ARTICLE
2 MW
OPEN ACCESS
Journal of the Korean Solar Energy Society
Vol.37, No.1, pp.1-14, February 2017
https://doi.org/10.7836/kses.2017.37.1.001
pISSN : 1598-6411
eISSN : 2508-3562
Received: 29 December 2015
Revised: 06 February 2017
Accepted: 20 February 2017
Copyright Korean Solar Energy Society
This is an Open-Access article distributed under
the terms of the Creative Commons Attribution
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non-commercial use, distribution, and reproduction
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Journal of the Korean Solar Energy Society Vol. 37, No. 1, 2017
Pitching Motion Analysis of Floating Spar-buoy
Wind Turbine of 2MW Direct-drive PMSG
Pyungho Shin Namho Kyong Jungchul Choi Heesang Ko
Korea Institute of Energy Research, Wind Energy Laboratory
Corresponding author: phshin@kier.re.kr
Abstract
A series of coupled time domain simulations considering stochastic waves and wind based on
five 1-h time-domain analyses are performed in normal operating conditions. Power performance
and tower base Fore-Aft bending moment and pitching motion response of the floating
spar-buoy wind turbine with 2 MW direct-drive PMSG have been analyzed by using HAWC2
that account for aero-hydro-servo-elastic time domain simulations. When the floating spar-buoy
wind turbine is tilted in the wind direction, maximum of platform pitching motion is close to 4.
Statistical characteristics of tower base Fore-Aft bending moment of floating spar-buoy wind
turbine are compared to that of land-based wind turbine. Maximum of tower base Fore-Aft
bending moment of floating spar-buoy wind turbine and land-based wind is 94,448 kNm,
40,560 kNm respectively. This results is due to changes in blade pitch angle resulting from
relative motion between wave and movement of the floating spar-buoy wind turbine.
Keywords: (Floating wind turbine), (Direct drive
generator), -(Spar-buoy), (Platform pitch),
(Permanent Magnet Synchronous Generator)
t :
V : (m/s)
D : (m)
L : (m)
3
: [kg/m ]
Urel : (m/s)
1


: (m/s2)
U rel

Uw : (m/s)
UB : (m/s)
Cd :
Ca :
Hs : (m)
Tp : (s)

1.

.
. NREL 5 MW

, .
/
1).
, , ,
2)
.
2 MW HAWC2
, . NREL 5 MW
2 MW
. 2 MW (Spar-buoy)
(Platform pitch) , (DEL: Damage
3)
Equivalent Load) , , , 2 MW
.
HAWC2 (Horizontal Axis Wind turbine Code 2nd generation)
(Aero-hydro-servo-elastic)
. HAWC2 code (Advanced
Blade Element)
4)
.

2 Journal of the Korean Solar Energy Society Vol. 37, No. 1, 2017
 2 MW _

2.

Fig. 1 Schematic layout of floating spar-buoy wind turbine with 2 MW PMSG direct-drive generator at 320m of water depth4)

Fig. 2 Floater top position (zero equals to 10 m above mean sea level) as a function of time in static equilibrium condition:
no wind, still water.

Fig. 1 2 MW (Spar buoy) . Fig. 1

(Mean sea level) 2 MW
, (Draft), .
(Static equilibrium) 0 m/s, (Still water)
0 s-2000 s . 2 MW

Journal of the Korean Solar Energy Society Vol. 37, No. 1, 2017 3


(Fg), (Fm)
(Fb) Table 1 . Fig. 2
(Floater top) (Heave) . 250 0.0035 m
. 500 12 0.024 .

Table 1 Mass per length according to floater length

Floater length(m) Mass per length (kg/m)
0 139,501
51.35 139,501
51.45 139,501
100.08 4,420
107.98 4,420
108.08 13,767
122.08 13,767

3.

