From 32ae97d30316e1feb3a3f4da0d7a61f0400088c8 Mon Sep 17 00:00:00 2001 From: Nikhar Abbas Date: Tue, 5 Nov 2019 11:55:16 -0700 Subject: [PATCH 1/7] Fix initial bld pitch bug --- src/Controllers.f90 | 2 +- src/ReadSetParameters.f90 | 18 ++++++++++++------ 2 files changed, 13 insertions(+), 7 deletions(-) diff --git a/src/Controllers.f90 b/src/Controllers.f90 index 071a271c..ad442e9e 100644 --- a/src/Controllers.f90 +++ b/src/Controllers.f90 @@ -46,7 +46,7 @@ SUBROUTINE PitchControl(avrSWAP, CntrPar, LocalVar, objInst) IF (LocalVar%iStatus == 0) THEN LocalVar%PC_PitComT = PIController(LocalVar%PC_SpdErr, LocalVar%PC_KP, LocalVar%PC_KI, CntrPar%PC_FinePit, LocalVar%PC_MaxPit, LocalVar%DT, LocalVar%PitCom(1), .TRUE., objInst%instPI) ELSE - LocalVar%PC_PitComT = PIController(LocalVar%PC_SpdErr, LocalVar%PC_KP, LocalVar%PC_KI, CntrPar%PC_FinePit, LocalVar%PC_MaxPit, LocalVar%DT, CntrPar%PC_FinePit, .FALSE., objInst%instPI) + LocalVar%PC_PitComT = PIController(LocalVar%PC_SpdErr, LocalVar%PC_KP, LocalVar%PC_KI, CntrPar%PC_FinePit, LocalVar%PC_MaxPit, LocalVar%DT, LocalVar%BlPitch(1), .FALSE., objInst%instPI) END IF ! Find individual pitch control contribution diff --git a/src/ReadSetParameters.f90 b/src/ReadSetParameters.f90 index dea5b89a..493c5509 100644 --- a/src/ReadSetParameters.f90 +++ b/src/ReadSetParameters.f90 @@ -249,8 +249,6 @@ SUBROUTINE ReadAvrSWAP(avrSWAP, LocalVar) LocalVar%iStatus = NINT(avrSWAP(1)) LocalVar%Time = avrSWAP(2) LocalVar%DT = avrSWAP(3) - ! LocalVar%BlPitch(1) = avrSWAP(4) - LocalVar%BlPitch(1) = LocalVar%PitCom(1) LocalVar%VS_MechGenPwr = avrSWAP(14) LocalVar%VS_GenPwr = avrSWAP(15) LocalVar%GenSpeed = avrSWAP(20) @@ -261,13 +259,21 @@ SUBROUTINE ReadAvrSWAP(avrSWAP, LocalVar) LocalVar%rootMOOP(1) = avrSWAP(30) LocalVar%rootMOOP(2) = avrSWAP(31) LocalVar%rootMOOP(3) = avrSWAP(32) - ! LocalVar%BlPitch(2) = avrSWAP(33) - ! LocalVar%BlPitch(3) = avrSWAP(34) - LocalVar%BlPitch(2) = LocalVar%PitCom(2) - LocalVar%BlPitch(3) = LocalVar%PitCom(3) LocalVar%FA_Acc = avrSWAP(53) LocalVar%Azimuth = avrSWAP(60) LocalVar%NumBl = NINT(avrSWAP(61)) + + ! NJA: I think we need to feed back the previous pitch command, rather than use avrSWAP for numerical stability + IF (LocalVar%iStatus == 0) THEN + LocalVar%BlPitch(1) = avrSWAP(4) + LocalVar%BlPitch(2) = avrSWAP(33) + LocalVar%BlPitch(3) = avrSWAP(34) + ELSE + LocalVar%BlPitch(1) = LocalVar%PitCom(1) + LocalVar%BlPitch(2) = LocalVar%PitCom(2) + LocalVar%BlPitch(3) = LocalVar%PitCom(3) + ENDIF + END SUBROUTINE ReadAvrSWAP ! ----------------------------------------------------------------------------------- ! Check for errors before any execution From 2f0f2fbfe537ee082837f1492327850843343d81 Mon Sep 17 00:00:00 2001 From: Nikhar Abbas Date: Wed, 6 Nov 2019 11:17:53 -0700 Subject: [PATCH 2/7] Read avrswap pitch signal for numerical stability --- src/ReadSetParameters.f90 | 18 +++++++----------- 1 file changed, 7 insertions(+), 11 deletions(-) diff --git a/src/ReadSetParameters.f90 b/src/ReadSetParameters.f90 index 493c5509..579225e1 100644 --- a/src/ReadSetParameters.f90 +++ b/src/ReadSetParameters.f90 @@ -262,17 +262,13 @@ SUBROUTINE ReadAvrSWAP(avrSWAP, LocalVar) LocalVar%FA_Acc = avrSWAP(53) LocalVar%Azimuth = avrSWAP(60) LocalVar%NumBl = NINT(avrSWAP(61)) - - ! NJA: I think we need to feed back the previous pitch command, rather than use avrSWAP for numerical stability - IF (LocalVar%iStatus == 0) THEN - LocalVar%BlPitch(1) = avrSWAP(4) - LocalVar%BlPitch(2) = avrSWAP(33) - LocalVar%BlPitch(3) = avrSWAP(34) - ELSE - LocalVar%BlPitch(1) = LocalVar%PitCom(1) - LocalVar%BlPitch(2) = LocalVar%PitCom(2) - LocalVar%BlPitch(3) = LocalVar%PitCom(3) - ENDIF + LocalVar%BlPitch(1) = avrSWAP(4) + LocalVar%BlPitch(2) = avrSWAP(33) + LocalVar%BlPitch(3) = avrSWAP(34) + ! --- NJA: sometimes feedback bath the previous pitch command helps for numerical stability, sometimes it does not... + ! LocalVar%BlPitch(1) = LocalVar%PitCom(1) + ! LocalVar%BlPitch(2) = LocalVar%PitCom(2) + ! LocalVar%BlPitch(3) = LocalVar%PitCom(3) END SUBROUTINE ReadAvrSWAP ! ----------------------------------------------------------------------------------- From 70c8721d5102ac75f5048f32275246a666a8d5f7 Mon Sep 17 00:00:00 2001 From: Nikhar Abbas Date: Thu, 7 Nov 2019 13:50:27 -0700 Subject: [PATCH 3/7] Update Parameters - VS_Rgn2K bug --- parameter_files/DTU10MW/DISCON.IN | 26 +++++++++++++------------- parameter_files/NREL5MW/DISCON.IN | 22 +++++++++++----------- 2 files changed, 24 insertions(+), 24 deletions(-) diff --git a/parameter_files/DTU10MW/DISCON.IN b/parameter_files/DTU10MW/DISCON.IN index 5fb60441..19740753 100644 --- a/parameter_files/DTU10MW/DISCON.IN +++ b/parameter_files/DTU10MW/DISCON.IN @@ -1,5 +1,5 @@ ! Controller parameter input file for the DTU_10MW_RWT wind turbine -! - File written using NREL Reference OpenSource Controller tuning logic on 10/30/19 +! - File written using NREL Reference OpenSource Controller tuning logic on 11/07/19 !------- 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} @@ -12,7 +12,7 @@ 1 ! PC_ControlMode - Blade pitch control mode {0: No pitch, fix to fine pitch, 1: active PI blade pitch control} 0 ! Y_ControlMode - Yaw control mode {0: no yaw control, 1: yaw rate control, 2: yaw-by-IPC} 1 ! SS_Mode - Setpoint Smoother mode {0: no setpoint smoothing, 1: introduce setpoint smoothing} -2 ! WE_Mode - Wind speed estimator mode {0: One-second low pass filtered hub height wind speed, 1: Immersion and Invariance Estimator (Ortega et al.)