Data Storage Report - Hydralab

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Data Storage Report

Dynamic response of floating offshore wind turbines under

random waves and wind action HyIV – DHI - 01

Offshore wave basin, DHI

Authors: Prof.Eng. Giuseppe Roberto Tomasicchio, University of Salento, Italy

Eng.Felice D’Alessandro, University of Salento, Italy

Eng.Elvira Armenio, University of Salento, Italy

Eng. Johanna Wolbring, RWTH, Aachen University, Germany

Prof. Eng. Spyros Mavrakos, NTUA, Athens, Greece

Prof.Eng.Georgios Katsaounis, NTUA, Athens, Greece

Eng.Thomas Mazarakos, NTUA, Athens, Greece

Eng.Dimitrios Manolas, NTUA, Athens, Greece

Prof.Dr.Nuno Fonseca, IST, Lisbon, Portugal

Prof.Dr.Valery Penchev, CORES, Varna, Bulgaria

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Status form Document information Project acronym HyIV-DHI-01 Provider DHI Facility Offshore Wave Basin Title Dynamic response of floating offshore wind turbines

under random waves and wind action 1st user group contact (name/email) Prof.Eng.Giuseppe Roberto Tomasicchio,

roberto.tomasicchio@ unisalento.it 2nd user group contact (name/email) [name], [email]l 1st provider contact (name/email) Jens Kirkegaard, [email protected] 2nd provider contact (name/email) [name], [email]l Start date experiment (dd-mm-yyyy) 01-10-2012 End date experiment (dd-mm-yyyy) 28-10-2012 Document history Date Status Authors Reviewer Approver [22-01-2013] Draft/Final Eng.Elvira Armenio,

Eng.Felice D’Alessandro

[provider name] Jens Kirkegaard

Document objective This document describes the data that were obtained during this project and how they were stored, so that others than the people immediately involved may use the data for their research. Acknowledgement The work described in this publication was supported by the European Community’s Seventh Framework Programme through the grant to the budget of the Integrating Activity HYDRALAB IV, Contract no. 261520.

Disclaimer This document reflects only the authors’ views and not those of the European Community. This work may rely on data from sources external to the HYDRALAB IV project Consortium. Members of the Consortium do not accept liability for loss or damage suffered by any third party as a result of errors or inaccuracies in such data. The information in this document is provided “as is” and no guarantee or warranty is given that the information is fit for any particular purpose. The user thereof uses the information at its sole risk and neither the European Community nor any member of the HYDRALAB IV Consortium is liable for any use that may be made of the information.

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Contents

1 Objectives ..................................................................................................................... 4 2 Experimental setup ....................................................................................................... 4

2.1 General description............................................................................................... 4 2.2 Definition of the coordinate system ....................................................................... 7 2.3 Relevant fixed parameters .................................................................................... 7

3 Instrumentation and data acquisition ............................................................................. 7 3.1 Instruments .......................................................................................................... 7 3.2 Definition of time origin and instrument synchronization ...................................... 13 3.3 Measured parameters ......................................................................................... 13

4 Experimental procedure and test programme .............................................................. 14 5 Data post-processing .................................................................................................. 15 6 Organization of data files ............................................................................................. 15 7 Remarks ..................................................................................................................... 15

8 References ................................................................................................................. 15

A Appendices ................................................................................................................. 16

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1 Objectives The objective of the tests reported in this document is to obtain data about the behaviour of two floating Wind Turbine (W/T) systems, exactly a tension leg platform (TLP) and a spar buoy (SB) type, to identify the combined effects of the anchor chains and the wind turbine on the response of the floating body, to study hydrodynamic aspects of a floating W/T under regular and irregular waves and under the combined action of wind and waves and to create a database for numerical model calibration and verification.

2 Experimental setup

2.1 General description In order to properly simulate the dynamic behavior of two models of floating wind turbines (W/T) subjected to aerodynamic and hydrodynamic loading, two physical models have been built considering a scale factor of 1:40 in reference to the prototypes: MIT/NREL for TLP model and OC3-HYWIND for SB model (Jonkman et al., 2009). All model tests were carried out at the DHI deep water wave basin in Hørshom, Denmark. The TLP model was constructed out of plastic (material density 1200 kg/m3). The main cylinder had an outer diameter of 450 mm and a height of 1.197 m. The cover of the structure was removable so that instruments and ballast can be added. It was screwed to the main cylinder and contained a smaller cylinder with a diameter of 162.5 mm and a length of 300 mm. On this smaller cylinder the six component force gauge and subsequently the tower structure was mounted. The TLP model was composed by 4 mooring lines, each tendons was moored to an anchor table at 5m water depth. At the bottom of the TLP a steel plate connected the four mooring legs to the structure. The legs were made of aluminum. The total height of the TLP structure thus added up to 1.497 m. The designed still water level (SWL) lies right at the edge of the larger cylinder cover. An overview of the model is given in Figure 2.1. At the end of each leg springs with spring coefficients ranging from 10.3 N/mm to 13.08 N/mm was attached. The mooring lines used were 8 mm wires composed of an impregnated Vectran fiber core with a Polyester coating. The mooring ropes reached an extensional stiffness of 40 N/mm. The total pretension force in the tendons was calculated to be 49.6 kg so that each mooring line has been pretensioned with a weight of approximately 12.4 kg. For ballasting, lead bars and small lead spheres with a total weight of 92.5 kg were inserted at the bottom of the structure.

