Reference mooring and dynamic cable designs for representative U.S. floating wind farms
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17 WIND ENERGY↗
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Time-Domain Vortex Induced Vibration Modeling of Reference Dynamic Power Cable for the Gulf of Maine
Vortex-induced vibration (VIV) is a phenomenon known to decrease the fatigue life of dynamic power cables used in floating offshore wind systems through increased bending loading cycles. A variety of modeling solutions have been proposed to study this, but none enable fully-coupled simulations leveraging open-source tools. To address this, a time-domain VIV model has been successfully implemented into the open-source mooring dynamics model MoorDyn. The semi-empirical VIV model describes a lift force acting on segments of a flexible cylinder, making it well suited for implementation into MoorDyn. The new capability successfully predicted the frequencies and magnitudes of strain in both steady and oscillating flows when compared to the original validation results and matched peak spectral response when compared to experimental results, verifying successful implementation. MoorDyn with VIV was then leveraged to simulate a 15 MW floating turbine with a dynamic power cable in the Gulf of Maine using OpenFAST for six return periods of combined wind, wave, and current conditions. Increased curvature and tension fluctuations in higher flow speeds were observed when simulating VIV. Maximum tensions and curvatures also increased, with the 500 year conditions violating the curvature factor of safety of 2.0. These results highlight the importance of considering VIV when designing dynamic power cables for the Gulf of Maine, and indicate that cost effective mitigation strategies should be explored for the area. They also demonstrate the utility of this new modeling capability, which provides the first open-source tool for fully coupled time-domain floating offshore wind simulations with dynamic power cable VIV.
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Electro-Thermo-Mechanical (ETM) Study on Submarine Dynamic Power Cables (SDPC) for Offshore Wind Transmission
Understanding the failure mechanisms of submarine dynamic power cables (SDPC) is critical for innovative design to meet the 2035 cost reduction target of U.S. DOE Floating Offshore Wind Shot. This is important because the current design suffers a significant failure rate in the field. This project conducted a systematic electro-thermo-mechanical (ETM) experimental study on the power cores extracted from a 15kV power cable with three cores of copper conductor, ethylene propylene rubber (EPR) insulation, and continuously corrugated welded aluminum armor (CCWA). An ETM testing system was developed by integrating a high voltage (HV) amplifier, two ceramic heaters, and a rod-plate transverse compression setup into a mechanical testing machine. Increasing temperature from room temperature (RT, 22 degree C) to 90 degree C resulted in the 67% decrease in the failure mechanical load as defined by the dielectric breakdown. Under creep mechanical loading, the dielectric breakdown time was decreased by 70% for a given mechanical load when the specimen temperature increased from RT to 90oC. The failure strain in both monotonic and creep mechanical loading modes was related to the maximum mechanical load applied. Although the dielectric breakdown occurred in the ETM test, the post-test measurement revealed an impressive recovery of electric resistance. The failure analysis on cross section of tested specimens indicated a sizable gap across insulation layer near the area between copper conductor and loading rod, which apparently resulted from online dielectric failure and offline elastic recovery of components including conductor and insulation layer.
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Efficient Modeling of Floating Wind Arrays Including Current Loads and Seabed Bathymetry: Preprint
Capabilities for modeling the effects of seabed bathymetry and current drag loads on a floating wind farm are now available in an open-source model for quasi-static analysis. In this model, mooring lines and dynamic cables are represented by a quasistatic solver that can quickly represent complex mooring/cabling arrangements and arrays of floating bodies. To account for seabed bathymetry, we expand the model to include a surface mesh that captures changes in water depth over a rectangular grid. We formulate modifications to the catenary equations that capture a mooring line's profile and tensions when contacting a slope seabed. To account for current drag loads on mooring lines and dynamic cables, we formulate a novel technique that rotates the reference frame so that the vector sum of the the weight and the current force are used in the catenary equations, while accounting for the seabed orientation. To complete the system, current drag loads on floating substructures are handled by inclusion of strip-theory drag calculations. These new capabilities are verified by comparing with results from the established offshore dynamics models MoorDyn and OrcaFlex in equivalent steady-state scenarios. The results show very good agreement for both sloped seabeds and current loads. With computation times of the quasi-static model typically under one second, the model additions are a useful capability toward rapidly evaluating a floating wind array's response to environmental loads under realistic site conditions.
