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Comparison of loads from HAWC2 and OpenFAST for the IEA Wind 15 MW Reference Wind Turbine

Reference wind turbines (RWTs) that reflect the state-of-the-art of current wind energy technology are necessary in order to properly evaluate innovative methods in wind turbine design and evaluation. The International Energy Agency (IEA) Wind Technology Collaboration Platform (TCP) Task 37 has recently developed a new RWT geared towards offshore floating-foundation applications: the IEA Wind 15 MW. The model has been implemented in two aeroelastic codes, OpenFAST and HAWC2, based on an underlying common ontology. However, these toolchains result in slightly different structural parameters, and the two codes utilise different structural models. Thus, to increase the utility of the model, it is necessary to compare the aeroelastic responses. This paper compares aeroelastic loads calculated using different fidelities of the blade model in OpenFAST (ElastoDyn and BeamDyn) and HAWC2 (prismatic Timoshenko without torsion and Timoshenko with fully populated stiffness matrix), where both codes use the DTU Basic controller and the same turbulence boxes to reduce discrepancies. The aeroelastic responses to steady wind, step wind and turbulent wind (per IEC 61400-1 wind class IB) are considered. The results indicate a generally good agreement between the loads dominated by aerodynamic thrust and force, especially for the no-torsion blade models. Discrepancies were observed in other load channels, partially due to differences in the asymmetric loading of the rotor and partially due to differing closed-loop dynamics, and they will be the subject of future investigations.

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HAWC2 and BeamDyn: Comparison Between Beam Structural Models for Aero-Servo-Elastic Frameworks: Preprint

This work presents a comparison of two beam codes for aero-servo-elastic frameworks: a new structural model for the aeroelastic code HAWC2 and a new nonlinear beam model, BeamDyn, for the aeroelastic modularization framework FAST v8. The main goal is to establish the suitability of the two approaches to model the structural behaviour of modern wind turbine blades in operation. Through a series of benchmarking structural cases of increasing complexity, the capability of the two codes to simulate highly nonlinear effects is investigated and analyzed. Results show that even though the geometrically exact beam theory can better model effects such as very large deflections, rotations, and structural couplings, an approach based on a multi-body formulation assembled through linear elements is capable of computing accurate solutions for typical nonlinear beam theory benchmarking cases.

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HAWC2 and BeamDyn: Comparison Between Beam Structural Models for Aero-Servo-Elastic Frameworks

This work presents a comparison of two beam codes for aero-servo-elastic frameworks: a new structural model for the aeroelastic code HAWC2 and a new nonlinear beam model, BeamDyn, for the aeroelastic modularization framework FAST v8. The main goal is to establish the suitability of the two approaches to model the structural behaviour of modern wind turbine blades in operation. Through a series of benchmarking structural cases of increasing complexity, the capability of the two codes to simulate highly nonlinear effects is investigated and analyzed. Results show that even though the geometrically exact beam theory can better model effects such as very large deflections, rotations, and structural couplings, an approach based on a multi-body formulation assembled through linear elements is capable of computing accurate solutions for typical nonlinear beam theory benchmarking cases.

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Aeroelastic code comparison using the IEA 22MW reference turbine

Reference wind turbine designs and the associated aeroelastic models are widely used in both research and industry. Reference models representing future concepts are of particular interest. Current state of the art aeroelastic tools are relied upon to design the next generation of large wind turbines. However, modelling assumptions may be invalidated by upcoming very large turbines, and different aeroelastic tools may give inconsistent results. A 22MW turbine model has been defined as part of International Energy Agency (IEA) Wind Task 55 on Reference Wind Turbines and Farms to represent future turbines to be deployed in the 2030s. In this study, an aeroelastic model of this turbine has been created in four tools; Bladed, HAWC2, OpenFAST, and QBlade. Code comparisons are presented for steady state operation, linear stability analysis, and time domain power production simulations in steady and turbulent wind. Generally, the codes show a good agreement, but with some differences present in the linear stability analysis, periodic azimuthal variation, and time domain simulations. The models are a good basis for further study with the IEA 22MW turbine, and further code comparison exercises.

