Include flap DISCON inputs

johnjasa · Jan 30, 2020 · 1633db4 · 1633db4
1 parent 791816f
commit 1633db4
Show file tree

Hide file tree

Showing 3 changed files with 25 additions and 5 deletions.
diff --git a/ROSCO_toolbox/controller.py b/ROSCO_toolbox/controller.py
@@ -60,6 +60,7 @@ def __init__(self, controller_params):
         self.PS_Mode = controller_params['PS_Mode']
         self.SD_Mode = controller_params['SD_Mode']
         self.Fl_Mode = controller_params['Fl_Mode']
+        self.Flp_Mode = controller_params['Flp_Mode']
 
         # Necessary parameters
         self.zeta_pc = controller_params['zeta_pc']
@@ -273,7 +274,12 @@ def tune_controller(self, turbine):
             self.Kp_float = 0.0
 
 
-
+        # Flap actuation - dummy for now
+        if self.Flp_Mode >= 1:
+            self.flp_angle = 0.0
+            self.Kp_flap = 0.0
+            self.Ki_flap = 0.0
+
 class ControllerBlocks():
     '''
     Class ControllerBlocks defines tuning parameters for additional controller features or "blocks"

diff --git a/ROSCO_toolbox/turbine.py b/ROSCO_toolbox/turbine.py
@@ -88,6 +88,12 @@ def __init__(self, turbine_params):
         else:
             self.TSR_operational = None
 
+        if turbine_params['bld_flapwise_freq']:
+            self.bld_flapwise_freq = turbine_params['bld_flapwise_freq']
+        else:
+            self.bld_flapwise_freq = None
+
+
     # Allow print out of class
     def __str__(self): 
         '''

diff --git a/ROSCO_toolbox/utilities.py b/ROSCO_toolbox/utilities.py
@@ -437,6 +437,7 @@ def write_param_file(self, turbine, controller, param_file='DISCON.IN', txt_file
         file.write('{0:<12d}        ! PS_Mode           - Pitch saturation mode {{0: no pitch saturation, 1: implement pitch saturation}}\n'.format(controller.PS_Mode > 0))
         file.write('{0:<12d}        ! SD_Mode           - Shutdown mode {{0: no shutdown procedure, 1: pitch to max pitch at shutdown}}\n'.format(controller.SD_Mode))
         file.write('{0:<12d}        ! Fl_Mode           - Floating specific feedback mode {{0: no nacelle velocity feedback, 1: nacelle velocity feedback}}\n'.format(controller.Fl_Mode))
+        file.write('{0:<12d}        ! Flp_Mode          - Flap control mode {{0: no flap control, 1: steady state flap angle, 2: Proportional flap control}}\n'.format(controller.Fl_Mode))
         file.write('\n')
         file.write('!------- FILTERS ----------------------------------------------------------\n') 
         file.write('{:<13.5f}       ! F_LPFCornerFreq	- Corner frequency (-3dB point) in the low-pass filters, [rad/s]\n'.format(turbine.bld_edgewise_freq * 1/4)) 
@@ -445,6 +446,8 @@ def write_param_file(self, turbine, controller, param_file='DISCON.IN', txt_file
         file.write('{:<10.5f}{:<9.5f} ! F_NotchBetaNumDen	- Two notch damping values (numerator and denominator, resp) - determines the width and depth of the notch, [-]\n'.format(0.0,0.25))
         file.write('{:<014.5f}      ! F_SSCornerFreq    - Corner frequency (-3dB point) in the first order low pass filter for the setpoint smoother, [rad/s].\n'.format(controller.ss_cornerfreq))
         file.write('{:<10.5f}{:<9.5f} ! 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, -].\n'.format(turbine.ptfm_freq, 1.0))
+        file.write('{:<10.5f}{:<9.5f} ! F_FlpCornerFreq    - Corner frequency and damping in the second order low pass filter of the blade root bending moment for flap control [rad/s, -].\n'.format(turbine.bld_flapwise_freq, 0.7))
+
         file.write('\n')
         file.write('!------- BLADE PITCH CONTROL ----------------------------------------------\n')
         file.write('{:<11d}         ! PC_GS_n			- Amount of gain-scheduling table entries\n'.format(len(controller.pitch_op_pc)))
@@ -524,15 +527,20 @@ def write_param_file(self, turbine, controller, param_file='DISCON.IN', txt_file
         file.write('\n')
         file.write('!------- MINIMUM PITCH SATURATION -------------------------------------------\n')
         file.write('{:<11d}         ! PS_BldPitchMin_N  - Number of values in minimum blade pitch lookup table (should equal number of values in PS_WindSpeeds and PS_BldPitchMin)\n'.format(len(controller.ps_min_bld_pitch)))
-        file.write('{}              ! PS_WindSpeeds       - Wind speeds corresponding to minimum blade pitch angles [m/s]\n'.format(''.join('{:<4.2f} '.format(controller.v[i]) for i in range(len(controller.v)))))
-        file.write('{}              ! PS_BldPitchMin          - Minimum blade pitch angles [rad]\n'.format(''.join('{:<10.8f} '.format(controller.ps_min_bld_pitch[i]) for i in range(len(controller.ps_min_bld_pitch)))))
+        file.write('{}              ! PS_WindSpeeds     - Wind speeds corresponding to minimum blade pitch angles [m/s]\n'.format(''.join('{:<4.2f} '.format(controller.v[i]) for i in range(len(controller.v)))))
+        file.write('{}              ! PS_BldPitchMin    - Minimum blade pitch angles [rad]\n'.format(''.join('{:<10.8f} '.format(controller.ps_min_bld_pitch[i]) for i in range(len(controller.ps_min_bld_pitch)))))
         file.write('\n')
-        file.write('!------- SHUTDOWN -------------------------------------------\n')
+        file.write('!------- SHUTDOWN -----------------------------------------------------------\n')
         file.write('{:<014.5f}      ! SD_MaxPit         - Maximum blade pitch angle to initiate shutdown, [rad]\n'.format(controller.sd_maxpit))
         file.write('{:<014.5f}      ! SD_CornerFreq     - Cutoff Frequency for first order low-pass filter for blade pitch angle, [rad/s]\n'.format(controller.sd_cornerfreq))
         file.write('\n')
-        file.write('!------- Floating -------------------------------------------\n')
+        file.write('!------- Floating -----------------------------------------------------------\n')
         file.write('{:<014.5f}      ! Fl_Kp             - Nacelle velocity proportional feedback gain [s]\n'.format(controller.Kp_float))
+        file.write('\n')
+        file.write('!------- FLAP ACTUATION -----------------------------------------------------\n')
+        file.write('{:<014.5f}      ! Flp_Angle         - Initial or steady state flap angle [rad]\n'.format(controller.flp_angle))
+        file.write('{:<014.5f}      ! Flp_Kp            - Blade root bending moment proportional gain for flap control [s]\n'.format(controller.Kp_flap))
+        file.write('{:<014.5f}      ! Flp_Ki            - Flap displacement integral gain for flap control [s]'.format(controller.Ki_flap))
         file.close()
 
     def write_rotor_performance(self,turbine,txt_filename='Cp_Ct_Cq.txt'):