Add floating proportional control

Ben-Mertz · Dec 4, 2019 · cc1c38f · cc1c38f
1 parent ca63d61
commit cc1c38f
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Showing 5 changed files with 42 additions and 5 deletions.
diff --git a/parameter_files/NREL5MW/DISCON.IN b/parameter_files/NREL5MW/DISCON.IN
@@ -15,6 +15,7 @@
 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}
 0                   ! PS_Mode           - Peak shaving mode {0: no peak shaving, 1: implement peak shaving}
 0                   ! SD_Mode           - Shutdown mode {0: no shutdown procedure, 1: pitch to max pitch at shutdown}
+1                   ! FL_Mode           - Floating specific feedback mode {0: no nacelle velocity feedback, 1: nacelle velocity feedback}
 
 !------- FILTERS ----------------------------------------------------------
 1.57                ! F_LPFCornerFreq	- Corner frequency (-3dB point) in the low-pass filters, [rad/s]
@@ -106,4 +107,7 @@
 
 !------- SHUTDOWN -------------------------------------------
 0.261800000000      ! SD_MaxPit         - Maximum blade pitch angle to initiate shutdown, [rad]
-0.418880000000      ! SD_CornerFreq     - Cutoff Frequency for first order low-pass filter for blade pitch angle, [rad/s]
+0.418880000000      ! SD_CornerFreq     - Cutoff Frequency for first order low-pass filter for blade pitch angle, [rad/s]
+
+!------- FLOATING --------------------------------------------
+-0.2                ! FL_Kp             - Nacelle velocity proportional feedback gain [s]
diff --git a/src/ControllerBlocks.f90 b/src/ControllerBlocks.f90
@@ -338,5 +338,4 @@ REAL FUNCTION Shutdown(LocalVar, CntrPar, objInst)
 
     END FUNCTION Shutdown
 !-------------------------------------------------------------------------------------------------------------------------------
-
 END MODULE ControllerBlocks
diff --git a/src/Controllers.f90 b/src/Controllers.f90
@@ -103,6 +103,11 @@ SUBROUTINE PitchControl(avrSWAP, CntrPar, LocalVar, objInst)
             LocalVar%PC_PitComT = Shutdown(LocalVar, CntrPar, objInst)
         ENDIF
 
+        ! FloatingFeedback
+        IF (CntrPar%Fl_Mode == 1) THEN
+            CALL FloatingFeedback(LocalVar, CntrPar, objInst)
+        ENDIF
+
         ! Combine and saturate all pitch commands:
         DO K = 1,LocalVar%NumBl ! Loop through all blades, add IPC contribution and limit pitch rate
             LocalVar%PitCom(K) = saturate(LocalVar%PC_PitComT, LocalVar%PC_MinPit, CntrPar%PC_MaxPit)                    ! Saturate the overall command using the pitch angle limits
@@ -333,4 +338,22 @@ SUBROUTINE ForeAftDamping(CntrPar, LocalVar, objInst)
         END DO
 
     END SUBROUTINE ForeAftDamping
+!-------------------------------------------------------------------------------------------------------------------------------
+    SUBROUTINE FloatingFeedback(LocalVar, CntrPar, objInst) 
+    ! FloatingFeedback defines a minimum blade pitch angle based on a lookup table provided by DISON.IN
+    !       FL_Mode = 0, No feedback
+    !       FL_Mode = 1, Proportional feedback of nacelle velocity
+        USE ROSCO_Types, ONLY : LocalVariables, ControlParameters, ObjectInstances
+        IMPLICIT NONE
+        ! Inputs
+        TYPE(ControlParameters), INTENT(IN)     :: CntrPar
+        TYPE(LocalVariables), INTENT(INOUT)     :: LocalVar 
+        TYPE(ObjectInstances), INTENT(INOUT)    :: objInst
+        ! Allocate Variables 
+        REAL(4)                      :: NacIMU_FA_vel ! Tower fore-aft velocity
+
+        NacIMU_FA_vel = PIController(-LocalVar%NacIMU_FA_Acc, 0.0, 1.0, -100.0 , 100.0 ,LocalVar%DT, 0.0, .FALSE., objInst%instPI)
+        LocalVar%PC_PitComT = LocalVar%PC_PitComT + NacIMU_FA_vel * CntrPar%FL_Kp 
+
+    END SUBROUTINE FloatingFeedback
 END MODULE Controllers
diff --git a/src/ROSCO_Types.f90 b/src/ROSCO_Types.f90
@@ -117,6 +117,9 @@ MODULE ROSCO_Types
     REAL(4)                             :: SD_MaxPit                    ! Maximum blade pitch angle to initiate shutdown, [rad]
     REAL(4)                             :: SD_CornerFreq                ! Cutoff Frequency for first order low-pass filter for blade pitch angle, [rad/s]
 
