Eur. J. Mech.

A/Solids 20 (2001) 241252

2001 ditions scientiques et mdicales Elsevier SAS. All rights reserved
S0997-7538(00)01127-X/FLA
Dynamic study of a wind turbine blade with horizontal axis
Rachid Younsi, Ismail El-Batanony, Jeur-Bernard Tritsch, Hassan Naji, Bernard Landjerit *
EUDIL, dpartement mcanique, LML, CNRS URA 1441, bd. Paul Langevin, cit scientique, 59655 Villeneuve dAscq cedex, France
(Received 15 May 2000; revised and accepted 29 September 2000)
Abstract The study of the dynamic behavior of a wind turbine with horizontal axis can be undertaken by various methods of analysis. The effects of
the change of the aerodynamic ow (in the steady and unsteady cases), the variation of parameters of the cinematic movement (angle of attack, pitch
angle and yaw angle) and the denition of subsystems characteristics that makes the wind turbine (blade, nacelle and pylon) allow one to characterize
the structural dynamic behavior of the wind turbine. It is therefore necessary to develop these items. Once this is done, the structural dynamic behavior
of the system can be improved. The term improve means the increase of the life duration by mastering the fatigue effects and the reduction of cost
without sacricing the aerodynamic output. The present study aims to examine the behavior of the blade, which is the main part of the wind turbine in
that it that transmits forces to all other parts of the structure. The model is based on the theory of three-dimensional beams, under the assumption of
variable sections of the type NACA 4415 airfoil, and takes into account membrane, transversal shear, exion and free torsion effects. With regards to
the aerodynamic loads (the lift, the drag and the pitching moment), a validation has been undertaken by considering experimental data and numerical
results obtained by a CFD code (Fluent). The forces are obtained by means of a parametric CAD method interpolation of the aerodynamic poles by
Bzier patch under geometrical constraints solved by a Simplex type algorithm. The emphasis is put on dynamic aspects by a complete processing of
the dynamic equilibrium equation, applied to the wind turbine blade with horizontal axis. 2001 ditions scientiques et mdicales Elsevier SAS
nite elements method / dynamic of structures / Newmark method / beam theory / aerodynamic efforts / gust of wind / Bzier surfaces
1. Introduction
The prediction of the mechanical and aerodynamic behavior, the estimation of aerodynamic efforts and
the use of structural dynamics, constitute some of the important processes in the design of wind turbines
with horizontal axes. They show the important parameters that govern the behavior of turbine wind blades.
Numerical modeling makes use of multidisciplinary tools such as uid mechanics, dynamics of structures,
parametric techniques and nite element computation.
The ow around a blade, in steady and unsteady cases, for an NACA 4415 type airfoil is studied here. The
turbulent ow is modeled by NavierStokes equations coupled with the mass conservation equation which gov-
ern the two-dimensional and isothermal ow of a viscous and incompressible uid (Hofmann et al., 1994) and
(Tchon and Paraschivoiu, 1994). From this analysis we obtain the aerodynamic forces (lift, drag and pitching
moment) linked to the type of ow, for different relative wind velocities and for different attack angles. A gener-
alization, with the help of a parametric method based on Bzier surfaces allows us to constitute an aerodynamic
effort database, for a given wind velocity and attack angle, for all points of the lift line along the blade.
In the present work we study the dynamic structural behavior of the wind blade. We consider in particular
the case of a wind turbine in which the rotor is in upwind conguration. The connection between the blade and
the hub is assumed to be rigid and the ow unsteady. The emphasis is put on the variational formulation, on
the theory of beams. Many authors have used constant sections (Shipley et al., 1994) and (Lee and Yun, 1996).
* Correspondence and reprints: bernard.landjerit@eudil.fr
242 R. Younsi et al.
In this study the sections are variable in accordance with NACA 4415 airfoil sections. Many studies on the
blade dynamic problem have been developed. Kenneth and Felmming (1993) made a project at Risoe using a
model which described the elastic deformation of a turbine and for which they have developed an aeroelastic
computer code called FLEX4. Wright and Osgood (1994) have developed a study where the basic method of
modeling an elastic blade with ADAMS/Linear. Tresher et al. (1986) developed a computer code FLAP and
the analysis was constrained to allow only apping motions for a cantilevered blade. The linear formulation is
adequate with small deformations where the deection ratio is less than 10% (Spera, 1995). In this study, the
results agree with this assumption. The nite element method for the complete solution of the dynamic problem
is used.
(a) (b)
Figure 1. Schematic plot of a wind turbine and position of aerodynamic center and center of gravity.
Figure 2. Distribution of he aerodynamic forces on the airfoil.
Dynamic study of a wind turbine blade with horizontal axis 243
2. Problem position
We consider a blade submitted to gravitational, inertial (including centrifugal) and aerodynamic forces, in an
unsteady case, part of an electricity generation mechanism such as illustrated in gure 1a. Figure 1b shows the
relative positions between the gravitational and aerodynamic centers. Figure 2 shows the aerodynamic force
decomposition function of the attack angle ( = +), where:
dT : drag : yaw angle V
r
: relative wind velocity
dP: lift : pitch angle : angular velocity
r: local radius of blade : attack angle dM
c
: pitching moment
: azimuth angle U

