diff --git a/wetb/hawc2/tests/test_files/htcfiles/tjul.htc b/wetb/hawc2/tests/test_files/htcfiles/tjul.htc new file mode 100644 index 0000000000000000000000000000000000000000..1daa9e68dc200bea278728e976a41fd2f6bd65be --- /dev/null +++ b/wetb/hawc2/tests/test_files/htcfiles/tjul.htc @@ -0,0 +1,940 @@ +; +;this version was at some point based on: Avatar_10MW_RWT version 1, 06-08-14, Anyd, 18.09.2015 TJUL +begin simulation; + time_stop 400; + solvertype 1 ; (newmark) + on_no_convergence continue ; +; logfile ../output/DLC15_IEC61400-1Ed5/DLC15_wsp08_wdir000_s0108_phi000_halfwake_D8_v2.log ; + logfile ../output/log/DLC15_wsp08_wdir000_s0108_phi000_halfwake_D8_v2.log ; + begin newmark; + deltat 0.02; + end newmark; +end simulation; +; +;---------------------------------------------------------------------------------------------------------------------------------------------------------------- +begin new_htc_structure; +;-------------------------------------------------------------------------------------------------- + struct_inertia_output_file_name ../output/structure_check/inertias_DLC15_wsp08_wdir000_s0108_phi000_halfwake_D8_v2.txt; + begin main_body; + name tower ; + type timoschenko ; + nbodies 3 ; + node_distribution c2_def ; + damping_posdef 0 0 0 4.7E-03 4.7E-03 4.3E-04 ; tuned by Anyd 12/8/14 + begin timoschenko_input; + filename ./data/AVATAR_10MW_RWT_tower_st_v1.dat; + set 1 1 ; + end timoschenko_input; + begin c2_def; Definition of centerline (main_body coordinates) + nsec 20; + sec 1 0 0 0.000 0 ; x,y,z,twist + sec 2 0 0 -12.293 0 ; + sec 3 0 0 -12.294 0 ; + sec 4 0 0 -24.585 0 ; + sec 5 0 0 -24.586 0 ; + sec 6 0 0 -36.878 0 ; + sec 7 0 0 -36.879 0 ; + sec 8 0 0 -49.171 0 ; + sec 9 0 0 -49.172 0 ; + sec 10 0 0 -61.463 0 ; + sec 11 0 0 -61.464 0 ; + sec 12 0 0 -73.756 0 ; + sec 13 0 0 -73.757 0 ; + sec 14 0 0 -86.049 0 ; + sec 15 0 0 -86.050 0 ; + sec 16 0 0 -98.341 0 ; + sec 17 0 0 -98.342 0 ; + sec 18 0 0 -110.634 0 ; + sec 19 0 0 -110.635 0 ; + sec 20 0 0 -123.600 0 ; + end c2_def ; + end main_body; +; + begin main_body; + name towertop ; + type timoschenko ; + nbodies 1 ; + node_distribution c2_def ; +; damping_posdef 7.50E-03 7.40E-03 7.00E-03 7.00E-03 7.00E-03 7.00E-03 ; "changed by Anyd + damping_posdef 0.0 0.0 0.0 7.00E-03 7.00E-03 7.00E-03 ; + concentrated_mass 2.0 0.0 2.6870E+00 3.50E-01 4.4604E+05 4.1060E+06 4.460E+05 7.3260E+06 ; Nacel + 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 8.00E-3 8.00E-03 8.00E-02 4.65E-04 4.65E-04 2.38E-02 ; "tuned by Anyd 22/2/13 + 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 l + concentrated_mass 1.0 0.0 0.0 0.0 0.0 0.0 0.0 3.751E+06 ; generator equivalent slow shaft "re_tu + 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 + 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 shaft_nonrotate ; + type timoschenko ; + nbodies 1 ; + node_distribution c2_def ; + damping_posdef 0.00E+00 0.00E+00 0.00E+00 1.0E-01 1.0E-01 1.0E-01 ; + begin timoschenko_input; + filename ./data/DTU_10MW_RWT_Shaft_st.dat ; + set 1 3; dummy light and stiff structure + end timoschenko_input; + begin c2_def; + nsec 2; + sec 1 0.0 0.0 0.0 0.0 ; + sec 2 0.0 0.0 0.1 0.0 ; + 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; + 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 2.5e-3 8.9e-4 3.2e-4 ; "Tuned by Anyd" +; damping_posdef 0.0 0.0 0.0 1.5e-3 2.45e-3 3.2e-4 ; " 3% damping tuned by Anyd 20/02/12 unable to +; damping_posdef 0.0 0.0 0.0 2.1e-3 1.9e-3 1.3e-4 ; " 3% damping tuned by Anyd 15/08/14 rev2 +; damping_posdef 0.0 0.0 0.0 1.68e-3 2.25e-3 1.0e-4 ; " 3% damping tuned by Anyd 16/12/14 + damping_posdef 0.0 0.0 0.0 3.36e-3 4.50e-3 2.0e-4 ; double the damping (basis: 3% damping tuned by Anyd 16/12/14) + begin timoschenko_input ; + filename ./data/AVATAR_10MW_RWT_Blade_st.dat ; + set 1 9 ; + end timoschenko_input; + begin c2_def; + nsec 27 ; + sec 1 -0.001 -0.001 0.000 -17.280 ; + sec 2 -0.005 -0.001 2.220 -17.280 ; + sec 3 -0.006 -0.000 4.440 -17.280 ; + sec 4 -0.086 0.022 6.660 -17.280 ; + sec 5 -0.231 0.069 11.039 -17.273 ; + sec 6 -0.447 0.121 15.418 -16.441 ; + sec 7 -0.690 0.161 19.797 -14.613 ; + sec 8 -0.812 0.162 24.176 -12.578 ; + sec 9 -0.891 0.158 28.555 -10.588 ; + sec 10 -0.865 0.124 32.934 -9.070 ; + sec 11 -0.833 0.112 37.313 -8.224 ; + sec 12 -0.797 0.102 41.692 -7.688 ; + sec 13 -0.760 0.093 46.071 -7.205 ; + sec 14 -0.721 0.083 50.450 -6.749 ; + sec 15 -0.683 0.075 54.829 -6.288 ; + sec 16 -0.644 0.066 59.208 -5.838 ; + sec 17 -0.606 0.058 63.587 -5.401 ; + sec 18 -0.567 0.050 67.966 -4.982 ; + sec 19 -0.529 0.044 72.345 -4.640 ; + sec 20 -0.492 0.037 76.724 -4.380 ; + sec 21 -0.456 0.032 81.103 -4.144 ; + sec 22 -0.422 0.026 85.482 -3.914 ; + sec 23 -0.392 0.021 89.861 -3.685 ; + sec 24 -0.346 0.014 94.240 -3.460 ; + sec 25 -0.307 0.010 96.190 -3.350 ; + sec 26 -0.249 0.005 98.130 -3.250 ; + sec 27 -0.089 0.006 100.080 -3.140 ; + 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_eulerang 0.0 0.0 180.0; + mbdy2_ini_rotvec_d1 0.0 0.0 -1.0 0.7 ; + end relative; +; + begin relative; dummy non rotating hub coordinates + body1 towertop last; + body2 shaft_nonrotate 1; + body2_eulerang 90.0 0.0 0.0; + body2_eulerang 5.0 0.0 0.0; same 5 deg tilt angle as real shaft + 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 0.0; + 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; +; +;[Rotor locked] begin bearing3; free bearing +;[Rotor locked] name shaft_rot; +;[Rotor locked] body1 towertop last; +;[Rotor locked] body2 shaft 1; +;[Rotor locked] 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 +;[Rotor locked] omegas 0.0 ; +;[Rotor locked] end bearing3; +; + begin fix1; + body1 tower last ; + body2 shaft_nonrotate 1; + end fix1; +; + 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 0.0010 ; + horizontal_input 1 ; +; windfield_rotations 0 8.0 0.0 ; yaw, tilt (positive=upflow=wind coming from below), rotation + windfield_rotations 0 0.0 0.0 ; yaw, tilt (positive=upflow=wind coming from below), rotation + center_pos0 0.0 0.0 -127.0 ; hub heigth + shear_format 3 0.2 ; + turb_format 0 ; 0=none, 1=mann,2=flex + tower_shadow_method 3 ; 0=none, 1=potential flow, 2=jet +; scale_time_start 100 ; + wind_ramp_factor 0.0 100 1.000 1.0 ; + ; iec_gust ews 0.0141 0.00 310 12 ; + ; + begin turb_export; + filename_u ../output/export_wind/DLC15_wsp08_wdir000_s0108_phi000_halfwake_D8_v2_u.bin ; + filename_v ../output/export_wind/DLC15_wsp08_wdir000_s0108_phi000_halfwake_D8_v2_v.bin ; + filename_w ../output/export_wind/DLC15_wsp08_wdir000_s0108_phi000_halfwake_D8_v2_w.bin ; + samplefrq 50; + nsteps 60; + box_dim_v 256 0.9; + box_dim_w 256 0.9; + time_start 300 ; + end turb_export; +;------------------------------------------------------------------------------- + begin wakes; + nsource 1 ; + source_pos 102.88 -1646.08 -127.0 ; + tint_meander 0.0010 ; + op_data 0.768 3.38 ; 1.8 -23.1 ;1.87 0.0 rad/sec, pitch [grader] opstrøms; + write_final_deficits ../output/deficits/deficit_wsp8_D8 ; + begin mann_meanderturb ; + create_turb_parameters 29.4 1.0 3.9 108 0.0 ; L, alfaeps,gamma,seed, highfrq compensation + filename_u ../turb/wake-meander/meand_wsp08_s0108_T100u.bin ; + filename_v ../turb/wake-meander/meand_wsp08_s0108_T100v.bin ; + filename_w ../turb/wake-meander/meand_wsp08_s0108_T100w.bin ; + box_dim_u 8192 0.097656 ; + box_dim_v 32 90 ; + box_dim_w 32 90 ; + end mann_meanderturb; +; +; begin mann_microturb ; +; create_turb_parameters 8.0 1.0 0.0 108 1.0 ; L, alfaeps,gamma,seed, highfrq compensation +; filename_u ../turb/wake-micro/smallturb_wsp08_s0108_T100u.bin ; wake-turbulence +; filename_v ../turb/wake-micro/smallturb_wsp08_s0108_T100v.bin ; +; filename_w ../turb/wake-micro/smallturb_wsp08_s0108_T100w.bin ; +; box_dim_u 128 1.0 ; +; box_dim_v 128 1.0 ; +; box_dim_w 128 1.0 ; +; end