Updated parameter files, choice between 1/2-order LPF,

Ben-Mertz · Jun 12, 2018 · fbe3a5a · fbe3a5a
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Showing 7 changed files with 116 additions and 73 deletions.
diff --git a/Parameter_files/DTU10MW/ControllerParameters.in b/Parameter_files/DTU10MW/ControllerParameters.in
@@ -1,5 +1,7 @@
-2.5132741			! CornerFreq		- Corner frequency (-3dB point) in the low-pass filters, filtering generator speed and pitch control signals, [rad/s]
 0					! LoggingLevel		- 0 = write no debug files, 1 = write standard output .dbg-file, 2 = write standard output .dbg-file and complete avrSWAP-array .dbg2-file
+2					! F_FilterType		- 1 = first-order low-pass filter, 2 = second-order low-pass filter
+2.5132741			! F_CornerFreq		- Corner frequency (-3dB point) in the low-pass filters, filtering generator speed and pitch control signals, [rad/s]
+0.7					! F_Damping			- Damping coefficient if F_FilterType = 2, unused otherwise
 0.087266			! IPC_IntSat		- Integrator saturation (maximum signal amplitude contrbution to pitch from IPC), [rad]
 8E-10				! IPC_KI			- Integral gain for the individual pitch controller, [-]. 
 0					! IPC_ControlMode	- Turn Individual Pitch Control (IPC) for fatigue load reductions (pitch contribution) on = 1/off = 0

diff --git a/Parameter_files/NREL5MW/ControllerParameters.in b/Parameter_files/NREL5MW/ControllerParameters.in
@@ -1,15 +1,17 @@
-2.5132741			! CornerFreq		- Corner frequency (-3dB point) in the low-pass filters, filtering generator speed and pitch control signals, [rad/s]
 0					! LoggingLevel		- 0 = write no debug files, 1 = write standard output .dbg-file, 2 = write standard output .dbg-file and complete avrSWAP-array .dbg2-file
+1					! F_FilterType		- 1 = first-order low-pass filter, 2 = second-order low-pass filter
+1.570796326			! F_CornerFreq		- Corner frequency (-3dB point) in the low-pass filters, filtering generator speed and pitch control signals, [rad/s]
+0					! F_Damping			- Damping coefficient if F_FilterType = 2, unused otherwise
 0.087266			! IPC_IntSat		- Integrator saturation (maximum signal amplitude contrbution to pitch from IPC), [rad]
-8E-10				! IPC_KI			- Integral gain for the individual pitch controller, [-]. 
+1E-8				! IPC_KI			- Integral gain for the individual pitch controller, [-]. 
 0					! IPC_ControlMode	- Turn Individual Pitch Control (IPC) for fatigue load reductions (pitch contribution) on = 1/off = 0
 0.6283185			! IPC_omegaLP		- Low-pass filter corner frequency for the individual pitch controller, [rad/s].	
 0.436332313			! IPC_aziOffset		- Phase offset added to the azimuth angle for the individual pitch controller, [rad]. 
 1.0					! IPC_zetaLP		- Low-pass filter damping factor for the individual pitch controller, [-].	
 14					! PC_GS_n			- Amount of gain-scheduling table entries
-0.0706	0.1168	0.1524	0.183	0.2116	0.2385	0.263	0.286	0.308	0.3284	0.3488	0.3691	0.3895	0.4083 ! PC_GS_angles	- Gain-schedule table: pitch angles
--0.0164	-0.0107	-0.0083	-0.0068	-0.0057	-0.0049	-0.0043	-0.0037	-0.0033	-0.0028	-0.0026	-0.0023	-0.002	-0.0017 ! PC_GS_KP		- Gain-schedule table: pitch controller kp gains
--0.0027	-0.0027	-0.0026	-0.0025	-0.0024	-0.0024	-0.0024	-0.0023	-0.0023	-0.0023	-0.0023	-0.0023	-0.0023	-0.0023 ! PC_GS_KI		- Gain-schedule table: pitch controller ki gains
+0.00000	0.03491	0.06981	0.10472	0.13963	0.17453	0.20944	0.24435	0.27925	0.31416	0.34907	0.38397	0.41888	0.45379 ! PC_GS_angles	- Gain-schedule table: pitch angles
+-0.018827	-0.014292	-0.011517	-0.009645	-0.008296	-0.007278	-0.006483	-0.005844	-0.005320	-0.004882	-0.004511	-0.004192	-0.003916	-0.003673 ! PC_GS_KP		- Gain-schedule table: pitch controller kp gains
+-0.008069	-0.006125	-0.004936	-0.004133	-0.003555	-0.003119	-0.002778	-0.002505	-0.002280	-0.002092	-0.001933	-0.001797	-0.001678	-0.001574 ! 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 ! 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 ! PC_GS_TF			- Gain-schedule table: pitch controller tf gains (derivative filter)
 1.5707				! PC_MaxPit			- Maximum physical pitch limit, [rad].
@@ -18,7 +20,7 @@
 -0.13962			! PC_MinRat			- Minimum pitch rate (in absolute value) in pitch controller, [rad/s].
 122.90957			! PC_RefSpd			- Desired (reference) HSS speed for pitch controller, [rad/s].
 0.0					! PC_FinePit		- Record 5: Below-rated pitch angle set-point, [rad]
-0.034906			! PC_Switch			- Angle above lowest minimum pitch angle for switch [rad]
+0.003490658			! PC_Switch			- Angle above lowest minimum pitch angle for switch [rad]
 1					! VS_ControlMode	- Generator torque control mode in above rated conditions, 0 = constant torque / 1 = constant power
 0.944				! VS_GenEff			- Generator efficiency mechanical power -> electrical power, this should match the efficiency defined in the generator properties! [-]
 43093.55			! VS_ArSatTq		- Above rated generator torque PI control saturation, [Nm]
@@ -29,7 +31,7 @@
 2.33228				! VS_Rgn2K			- Generator torque constant in Region 2 (HSS side), N-m/(rad/s)^2
 5.0E+06				! VS_RtPwr			- Wind turbine rated power [W]
 43093.55			! VS_RtTq			- Rated torque, [Nm].
-121.680				! VS_RefSpd			- Rated generator speed [rad/s]
+120.113				! VS_RefSpd			- Rated generator speed [rad/s]
 1					! VS_n				- Number of 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]

