scholarly journals Method for Real-Time Hybrid Model Testing of ocean structures: Case study on horizontal mooring systems

2019 ◽  
Vol 172 ◽  
pp. 46-58 ◽  
Author(s):  
S.A. Vilsen ◽  
T. Sauder ◽  
A.J. Sørensen ◽  
M. Føre
Keyword(s):  
2018 ◽  
Vol 51 (29) ◽  
pp. 74-79
Author(s):  
Einar S. Ueland ◽  
Roger Skjetne ◽  
Stefan A. Vilsen
Keyword(s):  

Author(s):  
Thomas Sauder ◽  
Asgeir J. Sørensen ◽  
Kjell Larsen

This paper investigates the applicability of real-time hybrid model testing (ReaTHM testing) to the study of offshore systems in deep water. The focus is in particular on slender marine structures connecting floating structures to the seabed, and on how they could be truncated so that a model test setup at a reasonable scale could fit existing hydrodynamic laboratory infrastructures. In this context, ReaTHM testing consists in “substructuring” the slender structures in two parts. At the lower part of the water column, the first substructure is numerical, simulated using a nonlinear finite element method. On the upper part of the water column, the other substructure is physically modelled in an ocean basin. Both substructures interact in real-time through a set of sensors and actuators. This paper addresses through a case study the important issue of accuracy of ReaTHM testing, that is how the behavior of the substructured system varies from that of the emulated system. A top-tensioned riser in 1200m water depth is considered, with two truncation locations: 240m and 600m below the free surface. It is assumed that an artefact is introduced by the ReaTHM test setup, namely a time delay induced by e.g. the numerical calculations, or the actuation system. It is first shown how this artefact influences the accuracy of the setup, and then how the truncation ratio influences the tolerance of the ReaTHM test setup to such an artefact.


Author(s):  
Maxime Thys ◽  
Alessandro Fontanella ◽  
Federico Taruffi ◽  
Marco Belloli ◽  
Petter Andreas Berthelsen

Abstract Model testing of offshore structures has been standard practice over the years and is often recommended in guidelines and required in certification rules. The standard objectives for model testing are final concept verification, where it is recommended to model the system as closely as possible, and numerical code calibration. Model testing of floating offshore wind turbines is complex due to the response depending on the aero-hydro-servo-elastic system, but also due to difficulties to perform model tests in a hydrodynamic facility with correctly scaled hydrodynamic, aerodynamic and inertial loads. The main limitations are due to the Froude-Reynolds scaling incompatibility, and the wind generation. An approach to solve these issues is by use of hybrid testing where the system is divided in a numerical and a physical substructure, interacting in real-time with each other. Depending on the objectives of the model tests, parts of a physical model of a FOWT can then be placed in a wind tunnel or an ocean basin, where the rest of the system is simulated. In the EU H2020 LIFES50+ project, hybrid model tests were performed in the wind tunnel at Politecnico di Milano, as well as in the ocean basin at SINTEF Ocean. The model tests in the wind tunnel were performed with a physical wind turbine positioned on top of a 6DOF position-controlled actuator, while the hydrodynamic loads and the motions of the support structure were simulated in real-time. For the tests in the ocean basin, a physical floater with tower subject to waves and current was used, while the simulated rotor loads were applied on the model by use of a force actuation system. The tests in both facilities are compared and recommendations on how to combine testing methodologies in an optimal way are discussed.


Author(s):  
Madjid Karimirad ◽  
Erin E. Bachynski ◽  
Petter Andreas Berthelsen ◽  
Harald Ormberg

In this paper, integrated analyses performed in SIMA are compared against experimental results obtained using real-time hybrid model testing (ReaTHM®) carried out in the ocean basin facilities of MARINTEK in October 2015. The experimental data is from a 1:30 scaled model of a semi-submersible wind turbine. Coupled aero-hydro-servo-elastic simulations are performed in MARINTEK’s SIMA software. The present work extends previous results from Berthelsen et al. [1] by including a blade element/momentum (BEM) model for the rotor forces in SIMA and comparing the coupled responses of the system to the experimental results. The previously presented hydrodynamic model is also further developed, and the importance of second order loads (and applicability of approximate methods for their calculations) is examined. Low-frequency hydrodynamic excitation and damping are seen to be important, but these loads include a combination of viscous and potential forces. For the selected concept, the second order potential flow forces have limited effects on the responses.


2015 ◽  
Vol 80 ◽  
pp. 2-12 ◽  
Author(s):  
Erin E. Bachynski ◽  
Valentin Chabaud ◽  
Thomas Sauder

Author(s):  
Thomas Sauder ◽  
Valentin Chabaud ◽  
Maxime Thys ◽  
Erin E. Bachynski ◽  
Lars Ove Sæther

This article presents a method for performing Real-Time Hybrid Model testing (ReaTHM testing) of a floating wind turbine (FWT). The advantage of this method compared to the physical modelling of the wind in an ocean basin, is that it solves the Froude-Reynolds scaling conflict, which is a key issue in FWT testing. ReaTHM testing allows for more accurate testing also in transient conditions, or degraded conditions, which are not feasible yet with physical wind. The originality of the presented method lies in the fact that all aerodynamic load components of importance for the structure were identified and applied on the physical model, while in previous similar projects, only the aerodynamic thrust force was applied on the physical model. The way of applying the loads is also new. The article starts with a short review (mostly references) of ReaTHM testing when applied to other fields than marine technology. It then describes the design of the hybrid setup, its qualification, and discusses possible error sources and their quantification. The second part of the article [1] focuses on the performance of a braceless semi-submersible FWT, tested with the developed method. The third part [2] describes how the experimental data was used to calibrate a numerical model of the FWT.


2021 ◽  
Vol 9 (2) ◽  
pp. 191
Author(s):  
Einar Ueland ◽  
Thomas Sauder ◽  
Roger Skjetne

In real-time hybrid model testing, complex ocean structures are emulated by fusing numerical modelling with traditional hydrodynamic model testing. This is done by partitioning the ocean structure under consideration into a numerical and a physical substructure, coupled in real time via a measurement and control interface. The numerically computed load vector is applied to the physical substructure by means of multiple actuated winches so that the resulting experimental platform becomes a type of cable-driven parallel robot. In this context, the placement of the actuated winches is important to ensure that the loads can be accurately and robustly transferred to the physical substructure. This paper addresses this problem by proposing a performance measure and an associated actuator placement procedure that enables accurate force tracking and ensures that the numerically calculated loads can be actuated throughout the testing campaign. To clarify the application of the proposed procedure, it is applied to the design of a test setup for a moored barge. Overall, the paper represents a guideline for robust and beneficial actuator placement for real-time hybrid model testing using cable-driven parallel robots for load-actuation.


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