mann_microturb; + end wakes; + ;----------------------------------------------------------------- + begin mann ; + create_turb_parameters 29.4 1.0 3.9 108 1.0 ; L, alfaeps, gamma, seed, highfrq compensation + filename_u ../turb/turb_wsp08_s0108_T100u.bin ; + filename_v ../turb/turb_wsp08_s0108_T100v.bin ; + filename_w ../turb/turb_wsp08_s0108_T100w.bin ; + box_dim_u 8192 0.097656 ; + box_dim_v 32 7.5; + box_dim_w 32 7.5; + end mann ; +; + begin tower_shadow_potential_2; + tower_mbdy_link tower; + nsec 2; + radius 0.0 4.15 ; + radius 129.3 2.75 ; (radius) + end tower_shadow_potential_2; +end wind; +; +begin aerodrag ; + begin aerodrag_element ; + mbdy_name tower; + aerodrag_sections uniform 10 ; + nsec 2 ; + sec 0.0 0.6 8.3 ; tower bottom + sec 129.3 0.6 5.5 ; tower top (diameter) + end aerodrag_element; +; + begin aerodrag_element ; Nacelle drag side + mbdy_name shaft; + aerodrag_sections uniform 2 ; + nsec 2 ; + sec 0.0 0.8 10.0 ; + sec 7.01 0.8 10.0 ; + end aerodrag_element; +end aerodrag; +; +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/AVATAR_10MW_RWT_ae.dat ; + pc_filename ./data/AVATAR_10MW_RWT_pc_hama_v1.dat ; + induction_method 1 ; 0=none, 1=normal + aerocalc_method 1 ; 0=ingen aerodynamic, 1=med aerodynamic + aero_distribution ae_file 1 ; + ae_sets 1 1 1; + tiploss_method 1 ; 0=none, 1=prandtl + dynstall_method 2 ; 0=none, 1=stig øye method,2=mhh method +; +end aero ; +;------------------------------------------------------------------------------------------------- +begin dll; +; + begin type2_dll; + name risoe_controller ; + filename ./control/risoe_controller.dll ; + dll_subroutine_init init_regulation ; + dll_subroutine_update update_regulation ; + arraysizes_init 53 1 ; + arraysizes_update 12 100 ; + begin init ; + ; Overall parameters + constant 1 10000.0 ; Rated power [kW] + constant 2 0.628 ; Minimum rotor speed [rad/s] + constant 3 1.005 ; Rated rotor speed [rad/s] + constant 4 15.6E+06 ; Maximum allowable generator torque [Nm] + constant 5 100.0 ; Minimum pitch angle, theta_min [deg], + ; if |theta_min|>90, then a table of <wsp,theta_min> is read ; + ; from a file named 'wpdata.n', where n=int(theta_min) + constant 6 90.0 ; Maximum pitch angle [deg] + constant 7 10.0 ; Maximum pitch velocity operation [deg/s] + constant 8 0.4 ; Frequency of generator speed filter [Hz] + constant 9 0.7 ; Damping ratio of speed filter [-] + constant 10 1.64 ; Frequency of free-free DT torsion mode [Hz], if zero no notch filter used + ; Partial load control parameters + constant 11 0.103562E+08 ; Optimal Cp tracking K factor [Nm/(rad/s)^2], ; + ; Qg=K*Omega^2, K=eta*0.5*rho*A*Cp_opt*R^3/lambda_opt^3 + constant 12 0.105601E+09 ; Proportional gain of torque controller [Nm/(rad/s)] + constant 13 0.236968E+08 ; 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 TORQUE STRATEGY +; constant 15 2 ; Generator control switch [1=constant power, 2=constant torque] +; constant 16 0.883476 ; Proportional gain of pitch controller [rad/(rad/s)] + ; + ; CONSTANT POWER STRATEGY + constant 15 1 ; Generator control switch [1=constant power, 2=constant torque] + constant 16 0.810089 ; Proportional gain of pitch controller [rad/(rad/s)] + ; + constant 17 0.237902 ; Integral gain of pitch controller [rad/rad] + constant 18 0.0 ; Differential gain of pitch controller [rad/(rad/s^2)] + constant 19 0.4e-9 ; Proportional power error gain [rad/W] + constant 20 0.4e-9 ; Integral power error gain [rad/(Ws)] + constant 21 9.74141 ; Coefficient of linear term in aerodynamic gain scheduling, KK1 [deg] + constant 22 617.05523 ; Coefficient of quadratic term in aerodynamic gain scheduling, KK2 [deg^2] & + ; (if zero, KK1 = pitch angle at double gain) + constant 23 1.3 ; Relative speed for double nonlinear gain [-] +; Cut-in simulation parameters + constant 24 1 ; Cut-in time [s] + constant 25 1.0 ; Time delay for soft start of torque [1/1P] +; Cut-out simulation