Modelling and Simulation of the Dynamic

Response of a 3-Bladed Horizontal Axis Wind

Tubine Rotor with Bend-Twist Coupling
Swapnil S. Bhende
(AE07S012)
Overview of seminar talk
Introduction to wind turbine
Motivation
Overview of modelling approaches and present approach
Scope and assumptions
Blade dynamics
Hub Dynamics
Solution methodology
Results and discussion
Summary and conclusion
Introduction to wind turbine
Wind energy is a mostly used and lowest-priced energy among the
renewable energy sources.
Applications: Ships, windmills to grind grain or to pump water and
wind turbines for generating electricity.
At the end of 2009, worldwide nameplate capacity was 159.2 GW.
Energy production was 340 TWh, which is about 2% of worldwide
electricity usage.
Introduction to wind turbine
Components of a HAWT:
1. Rotor blades
2. Rotor hub
3. Main shaft
4. Gearbox
5. Generator
6. Tower
7. Foundation
Introduction to wind turbine
Wind to mechanical energy
conversion:
Actual wind velocity is the
resultant of the free wind
velocity and the velocity due to
rotation
Tangential force gives torque
for electricity generation
Introduction to wind turbine
Importance of blade :
Blades interact with the wind and convert the wind energy into
mechanical energy.
Blade weight constitutes for about 25% of the total weight of wind
turbine.
Blade dynamics plays important role in service life and safety of
wind turbine.
Introduction to wind turbine
Complexities in rotor blade
design:
Blades are of airfoil shape for
wing energy conversion.
They are tapered along the
length for optimized torque
distribution.
The rotor blades are twisted
from the blade root to the tip.
Rotor blades are subjected to
complex loading.
Blade are made of composite
material for low weight and
high strength to weight ratio.
Introduction to wind turbine
Complex loading due to aerodynamic, gravitational and inertial
forces and its effect on wind turbine
Motivation
Capturing additional energy, alleviating loads and controlling the
rotor can improve HAWT performance.
Blade twist, in operation, directly influences the angle of attack.
Rapid pitch changes can affect not only average loads and power,
but vibratory loads as well, influencing fatigue life throughout the
system.
A small amount of desirable twisting can be built into the response
of a blade by reorientation of the fiber directions.
Use of aeroelastic tailoring is a cost-effective and passive means to
shape the power curve and reduce loads.
In pursuing these potential uses, dynamic effects including stability
issues, and design constraints must be studied.
Overview of modelling approaches
Classification of different structural dynamic approach used in wind
turbine design codes:
1. Multibody dynamics
Used in ADAMS/WT, DUWECS and FLEXLAST
Provides insight into wind turbine modelling at low
computational cost but not sufficient for modelling of rotors with
anisotropic blades.
2. Finite element methods
Used in GAST and TWISTER.
Produce useful results, but at high computational cost. Not
suitable for preliminary design and performance optimization.
3. Assumed-modes approach
Used in BLADED, FAST-AD, FLEX4, GAROS and VIDYN.
Provides insight into wind turbine modelling at lowest
computational cost. Suitable for preliminary design and
performance optimization and can model rotors with anisotropic
blades.
Overview of present approach
Dynamic response of a 3-bladed rotor system of a HAWT is
modelled and studied for bend-twist coupling.
Blade dynamics is dealt with the assumed modes method and
lumped parameter.
First six significant modes are considered for representing blade
dynamics.
Hub dynamics is dealt with Euler equations.
19 DOF are used for modelling the rotor system.
Equation of motion is formulated in matrix form.
Global equation of motion is obtained by combining these equations.
Fourth order Runge-Kutta method is used for time steping.
Scope and Assumptions
The blade is modeled as an equivalent beam (cantilevered) of varying cross
section with its rigidity, mass properties and geometric properties given as
lumped parameters at different section locations over the span.
Simple Euler-Bernoulli beam theory is used for the analysis.
Warping, shear deformation and rotary inertia is not considered here for the
analysis.
Blade deformations are assumed to be linear.
Only first six modes are considered to give significant contribution and are
considered for analysis.
Only deterministic wind consisting wind shear is considered for
aerodynamic load. Turbulent components are not considered.
The axial degree of freedom is not considered for analysis due to high axial
rigidity
Non-rotating beam frequencies are considered due to low rotational
velocities
Blade Dynamics
Estimation of normal modes and frequencies:
Assumed modes method needs estimation of normal modes and
frequencies
Deformations are described as a linear combination of these modes.
x
i
are generalized coordinates
are mode shapes
First six significant modes of combined flapwise and chordwise
bending and torsion are estimated.
6
1
( )
i i
i
w x x
=
=

Blade Dynamics
Airfoil shape of the blade couples the deformations in two bending
and torsion direction.
2 2 4
2 2 4
2 2 4
2 2 4
2 2 2 2
2 2 2 2
0
0
0
z z
y y
P z y
v v
m me EI
t t x
w w
m me EI
t t x
v w
I me me GJ
t t t x

