Commit 294b43f2 authored by famen's avatar famen
Browse files

add hawcstab2 input file

add hawc2 input file for testing the implementation of LAC
parent 5eb1582c
Pipeline #23498 passed with stage
in 3 minutes and 54 seconds
begin new_htc_structure;
;-------------------------------------------------------------------------------------------------------------------------------
begin main_body; tower 115m
name tower ;
type timoschenko ;
nbodies 1 ;
node_distribution c2_def ;
damping_posdef 0.0 0.0 0.0 4.12E-03 4.12E-03 4.5E-04 ; Mx My Mz Kx Ky Kz , Ms raises overall level, Ks raises high freguency level "tuned by Larh"
begin timoschenko_input;
filename ./data/DTU_10MW_RWT_Tower_st.dat;
set 1 1 ;
end timoschenko_input;
begin c2_def; Definition of centerline (main_body coordinates)
nsec 11;
sec 1 0 0 0.00 0 ; x,y,z,twist
sec 2 0 0 -11.50 0 ;
sec 3 0 0 -23.00 0 ;
sec 4 0 0 -34.50 0 ;
sec 5 0 0 -46.00 0 ;
sec 6 0 0 -57.50 0 ;
sec 7 0 0 -69.00 0 ;
sec 8 0 0 -80.50 0 ;
sec 9 0 0 -92.00 0 ;
sec 10 0 0 -103.50 0 ;
sec 11 0 0 -115.63 0 ;
end c2_def ;
end main_body;
;
begin main_body;
name towertop ;
type timoschenko ;
nbodies 1 ;
node_distribution c2_def ;
damping_posdef 0.0 0.0 0.0 7.00E-03 7.00E-03 7.00E-03 ; "changed by Larh"
concentrated_mass 2.0 0.0 2.6870E+00 3.0061E-01 4.4604E+05 4.1060E+06 4.1060E+05 4.1060E+06 ; Nacelle mass and inertia "corrected by Anyd 25/4/13"
begin timoschenko_input;
filename ./data/DTU_10MW_RWT_Towertop_st.dat ;
set 1 2 ;
end timoschenko_input;
begin c2_def; Definition of centerline (main_body coordinates)
nsec 2;
sec 1 0.0 0.0 0.0 0.0 ; x,y,z,twist
sec 2 0.0 0.0 -2.75 0.0 ;
end c2_def ;
end main_body;
;
begin main_body;
name shaft ;
type timoschenko ;
nbodies 1 ;
node_distribution c2_def ;
damping_posdef 0.0 0.0 0.0 4.65E-04 4.65E-04 3.983E-03 ; "tuned by Anyd 23/5/13 to 31.45 log decr. damping for free free with stiff rotor and tower"
concentrated_mass 1.0 0.0 0.0 0.0 0.0 0.0 0.0 3.751E+06 ; generator equivalent slow shaft "re_tuned by Anyd 20/2/13"
concentrated_mass 5.0 0.0 0.0 0.0 1.0552E+05 0.0 0.0 3.257E+05 ; hub mass and inertia; "re_tuned by Anyd 20/2/13"
begin timoschenko_input;
filename ./data/DTU_10MW_RWT_Shaft_st.dat ;
set 1 1 ;
end timoschenko_input;
begin c2_def; Definition of centerline (main_body coordinates)
nsec 5;
sec 1 0.0 0.0 0.0 0.0 ; Tower top x,y,z,twist
sec 2 0.0 0.0 1.5 0.0 ;
sec 3 0.0 0.0 3.0 0.0 ;
sec 4 0.0 0.0 4.4 0.0 ; Main bearing
sec 5 0.0 0.0 7.1 0.0 ; Rotor centre
end c2_def ;
end main_body;
;
begin main_body;
name hub1 ;
type timoschenko ;
nbodies 1 ;
node_distribution c2_def ;
damping_posdef 0.0 0.0 0.0 3.00E-06 3.00E-06 2.00E-05; "changed by Larh"
begin timoschenko_input;
filename ./data/DTU_10MW_RWT_Hub_st.dat ;
set 1 2 ;
end timoschenko_input;
