diff --git a/HAWC2/IEA-15-240-RWT-Onshore/data/IEA_15MW_RWT_Onshore.opt b/HAWC2/IEA-15-240-RWT-Onshore/data/IEA_15MW_RWT_Onshore.opt index 2a660675..8aa2711b 100644 --- a/HAWC2/IEA-15-240-RWT-Onshore/data/IEA_15MW_RWT_Onshore.opt +++ b/HAWC2/IEA-15-240-RWT-Onshore/data/IEA_15MW_RWT_Onshore.opt @@ -1,18 +1,18 @@ 17 wind speed [m/s] pitch [deg] rot. speed [rpm] aero power [kw] aero thrust [kn] - 0.500000 2.391072 5.000012 -330.960548 3.504929 - 3.000000 2.399471 5.000012 95.827156 233.598121 - 5.000000 0.419366 5.000012 1651.234346 656.045539 - 7.000000 0.000535 5.000012 4653.192214 1020.690492 - 8.000000 0.000535 5.681907 6852.011306 1294.791393 - 9.000000 0.000535 6.390847 9596.706829 1591.355121 - 10.000000 0.000535 7.101997 12894.953970 1901.431891 - 10.500000 0.000687 7.460480 14751.493214 2060.266998 - 10.700000 0.000802 7.559987 15523.305242 2118.746815 - 11.000000 1.325255 7.559987 15534.545497 1962.412862 - 13.000000 6.093161 7.559987 15531.161639 1486.246005 - 15.000000 9.189877 7.559987 15534.994492 1259.488076 - 17.000000 11.800808 7.559987 15533.957177 1112.397641 - 19.000000 14.160073 7.559987 15535.644038 1007.825701 - 21.000000 16.367237 7.559987 15530.596072 928.973999 - 23.000000 18.461961 7.559987 15537.643552 868.465684 - 25.000000 20.478844 7.559987 15534.270402 820.237938 + 0.500000 2.438110 5.000012 -331.165840 3.387139 + 3.000000 2.426047 5.000012 95.227704 233.548534 + 5.000000 0.377375 5.000012 1651.064647 659.852440 + 7.000000 0.000535 5.000012 4654.278839 1021.311184 + 8.000000 0.000535 5.681900 6852.108460 1295.039597 + 9.000000 0.000535 6.390847 9593.158784 1590.613558 + 10.000000 0.000535 7.101976 12880.953731 1898.680029 + 10.500000 0.000660 7.460359 14728.982528 2056.067347 + 10.700000 0.000783 7.559987 15496.958017 2113.988659 + 11.000000 1.170321 7.559987 15663.825045 1986.250804 + 13.000000 6.052129 7.559987 15665.502056 1499.217869 + 15.000000 9.189114 7.559987 15666.723955 1268.983499 + 17.000000 11.824437 7.559987 15663.732588 1119.978392 + 19.000000 14.199750 7.559987 15667.741615 1014.234365 + 21.000000 16.421070 7.559987 15662.890627 934.463958 + 23.000000 18.525951 7.559987 15678.725250 873.505303 + 25.000000 20.553121 7.559987 15662.421940 824.091159 diff --git a/HAWC2/IEA-15-240-RWT-Onshore/scripts/make_htc.py b/HAWC2/IEA-15-240-RWT-Onshore/scripts/make_htc.py index d978c0bf..00e53c1c 100644 --- a/HAWC2/IEA-15-240-RWT-Onshore/scripts/make_htc.py +++ b/HAWC2/IEA-15-240-RWT-Onshore/scripts/make_htc.py @@ -18,9 +18,9 @@ kw = dict(cut_in=3, cut_out=25, dt=39, tstart=220, # step parameters wsp=12, tint=0.17, tb_wid=252, tb_ht=252, # turbulence parameters n_wsp=45, gen_min=5.000011692174984, gen_max=7.559987120819503, # hawcstab2 parameters - gbr=1, pitch_min=0, opt_lambda=9, rate_pow=15e3, gen_eff=0.9655, # hawcstab2 parameters + gbr=1, pitch_min=0, opt_lambda=9, rate_pow=15e3, gen_eff=0.95756, # hawcstab2 parameters p1_f=0.05, p1_z=0.7, p2_f=0.03, p2_z=0.7, gs=2, constant_power=0, # hawcstab2 parameters - oper_dat='./data/IEA_15MW_RWT_FixedSubstructure.opt') # hawcstab2 parameters + oper_dat='./data/IEA_15MW_RWT_Onshore.opt') # hawcstab2 parameters if __name__ == '__main__': diff --git a/OpenFAST/IEA-15-240-RWT-Monopile/IEA-15-240-RWT-Monopile_DISCON.IN b/OpenFAST/IEA-15-240-RWT-Monopile/IEA-15-240-RWT-Monopile_DISCON.IN index c4bac8db..2a99647a 100644 --- a/OpenFAST/IEA-15-240-RWT-Monopile/IEA-15-240-RWT-Monopile_DISCON.IN +++ b/OpenFAST/IEA-15-240-RWT-Monopile/IEA-15-240-RWT-Monopile_DISCON.IN @@ -1,11 +1,12 @@ ! Controller parameter input file for the IEA-15-240-RWT-Monopile wind turbine -! - File written using ROSCO version 2.7.0 controller tuning logic on 03/14/23 +! - File written using ROSCO version 2.8.0 controller tuning logic on 09/29/23 !