Review of Experimental-Numerical Methodologies and Challenges for Floating Offshore Wind Turbines

Abstract

Due to the dissimilar scaling issues, the conventional experimental method of FOWTs can hardly be used directly to validate the full-scale global dynamic responses accurately. Therefore, it is of absolute necessity to find a more accurate, economic and efficient approach, which can be utilized to predict the full-scale global dynamic responses of FOWTs. In this paper, a literature review of experimental-numerical methodologies and challenges for FOWTs is made. Several key challenges in the conventional basin experiment issues are discussed, including scaling issues; coupling effects between aero-hydro and structural dynamic responses; blade pitch control strategies; experimental facilities and calibration methods. Several basin experiments, industrial projects and numerical codes are summarized to demonstrate the progress of hybrid experimental methods. Besides, time delay in hardware-in-the-loop challenges is concluded to emphasize their significant role in real-time hybrid approaches. It is of great use to comprehend these methodologies and challenges, which can help some future researchers to make a footstone for proposing a more efficient and functional hybrid basin experimental and numerical method.

Keywords

Floating offshore wind turbines / Hybrid approach / Basin experiment / Numerical simulation / Wind energy

References

[1] Ahn H-J, Shin H (2017) Model test and numerical simulation of OC3 spar type floating offshore wind turbine. Int J Naval Archit Ocean Eng 11(1):1–10

[2] Ai Y, Wan D. Coupling numerical analysis of aero-hydro-mooring system of floating wind turbine system. J Jiangsu Univ Sci Technol, 2017, 31(5): 612-619

[3] Amate J, Víctor L, Martín DD, García L, Pablo M, Alonso G (2014) Iberdrola Ingeniería TLPWIND a smart way to drive costs down. Proceedings of the EWEA

[4] Arakawa C (2015) Curreent status of Janpanese offshore wind R&D progects and its roadmap. The University of Tokyo, WWEC 2015

[5] Aubault A, Cermelli CA, Roddier DG (2006) Structural design of a semi-submersible platform with water-entrapment plates based on a time-domain hydrodynamic algorithm coupled with finite-elements. The Sixteenth International Offshore and Polar Engineering Conference

[6] Aubault A, Cermelli C, Roddier D (2007) Parametric optimization of a semi-submersible platform with heave plates. ASME 2007 26th international conference on offshore mechanics and Arctic engineering, 471–478

[7] Aubault A, Cermelli C, Roddier D (2009) WindFloat: a floating foundation for offshore wind turbines—part III: structural analysis. ASME 2009 28th international conference on ocean, offshore and Arctic engineering, 213–220

[8] Bachynski EE, Chabaud V, Sauder T. Real-time hybrid model testing of floating wind turbines: sensitivity to limited actuation. Energy Procedia, 2015, 80: 2-12

[9] Bachynski EE, Etemaddar M, Kvittem MI, Luan C, Moan T. Dynamic analysis of floating wind turbines during pitch actuator fault, grid loss, and shutdown. Energy Procedia, 2013, 35: 210-222

[10] Bachynski EE, Thys M, Sauder T, Chabaud V, Sæther LO (2016) Real-time hybrid model testing of a Braceless semi-submersible wind turbine: part II—experimental results. ASME 2016 35th International Conference on Ocean, Offshore and Arctic Engineering, V006T009A040-V006T009A040

[11] Bahramiasl S, Abbaspour M, Karimirad M (2018) Experimental study on gyroscopic effect of rotating rotor and wind heading angle on floating wind turbine responses. Int J Environ Sci Technol:1–14

[12] Bak C, Zahle F, Bitsche R, Kim T, Yde A, Henriksen LC, Hansen M, Blasques J, Gaunaa M, Natarajan A. Description of the DTU 10 MW reference wind turbine. DTU wind Energy report-I-0092, 2013, Fredericia: Technical University of Denmark

[13] Bakka T, Karimi HR. Robust dynamic output feedback control synthesis with pole placement constraints for offshore wind turbine systems. Math Probl Eng, 2012, 2012: 1-18

[14] Bayati I, Belloli M, Facchinetti A (2013) Wind tunnel tests on floating offshore wind turbines: a proposal for hardware-in-the-loop approach to validate numerical codes. Wind Eng 37(6):557–568

[15] Bayati I, Gueydon S, Belloli M. Study of the effect of water depth on potential flow solution of the OC4 semisubmersible floating offshore wind turbine. Energy Procedia, 2015, 80: 168-176

[16] Bayati I, Belloli M, Bernini L, Zasso A. Aerodynamic design methodology for wind tunnel tests of wind turbine rotors. J Wind Eng Ind Aerodyn, 2017, 167: 217-227

[17] Bayati I, Facchinetti A, Fontanella A, Belloli M (2018a) 6-DoF hydrodynamic Modelling for wind tunnel hybrid/HIL tests of FOWT: the real-time challenge. In International Conference on Offshore Mechanics and Arctic Engineering (Vol. 51319, p. V010T09A078). American Society of Mechanical Engineers

[18] Bayati I, Belloli M, Ferrari D, Fossati F, Giberti H (2014) Design of a 6-DoF robotic platform for wind tunnel tests of floating wind turbines. Energy Procedia 53:313–323

[19] Bayati I, Belloli M, Bernini L, Giberti H, Zasso A (2017b) Scale model technology for floating offshore wind turbines

[20] Bayati I, Facchinetti A, Fontanella A, Giberti H, Belloli M (2018b) A wind tunnel/HIL setup for integrated tests of floating offshore wind turbines. Journal of Physics: Conference Series:052025

[21] Bayati I, Belloli M, Bernini L, Fiore E, Giberti H, Zasso A. On the functional design of the DTU10 MW wind turbine scale model of LIFES50+ project. J Phys Conf Ser, 2016, 753(5): 052018

[22] Berthelsen PA, Bachynski EE, Karimirad M, Thys M (2016) Real-time hybrid model tests of a braceless semi-submersible wind turbine: part III—calibration of a numerical model. ASME 2016 35th International Conference on Ocean, Offshore and Arctic Engineering, V006T009A047-V006T009A047

[23] Blusseau P, Patel MH. Gyroscopic effects on a large vertical axis wind turbine mounted on a floating structure. Renew Energy, 2012, 46: 31-42

[24] Bottasso CL, Campagnolo F, Petrović V. Wind tunnel testing of scaled wind turbine models: beyond aerodynamics. J Wind Eng Ind Aerodyn, 2014, 127: 11-28

[25] Bredmose H, Mikkelsen R, Hansen AM, Laugesen R, Heilskov N, Jensen B, Kirkegaard J. Experimental study of the DTU 10 MW wind turbine on a TLP floater in waves and wind, 2015, Copenhagen: EWEA Offshore Conference

[26] Bredmose H, Lemmer F, Borg M, Pegalajar-Jurado A, Mikkelsen RF, Larsen TS, Fjelstrup T, Yu W, Lomholt AK, Boehm L. The triple spar campaign: model tests of a 10MW floating wind turbine with waves, wind and pitch control. Energy Procedia, 2017, 137: 58-76

