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Added constant power contol mode, updated compiled binary, updated pa…
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…rameter files, made IPC more modular
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Sebastiaan Mulders committed Sep 29, 2017
1 parent c2711ac commit 23c7033
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Showing 9 changed files with 73 additions and 41 deletions.
Binary file modified DISCON/DISCON_gwin32.dll
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4 changes: 2 additions & 2 deletions Parameter_files/DTU10MW/DISCON.IN
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Expand Up @@ -3,8 +3,8 @@
26.179938 = User Variable 3: VS_CtInSp, cut-in speed, [rad/s]
150000.0 = User Variable 4: VS_MaxRat, maximum torque change rate, [Nm/s]
50.26548 = User Variable 5: PC_RefSpd, generator speed setpoint for the pitch controller, [rad/s]
0.0 = User Variable 6:
0.0 = User Variable 7:
0 = User Variable 6: IPC mode for load reductions (0 = off, 1 = on)
0 = User Variable 7: Above rated control (0 = constant torque control, 1 = constant power control)
0.0 = User Variable 8:
0.0 = User Variable 9:
0.0 = User Variable 10:
8 changes: 4 additions & 4 deletions Parameter_files/DTU10MW/PitchGains.IN
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@@ -1,9 +1,9 @@
12
0.0719 0.1255 0.1638 0.1958 0.2752 0.2985 0.3206 0.3417 0.3622 0.3819 0.4011 0.4196
-0.0669 -0.0393 -0.03 -0.0253 -0.0171 -0.0155 -0.0146 -0.0139 -0.0098 -0.0091 -0.008 -0.0074
-0.004 -0.0047 -0.0035 -0.003 -0.0032 -0.0029 -0.0028 -0.0028 -0.0062 -0.0061 -0.0063 -0.0062
0.0076 0.0115 0.0064 0.0082 0.0078 0.0085 0.0094 0.0105 0.0029 0.0032 0.0023 0.0025
0.9251 0.2918 0.2918 0.4364 0.5881 0.5881 0.7497 0.9251 0.4364 0.5881 0.4364 0.5881
-0.0338 -0.0172 -0.0141 -0.0118 -0.0079 -0.0066 -0.0055 -0.005 -0.0035 -0.0031 -0.0026 -0.0017
-0.0044 -0.0039 -0.0018 -0.0016 -0.0016 -0.0017 -0.0018 -0.0019 -0.003 -0.003 -0.003 -0.0032
0 0 0 0 0 0 0 0 0 0 0 0
0 0 0 0 0 0 0 0 0 0 0 0
1
-3.48e+04
-2.26e+04
4 changes: 2 additions & 2 deletions Parameter_files/DTU10MW/ServoDynBladedInterface.dat
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@@ -1,5 +1,5 @@
---------------------- BLADED INTERFACE ---------------------------------------- [used only with Bladed Interface]
"ServoData/DISCON_gwin32.dll" DLL_FileName - Name/location of the dynamic library {.dll [Windows] or .so [Linux]} in the Bladed-DLL format (-) [used only with Bladed Interface]
"../Controller/DISCON_gwin32.dll" DLL_FileName - Name/location of the dynamic library {.dll [Windows] or .so [Linux]} in the Bladed-DLL format (-) [used only with Bladed Interface]
"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]
Expand All @@ -16,5 +16,5 @@ false DLL_Ramp - Whether a linear ramp should be used between DLL_DT
300.0 GenSpd_MinOM - Record 17: Minimum generator speed (rpm) [used only with Bladed Interface]
405.0 GenSpd_MaxOM - Record 18: Optimal mode maximum speed (rpm) [used only with Bladed Interface]
405.0 GenSpd_Dem - Record 19: Demanded generator speed above rated (rpm) [used only with Bladed Interface]
235785.1 GenTrq_Dem - Record 22: Demanded generator torque above rated (Nm) [used only with Bladed Interface]
198943.6 GenTrq_Dem - Record 22: Demanded generator torque above rated (Nm) [used only with Bladed Interface]
1.0E+07 GenPwr_Dem - Record 13: Demanded power (W) [used only with Bladed Interface]
4 changes: 2 additions & 2 deletions Parameter_files/NREL5MW/DISCON.IN
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Expand Up @@ -3,8 +3,8 @@
70.16224 = User Variable 3: VS_CtInSp, cut-in speed, [rad/s]
15000.0 = User Variable 4: VS_MaxRat, maximum torque change rate, [Nm/s]
122.909576 = User Variable 5: PC_RefSpd, generator speed setpoint for the pitch controller, [rad/s]
0.0 = User Variable 6:
0.0 = User Variable 7:
0 = User Variable 6: IPC mode for load reductions (0 = off, 1 = on)
0 = User Variable 7: Above rated control (0 = constant torque control, 1 = constant power control)
0.0 = User Variable 8:
0.0 = User Variable 9:
0.0 = User Variable 10:
2 changes: 1 addition & 1 deletion Parameter_files/NREL5MW/ServoDynBladedInterface.dat
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Expand Up @@ -17,4 +17,4 @@ false DLL_Ramp - Whether a linear ramp should be used between DLL_DT
1173.70 GenSpd_MaxOM - Record 18: Optimal mode maximum speed (rpm) [used only with Bladed Interface]
1173.70 GenSpd_Dem - Record 19: Demanded generator speed above rated (rpm) [used only with Bladed Interface]
43093.55 GenTrq_Dem - Record 22: Demanded generator torque above rated (Nm) [used only with Bladed Interface]
0 GenPwr_Dem - Record 13: Demanded power (W) [used only with Bladed Interface]
5.0E+06 GenPwr_Dem - Record 13: Demanded power (W) [used only with Bladed Interface]
62 changes: 44 additions & 18 deletions Source/DISCON.f90
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Expand Up @@ -40,14 +40,15 @@ SUBROUTINE DISCON (avrSWAP, aviFAIL, accINFILE, avcOUTNAME, avcMSG) BIND (C, NAM