At the Spar buoy three main sections can be distinguished. The upper cylinder corresponds to the cylinder contained in the cover of the TLP structure with an outer diameter of 162.5 mm. It was 400 mm long. Throughout the following 200 mm the structure was made up of a cone shape becoming wider up to a diameter of 235 mm. The remaining 2.6 m were constructed as a cylinder with a constant diameter of 235 mm. A removable bottom with a height of 100 mm was used to place additional ballast. The SWL for the SPAR buoy model was designed to be at a distance of 300 mm from the top of the upper cylinder. In total the SB support structure has a length of 3 m with the mooring lines attached to the structure at 1,75 m from the SWL. The mooring system of the SPAR model comprised three mooring lines connected directly using a collar at a level of 1.75 m from the SWL. The azimuthal angle formed between two adjacent moorings is 120° (Figure 2.2). Due to the limited water depth in the basin, the moorings were truncated at a vertical distance of 1.25 m and horizontal distance of 1.94 m from the attachment points at the model. The anchor points were 0.05 m above the bottom, the depth of truncation points were 2.95 m (Figure 2.1).

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In total three force transducers were applied to the top of the mooring lines. Each of which has a maximum load capacity of 30 kg. The mooring lines were pretensioned with a weight of 1.5 kg per mooring. Following the force transducers, springs of 0.75 m length with spring coefficients of about 0.0281 – 0.0287 N/mm were attached to the mooring lines. The mooring lines for the SPAR buoy are composed of an Aramide core and Polyester cover. They each have an extensional stiffness of 6.25 N/mm. The SPAR buoy was ballasted using lead spheres and lead bars lowered to the bottom level of the buoy. The tower, nacelle, rotor and blades have been the same for both configurations of the support structure. On top of the tower, a 4 components force gauges was mounted and the nacelle and rotor of the wind turbine were fixed. The rotor had a diameter of 3.15 m. With two force gauges on either end, the tower had a total height of 1.8625 m.

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Figure 2.1: TLP and SB model in the wave basin

Figure 2.2: Overview of the SPAR buoy model and mooring lines

Figure 2.3: Overview of the TLP model and mooring lines

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2.2 Definition of the coordinate system The origin of the coordinate system lies at the right corner of the wave maker. The wave maker is composed of 60 individually controllable wave flaps with a paddle length of 1.5 m capable of producing multi-directional wave spectra. At the opposite side a parabolic wave absorber minimizes wave reflection. In the basin centre lies a 6 m deep pit with a width and length of 4 x 6 m. The floating structure was placed in the centre of the pit at a distance of 7 m from the wave maker, which lies at the 30 m wide side of the basin. The coordinates at the 30 m wide basin side run from 0 to 30 m. Starting with 0 at the right corner. The coordinates at the 20 m wide basin side start at 31 at the lower corner and range up to 51 at the upper corner. The vertical z-axis is positive upward from the SWL. Assuming the origin of the coordinate system at the right side of the wavemaker (Figure 2.5), the model is placed at x = 38 and y = 15.

Waves are generated along the 30m wide side of the basin and absorbed at the opposite end to minimize reflection. During testing waves were generated with 0° and 20° obliquity. The model moved with 6 DOF under wind and wave action.

Figure 2.5: Offshore wave basin

2.3 Relevant fixed parameters In the wave basin the water depth outside the pit is kept constant at h = 3.0 m during all tests.

3 Instrumentation and data acquisition

3.1 Instruments In total eleven wave gauges, each with a length of 60 cm, were placed around the structure. Wave reflection was measured with an array of five wave gauges (Figure 3.3). The gauge

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array was placed at the centre of the pit during calibration of the waves to determine wave conditions at the location of the floating structure. It was moved to a distance of 3 m in front of the structure during testing (Table 3.1). Six wave gauges were assembled around the structure. Three were aligned 1.5 m to the front and the remaining three 1.5 m to the back of the structure (Figure 3.1).

Table 3.1: Wave gauge positioning during testing

Name X Y Wg01 36.5 16.5 Wg02 36.5 15.0 Wg03 36.5 13.5 Wg04 39.5 16.5 Wg05 39.5 15.0 Wg06 39.5 13.5 wga 33.9 15.0

Figure 3.1: Position of the wave gauges during the wave calibration

Figure 3.2: Position of the wave gauges during the wave testing

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Figure 3.3: Array of 5 wave gauges

An Acoustic Doppler Velocitymeter (ADV) measured the three dimensional flow velocities around the model structure. For the tension leg platform (TLP) structure the ADV was placed at a distance of 30 cm from the outer edge of the floating body. Since larger movements were expected from the SPAR buoy, the ADV was moved to a distance of 60 cm to the side of the buoy for those tests (Figure 3.4).

Figure 3.4: Position of ADV for TLP and SB models

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Two high speed cameras were installed to record the tests. One of which was placed in order to give a close up view of possible slamming and wave breaking.

The design and instrumentation of the wind turbine, nacelle and tower structure remained the same for the TLP and Spar buoy support platforms. An overview of the instrumentation of the wind turbine and tower is given in Figure 3.5.

Figure 3.5: Overview of the instrumentation and setup of the TLP and wind turbine structure At the base of the tower a 6 component force gauge measuring the forces Fx, Fy, Fz and moments Mx, My and Mz was mounted (Figure 3.6). It was connected to the tower base via six bolts attaching it to a metal plate, which was fixed to the floating structure. The tower was a slender plastic cylinder and had an outer diameter of 80 mm and a height of 161.5 cm. At the top of the tower a 4 component force gauge measuring Fx, Fy, Mx and My was placed (Figure 3.7).

On top of the four component force gauge, the nacelle was assembled. A motor inside the casing gave the rotation for the rotor blades. A potentiometer recorded the rotational speed.

The rotor blades are scaled geometrically and each have a length of 1.575 m. They were made out of glass fibers. The pitch of the blades was set to 30°. This leads to a measured thrust of 4 N at 38 rpm in model scale. To reach the requested thrust, an additional force of 7 N was given by a weight attached to the nacelle via a rope leading to the side of the basin. The thrust was measured and by the 4 components force gauges (Fx component).

