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DOE OSTI2022

A reference open-source controller for fixed and floating offshore wind turbines

Abstract. This paper describes the development of a new reference controller framework for fixed and floating offshore wind turbines that greatly facilitates controller tuning and represents standard industry practices. The reference wind turbine controllers that are most commonly cited in the literature have been developed to work with specific reference wind turbines. Although these controllers have provided standard control functionalities, they are often not easy to modify for use on other turbines, so it has been challenging for researchers to run representative, fully dynamic simulations of other wind turbine designs. The Reference Open-Source Controller (ROSCO) has been developed to provide a modular reference wind turbine controller that represents industry standards and performs comparably to or better than existing reference controllers. The formulation of the ROSCO controller logic and tuning processes is presented in this paper. Control capabilities such as tip speed ratio tracking generator torque control, minimum pitch saturation, wind speed estimation, and a smoothing algorithm at near-rated operation are included to provide modern controller features. A floating offshore wind turbine feedback module is also included to facilitate growing research in the floating offshore arena. All of the standard controller implementations and control modules are automatically tuned such that a non-controls engineer or automated optimization routine can easily improve the controller performance. This article provides the framework and theoretical basis for the ROSCO controller modules and generic tuning processes. Simulations of the National Renewable Energy Laboratory (NREL) 5 MW reference wind turbine and International Energy Agency 15 MW reference turbine on the University of Maine semisubmersible platform are analyzed to demonstrate the controller's performance in both fixed and floating configurations, respectively. The simulation results demonstrate ROSCO's peak shaving routine to reduce maximum rotor thrusts by over 10 % compared to the NREL 5 MW reference wind turbine controller on the land-based turbine and to reduce maximum platform pitch angles by nearly 30 % when using the platform feedback routine instead of a more traditional low-bandwidth controller.

17 WIND ENERGY↗

DOE OSTI2023

Cost‐benefit assessment framework for robotics‐driven inspection of floating offshore wind farms

Abstract Operations and maintenance (O&M) of floating offshore wind farms (FOWFs) poses various challenges in terms of greater distances from the shore, harsher weather conditions, and restricted mobility options. Robotic systems have the potential to automate some parts of the O&M leading to continuous feature‐rich data acquisition, operational efficiency, along with health and safety improvements. There remains a gap in assessing the techno‐economic feasibility of robotics in the FOWF sector. This paper investigates the costs and benefits of incorporating robotics into the O&M of a FOWF. A bottom‐up cost model is used to estimate the costs for a proposed multi‐robot platform (MRP). The MRP houses unmanned aerial vehicle (UAV) and remotely operated vehicle (ROV) to conduct the inspection of specific FOWF components. Emphasis is laid on the most conducive O&M activities for robotization and the associated technical and cost aspects. The simulation is conducted in Windfarm Operations and Maintenance cost‐Benefit Analysis Tool (WOMBAT), where the metrics of incurred operational expenditure (OPEX) and the inspection time are calculated and compared with those of a baseline case consisting of crew transfer vessels, rope‐access technicians, and divers. Results show that the MRP can reduce the inspection time incurred, but this reduction has dependency on the efficacy of the robotic system and the associated parameterization e.g., cost elements and the inspection rates. Conversely, the increased MRP day rate results in a higher annualized OPEX. Residual risk is calculated to assess the net benefit of incorporating the MRP. Furthermore, sensitivity analysis is conducted to find the key parameters influencing the OPEX and the inspection time variation. A key output of this work is a robust and realistic framework which can be used for the cost‐benefit assessment of future MRP systems for specific FOWF activities.

17 WIND ENERGY↗

DOE OSTI2013

Assessing Fatigue and Ultimate Load Uncertainty in Floating Offshore Wind Turbines Due to Varying Simulation Length

With the push towards siting wind turbines farther offshore due to higher wind quality and less visibility, floating offshore wind turbines, which can be located in deep water, are becoming an economically attractive option. The International Electrotechnical Commission's (IEC) 61400-3 design standard covers fixed-bottom offshore wind turbines, but there are a number of new research questions that need to be answered to modify these standards so that they are applicable to floating wind turbines. One issue is the appropriate simulation length needed for floating turbines. This paper will discuss the results from a study assessing the impact of simulation length on the ultimate and fatigue loads of the structure, and will address uncertainties associated with changing the simulation length for the analyzed floating platform. Recommendations of required simulation length based on load uncertainty will be made and compared to current simulation length requirements.

