Running OpenFAST with Simulink Type 4 Wind Turbine Generator Model

Wind & Water Computer-Aided Engineering Software Tools
1

Dear all,

I hvae built my type 4 wind turbine generator model based on the example available in Simulink, and I am trying to interface my model with OpenFAST to observe the behaviour of the wind turbine under different grid event.

Config
Config1572×614 69.9 KB

In this model, I have obtained the generator torque, power and pitch angle required in the Simulink Openloop model.

I have tried to execute the Openloop, and the run_opneloop scirpt in MATLAB. Below are the prompt of executing the model in MATLAB:

Run_Openloop

 **************************************************************************************************
 OpenFAST

 Copyright (C) 2023 National Renewable Energy Laboratory
 Copyright (C) 2023 Envision Energy USA LTD

 This program is licensed under Apache License Version 2.0 and comes with ABSOLUTELY NO WARRANTY.
 See the "LICENSE" file distributed with this software for details.
 **************************************************************************************************

 OpenFAST-Unversioned from e8ec53f9c7f9d3f6a13bfb61dba12a0ca04d8a2f
 Compile Info:
  - Compiler: Intel(R) Fortran Compiler 2021
  - Architecture: 64 bit
  - Precision: single
  - OpenMP: No
  - Date: Mar 14 2023
  - Time: 13:38:57
 Execution Info:
  - Date: 05/13/2023
  - Time: 11:47:01+0800

 OpenFAST input file heading:
     FAST Certification Test #25: NREL 5.0 MW Baseline Wind Turbine with OC4-DeepCwind semi
     configuration, for use in offshore analysis

 Running ElastoDyn.
 Nodal outputs section of ElastoDyn input file not found or improperly formatted.
 Running AeroDyn.
 AD15 Nodal Outputs: Nodal output section of AeroDyn input file not found or improperly formatted.
 Skipping nodal outputs.
 Warning: Turning off Unsteady Aerodynamics because polar has constant data. (node 1, blade 1)
 Warning: Turning off Unsteady Aerodynamics because polar has constant data. (node 2, blade 1)
 Warning: Turning off Unsteady Aerodynamics because polar has constant data. (node 3, blade 1)
 Warning: Turning off Unsteady Aerodynamics because polar has constant data. (node 4, blade 1)
 Warning: Turning off Unsteady Aerodynamics because polar has constant data. (node 1, blade 2)
 Warning: Turning off Unsteady Aerodynamics because polar has constant data. (node 2, blade 2)
 Warning: Turning off Unsteady Aerodynamics because polar has constant data. (node 3, blade 2)
 Warning: Turning off Unsteady Aerodynamics because polar has constant data. (node 4, blade 2)
 Warning: Turning off Unsteady Aerodynamics because polar has constant data. (node 1, blade 3)
 Warning: Turning off Unsteady Aerodynamics because polar has constant data. (node 2, blade 3)
 Warning: Turning off Unsteady Aerodynamics because polar has constant data. (node 3, blade 3)
 Warning: Turning off Unsteady Aerodynamics because polar has constant data. (node 4, blade 3)
 Running InflowWind.
 Running HydroDyn.
  Generating incident wave kinematics and current time history.
  Reading in WAMIT output with root name
  "C:\Users\Ming\Desktop\OpenFAST_20230127\openfast-3.4.0\openfast-3.4.0\reg_tests\r-test\glue-code
  s\openfast\5MW_OC4Semi_WSt_WavesWN/../5MW_Baseline/HydroData/marin_semi".
  Computing radiation impulse response functions and wave diffraction forces.
  Calculating second order difference-frequency force using the full quadratic transfer function.
  Calculating second order sum-frequency force using the full quadratic transfer function.
 Running MoorDyn (v2.0.0, 2022-12-08).
    This is MoorDyn v2, with significant input file changes from v1.
    Copyright: (C) 2022 National Renewable Energy Laboratory, (C) 2019 Matt Hall
    Parsing MoorDyn input file:
    C:\Users\Ming\Desktop\OpenFAST_20230127\openfast-3.4.0\openfast-3.4.0\reg_tests\r-test\glue-cod
    es\openfast\5MW_OC4Semi_WSt_WavesWN/NRELOffshrBsline5MW_OC4DeepCwindSemi_MoorDyn.dat
    Created mooring system:  3 lines, 6 points, 0 rods, 0 bodies.
    Finalizing initial conditions using dynamic relaxation.

t=2  FairTen 1: 8.67045E+05, 1, 2
t=4  FairTen 1: 9.76411E+05, 8.67045E+05, 1
t=6  FairTen 1: 1.02465E+06, 9.76411E+05, 8.67045E+05
t=8  FairTen 1: 9.87921E+05, 1.02465E+06, 9.76411E+05
t=10  FairTen 1: 1.00205E+06, 9.87921E+05, 1.02465E+06
t=12  FairTen 1: 1.00744E+06, 1.00205E+06, 9.87921E+05
t=14  FairTen 1: 1.00105E+06, 1.00744E+06, 1.00205E+06
t=16  FairTen 1: 9.84904E+05, 1.00105E+06, 1.00744E+06
t=18  FairTen 1: 1.02081E+06, 9.84904E+05, 1.00105E+06
t=20  FairTen 1: 9.98939E+05, 1.02081E+06, 9.84904E+05
t=22  FairTen 1: 9.90994E+05, 9.98939E+05, 1.02081E+06
t=24  FairTen 1: 1.00537E+06, 9.90994E+05, 9.98939E+05
t=26  FairTen 1: 1.00102E+06, 1.00537E+06, 9.90994E+05
t=28  FairTen 1: 1.00011E+06, 1.00102E+06, 1.00537E+06
t=30  FairTen 1: 9.99080E+05, 1.00011E+06, 1.00102E+06
t=32  FairTen 1: 1.00605E+06, 9.99080E+05, 1.00011E+06
t=34  FairTen 1: 9.93077E+05, 1.00605E+06, 9.99080E+05
t=36  FairTen 1: 1.00215E+06, 9.93077E+05, 1.00605E+06
t=38  FairTen 1: 1.00483E+06, 1.00215E+06, 9.93077E+05
t=40  FairTen 1: 9.96028E+05, 1.00483E+06, 1.00215E+06
t=42  FairTen 1: 1.00005E+06, 9.96028E+05, 1.00483E+06
t=44  FairTen 1: 1.00083E+06, 1.00005E+06, 9.96028E+05
t=46  FairTen 1: 1.00198E+06, 1.00083E+06, 1.00005E+06
t=48  FairTen 1: 9.96932E+05, 1.00198E+06, 1.00083E+06
t=50  FairTen 1: 1.00376E+06, 9.96932E+05, 1.00198E+06
t=52  FairTen 1: 9.99020E+05, 1.00376E+06, 9.96932E+05
    Fairlead tensions converged to 1 0x0.07ff880107520p-1022fter 52 seconds.
    MoorDyn initialization completed.
 Running ServoDyn.
 Running ServoDyn Interface for Bladed Controllers (using Intel Visual Fortran for Windows/Matlab).
 Using legacy Bladed DLL interface.

 FAST_InitializeAll:SrvD_Init:ValidatePrimaryData:Yaw angle and rate are not commanded from
 Simulink model.
 ValidatePrimaryData:Pitch angles are not commanded from Simulink model.
 ValidatePrimaryData:Generator torque and power are not commanded from Simulink model.
 ValidatePrimaryData:HSS brake is not commanded from Simulink model.
 ValidatePrimaryData:Airfoil control is not commanded from Simulink model.
 ValidatePrimaryData:Cable control is not commanded from Simulink model.

  Time: 0 of 60 seconds.

Time: 1 of 60 seconds.  Estimated final completion at 11:48:04.

Time: 2 of 60 seconds.  Estimated final completion at 11:47:44.

Time: 3 of 60 seconds.  Estimated final completion at 11:47:40.

Time: 4 of 60 seconds.  Estimated final completion at 11:47:41.

Time: 5 of 60 seconds.  Estimated final completion at 11:47:40.

Time: 6 of 60 seconds.  Estimated final completion at 11:47:39.

Time: 7 of 60 seconds.  Estimated final completion at 11:47:41.

Time: 8 of 60 seconds.  Estimated final completion at 11:47:38.

Time: 9 of 60 seconds.  Estimated final completion at 11:47:39.

Time: 10 of 60 seconds.  Estimated final completion at 11:47:39.

Time: 11 of 60 seconds.  Estimated final completion at 11:47:38.

Time: 12 of 60 seconds.  Estimated final completion at 11:47:39.

Time: 13 of 60 seconds.  Estimated final completion at 11:47:39.

Time: 14 of 60 seconds.  Estimated final completion at 11:47:41.

Time: 15 of 60 seconds.  Estimated final completion at 11:47:43.

Time: 16 of 60 seconds.  Estimated final completion at 11:47:40.

Time: 17 of 60 seconds.  Estimated final completion at 11:47:39.

Time: 18 of 60 seconds.  Estimated final completion at 11:47:39.

Time: 19 of 60 seconds.  Estimated final completion at 11:47:39.

Time: 20 of 60 seconds.  Estimated final completion at 11:47:39.

Time: 21 of 60 seconds.  Estimated final completion at 11:47:39.

Time: 22 of 60 seconds.  Estimated final completion at 11:47:39.

Time: 23 of 60 seconds.  Estimated final completion at 11:47:40.

Time: 24 of 60 seconds.  Estimated final completion at 11:47:39.

Time: 25 of 60 seconds.  Estimated final completion at 11:47:40.

Time: 26 of 60 seconds.  Estimated final completion at 11:47:40.

Time: 27 of 60 seconds.  Estimated final completion at 11:47:39.

Time: 28 of 60 seconds.  Estimated final completion at 11:47:40.

Time: 29 of 60 seconds.  Estimated final completion at 11:47:39.

Time: 30 of 60 seconds.  Estimated final completion at 11:47:40.

Time: 31 of 60 seconds.  Estimated final completion at 11:47:39.

Time: 32 of 60 seconds.  Estimated final completion at 11:47:39.

Time: 33 of 60 seconds.  Estimated final completion at 11:47:40.

Time: 34 of 60 seconds.  Estimated final completion at 11:47:40.

Time: 35 of 60 seconds.  Estimated final completion at 11:47:41.

Time: 36 of 60 seconds.  Estimated final completion at 11:47:41.

Time: 37 of 60 seconds.  Estimated final completion at 11:47:39.

