Do the Blades of WindPACT affect turbine in different ways?

Dear Dr Jonkman
Hello

I want to apply a MIMO control method to a wind turbine plant to investigate its performance. So I tried to obtain a linear state-space model for WindPACT 1.5MW at full load operation region (wind speed = 18 m/s) with 10 enabled DOFs using FAST v8.
I’m completely confused that whether I should use mbc matrices to form the model or not. Does forming a state-space model based on Avg matrices( produced by “Getmats.m”) and designing mimo controller based on such model leads to unvalid results?

Furthermore, surprisingly, it was found that the impact of each blade pitch on the state vectors is different with other blades(i.e. in the matrix “AvgBMat”, the column corresponding to control input of Blade pitch 1 and 2 and 3 are not the same, which is unexpected). Attached figure shows B matrix.
Are blades of wind turbine different with each other?

Thank you for your attention.
Yours faithfully.
Hooman Asgari

Dear Hooman,

Regarding your first question–as has been discussed several times on this forum–it is far better for 3-bladed turbines to apply MBC3 to the periodic linearized matrices output by FAST and then azimuth-average the MBC-transformed matrices rather than azimuth-average the periodic linearized matrices directly.

Regarding your second question, I agree that your result look “odd”. Was the time-domain solution in “equilibrium” when you linearized? Did you linearize at a sufficient number of azimuth steps around one revolution of the rotor to yield a proper azimuth average?

Best regards,

Dear Dr Jonkman
I think I’ve linearized the system at equilibrium point. these are my inut files:

Test13.fst

------- FAST v8.16.* INPUT FILE ------------------------------------------------
FAST Certification Test #13: WindPACT 1.5 MW Baseline with many DOFs with VS and VP and FF turbulence.
---------------------- SIMULATION CONTROL --------------------------------------
False         Echo            - Echo input data to <RootName>.ech (flag)
"FATAL"       AbortLevel      - Error level when simulation should abort (string) {"WARNING", "SEVERE", "FATAL"}
        160   TMax            - Total run time (s)
      0.005   DT              - Recommended module time step (s)
          2   InterpOrder     - Interpolation order for input/output time history (-) {1=linear, 2=quadratic}
          0   NumCrctn        - Number of correction iterations (-) {0=explicit calculation, i.e., no corrections}
      99999   DT_UJac         - Time between calls to get Jacobians (s)
      1E+06   UJacSclFact     - Scaling factor used in Jacobians (-)
---------------------- FEATURE SWITCHES AND FLAGS ------------------------------
          1   CompElast       - Compute structural dynamics (switch) {1=ElastoDyn; 2=ElastoDyn + BeamDyn for blades}
          1   CompInflow      - Compute inflow wind velocities (switch) {0=still air; 1=InflowWind; 2=external from OpenFOAM}
          2   CompAero        - Compute aerodynamic loads (switch) {0=None; 1=AeroDyn v14; 2=AeroDyn v15}
          1   CompServo       - Compute control and electrical-drive dynamics (switch) {0=None; 1=ServoDyn}
          0   CompHydro       - Compute hydrodynamic loads (switch) {0=None; 1=HydroDyn}
          0   CompSub         - Compute sub-structural dynamics (switch) {0=None; 1=SubDyn}
          0   CompMooring     - Compute mooring system (switch) {0=None; 1=MAP++; 2=FEAMooring; 3=MoorDyn; 4=OrcaFlex}
          0   CompIce         - Compute ice loads (switch) {0=None; 1=IceFloe; 2=IceDyn}
---------------------- INPUT FILES ---------------------------------------------
"WP_Baseline/Test13_ElastoDyn.dat"    EDFile          - Name of file containing ElastoDyn input parameters (quoted string)
"unused"      BDBldFile(1)    - Name of file containing BeamDyn input parameters for blade 1 (quoted string)
"unused"      BDBldFile(2)    - Name of file containing BeamDyn input parameters for blade 2 (quoted string)
"unused"      BDBldFile(3)    - Name of file containing BeamDyn input parameters for blade 3 (quoted string)
"WP_Baseline/WP_Baseline_InflowWind_12mps.dat"    InflowFile      - Name of file containing inflow wind input parameters (quoted string)
"WP_Baseline/WP_Baseline_AeroDyn15_Dynin.dat"    AeroFile        - Name of file containing aerodynamic input parameters (quoted string)
"WP_Baseline/Test13_ServoDyn.dat"    ServoFile       - Name of file containing control and electrical-drive input parameters (quoted string)
"unused"      HydroFile       - Name of file containing hydrodynamic input parameters (quoted string)
"unused"      SubFile         - Name of file containing sub-structural input parameters (quoted string)
"unused"      MooringFile     - Name of file containing mooring system input parameters (quoted string)
"unused"      IceFile         - Name of file containing ice input parameters (quoted string)
---------------------- OUTPUT --------------------------------------------------
True          SumPrint        - Print summary data to "<RootName>.sum" (flag)
          1   SttsTime        - Amount of time between screen status messages (s)
      99999   ChkptTime       - Amount of time between creating checkpoint files for potential restart (s)
       0.05   DT_Out          - Time step for tabular output (s) (or "default")
          0   TStart          - Time to begin tabular output (s)
          1   OutFileFmt      - Format for tabular (time-marching) output file (switch) {1: text file [<RootName>.out], 2: binary file [<RootName>.outb], 3: both}
True          TabDelim        - Use tab delimiters in text tabular output file? (flag) {uses spaces if false}
"ES10.3E2"    OutFmt          - Format used for text tabular output, excluding the time channel.  Resulting field should be 10 characters. (quoted string)
---------------------- LINEARIZATION -------------------------------------------
True          Linearize       - Linearization analysis (flag)
          20  NLinTimes       - Number of times to linearize (-) [>=1] [unused if Linearize=False]
          60, 65, 70, 75, 80, 85, 90, 95, 100, 105, 110, 115, 120, 125, 130, 135, 140, 145, 150, 155     LinTimes        - List of times at which to linearize (s) [1 to NLinTimes] [unused if Linearize=False]
          1   LinInputs       - Inputs included in linearization (switch) {0=none; 1=standard; 2=all module inputs (debug)} [unused if Linearize=False]
          1   LinOutputs      - Outputs included in linearization (switch) {0=none; 1=from OutList(s); 2=all module outputs (debug)} [unused if Linearize=False]
False         LinOutJac       - Include full Jacobians in linearization output (for debug) (flag) [unused if Linearize=False; used only if LinInputs=LinOutputs=2]
False         LinOutMod       - Write module-level linearization output files in addition to output for full system? (flag) [unused if Linearize=False]
---------------------- VISUALIZATION ------------------------------------------
          0   WrVTK           - VTK visualization data output: (switch) {0=none; 1=initialization data only; 2=animation}
          2   VTK_type        - Type of VTK visualization data: (switch) {1=surfaces; 2=basic meshes (lines/points); 3=all meshes (debug)} [unused if WrVTK=0]
false         VTK_fields      - Write mesh fields to VTK data files? (flag) {true/false} [unused if WrVTK=0]
         15   VTK_fps         - Frame rate for VTK output (frames per second){will use closest integer multiple of DT} [used only if WrVTK=2]

