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The Rocco is a has a monoplane wing surmounted by two engines. It's flat sided narrow beam hull is steadied when on the water by 2 outboard wing floats.
In this study, we demonstrate the ability of adjustable tuned mass dampers (TMDs) to reduce the platform motion of floating offshore wind turbines (FOWTs). The TMDs are located in the hull and provide control authority by varying the amount of water ballast and compressed air in a reservoir over time. The optimal TMD settings depend on the wind and wave conditions of the FOWT. We present an open-loop control scheme that changes the TMD natural frequency based on sea state and a simple method for estimating the peak wave period and significant wave height. The performance of this open-loop control is compared to ideal control of the TMDs (set knowing the exact sea state), a TMD with a constant natural frequency targeting the design load case with the greatest platform motion, and a baseline set of simulations of the platform without TMDs. The constant natural frequency case performs nearly as effectively as the actively controlled case, suggesting that the TMDs can be simply designed for extreme load conditions and provide consistent control over a range of environments; however, the methods used to find the optimal TMD parameters and estimate sea state statistics could be used in other aspects of FOWT control and design.
This paper describes the design and component testing of an aerobot that would be capable of global in situ exploration of Saturn's moon, Titan, over a 6 to 12 month mission lifetime. The proposed aerobot is a propeller-driven, buoyant vehicle that resembles terrestrial airships. However, the extremely cold Titan environment requires the use of cryogenic materials of construction and careful thermal design for protection of temperature-sensitive payload elements. Multiple candidate balloon materials have been identified based on extensive laboratory testing at 77 K. The most promising materials to date are laminates comprised of polyester fabrics and/or films with areal densities in the range of 40-100 g/m2. The aerobot hull is a streamlined ellipsoid 14 meters in length with a maximum diameter of 3 meters. The enclosed volume of 60 m3 is sufficient to float a mass of 234 kg at a maximum altitude of 8 km at Titan. Forward and aft ballonets are located inside the hull to enable the aerobot to descend to the surface while preserving a fully inflated streamlined shape. Altitude changes are effected primarily through thrust vectoring of the twin main propellers, with pressure modulated buoyancy change via the ballonets available as a slower backup option. A total of 100 W of electrical power is provided to the vehicle by a radioisotope power supply. Up to half of this power is available to the propulsion system to generate a top flight speed in the range of 1-2 m/s. This speed is expected to be greater than the near surface winds at Titan, enabling the aerobot to fly to and hover over targets of interest. A preliminary science payload has been devised for the aerobot to give it the capability for aerial imaging of the surface, atmospheric observations and sampling, and surface sample acquisition and analysis. Targeting, hovering, surface sample acquisition and vehicle health monitoring and automatic safing actions will all require significant on-board autonomy due to the over two hour round trip light time between Titan and Earth. An autonomy architecture and a core set of perception, reasoning and control technologies is under development using a free-flying airship testbed of approximately the same size as the proposed Titan aerobot. Data volume from the Titan science mission is expected to be on the order of 100-300 Mbit per day transmitted either direct to Earth through an 0.8 m high gain antenna or via an orbiter relay using an omni-directional antenna on the aerobot.
The investigation presented in this report was conducted for the purpose of determining the distribution and magnitude of water pressures likely to be experienced on seaplane hulls in service. It consisted of the development and construction of apparatus for recording water pressures lasting one one-hundredth second or longer and of flight tests to determine the water pressures on a UO-1 seaplane float under various conditions of taxiing, taking off, and landing. The apparatus developed was found to operate with satisfactory accuracy and is suitable for flight tests on other seaplanes. The tests on the UO-1 showed that maximum pressures of about 6.5 pounds per square inch occur at the step for the full width of the float bottom. Proceeding forward from the step the maximum pressures decrease in magnitude uniformly toward the bow, and the region of highest pressures narrows toward the keel. Immediately abaft the step the maximum pressures are very small, but increase in magnitude toward the stern and there once reached a value of about 5 pounds per square inch. (author)
In this project, UMaine developed the VolturnUS+ platform; a new 15MW+ ultra-light-weight, corrosion-resistant, concrete floating offshore wind turbine (FOWT) equipped with novel patent pending Heel Tank damping technology. UMaine developed this damping technology to reduce FOWT motions using existing onboard sea-water ballast, which has been integrated into the concrete cruciform hull resulting in reduced platform rigid body motions leading to a lighter hull, increased turbine performance, and a lower LCOE.
