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with 3656 additions and 119 deletions
requirements.txt
View file @ 0a40676a
......@@ -7,5 +7,6 @@ pytest
xlrd
h5py
pandas
tables
future
wetb/fatigue_tools/fatigue.py
View file @ 0a40676a
......@@ -70,7 +70,6 @@ def eq_load(signals, no_bins=46, m=[3, 4, 6, 8, 10, 12], neq=1, rainflow_func=ra
return [[np.nan] * len(np.atleast_1d(m))] * len(np.atleast_1d(neq))
def eq_load_and_cycles(signals, no_bins=46, m=[3, 4, 6, 8, 10, 12], neq=[10 ** 6, 10 ** 7, 10 ** 8], rainflow_func=rainflow_windap):
"""Calculate combined fatigue equivalent load
......@@ -109,7 +108,6 @@ def eq_load_and_cycles(signals, no_bins=46, m=[3, 4, 6, 8, 10, 12], neq=[10 ** 6
return eq_loads, cycles, ampl_bin_mean, ampl_bin_edges
def cycle_matrix(signals, ampl_bins=10, mean_bins=10, rainflow_func=rainflow_windap):
"""Markow load cycle matrix
......@@ -132,7 +130,8 @@ def cycle_matrix(signals, ampl_bins=10, mean_bins=10, rainflow_func=rainflow_win
Returns
-------
cycles : ndarray, shape(ampl_bins, mean_bins)
A bi-dimensional histogram of load cycles(full cycles). Amplitudes are histogrammed along the first dimension and mean values are histogrammed along the second dimension.
A bi-dimensional histogram of load cycles(full cycles). Amplitudes are\
histogrammed along the first dimension and mean values are histogrammed along the second dimension.
ampl_bin_mean : ndarray, shape(ampl_bins,)
The average cycle amplitude of the bins
ampl_edges : ndarray, shape(ampl_bins+1,)
......
wetb/fatigue_tools/rainflowcounting/rfc_hist.py deleted 100644 → 0
View file @ a5a37442
from __future__ import division
from __future__ import unicode_literals
from __future__ import print_function
from __future__ import absolute_import
from future import standard_library
standard_library.install_aliases()
import numpy as np
def rfc_hist(sig_rf, nrbins=46):
"""Histogram of rainflow counted cycles
hist, bin_edges, bin_avg = rfc_hist(sig, nrbins=46)
Divide the rainflow counted cycles of a signal into equally spaced bins.
Created on Wed Feb 16 16:53:18 2011
@author: David Verelst
Modified 10.10.2011 by Mads M Pedersen to elimintate __copy__ and __eq__
Parameters
----------
sig_rf : array-like
As output by rfc_astm or rainflow
nrbins : int, optional
Divide the rainflow counted amplitudes in a number of equally spaced
bins.
Returns
-------
hist : array-like
Counted rainflow cycles per bin, has nrbins elements
bin_edges : array-like
Edges of the bins, has nrbins+1 elements.
bin_avg : array-like
Average rainflow cycle amplitude per bin, has nrbins elements.
"""
rf_half = sig_rf
# the Matlab approach is to divide into 46 bins
bin_edges = np.linspace(0, 1, num=nrbins + 1) * rf_half.max()
hist = np.histogram(rf_half, bins=bin_edges)[0]
# calculate the average per bin
hist_sum = np.histogram(rf_half, weights=rf_half, bins=bin_edges)[0]
# replace zeros with one, to avoid 0/0
hist_ = hist.copy()
hist_[(hist == 0).nonzero()] = 1.0
# since the sum is also 0, the avg remains zero for those whos hist is zero
bin_avg = hist_sum / hist_
return hist, bin_edges, bin_avg
wetb/hawc2/Hawc2io.py
View file @ 0a40676a
......@@ -90,8 +90,8 @@ class ReadHawc2(object):
Name = []; Unit = []; Description = [];
for i in range(0, self.NrCh):
temp = str(Lines[i + 12][12:43]); Name.append(temp.strip())
temp = str(Lines[i + 12][43:48]); Unit.append(temp.strip())
temp = str(Lines[i + 12][49:]); Description.append(temp.strip())
temp = str(Lines[i + 12][43:54]); Unit.append(temp.strip())
temp = str(Lines[i + 12][54:-1]); Description.append(temp.strip())
self.ChInfo = [Name, Unit, Description]
# if binary file format, scaling factors are read
if Format.lower() == 'binary':
......
wetb/prepost/Simulations.py
View file @ 0a40676a
......@@ -795,7 +795,7 @@ def prepare_launch(iter_dict, opt_tags, master, variable_tag_func,
launch(cases, runmethod=runmethod, verbose=verbose, check_log=check_log,
copyback_turb=copyback_turb, qsub=qsub, wine_appendix=wine_appendix,
windows_nr_cpus=windows_nr_cpus, short_job_names=short_job_names,
pbs_fname_appendix=pbs_fname_appendix)
pbs_fname_appendix=pbs_fname_appendix, silent=silent)
return cases
......@@ -1030,10 +1030,10 @@ def launch(cases, runmethod='local', verbose=False, copyback_turb=True,
elif runmethod in ['jess','gorm']:
# create the pbs object
pbs = PBS(cases, server=runmethod, short_job_names=short_job_names,
pbs_fname_appendix=pbs_fname_appendix, qsub=qsub)
pbs_fname_appendix=pbs_fname_appendix, qsub=qsub,
verbose=verbose, silent=silent)
pbs.wine_appendix = wine_appendix
pbs.copyback_turb = copyback_turb
pbs.verbose = verbose
pbs.pbs_out_dir = pbs_out_dir
pbs.create()
elif runmethod == 'local':
......@@ -1851,8 +1851,8 @@ class PBS(object):
such as the turbulence file and folder, htc folder and others
"""
def __init__(self, cases, server='gorm', qsub='time',
pbs_fname_appendix=True, short_job_names=True):
def __init__(self, cases, server='gorm', qsub='time', silent=False,
pbs_fname_appendix=True, short_job_names=True, verbose=False):
"""
Define the settings here. This should be done outside, but how?
In a text file, paramters list or first create the object and than set
......@@ -1882,7 +1882,8 @@ class PBS(object):
"""
self.server = server
self.verbose = True
self.verbose = verbose
self.silent = silent
# if server == 'thyra':
# self.maxcpu = 4
......@@ -2182,7 +2183,8 @@ class PBS(object):
ended = True
# print progress:
replace = ((i/self.maxcpu), (i_tot/self.maxcpu), self.walltime)
print('pbs script %3i/%i walltime=%s' % replace)
if not self.silent:
print('pbs script %3i/%i walltime=%s' % replace)
count2 += 1
i += 1
......@@ -2196,7 +2198,8 @@ class PBS(object):
self.ending(pbs_path)
# progress printing
replace = ( (i/self.maxcpu), (i_tot/self.maxcpu), self.walltime )
print('pbs script %3i/%i walltime=%s, partially loaded' % replace)
if not self.silent:
print('pbs script %3i/%i walltime=%s, partially loaded' % replace)
# print 'pbs progress, script '+format(i/self.maxcpu,'2.0f')\
# + '/' + format(i_tot/self.maxcpu, '2.0f') \
# + ' partially loaded...'
......@@ -2451,7 +2454,8 @@ class PBS(object):
cases_fail = {}
print('checking if all log and result files are present...', end='')
if not self.silent:
print('checking if all log and result files are present...', end='')
# check for each case if we have results and a log file
for cname, case in cases.items():
......@@ -2473,7 +2477,8 @@ class PBS(object):
if size_sel < 5 or size_dat < 5:
cases_fail[cname] = copy.copy(cases[cname])
print('done!')
if not self.silent:
print('done!')
# length will be zero if there are no failures
return cases_fail
......@@ -3828,7 +3833,7 @@ class Cases(object):
save=True, m=[3, 4, 6, 8, 10, 12], neq=None, no_bins=46,
ch_fatigue={}, update=False, add_sensor=None,
chs_resultant=[], i0=0, i1=-1, saveinterval=1000,
csv=True, suffix=None, fatigue_cycles=False, A=None,
csv=True, suffix=None, A=None,
ch_wind=None, save_new_sigs=False, xlsx=False):
"""
Calculate statistics and save them in a pandas dataframe. Save also
......@@ -3851,10 +3856,6 @@ class Cases(object):
needs to be calculated. When set to None, ch_fatigue = ch_sel,
and hence all channels will have a fatigue analysis.
fatigue_cycles : Boolean, default=False
If True, the cycle matrix, or sum( n_i*S_i^m ), is calculated. If
set to False, the 1Hz equivalent load is calculated.
chs_resultant
add_sensor
......@@ -4168,12 +4169,13 @@ class Cases(object):
signal = self.sig[:,chi]
if neq is None:
neq = float(case['[duration]'])
if not fatigue_cycles:
eq = self.res.calc_fatigue(signal, no_bins=no_bins,
neq=neq, m=m)
else:
eq = self.res.cycle_matrix(signal, no_bins=no_bins, m=m)
eq = self.res.calc_fatigue(signal, no_bins=no_bins,
neq=neq, m=m)
# save in the fatigue results
fatigue[ch_id] = {}
fatigue[ch_id]['neq'] = neq
# when calc_fatigue succeeds, we should have as many items
# as in m
if len(eq) == len(m):
......@@ -4188,6 +4190,7 @@ class Cases(object):
for m_ in m:
tag = 'm=%2.01f' % m_
tags_fatigue.append(tag)
tags_fatigue.append('neq')
# -----------------------------------------------------------------
# define the pandas data frame dict on first run
......@@ -4408,10 +4411,10 @@ class Cases(object):
raise(e)
return df_dict2
def fatigue_lifetime(self, dfs, neq, res_dir='res/', fh_lst=None, years=20.,
def fatigue_lifetime(self, dfs, neq_life, res_dir='res/', fh_lst=None,
dlc_folder="dlc%s_iec61400-1ed3/", extra_cols=[],
save=False, update=False, csv=False, new_sim_id=False,
xlsx=False):
xlsx=False, years=20.0):
"""
Cacluate the fatigue over a selection of cases and indicate how many
hours each case contributes to its life time.
