Energy 112 (2016) 188e199

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Energy
journal homepage: www.elsevier.com/locate/energy

Modeling and control of a hybrid wind-tidal turbine with hydraulic

accumulator
YaJun Fan a, b, *, AnLe Mu b, Tao Ma b
a
School of Mechatronic Engineering, Xi'an Technology University, Xi'an 710032, China
b
School of Mechanical and Precision Instrument Engineering, Xi'an University of Technology, Xi'an 710048, China

a r t i c l e i n f o a b s t r a c t

Article history: This paper presents the modeling and control of a hybrid wind-tidal turbine with hydraulic accumulator.
Received 30 December 2015 The hybrid turbine captures the offshore wind energy and tidal current energy simultaneously and stores
Received in revised form the excess energy in hydraulic accumulator prior to electricity generation. Two hydraulic pumps installed
20 May 2016
respectively in wind and tidal turbine nacelles are used to transform the captured mechanical energy
Accepted 14 June 2016
into hydraulic energy. To extract the maximal power from wind and tidal current, standard torque
controls are achieved by regulating the displacements of the hydraulic pumps. To meet the output power
demand, a Proportion Integration Differentiation (PID) controller is designed to distribute the hydraulic
Keywords:
Offshore wind turbine
energy between the accumulator and the Pelton turbine. A simulation case study based on combining a
Tidal current turbine 5 MW offshore wind turbine and a 1 MW tidal current turbine is undertaken. Case study demonstrates
Hydraulic transmission that the hybrid generation system not only captures all the available wind and tidal energy and also
Hydraulic accumulator delivers the desired generator power precisely through the accumulator damping out all the power
Pelton turbine fluctuations from the wind and tidal speed disturbances. Energy and exergy analyses show that the
energy efficiency can exceed 100% as the small input speeds are considered, and the exergy efficiency has
the consistent change trends with demand power. Further more parametric sensitivity study on hy-
draulic accumulator shows that there is an inversely proportional relationship between accumulator and
hydraulic equipments including the pump and nozzle in terms of dimensions.
© 2016 Elsevier Ltd. All rights reserved.

1. Introduction
With the increasing attention to global climate change, reducing
greenhouse gas emissions has been more important in the elec-
tricity industry especially. Many energy researchers, government
policy makers and industrial producers have increasing turned
their interests to renewable energy generation, such as solar,
geothermal, wind, wave and tidal [1e4]. Among those renewable
energy, wind power has more commercially competitiveness and
has been developed very fast, which could reach nearly 2,000 GW
by 2030, supply between 16.7 and 18.8% of global electricity and
help save over 3 billion tons of CO2 emissions annually according to
the last Global Wind Energy Outlook [5]. As the wind energy
technology has become more and more mature, offshore wind has
received significant attraction mainly due to two advantages: one is
* Corresponding author. School of Mechatronic Engineering, Xi'an Technology
University, Xi'an 710032, China.
E-mail address: fanyajunfan@sina.com (Y. Fan).
that the offshore wind is stronger and steadier than onshore wind
and supplies a greater source reserves; the other is that the sea
offers larger open spaces, so the bigger and more wind turbines can
be installed. At present, the total capacity of offshore wind power
has exceeded 7 GW, a large percent of which are installed in the
North, Baltic and Irish Seas, the English Channel, China's east coast
and Japan [5].
Recently, aiming to sustainably develop the offshore wind en-
ergy and efficiently utilize ocean resources, the integrated exploi-
tations of offshore wind and ocean energy have been carried out by
a number of researches [6,7]. Most of them concentrated on the
ocean resource assessment and combined wave and wind energy
extraction, for example, placing wave energy converters in the
spaces of wind farms and using the same float platform and power
cables, etc [8,9]. Nevertheless, other types of ocean energy such as
tidal, thermal and marine current have rarely been involved in the
integrated exploitations. In recent years, tidal current energy as an
advantageous resource has been extensively studied, for its prop-
erties of high power density and quantifiability compared with
wave and wind energies [10,11]. Existing devices designed to

