Renewable Energy 39 (2012) 323e328

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Renewable Energy
journal homepage: www.elsevier.com/locate/renene

Calculation of hoisting forces of the wind turbine rotor based on wind conditions
Yong Wang*, Wei He, De Tian
Renewable Energy School, North China Electric Power University, Beijing, China

a r t i c l e i n f o
Article history: Received 8 March 2011 Accepted 18 August 2011 Available online 7 September 2011 Keywords: Wind turbine rotor Calculation of hoisting forces Wind conditions

a b s t r a c t
The assembly and hoisting process of the wind turbine rotor in an open wind environment are regarded to improve the hoisting safety, efciency and quality. The wind turbine rotor model of a 1.5 MW wind turbine are given, and the hoisting forces of the wind turbine rotor in different poses with various azimuth angles, yaw angles and pitch angles in 3D coordinate system are calculated based on the dened wind conditions model. The maximum and minimum hoisting forces of the wind turbine rotor are acquired and the corresponding azimuth angle, yaw angle and pitch angle of the wind turbine rotor are obtained with respect to the wind conditions in the hoisting process. For four specic poses with particular azimuth angles, yaw angles and pitch angles of the wind turbine rotor, the hoisting forces of the wind turbine rotor are calculated along its hoisting height increment. The change processes of the hoisting forces of the wind turbine rotor in the hoisting process are analyzed and the conclusions are drawn. Crown Copyright 2011 Published by Elsevier Ltd. All rights reserved.

1. Introduction The development and application of wind energy is stimulated by the world wide demand for renewable energy [1]. Many researchers focus on the kernel and useful technologies, such as the wind farm evaluation [2], wind turbine aerodynamics [3,4], wind turbine design and manufacturing [5e7], etc., which are closely related to the utilization of the wind energy. It is inharmonious to the rapid development of the wind energy technologies that the assembly and hoisting process of the large capacity wind turbines are seldom taken into account. Most hoisting processes of the large capacity wind turbines are determined based on the former experience and the weather conditions which are lack of credible datum, and these experiences and weather broadcast sometimes can not provide the valid guidelines to make the correct hoisting process of the wind turbines. The hoisting forces of the wind turbine rotor are calculated in accordance with the wind turbine rotor model and wind conditions model, which aims to provide the accurate datum for planners to make the right hoisting process of wind turbine rotor. Different from the assembly process of most of the mechanical products, the hoisting process of the wind turbines rotor is not handled in the workshop, but it is dealt with in an open wind environment. Both the ten tons of assemblies and the random wind

* Corresponding author. E-mail address: wangyyong100@126.com (Y. Wang).

action should be considered for the hoisting process safety, especially for the hoisting process of the large capacity wind turbine rotor. Besides the wind conditions, the other factors, such as the environmental temperature, the atmosphere humidity, etc., will also inuence the hoisting safety and efciency. The function of the wind reacting to the hoisting process of the wind turbine rotor is discussed and the functions of the other factors will be researched in the future. The wind speed is one restrictive factor for the wind turbines installation [8], and the wind conditions play an important role to affect the hoisting efciency and safety of the wind turbine rotor [9]. In general, the hoisting process of the wind turbine rotor should be canceled once the average wind speed at the hub center height exceeds 10.0 m/s. Furthermore, the hoisting poses of the wind turbine rotor are crucial to alleviate the hoisting forces in the open wind environment. The wind turbine rotor poses can be represented by three parameters, the azimuth angle(AA), yaw angle(YA) and pitch angle(PA) of the wind turbine rotor/blade. Once one of the variables, such as the wind speed or wind direction, the azimuth angle(AA), yaw angle(YA) and pitch angle(PA), is varied, the hoisting forces are also changed. Due to the complexity of the wind conditions including the various wind speed and wind direction [10], the hoisting process of the wind turbine rotor is hard to be simulated and the hoisting forces of the wind turbine rotor can not be computed continuously and accurately. On the other hand, after the wind conditions and the wind turbine rotor are modeled in mathematics, the hoisting forces of the wind turbine rotor in a certain pose can be resolved as the wind load case [11] computation problems, and the weight of the wind

0960-1481/$ e see front matter Crown Copyright 2011 Published by Elsevier Ltd. All rights reserved. doi:10.1016/j.renene.2011.08.045

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Fz
150 0

120

900

60 0

30 0

Fy O

Fx

180 0

0 0 ,360 0

210 0 240 0 270 0

Fig. 2. The YAs/o.