inflowind

------- InflowWind v3.01.* INPUT FILE -------------------------------------------------------------------------
Turbulent 12 m/s winds for FAST CertTests #11 and #13
---------------------------------------------------------------------------------------------------------------
False         Echo           - Echo input data to <RootName>.ech (flag)
          1   WindType       - switch for wind file type (1=steady; 2=uniform; 3=binary TurbSim FF; 4=binary Bladed-style FF; 5=HAWC format; 6=User defined)
          0   PropagationDir - Direction of wind propagation (meteoroligical rotation from aligned with X (positive rotates towards -Y) -- degrees)
          1   NWindVel       - Number of points to output the wind velocity    (0 to 9)
          0   WindVxiList    - List of coordinates in the inertial X direction (m)
          0   WindVyiList    - List of coordinates in the inertial Y direction (m)
    84.2876   WindVziList    - List of coordinates in the inertial Z direction (m)
================== Parameters for Steady Wind Conditions [used only for WindType = 1] =========================
         18   HWindSpeed     - Horizontal windspeed                            (m/s)
    84.2876   RefHt          - Reference height for horizontal wind speed      (m)
        0.2   PLexp          - Power law exponent                              (-)
================== Parameters for Uniform wind file   [used only for WindType = 2] ============================
"Wind/84m_12mps.wnd"    Filename       - Filename of time series data for uniform wind field.      (-)
    84.2876   RefHt          - Reference height for horizontal wind speed                (m)
         70   RefLength      - Reference length for linear horizontal and vertical sheer (-)
================== Parameters for Binary TurbSim Full-Field files   [used only for WindType = 3] ==============
"Wind/84m_12mps.wnd"    Filename       - Name of the Full field wind file to use (.bts)
================== Parameters for Binary Bladed-style Full-Field files   [used only for WindType = 4] =========
"Wind/84m_12mps"    FilenameRoot   - Rootname of the full-field wind file to use (.wnd, .sum)
False         TowerFile      - Have tower file (.twr) (flag)
================== Parameters for HAWC-format binary files  [Only used with WindType = 5] =====================
"wasp\Output\basic_5u.bin"    FileName_u     - name of the file containing the u-component fluctuating wind (.bin)
"wasp\Output\basic_5v.bin"    FileName_v     - name of the file containing the v-component fluctuating wind (.bin)
"wasp\Output\basic_5w.bin"    FileName_w     - name of the file containing the w-component fluctuating wind (.bin)
         64   nx             - number of grids in the x direction (in the 3 files above) (-)
         32   ny             - number of grids in the y direction (in the 3 files above) (-)
         32   nz             - number of grids in the z direction (in the 3 files above) (-)
         16   dx             - distance (in meters) between points in the x direction    (m)
          3   dy             - distance (in meters) between points in the y direction    (m)
          3   dz             - distance (in meters) between points in the z direction    (m)
    84.2876   RefHt          - reference height; the height (in meters) of the vertical center of the grid (m)
  -------------   Scaling parameters for turbulence   ---------------------------------------------------------
          1   ScaleMethod    - Turbulence scaling method   [0 = none, 1 = direct scaling, 2 = calculate scaling factor based on a desired standard deviation]
          1   SFx            - Turbulence scaling factor for the x direction (-)   [ScaleMethod=1]
          1   SFy            - Turbulence scaling factor for the y direction (-)   [ScaleMethod=1]
          1   SFz            - Turbulence scaling factor for the z direction (-)   [ScaleMethod=1]
         12   SigmaFx        - Turbulence standard deviation to calculate scaling from in x direction (m/s)    [ScaleMethod=2]
          8   SigmaFy        - Turbulence standard deviation to calculate scaling from in y direction (m/s)    [ScaleMethod=2]
          2   SigmaFz        - Turbulence standard deviation to calculate scaling from in z direction (m/s)    [ScaleMethod=2]
  -------------   Mean wind profile parameters (added to HAWC-format files)   ---------------------------------
          5   URef           - Mean u-component wind speed at the reference height (m/s)
          2   WindProfile    - Wind profile type (0=constant;1=logarithmic,2=power law)
        0.2   PLExp          - Power law exponent (-) (used for PL wind profile type only)
       0.03   Z0             - Surface roughness length (m) (used for LG wind profile type only)
====================== OUTPUT ==================================================
False         SumPrint     - Print summary data to <RootName>.IfW.sum (flag)
              OutList      - The next line(s) contains a list of output parameters.  See OutListParameters.xlsx for a listing of available output channels, (-)
"Wind1VelX"               X-direction wind velocity at point WindList(1)
"Wind1VelY"               Y-direction wind velocity at point WindList(1)
"Wind1VelZ"               Z-direction wind velocity at point WindList(1)
END of input file (the word "END" must appear in the first 3 columns of this last OutList line)
---------------------------------------------------------------------------------------

Servodyn

------- SERVODYN v1.05.* INPUT FILE --------------------------------------------
FAST certification Test #13: WindPACT 1.5 MW Baseline with many DOFs with VS and VP and FF turbulence. Model properties from "InputData1.5A08V07adm.xls" (from C. Hansen) with bugs removed.
---------------------- SIMULATION CONTROL --------------------------------------
False         Echo         - Echo input data to <RootName>.ech (flag)
      0.005   DT           - Communication interval for controllers (s) (or "default")
---------------------- PITCH CONTROL -------------------------------------------
          0   PCMode       - Pitch control mode {0: none, 3: user-defined from routine PitchCntrl, 4: user-defined from Simulink/Labview, 5: user-defined from Bladed-style DLL} (switch)
          5   TPCOn        - Time to enable active pitch control (s) [unused when PCMode=0]
     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]
          2   PitManRat(1) - Pitch rate at which override pitch maneuver heads toward final pitch angle for blade 1 (deg/s)
          2   PitManRat(2) - Pitch rate at which override pitch maneuver heads toward final pitch angle for blade 2 (deg/s)
          2   PitManRat(3) - Pitch rate at which override pitch maneuver heads toward final pitch angle for blade 3 (deg/s) [unused for 2 blades]
        2.6   BlPitchF(1)  - Blade 1 final pitch for pitch maneuvers (degrees)
        2.6   BlPitchF(2)  - Blade 2 final pitch for pitch maneuvers (degrees)
        2.6   BlPitchF(3)  - Blade 3 final pitch for pitch maneuvers (degrees) [unused for 2 blades]
---------------------- GENERATOR AND TORQUE CONTROL ----------------------------
          0   VSContrl     - Variable-speed control mode {0: none, 1: simple VS, 3: user-defined from routine UserVSCont, 4: user-defined from Simulink/Labview, 5: user-defined from Bladed-style DLL} (switch)
          1   GenModel     - Generator model {1: simple, 2: Thevenin, 3: user-defined from routine UserGen} (switch) [used only when VSContrl=0]
         95   GenEff       - Generator efficiency [ignored by the Thevenin and user-defined generator models] (%)
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   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]
---------------------- SIMPLE VARIABLE-SPEED TORQUE CONTROL --------------------
       1800   VS_RtGnSp    - Rated generator speed for simple variable-speed generator control (HSS side) (rpm) [used only when VSContrl=1]
    8376.58   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]
   0.002585   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]
 9.9999E-06   VS_SlPc      - Rated generator slip percentage in Region 2 1/2 for simple variable-speed generator control (%) [used only when VSContrl=1]
---------------------- 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]
---------------------- HIGH-SPEED SHAFT BRAKE ----------------------------------
          0   HSSBrMode    - HSS brake model {0: none, 1: simple, 3: user-defined from routine UserHSSBr, 4: user-defined from Simulink/Labview, 5: user-defined from Bladed-style DLL} (switch)
     9999.9   THSSBrDp     - Time to initiate deployment of the HSS brake (s)
     9999.9   HSSBrDT      - Time for HSS-brake to reach full deployment once initiated (sec) [used only when HSSBrMode=1]
     9999.9   HSSBrTqF     - Fully deployed HSS-brake torque (N-m)
---------------------- NACELLE-YAW CONTROL -------------------------------------
          0   YCMode       - Yaw control mode {0: none, 3: user-defined from routine UserYawCont, 4: user-defined from Simulink/Labview, 5: user-defined from Bladed-style DLL} (switch)
     9999.9   TYCOn        - Time to enable active yaw control (s) [unused when YCMode=0]
          0   YawNeut      - Neutral yaw position--yaw spring force is zero at this yaw (degrees)
          0   YawSpr       - Nacelle-yaw spring constant (N-m/rad)
          0   YawDamp      - Nacelle-yaw damping constant (N-m/(rad/s))
     9999.9   TYawManS     - Time to start override yaw maneuver and end standard yaw control (s)
          2   YawManRat    - Yaw maneuver rate (in absolute value) (deg/s)
          0   NacYawF      - Final yaw angle for override yaw maneuvers (degrees)
---------------------- TUNED MASS DAMPER ---------------------------------------
False         CompNTMD     - Compute nacelle tuned mass damper {true/false} (flag)
"unused"      NTMDfile     - Name of the file for nacelle tuned mass damper (quoted string) [unused when CompNTMD is false]
False         CompTTMD     - Compute tower tuned mass damper {true/false} (flag)
"unused"      TTMDfile     - Name of the file for tower tuned mass damper (quoted string) [unused when CompTTMD is false]
---------------------- BLADED INTERFACE ---------------------------------------- [used only with Bladed Interface]
"unused"      DLL_FileName - Name/location of the dynamic library {.dll [Windows] or .so [Linux]} in the Bladed-DLL format (-) [used only with Bladed Interface]
"DISCON.IN"    DLL_InFile   - Name of input file sent to the DLL (-) [used only with Bladed Interface]
"DISCON"      DLL_ProcName - Name of procedure in DLL to be called (-) [case sensitive; used only with DLL Interface]
"default"     DLL_DT       - Communication interval for dynamic library (s) (or "default") [used only with Bladed Interface]
false         DLL_Ramp     - Whether a linear ramp should be used between DLL_DT time steps [introduces time shift when true] (flag) [used only with Bladed Interface]
     9999.9   BPCutoff     - Cuttoff frequency for low-pass filter on blade pitch from DLL (Hz) [used only with Bladed Interface]
          0   NacYaw_North - Reference yaw angle of the nacelle when the upwind end points due North (deg) [used only with Bladed Interface]
          0   Ptch_Cntrl   - Record 28: Use individual pitch control {0: collective pitch; 1: individual pitch control} (switch) [used only with Bladed Interface]
          0   Ptch_SetPnt  - Record  5: Below-rated pitch angle set-point (deg) [used only with Bladed Interface]
          0   Ptch_Min     - Record  6: Minimum pitch angle (deg) [used only with Bladed Interface]
          0   Ptch_Max     - Record  7: Maximum pitch angle (deg) [used only with Bladed Interface]
          0   PtchRate_Min - Record  8: Minimum pitch rate (most negative value allowed) (deg/s) [used only with Bladed Interface]
          0   PtchRate_Max - Record  9: Maximum pitch rate  (deg/s) [used only with Bladed Interface]
          0   Gain_OM      - Record 16: Optimal mode gain (Nm/(rad/s)^2) [used only with Bladed Interface]
          0   GenSpd_MinOM - Record 17: Minimum generator speed (rpm) [used only with Bladed Interface]
          0   GenSpd_MaxOM - Record 18: Optimal mode maximum speed (rpm) [used only with Bladed Interface]
          0   GenSpd_Dem   - Record 19: Demanded generator speed above rated (rpm) [used only with Bladed Interface]
          0   GenTrq_Dem   - Record 22: Demanded generator torque above rated (Nm) [used only with Bladed Interface]
          0   GenPwr_Dem   - Record 13: Demanded power (W) [used only with Bladed Interface]
---------------------- BLADED INTERFACE TORQUE-SPEED LOOK-UP TABLE -------------
          0   DLL_NumTrq   - Record 26: No. of points in torque-speed look-up table {0 = none and use the optimal mode parameters; nonzero = ignore the optimal mode PARAMETERs by setting Record 16 to 0.0} (-) [used only with Bladed Interface]
 GenSpd_TLU   GenTrq_TLU
 (rpm)          (Nm)
---------------------- OUTPUT --------------------------------------------------
True          SumPrint     - Print summary data to <RootName>.sum (flag) (currently unused)
          1   OutFile      - Switch to determine where output will be placed: {1: in module output file only; 2: in glue code output file only; 3: both} (currently unused)
True          TabDelim     - Use tab delimiters in text tabular output file? (flag) (currently unused)
"ES10.3E2"    OutFmt       - Format used for text tabular output (except time).  Resulting field should be 10 characters. (quoted string) (currently unused)
          0   TStart       - Time to begin tabular output (s) (currently unused)
              OutList      - The next line(s) contains a list of output parameters.  See OutListParameters.xlsx for a listing of available output channels, (-)
"BlPitchC1"		-Blade 1 pitch angle command
"BlPitchC2"		-Blade 2 pitch angle command
"BlPitchC3"		-Blade 3 pitch angle command
"GenTq			-Electrical generator torque
"GenPwr"		-Electrical generator power
END of input file (the word "END" must appear in the first 3 columns of this last OutList line)
---------------------------------------------------------------------------------------

