From a4a1f8c34ee4221f7e40d99d72dfecdbc62d27b1 Mon Sep 17 00:00:00 2001
From: Carlo Tibaldi <tlbl@dtu.dk>
Date: Thu, 4 Aug 2016 11:36:44 +0200
Subject: [PATCH 1/5] adding folder for controller specific functions and pitch
controller tuning
---
wetb/control/__init__.py | 0
wetb/control/control.py | 87 ++++++++++++++++++++++++++++++
wetb/control/tests/test_control.py | 71 ++++++++++++++++++++++++
3 files changed, 158 insertions(+)
create mode 100644 wetb/control/__init__.py
create mode 100644 wetb/control/control.py
create mode 100644 wetb/control/tests/test_control.py
diff --git a/wetb/control/__init__.py b/wetb/control/__init__.py
new file mode 100644
index 00000000..e69de29b
diff --git a/wetb/control/control.py b/wetb/control/control.py
new file mode 100644
index 00000000..5c5c20cc
--- /dev/null
+++ b/wetb/control/control.py
@@ -0,0 +1,87 @@
+# -*- coding: utf-8 -*-
+"""
+Created on Thu Aug 04 09:24:51 2016
+
+@author: tlbl
+"""
+
+from __future__ import division
+from __future__ import print_function
+from __future__ import unicode_literals
+from __future__ import absolute_import
+
+import numpy as np
+
+
+class Control(object):
+
+ def pitch_controller_tuning(self, pitch, I, dQdt, P, Omr, om, csi):
+ """
+
+ Function to compute the gains of the pitch controller of the Basic DTU
+ Wind Energy Controller.
+
+ Parameters
+ ----------
+ pitch: array
+ Pitch angle [deg]
+ I: array
+ Drivetrain inertia [kg*m**2]
+
+ dQdt: array
+ Partial derivative of the aerodynamic torque with respect to the
+ pitch angle [kNm/deg]
+ P: float
+ Rated power [kW]. Set to zero in case of constant torque regulation
+
+ Omr: float
+ Rated rotational speed [rpm]
+
+ om: float
+ Freqeuncy of regulator mode [Hz]
+
+ csi: float
+ Damping ratio of regulator mode
+
+ Returns
+ -------
+
+ kp: float
+ Proportional gain [rad/(rad/s)]
+ ki: float
+ Intagral gain [rad/rad]
+ K1: float
+ Linear term of the gain scheduling [deg]
+ K2: float
+ Quadratic term of the gain shceduling [deg**2]
+
+
+ """
+ pitch *= np.pi/180.
+ I *= 1e-3
+ dQdt *= 180./np.pi
+ Omr *= np.pi/30.
+ om *= 2.*np.pi
+
+ # Quadratic fitting of dQdt
+ A = np.ones([dQdt.shape[0], 3])
+ A[:, 0] = pitch**2
+ A[:, 1] = pitch
+ b = dQdt
+ ATA = np.dot(A.T, A)
+ iATA = np.linalg.inv(ATA)
+ iATAA = np.dot(iATA, A.T)
+ x = np.dot(iATAA, b)
+
+ kp = -(2*csi*om*I[0] - P/(Omr**2))/x[2]
+ ki = -(om**2*I[0])/x[2]
+
+ K1 = x[2]/x[0] * (180./np.pi)
+ K2 = x[2]/x[1] * (180./np.pi)**2
+
+ return kp, ki, K1, K2
+
+
+if __name__ == '__main__':
+
+ pass
diff --git a/wetb/control/tests/test_control.py b/wetb/control/tests/test_control.py
new file mode 100644
index 00000000..2d4b68d8
--- /dev/null
+++ b/wetb/control/tests/test_control.py
@@ -0,0 +1,71 @@
+# -*- coding: utf-8 -*-
+"""
+Created on Thu Aug 04 11:09:43 2016
+
+@author: tlbl
+"""
+
+from __future__ import unicode_literals
+from __future__ import print_function
+from __future__ import division
