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Merge pull request #108 from IEAWindTask37/develop
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PR for minor release increment
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@gbarter
gbarter authored Nov 21, 2022
2 parents ec3b837 + a0f2499 commit 3a00f7f
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Binary file modified Documentation/IEA-15-240-RWT_tabular.xlsx
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57 changes: 36 additions & 21 deletions ...RWT-Monopile/ServoData/DISCON-Monopile.IN → ...onopile/IEA-15-240-RWT-Monopile_DISCON.IN
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! Controller parameter input file for the IEA-15-240-RWT-Monopile wind turbine
! - File written using ROSCO version 2.5.0 controller tuning logic on 04/04/22
! - File written using ROSCO version 2.6.0 controller tuning logic on 09/23/22

!------- 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}
1 ! LoggingLevel - {0: write no debug files, 1: write standard output .dbg-file, 2: LoggingLevel 1 + ROSCO LocalVars (.dbg2) 3: LoggingLevel 2 + complete avrSWAP-array (.dbg3)}

!------- CONTROLLER FLAGS -------------------------------------------------
2 ! F_LPFType - {1: first-order low-pass filter, 2: second-order low-pass filter}, [rad/s] (currently filters generator speed and pitch control signals
Expand All @@ -16,19 +16,24 @@
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: feed back translational velocity, 2: feed back rotational veloicty}
0 ! TD_Mode - Tower damper mode {0: no tower damper, 1: feed back translational nacelle accelleration to pitch angle}
0 ! Flp_Mode - Flap control mode {0: no flap control, 1: steady state flap angle, 2: Proportional flap control, 2: Cyclic (1P) flap control}
0 ! OL_Mode - Open loop control mode {0: no open loop control, 1: open loop control vs. time, 2: open loop control vs. wind speed}
0 ! OL_Mode - Open loop control mode {0: no open loop control, 1: open loop control vs. time}
0 ! PA_Mode - Pitch actuator mode {0 - not used, 1 - first order filter, 2 - second order filter}
0 ! Ext_Mode - External control mode {0 - not used, 1 - call external dynamic library}
0 ! ZMQ_Mode - Fuse ZeroMQ interface {0: unused, 1: Yaw Control}

!------- FILTERS ----------------------------------------------------------
1.00810 ! F_LPFCornerFreq - Corner frequency (-3dB point) in the low-pass filters, [rad/s]
0.70000 ! F_LPFDamping - Damping coefficient {used only when F_FilterType = 2} [-]
0.00000 ! F_NotchCornerFreq - Natural frequency of the notch filter, [rad/s]
0.000000 0.250000 ! F_NotchBetaNumDen - Two notch damping values (numerator and denominator, resp) - determines the width and depth of the notch, [-]
0.000000 0.250000 ! F_NotchBetaNumDen - Two notch damping values (numerator and denominator, resp) - determines the width and depth of the notch, [-]
0.62830 ! F_SSCornerFreq - Corner frequency (-3dB point) in the first order low pass filter for the setpoint smoother, [rad/s].
0.20944 ! F_WECornerFreq - Corner frequency (-3dB point) in the first order low pass filter for the wind speed estimate [rad/s].
0.000000 1.000000 ! F_FlCornerFreq - Natural frequency and damping in the second order low pass filter of the tower-top fore-aft motion for floating feedback control [rad/s, -].
0.17952 ! F_YawErr - Low pass filter corner frequency for yaw controller [rad/s].
0.000000 1.000000 ! F_FlCornerFreq - Natural frequency and damping in the second order low pass filter of the tower-top fore-aft motion for floating feedback control [rad/s, -].
0.01042 ! F_FlHighPassFreq - Natural frequency of first-order high-pass filter for nacelle fore-aft motion [rad/s].
10.461600 1.000000 ! F_FlpCornerFreq - Corner frequency and damping in the second order low pass filter of the blade root bending moment for flap control [rad/s, -].
10.461600 1.000000 ! 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 ----------------------------------------------
30 ! PC_GS_n - Amount of gain-scheduling table entries
Expand All @@ -46,10 +51,11 @@
0.017450000000 ! PC_Switch - Angle above lowest minimum pitch angle for switch, [rad]