: absolute wind velocity O

c
: aerodynamic center:
(rotation angle of the G: center of gravity its distance with respect
hub axis) to the edge of attack is
equal to the quarter of the
chord
The aim of this investigation consists of nding the relationship between the aerodynamic performance, the
loads and the structural response of the blade so as to optimize the parameters for the design of wind turbines
with horizontal axes.
The forces acting on the blade as a result of the ow around the airfoil are the lift, the drag and the pitching
moment:
dP =
1
2
C
p
cV
2
r
dx, (1)
dT =
1
2
C
t
cV
2
r
dx, (2)
dM
c
=
1
2
C
m
c
2
V
2
r
dx, (3)
where C
P
and C
T
are the lift and drag coefcient respectively, C
m
: the pitching moment coefcient, c: the
chord of the airfoil blade, and : the air density.
Projecting on the airfoil (x, y, z) coordinate system, we obtain the following forces and moments:
dF
a
=
cV
2
r
(C
p
cos +C
t
sin)
2
dx

j +
cV
2
r
(C
p
sin C
t
cos )
2
dx

k,
F
v
= mg sin

i mg cos

k,
(4)
F
c
=mr
2

i,
dM
a/G
=
c
2
V
2
r
C
m
2
dx

i +
__
y
G

j +(z
G
z
A
)
_

dF
a
,
where dF
a
: aerodynamic elementary resultant force, F
v
: gravitational force, F
c
: inertial force including
centrifugal effect, dM
a/G
: aerodynamic elementary moment applied on the center of gravity, (y
G
; z
G
):
coordinates of the center of gravity, z
A
: coordinate of the aerodynamic center, as shown in gures 1a and 1b.
With the aim of determining the dynamic structural response of the blade, the present study includes the
following six assumptions:
244 R. Younsi et al.
the blade airfoil is of a NACA 4415 type,
the nacelle is adjustable with a yaw angle that varies so as to always align the wind velocity normal to the
rotation plan of the blade, so that the yaw error can be neglected,
the connection between the blade and the hub is rigid,
the blade section is wise piece variable along the radius,
the twist is neglected, and
the 3D beams theory is used.
3. Problem analysis
The interpolations of loading forces are obtained by use of the well known Bzier surfaces method (Bzier,
1987; Rogers and Adams, 1990; Veron, 1989):

P(u, v) =
n
j

j=1
n
i

i=1
B
im
(u)B
jn
(v)

S
ij
, (5)
where B
im
(u), B
jn
(v),

S
ij
and

P(u, v) are respectively the ith function of Bernstein with order m along to u,
the jth function of Bernstein with order n along to v, the pole of the characteristic polygon and the interpolated
component. The expression of Bernsteins function is of the following form:
B
im
(u) =C
i
m
u
i
(1 u)
mi
with u [0, 1] and C
i
m
=(m!)/
_
i!(mi)!
_
.
P represents either the lift, the drag, or the pitching moment, as a result of the parametrization.
The general equation of the mechanics that governs the dynamic behavior of the blade, in the discrete form
system (nite element) with n degrees of freedom is:
M

U +C

U +KU =F, (6)
where M, C and K are the matrices of masses, damping and stiffness respectively, F is the external force
vector, U,

U and

U are the displacement, velocity and acceleration vector respectively.
The solution of the dynamic problem is based on the Newmark method (Bathe, 1982). The scheme of
integration is a linear interpolation of the acceleration. At time t , the velocity and displacement vectors are
obtained as a function of acceleration, velocity and displacement vectors that have been computed at the
previous time step:
t +t

U =
t

U +
_
(1 )
t

U +
t +t

t,
(7)
t +t
U =
t
U +
t

Ut +
__
1
2

N
_
t

U +
N
t +t

U
_
t
2
,
where
N
and are parameters that determine the stability and the accuracy of the integration scheme, in our
case = 1/2 and
N
=1/4 as in (Bathe, 1982). The solution of equilibrium equations, to obtain displacements,
velocities and accelerations at time t +t , is obtained by inserting equation (7) in equation (6). The following
expression is hence obtained:
M
t +t

