Applied Energy 86 (2009) 1532–1540

Contents lists available at ScienceDirect

Applied Energy
journal homepage: www.elsevier.com/locate/apenergy

Optimization of cycloidal water turbine and the performance improvement

by individual blade control
In Seong Hwang, Yun Han Lee, Seung Jo Kim *
School of Mechanical and Aerospace Engineering, Seoul National University, San 56-1, Sillim-dong, Gwanak-gu, Seoul, 151-742, Republic of Korea

a r t i c l e i n f o a b s t r a c t

Article history: This paper investigates an advanced vertical axis turbine to enhance power generation from water
Received 26 February 2008 energy. The turbine, known as a cycloidal water turbine, is a straight-bladed type adopting a cycloidal
Received in revised form 29 October 2008 blade system that actively controls the rotor blades for improved turbine efficiency, according to the
Accepted 5 November 2008
operating conditions. These characteristics enable the turbine to self-start and produce high electric
Available online 4 January 2009
power at a low flow speed, or under complex flow conditions. A parametric study has been carried out
by CFD analysis, with various characteristics including different number of blades, chord length varia-
Keywords:
tions, variety of tip speed ratios, various hydrofoil shapes, and changing pitch and phase angles. Optimal
Cycloidal water turbine
Vertical axis water turbine
parameters have been determined, and the performance of the turbine has achieved approximately 70%
Cycloidal blade system better performance than that of a fixed pitch turbine. An experimental study has also been carried out
Individual blade control which shows that the results correlate quite well with the theoretical predictions although the power
Active control of blades output was reduced due to the drag forces of the mechanical devices. Another numerical optimization
Optimal pitch angle variation was carried out to improve the rotor performance by adopting an individual blade control method. Con-
trollable pitch angles were employed to maximize the rotor performance at various operating conditions.
The optimized result obtained using genetic algorithm and parallel computing, shows an improvement in
performance of around 25% compared with the cycloidal motion.
Ó 2008 Elsevier Ltd. All rights reserved.

1. Introduction nificant environmental problems. Water stream turbines are

Hydropower, the energy from moving water, is one of the oldest
renewable energy sources and the total global electric power
capacity of hydropower, including large hydropower, small hydro-
power, and ocean power, was approximately 820 GW in 2005,
which accounted for almost 20% of the renewable energies [1].
However, the growth rate of large hydropower has declined some-
what over recent years since most major sites are either already
being exploited, or are unavailable for other reasons such as envi-
ronmental considerations. In its place, small hydropower systems
have been increasingly used as an alternative energy source so that
a small system is installed in small rivers or streams with little
environmental effect. In this way such small hydropower systems
do not require a dam to be built.
Water turbines can be classified by the type of generator used,
or the water resources in the installed place. A water-head turbine
is the most generally used system, and this makes the turbine ro-
tate by converting the potential energy of the water in to kinetic
energy. This turbine has the advantage of high efficiency, but the
construction cost for a dam or waterway is high and can cause sig-
* Corresponding author. Tel.: +82 2 880 7388; fax: +82 2 887 2662.
E-mail addresses: ishis01@aeroguy.snu.ac.kr (I.S. Hwang), yhlee@aeroguy.
snu.ac.kr (Y.H. Lee), sjkim@snu.ac.kr (S.J. Kim).
rotated by the force of the river or the ocean current. These tur-
bines are essentially like wind turbines underwater, except that
the density of water is 800 times greater than air. There are two
types of water stream turbines; horizontal axis turbines and verti-
cal axis turbines. Fig. 1a shows a horizontal axis water turbine
using a propeller. It consists of two or three blades and a single
or twin rotor system. The rotor is rotated by the lift force generated
by the fluid flow. The turbine can generate in one way flow or two
way flow, according to the geometric shape of the rotor blade and
pitch control mechanism. Fig. 1b shows a vertical axis water tur-
bine, also known as a cross-flow turbine. This turbine is based on
the Darrieus wind turbine which is rotated by the lift and drag
forces [2]. The vertical axis type has the advantage that the rotor
can be rotated regardless of the flow direction.
The water stream turbine has not been commercialized at the
present time; however, this turbine is increasingly being recog-
nized as a tidal power generation system in many countries,
including UK, USA, Canada, and Norway. The MCT Technology, in
UK, developed a marine current turbine of 300 kW in 2003, which
was installed in Lynmouth, Devon for experimental purposes. They
also installed a twin rotor system rated at 1 MW in 2007 for the
prototype and test-bed for the commercial technology [3]. GCK
Technology in the Netherlands developed the Gorlov turbine in
2000 [4]. The Ponte di Archimede in Italy carried out an experiment