!------- INDIVIDUAL PITCH CONTROL -----------------------------------------
0.1 ! IPC_IntSat - Integrator saturation (maximum signal amplitude contribution to pitch from IPC), [rad]
0.000e+00 0.000e+00 ! IPC_KP - Proportional gain for the individual pitch controller: first parameter for 1P reductions, second for 2P reductions, [-]
0.000e+00 0.000e+00 ! IPC_KI - Integral gain for the individual pitch controller: first parameter for 1P reductions, second for 2P reductions, [-]
0.000000 0.000000 ! IPC_aziOffset - Phase offset added to the azimuth angle for the individual pitch controller, [rad].
8.472000 10.590000 ! IPC_Vramp - Start and end wind speeds for cut-in ramp function. First entry: IPC inactive, second entry: IPC fully active. [m/s]
0.3 ! IPC_IntSat - Integrator saturation (maximum signal amplitude contribution to pitch from IPC), [rad]
0.000e+00 0.000e+00 ! IPC_KP - Proportional gain for the individual pitch controller: first parameter for 1P reductions, second for 2P reductions, [-]
0.000e+00 0.000e+00 ! IPC_KI - Integral gain for the individual pitch controller: first parameter for 1P reductions, second for 2P reductions, [-]
0.000000 0.000000 ! IPC_aziOffset - Phase offset added to the azimuth angle for the individual pitch controller, [rad].
0.0 ! IPC_CornerFreqAct - Corner frequency of the first-order actuators model, to induce a phase lag in the IPC signal {0: Disable}, [rad/s]

!------- VS TORQUE CONTROL ------------------------------------------------
Expand All @@ -75,32 +81,28 @@
!------- WIND SPEED ESTIMATOR ---------------------------------------------
120.970 ! WE_BladeRadius - Blade length (distance from hub center to blade tip), [m]
1 ! WE_CP_n - Amount of parameters in the Cp array
0 ! WE_CP - Parameters that define the parameterized CP(lambda) function
0.0 ! WE_CP - Parameters that define the parameterized CP(lambda) function
0.0 ! WE_Gamma - Adaption gain of the wind speed estimator algorithm [m/rad]
1.0 ! WE_GearboxRatio - Gearbox ratio [>=1], [-]
312456272.00000 ! 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]
"../../IEA-15-240-RWT/Cp_Ct_Cq.IEA15MW.txt" ! PerfFileName - File containing rotor performance tables (Cp,Ct,Cq) (absolute path or relative to this file)
"../IEA-15-240-RWT/Cp_Ct_Cq.IEA15MW.txt" ! PerfFileName - File containing rotor performance tables (Cp,Ct,Cq) (absolute path or relative to this file)
36 26 ! 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
3.0000 3.2617 3.5234 3.7852 4.0469 4.3086 4.5703 4.8321 5.0938 5.3555 5.6172 5.8790 6.1407 6.4024 6.6641 6.9259 7.1876 7.4493 7.7110 7.9728 8.2345 8.4962 8.7579 9.0197 9.2814 9.5431 9.8048 10.0666 10.3283 10.5900 11.0703 11.5507 12.0310 12.5113 12.9917 13.4720 13.9523 14.4327 14.9130 15.3933 15.8737 16.3540 16.8343 17.3147 17.7950 18.2753 18.7557 19.2360 19.7163 20.1967 20.6770 21.1573 21.6377 22.1180 22.5983 23.0787 23.5590 24.0393 24.5197 25.0000 ! WE_FOPoles_v - Wind speeds corresponding to first-order system poles [m/s]
-0.02567895 -0.02791922 -0.03015948 -0.03239975 -0.03464002 -0.03688029 -0.03912055 -0.04136082 -0.04360109 -0.04584135 -0.04808162 -0.05032189 -0.05256215 -0.05480242 -0.05704269 -0.05928296 -0.06152322 -0.06376349 -0.06600376 -0.06824402 -0.07048429 -0.07272456 -0.07496482 -0.07720509 -0.07944536 -0.08168563 -0.08392589 -0.08616616 -0.08840643 -0.09118389 -0.05949559 -0.06227862 -0.06969047 -0.07908187 -0.08992016 -0.10182266 -0.11449485 -0.12807432 -0.14219661 -0.15675774 -0.17212268 -0.18773439 -0.20385809 -0.22064779 -0.23758803 -0.25509405 -0.27303902 -0.29132859 -0.30992791 -0.32898498 -0.34841535 -0.36819407 -0.38815413 -0.40855878 -0.42924403 -0.45034341 -0.47165500 -0.49327476 -0.51490208 -0.53688665 ! WE_FOPoles - First order system poles [1/s]

