Dear Dr. Jonkman,
I am now working on control of the NREL 5 MW - OC4-
DeepCwind SemiSubmersible wind turbine. I was wondering whether I can obtain a linearized model for this wind turbine including the semi-submersible platform at different wind speed conditions in FAST. I tried this in FAST v7.02.00d-bjj with the following fst file but failed and got the error message that “TwrNodes must not be less than 1”. However, the “TwrNodes” is set to be 20 in the fst file.
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------- FAST INPUT FILE --------------------------------------------------------
NREL 5.0 MW Baseline Wind Turbine OC4
Properties from Dutch Offshore Wind Energy Converter (DOWEC) 6MW Pre-Design (10046_009.pdf) and REpower 5M 5MW (5m_uk.pdf); Compatible with FAST v7.0.
---------------------- SIMULATION CONTROL --------------------------------------
False Echo - Echo input data to "echo.out" (flag)
1 ADAMSPrep - ADAMS preprocessor mode {1: Run FAST, 2: use FAST as a preprocessor to create an ADAMS model, 3: do both} (switch)
2 AnalMode - Analysis mode {1: Run a time-marching simulation, 2: create a periodic linearized model} (switch)
3 NumBl - Number of blades (-)
500 TMax - Total run time (s)
0.0125 DT - Integration time step (s) 0.0125
---------------------- TURBINE CONTROL -----------------------------------------
0 YCMode - Yaw control mode {0: none, 1: user-defined from routine UserYawCont, 2: user-defined from Simulink} (switch)
0 9999.9 TYCOn - Time to enable active yaw control (s) [unused when YCMode=0]
0 PCMode - Pitch control mode {0: none, 1: user-defined from routine PitchCntrl, 2: user-defined from Simulink} (switch)
0.0 TPCOn - Time to enable active pitch control (s) [unused when PCMode=0]
1 VSContrl - Variable-speed control mode {0: none, 1: simple VS, 2: user-defined from routine UserVSCont, 3: user-defined from Simulink} (switch)
1.1737e+03 9999.9e-9 VS_RtGnSp - Rated generator speed for simple variable-speed generator control (HSS side) (rpm) [used only when VSContrl=1]
43093.55 VS_RtTq - Rated generator torque/constant generator torque in Region 3 for simple variable-speed generator control (HSS side) (N-m) [used only when VSContrl=1]
9999.9e-9 .0255764 9999.9e-9 VS_Rgn2K - Generator torque constant in Region 2 for simple variable-speed generator control (HSS side) (N-m/rpm^2) [used only when VSContrl=1]
9999.9e-9 10 9999.9e-9 VS_SlPc - Rated generator slip percentage in Region 2 1/2 for simple variable-speed generator control (%) [used only when VSContrl=1]
1 GenModel - Generator model {1: simple, 2: Thevenin, 3: user-defined from routine UserGen} (switch) [used only when VSContrl=0]
True GenTiStr - Method to start the generator {T: timed using TimGenOn, F: generator speed using SpdGenOn} (flag)
True GenTiStp - Method to stop the generator {T: timed using TimGenOf, F: when generator power = 0} (flag)
9999.9 SpdGenOn - Generator speed to turn on the generator for a startup (HSS speed) (rpm) [used only when GenTiStr=False]
0.0 TimGenOn - Time to turn on the generator for a startup (s) [used only when GenTiStr=True]
9999.9 TimGenOf - Time to turn off the generator (s) [used only when GenTiStp=True]
1 HSSBrMode - HSS brake model {1: simple, 2: user-defined from routine UserHSSBr} (switch)
9999.9 THSSBrDp - Time to initiate deployment of the HSS brake (s)