parameters + constant 26 10000 ; Cut-out time [s] + constant 27 5.0 ; Time constant for linear torque cut-out [s] + constant 28 1 ; Stop type [1=normal, 2=emergency] + constant 29 1.0 ; Time delay for pitch stop after shut-down signal [s] + constant 30 10 ; Maximum pitch velocity during initial period of stop [deg/s] + constant 31 3.0 ; Time period of initial pitch stop phase [s] (maintains pitch speed specified in constant 30) + constant 32 5 ; Maximum pitch velocity during final phase of stop [deg/s] +; Expert parameters (keep default values unless otherwise given) + constant 33 2.0 ; Lower angle above lowest minimum pitch angle for switch [deg] + constant 34 2.0 ; Upper angle above lowest minimum pitch angle for switch [deg], if equal then hard switch + constant 35 95.0 ; Ratio between filtered speed and reference speed for fully open torque limits [%] + constant 36 2.0 ; Time constant of 1st order filter on wind speed used for minimum pitch [1/1P] + constant 37 1.0 ; Time constant of 1st order filter on pitch angle used for gain scheduling [1/1P] +; Drivetrain damper + constant 38 0.0 ; Proportional gain of active DT damper [Nm/(rad/s)], requires frequency in input 10 +; Over speed + constant 39 25.0 ; Overspeed percentage before initiating turbine controller alarm (shut-down) [%] +; Additional non-linear pitch control term (not used when all zero) + constant 40 0.0 ; Err0 [rad/s] + constant 41 0.0 ; ErrDot0 [rad/s^2] + constant 42 0.0 ; PitNonLin1 [rad/s] +; Storm control command + constant 43 28.0 ; Wind speed 'Vstorm' above which derating of rotor speed is used [m/s] + constant 44 28.0 ; Cut-out wind speed (only used for derating of rotor speed in storm) [m/s] +; Safety system parameters + constant 45 25.0 ; Overspeed percentage before initiating safety system alarm (shut-down) [%] + constant 46 1.5 ; Max low-pass filtered tower top acceleration level [m/s^2] - max in DLC 1.3=1.1 m/s^2 +; Turbine parameter + constant 47 205.8 ; Nominal rotor diameter [m] +; Parameters for rotor inertia reduction in variable speed region + constant 48 0.0 ; Proportional gain on rotor acceleration in variable speed region [Nm/(rad/s^2)] (not used when zero) +; Parameters for alternative partial load controller with PI regulated TSR tracking + constant 49 0.0 ; Optimal tip speed ratio [-] (only used when K=constant 11 = 0 otherwise Qg=K*Omega^2 is used) +; Parameters for adding aerodynamic drivetrain damping on gain scheduling + constant 50 0.0 ; Proportional gain of aerodynamic DT damping [Nm/(rad/s)] + constant 51 0.0 ; Coefficient of linear term in aerodynamic DT damping scheduling, KK1 [deg] + constant 52 0.0 ; Coefficient of quadratic term in aerodynamic DT damping scheduling, KK2 [deg^2] + constant 53 100.0 ; Rated wind speed (used for shut-down criteria) + end init ; +; + begin output ; + general time ; [s] + constraint bearing1 shaft_rot 1 only 2 ; Drivetrain speed [rad/s] + constraint bearing2 pitch1 1 only 1; [rad] + constraint bearing2 pitch2 1 only 1; [rad] + constraint bearing2 pitch3 1 only 1; [rad] + wind free_wind 1 0.0 0.0 -127.0 ; Global coordinates at hub height + dll inpvec 2 2 ; Elec. power from generator servo .dll + dll inpvec 2 8 ; Grid state flag from generator servo .dll + mbdy state acc tower 10 1.0 global only 1 ; Tower top x-acceleration [m/s^2] + mbdy state acc tower 10 1.0 global only 2 ; Tower top y-acceleration [m/s^2] + end output; + end type2_dll; +; + begin type2_dll; + name generator_servo ; + filename ./control/generator_servo.dll ; + dll_subroutine_init init_generator_servo ; + dll_subroutine_update update_generator_servo ; + arraysizes_init 7 1 ; + arraysizes_update 4 8 ; + begin init ; + constant 1 5.0 ;20.0 ; Frequency of 2nd order servo model of generator-converter system [Hz] + constant 2 0.9 ; Damping ratio 2nd order servo model of generator-converter system [-] + constant 3 15.6E+06 ; Maximum allowable