Hello Everyone:
I am trying to currently model WT model using FAST on Simulink and electrical generator+electrical load model in either MATLAB/SimPower or Dymola. I expect to create very detailed models on the electrical side modeling with grid architecture as well at some point. Here are my conceived future steps and related questions:
- I am going to use the Simulink model “Test01_SIG” that comes with the installer files for FAST. My first task was getting it work on Simulink as suggested in FAST manual ( wind.nrel.gov/designcodes/simula … t/FAST.pdf ). I modified the Simsetup. m and Test01.fst files accordingly as shown in the following:
Simsetup.m
[code]% This script creates necessary workspace variables to run a Simulink model
% using the FAST dynamics and aerodynamic S-function block. Before running
% a simulation, the character array, input_fast, must contain the FAST
% input file name, and the script Read_FAST_Input.m must run.
clear all;
% Prompt the user for the input file name.
disp( ’ -------------------------------------------------’ );
disp( ’ Enter the name of the FAST input file to read ’ );
disp( ’ -------------------------------------------------’ );
input_fast = [ input(’ < ',‘s’)]; % FAST (.fst) filename
% Read FAST input file and set initial conditions
Read_FAST_Input
%% ------------------------------------------------------------------------
% Place all controller related parameters here.
%
% Simple Induction Generator Example ======================================
% To model a simple induction generator in Simulink use model Test01_SIG.mdl.
% The following parameters duplicate those used in Certification Test #01.
% Change Test01.fst as follows:
ADAMSPrep = 1;
VSContrl = 3;
% Add “LSSGagVxa” to OutList
% >>>>>>>Comment (by Amit Mohanty): <<<<<<<<<<<
% >>>Added LSSGagVxa to OutList in Test01.fst <<<
%
% Remove comment indication (%) from following lines:
%
% >>>>>>>Comment (by Amit Mohanty): <<<<<<<<<<<
% >>>Uncommented following lines <<<
GenEff = 100.0; % - Generator efficiency [ignored by the Thevenin and user-defined generator models] (%)
GBRatio = 22.5; % - Gearbox ratio (-)
SIG_SlPc = 1.5125; % - Rated generator slip percentage [>0] (%) Now HSS side!
SIG_SySp = 1200.0; % - Synchronous (zero-torque) generator speed [>0] (rpm) Now HSS side!
SIG_RtTq = 1367.9; % - Rated torque [>0] (N-m) Now HSS side!
SIG_PORt = 2.0; % - Pull-out ratio (Tpullout/Trated) [>1] (-)
SIG_SySp = SIG_SySppi/30; % convert to rad/s
SIG_RtSp = SIG_SySp(1.0+0.01SIG_SlPc);
SIG_POS1=SIG_PORt(SIG_RtSp-SIG_SySp);
SIG_POTq=SIG_RtTq*SIG_PORt;
SIG_Slop=SIG_RtTq/(SIG_RtSp - SIG_SySp);
%% ========================================================================
% If your there is an error that requires you to restart the Simulink
% simulation before FAST terminates properly (you should see the Simulation
% Time Ratio statistics printed to the Matlab command window when it
% terminates properly), call the FAST_SFunc routine with FLAG=9, like this:
%
% FAST_SFunc(0,,,9)
%
% It will close open files and deallocate memory. If you do not do this,
% you may have to close Matlab to release locks on open files and/or
% free the memory allocated in FAST_SFunc before you can start your
% Simulink model again.[/code]
Test01.fst
[code]--------------------------------------------------------------------------------
------- FAST INPUT FILE --------------------------------------------------------
FAST certification Test #01: AWT-27CR2 with many DOFs with fixed yaw error and steady wind.
Compatible with FAST v7.00.00.