Furthermore accelerometers measured the accelerations at different levels on the tower. Two accelerometers were placed underneath the nacelle and a third one was fixed to the six component force gauge at the bottom of the tower.

S-type load cells connecting to the springs and mooring lines measured the forces within each mooring line (Figure 3.8).

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A Qualisys Track System followed the six degree of freedom movements of the platform: translational surge, sway and heave and the rotational roll, pitch and yaw. For that two cameras emitting infra-red light were positioned to the side of the model. The infrared light was reflected by five 40 mm passive spherical markers positioned on a frame, which was mounted at the tower base just below the six component force gauge. The five spheres were positioned such that they do not lie in one plane and can be traced by both cameras. The system was overdetermined to secure the visibility of a sufficient number of spheres even when the structure starts moving. Data processed by the Qualisys Track Manager was directly transferred as an analogue output to the main data acquisition system and thus synchronized with all other recorded data.

The instruments used in the tests are listed in the Table 3.2:

Table 3.2: Instruments Number Type of instrument Position

11 Wave gauges Around the structure For calibration

11 Wave gauges Around the structure testing 1 ADV Around the structure 1 6DOF force gauge Between the tower and the

floater

1 4DOF force gauge Between the tower and nacelle

3 Accelerometers Nacelle, Tower top, Tower bottom

1 6DOF Marine track system 4 for the TLP 3 for the SB

Load cells at tendons 1 per mooring line

2 (only for TLP) Pressure gauges Submerged part of structure 2 High speed camera

Figure 3.6: 6 DOF components force gauge

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Figure 3.7: 4 DOF components force gauge

Figure 3.8: Load sensors connect to the spring

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3.2 Definition of time origin and instrument synchronization

A test starts when an initial free surface is at rest. The data acquisition is started when the wave maker is started. When the duration of the test has passed, data logging stops and the wave generator is stopped. All measurements are logged with one data acquisition system. The readings are sampled with 40Hz. The video data is not synchronized with the other instruments.

3.3 Measured parameters

Measurements contain time series of surface elevations, the 6 DOF movement of the structure, pressure forces at the submerged part of the structure and velocity fields around the structure. Furthermore the forces in 6 DOF at the toe of the tower and 4 DOF between the tower and the nacelle were measured along with accelerations of the tower toe and top. Video was used to capture wave slamming effects. The calibration coefficients are listed in Table 3.3.

Table 3.3: Calibration coefficients

Channel Calibration coefficients WG1-11 4V 10 cm 6comp Fx 5 V 5 kg 6comp Fy 5V 5 kg 6comp Fz 3V 1 kg 6compMx 5V 6. 3kgm 6comp My 5V 6.3 kgm 6comp Mz 0.5V 5 kg 10 cm 4comp Fx 5V 5 kg 4comp Fy 5V 5 kg 4comp Mx 1.05V 5 kg 21cm 4comp My 1.05V 5 kg 21cm Mooring TLP 2V 20 kg ACC 5V 1 G Pressure gauges 1V 10 cm TLPx 1V 6 m TLPy 1V 6 m TLPz 1V 4 m TLProll 1V 4 deg TLPpitch 1V 4 deg TLPyaw 1V 18 deg ADV 1V 1 m/s Mooring Spar 2V 2 kg

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4 Experimental procedure and test programme Tests were performed simulating three basic meteo conditions:

1 - the dynamics of the floating structure were studied first under no rotation conditions (NR);

2 - operational conditions were simulated with combined rotation and wave impact (R);

3 - furthermore extreme conditions were simulated by extreme wave conditions (1/50 years) with the rotor being stopped.

Both support structures were tested using unidirectional regular and irregular waves. Irregular wave tests have been performed with two different realizations of a JONSWAP spectrum (γ=3.3) for each significant wave height. Furthermore normally incident waves as well as oblique waves under an angle of 20° were tested. The final testing conditions are summarized in Table 4.1. For the TLP structure tests were performed up to a maximum wave height of 20 cm for regular waves and a significant wave height of 15 cm. The maximum wave height for the SPAR buoy structure was 30 cm for regular waves and a maximum significant wave height of 20 cm.

The rotation has been kept constant throughout the rotational tests at a speed of 38 rpm, which corresponds to a rotational speed of 11 rpm in full scale accounting for the gyroscopic effect. The additional thrust applied to the wind turbine has been constant as well with a force of 7 N in model scale. Further tests to obtain a relationship between thrust and rotational speed have been carried out with rotational speeds of 32 rpm, 38 rpm and 42 rpm in model scale which correspond to a wind velocity of about 5.0 m/s, 5.9 m/s and 6.5 m/s.

In addition to the above mentioned test programme, free decay tests have been performed. Those include tests of the support structure with and without moorings and with and without the tower structure mounted. Furthermore additional inclination tests have been performed.

Table 4.1: Test programme

H [cm] [s] REG/IRR DIR [deg] Rotation Model Setup

2.5 1.6

REG

0 20 NR R TLP SB

3.9 2.0 0 20 NR R TLP SB

4.5 2.4 0 20 NR R TLP SB

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1.8

0 20 NR R TLP SB

15 0 20 NR R TLP SB

20 0 20 NR R TLP SB

25 0 20 NR R (only 0°) SB

15 2.0 0 20 NR R TLP SB

15 2.4 0 20 NR R TLP SB

30 2.0 0 20 NR R (only 0°) SB

30 2.4 0 20 NR R (only 0°) SB

10 1.6

IRR

0 20 NR R TLP SB

15 1.6 0 20 NR R (only SB) TLP SB

20 2.0 0 20 NR R SB

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5 Data post-processing All data have been converted in ASCII format.

