WIND TURBINE AND OPERATING SAME
BACKGROUND OF THE INVENTION
[0001] The subject matter described herein relates generally to methods and systems for operating wind turbines  and more particularly  to methods and systems for reducing vibrations in wind turbines which are erected in a body of water.
[0002] At least some known wind turbines include a tower and a nacelle mounted on the tower. A rotor is rotatably mounted to the nacelle and is coupled to a generator by a shaft. A plurality of blades extend from the rotor. The blades are oriented such that wind passing over the blades turns the rotor and rotates the shaft  thereby driving the generator to generate electricity.
[0003] In the past  wind turbines have often be installed onshore allowing for well-known construction methods and also easy accessibility and maintenance. However  availability of onshore sites becomes rare in some countries. Furthermore  environmental impact of onshore wind turbines on residents living near the turbine site impose  e.g.  size limitations onto onshore turbines. For these and other reasons  offshore wind turbine sites  i.e. sites which are located in a body of water  are attracting more and more interest during recent years. However  offshore wind turbines encounter specific challenges not experienced with onshore wind turbines that pose technical and logistical problems still to be solved. Some of these problems are related to the interaction between an offshore wind turbine and the body of water surrounding it.
BRIEF DESCRIPTION OF THE INVENTION
[0004] In one aspect  a method for operating a wind turbine erected in a body of water is provided. A method for operating a wind turbine erected in a body of water includes measuring vibrations of the wind turbine during operation; identifying at least one periodic component of the measured vibrations  wherein the periodic component is associated with interaction of the body of water and the wind turbine; and  operating at least one controller of the wind turbine so that water-induced vibrations are reduced.
[0005] In another aspect  a method of reducing water-induced oscillations in a wind turbine is provided. A method of reducing water-induced oscillations in a wind turbine includes providing at least one mechanical oscillation sensor at a first position of the wind turbine; reading oscillation data from the at least one mechanical oscillation sensor during operation of the wind turbine; determining a water-induced periodic oscillation of the wind turbine; and  controlling a pitch angle  a yaw angle or a generator torque of the wind turbine so that an amplitude of the water-induced periodic oscillation is reduced.
[0006] In yet another aspect  a wind turbine is provided. A wind turbine includes a support structure for supporting the wind turbine; a tower mounted to the support structure; a nacelle mounted on top of the tower; a rotor hub mounted to the nacelle  wherein at least two rotor blades are attached to the rotor hub; a pitch drive system allowing adjustment of the individual pitch angles of the at least two rotor blades; at least one sensor for measuring a vibration of the wind turbine; and  a wind turbine control system adapted to receive measurement data from the at least one sensor  and adapted to analyze said measurement data to identify a water-induced vibration pattern  wherein the control system is further adapted of controlling the pitch drive system to adjust at least one pitch angle of at least one rotor blade so that the water-induced vibration pattern vibration is reduced.
[0007] Further aspects  advantages and features of the present invention are apparent from the dependent claims  the description and the accompanying drawings.
BRIEF DESCRIPTION OF THE DRAWINGS
[0008] A full and enabling disclosure including the best mode thereof  to one of ordinary skill in the art  is set forth more particularly in the remainder of the specification  including reference to the accompanying figures wherein:
[0009] Figure 1 is a perspective view of an exemplary wind turbine.
[0010] Figure 2 is an enlarged sectional view of a portion of the wind turbine shown in Figure 1.
[0011] Figure 3 is a perspective view of a wind turbine according to an embodiment.
[0012] Figure 4 is a flow diagram of a method according to an embodiment.
[0013] Figure 5 is a detailed flow diagram of one method block as shown in Fig. 4.
[0014] Figure 6 is a detailed flow diagram of another method block as shown in Fig. 4.
[0015] Figure 7 is a detailed flow diagram of one method block as shown in Fig. 4.
DETAILED DESCRIPTION OF THE INVENTION
[0016] Reference will now be made in detail to the various embodiments  one or more examples of which are illustrated in each figure. Each example is provided by way of explanation and is not meant as a limitation. For example  features illustrated or described as part of one embodiment can be used on or in conjunction with other embodiments to yield yet further embodiments. It is intended that the present disclosure includes such modifications and variations.