0306-2619/$ - see front matter Ó 2008 Elsevier Ltd. All rights reserved.
doi:10.1016/j.apenergy.2008.11.009
 I.S. Hwang et al. / Applied Energy 86 (2009) 1532–1540
Nomenclature
C rotor blade chord length
T thickness of a rotor hub arm or a control rod
A rotor area
Cd drag coefficient
Cp power coefficient
D rotor diameter
Fd drag force
N number of blades
P power output
for the Kobold turbine, which is a 25 kW vertical axis turbine
equipped with a passive variable pitch device [5]. Several vertical
axis wind turbines have been developed which utilize the variable
pitch control method [6–9]. Although these wind turbines are not
yet fully commercialized systems, they show good efficiencies.
This paper describes the cycloidal water turbine which is a kind
of a vertical axis water stream turbine. This turbine improves the
power generation efficiency through variable pitch control using
the cycloidal blade system. In this study, the optimal geometric
characteristics and operating conditions of a new vertical axis
water turbine were determined, through CFD analysis, for a num-
ber of variables including number of blades, chord length, flow
velocity, hydrofoil, and pitch angle variation. The analytic results
were verified through experimental tests in a circulating water
channel. In addition, the pitch angle variations for the individual
blade pitch control method were also obtained through a genetic
algorithm enhancing the performance of the cycloidal water
turbine.
2. Numerical analysis of cycloidal water turbine
The cycloidal water turbine adopts the cycloidal blade system
for variable blade pitch control. Fig. 2 shows the system, which
consists of several blades rotating with periodic pitch angle varia-
tion. The characteristics of the rotor could be changed by variations
of the pitch angle (h), and the phase angle which is defined as the
location of maximum pitch angle. This mechanism has been ap-
plied to aircraft and marine propulsion systems [10–12].
In this research, CFD analysis has been carried out to study the
performance of the cycloidal water turbine and the optimal geom-
etries and operating conditions were determined through para-
metric studies. A two-dimensional analysis was acceptable
because a straight blade was utilized in the turbine, which meant
Fig. 1. Water stream turbines (a) Horizontal axis water turbine, (b) Vertical axis water turbine.
1533
R rotor radius
TSR tip speed ratio
Vw water stream speed
h pitch angle
q water density
r rotor solidity
u azimuth angle
x rotating speed
that there is no need to consider the span length. Therefore, the ro-
tor radius was the only variable determining the amount of rotor
power generation. The value of the rotor radius has been fixed at
0.5 m in the following analysis.
2.1. Numerical method and its verification
In this research, the commercial program, STAR-CD was used
for the CFD analysis. Fig. 3 shows the mesh for the analysis. The to-
tal number of cells was 35,328 in a three blade model. To simulate
the rotor blade rotation, a moving mesh method was required at
the boundary region, as shown in Fig. 3d, and the arbitrary sliding
interface (ASI) technique was employed for the simulations [13].
Table 1 lists the parameters of the CFD analysis. The fluid property
for the analysis model was general data of normal temperature
water.
The CFD analysis model used in this study was verified by com-
paring it with experimental results from the Darrieus wind turbine,
which was developed at Sandia National Laboratories [2]. The
geometry of the experimental model is listed in Table 2 and the ro-
tor, equipped with two straight blades, was tested in a water tow
tank to measure the forces on the blades. Fig. 4 shows the results
of the comparisons. The radial forces correlate well but the tangen-
tial forces were relatively different between the CFD analyses and
the experiments. This tendency was also shown in the reference
data and the error might be caused because the magnitude of the
tangential force was small and the experimental fluid speed was
low.
2.2. Results of the numerical analysis
The power coefficient, Cp and the tip speed ratio, TSR were de-
fined as the following equations, representing the performance of
1534 I.S. Hwang et al. / Applied Energy 86 (2009) 1532–1540

Table 1
Parameters of CFD analysis.