6 Organization of data files A diary was written of all tests, it contains the test date, the test label, the file name, the wave case, comments and remarks. The data files contain the readings of the instruments are in dfs0 and ASCII format. The naming of the files is as follows: [TEST_Number]Hydralab.txt. An example are: T1248Hydralab.dfs0 and T1248Hydralab.txt. The first line of the files contains the main parameters of the test case, for example: TLP_20_1.8_REG_00_NR.dsf0 SB_10_1.6_IRR_20_R.dfs0 The first line refers to the tension leg platform model and the second line for spar buoy model; the first number is the value of wave height in cm, the second number is the wave period in second, the next word stands for “REGular” or “IRRegular” waves followed by the indication of orthogonal waves (00) or oblique waves (20 degrees); the last letters means “No rotor rotation” (NR) or “rotor rotation” (R).

7 Remarks No remarks are necessary.

8 References Boone, A., Butterfield, S., Musial,W., “Feasibility of Floating Platform Systems for Wind Turbines”, 23rd ASME Wind Energy Symposium, Reno, Nevada, 5÷8 January 2004 http://www.nrel.gov/docs/fy04osti/34874.pdf Butterfield, S., “Engineering Challenges for Floating Offshore Wind Turbines”, NREL USA, Offshore Conference, Denmark, Copenaghen, 26-28 October 2005 Butterfield, S., Musial, W., “Energy from Offshore Wind”, NREL USA, Offshore Technology Conference, Houston, Texas, 1÷4, May 2006. http://www.nrel.gov/docs/fy06osti/39450.pdf Jonkman, J.,, Matha, D., A Quantitative Comparison of the Responses of Three Floating Platforms, Procedings of European Offshore Wind 2009. Conference and Exhibition Stockholm, Sweden, September 14–16, 2009. Sclavounos, P.D., Wayman, E.N., “Coupled Dynamic Modelling of Floating Wind turbine Systems”. Offshore Technology Conference, Texas, 2006

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Appendices

Table A.1: Summary of properties of the MIT/NREL. Model Scale ratio (1/λ) = 1 : 40

TLP (MIT / NREL PROTOTYPE) Full scale unit Scale factor Scaled Model

Diameter of the platform 18 m λ 0.45

Draft 47.89 m λ 1.1973

Radius to fairleads, anchors 27 m λ 0.675

Depth to fairleads, anchors 47.89 m λ 1.1973

CM location below still water level 40.61 m λ 1.0153

Tower height (hub level) 90 m λ 2.25

Tower mass 347500 kg λ3 5.2973

Mass (floating system) including ballast 8600000 kg λ3 131.0976

Water displacement 12180 m3 λ3 0.1903

Roll inertia about CM_z 5.72E+08 kg*m2 λ5 5.4459

Unstreached line length 151.7 m λ 3.7925

Line diameter 0.127 m λ 0.0032

Line mass density 116 kg/m λ2 0.0707

Table A.2: Mass balance of the TLP concept

Mass balance (MIT/NREL TLP) Full scale unit Scale factor

Scaled Model

Rotor mass 110000 kg λ3 1.6768

Nacelle mass 240000 kg λ3 3.6585


Mass (floating system) including ballast 8600000 kg λ3 131.0976 TOTAL MASS 9297500 kg λ3 141.7302


Buoyancy = (Water displacement * water density) 12484500 kg λ3 190.3125

Line Tension = (Buoyancy - Total Mass) / 4 796750 kg λ3 12.1456

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Table A.3: Summary of properties of the HYWIND. Model Scale ratio (1/λ) = 1 : 40

SPAR BUOY (HYWIND PROTOTYPE) Full scale unit Scale factor Scaled Model

Platform Diameter Below Taper 9.4 m λ 0.235 Depth to the platform base below SWL (total Draft) 120 m λ 3

Platform Diameter Above Taper 6.5 m λ 0.1625 Depth to Top of Taper Below SWL 4 m λ 0.1

Depth to Bottom of Taper Below SWL 12 m λ 0.3 Tower height 88.5 m λ 2.2125

Hub level 90 m λ 2.25 Hub Diameter 3 m λ 0.075

Tower mass 347500 kg λ3 5.2973 Radius to fairleads 9.4 m λ 0.235 Radius to anchors 853.9 m λ 21.3475 Depth to fairleads 70 m λ 1.75 Depth to anchors 320 m λ 8

CM location below still water level 89.9155 m λ 2.2479

Roll inertia about CM_z 4.23E+09 kg*m2 λ5 40.2915


Mass (floating system) including ballast 7466330 kg λ3 113.8160 Unstreached line length 902.2 m λ 22.555

Line diameter 0.09 m λ 0.0023

Line mass density 77.71 kg/m λ2 0.0474

Angle between adjacent lines 120 deg λ0 120

Table A.4: Summary of properties of the HYWIND. Model Scale ratio (1/λ) = 1 : 40

Mass Balance (HYWIND) Full scale unit Scale factor

Scaled Model

Rotor mass 110000 kg λ3 1.6768

Nacelle mass 240000 kg λ3 3.6585


Mass (floating system) including ballast 7466330 kg λ3 113.8160

TOTAL MASS 8163830 kg λ3 124.4486


Buoyancy = (Water displacement * water density) 8229725 kg λ3 125.4531

Buoyancy - Total Mass 65895 1.0045

Line mass density 77.71 kg/m λ2 0.0474

Suspended line = (Buoyancy - Total Mass) / (Line Mass density) / 3

282.6535 m λ 7.0663

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Table A.5: Blades cross – section profiles

Figure. Cross-sections with twist increasing from the root (x=0) tot the tip (x=1575mm). The prebend (increasing from the root as weel) is only shown for cross-section 1500.