bathymetry↗
Efficient Modeling of Floating Wind Arrays Including Current Loads and Seabed Bathymetry
Capabilities for modeling the effects of seabed bathymetry and current drag loads on a floating wind farm are now available in an open-source model for quasi-static analysis. In this model, mooring lines and dynamic cables are represented by a quasi-static solver that can quickly represent complex mooring/cabling arrangements and arrays of floating bodies. To account for seabed bathymetry, we expand the model to include a surface mesh that captures changes in water depth over a rectangular grid. We formulate modifications to the catenary equations that capture a mooring line's profile and tensions when contacting a slope seabed. To account for current drag loads on mooring lines and dynamic cables, we formulate a novel technique that rotates the reference frame so that the vector sum of the the weight and the current force are used in the catenary equations, while accounting for the seabed orientation. To complete the system, current drag loads on floating substructures are handled by inclusion of strip-theory drag calculations. These new capabilities are verified by comparing with results from the established offshore dynamics models MoorDyn and OrcaFlex in equivalent steady-state scenarios. The results show very good agreement for both sloped seabeds and current loads. With computation times of the quasi-static model typically under one second, the model additions are a useful capability toward rapidly evaluating a floating wind array's response to environmental loads under realistic site conditions.
bathymetry↗
Stabilizing dynamic subsea power cables using Bi-stable nonlinear energy sinks
This study investigates vibration mitigation of dynamic subsea cables through passive bi-stable nonlinear energy sinks (B-NESs). These devices suppress vibration energy in a broadband way, and can be regarded as extensions of classical linear tuned mass dampers (TMDs) which are narrowband devices. Through the open-source MoorDyn library, we simulated the vibrations of a vertical subsea cable equipped with a set of B-NESs. Multi-objective optimization was performed to detect the B-NES parameters for optimal mitigation of the cable vibrations. Advanced signal processing verified the efficacy of the optimized B-NESs not only to rapidly absorb and locally dissipate vibration energy, but also to nonlinearly scatter vibration energy from low to high frequencies within the cable itself. This last feature is especially beneficial for vibration mitigation of the undersea cable, as at higher frequencies the cable vibrations exhibit drastically reduced amplitudes and are more effectively dissipated by inherent structural damping and hydrodynamic radiation damping. This contrasts with traditional TMDs which can mitigate vibration only at a single frequency. Furthermore, our robustness study confirms the B-NES's effectiveness under even varying environmental conditions. Overall, the B-NES's capacity for broadband vibration mitigation renders it a promising retrofit solution for improving the performance and operational safety of dynamic power cables in offshore wind farms and other marine applications.
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Reference floating wind array designs for three representative regions
This work presents the systematic development of three open-source reference floating wind array designs. The designs are tailored to representative site conditions for three regions of the United States: Humboldt Bay off the coast of California, the Gulf of Maine, and the Gulf of America. We adopted existing reference designs for the individual 15 MW turbines, semisubmersible floating platforms, substations, mooring systems, and power cables – integrating and adapting them as needed for each location. We adapted existing dynamic cable designs to use larger conductor sizes to meet the arrays' power transmission requirements, and we set up redundant mooring systems for each substation. The layout of each array is a uniform-grid design optimized to approximately minimize the levelized cost of energy (LCOE) within a square lease area while satisfying spatial constraints. These constraints ensure adequate clearances between adjacent turbines and between underwater components during the layout optimization to prevent clashing and ensure that all components reside within the lease boundaries. Substations are included to allow accounting for intra-array cable costs. They are placed within the uniform grid to maintain the navigability of the arrays. For each feasible layout considered, annual energy production and cable routing costs are calculated and updated in the LCOE objective function. After the optimization, we refined the cable routing with a mix of algorithmic and manual methods to ensure that the cables avoid mooring system components and approach the substation with adequate clearances. We confirmed the suitability of each reference array's layout by comparing the wake losses at each wind heading angle to the wind rose, observing that the optimized layouts largely avoid wake losses in the predominant wind directions. These reference arrays provide open-source baseline designs to enable future research and innovation of floating wind technology at the array scale.
