NL2027280B1 - Installation of a wind turbine on a floating foundation - Google Patents

Installation of a wind turbine on a floating foundation Download PDF

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Publication number
NL2027280B1
NL2027280B1 NL2027280A NL2027280A NL2027280B1 NL 2027280 B1 NL2027280 B1 NL 2027280B1 NL 2027280 A NL2027280 A NL 2027280A NL 2027280 A NL2027280 A NL 2027280A NL 2027280 B1 NL2027280 B1 NL 2027280B1
Authority
NL
Netherlands
Prior art keywords
mast
wind turbine
floating
floating foundation
crane
Prior art date
Application number
NL2027280A
Other languages
Dutch (nl)
Inventor
Bernardus Wijning Diederick
Roodenburg Joop
Original Assignee
Itrec Bv
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Itrec Bv filed Critical Itrec Bv
Priority to US18/033,097 priority Critical patent/US20230392584A1/en
Priority to CN202180072710.3A priority patent/CN116348370A/en
Priority to EP21794829.8A priority patent/EP4232352A1/en
Priority to PCT/EP2021/078995 priority patent/WO2022084344A1/en
Application granted granted Critical
Publication of NL2027280B1 publication Critical patent/NL2027280B1/en

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING 
    • B63B27/00—Arrangement of ship-based loading or unloading equipment for cargo or passengers
    • B63B27/10—Arrangement of ship-based loading or unloading equipment for cargo or passengers of cranes
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING 
    • B63B27/00—Arrangement of ship-based loading or unloading equipment for cargo or passengers
    • B63B27/16—Arrangement of ship-based loading or unloading equipment for cargo or passengers of lifts or hoists
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING 
    • B63B35/00—Vessels or similar floating structures specially adapted for specific purposes and not otherwise provided for
    • B63B35/003—Vessels or similar floating structures specially adapted for specific purposes and not otherwise provided for for transporting very large loads, e.g. offshore structure modules
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING 
    • B63B77/00—Transporting or installing offshore structures on site using buoyancy forces, e.g. using semi-submersible barges, ballasting the structure or transporting of oil-and-gas platforms
    • B63B77/10—Transporting or installing offshore structures on site using buoyancy forces, e.g. using semi-submersible barges, ballasting the structure or transporting of oil-and-gas platforms specially adapted for electric power plants, e.g. wind turbines or tidal turbine generators
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C13/00—Other constructional features or details
    • B66C13/02—Devices for facilitating retrieval of floating objects, e.g. for recovering crafts from water
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C23/00—Cranes comprising essentially a beam, boom, or triangular structure acting as a cantilever and mounted for translatory of swinging movements in vertical or horizontal planes or a combination of such movements, e.g. jib-cranes, derricks, tower cranes
    • B66C23/18—Cranes comprising essentially a beam, boom, or triangular structure acting as a cantilever and mounted for translatory of swinging movements in vertical or horizontal planes or a combination of such movements, e.g. jib-cranes, derricks, tower cranes specially adapted for use in particular purposes
    • B66C23/185—Cranes comprising essentially a beam, boom, or triangular structure acting as a cantilever and mounted for translatory of swinging movements in vertical or horizontal planes or a combination of such movements, e.g. jib-cranes, derricks, tower cranes specially adapted for use in particular purposes for use erecting wind turbines
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C23/00—Cranes comprising essentially a beam, boom, or triangular structure acting as a cantilever and mounted for translatory of swinging movements in vertical or horizontal planes or a combination of such movements, e.g. jib-cranes, derricks, tower cranes
    • B66C23/18—Cranes comprising essentially a beam, boom, or triangular structure acting as a cantilever and mounted for translatory of swinging movements in vertical or horizontal planes or a combination of such movements, e.g. jib-cranes, derricks, tower cranes specially adapted for use in particular purposes
    • B66C23/36—Cranes comprising essentially a beam, boom, or triangular structure acting as a cantilever and mounted for translatory of swinging movements in vertical or horizontal planes or a combination of such movements, e.g. jib-cranes, derricks, tower cranes specially adapted for use in particular purposes mounted on road or rail vehicles; Manually-movable jib-cranes for use in workshops; Floating cranes
    • B66C23/52—Floating cranes
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F03—MACHINES OR ENGINES FOR LIQUIDS; WIND, SPRING, OR WEIGHT MOTORS; PRODUCING MECHANICAL POWER OR A REACTIVE PROPULSIVE THRUST, NOT OTHERWISE PROVIDED FOR
    • F03D—WIND MOTORS
    • F03D13/00—Assembly, mounting or commissioning of wind motors; Arrangements specially adapted for transporting wind motor components
    • F03D13/10—Assembly of wind motors; Arrangements for erecting wind motors
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F03—MACHINES OR ENGINES FOR LIQUIDS; WIND, SPRING, OR WEIGHT MOTORS; PRODUCING MECHANICAL POWER OR A REACTIVE PROPULSIVE THRUST, NOT OTHERWISE PROVIDED FOR
    • F03D—WIND MOTORS
    • F03D13/00—Assembly, mounting or commissioning of wind motors; Arrangements specially adapted for transporting wind motor components
    • F03D13/20—Arrangements for mounting or supporting wind motors; Masts or towers for wind motors
    • F03D13/25—Arrangements for mounting or supporting wind motors; Masts or towers for wind motors specially adapted for offshore installation
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING 
    • B63B1/00—Hydrodynamic or hydrostatic features of hulls or of hydrofoils
    • B63B1/02—Hydrodynamic or hydrostatic features of hulls or of hydrofoils deriving lift mainly from water displacement
    • B63B1/10—Hydrodynamic or hydrostatic features of hulls or of hydrofoils deriving lift mainly from water displacement with multiple hulls
    • B63B1/107—Semi-submersibles; Small waterline area multiple hull vessels and the like, e.g. SWATH
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING 
    • B63B35/00—Vessels or similar floating structures specially adapted for specific purposes and not otherwise provided for
    • B63B35/44—Floating buildings, stores, drilling platforms, or workshops, e.g. carrying water-oil separating devices
    • B63B2035/4433—Floating structures carrying electric power plants
    • B63B2035/446—Floating structures carrying electric power plants for converting wind energy into electric energy
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F05—INDEXING SCHEMES RELATING TO ENGINES OR PUMPS IN VARIOUS SUBCLASSES OF CLASSES F01-F04
    • F05B—INDEXING SCHEME RELATING TO WIND, SPRING, WEIGHT, INERTIA OR LIKE MOTORS, TO MACHINES OR ENGINES FOR LIQUIDS COVERED BY SUBCLASSES F03B, F03D AND F03G
    • F05B2230/00—Manufacture
    • F05B2230/60—Assembly methods
    • F05B2230/61—Assembly methods using auxiliary equipment for lifting or holding
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F05—INDEXING SCHEMES RELATING TO ENGINES OR PUMPS IN VARIOUS SUBCLASSES OF CLASSES F01-F04
    • F05B—INDEXING SCHEME RELATING TO WIND, SPRING, WEIGHT, INERTIA OR LIKE MOTORS, TO MACHINES OR ENGINES FOR LIQUIDS COVERED BY SUBCLASSES F03B, F03D AND F03G
    • F05B2240/00—Components
    • F05B2240/90—Mounting on supporting structures or systems
    • F05B2240/93—Mounting on supporting structures or systems on a structure floating on a liquid surface
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
    • Y02E10/00—Energy generation through renewable energy sources
    • Y02E10/70—Wind energy
    • Y02E10/72—Wind turbines with rotation axis in wind direction
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
    • Y02E10/00—Energy generation through renewable energy sources
    • Y02E10/70—Wind energy
    • Y02E10/727—Offshore wind turbines

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Ocean & Marine Engineering (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Sustainable Development (AREA)
  • Sustainable Energy (AREA)
  • General Engineering & Computer Science (AREA)
  • Transportation (AREA)
  • Wind Motors (AREA)

Abstract

Installation of a wind turbine on a floating foundation that is in floating condition and subject to sea-state induced motions, e.g. at the site of an offshore windfarm. Use is made of a vessel with a crane arranged on the hull and provided with a hoisting system that is adapted to support the weight of the wind turbine and suspend the wind turbine from the crane. A heave compensation device compensates for sea-state induced heave motion of the wind turbine mast relative to the mast mounting structure of the floating foundation. Use is made of a mast alignment system that is configured to engage on the suspended wind turbine, e.g. on the mast of the suspended wind turbine, and to bring and maintain the mast of the wind turbine in alignment with the mounting axis of the floating foundation in order to compensate for sea-state induced motions, at least including tilt motions in one or more vertical planes, of the wind turbine mast relative to the mounting axis of the floating foundation.

Description

P34934NL00
INSTALLATION OF A WIND TURBINE ON A FLOATING FOUNDATION The present invention relates to the installation of a wind turbine on a floating foundation.
In the field of offshore windfarms it is known to install a fixed foundation on the seabed, e.g. a jacket or a monopile, and to then install the wind turbine on top of the fixed foundation. The latter of commonly done in a step by step approach, e.g. wherein first the mast is installed on the pre-installed foundation, then the nacelle is mounted on the top of the mast, and then the rotor blades are fitted to the hub of the nacelle. Other approaches, e.g. wherein a nacelle already fitted with two {of the three) rotor blades is supplied in the so-called bunny ears configuration, are also known.
