energies

Article
Spar-Type Vertical-Axis Wind Turbines in Moderate
Water Depth: A Feasibility Study
Ting Rui Wen 1 , Kai Wang 2, *, Zhengshun Cheng 3,4 and Muk Chen Ong 1
1 Department of Mechanical and Structural Engineering and Material Science, University of Stavanger,
4036 Stavanger, Norway; [email protected] (T.R.W.); [email protected] (M.C.O.)
2 Aker Solutions AS, 1366 Lysaker, Norway
3 Department of Marine Technology, CeSOS and AMOS, Norwegian University of Science and Technology,
7491 Trondheim, Norway; [email protected]
4 Key Laboratory of Hydraulic Engineering Simulation and Safety, Tianjin University, Tianjin 300072, China
* Correspondence: [email protected]; Tel.: +47-94-122726

Received: 10 February 2018; Accepted: 1 March 2018; Published: 5 March 2018

Abstract: The applications of floating vertical-axis wind turbines (VAWTs) in deep water have been
proposed and studied by several researchers recently. However, the feasibility of deploying a floating
VAWT at a moderate water depth has not yet been studied. In this paper, this feasibility is thoroughly
addressed by comparing the dynamic responses of spar-type VAWTs in deep water and moderate
water depth. A short spar VAWT supporting a 5 MW Darrieus rotor at moderate water depth
is proposed by following the deep spar concept in deep water. A fully coupled simulation tool,
SIMO-RIFLEX-DMS code, is utilized to carry out time domain simulations under turbulent wind
and irregular waves. Dynamic responses of the short spar and deep spar VAWTs are analyzed and
compared, including the natural periods, wind turbine performance, platform motions, tower base
bending moments, and tension of mooring lines. The statistical characteristics of the thrust and power
production for both spars are similar. The comparison of platform motions and tower base bending
moments demonstrate a good agreement for both spars, but the short spar has better performance
in surge/sway motions and side–side bending moments. The 2P response dominates the bending
moment spectra for both spars. A significant variation in tension of Mooring Line 1 and a larger
corresponding spectrum value are found in the short spar concept. The results indicate that the
application of short spar VAWTs is feasible and could become an alternative concept at moderate
water depth.

Keywords: offshore wind; vertical axis wind turbine; dynamic response; spar; moderate water depth

1. Introduction
The demand for and development of global wind power energy have both significantly increased
in the past decades. Wind power can be captured and converted into electricity through the use
of wind turbines. Wind turbines are mainly classified into horizontal-axis wind turbines (HAWTs)
and vertical-axis wind turbines (VAWTs) with regard to the direction of the rotating axis. As the
aerodynamic efficiency of HAWTs is generally better than that of VAWTs, nowadays the application of
HAWTs with higher commercial values is mainstream in the wind energy industry.
Since greater wind resources and potential could be explored in deeper seas, wind farms are
moving towards deep water in recent years. Floating offshore wind turbines have become an available
solution which could be widely used in deep water. Spar, semisubmersible, and tension-leg platform
(TLP)—which have been utilized in the oil and gas industry for a long time—are three primary types of
floating structures for offshore wind turbines. The dynamic responses of these floating structures in the
presence of the marine environment are crucial for their design purpose. The natural period of a floater

Energies 2018, 11, 555; doi:10.3390/en11030555 www.mdpi.com/journal/energies

Energies 2018, 11, 555 2 of 17

is a critical index to represent its dynamic behavior. Typically, a spar is characterized by small heave
motion, and its natural periods in surge/sway are usually higher than 100 s [1]. Additionally, several
prototypes of floating HAWTs have been developed, such as a catenary moored spar in the Hywind
project in Norway, a semisubmersible in the WindFloat demo in Portugal, and a spar-type floating wind
turbine in Japan’s Minister of Environment (MOE) project at Kabashima [2]. A commercial floating
wind farm, i.e., the Hywind Scotland by Statoil, started production in 2017. The feasibility of spar-type
HAWTs at different water depths has been studied by Karimirad and Moan [3,4]. Their research
indicates that the short spar HAWT in moderate water depth exhibits good performance in dynamic
responses and maintains almost the same power production as the deep spar HAWT in deep water.
Floating VAWTs are a promising alternative to floating HAWTs due to their potential for
cost-of-energy reduction and maintenance. Additionally, the structural scalability and the heavier
components at the base of the structure allow a bigger rotor diameter for the VAWT to capture
more energy. For the evolution of rotor size, floating VAWTs are more competitive. However,
the development of floating VAWTs is still at an early stage. Some floating VAWT concepts have
been proposed to explore their feasibility, such as a spar buoy with a two-bladed Darrieus rotor in
the DeepWind project [5], and a Spinwind-1 prototype with a helical Darrieus rotor and a floater
from the Gwind project [6], etc. Moreover, the DeepWind project was later extended for further
investigation to include a 5 MW baseline rotor and an optimized blade design with less weight and
higher stiffness [7,8]. Several researchers have contributed mass efforts to floating VAWT studies
in deep water conditions. Wang developed a fully coupled method (SIMO-RIFLEX-DMS code) for
dynamic analysis and applied it to a semisubmersible VAWT [9]. Cheng developed another fully
integrated method for VAWT numerical modeling (SIMO-RIFLEX-AC code), and studied the dynamic
response for various concepts, such as the dynamic analysis of spar, TLP, and semisubmersible VAWTs,
etc. [10]. Ugochukwu analyzed the structural dynamic responses of a 5 MW baseline floating VAWT
and a 5 MW optimized floating VAWT with the DeepWind Darrieus rotor under steady and turbulent
wind conditions [11]. Liu et al. presented a motion study of a 5 MW floating VAWT composed of
a truss spar floating foundation with heave plates under decay tests, wind only, regular wave and
wind, and irregular wind and wave cases [12]. Overall, most of the available floating VAWT concepts
have been evaluated in deep water, whereas the feasibility of deploying a floating VAWT at a moderate
water depth has not yet been discussed.
In this paper, a short spar VAWT with catenary mooring lines carrying a 5 MW Darrieus rotor in
a moderate water depth (150 m) is proposed by following the deep spar concept. The methodology
and modeling for both the spar VAWTs are introduced in Section 2. The dynamic response of the
spar-type structure with the VAWT is analyzed through the fully coupled SIMO-RIFLEX-DMS code.
Various combinations of irregular wind and wave for operating conditions are utilized to assess the
response and performance of both the spar VAWTs. Section 3 presents dynamic response analysis of
the short spar and deep spar VAWTs. The power performances for both the spar VAWTs are compared
and evaluated. A comparative study of platform motions, tower base bending moments, and tension
of mooring lines between the short spar VAWT in moderate water and deep spar VAWT in deep water
is discussed. Finally, a summary of this study is shown in Section 4. The feasibility of the short spar
concept in moderate water conditions is addressed.

2. Methodology and Modeling

2.1. Specifications of Deep Spar and Short Spar VAWTs

A comparison of dynamic responses between the deep spar VAWT and short spar VAWT is
studied in this paper. The schematic layouts of the deep spar and short spar model are shown in
Figure 1. A Darrieus 5 MW wind turbine is used for both models, and its specifications are listed in
Table 1. The deep spar VAWT is a feasible concept of a catenary moored spar-type VAWT which was
introduced by Cheng et al. [13]. The model of the short spar VAWT mainly follows the concept of the
Energies 2018, 11, x FOR PEER REVIEW 3 of 17
Energies 2018, 11, 555 3 of 17

spar HAWT from Karimirad and Moan [3,4], but most of details have been modified. The floater of
the
sparshort
HAWT sparfrom
VAWT consistsand
Karimirad of two
Moandifferent parts
[3,4], but of cylinders,
most and heavy
of details have ballast is placed
been modified. on the
The floater of
bottom.
the shortThe
spardimension of the short
VAWT consists of twospar and configuration
different of the ballast
parts of cylinders, and heavyare determined through
ballast is placed on the
the
following
bottom. The criteria: (a) theofwater
dimension depth;
the short spar(b) theconfiguration
and static equilibrium
of theof the self-weight,
ballast buoyancy
are determined force,
through the
and the tension
following of mooring;
criteria: and depth;
(a) the water (c) the typical
(b) the requirement of theof
static equilibrium initial stability.
the self-weight, buoyancy force,
and the tension of mooring; and (c) the typical requirement of the initial stability.

Figure 1. The diagram of the deep spar and short spar vertical-axis wind turbines (VAWTs) in deep
Figure 1. The diagram of the deep spar and short spar vertical-axis wind turbines (VAWTs) in deep
and moderate water. Here MWL means mean water level.
and moderate water. Here MWL means mean water level.