[27] Brown DK (2006) The way of a ship in the midst of the sea: the life and work of William Froude. Penzance: Periscope

[28] Browning JR, Jonkman J, Robertson A, Goupee AJ (2014) Calibration and validation of a spar-type floating offshore wind turbine model using the FAST dynamic simulation tool. Journal of Physics: Conference Series:012015

[29] Bulder B, van Hees MT, Henderson A, Huijsmans RHM, Pierik JTG, Snijders EJB, Wijnants GH, Wolf MJ (2002) Studie naar haalbaarheid van en randvoorwaarden voor drijvende offshore windturbines. ECN, MARIN, Lagerwey the Windmaster, TNO, TUD, MSC

[30] Butterfield S, Musial W, Jonkman J, Sclavounos P (2007) Engineering challenges for floating offshore wind turbines (No. NREL/CP-500-38776). National Renewable Energy Lab.(NREL), Golden, CO (United States)

[31] Cao Y, Tahchiev G (2013) A study on an active hybrid decomposed mooring system for model testing in ocean basin for offshore platforms. ASME 2013 32nd International Conference on Ocean, Offshore and Arctic Engineering, V001T001A080-V001T001A080

[32] Cao Y, Tang Y, Tao H, Qin Y. Design of floating foundation of semi-submersible wind turbine and study on amplitude-frequency motion characteristics. Mar Eng, 2013, 2: 61-67

[33] Carrion JE, Spencer Jr BF (2007) Model-based strategies for real-time hybrid testing. Newmark structural Engineering Laboratory. University of Illinois at Urbana-Champaign. Report No. 1940-9826

[34] Cermelli C, Roddier D, Aubault A. WindFloat: a floating foundation for offshore wind turbines—part II: hydrodynamics analysis, 2009, 135-143

[35] Cermelli C, Aubault A, Roddier D, McCoy T (2010) Qualification of a semi-submersible floating foundation for multi-megawatt wind turbines. Offshore Technology Conference

[36] Cermelli CA, Roddier DG (2005) Experimental and numerical investigation of the stabilizing effects of a water-entrapment plate on a Deepwater minimal floating platform. ASME 2005 24th international conference on offshore mechanics and Arctic engineering, 517–525

[37] Cermelli CA, Roddier DG, Busso CC (2004) MINIFLOAT: A novel concept of minimal floating platform for marginal field development. Proceedings of the The Fourteenth International Offshore and Polar Engineering Conference

[38] Cermelli CA, Roddier DG, Aubault A. Remote power generation for deployment of subsea technologies in deepwater marginal fields. Offshore, 2008, 68(1): 52

[39] Chabaud V, Steen S, Skjetne R (2013) Real-time hybrid testing for marine structures: challenges and strategies. Proceedings of the ASME 2013 32nd International Conference on Ocean, Offshore and Arctic Engineering, V005T006A021-V005T006A021

[40] Chakrabarti S (1998) Physical model testing of floating offshore structures. Dynamic Positioning Conference, 1–33

[41] Chakrabarti S. Handbook of offshore engineering (2-volume set), 2005, Amsterdam: Elsevier

[42] Chen J, Hu Z, Liu G, Tang Y. Comparison of different dynamic models for floating wind turbines. J Renew Sustain Energy, 2017, 9(6): 063304

[43] Chen J, Hu Z, Wan D, Xiao Q. Comparisons of the dynamical characteristics of a semi-submersible floating offshore wind turbine based on two different blade concepts. Ocean Eng, 2018, 153: 305-318

[44] Chen J, Hu Z, Liu G, Wan D. Coupled aero-hydro-servo-elastic methods for floating wind turbines. Renew Energy, 2019, 130: 139-153

[45] Cheng P, Wan D. Numerical analysis of the influence of towers on wind turbine in aerodynamic performance based on overlapping grid method. Res Progr Hydrodynam, 2017, 32(1): 32r39

[46] Christiansen S, Bak T, Knudsen T. Damping wind and wave loads on a floating wind turbine. Energies, 2013, 6(8): 4097-4116

[47] Chujo T, Minami Y, Nimura T, Ishida S (2013) Experimental study for spar type floating offshore wind turbine with blade-pitch control. Proceedings of the ASME 2013 32nd International Conference on Ocean, Offshore and Arctic Engineering, V008T009A034-V008T009A034

[48] Cordle A, Jonkman J (2011) State of the art in floating wind turbine design tools. Proceedings of the Twenty-first International Offshore and Polar Engineering Conference

[49] Coulling AJ, Goupee AJ, Robertson AN, Jonkman JM, Dagher HJ. Validation of a FAST semi-submersible floating wind turbine numerical model with DeepCwind test data. J Renew Sustain Energy, 2013, 5(2): 023116

[50] Courbois A (2013) Étude expérimentale du comportement dynamique d'une éolienne offshore flottante soumise à l'action conjuguée de la houle et du vent Ecole Centrale de Nantes (ECN)

[51] Courbois A, Ferrant P, Flamand O, Rousset J-M (2011a) Wind generation on wave tank for floating offshore wind turbine applications. Proceedings of the 13th International Conference on Wind Engineering, Amsterdam

[52] Courbois A, Flamand O, Toularastel JL, Ferrant P, Rousset JM (2011b) Applying relevant wind generation techniques to the case of floating wind turbines. Proceedings of the Sixth European and African Conference on Wind Engineering (EACWE), Nantes, France, 7-13

[53] Cummins WE. The impulse response function and ship motions, 1962, Washington DC: David Taylor Model Basin

[54] de Klerk D. Dynamic response characterization of complex systems through operational identification and dynamic substructuring, 2009, The Netherlands: Delft University of Technology

[55] de Ridder E-J, Otto W, Zondervan G-J, Huijs F, Vaz G (2014) Development of a scaled-down floating wind turbine for offshore basin testing. Proceedings of the ASME 2014 33rd International Conference on Ocean, Offshore and Arctic Engineering, V09AT09A027-V009AT009A027

[56] de Ridder E, Otto W, Zondervan G, Savenije F, Huijs FA. State of the art model testing techniques for floating wind turbines, 2013, Frankfurt: EWEA Offshore, 19-21

[57] De Wilde JJ, Van Dijk AW, van den Berg J, Dekker J (2009) Direct time domain downtime assessment for LNG operations using computer cluster. Proceedings of the Nineteenth International Offshore and Polar Engineering Conference

[58] Delbene L, Bayati I, Facchinetti A, Fontanella A, Belloli M (n.d.) A 6DoF hydrodynamic model for real time implementation in hybrid testing

[59] Du W, Zhao Y, He Y, Liu Y. Design, analysis and test of a model turbine blade for a wave basin test of floating wind turbines. Renew Energy, 2016, 97: 414-421

[60] Duan F, Hu Z, Niedzwecki JM. Model test investigation of a spar floating wind turbine. Mar Struct, 2016, 49: 76-96