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Table A.6: Test Numbers

Date Set-up

Test_file_no

heave test 1196 - 1199

inclination test 3deg 1200 inclination test 7deg 1201 inclination test 8.6deg 1202 inclination tests 5kg 1203 inclination test 10kg 1204

18-ott 1 TLP-T1 TLP_0_0_0_00_R7V 1227 18-ott 1 TLP-T2 TLP_0_0_0_00_R8V 1228 18-ott 1 TLP-T3 TLP_0_0_0_00_R9V 1229 18-ott 1 TLP-T4 TLP_0.025_1.6_REG_00_NR 1230 18-ott 1 TLP-T5 TLP_0.039_2.0_REG_00_NR 1231 18-ott 1 TLP-T6 TLP_0.045_2.4_REG_00_NR 1232 18-ott 1 TLP-T7 TLP_10_1.8_REG_00_NR 1233 18-ott 1 TLP-T8 TLP_15_1.8_REG_00_NR 1235 18-ott 1 TLP-T9 TLP_20_1.8_REG_00_NR 1236 18-ott 1 TLP-T10 TLP_15_2.0_REG_00_NR 1237 18-ott 1 TLP-T11 TLP_15_2.4_REG_00_NR 1238 18-ott 1 TLP-T12 TLP_10_1.6_IRR_00_NR 1239 18-ott 1 TLP-T12bis TLP_10_1.6_IRR_00_NR_b 1240 18-ott 1 TLP-T13 TLP_0.025_1.6_REG_20_NR 1243 18-ott 1 TLP-T14 TLP_0.039_2.0_REG_20_NR 1255 18-ott 1 TLP-T15 TLP_0.045_2.4_REG_20_NR 1256 18-ott 1 TLP-T16 TLP_10_1.8_REG_20_NR 1257 18-ott 1 TLP-T17 TLP_15_1.8_REG_20_NR 1241 18-ott 1 TLP-T18 TLP_20_1.8_REG_20_NR 1258 18-ott 1 TLP-T19 TLP_15_2.0_REG_20_NR 1260 18-ott 1 TLP-T20 TLP_15_2.4_REG_20_NR 1261 18-ott 1 TLP-T21 TLP_10_1.6_IRR_20_NR 1242 18-ott 1 TLP-T22 TLP_0.025_1.6_REG_00_R 1244 18-ott 1 TLP-T23 TLP_0.039_2.0_REG_00_R 1246 18-ott 1 TLP-T24 TLP_0.045_2.4_REG_00_R 1247 18-ott 1 TLP-T25 TLP_10_1.8_REG_00_R 1248 18-ott 1 TLP-T26 TLP_15_1.8_REG_00_R 1249 18-ott 1 TLP-T27 TLP_20_1.8_REG_00_R 1250 18-ott 1 TLP-T28 TLP_15_2.0_REG_00_R 1251 18-ott 1 TLP-T29 TLP_15_2.4_REG_00_R 1252 18-ott 1 TLP-T30 TLP_10_1.6_IRR_00_R 1253 18-ott 1 TLP-T30bis TLP_10_1.6_IRR_00_R_b 1254

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18-ott 1 TLP-T31 TLP_0.025_1.6_REG_20_R 1262 18-ott 1 TLP-T32 TLP_0.039_2.0_REG_20_R 1263 18-ott 1 TLP-T33 TLP_0.045_2.4_REG_20_R 1264 18-ott 1 TLP-T34 TLP_10_1.8_REG_20_R 1265 18-ott 1 TLP-T39 TLP_10_1.6_IRR_20_R 1266

free decay tests with tower and

tension

1270 1271 1272 1273

19-ott 1 TLP-T104 TLP_0.025_1.6_REG_00_NR 1274 19-ott 1 TLP-T105 TLP_0.039_2.0_REG_00_NR 1275 19-ott 1 TLP-T106 TLP_0.045_2.4_REG_00_NR 1277 19-ott 1 TLP-T107 TLP_10_1.8_REG_00_NR 1278 19-ott 1 TLP-T108 TLP_15_1.8_REG_00_NR 1279 19-ott 1 TLP-T109 TLP_20_1.8_REG_00_NR 1280 19-ott 1 TLP-T110 TLP_15_2.0_REG_00_NR 1281 19-ott 1 TLP-T111 TLP_15_2.4_REG_00_NR 1282 19-ott 1 TLP-T112 TLP_10_1.6_IRR_00_NR 1283

19-ott 1 TLP-T112bis TLP_10_1.6_IRR_00_NR_b 1284

19-ott 1 TLP-T113 TLP_0.025_1.6_REG_20_NR 1286 19-ott 1 TLP-T114 TLP_0.039_2.0_REG_20_NR 1287 19-ott 1 TLP-T115 TLP_0.045_2.4_REG_20_NR 1288 19-ott 1 TLP-T116 TLP_10_1.8_REG_20_NR 1289 19-ott 1 TLP-T117 TLP_15_1.8_REG_20_NR 1290 19-ott 1 TLP-T118 TLP_20_1.8_REG_20_NR 1291 19-ott 1 TLP-T119 TLP_15_2.0_REG_20_NR 1292 19-ott 1 TLP-T120 TLP_15_2.4_REG_20_NR 1293 19-ott 1 TLP-T121 TLP_10_1.6_IRR_20_NR 1294

19-ott 1 TLP-T121bis TLP_10_1.6_IRR_20_NR_b 1295

19-ott 1 TLP-T122 TLP_0.025_1.6_REG_00_R 1298 19-ott 1 TLP-T123 TLP_0.039_2.0_REG_00_R 1299 19-ott 1 TLP-T124 TLP_0.045_2.4_REG_00_R 1300 19-ott 1 TLP-T125 TLP_10_1.8_REG_00_R 1301 19-ott 1 TLP-T126 TLP_15_1.8_REG_00_R 1302 19-ott 1 TLP-T127 TLP_20_1.8_REG_00_R 1303 19-ott 1 TLP-T128 TLP_15_2.0_REG_00_R 1304 19-ott 1 TLP-T129 TLP_15_2.4_REG_00_R 1305 19-ott 1 TLP-T130 TLP_10_1.6_IRR_00_R 1306

