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LQG control for hydrodynamic compensation on large floating wind turbines

Author

Listed:
  • Hawari, Qusay
  • Kim, Taeseong
  • Ward, Christopher
  • Fleming, James

Abstract

This work proposes a novel Linear Quadratic Gaussian (LQG)-based blade pitch control method for floating offshore wind turbines, in which a state-space model of the turbine and water hydrodynamics is included in the LQG design. The actuation considered is collective blade pitch control with the objective of generator power stabilisation and platform motion reduction. A linear Kalman filter is used to estimate un-measurable states relating to wave excitation and radiation through measurements of generator speed, platform pitch, and wind disturbance. Controller design models were validated with the full order nonlinear model under various testing conditions. The new controller design is tested on a nonlinear high-fidelity simulation model of the 15 Mega-Watt (MW) floating semi-submersible wind turbine. In simulations with realistic stochastic wind and wave disturbances, the new controller achieves 32% lower generator speed Root Mean Square Error (RMSE) and 16% lower platform pitch RMSE compared to a standard LQG controller that does not include hydrodynamic states, for equivalent levels of pitch actuation and with a 2°/sec rate limit on pitch. The inclusion of hydrodynamics in the controller design not only reduced platform pitching fluctuation, but also had a strong effect of hub-height factors such as the generator speed.

Suggested Citation

  • Hawari, Qusay & Kim, Taeseong & Ward, Christopher & Fleming, James, 2023. "LQG control for hydrodynamic compensation on large floating wind turbines," Renewable Energy, Elsevier, vol. 205(C), pages 1-9.
    • Handle: RePEc:eee:renene:v:205:y:2023:i:c:p:1-9
    DOI: 10.1016/j.renene.2023.01.067
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    References listed on IDEAS

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    1. Borg, Michael & Collu, Maurizio & Kolios, Athanasios, 2014. "Offshore floating vertical axis wind turbines, dynamics modelling state of the art. Part II: Mooring line and structural dynamics," Renewable and Sustainable Energy Reviews, Elsevier, vol. 39(C), pages 1226-1234.
    2. Lee, Hakjin & Lee, Duck-Joo, 2019. "Effects of platform motions on aerodynamic performance and unsteady wake evolution of a floating offshore wind turbine," Renewable Energy, Elsevier, vol. 143(C), pages 9-23.
    3. Hawari, Qusay & Kim, Taeseong & Ward, Christopher & Fleming, James, 2022. "A robust gain scheduling method for a PI collective pitch controller of multi-MW onshore wind turbines," Renewable Energy, Elsevier, vol. 192(C), pages 443-455.
    4. Pustina, L. & Lugni, C. & Bernardini, G. & Serafini, J. & Gennaretti, M., 2020. "Control of power generated by a floating offshore wind turbine perturbed by sea waves," Renewable and Sustainable Energy Reviews, Elsevier, vol. 132(C).
    5. Sebastian, T. & Lackner, M.A., 2012. "Development of a free vortex wake method code for offshore floating wind turbines," Renewable Energy, Elsevier, vol. 46(C), pages 269-275.
    6. Micallef, Daniel & Rezaeiha, Abdolrahim, 2021. "Floating offshore wind turbine aerodynamics: Trends and future challenges," Renewable and Sustainable Energy Reviews, Elsevier, vol. 152(C).
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