......@@ -4427,7 +4430,7 @@ class Cases(object):
should only hold the results of one standard organized DLC (one
turbine, one inflow case).
neq : float
neq_life : float
Reference number of cycles. Usually, neq is either set to 10e6,
10e7 or 10e8.
......@@ -4543,12 +4546,17 @@ class Cases(object):
# values of the identifier columns for each case. We do this
# in case the original dfs holds multiple DLC cases.
dict_Leq[col].append(sel_sort[col].unique()[0])
# R_eq is usually expressed as the 1Hz equivalent load
neq_1hz = sel_sort['neq'].values
for m in ms:
# sel_sort[m] holds the cycle_matrices for each of the DLC
# sel_sort[m] holds the equivalent loads for each of the DLC
# cases: such all the different wind speeds for dlc1.2
R_eq = (sel_sort[m].values*np.array(hours)).sum()
R_eq_mod = np.power(sel_sort[m].values, m) * neq_1hz
tmp = (R_eq_mod*np.array(hours)).sum()
# the effective Leq for each of the material constants
dict_Leq[m].append(math.pow(R_eq/neq, 1.0/float(m[2:])))
dict_Leq[m].append(math.pow(tmp/neq_life, 1.0/float(m[2:])))
# the following is twice as slow:
# [i*j for (i,j) in zip(sel_sort[m].values.tolist(),hours)]
......
wetb/prepost/dlcdefs.py
View file @ 0a40676a
......@@ -46,7 +46,7 @@ def configure_dirs(verbose=False):
raise ValueError('Could not find master file in htc/_master')
MASTERFILE = master
P_MASTERFILE = os.path.join(P_SOURCE, 'htc%s_master%s' % (os.sep, os.sep))
POST_DIR = os.path.join(p_run_root, PROJECT, 'python-prepost-data%s' % os.sep)
POST_DIR = os.path.join(p_run_root, PROJECT, 'prepost-data%s' % os.sep)
if verbose:
print('='*79)
......@@ -240,7 +240,7 @@ def tags_defaults(master):
def excel_stabcon(proot, fext='xlsx', pignore=None, sheet=0,
pinclude=None):
pinclude=None, silent=False):
"""
Read all MS Excel files that hold load case definitions according to
the team STABCON definitions. Save each case in a list according to the
......@@ -272,16 +272,20 @@ def excel_stabcon(proot, fext='xlsx', pignore=None, sheet=0,
first sheet (index=0) is taken.
"""
print('looking for DLC spreadsheet definitions at:')
print(proot)
if not silent:
print('looking for DLC spreadsheet definitions at:')
print(proot)
df_list = misc.read_excel_files(proot, fext=fext, pignore=pignore,
sheet=sheet, pinclude=pinclude)
sheet=sheet, pinclude=pinclude,
silent=silent)
print('found %i Excel file(s), ' % len(df_list), end='')
if not silent:
print('found %i Excel file(s), ' % len(df_list), end='')
k = 0
for df in df_list:
k += len(df)
print('in which a total of %s cases are defined.' % k)
if not silent:
print('in which a total of %s cases are defined.' % k)
opt_tags = []
......
wetb/prepost/dlctemplate.py
View file @ 0a40676a
......@@ -164,7 +164,7 @@ def variable_tag_func(master, case_id_short=False):
### PRE- POST
# =============================================================================
def launch_dlcs_excel(sim_id):
def launch_dlcs_excel(sim_id, silent=False):
"""
Launch load cases defined in Excel files
"""
......@@ -175,9 +175,10 @@ def launch_dlcs_excel(sim_id):
# see if a htc/DLCs dir exists
dlcs_dir = os.path.join(P_SOURCE, 'htc', 'DLCs')
if os.path.exists(dlcs_dir):
opt_tags = dlcdefs.excel_stabcon(dlcs_dir)
opt_tags = dlcdefs.excel_stabcon(dlcs_dir, silent=silent)
else:
opt_tags = dlcdefs.excel_stabcon(os.path.join(P_SOURCE, 'htc'))
opt_tags = dlcdefs.excel_stabcon(os.path.join(P_SOURCE, 'htc'),
silent=silent)
if len(opt_tags) < 1:
raise ValueError('There are is not a single case defined. Make sure '
......@@ -200,7 +201,8 @@ def launch_dlcs_excel(sim_id):
# runmethod = 'local-script'
# runmethod = 'windows-script'
# runmethod = 'jess'
master = master_tags(sim_id, runmethod=runmethod)
master = master_tags(sim_id, runmethod=runmethod, silent=silent,
verbose=False)
master.tags['[sim_id]'] = sim_id
master.output_dirs.append('[Case folder]')
master.output_dirs.append('[Case id.]')
......@@ -219,7 +221,8 @@ def launch_dlcs_excel(sim_id):
write_htc=True, runmethod=runmethod, verbose=False,
copyback_turb=True, msg='', update_cases=False,
ignore_non_unique=False, run_only_new=False,
pbs_fname_appendix=False, short_job_names=False)
pbs_fname_appendix=False, short_job_names=False,
silent=silent)
def launch_param(sim_id):
......@@ -264,10 +267,10 @@ def launch_param(sim_id):
def post_launch(sim_id, statistics=True, rem_failed=True, check_logs=True,
force_dir=False, update=False, saveinterval=2000, csv=False,
fatigue_cycles=False, m=[1, 3, 4, 5, 6, 8, 10, 12, 14],
neq=1e6, no_bins=46, years=20.0, fatigue=True, nn_twb=1,
nn_twt=20, nn_blr=4, A=None, save_new_sigs=False,
envelopeturbine=False, envelopeblade=False, save_iter=False):
m=[1, 3, 4, 5, 6, 8, 10, 12, 14], neq=1e6, no_bins=46,
years=20.0, fatigue=True, nn_twb=1, nn_twt=20, nn_blr=4, A=None,
save_new_sigs=False, envelopeturbine=False, envelopeblade=False,
save_iter=False, AEP=False):
# =========================================================================
# check logfiles, results files, pbs output files
......@@ -339,12 +342,12 @@ def post_launch(sim_id, statistics=True, rem_failed=True, check_logs=True,
df_stats = cc.statistics(calc_mech_power=True, i0=i0, i1=i1,
tags=tags, add_sensor=add, ch_fatigue=None,
update=update, saveinterval=saveinterval,
suffix=suffix, fatigue_cycles=fatigue_cycles,
suffix=suffix, save_new_sigs=save_new_sigs,
csv=csv, m=m, neq=neq, no_bins=no_bins,
chs_resultant=chs_resultant, A=A,
save_new_sigs=save_new_sigs)
chs_resultant=chs_resultant, A=A)
# annual energy production
df_AEP = cc.AEP(df_stats, csv=csv, update=update, save=True)
if AEP:
df_AEP = cc.AEP(df_stats, csv=csv, update=update, save=True)
if envelopeblade:
ch_list = []
......@@ -395,6 +398,9 @@ if __name__ == '__main__':
dest='stats', help='calculate statistics')
parser.add_argument('--fatigue', action='store_true', default=False,
dest='fatigue', help='calculate Leq for a full DLC')
parser.add_argument('--AEP', action='store_true', default=False,
dest='AEP', help='calculate AEP, requires '
'htc/DLCs/dlc_config.xlsx')
parser.add_argument('--csv', action='store_true', default=False,
dest='csv', help='Save data also as csv file')
parser.add_argument('--years', type=float, default=20.0, action='store',
......@@ -429,24 +435,26 @@ if __name__ == '__main__':