U +C
t +t

U +K
t +t
U =
t +t
F. (8)
Dynamic study of a wind turbine blade with horizontal axis 245
Applying the virtual work principle (Bathe, 1982; Batoz and Dhatt, 1990; Dhatt and Touzot, 1984; Kaiser and
Gash, 1996; Lindley and Quarton, 1986; Paluch, 1991), under the assumption a rigid section of the blade in the
plan (
yy
=
zz
=2
yz
= 0) and superposition of membrane, exion, shear and twist effects, we obtain:
W =W
ext
W
int
= 0,
W
int
=
_
L
0
_
u

x
N +

xy
T
y
+

xz
T
z
+

y,x
M
y
+

z,x
M
z
+

x,x
M
x
_
dx,
(9)
W
ext
=
_
L
0
_
u

f
x
+v

f
y
+w

f
z
+

x
m
x
+

y
m
y
+

z
m
z
_
dx,
+
_
u

F
x
+v

F
y
+w

F
z
+

x
M
x
+

y
M
y
+

z
M
z
_
S
f
.
To model the blade, according to the variational formulation chosen here, a three-dimensional beam nite
element with six degrees of freedom has been programmed. The nodal variables are as follows:
u
n
=

(u
i
v
i
w
i

xi

yi

zi
_
, i =1, 2
_
, (10)
where u
i
is the axial displacement, v
i
and w
i
are the displacements with respect to y and z, on the node i,
respectively.
The internal virtual work W
e
int,k
, due to the stiffness, results from the superposition of membrane effects with
respect to the neutral axis x, exion around the main axis y, exion around the main axis z and free twist
around the main axis x. The decomposition of the different effects gives:
W
e
int,k
=

n
_
[k]{u
n
} =

nm
_
[k
m
]{u
nm
} +

nfy
_
[k
fy
]{u
nfy
} +

nf z
_
[k
f z
]{u
nf z
} +

nt
_
[k
t
]{u
nt
}, (11)
where: [k
m
] =
H
m
L
_
1 1
1 1

is the membrane stiffness matrix, with H

m
=EA, L is the length of the nite element
and A is the section area of the blade, constant by element, as shown in the gures 3 and 4, and
[k
fy
] =
H
fy
L
3
_

_
12 6L 12 6L
4L
2
6L 2L
2
12 6L
sym 4L
2
_

_
is the exural stiffness around y, with H
fy
=EI
z
,
[k
f z
] =
H
f z
L
3
_

_
12 6L 12 6L
4L
2
6L 2L
2
12 6L
sym 4L
2
_

_
is the exural stiffness around z, with H
f z
=EI
y
,
[k
t
] =
H
t
L
_
1 1
1 1
_
is the twist stiffness around x, with H
t
=GJ,
u
nm
= u
01
u
02
is the vector of nodal variables due to the membrane effect,
r
n
= N
1
N
2
is the vector of nodal forces (traction-compression),
u
nfy
= w
1

y1
w
2

y2
is the vector of nodal variables due to the exion around y,
r
n
= T
z1
M
y1
T
z2
M
y2
is the vector of forces at the nodes (shear and moment of exion),
u
nf z
= v
1

z1
v
2

z2
is the vector of nodal variables due to the exion around z,
r
n
= T
y1
M
z1
T
y2
M
z2
is the vector of forces at the nodes (shear and moment of exion),
u
nt
=
x1

x2
is the vector of nodal variables due to the twist,
r
n
= M
x1
M
x2
is the vector of forces at the nodes (moment of torsion).
246 R. Younsi et al.
Figure 3. Resulting forces on the blade section.
Figure 4. Blade geometry and neutral axis line.
The internal virtual work W
e
int,m
, due to mass, by considering linear approximations, is given by:
W
e
int,m
=

n
_
[m]{ u
n
}, (12)
where:
[m] =
L
6
_

_
2[a] 2[c] [a] [c]
2[b] [c]
T
[b]
2[a] 2[c]
sym 2[b]
_

_
is the mass matrix with:
[a] =
m
_
_
1 0 0
0 1 0
0 0 1
_
_
, [b] =
_
_

t
0 0
0
fy
0
0 0
f z
_
_
, [c] =
_
_
0 0 0
z
c
0 0
y
c
0 0
_
_
,

m
=
_
A
dA,
fy
=
_
A
z
2
dA,
f z
=
_
A
y
2
dA and
t
=
fy
+
f z
+
_
z
2
c
+y
2
c
_

