Merge pull request WISDEM#35 from nikhar-abbas/f/flp_updates

Flap updates
johnjasa · Feb 5, 2021 · 7a26d5f · 7a26d5f
2 parents c8e3f77 + 3257995
commit 7a26d5f
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Showing 8 changed files with 21 additions and 21 deletions.
diff --git a/Examples/DISCON.IN b/Examples/DISCON.IN
@@ -76,11 +76,11 @@
 1.0                 ! WE_GearboxRatio	- Gearbox ratio [>=1],  [-]
 318628138.00000      ! WE_Jtot			- Total drivetrain inertia, including blades, hub and casted generator inertia to LSS, [kg m^2]
 1.225               ! WE_RhoAir			- Air density, [kg m^-3]
-"Cp_Ct_Cq.IEA15MW.txt"      ! PerfFileName      - File containing rotor performance tables (Cp,Ct,Cq)
-104     72          ! PerfTableSize     - Size of rotor performance tables, first number refers to number of blade pitch angles, second number referse to number of tip-speed ratios
-60                  ! WE_FOPoles_N      - Number of first-order system poles used in EKF
-3.00 3.27 3.53 3.80 4.07 4.33 4.60 4.87 5.14 5.40 5.67 5.94 6.20 6.47 6.74 7.00 7.27 7.54 7.80 8.07 8.34 8.60 8.87 9.14 9.41 9.67 9.94 10.21 10.47 10.74 10.74 11.23 11.72 12.22 12.71 13.20 13.69 14.18 14.67 15.17 15.66 16.15 16.64 17.13 17.62 18.12 18.61 19.10 19.59 20.08 20.57 21.07 21.56 22.05 22.54 23.03 23.52 24.02 24.51 25.00               ! WE_FOPoles_v      - Wind speeds corresponding to first-order system poles [m/s]
--0.02366483 -0.02577018 -0.02787553 -0.02998089 -0.03208624 -0.03419159 -0.03629695 -0.03840230 -0.04050765 -0.04261301 -0.04471836 -0.04682371 -0.04892907 -0.05103442 -0.05313977 -0.05524513 -0.05735048 -0.05945583 -0.06156119 -0.06366654 -0.06577189 -0.06787725 -0.06998260 -0.07208795 -0.07419331 -0.07629866 -0.07840401 -0.08050937 -0.08261472 -0.08472008 -0.07921295 -0.05358619 -0.05636426 -0.06307564 -0.07173987 -0.08172495 -0.09271927 -0.10454428 -0.11705643 -0.13017613 -0.14379976 -0.15793978 -0.17258746 -0.18766434 -0.20315149 -0.21909644 -0.23538854 -0.25208919 -0.26915631 -0.28659300 -0.30437969 -0.32249538 -0.34096095 -0.35974552 -0.37881117 -0.39822177 -0.41789494 -0.43785131 -0.45808118 -0.47857910               ! WE_FOPoles        - First order system poles
+"Cp_Ct_Cq.NREL5MW.txt"      ! PerfFileName      - File containing rotor performance tables (Cp,Ct,Cq)
+104     48          ! PerfTableSize     - Size of rotor performance tables, first number refers to number of blade pitch angles, second number referse to number of tip-speed ratios
+44                  ! WE_FOPoles_N      - Number of first-order system poles used in EKF
+3.00 3.50 4.00 4.50 5.00 5.50 6.00 6.50 7.00 7.50 8.00 8.50 9.00 9.50 10.00 10.50 11.00 11.90 12.40 12.90 13.40 13.90 14.40 14.90 15.40 15.90 16.40 16.90 17.40 17.90 18.40 18.90 19.40 19.90 20.40 20.90 21.40 21.90 22.40 22.90 23.40 23.90 24.40 24.90               ! WE_FOPoles_v      - Wind speeds corresponding to first-order system poles [m/s]
+-0.01651600 -0.01926866 -0.02202133 -0.02477399 -0.02752666 -0.03027933 -0.03303199 -0.03578466 -0.03853732 -0.04128999 -0.04404266 -0.04679532 -0.04954799 -0.05230065 -0.05505332 -0.05780599 -0.06055865 -0.05136706 -0.06083297 -0.07318141 -0.08698814 -0.10174996 -0.11701540 -0.13277020 -0.14916461 -0.16625567 -0.18314382 -0.20108255 -0.21861726 -0.23708646 -0.25523482 -0.27455940 -0.29291942 -0.31337978 -0.33196662 -0.35213321 -0.37322194 -0.39245925 -0.41381198 -0.43612755 -0.45572506 -0.47749086 -0.50133095 -0.53269989               ! WE_FOPoles        - First order system poles [1/s]
 