Time: 38 of 60 seconds.  Estimated final completion at 11:47:40.

Time: 39 of 60 seconds.  Estimated final completion at 11:47:39.

Time: 40 of 60 seconds.  Estimated final completion at 11:47:40.

Time: 41 of 60 seconds.  Estimated final completion at 11:47:40.

Time: 42 of 60 seconds.  Estimated final completion at 11:47:41.

Time: 43 of 60 seconds.  Estimated final completion at 11:47:40.

Time: 44 of 60 seconds.  Estimated final completion at 11:47:40.

Time: 45 of 60 seconds.  Estimated final completion at 11:47:40.

Time: 46 of 60 seconds.  Estimated final completion at 11:47:40.

Time: 47 of 60 seconds.  Estimated final completion at 11:47:41.

Time: 48 of 60 seconds.  Estimated final completion at 11:47:40.

Time: 49 of 60 seconds.  Estimated final completion at 11:47:40.

Time: 50 of 60 seconds.  Estimated final completion at 11:47:40.

Time: 51 of 60 seconds.  Estimated final completion at 11:47:40.

Time: 52 of 60 seconds.  Estimated final completion at 11:47:40.

Time: 53 of 60 seconds.  Estimated final completion at 11:47:40.

Time: 54 of 60 seconds.  Estimated final completion at 11:47:40.

Time: 55 of 60 seconds.  Estimated final completion at 11:47:40.

Time: 56 of 60 seconds.  Estimated final completion at 11:47:40.

Time: 57 of 60 seconds.  Estimated final completion at 11:47:40.

Time: 58 of 60 seconds.  Estimated final completion at 11:47:40.

Time: 59 of 60 seconds.  Estimated final completion at 11:47:40.

Time: 60 of 60 seconds.  Estimated final completion at 11:47:40.

  OpenFAST completed.

In the above prompt, I hvae noticed that the execution of the OpenFAST simulation ignored the input from the Simulink model.

 FAST_InitializeAll:SrvD_Init:ValidatePrimaryData:Yaw angle and rate are not commanded from
 Simulink model.
 ValidatePrimaryData:Pitch angles are not commanded from Simulink model.
 ValidatePrimaryData:Generator torque and power are not commanded from Simulink model.
 ValidatePrimaryData:HSS brake is not commanded from Simulink model.
 ValidatePrimaryData:Airfoil control is not commanded from Simulink model.
 ValidatePrimaryData:Cable control is not commanded from Simulink model.

May I know the document that I should amend to enable the command from the simulink Openloop model?

Also, I have noticed that the time step of the model is preset at 0.0125 s for the sample model. When I changed the time step in the input file (.fst) to 20e-6 (to suit my data obtained in my WTG model), the error prompt out that:

Error using Run_OpenLoop
Error due to multiple causes.
Caused by:
    Error using Run_OpenLoop
    Invalid setting for fixed-step size (0.0125) in model 'OpenLoop'. All sample times in your model must be an integer multiple of the fixed-step size.
    Error using Run_OpenLoop
    The sample time period (2.0E-5) of 'OpenLoop/To Workspace' is not an integer multiple of the fixed step size (0.0125) specified for model.

Is there any file that I should amend to change the time step also?

Thank you.

Best regards,
Jacky Cheung

2

Dear @Jacky.Cheung,

To have the OpenFAST S-Function accept torque and pitch commands from Simulink, you should set PCMode = VSContrl = 4 in the ServoDyn input file.

I’m not familiar with the second error. The time step the OpenFAST S-Function will use is the DT you specify in the OpenFAST primary (.fst) input file. Do you have 0.0125 s specified somewhere else in your input files or Simulink model?

Best regards,

1 Like
3

Dear Jason,

Thanks for your prompt reply.

I have changed the ServoDyn input file (.dat) under the same file directory of the input file (.fst)., but I still got the same problem. Please refer to the below ServoDyn file for your information:

------- SERVODYN v1.05.* INPUT FILE --------------------------------------------
NREL 5.0 MW Baseline Wind Turbine for Use in Offshore Analysis. Properties from Dutch Offshore Wind Energy Converter (DOWEC) 6MW Pre-Design (10046_009.pdf) and REpower 5M 5MW (5m_uk.pdf)
---------------------- SIMULATION CONTROL --------------------------------------
False         Echo         - Echo input data to <RootName>.ech (flag)
"DEFAULT"     DT           - Communication interval for controllers (s) (or "default")
---------------------- PITCH CONTROL -------------------------------------------
          4   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)
          0   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]
          8   PitManRat(1) - Pitch rate at which override pitch maneuver heads toward final pitch angle for blade 1 (deg/s)
          8   PitManRat(2) - Pitch rate at which override pitch maneuver heads toward final pitch angle for blade 2 (deg/s)
          8   PitManRat(3) - Pitch rate at which override pitch maneuver heads toward final pitch angle for blade 3 (deg/s) [unused for 2 blades]
         90   BlPitchF(1)  - Blade 1 final pitch for pitch maneuvers (degrees)
         90   BlPitchF(2)  - Blade 2 final pitch for pitch maneuvers (degrees)
         90   BlPitchF(3)  - Blade 3 final pitch for pitch maneuvers (degrees) [unused for 2 blades]
---------------------- GENERATOR AND TORQUE CONTROL ----------------------------
          5   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)
          2   GenModel     - Generator model {1: simple, 2: Thevenin, 3: user-defined from routine UserGen} (switch) [used only when VSContrl=0]
       94.4   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 --------------------
     9999.9   VS_RtGnSp    - Rated generator speed for simple variable-speed generator control (HSS side) (rpm) [used only when VSContrl=1]
     9999.9   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]
     9999.9   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]
     9999.9   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)
        0.6   HSSBrDT      - Time for HSS-brake to reach full deployment once initiated (sec) [used only when HSSBrMode=1]
    28116.2   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)
9.02832E+09   YawSpr       - Nacelle-yaw spring constant (N-m/rad)
  1.916E+07   YawDamp      - Nacelle-yaw damping constant (N-m/(rad/s))
     9999.9   TYawManS     - Time to start override yaw maneuver and end standard yaw control (s)
        0.3   YawManRat    - Yaw maneuver rate (in absolute value) (deg/s)
          0   NacYawF      - Final yaw angle for override yaw maneuvers (degrees)
---------------------- AERODYNAMIC FLOW CONTROL --------------------------------
          0   AfCmode      - Airfoil control mode {0: none, 1: cosine wave cycle, 4: user-defined from Simulink/Labview, 5: user-defined from Bladed-style DLL} (switch)
          0   AfC_Mean     - Mean level for cosine cycling or steady value (-) [used only with AfCmode==1]
          0   AfC_Amp      - Amplitude for for cosine cycling of flap signal (-) [used only with AfCmode==1]
          0   AfC_Phase    - Phase relative to the blade azimuth (0 is vertical) for for cosine cycling of flap signal (deg) [used only with AfCmode==1]
---------------------- STRUCTURAL CONTROL --------------------------------------
0             NumBStC      - Number of blade structural controllers (integer)
"unused"      BStCfiles    - Name of the files for blade structural controllers (quoted strings) [unused when NumBStC==0]
0             NumNStC      - Number of nacelle structural controllers (integer)
"unused"      NStCfiles    - Name of the files for nacelle structural controllers (quoted strings) [unused when NumNStC==0]
0             NumTStC      - Number of tower structural controllers (integer)
"unused"      TStCfiles    - Name of the files for tower structural controllers (quoted strings) [unused when NumTStC==0]
0             NumSStC      - Number of substructure structural controllers (integer)
"unused"      SStCfiles    - Name of the files for substructure structural controllers (quoted strings) [unused when NumSStC==0]
---------------------- CABLE CONTROL -------------------------------------------
          0   CCmode       - Cable control mode {0: none, 4: user-defined from Simulink/Labview, 5: user-defined from Bladed-style DLL} (switch)
---------------------- BLADED INTERFACE ---------------------------------------- [used only with Bladed Interface]
"../5MW_Baseline/ServoData/DISCON_OC3Hywind.dll"    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     - Cutoff 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)
          3   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, (-)
"GenPwr"                  - Electrical generator power
"GenTq"                   - Electrical generator torque
END of input file (the word "END" must appear in the first 3 columns of this last OutList line)
---------------------------------------------------------------------------------------

For my second question, I have checked if there is any other DT time setting in other .dat file. It seems that all the DT are set as default, which is inherit from the .fst file. According to the prompt in simulink, may I know if there is any preset time step in the Openloop model that I have to change as well?

Thank you.

Best regards,
Jacky

4

Dear Jason,

Sorry that I forgot the change the VSContrl to 4. Please refer to the below log:

 **************************************************************************************************
 OpenFAST

 Copyright (C) 2023 National Renewable Energy Laboratory
 Copyright (C) 2023 Envision Energy USA LTD

 This program is licensed under Apache License Version 2.0 and comes with ABSOLUTELY NO WARRANTY.
 See the "LICENSE" file distributed with this software for details.
 **************************************************************************************************

 OpenFAST-Unversioned from e8ec53f9c7f9d3f6a13bfb61dba12a0ca04d8a2f
 Compile Info:
  - Compiler: Intel(R) Fortran Compiler 2021
  - Architecture: 64 bit
  - Precision: single
  - OpenMP: No
  - Date: Mar 14 2023
  - Time: 13:38:57
 Execution Info:
  - Date: 05/13/2023
  - Time: 16:25:52+0800

 OpenFAST input file heading:
     FAST Certification Test #25: NREL 5.0 MW Baseline Wind Turbine with OC4-DeepCwind semi
     configuration, for use in offshore analysis

