Dynamic response analysis of the TetraSpar floater in waves: Experiment and numerical reproduction

The initial proof of concept model scale test campaign for the TetraSpar floating wind turbine substructure is presented here along with a detailed response analysis and numerical reproduction. The tests were conducted at scale 1:60 in wind and waves with the pitch-regulated DTU 10 MW wind turbine. The floater was tested in two configurations: semi-submersible and spar. The experimental setup and program is described in detail followed by system identification for natural frequencies and damping. The responses of the floater in the two configurations to hydrodynamic loading are analysed and compared. The analysis includes irregular sea states and focused wave groups at both 0° and 30° heading. The hydrodynamic damping of the floaters was quantified in decay tests, showing a clear linear and second-order component. It was observed that the semi-submersible configuration had significantly larger motion response than the spar configuration in ultimate limit state wave conditions. Emphasis is placed on the mooring loads and the tensions in the support lines for the ballasted keel. The increased ballast of the spar keel led to larger loads in these support lines. Further, second- and higher-order wave forcing were observed in responses of both configurations. A numerical model based on first-order radiation-diffraction theory, second-order Newman loads and additional Morison viscous forcing is set up. The model damping is calibrated against the measurements at each sea state. It is demonstrated that after this calibration, the model is able to reproduce the floater response and tower top accelerations with good accuracy, both in the linear range and at the natural floater frequencies, with heave in the storm sea state as the exception. The dynamic tensions in the keel lines are found to depend strongly on the lines projection to the inline wave direction. Also this behaviour is reproduced accurately by the model, although with some under-prediction in one of the lines in the rated wind sea state, which is linked to differences in the experimental pre-tension for the six lines.