 !------- YAW CONTROL ------------------------------------------------------
 0.0                 ! Y_ErrThresh		- Yaw error threshold. Turbine begins to yaw when it passes this. [rad^2 s]

diff --git a/ROSCO_toolbox/controller.py b/ROSCO_toolbox/controller.py
@@ -397,13 +397,13 @@ def tune_flap_controller(self,turbine):
         Kcd = (Cdp - Cd0)/( (Ctrl_flp-Ctrl)*deg2rad )
 
         # Find integrated constants
-        kappa = np.zeros(len(v_rel))
+        self.kappa = np.zeros(len(v_rel))
         C1 = np.zeros(len(v_rel))
         C2 = np.zeros(len(v_rel))
         for i, (v_sec,phi) in enumerate(zip(v_rel, phi_vec)):
             C1[i] = integrate.trapz(0.5 * turbine.rho * turbine.chord * v_sec[0]**2 * turbine.span * Kcl * np.cos(phi))
             C2[i] = integrate.trapz(0.5 * turbine.rho * turbine.chord * v_sec[0]**2 * turbine.span * Kcd * np.sin(phi))
-            kappa[i]=C1[i]+C2[i]
+            self.kappa[i]=C1[i]+C2[i]
 
         # ------ Controller tuning -------
         # Open loop blade response
@@ -418,8 +418,8 @@ def tune_flap_controller(self,turbine):
         if (self.zeta_flp == 0 or self.omega_flp == 0) or (not self.zeta_flp or not self.omega_flp):
             sys.exit('ERROR! --- Zeta and Omega flap must be nonzero for Flp_Mode >= 1 ---')
 
-        self.Kp_flap = (2*self.zeta_flp*self.omega_flp - 2*zetaf*omegaf)/(kappa*omegaf**2)
-        self.Ki_flap = (self.omega_flp**2 - omegaf**2)/(kappa*omegaf**2)
+        self.Kp_flap = (2*self.zeta_flp*self.omega_flp - 2*zetaf*omegaf)/(self.kappa*omegaf**2)
+        self.Ki_flap = (self.omega_flp**2 - omegaf**2)/(self.kappa*omegaf**2)
 
 class ControllerBlocks():
     '''

diff --git a/ROSCO_toolbox/turbine.py b/ROSCO_toolbox/turbine.py
@@ -548,7 +548,7 @@ def load_blade_info(self):
         self.span = r 
         self.chord = chord
         self.twist = theta
-        self.bld_flapwise_damp = self.fast.fst_vt['ElastoDynBlade']['BldFlDmp1']/100 * 0.7
+        self.bld_flapwise_damp = self.fast.fst_vt['ElastoDynBlade']['BldFlDmp1']/100
 
 class RotorPerformance():
     '''