330 0 3000

Fig. 1. The hub coordinate system.

Table 1 The initializations of the wind conditions. Height/m 70 Vave/m/s 8.5 I15 0.18 Longitudinal wind turbulence s/Vave/% 22.6 Shearing exponential a 0.2

90

60

30

turbine rotor is also computed as well. In theory, the hoisting process should be kept steady to avoid the violent swinging and apping of the wind turbine rotor/blade. Due to the swift change of wind speed and wind direction, the hoisting forces of wind turbine rotor can not be kept constant in the whole hoisting process. To simplify the computation, the steady wind speed is used and only one example computed with turbulence model is shown. The acceleration of the wind turbine rotor caused by the various hoisting forces is not discussed here. The hoisting forces of a 1.5 MW wind turbine rotor in the hoisting process are computed in three-dimensional coordinate system with the GH Bladed 3.81 software [12] at the different height and under the dened wind conditions. Many available wind conditions models and wind turbine models are integrated into the software, and the designers are able to construct their customized wind conditions models and wind turbine models with it. The wind load cases can be computed with the software after the wind turbine model and wind conditions model are constructed. When the hoisting forces of the wind turbine rotor in some appointed poses are computed, the Newton interpolation methods are used to generate the middle hoisting forces between these acquired hoisting forces and the hoisting forces of the wind turbine rotor in relation to the hoisting process become more continuous. 2. The model of the wind turbine rotor and wind conditions First of all, the hub coordinate system [13] is shown in Fig. 1. Secondly, the wind conditions and the parameters of the wind turbine rotor are presented in Table 1 and Table 2, respectively. The wind conditions are suggested according to the IEC 61400-1 standard [14]. Obviously, the wind turbine is the 2nd class wind turbine complying with the IEC 61400-1.

-30
0

-60

-90

Fig. 3. The PAs/o.

3. Calculation and analysis of the hoisting forces at the height of 70 m above the ground 3.1. Preparations for the experiment For the rst experiment, the wind turbine rotor center is lifted up to 70 m height, where the AA, YA and the PA are dened. Considering the balance demand of the wind turbine rotor in the hoisting process, the AA is dened as 0 0 or 180 0. The YA interval [0 0, 360 0] of one rotation is divided into 12 portions in average and the discrete YAs of the wind turbine rotor are illustrated in Fig. 2. The PA interval [90 0, 90 0] of the blade are also equally partitioned into six portions and the PAs of the blade are shown in Fig. 3. 3.2. Maximum and minimum hoisting forces When the rotor axis is placed at the height of 70 m above the ground, the AA is viewed as 00 or 1800, the YA is changed from 00 to
Table 3 The maximum and minimum hoisting forces at the height of 70 m in the 3D coordinate system. Forces Poses Fx/N (PA/o, YA/o) L31000.1(P0,Y0) L7925.67(P0,Y180) 30107.9(P0,Y0) 8619.43(P0,Y180) Fy/N(PA/o, YA/o) 6299.12(P 90, Y 300) 16.8198(P30,Y30) 5909.07(P90,Y60) 0.226431(P -30, Y 30) Fz/N(PA/o, YA/o) 279630(P 90, Y 180) 277223(P 90, Y 0) 279654(P 90, Y 180) 275350(P e90, Y 0)

Table 2 The main parameters of the wind turbine rotor. Wind turbine rotor Diameter/m 83.5 Weight/ton 28.451 Blades Length/m 40.25 Weight/ton 6.082 Hub Diameter/m 3.0 Weight/ton 10.205

Max Min A180 Max Min

A0

The bold values in the table are the maximum and minimum hoisting forces and the corresponding poses in x, y ,z directions.

