Modelling and control of floating offshore wind turbines

[EN] This tutorial deals with the modeling and control of floating marine wind turbines. First, these offshore wind energy systems, located on the high seas, in deep waters are described; some modeling approaches are discussed. The power control of these turbines is presented in detail, explaining the different types of control that seek to maximize the energy. The issue of unstable dynamics that can appear in the floating platform due to the wind turbine rotor control is highlighted, something that other types of offshore and onshore turbines do not share. An example shows the reduction of vibrations by applying structural control strategies; results prove that a passive device that is complemented with a mechanism called inerter eliminates the oscillations of the floating turbine. The example here presented represents some preliminary results of the ongoing current research of the authors.[ES] En este tutorial se aborda el tema del modelado y control de las turbinas eólicas marinas flotantes. En primer lugar se describen estos sistemas de extracción de energía eólica que están situados en alta mar, en aguas profundas, y se comentan algunas aproximaciones a su modelado. El control de potencia de estas turbinas es presentado con detalle, explicando los distintos tipos de control que buscan maximizar la obtención de energía. Se resalta el problema de la inducción de dinámicas inestables en la plataforma flotante debido al control del rotor del aerogenerador, una dificultad que no aparece en otros tipos de turbinas. La reducción de las vibraciones mediante estrategias de control estructural se ilustra con un ejemplo, usando un dispositivo pasivo que es complementado con un mecanismo denominado inerter, mostrando con resultados de simulación cómo se consiguen eliminar las oscilaciones de la turbina flotante. Este ejemplo está basado en resultados preliminares obtenidos en la investigación que llevan a cabo los autores de este tutorial.Tomás-Rodríguez, M.; Santos, M. (2019). Modelado y control de turbinas eólicas marinas flotantes. Revista Iberoamericana de Automática e Informática. 16(4):381-390. https://doi.org/10.4995/riai.2019.11648381390164Bianchi, F. D., De Battista, H., & Mantz, R. J. (2006). Wind turbine control systems: principles, modelling and gain scheduling design. Springer Science & Business Media.Carter, D.J.T. (1982). Prediction of wave height and period for a constant wind velocity using the JONSWAP results. 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