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Bi-axial neutral axis tracking for damage detection in
wind-turbine towersRohan N Soman
1 Pawel H Malinowski
1and Wieslaw M Ostachowicz
12
1 Institute of Fluid-Flow Machinery Polish Academy of Sciences 14 Fiszera Street Gdansk 80-231 Poland2 Faculty of Automotive and Construction Machinery Engineering Warsaw University of Technology Narbutta 84 02-524 Warsaw
Poland
ABSTRACT
This work concentrates on Structural Health Monitoring (SHM) of a wind turbine tower A decision level data fusion based
on bi-axial tracking of change in neutral axis (NA) position is proposed A discrete Kalman Filter (KF) is employed for the
estimation of the NA in the presence of measurement noise from the strain sensors The KF allows data fusion from the
strain sensors and the yaw mechanism for the accurate estimation of the NA Any change in the NA position may be used
as an indicator for the presence and location of the damage The ratio of the change in the NA along two perpendicular axes
is taken and used for the localization The study has been carried out on the simulated 1047297nite element (FE) model of the wind
turbine tower and indicates that bi-axial NA tracking based on data fusion is indeed necessary and at the same time is
sensitive to damage The sensitivity studies carried out indicate that the metric is robust enough to overcome the effects
of measurement noise and yawing of the nacelle Copyright copy 2015 John Wiley amp Sons Ltd
KEYWORDS
structural health monitoring (SHM) damage detection wind turbine tower neutral axis (NA) kalman 1047297 lter (KF) data fusion strain
Correspondence
Rohan N Soman Institute of Fluid-Flow Machinery Polish Academy of Sciences 14 Fiszera Street Gdansk 80-231 Poland
E-mail rsomanimpgdapl
Received 28 November 2014 Revised 23 February 2015 Accepted 5 April 2015
1 INTRODUCTION
Wind energy is seen as one of the most promising solutions to manrsquos ever increasing demands of a clean source of energy
But the main drawback of the wind energy is the high initial cost for setting up and maintenance This makes the energy
more expensive than the conventional energy sources like fossil fuels and nuclear and hence it has not been widely
accepted Thus there is a concerted effort to reduce the cost of energy production This can be achieved by increasing
the lifetime of the wind turbines reducing maintenance costs and ensuring low downtime of the turbine The lifetime
may be increased by ensuring a more robust design while the maintenance cost and the downtime of the equipment
may be lowered through the use of condition monitoring and structural health monitoring (SHM) 1 SHM allows early
detection of damage and allows maintenance planning which reduces the cost 2 and can allow us to avoid unnecessary
downtime hence increasing the availability of the system
The SHM needs to be low cost and suitable for continuous monitoring The SHM techniques are based on the concept
that the change in mechanical properties of the structure will be captured by a change in its dynamic characteristics 3
Vibration-based damage indicators have been traditionally used because of their low cost implementation Many vibra-
tional parameters like changes in natural frequency 4 mode shapes 5 mode shape derivatives 6 and modal 1047298exibility indices7 have been suggested in the literature These methods are global level damage detection techniques and are sensitive to
large scale damage only and may not detect local level damage Thus there is an increasing trend to use strain sensors
for local level damage detection Strain sensors are local level sensors and hence more sensitive to smaller levels of damage8 Many strain-based damage detection techniques have been proposed in literature and their performance has even been
compared with displacement-based methods9ndash11
WIND ENERGY
Wind Energ (2015)
Published online in Wiley Online Library (wileyonlinelibrarycom) DOI 101002we1856
The SHM methods are still not up to the desired standards and as such there is a need for a robust damage detection tech-
nique The discrepancy between the expected and the measured results of the different SHM techniques is mainly attributed to
the uncertainty in the measurement environment with respect to noise temperature and excitation mechanism of the structure
Thus thesearch for an SHM system that will be able to detect small levels of damage butat the sametimebe robustenough to
overcome the ambient noise and temperature changes and detect damage under operational conditions is ongoing
The use of SHM techniques in wind turbines is gaining prominence especially with the use of offshore wind turbines
where costs of unscheduled maintenance are high and downtime results in major loss of revenue Ciang et al 12 and Hyers
et al 13 provide reviews on condition-monitoring strategies for all wind turbine subsystems and components Tower dam-
age is the third most common damages in wind turbines 12 As a result the research in the area of SHM of towers is now
becoming more signi1047297cant Furthermore as seen in Figure 1 the downtime for minor damages in towers (support and hous-
ing) is far less signi1047297cant (014 days) than in the case of major damage (2801 days) So there is a huge economic incentive
for early detection of minor failures through the use of proper SHM techniques for towers
The most commonly used sensors for SHM of towers are accelerometers and displacement sensors15ndash17 These sensors
are suitable only for global damage identi1047297cation On the other hand strain sensors allow a more local damage detection
approach Bas et al and Bang et al make use of 1047297bre Bragg grating (FBG)-based strain sensors for SHM of tower1819
Bas et al 18 have studied the structural response of the tower to various stopping events which may be used as baseline
for detecting deterioration of the tower over a period of time Bang et al 19 have studied the stability of the FBG sensors
over time and their ability for dynamic strain assessment on a real structure Benedetti et al 20 make use of conventional
strain gauges for the fatigue monitoring near welds of the tower The results obtained are quite encouraging but the use of
this method is restricted to known hot spots of potential damage
Thus in this paper a method for damage detection of towers is proposed which is able to detect lower levels of damagethroughout the structure without a priori knowledge of the structural behaviour The methodology proposed is a customiza-
tion of neutral axis (NA) as a damage-sensitive feature for tower structures The NA has been proposed for damage detection
in bridges21ndash23 The application of the methodology directly to tower structures is not possible because of the yawing of the
turbine and the resulting mass and stress redistribution Thus a robust methodology has been proposed to overcome these
application-speci1047297c challenges and further the effectiveness of the methodology for more precise damage isolation
The present research builds on the research work presented by the authors in 24 and 25 In this paper the methodology for
damage detection using NA as a metric is extended to bi-axial neutral tracking using decision level data fusion It was
shown in 24 that the position of NA of the tower structure may be used as a robust damage indicator This is possible as
the NA is the property of the cross-section of the tower independent of the bulk temperature effects and the ambient wind
loading The position of the NA can be assessed by measuring the strains on opposite surfaces of the tower in bending The
NA of the tower subject to unknown loading both in magnitude and direction was estimated using the discrete Kalman
Filter (KF)2627 The authors then extended the methodology to include the effect of yaw of the nacelle on the observability
of the NA in25 But even then only the determination of the altitude of the damage was possible In this study through the
use of bi-axial tracking and decision level data fusion a better resolution of the damage location is possible The study is
undertaken on a 1047297nite element (FE) model of the 10 MW wind turbine tower which is seen as the future of offshore wind
Figure 1 Reliability characteristics of several sub-assemblies14
Bi-axial NA tracking for SHM in towers R N Soman P H Malinowski and W M Ostachowicz
Wind Energ (2015) copy 2015 John Wiley amp Sons Ltd
turbine industry28 The study also includes some sensitivity studies in order to establish the robustness of NA tracking as a
damage indicator under different damage locations damage extents and presence of measurement noise
The paper is organized as follows 1047297rstly the concept of NA and the theoretical formulation of the use of NA as a damage
indicator and how it can be estimated by measuring the strain at diametrically opposite locations is explained The section also
explains the theoretical background and the implementation of the KF The next section explains the FE modelling approach
used for the Technical University of Denmark (DTU) Reference Wind Turbine (RWT) 28 and the loading scenarios for the
simulations The section on numerical simulation 1047297rst establishes the need for yaw tracking followed by the need of KF for data
fusion The section on bi-axial NA tracking introduces the decision level data fusion and in turn allows us to locate the damage
with betterresolution andas such is the main contribution of the paper Some sensitivity studies of the indicator to measurement
noise and severity of damage have also been carried out in this section The last section then draws some conclusions based on
the observations made in the simulated scenarios and also points at the area of future research
2 THEORETICAL BACKGROUND
21 Neutral axis
The primary function of the tower structure is to support the hub and the nacelle of the wind turbine The nacelle and the
hub are axial loads that are eccentrically loaded on the tower This eccentric loading gives rise to axial compressive loads as
well as bending loads as shown in Figure 2The axial compression is uniform over the entire cross-section while the bending loads will be tensile at one end and
compressive at the other Furthermore the tower experiences wind loads which result in bending strains in the tower
The axial strains are given by Equation (1) while Equation (2) gives the bending strains
ε axial frac14 F
EA(1)
Figure 2 Flexural strain distribution over the beam cross-section subject to eccentric loading
Bi-axial NA tracking for SHM in towersR N Soman P H Malinowski and W M Ostachowicz
Wind Energ (2015) copy 2015 John Wiley amp Sons Ltd
where K is the Kalman gain The value of K is chosen to minimize the error covariance There are several forms of the K
matrix discussed in literature2930 One form of this matrix used for the gain computation is given by Equation (9)
K k frac14 Pk =k 1 H T k H k Pk =k 1 H T
k thorn Rk
1(9)
where P is the error covariance matrix and Rk is the measurement noise covariance matrix
Figure 3 concisely explains the implementation of the KF
In the present application the state estimate variable is X k = [NAE 1 θ ]T NAE in undamaged condition should remainconstant independent of the applied loads and the second variable tracked is the constant value 1 This constant is incor-
porated to ensure a correct relation between the state estimation matrix the observation matrix and the measurement matrix
The added bene1047297t of the constant is it makes the measurement matrix square which allows faster computations The third
component of the vector is the variable θ for the yaw angle It is a linear estimate of the measurement from the sensor The
input for the KF algorithm is essentially the state transition matrix ( A) which relates the state estimate variable in time In
this case A is a unity matrix of dimension 3 as the state estimates are random and not co-related in time The other input is
the measurement matrix ( H ) which links the state estimation variable X k and the measurement variable ( Z k ) at each time
step (measurement from the sensors) The H matrix takes into consideration the observability of the NA based on the lo-
cations of the sensors and is designed for accurate system modelling while maintaining the linearity of the measurement
step In the present case Z k = [ϵl ϵr θ ]T
vector consists of the strain measurements from the left (ε l ) and the right side
(ε r ) of the tower and the yaw angle measurement (θ ) of the nacelle
23 Damage sensitive feature
As mentioned in earlier section the NA location is independent of the loading conditions and depends only on the condi-
tion of the structure Thus the change in the NAE is taken as the damage sensitive feature and is given by Equation (10)
ΔNAE frac14NAEhealthy NAEmonitored
NAEhealthy
100 (10)
The NAEhealthy is developed at the time of the installation of sensors when the structure is known to be in healthy
condition NAEmonitored is the estimate at every time step If the change exceeds a certain threshold an alarm is raised in-
dicating damage This threshold is based on engineering judgement
3 FINITE ELEMENT MODELLING
The proposed methodology was veri1047297ed on a simulated FE model of the DTU 10 MW RWT28 The tower is a 115630 m
tall hollow steel structure The outer diameter varies linearly from 83 m at the base to 55 m at the top of the tower The
tower is divided into 10 sections where the wall thickness is constant in each section but gradually decreasing from the
bottom to the top (Figure 4) The tower is encastred at the bottom The tower is made from steel S355 with a Youngrsquos mod-
ulus of 210 GPa Poissonrsquos ratio 03 and the density 8500 kgm 3 (8 increase of the density to account for the secondary
structural components) The model was simulated in commercial FE modelling software ABAQUS31 using shell elements
based on the design data in the reference28
Figure 3 Flow chart for the implementation of the KF X is the estimate of the state A is the state transition matrix P is the state var-
iance matrix K is the Kalman gain H is the measurement matrix z is the measurement variable and the lsquok rsquo indicates the time step k
Bi-axial NA tracking for SHM in towersR N Soman P H Malinowski and W M Ostachowicz
Wind Energ (2015) copy 2015 John Wiley amp Sons Ltd
measurement noise the mean of the direct prediction changes appreciably this in turn directly affects the accuracy of the
damage detection methodology Hence the use of KF estimator is necessary
Kalman Filter is indeed a very robust tool in addition to the sensitivity studies in presence of measurement noise
more studies were performed for different values of initial guess of NA location and different process noise esti-
mates These studies indicate that the initialization of the KF does not affect the 1047297nal NAE estimate An improper initialization just affects the time required for achieving the convergence to the true value of the NAE 35 This robust-
ness to initialization allows easy implementation to real strain data from the wind turbine The KF-based NA estima-
tion has been applied to strain data available from the Nordtank NTK50041 wind turbine and may be found in 36
The implementation of the KF was carried out based on engineering judgement alone and yield very promising
results
43 Bi-axial NA tracking for damage detection
The sensor pairs are located perpendicular to each other as indicated in Figure 4 and at the centre of each element As such
if the damage is at any location not in the vicinity the observability of the damage is in the form of the sine and the cosine
component Furthermore because of the non-linearity the damage may be detected but the isolation of the damage may be
a problem Thus the bi-axial NA tracking data should be combined in order to get more realistic damage isolation The
intuitive way of combination is by taking a ratio of the observed NA along the two axes Although this may yield an ap-proximate estimate of the location it cannot be applied directly It should be kept in mind that the periodicity for sine and
cosine is 2π while that for tan ratio is π thus leading to loss of directionality Thus a decision level data fusion is necessary
where the change in the directionality is overcome by proper study of the change in the NA location along both the sensor
axes The decision level data fusion refers to the use of the individual signs of the change in the NA location in order to
make an assessment of the damage location
The damage detection strategy is based on the principle of change in the NA location in healthy and damaged state The
damage will be indicated when the relative change in the location is more than a certain threshold This threshold needs to
be determined based on engineering judgement taking into consideration the probability of positive false detection and
negative false detection and risk to the entire structure Positive false detection occurs when a signi1047297cant damage goes un-
detected while the negative false detection occurs when the damage alarm is raised when there is no damage in the struc-
ture In order to quantify the threshold based on probability several damage scenarios were studied under different
simulated noise levels The threshold was set at 1 change in NA location when the yaw angle measurement and bi-axial
NA tracking are carried out
Equation (11) gives the location of the damage in terms of the angle without taking the signs of the individual change of NA locations into consideration (without fusion)
DL frac14 tan1 ΔNAEB
ΔNAEA
(11)
where DL is the damage location in degrees (deg) ∆NAEB is the percent relative change in the NAE at B while
∆NAEA is the percent relative change in the NAE at A
The notations B and A are indicated in Figure 7 which also shows the different damage scenarios
For accurate detection of location the difference in the periodicity of the tangent function and sine and cosine functions
should be noted
Table I Statistical performance of estimators (NAE)
Scenario
KF estimation Direct estimation
Standard deviation
(mean)
Standard deviation
(mean)
(a) 00444 01064
(1633) (1637)
(b) 00474 01862(1633) (1622)
(c) 00507 04527
(1635) (1666)
(d) 00044 01168
(1633) (1641)
(e) 00499 02111
(1633) (1686)
Bi-axial NA tracking for SHM in towers R N Soman P H Malinowski and W M Ostachowicz
Wind Energ (2015) copy 2015 John Wiley amp Sons Ltd
Table II shows quantitatively that the approach is valid at the same time decision level data fusion is necessary for
accurate isolation of damage
The damage scenarios I and II indicate the validity of the decision level data fusion and taking the ratio of the changes inNA is a valid technique for fusion The damage isolation for cases I and II is valid without fusion as the damage lies in the
90ndash90deg range The damage scenario III is a point diametrically opposite to II and it shows the signi1047297cance of decision
level data fusion If the signs corresponding to the change of the location are not taken into account the isolation gives a
diametrically opposite point that may be termed as false isolation of the damage (shown in grey background) and hence