diff --git a/Source/Controllers.f90 b/Source/Controllers.f90
@@ -46,7 +46,11 @@ SUBROUTINE PitchControl(avrSWAP, CntrPar, LocalVar, objInst)
 
 		! Compute the pitch commands associated with the proportional and integral
 		!   gains:
-		LocalVar%PC_PitComT = PIController(LocalVar%PC_SpdErr, LocalVar%PC_KP, LocalVar%PC_KI, CntrPar%PC_FinePit, LocalVar%PC_MaxPitVar, LocalVar%DT, CntrPar%PC_FinePit, .FALSE., objInst%instPI)
+		IF (LocalVar%iStatus == 0) THEN
+			LocalVar%PC_PitComT = PIController(LocalVar%PC_SpdErr, LocalVar%PC_KP, LocalVar%PC_KI, CntrPar%PC_FinePit, LocalVar%PC_MaxPitVar, 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_MaxPitVar, LocalVar%DT, CntrPar%PC_FinePit, .FALSE., objInst%instPI)
+		END IF
 
 		! Individual pitch control
 		IF ((CntrPar%IPC_ControlMode == 1) .OR. (CntrPar%Y_ControlMode == 2)) THEN
@@ -58,11 +62,11 @@ SUBROUTINE PitchControl(avrSWAP, CntrPar, LocalVar, objInst)
 		! Combine and saturate all pitch commands:
 		DO K = 1,LocalVar%NumBl ! Loop through all blades, add IPC contribution and limit pitch rate
 			LocalVar%PC_PitComT_IPC(K) = LocalVar%PC_PitComT + LocalVar%IPC_PitComF(K)									! Add the individual pitch command
-			LocalVar%PC_PitComT_IPC(K) = saturate(LocalVar%PC_PitComT_IPC(K), CntrPar%PC_MinPit, CntrPar%PC_MaxPit)				! Saturate the overall command using the pitch angle limits
+			LocalVar%PC_PitComT_IPC(K) = saturate(LocalVar%PC_PitComT_IPC(K), CntrPar%PC_MinPit, CntrPar%PC_MaxPit)     ! Saturate the overall command using the pitch angle limits
 
 			! PitCom(K) = ratelimit(LocalVar%PC_PitComT_IPC(K), LocalVar%BlPitch(K), PC_MinRat, PC_MaxRat, LocalVar%DT)	! Saturate the overall command of blade K using the pitch rate limit
-			LocalVar%PitCom(K) = saturate(LocalVar%PC_PitComT_IPC(K), CntrPar%PC_MinPit, CntrPar%PC_MaxPit)					! Saturate the overall command using the pitch angle limits
-			LocalVar%PitCom(K) = LPFilter(LocalVar%PitCom(K), LocalVar%DT, CntrPar%CornerFreq, LocalVar%iStatus, .FALSE., objInst%instLPF)
+			LocalVar%PitCom(K) = saturate(LocalVar%PC_PitComT, CntrPar%PC_MinPit, CntrPar%PC_MaxPit)					! Saturate the overall command using the pitch angle limits
+			LocalVar%PitCom(K) = LocalVar%PitCom(K) + LocalVar%IPC_PitComF(K)
 		END DO
 