begin c2_def; Definition of centerline (main_body coordinates)
nsec 2;
sec 1 0.0 0.0 0.0 0.0 ; x,y,z,twist
sec 2 0.0 0.0 2.8 0.0 ;
end c2_def ;
end main_body;
;
begin main_body;
name hub2 ;
copy_main_body hub1;
end main_body;
;
begin main_body;
name hub3 ;
copy_main_body hub1 ;
end main_body;
;
begin main_body;
name blade1 ;
type timoschenko ;
nbodies 10 ;
node_distribution c2_def;
damping_posdef 0.0 0.0 0.0 1.53e-3 2.55e-3 3.3e-4 ; " 3% damping tuned by tkim 23/03/13 unable to fit 3rd and higher mode"
begin timoschenko_input ;
filename ./data/DTU_10MW_RWT_Blade_st.dat;
set 1 1 ; set subset
end timoschenko_input;
begin c2_def; Definition of centerline (main_body coordinates)
nsec 27 ;
sec 1 0.00000E+00 7.00600E-05 4.44089E-16 -1.45000E+01 ;
sec 2 -2.06477E-05 -1.22119E-02 3.00000E+00 -1.45000E+01 ;
sec 3 -7.28810E-03 -2.49251E-02 6.00000E+00 -1.44851E+01 ;
sec 4 -1.89235E-02 -2.73351E-02 7.00004E+00 -1.44610E+01 ;
sec 5 -5.41282E-02 -2.82163E-02 8.70051E+00 -1.43388E+01 ;
sec 6 -1.26633E-01 -2.13210E-02 1.04020E+01 -1.40201E+01 ;
sec 7 -2.25666E-01 -1.28378E-02 1.22046E+01 -1.33904E+01 ;
sec 8 -2.88563E-01 -7.70659E-03 1.32065E+01 -1.29371E+01 ;
sec 9 -3.99194E-01 -4.88317E-03 1.50100E+01 -1.19445E+01 ;
sec 10 -5.76634E-01 -1.80296E-02 1.82151E+01 -9.98243E+00 ;
sec 11 -7.07136E-01 -5.01772E-02 2.14178E+01 -8.45147E+00 ;
sec 12 -7.91081E-01 -9.41228E-02 2.46189E+01 -7.46417E+00 ;
sec 13 -8.37195E-01 -1.48880E-01 2.78193E+01 -6.72916E+00 ;
sec 14 -8.53948E-01 -2.14514E-01 3.10194E+01 -6.08842E+00 ;
sec 15 -8.49367E-01 -2.90618E-01 3.42197E+01 -5.49322E+00 ;
sec 16 -7.93920E-01 -4.62574E-01 4.02204E+01 -4.39222E+00 ;
sec 17 -7.16284E-01 -6.88437E-01 4.66217E+01 -3.09315E+00 ;
sec 18 -6.34358E-01 -9.60017E-01 5.30232E+01 -1.75629E+00 ;
sec 19 -5.53179E-01 -1.28424E+00 5.94245E+01 -5.00650E-01 ;
sec 20 -4.75422E-01 -1.66402E+00 6.58255E+01 6.01964E-01 ;
sec 21 -4.03180E-01 -2.10743E+00 7.22261E+01 1.55560E+00 ;
sec 22 -3.30085E-01 -2.65630E+00 7.90266E+01 2.51935E+00 ;
sec 23 -3.10140E-01 -2.78882E+00 8.05267E+01 2.72950E+00 ;
sec 24 -2.86719E-01 -2.92517E+00 8.20271E+01 2.93201E+00 ;
sec 25 -2.55823E-01 -3.06577E+00 8.35274E+01 3.11874E+00 ;
sec 26 -2.07891E-01 -3.20952E+00 8.50277E+01 3.28847E+00 ;
sec 27 -8.98940E-02 -3.33685E+00 8.63655E+01 3.42796E+00 ;
end c2_def ;
end main_body;
;
begin main_body;
name blade2 ;
copy_main_body blade1;
end main_body;
;
begin main_body;
name blade3 ;
copy_main_body blade1 ;
end main_body;
;-------------------------------------------------------------------------------------------------------------------------------
;
begin orientation;
begin base;
body tower;
inipos 0.0 0.0 0.0 ; initial position of node 1
body_eulerang 0.0 0.0 0.0;
end base;
;
begin relative;
body1 tower last;
