Merge pull request #2 from NREL/f/shutdown

F/shutdown
NREL · Apr 8, 2020 · 7cb1654 · 7cb1654
2 parents e3eef35 + bd966ea
commit 7cb1654
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Showing 4 changed files with 37 additions and 16 deletions.
diff --git a/README.md b/README.md
@@ -23,7 +23,7 @@ Second, you will need to compile the controller. From the ROSCO home directory:
 mkdir build
 cd build
 cmake ..
-make install
+make
 ```
 A dynamic link library will be compiled into the directory with the title `libdiscon.*`, where the file extension is `.so`, `.dll`, or `.dylib`, depending on the user's operating system.  
 

diff --git a/src/ControllerBlocks.f90 b/src/ControllerBlocks.f90
@@ -300,6 +300,7 @@ REAL FUNCTION Shutdown(LocalVar, CntrPar, objInst)
         REAL(4)                      :: MaxYaw
         REAL(4)                      :: SD_slope
         REAL(4), Save                :: SD_time = 0.0
+        Logical                      :: downwind=.TRUE.
 
         ! Initialize Shutdown Varible
         IF (LocalVar%iStatus == 0) THEN
@@ -326,7 +327,9 @@ REAL FUNCTION Shutdown(LocalVar, CntrPar, objInst)
 
             ! Shutdown?
             IF (LocalVar%Time > 30.0) THEN
-                IF (SD_BlPitchF > CntrPar%SD_MaxPit) THEN
+                ! IF (SD_BlPitchF > CntrPar%SD_MaxPit) THEN
+                !     LocalVar%SD  = .TRUE.
+                IF (LocalVar%GenSpeedF > CntrPar%PC_RefSpd*1.2) THEN
                     LocalVar%SD  = .TRUE.
                 ELSEIF (ABS(SD_YawErrF) > MaxYaw*D2R) THEN 
                     LocalVar%SD  = .TRUE.
@@ -338,18 +341,30 @@ REAL FUNCTION Shutdown(LocalVar, CntrPar, objInst)
 
         ! Pitch Blades to 90 degrees at max pitch rate if in shutdown mode
         IF (LocalVar%SD) THEN
-            ! "e-stop"
-            ! Shutdown = LocalVar%BlPitch(1) + CntrPar%PC_MaxRat*LocalVar%DT
-
-            ! If Pitch-to-stall 
-            ! Shutdown = LocalVar%BlPitch(1) - CntrPar%PC_MaxRat*LocalVar%DT
-            ! LocalVar%PC_MinPit = -90*R2D
-
-            ! "Normal" shutdown
-            SD_time = SD_time + LocalVar%DT
-            SD_slope = - (CntrPar%VS_RefSpd / 60.0)
-            CntrPar%PC_RefSpd = SD_slope*SD_time + CntrPar%VS_RefSpd
-            CntrPar%PC_RefSpd = max(CntrPar%PC_RefSpd, 0.0)
+
+            ! E-stop - Pitch-to-stall (downwind, Below Rated)
+            IF ( (downwind) .AND. (LocalVar%GenTq <= CntrPar%VS_ArSatTq) .AND. (LocalVar%PC_PitComT < 2.0) ) THEN
+                Shutdown = LocalVar%BlPitch(1) - CntrPar%PC_MaxRat*LocalVar%DT
+                LocalVar%PC_MinPit = -90*D2R
+
+                ! SD_time = SD_time + LocalVar%DT
+                ! SD_slope = - (CntrPar%PC_RefSpd / 30.0)
+                ! LocalVar%SD_RefSpd = SD_slope*SD_time + CntrPar%PC_RefSpd
+                ! LocalVar%SD_RefSpd = max(LocalVar%SD_RefSpd, 0.0)
+
+            ! E-stop - Pitch-to-feather (Upwind)
+            ELSEIF (LocalVar%BlPitch(1) > CntrPar%SD_MaxPit) THEN
+                Shutdown = LocalVar%BlPitch(1) + CntrPar%PC_MaxRat*LocalVar%DT
+
+            ELSE
+                ! "Normal" shutdown
+                SD_time = SD_time + LocalVar%DT
+                SD_slope = - (CntrPar%PC_RefSpd / 30.0)
+                LocalVar%SD_RefSpd = SD_slope*SD_time + CntrPar%PC_RefSpd
+                LocalVar%SD_RefSpd = max(LocalVar%SD_RefSpd, 0.0)
+
+                Shutdown = LocalVar%PC_PitComT
+            ENDIF
 
             IF (MODULO(LocalVar%Time, 10.0) == 0) THEN
                 print *, ' ** SHUTDOWN MODE **'

diff --git a/src/ROSCO_Types.f90 b/src/ROSCO_Types.f90
@@ -191,7 +191,8 @@ MODULE ROSCO_Types
     REAL(4)                             :: Y_MErr                       ! Measured yaw error, measured + setpoint [rad].
     REAL(4)                             :: Y_YawEndT                    ! Yaw end time [s]. Indicates the time up until which yaw is active with a fixed rate
     LOGICAL(1)                          :: SD                           ! Shutdown, .FALSE. if inactive, .TRUE. if active
-    REAL(4)                             :: Fl_PitCom                           ! Shutdown, .FALSE. if inactive, .TRUE. if active
+    REAL(4)                             :: SD_RefSpd                    ! Generator reference speed during shutdown
+    REAL(4)                             :: Fl_PitCom                    ! Floating pitch command
     REAL(4)                             :: NACIMU_FA_AccF
     REAL(4)                             :: Flp_Angle(3)                 ! Flap Angle (rad)
     END TYPE LocalVariables

diff --git a/src/ReadSetParameters.f90 b/src/ReadSetParameters.f90
@@ -251,6 +251,10 @@ SUBROUTINE ComputeVariablesSetpoints(CntrPar, LocalVar, objInst)
             PC_RefSpd = CntrPar%PC_RefSpd
         ENDIF
 
+        IF (LocalVar%SD) THEN
+            PC_RefSpd = LocalVar%SD_RefSpd
+        ENDIF
+
         LocalVar%PC_SpdErr = PC_RefSpd - LocalVar%GenSpeedF            ! Speed error
         LocalVar%PC_PwrErr = CntrPar%VS_RtPwr - LocalVar%VS_GenPwr             ! Power error
 
@@ -273,6 +277,7 @@ SUBROUTINE ComputeVariablesSetpoints(CntrPar, LocalVar, objInst)
         ! Force zero torque in shutdown mode
         IF (LocalVar%SD) THEN
             VS_RefSpd = CntrPar%VS_MinOMSpd
+            ! VS_RefSpd = LocalVar%SD_RefSpd
         ENDIF
 
         ! Force minimum rotor speed
@@ -282,7 +287,7 @@ SUBROUTINE ComputeVariablesSetpoints(CntrPar, LocalVar, objInst)
         IF (CntrPar%VS_ControlMode == 2) THEN
             LocalVar%VS_SpdErr = VS_RefSpd - LocalVar%GenSpeedF
         ENDIF
-
+        
         ! Define transition region setpoint errors
         LocalVar%VS_SpdErrAr = VS_RefSpd - LocalVar%GenSpeedF               ! Current speed error - Region 2.5 PI-control (Above Rated)
         LocalVar%VS_SpdErrBr = CntrPar%VS_MinOMSpd - LocalVar%GenSpeedF     ! Current speed error - Region 1.5 PI-control (Below Rated)