 		! Command the pitch demanded from the last
@@ -90,43 +94,47 @@ SUBROUTINE VariableSpeedControl(avrSWAP, CntrPar, LocalVar, objInst)
 		avrSWAP(56) = 0.0          ! Torque override: 0=yes
 
 		! Filter the HSS (generator) speed measurement:
-		! Apply Low-Pass Filter
-		LocalVar%GenSpeedF = SecLPFilter(LocalVar%GenSpeed, LocalVar%DT, CntrPar%CornerFreq, 0.7, LocalVar%iStatus, .FALSE., objInst%instSecLPF) ! Second-order low-pass filter on generator speed
-
+		! Apply Low-Pass Filter (choice between first- and second-order low-pass filter)
+		IF (CntrPar%F_FilterType == 1) THEN
+            LocalVar%GenSpeedF = LPFilter(LocalVar%GenSpeed, LocalVar%DT, CntrPar%F_CornerFreq, LocalVar%iStatus, .FALSE., objInst%instLPF)
+		ELSEIF (CntrPar%F_FilterType == 2) THEN   
+            LocalVar%GenSpeedF = SecLPFilter(LocalVar%GenSpeed, LocalVar%DT, CntrPar%F_CornerFreq, CntrPar%F_Damping, LocalVar%iStatus, .FALSE., objInst%instSecLPF) ! Second-order low-pass filter on generator speed
+        END IF
+
 		! Compute the generator torque, which depends on which region we are in:
 		LocalVar%VS_SpdErrAr = CntrPar%VS_RefSpd - LocalVar%GenSpeedF		! Current speed error - Above-rated PI-control
 		LocalVar%VS_SpdErrBr = CntrPar%VS_MinOMSpd - LocalVar%GenSpeedF		! Current speed error - Below-rated PI-control
 		IF (LocalVar%VS_State >= 4) THEN
-			LocalVar%GenTrqAr = PIController(LocalVar%VS_SpdErrAr, CntrPar%VS_KP(1), CntrPar%VS_KI(1), CntrPar%VS_MaxOMTq, CntrPar%VS_ArSatTq, LocalVar%DT, CntrPar%VS_ArSatTq, .TRUE., objInst%instPI)
-			LocalVar%GenTrqBr = PIController(LocalVar%VS_SpdErrBr, CntrPar%VS_KP(1), CntrPar%VS_KI(1), CntrPar%VS_MinTq, CntrPar%VS_MinOMTq, LocalVar%DT, CntrPar%VS_MinOMTq, .TRUE., objInst%instPI)
+			LocalVar%GenArTq = PIController(LocalVar%VS_SpdErrAr, CntrPar%VS_KP(1), CntrPar%VS_KI(1), CntrPar%VS_MaxOMTq, CntrPar%VS_ArSatTq, LocalVar%DT, CntrPar%VS_ArSatTq, .TRUE., objInst%instPI)
+			LocalVar%GenBrTq = PIController(LocalVar%VS_SpdErrBr, CntrPar%VS_KP(1), CntrPar%VS_KI(1), CntrPar%VS_MinTq, CntrPar%VS_MinOMTq, LocalVar%DT, CntrPar%VS_MinOMTq, .TRUE., objInst%instPI)
 			IF (LocalVar%VS_State == 4) THEN
-				LocalVar%GenTrq = CntrPar%VS_RtTq
+				LocalVar%GenTq = CntrPar%VS_RtTq
 			ELSEIF (LocalVar%VS_State == 5) THEN
-				LocalVar%GenTrq = (CntrPar%VS_RtPwr/CntrPar%VS_GenEff)/LocalVar%GenSpeedF
+				LocalVar%GenTq = (CntrPar%VS_RtPwr/CntrPar%VS_GenEff)/LocalVar%GenSpeedF
 			END IF
 		ELSE
-			LocalVar%GenTrqAr = PIController(LocalVar%VS_SpdErrAr, CntrPar%VS_KP(1), CntrPar%VS_KI(1), CntrPar%VS_MaxOMTq, CntrPar%VS_ArSatTq, LocalVar%DT, CntrPar%VS_MaxOMTq, .FALSE., objInst%instPI)
-			LocalVar%GenTrqBr = PIController(LocalVar%VS_SpdErrBr, CntrPar%VS_KP(1), CntrPar%VS_KI(1), CntrPar%VS_MinTq, CntrPar%VS_MinOMTq, LocalVar%DT, CntrPar%VS_MinOMTq, .FALSE., objInst%instPI)
+			LocalVar%GenArTq = PIController(LocalVar%VS_SpdErrAr, CntrPar%VS_KP(1), CntrPar%VS_KI(1), CntrPar%VS_MaxOMTq, CntrPar%VS_ArSatTq, LocalVar%DT, CntrPar%VS_MaxOMTq, .FALSE., objInst%instPI)
+			LocalVar%GenBrTq = PIController(LocalVar%VS_SpdErrBr, CntrPar%VS_KP(1), CntrPar%VS_KI(1), CntrPar%VS_MinTq, CntrPar%VS_MinOMTq, LocalVar%DT, CntrPar%VS_MinOMTq, .FALSE., objInst%instPI)
 			IF (LocalVar%VS_State == 3) THEN
-				LocalVar%GenTrq = LocalVar%GenTrqAr
+				LocalVar%GenTq = LocalVar%GenArTq
 			ELSEIF (LocalVar%VS_State == 1) THEN
-				LocalVar%GenTrq = LocalVar%GenTrqBr
+				LocalVar%GenTq = LocalVar%GenBrTq
 			ELSEIF (LocalVar%VS_State == 2) THEN
-				LocalVar%GenTrq = CntrPar%VS_Rgn2K*LocalVar%GenSpeedF*LocalVar%GenSpeedF
+				LocalVar%GenTq = CntrPar%VS_Rgn2K*LocalVar%GenSpeedF*LocalVar%GenSpeedF
 			ELSE
-				LocalVar%GenTrq = CntrPar%VS_MaxOMTq
+				LocalVar%GenTq = CntrPar%VS_MaxOMTq
 			END IF
 		END IF
 