+from __future__ import absolute_import
+from future import standard_library
+standard_library.install_aliases()
+import unittest
+
+from wetb.control import control
+import numpy as np
+
+
+class TestControl(unittest.TestCase):
+
+ def setUp(self):
+ dQdt = np.array([-0.126876918E+03, -0.160463547E+03, -0.211699586E+03,
+ -0.277209984E+03, -0.351476131E+03, -0.409411354E+03,
+ -0.427060299E+03, -0.608498644E+03, -0.719141594E+03,
+ -0.814129630E+03, -0.899248007E+03, -0.981457622E+03,
+ -0.106667910E+04, -0.114961807E+04, -0.123323210E+04,
+ -0.131169210E+04, -0.138758236E+04, -0.145930419E+04,
+ -0.153029102E+04, -0.159737975E+04, -0.166846850E+04])
+
+ pitch = np.array([0.2510780000E+00, 0.5350000000E-03, 0.535000000E-03,
+ 0.5350000000E-03, 0.5350000000E-03, 0.535000000E-03,
+ 0.5350000000E-03, 0.3751976000E+01, 0.625255700E+01,
+ 0.8195032000E+01, 0.9857780000E+01, 0.113476710E+02,
+ 0.1271615400E+02, 0.1399768300E+02, 0.152324310E+02,
+ 0.1642177100E+02, 0.1755302300E+02, 0.186442750E+02,
+ 0.1970333100E+02, 0.2073358600E+02, 0.217410280E+02])
+
+ I = np.array([0.4394996114E+08, 0.4395272885E+08, 0.4395488725E+08,
+ 0.4395301987E+08, 0.4394561932E+08, 0.4393327166E+08,
+ 0.4391779133E+08, 0.4394706335E+08, 0.4395826989E+08,
+ 0.4396263773E+08, 0.4396412693E+08, 0.4396397777E+08,
+ 0.4396275304E+08, 0.4396076315E+08, 0.4395824699E+08,
+ 0.4395531228E+08, 0.4395201145E+08, 0.4394837798E+08,
+ 0.4394456127E+08, 0.4394060604E+08, 0.4393647769E+08])
+
+ self.dQdt = dQdt
+ self.pitch = pitch
+ self.I = I
+
+ def test_pitch_controller_tuning(self):
+
+ crt = control.Control()
+ P = 0.
+ Omr = 12.1
+ om = 0.10
+ csi = 0.7
+ i = 5
+ kp, ki, K1, K2 = crt.pitch_controller_tuning(self.pitch[i:],
+ self.I[i:],
+ self.dQdt[i:],
+ P, Omr, om, csi)
+
+ self.assertEqual(kp, 1.5960902436444313)
+ self.assertEqual(ki, 0.71632362627138402)
+ self.assertEqual(K1, 10.463887621856747)
+ self.assertEqual(K2, 573.59471652017498)
+
+if __name__ == "__main__":
+
+ unittest.main()
--
GitLab
From 7762eede5f1878fa3af01296ad93d0b797c9b146 Mon Sep 17 00:00:00 2001
From: Carlo Tibaldi <tlbl@dtu.dk>
Date: Thu, 4 Aug 2016 11:38:26 +0200
Subject: [PATCH 2/5] some comments
---
wetb/control/control.py | 9 +++------
1 file changed, 3 insertions(+), 6 deletions(-)
diff --git a/wetb/control/control.py b/wetb/control/control.py
index 5c5c20cc..921fbce2 100644
--- a/wetb/control/control.py
+++ b/wetb/control/control.py
@@ -19,7 +19,8 @@ class Control(object):
"""
Function to compute the gains of the pitch controller of the Basic DTU
- Wind Energy Controller.
+ Wind Energy Controller with the pole placement technique implemented
+ in HAWCStab2.
Parameters
----------
@@ -27,19 +28,15 @@ class Control(object):
Pitch angle [deg]
I: array
Drivetrain inertia [kg*m**2]
-
dQdt: array
Partial derivative of the aerodynamic torque with respect to the
- pitch angle [kNm/deg]
+ pitch angle [kNm/deg]. Can be computed with HAWCStab2.