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325

-5000 0 -10000 -15000 F x/N -20000 -25000 -30000 -35000 Yaw angle/o(Deg)
Fig. 4. The hoisting forces in the x direction with 00 AA, different YAs and PAs.

30

60

90

120

150

180

210

240

270

300

330

360

A0P0 A0P30 A0P60 A0P90 A0P-30 A0P-60 A0P-90

3600 and the PA varies from 900 to 900, the hoisting forces of these poses are calculated in the three-dimensional coordinate system. The maximum and minimum hoisting forces Fx, Fy and Fz corresponding to the distinct AA, YA and PA are obtained and listed in Table 3. It is obvious that the hoisting forces in the z direction are rather bigger than those hoisting forces in the x and y directions, and the hoisting forces in the y direction are the smallest in the three directions in the same poses. In addition, the minimum hoisting force 275350N in the z direction is obtained when the AA, YA and PA are equal to 1800, 00 and 900, respectively. The maximum hoisting force 279654N in the z direction is also acquired when the AA, YA and PA are equal to 1800, 1800 and 900, respectively. If the weight acceleration g is taken as 9.8 m/s2, the weight of the wind turbine rotor is 278819.8N. Based on the datum in Table 3, it can be found that partial values of the hoisting forces in the z direction are smaller than the weight of the wind turbine rotor while some of which are bigger than its weight. It can be concluded that the wind doesnt always provide the upward force to the wind turbine rotor in the hoisting process. The upward forces only appear as long as the wind turbine rotor is arranged to the right poses, or the wind will produce the downward forces to the wind turbine rotor. In theory, the lift force of the blade airfoils doesnt exist when the PA is equal to 900 (the attack angle is 00 or 1800). However, the twist angle of the blade makes the attack angles of the blade airfoils deviate the ideal values (the attack angle is not 0 0 or 1800 when the PA is 900), and the upward or downward lift forces are produced. The random lift and drag forces originated from the aerodynamics should be added to the weight of the wind turbine rotor. The maximum hoisting forces of the wind turbine rotor in

each direction (x, y, z) are useful to aid the planners to make the valid hoisting process of the wind turbine. For the actual hoisting process planning, the load case coefcient must be taken into account in accordance with the IEC 61400-1 standard which are neglected in this research. 3.3. Display and analysis of the changes of the hoisting forces Because the hoisting forces in the y direction are much smaller than the hoisting forces in the x and z directions, the hoisting forces in the x and z directions are focused on and analyzed. When the AA is equal to 0 0, the hoisting forces in the x and z directions are calculated with the YA and PA changing and illustrated in Fig. 4 and Fig. 5, respectively. In Fig. 4, for one denite PA, most of the Fx change greatly when the YAs varies from 00 to 3600. On the contrary, the Fx with 900 PA are changing slightly with the increment of the YAs. Furthermore, with the identical YAs, the hoisting force Fx with 900 PA is a little bigger than the hoisting force Fx with 900 PA. That is because the drag coefcient of the blade airfoils with 900 PA (1800 attack angle) is bigger than the drag coefcient of blade airfoils with 900 PA (00 attack angle). Different from the variations of the hoisting forces Fx, the hoisting forces Fz change in great range with 900 PA while the hoisting forces Fz with the other PA angles nearly keep constant when the YA varies from 00 to 3600. In Fig. 5, the hoisting forces Fz of the wind turbine rotor with 900 PA and 00 YA start with the minimum values, they reach their peak values when the YAs are equal to 1800, nally they drop to the minimum values when the YAs are equal to 3600. The minimum hoisting forces Fz are smaller and the maximum hoisting forces are bigger than the weight of the

280000 A0P0 279500 279000 F z/N 278500 278000 277500 277000 0 30 60 90 120 150 180 210 240 270 300 330 360 A0P30 A0P60 A0P90 A0P-30 A0P-60 A0P-90

Yaw angle/0(Deg)
Fig. 5. The hoisting forces in the z direction with 00 AA, different YAs and PAs.

