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Outline
Background
- Wind energy offshore and wind turbines
Wind technology development and research
- technology challenges
- design criteria
- concept development (spar, semi, TLP hulls, rotor, drivetrain)
- integrated dynamic analysis
Torgeir Moan
Centre of Ships and Ocean Structures (CeSOS)
Department of Marine Technology
Concluding remarks
Background
Background
Air density
Wind velocity (cubed)
Swept area
Feasible transportation /
installation
Cons
Wet & corrosive environment
Difficult access for installation &
maintenance
Tower
SUPPORT STRUCTURE
Background
Background
Development trends
Control systems
Integrating
knowledge
Rotor condition
Maximize
power
Constant
power
- deeper water
from fixed to floating
California 1980 : 55 kW
to
3.6 MW and upwards
Background
Component Onshore
Offshore
Turbine
70-85 %
40-50 %
Support
structure
1-10 %
15-30 &
Grid
connection
2-10 %
15-20 %
Electrical
install.
1-10 %
5-10 %
Engineering
2-10 %
5-10 %
Other
2-10 %
1-10 %
CapEx
- more expensive substructure/soil foundations
- more complex and expensive installation
OpEx (20 30 % of CapEx lifetime costs)
- bad weather can lead to downtime
- seabed preparation; e.g. to protect against scour
Onshore
turbines
2
- increased
5 MW
Background
1990
1995
2000
2005
(Source: Douglas Westwood, 2009; Dong Energy, 2010 etc)
Year
2010
2015
10
Technology development
Support structure and drive train
Minimize cost
while
complying with
safety and
durability
requirements.
Larger units
and reduced
failure rates
for
Power system:
Innovation in transmission, grid connection and system
integration while maximizing power availability, quality, and
stability
Marine operations:
Improve efficiency of installation (transportation, site surveying,
cable laying; etc ) and personnel access to facilities while
minimizing the risks and the cost of operation.
11
12
Technology Development
Design criteria
production of
electrical power
Methods of analysis
11
Provide support
of payload
Limited motions
Access for IMMR
Feasible/economic
fabrication, transport and
Installation
12
13
14
Design criteria
Design criteria
Safety criteria
Load
effects
Fatalities or injury
Environmental damage
Property damage
Extreme
moment (M) ULS:
Collapse
and
resistance
axial
force (N)
Wind energy
- ISO/IMO
- National regulatory bodies;
- Industry: API, NORSOK,
- Classification/Certification
bodies
- IEC
- National regulatory bodies
- Certification or classification
bodies
Structural integrity
structure
mooring
foundation
PF=P[RS]
fR(r)
ALS:
Ultimate
global
resistance
Design
check
16
ULS
- stability
M R = GZ
GZ = GM sin( )
G
B
r,s
SN-curve/
fracture
mechanics
Damaged
structure
Stability
fS(s)
FLS:
Local
stress
range
history
Extreme
global
force
Regulatory principles
- Goal-setting vs. prescriptive
- Probabilistic vs. deterministic
- First principles vs. purely experiential
15
Design
criteria
GM =
1
IW iw + KB KG
M O = Fwind a
a- distance from wind resultant,
Fwind to the centre of submerged
volume
17
18
Design criteria
Limit states
Design criteria
Limit states
-- Ultimate
Ultimate failure
failure (ULS)
(ULS)
-- Ultimate
Ultimate failure
failure initiated
initiated by
by faults
faults (ALS)
(ALS)
- Degradation (fatigue, corrosion, wear)
ULS
- strength
FLS
- strength
Fatigue strength is described by SN-curves and
the Miner Palmgren approach.
D=
M0
M0
N
ni
all
Ni
e0
D=
ni
N S0m
=
(m / + 1)
N i K (ln N 0 )
P[s > s o ] = 1 / N o
19
20
Technology Development
Wind
-aerodynamics
Minimal platforms
Beatrice
Alpha Ventus
Machinery/electrical control
- tower design,
alternative structural
material, downwind
/upwind rotor)
- foundation technology
Thorntonbank
-systems analysis:
Risk and reliability analysis
Optimization
- transport and
installation (complete
installation in-shore
and then float-out)
Structural
engineering
Wave,
Current
-Oceanography
-Hydrodynamics
Structural
materials
technology
Geotechnical engineering
incl. soil materials technology
21
22
Environmental data
Simplified:
Tropical regions
Location of 18 potential
European offshore sites.
