Holistic simulation of wind turbines with fully aero-elastic and electrical model

Requirements for the design of wind turbines advance facing the challenges of a high content of renewable energy sources in the public grid. A high percentage of renewable energy weaken the grid and grid faults become more likely, which add additional loads on the wind turbine. Load calculations with aero-elastic models are standard for the design of wind turbines. Components of the electric system are usually roughly modeled in aero-elastic models and therefore the effect of detailed electrical models on the load calculations is unclear. A holistic wind turbine model is obtained, by combining an aero-elastic model and detailed electrical model into one co-simulation. The holistic model, representing a DFIG turbine is compared to a standard aero-elastic model for load calculations. It is shown that a detailed modelling of the electrical components e.g., generator, converter, and grid, have an influence on the results of load calculations. An analysis of low-voltage-ride-trough events during turbulent wind shows massive increase of loads on the drive train and effects the tower loads. Furthermore, the presented holistic model could be used to investigate different control approaches on the wind turbine dynamics and loads. This approach is applicable to the modelling of a holistic wind park to investigate interaction on the electrical level and simultaneously evaluate the loads on the wind turbine.

     

Full-scale field test of a model predictive control system for a 3 MW wind turbine

Model predictive control (MPC) is a strong candidate for modern wind turbine control. While the design of model predictive wind turbine controllers in simulations has been extensively investigated in academic studies, the application of these controllers to real wind turbines reveals open research challenges. In this work, we focus on the validation of a linear time-variant MPC system for a 3 MW wind turbine in a full-scale field test. First, the study proves the MPC’s capability to control the real wind turbine in the partial load region. Compared to the turbine’s baseline PID controller, the MPC system offers similar results for the electrical power output and for the occurring mechanical loads. Second, the study validates a previously proposed, simulation-based rapid control prototyping process for a systematic MPC development. The systematic development process allows to completely design and parameterize the MPC system in a simulative environment independent of the real wind turbine. Through the rapid control prototyping process, the MPC commissioning in the wind turbine’s programmable logic controller can be realized within a few hours without any modifications required in the field. Thus, this study establishes the proof of concept for a linear time-variant MPC system for a 3 MW wind turbine in a full-scale field test and bridges the gap between the control design and field testing of MPC systems for wind turbines in the multi-megawatt range.

     

Development of a wind turbine gearbox virtual load sensor using multibody simulation and artificial neural networks

A current development trend in wind energy is characterized by the installation of wind turbines (WT) with increasing rated power output. Higher towers and larger rotor diameters increase rated power leading to an intensification of the load situation on the drive train and the main gearbox. However, current main gearbox condition monitoring systems (CMS) do not record the 6‑degree of freedom (6-DOF) input loads to the transmission as it is too expensive. Therefore, this investigation aims to present an approach to develop and validate a low-cost virtual sensor for measuring the input loads of a WT main gearbox. A prototype of the virtual sensor system was developed in a virtual environment using a multi-body simulation (MBS) model of a WT drivetrain and artificial neural network (ANN) models. Simulated wind fields according to IEC 61400‑1 covering a variety of wind speeds were generated and applied to a MBS model of a Vestas V52 wind turbine. The turbine contains a high-speed drivetrain with 4‑points bearing suspension, a common drivetrain configuration. The simulation was used to generate time-series data of the target and input parameters for the virtual sensor algorithm, an ANN model. After the ANN was trained using the time-series data collected from the MBS, the developed virtual sensor algorithm was tested by comparing the estimated 6‑DOF transmission input loads from the ANN to the simulated 6‑DOF transmission input loads from the MBS. The results show high potential for virtual sensing 6‑DOF wind turbine transmission input loads using the presented method.

     

Reconstruction of operating loads in wind turbines with inertial measurement units

Wind turbines are a major source of renewable energy. Load monitoring is considered to improve reliability of the systems and to reduce the cost of operation. We propose a load monitoring system which consists of inertial measurement units. These track the movement of rotor blade, hub and tower top. In addition, wind turbine states, e.g. yaw angle, pitch angle and rotation speed, are recorded. By solving a navigation algorithm with a Kalman Filter approach, the raw sensor data is combined with an error model to reduce the tracking error. In total, five inertial measurement units are installed on the research wind energy converter AD 8–180 on the test site in Bremerhaven. Results show that tracking the blade movement in full operation is possible and that loads can be estimated with a model-based approach. In comparison to simulations, the blade deflections can be approximated by an aeroelastic model. The presented approach can be used as basis for comprehensive load monitoring and observer system with additional increase of system robustness by measurement redundancy.

