Dear all,
I meet some problem when I trying to validate the Yaw-rate control in DRC.
At the first, I want to reproduce the bandwidth test in deliverable report No.D2.1 from CL-Windcon(shows blow).
Ref: [url]http://www.clwindcon.eu/wp-content/uploads/2017/03/CL-Windcon-D2.1-Wind-turbine-controllers.pdf[/url]
In the calculation, I use compiled DLL of DRC and input the defult DISCON.IN parameter file of NREL5MW wind turbine to DRC controller.
As the result, I obatained a very stranger time series of yaw angel shows blow. (Yaw-rate control been activeted in DISCON.IN, and IPC has been turned off)
As you see, the yaw angel smoothly change to about -4 deg while wind direction stayed 0 deg. And I get the same result when I turned yaw control off in DISCON.IN.
I checked all setting in DISCON.IN and OpenFAST(v2.3.0) but still have no idea about this problem.
So, I come here to ask if someone has same experience in DRC or face with similar problem as me and/or knows how to solve it.
I list the DISCON.IN file and ServoDyn file that I used in my calculation here.
Thanks in advance and Best Regards,
SONG
<DISCON.IN>
[code]! Turbine: NREL 5MW fixed bottom wind turbine
! NJA - Might want to make a more formal header for this
!------- DEBUG ------------------------------------------------------------
0 ! LoggingLevel - 0 = write no debug files, 1 = write standard output .dbg-file, 2 = write standard output .dbg-file and complete avrSWAP-array .dbg2-file
!------- CONTROLLER FLAGS -------------------------------------------------
1 ! F_LPFType - 1 = first-order low-pass filter, 2 = second-order low-pass filter, filtering generator speed and pitch control signals, [rad/s]
0 ! F_NotchType - 0 = disable, 1 = enable: notch on the measured generator speed
0 ! IPC_ControlMode - Turn Individual Pitch Control (IPC) for fatigue load reductions (pitch contribution) 0 = off / 1 = (1P reductions) / 2 = (1P+2P reductions)
1 ! VS_ControlMode - Generator torque control mode in above rated conditions, 0 = constant torque / 1 = constant power
1 ! Y_ControlMode - Yaw control mode: (0 = no yaw control, 1 = yaw rate control, 2 = yaw-by-IPC)
!------- FILTERS ----------------------------------------------------------
1.570796326 ! F_LPFCornerFreq - Corner frequency (-3dB point) in the low-pass filters
0 ! F_LPFDamping - Damping coefficient if F_FilterType = 2, unused otherwise
0 ! F_NotchCornerFreq - Natural frequency of the notch filter, [rad/s]
0 0 ! F_NotchBetaNumDen - These two notch damping values (numerator and denominator, resp) determines the width and depth of the notch [-]
!------- BLADE PITCH CONTROL ----------------------------------------------
14 ! PC_GS_n - Amount of gain-scheduling table entries
0.00000 0.03491 0.06981 0.10472 0.13963 0.17453 0.20944 0.24435 0.27925 0.31416 0.34907 0.38397 0.41888 0.45379 ! PC_GS_angles - Gain-schedule table: pitch angles
-0.018827 -0.014292 -0.011517 -0.009645 -0.008296 -0.007278 -0.006483 -0.005844 -0.005320 -0.004882 -0.004511 -0.004192 -0.003916 -0.003673 ! PC_GS_KP - Gain-schedule table: pitch controller kp gains
-0.008069 -0.006125 -0.004936 -0.004133 -0.003555 -0.003119 -0.002778 -0.002505 -0.002280 -0.002092 -0.001933 -0.001797 -0.001678 -0.001574 ! PC_GS_KI - Gain-schedule table: pitch controller ki gains
0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 ! PC_GS_KD - Gain-schedule table: pitch controller kd gains
0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 ! PC_GS_TF - Gain-schedule table: pitch controller tf gains (derivative filter)
1.5707 ! PC_MaxPit - Maximum physical pitch limit, [rad].
-0.087266 ! PC_MinPit - Minimum physical pitch limit, [rad].
0.13962 ! PC_MaxRat - Maximum pitch rate (in absolute value) in pitch controller, [rad/s].
-0.13962 ! PC_MinRat - Minimum pitch rate (in absolute value) in pitch controller, [rad/s].
122.90957 ! PC_RefSpd - Desired (reference) HSS speed for pitch controller, [rad/s].