17 WIND ENERGY↗

NASA NTRS2017

An Analysis of Coordinated Observations from NOAA's Ronald Brown Ship and G-IV Aircraft in a Landfalling Atmospheric River over the North Pacific During CalWater-2015

To gain a more complete observational understanding of atmospheric rivers (ARs) over the data-sparse open ocean, we used a diverse suite of mobile observing platforms deployed on NOAAs Ronald H. Brown (RHB) research vessel and G-IV research aircraft during the CalWater-2015 field campaign to describe the structure and evolution of a long-lived AR modulated by six frontal waves over the northeastern Pacific on 20-25 January 2015. Satellite observations and reanalysis diagnostics provided synoptic-scale context, illustrating the warm, moist southwesterly airstream within the quasi-stationary AR situated between an upper-level trough and ridge. The AR remained offshore of the U.S. West Coast but made landfall across British Columbia where heavy precipitation fell. Forty-seven rawinsondes launched from the RHB provided a comprehensive thermodynamic and kinematic depiction of the AR, including uniquely documenting an upward intrusion of strong water-vapor transport in the low-level moist southwesterly flow during the passage of frontal waves 2 through 6. A collocated 1290-MHz wind profiler showed an abrupt frontal transition from southwesterly to northerly flow below 1 km MSL coinciding with the tail-end of AR conditions. Shipborne radar and disdrometer observations in the AR uniquely captured key microphysical characteristics of shallow warm rain, convection, and deep mixed-phase precipitation. Novel observations of sea-surface fluxes in a midlatitude AR documented persistent ocean-surface evaporation and sensible-heat transfer into the ocean. The G-IV aircraft flew directly over the ship, with dropsonde and radar spatial analyses complementing the temporal depictions of the AR from the RHB. The AR characteristics varied, depending on the location of the cross section relative to the frontal waves.

atmospheric rivers↗

DOE OSTI2017

An Analysis of Coordinated Observations from NOAA’s Ronald H. Brown Ship and G-IV Aircraft in a Landfalling Atmospheric River over the North Pacific during CalWater-2015

Using a diverse suite of mobile observing platforms deployed on NOAA’s Ronald H. Brown (RHB) research vessel and G-IV research aircraft during the CalWater-2015 field campaign, this study describes the structure and evolution of a long-lived atmospheric river (AR) modulated by six frontal waves over the northeastern Pacific on 20-25 January 2015. Satellite observations and reanalysis diagnostics provided synoptic-scale context, illustrating the warm, moist southwesterly airstream within the quasi-stationary AR situated between an upper-level trough and ridge. The AR remained offshore of the U.S. West Coast but made landfall across British Columbia where heavy precipitation and high melting levels occurred, resulting in flooding. Forty-seven rawinsondes launched from the RHB provided a comprehensive thermodynamic and kinematic depiction of the AR, including an upward intrusion of strong water-vapor transport in the low-level moist southwesterly flow during the passage of frontal waves 2 through 6. A collocated 1290-MHz wind profiler showed an abrupt frontal transition from southwesterly to northerly flow below 1 km MSL coinciding with the tail-end of AR conditions. Shipborne radar and disdrometer observations in the AR uniquely captured key microphysical characteristics of shallow warm rain, convection, and deep mixed-phase precipitation. Continuous and novel observations of sea-surface fluxes documented persistent ocean-surface evaporation into the AR and sensible-heat transfer from the AR into the ocean. The G-IV aircraft coordinated with the RHB and flew directly over the ship. Dropsonde and radar spatial analyses complemented the temporal depictions of the AR from the RHB. The AR characteristics varied, depending on the location of the cross section through the frontal waves.