Parameter Value
Analysis type 2D transient
Moving mesh type ASI
Turbulence model k–e Standard cubic high Reynolds
Number of revolutions 8
Steps per revolution 200
Rotating angle per time step 1.8°

Table 2
Geometric values of the verification model.

Parameter Value
Number of blades 2
Hydrofoil NACA0012
Chord length 0.0914 m
Rotor radius 0.61 m
Flow speed 0.183 m/s
Tip speed ratio 2.5

rotor blade tip speed R  x

Fig. 2. Concept of the cycloidal blade system.
the rotor. Cp means the ratio between the power output from the
rotor and the water energy. TSR means the ratio between rotor
blade tip speed and water stream speed.
power output P
Cp ¼ ¼ ð1Þ
water energy 1 qV 3w A
2 pD
TSR ¼ ¼ ð2Þ
water speed Vw
Solidity was defined as Eq. (3) relating to the number of blades,
chord length, and rotor radius. This variable represents the ratio
between the blades area and rotor cylinder area. Table 3 lists the
solidities which were chosen for the analysis according to the
number of blades and chord length. The analysis conditions inves-
tigating the influence of solidity were as follows: NACA0018 as a
hydrofoil, the fluid speed of 2 m/s, and fixed pitch rotor blade.
Nc
r¼ ð3Þ

Fig. 3. CFD mesh (a) Blade domain, (b) Rotor domain, (c) Outer domain and (d) Boundary domain.
 I.S. Hwang et al. / Applied Energy 86 (2009) 1532–1540 1535

Fig. 4. Comparison between CFD analyses and experiment.

Table 3
Solidity variations.
Number of blades Chord length
3 0.08
3 0.10
3 0.12
3 0.14
4 0.06
4 0.08
4 0.10
6 0.04
6 0.06
6 0.08
The location of the blade pivot point, which is another impor-
tant design parameter, was determined at a 25% position from
the leading edge. Although the pitch angle variations and flow
characteristics could be significantly changed by the pivoting
point, only a 25% position, which is the aerodynamic center, was
considered in this study in order to minimize the blade actuating
force.
Solidity
Fig. 5 shows the characteristics of the rotor power according to
0.076
variables of the number of blades and chord length. The first graph
0.095
0.115 shows the rotor power performance when the number of blades is
0.134 fixed to three and the blade chord length is changed. This graph
0.076 shows that the maximum rotor power becomes lower, and the
0.102 location of TSR of the maximum rotor power generation in each
0.127
0.076
curve becomes lower as the blade chord length becomes larger.
0.115 These tendencies appear similarly at the four- and six-bladed rotor
0.153 systems, as shown in Fig. 5. This means that the rotor equipped
with blades of long chord length, namely large solidity, generates
the maximum power at low TSR; however, the output value is de-
creased. Another parametric study was carried out with a fixed
length of blade chord. The last graph of Fig. 5 shows this result
of the tendency where the solidity is similar to the other three
graphs. Therefore, Fig. 5 indicates that the power coefficient of
the rotor equipped with fixed pitch blades can reach 0.3 through

Fig. 5. Rotor power coefficient at different solidities.

