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The goal of the proposed research is to establish a computational and experimental platform that will allow reliable and efficient power and structural performance evaluation of FOWT. A secondary goal of the research is to establish an educational FOWT setup to promote renewable energy research among undergraduate and high-school students.
The escalating integration of inverter-based resources (IBRs) poses new challenges to power systems by introducing fast dynamics with higher frequencies, which may need to be simulated by an electromagnetic transient (EMT) program. As an alternative to conducting EMT simulations for the entire system, which is typically time consuming, hybrid simulation between EMT and phasor-domain transient stability (TS) can greatly reduce the computational burden while preserving the detailed fast dynamics in the EMT zone. This paper establishes an EMT-TS hybrid simulation platform using open-source tools, specifically ParaEMT, GridPACK, and HELICS, which are the EMT simulator, TS simulator, and interface framework, respectively. Case studies on the 240-bus Western Electricity Coordinating Council (WECC) system demonstrate that the developed ParaEMT-HELICS-GridPACK hybrid simulator can accurately capture both slow electromechanical and fast IBR-driven dynamics with a 2.4x speedup.
As the penetration level of power electronics-interfaced renewables such as photovoltaics (PV) and wind has surged in modern electric grids, new operational risks caused by the dynamics of those inverter-based resources (IBRs) are emerging in parallel. Lessons learned from various grid events include that the impact of IBRs on system-level grid stability will become prominent along with the increase of renewables and that the short-timescale dynamic impacts of IBRs on grid stability are not fully captured by current commercial dynamic simulation tools [1] [2]. For example, IBRs can be controlled to mitigate those destabilizing interactions, but conventional phasor-domain tools (e.g. PSS/E, PSLF) often cannot capture that; likewise, the existing electromagnetic transient (EMT) simulation tools (e.g. PSCAD, EMTP) can simulate detailed IBR controls, but for large power systems with many IBRs, slow simulation speeds severely impede the ability to study dynamic events [3] [4]. Massively paralleling simulations using high-performance computing (HPC) can help address this, especially now that cloud-based HPC capability is widely available, but today s EMT tools are not HPC-compatible, and parallelization of dynamic simulation solvers is not trivial because each region can dynamically affect the others. Thus, dynamic simulation of grids with very large numbers of IBRs potentially poses a barrier to the ongoing energy transition.
1D hybrid simulations of rotational discontinuities (RDs) are presented. When the angle between the discontinuity normal and the magnetic field (theta-BN) is 30 deg, the RD broadens into a quasi-steady state of width 60-80 c/omega-i. The hodogram has a characteristic S-shape. When theta-BN = 60 deg, the RD is much narrower (10 c/omega-i). For right handed rotations, the results are similar to theta-BN = 30 deg. For left handed rotations, the RD does not evolve much from its initial conditions and the S-shape in the hodogram is much less visible. The results can be understood in terms of matching a fast mode wavelike structure upstream of the RD with an intermediate mode one downstream.
Real-time hybrid simulation (RTHS) is an enabling technology that has transformed engineering experimentation and helped researchers expand modeling capabilities. However, breakthroughs are necessary to expand the range of hybrid simulation methods and, thus, enable experiments with loading conditions representing multiple hazards. This paper discusses the development of a new thermomechanical RTHS framework and a systematic approach to determining RTHS control requirements. First, the framework is established using a representative finite element model of a layered structural system subjected to thermal loading. A complete two-layer system model serves as the reference system, and it is then partitioned into a numerical layer and an experimental layer that share interface conditions. Next, a thermal actuator is introduced to impose dynamic thermal loading on the experimental subsystem, serving as a transfer system. Finally, control and performance metrics are defined to evaluate the realization of interface boundary conditions and map this to the RTHS execution. Through an illustrative example considering the influence of temperature on a lunar habitat, we demonstrate how to establish controller requirements for RTHS and demonstrate that this approach can be used to conduct RTHS on structures with thermomechanical loading.