Fixed foundation offshore wind turbines are effective in relatively shallow waters. In deeper waters it is envisaged that floating foundation wind turbines will be most effective, e.g. economical. For example, the document WO2009/131826 discloses several designs of floating foundation wind turbines.
Inthe field of floating foundation wind turbines it is at present the common understanding that assembly of the entire floating foundation wind turbine, so the combination of the floating foundation and of the wind turbine, is done remote from the actual windfarm. For example, assembly is done at a port based yard. The entire floating foundation wind turbine is the towed from the assembly location to the remote offshore windfarm location.
For example, Hywind Scotland is a wind farm using floating foundation wind turbines. These wind turbines have a 120 meters tall mast mounted on a spar- type floating foundation. The mounting of the wind turbines on the spar-type floating foundation was done in a fjord in Norway using the Saipem 7000 floating crane. The assemblies were then towed across the North Sea to the coast of Scotland near Peterhead. In the windfarm, three suction anchors anchor the floating foundation to the seabed.
The present invention aims to provide an alternative approach for assembly floating foundation wind turbines and/or for creating a windfarm with one or more floating foundation wind turbines.
The invention provides a method for installation of a wind turbine on a floating foundation that is in floating condition and subject to sea-state induced motions.
As preferred, this installation is done at the site of the offshore windfarm. It will be appreciated that this allows to avoid the long-distance towing of the complete wind turbine
-2- from a shore-based, e.g. quayside, location to the windfarm.
Such towing takes considerable efforts, is time-consuming, and may be impaired by weather conditions.
More preferably, the floating foundation is already anchored, e.g. with at least a part of the anchoring arrangement, to the seabed at its final location in the windfarm prior to the installation of the wind turbine on the foundation.
The wind turbine to be installed comprises a wind turbine mast having a lower end portion, and comprises a rotor assembly with rotor blades, which rotor assembly is mounted on the wind turbine mast.
The mast of the wind turbine to be installed may be the entire mast, which is preferred, but may also consist of an upper mast part only, with the lower mast part being integral with the floating foundation.
The floating foundation comprises a mast mounting structure configured to mount the mast of the wind turbine thereon and having an upwardly directed mounting axis.
The foundation may be of any design, e.g. of any designs disclosed in WO2009/131826. For example, the floating foundation comprises three or more interconnected and buoyant stabilizing columns, e.g. three stabilizing columns interconnected by beams in a triangular arrangement, e.g. an equilateral triangle, when seen from above.
For example, the floating foundation, e.g. each buoyant column thereof, is provided with one or more ballast tanks for containing a ballast, e.g. a ballast liquid, e.g. ballast water.
In an embodiment, a ballast control system is provided which is configured for moving the ballast liquid between ballast tanks, e.g. of the at least three stabilizing columns, to adjust a vertical orientation of the upwardly directed mounting axis.
In an embodiment, one of the stabilizing columns of the floating foundation is embodied with a mast mounting structure configured to mount the mast of the wind turbine thereon.
In an embodiment, the floating foundation comprises one or more water-entrapment plates, e.g. each of the plates being attached to a lower end of one of the stabilizing columns.
In the method use is made of a vessel which comprises: - a floating hull, e.g. a semi-submersible type vessel, e.g. a non-jack-up type vessel, - a crane arranged on the hull.
-3- The crane is provided with a hoisting system that is adapted to support the weight of the wind turbine and suspend the wind turbine from the crane, which hoisting system is adapted to raise and lower the wind turbine in a controllable manner. At the site of the offshore windfarm, in contrast to a (shielded) shore-based, e.g. quayside, installation location, the wave conditions are likely to be (over the year) more prominent, so that the floating foundation as well as the crane vessel will be subject to sea-state induced motions, generally each with its own dynamic behavior.
The crane of the vessel and/or the hoisting system thereof comprises a heave compensation device that is adapted to compensate for sea-state induced heave motion of the wind turbine mast relative to the mast mounting structure of the floating foundation. In particular for a hoisting device with one or more hoisting winches and hoisting cables, as is preferred here, suitable heave compensation devices are well known in the art, both in passive and active embodiments or hybrids thereof. For example, the hoisting device includes one or more winches and one or more hoisting cables, the heave compensation being formed by suitable operation of the (electric) winches and/or by one or more heave compensation cylinders carrying one or more cable sheaves over which a hoisting cable is passed. In the method use is made of a mast alignment system that is configured to engage on the suspended wind turbine, e.g. on the mast of the suspended wind turbine, and to bring and maintain the mast of the suspended wind turbine in alignment with the mounting axis of the floating foundation in order to compensate for sea-state induced motions, at least including tilt motions in one or more vertical planes, of the wind turbine mast relative to the mounting axis of the floating foundation. The method comprises - with the hull of the vessel in floating condition and the floating foundation in floating condition — the steps of: - suspending the wind turbine from the crane by means of the hoisting system, - positioning the lower end of the mast of the suspended wind turbine above the mast mounting structure of the floating foundation, - operating the heave compensation device so as to compensate for sea-state induced heave motion of the wind turbine mast relative to the mast mounting structure of the floating foundation, - operating the mast alignment system so as to bring and maintain the mast of the wind turbine in alignment with the mounting axis of the floating foundation in order to compensate
-4- for sea-state induced tilt motions of the wind turbine mast relative to the mounting axis of the floating foundation, - whilst the heave compensation device and the mast alignment system are in operation, operating the hoisting system and thereby lowering the suspended wind turbine with the lower end portion of the mast onto the mast mounting structure of the floating foundation, - fastening the mast with the lower end portion thereof to the mast mounting structure of the floating foundation. The method thus envisages the provision and operation of a mast alignment system in order to allow for the correct landing of the lower end portion of the mast onto the mast mounting structure of the floating foundation. In general terms, the mast alignment system serves to force the suspended wind turbine out of its plumb line orientation so as to bring and keep the mast thereof in alignment with the mounting axis, which is continuous subject to at least tilting motions relative to the mast due to sea-state acting on the floating hull of the vessel and on the floating foundation.
The invention allows, for example, to anchor multiple floating foundations at their final location in an offshore windfarm, all without wind turbine, and then sail the vessel to the windfarm and successively install the wind turbines on the floating foundations. This approach allows for a more (cost-)effective approach to establishing a floating foundation offshore windfarm than the above-referenced approach wherein completely assembled floating wind turbines have to be towed over relatively long distance to their location in the windfarm. In an embodiment, floating foundations of a windfarm are installed in one calendar year and the associated wind turbines are installed on these foundations in a later calendar year.
The invention, for example, allows for the use of deep draught floating foundations, e.g. spar- type foundations, without the need for a deep draught installation location close to shore, like the above-referenced fjord.
In embodiments, landing the mast onto the mast mounting structure may already cause, or is followed by, a preliminary fastening between the mast and the foundation being established, so that the wind turbine is stable relative to the foundation, e.g. allowing for ceasing the operation of the alignment system, e.g. allowing for disengaging the alignment system.
For example, the lower end portion of the mast is configured for stabbing thereof into or over the mast mounting structure of the floating foundation, said stabbing connection providing a stable preliminary fastening between the mast and the foundation.
5. In an example, one or more preliminary fastener devices are provided at the lower end portion and/or on the mast mounting structure that establish, e.g. automatically or on command, a preliminary fastening between the mast and the foundation. Then a final fastening of the lower end portion to the mast mounting structure may be performed, e.g. providing a connection by bolts, welding, grouting, etc.
In an embodiment, the lower end portion of the mast and the mast mounting structure are provided with cooperating self-actuating fastening members, e.g. like an automatic latch, that fasten the mast to the foundation In embodiments, at least the mast alignment system remains in operation during a part or all of the fastening step, e.g. the system serving or assisting in stabilizing of the wind turbine relative to the foundation during this step. In embodiments, at least the heave compensation device remains in operation during a part or all of the fastening step, e.g. the device serving or assisting in supporting at least part of the weight of the wind turbine relative to the foundation also during this step. In another embodiment, the weight of the wind turbine is transferred from the crane onto the floating foundation once the lower end portion of the mast has been lowered onto the mast mounting structure of the floating foundation. This can be done, e.g. by suitable operation of the hoisting system and/or the heave compensation device. In a preferred installation method - at least during the step of lowering the mast onto the foundation - the vessel is facing the waves with its bow or its stern. Most preferably, the vessel is embodied to suspend the wind turbine at the bow or the stern of the vessel, preferably in the mid-plane of the vessel. It is preferred, for the floating foundation to be restrained by a restraining system at least, or solely, in the horizontal plane relative to the vessel, at least to some degree, during the wind turbine installation process. The restraining can, for example, involve multiple mooring lines extending in different directions being arranged between the floating foundation on the one hand and hull of the vessel on the other hand, so as to provide a coupling of the floating foundation and the hull at least, or solely, in the horizontal plane. In an embodiment, the restraining system is provided at the bow of the semi-submersible vessel. The restraining of the floating foundation can also, for example, involve the use of a vessel mounted gripper device, e.q. like a monopile gripper known for installation of monopiles in the seabed, which gripper device has an engagement member, e.g. a ring member, that engages on the floating foundation, e.g. on the mast mounting structure of the floating
-6- foundation, and which gripper device has active controlled motion mechanism configured and operated to provide a controlled motion of the engagement member relative to the hull of the vessel and thereby a controlled restraining of the engaged floating foundation relative to the hull of the vessel.
