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Include flap max pitch in inputs
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@nikhar-abbas
nikhar-abbas committed Feb 14, 2020
1 parent 5874acb commit b9240f2
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Showing 7 changed files with 65 additions and 35 deletions.
8 changes: 8 additions & 0 deletions Examples/DISCON.IN
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Expand Up @@ -16,6 +16,7 @@
1 ! PS_Mode - Pitch saturation mode {0: no pitch saturation, 1: implement pitch saturation}
0 ! SD_Mode - Shutdown mode {0: no shutdown procedure, 1: pitch to max pitch at shutdown}
0 ! Fl_Mode - Floating specific feedback mode {0: no nacelle velocity feedback, 1: nacelle velocity feedback}
0 ! Flp_Mode - Flap control mode {0: no flap control, 1: steady state flap angle, 2: Proportional flap control}

!------- FILTERS ----------------------------------------------------------
1.57080 ! F_LPFCornerFreq - Corner frequency (-3dB point) in the low-pass filters, [rad/s]
Expand All @@ -24,6 +25,7 @@
0.00000 0.25000 ! F_NotchBetaNumDen - Two notch damping values (numerator and denominator, resp) - determines the width and depth of the notch, [-]
0.628320000000 ! F_SSCornerFreq - Corner frequency (-3dB point) in the first order low pass filter for the setpoint smoother, [rad/s].
0.23250 1.00000 ! F_FlCornerFreq - Corner frequency and damping in the second order low pass filter of the tower-top fore-aft motion for floating feedback control [rad/s, -].
0.87200 1.00000 ! F_FlpCornerFreq - Corner frequency and damping in the second order low pass filter of the blade root bending moment for flap control [rad/s, -].

!------- BLADE PITCH CONTROL ----------------------------------------------
27 ! PC_GS_n - Amount of gain-scheduling table entries
Expand Down Expand Up @@ -112,3 +114,9 @@

!------- Floating -------------------------------------------
0.000000000000 ! Fl_Kp - Nacelle velocity proportional feedback gain [s]

!------- FLAP ACTUATION -----------------------------------------------------
0.000000000000 ! Flp_Angle - Initial or steady state flap angle [rad]
0.00000000e+00 ! Flp_Kp - Blade root bending moment proportional gain for flap control [s]
0.00000000e+00 ! Flp_Ki - Flap displacement integral gain for flap control [s]
0.000000000000 ! Flp_MaxPit - Maximum (and minimum) flap pitch angle [rad]
14 changes: 10 additions & 4 deletions Examples/NREL5MW_example.yaml
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Expand Up @@ -19,10 +19,11 @@ turbine_params:
max_torque_rate: 1500000. # Maximum torque rate [Nm/s], {~1/4 VS_RtTq/s}
rated_power: 5000000. # Rated Power [W]
bld_edgewise_freq: 6.2831853 # Blade edgewise first natural frequency [rad/s]
bld_flapwise_freq: 0.0 # Blade flapwise first natural frequency [rad/s]
# Optional
TSR_operational: # None # Desired below-rated operational tip speed ratio (Cp-maximizing TSR is used if not defined)
# - should be defined if Fl_Mode = 1
twr_freq: 0.4499 # Tower natural frequency [rad/s]
twr_freq: 0.4499 # Tower natural frequency [rad/s]
ptfm_freq: 0.2325 # Platform natural frequency [rad/s]
#------------------------------- CONTROLLER PARAMETERS ----------------------------------
controller_params:
Expand All @@ -35,15 +36,19 @@ controller_params:
PC_ControlMode: 1 # Blade pitch control mode {0: No pitch, fix to fine pitch, 1: active PI blade pitch control}
Y_ControlMode: 0 # Yaw control mode {0: no yaw control, 1: yaw rate control, 2: yaw-by-IPC}
SS_Mode: 1 # Setpoint Smoother mode {0: no setpoint smoothing, 1: introduce setpoint smoothing}
WE_Mode: 0 # Wind speed estimator mode {0: One-second low pass filtered hub height wind speed, 1: Immersion and Invariance Estimator (Ortega et al.)}
WE_Mode: 2 # Wind speed estimator mode {0: One-second low pass filtered hub height wind speed, 1: Immersion and Invariance Estimator (Ortega et al.)}
PS_Mode: 1 # Pitch saturation mode {0: no pitch saturation, 1: peak shaving, 2: Cp-maximizing pitch saturation, 3: peak shaving and Cp-maximizing pitch saturation}
SD_Mode: 0 # Shutdown mode {0: no shutdown procedure, 1: pitch to max pitch at shutdown}