[0017] The embodiments described herein include a wind turbine system that may be erected offshore or nearshore and is adapted to reduce vibrations during operation. More specifically  the wind turbine according to embodiments described herein is adapted to specifically identify and reduce vibrations induced by the interaction of water and the wind turbine.
[0018] As used herein  the term “offshore” is intended to be representative of a location within a body of water  e.g. a lake  a river or the sea. As used herein  the term “water” is intended to be representative of salt water  fresh water or a mixture of both as well as of running water and standing water. As used herein  the term “blade” is intended to be representative of any device that provides a reactive force when in motion relative to a surrounding fluid. As used herein  the term “wind turbine” is intended to be representative of any device that generates rotational energy from wind energy  and more specifically  converts kinetic energy of wind into mechanical energy. As used herein  the term “wind generator” is intended to be representative of any wind turbine that generates electrical power from rotational energy generated from wind energy  and more specifically  converts mechanical energy converted from kinetic energy of wind to electrical power.
[0019] Figure 1 is a perspective view of an exemplary offshore wind turbine 10. In the exemplary embodiment  offshore wind turbine 10 is a horizontal-axis wind turbine. Alternatively  offshore wind turbine 10 may be a vertical-axis wind turbine. In the exemplary embodiment  offshore wind turbine 10 includes a tower 12 that extends from a support system 14  a nacelle 16 mounted on tower 12  and a rotor 18 that is coupled to nacelle 16. Rotor 18 includes a rotatable hub 20 and at least one rotor blade 22 coupled to and extending outward from hub 20. In the exemplary embodiment  rotor 18 has three rotor blades 22. In an alternative embodiment  rotor 18 includes more or less than three rotor blades 22.
[0020] Rotor blades 22 are spaced about hub 20 to facilitate rotating rotor 18 to enable kinetic energy to be transferred from the wind into usable mechanical energy  and subsequently  electrical energy. Rotor blades 22 are mated to hub 20 by coupling a blade root portion 24 to hub 20 at a plurality of load transfer regions 26. Load transfer regions 26 have a hub load transfer region and a blade load transfer region (both not shown in Figure 1). Loads induced to rotor blades 22 are transferred to hub 20 via load transfer regions 26.
[0021] In one embodiment  rotor blades 22 have a length ranging from about 15 meters (m) to about 91 m. Alternatively  rotor blades 22 may have any suitable length that enables wind turbine 10 to function as described herein. For example  other non-limiting examples of blade lengths include 10 m or less  20 m  37 m  or a length that is greater than 91 m. As wind strikes rotor blades 22 from a direction 28  rotor 18 is rotated about an axis of rotation 30. As rotor blades 22 are rotated and subjected to centrifugal forces  rotor blades 22 are also subjected to various forces and moments. As such  rotor blades 22 may deflect and/or rotate from a neutral  or non-deflected  position to a deflected position.
[0022] Moreover  a pitch angle or blade pitch of rotor blades 22  i.e.  an angle that determines a perspective of rotor blades 22 with respect to direction 28 of the wind  may be changed by a pitch adjustment system 32 to control the load and power generated by wind turbine 10 by adjusting an angular position of at least one rotor blade 22 relative to wind vectors. Pitch axes 34 for rotor blades 22 are shown. During operation of wind turbine 10  pitch adjustment system 32 may change a blade pitch of rotor blades 22 such that rotor blades 22 are moved to a feathered position  such that the perspective of at least one rotor blade 22 relative to wind vectors provides a minimal surface area of rotor blade 22 to be oriented towards the wind vectors  which facilitates reducing a rotational speed of rotor 18 and/or facilitates a stall of rotor 18.
[0023] In the exemplary embodiment  offshore wind turbine 10 is mounted in a body of water 2  e.g. in a lake or in the sea. The body of water 2 has a ground 1  e.g. e lakebed or a seabed  which typically comprises sand and/or gravel. In the exemplary embodiment  support system 14 is a monopole structure anchored in ground 1. In alternative embodiments  support system 14 may include a tripod structure and/or a lattice structure fixed to ground 1. In a still alternative embodiment  support structure 14 may include a buoyant platform on which tower 12 is mounted. Support structure 14 will be designed such that it provides sufficient support to tower 12  nacelle 16 and rotor 18. In the exemplary embodiment  tower 12 is fabricated from tubular steel to define a cavity (not shown in Figure 1) between support system 14 and nacelle 16. In an alternative embodiment  tower 12 is any suitable type of tower having any suitable height.
