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1 Dr. Nikolas Xiros Naval Arch. & Marine Eng. at the University of New Orleans Southeast Symposium on Contemporary Engineering Topics New Orleans, Louisiana.

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Presentation on theme: "1 Dr. Nikolas Xiros Naval Arch. & Marine Eng. at the University of New Orleans Southeast Symposium on Contemporary Engineering Topics New Orleans, Louisiana."— Presentation transcript:

1 1 Dr. Nikolas Xiros Naval Arch. & Marine Eng. at the University of New Orleans Southeast Symposium on Contemporary Engineering Topics New Orleans, Louisiana – September 19, 2014 Ocean Current Power Harvesting by Integrated Turbine Control

2 2 CONTENTS Introduction and research statement Electric power plant modeling Representation of a Catenary Riser’s Dominant Nonlinear Dynamics Distributed autonomous swarm intelligence using Robust Probabilistic Control and Physicomimetics Conclusions and discussion

3 Ocean Current Power Harvesting by Integrated Turbine Control ECCS – Nikolas Xiros – University of New Orleans I. Recent Outcomes & Accomplishments: 1) Data analysis of prototype turbine power, torque & rpm performance. Using the data series obtained by field trials and experimentation, a comprehensive computer simulation model including impeller hydrodynamics and mooring hydromechanics as well as electromechanical power takeoff system was developed. 2) Audit of commercial ocean current turbine concepts analysis. One such audit has been completed to determine major feature commonality. This is the first step to select an Ocean Current Turbine (OCT) arrangement which suits not only electromechanical and flight control methodology development of a single OCT, but also ensures consistency and relevance for the greatest number of commercially proposed concepts. 3) A paper to be presented at DSCC The tentative title is “Power take- off Control of moored in-stream hydrokinetic turbines”. Beyond ASME Dynamic Systems and Control Conference, a publication is in preparation to be submitted to a prestigious journal of the field. OTHER COLLABORATING INSTITUTIONS ON THIS NSF GRANT - Florida Atlantic University – Dr. James VanZwieten - Virginia Tech – Dr. Cornel Sultan NSF ENG/ECCS 2014 Award Highlight III. Broader Impact: (a)Intellectual, Industrial and Societal: An outstanding obstacle to commercialization of Marine Hydrokinetic Energy (MHK) will be solved to accelerate the availability of ocean current generated energy around the world. The results of this effort will enable the U.S. Department of Energy to make more confident investment decisions, the international standards groups to establish standards more swiftly, and will assist regulatory framework development for the Bureau of Ocean Energy Management. A more diverse world-wide portfolio for energy generation, especially with sustainable renewables, will certainly benefit society at large. This project will also broaden the participation of underrepresented groups with science and engineering. (b)Educational: A successful program of developing K-12 educational materials coupled with teacher training has been integrated with engineering and research activities. This effort, like other initiatives, will be included. The lessons learned as a result of the research are incorporated into the curriculum development and researchers regularly participate in training and outreach. Also, graduate students are mentored by being integrated directly with project planning, management, and execution. II. Basic Principles: Technical Two major areas of expertise are needed to successfully perform the work proposed: (1) modeling of physical oceanographic processes coupled with submerged body dynamics, and (2) modeling of electrical power generation coupled with advanced vehicle control. Non-technical Harnessing ocean currents is an immature commercial sector. Although ambitious inventors have proposed numerous solutions, until the 21st century, there has not been an adequate available combination of critical technologies and simultaneous social need for alternative energy. Although there has been considerable investment in Europe and Asia during the past decade to develop tidal and wave conversion technologies, ocean current technology is under developed. Today, only a handful of companies have secured sufficient investment and proposed reasonable extraction concepts. All, however, are currently focused on demonstrating turbine efficiencies, environmentally benign installations, and positive economic value for single turbine scales. No pre-commercial scale prototypes have been tested in relevant environments and no significant effort has yet been dedicated to a major challenge that must be addressed before full commercial implementation – how will the proposed turbines position correctly in the water column, and how will the dynamics of a flexible mooring system affect power generation Artist’s rendering of the Southeast National Marine Renewable Energy Center’s (Florida Atlantic University) small-scale turbine test berth and experimental turbine deployment configuration.

4 4 Electric power plant modeling SYSTEM OUTLINE Direct-drive AC induction motor Flexible propeller shaft with bearings and damping Surface piercing propeller (SPP) Lookup table for feed-forward control setting Proportional-Integral-Differential (PID) feedback control

5 5 Net 1 SPP modeling with neural nets Net 2

6 6 Net 1 SPP modeling with neural nets Net 2

7 7 Net 1 SPP torque-speed curve generated from neural nets Net 2

8 8 Shafting model as mechanical system

9 9 Shafting model as Simulink module

10 10 Matlab induction motor model to obtain speed-torque curves

11 11 Speed torque curves of induction motor 50 HP, 3-phase, 60 Hz, 3600 rpm

12 12 Speed-frequency table generation for induction motor

13 13 Generated speed-frequency table with propeller shaft inertia

14 14 CATENARY RISER’S NONLINEAR DYANMICS Problem setup

15 15 INTRODUCTION – GOVERNING EQUATIONS

16 16 TEST CASE SPECIFICS & NUMERICAL SIMULATION SETUP

17 17 NUMERICAL SIMULATION RESULTS Frequency domain response for node 4, excitation frequency 1.0 rad/sec, excitation amplitude 0.5 m/sec. Time domain response for node 35, excitation frequency 0.8 rad/sec, excitation amplitude 1.0 m/sec.

18 18 COMPLEX SINGULAR VALUE DECOMPOSITION

19 19 DATA-DRIVEN SINGULAR MODAL ANALYSIS Riser’s singular modes for axial (a) and normal (b) motions. Natural frequencies (rad/sec) No 1 through 4: , , ,

20 20 MODAL POWER DISTRIBUTION MATRIX – CATENARY ID

21 21 Autonomous swarm control paradigm: Mine detection system

22 22 Vehicle level control Route planning and navigation of the autonomous vehicles

23 23 ROBUST PROBABILISTIC CONTROL

24 24 ROBUST PROBABILISTIC CONTROL

25 25 ROBUST PROBABILISTIC CONTROL

26 26 CONCLUSIONS & FUTURE RESEARCH What has been done so far: Development of Robust Probabilistic Control Framework Development of power plant model Development of pressure vessel hydromechanics model Future research: Motion control system for single turbine Power optimization of single system Implementation of Robust Probabilistic Control Thank you for your attention – DISCUSSION


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