REAL(4) :: Azimuth ! Rotor azimuth angle [rad].
REAL(4) :: BlPitch(3) ! Current values of the blade pitch angles [rad].
REAL(4), PARAMETER :: CornerFreq = 3.1415926 ! Corner frequency (-3dB point) in the first-order low-pass filter, [rad/s]
REAL(4), PARAMETER :: CornerFreq = 1.570796 ! Corner frequency (-3dB point) in the first-order low-pass filter, [rad/s]
REAL(4) :: DT ! Time step [s].
REAL(4) :: ElapTime ! Elapsed time since the last call to the controller [s].
REAL(4) :: GenSpeed ! Current HSS (generator) speed [rad/s].
REAL(4) :: GenSpeedF ! Filtered HSS (generator) speed [rad/s].
REAL(4) :: GenTrq ! Electrical generator torque, [Nm].
REAL(4) :: HorWindV ! Horizontal wind speed at hub-height, [m/s].
REAL(4), PARAMETER :: IPC_KI = 8E-10 ! Integral gain for the individual pitch controller, [-].
INTEGER(4), SAVE :: IPC_ControlMode ! Turn Individual Pitch Control (IPC) for fatigue load reductions (pitch contribution) on = 1/off = 1
REAL(4), PARAMETER :: IPC_omegaHP = 0.3141592 ! High-pass filter cut-in frequency used to separate yaw-by-IPC contribution from blade load reduction contribution, [rad/s].
REAL(4), PARAMETER :: IPC_omegaLP = 0.6283185 ! Low-pass filter corner frequency for the individual pitch controller, [rad/s].
REAL(4), PARAMETER :: IPC_omegaNotch = 1.269330365 ! Notch filter corner frequency for the individual pitch controller, [rad/s].
Expand Down Expand Up @@ -87,6 +88,7 @@ SUBROUTINE DISCON (avrSWAP, aviFAIL, accINFILE, avcOUTNAME, avcMSG) BIND (C, NAM
REAL(4) :: rootMOOP(3) ! Blade root out of plane bending moments, [Nm].
REAL(4), PARAMETER :: RPS2RPM = 9.5492966 ! Factor to convert radians per second to revolutions per minute.
REAL(4) :: Time ! Current simulation time, [s].
INTEGER(4), SAVE :: VS_ControlMode ! Generator torque control mode in above rated conditions, 0 = constant torque / 1 = constant power
REAL(4), SAVE :: VS_CtInSp ! Transitional generator speed (HSS side) between regions 1 and 1 1/2, [rad/s].
INTEGER(4), SAVE :: VS_n ! Number of controller gains
REAL(4), DIMENSION(:), ALLOCATABLE, SAVE :: VS_KP ! Proportional gain for generator PI torque controller, used in the transitional 2.5 region
Expand All @@ -98,6 +100,7 @@ SUBROUTINE DISCON (avrSWAP, aviFAIL, accINFILE, avcOUTNAME, avcMSG) BIND (C, NAM
REAL(4) :: VS_Rgn2K ! Generator torque constant in Region 2 (HSS side), N-m/(rad/s)^2.
REAL(4), SAVE :: VS_Rgn2MaxTq ! Maximum torque at the end of the below-rated region 2, [Nm]
REAL(4), SAVE :: VS_Rgn3MP ! Minimum pitch angle at which the torque is computed as if we are in region 3 regardless of the generator speed, [rad]. -- chosen to be 1.0 degree above PC_SetPnt
REAL(4), SAVE :: VS_RtPwr ! Wind turbine rated power [W]
REAL(4) :: VS_RtTq ! Rated torque, [Nm].
REAL(4) :: VS_RtSpd ! Rated generator speed [rad/s]
REAL(4), SAVE :: VS_Slope15 ! Torque/speed slope of region 1 1/2 cut-in torque ramp , [Nm/(rad/s)].
Expand All @@ -110,10 +113,12 @@ SUBROUTINE DISCON (avrSWAP, aviFAIL, accINFILE, avcOUTNAME, avcMSG) BIND (C, NAM
REAL(4), SAVE :: Y_YawRate ! Yaw rate [rad/s].
REAL(4) :: Y_MErr ! Measured yaw error [rad].
REAL(4), PARAMETER :: Y_omegaLPFast = 1.0 ! Corner frequency fast low pass filter, [Hz].
REAL(4), PARAMETER :: Y_omegaLPSlow = 0.016666667 ! Corner frequency slow low pass filter, 1/60 [Hz].
REAL(4), PARAMETER :: Y_omegaLPSlow = 0.05 ! Corner frequency slow low pass filter, 1/60 [Hz].
REAL(4), SAVE :: Y_YawEndT ! Yaw end time, [s]. Indicates the time up until which yaw is active with a fixed rate.