[0024] The body of water 2 has an average water level 4 which may vary with time due to tidal variations in some embodiments. In addition to the tidal variations of the water level  water waves 3 will form at the surface of the body 2 as a result of wind 28 interacting with the water surface. In this context  it is worth noting that the direction 9 (vwave) of the water waves is not necessarily the same as the direction 28 (vwind) of the wind. For example  due to the topology of ground 1 the direction 9 of the waves 3 may even be opposite to the direction of the wind (as exemplary illustrated in Fig. 1). The correlation between wind speed direction 28 (vwind) and wave speed direction 9 (vwave) will therefore depend on the specific circumstances of the erection site of the offshore wind turbine 10. In addition  there may exist currents 4 which may or may not vary with time. For example  current 4 may be formed due to the topology of ground 1 and is dependent on the specific circumstances of the erection site.
[0025] The waves 3 as well as current 5 will interact with offshore wind turbine 10. Each wave 3 carries a momentum determined by its peak length 7 (lwave) and its height 8 (hwave)  i.e. the volume of water contained in the wave  and its speed of travel 9 (vwave). When wave 3 impinges on tower 12  at least a part of the wave momentum will be transferred to tower 12  i.e. onto the offshore wind turbine 10. Typically  water waves 3 are a more or less periodic phenomenon  i.e. not only a single wave is generated but a sequence of waves each having about the same wavelength  wave speed and  therefore  momentum. Accordingly  impinging water waves 3 may be envisioned as a periodic excitation of the tower 12. The interaction between current 5 and the wind turbine 10 is different from the interaction between water waves 3 and the wind turbine 10. Typically  current 5 will cause a phenomenon known as vortex shedding. If an object  e.g. a cylinder  is placed in a laminar flow of a medium  vortices 6 will form behind the structure  detach from it and travel with the flowing medium. These vortices 6 are also known as the von Karman vortex street. The formation and detachment of the vortices is basically periodic. For example  the vortex shedding frequency f of a long cylinder can be approximated by

wherein vcurrent is the velocity of the current  d is the diameter of the cylinder and Re is the Reynolds number if the flow. Due to preservation of angular momentum  the rotational direction of two subsequent vortices will be opposite to each other. Following Newton’s third law  each vortex 6 transfers momentum onto the structure upon detaching from the structure. Accordingly  vortex shedding also causes periodic excitation of the wind turbine  in particular of support structure 14 and/or tower 12.
[0026] Other than the erratic variations in wind speed  the periodic excitation of offshore wind turbine 10 due to its interaction with the body of water 2 may have undesirable consequences. In particular  the frequency of the water waves 3 and/or the vortex shedding frequency of current 5 may be close to one of the eigenfrequencies of tower 12 and/or support system 14. In this event  tower vibration and/or vibration of the support structure will build up rapidly and may damage these structures or may even have disastrous consequences up to loss of structural integrity.
[0027] In the exemplary embodiment  a blade pitch of each rotor blade 22 is controlled individually by a control system 36. Alternatively  the blade pitch for all rotor blades 22 may be controlled simultaneously by control system 36. Further  in the exemplary embodiment  as direction 28 changes  a yaw direction of nacelle 16 may be controlled about a yaw axis 38 to position rotor blades 22 with respect to direction 28. In some embodiments  either control system 36 or an additional generator controller (not shown) may further control electrical generator torque by adjusting rotor and/or stator currents.
[0028] In the exemplary embodiment  control system 36 is shown as being centralized within nacelle 16  however  control system 36 may be a distributed system throughout wind turbine 10  on support system 14  within a wind farm  and/or at a remote control center. Control system 36 includes a processor 40 configured to perform the methods and/or steps described herein. Further  many of the other components described herein include a processor. As used herein  the term “processor” is not limited to integrated circuits referred to in the art as a computer  but broadly refers to a controller  a microcontroller  a microcomputer  a programmable logic controller (PLC)  an application specific integrated circuit  and other programmable circuits  and these terms are used interchangeably herein. It should be understood that a processor and/or a control system can also include memory  input channels  and/or output channels.