------- DEBUG ------------------------------------------------------------ -1 ! LoggingLevel - {0: write no debug files, 1: write standard output .dbg-file, 2: LoggingLevel 1 + ROSCO LocalVars (.dbg2) 3: LoggingLevel 2 + complete avrSWAP-array (.dbg3)} +1 ! LoggingLevel - (0: write no debug files, 1: write standard output .dbg-file, 2: LoggingLevel 1 + ROSCO LocalVars (.dbg2) 3: LoggingLevel 2 + complete avrSWAP-array (.dbg3)) +0 ! Echo - (0 - no Echo, 1 - Echo input data to .echo) !------- CONTROLLER FLAGS ------------------------------------------------- -2 ! F_LPFType - {1: first-order low-pass filter, 2: second-order low-pass filter}, [rad/s] (currently filters generator speed and pitch control signals +2 ! F_LPFType - (1: first-order low-pass filter, 2: second-order low-pass filter), [rad/s] (currently filters generator speed and pitch control signals 0 ! F_NotchType - Notch on the measured generator speed and/or tower fore-aft motion (for floating) {0: disable, 1: generator speed, 2: tower-top fore-aft motion, 3: generator speed and tower-top fore-aft motion} 0 ! IPC_ControlMode - Turn Individual Pitch Control (IPC) for fatigue load reductions (pitch contribution) {0: off, 1: 1P reductions, 2: 1P+2P reductions} 2 ! VS_ControlMode - Generator torque control mode in above rated conditions {0: constant torque, 1: constant power, 2: TSR tracking PI control with constant torque, 3: TSR tracking PI control with constant power} @@ -21,8 +22,11 @@ 0 ! OL_Mode - Open loop control mode {0: no open loop control, 1: open loop control vs. time} 0 ! PA_Mode - Pitch actuator mode {0 - not used, 1 - first order filter, 2 - second order filter} 0 ! PF_Mode - Pitch fault mode {0 - not used, 1 - constant offset on one or more blades} +0 ! AWC_Mode - Active wake control {0 - not used, 1 - complex number method, 2 - Coleman transform method} 0 ! Ext_Mode - External control mode {0 - not used, 1 - call external dynamic library} 0 ! ZMQ_Mode - Fuse ZeroMQ interface {0: unused, 1: Yaw Control} +0 ! CC_Mode - Cable control mode [0- unused, 1- User defined, 2- Open loop control] +0 ! StC_Mode - Structural control mode [0- unused, 1- User defined, 2- Open loop control] !------- FILTERS ---------------------------------------------------------- 1.00810 ! F_LPFCornerFreq - Corner frequency (-3dB point) in the low-pass filters, [rad/s] @@ -131,7 +135,9 @@ 0 ! Ind_Breakpoint - The column in OL_Filename that contains the breakpoint (time if OL_Mode = 1) 0 ! Ind_BldPitch - The column in OL_Filename that contains the blade pitch input in rad 0 ! Ind_GenTq - The column in OL_Filename that contains the generator torque in Nm -0 ! Ind_YawRate - The column in OL_Filename that contains the generator torque in Nm +0 ! Ind_YawRate - The column in OL_Filename that contains the nacelle yaw rate rad/s +0 ! Ind_CableControl - The column(s) in OL_Filename that contains the cable control inputs in m [Used with CC_Mode = 2, must be the same size as CC_Group_N] +0 ! Ind_StructControl - The column(s) in OL_Filename that contains the structural control inputs [Used with StC_Mode = 2, must be the same size as StC_Group_N] !------- Pitch Actuator Model ----------------------------------------------------- 3.140000000000 ! PA_CornerFreq - Pitch actuator bandwidth/cut-off frequency [rad/s] @@ -140,6 +146,14 @@ !------- Pitch Actuator Faults ----------------------------------------------------- 0.00000000 0.00000000 0.00000000 ! PF_Offsets - Constant blade pitch offsets for blades 1-3 [rad] +!