} +2 ! WE_Mode - Wind speed estimator mode {0: One-second low pass filtered hub height wind speed, 1: Immersion and Invariance Estimator, 2: Extended Kalman Filter} 1 ! PS_Mode - Peak shaving mode {0: no peak shaving, 1: implement peak shaving} !------- FILTERS ---------------------------------------------------------- @@ -24,9 +24,9 @@ !------- BLADE PITCH CONTROL ---------------------------------------------- 27 ! PC_GS_n - Amount of gain-scheduling table entries -0.076633 0.104456 0.126517 0.145355 0.162546 0.178053 0.193056 0.206617 0.219914 0.232896 0.244750 0.256637 0.268710 0.279382 0.290068 0.300976 0.312151 0.321716 0.331385 0.341283 0.351442 0.361881 0.370451 0.379156 0.388093 0.397276 0.406710 ! PC_GS_angles - Gain-schedule table: pitch angles --0.028061 -0.024203 -0.021094 -0.018535 -0.016393 -0.014573 -0.013008 -0.011647 -0.010454 -0.009398 -0.008458 -0.007616 -0.006856 -0.006168 -0.005541 -0.004969 -0.004443 -0.003959 -0.003512 -0.003097 -0.002712 -0.002353 -0.002018 -0.001705 -0.001410 -0.001134 -0.000873 ! PC_GS_KP - Gain-schedule table: pitch controller kp gains --0.005554 -0.004957 -0.004475 -0.004079 -0.003747 -0.003465 -0.003223 -0.003012 -0.002827 -0.002664 -0.002518 -0.002388 -0.002270 -0.002163 -0.002066 -0.001978 -0.001896 -0.001821 -0.001752 -0.001688 -0.001628 -0.001572 -0.001521 -0.001472 -0.001426 -0.001384 -0.001343 ! PC_GS_KI - Gain-schedule table: pitch controller ki gains +0.076651 0.104597 0.126580 0.145538 0.162607 0.178351 0.193067 0.206924 0.220170 0.232969 0.245214 0.257052 0.268731 0.279797 0.290953 0.301452 0.312171 0.322210 0.332433 0.342284 0.351964 0.361902 0.371025 0.380350 0.389927 0.398615 0.407506 ! PC_GS_angles - Gain-schedule table: pitch angles +-0.028157 -0.024262 -0.021126 -0.018547 -0.016389 -0.014557 -0.012981 -0.011612 -0.010412 -0.009350 -0.008405 -0.007558 -0.006794 -0.006102 -0.005473 -0.004898 -0.004370 -0.003883 -0.003434 -0.003018 -0.002631 -0.002271 -0.001935 -0.001620 -0.001324 -0.001047 -0.000785 ! PC_GS_KP - Gain-schedule table: pitch controller kp gains +-0.005563 -0.004963 -0.004479 -0.004081 -0.003748 -0.003466 -0.003223 -0.003011 -0.002826 -0.002662 -0.002517 -0.002386 -0.002268 -0.002161 -0.002064 -0.001976 -0.001894 -0.001819 -0.001750 -0.001686 -0.001626 -0.001571 -0.001519 -0.001470 -0.001424 -0.001382 -0.001341 ! PC_GS_KI - Gain-schedule table: pitch controller ki gains 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 ! PC_GS_KD - Gain-schedule table: pitch controller kd gains 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 ! PC_GS_TF - Gain-schedule table: pitch controller tf gains (derivative filter) 1.570800000000 ! PC_MaxPit - Maximum physical pitch limit, [rad]. @@ -49,18 +49,18 @@ !------- VS TORQUE CONTROL ------------------------------------------------ 100.0000000000 ! VS_GenEff - Generator efficiency mechanical power -> electrical power, [should match the efficiency defined in the generator properties!], [-] 198945.5883800 ! VS_ArSatTq - Above rated generator torque PI control saturation, [Nm] -1500000.000000 ! VS_MaxRat - Maximum torque rate (in absolute value) in torque controller, [Nm/s]. +5000000.000000 ! VS_MaxRat - Maximum torque rate (in absolute value) in torque controller, [Nm/s]. 218840.1472200 ! VS_MaxTq - Maximum generator torque in Region 3 (HSS side), [Nm]. 0.000000000000 ! VS_MinTq - Minimum generator (HSS side), [Nm]. -17.93722000000 ! VS_MinOMSpd - Optimal mode minimum speed, cut-in speed towards optimal mode gain path, [rad/s] -1588146176.42451 ! VS_Rgn2K - Generator torque constant in Region 2 (HSS side), [N-m/(rad/s)^2] +17.96921000000 ! VS_MinOMSpd - Optimal mode minimum speed, cut-in speed towards optimal mode gain path, [rad/s] +79.44175000000 ! VS_Rgn2K - Generator torque constant in Region 2 (HSS side), [N-m/(rad/s)^2] 10000000.00000 ! VS_RtPwr - Wind turbine rated power [W] 198945.5883800 ! VS_RtTq - Rated torque, [Nm]. 50.26500000000 ! VS_RefSpd - Rated generator speed [rad/s] 1 ! VS_n - Number of generator PI torque controller gains --13892.9238300 ! VS_KP - Proportional gain for generator PI torque controller [1/(rad/s) Nm]. (Only used in the transitional 2.5 region if VS_ControlMode =/ 2) +-14012.8888900 ! VS_KP - Proportional gain for generator PI torque controller [1/(rad/s) Nm]. (Only used in the transitional 2.5 region if VS_ControlMode =/ 2) -2561.58852000 ! VS_KI - Integral gain for generator PI torque controller [1/rad Nm]. (Only used in the transitional 2.5 region if VS_ControlMode =/ 2) -8.00 ! VS_TSRopt - Power-maximizing region 2 tip-speed-ratio [rad]. +8.01 ! VS_TSRopt - Power-maximizing region 2 tip-speed-ratio [rad]. !