P: float
Rated power [kW]. Set to zero in case of constant torque regulation
-
Omr: float
Rated rotational speed [rpm]
-
om: float
Freqeuncy of regulator mode [Hz]
-
csi: float
Damping ratio of regulator mode
--
GitLab
From b859b42788bff6b17305ba9e8fdebedbfb697c89 Mon Sep 17 00:00:00 2001
From: Carlo Tibaldi <tlbl@dtu.dk>
Date: Thu, 4 Aug 2016 14:23:21 +0200
Subject: [PATCH 3/5] fixed one problem and added test
---
wetb/control/control.py | 15 +++++++--------
wetb/control/tests/test_control.py | 8 ++++----
2 files changed, 11 insertions(+), 12 deletions(-)
diff --git a/wetb/control/control.py b/wetb/control/control.py
index 921fbce2..1d378c53 100644
--- a/wetb/control/control.py
+++ b/wetb/control/control.py
@@ -42,7 +42,6 @@ class Control(object):
Returns
-------
-
kp: float
Proportional gain [rad/(rad/s)]
ki: float
@@ -54,11 +53,11 @@ class Control(object):
"""
- pitch *= np.pi/180.
- I *= 1e-3
- dQdt *= 180./np.pi
- Omr *= np.pi/30.
- om *= 2.*np.pi
+ pitch = pitch * np.pi/180.
+ I = I * 1e-3
+ dQdt = dQdt * 180./np.pi
+ Omr = Omr * np.pi/30.
+ om = om * 2.*np.pi
# Quadratic fitting of dQdt
A = np.ones([dQdt.shape[0], 3])
@@ -73,8 +72,8 @@ class Control(object):
kp = -(2*csi*om*I[0] - P/(Omr**2))/x[2]
ki = -(om**2*I[0])/x[2]
- K1 = x[2]/x[0] * (180./np.pi)
- K2 = x[2]/x[1] * (180./np.pi)**2
+ K1 = x[2]/x[1]*(180./np.pi)
+ K2 = x[2]/x[0]*(180./np.pi)**2
return kp, ki, K1, K2
diff --git a/wetb/control/tests/test_control.py b/wetb/control/tests/test_control.py
index 2d4b68d8..f16b6aa1 100644
--- a/wetb/control/tests/test_control.py
+++ b/wetb/control/tests/test_control.py
@@ -61,10 +61,10 @@ class TestControl(unittest.TestCase):
self.dQdt[i:],
P, Omr, om, csi)
- self.assertEqual(kp, 1.5960902436444313)
- self.assertEqual(ki, 0.71632362627138402)
- self.assertEqual(K1, 10.463887621856747)
- self.assertEqual(K2, 573.59471652017498)
+ self.assertEqual(kp, 1.596090243644432)
+ self.assertEqual(ki, 0.71632362627138424)
+ self.assertEqual(K1, 10.01111637532056)
+ self.assertEqual(K2, 599.53659803157643)
if __name__ == "__main__":
--
GitLab
From 0e0e25d92d7242b3f9091f74994dc0bad342bc1f Mon Sep 17 00:00:00 2001
From: Carlo Tibaldi <tlbl@dtu.dk>
Date: Fri, 5 Aug 2016 17:04:38 +0200
Subject: [PATCH 4/5] added line of comments
---
wetb/control/control.py | 3 ++-
1 file changed, 2 insertions(+), 1 deletion(-)
diff --git a/wetb/control/control.py b/wetb/control/control.py
index 1d378c53..ed9c9c65 100644
--- a/wetb/control/control.py
+++ b/wetb/control/control.py
@@ -25,7 +25,8 @@ class Control(object):
Parameters
----------
pitch: array
- Pitch angle [deg]
+ Pitch angle [deg]. The values should only be those of the full load
+ region.
