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Added gain-scheduled pitch control functionality by defining a pitch …
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…gain input file
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Sebastiaan Mulders committed Sep 4, 2017
1 parent 649fedb commit fa15b4a
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Showing 2 changed files with 54 additions and 58 deletions.
87 changes: 29 additions & 58 deletions Source/DISCON.f90
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Original file line number Diff line number Diff line change
Expand Up @@ -65,9 +65,12 @@ SUBROUTINE DISCON (avrSWAP, aviFAIL, accINFILE, avcOUTNAME, avcMSG) BIND (C, NAM
REAL(4), SAVE :: LastTimePC ! Last time the pitch controller was called, [s].
REAL(4), SAVE :: LastTimeVS ! Last time the torque controller was called, [s].
REAL(4) :: PC_GK ! Current value of the gain correction factor, used in the gain scheduling law of the pitch controller, [-].
REAL(4), PARAMETER :: PC_KI = 0.001 ! Integral gain for pitch controller at rated pitch (zero), [-].
REAL(4), PARAMETER :: PC_KK = 0.1099965 ! Pitch angle where the the derivative of the aerodynamic power w.r.t. pitch has increased by a factor of two relative to the derivative at rated pitch (zero), [rad].
REAL(4), PARAMETER :: PC_KP = 0.003 ! Proportional gain for pitch controller at rated pitch (zero), [s].
INTEGER(4), SAVE :: PC_GS_n
REAL(4), DIMENSION(:), ALLOCATABLE, SAVE :: PC_GS_angles
REAL(4), DIMENSION(:), ALLOCATABLE, SAVE :: PC_GS_kp
REAL(4), DIMENSION(:), ALLOCATABLE, SAVE :: PC_GS_ki
REAL(4) :: PC_KI ! Integral gain for pitch controller at rated pitch (zero), [-].
REAL(4) :: PC_KP ! Proportional gain for pitch controller at rated pitch (zero), [s].
REAL(4), PARAMETER :: PC_MaxPit = 1.570796 ! Maximum physical pitch limit, [rad].
REAL(4) :: PC_MaxPitVar ! Maximum pitch setting in pitch controller (variable) [rad].
REAL(4), PARAMETER :: PC_MaxRat = 0.1396263 ! Maximum pitch rate (in absolute value) in pitch controller, [rad/s].
Expand Down Expand Up @@ -207,14 +210,27 @@ SUBROUTINE DISCON (avrSWAP, aviFAIL, accINFILE, avcOUTNAME, avcMSG) BIND (C, NAM
! below for simplicity, not here.

PitCom = BlPitch ! This will ensure that the variable speed controller picks the correct control region and the pitch controller picks the correct gain on the first call
PC_GK = 1.0/(1.0 + PitCom(1)/PC_KK) ! This will ensure that the pitch angle is unchanged if the initial SpdErr is zero
Y_AccErr = 0.0 ! This will ensure that the accumulated yaw error starts at zero
Y_YawEndT = -1.0 ! This will ensure that the initial yaw end time is lower than the actual time to prevent initial yawing

LastTime = Time ! This will ensure that generator speed filter will use the initial value of the generator speed on the first pass
LastTimePC = Time - DT ! This will ensure that the pitch controller is called on the first pass
LastTimeVS = Time - DT ! This will ensure that the torque controller is called on the first pass

!..............................................................................................................................
! Read gain-scheduled PI pitch controller gains from file
!..............................................................................................................................
OPEN(unit=99, file='PitchGains.IN', status='old', action='read')
READ(99, *) PC_GS_n

ALLOCATE(PC_GS_angles(PC_GS_n))
READ(99,*) PC_GS_angles

ALLOCATE(PC_GS_kp(PC_GS_n))
READ(99,*) PC_GS_kp

ALLOCATE(PC_GS_ki(PC_GS_n))
READ(99,*) PC_GS_ki

!..............................................................................................................................
! Check validity of input parameters:
Expand Down Expand Up @@ -276,21 +292,6 @@ SUBROUTINE DISCON (avrSWAP, aviFAIL, accINFILE, avcOUTNAME, avcMSG) BIND (C, NAM
ErrMsg = 'VS_RtTq must not be greater than VS_MaxTq.'
ENDIF

IF (PC_KI <= 0.0) THEN
aviFAIL = -1
ErrMsg = 'PC_KI must be greater than zero.'
ENDIF