------- SETPOINT SMOOTHER --------------------------------------------- 1.00000 ! SS_VSGain - Variable speed torque controller setpoint smoother gain, [-]. @@ -75,10 +75,10 @@ 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) -52 24 ! PerfTableSize - Size of rotor performance tables, first number refers to number of blade pitch angles, second number referse to number of tip-speed ratios +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] --0.02293007 -0.02579632 -0.02866258 -0.03152884 -0.03439510 -0.03726136 -0.04012762 -0.04299387 -0.04586013 -0.04872639 -0.05159265 -0.05445891 -0.05732516 -0.06019142 -0.06305768 -0.04901017 -0.05542770 -0.06496035 -0.07546055 -0.08733823 -0.09929307 -0.11283690 -0.12552931 -0.13950400 -0.15442968 -0.16800797 -0.18308578 -0.19989384 -0.21399835 -0.22912115 -0.24586329 -0.26446093 -0.27902290 -0.29452584 -0.31147427 -0.33010537 -0.35063676 -0.36543575 -0.38108710 -0.39804716 -0.41650078 -0.43662508 ! WE_FOPoles - First order system poles +-0.02224887 -0.02502998 -0.02781109 -0.03059219 -0.03337330 -0.03615441 -0.03893552 -0.04171663 -0.04449774 -0.04727885 -0.05005995 -0.05284106 -0.05562217 -0.05840328 -0.06118439 -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 !------- YAW CONTROL ------------------------------------------------------ 0.0 ! Y_ErrThresh - Yaw error threshold. Turbine begins to yaw when it passes this. [rad^2 s] @@ -101,4 +101,4 @@ !------- PEAK SHAVING ------------------------------------------- 42 ! PS_BldPitchMin_N - Number of values in minimum blade pitch lookup table (should equal number of values in PS_WindSpeeds and PS_BldPitchMin) 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 ! PS_WindSpeeds - Wind speeds corresponding to minimum blade pitch angles [m/s] --0.01745329 -0.01745329 -0.01745329 -0.01745329 -0.01745329 -0.01745329 -0.01745329 -0.01745329 -0.01745329 -0.01745329 -0.01745329 0.00696288 0.03603072 0.05857700 0.07699535 0.10002877 0.11126720 0.12236529 0.13302423 0.14367124 0.15388164 0.16430528 0.17409623 0.18402586 0.19400992 0.20332701 0.21290166 0.22277453 0.23168366 0.24074071 0.25007169 0.25970878 0.26816511 0.27675587 0.28559147 0.29469732 0.30409488 0.31206209 0.32015215 0.32844712 0.33696577 0.34572354 ! PS_BldPitchMin - Minimum blade pitch angles [rad] \ No newline at end of file +-0.01745329 -0.01745329 -0.01745329 -0.01745329 -0.01745329 -0.01745329 -0.01745329 -0.01745329 -0.01745329 -0.01745329 -0.01745329 0.01139256 0.03954465 0.06151733 0.07951239 0.10218597 0.11346152 0.12442215 0.13515521 0.14568190 0.15604391 0.16623229 0.17621767 0.18609242 0.19591524 0.20553978 0.21504302 0.22459719 0.23380511 0.24321524 0.25220762 0.26147499 0.27028214 0.27930685 0.28810785 0.29682237 0.30579567 0.31417250 0.32274307 0.33155921 0.33969923 0.34802211 ! PS_BldPitchMin - Minimum blade pitch angles [rad] \ No newline at end of file diff --git a/parameter_files/NREL5MW/DISCON.IN b/parameter_files/NREL5MW/DISCON.IN index 60c2cc2b..49ce413b 100644 --- a/parameter_files/NREL5MW/DISCON.IN +++ b/parameter_files/NREL5MW/DISCON.IN @@ -1,5 +1,5 @@ ! Controller parameter input file for the OpenFAST_5MW wind turbine -! - File written using NREL Reference OpenSource Controller tuning logic on 10/30/19 +! - File written using NREL Reference OpenSource Controller tuning logic on 11/07/19 !------- 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} @@ -12,7 +12,7 @@ 1 ! PC_ControlMode - Blade pitch control mode {0: No pitch, fix to fine pitch, 1: active PI blade pitch control} 0 ! Y_ControlMode - Yaw control mode {0: no yaw control, 1: yaw rate control, 2: yaw-by-IPC} 1 ! SS_Mode - Setpoint Smoother mode {0: no setpoint smoothing, 1: introduce setpoint smoothing} -2 ! WE_Mode - Wind speed estimator mode {0: One-second low pass filtered hub height wind speed, 1: Immersion and Invariance Estimator (Ortega et al.)} +2 ! WE_Mode - Wind speed estimator mode {0: One-second low pass filtered hub height wind speed, 1: Immersion and Invariance Estimator, 2: Extended Kalman Filter} 1 ! PS_Mode - Peak shaving mode {0: no peak shaving, 1: implement peak shaving} !------- FILTERS ---------------------------------------------------------- @@ -47,18 +47,18 @@ 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 ------------------------------------------------ -98.00000000000 ! VS_GenEff - Generator efficiency mechanical power -> electrical power, [should match the efficiency defined in the generator properties!], [-] -41613.45266000 ! VS_ArSatTq - Above rated generator torque PI control saturation, [Nm] +94.40000000000 ! VS_GenEff - Generator efficiency mechanical power -> electrical power, [should match the efficiency defined in the generator properties!], [-] +43200.40636000 ! VS_ArSatTq - Above rated generator torque PI control saturation, [Nm] 1500000.000000 ! VS_MaxRat - Maximum torque rate (in absolute value) in torque controller, [Nm/s]. -45774.79792000 ! VS_MaxTq - Maximum generator torque in Region 3 (HSS side), [Nm]. +47520.44700000 ! VS_MaxTq - Maximum generator torque in Region 3 (HSS side), [Nm]. 0.000000000000 ! VS_MinTq - Minimum generator (HSS side), [Nm]. -34.55714000000 ! VS_MinOMSpd - Optimal mode minimum speed, cut-in speed towards optimal mode gain path, [rad/s] -89647321.51191 ! VS_Rgn2K - Generator torque constant in Region 2 (HSS side), [N-m/(rad/s)^2] +34.57519000000 ! VS_MinOMSpd - Optimal mode minimum speed, cut-in speed towards optimal mode gain path, [rad/s] +2.408710000000 ! VS_Rgn2K - Generator torque constant in Region 2 (HSS side), [N-m/(rad/s)^2] 5000000.000000 ! VS_RtPwr - Wind turbine rated power [W] -41613.45266000 ! VS_RtTq - Rated torque, [Nm]. +43200.40636000 ! VS_RtTq - Rated torque, [Nm]. 