Fundamentals of Streamtube Models

Illinois Institute of Technology

May 25th , 2016

(IIT) UG Summer Research Immersion May 25th , 2016 1 / 26

Overview

1 Introduction

2 Single Streamtube Model (SST)

SST Domain
Governing Equations of Motion

3 Multiple Streamtube Model (MST)

MST Domain

4 Double-Multiple Streamtube Model (DMST)

DMST Domain

5 References

(IIT) UG Summer Research Immersion May 25th , 2016 2 / 26

Introduction

Blade Element Method and Momentum Theory

The purpose of using the blade element method (BEM)
together with momentum theory is to model the momentum
loss of the free-stream air as it passes through the wind turbine
to obtain a prediction of the performance of the turbine 1
Different versions of steamtube models employ different
methods of boundary discretization 2
Will primarily focus on talking about the single streamtube
model (SST) in the hopes of helping you to write your own
SST code for next week
Other models include the multiple streamtube model (MST)
and the double-multiple streamtube model (DMST); these will
be subsequently discussed as well

1
Kozak, P.A. (2016). Blade Pitch Optimization Methods for Vertical-Axis Wind Turbines. (Doctoral Thesis).
2
Vallverd
u, D. (2014). Study on Vertical-Axis Wind Turbines using Streamtube and Dynamic Stall Models. (Thesis).
(IIT) UG Summer Research Immersion May 25th , 2016 3 / 26
Introduction

Blade Element Method and Momentum Theory

Streamtube models are useful to obtain rough and reasonable
predictions of VAWT performance
These models solve the governing equations in their integral
form without requiring an internal mesh for the domain
The physical domain is described by streamwise sections
Empirical airfoil data and the angle of attack is required to
estimate the lift and drag forces
Using this information, momentum lost from the flow field can
be calculated

(IIT) UG Summer Research Immersion May 25th , 2016 4 / 26

Introduction: SST

SST Basics
Model the turbine as a single actuator disk; i.e., an infinitely
thin disc with a constant velocity along axis of rotation placed
within a single streamtube
Streamtubes connect the inlet and outlet boundaries and they
are parallel to the velocity of the flow 1
Wind velocity across area is assumed to be constant
Need to determine velocity and specify airfoil characteristics,
rotational speed, and geometry 2
The turbine power, torque, wake velocity, and drag can then
be obtained

1
Vallverd
u, D. (2014). Study on Vertical-Axis Wind Turbines using Streamtube and Dynamic Stall Models. (Thesis).
2
Kilmas, P.C. & Sheldahl, R.E. (1978). Four aerodynamic prediction schemes for vertical-axis wind turbines: a
compendium. Department of Energy.
(IIT) UG Summer Research Immersion May 25th , 2016 5 / 26
SST: Physical Domain

1
Figure 1: Single streamtube model for a vertical-axis wind turbine.
1
Vallverd
u, D. (2014). Study on Vertical-Axis Wind Turbines using Streamtube and Dynamic Stall Models. (Thesis).
(IIT) UG Summer Research Immersion May 25th , 2016 6 / 26
 1
SST: Governing Equations (Unsteady)

Theorem 1 (Conservation of Mass)

Z I
d
dV + u n dS = 0 (1)
dt

Theorem 2 (Conservation of Momentum)

Z I
d X
u dV + u(u n) dS = Fext (2)
dt

Theorem 3 (Conservation of Energy)

Z I
d 2 1 2
u dV + u (u n) dS = P (3)
dt 2

1
Vallverd
u, D. (2014). Study on Vertical-Axis Wind Turbines using Streamtube and Dynamic Stall Models. (Thesis).
(IIT) UG Summer Research Immersion May 25th , 2016 7 / 26
SST: Governing Equations (Steady)1

Theorem 4 (Conservation of Mass)

I
u n dS = 0 (4)

Theorem 5 (Conservation of Momentum)

I X
u(u n) dS = Fext (5)

Theorem 6 (Conservation of Energy)

I
1 2
u (u n) dS = P (6)
2

1
Vallverd
u, D. (2014). Study on Vertical-Axis Wind Turbines using Streamtube and Dynamic Stall Models. (Thesis).
(IIT) UG Summer Research Immersion May 25th , 2016 8 / 26
SST: Governing Equations

Variables for Equations 4 - 6

n is the unit normal vector to the boundary
is the domain
is the boundary
P
Fext is the sum of all external forces on the
flow field
P is power output of turbine inside

(IIT) UG Summer Research Immersion May 25th , 2016 9 / 26

Turbine Blade Geometry

Variables shown in Figure 2

is the unit vector in-line
with the turbine blade1
ur is the relative velocity
given by Equation 8
is given by Equation 12
L is lift and D is drag

Figure 2: Single streamtube model for a

1
vertical-axis wind turbine.

