abstract: An airborne, tethered, multi-rotor wind turbine, effectively a rotorcraft kite, provides one platform for accessing the energy in high altitude winds. The craft is maintained at altitude by its rotors operating in autorotation, and its equilibrium attitude and dynamic performance are affected by the aerodynamic rotor forces, which in turn are affected by the orientation and motion of the craft. The aerodynamic performance of such rotors can vary significantly depending on orientation, influencing the efficiency of the system. This thesis analyzes the aerodynamic performance of an autorotating rotor through a range of angles of attack covering those experienced by a typical autogyro through that of a horizontal-axis wind turbine. To study the behavior of such rotors, an analytical model using the blade element theory coupled with momentum theory was developed. The model uses a rigid-rotor assumption and is nominally limited to cases of small induced inflow angle and constant induced velocity. The model allows for linear twist. In order to validate the model, several rotors -- off-the-shelf model-aircraft propellers -- were tested in a low speed wind tunnel. Custom built mounts allowed rotor angles of attack from 0 to 90 degrees in the test section, providing data for lift, drag, thrust, horizontal force, and angular velocity. Experimental results showed increasing thrust and angular velocity with rising pitch angles, whereas the in-plane horizontal force peaked and dropped after a certain value. The analytical results revealed a disagreement with the experimental trends, especially at high pitch angles. The discrepancy was attributed to the rotor operating in turbulent wake and vortex ring states at high pitch angles, where momentum theory has proven to be invalid. Also, aerodynamic design constants, which are not precisely known for the test propellers, have an underlying effect on the analytical model. The developments of the thesis suggest that a different analytical model may be needed for high rotor angles of attack. However, adding a term for resisting torque to the model gives analytical results that are similar to the experimental values. / Dissertation/Thesis / Masters Thesis Mechanical Engineering 2019

Orientador: André Luiz Andreoli / Resumo: As fontes renováveis de energia apresentam-se como solução para problemas relacionados ao aumento da demanda por energia elétrica e crescimento dos níveis de emissão de gás carbônico, uma vez que são não poluentes, limpas e abundantes. Aproveitamentos eólicos se mostram como uma das mais promissoras fontes de energia renovável, e por essa razão as pesquisas envolvendo este tipo de aproveitamento têm despertado grande interesse na comunidade científica. Este trabalho apresenta o desenvolvimento de um emulador de turbina eólica (ETE), uma ferramenta de apoio às investigações experimentais capaz de reproduzir o comportamento mecânico dinâmico de uma turbina eólica através de uma malha de controle digital em configuração de hardware-in-the-loop atuando sobre um acionamento eletrônico de uma máquina de indução Operando como fonte de força motriz, o ETE torna mais fácil a avaliação dinâmica de geradores e seus sistemas de controle associados voltados às aplicações envolvendo energia eólica. A pesquisa apresenta uma revisão bibliográfica sobre o estado da arte, a modelagem e a implementação experimental de um emulador de turbina eólica utilizando um motor de indução trifásico (MIT) acionado por um inversor de frequência. Para isso, é implementado um controle em malha fechada de conjugado e velocidade. Este controle faz com que o acionamento eletromecânico representado pelo MIT e inversor de frequência apresente em seu eixo o comportamento de uma turbina eólica conforme os parâmetros... (Resumo completo, clicar acesso eletrônico abaixo) / Mestre

Motivation "Am stetig steigenden Anteil der erneuerbaren Energien, der auf der einen Seite durch die ehrgeizigen Ziele der Politik forciert und auf der anderen Seite durch wirtschaftliche Interessen beflügelt wird, stellt die Windenergie den größten und aussichtsreichsten Bestandteil dar (BMU 2012). Setzt sich der gegenwärtige Trend fort, so ist in den nächsten Jahren mit Multimegawattanlagen im mehrstelligen Megawattbereich zu rechnen."