122.6055600000 ! VS_RefSpd - Rated generator speed [rad/s] 1 ! VS_n - Number of generator PI torque controller gains --1019.53087000 ! VS_KP - Proportional gain for generator PI torque controller [1/(rad/s) Nm]. (Only used in the transitional 2.5 region if VS_ControlMode =/ 2) +-1019.38725000 ! VS_KP - Proportional gain for generator PI torque controller [1/(rad/s) Nm]. (Only used in the transitional 2.5 region if VS_ControlMode =/ 2) -188.881010000 ! VS_KI - Integral gain for generator PI torque controller [1/rad Nm]. (Only used in the transitional 2.5 region if VS_ControlMode =/ 2) 7.50 ! VS_TSRopt - Power-maximizing region 2 tip-speed-ratio [rad]. @@ -78,7 +78,7 @@ 52 24 ! 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] --0.01747918 -0.02039238 -0.02330558 -0.02621877 -0.02913197 -0.03204517 -0.03495837 -0.03787156 -0.04078476 -0.04369796 -0.04661115 -0.04952435 -0.05243755 -0.05535075 -0.05826394 -0.06117714 -0.06409034 -0.05598597 -0.06682738 -0.07866942 -0.09231394 -0.10538023 -0.12078921 -0.13477157 -0.15013009 -0.16776621 -0.18237924 -0.19867240 -0.21736726 -0.23579548 -0.25106514 -0.26879031 -0.28902598 -0.31162550 -0.32699698 -0.34332081 -0.36199787 -0.38318873 -0.40688830 -0.43360214 -0.46421748 -0.49745234 -0.53336317 -0.57196615 ! WE_FOPoles - First order system poles +-0.01748748 -0.02040206 -0.02331664 -0.02623122 -0.02914580 -0.03206038 -0.03497496 -0.03788954 -0.04080412 -0.04371869 -0.04663327 -0.04954785 -0.05246243 -0.05537701 -0.05829159 -0.06120617 -0.06412075 -0.05598597 -0.06682738 -0.07866942 -0.09231394 -0.10538023 -0.12078921 -0.13477157 -0.15013009 -0.16776621 -0.18237924 -0.19867240 -0.21736726 -0.23579548 -0.25106514 -0.26879031 -0.28902598 -0.31162550 -0.32699698 -0.34332081 -0.36199787 -0.38318873 -0.40688830 -0.43360214 -0.46421748 -0.49745234 -0.53336317 -0.57196615 ! WE_FOPoles - First order system poles !------- YAW CONTROL ------------------------------------------------------ 0.0 ! Y_ErrThresh - Yaw error threshold. Turbine begins to yaw when it passes this. [rad^2 s] @@ -101,4 +101,4 @@ !------- PEAK SHAVING ------------------------------------------- 44 ! PS_BldPitchMin_N - Number of values in minimum blade pitch lookup table (should equal number of values in PS_WindSpeeds and PS_BldPitchMin) 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 ! PS_WindSpeeds - Wind speeds corresponding to minimum blade pitch angles [m/s] --0.01745329 -0.01745329 -0.01745329 -0.01745329 -0.01745329 -0.01745329 -0.01745329 -0.01745329 -0.01745329 -0.01745329 -0.01745329 -0.01745329 -0.01745329 -0.01044026 0.01753807 0.03878185 0.05582407 0.07641925 0.08855966 0.10009542 0.11167980 0.12259389 0.13381196 0.14430032 0.15483793 0.16577553 0.17559467 0.18559109 0.19600108 0.20617003 0.21534378 0.22493033 0.23493600 0.24534086 0.25398828 0.26273265 0.27186025 0.28137492 0.29127264 0.30103022 0.30884462 0.31697564 0.32543496 0.33422827 ! PS_BldPitchMin - Minimum \ No newline at end of file +-0.01745329 -0.01745329 -0.01745329 -0.01745329 -0.01745329 -0.01745329 -0.01745329 -0.01745329 -0.01745329 -0.01745329 -0.01745329 -0.01745329 -0.01745329 -0.01043930 0.01752641 0.03876018 0.05579366 0.07636280 0.08850549 0.10004206 0.11162711 0.12254282 0.13376138 0.14425013 0.15478810 0.16572605 0.17554639 0.18554307 0.19595332 0.20612251 0.21529640 0.22488312 0.23488900 0.24529504 0.25394261 0.26268712 0.27181488 0.28132974 0.29122769 0.30098555 0.30880015 0.31693135 0.32539084 0.33418433 ! PS_BldPitchMin - Minimum blade pitch angles [rad] \ No newline at end of file From 112ae0040396c71e78c367642613ff964e747a07 Mon Sep 17 00:00:00 2001 From: Nikhar Abbas Date: Thu, 7 Nov 2019 17:18:32 -0700 Subject: [PATCH 4/7] PitCom for numerical stability, actually... --- src/ReadSetParameters.f90 | 14 +++++++------- 1 file changed, 7 insertions(+), 7 deletions(-) diff --git a/src/ReadSetParameters.f90 b/src/ReadSetParameters.f90 index 579225e1..baf4095c 100644 --- a/src/ReadSetParameters.f90 +++ b/src/ReadSetParameters.f90 @@ -262,13 +262,13 @@ SUBROUTINE ReadAvrSWAP(avrSWAP, LocalVar) LocalVar%FA_Acc = avrSWAP(53) LocalVar%Azimuth = avrSWAP(60) LocalVar%NumBl = NINT(avrSWAP(61)) - LocalVar%BlPitch(1) = avrSWAP(4) - LocalVar%BlPitch(2) = avrSWAP(33) - LocalVar%BlPitch(3) = avrSWAP(34) - ! --- NJA: sometimes feedback bath the previous pitch command helps for numerical stability, sometimes it does not... - ! LocalVar%BlPitch(1) = LocalVar%PitCom(1) - ! LocalVar%BlPitch(2) = LocalVar%PitCom(2) - ! LocalVar%BlPitch(3) = LocalVar%PitCom(3) + ! LocalVar%BlPitch(1) = avrSWAP(4) + ! LocalVar%BlPitch(2) = avrSWAP(33) + ! LocalVar%BlPitch(3) = avrSWAP(34) + ! --- NJA: usually feedback back the previous pitch command helps for numerical stability, sometimes it does not... + LocalVar%BlPitch(1) = LocalVar%PitCom(1) + LocalVar%BlPitch(2) = LocalVar%PitCom(2) + LocalVar%BlPitch(3) = LocalVar%PitCom(3) END SUBROUTINE ReadAvrSWAP ! ----------------------------------------------------------------------------------- From 2d05649d374e22fcd28501c947f1fd34b9f1954b Mon Sep 17 00:00:00 2001 From: Nikhar Abbas Date: Thu, 7 Nov 2019 17:53:09 -0700 Subject: [PATCH 5/7] Sort out actuator ICs --- src/ReadSetParameters.f90 | 24 ++++++++++++++++-------- 1 file changed, 16 insertions(+), 8 deletions(-) diff --git a/src/ReadSetParameters.f90 b/src/ReadSetParameters.f90 index baf4095c..52ce02e3 100644 --- a/src/ReadSetParameters.f90 +++ b/src/ReadSetParameters.f90 @@ -262,13 +262,17 @@ SUBROUTINE ReadAvrSWAP(avrSWAP, LocalVar) LocalVar%FA_Acc = avrSWAP(53) LocalVar%Azimuth = avrSWAP(60) LocalVar%NumBl = NINT(avrSWAP(61)) - ! LocalVar%BlPitch(1) = avrSWAP(4) - ! LocalVar%BlPitch(2) = avrSWAP(33) - ! LocalVar%BlPitch(3) = avrSWAP(34) + ! --- NJA: usually feedback back the previous pitch command helps for numerical stability, sometimes it does not... - LocalVar%BlPitch(1) = LocalVar%PitCom(1) - LocalVar%BlPitch(2) = LocalVar%PitCom(2) - LocalVar%BlPitch(3) = LocalVar%PitCom(3) + IF (LocalVar%iStatus == 0) THEN + LocalVar%BlPitch(1) = avrSWAP(4) + LocalVar%BlPitch(2) = avrSWAP(33) + LocalVar%BlPitch(3) = avrSWAP(34) + ELSE + LocalVar%BlPitch(1) = LocalVar%PitCom(1) + LocalVar%BlPitch(2) = LocalVar%PitCom(2) + LocalVar%BlPitch(3) = LocalVar%PitCom(3) + ENDIF END SUBROUTINE ReadAvrSWAP ! ----------------------------------------------------------------------------------- @@ -508,8 +512,12 @@ SUBROUTINE SetParameters(avrSWAP, aviFAIL, ErrMsg, size_avcMSG, CntrPar, LocalVa ! Setpoint Smoother initialization to zero LocalVar%SS_DelOmegaF = 0 - ! Generator Torque at K omega^2 - LocalVar%GenTq = min(CntrPar%VS_RtTq, CntrPar%VS_Rgn2K*LocalVar%GenSpeed*LocalVar%GenSpeed) + ! Generator Torque at K omega^2 or rated + IF (LocalVar%GenSpeed > 0.98 * CntrPar%PC_RefSpd) THEN + LocalVar%GenTq = CntrPar%VS_RtTq + ELSE + LocalVar%GenTq = min(CntrPar%VS_RtTq, CntrPar%VS_Rgn2K*LocalVar%GenSpeed*LocalVar%GenSpeed) + ENDIF LocalVar%VS_LastGenTrq = LocalVar%GenTq ! Check validity of input parameters: From c7bbbda2b7c39254ec139460835979f877ed28f6 Mon Sep 17 00:00:00 2001 From: Nikhar Abbas Date: Thu, 7 Nov 2019 18:14:54 -0700 Subject: [PATCH 6/7] Update acknowledgments --- src/ReadSetParameters.f90 | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/src/ReadSetParameters.f90 b/src/ReadSetParameters.f90 index 52ce02e3..bd776692 100644 --- a/src/ReadSetParameters.f90 +++ b/src/ReadSetParameters.f90 @@ -479,7 +479,7 @@ SUBROUTINE SetParameters(avrSWAP, aviFAIL, ErrMsg, size_avcMSG, CntrPar, LocalVa '------------------------------------------------------------------------------'//NEW_LINE('A')// & 'Running a controller implemented through NREL''s ROSCO Toolbox '//NEW_LINE('A')// & 'A wind turbine controller framework for public use in the scientific field '//NEW_LINE('A')// & - 'Developed in collaboration: National Renewable Energy Lab '//NEW_LINE('A')// & + 'Developed in collaboration: National Renewable Energy Laboratory '//NEW_LINE('A')// & ' Delft University of Technology, The Netherlands '//NEW_LINE('A')// & 'Primary development by (listed alphabetically): Nikhar J. Abbas '//NEW_LINE('A')// & ' Sebastiaan P. Mulders '//NEW_LINE('A')// & From bc7848a8ab80c13be5c62a80be93532c38ab65b5 Mon Sep 17 00:00:00 2001 From: Nikhar Abbas Date: Fri, 8 Nov 2019 10:07:00 -0700 Subject: [PATCH 7/7] Update parameter file --- parameter_files/DTU10MW/Cp_Ct_Cq.DTU10MW.txt | 222 ++++++++++++------- 1 file changed, 147 insertions(+), 75 deletions(-) diff --git a/parameter_files/DTU10MW/Cp_Ct_Cq.DTU10MW.txt b/parameter_files/DTU10MW/Cp_Ct_Cq.DTU10MW.txt index bd4d3a73..8389e32d 100644 --- a/parameter_files/DTU10MW/Cp_Ct_Cq.DTU10MW.txt +++ b/parameter_files/DTU10MW/Cp_Ct_Cq.DTU10MW.txt @@ -1,93 +1,165 @@ # ----- Rotor performance tables for the DTU_10MW_RWT wind turbine ----- -# ------------ Written on Oct-30-19 using the ROSCO toolbox ------------ +# ------------ Written on Oct-31-19 using the ROSCO toolbox ------------ # Pitch angle vector - x axis (matrix columns) (deg) --1.0 -0.5 0.0 0.5 1.0 1.5 2.0 2.5 3.0 3.5 4.0 4.5 5.0 5.5 6.0 6.5 7.0 7.5 8.0 8.5 9.0 9.5 10.0 10.5 11.0 11.5 12.0 12.5 13.0 13.5 14.0 14.5 15.0 15.5 16.0 16.5 17.0 17.5 18.0 18.5 19.0 19.5 20.0 20.5 21.0 21.5 22.0 22.5 23.0 23.5 24.0 24.5 +-1.0 -0.75 -0.5 -0.25 0.0 0.25 0.5 0.75 1.0 1.25 1.5 1.75 2.0 2.25 2.5 2.75 3.0 3.25 3.5 3.75 4.0 4.25 4.5 4.75 5.0 5.25 5.5 5.75 6.0 6.25 6.5 6.75 7.0 7.25 7.5 7.75 8.0 8.25 8.5 8.75 9.0 9.25 9.5 9.75 10.0 10.25 10.5 10.75 11.0 11.25 11.5 11.75 12.0 12.25 12.5 12.75 13.0 13.25 13.5 13.75 14.0 14.25 14.5 14.75 15.0 15.25 15.5 15.75 16.0 16.25 16.5 16.75 17.0 17.25 17.5 17.75 18.0 18.25 18.5 18.75 19.0 19.25 19.5 19.75 20.0 20.25 20.5 20.75 21.0 21.25 21.5 21.75 22.0 22.25 22.5 22.75 23.0 23.25 23.5 23.75 24.0 24.25 24.5 24.75 # TSR vector - y axis (matrix rows) (-) -3.0 3.5 4.0 4.5 5.0 5.5 6.0 6.5 7.0 7.5 8.0 8.5 9.0 9.5 10.0 10.5 11.0 11.5 12.0 12.5 13.0 13.5 14.0 14.5 +3.0 3.25 3.5 3.75 4.0 4.25 4.5 4.75 5.0 5.25 5.5 5.75 6.0 6.25 6.5 6.75 7.0 7.25 7.5 7.75 8.0 8.25 8.5 8.75 9.0 9.25 9.5 9.75 10.0 10.25 10.5 10.75 11.0 11.25 11.5 11.75 12.0 12.25 12.5 12.75 13.0 13.25 13.5 13.75 14.0 14.25 14.5 14.75 # Wind speed vector - z axis (m/s) 11.4 # Power coefficient -0.090725 0.095153 0.099567 0.103957 0.108311 0.112613 0.116846 0.120993 0.125035 0.128949 0.132714 0.136303 0.139691 0.142850 0.145752 0.148372 0.150688 0.152680 0.154335 0.155643 0.156600 0.157203 0.157454 0.157359 0.156927 0.156169 0.155099 0.153732 