!------- YAW CONTROL ------------------------------------------------------
0.13960 ! Y_ErrThresh - Yaw error threshold. Turbine begins to yaw when it passes this. [rad^2 s]
0.00000 ! Y_uSwitch - Wind speed to switch between Y_ErrThresh. If zero, only the first value of Y_ErrThresh is used [m/s]
4.000000 8.000000 ! Y_ErrThresh - Yaw error threshold/deadband. Turbine begins to yaw when it passes this. If Y_uSwitch is zero, only the first value is used. [deg].
0.00870 ! Y_Rate - Yaw rate [rad/s]
0.00000 ! Y_MErrSet - Integrator saturation (maximum signal amplitude contribution to pitch from yaw-by-IPC), [rad]
0.00000 ! Y_IPC_IntSat - Integrator saturation (maximum signal amplitude contribution to pitch from yaw-by-IPC), [rad]
1 ! Y_IPC_n - Number of controller gains (yaw-by-IPC)
0.00000 ! Y_IPC_KP - Yaw-by-IPC proportional controller gain Kp
0.00000 ! Y_IPC_KI - Yaw-by-IPC integral controller gain Ki
0.20940 ! Y_IPC_omegaLP - Low-pass filter corner frequency for the Yaw-by-IPC controller to filtering the yaw alignment error, [rad/s].
1.00000 ! Y_IPC_zetaLP - Low-pass filter damping factor for the Yaw-by-IPC controller to filtering the yaw alignment error, [-].
0.00000 ! Y_MErrSet - Yaw alignment error, set point [rad]
0.20940 ! Y_omegaLPFast - Corner frequency fast low pass filter, 1.0 [rad/s]
0.10470 ! Y_omegaLPSlow - Corner frequency slow low pass filter, 1/60 [rad/s]
0.00520 ! Y_Rate - Yaw rate [rad/s]

!------- TOWER FORE-AFT DAMPING -------------------------------------------
-1 ! FA_KI - Integral gain for the fore-aft tower damper controller, -1 = off / >0 = on [rad s/m] - !NJA - Make this a flag
-1.00000 ! FA_KI - Integral gain for the fore-aft tower damper controller [rad s/m]
0.0 ! FA_HPFCornerFreq - Corner frequency (-3dB point) in the high-pass filter on the fore-aft acceleration signal [rad/s]
0.0 ! FA_IntSat - Integrator saturation (maximum signal amplitude contribution to pitch from FA damper), [rad]

Expand Down Expand Up @@ -128,3 +130,16 @@
0 ! Ind_BldPitch - The column in OL_Filename that contains the blade pitch input in rad
0 ! Ind_GenTq - The column in OL_Filename that contains the generator torque in Nm
0 ! Ind_YawRate - The column in OL_Filename that contains the generator torque in Nm

!------- Pitch Actuator Model -----------------------------------------------------
3.140000000000 ! PA_CornerFreq - Pitch actuator bandwidth/cut-off frequency [rad/s]
0.707000000000 ! PA_Damping - Pitch actuator damping ratio [-, unused if PA_Mode = 1]

!------- External Controller Interface -----------------------------------------------------
"unused" ! DLL_FileName - Name/location of the dynamic library in the Bladed-DLL format
"unused" ! DLL_InFile - Name of input file sent to the DLL (-)
"DISCON" ! DLL_ProcName - Name of procedure in DLL to be called (-)