19-ott 1 TLP-T130bis TLP_10_1.6_IRR_00_R_b 1307

19-ott 1 TLP-T131 TLP_0.025_1.6_REG_20_R 1309

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19-ott 1 TLP-T132 TLP_0.039_2.0_REG_20_R 1310 19-ott 1 TLP-T133 TLP_0.045_2.4_REG_20_R 1311 19-ott 1 TLP-T134 TLP_10_1.8_REG_20_R 1312 19-ott 1 TLP-T135 TLP_15_1.8_REG_20_R 1313 19-ott 1 TLP-T136 TLP_20_1.8_REG_20_R 1314 19-ott 1 TLP-T137 TLP_15_2.0_REG_20_R 1315 19-ott 1 TLP-T138 TLP_15_2.4_REG_20_R 1316 19-ott 1 TLP-T139 TLP_10_1.6_IRR_20_R 1317

19-ott 1 TLP-T139bis TLP_10_1.6_IRR_20_R_b 1318

22-ott 1 TLP-T140 TLP_10_1.6_IRR_00_NR_22 1321 22-ott 1 TLP-T141 TLP_15_1.6_IRR_00_NR 1322 22-ott 1 TLP-T144 TLP_15_1.6_IRR_20_NR 1323 22-ott 1 TLP-T206 TLP_0.045_2.4_REG_00_NR_sub 1329 22-ott 1 TLP-T207 TLP_10_1.8_REG_00_NR_sub 1330 22-ott 1 TLP-T208 TLP_15_1.8_REG_00_NR_sub 1331 22-ott 1 TLP-T209 TLP_10_1.6_IRR_00_NR_sub 1333 23-ott

SB

zero reading 1341 23-ott free decay surge 1344 23-ott free decay sway 1346 23-ott free decay heave 1348 23-ott free decay roll 1350 23-ott free decay pitch 1352 23-ott free decay pitch+thrust 1354 23-ott free decay yaw 1355 23-ott SB-T1 SB_0_0_0_00_R7V 1356 23-ott SB-T2 SB_0_0_0_00_R8V 1357 23-ott SB-T3 SB_0_0_0_00_R9V 1358 23-ott SB-T4 SB_0.025_1.6_REG_00_NR 1359 23-ott SB-T5 SB_0.039_2.0_REG_00_NR 1360 23-ott SB-T6 SB_0.045_2.4_REG_00_NR 1361 23-ott SB-T7 SB_10_1.8_REG_00_NR 1362 23-ott SB-T8 SB_15_1.8_REG_00_NR 1363 23-ott SB-T9 SB_20_1.8_REG_00_NR 1364 23-ott SB-T10 SB_15_2.0_REG_00_NR 1365 23-ott SB-T11 SB_15_2.4_REG_00_NR 1366 23-ott SB-T12 SB_10_1.6_IRR_00_NR 1367 23-ott SB-T28 SB_15_1.8_REG_00_R 1368 23-ott SB-T30 SB_15_2.0_REG_00_R 1369 24-ott SB-T104 SB_0.025_1.6_REG_00_NR 1377 24-ott SB-T105 SB_0.039_2.0_REG_00_NR 1378 24-ott SB-T106 SB_0.045_2.4_REG_00_NR 1379 24-ott SB-T107 SB_10_1.8_REG_00_NR 1380

22

24-ott SB-T108 SB_15_1.8_REG_00_NR 1381 24-ott SB-T109 SB_20_1.8_REG_00_NR 1382 24-ott SB-T110 SB_15_2.0_REG_00_NR 1383 24-ott SB-T111 SB_15_2.4_REG_00_NR 1384 24-ott SB-T112 SB_10_1.6_IRR_00_NR 1385

24-ott SB-T112bis SB_10_1.6_IRR_00_NR_b 1386

24-ott SB-T113 SB_15_1.6_IRR_00_NR 1387


24-ott SB-T114 SB_0.025_1.6_REG_20_NR 1389 24-ott SB-T115 SB_0.039_2.0_REG_20_NR 1390 24-ott SB-T116 SB_0.045_2.4_REG_20_NR 1391 24-ott SB-T117 SB_10_1.8_REG_20_NR 1392 24-ott SB-T118 SB_15_1.8_REG_20_NR 1393 24-ott SB-T119 SB_20_1.8_REG_20_NR 1394 24-ott SB-T120 SB_15_2.0_REG_20_NR 1395 24-ott SB-T121 SB_15_2.4_REG_20_NR 1396 24-ott SB-T122 SB_10_1.6_IRR_20_NR 1397


24-ott SB-T123 SB_15_1.6_IRR_20_NR 1400


24-ott SB-T124 SB_0.025_1.6_REG_00_R 1403 24-ott SB-T125 SB_0.039_2.0_REG_00_R 1404 24-ott SB-T126 SB_0.045_2.4_REG_00_R 1405 24-ott SB-T127 SB_10_1.8_REG_00_R 1414 24-ott SB-T128 SB_15_1.8_REG_00_R 1415 24-ott SB-T129 SB_20_1.8_REG_00_R 1416 24-ott SB-T130 SB_15_2.0_REG_00_R 1417 24-ott SB-T131 SB_15_2.4_REG_00_R 1418 24-ott SB-T132 SB_10_1.6_IRR_00_R 1419

24-ott SB-T132bis SB_10_1.6_IRR_00_R_b 1421

24-ott SB-T133 SB_15_1.6_IRR_00_R 1422


24-ott SB-T134 SB_0.025_1.6_REG_20_R 1424 24-ott SB-T135 SB_0.039_2.0_REG_20_R 1425 24-ott SB-T136 SB_0.045_2.4_REG_20_R 1426 24-ott SB-T137 SB_10_1.8_REG_20_R 1427 25-ott SB-T138 SB_15_1.8_REG_20_R 1435