1
Vallverd
u, D. (2014). Study on Vertical-Axis Wind Turbines using Streamtube and Dynamic Stall Models. (Thesis).
(IIT) UG Summer Research Immersion May 25th , 2016 10 / 26
Turbine Blade Geometry: Equations1

Theorem 7 (Tip Speed Ratio (TSR))

R
TSR = (7)
U

Theorem 8 (Relative Velocity)

r
ur u 2 u
= ( ) + TSR 2 + 2 TSR cos (8)
U U U

1
Vallverd
u, D. (2014). Study on Vertical-Axis Wind Turbines using Streamtube and Dynamic Stall Models. (Thesis).
(IIT) UG Summer Research Immersion May 25th , 2016 11 / 26
SST: Methodology

1
Figure 3: Procedure to obtain power output using BEM.

1
Kozak, P.A., Vallverd
u, D., & Rempfer, D. (2014). Modeling Vertical-Axis Wind Turbine Performance: Blade Element
Method vs. Finite-volume Approach. Proceedings of 12th International Energy Conversion Engineering Conference.
(IIT) UG Summer Research Immersion May 25th , 2016 12 / 26
SST: Equations

Lift & Drag

Using and empirical airfoil data, the lift and drag can be
calculated to obtain the forces acting on the turbine blade 1
c is the chord length of the blade
ur is the relative velocity; urel = R

Theorem 9 (Lift)
1
L = c ur2 CL (9)
2

Theorem 10 (Drag)
1
D = c ur2 CD (10)
2
1
Vallverd
u, D. (2014). Study on Vertical-Axis Wind Turbines using Streamtube and Dynamic Stall Models. (Thesis).
(IIT) UG Summer Research Immersion May 25th , 2016 13 / 26
SST: Equations

Force, Torque, & Power

External force on the blade is a function of lift and drag
Calculate torque form resulting force
Use torque to calculate power coefficient obtained for a single
blade 1

Theorem 11 (Force)
F = (D cos L sin)i + (D sin + L cos)j (11)

Theorem 12 ()
TSR sin
= tan1 ( ) (12)
(u/U ) + TSR cos

1
Vallverd
u, D. (2014). Study on Vertical-Axis Wind Turbines using Streamtube and Dynamic Stall Models. (Thesis).
(IIT) UG Summer Research Immersion May 25th , 2016 14 / 26
Force, Torque, & Power (continued)

Theorem 13 (Torque)
T = R(F t) = R(L l + D d) (13)

Theorem 14 (Power)
Z 2
1 d
P= T (14)
2 0

1
Unit Vector Definitions
l = sin i + cos j
d = cos i + sin j
= cos i sin j
Definitions of unit vectors can be seen in Figure 2
1
Vallverd
u, D. (2014). Study on Vertical-Axis Wind Turbines using Streamtube and Dynamic Stall Models. (Thesis).
(IIT) UG Summer Research Immersion May 25th , 2016 15 / 26
SST: Assumptions

Assumptions & Consequences

One-dimensional; neglect components of velocity
perpendicular to the streamtube
No exchange of mass, momentum, or energy between adjacent
streamtubes
Neglect streamtube section expansion due to continuity and
energy loss

(IIT) UG Summer Research Immersion May 25th , 2016 16 / 26

SST: Limitations

Limitations of BEM Models

Method depends on empirical airfoil data; neglects unsteady
aerodynamics, dynamic stall behavior, and wake interactions
with the blades 1
Can implement a stall model
The performance prediction obtained from any streamtube
model is highly dependent on the stall model
Therefore, it is necessary to carefully select the stall model to
obtain results that stay faithful to the physics of the model
This requires prior information about the interactions between
the flow field and the geometry of the turbine
BEM models are extremely useful for optimization purposes

1
Kozak, P.A. (2016). Blade Pitch Optimization Methods for Vertical-Axis Wind Turbines. (Doctoral Thesis).
(IIT) UG Summer Research Immersion May 25th , 2016 17 / 26
Introduction: MST

MST Basics
Instead of solving governing equations in the domain defined
by one streamtube, the multiple streamtube model uses
multiple streamtubes
Same idea as before; solving governing equations in integral
form, but the domain consists of multiple discrete streamtubes
rather than just one

(IIT) UG Summer Research Immersion May 25th , 2016 18 / 26

MST: Physical Domain

1
Figure 4: Multiple streamtube model for a vertical-axis wind turbine.
1
Vallverd
u, D. (2014). Study on Vertical-Axis Wind Turbines using Streamtube and Dynamic Stall Models. (Thesis).
(IIT) UG Summer Research Immersion May 25th , 2016 19 / 26
Introduction: DMST

