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Made some changes for compatibility with Bladed, updated README
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108 changes: 54 additions & 54 deletions ...ter_files/DTU10MW/ControllerParameters.in → Parameter_files/DTU10MW/DICON.IN
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0 ! LoggingLevel - 0 = write no debug files, 1 = write standard output .dbg-file, 2 = write standard output .dbg-file and complete avrSWAP-array .dbg2-file
2 ! F_FilterType - 1 = first-order low-pass filter, 2 = second-order low-pass filter
2.5132741 ! F_CornerFreq - Corner frequency (-3dB point) in the low-pass filters, filtering generator speed and pitch control signals, [rad/s]
0.7 ! F_Damping - Damping coefficient if F_FilterType = 2, unused otherwise
0 ! IPC_ControlMode - Turn Individual Pitch Control (IPC) for fatigue load reductions (pitch contribution) 0 = off / 1 = (1P reductions) / 2 = (1P+2P reductions)
0.087266 ! IPC_IntSat - Integrator saturation (maximum signal amplitude contrbution to pitch from IPC), [rad]
8E-10 0 ! IPC_KI - Integral gain for the individual pitch controller: first parameter for 1P reductions, second for 2P reductions [-]
0.436332313 0 ! IPC_aziOffset - Phase offset added to the azimuth angle for the individual pitch controller, [rad].
13 ! PC_GS_n - Amount of gain-scheduling table entries
0 0.0349 0.0698 0.1047 0.1396 0.1745 0.2094 0.2443 0.2793 0.3142 0.3491 0.384 0.4189 ! PC_GS_angles - Gain-schedule table: pitch angles
-0.0105 -0.0104 -0.0102 -0.0099 -0.0095 -0.0091 -0.0086 -0.0081 -0.0076 -0.0071 -0.0066 -0.0061 -0.0056 ! PC_GS_KP - Gain-schedule table: pitch controller kp gains
-0.0028 -0.0028 -0.0027 -0.0027 -0.0026 -0.0024 -0.0023 -0.0022 -0.002 -0.0019 -0.0018 -0.0016 -0.0015 ! PC_GS_KI - Gain-schedule table: pitch controller ki gains
0 0 0 0 0 0 0 0 0 0 0 0 0 ! PC_GS_KD - Gain-schedule table: pitch controller kd gains
0 0 0 0 0 0 0 0 0 0 0 0 0 ! PC_GS_TF - Gain-schedule table: pitch controller tf gains (derivative filter)
1.5707 ! PC_MaxPit - Maximum physical pitch limit, [rad].
-0.087266 ! PC_MinPit - Minimum physical pitch limit, [rad].
0.17453 ! PC_MaxRat - Maximum pitch rate (in absolute value) in pitch controller, [rad/s].
-0.17453 ! PC_MinRat - Minimum pitch rate (in absolute value) in pitch controller, [rad/s].
50.26548 ! PC_RefSpd - Desired (reference) HSS speed for pitch controller, [rad/s].
0.0 ! PC_FinePit - Record 5: Below-rated pitch angle set-point, [rad]
0.034906 ! PC_Switch - Angle above lowest minimum pitch angle for switch [rad]
1 ! VS_ControlMode - Generator torque control mode in above rated conditions, 0 = constant torque / 1 = constant power
0.944 ! VS_GenEff - Generator efficiency mechanical power -> electrical power, this should match the efficiency defined in the generator properties! [-]
212900 ! VS_ArSatTq - Above rated generator torque PI control saturation, [Nm]
150000.0 ! VS_MaxRat - Maximum torque rate (in absolute value) in torque controller, [Nm/s].
250000.0 ! VS_MaxTq - Maximum generator torque in Region 3 (HSS side), [Nm].
0.0 ! VS_MinTq - Minimum generator (HSS side), [Nm].
20.94395 ! VS_MinOMSpd - Optimal mode minimum speed, cut-in speed towards optimal mode gain path [rad/s]
104.1 ! VS_Rgn2K - Generator torque constant in Region 2 (HSS side), N-m/(rad/s)^2
1.0E+07 ! VS_RtPwr - Wind turbine rated power [W]
211642 ! VS_RtTq - Rated torque, [Nm]. XXX 198943.6 XXX
42.411 ! VS_RefSpd - Rated generator speed [rad/s]
1 ! VS_n - Number of controller gains