23
24
Blades:
Flapwise: Extreme turbulence (DLC1.3)
Edgewise: Extreme wind (DLC6.1/6.2)
Tower top:
Tilt: Safety system fault (DLC2.2)
Yaw: Safety system fault (DLC2.2)
Tower bottom:
Along wind: Gust & lost grid (DLC2.3)
Across wind: Extreme wind (DLC6.1/6.2)
Seabed:
Along wind: NTM & Extreme wave (DLC1.6)
Across wind: Extr. wind & Wave (DLC6.X)
DNV, GL standards
Source: E.Jrgensen, DNV
25
Design of bottom supported turbines
26
2)Power
production
and
occurence
of faults
27
DLC 2.1 Faults relating to control functions or loss of electrical network (N)
Overspeed caused by malfunction generator torque
Pitch set to 0 at high winds -> overspeed
Operation at large yaw error
DLC 2.2 Rare events, including faults relating to protection functions (A)
Blade pitching blocked on one blade -> stopping with to blades only
Controller independent overspeed guard triggered
DLC 2.3 Extreme operating gust and loss of electrical connection (A)
28
Effect of wakes
Aerodynamics
Hydrodynamics
..
Aerodynamic loads
Benchmarking exercise
from Offshore Wind Accelerator
Turbines are arranged in a regular grid
CFD
Pitch angle
29
30
Aerodynamics on VAWT
Wave loads
Cp-exp
Cp
0.35
Power coefficient
0.3
0.25
0.15
0.1
10
30
Rotor torque,T*1000(N.m)
25
20
15
10
0
0
Wave kinematics
z
Airy theory
Nonlinear boundary
condition
t
g +
x x
y y
2 = 0
60
80
100
(deg)
= a sin t
120
140
160
29
180
i0
Kinematics
pressure
particle velocity acceleration
effect of large body diffraction,
( radiation, reflection )
Wave forces
large volume structures ( potential
theory ) numerical methods
slender bodies
tubular members: Morison Formula
ship hull
: Strip theory
32
2
x
= a sint x
x
D
diameter
vx
40
/2
2
2
2
1
+ + =0
t 2 x y z
(x,t)
20
=0
-/2
0.2
0.05
31
Waves
-wind generated waves
-swell
Surface elevation (Airy theory)
regular wave i = i 0 sin (i t ki x )
stochastic
= sin t k x +
Particle velocity, v
=0
-d
deep water
Particle acceleration, a
- velocity potential
v
a
p
- particle velocity
- particle acceleration
- pressure
as obtained from the velocity potential
vx = = vx(0) exp[ 2 z]
Note:
- Kinematics at a depth z:
i.e. in-phase for different z.
- Phase difference in two points with
different coordinate x
33
34
q
(pr.unit
length)
+
+
=0
t x x y y z
(x,t)
2 = 0
n = 0
A=
STOKES
IV
STOKES
III
STOKES
II
AIRY
-0.5
Phase
3
2
35
D = diameter
CM, CD - coefficients
- density
a - fluid acceleration
v - fluid velocity
For slender structures v and a
are the values in the incident
(undisturbed) wave
For large volume structures
- diffraction theory
Effective inertia coefficient
for vertical cylinder
D/
36
CM 2.2
2.0
1.8
1.6
1.4
1.2
1.0
0.8
0.6
0.4
0.2
0
0 0.1 0.2 0.3 0.4 0.5 0.6 0.7 0.8 0.9 1.0
0.5
-1
- velocity
potential
q= CM Aa+CD D v|v|
Cross-section area
wave p rofile /a
2
2
2
1
g +
+ + = 0
t 2 x y z
Wave force
q = qD + qI
z
Froude-Krylov force:
Drag force
qD = CD D vx |vx|
vertical member
0.5vx21 cos21
0.5vx22 cos22
- density of water
CD - drag coefficient
FFK = d
1 = 1t + 1 ; 2 = 2t + 2
37
38
39
40
Tools
Wind-industry based
Bladed (Garrad Hassan)
Flex5(S.ye,DTU)
HAWC2(Ris),
FAST(NREL)
Ansys/Aqua
Simo/Riflex/Nirvana (Marintek)
Orcaflex
Others (e.g.FEDEM,USFOS/VpOne
Source:
E.Jrgensen, DNV
41
Fatigue
analysis of an offshore wind turbine with a
jacket support structure at an exposed North Sea site
Water
Depth
70 m
42
Largest contribution
to fatigue due to
wind loads only:
v=20 m/s
and
wave only:
Hs = 5 m
43
Beatrice
Monopile turbine installed more or less complete
44
Technology Development
Methods of analysis
44
45Technology Development
46
State-of-the-art
design practice for
oil and gas platforms
provides guidance
Floating turbines
especially for
deep water areas in
the North Sea, USA,
Medeterrainean sea,
Japan, Korea
Larger blades
Variation of concepts
Support structure
Number of blades
Tower construction
Number of units on a floater
(for a 5 MW
turbine the blade is
63 m long)
- reduce loads ?