the decision level data fusion is necessary The damage scenario IV indicates that when the damage is at locations perpendic-
ular to one of theaxes theresults obtained for the isolation are notaccurate but this in essence proves that bi-axial tracking is
indeed necessary Also change in the location of NA in scenario IV in the estimate at A is signi1047297cant and hence false
detection of the damage is highly unlikely The highchangeexceeding10 also indicates very close proximity of the damage
to the strain sensors and gives further idea about the location of the damage Furthermore the decision level data fusion will
recognize that the threshold for the damage detection has not been exceeded (shown in grey background) and as such the data
should not be used thus making the decision level data fusion-based strategy more robust against false localization
44 NA-based damage detection
As explained in the earlier section the NA of the cross-section of the tower is the property of the condition of the structure
and may be used as a damage indicator
In order to validate the use of NA as damage indicator arti1047297cial damage was introduced in one element of the tower by
reducing the 1047298exural rigidity of that particular element by 20 Reduction of 1047298exural rigidity is a valid damage simulation
strategy as indicated by 24 It may be treated equivalent to loss of material thickness because of corrosion or cracking and is a
commonly used strategy for global level damage simulation in bridge structures 1 The simulated damage was detected by com-
paring the NAE of the damage and the undamaged element The relative change in the location of the NA is given in Table III
The damage is detected if the change in the NA estimation of the damaged and undamaged states is more than a speci1047297ed
threshold which is determined on engineering judgement As can be clearly observed even in the presence of measurement
noise there is a signi1047297cant difference in the change of the NAE of the damage element and the others so the chances for a
false detection are quite minimal and as such a lower threshold may be possible 1 in the case where yaw angle is being
Figure 7 Damage scenarios indicating the need for bi-axial NA tracking
Table II Bi-axial NA tracking for damage detection
Bi-axial NA tracking for SHM in towersR N Soman P H Malinowski and W M Ostachowicz
Wind Energ (2015) copy 2015 John Wiley amp Sons Ltd
tracked as well The use of yaw tracking allows this higher con1047297dence and as such is an advantage for detecting lower
levels of damage
45 Sensitivity to Severity of Damage
Ideally the damage metric should be able to detect even minor changes in the system but in actual practice these changes
are often masked by changes in ambient condition changes and measurement noise Hence the sensitivity to damage is
investigated
Table IV indicates the percent change in the NAE with change in the damage severity
It can be seen that damage above 15 severity of damage can be easily detected through the tracking of NA and as such
the methodology promises to be better than the conventional vibration-based damage detection methods which are unableto detect such low levels of damage in the presence of same levels of measurement noise 24
5 CONCLUSIONS
The paper proposes bi-axial tracking and decision level data fusion for a more accurate damage localization The method-
ology is based on tracking of NA along two perpendicular axes using KF-based estimator The study 1047297rst establishes the
effect of yaw on the measured strain and in turn the tracked NA Then it establishes the merits for the use of KF for NA
tracking estimation and data fusion of yaw angle and measured strain This KF-based NA estimation is then used to detect
damage in the simulated tower structure of the 10 MW DTU RWT
Table III NA-based damage detection in presence of noise
Table IV Performance of NA with changing severity of damage
Damage extent Undamaged NAE Damaged NAE NAE ()
5 7008 7160 2169
10 7008 7276 3825
15 7008 7374 5215
20 7008 7479 6717
25 7008 7593 8340
Bi-axial NA tracking for SHM in towers R N Soman P H Malinowski and W M Ostachowicz
Wind Energ (2015) copy 2015 John Wiley amp Sons Ltd
19 Bang H Jang M Shin H ldquoStructural health monitoring of wind turbines using 1047297ber Bragg grating based sensing
systemrdquo In SPIE Smart Structures and Materials + Nondestructive Evaluation and Health Monitoring International
Society for Optics and Photonics 2011
20 Benedetti M Fontanari V Battisti L ldquoStructural health monitoring of wind towers residual fatigue life estimationrdquo
Smart Materials and Structures 2013 22(4) 045017
21 Sigurdardottir D Glisic B ldquoDetecting minute damage in beam-like structures using the neutral axis locationrdquo Smart
Materials and Structures 2014 23(12) 125042
22 Sigurdardottir D Glisic B ldquoNeutral axis as damage sensitive featurerdquo Smart Materials and Structures 2013 22(7)
075030
23 Xia HW Ni YQ Ye XW ldquoNeutral-axis position based damage detection of bridge deck using strain measurement
formulation of a Kalman 1047297lter estimatorrdquo In Proceedings of the 6th European Workshop on Structural Health
Monitoring Dresden Germany 2012
24 Soman R Malinowski P Ostachowicz W Neutral axis tracking for damage detection in wind turbine towers In
Proceedings of the EWEA 2014 Barcelona Spain 2014
25 Soman R Malinowski PH Ostachowicz W Kalman-1047297lter based data fusion for neutral axis tracking for damage
detection in wind-turbine towers Le Cam Vincent and Mevel Laurent and Schoefs Franck EWSHM - 7th European
Workshop on Structural Health Monitoring Nantes France 201426 Welch G Bishop G An introduction to the Kalman 1047297lter 1995 [accessed online on 6-Nov-14 at httpclubsens-
cachanfrkrobotolddatapositionnementkalmanpdf ]
27 Brown RG Hwang PYC Introduction to Random Signals and Applied Kalman Filtering 3rd edn John Wiley amp Sons
New York 1997
28 DTU Wind Energy Report-I-0092 Description of the DTU 10 MW Reference Wind Turbine 2013
29 Maybeck PS Stochastic Models Estimation and Control Academic press 1982 3
30 Sorenson HW ldquoLeast-squares estimation from Gauss to KalmanrdquoSpectrum IEEE 1970 7(7) 63ndash68
31 ABAQUS Analysis User rsquos Manual Version 6 12-3 edn 2013
33 Şen Z Altunkaynak A Erdik T ldquoWind velocity vertical extrapolation by extended power lawrdquo Advances in Meteorol-
ogy 2012 2012 6 Article ID 178623 DOI 1011552012178623
34 Bas J Carriveau R Cheng S Newson T Strain response of a wind turbine tower as a function of nacelle orientation InBIONATURE 2012 The Third International Conference on Bioenvironment Biodiversity and Renewable Energies
2012 12ndash18
35 Soman R Malinowski P Ostachowicz W ldquoThreshold determination for neutral axis tracking based damage detection
in wind turbine towersrdquo In Proceedings of the EWEA Offshore2015 Copenhagen Denmark 2015 (submitted)
36 Soman R Malinowski P Ostachowicz W Paulsen U ldquoKalman 1047297lter based data fusion for neutral axis tracking in wind
turbine towersrdquo In Proceedings of the SPIE smart Structures NDE San DiegoUS 2015 (submitted)
Bi-axial NA tracking for SHM in towers R N Soman P H Malinowski and W M Ostachowicz
Wind Energ (2015) copy 2015 John Wiley amp Sons Ltd
The SHM methods are still not up to the desired standards and as such there is a need for a robust damage detection tech-
nique The discrepancy between the expected and the measured results of the different SHM techniques is mainly attributed to
the uncertainty in the measurement environment with respect to noise temperature and excitation mechanism of the structure
Thus thesearch for an SHM system that will be able to detect small levels of damage butat the sametimebe robustenough to
overcome the ambient noise and temperature changes and detect damage under operational conditions is ongoing
The use of SHM techniques in wind turbines is gaining prominence especially with the use of offshore wind turbines
where costs of unscheduled maintenance are high and downtime results in major loss of revenue Ciang et al 12 and Hyers
et al 13 provide reviews on condition-monitoring strategies for all wind turbine subsystems and components Tower dam-
age is the third most common damages in wind turbines 12 As a result the research in the area of SHM of towers is now
becoming more signi1047297cant Furthermore as seen in Figure 1 the downtime for minor damages in towers (support and hous-
ing) is far less signi1047297cant (014 days) than in the case of major damage (2801 days) So there is a huge economic incentive
for early detection of minor failures through the use of proper SHM techniques for towers
The most commonly used sensors for SHM of towers are accelerometers and displacement sensors15ndash17 These sensors
are suitable only for global damage identi1047297cation On the other hand strain sensors allow a more local damage detection
approach Bas et al and Bang et al make use of 1047297bre Bragg grating (FBG)-based strain sensors for SHM of tower1819
Bas et al 18 have studied the structural response of the tower to various stopping events which may be used as baseline
for detecting deterioration of the tower over a period of time Bang et al 19 have studied the stability of the FBG sensors
over time and their ability for dynamic strain assessment on a real structure Benedetti et al 20 make use of conventional
strain gauges for the fatigue monitoring near welds of the tower The results obtained are quite encouraging but the use of
this method is restricted to known hot spots of potential damage
Thus in this paper a method for damage detection of towers is proposed which is able to detect lower levels of damagethroughout the structure without a priori knowledge of the structural behaviour The methodology proposed is a customiza-
tion of neutral axis (NA) as a damage-sensitive feature for tower structures The NA has been proposed for damage detection
in bridges21ndash23 The application of the methodology directly to tower structures is not possible because of the yawing of the
turbine and the resulting mass and stress redistribution Thus a robust methodology has been proposed to overcome these
application-speci1047297c challenges and further the effectiveness of the methodology for more precise damage isolation
The present research builds on the research work presented by the authors in 24 and 25 In this paper the methodology for
damage detection using NA as a metric is extended to bi-axial neutral tracking using decision level data fusion It was
shown in 24 that the position of NA of the tower structure may be used as a robust damage indicator This is possible as
the NA is the property of the cross-section of the tower independent of the bulk temperature effects and the ambient wind
loading The position of the NA can be assessed by measuring the strains on opposite surfaces of the tower in bending The
NA of the tower subject to unknown loading both in magnitude and direction was estimated using the discrete Kalman
Filter (KF)2627 The authors then extended the methodology to include the effect of yaw of the nacelle on the observability
of the NA in25 But even then only the determination of the altitude of the damage was possible In this study through the
use of bi-axial tracking and decision level data fusion a better resolution of the damage location is possible The study is
undertaken on a 1047297nite element (FE) model of the 10 MW wind turbine tower which is seen as the future of offshore wind
Figure 1 Reliability characteristics of several sub-assemblies14
Bi-axial NA tracking for SHM in towers R N Soman P H Malinowski and W M Ostachowicz
Wind Energ (2015) copy 2015 John Wiley amp Sons Ltd
turbine industry28 The study also includes some sensitivity studies in order to establish the robustness of NA tracking as a
damage indicator under different damage locations damage extents and presence of measurement noise
The paper is organized as follows 1047297rstly the concept of NA and the theoretical formulation of the use of NA as a damage
indicator and how it can be estimated by measuring the strain at diametrically opposite locations is explained The section also
explains the theoretical background and the implementation of the KF The next section explains the FE modelling approach
used for the Technical University of Denmark (DTU) Reference Wind Turbine (RWT) 28 and the loading scenarios for the
simulations The section on numerical simulation 1047297rst establishes the need for yaw tracking followed by the need of KF for data
fusion The section on bi-axial NA tracking introduces the decision level data fusion and in turn allows us to locate the damage
with betterresolution andas such is the main contribution of the paper Some sensitivity studies of the indicator to measurement
noise and severity of damage have also been carried out in this section The last section then draws some conclusions based on
the observations made in the simulated scenarios and also points at the area of future research
2 THEORETICAL BACKGROUND
21 Neutral axis
The primary function of the tower structure is to support the hub and the nacelle of the wind turbine The nacelle and the
hub are axial loads that are eccentrically loaded on the tower This eccentric loading gives rise to axial compressive loads as
well as bending loads as shown in Figure 2The axial compression is uniform over the entire cross-section while the bending loads will be tensile at one end and
compressive at the other Furthermore the tower experiences wind loads which result in bending strains in the tower
The axial strains are given by Equation (1) while Equation (2) gives the bending strains
ε axial frac14 F
EA(1)
Figure 2 Flexural strain distribution over the beam cross-section subject to eccentric loading
Bi-axial NA tracking for SHM in towersR N Soman P H Malinowski and W M Ostachowicz
Wind Energ (2015) copy 2015 John Wiley amp Sons Ltd
where K is the Kalman gain The value of K is chosen to minimize the error covariance There are several forms of the K
matrix discussed in literature2930 One form of this matrix used for the gain computation is given by Equation (9)
K k frac14 Pk =k 1 H T k H k Pk =k 1 H T
k thorn Rk
1(9)
where P is the error covariance matrix and Rk is the measurement noise covariance matrix
Figure 3 concisely explains the implementation of the KF
In the present application the state estimate variable is X k = [NAE 1 θ ]T NAE in undamaged condition should remainconstant independent of the applied loads and the second variable tracked is the constant value 1 This constant is incor-
porated to ensure a correct relation between the state estimation matrix the observation matrix and the measurement matrix
The added bene1047297t of the constant is it makes the measurement matrix square which allows faster computations The third
component of the vector is the variable θ for the yaw angle It is a linear estimate of the measurement from the sensor The
input for the KF algorithm is essentially the state transition matrix ( A) which relates the state estimate variable in time In
this case A is a unity matrix of dimension 3 as the state estimates are random and not co-related in time The other input is
the measurement matrix ( H ) which links the state estimation variable X k and the measurement variable ( Z k ) at each time
step (measurement from the sensors) The H matrix takes into consideration the observability of the NA based on the lo-
cations of the sensors and is designed for accurate system modelling while maintaining the linearity of the measurement
step In the present case Z k = [ϵl ϵr θ ]T
vector consists of the strain measurements from the left (ε l ) and the right side
(ε r ) of the tower and the yaw angle measurement (θ ) of the nacelle
23 Damage sensitive feature
As mentioned in earlier section the NA location is independent of the loading conditions and depends only on the condi-
tion of the structure Thus the change in the NAE is taken as the damage sensitive feature and is given by Equation (10)
ΔNAE frac14NAEhealthy NAEmonitored
NAEhealthy
100 (10)
The NAEhealthy is developed at the time of the installation of sensors when the structure is known to be in healthy
condition NAEmonitored is the estimate at every time step If the change exceeds a certain threshold an alarm is raised in-
dicating damage This threshold is based on engineering judgement
3 FINITE ELEMENT MODELLING
The proposed methodology was veri1047297ed on a simulated FE model of the DTU 10 MW RWT28 The tower is a 115630 m
tall hollow steel structure The outer diameter varies linearly from 83 m at the base to 55 m at the top of the tower The
tower is divided into 10 sections where the wall thickness is constant in each section but gradually decreasing from the
bottom to the top (Figure 4) The tower is encastred at the bottom The tower is made from steel S355 with a Youngrsquos mod-
ulus of 210 GPa Poissonrsquos ratio 03 and the density 8500 kgm 3 (8 increase of the density to account for the secondary
structural components) The model was simulated in commercial FE modelling software ABAQUS31 using shell elements
based on the design data in the reference28
Figure 3 Flow chart for the implementation of the KF X is the estimate of the state A is the state transition matrix P is the state var-
iance matrix K is the Kalman gain H is the measurement matrix z is the measurement variable and the lsquok rsquo indicates the time step k
Bi-axial NA tracking for SHM in towersR N Soman P H Malinowski and W M Ostachowicz
Wind Energ (2015) copy 2015 John Wiley amp Sons Ltd
measurement noise the mean of the direct prediction changes appreciably this in turn directly affects the accuracy of the
damage detection methodology Hence the use of KF estimator is necessary
Kalman Filter is indeed a very robust tool in addition to the sensitivity studies in presence of measurement noise
more studies were performed for different values of initial guess of NA location and different process noise esti-
mates These studies indicate that the initialization of the KF does not affect the 1047297nal NAE estimate An improper initialization just affects the time required for achieving the convergence to the true value of the NAE 35 This robust-
ness to initialization allows easy implementation to real strain data from the wind turbine The KF-based NA estima-
tion has been applied to strain data available from the Nordtank NTK50041 wind turbine and may be found in 36
The implementation of the KF was carried out based on engineering judgement alone and yield very promising
results
43 Bi-axial NA tracking for damage detection
The sensor pairs are located perpendicular to each other as indicated in Figure 4 and at the centre of each element As such
if the damage is at any location not in the vicinity the observability of the damage is in the form of the sine and the cosine
component Furthermore because of the non-linearity the damage may be detected but the isolation of the damage may be
a problem Thus the bi-axial NA tracking data should be combined in order to get more realistic damage isolation The
