SIMPACK Conference: Wind and Drivetrain

Aeroelastic Load Simulations and Aerodynamic and Structural Modeling Effects

Stefan Hauptmann Denis Matha Thomas Hecquet

Hamburg, 17 June 2010

SIMPACK Conference: Wind and Drivetrain, 17 June 2010

Contents
Dynamic Simulations in the WT Design Process Wind Turbine Modeling in SIMPACK Wind Turbine Aerodynamics in SIMPACK Blade element Momentum Theory (BEM) Non-linear Lifting Line Vortex Wake Model Computational Fluid Dynamics (CFD) Simulation Results Offshore Code Comparison Collaboration (OC3) Evaluation of Lifting Line Vortex Wake Model Validation of CFD Approach for Aeroelastic Simulations Offshore Applications Conclusions

SIMPACK Conference: Wind and Drivetrain, 17 June 2010

Dynamic simulations in the WT design process

Wind Energy Specific standards and Guidelines

Guideline Site
Environmental Conditions Loads States of Operation

WT-Type

Wind Field

Hydrodynamics

Aerodynamics

Structural Dynamics

Electr. System

Control, Operation

Dynamic Simulation of the System Wind Turbine

Natural Frequencies and Damping Structural Loads
(time series or spectra, extreme values, load collectives)

Validation via Measurements

Common Standards and Guidelines

Displacements

(Static) Mechan. Component model

(FEM, analytical oder empirical)

Serviceability Analysis
(geometry, resonance, dynamic stability)

Ultimate Strength Analysis

(fracture, buckling, fatigue)

Standards, Guidelines
[Fig.: R. Gasch, Windkraftanlagen]

SIMPACK Conference: Wind and Drivetrain, 17 June 2010

Integrated system model

Major modules of a wind turbine simulation tool 1. wind field 2. rotor aerodynamics 3. structural dynamics including electro-mechanical system 4. control unit and actuators 5. Hydrodynamics (Offshore turbines)

Offshore Wind Turbine

Control

Wind field

Aerodynamics

Rotor

Electromech. System

Wave field, currents, ice

Dynamic interactions: major minor

Hydrodynamics

Support structure (Tower & Foundation)

Grid

Soil Environment

Soildynamics Loads

Support structure

Consumption
[Fig.: M. Khn]

SIMPACK Conference: Wind and Drivetrain, 17 June 2010

Traditional dynamic model for aeroelastic simulation

Model with 28 modal degrees of freedom (dof)
Foundation: 6 dofs 3 translational (1, 2, 4) 3 rotational (3, 5, 6) Rotor blade (each): 4 dofs 2 flapwise (e.g. 16, 17) 2 edgewise (e.g. 18, 19) Tower: 5 dofs 2 fore-aft (7, 8) 2 lateral (9, 10) 1 torsional (11) Additionals dofs: nacelle tilt (12) rotor rotation (13) main shaft bending (14, 15) drive train torsion (28) 24-27

15 14 11

Wind

R
28 20-23 13

K N
12

9, 10 16, 17 18, 19 7, 8 y z x

4 6 flexural beam 1

F, T
2 3
[Fig.: Vestas]

SIMPACK Conference: Wind and Drivetrain, 17 June 2010

Motivation - Improvements needed

Limitations of the traditional dynamic model
Structure: Fixed number of only few modal degrees of Freedom Aerodynamics: Simplified representation of rotor aerodynamics by BEM theory Problem: Coupling effects are NOT considered Solution

Improvements for Structural dynamics

Flexible levels of detail for the wind turbine models More accurate models for rotor blades, drive train etc. Solution

Multibody simulation approach More sophisticated aerodynamic approaches

Improvements for Aerodynamics

New engineering models for BEM ? Codes, based on more advanced theories than BEM are needed to consider some aeroelastic effects

SIMPACK Conference: Wind and Drivetrain, 17 June 2010

Modular Integrated Simulation: SIMPACK - Wind

Rotoraerodynamics BEM
v1 v2 S v3

SIMPACK Wind Turbine MBS Model

Controller Interface

Lifting Line-Method

CFD

Generator, Converter
Stnder

///
AS-Lufer

P Stnder,, fNetz

zum Netz

P Lufer ~
fLufer

DC

///

Filter Trafo

Wind Field

[Fig. SWE, ECN, IAG, SIMPACK AG ]

SIMPACK Conference: Wind and Drivetrain, 17 June 2010

Dynamic wind turbine model in SIMPACK

Drive Train

Traditional Dynamic Model 28 Degrees of Freedom

Hub FE-43 Bushing 3 DOF 0 DOF LSS_Hub LSS_Hub LSS_Gearbox

C14-Gearbox Gearratio (constraint) FE-110 Proportional Actuator Cmp FE-165 Kinematic Measurement