The manner in which a hybrid simulation was used in support of Skylab operations in the area of dynamics and control is described. Simulation results were used in the development of acceptable vehicle maneuvers and in the verification of acceptability when the maneuvers were integrated into daily flight plans. The criterion of acceptability was based on vehicle controllability and the minimization of thruster system propellant usage. A simulation of a representative daily flight plan containing three experimental maneuvers is included, along with thruster attitude control system propellant usage tables which show predicted and actual usage for each mission. The inherent characteristics of quick turnaround and flexibility afforded by the hybrid computer proved invaluable in the operations support required throughout the Skylab mission.
Currently, the lack of (1) a sufficiently integrated, adaptive, and reflective framework to ensure the safety, integrity, and coordinated evolution of a real-time hybrid simulation (RTHS) as it runs, and (2) the ability to articulate and gauge suitable measures of the performance and integrity of an experiment, both as it runs and post-hoc, have prevented researchers from tackling a wide range of complex research problems of vital national interest. To address these limitations of the current state-of-the-art, we propose a framework named Reflective Framework for Performance Management (REFORM) of real-time hybrid simulation. REFORM will support the execution of more complex RTHS experiments than can be conducted today, and will allow them to be configured rapidly, performed safely, and analyzed thoroughly. This study provides a description of the building blocks associated with the first phase of this development (REFORM-I). REFORM-I is verified and demonstrated through application to an expanded version of the benchmark control problem for real-time hybrid simulation.
Real-time hybrid simulation (RTHS) - a cyber-physical testing approach - promises to enhance the simulation fidelity of the model-scale experiments used to prototype floating offshore wind turbines (FOWTs). In hydrodynamic RTHS (hydro-RTHS), actuators emulate aerodynamic forces on model-scale FOWT specimens subjected to physical waves in a hydrodynamic laboratory. Robotic arms are promising candidates for actuation in hydro-RTHS due to their compact multi-degree-of-freedom (DOF) capabilities. Unlike classical RTHS for seismic applications, which typically relies on displacement control, hydro-RTHS requires 6-DOF force control on newly designed floating prototypes in a model-scale setting, which presents significant challenges, including modeling uncertainties, directional asymmetry, configuration drift, bandwidth limitations, and time-varying delays. To mitigate these constraints without extensive pre-test calibration, this study proposes an adaptive model-free robotic force control strategy that combines task-space explicit force control with a secondary joint-space pose-keeping task. The Adaptive Feedforward Compensator (AFC) is integrated into the force control loop to compensate for time-varying delay. Experimental testing was conducted using a Franka Emika Panda robotic arm with a 1:50 scale FOWT specimen under operational wind and wave conditions. Results demonstrate stable and consistent 6-DOF force tracking. Effective delay compensation was observed, with low-frequency delay reductions ranging from 71.4% to 91.8% and improvements in low-frequency surge force tracking of 25.0% to 52.1%. This study enhances robotic actuation performance in hydro-RTHS and introduces a force control strategy that supports reliable robotic operation in uncertain floating environments. Future work will explore disturbance-observer mechanisms to further enhance wave rejection capabilities under extreme wind and wave conditions.
Digital and hybrid simulator computer programs for optimal control of satellite attitude maneuvers
One-dimensional hybrid simulations of tangential discontinuities (TDs) are presented. Ion kinetic effects are shown to play a crucial role in determining the TD structure. When the density ratio across a TD is large, magnetic profiles with either overshoots or monotonic gradients are obtained. When there is a bulk plasma flow perpendicular to the magnetic field, so that the motional electric field is directed into the moving plasma, the field profiles exhibit similar behavior when the density ratio differs from unity. In each of these cases, the final width is between 2 and 5 ion Larmor radii, roughly what is seen at the earth's magnetopause.