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Y. Wang et al. / Renewable Energy 39 (2012) 323e328

0 -5000 -10000 F x/N -15000 -20000 -25000 -30000 -35000 Yaw angle/o(Deg)
Fig. 6. The hoisting forces in the x direction with 1800 AA, different YAs and Pas.

30

60

90

120

150

180

210

240

270

300

330

360

A180P0 A180P30 A180P60 A180P90 A180P-30 A180P-60 A180P-90

wind turbine rotor. It can be stated that the wind provides the upwards force to the wind turbine rotor when the PAs are near to 00 or 3600 while it generates the downwards force to the wind turbine rotor when the PAs are near to 1800. With the same YA, the hoisting forces Fz of the wind turbine rotor with 900 PA are bigger than the hoisting forces Fz of that with the 900 PA. The reason is derived from the blade airfoil has different lift coefcients when the PA changes (the attack angle also changes), and the lift coefcient of the blade airfoil with 900 PA (1800 attack angle) is smaller than that of the blade airfoil with 900 PA (00 attack angle). The hoisting forces of the wind turbine rotor with the 1800 AA in the x and z directions are illustrated in Fig. 6 and Fig. 7, respectively. In Fig. 6, the changing processes of the hoisting forces Fx of the wind turbine rotor with 1800 AA is similar to those Fx of the wind turbine rotor with 00 AA, and the hoisting forces Fx of the wind turbine rotor with the positive PA are less than those forces Fx of the wind turbine rotor with the negative identical PA under the same YA. That is because the drag coefcients of the blade airfoil turn bigger when the PA is changed from the positive values to the negative identical values. Commonly, the hoisting poses of the wind turbine rotor with the 00 AA, 900 PA and 00 YA or 1800 AA, 900 PA and 00 YA are frequently used. The answer can be derived from Figs. 5 and 6. The hoisting forces Fz of the wind turbine rotor related to these two cases are illustrated in Fig. 7. It is interesting that the hoisting forces Fz of the wind turbine rotor with 1800 AA, 00 YA and 900 PA is smaller than the hoisting force Fz of the wind turbine rotor with 00 AA, 00 YA and 900 PA. There is another important factor, the wind shear, which plays a conclusive role. It is known that the wind

speed becomes bigger and bigger along the height increment in the normal environment. When the AA and YA are equal to 00, one blade of the rotor is above the rotor axis and two blades are below the rotor axis, which is deemed as the rst instance. On the other hand, two blades are above the rotor axis and one blade is below the rotor axis when the AA and YA are equal to 1800 and 00, which is taken as the second instance. That is to say, two blades undergo the high wind speed load case for the second instance while only one blade undergoes the high wind speed load case for the rst instance. Aiming at the second instance, the minimum hoisting force Fz which is smaller than the weight of the wind turbine rotor is achieved when the PA is altered from 900 to 900. The maximum hoisting force Fz which is bigger than the weight of the wind turbine rotor is also obtained when the AA, YA and PA are equal to 1800, 1800 and 900, respectively. In Fig. 7, it is also found that the hoisting forces Fz of the wind turbine rotor with 1800 AA and 900 PA is commonly bigger than the Fz of the wind turbine rotor with 1800 AA and 900 PA whatever the YA changes at the height of 70 m above the ground, which is contrary to the conclusions derived from Fig. 5. The aerodynamics research of the wind turbine rotor in wind environment will be carried out in the future work to explicate the abnormal phenomenon. The turbulence wind model [14] according to Table 1 is used to compute the hoisting forces when the AA, YA and PA are equal to 1800, 00 and 900, respectively and the changes of hoisting forces Fx, Fz in 3 min are shown in Fig. 8. In view of Fig. 8, it can be concluded that even if the wind turbine rotor pose is xed, each hoisting force still change due to the turbulence wind.