intuitive way of combination is by taking a ratio of the observed NA along the two axes Although this may yield an ap-proximate estimate of the location it cannot be applied directly It should be kept in mind that the periodicity for sine and
cosine is 2π while that for tan ratio is π thus leading to loss of directionality Thus a decision level data fusion is necessary
where the change in the directionality is overcome by proper study of the change in the NA location along both the sensor
axes The decision level data fusion refers to the use of the individual signs of the change in the NA location in order to
make an assessment of the damage location
The damage detection strategy is based on the principle of change in the NA location in healthy and damaged state The
damage will be indicated when the relative change in the location is more than a certain threshold This threshold needs to
be determined based on engineering judgement taking into consideration the probability of positive false detection and
negative false detection and risk to the entire structure Positive false detection occurs when a signi1047297cant damage goes un-
detected while the negative false detection occurs when the damage alarm is raised when there is no damage in the struc-
ture In order to quantify the threshold based on probability several damage scenarios were studied under different
simulated noise levels The threshold was set at 1 change in NA location when the yaw angle measurement and bi-axial
NA tracking are carried out
Equation (11) gives the location of the damage in terms of the angle without taking the signs of the individual change of NA locations into consideration (without fusion)
DL frac14 tan1 ΔNAEB
ΔNAEA
(11)
where DL is the damage location in degrees (deg) ∆NAEB is the percent relative change in the NAE at B while
∆NAEA is the percent relative change in the NAE at A
The notations B and A are indicated in Figure 7 which also shows the different damage scenarios
For accurate detection of location the difference in the periodicity of the tangent function and sine and cosine functions
should be noted
Table I Statistical performance of estimators (NAE)
Scenario
KF estimation Direct estimation
Standard deviation
(mean)
Standard deviation
(mean)
(a) 00444 01064
(1633) (1637)
(b) 00474 01862(1633) (1622)
(c) 00507 04527
(1635) (1666)
(d) 00044 01168
(1633) (1641)
(e) 00499 02111
(1633) (1686)
Bi-axial NA tracking for SHM in towers R N Soman P H Malinowski and W M Ostachowicz
Wind Energ (2015) copy 2015 John Wiley amp Sons Ltd
Table II shows quantitatively that the approach is valid at the same time decision level data fusion is necessary for
accurate isolation of damage
The damage scenarios I and II indicate the validity of the decision level data fusion and taking the ratio of the changes inNA is a valid technique for fusion The damage isolation for cases I and II is valid without fusion as the damage lies in the
90ndash90deg range The damage scenario III is a point diametrically opposite to II and it shows the signi1047297cance of decision
level data fusion If the signs corresponding to the change of the location are not taken into account the isolation gives a
diametrically opposite point that may be termed as false isolation of the damage (shown in grey background) and hence
the decision level data fusion is necessary The damage scenario IV indicates that when the damage is at locations perpendic-
ular to one of theaxes theresults obtained for the isolation are notaccurate but this in essence proves that bi-axial tracking is
indeed necessary Also change in the location of NA in scenario IV in the estimate at A is signi1047297cant and hence false
detection of the damage is highly unlikely The highchangeexceeding10 also indicates very close proximity of the damage
to the strain sensors and gives further idea about the location of the damage Furthermore the decision level data fusion will
recognize that the threshold for the damage detection has not been exceeded (shown in grey background) and as such the data
should not be used thus making the decision level data fusion-based strategy more robust against false localization
44 NA-based damage detection
As explained in the earlier section the NA of the cross-section of the tower is the property of the condition of the structure
and may be used as a damage indicator
In order to validate the use of NA as damage indicator arti1047297cial damage was introduced in one element of the tower by
reducing the 1047298exural rigidity of that particular element by 20 Reduction of 1047298exural rigidity is a valid damage simulation
strategy as indicated by 24 It may be treated equivalent to loss of material thickness because of corrosion or cracking and is a
commonly used strategy for global level damage simulation in bridge structures 1 The simulated damage was detected by com-
paring the NAE of the damage and the undamaged element The relative change in the location of the NA is given in Table III
The damage is detected if the change in the NA estimation of the damaged and undamaged states is more than a speci1047297ed
threshold which is determined on engineering judgement As can be clearly observed even in the presence of measurement
noise there is a signi1047297cant difference in the change of the NAE of the damage element and the others so the chances for a
false detection are quite minimal and as such a lower threshold may be possible 1 in the case where yaw angle is being
Figure 7 Damage scenarios indicating the need for bi-axial NA tracking
Table II Bi-axial NA tracking for damage detection
Bi-axial NA tracking for SHM in towersR N Soman P H Malinowski and W M Ostachowicz
Wind Energ (2015) copy 2015 John Wiley amp Sons Ltd
tracked as well The use of yaw tracking allows this higher con1047297dence and as such is an advantage for detecting lower
levels of damage
45 Sensitivity to Severity of Damage
Ideally the damage metric should be able to detect even minor changes in the system but in actual practice these changes
are often masked by changes in ambient condition changes and measurement noise Hence the sensitivity to damage is
investigated
Table IV indicates the percent change in the NAE with change in the damage severity
It can be seen that damage above 15 severity of damage can be easily detected through the tracking of NA and as such
the methodology promises to be better than the conventional vibration-based damage detection methods which are unableto detect such low levels of damage in the presence of same levels of measurement noise 24
5 CONCLUSIONS
The paper proposes bi-axial tracking and decision level data fusion for a more accurate damage localization The method-
ology is based on tracking of NA along two perpendicular axes using KF-based estimator The study 1047297rst establishes the
effect of yaw on the measured strain and in turn the tracked NA Then it establishes the merits for the use of KF for NA
tracking estimation and data fusion of yaw angle and measured strain This KF-based NA estimation is then used to detect
damage in the simulated tower structure of the 10 MW DTU RWT
Table III NA-based damage detection in presence of noise
Table IV Performance of NA with changing severity of damage
Damage extent Undamaged NAE Damaged NAE NAE ()
5 7008 7160 2169
10 7008 7276 3825
15 7008 7374 5215
20 7008 7479 6717
25 7008 7593 8340
Bi-axial NA tracking for SHM in towers R N Soman P H Malinowski and W M Ostachowicz
Wind Energ (2015) copy 2015 John Wiley amp Sons Ltd
19 Bang H Jang M Shin H ldquoStructural health monitoring of wind turbines using 1047297ber Bragg grating based sensing
systemrdquo In SPIE Smart Structures and Materials + Nondestructive Evaluation and Health Monitoring International
Society for Optics and Photonics 2011
20 Benedetti M Fontanari V Battisti L ldquoStructural health monitoring of wind towers residual fatigue life estimationrdquo
Smart Materials and Structures 2013 22(4) 045017
21 Sigurdardottir D Glisic B ldquoDetecting minute damage in beam-like structures using the neutral axis locationrdquo Smart
Materials and Structures 2014 23(12) 125042
22 Sigurdardottir D Glisic B ldquoNeutral axis as damage sensitive featurerdquo Smart Materials and Structures 2013 22(7)
075030
23 Xia HW Ni YQ Ye XW ldquoNeutral-axis position based damage detection of bridge deck using strain measurement
formulation of a Kalman 1047297lter estimatorrdquo In Proceedings of the 6th European Workshop on Structural Health
Monitoring Dresden Germany 2012
24 Soman R Malinowski P Ostachowicz W Neutral axis tracking for damage detection in wind turbine towers In
Proceedings of the EWEA 2014 Barcelona Spain 2014
25 Soman R Malinowski PH Ostachowicz W Kalman-1047297lter based data fusion for neutral axis tracking for damage
detection in wind-turbine towers Le Cam Vincent and Mevel Laurent and Schoefs Franck EWSHM - 7th European
Workshop on Structural Health Monitoring Nantes France 201426 Welch G Bishop G An introduction to the Kalman 1047297lter 1995 [accessed online on 6-Nov-14 at httpclubsens-
cachanfrkrobotolddatapositionnementkalmanpdf ]
27 Brown RG Hwang PYC Introduction to Random Signals and Applied Kalman Filtering 3rd edn John Wiley amp Sons
New York 1997
28 DTU Wind Energy Report-I-0092 Description of the DTU 10 MW Reference Wind Turbine 2013
29 Maybeck PS Stochastic Models Estimation and Control Academic press 1982 3
30 Sorenson HW ldquoLeast-squares estimation from Gauss to KalmanrdquoSpectrum IEEE 1970 7(7) 63ndash68
31 ABAQUS Analysis User rsquos Manual Version 6 12-3 edn 2013
33 Şen Z Altunkaynak A Erdik T ldquoWind velocity vertical extrapolation by extended power lawrdquo Advances in Meteorol-
ogy 2012 2012 6 Article ID 178623 DOI 1011552012178623
34 Bas J Carriveau R Cheng S Newson T Strain response of a wind turbine tower as a function of nacelle orientation InBIONATURE 2012 The Third International Conference on Bioenvironment Biodiversity and Renewable Energies
2012 12ndash18
35 Soman R Malinowski P Ostachowicz W ldquoThreshold determination for neutral axis tracking based damage detection
in wind turbine towersrdquo In Proceedings of the EWEA Offshore2015 Copenhagen Denmark 2015 (submitted)
36 Soman R Malinowski P Ostachowicz W Paulsen U ldquoKalman 1047297lter based data fusion for neutral axis tracking in wind
turbine towersrdquo In Proceedings of the SPIE smart Structures NDE San DiegoUS 2015 (submitted)
Bi-axial NA tracking for SHM in towers R N Soman P H Malinowski and W M Ostachowicz
Wind Energ (2015) copy 2015 John Wiley amp Sons Ltd
turbine industry28 The study also includes some sensitivity studies in order to establish the robustness of NA tracking as a
damage indicator under different damage locations damage extents and presence of measurement noise
The paper is organized as follows 1047297rstly the concept of NA and the theoretical formulation of the use of NA as a damage
indicator and how it can be estimated by measuring the strain at diametrically opposite locations is explained The section also
explains the theoretical background and the implementation of the KF The next section explains the FE modelling approach
used for the Technical University of Denmark (DTU) Reference Wind Turbine (RWT) 28 and the loading scenarios for the
simulations The section on numerical simulation 1047297rst establishes the need for yaw tracking followed by the need of KF for data
fusion The section on bi-axial NA tracking introduces the decision level data fusion and in turn allows us to locate the damage
with betterresolution andas such is the main contribution of the paper Some sensitivity studies of the indicator to measurement
noise and severity of damage have also been carried out in this section The last section then draws some conclusions based on
the observations made in the simulated scenarios and also points at the area of future research
2 THEORETICAL BACKGROUND
21 Neutral axis
The primary function of the tower structure is to support the hub and the nacelle of the wind turbine The nacelle and the
hub are axial loads that are eccentrically loaded on the tower This eccentric loading gives rise to axial compressive loads as
well as bending loads as shown in Figure 2The axial compression is uniform over the entire cross-section while the bending loads will be tensile at one end and
compressive at the other Furthermore the tower experiences wind loads which result in bending strains in the tower
The axial strains are given by Equation (1) while Equation (2) gives the bending strains
ε axial frac14 F
EA(1)
Figure 2 Flexural strain distribution over the beam cross-section subject to eccentric loading
Bi-axial NA tracking for SHM in towersR N Soman P H Malinowski and W M Ostachowicz
Wind Energ (2015) copy 2015 John Wiley amp Sons Ltd
where K is the Kalman gain The value of K is chosen to minimize the error covariance There are several forms of the K
matrix discussed in literature2930 One form of this matrix used for the gain computation is given by Equation (9)
K k frac14 Pk =k 1 H T k H k Pk =k 1 H T
k thorn Rk
1(9)
where P is the error covariance matrix and Rk is the measurement noise covariance matrix
Figure 3 concisely explains the implementation of the KF
In the present application the state estimate variable is X k = [NAE 1 θ ]T NAE in undamaged condition should remainconstant independent of the applied loads and the second variable tracked is the constant value 1 This constant is incor-
porated to ensure a correct relation between the state estimation matrix the observation matrix and the measurement matrix
The added bene1047297t of the constant is it makes the measurement matrix square which allows faster computations The third
component of the vector is the variable θ for the yaw angle It is a linear estimate of the measurement from the sensor The
input for the KF algorithm is essentially the state transition matrix ( A) which relates the state estimate variable in time In
this case A is a unity matrix of dimension 3 as the state estimates are random and not co-related in time The other input is
the measurement matrix ( H ) which links the state estimation variable X k and the measurement variable ( Z k ) at each time
step (measurement from the sensors) The H matrix takes into consideration the observability of the NA based on the lo-
cations of the sensors and is designed for accurate system modelling while maintaining the linearity of the measurement
step In the present case Z k = [ϵl ϵr θ ]T
vector consists of the strain measurements from the left (ε l ) and the right side
(ε r ) of the tower and the yaw angle measurement (θ ) of the nacelle
23 Damage sensitive feature
As mentioned in earlier section the NA location is independent of the loading conditions and depends only on the condi-
tion of the structure Thus the change in the NAE is taken as the damage sensitive feature and is given by Equation (10)
ΔNAE frac14NAEhealthy NAEmonitored
NAEhealthy
100 (10)
The NAEhealthy is developed at the time of the installation of sensors when the structure is known to be in healthy
condition NAEmonitored is the estimate at every time step If the change exceeds a certain threshold an alarm is raised in-
dicating damage This threshold is based on engineering judgement
3 FINITE ELEMENT MODELLING
The proposed methodology was veri1047297ed on a simulated FE model of the DTU 10 MW RWT28 The tower is a 115630 m
tall hollow steel structure The outer diameter varies linearly from 83 m at the base to 55 m at the top of the tower The
tower is divided into 10 sections where the wall thickness is constant in each section but gradually decreasing from the
bottom to the top (Figure 4) The tower is encastred at the bottom The tower is made from steel S355 with a Youngrsquos mod-
ulus of 210 GPa Poissonrsquos ratio 03 and the density 8500 kgm 3 (8 increase of the density to account for the secondary
structural components) The model was simulated in commercial FE modelling software ABAQUS31 using shell elements
based on the design data in the reference28
Figure 3 Flow chart for the implementation of the KF X is the estimate of the state A is the state transition matrix P is the state var-
iance matrix K is the Kalman gain H is the measurement matrix z is the measurement variable and the lsquok rsquo indicates the time step k
Bi-axial NA tracking for SHM in towersR N Soman P H Malinowski and W M Ostachowicz
Wind Energ (2015) copy 2015 John Wiley amp Sons Ltd
measurement noise the mean of the direct prediction changes appreciably this in turn directly affects the accuracy of the
damage detection methodology Hence the use of KF estimator is necessary
Kalman Filter is indeed a very robust tool in addition to the sensitivity studies in presence of measurement noise
more studies were performed for different values of initial guess of NA location and different process noise esti-
mates These studies indicate that the initialization of the KF does not affect the 1047297nal NAE estimate An improper initialization just affects the time required for achieving the convergence to the true value of the NAE 35 This robust-
ness to initialization allows easy implementation to real strain data from the wind turbine The KF-based NA estima-
tion has been applied to strain data available from the Nordtank NTK50041 wind turbine and may be found in 36
The implementation of the KF was carried out based on engineering judgement alone and yield very promising
results
43 Bi-axial NA tracking for damage detection
The sensor pairs are located perpendicular to each other as indicated in Figure 4 and at the centre of each element As such
if the damage is at any location not in the vicinity the observability of the damage is in the form of the sine and the cosine
component Furthermore because of the non-linearity the damage may be detected but the isolation of the damage may be
a problem Thus the bi-axial NA tracking data should be combined in order to get more realistic damage isolation The
intuitive way of combination is by taking a ratio of the observed NA along the two axes Although this may yield an ap-proximate estimate of the location it cannot be applied directly It should be kept in mind that the periodicity for sine and
cosine is 2π while that for tan ratio is π thus leading to loss of directionality Thus a decision level data fusion is necessary
where the change in the directionality is overcome by proper study of the change in the NA location along both the sensor
axes The decision level data fusion refers to the use of the individual signs of the change in the NA location in order to
make an assessment of the damage location
The damage detection strategy is based on the principle of change in the NA location in healthy and damaged state The
damage will be indicated when the relative change in the location is more than a certain threshold This threshold needs to
be determined based on engineering judgement taking into consideration the probability of positive false detection and
negative false detection and risk to the entire structure Positive false detection occurs when a signi1047297cant damage goes un-
detected while the negative false detection occurs when the damage alarm is raised when there is no damage in the struc-
