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Include min rotor speed input
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@nikhar-abbas
nikhar-abbas committed Nov 14, 2019
1 parent a575dd4 commit 3552e42
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Showing 5 changed files with 29 additions and 16 deletions.
18 changes: 14 additions & 4 deletions ROSCO_toolbox/controller.py
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Original file line number Diff line number Diff line change
Expand Up @@ -77,6 +77,11 @@ def __init__(self, controller_params):
else:
self.max_pitch = 90*deg2rad # Default to 90 degrees max pitch

if controller_params['vs_minspd']:
self.vs_minspd = controller_params['vs_minspd']
else:
self.vs_minspd = None

if controller_params['ss_vsgain']:
self.ss_vsgain = controller_params['ss_vsgain']
else:
Expand Down Expand Up @@ -198,18 +203,23 @@ def tune_controller(self, turbine):
B_tau = B_tau * np.ones(len(v_below_rated))
B_beta = B_beta[len(v_below_rated):len(v)]

# Find gain schedule
# -- Find gain schedule --
self.pc_gain_schedule = ControllerTypes()
self.pc_gain_schedule.second_order_PI(self.zeta_pc, self.omega_pc,A_pc,B_beta,linearize=True,v=v_above_rated)
self.vs_gain_schedule = ControllerTypes()
self.vs_gain_schedule.second_order_PI(self.zeta_vs, self.omega_vs,A_vs,B_tau,linearize=False,v=v_below_rated)

# Find K for Komega_g^2
# -- Find K for Komega_g^2 --
self.vs_rgn2K = (pi*rho*R**5.0 * turbine.Cp.max) / (2.0 * turbine.Cp.TSR_opt**3 * Ng**3)
self.vs_refspd = min(turbine.Cp.TSR_opt * turbine.v_rated/R, turbine.rated_rotor_speed) * Ng

# Define some setpoints
self.vs_minspd = (turbine.Cp.TSR_opt * turbine.v_min / turbine.rotor_radius) * Ng
# -- Define some setpoints --
# minimum rotor speed
if self.vs_minspd:
self.vs_minspd = np.maximum(self.vs_minspd, (turbine.Cp.TSR_opt * turbine.v_min / turbine.rotor_radius) * Ng)
else:
self.vs_minspd = (turbine.Cp.TSR_opt * turbine.v_min / turbine.rotor_radius) * Ng
# max pitch angle for shutdown
if self.sd_maxpit:
self.sd_maxpit = self.sd_maxpit
else:
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22 changes: 11 additions & 11 deletions Tune_Cases/DISCON.IN
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@@ -1,5 +1,5 @@
! Controller parameter input file for the IEA-15-240-RWT wind turbine
! - File written using NREL Reference OpenSource Controller tuning logic on 11/11/19
! - File written using ROSCO Controller tuning logic on 11/14/19