DMST Basics
Developed by Paraschivoiu1
Instead of using one actuator to model the turbine, two disk
actuators are used; one for the front half-cycle and one for the
rear half-cycle
Also uses multiple streamtubes to discretize domain
Flow is still unidirectional throughout the entire streamtube
Most complete boundary discretization of the steamtube
models 2

1
Paraschivoiu, I. (1988). Double-multiple streamtube model for studying vertical-axis wind turbines. Journal of Propulsion
and Power, 370-377.
2
Kozak, P.A. (2016). Blade Pitch Optimization Methods for Vertical-Axis Wind Turbines. (Doctoral Thesis).
(IIT) UG Summer Research Immersion May 25th , 2016 20 / 26
DMST: Physical Domain

1
Figure 5: Double-multiple streamtube model of a vertical-axis wind turbine.

1
Kozak, P.A., Vallverd
u, D., & Rempfer, D. (2014). Modeling Vertical-Axis Wind Turbine Performance: Blade Element
Method vs. Finite-volume Approach. Proceedings of 12th International Energy Conversion Engineering Conference.
(IIT) UG Summer Research Immersion May 25th , 2016 21 / 26
DMST: Governing Equations

DMST Governing Equations

Equations 4 - 6 still apply; the difference in this model is that
there are two actuator disks, and therefore the fluid states are
different than the ones for SST and MST with a single
actuator disk modeling the turbine
Referring to Figure 5 1 :
State : free stream velocity
State 1: fluid state at 1st actuator disk (front half-cycle)
State e: equilibrium state; flow is considered to be steady
State 2: fluid state at 2nd actuator disk (rear half-cycle)
State w: wake

1
Vallverd
u, D. (2014). Study on Vertical-Axis Wind Turbines using Streamtube and Dynamic Stall Models. (Thesis).
(IIT) UG Summer Research Immersion May 25th , 2016 22 / 26
DMST: Governing Equations

DMST Governing Equations

Would like to wrap things up here
Can work out derivations on the board for SST (or DMST -
SST might be more immediately helpful given your coding
assignment for next week) if you would like; otherwise, I
definitely suggest going through and working these out for
yourselves to gain a good grasp of the physics
This entire presentation was put together using information
from Kozak & Vallverd u
Highly encourage reading Vallverd
u for full derivations of SST,
DMST model 1
Highly encourage reading Kozak for the use of BEM methods
for VAWT modeling 2

1
Vallverd
u, D. (2014). Study on Vertical-Axis Wind Turbines using Streamtube and Dynamic Stall Models. (Thesis).
2
Kozak, P.A. (2016). Blade Pitch Optimization Methods for Vertical-Axis Wind Turbines. (Doctoral Thesis).
(IIT) UG Summer Research Immersion May 25th , 2016 23 / 26
DMST: Assumptions & Limitations

Assumptions
For an incompressible flow where there is no
spanwise component of velocity and streamtube
expansion is neglected, Equation 4 states that
the flow velocity is constant; however, this is
not the result obtained using DMST
Same assumptions and limitations apply as for
SST models; neglecting unsteady aerodynamic
effects, wake interactions, and dynamic stall
effects

(IIT) UG Summer Research Immersion May 25th , 2016 24 / 26

References

1 Kozak, P.A. (2016). Blade Pitch Optimization Methods for Vertical-Axis Wind Turbines.
(Doctoral Thesis).
2 Vallverd
u, D. (2014). Study on Vertical-Axis Wind Turbines using Streamtube and
Dynamic Stall Models. (Thesis).
3 Kilmas, P.C. & Sheldahl, R.E. (1978). Four aerodynamic prediction schemes for
vertical-axis wind turbines: a compendium. Department of Energy.
4 Paraschivoiu, I. (1988). Double-multiple streamtube model for studying vertical-axis wind
turbines. Journal of Propulsion and Power, 370-377.
5 Kozak, P.A., Vallverd
u, D., & Rempfer, D. (2014). Modeling Vertical-Axis Wind Turbine
Performance: Blade Element Method vs. Finite-volume Approach. Proceedings of 12th
International Energy Conversion Engineering Conference.
6 Paraschivoiu, I. (2002). Wind turbine design: with emphasis on Darrieus concept. Presses
Inter Polytechnique

(IIT) UG Summer Research Immersion May 25th , 2016 25 / 26

 Thank you very much
for your time and attention!
Questions?

(IIT) UG Summer Research Immersion May 25th , 2016 26 / 26