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Merge pull request #240 from IEAWindTask37/PS_Mode
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set PS_Mode to 3
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@gbarter
gbarter authored Dec 19, 2024
2 parents a7f9661 + 44d92af commit b8c1bb2
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10 changes: 5 additions & 5 deletions OpenFAST/IEA-15-240-RWT-Monopile/IEA-15-240-RWT-Monopile_DISCON.IN
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! Controller parameter input file for the IEA-15-240-RWT-Monopile wind turbine
! - File written using ROSCO version 2.9.0 controller tuning logic on 02/06/24
! - File written using ROSCO version 2.9.4 controller tuning logic on 12/16/24

!------- SIMULATION CONTROL ------------------------------------------------------------
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)}
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!------- BLADE PITCH CONTROL ----------------------------------------------
30 ! PC_GS_n - Amount of gain-scheduling table entries
0.064332 0.090642 0.111256 0.129082 0.145101 0.159852 0.173626 0.186534 0.198876 0.210764 0.222110 0.233109 0.243846 0.254161 0.264314 0.274173 0.283843 0.293326 0.302599 0.311752 0.320697 0.329562 0.338229 0.346831 0.355259 0.363622 0.371847 0.379995 0.388042 0.395988 ! PC_GS_angles - Gain-schedule table: pitch angles [rad].
-1.157553 -0.997958 -0.866823 -0.757159 -0.664091 -0.584118 -0.514656 -0.453762 -0.399942 -0.352032 -0.309108 -0.270431 -0.235400 -0.203523 -0.174392 -0.147667 -0.123062 -0.100334 -0.079276 -0.059710 -0.041485 -0.024465 -0.008536 0.006404 0.020444 0.033664 0.046133 0.057913 0.069061 0.079625 ! PC_GS_KP - Gain-schedule table: pitch controller kp gains [s].
-0.120893 -0.109058 -0.099334 -0.091202 -0.084301 -0.078371 -0.073220 -0.068705 -0.064714 -0.061161 -0.057978 -0.055110 -0.052512 -0.050149 -0.047988 -0.046007 -0.044182 -0.042497 -0.040935 -0.039484 -0.038133 -0.036871 -0.035690 -0.034582 -0.033541 -0.032560 -0.031636 -0.030762 -0.029936 -0.029152 ! PC_GS_KI - Gain-schedule table: pitch controller ki gains [-].
-1.156615 -0.997676 -0.866954 -0.757548 -0.664636 -0.584750 -0.515330 -0.454447 -0.400616 -0.352679 -0.309718 -0.270998 -0.235919 -0.203990 -0.174807 -0.148029 -0.123371 -0.100590 -0.079480 -0.059864 -0.041589 -0.024521 -0.008545 0.006441 0.020525 0.033788 0.046299 0.058119 0.069305 0.079907 ! PC_GS_KP - Gain-schedule table: pitch controller kp gains [s].
-0.120737 -0.108976 -0.099302 -0.091206 -0.084331 -0.078419 -0.073282 -0.068777 -0.064793 -0.061246 -0.058067 -0.055202 -0.052606 -0.050243 -0.048084 -0.046102 -0.044277 -0.042592 -0.041030 -0.039578 -0.038226 -0.036963 -0.035780 -0.034671 -0.033629 -0.032648 -0.031722 -0.030847 -0.030020 -0.029235 ! PC_GS_KI - Gain-schedule table: pitch controller ki gains [-].
0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 ! PC_GS_KD - Gain-schedule table: pitch controller kd gains
0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 ! PC_GS_TF - Gain-schedule table: pitch controller tf gains (derivative filter)
1.570000000000 ! PC_MaxPit - Maximum physical pitch limit, [rad].
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36 26 ! PerfTableSize - Size of rotor performance tables, first number refers to number of blade pitch angles, second number referse to number of tip-speed ratios
60 ! WE_FOPoles_N - Number of first-order system poles used in EKF
3.0000 3.2617 3.5234 3.7852 4.0469 4.3086 4.5703 4.8321 5.0938 5.3555 5.6172 5.8790 6.1407 6.4024 6.6641 6.9259 7.1876 7.4493 7.7110 7.9728 8.2345 8.4962 8.7579 9.0197 9.2814 9.5431 9.8048 10.0666 10.3283 10.5900 11.0703 11.5507 12.0310 12.5113 12.9917 13.4720 13.9523 14.4327 14.9130 15.3933 15.8737 16.3540 16.8343 17.3147 17.7950 18.2753 18.7557 19.2360 19.7163 20.1967 20.6770 21.1573 21.6377 22.1180 22.5983 23.0787 23.5590 24.0393 24.5197 25.0000 ! WE_FOPoles_v - Wind speeds corresponding to first-order system poles [m/s]
-0.02567895 -0.02791922 -0.03015948 -0.03239975 -0.03464002 -0.03688029 -0.03912055 -0.04136082 -0.04360109 -0.04584135 -0.04808162 -0.05032189 -0.05256215 -0.05480242 -0.05704269 -0.05928296 -0.06152322 -0.06376349 -0.06600376 -0.06824402 -0.07048429 -0.07272456 -0.07496482 -0.07720509 -0.07944536 -0.08168563 -0.08392589 -0.08616616 -0.08840643 -0.09118389 -0.05949559 -0.06227862 -0.06969047 -0.07908187 -0.08992016 -0.10182266 -0.11449485 -0.12807432 -0.14219661 -0.15675774 -0.17212268 -0.18773439 -0.20385809 -0.22064779 -0.23758803 -0.25509405 -0.27303902 -0.29132859 -0.30992791 -0.32898498 -0.34841535 -0.36819407 -0.38815413 -0.40855878 -0.42924403 -0.45034341 -0.47165500 -0.49327476 -0.51490208 -0.53688665 ! WE_FOPoles - First order system poles [1/s]
-0.02567895 -0.02791922 -0.03015948 -0.03239975 -0.03464002 -0.03688029 -0.03912055 -0.04136082 -0.04360109 -0.04584135 -0.04808162 -0.05032189 -0.05256215 -0.05480242 -0.05704269 -0.05928296 -0.06152322 -0.06376349 -0.06600376 -0.06824402 -0.07048429 -0.07272456 -0.07496482 -0.07720509 -0.07944536 -0.08168563 -0.08392589 -0.08616616 -0.08840643 -0.09124065 -0.05920431 -0.06221270 -0.06945604 -0.07890407 -0.08978600 -0.10174959 -0.11456175 -0.12794724 -0.14203749 -0.15681943 -0.17194928 -0.18763388 -0.20394447 -0.22042612 -0.23757510 -0.25500489 -0.27290209 -0.29121718 -0.30983868 -0.32895392 -0.34826001 -0.36811445 -0.38812855 -0.40867238 -0.42933293 -0.45043749 -0.47169354 -0.49328117 -0.51507577 -0.53706049 ! WE_FOPoles - First order system poles [1/s]