m
.
In the present study, the section considered is full, homogeneous and made of wood. Accordingly, the above
parameters will be given by:

m
=A,
fy
=I
y
and
f z
=I
z
.
Dynamic study of a wind turbine blade with horizontal axis 247
The internal virtual work W
e
int,c
, due to damping, is as follows:
W
e
int,c
=

n
_
[c]{ u
n
}, (13)
where [c] =
c
[m] +
c
[k] is the damping matrix, [m] is the mass matrix, [k] is the stiffness matrix and
c
and

c
are constants which are determined experimentally. In this study
c
= 0.01498 and
c
= 0.10405 (Bathe,
1982).
The external virtual work W
e
ext
results from the superposition of external force effects:
W
e
ext
=

n
_
{f
n
}, (14)
where
f
n
=
L
2
_
f
x0
f
y
f
z
m
x
f
z
L
6
f
y
L
6
: f
x0
f
y
f
z
m
x
f
z
L
6
f
y
L
6
_
is the elementary vector of equivalent forces due to the following forces and moments: f
x0
, f
y
, f
z
, m
x
, m
y
and
m
z
in the x, y and z directions applied on two nodes of element. The global force vector F is assembled from
the elementary force vector f
n
. The components of this elementary vector are derived from the projection of
forces and moments described in equation (4).
Here, we consider that the behavior law is of a linear type. This is valid as long as the maximum displacement
is smaller than 10% of the length of the blade (Spera, 1995). We also consider the plan stress hypothesis in the
y and z directions. The stress and deformation expression, in the principal directions, are given by:

x
(x, y, z) =E(y, z)
x
(x, y, z),

xy
(x, y, z) =G(y, z)2
xy
(x, y, z), (15)

xz
(x, y, z) =G(y, z)
xz
(x, y, z),

x
=u
0,x
+z
y,x
y
z,x
,
2
xy
=
xy
+(
,y
z +z
c
)
x,x
,
2
xz
=
xz
+(
,z
+y +y
c
)
x,x
, (16)

xy
=v
,x

z
,

xz
=w
,x

y
.
The resulting nodal forces N, T
y
, T
z
, M
x
, M
y
and M
z
verify equation (8), where N, T , M represent respectively
normal force, shear force, exion and twist moments as shown in gure 3.
_