[61] Duan F, Hu Z, Liu G, Wang J. Experimental comparisons of dynamic properties of floating wind turbine systems based on two different rotor concepts. Appl Ocean Res, 2016, 58: 266-280

[62] Faltinsen O. Sea loads on ships and offshore structures, 1993, Cambridge: Cambridge university press

[63] Farrugia R, Sant T, Micallef D. Investigating the aerodynamic performance of a model offshore floating wind turbine. Renew Energy, 2014, 70: 24-30

[64] Farrugia R, Sant T, Micallef D. A study on the aerodynamics of a floating wind turbine rotor. Renew Energy, 2016, 86: 770-784

[65] Fernandez J, Laidler A, Izarra J, Innovation M, Murueta DBM (2013) Design considerations of a semisubmersible platform for offshore wind turbines In Proceedings of the EWEA Offshore

[66] Filippo C, Carlo LB, Paolo B. Design, manufacturing and characterization of aero-elastically scaled wind turbine blades for testing active and passive load alleviation techniques within a ABL wind tunnel. J Phys Conf Ser, 2014, 524(1): 012061

[67] Forward F. Fukushima floating offshore wind farm demonstration project, 2014, Fukushima: Fukushima Offshore Wind Consortium

[68] Fowler MJ, Kimball RW, Thomas DA, Goupee AJ (2013) Design and testing of scale model wind turbines for use in wind/wave basin model tests of floating offshore wind turbines. Proceedings of the ASME 2013 32nd International Conference on Ocean, Offshore and Arctic Engineering, V008T009A004-V008T009A004

[69] Fujiwara H, Tsubogo T, Nihei Y (2011) Gyro effect of rotating blades on the floating wind turbine platform in waves. Proceedings of the The Twenty-first International Offshore and Polar Engineering Conference

[70] Fukumoto Y, Moriya Y, Tsuchiya K, Hara M, Suzuki H (2006) A study of floating offshore wind turbine systems. Part III investigation of reinforced concrete spar-buoy for offshore wind turbine. Proceedings of the Proceedings of 28th Wind Energy Utilization Symposium, Tokyo, 204-207

[71] Fulton G, Malcolm D, Moroz E (2006) Design of a semi-submersible platform for a 5MW wind turbine. Proceedings of the 44th AIAA Aerospace Sciences Meeting and Exhibit, 997

[72] Fylling I, Mo K, Merz K, Luxcey N (2009) Floating wind turbine-response analysis with rigid-body model. Proceedings of the European Offshore Wind Conference and Exhibition, Stockholm, Sweden

[73] Gao Z, Moan T, Wan L, Michailides C. Comparative numerical and experimental study of two combined wind and wave energy concepts. J Ocean Eng Sci, 2016, 1(1): 36-51

[74] González SF, Diaz-Casas V (2016) Present and future of floating offshore wind. Floating Offshore Wind Farms:1–22

[75] Goupee AJ, Kimball RW, Dagher HJ. Experimental observations of active blade pitch and generator control influence on floating wind turbine response. Renew Energy, 2017, 104: 9-19

[76] Goupee AJ, Koo B, Lambrakos K, Kimball R (2012) Model tests for three floating wind turbine concepts. Proceedings of the Offshore Technology Conference

[77] Goupee AJ, Fowler MJ, Kimball RW, Helder J, de Ridder E-J (2014a) Additional wind/wave basin testing of the DeepCwind semi-submersible with a performance-matched wind turbine(45547), V09BT09A026

[78] Goupee AJ, Koo BJ, Kimball RW, Lambrakos KF, Dagher HJ. Experimental comparison of three floating wind turbine concepts. J Offshore Mech Arct Eng, 2014, 136(2): 020906-020909

[79] Gueydon S. Aerodynamic damping on a semisubmersible floating foundation for wind turbines. Energy Procedia, 2016, 94: 367-378

[80] Gueydon S, Xu W. Floating wind turbine motion assessment. Proc Oceans, 2011, 2011: 1-10

[81] Hall M, Goupee AJ (2018) Validation of a hybrid modeling approach to floating wind turbine basin testing. Wind Energy 21(6):391–408

[82] Hall M, Moreno J, Thiagarajan K (2014) Performance specifications for real-time hybrid testing of 1: 50-scale floating wind turbine models. ASME 2014 33rd International Conference on Ocean, Offshore and Arctic Engineering, V09BT09A047-V009BT009A047

[83] Hall M, Goupee A, Jonkman J. Development of performance specifications for hybrid modeling of floating wind turbines in wave basin tests. J Ocean Eng Marine Energy, 2018, 4(1): 1-23

[84] Hansen AM, Laugesen R, Bredmose H, Mikkelsen R, Psichogios N. Small scale experimental study of the dynamic response of a tension leg platform wind turbine. J Renew Sustain Energy, 2014, 6(5): 053108

[85] Hansen MOL (2015) Aerodynamics of wind turbines. Routledge

[86] Hansen MOL, Sørensen JN, Voutsinas S, Sørensen N, Madsen HA. State of the art in wind turbine aerodynamics and aeroelasticity. Prog Aerosp Sci, 2006, 42(4): 285-330

[87] Hara N, Tsujimoto S, Nihei Y, Iijima K, Konishi K. Experimental validation of model-based blade pitch controller design for floating wind turbines: system identification approach. Wind energy, 2017, 20(7): 1187-1206

[88] Henderson AR, Witcher D. Floating offshore wind energy—a review of the current status and an assessment of the prospects. Wind Eng, 2010, 34(1): 1-16

[89] Heronemus WE. Pollution-free energy from offshore winds. Proceedings of the 8th Annual Conference and Exposition, 1972, Washington, DC: Marine Technology Society

[90] Hill JS (2018). Hywind Scotland, World’s first floating wind farm, Performing Better Than Expected, 2019(11/7)

[91] Horiuchi T, Inoue M, Konno T, Namita Y. Real-time hybrid experimental system with actuator delay compensation and its application to a piping system with energy absorber. Earthq Eng Struct Dyn, 1999, 28(10): 1121-1141

[92] Hu Z, Li L, Wang J, Hu Q, Shen M. Dynamic responses of a semi-type offshore floating wind turbine during normal state and emergency shutdown. China Ocean Eng, 2016, 30(1): 97-112

[93] Huang Y, Cheng P, Wan D (2017) Computation and analysis of aero-hydrodynamics of floating wind turbine with different tip speed. Proceedings of the 18th China Ocean Engineering Symposium

[94] Huijs F, de Ridder E-J, Savenije F (2014) Comparison of model tests and coupled simulations for a semi-submersible floating wind turbine. Proceedings of the ASME 2014 33rd International Conference on Ocean, Offshore and Arctic Engineering, V09AT09A012-V009AT009A012

[95] Huijs F, Mikx J, Savenije F, de Ridder E-J. Integrated design of floater, mooring and control system for a semi-submersible floating wind turbine, 2013, Vienna: EWEA Offshore

