem formulation, the actuation system evaluation approach, and optimization results that show effective cable actuation setups that are being considered for implementation in the wave tank tests.

cable-based actuation↗

DOE OSTI2023

Design and Modeling of an Open-Source Baseline Floating Marine Turbine: Preprint

Marine energy resources such as river, tidal, and ocean currents can provide abundant, predictable, and clean power to both densely populated and remote communities globally. However, marine turbine technologies are still in an early stage of development. Recently, features have been added to the National Renewable Energy Laboratory's open-source wind turbine modeling tool OpenFAST to support the simulation of axial-flow marine turbines. These new features enable marine energy developers to predict the performance and safety of their turbines and allow researchers and students to advance the field through the exploration of novel designs. Developing and demonstrating the new capabilities of OpenFAST for marine turbines requires a baseline design that can be used as an example and test case. There are limited open-source turbine models suitable for this purpose. One existing baseline design is the Reference Model 1 (RM1), a fixed-bottom, dual-rotor marine turbine that was published in 2014 as part of the Department of Energy's Water Power Reference Model Project. To test and demonstrate OpenFAST's ability to model floating marine turbines, several modifications were made to the RM1. A floating platform and mooring system were designed to support a single RM1 rotor in a wide range of possible current and wave conditions. The system and model are intended to be a stable reference case and starting point for research efforts. The platform features all cylindrical members and familiar design elements from the offshore wind industry; the mooring system uses simple catenary chains. While not optimized for the lowest platform cost, the design is understandable and robust and can serve as a baseline for floating marine turbine technologies. This is a useful starting point for studies to explore new technologies or design methodologies. Additionally, the floating RM1 design enables cross-collaboration among industry, academia, and national lab researchers and serves as an educational platform for newcomers to marine energy. This short paper presents the specifications of the turbine, including its floating support structure and mooring system. The rationale behind the selection of certain design parameters is described. To enable adoption of this baseline case for research and educational efforts, an OpenFAST model of the full system has been made publicly available at https://github.com/OpenFAST/r-test/tree/main/glue-codes/openfast/MHK_RM1_Floating.

floating↗

DOE OSTI2024

Development of an Optimal Variable-Pitch Controller for Floating Axial-Flow Marine Hydrokinetic Turbines

This article discusses the development of an optimal variable-pitch controller for floating, axial-flow marine turbines. Recently, OpenFAST, an open-source wind turbine modeling tool, has been extended to model marine turbines. A controller is necessary to simulate marine turbines for different load cases using OpenFAST, which greatly impacts the performance of the energy system. Previous studies have designed controllers using a linearized model of the marine turbine, which can be time-consuming and require the expertise of a control engineer. In this study, we use an automated approach that uses generic models of the marine turbine to identify the controller gains, which can expedite the process of designing a controller. Using an optimizer to identify the control system parameters can additionally improve the controller's performance. The optimal controller tuned using such an approach results in a 20% reduction in the tower-base damage equivalent loading and better tracking of the rated generator speed and power.

axial flow↗

DOE OSTI2023

A Study of Wake Characteristics of Marine Turbine Arrays: Preprint

As the marine energy industry continues to develop and installations grow from single turbines to small arrays and larger farms, understanding and predicting wake behavior using modeling tools is necessary for array design and optimization. The wake characteristics of upstream turbines, including velocity deficit, wake swirling, tip vortices, wake shape and direction, and flow recovery, influence the inflow conditions experienced by downstream turbines in an array and, subsequently, affect the individual turbine loading and power generated by the array. These wake characteristics are influenced by many factors, including site geography, inflow shear profile, turbulence, waves, the strength of the current resource, gravitational forces, storm surges, and seasonal effects like temperature and wind conditions. Efficient array modeling tools that capture these wake effects and resulting turbine-to-turbine interactions need to be developed to optimize farm layouts and design individual turbines for operation within arrays. Unlike the wind industry, the marine energy research community is largely limited to the use of either numerical tools or tank/flume testing to understand marine turbine wake interactions. This paper will investigate recent advances in numerical and experimental marine turbine wake modeling, with a focus on recent publications and on both axial-flow and cross-flow marine turbines. A summary of recent research on these topics is provided. Additionally, a demonstration of turbine wake interactions using computational fluid dynamics is presented.

