BasicDTUController issueshttps://gitlab.windenergy.dtu.dk/OpenLAC/BasicDTUController/-/issues2019-03-22T10:49:37Zhttps://gitlab.windenergy.dtu.dk/OpenLAC/BasicDTUController/-/issues/39calling multiple times per time step2019-03-22T10:49:37ZDavid Verelstcalling multiple times per time stepBy default the HAWC2 `type2_dll` interface is used. This means there are no iterations between the controller/servo's and the aeroleastic solution of HAWC2. This can result in an underestimation of the damping of modes with a significant...By default the HAWC2 `type2_dll` interface is used. This means there are no iterations between the controller/servo's and the aeroleastic solution of HAWC2. This can result in an underestimation of the damping of modes with a significant drive train torsional component. Especially the generator servo model should be part of a converged aero-servo-elastic solution, rather than an aeroelastic solution with a generator torque output on top of it.
@gepir has already made the necessary fixes in the master to allow for the controller and servo's to be called multiple times per time step (see MR !29) . However, that still requires another HAWC2 dll interface. This interface should look, ideally, like a `type2_dll` but has an option to specify if it has to be called once or multiple times per time step. @anmh made a prototype for this, but it is not yet merged into HAWC2 master.
What this should NOT result in is that the controller can look into the future. In real systems the controller always lags one time step behind the system: a measurement signal is sampled, passed on to the controller, and a response is formulated. That response can only become available one sample later.
I suggest we use this issue to track that:
- [ ] the basic principle is documented with an example (@dave and @gepir have the simulations)
- [ ] HAWC2 gets an updated `type2_dll` interface that can be called multiple times per time step
- [ ] the "call multiple times per time step" feature is added to the documentation and reporthttps://gitlab.windenergy.dtu.dk/OpenLAC/BasicDTUController/-/issues/32Issues with gearbox ratio2019-02-26T16:24:22ZMikkel Friis-MøllerIssues with gearbox ratio*Created by: jennirinker*
Constants 2 and 3 are described as minimum and rated rotor speed, but then they are used as minimum/maximum generator speeds. The issue is especially problematic when you specify an overspeed percentage, becaus...*Created by: jennirinker*
Constants 2 and 3 are described as minimum and rated rotor speed, but then they are used as minimum/maximum generator speeds. The issue is especially problematic when you specify an overspeed percentage, because that is calculated from the rotor speed but applied to the generator speed so things die.
Moreover, there might be an error in the equation converting LSS speed to HSS speed. (line 464)https://gitlab.windenergy.dtu.dk/OpenLAC/BasicDTUController/-/issues/25File name for minimum pitch angle settings inconstant2019-02-14T10:31:24ZMikkel Friis-MøllerFile name for minimum pitch angle settings inconstant*Created by: davidovitch*
The file name for minimum pitch angle settings is defined as `wptable` in the examples and the report, but the source reveals it has to be `wpdata`, see [src/dtu_we_controller/dtu_we_controller.f90#L188](https:...*Created by: davidovitch*
The file name for minimum pitch angle settings is defined as `wptable` in the examples and the report, but the source reveals it has to be `wpdata`, see [src/dtu_we_controller/dtu_we_controller.f90#L188](https://github.com/DTUWindEnergy/BasicDTUController/blob/master/src/dtu_we_controller/dtu_we_controller.f90#L188). Both should be the same.https://gitlab.windenergy.dtu.dk/OpenLAC/BasicDTUController/-/issues/4consistent data types of array IO's2019-02-14T10:31:24ZMikkel Friis-Møllerconsistent data types of array IO's*Created by: davidovitch*
There are inconsistencies in the date types of the input/output arrays between HAWC2 and the controller. Look especially to the status flag. Related to issue DTUWindEnergy/ServosAndUtilities#3.
*Created by: davidovitch*
There are inconsistencies in the date types of the input/output arrays between HAWC2 and the controller. Look especially to the status flag. Related to issue DTUWindEnergy/ServosAndUtilities#3.
https://gitlab.windenergy.dtu.dk/OpenLAC/BasicDTUController/-/issues/7docs broken2019-02-14T10:31:24ZMikkel Friis-Møllerdocs broken*Created by: tlbl*
the format of the docs when published on the gh-pages does not work.
locally I have no problems.
*Created by: tlbl*
the format of the docs when published on the gh-pages does not work.
locally I have no problems.
https://gitlab.windenergy.dtu.dk/OpenLAC/BasicDTUController/-/issues/28Is there a Simulink version of Basic Controller available?2019-02-14T10:31:24ZMikkel Friis-MøllerIs there a Simulink version of Basic Controller available?*Created by: Txwuyanzu*
Hi there,
I'm studying the DTU-10MW RWT on the Simulink-FAST interface. But I couldn't find a baseline controller which is built on Simulink. I'm wondering if there is a Simulink version of the BasicDTUControl...*Created by: Txwuyanzu*
Hi there,
I'm studying the DTU-10MW RWT on the Simulink-FAST interface. But I couldn't find a baseline controller which is built on Simulink. I'm wondering if there is a Simulink version of the BasicDTUController?
