Renewable Energy 94 (2016) 547e557

Contents lists available at ScienceDirect

Renewable Energy
journal homepage: www.elsevier.com/locate/renene

Design and kinetic analysis of wind turbine blade-hub-tower coupled

system
Wenyi Liu
School of Mechanical and Electrical Engineering, Jiangsu Normal University, Xuzhou, 221116, PR China

a r t i c l e i n f o a b s t r a c t

Article history: A typical 1.5 MW wind turbine suitable for Xuzhou City is designed and simulated in this paper. The wind
Received 24 July 2015 turbine blade-hub-tower coupling system and most of the parameters are designed and calculated in the
Received in revised form design process. In the kinetic analysis process, the force analysis under 4 different situations are taken to
25 February 2016
verify the structure design, which are under quiescent condition, under random angle and random wind
Accepted 21 March 2016
turbine, under maximal wind speed and over maximal wind speed. At last, the modal analysis selected
Available online 2 April 2016
the turbine hub and tower to solve the inherent frequencies and vibration modes. The first 5 order
inherent frequencies and vibration modes of the hub and tower are solved to verify the design rationality.
Keywords:
Wind turbine
© 2016 Elsevier Ltd. All rights reserved.
Blade-hub-tower
Kinetic analysis
Force analysis
Modal analysis

1. Introduction [38e42], separately.

In recent years, as one of the non-pollution and renewable clean
energy, wind energy has obtained more and more attentions form
the world [1e5]. The economy and technique input on wind energy
and additional techniques about wind turbine has been improved
in many wind turbine countries [6e10]. With the fund and
manpower increased, wind turbine techniques have been more and
more advanced. Wind turbine is the main equipment to transform
wind energy into power energy. Many wind turbine researchers
have done lots of relative research works in the last few years
[11e16]. Some corresponding new research areas are excavated by
many wind turbine researchers, such as wind turbine design
[17e19], blade kinetic analysis [20e22], tower design and force
analysis [23e28], turbine fault diagnosis [29e31], turbine healthy
condition monitoring [1], etc.
If we want to obtain a good wind turbine, we have to design the
wind turbine structure theoretically firstly. Then we can use some
kinetic analysis and other modal analysis methods to verify the
turbine design results [32e35]. It is necessary to analyze the vi-
bration characteristic of wind turbine structure, especially the
blade-hub-tower system [36,37]. Some researchers have done
some designing work on wind turbine blades, hub, tower, cabin, etc
E-mail addresses: liuwenyi1984@126.com, wyliu1984@gmail.com.
However, the main problem is lacking of kinetic analysis about
the whole blade-hub-tower coupled system, with the immature
theoretical system. Actually, when the wind turbine is running in
the wild, the blade, hub, cabin and tower coupled together, which
makes the kinetic analysis complex. Therefore, the single force
analysis on blade or tower is not all-inclusive. Researchers should
consider the blade, hub and tower together to do the force analysis
and model analysis.
This paper deals with the typical 1.5 MW wind turbine design
work, and at the same time do some research on blade-hub-tower
coupled system, at last doing some theoretical verification on the
design results.
2. Wind turbine structure design
Wind turbines can be divided into two types, named horizontal
axis wind turbines and vertical axis wind turbines. On the other
hand, they can also be divided into offshore wind turbine and land
wind turbines. Nowadays, typical horizontal axis wind turbines
have gained more attentions from the world.
The basic wind turbine structure we designed in this paper is
shown in Fig. 1. There are mainly 4 parts in the large wind turbine,
named wind wheel, tower, base and cabin, in which the wind wheel
can be divided into blade and hub.

http://dx.doi.org/10.1016/j.renene.2016.03.068
0960-1481/© 2016 Elsevier Ltd. All rights reserved.
548 W. Liu / Renewable Energy 94 (2016) 547e557

Fig. 1. Basic structure of large wind turbine.