[0029] In the embodiments described herein  memory may include  without limitation  a computer-readable medium  such as a random access memory (RAM)  and a computer-readable non-volatile medium  such as flash memory. Alternatively  a floppy disk  a compact disc-read only memory (CD-ROM)  a magneto-optical disk (MOD)  and/or a digital versatile disc (DVD) may also be used. Also  in the embodiments described herein  input channels include  without limitation  sensors and/or computer peripherals associated with an operator interface  such as a mouse and a keyboard. Further  in the exemplary embodiment  output channels may include  without limitation  a control device  an operator interface monitor and/or a display.
[0030] Processors described herein process information transmitted from a plurality of electrical and electronic devices that may include  without limitation  sensors  actuators  compressors  control systems  and/or monitoring devices. Such processors may be physically located in  for example  a control system  a sensor  a monitoring device  a desktop computer  a laptop computer  a programmable logic controller (PLC) cabinet  and/or a distributed control system (DCS) cabinet. RAM and storage devices store and transfer information and instructions to be executed by the processor(s). RAM and storage devices can also be used to store and provide temporary variables  static (i.e.  non-changing) information and instructions  or other intermediate information to the processors during execution of instructions by the processor(s). Instructions that are executed may include  without limitation  wind turbine control system control commands. The execution of sequences of instructions is not limited to any specific combination of hardware circuitry and software instructions.
[0031] Figure 2 is an enlarged sectional view of a portion of wind turbine 10. In the exemplary embodiment  wind turbine 10 includes nacelle 16 and hub 20 that is rotatably coupled to nacelle 16. More specifically  hub 20 is rotatably coupled to an electric generator 42 positioned within nacelle 16 by rotor shaft 44 (sometimes referred to as either a main shaft or a low speed shaft)  a gearbox 46  a high speed shaft 48  and a coupling 50. In the exemplary embodiment  rotor shaft 44 is disposed coaxial to longitudinal axis 116. Rotation of rotor shaft 44 rotatably drives gearbox 46 that subsequently drives high speed shaft 48. High speed shaft 48 rotatably drives generator 42 with coupling 50 and rotation of high speed shaft 48 facilitates production of electrical power by generator 42. Gearbox 46 and generator 42 are supported by a support 52 and a support 54. In the exemplary embodiment  gearbox 46 utilizes a dual path geometry to drive high speed shaft 48. Alternatively  rotor shaft 44 is coupled directly to generator 42 with coupling 50.
[0032] Nacelle 16 also includes a yaw drive mechanism 56 that may be used to rotate nacelle 16 and hub 20 on yaw axis 38 (shown in Figure 1) to control the perspective of rotor blades 22 with respect to direction 28 of the wind. Nacelle 16 also includes at least one meteorological mast 58 that includes a wind vane and anemometer (neither shown in Figure 2). Mast 58 provides information to control system 36 that may include wind direction and/or wind speed. In the exemplary embodiment  nacelle 16 also includes a main forward support bearing 60 and a main aft support bearing 62.
[0033] Forward support bearing 60 and aft support bearing 62 facilitate radial support and alignment of rotor shaft 44. Forward support bearing 60 is coupled to rotor shaft 44 near hub 20. Aft support bearing 62 is positioned on rotor shaft 44 near gearbox 46 and/or generator 42. Alternatively  nacelle 16 includes any number of support bearings that enable wind turbine 10 to function as disclosed herein. Rotor shaft 44  generator 42  gearbox 46  high speed shaft 48  coupling 50  and any associated fastening  support  and/or securing device including  but not limited to  support 52 and/or support 54  and forward support bearing 60 and aft support bearing 62  are sometimes referred to as a drive train 64.
[0034] In the exemplary embodiment  hub 20 includes a pitch assembly 66. Pitch assembly 66 includes one or more pitch drive systems 68 and at least one sensor 70. Each pitch drive system 68 is coupled to a respective rotor blade 22 (shown in Figure 1) for modulating the blade pitch of associated rotor blade 22 along pitch axis 34. Only one of three pitch drive systems 68 is shown in Figure 2.
