{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,1,5]],"date-time":"2026-01-05T21:01:37Z","timestamp":1767646897818,"version":"3.48.0"},"reference-count":10,"publisher":"SAGE Publications","issue":"3","license":[{"start":{"date-parts":[[2016,1,15]],"date-time":"2016-01-15T00:00:00Z","timestamp":1452816000000},"content-version":"tdm","delay-in-days":0,"URL":"https:\/\/journals.sagepub.com\/page\/policies\/text-and-data-mining-license"}],"content-domain":{"domain":["journals.sagepub.com"],"crossmark-restriction":true},"short-container-title":["Proceedings of the Institution of Mechanical Engineers, Part I: Journal of Systems and Control Engineering"],"published-print":{"date-parts":[[2016,3]]},"abstract":"\n The application of conventional wind turbines on board a vessel creates a number of new challenges for turbine control systems. Thrust force is used in marine applications as an additional control variable for propulsion of the vessel. Variability of the wind speed and wind direction, together with the yaw rate and range constraints, impose strong requirements on the turbine control system. A new projection algorithm that projects the turbine thrust force on the heading direction of vessel is proposed in this paper for controlling propulsion. Variations in the wind direction and wind speed are counteracted via turbine yaw angle, making the turbine thrust force always aligned with the heading direction of the vessel. The conventional\n \n \n \n K<\/mml:mi>\n \n \n \u03c9<\/mml:mi>\n <\/mml:mrow>\n \n 2<\/mml:mn>\n <\/mml:mrow>\n <\/mml:msup>\n <\/mml:mrow>\n <\/mml:math>\n <\/jats:inline-formula>\n speed controller is modified for varying yaw offset and a combined algorithm for simultaneous control of the turbine speed and thrust force is proposed. Stability of the\n \n \n \n K<\/mml:mi>\n \n \n \u03c9<\/mml:mi>\n <\/mml:mrow>\n \n 2<\/mml:mn>\n <\/mml:mrow>\n <\/mml:msup>\n <\/mml:mrow>\n <\/mml:math>\n <\/jats:inline-formula>\n speed controller for varying yaw offset is proved via the Lyapunov method. The controller also takes into account the constraints on the yaw rate and minimizes the turbine gyroscopic effects via a proper choice of the virtual upper bound of the input voltage of the yaw motor. All of the results are illustrated by simulations using measurement data acquired from the H\u00f6n\u00f6 turbine.\n <\/jats:p>","DOI":"10.1177\/0959651815623709","type":"journal-article","created":{"date-parts":[[2016,1,15]],"date-time":"2016-01-15T20:43:57Z","timestamp":1452890637000},"page":"255-265","update-policy":"https:\/\/doi.org\/10.1177\/sage-journals-update-policy","source":"Crossref","is-referenced-by-count":1,"title":["Nonlinear speed and yaw control for wind turbine powered vessels"],"prefix":"10.1177","volume":"230","author":[{"given":"Alexander","family":"Stotsky","sequence":"first","affiliation":[{"name":"Chalmers Industriteknik, Sweden"}]}],"member":"179","published-online":{"date-parts":[[2016,1,15]]},"reference":[{"volume-title":"Second international symposium on marine propulsors","author":"Bockmann E","key":"e_1_3_4_2_2","unstructured":"Bockmann E, Sverre S. Wind turbine propulsion of ships, In: Second international symposium on marine propulsors, Hamburg, Germany, June 2011."},{"key":"e_1_3_4_3_2","volume-title":"Development and demonstration of new technology for the use of wind turbines on ships, technical report of the project N 37118-1","author":"Carlson O","year":"2014","unstructured":"Carlson O, Nilsson P. Development and demonstration of new technology for the use of wind turbines on ships, technical report of the project N 37118-1. Chalmers Publication Library (CPL), 2014."},{"key":"e_1_3_4_4_2","volume-title":"Development and demonstration of new technology for the use of wind turbines on ships\u2014phase 2, technical report","author":"Carlson O","year":"2015","unstructured":"Carlson O, Nilsson P. Development and demonstration of new technology for the use of wind turbines on ships\u2014phase 2, technical report. Chalmers Publication Library (CPL), 2015."},{"key":"e_1_3_4_5_2","first-page":"2076","volume-title":"Proceedings of the American control conference","author":"Pao L","unstructured":"Pao L, Johnson K. A tutorial on the dynamics and control of wind turbines and wind farms. Proceedings of the American control conference, St. Louis, MO, USA, June 10\u201312, 2009, pp. 2076\u20132089."},{"key":"e_1_3_4_6_2","doi-asserted-by":"publisher","DOI":"10.1002\/ese3.5"},{"key":"e_1_3_4_7_2","author":"Ellsen M","year":"2009","unstructured":"Ellsen M, Carlson O. Drift, utveckling och dokumentation vid Chalmers Provstation f\u00f6r vindenergiforskning, Chalmers Technical Report, January 2009 (in Swedish).","journal-title":"Drift, utveckling och dokumentation vid Chalmers Provstation f\u00f6r vindenergiforskning, Chalmers Technical Report"},{"key":"e_1_3_4_8_2","first-page":"734","article-title":"Wind turbine model validation: fusion of simulation and measurement data","volume":"228","author":"Stotsky A.","year":"2014","unstructured":"Stotsky A. Wind turbine model validation: fusion of simulation and measurement data. Proc IMechE Part I 2014; 228: 734\u2013737.","journal-title":"Proc IMechE Part I"},{"key":"e_1_3_4_9_2","doi-asserted-by":"crossref","unstructured":"Johnson K Pao L Balas M Kulkarni V Fingersh L. Stability analysis of an adaptive torque controller for variable speed wind turbines NREL Preprint 2004.","DOI":"10.2172\/15008864"},{"key":"e_1_3_4_10_2","doi-asserted-by":"publisher","DOI":"10.1007\/s12541-014-0582-8"},{"key":"e_1_3_4_11_2","first-page":"1418","volume-title":"Proceedings of the 2013 American control conference (ACC)","author":"Buckspan A","unstructured":"Buckspan A, Pao L, Aho J, Fleming P. Stability analysis of a wind turbine active power control system. In: Proceedings of the 2013 American control conference (ACC), Washington, DC, 17\u201319 June 2013, pp. 1418\u20131423."}],"container-title":["Proceedings of the Institution of Mechanical Engineers, Part I: Journal of Systems and Control Engineering"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/journals.sagepub.com\/doi\/pdf\/10.1177\/0959651815623709","content-type":"application\/pdf","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/journals.sagepub.com\/doi\/full-xml\/10.1177\/0959651815623709","content-type":"application\/xml","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/journals.sagepub.com\/doi\/pdf\/10.1177\/0959651815623709","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2026,1,5]],"date-time":"2026-01-05T18:44:07Z","timestamp":1767638647000},"score":1,"resource":{"primary":{"URL":"https:\/\/journals.sagepub.com\/doi\/10.1177\/0959651815623709"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2016,1,15]]},"references-count":10,"journal-issue":{"issue":"3","published-print":{"date-parts":[[2016,3]]}},"alternative-id":["10.1177\/0959651815623709"],"URL":"https:\/\/doi.org\/10.1177\/0959651815623709","relation":{},"ISSN":["0959-6518","2041-3041"],"issn-type":[{"type":"print","value":"0959-6518"},{"type":"electronic","value":"2041-3041"}],"subject":[],"published":{"date-parts":[[2016,1,15]]}}}