diff --git a/ROSCO_toolbox/utilities.py b/ROSCO_toolbox/utilities.py
@@ -139,7 +139,7 @@ def write_DISCON(turbine, controller, param_file='DISCON.IN', txt_filename='Cp_C
     file.write(      '"{}"      ! PerfFileName      - File containing rotor performance tables (Cp,Ct,Cq)\n'.format(txt_filename))
     file.write('{:<7d} {:<10d}  ! PerfTableSize     - Size of rotor performance tables, first number refers to number of blade pitch angles, second number referse to number of tip-speed ratios\n'.format(len(turbine.Cp.pitch_initial_rad),len(turbine.Cp.TSR_initial)))
     file.write('{:<11d}         ! WE_FOPoles_N      - Number of first-order system poles used in EKF\n'.format(len(controller.A)))
-    file.write('{}              ! WE_FOPoles_v      - Wind speeds corresponding to first-order system poles [m/s]\n'.format(''.join('{:<4.4f} '.format(controller.v[i]) for i in range(len(controller.v)))))
+    file.write('{}              ! WE_FOPoles_v      - Wind speeds corresponding to first-order system poles [m/s]\n'.format(''.join('{:<4.2f} '.format(controller.v[i]) for i in range(len(controller.v)))))
     file.write('{}              ! WE_FOPoles        - First order system poles [1/s]\n'.format(''.join('{:<10.8f} '.format(controller.A[i]) for i in range(len(controller.A)))))
     file.write('\n')
     file.write('!------- YAW CONTROL ------------------------------------------------------\n')

diff --git a/Test_Cases/5MW_Land_Simulink/DISCON.IN b/Test_Cases/5MW_Land_Simulink/DISCON.IN
@@ -80,7 +80,7 @@
 104     48          ! PerfTableSize     - Size of rotor performance tables, first number refers to number of blade pitch angles, second number referse to number of tip-speed ratios
 44                  ! WE_FOPoles_N      - Number of first-order system poles used in EKF
 3.00 3.50 4.00 4.50 5.00 5.50 6.00 6.50 7.00 7.50 8.00 8.50 9.00 9.50 10.00 10.50 11.00 11.90 12.40 12.90 13.40 13.90 14.40 14.90 15.40 15.90 16.40 16.90 17.40 17.90 18.40 18.90 19.40 19.90 20.40 20.90 21.40 21.90 22.40 22.90 23.40 23.90 24.40 24.90               ! WE_FOPoles_v      - Wind speeds corresponding to first-order system poles [m/s]
--0.01597097 -0.01863280 -0.02129463 -0.02395646 -0.02661829 -0.02928012 -0.03194195 -0.03460377 -0.03726560 -0.03992743 -0.04258926 -0.04525109 -0.04791292 -0.05057475 -0.05323658 -0.05589840 -0.05856023 -0.05136706 -0.06083297 -0.07318141 -0.08698814 -0.10174996 -0.11701540 -0.13277020 -0.14916461 -0.16625567 -0.18314382 -0.20108255 -0.21861726 -0.23708646 -0.25523482 -0.27455940 -0.29291942 -0.31337978 -0.33196662 -0.35213321 -0.37322194 -0.39245925 -0.41381198 -0.43612755 -0.45572506 -0.47749086 -0.50133095 -0.53269989               ! WE_FOPoles        - First order system poles
+-0.01651600 -0.01926866 -0.02202133 -0.02477399 -0.02752666 -0.03027933 -0.03303199 -0.03578466 -0.03853732 -0.04128999 -0.04404266 -0.04679532 -0.04954799 -0.05230065 -0.05505332 -0.05780599 -0.06055865 -0.05136706 -0.06083297 -0.07318141 -0.08698814 -0.10174996 -0.11701540 -0.13277020 -0.14916461 -0.16625567 -0.18314382 -0.20108255 -0.21861726 -0.23708646 -0.25523482 -0.27455940 -0.29291942 -0.31337978 -0.33196662 -0.35213321 -0.37322194 -0.39245925 -0.41381198 -0.43612755 -0.45572506 -0.47749086 -0.50133095 -0.53269989               ! WE_FOPoles        - First order system poles [1/s]
 