ture In order to quantify the threshold based on probability several damage scenarios were studied under different
simulated noise levels The threshold was set at 1 change in NA location when the yaw angle measurement and bi-axial
NA tracking are carried out
Equation (11) gives the location of the damage in terms of the angle without taking the signs of the individual change of NA locations into consideration (without fusion)
DL frac14 tan1 ΔNAEB
ΔNAEA
(11)
where DL is the damage location in degrees (deg) ∆NAEB is the percent relative change in the NAE at B while
∆NAEA is the percent relative change in the NAE at A
The notations B and A are indicated in Figure 7 which also shows the different damage scenarios
For accurate detection of location the difference in the periodicity of the tangent function and sine and cosine functions
should be noted
Table I Statistical performance of estimators (NAE)
Scenario
KF estimation Direct estimation
Standard deviation
(mean)
Standard deviation
(mean)
(a) 00444 01064
(1633) (1637)
(b) 00474 01862(1633) (1622)
(c) 00507 04527
(1635) (1666)
(d) 00044 01168
(1633) (1641)
(e) 00499 02111
(1633) (1686)
Bi-axial NA tracking for SHM in towers R N Soman P H Malinowski and W M Ostachowicz
Wind Energ (2015) copy 2015 John Wiley amp Sons Ltd
Table II shows quantitatively that the approach is valid at the same time decision level data fusion is necessary for
accurate isolation of damage
The damage scenarios I and II indicate the validity of the decision level data fusion and taking the ratio of the changes inNA is a valid technique for fusion The damage isolation for cases I and II is valid without fusion as the damage lies in the
90ndash90deg range The damage scenario III is a point diametrically opposite to II and it shows the signi1047297cance of decision
level data fusion If the signs corresponding to the change of the location are not taken into account the isolation gives a
diametrically opposite point that may be termed as false isolation of the damage (shown in grey background) and hence
the decision level data fusion is necessary The damage scenario IV indicates that when the damage is at locations perpendic-
ular to one of theaxes theresults obtained for the isolation are notaccurate but this in essence proves that bi-axial tracking is
indeed necessary Also change in the location of NA in scenario IV in the estimate at A is signi1047297cant and hence false
detection of the damage is highly unlikely The highchangeexceeding10 also indicates very close proximity of the damage
to the strain sensors and gives further idea about the location of the damage Furthermore the decision level data fusion will
recognize that the threshold for the damage detection has not been exceeded (shown in grey background) and as such the data
should not be used thus making the decision level data fusion-based strategy more robust against false localization
44 NA-based damage detection
As explained in the earlier section the NA of the cross-section of the tower is the property of the condition of the structure
and may be used as a damage indicator
In order to validate the use of NA as damage indicator arti1047297cial damage was introduced in one element of the tower by
reducing the 1047298exural rigidity of that particular element by 20 Reduction of 1047298exural rigidity is a valid damage simulation
strategy as indicated by 24 It may be treated equivalent to loss of material thickness because of corrosion or cracking and is a
commonly used strategy for global level damage simulation in bridge structures 1 The simulated damage was detected by com-
paring the NAE of the damage and the undamaged element The relative change in the location of the NA is given in Table III
The damage is detected if the change in the NA estimation of the damaged and undamaged states is more than a speci1047297ed
threshold which is determined on engineering judgement As can be clearly observed even in the presence of measurement
noise there is a signi1047297cant difference in the change of the NAE of the damage element and the others so the chances for a
false detection are quite minimal and as such a lower threshold may be possible 1 in the case where yaw angle is being
Figure 7 Damage scenarios indicating the need for bi-axial NA tracking
Table II Bi-axial NA tracking for damage detection
Bi-axial NA tracking for SHM in towersR N Soman P H Malinowski and W M Ostachowicz
Wind Energ (2015) copy 2015 John Wiley amp Sons Ltd
tracked as well The use of yaw tracking allows this higher con1047297dence and as such is an advantage for detecting lower
levels of damage
45 Sensitivity to Severity of Damage
Ideally the damage metric should be able to detect even minor changes in the system but in actual practice these changes
are often masked by changes in ambient condition changes and measurement noise Hence the sensitivity to damage is
investigated
Table IV indicates the percent change in the NAE with change in the damage severity
It can be seen that damage above 15 severity of damage can be easily detected through the tracking of NA and as such
the methodology promises to be better than the conventional vibration-based damage detection methods which are unableto detect such low levels of damage in the presence of same levels of measurement noise 24
5 CONCLUSIONS
The paper proposes bi-axial tracking and decision level data fusion for a more accurate damage localization The method-
ology is based on tracking of NA along two perpendicular axes using KF-based estimator The study 1047297rst establishes the
effect of yaw on the measured strain and in turn the tracked NA Then it establishes the merits for the use of KF for NA
tracking estimation and data fusion of yaw angle and measured strain This KF-based NA estimation is then used to detect
damage in the simulated tower structure of the 10 MW DTU RWT
Table III NA-based damage detection in presence of noise
Table IV Performance of NA with changing severity of damage
Damage extent Undamaged NAE Damaged NAE NAE ()
5 7008 7160 2169
10 7008 7276 3825
15 7008 7374 5215
20 7008 7479 6717
25 7008 7593 8340
Bi-axial NA tracking for SHM in towers R N Soman P H Malinowski and W M Ostachowicz
Wind Energ (2015) copy 2015 John Wiley amp Sons Ltd
19 Bang H Jang M Shin H ldquoStructural health monitoring of wind turbines using 1047297ber Bragg grating based sensing
systemrdquo In SPIE Smart Structures and Materials + Nondestructive Evaluation and Health Monitoring International
Society for Optics and Photonics 2011
20 Benedetti M Fontanari V Battisti L ldquoStructural health monitoring of wind towers residual fatigue life estimationrdquo
Smart Materials and Structures 2013 22(4) 045017
21 Sigurdardottir D Glisic B ldquoDetecting minute damage in beam-like structures using the neutral axis locationrdquo Smart
Materials and Structures 2014 23(12) 125042
22 Sigurdardottir D Glisic B ldquoNeutral axis as damage sensitive featurerdquo Smart Materials and Structures 2013 22(7)
075030
23 Xia HW Ni YQ Ye XW ldquoNeutral-axis position based damage detection of bridge deck using strain measurement
formulation of a Kalman 1047297lter estimatorrdquo In Proceedings of the 6th European Workshop on Structural Health
Monitoring Dresden Germany 2012
24 Soman R Malinowski P Ostachowicz W Neutral axis tracking for damage detection in wind turbine towers In
Proceedings of the EWEA 2014 Barcelona Spain 2014
25 Soman R Malinowski PH Ostachowicz W Kalman-1047297lter based data fusion for neutral axis tracking for damage
detection in wind-turbine towers Le Cam Vincent and Mevel Laurent and Schoefs Franck EWSHM - 7th European
Workshop on Structural Health Monitoring Nantes France 201426 Welch G Bishop G An introduction to the Kalman 1047297lter 1995 [accessed online on 6-Nov-14 at httpclubsens-
cachanfrkrobotolddatapositionnementkalmanpdf ]
27 Brown RG Hwang PYC Introduction to Random Signals and Applied Kalman Filtering 3rd edn John Wiley amp Sons
New York 1997
28 DTU Wind Energy Report-I-0092 Description of the DTU 10 MW Reference Wind Turbine 2013
29 Maybeck PS Stochastic Models Estimation and Control Academic press 1982 3
30 Sorenson HW ldquoLeast-squares estimation from Gauss to KalmanrdquoSpectrum IEEE 1970 7(7) 63ndash68
31 ABAQUS Analysis User rsquos Manual Version 6 12-3 edn 2013
33 Şen Z Altunkaynak A Erdik T ldquoWind velocity vertical extrapolation by extended power lawrdquo Advances in Meteorol-
ogy 2012 2012 6 Article ID 178623 DOI 1011552012178623
34 Bas J Carriveau R Cheng S Newson T Strain response of a wind turbine tower as a function of nacelle orientation InBIONATURE 2012 The Third International Conference on Bioenvironment Biodiversity and Renewable Energies
2012 12ndash18
35 Soman R Malinowski P Ostachowicz W ldquoThreshold determination for neutral axis tracking based damage detection
in wind turbine towersrdquo In Proceedings of the EWEA Offshore2015 Copenhagen Denmark 2015 (submitted)
36 Soman R Malinowski P Ostachowicz W Paulsen U ldquoKalman 1047297lter based data fusion for neutral axis tracking in wind
turbine towersrdquo In Proceedings of the SPIE smart Structures NDE San DiegoUS 2015 (submitted)
Bi-axial NA tracking for SHM in towers R N Soman P H Malinowski and W M Ostachowicz
Wind Energ (2015) copy 2015 John Wiley amp Sons Ltd
where K is the Kalman gain The value of K is chosen to minimize the error covariance There are several forms of the K
matrix discussed in literature2930 One form of this matrix used for the gain computation is given by Equation (9)
K k frac14 Pk =k 1 H T k H k Pk =k 1 H T
k thorn Rk
1(9)
where P is the error covariance matrix and Rk is the measurement noise covariance matrix
Figure 3 concisely explains the implementation of the KF
In the present application the state estimate variable is X k = [NAE 1 θ ]T NAE in undamaged condition should remainconstant independent of the applied loads and the second variable tracked is the constant value 1 This constant is incor-
porated to ensure a correct relation between the state estimation matrix the observation matrix and the measurement matrix
The added bene1047297t of the constant is it makes the measurement matrix square which allows faster computations The third
component of the vector is the variable θ for the yaw angle It is a linear estimate of the measurement from the sensor The
input for the KF algorithm is essentially the state transition matrix ( A) which relates the state estimate variable in time In
this case A is a unity matrix of dimension 3 as the state estimates are random and not co-related in time The other input is
the measurement matrix ( H ) which links the state estimation variable X k and the measurement variable ( Z k ) at each time
step (measurement from the sensors) The H matrix takes into consideration the observability of the NA based on the lo-
cations of the sensors and is designed for accurate system modelling while maintaining the linearity of the measurement
step In the present case Z k = [ϵl ϵr θ ]T
vector consists of the strain measurements from the left (ε l ) and the right side
(ε r ) of the tower and the yaw angle measurement (θ ) of the nacelle
23 Damage sensitive feature
As mentioned in earlier section the NA location is independent of the loading conditions and depends only on the condi-
tion of the structure Thus the change in the NAE is taken as the damage sensitive feature and is given by Equation (10)
ΔNAE frac14NAEhealthy NAEmonitored
NAEhealthy
100 (10)
The NAEhealthy is developed at the time of the installation of sensors when the structure is known to be in healthy
condition NAEmonitored is the estimate at every time step If the change exceeds a certain threshold an alarm is raised in-
dicating damage This threshold is based on engineering judgement
3 FINITE ELEMENT MODELLING
The proposed methodology was veri1047297ed on a simulated FE model of the DTU 10 MW RWT28 The tower is a 115630 m
tall hollow steel structure The outer diameter varies linearly from 83 m at the base to 55 m at the top of the tower The
tower is divided into 10 sections where the wall thickness is constant in each section but gradually decreasing from the
bottom to the top (Figure 4) The tower is encastred at the bottom The tower is made from steel S355 with a Youngrsquos mod-
ulus of 210 GPa Poissonrsquos ratio 03 and the density 8500 kgm 3 (8 increase of the density to account for the secondary
structural components) The model was simulated in commercial FE modelling software ABAQUS31 using shell elements
based on the design data in the reference28
Figure 3 Flow chart for the implementation of the KF X is the estimate of the state A is the state transition matrix P is the state var-
iance matrix K is the Kalman gain H is the measurement matrix z is the measurement variable and the lsquok rsquo indicates the time step k
Bi-axial NA tracking for SHM in towersR N Soman P H Malinowski and W M Ostachowicz
Wind Energ (2015) copy 2015 John Wiley amp Sons Ltd
measurement noise the mean of the direct prediction changes appreciably this in turn directly affects the accuracy of the
damage detection methodology Hence the use of KF estimator is necessary
Kalman Filter is indeed a very robust tool in addition to the sensitivity studies in presence of measurement noise
more studies were performed for different values of initial guess of NA location and different process noise esti-
mates These studies indicate that the initialization of the KF does not affect the 1047297nal NAE estimate An improper initialization just affects the time required for achieving the convergence to the true value of the NAE 35 This robust-
ness to initialization allows easy implementation to real strain data from the wind turbine The KF-based NA estima-
tion has been applied to strain data available from the Nordtank NTK50041 wind turbine and may be found in 36
The implementation of the KF was carried out based on engineering judgement alone and yield very promising
results
43 Bi-axial NA tracking for damage detection
The sensor pairs are located perpendicular to each other as indicated in Figure 4 and at the centre of each element As such
if the damage is at any location not in the vicinity the observability of the damage is in the form of the sine and the cosine
component Furthermore because of the non-linearity the damage may be detected but the isolation of the damage may be
a problem Thus the bi-axial NA tracking data should be combined in order to get more realistic damage isolation The
intuitive way of combination is by taking a ratio of the observed NA along the two axes Although this may yield an ap-proximate estimate of the location it cannot be applied directly It should be kept in mind that the periodicity for sine and
cosine is 2π while that for tan ratio is π thus leading to loss of directionality Thus a decision level data fusion is necessary
where the change in the directionality is overcome by proper study of the change in the NA location along both the sensor
axes The decision level data fusion refers to the use of the individual signs of the change in the NA location in order to
make an assessment of the damage location
The damage detection strategy is based on the principle of change in the NA location in healthy and damaged state The
damage will be indicated when the relative change in the location is more than a certain threshold This threshold needs to
be determined based on engineering judgement taking into consideration the probability of positive false detection and
negative false detection and risk to the entire structure Positive false detection occurs when a signi1047297cant damage goes un-
detected while the negative false detection occurs when the damage alarm is raised when there is no damage in the struc-
ture In order to quantify the threshold based on probability several damage scenarios were studied under different
simulated noise levels The threshold was set at 1 change in NA location when the yaw angle measurement and bi-axial
NA tracking are carried out
Equation (11) gives the location of the damage in terms of the angle without taking the signs of the individual change of NA locations into consideration (without fusion)
DL frac14 tan1 ΔNAEB
ΔNAEA
(11)
where DL is the damage location in degrees (deg) ∆NAEB is the percent relative change in the NAE at B while
∆NAEA is the percent relative change in the NAE at A
The notations B and A are indicated in Figure 7 which also shows the different damage scenarios
For accurate detection of location the difference in the periodicity of the tangent function and sine and cosine functions
should be noted
Table I Statistical performance of estimators (NAE)
Scenario
KF estimation Direct estimation
Standard deviation
(mean)
Standard deviation
(mean)
(a) 00444 01064
(1633) (1637)
(b) 00474 01862(1633) (1622)
(c) 00507 04527
(1635) (1666)
(d) 00044 01168
(1633) (1641)
(e) 00499 02111
(1633) (1686)
Bi-axial NA tracking for SHM in towers R N Soman P H Malinowski and W M Ostachowicz
Wind Energ (2015) copy 2015 John Wiley amp Sons Ltd
Table II shows quantitatively that the approach is valid at the same time decision level data fusion is necessary for
accurate isolation of damage
The damage scenarios I and II indicate the validity of the decision level data fusion and taking the ratio of the changes inNA is a valid technique for fusion The damage isolation for cases I and II is valid without fusion as the damage lies in the
90ndash90deg range The damage scenario III is a point diametrically opposite to II and it shows the signi1047297cance of decision
level data fusion If the signs corresponding to the change of the location are not taken into account the isolation gives a
diametrically opposite point that may be termed as false isolation of the damage (shown in grey background) and hence
the decision level data fusion is necessary The damage scenario IV indicates that when the damage is at locations perpendic-
ular to one of theaxes theresults obtained for the isolation are notaccurate but this in essence proves that bi-axial tracking is
indeed necessary Also change in the location of NA in scenario IV in the estimate at A is signi1047297cant and hence false
detection of the damage is highly unlikely The highchangeexceeding10 also indicates very close proximity of the damage
to the strain sensors and gives further idea about the location of the damage Furthermore the decision level data fusion will
recognize that the threshold for the damage detection has not been exceeded (shown in grey background) and as such the data
should not be used thus making the decision level data fusion-based strategy more robust against false localization
44 NA-based damage detection
As explained in the earlier section the NA of the cross-section of the tower is the property of the condition of the structure
and may be used as a damage indicator
In order to validate the use of NA as damage indicator arti1047297cial damage was introduced in one element of the tower by
reducing the 1047298exural rigidity of that particular element by 20 Reduction of 1047298exural rigidity is a valid damage simulation
strategy as indicated by 24 It may be treated equivalent to loss of material thickness because of corrosion or cracking and is a
