Skip to content
Snippets Groups Projects
Commit 91a46d41 authored by Jenni Rinker's avatar Jenni Rinker
Browse files

version 5.0 files

parent 9490dae5
Branches v5.0
Tags v5.0
No related merge requests found
Hide whitespace changes
Inline Side-by-side
nrel-5mw-rwt/NREL_5MW_reference_wind_turbine_hs2.htc
+ 19
− 23
View file @ 91a46d41
......@@ -5,7 +5,7 @@ begin new_htc_structure;
type timoschenko ;
nbodies 1 ;
node_distribution c2_def ;
damping_posdef 0.0 0.0 0.0 3.62e-03 3.62e-03 3.30e-03 ; Mx My Mz Kx Ky Kz , Ms raises overall level, Ks raises high freguency level
damping_posdef 0.0 0.0 0.0 3.62e-03 3.62e-03 3.30e-03 ; Mx My Mz Kx Ky Kz , Ms raises overall level, Ks raises high freguency level
begin timoschenko_input;
filename ./data/NREL_5MW_st.txt ;
set 1 1 ;
......@@ -28,7 +28,6 @@ begin new_htc_structure;
type timoschenko ;
nbodies 1 ;
node_distribution c2_def ;
; damping_posdef 9.025E-06 9.025E-06 8.0E-05 8.3E-06 8.3E-06 8.5E-05 ;
damping_posdef 0.0 0.0 0.0 3.00E-05 3.00E-05 2.00E-04 ;
concentrated_mass 2 0.0 1.9 0.21256 2.4E5 1741490.0 1.7E5 1741490.0 ; Nacelle mass and inertia
begin timoschenko_input;
......@@ -47,7 +46,6 @@ begin new_htc_structure;
type timoschenko ;
nbodies 1 ;
node_distribution c2_def ;
; damping_posdef 7.00E-3 7.00E-03 7.00E-02 3.48E-04 3.48E-04 1.156E-03 ;
damping_posdef 0.0 0.0 0.0 4.65E-04 4.65E-04 7.0725E-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 5025497.444 ;generator equivalent slow shaft
concentrated_mass 5 0.0 0.0 0.0 56780 0.0 0.0 115926 ; hub mass and inertia;
......@@ -97,8 +95,7 @@ begin new_htc_structure;
type timoschenko ;
nbodies 9 ;
node_distribution c2_def;
; damping 3.5e-2 5.5e-4 5.0e-4 3.0e-4 0.5e-3 5.5e-3 ;
damping_posdef 0.0 0.0 0.0 1.41E-03 2.39E-03 4.5E-05 ;
damping_posdef 0.0 0.0 0.0 1.41E-03 2.39E-03 4.5E-05 ;
begin timoschenko_input ;
filename ./data/NREL_5MW_st.txt ;
set 5 1 ; set subset
......@@ -281,6 +278,7 @@ begin aero ;
link 3 mbdy_c2_def blade3;
ae_filename ./data/NREL_5MW_ae.txt;
pc_filename ./data/NREL_5MW_pc.txt;
; pc_filename ./data/DTU_10MW_pc.dat;
induction_method 1 ; 0=none, 1=normal
aerocalc_method 1 ; 0=ingen aerodynamic, 1=med aerodynamic
aerosections 30 ;
......@@ -313,37 +311,35 @@ begin hawcstab2 ;
prvs_turbine 1 ;
include_torsiondeform 1 ;
end operational_data ;
pi_pitch_controller 5296.610 1.2671 0.771100 0.319309 102.68665 754.18745 0.6 0.7 10 1;
; 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 5296.610 1.2671 0.771100 0.319309 102.68665 754.18745 0.6 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;
; tuning parameters: constant Power, quadratic
; basic_dtu_we_controller 0.193143E+08 0.433412E+07 0.225518E+07 0.649668E+00 0.318795E+00 70.70296 808.79462 0.6 0.7 1.66 1;
; tuning parameters: constant Torque, quadratic
; basic_dtu_we_controller 0.193143E+08 0.433412E+07 0.225518E+07 0.710330E+00 0.318795E+00 70.70296 808.79462 0.6 0.7 1.66 0;
begin controller_tuning ;
partial_load 0.050 0.700; fn [hz], zeta [-]
full_load 0.100 0.700 ; fn [hz], zeta [-]
gain_scheduling 1 ; 1 linear, 2 quadratic
constant_power 1;
constant_power 0;
end controller_tuning ;
begin controller ;
begin input ;
constraint bearing1 shaft_rot ;
constraint bearing2 pitch1 collective ;
constraint bearing2 pitch1 cosine ;
constraint bearing2 pitch1 sine ;
; constraint bearing2 pitch1 cosine ;
; constraint bearing2 pitch1 sine ;
end input ;
begin output ;
constraint bearing1 shaft_rot 1 only 2 ; 1