     

Method to determine the local load cycles of a blade bearing using flexible multi-body simulation

Conventional methods for designing rolling bearings against fatigue assume that a bearing ring is fully rotating and that the load is ideally distributed over the rolling elements. Blade bearings in wind turbines, are operated under oscillating motions and dynamic loads. The load distribution is strongly dependent on the stiffness of the bearing rings and the surrounding structural components. This has been shown in numerous studies using FEM simulations for static load cases. In this paper a method is presented that reduces the calculation effort of the deformation of the bearing rings, so that a flexible integration into an aeroelastic mbs model of a wind turbine is possible. Thereby an average accuracy of 6.5% between FEM and mbs could be achieved. The model allows the determination of time series of the global load distribution of each raceway. By data processing of the simulation results, the number of load cycles and the maximum contact pressure for individual segments of the raceways could be determined and their fatigue probability could be estimated using the linear damage hypothesis according to Palmgren-Miner.

     

Experimental and simulation-based analysis of asymmetrical spherical roller bearings as main bearings for wind turbines

Symmetrical spherical roller bearings (SSRB) used as main bearings for wind turbines are known for their high load carrying capacity. Nevertheless, even designed after state-of-the-art guidelines premature failures of this bearing type occur. One promising solution to overcome this problem are asymmetrical spherical roller bearings (ASRB). Using ASRB the contact angles of the two bearing rows can be adjusted individually to the load situation occurring during operation. In this study the differences between symmetrical and asymmetrical spherical roller bearings are analyzed using the finite element method (FEM). Therefore, FEM models for a three point suspension system of a wind turbine including both bearings types are developed. These FEM models are validated with measurement data gained at a full-size wind turbine system test bench. Taking into account the design loads of the investigated wind turbine it is shown that the use of an ASRB leads to a more uniform load distribution on the individual bearing rows. Considering fatigue-induced damage an increase of the bearing life by 62% can be achieved. Regarding interactions with other components of the rotor suspension system it can be stated that the transfer of axial forces into the gearbox is decreased significantly.

     

Advanced method of including housing stiffness into calculation of gear systems

One of the central goals during the design of helical gear systems is the achievement of a well-distributed contact load in the gear mesh. An equal load distribution is a key factor for a high load carrying capacity, the economic use of materials and a long lifetime. Mesh misalignment can be caused by tooth deflections, manufacturing deviations or elastic deformation of the shaft-bearing system and the gearbox housing. Those deformations have to be taken into account during the design process of adequate tooth-flank geometry. Elastic deformations of gearbox housings can be significant, especially in the case of automotive applications with aluminium cases. This paper presents an advanced method of including housing stiffness into the calculation of gear systems. A validation of the approach is carried out by comparing the calculated deformations with measurements of a static test rig of a hypoid gearbox.

Many calculation programs offer the opportunity to analyse the deformation behaviour of the shaft-bearing-housing system. Most of the components in these programs are described by analytic approaches. However, components that are geometrically more complex, like the housing or planet carriers cannot be represented as easily as that by analytic expressions. There are several alternatives to take into account the elasticity of those objects. One way is to model the stiffness of the bores using imported stiffness matrices. These matrices contain the elasticity of the bores itself as well as crossover influences between the bearings. The reduced stiffness matrices may be the result of a static reduction of the geometry using the finite element method (FEM). As state of the art, the reduction is mostly carried out at the centre points of the bearing bores. The proposed advanced method uses the static reduction of geometries on several points at the bores, distributed over the circumference. This approach offers a more detailed modelling of the elastic behaviour of complex geometries within the analytic deformation calculation of gear systems. To validate the advanced approach, the calculation results of the elastic deflections of the shaft-bearing-housing system is compared with measurements of a static test rig. In the course of these comparisons, the influence of different modelling methods of gearbox housings on the accuracy of the calculation results is discussed.