 Running ElastoDyn.
 Nodal outputs section of ElastoDyn input file not found or improperly formatted.
 Running AeroDyn.
 AD15 Nodal Outputs: Nodal output section of AeroDyn input file not found or improperly formatted.
 Skipping nodal outputs.
 Warning: Turning off Unsteady Aerodynamics because polar has constant data. (node 1, blade 1)
 Warning: Turning off Unsteady Aerodynamics because polar has constant data. (node 2, blade 1)
 Warning: Turning off Unsteady Aerodynamics because polar has constant data. (node 3, blade 1)
 Warning: Turning off Unsteady Aerodynamics because polar has constant data. (node 4, blade 1)
 Warning: Turning off Unsteady Aerodynamics because polar has constant data. (node 1, blade 2)
 Warning: Turning off Unsteady Aerodynamics because polar has constant data. (node 2, blade 2)
 Warning: Turning off Unsteady Aerodynamics because polar has constant data. (node 3, blade 2)
 Warning: Turning off Unsteady Aerodynamics because polar has constant data. (node 4, blade 2)
 Warning: Turning off Unsteady Aerodynamics because polar has constant data. (node 1, blade 3)
 Warning: Turning off Unsteady Aerodynamics because polar has constant data. (node 2, blade 3)
 Warning: Turning off Unsteady Aerodynamics because polar has constant data. (node 3, blade 3)
 Warning: Turning off Unsteady Aerodynamics because polar has constant data. (node 4, blade 3)
 Running InflowWind.
 Running HydroDyn.
  Generating incident wave kinematics and current time history.
  Reading in WAMIT output with root name
  "C:\Users\Ming\Desktop\OpenFAST_20230127\openfast-3.4.0\openfast-3.4.0\reg_tests\r-test\glue-code
  s\openfast\5MW_OC4Semi_WSt_WavesWN\../5MW_Baseline/HydroData/marin_semi".
  Computing radiation impulse response functions and wave diffraction forces.
  Calculating second order difference-frequency force using the full quadratic transfer function.
  Calculating second order sum-frequency force using the full quadratic transfer function.
 Running MoorDyn (v2.0.0, 2022-12-08).
    This is MoorDyn v2, with significant input file changes from v1.
    Copyright: (C) 2022 National Renewable Energy Laboratory, (C) 2019 Matt Hall
    Parsing MoorDyn input file:
    C:\Users\Ming\Desktop\OpenFAST_20230127\openfast-3.4.0\openfast-3.4.0\reg_tests\r-test\glue-cod
    es\openfast\5MW_OC4Semi_WSt_WavesWN\NRELOffshrBsline5MW_OC4DeepCwindSemi_MoorDyn.dat
    Created mooring system:  3 lines, 6 points, 0 rods, 0 bodies.
    Finalizing initial conditions using dynamic relaxation.

t=2  FairTen 1: 8.67045E+05, 1, 2
t=4  FairTen 1: 9.76411E+05, 8.67045E+05, 1
t=6  FairTen 1: 1.02465E+06, 9.76411E+05, 8.67045E+05
t=8  FairTen 1: 9.87921E+05, 1.02465E+06, 9.76411E+05
t=10  FairTen 1: 1.00205E+06, 9.87921E+05, 1.02465E+06
t=12  FairTen 1: 1.00744E+06, 1.00205E+06, 9.87921E+05
t=14  FairTen 1: 1.00105E+06, 1.00744E+06, 1.00205E+06
t=16  FairTen 1: 9.84904E+05, 1.00105E+06, 1.00744E+06
t=18  FairTen 1: 1.02081E+06, 9.84904E+05, 1.00105E+06
t=20  FairTen 1: 9.98939E+05, 1.02081E+06, 9.84904E+05
t=22  FairTen 1: 9.90994E+05, 9.98939E+05, 1.02081E+06
t=24  FairTen 1: 1.00537E+06, 9.90994E+05, 9.98939E+05
t=26  FairTen 1: 1.00102E+06, 1.00537E+06, 9.90994E+05
t=28  FairTen 1: 1.00011E+06, 1.00102E+06, 1.00537E+06
t=30  FairTen 1: 9.99080E+05, 1.00011E+06, 1.00102E+06
t=32  FairTen 1: 1.00605E+06, 9.99080E+05, 1.00011E+06
t=34  FairTen 1: 9.93077E+05, 1.00605E+06, 9.99080E+05
t=36  FairTen 1: 1.00215E+06, 9.93077E+05, 1.00605E+06
t=38  FairTen 1: 1.00483E+06, 1.00215E+06, 9.93077E+05
t=40  FairTen 1: 9.96028E+05, 1.00483E+06, 1.00215E+06
t=42  FairTen 1: 1.00005E+06, 9.96028E+05, 1.00483E+06
t=44  FairTen 1: 1.00083E+06, 1.00005E+06, 9.96028E+05
t=46  FairTen 1: 1.00198E+06, 1.00083E+06, 1.00005E+06
t=48  FairTen 1: 9.96932E+05, 1.00198E+06, 1.00083E+06
t=50  FairTen 1: 1.00376E+06, 9.96932E+05, 1.00198E+06
t=52  FairTen 1: 9.99020E+05, 1.00376E+06, 9.96932E+05
    Fairlead tensions converged to 1 0x0.07fff435a7520p-1022fter 52 seconds.
    MoorDyn initialization completed.
 Running ServoDyn.

 FAST_InitializeAll:SrvD_Init:ValidatePrimaryData:Yaw angle and rate are not commanded from
 Simulink model.
 ValidatePrimaryData:HSS brake is not commanded from Simulink model.
 ValidatePrimaryData:Airfoil control is not commanded from Simulink model.
 ValidatePrimaryData:Cable control is not commanded from Simulink model.

  Time: 0 of 60 seconds.

Time: 1 of 60 seconds.  Estimated final completion at 16:26:33.

Time: 2 of 60 seconds.  Estimated final completion at 16:26:31.

Time: 3 of 60 seconds.  Estimated final completion at 16:26:31.

Time: 4 of 60 seconds.  Estimated final completion at 16:26:32.

Time: 5 of 60 seconds.  Estimated final completion at 16:26:31.

Time: 6 of 60 seconds.  Estimated final completion at 16:26:33.

Time: 7 of 60 seconds.  Estimated final completion at 16:26:29.

Time: 8 of 60 seconds.  Estimated final completion at 16:26:29.

Time: 9 of 60 seconds.  Estimated final completion at 16:26:29.

Time: 10 of 60 seconds.  Estimated final completion at 16:26:29.

Time: 11 of 60 seconds.  Estimated final completion at 16:26:29.

Time: 12 of 60 seconds.  Estimated final completion at 16:26:29.

Time: 13 of 60 seconds.  Estimated final completion at 16:26:31.

Time: 14 of 60 seconds.  Estimated final completion at 16:26:29.

Time: 15 of 60 seconds.  Estimated final completion at 16:26:30.

Time: 16 of 60 seconds.  Estimated final completion at 16:26:31.

Time: 17 of 60 seconds.  Estimated final completion at 16:26:31.

Time: 18 of 60 seconds.  Estimated final completion at 16:26:31.

Time: 19 of 60 seconds.  Estimated final completion at 16:26:30.

Time: 20 of 60 seconds.  Estimated final completion at 16:26:31.

Time: 21 of 60 seconds.  Estimated final completion at 16:26:30.

Time: 22 of 60 seconds.  Estimated final completion at 16:26:29.

Time: 23 of 60 seconds.  Estimated final completion at 16:26:30.

Time: 24 of 60 seconds.  Estimated final completion at 16:26:30.

Time: 25 of 60 seconds.  Estimated final completion at 16:26:30.

Time: 26 of 60 seconds.  Estimated final completion at 16:26:30.

Time: 27 of 60 seconds.  Estimated final completion at 16:26:30.

Time: 28 of 60 seconds.  Estimated final completion at 16:26:32.

Warning: block 'OpenLoop/FAST Nonlinear Wind Turbine/S-Function':
FAST_Solution:CalcOutputs_And_SolveForInputs:SolveOption2:AD_CalcOutput:RotCalcOutput:BEMT_CalcOutput(node 19, blade 2):UA_CalcOutput:Mach number exceeds 0.3. Theory
is invalid. This warning will not be repeated though the condition may persist. 
> In Run_OpenLoop (line 12) 

Time: 29 of 60 seconds.  Estimated final completion at 16:26:32.

Time: 30 of 60 seconds.  Estimated final completion at 16:26:31.

Time: 31 of 60 seconds.  Estimated final completion at 16:26:31.

Time: 32 of 60 seconds.  Estimated final completion at 16:26:31.

Time: 33 of 60 seconds.  Estimated final completion at 16:26:31.

Time: 34 of 60 seconds.  Estimated final completion at 16:26:30.

Time: 35 of 60 seconds.  Estimated final completion at 16:26:31.

Time: 36 of 60 seconds.  Estimated final completion at 16:26:30.

Time: 37 of 60 seconds.  Estimated final completion at 16:26:31.

Time: 38 of 60 seconds.  Estimated final completion at 16:26:30.

Time: 39 of 60 seconds.  Estimated final completion at 16:26:30.

Time: 40 of 60 seconds.  Estimated final completion at 16:26:30.

Time: 41 of 60 seconds.  Estimated final completion at 16:26:30.

Time: 42 of 60 seconds.  Estimated final completion at 16:26:31.

Time: 43 of 60 seconds.  Estimated final completion at 16:26:30.

Time: 44 of 60 seconds.  Estimated final completion at 16:26:30.

Time: 45 of 60 seconds.  Estimated final completion at 16:26:30.

Time: 46 of 60 seconds.  Estimated final completion at 16:26:30.

Time: 47 of 60 seconds.  Estimated final completion at 16:26:30.

Time: 48 of 60 seconds.  Estimated final completion at 16:26:30.

Time: 49 of 60 seconds.  Estimated final completion at 16:26:30.

Time: 50 of 60 seconds.  Estimated final completion at 16:26:31.

Time: 51 of 60 seconds.  Estimated final completion at 16:26:32.

Time: 52 of 60 seconds.  Estimated final completion at 16:26:32.

Time: 53 of 60 seconds.  Estimated final completion at 16:26:31.

Time: 54 of 60 seconds.  Estimated final completion at 16:26:31.

Time: 55 of 60 seconds.  Estimated final completion at 16:26:31.

Time: 56 of 60 seconds.  Estimated final completion at 16:26:31.

Time: 57 of 60 seconds.  Estimated final completion at 16:26:31.

Time: 58 of 60 seconds.  Estimated final completion at 16:26:31.

Time: 59 of 60 seconds.  Estimated final completion at 16:26:31.

Time: 60 of 60 seconds.  Estimated final completion at 16:26:31.

  OpenFAST completed.

From the log, I noticed that the input of the generator torque, power and the pitch angle from the simulink model is enabled, but there is new warning prompted out. May I know if that’s the normal case?

Thank you.

Best regards,
Jacky

5

Dear @Jacky.Cheung,

It looks like the simulation completed normally, with standard warnings. The only warning that may be of concern is the one about exceeding Mach 0.3, but this is not a big problem unless the simulation continuously or greatly exceeds Mach 0.3.