---------------------- SIMULATION CONTROL --------------------------------------
False Echo - Echo input data to “echo.out” (flag)
1 ADAMSPrep - ADAMS preprocessor mode {1: Run FAST, 2: use FAST as a preprocessor to create an ADAMS model, 3: do both} (switch)
1 AnalMode - Analysis mode {1: Run a time-marching simulation, 2: create a periodic linearized model} (switch)
2 NumBl - Number of blades (-)
20.0 TMax - Total run time (s)
0.004 DT - Integration time step (s)
---------------------- TURBINE CONTROL -----------------------------------------
0 YCMode - Yaw control mode {0: none, 1: user-defined from routine UserYawCont, 2: user-defined from Simulink} (switch)
0.0000 TYCOn - Time to enable active yaw control (s) [unused when YCMode=0]
0 PCMode - Pitch control mode {0: none, 1: user-defined from routine PitchCntrl, 2: user-defined from Simulink} (switch)
0.0000 TPCOn - Time to enable active pitch control (s) [unused when PCMode=0]
3 VSContrl - Variable-speed control mode {0: none, 1: simple VS, 2: user-defined from routine UserVSCont, 3: user-defined from Simulink} (switch)
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]
1 GenModel - Generator model {1: simple, 2: Thevenin, 3: user-defined from routine UserGen} (switch) [used only when VSContrl=0]
True GenTiStr - Method to start the generator {T: timed using TimGenOn, F: generator speed using SpdGenOn} (flag)
True GenTiStp - Method to stop the generator {T: timed using TimGenOf, F: when generator power = 0} (flag)
9999.9 SpdGenOn - Generator speed to turn on the generator for a startup (HSS speed) (rpm) [used only when GenTiStr=False]
0.0 TimGenOn - Time to turn on the generator for a startup (s) [used only when GenTiStr=True]
9999.9 TimGenOf - Time to turn off the generator (s) [used only when GenTiStp=True]
1 HSSBrMode - HSS brake model {1: simple, 2: user-defined from routine UserHSSBr} (switch)
9999.9 THSSBrDp - Time to initiate deployment of the HSS brake (s)
9999.9 TiDynBrk - Time to initiate deployment of the dynamic generator brake [CURRENTLY IGNORED] (s)
9999.9 TTpBrDp(1) - Time to initiate deployment of tip brake 1 (s)
9999.9 TTpBrDp(2) - Time to initiate deployment of tip brake 2 (s)
9999.9 TTpBrDp(3) - Time to initiate deployment of tip brake 3 (s) [unused for 2 blades]
9999.9 TBDepISp(1) - Deployment-initiation speed for the tip brake on blade 1 (rpm)
9999.9 TBDepISp(2) - Deployment-initiation speed for the tip brake on blade 2 (rpm)
9999.9 TBDepISp(3) - Deployment-initiation speed for the tip brake on blade 3 (rpm) [unused for 2 blades]
9999.9 TYawManS - Time to start override yaw maneuver and end standard yaw control (s)
9999.9 TYawManE - Time at which override yaw maneuver reaches final yaw angle (s)
0.0 NacYawF - Final yaw angle for yaw maneuvers (degrees)
9999.9 TPitManS(1) - Time to start override pitch maneuver for blade 1 and end standard pitch control (s)
9999.9 TPitManS(2) - Time to start override pitch maneuver for blade 2 and end standard pitch control (s)
9999.9 TPitManS(3) - Time to start override pitch maneuver for blade 3 and end standard pitch control (s) [unused for 2 blades]
9999.9 TPitManE(1) - Time at which override pitch maneuver for blade 1 reaches final pitch (s)
9999.9 TPitManE(2) - Time at which override pitch maneuver for blade 2 reaches final pitch (s)
9999.9 TPitManE(3) - Time at which override pitch maneuver for blade 3 reaches final pitch (s) [unused for 2 blades]
-1.0 BlPitch(1) - Blade 1 initial pitch (degrees)
-1.0 BlPitch(2) - Blade 2 initial pitch (degrees)
-1.0 BlPitch(3) - Blade 3 initial pitch (degrees) [unused for 2 blades]
-1.0 BlPitchF(1) - Blade 1 final pitch for pitch maneuvers (degrees)
-1.0 BlPitchF(2) - Blade 2 final pitch for pitch maneuvers (degrees)
-1.0 BlPitchF(3) - Blade 3 final pitch for pitch maneuvers (degrees) [unused for 2 blades]
---------------------- ENVIRONMENTAL CONDITIONS --------------------------------
9.80665 Gravity - Gravitational acceleration (m/s^2)
---------------------- FEATURE FLAGS -------------------------------------------
True FlapDOF1 - First flapwise blade mode DOF (flag)
True FlapDOF2 - Second flapwise blade mode DOF (flag)
True EdgeDOF - First edgewise blade mode DOF (flag)
True 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)
True CompAero - Compute aerodynamic forces (flag)