     

On the determination of the bending fatigue strength in and above the very high cycle fatigue regime of shot-peened gears

Demands on modern gearboxes are constantly increasing, for example to comply with lightweight design goals or new CO₂ thresholds. Normally, to increase performance requires making gearboxes and powertrains more robust. However, this increases the weight of a standard gearbox. The two trends therefore seem contradictory. To satisfy both of these goals, gears in gearboxes can be shot-peened to introduce high compressive residual stresses and improve their bending fatigue strength. To determine a gear’s tooth root bending fatigue strength, experiments are conducted up to a defined number of load cycles in the high cycle fatigue range. However, investigations of shot-peened gears have revealed tooth root fracture damage initiated at non-metallic inclusions in and above the very high cycle fatigue range. This means that a further reduction in bending load carrying capacity has to be expected at higher load cycles, something which is not covered under current standard testing conditions. The question is whether there is a significant decrease in the bending load carrying capacity and, also, if pulsating tests conducted at higher load cycles—or even tests on the FZG back-to-back test rig—are necessary to determine a proper endurance fatigue limit for shot-peened gears. This paper examines these questions.

     

Methodology for the systematic design of conical plain bearings for use as main bearings in wind turbines

With the possibility to replace sliding segments on the tower without disassembling the drivetrain, the use of segmented plain bearings with conical sliding surfaces as main bearing in wind turbines has a great potential to reduce the maintenance costs and thus the levelized cost of energy (LCOE). Furthermore, the short axial design leads to lower investment costs. Since this design is totally new and no design guidelines are available so far, the objective of this paper is to investigate the influence of the geometric parameters on the hydrodynamic pressure distribution of the bearing. In this context a parameter screening is performed using a suitable test field according to Plackett and Burman in order to determine the most relevant parameters. With the help of the simulations carried out after this test field, correlations between the geometric parameters and the hydrodynamic pressure distribution are evaluated. To be able to quantitatively analyze the three-dimensional pressure distribution, several key values are defined in this paper that describe the pressure distribution. The content of this paper is part of a methodology with the goal of developing a design guideline for conical plain bearings.

     

Optimized cast components in the drive train of wind turbines and inner ring creep in the main bearing seat

Using large components made of nodular cast iron (GJS) in wind turbines enables the application of lightweight construction through the high degree of design freedom. Besides the sand-casting process, casting into a permanent metal mould, i.e. chill casting, leads to a finer microstructure and higher quasi-static mechanical properties as well as higher fatigue strength. Unfortunately, in present design methodologies specific fatigue data is only available for sand cast and not for chilled cast GJS. Thus, lightweight design strategies for large, chilled cast components are not achievable, which led to the publicly funded project “Gusswelle”. Based on material investigations of EN-GJS-400-18-LT chill cast, an optimized hollow rotor shaft is developed. The design process and the resulting shaft design are presented. The optimized hollow rotor shaft prototype will be tested on a full-scale test bench to validate the design methodology. The intended validation plan as well as the test bench setup is shown in this paper. Furthermore, the decreasing wall thickness influences the interference fit between main bearing and hollow rotor shaft. Thus, through the applied bending moment, inner ring creep is more probable to occur in the main bearing seat. The creeping behaviour is investigated with finite element simulations and a measuring method is presented.

     

Parking lock integration for electric axle drives by multi-objective design optimization

Due to safety considerations, electric axle drives (e-drives) are often equipped with a parking lock system, which prevents vehicle movement while parking in redundancy with the parking brake. In order to integrate the parking lock into the e‑drive, various mounting positions inside the e‑drive are eligible, which have a direct influence on the e‑drive packaging. Furthermore, engaging the parking lock may happen at small vehicle velocities and while driving downhill, leading to high loads on the e‑drive components. These loads depend on the mounting position of the parking lock and have to be considered in the design phase to prevent failure of the system. That way, the designs of shafts, gear wheels and bearings of the gearbox are affected by the parking lock integration. A suboptimally integrated parking lock system can thus lead to undesirably high costs and reduced energy efficiency of the entire e‑drive—all alongside the packaging aspect. Consequently, finding the best suitable parking lock integration for a certain e‑drive is a complex task for the design engineers. To reduce the level of problem complexity, an established computer-based system design method for e‑drives by means of a multi-objective optimization is extended to be capable of considering the parking lock integration. The proposed method is applied to a case study and the impact of the parking lock on the optimality of an exemplary e‑drive system is shown.

     

Emulation of grid-forming inverters using real-time PC and 4-quadrant voltage amplifier

A test bed for the evaluation of novel control methods of inverters for renewable power generation is presented. The behavior of grid-following and grid-forming control in a test scenario is studied and compared.