0.0 ! PC_FinePit - Record 5: Below-rated pitch angle set-point, [rad]
0.003490658 ! PC_Switch - Angle above lowest minimum pitch angle for switch [rad]
0 ! Z_EnableSine - Enable/disable sine pitch excitation, used to validate for dynamic induction control, will be removed later [-]
0.0349066 ! Z_PitchAmplitude - Amplitude of sine pitch excitation [rad]
0 ! Z_PitchFrequency - Frequency of sine pitch excitation [rad/s]
!------- INDIVIDUAL PITCH CONTROL -----------------------------------------
0.087266 ! IPC_IntSat - Integrator saturation (maximum signal amplitude contribution to pitch from IPC), [rad]
1E-8 0 ! IPC_KI - Integral gain for the individual pitch controller: first parameter for 1P reductions, second for 2P reductions [-]
0.436332313 0 ! IPC_aziOffset - Phase offset added to the azimuth angle for the individual pitch controller, [rad].
2.5 ! IPC_CornerFreqAct - Corner frequency of the first-order actuators model, to induce a phase lag in the IPC signal. Set 0 to disable. [rad/s]
!------- VS TORQUE CONTROL ------------------------------------------------
0.944 ! VS_GenEff - Generator efficiency mechanical power → electrical power, this should match the efficiency defined in the generator properties! [-]
43093.55 ! VS_ArSatTq - Above rated generator torque PI control saturation, [Nm]
150000.0 ! VS_MaxRat - Maximum torque rate (in absolute value) in torque controller, [Nm/s].
48000.00 ! VS_MaxTq - Maximum generator torque in Region 3 (HSS side), [Nm].
0.0 ! VS_MinTq - Minimum generator (HSS side), [Nm].
91.2109 ! VS_MinOMSpd - Optimal mode minimum speed, cut-in speed towards optimal mode gain path [rad/s]
2.33228 ! VS_Rgn2K - Generator torque constant in Region 2 (HSS side), [N-m/(rad/s)^2]
5.0E+06 ! VS_RtPwr - Wind turbine rated power [W]
43093.55 ! VS_RtTq - Rated torque, [Nm].
120.113 ! VS_RefSpd - Rated generator speed [rad/s]
1 ! VS_n - Number of generator PI torque controller gains
-4200 ! VS_KP - Proportional gain for generator PI torque controller, used in the transitional 2.5 region, [1/(rad/s) Nm]
-2100 ! VS_KI - Integral gain for generator PI torque controller, used in the transitional 2.5 region, [1/rad Nm]
!------- WIND SPEED ESTIMATOR ---------------------------------------------
63.0 ! WE_BladeRadius - Blade length [m]
4 ! WE_CP_n - Amount of parameters in the Cp array
14.571319658214513 42.809556250371465 2.456512501523107 0.003127994078720 ! WE_CP - Parameters that define the parameterized CP(lambda) function
20 ! WE_Gamma - Adaption gain of the wind speed estimator algorithm [m/rad]
97 ! WE_GearboxRatio - Gearbox ratio, >=1 [-]
4.0469564E+07 ! WE_Jtot - Total drivetrain inertia, including blades, hub and casted generator inertia to LSS [kg m^2]
1.225 ! WE_RhoAir - Air density [kg m^-3]
!------- YAW CONTROL ------------------------------------------------------
1.745329252 ! Y_ErrThresh - Yaw error threshold. Turbine begins to yaw when it passes this. [rad^2 s]
0.17453 ! Y_IPC_IntSat - Integrator saturation (maximum signal amplitude contribution to pitch from yaw-by-IPC), [rad]
1 ! Y_IPC_n - Number of controller gains (yaw-by-IPC)
-0.064 ! Y_IPC_KP - Yaw-by-IPC proportional controller gain Kp
-0.0008 ! Y_IPC_KI - Yaw-by-IPC integral controller gain Ki
0.6283185 ! Y_IPC_omegaLP - Low-pass filter corner frequency for the Yaw-by-IPC controller to filtering the yaw alignment error, [rad/s].
1.0 ! Y_IPC_zetaLP - Low-pass filter damping factor for the Yaw-by-IPC controller to filtering the yaw alignment error, [-].