Best regards,

6

Dear Jaosn,

Thanks for the informaiton. I have run the simulation again with my model together. Here is my simulation log with some new errors:

 **************************************************************************************************
 OpenFAST
 Copyright (C) 2023 National Renewable Energy Laboratory
 Copyright (C) 2023 Envision Energy USA LTD
 This program is licensed under Apache License Version 2.0 and comes with ABSOLUTELY NO WARRANTY.
 See the "LICENSE" file distributed with this software for details.
 **************************************************************************************************
 OpenFAST-Unversioned from e8ec53f9c7f9d3f6a13bfb61dba12a0ca04d8a2f
 Compile Info:
  - Compiler: Intel(R) Fortran Compiler 2021
  - Architecture: 64 bit
  - Precision: single
  - OpenMP: No
  - Date: Mar 14 2023
  - Time: 13:38:57
 Execution Info:
  - Date: 05/13/2023
  - Time: 17:39:26+0800
 OpenFAST input file heading:
     FAST Certification Test #25: NREL 5.0 MW Baseline Wind Turbine with OC4-DeepCwind semi
     configuration, for use in offshore analysis
 Running ElastoDyn.
 Nodal outputs section of ElastoDyn input file not found or improperly formatted.
 Running AeroDyn.
 AD15 Nodal Outputs: Nodal output section of AeroDyn input file not found or improperly formatted.
 Skipping nodal outputs.
 Warning: Turning off Unsteady Aerodynamics because polar has constant data. (node 1, blade 1)
 Warning: Turning off Unsteady Aerodynamics because polar has constant data. (node 2, blade 1)
 Warning: Turning off Unsteady Aerodynamics because polar has constant data. (node 3, blade 1)
 Warning: Turning off Unsteady Aerodynamics because polar has constant data. (node 4, blade 1)
 Warning: Turning off Unsteady Aerodynamics because polar has constant data. (node 1, blade 2)
 Warning: Turning off Unsteady Aerodynamics because polar has constant data. (node 2, blade 2)
 Warning: Turning off Unsteady Aerodynamics because polar has constant data. (node 3, blade 2)
 Warning: Turning off Unsteady Aerodynamics because polar has constant data. (node 4, blade 2)
 Warning: Turning off Unsteady Aerodynamics because polar has constant data. (node 1, blade 3)
 Warning: Turning off Unsteady Aerodynamics because polar has constant data. (node 2, blade 3)
 Warning: Turning off Unsteady Aerodynamics because polar has constant data. (node 3, blade 3)
 Warning: Turning off Unsteady Aerodynamics because polar has constant data. (node 4, blade 3)
 Running InflowWind.
 Running HydroDyn.
  Generating incident wave kinematics and current time history.
  Reading in WAMIT output with root name
  "C:\Users\Ming\Desktop\OpenFAST_20230127\openfast-3.4.0\openfast-3.4.0\reg_tests\r-test\glue-code
  s\openfast\5MW_OC4Semi_WSt_WavesWN\../5MW_Baseline/HydroData/marin_semi".
  Computing radiation impulse response functions and wave diffraction forces.
  Calculating second order difference-frequency force using the full quadratic transfer function.
  Calculating second order sum-frequency force using the full quadratic transfer function.
 Running MoorDyn (v2.0.0, 2022-12-08).
    This is MoorDyn v2, with significant input file changes from v1.
    Copyright: (C) 2022 National Renewable Energy Laboratory, (C) 2019 Matt Hall
    Parsing MoorDyn input file:
    C:\Users\Ming\Desktop\OpenFAST_20230127\openfast-3.4.0\openfast-3.4.0\reg_tests\r-test\glue-cod
    es\openfast\5MW_OC4Semi_WSt_WavesWN\NRELOffshrBsline5MW_OC4DeepCwindSemi_MoorDyn.dat
    Created mooring system:  3 lines, 6 points, 0 rods, 0 bodies.
    Finalizing initial conditions using dynamic relaxation.
t=2  FairTen 1: 8.67045E+05, 1, 2
t=4  FairTen 1: 9.76411E+05, 8.67045E+05, 1
t=6  FairTen 1: 1.02465E+06, 9.76411E+05, 8.67045E+05
t=8  FairTen 1: 9.87921E+05, 1.02465E+06, 9.76411E+05
t=10  FairTen 1: 1.00205E+06, 9.87921E+05, 1.02465E+06
t=12  FairTen 1: 1.00744E+06, 1.00205E+06, 9.87921E+05
t=14  FairTen 1: 1.00105E+06, 1.00744E+06, 1.00205E+06
t=16  FairTen 1: 9.84904E+05, 1.00105E+06, 1.00744E+06
t=18  FairTen 1: 1.02081E+06, 9.84904E+05, 1.00105E+06
t=20  FairTen 1: 9.98939E+05, 1.02081E+06, 9.84904E+05
t=22  FairTen 1: 9.90994E+05, 9.98939E+05, 1.02081E+06
t=24  FairTen 1: 1.00537E+06, 9.90994E+05, 9.98939E+05
t=26  FairTen 1: 1.00102E+06, 1.00537E+06, 9.90994E+05
t=28  FairTen 1: 1.00011E+06, 1.00102E+06, 1.00537E+06
t=30  FairTen 1: 9.99080E+05, 1.00011E+06, 1.00102E+06
t=32  FairTen 1: 1.00605E+06, 9.99080E+05, 1.00011E+06
t=34  FairTen 1: 9.93077E+05, 1.00605E+06, 9.99080E+05
t=36  FairTen 1: 1.00215E+06, 9.93077E+05, 1.00605E+06
t=38  FairTen 1: 1.00483E+06, 1.00215E+06, 9.93077E+05
t=40  FairTen 1: 9.96028E+05, 1.00483E+06, 1.00215E+06
t=42  FairTen 1: 1.00005E+06, 9.96028E+05, 1.00483E+06
t=44  FairTen 1: 1.00083E+06, 1.00005E+06, 9.96028E+05
t=46  FairTen 1: 1.00198E+06, 1.00083E+06, 1.00005E+06
t=48  FairTen 1: 9.96932E+05, 1.00198E+06, 1.00083E+06
t=50  FairTen 1: 1.00376E+06, 9.96932E+05, 1.00198E+06
t=52  FairTen 1: 9.99020E+05, 1.00376E+06, 9.96932E+05
    Fairlead tensions converged to 1 0x0.07ffe8e147520p-1022fter 52 seconds.
    MoorDyn initialization completed.
 Running ServoDyn.
 FAST_InitializeAll:SrvD_Init:ValidatePrimaryData:Yaw angle and rate are not commanded from
 Simulink model.
 ValidatePrimaryData:HSS brake is not commanded from Simulink model.
 ValidatePrimaryData:Airfoil control is not commanded from Simulink model.
 ValidatePrimaryData:Cable control is not commanded from Simulink model.
  Time: 0 of 60 seconds.
Time: 1 of 60 seconds.  Estimated final completion at 21:15:46.
Warning: block 'Full_system_v2/Wind Turbine/FAST Nonlinear Wind Turbine/S-Function': FAST_Solution:CalcOutputs_And_SolveForInputs:SolveOption2:AD_CalcOutput:RotCalcOutput:BEMT_CalcOutput(node 19, blade 1):UA_CalcOutput:UA_BlendSteady:Temporarily turning off UA due to high angle of attack or low relative velocity. This warning will not be repeated though the condition may persist.
Time: 2 of 60 seconds.  Estimated final completion at 21:17:29.
Time: 3 of 60 seconds.  Estimated final completion at 21:14:50.
Time: 4 of 60 seconds.  Estimated final completion at 21:17:15.
 The BEM solution is being turned off due to low TSR.  (TSR = 1.9949). This warning will not be
 repeated though the condition may persist. (See GeomPhi output channel.)
Time: 5 of 60 seconds.  Estimated final completion at 21:23:19.
Time: 6 of 60 seconds.  Estimated final completion at 21:15:19.
Time: 7 of 60 seconds.  Estimated final completion at 21:17:33.
FAST_Solution:FAST_AdvanceStates:AD_UpdateStates:BEMT_UpdateStates:UpdatePhi(node 5, blade 2):BEMT_UnCoupledSolve:There is no valid value of phi for these operating conditions: Vx = 8.4972, Vy = -0.71762, rlocal = 11.725, theta = 1.0858, geometric phi = 1.6551. This warning will not be repeated though the condition may persist. (See GeomPhi output channel.)
Time: 8 of 60 seconds.  Estimated final completion at 21:18:04.
Time: 9 of 60 seconds.  Estimated final completion at 21:15:46.
Time: 10 of 60 seconds.  Estimated final completion at 21:16:02.
Time: 11 of 60 seconds.  Estimated final completion at 21:14:25.
Time: 12 of 60 seconds.  Estimated final completion at 21:15:47.
Time: 13 of 60 seconds.  Estimated final completion at 21:16:52.
Time: 14 of 60 seconds.  Estimated final completion at 21:14:09.
Time: 15 of 60 seconds.  Estimated final completion at 21:14:30.
Time: 16 of 60 seconds.  Estimated final completion at 21:16:33.
Time: 17 of 60 seconds.  Estimated final completion at 21:14:37.
Time: 18 of 60 seconds.  Estimated final completion at 21:16:14.
Time: 19 of 60 seconds.  Estimated final completion at 21:17:36.
Time: 20 of 60 seconds.  Estimated final completion at 21:15:46.
Time: 21 of 60 seconds.  Estimated final completion at 21:16:18.
Time: 22 of 60 seconds.  Estimated final completion at 21:21:40.
Time: 23 of 60 seconds.  Estimated final completion at 21:15:51.
Time: 24 of 60 seconds.  Estimated final completion at 21:18:00.
Time: 25 of 60 seconds.  Estimated final completion at 21:17:12.
Time: 26 of 60 seconds.  Estimated final completion at 21:13:60.
Time: 27 of 60 seconds.  Estimated final completion at 21:16:51.
Time: 28 of 60 seconds.  Estimated final completion at 21:17:41.
Time: 29 of 60 seconds.  Estimated final completion at 21:14:53.
Time: 30 of 60 seconds.  Estimated final completion at 21:18:52.
Time: 31 of 60 seconds.  Estimated final completion at 21:16:50.
Time: 32 of 60 seconds.  Estimated final completion at 21:15:12.
Time: 33 of 60 seconds.  Estimated final completion at 21:18:35.
Time: 34 of 60 seconds.  Estimated final completion at 21:18:55.
Time: 35 of 60 seconds.  Estimated final completion at 21:16:24.
Time: 36 of 60 seconds.  Estimated final completion at 21:18:45.
Time: 37 of 60 seconds.  Estimated final completion at 21:18:09.
Time: 38 of 60 seconds.  Estimated final completion at 21:16:16.
Time: 39 of 60 seconds.  Estimated final completion at 21:18:37.
Time: 40 of 60 seconds.  Estimated final completion at 21:18:11.
Time: 41 of 60 seconds.  Estimated final completion at 21:17:02.
Time: 42 of 60 seconds.  Estimated final completion at 21:17:58.
Time: 43 of 60 seconds.  Estimated final completion at 21:17:51.
Time: 44 of 60 seconds.  Estimated final completion at 21:16:52.
Time: 45 of 60 seconds.  Estimated final completion at 21:17:60.
Time: 46 of 60 seconds.  Estimated final completion at 21:17:49.
Time: 47 of 60 seconds.  Estimated final completion at 21:17:11.
Time: 48 of 60 seconds.  Estimated final completion at 21:17:49.
Time: 49 of 60 seconds.  Estimated final completion at 21:17:44.
Time: 50 of 60 seconds.  Estimated final completion at 21:18:01.
Time: 51 of 60 seconds.  Estimated final completion at 21:18:21.
Time: 52 of 60 seconds.  Estimated final completion at 21:17:27.
Time: 53 of 60 seconds.  Estimated final completion at 21:17:44.
Time: 54 of 60 seconds.  Estimated final completion at 21:18:02.
Time: 55 of 60 seconds.  Estimated final completion at 21:18:04.
Time: 56 of 60 seconds.  Estimated final completion at 21:17:52.
Time: 57 of 60 seconds.  Estimated final completion at 21:18:01.
Time: 58 of 60 seconds.  Estimated final completion at 21:17:47.
Time: 59 of 60 seconds.  Estimated final completion at 21:17:57.
Time: 60 of 60 seconds.  Estimated final completion at 21:17:55.
  Total Real Time:       3.6825 hours
  Total CPU Time:        5.356 hours
  Simulation CPU Time:   4.6412 hours
  Simulated Time:        1.66667E-02 hours
  Time Ratio (Sim/CPU):  3.59101E-03
  OpenFAST completed.