For example, the active controlled motion mechanism is embodied to actively restrain the engaged floating foundation relative to the hull of the vessel in at least one horizontal direction, possibly in two non-parallel horizontal directions, e.g. in orthogonal horizontal directions.
Even when use is made of a restraining system that at least to some degree restrains motion of the mast mounting structure relative to the vessel in the horizontal plane, or when such restraining is not present, an embodiment of the invention envisages that the mast alignment system is also configured to compensate for sea-state induced horizontal motions of the wind turbine mast relative to the mounting axis of the floating foundation in at least one horizontal direction, e.g. in two non-parallel horizontal directions, e.g. in two orthogonal horizontal directions.
In this embodiment, the alignment system also takes care of relative horizontal motion of the lower end portion of the mast and the mast mounting structure, in addition to the mentioned relative tilt motions.
In an embodiment, the alignment system comprises at least one mast engaging device having a mast engagement member as well as an active controlled motion mechanism configured and operated to provide a controlled motion of the mast engagement member in a horizontal plane so as to bring and maintain the mast of the suspended wind turbine in alignment with the mounting axis of the floating foundation.
The at least one mast engaging device is generally envisaged to actively force the suspended wind turbine out of its plumb line orientation and into alignment with the mounting axis.
In an embodiment, the alignment system comprises an upper mast engaging device as well as a lower mast engaging device each having a mast engagement member as well as an active controlled motion mechanism configured and operated to provide a controlled motion of the mast engagement member in a horizontal plane, wherein the mast engaging devices act on the mast at different heights, e.g. the lower one below the centre of gravity of the wind turbine to be installed and the upper one above said centre of gravity, and wherein the active controlled motion mechanisms are operated to bring and maintain the mast of the suspended wind turbine in alignment with the mounting axis of the floating foundation.
For example, the upper and lower mast engaging device are at least 20 meters apart in vertical direction.
In a possible embodiment the active controlled horizontal motion mechanism comprises a first set of one or more horizontal tracks extending in a first horizontal direction, said first set supporting at least one first carrier, and said one or more first carriers supporting a second
-7- set of one or more horizontal tracks extending in a second horizontal direction different from the first direction, e.g. the first and second direction being orthogonal directions, the second set of one or more horizontal tracks supporting one or more further second carriers supporting said mast engagement device.
In a practical embodiment, the active controlled horizontal motion mechanism comprises one or more horizontal displacement actuators, e.g. hydraulic cylinders or assemblies of one or more cables and associated (electric) winches, or rack and pinion drive devices.
In an embodiment, at least one, preferably each, mast engaging device of the alignment system comprises a trolley that is vertically guided, e.g. along one or more vertical guide rails, e.g. one or more vertical guide rails mounted on the hull of the vessel and/or on the crane, the trolley supporting the mast engaging member with interposition of the active controlled motion mechanism between the trolley and the mast engaging member to provide a controlled motion of the mast engagement member in a horizontal plane, e.g. in two orthogonal horizontal directions. It will be appreciated that herein, vertical and horizontal are approximate indications as the vessel is subject to sea-state induced motions. In an embodiment, the trolley of a mast engaging device, e.g. of an upper mast engaging device, is suspended from the crane. For example, the upper mast engaging device is suspended from the crane by the same hoisting system from which the wind turbine is suspended, e.g. subject to the same heave compensation device so that the trolley moves in unison with the heave compensating motions of the wind turbine. In an embodiment, the alignment system comprises an mast engaging device, e.g. an upper mast engaging device, that comprises a trolley that is vertically guided, e.g. along one or more vertical guide rails, e.g. one or more vertical guide rails mounted on the hull of the vessel and/or on the crane, the trolley supporting the mast engaging member with interposition of the active controlled motion mechanism between the trolley and the mast engaging member to provide a controlled motion of the mast engagement member in a horizontal plane, e.g. in two orthogonal horizontal directions, wherein the wind turbine is suspended from the mast engaging member, and wherein the mast engaging member is suspended from the crane by means of the hoisting device. In an embodiment, one or more suspension cables extend between an attachment member fitted, e.g. temporarily fitted, on the mast at a height below the upper mast engaging device and the mast engaging member. In an embodiment, the crane is provided with first and second upper sheave blocks that are horizontally spaced apart, and the mast engaging member is provided with first and second lower sheave blocks that are horizontally spaced apart, wherein a first multiple fall cable arrangement extends the between the first upper and lower sheave blocks and a second
-8- multiple fall cable arrangement extends between the second upper and lower sheave blocks. Preferably this configuration is such that in the method, the nacelle and one blade of the wind turbine that is directed upward are located between multiple fall cable arrangements without these cable arrangement coming into contact with any of the blades and the nacelle.
In an embodiment, the crane has a vertical crane structure erected on the hull of the vessel, e.g. with a pivotal jib at the top thereof wherein the hoisting device comprises one or more winch drive cables depending from one or more sheave blocks arranged on pivotal jib.
In an embodiment the vertical crane structure has a lower section of the crane structure fixed on the hull and with a slewable top section of the crane structure, wherein the hoisting device comprises one or more winch drive cables depending from one or more sheave blocks arranged on the slewable top section, e.g. on a pivotal jib of the slewable top section. The slewing of the top section, may in embodiments, be used to pick-up an assembled wind turbine from a deck of the vessel by means of the hoisting device and to bring the wind turbine with its mast above the mast mounting structure of the floating foundation.
In an embodiment, the alignment system is mounted on a vertical crane structure of the crane, which crane structure is erected on the hull of the vessel and subject to the same sea- state induced motions as the hull of the vessel. For example, the alignment system comprises one or more mast engaging devices mounted an the vertical crane structure, e.g. each embodied as described herein.
In an embodiment, the slewable top section of the vertical crane structure is provided with the upper mast engaging device and the fixed lower section of the vertical crane structure is provided with the lower mast engaging device. For example, a vertical guide rail(s) is provided on the slewable top section for a trolley of the upper mast engaging device. For example, a vertical guide rail(s) is provided on the lower section for a trolley of the lower mast engaging device.
In an embodiment, the vessel is of the type known as semi-submersible vessel with a pair of substantially parallel, laterally spaced buoyant pontoons, e.g. with water ballast tanks to permit said pontoons to be moved between a submerged condition and a surface floating condition, and with a row of multiple columns supported by and extending upwardly from each pontoon, and a deck structure supported by the upper ends of said columns. The crane is mounted on the deck structure of the hull.
In an embodiment the semi-submersible vessel has a bow and a stern, wherein the crane is mounted at the bow, e.g. on the deck structure between the two pontoons (seen from
-9- above), e.g. the deck structure having a bow end that is located aft of the bow of the pontoons.
In an embodiment, the floating foundation has a stabilizing column at a corner thereof (seen from above) on which the wind turbine is to be installed, e.g. a triangular foundation, e.g. as in WO2009/131826,wherein the semi-submersible vessel is arranged with its pontoons, e.g.
the bow portions thereof, on opposite sides of this stabilizing corner and wherein the crane suspends the mast of the wind turbine above the mast mounting structure on said stabilizing column.
In an embodiment, use is made of one or more sensors for monitoring the motion in one or more directions of the mast mounting structure relative to the lower end portion of the mast floating foundation during installation. Preferably, these one or more sensors are linked to a controller, e.g. a computerized controller, that is configured and operated to cause automated operation of the heave compensation device and/or of the alignment system. For example, one or more sensors are embodied as camera’s, radar, displacement sensors, etc.
For example, one or more of the motion monitoring sensors are combined with a restraining system as discussed herein.
For example, one or more motion monitoring sensors are configured to monitor tilting of the mast mounting structure relative to the hull of the vessel, e.g. relative to the restraining system.
In an embodiment, the restraining system comprises at least three mooring lines that secure the floating foundation to the vessel, e.g. to the bow of the vessel, said mooring lines extending in different directions, e.g. primarily in a horizontal plane. This, for example, allows for keeping a substantially fixed relative horizontal position of the vessel and the floating foundation. Preferably, the foundation is anchored to the seabed in this configuration.
In an embodiment, the vessel is anchored via multiple anchor lines to the seabed in addition to a part of the vessel being coupled to the anchored floating foundation via the restraining system. For example, the restraining system couples the bow of the vessel, e.g. the semi- submersible vessel, to the floating foundation (e.g. a stabilizing column thereof) and one or more anchors lines extend from the stern of the vessel during the installation.
In an embodiment the restraining system, e.g. also, comprises one or more tensioning line assemblies arranged on the vessel, each including one or more tensioning lines and one or more corresponding tension devices that provide controlled tension to these tensioning lines, said tensioning lines being connected to the floating foundation and the tensioning line
-10- assemblies being configured and operated to tension said one or more lines and thereby restrain the floating foundation primarily in heave direction relative to the vessel.
