Advanced Control Algorithms to Support Automated Offshore Wind Turbine Installation
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- Institutt for marin teknikk 
The thesis presents the research on automated offshore wind turbine (OWT)installation. The aim of the project is to find innovative and cost-effective methods for installing and maintaining OWTs. Utilization of wind energy grows quickly in the past two decades. The trend of increasing turbine size reduces the costs of installation and grid connection per unit energy produced. However, the growing installation height challenges the OWT installation. The target of the present thesis is to develfi and floating OWTs (including individual components like blades or pre-assembled subsystems), by state-of-the-art automatic control theories, aiming for improved efficiency, increased operation safety, and reduced installation cost. In the present thesis, two installation strategies are studied, i.e., single blade installation to a bottom-fixed OWT with a monopile foundation using a jackup vessel and tower-nacelle-rotor preassembly installation to a spar foundation using a catamaran. Depending on the level of onshore preassembly, they are two opposite extremes among all installation strategies. The former strategy has a wider application with the lowest operational efficiency, while the latter has the fewest offshore lifts but requires more specific equipment. The major emphasis is on automated single blade installation. Since blade is the component with the most complex aerodynamics characteristics and its installation is the most time-consuming and expensive, the research can be extended to other components can be easily solved. Furthermore, part of the effort is put on improving the performance of the novel wind turbine installation concept using a catamaran proposed by SFI MOVE. A user-friendly numerical modeling framework for the offshore installation is developed for control design purposes. Various OWT installation models have been investigated. Several controllers and estimators have been devel- oped. Time-domain simulations and sensitivity studies have been conducted to verify the performance of the proposed algorithms. This work was supported by the Research Council of Norway (RCN) through the Centre for Research-based Innovation on Marine Operations (CRIMOVE, RCN-project 237929), and partly by the Centre of Excellence on Autonomous Marine Operations and Systems (NTNU AMOS, RCN-project 223254).
Has partsPaper 1: Ren, Zhengru; Jiang, Zhiyu; Skjetne, Roger; Gao, Zhen. Development and application of a simulator for offshore wind turbine blades installation. Ocean Engineering 2018 ;Volum 166. s. 380-395 https://doi.org/10.1016/j.oceaneng.2018.05.011
Paper 2: Ren, Zhengru; Skjetne, Roger; Gao, Zhen. A Crane Overload Protection Controller for Blade Lifting Operation Based on Model Predictive Control. Energies 2019 ;Volum 12.(1) Suppl. 50 s. 1-22 https://doi.org/10.3390/en12010050 This is an open access article distributed under the Creative Commons Attribution License (CC BY 4.0)
Paper 3: Ren, Zhengru; Jiang, Zhiyu; Gao, Zhen; Skjetne, Roger. Active tugger line force control for single blade installation. Wind Energy 2018 ;Volum 21.(12) s. 1344-1358 https://doi.org/10.1002/we.2258
Paper 4: Ren, Zhengru; Skjetne, Roger; Jiang, Zhiyu; Gao, Zhen; Verma, Amrit Shankar. Integrated GNSS/IMU Hub Motion Estimator for Offshore Wind Turbine Blade Installation. Mechanical systems and signal processing 2019 ;Volum 123. s. 222-243 https://doi.org/10.1016/j.ymssp.2019.01.008 This is an open access article distributed under the Creative Commons Attribution License (CC BY-NC-ND 4.0)
Paper 5: Xu, Jiafeng; Ren, Zhengru; Li, Yue; Skjetne, Roger; Halse, Karl Henning. Dynamic Simulation and Control of an Active Roll Reduction System Using Free-Flooding Tanks With Vacuum Pumps [J]. Journal of Offshore Mechanics and Arctic Engineering 2018 ;Volum 140.(6) https://doi.org/10.1115/1.4040235
Paper 6: Jiang, Zhiyu; Ren, Zhengru; Gao, Zhen; Sandvik, Peter Christian; Halse, Karl Henning; Skjetne, Roger. Mating Control of a Wind Turbine Tower-Nacelle-Rotor Assembly for a Catamaran Installation Vessel. Twenty-eighth (2018) International Ocean and Polar Engineering Conference.