Table 1. Specifications of the Darrieus 5 MW wind turbine [13].

Table 1. Specifications of the Darrieus 5 MW wind turbine [13].

Item
Item Unit
Unit Value
Value
Rated
Rated power
power (MW)
(MW) 55
Rotor height, root
Rotor height, root to root
to root (m)(m) 129.56
129.56
Rotor radius (m) 63.74
Rotor radius
Chord length (m)
(m) 63.74
7.45
Chord
Airfoil length
section (-) (m) NACA 7.45
0018
Airfoil
Cut-in, rated, section
cut-out wind speed (m/s)(-) NACA 0018
5, 14, 25
Rated
Cut-in, rotational
rated, cut-out speed
wind speed (rpm)
(m/s) 5,5.26
14, 25
Total mass, incl. rotor and tower (kg) 754,226
Rated rotational speed (rpm) 5.26
Center of mass (m) (0, 0, 75.6)
Total mass, incl. rotor and tower (kg) 754,226
Center of mass (m) (0, 0, 75.6)
Table 2 lists the properties of the deep spar and short spar VAWTs, respectively. In principle,
the water
Table depth
2 lists could limit the of
the properties application of theand
the deep spar spar in shallow
short water conditions.
spar VAWTs, respectively.AtIna principle,
moderate
water
the depth,
water the could
depth draft needs to be
limit the reduced so
application ofthat
the it canin
spar achieve
shallow anwater
adequate design. At
conditions. Thea short spar
moderate
model shows that its depth is reduced to 80 m, but the diameter is increased to maintain
water depth, the draft needs to be reduced so that it can achieve an adequate design. The short spar the relevant
displacement
model shows that anditsbuoyancy
depth is with the to
reduced deep spar.
80 m, butThe
the total massis(structural
diameter and
increased to ballast) the
maintain of the short
relevant
spar is 1.1% heavier than that of the deep spar. The variation of the depth of
displacement and buoyancy with the deep spar. The total mass (structural and ballast) of the short the short spar leads
to a smaller
spar mass moment
is 1.1% heavier than that of of
inertia in the
the deep rollThe
spar. andvariation
pitch directions, but the
of the depth wider
of the diameter
short spar leads causes
to a
a larger mass
smaller massmoment
momentum in thein
of inertia yaw
thedirection.
roll and pitch directions, but the wider diameter causes a larger
mass momentum in the yaw direction.
Energies 2018, 11, 555 4 of 17
Energies 2018, 11, x FOR PEER REVIEW 4 of 17

Table
Table2.2.Properties
Propertiesof of
thethe
Deep Spar
Deep andand
Spar Short Spar.
Short Spar.

Item Unit Deep Spar Short Spar

Item Unit Deep Spar Short Spar
Water depth (m) 320 150
WaterDraft
depth (m)
(m) 320
120 80 150
Draft (m) 120 80
Waterline diameter
Waterline diameter
(m)
(m)
6.5
6.5
9 9
Diameteratatbottom
Diameter bottom (m)
(m) 9.4
9.4 12 12
Hullmass,
Hull mass,including
includingballast
ballast
andand generator
generator (ton)
(ton) 7308.3
7308.3 7962.8
7962.8
1 1 −89.76 −62.86
COMlocation
COM locationbelow
belowMSLMSL (m)
(m) −89.76 −62.86
COG 2 (m) −74.29 −50.88
COGlocation
locationbelow
belowMSLMSL 2 (m) −74.29 −50.88
Displacement 3) 8027
Displacement (m(m 3) 8027 86428642
COB location below MSL3 3 (m) −62.06 −41.68
COB location below MSL (m)2 −62.06 −41.68
Mass moment of inertia in roll and pitch, IXX and IYY (ton·m ) 2 3.362 × 1077 3.599 ×7 107
Mass moment of inertia in roll and pitch, IXX and IYY (ton∙m ) 6.362 × 10 3.599 × 10
Mass moment of inertia in yaw, IZZ (ton·m2 ) 1.588 × 1055 1.889 ×5 105
1
Mass moment of inertia in yaw, IZZ (ton∙m 2)
2
1.588 × 10 1.889 × 10
Center of Mass (COM) of floater only includes spar, ballast, and generator. Center of Gravity (COG) of floater
1 Center of Mass (COM) of floater only includes spar,represents
ballast, and
thegenerator.
2 Center of Gravity (COG)
includes turbine, rotor, tower, and spar (ballast). 3 COB center of buoyancy; MSL refers to the mean
of floaterlevel.
seawater includes turbine, rotor, tower, and spar (ballast). 3 COB represents the center of buoyancy;
MSL refers to the mean seawater level.
The spread mooring system includes three sets of mooring lines connected with the fairlead
position
The of the spar
spread structure.
mooring systemEach mooring
includes threeline
setshas four segments
of mooring which arewith
lines connected the the
twofairlead
delta lines,
position
upper of clump
line, the spar structure.
mass, Eachline.
and lower mooring line has
The delta linesfour
cansegments
provide yawwhich are theThe
stiffness. twowater
delta depth
lines, will
upper line,
govern clumplength
the total mass,ofandthelower line. lines.
mooring The delta lines can
Generally, theprovide yaw
stiffness of stiffness.
the mooring The line
waterindepth
moderate
water depth is stronger than that in deep water. The properties of the mooring components in
will govern the total length of the mooring lines. Generally, the stiffness of the mooring line follow
moderate
Cheng water
et al. [13],depth is stronger
and the length than that
of the in deepline
mooring water. Theshort
in the properties
spar is of shortened
the mooring tocomponents
find a sufficient
follow Cheng
design et al. [13],
for moderate anddepth.
water the length
Figureof the mooring line
2 illustrates in the short
the layout of thespar is shortened
mooring systemtoforfind a the
both
sufficient
deep spardesign
and shortfor moderate
spar VAWTs.waterThedepth. Figure 2ofillustrates
properties the layout
each component inofthe
themooring
mooringsystem
systemforfor both
both the deep spar and short spar VAWTs. The properties of each component in the mooring system
spar models are listed in Table 3.
for both spar models are listed in Table 3.

Figure
Figure2.2.The
Thediagram
diagramofof
thethe
mooring system
mooring for for
system the the
short sparspar
short and and
deepdeep
spar spar
VAWTs.
VAWTs.
Energies 2018, 11, 555 5 of 17

Energies 2018, 11, x FOR PEER REVIEW

Table 3. The properties of mooring system components. 5 of 17

Type Table 3. The properties

Component of mooring
Length (m) system
Masscomponents.
(kg/m) Axial Stiffness (kN)
Type Component
Delta line Length (m)
50 Mass (kg/m)
42.5 Axial Stiffness (kN)
200,000
Upperline
Delta line 50 250 42.5 42.5 200,00080,000
Deep Spar
Clump mass
Upper line 250 2 42.5 17,253 80,000 80,000
Deep Spar Lower line 600 42.5 60,000
Clump mass 2 17,253 80,000
Delta line
Lower line 600 50 42.5 42.5 60,000200,000
Upper line 125 42.5 80,000
Short Spar Delta line 50 42.5 200,000
Clump mass 2 17,253 80,000
Upper
Lower line
line 125 250 42.5 42.5 80,000 60,000
Short Spar
Clump mass 2 17,253 80,000
Lower line 250 42.5 60,000
2.2. Coupled Method for Spar VAWTs
2.2. A
Coupled Method for
fully coupled Spar VAWTs
simulation tool (SIMO-RIFLEX-DMS) was adopted for dynamic analysis in the
time domain of the spar-type
A fully coupled simulationVAWTs. The flow chart iswas
tool (SIMO-RIFLEX-DMS) shown in Figure
adopted 3 [9]. analysis
for dynamic SIMO calculates
in the
the hydrodynamic loads on the spar structure; Double-Multiple Streamtube
time domain of the spar-type VAWTs. The flow chart is shown in Figure 3 [9]. SIMO calculates (DMS) computes
the
the aerodynamicloads
hydrodynamic loadsonon thethe blades
spar according
structure; to the improved
Double-Multiple Double-Multiple
Streamtube (DMS) computes Streamtube
the
model; RIFLEX
aerodynamic is aon
loads nonlinear
the blades finite element
according to solver for estimating
the improved dynamicStreamtube
Double-Multiple structural responses,
model;
and also is
RIFLEX provides links
a nonlinear to the
finite DMSsolver
element code for
andestimating
an external controller.
dynamic The responses,
structural external controller
and also is
a provides
proportional–integral-based
links to the DMS codegenerator torque
and an external controller
controller. Thewritten
externalincontroller
Java. Theis controller used by
a proportional–
integral-based
Cheng [10] was generator
utilized intorque controller
this study. written inofJava.
The strategy The controller
the controller usedmaximizing
involves by Cheng [10]thewas
power
utilized in this study. The strategy of the controller involves maximizing the
capture for the wind speed below the rated speed and maintaining approximately constant power power capture for the
wind speedfor
production below the rated
the wind speedspeed
aboveandthemaintaining approximately
rated speed. Verificationconstant power production for
of this aero-hydro-servo-elastic
the wind speed
simulation above the rated speed.
tool (SIMO-RIFLEX-DMS) hasVerification of thisthrough
been conducted aero-hydro-servo-elastic simulation
a series of code-to-code tool
comparisons
(SIMO-RIFLEX-DMS) has been conducted through a series of code-to-code
(HAWC2, SIMO-RIFLEX-AC) and model-to-model comparisons from Wang [14] and Cheng [15]. comparisons (HAWC2,
SIMO-RIFLEX-AC) and model-to-model comparisons from Wang [14] and Cheng [15].
Dynamics Responses

