DTU Wind Energy Controller (DTUWEC)

Introduction

The scope of this project is to provide an open-source open-access controller that can be used by the wind energy community as a reference. The DTU Wind Energy Controller (DTUWEC) is designed for pitch-regulated variable-speed wind turbines. It is built for high fidelity in-house aero-elastic simulation software (HAWC2). An interface to DNV-GL Bladed and OpenFAST is also provided for using DTUWEC with Bladed or OpenFAST. The controller features both partial and full load operation capabilities as well as switching mechanisms ensuring smooth transition between the two modes of operation. The partial load controller is based on a classical

The DTUWEC also includes individual pitch control (IPC), individual flap control and cyclic flap control as separated DLLs. Blade pitch servo, generator models, flap servo, mechanical brake are not included in this repository. They can be found in the project ServoAndUtilities. A Working in progress (WIP) version of the user manual can be found here:

Compatibility

The project uses CMake to generate standard build files (e.g., makefiles on Linux/Mac OS and projects/solution files on Windows Visual studio) which could be used in the usual way. The repository includes Visual Studio solution (for Windows) and CMakeLists.txt (for both Windows and Linux) to create DLLs to be used by HAWC2, Bladed and openFAST. The controller is written in Fortran and it is compatible with Intel and GFortran compilers. It can be compiled both on Windows (32bit and 64bit) and Linux.

Clone the repository (command line approach)

• It is recommend to use git version 2.22 or above. Use the follow command to check the git version;

$ git version

• In order to get access to the submodule of the project (utils), use the flag --recurse-submodules while cloning.

$ git clone --recurse-submodules https://gitlab.windenergy.dtu.dk/OpenLAC/BasicDTUController.git

• Note that switching to a new branch in the main BasicDTUController repository does not automatically update all the submodules included in this repository. In order to do so, please type:

$ git submodule update --init --recursive

Compilation

Windows: Visual Studio 2017/2019 + Intel Fortran compiler (WIP)

• Install Microsoft Visual Studio Community 2017 or 2019 and Intel Parallel Studio XE 2019 Update 5 Composer Edition for Fortran Windows Integration for Microsoft Visual Studio

• A pre generated Visual Studio Solution file (*.sln) will be provided in the future.

Windows: Visual Studio 2017/2019 with CMake + Intel Fortran compiler

• Install Microsoft Visual Studio Community 2017 or 2019 and Intel Parallel Studio XE 2019 Update 5 Composer Edition for Fortran Windows Integration for Microsoft Visual Studio
• Install C++ CMake tools for Windows from (https://docs.microsoft.com/en-us/cpp/build/cmake-projects-in-visual-studio?view=vs-2019). Alternative, you could also install CMake from (https://cmake.org/download/). The minimum required CMake version is 3.12.4.
• Create a "build" directory inside the toplevel of your local repository directory. (e.g. C:\Users\xxx\BasicDTUController)

>> mkdir build

• Going to your build directory.

>> cd build

• For Visual Studio 2019, 32-bit, in build folder run (make sure cmake command is inside your user environment PATH):

>> cmake .. -G "Visual Studio 16 2019" -A Win32

• For Visual Studio 2019, 64-bit, in build folder run:

>> cmake .. -G "Visual Studio 16 2019" -A x64

• For Visual Studio 2017, 32-bit, in build folder run (make sure cmake command is inside your user environment PATH):

>> cmake .. -G "Visual Studio 15 2017" -A Win32

• For Visual Studio 2017, 64-bit, in build folder run:

>> cmake .. -G "Visual Studio 15 2017" -A x64

• Now, a Visual Studio Solution file has been created and you could either use the following command to build the projects or open the generated solution file (DTUWEC.sln) with you Visual Studio IDE and build the projects as usual;

devenv DTUWEC.sln /Build

Windows: CMake + GNU Fortran (gfortran)

• Install CMake from (https://cmake.org/download/). The minimum required CMake version is 3.12.4.
• Install [MinGW] (https://osdn.net/projects/mingw/releases/). Currently, MinGW offers only a 32-bit GNU Compiler Collection (GCC) including gfortran. One can also install MinGW-w64 through MSYS2. It offers a 64-bit GNU Compiler Collection (GCC) including gfortran. It should also be able to compile DTUWEC, but it has not been tested.
• Make sure both CMake and MinGW are inside your user environment PATH;
• Create a "build" directory inside the toplevel of your local repository directory. (e.g. C:\Users\xxx\BasicDTUController)

>> mkdir build

• Going to your build directory.

>> cd build

• In the build folder run the following command to generate makefiles

>> cmake .. -G "MinGW Makefiles" -D CMAKE_Fortran_COMPILER="gfortran" -D CMAKE_BUILD_TYPE="release"

• Type the following command to build the code

>> mingw32-make

Linux/Mac: CMake + GNU Fortran (gfortran) (WIP)

• Install CMake and gfortran (e.g. in Ubuntu). The minimum required CMake version is 3.12.4.

$ sudo apt-get install cmake
$ cmake -- version
  cmake version 3.17.2
$ sudo apt-get install gfortran

• Create a "build" directory inside the toplevel of your local repository directory. (e.g. /home/xxx/BasicDTUController/)

$ mkdir build

• Going to your build directory.

$ cd build

• In the build folder run the following command to generate makefiles

$ cmake .. -DCMAKE_Fortran_COMPILER="gfortran"

• Type the following command to build the code

$ make

Linux on DTU's cluster Jess, to be used for MPI applications:

• In order to get access to all the submodules of the project, use the flag --recurse-submodules while cloning. To use the same user and password for all the git submodules, the git configuration can be also changed before cloning:

$ git config --global credential.helper cache
$ git clone --recurse-submodules https://gitlab.windenergy.dtu.dk/OpenLAC/BasicDTUController.git

• Note that the default git version installed on 'Jess' does not support this capability, but it can be loaded through the 'easy' module by typing the following sequence before cloning:

$ module purge
$ module load easy
$ ml git
$ unset SSH_ASKPASS

• Remember to re-type these lines before executing any git command, even after cloning.
• Note that switching to a new branch in the main BasicDTUController repository does not automatically update all the submodules included in this repository. In order to do so, please type:

$ git submodule update --init --recursive

• Load the compiler and a newer CMake version

$ module purge
$ module load easy
$ module load intel/2017a
$ module load CMake/3.15.3-GCCcore-7.3.0

• Create a "build" directory

$ mkdir build

• Going to your build directory

$ cd build

• In the build folder run the following command to build the makefile:

$ cmake .. -DCMAKE_Fortran_COMPILER=mpiifort

• In the build folder type make to build the code

$ make