23

25-ott SB-T139 SB_20_1.8_REG_20_R 1436 25-ott SB-T140 SB_15_2.0_REG_20_R 1437 25-ott SB-T141 SB_15_2.4_REG_20_R 1438 25-ott SB-T142 SB_10_1.6_IRR_20_R 1439


25-ott SB-T143 SB_15_1.6_IRR_20_R 1429


25-ott SB-T144 SB_25_1.8_REG_00_EX 1443 25-ott SB-T145 SB_30_2.0_REG_00_EX 1444 25-ott SB-T146 SB_30_2.4_REG_00_EX 1445 25-ott SB-T147 SB_20_2.0_IRR_00_EX 1447

25-ott SB-T147bis SB_20_2.0_IRR_00_EX_b 1448

25-ott SB-T148 SB_25_1.8_REG_20_EX 1449 25-ott SB-T149 SB_30_2.0_REG_20_EX 1450 25-ott SB-T150 SB_30_2.4_REG_20_EX 1451 25-ott SB-T151 SB_20_2.0_IRR_20_EX 1453

25-ott SB-T151bis SB_20_2.0_IRR_20_EX_b 1454

26-ott free decay surge 1459 26-ott free decay sway 1460 26-ott free decay heave 1461 26-ott free decay roll 1462 26-ott free decay pitch 1463-1465 26-ott free decay yaw 1466-1468 26-ott free decay surge rotation 1470-1472 26-ott free decay sway rotation 1473 26-ott free decay heave rotation 1474 26-ott free decay roll rotation 1480 26-ott free decay pitch rotation 1476-1477 26-ott free decay yaw rotation 1478-1480 26-ott SB_25_1.8_REG_00_EX_R 1481 26-ott SB_20_2.0_IRR_00_EX_R 1482 26-ott SB_30_2.0_REG_00_EX_R 1483 26-ott SB_30_2.4_REG_00_EX_R 1484 26-ott startup_shutdown_rotation 1485

24

Table A.7: Test Diary

Date Set-up Test Label File name

Wave case Comment Remarks pre-tension

Inclination test 3deg 1200

Inclination test 7deg 1201

Inclination test 8.6deg 1202

free decay tests without tension

free decay tests with tower and tension

1270 free decay sway 0deg

M1: 1.26; M2: 1.26; M3:1.29; M4: 1.22




1 TLP-T101 TLP_0_0_0_00_R7V - tests 18.10.

1 TLP-T102 TLP_0_0_0_00_R8V - tests 18.10.

1 TLP-T103 TLP_0_0_0_00_R9V - tests 18.10.

19-ott 1 TLP-T104 TLP_0.025_1.6_REG_00_NR WC233 1274



named TLP_0.045_2.4_REG_00_NR_b forgotten to press load

19-ott 1 TLP-T107 TLP_10_1.8_REG_00_NR WC121 1278





19-ott 1 TLP-T112 TLP_10_1.6_IRR_00_NR WC301 1283

19-ott 1 TLP-T112bis TLP_10_1.6_IRR_00_NR_b WC302 1284 1285: Zero reading









19-ott 1 TLP-T121 TLP_10_1.6_IRR_20_NR WC411 1294

more than 5 spheres seen by camera 1 in first 1/3 of recording

19-ott 1 TLP-T121bis TLP_10_1.6_IRR_20_NR_b WC412 1295

1296: zero reading; 1297: zero reading, rotation and thrust only

19-ott 1 TLP-T122 TLP_0.025_1.6_REG_00_R WC233 1298



19-ott 1 TLP-T125 TLP_10_1.8_REG_00_R WC121 1301


25




19-ott 1 TLP-T130 TLP_10_1.6_IRR_00_R WC301 1306

19-ott 1 TLP-T130bis TLP_10_1.6_IRR_00_R_b WC302 1307 1308: zero reading









19-ott 1 TLP-T139 TLP_10_1.6_IRR_20_R WC411 1317 memory card of close up camera full

19-ott 1 TLP-T139bis TLP_10_1.6_IRR_20_R_b WC412 1318 Jens recorded some of it

M1: 1.15; M2: 1.25; M3: 1.20; M4: 1,18

1 TLP-T140 TLP_10_1.6_IRR_00_NR_22 WC301 1321 zero reading: 1320

WG10 not functioning

properly

1 TLP-T141 TLP_15_1.6_IRR_00_NR WC305 1322

1 TLP-T144 TLP_15_1.6_IRR_20_NR WC415 1323 zero reading: 1324

TLP-T206 TLP_0.045_2.4_REG_00_NR_sub WC235 1329 zero reading: 1328

structure submerged

TLP-T207 TLP_10_1.8_REG_00_NR_sub WC121 1330

TLP-T208 TLP_15_1.8_REG_00_NR_sub WC122 1331 free decay tower: 1332

TLP-T209 TLP_10_1.6_IRR_00_NR_sub WC301 1333 6comp force gauge hit by waves 3-4times

Roll and heave test without tower

2 SB-T101 SB_0_0_0_00_R7V -

all tests on the 23rd have been performed with too heavy ballasting (removed on the 24th)

2 SB-T102 SB_0_0_0_00_R8V -

2 SB-T103 SB_0_0_0_00_R9V -

24.10. 2 SB-T104 SB_0.025_1.6_REG_00_NR WC233 1377

24.10. 2 SB-T105 SB_0.039_2.0_REG_00_NR WC134 1378

24.10. 2 SB-T106 SB_0.045_2.4_REG_00_NR WC235 1379

24.10. 2 SB-T107 SB_10_1.8_REG_00_NR WC121 1380

24.10. 2 SB-T108 SB_15_1.8_REG_00_NR WC122 1381

24.10. 2 SB-T109 SB_20_1.8_REG_00_NR WC123 1382

24.10. 2 SB-T110 SB_15_2.0_REG_00_NR WC125 1383

24.10. 2 SB-T111 SB_15_2.4_REG_00_NR WC126 1384

24.10. 2 SB-T112 SB_10_1.6_IRR_00_NR WC301 1385

24.10. 2 SB-T112bis SB_10_1.6_IRR_00_NR_b WC302 1386

24.10. 2 SB-T113 SB_15_1.6_IRR_00_NR WC305 1387 labeled wrong: 10_1.6_IRR_00_NR_b