9999.9 TiDynBrk - Time to initiate deployment of the dynamic generator brake [CURRENTLY IGNORED] (s)
9999.9 TTpBrDp(1) - Time to initiate deployment of tip brake 1 (s)
9999.9 TTpBrDp(2) - Time to initiate deployment of tip brake 2 (s)
9999.9 TTpBrDp(3) - Time to initiate deployment of tip brake 3 (s) [unused for 2 blades]
9999.9 TBDepISp(1) - Deployment-initiation speed for the tip brake on blade 1 (rpm)
9999.9 TBDepISp(2) - Deployment-initiation speed for the tip brake on blade 2 (rpm)
9999.9 TBDepISp(3) - Deployment-initiation speed for the tip brake on blade 3 (rpm) [unused for 2 blades]
9999.9 TYawManS - Time to start override yaw maneuver and end standard yaw control (s)
9999.9 TYawManE - Time at which override yaw maneuver reaches final yaw angle (s)
0.0 NacYawF - Final yaw angle for yaw maneuvers (degrees)
9999.9 TPitManS(1) - Time to start override pitch maneuver for blade 1 and end standard pitch control (s)
9999.9 TPitManS(2) - Time to start override pitch maneuver for blade 2 and end standard pitch control (s)
9999.9 TPitManS(3) - Time to start override pitch maneuver for blade 3 and end standard pitch control (s) [unused for 2 blades]
9999.9 TPitManE(1) - Time at which override pitch maneuver for blade 1 reaches final pitch (s)
9999.9 TPitManE(2) - Time at which override pitch maneuver for blade 2 reaches final pitch (s)
9999.9 TPitManE(3) - Time at which override pitch maneuver for blade 3 reaches final pitch (s) [unused for 2 blades]
-8.1885 15.11 17.638503882818796 14.842799930247352 15.0976 15.1762 18.1936 BlPitch(1) - Blade 1 initial pitch (degrees)
-8.1885 15.11 17.638503882818796 14.842799930247352 15.0976 15.1762 18.1936 BlPitch(2) - Blade 2 initial pitch (degrees)
-8.1885 15.11 17.638503882818796 14.842799930247352 15.0976 15.1762 18.1936 BlPitch(3) - Blade 3 initial pitch (degrees)
0.0 B1PitchF(1) - Blade 1 final pitch for pitch maneuvers (degrees)
0.0 B1PitchF(2) - Blade 2 final pitch for pitch maneuvers (degrees)
0.0 B1PitchF(3) - Blade 3 final pitch for pitch maneuvers (degrees) [unused for 2 blades]
---------------------- ENVIRONMENTAL CONDITIONS --------------------------------
9.80665 Gravity - Gravitational acceleration (m/s^2)
---------------------- FEATURE FLAGS -------------------------------------------
False FlapDOF1 - First flapwise blade mode DOF (flag)
False FlapDOF2 - Second flapwise blade mode DOF (flag)
False EdgeDOF - First edgewise blade mode DOF (flag)
False TeetDOF - Rotor-teeter DOF (flag) [unused for 3 blades]
False DrTrDOF - Drivetrain rotational-flexibility DOF (flag)
F GenDOF - Generator DOF (flag)
T YawDOF - Yaw DOF (flag)
False TwFADOF1 - First fore-aft tower bending-mode DOF (flag)
False TwFADOF2 - Second fore-aft tower bending-mode DOF (flag)
False TwSSDOF1 - First side-to-side tower bending-mode DOF (flag)
False TwSSDOF2 - Second side-to-side tower bending-mode DOF (flag)
T CompAero - Compute aerodynamic forces (flag)
F CompNoise - Compute aerodynamic noise (flag)
---------------------- INITIAL CONDITIONS --------------------------------------
0.0 OoPDefl - Initial out-of-plane blade-tip displacement (meters)
0.0 IPDefl - Initial in-plane blade-tip deflection (meters)
0.0 TeetDefl - Initial or fixed teeter angle (degrees) [unused for 3 blades]
0.0 Azimuth - Initial azimuth angle for blade 1 (degrees)