This is my ElastoDyn file

------- ELASTODYN v1.03.* INPUT FILE -------------------------------------------
FAST certification Test #13: WindPACT 1.5 MW Baseline with many DOFs with VS and VP and FF turbulence. Model properties from "InputData1.5A08V07adm.xls" (from C. Hansen) with bugs removed.
---------------------- SIMULATION CONTROL --------------------------------------
False         Echo        - Echo input data to "<RootName>.ech" (flag)
          3   Method      - Integration method: {1: RK4, 2: AB4, or 3: ABM4} (-)
      0.005   DT          - Integration time step (s)
---------------------- ENVIRONMENTAL CONDITION ---------------------------------
    9.80665   Gravity     - Gravitational acceleration (m/s^2)
---------------------- DEGREES OF FREEDOM --------------------------------------
True          FlapDOF1    - First flapwise blade mode DOF (flag)
True          FlapDOF2    - Second flapwise blade mode DOF (flag)
True          EdgeDOF     - First edgewise blade mode DOF (flag)
False         TeetDOF     - Rotor-teeter DOF (flag) [unused for 3 blades]
True          DrTrDOF     - Drivetrain rotational-flexibility DOF (flag)
True          GenDOF      - Generator DOF (flag)
False         YawDOF      - Yaw DOF (flag)
True          TwFADOF1    - First fore-aft tower bending-mode DOF (flag)
True          TwFADOF2    - Second fore-aft tower bending-mode DOF (flag)
True          TwSSDOF1    - First side-to-side tower bending-mode DOF (flag)
True          TwSSDOF2    - Second side-to-side tower bending-mode DOF (flag)
False         PtfmSgDOF   - Platform horizontal surge translation DOF (flag)
False         PtfmSwDOF   - Platform horizontal sway translation DOF (flag)
False         PtfmHvDOF   - Platform vertical heave translation DOF (flag)
False         PtfmRDOF    - Platform roll tilt rotation DOF (flag)
False         PtfmPDOF    - Platform pitch tilt rotation DOF (flag)
False         PtfmYDOF    - Platform yaw rotation DOF (flag)
---------------------- INITIAL CONDITIONS --------------------------------------
          0   OoPDefl     - Initial out-of-plane blade-tip displacement (meters)
          0   IPDefl      - Initial in-plane blade-tip deflection (meters)
        7.5   BlPitch(1)  - Blade 1 initial pitch (degrees)
        7.5   BlPitch(2)  - Blade 2 initial pitch (degrees)
        7.5   BlPitch(3)  - Blade 3 initial pitch (degrees) [unused for 2 blades]
          0   TeetDefl    - Initial or fixed teeter angle (degrees) [unused for 3 blades]
          0   Azimuth     - Initial azimuth angle for blade 1 (degrees)
         20   RotSpeed    - Initial or fixed rotor speed (rpm)
          0   NacYaw      - Initial or fixed nacelle-yaw angle (degrees)
          0   TTDspFA     - Initial fore-aft tower-top displacement (meters)
          0   TTDspSS     - Initial side-to-side tower-top displacement (meters)
          0   PtfmSurge   - Initial or fixed horizontal surge translational displacement of platform (meters)
          0   PtfmSway    - Initial or fixed horizontal sway translational displacement of platform (meters)
          0   PtfmHeave   - Initial or fixed vertical heave translational displacement of platform (meters)
          0   PtfmRoll    - Initial or fixed roll tilt rotational displacement of platform (degrees)
          0   PtfmPitch   - Initial or fixed pitch tilt rotational displacement of platform (degrees)
          0   PtfmYaw     - Initial or fixed yaw rotational displacement of platform (degrees)
---------------------- TURBINE CONFIGURATION -----------------------------------
          3   NumBl       - Number of blades (-)
         35   TipRad      - The distance from the rotor apex to the blade tip (meters)
       1.75   HubRad      - The distance from the rotor apex to the blade root (meters)
          0   PreCone(1)  - Blade 1 cone angle (degrees)
          0   PreCone(2)  - Blade 2 cone angle (degrees)
          0   PreCone(3)  - Blade 3 cone angle (degrees) [unused for 2 blades]
          0   HubCM       - Distance from rotor apex to hub mass [positive downwind] (meters)
          0   UndSling    - Undersling length [distance from teeter pin to the rotor apex] (meters) [unused for 3 blades]
          0   Delta3      - Delta-3 angle for teetering rotors (degrees) [unused for 3 blades]
          0   AzimB1Up    - Azimuth value to use for I/O when blade 1 points up (degrees)
       -3.3   OverHang    - Distance from yaw axis to rotor apex [3 blades] or teeter pin [2 blades] (meters)
       0.99   ShftGagL    - Distance from rotor apex [3 blades] or teeter pin [2 blades] to shaft strain gages [positive for upwind rotors] (meters)
         -5   ShftTilt    - Rotor shaft tilt angle (degrees)
    -0.1449   NacCMxn     - Downwind distance from the tower-top to the nacelle CM (meters)
          0   NacCMyn     - Lateral  distance from the tower-top to the nacelle CM (meters)
      1.389   NacCMzn     - Vertical distance from the tower-top to the nacelle CM (meters)
          0   NcIMUxn     - Downwind distance from the tower-top to the nacelle IMU (meters)
          0   NcIMUyn     - Lateral  distance from the tower-top to the nacelle IMU (meters)
          0   NcIMUzn     - Vertical distance from the tower-top to the nacelle IMU (meters)
       1.61   Twr2Shft    - Vertical distance from the tower-top to the rotor shaft (meters)
      82.39   TowerHt     - Height of tower above ground level [onshore] or MSL [offshore] (meters)
          0   TowerBsHt   - Height of tower base above ground level [onshore] or MSL [offshore] (meters)
          0   PtfmCMxt    - Downwind distance from the ground level [onshore] or MSL [offshore] to the platform CM (meters)
          0   PtfmCMyt    - Lateral distance from the ground level [onshore] or MSL [offshore] to the platform CM (meters)
         -0   PtfmCMzt    - Vertical distance from the ground level [onshore] or MSL [offshore] to the platform CM (meters)
         -0   PtfmRefzt   - Vertical distance from the ground level [onshore] or MSL [offshore] to the platform reference point (meters)
---------------------- MASS AND INERTIA ----------------------------------------
          0   TipMass(1)  - Tip-brake mass, blade 1 (kg)
          0   TipMass(2)  - Tip-brake mass, blade 2 (kg)
          0   TipMass(3)  - Tip-brake mass, blade 3 (kg) [unused for 2 blades]
      15148   HubMass     - Hub mass (kg)
      34600   HubIner     - Hub inertia about rotor axis [3 blades] or teeter axis [2 blades] (kg m^2)
     53.036   GenIner     - Generator inertia about HSS (kg m^2)
      51170   NacMass     - Nacelle mass (kg)
      49130   NacYIner    - Nacelle inertia about yaw axis (kg m^2)
          0   YawBrMass   - Yaw bearing mass (kg)
          0   PtfmMass    - Platform mass (kg)
          0   PtfmRIner   - Platform inertia for roll tilt rotation about the platform CM (kg m^2)
          0   PtfmPIner   - Platform inertia for pitch tilt rotation about the platform CM (kg m^2)
          0   PtfmYIner   - Platform inertia for yaw rotation about the platform CM (kg m^2)
---------------------- BLADE ---------------------------------------------------
         15   BldNodes    - Number of blade nodes (per blade) used for analysis (-)
"Baseline_Blade.dat"    BldFile(1)  - Name of file containing properties for blade 1 (quoted string)
"Baseline_Blade.dat"    BldFile(2)  - Name of file containing properties for blade 2 (quoted string)
"Baseline_Blade.dat"    BldFile(3)  - Name of file containing properties for blade 3 (quoted string) [unused for 2 blades]
---------------------- 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   TeetDmpP    - Rotor-teeter damper position (degrees) [used only for 2 blades and when TeetMod=1]
          0   TeetDmp     - Rotor-teeter damping constant (N-m/(rad/s)) [used only for 2 blades and when TeetMod=1]
          0   TeetCDmp    - Rotor-teeter rate-independent Coulomb-damping moment (N-m) [used only for 2 blades and when TeetMod=1]
          0   TeetSStP    - Rotor-teeter soft-stop position (degrees) [used only for 2 blades and when TeetMod=1]
          0   TeetHStP    - Rotor-teeter hard-stop position (degrees) [used only for 2 blades and when TeetMod=1]
          0   TeetSSSp    - Rotor-teeter soft-stop linear-spring constant (N-m/rad) [used only for 2 blades and when TeetMod=1]
          0   TeetHSSp    - Rotor-teeter hard-stop linear-spring constant (N-m/rad) [used only for 2 blades and when TeetMod=1]
---------------------- DRIVETRAIN ----------------------------------------------
        100   GBoxEff     - Gearbox efficiency (%)
     87.965   GBRatio     - Gearbox ratio (-)
    5.6E+09   DTTorSpr    - Drivetrain torsional spring (N-m/rad)
      1E+07   DTTorDmp    - Drivetrain torsional damper (N-m/(rad/s))
---------------------- FURLING -------------------------------------------------
False         Furling     - Read in additional model properties for furling turbine (flag) [must currently be FALSE)
"unused"      FurlFile    - Name of file containing furling properties (quoted string) [unused when Furling=False]
---------------------- TOWER ---------------------------------------------------
         10   TwrNodes    - Number of tower nodes used for analysis (-)
"Baseline_Tower.dat"    TwrFile     - Name of file containing tower properties (quoted string)
---------------------- OUTPUT --------------------------------------------------
True          SumPrint    - Print summary data to "<RootName>.sum" (flag)
          1   OutFile     - Switch to determine where output will be placed: {1: in module output file only; 2: in glue code output file only; 3: both} (currently unused)
True          TabDelim    - Use tab delimiters in text tabular output file? (flag) (currently unused)
"ES10.3E2"    OutFmt      - Format used for text tabular output (except time).  Resulting field should be 10 characters. (quoted string) (currently unused)
          0   TStart      - Time to begin tabular output (s) (currently unused)
         10   DecFact     - Decimation factor for tabular output {1: output every time step} (-) (currently unused)
          2   NTwGages    - Number of tower nodes that have strain gages for output [0 to 9] (-)
          4,          7    TwrGagNd    - List of tower nodes that have strain gages [1 to TwrNodes] (-) [unused if NTwGages=0]
          0   NBlGages    - Number of blade nodes that have strain gages for output [0 to 9] (-)
          0   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 OutListParameters.xlsx for a listing of available output channels, (-)
"BldPitch2"               - Blade 2 pitch angle
"IPDefl1"                 - IP blade 1,2 tip deflections
"IPDefl2"                 - IP blade 1,2 tip deflections
"TwstDefl1"               - Blade torsional tip twist deflections
"TwstDefl2"               - Blade torsional tip twist deflections
"TwstDefl3"               - Blade torsional tip twist deflections
"RootMxb2"                - Blade 2 root moments
"RootMyb2"                - Blade 2 root moments
"RootMzb2"                - Blade 2 root moments
"LSShftFys"               - Non-rotating LSS shear forces
"LSShftFzs"               - Non-rotating LSS shear forces
"LSSTipMys"               - Non-rotating LSS bending moments at the shaft tip
"LSSTipMzs"               - Non-rotating LSS bending moments at the shaft tip
"YawBrTDxp"               - FA and SS tower-top deflections wrt tilted tower
"YawBrTDyp"               - FA and SS tower-top deflections wrt tilted tower
"YawBrMxn"                - Tower-top / yaw bearing roll, pitch, and yaw moments
"YawBrMyn"                - Tower-top / yaw bearing roll, pitch, and yaw moments
"YawBrMzn"                - Tower-top / yaw bearing roll, pitch, and yaw moments
END of input file (the word "END" must appear in the first 3 columns of this last OutList line)
---------------------------------------------------------------------------------------