!------- ZeroMQ Interface ---------------------------------------------------------
"tcp://localhost:5555" ! ZMQ_CommAddress - Communication address for ZMQ server, (e.g. "tcp://localhost:5555")
2 ! ZMQ_UpdatePeriod - Call ZeroMQ every [x] seconds, [s]
8 changes: 4 additions & 4 deletions OpenFAST/IEA-15-240-RWT-Monopile/IEA-15-240-RWT-Monopile_ElastoDyn.dat
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Expand Up @@ -11,7 +11,7 @@ True EdgeDOF - First edgewise blade mode DOF (flag)
False TeetDOF - Rotor-teeter DOF (flag) [unused for 3 blades]
False DrTrDOF - Drivetrain rotational-flexibility DOF (flag)
True GenDOF - Generator DOF (flag)
False YawDOF - Yaw DOF (flag)
True YawDOF - Yaw DOF (flag)
True TwFADOF1 - First fore-aft tower bending-mode DOF (flag)
True TwFADOF2 - Second fore-aft tower bending-mode DOF (flag)
True TwSSDOF1 - First side-to-side tower bending-mode DOF (flag)
Expand Down Expand Up @@ -75,12 +75,12 @@ True PtfmYDOF - Platform yaw rotation DOF (flag)
973520 HubIner - Hub inertia about rotor axis [3 blades] or teeter axis [2 blades] (kg m^2)
1836784 GenIner - Generator inertia about HSS (kg m^2)
646895 NacMass - Nacelle mass (kg)
24240914 NacYIner - Nacelle inertia about yaw axis (kg m^2)
29600436 NacYIner - Nacelle inertia about yaw axis (kg m^2)
28280 YawBrMass - Yaw bearing mass (kg)
0.0 PtfmMass - Platform mass (kg)
0.0 PtfmRIner - Platform inertia for roll tilt rotation about the platform CM (kg m^2)
0.0 PtfmPIner - Platform inertia for pitch tilt rotation about the platform CM (kg m^2)
0.0 PtfmYIner - Platform inertia for yaw rotation about the platform CM (kg m^2)
100000000.0 PtfmYIner - Platform inertia for yaw rotation about the platform CM (kg m^2)
---------------------- BLADE ---------------------------------------------------
50 BldNodes - Number of blade nodes (per blade) used for analysis (-)
"../IEA-15-240-RWT/IEA-15-240-RWT_ElastoDyn_blade.dat" BldFile1 - Name of file containing properties for blade 1 (quoted string)
Expand Down Expand Up @@ -243,4 +243,4 @@ END of input file (the word "END" must appear in the first 3 columns of this las
"TDy" - local edgewise (translational) deflection (relative to the undeflected position) of node
"RDz"
END of input file (the word "END" must appear in the first 3 columns of this last OutList line)
---------------------------------------------------------------------------------------
---------------------------------------------------------------------------------------
5 changes: 2 additions & 3 deletions ...-Monopile/ServoData/IEA15MW-Monopile.yaml → ...nopile/IEA-15-240-RWT-Monopile_ROSCO.yaml
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Expand Up @@ -4,9 +4,8 @@
# ------------------------------ OpenFAST PATH DEFINITIONS ------------------------------
path_params:
FAST_InputFile: 'IEA-15-240-RWT-Monopile.fst' # Name of *.fst file
FAST_directory: '../' # Main OpenFAST model directory, where the *.fst lives
# Optional (but suggested...)
rotor_performance_filename: ../../IEA-15-240-RWT/Cp_Ct_Cq.IEA15MW.txt
FAST_directory: '.' # Main OpenFAST model directory, where the *.fst lives
rotor_performance_filename: ../IEA-15-240-RWT/Cp_Ct_Cq.IEA15MW.txt # Relative to FAST_directory or absolute

# -------------------------------- TURBINE PARAMETERS -----------------------------------
turbine_params:
Expand Down
2 changes: 1 addition & 1 deletion OpenFAST/IEA-15-240-RWT-Monopile/IEA-15-240-RWT-Monopile_ServoDyn.dat
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Expand Up @@ -75,7 +75,7 @@ True GenTiStp - Method to stop the generator {T: timed usin
0 CCmode - Cable control mode {0- none, 4- user-defined from Simulink/Labview, 5- user-defineAfC_phased from Bladed-style DLL}
---------------------- BLADED INTERFACE ---------------------------------------- [used only with Bladed Interface]
"../IEA-15-240-RWT/ServoData/libdiscon.so" DLL_FileName - Name/location of the dynamic library {.dll [Windows] or .so [Linux]} in the Bladed-DLL format (-) [used only with Bladed Interface]
"ServoData/DISCON-Monopile.IN" DLL_InFile - Name of input file sent to the DLL (-) [used only with Bladed Interface]
"IEA-15-240-RWT-Monopile_DISCON.IN" DLL_InFile - Name of input file sent to the DLL (-) [used only with Bladed Interface]
"DISCON" DLL_ProcName - Name of procedure in DLL to be called (-) [case sensitive; used only with DLL Interface]
"default" DLL_DT - Communication interval for dynamic library (s) (or "default") [used only with Bladed Interface]
False DLL_Ramp - Whether a linear ramp should be used between DLL_DT time steps [introduces time shift when true] (flag) [used only with Bladed Interface]
Expand Down
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