LSS torque (pull-out torque) [Nm] + constant 4 0.94 ; Generator efficiency [-] + constant 5 1.0 ; Gearratio [-] + constant 6 0.0 ; Time for half value in softstart of torque [s] + constant 7 10000 ; Time for grid loss [s] + end init ; +; + begin output; + general time ; Time [s] + dll inpvec 1 1 ; Electrical torque reference [Nm] + constraint bearing1 shaft_rot 1 only 2; Generator LSS speed [rad/s] + mbdy momentvec shaft 1 1 shaft only 3 ; Shaft moment [kNm] (Qshaft) + end output; +; + begin actions; + mbdy moment_int shaft 1 -3 shaft towertop 2 ; Generator LSS torque [Nm] + end actions; + end type2_dll; +; + begin type2_dll; + name mech_brake ; + filename ./control/mech_brake.dll ; + dll_subroutine_init init_mech_brake ; + dll_subroutine_update update_mech_brake ; + arraysizes_init 7 1 ; + arraysizes_update 4 6 ; + begin init ; + constant 1 5.22535E+06 ; Fully deployed maximum brake torque [Nm] (0.6*max torque) (9.36E+06 for INNWIND) + constant 2 100.0 ; Parameter alpha used in Q = tanh(omega*alpha), typically 1e2/Omega_nom + constant 3 0.5 ; Delay time for before brake starts to deploy [s] + constant 4 0.74 ; Time for brake to become fully deployed [s] + end init ; +; + begin output; + general time ; Time [s] + constraint bearing1 shaft_rot 1 only 2 ; Generator LSS speed [rad/s] + dll inpvec 1 25 ; Command to deploy mechanical disc brake [0,1] + end output; +; + begin actions; + mbdy moment_int shaft 1 -3 shaft towertop 2 ; Generator LSS torque [Nm] + end actions; + end type2_dll; +; + begin type2_dll; + name servo_with_limits ; + filename ./control/servo_with_limits.dll ; + dll_subroutine_init init_servo_with_limits ; + dll_subroutine_update update_servo_with_limits ; + arraysizes_init 10 1 ; + arraysizes_update 5 9 ; + begin init ; + constant 1 3 ; Number of blades [-] + constant 2 1.0 ; Frequency of 2nd order servo model of pitch system [Hz] + constant 3 0.7 ; Damping ratio 2nd order servo model of pitch system [-] + constant 4 10.0 ; Max. pitch speed [deg/s] + constant 5 15.0 ; Max. pitch acceleration [deg/s^2] + constant 6 -5.0 ; Min. pitch angle [deg] + constant 7 90.0 ; Max. pitch angle [deg] + constant 8 10000 ; Time for pitch runaway [s] + constant 9 10000 ; Time for stuck blade 1 [s] + constant 10 0 ; Angle of stuck blade 1 [deg] + end init ; + begin output; + general time ; Time [s] + dll inpvec 1 2 ; Pitch1 demand angle [rad] + dll inpvec 1 3 ; Pitch2 demand angle [rad] + dll inpvec 1 4 ; Pitch3 demand angle [rad] + dll inpvec 1 26 ; Flag for emergency pitch stop [0=off/1=on] + end output; +; + begin actions; + constraint bearing2 angle pitch1 ; Angle pitch1 bearing [rad] + constraint bearing2 angle pitch2 ; Angle pitch2 bearing [rad] + constraint bearing2 angle pitch3 ; Angle pitch3 bearing [rad] + end actions; + end type2_dll; +end dll; +; +;---------------------------------------------------------------------------------------------------------------------------------------------------------------- +; +begin output; +; filename ../output/res/DLC15_IEC61400-1Ed5/DLC15_wsp08_wdir000_s0108_phi000_halfwake_D8_v2 ; + filename ../output/res/DLC15_wsp08_wdir000_s0108_phi000_halfwake_D8_v2 ; + time 300 400 ; + data_format hawc_binary; + buffer 1 ; +; + general time; + constraint bearing1 shaft_rot 2; angle and angle velocity + constraint bearing2 pitch1 5; angle and angle velocity + constraint bearing2 pitch2 5; angle and angle velocity + constraint bearing2 pitch3 5; angle and angle velocity + aero omega ; + aero torque; + aero power; + aero thrust; + wind free_wind 1 0.0 0.0 -127.0; local wind at fixed position: coo (1=global,2=non-rotation rotor coo.), pos x, pos y, pos z + ; non rotating coordinates shaft tip: equivalent to stationary hub in BLADED + mbdy momentvec shaft 3 2 shaft_nonrotate # non rotating shaft tip ; + mbdy forcevec shaft 3 2 shaft_nonrotate # non rotating shaft tip ; + ; Moments: + mbdy momentvec