2011 dp conference - paper 03.ppt · 2015-01-07 · wind feedforward blowing away the myths richard...
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Wind feedforwardBlowing away the myths
Richard Stephens, 11 Oct 2011Richard Stephens, 11 Oct 2011
This document contains confidential and proprietary information of Converteam and must not be used for any purpose other than that for which it is supplied by Converteam Its contents must not be disclosed to any otherpurpose other than that for which it is supplied by Converteam. Its contents must not be disclosed to any other
person nor copied in whole or in part without the prior written consent of Converteam
Summary
How wind feedforward works
Limitations:� Anemometers� Variability of wind� Modelling errors� g� Effect of structures
When is wind feedforward beneficial?
Conclusions
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Simplified block diagram
Kalmanfilter ControlPosition
measurementThrust
demand+
_
Wi d
Wind model
Windspeed
Winddirection
Wind force estimates
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Measured anemometer differences
5
6
7Direction difference distribution
6
7
8Speed difference distribution
3
4
5
mbe
r of o
ccur
renc
es
3
4
5
mbe
r of o
ccur
renc
es
0 5 10 15 20 25 300
1
2
Num
0 0 5 1 1 5 2 2 50
1
2
Num
0 5 10 15 20 25 30Difference [deg]
0 0.5 1 1.5 2 2.5Difference [m/s]
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Measured anemometer changes
C i f d i d di ti ith t t
100
120Comparison of measured wind direction with two anemometers
Anem1Anem2
80
on [d
eg]
40
60
win
d di
rect
io
20
Mea
sure
d
0 1000 2000 3000 4000 5000 6000 7000-20
0
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0 1000 2000 3000 4000 5000 6000 7000Time [s]
Effect of fixed platform on wind speed
400
200
30025.8 m/s
-100
0
100
orth
pos
ition
[m]
0 m/s
-300
-200
-100No
-200 0 200 400 600 800 1000
-400
East position [m]
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East position [m]
Wind changes in lee of platform
15
20[m
/s]
Wind speed and direction at bow and stern of vessel behind a platform
BowStern
5
10
Win
d sp
eed
0 50 100 150 200 250 300 3500
200
100
200
ctio
n [d
eg]
0 50 100 150 200 250 300 350-100
0
Win
d di
re
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0 50 100 150 200 250 300 350Time [s]
Crane barge surge position results
3
4 Without FFWith FF
1
2
]
0
1
rge
posi
tion
erro
r [m
]
-2
-1Sur
0 100 200 300 400 500 600 700 800 900 1000-4
-3
Time [s]
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Time [s]
Crane barge sway position results
1
2 Without FFWith FF
1
0
-2
-1
way
pos
ition
erro
r [m
]
-4
-3Sw
0 100 200 300 400 500 600 700 800 900 1000-6
-5
Time [s]
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Time [s]
Crane barge heading results
1
1.5 Without FFWith FF
0.5
1
]
-0.5
0
w p
ositi
on e
rror [
deg]
-1
Yaw
0 100 200 300 400 500 600 700 800 900 1000-2
-1.5
Time [s]
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Time [s]
Wind coeff analysis: anem offset
o
0
0.2Supply vessel, 28o anemometer error
kN/(m
/s)2
0 50 100 150 200 250 300 350 400-0.2S
urge
k
0.52
0
way
kN
/(m/s
)2
0 50 100 150 200 250 300 350 400-0.5S
w
5
(m/s
)2
0 50 100 150 200 250 300 350 400-5
0
Yaw
kN
m/(
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Incident angle [deg]
Effect of anemometer offset
100Supply vessel, 28o anemometer error
100Supply vessel, 28o anemometer error 100
Supply vessel, 28o anemometer error
0
20
40
60
80
100
gle
[deg
]
0
20
40
60
80
100
gle
[deg
]
0
20
40
60
80
angl
e [d
eg]
0 10 20 30 40 50 60 70 80 90-100
-80
-60
-40
-20