http://dx.doi.org/10.1016/j.energy.2016.06.072
0360-5442/© 2016 Elsevier Ltd. All rights reserved.
 Y. Fan et al. / Energy 112 (2016) 188e199
Fig. 1. Schematic of the proposed hybrid wind-tidal turbine system.
extract tidal energy include two forms: vertical and horizontal axis
turbines [12]. No matter what kind of tidal machines, they function
as underwater windmills, except their rotors are driven by currents
and not the wind. Considering that tidal turbine follows the anal-
ogous principle as wind turbine, and the experience already ob-
tained in wind turbine can be referred in the tidal turbine study
[13]. So, combing one turbine with another is reasonable and
feasible. Hence, a wind-tidal hybrid energy generation, in which a
tidal turbine is incorporated into an offshore wind turbine elec-
tricity system, is proposed in this study. The schematic diagram of
the hybrid system is shown in Fig. 1.
There are two major challenges in this study. The first one is
how to economically and synergistically exploit the offshore wind
and tidal energy. In the conventional wind turbine and tidal tur-
bine, the gear boxes, the electricity generation, pressure-rise and
incorporation components are installed in the nacelles [8]. So the
conventional offshore wind turbine and tidal turbine only are
combined with independent mechanical transmission and power
generation systems but sharing the same support structures,
operation and management personnel, grid connection and port
structures, etc. But this type of combination increases the nacelle
weight and leads to support structures vibration and fatigue load,
as a result, more maintenance costs are needed [14]. So, a more
economical and reliable hybrid approach is proposed, in which an
open loop hydraulic drive in stead of the mechanical gear boxes is
adopted to transmit energy, and the power generation systems are
located on the down tower. This approach improves the reliability
of the transmission system and decreases the loads on the support
structures, thus the construction and repair costs are reduced. The
good performances of hydraulic transmission in individual wind
turbine or tidal turbine have been given in detail in the previous
works of the authors [15], and the efficiency of hydraulic trans-
mission is near 80% for both below and above rated wind speed
conditions [16]. Further more, for the utilization of hydraulic
transmission, the captured kinetic energy from wind and tidal is
integrated as hydraulic energy prior to generation of electricity,
the costs of power generation equipments are markedly
decreased.
Another challenge is how to eliminate the unbalance between
the electricity power generated from the hybrid system and the
189
demand of users, because the intermittent and uncontrollable na-
tures of the wind and tidal make the output power unstable and
undispatchable. So an energy storage system is designed and
applied in this hybrid system to provide steady and predictable
output power. In the last decades, several energy storage systems
including pumped hydro storage (PHS), flywheel energy storage
system (FESS), compressed air energy storage (CAES), and so on
[17,18], have been investigated and used to improve the renewable
energy penetration level and power quality. Since the PHS and
CAES are limited by geographical conditions and the short opera-
tion duration and high self-discharge losses are the main draw-
backs of FESS, a hydraulic accumulator is adopted in this system as a
more competitive option for energy storage system due to high
power and energy density, fast response, simple maintenance
requirement and economical consideration [15,19].
The purpose of the present study is to efficiently and econom-
ically develop the offshore wind turbine and tidal turbine. Thus, a
hybrid renewable energy conversion system including a hydraulic
accumulator is set up, and its dynamic performance and output
power are analyzed in this paper. The other parts of this paper are
organized as follow: firstly, the proposed system is described in
Section 2. Then detailed mathematical modals, inertia dynamics,
the control strategies, energy and exergy analyses are developed in
Section 3, 4, 5and 6, respectively. Simulation results, energy storage
analysis and discussions are performed in Section 7. Finally, con-
clusions are drawn in Section 8.
2. System overview
As shown in Fig. 1, a hybrid system including offshore wind and
tidal turbine is developed. A variable displacement pump (B) is
coupled to the wind turbine rotor (A) in the nacelle, through
which seawater is pressed and flows in the hydraulic circuit. A
tidal turbine (C) is attached to the spar body of the offshore wind
turbine through a swinging arm under seawater. The swinging
arm can be moved up for installation or maintenance. A variable
displacement pump (D) is employed in tidal turbine (C) and plays
the same role as which in wind turbine. A hydraulic accumulator
(E), a nozzle (F), a Pelton turbine (G) and an induction generator
(H) are connected in tandem to the two variable displacement
pumps (B and C) in the open-loop hydraulic transmission. Fig. 2 is
a block diagram showing the energy conversion of the hybrid
wind-tidal turbine system.
3. Mathematical models
3.1. Wind turbine
The role of the wind turbine rotor is transforming the wind's
kinetic energy into the mechanical energy of the rotor. The output
power Pw and torque Tw of the rotor are expressed as [20]:
1
Pw ¼ rair pR2w CPw ðlw ; bw Þv3w (1)
2