body2 towertop 1;
body2_eulerang 0.0 0.0 0.0;
end relative;
;
begin relative;
body1 towertop last;
body2 shaft 1;
body2_eulerang 90.0 0.0 0.0;
body2_eulerang 5.0 0.0 0.0; 5 deg tilt angle
body2_ini_rotvec_d1 0.0 0.0 -1.0 0.2 ;
end relative;
;
begin relative;
body1 shaft last;
body2 hub1 1;
body2_eulerang -90.0 0.0 0.0;
body2_eulerang 0.0 180.0 0.0;
body2_eulerang 2.5 0.0 0.0; 2.5deg cone angle
end relative;
;
begin relative;
body1 shaft last;
body2 hub2 1;
body2_eulerang -90.0 0.0 0.0;
body2_eulerang 0.0 60.0 0.0;
body2_eulerang 2.5 0.0 0.0; 2.5deg cone angle
end relative;
;
begin relative;
body1 shaft last;
body2 hub3 1;
body2_eulerang -90.0 0.0 0.0;
body2_eulerang 0.0 -60.0 0.0;
body2_eulerang 2.5 0.0 0.0; 2.5deg cone angle
end relative;
;
begin relative;
body1 hub1 last;
body2 blade1 1;
body2_eulerang 0.0 0.0 0;
end relative;
;
begin relative;
body1 hub2 last;
body2 blade2 1;
body2_eulerang 0.0 0.0 0.0;
end relative;
;
begin relative;
body1 hub3 last;
body2 blade3 1;
body2_eulerang 0.0 0.0 0.0;
end relative;
;
end orientation;
;-------------------------------------------------------------------------------------------------------------------------------
begin constraint;
;
begin fix0; fixed to ground in translation and rotation of node 1
body tower;
end fix0;
;
begin fix1;
body1 tower last ;
body2 towertop 1;
end fix1;
;
begin bearing1; free bearing
name shaft_rot;
body1 towertop last;
body2 shaft 1;
bearing_vector 2 0.0 0.0 -1.0; x=coo (0=global.1=body1.2=body2) vector in body2 coordinates where the free rotation is present
end bearing1;
;
begin fix1;
body1 shaft last ;
body2 hub1 1;
end fix1;
;
begin fix1;
body1 shaft last ;
body2 hub2 1;
end fix1;
;
begin fix1;
body1 shaft last ;
body2 hub3 1;
end fix1;
;
begin bearing2;
name pitch1;
body1 hub1 last;
body2 blade1 1;
bearing_vector 2 0.0 0.0 -1.0;
end bearing2;
;
begin bearing2;
name pitch2;
body1 hub2 last;
body2 blade2 1;
bearing_vector 2 0.0 0.0 -1.0;
end bearing2;
;
begin bearing2;
name pitch3;
body1 hub3 last;
body2 blade3 1;
bearing_vector 2 0.0 0.0 -1.0;
end bearing2;
end constraint;
;
end new_htc_structure;
;----------------------------------------------------------------------------------------------------------------------------------------------------------------
begin wind ;
density 1.225 ;
wsp 8 ;
tint 0.0 ;
horizontal_input 1 ; 0=false, 1=true
windfield_rotations 0 0.0 0.0 ; yaw, tilt, rotation
center_pos0 0.0 0.0 -119 ; hub heigth
shear_format 1 0.14 ;0=none,1=constant,2=log,3=power,4=linear
turb_format 0 ; 0=none, 1=mann,2=flex
tower_shadow_method 0 ; 0=none, 1=potential flow, 2=jet
end wind;
;
begin aero ;
nblades 3;
hub_vec shaft -3 ; rotor rotation vector (normally shaft composant directed from pressure to sustion side)
link 1 mbdy_c2_def blade1;