As an example, resulting .lin file at the time 150 sec is provided here (I’ve eliminated matrices due to character limitaion)


Linearized model: Predictions were generated on 17-Oct-2017 at 17:44:58 using FAST (v8.16.00a-bjj, 27-Jul-2016), compiled as a DLL S-Function for Simulink as a 64-bit application using single precision
 linked with  NWTC Subroutine Library (v2.09.00, 23-Jul-2016); ElastoDyn (v1.04.00a-bjj, 26-Jul-2016); InflowWind (v3.03.00, 26-Jul-2016); AeroDyn (v15.03.00, 27-Jul-2016); ServoDyn (v1.06.00a-bjj, 26-Jul-2016)

Description from the FAST input file: FAST Certification Test #13: WindPACT 1.5 MW Baseline with many DOFs with VS and VP and FF turbulence.

Simulation information:
   Simulation time:                   150.0000 s
   Rotor Speed:                         8.8335 rad/s
   Azimuth:                             5.0072 rad
   Number of continuous states:        20
   Number of discrete states:           0
   Number of constraint states:         0
   Number of inputs:                    9
   Number of outputs:                  29
   Jacobians included in this file?    No

Order of continuous states:
   Row/Column Operating Point                     Rotating Frame? Description
   ---------- ---------------                     --------------- -----------
          1    5.680E-01                                 F        ED 1st tower fore-aft bending mode DOF (internal DOF index = DOF_TFA1), m
          2    1.111E-04                                 F        ED 1st tower side-to-side bending mode DOF (internal DOF index = DOF_TSS1), m
          3    3.436E+00                                 F        ED Variable speed generator DOF (internal DOF index = DOF_GeAz), rad
          4   -3.420E-07                                 F        ED Drivetrain rotational-flexibility DOF (internal DOF index = DOF_DrTr), rad
          5    1.404E+00                                 T        ED 1st flapwise bending-mode DOF of blade 1 (internal DOF index = DOF_BF(1,1)), m
          6    1.678E+00                                 T        ED 1st flapwise bending-mode DOF of blade 2 (internal DOF index = DOF_BF(2,1)), m
          7    1.495E+00                                 T        ED 1st flapwise bending-mode DOF of blade 3 (internal DOF index = DOF_BF(3,1)), m
          8    4.244E-01                                 T        ED 1st edgewise bending-mode DOF of blade 1 (internal DOF index = DOF_BE(1,1)), m
          9    6.512E-02                                 T        ED 1st edgewise bending-mode DOF of blade 2 (internal DOF index = DOF_BE(2,1)), m
         10    1.370E-01                                 T        ED 1st edgewise bending-mode DOF of blade 3 (internal DOF index = DOF_BE(3,1)), m
         11   -1.383E-04                                 F        ED First time derivative of 1st tower fore-aft bending mode DOF (internal DOF index = DOF_TFA1), m/s
         12    1.608E-04                                 F        ED First time derivative of 1st tower side-to-side bending mode DOF (internal DOF index = DOF_TSS1), m/s
         13    8.833E+00                                 F        ED First time derivative of Variable speed generator DOF (internal DOF index = DOF_GeAz), rad/s
         14   -2.236E-06                                 F        ED First time derivative of Drivetrain rotational-flexibility DOF (internal DOF index = DOF_DrTr), rad/s
         15    1.130E+00                                 T        ED First time derivative of 1st flapwise bending-mode DOF of blade 1 (internal DOF index = DOF_BF(1,1)), m/s
         16    3.916E-01                                 T        ED First time derivative of 1st flapwise bending-mode DOF of blade 2 (internal DOF index = DOF_BF(2,1)), m/s
         17   -1.530E+00                                 T        ED First time derivative of 1st flapwise bending-mode DOF of blade 3 (internal DOF index = DOF_BF(3,1)), m/s
         18   -3.359E-01                                 T        ED First time derivative of 1st edgewise bending-mode DOF of blade 1 (internal DOF index = DOF_BE(1,1)), m/s
         19   -1.458E+00                                 T        ED First time derivative of 1st edgewise bending-mode DOF of blade 2 (internal DOF index = DOF_BE(2,1)), m/s
         20    1.804E+00                                 T        ED First time derivative of 1st edgewise bending-mode DOF of blade 3 (internal DOF index = DOF_BE(3,1)), m/s