12.13 RotSpeed - Initial or fixed rotor speed (rpm)
0 NacYaw - Initial or fixed nacelle-yaw angle (degrees)
0.0 TTDspFA - Initial fore-aft tower-top displacement (meters)
0.0 TTDspSS - Initial side-to-side tower-top displacement (meters)
---------------------- TURBINE CONFIGURATION -----------------------------------
63.0 TipRad - The distance from the rotor apex to the blade tip (meters)
1.5 HubRad - The distance from the rotor apex to the blade root (meters)
1 PSpnElN - Number of the innermost blade element which is still part of the pitchable portion of the blade for partial-span pitch control [1 to BldNodes] [CURRENTLY IGNORED] (-)
0.0 UndSling - Undersling length [distance from teeter pin to the rotor apex] (meters) [unused for 3 blades]
0.0 HubCM - Distance from rotor apex to hub mass [positive downwind] (meters)
-5.01910 OverHang - Distance from yaw axis to rotor apex [3 blades] or teeter pin [2 blades] (meters)
1.9 NacCMxn - Downwind distance from the tower-top to the nacelle CM (meters)
0.0 NacCMyn - Lateral distance from the tower-top to the nacelle CM (meters)
1.75 NacCMzn - Vertical distance from the tower-top to the nacelle CM (meters)
87.6 TowerHt - Height of tower above ground level [onshore] or MSL [offshore] (meters)
1.96256 Twr2Shft - Vertical distance from the tower-top to the rotor shaft (meters)
0.0 TwrRBHt - Tower rigid base height (meters)
-5.0 ShftTilt - Rotor shaft tilt angle (degrees)
0.0 Delta3 - Delta-3 angle for teetering rotors (degrees) [unused for 3 blades]
-2.5 PreCone(1) - Blade 1 cone angle (degrees)
-2.5 PreCone(2) - Blade 2 cone angle (degrees)
-2.5 PreCone(3) - Blade 3 cone angle (degrees) [unused for 2 blades]
0.0 AzimB1Up - Azimuth value to use for I/O when blade 1 points up (degrees)
---------------------- MASS AND INERTIA ----------------------------------------
0.0 YawBrMass - Yaw bearing mass (kg)
240.00E3 NacMass - Nacelle mass (kg)
56.78E3 HubMass - Hub mass (kg)
0.0 TipMass(1) - Tip-brake mass, blade 1 (kg)
0.0 TipMass(2) - Tip-brake mass, blade 2 (kg)
0.0 TipMass(3) - Tip-brake mass, blade 3 (kg) [unused for 2 blades]
2607.89E3 NacYIner - Nacelle inertia about yaw axis (kg m^2)
534.116 GenIner - Generator inertia about HSS (kg m^2)
115.926E3 HubIner - Hub inertia about rotor axis [3 blades] or teeter axis [2 blades] (kg m^2)
---------------------- DRIVETRAIN ----------------------------------------------
100.0 GBoxEff - Gearbox efficiency (%)
94 100 94.4 GenEff - Generator efficiency [ignored by the Thevenin and user-defined generator models] (%)
97.0 GBRatio - Gearbox ratio (-)
False GBRevers - Gearbox reversal {T: if rotor and generator rotate in opposite directions} (flag)
28.1162E3 HSSBrTqF - Fully deployed HSS-brake torque (N-m)
0.6 HSSBrDT - Time for HSS-brake to reach full deployment once initiated (sec) [used only when HSSBrMode=1]
DynBrkFi - File containing a mech-gen-torque vs HSS-speed curve for a dynamic brake [CURRENTLY IGNORED] (quoted string)
867.637E6 DTTorSpr - Drivetrain torsional spring (N-m/rad)
6.215E6 DTTorDmp - Drivetrain torsional damper (N-m/(rad/s))
---------------------- SIMPLE INDUCTION GENERATOR ------------------------------
9999.9 SIG_SlPc - Rated generator slip percentage (%) [used only when VSContrl=0 and GenModel=1]
9999.9 SIG_SySp - Synchronous (zero-torque) generator speed (rpm) [used only when VSContrl=0 and GenModel=1]