54 ENVIRONMENTAL SCIENCES↗

DOE OSTI2018

System Levelized Cost of Energy Analysis for Floating Offshore Vertical-Axis Wind Turbines

The levelized cost of energy for an offshore wind plant consisting of floating vertical-axis wind turbines is studied in this report. A 5 MW Darrieus vertical-axis wind turbine rotor is used as the study turbine as this architecture was determined to have the greatest ability to reduce the system cost. The rotor structural design was used with blade manufacturing cost model studies to estimate its cost. A two-bladed, carbon fiber rotor was selected in this analysis since the lower topside mass resulted in a reduction of the platform costs which exceeded the increased rotor cost. A direct-drive, medium efficiency drivetrain was designed which represents 25% of the costs and 45% of the mass of the combined rotor/drivetrain system. A direct-drive, permanent magnet generator drivetrain was selected due to the improved reliability of this type of system, while the cost was not significantly higher than for geared drivetrains. A platform was designed by first identifying the optimal architecture for the vertical-axis wind turbine at a water depth of 150 m. A survey was performed of floating platform types, and six characteristic designs were analyzed which span the range of stability mechanisms available to floating systems. A multi-cellular tension-leg platform was identified as the lowest cost platform which additionally provided some interesting performance benefits. The small motions of the tension-leg platform benefit the system energy capture while limiting inertial loads placed on the rotor’s tower and blades. A final design was produced for the multi-cellular tension-leg platform considering operational fatigue, storm wind and wave conditions, and tow-out design cases. The driving design load was stability during tow-out while ballasting the platform. System levelized cost of energy was calculated, including operational expenses and balance of system costs estimated for the wind plant. Opportunities for reduction in the component costs are predicted and used to make projections of the system levelized cost of energy for future developments. The opportunities and challenges for floating vertical-axis wind turbines are identified by the system design and levelized cost of energy analysis.

17 WIND ENERGY↗

NASA NTRS1993

Design and Testing of a One-Third Scale Soyuz TM Descent Module Spartan Conversion Project Super Loki Instrumentation

The 1992-1993 senior Aerospace Engineering Design class continued work on the post landing configurations for the Assured Crew Return Vehicle. The Assured Crew Return Vehicle will be permanently docked to the space station fulfilling NASA's commitment of Assured Crew Return Capability in the event of an accident or illness aboard the space station. The objective of the project was to give the Assured Crew Return Vehicle Project Office data to feed into their feasibility studies. Three design teams were given the task of developing models with dynamically and geometrically scaled characteristics. Groups one and two combined efforts to design a one-third scale model of the Russian Soyuz TM Descent Module, and an on-board flotation system. This model was designed to determine the flotation characteristics and test the effects of a rigid flotation and orientation system. Group three designed a portable water wave test facility to be located on campus. Because of additional funding from Thiokol Corporation, testing of the Soyuz model and flotation systems took place at the Offshore Technology Research Center. Universities Space Research Association has been studying the use of small expendable launch vehicles for missions which cost less than 200 million dollars. The Crusader2B. which consists of the original Spartan first and second stage with an additional Spartan second stage and the Minuteman III upper stage is being considered for this task. University of Central Florida project accomplishments include an analysis of launch techniques, a modeling technique to determine flight characteristics, and input into the redesign of an existing mobile rail launch platform.

Anderson, Loren A.↗

DOE OSTI2023

Final Scientific/Technical Report: Real Time Particle Size and Settling Velocity for In-Situ Monitoring of Deep-Sea Polymetallic Nodule Mining

In the coming decade, it is anticipated that deep-sea mining activities will commence throughout the deep ocean, at depths around 4000-6000m where vast deposits of baseball-sized rocks called polymetallic nodules lay on the seabed. These nodules contain resources such as cobalt, copper and nickel which are needed to produce batteries for electric vehicles. Collector machines driving on the seabed and gathering these nodules will stir up clouds of sediment, and there is concern about how the resulting concentration of sediment in the near-bottom ocean water will affect deep and mid-ocean biology. There is currently no technology capable of comprehensively monitoring the concentrations and properties of stirred up sediment in the deep. This project addressed this critical gap by developing a deep-sea particle measurement system (Real-Time Size and Settling Velocity, RTSSV) that uses a multi-camera high-resolution video imaging system, with accompanying image processing, to measure the concentration, size distribution and settling speed of sediment. Importantly, these measurements are made in-situ, so that delicate sediment aggregates will not be disturbed, as is the case when collecting samples at depth to be measured in the lab. The instrument can be mounted on a variety of established deep-sea platforms such as moorings, AUVs and ROVs, providing data in near real time, where the key measurements need to be made—from the source of the sediment disturbance and throughout the resulting plume—vital for determining if deep-sea mining can be done in an environmentally responsible manner. The developed system (RTSSV) will possess the only such capability worldwide, giving a US-based group a substantial competitive advantage as this newly evolving global industry develops. As added value, the technology will also have widespread application to the offshore oil and gas industry, dredging industry, and to sediment science research.

