Short Course on Wind Energy - Scale Effects in Wind Turbines Carlo Carlo L. L.

Bottasso Bottasso Politecnico Politecnico di di Milano Milano

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November November 2011 2011

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Scale Effects

Scale Effects
Wind Turbine Modeling and Analysis
Applications: Understanding scaling effects in smallsmall-large wind turbines Scaling laws for wind tunnel models Tools: Buckingam -Theorem (dimensional analysis)

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Dimensional Analysis: Buckingham Theorem

Wind Turbine Modeling and Analysis
Buckingham -Theorem: Theorem:

Given the governing equation for a physical system defined by n physical variables, which are expressible in terms of k independent fundamental quantities, one can construct an equivalent equation involving a set of m = n k dimensionless variables constructed from the original variables
The dimensionless parameters provide relations which define the scaling laws

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Dimensional Analysis: Buckingham Theorem

Consider the generic model:

Wind Turbine Modeling and Analysis

f (p1 ; :::; pn ; a1 ; :::; ak ) = 0

Physical parameters Fundamental quantities

The i-th physical parameter can be expressed in terms of k independent fundamental quantities: quantities:
dki 1i pi = ad : : : a 1 k

di1 ; : : : ; dik = dimensions of pi wrt fundamental quantities

The Dimensional Matrix D 2 Rk Rn contains as elements dri the r-th dimension of the i-th parameter

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Dimensional Analysis: Buckingham Theorem

Equivalent non-dimensional model: model:

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(1 ; : : : ; m ) = 0, m = n k
j-th nonnon-dimensional parameter:
m1j m

j = p1

: : : pn nj

The exponents are the components of matrix M 2 Rn Rm found from the solution of the following system of equations:

D M=0
Remarks: Remarks:

i.e.: M = null(D)

Set of m=n-k parameters is not unique Selection of proper/representative nonnon-dimensional parameters needs to be guided by physical considerations based on the model under consideration
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Similarity
Consider two systems:

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P = Physical system (full scale) M = Model (reduced scale)

with governing equations:

f (p1P ; : : : ; pnP ; a1P ; : : : ; akP ) = 0 f (p1M ; : : : ; pnM ; a1M ; : : : ; akM ) = 0

and equivalent nonnon-dimensional relations obtained through Buckingham -theorem:

(1P ; : : : ; mP ) = 0 (1M ; : : : ; mM ) = 0

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Similarity
P is similar to M if: Wind Turbine Modeling and Analysis j P = j M , for j = 1; ::; m
which provides a set of scaling relations:
nj 1j nj : : : pnM p1P1j : : : pnP = p1M

Generic scaling relation for a model parameter:

p1M = p1P

2P

p2M

2j m m

1j

nj p m m nP 1j pnM

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Similarity and Scaling

Typically, scaling is based on the assignment of a scaling parameter: parameter:

Wind Turbine Modeling and Analysis

lM n= lP

Characteristic length of the model Characteristic length of full scale system

Accordingly, the general scaling relation can be expressed as:

p1M = p1P n12 : : : n1n

p1M = p1P n1

The scaling process reduces to a linear transformation of parameters: parameters:

pM = S pP
Scaling matrix: matrix:

S = diag(n1 ; : : : ; nn )

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Wind Turbine Dimensional Analysis

Wind Turbine Modeling and Analysis
Example: Example: 6 state 4 input individualindividual-pitch model, with stiffness modeled using equivalent springs States: States:
Flap angles Rotor azimuth Shaft torsion ForeFore-aft angle (and their rates)

Telc K c1 K c2 K c3 K

1 ; 2 ; 3

Inputs: Inputs:
Pitch angles Electrical torque

c1 ; c2 ; c3 Telc

Readily generalized to more complex models

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Wind Turbine Dimensional Analysis

Wind Turbine Modeling and Analysis
Derive equations of motion, apply Buckingham -theorem using as fundamental quantities Mass, Length, , Time Mass, Length

NonNon-dimensional equations of motion:

_;x ; u; ) = 0 (x; x
States: Inputs:

x = (; i ; ; )T T eelc = eelc T u = i ; T

Telc 1=2ARV 2

NonNon-dimensional parameters

T ! !i ! = Ma; Re; Fr; Lo; ; ; ; ; ! !

