Merge branch 'dev_TorquePI'

Ben-Mertz · Sep 23, 2019 · 26d91e8 · 26d91e8
2 parents 34b09f3 + 9c3acfe
commit 26d91e8
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Showing 8 changed files with 165 additions and 108 deletions.
diff --git a/DISCON/DISCON_glin64.so b/DISCON/DISCON_glin64.so
diff --git a/Parameter_files/NREL5MW/DISCON.IN b/Parameter_files/NREL5MW/DISCON.IN
@@ -8,10 +8,11 @@
 1					! F_LPFType			- {1: first-order low-pass filter, 2: second-order low-pass filter}, [rad/s] (currently filters generator speed and pitch control signals)
 0					! F_NotchType		- Notch on the measured generator speed {0: disable, 1: enable} 
 0					! IPC_ControlMode	- Turn Individual Pitch Control (IPC) for fatigue load reductions (pitch contribution) {0: off, 1: 1P reductions, 2: 1P+2P reductions}
-1					! VS_ControlMode	- Generator torque control mode in above rated conditions {0: constant torque, 1: constant power}
+0					! VS_ControlMode	- Generator torque control mode in above rated conditions {0: constant torque, 1: constant power, 2: TSR tracking PI control}
 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}
+0                   ! WE_Mode           - Wind speed estimator mode {0: One-second low pass filtered hub height wind speed, 1: Imersion and Invariance Estimator (Ortega et al.)}
 
 !------- FILTERS ----------------------------------------------------------
 1.570796326			! F_LPFCornerFreq	- Corner frequency (-3dB point) in the low-pass filters, [Hz]
@@ -56,8 +57,8 @@
 43093.55			! VS_RtTq			- Rated torque, [Nm].
 120.113				! VS_RefSpd			- Rated generator speed [rad/s]
 1					! VS_n				- Number of generator PI torque controller gains
--4200				! VS_KP				- Proportional gain for generator PI torque controller, used in the transitional 2.5 region, [1/(rad/s) Nm]
--2100	 			! VS_KI				- Integral gain for generator PI torque controller, used in the transitional 2.5 region, [1/rad Nm]
+-4200				! 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)
+-2100	 			! VS_KI				- Integral gain for generator PI torque controller [1/rad Nm]. (Only used in the transitional 2.5 region if VS_ControlMode =/ 2)
 
 !------- Setpoint Smoother ------------------------------------------------
 30                  ! SS_VSGainBias     - Variable speed torque controller gain bias, [(rad/s)/rad].

diff --git a/Source/ControllerBlocks.f90 b/Source/ControllerBlocks.f90
@@ -17,7 +17,8 @@ MODULE ControllerBlocks
 
 CONTAINS
 !-------------------------------------------------------------------------------------------------------------------------------
-    ! State machines, determines the state of the wind turbine to specify the corresponding control actions
+    SUBROUTINE StateMachine(CntrPar, LocalVar)
+    ! State machine, determines the state of the wind turbine to specify the corresponding control actions
     ! PC States:
     !       PC_State = 0, No pitch control active, BldPitch = PC_MinPit
     !       PC_State = 1, Active PI blade pitch control enabled
@@ -28,7 +29,7 @@ MODULE ControllerBlocks
     !       VS_State = 3, Region 2.5, transition between below and above-rated operating conditions (near-rated region) using PI torque control
     !       VS_State = 4, above-rated operation using pitch control (constant torque mode)
     !       VS_State = 5, above-rated operation using pitch and torque control (constant power mode)
-    SUBROUTINE StateMachine(CntrPar, LocalVar)
+    !       VS_State = 6, Tip-Speed-Ratio tracking PI controller
         USE DRC_Types, ONLY : LocalVariables, ControlParameters
         IMPLICIT NONE
 