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Exploring Novel Configuration Designs Alternatives for Lazy Wave Submarine Power Cables
Floating offshore wind turbines require a complex integrated design to balance the platform response and station-keeping requirements in a highly dynamic environment. Dynamic subsea power cables are one of the critical components that have to be considered in detail to ensure both extreme, as well as repeated operational conditions do not exceed the cable design limits. This paper presents the design feasibility limits of a 66kV dynamic cable for a lazy wave configuration. The work explores an innovative staggered cable configuration that has the potential to provide additional compliance in shallow water conditions. Both configurations are evaluated using the motions of a representative floating wind platform under development for deployment in relatively shallow water depth of 150m. The assessment was conducted using the hydrodynamic software Orcaflex, incorporating a range of design inputs and design variations. Key parameters analysed include cable curvature and effective tension and bending stress. The alternative cable configuration provides a more gradual crossing of the water column, which would allow to support increased platform excursions in shallow water depths. The design uses a combined buoyancy and bend protection element, offering designers additional options for challenging operational conditions. The paper will be of interest to designers and developers of floating wind projects, providing a comparative assessment between the conventional lazy wave configuration and an innovative alternative that enables larger cable and mooring excursion envelopes in challenging conditions.
16 TIDAL AND WAVE POWER↗
Effect of Transverse Compression on the Dielectric Breakdown of Power Cable with Ethylene Propylene Rubber Insulation
Understanding of the failure mechanisms of submarine dynamic power cables (SDPC) is critical for innovative design to meet the 2035 cost reduction target of U.S. DOE Floating Offshore Wind Shot. This is important because the current design suffers a significant failure rate in the field. This project explored a multiphysics approach and conducted systematic electro-thermo-mechanical (ETM) experimental study on the power cores extracted from a 15 kV power cable. The power cable had three cores of copper conductor and ethylene propylene rubber (EPR) insulation. An ETM testing system with transverse compression capability was developed. Mechanical loading induced dielectric breakdown. Increasing temperature from room temperature (RT, 22 degrees Celsius) to 90 degrees Celsius resulted in the 67% decrease in the failure mechanical load as defined by the dielectric breakdown. With the same temperature rise, the creep mechanical load was reduced by 70% at a given dielectric breakdown time. The post-test measurement revealed an impressive recovery of electrical resistance, although the dielectric breakdown occurred in the ETM test that would not be captured without the use of ETM testing.
Wang, Hong [ORNL] (ORCID:0000000201730545)↗
Dynamic analysis of fully constrained Cable-Driven Parallel Robots for automated prefabricated component installation
This paper presents a dynamic analysis and validation framework to assess a fully constrained six-anchor Cable-Driven Parallel Robot (CDPR) for automated installation of prefabricated facade components. Compared with conventional eight-anchor systems, the six-anchor configuration simplifies setup and reduces cost, but it also reduces control authority, shrinks the wrench-feasible workspace, and tightens orientation limits. Consequently, it is unclear a priori whether dynamically feasible trajectories exist to move the end effector from pickup to the facade. A constrained trajectory optimization is formulated to enforce the system dynamics, cable-tension bounds, and pose/velocity limits, and the framework is evaluated in simulation at three levels: (i) an idealized reference model, (ii) a lab-scale prototype model incorporating measured anchor misalignments and identified damping, and (iii) a full-scale three-story building model with load decomposition for structural feasibility checks. Across these scenarios, the analysis shows that optimal, constraint-satisfying trajectories exist that move the end effector from pickup to installation while maintaining a near-plumb, level orientation at the final pose. Collectively, this multi-scale dynamic analysis and validation framework supports the deployment readiness of the six-anchor CDPR and provides a prototype-based sensitivity case study of how measured anchor placement deviations affect feasibility.
CDPR↗
Frequency-domain modeling of floating wind arrays with shared mooring lines
A frequency-domain model for floating wind turbine dynamics has been extended to model floating wind farms with couplings from shared mooring systems. The model, called RAFT, could previously calculate the mean offsets and wave-induced response spectra for single floating wind turbines. Now, the model supports multiple floating wind turbines, each with their own properties and responses, along with mooring lines that run directly between floating wind turbines in the array, meaning that shared mooring lines or fully suspended dynamic power cables can be included. This capability is achieved by setting up an array-level solution of the system mean offsets and assembling the full system matrices for solving the dynamic response. The quasi-static mooring model MoorPy is used to linearize the mooring system properties. To compute the floating wind turbine relative motions, phase offsets are applied to each turbine's response as a function of wave frequency based on the wavelength and relative positions in the array. These differential motions are then applied to mooring system tension Jacobians to compute the tension loads in the shared mooring lines. Overall, the capability provides a frequency-domain analog to the modeling capabilities of the floating support structure in FAST.Farm. Mean offsets and power spectral density plots of responses are compared between RAFT and FAST.Farm to verify the implementation. The results indicate good agreement within the expectations of a frequency-domain modeling approach and suggest correct implementation of the shared mooring aspects. Additionally, a unique comb-like frequency response in the shared mooring line tensions has been observed. This phenomenon has a clear physical basis and may be an important design consideration for future shared mooring systems.
