Comparison of Smart Rotor Blade Concepts for Large Offshore Wind Turbines.docx
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Comparison of Smart Rotor Blade Concepts for Large Offshore Wind Turbines.docx
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ComparisonofSmartRotorBladeConceptsforLargeOffshoreWindTurbines
ComparisonofSmartRotorBladeConceptsforLargeOffshoreWindTurbines
B.A.H.MarrantandTh.vanHolten
DelftUniversityofTechnology,FacultyofAerospaceEngineering
Kluyverweg1,2629HSDelft,TheNetherlands
Tel.:
+31(0)152785171
Fax.:
+31(0)152783444
E-mail:
B.Marrant@lr.tudelft.nl
Keywords:
offshore,windturbines,fatigueloads,smartmaterials,activerotorcontrol
Abstract
Thispaperprovidestheresultsofacomparisonoffourdifferentsmartstructureconceptstoobtainactiverotorcontrolonlargeoffshorewindturbines.Theconceptsareactivetrailing-edgeflapcontrol,micro-electro-mechanicaltabcontrol,cambercontrolwithinflatablestructuresandactivebladetwistcontrol.Thedifferentsmartrotorbladeconceptsarecomparedwitheachotherbasedontheirpotentialtoreducefatigueloadsforparticulardimensions,theiraerodynamicefficiency,bandwidthandcomplexity.
Introduction
Theaimoftheresearchprojectonsmartdynamicrotorcontrolforlargeoffshorewindturbinesistodevelopnewtechnologycapableofconsiderablyreducingtheextremeandfatigueloadsonwindturbines–inparticularonverylargewindturbinesforoffshoreapplication–andtherebytoreducethecostsofwindturbines.Asecondaimistoreducemaintenancerequirementsandimprovereliabilitybyapplyingcondition-monitoringtechniques.
Thewaytoachievethisistoimplementrecentadvancesincontroltheory,sensor-andactuatortechnology,smartstructures,etc.takingintoaccountthespecialrequirementsandconditionsofoffshorewindturbines.TheFLEXHAT-programperformedintheNetherlandssomeyearsagohasshownthat“smart”controlmethodsmayhaveasignificanteffectonthevariousloads[1].Thepurposeoftheformerprojectwastodecreaseloadsinthedrivetrainandtherotorbladesbyusingpassivetipcontrolandflexibilitiesintherotorsystem.Unfortunately,thetechniquesusedwithintheFLEXHATconfigurationwerenotsuitableforincorporationintoverylargewindturbines.Therefore,differentsolutionsneedtobedeveloped.
Inapreliminarystudy[2,3]onsmartdynamicrotorcontrolforlargeoffshorewindturbinesdifferentconceptshavealreadybeeninvestigatedinwindenergyandhelicopterliterature.Helicopterliteraturehasalsobeenstudiedbecauseofitscloserelationtothefieldofwindturbines.Moreover,smartdynamicrotorcontrolforthepurposeofe.g.vibrationreductionisarelativelynewconceptinwindenergywhereasthistopichasbeenthesubjectofstudyformanyyearsinthefieldofhelicopters[4],[10].
Thetwoapproacheswhichwillbeusedtoreducethestructuralloadsonwindturbinesarethereductionofthefluctuationsofaerodynamicloadsandtheactive/passivedampingofstructuralmodes[5].Inthepreliminarystudyalistofcontroldevicesforrotorbladeswasmadewhichcouldbeusedtocontroltheextremeandfatigueloads.Thislistincludedtrailing-edgeflapcontrol(possiblycombinedwithleading-edgeflapcontrol),Micro-Electro-Mechanicaltabcontrol,activetwistcontrol,part-spanandfull-spanpitchcontrolandcambercontrol.Thisstudyfocusedmainlyonthefeasibilityofsmartmaterialsasameanstoactuatethedevices.Theseconceptshavealreadybeenpresentedinreference[6].
Thispaperwillcontinuethepreviousworkwiththepurposetomakearankingofdevicesforthepurposeofsmartdynamicrotorcontrol.Themostpromisingdevicesareconsideredtobetrailing-edgeflapsandMicro-Electro-Mechanicaltabsbecauseoftheirrelativesimplicityandtheirpotential.Ontopofthesetwodevicesactivetwistandvariablecamberwiththeuseofinflatablestructuresarealsoincluded.Theactuatorswhichareconsideredinthispaperaremainlysmartmaterialactuatorsbasedonpiezoelectricmaterials.Thedifferentconceptsthatresultfromthedevicesandactuatorsarecomparedwitheachotherbasedontheirpotentialtoreduceaerodynamicloads,theiraerodynamicefficiency,bandwidthandcomplexity.
Approachtocomparethesmartbladeconcepts
Thefoursmartbladeconceptswhichwerementionedbeforewillbecomparedwitheachotherbasedontheirabilitytoreducefatigueloadsduringnormaloperationofthewindturbine.Thefatigueloadsareusedasabasistocomparetheconceptsbecausewindturbinedesignsareoftengovernedbyfatigue[12]andbecausenoneofthesmartbladeconceptsmentionedpreviouslywillhavethepowertoreducetheextremeloadscompletely.Thefatigueloadcaseduringnormalpowerproduction(DLC1.2),asdescribedintheIECstandard[7],hasbeenusedasabasisforthecomparisonbecausethiswillbethephaseduringwhichthesmartbladewillbeoperatingmostofitstime.Thismeansthatnormalpowerproductionwiththeoccurrenceofanemergency,startup,normalshutdownandstandstillloadcaseshavenotbeenconsidered.
