Multi Flexible Body Analysis for Application to Wind Turbine Control Design

A methodology is presented for the modeling of flexible horizontal-axis, wind-turbine systems. The multi-rigid-body portions of the system are modeled as a system of interconnected rigid bodies using Autolev, a symbolic manipulator ideally suited for dynamics of multi-rigid-body systems. The flexible portions of the wind-turbine system are represented as beam finite ele- ments. Equations are presented for the beam element, and the choices of generalized coordinates and general- ized speeds for the multi-rigid-body portion of the sys- tem are discussed. Finally, a method for the explicit linearization of the system equations is presented, along with a method for the unification of these equations into one framework.

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