+ =


+ =


=
X
Z
e
z
elastic axis
Y
e
y
mass axis
Blade Dynamics
Typical wind turbine blade data in the
form of section-wise properties is
used for the analysis.
x: distance from hub centre
EI
11
: Flapwise flexural stiffness
EI
22
: Edgewise flexural stiffness
GJ: Torsional stiffness
JP: Polar moment of inertia about
CG
m: Mass density
ez ey z and y-direction offsets of
elastic axis with the mass axis
C: Chord length
t/c: Thickness by chord ratio
Blade Dynamics
Material (stiffness) coupling:
Material coupling effects on response is studied by introducing a
parameter as a coupling between the bending and torsion stiffness.
for system to be positive definite
Introducing coupling parameter
2
2
1
1
w
g
M
EI x
T
g
GI
x

(

(

=
(
` `

) (

(

)
1
g
EI GJ
<

g
EI GJ

1 1 < <
2
2
1
1
w
M
EI
EI GJ
x
T
GI
x EI GJ

(

(

(
=
` `
(
)

(

)

Blade Dynamics
This can be extended to bending-bending torsion with two separate
parameters:
for system to be positive definite
2
2
2
11
11
2
3
2
22
22
3 2
11 22
1
0
1
0
1
z
y
w
EI
EI GJ
x
M
v
M
x EI
EI GJ
T
x
GI
EI GJ EI GJ

(

(


(


(

(
=
` `
(

) (

(

(
)


3
0.7 0.7 < <
2
0.7 0.7 < <
Blade Dynamics
Modified Stodola method is implememted using lumped parameter
approach
Procedure:
1. Assume initial deformation curve and initial frequency of 1 rad/sec.
2. In coupled mode calculation, for first two modes the inital deformation curves in
flap, edge and twist is quadratic and for third and higher modes they are cubic.
3. Calculate static and dynamic load due to inertia using mass, natural frequency
and deformation.
4. Calculate bending/torsional work done using static load and deformation curve.
5. Using dynamic load calculate new deformation curve by calculating moment and
slope.
6. Calculate new bending/torsional work done using static load and new
deformation curve.
7. Now calculate new iterative frequency by using formula:
8. Normalize the new deformation curve to maximum value of 1.
9. Repeat steps 3-8 till the successive values of frequencies are within small error.
(1) (1)
1 1 1
2 1 1
(1) (2)
1 1 2
v mv workDone
v mv workDone
= =
Blade Dynamics
Higher modes are calculated using same procedure with initial
iterative frequency assumed double of the previous calculated
frequency.
The deformations curve obtained in each iteration need to be
purified.
C can be calculate using orthogonality constraint:
2 2 1
v v C v =
1 2
0 v mv =

1 2
1 1
v mv
C
v mv
=

Blade Dynamics
Formulation of equation of motion:
Generalized mass matrix is obtained from mass matrix and normal
mode
Generalized stiffness matrix is obtained from modal frequency and
generalized mass matrix
Generalized damping matrix for structural damping is obtained
considering blade to be lightly damped
{ } [ ]{ }
T
GM u M u =
2
GK GM =
GM
GD

=
Blade Dynamics
Formulation of force vector:
Co-ordinate systems used
1. Nacelle (N)
2. Main shaft (S)
3. Hub (H)
4. Blade (B)
H and B have same origin
N
S H B
Tilt Rotation
Cone,
Blade position
Structural
twist
Blade Dynamics
Velocities and accelerations in any system is obtained by
kinematics.
Rigid bodies
Deformable bodies

( )
i i i i
i i i
i i i i i i
r x i y j z k
r r
r r r

= + +
=
= +

( ) 2
i i i
o f
i i i i
f
i i i i i i i i i
f f
r r r
r r r
r r r r r

= +
= +
= + + +


Blade Dynamics
Forces acting on the blade of wind turbine:
1. Aerodynamic (time averaged wind shear)
2. Inertial (centrifugal and coriolis effects also considered)
3. Gravitational.
Blade Dynamics
Aerodynamic forces from wind
shear:
Sectional coordinate are
obtained and transformed
to N system.
Wind velocity is obtained
for this height and
transformed to B system.
This velocity is modified by
the blade instantaneous
velocities.
exp
V
x
x hub
hub
h
V V
h
| |
=
|
\
Blade Dynamics
Aerodynamic forces from wind shear:
Angle of attack is calculated considering the twist deformation of
blade.
The wind tunnel data is interpolated for blade t/c ratios.
CL, CD and CM are obtained from this data by interpolation for
angle of attack.
Aerodynamic forces are estimated and transform to B coordinates.
( )
2
2
2 2
1
2
1
2
1
cos( ) sin( )
2
ac
L V C CL
D V C CD
MP V C CM CL CD Y