1 DOF

1 DOF HSS brake

generator

0 DOF
Pitch_ Reference_1

0 DOF
Pitch_ Reference_2

0 DOF
Pitch_ Reference_3

, , Shaft torsion, bending

FE-143 Connector and Fct generators

Drive train / base plate FE-13 Spring Rot , yaw), (tilt)

(pitch)

(pitch)

(pitch)

2 DOF

Used for a large number of load simulations

Blade_ Connect 1

Blade_ Connect 2

Blade_ Connect 3

Bedplate_Connect

0 DOF

0 DOF

0 DOF

Tower

0 DOF

Tower (Flexible Body) 4DOF

Blades (Flexible Body) 4DOF/blade

Foundation

0 DOF

Foundation FE-43 Bushing 6 DOF x, y, z, , ,

Foundation_Ground

UF22 Aerodyn

0 DOF

SIMPACK Conference: Wind and Drivetrain, 17 June 2010

Rotor Blade Models

Automatic generation of 2 different kinds of rotor blade models Euler-Bernoulli or Timoshenko beam elements Modal Reduction Geometric stiffening Simple rotor blade Only bending modes are considered Sophisticated rotor blade Bending and Torsional Modes are considered Coupling effects are included

SIMPACK Conference: Wind and Drivetrain, 17 June 2010

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The Control System Interface

Prated

Bladed compatible Baseline controller Variable speed below rated Collective pitch control above rated power

Advanced control algorithms Individual pitch control (Tower-) Feedback controller Etc.
Pitch angle [o]
90o

Rot. speed

El. power

DLL interface

Vrated Vin Wind speed

Vcut out

SIMPACK Conference: Wind and Drivetrain, 17 June 2010

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Generator Models (Variable Speed Generator)

Static look-up table
Wgen
Look-up table

Mgeno

Simulation of generator/converter system dynamics

Control system
Electric system dead time Low pass Drivetrain filter Converter delays Electrical & mechanical Losses
(look-up table) x +

Electrotechnical inertia

Mset

FiFo

PT2

PT1

PT1

Wgen Pel

Wgen
Losses

Mgeno

Detailed electrical model of the coupled generator, converter and grid

Stnder

///
AS-Lufer

P Stnder,, fNetz

zum Netz

MatSIM Modeled in Matlab/SIMULINK Exported to SIMPACK Using MatSIM

P Lufer ~
fLufer

DC

///

Filter Trafo

SIMPACK Conference: Wind and Drivetrain, 17 June 2010

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Blade Element Momentum Theory

Basic approach: Load equilibrium in axial and radial direction
Loads derived from the global momentum balance
(depending on the induced velocities)

Loads at the local blade element

(depending on the induced velocities)

=> Iterative derivation of induced velocities

Important assumptions:
1. Stream Tube theory and splitting in isolated annuli (no radial interdependency) 2. No radial flow along the blades (problematic in combination with flow seperation and at the blade tip) 3. No tangential variation within the annuli (but empirical correction for finite number of blades)

SIMPACK Conference: Wind and Drivetrain, 17 June 2010

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AeroDyn - Blade Element Momentum Theory

Developed at the National Renewable Energy Laboratory, USA Empirical correction models: Tip-Loss Model: Prandtl Hub-Loss Model: Prandtl Turbulent wake state: Glauert Correction Dynamic stall model: Beddoes-Leishman Skewed Wake Correction: Pitt and Peters

SIMPACK Conference: Wind and Drivetrain, 17 June 2010

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The OC3 Project

The IEA Offshore Code Comparison Collaboration (OC3) is an international forum for OWT dynamics code verification

Activities Objectives

Discuss modeling strategies Develop suite of benchmark models & simulations Run simulations & process results Compare & discuss results Assess simulation accuracy & reliability Train new analysts how to run codes correctly Investigate capabilities of implemented theories Refine applied analysis methods Identify further R&D needs

SIMPACK Conference: Wind and Drivetrain, 17 June 2010

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OC3 Participants & Codes

3Dfloat ADAMS-AeroDyn-HydroDyn ADAMS-AeroDyn-WaveLoads ADCoS-Offshore ADCoS-Offshore-ASAS ANSYS-WaveLoads BHawC Bladed Bladed Multibody DeepC FAST-AeroDyn-HydroDyn FAST-AeroDyn-NASTRAN FLEX5 FLEX5-Poseidon HAWC HAWC2 SESAM SIMPACK-AeroDyn Simo

SIMPACK Conference: Wind and Drivetrain, 17 June 2010

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Exemplary SIMPACK/AeroDyn Result in OC3