[96] Iijima K, Kawai M, Nihei Y, Murai M, Ikoma T (2013) Conceptual design of a single-point-moored FOWT and tank test for its motion characteristics. Proceedings of the ASME 2013 32nd International Conference on Ocean, Offshore and Arctic Engineering, V008T009A079-V008T009A079

[97] Ingram G. Wind turbine blade analysis using the blade element momentum method version 1.0, 2005, UK: School of Engineering, Durham University

[98] Ishida S, Kokubun K, Nimura T, Utsunomiya T, Sato I, Yoshida S (2013) At-sea experiment of a hybrid spar type offshore wind turbine. Proceedings of the ASME 2013 32nd International Conference on Ocean, Offshore and Arctic Engineering, V008T009A035-V008T009A035

[99] Ishihara T, Waris M, Sukegawa H (2009) A study on influence of heave plate on dynamic response of floating offshore wind turbine system. Proceedings of the Proceedings of the 3rd European Offshore Wind Conference and Exhibition, Stockholm, Sweden, 14–16

[100] Ishihara T, Phuc PV, Sukegawa H, Shimada K, Ohyama T (2007) A study on the dynamic response of a semi-submersible floating offshore wind turbine system part 1: a water tank test. Proceedings of the proceedings of the 12th international conference on, 2511–2518

[101] Ishihara T, Phuc PV, Sukegawa H, Shimada K, Ohyama T, Miyagawa M (2006) A study of floating offshore wind turbine systems part II: development of a lightweight semi-submersible floating system. Proceedings of the Proceedings of the 28th Wind Energy Utilization Symposium, Tokyo, Japan, 200–203

[102] Jain A, Robertson AN, Jonkman JM, Goupee AJ, Kimball RW, Swift AHP. FAST code verification of scaling laws for DeepCwind floating wind system tests: preprint, 2012, National Renewable Energy Laboratory (NREL): Golden

[103] James R, Ros MC (2015) Floating offshore wind: market and technology review. The Carbon Trust

[104] Jamieson P. Innovation in wind turbine design, 2018, New York: John Wiley & Sons

[105] Jeon M, Lee S, Lee S. Unsteady aerodynamics of offshore floating wind turbines in platform pitching motion using vortex lattice method. Renew Energy, 2014, 65: 207-212

[106] Jin F, Teng B. Time-domain coupling calculation method for motion response of offshore floating wind turbine. Grid Clean Energy, 2016, 32(8): 93-99

[107] Jonkman J (2008) Influence of control on the pitch damping of a floating wind turbine. Proceedings of the 46th AIAA Aerospace Sciences Meeting and Exhibit, 1306

[108] Jonkman J, Sclavounos P (2006) Development of fully coupled aeroelastic and hydrodynamic models for offshore wind turbines. Proceedings of the 44th AIAA Aerospace Sciences Meeting and Exhibit, 995

[109] Jonkman J, Musial W. Offshore code comparison collaboration (OC3) for IEA Wind Task 23 offshore wind technology and deployment, 2010, Golden, CO (United States): National Renewable Energy Lab. (NREL)

[110] Jonkman J, Butterfield S, Musial W, Scott G. Definition of a 5-MW reference wind turbine for offshore system development, 2009, Golden, CO (United States): National Renewable Energy lab.(NREL)

[111] Jonkman J, Larsen T, Hansen A, Nygaard T, Maus K, Karimirad M, Gao Z, Moan T, Fylling I. Offshore Code Comparison Collaboration within IEA Wind Task 23: Phase IV Results Regarding Floating Wind Turbine Modeling; Preprint, 2010, Golden, CO (United States): National Renewable Energy Lab.(NREL)

[112] Jonkman JM. Dynamics of offshore floating wind turbines—model development and verification. Wind Energy, 2009, 12(5): 459-492

[113] Jonkman JM, Buhl ML Jr. Fast user’s guide-updated august 2005, 2005, Golden, CO: National Renewable Energy Laboratory (NREL)

[114] Jonkman JM, National Renewable Energy L (2010) Definition of the floating system for Phase IV of OC3

[115] José A, Faisal B, Marta G, Joseba G, Xabier M, Felix K, Tor AN. Aerodynamic thrust modelling in wave tank tests of offshore floating wind turbines using a ducted fan. J Phys Conf Ser, 2014, 524(1): 012089

[116] Karimirad M. Stochastic dynamic response analysis of spar-type wind turbines with catenary or taut mooring systems, 2011

[117] Karimirad M, Moan T. Extreme dynamic structural response analysis of catenary moored spar wind turbine in harsh environmental conditions. J Offshore Mech Arct Eng, 2011, 133(4): 041103

[118] Karimirad M, Bachynski EE, Berthelsen PA, Ormberg H (2017) Comparison of real-time hybrid model testing of a Braceless semi-submersible wind turbine and numerical simulations. Proceedings of the ASME 2017 36th International Conference on Ocean, Offshore and Arctic Engineering, V010T009A061-V010T009A061

[119] Kimball R, Goupee AJ, Fowler MJ, de Ridder E-J, Helder J (2014) Wind/wave basin verification of a performance-matched scale-model wind turbine on a floating offshore wind turbine platform. Proceedings of the ASME 2014 33rd International Conference on Ocean, Offshore and Arctic Engineering, V09BT09A025-V009BT009A025

[120] Kitamura F, Kokubun K, Ohkawa Y, Yago K (2006) Wind characteristics on Sagami bay and examination on wind turbine for ocean use, 181-191

[121] Klerk D, Rixen DJ, Voormeeren SN. General framework for dynamic substructuring: history, review and classification of techniques. AIAA J, 2008, 46(5): 1169-1181

[122] Knauer A, Hanson TD, Skaare B (2006) Offshore wind turbine loads in deep-water environment. EWEC 2006

[123] Koh J, Ng E, Robertson A, Jonkman J, Driscoll F. Validation of a FAST Model of the SWAY Prototype Floating Wind Turbine, 2016, Golden, CO (United States): National Renewable Energy Lab.(NREL)

[124] Kokubun K, Ishida S, Nimura T, Chujo T, Yoshida S, Utsunomiya T (2012) Model experiment of a SPAR type offshore wind turbine in storm condition. Proceedings of the ASME 2012 31st International Conference on Ocean, Offshore and Arctic Engineering, 569–575

[125] Koo BJ, Goupee AJ, Kimball RW, Lambrakos KF. Model tests for a floating wind turbine on three different floaters. J Offshore Mech Arct Eng, 2014, 136(2): 020907-020911

[126] Kyrychko YN, Blyuss KB, Gonzalez-Buelga A, Hogan SJ, Wagg DJ (2006) Real-time dynamic substructuring in a coupled oscillator–pendulum system. Proceedings of the Proceedings of the Royal Society of London A: Mathematical, Physical and Engineering Sciences:1271–1294

[127] Lackner Matthew A. An investigation of variable power collective pitch control for load mitigation of floating offshore wind turbines. Wind energy, 2013, 16(4): 519-528

[128] Laino DJ, Hansen AC (2002) Aerodyn user’s guide. Available electronically at https://www.wind/designcodes/simulators/aerodyn/AeroDyn.pdf