commonly used strategy for global level damage simulation in bridge structures 1 The simulated damage was detected by com-
paring the NAE of the damage and the undamaged element The relative change in the location of the NA is given in Table III
The damage is detected if the change in the NA estimation of the damaged and undamaged states is more than a speci1047297ed
threshold which is determined on engineering judgement As can be clearly observed even in the presence of measurement
noise there is a signi1047297cant difference in the change of the NAE of the damage element and the others so the chances for a
false detection are quite minimal and as such a lower threshold may be possible 1 in the case where yaw angle is being
Figure 7 Damage scenarios indicating the need for bi-axial NA tracking
Table II Bi-axial NA tracking for damage detection
Bi-axial NA tracking for SHM in towersR N Soman P H Malinowski and W M Ostachowicz
Wind Energ (2015) copy 2015 John Wiley amp Sons Ltd
tracked as well The use of yaw tracking allows this higher con1047297dence and as such is an advantage for detecting lower
levels of damage
45 Sensitivity to Severity of Damage
Ideally the damage metric should be able to detect even minor changes in the system but in actual practice these changes
are often masked by changes in ambient condition changes and measurement noise Hence the sensitivity to damage is
investigated
Table IV indicates the percent change in the NAE with change in the damage severity
It can be seen that damage above 15 severity of damage can be easily detected through the tracking of NA and as such
the methodology promises to be better than the conventional vibration-based damage detection methods which are unableto detect such low levels of damage in the presence of same levels of measurement noise 24
5 CONCLUSIONS
The paper proposes bi-axial tracking and decision level data fusion for a more accurate damage localization The method-
ology is based on tracking of NA along two perpendicular axes using KF-based estimator The study 1047297rst establishes the
effect of yaw on the measured strain and in turn the tracked NA Then it establishes the merits for the use of KF for NA
tracking estimation and data fusion of yaw angle and measured strain This KF-based NA estimation is then used to detect
damage in the simulated tower structure of the 10 MW DTU RWT
Table III NA-based damage detection in presence of noise
Table IV Performance of NA with changing severity of damage
Damage extent Undamaged NAE Damaged NAE NAE ()
5 7008 7160 2169
10 7008 7276 3825
15 7008 7374 5215
20 7008 7479 6717
25 7008 7593 8340
Bi-axial NA tracking for SHM in towers R N Soman P H Malinowski and W M Ostachowicz
Wind Energ (2015) copy 2015 John Wiley amp Sons Ltd
19 Bang H Jang M Shin H ldquoStructural health monitoring of wind turbines using 1047297ber Bragg grating based sensing
systemrdquo In SPIE Smart Structures and Materials + Nondestructive Evaluation and Health Monitoring International
Society for Optics and Photonics 2011
20 Benedetti M Fontanari V Battisti L ldquoStructural health monitoring of wind towers residual fatigue life estimationrdquo
Smart Materials and Structures 2013 22(4) 045017
21 Sigurdardottir D Glisic B ldquoDetecting minute damage in beam-like structures using the neutral axis locationrdquo Smart
Materials and Structures 2014 23(12) 125042
22 Sigurdardottir D Glisic B ldquoNeutral axis as damage sensitive featurerdquo Smart Materials and Structures 2013 22(7)
075030
23 Xia HW Ni YQ Ye XW ldquoNeutral-axis position based damage detection of bridge deck using strain measurement
formulation of a Kalman 1047297lter estimatorrdquo In Proceedings of the 6th European Workshop on Structural Health
Monitoring Dresden Germany 2012
24 Soman R Malinowski P Ostachowicz W Neutral axis tracking for damage detection in wind turbine towers In
Proceedings of the EWEA 2014 Barcelona Spain 2014
25 Soman R Malinowski PH Ostachowicz W Kalman-1047297lter based data fusion for neutral axis tracking for damage
detection in wind-turbine towers Le Cam Vincent and Mevel Laurent and Schoefs Franck EWSHM - 7th European
Workshop on Structural Health Monitoring Nantes France 201426 Welch G Bishop G An introduction to the Kalman 1047297lter 1995 [accessed online on 6-Nov-14 at httpclubsens-
cachanfrkrobotolddatapositionnementkalmanpdf ]
27 Brown RG Hwang PYC Introduction to Random Signals and Applied Kalman Filtering 3rd edn John Wiley amp Sons
New York 1997
28 DTU Wind Energy Report-I-0092 Description of the DTU 10 MW Reference Wind Turbine 2013
29 Maybeck PS Stochastic Models Estimation and Control Academic press 1982 3
30 Sorenson HW ldquoLeast-squares estimation from Gauss to KalmanrdquoSpectrum IEEE 1970 7(7) 63ndash68
31 ABAQUS Analysis User rsquos Manual Version 6 12-3 edn 2013
33 Şen Z Altunkaynak A Erdik T ldquoWind velocity vertical extrapolation by extended power lawrdquo Advances in Meteorol-
ogy 2012 2012 6 Article ID 178623 DOI 1011552012178623
34 Bas J Carriveau R Cheng S Newson T Strain response of a wind turbine tower as a function of nacelle orientation InBIONATURE 2012 The Third International Conference on Bioenvironment Biodiversity and Renewable Energies
2012 12ndash18
35 Soman R Malinowski P Ostachowicz W ldquoThreshold determination for neutral axis tracking based damage detection
in wind turbine towersrdquo In Proceedings of the EWEA Offshore2015 Copenhagen Denmark 2015 (submitted)
36 Soman R Malinowski P Ostachowicz W Paulsen U ldquoKalman 1047297lter based data fusion for neutral axis tracking in wind
turbine towersrdquo In Proceedings of the SPIE smart Structures NDE San DiegoUS 2015 (submitted)
Bi-axial NA tracking for SHM in towers R N Soman P H Malinowski and W M Ostachowicz
Wind Energ (2015) copy 2015 John Wiley amp Sons Ltd
where K is the Kalman gain The value of K is chosen to minimize the error covariance There are several forms of the K
matrix discussed in literature2930 One form of this matrix used for the gain computation is given by Equation (9)
K k frac14 Pk =k 1 H T k H k Pk =k 1 H T
k thorn Rk
1(9)
where P is the error covariance matrix and Rk is the measurement noise covariance matrix
Figure 3 concisely explains the implementation of the KF
In the present application the state estimate variable is X k = [NAE 1 θ ]T NAE in undamaged condition should remainconstant independent of the applied loads and the second variable tracked is the constant value 1 This constant is incor-
porated to ensure a correct relation between the state estimation matrix the observation matrix and the measurement matrix
The added bene1047297t of the constant is it makes the measurement matrix square which allows faster computations The third
component of the vector is the variable θ for the yaw angle It is a linear estimate of the measurement from the sensor The
input for the KF algorithm is essentially the state transition matrix ( A) which relates the state estimate variable in time In
this case A is a unity matrix of dimension 3 as the state estimates are random and not co-related in time The other input is
the measurement matrix ( H ) which links the state estimation variable X k and the measurement variable ( Z k ) at each time
step (measurement from the sensors) The H matrix takes into consideration the observability of the NA based on the lo-
cations of the sensors and is designed for accurate system modelling while maintaining the linearity of the measurement
step In the present case Z k = [ϵl ϵr θ ]T
vector consists of the strain measurements from the left (ε l ) and the right side
(ε r ) of the tower and the yaw angle measurement (θ ) of the nacelle
23 Damage sensitive feature
As mentioned in earlier section the NA location is independent of the loading conditions and depends only on the condi-
tion of the structure Thus the change in the NAE is taken as the damage sensitive feature and is given by Equation (10)
ΔNAE frac14NAEhealthy NAEmonitored
NAEhealthy
100 (10)
The NAEhealthy is developed at the time of the installation of sensors when the structure is known to be in healthy
condition NAEmonitored is the estimate at every time step If the change exceeds a certain threshold an alarm is raised in-
dicating damage This threshold is based on engineering judgement
3 FINITE ELEMENT MODELLING
The proposed methodology was veri1047297ed on a simulated FE model of the DTU 10 MW RWT28 The tower is a 115630 m
tall hollow steel structure The outer diameter varies linearly from 83 m at the base to 55 m at the top of the tower The
tower is divided into 10 sections where the wall thickness is constant in each section but gradually decreasing from the
bottom to the top (Figure 4) The tower is encastred at the bottom The tower is made from steel S355 with a Youngrsquos mod-
ulus of 210 GPa Poissonrsquos ratio 03 and the density 8500 kgm 3 (8 increase of the density to account for the secondary
structural components) The model was simulated in commercial FE modelling software ABAQUS31 using shell elements
based on the design data in the reference28
Figure 3 Flow chart for the implementation of the KF X is the estimate of the state A is the state transition matrix P is the state var-
iance matrix K is the Kalman gain H is the measurement matrix z is the measurement variable and the lsquok rsquo indicates the time step k
Bi-axial NA tracking for SHM in towersR N Soman P H Malinowski and W M Ostachowicz
Wind Energ (2015) copy 2015 John Wiley amp Sons Ltd
measurement noise the mean of the direct prediction changes appreciably this in turn directly affects the accuracy of the
damage detection methodology Hence the use of KF estimator is necessary
Kalman Filter is indeed a very robust tool in addition to the sensitivity studies in presence of measurement noise
more studies were performed for different values of initial guess of NA location and different process noise esti-
mates These studies indicate that the initialization of the KF does not affect the 1047297nal NAE estimate An improper initialization just affects the time required for achieving the convergence to the true value of the NAE 35 This robust-
ness to initialization allows easy implementation to real strain data from the wind turbine The KF-based NA estima-
tion has been applied to strain data available from the Nordtank NTK50041 wind turbine and may be found in 36
The implementation of the KF was carried out based on engineering judgement alone and yield very promising
results
43 Bi-axial NA tracking for damage detection
The sensor pairs are located perpendicular to each other as indicated in Figure 4 and at the centre of each element As such
if the damage is at any location not in the vicinity the observability of the damage is in the form of the sine and the cosine
component Furthermore because of the non-linearity the damage may be detected but the isolation of the damage may be
a problem Thus the bi-axial NA tracking data should be combined in order to get more realistic damage isolation The
intuitive way of combination is by taking a ratio of the observed NA along the two axes Although this may yield an ap-proximate estimate of the location it cannot be applied directly It should be kept in mind that the periodicity for sine and
cosine is 2π while that for tan ratio is π thus leading to loss of directionality Thus a decision level data fusion is necessary
where the change in the directionality is overcome by proper study of the change in the NA location along both the sensor
axes The decision level data fusion refers to the use of the individual signs of the change in the NA location in order to
make an assessment of the damage location
The damage detection strategy is based on the principle of change in the NA location in healthy and damaged state The
damage will be indicated when the relative change in the location is more than a certain threshold This threshold needs to
be determined based on engineering judgement taking into consideration the probability of positive false detection and
negative false detection and risk to the entire structure Positive false detection occurs when a signi1047297cant damage goes un-
detected while the negative false detection occurs when the damage alarm is raised when there is no damage in the struc-
ture In order to quantify the threshold based on probability several damage scenarios were studied under different
simulated noise levels The threshold was set at 1 change in NA location when the yaw angle measurement and bi-axial
NA tracking are carried out
Equation (11) gives the location of the damage in terms of the angle without taking the signs of the individual change of NA locations into consideration (without fusion)
DL frac14 tan1 ΔNAEB
ΔNAEA
(11)
where DL is the damage location in degrees (deg) ∆NAEB is the percent relative change in the NAE at B while
∆NAEA is the percent relative change in the NAE at A
The notations B and A are indicated in Figure 7 which also shows the different damage scenarios
For accurate detection of location the difference in the periodicity of the tangent function and sine and cosine functions
should be noted
Table I Statistical performance of estimators (NAE)
Scenario
KF estimation Direct estimation
Standard deviation
(mean)
Standard deviation
(mean)
(a) 00444 01064
(1633) (1637)
(b) 00474 01862(1633) (1622)
(c) 00507 04527
(1635) (1666)
(d) 00044 01168
(1633) (1641)
(e) 00499 02111
(1633) (1686)
Bi-axial NA tracking for SHM in towers R N Soman P H Malinowski and W M Ostachowicz
Wind Energ (2015) copy 2015 John Wiley amp Sons Ltd
Table II shows quantitatively that the approach is valid at the same time decision level data fusion is necessary for
accurate isolation of damage
The damage scenarios I and II indicate the validity of the decision level data fusion and taking the ratio of the changes inNA is a valid technique for fusion The damage isolation for cases I and II is valid without fusion as the damage lies in the
90ndash90deg range The damage scenario III is a point diametrically opposite to II and it shows the signi1047297cance of decision
level data fusion If the signs corresponding to the change of the location are not taken into account the isolation gives a
diametrically opposite point that may be termed as false isolation of the damage (shown in grey background) and hence
the decision level data fusion is necessary The damage scenario IV indicates that when the damage is at locations perpendic-
ular to one of theaxes theresults obtained for the isolation are notaccurate but this in essence proves that bi-axial tracking is
indeed necessary Also change in the location of NA in scenario IV in the estimate at A is signi1047297cant and hence false
detection of the damage is highly unlikely The highchangeexceeding10 also indicates very close proximity of the damage
to the strain sensors and gives further idea about the location of the damage Furthermore the decision level data fusion will
recognize that the threshold for the damage detection has not been exceeded (shown in grey background) and as such the data
should not be used thus making the decision level data fusion-based strategy more robust against false localization
44 NA-based damage detection
As explained in the earlier section the NA of the cross-section of the tower is the property of the condition of the structure
and may be used as a damage indicator
In order to validate the use of NA as damage indicator arti1047297cial damage was introduced in one element of the tower by
reducing the 1047298exural rigidity of that particular element by 20 Reduction of 1047298exural rigidity is a valid damage simulation
strategy as indicated by 24 It may be treated equivalent to loss of material thickness because of corrosion or cracking and is a
commonly used strategy for global level damage simulation in bridge structures 1 The simulated damage was detected by com-
paring the NAE of the damage and the undamaged element The relative change in the location of the NA is given in Table III
The damage is detected if the change in the NA estimation of the damaged and undamaged states is more than a speci1047297ed
threshold which is determined on engineering judgement As can be clearly observed even in the presence of measurement
noise there is a signi1047297cant difference in the change of the NAE of the damage element and the others so the chances for a
false detection are quite minimal and as such a lower threshold may be possible 1 in the case where yaw angle is being
Figure 7 Damage scenarios indicating the need for bi-axial NA tracking
Table II Bi-axial NA tracking for damage detection
Bi-axial NA tracking for SHM in towersR N Soman P H Malinowski and W M Ostachowicz
Wind Energ (2015) copy 2015 John Wiley amp Sons Ltd
tracked as well The use of yaw tracking allows this higher con1047297dence and as such is an advantage for detecting lower
levels of damage
45 Sensitivity to Severity of Damage
Ideally the damage metric should be able to detect even minor changes in the system but in actual practice these changes
are often masked by changes in ambient condition changes and measurement noise Hence the sensitivity to damage is
investigated
Table IV indicates the percent change in the NAE with change in the damage severity
It can be seen that damage above 15 severity of damage can be easily detected through the tracking of NA and as such
the methodology promises to be better than the conventional vibration-based damage detection methods which are unableto detect such low levels of damage in the presence of same levels of measurement noise 24
5 CONCLUSIONS
The paper proposes bi-axial tracking and decision level data fusion for a more accurate damage localization The method-
ology is based on tracking of NA along two perpendicular axes using KF-based estimator The study 1047297rst establishes the
effect of yaw on the measured strain and in turn the tracked NA Then it establishes the merits for the use of KF for NA
tracking estimation and data fusion of yaw angle and measured strain This KF-based NA estimation is then used to detect
damage in the simulated tower structure of the 10 MW DTU RWT
Table III NA-based damage detection in presence of noise
Table IV Performance of NA with changing severity of damage
Damage extent Undamaged NAE Damaged NAE NAE ()
5 7008 7160 2169
10 7008 7276 3825
15 7008 7374 5215
20 7008 7479 6717
25 7008 7593 8340
Bi-axial NA tracking for SHM in towers R N Soman P H Malinowski and W M Ostachowicz
Wind Energ (2015) copy 2015 John Wiley amp Sons Ltd
19 Bang H Jang M Shin H ldquoStructural health monitoring of wind turbines using 1047297ber Bragg grating based sensing
systemrdquo In SPIE Smart Structures and Materials + Nondestructive Evaluation and Health Monitoring International
Society for Optics and Photonics 2011
20 Benedetti M Fontanari V Battisti L ldquoStructural health monitoring of wind towers residual fatigue life estimationrdquo
Smart Materials and Structures 2013 22(4) 045017
21 Sigurdardottir D Glisic B ldquoDetecting minute damage in beam-like structures using the neutral axis locationrdquo Smart
Materials and Structures 2014 23(12) 125042