The error related to TSR of the turbine and the AeroDyn prompted out during the simulation. May I know if the error is normal?

Also, I noticed that the input of the OpenFAST module (Generator Torque, Generator Power and Pitch Angle) are not in per unit scale. Therefore, I have changed the per unit data to actual data wit the following multiplier (https://www.nrel.gov/docs/fy09osti/38060.pdf):

Generator Torque: 43,093.55 N•m
Generator Power: 5MW

May I know if my conversion for the model is correct?

Thanks a lot.

Best regard,
Jacky

7

Dear @Jacky.Cheung,

I wouldn’t normally expect that you’d receive a low TSR warning, but I don’t know what conditions you are simulating to comment if that is expected for your simulation set-up.

I’m not sure I understand your question about the generator torque and power–what did you change?

Best regards,

8

Dear Jason,

I have run the simulation again with the following input (Generator Power, Generator Torque and Pitch Angle) and log. Please refer to the information below:

Input

Generator Power

Generator Power
Generator Power2049×1331 29.4 KB

Generator Torque

Generator Torque
Generator Torque2125×1325 31.3 KB

Pitch Angle

Pitch Degree
Pitch Degree2110×1343 33.7 KB

Simuilation Log

 **************************************************************************************************
 OpenFAST
 Copyright (C) 2023 National Renewable Energy Laboratory
 Copyright (C) 2023 Envision Energy USA LTD
 This program is licensed under Apache License Version 2.0 and comes with ABSOLUTELY NO WARRANTY.
 See the "LICENSE" file distributed with this software for details.
 **************************************************************************************************
 OpenFAST-Unversioned from e8ec53f9c7f9d3f6a13bfb61dba12a0ca04d8a2f
 Compile Info:
  - Compiler: Intel(R) Fortran Compiler 2021
  - Architecture: 64 bit
  - Precision: single
  - OpenMP: No
  - Date: Mar 14 2023
  - Time: 13:38:57
 Execution Info:
  - Date: 05/15/2023
  - Time: 23:43:02+0800
 OpenFAST input file heading:
     FAST Certification Test #25: NREL 5.0 MW Baseline Wind Turbine with OC4-DeepCwind semi
     configuration, for use in offshore analysis
 Running ElastoDyn.
 Nodal outputs section of ElastoDyn input file not found or improperly formatted.
 Running AeroDyn.
 AD15 Nodal Outputs: Nodal output section of AeroDyn input file not found or improperly formatted.
 Skipping nodal outputs.
 Warning: Turning off Unsteady Aerodynamics because polar has constant data. (node 1, blade 1)
 Warning: Turning off Unsteady Aerodynamics because polar has constant data. (node 2, blade 1)
 Warning: Turning off Unsteady Aerodynamics because polar has constant data. (node 3, blade 1)
 Warning: Turning off Unsteady Aerodynamics because polar has constant data. (node 4, blade 1)
 Warning: Turning off Unsteady Aerodynamics because polar has constant data. (node 1, blade 2)
 Warning: Turning off Unsteady Aerodynamics because polar has constant data. (node 2, blade 2)
 Warning: Turning off Unsteady Aerodynamics because polar has constant data. (node 3, blade 2)
 Warning: Turning off Unsteady Aerodynamics because polar has constant data. (node 4, blade 2)
 Warning: Turning off Unsteady Aerodynamics because polar has constant data. (node 1, blade 3)
 Warning: Turning off Unsteady Aerodynamics because polar has constant data. (node 2, blade 3)
 Warning: Turning off Unsteady Aerodynamics because polar has constant data. (node 3, blade 3)
 Warning: Turning off Unsteady Aerodynamics because polar has constant data. (node 4, blade 3)
 Running InflowWind.
 Running HydroDyn.
  Generating incident wave kinematics and current time history.
  Reading in WAMIT output with root name
  "C:\Users\Ming\Desktop\OpenFAST_20230127\openfast-3.4.0\openfast-3.4.0\reg_tests\r-test\glue-code
  s\openfast\5MW_OC4Semi_WSt_WavesWN\../5MW_Baseline/HydroData/marin_semi".
  Computing radiation impulse response functions and wave diffraction forces.
  Calculating second order difference-frequency force using the full quadratic transfer function.
  Calculating second order sum-frequency force using the full quadratic transfer function.
 Running MoorDyn (v2.0.0, 2022-12-08).
    This is MoorDyn v2, with significant input file changes from v1.
    Copyright: (C) 2022 National Renewable Energy Laboratory, (C) 2019 Matt Hall
    Parsing MoorDyn input file:
    C:\Users\Ming\Desktop\OpenFAST_20230127\openfast-3.4.0\openfast-3.4.0\reg_tests\r-test\glue-cod
    es\openfast\5MW_OC4Semi_WSt_WavesWN\NRELOffshrBsline5MW_OC4DeepCwindSemi_MoorDyn.dat
    Created mooring system:  3 lines, 6 points, 0 rods, 0 bodies.
    Finalizing initial conditions using dynamic relaxation.
t=2  FairTen 1: 8.67045E+05, 1, 2
t=4  FairTen 1: 9.76411E+05, 8.67045E+05, 1
t=6  FairTen 1: 1.02465E+06, 9.76411E+05, 8.67045E+05
t=8  FairTen 1: 9.87921E+05, 1.02465E+06, 9.76411E+05
t=10  FairTen 1: 1.00205E+06, 9.87921E+05, 1.02465E+06
t=12  FairTen 1: 1.00744E+06, 1.00205E+06, 9.87921E+05
t=14  FairTen 1: 1.00105E+06, 1.00744E+06, 1.00205E+06
t=16  FairTen 1: 9.84904E+05, 1.00105E+06, 1.00744E+06
t=18  FairTen 1: 1.02081E+06, 9.84904E+05, 1.00105E+06
t=20  FairTen 1: 9.98939E+05, 1.02081E+06, 9.84904E+05
t=22  FairTen 1: 9.90994E+05, 9.98939E+05, 1.02081E+06
t=24  FairTen 1: 1.00537E+06, 9.90994E+05, 9.98939E+05
t=26  FairTen 1: 1.00102E+06, 1.00537E+06, 9.90994E+05
t=28  FairTen 1: 1.00011E+06, 1.00102E+06, 1.00537E+06
t=30  FairTen 1: 9.99080E+05, 1.00011E+06, 1.00102E+06
t=32  FairTen 1: 1.00605E+06, 9.99080E+05, 1.00011E+06
t=34  FairTen 1: 9.93077E+05, 1.00605E+06, 9.99080E+05
t=36  FairTen 1: 1.00215E+06, 9.93077E+05, 1.00605E+06
t=38  FairTen 1: 1.00483E+06, 1.00215E+06, 9.93077E+05
t=40  FairTen 1: 9.96028E+05, 1.00483E+06, 1.00215E+06
t=42  FairTen 1: 1.00005E+06, 9.96028E+05, 1.00483E+06
t=44  FairTen 1: 1.00083E+06, 1.00005E+06, 9.96028E+05
t=46  FairTen 1: 1.00198E+06, 1.00083E+06, 1.00005E+06
t=48  FairTen 1: 9.96932E+05, 1.00198E+06, 1.00083E+06
t=50  FairTen 1: 1.00376E+06, 9.96932E+05, 1.00198E+06
t=52  FairTen 1: 9.99020E+05, 1.00376E+06, 9.96932E+05
    Fairlead tensions converged to 1 0x0.07ffb1b187520p-1022fter 52 seconds.
    MoorDyn initialization completed.
 Running ServoDyn.
 FAST_InitializeAll:SrvD_Init:ValidatePrimaryData:Yaw angle and rate are not commanded from
 Simulink model.
 ValidatePrimaryData:HSS brake is not commanded from Simulink model.
 ValidatePrimaryData:Airfoil control is not commanded from Simulink model.
 ValidatePrimaryData:Cable control is not commanded from Simulink model.
  Time: 0 of 30 seconds.
### Simulink cache artifacts for 'Full_system_v2' were created in 'C:\Users\Ming\Desktop\Type 4 Wind Turbine Simulink Model\Full_system_v2.slxc'.
Warning: block 'Full_system_v2/Wind Turbine/FAST Nonlinear Wind Turbine/S-Function': FAST_Solution:CalcOutputs_And_SolveForInputs:SolveOption2:AD_CalcOutput:RotCalcOutput:BEMT_CalcOutput(node 5, blade 1):UA_CalcOutput:UA_BlendSteady:Temporarily turning off UA due to high angle of attack or low relative velocity. This warning will not be repeated though the condition may persist.
Time: 1 of 30 seconds.  Estimated final completion at 01:51:54.
Time: 2 of 30 seconds.  Estimated final completion at 01:45:30.
Time: 3 of 30 seconds.  Estimated final completion at 01:43:04.
 The BEM solution is being turned off due to low TSR.  (TSR = 1.9891). This warning will not be
 repeated though the condition may persist. (See GeomPhi output channel.)
Time: 4 of 30 seconds.  Estimated final completion at 01:45:31.
Time: 5 of 30 seconds.  Estimated final completion at 01:46:29.
Time: 6 of 30 seconds.  Estimated final completion at 01:43:35.
FAST_Solution:FAST_AdvanceStates:AD_UpdateStates:BEMT_UpdateStates:UpdatePhi(node 10, blade 2):BEMT_UnCoupledSolve:There is no valid value of phi for these operating conditions: Vx = 1.548, Vy = -11.758, rlocal = 32.177, theta = 0.47468, geometric phi = 3.0107. This warning will not be repeated though the condition may persist. (See GeomPhi output channel.)
Warning: block 'Full_system_v2/Wind Turbine/FAST Nonlinear Wind Turbine/S-Function': FAST_Solution:CalcOutputs_And_SolveForInputs:SolveOption2:AD_CalcOutput:RotCalcOutput:BEMT_CalcOutput(node 17, blade 2):UA_CalcOutput:Mach number exceeds 0.3. Theory is invalid. This warning will not be repeated though the condition may persist.
Warning: block 'Full_system_v2/Wind Turbine/FAST Nonlinear Wind Turbine/S-Function': FAST_Solution:FAST_AdvanceStates:ED_ABM4:ED_CalcContStateDeriv:SetCoordSy:Small angle assumption violated in SUBROUTINE SmllRotTrans() due to a large blade deflection (ElastoDyn SetCoordSy). The solution may be inaccurate. Simulation continuing, but future warnings from SmllRotTrans() will be suppressed.
 Additional debugging message from SUBROUTINE SmllRotTrans(): 6.7375 s
 Warning: SkewedWakeCorrection encountered a large value of chi (91.221 deg), so the yaw
 correction will be limited. This warning will not be repeated though the condition may persist.
 See the AD15 chi output channels, and consider turning off the Pitt/Peters skew model (set
 SkewMod=1) if this condition persists.
Time: 7 of 30 seconds.  Estimated final completion at 01:44:53.
Time: 8 of 30 seconds.  Estimated final completion at 01:43:12.
Time: 9 of 30 seconds.  Estimated final completion at 01:43:01.
Time: 10 of 30 seconds.  Estimated final completion at 01:46:25.
Time: 11 of 30 seconds.  Estimated final completion at 01:42:47.
Time: 12 of 30 seconds.  Estimated final completion at 01:44:56.
Time: 13 of 30 seconds.  Estimated final completion at 01:44:11.
Time: 14 of 30 seconds.  Estimated final completion at 01:42:32.
Time: 15 of 30 seconds.  Estimated final completion at 01:44:03.
Time: 16 of 30 seconds.  Estimated final completion at 01:43:09.
Time: 17 of 30 seconds.  Estimated final completion at 01:43:24.
Time: 18 of 30 seconds.  Estimated final completion at 01:44:08.
Time: 19 of 30 seconds.  Estimated final completion at 01:43:04.
Time: 20 of 30 seconds.  Estimated final completion at 01:44:07.
Time: 21 of 30 seconds.  Estimated final completion at 01:44:21.
Time: 22 of 30 seconds.  Estimated final completion at 01:43:03.
Time: 23 of 30 seconds.  Estimated final completion at 01:43:46.
Time: 24 of 30 seconds.  Estimated final completion at 01:43:40.
Time: 25 of 30 seconds.  Estimated final completion at 01:43:29.
Time: 26 of 30 seconds.  Estimated final completion at 01:43:49.
Time: 27 of 30 seconds.  Estimated final completion at 01:43:27.
Time: 28 of 30 seconds.  Estimated final completion at 01:43:38.
Time: 29 of 30 seconds.  Estimated final completion at 01:43:45.
Time: 30 of 30 seconds.  Estimated final completion at 01:43:38.
  OpenFAST completed.

