Movable range and position control of an offshore wind turbine with a semi-submersible floating platform

This paper presents a method to compute the movable range of an offshore wind turbine with a semi-submersible floating platform in still water under uniform wind field. The movable range is the set of X-Y positions of the platform where equilibria can be achieved while constraints on power, generator torque and generator speed are fulfilled. Within the computed movable range, a static feedforward controller combined with generator speed feedback is designed to accomplish a specified position transfer by only passively utilizing the aerodynamic force through the manipulation of the nacelle yaw angle and the rotor blade pitch angle. Simulation results on the proposed movable range computation and platform position control using a 5MW baseline system are presented.

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