------- Active Wake Control ----------------------------------------------------- +1 ! AWC_NumModes - Number of user-defined AWC forcing modes +1 ! AWC_n - Azimuthal mode number(s) (i.e., the number and direction of the lobes of the wake structure) +1 ! AWC_harmonic - Harmonic(s) to apply in the AWC Inverse Coleman Transformation (only used when AWC_Mode = 2) +0.0500 ! AWC_freq - Frequency(s) of forcing mode(s) [Hz] +1.0000 ! AWC_amp - Pitch amplitude(s) of individual forcing mode(s) [deg] +0.0000 ! AWC_clockangle - Initial angle(s) of forcing mode(s) [deg] + !------- External Controller Interface ----------------------------------------------------- "unused" ! DLL_FileName - Name/location of the dynamic library in the Bladed-DLL format "unused" ! DLL_InFile - Name of input file sent to the DLL (-) @@ -148,3 +162,12 @@ !------- ZeroMQ Interface --------------------------------------------------------- "tcp://localhost:5555" ! ZMQ_CommAddress - Communication address for ZMQ server, (e.g. "tcp://localhost:5555") 2 ! ZMQ_UpdatePeriod - Call ZeroMQ every [x] seconds, [s] + +!------- Cable Control --------------------------------------------------------- +1 ! CC_Group_N - Number of cable control groups + 0 ! CC_GroupIndex - First index for cable control group, should correspond to deltaL +20.000000 ! CC_ActTau - Time constant for line actuator [s] + +!------- Structural Controllers --------------------------------------------------------- +1 ! StC_Group_N - Number of cable control groups + 0 ! StC_GroupIndex - First index for structural control group, options specified in ServoDyn summary output diff --git a/OpenFAST/IEA-15-240-RWT-UMaineSemi/IEA-15-240-RWT-UMaineSemi_DISCON.IN b/OpenFAST/IEA-15-240-RWT-UMaineSemi/IEA-15-240-RWT-UMaineSemi_DISCON.IN index 942db985..211630ff 100644 --- a/OpenFAST/IEA-15-240-RWT-UMaineSemi/IEA-15-240-RWT-UMaineSemi_DISCON.IN +++ b/OpenFAST/IEA-15-240-RWT-UMaineSemi/IEA-15-240-RWT-UMaineSemi_DISCON.IN @@ -1,11 +1,12 @@ ! Controller parameter input file for the IEA-15-240-RWT-UMaineSemi wind turbine -! - File written using ROSCO version 2.7.0 controller tuning logic on 03/14/23 +! - File written using ROSCO version 2.8.0 controller tuning logic on 09/29/23 !------- DEBUG ------------------------------------------------------------ -1 ! LoggingLevel - {0: write no debug files, 1: write standard output .dbg-file, 2: LoggingLevel 1 + ROSCO LocalVars (.dbg2) 3: LoggingLevel 2 + complete avrSWAP-array (.dbg3)} +1 ! LoggingLevel - (0: write no debug files, 1: write standard output .dbg-file, 2: LoggingLevel 1 + ROSCO LocalVars (.dbg2) 3: LoggingLevel 2 + complete avrSWAP-array (.dbg3)) +0 ! Echo - (0 - no Echo, 1 - Echo input data to .echo) !------- CONTROLLER FLAGS ------------------------------------------------- -2 ! F_LPFType - {1: first-order low-pass filter, 2: second-order low-pass filter}, [rad/s] (currently filters generator speed and pitch control signals +2 ! F_LPFType - (1: first-order low-pass filter, 2: second-order low-pass filter), [rad/s] (currently filters generator speed and pitch control signals 2 ! F_NotchType - Notch on the measured generator speed and/or tower fore-aft motion (for floating) {0: disable, 1: generator speed, 2: tower-top fore-aft motion, 3: generator speed and tower-top fore-aft motion} 0 ! IPC_ControlMode - Turn Individual Pitch Control (IPC) for fatigue load reductions (pitch contribution) {0: off, 1: 1P reductions, 2: 1P+2P reductions} 2 ! VS_ControlMode - Generator torque control mode in above rated conditions {0: constant torque, 1: constant power, 2: TSR tracking PI control with constant torque, 3: TSR tracking PI control with constant power} @@ -21,8 +22,11 @@ 0 ! OL_Mode - Open loop control mode {0: no open loop control, 1: open loop control vs. time} 0 ! PA_Mode - Pitch actuator mode {0 - not used, 1 - first order filter, 2 - second order filter} 0 ! PF_Mode - Pitch fault mode {0 - not used, 1 - constant offset on one or more blades} +0 ! AWC_Mode - Active wake control {0 - not used, 1 - complex number method, 2 - Coleman transform method} 0 ! Ext_Mode - External control mode {0 - not used, 1 - call external dynamic library} 0 ! ZMQ_Mode - Fuse ZeroMQ interface {0: unused, 1: Yaw Control} +0 ! CC_Mode - Cable control mode [0- unused, 1- User defined, 2- Open loop control] +0 ! StC_Mode - Structural control mode [0- unused, 1- User defined, 2- Open loop control] !