-27338.24 ! VS_KP - Proportional gain for generator PI torque controller, used in the transitional 2.5 region, [1/(rad/s) Nm]
-6134.68 ! VS_KI - Integral gain for generator PI torque controller, used in the transitional 2.5 region, [1/rad Nm]
89.166 ! WE_BladeRadius - Blade length [m]
4 ! WE_CP_n - Amount of parameters in the Cp array
14.571319658214513 42.809556250371465 2.456512501523107 0.003127994078720 ! WE_CP - Parameters that define the parameterized CP(\lambda) function XXX Needs to be updated, these are values of the NREL5MW XXX
20 ! WE_Gamma - Adaption gain of the wind speed estimator algorithm [m/rad]
50 ! WE_GearboxRatio - Gearbox ratio, >=1 [-]
2.0E+08 ! WE_Jtot - Total drivetrain inertia, including blades, hub and casted generator inertia to LSS [kg m^2]
1.225 ! WE_RhoAir - Air density [kg m^-3]
0 ! Y_ControlMode - Yaw control mode: (0 = no yaw control, 1 = yaw rate control, 2 = yaw-by-IPC)
1.745329252 ! Y_ErrThresh - Yaw error threshold. Turbine begins to yaw when it passes this. [rad^2 s]
0.17453 ! Y_IPC_IntSat - Integrator saturation (maximum signal amplitude contrbution to pitch from yaw-by-IPC), [rad]
1 ! Y_IPC_n - Number of controller gains (yaw-by-IPC)
-0.064 ! Y_IPC_KP - Yaw-by-IPC proportional controller gain Kp
-0.0008 ! Y_IPC_KI - Yaw-by-IPC integral controller gain Ki
0.6283185 ! Y_IPC_omegaLP - Low-pass filter corner frequency for the Yaw-by-IPC controller to filtering the yaw alignment error, [rad/s].
1.0 ! Y_IPC_zetaLP - Low-pass filter damping factor for the Yaw-by-IPC controller to filtering the yaw alignment error, [-].
0.00000 ! Y_MErrSet - Yaw alignment error, setpoint [rad]
1.0 ! Y_omegaLPFast - Corner frequency fast low pass filter, 1.0 [Hz]
0.016667 ! Y_omegaLPSlow - Corner frequency slow low pass filter, 1/60 [Hz]
0.0034906 ! Y_Rate - Yaw rate [rad/s]
0 ! LoggingLevel - 0 = write no debug files, 1 = write standard output .dbg-file, 2 = write standard output .dbg-file and complete avrSWAP-array .dbg2-file
2 ! F_FilterType - 1 = first-order low-pass filter, 2 = second-order low-pass filter
2.5132741 ! F_CornerFreq - Corner frequency (-3dB point) in the low-pass filters, filtering generator speed and pitch control signals, [rad/s]
0.7 ! F_Damping - Damping coefficient if F_FilterType = 2, unused otherwise
0 ! IPC_ControlMode - Turn Individual Pitch Control (IPC) for fatigue load reductions (pitch contribution) 0 = off / 1 = (1P reductions) / 2 = (1P+2P reductions)
0.087266 ! IPC_IntSat - Integrator saturation (maximum signal amplitude contrbution to pitch from IPC), [rad]
8E-10 0 ! IPC_KI - Integral gain for the individual pitch controller: first parameter for 1P reductions, second for 2P reductions [-]
0.436332313 0 ! IPC_aziOffset - Phase offset added to the azimuth angle for the individual pitch controller, [rad].
13 ! PC_GS_n - Amount of gain-scheduling table entries
0 0.0349 0.0698 0.1047 0.1396 0.1745 0.2094 0.2443 0.2793 0.3142 0.3491 0.384 0.4189 ! PC_GS_angles - Gain-schedule table: pitch angles
-0.0105 -0.0104 -0.0102 -0.0099 -0.0095 -0.0091 -0.0086 -0.0081 -0.0076 -0.0071 -0.0066 -0.0061 -0.0056 ! PC_GS_KP - Gain-schedule table: pitch controller kp gains
-0.0028 -0.0028 -0.0027 -0.0027 -0.0026 -0.0024 -0.0023 -0.0022 -0.002 -0.0019 -0.0018 -0.0016 -0.0015 ! PC_GS_KI - Gain-schedule table: pitch controller ki gains
0 0 0 0 0 0 0 0 0 0 0 0 0 ! PC_GS_KD - Gain-schedule table: pitch controller kd gains
0 0 0 0 0 0 0 0 0 0 0 0 0 ! PC_GS_TF - Gain-schedule table: pitch controller tf gains (derivative filter)
1.5707 ! PC_MaxPit - Maximum physical pitch limit, [rad].