 !------- YAW CONTROL ------------------------------------------------------
 0.0                 ! Y_ErrThresh		- Yaw error threshold. Turbine begins to yaw when it passes this. [rad^2 s]

diff --git a/Test_Cases/IEA-15-240-RWT-UMaineSemi/ServoData/DISCON-UMaineSemi.IN b/Test_Cases/IEA-15-240-RWT-UMaineSemi/ServoData/DISCON-UMaineSemi.IN
@@ -78,9 +78,9 @@
 1.225               ! WE_RhoAir			- Air density, [kg m^-3]
 "Cp_Ct_Cq.IEA15MW.txt"      ! PerfFileName      - File containing rotor performance tables (Cp,Ct,Cq)
 104     72          ! PerfTableSize     - Size of rotor performance tables, first number refers to number of blade pitch angles, second number referse to number of tip-speed ratios
-44                  ! WE_FOPoles_N      - Number of first-order system poles used in EKF
-3.00 3.50 4.00 4.50 5.00 5.50 6.00 6.50 7.00 7.50 8.00 8.50 9.00 9.50 10.00 10.50 11.09 11.59 12.09 12.59 13.09 13.59 14.09 14.59 15.09 15.59 16.09 16.59 17.09 17.59 18.09 18.59 19.09 19.59 20.09 20.59 21.09 21.59 22.09 22.59 23.09 23.59 24.09 24.59               ! WE_FOPoles_v      - Wind speeds corresponding to first-order system poles [m/s]
--0.02366483 -0.02760896 -0.03155310 -0.03549724 -0.03944138 -0.04338551 -0.04732965 -0.05127379 -0.05521793 -0.05916206 -0.06310620 -0.06705034 -0.07099448 -0.07493861 -0.07888275 -0.08282689 -0.05297576 -0.05605471 -0.06299641 -0.07197232 -0.08228907 -0.09357435 -0.10567394 -0.11844707 -0.13176547 -0.14562128 -0.16003276 -0.17507351 -0.19032493 -0.20602365 -0.22255106 -0.23876816 -0.25602518 -0.27307271 -0.29115170 -0.30880313 -0.32785309 -0.34593703 -0.36525166 -0.38468218 -0.40394579 -0.42458588 -0.44445660 -0.46456892               ! WE_FOPoles        - First order system poles
+60                  ! WE_FOPoles_N      - Number of first-order system poles used in EKF
+3.00 3.27 3.53 3.80 4.07 4.33 4.60 4.87 5.14 5.40 5.67 5.94 6.20 6.47 6.74 7.00 7.27 7.54 7.80 8.07 8.34 8.60 8.87 9.14 9.41 9.67 9.94 10.21 10.47 10.74 10.74 11.23 11.72 12.22 12.71 13.20 13.69 14.18 14.67 15.17 15.66 16.15 16.64 17.13 17.62 18.12 18.61 19.10 19.59 20.08 20.57 21.07 21.56 22.05 22.54 23.03 23.52 24.02 24.51 25.00               ! WE_FOPoles_v      - Wind speeds corresponding to first-order system poles [m/s]
+-0.02366483 -0.02577018 -0.02787553 -0.02998089 -0.03208624 -0.03419159 -0.03629695 -0.03840230 -0.04050765 -0.04261301 -0.04471836 -0.04682371 -0.04892907 -0.05103442 -0.05313977 -0.05524513 -0.05735048 -0.05945583 -0.06156119 -0.06366654 -0.06577189 -0.06787725 -0.06998260 -0.07208795 -0.07419331 -0.07629866 -0.07840401 -0.08050937 -0.08261472 -0.08472008 -0.07921295 -0.05358619 -0.05636426 -0.06307564 -0.07173987 -0.08172495 -0.09271927 -0.10454428 -0.11705643 -0.13017613 -0.14379976 -0.15793978 -0.17258746 -0.18766434 -0.20315149 -0.21909644 -0.23538854 -0.25208919 -0.26915631 -0.28659300 -0.30437969 -0.32249538 -0.34096095 -0.35974552 -0.37881117 -0.39822177 -0.41789494 -0.43785131 -0.45808118 -0.47857910               ! WE_FOPoles        - First order system poles [1/s]
 