1536 I.S. Hwang et al. / Applied Energy 86 (2009) 1532–1540

low solidity. However, the fast rotating speed is a drawback in this

case. On the other hand, the maximum power generation is de-
creased as the solidity becomes larger in a fixed blade pitch sys-
tem. The reason for this tendency is that the blade pitch angle is
fixed at all azimuth angles; therefore, this could be improved by
adopting variable blade pitch angles, as described in the next
section.
Fig. 6 shows that the relation between the rotor power coeffi-
cient and TSR is similar if the solidity is the same. This means that
solidity could be a rotor geometry design parameter predicting ro-
tor power. Therefore, the number of blades, and blade chord
length, could be represented by one parameter of the solidity.
From the above analysis, it can be said that the selection of de-
sign parameters such as the number of blades and blade chord
length could be variable. However, the rotor with fewer blades
Fig. 8. Tangential forces of three hydrofoils.
has advantages in manufacturing cost, and lower drag forces of
the blade supporting structures. Therefore, the number of blades
was determined to be three for this research. applied to a fixed pitch system, they show relatively low perfor-
The hydrofoil shape affects the rotor power generation and in mance in cycloidal rotor systems. The reason is that, in a cycloidal
this research, NACA 4-digit airfoils were selected to determine blade system, the camber direction reverses at a lower rotor region,
the influence on the rotor power generation. NACA0012, as shown in Fig. 2.
NACA0015, and NACA0018 were chosen, and their 2% cambered In this research, the hydrofoil was determined as NACA0012,
airfoils, and 2% reverse-cambered airfoils were also chosen. considering the total power output and blade manufacturing as-
Fig. 7a shows the results according to the pitch angle variations pects. Although two rotors, equipped with NACA0012 and
for a chord length of 0.08 m and TSR of 2.9, while Fig. 7b is for a NACA2412, show almost identical results, NACA0012 is more suit-
chord length of 0.14 m and TSR of 2.2. The graphs of NACA0012 able since it generates higher force at the upper rotor region. In the
and NACA2412 are the highest power output value, as shown in numerical analysis, the influence of the rotating axis is not consid-
Fig. 7. Fig. 8 shows the tangential forces according to the azimuth ered, therefore the producing force at the lower rotor region could
angle recognizing the camber effect. Analysis has been performed be reduced.
for a maximum pitch angle of 9° and zero phase angle. The tangen- The characteristics of power generation according to TSR are
tial force of NACA(-2)412 is the highest for an azimuth angle of important factors in constructing an optimal turbine system for
around 90°, while the force of NACA2412 is the highest at around connecting with a proper electric generator. The power output in-
270°. Although high lift airfoils, such as NACA(-2)41X, are usually creases as the rotating speed becomes faster, however, it decreases

Fig. 6. Rotor power coefficient at the same solidity. Fig. 9. Rotor power coefficient according to TSR.

Fig. 7. Rotor power coefficient at different hydrofoil shapes (a) Cp at chord length 0.08 m and TSR 2.9 and (b) Cp at chord length 0.14 m and TSR 2.2.
 I.S. Hwang et al. / Applied Energy 86 (2009) 1532–1540
Fig. 10. Pitch angle and phase angle variations according to TSR.
after the peak point because of the rotor blade stalling. Fig. 9 shows
the power output according to TSR, and Fig. 10 shows the maxi-
mum pitch and phase angle variations for each case. The maximum
pitch angle is high when TSR is low, while the angle becomes low
when TSR becomes high, as shown in Fig. 10. This tendency is
apparent regardless of the chord length. The rotor obtains large
torques at the rotation starting condition of low TSR by large pitch
angle variations, while the angle of attack of the blade becomes lar-
ger as the rotating speed increases, which indicates a small pitch
angle variation at high TSR.
The graphs shown in Fig. 9 are the results of fluid speed 2 m/s;
however, the analyses showed that the calculated results were
similar at various water stream speeds. This means that the rotor
pitch angle variations are not related to free stream speed, but
are related to the TSR. Fig. 9 also shows that the power output
could be optimized by changing the pitch angle variations, even
though the chord length is different. In this research, the chord
length was determined as 0.14 m because a lower rotating speed
is appropriate at the same rotor power generation when consider-
ing mechanical loss and drag of other devices.
Fig. 11 shows the flow characteristics as a vector plot. The oper-
ating conditions are 2 m/s flow and a TSR of 2.4. As mentioned in
Fig. 8, the tangential force is large at the upper rotor region, while
the force is small at the lower region. This phenomenon could be
explained by Fig. 11 where the energy of the flow at the upper ro-
tor region is changed to the mechanical energy, and then the fluid
velocity at the lower region becomes approximately 50% of the ori-
Fig. 11. Vector plot of the flow around rotor blades.
1537
ginal inlet flow velocity. The power is proportional to the cubic or-
der of the flow velocity; therefore, the generated power at the
lower region is approximately 10% of the power in the upper
region.
In conclusion, the geometric characteristics of the cycloidal
water turbine were determined to have three blades, hydrofoil of
NACA0012, chord length of 0.14 m, and rotor radius of 0.5 m. When
the operating conditions are as follows: flow speed of 2.0 m/s, TSR
of 2.4, maximum blade pitch angle of 9°, and phase angle of 5°, the
power coefficient of the cycloidal rotor was 0.36 which is approx-
imately 70% higher than a fixed pitch water turbine at the same
operating conditions.
3. Experimental study of cycloidal water turbine
Fig. 12 shows the experimental setup of the cycloidal water tur-
bine in a circulating water channel (25.1 m length, 4.5 m width,
and 8.3 m height) set up at The National Fisheries Research &
Development Institute in Korea. The equipment consists of a
cycloidal rotor, a torque detector, an electric generator, and an
electric load device. The control mechanism, actuating the rotor
blades to realize cycloidal variation, was installed to the water tur-
bine. This control system could change the pitch angles while the
rotor rotates. Measuring units for rotor rotating speed and pitch
angles were also installed. Table 4 lists several geometric parame-
ters of the cycloidal water turbine used in this experiment.
Fig. 13 shows the blade pitch angle control mechanism of the
experimental model. The pitch angles are determined according
to the eccentricity between the rotor rotating axis and the center
of the rotating ring. This ring is connected to the blades by the con-
trol rods and is divided into two parts; one is the rotating part and
the other is the fixed part. The eccentricity movement is a linear
Fig. 12. Experiment of cycloidal water turbine.
1538 I.S. Hwang et al. / Applied Energy 86 (2009) 1532–1540