[0035] In the exemplary embodiment  pitch assembly 66 includes at least one pitch bearing 72 coupled to hub 20 and to respective rotor blade 22 (shown in Figure 1) for rotating respective rotor blade 22 about pitch axis 34. Pitch drive system 68 includes a pitch drive motor 74  pitch drive gearbox 76  and pitch drive pinion 78. Pitch drive motor 74 is coupled to pitch drive gearbox 76 such that pitch drive motor 74 imparts mechanical force to pitch drive gearbox 76. Pitch drive gearbox 76 is coupled to pitch drive pinion 78 such that pitch drive pinion 78 is rotated by pitch drive gearbox 76. Pitch bearing 72 is coupled to pitch drive pinion 78 such that the rotation of pitch drive pinion 78 causes rotation of pitch bearing 72. More specifically  in the exemplary embodiment  pitch drive pinion 78 is coupled to pitch bearing 72 such that rotation of pitch drive gearbox 76 rotates pitch bearing 72 and rotor blade 22 about pitch axis 34 to change the blade pitch of blade 22.
[0036] Pitch drive system 68 is coupled to control system 36 for adjusting the blade pitch of rotor blade 22 upon receipt of one or more signals from control system 36. In the exemplary embodiment  pitch drive motor 74 is any suitable motor driven by electrical power and/or a hydraulic system that enables pitch assembly 66 to function as described herein. Alternatively  pitch assembly 66 may include any suitable structure  configuration  arrangement  and/or components such as  but not limited to  hydraulic cylinders  springs  and/or servo-mechanisms. Moreover  pitch assembly 66 may be driven by any suitable means such as  but not limited to  hydraulic fluid  and/or mechanical power  such as  but not limited to  induced spring forces and/or electromagnetic forces. In certain embodiments  pitch drive motor 74 is driven by energy extracted from a rotational inertia of hub 20 and/or a stored energy source (not shown) that supplies energy to components of wind turbine 10.
[0037] Next  an embodiment is described with reference to Fig. 3. Offshore wind turbine 10 shown in Fig. 3 is very similar to the exemplary embodiment described above with regard to Figs. 1 and 2. However  offshore wind turbine 10 includes several sensors 301  302  303  304  305. The sensors 301  302  303  304  305 are adapted to detect vibrations or oscillations of a wind turbine component  e.g. the tower 12 or the nacelle 16. In a non-limiting example  sensors 301  302  303  304  305 include accelerometers and/or strain gauges. Furthermore  not all sensors are required to be of the same type but it is advantageous to have different types of sensors to enhance redundancy and improve accuracy of the measurement. Furthermore  although the exemplary embodiment of Fig. 3 shows five vibration sensors 301  302  303  304  305 any desired number of vibration sensors may be applied. For example  only one  two  three or four vibration sensors may be applied but also more than five vibration sensors. Furthermore  each of the sensors 301  302  303  304  305 may include more than one sensor device. For example  a sensor 301  302  303  304  305 may include a first and a second strain gauge which are oriented at an angle of about 90 degrees with respect to each other. Thus  the sensor 301  302  303  304  305 may collect vibrational data for different spatial directions. In another embodiment  a sensor 301  302  303  304  305 may even include a third strain gauge to obtain vibrational data in a third spatial direction. Furthermore  sensors 301  302  303  304  305 may include additional sensor devices connected  e.g.  in a Wheatstone bridge. Thus  temperature dependency of the sensors may be compensated. Furthermore  each sensor 301  302  303  304  305 may include redundant sensor devices  e.g. additional strain gauges  in order to ensure failsafe operation thereof.
[0038] The sensors 301  302  303  304  305 may be located at different locations on wind turbine 10. In the non-limiting example shown in Fig. 3  sensor 301 is located in nacelle 16. Thus  sensor 301 may sense fore-aft and/or lateral oscillations of nacelle 16. Furthermore  sensor 302 is located about halfway up the tower 12. Thus  sensor 302 senses tower vibrations at this section of the tower. For example  a base mode of the tower oscillations may have its peak amplitude at this position so that the signal-to-noise-ratio is increased for sensor 302. In other embodiments  sensor 302 may be located at different positions along the longitudinal extension of tower 12. Sensor 303 is located at about the average water level 4. Thus  the position of sensor 303 is beneficial for sensing the impact of incoming waves 3 on tower 12. Sensor 304 is located at the interface between support structure 14 and tower 12. Thus  sensor 304 is adapted for sensing vibrations at this interface between support structure 14 and tower 12. In one embodiment  sensor 304 includes a first sensor mounted to tower 12 and a second sensor adjacent to the first sensor but mounted to support structure 14. Thus  different vibrational behavior may be detected between tower 12 and support structure 14. Such differences in oscillation between adjacently located sensors may be indicative of load stress or even structural damage in the tower/support connection. Finally  sensor 305 is located at the support structure 14 and  thus  adapted to detect the oscillations of support structure 14. These oscillations may be caused  for example  by vortex shedding of an underwater current 5 flowing around support structure 14.