Fl_Mode: 0 # Floating specific feedback mode {0: no nacelle velocity feedback, 1: nacelle velocity feedback}
Flp_Mode: 0 # Flap control mode {0: no flap control, 1: steady state flap angle, 2: Proportional flap control}
# Controller parameters
zeta_pc: 0.7 # Pitch controller desired damping ratio [-]
omega_pc: 0.5 # Pitch controller desired natural frequency [rad/s]
zeta_vs: 0.7 # Torque controller desired damping ratio [-]
omega_vs: 0.2 # Torque controller desired natural frequency [rad/s]
# Only needed if Flp_Mode > 0
zeta_flp: # None # Flap controller desired damping ratio [-]
omega_flp: # None # Flap controller desired natural frequency [rad/s]
# Optional - these can be defined, but do not need to be
max_pitch: # None # Maximum pitch angle [rad], {default = 90 degrees}
min_pitch: # None # Minimum pitch angle [rad], {default = 0 degrees}
Expand All @@ -52,5 +57,6 @@ controller_params:
ss_vsgain: # None # Torque controller setpoint smoother gain bias percentage [%, <= 1 ], {default = 100%}
ss_pcgain: # None # Pitch controller setpoint smoother gain bias percentage [%, <= 1 ], {default = 0.1%}
ps_percent: 0.80 # Percent peak shaving [%, <= 1 ], {default = 80%}
sd_maxpit: 0.4363 # Maximum blade pitch angle to initiate shutdown [rad], {default = bld pitch at v_max}
sd_cornerfreq: # None # Cutoff Frequency for first order low-pass filter for blade pitch angle [rad/s], {default = 0.41888 ~ time constant of 15s}
sd_maxpit: 0.4363 # Maximum blade pitch angle to initiate shutdown [rad], {default = bld pitch at v_max}
sd_cornerfreq: # None # Cutoff Frequency for first order low-pass filter for blade pitch angle [rad/s], {default = 0.41888 ~ time constant of 15s}
flp_maxpit: # None # Maximum (and minimum) flap pitch angle [rad]
28 changes: 14 additions & 14 deletions Tune_Cases/BAR.yaml
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Expand Up @@ -19,7 +19,7 @@ turbine_params:
max_torque_rate: 4500000. # Maximum torque rate [Nm/s], {~1/4 VS_RtTq/s}
rated_power: 5000000. # Rated Power [W]
bld_edgewise_freq: 3.27082 # Blade edgewise first natural frequency [rad/s]
bld_flapwise_freq: 2.61601 # Blade flapwise first natural frequency [rad/s]
bld_flapwise_freq: 2.61601 # Blade flapwise first natural frequency [rad/s]
# Optional
TSR_operational: # None # Desired below-rated operational tip speed ratio (Cp-maximizing TSR is used if not defined)
# - should be defined if Fl_Mode = 1
Expand All @@ -43,20 +43,20 @@ controller_params:
Flp_Mode: 0 # Flap control mode {0: no flap control, 1: steady state flap angle, 2: Proportional flap control}
# Controller parameters
zeta_pc: 1.2 # Pitch controller desired damping ratio [-]
omega_pc: 0.1 # Pitch controller desired natural frequency [rad/s]
omega_pc: 0.1 # Pitch controller desired natural frequency [rad/s]
zeta_vs: 0.5 # Torque controller desired damping ratio [-]
omega_vs: 0.1 # Torque controller desired natural frequency [rad/s]
# Only needed if Flp_Mode > 0
zeta_flp: # None 0.5 # Flap controller desired damping ratio [-]
omega_flp: # None 0.1 # Flap controller desired natural frequency [rad/s]
zeta_flp: # None # Flap controller desired damping ratio [-]
omega_flp: # None # Flap controller desired natural frequency [rad/s]
# Optional - these can be defined, but do not need to be
max_pitch: # None # Maximum pitch angle [rad], {default = 90 degrees}
min_pitch: # None # Minimum pitch angle [rad], {default = 0 degrees}
vs_minspd: # None # Minimum rotor speed [rad/s], {default = 0 rad/s}
ss_cornerfreq: # None # First order low-pass filter cornering frequency for setpoint smoother [rad/s]
ss_vsgain: # None # Torque controller setpoint smoother gain bias percentage [%, <= 1 ], {default = 100%}
ss_pcgain: # None # Pitch controller setpoint smoother gain bias percentage [%, <= 1 ], {default = 0.1%}
ps_percent: # None # Percent peak shaving [%, <= 1 ], {default = 80%}
sd_maxpit: # None # Maximum blade pitch angle to initiate shutdown [rad], {default = bld pitch at v_max}
sd_cornerfreq: # None # Cutoff Frequency for first order low-pass filter for blade pitch angle [rad/s], {default = 0.41888 ~ time constant of 15s}
flp_angle: # None # Initial or steady state flap angle [rad]
max_pitch: # None # Maximum pitch angle [rad], {default = 90 degrees}