_
N
T
y
T
z
M
x
M
y
M
z
_

_
=
_

_
H
m
H
cy
H
cz
H
t
H
fy
H
f z
_

_
_

_
u
0,x

xy

xz

x,x

y,x

z,x
_

_
. (17)
Again, we consider that the materials section is homogeneous, with:
H
t
=
_
A
G
_
(
,z
+y y
c
)(y y
c
) (
,y
z +z
c
)(z z
c
)
_
dA=GJ, H
m
=
_
A
EdA=EA,
248 R. Younsi et al.
H
fy
=
_
A
Ez
2
dA=EI
y
,
H
cy
=k
y
_
A
GdA=k
y
GA, H
f z
=
_
A
Ey
2
dA=EI
z
, H
cz
=k
z
_
A
GdA=k
z
GA,
where k
y
and k
z
are the coefcients of transverse shear correction (TS) introduced to take into account a non
uniform distribution of stress.
4. Numerical application
The uid-structure coupling is relatively complicated because it necessitates a time update of the applied
forces and the attack angle of the blade. A calculation loop is set between the dynamic computing block (nite
element) and parametric computing block (CAD).
The application concerns the study of the behavior of the blade submitted to a gust of wind of 25 m/s speed
during 3 s. The direction of the gust is considered parallel to the axis of the hub (rotor). The attack angle of
the blade varies as a time function, according to = 15 + 10sin6t . This assumption means that the variation
of the gust excitation is modeled by the variation of the attack angle. This non-stochastic air stream excitation
is used to allow comparison with other authors (Spera, 1995; Guilmineau and Queutey, 1999; Bjrck, 1995;
Christensen, 1995). After the evaluation of V
r
, we interpolate the aerodynamic forces within the section by the
Bzier surfaces method.
We consider a blade of length 14 m, a Youngs modulus of 17 GPa, a density of 600 Kg/m
3
, clamped
at one end (cantilever) and submitted to non-uniformly distributed aerodynamic forces (described above), to
centrifugal forces ( = 4.5029 rad/s) and gravitational forces. Figure 4 shows the main dimensions of the
blade, the line of the centers of gravity as well as the line of aerodynamic centers.
Figure 5a shows the deformed shape of the blade. We observe that the maximum deection, situated at the
free end of the blade, is 1.021 m (7.29% of the length of the blade). This is in agreement with the hypothesis
introduced in (Spera, 1995). We note that there are no sensitive displacements in the plan of rotation of the blade
(a) (b)
Figure 5. Deformed shape of the blade and deection at the end node of the blade.
Dynamic study of a wind turbine blade with horizontal axis 249
Figure 6. Evolution of forces and moments applied at the end node of the blade.
Figure 7. Evolution of ap force, attack angle and relative wind velocity.
(x and z). Also, in gure 5b, the deection along y notably increases after 2.8 sec until it reaches a maximum
value of 1.021 m, at time t = 16 sec, which corresponds to the oscillation equilibrium deection as shown in
gure 8.
The structural behavior according to the dynamic calculation, and the coupling with parameterization forces
due to uid ow is in good agreement with the theory mentioned above. In particular, we examine results at
250 R. Younsi et al.
Figure 8. Evolution of the deection at the free end node of the blade with a loading at every 0.1 sec.
Figure 9. Evolution of the deection at the free end node of the blade with a loading after equilibrium iterations.
the node situated at the free end of the blade. The external forces, which vary in time, applied on this particular
node are shown in gure 6. We observe a correlation between the evolution of the attack angle and the resulting
force amplitude. The force along the main direction x of the blade (centrifugal force) is not inuenced by the
aerodynamics of the ow, contrarily to the forces along the main directions y and z, as shown in gure 7.
Dynamic study of a wind turbine blade with horizontal axis 251
The force in the y direction, which results from ap effect, is most important in the behavior of the blade.
Figure 7 shows the simultaneous evolution of this effort and the attack angle. On one hand we observe a
proportionality between the value of the attack angle and the generated forces, and on the other hand, an
amplitude delay between the angle and the force.
The coupling between the uid and the structure is shown in gures 8 and 9. In gure 8, we examine the
structural response of the free end node of the blade in two phases, one is permanent wave for nite amplitude
oscillation and the other one is free. The rst phase is the loading by the gust of wind during 2.8 sec and
the second phase is the damping that follows. We observe that, during the rst phase, the aerodynamic force
variation as a time function has a direct inuence on the structural response. This response is conditioned by the
variation of the aerodynamic forces because it is proportional to those forces, and restricted by its continuity in
time because it is limited to a relatively small maximum amplitude. In the second phase, the wind stabilizes (the
aerodynamic force corresponding to an attack angle of 6.124 degrees), the blade undergoes an abrupt increase
in the amplitude of oscillation which is reduced slowly by the damping effect.
In gure 9, we examine the second case of the free oscillation response after a change of loading. Indeed,
we wait for the stabilization of the deection before applying the next stage of loading (the time on the
abscissa is considered ctitious). We have reproduced 2.8 s through 28 0.1 s steps with stabilization of
deection between each. The obtained form, takes into account the value of deection after stabilization, shows
a qualitatively equivalent evolution to that obtained for the simulation of the response in 2.8 s without waiting
for the stabilization. On the other hand, the value of deection is very different to the value in gure 8 because
we let the deection stabilize between each step.
5. Conclusion
The coupling of uid-structure has necessitated, on one hand, the parametric modeling, derived from the
CAD, to evaluate the aerodynamic forces, and on the other hand, the nite element modeling with the theory
of 3D beams, to evaluate the dynamic behavior of the structure. The structural response is linked, in a direct
manner, to the evolution of the gust of wind as a time function. The versatility of the CAD and nite elements
models has allowed a exible movement between them, on one hand, to evaluate the new applied forces due
to the aerodynamic ow and, on the other hand, to evaluate the dynamical response of the structure. The
numerical results are in accordance with the assumption of a linear behavior according to which the maximal
deection should not exceed 10% of the blade length (Spera, 1995). This dynamic study has been performed
under a certain number of restrictions given that we do not take into account, in the framework of this work,
problems linked to the dynamic stall and to the wake at the blade end. A rst extension of this work is to take
into account in the Bzier parametric model, these two effects by the addition of an aerodynamic functioning
surface in degraded mode allow the movement from one surface to the other as a function of the aerodynamic
conditions. The second extension consists in modeling the air stream through the variation of wind velocity
instead of considering arbitrary variation of the attack angle. This will allow us to account for deection and
torsion of the blade and to assess the attack angle, so that the study of loss of stability of utter type will be
possible. The aim is a complete study, in deformable multi-body formulation, integrating the pylon, the nacelle
and other blades.
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