47 OTHER INSTRUMENTATION↗

DOE OSTI2014

Computation of Wave Loads under Multidirectional Sea States for Floating Offshore Wind Turbines: Preprint

This paper focuses on the analysis of a floating wind turbine under multidirectional wave loading. Special attention is given to the different methods used to synthesize the multidirectional sea state. This analysis includes the double-sum and single-sum methods, as well as an equal-energy discretization of the directional spectrum. These three methods are compared in detail, including the ergodicity of the solution obtained. From the analysis, the equal-energy method proved to be the most computationally efficient while still retaining the ergodicity of the solution. This method was chosen to be implemented in the numerical code FAST. Preliminary results on the influence of these wave loads on a floating wind turbine showed significant additional roll and sway motion of the platform.

17 WIND ENERGY↗

DOE OSTI2026

FAD-Toolset (Floating Array Design Toolset) [SWR-26-056]

The Floating Array Design (FAD) Toolset is a collection of tools for modeling and designing arrays of floating offshore structures. It was originally designed for floating wind systems but has applicability for many offshore applications. A core part of the FAD Toolset is the floating array model, which serves as a high-level library for efficiently modeling a floating array, such as a floating wind array. It combines site condition information and a description of the floating array design, and contains functions for evaluating the array's behavior considering the site conditions. For example, it combines information about site soil conditions, mooring line loads, and an array's anchor characteristics to estimate the holding capacity of each anchor. The library works in conjunction with the tools RAFT, MoorPy, and FLORIS to model floating platforms, wind turbines, mooring systems, power cables, and array wakes respectively. Layered on top of the floating array model is a set of design tools that can be used for algorithmically adjusting or optimizing parts of the a floating array. Specific tools existing for mooring lines, shared mooring systems, dynamic power cables, static power cable routing, and overall array layout. These capabilities work with the design representation and evaluation functions in the floating array model, and they can be applied by users in various combinations to suit different purposes. In addition to standalone uses of the FAD Toolset, a coupling has been made with Ard, (https://github.com/NLRWindSystems/Ard) a sophisticated and flexible wind farm optimization tool. This coupling allows Ard to use certain mooring system capabilities from FAD to perform layout optimization of floating wind farms with Ard's more advanced layout optimization capabilities. The FAD Toolset works with the IEA Wind Task 49 Ontology (https://github.com/IEAWindTask49/Ontology), which provides a standardized format for describing floating wind farm sites and designs. See example use cases in our examples folder (https://github.com/NLRWindSystems/FAD-Toolset/blob/main/examples/README.md) For working with the library, it is important to understand the floating array model structure, which is described more here: https://github.com/NLRWindSystems/FAD-Toolset/blob/main/fad/README.md.

Sirkis, Leah [National Laboratory of the Rockies (↗

NASA NTRS1980

Offshore Space Center (offshore launch site)

Any activity requiring the development of the HLLV can benefit by operations from an offshore space center (OSC) since operating near the equator provides a twenty percent increase in payload in an ecliptic plan orbit. Some OSC concepts considered include a moored floating (semisubmersible) design, a stationary design supported by fixed piles, and a combination of these two. The facility supports: a 15,000 foot long, 300 foot wide runway, designed to accommodate a two staged winged launch vehicle, with a one million pound payload capacity to low earth orbit; an industrial area for HLLV maintenance; an airport terminal, control and operation center, and observation tower; liquid hydrogen and liquid oxygen production and storage, and fuel storage platforms; a power generation station, docks with an unloading area; two separate launch sites; and living accommodations for 10,000 people. Potential sites include the Paramount Seamount in the Pacific Ocean off the north coast of South America. Cost estimates are considered.