 		! Saturate the commanded torque using the maximum torque limit:
-		LocalVar%GenTrq = MIN(LocalVar%GenTrq, CntrPar%VS_MaxTq)						! Saturate the command using the maximum torque limit
+		LocalVar%GenTq = MIN(LocalVar%GenTq, CntrPar%VS_MaxTq)						! Saturate the command using the maximum torque limit
 
 		! Saturate the commanded torque using the torque rate limit:
-		IF (LocalVar%iStatus == 0)  LocalVar%VS_LastGenTrq = LocalVar%GenTrq				! Initialize the value of LocalVar%VS_LastGenTrq on the first pass only
-		LocalVar%GenTrq = ratelimit(LocalVar%GenTrq, LocalVar%VS_LastGenTrq, -CntrPar%VS_MaxRat, CntrPar%VS_MaxRat, LocalVar%DT)	! Saturate the command using the torque rate limit
+		IF (LocalVar%iStatus == 0)  LocalVar%VS_LastGenTrq = LocalVar%GenTq				! Initialize the value of LocalVar%VS_LastGenTrq on the first pass only
+		LocalVar%GenTq = ratelimit(LocalVar%GenTq, LocalVar%VS_LastGenTrq, -CntrPar%VS_MaxRat, CntrPar%VS_MaxRat, LocalVar%DT)	! Saturate the command using the torque rate limit
 
 		! Reset the value of LocalVar%VS_LastGenTrq to the current values:
-		LocalVar%VS_LastGenTrq = LocalVar%GenTrq
+		LocalVar%VS_LastGenTrq = LocalVar%GenTq
 
 		! Set the generator contactor status, avrSWAP(35), to main (high speed)
 		! variable-speed generator, the torque override to yes, and command the
@@ -185,7 +193,6 @@ SUBROUTINE IPC(CntrPar, LocalVar, objInst)
 		REAL(4), SAVE			:: IntAxisTilt, IntAxisYaw			! Integral of the direct axis and quadrature axis
 		REAL(4)					:: IntAxisYawIPC					! IPC contribution with yaw-by-IPC component
 		REAL(4)					:: Y_MErrF, Y_MErrF_IPC				! Unfiltered and filtered yaw alignment error [rad]
-		REAL(4)					:: PitComIPC_woYaw(3)
 