[0039] Each sensor 301  302  303  304  305 measures data indicative of mechanical oscillations or vibrations and transmits these data to one or more control devices  e.g. control system 36. The data transmission from a sensor to the control system may be wire-bound in some embodiments or wireless in other embodiments. When received by the control system 36  the measured data will be analyzed and serve as a basis for controlling the offshore wind turbine as to reduce the influence of the water-induced vibration pattern on the offshore wind turbine. Methods of analyzing the measurement data and controlling the offshore wind turbines are now explained with respect to Fig. 4.
[0040] A method 400 for operating an offshore wind turbine is started in a first block 410. The method proceeds to block 420 where vibrations of the offshore wind turbine are measured during operation of the turbine. For example  the vibrations may be measured by accelerometers or strain gauges  e.g. sensors 301  302  303  304  305 as described with reference to Fig. 3. Typically  the measurement will be performed over a predetermined period of time  e.g. measurement intervals of three minutes  five minutes  ten minutes or fifteen minutes  so that a sufficient amount of data for the analysis is collected. Typically  the measurement is performed in the time domain  i.e. the sensor determines the time variation of the measured variable (e.g. acceleration or strain). The measurement data may be collected from a single sensor or from several sensors. Each sensor will provide the vibrational behavior of the wind turbine at a specific location thereof. For example  a sensor located in the nacelle will provide data about nacelle vibrations which may be different from vibration data of a sensor located at the support structure of the wind turbine. Typically  the measured vibration data are collected by the control system which will then further analyze these data.
[0041] The method moves on to block 430  where a Fourier analysis is performed on the time-domain measurement data. Thus  the frequency spectrum of the mechanical vibrations is obtained. In an exemplary embodiment shown in Fig. 5  the Fourier analysis is performed by calculating the Fast Fourier Transform (FFT) of the time-domain vibration signal in block 432. Since very fast FFT algorithms are available  the application of FFT allows for quick analysis of the measured vibrations and  as a consequence  quick reaction by the control system. If measurement data from several vibration sensors are provided  the individual signals will undergo FFT separately to obtain individual frequency spectra for the vibration sensors.
[0042] In a next block 440 of the method  a periodic vibration component  typically a water-induced vibration component  is identified. A detailed  non-limiting embodiment of the identification block 440 is shown in Fig. 6. Therein  frequencies having a Fourier coefficient  sometimes also referred to as a weight  above a predetermined threshold are identified in block 442. These frequencies correspond to predominant vibrational modes present in the vibrational pattern of the offshore wind turbine. In next block 444  the identified frequencies will be compared with stored data. The stored data may be based upon simulations and/or historical data and/or empirical relationships. For example  wave and current interaction with the offshore wind turbine at the projected site may be simulated prior to erecting the offshore wind turbine. The results of this simulation may at least be partially stored  e.g. in a memory connected to the control system  prior to operation of said offshore wind turbine. During operation of the wind turbine  the actual measurements may thus be compared to the simulation in order to identify the vibrational modes in block 446. In particular  the measured frequency spectrum and the simulated frequency spectrum may be compared to each other to identify specific vibrational modes of the wind turbine. Additionally or alternatively  the actual measurement data may be compared with historical measurement data in order to identify water-induced vibrational modes. Additionally or alternatively  empirical relationships or correlations may be established  e.g. when using a self-learning algorithm. For example  empirical correlations may be established between wind speed or wind direction and at least one of wave frequency  wave direction  wave height  average wave momentum  average wave power density  current frequency or current flow rate. Also  simulated data may be taken into account or may form the starting point for building the empirical correlations. Thus  the control system may estimate from measured wind speed and wind direction the interaction between water and wind turbine and  also  the vibrational modes excited by this interaction. In one embodiment  identifying the periodic vibrations component also includes identifying a frequency  an incoming direction  a wavelength or a peak height of water waves interacting with the offshore wind turbine. In a further embodiment  these data are independently obtained from a visual system  e.g. a camera  and/or a water-bound measurement system  e.g. a measurement buoy. Comparing the estimate from the vibration analysis and the independent measurement systems may be used to increase accuracy of the estimate.
