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V
xc/4
Notation
Symbol
a
c
Cd
Cl
Cmc/4
CD
CL
Cp
Cq
D
dF
Ip
IT
L
M
MC
Mc/4
Mm
N
Nb
P
Pm
R
Re
S
T
V
VR
Unit
Description
N
N
2
kgm
2
kgm
N
Nm
Nm
Nm
Nm
N
W
W
m
2
m
Nm
m/s
m/s
Interference factor
Blade chord length
Airfoil drag coefficient
Airfoil lift coefficient
Airfoil quarter chord pitching moment
coefficient
Blade drag coefficient
Blade lift coefficient
Turbine performance coefficient
Turbine torque coefficient
Drag
Elementary force acting on the elementary actuator disk
Blade moment of inertia
Turbine moment of inertia
Lift
Instantaneous turbine torque
Instantaneous load torque
Quarter chord pitching moment
Average turbine torque
Blade radial force
Number of blades
Instantaneous turbine mechanical power
Average turbine mechanical power
Turbine radius
Blade Reynolds number
Turbine frontal area
Blade tangential force
Local velocity
Tip speed
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xhinge
a
atan
m/s
%blade
chord
%blade
chord
rad
rad
Asymptotic velocity
Blade aerodynamic centre position
Floating hinge position
azv
&&a
l
r
s
q
&&q
kg/m
rad
2
rad/s
rad/s
Subscript
d
u
h
rad
2
rad/s
3
1 Introduction
Marine current energy is a type of renewable energy
resource that has been less exploited than wind energy. Only
recent years, have some countries devoted funds to research
aimed at developing tidal current power stations. Tidal current turbines, as in the wind community, can be divided into
vertical-axis and horizontal axis types. Although horizontal
axis turbines have been more widely used than vertical axis
types for wind energy exploitation, vertical axis turbines
could present significant advantages for tidal current exploitation, because they are simple to build and reliable in
working conditions. Therefore, at beginning of the studies
77
vertical axis wind turbines were taken as models for hydro-turbines. The blades of Darrieus-type vertical axis wind
turbines are fixed, and they perform well when the blade solidity is low and the working speed is high. For this reason, the
first hydro-turbines were impossible to start. A variable-pitch
blade system can be a solution to this problem. Some prototypes with different variants of this system have therefore
been developed around the world: the Kobold turbine in the
Strait of Messina, Italy; the cycloidal turbine in Guanshan,
China; the moment-control turbine at Edinburgh University,
UK; and the mass-stabilised system turbine by Kirke and
Lazauskas in Inman Valley, South Australia. The Kobold turbine has been under development since 1997: the rotor has a
self-acting variable pitch and the Kobold blades have an ad hoc
designed airfoil, called HLIFT, to be cavitation free and
to have high lift performance. The methods for calculating the hydrodynamic performances of vertical axis turbines
also come from wind turbines: in the 1970s Templin developed the Single-Disk Single-Tube model, and then Strickland
put forward the Single-Disk Multi-Tube model. In the 1980s
Paraschivoiu introduced the Double-Disk Multi-Tube model.
The VAWT and VAWT_DYN computer codes, based on this
theory, have been developed to predict the steady and dynamic performances of a cycloturbine with fixed or self-acting
variable pitch straight-blades. The numerical results have
been compared with two sets of experimental data: one set is
obtained from wind tunnel tests on a scaled model, and the
other set is based on field data from the Kobold prototype.
(1)
(2)
1 s VRu
sen q 8p V
(4)
1 s VRd
(1 - ad )( ad - 2au ) =
[Cld sen( q + atan d )
sen q 8p V
- Cdd cos( q + atan d ) ]
If the rotor blades have a self-acting variable pitch angle
[3], [4], [5], another equation is also necessary for each actuator disk: the hinge moment equilibrium. In this case, in fact,
the blade is partially free to pitch under the action of the aerodynamic and inertia forces so as to reduce the angle of attack
j
Downwind disk
dqd
Circular path of
the blade
W
dAu
dAd
dqu
V
dFu
Upwind disk
V
dFd
Upwind disk
V
Elementary streamtube
Downwind disk
78
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n
n
Pm =
V
WR
2p
{N( x
c4
- xhinge ) cos a zv
- T R - ( xc
Mc/4
V
NbW
2p
- xhinge ) sen a zv
]}dq.
D
t
azv
arm
(9)
IT &&J =
Nb
M - M
i
(10)
i=1
&& ) = M
&& zv1 - J
IP(a
h1
&&
&&
- J) = M
I (a
and hence the tendency of the blade to stall. The allowed angular swinging of the blade is limited by the presence of two
blocks. In this way the mathematical model is represented by
two systems of equations, each constituted of two equations:
momentum balance and hinge moment equilibrium. For one
blade and for the upwind actuator disk
zv2
h2
&& zv 3 - &&J ) = M h3
IP(a
L
&& ) = M
&&
I (a
-J
P
zvn
hn
1
s VRu
au (1 - au ) =
{Clu ( atan u , azvu ,Reu )
sen q u 8p V
sen( q u + atan u ) - Cdu ( atan u , a zvu ,Reu )
Mh1
Mh2
( xc
azv
cos( q u + atan u )}
Cmc 4 ( atan u , a zvu ,Reu ) - Cnu ( atan u , a zvu ,Reu )
(11)
(5)
MC
IT J
Mh3
(1 - ad )( ad - 2au ) =
(6)
-T R - ( xc
- xhinge ) sen a zv
P = M W
(7)
To obtain the mean torque and mechanical power produced by Nb blades in a revolution it is necessary to average
the instantaneous values.