[129] Larsen TJ, Hanson TD (2007) A method to avoid negative damped low frequent tower vibrations for a floating, pitch controlled wind turbine. Proceedings of the Journal of Physics: Conference Series, 012073

[130] Laugesen R, Hansen AM (2015) Experimental study of the dynamic response of the DTU 10MW wind turbine on a tension leg platform. DTU Wind Energy. Phys Conf Ser 753:092007

[131] Le Boulluec M, Ohana J, Martin A, Houmard A (2013) Tank testing of a new concept of floating offshore wind turbine. Proceedings of the ASME 2013 32nd International Conference on Ocean, Offshore and Arctic Engineering, V008T009A100-V008T009A100

[132] Lee KH (2005) Responses of floating wind turbines to wind and wave excitation. Thesis (S.M.)-Massachusetts Institute of Technology, Dept. of Ocean Engineering

[133] Li G. A generic dynamically substructured system framework and its dual counterparts. IFAC Proceed, 2014, 47(3): 10101-10106

[134] Li H, Hu Z, Wang J, Meng X. Short-term fatigue analysis for tower base of a spar-type wind turbine under stochastic wind-wave loads. Int J Naval Architec Ocean Eng, 2018, 10(1): 9-20

[135] Li H, Steurer M, Shi KL, Woodruff S, Zhang D. Development of a unified design, test, and research platform for wind energy systems based on hardware-in-the-loop real-time simulation. IEEE Trans Ind Electron, 2006, 53(4): 1144-1151

[136] Li J, Tang Y, Qu X, Li Y, Zhang R. Impact of downtime caused by pitcher failure on the motion of offshore trussed spar wind turbines. Ship Eng, 2017, 39(3): 49-54

[137] Li L, Gao Y, Hu Z, Yuan Z, Day S, Li H. Model test research of a semisubmersible floating wind turbine with an improved deficient thrust force correction approach. Renew Energy, 2018, 119: 95-105

[138] Lindeberg E, Svendsen HG, Uhlen K. Smooth transition between controllers for floating wind turbines. Energy Procedia, 2012, 24: 83-98

[139] Liu L, Guo Y, Zhao H, Tang Y. Dynamic modeling, simulation and experimental study of floating vertical Axis wind turbine. Acta Mech Sinica, 2017, 49(2): 299-307

[140] Liu L, Zhao H, Yuan R, Huang X, Li Y. Modeling and simulation of rigid-flexible coupled multibody dynamics of H-type floating vertical axis wind turbine. Mar Eng, 2018, 36(3): 1-9

[141] Liu Y, Peng Y, Wan D (2015) Numerical investigation on interaction between a semi-submersible platform and its mooring system. Proceedings of the ASME 2015 34th International Conference on Ocean, Offshore and Arctic Engineering, V007T006A071-V007T006A071

[142] Liu Y, Li S, Yi Q, Chen D. Developments in semi-submersible floating foundations supporting wind turbines: a comprehensive review. Renew Sust Energ Rev, 2016, 60: 433-449

[143] Liu Y, Qing X, Incecik A, Peyrard C, Wan D. Establishing a fully coupled CFD analysis tool for floating offshore wind turbines. Renew Energy, 2017, 112: 280-301

[144] Lu D, Biao W, Zhiying X, Xiaoping S (2016a) Research on conceptual design and performance of reinforced concrete floating wind turbine platform. J Huazhong Univ Sci Technol 44(1)

[145] Lu D, Songxiong W, Wenjie Z, Xiaoping S. Impact of wind and wave angle change on mooring of offshore floating wind turbines. J Civ Eng Manag, 2018, 2018: 1-6

[146] Lu D, Zijia T, Biao W, Xiaoping S, Haitao W. Research on motion characteristics and mooring system of semi-submersible floating fan. Ship Eng, 2016, 38(8): 1-6

[147] Lu D, Minxi H, Zhiying X, Xiaoping S, Haitao W. Frequency domain response analysis of floating wind turbine considering aerodynamic damping. J Hunan Univ, 2017, 44(1): 1-8

[148] Luan C, Michailides C, Gao Z, Moan T (2014) Modeling and analysis of a 5 MW semi-submersible wind turbine combined with three flap-type wave energy converters. Proceedings of the ASME 2014 33rd International Conference on Ocean, Offshore and Arctic Engineering, V09BT09A028-V009BT009A028

[149] Lunde K-OG (2013) Hydrodynamic analysis and structural design of the Concrete Star Wind Floater (Master’s thesis, NTNU)

[150] Ma Y, Hu Z-q, L-f X. Wind-wave induced dynamic response analysis for motions and mooring loads of a spar-type offshore floating wind turbine. J Hydrodyn, 2014, 26(6): 865-874

[151] Ma Y, Hu Z-q, L-f X. Wind-wave induced dynamic response analysis for motions and mooring loads of a spar-type offshore floating wind turbine. Journal of Hydrodynamics, Ser B, 2015, 26(6): 865-874

[152] Make M (2014) Predicting scale effects on floating offshore wind turbines. MSc Thesis, Confidential

[153] Maniar HD, Newman JN. Wave diffraction by a long array of cylinders. J Fluid Mech, 1997, 339: 309-330

[154] Martin HR (2011) Development of a scale model wind turbine for testing of offshore floating wind turbine systems (Doctoral dissertation, Maine Maritime Academy)

[155] Martin HR, Kimball RW, Viselli AM, Goupee AJ. Methodology for wind/wave basin testing of floating offshore wind turbines. J Offshore Mech Arct Eng, 2014, 136(2): 020905-020903

[156] Masciola M, Robertson A, Jonkman J, Coulling A, Goupee A (2013) Assessment of the importance of mooring dynamics on the global response of the DeepCwind floating semisubmersible offshore wind turbine. Proceedings of the The Twenty-third International Offshore and Polar Engineering Conference

[157] Matha D, Schlipf M, Cordle A, Pereira R, Jonkman J. Challenges in simulation of aerodynamics, hydrodynamics, and mooring-line dynamics of floating offshore wind turbines, 2011, Golden, CO: National Renewable Energy Laboratory (NREL)

[158] Matha D, Sandner F, Molins C, Campos A, Cheng PW. Efficient preliminary floating offshore wind turbine design and testing methodologies and application to a concrete spar design. Phil Trans R Soc A, 2015, 373(2035): 20140350

[159] Matsukuma H, Utsunomiya T. Motion analysis of a floating offshore wind turbine considering rotor-rotation. IES J Part A Civil Struc Eng, 2008, 1(4): 268-279

[160] Michailides C, Gao Z, Moan T. Experimental and numerical study of the response of the offshore combined wind/wave energy concept SFC in extreme environmental conditions. Mar Struct, 2016, 50: 35-54

[161] Michailides C, Luan C, Gao Z, Moan T (2014) Effect of flap type wave energy converters on the response of a semi-submersible wind turbine in operational conditions. Proceedings of the ASME 2014 33rd International Conference on Ocean, Offshore and Arctic Engineering, V09BT09A014-V009BT009A014

[162] Molins C, Rebollo J, Campos A (2011) Estructura flotante de hormigón prefabricado para soporte de aerogenerador Patent No WO201393160

[163] Molins i Borrell C, Campos Hortigüela A, Sandner F, Matha D (2014) Monolithic concrete off-shore floating sturcture for wind turbines. Proceedings of the EWEA 2014 Annual Event: conference proceedings, 107-111

[164] Morison JR, Johnson JW, Schaaf SA. The force exerted by surface waves on piles. J Pet Technol, 1950, 2(5): 149-154

[165] Müller K, Sandner F, Bredmose H, Azcona J, Manjock A, Pereira R (2014) Improved tank test procedures for scaled floating offshore wind turbines. Proceedings of the IWEC 2014.