min_pitch: # None # Minimum pitch angle [rad], {default = 0 degrees}
vs_minspd: # None # Minimum rotor speed [rad/s], {default = 0 rad/s}
ss_cornerfreq: # None # First order low-pass filter cornering frequency for setpoint smoother [rad/s]
ss_vsgain: # None # Torque controller setpoint smoother gain bias percentage [%, <= 1 ], {default = 100%}
ss_pcgain: # None # Pitch controller setpoint smoother gain bias percentage [%, <= 1 ], {default = 0.1%}
ps_percent: # None # Percent peak shaving [%, <= 1 ], {default = 80%}
sd_maxpit: # None # Maximum blade pitch angle to initiate shutdown [rad], {default = bld pitch at v_max}
sd_cornerfreq: # None # Cutoff Frequency for first order low-pass filter for blade pitch angle [rad/s], {default = 0.41888 ~ time constant of 15s}
flp_maxpit: # None # Maximum (and minimum) flap pitch angle [rad]
7 changes: 4 additions & 3 deletions Tune_Cases/DISCON.IN
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@@ -1,5 +1,5 @@
! Controller parameter input file for the RotorSE_FAST_BAR_2010n_noRe wind turbine
! - File written using ROSCO Controller tuning logic on 02/11/20
! - File written using ROSCO Controller tuning logic on 02/13/20

!------- DEBUG ------------------------------------------------------------
1 ! LoggingLevel - {0: write no debug files, 1: write standard output .dbg-file, 2: write standard output .dbg-file and complete avrSWAP-array .dbg2-file}
Expand All @@ -25,7 +25,7 @@
0.00000 0.25000 ! F_NotchBetaNumDen - Two notch damping values (numerator and denominator, resp) - determines the width and depth of the notch, [-]
0.628320000000 ! F_SSCornerFreq - Corner frequency (-3dB point) in the first order low pass filter for the setpoint smoother, [rad/s].
0.00000 1.00000 ! F_FlCornerFreq - Corner frequency and damping in the second order low pass filter of the tower-top fore-aft motion for floating feedback control [rad/s, -].
1.30801 0.70000 ! F_FlpCornerFreq - Corner frequency and damping in the second order low pass filter of the blade root bending moment for flap control [rad/s, -].
0.87200 1.00000 ! F_FlpCornerFreq - Corner frequency and damping in the second order low pass filter of the blade root bending moment for flap control [rad/s, -].

!------- BLADE PITCH CONTROL ----------------------------------------------
33 ! PC_GS_n - Amount of gain-scheduling table entries
Expand Down Expand Up @@ -118,4 +118,5 @@
!------- FLAP ACTUATION -----------------------------------------------------
0.000000000000 ! Flp_Angle - Initial or steady state flap angle [rad]
0.00000000e+00 ! Flp_Kp - Blade root bending moment proportional gain for flap control [s]
0.00000000e+00 ! Flp_Ki - Flap displacement integral gain for flap control [s]
0.00000000e+00 ! Flp_Ki - Flap displacement integral gain for flap control [s]
0.000000000000 ! Flp_MaxPit - Maximum (and minimum) flap pitch angle [rad]
5 changes: 4 additions & 1 deletion Tune_Cases/DTU10MW.yaml
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Expand Up @@ -19,6 +19,7 @@ turbine_params:
max_torque_rate: 5000000. # Maximum torque rate [Nm/s], {~1/4 VS_RtTq/s}
rated_power: 10000000. # Rated Power [W]
bld_edgewise_freq: 4.519 # Blade edgewise first natural frequency [rad/s]
bld_flapwise_freq: 0.0 # Blade flapwise first natural frequency [rad/s]
# Optional
TSR_operational: # None # Desired below-rated operational tip speed ratio (Cp-maximizing TSR is used if not defined)
# - should be defined if Fl_Mode = 1
Expand All @@ -39,6 +40,7 @@ controller_params:
PS_Mode: 0 # Pitch saturation mode {0: no pitch saturation, 1: peak shaving, 2: Cp-maximizing pitch saturation, 3: peak shaving and Cp-maximizing pitch saturation}
SD_Mode: 0 # Shutdown mode {0: no shutdown procedure, 1: pitch to max pitch at shutdown}
Fl_Mode: 0 # Floating specific feedback mode {0: no nacelle velocity feedback, 1: nacelle velocity feedback}
Flp_Mode: 0 # Flap control mode {0: no flap control, 1: steady state flap angle, 2: Proportional flap control}
# Optional - should be defined if Fl_Mode = 1
twr_freq: # None # Tower natural frequency [rad/s]
ptfm_freq: # None # Platform natural frequency [rad/s]
Expand All @@ -56,4 +58,5 @@ controller_params:
ss_pcgain: # None # Pitch controller setpoint smoother gain bias percentage [%, <= 1 ], {default = 0.1%}
ps_percent: # None # Percent peak shaving [%, <= 1 ], {default = 80%}
sd_maxpit: # None # Maximum blade pitch angle to initiate shutdown [rad], {default = bld pitch at v_max}
sd_cornerfreq: # None # Cutoff Frequency for first order low-pass filter for blade pitch angle [rad/s], {default = 0.41888 ~ time constant of 15s}
sd_cornerfreq: # None # Cutoff Frequency for first order low-pass filter for blade pitch angle [rad/s], {default = 0.41888 ~ time constant of 15s}
flp_maxpit: # None # Maximum (and minimum) flap pitch angle [rad]
24 changes: 15 additions & 9 deletions Tune_Cases/IEA15MW.yaml
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Expand Up @@ -19,8 +19,9 @@ turbine_params:
max_torque_rate: 4500000. # Maximum torque rate [Nm/s], {~1/4 VS_RtTq/s}
rated_power: 15000000. # Rated Power [W]
bld_edgewise_freq: 3.4164 # Blade edgewise first natural frequency [rad/s]
bld_flapwise_freq: 0.0 # Blade flapwise first natural frequency [rad/s]
# Optional
TSR_operational: 9.0 # Desired below-rated operational tip speed ratio (Cp-maximizing TSR is used if not defined)
TSR_operational: 9.0 # Desired below-rated operational tip speed ratio (Cp-maximizing TSR is used if not defined)
# - should be defined if Fl_Mode = 1
twr_freq: # None # Tower natural frequency [rad/s]
ptfm_freq: # None # Platform natural frequency [rad/s]
Expand All @@ -39,18 +40,23 @@ controller_params:
PS_Mode: 2 # Pitch saturation mode {0: no pitch saturation, 1: peak shaving, 2: Cp-maximizing pitch saturation, 3: peak shaving and Cp-maximizing pitch saturation}
SD_Mode: 0 # Shutdown mode {0: no shutdown procedure, 1: pitch to max pitch at shutdown}
Fl_Mode: 0 # Floating specific feedback mode {0: no nacelle velocity feedback, 1: nacelle velocity feedback}
Flp_Mode: 0 # Flap control mode {0: no flap control, 1: steady state flap angle, 2: Proportional flap control}
# Controller parameters
zeta_pc: 1.0 # Pitch controller desired damping ratio [-]
omega_pc: 0.12 # Pitch controller desired natural frequency [rad/s]
zeta_vs: 1.2 # Torque controller desired damping ratio [-]
omega_vs: 0.08 # Torque controller desired natural frequency [rad/s]
# Only needed if Flp_Mode > 0
zeta_flp: # None # Flap controller desired damping ratio [-]
omega_flp: # None # Flap controller desired natural frequency [rad/s]
# Optional - these can be defined, but do not need to be
max_pitch: # None # Maximum pitch angle [rad], {default = 90 degrees}
min_pitch: 0.0 # Minimum pitch angle [rad], {default = 0 degrees}
max_pitch: # None # Maximum pitch angle [rad], {default = 90 degrees}
min_pitch: 0.0 # Minimum pitch angle [rad], {default = 0 degrees}
vs_minspd: 0.5235 # Minimum rotor speed [rad/s], {default = 0 rad/s}
ss_cornerfreq: # None # First order low-pass filter cornering frequency for setpoint smoother [rad/s]
ss_vsgain: # None # Torque controller setpoint smoother gain bias percentage [%, <= 1 ], {default = 100%}
ss_pcgain: # None # Pitch controller setpoint smoother gain bias percentage [%, <= 1 ], {default = 0.1%}
ps_percent: # None # Percent peak shaving [%, <= 1 ], {default = 80%}
sd_maxpit: # None # Maximum blade pitch angle to initiate shutdown [rad], {default = bld pitch at v_max}
sd_cornerfreq: # None # Cutoff Frequency for first order low-pass filter for blade pitch angle [rad/s], {default = 0.41888 ~ time constant of 15s}
ss_cornerfreq: # None # First order low-pass filter cornering frequency for setpoint smoother [rad/s]
ss_vsgain: # None # Torque controller setpoint smoother gain bias percentage [%, <= 1 ], {default = 100%}
ss_pcgain: # None # Pitch controller setpoint smoother gain bias percentage [%, <= 1 ], {default = 0.1%}
ps_percent: # None # Percent peak shaving [%, <= 1 ], {default = 80%}
sd_maxpit: # None # Maximum blade pitch angle to initiate shutdown [rad], {default = bld pitch at v_max}
sd_cornerfreq: # None # Cutoff Frequency for first order low-pass filter for blade pitch angle [rad/s], {default = 0.41888 ~ time constant of 15s}
flp_maxpit: # None # Maximum (and minimum) flap pitch angle [rad]
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