1
Tw ¼ rair pR2w CPw ðlw ; bw Þv3w uw (2)
2
where rair is the air density, Rw is the radius of turbine blade, vw is
the wind speed, uw is the wind turbine rotor angular speed,
CPw(lw,bw) is the power coefficient of the wind turbine, in this study
the power coefficient is expressed as [21]:
190 Y. Fan et al. / Energy 112 (2016) 188e199

Fig. 2. Energy conversion block diagram of the hybrid system.

  speed of the tidal turbine rotor. CPt(lt, bt) is the power coefficient of
116
CPw ðlw ; bw Þ ¼ 0:517  0:4bw  5 e21=li þ 0:0068lw the tidal turbine, which is presented as a function of the tip speed
li ratiolt and pitch angle bt, the relationship between the tip speed
1 1 0:035 ratio lt and tidal current vt is given as:
¼ 
li lw þ 0:08b b3w þ 1 ut Rt
(3)
lt ¼ (7)
vt

where bw is the pitch angle, lw is the tip speed ratio of wind turbine, The power coefficient CPt(lt, bt) versus tip speed ratio curve is
which is defined as: showed in Fig. 4 [22].

uw Rw
lw ¼ (4)
vw 3.3. Pump (B) in wind turbine and pump (D) in tidal turbine
Fig. 3 shows the relationship between the power coefficient
Two variable displacement pumps (B and D) installed respec-
CPw(lw, bw) and the tip speed ratio lw given by equation (3). From
tively in wind turbine nacelle and tidal turbine nacelle are used to
the Fig. 3, there is an optimal lw, opt at which the power coefficient
transform the mechanical torque into hydraulic energy. Both
reaches its maximal valueCPw, opt.
pumps are connected to the hydraulic accumulator (E). So, the
pressure loads of the two pumps are accumulator pressurepacc.
3.2. Tidal turbine Accordingly, the hydraulic flow rate Q and torque T of the pump in
wind turbine (B) and tidal turbine (D) are described as:
In this study a horizontal axis pitch-controlled tidal turbine is .
considered [22]. The mechanical power Pt extracted from tidal Qpw ¼ Vpw uw hVpw 2p (8)
current and the torque Tt on the tidal turbine shaft are calculated
respectively as: .
Tpw ¼ Vpw pacc hmpw 2p (9)
1
Pt ¼ rswater pR2t CPt ðlt ; bt Þv3t (5)
2 .
Qpt ¼ Vpt ut hVpt 2p (10)


1
Tt ¼ rswater pR2t CPt ðlt ; bt Þv3t ut (6) .
2 Tpt ¼ Vpt pacc hmpt 2p (11)

where rswater is the density of seawater, Rt is the radius of the tidal

turbine blade, vt is the speed of tidal current and ut is the angular where the subscript “pw”and “pt”refer to the pump in wind turbine
and tidal turbine, respectively. Vpw/pt are the pump displacements,
hVpw/Vpt are the volumetric efficiencies of the pumps, hmpw/mpt are
the mechanical efficiencies of the pumps.

Fig. 3. The relationship between the power coefficient and the tip speed ratio of the Fig. 4. The relationship between the power coefficient and the tip speed ratio of the
wind turbine. tidal turbine.
 Y. Fan et al. / Energy 112 (2016) 188e199 191

3.4. Hydraulic accumulator (E)
The accumulator is a fixed volume cylindrical vessel with a
piston separating the seawater from the air as illustrated in Fig. 5. In
the present model, when the input flow Qi of seawater is more than
the output flow Qo, the piston moves up, as a result, the excess
energy is stored as compressed air energy. On the contrary, when
the input flow Qi is less than the output Qo, the piston goes down, so
the stored energy in the compressed air is released. The com-
pressed air volume is given as:
 2ðpacc  p0 Þ
V_ air ¼ Qi  Qo
(12)
Qi ¼ Qpw þ Qpt
where the output flow Qo from accumulator is equal to the flow Qnoz
into nozzle.
To simply analyze the performance of the hydraulic accumula-
tors, the compression process of gas in the accumulator is assumed
to be an isothermal process and the gas is considered as perfect gas.
The ideal gas equation is used and the relation between tempera-
ture T, pressure p and volume V of gas is shown [23]:
moves to the generator platform. At the platform the flow is jetted
directly onto the buckets of the Pelton turbine wheel and makes the
Pelton turbine run at a high rotate speed by a nozzle (F). Through
this unit (F and G), the seawater pressure is converted into me-
chanical rotational energy. The digram of the nozzle and Pelton
wheel is shown in Fig. 6.
As the flow in nozzle is assumed to be frictionless, the velocity of
the water at the nozzle is derived by Bernoulli equation [24].
sffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffi
vnoz ¼ v2swater þ (16)
rswater
where vnoz and p0 are the velocity and pressure of water jet from
nozzle, respectively. vswater is the velocity of sea water in pipeline.
The velocity of water in pipeline is much smaller than that of
water jet from nozzle and pressure of water jet from nozzle is very
little compared with the pressure of accumulator. For simplicity,
vswater and p0 are neglected. The nozzle losses caused by viscous
effects of the fluid are described by the velocity coefficient [25]. The
simplified equation is expressed as:

pV ¼ nRm T (13) sffiffiffiffiffiffiffiffiffiffiffiffiffiffi

2pacc
where n and Rm represent the number of moles and the universal vnoz ¼ Cv (17)
rswater
gas constant, respectively.
For a given compression condition (isothermal), the pressure
where Cv is the velocity coefficient of the nozzle.
pacc of compressed air in the accumulator is given as:
The flow in the nozzleQnoz is determined by the following
p1 V1 equation [26]:
pacc ¼ Z (14)
V1  V_ air dt
Qnoz ¼ Cc vnoz Anoz (18)
Furthermore, the stored energy E is expressed as:
where Cc andAnoz are the contraction coefficient and the area of the
Zp2     Pelton nozzle, respectively. The area of the nozzle can be adjusted
p2 p
E¼ Vdp ¼ p1 V1 ln ¼ p2 V2 ln 2 (15) using a spear valve.
p1 p1 The hydraulic powerPnoz at the nozzle is given as:
p1

where V1, V2 and p1, p2 are the volume and pressure of the initial Pnoz ¼ Qnoz pacc (19)
state and final state.
The output powerPPel of Pelton turbine obtained from the hy-
3.5. Nozzle (F) and Pelton turbine (G) model draulic efficiency and the hydraulic powerPnoz at the nozzle:

As shown in Fig. 1, the flow from the hydraulic accumulator (E)

Fig. 5. Schematic diagram of the hydraulic accumulator. Fig. 6. Diagram of the nozzle and Pelton wheel.
192 Y. Fan et al. / Energy 112 (2016) 188e199

the consume demand through controlling the output power of

PPel ¼ Pnoz hPel (20) Pelton turbine, which is realized by regulating the nozzle area.

where the hydraulic efficiencyhPel of Pelton turbine is get from

momentum theory [27]. The value of hPel has relation with
geometrical parameter of Pelton turbine.
According to the output powerPPel of Pelton turbine, the tor-
queTPel on the Pelton turbine output shaft is calculated by:
TPel ¼ PPel=u
Pel
5.1. Maximal power point control
When wind turbine is operating under rated wind speed, the
pitch angle of the blades is kept constant value and a standard
torque controller [29] is used to get the optimal power coefficient
(21) CPw,opt. The standard torque controller is obtained by setting the
pump (B) torque Tpw,ref as:

Where uPel is the angular speed of Pelton turbine output shaft. 1

Tpw;ref ¼ rair pR5w CPw;opt u2w (27)
2lw;opt
3
3.6. Generator (H)
In this case, combining equation (24) with equation (27), the
A three-phase induction generation is used as the electric wind turbine dynamics can now be written as:
generator in this hybrid energy conversion system. The mechanical
8 !
modal of the generator is given as [28]: >
> rair pR5w u2w CPw CPw;opt rair pR5w u2w
>
> uw ¼
_    ¼ K  
>
>
3U12 r20 < 2 Jw þ Jpw l3w l3w;opt 2 Jw þ Jpw
Tgen ¼  2
(22) (28)
   2 >
>
c u r20 >
> CPw CPw;opt
u1  ugen r1 þ u11u1 gen þ x1 þ c1 x02 >
> K¼ 
: l3w l3w;opt
where Tgen is the generator torque, U1 is the grid voltage, ugen ¼ uPel is In equation (28), term rair pR5w u2w =2ðJw þ Jpw Þ is always positive,
the generator angular speed, u1 ¼ 2pfg/pf is the synchronous angular thus the sign of the u_ w is determined by term K.
speed, pf is the number of pole-pairs, fg is the grid frequency, c1 is Fig. 7 shows the relationship between K and uw at a constant
correction factor, r1 andx1 are the resistance and leakage reactance of wind speed of 6 m/s. In the Fig. 7, the optimal rotor angular speed
generator stator winding, r2 and x2 are the resistance and leakage occurs at 0.78 rad/s and the rotor acceleration u_ w is zero (The wind
reactance of generator rotor winding. When the value of ugen is turbine rotor torque is equal to the pump torque). It should be
greater than u1, the machine is a generator, otherwise it is a motor. noticed that if the rotor angular speed is bigger than the optimal
The generator output power Pgen is computed by the generator value, then the value of K is negative (u_ w < 0), so the rotor will
torque Tgen and the generator angular speed ugen: decelerate and the rotor angular speed will approach to the optimal
value, and vice versa.
Pgen ¼ Tgen ugen (23) From equation (9), this standard torque control strategy is ach-
ieved by controlling pump displacement Vpw. The optimal expected
pump torque Tpw, ref can be computed and compared with the
4. Inertia dynamics measured pump torque Tpw, meas to obtain the control signal error
Tpw, err. A Proportion Integration Differentiation (PID) controller is
The dynamic equations for the low speed shafts of the wind and used to control the displacement Vpw of the hydraulic pump for its
tidal turbine rotor are: robust performance. The PID controller forVpw is given by:

  8 Z
>
< Vpw ¼ KP Tpw;err þ KI Tpw;err dt þ KD dTpw;err
Jw þ Jpw u_ w ¼ Tw  Tpw (24)
dt (29)
>
:
  Tpw;err ¼ Tpw;ref  Tpw;meas
Jt þ Jpt u_ t ¼ Tt  Tpt (25)
The architecture of standard torque controller is show in Fig. 8.

where Jw and Jt are the rotational inertias of the wind and tidal
turbine rotor, respectively. Jpw andJpt are the rotational inertias of
the hydraulic pumps in wind and tidal turbine, respectively.
The dynamic equation for the high speed shaft of the Pelton
wheel is:
 
JPel þ Jgen u_ Pel ¼ TPel þ Tgen (26)

where JPel and Jgen are the rotational inertias of the Pelton wheel and
generator, respectively.

5. Control strategies

The most important control objects in this hybrid wind-tidal

turbine system are: (1) Capturing the maximal available power
from wind and tidal current through standard torque controllers,
which are realized by controlling the torques of hydraulic pumps in
wind and tidal turbine. (2) Controlling the output power to meet Fig. 7. The relationship curve between K and rotor angular speed.
 Y. Fan et al. / Energy 112 (2016) 188e199 193

When wind turbine is operating above rated wind speed, output 6. Energy and exergy efficiency analyses
power is limited so that safe electrical and mechanical loads are not
exceeded. Power limitation can be achieved by adjusting the blade This hybrid wind-tidal turbine is a device that converts the ki-
pitch angle. Pitch control is obtained using a PID controller [29]: netic energy of air and seawater into the electrical energy. The
8 related equation to calculate the produced energy is expressed as
Z
>
<b ¼ K u du [30]:
w P w;err þ KI uw;err dt þ KD w;err
dt (30)
>
: 1 1
uw;err ¼ uw;ref  uw;meas r pR2 v3 þ r pR2 v3 ¼ Tgen ugen þ Eloss (34)
2 air w w 2 swater t t
where uw,err is the rotor speed error, uw, ref and uw,meas are the ex- where Eloss is the energy loss in this hybrid system. The power
pected rotor speed and measured rotor speed. generated by the modules can be calculated from the generator
For the tidal turbine, the same control strategies are used to torque Tgen and the generator angular speedugen.
achieve the maximal power at current speed above or below the The energy efficiency of the hybrid wind-tidal turbine henergy can
rated speed, because they follow the similar work principle. be calculated as follows:

Tgen ugen
henergy ¼ 1  100% (35)
2rair pR2 v3 þ 1r
w w 2 swater pRt vt
2 3
5.2. Output power of Pelton turbine control
Exergy is a measure of the maximum useful work that can be
From equations (22) and (23), when the grid frequency fg and done by a system. As to the exergy efficiency, Xydis et al. [31] gave a
grid voltage U1 are constant, the output power of generator Pgen is new equation, which is calculated according to installation capacity
decided by the angular speed uPel. From equations (21) and (26), the as follows:
relationship between the output power of Pelton turbine PPel and
angular speed of Pelton wheel uPel is given as: AEP
hexergy ¼  100% (36)
8 8760Ctotal