As shown in Fig. 1, parameter D is the wind wheel diameter. Then we can obtain the diameter D:
Strictly speaking, D is the encircle diameter of wind wheel when
wind turbine is running. The swept area of the wind wheel and the
choice of blade length have some relationship with this parameter sffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffi
8p
D. Therefore, the wind wheel diameter D is one of the main pa- D¼ (3)
rameters in wind turbine design. rCP pV 3R
As shown in Fig. 2, the parameter CP can be choose at the peak
2.1. Blade parameters design point of the curve

The wind turbine is designed to satisfy the demand in Xuzhou

City, Jiangsu Province in PR China. The wind turbine is designed CP z0:43 (4)
according to the annual mean wind speed data in Xuzhou City.
According to the last 5 year statistics data in Xuzhou City, the P is the generator rated power, which is designed as 1.5 MW in
annual mean wind speed is 5 m/s on the ground, 6.5 m/s in 60 m this paper.
high altitude. Therefore, the wind turbine rated power is designed r is the air density, which is designed as
as 1.5 MW, the cut-in wind speed is 3 m/s, rated wind speed is 11 m/
s, cut-out wind speed is 25 m/s, rated speed of the generator is 1880
r/min. According to the Batz theory, the power P of wind wheel can
be calculated by

1
P¼ rSCP v3 (1)
2

pD2
S¼ (2)
4
Where,

r is the air density, which has relationship with air temperature

and altitude;
CP is the power coefficient, which is determined by experience,
as shown in Fig. 2;
S is the wind wheel swept area;
v is the wind speed. Fig. 2. Wind wheel power coefficient CP
 W. Liu / Renewable Energy 94 (2016) 547e557 549

size, types and severity, etc. Therefore, in the tower design, it is

rz1:225 kg=m3 (5) necessary to optimize the tower height first, and then to finish the
structure design and design check.
Then we can calculate the diameter D in this design:
There is some proportional relation between tower height H and
rffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffi wind wheel diameter D. We have calculated the wind wheel
8  1500000
D¼ ¼ 74 m (6) diameter before D ¼ 77. Then the tower height can be calculated by
1:225  0:43  3:14  113 the following steps.
Then the wind wheel swept area can be calculated by
H ¼ ð1  1:3ÞD (13)
pD2
S¼ ¼ 4298 m2 (7) The minimum height of tower is
4
Tip speed ratio l is another important dimensionless quantity to
H ¼ h þ hc þ R (14)
describe wind turbine characteristics. For ordinary three blade
wind wheel, the optimum tip speed ratio is 6e8. According to Fig. 2,
Where,
the optimum tip speed ratio we choose is l¼7.
The rated rotor speed of wind wheel is calculated by
h is the barrier height;
60v 60  7  11 hc is the minimum distance between peak and nadir of the
n¼ l¼ ¼ 20 r=min (8) barrier, the minimum value of hc is 2.0e3.0 m;
2pR 2  p  37
R is the wind wheel radius.
At last, some main parameters of the designed wind wheel are
calculated, as shown in Table 1. By overall consideration, the tower height is determined as
H ¼ 63 m, which is longer than ordinary taper steel cylinder length
2.2. Axis parameters confirmation 30 m. Therefore, the tower should be processed and manufactured
by several sections, and then installed in the wind turbine instal-
According to the known conditions, the generator's rated speed lation site, assembled section by section using some bolts. In this
is designed as 1880 r/min, rated power is designed as 1.5 MW. design, considering the manufacturing costs, production lot size
In the next section we are going to check the transmission and transportation capability, we divide the tower into 3 main
efficiency. sections, each length is 21 m.
Refer to the mechanical design handbook, the transmission ef- According to the real environment, we choose carbon structural
ficiency of bearing coupling is h1 ¼ 0.971, the transmission effi- steel with type Q345 for the wind tower, high-strength steel with
ciency of distensible adapter sleeve is h2 ¼ 0.96, the transmission type Q345 for connecting flange. The thickness of the wind tower is
efficiency of step-up gearbox is h3 ¼ 0.97, then the whole trans- 40 mm. The above diameter of the wind tower is 2.56 m, and the
mission efficiency of the input axis is bottom diameter is 4.0 m. The mass of the wind tower is totally
99320 kg.
h ¼ h1 h2 h3 ¼ 0:971  0:96  0:97 ¼ 0:904 (9) After confirmation of main parameters of wind wheel, axis and
The input power of input axis defined as P3 is wind tower, we can finish the main design process. The main design
parameters of the wind turbine are shown in Table 2.
P3 1500
P3 ¼ ¼ ¼ 1660 kW (10)
h 0:904
The input axis speed is

n ¼ 20 r=min (11) 3. Force analysis of the wind turbine blade-cabin-tower

system
Torque of the input axis defined as T3 is
In this section, we mainly consider the designed wind turbine
P3 1660
T3 ¼ 9:55  106  ¼ 9:55  106  ¼ 7:9  108 N mm parameters, using force analysis to check the design results.
n 20
(12)