9999.9 SIG_RtTq - Rated torque (N-m) [used only when VSContrl=0 and GenModel=1]
9999.9 SIG_PORt - Pull-out ratio (Tpullout/Trated) (-) [used only when VSContrl=0 and GenModel=1]
---------------------- THEVENIN-EQUIVALENT INDUCTION GENERATOR -----------------
9999.9 TEC_Freq - Line frequency [50 or 60] (Hz) [used only when VSContrl=0 and GenModel=2]
9998 TEC_NPol - Number of poles [even integer > 0] (-) [used only when VSContrl=0 and GenModel=2]
9999.9 TEC_SRes - Stator resistance (ohms) [used only when VSContrl=0 and GenModel=2]
9999.9 TEC_RRes - Rotor resistance (ohms) [used only when VSContrl=0 and GenModel=2]
9999.9 TEC_VLL - Line-to-line RMS voltage (volts) [used only when VSContrl=0 and GenModel=2]
9999.9 TEC_SLR - Stator leakage reactance (ohms) [used only when VSContrl=0 and GenModel=2]
9999.9 TEC_RLR - Rotor leakage reactance (ohms) [used only when VSContrl=0 and GenModel=2]
9999.9 TEC_MR - Magnetizing reactance (ohms) [used only when VSContrl=0 and GenModel=2]
---------------------- PLATFORM ------------------------------------------------
3 PtfmModel - Platform model {0: none, 1: onshore, 2: fixed bottom offshore, 3: floating offshore} (switch)
"OC4Semi_Modeling_PlatformLin.dat" PtfmFile - Name of file containing platform properties (quoted string) [unused when PtfmModel=0]
"Added_Damping.dat" PtfmAddFile
0 Kx - Surge stiffness
0 Ky - Sway stiffness
0 Kz - Heave stiffness
0 Kp - Roll stiffness
0 Kq - Pitch stiffness
0 Kr - Yaw stiffness
0 Bx - Surge damping
0 By - Sway damping
0 Bz - Heave damping
0 Bp - Roll damping
0 Bq - Pitch damping
0 Br - Yaw damping
395000 Bx_quad - Quadratic Surge damping
395000 By_quad - Quadratic Sway damping
3880000 Bz_quad - Quadratic Heave damping
37000000000 Bp_quad - Quadratic Roll damping
37000000000 Bq_quad - Quadratic Pitch damping
4080000000 Br_quad - Quadratic Yaw damping
---------------------- TOWER ---------------------------------------------------
20 TwrNodes - Number of tower nodes used for analysis (-)
"NRELOffshrBsline5MW_Tower_OC4DeepCwindSemi.dat" TwrFile - Name of file containing tower properties (quoted string)
---------------------- NACELLE-YAW ---------------------------------------------
9028.32E6 YawSpr - Nacelle-yaw spring constant (N-m/rad)
19.16E6 YawDamp - Nacelle-yaw damping constant (N-m/(rad/s))
0.0 YawNeut - Neutral yaw position--yaw spring force is zero at this yaw (degrees)
---------------------- FURLING -------------------------------------------------
False Furling - Read in additional model properties for furling turbine (flag)
FurlFile - Name of file containing furling properties (quoted string) [unused when Furling=False]
---------------------- ROTOR-TEETER --------------------------------------------
0 TeetMod - Rotor-teeter spring/damper model {0: none, 1: standard, 2: user-defined from routine UserTeet} (switch) [unused for 3 blades]
0.0 TeetDmpP - Rotor-teeter damper position (degrees) [used only for 2 blades and when TeetMod=1]
0.0 TeetDmp - Rotor-teeter damping constant (N-m/(rad/s)) [used only for 2 blades and when TeetMod=1]
0.0 TeetCDmp - Rotor-teeter rate-independent Coulomb-damping moment (N-m) [used only for 2 blades and when TeetMod=1]
0.0 TeetSStP - Rotor-teeter soft-stop position (degrees) [used only for 2 blades and when TeetMod=1]