It is noted that the vessel may be used for installation procedures only, whereas the supply of assembled wind turbines is done with another vessel, e.g. a barge, from an onshore location. Itis preferred that assembly of the wind turbine to be installed is done (at least for full completion thereof) onboard the installation vessel equipped with the crane for installation of the wind turbine on the floating foundation. For example, the mast is supplied to the vessel, or stored on the vessel, in two parts, a lower mast part and an upper mast part. For example, the nacelle is supplied to the vessel or stored on the vessel. For example, the blades are supplied to the vessel or stored on the vessel. Assembly of the wind turbine is then done on the vessel, e.g. in a process of which the final stage is the installation on the floating foundation as described herein. For example, in a first assembly stage the nacelle is mounted on the upper mast part. Then in a second assembly stage, the blades are fitted to the hub, e.g. involving the method and equipment as described in non-prepublished NL2026734 incorporated herein by reference. Then, in a third assembly stage, the subassembly is lifted and placed on top of the lower mast part with the mast parts being secured to one another to complete the wind turbine assembly. This assembly is then installed on the floating foundation as described herein. In embodiments, a further crane is provided on the vessel to handle the mast part(s) and/or nacelle, and/or blades during the assembly. The further crane can also be used for loading such wind turbine components onto the vessel from a supply vessel, e.g. from a barge.
For example, the vessel sails to the windfarm where the floating foundations are already anchored with multiple wind turbines in yet to be assembled state stored on the vessel, e.g. at least 5 wind turbines, e.g. storing separately the upper mast parts, lower mast parts, nacelles, and rotor blades of at least 5 wind turbines on board the vessel. In another embodiment, nacelles are already provided with two blades in the so-called bunny ears configuration.
In an embodiment, the vessel comprises one or more quick fill water ballast tanks for holding ballast water below the water line, the quick fill ballast tanks comprising ballast water fill doors located below the water line for dumping sea water into the quick fill ballast tanks, e.g. during and/or just after lowering the mast onto the floating foundation in order to compensate for the weight transfer from the vessel to the foundation caused by the landing of the wind turbine on the foundation.
In an embodiment, the floating foundation is provided with one or more quick release water ballast tank for holding ballast water above the water line, the quick release ballast tanks
-11- comprising ballast water dump doors, preferably located above the water line, for dumping ballast water, e.g. during and/or just after lowering the mast onto the floating foundation, to compensate for the weight transfer from the vessel to the foundation caused by the landing of the wind turbine.
Itis noted that in an alternative embodiment, in addition to or as a replacement of the water dump and water fill doors other water fill and/or ballast dump devices can be provided.
In an embodiment, the alignment system is suspended from the crane, e.g. from the same hoisting device as the wind turbine.
In an embodiment, the alignment system is temporarily arranged on the floating foundation.
The invention furthermore provides a floating foundation, for example for supporting a wind turbine, wherein the floating foundation is provided with one or more quick release ballast tanks for holding ballast water above the water line, the quick release ballast tanks comprising ballast water dump doors, preferably located above the water line, for dumping ballast water, e.g. during and/or just after lowering the mast onto the floating foundation to compensate for the weight transfer from the vessel to the foundation caused by the transfer of the wind turbine.
The invention also relates to the use of such a floating foundation, e.g. during the installation of a wind turbine thereon.
The invention also relates to a system for installation of a wind turbine on a floating foundation that is in floating condition and subject to sea-state induced motions, e.g. at the site of an offshore windfarm, wherein the wind turbine to be installed comprises at least a part of a wind turbine mast having a lower end portion, and comprises a rotor assembly with rotor blades, which rotor assembly is mounted on the wind turbine mast, wherein the floating foundation comprises a mast mounting structure configured to mount the mast of the wind turbine thereon and having an upwardly directed mounting axis, wherein the system comprises a vessel which comprises: - a floating hull, - a crane arranged on the hull, wherein the crane is provided with a hoisting system that is adapted to support the weight of the wind turbine and suspend the wind turbine from the crane, which hoisting system is adapted to raise and lower the wind turbine in a controllable manner,
-12- wherein the crane and/or the hoisting system thereof comprises a heave compensation device that is adapted to compensate for sea-state induced heave motion of the wind turbine mast relative to the mast mounting structure of the floating foundation, wherein the system further comprises a mast alignment system that is configured to engage on the suspended wind turbine, e.g. on the mast of the suspended wind turbine, and to bring and maintain the mast of the wind turbine in alignment with the mounting axis of the floating foundation in order to compensate for sea-state induced motions, at least including tilt motions in one or more vertical planes, of the wind turbine mast relative to the mounting axis of the floating foundation, wherein the system is configured to allow for a method which comprises - with the hull of the vessel in floating condition and the floating foundation in floating condition — the steps of: - suspending the wind turbine from the crane by means of the hoisting system, - positioning the lower end of the mast of the suspended wind turbine above the mast mounting structure of the floating foundation, - operating the heave compensation device so as to compensate for sea-state induced heave motion of the wind turbine mast relative to the mast mounting structure of the floating foundation, - operating the mast alignment system so as to bring and maintain the mast of the wind turbine in alignment with the mounting axis of the floating foundation in order to compensate for sea-state induced tilt motions of the wind turbine mast relative to the mounting axis of the floating foundation, - whilst the heave compensation device and the mast alignment system are in operation, operating the hoisting system and thereby lowering the suspended wind turbine with the lower end portion of the mast onto the mast mounting structure of the floating foundation - fastening the mast with the lower end portion thereof to the mast mounting structure of the floating foundation.
The system, e.g. the vessel and/or the mast alignment system thereof, may comprise one or more of the features discussed herein with reference to the inventive method. The invention also relates to an alignment system for use in installation of a wind turbine on a floating foundation as described herein.
The invention also relates to a crane to be mounted on a vessel and an alignment system for use in installation of a wind turbine on a floating foundation as described herein.
-13- The invention also relates to a vessel equipped with a crane and an alignment system for use in installation of a wind turbine on a floating foundation as described herein.
The invention also relates to a vessel equipped with a crane and a restraining system for use in installation of a wind turbine on a floating foundation as described herein, e.g. in absence of the alignment system as described herein.
The invention also relates to a method for creating an offshore windfarm, wherein multiple floating foundations are already present at the site of the windfarm, preferably already anchored at their final position, and wherein a vessel is used that comprises: - a floating hull having a deck, - a crane arranged on the hull, wherein the crane is provided with a hoisting system that is adapted to support the weight of the wind turbine and suspend the wind turbine from the crane, which hoisting system is adapted to raise and lower the wind turbine in a controllable manner, wherein the crane and/or the hoisting system thereof comprises a heave compensation device that is adapted to compensate for sea-state induced heave motion of the wind turbine mast relative to the mast mounting structure of the floating foundation, in which method the vessel sails to the windfarm where the floating foundations are already anchored with multiple wind turbines in yet to be assembled state stored on the vessel, e.g. at least 5 wind turbines, e.g. storing separately the mast, for example upper mast parts and lower mast parts, the nacelles, and the rotor blades of at least 5 wind turbines on board the vessel, and wherein the method comprises assembly of the to be installed wind turbine on board of the vessel, and wherein the method comprises - with the hull of the vessel in floating condition and the floating foundation in floating condition — the steps of: - suspending the wind turbine from the crane by means of the hoisting system, - positioning the lower end of the mast of the suspended wind turbine above the mast mounting structure of the floating foundation, - operating the heave compensation device so as to compensate for sea-state induced heave motion of the wind turbine mast relative to the mast mounting structure of the floating foundation,
-14- - possibly, operating a mast alignment system so as to bring and maintain the mast of the wind turbine in alignment with the mounting axis of the floating foundation in order to compensate for sea-state induced tilt motions of the wind turbine mast relative to the mounting axis of the floating foundation, - whilst the heave compensation device and, possibly, the mast alignment system are in operation, operating the hoisting system and thereby lowering the suspended wind turbine with the lower end portion of the mast onto the mast mounting structure of the floating foundation - fastening the mast with the lower end portion thereof to the mast mounting structure of the floating foundation. As preferred, use is made of a mast alignment system that is configured to engage on the suspended wind turbine, e.g. on the mast of the suspended wind turbine, and to bring and maintain the mast of the wind turbine in alignment with the mounting axis of the floating foundation in order to compensate for sea-state induced motions, at least including tilt motions in one or more vertical planes, of the wind turbine mast relative to the mounting axis of the floating foundation. Preferably, all rotor blades are stored in horizontal orientation on board of the vessel, e.g. stacked along a side of the vessel, and are to be mounted to the hub, e.g. as described in NL2028734 incorporated herein by reference.
Preferably, the vessel is a semi-submersible vessel. The invention will now be discussed with reference to the drawings. In the drawings: - fig. 1 illustrates the installation of a wind turbine on a floating foundation according to the invention, - fig. 2 illustrates the installation in a view from above, - fig. 3 illustrates the installation in a front view with the wind turbine suspended from the crane of the vessel in a plumb line orientation, - fig. 4 illustrates the installation of figure 3 in a side view, - fig. 5 is an enlargement of a portion of figure 4 illustrating the upper mast engaging device and the suspension of the wind turbine, - fig. 6 shows the portion of figure 5 in a front view,
-15- - fig. 7 is an enlargement of a portion of figure 4 illustrating the lower mast engaging device and the restraining system that acts on a stabilizing column of the floating foundation, - fig. 8 illustrates the operation of the alignment system of the invention in a front view, - fig. 9 illustrates the operation of the alignment system of the invention in a side view, -fig.10 is an enlargement of a portion of figure 8 illustrating the upper mast engaging device, - fig. 11 is an enlargement of a portion of figure 9 illustrating the lower mast engaging device and the restraining system that acts on a stabilizing column of the floating foundation, - fig. 12 shows the portion of figure 11 in front view, - figs. 13a,b,c illustrate the upper mast engaging device of the alignment system, - figs. 14a-e illustrate the crane and the upper mast engaging device of the alignment system.