constraint bearing2 pitch1 1 only 1 collective ; 2
constraint bearing2 pitch1 1 only 1 cosine ; 3
constraint bearing2 pitch1 1 only 1 sine ; 4
;
mbdy state pos towertop 1 0.0 global ; # 11,12,13, tower top displacement
;
mbdy momentvec hub1 1 0 hub1 only 1 collective ; 5
mbdy momentvec hub1 1 0 hub1 only 1 cosine ; 6
mbdy momentvec hub1 1 0 hub1 only 1 sine ; 7
mbdy momentvec blade1 1 0 blade1 only 2 collective ; 17
mbdy momentvec blade1 1 0 blade1 only 2 cosine ; 18
mbdy momentvec blade1 1 0 blade1 only 2 sine ; 19
mbdy momentvec blade1 1 0 blade1 only 1 collective ; 20
mbdy momentvec blade1 1 0 blade1 only 1 cosine ; 21
mbdy momentvec blade1 1 0 blade1 only 1 sine ; 22
; constraint bearing2 pitch1 1 only 1 cosine ; 3
; constraint bearing2 pitch1 1 only 1 sine ; 4
end output ;
end controller ;
end hawcstab2 ;
......
nrel-5mw-rwt/controller_input_quadratic_example.txt 0 → 100644
+ 77
− 0
View file @ 91a46d41
================================================================================
HAWCStab2 Terminology used in "controller_input.txt" and corresponding
HAWC2 input in the controller section of the Basic DTU Wind Energy Controller
================================================================================
--------------------------------------------------------------------------------
controller_input.txt
--------------------------------------------------------------------------------
PI generator torque controller in region 1 (variable speed, variable power), starting at istate = 3
K = [pi_gen_reg1.K] [Nm/(rad/s)^2]
PI generator torque controller in region 2 (constant speed, variable power)
I = 0.307683E+08 [kg*m^2]
Kp = [pi_gen_reg2.Kp] [Nm/(rad/s)]
Ki = [pi_gen_reg2.Ki] [Nm/rad]
PI pitch angle controller in region 3 (constant speed, constant power)
Kp = [pi_pitch_reg3.Kp] [rad/(rad/s)]
Ki = [pi_pitch_reg3.Ki] [rad/rad]
K1 = [pi_pitch_reg3.K1] [deg], K2 = [pi_pitch_reg3.K2] [deg^2] (dq/dtheta = -176.48944 kNm/deg)
Additional terms due to the Aerodynamic damping
Kp2 = 0.240394E-01 [rad/(rad/s)]
Ko1 = -1.69769 [deg], Ko2 = -15.02688 [deg^2] (dq/domega = 243.08924 kNm/(rad/s))
--------------------------------------------------------------------------------
--------------------------------------------------------------------------------
dll controller block in htc file
--------------------------------------------------------------------------------
; ==== Partial load control parameters
constant 11 [pi_gen_reg1.K] ; Optimal Cp tracking K factor [kNm/(rad/s)^2], ;
; Qg=K*Omega^2, K=eta*0.5*rho*A*Cp_opt*R^3/lambda_opt^3
constant 12 [pi_gen_reg2.Kp] ; Proportional gain of torque controller [Nm/(rad/s)]
constant 13 [pi_gen_reg2.Ki] ; Integral gain of torque controller [Nm/rad]
constant 14 0.0 ; Differential gain of torque controller [Nm/(rad/s^2)]
; ==== Full load control parameters
constant 15 1 ; Generator control switch [1=constant power, 2=constant torque]
constant 16 [pi_pitch_reg3.Kp] ; Proportional gain of pitch controller [rad/(rad/s)]
constant 17 [pi_pitch_reg3.Ki] ; Integral gain of pitch controller [rad/rad]
constant 18 0.0 ; Differential gain of pitch controller [rad/(rad/s^2)]
constant 19 0.4e-8 ; Proportional power error gain [rad/W] (DTU10MW=0.4e-8)
constant 20 0.4e-8 ; Integral power error gain [rad/(Ws)] (DTU10MW=0.4e-8)
constant 21 [pi_pitch_reg3.K1] ; Coefficient of linear term in aerodynamic gain scheduling, KK1 [deg]