In this report we discuss the ion velocity distribution dynamics from the 3D hybrid simulation. In our model the background, pickup, and ionospheric ions are considered as a particles, whereas the electrons are described as a fluid. Inhomogeneous photoionization, electron-impact ionization and charge exchange are included in our model. We also take into account the collisions between the ions and neutrals. The current simulation shows that mass loading by pickup ions H(+); H2(+), CH4(+) and N2(+) is stronger than in the previous simulations when O+ ions are introduced into the background plasma. In our hybrid simulations we use Chamberlain profiles for the atmospheric components. We also include a simple ionosphere model with average mass M = 28 amu ions that were generated inside the ionosphere. The moon is considered as a weakly conducting body. Special attention will be paid to comparing the simulated pickup ion velocity distribution with CAPS T9 observations. Our simulation shows an asymmetry of the ion density distribution and the magnetic field, including the formation of the Alfve n wing-like structures. The simulation also shows that the ring-like velocity distribution for pickup ions relaxes to a Maxwellian core and a shell-like halo.
The development and innovation of floating offshore wind energy in the U.S. requires detailed high-fidelity observations and measurements of turbine and platform loading due to wind, waves, and currents. However, full-scale and quasi-full-scale experiments require significant financial and temporal investments for construction, experimental testing, and long-term field campaigns. To support the commercial advancement of the offshore wind energy industry, specialized wind tunnel and wave basin experimental facilities are critical to be able to test FOWT designs at small scale under controlled conditions prior to full-scale deployment. Oregon State University (OSU) is internationally known as a leader in water and energy research, development, and testing. The O.H. Hinsdale Wave Research Laboratory (HWRL) and the Wallace Energy Systems and Renewables Facility (WESRF) at OSU have extensive experience building, modeling, monitoring, controlling, and actuating scaled systems. Experiments on wave-structure interaction have been performed at the HWRL since its establishment in 1972. Studies have included the interaction of waves with coastal structures (breakwaters, seawalls, buildings, cylinders, bridges, fixed foundations of offshore wind turbines, etc.) and with floating structures (e.g., wave energy converters, maneuvering of vessels, etc.). Hinsdale is actively used by marine energy technology developers, both for private testing and OSU-collaborative research projects. However, despite the availability of several large-scale facilities for hydrodynamic testing (at OSU and elsewhere in the U.S.), existing experimental laboratories are generally limited in their ability to accurately generate combined wind and wave conditions. The simulation of both wind and waves in experimental testing is complicated due to a number of constraints, including: [i] incompatible similitude laws governing the wind and waves for scaled experiments, [ii] producing accurate wind over a large enough control volume via fans, and [iii] generating wind that reasonably represents the atmospheric boundary layer in existing wave basins/flumes. Hence, physical test data providing insight into the simultaneous wave- and wind-structure response of floating offshore wind components can be difficult to generate. Given the aforementioned challenges in classic hydrodynamic experiments, the motivation of this project is to establish a real-time hybrid simulation (RTHS) approach that can apply aero- and hydro-dynamic loading by augmenting wave-only experimental facilities with virtual aerodynamic forces through numerical models representing the remaining dynamic forces. RTHS is a physical-numerical approach that partitions a prototype system into physical and numerical sub-assemblies that interact with each other through actuators and sensors in real time. In coupling physical and numerical models, the hybrid simulation approach applied herein is ideal for problems with: (1) structures subjected to different scaling laws, such as floating offshore wind turbines subjected to combined aero/hydro-dynamic loading, (2) structures that are too large or complex to be tested entirely in a laboratory setting, such as deep-water mooring applications, and (3) component testing, where the behavior of a portion of the assembly is uncertain but still interacts with other portions of the structure, such as testing the fatigue life of turbine blades. Few U.S. experimental facilities are able to test simultaneous aero- and hydro-dynamic loading and none can accurately produce aero/hydro-dynamic response on scaled FOWT models due to conflicting similitude laws between the wind (commonly Reynolds) and the waves (commonly Froude). To aid in accelerating the development of the U.S. floating offshore industry, there is a significant need to develop a flexible, modular framework that can expand the capacities of existing wave-only laboratories. The project goal is to demonstrate a hydrodynamic real-time hybrid simulation (hydro-RTHS) framework that couples numerical wind and physical waves acting on a FOWT, thus representing simultaneous aero/hydro-dynamic loading. The FOWT is partitioned into a full-scale numerical sub-assembly associated with the aerodynamics and a model-scale physical sub-assembly associated with the hydrodynamics. The numerical-physical partition associated with hydro-RTHS mitigates scaling constraints by supplying different scaling laws to the physical and numerical sub-assemblies. Herein, length, force, and time are scaled and exchanged between the sub-assemblies using Froude scaling to represent the open-channel flow in the physical sub-assembly. Other similitude laws could also be utilized depending on the problem definition. It is envisioned that the ability to model FOWTs under waves and wind, with mitigation of similitude distortions, would result in reduced development costs (currently, FOWT concept development is performed with full-size pro- totypes at enormous expense and risk) and increase the reliability of the FOWT industry (since extreme wave and wind conditions and contingency events can be tested safely in a controlled environment).