Table 2 Baseline control system properties

Peak power coefficient 0.482
Tip speed ratio at peak power coefficient 7.17
Rotor-collective pitch angle at peak power coefficient 0
Rated mechanical power 2179 kW
Optimal Cp tracking K factor 0.132 MNm/(rad/s)2
Kp of torque controller 1.742 MNm/(rad/s)
Ki of torque controller 0.391 MNm/rad
Kp of pitch controller 0.123 rad/(rad/s)
Ki of pitch controller 0.624 rad/rad
Coefficient linear term in aerodynamic gain scheduling 4.835
Maximum generator torque 848.9 kNm
Minimum pitch angle setting 0
Maximum pitch angle setting 90
Maximum absolute blade pitch rate 4/s

Table 2 2 MW
. .
2 MW
. (Operational data) HAWC2

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 2 MW _

HS2PID . HS2PID PI parameter

Table 2 (kP), (kI), Optimal Cp tracking factor
5).

4.

Fig. 3 . 8 m/s
(Fluctuation) .
6)
. 23 (3-25 m/s) Ris
(seed number) . 1001 1005 5
. 5 1 HAWC2 , ,
7)
, . Mann turbulence . Mann turbulence
. 3 u, v, w
. , 150 m, 150 m 2 MW ,
. 2MW (Iref) IEC 61400-1
0.14 . 5 1 Fig. 4
COD(Co-directional) .

Fig. 3 Wind speed at hub height[m/s]: seed number 1001

Journal of the Korean Solar Energy Society Vol. 37, No. 1, 2017 5


5.

Fig. 4 Water surface time history

HAWC2 code (Morison formular) .

.
8-11)
(1) .

(1)

(1) (flexible) (Slender) (Structure) D/L < 0.2

-(Froude-Krylov)
. .
(Drag force). . AR (Ca)
. (2) . (1)
. Ris
: 0.969954, : 0.6 .
12)
Re .

(2)

Joint North Sea Wave Project (JONSWAP) . JONSWAP

6 Journal of the Korean Solar Energy Society Vol. 37, No. 1, 2017
 2 MW _

6.
9)
.
13)
Johannessen . Weibull
. Weibull (3) (: shape parameter), (: scale parameter)
. 2 ( V ) () 14). 1 (V)
(3) . Johannessen Statfjord 1973-1999
. (Hs)
(Tp) . (3)~(8) .

Table 3 Design load cases

Load case Vmean Hs Tp
- (m/s) (m) (s)
1 3 1.88 9.73
2 4 1.96 9.73
3 5 2.08 9.75
4 6 2.22 9.79
5 7 2.36 9.83
6 8 2.52 9.89
7 9 2.68 9.96
8 10 2.84 10.04
9 11 3.01 10.12
10 12 3.19 10.20
11 13 3.37 10.30
12 14 3.55 10.39
13 15 3.75 10.49
14 16 3.94 10.59
15 17 4.14 10.70
16 18 4.35 10.81
17 19 4.55 10.92
18 20 4.77 11.03
19 21 4.98 11.14
20 22 5.20 11.25
21 23 5.43 11.37
22 24 5.65 11.49
23 25 5.88 11.60
Vmean: 10-min mean wind speed at hub height, Hs: significant wave height; Tp: peak spectral period

Journal of the Korean Solar Energy Society Vol. 37, No. 1, 2017 7


F v exp (3)

(4) (Wind shear) power law . a

0.1 . V(H) (V). V(z) (Vmean)
. H 10 m. z .

a
z
V Z V H (4)
H

z, H, a, V(z) (4) V(H) . (5) (Hs) . V(z)

3-25 m/s Table 3 Vmean. Gamma 14) (5) .
1/3 .

1 t
1 t
E ( H s ) = + 1 = t e
dt
0 (5)

(6), (7) , , (V) a1, a2, b1, b2

. a1, a2, b1, b2, b3 2, 0.135, 1.8, 0.1, 1.322 .

(6)

(7)

(4) V(H) (5), (6), (7) (Hs) .