In the drawings the figures illustrate the installation of a wind turbine 1 on a floating foundation 100 that is in floating condition and subject to sea-state induced mations, e.g. at the site of an offshore windfarm.
The wind turbine 1 to be installed comprises at least a part of a wind turbine mast 2 having a lower end portion, and comprises a rotor assembly, here embodied with a nacelle 3 having a hub and with rotor blades 4, which rotor assembly has been mounted on the wind turbine mast 2.
The floating foundation 50 is, by way of example, shown as being of the design discussed in WO02009/131826. One of the stabilizing columns 51 thereof at a corner of the foundation, is provided with a mast mounting structure 52 that is configured to mount the mast 2 of the wind turbine 1 thereon. This structure 52 has an upwardly directed mounting axis 53 which is the main axis along which the landing of the mast 2 onto the foundation 50 takes place. Use is made of a vessel 200, here a semi-submersible vessel, which comprises: - a floating hull 201, - a crane 250 that is arranged on the hull. The crane 250 is provided with a hoisting system 275 that is adapted to support the weight of the wind turbine 1 and suspend the wind turbine 1 from the crane 250, which hoisting system is adapted to raise and lower the wind turbine in a controllable manner.
-16- The crane 250 and/or the hoisting system 275 thereof comprises a heave compensation device 300 that is adapted to compensate for sea-state induced heave motion of the wind turbine mast 2 relative to the mast mounting structure 52 of the floating foundation 50.
Use is made of a mast alignment system 400 that is configured to engage on the suspended wind turbine, here on the mast 2 of the suspended wind turbine 1, and to bring and maintain the mast 2 of the wind turbine in alignment with the mounting axis 53 of the floating foundation in order to compensate for sea-state induced motions, at least including tilt motions in one or more vertical planes, of the wind turbine mast 2 relative to the mounting axis of the floating foundation 50.
Generally, the installation method comprises - with the hull of the vessel 200 in floating condition and the floating foundation 50 in floating condition — the steps of: - suspending the wind turbine 1 from the crane 250 by means of the hoisting system 275, - positioning the lower end of the mast 2 of the suspended wind turbine 1 above the mast mounting structure 52 of the floating foundation 50, - operating the heave compensation device 300 so as to compensate for sea-state induced heave motion of the wind turbine mast 2 relative to the mast mounting structure 52 of the floating foundation 50, - operating the mast alignment system 400 so as to bring and maintain the mast 2 of the wind turbine 1 in alignment with the mounting axis 53 of the floating foundation 50 in order to compensate for sea-state induced tilt motions of the wind turbine mast 2 relative to the mounting axis 53 of the floating foundation, - whilst the heave compensation device 300 and the mast alignment system 400 are in operation, operating the hoisting system 275 and thereby lowering the suspended wind turbine 1 with the lower end portion of the mast 2 onto the mast mounting structure 52 of the floating foundation 50, - fastening the mast 2 with the lower end portion thereof to the mast mounting structure 52 of the floating foundation.
It is preferred, that at least the mast alignment system 400 remains in operation during a part or all of the fastening step, e.g. the system 400 serving or assisting in stabilizing of the wind turbine relative to the foundation during this step.
It is preferred, that at least the heave compensation device 300 remains in operation during a part or all of the fastening step, e.g. the device 300 serving or assisting in supporting at least part of the weight of the wind turbine relative to the foundation also during this step, e.g.
-17- serving or assisting in the gradual transfer of the weight of the wind turbine onto the foundation, e.g. whilst ballasting the vessel to compensate for this transfer. As can be seen, the floating foundation is restrained by a restraining system 350 at least, or solely, in the horizontal plane relative to the vessel 200 during the wind turbine installation process.
As an example, the restraining involves the use of a vessel mounted gripper device 351, which gripper device has an engagement member 352 that engages on the floating foundation, here on the mast mounting structure 52 of the floating foundation. The gripper device has actively controlled motion mechanism 353, e.g. similar of design to those of the mast engaging devices, that is configured and operated to provide a controlled motion of the engagement member 352 relative to the hull of the vessel 200 and thereby effects a controlled restraining of the engaged floating foundation 50 relative to the hull of the vessel. As can be seen in figures 1 and 2, it is envisaged in this example, that the assembly of the wind turbine 1 to be installed is done onboard the vessel 200. The vessel sails to the windfarm where the floating foundations are already present, e.g. anchored, with multiple wind turbines 1 in yet to be assembled state stored on the vessel. For example, the main components of at least 5 wind turbines are stored separately on board, here upper mast parts 2a and lower mast parts 2b, nacelles 3, and rotor blades 4. As preferred, multiple floating foundations 50 are already anchored at their final location in an offshore windfarm, all without wind turbine 1, and the vessel 200 sails to the windfarm and successively the wind turbines are assembled on board and then installed on the floating foundations 50. As preferred, the landing of the mast 2 onto the mast mounting structure 52 causes, or is followed by, a preliminary fastening between the mast and the foundation being established, so that the wind turbine is stable relative to the foundation, e.g. allowing for ceasing the operation of the alignment system 400, e.g. allowing for disengaging the alignment system. The alignment system 400 shown by way of example, comprises an upper mast engaging device 420 as well as a lower mast engaging device 440, each having a mast engagement member 421, 441 as well as an actively controlled motion mechanism 422, 442 that is configured and operated to provide a controlled motion of the mast engagement member in a horizontal plane.
-18- The mast engaging devices 420, 440 act on the mast 2 at different heights, e.g. the lower one below the centre of gravity G of the wind turbine 1 to be installed and the upper one above said centre of gravity G. The actively controlled motion mechanisms 422, 442 are configured and operated to bring and maintain the mast 2 of the suspended wind turbine 1 in alignment with the mounting axis 53 of the floating foundation 50 during the relevant moments of the installation process. lt is illustrated that each actively controlled horizontal motion mechanism 422, 442 comprises a first set of one or more horizontal tracks extending in a first horizontal direction, said first set supporting at least one first carrier, and said one or more first carriers supporting a second set of one or more horizontal tracks extending in a second horizontal direction different from the first direction, e.g. the first and second direction being orthogonal directions, the second set of one or more horizontal tracks supporting one or more further second carriers supporting said mast engagement device 421, 441. lt is illustrated that each mast engaging device 420, 440 of the alignment system 400 comprises a trolley 425, 445 that is vertically guided along one or more vertical guide rails 426, 446 here mounted to the crane structure of the crane 250. Each trolley supports the mast engaging member with interposition of the actively controlled motion mechanism between the trolley and the mast engaging member to provide a controlled motion of the mast engagement member in a horizontal plane, e.g. in two orthogonal horizontal directions.
The mast engaging member 421 is suspended from the crane 250 by means of the hoisting device upper and the wind turbine 1 is suspended from this mast engaging member 421. The crane has a vertical crane structure 260 that is erected on the hull of the vessel. Here the vertical crane structure has a lower section 261 of the crane structure fixed on the hull and a slewable top section 262 on slew bearing 262a. The hoisting device comprises one or more winch drive cables 276, 277 depending from sheave blocks 278, 279 arranged on the slewable top section, here on a forked pivotal jib 265 of the slewable top section. The slewing of the top section 262 may be used to pick-up an assembled wind turbine 1 from the deck of the vessel 200 by means of the hoisting device and to bring the wind turbine with its mast above the mast mounting structure of the floating foundation 50.
Itis shown that the slewable top section 262 of the vertical crane structure is provided with the upper mast engaging device 420 and that the fixed lower section 261 of the vertical crane structure is provided with a lower mast engaging device 440.