>
< JPel þ Jgen u_ Pel ¼ PPel þ Tgen
uPel (31) where AEP is the annual energy production, 8760 is the total hours
>
: within a year, and Ctotal is the total installed capacity of the hybrid
Tgen ¼ f ðuPel Þ; Pgen ¼ Tgen uPel
system including wind and tidal turbine.
Thus, controlling the output power of Pelton turbine PPel means
that the output power of generatorPgen is controlled.
Through combining the equation (20) with ((17), (18) and (19)) 7. Simulations and discussions
the output power of Pelton turbine is calculated by:
7.1. The selections of the components
sffiffiffiffiffiffiffiffiffiffiffiffiffiffi
2p3acc
PPel ¼ Cv Cc Anoz hPel (32) 7.1.1. Wind turbine and tidal current tidal
rswater In this study, a conceptual offshore wind turbine [32] and a
horizontal axis tidal current turbine [22] are considered, and their
In order to make the output power of Pelton turbine meet the
specific parameters are listed inTable1 (Table 1).
demand, the nozzle area Anoz is controlled by regulating the spear
valve. A PID controller is used to realize the output power controller
based on nozzle flow and pressure measurement. The PID
7.1.2. Hydraulic pump
controller for the output power of Pelton turbine is given by:
The same two variable displacement hydraulic pumps installed
8 Z in wind and tidal turbine nacelle are used to transmit the me-
>
< Anoz ¼ K P dPPel;err
P Pel;err þ KI PPel;err dt þ KD chanical power of the rotor into hydraulic power. The max oper-
dt (33) ating pressure of 40 MPa in the hydraulic transmission is set and
>
:
PPel;err ¼ PPel;dem  PPel;meas the parameters of the hydraulic pumps are shown in Table 2.

From equations (19) and (20) measurement of the output power

PPel,meas is obtained by measuring the flow Qnoz,meas and pressure 7.1.3. Pelton turbine and generator
pnoz,meas in nozzle. The control architecture of the output power is A summary of the parameters of the Pelton turbine and gener-
shown in Fig. 9. ator are found in Table 3.

Fig. 8. The architecture of standard torque controller. Fig. 9. The architecture of Pelton turbine output power controller.
194 Y. Fan et al. / Energy 112 (2016) 188e199