@@ -42,7 +43,7 @@ SUBROUTINE StateMachine(CntrPar, LocalVar)
             IF (LocalVar%PitCom(1) >= CntrPar%VS_Rgn3Pitch) THEN ! We are in region 3
                 IF (CntrPar%VS_ControlMode == 1) THEN ! Constant power tracking
                     LocalVar%VS_State = 5
-                    LocalVar%PC_State = 2
+                    LocalVar%PC_State = 1
                 ELSE ! Constant torque tracking
                     LocalVar%VS_State = 4
                     LocalVar%PC_State = 1
@@ -54,57 +55,70 @@ SUBROUTINE StateMachine(CntrPar, LocalVar)
 
         ! Operational States
         ELSE
-            ! Pitch controller state machine
+            ! --- Pitch controller state machine ---
             IF (CntrPar%PC_ControlMode == 1) THEN
                 LocalVar%PC_State = 1
             ELSE 
                 LocalVar%PC_State = 0
             END IF
 
-            ! Torque control state machine
-            IF (LocalVar%PC_PitComT >= CntrPar%VS_Rgn3Pitch) THEN 
-                ! Region 3
-                IF (CntrPar%VS_ControlMode == 1) THEN ! Constant power tracking
-                    LocalVar%VS_State = 5
-                ELSE ! Constant torque tracking
-                    LocalVar%VS_State = 4
+            ! --- Torque control state machine ---
+            IF (LocalVar%PC_PitComT >= CntrPar%VS_Rgn3Pitch) THEN           ! Region 3
+                IF (CntrPar%VS_ControlMode == 1) THEN 
+                    LocalVar%VS_State = 5 ! Constant power tracking
+                ELSE 
+                    LocalVar%VS_State = 4 ! Constant torque tracking
                 END IF
             ELSE
-                ! Region 2 1/2 - active PI torque control
-                IF (LocalVar%GenArTq >= CntrPar%VS_MaxOMTq*1.01) THEN 
-                    LocalVar%VS_State = 3
-                ! Region 1 1/2
-                ELSEIF (LocalVar%GenBrTq <= CntrPar%VS_MinOMTq*0.99) THEN 
-                    LocalVar%VS_State = 1
-                ! Region 2 - optimal torque is proportional to the square of the generator speed
-                ELSEIF (LocalVar%GenSpeedF < CntrPar%VS_RefSpd)  THEN 
+                IF (LocalVar%GenArTq >= CntrPar%VS_MaxOMTq*1.01) THEN       ! Region 2 1/2 - active PI torque control
+                    LocalVar%VS_State = 3                 
+                ELSEIF (LocalVar%GenSpeedF < CntrPar%VS_RefSpd)  THEN       ! Region 2 - optimal torque is proportional to the square of the generator speed
+
                     LocalVar%VS_State = 2
-                ! Error state, Debug
-                ELSE 
+                ELSEIF (LocalVar%GenBrTq <= CntrPar%VS_MinOMTq*0.99) THEN   ! Region 1 1/2
+
+                    LocalVar%VS_State = 1
+                ELSE                                                        ! Error state, Debug
                     LocalVar%VS_State = 0
                 END IF
             END IF
         END IF
     END SUBROUTINE StateMachine
 !-------------------------------------------------------------------------------------------------------------------------------
-    SUBROUTINE WindSpeedEstimator(LocalVar, CntrPar)
-        USE DRC_Types, ONLY : LocalVariables, ControlParameters
+    SUBROUTINE WindSpeedEstimator(LocalVar, CntrPar, objInst)
+    ! Wind Speed Estimator estimates wind speed at hub height. Currently implements two types of estimators
+    !       WE_Mode = 0, Filter hub height wind speed as passed from servodyn using first order low pass filter with 1Hz cornering frequency
+    !       WE_Mode = 1, Use Inversion and Inveriance filter as defined by Ortege et. al. 
+        USE DRC_Types, ONLY : LocalVariables, ControlParameters, ObjectInstances
         IMPLICIT NONE
 