tower 1 1 tower # tower base ; + mbdy momentvec tower 19 2 tower # tower yaw bearing ; + mbdy momentvec shaft 4 1 shaft # main bearing ; + mbdy momentvec blade1 3 2 blade1 # blade 1 root ; + mbdy momentvec blade2 3 2 blade2 # blade 2 root ; + mbdy momentvec blade3 3 2 blade3 # blade 3 root ; + ; blade 2,3 root section loads + mbdy momentvec blade2 3 2 local # blade 2 section root; + mbdy momentvec blade3 3 2 local # blade 3 section root; + ; blade 1 sectional loads in local coordinates + mbdy momentvec blade1 2 2 local # blade 1 section; + mbdy momentvec blade1 3 2 local # blade 1 section root; + mbdy momentvec blade1 4 2 local # blade 1 section; + mbdy momentvec blade1 5 2 local # blade 1 section; + mbdy momentvec blade1 6 2 local # blade 1 section; + mbdy momentvec blade1 7 2 local # blade 1 section; + mbdy momentvec blade1 8 2 local # blade 1 section; + mbdy momentvec blade1 9 2 local # blade 1 section; + mbdy momentvec blade1 10 2 local # blade 1 section; + mbdy momentvec blade1 11 2 local # blade 1 section; + mbdy momentvec blade1 12 2 local # blade 1 section; + mbdy momentvec blade1 13 2 local # blade 1 section; + mbdy momentvec blade1 14 2 local # blade 1 section; + mbdy momentvec blade1 15 2 local # blade 1 section; + mbdy momentvec blade1 16 2 local # blade 1 section; + mbdy momentvec blade1 17 2 local # blade 1 section; + mbdy momentvec blade1 18 2 local # blade 1 section; + mbdy momentvec blade1 19 2 local # blade 1 section; + mbdy momentvec blade1 20 2 local # blade 1 section; + mbdy momentvec blade1 21 2 local # blade 1 section; + mbdy momentvec blade1 22 2 local # blade 1 section; + mbdy momentvec blade1 23 2 local # blade 1 section; + mbdy momentvec blade1 24 2 local # blade 1 section; + mbdy momentvec blade1 25 2 local # blade 1 section; + mbdy momentvec blade1 26 2 local # blade 1 section; + ; blade root out and in of plane forces + mbdy momentvec blade1 3 2 hub1 # blade 1 root ; + mbdy momentvec blade2 3 2 hub2 # blade 2 root ; + mbdy momentvec blade3 3 2 hub3 # blade 3 root ; +; mbdy momentvec blade1 14 1 local # blade 1 50% local e coo ; +; mbdy momentvec blade2 14 1 local # blade 2 50% local e coo ; +; mbdy momentvec blade3 14 1 local # blade 3 50% local e coo ; + ; Displacements and accellerations + mbdy state pos tower 19 1.0 global only 1 # Tower top FA displ; + mbdy state pos tower 19 1.0 global only 2 # Tower top SS displ; + mbdy state acc tower 19 1.0 global only 1 # Tower top FA acc; + mbdy state acc tower 19 1.0 global only 2 # Tower top SS acc; +; + mbdy state pos blade1 26 1.0 global # gl blade 1 tip pos ; + mbdy state pos blade2 26 1.0 global # gl blade 2 tip pos ; + mbdy state pos blade3 26 1.0 global # gl blade 3 tip pos ; + mbdy state pos blade1 26 1.0 blade1 # blade 1 tip pos ; + mbdy state pos blade2 26 1.0 blade2 # blade 2 tip pos ; + mbdy state pos blade3 26 1.0 blade3 # blade 3 tip pos ; +; + mbdy state pos tower 5 0.00 global ; [1,2,3]. Tower position: 24.58 m +; + ; elastic twist (torsional deformation) along the blade + aero tors_ang 1 45.56; + aero tors_ang 1 59.19; + aero tors_ang 1 70.87; + aero tors_ang 1 80.61; + aero tors_ang 1 84.50; + aero tors_ang 1 88.40; + aero tors_ang 1 92.29; + aero tors_ang 1 96.19; + aero tors_ang 1 98.13; + aero tors_ang 1 102.08; tip +; +; - Monitor Aerodynamics - ; + aero windspeed 3 1 1 72.5; + aero windspeed 3 1 2 72.5; + aero windspeed 3 1 3 72.5; + aero alfa 1 72.5; + aero alfa 2 72.5; + aero alfa 3 72.5; + aero cl 1 72.5; + aero cl 2 72.5; + aero cl 3 72.5; + aero cd 1 72.5; + aero cd 2 72.5; + aero cd 3 72.5; +; - Main Controller - +; Output to controller + ; dll outvec 1 1 # time; + ; dll outvec 1 2 # slow speed shaft rad/s; + ; dll outvec 1 3 # pitch angle 1; + ; dll outvec 1 4 # pitch angle 2; + ; dll outvec 1 5 # pitch angle 3; + ; dll outvec 1 6 # WSP_x_global; + ; dll outvec 1 7 # WSP_y_global; + ; dll outvec 1 8 # WSP_z_global; + ; dll outvec 