Dynamics
structural Global
responses motion

Displacement
velocity

DMS model Interface RIFLEX SIMO

Force/Moment Hydrodynamic
Wind
field Coefficients

Turbsim Java HydroD

Controller
Aerodynamics

Genie

Hydrodynamic

Figure 3. Computation flow chart for the coupled model (reproduced from Wang [9]).
Figure 3. Computation flow chart for the coupled model (reproduced from Wang [9]).

2.2.1.
2.2.1.HydroD
HydroDModel
Model
The
Thehydrodynamic
hydrodynamic properties, waveloads,
properties, wave loads,and
andmotion
motion response
response of of
thethe spar
spar structure
structure cancan
be be
derived
derivedfrom
fromHydroD
HydroD software. TheWADAM
software. The WADAM(Wave (WaveAnalysis
Analysis byby Diffraction
Diffraction andand Morison
Morison Theory),
Theory),
oneofofmodule
one modulein
inHydroD,
HydroD, was adopted
adoptedto toobtaining
obtainingkinetic
kineticparameters
parametersincluding hydrostatic
including data,data,
hydrostatic
first-order wave
first-order wave force
forcetransfer
transferfunction, retardation
function, function,
retardation second-order
function, wave drift
second-order waveforce,
driftetc. The etc.
force,
outputs of HydroD were imported into the SIMO model.
The outputs of HydroD were imported into the SIMO model.
Energies 2018, 11, 555 6 of 17

2.2.2. SIMO Model

SIMO is a computer program for calculating the hydrodynamic loads on the spar structure [16].
The spar structure was modeled with a rigid body in SIMO, and the hydrodynamic loads mainly
include first-order wave loads, second-order wave drift loads, and viscous drag force. The first-order
wave loads were derived from the linear potential flow model, and the second-order wave drift loads
were estimated through Newman’s approximation. The viscous drag forces were calculated from the
viscous term of the Morison equation and quadratic drag force coefficient.

2.2.3. RIFLEX Model

The floating VAWT system, including the blades, tower, shaft, and the mooring system,
was modeled in the RIFLEX program. RIFLEX was developed as a finite element solver for analysis of
mooring lines and other slender structures [17]. For the sizes and settings of the VAWT, we can refer
to Wang’s Ph.D. thesis [9]. The configurations of three mooring lines in the deep spar and short spar
follow the specifications of the spread mooring system mentioned in Section 2.1.

2.2.4. DMS Model

The DMS model provides the aerodynamic loads acting on the blades through an external
aerodynamic module. The wind turbine configuration, airfoil aerodynamic coefficients, dynamic
stall data, and wind field data are required for the DMS model. The aerodynamic response of the
vertical wind axis turbine using the DMS model has been verified and studied by Wang et al. [14,18].
The turbulent wind fields are generated by the “Turbsim” program [19].

2.3. Environmental Conditions

In this paper, normal operating conditions are considered for the spar VAWTs. A set of environmental
conditions which were introduced from Wang were chosen for simulating the dynamic response of the
spar structure [9]. The turbulent wind fields were generated from a Kaimal turbulence model in the
Turbsim program according to IEC 61400-1 Class C. The JONSWAP spectrum with significant wave height
(Hs ) and peak period (Tp ) was used for describing the irregular wave condition. These loading cases are
based on the calculation of correlated wind and waves at the Statfjord site in the Northern North Sea [20].
Additionally, the wind and waves are aligned and correlated for all loading cases.
For each loading case in both spar models, five identical 4600 s simulations with random seeds
were performed to express the turbulent wind and irregular wave conditions, and the mean values
were derived from the time series data to reflect the stochastic variations. The 4600 s simulation can
represent a one-hour duration since the first 1000 s have been filtered to eliminate the startup effect.

3. Dynamic Response of Spar VAWTs

The dynamic response of spar VAWTs was calculated through time domain nonlinear fully
coupled analysis. The dynamic response includes the natural periods of spar, platform motion,
structural response, tension of the mooring lines, and power production. Additionally, the comparison
between the dynamic response in the deep spar and short spar VAWT were studied under different
environmental conditions listed in Table 4.
Table 4. Environmental loading for normal operating conditions [9].

Load Case (LC) Uw (m/s) 1 TI (-) Hs (m) Tp (s)

LC1 5 0.224 2.10 9.74
LC2 10 0.157 2.88 9.98
LC3 14 0.138 3.62 10.29
LC4 18 0.127 4.44 10.66
LC5 22 0.121 5.32 11.06
LC6 25 0.117 6.02 11.38
1 The wind speed is the mean speed at the reference height of 79.78 m above MWL.
 Energies 2018, 11, x FOR PEER REVIEW 7 of 17

Energies 2018, 11, 555

LC6 25 0.117 6.02 11.38 7 of 17
1 The wind speed is the mean speed at the reference height of 79.78 m above MWL.

3.1.Free
3.1. FreeDecay
DecayTests
Tests
Thenatural
The naturalperiods
periodsof ofthe
theshort
shortspar
sparand
anddeepdeepspar
spararearepresented
presentedininTable
Table5.5.For
Forthethenatural
natural
periodsofofthe
periods thedeep
deepspar
sparVAWT,
VAWT,we wecancanrefer
refertotoCheng
Chengetetal.al.[13].
[13].Free
Freedecay
decaytests
testswere
wereapplied
appliedtoto
identifythe
identify the natural
natural periods
periods of the short spar spar VAWT
VAWT (Figure
(Figure 4).4). Free
Freedecay
decaytests
testswere
werecarried
carriedoutoutin
incalm
calmwater.
water.TheThewind
windturbine
turbinewaswasparked
parkedwithout
without anyany aerodynamic
aerodynamic loads loads on the rotor,
rotor, and
andone one
specifiedforce
specified forceacted
actedinineach
eachofofsix
sixdegrees
degreesofofdirection
directionwith
withaavery
veryshort
shortperiod
period(200
(200s)s)totosimulate
simulateitsits
dynamic response.
dynamic response.
Forsurge
For surgeandandsway,
sway,the thenatural
naturalperiods
periodsofofboth
bothspars
sparsarearequite
quitelong.
long.The
Thenatural
naturalperiod
periodofofthe
the
shortspar
short sparisissmaller
smallerthan
thanthat
thatof
ofthe
thedeep
deepspar,
spar,since
sincethe
therestoring
restoringstiffness
stiffnessofofthe
theshort
shortspar
sparisislarger
larger
duetotothe
due thestiffer
stifferand
andshorter
shortermooring
mooringlines.
lines.In
Inheave,
heave,both
bothspars
sparsareareclose
closeto
tothe
theupper
upperlimit
limitofofthe
the
waveperiods.
wave periods.The Theshort
shortspar
sparhas
hasa larger
a larger waterline
waterline area,
area, andand
its its natural
natural period
period is smaller
is smaller than
than thatthat
of
of the deep spar. For roll and pitch, the natural periods of both spars locate outside
the deep spar. For roll and pitch, the natural periods of both spars locate outside the range of wave the range of wave
periods;hence,
periods; hence,thethewave-induced
wave-inducedresonant
resonantmotions
motionsmay maynotnotbe besubstantial.
substantial.However,
However,both bothspars
sparsareare
situatedinside
situated insidethetherange
rangeofofwave
waveperiods
periodsininyaw
yawmotion.
motion.Significant
Significantmotion
motionmay maybe beexpected
expectedtotooccur
occur
ininthe
theyaw
yawdirection.
direction.

Free Decay: Surge Free Decay: Roll

15 10
short spar short spar
10
5
5

0 0

-5
-5
-10

-15 -10
200 400 600 800 1000 1200 200 300 400 500 600 700 800
Time [s] Time [s]
(a) (b)
Figure4.4.Free
Figure Freedecay
decaytests
testsfor
forthe
theshort
shortspar
sparVAWT:
VAWT:(a)
(a)Surge;
Surge;(b)
(b)Roll.
Roll.

