Individual Pitch Control (IPC) is an effective and widely-used strategy to mitigate blade loads in wind turbines. However, conventional IPC fails to cope with blade and actuator faults, and this situation may lead to an emergency shutdown and increased maintenance costs. In this paper, a Fault-Tolerant Individual Pitch Control (FTIPC) scheme is developed to accommodate these faults in Floating Offshore Wind Turbines (FOWTs), based on a Subspace Predictive Repetitive Control (SPRC) approach. To fulfill this goal, an online subspace identification paradigm is implemented to derive a linear approximation of the FOWT system dynamics. Then, a repetitive control law is formulated to attain load mitigation under operational conditions, both in healthy and faulty conditions. Since the excitation noise used for the online subspace identification may interfere with the nominal power generation of the wind turbine, a novel excitation technique is developed to restrict excitation at specific frequencies. Results show that significant load reductions are achieved by FTIPC, while effectively accommodating blade and actuator faults and while restricting the energy of the persistently exciting control action.
This paper presents developed real-time simulation models for offshore wind turbine generators in compliance with industry standards. The critical control functions such as negative sequence injection, sequence current limit, voltage ride through, and power curtailments are designed to meet the industry requirements for future electromagnetic transient (EMT) testing and controls of offshore wind farms. Average-value and switching detailed models are developed in the Opal-RT real-time simulator. Real-time capabilities of these models are compared to show the effectiveness of the average-value m…
Floating offshore wind turbines allow wind energy to be harvested in deep waters. However, additional dynamics and structural loads may result when the floating platform is being excited by wind and waves. In this work, the conventional wind turbine controller is complemented with a novel linear feedforward controller based on wave measurements. The objective of the feedforward controller is to attenuate rotor speed variations caused by wave forcing. To design this controller, a linear model is developed that describes the system response to incident waves. The performance of the feedback-feed…
Floating Offshore Wind Turbines (FOWTs) operate in the harsh marine environment with limited accessibility and maintainability. Not only failures are more likely to occur than in land-based turbines, but also corrective maintenance is more expensive. In the present study, a mixed model and signal-based Fault Diagnosis (FD) architecture is developed to detect and isolate critical faults in FOWTs. More specifically, a model-based scheme is developed to detect and isolate the faults associated with the turbine system. It is based on a fault detection and approximation estimator and fault isolatio…
As Floating Offshore Wind Turbines (FOWTs) operate in deep waters and are subjected to stressful wind and wave induced loads, they are more prone than onshore counterparts to experience faults and failure. In particular, the pitch system may experience Pitch Actuator Stuck (PAS) type of faults, which will result in a complete loss of control authority. In this paper, a novel fast and adaptive solution is developed by integrating a model-based Fault Diagnosis (FD) scheme and the Subspace Predictive Repetitive Control (SPRC). The FD role is to quickly detect and isolate the failed pitch actuator…
Floating Offshore Wind Turbines (FOWTs) are more prone to suffer from faults and failures than bottom-fixed counterparts due to the severe wind and wave loads typical of deep water sites. In particular, mooring line faults may lead to unacceptably high operation and maintenance costs due to the limited accessibility of FOWTs. Detecting the mooring line faults is therefore critical, but the application of Fault Detection (FD) techniques has not been investigated yet. In this paper, an FD scheme based on a wave-excited linear model is developed to detect in a reliable way critical mooring line f…
This paper implements a recently developed social hierarchy-based distributed economic model predictive control (DEMPC) algorithm in floating offshore wind farms for the purpose of power maximization. The controller achieves this objective using the concept of yaw and induction-based turbine repositioning (YITuR), which minimizes the overlap areas between adjacent floating wind turbine rotors in real-time to minimize the wake effect. Floating wind farm dynamics and performance are predicted numerically using FOWFSim-Dyn. To ensure fast decision-making by the DEMPC algorithm, feed-forward neura…
The total electricity consumption from offshore oil/gas platforms is around 16 TWh worldwide in 2019. The majority offshore platforms are powered by the diesel generators while the rest mainly uses gas turbines, which emits large amounts of CO2 per year. The fast development of offshore wind turbines (WT) can potentially replace traditional fossil fuel based resources to power offshore loads. Thus, a novel offshore hybrid renewable energy sources (OHRES) system is proposed to enable a zero CO2 emission offshore platform mitigating climate change. Battery energy storage system (BESS) and hydrog…
Individual Pitch Control (IPC) is an effective control strategy to mitigate the blade loads on large-scale wind turbines. Since IPC usually requires high pitch actuation, the safety constraints of the pitch actuator should be taken into account when designing the controller. This paper introduces a constrained Subspace Predictive Repetitive Control (SPRC) approach, which considers the limitation of blade pitch angle and pitch rate. To fulfill this goal, a model predictive control scheme is implemented in the fully data-driven SPRC approach to incorporate the physical limitations of the pitch a…