2.3. Tower parameter design 3.1. Force analysis under quiescent condition

The main factor in the tower design is the tower height, which Under quiescent condition, there have no other outside forces
determined the tower load magnitude, tower stability, structure on the whole wind turbine structures. Main forces on the quiescent
wind turbine are wind wheel gravity FB, cabin whole gravity FC,
wind tower whole gravity FT, and the braced force FG from base to
Table 1 the whole wind turbine, as shown in Fig. 3. These 4 main forces can
Some main parameters in wind wheel design.
satisfy the energy conservation law.
NO. Parameters Design value After simplification of the whole wind turbine structure, the
1 Blade length 36.5 m main force coordinate system is demarcated in Fig. 3.
2 Material Glass fiber composite As we design before, the whole wind wheel weight including
3 Maximal blade chord length 3.5 m the hub is 39,000 kg, the whole cabin weight is 54,500 kg, and the
4 Maximal torsional angle 13 whole tower weight is 99,320 kg. The gravitational acceleration is
5 Blade weight 30,000 kg
g ¼ 9.8 m/s2. Then we can calculate
550 W. Liu / Renewable Energy 94 (2016) 547e557

Table 2
Main design parameters of wind turbine.

Parameter Value Parameter Value

Rated Power/kW 1500 Gearbox type Primary planet secondary balance shaft
Wind wheel diameter/m 74 Transmission Ratio 94
Wind tower height/m 63 Yaw Control System Geared motor
Cut-in wind speed/(m/s) 3 Tower Tapered steel cylinder tower
Rated wind speed/(m/s) 12 Generator type Doubly fed induction generator
Cut-out wind speed/(m/s) 25 Variable pitch control Independent Pitch Control
Blade number 3 Rotor On the direction of the wind, clockwise
Blade material Glass fiber reinforced resin Grid connection Through the converter
Wind wheel speed/(r/min) 20 Braking model Blade independent, Variable propeller brake

. angle A and random wind speed v.

FB ¼ 39000kg  9:8m s2 ¼ 382200N At first we establish the coordinate system as shown in Fig. 4.
. As shown in Fig. 4, A is the random angle, v is the wind speed
FC ¼ 54500kg  9:8m s2 ¼ 534100N (15)
. with the direction shown with arrows. FdX and FdY is the coordinate
FT ¼ 99320kg  9:8m s2 ¼ 973336N system we established.
When the wind turbine is running, the axial thrust on the wind
According to the energy conservation law, we can obtain wheel area can be calculated by

FG ¼ FB þ FC þ FT
¼ 382200N þ 534100N þ 973336N (16) FW ¼ Cp v2 S (17)
¼ 1889636Nz1890KN
Where, S is the wind wheel swept area, which can be calculated by

pD2
3.2. Dynamic analysis under random angle A and random wind S¼ (18)
4
speed v
CP is the power coefficient and the value is 0.43 in Equation (4).
When wind turbine is running, the outside force is random and Therefore, we can calculate
asymmetry. Therefore, in this section we want to discuss the dy-
namic analysis of blade-hub-tower coupling system, under random
FW ¼ 0:43  v2  4298 ¼ 1848v2
FX ¼ FW CosA ¼ 1848v2 CosA (19)
FY ¼ FW SinA ¼ 1848v2 SinA
Then the braced force of the base is

Fig. 3. Force analysis under quiescent condition. Fig. 4. Force analysis of wind turbine under random angle and random wind speed.
 W. Liu / Renewable Energy 94 (2016) 547e557 551

FdY ¼ FB þ FC þ FT þ FY ¼ 1890KN þ 1848v2 sin A (20)

1 2
FX ¼ rv Ct Ab B (24)
FdX ¼ FX ¼ 1848v2 cos A (21) 2 max

Where,

3.3. Force analysis of wind turbine under maximal wind speed r is the air density of the wind turbine power station;
vmax is the instant wind speed larger than the rated maximum
When wind turbine running under the maximal wind speed, it wind speed;
will reach the critical state. It is necessary to discuss the force on the Ct is the thrust coefficient, with ordinary value 1.6;
whole system, especially the blade-hub-tower coupling system Ab is the wind wheel projected area;
(see Fig. 5). B is the blade number, here is 3.
When wind turbine is running, the axial trust force on the wind
wheel area can be calculated by Then the wind force on the wind wheel is