Claims (1)

-19- P34934NLO0/HJB-19- P34934NLO0/HJB CONCLUSIESCONCLUSIONS 1. Werkwijze voor het installeren van een windturbine op een drijvende fundering die zich in een drijvende toestand bevindt en die onderwerp is van door zeeconditie veroorzaakte bewegingen, bijvoorbeeld ter plaatse van een offshore windpark, de te installeren windturbine ten minste omvattende een deel van een windturbinemast met een ondereindgedeelte, en een rotorsamenstel met rotorbladen omvat, welk rotorsamenstel is aangebracht op de windturbinemast, waarbij de drijvende fundering een mastaanbrengconstructie omvat ingericht voor het daarop aanbrengen van de windturbine en die een opwaarts gerichte aanbreng-as heeft, waarbij gebruik wordt gemaakt van een vaartuig dat omvat: - een drijvende romp, - een kraan aangebracht op de romp, waarbij de kraan is voorzien van een hijssysteem dat is ingericht om het gewicht van de windturbine te ondersteunen en om de windturbine af te hangen van de kraan, waarbij het hijssysteem is ingericht om de windturbine op een gecontroleerde wijze op te tillen en neer te laten, waarbij de kraan en/of het hijssysteem ervan een deiningscompensatie-inrichting omvat die is ingericht om te compenseren voor door zeeconditie veroorzaakte deiningsbeweging van de windturbinemast ten opzichte van de mastaanbrengconstructie van de drijvende fundering, waarbij gebruik wordt gemaakt van een mastuitlijnsysteem dat is ingericht om aan te grijpen op de afgehangen windturbine, bijvoorbeeld op de mast van de afgehangen windturbine, en de mast van de windturbine in uitlijning te brengen en uitgelijnd te houden met de aanbreng- as van de drijvende fundering om zo te compenseren voor door zeeconditie veroorzaakte bewegingen, ten minste omvattende kantelbewegingen in een of meer verticale vlakken, van de windturbinemast ten opzichte van de aanbreng-as van de drijvende fundering,A method for installing a wind turbine on a floating foundation which is in a floating condition and which is subject to movements caused by sea conditions, for example at an offshore wind farm, the wind turbine to be installed comprising at least a part of a wind turbine mast having a lower end portion, and comprising a rotor assembly with rotor blades, the rotor assembly being mounted on the wind turbine tower, the floating foundation comprising a tower mounting structure adapted for mounting the wind turbine thereon and having an upwardly directed mounting shaft using a vessel comprising: - a floating hull, - a crane mounted on the hull, the crane being provided with a lifting system adapted to support the weight of the wind turbine and for suspending the wind turbine from the crane, the lifting system is designed to lift the wind turbine in a controlled manner n and lower, the crane and/or its hoisting system comprising a swell compensation device adapted to compensate for sea condition induced swell movement of the wind turbine tower relative to the mast mounting structure of the floating foundation, using a mast alignment system arranged to engage the suspended wind turbine, e.g. the mast of the suspended wind turbine, and align and keep the mast of the wind turbine aligned with the mounting axis of the floating foundation so as to compensate for movements caused by sea conditions, at least including tilting movements in one or more vertical planes, of the wind turbine tower with respect to the application axis of the floating foundation, -20 - de werkwijze omvattende — met de romp van het vaartuig in drijvende toestand en de drijvende fundering in drijvende toestand — de stappen van: - door middel van het hijssysteem van de kraan afhangen van de windturbine, - positioneren van het ondereindgedeelte van de mast van de hangende windturbine boven de mastaanbrengconstructie van de drijvende fundering, - bedienen van de deiningscompensatie-inrichting om te compenseren voor door zeeconditie veroorzaakte deiningsbeweging van de windturbinemast ten opzichte van de mastaanbrengconstructie van de drijvende fundering, - bedienen van het mastuitlijnsysteem om de mast van de windturbine in uitlijning met de aanbreng-as van de drijvende fundering te brengen en te houden om zo te compenseren voor door zeeconditie veroorzaakte kantelbewegingen van de windturbinemast ten opzichte van de aanbreng-as van de drijvende fundering, - terwijl het deiningscompensatie-inrichting en het mastuitlijnsysteem actief zijn, bedienen van het hijssysteem en daarmee neerlaten van de hangende windturbine met het ondereindgedeelte van de mast op de mastaanbrengconstructie van de drijvende fundering, - bevestigen van de mast met het ondereindgedeelte ervan aan de mastaanbrengconstructie van de drijvende fundering.-20 - the method comprising — with the hull of the vessel in floating condition and the floating foundation in floating condition — the steps of: - depending on the wind turbine by means of the crane hoisting system, - positioning the lower end portion of the mast of the suspended wind turbine above the mast mounting structure of the floating foundation, - operating the swell compensation device to compensate for sea condition induced swell movement of the wind turbine tower relative to the mast mounting structure of the floating foundation, - operating the mast alignment system to adjust the mast of the wind turbine in alignment with the mounting axis of the floating foundation so as to compensate for sea condition-induced tilting movements of the wind turbine tower relative to the mounting axis of the floating foundation, - while the swell compensation device and the mast alignment system being active, operating the hoisting system m and thereby lowering the suspended wind turbine with the lower end portion of the mast on the mast mounting structure of the floating foundation, attaching the mast with its lower end portion to the mast mounting structure of the floating foundation. 2. Werkwijze volgens conclusie 1, waarbij het mastuitlijnsysteem eveneens is ingericht om te compenseren voor door zeeconditie veroorzaakte horizontale bewegingen van de windturbinemast ten opzichte van de aanbreng-as van de drijvende fundering in ten minste een horizontale richting, bijvoorbeeld in twee niet-parallelle horizontale richtingen, bijvoorbeeld in twee orthogonale horizontale richtingen.A method according to claim 1, wherein the mast alignment system is also arranged to compensate for sea-condition caused horizontal movements of the wind turbine mast relative to the mounting axis of the floating foundation in at least one horizontal direction, for example in two non-parallel horizontal directions, for example in two orthogonal horizontal directions. 3. Werkwijze volgens conclusie 1 of 2, waarbij meerdere drijvende funderingen zijn geankerd op hun uiteindelijke locatie in een offshore windpark, allen zonder windturbine, en waarbij het vaartuig vaart naar het windpark en successief de windturbines worden geïnstalleerd op de drijvende funderingen.A method according to claim 1 or 2, wherein a plurality of floating foundations are anchored at their final location in an offshore wind farm, all without a wind turbine, and wherein the vessel sails to the wind farm and successively the wind turbines are installed on the floating foundations. 4. Werkwijze volgens een of meer van de conclusies 1-3, waarbij het neerzetten van de mast op de mastaanbrengconstructie teweeg brengt, of wordt gevolgd door, een voorlopigeMethod according to one or more of the claims 1-3, wherein the placing of the mast on the mast mounting structure causes, or is followed by, a preliminary -21 - bevestiging tussen de mast en de fundering, zodat de windturbine stabiel is ten opzichte van de fundering, bijvoorbeeld mogelijk makend dat het bedienen van het uitlijnsysteem wordt gestaakt, bijvoorbeeld mogelijk makend dat het uitlijnsysteem wordt ontkoppeld.-21 - mounting between the mast and the foundation so that the wind turbine is stable relative to the foundation, e.g. allowing operation of the alignment system to be discontinued, e.g. allowing the alignment system to be disconnected. 5. Werkwijze volgens een of meer van de conclusies 1-4, waarbij ten minste het mastuitlijnsysteem in werking blijft gedurende een deel van of gedurende de volledige bevestigingsstap, bijvoorbeeld het systeem dient voor of assisteert in het stabiliseren van de windturbine ten opzichte van de fundering gedurende deze stap.A method according to any one of claims 1-4, wherein at least the mast alignment system remains in operation during part or all of the mounting step, e.g. the system serves or assists in stabilizing the wind turbine relative to the foundation during this step. 6. Werkwijze volgens een of meer van de claims 1-5, waarbij ten minste de deiningscompensatie-inrichting in werking blijft gedurende een deel van of gedurende al de bevestigingsstappen, bijvoorbeeld de inrichting dient voor of assisteert in het ondersteunen van ten minste een deel van het gewicht van de windturbine ten opzichte van de fundering eveneens gedurende deze stap.A method according to any one of claims 1-5, wherein at least the swell compensation device remains in operation during part or all of the mounting steps, e.g. the device serves or assists in supporting at least a part of the weight of the wind turbine relative to the foundation also during this step. 7. Werkwijze volgens een of meer van de conclusies 1-6, waarbij de drijvende fundering ten minste, of alleen, in het horizontale vlak ten opzichte van het vaartuig wordt beperkt door een beperkingssysteem gedurende het windturbine-installatieproces.A method according to any one of claims 1-6, wherein the floating foundation is constrained at least, or only, in the horizontal plane relative to the vessel by a restraint system during the wind turbine installation process. 8. Werkwijze volgens conclusie 7, het beperken omvattende meerdere meerlijnen die zich in verschillende richtingen uitstrekken en zijn voorzien tussen de drijvende fundering aan de ene kant en de romp van he vaartuig aan de ander kant, om aldus een koppelring van de drijvende fundering en de romp ten minste, of alleen, in de horizontale richting te verschaffen.A method according to claim 7, comprising the restriction comprising a plurality of mooring lines extending in different directions and provided between the floating foundation on the one hand and the hull of the vessel on the other side, thus forming a coupling ring of the floating foundation and the hull at least, or only, in the horizontal direction. 