marine hydrokinetic turbine↗

DOE OSTI2022

Combining shallow-water and analytical wake models for tidal array micro-siting

For tidal-stream energy to become a competitive renewable energy source, clustering multiple turbines into arrays is paramount. Array optimisation is thus critical for achieving maximum power performance and reducing cost of energy. However, ascertaining an optimal array layout is a complex problem, subject to specific site hydrodynamics and multiple inter-disciplinary constraints. In this work, we present a novel optimisation approach that combines an analytical-based wake model, FLORIS, with an ocean model, Thetis. The approach is demonstrated through applications of increasing complexity. By utilising the method of analytical wake superposition, the addition or alteration of turbine position does not require re-calculation of the entire flow field, thus allowing the use of simple heuristic techniques to perform optimisation at a fraction of the computational cost of more sophisticated methods. Using a custom condition-based placement algorithm, this methodology is applied to the Pentland Firth for arrays with turbines of 3.05 m/s rated speed, demonstrating practical implications whilst considering the temporal variability of the tide. For a 24-turbine array case, micro-siting using this technique delivered an array 15.8% more productive on average than a staggered layout, despite flow speeds regularly exceeding the rated value. Performance was evaluated through assessment of the optimised layout within the ocean model that treats turbines through a discrete turbine representation. Used iteratively, this methodology could deliver improved array configurations in a manner that accounts for local hydrodynamic effects.

16 TIDAL AND WAVE POWER↗

DOE OSTI2025

Confinement Exploiting Arrays of Cross-Flow Turbines (ConExT) (Final Scientific/Technical Report)

Final technical report for the ARPA-E SHARKS project: Confinement Exploiting Arrays of Cross-Flow Turbines (ConExT). This involved collaboration by the University of Washington, University of Wisconsin, National Renewable Energy Laboratory, and Oberon Insights. Cost-effective, large-scale utilization of tidal and river current resources requires turbine arrays. Most array concepts involve multiple, staggered rows of turbines analogous to wind farms. However, in water, turbines that have an appreciable projected area (i.e., the projected area over a full revolution) relative to a channel’s cross-sectional area can theoretically extract far more energy than when operating in isolation. This suggests substantial benefits to a confinement-exploiting approach to array layout, in which turbines are more densely clustered in a single row spanning a channel. The objective of this project was to move this concept from theory to practice, as well as establishing environmental and economic trade-offs. This objective was accomplished through scale-model experimentation, high-fidelity computational fluid dynamic simulation, and integrated techno-economic modeling.

16 TIDAL AND WAVE POWER↗

DOE OSTI2020

A Tidal Hydrodynamic Model for Cook Inlet, Alaska, to Support Tidal Energy Resource Characterization

Cook Inlet in Alaska has been identified as a prime site in the U.S. for potential tidal energy development, because of its enormous tidal power potential that accounts for nearly one-third of the national total. As one important step to facilitate tidal energy development, a tidal hydrodynamic model based on the unstructured-grid, finite-volume community ocean model (FVCOM) was developed for Cook Inlet to characterize the tidal stream energy resource. The model has a grid resolution that varies from about 1000 m at the open boundary to 100–300 m inside the Inlet. Extensive model validation was achieved by comparing model predictions with field observations for tidal elevation and velocity at various locations in Cook Inlet. The error statistics confirmed the model performs reasonably well in capturing the tidal dynamics in the system, e.g., R2 > 0.98 for tidal elevation and generally > 0.9 for velocity. Model results suggest that tides in Cook Inlet evolve from progressive waves at the entrance to standing waves at the upper Inlet, and that semi-diurnal tidal constituents are amplified more rapidly than diurnal constituents. The model output was used to identify hotspots that have high energy potential and warrant additional velocity and turbulence measurements such as East Foreland, where averaged power density exceeds 5 kw/m2. Lastly, a tidal energy extraction simulation was conducted for a hypothetical turbine farm configuration at the Forelands cross section to evaluate tidal energy extraction and resulting changes in far-field hydrodynamics.

16 TIDAL AND WAVE POWER↗

DOE OSTI2022

Control Design for a Marine Hydrokinetic Cycloturbine Vehicle

Abstract Marine Hydrokinetic (MHK) cycloturbines generate sustainable power by exploiting tidal currents. By powering the turbines and using pitching foils for control, a vehicle comprised of MHK cycloturbines also has the ability to station keep and maneuver. The vehicle consists of four counter-rotating cycloturbines, with hydrofoils oriented perpendicular to the flow in a paddlewheel configuration. Lift and drag generated from these foils sum together to produce thrust. An experimentally tuned simulation model that solves the six-degrees-of-freedom rigid body equations of motion for the MHK vehicle subject to hydrodynamic, hydrostatic, and propulsive forces is used to aid the design of vehicle controllers. Global feedback controllers are initially designed by applying classical control methods to an approximate linear model of the system dynamics. A higher performing nonlinear controller is designed using the nonlinear dynamic inversion (NDI) method. NDI accounts for the nonlinearities of the MHK system and therefore is suitable for a wide range of operating conditions. The response of the classical and NDI controllers to speed, depth, roll, pitch, and yaw commands are evaluated and compared in simulation. The classical controller outperforms the NDI controller for small amplitude maneuvers, although the degradation with NDI is minor. However, in the nonlinear operating regime the NDI controller outperforms the classical controller and the classical controller exhibits instability.