Table5.5.Natural
Table Naturalperiods
periodsof
ofshort
shortand
anddeep
deepspar
sparVAWTs.
VAWTs.

Motion Deep Spar 1 (s) Short Spar (s)

Motion Deep Spar 1 (s) Short Spar (s)
Surge/Sway 130.8 89.8
HeaveSurge/Sway 27.3 130.8 89.8
21.6
Heave
Roll/Pitch 34.5 27.3 21.6
32.5
Roll/Pitch 34.5 32.5
Yaw Yaw 8.5 8.5 7.17.1
1 The
1 natural periods of the deep spar were derived from Cheng et al. [13].
The natural periods of the deep spar were derived from Cheng et al. [13].

3.2. Wind Turbine Performance

3.2. Wind Turbine Performance
The rotor speed of the short spar VAWT and deep spar VAWT under all loading cases are plotted
The rotor speed of the short spar VAWT and deep spar VAWT under all loading cases are plotted
in Figure 5 and summarized in Table 6. A good agreement in rotor speed between the short and deep
in Figure 5 and summarized in Table 6. A good agreement in rotor speed between the short and
spar are shown in this figure. The rotor speed principally increases as the wind speed increases, but
deep spar are shown in this figure. The rotor speed principally increases as the wind speed increases,
the rotor speed starts to decrease with the rising wind velocity after it reaches the rated speed. This
but the rotor speed starts to decrease with the rising wind velocity after it reaches the rated speed.
mechanism can be explained by the fact that a Proportional Integral (PI) generator controller is
This mechanism can be explained by the fact that a Proportional Integral (PI) generator controller is
employed to decrease the rotational speed in order to keep the power approximately constant [9].
employed to decrease the rotational speed in order to keep the power approximately constant [9].
Energies 2018, 11, 555 8 of 17
Energies 2018, 11, x FOR PEER REVIEW 8 of 17

Rotor speed [rad/s]

Figure 5. Mean rotor speed for the short spar VAWT and deep spar VAWT with error bar representing
Figure 5. Mean rotor speed for the short spar VAWT and deep spar VAWT with error bar representing
the standard deviation.
the standard deviation.

Table 6. Mean rotor speed for all loading cases.

Table 6. Mean rotor speed for all loading cases.
Mean Rotor Speed 1 2P Frequency 2 2P Period
Load Case Mean Rotor Speed 1 2P Frequency 2 2P Period
Load Case (rad/s) (rad/s) (s)
(rad/s) (rad/s) (s)
LC1 0.462 0.925 6.79
LC1 0.462 0.925 6.79
LC2
LC2
0.551
0.551
1.102
1.102
5.70
5.70
LC3
LC3 0.528
0.528 1.056
1.056 5.95
5.95
LC4
LC4 0.472
0.472 0.944
0.944 6.66
6.66
LC5
LC5 0.435
0.435 0.870
0.870 7.23
7.23
LC6 0.410 0.819 7.67
LC6 0.410 0.819 7.67
1The mean rotor speed can represent the 1P frequency for each load cases. 2 2P frequency is twice the 1P frequency
1 The mean rotor speed can represent the 1P frequency for each load cases. 2 2P frequency is twice the
and is the inverse of the 2P period.
1P frequency and is the inverse of the 2P period.

The rotor rotation causes the aerodynamic loads on the spar VAWTs. One of the most prominent
The rotor rotation causes the aerodynamic loads on the spar VAWTs. One of the most prominent
dynamic loads in VAWTs is the 2P loading. The blade shadowing effect and the variation in torque
dynamic loads in VAWTs is the 2P loading. The blade shadowing effect and the variation in torque
lead to 2P loading, which is a periodic loading. The 2P frequency is twice the 1P frequency since the
lead to 2P loading, which is a periodic loading. The 2P frequency is twice the 1P frequency since the
Darrieus wind turbine has two blades. The 2P loading can decompose into thrust and lateral force
Darrieus wind turbine has two blades. The 2P loading can decompose into thrust and lateral force
which are parallel and normal to the wind flow direction, respectively.
which are parallel and normal to the wind flow direction, respectively.
A snapshot of the comparison between the 2P loading in the short spar VAWT and deep spar
A snapshot of the comparison between the 2P loading in the short spar VAWT and deep spar
VAWT under rated speed (LC3) from 2000 to 2020 s is shown in Figure 6. Generally, the amplitudes
VAWT under rated speed (LC3) from 2000 to 2020 s is shown in Figure 6. Generally, the amplitudes
of thrust and lateral force are similar. The mean value of lateral force is approximately zero, but the
of thrust and lateral force are similar. The mean value of lateral force is approximately zero, but the
thrust fluctuates between zero and double the mean value. In addition, the amplitude of the short spar
thrust fluctuates between zero and double the mean value. In addition, the amplitude of the short
VAWT is almost
spar VAWT is the samethe
almost as same
that ofasthe deep
that spardeep
of the VAWT sparin VAWT
both thrust and thrust
in both lateral and
force, but the
lateral phase
force, but
among these two spars is different. The average periods of thrust and lateral force
the phase among these two spars is different. The average periods of thrust and lateral force are each are each around 6 s,
which
around correspond
6 s, whichtocorrespond
the 2P frequency.
to the 2P frequency.
Figure 7 displays
Figure 7 displays thethestatistical comparisons
statistical comparisons of the thrust
of the andand
thrust lateral forceforce
lateral for both sparsspars
for both under all
under
loading cases. For simplicity, the results are plotted with the mean wind speed
all loading cases. For simplicity, the results are plotted with the mean wind speed only even the only even the loading
includes
loadingthe turbulent
includes thewind and irregular
turbulent wind andwaveirregular
simultaneously. Both the comparisons
wave simultaneously. Both theindicate a good
comparisons
agreement between the short spar and deep spar. The mean values and
indicate a good agreement between the short spar and deep spar. The mean values and standard standard deviations of the
thrust and lateral force increase separately as the wind speed increases.
deviations of the thrust and lateral force increase separately as the wind speed increases.
InInaddition,
addition,the thevariation
variationofofrelative
relativespeed
speedalong
alongthe theheight
heightofofthe
theVAWT
VAWTis isincluded
includedininthisthis
simulation. Since both the spar VAWTs carry the same 5 MW Darrieus
simulation. Since both the spar VAWTs carry the same 5 MW Darrieus rotor and withstand rotor and withstand the
thesame
same
environmental
environmental loadings,
loadings, thethe
aerodynamic
aerodynamic effect of wind
effect of wind turbines in both
turbines models
in both could
models couldbe expected
be expectedto
betosimilar. Therefore, a further discussion about the aerodynamic effect is not shown
be similar. Therefore, a further discussion about the aerodynamic effect is not shown in this work. in this work.
Energies 2018, 11, 555 9 of 17
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Energies 2018, 11, x FOR PEER REVIEW 9 of 17