+    INTEGER(4)                          :: FL_Mode                      ! Floating specific feedback mode {0: no nacelle velocity feedback, 1: nacelle velocity feedback}
+    REAL(4)                             :: FL_Kp                        ! Nacelle velocity proportional feedback gain [s]
+
     REAL(4)                             :: PC_RtTq99                    ! 99% of the rated torque value, using for switching between pitch and torque control, [Nm].
     REAL(4)                             :: VS_MaxOMTq                   ! Maximum torque at the end of the below-rated region 2, [Nm]
     REAL(4)                             :: VS_MinOMTq                   ! Minimum torque at the beginning of the below-rated region 2, [Nm]
@@ -136,10 +139,11 @@ MODULE ROSCO_Types
     REAL(4)                      :: rootMOOP(3)
     REAL(4)                      :: BlPitch(3)
     REAL(4)                      :: Azimuth
-    INTEGER(4)                      :: NumBl
-
+    INTEGER(4)                   :: NumBl
+    REAL(4)                      :: FA_Acc                       ! Tower fore-aft acceleration [m/s^2]
+    REAL(4)                      :: NacIMU_FA_Acc                       ! Tower fore-aft acceleration [m/s^2]
+
     ! ---------- -Internal controller variables ----------
-    REAL(4)                             :: FA_Acc                       ! Tower fore-aft acceleration [m/s^2]
     REAL(4)                             :: FA_AccHPF                    ! High-pass filtered fore-aft acceleration [m/s^2]
     REAL(4)                             :: FA_AccHPFI                   ! Tower velocity, high-pass filtered and integrated fore-aft acceleration [m/s]
     REAL(4)                             :: FA_PitCom(3)                 ! Tower fore-aft vibration damping pitch contribution [rad]

diff --git a/src/ReadSetParameters.f90 b/src/ReadSetParameters.f90
@@ -61,6 +61,7 @@ SUBROUTINE ReadControlParameterFileSub(CntrPar)
         READ(UnControllerParameters, *) CntrPar%WE_Mode        
         READ(UnControllerParameters, *) CntrPar%PS_Mode        
         READ(UnControllerParameters, *) CntrPar%SD_Mode        
+        READ(UnControllerParameters, *) CntrPar%FL_Mode        
         READ(UnControllerParameters, *)
 
         !----------------- FILTER CONSTANTS ---------------------
@@ -193,6 +194,11 @@ SUBROUTINE ReadControlParameterFileSub(CntrPar)
         READ(UnControllerParameters, *)      
         READ(UnControllerParameters, *) CntrPar%SD_MaxPit  
         READ(UnControllerParameters, *) CntrPar%SD_CornerFreq
+        READ(UnControllerParameters, *)      
+
+        !------------ FLOATING ------------
+        READ(UnControllerParameters, *)      
+        READ(UnControllerParameters, *) CntrPar%Fl_Kp  
         ! END OF INPUT FILE    
 
         !------------------- CALCULATED CONSTANTS -----------------------
@@ -296,6 +302,7 @@ SUBROUTINE ReadAvrSWAP(avrSWAP, LocalVar)
         LocalVar%rootMOOP(2) = avrSWAP(31)
         LocalVar%rootMOOP(3) = avrSWAP(32)
         LocalVar%FA_Acc = avrSWAP(53)
+        LocalVar%NacIMU_FA_Acc = avrSWAP(83)
         LocalVar%Azimuth = avrSWAP(60)
         LocalVar%NumBl = NINT(avrSWAP(61))
Original file line number	Diff line number	Diff line change
Expand Up		@@ -338,5 +338,4 @@ REAL FUNCTION Shutdown(LocalVar, CntrPar, objInst)

		END FUNCTION Shutdown
		!-------------------------------------------------------------------------------------------------------------------------------

		END MODULE ControllerBlocks