280000 279500 279000 278500 278000 277500 277000 276500 276000 275500 275000 0 30 60 90 120 150 180 210 240 270 300 330 360 Yaw angle(YA)/o(Deg)
Fig. 7. The hoisting forces in the z direction with 1800 AA, different YAs and PAs.

A180P0 A180P30 A180P60 A180P90 A180P-30 A180P-60 A180P-90 A0P90

F z/N

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327

279800 279600 279400 279200 279000 278800 278600 278400 278200 278000 0 0.5 1

Fz/N

Fx/N

-21500 -22000 -22500 -23000 -23500 -24000

F /N

1.5 Time/min

2.5

Fig. 8. The hoisting forces change computed with turbulence wind model.

4. Calculation of the hoisting forces along the height increment 4.1. Calculation of the average wind speed at the different height As a matter of fact, the wind direction and wind speed change swiftly and the hoisting forces Fx, Fy and Fz can not be kept constant in the whole hoisting process. To discover the changeable trends of the hoisting forces, the hoisting forces of the wind turbine rotor along the height increment are calculated for the four specic cases: (a) 1800 AA, 900 PA and 00 YA, (b) 1800 AA, 900 PA and 00 YA, (c) 00 AA, 900 PA and 00 YA, and (d) 00 AA, 900 PA and 00 YA. Below the 50 m height above the ground surface, the well-known logarithmic equation [15] of the wind prole is suitable to compute the wind speed at the specic height.

To show the more smooth change of the hoisting forces in the hoisting process, the hoisting forces between these acquired forces are calculated with the Newton interpolation methods. 4.2. Display and analysis of the hoisting forces at different height The change processes of the hoisting forces Fx, Fz along the height increment are shown in Fig. 9 and Fig. 10, respectively. The datum of the hoisting forces of the wind turbine rotor below the 45 m height are omitted because not all the blades are perpendicular to the ground when the height of the rotor axis is less than 41.75 m (the blade length is 40.25 m and the hub radius is 1.5 m) and the roughness length of the near ground also plays an important role to reacts on the hoisting forces. In the initial hoisting state, it can be predicted that the hoisting forces Fx are appropriately equal to 0 and Fz is equal to the weight of the wind turbine rotor near the ground. From the computational results in Fig. 9, the datum once again verify the facts that the hoisting forces Fx of the wind turbine rotor with 900 PA, 00 YA are commonly less than the hoisting forces Fx of the wind turbine rotor with 900 PA, 00 YA at the same height. Moreover, the hoisting forces Fx of the wind turbine rotor with 1800 AA, 900 PA and 00 YA may be the least comparing with the other three cases at the same height. Of course, the hoisting forces Fx of the wind turbine rotor with 00 AA, 900 PA and 00 YA may be the largest comparing with the other three cases at the same height. In addition, the hoisting forces Fx of the wind turbine rotor of the case (b) and case (d) increase slightly along the height increment while those forces Fx of the wind turbine rotor of the case (a) and case (c) change in great range between the 55 m height and the 70 m height. With the results and analysis, it can be concluded that the wind shear should be considered in the hoisting process and the hoisting forces Fx of the wind turbine rotor become

V2 lnh2 d lnz0 V1 lnh2 d lnz0

(1)

Where, V2 and V1 are the average wind speed at the height of h2m and h1m, respectively. z0 is the surface roughness length which is viewed as 0.2. d is the zero plane displacement that is appointed as 0. When the wind turbine rotor is placed above the 50 m height, the power equation [16] of the wind prole is very useful to compute the wind speed at the desired height, and it should be used in a short height interval to avoid deviations.

V2 V1

h2 h1

a (2)

Where, V2 and V1 are the average wind speed at the height of h2m and h1m, respectively. a is the wind shear exponent which is taken as 0.2. The discrete average wind speed between 45 m and 70 m height are calculated with Eqs (1) and (2), and they are shown in Table 4. With the wind conditions listed in Table 4, the hoisting forces of the wind turbine rotor related to the four specic cases at the appointed height are computed with the GH Bladed 3.81 software.

