The potential of wave feedforward control for floating wind turbines: a wave tank experiment

Floating wind energy has attracted substantial interest since it enables the deployment of renewable wind energy in deeper waters. Compared to the bottom-fixed turbines, floating wind turbines are subjected to more disturbances, predominantly from waves acting on the platform. Wave disturbances cause undesired oscillations in rotor speed and increase structural loading. This paper focuses on investigating the potential of using wave preview measurement in the control system labeled as wave feedforward to mitigate the effects of the wave disturbances. Two wave feedforward controllers were designed: one to reduce generator power oscillations and the other one to minimize the platform pitch motion. In this study, a software-in-the-loop wave tank experiment is presented for the purpose of investigating the potential of these wave feedforward controllers. In the experiment, a 1:40 scaled model of the DTU 10 MW reference wind turbine is used on top of a spar platform, with the baseline feedback control functionalities. Different environmental conditions, including wind speed, significant wave height, turbulence intensity, and wave spreading, were applied during the experiments to test the feedforward control performance and their effect on the turbine dynamics in general. It was found that the feedforward controller for the generator power reduces the power fluctuations properly with a fair control effort, while the one for platform pitch motion requires almost double the actuation duty for the same percentage reduction. Furthermore, the feedforward controller was able to counteract the wave disturbance at different wave heights and directions. However, it could not do much with increasing turbulence intensity as wind turbulence was found to have more dominance on the global dynamic response than waves.