0.0 TeetHStP - Rotor-teeter hard-stop position (degrees) [used only for 2 blades and when TeetMod=1]
0.0 TeetSSSp - Rotor-teeter soft-stop linear-spring constant (N-m/rad) [used only for 2 blades and when TeetMod=1]
0.0 TeetHSSp - Rotor-teeter hard-stop linear-spring constant (N-m/rad) [used only for 2 blades and when TeetMod=1]
---------------------- TIP-BRAKE -----------------------------------------------
0.0 TBDrConN - Tip-brake drag constant during normal operation, Cd*Area (m^2)
0.0 TBDrConD - Tip-brake drag constant during fully-deployed operation, Cd*Area (m^2)
0.0 TpBrDT - Time for tip-brake to reach full deployment once released (sec)
---------------------- BLADE ---------------------------------------------------
"NRELOffshrBsline5MW_Blade.dat" BldFile1 - Name of file containing properties for blade 1 (quoted string)
"NRELOffshrBsline5MW_Blade.dat" BldFile2 - Name of file containing properties for blade 2 (quoted string)
"NRELOffshrBsline5MW_Blade.dat" BldFile3 - Name of file containing properties for blade 3 (quoted string) [unused for 2 blades]
---------------------- AERODYN -------------------------------------------------
"OC4Semi_Modeling_AerodynLin.ipt" ADFile - Name of file containing AeroDyn input parameters (quoted string)
---------------------- NOISE ---------------------------------------------------
NoiseFile - Name of file containing aerodynamic noise input parameters (quoted string) [used only when CompNoise=True]
---------------------- ADAMS ---------------------------------------------------
"NRELOffshrBsline5MW_ADAMSSpecific.dat" ADAMSFile - Name of file containing ADAMS-specific input parameters (quoted string) [unused when ADAMSPrep=1]
---------------------- LINEARIZATION CONTROL -----------------------------------
"OC4Semi_LinearR3.dat" LinFile - Name of file containing FAST linearization parameters (quoted string) [unused when AnalMode=1]
---------------------- OUTPUT --------------------------------------------------
True SumPrint - Print summary data to "<RootName>.fsm" (flag)1
1 OutFileFmt - Format for tabular (time-marching) output file(s) (1: text file [<RootName>.out], 2: binary file [<RootName>.outb], 3: both) (switch)
True TabDelim - Generate a tab-delimited tabular output file. (flag)
"ES10.3E2" OutFmt - Format used for tabular output except time. Resulting field should be 10 characters. (quoted string) [not checked for validity!]
0.0 TStart - Time to begin tabular output (s)
1 DecFact - Decimation factor for tabular output {1: output every time step} (-)
1.0 SttsTime - Amount of time between screen status messages (sec)
-3.09528 NcIMUxn - Downwind distance from the tower-top to the nacelle IMU (meters)
0.0 NcIMUyn - Lateral distance from the tower-top to the nacelle IMU (meters)
2.23336 NcIMUzn - Vertical distance from the tower-top to the nacelle IMU (meters)
1.912 ShftGagL - Distance from rotor apex [3 blades] or teeter pin [2 blades] to shaft strain gages [positive for upwind rotors] (meters)
1 NTwGages - Number of tower nodes that have strain gages for output [0 to 9] (-)
10 TwrGagNd - List of tower nodes that have strain gages [1 to TwrNodes] (-) [unused if NTwGages=0]
1 NBlGages - Number of blade nodes that have strain gages for output [0 to 9] (-)
9 BldGagNd - List of blade nodes that have strain gages [1 to BldNodes] (-) [unused if NBlGages=0]