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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 (↗
Reference Design Cases for Floating Offshore Wind Arrays
Given the immature nature of the Floating Offshore Wind (FLOW) industry, there is a need for reference FLOW farm designs to allow researchers and technology developers to study the behavior of floating wind turbine systems, without having to design every part of those systems or without having to get access to a wide range of information that is often confidential. The International Energy Agency (IEA) Wind Task 49 is facilitating research collaboration on the integrated design of Floating Offshore Wind Arrays (FOWA), and will develop several reference FOWAs to facilitate R&D activities of the floating wind community and efficient scale change of the floating wind industry (from pilot farms to commercial ones). This paper will outline the key design considerations the task has identified for the sustainable deployment of large-scale FOWAs. The aim is to prepare a comprehensive overview of the different elements that impact the design of FOWA to support the development of best practices for FOWA design. The paper will also present three baseline reference design cases that are being prepared for shallow, intermediate and deep water sites. The final designs will be made open access including the engineering and cost inputs to accelerate further innovation, research and the deployment of FOWAs.
array layout↗
Dynamic Analysis of a Six-Cable Parallel Robot for Automated Panelized Building Retrofits
Cable-Driven Parallel Robots (CDPRs) are highly suitable for automated panelized building retrofits, thanks to their compact footprint and high payload-to-weight ratio. A common CDPR configuration featuring eight cables, where the anchors form a rectangular prism in front of the building facade, offers a large wrench feasible workspace and good control versatility. However, installing upper anchor points requires additional support structures, such as towers or beams, increasing setup complexity and posing logistical challenges in construction settings. To mitigate these challenges, we propose a six-cable CDPR model specifically designed for automated panelized building retrofits. Although the feasible workspace is limited, our analysis shows that the proposed CDPR adequately covers the critical areas required for panel installation. To validate that the six-cable system can effectively transport the end effector to the desired installation pose, we calculated optimal trajectories based on a constrained dynamic model. The simulation results of the six-cable CDPR demonstrate promising potential for automated panelized building retrofits, effectively balancing simplicity, cost-effectiveness, and functionality.
Liu, Yifang [ORNL] (ORCID:0000000190817417)↗
An analysis of parameters affecting ampacity in aircraft bipolar MVDC power cables via coupled electrical, thermal, and computational fluid dynamic modelling
Abstract The next generation of aircraft, including more electric aircraft and all‐electric aircraft (AEA), requires electric power systems with high power density and low system mass specifications. Increasing the voltage of the system to the range of a few kV, medium voltage (MV), is a reasonable approach to achieving high‐power‐density and low‐system‐mass EPSs for aircraft applications. Higher voltages, however, pose many challenges for aviation MV power cables such as arcs and arc tracking, partial discharges (PDs), and thermal management. In this regard, thermal management is more challenging since heat transfer by convection is greatly reduced at wide‐body aircraft's cruising altitudes due to the reduced air pressure. In this paper, a finite element method (FEM) model is developed in COMSOL Multiphysics for an aircraft bipolar MVDC (±5 kV) power cable. Using the model, the maximum permissible cable current at a low pressure of 18.8 kPa (at an altitude of 12.2 km from sea level, the usual cruising altitude for wide‐body aircraft) is calculated. Also, an analytical model is developed based on analytical and proven empirical correlations governing conductive, radiative, and convective heat transfers at the steady state to estimate the ampacity of the bipolar cable system at reduced pressure. It was shown that the proposed analytical model can be used for atmospheric pressure and systems with a larger number of poles, expanding its range of applications. The results of the FEM and analytical models correlate at wide ranges of parameters such as ambient temperature, duct size, distance between the positive and negative pole cables, and the overall diameter of the cables. The influence of horizontal and vertical arrangement of poles is included in the analytical model. The results of this study can be used to design bipolar MVDC power cable systems for the envisaged wide‐body AEA.