Gegenstand des Vortrages ist Entwicklung und Validierung eines elastischen Mehrkörpermodells der Prototypenanlage W2E-120/3.0fc der Frima W2E Wind to Energy GmbH. Folgende Schwerpunkte werden gesetzt: - Anforderungen an die Modellierung - Topologie des Mehrkörpermodells - Einbindung elastischer Körper - Einbindung aerodynamischer Lasten - Einbindung des Anlagenreglers - Experimentelle Validierung anhand von Produktionslastfällen Die vorgestellte Arbeit ist Teil des aktuellen Forschungsprojektes "DynAWind– Leichtbauoptimierte Konstruktionen von Windenergieanlagen" am Lehrstuhl für Technische Mechanik/Dynamik in Zusammenarbeit mit der W2E Wind to Energy GmbH.

Detta examensarbete har gjorts i syfte att få fram förankringslängder till ett bergförankrat vindkraftverk. Målet med examensarbetet har varit att få fram längder på förankringstag och en prövning av flera olika stagvarianter har gjorts. Det dimensionerande momentet och egentyngden på vindkraftverket har tagits från ett tidigare projekt beläget i Solberg. Dessa krafter har fördelats ut till stagen och förankringslängder har tagits fram. De delar som har hanterats i rapporten utöver dimensioneringen är stagvarianter, borrning av stag, injekteringsbruk och provdragning. En bottenplatta i form av en oktogon har använts i dimensioneringsprocessen. Stagen har placerats i en cirkulär form i ett lager. Tre olika metoder har använts för att få den dimensionerande längden på förankringen. De tre metoderna hanterar: Vidhäftning mellan berg      och injekteringsbruk Vidhäftning mellan stål      och injekteringsbruk Bergkonsmetoden En analys har gjorts mellan dessa. För att lösa problemet har en litteraturstudie i olika böcker och eurokoder gjorts. Intervjuer med personer från olika företag med anknytning till förankringar har varit en bra grund till examensarbetet. Efter avslutade litteraturstudier har formler för beräkning av problemet tagits fram och fyra excel-modeller har upprättats för beräkning av förankringslängder. Ett beräkningsexempel på ett stag från Pretec har gjorts och förankringslängder har tagits fram. I resultaten har dragkraften i varje stag varierat mellan 1725 – 3747 kN, detta kan ses i tabell 6. Förankringsdjupet för de olika lastfallen varierar mellan 3 – 10 meter. De slutsatser som har gjorts är att förankringslängden ökar med sprucket berg då vidhäftningen är försämrad och att förankringslängden ökar med ökad påfrestning hos stagen. Metoden där förankringslängden bestäms med hjälp av bergkonsmetoden kan uteslutas vid homogent berg. / This master’s dissertation has been made in order to gain a deeper knowledge of how to design anchors to a wind turbine on rock. The goal of the master’s dissertation has been to produce lengths of anchors and trials of several different anchors have been made. The design overturning moment and the weight of the construction that occur in wind turbine has been distributed to the anchors and anchorage lengths have been calculated. The areas that have been handled are anchor variants, drilling, grouting and testing of the anchorage. A bottom plate in the form of an octagon has been used in the design process. The anchors have been placed into a circular shape in one layer. Three different methods of solution were used to design the length of the anchorage. The three different methods manage: Bond between rock and grout Adhesion between steel and grout Rock cone method An analysis has been made between them. To overcome this, a literature study in various books and Eurocodes have been made. Interviews with people from various companies related to the anchorages have been a good foundation for this master’s dissertation. After completing literary studies, the formulas for calculating the problem has been developed and several Excel models have been established for calculating the anchorage length. The results of the pulling force varied between 1725 - 3747 kN. Anchor lengths that have been calculated vary between 3-10 meters. A calculating example of an anchor from Pretec has been made and the anchorage length has been produced. The conclusions are that the anchor length increases with fractured rock where the adhesion is impaired and that the anchoring length increases with increased tension in the anchors. The method in which the anchor is determined by the length of the rock cone is very conservative and may be omitted.