9. Werkwijze volgens conclusie 7, het beperken omvattende het gebruik van een aan een vaartuig bevestigde grijpinrichting; welke grijpinrichting een aangrijpdeel heeft dat aangrijpt op de drijvende fundering, bijvoorbeeld op de mastaanbrengconstructie van de drijvende fundering, en welke grijpinrichting een actief gecontroleerd bewegingsmechanisme heeft dat is ingericht en wordt bediend om een gecontroleerde beweging van het aangrijpelement ten opzichte van de romp van het vaartuig te verschaffen en daarmee een gecontroleerd beperken van de aangegrepen drijvende fundering ten opzichte van de romp van het vaartuig effectueert.The method of claim 7, comprising limiting the use of a vessel-mounted grasping device; the gripping device having an engagement member which engages the floating foundation, e.g. the mast mounting structure of the floating foundation, and the gripping device having an actively controlled movement mechanism arranged and operated to permit controlled movement of the engagement member relative to the hull of the vessel thereby effecting a controlled constraining of the engaged floating foundation relative to the hull of the vessel. 10. Werkwijze volgens een of meer van de conclusies 1-9, waarbij het uitlijnsysteem ten minste een mastaangrijpinrichting omvat met een mastaangrijpdeel evenals een actief gecontroleerd bewegingsmechanisme dat is ingericht en wordt bediend voor het verschaffen van een gecontroleerde beweging van het mastaangrijpdeel in een horizontaal vlak om zo deA method according to any one of claims 1-9, wherein the alignment system comprises at least one mast-engaging device having a mast-engaging member as well as an actively controlled movement mechanism configured and operated to provide controlled movement of the mast-engaging member in a horizontal plane so as the 22. mast van de ondersteunde windturbine in uitlijning te brengen en te houden met de aanbreng-as van de drijvende fundering.22. Align and hold the mast of the supported wind turbine with the mounting axis of the floating foundation. 11. Werkwijze volgens conclusie 10, het uitlijnsysteem omvattende een bovenste mastaangrijpinrichting evenals een onderste mastaangrijpinrichting ieder met een mastaangrijporgaan evenals een actief gecontroleerd bewegingsmechanisme dat is ingericht en wordt bediend om een gecontroleerde beweging van het mastaangrijporgaan in een horizontaal vlak te verschaffen, waarbij de mastaangrijpinrichtingen op verschillende hoogtes op de mast inwerken, bijvoorbeeld de onderste onder het zwaartepunt van de te installeren windturbine en de bovenste boven het zwaartepunt, en waarbij de actief gecontroleerde bewegingsmechanismen worden bediend om de mast van de ondersteunde windturbine in uitlijning met de aanbreng-as van de drijvende fundering te brengen en te houden.The method of claim 10, the alignment system comprising an upper mast engaging device as well as a lower mast engaging device each having a mast engaging member as well as an active controlled motion mechanism configured and operated to provide controlled movement of the mast engaging member in a horizontal plane, wherein the mast engaging devices are positioned on acting on the tower at different heights, e.g. the lower one below the center of gravity of the wind turbine to be installed and the upper one above the center of gravity, operating the actively controlled motion mechanisms to align the tower of the supported wind turbine with the mounting axis of the floating establish and maintain foundations. 12. Werkwijze volgens conclusie 10 of 11, waarbij ieder actief gecontroleerd horizontaal bewegingsmechanisme een eerste set van een of meer horizontale tracks omvatten die zich uitstrekken in een eerste horizontale richting, waarbij genoemde set ten minste een eerste drager ondersteund, en genoemde een of meerdere eerste dragers een tweede set van een of meer horizontale tracks die zich uitstrekken in een tweede horizontale richting anders dan de eerste horizontale richting hebben, bijvoorbeeld de eerste en de tweede richting zijnde orthogonale richtingen, de tweede set van een of meer horizontale tracks ondersteunende een of meerdere verdere tweede dragers die genoemde mastaangrijpinrichting ondersteunen.The method of claim 10 or 11, wherein each actively controlled horizontal movement mechanism comprises a first set of one or more horizontal tracks extending in a first horizontal direction, said set supporting at least a first carrier, and said one or more first supports have a second set of one or more horizontal tracks extending in a second horizontal direction other than the first horizontal direction, for example the first and second directions being orthogonal directions, the second set of one or more horizontal tracks supporting one or more further second carriers supporting said mast engaging device. 13. Werkwijze volgens een of meer van de conclusies 10-12, waarbij, ten minste een, bij voorkeur alle, mastaangrijpinrichtingen van het uitlijnsysteem een trolley omvatten die verticaal is geleid, bijvoorbeeld langs een of meerdere verticale geleidingsrails, bijvoorbeeld een of meerdere verticale geleidingsrails aangebracht op de romp van het vaartuig en/of de kraan, waarbij de trolley het mastaangrijpdeel ondersteund met interpositie van een actief gecontroleerde bewegingsmechanisme tussen de trolley en het mastaangrijpdeel om een gecontroleerde beweging van het mastaangrijpdeel in een horizontaal vlak, bijvoorbeeld in twee orthogonale richtingen, te verschaffen.Method according to one or more of the claims 10-12, wherein at least one, preferably all, mast-engaging devices of the alignment system comprise a trolley which is vertically guided, for instance along one or more vertical guide rails, for instance one or more vertical guide rails. mounted on the hull of the vessel and/or the crane, the trolley supporting the mast engaging part with interposition of an actively controlled movement mechanism between the trolley and the mast engaging part to allow a controlled movement of the mast engaging part in a horizontal plane, e.g. in two orthogonal directions, to provide. 14. Werkwijze volgens een of meer van de conclusies 1-13, het uitlijnsysteem omvattende een mastaangrijpinrichting, bijvoorbeeld een bovenste mastaangrijpinrichting, die een trolley omvat die verticaal geleid is, bijvoorbeeld langs een of meer verticale geleidingsrails, waarbij de trolley het mastaangrijpdeel ondersteund met interpositie van een actief gecontroleerd bewegingsmechanisme tussen de trolley en het mastaangrijpdeel om een gecontroleerde beweging van het mastaangrijpdeel te verschaffen in een horizontaal vlak, bijvoorbeeld inA method according to any one of claims 1-13, the alignment system comprising a mast engaging device, e.g. an upper mast engaging device, comprising a trolley guided vertically, e.g. along one or more vertical guide rails, the trolley supporting the mast engaging member with interposition of an actively controlled movement mechanism between the trolley and the mast engaging member to provide a controlled movement of the mast engaging member in a horizontal plane, e.g. in - 93. twee orthogonale horizontale richtingen, en waarbij de windturbine is afgehangen vanaf het mastaangrijpdeel, en waarbij het mastaangrijpdeel is afgehangen van de kraan door middel van de hijsinrichting.93. two orthogonal horizontal directions, and wherein the wind turbine is suspended from the mast engaging member, and wherein the mast engaging member is suspended from the crane by means of the hoisting device. 15. Werkwijze volgens een of meer van de conclusies 1-14, waarbij de kraan is voorzien van eerste en tweede bovenste schijfblokken die horizontaal gespatieerd zijn, en waarbij het mastaangrijpdeel is voorzien van eerste en tweede onderste schijfblokken die horizontaal gespatieerd zijn, waarbij een eerste meervoudige-valkabelsamenstel zich uitstrekt tussen het eerste bovenste en onderste schijfblok en een tweede meervoudige-valkabelsamenstel zich uitstrekt tussen het tweede bovenste en onderste schijfblok, en waarbij de mast is afgehangen van het mastaangrijpdeel.A method according to any one of claims 1-14, wherein the crane comprises first and second upper sheave blocks that are horizontally spaced, and wherein the mast engaging member comprises first and second lower sheave blocks that are horizontally spaced, a first multiple drop rope assembly extending between the first upper and lower sheave blocks and a second multiple drop rope assembly extending between the second upper and lower sheave blocks, and wherein the mast is suspended from the mast engaging member. 16. Werkwijze volgens een of meer van de conclusies 1-15, waarbij de kraan een verticale kraanconstructie heeft, opgericht op de romp van het vaartuig, bijvoorbeeld de verticale kraanconstructie omvattende een onderste sectie van de kraanconstructie bevestigd aan de romp en een verdraaibare topsectie, waarbij de hijsinrichting een of meer lieraangedreven kabels omvat die afhangen van een of meer schijfblokken voorzien op de verdraaibare topsectie, bijvoorbeeld op een scharnierbare jib van de verdraaibare topsectie, bijvoorbeeld waarbij verdraaien van de topsectie wordt gebruikt om een geassembleerde windturbine op te tillen van het dek van het vaartuig doormiddel van de hijsinrichting en om de windturbine met zijn mast boven de mastaanbrengconstructie van de drijvende fundering te brengen.A method according to any one of claims 1-15, wherein the crane has a vertical crane structure erected on the hull of the vessel, e.g. the vertical crane structure comprising a lower section of the crane structure attached to the hull and a pivotable top section, the hoisting device comprising one or more winch-driven cables depending from one or more sheave blocks provided on the pivoting top section, e.g. on a pivoting jib of the pivoting top section, e.g. wherein twisting the top section is used to lift an assembled wind turbine from the deck of the vessel by means of the hoisting device and to raise the wind turbine with its mast above the mast mounting structure of the floating foundation. 17. Werkwijze volgens conclusie 16 , waarbij het uitlijnsysteem is aangebracht op de verticale kraanconstructie van de kraan, en waarbij, bijvoorbeeld, het uitlijnsysteem een of meerdere mastaangrijpinrichtingen omvat die zijn aangebracht op de verticale kraanconstructie, bijvoorbeeld waarbij een verdraaibare topsectie van de verticale kraanconstructie is voorzien van een bovenste mastaangrijpinrichting en een vaste lagere sectie van de verticale kraanconstructie is voorzien van een onderste mastaangrijpinrichting.A method according to claim 16, wherein the alignment system is mounted on the vertical crane structure of the crane, and wherein, for example, the alignment system comprises one or more mast-engaging devices mounted on the vertical crane structure, e.g. wherein a rotatable top section of the vertical crane structure is provided. provided with an upper mast engagement device and a fixed lower section of the vertical crane structure is provided with a lower mast engagement device. 