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Using system identification in modeling the yaw response of tail fins for small wind turbines with bearing friction
Here, we describe three main developments of our previous study of the nonlinear yaw dynamics of the tail fins for small wind turbines [Khedr et al., J. Renewable Sustainable Energy 16, 053305 (2024)]. First, the model constants derived from archived computational and experimental studies are adjusted by employing system identification (SI) to maximize the model's agreement with wind tunnel tests. This adjustment was done for high wind speeds, where yaw bearing friction can be ignored. When starting a turbine at low wind speed, however, friction can become important. Our second development is to implement a model for the frictional resistive torque and use SI to maximize its accuracy. These developments used wind tunnel experiments on generic delta, elliptical, and rectangular planforms that were described by Khedr et al. [J. Renewable Sustainable Energy 16, 053305 (2024)]. Since the aerodynamic and friction models employ a large number of constants, we describe ways to constrain the values using linearized solutions of the response equations for small and large yaw angles. Third, we test the generality of the aerodynamic and friction modeling using the complex planform from a commercial small turbine, for which limited theoretical and computational guidance is available in selecting the model constants. The model implemented with SI is shown to provide an accurate description of the yaw response of the complex planform. Guidelines are given for the use of wind tunnel tests to determine the model constants for tail fins of any planform.
UAE6 - Wind Tunnel Tests Data - UAE6 - Sequence B - Raw Data
Sequences B, C, and D: Downwind Baseline (F), Downwind Low Pitch (F), Downwind High Pitch (F) This test sequence used a downwind, teetered turbine with a 3.4° cone angle. The wind speed ranged from 5 m/s to 25 m/s. Yaw angles of ±180° were achieved at low wind speeds, and yaw angles of -20° to 10° were achieved for high wind speeds. The blade tip pitch was 3° for sequence B, 0° for sequence C, and 6° for sequence D. These three sequences were interleaved during testing because the pitch angle change was easily made by the turbine operator. The rotor rotated at 72 RPM. Blade and probe pressure measurements were collected.
UAE6 - Wind Tunnel Tests Data - UAE6 - Sequence C - Raw Data
Sequences B, C, and D: Downwind Baseline (F), Downwind Low Pitch (F), Downwind High Pitch (F) This test sequence used a downwind, teetered turbine with a 3.4° cone angle. The wind speed ranged from 5 m/s to 25 m/s. Yaw angles of ±180° were achieved at low wind speeds, and yaw angles of -20° to 10° were achieved for high wind speeds. The blade tip pitch was 3° for sequence B, 0° for sequence C, and 6° for sequence D. These three sequences were interleaved during testing because the pitch angle change was easily made by the turbine operator. The rotor rotated at 72 RPM. Blade and probe pressure measurements were collected.
UAE6 - Wind Tunnel Tests Data - UAE6 - Sequence D - Raw Data
Sequences B, C, and D: Downwind Baseline (F), Downwind Low Pitch (F), Downwind High Pitch (F) This test sequence used a downwind, teetered turbine with a 3.4° cone angle. The wind speed ranged from 5 m/s to 25 m/s. Yaw angles of ±180° were achieved at low wind speeds, and yaw angles of -20° to 10° were achieved for high wind speeds. The blade tip pitch was 3° for sequence B, 0° for sequence C, and 6° for sequence D. These three sequences were interleaved during testing because the pitch angle change was easily made by the turbine operator. The rotor rotated at 72 RPM. Blade and probe pressure measurements were collected.
UAE6 - Wind Tunnel Tests Data - UAE6 - Sequence H - Raw Data
Sequences H, I, and J: Upwind Baseline (F), Upwind Low Pitch (F), Upwind High Pitch (F) This test sequence used an upwind, rigid turbine with a 0° cone angle. The wind speed ranged from 5 m/s to 25 m/s. Yaw angles of –30 to 180° were achieved at low wind speeds, and angles of ±10° were achieved for high wind speeds. The blade tip pitch was 3° for sequence H, 0° for sequence I, and 6° for sequence J. These three sequences were interleaved during testing because the pitch angle change was easily made by the turbine operator. The rotor rotated at 72 RPM. Blade and probe pressure measurements were collected. The teeter dampers were replaced with rigid links, and these two channels were flagged as not applicable by setting the measured values in the data file to –99999.99 Nm. The teeter link load cell was pretensioned to 40,000 N. In addition to the standard 30-second campaigns, yaw sweeps were done at 7 m/s and 10 m/s. These 6-minute campaigns were collected while the yaw drive rotated the turbine 360° at a rate of 1°/s. The file names for these campaigns use the letter designation, followed by two digits for wind speed, followed by YS, followed by 000.