Table 1 Fig. 13 shows the displacements (Vpw/pt) corresponding to

Main design parameters of the wind and tidal turbines. pumps used in wind and tidal turbine. Figs. 14 and 15 show the tip
Component Parameter Symbol Value Unit speed ratios (lw/t) and power coefficients (CPw/Pt) of wind and tidal
Wind turbine Rated power Pw,rated 5 MW
turbine, respectively. From Fig. 14, the tip speed ratios (lw/t) of wind
Rotor radius Rw 63 m and tidal turbine are always close to the optimal (lw,opt andlt,opt)
Rated wind speed vw,rated 11.4 m/s value 8.1 and 5.07, respectively. In Fig. 15, the values of wind and
Cut in wind speed vw,in 3 m/s tidal turbine power coefficients (CPw/Pt) are change near the optimal
Cut out wind speed vw,out 25 m/s
value (CPw,opt andCPt,opt) 0.481 and 0.447, respectively. It is obviously
Optimum tip-speed ratio lw,opt 8.1 /
Max power coefficient CPw,opt 0.482 / that through regulating the pump displacements (Vpw/pt), the pump
Tidal turbine Rated power Pt,rated 1 MW torques (Tpw/pt) are well controlled to track the maximal power
Rotor radius Rt 9 m point (CPw,opt andCPt,opt).
Rated current speed vt,rated 2.6 m/s
Fig. 16 shows the nozzle area change curve and the Pelton tur-
Cut in current speed vt,in 1 m/s
Cut out current speed vt,out 5 m/s
bine power as a PID is used. As shown, in response to the step
Optimum tip-speed ratio lt,opt 5.01 / changes in the demand power, the nozzle area is changed quickly to
Max power coefficient CPt,opt 0.447 / discharge or absorb the required power to the Pelton turbine
output shaft. This action is carried out through adjusting the spear
valve in nozzle.
Table 2 As shown in Fig. 17, the accumulator pressure changes with the
Parameters of the selected hydraulic pumps. increase/decrease of the accumulator flow rate (negative values
Parameter Symbol Value Unit mean flow out of accumulator), in those processes, the excess en-
ergy is stored in or released from the hydraulic accumulator. Fig. 18
Nominal pressure pnom 40 MPa
Mechanical efficiency hmp 0.98 / shows the response curve of generator torque and angular speed.
Volumetric efficiency hvp 0.95 / As the Pelton turbine output power is controlled to meet demand
Maximum volumetric displacement Vpumpmax 2500 L/rev power with three step changes, the torque and angular speed
Minimum volumetric displacement Vpumpmin 30 L/rev follow the trend in Pelton turbine output power. In particular,
notice that the value of ugen is always greater thanu1 ¼ 157 rad/s,
which is computed byu1 ¼ 2pfg/pf, as fg is 50 Hz and pf is 2. So the
7.2. Time domain simulations machine always is a generator during the work time.
Fig. 19 shows the total power of wind and tidal turbine, the
7.2.1. Performance of the proposed system and controllers generator output power and accumulator energy. As shown, in the
In the preceding section, a hybrid wind-tidal turbine and its time duration of t ¼ 0 to t ¼ 200 second and t>500 second, captured
control strategies have been presented in detail. To study the per- total power are more than the demand power, so the accumulator
formance of the proposed system and controllers, the system is continually stores excess energy in the two stages. In other stage,
simulated in Matlab/simulink. the captured total power from wind and tidal current is deficient,
The curves of the wind and tidal current speed are shown in and the accumulator releases the stored energy. Under the role of
Fig. 10. The turbulent wind speed is created by the Bladed software, the accumulator, the generator power is change coincidently with
and the change range of wind speed is between 3 m/s and 12 m/s. demand power.
The tidal speed is measured values ten minutes from Refs. [33], and Using equations (35) and (36), energy and exergy efficiency are
it changes between 1.8 m/s and 2.4 m/s. The simulated rotor calculated respectively and shown in Fig. 20. As shown in Fig. 20,
angular speeds of the wind and tidal turbine are shown in Fig. 11. As the main energy efficiency changes from 15% to 90%, at some times
shown, the response curves of the angular speeds follow the same the values exceed 100% and the maximum is close to 240%. From
trends as which in wind and tidal speed. equation (35), it can be seen that the value of energy efficiency is in
Fig. 12 shows the wind turbine power, tidal turbine power, the inverse proportion to the total wind and tidal energy as the output
sum of wind and turbine power as well as the demand power. As electricity power is invariable (in three stages in Fig. 20) for the
shown, the initial demand power is 1.6 MW. There are three step utilization of hydraulic accumulator. So when the input wind and
changes in the demand power: The first change occurs at 200 s and tidal speed are very small, the maximum value of energy efficiency
the demand power goes up to 2.4 MW. The next change occurs at arises. From equation (36), the exergy efficiency is used to compare
300 s and the corresponding value returns to 1.6 MW. Finally, the between installed capacity and energy produced for a given period
demand power decrease to 1.37 MW after 500 s. It can be seen that of time. As shown in Fig. 20, the value of exergy efficiency has three
the wind turbine power can exceed the demand power just in step changes and varies between 23% and 40%, which is consistent
several subintervals of this duration, but the tidal turbine can not with the changes of output electricity power for the total capacity
meet the need throughout the simulation time. Only as the two of the hybrid system is constant (6 MW).
output power is integrated, the demand power will be met. So a
hybrid system should be developed, furthermore, a storage system
should be used to eliminate the differences between the summed 7.2.2. Hydraulic accumulator analysis
power and the demand power. To numerically evaluate the effect of the hydraulic accumulator
on the characteristics of the hybrid system, a comprehensive
Table 3 analysis is implemented. In this analysis, the change ranges of the
The parameters of the Pelton turbine and generator. variables are calculated according to the following equation:
Component Parameter Symbol Value Unit
Dx ¼ xmax  jxmin j (37)
Pelton turbine Pitch circle radius RPel 4 m
Efficiency hPel 0.98 / Where x is the variable, xmax/min are the maximal and minimal
Generator Number of pole-pairs pf 2 / values of the variable during the simulation, respectively.
Grid voltage U1 690 V Tables 4 and 5 illustrate the obtained changes for the displace-
Grid frequency fg 50 Hz
ment Vpw/pt , accumulator pressure pacc, flow rate into the
 Y. Fan et al. / Energy 112 (2016) 188e199 195

Fig. 10. The change curves of wind and tidal speed.

Fig. 11. The change curves of wind and tidal angular speed.

Fig. 12. Wind turbine power, tidal power, total power of wind and tidal turbine and demand power.
196 Y. Fan et al. / Energy 112 (2016) 188e199

Fig. 13. Displacements of pumps used in wind and tidal turbine.