Operational Modal Analysis (OMA) provides essential insights into the structural dynamics of an Offshore Wind Turbine (OWT). In these dynamics, damping is considered an especially important parameter as it governs the magnitude of the response at the natural frequencies. Violation of the stationary white noise excitation requirement of classical OMA algorithms has troubled the identification of operational OWTs due to harmonic excitation caused by rotor rotation. Recently, a novel algorithm was presented that mitigates harmonics by estimating a harmonic subsignal using a Kalman filter and orth…
This paper presents a novel feature fusion-based deep learning model (called CASU2Net) for fault detection in offshore wind turbines. The proposed CASU2Net model benefits of a two-step early fusion to enrich features in the final stage. Moreover, since previous studies did not consider uncertainty while model developing and also predictions, we take advantage of Monte Carlo dropout (MC dropout) to enhance the certainty of the results. To design fault detection model, we use five sensors and a sliding window to exploit the inherent temporal information contained in the raw time-series data obta…
Operations and Maintenance (O&M) constitute a major contributor to offshore wind's cost of energy. Due to the harsh and remote environment in which offshore turbines operate, there has been a growing interest in opportunistic maintenance scheduling for offshore wind farms, wherein grouping maintenance tasks is incentivized at times of opportunity. Our survey of the literature, however, reveals that there is no unified consensus on what constitutes an "opportunity" for offshore maintenance. We therefore propose an opportunistic maintenance scheduling approach which defines an opportunity as eit…
Designing a floating offshore wind turbine (FOWT) controller requires solving engineering challenges not found for fixed-bottom turbines. This paper applies several methods from the growing body of FOWT control literature to the 10-MW Ultraflexible Smart FLoating Offshore Wind Turbine (USFLOWT) baseline generator-speed controller. USFLOWT aims to reduce capital expenses using the lightweight SpiderFLOAT platform, a novel smart floating substructure with built-in distributed actuators for direct platform tilt and heave control. In this work, the USFLOWT baseline controller is improved through d…
With the exploitation of wind power, more turbines will be deployed at remote areas possibly with harsh working conditions (e.g., offshore wind farm). The adverse working environment may lead to massive operating and maintenance costs of turbines. Deploying unmanned aerial vehicles (UAVs) for turbine inspection is considered as a viable alternative to manual inspections. An important objective of automated UAV inspection is to minimize the flight time of the UAVs to inspect all the turbines. A first contribution of this paper is thus formulating an optimization problem to compute the optimal r…
University of Bradford（布拉德福德大学）；University of Hull（赫尔大学）；University of Sheffield（谢菲尔德大学）
The offshore wind energy is increasingly becoming an attractive source of energy due to having lower environmental impact. Effective operation and maintenance that ensures the maximum availability of the energy generation process using offshore facilities and minimal production cost are two key factors to improve the competitiveness of this energy source over other traditional sources of energy. Condition monitoring systems are widely used for health management of offshore wind farms to have improved operation and maintenance. Reliability of the wind farms are increasingly being evaluated to a…
In this paper, the coupled dynamics of the floating platform and the WTG rotor is analysed. In particular, the damping is explicitly derived from the coupled equations of rotor and floating platform. The analysis of the damping leads to the study of the instability phenomena and it derives the explicit conditions that lead to the Non Minimum Phase Zero (NMPZ). Two NMPZs, one related to the rotor dynamics and the other one to the platform pitch dynamics, are analysed. The latter is a novelty and it is analysed in this work, providing the community of an explicit condition for its verification. …
Modern wind turbine control algorithms typically utilize rotor effective wind speed measured from an anemometer on the turbine's nacelle. Unfortunately, the measured wind speed from such a single measurement point does not give a good representation of the effective wind speed over the blades, as it does not take the varying wind condition within the entire rotor area into account. As such, Blade Effective Wind Speed (BEWS) estimation can be seen as a more accurate alternative. This paper introduces a novel Subspace Predictive Repetitive Estimator (SPRE) approach to estimate the BEWS using bla…
In this paper, we propose a planning method for large-scale offshore wind farm (OWF) electrical collector system (ECS) based on mixed integer linear programming, in which the sizing and siting of offshore substations and the lines between wind turbines (WTs) are optimized. We found out that the problem is similar to power distribution system planning, where the topological constraints for distribution network expansion planning (DNEP) are applied to guarantee the radiality of ECS topology and accelerate the solving process. Case studies based on an OWF with 63 fixed-locations WTs demonstrate t…
The MMC-HVDC connected offshore wind farms (OWFs) could suffer short circuit fault (SCF), whereas their transient stability is not well analysed. In this paper, the mechanism of the loss of synchronization (LOS) of this system is analysed considering the whole system state from the fault-on to the post-fault, and the discussion on fault type and fault clearance is addressed as well. A stability index is proposed to quantify the transient synchronization stability (TSS) of the system, which is capable to not only estimate whether the wind turbine generators (WTGs) be able to get resynchronized …