Order of continuous state derivatives:
   Row/Column Operating Point                     Rotating Frame? Description
   ---------- ---------------                     --------------- -----------
          1   -1.383E-04                                 F        First time derivative of ED 1st tower fore-aft bending mode DOF (internal DOF index = DOF_TFA1), m/s
          2    1.608E-04                                 F        First time derivative of ED 1st tower side-to-side bending mode DOF (internal DOF index = DOF_TSS1), m/s
          3    8.833E+00                                 F        First time derivative of ED Variable speed generator DOF (internal DOF index = DOF_GeAz), rad/s
          4   -2.236E-06                                 F        First time derivative of ED Drivetrain rotational-flexibility DOF (internal DOF index = DOF_DrTr), rad/s
          5    1.130E+00                                 T        First time derivative of ED 1st flapwise bending-mode DOF of blade 1 (internal DOF index = DOF_BF(1,1)), m/s
          6    3.916E-01                                 T        First time derivative of ED 1st flapwise bending-mode DOF of blade 2 (internal DOF index = DOF_BF(2,1)), m/s
          7   -1.530E+00                                 T        First time derivative of ED 1st flapwise bending-mode DOF of blade 3 (internal DOF index = DOF_BF(3,1)), m/s
          8   -3.359E-01                                 T        First time derivative of ED 1st edgewise bending-mode DOF of blade 1 (internal DOF index = DOF_BE(1,1)), m/s
          9   -1.458E+00                                 T        First time derivative of ED 1st edgewise bending-mode DOF of blade 2 (internal DOF index = DOF_BE(2,1)), m/s
         10    1.804E+00                                 T        First time derivative of ED 1st edgewise bending-mode DOF of blade 3 (internal DOF index = DOF_BE(3,1)), m/s
         11   -2.313E-03                                 F        First time derivative of ED First time derivative of 1st tower fore-aft bending mode DOF (internal DOF index = DOF_TFA1), m/s/s
         12   -2.953E-03                                 F        First time derivative of ED First time derivative of 1st tower side-to-side bending mode DOF (internal DOF index = DOF_TSS1), m/s/s
         13    8.095E-04                                 F        First time derivative of ED First time derivative of Variable speed generator DOF (internal DOF index = DOF_GeAz), rad/s/s
         14   -1.151E-04                                 F        First time derivative of ED First time derivative of Drivetrain rotational-flexibility DOF (internal DOF index = DOF_DrTr), rad/s/s
         15    8.881E+00                                 T        First time derivative of ED First time derivative of 1st flapwise bending-mode DOF of blade 1 (internal DOF index = DOF_BF(1,1)), m/s/s
         16   -1.037E+01                                 T        First time derivative of ED First time derivative of 1st flapwise bending-mode DOF of blade 2 (internal DOF index = DOF_BF(2,1)), m/s/s
         17    6.916E-01                                 T        First time derivative of ED First time derivative of 1st flapwise bending-mode DOF of blade 3 (internal DOF index = DOF_BF(3,1)), m/s/s
         18   -1.699E+01                                 T        First time derivative of ED First time derivative of 1st edgewise bending-mode DOF of blade 1 (internal DOF index = DOF_BE(1,1)), m/s/s
         19    1.152E+01                                 T        First time derivative of ED First time derivative of 1st edgewise bending-mode DOF of blade 2 (internal DOF index = DOF_BE(2,1)), m/s/s
         20    5.478E+00                                 T        First time derivative of ED First time derivative of 1st edgewise bending-mode DOF of blade 3 (internal DOF index = DOF_BE(3,1)), m/s/s

Order of inputs:
     Column   Operating Point                     Rotating Frame? Description
   ---------- ---------------                     --------------- -----------
          1    1.800E+01                                 F        IfW Extended input: horizontal wind speed (steady/uniform wind), m/s
          2    2.000E-01                                 F        IfW Extended input: vertical power-law shear exponent, -
          3    0.000E+00                                 F        IfW Extended input: propagation direction, rad
          4    1.309E-01                                 T        ED Blade 1 pitch command, rad
          5    1.309E-01                                 T        ED Blade 2 pitch command, rad
          6    1.309E-01                                 T        ED Blade 3 pitch command, rad
          7    0.000E+00                                 F        ED Yaw moment, Nm
          8   -2.580E+01                                 F        ED Generator torque, Nm
          9    1.309E-01                                 F        ED Extended input: collective blade-pitch command, rad

Order of outputs:
        Row   Operating Point                     Rotating Frame? Description
   ---------- ---------------                     --------------- -----------
          1    1.800E+01                                 F        IfW Wind1VelX, (m/s)
          2    0.000E+00                                 F        IfW Wind1VelY, (m/s)
          3    0.000E+00                                 F        IfW Wind1VelZ, (m/s)
          4    7.500E+00                                 T        SrvD BlPitchC1, (deg)
          5    7.500E+00                                 T        SrvD BlPitchC2, (deg)
          6    7.500E+00                                 T        SrvD BlPitchC3, (deg)
          7   -2.580E-02                                 F        SrvD GenTq, (kN·m)
          8   -2.110E+01                                 F        SrvD GenPwr, (kW)
          9    2.869E+02                                 F        ED LSSTipPxa, (deg)
         10    8.435E+01                                 F        ED LSSTipVxa, (rpm)
         11    7.500E+00                                 T        ED BldPitch2, (deg)
         12    9.434E-02                                 T        ED IPDefl1, (m)
         13   -3.151E-01                                 T        ED IPDefl2, (m)
         14    0.000E+00                                 T        ED TwstDefl1, (deg)
         15    0.000E+00                                 T        ED TwstDefl2, (deg)
         16    0.000E+00                                 T        ED TwstDefl3, (deg)
         17    2.895E+02                                 T        ED RootMxb2, (kN·m)
         18    1.719E+03                                 T        ED RootMyb2, (kN·m)
         19    7.460E+00                                 T        ED RootMzb2, (kN·m)
         20    1.857E-01                                 F        ED LSShftFys, (kN)
         21   -2.632E+02                                 F        ED LSShftFzs, (kN)
         22    2.096E+02                                 F        ED LSSTipMys, (kN·m)
         23    4.521E+01                                 F        ED LSSTipMzs, (kN·m)
         24    5.680E-01                                 F        ED YawBrTDxp, (m)
         25   -1.111E-04                                 F        ED YawBrTDyp, (m)
         26    1.877E+00                                 F        ED YawBrMxn, (kN·m)
         27   -1.224E+02                                 F        ED YawBrMyn, (kN·m)
         28    4.462E+01                                 F        ED YawBrMzn, (kN·m)
         29    5.763E+00                                 F        AD RtSkew, (deg)

I’ll be grateful if you inform me that what is wrong with my simualtion?

Thanks
Hooman Asgari

Dear Hooman,

It would be difficult to tell if your system is in equilibrium from the input files alone. You’ll need to plot the time series to see that.

Regardless, I see two problems from my quick review of your input files:
(1) In ServoDyn, you’ve selected the simple induction generator model (SIG) (i.e. VSContrl = 0, GenModel = 1), but you have not set any of the corresponding SIG input parameters.
(2) You are likely expecting to linearize the model at a rotor speed of 20 rpm, but the rotor speed is different than that due to (1). Moreover, at 20 rpm, there is one revolution every 3 seconds. Thus, if you want to linearize 20 times (i.e. NLinTimes = 20) over a complete rotor revolution, the separation between linearization times should be 3/20 = 0.15 s, but you are linearizing every 5 seconds.

I hope that helps.

Best regards,

Dear Dr Jonkman
Thanks for your quick help

By “time series”, do you mean time response of the outputs? I’ve attached plots of rotor speed and tower fore-aft motion over time. rotor speed is 84 rpm!

I searched for parameters of Generator used in WindPACT, yet have not found

Sincerely
Hooman
rotspd.jpg

Dear Hooman,

Yes, by time series, I mean the time response of the outputs. From your plots, it looks like equilibrium is reach at around 80 seconds (so you can linearize after that). However, the rotor speed is probably not what you want.

The SIG-related input parameters are SIG_SlPc, SIG_SySp, SIG_RtTq, and SIG_PORt in the ServoDyn input file. But perhaps you’d rather use the simple variable-speed controller (VSContrl = 1) specified by ServoDyn input parameters VS_RtGnSp, VS_RtTq, VS_Rgn2K, and VS_SlPc instead of SIG?

Best regards,

Dear Dr Jonkman

Below is a figure concerning rotor speed when <<VSCntrl = 1>>.
However, I’m not sure that whether I’ve set Parameters of VSCntrl correctly or not:

---------------------- SIMPLE VARIABLE-SPEED TORQUE CONTROL --------------------
       1800   VS_RtGnSp    - Rated generator speed for simple variable-speed generator control (HSS side) (rpm) [used only when VSContrl=1]
    8376.58   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]
   0.002585   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]
 9.9999E-06   VS_SlPc      - Rated generator slip percentage in Region 2 1/2 for simple variable-speed generator control (%) [used only when VSContrl=1]

If the linearisation is being simulated in an equilibrium condition, so why shouldn’t the control inputs of each blade affect the turbine in the same way?
Furthermore, why the rotor speed at the operating point is 58rpm, rather than 20rpm(rated rotor speed at region 3)

Thanks for your attention
Sincerely
Hooman Asgari

Dear Hooman,

Those are the correct simple variable-speed control settings for the WindPACT 1.5-MW turbine.

I would guess the rotor-speed is not ending up correctly because you have not set the pitch angle correctly for the wind speed you are simulating (and you’ve disabled pitch control).

I would expect that in an azimuth-averaged sense, each blade would have the same effect. But again, I don’t believe that you have azimuth-averaged the matrices correctly, as you have not yet linearized at sufficient azimuth steps around one complete rotor revolution.