18. Werkwijze volgens een of meer van de conclusies 1-17, waarbij het vaartuig een semi- submersible vaartuig is met een paar in hoofdzaak parallelle, lateraal gespatieerde drijvende pontons en met een rij van meerdere kolommen ondersteund door, en zich naar boven toe uitstrekkend van, ieder ponton, en een dekconstructie ondersteund door de boveneinde van genoemde kolommen, waarbij de kraan is aangebracht op de dekconstructie van de romp, bijvoorbeeld de verticale kraanconstructie ervan zijnde opgericht op de dekconstructie, bijvoorbeeld waarbij de kraan is aangebracht bij de boeg.The method of any of claims 1-17, wherein the vessel is a semi-submersible vessel having a pair of substantially parallel laterally spaced floating pontoons and having a row of multiple columns supported by and extending upwardly. of, each pontoon, and a deck structure supported by the upper end of said columns, the crane being mounted on the deck structure of the hull, e.g. its vertical crane structure being erected on the deck structure, e.g. the crane being arranged at the bow. -24--24- 19. Werkwijze volgens conclusie 18, waarbij de drijvende fundering een stabilisatiekolom heeft bij een hoek ervan, van bovenaf gezien, waarop de windturbine dient te worden geïnstalleerd, en waarbij het semi-submersible vaartuig is opgesteld met de pontons, bijvoorbeeld de boegdelen daarvan, aan tegenovergelegen zijden van deze stabilisatiehoek, en waarbij de kraan de mast van de windturbine boven de mastaanbrengconstructie op deze stabilisatiekolom hangt.A method according to claim 18, wherein the floating foundation has a stabilizing column at a corner thereof, viewed from above, on which the wind turbine is to be installed, and wherein the semi-submersible vessel is arranged with the pontoons, e.g. the bow parts thereof, on opposite sides of this stabilization angle, and wherein the crane hangs the mast of the wind turbine above the mast mounting structure on this stabilization column. 20. Werkwijze volgens een of meer van de conclusies 1-19, waarbij gebruik wordt gemaakt van een of meerdere sensoren voor het monitoren van de beweging in een of meer richtingen van de mastaanbrengconstructie ten opzichte van het ondereindgedeelte van de mast drijvende fundering gedurende installatie, waarbij, bij voorkeur, deze een of meerdere sensoren zijn gekoppeld aan een controller, bijvoorbeeld een gecomputeriseerde controller, die is ingericht en wordt bediend om geautomatiseerde bediening van de deiningscompensatie-inrichting en/of van het uitlijnsysteem te bewerkstelligen.A method according to any one of claims 1-19, wherein use is made of one or more sensors to monitor movement in one or more directions of the mast mounting structure relative to the lower end portion of the mast floating foundation during installation. preferably wherein said one or more sensors are coupled to a controller, e.g. a computerized controller, arranged and operated to effect automated operation of the swell compensation device and/or of the alignment system. 21. Werkwijze volgens een of meer van de conclusies 1-20, waarbij de assemblage van de te installeren windturbine wordt gedaan aan boord van het vaartuig, bijvoorbeeld waarbij het vaartuig naar het windpark vaart waar de drijvende funderingen reeds aanwezig zijn, bijvoorbeeld verankerd, met meerdere windturbines in een nog te assembleren toestand opgeslagen op het vaartuig, bijvoorbeeld met ten minste vijf windturbines, bijvoorbeeld de mast gescheiden opgeslagen, bijvoorbeeld met bovenste mastdelen en onderste mastdelen, gondels, en rotorbladen van ten minste vijf windturbines aan boord van het vaartuig.A method according to one or more of the claims 1-20, wherein the assembly of the wind turbine to be installed is done on board the vessel, for example wherein the vessel sails to the wind farm where the floating foundations are already present, for example anchored, with several wind turbines stored on the vessel in a condition still to be assembled, for instance with at least five wind turbines, for instance the mast stored separately, for instance with upper mast parts and lower mast parts, nacelles, and rotor blades of at least five wind turbines on board the vessel. 22. Systeem voor het installeren van een windturbines op een drijvende fundering in drijvende toestand en onderworpen aan door zeeconditie opgewekte bewegingen, bijvoorbeeld ter plaatse van een offshore windpark, waarbij de te installeren windturbine ten minste een deel van een windturbinemast met een ondereindgedeelte omvat, en een rotorsamenstel met rotorbladen omvat, welk rotorsamenstel is aangebracht op de windturbinemast, waarbij de drijvende fundering een mastaanbrengconstructie omvat die is ingericht voor het daarop aanbrengen van de mast van de windturbine en die een naar boven gerichte aanbreng-as heeft, waarbij het systeem een vaartuig omvat dat omvat:22. System for installing a wind turbine on a floating foundation in floating condition and subject to sea condition induced movements, e.g. at an offshore wind farm, wherein the wind turbine to be installed comprises at least part of a wind turbine tower having a lower end portion, and a rotor assembly with rotor blades, the rotor assembly being mounted on the wind turbine tower, the floating foundation comprising a mast mounting structure adapted for mounting the tower of the wind turbine thereon and having an upwardly directed mounting shaft, the system being a vessel includes that includes: 25. - een drijvende romp, - een kraan aangebracht op de romp,25. - a floating hull, - a crane mounted on the hull, waarbij de kraan is voorzien van een hijssysteem dat is ingericht om het gewicht van de windturbine te ondersteunen en de windturbine van de kraan af te hangen, welk hijssysteem is ingericht om de windturbine op te tillen en neer te laten op een gecontroleerde wijze, waarbij de kraan en/of het hijssysteem ervan een deiningscompensatie-inrichting omvat die is ingericht om te compenseren voor door zeeconditie veroorzaakte deiningsbeweging van de windturbinemast ten opzichte van aanbrengconstructie van de drijvende fundering, het systeem verder omvattende een mastuitlijnsysteem dat is ingericht om aan te grijpen op de afhangende windturbine, bijvoorbeeld op de mast van de afhangende windturbine, en om de mast van de windturbine in uitlijning met de aanbreng-as van de drijvende fundering te brengen en te houden om te compenseren voor door de zeeconditie opgewekte bewegingen, ten minste omvattende kantelbewegingen in een of meerdere verticale vlakken, van de windturbinemast ten opzichte van de aanbreng-as van de drijvende fundering,the crane comprising a lifting system adapted to support the weight of the wind turbine and suspending the wind turbine from the crane, the lifting system adapted to lift and lower the wind turbine in a controlled manner, the crane and/or its hoisting system comprises a swell compensation device adapted to compensate for sea condition induced swell movement of the wind turbine tower relative to mounting structure of the floating foundation, the system further comprising a mast alignment system adapted to engage the dependent wind turbine, e.g. on the mast of the pendant wind turbine, and to align and maintain the mast of the wind turbine with the mounting axis of the floating foundation to compensate for movements induced by the sea condition, at least including tilting movements in one or more vertical planes, of the wind turbine tower in relation to the mounting shaft of the floating foundation, waarbij het systeem is ingericht om een werkwijze mogelijk te maken omvattende — met de romp van het vaartuig in drijvende toestand en de drijvende fundering in drijvende toestand — de stappen van:wherein the system is configured to enable a method comprising — with the vessel hull in floating condition and the floating foundation in floating condition — the steps of: - door middel van het hijssysteem van de kraan afhangen van de windturbine,- depend on the wind turbine by means of the crane lifting system, - positioneren van het ondereindgedeelte van de mast van de ondersteunde windturbine boven de mastaanbrengconstructie van de drijvende fundering,- positioning the lower end portion of the mast of the supported wind turbine above the mast mounting structure of the floating foundation, - bedienen van de deiningscompensatie-inrichting om te compenseren voor door zeeconditie opgewekte deiningsbeweging van de windturbinemast ten opzichte van de mastaanbrengconstructie van de drijvende fundering - bedienen van het mastuitlijnsysteem om de mast van de windturbine in uitlijning met de aanbreng-as van de drijvende fundering te brengen en te houden om zo te compenseren voor door zeeconditie veroorzaakte kantelbewegingen van de windturbinemast ten opzichte van de aanbreng-as van de drijvende fundering,- operating the swell compensation device to compensate for sea condition induced swell movement of the wind turbine tower relative to the floating foundation mast mounting structure - operating the mast alignment system to align the wind turbine tower with the mounting axis of the floating foundation bring and hold so as to compensate for sea condition caused tilting movements of the wind turbine tower relative to the application axis of the floating foundation, -26- - terwijl de deiningscompensatie-inrichting en het mastuitlijnsysteem actief zijn, bedienen van het hijssysteem en daarmee neerlaten van de hangende windturbine met het ondereindgedeelte van de mast op de mastaanbrengconstructie van de drijvende fundering, - bevestigen van de mast met het ondereindgedeelte ervan aan de mastaanbrengconstructie van de drijvende fundering.-26- - while the swell compensation device and the mast alignment system are active, operate the hoist system and thereby lower the suspended wind turbine with the lower end portion of the mast on the mast mounting structure of the floating foundation, - attach the mast with its lower end portion on the mast mounting structure of the floating foundation.
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EP21794829.8A EP4232352A1 (en) 2020-10-22 2021-10-19 Installation of a wind turbine on a floating foundation
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