Using a real-time capable control platform with a cycle time of 50 µs, control methods developed with Matlab/Simulink can be implemented. For simplicity, a three-phase 4‑quadrant voltage amplifier is used instead of an inverter. Thus, the use of modulation and switched power semiconductors can be avoided. In order to show a realistic behavior of a grid-side filter, passive components can be automatically connected as L‑, LC- or LCL-filter. The test bed has a nominal active power of 43.6 kW and a nominal voltage of 400 V.

As state-of-the-art grid-following control method, a current control in the d/q-system is implemented in the test bed. A virtual synchronous machine, the Synchronverter, is used as grid-forming control method. In combination with a frequency-variable grid emulation, the behavior of both control methods is studied in the event of a load connection in an island grid environment.

     

Investigation of the influence of asymmetrical profiles on the wear behavior in gear hobbing

Asymmetrical gears have advantages in applications with a preferred load direction, such as automotive transmissions or wind turbines. The operational behavior of gears with asymmetrical profiles has already been thoroughly investigated. However, there are very few studies on the manufacturability of gears with asymmetric profiles regarding the possible interactions between pressure angle composition, tool and process design. In this report, the influence of asymmetrical profiles on the wear behavior of hobs is analyzed for the first time.

For this purpose, eight different tool variants have been defined for an investigation on tool wear behavior based upon fly-cutting trials. These variants consist of two symmetric and four asymmetric variants. In addition, two asymmetric variants with additional protuberance have been defined. Tool performance decreased within the fly-cutting trials with a low pressure angle on the leading flank and also in the presence of a protuberance. As the pressure angle increases on the leading flank, an increase on the tool life was observed.

     

Simulative investigation of wind turbine gearbox loads during power converter fault

Three phase short circuit power converter faults in wind turbines (WT) result in highly dynamic generator torque reversals, which lead to load reversals within the drivetrain. Dynamic load reversals in combination with changing rotational speeds are, for example, critical for smearing within roller bearings. Therefore, an investigation of the correlation between three phase short circuit converter faults and drivetrain component failures is necessary.

Due to the risk of damage and the resulting costs, it is not economically feasible to extensively investigate three phase short circuit converter faults on test benches. Valid WT drivetrain models can be used instead. A WT drivetrain model, which has been developed and validated in a national project at the CWD, is used and a three phase short circuit converter fault is implemented. In this paper, the resulting torque load on the drivetrain for a three phase short circuit converter fault in rated power production is presented. This converter fault leads to a highly dynamic reversing electromagnetic torque which exceeds the rated torque by a factor of three. As a result the load on the rotor side high speed shaft (HSS) bearing oscillates and increases by around 15 per cent compared to rated power production. Simultaneously the rotational velocity of the HSS oscillates with an amplitude of 10 rpm. Therefore an increase in the risk of smearing is expected.

     

CertBench: conclusions from the comparison of certification results derived on system test benches and in the field

This paper presents measurement results of the world wide first successful certification the electrical properties of a wind turbine, solely based upon measurements obtained at a system test bench with HiL-System and grid emulator. For all certification relevant tests the results are compared to field measurements. The impact of the real-time models in the HiL-System as well as the converter-based grid emulator are discussed in this paper. For full converter wind turbine, different requirements for the model depth could be determined depending on the tests. Nevertheless, higher-quality models that reflect the plant behaviour better are recommended to reduce uncertainties within the certification process. This paper also shows that especially for grid failure events grid emulators require real-time impedance control, in order to emulate grid failures properly. Based on these findings, recommendations for the requirements on test bench components are formulated in this paper, in order to contribute to new certification guidelines. Overall, we conclude that based on the experiences made at two different system test benches, the vast majority of certification measurements can be carried out without limitation at such system test benches.

     

Influence of the grid parameters during under voltage ride through (UVRT) testing

Under-voltage ride through (UVRT) tests can be carried out on system test benches, most of them are equipped with a converter based grid simulator. This paper describes the control of the artificial grid impedance at the 4 MW test bench at CWD. Validation measurements with the commercial wind turbine E‑115 E2 show that the virtual impedance specification is sufficient to perform UVRT tests with different grid parameters. Comparative measurements between the voltage divider based FRT Container and the grid simulator with deliberately different grid parameters show a different behavior of the research wind turbine FVA nacelle. Therefore, it is recommended to perform UVRT tests on the test bench with predefined grid parameters.