24.10. 2 SB-T114 SB_0.025_1.6_REG_20_NR WC249 1389

24.10. 2 SB-T115 SB_0.039_2.0_REG_20_NR WC250 1390

26

24.10. 2 SB-T116 SB_0.045_2.4_REG_20_NR WC251 1391

24.10. 2 SB-T117 SB_10_1.8_REG_20_NR WC141 1392

24.10. 2 SB-T118 SB_15_1.8_REG_20_NR WC142 1393

24.10. 2 SB-T119 SB_20_1.8_REG_20_NR WC143 1394

24.10. 2 SB-T120 SB_15_2.0_REG_20_NR WC244 1395

24.10. 2 SB-T121 SB_15_2.4_REG_20_NR WC145 1396

24.10. 2 SB-T122 SB_10_1.6_IRR_20_NR WC411 1397


ADV adjusted, cables moved so that moorings 2 and 3 are the same; 1398: zero read 25.10.

25.10. 2 SB-T123 SB_15_1.6_IRR_20_NR WC415 1400 WG4 not working during test day?

25.10. 2 SB-T123bis SB_15_1.6_IRR_20_NR_b WC416 1401 1402: zero read thrust

25.10. 2 SB-T124 SB_0.025_1.6_REG_00_R WC233 1403

25.10. 2 SB-T125 SB_0.039_2.0_REG_00_R WC134 1404

25.10. 2 SB-T126 SB_0.045_2.4_REG_00_R WC235 1405

25.10. 2 SB-T127 SB_10_1.8_REG_00_R WC121 1414

25.10. 2 SB-T128 SB_15_1.8_REG_00_R WC122 1415

25.10. 2 SB-T129 SB_20_1.8_REG_00_R WC123 1416

25.10. 2 SB-T130 SB_15_2.0_REG_00_R WC125 1417

25.10. 2 SB-T131 SB_15_2.4_REG_00_R WC126 1418

25.10. 2 SB-T132 SB_10_1.6_IRR_00_R WC301 1419 1420

rotor stopped 2-3min before end --> redone: named SB_10_1.6_IRR_00_R_rep

25.10. 2 SB-T132bis SB_10_1.6_IRR_00_R_b WC302 1421

25.10. 2 SB-T133 SB_15_1.6_IRR_00_R WC305 1422


25.10. 2 SB-T134 SB_0.025_1.6_REG_20_R WC249 1424

25.10. 2 SB-T135 SB_0.039_2.0_REG_20_R WC250 1425

25.10. 2 SB-T136 SB_0.045_2.4_REG_20_R WC251 1426

25.10. 2 SB-T137 SB_10_1.8_REG_20_R WC141 1427

25.10. 2 SB-T138 SB_15_1.8_REG_20_R WC142 1435 setup ADV again

25.10. 2 SB-T139 SB_20_1.8_REG_20_R WC143 1436

25.10. 2 SB-T140 SB_15_2.0_REG_20_R WC244 1437

25.10. 2 SB-T141 SB_15_2.4_REG_20_R WC145 1438

25.10. 2 SB-T142 SB_10_1.6_IRR_20_R WC411 1439


25.10. 2 SB-T143 SB_15_1.6_IRR_20_R WC415 1429 ADV removed for test 1429

25.10. 2 SB-T143bis SB_15_1.6_IRR_20_R_b WC416 1430 1441 1441: with ADV

1442: zero reading

25.10. 2 SB-T144 SB_25_1.8_REG_00_EX WC127 1443

25.10. 2 SB-T145 SB_30_2.0_REG_00_EX WC131 1444

25.10. 2 SB-T146 SB_30_2.4_REG_00_EX WC132 1445 1446 1445: redone: line of weight tensioned

25.10. 2 SB-T147 SB_20_2.0_IRR_00_EX WC407 1447

25.10. 2 SB-T147bis SB_20_2.0_IRR_00_EX_b WC408 1448

27

25.10. 2 SB-T148 SB_25_1.8_REG_20_EX WC146 1449

25.10. 2 SB-T149 SB_30_2.0_REG_20_EX WC247 1450

25.10. 2 SB-T150 SB_30_2.4_REG_20_EX WC148 1451

25.10. 2 SB-T151 SB_20_2.0_IRR_20_EX WC417 1453

25.10. 2 SB-T151bis SB_20_2.0_IRR_20_EX_b WC418 1454 1455: zero read

25.10. SB_20_2.0_IRR_20_EX_R WC417

weight shifted afterwards? 1°incr. In pitch

26.10. free decay surge 1459 1458: zero read

26.10. free decay sway 1460

26.10. free decay heave 1461

26.10. free decay roll 1462

26.10. free decay pitch 1463-1465

26.10. free decay yaw 1466-1468

26.10. free decay surge rotation 1470-1472 1469: zero read with thrust and rotation

26.10. free decay sway rotation 1473

26.10. free decay heave rotation 1474

26.10. free decay roll rotation 1480

26.10. free decay pitch rotation 1476-1477

26.10. free decay yaw rotation 1478-1480

26.10. SB_25_1.8_REG_00_EX_R 1481

26.10. SB_20_2.0_IRR_00_EX_R 1482

26.10. SB_30_2.0_REG_00_EX_R 1483

26.10. SB_30_2.4_REG_00_EX_R 1484

26.10. startup_shutdown_roation 1485

Documents

Data Storage Report - Hydralab