Real-time hybrid simulation (RTHS) mitigates similitude distortions in model-scale tests of floating offshore wind turbines (FOWTs) by coupling physical experiments with numerical models in real time. The coupling requires faster-than-real-time numerical computations to satisfy temporal similitude with the physical experiment, presenting a bottleneck for using more complex numerical models in RTHS. This paper presents a hydrodynamic-RTHS (hydro-RTHS) framework for FOWTs that simulates the hydrodynamics physically and the aerodynamics numerically with sensor feedback from the physical testing. The framework adapts the three-loop hardware architecture to leverage greater computational resources and mitigate strict temporal requirements, enabling more computationally demanding numerical analyses in hydro-RTHS. The three-loop hardware architecture integrates multiple machines, each dedicated to either numerical analysis or RTHS controls, with a rate-transition algorithm to synchronize the tasks executed across the different machine processors. Virtual and physical tests verified and validated the hydro-RTHS framework, respectively. The ”virtual” tests, which approximates the physical domain numerically, verified the RTHS framework with respect to a numerical full-scale complete FOWT model simulated in the open-source software, OpenFAST. The virtual tests were able to maintain comparable control signals while enabling greater computational resources for the numerical calculations. Real-world physical tests demonstrated that the hydro-RTHS framework computes aerodynamic forces similar to the complete OpenFAST model, validating the hydro-RTHS framework using the three-loop hardware architecture. Findings show that the hydro-RTHS framework with the three-loop hardware architecture is computationally efficient, with reserve capacity to simulate more complex problems due to the customized software, hardware, and rate-transition algorithm.
An improved understanding of field-reversed configuration (FRC) merging and stability in high acceleration and compression magnetic fields is needed to speed up the development of the pulsed fusion concept developed at Helion Energy. All previous theoretical and simulation work on FRC merging and compression was performed using two-dimensional (2D) magnetohydrodynamic (MHD) models. The results of novel 2D hybrid simulations (fluid electrons and full-orbit kinetic ions) of FRC merging and compression are presented. Results of kinetic and MHD simulations, computed using the HYM code, are compared and analyzed. In cases without axial magnetic compression, both the MHD and hybrid simulations show a high sensitivity to the initial parameters (i.e. FRC separation, velocity, normalized separatrix radius, and plasma viscosity), showing that FRCs with large elongation and separatrix radius either do not merge or merge partially, forming a doublet FRC. In conclusion, application of a mirror coil field at the FRC ends with increasing strength is shown to lead to fast and complete merging of the FRCs in MHD and kinetic simulations.
A one-dimensional, hybrid simulation code is used to study current sheets with a nonzero normal magnetic field B(sub z) and a dawn-to-dusk electric field E(sub y). Such configurations are dependent upon only two parameters: we use the normalized normal magnetic field B-normalized (sub z) = B(sub z)/(4(pi)(n(sub b)) (v(exp 2 sub T))(exp 1/2) and normalized electric field V-normalized (sub D) = (1/V(sub T)(cE(sub y)/B(sub z)), where V(sub T) is the thermal velocity of ions prior to their interaction with the current sheet and n(sub b) is the number density outside the current sheet (at the simulation boundary). A third parameter that is relevant to the motion of particles in current sheets is kappa(sub A), the value of kappa = (R(sub min)/rho(sub max))(exp 1/2) for particles of average energy. We find that if either B-normalized (sub z) is close to or greater than 1, or if kappa(sub A) is close to 1, a rotational mode develops in which the z = 0 current rotates with the ion sense about the normal magnetic field, while for small values of both B-normalized (sub z) or kappa(sub A), the configuration is quasi-steady. To achieve values of kappa(sub A) of the order of or larger than 1, we decrease the value of V-normalized (sub D) uniformly. We find that the magnetic field fluctuations and particle distribution functions are similar in many respects to what was observed in the day 240, 1986, Active Magnetospheric Particle Tracer Explorer (AMPTE)/CCE current disruption event, an event that appears to be located at the site of initiation of current disruption and related particle energization.
