As a result of more stable wind conditions and the depletion of near-shore locations, wind farms are moving farther offshore into deeper waters, challenging the current limits of offshore heavy-lift operations. This paper presents and verifies a novel frequency-domain framework to perform extensive site-specific analysis, of floating installations of wind-turbine towers, subjected to wind and wave loads. The versatility and potential of this framework is demonstrated with a case-study of a wind farm near the coast of Portugal. The results lead to the following conclusions: (1) Only considering beam-seas the yearly workability is 39 %; (2) Workability is mostly limited by wave loads; (3) Tower motions tend to decrease with tower size and are not significantly affected by hook-tower distance (sling length); and finally, (4) In this case-study the most contributing frequencies for tower motions are 0.3 and 0.4 rad/s, corresponding mainly to the first pendulation mode.

Europe has set an ambitious target to increase the offshore wind power capacity to approximately 30 GW by 2026. With nearshore locations already allocated, future wind farms must be installed in deeper waters, pushing the operational limits of currently used jack-up vessels. Utilizing existing floating heavy-lift vessels presents a viable alternative. This paper disseminates data gathered during the full-scale testing campaign of a floating installation of an offshore wind turbine tower. For this purpose, novel time-synchronized motion-tracking units were developed. Analysis of the obtained data reveals that approximately 96% of the motion response of the tower is due to wave action and 3% to vortex-induced vibrations caused by the presence of a passive tugger line, which shifted one of the system's natural frequencies towards the tower's vortex-shedding frequency. Next to wind and wave-induced motion, the data reveal that the hoisting itself induces tower vibrations, accounting for less than 1% of the tower motion response. The collected data offer a distinctive perspective on this type of installation, which is unlikely to be replicated at model scale due to the scaling limitations associated with the interdependence of waves and wind. The data can be used to validate motion control strategies to enhance the efficiency, safety, and workability of floating offshore wind turbine installations.

The offshore wind market is growing, resulting in larger wind turbines being installed farther away from the coast and into deeper waters. This trend brings challenges to an industry strongly depending on the use of jack-up vessels. A floating vessel equipped with a Dynamic Positioning (DP) system and a Motion Compensated Gripper Frame (MCGF) provides a more efficient solution to guide XXL monopoles during the installation phase. According to strict regulations, the offset angle of monopiles shall not be over 0.25°. To ensure this, a robust control method is required to deal with gradual change in soil stifness, wave induced motions and sensor delays. The control force exerted by the gripper frame can significantly affect the floating vessel dynamics, hence, this should be optimized. Therefore, the research goal is to analyse the system and design a robustly stable control for the MCGF. In the context of this research, cascade PID control with gain-scheduling is chosen, which is able to control the Gripper Frame during all installation steps for different soil stiffness and to reject wave disturbances. With the use of the lumped multiplicative uncertainty structure, the changing and uncertain soil-characteristics are modelled. The sensor delay to measure the monopile inclination, has a significant impact on system stability. Robust stability criteria are validated using the Nyquist criterion and by analysing the system's closed-loop poles. With the use of gain-scheduling it is possible to switch control settings during the installation. Time-domain results show that with this design approach the installation criteria are met such as the maximum monopile angle and the applied control force. Ultimately, it is shown that robust PID control with gain-scheduling for a MCGF can ensure safe, efficient and cost-effective installation of the next generation wind turbines. Future research should focus into the definition and implementation of the gain-scheduling switching criteria.