This article presents a method for performing Real-Time Hybrid Model testing (ReaTHM testing) of a floating wind turbine (FWT). The advantage of this method compared to the physical modelling of the wind in an ocean basin, is that it solves the Froude-Reynolds scaling conflict, which is a key issue in FWT testing. ReaTHM testing allows for more accurate testing also in transient conditions, or degraded conditions, which are not feasible yet with physical wind. The originality of the presented method lies in the fact that all aerodynamic load components of importance for the structure were identified and applied on the physical model, while in previous similar projects, only the aerodynamic thrust force was applied on the physical model. The way of applying the loads is also new. The article starts with a short review (mostly references) of ReaTHM testing when applied to other fields than marine technology. It then describes the design of the hybrid setup, its qualification, and discusses possible error sources and their quantification. The second part of the article [1] focuses on the performance of a braceless semisubmersible FWT, tested with the developed method. The third part [2] describes how the experimental data was used to calibrate a numerical model of the FWT.

Real-Time Hybrid Model (ReaTHM) tests of a braceless semi-submersible wind turbine were carried out at MARIN-TEK's Ocean Basin in 2015. The tests sought to evaluate the performance of the floating wind turbine (FWT) structure in environmental conditions representative of the Northern North Sea. In order to do so, the tests employed a new hybrid testing method, wherein simulated aerodynamic loads were applied to the physical structure in the laboratory. The test method was found to work well, and is documented in [1].The present work describes some of the experimental results. The test results showed a high level of repeatability, and permitted accurate investigation of the coupled responses of a FWT, including unique conditions such as blade pitch faults. For example, the influence of the wind turbine controller can be seen in decay tests in pitch and surge. In regular waves, aerodynamic loads due to constant wind had little influence on the structure motions (except for the mean offsets). Tests in irregular waves with and without turbulent wind are compared directly, and the influence of the wave-frequency motions on the aerodynamic damping of wind-induced low-frequency motions can be observed.

No abstract

Within the field of hydrodynamics, it is fairly easy to find examples of model tests whose performance is impaired by only a subpart of the whole system, which may not be the one of interest. Real-time hybrid testing (RTHT) overcomes this issue by performing scale model testing only on a subpart of the whole structure, the remainder being simulated numerically. The loads acting on the virtual substructure are calculated from online-measured motions of the physical substructure and actuated back on the latter in real-time. RTHT involves data measurement, filtering, force estimation, motion observing and force actuation. The main challenge is to fit all of those items into one time step. A simple case study is suggested. It consists in a linearized one degree of freedom floating wind turbine, whose floating substructure is physically tested while wind loads are numerically simulated and actuated. Design rules to build the corresponding RTHT set up are then presented.

This article presents the Real-Time Hybrid Model (ReaTHM®) tests that were performed on a 10-MW semi-submersible floating wind turbine in the Ocean Basin at SINTEF Ocean in March 2018. The ReaTHM test method was used for the model tests to circumvent the limitations encountered when performing model tests with wind and waves. The physical model was subject to physical waves, while the rotor and tower loads were simulated in real-time and applied on the model by use of a cable-driven parallel robot. Recent advances in the ReaTHM test method allowed for extended testing possibilities and load application up to the 3p frequency and the first tower bending frequency.