Table 4
Parameters of the experimental model.

Parameter Value
Number of blades 3
Hydrofoil NACA0012
Rotor radius 0.5 m
Blade span length 0.4 m
Blade chord length 0.14 m

motion which is realized by a ball screw. This ball screw converts

the angular motion of a step motor to the linear motion, and this
device is suitable to the cycloidal rotor and has the following
advantages; accurate control is possible and the actuating power
is low when the blade pitch angle is fixed. The relation between
the eccentricity movement and the blade pitch angle is not per-
fectly linear due to mechanical characteristics; however, it shows
99.98% agreement up to a 20° pitch angle. Fig. 14. Power measuring method.
Fig. 14 shows the power measuring method where both the
electrical output and the mechanical output are measured by the
Labview system. For the electrical power measurement, the elec- controls the power output to maintain a constant current. For
tronic load system transmits the voltage and the current generated the mechanical power measurement, a torque sensor and a rpm
by the generator to Labview. This electronic loading device also sensor have been installed. The strain gauge in the torque sensor

Fig. 13. Control mechanism of the cycloidal rotor (a) Whole view, (b) Detail view, (c) Side view (angular motion of a step motor) and (d) Top view.
 I.S. Hwang et al. / Applied Energy 86 (2009) 1532–1540 1539

Z
1
Fd ¼ qðRx þ V w cos /Þ2 C d td R ð4Þ
2
The reduced power is also calculated easily by Eq. (4). The
experimental rotor power becomes approximately 90% of the ana-
lytic values by Eq. (4) considering three circular section control
rods and six wedge end section ( ) hub arms.