Mm
N
= b
2p
2p
{N( x
c4
- xhinge ) cos a zv
- T R - ( xc
- xhinge ) sen a zv
(8)
]}dq,
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y/c
y/c
NACA 0012
NACA 0015
NACA 0018
0.2
0.1
0.1
-0.1
NACA 4415
HLIFT18
0.2
-0.1
x/c
-0.2
x/c
-0.2
0.2
CL
0.4
0.6
0.8
NA CA 00 12
NA CA 00 15
NA CA 00 18
NA CA 44 15
HLIFT 18
2
1.5
0.2
0.4
0.6
CD
0.6
0.5
0.8
NA CA 00 12
NA CA 00 15
NA CA 00 18
NA CA 44 15
HL IFT 18
0.4
0.5
0.3
0
0.2
-0.5
0.1
-1
A lfa [d e g ]
A lfa [deg]
-1.5
-30
-20
-10
10
20
30
-30
-20
-10
10
20
30
Pitch
Range
i
VA
4 Experimental models
l
2, 3, 4, 6
0.15 m
blade airfoil
blade span
Aspect Ratio
radius
number of radial arm
arm chord
solidity 1
solidity 2
solidity 3
solidity 4
NACA 0018
0.8 m
5.33
1.05 m
4, 6, 8, 12
0.05 m
0.286
0.428
0.571
0.857
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Fig. 7: The Strait of Messina, the position of the plant and a picture of the plant
5 Experimental tests
Fig. 9 and Fig. 10 compare the VAWT code numerical results with the experimental data measured on Model A, for
250
pitch range = 0 - 10
blades = 2
Solidity = 0.256
experimental data
VAWT results
150
100
200
200
pitch range = 0 - 10
blades = 3
Solidity = 0.428
experim ental data
VAWT results
150
100
50
50
0
0
100
200
0
300
400
100
200
300
400
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81
250
250
150
100
200
Mechanical Rotor Power (W)
200
pitch range = 0 - 10
blades = 6
Solidity = 0.857
experimental data
VAWT results
150
100
pitch range = 0 - 10
blades = 4
Solidity = 0.571
experimental data
VAWT results
50
50
0
0
100
200
0
300
400
100
200
300
0.36
experimental data
VAWT results
0.32
0.28
0.24
0.2
0.16
0.12
1.6
1.8
2.2
2.4
2.6
2.8
TSR
Fig. 11: Experimental data and VAWT results (Model B)
12
160
numerical
experimental
10
numerical
experimental
Torque (Nm)
120
80
40
-40
10
20
30
40
50
10
20
30
40
50
82
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12
n u m e ri c a l
e x p e r im e n ta l
10
20
30
40
50
tim e ( s )
6 Conclusions
The Double Multiple Steamtube model seems to be good
in predicting the vertical axis turbine performances, with
fixed or floating blades, expecially for solidity values less
than 0.5. This model has been implemented in VAWT and
VAWT_DYN codes, which are then capable of predicting both
static and dynamic performances of the turbine with very low
computing time. In these codes blade 3D effects have been
included as well as arm losses, while it is difficult to predict the
losses due to other effects. In the field tests, the accuracy of
the tidal speed current measurement is a problem, because
it is difficult to set the current speed-meter in the real undisturbed flow, so the measurements have an uncertainty
level around 20 %. On the Kobold turbine, the HLIFT18
Czech Technical University Publishing House
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non-symmetrical and non-cavitating airfoil gives better performance than a symmetrical airfoil, and the self-acting variable pitch system with balancing mass has proven to be simple
to build and more reliable than other more complex systems.
References
[1] Strickland, J. H.: A Review of Aerodynamic Analysis
Methods for Vertical-Axis Wind Turbine. In: Fifth
ASME Wind Energy Symposium, SED Vol. 2 edited by
A. H. P. Swift.
[2] Paraschivoiu, I.: Wind Turbine Design with Emphasis on
Darreius Concept. Ecole Polytechnique de Montreal, Polytechnic International Press, 2002.
[3] Kentfield, J. A. C.: Cycloturbines with Freely Hinged
Blades or Freely Hinged Leading Edge Slats. In: Alternative Energy Sources V. Part C: Indirect Solar/Geothermal. (Editor: T. N. Veziroglu). Amsterdam: Elsevier
Science Publishers B. V., 1983, p. 7186.
[4] Lazauskas, L.: Three Pitch Control Systems for Vertical
Axis Wind Turbines Compared. Wind Engineering,
Vol. 16 (1992), No. 5, p. 269281.
[5] Kirke, B. K., Lazauskas, L.: Experimental Verification
of a Mathematical Model for Predicting the Performance of a Self-Acting Variable Pitch Vertical Axis
Wind Turbine. Wind Engineering, Vol. 17 (1993), No. 2,
p. 5866.
[6] Healy, J. V.: The Influence of Blade Camber on the
Output of Vertical Axis Wind Turbine. Wind Engineering, Vol. 2 (1978), No. 3, p. 146155.
[7] Healy, J. V.: The Influence of Blade Thickness on the
Output of Vertical Axis Wind Turbine. Wind Engineering, Vol. 2 (1978), No. 1, p. 19.
[8] Reuss, R. L. et al.: Effects of Surface Roughness and Vortex Generators on the NACA 4415 Airfoil. Report:
NREL/TP-442-6472. Golden, Colorado: National Renewable Energy Laboratory, December 1995.
[9] Coiro, D. P., de Nicola, C.: Prediction of Aerodynamic Performance of Airfoils in Low Reynolds Number Flows. In: Low
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[10]
[11]
[12]
[13]
[14]
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