ThefatigueloadcalculationsfortheconventionalbladeandthesmartbladeconceptshavebeenperformedforwindturbineclassIBbecausethisinvolvesahighreferencewindspeedaverageover10minutes(Vref=50m/s)andamediumturbulenceintensityat15m/s(Iref=0.14)whichisconsideredtoberepresentativeforoffshorewindconditions.
Theturbulencemodelwhichhasbeenusedisathree-dimensional,onecomponentmodel,whichmeansthatthewindspeedvariesovertherotordiscareaintime.ThemethodtosimulateturbulencemakesuseofFourierseriestocreateanumberofcorrelatedtimeseriesfromthelongitudinalvelocitycomponentspectrum(S1(f))andacoherencefunction.TheturbulencespectrumusedfortheanalysisistheKaimalspectrum:
(1)
where
1=Iref(0.75Vhub+5.6):
isthelongitudinalturbulencestandarddeviationwithIref=0.14
L1:
isthelongitudinalvelocityintegralscale,whereL1=8.11
Vhub:
isthewindspeedathubheight
f:
isthefrequencyinHertz
isthelongitudinalturbulencescaleparameter
Thefollowingexponentialcoherencemodel(Coh(r,f))isusedinconjunctionwiththeKaimalautospectrumtoaccountforthespatialcorrelationofthelongitudinalwindspeedcomponent:
(2)
whereristhemagnitudeoftheprojectionoftheseparationvectorbetweenthetwopointsontoaplanenormaltotheaveragewinddirection.
Figure1:
Turbulenceforawindspeedof13m/sovertheheight(z)andthewidth(y)
Anexampleoftheturbulenceatawindspeedof13m/sattimet=0canbeseeninfigure1wherethetotalgridspans60mx60m,thegridinterspacingis4mandthehubheightis91.4m.Theturbulencewasrotationallysampledbyselectingwindspeedsoutofthecompletewindfieldatpointsinspaceandtimecorrespondingtopositionsoftherotatingbladeofahorizontalaxiswindturbine.Correlatedtimeseriesweregeneratedin60equallyspacedpointsontherotorbladeandlinearinterpolationhasbeenusedwhenthepointonthebladewasinbetweenthegridpoints.
Thedeterministicpartofthewindfieldonlyconsistedofwindshearwherethelongitudinalwindspeedisgivenbythefollowingpowerlaw:
(3)
Thefatigueloadsforthedifferentsmartrotorbladeconceptsarecomparedmakinguseofabenchmarkwindturbine.ForthispurposeanoffshorewindturbinederivedfromtheDOWEC(DutchOffshoreWindEnergyConverter)windturbinestudy[9]isusedsincethisinvolvesahorizontalaxis(HAWT),upwind,pitch-regulated,variablespeedturbinewhichhasthesizeandcharacteristicsofawindturbinethisresearchisintendedfor.AdrawingoftheoriginalDOWECdesigncanbeseeninfigure2andsomecharacteristicdataofthisbenchmarkturbinearepresentedintable1.
Cut-inwindspeedVin
3.0m/s
Cut-outwindspeedVout
25m/s
RatedwindspeedVr
12m/s
Tipspeedratior
7.4
Hubheightzhub(abovethewater)
91.4m
RotordiameterD
120m
RatedpowerPr
6.0MW
Figure2:
DOWECwindturbineTable1:
Characteristicdataofthebenchmarkwindturbine
ForthecalculationsoftheloadstheWindsim[18]packagehasbeenusedwithafewalterationsinordertobeabletocalculatetheaerodynamicloadingduetoadistributedwindfield.ThispackageusesBEMtheoryforthecalculationsoftheaerodynamicloadsinwhichthewakeisapproximatedasconstantovertherotordiscarea.Thesmartrotorbladeconceptswerecomparedbycalculatingtheirfatiguedamagerelativetotheconventionalblade.Asafirstapproximationthedynamicsofthebladeareneglectedandonlythevariableaerodynamicloadingduetothevariablewindfieldisconsidered.Themaximumloadalleviationcapacityofthesmartstructureshasbeenusedintheanalysiswhereithasbeenassumedthatthesmartrotorbladeknowsexactlywhatthewindfieldlookslikeateverytimestep,moreoverasafirstapproximationthesmartbladeisassumedtoreactinstantaneouslytotheloadchange.Makingtheseassumptionshastheinherentadvantagethatthecontrollercanbeleftoutoftheanalysiswhichleadstoamorestraightforwardcomparisonofthesmartrotorbladeconcepts.Thiswayafirstestimatecanbemadeoftheminimumrequireddimensions,deflectionsanddeflectionratesforthedifferentsmartstructureconcepts.
Thesmartrotorbladeconceptswhichareabletoaltertheaerodynamicbladeloadscanbedividedintotwocategories:
bladeswhichareabletoactivelychangetheairfoil’scambertherebyshiftingthecl-curveup-ordownwardandbladeswhichareabletochangethelocalangle-of-attackinordertoobtainchangesinliftcoefficient.Trailing-edgeflaps,MEM-tabsandvariablecambercontrolbelongtothefirstcategorywhereasactivetwistcontrolbelongstothesecond.
Figure3:
Variationofaerodynamicbladerootbending
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