0.152085 0.150175 0.148021 0.145638 0.143044 0.140254 0.137281 0.134139 0.130839 0.127389 0.123799 0.120073 0.116217 0.112235 0.108129 0.103902 0.099557 0.095096 0.090522 0.085836 0.081042 0.076143 0.071142 0.066044 -0.147699 0.153602 0.159340 0.164882 0.170191 0.175229 0.179953 0.184318 0.188279 0.191798 0.194845 0.197403 0.199460 0.201013 0.202063 0.202616 0.202682 0.202278 0.201421 0.200136 0.198447 0.196382 0.193966 0.191226 0.188185 0.184866 0.181289 0.177476 0.173442 0.169203 0.164771 0.160156 0.155365 0.150403 0.145276 0.139986 0.134535 0.128925 0.123159 0.117238 0.111163 0.104938 0.098564 0.092047 0.085389 0.078597 0.071677 0.064638 0.057488 0.050241 0.042909 0.035507 -0.215776 0.222158 0.228014 0.233276 0.237895 0.241839 0.245096 0.247666 0.249557 0.250781 0.251356 0.251305 0.250655 0.249439 0.247693 0.245452 0.242753 0.239628 0.236110 0.232227 0.228007 0.223474 0.218651 0.213558 0.208212 0.202627 0.196814 0.190780 0.184529 0.178065 0.171389 0.164505 0.157413 0.150115 0.142613 0.134907 0.127001 0.118896 0.110599 0.102112 0.093443 0.084602 0.075599 0.066446 0.057160 0.047759 0.038262 0.028690 0.019064 0.009408 -0.000256 -0.009906 -0.285729 0.290500 0.294376 0.297377 0.299531 0.300868 0.301422 0.301231 0.300334 0.298773 0.296593 0.293837 0.290543 0.286750 0.282492 0.277802 0.272707 0.267236 0.261414 0.255263 0.248802 0.242047 0.235005 0.227684 0.220085 0.212213 0.204069 0.195656 0.186974 0.178026 0.168813 0.159337 0.149600 0.139607 0.129363 0.118876 0.108155 0.097211 0.086057 0.074709 0.063186 0.051509 0.039703 0.027793 0.015807 0.003772 -0.008282 -0.020327 -0.032335 -0.044277 -0.056127 -0.067859 -0.346312 0.348468 0.349711 0.350087 0.349643 0.348425 0.346478 0.343847 0.340571 0.336688 0.332236 0.327249 0.321760 0.315798 0.309393 0.302567 0.295344 0.287742 0.279774 0.271447 0.262764 0.253730 0.244348 0.234618 0.224545 0.214129 0.203375 0.192287 0.180868 0.169124 0.157061 0.144687 0.132010 0.119041 0.105793 0.092281 0.078525 0.064547 0.050375 0.036037 0.021564 0.006988 -0.007658 -0.022338 -0.037018 -0.051665 -0.066246 -0.080728 -0.095083 -0.109281 -0.123297 -0.137107 -0.393700 0.393787 0.393019 0.391438 0.389079 0.385978 0.382173 0.377698 0.372583 0.366860 0.360556 0.353701 0.346322 0.338442 0.330082 0.321257 0.311974 0.302238 0.292052 0.281422 0.270353 0.258850 0.246919 0.234565 0.221795 0.208615 0.195030 0.181046 0.166670 0.151913 0.136786 0.121300 0.105474 0.089326 0.072880 0.056167 0.039218 0.022067 0.004751 -0.012693 -0.030227 -0.047809 -0.065399 -0.082957 -0.100444 -0.117819 -0.135046 -0.152090 -0.168921 -0.185511 -0.201833 -0.217862 -0.428567 0.427626 0.425794 0.423102 0.419581 0.415264 0.410179 0.404358 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-3.428617 -3.497966 -3.566711 -3.634838 -3.702335 -3.769196 -3.835422 -3.901014 -3.965979 -4.030328 -4.094071 -4.157222 -4.219797 -4.281813 -4.343291 -4.404251 -4.464718 -4.524716 -4.584272 -4.643416 -4.702178 # Thrust coefficient -0.193667 0.195388 0.197147 0.198930 0.200723 0.202508 0.204268 0.205981 0.207627 0.209181 0.210620 0.211918 0.213051 0.213992 0.214716 0.215200 0.215423 0.215365 0.215010 0.214345 0.213360 0.212051 0.210415 0.208456 0.206182 0.203605 0.200739 0.197602 0.194214 0.190594 0.186761 0.182735 0.178534 0.174176 0.169677 0.165051 0.160312 0.155469 0.150533 0.145511 0.140409 0.135231 0.129979 0.124658 0.119270 0.113816 0.108299 0.102721 0.097083 0.091389 0.085642 0.079846 -0.262147 0.264612 0.266969 0.269186 0.271225 0.273049 0.274619 0.275897 0.276846 0.277432 0.277628 0.277407 0.276750 0.275643 0.274077 0.272052 0.269570 0.266645 0.263295 0.259546 0.255427 0.250970 0.246204 0.241162 0.235871 0.230358 0.224650 0.218769 0.212734 0.206564 0.200273 0.193872 0.187367 0.180764 0.174067 0.167278 0.160398 0.153427 0.146366 0.139217 0.131979 0.124656 0.117248 0.109760 0.102197 0.094564 0.086869 0.079121 0.071332 0.063514 0.055682 0.047851 -0.343165 0.345246 0.346915 0.348121 0.348818 0.348968 0.348541 0.347516 0.345879 0.343625 0.340759 0.337292 0.333250 0.328666 0.323583 0.318048 0.312106 0.305802 0.299176 0.292268 0.285111 0.277736 0.270170 0.262436 0.254554 0.246537 0.238396 0.230135 0.221757 0.213264 0.204655 0.195932 0.187093 0.178137 0.169065 0.159876 0.150572 0.141156 0.131632 0.122007 0.112288 0.102486 0.092613 0.082682 0.072712 0.062722 0.052731 0.042764 0.032842 0.022988 0.013226 0.003577 -0.429132 0.429004 0.428115 0.426447 0.423993 0.420757 0.416754 0.412010 0.406569 0.400483 0.393817 0.386632 0.378988 0.370939 0.362535 0.353820 0.344833 0.335606 0.326169 0.316546 0.306756 0.296814 0.286725 0.276495 0.266122 0.255607 0.244949 0.234147 0.223199 0.212105 0.200865 0.189478 0.177948 0.166278 0.154474 0.142543 0.130497 0.118346 0.106107 0.093797 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-1.664077 -1.681248 -1.697640 -1.713259 -1.728113 -1.742210 -1.755559 -1.768168 -1.780046 -1.791204 -1.801652 -1.811400 -1.820460 +1.284600 1.256826 1.229100 1.201486 1.173991 1.146612 1.119370 1.092339 1.065564 1.039007 1.012618 0.986350 0.960108 0.933816 0.907426 0.880860 0.854054 0.826891 0.799276 0.771007 0.741877 0.711826 0.680749 0.648626 0.615394 0.581093 0.545826 0.509709 0.472823 0.435237 0.397007 0.358192 0.318849 0.279027 0.238776 0.198142 0.157179 0.115981 0.076113 0.035140 -0.006783 -0.048049 -0.088452 -0.130647 -0.171175 -0.212366 -0.254498 -0.296718 -0.338505 -0.379924 -0.421398 -0.462853 -0.503731 -0.544698 -0.585776 -0.626635 -0.667212 -0.707217 -0.746794 -0.785817 -0.824830 -0.862968 -0.901068 -0.938309 -0.975455 -1.012109 -1.048241 -1.083826 -1.118502 -1.152902 -1.186723 -1.219933 -1.252213 -1.284125 -1.315402 -1.346019 -1.375958 -1.405204 -1.433742 -1.461558 -1.488640 -1.514974 -1.540547 -1.565346 -1.589360 -1.612577 -1.634987 -1.656583 -1.677359 -1.697314 -1.716449 -1.734767 -1.752273 -1.768974 -1.784877 -1.799991 -1.814323 -1.827883 -1.840680 -1.852723 -1.864023 -1.874591 -1.884437 -1.893574 +1.304002 1.275610 1.247170 1.218805 1.190520 1.162265 1.134078 1.106075 1.078324 1.050796 1.023443 0.996221 0.969023 0.941779 0.914445 0.886945 0.859217 0.831151 0.802644 0.773567 0.743658 0.712821 0.680928 0.647942 0.613806 0.578533 0.542219 0.504996 0.466957 0.428176 0.388717 0.348645 0.308021 0.266902 0.225344 0.183412 0.141996 0.101079 0.058202 0.015967 -0.025968 -0.068787 -0.111023 -0.153910 -0.196323 -0.239974 -0.283211 -0.326124 -0.369169 -0.412238 -0.454764 -0.497470 -0.540356 -0.583069 -0.625547 -0.667472 -0.709018 -0.750039 -0.791117 -0.831299 -0.871521 -0.910874 -0.950180 -0.989006 -1.027322 -1.064947 -1.101942 -1.138552 -1.174587 -1.209879 -1.244481 -1.278622 -1.312125 -1.344967 -1.377131 -1.408600 -1.439359 -1.469393 -1.498689 -1.527232 -1.555010 -1.582008 -1.608215 -1.633617 -1.658202 -1.681958 -1.704877 -1.726950 -1.748175 -1.768549 -1.788076 -1.806758 -1.824603 -1.841616 -1.857807 -1.873182 -1.887752 -1.901524 -1.914510 -1.926719 -1.938162 -1.948849 -1.958794 -1.968008 +1.323031 1.294165 1.265093 1.236006 1.206957 1.177887 1.148795 1.119830 1.091101 1.062591 1.034261 1.006068 0.977897 0.949685 0.921387 0.892937 0.864264 0.835270 0.805842 0.775891 0.745187 0.713542 0.680829 0.646971 0.611928 0.575678 0.538313 0.499976 0.460773 0.420787 0.380088 0.338747 0.296835 0.254418 0.211590 0.170088 0.127265 0.083308 0.039973 -0.003080 -0.047079 -0.090461 -0.133324 -0.178315 -0.222910 -0.267628 -0.311772 -0.356384 -0.400488 -0.444870 -0.489504 -0.534017 -0.578348 -0.622153 -0.665634 -0.708628 -0.751542 -0.793975 -0.836321 -0.877797 -0.919282 -0.960308 -1.000841 -1.040849 -1.079905 -1.118772 -1.157070 -1.194468 -1.231479 -1.267904 -1.303693 -1.338823 -1.373277 -1.407035 -1.440084 -1.472407 -1.503990 -1.534817 -1.564876 -1.594152 -1.622631 -1.650301 -1.677147 -1.703156 -1.728317 -1.752617 -1.776049 -1.798604 -1.820281 -1.841080 -1.861002 -1.880053 -1.898239 -1.915568 -1.932048 -1.947688 -1.962497 -1.976484 -1.989660 -2.002036 -2.013622 -2.024430 -2.034472 -2.043762 +1.341588 1.312381 1.282810 1.253070 1.223281 1.193430 1.163491 1.133593 1.103889 1.074394 1.045075 1.015894 0.986732 0.957537 0.928261 0.898837 0.869203 0.839255 0.808885 0.778010 0.746468 0.714001 0.680459 0.645725 0.609765 0.572535 0.534116 0.494658 0.454282 0.413082 0.371134 0.328520 0.285325 0.242516 0.200101 0.155451 0.111367 0.066856 0.022553 -0.021806 -0.067053 -0.111850 -0.157694 -0.203744 -0.249259 -0.295324 -0.340924 -0.386903 -0.433212 -0.479457 -0.525577 -0.571204 -0.616568 -0.661490 -0.706384 -0.750862 -0.795315 -0.838906 -0.882572 -0.925810 -0.968581 -1.010850 -1.052155 -1.093317 -1.133921 -1.173593 -1.212942 -1.251703 -1.289832 -1.327309 -1.364111 -1.400223 -1.435626 -1.470306 -1.504245 -1.537428 -1.569841 -1.601470 -1.632298 -1.662314 -1.691501 -1.719847 -1.747339 -1.773961 -1.799703 -1.824552 -1.848501 -1.871544 -1.893678 -1.914905 -1.935227 -1.954650 -1.973182 -1.990830 -2.007603 -2.023510 -2.038560 -2.052764 -2.066131 -2.078674 -2.090404 -2.101333 -2.111473 -2.120839 +1.359670 1.330162 1.300229 1.269955 1.239481 1.208867 1.178123 1.147344 1.116684 1.086201 1.055887 1.025703 0.995534 0.965339 0.935069 0.904654 0.874038 0.843115 0.811781 0.779952 0.747512 0.714211 0.679824 0.644210 0.607325 0.569113 0.529636 0.489052 0.447496 0.405076 0.361876 0.318007 0.274450 0.231195 0.185622 0.140573 0.095022 0.049655 0.004200 -0.040751 -0.088271 -0.135381 -0.181726 -0.229588 -0.276127 -0.323608 -0.371504 -0.419398 -0.467229 -0.514605 -0.561783 -0.608573 -0.655397 -0.701870 -0.748389 -0.794068 -0.839897 -0.885338 -0.930349 -0.974892 -1.018468 -1.061955 -1.104900 -1.146893 -1.188618 -1.229759 -1.270279 -1.310153 -1.349360 -1.387882 -1.425701 -1.462799 -1.499160 -1.534767 -1.569604 -1.603656 -1.636908 -1.669345 -1.700951 -1.731713 -1.761616 -1.790646 -1.818789 -1.846030 -1.872358 -1.897763 -1.922234 -1.945769 -1.968365 -1.990025 -2.010751 -2.030551 -2.049432 -2.067403 -2.084472 -2.100648 -2.115942 -2.130363 -2.143924 -2.156635 -2.168509 -2.179559 -2.189797 -2.199238 +1.377322 1.347492 1.317253 1.286583 1.255524 1.224189 1.192660 1.161047 1.129471 1.098010 1.066696 1.035497 1.004306 0.973094 0.941815 0.910391 0.878772 0.846857 0.814539 0.781729 0.748340 0.714180 0.678930 0.642432 0.604614 0.565418 0.524884 0.483169 0.440431 0.396792 0.353305 0.309125 0.264159 0.217748 0.172648 0.125261 0.079786 0.033155 -0.013756 -0.061902 -0.110417 -0.158441 -0.206737 -0.255072 -0.304450 -0.353892 -0.403339 -0.452374 -0.501282 -0.549860 -0.598543 -0.646944 -0.695227 -0.743191 -0.791143 -0.838758 -0.885991 -0.932799 -0.978649 -1.024472 -1.069782 -1.114129 -1.158263 -1.201826 -1.244778 -1.287096 -1.328757 -1.369741 -1.410030 -1.449605 -1.488448 -1.526541 -1.563868 -1.600412 -1.636157 -1.671087 -1.705187 -1.738440 -1.770832 -1.802349 -1.832975 -1.862695 -1.891496 -1.919363 -1.946284 -1.972248 -1.997248 -2.021280 -2.044343 -2.066441 -2.087576 -2.107757 -2.126991 -2.145288 -2.162655 -2.179103 -2.194643 -2.209284 -2.223039 -2.235920 -2.247939 -2.259109 -2.269445 -2.278960 # Torque coefficient -0.030271 0.031748 0.033221 0.034685 0.036138 0.037573 0.038986 0.040369 0.041718 0.043024 0.044280 0.045478 0.046608 0.047662 0.048630 0.049505 0.050277 0.050942 0.051494 0.051930 0.052250 0.052451 0.052535 0.052503 0.052359 0.052106 0.051749 0.051293 0.050743 0.050106 0.049387 0.048592 0.047727 0.046796 0.045804 0.044756 0.043654 0.042504 0.041306 0.040063 0.038776 0.037447 0.036077 0.034667 0.033217 0.031729 0.030203 0.028639 0.027040 0.025405 0.023737 0.022036 -0.042240 0.043928 0.045569 0.047154 0.048672 0.050113 0.051464 0.052712 0.053845 0.054851 0.055723 0.056455 0.057043 0.057487 0.057787 0.057945 0.057964 0.057849 0.057604 0.057236 0.056753 0.056163 0.055472 0.054688 0.053818 0.052869 0.051846 0.050756 0.049602 0.048390 0.047122 0.045802 0.044432 0.043013 0.041547 0.040034 0.038475 0.036871 0.035222 0.033528 0.031791 0.030011 0.028188 0.026324 0.024420 0.022478 0.020499 0.018485 0.016441 0.014368 0.012271 0.010154 -0.053995 0.055592 0.057058 0.058375 0.059530 0.060517 0.061332 0.061975 0.062449 0.062755 0.062899 0.062886 0.062723 0.062419 0.061982 0.061422 0.060746 0.059964 0.059084 0.058112 0.057056 0.055922 0.054715 0.053440 0.052103 0.050705 0.049250 0.047740 0.046176 0.044559 0.042888 0.041165 0.039391 0.037565 0.035687 0.033759 0.031780 0.029752 0.027676 0.025552 0.023383 0.021171 0.018918 0.016627 0.014304 0.011951 0.009575 0.007179 0.004771 0.002354 -0.000064 -0.002479 -0.063556 0.064617 0.065479 0.066147 0.066626 0.066923 0.067047 0.067004 0.066804 0.066457 0.065972 0.065359 0.064627 0.063783 0.062836 0.061793 0.060659 0.059442 0.058147 0.056779 0.055342 0.053839 0.052273 0.050645 0.048954 0.047203 0.045392 0.043521 0.041589 0.039599 0.037550 0.035442 0.033276 0.031053 0.028775 0.026442 0.024057 0.021623 0.019142 0.016618 0.014055 0.011457 0.008831 0.006182 0.003516 0.000839 -0.001842 -0.004522 -0.007192 -0.009849 -0.012485 -0.015094 -0.069328 0.069760 0.070009 0.070084 0.069995 0.069751 0.069362 0.068835 0.068179 0.067402 0.066511 0.065512 0.064413 0.063220 0.061937 0.060571 0.059125 0.057603 0.056008 0.054341 0.052603 0.050794 0.048916 0.046968 0.044952 0.042867 0.040714 0.038494 0.036208 0.033857 0.031442 0.028965 0.026427 0.023831 0.021179 0.018474 0.015720 0.012922 0.010085 0.007214 0.004317 0.001399 -0.001533 -0.004472 -0.007411 -0.010343 -0.013262 -0.016161 -0.019035 -0.021877 -0.024683 -0.027447 -0.071650 0.071666 0.071526 0.071238 0.070809 0.070245 0.069552 0.068738 0.067807 0.066765 0.065618 0.064371 0.063028 0.061593 0.060072 0.058466 0.056777 0.055005 0.053151 0.051216 0.049202 0.047108 0.044937 0.042689 0.040365 0.037966 0.035494 0.032949 0.030333 0.027647 0.024894 0.022076 0.019195 0.016257 0.013264 0.010222 0.007137 0.004016 0.000865 -0.002310 -0.005501 -0.008701 -0.011902 -0.015098 -0.018280 -0.021442 -0.024577 -0.027679 -0.030742 -0.033761 -0.036732 -0.039649 -0.071496 0.071339 0.071033 0.070584 0.069997 0.069277 0.068428 0.067457 0.066369 0.065168 0.063858 0.062445 0.060930 0.059316 0.057606 0.055800 0.053899 0.051907 0.049822 0.047648 0.045385 0.043035 0.040598 0.038077 0.035472 0.032784 0.030015 0.027167 0.024242 0.021241 0.018169 0.015028 0.011825 0.008564 0.005251 0.001892 -0.001505 -0.004934 -0.008386 -0.011854 -0.015330 -0.018804 -0.022270 -0.025717 -0.029140 -0.032529 -0.035879 -0.039183 -0.042436 -0.045633 -0.048767 -0.051833 -0.069568 0.069444 0.069149 0.068694 0.068085 0.067329 0.066433 0.065402 0.064241 0.062956 0.061551 0.060028 0.058391 0.056641 0.054780 0.052810 0.050734 0.048553 0.046268 0.043882 0.041396 0.038812 0.036130 0.033353 0.030481 0.027517 0.024461 0.021318 0.018089 0.014779 0.011391 0.007933 0.004409 0.000825 -0.002809 -0.006488 -0.010203 -0.013944 -0.017703 -0.021469 -0.025232 -0.028983 -0.032712 -0.036411 -0.040071 -0.043686 -0.047248 -0.050752 -0.054191 -0.057557 -0.060846 -0.064051 -0.066285 0.066356 0.066235 0.065917 0.065409 0.064724 0.063873 0.062864 0.061703 0.060397 0.058949 0.057364 0.055645 0.053795 0.051816 0.049712 0.047485 0.045137 0.042670 0.040087 0.037390 0.034579 0.031658 0.028627 0.025488 0.022244 0.018898 0.015452 0.011911 0.008281 0.004569 0.000780 -0.003078 -0.006996 -0.010966 -0.014976 -0.019017 -0.023077 -0.027145 -0.031209 -0.035258 -0.039281 -0.043269 -0.047214 -0.051108 -0.054944 -0.058714 -0.062411 -0.066027 -0.069555 -0.072982 -0.076296 -0.062135 0.062467 0.062612 0.062541 0.062249 0.061735 0.061010 0.060089 0.058983 0.057701 0.056249 0.054634 0.052861 0.050933 0.048855 0.046630 0.044263 0.041756 0.039113 0.036334 0.033424 0.030383 0.027214 0.023919 0.020501 0.016962 0.013307 0.009541 0.005672 0.001706 -0.002349 -0.006484 -0.010689 -0.014952 -0.019264 -0.023610 -0.027978 -0.032355 -0.036728 -0.041085 -0.045413 -0.049704 -0.053948 -0.058137 -0.062262 -0.066314 -0.070282 -0.074146 -0.077917 -0.081581 -0.085138 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