         ! Inputs
-        TYPE(ControlParameters), INTENT(IN) :: CntrPar
-        TYPE(LocalVariables), INTENT(INOUT) :: LocalVar 
-
-        ! Body
-        LocalVar%WE_VwIdot = CntrPar%WE_Gamma/CntrPar%WE_Jtot*(LocalVar%VS_LastGenTrq*CntrPar%WE_GearboxRatio - AeroDynTorque(LocalVar, CntrPar))
-
-        LocalVar%WE_VwI = LocalVar%WE_VwI + LocalVar%WE_VwIdot*LocalVar%DT
-        LocalVar%WE_Vw = LocalVar%WE_VwI + CntrPar%WE_Gamma*LocalVar%RotSpeed
+        TYPE(ControlParameters), INTENT(IN)     :: CntrPar
+        TYPE(LocalVariables), INTENT(INOUT)     :: LocalVar 
+        TYPE(ObjectInstances), INTENT(INOUT)    :: objInst
+        ! Allocate Variables
+        REAL(4)             :: F_WECornerFreq ! Corner frequency (-3dB point) for first order low pass filter for measured hub height wind speed [Hz]
+        ! Define Variables
+        F_WECornerFreq = 0.0333  ! Fix to 30 second time constant for now
 
+        ! Define wind speed estimate
+        IF (CntrPar%WE_Mode == 1) THEN      
+            ! Inversion and Invariance Filter implementation
+            LocalVar%WE_VwIdot = CntrPar%WE_Gamma/CntrPar%WE_Jtot*(LocalVar%VS_LastGenTrq*CntrPar%WE_GearboxRatio - AeroDynTorque(LocalVar, CntrPar))
+            LocalVar%WE_VwI = LocalVar%WE_VwI + LocalVar%WE_VwIdot*LocalVar%DT
+            LocalVar%WE_Vw = LocalVar%WE_VwI + CntrPar%WE_Gamma*LocalVar%RotSpeed
+        ELSE                                
+            ! Filter wind speed at hub height as directly passed from OpenFAST
+            LocalVar%WE_Vw = LPFilter(LocalVar%HorWindV, LocalVar%DT, F_WECornerFreq, LocalVar%iStatus, .FALSE., objInst%instLPF)
+        END IF 
+
     END SUBROUTINE WindSpeedEstimator
 !-------------------------------------------------------------------------------------------------------------------------------
     SUBROUTINE SetpointSmoother(LocalVar, CntrPar, objInst)
-        USE DRC_Types!, ONLY : LocalVariables, ControlParameters, ObjectInstances
+    ! Setpoint smoother modifies controller reference in order to separate generator torque and blade pitch control actions
+    !       SS_Mode = 0, No setpoint smoothing
+    !       SS_Mode = 1, Implement setpoint smoothing
+        USE DRC_Types, ONLY : LocalVariables, ControlParameters, ObjectInstances
         IMPLICIT NONE
 
         ! Inputs
@@ -114,16 +128,16 @@ SUBROUTINE SetpointSmoother(LocalVar, CntrPar, objInst)
         ! Allocate Variables
         Real(4)                      :: DelOmega                            ! Reference generator speed shift, rad/s.
 
-        ! Setpoint Smoothing
+        ! ------ Setpoint Smoothing ------
         IF ( CntrPar%SS_Mode == 1) THEN
             ! Find setpoint shift amount
             DelOmega = (LocalVar%BlPitch(1) - CntrPar%PC_MinPit)*CntrPar%SS_VSGainBias - (CntrPar%VS_RtTq - LocalVar%VS_LastGenTrq)*CntrPar%SS_PCGainBias
             ! Filter
             LocalVar%SS_DelOmegaF = LPFilter(DelOmega, LocalVar%DT, CntrPar%F_SSCornerFreq, LocalVar%iStatus, .FALSE., objInst%instLPF) 
         ELSE
-            LocalVar%SS_DelOmegaF = 0
+            LocalVar%SS_DelOmegaF = 0 ! No setpoint smoothing
         ENDIF
 
     END SUBROUTINE SetpointSmoother
 !-------------------------------------------------------------------------------------------------------------------------------
-END MODULE ControllerBlocks
+END MODULE ControllerBlocks