Dynamic Modeling and Simulation of a Spar Floating Offshore Wind Turbine with Consideration of the Rotor Speed Variations

[+] Author and Article Information
Mohammed Khair Al-Solihat

Department of Mechanical Engineering, McGill University, Montreal; Department of Mechanical and Industrial Engineering, University of Toronto, Toronto

Meyer Nahon

Department of Mechanical Engineering, McGill University, Montreal

Kamran Behdinan

Department of Mechanical and Industrial Engineering, University of Toronto, Toronto

1Corresponding author.

ASME doi:10.1115/1.4043104 History: Received April 16, 2018; Revised February 20, 2019


This paper presents a rigid multibody dynamic model to simulate the dynamic response of a spar floating offshore wind turbine (FOWT). The system consists of a spar floating platform, the moorings, the wind turbine tower, nacelle and the rotor. The spar platform is modeled as a six-degrees-of-freedom (6-DOF) rigid body subject to buoyancy, hydrodynamic and moorings loads. The wind turbine tower supports rigid nacelle and rotor at the tip. The rigid rotor is modeled as a disc spinning around its axis and subject to the aerodynamic load. The generator torque control law is incorporated into the system dynamics to capture the rotor spinning speed response when the turbine is operating below the rated wind speed. The equations of motions are derived using Lagrange's equation in terms of the platform quasi coordinates and rotor spin speed. The external loads due to hydrostatics, hydrodynamics, and aerodynamics are formulated and incorporated into the equations of motion. The dynamic simulations of the spar FOWT are performed for three load cases to examine the system eigen frequencies, free decay response, and response to a combined wave and wind load. The results obtained from the present model are validated against their counterparts obtained from other simulation tools namely FAST, HAWC2 and Bladed, with excellent agreement. Finally, the influence of the rotor gyroscopic moment on the system dynamics is investigated.

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