FW ¼ Cp v2max S
Where,
S is the wind wheel swept area;
vmax is the maximal wind speed of this turbine, the value is
designed as vmax ¼ 25 m/s;
Cp is the power coefficient and the value is 0.43 in Equation (4).
According to the above equations, we can obtain the maximal
axial force on the wind wheel
FWmax ¼ 0:43  25  25  4298 ¼ 1155088Nz1155kN
3.4. Force analysis under over-maximum wind speed
(22)
FX ¼ 0:5  1:225  52:5  1:6  ð0:5  37:5  3:2Þ  3
(25)
¼ 486202Nz486kN
Compared Equations (23) and (25) we can obtain, when the
wind turbine running under maximal wind speed, the axial force
on wind wheel is the maximum.
Therefore, in the next section, we choose the maximum value
FWmax in the statical analysis.
For the wind tower type is cylinder and material is Q345, the
allowable stress is [s]¼210 MPa.
The wind tower force is simplified as shown in Fig. 6.
In Fig. 6, F is the axial force on the wind turbine, M is the bending
moment after the force on tower.
(23)
According to the force analysis bending moment figure, it is easy
to obtain that the maximum bending moment value is on the
bottom of the wind tower,

When the wind speed is larger than the maximal wind speed, Mmax ¼ FWmax L ¼ 1155088  63 ¼ 72770544 Nz72770kN
the wind turbines have to be stopped to avoid risk. In this situation, (26)
the wind wheel is braked and the corresponding rotate speed is 0.
The force on the wind wheel can be calculated by The bending strength qualification is

Mmax
smax ¼  ½s (27)
W

Where, W is the wind tower section modulus in bending, which is

defined as

Fig. 5. Force analysis of the wind turbine under maximal wind speed. Fig. 6. Wind tower bending moment analysis.
552 W. Liu / Renewable Energy 94 (2016) 547e557

Fig. 7. Wind turbine hub geometric model establishing (a) and mesh generation (b).

Then we can obtain

  4 
  4 
pD3 1  d
D
W¼ (28) pD3 1  d
D
16 Mmax
W¼  (29)
16 ½s
Where,
After calculation,
D is the wind tower bottom outer diameter; d  3:97 m (30)
d is the wind tower bottom inner diameter.

Fig. 8. The first modal shape of the wind turbine hub.

 W. Liu / Renewable Energy 94 (2016) 547e557
Fig. 9. The second modal shape of the wind turbine hub.
Therefore, if the wind tower bottom inner diameter is smaller
than 3.97 m, the severity of the tower will satisfy the demand. That
is to say, the wind tower can sustain the axial load under maximal
wind speed.
In this design, we choose d ¼ 3.92 m. Then we check the wind
tower strength,
Mmax
smax ¼ ¼ 73 mpa  ½s (31)
W
The wind tower bottom thickness is 40 mm, which at the same
time meet the requirements.
4. Modal analysis
The modal analysis object is our designed wind turbine with
rated power 1.5 MW. We choose only two important components
to do the modal analysis, which are wind turbine hub and blade. At
first we establish the hub geometric model, and then take the mesh
generation process, at last solve and do some post processing.
4.1. Wind turbine hub model analysis
4.1.1. Hub geometric model establishing
Wind turbine hub connect the blade and cabin, is the important
component in wind turbine. At the same time, the force on the hub
is bigger than other components. Therefore it is necessary to
553
analysis the hub. The wall thickness of the designed wind turbine
tower is asymmetry. The maximal diameter of the tower is about
2.6 m. The finite element analytical model of the designed hub is
shown in Fig. 7(a).
4.1.2. Hub mesh generation
There are some important matters need attentions in the mesh
generation process.
(1) The mesh quantity is ensured by the finite element analysis
type. If we only choose the structural distortion to calculate,
the element mesh should be divided more than other
situation.
(2) The mesh density can be different according to different
positions in the hub. For example, if the hub structure is
much complex or with irregular shape, we should choose the
higher order to divide the mesh.
(3) We can choose higher order to divide important sections,
and lower order to divide ordinary sections.
With these attentions, we divide the turbine hub using tetra-
hedron element and obtain the result, as shown in Fig. 7(b).
4.1.3. Solve and postprocessing
After mesh generation, we can solve the modal and obtain the
results. The first modal shape of the wind turbine hub is shown in
554 W. Liu / Renewable Energy 94 (2016) 547e557

Fig. 10. The third modal shape of the wind turbine hub.