[166] Munteanu I, Bratcu AI, Bacha S, Roye D, Guiraud J. Hardware-in-the-loop-based simulator for a class of variable-speed wind energy conversion systems: design and performance assessment. IEEE Transac Energy Conver, 2010, 25(2): 564-576

[167] Murai M, Nishimura R (2010) A study on an experiment of behavior of a SPAR type offshore wind turbine considering rotation of wind turbine blades. Proceedings of the OCEANS 2010 IEEE-Sydney, 1-8

[168] Musial W, Butterfield S, Boone A. Feasibility of floating platform systems for wind turbines: preprint, 2003, Reno: The 23rd ASME Wind Energy

[169] Myhr A, Maus KJ, Nygaard TA (2011) Experimental and computational comparisons of the OC3-Hywind and tension-leg-buoy (TLB) floating wind turbine conceptual designs. Proceedings of the The Twenty-first International Offshore and Polar Engineering Conference

[170] Naciri M, Waals O, de Wilde J (2007) Time domain simulations of side-by-side moored vessels: lessons learnt from a benchmark test. Proceedings of the ASME 2007 26th International Conference on Offshore Mechanics and Arctic Engineering, 801–811

[171] Naciri M, Buchner B, Bunnik T, Huijsmans R, Andrews J (2004) Low frequency motions of LNG carriers moored in shallow water. Proceedings of the ASME 2004 23rd International Conference on Offshore Mechanics and Arctic Engineering, 995–1006

[172] Nakashima M, Kato H, Takaoka E (1992) Development of real-time pseudo dynamic testing. Earthquake Engng. Struct Dyn 21(1)

[173] Namik H, Stol K. Individual blade pitch control of floating offshore wind turbines. Wind energy, 2010, 13(1): 74-85

[174] Namik H, Stol K. Performance analysis of individual blade pitch control of offshore wind turbines on two floating platforms. Mechatronics, 2011, 21(4): 691-703

[175] Namik H, Stol K. A review of floating wind turbine controllers. Handbook of Wind Power Systems, 2013, 415-441

[176] Nematbakhsh A, Bachynski EE, Gao Z, Moan T. Comparison of wave load effects on a TLP wind turbine by using computational fluid dynamics and potential flow theory approaches. Appl Ocean Res, 2015, 53: 142-154

[177] Newton JM, Cameron MP, Urbina R, Kimball RW, Goupee AJ, Thiagarajan KP (2015) Characterization of a wind tunnel for use in offshore wind turbine development. Proceedings of the ASME 2015 34th International Conference on Ocean, Offshore and Arctic Engineering, V009T009A048-V009T009A048

[178] Ng C, Ran L (2016) Offshore wind farms: technologies, design and operation. Vol. number 92. Cambridge: Elsevier Science & Technology

[179] Nielsen FG, Hanson TD, Skaare Br (2006) Integrated dynamic analysis of floating offshore wind turbines. Proceedings of the 25th International Conference on Offshore Mechanics and Arctic Engineering, 671–679

[180] Ogilvie TF (1964) Recent progress toward the understanding and prediction of ship motions. Proceedings of the 5th ONR Symp. on Naval Hydrodynamics

[181] Oh Y, Kim K, Kim H, Paek I. Control algorithm of a floating wind turbine for reduction of tower loads and power fluctuation. Int J Precis Eng Manuf, 2015, 16(9): 2041-2048

[182] Ohkawa Y, Yago K, Ohta M, Yamada Y, Takano O, Sekita K (2004) A basic study of floating wind power system for purpose of alternative fuel production. Proceedings of the Proceedings of Civil Engineering in the Ocean, 1217-1222

[183] Ormberg H, Bachynski EE (2012) Global analysis of floating wind turbines: code development, model sensitivity and benchmark study. Proceedings of the Twenty-second International Offshore and Polar Engineering Conference

[184] Øye S (1996) FLEX4 simulation of wind turbine dynamics. Proceedings of the Proceedings of the 28th IEA Meeting of Experts Concerning State of the Art of Aeroelastic Codes for Wind Turbine Calculations (Available through International Energy Agency)

[185] Pao LY, Johnson KE. Control of wind turbines. IEEE Control Syst, 2011, 31(2): 44-62

[186] Pardalos PM, Rebennack S, Pereira MVF, Iliadis NA, Pappu V. Handbook of wind power systems, 2013, Berlin: Springer

[187] Pegalajar-Jurado A, Hansen AM, Laugesen R, Mikkelsen RF, Borg M, Kim T, Heilskov NF, Bredmose H (2016) Experimental and numerical study of a 10MW TLP wind turbine in waves and wind. Proceedings of the Journal of Physics: Conference Series, 092007

[188] Philippe M, Babarit A, Ferrant P. Aero-hydro-elastic simulation of a semi-submersible floating wind turbine. J Offshore Mech Arct Eng, 2014, 136(2): 020908

[189] Philippe M, Courbois A, Babarit A, Bonnefoy F, Rousset J-M, Ferrant P (2013) Comparison of simulation and tank test results of a semi-submersible floating wind turbine under wind and wave loads. Proceedings of the ASME 2013 32nd International Conference on Ocean, Offshore and Arctic Engineering, V008T009A081-V008T009A081

[190] Pinto AV, Pegon P, Magonette G, Tsionis G. Pseudo-dynamic testing of bridges using non-linear substructuring. Earthq Eng Struct Dyn, 2004, 33(11): 1125-1146

[191] Plummer AR. Model-in-the-loop testing. Proceedings of the Institution of Mechanical Engineers. Part I J Syst Control Eng, 2006, 220(3): 183-199

[192] Power P (2019). WindFloat, 2019(11/7)

[193] Ramachandran GKVK (2013) A numerical model for a floating TLP wind turbine Technical University of Denmark (DTU)

[194] Ramos R (2012) Actuator saturation control of floating wind turbines. Proceedings of the ASME 2012 31st International Conference on Ocean, Offshore and Arctic Engineering, 359–367

[195] Robertson A, National Renewable Energy L (2014) Definition of the semisubmersible floating system for phase II of OC4 (No. NREL/TP-5000-60601). National Renewable Energy Lab.(NREL), Golden, CO (United States)