Harvey, D. G.↗

DOE OSTI2012

WindWaveFloat (WWF): Final Scientific Report

Principle Power Inc. and National Renewable Energy Lab (NREL) have completed a contract to assess the technical and economic feasibility of integrating wave energy converters into the WindFloat, resulting in a new concept called the WindWaveFloat (WWF). The concentration of several devices on one platform could offer a potential for both economic and operational advantages. Wind and wave energy converters can share the electrical cable and power transfer equipment to transport the electricity to shore. Access to multiple generation devices could be simplified, resulting in cost saving at the operational level. Overall capital costs may also be reduced, provided that the design of the foundation can be adapted to multiple devices with minimum modifications. Finally, the WindWaveFloat confers the ability to increase energy production from individual floating support structures, potentially leading to a reduction in levelized energy costs, an increase in the overall capacity factor, and greater stability of the electrical power delivered to the grid. The research conducted under this grant investigated the integration of several wave energy device types into the WindFloat platform. Several of the resulting system designs demonstrated technical feasibility, but the size and design constraints of the wave energy converters (technical and economic) make the WindWaveFloat concept economically unfeasible at this time. Not enough additional generation could be produced to make the additional expense associated with wave energy conversion integration into the WindFloat worthwhile.

16 TIDAL AND WAVE POWER↗

DOE OSTI2023

OC6 project Phase III: validation of the aerodynamic loading on a wind turbine rotor undergoing large motion caused by a floating support structure

Abstract. This paper provides a summary of the work done within Phase III of the Offshore Code Comparison Collaboration, Continued, with Correlation and unCertainty (OC6) project, under the International Energy Agency Wind Technology Collaboration Programme Task 30. This phase focused on validating the aerodynamic loading on a wind turbine rotor undergoing large motion caused by a floating support structure. Numerical models of the Technical University of Denmark 10 MW reference wind turbine were validated using measurement data from a 1:75 scale test performed during the UNsteady Aerodynamics for FLOating Wind (UNAFLOW) project and a follow-on experimental campaign, both performed at the Politecnico di Milano wind tunnel. Validation of the models was performed by comparing the loads for steady (fixed platform) and unsteady (harmonic motion of the platform) wind conditions. For the unsteady wind conditions, the platform was forced to oscillate in the surge and pitch directions under several frequencies and amplitudes. These oscillations result in a wind variation that impacts the rotor loads (e.g., thrust and torque). For the conditions studied in these tests, the system aerodynamic response was almost steady. Only a small hysteresis in airfoil performance undergoing angle of attack variations in attached flow was observed. During the experiments, the rotor speed and blade pitch angle were held constant. However, in real wind turbine operating conditions, the surge and pitch variations would result in rotor speed variations and/or blade pitch actuations, depending on the wind turbine controller region that the system is operating. Additional simulations with these control parameters were conducted to verify the fidelity of different models. Participant results showed, in general, a good agreement with the experimental measurements and the need to account for dynamic inflow when there are changes in the flow conditions due to the rotor speed variations or blade pitch actuations in response to surge and pitch motion. Numerical models not accounting for dynamic inflow effects predicted rotor loads that were 9 % lower in amplitude during rotor speed variations and 18 % higher in amplitude during blade pitch actuations.

