Yaw Control Dynamics for VAWT Turbines

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SUMMARY

The discussion focuses on developing a yaw control algorithm for Vertical Axis Wind Turbines (VAWT) that balances rapid yawing with structural integrity. The user seeks to relate rotor RPM to maximum yaw speed while considering allowable loads on support components. They reference the equation M=mgL=ω×JΩ to model gyroscopic effects but struggle to connect it to yaw dynamics and resisting torque generated during yawing. The conversation highlights the need for a comprehensive understanding of dynamics and torque relationships in wind turbine systems.

PREREQUISITES
  • Understanding of VAWT dynamics and control systems
  • Familiarity with gyroscopic precession and angular momentum (JΩ)
  • Knowledge of torque and load analysis in mechanical systems
  • Basic principles of wind shear force and its impact on turbine structures
NEXT STEPS
  • Research the relationship between rotor RPM and yaw speed limits in VAWT systems
  • Study the effects of gyroscopic precession on yaw dynamics in rotating systems
  • Explore torque generation during yawing and its implications for control algorithms
  • Investigate existing algorithms for yaw control in wind turbines and their mathematical foundations
USEFUL FOR

Mechanical engineers, wind turbine designers, and control system developers working on VAWT technology and yaw control mechanisms.

CloDawg
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Im building a yaw control system for one of the universitys VAWT turbines.

Basically I am struggling to get an equation described below:

there should be an algorithm such that the system should try to yaw the turbine as fast as possible, but without causing too high forces on any key structure, i.e. need to determine a max yaw speed as a function of rotor rpm, based on allowable loads (moments etc.) on support components.

I don't have a clue how to create this algorithm. I have developed an equation for wind shear force against the tower, but i don't know how to relate it to rpm since this is the wind speed and has nothing to do with the yaw rate??. Where will the weak points be.

The gyroscopic precession affects the turbine while its yawing. But i don't no where or how to develop an equation (my dynamics course didn't cover it)

through research the only available equation is this:

M=mgL=ω×JΩ

(http://books.google.com/books?id=ro...gyroscope about an axis perpendicular&f=false) P164

I don't no how to relate or apply this. help:?
 
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M=mgL=ω×JΩ

where JΩ is angular momentum.

This is the equation i get when modeling a wind turbine as a suspended spinning bicycle wheel. This means that a moment will act on the turbine, tilting the nacelle either up or down.

But what about the resisting torque when one attempts to yaw the turbine by applying a ω through a yaw motor. This equation doesn't help me right, since I am applying a ω and the JΩ stays the same. so there should be a torque generated somehow resisting the yaw?
 

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