 !------- YAW CONTROL ------------------------------------------------------
 0.0                 ! Y_ErrThresh		- Yaw error threshold. Turbine begins to yaw when it passes this. [rad^2 s]

diff --git a/Test_Cases/NREL-5MW/DISCON.IN b/Test_Cases/NREL-5MW/DISCON.IN
@@ -80,7 +80,7 @@
 104     48          ! PerfTableSize     - Size of rotor performance tables, first number refers to number of blade pitch angles, second number referse to number of tip-speed ratios
 44                  ! WE_FOPoles_N      - Number of first-order system poles used in EKF
 3.00 3.50 4.00 4.50 5.00 5.50 6.00 6.50 7.00 7.50 8.00 8.50 9.00 9.50 10.00 10.50 11.00 11.90 12.40 12.90 13.40 13.90 14.40 14.90 15.40 15.90 16.40 16.90 17.40 17.90 18.40 18.90 19.40 19.90 20.40 20.90 21.40 21.90 22.40 22.90 23.40 23.90 24.40 24.90               ! WE_FOPoles_v      - Wind speeds corresponding to first-order system poles [m/s]
--0.01651600 -0.01926866 -0.02202133 -0.02477399 -0.02752666 -0.03027933 -0.03303199 -0.03578466 -0.03853732 -0.04128999 -0.04404266 -0.04679532 -0.04954799 -0.05230065 -0.05505332 -0.05780599 -0.06055865 -0.05136706 -0.06083297 -0.07318141 -0.08698814 -0.10174996 -0.11701540 -0.13277020 -0.14916461 -0.16625567 -0.18314382 -0.20108255 -0.21861726 -0.23708646 -0.25523482 -0.27455940 -0.29291942 -0.31337978 -0.33196662 -0.35213321 -0.37322194 -0.39245925 -0.41381198 -0.43612755 -0.45572506 -0.47749086 -0.50133095 -0.53269989               ! WE_FOPoles        - First order system poles
+-0.01651600 -0.01926866 -0.02202133 -0.02477399 -0.02752666 -0.03027933 -0.03303199 -0.03578466 -0.03853732 -0.04128999 -0.04404266 -0.04679532 -0.04954799 -0.05230065 -0.05505332 -0.05780599 -0.06055865 -0.05136706 -0.06083297 -0.07318141 -0.08698814 -0.10174996 -0.11701540 -0.13277020 -0.14916461 -0.16625567 -0.18314382 -0.20108255 -0.21861726 -0.23708646 -0.25523482 -0.27455940 -0.29291942 -0.31337978 -0.33196662 -0.35213321 -0.37322194 -0.39245925 -0.41381198 -0.43612755 -0.45572506 -0.47749086 -0.50133095 -0.53269989               ! WE_FOPoles        - First order system poles [1/s]
 
 !------- YAW CONTROL ------------------------------------------------------
 0.0                 ! Y_ErrThresh		- Yaw error threshold. Turbine begins to yaw when it passes this. [rad^2 s]