Low-frequency, long-range sound propagation over a seasurface has been calculated using a wide-angel Cranck-NicholsonParabolic Equation method. The model is developed toinvestigate noise from off-shore wind turbines. Thecalculations are made using normal meteorological conditions ofthe Baltic Sea. Special consideration has been made to a windphenomenon called low level jet with strong winds on rather lowaltitude. The effects of water waves on sound propagation have beenincorporated in the ground boundary condition using a bossmodel. This way of including roughness in sound propagationmodels is valid for water wave heights that are small comparedto the wave length of the sound. Nevertheless, since only lowfrequency sound is considered, waves up to the mean wave heightof the Baltic Sea can be included in this manner. The calculation model has been tested against benchmarkcases and agrees well with measurements. The calculations showthat channelling of sound occurs at downwind conditions andthat the sound propagation tends towards cylindrical spreading.The effects of the water waves are found to be fairlysmall. Keywords:wind turbine noise, off-shore wind power,long-range sound propagation, parabolic equation, scattering,water waves / QC 20110617

Different key performance indicators are used to assess various aspects of a wind turbine (performance, reliability, financial aspects…). Availability metrics mainly, time-based and energy-based availability are the main indicators used to monitor and evaluate turbine’s availability performance today. However, due to significant growth of the share of energy sold into the electricity market as well as different selling structures, a new indicator has been established in order to assess availability performance in terms of revenues rather than time or energy.  This thesis compares energy and revenue-based availabilities of two turbines during 12 months of operational production. A methodology of calculation is suggested based on the International Electrotechnical Commission (IEC) information model for availability calculation. Time-based availability is calculated first, followed by energy-based, and finally revenue-based availability is derived from revenues as a result of combining energy production and electricity prices and revenue losses from energy losses and electricity prices. Availability metrics are calculated for three different scenarios, pure-market, mix of market and fixed price purchase agreement (PPA), and finally a PPA with a minimum monthly baseload to simulate the impact of volume risk. Results indicate a significant impact caused by the electricity price as well as the specifics of the selling agreement on revenue-based availability. Finding that in such cases, a significant divergence between energy and revenue-based indicators is possible. Limitations associated with the suggested methodology and case studies are presented and discussed.

La fonction principale des systèmes d'ancrage des éoliennes offshore flottantes est de limiter les mouvements du support. Les lignes d'ancrage qui les composent sont typiquement constituées de chaînes, de câbles aciers, de câbles synthétiques ou d'une combinaison de ces composants.Dans cette thèse, on se concentre sur les câbles en acier qui permettent de réduire le poids et d'augmenter la résistance en tension par rapport aux chaînes. Leur dimensionnement dépend des chargements en tension et flexion, liés aux mouvements du flotteur sous l'action de la mer et du vent.L'objectif de la thèse est le développement d'un nouveau modèle numérique pour prédire la durée de vie en fatigue des câbles d'ancrage d'une éolienne offshore flottante. Il doit notamment simuler les glissements relatifs entre les fils au cours d'une flexion du câble. Des résultats d'essais de tension-flexion de la littérature ont en effet montré que la première rupture est localisée près du plan neutre de flexion, où ces déplacements relatifs sont les plus grands. Cet effet majeur sur la durée de vie du câble n'est pas pris en compte par les lois de fatigue en tension-tension des normes de design offshore actuelles.Il faut aussi remarquer que l'utilisation d'un modèle détaillé de câble dans une démarche de dimensionnement à la fatigue représente un vrai défi. Le nombre élevé d'interactions de contact à modéliser, de l'ordre de plusieurs milliers par mètre de câble, et le grand nombre de cas de chargement rendent ce type de calculs très coûteux.Les chargements qui sont utilisés dans le modèle local de câble sont issus de calculs globaux réalisés à l'aide d'un logiciel multiphysique (Deeplines). Ce logiciel permet de simuler les conditions environnementales (vent, houle, courant) appliquées sur l'ensemble de la structure offshore.Nous montrons que le comportement non linéaire en flexion du câble, lié aux interactions de contact entre les fils, n'influence pas significativement les résultats du modèle global. Cette