Vmean, Hs (Tp)
Johannessen E(Tp) (8) .

(8)

Table 3 3~25 m/s (Vmean) (Tower base Fore-Aft bending moment),

8 Journal of the Korean Solar Energy Society Vol. 37, No. 1, 2017
 2 MW _

(platform pitch), (generator power) . Vmean E(Hs) E(Tp)

(5), (8) (analytical function) (Sea states) Table 3
. Table 3 Vmean, Hs, Tp 1 (3~25 m/s)
.

7.

Fig. 5 (platform pitch) . , 14

m/s 4, -2 .
+ . (4), (-2) 4, 2
.
.

Fig. 5 Statistical characteristics of the platform pitch motion for combined dynamic wind and wave cases (Black symbol:
floating spar buoy wind turbine with direct drive PMSG)

Fig. 6 Table 3 load case 6 .

15)
0.1Hz . Wave
(0.1Hz) 0.098Hz .

Journal of the Korean Solar Energy Society Vol. 37, No. 1, 2017 9


Fig. 6 Platform pitch PSD of the platform pitch motion for load case 6(Vmean: 8m/s, Hs: 2.52, Tp: 9.89, random seed number:
1001) in Table 3

Fig. 7 Tower base Fore-Aft bending moment for the subjected to irregular wave and turbulent wind actions: wind speed
refer to the load cases in Table 3

Fig. 7 , 2 MW
. , , ,
seed number 1001-1005 HAWC2 .
250 1 . 13 m/s

.
, , .
.

10 Journal of the Korean Solar Energy Society Vol. 37, No. 1, 2017
 2 MW _

, .

. ,
.
. Fig. 8 . Fig. 8 25 m/s
.
.
.

Fig. 8 Blade pitch angle for the subjected to irregular wave and turbulent wind actions: Vmean (25 m/s), seed number(1005)
refer to the load case 23 in Table 3 (Solid line: floating spar buoy wind turbine with direct drive PMSG, dot line: land based
wind turbine with direct drive PMSG)

Table 4 Fig. 7 25 m/s - .

40,560 kNm,
94,448 kNm. Fig. 8 y .
3,618 kNm 11,580 kNm.
220% .

Table 4 Load variation of maximum, minimum and standard deviation in case of 25 m/s in Fig. 7
Tower base Fore-Aft bending moment Max-Min Std
Floating spar wind turbine 94,448 kNm 11,580 kNm
Land based wind turbine 40,560 kNm 3,618 kNm

Journal of the Korean Solar Energy Society Vol. 37, No. 1, 2017 11


Fig. 9 Damage equivalent load of tower base Fore-Aft bending moment for seed number 1001 (Black symbol: floating spar
buoy wind turbine with direct drive PMSG, white symbol: land based wind turbine with direct drive PMSG)

Fig. 9 seed number 1001 2 MW

(DEL: Damage Equivalent Load)
. DEL f . , T
f
3)
. 25 m/s DEL 32,176 kNm
DEL 12,578 kNm DEL DEL 155%
. DEL .
. DEL .
DEL
, .
Fig. 10-11 , .
, , .
. Fig. 5 4, 2
.
(Rotor plane) .
(control frequency) (natural frequency) ,
16)
, , .

12 Journal of the Korean Solar Energy Society Vol. 37, No. 1, 2017
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Fig. 10 Generator power for the subjected to turbulent wind actions only: wind speed refer to the load cases in Table 3
(white symbol: land based wind turbine with direct drive PMSG)

Fig. 11 Generator power for the subjected to irregular wave and turbulent wind actions: wind speed refer to the load cases
in Table 3 (Black symbol: floating spar buoy wind turbine with direct drive PMSG)

8.

(production) HAWC2
, ,
.
.
.
,
.

Journal of the Korean Solar Energy Society Vol. 37, No. 1, 2017 13


(: B6-2458).

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