The magnetohydrodynamic-kinetic (MHD-kinetic) hybrid model (Park et al 1992 Phys. Fluids B 4 2033–7) has been widely applied in studying energetic particles (EPs) problems in fusion plasmas for past decades. The pressure-coupling scheme or the current-coupling scheme is adopted in this model. However, two noteworthy issues arise in the model application: firstly, the coupled term introduced in the pressure-coupling scheme, (∇•P h ) ⟂ , is often simplified by ∇•P h , which is equivalent to neglecting the parallel inertial term of EPs; secondly, besides the $δf$ contribution caused by changing in the EP distribution function, the magnetic field perturbation (the $δB$ contribution) generated during development of the instabilities should also be considered, but it is often ignored in existing hybrid simulations. In this paper, we derive the analytical formulations under these two coupling schemes and then numerically study the representative case of the linear stability of the $m/n$ = $1/1$ internal kink mode (IKM) (Fu et al 2006 Phys. Plasmas 13 052517) by using the CLT-K code. Further, it is found that the approximated models can still yield reasonable results when EPs are isotopically distributed. But it fails completely in cases with anisotropic EP distributions. In addition, we further investigate the influence of EP's orbit width on the stability of IKM and verify the equivalence between pressure-coupling scheme and the current-coupling scheme.
We have developed a means of producing a steady state hybrid simulation of a collisionless shock. The shock is stopped in the simulation box by transforming into the shock frame and by modifying the downstream boundary conditions to allow the plasma to flow through the simulation box. Once the shock is stationary in the box frame, the simulation can be run for an arbitrary time with a fixed box size and a fixed number of simulation particles. Using this technique, we have shown that certain gross properties associated with the shock, such as the particle distribution function (including energetic particles produced by Fermi acceleration) and the flow speed profile, are constant (except for statistical variations) over hundreds of gyroperiods when averaged over times short compared to the average residence time of energetic particles. Our results imply that any microphysical processes responsible for particle heating and/or injection into the Fermi mechanism can be viewed as smooth and continuous on timescales longer than a few gyroperiods.
We present 2.5D hybrid simulations of the spectral and thermodynamic evolution of an initial state of magnetic field and plasma variables that in many ways represents solar wind fluctuations. In accordance with Helios near-Sun high-speed stream observations, we start with Alfvénic fluctuations along a mean magnetic field in which the fluctuations in the magnitude of the magnetic field are minimized. Since fluctuations in the radial flow speed are the dominant free energy in the observed fluctuations, we include a field-aligned v∥(k⊥) with an k(exp −1) spectrum of velocity fluctuations to drive the turbulent evolution. The flow rapidly distorts the Alfvénic fluctuations, yielding spectra (determined by spacecraft-like cuts) transverse to the field that become comparable to the k∥ fluctuations, as in spacecraft observations. The initial near constancy of the magnetic field is lost during the evolution; we show this also takes place observationally. We find some evolution in the anisotropy of the thermal fluctuations, consistent with expectations based on Helios data. We present 2D spectra of the fluctuations, showing the evolution of the power spectrum and cross-helicity. Despite simplifying assumptions, many aspects of simulations and observations agree. The greatly faster evolution in the simulations is at least in part due to the small scales being simulated, but also to the non-equilibrium initial conditions and the relatively low overall Alfvénicity of the initial fluctuations.