Fig. 14. Tip speed ratios of wind and tidal turbine.

Fig. 15. Power coefficients of wind and tidal turbine.

 Y. Fan et al. / Energy 112 (2016) 188e199 197

Fig. 16. Area of nozzle and Pelton turbine power.

Fig. 17. Accumulator flow rate and pressure.

Fig. 18. Generator torque and angular speed.

198 Y. Fan et al. / Energy 112 (2016) 188e199

Fig. 19. Sum of wind and turbine power, generator power and accumulator energy.

Fig. 20. Energy and exergy analysis of the hybrid system.

accumulator V_ air , nozzle area Anoz and the stored energy E, as the Table 5
initial values of the compressed air volume V1 and pressure p1 in Changes of the variables for different initial compressed air pressure (p1 ¼ 15 MPa).

the hydraulic accumulator are respectively multiplied and divided Symbol (Unit) Initial air pressure of hydraulic accumulator
by a factor equal to 2 (negative values mean flow out of accumulator 0.5 p1 p1 2 p1
and the stored energy releasing). It can be observed that in both
Vpw/pt (lit/rev) 70-2450/85-390 60-1260/73-230 40-690/45-113
cases (changes of V1 andp1), the values of the variables have smaller
DVpw/pt (lit/rev) 2380/305 1200/157 650/68
pacc (MPa) 8e23.5 15e26.5 30.5e37.8
Dpacc (MPa) 15.5 11.5 7.3
Table 4 V_ ðlit=sÞ
air
200 to 310 115 to 180 60 to 100
Changes of the variables for different initial compressed air volume (V1 ¼ 9 m3). DV_ air ðlit=sÞ 110 65 40
Anoz(cm2) 5.5e48 4.5e17.7 2.4e6.4
Symbol (Unit) Initial air volume of hydraulic accumulator
DAnoz (cm2) 42.5 13.2 4
0.5 V1 V1 2 V1 E (MJ) 5e77 5e77 5e77
DE (MJ) 72 72 72
Vpw/pt (lit/rev) 40-1280/42-240 60-1260/73-230 90-1200/91-220
DVpw/pt (lit/rev) 1240/198 1200/157 1110/129
pacc (MPa) 14.7e37 15e26.5 15.5e20
Dpacc (MPa) 22.3 11.5 4.5
change ranges when the values of V1 andp1 become larger. In
V_ ðlit=sÞ
air
120 to 190 115 to 180 113 to 175
particular, notice that the maximum value of stored energy in
DV_ air ðlit=sÞ 70 65 62
Anoz (cm2) 2e17 4.5e17.7 6.9e18.2 accumulator is close to a constant (77 MJ), no matter how the value
DAnoz (cm2) 15 13.2 11.3 of V1 andp1 change, as a result of the consistent wind speed, tidal
E (MJ) 5e77 5e77 5e77 current speed and the demand power in this analysis. In addition, it
DE (MJ) 72 72 72
can be seen clearly that as the greater hydraulic accumulator is used
 Y. Fan et al. / Energy 112 (2016) 188e199
in the hybrid system, the smaller hydraulic equipments including
the pump and nozzle are needed.
8. Conclusion
In this paper, a hybrid tidal and offshore wind turbine capable of
storing energy has been designed and investigated. A hydraulic
transmission has been used to integrate and transfer captured en-
ergy, and a hydraulic accumulator has been applied to balance the
output power and demand through storing and releasing the excess
energy. The relative mathematical model has been developed and
integrated in a single environment with Matlab simulink. Standard
torque controllers were achieved to extract the maximal power of
the wind and tidal turbine, and a PID control strategy was utilized
to obtain the demand power. Finally, in order to study the perfor-
mance of the hybrid system, a case study based on a 5 MW offshore
wind turbine and a 1 MW tidal current turbine was undertaken.
Case study demonstrated that through controlling hydraulic pump
displacements, the wind turbine and tidal turbine were operating
near to their optimal conditions, and the power coefficients were
0.481and 0.447, respectively. Furthermore, hydraulic accumulator
acted as a damper for the hybrid system by absorbing power fluc-
tuations coming from the wind and tidal speed, and made the
output power meet the need of users. As a result, the energy effi-
ciency value can reach the maximum (240%) when the minimum
wind and tidal speed occur, however the change of exergy effi-
ciency value keeps agreement with the demand electricity power.
Acknowledgment
This work was supported by the National Natural Science
Foundation of China (Grant No. 51505360).
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