     

Reducing mass while improving the operational behavior: form optimization of planetary gearbox housings

The optimization of load sharing between planets is one of the most important goals in planetary gearbox design. Unevenly distributed load will cause locally higher flank pressures and therefore, less durability of gears and bearings. Furthermore, unevenly distributed or fluctuating loads can cause excitations in the gear mesh and structural vibrations. The load sharing in planetary gear stages depends on the individual stiffness conditions in each mesh position. The stiffness is not only influenced by the gear geometry but also by the surrounding structural elements like shafts, housings and torque arms. In wind industry these components are often designed very stiff in order to reduce their effect on the operational behavior.

Within this paper, a method is presented, which allows combining the structural optimization process with a tooth contact analysis for planetary gearboxes. By means of this combined approach, it is possible to optimize the housing structure of the ring gear in terms of mass reduction while keeping the operational behavior in focus. With a weighted design objective function, it is possible to decide whether the main objective should be load distribution, excitation behavior, low mass or a balanced design.

     

A methodology for data-driven modeling and prediction of the drag losses of wet clutches

In wet clutches, load-independent drag losses occur in the disengaged state and under differential speed due to fluid shearing. The drag torque of a wet clutch can be determined accurately and reliably by means of costly and time-consuming measurements. As an alternative, the drag losses can already be precisely calculated in the early development phase using computing-intensive CFD models. In contrast, simple analytical calculation models allow a rough but non-time-consuming estimation. Therefore, the aim of this study was to develop a methodology that can be used to build a data-driven model for the prediction of the drag losses of wet clutches with low computational effort and, at the same time, sufficient accuracy under consideration of a high number of influencing parameters. For building the model, we use supervised machine learning algorithms. The methodology covers all relevant steps, from data generation to the validated prediction model as well as its usage. The methodology comprises six main steps. In Step 1, the data is generated on a suitable test rig. In Step 2, characteristic values of each measurement are evaluated to quantify the drag loss behavior. The characteristic values serve as target values to train the model. In Step 3, the structure and quality of the dataset are analyzed and, subsequently, the model input parameters are defined. In Step 4, the relationships between the investigated influencing parameters (model input) and the characteristic values (model output) are determined. Symbolic regression and Gaussian process regression have both been proven to be suitable for this task. Lastly, the model is used in Step 5 to predict the characteristic values. Based on the predictions, the drag torque can be predicted as a function of differential speed in Step 6, using an approximation function. The model allows a user-oriented prediction of the drag torque even for a high number of parameters with low computational effort and sufficient accuracy at the same time.

     

Usability of SCADA as predictive maintenance for wind turbines

Wind energy is an essential source of renewable energy. However, to compete with conventional energy sources, energy needs to be produced at low costs. An ideal situation would be to have no costly, unscheduled maintenance, preferably. Currently, O&M are half of the yearly expenses. The O&M costs are kept low by scheduled and reactive maintenance. An alternative is predictive maintenance. This method aims to act before any critical and costly repair is required. Additionally, the component is used to its full potential. However, such a strategy requires a damage indication, similar to one provided by a condition monitoring system (CMS). This paper investigates if Supervisory Control and Data Acquisition (SCADA) can be used as a damage indicator and CMS. Since 2006, every wind turbine is obliged to use such a SCADA-system. SCADA records a 10-minute average, maximum, minimum, and standard deviation of multiple technical information channels. Analytics can use those data to determine the normal behavior and a prediction model of the wind turbine. The authors investigated statistical and data mining methods to predict main bearing faults. The methods indicated a defect of up to 6 months before its maintenance.

     

First comparison of the electrical properties of two grid emulators for UVRT test against field measurement

The technical rules for connecting turbines to the medium, high or extra-high voltage grid in Germany require the certification of the UVRT characteristics of wind turbines. The state-of-art voltage divider-based test equipment, also named UVRT-Container, is well equipped for executing UVRT tests in field. To conduct the UVRT in field the full wind turbine should be already installed. A second option to perform UVRT tests are system level test benches. They enable the testing of the nacelle. The components that are not actually present, such as the turbine tower or the blades, are emulated via a mechanical hardware in the loop (HiL) system. In this work, for the first time, the performance of two different grid simulators installed at the DyNaLab at Fraunhofer IWES and at the CWD at RWTH Aachen University is compared with a field measurement of the same type of wind turbine. Thus, not only a system test bench measurement is compared to a field measurement. Rather, two system test benches with individual technical approaches are additionally compared with each other. The focus of this work is to investigate the characteristics of the grid simulators within the steady-state range of the UVRT tests to replicate identical fault shapes on the test benches and in the field.