!------- DEBUG ------------------------------------------------------------
1 ! LoggingLevel - {0: write no debug files, 1: write standard output .dbg-file, 2: write standard output .dbg-file and complete avrSWAP-array .dbg2-file}
Expand All @@ -26,8 +26,8 @@
!------- BLADE PITCH CONTROL ----------------------------------------------
28 ! PC_GS_n - Amount of gain-scheduling table entries
0.061023 0.088728 0.110709 0.129568 0.146445 0.161934 0.176370 0.190004 0.203003 0.215506 0.227434 0.239015 0.250364 0.261283 0.271993 0.282525 0.292717 0.302879 0.312675 0.322456 0.332012 0.341376 0.350893 0.359802 0.368910 0.377960 0.386550 0.395338 ! PC_GS_angles - Gain-schedule table: pitch angles
-0.763672 -0.634653 -0.529588 -0.442373 -0.368814 -0.305938 -0.251574 -0.204104 -0.162294 -0.125189 -0.092037 -0.062239 -0.035310 -0.010854 0.011453 0.031884 0.050666 0.067990 0.084020 0.098895 0.112737 0.125648 0.137721 0.149033 0.159655 0.169648 0.179067 0.187959 ! PC_GS_KP - Gain-schedule table: pitch controller kp gains
-0.040165 -0.036055 -0.032708 -0.029930 -0.027587 -0.025584 -0.023852 -0.022339 -0.021008 -0.019825 -0.018769 -0.017820 -0.016962 -0.016183 -0.015473 -0.014822 -0.014223 -0.013671 -0.013161 -0.012687 -0.012246 -0.011835 -0.011450 -0.011090 -0.010751 -0.010433 -0.010133 -0.009850 ! PC_GS_KI - Gain-schedule table: pitch controller ki gains
-1.406318 -1.211538 -1.052921 -0.921251 -0.810199 -0.715274 -0.633201 -0.561535 -0.498414 -0.442397 -0.392348 -0.347361 -0.306706 -0.269785 -0.236107 -0.205262 -0.176908 -0.150754 -0.126553 -0.104096 -0.083199 -0.063707 -0.045481 -0.028402 -0.012366 0.002721 0.016940 0.030364 ! PC_GS_KP - Gain-schedule table: pitch controller kp gains
-0.130136 -0.116819 -0.105975 -0.096973 -0.089380 -0.082891 -0.077279 -0.072380 -0.068064 -0.064235 -0.060813 -0.057737 -0.054958 -0.052433 -0.050131 -0.048022 -0.046084 -0.044296 -0.042641 -0.041106 -0.039677 -0.038344 -0.037098 -0.035931 -0.034834 -0.033803 -0.032831 -0.031913 ! 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 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 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)
1.570800000000 ! PC_MaxPit - Maximum physical pitch limit, [rad].
Expand All @@ -53,7 +53,7 @@
4500000.000000 ! VS_MaxRat - Maximum torque rate (in absolute value) in torque controller, [Nm/s].
22601191.69920 ! VS_MaxTq - Maximum generator torque in Region 3 (HSS side), [Nm].
0.000000000000 ! VS_MinTq - Minimum generator (HSS side), [Nm].
0.232380000000 ! VS_MinOMSpd - Optimal mode minimum speed, cut-in speed towards optimal mode gain path, [rad/s]
0.481700000000 ! VS_MinOMSpd - Optimal mode minimum speed, cut-in speed towards optimal mode gain path, [rad/s]
27839605.65993 ! VS_Rgn2K - Generator torque constant in Region 2 (HSS side), [N-m/(rad/s)^2]
15000000.00000 ! VS_RtPwr - Wind turbine rated power [W]
20546537.90836 ! VS_RtTq - Rated torque, [Nm].
Expand All @@ -68,7 +68,7 @@
0.00100 ! SS_PCGain - Collective pitch controller setpoint smoother gain, [-].