# --plots, --report, --...
# -------------------------------------------------------------------------
# # manually configure all the dirs
# p_root_remote = '/mnt/hawc2sim'
# p_root_local = '/home/dave/DTU/Projects/AVATAR/'
# # manually configure paths, HAWC2 model root path is then constructed as
# # p_root_remote/PROJECT/sim_id, and p_root_local/PROJECT/sim_id
# # adopt accordingly when you have configured your directories differently
# p_root_remote = '/mnt/hawc2sim/'
# p_root_local = '/mnt/hawc2sim/'
# # project name, sim_id, master file name
# PROJECT = 'DTU10MW'
# sim_id = 'C0014'
# MASTERFILE = 'dtu10mw_master_C0014.htc'
# PROJECT = 'demo'
# sim_id = 'A0001'
# MASTERFILE = 'dtu10mw_avatar_master_A0001.htc'
# # MODEL SOURCES, exchanche file sources
# P_RUN = os.path.join(p_root_remote, PROJECT, sim_id+'/')
# P_SOURCE = os.path.join(p_root_local, PROJECT)
# P_SOURCE = os.path.join(p_root_local, PROJECT, sim_id)
# # location of the master file
# P_MASTERFILE = os.path.join(p_root_local, PROJECT, 'htc', '_master/')
# P_MASTERFILE = os.path.join(p_root_local, PROJECT, sim_id, 'htc', '_master/')
# # location of the pre and post processing data
# POST_DIR = os.path.join(p_root_remote, PROJECT, 'python-prepost-data/')
# POST_DIR = os.path.join(p_root_remote, PROJECT, sim_id, 'prepost-data/')
# force_dir = P_RUN
# launch_dlcs_excel(sim_id)
# post_launch(sim_id, check_logs=True, update=False, force_dir=force_dir,
# saveinterval=2000, csv=False)
# saveinterval=2000, csv=True, fatigue_cycles=True, fatigue=False)
# -------------------------------------------------------------------------
# create HTC files and PBS launch scripts (*.p)
......@@ -458,7 +466,7 @@ if __name__ == '__main__':
post_launch(sim_id, check_logs=opt.check_logs, update=False,
force_dir=P_RUN, saveinterval=2000, csv=opt.csv,
statistics=opt.stats, years=opt.years, neq=opt.neq,
fatigue=opt.fatigue, fatigue_cycles=True, A=opt.rotarea,
fatigue=opt.fatigue, A=opt.rotarea, AEP=opt.AEP,
no_bins=opt.no_bins, nn_blr=opt.nn_blr, nn_twt=opt.nn_twt,
save_new_sigs=opt.save_new_sigs, save_iter=False,
envelopeturbine=opt.envelopeturbine,
......
wetb/prepost/misc.py
View file @ 0a40676a
......@@ -678,7 +678,7 @@ def to_lower_case(proot):
os.rename(root, new)
def read_excel_files(proot, fext='xlsx', pignore=None, sheet=0,
pinclude=None):
pinclude=None, silent=False):
"""
Read recursively all MS Excel files with extension "fext". Only the
default name for the first sheet (Sheet1) of the Excel file is considered.
......@@ -726,14 +726,17 @@ def read_excel_files(proot, fext='xlsx', pignore=None, sheet=0,
# if it does contain pignore, ingore the dlc
if pignore is not None and f_target.find(pignore) > -1:
continue
print(f_target, end='')
if not silent:
print(f_target, end='')
try:
xl = pd.ExcelFile(f_target)
df = xl.parse(sheet)
df_list[f_target.replace('.'+fext, '')] = df
print(': sucesfully included %i case(s)' % len(df))
if not silent:
print(': sucesfully included %i case(s)' % len(df))
except:
print(' XXXXX ERROR COULD NOT READ')
if not silent:
print(' XXXXX ERROR COULD NOT READ')
return df_list
......
wetb/prepost/tests/data/demo_dlc/ref/control/minimal_demo_file.txt 0 → 100644
View file @ 0a40676a
just one demo line
wetb/prepost/tests/data/demo_dlc/ref/data/minimal_demo_file.txt 0 → 100644
View file @ 0a40676a
just one demo line
wetb/prepost/tests/data/demo_dlc/ref/demo_dlc_remote.zip 0 → 100644
View file @ 0a40676a
File added
wetb/prepost/tests/data/demo_dlc/ref/htc/DLCs/dlc01_demos.xlsx 0 → 100755
View file @ 0a40676a
File added
wetb/prepost/tests/data/demo_dlc/ref/htc/_master/demo_dlc_master_A0001.htc 0 → 100755
View file @ 0a40676a
;this version was at some point based on: Avatar_10MW_RWT version 1, 06-08-14, Anyd
begin simulation;
time_stop [time stop];
solvertype 1 ; (newmark)
on_no_convergence continue ;
; convergence_limits 1E3 1.0 1E-7 ;
logfile ./logfiles/[Case folder]/[Case id.].log ;
begin newmark;
deltat 0.02;
end newmark;
end simulation;
;
;----------------------------------------------------------------------------------------------------------------------------------------------------------------
begin new_htc_structure;
;--------------------------------------------------------------------------------------------------
[staircase] beam_output_file_name ./res_eigen/[Case folder]/[Case id.]/[Case id.]_beam.dat;
[staircase] body_output_file_name ./res_eigen/[Case folder]/[Case id.]/[Case id.]_body.dat;
[staircase] struct_inertia_output_file_name ./res_eigen/[Case folder]/[Case id.]/[Case id.]_struct.dat;
[staircase] body_eigenanalysis_file_name ./res_eigen/[Case folder]/[Case id.]/[Case id.]_body_eigen.dat;
[staircase] structure_eigenanalysis_file_name ./res_eigen/[Case folder]/[Case id.]/[Case id.]_strc_eigen.dat;
;---------------------------------------------------------------------------------------------------
begin main_body; tower 123.6m
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.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
concentrated_mass 2.0 0.0 2.6870E+00 3.0061E-01 4.4604E+05 4.1060E+06 4.1060E+05 4.1060E+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 3.983E-03 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 2.00E-05 2.00E-05 2.00E-04 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
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 [Rotor azimuth];
[Free shaft rot] mbdy2_ini_rotvec_d1 0.0 0.0 -1.0 [init_wr] ; mbdy2_ini_rotvec_d1 0.0 0.0 -1.0 [init_wr];
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;
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;
;
[Free shaft rot] begin bearing1; free bearing
[Free shaft rot] name shaft_rot;
[Free shaft rot] body1 towertop last;
[Free shaft rot] body2 shaft 1;
[Free shaft rot] 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
[Free shaft rot] 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 [Windspeed] ;
tint [TI] ;
horizontal_input 1 ;
windfield_rotations [wdir] 8.0 0.0 ; yaw, tilt (positive=upflow=wind coming from below), rotation
center_pos0 0.0 0.0 -127 ; hub heigth
shear_format 3 [shear_exp] ;
turb_format [tu_model] ; 0=none, 1=mann,2=flex
tower_shadow_method 3 ; 0=none, 1=potential flow, 2=jet
scale_time_start [t0] ;
wind_ramp_factor 0.0 [t0] [wsp factor] 1.0 ;
[gust] iec_gust [gust_type] [G_A] [G_phi0] [G_t0] [G_T] ;
;
[staircase] wind_ramp_abs 400.0 401.0 0.0 1.0 ; wsp. after the step: 5.0
[staircase] wind_ramp_abs 501.0 502.0 0.0 1.0 ; wsp. after the step: 6.0
[staircase] wind_ramp_abs 602.0 603.0 0.0 1.0 ; wsp. after the step: 7.0
[staircase] wind_ramp_abs 703.0 704.0 0.0 1.0 ; wsp. after the step: 8.0
[staircase] wind_ramp_abs 804.0 805.0 0.0 1.0 ; wsp. after the step: 9.0
[staircase] wind_ramp_abs 905.0 906.0 0.0 1.0 ; wsp. after the step: 10.0
[staircase] wind_ramp_abs 1006.0 1007.0 0.0 1.0 ; wsp. after the step: 11.0
[staircase] wind_ramp_abs 1107.0 1108.0 0.0 1.0 ; wsp. after the step: 12.0
[staircase] wind_ramp_abs 1208.0 1209.0 0.0 1.0 ; wsp. after the step: 13.0
[staircase] wind_ramp_abs 1309.0 1310.0 0.0 1.0 ; wsp. after the step: 14.0
[staircase] wind_ramp_abs 1410.0 1411.0 0.0 1.0 ; wsp. after the step: 15.0
[staircase] wind_ramp_abs 1511.0 1512.0 0.0 1.0 ; wsp. after the step: 16.0
[staircase] wind_ramp_abs 1612.0 1613.0 0.0 1.0 ; wsp. after the step: 17.0
[staircase] wind_ramp_abs 1713.0 1714.0 0.0 1.0 ; wsp. after the step: 18.0
[staircase] wind_ramp_abs 1814.0 1815.0 0.0 1.0 ; wsp. after the step: 19.0
[staircase] wind_ramp_abs 1915.0 1916.0 0.0 1.0 ; wsp. after the step: 20.0
[staircase] wind_ramp_abs 2016.0 2017.0 0.0 1.0 ; wsp. after the step: 21.0
[staircase] wind_ramp_abs 2117.0 2118.0 0.0 1.0 ; wsp. after the step: 22.0
[staircase] wind_ramp_abs 2218.0 2219.0 0.0 1.0 ; wsp. after the step: 23.0