1 9 # Elec. pwr ; + ; dll outvec 1 10 # Grid flag ; +; Input from controller + dll inpvec 1 1 # Generator torque reference [Nm] ; + dll inpvec 1 2 # Pitch angle reference of blade 1 [rad] ; + dll inpvec 1 3 # Pitch angle reference of blade 2 [rad] ; + dll inpvec 1 4 # Pitch angle reference of blade 3 [rad] ; + ; dll inpvec 1 5 # Power reference [W] ; + ; dll inpvec 1 6 # Filtered wind speed [m/s] ; + ; dll inpvec 1 7 # Filtered rotor speed [rad/s]; + ; dll inpvec 1 8 # Filtered rotor speed error for torque [rad/s]; + ; dll inpvec 1 9 # Bandpass filtered rotor speed [rad/s]; + ; dll inpvec 1 10 # Proportional term of torque contr. [Nm] ; + ; dll inpvec 1 11 # Integral term of torque controller [Nm] ; + ; dll inpvec 1 12 # Minimum limit of torque [Nm] ; + ; dll inpvec 1 13 # Maximum limit of torque [Nm] ; + dll inpvec 1 14 # Torque limit switch based on pitch [-] ; + ; dll inpvec 1 15 # Filtered rotor speed error for pitch [rad/s]; + ; dll inpvec 1 16 # Power error for pitch [W] ; + ; dll inpvec 1 17 # Proportional term of pitch controller [rad] ; + ; dll inpvec 1 18 # Integral term of pitch controller [rad] ; + ; dll inpvec 1 19 # Minimum limit of pitch [rad] ; + ; dll inpvec 1 20 # Maximum limit of pitch [rad] ; + dll inpvec 1 21 # Torque reference from DT dammper [Nm] ; + dll inpvec 1 22 # Status signal [-] ; + ; dll inpvec 1 23 # Total added pitch rate [rad/s] ; + dll inpvec 1 24 # Filtered Mean pitch for gain sch [rad] ; + dll inpvec 1 25 # Flag for mechnical brake [0=off/1=on] ; + dll inpvec 1 26 # Flag for emergency pitch stop [0=off/1=on] ; + dll inpvec 1 27 # LP filtered acceleration level [m/s^2] ; +; ; Output to generator model + ; dll outvec 2 1 # time ; + ; dll outvec 2 2 # Electrical torque reference [Nm] ; + ; dll outvec 2 3 # omega LSS ; +; Input from generator model + dll inpvec 2 1 # Mgen LSS [Nm]; + dll inpvec 2 2 # Pelec W ; + dll inpvec 2 3 # Mframe ; + dll inpvec 2 4 # Mgen HSS ; + dll inpvec 2 5 # Generator Pmech kW ; + dll inpvec 2 6 # Filtered Gen speed ; + dll inpvec 2 7 # Resulting Eff ; + dll inpvec 2 8 # Grid flag ; +; Output to mechanical brake + dll inpvec 3 1 # Brake torque [Nm] ; +; ; Input from mechanical brake + ; dll outvec 3 1 # Time [s] ; + ; dll outvec 3 2 # Generator LSS speed [rad/s] ; + ; dll outvec 3 3 # Deploy brake ; +; ; Output to pitch servo + ; dll outvec 4 1 # time; + ; dll outvec 4 2 # pitchref 1; + ; dll outvec 4 3 # pitchref 2; + ; dll outvec 4 4 # pitchref 3; + ; dll outvec 4 5 # Emerg. stop; +; Input from pitch servo + dll inpvec 4 1 # pitch 1; + dll inpvec 4 2 # pitch 2; + dll inpvec 4 3 # pitch 3; +end output; +; +begin output; +; filename ../output/res/DLC15_IEC61400-1Ed5/short_DLC15_wsp08_wdir000_s0108_phi000_halfwake_D8_v2 ; + filename ../output/res/short_DLC15_wsp08_wdir000_s0108_phi000_halfwake_D8_v2 ; + time 300 400 ; + data_format hawc_ascii; + buffer 1 ; +; + general time; + aero azimuth 1; + constraint bearing1 shaft_rot 2; angle and angle velocity + constraint bearing2 pitch1 5; angle and angle velocity + constraint bearing2 pitch2 5; angle and angle velocity + constraint bearing2 pitch3 5; angle and angle velocity + wind free_wind 1 0.0 0.0 -127.0; local wind at fixed position: coo (1=global,2=non-rotation rotor coo.), pos x, pos y, pos z + ; Tower + mbdy momentvec tower 1 1 tower # tower base ; + mbdy forcevec tower 1 1 tower # tower base ; + mbdy momentvec tower 19 2 tower # tower yaw bearing ; + mbdy forcevec tower 19 2 tower # tower yaw bearing ; + mbdy momentvec towertop 1 2 towertop # tower top ; + mbdy forcevec towertop 1 2 towertop # tower top ; + mbdy state pos tower 19 1.0 global only 1 # Tower yaw bearing FA displ; + mbdy state pos tower 19 1.0 global only 2 # Tower yaw bearing SS displ; + mbdy state pos towertop 1 1.0 global only 1 # Tower top FA displ; + mbdy state pos towertop 1 1.0 global only 2 # Tower top SS displ; + ; Shaft + mbdy momentvec shaft 