Best regards,

Dear Dr Jonkman
Pitch Control must be disabled for lineariztion and I’ve chosen initial pitch of each blade equal to 7.5 deg:

Pitch Control routine in Servodyn file

---------------------- PITCH CONTROL -------------------------------------------
          0   PCMode       - Pitch control mode {0: none, 3: user-defined from routine PitchCntrl, 4: user-defined from Simulink/Labview, 5: user-defined from Bladed-style DLL} (switch)
          5   TPCOn        - Time to enable active pitch control (s) [unused when PCMode=0]
     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]
          2   PitManRat(1) - Pitch rate at which override pitch maneuver heads toward final pitch angle for blade 1 (deg/s)
          2   PitManRat(2) - Pitch rate at which override pitch maneuver heads toward final pitch angle for blade 2 (deg/s)
          2   PitManRat(3) - Pitch rate at which override pitch maneuver heads toward final pitch angle for blade 3 (deg/s) [unused for 2 blades]
        2.6   BlPitchF(1)  - Blade 1 final pitch for pitch maneuvers (degrees)
        2.6   BlPitchF(2)  - Blade 2 final pitch for pitch maneuvers (degrees)
        2.6   BlPitchF(3)  - Blade 3 final pitch for pitch maneuvers (degrees) [unused for 2 blades]

Elastodyn code

------- ELASTODYN v1.03.* INPUT FILE -------------------------------------------
FAST certification Test #13: WindPACT 1.5 MW Baseline with many DOFs with VS and VP and FF turbulence. Model properties from "InputData1.5A08V07adm.xls" (from C. Hansen) with bugs removed.
---------------------- SIMULATION CONTROL --------------------------------------
False         Echo        - Echo input data to "<RootName>.ech" (flag)
          3   Method      - Integration method: {1: RK4, 2: AB4, or 3: ABM4} (-)
      0.005   DT          - Integration time step (s)
---------------------- ENVIRONMENTAL CONDITION ---------------------------------
    9.80665   Gravity     - Gravitational acceleration (m/s^2)
---------------------- DEGREES OF FREEDOM --------------------------------------
True          FlapDOF1    - First flapwise blade mode DOF (flag)
False          FlapDOF2    - Second flapwise blade mode DOF (flag)
True          EdgeDOF     - First edgewise blade mode DOF (flag)
False         TeetDOF     - Rotor-teeter DOF (flag) [unused for 3 blades]
True          DrTrDOF     - Drivetrain rotational-flexibility DOF (flag)
True          GenDOF      - Generator DOF (flag)
False         YawDOF      - Yaw DOF (flag)
True          TwFADOF1    - First fore-aft tower bending-mode DOF (flag)
False          TwFADOF2    - Second fore-aft tower bending-mode DOF (flag)
True          TwSSDOF1    - First side-to-side tower bending-mode DOF (flag)
False         TwSSDOF2    - Second side-to-side tower bending-mode DOF (flag)
False         PtfmSgDOF   - Platform horizontal surge translation DOF (flag)
False         PtfmSwDOF   - Platform horizontal sway translation DOF (flag)
False         PtfmHvDOF   - Platform vertical heave translation DOF (flag)
False         PtfmRDOF    - Platform roll tilt rotation DOF (flag)
False         PtfmPDOF    - Platform pitch tilt rotation DOF (flag)
False         PtfmYDOF    - Platform yaw rotation DOF (flag)
---------------------- INITIAL CONDITIONS --------------------------------------
          0   OoPDefl     - Initial out-of-plane blade-tip displacement (meters)
          0   IPDefl      - Initial in-plane blade-tip deflection (meters)
        7.5   BlPitch(1)  - Blade 1 initial pitch (degrees)
        7.5   BlPitch(2)  - Blade 2 initial pitch (degrees)
        7.5   BlPitch(3)  - Blade 3 initial pitch (degrees) [unused for 2 blades]
          0   TeetDefl    - Initial or fixed teeter angle (degrees) [unused for 3 blades]
          0   Azimuth     - Initial azimuth angle for blade 1 (degrees)
         20   RotSpeed    - Initial or fixed rotor speed (rpm)
          0   NacYaw      - Initial or fixed nacelle-yaw angle (degrees)
          0   TTDspFA     - Initial fore-aft tower-top displacement (meters)
          0   TTDspSS     - Initial side-to-side tower-top displacement (meters)
          0   PtfmSurge   - Initial or fixed horizontal surge translational displacement of platform (meters)
          0   PtfmSway    - Initial or fixed horizontal sway translational displacement of platform (meters)
          0   PtfmHeave   - Initial or fixed vertical heave translational displacement of platform (meters)
          0   PtfmRoll    - Initial or fixed roll tilt rotational displacement of platform (degrees)
          0   PtfmPitch   - Initial or fixed pitch tilt rotational displacement of platform (degrees)
          0   PtfmYaw     - Initial or fixed yaw rotational displacement of platform (degrees)
---------------------- TURBINE CONFIGURATION -----------------------------------
          3   NumBl       - Number of blades (-)
         35   TipRad      - The distance from the rotor apex to the blade tip (meters)
       1.75   HubRad      - The distance from the rotor apex to the blade root (meters)
          0   PreCone(1)  - Blade 1 cone angle (degrees)
          0   PreCone(2)  - Blade 2 cone angle (degrees)
          0   PreCone(3)  - Blade 3 cone angle (degrees) [unused for 2 blades]
          0   HubCM       - Distance from rotor apex to hub mass [positive downwind] (meters)
          0   UndSling    - Undersling length [distance from teeter pin to the rotor apex] (meters) [unused for 3 blades]
          0   Delta3      - Delta-3 angle for teetering rotors (degrees) [unused for 3 blades]
          0   AzimB1Up    - Azimuth value to use for I/O when blade 1 points up (degrees)
       -3.3   OverHang    - Distance from yaw axis to rotor apex [3 blades] or teeter pin [2 blades] (meters)
       0.99   ShftGagL    - Distance from rotor apex [3 blades] or teeter pin [2 blades] to shaft strain gages [positive for upwind rotors] (meters)
         -5   ShftTilt    - Rotor shaft tilt angle (degrees)
    -0.1449   NacCMxn     - Downwind distance from the tower-top to the nacelle CM (meters)
          0   NacCMyn     - Lateral  distance from the tower-top to the nacelle CM (meters)
      1.389   NacCMzn     - Vertical distance from the tower-top to the nacelle CM (meters)
          0   NcIMUxn     - Downwind distance from the tower-top to the nacelle IMU (meters)
          0   NcIMUyn     - Lateral  distance from the tower-top to the nacelle IMU (meters)
          0   NcIMUzn     - Vertical distance from the tower-top to the nacelle IMU (meters)
       1.61   Twr2Shft    - Vertical distance from the tower-top to the rotor shaft (meters)
      82.39   TowerHt     - Height of tower above ground level [onshore] or MSL [offshore] (meters)
          0   TowerBsHt   - Height of tower base above ground level [onshore] or MSL [offshore] (meters)
          0   PtfmCMxt    - Downwind distance from the ground level [onshore] or MSL [offshore] to the platform CM (meters)
          0   PtfmCMyt    - Lateral distance from the ground level [onshore] or MSL [offshore] to the platform CM (meters)
         -0   PtfmCMzt    - Vertical distance from the ground level [onshore] or MSL [offshore] to the platform CM (meters)
         -0   PtfmRefzt   - Vertical distance from the ground level [onshore] or MSL [offshore] to the platform reference point (meters)
---------------------- MASS AND INERTIA ----------------------------------------
          0   TipMass(1)  - Tip-brake mass, blade 1 (kg)
          0   TipMass(2)  - Tip-brake mass, blade 2 (kg)
          0   TipMass(3)  - Tip-brake mass, blade 3 (kg) [unused for 2 blades]
      15148   HubMass     - Hub mass (kg)
      34600   HubIner     - Hub inertia about rotor axis [3 blades] or teeter axis [2 blades] (kg m^2)
     53.036   GenIner     - Generator inertia about HSS (kg m^2)
      51170   NacMass     - Nacelle mass (kg)
      49130   NacYIner    - Nacelle inertia about yaw axis (kg m^2)
          0   YawBrMass   - Yaw bearing mass (kg)
          0   PtfmMass    - Platform mass (kg)
          0   PtfmRIner   - Platform inertia for roll tilt rotation about the platform CM (kg m^2)
          0   PtfmPIner   - Platform inertia for pitch tilt rotation about the platform CM (kg m^2)
          0   PtfmYIner   - Platform inertia for yaw rotation about the platform CM (kg m^2)
---------------------- BLADE ---------------------------------------------------
         15   BldNodes    - Number of blade nodes (per blade) used for analysis (-)
"Baseline_Blade.dat"    BldFile(1)  - Name of file containing properties for blade 1 (quoted string)
"Baseline_Blade.dat"    BldFile(2)  - Name of file containing properties for blade 2 (quoted string)
"Baseline_Blade.dat"    BldFile(3)  - Name of file containing properties for blade 3 (quoted string) [unused for 2 blades]
---------------------- 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   TeetDmpP    - Rotor-teeter damper position (degrees) [used only for 2 blades and when TeetMod=1]
          0   TeetDmp     - Rotor-teeter damping constant (N-m/(rad/s)) [used only for 2 blades and when TeetMod=1]
          0   TeetCDmp    - Rotor-teeter rate-independent Coulomb-damping moment (N-m) [used only for 2 blades and when TeetMod=1]
          0   TeetSStP    - Rotor-teeter soft-stop position (degrees) [used only for 2 blades and when TeetMod=1]
          0   TeetHStP    - Rotor-teeter hard-stop position (degrees) [used only for 2 blades and when TeetMod=1]
          0   TeetSSSp    - Rotor-teeter soft-stop linear-spring constant (N-m/rad) [used only for 2 blades and when TeetMod=1]
          0   TeetHSSp    - Rotor-teeter hard-stop linear-spring constant (N-m/rad) [used only for 2 blades and when TeetMod=1]
---------------------- DRIVETRAIN ----------------------------------------------
        100   GBoxEff     - Gearbox efficiency (%)
     87.965   GBRatio     - Gearbox ratio (-)
    5.6E+09   DTTorSpr    - Drivetrain torsional spring (N-m/rad)
      1E+07   DTTorDmp    - Drivetrain torsional damper (N-m/(rad/s))
---------------------- FURLING -------------------------------------------------
False         Furling     - Read in additional model properties for furling turbine (flag) [must currently be FALSE)
"unused"      FurlFile    - Name of file containing furling properties (quoted string) [unused when Furling=False]
---------------------- TOWER ---------------------------------------------------
         10   TwrNodes    - Number of tower nodes used for analysis (-)
"Baseline_Tower.dat"    TwrFile     - Name of file containing tower properties (quoted string)
---------------------- OUTPUT --------------------------------------------------
True          SumPrint    - Print summary data to "<RootName>.sum" (flag)
          1   OutFile     - Switch to determine where output will be placed: {1: in module output file only; 2: in glue code output file only; 3: both} (currently unused)
True          TabDelim    - Use tab delimiters in text tabular output file? (flag) (currently unused)
"ES10.3E2"    OutFmt      - Format used for text tabular output (except time).  Resulting field should be 10 characters. (quoted string) (currently unused)
          0   TStart      - Time to begin tabular output (s) (currently unused)
         10   DecFact     - Decimation factor for tabular output {1: output every time step} (-) (currently unused)
          2   NTwGages    - Number of tower nodes that have strain gages for output [0 to 9] (-)
          4,          7    TwrGagNd    - List of tower nodes that have strain gages [1 to TwrNodes] (-) [unused if NTwGages=0]
          0   NBlGages    - Number of blade nodes that have strain gages for output [0 to 9] (-)
          0   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 OutListParameters.xlsx for a listing of available output channels, (-)
"LSSTipPxa"               - Rotor azimuth angle (position)
 "LSSTipVxa"              -Rotor azimuth angular speed
"BldPitch2"               - Blade 2 pitch angle
"IPDefl1"                 - IP blade 1,2 tip deflections
"IPDefl2"                 - IP blade 1,2 tip deflections
"TwstDefl1"               - Blade torsional tip twist deflections
"TwstDefl2"               - Blade torsional tip twist deflections
"TwstDefl3"               - Blade torsional tip twist deflections
"RootMxb2"                - Blade 2 root moments
"RootMyb2"                - Blade 2 root moments
"RootMzb2"                - Blade 2 root moments
"LSShftFys"               - Non-rotating LSS shear forces
"LSShftFzs"               - Non-rotating LSS shear forces
"LSSTipMys"               - Non-rotating LSS bending moments at the shaft tip
"LSSTipMzs"               - Non-rotating LSS bending moments at the shaft tip
"YawBrTDxp"               - FA and SS tower-top deflections wrt tilted tower
"YawBrTDyp"               - FA and SS tower-top deflections wrt tilted tower
"YawBrMxn"                - Tower-top / yaw bearing roll, pitch, and yaw moments
"YawBrMyn"                - Tower-top / yaw bearing roll, pitch, and yaw moments
"YawBrMzn"                - Tower-top / yaw bearing roll, pitch, and yaw moments
END of input file (the word "END" must appear in the first 3 columns of this last OutList line)
---------------------------------------------------------------------------------------