0.00000 ! Y_MErrSet - Yaw alignment error, set point [rad]
1.0 ! Y_omegaLPFast - Corner frequency fast low pass filter, 1.0 [Hz]
0.016667 ! Y_omegaLPSlow - Corner frequency slow low pass filter, 1/60 [Hz]
0.0034906 ! Y_Rate - Yaw rate [rad/s]
!------- TOWER FORE-AFT DAMPING -------------------------------------------
-1 ! FA_KI - Integral gain for the fore-aft tower damper controller, -1 = off / >0 = on [rad s/m] - !NJA - Make this a flag
0.1 ! FA_HPF_CornerFreq - Corner frequency (-3dB point) in the high-pass filter on the fore-aft acceleration signal [rad/s]
0.087266 ! FA_IntSat - Integrator saturation (maximum signal amplitude contribution to pitch from FA damper), [rad]
[/code]
<NRELOffshrBsline5MW_Onshore_ServoDyn_DRC.dat>
------- 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 -------------------------------------------
5 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]
2 PitManRat(1) - Pitch rate at which override pitch maneuver heads toward final pitch angle for blade 1 (deg/s)
2 PitManRat(2) - Pitch rate at which override pitch maneuver heads toward final pitch angle for blade 2 (deg/s)
2 PitManRat(3) - Pitch rate at which override pitch maneuver heads toward final pitch angle for blade 3 (deg/s) [unused for 2 blades]
0 BlPitchF(1) - Blade 1 final pitch for pitch maneuvers (degrees)
0 BlPitchF(2) - Blade 2 final pitch for pitch maneuvers (degrees)
0 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 -------------------------------------
5 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)
0 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))
9999999.9 TYawManS - Time to start override yaw maneuver and end standard yaw control (s)
1 YawManRat - Yaw maneuver rate (in absolute value) (deg/s)
0 NacYawF - Final yaw angle for override yaw maneuvers (degrees)
---------------------- TUNED MASS DAMPER ---------------------------------------
False CompNTMD - Compute nacelle tuned mass damper {true/false} (flag)
"NRELOffshrBsline5MW_ServoDyn_TMD.dat" NTMDfile - Name of the file for nacelle tuned mass damper (quoted string) [unused when CompNTMD is false]
False CompTTMD - Compute tower tuned mass damper {true/false} (flag)
"NRELOffshrBsline5MW_ServoDyn_TMD.dat" TTMDfile - Name of the file for tower tuned mass damper (quoted string) [unused when CompTTMD is false]
---------------------- BLADED INTERFACE ---------------------------------------- [used only with Bladed Interface]
"ServoData\DISCON_DRC_x64.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 - Cuttoff frequency for low-pass filter on blade pitch from DLL (Hz) [used only with Bladed Interface]
0 NacYaw_North - Reference yaw angle of the nacelle when the upwind end points due North (deg) [used only with Bladed Interface]
1 Ptch_Cntrl - Record 28: Use individual pitch control {0: collective pitch; 1: individual pitch control} (switch) [used only with Bladed Interface]
0 Ptch_SetPnt - Record 5: Below-rated pitch angle set-point (deg) [used only with Bladed Interface]
0 Ptch_Min - Record 6: Minimum pitch angle (deg) [used only with Bladed Interface]
0 Ptch_Max - Record 7: Maximum pitch angle (deg) [used only with Bladed Interface]
0 PtchRate_Min - Record 8: Minimum pitch rate (most negative value allowed) (deg/s) [used only with Bladed Interface]
0 PtchRate_Max - Record 9: Maximum pitch rate (deg/s) [used only with Bladed Interface]
0 Gain_OM - Record 16: Optimal mode gain (Nm/(rad/s)^2) [used only with Bladed Interface]
0 GenSpd_MinOM - Record 17: Minimum generator speed (rpm) [used only with Bladed Interface]
0 GenSpd_MaxOM - Record 18: Optimal mode maximum speed (rpm) [used only with Bladed Interface]
0 GenSpd_Dem - Record 19: Demanded generator speed above rated (rpm) [used only with Bladed Interface]
0 GenTrq_Dem - Record 22: Demanded generator torque above rated (Nm) [used only with Bladed Interface]
0 GenPwr_Dem - Record 13: Demanded power (W) [used only with Bladed Interface]
---------------------- BLADED INTERFACE TORQUE-SPEED LOOK-UP TABLE -------------
0 DLL_NumTrq - Record 26: No. of points in torque-speed look-up table {0 = none and use the optimal mode parameters; nonzero = ignore the optimal mode PARAMETERs by setting Record 16 to 0.0} (-) [used only with Bladed Interface]
GenSpd_TLU GenTrq_TLU
(rpm) (Nm)
---------------------- OUTPUT --------------------------------------------------
True SumPrint - Print summary data to <RootName>.sum (flag) (currently unused)
1 OutFile - Switch to determine where output will be placed: {1: in module output file only; 2: in glue code output file only; 3: both} (currently unused)
True TabDelim - Use tab delimiters in text tabular output file? (flag) (currently unused)
"ES10.3E2" OutFmt - Format used for text tabular output (except time). Resulting field should be 10 characters. (quoted string) (currently unused)
0 TStart - Time to begin tabular output (s) (currently unused)
OutList - The next line(s) contains a list of output parameters. See OutListParameters.xlsx for a listing of available output channels, (-)
"GenPwr" - Electrical generator power and torque
"GenTq" - Electrical generator power and torque
END of input file (the word "END" must appear in the first 3 columns of this last OutList line)
---------------------------------------------------------------------------------------