Abstract

Abstract. In this paper, the coupled dynamics of the floating platform and the wind turbine rotor are analyzed. In particular, the damping is explicitly derived from the coupled equations of the rotor and floating platform. The analysis of the damping leads to the study of instability phenomena, thus obtaining the explicit conditions that lead to the non-minimum phase zero (NMPZ). Two NMPZs are analyzed, one related to the rotor dynamics and the other one to the platform pitch dynamics. The latter introduces a novelty, and an explicit condition is provided in this work for its verification. In the second part of the paper, from the analysis of the damping of the floating platform, a new strategy for the control of floating offshore wind turbines (FOWTs) is proposed. This strategy allows one to impose on the controller an explicit level of damping in the platform pitch motion that adapts with wind speed and operating conditions without changing the period of platform pitching. Finally the new strategy is compared to one without compensation and one with a non-adapting compensation by performing aero-hydro-servo-elastic numerical simulations of a reference FOWT. Generated power, motions, blade pitch and tower base fatigue are compared, showing that the new control strategy can reduce fatigue in the structure without affecting the power production.

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