Farm-wide virtual load monitoring for offshore wind structures via Bayesian neural networks
ANAST, University of Liege（ANAST，利耶日大学）；Department of Wind and Energy Systems, Technical University of Denmark（风能与能源系统系，丹麦技术大学）；OWI-Lab, Vrije Universiteit Brussel（OWI实验室，布鲁塞尔自由大学）
This paper investigates how to efficiently and economically deliver offshore energy generated by offshore wind turbines to onshore. Both power cables and hydrogen energy facilities are analyzed. Each method is examined with the associated proposed optimal sizing model. A cost-benefit analysis is conducted, and these methods are compared under different scenarios. Three long-distance energy transmission methods are proposed to transmit offshore energy onshore, considering the capital/operation costs for related energy conversion and transmission facilities. The first method that deploys power c…
Heriot-Watt University（赫瑞瓦特大学）；CWI（荷兰数学与计算机科学中心）；Delft University of Technology（代尔夫特理工大学）；The University of Manchester（曼彻斯特大学）
A global trend in increasing wind turbine size and distances from shore is emerging within the rapidly growing offshore wind farm market. In the UK, the offshore wind sector produced its highest amount of electricity in the UK in 2019, a 19.6% increase on the year before. Currently, the UK is set to increase production further, targeting a 74.7% increase of installed turbine capacity as reflected in recent Crown Estate leasing rounds. With such tremendous growth, the sector is now looking to Robotics and Artificial Intelligence (RAI) in order to tackle lifecycle service barriers as to support …
Wind turbines are prone to structural degradation, particularly in offshore locations. Based on the structural health condition of the tower, power de-rating strategies can be used to reduce structural loads at the cost of power losses.This paper introduces a novel closed-loop switching control architecture to constrain the thrust in individual turbines. By taking inspiration from developments in the field of reference governors, an existing demanded power tracking controller is extended by a thrust tracking controller. The latter is activated only when a user-defined constraint on fore-aft th…
Clean, multi-carrier Offshore Energy Hubs (OEHs) may become pivotal for efficient offshore wind power generation and distribution. In addition, OEHs may provide decarbonised energy supply for maritime transport, oil and gas recovery, and offshore farming while also enabling conversion and temporary storage of liquefied decarbonised energy carriers for export. Here, we investigate the role of OEHs in the transition of the Norwegian continental shelf energy system towards zero-emission energy supply. We develop a mixed-integer linear programming model for investment planning and operational opti…
Harmonic pollution may damage the electric devices in wind power plants (WPPs), and propagate to the external grid. This paper proposes a harmonic mitigation scheme by embedding harmonic control functions in wind turbines (WTs) to manage the harmonics in WPPs. It can improve the power quality at the remote Point of Common Coupling (PCC), regulated by grid codes. The proposed scheme detects the harmonics at WT buses and PCC based on instantaneous measurements, and calculates the required compensation currents. Both the general compensation scheme for reducing total harmonic distortion at the lo…
A mathematical program for global optimization of the cable layout of Offshore Wind Farms (OWFs) is presented. The model consists on a Mixed Integer Linear Program (MILP). Modern branch-and-cut solvers are able to solve large-scale instances, defined by more than hundred Wind Turbines (WTs), and a reasonable number of Offshore Substations (OSSs). In addition to the MILP model to optimize total cable length or initial investment, a pre-processing strategy is proposed in order to incorporate total electrical power losses into the objective function. High fidelity models are adapted to calculate …
In 2017, Energinet and TenneT, the Danish and Dutch Transmission System Operators (TSOs), have announced the North Sea Wind Power Hub (NSWPH) project. The project aims at increasing by 36 GW the North Sea offshore wind capacity, with an artificial island collecting all the power produced by wind turbines and several HVDC links transmitting this power to the onshore grids. This project brings together new opportunities and new challenges, both from a technical and economic point of view. In this regard, this paper presents three analyses regarding the design and operation of such an offshore sy…
The wake effect is one of the leading causes of energy losses in offshore wind farms (WFs). Both turbine placement and cooperative control can influence the wake interactions inside the WF and thus the overall WF power production. Traditionally, greedy control strategy is assumed in the layout design phase. To exploit the potential synergy between the WF layout and control so that a system-level optimal layout can be obtained with the greatest energy yields, the layout optimization should be performed with cooperative control considerations. For this purpose, a novel two-stage WF layout optimi…
Using High-fidelity Time-Domain Simulation Data to Construct Multi-fidelity State Derivative Function Surrogate Models for use in Control and Optimization
Counterfactual optimization for fault prevention in complex wind energy systems
Department of Statistics；Operations Research, University of Seville, Spain；Vattenfall BA Wind, the Netherlands；Department of Statistics, Operations Research；Applied Mathematics, University of Malaga, Spain
