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Write parameter input file
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@nikhar-abbas
nikhar-abbas committed Sep 13, 2019
1 parent 260f4e6 commit 722bd9c
Showing 1 changed file with 102 additions and 6 deletions.
108 changes: 102 additions & 6 deletions WTC_toolbox/controller.py
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Original file line number Diff line number Diff line change
Expand Up @@ -10,11 +10,12 @@
# specific language governing permissions and limitations under the License.

import numpy as np
import datetime
from ccblade import CCAirfoil, CCBlade
from scipy import interpolate, gradient

from WTC_toolbox import turbine as wtc_turbine

now = datetime.datetime.now()
turbine = wtc_turbine.Turbine()

# Some useful constants
Expand Down Expand Up @@ -176,7 +177,7 @@ class FileProcessing():
Class ProcessFile can be used to read in / write out controller parameter files to update
"""

def __init__(self, controller):
def __init__(self):
pass
def read_param_file(self, param_file):
"""
Expand All @@ -198,9 +199,104 @@ def read_param_file(self, param_file):
self.v_max = turbine.PC_Vmax # Cut-out wind speed (m/s), -- Does not need to be exact


def write_param_file(self, param_file):
def write_param_file(self, param_file, turbine, controller, new_file=True):
"""
Load the parameter files directly from a FAST input deck
Print the controller parameters to the DISCON.IN input file for the generic controller
Parameters:
-----------
param_file: str
filename to for parameter input file
turbine: class
class containing
new_file: bool
True = create new file, False = modify existing file. (False functionality not included yet)
"""


