Included an option to include a first-order (actuator) phase delay on…

… the IPC signal
Ben-Mertz · May 23, 2019 · f2e1154 · f2e1154
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Showing 5 changed files with 23 additions and 5 deletions.
diff --git a/Parameter_files/DTU10MW/DISCON.IN b/Parameter_files/DTU10MW/DISCON.IN
@@ -9,6 +9,7 @@
 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]. 
+2.5					! IPC_CornerFreqAct - Corner frequency of the first-order actuators model, to induce a phase lag in the IPC signal. Set 0 to disable. [rad/s]
 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
@@ -38,7 +39,7 @@
 -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
+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]

diff --git a/Parameter_files/NREL5MW/DISCON.IN b/Parameter_files/NREL5MW/DISCON.IN
@@ -9,6 +9,7 @@
 0.087266			! IPC_IntSat		- Integrator saturation (maximum signal amplitude contrbution to pitch from IPC), [rad]
 1E-8 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]. 
+2.5					! IPC_CornerFreqAct - Corner frequency of the first-order actuators model, to induce a phase lag in the IPC signal. Set 0 to disable. [rad/s]
 14					! PC_GS_n			- Amount of gain-scheduling table entries
 0.00000	0.03491	0.06981	0.10472	0.13963	0.17453	0.20944	0.24435	0.27925	0.31416	0.34907	0.38397	0.41888	0.45379 ! PC_GS_angles	- Gain-schedule table: pitch angles
 -0.018827	-0.014292	-0.011517	-0.009645	-0.008296	-0.007278	-0.006483	-0.005844	-0.005320	-0.004882	-0.004511	-0.004192	-0.003916	-0.003673 ! PC_GS_KP		- Gain-schedule table: pitch controller kp gains
@@ -38,7 +39,7 @@
 -2100	 			! VS_KI				- Integral gain for generator PI torque controller, used in the transitional 2.5 region, [1/rad Nm]
 63.0				! 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
+14.571319658214513	42.809556250371465	2.456512501523107	0.003127994078720	! WE_CP - Parameters that define the parameterized CP(lambda) function
 20					! WE_Gamma			- Adaption gain of the wind speed estimator algorithm [m/rad]
 97					! WE_GearboxRatio	- Gearbox ratio, >=1  [-]
 4.0469564E+07		! WE_Jtot			- Total drivetrain inertia, including blades, hub and casted generator inertia to LSS [kg m^2]

diff --git a/Source/Controllers.f90 b/Source/Controllers.f90
@@ -199,7 +199,7 @@ SUBROUTINE IPC(CntrPar, LocalVar, objInst)
 		USE DRC_Types, ONLY : ControlParameters, LocalVariables, ObjectInstances
 
 		! Local variables
-		REAL(4)					:: PitComIPC(3), PitComIPC_1P(3), PitComIPC_2P(3)
+		REAL(4)					:: PitComIPC(3), PitComIPCF(3), PitComIPC_1P(3), PitComIPC_2P(3)
 		INTEGER(4)				:: K								    ! Integer used to loop through turbine blades
 		REAL(4)					:: axisTilt_1P, axisYaw_1P, axisYawF_1P ! Direct axis and quadrature axis outputted by Coleman transform, 1P
 		REAL(4), SAVE			:: IntAxisTilt_1P, IntAxisYaw_1P		! Integral of the direct axis and quadrature axis, 1P
@@ -266,7 +266,15 @@ SUBROUTINE IPC(CntrPar, LocalVar, objInst)
 		! Sum nP IPC contrubutions and store to LocalVar data type
 		DO K = 1,LocalVar%NumBl
             PitComIPC(K) = PitComIPC_1P(K) + PitComIPC_2P(K)
-			LocalVar%IPC_PitComF(K) = PitComIPC(K)
+
+			! Optionally filter the resulting signal to induce a phase delay
+			IF (CntrPar%IPC_CornerFreqAct > 0.0) THEN
+				LocalVar%PitComIPCF(K) = LPFilter(LocalVar%PitComIPC(K), LocalVar%DT, CntrPar%IPC_CornerFreqAct, LocalVar%iStatus, .FALSE., objInst%instLPF)
+			ELSE
+				LocalVar%PitComIPCF(K) = LocalVar%PitComIPC(K)
+			END IF
+
+			LocalVar%IPC_PitComF(K) = PitComIPCF(K)
 		END DO
 	END SUBROUTINE IPC
 

diff --git a/Source/DRC_Types.f90 b/Source/DRC_Types.f90
@@ -17,6 +17,7 @@ MODULE DRC_Types
     REAL(4)								:: IPC_IntSat					! Integrator saturation (maximum signal amplitude contrbution to pitch from IPC)
 	REAL(4), DIMENSION(:), ALLOCATABLE	:: IPC_KI						! Integral gain for the individual pitch controller, [-]. 8E-10
 	REAL(4), DIMENSION(:), ALLOCATABLE	:: IPC_aziOffset				! Phase offset added to the azimuth angle for the individual pitch controller, [rad].
+	REAL(4)								:: IPC_CornerFreqAct			! Corner frequency of the first-order actuators model, to induce a phase lag in the IPC signal. Set 0 to disable. [rad/s]
 
     INTEGER(4)							:: PC_GS_n						! Amount of gain-scheduling table entries
 	REAL(4), DIMENSION(:), ALLOCATABLE	:: PC_GS_angles					! Gain-schedule table: pitch angles

diff --git a/Source/ReadSetParameters.f90 b/Source/ReadSetParameters.f90
@@ -36,6 +36,8 @@ SUBROUTINE ReadControlParameterFileSub(CntrPar)
         ALLOCATE(CntrPar%IPC_aziOffset(2))
 		READ(UnControllerParameters,*) CntrPar%IPC_aziOffset
 
+		READ(UnControllerParameters, *) CntrPar%IPC_CornerFreqAct
+
 		!------------------- PITCH CONSTANTS -----------------------
 		READ(UnControllerParameters, *) CntrPar%PC_GS_n
 		ALLOCATE(CntrPar%PC_GS_angles(CntrPar%PC_GS_n))
@@ -182,10 +184,15 @@ SUBROUTINE Assert(LocalVar, CntrPar, avrSWAP, aviFAIL, ErrMsg, size_avcMSG)
 			ErrMsg  = 'FilterType must be 1 or 2.'
 		ENDIF
 
-        IF (ABS(CntrPar%F_Damping) > 1.0) THEN
+        IF ((CntrPar%F_Damping > 1.0) .OR. (CntrPar%F_Damping < 0.0)) THEN
 			aviFAIL = -1
 			ErrMsg  = 'Filter damping coefficient must be between [0, 1]'
 		ENDIF
+
+		IF (CntrPar%IPC_CornerFreqAct < 0.0) THEN
+			aviFAIL = -1
+			ErrMsg  = 'Corner frequency of IPC actuator model must be positive, or set to 0 to disable.'
+		ENDIF
 
 		IF (CntrPar%F_CornerFreq <= 0.0) THEN
 			aviFAIL = -1