[staircase] wind_ramp_abs 2319.0 2320.0 0.0 1.0 ; wsp. after the step: 24.0
[staircase] wind_ramp_abs 2420.0 2421.0 0.0 1.0 ; wsp. after the step: 25.0
;
[windramp] wind_ramp_abs 400.0 2200.0 0.0 21.0 ; wsp. after the step: 25.0
[windramp] wind_ramp_abs 2400.0 4200.0 0.0 -21.0 ; wsp. after the step: 25.0
;
begin mann ;
create_turb_parameters 29.4 1.0 3.9 [tu_seed] 1.0 ; L, alfaeps, gamma, seed, highfrq compensation
filename_u ./[turb_dir][Turb base name]u.bin ;
filename_v ./[turb_dir][Turb base name]v.bin ;
filename_w ./[turb_dir][Turb base name]w.bin ;
box_dim_u 8192 [turb_dx] ;
box_dim_v 32 7.5;
box_dim_w 32 7.5;
std_scaling 1.0 0.7 0.5 ;
end mann ;
;
begin tower_shadow_potential_2;
tower_mbdy_link tower;
nsec 2;
radius 0.0 4.15 ;
radius 123.6 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 123.6 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 [Induction] ; 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 [Dyn stall] ; 0=none, 1=stig øye method,2=mhh method
;
; ; --- Flaps --- ;
; begin dynstall_ateflap ;
; Ais 0.165 0.335 0.0 ;
; Bis 0.0455 0.30 0.30 ;
; flap 59.5925 85.5023 ./data/Flap_dturwt1_Thk24.ds ; Flap Sec: 1
; end dynstall_ateflap;
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 52 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 0.9648030e+07 ; 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 1.047610E+08 ; Proportional gain of torque controller [Nm/(rad/s)]
constant 13 0.153367E+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 15 1 ; Generator control switch [1=constant power, 2=constant torque]
constant 16 0.762489 ; Proportional gain of pitch controller [rad/(rad/s)]
constant 17 0.224086 ; 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 10.6824 ; Coefficient of linear term in aerodynamic gain scheduling, KK1 [deg]
constant 22 601.25499 ; 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 [Cut-in time] ; Cut-in time [s]
constant 25 1.0 ; Time delay for soft start of torque [1/1P]
; Cut-out simulation parameters
constant 26 [Cut-out time] ; Cut-out time [s]
constant 27 5.0 ; Time constant for linear torque cut-out [s]
constant 28 [Stop type] ; Stop type [1=normal, 2=emergency]
constant 29 1.0 ; Time delay for pitch stop after shut-down signal [s]
constant 30 [Pitvel 1] ; 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 [Pitvel 2] ; 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]
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 ; 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 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 [Grid loss time] ; 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 5225.35 ; Fully deployed maximum brake torque [Nm] (0.6*max torque)
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 [Time pitch runaway] ; Time for pitch runaway [s]
constant 9 [Time stuck DLC22b] ; Time for stuck blade 1 [s]
constant 10 [Pitch 1 DLC22b] ; 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;
;
; --- DLL for tower-blade tip distance -- ;
begin type2_dll;
name disttowtip ;
filename ./control/towclearsens.dll ;
dll_subroutine_init initialize ;
dll_subroutine_update update ;
arraysizes_init 1 1 ;
arraysizes_update 12 4 ;
begin init ;
constant 1 3.87 ; Tower radius close to downward blade tip [m]
end init ;
begin output;
mbdy state pos tower 5 0.00 global ; [1,2,3]. Tower position: 24.58 m
mbdy state pos blade1 26 1.0 global ; [4,5,6]
mbdy state pos blade2 26 1.0 global ; [7,8,9]
mbdy state pos blade3 26 1.0 global ; [10,11,12]
end output;
end type2_dll;
end dll;
;
;----------------------------------------------------------------------------------------------------------------------------------------------------------------
;
begin output;
filename ./res/[Case folder]/[Case id.] ;
time [t0] [time stop] ;
data_format [out_format];
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; 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 1 100.08; tip
;
; - Monitor Aerodynamics - ;
aero windspeed 3 1 1 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;
; Check tower clearence
dll inpvec 5 1 # Bltip tow min d [m];
; general constant 1.0 ; constant 1.0 - to mesure activity of flap in terms of displacement
; - Check on flap control:
; ; - From flap controller: -
; dll type2_dll cyclic_flap_controller inpvec 1 # Ref flap signal bl 1 [deg] ;
; dll type2_dll cyclic_flap_controller inpvec 2 # Ref flap signal bl 2 [deg] ;
; dll type2_dll cyclic_flap_controller inpvec 3 # Ref flap signal bl 3 [deg] ;
; ; - Mbc values
; dll type2_dll cyclic_flap_controller inpvec 4 # momvec mbc cos [kNm] ;
; dll type2_dll cyclic_flap_controller inpvec 5 # momvec mbc sin [kNm] ;
; dll type2_dll cyclic_flap_controller inpvec 6 # momvec mbc filt cos [kNm] ;
; dll type2_dll cyclic_flap_controller inpvec 7 # momvec mbc filt sin [kNm] ;
; dll type2_dll cyclic_flap_controller inpvec 8 # flap mbc cos [deg] ;
; dll type2_dll cyclic_flap_controller inpvec 9 # flap mbc sin [deg] ;
; ; - Check Gains - ;
; dll type2_dll cyclic_flap_controller inpvec 10 # lead angle [deg] ;
; dll type2_dll cyclic_flap_controller inpvec 11 # scaling on rat pow [-] ;
; dll type2_dll cyclic_flap_controller inpvec 12 # actual kp [deg/kNm] ;
; dll type2_dll cyclic_flap_controller inpvec 13 # actual ki [deg/kNms] ;
; dll type2_dll cyclic_flap_controller inpvec 14 # actual kd [deg s/kNm] ;
; ; - Actual deflections -
; [dis_setbeta] aero beta 1 1 ;
; [dis_setbeta] aero beta 2 1 ;
; [dis_setbeta] aero beta 3 1 ;
; ; - Mbc values
; dll type2_dll cyclic_flap_controller inpvec 4 # momvec mbc cos [kNm] ;
; dll type2_dll cyclic_flap_controller inpvec 5 # momvec mbc sin [kNm] ;
; dll type2_dll cyclic_flap_controller inpvec 6 # momvec mbc filt cos [kNm] ;
; dll type2_dll cyclic_flap_controller inpvec 7 # momvec mbc filt sin [kNm] ;
; dll type2_dll cyclic_flap_controller inpvec 8 # flap mbc cos [deg] ;
; dll type2_dll cyclic_flap_controller inpvec 9 # flap mbc sin [deg] ;
end output;
;
exit;
wetb/prepost/tests/data/demo_dlc/ref/htc/dlc01_demos/dlc01_steady_wsp10_noturb.htc 0 → 100644
View file @ 0a40676a
;this version was at some point based on: Avatar_10MW_RWT version 1, 06-08-14, Anyd
begin simulation;
time_stop 40;
solvertype 1 ; (newmark)
on_no_convergence continue ;
; convergence_limits 1E3 1.0 1E-7 ;
logfile ./logfiles/dlc01_demos/dlc01_steady_wsp10_noturb.log ;
begin newmark;
deltat 0.02;
end newmark;
end simulation;
;
;----------------------------------------------------------------------------------------------------------------------------------------------------------------
begin new_htc_structure;
;--------------------------------------------------------------------------------------------------
; beam_output_file_name ./res_eigen/dlc01_demos/dlc01_steady_wsp10_noturb/dlc01_steady_wsp10_noturb_beam.dat;
; body_output_file_name ./res_eigen/dlc01_demos/dlc01_steady_wsp10_noturb/dlc01_steady_wsp10_noturb_body.dat;
; struct_inertia_output_file_name ./res_eigen/dlc01_demos/dlc01_steady_wsp10_noturb/dlc01_steady_wsp10_noturb_struct.dat;
; body_eigenanalysis_file_name ./res_eigen/dlc01_demos/dlc01_steady_wsp10_noturb/dlc01_steady_wsp10_noturb_body_eigen.dat;
; structure_eigenanalysis_file_name ./res_eigen/dlc01_demos/dlc01_steady_wsp10_noturb/dlc01_steady_wsp10_noturb_strc_eigen.dat;
;---------------------------------------------------------------------------------------------------
begin main_body; tower 123.6m
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.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
concentrated_mass 2.0 0.0 2.6870E+00 3.0061E-01 4.4604E+05 4.1060E+06 4.1060E+05 4.1060E+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 3.983E-03 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 2.00E-05 2.00E-05 2.00E-04 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