Wind-tunnel tests were made of a 1/25 scale model of the Martin JRM-1 airplane to determine: (1) The longitudinal stability and control characteristics of the JRM-1 model near the water and lateral and directional stability characteristics with power while moving on the surface of the water, the latter being useful for the design of tip floats; (2) The stability and stalling characteristics of the wing with a modified airfoil contour; (3) Stability characteristics of a hull of larger design gross weight; The test results indicated that the elevator was powerful enough to trim the original model in a landing configuration at any lift coefficient within the specified range of centers of gravity. The ground-board tests for evaluating the aerodynamic forces and moments on an airplane in a simulated cross wind indicate a high dihedral effect in the presence of the ground board and, consequently, during low-speed taxying and take-off, large overturning moments would result which would have to be overcome by the tip floats.
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Hydrodynamic impact tests were made on an elastic model approximating a two-mass spring system to determine experimentally the effects of structural flexibility on the hydrodynamic loads encountered during seaplane landing impacts and to correlate the results with theory. A flexible seaplane was represented by a two-mass spring system consisting of a rigid prismatic float connected to a rigid upper mass by an elastic structure. The model had a ratio of sprung mass to hull mass of 0.6 and a natural frequency of 3.0 cycles per second. The tests were conducted in smooth water at fixed trims and included both high and low flight-path angles and a range of velocity. Theoretical and experimental comparisons indicated that the theoretical results agreed well with the experimental results.
This paper presents results from the Floating Offshore-wind Controls Advanced Laboratory (FOCAL) Experimental campaign performed at the University of Maine's (UMaine's) Harold Alfond Wind/Wave Ocean Engineering Laboratory (W2). The project involves four Froude-scaled test campaigns considering the International Energy Agency (IEA) Wind 15MW Reference Wind Turbine deployed on the VolturnUS-S semi-submersible platform with tuned-mass damper (TMD) elements in the hull. The turbine employs real-time rotor torque and blade pitch control through the Reference OpenSource Controller (ROSCO), including the additional control strategies of ROSCO's thrust peak shaving and a floating feedback control loop. Results with the floating feedback control are considered in this paper and show a significant reduction in platform pitch motion and loads around the platform pitch natural frequency with minimal negative impact of rotor power quality.
Floating offshore wind is a promising renewable energy source, as 60% of the wind resources globally are found at depths requiring floating technologies, it minimizes construction at sea, and provides opportunities for industrialization given a lower site dependency. While floating offshore wind has numerous advantages, a current obstacle is its cost in comparison to more established energy sources. One cost-reduction approach for floating wind is increasing turbine capacities, which minimizes the amount of foundations, moorings, cables, and O&M equipment. This work presents trends in mass-optimized VolturnUS hull designs as turbine capacity increases for various wave environments. To do this, a novel rapid hull optimization framework is presented that employs frequency domain modeling, estimations of statistical extreme responses, industry constructability requirements, and genetic algorithm optimization to generate preliminary mass-optimal VolturnUS hull designs for a given turbine design and set of site conditions. Using this framework, mass-optimized VolturnUS hull designs were generated for 10–30 MW turbines for wave environments of varying severities. These design studies show that scaling up turbine capacities increases the mass efficiency of substructure designs, with decreasing returns, throughout the examined turbine capacity range. Additionally, increased wave environment severity is shown to increase the required mass of a given substructure design.
Floating offshore wind turbines have several advantages over their land-based counterparts, including access to stronger, more consistent winds and proximity to population centers. However, increased costs from the platform have been a challenge inhibiting their widespread adoption. New damping technologies with tunable target frequencies and damping ratios promise a greater degree of control over platform motions, allowing hulls to be designed smaller and reducing the overall cost of the turbines. In this work, a control strategy is proposed for these adjustable tuned mass dampers (TMDs). A frequency-domain model of the system is developed, from which response amplitude operators (RAOs) for the platform's rigid-body modes can be obtained for different natural frequencies and damping ratios of the dampers. Using these RAOs, and JONSWAP spectrums of operational and extreme sea states, the performance of the various damper settings are compared by evaluating the standard deviation of a rigid-body motion of interest (platform pitch or heave). By finding the optimal damper setting for a range of representative design load cases (DLCs), a lookup function is made to return the damper target frequency given the peak period of the sea state. To determine the current sea state, we propose a simple estimator that uses wave measurements (e.g., from a measurement buoy) to determine the peak period and significant wave height. The significant wave height is determined using the statistics of the past 100 seconds of wave elevation information and the peak period is computed using a frequency locked loop. Initial results show that we can use these estimated values to control the TMD natural frequency with an open loop controller. The controlled system is tested in a range of environmental conditions determined by the International Electrotechnical Commission design load cases (DLCs), which include normal and extreme wind and wave models. In these tests, we compare the performance of 4 cases: (1) no TMD, (2) a constant TMD based on the worst case DLC, (3) a controlled TMD based on known wind and wave environments, and (4) a real-time controlled TMD using estimated wind and wave environments. The effect of hull-based TMD control is also compared to changes in traditional wind turbine control via blade pitch.
