Accurate Center Position Control and Optimization during Complete Installation of Offshore Wind Turbines

To solve the problem of cannot positioning the flange bolt holes accurately and rapidly during the integral lifting process of offshore wind turbines´ complete installation, an algorithm using image sensor to detect deviation of flange bolt holes, which is called discrete and variable step-size step motion control, is proposed. With the help of this algorithm, a control model is established and simulation is carried out. A coincide result is acquired when comparing the center tracks of simulation and practical installation, which in turn proves the effectiveness of the control algorithm. After optimizing the algorithm, a step-size factor is obtained, which can contribute to the least step times and the shorter path length of center track. Now this control algorithm has been applied in the installation of three wind turbines of 3MW and it serves vital roles as reference and guidance in large flange´s accurate center position control of offshore wind turbines.