False CompNoise - Compute aerodynamic noise (flag)
---------------------- INITIAL CONDITIONS --------------------------------------
0.0 OoPDefl - Initial out-of-plane blade-tip displacement (meters)
0.0 IPDefl - Initial in-plane blade-tip deflection (meters)
0.0 TeetDefl - Initial or fixed teeter angle (degrees) [unused for 3 blades]
0.0 Azimuth - Initial azimuth angle for blade 1 (degrees)
53.333 RotSpeed - Initial or fixed rotor speed (rpm)
-15.0 NacYaw - Initial or fixed nacelle-yaw angle (degrees)
0.0 TTDspFA - Initial fore-aft tower-top displacement (meters)
0.0 TTDspSS - Initial side-to-side tower-top displacement (meters)
---------------------- TURBINE CONFIGURATION -----------------------------------
13.757 TipRad - The distance from the rotor apex to the blade tip (meters)
1.184 HubRad - The distance from the rotor apex to the blade root (meters)
1 PSpnElN - Number of the innermost blade element which is still part of the pitchable portion of the blade for partial-span pitch control [1 to BldNodes] [CURRENTLY IGNORED] (-)
0.153 UndSling - Undersling length [distance from teeter pin to the rotor apex] (meters) [unused for 3 blades]
0.406 HubCM - Distance from rotor apex to hub mass [positive downwind] (meters)
2.432 OverHang - Distance from yaw axis to rotor apex [3 blades] or teeter pin [2 blades] (meters)
0.193 NacCMxn - Downwind distance from the tower-top to the nacelle CM (meters)
0.0 NacCMyn - Lateral distance from the tower-top to the nacelle CM (meters)
0.684 NacCMzn - Vertical distance from the tower-top to the nacelle CM (meters)
41.980 TowerHt - Height of tower above ground level [onshore] or MSL [offshore] (meters)
0.692 Twr2Shft - Vertical distance from the tower-top to the rotor shaft (meters)
0.0 TwrRBHt - Tower rigid base height (meters)
0.0 ShftTilt - Rotor shaft tilt angle (degrees)
0.0 Delta3 - Delta-3 angle for teetering rotors (degrees) [unused for 3 blades]
7.0 PreCone(1) - Blade 1 cone angle (degrees)
7.0 PreCone(2) - Blade 2 cone angle (degrees)
7.0 PreCone(3) - Blade 3 cone angle (degrees) [unused for 2 blades]
0.0 AzimB1Up - Azimuth value to use for I/O when blade 1 points up (degrees)
---------------------- MASS AND INERTIA ----------------------------------------
0.0 YawBrMass - Yaw bearing mass (kg)
5015.43 NacMass - Nacelle mass (kg)
1330.00 HubMass - Hub mass (kg)
11.34 TipMass(1) - Tip-brake mass, blade 1 (kg)
11.34 TipMass(2) - Tip-brake mass, blade 2 (kg)
11.34 TipMass(3) - Tip-brake mass, blade 3 (kg) [unused for 2 blades]
4604.84 NacYIner - Nacelle inertia about yaw axis (kg m^2)
59.26 GenIner - Generator inertia about HSS (kg m^2)
335.34 HubIner - Hub inertia about rotor axis [3 blades] or teeter axis [2 blades] (kg m^2)
---------------------- DRIVETRAIN ----------------------------------------------
100.0 GBoxEff - Gearbox efficiency (%)
100.0 GenEff - Generator efficiency [ignored by the Thevenin and user-defined generator models] (%)
22.5 GBRatio - Gearbox ratio (-)
False GBRevers - Gearbox reversal {T: if rotor and generator rotate in opposite directions} (flag)
6000.0 HSSBrTqF - Fully deployed HSS-brake torque (N-m)
0.5 HSSBrDT - Time for HSS-brake to reach full deployment once initiated (sec) [used only when HSSBrMode=1]
“” DynBrkFi - File containing a mech-gen-torque vs HSS-speed curve for a dynamic brake [CURRENTLY IGNORED] (quoted string)
50.0E6 DTTorSpr - Drivetrain torsional spring (N-m/rad)
1.0E6 DTTorDmp - Drivetrain torsional damper (N-m/(rad/s))
---------------------- SIMPLE INDUCTION GENERATOR ------------------------------
1.5125 SIG_SlPc - Rated generator slip percentage (%) [used only when VSContrl=0 and GenModel=1]
1200.0 SIG_SySp - Synchronous (zero-torque) generator speed (rpm) [used only when VSContrl=0 and GenModel=1]
1367.9 SIG_RtTq - Rated torque (N-m) [used only when VSContrl=0 and GenModel=1]
2.0 SIG_PORt - Pull-out ratio (Tpullout/Trated) (-) [used only when VSContrl=0 and GenModel=1]
---------------------- THEVENIN-EQUIVALENT INDUCTION GENERATOR -----------------
60.0 TEC_Freq - Line frequency [50 or 60] (Hz) [used only when VSContrl=0 and GenModel=2]
6 TEC_NPol - Number of poles [even integer > 0] (-) [used only when VSContrl=0 and GenModel=2]
0.0185 TEC_SRes - Stator resistance (ohms) [used only when VSContrl=0 and GenModel=2]