Fig. 8. bending and torsion vibration. The rated speed of the wind turbine
As shown in Fig. 8(a) and (b) are two different direction view we designed is 20 r/min, so the rotational frequency is f ¼ 20/
results. Some other parameters are shown in the figure. For 60 ¼ 0.3333 Hz. There are totally 3 blades in the designed wind
example, we can solve and calculate the inherent frequency of the turbine, so the triple rotational frequency is 1.0 Hz. This rotational
first order, with the result 34.486 Hz. frequency and triple rotational frequency are both far smaller than
The second modal shape of the wind turbine hub is shown in the fist 5 order inherent frequencies.
Fig. 9, also with two different viewpoints. Therefore, the wind turbine hub we designed cannot be
The third modal shape of the designed wind turbine hub is destroyed by resonance, and it is satisfy the design demand.
shown in Fig. 10, also following with two different viewpoints.
We only give the first 3 order modal shapes here. Actually we 4.2. Tower modal analysis
have calculated 5 order modal shapes and solve all the results.
Table 3 shows the inherent frequencies and vibration modes of Wind turbine tower is the important component in turbine to
each order results of the designed wind turbine hub. support the wind wheel and cabin, almost all the turbine weight.
According to the modal analysis results shown in the above When the wind turbine is running, the force acting on the tower is
figures and table, the first 5 order inherent frequencies of the wind complex, combined with the wind load, all turbine weight, and
turbine hub are 34.486e54.586 Hz. The main vibration modes are eccentric torque from the turbine skewing, etc. Then the wind
turbine will generate some corresponding vibration or blending,
which will destroy almost the whole turbine if they are too serious.
Table 3 The modal analysis can ensure the inherent frequency and vibra-
Inherent frequency and vibration mode of hub. tion characteristic of the tower. Therefore, when the tower vibra-
Modal Inherent Frequency/HZ Vibration mode
tion frequency is near the inherent frequency, it can be suppressed
or disturbed to avoid resonance risk.
1-order 34.486 Bending vibration
2-order 35.221 Bending vibration
3-order 40.844 Bending and torsion vibration 4.2.1. Tower model establishing
4-order 50.034 Bending and torsion vibration The tower we designed before is 63 m high, and divided into 3
5-order 54.586 Bending and torsion vibration
sections, each section is 21 m high. The bottom diameter of the
 W. Liu / Renewable Energy 94 (2016) 547e557 555

Fig. 11. The geometric model (a) and the mesh generation (b) of the tower.

Fig. 12. First order vibration mode of the tower.

Fig. 13. Second order vibration mode of the tower.

556 W. Liu / Renewable Energy 94 (2016) 547e557

Fig. 14. Third order vibration mode of the tower.

tower is 4 m, the wall thickness is 40 mm, and the top encircle out in this paper. The designed structural parameters are then
diameter is 2.56 m. verified and analyzed. Take the hub and tower as examples, the first
The geometric model of the whole tower is shown in Fig. 11(a). 5 order inherent frequencies and vibration modes are solved out in
the modal analysis process. The simulation results proved the ra-
4.2.2. Tower mesh generation tionality and validity of the wind turbine design.
The PROE solid model is import into the ANSYS software using
Workbench, and then it is meshed into small meshes. The mesh Acknowledgments
generation result is shown in Fig. 11(b).
This research was supported by the National Natural Science
4.2.3. Solve and post processing Foundation of China (Grant No. 51505202), the Natural Science
The first 3 order vibration modes of tower are shown in Foundation of Jiangsu Province of China (Grant No. BK20140238),
Figs. 12e14. At the same time the inherent frequencies are the Natural Science Foundation of the Jiangsu Higher Education
calculated. Institutions (Grant No. 14KJB460014), the Science and technology
All the first 5 order inherent frequencies and vibration modes program project of Xuzhou (Grant No. KC15SH054), Laboratory
are shown in Table 4. Research foundation of Jiangsu Higher Education Institutions (2015
According to the above model analysis results, the first 5 order Self-financing). We are also grateful to the anonymous referees and
inherent frequencies of the wind turbine tower are from 1.1364 Hz the editor-in-chief for their suggestions to improve this paper.
to 8.6632 Hz. The main vibration modes of the tower are swing,
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