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Wind Turbine Dimensional Analysis

Wind Turbine Modeling and Analysis
Non-dimensional parameters of physical relevance resulting from dimensional analysis: Mach: Reynolds: Froude: Lock: TSR: NonNon-dim. time:

Ma = V =a Re = V c= Fr = V 2 =gR Lo = CL cR4 =J = R=V = t

Effect typically negligible for WTs Inertial/viscous aerodynamic force ratio Aerodynamic/gravitation force ratio Aerodynamic/inertial force ratio

p ! e = ! =; ! = K =J NonNon-dim. tower freq.: p Flapping freq. placement: !i =! ; !i = Ki =Ji p ! =! ; ! = K =J Shaft freq. placement:
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Size Effects on Wind Turbines

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Consider two wind turbines M and P with scale ratio

n = RM =RP
operating in the same wind

VM = VP
at the same TSR

M = P

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Size Effects on Wind Turbines

Quantity Rotor speed Symbol Scaling coefficient Comment

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Reynolds Froude Lock NonNon-dim. freq. Freq. placements Power Torque Bending stress Shaft shear stress

M =P ReM =ReP FrM =FrP LoM =LoP ! eM =! eP (!i =! )M =(!i =! )P (! =! )M =(! =! )P PM =PP QM =QP M =P M =P

n1 n n1 n0 n0 n0 n2 n3 n0 n0
Gravity important only for very large sizes Assuming same density Assuming same Young modulus (*)

Size indep. indep. stress level Size indep. indep. stress level

Aeroelastic effects unchanged (Lock and frequencies), except for possible influence of Froude (only large wind turbines) Stress level unchanged (except for gravity induced loads) (*) Using a more realistic beambeam-like natural frequency

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p ! = EJ=(mL4 )

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Scaling Laws for Wind Turbine Models

General scaling procedure: procedure:

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Given scale factor n = RM =RP Find velocity Enforce: Enforce: Time:

nV = VM =VP

and time

nt = tM =tP scalings

M = P
TipTip-speedspeed-ratio:

(t)M = (t)P (R=V )M = (R=V )P (CL cR4 =J )M = (CL cR4 =J )P

n = M =P = 1=nt nV = n n = n=nt mM =mP = 1

M = P
Lock:

LoM = LoP

Remark: Lock can always be fixed with material density

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Scaling Laws for Wind Turbine Models

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Enforce (continued): Frequency placement:

! e M = ! eP

(EJ=(mL4 4 ))M = (EJ=(mL4 4 ))P (EJ )M =(EJ )P = n6 =n2 t

Remark: frequency placement can always be fixed with stiffness stiffness Resulting errors: errors: Reynolds Froude Mach

ReM =ReP = n2 =nt FrM =FrP = n=n2 t MaM =MaP = n=n2 t

Important remark: remark: only unknown left is time scaling nt

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Scaling Laws for Wind Turbine Models

Optimal scaling: scaling: minimize Reynolds error (reduce airfoil aerodynamic differences) + scaled time acceleration (reduce active control frequency)

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which gives mismatched Mach scaling nV = 1=k

Quantity Rotor speed Reynolds Froude Lock NonNon-dim. freq. Power Torque Material density Bending stiffness Symbol

2 2 2 min k ReM =ReP + tM =tP = min k n =nt + nt

nt nt
Scaling coefficient

Comment

M =P ReM =ReP FrM =FrP LoM =LoP PM =PP QM =QP mM =mP (EJ )M =(EJ )P ! eM =! e P

1=(nk) n=k 1=(nk2 ) n0 n0 n2 =k3 n3 =k2 n0 n4 =k2

Gravity important only for very large sizes Implies same density Implies bending stiffness ratio

Enforces Lock constraint Enforces freq. constr.

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Scaling Laws for Wind Turbine Models

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Example: Example: scaling a large wind turbine ( RP 30 m ) to fit in a 4mx4m test section ( RM 1 m ):

n 1=30
Quantity Rotor speed Reynolds Froude Lock NonNon-dim. freq. Power Torque Material density Bending stiffness Symbol

k=2
Scaling coefficient 15 1/60 7.5 1 1 1/57600 1/432e3 1 1/1296e4 Aeroelastic effects unchanged (Lock and frequencies), except for possible influence of Froude (only large wind turbines) Moderate Reynolds mismatch, mismatch, can be partially mitigated with transition strips or similar devices Higher required control frequencies than on full scale system, but manageable with sufficient computing power

M =P ReM =ReP FrM =FrP LoM =LoP PM =PP QM =QP mM =mP (EJ )M =(EJ )P ! eM =! eP

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Testing of Scaling Laws

Approach: Approach:

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Choose comparison metrics (e.g., fatigue damage index in turbulent turbulent winds, load peak values for gust response, etc.) Simulate response of scaled and fullfull-scale models Compare responses upon backback-scaling of scaled results using metrics Aeroelastic Aeroelastic Model Model Input Input Parameters Parameters Scaling Scaling Laws Laws Aeroelastic Aeroelastic Model Model Inverse Inverse Scaling Scaling Laws Laws Performance Performance

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Testing of Scaling Laws

Example: Example: performance comparison of two control laws on full scale and MachMach-mismatchedmismatched-scaled model

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Turbulent 16 m/s wind Re full scale 5.25e+6 Re scaled 4.6e+5

Goodness Goodness of one controller wrt the other is practically the same when tested on full scale and scaled model Hence: Hence: Scaled model is appropriate for conducting control law comparisons
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