Energies 2018, 11, x FOR PEER REVIEW

2500 2500 9 of 17
2500 2500
short spar short spar
2000 short spar 2000 short spar
2000 deep spar 2000 deep spar
2500 deep spar 2500 deep spar
1500 1500
1500 short spar 1500 short spar
2000 2000
1000 deep spar 1000 deep spar
1000 1000
1500 1500
500 500
500 500
1000 1000
0 0
0 0
500 500
-500 -500
-500 -500
0 0
-1000 -1000
-10002000 2005 2010 2015 2020 -10002000 2005 2010 2015 2020
-5002000 2005 2010 2015 2020 -5002000 2005 2010 2015 2020
Time [s] Time [s]
-1000 Time [s] -1000 Time [s]
2000 (a)
2005 2010 2015 2020 2000 2005 (b)
2010 2015 2020
(a) (b)
Time [s] Time [s]
Figure 6. Comparison of time series in 2P loading for short spar and deep spar VAWTs under LC3
Figure Figure 6. Comparison
6. Comparison (a)of series
of time time series
in 2Pinloading
2P loading for short
for short sparspar
andand
deep deep spar
spar VAWTs
(b)VAWTs under
under LC3
LC3 with
with Uw = 14 m/s, Hs = 3.62 m, Tp = 10.29 s: (a) Thrust; (b) Lateral force.
Uw = 14with UwH
m/s, = s14=m/s,
3.62Hm,
s =T3.62
p = m, T p =s:
10.29 10.29
(a) s: (a)
Thrust; Thrust;
(b) (b) Lateral
Lateral force.
force.
Figure 6. Comparison of time series in 2P loading for short spar and deep spar VAWTs under LC3
with U w = 14 m/s, Hs = 3.62 m, Tp = 10.29 s: (a) Thrust; (b) Lateral force.
1000 1000
1000 1000 mean-short
mean-short
800 mean-deep
800 800 mean-deep
1000
800 1000 std-short
std-short
mean-short
600 std-deep
600 std-deep
mean-deep
600 800
800
600 std-short
400 std-deep
400
600
400
600
400 mean-short 200
mean-short 200
mean-deep 400
mean-deep
200
400 std-short
200 std-short 0
mean-short
std-deep 2000
std-deep
mean-deep
0
200 std-short -200
0 5 10 15 20 25 -200
0 5 10 15 20 25
5 10 15 20
std-deep 25 5 10 15 20 25
Wind [m/s] Wind [m/s]
0 Wind [m/s] -200 Wind [m/s]
5 (a)
10 15 20 25 5 10 (b)
15
(a) (b) 20 25
Wind [m/s] Wind [m/s]
Figure 7. Comparison of mean values and standard deviations of the 2P loading for the short and
Figure 7. Comparison (a)of mean values and standard deviations of the 2P loading (b) forfor the short and
7. Comparison
Figuredeep spar VAWTsofunder
mean allvalues
loadingand standard
cases: deviations
(a) Thrust; of the
(b) Lateral 2P loading
force. the short and deep
deep spar VAWTs under all loading cases: (a) Thrust; (b) Lateral force.
spar VAWTs
Figure under all loading
7. Comparison cases:values
of mean (a) Thrust; (b) Lateral
and standard force. of the 2P loading for the short and
deviations
The
The generator
deep spar VAWTs
generator power
underproduction
power of
of the
all loading cases:
production short
short spar
(a) Thrust;
the VAWT
(b) Lateral
spar VAWT and
and deep
force. deep spar
spar VAWT
VAWT under
under all
all
environmental
The generator conditions
environmental conditions
power isis plotted
plotted in
production inofFigure
Figure 8.
8. This
the short power
Thisspar
power curve
curve shows
VAWT shows the
and deepthe mean
spargenerator
mean VAWT power
generator power all
under
The generator
production with the power
error barproduction
indicating of
the the short spar
standard VAWTofand
deviations the deep
mean spar VAWT
values. The under all
production
environmental with the error
conditions is bar indicating
plotted in Figure the8.standard
This deviations
power curve ofshows
the mean
the values.
mean The short
short spar
generator spar
power
environmental
curve has aagood conditions
agreement iswith
plotted
the in
deepFigure
spar 8.performance.
This power curve
The shows
power the mean generator
production of both the power
short
curve
production has
with thegood agreement with the deep spar performance. The power production of both the short
production
and witherror bar indicating
the error bar indicating thethestandard
standarddeviations
deviations of themean
of the meanvalues.
values. TheThe short
short sparspar
anddeep
deepspar
sparVAWTs
VAWTsincreases
increasesas asthe
thewind
windspeed
speedincreases.
increases.While
Whilethe
thewind
windspeed
speedexceeds
exceedsthe therated
rated
curve has
speeda
curve good
has a agreement
good with
agreement the
with deep
the deepsparsparperformance.
performance. The
The power
power production
production of of both
both the the
shortshort
speed (14
(14 m/s),
m/s), the
the mean
mean power
power production
production will will be
be higher
higher than
than 55 MW
MW butbut remain
remain approximately
approximately aa
and deep
and spar
deep
constant VAWTs
spar VAWTsincreases as
increases the
as wind
the windspeed
speed increases.
increases. While
While the
the wind
wind speed
speed exceeds
exceeds the the
ratedrated
constantvalue.
value.The
Thecause
causeof
ofthis
thisfact
factisisthat
thataaPI-based
PI-basedgenerator
generatortorque
torquecontroller
controllerisisimplemented
implementedto to
speed
speed maintain
(14 (14an
m/s), m/s),
the the mean
mean power
power production
production will
will be higher
be higher than
than 55MW MW butbut
remain approximately
remain approximately a
maintain an approximately constant generator power when the rated operation pointisisreached
approximately constant generator power when the rated operation point reached[10].[10].
constant
a constant value.
value. TheThe cause
cause of this
of this fact
fact isisthat
thataaPI-based
PI-based generator
generator torque
torquecontroller
controller is implemented
is implemented to to
maintain
maintain an approximately
an approximately constant
constant generator
generator powerwhen
power whenthe
the rated
rated operation
operationpoint
pointis reached
is reached [10].[10].
powerpower
Generator
Generator
Generator [kW]
[kW] [kW]
power

Figure 8. Mean power production for the short spar VAWT and deep spar VAWT with error bar
representing the standard deviation.
 Energies 2018, 11, x FOR PEER REVIEW 10 of 17

Figure 8. Mean power production for the short spar VAWT and deep spar VAWT with error bar
Energies 2018, 11, 555 10 of 17
representing the standard deviation.

3.3.Platform
3.3. PlatformMotion
Motion
Theplatform
The platformmotionmotioncan canbe
benormally
normallydivided
dividedinto intosix
sixdegrees
degreesof offreedom,
freedom,whichwhichincludes
includessurge,
surge,
sway, heave, roll, pitch, and yaw motions. In this paper, the heave is defined
sway, heave, roll, pitch, and yaw motions. In this paper, the heave is defined in global coordinates with in global coordinates
with
the the Zalong
Z axis axis along
the axialthe direction
axial direction
of theofspar,
the spar,
and the andsurge
the surge is inXthe
is in the axisX which
axis which is parallel
is parallel to the to
the wind and wave direction (Figure 2). The comparisons of the mean values
wind and wave direction (Figure 2). The comparisons of the mean values and standard deviations of and standard deviations
of the
the global
global motions
motions under under different
different environmental
environmental conditions
conditions between between
the short theandshort
deep andspardeep spar
VAWTs
VAWTs are shown in Figure 9. Similarly, the mean global motion is shown
are shown in Figure 9. Similarly, the mean global motion is shown with error bars indicating the with error bars indicating
the standard
standard deviations
deviations of the
of the mean
mean values.
values. Generally,
Generally, thethe mean
mean values
values ofof
thetheglobal
globalmotions
motionsincrease
increase
asthe
as thewind
windspeed
speedincreases.
increases. Since
Since more
more powerful
powerful wind wind will
will cause
cause larger
larger thrust
thrust andandlateral
lateralforce
force
(Figure 7), stronger motions will be easily
(Figure 7), stronger motions will be easily induced. induced.
Incomparing
In comparingthe thetwo
twomodels
modelsin inpitch
pitchandandroll
rollmotions,
motions,thethemean
meanvaluesvaluesof ofthe
theshort
shortsparsparhave
have
goodagreement
good agreementwith withthose
thoseof ofthe
thedeep
deepspar.
spar.TheThestandard
standarddeviations
deviations of of the
theshort
shortsparsparare areaalittle
little
larger than those of the deep spar. The mean values and standard deviations
larger than those of the deep spar. The mean values and standard deviations of surge motion of the of surge motion of the
deepspar
deep sparVAWT
VAWTare aresignificantly
significantlylarger
largerthan
thanthose
thoseof ofthe
theshort
shortspar
sparVAWT.
VAWT.Since Sincethe thesurge
surgemotions
motions
were derived at the mean water level, a lower center of gravity (COG) of the deep spar VAWT withwith
were derived at the mean water level, a lower center of gravity (COG) of the deep spar VAWT the
the same
same pitchpitch
angleangle
could could
leadlead to larger
to larger motion
motion in surge.
in surge. However,
However, thethe mean
mean valuesofofthe
values thedeep
deepspar
spar
VAWTininyaw
VAWT yawmotion
motiongive givemore
moresignificant
significantresponses
responsesthan thanthose
thoseofofthetheshort
shortspar
spar VAWT.
VAWT.This Thiscould
could
be the reason that the natural periods of the deep spar VAWT in yaw motion
be the reason that the natural periods of the deep spar VAWT in yaw motion are much closer to the are much closer to the
dominating wave
dominating wave energy. energy.