I: array
Drivetrain inertia [kg*m**2]
dQdt: array
--
GitLab
From 3893e7aa4d11e814a067b419dc1483759432ccf1 Mon Sep 17 00:00:00 2001
From: Carlo Tibaldi <tlbl@dtu.dk>
Date: Mon, 8 Aug 2016 12:57:52 +0200
Subject: [PATCH 5/5] controller:adding selection of regions and Komega2
---
wetb/control/control.py | 35 ++++++++++++++++
wetb/control/tests/test_control.py | 64 ++++++++++++++++++++++++++++++
2 files changed, 99 insertions(+)
diff --git a/wetb/control/control.py b/wetb/control/control.py
index ed9c9c65..771c97d8 100644
--- a/wetb/control/control.py
+++ b/wetb/control/control.py
@@ -78,6 +78,41 @@ class Control(object):
return kp, ki, K1, K2
+ def K_omega2(V, P, R, TSR):
+
+ Va = np.array(V)
+ Pa = np.array(P)
+ Ra = np.array(R)
+ TSRa = np.array(TSR)
+ K = Ra**3 * np.mean(Pa/(TSRa*Va)**3)
+
+ return K
+
+ def select_regions(self, pitch, omega, power):
+
+ i12 = 0
+
+ n = len(pitch)
+
+ for i in range(n-1):
+ if (abs(power[i]/power[i+1] - 1.) > 0.01):
+ if (abs(omega[i] / omega[i+1] - 1.) > 0.01):
+ i12 = i
+ break
+ i23 = n-1
+ for i in range(i12, n-1):
+ if (abs(omega[i] / omega[i+1] - 1.) < 0.01):
+ i23 = i
+ break
+
+ i34 = i23
+ for i in range(i23, n-1):
+ if (abs(power[i]/power[i+1] - 1.) > 0.01):
+ if (abs(omega[i] / omega[i+1] - 1.) < 0.01):
+ i34 = i+1
+
+ return i12, i23, i34
+
if __name__ == '__main__':
diff --git a/wetb/control/tests/test_control.py b/wetb/control/tests/test_control.py
index f16b6aa1..721ffdc9 100644
--- a/wetb/control/tests/test_control.py
+++ b/wetb/control/tests/test_control.py
@@ -66,6 +66,70 @@ class TestControl(unittest.TestCase):
self.assertEqual(K1, 10.01111637532056)
self.assertEqual(K2, 599.53659803157643)
+ def test_regions(self):
+
+ crt = control.Control()
+
+ pitch = np.array([0.,-2.,-2.,-2.,-2.,-2.,-2.,-1., 0., ])
+ omega = np.array([1., 1., 1., 2., 3., 3., 3., 3., 3., ])
+ power = np.array([1., 2., 3., 4., 5., 6., 7., 7., 7., ])
+
+ istart, iend = 0, -1
+ i1, i2, i3 = crt.select_regions(pitch[istart:iend], omega[istart:iend],
+ power[istart:iend])
+ self.assertEqual(i1, 2)
+ self.assertEqual(i2, 4)
+ self.assertEqual(i3, 6)
+
+ istart, iend = 3, -1
+ i1, i2, i3 = crt.select_regions(pitch[istart:iend], omega[istart:iend],
+ power[istart:iend])
+ self.assertEqual(i1, 0)
+ self.assertEqual(i2, 1)
+ self.assertEqual(i3, 3)
+
+ istart, iend = 5, -1
+ i1, i2, i3 = crt.select_regions(pitch[istart:iend], omega[istart:iend],
+ power[istart:iend])
+ self.assertEqual(i1, 0)
+ self.assertEqual(i2, 0)
+ self.assertEqual(i3, 1)
+
+ istart, iend = 6, -1
+ i1, i2, i3 = crt.select_regions(pitch[istart:iend], omega[istart:iend],
+ power[istart:iend])
+ self.assertEqual(i1, 0)
+ self.assertEqual(i2, 0)
+ self.assertEqual(i3, 0)
+
+ istart, iend = 5, -2
+ i1, i2, i3 = crt.select_regions(pitch[istart:iend], omega[istart:iend],
+ power[istart:iend])
+ self.assertEqual(i1, 0)
+ self.assertEqual(i2, 0)
+ self.assertEqual(i3, 1)
+
+ istart, iend = 3, -3
+ i1, i2, i3 = crt.select_regions(pitch[istart:iend], omega[istart:iend],
+ power[istart:iend])
+ self.assertEqual(i1, 0)
+ self.assertEqual(i2, 1)
+ self.assertEqual(i3, 2)
+
+ istart, iend = 2, -4
+ i1, i2, i3 = crt.select_regions(pitch[istart:iend], omega[istart:iend],
+ power[istart:iend])
+ self.assertEqual(i1, 0)
+ self.assertEqual(i2, 2)
+ self.assertEqual(i3, 2)
+
+ istart, iend = 0, 3
+ i1, i2, i3 = crt.select_regions(pitch[istart:iend], omega[istart:iend],
+ power[istart:iend])
+ self.assertEqual(i1, 0)
+ self.assertEqual(i2, 0)
+ self.assertEqual(i3, 2)
+
if __name__ == "__main__":
unittest.main()
--
GitLab