22 Sigurdardottir D Glisic B ldquoNeutral axis as damage sensitive featurerdquo Smart Materials and Structures 2013 22(7)
075030
23 Xia HW Ni YQ Ye XW ldquoNeutral-axis position based damage detection of bridge deck using strain measurement
formulation of a Kalman 1047297lter estimatorrdquo In Proceedings of the 6th European Workshop on Structural Health
Monitoring Dresden Germany 2012
24 Soman R Malinowski P Ostachowicz W Neutral axis tracking for damage detection in wind turbine towers In
Proceedings of the EWEA 2014 Barcelona Spain 2014
25 Soman R Malinowski PH Ostachowicz W Kalman-1047297lter based data fusion for neutral axis tracking for damage
detection in wind-turbine towers Le Cam Vincent and Mevel Laurent and Schoefs Franck EWSHM - 7th European
Workshop on Structural Health Monitoring Nantes France 201426 Welch G Bishop G An introduction to the Kalman 1047297lter 1995 [accessed online on 6-Nov-14 at httpclubsens-
cachanfrkrobotolddatapositionnementkalmanpdf ]
27 Brown RG Hwang PYC Introduction to Random Signals and Applied Kalman Filtering 3rd edn John Wiley amp Sons
New York 1997
28 DTU Wind Energy Report-I-0092 Description of the DTU 10 MW Reference Wind Turbine 2013
29 Maybeck PS Stochastic Models Estimation and Control Academic press 1982 3
30 Sorenson HW ldquoLeast-squares estimation from Gauss to KalmanrdquoSpectrum IEEE 1970 7(7) 63ndash68
31 ABAQUS Analysis User rsquos Manual Version 6 12-3 edn 2013
33 Şen Z Altunkaynak A Erdik T ldquoWind velocity vertical extrapolation by extended power lawrdquo Advances in Meteorol-
ogy 2012 2012 6 Article ID 178623 DOI 1011552012178623
34 Bas J Carriveau R Cheng S Newson T Strain response of a wind turbine tower as a function of nacelle orientation InBIONATURE 2012 The Third International Conference on Bioenvironment Biodiversity and Renewable Energies
2012 12ndash18
35 Soman R Malinowski P Ostachowicz W ldquoThreshold determination for neutral axis tracking based damage detection
in wind turbine towersrdquo In Proceedings of the EWEA Offshore2015 Copenhagen Denmark 2015 (submitted)
36 Soman R Malinowski P Ostachowicz W Paulsen U ldquoKalman 1047297lter based data fusion for neutral axis tracking in wind
turbine towersrdquo In Proceedings of the SPIE smart Structures NDE San DiegoUS 2015 (submitted)
Bi-axial NA tracking for SHM in towers R N Soman P H Malinowski and W M Ostachowicz
Wind Energ (2015) copy 2015 John Wiley amp Sons Ltd
measurement noise the mean of the direct prediction changes appreciably this in turn directly affects the accuracy of the
damage detection methodology Hence the use of KF estimator is necessary
Kalman Filter is indeed a very robust tool in addition to the sensitivity studies in presence of measurement noise
more studies were performed for different values of initial guess of NA location and different process noise esti-
mates These studies indicate that the initialization of the KF does not affect the 1047297nal NAE estimate An improper initialization just affects the time required for achieving the convergence to the true value of the NAE 35 This robust-
ness to initialization allows easy implementation to real strain data from the wind turbine The KF-based NA estima-
tion has been applied to strain data available from the Nordtank NTK50041 wind turbine and may be found in 36
The implementation of the KF was carried out based on engineering judgement alone and yield very promising
results
43 Bi-axial NA tracking for damage detection
The sensor pairs are located perpendicular to each other as indicated in Figure 4 and at the centre of each element As such
if the damage is at any location not in the vicinity the observability of the damage is in the form of the sine and the cosine
component Furthermore because of the non-linearity the damage may be detected but the isolation of the damage may be
a problem Thus the bi-axial NA tracking data should be combined in order to get more realistic damage isolation The
intuitive way of combination is by taking a ratio of the observed NA along the two axes Although this may yield an ap-proximate estimate of the location it cannot be applied directly It should be kept in mind that the periodicity for sine and
cosine is 2π while that for tan ratio is π thus leading to loss of directionality Thus a decision level data fusion is necessary
where the change in the directionality is overcome by proper study of the change in the NA location along both the sensor
axes The decision level data fusion refers to the use of the individual signs of the change in the NA location in order to
make an assessment of the damage location
The damage detection strategy is based on the principle of change in the NA location in healthy and damaged state The
damage will be indicated when the relative change in the location is more than a certain threshold This threshold needs to
be determined based on engineering judgement taking into consideration the probability of positive false detection and
negative false detection and risk to the entire structure Positive false detection occurs when a signi1047297cant damage goes un-
detected while the negative false detection occurs when the damage alarm is raised when there is no damage in the struc-
ture In order to quantify the threshold based on probability several damage scenarios were studied under different
simulated noise levels The threshold was set at 1 change in NA location when the yaw angle measurement and bi-axial
NA tracking are carried out
Equation (11) gives the location of the damage in terms of the angle without taking the signs of the individual change of NA locations into consideration (without fusion)
DL frac14 tan1 ΔNAEB
ΔNAEA
(11)
where DL is the damage location in degrees (deg) ∆NAEB is the percent relative change in the NAE at B while
∆NAEA is the percent relative change in the NAE at A
The notations B and A are indicated in Figure 7 which also shows the different damage scenarios
For accurate detection of location the difference in the periodicity of the tangent function and sine and cosine functions
should be noted
Table I Statistical performance of estimators (NAE)
Scenario
KF estimation Direct estimation
Standard deviation
(mean)
Standard deviation
(mean)
(a) 00444 01064
(1633) (1637)
(b) 00474 01862(1633) (1622)
(c) 00507 04527
(1635) (1666)
(d) 00044 01168
(1633) (1641)
(e) 00499 02111
(1633) (1686)
Bi-axial NA tracking for SHM in towers R N Soman P H Malinowski and W M Ostachowicz
Wind Energ (2015) copy 2015 John Wiley amp Sons Ltd
Table II shows quantitatively that the approach is valid at the same time decision level data fusion is necessary for
accurate isolation of damage
The damage scenarios I and II indicate the validity of the decision level data fusion and taking the ratio of the changes inNA is a valid technique for fusion The damage isolation for cases I and II is valid without fusion as the damage lies in the
90ndash90deg range The damage scenario III is a point diametrically opposite to II and it shows the signi1047297cance of decision
level data fusion If the signs corresponding to the change of the location are not taken into account the isolation gives a
diametrically opposite point that may be termed as false isolation of the damage (shown in grey background) and hence
the decision level data fusion is necessary The damage scenario IV indicates that when the damage is at locations perpendic-
ular to one of theaxes theresults obtained for the isolation are notaccurate but this in essence proves that bi-axial tracking is
indeed necessary Also change in the location of NA in scenario IV in the estimate at A is signi1047297cant and hence false
detection of the damage is highly unlikely The highchangeexceeding10 also indicates very close proximity of the damage
to the strain sensors and gives further idea about the location of the damage Furthermore the decision level data fusion will
recognize that the threshold for the damage detection has not been exceeded (shown in grey background) and as such the data
should not be used thus making the decision level data fusion-based strategy more robust against false localization
44 NA-based damage detection
As explained in the earlier section the NA of the cross-section of the tower is the property of the condition of the structure
and may be used as a damage indicator
In order to validate the use of NA as damage indicator arti1047297cial damage was introduced in one element of the tower by
reducing the 1047298exural rigidity of that particular element by 20 Reduction of 1047298exural rigidity is a valid damage simulation
strategy as indicated by 24 It may be treated equivalent to loss of material thickness because of corrosion or cracking and is a
commonly used strategy for global level damage simulation in bridge structures 1 The simulated damage was detected by com-
paring the NAE of the damage and the undamaged element The relative change in the location of the NA is given in Table III
The damage is detected if the change in the NA estimation of the damaged and undamaged states is more than a speci1047297ed
threshold which is determined on engineering judgement As can be clearly observed even in the presence of measurement
noise there is a signi1047297cant difference in the change of the NAE of the damage element and the others so the chances for a
false detection are quite minimal and as such a lower threshold may be possible 1 in the case where yaw angle is being
Figure 7 Damage scenarios indicating the need for bi-axial NA tracking
Table II Bi-axial NA tracking for damage detection
Bi-axial NA tracking for SHM in towersR N Soman P H Malinowski and W M Ostachowicz
Wind Energ (2015) copy 2015 John Wiley amp Sons Ltd
tracked as well The use of yaw tracking allows this higher con1047297dence and as such is an advantage for detecting lower
levels of damage
45 Sensitivity to Severity of Damage
Ideally the damage metric should be able to detect even minor changes in the system but in actual practice these changes
are often masked by changes in ambient condition changes and measurement noise Hence the sensitivity to damage is
investigated
Table IV indicates the percent change in the NAE with change in the damage severity
It can be seen that damage above 15 severity of damage can be easily detected through the tracking of NA and as such
the methodology promises to be better than the conventional vibration-based damage detection methods which are unableto detect such low levels of damage in the presence of same levels of measurement noise 24
5 CONCLUSIONS
The paper proposes bi-axial tracking and decision level data fusion for a more accurate damage localization The method-
ology is based on tracking of NA along two perpendicular axes using KF-based estimator The study 1047297rst establishes the
effect of yaw on the measured strain and in turn the tracked NA Then it establishes the merits for the use of KF for NA
tracking estimation and data fusion of yaw angle and measured strain This KF-based NA estimation is then used to detect
damage in the simulated tower structure of the 10 MW DTU RWT
Table III NA-based damage detection in presence of noise
Table IV Performance of NA with changing severity of damage
Damage extent Undamaged NAE Damaged NAE NAE ()
5 7008 7160 2169
10 7008 7276 3825
15 7008 7374 5215
20 7008 7479 6717
25 7008 7593 8340
Bi-axial NA tracking for SHM in towers R N Soman P H Malinowski and W M Ostachowicz
Wind Energ (2015) copy 2015 John Wiley amp Sons Ltd
19 Bang H Jang M Shin H ldquoStructural health monitoring of wind turbines using 1047297ber Bragg grating based sensing
systemrdquo In SPIE Smart Structures and Materials + Nondestructive Evaluation and Health Monitoring International
Society for Optics and Photonics 2011
20 Benedetti M Fontanari V Battisti L ldquoStructural health monitoring of wind towers residual fatigue life estimationrdquo
Smart Materials and Structures 2013 22(4) 045017
21 Sigurdardottir D Glisic B ldquoDetecting minute damage in beam-like structures using the neutral axis locationrdquo Smart
Materials and Structures 2014 23(12) 125042
22 Sigurdardottir D Glisic B ldquoNeutral axis as damage sensitive featurerdquo Smart Materials and Structures 2013 22(7)
075030
23 Xia HW Ni YQ Ye XW ldquoNeutral-axis position based damage detection of bridge deck using strain measurement
formulation of a Kalman 1047297lter estimatorrdquo In Proceedings of the 6th European Workshop on Structural Health
Monitoring Dresden Germany 2012
24 Soman R Malinowski P Ostachowicz W Neutral axis tracking for damage detection in wind turbine towers In
Proceedings of the EWEA 2014 Barcelona Spain 2014
25 Soman R Malinowski PH Ostachowicz W Kalman-1047297lter based data fusion for neutral axis tracking for damage
detection in wind-turbine towers Le Cam Vincent and Mevel Laurent and Schoefs Franck EWSHM - 7th European
Workshop on Structural Health Monitoring Nantes France 201426 Welch G Bishop G An introduction to the Kalman 1047297lter 1995 [accessed online on 6-Nov-14 at httpclubsens-
cachanfrkrobotolddatapositionnementkalmanpdf ]
27 Brown RG Hwang PYC Introduction to Random Signals and Applied Kalman Filtering 3rd edn John Wiley amp Sons
New York 1997
28 DTU Wind Energy Report-I-0092 Description of the DTU 10 MW Reference Wind Turbine 2013
29 Maybeck PS Stochastic Models Estimation and Control Academic press 1982 3
30 Sorenson HW ldquoLeast-squares estimation from Gauss to KalmanrdquoSpectrum IEEE 1970 7(7) 63ndash68
31 ABAQUS Analysis User rsquos Manual Version 6 12-3 edn 2013
33 Şen Z Altunkaynak A Erdik T ldquoWind velocity vertical extrapolation by extended power lawrdquo Advances in Meteorol-
ogy 2012 2012 6 Article ID 178623 DOI 1011552012178623
34 Bas J Carriveau R Cheng S Newson T Strain response of a wind turbine tower as a function of nacelle orientation InBIONATURE 2012 The Third International Conference on Bioenvironment Biodiversity and Renewable Energies
2012 12ndash18
35 Soman R Malinowski P Ostachowicz W ldquoThreshold determination for neutral axis tracking based damage detection
in wind turbine towersrdquo In Proceedings of the EWEA Offshore2015 Copenhagen Denmark 2015 (submitted)
36 Soman R Malinowski P Ostachowicz W Paulsen U ldquoKalman 1047297lter based data fusion for neutral axis tracking in wind
turbine towersrdquo In Proceedings of the SPIE smart Structures NDE San DiegoUS 2015 (submitted)
Bi-axial NA tracking for SHM in towers R N Soman P H Malinowski and W M Ostachowicz
Wind Energ (2015) copy 2015 John Wiley amp Sons Ltd
measurement noise the mean of the direct prediction changes appreciably this in turn directly affects the accuracy of the
damage detection methodology Hence the use of KF estimator is necessary
Kalman Filter is indeed a very robust tool in addition to the sensitivity studies in presence of measurement noise
more studies were performed for different values of initial guess of NA location and different process noise esti-
mates These studies indicate that the initialization of the KF does not affect the 1047297nal NAE estimate An improper initialization just affects the time required for achieving the convergence to the true value of the NAE 35 This robust-
ness to initialization allows easy implementation to real strain data from the wind turbine The KF-based NA estima-
tion has been applied to strain data available from the Nordtank NTK50041 wind turbine and may be found in 36
The implementation of the KF was carried out based on engineering judgement alone and yield very promising
results
43 Bi-axial NA tracking for damage detection
The sensor pairs are located perpendicular to each other as indicated in Figure 4 and at the centre of each element As such
if the damage is at any location not in the vicinity the observability of the damage is in the form of the sine and the cosine
component Furthermore because of the non-linearity the damage may be detected but the isolation of the damage may be
a problem Thus the bi-axial NA tracking data should be combined in order to get more realistic damage isolation The
intuitive way of combination is by taking a ratio of the observed NA along the two axes Although this may yield an ap-proximate estimate of the location it cannot be applied directly It should be kept in mind that the periodicity for sine and
cosine is 2π while that for tan ratio is π thus leading to loss of directionality Thus a decision level data fusion is necessary
where the change in the directionality is overcome by proper study of the change in the NA location along both the sensor
axes The decision level data fusion refers to the use of the individual signs of the change in the NA location in order to
make an assessment of the damage location
The damage detection strategy is based on the principle of change in the NA location in healthy and damaged state The
damage will be indicated when the relative change in the location is more than a certain threshold This threshold needs to
be determined based on engineering judgement taking into consideration the probability of positive false detection and
negative false detection and risk to the entire structure Positive false detection occurs when a signi1047297cant damage goes un-
detected while the negative false detection occurs when the damage alarm is raised when there is no damage in the struc-
ture In order to quantify the threshold based on probability several damage scenarios were studied under different
simulated noise levels The threshold was set at 1 change in NA location when the yaw angle measurement and bi-axial
NA tracking are carried out
Equation (11) gives the location of the damage in terms of the angle without taking the signs of the individual change of NA locations into consideration (without fusion)
DL frac14 tan1 ΔNAEB
ΔNAEA
(11)
where DL is the damage location in degrees (deg) ∆NAEB is the percent relative change in the NAE at B while
∆NAEA is the percent relative change in the NAE at A
The notations B and A are indicated in Figure 7 which also shows the different damage scenarios
For accurate detection of location the difference in the periodicity of the tangent function and sine and cosine functions
should be noted
Table I Statistical performance of estimators (NAE)
Scenario
KF estimation Direct estimation
Standard deviation
(mean)
Standard deviation
(mean)
(a) 00444 01064
(1633) (1637)
(b) 00474 01862(1633) (1622)
(c) 00507 04527
(1635) (1666)
(d) 00044 01168
(1633) (1641)
(e) 00499 02111
(1633) (1686)
Bi-axial NA tracking for SHM in towers R N Soman P H Malinowski and W M Ostachowicz
Wind Energ (2015) copy 2015 John Wiley amp Sons Ltd
Table II shows quantitatively that the approach is valid at the same time decision level data fusion is necessary for
accurate isolation of damage
The damage scenarios I and II indicate the validity of the decision level data fusion and taking the ratio of the changes inNA is a valid technique for fusion The damage isolation for cases I and II is valid without fusion as the damage lies in the
90ndash90deg range The damage scenario III is a point diametrically opposite to II and it shows the signi1047297cance of decision
level data fusion If the signs corresponding to the change of the location are not taken into account the isolation gives a