observation justifie une démarche de type descendante, les calculs globaux pouvant être réalisés en première étape. Les évolutions temporelles des tensions et courbures globales sont appliquées uniformément sur le fil central du modèle local du câble. La continuité du câble est représentée par des conditions de périodicité reliant les sections de bord à des points internes du modèle situés sur la même position circonférentielle. Les fils sont modélisés par des éléments poutres. On obtient les contraintes généralisées sur les fils, les forces de contact et les glissements relatifs. Des premières analyses ont montré que les déplacements relatifs entre les fils restent petits dans notre cadre d'application. Afin de réduire le coût calcul, nous avons développé un nouvel élément de contact entre poutres non parallèles, avec un appariement fixe de contact, dans l'hypothèse de petits glissements mais en grands déplacements et grandes rotations. Des tests numériques montrent l'amélioration obtenue, avec un résultat plus proche d'un modèle de référence qui considère un contact surfacique. De plus, le nouveau modèle réduit significativement le coût calcul et se montre plus robuste en convergence, ce qui s'avère crucial pour un calcul de fatigue. Les sorties du modèle local sont ensuite utilisées pour prédire un état de contrainte 3D, en exploitant des solutions analytiques de contact entre corps cylindriques. Finalement, un critère de fatigue multiaxial de la littérature est appliqué pour évaluer le risque en dommage. / The main function of mooring systems of floating offshore wind turbines is to ensure station keeping. The mooring lines can be composed of chains, wire ropes, synthetic ropes, or even a combination of them. In this thesis we focus on wire ropes, whose advantage over chain is to sustain high tension at a lower weight. Their design must consider the successive tension and bending loading induced by the floater movement for various wind and waves conditions.The thesis purpose is to develop a new numerical model, dedicated to the prediction of fatigue damage in mooring wire ropes of a floating wind turbine. In particular it has to simulate the relative movements between the wires when the rope is bent. Results from free-bending fatigue tests in the literature show the importance of these effects, since the first rupture is localized near the neutral plane, where fretting is more important. This phenomenon affecting the fatigue life is not considered by fatigue criteria of current offshore standards, which are related to tension-tension loading.It is worth noting that the use of a detailed model of wire rope in a fatigue design procedure represents a real challenge. The high number of contact interactions to be modeled, which are several thousands per meter of rope, and the large amount of loading cases make this type of computations extremely time-consuming.The loading used in the developed local model of wire rope is obtained from global computations performed with a dedicated multiphysics software (Deeplines). This software allows to simulate the environmental conditions (wind, waves, current) applied on the whole structural system.Some preliminary computations showed that the nonlinear bending behavior of the wire rope, linked to the wire contact interactions, does not significantly affect the output of the global model. This observation justifies the use of a top-down scheme, with a prior computation of the global scale.The global scale tension and curvature are then uniformly imposed on the central wire of the local model. The continuity of the rope is represented by periodic conditions which link the end sections to points within the model, at the same circumferential locations. The wires are modeled by beam elements. The outputs at the local scale are the stress resultants on the wires, and the contact forces and relative displacements at contact locations.Small sliding between the wires has been observed from first numerical analysis, for a representative loading case. Therefore, in order to reduce the computational cost of the wire rope model, a new node-to-node contact element has been developed, dedicated to the modeling of contact between non-parallel beams with circular cross section. It assumes fixed contact pairing and finite rotations. Numerical benchmarks and experimental tests on wire ropes show the improvement with results closer to a reference surface-to-surface model, when compared to standard algorithm for the simulation of contact between beams. Moreover, the new model reduces significantly the CPU cost and is also more robust, which is crucial for fatigue life estimates.The outputs of the local scale model are then used to obtain the complete 3D stress state by means of analytical solutions of contact between solids with cylindrical shape. Finally, a multiaxial fatigue criterion is applied in order to assess the safety of the system.