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 0;
mbdy2_ini_rotvec_d1 0.0 0.0 -1.0 0.5 ; mbdy2_ini_rotvec_d1 0.0 0.0 -1.0 0.5;
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;
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 bearing3; 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
; omegas 0.0 ;
; 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 10 ;
tint 0.2096 ;
horizontal_input 1 ;
windfield_rotations 0 8.0 0.0 ; yaw, tilt (positive=upflow=wind coming from below), rotation
center_pos0 0.0 0.0 -127 ; hub heigth
shear_format 3 0 ;
turb_format 0 ; 0=none, 1=mann,2=flex
tower_shadow_method 3 ; 0=none, 1=potential flow, 2=jet
scale_time_start 20 ;
wind_ramp_factor 0.0 20 0.8 1.0 ;
; iec_gust ;
;
; wind_ramp_abs 400.0 401.0 0.0 1.0 ; wsp. after the step: 5.0
; wind_ramp_abs 501.0 502.0 0.0 1.0 ; wsp. after the step: 6.0
; wind_ramp_abs 602.0 603.0 0.0 1.0 ; wsp. after the step: 7.0
; wind_ramp_abs 703.0 704.0 0.0 1.0 ; wsp. after the step: 8.0
; wind_ramp_abs 804.0 805.0 0.0 1.0 ; wsp. after the step: 9.0
; wind_ramp_abs 905.0 906.0 0.0 1.0 ; wsp. after the step: 10.0
; wind_ramp_abs 1006.0 1007.0 0.0 1.0 ; wsp. after the step: 11.0
; wind_ramp_abs 1107.0 1108.0 0.0 1.0 ; wsp. after the step: 12.0
; wind_ramp_abs 1208.0 1209.0 0.0 1.0 ; wsp. after the step: 13.0
; wind_ramp_abs 1309.0 1310.0 0.0 1.0 ; wsp. after the step: 14.0
; wind_ramp_abs 1410.0 1411.0 0.0 1.0 ; wsp. after the step: 15.0
; wind_ramp_abs 1511.0 1512.0 0.0 1.0 ; wsp. after the step: 16.0
; wind_ramp_abs 1612.0 1613.0 0.0 1.0 ; wsp. after the step: 17.0
; wind_ramp_abs 1713.0 1714.0 0.0 1.0 ; wsp. after the step: 18.0
; wind_ramp_abs 1814.0 1815.0 0.0 1.0 ; wsp. after the step: 19.0
; wind_ramp_abs 1915.0 1916.0 0.0 1.0 ; wsp. after the step: 20.0
; wind_ramp_abs 2016.0 2017.0 0.0 1.0 ; wsp. after the step: 21.0
; wind_ramp_abs 2117.0 2118.0 0.0 1.0 ; wsp. after the step: 22.0
; wind_ramp_abs 2218.0 2219.0 0.0 1.0 ; wsp. after the step: 23.0
; wind_ramp_abs 2319.0 2320.0 0.0 1.0 ; wsp. after the step: 24.0
; wind_ramp_abs 2420.0 2421.0 0.0 1.0 ; wsp. after the step: 25.0
;
; wind_ramp_abs 400.0 2200.0 0.0 21.0 ; wsp. after the step: 25.0
; wind_ramp_abs 2400.0 4200.0 0.0 -21.0 ; wsp. after the step: 25.0
;
begin mann ;
create_turb_parameters 29.4 1.0 3.9 0 1.0 ; L, alfaeps, gamma, seed, highfrq compensation
filename_u ./turb/noneu.bin ;
filename_v ./turb/nonev.bin ;
filename_w ./turb/nonew.bin ;
box_dim_u 8192 0.048828125 ;
box_dim_v 32 7.5;
box_dim_w 32 7.5;
std_scaling 1.0 0.7 0.5 ;
end mann ;
;
begin tower_shadow_potential_2;
tower_mbdy_link tower;
nsec 2;
radius 0.0 4.15 ;
radius 123.6 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 123.6 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
;
; ; --- Flaps --- ;
; begin dynstall_ateflap ;
; Ais 0.165 0.335 0.0 ;
; Bis 0.0455 0.30 0.30 ;
; flap 59.5925 85.5023 ./data/Flap_dturwt1_Thk24.ds ; Flap Sec: 1
; end dynstall_ateflap;
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 52 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 0.9648030e+07 ; 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 1.047610E+08 ; Proportional gain of torque controller [Nm/(rad/s)]
constant 13 0.153367E+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 15 1 ; Generator control switch [1=constant power, 2=constant torque]
constant 16 0.762489 ; Proportional gain of pitch controller [rad/(rad/s)]
constant 17 0.224086 ; 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 10.6824 ; Coefficient of linear term in aerodynamic gain scheduling, KK1 [deg]
constant 22 601.25499 ; 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 -1 ; 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 3 ; 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 4 ; 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]
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 ; 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 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 5000 ; 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 5225.35 ; Fully deployed maximum brake torque [Nm] (0.6*max torque)
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 5000 ; Time for pitch runaway [s]
constant 9 -1 ; 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;
;
; --- DLL for tower-blade tip distance -- ;
begin type2_dll;
name disttowtip ;
filename ./control/towclearsens.dll ;
dll_subroutine_init initialize ;
dll_subroutine_update update ;
arraysizes_init 1 1 ;
arraysizes_update 12 4 ;
begin init ;
constant 1 3.87 ; Tower radius close to downward blade tip [m]
end init ;
begin output;
mbdy state pos tower 5 0.00 global ; [1,2,3]. Tower position: 24.58 m
mbdy state pos blade1 26 1.0 global ; [4,5,6]
mbdy state pos blade2 26 1.0 global ; [7,8,9]
mbdy state pos blade3 26 1.0 global ; [10,11,12]
end output;
end type2_dll;
end dll;
;
;----------------------------------------------------------------------------------------------------------------------------------------------------------------
;
begin output;
filename ./res/dlc01_demos/dlc01_steady_wsp10_noturb ;
time 20 40 ;
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; 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 1 100.08; tip
;
; - Monitor Aerodynamics - ;
aero windspeed 3 1 1 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;
; Check tower clearence
dll inpvec 5 1 # Bltip tow min d [m];
; general constant 1.0 ; constant 1.0 - to mesure activity of flap in terms of displacement
; - Check on flap control:
; ; - From flap controller: -
; dll type2_dll cyclic_flap_controller inpvec 1 # Ref flap signal bl 1 [deg] ;
; dll type2_dll cyclic_flap_controller inpvec 2 # Ref flap signal bl 2 [deg] ;
; dll type2_dll cyclic_flap_controller inpvec 3 # Ref flap signal bl 3 [deg] ;
; ; - Mbc values
; dll type2_dll cyclic_flap_controller inpvec 4 # momvec mbc cos [kNm] ;
; dll type2_dll cyclic_flap_controller inpvec 5 # momvec mbc sin [kNm] ;
; dll type2_dll cyclic_flap_controller inpvec 6 # momvec mbc filt cos [kNm] ;
; dll type2_dll cyclic_flap_controller inpvec 7 # momvec mbc filt sin [kNm] ;
; dll type2_dll cyclic_flap_controller inpvec 8 # flap mbc cos [deg] ;
; dll type2_dll cyclic_flap_controller inpvec 9 # flap mbc sin [deg] ;
; ; - Check Gains - ;
; dll type2_dll cyclic_flap_controller inpvec 10 # lead angle [deg] ;
; dll type2_dll cyclic_flap_controller inpvec 11 # scaling on rat pow [-] ;
; dll type2_dll cyclic_flap_controller inpvec 12 # actual kp [deg/kNm] ;
; dll type2_dll cyclic_flap_controller inpvec 13 # actual ki [deg/kNms] ;
; dll type2_dll cyclic_flap_controller inpvec 14 # actual kd [deg s/kNm] ;
; ; - Actual deflections -
; aero beta 1 1 ;
; aero beta 2 1 ;
; aero beta 3 1 ;
; ; - Mbc values
; dll type2_dll cyclic_flap_controller inpvec 4 # momvec mbc cos [kNm] ;
; dll type2_dll cyclic_flap_controller inpvec 5 # momvec mbc sin [kNm] ;
; dll type2_dll cyclic_flap_controller inpvec 6 # momvec mbc filt cos [kNm] ;
; dll type2_dll cyclic_flap_controller inpvec 7 # momvec mbc filt sin [kNm] ;
; dll type2_dll cyclic_flap_controller inpvec 8 # flap mbc cos [deg] ;
; dll type2_dll cyclic_flap_controller inpvec 9 # flap mbc sin [deg] ;
end output;
;
exit;
wetb/prepost/tests/data/demo_dlc/ref/htc/dlc01_demos/dlc01_steady_wsp8_noturb.htc 0 → 100644
View file @ 0a40676a
;this version was at some point based on: Avatar_10MW_RWT version 1, 06-08-14, Anyd
begin simulation;
time_stop 40;
solvertype 1 ; (newmark)
on_no_convergence continue ;
; convergence_limits 1E3 1.0 1E-7 ;
logfile ./logfiles/dlc01_demos/dlc01_steady_wsp8_noturb.log ;
begin newmark;
deltat 0.02;
end newmark;
end simulation;
;
