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Lecture 4

This document summarizes a lecture on wind turbine control mechanisms. It discusses using a spring-loaded pitching mechanism to control blade pitch angle and limit power production. Equations are presented to calculate the required spring force based on aerodynamic moment and prescribed pitch angle. An example slider-crank mechanism is shown and spring parameters are defined. Useful online resources on kinematics, mechanisms, and spring design are also provided.

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36 views25 pages

Lecture 4

This document summarizes a lecture on wind turbine control mechanisms. It discusses using a spring-loaded pitching mechanism to control blade pitch angle and limit power production. Equations are presented to calculate the required spring force based on aerodynamic moment and prescribed pitch angle. An example slider-crank mechanism is shown and spring parameters are defined. Useful online resources on kinematics, mechanisms, and spring design are also provided.

Uploaded by

Abdul
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
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ET3107 – 2021-2022

Lecture 4

Dr Marinos Manolesos
[email protected]
Sli.do
▪ Event: ET3107

▪ Code: Group_Design
News
▪ Tutorials Today and on Friday are online

▪ Same ZOOM coordinates as for Friday’s tutorials

https://city-ac-uk.zoom.us/j/82120671867

Meeting ID: 821 2067 1867


Passcode: 832896
(An example of) the pitching mechanism
(An example of) the pitching mechanism

Passive pitch control


▪ to limit power production to
5kW and

▪ to limit forces on the blades


Kinematics
The study of the motion of points,
objects, and groups of objects
without considering the causes of its
motion (i.e. forces).
Kinematics
• To describe motion, kinematics studies
the trajectories of points, lines and other
geometric objects.

• The study of kinematics can be


abstracted into purely mathematical
expressions.

• Kinematic equations can be used to


calculate various aspects of motion such
as velocity, acceleration, displacement,
and time.
Reference Frames and Displacement

▪ Choosing a frame of reference requires deciding where the


object’s initial position is and which direction is positive.

▪ Displacement is the change in position of an object relative to its


reference frame.
(General) Problem solving steps

1. Identify exactly what needs to be determined in the problem


(identify the unknowns).
2. Find an equation or set of equations that can help you solve the
problem.
3. Substitute the knowns along with their units into the
appropriate equation, and obtain numerical solutions complete
with units.
4. Check the answer to see if it is reasonable: Does it make sense?
Reminder
𝜙 = 𝐼𝑛𝑓𝑙𝑜𝑤 𝐴𝑛𝑔𝑙𝑒

𝜃 = 𝑇𝑤𝑖𝑠𝑡 𝐴𝑛𝑔𝑙𝑒

𝛼 = 𝐴𝑛𝑔𝑙𝑒 𝑜𝑓 𝑎𝑡𝑡𝑎𝑐𝑘 𝑭𝑵
𝑎 = 𝐴𝑥𝑖𝑎𝑙 𝐼𝑛𝑑𝑢𝑐𝑡𝑖𝑜𝑛 𝐹𝑎𝑐𝑡𝑜𝑟

𝑎′ = 𝑇𝑎𝑛𝑔𝑒𝑛𝑡𝑖𝑎𝑙 𝐼𝑛𝑑𝑢𝑐𝑡𝑖𝑜𝑛 𝐹𝑎𝑐𝑡𝑜𝑟

𝝎𝒓 𝟏 + 𝒂′ 𝑭𝑻 𝑴𝒄/𝟒

𝜽 Rotor plane
𝝓 𝜶 𝑽𝒆𝒇𝒇 𝑽′ = 𝑽∞ 𝟏 − 𝒂

Rotor axis
Objective

▪ Pitch the blade to reduce loads up to 20m/s

Rotor plane
𝜶 𝑽𝒆𝒇𝒇
Objective

▪ Pitch the blade to reduce loads

Rotor plane
𝜶 𝑽𝒆𝒇𝒇
Pitching mechanism (one option)

▪ Use a spring 𝒌 at a reasonable distance 𝑳

Rotor plane
𝜶 𝐿
𝑽𝒆𝒇𝒇

𝑘
Pitching mechanism (one option)

▪ Use a spring 𝒌 at a reasonable distance 𝑳


to control the pitch angle when moment exceeds a certain value

Rotor plane
𝐿
𝜶′ 𝑽𝒆𝒇𝒇

𝑘
Equations

𝑀𝑐/4 𝑉∞ = 𝑐𝑚 0.5𝜌𝑉∞2 𝑅𝑐𝑎𝑣𝑔


2

𝐶𝑚 : pitching moment coefficient, assume 𝑐𝑚 = −0.125

𝜌: density, 𝜌 = 1.225 𝑘𝑔/𝑚3

𝑉∞ : wind speed, this will vary depending on your control requirements

𝑅: maximum radius, depends on your design

𝑐𝑎𝑣𝑔 : average chord, depends on your design


Equations

At all wind speeds: 𝐹𝑆𝑝𝑟𝑖𝑛𝑔 = 𝐹𝑀


𝐹𝑀 : Force due to aerodynamic moment
𝐹𝑀 = 𝑀𝑐/4 /𝐿

𝐹𝑆𝑝𝑟𝑖𝑛𝑔 : Spring force 𝛽


𝐿
𝐹𝑆𝑝𝑟𝑖𝑛𝑔 = 𝑘𝑥

𝑥: linear displacement, spring contraction/extension 𝐹𝑀 𝐹𝑠𝑝𝑟𝑖𝑛𝑔


𝑥 ≈ 𝑠𝑖𝑛𝛽

𝛽: pitch angle, always negative, prescribed from Qblade design 𝑥


Result
Actual Angle Target Angle ▪ You might not be able to get the exact
0° angle distribution.
-5° ▪ Is it acceptable?
-10°
▪ Go back to Qblade, set the power
regulation to prescribed, put in the
Angle [deg]

-15°
achieved angle values and calculate
-20° performance again.
-25° ▪ Would a non-linear or double springs
-30°
help?
-35°
10 12 14 16 18 20 22
Windspeed [m/s]
Slider-crank mechanism
Slider-crank mechanism
Spring Parameters
▪ ID: Internal Diameter
▪ OD: Outer Diameter
▪ D: Mean Diameter
▪ d: Wire diameter
▪ P: Pitch
▪ Lf: Free length
▪ Na: number of active coils
▪ Nt: total number of coils
▪ C: Spring Index D/d
Spring end types
▪ Plain end springs offer higher
travel and lower force for the
same total length
▪ Square (or Closed) end springs
are the least expensive, but tend
to buckle under the load.
▪ Grounding reduces the tendency
to buckling and improves
placement accuracy
Example
Example

▪ Make sure there is enough


space!

▪ Make sure you design for


nose down control!
Useful links
▪ https://www.youtube.com/watch?v=bJMYoj4hHqU
▪ https://demonstrations.wolfram.com/OffsetSliderCrankMechanism/
▪ http://mm-nitk.vlabs.ac.in/exp10/index.html#
▪ https://www.youtube.com/watch?v=5xYk7_YwbEg
▪ https://www.youtube.com/watch?v=ACWzPxj5ZZY
▪ https://www.acxesspring.com/spring-constant-calculator.html
▪ https://amesweb.info/MechanicalSprings/CompressionSpringDimesionalRateBasedDesign.aspx
▪ https://www.acxesspring.com/spring-calculator.html
Resources
▪ https://courses.lumenlearning.com/boundless-physics/chapter/basics-of-kinematics/
▪ https://www.cs.cmu.edu/~rapidproto/mechanisms/chpt3.html
▪ http://mm-nitk.vlabs.ac.in/exp10/index.html

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