[196] Robertson AN, Jonkman JM, Goupee AJ, Coulling AJ, Prowell I, Browning J, Masciola MD, Molta P (2013) Summary of conclusions and recommendations drawn from the DeepCwind scaled floating offshore wind system test campaign. Proceedings of the ASME 2013 32nd International Conference on Ocean, Offshore and Arctic Engineering, V008T009A053-V008T009A053

[197] Robertson AN, Wendt F, Jonkman JM, Popko W, Dagher H, Gueydon S, Qvist J, Vittori F, Azcona J, Uzunoglu E, Soares CG, Harries R, Yde A, Galinos C, Hermans K, de Vaal JB, Bozonnet P, Bouy L, Bayati I, Bergua R, Galvan J, Mendikoa I, Sanchez CB, Shin H, Oh S, Molins C, Debruyne Y. OC5 project phase II: validation of global loads of the DeepCwind floating semisubmersible wind turbine. Energy Procedia, 2017, 137: 38-57

[198] Rockel S, Camp E, Schmidt J, Peinke J, Cal RB, Hölling M. Experimental study on influence of pitch motion on the wake of a floating wind turbine model. Energies, 2014, 7(4): 1954-1985

[199] Roddier D, Cermelli C, Weinstein A (2009) WindFloat: a floating foundation for offshore wind turbines—part I: design basis and qualification process. Proceedings of the ASME 2009 28th International Conference on Ocean, Offshore and Arctic Engineering, 845–853

[200] Roddier D, Cermelli C, Aubault A, Weinstein A. WindFloat: a floating foundation for offshore wind turbines. J Renew Sustain Energy, 2010, 2(3): 033104

[201] Salehyar S, Zhu Q. Aerodynamic dissipation effects on the rotating blades of floating wind turbines. Renew Energy, 2015, 78: 119-127

[202] Sandner F, Amann F, Azcona J, Munduate X, Bottasso CL, Campagnolo F, Robertson A (2015) Model building and scaled testing of 5MW and 10MW semi-submersible floating wind turbines. Proceedings of the Proceedings of 12th Deep Sea Offshore Wind R&D Conference, EERA DeepWind'2015

[203] Sant T, Cuschieri K (2015) Numerical modelling of the aerodynamic characteristics of a floating offshore wind turbine under yawed rotor conditions. Proceedings of the ASME 2015 34th International Conference on Ocean, Offshore and Arctic Engineering, V009T009A046-V009T009A046

[204] Sarpkaya T, Isaacson M (1981) Mechanics of wave forces on offshore structures. J Appl Mech 49(2):466–467

[205] Sauder T, Chabaud V, Thys M, Bachynski EE, Sæther LO (2016) Real-time hybrid model testing of a braceless semi-submersible wind turbine: part I — the hybrid approach, (49972), V006T009A039

[206] Savenije F, Peeringa J (2014) Control development for floating wind. Proceedings of the Journal of Physics: Conference Series, 012090

[207] Schlipf D, Sandner F, Raach S, Matha D, Cheng PW (2013) Nonlinear model predictive control of floating wind turbines

[208] Sclavounos P. Floating offshore wind turbines. Mar Technol Soc J, 2008, 42(2): 39-43

[209] Sebastian T, Lackner M. Analysis of the induction and wake evolution of an offshore floating wind turbine. Energies, 2012, 5(4): 968-1000

[210] Sebastian T, Lackner MA. Characterization of the unsteady aerodynamics of offshore floating wind turbines. Wind Energy, 2013, 16(3): 339-352

[211] Serraris JJ (2009) Time domain analysis for DP simulations. Proceedings of the ASME 2009 28th International Conference on Ocean, Offshore and Arctic Engineering, 595–605

[212] Sethuraman L, Venugopal V. Hydrodynamic response of a stepped-spar floating wind turbine: numerical modelling and tank testing. Renew Energy, 2013, 52: 160-174

[213] Shao X, Griffith C. An overview of hybrid simulation implementations in NEES projects. Eng Struct, 2013, 56: 1439-1451

[214] Shi R (2015) Research on optimal design and fatigue characteristics of support structure for deep water TLP floating wind turbine. China Ocean University

[215] Shin H (2011) Model test of the OC3-Hywind floating offshore wind turbine. The Twenty-first International Offshore and Polar Engineering Conference

[216] Signorelli C, Villegas C, Ringwood J (2011) Hardware-in-the-loop simulation of a heaving wave energy converter. Proceedings of the Proceedings of the 9th European Wave and Tidal Energy Conference (EWTEC)

[217] Skaare B, David Hanson T, Nielsen F, Yttervik R, Melchior Hansen A, Thomsen K, Larsen T (2007) Integrated dynamic analysis of floating offshore wind turbines. In European wind energy conference and exhibition (pp. 7-10). Hamburg, Germany

[218] Stewart G, Muskulus M. A review and comparison of floating offshore wind turbine model experiments. Energy Procedia, 2016, 94: 227-231

[219] Stewart G, Muskulus M (2016b) Aerodynamic simulation of the MARINTEK Braceless semisubmersible wave tank tests. Proceedings of the Journal of Physics: Conference Series, 012012

[220] Stewart G, Lackner M, Robertson A, Jonkman J, Goupee A (2012) Calibration and validation of a FAST floating wind turbine model of the DeepCwind scaled tension-leg platform: preprint. National Renewable Energy Laboratory (NREL), Golden, CO.

[221] Stiesdal H. Hywind: the world’s first floating MW-scale wind turbine. Wind Directions, 2009, 31: 52-53

[222] Sukegawa H, Ishihara T, Yamaguchi A, Fukumoto Y, Tuchiya M (2006) A study of floating offshore wind turbine systems part I: an offshore wind observation and wind energy potential assessment. Proceedings of the Proceedings of the 28th wind energy utilization symposium, Tokyo, Japan, 196-199

[223] Suzuki H, Hashimoto T, Sekita K (2004) Improvement of response characteristics of SPAR-buoy type floating wind turbine. Proceedings of the Proceedings of Civil Engineering in The Ocean, 911-916

[224] Tang Y, Wang H, Tao H, Liu Z. Design of semi-submersible floating foundation structure and overall strength analysis of offshore wind turbine. China Shipbuilding, 2013, 54(3): 85-93

[225] Tang Y, Gui L, Cao Y, Qin Y. Semi-submersible foundation concept design and hydrodynamic performance analysis of offshore wind turbine. J Harbin Eng Univ, 2014, 35(11): 1314-1319

[226] Thiagarajan KP, Dagher HJ. A review of floating platform concepts for offshore wind energy generation. J Offshore Mech Arct Eng, 2014, 136(2): 020903

[227] Tran T, Kim D, Song J. Computational fluid dynamic analysis of a floating offshore wind turbine experiencing platform pitching motion. Energies, 2014, 7(8): 5011-5026

[228] Tsujimoto S, Dessort S, Hara N, Konishi K. Pitch angle control of floating offshore wind turbines by H^∞ control. IEEJ Transact Electron Inform Syst, 2014, 134: 1096-1103