!------- WIND SPEED ESTIMATOR ---------------------------------------------
120.000 ! WE_BladeRadius - Blade length [m]
120.000 ! WE_BladeRadius - Blade length (distance from hub center to blade tip), [m]
1 ! WE_CP_n - Amount of parameters in the Cp array
0.0 0.0 0.0 0.0 ! WE_CP - Parameters that define the parameterized CP(lambda) function
0.0 ! WE_Gamma - Adaption gain of the wind speed estimator algorithm [m/rad]
Expand All @@ -77,9 +77,9 @@
1.225 ! WE_RhoAir - Air density, [kg m^-3]
"Cp_Ct_Cq.IEA15MW.txt" ! PerfFileName - File containing rotor performance tables (Cp,Ct,Cq)
104 48 ! PerfTableSize - Size of rotor performance tables, first number refers to number of blade pitch angles, second number referse to number of tip-speed ratios
44 ! WE_FOPoles_N - Number of first-order system poles used in EKF
3.00 3.50 4.00 4.50 5.00 5.50 6.00 6.50 7.00 7.50 8.00 8.50 9.00 9.50 10.00 10.50 11.20 11.70 12.20 12.70 13.20 13.70 14.20 14.70 15.20 15.70 16.20 16.70 17.20 17.70 18.20 18.70 19.20 19.70 20.20 20.70 21.20 21.70 22.20 22.70 23.20 23.70 24.20 24.70 ! WE_FOPoles_v - Wind speeds corresponding to first-order system poles [m/s]
-0.01652455 -0.01927864 -0.02203273 -0.02478682 -0.02754091 -0.03029500 -0.03304909 -0.03580318 -0.03855727 -0.04131136 -0.04406545 -0.04681955 -0.04957364 -0.05232773 -0.05508182 -0.05783591 -0.03839496 -0.04208232 -0.04920271 -0.05806176 -0.06804687 -0.07884353 -0.09027971 -0.10224776 -0.11469131 -0.12761248 -0.14067971 -0.15415367 -0.16815889 -0.18221582 -0.19667817 -0.21157533 -0.22645645 -0.24201891 -0.25739043 -0.27341165 -0.28948686 -0.30571797 -0.32294693 -0.33909947 -0.35640507 -0.37404429 -0.39090433 -0.40892667 ! WE_FOPoles - First order system poles
40 ! WE_FOPoles_N - Number of first-order system poles used in EKF
5.00 5.50 6.00 6.50 7.00 7.50 8.00 8.50 9.00 9.50 10.00 10.50 11.20 11.70 12.20 12.70 13.20 13.70 14.20 14.70 15.20 15.70 16.20 16.70 17.20 17.70 18.20 18.70 19.20 19.70 20.20 20.70 21.20 21.70 22.20 22.70 23.20 23.70 24.20 24.70 ! WE_FOPoles_v - Wind speeds corresponding to first-order system poles [m/s]
-0.02754091 -0.03029500 -0.03304909 -0.03580318 -0.03855727 -0.04131136 -0.04406545 -0.04681955 -0.04957364 -0.05232773 -0.05508182 -0.05783591 -0.03839496 -0.04208232 -0.04920271 -0.05806176 -0.06804687 -0.07884353 -0.09027971 -0.10224776 -0.11469131 -0.12761248 -0.14067971 -0.15415367 -0.16815889 -0.18221582 -0.19667817 -0.21157533 -0.22645645 -0.24201891 -0.25739043 -0.27341165 -0.28948686 -0.30571797 -0.32294693 -0.33909947 -0.35640507 -0.37404429 -0.39090433 -0.40892667 ! WE_FOPoles - First order system poles

!------- YAW CONTROL ------------------------------------------------------
0.0 ! Y_ErrThresh - Yaw error threshold. Turbine begins to yaw when it passes this. [rad^2 s]
Expand All @@ -100,9 +100,9 @@
0.0 ! FA_IntSat - Integrator saturation (maximum signal amplitude contribution to pitch from FA damper), [rad]

!------- PEAK SHAVING -------------------------------------------
44 ! PS_BldPitchMin_N - Number of values in minimum blade pitch lookup table (should equal number of values in PS_WindSpeeds and PS_BldPitchMin)
3.00 3.50 4.00 4.50 5.00 5.50 6.00 6.50 7.00 7.50 8.00 8.50 9.00 9.50 10.00 10.50 11.20 11.70 12.20 12.70 13.20 13.70 14.20 14.70 15.20 15.70 16.20 16.70 17.20 17.70 18.20 18.70 19.20 19.70 20.20 20.70 21.20 21.70 22.20 22.70 23.20 23.70 24.20 24.70 ! PS_WindSpeeds - Wind speeds corresponding to minimum blade pitch angles [m/s]
-0.01745329 -0.01745329 -0.01745329 -0.01745329 -0.01745329 -0.01745329 -0.01745329 -0.01745329 -0.01745329 -0.01745329 -0.01745329 -0.01745329 -0.00636653 0.02375196 0.04640148 0.06455777 0.07631998 0.08713215 0.09760887 0.10780839 0.11780039 0.12760432 0.13724933 0.14675543 0.15614649 0.16545391 0.17455359 0.18358457 0.19260414 0.20142771 0.21021228 0.21896842 0.22754168 0.23618802 0.24460419 0.25308762 0.26143972 0.26969809 0.27814403 0.28611180 0.29431006 0.30249705 0.31032376 0.31837339 ! PS_BldPitchMin - Minimum blade pitch angles [rad]
40 ! PS_BldPitchMin_N - Number of values in minimum blade pitch lookup table (should equal number of values in PS_WindSpeeds and PS_BldPitchMin)
5.00 5.50 6.00 6.50 7.00 7.50 8.00 8.50 9.00 9.50 10.00 10.50 11.20 11.70 12.20 12.70 13.20 13.70 14.20 14.70 15.20 15.70 16.20 16.70 17.20 17.70 18.20 18.70 19.20 19.70 20.20 20.70 21.20 21.70 22.20 22.70 23.20 23.70 24.20 24.70 ! PS_WindSpeeds - Wind speeds corresponding to minimum blade pitch angles [m/s]
-0.01745329 -0.01745329 -0.01745329 -0.01745329 -0.01745329 -0.01745329 -0.01745329 -0.01745329 -0.00636653 0.02375196 0.04640148 0.06455777 0.07631998 0.08713215 0.09760887 0.10780839 0.11780039 0.12760432 0.13724933 0.14675543 0.15614649 0.16545391 0.17455359 0.18358457 0.19260414 0.20142771 0.21021228 0.21896842 0.22754168 0.23618802 0.24460419 0.25308762 0.26143972 0.26969809 0.27814403 0.28611180 0.29431006 0.30249705 0.31032376 0.31837339 ! PS_BldPitchMin - Minimum blade pitch angles [rad]