=
=
= + + (

Blade Dynamics
Gravitational and inertial loads:
Gravitational acceleration is considered in the x-axis of N system
and transformed to other systems.
Similarly all velocities and accelerations should be transformed from
N system to B system.
The accelerations of a point in a system can be calculated using
kinematics.
Blade forces in y and z directions are calculated from these
acceleration component
Blade Dynamics
An additional component of x
direction force is added in y
and z forces due to bending.
Twisting moment is only due to
the aerodynamic pitching
moment.
Generalized force vector is
obtained by:
{ } { } { }
T
F u f =
z
x

x
z
F
x

x
F
z
y
x
Hub Dynamics
Euler equations are used for hub rotation:
Hub rotation is constrained to only z axis of S system.
Inertia contributed from hub and blade mass.
( )
( )
( )
x yy zz y z xx x
y xx zz x z yy y
z yy xx x y zz z
M I I I
M I I I
M I I I



= +
= +
= +

z zz z
M I =

Hub Dynamics
Hub inertia contribution changes due to rotation only.
Blade inertia contribution changes due to rotation and deformation.
Moment contributed from both hub and blade consist of
aerodynamic and inertial effects.
y
w m
v
z
x
m
z
y
x
Solution methodology
Equations of motion are combined for three blades and shaft:
This equation is updated for each time step and solved for {GA}.
Initial value can be assumed for rotational velocity depending on
wind turbine.
Static loading is used to obtain initial generalized deformation of
blades.
Fourth order Runge-Kutta method is used for time stepping.
[ ]{ } [ ]{ } [ ]{ } { }
[ ]{ } { } [ ]{ } [ ]{ }
GM GA GD GV GK GX F
GM GA F GD GV GK GX
+ + =
=
Results and discussion
The plots for 2 variation and for both
variation is not symmetric due to the geometric
coupling.
Higher mode frequencies increases as
torsional mode became significant.
Results and discussion
There is no change in the mode shapes of the first five modes.
The sixth mode, for the value of -0.5 and 0.5, is of the higher order as compared to
the modes for lower coupling values due to the increase in stiffness.
Flap mode also increases due to the geometric coupling.
Results and discussion
Dynamic response for mean hub height wind speed of 9m/sec without
material coupling for 250 sec
Results and discussion
Effect of mean hub height velocities on the dynamic response
Results and discussion
Increase in wind velocity
increases the aerodynamic forces
and moment.
This results in increase in all the
moment, displacement and
eventually angular velocity.
Results and discussion
Effect of wind shear profile on the dynamic response
Results and discussion
Wind profile variation does
not have a significant effect
on response.
Only the flap moment and
displacement vary but the
mean remains same.
Results and discussion
Effect of 2 variation on the dynamic response
Results and discussion
For the negative values of
2, the loads in flap direction
reduces, eventually reducing
the deflections in flap
direction and the angular
velocity.
There is no change in the
loads and deflection in
edgewise direction.
The limits of 2 is taken as
only -0.3 to 0.25 because of
the instabilities observed
outside this range.
Results and discussion
Effect of alpha 3 variation on the dynamic response
Results and discussion
No significant change in the
edgewise and twist
moments and deflections.
At 3=0.5, considerable
increase in flapwise moment
and displacement.
This may be due to onset of
instability due to geometric
coupling.
The limits of 3 is taken as
only -0.1 to 0.5 because of
the instabilities observed
outside this range.
Results and discussion
Effect of both alpha2 and alpha 3 variation on the dynamic response
Results and discussion
No significant change on
angular velocity
Flapwise moments and
displacements are reduced
for negative values but the
range is restricted by 2.
Due to the limits on 2 and
2 the limit on the combined
effect reduces further.
Results and discussion
The present approach
is capable of obtaining
reasonable values of
frequencies even if the
beam is made up of
more than one material
and is having varying
section.
Cantilever beam with uniform rectangular cross section:
Cantilever beam with tapered rectangular cross-section and
sandwich construction.
Validation of the implementation of stodola method
Results and discussion
Equivalent cantilever beam with tapered rectangular cross-section
and sandwich construction:
Equivalent tapered channel section:
These two results show
the effect of geometric
coupling
The torsional dominated
frequency is reduced due
to coupling there is
increase in the torsional
inertia due to the offset.
Summary and Conclusion
Bent-twist coupled response of the rotor system of 3-bladed wind
turbine is modelled and simulated for a typical blade data.
Effect of mean wind speed and material coupling on the response is
studied.
Material coupling limits depends on parameters like: shape, material
distribution and on the stability.
Material coupling can be used for alleviating loads on the blades
It can also be used to increase the power in low wind speed areas.
Coupling between edgewise bending and torsion is found to have no
significant effect on the response on blades.
Thank you