[229] Utsunomiya T, Nishida E, Sato I (2009a) Wave response experiment on SPAR-type floating bodies for offshore wind turbine. Proceedings of the The Nineteenth International Offshore and Polar Engineering Conference

[230] Utsunomiya T, Sato T, Matsukuma H, Yago K (2009b) Experimental validation for motion of a SPAR-type floating offshore wind turbine using 1/22.5 scale model(43444), 951-959

[231] Utsunomiya T, Sato I, Yoshida S, Ookubo H, Ishida S (2013a) Dynamic response analysis of a floating offshore wind turbine during severe typhoon event. Proceedings of the ASME 2013 32nd International Conference on Ocean, Offshore and Arctic Engineering, V008T009A032-V008T009A032

[232] Utsunomiya T, Yoshida S, Ookubo H, Sato I, Ishida S. Dynamic analysis of a floating offshore wind turbine under extreme environmental conditions. J Offshore Mech Arct Eng, 2014, 136(2): 020904

[233] Utsunomiya T, Matsukuma H, Minoura S, Ko K, Hamamura H, Kobayashi O, Sato I, Nomoto Y, Yasui K. At sea experiment of a hybrid spar for floating offshore wind turbine using 1/10-scale model. J Offshore Mech Arct Eng, 2013, 135(3): 034503

[234] van Essen S, van der Hout A, Huijsmans R, Waals O (2013) Evaluation of directional analysis methods for low-frequency waves to predict LNGC motion response in nearshore areas. Proceedings of the ASME 2013 32nd International Conference on Ocean, Offshore and Arctic Engineering, V001T001A015-V001T001A015

[235] Van Phuc P, Ishihara T (2007) A study on the dynamic response of a semi-submersible floating offshore wind turbine system part 2: numerical simulation. ICWE12. Cairns, Australia, 959-966

[236] Viselli AM, Goupee AJ, Dagher HJ. Model test of a 1: 8-scale floating wind turbine offshore in the gulf of Maine. J Offshore Mech Arct Eng, 2015, 137(4): 041901

[237] Vita L, Ramachandran GKV, Krieger A, Kvittem MI, Merino D, Cross-Whiter J, Ackers BB (2015) Comparison of numerical models and verification against experimental data, using Pelastar TLP concept. Proceedings of the ASME 2015 34th International Conference on Ocean, Offshore and Arctic Engineering, V009T009A047-V009T009A047

[238] Vittori F, Bouchotrouch F, Lemmer F, Azcona. J (2018) Hybrid scale testing of a 5 MW floating wind turbine using the SIL method compared with numerical models. Proceedings of the Ocean, Offshore and Arctic Engineering OMAE

[239] Wan L, Gao Z, Moan T. Experimental and numerical study of hydrodynamic responses of a combined wind and wave energy converter concept in survival modes. Coast Eng, 2015, 104: 151-169

[240] Wan L, Gao Z, Moan T, Lugni C. Experimental and numerical comparisons of hydrodynamic responses for a combined wind and wave energy converter concept under operational conditions. Renew Energy, 2016, 93: 87-100

[241] Wan L, Gao Z, Moan T, Lugni C. Comparative experimental study of the survivability of a combined wind and wave energy converter in two testing facilities. Ocean Eng, 2016, 111: 82-94

[242] Wan L, Greco M, Lugni C, Gao Z, Moan T. A combined wind and wave energy-converter concept in survival mode: numerical and experimental study in regular waves with a focus on water entry and exit. Appl Ocean Res, 2017, 63: 200-216

[243] Wang K, Ji C, Xue H, Tang W. Frequency domain approach for the coupled analysis of floating wind turbine system. Ships Offshore Struct, 2017, 12(6): 767-774

[244] Wang L, Zuo S, Song YD, Zhou Z (2014) Variable torque control of offshore wind turbine on spar floating platform using advanced RBF neural network. Proceedings of the Abstract and Applied Analysis,

[245] Wayman EN, Sclavounos PD, Butterfield S, Jonkman J, Musial W (2006) Coupled Dynamic Modeling of Floating Wind Turbine Systems: Preprint. National Renewable Energy Lab.(NREL), Golden, CO (United States)

[246] Wehmeyer C, Ferri F, Frigaard PB, Skourup J (2013) Experimental study of an offshore wind turbine TLP in ULS conditions. Proceedings of the The Twenty-third International Offshore and Polar Engineering Conference

[247] Wei K, Arwade SR, Myers AT. Incremental wind-wave analysis of the structural capacity of offshore wind turbine support structures under extreme loading. Eng Struct, 2014, 79: 58-69

[248] Wilson RE, Walker SN, Heh P (1999) Technical and user’s manual for the FAST_AD advanced dynamics code. OSU/NREL Report(99-01)

[249] Windsea AS. Next generation floating wind farm. Scand Oil-Gas Mag, 2010, 7(8): 250-253

[250] Withee JE. Fully coupled dynamic analysis of a floating wind turbine system, 2004, Cambridge: Massachusetts Inst of Tech

[251] Wu J, Ding JH, He YP, Zhao YS (2015) Study on unsteady aerodynamic performance of floating offshore wind turbine by CFD method. Proceedings of the Twenty-fifth International Ocean and Polar Engineering Conference

[252] Yago K, Ohkawa Y, Miyajima S, Chujo T, Ishii K, Takano O (2007) Comprehensive evaluations on feasibility of floating wind power system. Proceedings of the Proceedings of Civil Engineering In The Ocean, 1009-1014

[253] Yu W, Lemmer F, Bredmose H, Borg M, Pegalajar-Jurado A, Mikkelsen RF, Larsen TS, Fjelstrup T, Lomholt AK, Boehm L, Schlipf D, Armendariz JA, Cheng PW. The triple spar campaign: implementation and test of a blade pitch controller on a scaled floating wind turbine model. Energy Procedia, 2017, 137: 323-338

[254] Zambrano T, MacCready T, Kiceniuk T, Roddier DG, Cermelli CA. Dynamic modeling of Deepwater offshore wind turbine structures in Gulf of Mexico storm conditions. Proceedings of the 25th international conference on offshore mechanics and Arctic engineering, 2006, 629-634

[255] Zhang L, Deng H. Numerical analysis of stability of floating wind turbine semi-submersible platform. Applied Technol, 2011, 38(10): 13-17

[256] Zhang L, Ye X, Wu H, Ma Q. Analysis of environmental load and motion performance of offshore floating wind turbine. J Sol Energy, 2013, 34(5): 876-881

[257] Zhao J, Zhang L, Wu H. Motion performance and mooring system of a floating offshore wind turbine. J Mar Sci Appl, 2012, 11(3): 328-334

[258] Zhao W, Wan D (2014) Wind turbine impacts on its semi-submersible floating supporting system for phase II of OC4. Proceedings of the The Twenty-fourth International Ocean and Polar Engineering Conference

[259] Zhou K, Doyle JC. Essentials of robust control, 1998, Upper Saddle River, NJ: Prentice hall

Funding

Newcastle University