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Proceedings of the Thirty-second (2022) International Ocean and Polar Engineering Conference
Shanghai, China, June 5–10, 2022
Copyright © 2022 by the International Society of Offshore and Polar Engineers (ISOPE)
ISBN 978-1-880653-81-4; ISSN 1098-6189

Lifting control of single blade of offshore wind turbine using PID
1

MingquanWang1, Jiamin

Guo1 , Yutao

He1, Yuyang

Xie2

Shanghai Maritime University. Shandong survey and design institute of water conservancy
1
Shanghai, Shanghai, China. 2Jinan,Shandong,China
2ABSTRACT

Skrzypinski and Gaunaa,2016; Kuijken,2015). The suspended blades
are connected with the crane boom through the tugger lines which do
not have any active control as usual, Jiang and Gao (2018) determined
the movement characteristics of blade installation model which could
be seen in the ‘The key parameters of blade installation in the final
stage’. Ren and Jiang (2018) introduced the method of combining
extended Kalman filter (EKF) with PID control which realized theprecise control of single blade lifting by using two plane ropes.
However, they just put the three planar motions and the simplified
wind-induced loads into consideration, while the influence caused byturbulent wind is neglected. Schulten,P.and Stapersma,D. had made theresearch on the validity of the complex simulation model whichclarified the difference between model results and the measured ones.
What’s more,they also made the uncertainty analysis.In 2014, Martelli
proposed a method which combine the ship design of propulsion
control method with the newly developed program. Due to this method
they realized the coupled numerical simulation with six degrees offreedom in the same simulation environment mentioned before. Thecontrol design of the offshore wind turbine installation process requires
numerical simulation, which can be done by using open-source
MATLAB/Simulink toolboxes such as GNC Toolboxes, Hydro
Toolboxes, and MarPowSim in ship System Simulator (Perez etal.,2006; MSS. Marine Systems Simulator, 2010; Bø et al.,2015). But
these kits are short of the modules to simulate the installation process ofthe turbine installation. Subsequently, Ren (2018) developed a MarIn
simulator to extend the supplementary function to simulate theinstallation of offshore wind turbine blades. With the improvement ofthe internal module, the blade lifting is also taken into account and thecontrol problem of 6-DOF blade lifting is still not solved. Based on theabove-mentioned problems, this paper uses PID control technology toconstruct and design a control system of six DOF blades, which isbased on the research of the MarIn simulator. The new controllingsystem can improve lifting accuracy and realize blade control incomplex situations.

The work studies the lifting of offshore wind turbine blade in turbulent
wind. First, a 6-DOF system for the single blade is developed. Then,the work gives a closed-loop control system based on PID algorithm.
Last, the single blade is controlled using the developed control
algorithm. The results show that reducing the target installation height
will increase the tugger line force and its rate of change, therefore weshould avoid a too low installation position.

KEYWORDS: Offshore wind turbine; turbulent wind; single blade;Six DOF; PID control.

INTRODUCTION
Nowadays the demand for low-carbon or even carbon-free electricity
technologies has dramatically increased. Because of the sufficiency ofwind energy, zero cost of green energy, and low emission of pollution
with a short recycling period, researchers have put more emphasis on
clean energy (Veers et al.,2019). According to the data given by theenergy consultant company called Wood Mackenzie, the installedcapacity of the wind turbine capacities had reached 114GW, which had
an 82 percents’ growth ratio. They assumed that the global will haveanother 1TW installed capacities in the next 10 years. The Hornsea
Two offshore wind farm had already completed its first generation
work and it could generate over 1.3GW capacities, which would be thelargest offshore wind farm after it was put into use.With theenlargement of single unit capacity, the blades will have longer length
and wind turbines will have a larger diameter, which sharply increases
the installation cost of the wind turbines. Efficient installation of blades
can reduce the offshore operation time and shorten the construction
period, which can vastly reduce the cost and promote the constructionof offshore wind farms. Single blade lifting is an advanced lifting
technology that comprehensively considers both the cost of wind power
and the offshore environment. With this technology and advanced
equipment, the previous restrictions about the wind speed during lifting
operations for offshores can be increased from 8-12m/s to 16-18m/s (Liand Shen,2020). Therefore, the installation of a single blade of offshore
wind turbine has been much more popular among engineers andresearchers.
Pneumatic elastic behavior and extreme wind single blade installation
are studied based on the research of stationary state order blade
aerodynamic (Gaunaa and Bergami,2014; Gaunaa and Heinz,2016;

Modeling of blade lifting system
The process of the blade installation is as follows. Firstly, let the windwheel rotate to the horizontal installation position of the first blade.
Secondly, lift the blade and insert it into the hub from the transportation
platform. Finally, rotate the blade for 120 ° in order to reach theinstallation position for the next blade (Wang and Gong et al.,2020). As381