Rapporten behandlar problemen med drift- och underhåll på vindkraftverk och hur man kan minska behovet av dessa genom övervakning av vindkraftverkens tillstånd. Målet med rapporten är att undersöka om det går att förutse när och hur ett vindkraftverk kommer behöva underhållas, samt beskriva de metoder som används för att förhindra slitage av turbinbladen. Forskningsfrågor som behandlas inkluderar tillståndsövervakning av vindturbiner och vilka metoder som används för att undvika slitage på turbinbladen. Arbetet kommer att utföras som en litteraturstudie eftersom det inte är möjligt med fältstudier av vindkraftverk. Viktiga frågor som besvaras är vilka faktorer som orsakar erosion och hur det leder till minskad effektivitet och produktionskapacitet hos vindkraftsparker. Vidare tas det upp hur underhåll utförs på vindkraftverken idag och hur det kan komma att ske i framtiden, med fokus på tillståndsövervakande system och olika skyddslösningar. Även skillnaden mellan landbaserad och havsbaserad vindkraft tas upp, samt olika stadier av erosionsutbredningen på turbinbladen och hur de påverkar energiproduktionen. Slutligen diskuteras olika lösningar för att minska sannolikheten för erosion, såsom att minska maxhastigheten under otjänligt väder. För havsbaserade vindkraftverk finns det svårigheter vad gäller byggande och underhåll, men fördelar som bättre vindförhållanden och möjlighet att bygga på djupare vatten. Flytande vindkraftverk används för att möjliggöra placering på djupare vatten och längre bort från land. Framtida vindkraftverk kommer ha större turbiner och högre torn, samtidigt som minskningar av energikostnaderna för både land- och havsbaserad vindkraft är trolig. SeaTwirl har en revolutionerande design där bladet roterar genom vertikalplanet, vilket minskar effekterna av erosionsbaserade skador som regndroppar och partiklar kan påföra. Dessa flytande vindkraftverk som är tänkta att placeras på havsytan har en relativt låg kostnad, lägre underhållsbehov och lägre materialåtgång, vilket gör dem konkurrenskraftiga. Framtida utveckling finns i form av exempelvis SR Energy som börjat dela ut "vindbonus" till de som bor nära vindkraftsparker. Ytterligare ett exempel är Modvion som använder trälaminat istället för stålkonstruktioner, vilket möjliggör enklare konstruktion, kräver färre inspektioner och material kan vid avveckling återanvändas vid husbyggen. / The report addresses the issues of operation and maintenance of wind turbines and how their need can be reduced through monitoring the condition of wind turbines. The aim of the report is to investigate whether it is possible to predict when and how a wind turbine will need to be maintained, as well as describe the methods used to prevent wear of the turbine blades. Research questions that are addressed include condition monitoring of wind turbines and the methods used to avoid wear on turbine blades. The work will be carried out as a literature study since it is not possible to do field studies of wind turbines. Important questions that are answered include what factors cause erosion and how it leads to reduced efficiency and production capacity of wind farms. Furthermore, it is discussed how maintenance is currently carried out on wind turbines and how it may be done in the future, with a focus on condition monitoring systems and various protective solutions. Also, the difference between land-based and offshore wind power is discussed, as well as different stages of blade erosion and how they affect energy production. Finally, different solutions to reduce the likelihood of erosion are discussed, such as reducing the maximum speed during inclement weather. For offshore wind turbines, there are difficulties with construction and maintenance, but advantages such as better wind conditions and the ability to build in deeper water. Floating wind turbines are used to enable placement in deeper water and farther from shore. Future wind turbines will have larger turbines and higher towers, while reducing energy costs for both land and offshore wind power is likely. SeaTwirl has a revolutionary design where the blade rotates through the vertical plane, which reduces the effects of erosion-based damage that raindrops and particles can cause. These floating wind turbines that are intended to be placed on the ocean surface have a relatively low cost, lower maintenance needs, and lower material consumption, making them competitive. Future developments include, for example, SR Energy, which has started to distribute "wind bonuses" to those who live near wind farms. Another example is Modvion, which uses wooden laminate instead of steel structures, enabling simpler construction, requiring fewer inspections, and allowing material reuse in building construction.