OutList - The next line(s) contains a list of output parameters. See OutList.txt for a listing of available output channels, (-)
"WindVxi , WindVyi , WindVzi" - Longitudinal, lateral, and vertical wind speeds
"WaveElev"
"Wave1Vxi , Wave1Vyi , Wave1Vzi"
"Wave2Vxi , Wave2Vyi , Wave2Vzi"
"Wave3Vxi , Wave3Vyi , Wave3Vzi"
"Wave4Vxi , Wave4Vyi , Wave4Vzi"
"LSShftFxa,LSShftFys,LSShftFzs"
"GenPwr , GenTq" - Electrical generator power and torque
"Azimuth" - Blade 1 azimuth angle
"RotSpeed , GenSpeed" - Low-speed shaft and high-speed shaft speeds
"OoPDefl1 , IPDefl1 , TwstDefl1" - Blade 1 out-of-plane and in-plane deflections and tip twist
"BldPitch1" - Pitch angles for blade 1
"TTDspFA , TTDspSS , TTDspTwst" - Tower fore-aft and side-to-side displacements and top twist
"PtfmSurge, PtfmSway , PtfmHeave" - Platform translational surge, sway, and heave displacements
"PtfmTVxi , PtfmTVyi , PtfmTVzi" - Platform translational surge, sway, and heave velocity (m/s)
"PtfmRoll , PtfmPitch, PtfmYaw" - Platform rotational roll, pitch and yaw displacements
"PtfmRVxi , PtfmRVyi, PtfmRVzi"
"PtfmRAxi , PtfmRAyi , PtfmRAzi"
"RootFxc1 , RootFyc1 , RootFzc1" - Out-of-plane shear, in-plane shear, and axial forces at the root of blade 1
"RootMxc1 , RootMyc1 , RootMzc1" - In-plane bending, out-of-plane bending, and pitching moments at the root of blade 1
"RootMEdg1, RootMFlp1" - Edgewise and flapwise bending moments at the root of blade 1
"RotTorq , LSSGagMya, LSSGagMza" - Rotor torque and low-speed shaft 0- and 90-rotating bending moments at the main bearing
"YawBrFxp , YawBrFyp , YawBrFzp" - Fore-aft shear, side-to-side shear, and vertical forces at the top of the tower (not rotating with nacelle yaw)
"YawBrMxp , YawBrMyp , YawBrMzp" - Side-to-side bending, fore-aft bending, and yaw moments at the top of the tower (not rotating with nacelle yaw)
"TwrBsFxt , TwrBsFyt , TwrBsFzt" - Fore-aft shear, side-to-side shear, and vertical forces at the base of the tower (platform)
"TwrBsMxt , TwrBsMyt , TwrBsMzt" - Side-to-side bending, fore-aft bending, and yaw moments at the base of the tower (platform)
"RotFurlP , RotFurlP , RotFurlP" - Platform forces sensors 45-47
"RotFurlP , RotFurlP , RotFurlP" - Platform forces sensors 48-50
"Fair1Ten , Fair2Ten , Fair3Ten" - Lines 1-3 fairlead tensions
"Fair1Ang , Fair2Ang , Fair3Ang" - Lines 1-3 fairlead angles
"Anch1Ten , Anch2Ten , Anch3Ten" - Lines 1-3 anchor tensions
"Anch1Ang , Anch2Ang , Anch3Ang" - Lines 1-3 anchor angles
"TipDxb1 , TipDyb1"
"TwHt1TDxt"
"PtfmFxt , PtfmFyt , PtfmFxi , PtfmFyi"
"RotCt , RotCp , RotCq"
"Q_Sg,Q_Sw,Q_Hv,Q_R,Q_P,Q_Y,Q_TFA1,Q_TSS1,Q_TFA2,Q_TSS2,Q_Yaw,Q_GeAz,Q_DrTr"
"Q_B1F1,Q_B2F1,Q_B3F1,Q_B1E1,Q_B2E1,Q_B3E1,Q_B1F2,Q_B2F2,Q_B3F2"
"QD_Sg,QD_Sw,QD_Hv,QD_R,QD_P,QD_Y,QD_TFA1,QD_TSS1,QD_TFA2,QD_TSS2,QD_Yaw,QD_GeAz,QD_DrTr"
"QD_B1F1,QD_B2F1,QD_B3F1,QD_B1E1,QD_B2E1,QD_B3E1,QD_B1F2,QD_B2F2,QD_B3F2"
"QD2_R,QD2_P,QD2_DrTr,HSShftPwr"
"LSSTipPxa,LSSTipVxa,LSSTipAxa"
"LSSGagPxa,LSSGagVxa,LSSGagAxa"
"HSShftV,HSShftA"
"OoPDefl1 , IPDefl1 , TwstDefl1"
"OoPDefl2 , IPDefl2 , TwstDefl2"
"OoPDefl3 , IPDefl3 , TwstDefl3"
"RotPwr, NacYaw"
"YawPzn"
END of FAST input file (the word "END" must appear in the first 3 columns of this last line).
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Thank you in advance.
Best,
Boran