- improve energy capture
in low wind conditions ?
Smart blades
47
48
N a tu ra l p e rio d s
R ig id b o d y
m odes
F le x ib le
m odes
J a c ke ts
(G ra v ity p la tfo rm )
(J a c k u p s )
10 to
1500 rpm
8 -1 s e la s tic b e n d in g m o d e s
- 30 s
G u y e d to w e r
(C o m p lia n t
to w e r)
8 -1 s e la s tic b e n d in g m o d e s
A rtic u la te d
to w e r
8 -1 s e la s tic b e n d in g m o d e s
- 30 s
Hydraulic transfer
- 50 s
(Chapdrive concept)
s u rg e
6 -2 s a x ia l te th e r
m odes
T e n sio n -le g
p la tfo rm
- 40 s
5 0 -2 5 s
h e a v e /p itc h
S e m is u b m e rsib le
(m o o re d )
L e s s th a n 1 -2 s
W a v e lo a d p e rio d
A main question:
- Is the drive train, rotor.
used on bottom-fixed
turbines feasible for floating ones?
W a v e fre q u e n c y fo rc e s
L o w fre q u e n c y fo rc e s
100
47
60
40
H ig h fre q u e n c y fo rce s
30
20
10
2
seconds
49
50
Technology Development
Technology Development
Criteria
Stability
The tilt angle should be limited (e.g. to 7 degrees)
GM =
1
IW iw + KB KG
Ti = 2
Minimum displacement,
or increase added mass
51
M ii + Aii
K ii
Structure response
ULS/ALS, FLS
Minimum displacement,
or increase added mass
52
Technology Development
Constraints
Challenge:
-non-converging design spiral
(Bachynski and Moan, ISOPE Conf., 2012)
53
54
Aerodynamic, hydrodynamics,.
Integrated (aero-, hydro-, elastic-,
servo-) analysis
- loads: irregular waves, turbulent
wind, rotor rotation in a
gravitational field and a nonuniform
wind field,
- conditions: operating, parked
intact or with faults
- response extremes and histories st.dev. (for fatigue, wear..) for
different failure modes,
- time versus frequency
domain simulation
- refined versus simplified
methods
Tools
Wind-industry based
Bladed (Garrad Hassan)
Flex5(S.ye,DTU)
HAWC2(Ris),
FAST(NREL)
55
- Integrated analysis
tightly coupled system
- Time domain simulation
(time step, spectral repres.)
- Fault conditions
- Drivetrain
- Dynamic power cable
56
Hydrodynamic loads
2
T = a R 2 CTU REL
2
J. Marine Structures,
2012)
56
57
58
The main force components on a cylinder are( Clauss et al., 1991, Faltinsen, 1990)
For a slender body
FFK = d
Froude-Krylov force:
Pressure effects due to undisturbed incident waves
Hydrodynamic added mass and potential damping force:
v
t
FA = C A d a
CD - drag coefficient
(Source: O.Faltinsen/M.Greco)
59
- density
- volume
d - volume per unit length
C A - added mass coefficient
60
Rr () = [ 2A()r() + iB()r()]
(M + A )r + Br +
where:
k(t) =
RAO
Heave
Finertia = a + Ca ( a
r)
= (1 + Ca ) Ca
r
1
2
Fdrag = CD A ( v r )
2
2
(B() B )cos(t)d
0
61
62
Wave period
Courtesy of
Principal Power
63
64
0.5v cos21
2
x1
0.5vx22 cos2 2
where
Impulsive loading
1 = 1t + 1 ; 2 = 2t + 2
Aerodynamic loads
Hydrodynamic loads
Gravitational loads
Inertial loads
Control loads
Mooring system loads
Current loads
Ice loads
Soil interaction loads.
