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(a)
(b)
Figure 1. (a) Location of the creek (b) Hydrokinetic turbine installed at Arapiranga-Au.
The hydrokinetic turbine is an assembly of: (a) 4-blade rotor;(b) G (Goetingen) 428/480 aluminum hydrofoil (480
on the tip and 428 on the base) of 60 cm diameter combined with a NACA 0012 airfoil; (c) Alternator (directly
connected to the pulley of the mechanical transmission system).Itsrated characteristics are: output power of 500 W,
rotation of 900 rpm and output voltage of 12 V, model A116, transmission ratio of 1:4, adopting efficiency of 96,5%,
according to Sarkis(1949). The greater pulley has a 400mm diameter, while the smaller has a 100 mm diameter, and the
clearance between shafts is 1265mm.
2. DYNAMIC MODEL
A hydrokinetic turbine system consists of a turbine rotor with mass moment of inertia JTconnected to a generator (load)
with mass moment of inertia JL through a gearbox with speed ratio r and efficiency , as shown in Fig. 1.
(1)
The driving torque (TM) is equal to the torque of the turbine (TT) minus the dissipative torque (TD) (friction torques
of bearings). M is the angular speed of the rotor. The torque of the turbine is computed using hydrodynamic analysis.
TL-M is the equivalent load torque of the load. Its expression is given by:
1
TL-M =
(2)
where TL is the torque of the generator, is the transmission efficiency and is the speed ratio = . The total
mass moment of inertia of the system (Jtotal) is the sum of following moments of inertia: the inertia of the turbine (JT);
the inertia of the added mass of the fluid around theturbine blades (Jf), the inertia of the belt transmission with respect to
the input shaft ofthe multiplier (JGT), and the inertia of the generator (JL), i.e:
= + + +
(3)
In next subsections the other terms in Eq.(1) and (3) are discussed in details.Finally, the rotor torque T T can be
expressed as:
=
1 2 3
2
(4)
where is the output power, is the density, is the radius of hydrokinetic turbine.
2.1. Generator Torque
Hong et al.(2013) and Hasanien(2010) show that the electricity generation systems are attracting great attention,
since those can be operated with constant speed or variable speed operations using power electronic converters. The
permanent magnet synchronous generator is a good option for the high performance in variable-speed generation
including high efficiency and high controllability for an electricity generation system. In this case, the torque of a
permanent magnet synchronous generator can be given through following algebraic equation:
=
3
2
(5)
where is the pole pair number, is the magnet flux and is the electric current in one of the synchronous phases.
In order to reduce the complexity of the electromagnetic torque equation, it is assumed that the relation between
synchronous generator torque and its angular speed is given by an approximated linear equation (Bao and Ye (2001). In
this case, a first order linear function that describes the electromagnetic torque as a function of the generator angular
speed is used, which is given by:
= + 0
(6)
11
1
2
(0 )
(7)
where is a geometry factor based on the internal dimensions of the bearing, n is the rotational speed, 0 is the
lubricant kinematic viscosity, is a radial load factor and is the radial load. Palmgren(1959) and Harris and
Kotzalas(2006) separated the friction torque into a loading dependent component (1 ) and a load independent
component (0 ) which is influenced by the viscous property of lubricant type, the amount of the lubricant employed and
bearing speed. Thus, the total friction torque (in N.m) is given by Eq.(11):
, = 0 + 1
(8)
where
1 = 103 1
(9)
2
3
0 = 1010 0 (0 )3
(10)
where 1 is a factor depending on the bearing design and relative bearing load, depends on the magnitude and
directions of the applied load, is the bearing pitch diameter and 0 is a factor depending on the type of bearing and
the method of lubrication. More detail about those formulas can be found in Harris and Kotzalas(2006). Ker Wilson
(1965) provides the following equation for the torque due to friction acting on all surfaces of a hollow disk:
=
03 + 0 +2 4
(11)
where is the Frictional torque (in.lbf), is the Fluid absolute viscosity (lbf.s/in2), is the disk angular velocity
(rad/s), 0 is the disk outside radius (in), is the disk inside radius (in), h is the radial clearance or axial clearance
(assumed equal) (in) and L is the disk length (in).
2.3. Inertia Calculations
2.3.1.Turbine Rotor and Added Mass
The moment of inertia of the rotor of the turbine is given by:
= + +
(12)
where is the number of blades, is the moment of inertia of a blade and is the moment of inertia of the
hub.
The moment of inertia of a blade is calculated as follows: the blade is divided into several small volumes along its
profile, and in each volume it is determined the center of gravity of the volume, the mass and the distance between the
center of mass to the center of rotation of the blade, as shown in Fig.3a. It is seen that in Fig.3a there is also the root of
the blade, which can be approximate as a thin cylindrical shell. Therefore, the equation that provides the moment of
inertia of the blade is given by:
=
2
=1
+ =
2
=1
2
+
(13)
The moment of inertia of the hub has a geometry shown in Fig.3, which can be approximated by a hollow
hemisphere. Thus, the expression of its moment of inertia is given by:
3
2
=
(14)
For the mass of the cube,the masses corresponding to the holes that exist in the hub should be deducted.In the
expression of the total inertia of the system,the added mass of the fluid around the blades should also be taken into
account. In the model described by Maniaci and Li(2011), the added mass for a blade was assumed to be equal to the
mass of a cylinder (with length equal to the length of the blade ) whose diameter is equal to the chord length. Thus,
the expression of added mass is given by:
1
2
=
= 2
(15)
where is the radius of cylinder. In order to calculate the inertia of the fluid, it is proposed here the insertionof the
added mass calculated in Eq.(18) into Eq.(16) as follows
=1
, =
2 + =
=1
2
2 +
(16)
Therefore, the moment of inertia of the rotor of the turbine and the added mass is given by:
+ = , +
(17)
= 2
(18)
where is the inertia of the generator, is the transmission efficiency and r is the speed ratio = . For the
inertia of the generator rotor it was considered a cylinder of mass , radius and length , i.e:
1
2
4
=
=
(19)
180
175
0.4
Rotation - (rpm)
170
165
160
155
150
145
0.3
0.2
0.1
Measured vel.
Average vel.
140
135
0
4
6
Number of measurements
10
0
0
4
6
Number of measurements
10
(a)
(b)
Figure 4.(a) Alternator shaft rotations and (b) stream velocities measured at Arapiranga-Au creek.
4. RESULTS OF THE DYNAMIC MODEL
Figure 5 shows values of rotation as function of time using the dynamic model previously depicted. It is observed
that in the region in which the function presents steady behavior, the result of the simulation is 1,75rad/s. In this case,
the relative error is 5% when compared to the mean values measured in field, shown in Fig.5. Such behavior is a proof
that the dynamic model has good concordance with the experimental results. For the unloaded case, it was not possible
to run the simulation by reason of numerical issues on the computational routine which is coupled with the dynamic
model, and is responsible for the determination of the turbine power coefficient. It is believed that the shaft rotational
speed and at low stream velocity, in this case 0,24m/s, causes problems in relation of the numerical model.
50
Present work
Measured rotatonal speed
45
40
35
30
25
20
15
relative error = 5%
10
5
0
10
20
30
Time - (s)
40
50
60