!------- SHUTDOWN -------------------------------------------
0.395340000000 ! SD_MaxPit - Maximum blade pitch angle to initiate shutdown, [rad]
Expand Down
1 change: 1 addition & 0 deletions Tune_Cases/DTU10MW.yaml
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Expand Up @@ -42,6 +42,7 @@ controller_params:
# Optional - these can be defined, but do not need to be
max_pitch: # None # Maximum pitch angle [rad], {default = 90 degrees}
min_pitch: # None # Minimum pitch angle [rad], {default = 0 degrees}
vs_minspd: # None # Minimum rotor speed [rad/s], {default = 0 rad/s}
ss_cornerfreq: # None # First order low-pass filter cornering frequency for setpoint smoother [rad/s]
ss_vsgain: # None # Torque controller setpoint smoother gain bias percentage [%, <= 1 ], {default = 100%}
ss_pcgain: # None # Pitch controller setpoint smoother gain bias percentage [%, <= 1 ], {default = 0.1%}
Expand Down
3 changes: 2 additions & 1 deletion Tune_Cases/IEA15MW.yaml
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Expand Up @@ -12,7 +12,7 @@ path_params:
turbine_params:
rotor_inertia: 374349414. # Rotor inertia [kg m^2], {Available in Elastodyn .sum file}
rated_rotor_speed: 0.785 # Rated rotor speed [rad/s]
v_min: 3.0 # Cut-in wind speed [m/s]
v_min: 3. # Cut-in wind speed [m/s]
v_rated: 10.7 # Rated wind speed [m/s]
v_max: 25.0 # Cut-out wind speed [m/s], -- Does not need to be exact (JUST ASSUME FOR NOW)
max_pitch_rate: 5. # Maximum blade pitch rate [deg/s]
Expand Down Expand Up @@ -42,6 +42,7 @@ controller_params:
# Optional - these can be defined, but do not need to be
max_pitch: # None # Maximum pitch angle [rad], {default = 90 degrees}
min_pitch: # None # Minimum pitch angle [rad], {default = 0 degrees}
vs_minspd: 0.4817 # Minimum rotor speed [rad/s], {default = 0 rad/s}
ss_cornerfreq: # None # First order low-pass filter cornering frequency for setpoint smoother [rad/s]
ss_vsgain: # None # Torque controller setpoint smoother gain bias percentage [%, <= 1 ], {default = 100%}
ss_pcgain: # None # Pitch controller setpoint smoother gain bias percentage [%, <= 1 ], {default = 0.1%}
Expand Down
1 change: 1 addition & 0 deletions Tune_Cases/NREL5MW.yaml
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Expand Up @@ -43,6 +43,7 @@ controller_params:
# Optional - these can be defined, but do not need to be
max_pitch: # None # Maximum pitch angle [rad], {default = 90 degrees}
min_pitch: # None # Minimum pitch angle [rad], {default = 0 degrees}
vs_minspd: # None # Minimum rotor speed [rad/s], {default = 0 rad/s}
ss_cornerfreq: # None # First order low-pass filter cornering frequency for setpoint smoother [rad/s]
ss_vsgain: # None # Torque controller setpoint smoother gain bias percentage [%, <= 1 ], {default = 100%}
ss_pcgain: # None # Pitch controller setpoint smoother gain bias percentage [%, <= 1 ], {default = 0.1%}
Expand Down

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