------- FILTERS ---------------------------------------------------------- 1.00810 ! F_LPFCornerFreq - Corner frequency (-3dB point) in the low-pass filters, [rad/s] @@ -131,7 +135,9 @@ 0 ! Ind_Breakpoint - The column in OL_Filename that contains the breakpoint (time if OL_Mode = 1) 0 ! Ind_BldPitch - The column in OL_Filename that contains the blade pitch input in rad 0 ! Ind_GenTq - The column in OL_Filename that contains the generator torque in Nm -0 ! Ind_YawRate - The column in OL_Filename that contains the generator torque in Nm +0 ! Ind_YawRate - The column in OL_Filename that contains the nacelle yaw rate rad/s +0 ! Ind_CableControl - The column(s) in OL_Filename that contains the cable control inputs in m [Used with CC_Mode = 2, must be the same size as CC_Group_N] +0 ! Ind_StructControl - The column(s) in OL_Filename that contains the structural control inputs [Used with StC_Mode = 2, must be the same size as StC_Group_N] !------- Pitch Actuator Model ----------------------------------------------------- 3.140000000000 ! PA_CornerFreq - Pitch actuator bandwidth/cut-off frequency [rad/s] @@ -140,6 +146,14 @@ !------- Pitch Actuator Faults ----------------------------------------------------- 0.00000000 0.00000000 0.00000000 ! PF_Offsets - Constant blade pitch offsets for blades 1-3 [rad] +!------- Active Wake Control ----------------------------------------------------- +1 ! AWC_NumModes - Number of user-defined AWC forcing modes +1 ! AWC_n - Azimuthal mode number(s) (i.e., the number and direction of the lobes of the wake structure) +1 ! AWC_harmonic - Harmonic(s) to apply in the AWC Inverse Coleman Transformation (only used when AWC_Mode = 2) +0.0500 ! AWC_freq - Frequency(s) of forcing mode(s) [Hz] +1.0000 ! AWC_amp - Pitch amplitude(s) of individual forcing mode(s) [deg] +0.0000 ! AWC_clockangle - Initial angle(s) of forcing mode(s) [deg] + !------- External Controller Interface ----------------------------------------------------- "unused" ! DLL_FileName - Name/location of the dynamic library in the Bladed-DLL format "unused" ! DLL_InFile - Name of input file sent to the DLL (-) @@ -148,3 +162,12 @@ !------- ZeroMQ Interface --------------------------------------------------------- "tcp://localhost:5555" ! ZMQ_CommAddress - Communication address for ZMQ server, (e.g. "tcp://localhost:5555") 2 ! ZMQ_UpdatePeriod - Call ZeroMQ every [x] seconds, [s] + +!------- Cable Control --------------------------------------------------------- +1 ! CC_Group_N - Number of cable control groups + 0 ! CC_GroupIndex - First index for cable control group, should correspond to deltaL +20.000000 ! CC_ActTau - Time constant for line actuator [s] + +!------- Structural Controllers --------------------------------------------------------- +1 ! StC_Group_N - Number of cable control groups + 0 ! StC_GroupIndex - First index for structural control group, options specified in ServoDyn summary output diff --git a/tests/environment.yml b/tests/environment.yml index bf0a3db7..2a2df855 100644 --- a/tests/environment.yml +++ b/tests/environment.yml @@ -29,7 +29,7 @@ dependencies: - psutil - pbr - pytables - - rosco ==2.7.0 + - rosco ==2.8.0 - sshtunnel - simpy - tomli