Surge Pitch
30 8
short spar short spar
25 deep spar deep spar
6
20

15 4

10
2
5

0 0
5 10 15 20 25 5 10 15 20 25
Wind [m/s] Wind [m/s]
(a) (b)
Roll Yaw
1 0
short spar short spar
0 deep spar -2 deep spar
yaw motion [deg]
roll motion [deg]

-1 -4

-2 -6

-3 -8

-4 -10
5 10 15 20 25 5 10 15 20 25
Wind [m/s] Wind [m/s]
(c) (d)
Figure9.9.Comparison
Figure Comparisonof
ofmean
meanvalues
valueswith
witherror
errorbar
barindicating
indicatingthethestandard
standarddeviation
deviationin insurge,
surge,heave,
heave,
roll,and
roll, andyaw
yawmotions
motionsfor
forthe
theshort
shortand
anddeep
deepspar
sparVAWT:
VAWT: (a)(a) Surge;
Surge; (b)(b) Pitch;
Pitch; (c)(c) Roll;
Roll; (d)(d) Yaw.
Yaw.
Energies 2018, 11, 555 11 of 17
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The power spectra are used to analyze the time series of physical motions, which can reveal the
The power spectra are used to analyze the time series of physical motions, which can reveal the
frequency contributions in the standard deviation. A parzen window function is of benefit to filter or
frequency contributions in the standard deviation. A parzen window function is of benefit to filter
smooth the variation of the spectra in the frequency domain. The comparison of power spectra in six
or smooth the variation of the spectra in the frequency domain. The comparison of power spectra in
degrees of freedom between the short and deep spar under rated wind speed (LC3) can be found in
six degrees of freedom between the short and deep spar under rated wind speed (LC3) can be found
Figure 10. Basically, these dynamic responses are mainly controlled by the resonant frequency, wave
in Figure 10. Basically, these dynamic responses are mainly controlled by the resonant frequency,
frequency, and 2P frequency. The short spar VAWT and deep spar VAWT have similar spectra
wave frequency, and 2P frequency. The short spar VAWT and deep spar VAWT have similar spectra
distribution except in the heave motion. The heave motions of deep spar VAWT are dominated by
distribution except in the heave motion. The heave motions of deep spar VAWT are dominated by its
its resonant response, whereas the wave-frequency-induced heave response is more prominent in the
resonant response, whereas the wave-frequency-induced heave response is more prominent in the
short spar.
short spar.
In surge and sway motion, the deep spar VAWT has much larger resonant response. Typically,
In surge and sway motion, the deep spar VAWT has much larger resonant response. Typically,
the dynamic response is determined through mass of inertia, damping, and stiffness of the system.
the dynamic response is determined through mass of inertia, damping, and stiffness of the system.
The viscous damping terms were considered in both spar VAWT models. Owning to less discrepancy
The viscous damping terms were considered in both spar VAWT models. Owning to less discrepancy
between the added mass of both spar VAWTs in surge/sway, the stiffness term becomes the key factor.
between the added mass of both spar VAWTs in surge/sway, the stiffness term becomes the key
Since the longer mooring lines of the deep spar VAWT result in softer restoring stiffness in the
factor. Since the longer mooring lines of the deep spar VAWT result in softer restoring stiffness in the
horizontal direction, a larger spectrum of surge/sway motions occur. In addition, the dominating
horizontal direction, a larger spectrum of surge/sway motions occur. In addition, the dominating
spectra values of the short spar VAWT in roll, pitch, and yaw motion are larger than those of the deep
spectra values of the short spar VAWT in roll, pitch, and yaw motion are larger than those of the deep
spar VAWT. Due to a shorter metacenter height and softer restoring stiffness in roll/pitch, the higher
spar VAWT. Due to a shorter metacenter height and softer restoring stiffness in roll/pitch, the higher
standard deviations and larger spectrum values in roll/pitch motion could be expected from the short
standard deviations and larger spectrum values in roll/pitch motion could be expected from the short
spar VAWT.
spar VAWT.

Surge Sway
50 30
short spar short spar
deep spar 25 deep spar
40 Resonant
Surge
response
resonant 20
30 response
15
20
Wave response 10
2P response
10
5

0 0
0 0.5 1 1.5 2 2.5 3 0 0.5 1 1.5 2 2.5 3
Frequency [rad/s] Frequency [rad/s]

(a) (b)
Heave Roll
0.06 1
Heave resonant
short spar short spar
0.05 response
deep spar 0.8 deep spar

0.04 Wave response

0.6 Roll resonant response
0.03
0.4 2P response
0.02
2P response 0.2
0.01

0 0
0 0.5 1 1.5 2 2.5 3 0 0.5 1 1.5 2 2.5 3
Frequency [rad/s] Frequency [rad/s]

(c) (d)

Figure 10. Cont.

Energies 2018, 11, 555 12 of 17
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Energies 2018, 11, x FOR PEER REVIEW 12 of 17

Pitch Yaw
2.5 Pitch 5 Yaw
2.5 5
short spar short spar
2 shortspar
deep spar 4 shortspar
deep spar
2 deep spar 4 deep spar

1.5 3
1.5 3
Yaw resonant response
1 2 Yaw resonant response
1 2 2P response
2P response
0.5 1
0.5 1

0 0
00 0.5 1 1.5 2 2.5 3 00 0.5 1 1.5 2 2.5 3
0 0.5 1 1.5 2 2.5 3 0 0.5 1 1.5 2 2.5 3
Frequency [rad/s] Frequency [rad/s]
Frequency [rad/s] Frequency [rad/s]
(e) (f)
(e) (f)
Figure
Figure 10.10. Comparisonofofpower
Comparison powerspectra
spectraininsix
sixdegrees
degreesofoffreedom
freedomfor
forthe
theshort
shortand
anddeep
deepspar
sparVAWT
VAWT
Figure 10. Comparison of power spectra in six degrees of freedom for the short and deep spar VAWT
under
under LC3
LC3 with
with U w = 14 m/s, Hs = 3.62 m, Tp = 10.29 s: (a) Surge; (b) Sway; (c) Heave; (d) Roll; (e) Pitch;
under LC3 withUUww== 14 m/s,HH
14 m/s, s=
= 3.62
s 3.62 m,m,Tp =Tp10.29
= 10.29
s: (a)s:Surge;
(a) Surge; (b) Sway;
(b) Sway; (c) Heave;
(c) Heave; (d) Roll;(d)
(e)Roll;
Pitch;
(e)(f) Yaw.(f) Yaw.
Pitch;
(f) Yaw.
The power spectra of the short and deep spar VAWTs in surge under each environmental
The
The power
power spectra
spectra of short
of the the short and spar
and deep deepVAWTs
spar VAWTs
in surgein surge
under under
each each environmental
environmental loading
loading are plotted in Figure 11. It can be found that the low frequency induced by turbulent wind
areloading
plottedare plotted11.
in Figure in It
Figure
can be11. It canthat
found be the
foundlowthat the lowinduced
frequency frequency induced by
by turbulent turbulent
wind wind
responses
responses is dominating when the wind speed is below the rated speed (LC3). The surge resonant
is responses
dominating is when
dominating
the windwhen the wind
speed speed
is below theisrated
below the rated
speed (LC3).speed (LC3).resonant
The surge The surge resonant
response
response dominates when the wind speed is above the rated speed and is larger than the wave
response when
dominates dominates
the windwhen the is
speed wind
abovespeed is above
the rated theand
speed rated speedthan
is larger andtheis larger than the and
wave response wave
response and 2P response. Overall, the dominating spectra values in the deep spar VAWT are higher
2Presponse
response.and 2P response.
Overall, Overall, the
the dominating dominating
spectra values in spectra values
the deep sparinVAWT
the deep
are spar VAWT
higher than are
thosehigher
of
than those of the short spar VAWT, and the larger standard deviations of the deep spar in surge
thethan those
short sparof the short
VAWT, sparlarger
and the VAWT, and the
standard larger standard
deviations deviations
of the deep of themotion
spar in surge deep spar in surge
can also be
motion can also be found in Figure 9a.
motion
found can also
in Figure 9a.be found in Figure 9a.
Surge: short spar Surge: deep spar
Surge: short spar Surge: deep spar
Turbulent wind induced Turbulent wind induced
10 4 Turbulent wind induced LC1 10 4 Turbulent wind induced LC1
response response
10 4 LC1
LC3 10 4 LC1
LC3
response response
LC3 Surge resonant LC3
2 s/rad]

2 s/rad]

Surge resonant LC4 LC4

10 2 10 2 Surge resonant
response
s/rad]

s/rad]