1 - Is it a wrong setting? what should be the correct form of pitch angle?
2 - If the rated speed is 20rpm at a 18m/sec wind speed, is it reach to a 56rpm speed -nearly 3 times greater!-by only changing pitch angle??
3 - I wonder why does blade pitches remain unchanged although there is no control on them?

Sincerely

Dear Dr Jonkman

Sorry for frequent questions. Finally, by iteration, I found out that the pitch angle that would result a rotor speed of 20rpm is nearly 19.8 deg (for a 18 m/s steady horizontal wind). Plot of rotor speed vs time is shown in the below figure.
Also, the resulting AvgBMatrix is almost reasonable.

I’m really grateful for your kind help
Yours sincerely.
Hooman


Dear Hooman,

I’m glad you solved the problem.

I’m not sure how you finally found the 19.8 degree pitch angle, but you can easily find that but running a separate simulation with linearization disabled and pitch-control enabled.

The rotor torque is not strongly sensitive to rotor speed, so, when the pitch angle is far from optimal, the rotor speed would have to change a lot to reach equilibrium.

Best regards,

Dear Dr Jonkman

For I had aimed to design a “2 Input 2 Output” controller, I intended to take Generator torque and Collective blade pitch as manipulated variables.

After investigating Nyquist plot of subsystem: <<generator torque to tower f-a deflection (or blade deflection)>> I knew that generator torque has not such a considerable effect on the system and thus can’t be took as manipulated variable.(It was obvious by looking at the corresponding column of B matrix, I guess). Hence, I decided to take <<collective blade pitch and Yaw moment>> as the control input. So I enabled Yaw DOF and faced with this error when I run the simmulation:

FAST_AdvanceStates:AD_UpdateStates:BEMT_UpdateStates(node 3, blade
3):BEMT_UnCoupledSolve:DeterminePhiBounds:There is no valid value of phi for these operating conditions! Vx =
4.8212, Vy = -13.268, rlocal = 5.0758, theta = 0.53931

Surveying the forum, I read that the problem maybe get solved by using Aerodyn v15.04 instead of v15.03. After running the code with new Aerodyn file, I faced this error:

Invalid numerical input for file
“.\WP_Baseline/WP_Baseline_AeroDyn15_Dynin.dat” occurred while trying to read AirDens.

This is my new Aerodyn.dat code:

------- AERODYN v15.04.* INPUT FILE ------------------------------------------------
1.5 MW baseline aerodynamic parameters for FAST certification tests #11-#13.
======  General Options  ============================================================================
True          Echo               - Echo the input to "<rootname>.AD.ech"?  (flag)
"default"     DTAero             - Time interval for aerodynamic calculations {or "default"} (s)
          1   WakeMod            - Type of wake/induction model (switch) {0=none, 1=BEMT}
          1   AFAeroMod          - Type of blade airfoil aerodynamics model (switch) {1=steady model, 2=Beddoes-Leishman unsteady model} [must be 1 when linearizing]
          0   TwrPotent          - Type tower influence on wind based on potential flow around the tower (switch) {0=none, 1=baseline potential flow, 2=potential flow with Bak correction}
False         TwrShadow          – Calculate tower influence on wind based on downstream tower shadow? (flag)
False         TwrAero            - Calculate tower aerodynamic loads? (flag)
False         FrozenWake         - Assume frozen wake during linearization? (flag) [used only when WakeMod=1 and when linearizing]
False	      CavitCheck 	 - Perform cavitation check? (flag)
======  Environmental Conditions  ===================================================================
     1.225    AirDens            - Air density (kg/m^3)
 1.4639E-05   KinVisc            - Kinematic air viscosity (m^2/s)
        335   SpdSound           - Speed of sound (m/s)
======  Blade-Element/Momentum Theory Options  ====================================================== [used only when WakeMod=1]
          2   SkewMod            - Type of skewed-wake correction model (switch) {1=uncoupled, 2=Pitt/Peters, 3=coupled} [used only when WakeMod=1]
False         TipLoss            - Use the Prandtl tip-loss model? (flag) [used only when WakeMod=1]
True          HubLoss            - Use the Prandtl hub-loss model? (flag) [used only when WakeMod=1]
true          TanInd             - Include tangential induction in BEMT calculations? (flag) [used only when WakeMod=1]
False         AIDrag             - Include the drag term in the axial-induction calculation? (flag) [used only when WakeMod=1]
False         TIDrag             - Include the drag term in the tangential-induction calculation? (flag) [used only when WakeMod=1 and TanInd=TRUE]
"Default"     IndToler           - Convergence tolerance for BEMT nonlinear solve residual equation {or "default"} (-) [used only when WakeMod=1]
      100     MaxIter            - Maximum number of iteration steps (-) [used only when WakeMod=1]
======  Beddoes-Leishman Unsteady Airfoil Aerodynamics Options  ===================================== [used only when AFAeroMod=2]
          3   UAMod              - Unsteady Aero Model Switch (switch) {1=Baseline model (Original), 2=Gonzalez’s variant (changes in Cn,Cc,Cm), 3=Minemma/Pierce variant (changes in Cc and Cm)} [used only when AFAeroMod=2]
True          FLookup            - Flag to indicate whether a lookup for f' will be calculated (TRUE) or whether best-fit exponential equations will be used (FALSE); if FALSE S1-S4 must be provided in airfoil input files (flag) [used only when AFAeroMod=2]
======  Airfoil Information =========================================================================
          1   InCol_Alfa         - The column in the airfoil tables that contains the angle of attack (-)
          2   InCol_Cl           - The column in the airfoil tables that contains the lift coefficient (-)
          3   InCol_Cd           - The column in the airfoil tables that contains the drag coefficient (-)
          0   InCol_Cm           - The column in the airfoil tables that contains the pitching-moment coefficient; use zero if there is no Cm column (-)
          0   InCol_Cpmin        - The column in the airfoil tables that contains the Cpmin coefficient; use zero if there is no Cpmin column (-)
          4   NumAFfiles         - Number of airfoil files used (-)
"Airfoils/cylinder.dat"    AFNames            - Airfoil file names (NumAFfiles lines) (quoted strings)
"Airfoils/s818_2703.dat"
"Airfoils/s825_2103.dat"
"Airfoils/s826_1603.dat"
======  Rotor/Blade Properties  =====================================================================
False          UseBlCm            - Include aerodynamic pitching moment in calculations?  (flag)
"WP_Baseline_AeroDyn_blade.dat"    ADBlFile(1)        - Name of file containing distributed aerodynamic properties for Blade #1 (-)
"WP_Baseline_AeroDyn_blade.dat"    ADBlFile(2)        - Name of file containing distributed aerodynamic properties for Blade #2 (-) [unused if NumBl < 2]
"WP_Baseline_AeroDyn_blade.dat"    ADBlFile(3)        - Name of file containing distributed aerodynamic properties for Blade #3 (-) [unused if NumBl < 3]
======  Tower Influence and Aerodynamics ============================================================= [used only when TwrPotent/=0, TwrShadow=True, or TwrAero=True]
         2    NumTwrNds         - Number of tower nodes used in the analysis  (-) [used only when TwrPotent/=0, TwrShadow=True, or TwrAero=True]
TwrElev        TwrDiam        TwrCd
(m)              (m)           (-)
0.0000000E+00  5.6200000E+00  0.0000000E+00
8.2390000E+01  2.8200000E+00  0.0000000E+00
======  Outputs  ====================================================================================
True          SumPrint            - Generate a summary file listing input options and interpolated properties to "<rootname>.AD.sum"?  (flag)
          0   NBlOuts             - Number of blade node outputs [0 - 9] (-)
          1,          8,          17    BlOutNd             - Blade nodes whose values will be output  (-)
          0   NTwOuts             - Number of tower node outputs [0 - 9]  (-)
          1,          2,          3,          4,          5    TwOutNd             - Tower nodes whose values will be output  (-)
                   OutList             - The next line(s) contains a list of output parameters.  See OutListParameters.xlsx for a listing of available output channels, (-)
"RtSkew"  
END of input file (the word "END" must appear in the first 3 columns of this last OutList line)
---------------------------------------------------------------------------------------