Bakgrunden till projektet är problem med kanterosion av turbinblad inom vindkraftverks- industrin. Det är ett fenomen som uppstår när turbinblad roterar i höga hastigheter och träffar partiklar, främst vattendroppar i regn. Denna erosion skadar turbinbladen, vilket både minskar vindkraftverkens effektivitet och sprider partiklar i den lokala miljön. För att både undersöka detta fenomen och ge möjlighet att utvärdera olika materials motståndskraft mot erosion ska en testrigg tas fram. Utöver detta ska testriggen även möjliggöra uppsamling av partiklar för vidare forskning kring deras effekt på miljön. Som utgångspunkt används en tribometer med rotationsmekanism från ett föregående maskinkonstruktionsprojekt på KTH. Ombyggnationen av denna avgränsas till att endast genomföras digitalt med hjälp av CAD för att hålla mängden arbete till en rimlig nivå. Förutom CAD har arbetet även inkluderat kravspecifikationer, beräkningar i MATLAB, FEA-analyser och kostnadskalkyler. Resultatet är en digitalt styrd testrigg med tillhörande komponentlista och instruktioner för tillverkning och genomförande. Inköpskostnad för ombyggnationen uppskattas till 28 000 kr. Riggen för en cylindrisk provbit genom ett artificiellt regn i hög hastighet, vilket resulterar i en accelererad nötningsprocess. Under testets gång dokumenteras erosionen visuellt med hjälp av en kamera och efter testet kan mängden förlorat material mätas i vikt och partiklar samlas upp. Flera andra parametrar dokumenteras automatiskt under testets gång för att ge en mer detaljerad bild av processen och data för undersökningar av repeterbarhet. Slutligen konstateras att testriggen uppnår alla krav ställda på den förutom att den inte har en nödbroms. Avsaknaden av nödbroms diskuteras och det leder till slutsatsen att testriggen, även utan nödbroms, är fullt fungerande, enkel och säker att använda. / The background for this project is a problem in the wind turbine industry, namely leading edge erosion of turbine blades. This occurs when wind turbine blades rotate at high speeds and collide with particles, mainly water drops in rain. This erosion damages the turbine blades, reducing the efficiency of the wind turbines and releasing particles into the local environment. To investigate this phenomenon and evaluate the durability of different materials, a test rig is to be developed. In addition, the test rig will enable the collection of particles to facilitate further research into their environmental impact. A tribometer with a rotation mechanism from a previous project at KTH serves as the starting point. The reconstruction of this tribometer is limited to a digital implementation using CAD to keep the amount of work at an appropriate level. In addition to CAD, the work has also included requirements specifications, calculations in MATLAB, FEA, and cost estimates. The result is a digitally controlled test rig with an accompanying component list and instructions for manufacturing and implementation. The estimated purchase cost for the reconstruction is 28,000 SEK. The rig tests a cylindrical sample by propelling it at high speed through artificial rain, resulting in an accelerated wear process. The erosion is visually documented using a camera during the test. Afterwards the amount of lost material can be measured by weight and the particles collected. Several other parameters are automatically recorded during the test to provide a more detailed picture of the process and data for investigations into repeatability. Finally, it is concluded that the test rig meets all its requirements except for the absence of an emergency brake. The absence of an emergency brake is discussed, leading to the conclusion that despite missing an emergency brake, the test rig is fully functional, easy to use, and safe.