[0043] In a next block 446  the water-induced vibrational mode is identified from the above-described comparison. In one embodiment  the periodic vibration component is identified as a tower eigenfrequency  e.g. a first tower eigenfrequency or second tower eigenfrequency. In another embodiment  the periodic vibration component is identified as a support structure eigenfrequency. In still another embodiment  the periodic vibration component is identified as a vortex shedding frequency of a Karman vortex street of the support structure.
[0044] Going back to Fig. 4  after identifying the periodic vibration component the method moves on to block 450. Therein  the control system of the wind turbine is operated in order to counteract  e.g. damp  the water-induced vibrations. In one embodiment  the control system is operated to reduce a lateral motion of the nacelle. Additionally or alternatively  the control system is operated to reduce a lateral motion of a nacelle. Additionally or alternatively  the control system is operated to reduce a vibrational mode of the tower  for example a first eigenfrequency or a second eigenfrequency of the tower. Additionally or alternatively  the control system is operated to reduce a vibrational mode of the support structure  for example an eigenfrequency of the tower. In one embodiment  the operation of the control system is based on the multi-directional characteristics of wind and waves.
[0045] A more detailed flow diagram of one implementation of block 450 is shown in Fig. 7. Therein  the pitch angles of the rotor blades are adjusted in a first block 452. In one embodiment  the pitch angles of two rotor blades are set to different angular values. In another embodiment  the pitch angles of three rotor blades are set to mutually different values. Thus  asymmetric pitching of the rotor blades occurs. By setting the rotor blades to different pitch angles  an unbalance is induced by the wind rotor. This unbalance will typically cause a vibrational or oscillatory reaction of the structural parts of the wind turbine. In some embodiments  the control system is adapted to generate such unbalances in reaction to the identified water-induced vibrations so that the unbalance-induced vibrations reduce  e.g. counteract or damp  the water-induced vibrations. In such embodiments  the control system will use the pitch control system to adjust the pitch angles of the rotor blades so that the water-induced vibrations are reduced.
[0046] Additionally or alternatively  the yaw angle of the wind turbine may also be adjusted in order to reduce water-induced vibrations in block 454. During normal operation  the wind rotor is typically facing upwind and the yaw control system is adjusting the yaw angle so as to align the rotor axis and the wind direction. However  misalignment between the rotor axis and the wind direction may cause vibrations or oscillations in the wind turbine. Similar to the vibrations caused by asymmetric pitching  also the yaw-induced vibrations may be used to reduce  e.g. counteract or damp  the water-induced vibrations. In such embodiments  the control system will use the yaw control system to adjust the yaw angle so that the water-induced vibrations are reduced.
[0047] Additionally or alternatively  the generator torque of the electric generator may also be adjusted in order to reduce water-induced vibrations. Generator torque can be controlled by adjusting the excitation currents in the generator windings. Adjustment of generator torque may induce vibrations in the wind turbine. Similar to the vibrations caused by asymmetric pitching  also the generator torque-induced vibrations may be used to reduce  e.g. counteract or damp  the water-induced vibrations. In such embodiments  the control system will use the generator control system to adjust the generator torque so that the water-induced vibrations are reduced.
[0048] Exemplary embodiments of systems and methods for operating a wind turbine are described above in detail. The systems and methods are not limited to the specific embodiments described herein  but rather  components of the systems and/or steps of the methods may be utilized independently and separately from other components and/or steps described herein. Rather  the exemplary embodiment can be implemented and utilized in connection with many other rotor blade applications. In particular  the methods described herein may be applied in an idling mode of the wind turbine  in a non-idling mode of the wind turbine  and also during a start-up or shut-down phase of the wind turbine. Additionally or alternatively  the methods described herein may be applied in low wind conditions  operating wind conditions  and high wind conditions.
[0049] Although specific features of various embodiments of the invention may be shown in some drawings and not in others  this is for convenience only. In accordance with the principles of the invention  any feature of a drawing may be referenced and/or claimed in combination with any feature of any other drawing.