0.017 TEC_RRes - Rotor resistance (ohms) [used only when VSContrl=0 and GenModel=2]
480.0 TEC_VLL - Line-to-line RMS voltage (volts) [used only when VSContrl=0 and GenModel=2]
0.0340 TEC_SLR - Stator leakage reactance (ohms) [used only when VSContrl=0 and GenModel=2]
0.0050 TEC_RLR - Rotor leakage reactance (ohms) [used only when VSContrl=0 and GenModel=2]
0.7750 TEC_MR - Magnetizing reactance (ohms) [used only when VSContrl=0 and GenModel=2]
---------------------- PLATFORM ------------------------------------------------
0 PtfmModel - Platform model {0: none, 1: onshore, 2: fixed bottom offshore, 3: floating offshore} (switch)
“” PtfmFile - Name of file containing platform properties (quoted string) [unused when PtfmModel=0]
---------------------- TOWER ---------------------------------------------------
21 TwrNodes - Number of tower nodes used for analysis (-)
“AWT_Tower.dat” TwrFile - Name of file containing tower properties (quoted string)
---------------------- NACELLE-YAW ---------------------------------------------
0.0 YawSpr - Nacelle-yaw spring constant (N-m/rad)
0.0 YawDamp - Nacelle-yaw damping constant (N-m/(rad/s))
0.0 YawNeut - Neutral yaw position–yaw spring force is zero at this yaw (degrees)
---------------------- FURLING -------------------------------------------------
False Furling - Read in additional model properties for furling turbine (flag)
“” FurlFile - Name of file containing furling properties (quoted string) [unused when Furling=False]
---------------------- ROTOR-TEETER --------------------------------------------
1 TeetMod - Rotor-teeter spring/damper model {0: none, 1: standard, 2: user-defined from routine UserTeet} (switch) [unused for 3 blades]
0.0 TeetDmpP - Rotor-teeter damper position (degrees) [used only for 2 blades and when TeetMod=1]
4.0e4 TeetDmp - Rotor-teeter damping constant (N-m/(rad/s)) [used only for 2 blades and when TeetMod=1]
0.0 TeetCDmp - Rotor-teeter rate-independent Coulomb-damping moment (N-m) [used only for 2 blades and when TeetMod=1]
0.0 TeetSStP - Rotor-teeter soft-stop position (degrees) [used only for 2 blades and when TeetMod=1]
180.0 TeetHStP - Rotor-teeter hard-stop position (degrees) [used only for 2 blades and when TeetMod=1]
1.0 TeetSSSp - Rotor-teeter soft-stop linear-spring constant (N-m/rad) [used only for 2 blades and when TeetMod=1]
5.0e6 TeetHSSp - Rotor-teeter hard-stop linear-spring constant (N-m/rad) [used only for 2 blades and when TeetMod=1]
---------------------- TIP-BRAKE -----------------------------------------------
0.0 TBDrConN - Tip-brake drag constant during normal operation, CdArea (m^2)
0.0 TBDrConD - Tip-brake drag constant during fully-deployed operation, CdArea (m^2)
0.0 TpBrDT - Time for tip-brake to reach full deployment once released (sec)
---------------------- BLADE ---------------------------------------------------
“AWT_Blades.dat” BldFile(1) - Name of file containing properties for blade 1 (quoted string)
“AWT_Blades.dat” BldFile(2) - Name of file containing properties for blade 2 (quoted string)
“AWT_Blades.dat” BldFile(3) - Name of file containing properties for blade 3 (quoted string) [unused for 2 blades]
---------------------- AERODYN -------------------------------------------------
“Test01_AD.ipt” ADFile - Name of file containing AeroDyn input parameters (quoted string)
---------------------- NOISE ---------------------------------------------------
“” NoiseFile - Name of file containing aerodynamic noise input parameters (quoted string) [used only when CompNoise=True]
---------------------- ADAMS ---------------------------------------------------
“AWT_ADAMS.dat” ADAMSFile - Name of file containing ADAMS-specific input parameters (quoted string) [unused when ADAMSPrep=1]
---------------------- LINEARIZATION CONTROL -----------------------------------
“AWT_Linear.dat” LinFile - Name of file containing FAST linearization parameters (quoted string) [unused when AnalMode=1]
---------------------- OUTPUT --------------------------------------------------
True SumPrint - Print summary data to “.fsm” (flag)
True TabDelim - Generate a tab-delimited tabular output file. (flag)
“ES10.3E2” OutFmt - Format used for tabular output except time. Resulting field should be 10 characters. (quoted string) [not checked for validity!]