120000,0

NREL FAST (kNm)

100000,0

GH Bladed (kNm) SWE FLEX5 (kNm) NREL ADAMS (kNm)

80000,0

60000,0

Risoe HAWC2 (kNm) SWE SIMPACK (kNm)

40000,0

20000,0

0,0

Model Results for Tower Base Bending Moment (OC3 Phase 1 DLC 3.2)

SIMPACK Conference: Wind and Drivetrain, 17 June 2010

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AWSM Non-linear Lifting Line Vortex Wake Theory

[Fig.: ECN]

Developed at ECN, NL Blade representation: Lifting line

Near Wake representation: Free surface of shed vortices

SIMPACK Conference: Wind and Drivetrain, 17 June 2010

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Coupled Simulations: SIMPACK - AWSM

Vorticity of rotor blade 1 Start-up procedure Occurring wind gust Aeroelastic effects because of gust
t = 12s t t = 6s t = 0s WRotor

Simulation time: 12sec Mean Wind speed: 5 m/s Gust: 9m/s for 0.2 sec

SIMPACK Conference: Wind and Drivetrain, 17 June 2010

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Demonstration Simulation
Turbine: 1,5 MW NREL generic wind turbine 8 m/s wind speed

Modeling approach Only the rotor (hub and three rotor blades) is modeled Flexible rotor blades Sophisticated model Coupling effects are considered

Aerodynamics AWSM AeroDyn (with empirical correction models activated)

SIMPACK Conference: Wind and Drivetrain, 17 June 2010

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Fast Individual Pitch Action

Change of pitch angle for blade 1 (+7.3 for 10 seconds) Tip deflection blade 1 Tip deflection blade 3 Tip deflection blade 3 (detail view)

SIMPACK Conference: Wind and Drivetrain, 17 June 2010

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FLOWer A RANS solver

Developed to solve the three-dimensional, compressible, unsteady Euler or Reynolds averaged Navier-Stokes (RANS) equations Analyses the flow field around rotors (primarily for helicopters, adapted to wind turbines) Different turbulence models are available (but the k- SST turbulence model is the sole model used in this project) FLOWer features the Chimera technique allowing for arbitrary relative motion of aerodynamic bodies.

SIMPACK Conference: Wind and Drivetrain, 17 June 2010

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Time-Accurate Fluid-Structure Coupling of Wind Rotors

Loads calculation

load projection on beam elements

Loads on element nodes (principle of virtual disp.)

FLOWer
Grid deformation

SIMPACK
Conversion of deformations to quarter chord line
Blade surface
Calculation of deformation

SIMPACK beam model

Fluid Qn Qn
tn

2 1

Qn+1 Qn+1
tn+1

Qn+2 Qn+2
tn+2 SIMPACK WEA model SIMPACK blade model with deformation

Structure

SIMPACK Conference: Wind and Drivetrain, 17 June 2010

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Validation of Fluid-Structure Coupling

Rotor moment [Nm]

AeroDyn + SIMPACK FLOWer + SIMPACK

Time-accurate aeroelastic simulation of the start-up phase (FLOWer + SIMPACK)

Roto thrust [N]

AeroDyn + SIMPACK FLOWer + SIMPACK

SIMPACK Conference: Wind and Drivetrain, 17 June 2010

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Offshore Application I
Adding capability of SIMPACK to model Offshore Wind Turbines (Floating & Monopile) Coupling of HydroDyn HydroDyn and SIMPACK Hydrodynamic Forces calculated with HydroDyn HydroDyn developed by NREL Participation in OC4

SIMPACK

[Jonkman, NREL/TP-500-41958 ]

SIMPACK Conference: Wind and Drivetrain, 17 June 2010

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Offshore Application II
Mooring Lines are an important component for Floating WT Dynamics Currently mainly quasi static and linear models Introduction of a nonlinear multi-body mooring system model Improvement of load predictions by considering line dynamics, hydrodynamics, line-seabed interaction, nonlinear effects & anchor system Goal: Detailed modeling of floating WT in SIMPACK

SIMPACK Conference: Wind and Drivetrain, 17 June 2010

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Conclusions
The traditional approach for load simulations has limitations: The number of degrees of freedom for dynamic models is fixed The rotor aerodynamics is modeled using simplistic BEM theory SIMPACK offers advantages for load simulations MBS models with a variable level of detail can be generated Different aerodynamic modules can be coupled to SIMPACK to consider aeroelastic effects with the needed accuracy SIMPACK Interfaces to several aerodynamic codes have been developed AeroDyn (Blade Element Momentum Theory) AWSM (Non-linear Lifting Line Vortex Wake Theory) FLOWer (RANS solver)