diametrically opposite point that may be termed as false isolation of the damage (shown in grey background) and hence
the decision level data fusion is necessary The damage scenario IV indicates that when the damage is at locations perpendic-
ular to one of theaxes theresults obtained for the isolation are notaccurate but this in essence proves that bi-axial tracking is
indeed necessary Also change in the location of NA in scenario IV in the estimate at A is signi1047297cant and hence false
detection of the damage is highly unlikely The highchangeexceeding10 also indicates very close proximity of the damage
to the strain sensors and gives further idea about the location of the damage Furthermore the decision level data fusion will
recognize that the threshold for the damage detection has not been exceeded (shown in grey background) and as such the data
should not be used thus making the decision level data fusion-based strategy more robust against false localization
44 NA-based damage detection
As explained in the earlier section the NA of the cross-section of the tower is the property of the condition of the structure
and may be used as a damage indicator
In order to validate the use of NA as damage indicator arti1047297cial damage was introduced in one element of the tower by
reducing the 1047298exural rigidity of that particular element by 20 Reduction of 1047298exural rigidity is a valid damage simulation
strategy as indicated by 24 It may be treated equivalent to loss of material thickness because of corrosion or cracking and is a
commonly used strategy for global level damage simulation in bridge structures 1 The simulated damage was detected by com-
paring the NAE of the damage and the undamaged element The relative change in the location of the NA is given in Table III
The damage is detected if the change in the NA estimation of the damaged and undamaged states is more than a speci1047297ed
threshold which is determined on engineering judgement As can be clearly observed even in the presence of measurement
noise there is a signi1047297cant difference in the change of the NAE of the damage element and the others so the chances for a
false detection are quite minimal and as such a lower threshold may be possible 1 in the case where yaw angle is being
Figure 7 Damage scenarios indicating the need for bi-axial NA tracking
Table II Bi-axial NA tracking for damage detection
Bi-axial NA tracking for SHM in towersR N Soman P H Malinowski and W M Ostachowicz
Wind Energ (2015) copy 2015 John Wiley amp Sons Ltd
tracked as well The use of yaw tracking allows this higher con1047297dence and as such is an advantage for detecting lower
levels of damage
45 Sensitivity to Severity of Damage
Ideally the damage metric should be able to detect even minor changes in the system but in actual practice these changes
are often masked by changes in ambient condition changes and measurement noise Hence the sensitivity to damage is
investigated
Table IV indicates the percent change in the NAE with change in the damage severity
It can be seen that damage above 15 severity of damage can be easily detected through the tracking of NA and as such
the methodology promises to be better than the conventional vibration-based damage detection methods which are unableto detect such low levels of damage in the presence of same levels of measurement noise 24
5 CONCLUSIONS
The paper proposes bi-axial tracking and decision level data fusion for a more accurate damage localization The method-
ology is based on tracking of NA along two perpendicular axes using KF-based estimator The study 1047297rst establishes the
effect of yaw on the measured strain and in turn the tracked NA Then it establishes the merits for the use of KF for NA
tracking estimation and data fusion of yaw angle and measured strain This KF-based NA estimation is then used to detect
damage in the simulated tower structure of the 10 MW DTU RWT
Table III NA-based damage detection in presence of noise
Table IV Performance of NA with changing severity of damage
Damage extent Undamaged NAE Damaged NAE NAE ()
5 7008 7160 2169
10 7008 7276 3825
15 7008 7374 5215
20 7008 7479 6717
25 7008 7593 8340
Bi-axial NA tracking for SHM in towers R N Soman P H Malinowski and W M Ostachowicz
Wind Energ (2015) copy 2015 John Wiley amp Sons Ltd
19 Bang H Jang M Shin H ldquoStructural health monitoring of wind turbines using 1047297ber Bragg grating based sensing
systemrdquo In SPIE Smart Structures and Materials + Nondestructive Evaluation and Health Monitoring International
Society for Optics and Photonics 2011
20 Benedetti M Fontanari V Battisti L ldquoStructural health monitoring of wind towers residual fatigue life estimationrdquo
Smart Materials and Structures 2013 22(4) 045017
21 Sigurdardottir D Glisic B ldquoDetecting minute damage in beam-like structures using the neutral axis locationrdquo Smart
Materials and Structures 2014 23(12) 125042
22 Sigurdardottir D Glisic B ldquoNeutral axis as damage sensitive featurerdquo Smart Materials and Structures 2013 22(7)
075030
23 Xia HW Ni YQ Ye XW ldquoNeutral-axis position based damage detection of bridge deck using strain measurement
formulation of a Kalman 1047297lter estimatorrdquo In Proceedings of the 6th European Workshop on Structural Health
Monitoring Dresden Germany 2012
24 Soman R Malinowski P Ostachowicz W Neutral axis tracking for damage detection in wind turbine towers In
Proceedings of the EWEA 2014 Barcelona Spain 2014
25 Soman R Malinowski PH Ostachowicz W Kalman-1047297lter based data fusion for neutral axis tracking for damage
detection in wind-turbine towers Le Cam Vincent and Mevel Laurent and Schoefs Franck EWSHM - 7th European
Workshop on Structural Health Monitoring Nantes France 201426 Welch G Bishop G An introduction to the Kalman 1047297lter 1995 [accessed online on 6-Nov-14 at httpclubsens-
cachanfrkrobotolddatapositionnementkalmanpdf ]
27 Brown RG Hwang PYC Introduction to Random Signals and Applied Kalman Filtering 3rd edn John Wiley amp Sons
New York 1997
28 DTU Wind Energy Report-I-0092 Description of the DTU 10 MW Reference Wind Turbine 2013
29 Maybeck PS Stochastic Models Estimation and Control Academic press 1982 3
30 Sorenson HW ldquoLeast-squares estimation from Gauss to KalmanrdquoSpectrum IEEE 1970 7(7) 63ndash68
31 ABAQUS Analysis User rsquos Manual Version 6 12-3 edn 2013
33 Şen Z Altunkaynak A Erdik T ldquoWind velocity vertical extrapolation by extended power lawrdquo Advances in Meteorol-
ogy 2012 2012 6 Article ID 178623 DOI 1011552012178623
34 Bas J Carriveau R Cheng S Newson T Strain response of a wind turbine tower as a function of nacelle orientation InBIONATURE 2012 The Third International Conference on Bioenvironment Biodiversity and Renewable Energies
2012 12ndash18
35 Soman R Malinowski P Ostachowicz W ldquoThreshold determination for neutral axis tracking based damage detection
in wind turbine towersrdquo In Proceedings of the EWEA Offshore2015 Copenhagen Denmark 2015 (submitted)
36 Soman R Malinowski P Ostachowicz W Paulsen U ldquoKalman 1047297lter based data fusion for neutral axis tracking in wind
turbine towersrdquo In Proceedings of the SPIE smart Structures NDE San DiegoUS 2015 (submitted)
Bi-axial NA tracking for SHM in towers R N Soman P H Malinowski and W M Ostachowicz
Wind Energ (2015) copy 2015 John Wiley amp Sons Ltd
measurement noise the mean of the direct prediction changes appreciably this in turn directly affects the accuracy of the
damage detection methodology Hence the use of KF estimator is necessary
Kalman Filter is indeed a very robust tool in addition to the sensitivity studies in presence of measurement noise
more studies were performed for different values of initial guess of NA location and different process noise esti-
mates These studies indicate that the initialization of the KF does not affect the 1047297nal NAE estimate An improper initialization just affects the time required for achieving the convergence to the true value of the NAE 35 This robust-
ness to initialization allows easy implementation to real strain data from the wind turbine The KF-based NA estima-
tion has been applied to strain data available from the Nordtank NTK50041 wind turbine and may be found in 36
The implementation of the KF was carried out based on engineering judgement alone and yield very promising
results
43 Bi-axial NA tracking for damage detection
The sensor pairs are located perpendicular to each other as indicated in Figure 4 and at the centre of each element As such
if the damage is at any location not in the vicinity the observability of the damage is in the form of the sine and the cosine
component Furthermore because of the non-linearity the damage may be detected but the isolation of the damage may be
a problem Thus the bi-axial NA tracking data should be combined in order to get more realistic damage isolation The
intuitive way of combination is by taking a ratio of the observed NA along the two axes Although this may yield an ap-proximate estimate of the location it cannot be applied directly It should be kept in mind that the periodicity for sine and
cosine is 2π while that for tan ratio is π thus leading to loss of directionality Thus a decision level data fusion is necessary
where the change in the directionality is overcome by proper study of the change in the NA location along both the sensor
axes The decision level data fusion refers to the use of the individual signs of the change in the NA location in order to
make an assessment of the damage location
The damage detection strategy is based on the principle of change in the NA location in healthy and damaged state The
damage will be indicated when the relative change in the location is more than a certain threshold This threshold needs to
be determined based on engineering judgement taking into consideration the probability of positive false detection and
negative false detection and risk to the entire structure Positive false detection occurs when a signi1047297cant damage goes un-
detected while the negative false detection occurs when the damage alarm is raised when there is no damage in the struc-
ture In order to quantify the threshold based on probability several damage scenarios were studied under different
simulated noise levels The threshold was set at 1 change in NA location when the yaw angle measurement and bi-axial
NA tracking are carried out
Equation (11) gives the location of the damage in terms of the angle without taking the signs of the individual change of NA locations into consideration (without fusion)
DL frac14 tan1 ΔNAEB
ΔNAEA
(11)
where DL is the damage location in degrees (deg) ∆NAEB is the percent relative change in the NAE at B while
∆NAEA is the percent relative change in the NAE at A
The notations B and A are indicated in Figure 7 which also shows the different damage scenarios
For accurate detection of location the difference in the periodicity of the tangent function and sine and cosine functions
should be noted
Table I Statistical performance of estimators (NAE)
Scenario
KF estimation Direct estimation
Standard deviation
(mean)
Standard deviation
(mean)
(a) 00444 01064
(1633) (1637)
(b) 00474 01862(1633) (1622)
(c) 00507 04527
(1635) (1666)
(d) 00044 01168
(1633) (1641)
(e) 00499 02111
(1633) (1686)
Bi-axial NA tracking for SHM in towers R N Soman P H Malinowski and W M Ostachowicz
Wind Energ (2015) copy 2015 John Wiley amp Sons Ltd
Table II shows quantitatively that the approach is valid at the same time decision level data fusion is necessary for
accurate isolation of damage
The damage scenarios I and II indicate the validity of the decision level data fusion and taking the ratio of the changes inNA is a valid technique for fusion The damage isolation for cases I and II is valid without fusion as the damage lies in the
90ndash90deg range The damage scenario III is a point diametrically opposite to II and it shows the signi1047297cance of decision
level data fusion If the signs corresponding to the change of the location are not taken into account the isolation gives a
diametrically opposite point that may be termed as false isolation of the damage (shown in grey background) and hence
the decision level data fusion is necessary The damage scenario IV indicates that when the damage is at locations perpendic-
ular to one of theaxes theresults obtained for the isolation are notaccurate but this in essence proves that bi-axial tracking is
indeed necessary Also change in the location of NA in scenario IV in the estimate at A is signi1047297cant and hence false
detection of the damage is highly unlikely The highchangeexceeding10 also indicates very close proximity of the damage
to the strain sensors and gives further idea about the location of the damage Furthermore the decision level data fusion will
recognize that the threshold for the damage detection has not been exceeded (shown in grey background) and as such the data
should not be used thus making the decision level data fusion-based strategy more robust against false localization
44 NA-based damage detection
As explained in the earlier section the NA of the cross-section of the tower is the property of the condition of the structure
and may be used as a damage indicator
In order to validate the use of NA as damage indicator arti1047297cial damage was introduced in one element of the tower by
reducing the 1047298exural rigidity of that particular element by 20 Reduction of 1047298exural rigidity is a valid damage simulation
strategy as indicated by 24 It may be treated equivalent to loss of material thickness because of corrosion or cracking and is a
commonly used strategy for global level damage simulation in bridge structures 1 The simulated damage was detected by com-
paring the NAE of the damage and the undamaged element The relative change in the location of the NA is given in Table III
The damage is detected if the change in the NA estimation of the damaged and undamaged states is more than a speci1047297ed
threshold which is determined on engineering judgement As can be clearly observed even in the presence of measurement
noise there is a signi1047297cant difference in the change of the NAE of the damage element and the others so the chances for a
false detection are quite minimal and as such a lower threshold may be possible 1 in the case where yaw angle is being
Figure 7 Damage scenarios indicating the need for bi-axial NA tracking
Table II Bi-axial NA tracking for damage detection
Bi-axial NA tracking for SHM in towersR N Soman P H Malinowski and W M Ostachowicz
Wind Energ (2015) copy 2015 John Wiley amp Sons Ltd
tracked as well The use of yaw tracking allows this higher con1047297dence and as such is an advantage for detecting lower
levels of damage
45 Sensitivity to Severity of Damage
Ideally the damage metric should be able to detect even minor changes in the system but in actual practice these changes
are often masked by changes in ambient condition changes and measurement noise Hence the sensitivity to damage is
investigated
Table IV indicates the percent change in the NAE with change in the damage severity
It can be seen that damage above 15 severity of damage can be easily detected through the tracking of NA and as such
the methodology promises to be better than the conventional vibration-based damage detection methods which are unableto detect such low levels of damage in the presence of same levels of measurement noise 24
5 CONCLUSIONS
The paper proposes bi-axial tracking and decision level data fusion for a more accurate damage localization The method-
ology is based on tracking of NA along two perpendicular axes using KF-based estimator The study 1047297rst establishes the
effect of yaw on the measured strain and in turn the tracked NA Then it establishes the merits for the use of KF for NA
tracking estimation and data fusion of yaw angle and measured strain This KF-based NA estimation is then used to detect
damage in the simulated tower structure of the 10 MW DTU RWT
Table III NA-based damage detection in presence of noise
Table IV Performance of NA with changing severity of damage
Damage extent Undamaged NAE Damaged NAE NAE ()
5 7008 7160 2169
10 7008 7276 3825
15 7008 7374 5215
20 7008 7479 6717
25 7008 7593 8340
Bi-axial NA tracking for SHM in towers R N Soman P H Malinowski and W M Ostachowicz
Wind Energ (2015) copy 2015 John Wiley amp Sons Ltd
19 Bang H Jang M Shin H ldquoStructural health monitoring of wind turbines using 1047297ber Bragg grating based sensing
systemrdquo In SPIE Smart Structures and Materials + Nondestructive Evaluation and Health Monitoring International
Society for Optics and Photonics 2011
20 Benedetti M Fontanari V Battisti L ldquoStructural health monitoring of wind towers residual fatigue life estimationrdquo
Smart Materials and Structures 2013 22(4) 045017
21 Sigurdardottir D Glisic B ldquoDetecting minute damage in beam-like structures using the neutral axis locationrdquo Smart
Materials and Structures 2014 23(12) 125042
22 Sigurdardottir D Glisic B ldquoNeutral axis as damage sensitive featurerdquo Smart Materials and Structures 2013 22(7)
075030
23 Xia HW Ni YQ Ye XW ldquoNeutral-axis position based damage detection of bridge deck using strain measurement
formulation of a Kalman 1047297lter estimatorrdquo In Proceedings of the 6th European Workshop on Structural Health
Monitoring Dresden Germany 2012
24 Soman R Malinowski P Ostachowicz W Neutral axis tracking for damage detection in wind turbine towers In
Proceedings of the EWEA 2014 Barcelona Spain 2014
25 Soman R Malinowski PH Ostachowicz W Kalman-1047297lter based data fusion for neutral axis tracking for damage
detection in wind-turbine towers Le Cam Vincent and Mevel Laurent and Schoefs Franck EWSHM - 7th European
Workshop on Structural Health Monitoring Nantes France 201426 Welch G Bishop G An introduction to the Kalman 1047297lter 1995 [accessed online on 6-Nov-14 at httpclubsens-
cachanfrkrobotolddatapositionnementkalmanpdf ]
27 Brown RG Hwang PYC Introduction to Random Signals and Applied Kalman Filtering 3rd edn John Wiley amp Sons
New York 1997
28 DTU Wind Energy Report-I-0092 Description of the DTU 10 MW Reference Wind Turbine 2013
29 Maybeck PS Stochastic Models Estimation and Control Academic press 1982 3
30 Sorenson HW ldquoLeast-squares estimation from Gauss to KalmanrdquoSpectrum IEEE 1970 7(7) 63ndash68
31 ABAQUS Analysis User rsquos Manual Version 6 12-3 edn 2013
33 Şen Z Altunkaynak A Erdik T ldquoWind velocity vertical extrapolation by extended power lawrdquo Advances in Meteorol-
ogy 2012 2012 6 Article ID 178623 DOI 1011552012178623
34 Bas J Carriveau R Cheng S Newson T Strain response of a wind turbine tower as a function of nacelle orientation InBIONATURE 2012 The Third International Conference on Bioenvironment Biodiversity and Renewable Energies
2012 12ndash18
35 Soman R Malinowski P Ostachowicz W ldquoThreshold determination for neutral axis tracking based damage detection
in wind turbine towersrdquo In Proceedings of the EWEA Offshore2015 Copenhagen Denmark 2015 (submitted)
36 Soman R Malinowski P Ostachowicz W Paulsen U ldquoKalman 1047297lter based data fusion for neutral axis tracking in wind
