Nonlinear model predictive control of floating wind turbines with individual pitch control

Steffen Raach, David Schlipf, Frank Sandner, Denis Matha & Po Wen Cheng
In this work a nonlinear model predictive controller with individual pitch control for a floating offshore wind turbine is presented. An aerodynamic model of the collective pitch control approach is extended by describing pitching and yawing moments based on rotor disk theory. This extension is implemented in a reduced nonlinear model of the floating wind turbine including disturbance preview of wind speed, linear vertical and horizontal wind shear, and wave height to compute optimal input...
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