Azizi, Arian↗
Dynamic Modeling, Trajectory Optimization, and Linear Control of Cable-Driven Parallel Robots for Automated Panelized Building Retrofits
The construction industry faces a growing need for automation to reduce costs, improve accuracy and productivity, and address labor shortages. One area that stands to benefit significantly from automation is panelized prefabricated building envelope retrofits, which can improve a building’s energy efficiency in heating and cooling interior spaces. In this paper, we propose using cable-driven parallel robots (CDPRs), which can effectively lift and handle large objects, to install these panels. However, implementing CDPRs presents significant challenges because of their nonlinear dynamics, complex trajectory planning, and precise control requirements. To tackle these challenges, this work focuses on a new application of established control and trajectory optimization theories in a CDPR simulation of a building envelope retrofit under real-world conditions. We first model the dynamics of CDPRs, highlighting the critical role of damping in system behavior. Building on this dynamic model, we formulate a trajectory optimization problem to generate feasible and efficient motion plans for the robot under operational and environmental constraints. Given the high precision required in the construction industry, accurately tracking the optimized trajectory is essential. However, challenges such as partial observability and external vibrations complicate this task. To address these issues, a Linear Quadratic Gaussian control framework is applied, enabling the robot to track the optimized trajectories with precision. Simulation results show that the proposed controller enables precise end effector positioning with errors under 4 mm, even in the presence of external wind disturbances. Through comprehensive simulations, our approach allows for an in-depth exploration of the system’s nonlinear dynamics, trajectory optimization, and control strategies under controlled yet highly realistic conditions. The results demonstrate the feasibility of CDPRs for automating panel installation and provide insights into their practical deployment.
CDPR↗
Distributed Acoustic Sensing for Whale Vocalization Monitoring: A Vertical Deployment Field Test
Abstract There is growing interest in floating offshore wind turbine (FOWT) technology, where turbines are installed on floating structures anchored to the seabed, allowing wind energy development in areas unsuitable for traditional fixed-platform turbines. Responsible development requires monitoring the impact of FOWTs on marine wildlife, such as whales, throughout the operational lifecycle of the turbines. Distributed acoustic sensing (DAS)—a technology that transforms fiber-optic cables into vibration sensor arrays—has been demonstrated for acoustic monitoring of whales using seafloor telecommunications cables. However, no studies have yet evaluated DAS performance in dynamic, engineered environments, such as floating platforms or moving vessels with complex, dynamic strain loads, despite their relevance to FOWT settings. This study addresses that gap by deploying DAS aboard a boat in Monterey Bay, California, where a fiber-optic cable was lowered using a weighted and suspended mooring line, enabling vertical deployment. Humpback whale vocalizations were captured and identified in the DAS data, noise sources were identified, and DAS data were compared to audio captured by a standalone hydrophone attached to the mooring line and a nearby hydrophone on a cabled observatory. This study is unique in: (1) deploying DAS in a vertical deployment mode, where noise from turbulence, cable vibrations, and other sources posed additional challenges compared to seafloor DAS applications; (2) demonstrating DAS in a dynamic, nonstationary setup, which is uncommon for DAS interrogators typically used in more stable environments; and (3) leveraging looped sections of the cable to reduce the noise floor and mitigate the effects of excessive cable vibrations and strain. This research demonstrates DAS’s ability to capture whale vocalizations in challenging environments, highlighting its potential to enhance underwater acoustic monitoring, particularly in the context of renewable energy development in offshore environments.
Saw, Jaewon↗
Short Circuit Detection and Voltage Sense for High Voltage Ionization Tube Power Supplies
Fermilab's PIP-II upgrade requires new rack-mounted power supplies for Beam Loss Monitor (BLM) ionization tubes compatible with the microTCA 4.1 standard, supporting high-side current measurement for short circuit detection, voltage sense telemetry, and low-side current measurement for beam loss readout. This work presents the design and preliminary schematic of such a supply. A resistive current sensing approach was chosen over inductive, optical, and Hall-effect alternatives for its independence from cable length and component availability. A 500 mΩ inline shunt steps the 2 kV common mode voltage down to roughly 70 V, producing a ~27 μV pulse during a short, which is amplified 500x, compared against a 14-bit DAC threshold, and latched to drive a fault line. Voltage sense steps the 2 kV output down at a 1V/1000V ratio, buffers it with a low bias current amplifier, and digitizes it via a 24-bit ADC over SPI. Onboard power is regulated from 12 V down to isolated 5 V and 3.3 V rails, with capacitive isolation on FPGA communication lines. Lumped parameter models were developed for the ionization tube (0.327 nF, 20 to 200 GΩ dynamic resistance) and the RG-58 coaxial cable to support the design. Component selection is complete and a preliminary schematic has been drawn in Altium Designer, forming the foundation for future prototyping and validation.
Yu, Kellen [Cornell U.]↗