0
Sta
rt an
0 10 20 30 40 50 60 70 80 90-100
-80
-60
-40
-20
0
Sta
rt an
0 10 20 30 40 50 60 70 80 90-100
-80
-60
-40
-20
Sta
rt a
0 10 20 30 40 50 60 70 80 90Step size [deg]
0 10 20 30 40 50 60 70 80 90Step size [deg] Step size [deg]
60
80
100 Supply vessel, 28o anemometer error
Bad
0
20
40
60
t ang
le [d
eg]
Poor
-80
-60
-40
-20
Sta
rt
Fair
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0 10 20 30 40 50 60 70 80 90-100
Heading step size [deg]
Good
Map of feedforward effectiveness
S l l 28o
80
100 Supply vessel, 28o anemometer error
Bad
20
40
60
g]
Poor
-20
0
20
tart
angl
e [d
eg
-60
-40
20
St
Fair
0 10 20 30 40 50 60 70 80 90-100
-80
Good
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Heading step size [deg]
Crane barge with booms moved
C b b iti h d
0
2Crane barge, boom position changed
kN/(m
/s)2
0 50 100 150 200 250 300 350 400-2S
urge
2)2
0
way
kN
/(m/s
)
0 50 100 150 200 250 300 350 400-2S
50
(m/s
)2
0 50 100 150 200 250 300 350 400-50
0
Yaw
kN
m/
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Incident angle [deg]
Effectiveness for crane barge
C b b iti h d
80
100 Crane barge, boom position changed
Bad
20
40
60
g]
Poor
-20
0
20
tart
angl
e [d
eg
-60
-40
St
Fair
0 10 20 30 40 50 60 70 80 90-100
-80
Good
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Heading step size [deg]
Shuttle tanker with draught change
Sh ttl t k d ht ti i d d l d 10o t
0
1Shuttle tanker, no draught compensation on wind model and 10o anemometer error
kN/(m
/s)2
0 50 100 150 200 250 300 350 400-1S
urge
2)2
0
way
kN
/(m/s
)
0 50 100 150 200 250 300 350 400-2S
100
(m/s
)2
0 50 100 150 200 250 300 350 400-100
0
Yaw
kN
m/
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Incident angle [deg]
Effectiveness for shuttle tanker
Sh ttl t k d ht ti i d d l d 10o t
80
100 Shuttle tanker, no draught compensation on wind model and 10o anemometer error
Bad
20
40
60
g]
Poor
-20
0
20
tart
angl
e [d
eg
-60
-40
20
St
Fair
0 10 20 30 40 50 60 70 80 90-100
-80
Good
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Heading step size [deg]
Different modelling methods
S l l i d ffi i i diff h d 10o
0
0.2Supply vessel, wind coefficients using different methods, 10o anemometer error
kN/(m
/s)2
0 50 100 150 200 250 300 350 400-0.2S
urge
0.5)2
0
way
kN
/(m/s
)
0 50 100 150 200 250 300 350 400-0.5S
w
5
(m/s
)2
0 50 100 150 200 250 300 350 400-5
0
Yaw
kN
m/(
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Incident angle [deg]
Effectiveness with different models
S l l i d ffi i t i diff t th d 10o t
80
100 Supply vessel, wind coefficients using different methods, 10o anemometer error
Bad
20
40
60
g]
Poor
-20
0
20
tart
angl
e [d
eg
-60
-40
St
Fair
0 10 20 30 40 50 60 70 80 90-100
-80
Good
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Heading step size [deg]
Conclusions
Wind feedforward is not always beneficial
Errors in anemometers
Errors in wind modelling
Changing profile of vessels
Variability of wind in vicinity of structures
Learn when to turn wind feedforward OFF
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Thank you for your attention
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This document contains confidential and proprietary information of Converteam and must not be used for any purpose other than that for which it is supplied by Converteam. Its contents must not be disclosed to any other
person nor copied in whole or in part without the prior written consent of Converteamperson nor copied in whole or in part without the prior written consent of Converteam.
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