turbine towersrdquo In Proceedings of the SPIE smart Structures NDE San DiegoUS 2015 (submitted)
Bi-axial NA tracking for SHM in towers R N Soman P H Malinowski and W M Ostachowicz
Wind Energ (2015) copy 2015 John Wiley amp Sons Ltd
Table II shows quantitatively that the approach is valid at the same time decision level data fusion is necessary for
accurate isolation of damage
The damage scenarios I and II indicate the validity of the decision level data fusion and taking the ratio of the changes inNA is a valid technique for fusion The damage isolation for cases I and II is valid without fusion as the damage lies in the
90ndash90deg range The damage scenario III is a point diametrically opposite to II and it shows the signi1047297cance of decision
level data fusion If the signs corresponding to the change of the location are not taken into account the isolation gives a
diametrically opposite point that may be termed as false isolation of the damage (shown in grey background) and hence
the decision level data fusion is necessary The damage scenario IV indicates that when the damage is at locations perpendic-
ular to one of theaxes theresults obtained for the isolation are notaccurate but this in essence proves that bi-axial tracking is
indeed necessary Also change in the location of NA in scenario IV in the estimate at A is signi1047297cant and hence false
detection of the damage is highly unlikely The highchangeexceeding10 also indicates very close proximity of the damage
to the strain sensors and gives further idea about the location of the damage Furthermore the decision level data fusion will
recognize that the threshold for the damage detection has not been exceeded (shown in grey background) and as such the data
should not be used thus making the decision level data fusion-based strategy more robust against false localization
44 NA-based damage detection
As explained in the earlier section the NA of the cross-section of the tower is the property of the condition of the structure
and may be used as a damage indicator
In order to validate the use of NA as damage indicator arti1047297cial damage was introduced in one element of the tower by
reducing the 1047298exural rigidity of that particular element by 20 Reduction of 1047298exural rigidity is a valid damage simulation
strategy as indicated by 24 It may be treated equivalent to loss of material thickness because of corrosion or cracking and is a
commonly used strategy for global level damage simulation in bridge structures 1 The simulated damage was detected by com-
paring the NAE of the damage and the undamaged element The relative change in the location of the NA is given in Table III
The damage is detected if the change in the NA estimation of the damaged and undamaged states is more than a speci1047297ed
threshold which is determined on engineering judgement As can be clearly observed even in the presence of measurement
noise there is a signi1047297cant difference in the change of the NAE of the damage element and the others so the chances for a
false detection are quite minimal and as such a lower threshold may be possible 1 in the case where yaw angle is being
Figure 7 Damage scenarios indicating the need for bi-axial NA tracking
Table II Bi-axial NA tracking for damage detection
Bi-axial NA tracking for SHM in towersR N Soman P H Malinowski and W M Ostachowicz
Wind Energ (2015) copy 2015 John Wiley amp Sons Ltd
tracked as well The use of yaw tracking allows this higher con1047297dence and as such is an advantage for detecting lower
levels of damage
45 Sensitivity to Severity of Damage
Ideally the damage metric should be able to detect even minor changes in the system but in actual practice these changes
are often masked by changes in ambient condition changes and measurement noise Hence the sensitivity to damage is
investigated
Table IV indicates the percent change in the NAE with change in the damage severity
It can be seen that damage above 15 severity of damage can be easily detected through the tracking of NA and as such
the methodology promises to be better than the conventional vibration-based damage detection methods which are unableto detect such low levels of damage in the presence of same levels of measurement noise 24
5 CONCLUSIONS
The paper proposes bi-axial tracking and decision level data fusion for a more accurate damage localization The method-
ology is based on tracking of NA along two perpendicular axes using KF-based estimator The study 1047297rst establishes the
effect of yaw on the measured strain and in turn the tracked NA Then it establishes the merits for the use of KF for NA
tracking estimation and data fusion of yaw angle and measured strain This KF-based NA estimation is then used to detect
damage in the simulated tower structure of the 10 MW DTU RWT
Table III NA-based damage detection in presence of noise
Table IV Performance of NA with changing severity of damage
Damage extent Undamaged NAE Damaged NAE NAE ()
5 7008 7160 2169
10 7008 7276 3825
15 7008 7374 5215
20 7008 7479 6717
25 7008 7593 8340
Bi-axial NA tracking for SHM in towers R N Soman P H Malinowski and W M Ostachowicz
Wind Energ (2015) copy 2015 John Wiley amp Sons Ltd
19 Bang H Jang M Shin H ldquoStructural health monitoring of wind turbines using 1047297ber Bragg grating based sensing
systemrdquo In SPIE Smart Structures and Materials + Nondestructive Evaluation and Health Monitoring International
Society for Optics and Photonics 2011
20 Benedetti M Fontanari V Battisti L ldquoStructural health monitoring of wind towers residual fatigue life estimationrdquo
Smart Materials and Structures 2013 22(4) 045017
21 Sigurdardottir D Glisic B ldquoDetecting minute damage in beam-like structures using the neutral axis locationrdquo Smart
Materials and Structures 2014 23(12) 125042
22 Sigurdardottir D Glisic B ldquoNeutral axis as damage sensitive featurerdquo Smart Materials and Structures 2013 22(7)
075030
23 Xia HW Ni YQ Ye XW ldquoNeutral-axis position based damage detection of bridge deck using strain measurement
formulation of a Kalman 1047297lter estimatorrdquo In Proceedings of the 6th European Workshop on Structural Health
Monitoring Dresden Germany 2012
24 Soman R Malinowski P Ostachowicz W Neutral axis tracking for damage detection in wind turbine towers In
Proceedings of the EWEA 2014 Barcelona Spain 2014
25 Soman R Malinowski PH Ostachowicz W Kalman-1047297lter based data fusion for neutral axis tracking for damage
detection in wind-turbine towers Le Cam Vincent and Mevel Laurent and Schoefs Franck EWSHM - 7th European
Workshop on Structural Health Monitoring Nantes France 201426 Welch G Bishop G An introduction to the Kalman 1047297lter 1995 [accessed online on 6-Nov-14 at httpclubsens-
cachanfrkrobotolddatapositionnementkalmanpdf ]
27 Brown RG Hwang PYC Introduction to Random Signals and Applied Kalman Filtering 3rd edn John Wiley amp Sons
New York 1997
28 DTU Wind Energy Report-I-0092 Description of the DTU 10 MW Reference Wind Turbine 2013
29 Maybeck PS Stochastic Models Estimation and Control Academic press 1982 3
30 Sorenson HW ldquoLeast-squares estimation from Gauss to KalmanrdquoSpectrum IEEE 1970 7(7) 63ndash68
31 ABAQUS Analysis User rsquos Manual Version 6 12-3 edn 2013
33 Şen Z Altunkaynak A Erdik T ldquoWind velocity vertical extrapolation by extended power lawrdquo Advances in Meteorol-
ogy 2012 2012 6 Article ID 178623 DOI 1011552012178623
34 Bas J Carriveau R Cheng S Newson T Strain response of a wind turbine tower as a function of nacelle orientation InBIONATURE 2012 The Third International Conference on Bioenvironment Biodiversity and Renewable Energies
2012 12ndash18
35 Soman R Malinowski P Ostachowicz W ldquoThreshold determination for neutral axis tracking based damage detection
in wind turbine towersrdquo In Proceedings of the EWEA Offshore2015 Copenhagen Denmark 2015 (submitted)
36 Soman R Malinowski P Ostachowicz W Paulsen U ldquoKalman 1047297lter based data fusion for neutral axis tracking in wind
turbine towersrdquo In Proceedings of the SPIE smart Structures NDE San DiegoUS 2015 (submitted)
Bi-axial NA tracking for SHM in towers R N Soman P H Malinowski and W M Ostachowicz
Wind Energ (2015) copy 2015 John Wiley amp Sons Ltd
tracked as well The use of yaw tracking allows this higher con1047297dence and as such is an advantage for detecting lower
levels of damage
45 Sensitivity to Severity of Damage
Ideally the damage metric should be able to detect even minor changes in the system but in actual practice these changes
are often masked by changes in ambient condition changes and measurement noise Hence the sensitivity to damage is
investigated
Table IV indicates the percent change in the NAE with change in the damage severity
It can be seen that damage above 15 severity of damage can be easily detected through the tracking of NA and as such
the methodology promises to be better than the conventional vibration-based damage detection methods which are unableto detect such low levels of damage in the presence of same levels of measurement noise 24
5 CONCLUSIONS
The paper proposes bi-axial tracking and decision level data fusion for a more accurate damage localization The method-
ology is based on tracking of NA along two perpendicular axes using KF-based estimator The study 1047297rst establishes the
effect of yaw on the measured strain and in turn the tracked NA Then it establishes the merits for the use of KF for NA
tracking estimation and data fusion of yaw angle and measured strain This KF-based NA estimation is then used to detect
damage in the simulated tower structure of the 10 MW DTU RWT
Table III NA-based damage detection in presence of noise
Table IV Performance of NA with changing severity of damage
Damage extent Undamaged NAE Damaged NAE NAE ()
5 7008 7160 2169
10 7008 7276 3825
15 7008 7374 5215
20 7008 7479 6717
25 7008 7593 8340
Bi-axial NA tracking for SHM in towers R N Soman P H Malinowski and W M Ostachowicz
Wind Energ (2015) copy 2015 John Wiley amp Sons Ltd
19 Bang H Jang M Shin H ldquoStructural health monitoring of wind turbines using 1047297ber Bragg grating based sensing
systemrdquo In SPIE Smart Structures and Materials + Nondestructive Evaluation and Health Monitoring International
Society for Optics and Photonics 2011
20 Benedetti M Fontanari V Battisti L ldquoStructural health monitoring of wind towers residual fatigue life estimationrdquo
Smart Materials and Structures 2013 22(4) 045017
21 Sigurdardottir D Glisic B ldquoDetecting minute damage in beam-like structures using the neutral axis locationrdquo Smart
Materials and Structures 2014 23(12) 125042
22 Sigurdardottir D Glisic B ldquoNeutral axis as damage sensitive featurerdquo Smart Materials and Structures 2013 22(7)
075030
23 Xia HW Ni YQ Ye XW ldquoNeutral-axis position based damage detection of bridge deck using strain measurement
formulation of a Kalman 1047297lter estimatorrdquo In Proceedings of the 6th European Workshop on Structural Health
Monitoring Dresden Germany 2012
24 Soman R Malinowski P Ostachowicz W Neutral axis tracking for damage detection in wind turbine towers In
Proceedings of the EWEA 2014 Barcelona Spain 2014
25 Soman R Malinowski PH Ostachowicz W Kalman-1047297lter based data fusion for neutral axis tracking for damage
detection in wind-turbine towers Le Cam Vincent and Mevel Laurent and Schoefs Franck EWSHM - 7th European
Workshop on Structural Health Monitoring Nantes France 201426 Welch G Bishop G An introduction to the Kalman 1047297lter 1995 [accessed online on 6-Nov-14 at httpclubsens-
cachanfrkrobotolddatapositionnementkalmanpdf ]
27 Brown RG Hwang PYC Introduction to Random Signals and Applied Kalman Filtering 3rd edn John Wiley amp Sons
New York 1997
28 DTU Wind Energy Report-I-0092 Description of the DTU 10 MW Reference Wind Turbine 2013
29 Maybeck PS Stochastic Models Estimation and Control Academic press 1982 3
30 Sorenson HW ldquoLeast-squares estimation from Gauss to KalmanrdquoSpectrum IEEE 1970 7(7) 63ndash68
31 ABAQUS Analysis User rsquos Manual Version 6 12-3 edn 2013
33 Şen Z Altunkaynak A Erdik T ldquoWind velocity vertical extrapolation by extended power lawrdquo Advances in Meteorol-
ogy 2012 2012 6 Article ID 178623 DOI 1011552012178623
34 Bas J Carriveau R Cheng S Newson T Strain response of a wind turbine tower as a function of nacelle orientation InBIONATURE 2012 The Third International Conference on Bioenvironment Biodiversity and Renewable Energies
2012 12ndash18
35 Soman R Malinowski P Ostachowicz W ldquoThreshold determination for neutral axis tracking based damage detection
in wind turbine towersrdquo In Proceedings of the EWEA Offshore2015 Copenhagen Denmark 2015 (submitted)
36 Soman R Malinowski P Ostachowicz W Paulsen U ldquoKalman 1047297lter based data fusion for neutral axis tracking in wind
turbine towersrdquo In Proceedings of the SPIE smart Structures NDE San DiegoUS 2015 (submitted)
Bi-axial NA tracking for SHM in towers R N Soman P H Malinowski and W M Ostachowicz
Wind Energ (2015) copy 2015 John Wiley amp Sons Ltd
19 Bang H Jang M Shin H ldquoStructural health monitoring of wind turbines using 1047297ber Bragg grating based sensing
systemrdquo In SPIE Smart Structures and Materials + Nondestructive Evaluation and Health Monitoring International
Society for Optics and Photonics 2011
20 Benedetti M Fontanari V Battisti L ldquoStructural health monitoring of wind towers residual fatigue life estimationrdquo
Smart Materials and Structures 2013 22(4) 045017
21 Sigurdardottir D Glisic B ldquoDetecting minute damage in beam-like structures using the neutral axis locationrdquo Smart
Materials and Structures 2014 23(12) 125042
22 Sigurdardottir D Glisic B ldquoNeutral axis as damage sensitive featurerdquo Smart Materials and Structures 2013 22(7)
075030
23 Xia HW Ni YQ Ye XW ldquoNeutral-axis position based damage detection of bridge deck using strain measurement
formulation of a Kalman 1047297lter estimatorrdquo In Proceedings of the 6th European Workshop on Structural Health
Monitoring Dresden Germany 2012
24 Soman R Malinowski P Ostachowicz W Neutral axis tracking for damage detection in wind turbine towers In
Proceedings of the EWEA 2014 Barcelona Spain 2014
25 Soman R Malinowski PH Ostachowicz W Kalman-1047297lter based data fusion for neutral axis tracking for damage
detection in wind-turbine towers Le Cam Vincent and Mevel Laurent and Schoefs Franck EWSHM - 7th European
Workshop on Structural Health Monitoring Nantes France 201426 Welch G Bishop G An introduction to the Kalman 1047297lter 1995 [accessed online on 6-Nov-14 at httpclubsens-
cachanfrkrobotolddatapositionnementkalmanpdf ]
27 Brown RG Hwang PYC Introduction to Random Signals and Applied Kalman Filtering 3rd edn John Wiley amp Sons
New York 1997
28 DTU Wind Energy Report-I-0092 Description of the DTU 10 MW Reference Wind Turbine 2013
29 Maybeck PS Stochastic Models Estimation and Control Academic press 1982 3
30 Sorenson HW ldquoLeast-squares estimation from Gauss to KalmanrdquoSpectrum IEEE 1970 7(7) 63ndash68
31 ABAQUS Analysis User rsquos Manual Version 6 12-3 edn 2013
33 Şen Z Altunkaynak A Erdik T ldquoWind velocity vertical extrapolation by extended power lawrdquo Advances in Meteorol-
ogy 2012 2012 6 Article ID 178623 DOI 1011552012178623
34 Bas J Carriveau R Cheng S Newson T Strain response of a wind turbine tower as a function of nacelle orientation InBIONATURE 2012 The Third International Conference on Bioenvironment Biodiversity and Renewable Energies
2012 12ndash18
35 Soman R Malinowski P Ostachowicz W ldquoThreshold determination for neutral axis tracking based damage detection
in wind turbine towersrdquo In Proceedings of the EWEA Offshore2015 Copenhagen Denmark 2015 (submitted)
36 Soman R Malinowski P Ostachowicz W Paulsen U ldquoKalman 1047297lter based data fusion for neutral axis tracking in wind
turbine towersrdquo In Proceedings of the SPIE smart Structures NDE San DiegoUS 2015 (submitted)
Bi-axial NA tracking for SHM in towers R N Soman P H Malinowski and W M Ostachowicz
Wind Energ (2015) copy 2015 John Wiley amp Sons Ltd
19 Bang H Jang M Shin H ldquoStructural health monitoring of wind turbines using 1047297ber Bragg grating based sensing
systemrdquo In SPIE Smart Structures and Materials + Nondestructive Evaluation and Health Monitoring International
Society for Optics and Photonics 2011
20 Benedetti M Fontanari V Battisti L ldquoStructural health monitoring of wind towers residual fatigue life estimationrdquo
Smart Materials and Structures 2013 22(4) 045017
21 Sigurdardottir D Glisic B ldquoDetecting minute damage in beam-like structures using the neutral axis locationrdquo Smart
Materials and Structures 2014 23(12) 125042
22 Sigurdardottir D Glisic B ldquoNeutral axis as damage sensitive featurerdquo Smart Materials and Structures 2013 22(7)
075030
23 Xia HW Ni YQ Ye XW ldquoNeutral-axis position based damage detection of bridge deck using strain measurement
formulation of a Kalman 1047297lter estimatorrdquo In Proceedings of the 6th European Workshop on Structural Health
Monitoring Dresden Germany 2012
24 Soman R Malinowski P Ostachowicz W Neutral axis tracking for damage detection in wind turbine towers In
Proceedings of the EWEA 2014 Barcelona Spain 2014
25 Soman R Malinowski PH Ostachowicz W Kalman-1047297lter based data fusion for neutral axis tracking for damage
detection in wind-turbine towers Le Cam Vincent and Mevel Laurent and Schoefs Franck EWSHM - 7th European
Workshop on Structural Health Monitoring Nantes France 201426 Welch G Bishop G An introduction to the Kalman 1047297lter 1995 [accessed online on 6-Nov-14 at httpclubsens-
cachanfrkrobotolddatapositionnementkalmanpdf ]
27 Brown RG Hwang PYC Introduction to Random Signals and Applied Kalman Filtering 3rd edn John Wiley amp Sons
New York 1997
28 DTU Wind Energy Report-I-0092 Description of the DTU 10 MW Reference Wind Turbine 2013
29 Maybeck PS Stochastic Models Estimation and Control Academic press 1982 3
30 Sorenson HW ldquoLeast-squares estimation from Gauss to KalmanrdquoSpectrum IEEE 1970 7(7) 63ndash68
31 ABAQUS Analysis User rsquos Manual Version 6 12-3 edn 2013
33 Şen Z Altunkaynak A Erdik T ldquoWind velocity vertical extrapolation by extended power lawrdquo Advances in Meteorol-
ogy 2012 2012 6 Article ID 178623 DOI 1011552012178623
34 Bas J Carriveau R Cheng S Newson T Strain response of a wind turbine tower as a function of nacelle orientation InBIONATURE 2012 The Third International Conference on Bioenvironment Biodiversity and Renewable Energies
2012 12ndash18
35 Soman R Malinowski P Ostachowicz W ldquoThreshold determination for neutral axis tracking based damage detection
in wind turbine towersrdquo In Proceedings of the EWEA Offshore2015 Copenhagen Denmark 2015 (submitted)
36 Soman R Malinowski P Ostachowicz W Paulsen U ldquoKalman 1047297lter based data fusion for neutral axis tracking in wind
turbine towersrdquo In Proceedings of the SPIE smart Structures NDE San DiegoUS 2015 (submitted)
Bi-axial NA tracking for SHM in towers R N Soman P H Malinowski and W M Ostachowicz
Wind Energ (2015) copy 2015 John Wiley amp Sons Ltd