if new_file:
print('Writing new controller parameter file parameter file %s.' % param_file)
file = open(param_file,'w')
file.write('! Controller parameter input file for the %s wind turbine\n' % turbine.TurbineName)
file.write('! - File written using NREL Baseline Controller tuning logic on %s\n' % now.strftime('%m/%d/%y'))
file.write('\n')
file.write('!------- DEBUG ------------------------------------------------------------\n')
file.write('0 ! LoggingLevel - 0 = write no debug files, 1 = write standard output .dbg-file, 2 = write standard output .dbg-file and complete avrSWAP-array .dbg2-file\n')
file.write('\n')
file.write('!------- CONTROLLER FLAGS -------------------------------------------------\n')
file.write('1 ! F_LPFType - 1 = first-order low-pass filter, 2 = second-order low-pass filter, filtering generator speed and pitch control signals, [rad/s]\n')
file.write('0 ! F_NotchType - 0 = disable, 1 = enable: notch on the measured generator speed \n')
file.write('0 ! IPC_ControlMode - Turn Individual Pitch Control (IPC) for fatigue load reductions (pitch contribution) 0 = off / 1 = (1P reductions) / 2 = (1P+2P reductions)\n')
file.write('1 ! VS_ControlMode - Generator torque control mode in above rated conditions, 0 = constant torque / 1 = constant power\n')
file.write('0 ! Y_ControlMode - Yaw control mode: (0 = no yaw control, 1 = yaw rate control, 2 = yaw-by-IPC)\n')
file.write('\n')
file.write('!------- FILTERS ----------------------------------------------------------\n')
file.write('1.570796326 ! F_LPFCornerFreq - Corner frequency (-3dB point) in the low-pass filters\n') # this needs to be included as an input file
file.write('0 ! F_LPFDamping - Damping coefficient if F_FilterType = 2, unused otherwise\n')
file.write('0 ! F_NotchCornerFreq - Natural frequency of the notch filter, [rad/s]\n')
file.write('0 0 ! F_NotchBetaNumDen - These two notch damping values (numerator and denominator) determines the width and depth of the notch\n')
file.write('\n')
file.write('!------- BLADE PITCH CONTROL ----------------------------------------------\n')
file.write('{} ! PC_GS_n - Amount of gain-scheduling table entries\n'.format(len(controller.pitch_op_pc)))
file.write('{} ! PC_GS_angles - Gain-schedule table: pitch angles\n'.format(str(controller.pitch_op_pc).strip('[]').replace('\n','')))
file.write('{} ! PC_GS_KP - Gain-schedule table: pitch controller kp gains\n'.format(str(controller.pc_gain_schedule.Kp).strip('[]').replace('\n','')))
file.write('{} ! PC_GS_KI - Gain-schedule table: pitch controller ki gains\n'.format(str(controller.pc_gain_schedule.Ki).strip('[]').replace('\n','')))
file.write('0 ! PC_GS_KD - Gain-schedule table: pitch controller kd gains\n')
file.write('0 ! PC_GS_TF - Gain-schedule table: pitch controller tf gains (derivative filter)\n')
file.write('1.5707 ! PC_MaxPit - Maximum physical pitch limit, [rad].\n')
file.write('-0.087266 ! PC_MinPit - Minimum physical pitch limit, [rad].\n')
file.write('0.13962 ! PC_MaxRat - Maximum pitch rate (in absolute value) in pitch controller, [rad/s].\n')
file.write('-0.13962 ! PC_MinRat - Minimum pitch rate (in absolute value) in pitch controller, [rad/s].\n')
file.write('122.90957 ! PC_RefSpd - Desired (reference) HSS speed for pitch controller, [rad/s].\n')
file.write('0.0 ! PC_FinePit - Record 5: Below-rated pitch angle set-point, [rad]\n')
file.write('0.003490658 ! PC_Switch - Angle above lowest minimum pitch angle for switch [rad]\n')
file.write('0 ! Z_EnableSine - Enable/disable sine pitch excitation, used to validate for dynamic induction control, will be removed later [-]\n')
file.write('0.0349066 ! Z_PitchAmplitude - Amplitude of sine pitch excitation [rad]\n')
file.write('0 ! Z_PitchFrequency - Frequency of sine pitch excitation [rad/s] \n')
file.write('\n')
file.write('!------- INDIVIDUAL PITCH CONTROL -----------------------------------------\n')
file.write('0.087266 ! IPC_IntSat - Integrator saturation (maximum signal amplitude contribution to pitch from IPC), [rad]\n')
file.write('1E-8 0 ! IPC_KI - Integral gain for the individual pitch controller: first parameter for 1P reductions, second for 2P reductions [-]\n')
file.write('0.436332313 0 ! IPC_aziOffset - Phase offset added to the azimuth angle for the individual pitch controller, [rad]. \n')
file.write('2.5 ! IPC_CornerFreqAct - Corner frequency of the first-order actuators model, to induce a phase lag in the IPC signal. Set 0 to disable. [rad/s]\n')
file.write('\n')
file.write('!------- VS TORQUE CONTROL ------------------------------------------------\n')
file.write('0.944 ! VS_GenEff - Generator efficiency mechanical power -> electrical power, this should match the efficiency defined in the generator properties! [-]\n')
file.write('43093.55 ! VS_ArSatTq - Above rated generator torque PI control saturation, [Nm]\n')
file.write('150000.0 ! VS_MaxRat - Maximum torque rate (in absolute value) in torque controller, [Nm/s].\n')
file.write('48000.00 ! VS_MaxTq - Maximum generator torque in Region 3 (HSS side), [Nm].\n')
file.write('0.0 ! VS_MinTq - Minimum generator (HSS side), [Nm].\n')
file.write('91.2109 ! VS_MinOMSpd - Optimal mode minimum speed, cut-in speed towards optimal mode gain path [rad/s]\n')
file.write('2.33228 ! VS_Rgn2K - Generator torque constant in Region 2 (HSS side), [N-m/(rad/s)^2]\n')
file.write('5.0E+06 ! VS_RtPwr - Wind turbine rated power [W]\n')
file.write('43093.55 ! VS_RtTq - Rated torque, [Nm].\n')
file.write('120.113 ! VS_RefSpd - Rated generator speed [rad/s]\n')
file.write('1 ! VS_n - Number of generator PI torque controller gains\n')
file.write('-4200 ! VS_KP - Proportional gain for generator PI torque controller, used in the transitional 2.5 region, [1/(rad/s) Nm]\n')
file.write('-2100 ! VS_KI - Integral gain for generator PI torque controller, used in the transitional 2.5 region, [1/rad Nm]\n')
file.write('\n')
file.write('!------- WIND SPEED ESTIMATOR ---------------------------------------------\n')
file.write('63.0 ! WE_BladeRadius - Blade length [m]\n')
file.write('4 ! WE_CP_n - Amount of parameters in the Cp array\n')
file.write('14.571319658214513 42.809556250371465 2.456512501523107 0.003127994078720 ! WE_CP - Parameters that define the parameterized CP(lambda) function\n')
file.write('20 ! WE_Gamma - Adaption gain of the wind speed estimator algorithm [m/rad]\n')
file.write('97 ! WE_GearboxRatio - Gearbox ratio, >=1 [-]\n')
file.write('4.0469564E+07 ! WE_Jtot - Total drivetrain inertia, including blades, hub and casted generator inertia to LSS [kg m^2]\n')
file.write('1.225 ! WE_RhoAir - Air density [kg m^-3]\n')
file.write('\n')
file.write('!------- YAW CONTROL ------------------------------------------------------\n')
file.write('1.745329252 ! Y_ErrThresh - Yaw error threshold. Turbine begins to yaw when it passes this. [rad^2 s]\n')
file.write('0.17453 ! Y_IPC_IntSat - Integrator saturation (maximum signal amplitude contribution to pitch from yaw-by-IPC), [rad]\n')
file.write('1 ! Y_IPC_n - Number of controller gains (yaw-by-IPC)\n')
file.write('-0.064 ! Y_IPC_KP - Yaw-by-IPC proportional controller gain Kp\n')
file.write('-0.0008 ! Y_IPC_KI - Yaw-by-IPC integral controller gain Ki\n')
file.write('0.6283185 ! Y_IPC_omegaLP - Low-pass filter corner frequency for the Yaw-by-IPC controller to filtering the yaw alignment error, [rad/s].\n')
file.write('1.0 ! Y_IPC_zetaLP - Low-pass filter damping factor for the Yaw-by-IPC controller to filtering the yaw alignment error, [-].\n')
file.write('0.00000 ! Y_MErrSet - Yaw alignment error, set point [rad]\n')
file.write('1.0 ! Y_omegaLPFast - Corner frequency fast low pass filter, 1.0 [Hz]\n')
file.write('0.016667 ! Y_omegaLPSlow - Corner frequency slow low pass filter, 1/60 [Hz]\n')
file.write('0.0034906 ! Y_Rate - Yaw rate [rad/s]\n')
file.write('\n')
file.write('!------- TOWER FORE-AFT DAMPING -------------------------------------------\n')
file.write('-1 ! FA_KI - Integral gain for the fore-aft tower damper controller, -1 = off / >0 = on [rad s/m] - !NJA - Make this a flag\n')
file.write('0.1 ! FA_HPF_CornerFreq - Corner frequency (-3dB point) in the high-pass filter on the fore-aft acceleration signal [rad/s] \n')
file.write('0.087266 ! FA_IntSat - Integrator saturation (maximum signal amplitude contribution to pitch from FA damper), [rad]\n')
file.close()

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