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Dynamic inflow and unsteady aerodynamics models for modal and stability analyses in OpenFAST

This work presents two aerodynamic models that are used to perform modal and stability analyses of wind turbines. Including aerodynamic effects in stability analyses is important to capture aerodynamic inertia, stiffness, and damping. The two models consist of a dynamic inflow model based on Øye’s model and an unsteady aerodynamics model based on a simplified Beddoes-Leishman dynamic stall model. Both models are written in a continuous-time state-space form, which is the form needed to perform linearizations within OpenFAST. In this article, we present the new models, perform some simple verifications against HAWC2 results, and then perform stability analyses. We investigate the contribution of the aerodynamic effects on the turbine modes, particularly the flapwise modes, which are the most affected. Because of the development presented in this work, Campbell diagrams accounting for dynamic stall and dynamic wake effects were generated for the first time using OpenFAST.

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Aeroservoelastic Stability of a Floating Wind Turbine

The problem of negative damping undermines the aeroservoelastic stability of floating offshore wind turbines. The negative damping problem is most prevalent around rated wind speed, where the sensitivity of thrust to wind speed is the largest. This paper investigates the implementation of peak shaving, a controller feature that limits the rated thrust by pitching the blades before rated wind speed is reached. Two controller designs are investigated: a de-tuned controller and a nacelle-feedback controller. A time-domain metric is defined, inspired by Lyapunov theory, in order to compute and assess the stability of floating offshore wind turbines. The model of the International Energy Agency 15-MW reference wind turbine mounted on the University of Maine VolturnUS-S floater is simulated in HAWC2 with the National Renewable Energy Laboratory reference open-source controller. Peak shaving is applied to the two controller designs and stability is assessed. According to the chosen metric, peak shaving does not improve the stability of the system. This is due to the trade-off between loads and error tracking: although the loads and displacements in the fore-aft direction of the turbine are reduced, the rotor-speed tracking is poorer, which increases the shaft torsion fatigue load.

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Ice Load Project Final Technical Report

As interest and investment in offshore wind projects increase worldwide, some turbines will be installed in locations where ice of significant thickness forms on the water surface. This ice moves under the driving forces of wind, current, and thermal effects and may result in substantial forces on bottom-fixed support structures. The North and Baltic Seas in Europe have begun to see significant wind energy development and the Great Lakes of the United States and Canada may host wind energy development in the near future. Design of the support structures for these projects is best performed through the use of an integrated tool that can calculate the cumulative effects of forces due to turbine operations, wind, waves, and floating ice. The dynamic nature of ice forces requires that these forces be included in the design simulations, rather than added as static forces to simulation results. The International Electrotechnical Commission (IEC) standard[2] for offshore wind turbine design and the International Organization for Standardization (ISO) standard[3] for offshore structures provide requirements and algorithms for the calculation of forces induced by surface ice; however, currently none of the major wind turbine dynamic simulation codes provides the ability to model ice loads. The scope of work of the project described in this report includes the development of a suite of subroutines, collectively named IceFloe, that meet the requirements of the IEC and ISO standards and couples with four of the major wind turbine dynamic simulation codes. The mechanisms by which ice forces impinge on offshore structures generally include the forces required for crushing of the ice against vertical-sided structures and the forces required to fracture the ice as it rides up on conical-sided structures. Within these two broad categories, the dynamic character of the forces with respect to time is also dependent on other factors such as the velocity and thickness of the moving ice and the response of the structure. In some cases, the dynamic effects are random and in other cases they are deterministic, such as the effect of structural resonance and coupling of the ice forces with the defection of the support structure. The initial versions of the IceFloe routines incorporate modules that address these varied force and dynamic phenomena with seven alternative algorithms that can be specified by the user. The IceFloe routines have been linked and tested with four major wind turbine aeroelastic simulation codes: FAST, a tool developed under the management of the National Renewable Energy Laboratory (NREL) and available free of charge from its web site; Bladed[4], a widely-used commercial package available from DNV GL; ADAMS[5], a general purpose multi-body simulation code used in the wind industry and available from MSC Software; and HAWC2[6], a code developed by and available for purchase from Danmarks Tekniske Universitet (DTU). Interface routines have been developed and tested with full wind turbine simulations for each of these codes and the source code and example inputs and outputs are available from the NREL website.

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