Since the generator power and torque of my model is in pu scale, I have converted the data with a gain module.
gain
The magnitude of the gain modules are:

Generator Torque: 43,093.55 N•m
Generator Power: 5MW

Please let me know if I was wrong in any of the step. Thank you.

Best regards,
Jacky

9

Dear @Jacky.Cheung,

I’m not really sure I understand enough about what you are doing or what your question is to respond. What wind conditions are you simulating? What rotor speed are you obtaining? How are you calculating torque, power, and pitch in Simulink? What question do you have?

Best regards,

10

Dear Jason,

Config
Config1572×614 69.9 KB

Pitch
Pitch1236×345 9.78 KB

So bascially I have modified the reference model of type 4 wind tubine into a full converter model and I want to simulate the mechnical behaviour under diffferent grid event. In the above case, I was simulating the wind turbine under a grid fault and the wind speed is 12 m/s. The rotor speed and generator torque is calculated through the drivetrain model. The generator power is then multiplied and input to the synchronous generator. For the pitch angle, I have applied a PID controller which the input of the pitch control is the generator power.

Best regards,
Jacky

11

Dear @Jacky.Cheung,

You’ve now clarified how you are calculating torque, power, and pitch, but I’m still not sure what your question is.

Best regards,

12

Dear Jason,

So my questions are:

  1. Did I input the correct parameter to the OpenFAST S Function?
  2. Are the errors promoted out in the simulations are normal?

Thanks a lot.

Best regards,
Jacky

13

Dear @Jacky.Cheung,

Regarding (1), I’m not fully sure I follow all of the details of your Simulink model, but it looks like you are transferring the blade pitch, generator torque, and generator power from Simulink to the OpenFAST S-Function, which sounds correct. The blade-pitch should be in radians, the generator torque should be in N*m and expressed relative to the high-speed shaft and the generator power should be in watts.

Regarding (2), I would not normally expect the low TSR and high skew angle warnings to appear, but I’m not sure what to expect during a grid fault event. Do the rotor speed and other response variables you are obtaining make sense to you for the conditions you are simulating?

Best regards,

14

Dear Jason,

I have run the simualtion again with wind speed at 11.4 m/s for testing the simualtion under stable condition. This time I have converted the pitch angle from degree to radian before input to the OpenFAST SFunction. Please refer to the following information:

Simulation Log

 **************************************************************************************************
 OpenFAST
 Copyright (C) 2023 National Renewable Energy Laboratory
 Copyright (C) 2023 Envision Energy USA LTD
 This program is licensed under Apache License Version 2.0 and comes with ABSOLUTELY NO WARRANTY.
 See the "LICENSE" file distributed with this software for details.
 **************************************************************************************************
 OpenFAST-Unversioned from e8ec53f9c7f9d3f6a13bfb61dba12a0ca04d8a2f
 Compile Info:
  - Compiler: Intel(R) Fortran Compiler 2021
  - Architecture: 64 bit
  - Precision: single
  - OpenMP: No
  - Date: Mar 14 2023
  - Time: 13:38:57
 Execution Info:
  - Date: 05/18/2023
  - Time: 10:42:19+0800
 OpenFAST input file heading:
     FAST Certification Test #25: NREL 5.0 MW Baseline Wind Turbine with OC4-DeepCwind semi
     configuration, for use in offshore analysis
 Running ElastoDyn.
 Nodal outputs section of ElastoDyn input file not found or improperly formatted.
 Running AeroDyn.
 AD15 Nodal Outputs: Nodal output section of AeroDyn input file not found or improperly formatted.
 Skipping nodal outputs.
 Warning: Turning off Unsteady Aerodynamics because polar has constant data. (node 1, blade 1)
 Warning: Turning off Unsteady Aerodynamics because polar has constant data. (node 2, blade 1)
 Warning: Turning off Unsteady Aerodynamics because polar has constant data. (node 3, blade 1)
 Warning: Turning off Unsteady Aerodynamics because polar has constant data. (node 4, blade 1)
 Warning: Turning off Unsteady Aerodynamics because polar has constant data. (node 1, blade 2)
 Warning: Turning off Unsteady Aerodynamics because polar has constant data. (node 2, blade 2)
 Warning: Turning off Unsteady Aerodynamics because polar has constant data. (node 3, blade 2)
 Warning: Turning off Unsteady Aerodynamics because polar has constant data. (node 4, blade 2)
 Warning: Turning off Unsteady Aerodynamics because polar has constant data. (node 1, blade 3)
 Warning: Turning off Unsteady Aerodynamics because polar has constant data. (node 2, blade 3)
 Warning: Turning off Unsteady Aerodynamics because polar has constant data. (node 3, blade 3)
 Warning: Turning off Unsteady Aerodynamics because polar has constant data. (node 4, blade 3)
 Running InflowWind.
 Running HydroDyn.
  Generating incident wave kinematics and current time history.
  Reading in WAMIT output with root name
  "C:\Users\Ming\Desktop\OpenFAST_20230127\openfast-3.4.0\openfast-3.4.0\reg_tests\r-test\glue-code
  s\openfast\5MW_OC4Semi_WSt_WavesWN\../5MW_Baseline/HydroData/marin_semi".
  Computing radiation impulse response functions and wave diffraction forces.
  Calculating second order difference-frequency force using the full quadratic transfer function.
  Calculating second order sum-frequency force using the full quadratic transfer function.
 Running MoorDyn (v2.0.0, 2022-12-08).
    This is MoorDyn v2, with significant input file changes from v1.
    Copyright: (C) 2022 National Renewable Energy Laboratory, (C) 2019 Matt Hall
    Parsing MoorDyn input file:
    C:\Users\Ming\Desktop\OpenFAST_20230127\openfast-3.4.0\openfast-3.4.0\reg_tests\r-test\glue-cod
    es\openfast\5MW_OC4Semi_WSt_WavesWN\NRELOffshrBsline5MW_OC4DeepCwindSemi_MoorDyn.dat
    Created mooring system:  3 lines, 6 points, 0 rods, 0 bodies.
    Finalizing initial conditions using dynamic relaxation.
t=2  FairTen 1: 8.67045E+05, 1, 2
t=4  FairTen 1: 9.76411E+05, 8.67045E+05, 1
t=6  FairTen 1: 1.02465E+06, 9.76411E+05, 8.67045E+05
t=8  FairTen 1: 9.87921E+05, 1.02465E+06, 9.76411E+05
t=10  FairTen 1: 1.00205E+06, 9.87921E+05, 1.02465E+06
t=12  FairTen 1: 1.00744E+06, 1.00205E+06, 9.87921E+05
t=14  FairTen 1: 1.00105E+06, 1.00744E+06, 1.00205E+06
t=16  FairTen 1: 9.84904E+05, 1.00105E+06, 1.00744E+06
t=18  FairTen 1: 1.02081E+06, 9.84904E+05, 1.00105E+06
t=20  FairTen 1: 9.98939E+05, 1.02081E+06, 9.84904E+05
t=22  FairTen 1: 9.90994E+05, 9.98939E+05, 1.02081E+06
t=24  FairTen 1: 1.00537E+06, 9.90994E+05, 9.98939E+05
t=26  FairTen 1: 1.00102E+06, 1.00537E+06, 9.90994E+05
t=28  FairTen 1: 1.00011E+06, 1.00102E+06, 1.00537E+06
t=30  FairTen 1: 9.99080E+05, 1.00011E+06, 1.00102E+06
t=32  FairTen 1: 1.00605E+06, 9.99080E+05, 1.00011E+06
t=34  FairTen 1: 9.93077E+05, 1.00605E+06, 9.99080E+05
t=36  FairTen 1: 1.00215E+06, 9.93077E+05, 1.00605E+06
t=38  FairTen 1: 1.00483E+06, 1.00215E+06, 9.93077E+05
t=40  FairTen 1: 9.96028E+05, 1.00483E+06, 1.00215E+06
t=42  FairTen 1: 1.00005E+06, 9.96028E+05, 1.00483E+06
t=44  FairTen 1: 1.00083E+06, 1.00005E+06, 9.96028E+05
t=46  FairTen 1: 1.00198E+06, 1.00083E+06, 1.00005E+06
t=48  FairTen 1: 9.96932E+05, 1.00198E+06, 1.00083E+06
t=50  FairTen 1: 1.00376E+06, 9.96932E+05, 1.00198E+06
t=52  FairTen 1: 9.99020E+05, 1.00376E+06, 9.96932E+05
    Fairlead tensions converged to 1 0x0.07ffe1b707520p-1022fter 52 seconds.
    MoorDyn initialization completed.
 Running ServoDyn.
 FAST_InitializeAll:SrvD_Init:ValidatePrimaryData:Yaw angle and rate are not commanded from
 Simulink model.
 ValidatePrimaryData:HSS brake is not commanded from Simulink model.
 ValidatePrimaryData:Airfoil control is not commanded from Simulink model.
 ValidatePrimaryData:Cable control is not commanded from Simulink model.
  Time: 0 of 60 seconds.
### Simulink cache artifacts for 'Full_system_v3' were created in 'C:\Users\Ming\Desktop\Type 4 Wind Turbine Simulink Model\Full_system_v3.slxc'.
Time: 1 of 60 seconds.  Estimated final completion at 14:57:17.
Time: 2 of 60 seconds.  Estimated final completion at 14:42:02.
Time: 3 of 60 seconds.  Estimated final completion at 14:37:30.
Time: 4 of 60 seconds.  Estimated final completion at 14:41:36.
Time: 5 of 60 seconds.  Estimated final completion at 14:41:40.
Time: 6 of 60 seconds.  Estimated final completion at 14:37:42.
Time: 7 of 60 seconds.  Estimated final completion at 14:41:21.
Time: 8 of 60 seconds.  Estimated final completion at 14:39:30.
Time: 9 of 60 seconds.  Estimated final completion at 14:39:36.
Warning: block 'Full_system_v3/Wind Turbine/FAST Nonlinear Wind Turbine/S-Function': FAST_Solution:CalcOutputs_And_SolveForInputs:SolveOption2:AD_CalcOutput:RotCalcOutput:BEMT_CalcOutput(node 5, blade 3):UA_CalcOutput:UA_BlendSteady:Temporarily turning off UA due to high angle of attack or low relative velocity. This warning will not be repeated though the condition may persist.
Time: 10 of 60 seconds.  Estimated final completion at 14:42:00.
Time: 11 of 60 seconds.  Estimated final completion at 14:38:14.
Time: 12 of 60 seconds.  Estimated final completion at 14:41:10.
 The BEM solution is being turned off due to low TSR.  (TSR = 1.9969). This warning will not be
 repeated though the condition may persist. (See GeomPhi output channel.)
Time: 13 of 60 seconds.  Estimated final completion at 14:41:46.
Time: 14 of 60 seconds.  Estimated final completion at 14:37:54.
Time: 15 of 60 seconds.  Estimated final completion at 14:41:32.
Time: 16 of 60 seconds.  Estimated final completion at 14:40:48.
Time: 17 of 60 seconds.  Estimated final completion at 14:40:05.
Time: 18 of 60 seconds.  Estimated final completion at 14:42:04.
Time: 19 of 60 seconds.  Estimated final completion at 14:44:41.
Time: 20 of 60 seconds.  Estimated final completion at 14:41:44.
Time: 21 of 60 seconds.  Estimated final completion at 14:42:20.
Time: 22 of 60 seconds.  Estimated final completion at 14:38:06.
Time: 23 of 60 seconds.  Estimated final completion at 14:43:33.
Time: 24 of 60 seconds.  Estimated final completion at 14:41:22.
Time: 25 of 60 seconds.  Estimated final completion at 14:39:12.
Time: 26 of 60 seconds.  Estimated final completion at 14:42:30.
Time: 27 of 60 seconds.  Estimated final completion at 14:41:09.
Time: 28 of 60 seconds.  Estimated final completion at 14:41:34.
Time: 29 of 60 seconds.  Estimated final completion at 14:41:32.
Time: 30 of 60 seconds.  Estimated final completion at 14:40:29.
Time: 31 of 60 seconds.  Estimated final completion at 14:43:42.
Time: 32 of 60 seconds.  Estimated final completion at 14:41:45.
Time: 33 of 60 seconds.  Estimated final completion at 14:40:06.
Time: 34 of 60 seconds.  Estimated final completion at 14:42:40.
Warning: block 'Full_system_v3/Wind Turbine/FAST Nonlinear Wind Turbine/S-Function': FAST_Solution:CalcOutputs_And_SolveForInputs:SolveOption2:AD_CalcOutput:RotCalcOutput:BEMT_CalcOutput(node 19, blade 1):UA_CalcOutput:Mach number exceeds 0.3. Theory is invalid. This warning will not be repeated though the condition may persist.
Time: 35 of 60 seconds.  Estimated final completion at 14:40:43.
Time: 36 of 60 seconds.  Estimated final completion at 14:40:48.
Time: 37 of 60 seconds.  Estimated final completion at 14:41:50.
Time: 38 of 60 seconds.  Estimated final completion at 14:40:01.
Time: 39 of 60 seconds.  Estimated final completion at 14:41:32.
FAST_Solution:FAST_AdvanceStates:AD_UpdateStates:BEMT_UpdateStates:UpdatePhi(node 9, blade 1):BEMT_UnCoupledSolve:There is no valid value of phi for these operating conditions: Vx = 7.4789, Vy = -51.776, rlocal = 28.139, theta = 0.13617, geometric phi = 2.9981. This warning will not be repeated though the condition may persist. (See GeomPhi output channel.)
Time: 40 of 60 seconds.  Estimated final completion at 14:43:00.
Time: 41 of 60 seconds.  Estimated final completion at 14:39:52.
Time: 42 of 60 seconds.  Estimated final completion at 14:42:50.
Time: 43 of 60 seconds.  Estimated final completion at 14:40:59.
Time: 44 of 60 seconds.  Estimated final completion at 14:40:46.
Time: 45 of 60 seconds.  Estimated final completion at 14:41:21.
Time: 46 of 60 seconds.  Estimated final completion at 14:40:43.
Time: 47 of 60 seconds.  Estimated final completion at 14:41:35.
Time: 48 of 60 seconds.  Estimated final completion at 14:41:23.
Time: 49 of 60 seconds.  Estimated final completion at 14:40:54.
Time: 50 of 60 seconds.  Estimated final completion at 14:41:33.
Time: 51 of 60 seconds.  Estimated final completion at 14:41:19.
Time: 52 of 60 seconds.  Estimated final completion at 14:40:57.
Time: 53 of 60 seconds.  Estimated final completion at 14:41:36.
Time: 54 of 60 seconds.  Estimated final completion at 14:40:59.
Time: 55 of 60 seconds.  Estimated final completion at 14:41:13.
Time: 56 of 60 seconds.  Estimated final completion at 14:41:17.
Time: 57 of 60 seconds.  Estimated final completion at 14:41:01.
Time: 58 of 60 seconds.  Estimated final completion at 14:41:17.
Time: 59 of 60 seconds.  Estimated final completion at 14:41:15.
Time: 60 of 60 seconds.  Estimated final completion at 14:41:10.
  Total Real Time:       4.0145 hours
  Total CPU Time:        5.9079 hours
  Simulation CPU Time:   2.8855 hours
  Simulated Time:        1.66667E-02 hours
  Time Ratio (Sim/CPU):  5.77597E-03
  OpenFAST completed.

Simulation Inupt

Generator Power
Generator Power2103×1311 27.5 KB

and the generator torque and pitch are kept at uniform all the time similar to the generator power.

When I was checking the outlist of the OpenFAST simulation, I noticed that the generator speed was decrease from time to time, which from about 800 drops to -2e3 at the end of the siumlation. I believe it should be related to the low TSR warning prompted out during the simulation.

Would you mind to take a look at the following link of the simulation outlist?
Outlist

Thank you.

Best regards,
Jacky

15

Dear @Jacky.Cheung,

It looks like your generator torque is fixed and a bit two high for the wind conditions you are simulating, resulting in the rotor speed to slow down and even go negative.

Best regards,

16

Dear Jason,

Base
As I have checked again the definition of the 5MW baseline model, the rated generator torque and generator power are shown in the above table. May I know if I have multiplied the correct number for changing the pu base generator power and generator torque to suit the simulation condition?