Surge resonant LC4 LC4

10 2 response LC6 10 2 response
LC6
response LC6 LC6
2

0
10 0
) [m

) [m

10
0
10 0
S(S(1) 1[m

S(S(1) 1[m

10

10 -2 10 -2
10 -2 10 -2

10 -4 10 -4
10 -4 10 -4
0 0.5 1 1.5 2 0 0.5 1 1.5 2
0 0.5 1
Frequency [rad/s]1.5 2 0 0.5 1
Frequency [rad/s]1.5 2
Frequency [rad/s] Frequency [rad/s]
(a) (b)
(a) (b)
Figure 11. Power spectra in surge under all loading cases: (a) Short spar; (b) Deep spar.
Figure
Figure 11.11. Power
Power spectra
spectra in in surge
surge under
under allall loading
loading cases:
cases: (a)(a) Short
Short spar;
spar; (b)(b) Deep
Deep spar.
spar.
3.4. Tower Base Bending Moments
3.4. Tower Base Bending Moments
3.4. Tower Base Bending Moments
The tower base bending moment is considered in this study. The bending moment is mainly
The tower base bending moment is considered in this study. The bending moment is mainly
induced by thebase
The tower aerodynamic force onisthe
bending moment rotor andinthe
considered thisdownward
study. Thegravity
bendingforce of its self-weight
moment is mainly
induced by the aerodynamic force on the rotor and the downward gravity force of its self-weight
owing to
induced bythe
thetilted tower. Theforce
aerodynamic fore–aft androtor
on the side–side
and bending
the downward moments are important
gravity indices
force of its to assess
self-weight
owing to the tilted tower. The fore–aft and side–side bending moments are important indices to assess
the structural
owing performance
to the tilted tower. The of the wind
fore–aft and turbine,
side–sideasbending
the aerodynamic
moments are forces vary with
important the azimuthal
indices to assess
the structural performance of the wind turbine, as the aerodynamic forces vary with the azimuthal
angle
the and cause
structural large variation
performance of the on these
wind bending
turbine, moments
as the aerodynamic[9]. Theforces
fore–aft
varyiswith
parallel to the wind
the azimuthal
angle and cause large variation on these bending moments [9]. The fore–aft is parallel to the wind
flowand
angle direction, and side–side
cause large is perpendicular
variation on these bending to the wind
moments [9].flow.
The fore–aft is parallel to the wind flow
flow direction, and side–side is perpendicular to the wind flow.
Figure
direction, and12 compares
side–side the respective mean
is perpendicular to the values, maxima values, and the standard deviations of
wind flow.
Figure 12 compares the respective mean values, maxima values, and the standard deviations of
fore–aft
Figure and
12 side–side
compares bending moments
the respective mean forvalues,
the short and deep
maxima spar
values, andVAWTs. In thisdeviations
the standard study, the
fore–aft and side–side bending moments for the short and deep spar VAWTs. In this study, the
ofmaximum
fore–aft and value in each bending
side–side loading case was derived
moments from the
for the short andmean
deep of maximal
spar VAWTs. numbers
In thisfor each
study,
maximum value in each loading case was derived from the mean of maximal numbers for each
random
the maximum seedvalue
simulation
in eachinloading
the timecasedomain. Overall,
was derived from the thecomparison shows numbers
mean of maximal a good agreement
for each
random seed simulation in the time domain. Overall, the comparison shows a good agreement
between the short spar and deep spar. The mean, maximum, and standard deviations of the bending
between the short spar and deep spar. The mean, maximum, and standard deviations of the bending
moment in both fore–aft and side–side directions increase as wind velocity increases.
moment in both fore–aft and side–side directions increase as wind velocity increases.
 spar VAWT, 2P responses are almost dominating for all loading conditions. The response at 4P
frequency will become significant when the wind speed is over the rated speed (LC4 to LC6). The
excitation may result from the structural resonance at 4P frequency when the environmental
condition exceeds loading case LC3. The corresponding maxima spectra values for each loading case
Energies
increase as 11,
2018, 555 velocity increases. The 2P responses of the deep spar VAWT in the tower base
wind 13side–
of 17
side bending moment are larger than those of the short spar VAWT, as are 2P responses in the tower
base fore–aft bending moment for most loading cases. An exception is LC6 with Uw = 25 m/s and Hs
random seed simulation in the time domain. Overall, the comparison shows a good agreement between
= 6.02 m, under which the 2P responses of the short spar VAWT are larger than the corresponding
the short spar and deep spar. The mean, maximum, and standard deviations of the bending moment
values of the deep spar VAWT in the tower base fore–aft bending moments.
in both fore–aft and side–side directions increase as wind velocity increases.

10 4 Fore-Aft 10 4 Side-Side
14 2
short short
12 deep deep
0
10

8 -2

6
-4
4

2 -6
5 10 15 20 25 5 10 15 20 25
Wind [m/s] Wind [m/s]

(a) (b)
10 5 Fore-Aft 10 5 Side-Side
3.5 0
short short
3 deep -0.5 deep

2.5 -1

2 -1.5

1.5 -2

1 -2.5
5 10 15 20 25 5 10 15 20 25
Wind [m/s] Wind [m/s]

(c) (d)

10 4 Fore-Aft 10 4 Side-Side
6 5
std Bending moment [kNm]

std Bending moment [kNm]

5 4

4 3

3 2

2 short 1 short
deep deep
1 0
5 10 15 20 25 5 10 15 20 25
Wind [m/s] Wind [m/s]

(e) (f)

Figure 12. Statistics of tower base bending moment for the short spar and deep spar VAWTs: (a) Mean
values in fore–aft; (b) Mean values in side–side; (c) Maxima values in fore–aft; (d) Maxima values in
side–side; (e) Standard deviations in fore–aft; (f) Standard deviations in side–side.

The power spectra of the tower base bending moment under all environmental conditions for the
short and deep spar VAWTs are shown in Figure 13. Whether in the short spar VAWT or the deep spar
VAWT, 2P responses are almost dominating for all loading conditions. The response at 4P frequency
Energies 2018, 11, 555 14 of 17

will become significant when the wind speed is over the rated speed (LC4 to LC6). The excitation
may result from the structural resonance at 4P frequency when the environmental condition exceeds
loading case LC3. The corresponding maxima spectra values for each loading case increase as wind
Energies 2018, 11, x FOR PEER REVIEW 14 of 17
velocity increases. The 2P responses of the deep spar VAWT in the tower base side–side bending
moment are 12.
Figure larger thanofthose
Statistics towerofbase
thebending
short spar VAWT,
moment as are
for the 2Pspar
short responses
and deepinspar
theVAWTs:
tower base fore–aft
(a) Mean
bending moment
values for most
in fore–aft; loading
(b) Mean valuescases. An exception
in side–side; is LC6
(c) Maxima with
values Uw = 25(d)
in fore–aft; m/s and H
Maxima s = 6.02
values in m,
underside–side;
which the(e)2P responses of the short spar VAWT are larger than the corresponding
Standard deviations in fore–aft; (f) Standard deviations in side–side. values of the
deep spar VAWT in the tower base fore–aft bending moments.

10 9 Fore-Aft: short spar 10 9 Fore-Aft: deep spar

6 6
LC1 LC1
5 LC3 5 LC3
2P response
LC4 LC4
4 LC6 4 LC6

3 3
4P response
2 2

1 1

0 0
0 0.5 1 1.5 2 2.5 3 0 0.5 1 1.5 2 2.5 3
Frequency [rad/s] Frequency [rad/s]
(a) (b)
10 9 Side-Side: short spar 10 9 Side-Side: deep spar
6 6
LC1 LC1
5 LC3 5 LC3
LC4 LC4
4 LC6 4 LC6

3 3

2 2

1 1

0 0
0 0.5 1 1.5 2 2.5 3 0 0.5 1 1.5 2 2.5 3
Frequency [rad/s] Frequency [rad/s]

(c) (d)
Figure13.
Figure 13.Power
Powerspectra
spectraofoftower
towerbase
basebending
bendingmoment
momentunder
underall
allloading
loadingcases:
cases:(a)
(a)Short
Shortspar
sparVAWT
VAWT
in fore–aft direction; (b) Deep spar VAWT in fore–aft direction; (c) Short spar VAWT
in fore–aft direction; (b) Deep spar VAWT in fore–aft direction; (c) Short spar VAWT in side–sidein side–side
direction;(d)
direction; (d)Deep
Deepspar
sparVAWT
VAWT inin side–side
side–side direction.
direction.