 		TYPE(ControlParameters), INTENT(INOUT)	:: CntrPar
 		TYPE(LocalVariables), INTENT(INOUT)		:: LocalVar
@@ -200,12 +207,12 @@ SUBROUTINE IPC(CntrPar, LocalVar, objInst)
 		!------------------------------------------------------------------------------------------------------------------------------
 		! Initialization
 			! Set integrals to be 0 in the first time step
-		IF(LocalVar%iStatus==0)  THEN
+		IF (LocalVar%iStatus==0) THEN
 			IntAxisTilt = 0.0
 			IntAxisYaw = 0.0
 		END IF
 
-		! Pass rootMOOPs through the Coleman transform to get the direct and quadrature axis
+		! Pass rootMOOPs through the Coleman transform to get the tilt and yaw moment axis
 		CALL ColemanTransform(LocalVar%rootMOOP, LocalVar%Azimuth, axisTilt, axisYaw)
 
 		! High-pass filter the MBC yaw component and filter yaw alignment error, and compute the yaw-by-IPC contribution
@@ -215,6 +222,7 @@ SUBROUTINE IPC(CntrPar, LocalVar, objInst)
 		ELSE
 			axisYawF = axisYaw
 			Y_MErrF = 0.0
+			Y_MErrF_IPC = 0.0
 		END IF
 
 		! Integrate the signal and multiply with the IPC gain

diff --git a/Source/DISCON.f90 b/Source/DISCON.f90
@@ -46,7 +46,7 @@ SUBROUTINE DISCON(avrSWAP, aviFAIL, accINFILE, avcOUTNAME, avcMSG) BIND (C, NAME
 	CALL StateMachine(CntrPar, LocalVar)
 	CALL VariableSpeedControl(avrSWAP, CntrPar, LocalVar, objInst)
 	CALL PitchControl(avrSWAP, CntrPar, LocalVar, objInst)
-!	CALL YawRateControl(avrSWAP, CntrPar, LocalVar, objInst)
+	CALL YawRateControl(avrSWAP, CntrPar, LocalVar, objInst)
 
 	CALL Debug(LocalVar, CntrPar, avrSWAP, RootName, SIZE(avcOUTNAME))
 END IF

diff --git a/Source/DRC_Types.f90 b/Source/DRC_Types.f90
@@ -3,8 +3,10 @@ MODULE DRC_Types
 IMPLICIT NONE
 
 TYPE, PUBLIC :: ControlParameters
-	REAL(4)								:: CornerFreq					! Corner frequency (-3dB point) in the first-order low-pass filter, [rad/s]
 	INTEGER(4)							:: LoggingLevel					! 0 = write no debug files, 1 = write standard output .dbg-file, 2 = write standard output .dbg-file and complete avrSWAP-array .dbg2-file
+    INTEGER(4)                          :: F_FilterType                 ! 1 = first-order low-pass filter, 2 = second-order low-pass filter
+    REAL(4)                             :: F_CornerFreq                 ! Corner frequency (-3dB point) in the first-order low-pass filter, [rad/s]
+    REAL(4)								:: F_Damping					! Damping coefficient if F_FilterType = 2, unused otherwise
 	REAL(4)								:: IPC_IntSat					! Integrator saturation (maximum signal amplitude contrbution to pitch from IPC)
 	REAL(4)								:: IPC_KI						! Integral gain for the individual pitch controller, [-]. 8E-10
 	INTEGER(4)							:: IPC_ControlMode				! Turn Individual Pitch Control (IPC) for fatigue load reductions (pitch contribution) on = 1/off = 0
@@ -71,9 +73,9 @@ MODULE DRC_Types
 
 	! Internal controller variables
 	REAL(4)								:: GenSpeedF					! Filtered HSS (generator) speed [rad/s].
-	REAL(4)								:: GenTrq						! Electrical generator torque, [Nm].
-	REAL(4)								:: GenTrqAr						! Electrical generator torque, for above-rated PI-control [Nm].
-	REAL(4)								:: GenTrqBr						! Electrical generator torque, for below-rated PI-control [Nm].
+	REAL(4)								:: GenTq						! Electrical generator torque, [Nm].
+	REAL(4)								:: GenArTq						! Electrical generator torque, for above-rated PI-control [Nm].
+	REAL(4)								:: GenBrTq						! Electrical generator torque, for below-rated PI-control [Nm].
 	INTEGER(4)							:: GlobalState					! Current global state to determine the behavior of the different controllers [-].
 	REAL(4)								:: IPC_PitComF(3)				! Commanded pitch of each blade as calculated by the individual pitch controller, F stands for low pass filtered, [rad].
 	REAL(4)								:: PC_KP						! Proportional gain for pitch controller at rated pitch (zero), [s].