-0.087266 ! PC_MinPit - Minimum physical pitch limit, [rad].
0.17453 ! PC_MaxRat - Maximum pitch rate (in absolute value) in pitch controller, [rad/s].
-0.17453 ! PC_MinRat - Minimum pitch rate (in absolute value) in pitch controller, [rad/s].
50.26548 ! PC_RefSpd - Desired (reference) HSS speed for pitch controller, [rad/s].
0.0 ! PC_FinePit - Record 5: Below-rated pitch angle set-point, [rad]
0.034906 ! PC_Switch - Angle above lowest minimum pitch angle for switch [rad]
1 ! VS_ControlMode - Generator torque control mode in above rated conditions, 0 = constant torque / 1 = constant power
0.944 ! VS_GenEff - Generator efficiency mechanical power -> electrical power, this should match the efficiency defined in the generator properties! [-]
212900 ! VS_ArSatTq - Above rated generator torque PI control saturation, [Nm]
150000.0 ! VS_MaxRat - Maximum torque rate (in absolute value) in torque controller, [Nm/s].
250000.0 ! VS_MaxTq - Maximum generator torque in Region 3 (HSS side), [Nm].
0.0 ! VS_MinTq - Minimum generator (HSS side), [Nm].
20.94395 ! VS_MinOMSpd - Optimal mode minimum speed, cut-in speed towards optimal mode gain path [rad/s]
104.1 ! VS_Rgn2K - Generator torque constant in Region 2 (HSS side), N-m/(rad/s)^2
1.0E+07 ! VS_RtPwr - Wind turbine rated power [W]
211642 ! VS_RtTq - Rated torque, [Nm]. XXX 198943.6 XXX
42.411 ! VS_RefSpd - Rated generator speed [rad/s]
1 ! VS_n - Number of controller gains
-27338.24 ! VS_KP - Proportional gain for generator PI torque controller, used in the transitional 2.5 region, [1/(rad/s) Nm]
-6134.68 ! VS_KI - Integral gain for generator PI torque controller, used in the transitional 2.5 region, [1/rad Nm]
89.166 ! WE_BladeRadius - Blade length [m]
4 ! WE_CP_n - Amount of parameters in the Cp array
14.571319658214513 42.809556250371465 2.456512501523107 0.003127994078720 ! WE_CP - Parameters that define the parameterized CP(\lambda) function XXX Needs to be updated, these are values of the NREL5MW XXX
20 ! WE_Gamma - Adaption gain of the wind speed estimator algorithm [m/rad]
50 ! WE_GearboxRatio - Gearbox ratio, >=1 [-]
2.0E+08 ! WE_Jtot - Total drivetrain inertia, including blades, hub and casted generator inertia to LSS [kg m^2]
1.225 ! WE_RhoAir - Air density [kg m^-3]
0 ! Y_ControlMode - Yaw control mode: (0 = no yaw control, 1 = yaw rate control, 2 = yaw-by-IPC)
1.745329252 ! Y_ErrThresh - Yaw error threshold. Turbine begins to yaw when it passes this. [rad^2 s]
0.17453 ! Y_IPC_IntSat - Integrator saturation (maximum signal amplitude contrbution to pitch from yaw-by-IPC), [rad]
1 ! Y_IPC_n - Number of controller gains (yaw-by-IPC)
-0.064 ! Y_IPC_KP - Yaw-by-IPC proportional controller gain Kp
-0.0008 ! Y_IPC_KI - Yaw-by-IPC integral controller gain Ki
0.6283185 ! Y_IPC_omegaLP - Low-pass filter corner frequency for the Yaw-by-IPC controller to filtering the yaw alignment error, [rad/s].
1.0 ! Y_IPC_zetaLP - Low-pass filter damping factor for the Yaw-by-IPC controller to filtering the yaw alignment error, [-].
0.00000 ! Y_MErrSet - Yaw alignment error, setpoint [rad]
1.0 ! Y_omegaLPFast - Corner frequency fast low pass filter, 1.0 [Hz]
0.016667 ! Y_omegaLPSlow - Corner frequency slow low pass filter, 1/60 [Hz]
0.0034906 ! Y_Rate - Yaw rate [rad/s]
0 ...ter_files/NREL5MW/ControllerParameters.in → Parameter_files/NREL5MW/DISCON.IN
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7 changes: 7 additions & 0 deletions README.md
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Delft Research Controller (DRC), Bladed-style DISCON baseline wind turbine controller