Frequency
dependent
properties,
nonlinearities
65
66
Drive-train
Stochastic analysis
of the response to
irregualr waves and
turbulent wind,.. to
reduce statistical
uncertainty
water depth:300 m
67
If resonance
can not be
avoided
damping
becomes
crucial 66
68
Tension Leg
Catenary
Spar (TLS)
Moored
(similar to
Spar (CMS)
SWAY)
(similar to
HYWIND)
NREL 5-MW Wind Turbine
mounted on a 120-m spar platform
(M. Karimirad, T.Moan, various papers)
67
68
69
70
71
72
Blade root bending moment spectrum for the below-rated wind speed case based
on a 1 h analysis (V= 8 m/s, I=0.18, HS = 2.5 m and TP = 9.8 s), tower shadow
and turbulence effects on the wave-wind-induced dynamic response of a
downwind TLS.
(Karimirad and Moan, J.Wind Energy, 2012)
The mean and standard deviation of the blade root bending moment (BM),
tower shadow and turbulence effects on the wave-wind-induced
dynamic response of a downwind TLS. The wind turbine is shut down at wind
speeds higher than 25 m/s. Significant wave heights refer to the load cases in
Table IV and the corresponding wind speeds.
(Karimirad and Moan, J.Wind Energy, 2012)
73
74
Fault scenarios
Transient wind loads may come from
-abnormal events such as shutdown, loss of electrical
network connection, faults in control system for blade pitch,
activation of the mechanical/aerodynamic/generator brake system,
73
75
76
x 10
Fault
occurs
Pitchsystem
Continue
operating
B with
C
faulted blade
TLP, EC 5
Wilkinsonetal.,2011
0.5
-0.5
-1
-1.5
-200
Shut down
turbine quickly
-150
-100
-50
0
time - TF, s
50
100
150
200
77
78
MSL
Node 401
Draught = 20 m
Node 401
109
Fix point
85 m
Cable +
Buoyancy
Rad. of
curv. 3 m
mean
config.
Near field
config.
Far field
config.
d = 100 m
seabed
Node 1
Node 1
(Fix point)
(Nasution and Svik, Marina project 2012)
79
80
Decoupled analysis
to determine
- Global aero-hydro-servo-elastic
simulation
- Drivetrain multi-body simulation
based on main shaft loading and
nacelle motions
Forces/moments
81
82
Hywind installation
Offshore GE
3.6 MW 104 m
rotor diameter
Perspective on
marine operations
An alternative
inspection/
monitoring
approach
Semisubmersible
(is ready to install.
Only anchor line
deployment is required)
TLP
(requires extensive
Installation operations)
Human Inspectors
partly replaced
robots ?
An
alternative
spar
installation
83
84
El.-grid
connection
Medium park
Market focus
Demo
HyWind, Norway,
1 2.3-MW turbine
Model testing
Cost focus
Concept &
theory
Technology focus
Time
85
86
WEC array
Aquaculture farm
Fishfarm
ID 85 Floating overtopping device
(like Wave Dragon) with two WTs on it
87
ID 29 Triangular Semisubmersible
Platform with 2WTand PAs between the
columns (similar to W2POWER)
88
Concluding remarks
Wind turbine
with rated power:
5 MW
6000
Torus
5000
4000
Mean Wind Power - Spar FWT alone
3000
2000
1000
0
7
11
13
15
17
19
Vmean (m/s)
Spar
Power production
Semi-sub-Flap concept
(Luan, Michailides, et al, 2013)
Spar-Torus concept
(Muliawan et al., J. Renewable Energy, 2013)
Implement relevant
knowledge from
-Oil and gas industry
-Coastal engineering
-Aquaculture technology
89
90
Thank you!
Acknowledgement
Thanks to researchers and PhD candidates
in CeSOS and Nowitech for excellent cooperation
91
92
93