diff --git a/Tune_Cases/DISCON.IN b/Tune_Cases/DISCON.IN
@@ -76,11 +76,11 @@
 50.0                ! WE_GearboxRatio	- Gearbox ratio [>=1],  [-]
 160099282.20800      ! WE_Jtot			- Total drivetrain inertia, including blades, hub and casted generator inertia to LSS, [kg m^2]
 1.225               ! WE_RhoAir			- Air density, [kg m^-3]
-"Cp_Ct_Cq.DTU10MW.txt"      ! PerfFileName      - File containing rotor performance tables (Cp,Ct,Cq)
-104     48          ! PerfTableSize     - Size of rotor performance tables, first number refers to number of blade pitch angles, second number referse to number of tip-speed ratios
-42                  ! WE_FOPoles_N      - Number of first-order system poles used in EKF
-4.00 4.50 5.00 5.50 6.00 6.50 7.00 7.50 8.00 8.50 9.00 9.50 10.00 10.50 11.00 11.90 12.40 12.90 13.40 13.90 14.40 14.90 15.40 15.90 16.40 16.90 17.40 17.90 18.40 18.90 19.40 19.90 20.40 20.90 21.40 21.90 22.40 22.90 23.40 23.90 24.40 24.90               ! WE_FOPoles_v      - Wind speeds corresponding to first-order system poles [m/s]
--0.02224894 -0.02503005 -0.02781117 -0.03059229 -0.03337341 -0.03615452 -0.03893564 -0.04171676 -0.04449787 -0.04727899 -0.05006011 -0.05284123 -0.05562234 -0.05840346 -0.06118458 -0.04912872 -0.05580722 -0.06518784 -0.07596687 -0.08768719 -0.10016561 -0.11321246 -0.12662324 -0.14054702 -0.15510757 -0.16979856 -0.18479723 -0.20065913 -0.21593099 -0.23258348 -0.24824509 -0.26557984 -0.28161699 -0.29910951 -0.31620223 -0.33341968 -0.35239722 -0.36909876 -0.38718142 -0.40701429 -0.42400719 -0.44234888               ! WE_FOPoles        - First order system poles
+"Cp_Ct_Cq.IEA15MW.txt"      ! PerfFileName      - File containing rotor performance tables (Cp,Ct,Cq)
+104     72          ! PerfTableSize     - Size of rotor performance tables, first number refers to number of blade pitch angles, second number referse to number of tip-speed ratios
+60                  ! WE_FOPoles_N      - Number of first-order system poles used in EKF
+3.00 3.27 3.53 3.80 4.07 4.33 4.60 4.87 5.14 5.40 5.67 5.94 6.20 6.47 6.74 7.00 7.27 7.54 7.80 8.07 8.34 8.60 8.87 9.14 9.41 9.67 9.94 10.21 10.47 10.74 10.74 11.23 11.72 12.22 12.71 13.20 13.69 14.18 14.67 15.17 15.66 16.15 16.64 17.13 17.62 18.12 18.61 19.10 19.59 20.08 20.57 21.07 21.56 22.05 22.54 23.03 23.52 24.02 24.51 25.00               ! WE_FOPoles_v      - Wind speeds corresponding to first-order system poles [m/s]
+-0.02366483 -0.02577018 -0.02787553 -0.02998089 -0.03208624 -0.03419159 -0.03629695 -0.03840230 -0.04050765 -0.04261301 -0.04471836 -0.04682371 -0.04892907 -0.05103442 -0.05313977 -0.05524513 -0.05735048 -0.05945583 -0.06156119 -0.06366654 -0.06577189 -0.06787725 -0.06998260 -0.07208795 -0.07419331 -0.07629866 -0.07840401 -0.08050937 -0.08261472 -0.08472008 -0.07921295 -0.05358619 -0.05636426 -0.06307564 -0.07173987 -0.08172495 -0.09271927 -0.10454428 -0.11705643 -0.13017613 -0.14379976 -0.15793978 -0.17258746 -0.18766434 -0.20315149 -0.21909644 -0.23538854 -0.25208919 -0.26915631 -0.28659300 -0.30437969 -0.32249538 -0.34096095 -0.35974552 -0.37881117 -0.39822177 -0.41789494 -0.43785131 -0.45808118 -0.47857910               ! WE_FOPoles        - First order system poles [1/s]
 
 !------- YAW CONTROL ------------------------------------------------------
 0.0                 ! Y_ErrThresh		- Yaw error threshold. Turbine begins to yaw when it passes this. [rad^2 s]