;----------------------------------------------------------------------------------------------------------------------------------------------------------------
begin new_htc_structure;
;--------------------------------------------------------------------------------------------------
; beam_output_file_name ./res_eigen/dlc01_demos/dlc01_steady_wsp8_noturb/dlc01_steady_wsp8_noturb_beam.dat;
; body_output_file_name ./res_eigen/dlc01_demos/dlc01_steady_wsp8_noturb/dlc01_steady_wsp8_noturb_body.dat;
; struct_inertia_output_file_name ./res_eigen/dlc01_demos/dlc01_steady_wsp8_noturb/dlc01_steady_wsp8_noturb_struct.dat;
; body_eigenanalysis_file_name ./res_eigen/dlc01_demos/dlc01_steady_wsp8_noturb/dlc01_steady_wsp8_noturb_body_eigen.dat;
; structure_eigenanalysis_file_name ./res_eigen/dlc01_demos/dlc01_steady_wsp8_noturb/dlc01_steady_wsp8_noturb_strc_eigen.dat;
;---------------------------------------------------------------------------------------------------
begin main_body; tower 123.6m
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.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
concentrated_mass 2.0 0.0 2.6870E+00 3.0061E-01 4.4604E+05 4.1060E+06 4.1060E+05 4.1060E+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 3.983E-03 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 2.00E-05 2.00E-05 2.00E-04 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
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 0;
mbdy2_ini_rotvec_d1 0.0 0.0 -1.0 0.5 ; mbdy2_ini_rotvec_d1 0.0 0.0 -1.0 0.5;
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;
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 bearing3; 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
; omegas 0.0 ;
; 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 0.232 ;
horizontal_input 1 ;
windfield_rotations 0 8.0 0.0 ; yaw, tilt (positive=upflow=wind coming from below), rotation
center_pos0 0.0 0.0 -127 ; hub heigth
shear_format 3 0 ;
turb_format 0 ; 0=none, 1=mann,2=flex
tower_shadow_method 3 ; 0=none, 1=potential flow, 2=jet
scale_time_start 20 ;
wind_ramp_factor 0.0 20 1.0 1.0 ;
; iec_gust ;
;
; wind_ramp_abs 400.0 401.0 0.0 1.0 ; wsp. after the step: 5.0
; wind_ramp_abs 501.0 502.0 0.0 1.0 ; wsp. after the step: 6.0
; wind_ramp_abs 602.0 603.0 0.0 1.0 ; wsp. after the step: 7.0
; wind_ramp_abs 703.0 704.0 0.0 1.0 ; wsp. after the step: 8.0
; wind_ramp_abs 804.0 805.0 0.0 1.0 ; wsp. after the step: 9.0
; wind_ramp_abs 905.0 906.0 0.0 1.0 ; wsp. after the step: 10.0
; wind_ramp_abs 1006.0 1007.0 0.0 1.0 ; wsp. after the step: 11.0
; wind_ramp_abs 1107.0 1108.0 0.0 1.0 ; wsp. after the step: 12.0
; wind_ramp_abs 1208.0 1209.0 0.0 1.0 ; wsp. after the step: 13.0
; wind_ramp_abs 1309.0 1310.0 0.0 1.0 ; wsp. after the step: 14.0
; wind_ramp_abs 1410.0 1411.0 0.0 1.0 ; wsp. after the step: 15.0
; wind_ramp_abs 1511.0 1512.0 0.0 1.0 ; wsp. after the step: 16.0
; wind_ramp_abs 1612.0 1613.0 0.0 1.0 ; wsp. after the step: 17.0
; wind_ramp_abs 1713.0 1714.0 0.0 1.0 ; wsp. after the step: 18.0
; wind_ramp_abs 1814.0 1815.0 0.0 1.0 ; wsp. after the step: 19.0
; wind_ramp_abs 1915.0 1916.0 0.0 1.0 ; wsp. after the step: 20.0
; wind_ramp_abs 2016.0 2017.0 0.0 1.0 ; wsp. after the step: 21.0
; wind_ramp_abs 2117.0 2118.0 0.0 1.0 ; wsp. after the step: 22.0
; wind_ramp_abs 2218.0 2219.0 0.0 1.0 ; wsp. after the step: 23.0
; wind_ramp_abs 2319.0 2320.0 0.0 1.0 ; wsp. after the step: 24.0
; wind_ramp_abs 2420.0 2421.0 0.0 1.0 ; wsp. after the step: 25.0
;
; wind_ramp_abs 400.0 2200.0 0.0 21.0 ; wsp. after the step: 25.0
; wind_ramp_abs 2400.0 4200.0 0.0 -21.0 ; wsp. after the step: 25.0
;
begin mann ;
create_turb_parameters 29.4 1.0 3.9 0 1.0 ; L, alfaeps, gamma, seed, highfrq compensation
filename_u ./turb/noneu.bin ;
filename_v ./turb/nonev.bin ;
filename_w ./turb/nonew.bin ;
box_dim_u 8192 0.0390625 ;
box_dim_v 32 7.5;
box_dim_w 32 7.5;
std_scaling 1.0 0.7 0.5 ;
end mann ;
;
begin tower_shadow_potential_2;
tower_mbdy_link tower;
nsec 2;
radius 0.0 4.15 ;
radius 123.6 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 123.6 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
;
; ; --- Flaps --- ;
; begin dynstall_ateflap ;
; Ais 0.165 0.335 0.0 ;
; Bis 0.0455 0.30 0.30 ;
; flap 59.5925 85.5023 ./data/Flap_dturwt1_Thk24.ds ; Flap Sec: 1
; end dynstall_ateflap;
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 52 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 0.9648030e+07 ; 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 1.047610E+08 ; Proportional gain of torque controller [Nm/(rad/s)]
constant 13 0.153367E+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 15 1 ; Generator control switch [1=constant power, 2=constant torque]
constant 16 0.762489 ; Proportional gain of pitch controller [rad/(rad/s)]
constant 17 0.224086 ; 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 10.6824 ; Coefficient of linear term in aerodynamic gain scheduling, KK1 [deg]
constant 22 601.25499 ; 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 -1 ; 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 3 ; 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 4 ; 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]
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 ; 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 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 5000 ; 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 5225.35 ; Fully deployed maximum brake torque [Nm] (0.6*max torque)
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 5000 ; Time for pitch runaway [s]
constant 9 -1 ; 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;
;
; --- DLL for tower-blade tip distance -- ;
begin type2_dll;
name disttowtip ;
filename ./control/towclearsens.dll ;
dll_subroutine_init initialize ;
dll_subroutine_update update ;
arraysizes_init 1 1 ;
arraysizes_update 12 4 ;
begin init ;
constant 1 3.87 ; Tower radius close to downward blade tip [m]
end init ;
begin output;
mbdy state pos tower 5 0.00 global ; [1,2,3]. Tower position: 24.58 m
mbdy state pos blade1 26 1.0 global ; [4,5,6]
mbdy state pos blade2 26 1.0 global ; [7,8,9]
mbdy state pos blade3 26 1.0 global ; [10,11,12]
end output;
end type2_dll;
end dll;
;
;----------------------------------------------------------------------------------------------------------------------------------------------------------------
;
begin output;
filename ./res/dlc01_demos/dlc01_steady_wsp8_noturb ;
time 20 40 ;
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; 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 1 100.08; tip
;
; - Monitor Aerodynamics - ;
aero windspeed 3 1 1 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;
; Check tower clearence
dll inpvec 5 1 # Bltip tow min d [m];
; general constant 1.0 ; constant 1.0 - to mesure activity of flap in terms of displacement
; - Check on flap control:
; ; - From flap controller: -
; dll type2_dll cyclic_flap_controller inpvec 1 # Ref flap signal bl 1 [deg] ;
; dll type2_dll cyclic_flap_controller inpvec 2 # Ref flap signal bl 2 [deg] ;
; dll type2_dll cyclic_flap_controller inpvec 3 # Ref flap signal bl 3 [deg] ;
; ; - Mbc values
; dll type2_dll cyclic_flap_controller inpvec 4 # momvec mbc cos [kNm] ;
; dll type2_dll cyclic_flap_controller inpvec 5 # momvec mbc sin [kNm] ;
; dll type2_dll cyclic_flap_controller inpvec 6 # momvec mbc filt cos [kNm] ;
; dll type2_dll cyclic_flap_controller inpvec 7 # momvec mbc filt sin [kNm] ;
; dll type2_dll cyclic_flap_controller inpvec 8 # flap mbc cos [deg] ;
; dll type2_dll cyclic_flap_controller inpvec 9 # flap mbc sin [deg] ;
; ; - Check Gains - ;
; dll type2_dll cyclic_flap_controller inpvec 10 # lead angle [deg] ;
; dll type2_dll cyclic_flap_controller inpvec 11 # scaling on rat pow [-] ;
; dll type2_dll cyclic_flap_controller inpvec 12 # actual kp [deg/kNm] ;