17 WIND ENERGY↗

DOE OSTI2013

Advanced Offshore Wind Turbine/Foundation Concept for the Great Lakes

This project investigated a conceptual 2-bladed rotor wind turbine design and assessed its feasibility for installation in the Great Lakes. The levelized cost of energy was used for this purpose. A location in Lake Erie near the coast of Cleveland, Ohio was selected as the application site. The loading environment was defined using wind and wave data collected at a weather station in Lake Erie near Cleveland. In addition, the probability distributions of the annual significant wave height and wind speed were determined. A model of the dependence of the above two quantities was also developed and used in the study of wind turbine system loads. Loads from ice floes and ridges were also included.The NREL 5 MW 3-bladed rotor wind turbine concept was used as the baseline design. The proposed turbine design employs variable pitch blade control with tip-brakes and a teeter mechanism. The rotor diameter, rated power and the tower dimensions were selected to closely match those of the NREL 5 MW wind turbine.A semi-floating gravity base foundation was designed for this project primarily to adapt to regional logistical constraints to transport and install the gravity base foundation. This foundation consists of, from bottom to top, a base plate, a buoyancy chamber, a taper zone, a column (with ice cone), and a service platform. A compound upward-downward ice cone was selected to secure the foundation from moving because of ice impact.The turbine loads analysis was based on International ElectroTechnical Committee (IEC) Standard 61400-1, Class III winds. The NREL software FAST was the primary computational tool used in this study to determine all design load cases. An initial set of studies of the dynamics of wind turbines using Automatic Dynamic Analysis of Mechanical Systems (ADAMS) demonstrated that FAST and ADAMS load predictions were comparable. Because of its relative simplicity and short run times, FAST was selected for this study. For ice load calculations, a method was developed and implemented in FAST to extend its capability for ice load modeling.Both upwind and downwind 2-bladed rotor wind turbine designs were developed and studied. The new rotor blade uses a new twist angle distribution design and a new pitch control algorithm compared with the baseline model. The coning and tilt angles were selected for both the upwind and downwind configurations to maximize the annual energy production. The risk of blade-tower impact is greater for the downwind design, particularly under a power grid fault; however, this risk was effectively reduced by adjusting the tilt angle for the downwind configuration.

17 WIND ENERGY↗

DOE OSTI2018

Geocube

NOTICE: Geocube has been replaced by EDX Spatial, a modern geospatial platform to map, visualize, query and explore spatial data. Online web mapping tool for visualization and simple analysis of Earth-energy data files from public and DOE related sources. Geocube allows users to upload and visualize their own datasets but also comes preloaded with individual spatial datasets as well as spatial data collections that align to topical themes.

carbon storage↗

NASA NTRS2003

Tower-Perturbation Measurements in Above-Water Radiometry

This report documents the scientific activities which took place during June 2001 and June 2002 on the Acqua Alta Oceanographic Tower (AAOT) in the northern Adriatic Sea. The primary objective of these field campaigns was to quantify the effect of platform perturbations (principally reflections of sunlight onto the sea surface) on above-water measurements of water-leaving radiances. The deployment goals documented in this report were to: a) collect an extensive and simultaneous set of above- and in-water optical measurements under predominantly clear-sky conditions; b) establish the vertical properties of the water column using a variety of ancillary measurements, many of which were taken coincidently with the optical measurements; and c) determine the bulk properties of the environment using a diversity of atmospheric, biogeochemical, and meteorological techniques. A preliminary assessment of the data collected during the two field campaigns shows the perturbation in above-water radiometry caused by a large offshore structure is very similar to that caused by a large research vessel.

Hooker, Stanford B.↗

NASA NTRS2003

Tower-Perturbation Measurements in Above-Water Radiometry

Hooker, Stanford B.↗

DOE OSTI2024

OC6 project Phase IV: validation of numerical models for novel floating offshore wind support structures

Abstract. This paper provides a summary of the work done within Phase IV of the Offshore Code Comparison Collaboration, Continued with Correlation and unCertainty (OC6) project, under International Energy Agency Wind Technology Collaboration Programme Task 30. This phase focused on validating the loading on and motion of a novel floating offshore wind system. Numerical models of a 3.6 MW horizontal-axis wind turbine atop the TetraSpar floating support structure were compared using measurement data from a 1:43-Froude-scale test performed in the University of Maine's Alfond Wind–Wave (W2) Ocean Engineering Laboratory. Participants in the project ran a series of simulations, including system equilibrium, surge offsets, free-decay tests, wind-only conditions, wave-only conditions, and a combination of wind and wave conditions. Validation of the models was performed by comparing the aerodynamic loading, floating support structure motion, tower base loading, mooring line tensions, and keel line tensions. The results show a relatively good estimation of the aerodynamic loading and a reasonable estimation of the platform motion and tower base fore–aft bending moment. However, there is a significant dispersion in the dynamic loading for the upwind mooring line. Very good agreement was observed between most of the numerical models and the experiment for the keel line tensions.

17 WIND ENERGY↗