This is obvious that FAST doesn’t know CavitCheck parameter and expects to read AirDens after FrozenWake. By deleting this line,
again the first error appears. I’m confused what is the correct way to use this version through FAST and I’ll be grateful if you could guide me solving this problem.

Sincerely
Hooman

Dear Hooman,

It doesn’t appear that you are using AeroDyn v15.04. Did you recompile FAST v8 with AeroDyn v15.04?

By the way: In addition to CavitCheck, input parameters Patm, Pvap, and FluidDepth were added to the AeroDyn v15.04 input file in the Environmental Conditions section.

Best regards,

Dear Dr.Jonkman

Thanks your reply. I’ve specified my new aerodyn file in its corresponding line in the fast13.fst file(i.e. the Aerofile line in the Input Files subroutine). and I face the same error yet.
I wonder how should I inform FAST v8 that I’m using v15.04 of Aerodyn? Studying Aerodynv15.04 manual it seems sufficient to just enter the address of file containing aerodyn.dat in the “Aerofile” line. What else should I do?

This is the corrected file I’ve used and again I face the error indicating that FAST expects Airdens instead of CAvitChek.

------- AERODYN v15.04.* INPUT FILE ------------------------------------------------
1.5 MW baseline aerodynamic parameters for FAST certification tests #11-#13.
======  General Options  ============================================================================
True          Echo               - Echo the input to "<rootname>.AD.ech"?  (flag)
"default"     DTAero             - Time interval for aerodynamic calculations {or "default"} (s)
          1   WakeMod            - Type of wake/induction model (switch) {0=none, 1=BEMT}
          1   AFAeroMod          - Type of blade airfoil aerodynamics model (switch) {1=steady model, 2=Beddoes-Leishman unsteady model} [must be 1 when linearizing]
          0   TwrPotent          - Type tower influence on wind based on potential flow around the tower (switch) {0=none, 1=baseline potential flow, 2=potential flow with Bak correction}
False         TwrShadow          – Calculate tower influence on wind based on downstream tower shadow? (flag)
True          TwrAero            - Calculate tower aerodynamic loads? (flag)
False         FrozenWake         - Assume frozen wake during linearization? (flag) [used only when WakeMod=1 and when linearizing]
False	      CavitCheck 	 - Perform cavitation check? (flag)
======  Environmental Conditions  ===================================================================
     1.225    AirDens            - Air density (kg/m^3)
 1.4639E-05   KinVisc            - Kinematic air viscosity (m^2/s)
        335   SpdSound           - Speed of sound (m/s)
     103500   Patm               - Atmospheric pressure (Pa) [used only when CavitCheck=True]
       1700   Pvap               - Vapour pressure of fluid (Pa) [used only when CavitCheck=True]
        0.1   FluidDepth         - Water depth above mid-hub height (m) [used only when CavitCheck=True]
======  Blade-Element/Momentum Theory Options  ====================================================== [used only when WakeMod=1]
          1   SkewMod            - Type of skewed-wake correction model (switch) {1=uncoupled, 2=Pitt/Peters, 3=coupled} [used only when WakeMod=1]
True          TipLoss            - Use the Prandtl tip-loss model? (flag) [used only when WakeMod=1]
True          HubLoss            - Use the Prandtl hub-loss model? (flag) [used only when WakeMod=1]
true          TanInd             - Include tangential induction in BEMT calculations? (flag) [used only when WakeMod=1]
False         AIDrag             - Include the drag term in the axial-induction calculation? (flag) [used only when WakeMod=1]
False         TIDrag             - Include the drag term in the tangential-induction calculation? (flag) [used only when WakeMod=1 and TanInd=TRUE]
"Default"     IndToler           - Convergence tolerance for BEMT nonlinear solve residual equation {or "default"} (-) [used only when WakeMod=1]
    10000     MaxIter            - Maximum number of iteration steps (-) [used only when WakeMod=1]
======  Beddoes-Leishman Unsteady Airfoil Aerodynamics Options  ===================================== [used only when AFAeroMod=2]
          3   UAMod              - Unsteady Aero Model Switch (switch) {1=Baseline model (Original), 2=Gonzalez’s variant (changes in Cn,Cc,Cm), 3=Minemma/Pierce variant (changes in Cc and Cm)} [used only when AFAeroMod=2]
True          FLookup            - Flag to indicate whether a lookup for f' will be calculated (TRUE) or whether best-fit exponential equations will be used (FALSE); if FALSE S1-S4 must be provided in airfoil input files (flag) [used only when AFAeroMod=2]
======  Airfoil Information =========================================================================
          1   InCol_Alfa         - The column in the airfoil tables that contains the angle of attack (-)
          2   InCol_Cl           - The column in the airfoil tables that contains the lift coefficient (-)
          3   InCol_Cd           - The column in the airfoil tables that contains the drag coefficient (-)
          0   InCol_Cm           - The column in the airfoil tables that contains the pitching-moment coefficient; use zero if there is no Cm column (-)
          0   InCol_Cpmin        - The column in the airfoil tables that contains the Cpmin coefficient; use zero if there is no Cpmin column (-)
          4   NumAFfiles         - Number of airfoil files used (-)
"Airfoils/cylinder.dat"    AFNames            - Airfoil file names (NumAFfiles lines) (quoted strings)
"Airfoils/s818_2703.dat"
"Airfoils/s825_2103.dat"
"Airfoils/s826_1603.dat"
======  Rotor/Blade Properties  =====================================================================
False          UseBlCm            - Include aerodynamic pitching moment in calculations?  (flag)
"WP_Baseline_AeroDyn_blade.dat"    ADBlFile(1)        - Name of file containing distributed aerodynamic properties for Blade #1 (-)
"WP_Baseline_AeroDyn_blade.dat"    ADBlFile(2)        - Name of file containing distributed aerodynamic properties for Blade #2 (-) [unused if NumBl < 2]
"WP_Baseline_AeroDyn_blade.dat"    ADBlFile(3)        - Name of file containing distributed aerodynamic properties for Blade #3 (-) [unused if NumBl < 3]
======  Tower Influence and Aerodynamics ============================================================= [used only when TwrPotent/=0, TwrShadow=True, or TwrAero=True]
         2    NumTwrNds         - Number of tower nodes used in the analysis  (-) [used only when TwrPotent/=0, TwrShadow=True, or TwrAero=True]
TwrElev        TwrDiam        TwrCd
(m)              (m)           (-)
0.0000000E+00  5.6200000E+00  0.0000000E+00
8.2390000E+01  2.8200000E+00  0.0000000E+00
======  Outputs  ====================================================================================
True          SumPrint            - Generate a summary file listing input options and interpolated properties to "<rootname>.AD.sum"?  (flag)
          0   NBlOuts             - Number of blade node outputs [0 - 9] (-)
          1,          8,          17    BlOutNd             - Blade nodes whose values will be output  (-)
          0   NTwOuts             - Number of tower node outputs [0 - 9]  (-)
          1,          2,          3,          4,          5    TwOutNd             - Tower nodes whose values will be output  (-)
                   OutList             - The next line(s) contains a list of output parameters.  See OutListParameters.xlsx for a listing of available output channels, (-)
"RtSkew"  
END of input file (the word "END" must appear in the first 3 columns of this last OutList line)
---------------------------------------------------------------------------------------

Sincerely
Hooman

Dear Hooman,

Your AeroDyn v15.04 input file looks fine. However, to use AeroDyn v15.04 with FAST v8, you must recompile FAST v8 with the new AeroDyn v15.04 source files. See e.g. the following forum topic for more information: http://forums.nrel.gov/t/compile-aerodyn-15-04-source-files-in-fast/1602/8.

Best regards,