; dll type2_dll cyclic_flap_controller inpvec 13 # actual ki [deg/kNms] ;
; dll type2_dll cyclic_flap_controller inpvec 14 # actual kd [deg s/kNm] ;
; ; - Actual deflections -
; aero beta 1 1 ;
; aero beta 2 1 ;
; aero beta 3 1 ;
; ; - Mbc values
; dll type2_dll cyclic_flap_controller inpvec 4 # momvec mbc cos [kNm] ;
; dll type2_dll cyclic_flap_controller inpvec 5 # momvec mbc sin [kNm] ;
; dll type2_dll cyclic_flap_controller inpvec 6 # momvec mbc filt cos [kNm] ;
; dll type2_dll cyclic_flap_controller inpvec 7 # momvec mbc filt sin [kNm] ;
; dll type2_dll cyclic_flap_controller inpvec 8 # flap mbc cos [deg] ;
; dll type2_dll cyclic_flap_controller inpvec 9 # flap mbc sin [deg] ;
end output;
;
exit;
wetb/prepost/tests/data/demo_dlc/ref/htc/dlc01_demos/dlc01_steady_wsp9_noturb.htc 0 → 100644
View file @ 0a40676a
;this version was at some point based on: Avatar_10MW_RWT version 1, 06-08-14, Anyd
begin simulation;
time_stop 40;
solvertype 1 ; (newmark)
on_no_convergence continue ;
; convergence_limits 1E3 1.0 1E-7 ;
logfile ./logfiles/dlc01_demos/dlc01_steady_wsp9_noturb.log ;
begin newmark;
deltat 0.02;
end newmark;
end simulation;
;
;----------------------------------------------------------------------------------------------------------------------------------------------------------------
begin new_htc_structure;
;--------------------------------------------------------------------------------------------------
; beam_output_file_name ./res_eigen/dlc01_demos/dlc01_steady_wsp9_noturb/dlc01_steady_wsp9_noturb_beam.dat;
; body_output_file_name ./res_eigen/dlc01_demos/dlc01_steady_wsp9_noturb/dlc01_steady_wsp9_noturb_body.dat;
; struct_inertia_output_file_name ./res_eigen/dlc01_demos/dlc01_steady_wsp9_noturb/dlc01_steady_wsp9_noturb_struct.dat;
; body_eigenanalysis_file_name ./res_eigen/dlc01_demos/dlc01_steady_wsp9_noturb/dlc01_steady_wsp9_noturb_body_eigen.dat;
; structure_eigenanalysis_file_name ./res_eigen/dlc01_demos/dlc01_steady_wsp9_noturb/dlc01_steady_wsp9_noturb_strc_eigen.dat;
;---------------------------------------------------------------------------------------------------
begin main_body; tower 123.6m
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.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
concentrated_mass 2.0 0.0 2.6870E+00 3.0061E-01 4.4604E+05 4.1060E+06 4.1060E+05 4.1060E+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 3.983E-03 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 2.00E-05 2.00E-05 2.00E-04 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
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 0;
mbdy2_ini_rotvec_d1 0.0 0.0 -1.0 0.5 ; mbdy2_ini_rotvec_d1 0.0 0.0 -1.0 0.5;
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;
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 bearing3; 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
; omegas 0.0 ;
; 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 9 ;
tint 0.219555555556 ;
horizontal_input 1 ;
windfield_rotations 0 8.0 0.0 ; yaw, tilt (positive=upflow=wind coming from below), rotation
center_pos0 0.0 0.0 -127 ; hub heigth
shear_format 3 0 ;
turb_format 0 ; 0=none, 1=mann,2=flex
tower_shadow_method 3 ; 0=none, 1=potential flow, 2=jet
scale_time_start 20 ;
wind_ramp_factor 0.0 20 0.888888888889 1.0 ;
; iec_gust ;
;
; wind_ramp_abs 400.0 401.0 0.0 1.0 ; wsp. after the step: 5.0
; wind_ramp_abs 501.0 502.0 0.0 1.0 ; wsp. after the step: 6.0
; wind_ramp_abs 602.0 603.0 0.0 1.0 ; wsp. after the step: 7.0
; wind_ramp_abs 703.0 704.0 0.0 1.0 ; wsp. after the step: 8.0
; wind_ramp_abs 804.0 805.0 0.0 1.0 ; wsp. after the step: 9.0
; wind_ramp_abs 905.0 906.0 0.0 1.0 ; wsp. after the step: 10.0
; wind_ramp_abs 1006.0 1007.0 0.0 1.0 ; wsp. after the step: 11.0
; wind_ramp_abs 1107.0 1108.0 0.0 1.0 ; wsp. after the step: 12.0
; wind_ramp_abs 1208.0 1209.0 0.0 1.0 ; wsp. after the step: 13.0
; wind_ramp_abs 1309.0 1310.0 0.0 1.0 ; wsp. after the step: 14.0
; wind_ramp_abs 1410.0 1411.0 0.0 1.0 ; wsp. after the step: 15.0
; wind_ramp_abs 1511.0 1512.0 0.0 1.0 ; wsp. after the step: 16.0
; wind_ramp_abs 1612.0 1613.0 0.0 1.0 ; wsp. after the step: 17.0
; wind_ramp_abs 1713.0 1714.0 0.0 1.0 ; wsp. after the step: 18.0
; wind_ramp_abs 1814.0 1815.0 0.0 1.0 ; wsp. after the step: 19.0
; wind_ramp_abs 1915.0 1916.0 0.0 1.0 ; wsp. after the step: 20.0
; wind_ramp_abs 2016.0 2017.0 0.0 1.0 ; wsp. after the step: 21.0
; wind_ramp_abs 2117.0 2118.0 0.0 1.0 ; wsp. after the step: 22.0
; wind_ramp_abs 2218.0 2219.0 0.0 1.0 ; wsp. after the step: 23.0
; wind_ramp_abs 2319.0 2320.0 0.0 1.0 ; wsp. after the step: 24.0
; wind_ramp_abs 2420.0 2421.0 0.0 1.0 ; wsp. after the step: 25.0
;
; wind_ramp_abs 400.0 2200.0 0.0 21.0 ; wsp. after the step: 25.0
; wind_ramp_abs 2400.0 4200.0 0.0 -21.0 ; wsp. after the step: 25.0
;
begin mann ;
create_turb_parameters 29.4 1.0 3.9 0 1.0 ; L, alfaeps, gamma, seed, highfrq compensation
filename_u ./turb/noneu.bin ;
filename_v ./turb/nonev.bin ;
filename_w ./turb/nonew.bin ;
box_dim_u 8192 0.0439453125 ;
box_dim_v 32 7.5;
box_dim_w 32 7.5;
std_scaling 1.0 0.7 0.5 ;
end mann ;
;
begin tower_shadow_potential_2;
tower_mbdy_link tower;
nsec 2;
radius 0.0 4.15 ;
radius 123.6 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 123.6 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
;
; ; --- Flaps --- ;
; begin dynstall_ateflap ;
; Ais 0.165 0.335 0.0 ;
; Bis 0.0455 0.30 0.30 ;
; flap 59.5925 85.5023 ./data/Flap_dturwt1_Thk24.ds ; Flap Sec: 1
; end dynstall_ateflap;
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 52 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 0.9648030e+07 ; 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 1.047610E+08 ; Proportional gain of torque controller [Nm/(rad/s)]
constant 13 0.153367E+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 15 1 ; Generator control switch [1=constant power, 2=constant torque]
constant 16 0.762489 ; Proportional gain of pitch controller [rad/(rad/s)]
constant 17 0.224086 ; 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 10.6824 ; Coefficient of linear term in aerodynamic gain scheduling, KK1 [deg]
constant 22 601.25499 ; 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 -1 ; 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 3 ; 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 4 ; 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]
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 ; 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 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 5000 ; 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 5225.35 ; Fully deployed maximum brake torque [Nm] (0.6*max torque)
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 5000 ; Time for pitch runaway [s]
constant 9 -1 ; 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;
;
; --- DLL for tower-blade tip distance -- ;
begin type2_dll;
name disttowtip ;
filename ./control/towclearsens.dll ;
dll_subroutine_init initialize ;
dll_subroutine_update update ;
arraysizes_init 1 1 ;
arraysizes_update 12 4 ;
begin init ;
constant 1 3.87 ; Tower radius close to downward blade tip [m]
end init ;
begin output;
mbdy state pos tower 5 0.00 global ; [1,2,3]. Tower position: 24.58 m
mbdy state pos blade1 26 1.0 global ; [4,5,6]
mbdy state pos blade2 26 1.0 global ; [7,8,9]
mbdy state pos blade3 26 1.0 global ; [10,11,12]
end output;
end type2_dll;
end dll;
;
;----------------------------------------------------------------------------------------------------------------------------------------------------------------
;
begin output;
filename ./res/dlc01_demos/dlc01_steady_wsp9_noturb ;
time 20 40 ;
