Wave Feedforward and Multivariable Feedback Control Architectures and Design Methods for Floating Wind Turbines
A.R.M. Hegazy (TU Delft - Team Jan-Willem van Wingerden)
J.W. van Wingerden – Promotor (TU Delft - Team Jan-Willem van Wingerden)
P. Naaijen – Copromotor (TU Delft - Ship Hydromechanics and Structures)
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Abstract
Floating wind turbines face persistent wind–wave disturbances that conventional feedback-only controllers—operating without environmental awareness—manage reactively. This thesis advances proactive control by incorporating real-time wave information into turbine control. Building on LiDAR-based wind preview, this thesis investigates the usage of wave preview (e.g., RADAR) and develops data-driven feedforward controllers that account for unmodeled dynamics. Two controllers are synthesized—one to reduce generator-speed fluctuations and another to damp platform pitch—and are integrated alongside the standard speed-regulation loop. Mid-fidelity simulations under realistic seas show attenuation of wave-induced speed variations and pitching within the linear-wave frequency band. Hybrid wave-tank experiments, combining physical hydrodynamics with real-time numerical aerodynamics and control, corroborate these benefits across varied conditions. A second contribution addresses the negative-damping instability and bandwidth limits arising from non-minimum-phase zeros in the blade-pitch–to–generator-speed path. A new control architecture is introduced that mitigates these constraints without additional sensors, preserving industry practice. Together, these results enhance energy capture, reduce fatigue, and improve stability, supporting cost-competitive floating wind.