10.0 TStart - Time to begin tabular output (s)
5 DecFact - Decimation factor for tabular output {1: output every time step} (-)
1.0 SttsTime - Amount of time between screen status messages (sec)
0.0 NcIMUxn - Downwind distance from the tower-top to the nacelle IMU (meters)
0.0 NcIMUyn - Lateral distance from the tower-top to the nacelle IMU (meters)
0.0 NcIMUzn - Vertical distance from the tower-top to the nacelle IMU (meters)
-0.2 ShftGagL - Distance from rotor apex [3 blades] or teeter pin [2 blades] to shaft strain gages [positive for upwind rotors] (meters)
0 NTwGages - Number of tower nodes that have strain gages for output [0 to 9] (-)
0 TwrGagNd - List of tower nodes that have strain gages [1 to TwrNodes] (-) [unused if NTwGages=0]
3 NBlGages - Number of blade nodes that have strain gages for output [0 to 9] (-)
3,5,7 BldGagNd - List of blade nodes that have strain gages [1 to BldNodes] (-) [unused if NBlGages=0]
OutList - The next line(s) contains a list of output parameters. See OutList.txt for a listing of available output channels, (-)
“LSSGagPxa, TeetDefl” - LSS gage azimuth and teeter angles
“TipDxb2,TipDyb2” - Blade 2 flapwise and edgewise tip deflections
“TipALxb2,TipALyb2” - Blade 2 flapwise and edgewise tip accelerations
“Spn2ALxb1,Spn2ALyb1” - Blade 1 local flapwise and edgewise accelerations at gage #2 (Node #5)
“YawBrRDxt,YawBrRDyt” - Tower top tilt angles.
“YawBrRVxp,YawBrRVyp” - Tower top tilt rates.
“YawBrRAxp,YawBrRAyp” - Tower top tilt accelerations.
“RootMyc1, RootMxc1” - Blade 1 root OoP and IP bending moments
“RootFxc2, RootFyc2” - Blade 2 root OoP and IP shear force
“Spn3MLxb1,Spn3MLyb1” - Blade 1 local edgewise and flapwise bending moment at gage #3 (Node #7)
“RotTorq” - Rotor torque
“YawBrMzn” - Tower-top / yaw bearing yaw moment
“TwrBsMzt” - Tower base yaw moment
“LSSGagVxa”
“RotSpeed”
“RotPwr”
“BlPitch1”
END of FAST input file (the word “END” must appear in the first 3 columns of this last line).
[/code]
And then proceeded and successfully completed the simulation
- Now, I also want to implement pitch and yaw controller in Test01_SIG.mdl on Simulink. Is there any quick example of those two controllers on Simulink? I understand that by using different numerical values (0,1,2 to be precise) for PCMode and YCMode, I can specify whether blade pitch, nacelle yaw, and/or variable-speed torque is controlled by the Simulink model or by using one of FAST’s intrinsic controllers. Say, I want to use FAST’s intrinsic controllers (for yaw and pitch) on Simulink platform. What should I set the PCMode and YCMode to ? Is it 0 or 1? If its 1, then where are routines UserYawCont and PitchCntrl? Assuming that we resolve this question, let us move to my next step.
-
What would be a good example of wind file to test that both those controllers work. Currently, I am using ./Wind/AWT27/Shr12_30.wnd (path with respect to FAST installation folder), which describes a constant wind velocity. I think I should use a variable speed wind profile to see the real action of pitch and yaw controller.
-
Now, the final step is replacing the simple induction generator model with a more detailed model, say, from SimPower. In that case, what does desired power mean which is fed to first input of the “FAST Nonlinear Wind Turbine” block in "Test01_SIG.mdl.
To explain my thought process better, I am also attaching a block diagram view of how things should be connected in such a Simulink model.
