A New Proposal for the Closed-Loop Orientation Control of a Windfloat Turbine System

It is believed that offshore wind power will play an important role in fulfilling the environmental commitments made in the Paris Agreement signed in 2015. The use of floating solutions in offshore wind power is gaining prominence, since it allows the expansion of these technologies to a large number of regions in which this has not been technically feasible until now. One of the current issues that needs to be studied in detail as regards offshore wind structures are the oscillations produced by the waves and the wind that could cause important problems in the turbine such as the reduction of the efficiency and performance or the appearance of structural damages owing to undesired loads on the blades, among others. This signifies that the inclination of the structure must not exceed a certain small value in the operating phase. This paper, therefore, presents a simple dynamic modeling and a nonlinear multivariable control model-based system for a Windfloat turbine whose main function is to stabilize the system and to keep it vertical in order to improve its operation and, therefore, maintain the offshore wind turbine in the optimal conditions required to harness energy from the wind. The effectiveness of both the dynamic model and the proposed control algorithm has been demonstrated by developing various simulations in a MATLAB-Orcaflex environment, in which the Windfloat structure proved to have very small vertical deviations when wind impinges over the rotor, despite the undesirable effects caused by parametric uncertainties (e.g., the effect of the anchoring cables) in the system and unmodeled unmatched perturbations (such as the effects of the wind and the waves on the Windfloat turbine).