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; 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 1 100.08; tip
;
; - Monitor Aerodynamics - ;
aero windspeed 3 1 1 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;
; Check tower clearence
dll inpvec 5 1 # Bltip tow min d [m];
; general constant 1.0 ; constant 1.0 - to mesure activity of flap in terms of displacement
; - Check on flap control:
; ; - From flap controller: -
; dll type2_dll cyclic_flap_controller inpvec 1 # Ref flap signal bl 1 [deg] ;
; dll type2_dll cyclic_flap_controller inpvec 2 # Ref flap signal bl 2 [deg] ;
; dll type2_dll cyclic_flap_controller inpvec 3 # Ref flap signal bl 3 [deg] ;
; ; - Mbc values
; dll type2_dll cyclic_flap_controller inpvec 4 # momvec mbc cos [kNm] ;
; dll type2_dll cyclic_flap_controller inpvec 5 # momvec mbc sin [kNm] ;
; dll type2_dll cyclic_flap_controller inpvec 6 # momvec mbc filt cos [kNm] ;
; dll type2_dll cyclic_flap_controller inpvec 7 # momvec mbc filt sin [kNm] ;
; dll type2_dll cyclic_flap_controller inpvec 8 # flap mbc cos [deg] ;
; dll type2_dll cyclic_flap_controller inpvec 9 # flap mbc sin [deg] ;
; ; - Check Gains - ;
; dll type2_dll cyclic_flap_controller inpvec 10 # lead angle [deg] ;
; dll type2_dll cyclic_flap_controller inpvec 11 # scaling on rat pow [-] ;
; dll type2_dll cyclic_flap_controller inpvec 12 # actual kp [deg/kNm] ;
; dll type2_dll cyclic_flap_controller inpvec 13 # actual ki [deg/kNms] ;
; dll type2_dll cyclic_flap_controller inpvec 14 # actual kd [deg s/kNm] ;
; ; - Actual deflections -
; aero beta 1 1 ;
; aero beta 2 1 ;
; aero beta 3 1 ;
; ; - Mbc values
; dll type2_dll cyclic_flap_controller inpvec 4 # momvec mbc cos [kNm] ;
; dll type2_dll cyclic_flap_controller inpvec 5 # momvec mbc sin [kNm] ;
; dll type2_dll cyclic_flap_controller inpvec 6 # momvec mbc filt cos [kNm] ;
; dll type2_dll cyclic_flap_controller inpvec 7 # momvec mbc filt sin [kNm] ;
; dll type2_dll cyclic_flap_controller inpvec 8 # flap mbc cos [deg] ;
; dll type2_dll cyclic_flap_controller inpvec 9 # flap mbc sin [deg] ;
end output;
;
exit;
wetb/prepost/tests/data/demo_dlc/ref/pbs_in/dlc01_demos/dlc01_steady_wsp10_noturb.p 0 → 100644
View file @ 0a40676a
### Standard Output
#PBS -N dlc01_steady_wsp10_noturb
#PBS -o ./pbs_out/dlc01_demos/dlc01_steady_wsp10_noturb.out
### Standard Error
#PBS -e ./pbs_out/dlc01_demos/dlc01_steady_wsp10_noturb.err
#PBS -W umask=003
### Maximum wallclock time format HOURS:MINUTES:SECONDS
#PBS -l walltime=04:00:00
#PBS -l nodes=1:ppn=1
### Queue name
#PBS -q workq
### Create scratch directory and copy data to it
cd $PBS_O_WORKDIR
echo "current working dir (pwd):"
pwd
cp -R ./demo_dlc_remote.zip /scratch/$USER/$PBS_JOBID
echo ""
echo "Execute commands on scratch nodes"
cd /scratch/$USER/$PBS_JOBID
pwd
/usr/bin/unzip demo_dlc_remote.zip
mkdir -p htc/dlc01_demos/
mkdir -p res/dlc01_demos/
mkdir -p logfiles/dlc01_demos/
mkdir -p turb/
cp -R $PBS_O_WORKDIR/htc/dlc01_demos/dlc01_steady_wsp10_noturb.htc ./htc/dlc01_demos/
cp -R $PBS_O_WORKDIR/../turb/none*.bin turb/
time WINEARCH=win32 WINEPREFIX=~/.wine32 wine hawc2-latest ./htc/dlc01_demos/dlc01_steady_wsp10_noturb.htc &
### wait for jobs to finish
wait
echo ""
echo "Copy back from scratch directory"
cd /scratch/$USER/$PBS_JOBID
mkdir -p $PBS_O_WORKDIR/res/dlc01_demos/
mkdir -p $PBS_O_WORKDIR/logfiles/dlc01_demos/
mkdir -p $PBS_O_WORKDIR/animation/
mkdir -p $PBS_O_WORKDIR/../turb/
cp -R res/dlc01_demos/. $PBS_O_WORKDIR/res/dlc01_demos/.
cp -R logfiles/dlc01_demos/. $PBS_O_WORKDIR/logfiles/dlc01_demos/.
cp -R animation/. $PBS_O_WORKDIR/animation/.
echo ""
echo "COPY BACK TURB IF APPLICABLE"
cd turb/
for i in `ls *.bin`; do if [ -e $PBS_O_WORKDIR/../turb/$i ]; then echo "$i exists no copyback"; else echo "$i copyback"; cp $i $PBS_O_WORKDIR/../turb/; fi; done
cd /scratch/$USER/$PBS_JOBID
echo "END COPY BACK TURB"
echo ""
echo ""
echo "following files are on the node (find .):"
find .
exit
wetb/prepost/tests/data/demo_dlc/ref/pbs_in/dlc01_demos/dlc01_steady_wsp8_noturb.p 0 → 100644
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### Standard Output
#PBS -N dlc01_steady_wsp8_noturb
#PBS -o ./pbs_out/dlc01_demos/dlc01_steady_wsp8_noturb.out
### Standard Error
#PBS -e ./pbs_out/dlc01_demos/dlc01_steady_wsp8_noturb.err
#PBS -W umask=003
### Maximum wallclock time format HOURS:MINUTES:SECONDS
#PBS -l walltime=04:00:00
#PBS -l nodes=1:ppn=1
### Queue name
#PBS -q workq
### Create scratch directory and copy data to it
cd $PBS_O_WORKDIR
echo "current working dir (pwd):"
pwd
cp -R ./demo_dlc_remote.zip /scratch/$USER/$PBS_JOBID
echo ""
echo "Execute commands on scratch nodes"
cd /scratch/$USER/$PBS_JOBID
pwd
/usr/bin/unzip demo_dlc_remote.zip
mkdir -p htc/dlc01_demos/
mkdir -p res/dlc01_demos/
mkdir -p logfiles/dlc01_demos/
mkdir -p turb/
cp -R $PBS_O_WORKDIR/htc/dlc01_demos/dlc01_steady_wsp8_noturb.htc ./htc/dlc01_demos/
cp -R $PBS_O_WORKDIR/../turb/none*.bin turb/
time WINEARCH=win32 WINEPREFIX=~/.wine32 wine hawc2-latest ./htc/dlc01_demos/dlc01_steady_wsp8_noturb.htc &
### wait for jobs to finish
wait
echo ""
echo "Copy back from scratch directory"
cd /scratch/$USER/$PBS_JOBID
mkdir -p $PBS_O_WORKDIR/res/dlc01_demos/
mkdir -p $PBS_O_WORKDIR/logfiles/dlc01_demos/
mkdir -p $PBS_O_WORKDIR/animation/
mkdir -p $PBS_O_WORKDIR/../turb/
cp -R res/dlc01_demos/. $PBS_O_WORKDIR/res/dlc01_demos/.
cp -R logfiles/dlc01_demos/. $PBS_O_WORKDIR/logfiles/dlc01_demos/.
cp -R animation/. $PBS_O_WORKDIR/animation/.
echo ""
echo "COPY BACK TURB IF APPLICABLE"
cd turb/
for i in `ls *.bin`; do if [ -e $PBS_O_WORKDIR/../turb/$i ]; then echo "$i exists no copyback"; else echo "$i copyback"; cp $i $PBS_O_WORKDIR/../turb/; fi; done
cd /scratch/$USER/$PBS_JOBID
echo "END COPY BACK TURB"
echo ""
echo ""
echo "following files are on the node (find .):"
find .
exit
wetb/prepost/tests/data/demo_dlc/ref/pbs_in/dlc01_demos/dlc01_steady_wsp9_noturb.p 0 → 100644
View file @ 0a40676a
### Standard Output
#PBS -N dlc01_steady_wsp9_noturb
#PBS -o ./pbs_out/dlc01_demos/dlc01_steady_wsp9_noturb.out
### Standard Error
#PBS -e ./pbs_out/dlc01_demos/dlc01_steady_wsp9_noturb.err
#PBS -W umask=003
### Maximum wallclock time format HOURS:MINUTES:SECONDS
#PBS -l walltime=04:00:00
#PBS -l nodes=1:ppn=1
### Queue name
#PBS -q workq
### Create scratch directory and copy data to it
cd $PBS_O_WORKDIR
echo "current working dir (pwd):"
pwd
cp -R ./demo_dlc_remote.zip /scratch/$USER/$PBS_JOBID
echo ""
echo "Execute commands on scratch nodes"
cd /scratch/$USER/$PBS_JOBID
pwd
/usr/bin/unzip demo_dlc_remote.zip
mkdir -p htc/dlc01_demos/
mkdir -p res/dlc01_demos/
mkdir -p logfiles/dlc01_demos/
mkdir -p turb/
cp -R $PBS_O_WORKDIR/htc/dlc01_demos/dlc01_steady_wsp9_noturb.htc ./htc/dlc01_demos/
cp -R $PBS_O_WORKDIR/../turb/none*.bin turb/
time WINEARCH=win32 WINEPREFIX=~/.wine32 wine hawc2-latest ./htc/dlc01_demos/dlc01_steady_wsp9_noturb.htc &
### wait for jobs to finish
wait
echo ""
echo "Copy back from scratch directory"
cd /scratch/$USER/$PBS_JOBID
mkdir -p $PBS_O_WORKDIR/res/dlc01_demos/
mkdir -p $PBS_O_WORKDIR/logfiles/dlc01_demos/
mkdir -p $PBS_O_WORKDIR/animation/
mkdir -p $PBS_O_WORKDIR/../turb/
cp -R res/dlc01_demos/. $PBS_O_WORKDIR/res/dlc01_demos/.
cp -R logfiles/dlc01_demos/. $PBS_O_WORKDIR/logfiles/dlc01_demos/.
cp -R animation/. $PBS_O_WORKDIR/animation/.
echo ""
echo "COPY BACK TURB IF APPLICABLE"
cd turb/
for i in `ls *.bin`; do if [ -e $PBS_O_WORKDIR/../turb/$i ]; then echo "$i exists no copyback"; else echo "$i copyback"; cp $i $PBS_O_WORKDIR/../turb/; fi; done
cd /scratch/$USER/$PBS_JOBID
echo "END COPY BACK TURB"
echo ""
echo ""
echo "following files are on the node (find .):"
find .
exit
wetb/prepost/tests/data/demo_dlc/ref/prepost/remote.pkl 0 → 100644
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