Generator Torque: 43,093.55 N•m
Generator Power: 5MW

Thank you.

Best regards,
Jacky

17

Dear @Jacky.Cheung,

These data are correct, but the results you shared above used a wind speed of 8 m/s, which is below the rated wind speed. So, by setting rated torque, the rotor speed will drop.

Regardless, active control of torque and/or pitch are likely needed to maintain a given rotor speed, unless conditions are fully ideal whereby the aerodynamic torque always balances with the generator torque.

Best regards,

18

Dear Jason,

Thanks for the information. As I hvae set the wind speed in my simulink model at 11.4 m/s (rated speed), I am not sure whether the 8 m/s wind speed comes from. May I know if there is any input file for the OpenFAST that controls the wind speed?

Thank you.

Best regards,
Jacky

19

Dear Jason,

I have read through the input file of the OpenFAST (.fst and .dat) and noticed that the Inflowwind moldule input was 8m/s. I have changed the path to reference the 13 m/s steady wind speed file instead and run the simulation again. But still, I obtained the similar error and the generator speed drops. Please refer to the following simulation log and outdata:


 **************************************************************************************************
 OpenFAST
 Copyright (C) 2023 National Renewable Energy Laboratory
 Copyright (C) 2023 Envision Energy USA LTD
 This program is licensed under Apache License Version 2.0 and comes with ABSOLUTELY NO WARRANTY.
 See the "LICENSE" file distributed with this software for details.
 **************************************************************************************************
 OpenFAST-Unversioned from e8ec53f9c7f9d3f6a13bfb61dba12a0ca04d8a2f
 Compile Info:
  - Compiler: Intel(R) Fortran Compiler 2021
  - Architecture: 64 bit
  - Precision: single
  - OpenMP: No
  - Date: Mar 14 2023
  - Time: 13:38:57
 Execution Info:
  - Date: 05/19/2023
  - Time: 10:51:45+0800
 OpenFAST input file heading:
     FAST Certification Test #25: NREL 5.0 MW Baseline Wind Turbine with OC4-DeepCwind semi
     configuration, for use in offshore analysis
 Running ElastoDyn.
 Nodal outputs section of ElastoDyn input file not found or improperly formatted.
 Running AeroDyn.
 AD15 Nodal Outputs: Nodal output section of AeroDyn input file not found or improperly formatted.
 Skipping nodal outputs.
 Warning: Turning off Unsteady Aerodynamics because polar has constant data. (node 1, blade 1)
 Warning: Turning off Unsteady Aerodynamics because polar has constant data. (node 2, blade 1)
 Warning: Turning off Unsteady Aerodynamics because polar has constant data. (node 3, blade 1)
 Warning: Turning off Unsteady Aerodynamics because polar has constant data. (node 4, blade 1)
 Warning: Turning off Unsteady Aerodynamics because polar has constant data. (node 1, blade 2)
 Warning: Turning off Unsteady Aerodynamics because polar has constant data. (node 2, blade 2)
 Warning: Turning off Unsteady Aerodynamics because polar has constant data. (node 3, blade 2)
 Warning: Turning off Unsteady Aerodynamics because polar has constant data. (node 4, blade 2)
 Warning: Turning off Unsteady Aerodynamics because polar has constant data. (node 1, blade 3)
 Warning: Turning off Unsteady Aerodynamics because polar has constant data. (node 2, blade 3)
 Warning: Turning off Unsteady Aerodynamics because polar has constant data. (node 3, blade 3)
 Warning: Turning off Unsteady Aerodynamics because polar has constant data. (node 4, blade 3)
 Running InflowWind.
 Running HydroDyn.
  Generating incident wave kinematics and current time history.
  Reading in WAMIT output with root name
  "C:\Users\Ming\Desktop\OpenFAST_20230127\openfast-3.4.0\openfast-3.4.0\reg_tests\r-test\glue-code
  s\openfast\5MW_Baseline\HydroData\marin_semi".
  Computing radiation impulse response functions and wave diffraction forces.
  Calculating second order difference-frequency force using the full quadratic transfer function.
  Calculating second order sum-frequency force using the full quadratic transfer function.
 Running MoorDyn (v2.0.0, 2022-12-08).
    This is MoorDyn v2, with significant input file changes from v1.
    Copyright: (C) 2022 National Renewable Energy Laboratory, (C) 2019 Matt Hall
    Parsing MoorDyn input file:
    C:\Users\Ming\Desktop\OpenFAST_20230127\openfast-3.4.0\openfast-3.4.0\reg_tests\r-test\glue-cod
    es\openfast\5MW_OC4Semi_WSt_WavesWN\NRELOffshrBsline5MW_OC4DeepCwindSemi_MoorDyn.dat
    Created mooring system:  3 lines, 6 points, 0 rods, 0 bodies.
    Finalizing initial conditions using dynamic relaxation.
t=2  FairTen 1: 8.67045E+05, 1, 2
t=4  FairTen 1: 9.76411E+05, 8.67045E+05, 1
t=6  FairTen 1: 1.02465E+06, 9.76411E+05, 8.67045E+05
t=8  FairTen 1: 9.87921E+05, 1.02465E+06, 9.76411E+05
t=10  FairTen 1: 1.00205E+06, 9.87921E+05, 1.02465E+06
t=12  FairTen 1: 1.00744E+06, 1.00205E+06, 9.87921E+05
t=14  FairTen 1: 1.00105E+06, 1.00744E+06, 1.00205E+06
t=16  FairTen 1: 9.84904E+05, 1.00105E+06, 1.00744E+06
t=18  FairTen 1: 1.02081E+06, 9.84904E+05, 1.00105E+06
t=20  FairTen 1: 9.98939E+05, 1.02081E+06, 9.84904E+05
t=22  FairTen 1: 9.90994E+05, 9.98939E+05, 1.02081E+06
t=24  FairTen 1: 1.00537E+06, 9.90994E+05, 9.98939E+05
t=26  FairTen 1: 1.00102E+06, 1.00537E+06, 9.90994E+05
t=28  FairTen 1: 1.00011E+06, 1.00102E+06, 1.00537E+06
t=30  FairTen 1: 9.99080E+05, 1.00011E+06, 1.00102E+06
t=32  FairTen 1: 1.00605E+06, 9.99080E+05, 1.00011E+06
t=34  FairTen 1: 9.93077E+05, 1.00605E+06, 9.99080E+05
t=36  FairTen 1: 1.00215E+06, 9.93077E+05, 1.00605E+06
t=38  FairTen 1: 1.00483E+06, 1.00215E+06, 9.93077E+05
t=40  FairTen 1: 9.96028E+05, 1.00483E+06, 1.00215E+06
t=42  FairTen 1: 1.00005E+06, 9.96028E+05, 1.00483E+06
t=44  FairTen 1: 1.00083E+06, 1.00005E+06, 9.96028E+05
t=46  FairTen 1: 1.00198E+06, 1.00083E+06, 1.00005E+06
t=48  FairTen 1: 9.96932E+05, 1.00198E+06, 1.00083E+06
t=50  FairTen 1: 1.00376E+06, 9.96932E+05, 1.00198E+06
t=52  FairTen 1: 9.99020E+05, 1.00376E+06, 9.96932E+05
    Fairlead tensions converged to 1 0x0.07ffdb0247520p-1022fter 52 seconds.
    MoorDyn initialization completed.
 Running ServoDyn.
 FAST_InitializeAll:SrvD_Init:ValidatePrimaryData:Yaw angle and rate are not commanded from
 Simulink model.
 ValidatePrimaryData:HSS brake is not commanded from Simulink model.
 ValidatePrimaryData:Airfoil control is not commanded from Simulink model.
 ValidatePrimaryData:Cable control is not commanded from Simulink model.
  Time: 0 of 15 seconds.
Warning: block 'Full_system_v3/Wind Turbine/FAST Nonlinear Wind Turbine/S-Function': FAST_Solution:CalcOutputs_And_SolveForInputs:SolveOption2:AD_CalcOutput:RotCalcOutput:BEMT_CalcOutput(node 5, blade 1):UA_CalcOutput:UA_BlendSteady:Temporarily turning off UA due to high angle of attack or low relative velocity. This warning will not be repeated though the condition may persist.
Time: 1 of 15 seconds.  Estimated final completion at 11:52:28.
 The BEM solution is being turned off due to low TSR.  (TSR = 1.964). This warning will not be
 repeated though the condition may persist. (See GeomPhi output channel.)
Time: 2 of 15 seconds.  Estimated final completion at 11:52:13.
Time: 3 of 15 seconds.  Estimated final completion at 11:51:31.
Time: 4 of 15 seconds.  Estimated final completion at 11:52:34.
Time: 5 of 15 seconds.  Estimated final completion at 11:52:54.
FAST_Solution:FAST_AdvanceStates:AD_UpdateStates:BEMT_UpdateStates:UpdatePhi(node 16, blade 2):BEMT_UnCoupledSolve:There is no valid value of phi for these operating conditions: Vx = -0.17218, Vy = -14.833, rlocal = 56.009, theta = 1.4972, geometric phi = -3.13. This warning will not be repeated though the condition may persist. (See GeomPhi output channel.)
Time: 6 of 15 seconds.  Estimated final completion at 11:55:26.
Time: 7 of 15 seconds.  Estimated final completion at 11:52:21.
Time: 8 of 15 seconds.  Estimated final completion at 11:51:53.
Time: 9 of 15 seconds.  Estimated final completion at 11:52:07.
Time: 10 of 15 seconds.  Estimated final completion at 11:52:44.
Time: 11 of 15 seconds.  Estimated final completion at 11:54:57.
Time: 12 of 15 seconds.  Estimated final completion at 11:53:12.
Time: 13 of 15 seconds.  Estimated final completion at 11:52:45.
Time: 14 of 15 seconds.  Estimated final completion at 11:52:56.
Time: 15 of 15 seconds.  Estimated final completion at 11:52:52.
  OpenFAST completed.

Outlist

During checking the input files, I have changed the reference path in the files such that the OpenFAST could access the required files directly. However, the warning of ElastoDyn and AeroDyn still exists. May I know if there is any method to avoid the warnings?

Thank you.

Best regards,
Jacky

20

Dear @Jacky.Cheung,

From a quick look at your results, it does not appear that you are controlling generator torque and blade-pitch properly to achieve normal operational rotor speeds, e.g., the blade pitch angles are erratic and averaging about 100 degrees.

Best regards,