Much effort has recently been put into the development of collective blade pitch controllers for floating offshore wind turbines, with the aim of overcoming negative damping issues that arise with traditional control methods. One proposed approach to this challenge involves using a two-degree-of-freedom model to inform the gain schedule of a nacelle velocity feedback term in an otherwise conventional proportional-integral controller. The model uses tower-top fore-aft and rotor angular displacements, and is used to calculate a nacelle velocity feedback gain that results in a specified increase in platform pitch damping. Earlier performance evaluations of this tuning method were favorable, suggesting its potential as an easy way for researchers to obtain an adequate controller. This paper expands on those previous results by examining the performance of the tuning method relative to baseline controllers for several hull configurations, and for several prescribed increases in platform pitch damping. Simulations were run in OpenFAST for several load cases above rated wind speed and show results consistent with trends in the earlier study. The tuning method is thus shown to be adaptable to many different types of hulls, making it useful for the evaluation of prototype designs.
Here, this paper presents the conceptual design of a tension leg platform (TLP) for the ARCUS “towerless” vertical-axis wind turbine (VAWT). VAWTs are ideal for floating offshore sites and have several advantages over horizontal-axis wind turbines (HAWT) including reduced top mass, lower center of gravity, increased energy capture, and in turn lower cost. The towerless ARCUS VAWT drives these advantages further through increased structural efficiency and by enabling more optimized TLP designs with simplified installation procedures. For hull sizing, we have studied three turbine sizes with corresponding power ratings of 5.1 MW, 10.4 MW and 22.3 MW. The largest turbine was identified as having the greatest potential to reduce the levelized cost of energy (LCOE) and is the reference size used for the further detailed design process. The conceptual design of the VAWT TLP has been awarded with an ABS Approval in Principle Certificate. This paper contains brief analysis results and design findings for a TLP designed to house a VAWT, including the following topics: • Applicable Design Codes • Metocean Conditions • ARCUS Turbine Loads • Design Load Cases and Requirements - Pre-service TLP Stability - In-place TLP Global Performance • Platform Configurations, Hull Structure Scantling Design, Weight and CG Estimation, and General Arrangement Drawings • Hull Ballast Plan for both Pre-service and In-place Conditions • Pre-service Quayside Integration, Transportation and Wet Tow Stability Analysis • Global Performance Analysis for Motions and Tendon tensions • Summary of cost components and system levelized cost of energy
While the field of wave energy has been the subject of numerical simulation, scale model testing, and precommercial project testing for decades, wave energy technologies remain in the early stages of development and must continue to prove themselves as a promising modern renewable energy field. A wave energy converter (WEC) concept currently being explored is the variable-geometry WEC (VGWEC), which aims to add an extra control option to WEC design. VGWECs attempt to incorporate controllable geometric features to adjust the floating body hydrodynamics to favor either power absorption, load shedding, or other operational goals. These variable geometry components have been proposed to be controlled on a sea-state-to-sea-state or wave-to-wave time scale depending on the force (or torque) and bandwidth limitations of the actuators required to manipulate just the controllable geometric hull features. Having control over both the WEC geometry components and the power takeoff (PTO) offers the potential to improve overall system performance and reliability if a cost-effective solution can be found for a given WEC architecture. This paper will present the recent developments and results of a VGWEC concept that incorporates variable-geometry modules into a two-body WEC. In the proposed VGWEC concept, the variable-geometry modules consist of air-inflatable bags in the surface float and a water inflatable ring in the subsurface body. The surface float is tethered directly to the subsurface body through tether lines, each connected to a separate PTO. Adjusting the geometry of both the surface and subsurface bodies along with the PTO coefficients can maximize power in design sea states while reducing motion response and PTO forces when transitioning to sea states where rated power is reached and load shedding is prioritized. The ability to transition between operating condition is expected to increase the sea state operational map and power capacity.