Automation & Control Systems↗

DOE OSTI2024

RAFT: Reconfigurable Array of High-Efficiency Ducted Turbines for Hydrokinetic Energy Harvesting

Diversifying the energy harvesting portfolio is crucial to achieving the ambitious goal of transitioning to clean energy by 2030. Marine hydrokinetic energy has garnered renewed interest due to its high harvesting potential in the U.S., and the resource's reliability and predictability—remaining relatively constant on a daily basis and available 24/7. However, there are currently few commercial devices capable of harnessing the energy from flowing water. This project aims to bridge that gap by designing and evaluating a novel hydrokinetic turbine concept that can efficiently harvest energy from both rivers and tidal streams. The RAFT (Reconfigurable Array of High-Efficiency Ducted Turbines) concept introduces a duct surrounding the turbine rotor and creates an array of small 5-kW units. The duct serves two primary purposes: (1) it enhances hydrodynamic efficiency by accelerating flow to the rotor, and (2) it functions as a structural component, facilitating the formation of modular arrays that lower costs. This project focuses on demonstrating this concept and validating these benefits through simulations and scaled prototype testing. The project team includes 8 faculty members and over 20 students from 3 universities, organized into three core areas: hydrodynamics, electrical systems, and structural analysis, with additional teams dedicated to system integration, environmental assessment and risk management, and tech-to-market strategy. The team successfully demonstrated the increased hydrodynamic efficiency of a ducted turbine compared to an unducted version using high-fidelity simulations and prototype tests. Moreover, design optimization efforts led to surpassing the SHARKS program's goal of 60% reduction of the levelized cost of energy with a significant margin.

13 HYDRO ENERGY↗

DOE OSTI2020

Verdant Power TriFrame, Gen5 KHPS Turbine, and BOP System Content Models

This submission includes System Content Models with data following manufacture for the Verdant Power TriFrame, Gen5 Kinetic Hydropower System (KHPS) Turbines, and Balance of Plant (BOP). The TriFrame installs 3 Gen5 KHPS Turbines. The BOP system controls the turbines and interconnects the TriFrame to shoreline with supervisory control and data acquisition (SCADA).

16 TIDAL AND WAVE POWER↗

DOE OSTI2021

Design of high-deflection foils MHK applications - CFD models - RivGen turbine

The Ocean Renewable Power Company's (ORPC's) goal is to design, develop, and test hydrofoils with large deflections. The effects of the deflections on cross-flow turbine performance would be evaluated in order to inform design considerations for full-scale water turbines and other marine hydrokinetic devices. CFD Models OpenFOAM V1912 RivGen turbine

16 TIDAL AND WAVE POWER↗

DOE OSTI2022

RITE Gen5 KHPS Levelized Cost of Energy

Levelized Cost of Energy analysis for Verdant Power Gen5 KHPS utilizing annualized AEP based on actual energy generation at the RITE Project during 2020-21. The WEC devices analyzed include attenuator, point absorber, oscillating wave surge converter, oscillating water column, overtopping/terminator device, submerged pressure differential, bulge wave, and rotating mass type wave energy converter devices. The CEC devices analyzed include horizontal axis turbine, vertical axis turbine, oscillating hydrofoil, enclosed tips (Venturi), Archimedes screw, and tidal kite type current energy converter devices.

16 TIDAL AND WAVE POWER↗

DOE OSTI2021

TriFrame Mount Structural Performance - Period A

Long-Term TriFrame Monitoring System (LTTFMS) data collected during Period A (13 days - 10/22/20 - 11/4/20). The central component of the Verdant Power Free Flow System is a three-bladed horizontal-axis turbine. The turbine is equipped with a composite rotor with three fixed-pitch blades that rotate at a slow and regular rate (approx. 32 rpm), well below normal water vessel propeller speeds and conventional hydropower turbine blade speeds. The TriFrame mount is the structural mount that holds the three Verdant Power three-bladed horizontal-axis turbines.

16 TIDAL AND WAVE POWER↗

DOE OSTI2021

Acoustic Doppler Velocimeter (ADV) data from the University of New Hampshire Atlantic Marine Energy Center (UNH-AMEC ) Tidal Energy Test Site during a Perigean Spring Tide

The ADV measurements contained in this submission were taken on the floating turbine deployment platform (TDP) located at the Memorial Bridge in Portsmouth, NH. The measurements were conducted 11/4/2021-11/9/2021 with the fastest currents occurring on 11/7/2021. Along with the submission of ADV data, a .ppt and text document further explaining the ADV deployment location is included.

