Multidimensional hybrid software-in-the-loop modeling approach for experimental analysis of a floating offshore wind turbine in wave tank experiments

Abstract

A hybrid experimental modeling approach for floating offshore wind turbines (FOWTs) in a wave tank is presented. The method called real-time hybrid method (RTHM) or software-in-the-loop (SIL) includes physically reproduced hydrodynamic loads in the wave tank, with a Froude-scaled model while aerodynamic loads are reproduced on the model by an actuator. The force is applied on the tower top and calculated by a numerical simulation running in real-time as a function of the measured velocity and position of the physical model. Couplings between the platform motion, the aerodynamic loads and the wind turbine controller are hence accounted for. A new SIL actuator enabling the reproduction of a multi-component force at the tower top of an experimental scaled wind turbine model is developed, and the quantification of the accuracy of the replicated forces is studied. The test case includes a floating spar platform carrying a 10 MW horizontal axis wind turbine. The results show that this SIL actuator can accurately replicate the low and wave-frequency aerodynamic loads, which are essential for wave tank testing. Lastly, a case study of the wind turbine model in colinear and misaligned wind and wave conditions is presented, showing 3D forces and induced motions.