While the field of wave energy has been the subject of numerical simulation, scale model testing, and precommercial project testing for decades, wave energy technologies remain in the early stages of development and must continuing proving themselves as a promising modern renewable energy field. A wave energy converter (WEC) concept, currently being explored, is hoping to add an extra control option to WEC design is the variable-geometry WEC (VGWEC). These VGWECs attempt to incorporate controllable geometric features to adjust the floating body hydrodynamics to favor either power absorption, load shedding, or other operational goals. These variable geometry components have been proposed to be controlled on a sea-state-to-sea-state or wave-to-wave time scale depending on the force (or toque) and bandwidth limitations of the actuators required to manipulate just the controllable geometric hull features. The opportunities of having control over both the WEC geometry components and the power-take-off (PTO) have the potential to improve overall system performance and reliability if a cost-effective solution can be found for a given WEC architecture. This paper will present the recent developments and results of a VGWEC concept that incorporates variable geometry modules into a two-body WEC. In the proposed VGWEC concept, the variable geometry modules consist of air inflatable bags in the surface float and a water inflatable ring in the subsurface body. The surface float is tethered directly to the subsurface body through tether lines each connected to a separate PTO. Adjusting the geometry of both the surface and subsurface bodies along with the PTO coefficients can be shown to maximize power in design sea states while reducing motion response and PTO forces when transitioning to sea states where rated power is reached and load shedding is prioritized in hopes of increasing the sea state operational map.
The NACA model 40 series of flying-boat hull models consists of 2 forebodies and 3 afterbodies combined to provide several forms suitable for use in small marine aircraft. One forebody is the usual form with hollow bow sections and the other has a bottom surface that is completely developable from bow to step. The afterbodies include a short pointed afterbody with an extension for the tail surfaces, a long afterbody similar to that of a seaplane float but long enough to carry the tail surfaces, and a third obtained by fitting a second step in the latter afterbody. The various combinations were tested in the NACA Tank by the general method over a suitable range of loadings. Fixed-trim tests were made for all speeds likely to be used and free-to-trim tests were made at low speeds to slightly beyond the hump speed. The characteristics of the hulls at best trim angles have been deduced from the data of the tests at fixed trim angles and are given in the form of nondimensional coefficients applicable to any size hull.
An investigation was conducted in the Langley impact basin of the water loads on a half scale model of the XJL-1 hull whose forebody has a vee bottom with exaggerated chine flare. The impact loads, moments, and pressures were determined for a range of landing conditions. A normal full-scale landing speed of 86 miles per hour was represented with effective flight paths ranging from 0.6deg to 11.6deg. Landings were made with both fixed trim and free-to-trim mounting of the float over a trim range of -15deg to 12deg into smooth water and into waves having equivalent full-scale length. of 120 feet and heights ranging from 1 to 4 feet. All data and results presented in this report are given in terms of equivalent full-scale values. Summary tables and illustrative plots are used in presenting the material. The following maximum values of load and pressure are those which are apropos for effective flight paths less than 6.5deg which was the maximum value obtained in tests with the XJL-1 hull model representing full-scale landings with vertical velocity of 4.5 feet per second into 4-foot waves. The maximum local pressure on the flat portion of the bottom is 130 pounds per square inch which was measured on a 2-inch-diameter circular area near the step. The maximum local pressure obtained in the curved area near the chines is 200 pounds per square inch. This pressure was also measured near the step.
Designing a collective blade pitch controller for floating offshore wind turbines (FOWTs) poses unique challenges due to the interaction of the controller with the dynamics of the platform. The controller must also handle the competing objectives of power production performance and fatigue load management. Existing solutions either detune the controller with the result of slowed response, make use of complicated tuning methods, or incorporate a nacelle velocity feedback gain. With the goal of developing a simple control tuning method for the general FOWT researcher that is easily extensible to a wide array of turbine and hull configurations, this last idea is built upon by proposing a simple tuning strategy for the feedback gain. This strategy uses a two degree-of-freedom (DoF) turbine model that considers tower-top fore-aft and rotor angular displacements. For evaluation, the nacelle velocity term is added to an existing gain scheduled proportional-integral controller as a proportional gain. The modified controller is then compared to baseline land-based and detuned controllers on an example system for several load cases. First-pass results are favorable, demonstrating how researchers can use the proposed tuning method to efficiently schedule gains for adequate controller performance as they investigate new FOWT configurations.