UAE6 - Wind Tunnel Tests Data - UAE6 - Sequence I - Raw Data
Sequences H, I, and J: Upwind Baseline (F), Upwind Low Pitch (F), Upwind High Pitch (F) This test sequence used an upwind, rigid turbine with a 0° cone angle. The wind speed ranged from 5 m/s to 25 m/s. Yaw angles of –30° to 180° were achieved at low wind speeds, and angles of ±10° were achieved for high wind speeds. The blade tip pitch was 3° for sequence H, 0° for sequence I, and 6° for sequence J. These three sequences were interleaved during testing because the pitch angle change was easily made by the turbine operator. The rotor rotated at 72 RPM. Blade and probe pressure measurements were collected. The teeter dampers were replaced with rigid links, and these two channels were flagged as not applicable by setting the measured values in the data file to –99999.99 Nm. The teeter link load cell was pre-tensioned to 40,000 N. In addition to the standard 30-second campaigns, yaw sweeps were done at 7 m/s and 10 m/s. These 6-minute campaigns were collected while the yaw drive rotated the turbine 360° at a rate of 1°/s. The file names for these campaigns use the letter designation, followed by two digits for wind speed, followed by YS, followed by 000.
UAE6 - Wind Tunnel Tests Data - UAE6 - Sequence J - Raw Data
Sequences H, I, and J: Upwind Baseline (F), Upwind Low Pitch (F), Upwind High Pitch (F) This test sequence used an upwind, rigid turbine with a 0° cone angle. The wind speed ranged from 5 m/s to 25 m/s. Yaw angles of –30° to 180° were achieved at low wind speeds, and angles of ±10° were achieved for high wind speeds. The blade tip pitch was 3° for sequence H, 0° for sequence I, and 6° for sequence J. These three sequences were interleaved during testing because the pitch angle change was easily made by the turbine operator. The rotor rotated at 72 RPM. Blade and probe pressure measurements were collected. The teeter dampers were replaced with rigid links, and these two channels were flagged as not applicable by setting the measured values in the data file to –99999.99 Nm. The teeter link load cell was pre-tensioned to 40,000 N. In addition to the standard 30-second campaigns, yaw sweeps were done at 7 m/s and 10 m/s. These 6-minute campaigns were collected while the yaw drive rotated the turbine 360° at a rate of 1°/s. The file names for these campaigns use the letter designation, followed by two digits for wind speed, followed by YS, followed by 000.
UAE6 - Wind Tunnel Tests Data - UAE6 - Sequence G - Raw Data
Sequence G: Upwind Teetered (F) Test sequence G used an upwind, teetered turbine with a 0° cone angle. The wind speeds ranged from 5 m/s to 25 m/s. Yaw angles of ±180° were achieved at low wind speeds and angles of ±10° were achieved at the high wind speeds. The blade tip pitch was 3°. The rotor rotated at 72 RPM. Blade and probe pressure measurements were collected.
UAE6 - Wind Tunnel Tests Data - UAE6 - Sequence Q - Raw Data
Sequence Q: Dynamic Inflow (P) This sequence was designed to characterize the dynamic inflow variation using the five-hole probes that extend upwind of the leading edge of the blade. This test sequence used an upwind, rigid turbine with a 0° cone angle. The wind speeds ranged from 5 m/s to 15 m/s, and data were collected at a 0° yaw angle. The rotor rotated at 72 RPM. Blade and probe pressure measurements were collected. The teeter dampers were replaced with rigid links, and these two channels were flagged as not applicable by setting the measured values in the data file to -99999.99 Nm. The teeter link load cell was pretensioned to 40,000 N. The blade pitch angle was changed from the initial tip pitch angle to the final tip pitch angle at the maximum rate of 67°/s. This angle was maintained for the specified delay time duration. Then the blade was pitched back to the initial pitch angle and held for the specified hold time. This was repeated 20 times. The campaign at 15 m/s was aborted early due to excessive low-speed shaft torque loads. The file length varied depending on the time required to obtain 20 pitch cycles for the specified range of angles. The name convention was the standard format, except for the short campaigns collected to ascertain the functionality of the instrumentation. These points were collected at a 3° pitch angle and use the characters REF in the four digits that normally represent yaw angle.