constant 22 [pi_pitch_reg3.K2] ; (zero for linear tuning) Coefficient of quadratic term in aerodynamic gain scheduling, KK2 [deg^2] &
; (if zero, KK1 = pitch angle at double gain)
constant 23 10.3 ; Relative speed for double nonlinear gain [-]
--------------------------------------------------------------------------------
================================================================================
HAWCStab2 Terminology used in "controller_input.txt" and corresponding
HAWCStab2 command: "basic_dtu_we_controller"
================================================================================
--------------------------------------------------------------------------------
controller_input.txt
--------------------------------------------------------------------------------
PI generator torque controller in region 1 (variable speed, variable power), starting at istate = 3
K = [Kopt_partial] [Nm/(rad/s)^2]
PI generator torque controller in region 2 (constant speed, variable power)
I = 0.307683E+08 [kg*m^2]
Kp = [Kp_partial] [Nm/(rad/s)]
Ki = [Ki_partial] [Nm/rad]
PI pitch angle controller in region 3 (constant speed, constant power)
Kp = [Kp_full] [rad/(rad/s)]
Ki = [Ki_full] [rad/rad]
K1 = [K1_theta] [deg] K2 = [K2_theta] [deg^2] (dq/dtheta = -176.48944 kNm/deg)
Additional terms due to the Aerodynamic damping
Kp2 = 0.240394E-01 [rad/(rad/s)]
Ko1 = -1.69769 [deg], Ko2 = -15.02688 [deg^2] (dq/domega = 243.08924 kNm/(rad/s))
--------------------------------------------------------------------------------
--------------------------------------------------------------------------------
command in hawcstab2 section of the thc file
--------------------------------------------------------------------------------
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;
basic_dtu_we_controller 0.193143E+08 0.433412E+07 0.225518E+07 0.649668E+00 0.318795E+00 70.70296 808.79462 0.4 0.7 1.92 1;
--------------------------------------------------------------------------------
nrel-5mw-rwt/htc/NREL_5MW_reference_wind_turbine.htc
+ 11
− 10
View file @ 91a46d41
......@@ -17,7 +17,7 @@ begin new_htc_structure;
; body_eigenanalysis_file_name ./eigenfrq/NREL_5MW_reference_wind_turbine_body_eigen.dat;
; structure_eigenanalysis_file_name ./eigenfrq/NREL_5MW_reference_wind_turbine_strc_eigen.dat ;
;-------------------------------------------------------------------------------------------------------------------------------
begin main_body; tower 90m
begin main_body; tower 87m
name tower ;
type timoschenko ;
nbodies 1 ;
......@@ -289,15 +289,16 @@ begin wind ;
; wind_ramp_factor 0.0 [t0] [wsp factor] 1.0 ;
; [gust] iec_gust [gust_type] [gust_A] [gust_phi0] [gust_t0] [gust_T] ;
;
begin mann;
filename_u ./turb/dummyu.bin ;
filename_v ./turb/dummyv.bin ;
filename_w ./turb/dummyw.bin ;
box_dim_u 8192 0.0 ;
box_dim_v 32 4.6875;
box_dim_w 32 4.6875;
std_scaling 1.0 0.7 0.5 ;
end mann;
; begin mann;
; create_turb_parameters 29.4 1.0 3.7 1 1.0 ; L, alfaeps, gamma, seed, highfrq compensation
; filename_u ./turb/dummyu.bin ;
; filename_v ./turb/dummyv.bin ;
; filename_w ./turb/dummyw.bin ;
; box_dim_u 8192 0.0 ;
; box_dim_v 32 4.6875;
; box_dim_w 32 4.6875;
; std_scaling 1.0 0.7 0.5 ;
; end mann;
;
begin tower_shadow_potential_2;
tower_mbdy_link tower;
......
0% or .
You are about to add 0 people to the discussion. Proceed with caution.
Finish editing this message first!
Please register or to comment