[0050] This written description uses examples to disclose the invention  including the best mode  and also to enable any person skilled in the art to practice the invention  including making and using any devices or systems and performing any incorporated methods. While various specific embodiments have been disclosed in the foregoing  those skilled in the art will recognize that the spirit and scope of the claims allows for equally effective modifications. Especially  mutually non-exclusive features of the embodiments described above may be combined with each other. The patentable scope of the invention is defined by the claims  and may include other examples that occur to those skilled in the art. Such other examples are intended to be within the scope of the claims if they have structural elements that do not differ from the literal language of the claims  or if they include equivalent structural elements with insubstantial differences from the literal language of the claims.
WHAT IS CLAIMED IS:
1. A method for operating a wind turbine erected in a body of water  comprising:
(a) measuring vibrations of the wind turbine during operation;
(b) identifying at least one periodic component of said measured vibrations  wherein said periodic component is associated with interaction of said body of water and said wind turbine; and 
(c) operate at least one controller of said wind turbine so that water-induced vibrations are reduced.
2. The method according to claim 1  wherein identifying the at least one periodic component includes identifying a frequency  an incoming direction  a wavelength or a peak height of water waves interacting with the wind turbine.
3. The method according to claim 1 or 2  wherein said wind turbine comprises a nacelle and a wind rotor mounted to said nacelle  wherein said nacelle is mounted on a tower which extends from a support structure  and wherein measuring the frequency spectrum includes measuring a vibration of the nacelle  the wind rotor  the tower or the support structure.
4. The method according to claim 4  wherein the at least one periodic component is a tower eigenfrequency  a support structure eigenfrequency or a vortex shedding frequency of a Karman vortex street of said support structure.
5. The method according to nay of the preceding claims  wherein the at least one controller is a pitch controller and wherein said pitch controller is operated to adjust at least two rotor blades of said wind turbine to different pitch angles for reducing said water-induced vibrations and/or wherein the at least one controller is a yaw controller and wherein said yaw controller is adapted to adjust a yaw angle of said offshore wind turbine for reducing said water-induced vibrations and/or wherein the at least one controller is a generator controller and wherein said generator controller is adapted to adjust electric torque of a generator of said wind turbine for reducing said water-induced vibrations.
6. The method according to claim 1  wherein  prior to erecting the wind turbine  wave and current interaction with the wind turbine at the projected site are simulated and said simulated data are at least partially stored in said at least one controller prior to operation of said wind turbine.
7. The method according to any of the preceding claims  further comprising establishing empirical correlations between wind speed or wind direction and at least one of wave frequency  wave direction  wave height  average wave momentum  average wave power density  current frequency or current flow rate  wherein the operation of the at least one controller is based on said empirical correlations.
8. A wind turbine (10)  comprising:
a support structure (14) for supporting the wind turbine (10);
a tower (12) mounted to the support structure (14);
a nacelle (16) mounted on top of the tower (12);
a rotor hub (20) mounted to the nacelle (16)  wherein at least two rotor blades (22) are attached to the rotor hub (20);
a pitch drive system (32) allowing adjustment of the individual pitch angles of the at least two rotor blades (22);
at least one sensor (301  302  303  304  305) for measuring a vibration of the wind turbine; and 
a wind turbine control system (36) adapted to receive measurement data from the at least one sensor (301  302  303  304  305)  and adapted to analyze said measurement data to identify a water-induced vibration pattern  wherein the control system is further adapted for controlling the pitch drive system (32) to adjust at least one pitch angle of at least one rotor blade (22) so that the water-induced vibration pattern is reduced.
9. The wind turbine according to claim 8  wherein the at least one sensor (301  302  303  304  305) is an accelerometer or a strain gauge.
10. The wind turbine according to claim 8 or 9  wherein the at least one sensor is positioned at the support structure (14)  the nacelle (16)  the tower (12)  the interface between the support structure (14) and the tower (12)  or at an average water level (4).

WIND TURBINE AND METHOD OF OPERATING SAME
ABSTRACT
A method for operating a wind turbine erected in a body of water  comprising: measuring a frequency spectrum of vibrations of the wind turbine during operation; identifying at least one periodic component of said measured frequency spectrum  wherein said periodic component is associated with interaction of said body of water and said wind turbine; and  operating at least one controller of said wind turbine so that water-induced vibrations are reduced.