IF (PC_KK <= 0.0) THEN
aviFAIL = -1
ErrMsg = 'PC_KK must be greater than zero.'
ENDIF

IF (PC_KP <= 0.0) THEN
aviFAIL = -1
ErrMsg = 'PC_KP must be greater than zero.'
ENDIF

IF (VS_KP > 0.0) THEN
aviFAIL = -1
ErrMsg = 'VS_KP must be greater than zero.'
Expand Down Expand Up @@ -375,20 +376,9 @@ SUBROUTINE DISCON (avrSWAP, aviFAIL, accINFILE, avcOUTNAME, avcMSG) BIND (C, NAM
IF (DbgOut) THEN

OPEN (UnDb, FILE=TRIM(RootName)//'.dbg', STATUS='REPLACE')
! WRITE (UnDb,'(/////)')
WRITE (UnDb,'(A)') ' Time ' //Tab//'ElapTime ' //Tab//'HorWindV ' //Tab//'GenSpeed ' //Tab//'GenSpeedF ' //Tab//'RelSpdErr ' //Tab// &
'PC_SpdErr '//Tab//'PC_GK ' //Tab//'MErr ' //Tab// &
'PitCom1 ' //Tab//'PitCom2 ' //Tab//'PitCom3 ' //Tab// &
'BlPitch1 ' //Tab//'BlPitch2 ' //Tab//'BlPitch3 ' //Tab//'rootMOOP1 ' //Tab//'rootMOOP2 ' //Tab//'rootMOOP3 ' //Tab// &
'PitComF1 ' //Tab//'PitComF2 ' //Tab//'PitComF3 ' //Tab//'PitComT ' //Tab// 'ErrLPFFast ' //Tab//'ErrLPFSlow' //Tab//&
'Y_AccErr ' //Tab//'Y_YawEndT ' //Tab//'testValue'
WRITE (UnDb,'(A)') ' (sec) ' //Tab//'(sec) ' //Tab//'(m/sec) ' //Tab//'(rpm) ' //Tab//'(rpm) ' //Tab//'(%) ' //Tab// &
'(rad/s) ' //Tab//'(-) ' //Tab//'(deg) ' //Tab//'(deg) ' //Tab//'(deg) ' //Tab// &
'(deg/s) ' //Tab//'(deg/s) ' //Tab//'(deg/s) ' //Tab//'(deg) ' //Tab//'(deg) ' //Tab//'(deg) ' //Tab// &
'(deg) ' //Tab//'(deg) ' //Tab//'(deg) ' //Tab//'(Nm) ' //Tab//'(Nm) ' //Tab//'(Nm) ' //Tab// &
'(deg) ' //Tab//'(deg) ' //Tab//'(deg) ' //Tab//'(deg) ' //Tab//'(deg) ' //Tab//'(deg) ' //Tab// &
'(deg) ' //Tab//'(deg) ' //Tab//'(deg*s) ' //Tab//'(sec) ' //Tab//'(TEST) '

WRITE (UnDb,'(A)') ' Time ' //Tab//'PitComT ' //Tab//'PC_KP ' //Tab//'PC_KI ' //Tab//'Y_MErr '
WRITE (UnDb,'(A)') ' (sec) ' //Tab//'(rad) ' //Tab//'(-) ' //Tab//'(-) ' //Tab//'(rad) '

OPEN(UnDb2, FILE=TRIM(RootName)//'.dbg2', STATUS='REPLACE')
WRITE(UnDb2,'(/////)')
WRITE(UnDb2,'(A,85("'//Tab//'AvrSWAP(",I2,")"))') 'Time ', (i,i=1,85)
Expand Down Expand Up @@ -462,7 +452,7 @@ SUBROUTINE DISCON (avrSWAP, aviFAIL, accINFILE, avcOUTNAME, avcMSG) BIND (C, NAM

! Saturate the commanded torque using the maximum torque limit:

GenTrq = MIN(GenTrq , VS_MaxTq) ! Saturate the command using the maximum torque limit
GenTrq = MIN(GenTrq, VS_MaxTq) ! Saturate the command using the maximum torque limit

! Saturate the commanded torque using the torque rate limit:

Expand Down Expand Up @@ -498,17 +488,18 @@ SUBROUTINE DISCON (avrSWAP, aviFAIL, accINFILE, avcOUTNAME, avcMSG) BIND (C, NAM
! Compute the gain scheduling correction factor based on the previously
! commanded pitch angle for blade 1:

PC_GK = 1.0/(1.0 + PitComT/PC_KK)
PC_KP = interp1d(PC_GS_angles, PC_GS_kp, PitComT)
PC_KI = interp1d(PC_GS_angles, PC_GS_ki, PitComT)

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

PC_SpdErr = GenSpeedF - PC_RefSpd ! Current speed error
PC_SpdErr = PC_RefSpd - GenSpeedF ! Current speed error

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

PitcomT = PIController(PC_SpdErr, PC_GK*PC_KP, PC_GK*PC_KI, PC_SetPnt, PC_MaxPitVar, ElapTime, PC_SetPnt, 2)
PitComT = PIController(PC_SpdErr, PC_KP, PC_KI, PC_SetPnt, PC_MaxPitVar, ElapTime, PC_SetPnt, 2)

! Individual pitch control

Expand Down Expand Up @@ -545,16 +536,6 @@ SUBROUTINE DISCON (avrSWAP, aviFAIL, accINFILE, avcOUTNAME, avcMSG) BIND (C, NAM
!..............................................................................................................................

avrSWAP(29) = 0 ! Yaw control parameter: 0 = yaw rate control
! IF ((Time >= 50.0) .AND. (Time < 100.0)) THEN
! avrSWAP(48) = 0.0087
! ELSEIF ((Time >= 100.0) .AND. (Time < 200.0)) THEN
! avrSWAP(48) = 0
! ELSEIF ((Time >= 200.0) .AND. (Time < 250.0)) THEN
! avrSWAP(48) = 0.0087
! ELSE
! avrSWAP(48) = 0
! END IF

IF (Time >= Y_YawEndT) THEN ! Check if the turbine is currently yawing
avrSWAP(48) = 0.0 ! Set yaw rate to zero

Expand All @@ -574,20 +555,10 @@ SUBROUTINE DISCON (avrSWAP, aviFAIL, accINFILE, avcOUTNAME, avcMSG) BIND (C, NAM
END IF

!..............................................................................................................................

! TEST interp1d
testValue = interp1d((/ 0., 1., 2., 3. /), (/ 0., 10., 20., 30. /), 4.0*SIN(Time))

! Output debugging information if requested:

IF (DbgOut) THEN
WRITE (UnDb,FmtDat) Time, ElapTime, HorWindV, GenSpeed*RPS2RPM, GenSpeedF*RPS2RPM, 100.0*PC_SpdErr/PC_RefSpd,&
PC_SpdErr, PC_GK, Y_MErr*R2D,&
PitCom*R2D,&
BlPitch*R2D, rootMOOP,&
IPC_PitComF*R2D, PitComT*R2D,&
Y_ErrLPFFast*R2D, Y_ErrLPFSlow*R2D, Y_AccErr*R2D, Y_YawEndT, testValue

WRITE (UnDb,FmtDat) Time, PitComT, PC_KP, PC_KI, Y_MErr
WRITE (UnDb2,FmtDat) Time, avrSWAP(1:85)
END IF

Expand Down
25 changes: 25 additions & 0 deletions Source/FunctionToolbox.f90
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Original file line number Diff line number Diff line change
Expand Up @@ -121,5 +121,30 @@ REAL FUNCTION interp1d(xData, yData, xq)
END IF

END FUNCTION interp1d
!-------------------------------------------------------------------------------------------------------------------------------
! Read gain gain scheduled pitch gains from file PitchGains.IN
! SUBROUTINE readPitchGains(angles, kp, ki)

! IMPLICIT NONE

! REAL, DIMENSION(:), ALLOCATABLE, INTENT(OUT) :: angles, kp, ki
! INTEGER :: n

! OPEN(unit=99, file='PitchGains.IN', status='old', action='read')
! READ(99, *) n

! ALLOCATE(angles(n))
! READ(99,*) angles
! WRITE(*,*) angles

! ALLOCATE(kp(n))
! READ(99,*) kp
! WRITE(*,*) kp

! ALLOCATE(ki(n))
! READ(99,*) ki
! WRITE(*,*) ki

! END SUBROUTINE readPitchGains

END MODULE FunctionToolbox

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