3.5. Mooring Line Tensiion

3.5. Mooring Line Tensiion
The catenary mooring system is used for both the short and deep spar VAWTs. The main
The catenary mooring system is used for both the short and deep spar VAWTs. The main purpose
purpose of the mooring system is to maintain the floater in the proper position, and the delta line can
of the mooring system is to maintain the floater in the proper position, and the delta line can provide
provide yaw stiffness. For a conservative design approach, the turbulent wind and irregular wave
yaw stiffness. For a conservative design approach, the turbulent wind and irregular wave are aligned
are aligned in the same direction (+X global motion) in this study; hence, Mooring Line 1 will have
in the same direction (+X global motion) in this study; hence, Mooring Line 1 will have the main role
the main role in withstanding most of the external force (Figure 2). The tension of Mooring Line 1 is
in withstanding most of the external force (Figure 2). The tension of Mooring Line 1 is measured at the
measured at the anchor point and is the sum of tension in the upper line, clump mass, and lower line.
anchor point and is the sum of tension in the upper line, clump mass, and lower line.
Figure 14 presents the mean values, maxima values, and standard deviations of Mooring Line 1
Figure 14 presents the mean values, maxima values, and standard deviations of Mooring Line 1
for the short and deep spar VAWTs under all environmental conditions. Generally, the mean,
for the short and deep spar VAWTs under all environmental conditions. Generally, the mean, maxima
maxima values, and standard deviations increase as the wind speed and significant wave height
values, and standard deviations increase as the wind speed and significant wave height increase.
increase. The mean values of tension for the deep spar VAWT are larger than those of the short spar
VAWT, but the maxima values and standard deviations of the deep spar VAWT are smaller.
Figure 15 compares the respective spectra of tension in Mooring Line 1 between the short spar
and deep spar VAWTs under all the loading cases. Overall, the distribution of tension spectra in
Mooring Line 1 for the short spar VAWT agrees well with that of the deep spar VAWT. The similarity
between the short and deep spar VAWTs in the tension spectra is that the dominating wind-induced
Energies 2018, 11, 555 15 of 17

The mean values of tension for the deep spar VAWT are larger than those of the short spar VAWT,
but the maxima values and standard deviations of the deep spar VAWT are smaller.
Figure 15 compares the respective spectra of tension in Mooring Line 1 between the short spar
and deep spar VAWTs under all the loading cases. Overall, the distribution of tension spectra in
Mooring Line 1 for the short spar VAWT agrees well with that of the deep spar VAWT. The similarity
between the short
Energies 2018, andPEER
11, x FOR deep spar VAWTs in the tension spectra is that the dominating wind-induced
REVIEW 15 of 17
Energies 2018, 11, x FOR PEER REVIEW 15 of 17
response increases as the wind speed and irregular wave state increase. However, the dominating
spectravalues
spectra valuesofofthe
theshort
shortspar
sparVAWT
VAWT are
are significantly
significantly higher,
higher, asas are
are the
the standard
standard deviations
deviations ofof
thethe
spectra values of the short spar VAWT are significantly higher, as are the standard deviations of the
tension
tension ofof Mooring
Mooring Line
Line 1. 1.
tension of Mooring Line 1.
Tensionofofmooring
Tension [kN]
mooring[kN]

Figure 14. Statistics of the tension of Mooring Line 1 for the short spar and deep spar VAWTs.
Figure 14. Statistics
Figure14. Statisticsof
ofthe
thetension
tensionof
ofMooring
MooringLine
Line11for
forthe
theshort
shortspar
sparand
anddeep
deepspar
sparVAWTs.
VAWTs.

10 4 Mooring line 1: short spar 10 4 Mooring line 1: deep spar

8 10 4 Mooring line 1: short spar 8 10 4 Mooring line 1: deep spar
8 8
LC1 LC1
LC1 LC1
LC3 LC3
6 LC3 6 LC3
6 LC4 6 LC4
Turbulent wind LC4 LC4
Turbulent wind LC6 LC6
induced response LC6 Turbulent wind LC6
induced response Turbulent wind
4 4 induced response
4 4 induced response

2 2
2 2

0 0
0 0 0.5 1 1.5 2 2.5 3 0 0 0.5 1 1.5 2 2.5 3
0 0.5 1 1.5 2 2.5 3 0 0.5 1 1.5 2 2.5 3
Frequency [rad/s] Frequency [rad/s]
Frequency [rad/s] Frequency [rad/s]
(a) (b)
(a) (b)
Figure 15. Power spectra of the tension in Mooring Line 1 under all loading cases: (a) Short spar
Figure15.
Figure 15.Power
Power spectra
spectra of the
of the tension
tension in Mooring
in Mooring Line Line 1 under
1 under all loading
all loading cases:
cases: (a) (a)spar
Short Short spar
VAWT;
VAWT; (b) Deep spar VAWT.
VAWT; (b) Deep spar
(b) Deep spar VAWT. VAWT.

4. Conclusions
4. Conclusions
4. Conclusions
This paper presents a comparative study of the dynamic response of the short spar and deep
This paper presents a comparative study of the dynamic response of the short spar and deep
This
spar VAWTspaperatpresents a comparative
the different water depthsstudy of the dynamic
through response
a fully coupled of the short spar and
SIMO-RIFLEX-DMS deep
simulation
spar VAWTs at the different water depths through a fully coupled SIMO-RIFLEX-DMS simulation
spar VAWTs at the different water depths through a fully coupled SIMO-RIFLEX-DMS
tool. The results indicate that the short spar VAWT is a feasible concept at moderate water depths simulation tool.
tool. The results indicate that the short spar VAWT is a feasible concept at moderate water depths
The results
(150 indicate
m). Several thatconclusions
main the short sparin VAWT is aare
this study feasible
givenconcept
below. at moderate water depths (150 m).
(150 m). Several main conclusions in this study are given below.
Several main conclusions in this study are given below.
• The 2P loading and the generator power production of the short spar VAWT agree well with
•• The The2P2P loading
thoseloading
of the and
and the
deepthespar
generator
generator
VAWTpower
power productionthe
production
for all loading of
of short
the short
conditions. spar spar VAWT
BothVAWT
the 2Pagree agree well with
well with
loading and those
power
those of
ofproductionthe
the deep spar deep
VAWTspar VAWT
for all for
loading all loading
conditions. conditions.
Both the 2PBoth the
loading 2P
and loading
power and power
production
increase as the wind speed increases, but the power production will remain an
production
increase as theincrease
wind as theincreases,
speed wind speed the increases, but the power production will remain an
approximately constant value when but the rated power
speedproduction
is reached. will remain anthat
We conclude approximately
the short spar
approximately
constant value constant
when water value
the rated when
speed the rated speed
is reached. is reached. We conclude that the VAWT
short spar
VAWT at moderate depth exhibits as good aWe conclude in
performance that the short
power spar
generation as doesatthe
VAWT at moderate water depth exhibits as good a performance in power generation as does the
deep spar VAWT in deep water.
deep spar VAWT in deep water.
• In general, the tendency to the distribution of platform motions for both spar VAWTs are similar.
• In general, the tendency to the distribution of platform motions for both spar VAWTs are similar.
However, the mean value and standard deviations of surge and sway for the deep spar VAWT
However, the mean value and standard deviations of surge and sway for the deep spar VAWT
are significantly larger than those of the short spar VAWT. The lower center of gravity of the
are significantly larger than those of the short spar VAWT. The lower center of gravity of the
deep spar VAWT results in larger responses in surge and sway.
deep spar VAWT results in larger responses in surge and sway.
Energies 2018, 11, 555 16 of 17

moderate water depth exhibits as good a performance in power generation as does the deep spar
VAWT in deep water.
• In general, the tendency to the distribution of platform motions for both spar VAWTs are similar.
However, the mean value and standard deviations of surge and sway for the deep spar VAWT are
significantly larger than those of the short spar VAWT. The lower center of gravity of the deep
spar VAWT results in larger responses in surge and sway.
• The comparison of the tower base bending moment shows a good agreement between the short
spar VAWT and the deep spar VAWT. The mean, maxima values, and standard deviations of
bending moments in both fore–aft and side–side directions increase as wind speed increases.
Both spar VAWTs are dominated by the 2P response in bending moment spectra.
• The tension of Mooring Line 1 is designed to withstand most of external loading in this study,
since its layout aligns in the same direction as the wind and waves. The turbulence wind-induced
response is particularly prominent for both spar VAWTs. The short spar VAWT displays higher
standard deviations in the tension of Mooring Line 1, and its response spectra values are
substantially larger than those of the deep spar.

Acknowledgments: Zhengshun Cheng appreciates the support from State Key Laboratory of Hydraulic
Engineering Simulation and Safety (HESS-1710), Tianjin University, China.
Author Contributions: Kai Wang and Muk Chen Ong conceived and designed the numerical study; Kai Wang
and Zhengshun Cheng contributed analysis tools; Ting Rui Wen performed the simulations and analyzed the data
under Kai Wang’s supervision; Ting Rui Wen wrote the paper; Kai Wang, Zhengshun Cheng and Muk Chen Ong
gave comments and revised this paper.
Conflicts of Interest: The authors declare no conflict of interest.

Abbreviations
1P One per Revolution
2P Two per Revolution
COB Center of Buoyancy
COG Center of Gravity
COM Center of Mass
HAWT Horizontal Axis Wind Turbine
MWL Mean Water Level
TLP Tension Leg Platform
VAWT Vertical Axis Wind Turbine
WADAM Wave Analysis by Diffraction and Morison Theory
DMS Double-Multiple Streamtube
PI Proportional Integral

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