! REAL(4) :: testValue ! TestValue
REAL(4), SAVE :: testValue ! TestValue
REAL(4) :: PC_KPtest
REAL(4) :: PC_KItest

INTEGER(4) :: I ! Generic index.
INTEGER(4) :: iStatus ! A status flag set by the simulation as follows: 0 if this is the first call, 1 for all subsequent time steps, -1 if this is the final call at the end of the simulation.
Expand Down Expand Up @@ -145,6 +150,7 @@ SUBROUTINE DISCON (avrSWAP, aviFAIL, accINFILE, avcOUTNAME, avcMSG) BIND (C, NAM
PC_MaxPit = avrSWAP(7)
PC_MinRat = avrSWAP(8)
PC_MaxRat = avrSWAP(9)
VS_RtPwr = avrSWAP(13)
VS_Rgn2K = avrSWAP(16)
VS_MinOM = avrSWAP(17)
VS_MaxOM = avrSWAP(18)
Expand Down Expand Up @@ -206,6 +212,12 @@ SUBROUTINE DISCON (avrSWAP, aviFAIL, accINFILE, avcOUTNAME, avcMSG) BIND (C, NAM
VS_CtInSp = avrSWAP(122)
VS_MaxRat = avrSWAP(123)
PC_RefSpd = avrSWAP(124)
IPC_ControlMode = avrSWAP(125)
VS_ControlMode = avrSWAP(126)

! Initialize testValue (debugging variable)

testValue = 0.0

! Determine some torque control parameters not specified directly:

Expand Down Expand Up @@ -385,8 +397,8 @@ SUBROUTINE DISCON (avrSWAP, aviFAIL, accINFILE, avcOUTNAME, avcMSG) BIND (C, NAM

