Modelling and control of floating offshore wind turbines

This tutorial deals with the modeling and control of floating marine wind turbines. First, these offshore wind energy systems, located on the high seas, in deep waters are described; some modeling approaches are discussed. The power control of these turbines is presented in detail, explaining the different types of control that seek to maximize the energy. The issue of unstable dynamics that can appear in the floating platform due to the wind turbine rotor control is highlighted, something that other types of offshore and onshore turbines do not share. An example shows the reduction of vibrations by applying structural control strategies; results prove that a passive device that is complemented with a mechanism called inerter eliminates the oscillations of the floating turbine. The example here presented represents some preliminary results of the ongoing current research of the authors.