4. Performance improvement by individual blade control

The rotor blades of the cycloidal water turbine rotate according

to cycloidal motion, which is similar to a sine curve, as explained in
the previous section. This turbine enhances the rotor performance
Fig. 15. Experimental result of cycloidal water turbine.
by active blade control; however, the performance improvement is
not maximized because of limitation of the pitch angle variations.
This limitation could be improved by individual blade control,
Table 5
which means the optimal pitch angle variations. In this research,
Parameters of genetic algorithm.
optimal blade pitch angle curves were determined for individual
Step 1 Step 2 Step 3 Step 4 blade control.
Number of genes 6 12 12 12 A genetic algorithm was applied to determine the optimal rotor
Number of individuals 32 32 32 32 blade pitch angles [14,15]. The angles converged to the optimal
Number of generations 10 15 15 15
curve through a four step optimization procedure and Table 5 lists
Band (deg) 60 50 20 10
several parameters for the process obtained using a genetic algo-
rithm. The number of genes represents the number of points mak-
ing the curve of individual blade control. The point means the pitch
makes a signal which is read by the SCXI-1121, the signal is then angle at the specific azimuth angle. A small number of points were
amplified by SCXI-1321. Finally, this analog value is converted to used in step 1, making a roughly determined curve. The number of
the digital value by the ADC board to record in the Labview com- individuals is directly related with the number of CFD analyses. In
puter. The RS-485 type signal is transmitted through the serial port this research, 32 individuals were set which started and finished
of the computer to measure the rotor rotating speed in this the simulations for one generation at the same time by parallel
experiment. computing. The number of generations should be different accord-
Fig. 15 shows the results of the experimental values as points ing to the convergence process in each step; however, the maxi-
which are the maximum power at a given flow velocity, with oper- mum number of generations was fixed, as listed in Table 5, at a
ating conditions of; pitch angle around 10° and TSR slightly below relatively small number. The band in Table 5 represents the range
2.0. The mechanical rotor power is approximately 60% of the CFD of selectable pitch angles in each step.
results. This reduced power is due to no consideration of the influ- The CFD analysis model is the same as the model described in
ence of drag force by rotor hub arms and control rods in CFD. the previous section. The number of simulations was approxi-
Although 3D CFD analysis including these drag geometries was mately 1700 to complete one optimal curve. Four optimal curves
not carried out in this study, the drag forces could be calculated were determined about four different TSR, since TSR is the most
by simple aerodynamics important variable in determining the operational conditions

Fig. 16. Convergence of pitch angle optimization by genetic algorithm.

Fig. 17. Four-step procedure of pitch angle optimization.

1540 I.S. Hwang et al. / Applied Energy 86 (2009) 1532–1540
Fig. 18. Pitch angle variations according to TSR.
when the rotor geometric shape of cycloidal water turbine is fixed,
as explained at the parametric study of the previous section.
Figs. 16 and 17 show the optimization process at a value of
TSR = 2.4. Fig. 16 shows the evolution of a population of 32 individ-
uals according to the objective function, which is the maximization
of the rotor power generation (Cp). Creating a new generation stops
when the result has converged, as shown in Fig. 16. Fig. 17 shows
the pitch angle variations in each step. The range of the selectable
pitch angles is determined based on the result of the previous step,
except the first step which is set to a sine curve. This range be-
comes narrow as the optimization steps progress, increasing the
efficiency of optimization. Fig. 18 shows four curves obtained
through the optimization process using a genetic algorithm. As
predicted from the results of the previous section, the magnitude
of the pitch angle variations becomes small as TSR becomes large.
The pitch angle at the region of the azimuth angle 90° is larger than
the angle at 270°. The reasons for this are; utilizing faster fluid flow
at 90° region, and reducing drag force of slower flow at 270° region.
The performance improvement by using individual blade con-
trol, according to the curves in Fig. 18, is approximately 25% com-
pared with the result of cycloidal motion, at the same operating
conditions.
5. Conclusions
This paper describes numerical and experimental studies of a
cycloidal water turbine, which is a straight blade type vertical axis
turbine adopting active blade control according to a cycloidal blade
system. The parametric analysis by CFD shows that the rotor power
reaches its maximum at a lower TSR, as the rotor solidity becomes
larger, and the rotor performance is almost similar when TSR and
rotor solidity are determined to have the same value. Several
hydrofoils with thickness variations and with both positive and
negative camber are compared, and the thinnest and symmetric
shape of NACA0012 has been determined. Pitch angles should be
decreased, and phase angles should be slightly increased, as TSR
becomes larger. The experimental results show relatively good
agreement with the numerical values, although the generated
power is reduced by unconsidered mechanical drag forces. The
additional numerical optimization by individual blade control
was also carried out, and this shows a 25% higher performance
than that of the cycloidal motion.
Acknowledgements
This work was partially supported by the second stage of the
Brain Korea 21 Project in 2008 and the National Research Labora-
tory Program administered via the Institute of Advanced Aerospace
Technology at Seoul National University. The authors would like to
thank researchers in National Fisheries Research and Development
Institute for their cooperation in the channel tests.
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