IF (DbgOut) THEN
OPEN (UnDb, FILE=TRIM(RootName)//'.dbg', STATUS='REPLACE')
WRITE (UnDb,'(A)') ' Time ' //Tab//'PitComT ' //Tab//'PC_KP ' //Tab//'PC_KI ' //Tab//'Y_MErr ' //Tab//'rootMOOP(1) '
WRITE (UnDb,'(A)') ' (sec) ' //Tab//'(rad) ' //Tab//'(-) ' //Tab//'(-) ' //Tab//'(rad) ' //Tab//'(?) '
WRITE (UnDb,'(A)') ' Time ' //Tab//'PitComT ' //Tab//'PC_SpdError ' //Tab//'PC_KP ' //Tab//'PC_KI ' //Tab//'Y_MErr ' //Tab//'rootMOOP(1) '//Tab//'VS_RtPwr '//Tab//'GenTrq '
WRITE (UnDb,'(A)') ' (sec) ' //Tab//'(rad) ' //Tab//'(rad/s) '//Tab//'(-) ' //Tab//'(-) ' //Tab//'(rad) ' //Tab//'(?) ' //Tab//'(W) '//Tab//'(Nm) '

OPEN(UnDb2, FILE=TRIM(RootName)//'.dbg2', STATUS='REPLACE')
WRITE(UnDb2,'(/////)')
Expand Down Expand Up @@ -437,9 +449,13 @@ SUBROUTINE DISCON (avrSWAP, aviFAIL, accINFILE, avcOUTNAME, avcMSG) BIND (C, NAM

! Compute the generator torque, which depends on which region we are in:

VS_SpdErr = VS_RtSpd - GenSpeedF ! Current speed error
IF (PitComT >= VS_Rgn3MP) THEN ! We are in region 3 - power is constant
GenTrq = VS_RtTq
VS_SpdErr = VS_RtSpd - GenSpeedF ! Current speed error
IF (PitComT >= VS_Rgn3MP) THEN ! We are in region 3
IF (VS_ControlMode == 1) THEN ! Constant power tracking
GenTrq = VS_RtPwr/GenSpeedF
ELSE ! Constant torque tracking
GenTrq = VS_RtTq
END IF
ELSE
GenTrq = PIController(VS_SpdErr, VS_KP(1), VS_KI(1), VS_Rgn2MaxTq, VS_RtTq, DT, VS_Rgn2MaxTq, 1)
IF (GenTrq >= VS_Rgn2MaxTq*1.01) THEN
Expand Down Expand Up @@ -481,11 +497,14 @@ SUBROUTINE DISCON (avrSWAP, aviFAIL, accINFILE, avcOUTNAME, avcMSG) BIND (C, NAM
! Pitch control
!..............................................................................................................................

IF (GenTrq > PC_RtTq99) THEN
IF (VS_ControlMode == 0 .AND. GenTrq > PC_RtTq99) THEN
PC_MaxPitVar = PC_MaxPit
ELSEIF (VS_ControlMode == 1 .AND. GenTrq >= VS_RtPwr/GenSpeedF*0.99) THEN
PC_MaxPitVar = PC_MaxPit
ELSE
PC_MaxPitVar = PC_SetPnt
END IF

! Compute the elapsed time since the last call to the controller:

ElapTime = Time - LastTimePC
Expand All @@ -497,29 +516,36 @@ SUBROUTINE DISCON (avrSWAP, aviFAIL, accINFILE, avcOUTNAME, avcMSG) BIND (C, NAM
PC_KI = interp1d(PC_GS_angles, PC_GS_ki, PitComT)
PC_KD = interp1d(PC_GS_angles, PC_GS_kd, PitComT)
PC_TF = interp1d(PC_GS_angles, PC_GS_tf, PitComT)
PC_KPtest = interp1d(PC_GS_angles, PC_GS_kp, testValue)
PC_KItest = interp1d(PC_GS_angles, PC_GS_ki, testValue)
testValue = testValue + 0.001

! Compute the current speed error and its integral w.r.t. time; saturate the
! integral term using the pitch angle limits:

PC_SpdErr = PC_RefSpd - GenSpeedF ! Current speed error [UNFILTERED SIGNAL!!]
PC_SpdErr = PC_RefSpd - GenSpeedF ! Current speed error

! Compute the pitch commands associated with the proportional and integral
! gains:

PitComT = PIController(PC_SpdErr, PC_KP, PC_KI, PC_SetPnt, PC_MaxPitVar, ElapTime, PC_SetPnt, 2) + DFController(PC_SpdErr, PC_KD, PC_TF, DT, 1)

! Individual pitch control

CALL IPC(rootMOOP, Azimuth, IPC_phi, Y_MErr, DT, IPC_KI, IPC_omegaHP, IPC_omegaLP, IPC_omegaNotch, IPC_zetaHP, IPC_zetaLP, IPC_zetaNotch, iStatus, Y_ControlMode, NumBl, IPC_PitComF)
IF (IPC_ControlMode == 1) THEN
CALL IPC(rootMOOP, Azimuth, IPC_phi, Y_MErr, DT, IPC_KI, IPC_omegaHP, IPC_omegaLP, IPC_omegaNotch, IPC_zetaHP, IPC_zetaLP, IPC_zetaNotch, iStatus, IPC_ControlMode, Y_ControlMode, NumBl, IPC_PitComF)
ELSE
IPC_PitComF = 0.0
END IF

! Combine and saturate all pitch commands:

DO K = 1,NumBl ! Loop through all blades, add IPC contribution and limit pitch rate
PitComT_IPC(K) = PitComT + IPC_PitComF(K) ! Add the individual pitch command
PitComT_IPC(K) = saturate(PitComT_IPC(K), PC_MinPit, PC_MaxPit) ! Saturate the overall command using the pitch angle limits
PitComT_IPC(K) = PitComT + IPC_PitComF(K) ! Add the individual pitch command
PitComT_IPC(K) = saturate(PitComT_IPC(K), PC_MinPit, PC_MaxPit) ! Saturate the overall command using the pitch angle limits

PitCom(K) = ratelimit(PitComT_IPC(K), BlPitch(K), PC_MinRat, PC_MaxRat, DT) ! Saturate the overall command of blade K using the pitch rate limit
PitCom(K) = saturate(PitComT_IPC(K), PC_MinPit, PC_MaxPit) ! Saturate the overall command using the pitch angle limits
! PitCom(K) = ratelimit(PitComT_IPC(K), BlPitch(K), PC_MinRat, PC_MaxRat, DT) ! Saturate the overall command of blade K using the pitch rate limit
PitCom(K) = saturate(PitComT_IPC(K), PC_MinPit, PC_MaxPit) ! Saturate the overall command using the pitch angle limits
PitCom(K) = LPFilter(PitCom(K), DT, CornerFreq, iStatus, .FALSE., K+3)
ENDDO

! Set the pitch override to yes and command the pitch demanded from the last
Expand Down Expand Up @@ -565,7 +591,7 @@ SUBROUTINE DISCON (avrSWAP, aviFAIL, accINFILE, avcOUTNAME, avcMSG) BIND (C, NAM
! Output debugging information if requested:

IF (DbgOut) THEN
WRITE (UnDb,FmtDat) Time, PitComT, PC_KP, PC_KI, Y_MErr, rootMOOP(1)
WRITE (UnDb,FmtDat) Time, PitComT, PC_SpdErr, PC_KP, PC_KI, Y_MErr, rootMOOP(1), VS_RtPwr, GenTrq, testValue, PC_KPtest, PC_KItest
WRITE (UnDb2,FmtDat) Time, avrSWAP(1:85)
END IF

Expand Down
6 changes: 3 additions & 3 deletions Source/FunctionToolbox.f90
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Original file line number Diff line number Diff line change
Expand Up @@ -94,12 +94,12 @@ REAL FUNCTION interp1d(xData, yData, xq)
INTEGER(4) :: I ! Iteration index

IF (xq <= MINVAL(xData)) THEN
interp1d = MINVAL(yData)
interp1d = yData(1)
ELSEIF (xq >= MAXVAL(xData)) THEN
interp1d = MAXVAL(yData)
interp1d = yData(SIZE(xData))
ELSE
DO I = 1, SIZE(xData)
IF (xData(I) >= xq) THEN
IF (xq <= xData(I)) THEN
interp1d = yData(I-1) + (yData(I) - yData(I-1))/(xData(I) - xData(I-1))*(xq - xData(I-1))
EXIT
ELSE
Expand Down
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