link 2 mbdy_c2_def blade2;
link 3 mbdy_c2_def blade3;
ae_filename ./data/DTU_10MW_RWT_ae.dat ;
pc_filename ./data/DTU_10MW_RWT_pc.dat ;
induction_method 1 ; 0=none, 1=normal
aerocalc_method 1 ; 0=ingen aerodynamic, 1=med aerodynamic
aerosections 50 ; def. 50
ae_sets 1 1 1;
tiploss_method 1 ; 0=none, 1=prandtl
dynstall_method 2 ; 0=none, 1=stig ye method,2=mhh method
;
end aero ;
;----------------------------------------------------------------------------------------------------------------------------------------------------------------
begin hawcstab2 ;
begin ground_fixed_substructure ;
main_body tower ;
main_body towertop ;
end ground_fixed_substructure ;
begin rotating_axissym_substructure ;
main_body shaft ;
end rotating_axissym_substructure ;
begin rotating_threebladed_substructure ;
main_body hub1 ;
main_body blade1 ;
second_order_actuator pitch1 1 0.7 ;
end rotating_threebladed_substructure ;
operational_data_filename ./data/operation.dat ;
verbose ;
begin operational_data;
windspeed 4.0 25.0 22 ; cut-in [m/s], cut-out [m/s], points [-]
genspeed 6 9.6 ; [rpm]
gearratio 1.0 ; [-]
minpitch 0.0 ; [deg.]
opt_lambda 7.5 ; [-]
maxpow 10641.618 ; [kW]
prvs_turbine 1 ; [-]
include_torsiondeform 1 ; [-];
operational_data_file_wind 1;
end operational_data ;
; Basic full load PI pitch controller
; 1 2 3 4 5 6 7 8 9 10;
; P_rated Omega_rated Kp_full Ki_full K1_theta K2_theta omega_filt csi_filt type K0_omega;
; pi_pitch_controller 10641.618 1.005 0.118697E+01 0.364908E+00 102.68665 754.18745 0.4 0.7 0;
; simplified linearization of the Basic DTU Wind Energy controller (https://github.com/DTUWindEnergy/BasicDTUController)
; 1 2 3 4 5 6 7 8 9 10 11;
; Kp_partial Ki_partial Kopt_partial Kp_full Ki_full K1_theta K2_theta omega_filt csi_filt DT_freq type;
; be careful, the following parameters needs to be adapted based on your own controller tuning.
;basic_dtu_we_controller 0.708402E+08 0.158965E+08 0.117967E+08 0.118697E+01 0.364908E+00 10.12612 435.19980 0.4 0.7 1.92 1;
basic_dtu_we_controller 0.708251E+08 0.158931E+08 0.849245E+07 0.120206E+01 0.234833E+00 11.22739 464.10617 0.4 0.7 1.92 1;
begin controller_tuning ;
partial_load 0.05 0.7; fn [hz], zeta [-]
full_load 0.05 0.7 ; fn [hz], zeta [-]
gain_scheduling 2 ; 1 linear, 2 quadratic
constant_power 1; 0 constant torque, 1 constant power at full load
end controller_tuning ;
begin controller ;
begin input ;
constraint bearing1 shaft_rot ;
constraint bearing2 pitch1 collective ;
end input ;
begin output ;
; - Rotor speed and pitch angle
constraint bearing1 shaft_rot 1 only 2 ; [1]
constraint bearing2 pitch1 1 only 1 collective ; [2]
end output ;
end controller ;
phi_per_node 3;
end hawcstab2 ;
exit;
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