1 1 shaft # rotating shaft at top of tower ; + mbdy forcevec shaft 1 1 shaft # rotating shaft at top of tower ; + mbdy momentvec shaft 1 1 shaft_nonrotate # non rotating shaft at top of tower ; + mbdy forcevec shaft 1 1 shaft_nonrotate # non rotating shaft at top of tower ; + mbdy momentvec shaft 4 2 shaft_nonrotate # non rotating shaft at hub ; + mbdy forcevec shaft 4 2 shaft_nonrotate # non rotating shaft at hub ; + mbdy momentvec shaft 4 2 shaft # rotating shaft at hub ; + mbdy forcevec shaft 4 2 shaft # rotating shaft at hub ; +; 30% blade + aero alfa 1 30.0; + aero inflow_angle 1 30.0; + aero induc 4 1 2 30.0; + aero induc 4 1 1 30.0; + aero vrel 1 30.0; + aero cl 1 30.0; + aero cd 1 30.0; +; 50% blade + aero alfa 1 50.0; + aero inflow_angle 1 50.0; + aero induc 4 1 2 50.0; + aero induc 4 1 1 50.0; + aero vrel 1 50.0; + aero cl 1 50.0; + aero cd 1 50.0; +; 70% blade + aero alfa 1 70.0; + aero inflow_angle 1 70.0; + aero induc 4 1 2 70.0; + aero induc 4 1 1 70.0; + aero vrel 1 70.0; + aero cl 1 70.0; + aero cd 1 70.0; +; 95% blade + aero alfa 1 95.0; + aero inflow_angle 1 95.0; + aero induc 4 1 2 95.0; + aero induc 4 1 1 95.0; + aero vrel 1 95.0; + aero cl 1 95.0; + aero cd 1 95.0; + aero thrust; + aero torque; + aero power; +; r=0% + mbdy momentvec blade1 1 1 hub1 # blade 1 section; + mbdy state pos blade1 1 0.0 hub1 # blade 1 tip pos blade coo ; + aero rotation_e 1 1 0 2; + aero rotation_e 1 2 0 2; + aero rotation_e 1 3 0 2; + aero tors_e 1 0; +; r=30% + mbdy momentvec blade1 9 1 hub1 # blade 1 section; + mbdy state pos blade1 9 0.0 blade1 # blade 1 tip pos blade coo ; + aero rotation_e 1 1 30 2; + aero rotation_e 1 2 30 2; + aero rotation_e 1 3 30 2; + aero tors_e 1 30; +; r=50% + mbdy momentvec blade1 14 1 hub1 # blade 1 section; + mbdy state pos blade1 14 0.0 blade1 # blade 1 tip pos blade coo ; + aero rotation_e 1 1 50 2; + aero rotation_e 1 2 50 2; + aero rotation_e 1 3 50 2; + aero tors_e 1 50; +; r=70% + mbdy momentvec blade1 18 1 hub1 # blade 1 section; + mbdy state pos blade1 18 0.0 blade1 # blade 1 tip pos blade coo ; + aero rotation_e 1 1 70 2; + aero rotation_e 1 2 70 2; + aero rotation_e 1 3 70 2; + aero tors_e 1 70; +; r=95% + mbdy momentvec blade1 25 1 hub1 # blade 1 section; + mbdy state pos blade1 25 0.0 blade1 # blade 1 tip pos blade coo ; + aero rotation_e 1 1 95 2; + aero rotation_e 1 2 95 2; + aero rotation_e 1 3 95 2; + aero tors_e 1 95; +end output; +; +begin output; +; filename ../output/res/DLC15_IEC61400-1Ed4/DLC15_wsp06_wdir000_s0106_phi000_halfwake_D10_export ; + filename ../output/res/wind_DLC15_wsp08_wdir000_s0108_phi000_halfwake_D8_v2 ; +; time 300 400 ; + data_format hawc_binary; + buffer 1 ; +; + general time; + wind free_wind 1 -100.0 0.0 -227.0; local wind at fixed position: coo (1=global,2=non-rotation rotor coo.), pos x, pos y, pos z + wind free_wind 1 0.0 0.0 -227.0; local wind at fixed position: coo (1=global,2=non-rotation rotor coo.), pos x, pos y, pos z + wind free_wind 1 100.0 0.0 -227.0; local wind at fixed position: coo (1=global,2=non-rotation rotor coo.), pos x, pos y, pos z + wind free_wind 1 -100.0 0.0 -127.0; local wind at fixed position: coo (1=global,2=non-rotation rotor coo.), pos x, pos y, pos z + wind free_wind 1 0.0 0.0 -127.0; local wind at fixed position: coo (1=global,2=non-rotation rotor coo.), pos x, pos y, pos z + wind free_wind 1 100.0 0.0 -127.0; local wind at fixed position: coo (1=global,2=non-rotation rotor coo.), pos x, pos y, pos z + wind free_wind 1 -100.0 0.0 -27.0; local wind at fixed position: coo (1=global,2=non-rotation rotor coo.), pos x, pos y, pos z + wind free_wind 1 0.0 0.0 -27.0; local wind at fixed position: coo (1=global,2=non-rotation rotor coo.), pos x, pos y, pos z + wind free_wind 1 100.0 0.0 -27.0; local wind at fixed position: coo (1=global,2=non-rotation rotor coo.), pos x, pos y, pos z +end output; +; +exit; \ No newline at end of file