Final Colloquium Thom Kusters

Gyroscopic Payload Motion Control for Floating Installation of Offshore Wind Turbine Towers

Supervisor: Prof. Dr. ir. Jan-Willem van Wingerden

As the demand for offshore wind farms in more remote locations increases, installation depths also rise, posing challenges for the existing installation fleet. To address these deeper waters, a potential solution involves transitioning from jack-up vessels to floating crane vessels. However, the latter are susceptible to wave disturbances, leading to crane tip oscillation and undesirable payload swings during tower installations, significantly reducing workability. In response, this study explores the feasibility of mitigating payload swing using control moment gyroscopes (CMGs) in floating crane vessel operations. Through a 2D modeling framework, a conceptual tool called the Sway Dampening Gyroscopes (SDG) actuator is proposed, positioned between the crane hook and payload. A stable controller is designed using loop shaping, aiming to minimize tower bottom displacement during installation and improve overall workability. The resulting system dynamics pose challenges, leading to the design of multiple controllers to accommodate various tower and sling length combinations. Analysis reveals that the SDG system outperforms the original system for the examined tower lengths and crane tip height variations. Additionally, historic workability analysis shows an increase with the SDG, while power demand analysis uncovers substantial peaks. The study confirms the potential of CMGs in enhancing workability and stability in offshore wind turbine installations.