Hight/m -19600 45 -19800 -20000 A180P90 A180P-90 -20200 -20400 -20600 -20800 A0P90 A0P-90 50 55 60 65 70

Case (a) Case (c)

Table 4 The average wind speed at different specic height above the ground. H/m 45 48 51 54 57 V/m/s 7.37 7.57 7.97 8.07 8.16 H/m 61 64 68 70 V/m/s 8.27 8.35 8.45 8.50

F x/N

Case (b) Case (d)

Fig. 9. The change processes of the hoisting forces in the x direction for the four specic cases.

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Y. Wang et al. / Renewable Energy 39 (2012) 323e328

278000 277500 277000 276500

F z/N
A180P90 A180P-90 A0P90 A0P-90

Case (d) Case (b)

276000 275500 275000 274500 274000 45 50 55 Hight(H)/m 60

Case (c) Case (a)

65 70

Fig. 10. The change processes of the hoisting forces in the z direction for the four specic cases.

the datum and changes of the hoisting forces of the wind turbine rotor can be referred to by the engineers and as guidelines for them to determine the appropriate hoisting poses AA, YA and PA of the wind turbine rotor/blade in the hoisting process. In addition, the hoisting forces and their change processes along the height increment are calculated and summarized, and the datum is also fundamental to evaluate the feasibility of the hoisting process of the wind turbine rotor. The future work will concentrate on two points. Firstly, the calculation and analysis of the hoisting forces of the wind turbine rotor when the average wind speed is changed at a big interval. Secondly, the steady and unsteady characteristics of the wind turbine rotor in the hoisting process will be researched considering the principles of the uid dynamics. Acknowledgments

bigger and bigger with the hoisting height increment. Meanwhile, the hoisting forces Fx of the wind turbine rotor with 00 YA and 900 PA are sensitive to the wind shear while the hoisting forces Fx of the wind turbine rotor with 00 YA and 900 PA are not. The change processes of the hoisting forces Fz of the wind turbine rotor for the four specic cases are shown in Fig. 10. In total, the hoisting forces Fz of the wind turbine rotor with 900 PA and 00 YA are bigger than those forces Fz of the wind turbine rotor with 900 PA and 00 YA. The hoisting force Fz of the wind turbine rotor of case (d) remains the largest values and that of case (a) keeps least values among the four cases at the same height. The changes of the hoisting forces Fz of the wind turbine rotor of the cases (a), (c) and (d) are more complex except the case (b). For the cases (a), (c) and (d), the hoisting forces Fz of the wind turbine rotor turn smaller and smaller between the 45 m and 59 m height, they become bigger and bigger between 60 m and 70 m height until they reach their maximum values. Different from the cases (a), (c) and (d), the hoisting force Fz of the wind turbine rotor of case (b) becomes smaller and smaller along the height increment until it arrives to the minimum value. The hoisting forces Fz of the wind turbine rotor of case (b) is the smallest among the cases (a), (b), (c), and (d) at the height of 70 m. The conclusion is the same as the results shown in Fig. 7. In fact, the hoisting forces Fz of the wind turbine rotor of case (b) remain the least value among the four cases between the 67 m and 70 m height when the rotors are placed at the same height. But below the 67 m height, the hoisting force Fz of the wind turbine rotor of the case (b) is not the least and it remains the second largest value between the 45 m and the 64 m height when the rotors are placed at the same height. 5. Conclusions and future work The hoisting forces of a 1.5 MW wind turbine rotor in the hoisting process are calculated with GH Bladed 3.81 software under the appointed wind conditions. The wind conditions and wind turbine rotor of wind turbines can be modeled by the users according to the actual applications. The method can be applied to other calculations, such as the hoisting forces of the components or parts of the large capacity wind turbines in open wind environment. The hoisting forces of the wind turbine rotor in 3D coordinate system at the hub center height are computed and analyzed, and

The authors gratefully acknowledge the fund support from the Chinese Universities Scientic Fund(Grant No. 09QG15). The work benets from the facilities provided by National Key Laboratory of New Energy Power System, North China Electric Power University, Beijing, China. References
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