The Delft Research Controller (DRC) provides an open, modular and fully adaptable baseline wind turbine controller to the scientific community. New control implementations can be added to the existing baseline controller, and in this way, convenient assessments of the proposed algorithms is possible. Because of the open character and modular set-up, scientists are able to collaborate and contribute in making continuous improvements to the code. The DRC is being developed in Fortran and uses the Bladed-style DISCON controller interface. The compiled controller is configured by a single control settings parameter file, and can work with any wind turbine model and simulation software using the DISCON interface. Baseline parameter files are supplied for the NREL 5-MW and DTU 10-MW reference wind turbines.

If you want to use the controller with DNV GL Bladed v4.5 or earlier (which still has support for the DISCON external controller interface), do the following:
1. Be sure to use and place the 32-bit DLL in the same folder as where you put your project .$PJ-file
2. Copy in that same folder the DISCON.IN controller configuration file
3. Set-up the 32-bit DLL as an external controller (Control -> Discrete External Controller -> Define...)
3. Open the DISCON.IN file with a text editor and copy its entire contents in the "External controller data:" section (Control -> Discrete External Controller -> Define...)
4. Run a "Power Production" simulation
4 changes: 2 additions & 2 deletions Source/ReadSetParameters.f90
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Expand Up @@ -5,7 +5,7 @@ MODULE ReadSetParameters

CONTAINS
!..............................................................................................................................
! Read all constant control parameters from ControllerParameters.in parameter file
! Read all constant control parameters from DISCON.IN parameter file
!..............................................................................................................................
SUBROUTINE ReadControlParameterFileSub(CntrPar, LocalVar)
USE DRC_Types, ONLY : ControlParameters, LocalVariables
Expand All @@ -14,7 +14,7 @@ SUBROUTINE ReadControlParameterFileSub(CntrPar, LocalVar)
TYPE(ControlParameters), INTENT(INOUT) :: CntrPar
TYPE(LocalVariables), INTENT(IN) :: LocalVar

OPEN(unit=UnControllerParameters, file='ControllerParameters.in', status='old', action='read')
OPEN(unit=UnControllerParameters, file='DISCON.IN', status='old', action='read')

!------------------- GENERAL CONSTANTS -------------------
READ(UnControllerParameters, *) CntrPar%LoggingLevel
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4 changes: 2 additions & 2 deletions Source/makefile
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#================================================================================#

# 32-bit or 64-bit?
#BITS = 32
BITS = 64
BITS = 32
#BITS = 64
# Location of source files for the DLL.
# You may need to change these for your DLL.

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