16 TIDAL AND WAVE POWER↗

DOE OSTI2020

Evaluating the Potential for Tidal Phase Diversity to Produce Smoother Power Profiles

Although tidal energy conversion technologies are not yet commercially available or cost-competitive with other renewable energy technologies like wind turbines and solar panels, tides are a highly predictable resource. Tidal energy’s predictability indicates that the resource could introduce less volatility into balancing the electric grid when compared to other renewables, a fundamentally desirable attribute for the electric system. More specifically, tidal energy resources are unique in that they have the potential to produce relatively smoother power profiles over time through aggregation. In order to generate smooth power profiles from tidal resources, sufficient complexity within the timing of tides is necessary within electrical proximity. This study evaluates the concept of aggregating diverse tides for the purpose of reducing periods of no and low energy production and creating smoother power profiles in regions around Alaska and Washington by calculating cross-correlations of tidal current velocity time series. Ultimately, study results show limited potential to exploit the resources for this purpose and describe the institutional mechanisms necessary to realize the benefits in practice.

16 TIDAL AND WAVE POWER↗

DOE OSTI2021

Design of high-deflection foils MHK applications - FEA models - RivGen Turbines

16 TIDAL AND WAVE POWER↗

DOE OSTI2024

Performance Testing of an Integrated Magnetic Power Take-Off

A wave energy converter (WEC) and the power take-off (PTO) generator system can be represented by using a mass-spring-dampener model. By incorporating a negative stiffness spring within the PTO, the overall stiffness of the PTO can be lowered allowing the impedance of the PTO to be more closely matched with the WEC. By designing for impedance matching the WEC can greatly enhance its power generation capability. This project has involved the design, fabrication and testing of a new type of linear-stroke length and rotary stroke length adjustable negative stiffness magnetic springs for use within a wave energy converter (WEC). The magnetic springs were studied by using 3-D finite element analysis with the objective of creating high energy density and a long linear stroke length. After the construction and testing of both a proof-of-principle adjustable linear and rotary magnetic spring prototype the rotary (torsional) magnetic spring was selected for scaling up analysis. The selected scaled-up proof-of-principle magnetic spring had a peak torque of 850 Nm with a ±45 degree stroke length. By translating the inner rotor relative to the outer rotor, the stiffness could be adjusted to be either negative or positive stiffness. During this project a magnetic lead screw was also studied, and it was shown that by combining the magnetic lead screw with a linearly translating magnetic spring a very long rotary stroke length could be attained. However, as the magnetic lead screw increased complexity and reduced overall energy density relative to a rotary (torsional) spring, this design approach was not further pursed. Dynamometer testing of the variable stiffness magnetic springs was first completed by Portland State University and following this the magnetic spring performance was independently verified by Sandia National Laboratory (Sandia). A WEC analysis when using a variable stiffness magnetic spring was completed by using the WecOptTool. WecOptTool is an open-source WEC optimization software developed by Sandia that supports efficient power take-off (PTO) and control optimization. Wave condition data from the Oregon PacWave test-site was used in this study. The analysis showed that a WEC with a tunable stiffness value could consistently achieve about 80% of its maximum theoretical power production. The use of a tunable stiffness WEC, rather than zero-stiffness or a constant stiffness WEC was also shown to lead to a smaller maximum PTO force requirement. The variable stiffness magnetic spring was integrated into an experimental WEC developed by Sandia, called a Wave-Bot. Sandia successfully completed water-tank testing of the Wave-Bot at the Navy’s Carderock, Maryland, wave-basin test site. The wave-basin testing helped to experimentally demonstrate the operating capabilities and increased power generation capability of a WEC containing an integrated variable stiffness magnetic spring. A WEC capacity factor analysis was also completed. The capacity factor was defined as the ratio of annual average WEC generator power to the maximum (RMS) generated power. This capacity factor provided a means of identifying the ratio of potential revenue to cost. It was calculated that if a tunable variable stiffness magnetic spring has RMS constraints it could operate with a capacity factor above 30%. This is comparable to a wind turbine’s capacity factor.

16 TIDAL AND WAVE POWER↗

DOE OSTI2022

A Low-Flow Marine Hydrokinetic Turbine for a Floating Unmanned Mobile Platform

Design and fabrication of a marine hydrokinetic turbine for deployment from a floating unmanned autonomous mobile catamaran platform is described. The objective is to develop a low-flow current turbine for deployment from a floating mobile catamaran USV platform. An undershot water wheel has been selected as the turbine of choice and a WAM-V 16 catamaran has been selected as the USV platform. The concept of operation is that the USV platform would autonomously seek and navigate to a coastal location where coastal or tidal currents may be present, anchor at the location, and deploy the turbine to harness the current energy, convert it to electricity and store it in onboard battery banks. The prototype system being developed is targeted at supporting development of self-powered autonomous mobile recharge stations for unmanned aerial vehicles in coastal zones. Once implemented on the vehicle, open water tests are planned for a range of environmental conditions, involving tidal and coastal currents, and system configurations. The status of the ongoing effort will be discussed.

16 TIDAL AND WAVE POWER↗