Dear David,
Normally individual pitch controllers (IPC) are used to control blade loads, so, I would expect that you’d want to feedback e.g. the blade loads (e.g. flapwise-bending moment) from each blade or the drivetrain-bending moments.
No, you can’t use the same PID controller for IPC as you do for collective. The goal of the collective pitch controller is to regular speed; the goal of the IPC is to reduce blade loads.
Best regards,
Hello Dear Jason,
Please, For the Inplementation of IPC controller, what parameters are used as out-of-plane Blade root bending momentst? Are these parameters: “RootMxb1”, “RootMyb1”, “RootMzb1”?
Or are the parameter that can be found in exel: “RootMyc1”, “RootMyc2” and “RootMyc3”?
Best regards
Dear David,
ElastoDyn output parameters RootMyc1, RootMyc2 and RootMyc3 are the out-of-plane root-bending moments for each blade.
Best regards,
Dear Jason,
Thank you for your quick response. Because these parameters are not in ElastoDyn, I have inserted them.
I have done the same with the pitch angle. So I insert in ElastoDyn file the Paramter “BlPitch1”, “BlPitch2” and “BlPitch3” as the Outputs of the three Blade pitch angle and I use the “BlbPitch1” as the Output of the CPC.
Is it correct?
Best regards,
Dear David,
Yes, except I’m not sure what you mean when you say:
Best regards,
Dear Jason
Sorry, it was a typing mistake from me.
I mean “BldPitch1” as the Output of the Collectiv Pitch Controller
and “BlPitch1”, “BlPitch2” and “BlPitch3” as Outputs of Individual Pitch Controller
Best regards,
Dear David,
Without modification of the source code, FAST does not have distinct outputs for collective and independent blade-pitch. For example, ElastoDyn output BlPitch1 is identical to BldPitch1 i.e. they are two names for the same variable representing the actual blade 1 pitch angle (likewise for blades 2 and 3).
Best regards,
Hello Dear Jason,
Please, I’m not sure about my FAST outputs.
I have problems with the parameters identification of the Idividual Pitch Controller from the FAST output. Which Outputs parameter represents:
CPC root bending moment
CPC yaw moment
CPC Tilt Moment
IPC root bending moment: I think one of the Out.of-plane bending moment(RootMyc1, RootMyc2 or RootMyc1)
IPC yaw moment
IPC Tilt Moment
best regards
Dear David,
Again, FAST does not have distinct outputs for CPC and IPC.
RootMyc1, RootMyc2, and RootMyc3 are the out-of-plane root-bending moments for blades 1-3. Through application of the multi-blade coordinate transformation (MBC), these can be converted to collective, yaw, and tilt. Alternatively, you could also output the nonrotating bending moments in the low-speed shaft i.e. LSSTipMzs (yaw) and LSSTipMys (tilt).
Best regards,
Dear Jason,
Tank you for your answer. For the MPC , after the out of plane bending moment, I can use the Coleman inverse transformation to get the tilt and yaw moments. From these to the PI controller and from PI Controller to Coleman transformation, to obtain the blade pitch angle 1-3.
Its my approach correct?
Best regards,
Dear David,
That sounds correct. I’m sure you can find the details about the process of developing IPC based on the Coleman transformation in many papers.
Best regards,
Hello Dear Jason,
I have implemented an IPC. But I have doubts about my results
Can you please take a look at the following curve to make sure that are correct.
Thank you in advance,
Best regrads,
Hello Dear Jason,
I have implemented an IPC. But I have doubts about my results
Can you please take a look at the following curve to make sure that are correct.
Thank you in advance,
Best regrads,
Dear David,
As far as I can tell from my brief look, is that you’ve been able to reduce the oscillation in blade out-of-plane bending and reduced the means tilt and yaw loads. It looks like your IPC is working.
Best regards,
Dear Jason,
Thank you for your answer.
Best regards,
Hello Dera Jason,
Please, Is it possible to simulate FAST in Simulink external mode?. I know, I’ve asked the question. I would like to simulate FAST in Simulink real-time systems.
Thank you in advance,
best regrads,
Hello Dear Jason,
Please, do you have some idea, how to implement a Gain Scheduling IPC? Or do you know some papers that you can recommend?
Thank you in advance
Best regards,
Hello Dear Jason,
Please, do you know what Degrees of Freedom can I set in ELastoDyn.dat to modell a Active tower damping controller?
I set In SerDyn.dat CompNTMD and ComTTMD to True to use ServoDyn_TMD.dat.
Thank you in advance,
best regard,
david
Dear David,
The tower- and nacelle-based tuned mass damper (TMD) degrees of freedom (DOF) are in the TMD submodule of the ServoDyn module, as you’ve noted; the DOFs are not in ElastoDyn. Presumably, though, you’d want to enable the tower DOFs in ElastoDyn if you are trying to model active tower damping.
I don’t know the answers to your questions from your previous two posts.
Best regards,
Dear Jason,
thank you for your answer. I want to implemt in simulink the Active Tower Damping and Drive Train Damping Controller. The Active Tower Damping must added onto the collective pitch component of the baseline controller. but I don’t know what parameters are the Outputs in ElastoDyn.dat or what parameter from OutList.exel?
Tahnk you in advance,
Best regards