I also tried the basic controller in the DLL. I can use the Bladed-style DLL in FAST standalone simulations. But I keep getting an error when I'm trying to run Simulink simulations with the DLL: "...\dtu_we_controller_bladed. dll could not be loaded". (I'm using the 32 bit Matlab and FAST v8.16 on my desktop.) Does anyone have any idea about this issue?
Thanks,
Changhttps://gitlab.windenergy.dtu.dk/OpenLAC/BasicDTUController/-/issues/14Pitch-step going from start-up to normal operation2019-02-14T10:31:24ZMikkel Friis-MøllerPitch-step going from start-up to normal operation*Created by: jantoreh*
Experiencing a dramatic change in pitch reference, which is not handled well by my simulation program. The issue seems to be that the pitch rate is not limited when going from controlstatus=-1 to 0. See attach fig...*Created by: jantoreh*
Experiencing a dramatic change in pitch reference, which is not handled well by my simulation program. The issue seems to be that the pitch rate is not limited when going from controlstatus=-1 to 0. See attach figure, for two time-steps when the controller status is switched.
<img width="471" alt="screen shot 2017-03-29 at 12 27 06" src="https://cloud.githubusercontent.com/assets/22801649/24450695/197e37e4-147c-11e7-9d25-609ce75bf717.png">
https://gitlab.windenergy.dtu.dk/OpenLAC/BasicDTUController/-/issues/36control status 7 not defined in docs2019-02-14T10:31:24ZMikkel Friis-Møllercontrol status 7 not defined in docs*Created by: jennirinker*
have defined up to 6, not 7 (pitch angle deviation)*Created by: jennirinker*
have defined up to 6, not 7 (pitch angle deviation)https://gitlab.windenergy.dtu.dk/OpenLAC/BasicDTUController/-/issues/8Possible bug in line 432 of dtu_controller.f902019-02-14T10:31:24ZMikkel Friis-MøllerPossible bug in line 432 of dtu_controller.f90*Created by: profhansen*
Sorry in Norwegian:
I dtu_we_controller.f90 på linje 485 så står det at GenTorque ref = TorqueRef*GearRatio, men burde det ikke være TorqueRef/GearRatio? Da omega_rotor=omega_gen/GearRatio på linje 432. I HAW...*Created by: profhansen*
Sorry in Norwegian:
I dtu_we_controller.f90 på linje 485 så står det at GenTorque ref = TorqueRef*GearRatio, men burde det ikke være TorqueRef/GearRatio? Da omega_rotor=omega_gen/GearRatio på linje 432. I HAWC2 eksemplene er GearRatio=1, så da vil jo dette ikke ha noe å si.https://gitlab.windenergy.dtu.dk/OpenLAC/BasicDTUController/-/issues/33Redundant inputs? 39 and 452019-02-14T10:31:24ZMikkel Friis-MøllerRedundant inputs? 39 and 45*Created by: jennirinker*
They both seem to specify the same thing. Overspeed percentage.*Created by: jennirinker*
They both seem to specify the same thing. Overspeed percentage.https://gitlab.windenergy.dtu.dk/OpenLAC/BasicDTUController/-/issues/6Where can I find2019-02-14T10:31:24ZMikkel Friis-MøllerWhere can I find*Created by: madsmpedersen*
I cannot find a list of status signals codes.
*Created by: madsmpedersen*
I cannot find a list of status signals codes.
https://gitlab.windenergy.dtu.dk/OpenLAC/BasicDTUController/-/issues/26Input to Generator Torque PID : Filter or not ?2019-02-14T10:31:23ZMikkel Friis-MøllerInput to Generator Torque PID : Filter or not ?*Created by: amurDTU*
According to the diagram in the manual (page 6) the rotor speed error should be filtered to calculate the generator torque reference. However, the source code indicates that the unfiltered rotor speed is used, see ...*Created by: amurDTU*
According to the diagram in the manual (page 6) the rotor speed error should be filtered to calculate the generator torque reference. However, the source code indicates that the unfiltered rotor speed is used, see here : [src/dtu_we_controller/turbine_controller.f90#L564](https://github.com/DTUWindEnergy/BasicDTUController/blob/master/src/dtu_we_controller/turbine_controller.f90#L564) .
@profhansen Is that intentional or a mistake?
Thanks
https://gitlab.windenergy.dtu.dk/OpenLAC/BasicDTUController/-/issues/9controller_input.txt dq/dtheta value2019-02-14T10:31:23ZMikkel Friis-Møllercontroller_input.txt dq/dtheta value*Created by: christosgal*
In the controller_input.txt file which is output from HAWCSTAB2 (see attached photo which is provided with the DTU 10MW rwt model with some explanations) it is not clear in which point dq/dtheta is evaluated. ...*Created by: christosgal*
In the controller_input.txt file which is output from HAWCSTAB2 (see attached photo which is provided with the DTU 10MW rwt model with some explanations) it is not clear in which point dq/dtheta is evaluated. I refer to the value in the 'PI pitch angle controller in region 3' part of the txt file. Is it at zero theta? If yes could it be written as dq/dtheta_zero which is more clear?
same for the dq/domega in the 'Additional terms due to the Aerodynamic damping' part of the file.
![controller_input_quadratic_example](https://cloud.githubusercontent.com/assets/26140726/23508260/1fd35826-ff51-11e6-853e-ce121f276a8a.PNG)