!------- YAW CONTROL ------------------------------------------------------
0.00000 ! Y_uSwitch - Wind speed to switch between Y_ErrThresh. If zero, only the second value of Y_ErrThresh is used [m/s]
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!------- MINIMUM PITCH SATURATION -------------------------------------------
60 ! PS_BldPitchMin_N - Number of values in minimum blade pitch lookup table (should equal number of values in PS_WindSpeeds and PS_BldPitchMin)
3.000 3.262 3.523 3.785 4.047 4.309 4.570 4.832 5.094 5.356 5.617 5.879 6.141 6.402 6.664 6.926 7.188 7.449 7.711 7.973 8.234 8.496 8.758 9.020 9.281 9.543 9.805 10.067 10.328 10.590 11.070 11.551 12.031 12.511 12.992 13.472 13.952 14.433 14.913 15.393 15.874 16.354 16.834 17.315 17.795 18.275 18.756 19.236 19.716 20.197 20.677 21.157 21.638 22.118 22.598 23.079 23.559 24.039 24.520 25.000 ! PS_WindSpeeds - Wind speeds corresponding to minimum blade pitch angles [m/s]
0.060 0.060 0.060 0.060 0.060 0.060 0.057 0.053 0.048 0.042 0.037 0.030 0.024 0.017 0.010 0.003 0.000 0.000 0.000 0.000 0.000 0.000 0.000 0.000 0.000 0.000 0.000 0.000 0.000 0.000 0.000 0.000 0.000 0.000 0.000 0.000 0.000 0.000 0.000 0.000 0.000 0.000 0.000 0.000 0.000 0.000 0.000 0.000 0.000 0.000 0.000 0.000 0.000 0.000 0.000 0.000 0.000 0.000 0.000 0.000 ! PS_BldPitchMin - Minimum blade pitch angles [rad]
0.060 0.060 0.060 0.060 0.060 0.060 0.057 0.053 0.048 0.042 0.037 0.030 0.024 0.017 0.010 0.003 0.000 0.000 0.000 0.000 0.000 0.000 0.000 0.000 0.000 0.000 0.000 0.000 0.000 0.000 0.014 0.027 0.038 0.049 0.059 0.069 0.078 0.088 0.097 0.106 0.114 0.123 0.131 0.140 0.148 0.156 0.164 0.172 0.180 0.188 0.196 0.204 0.211 0.219 0.227 0.234 0.242 0.249 0.257 0.264 ! PS_BldPitchMin - Minimum blade pitch angles [rad]

!------- SHUTDOWN -----------------------------------------------------------
0.698100000000 ! SD_MaxPit - Maximum blade pitch angle to initiate shutdown, [rad]
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3 changes: 2 additions & 1 deletion OpenFAST/IEA-15-240-RWT-Monopile/IEA-15-240-RWT-Monopile_ROSCO.yaml
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Expand Up @@ -33,10 +33,11 @@ controller_params:
Y_ControlMode: 0 # Yaw control mode {0: no yaw control, 1: yaw rate control, 2: yaw-by-IPC}
SS_Mode: 1 # Setpoint Smoother mode {0: no setpoint smoothing, 1: introduce setpoint smoothing}
WE_Mode: 2 # Wind speed estimator mode {0: One-second low pass filtered hub height wind speed, 1: Immersion and Invariance Estimator (Ortega et al.)}
PS_Mode: 2 # Pitch saturation mode {0: no pitch saturation, 1: peak shaving, 2: Cp-maximizing pitch saturation, 3: peak shaving and Cp-maximizing pitch saturation}
PS_Mode: 3 # Pitch saturation mode {0: no pitch saturation, 1: peak shaving, 2: Cp-maximizing pitch saturation, 3: peak shaving and Cp-maximizing pitch saturation}
SD_Mode: 0 # Shutdown mode {0: no shutdown procedure, 1: pitch to max pitch at shutdown}
Fl_Mode: 0 # Floating specific feedback mode {0: no nacelle velocity feedback, 1: nacelle velocity feedback}
Flp_Mode: 0 # Flap control mode {0: no flap control, 1: steady state flap angle, 2: Proportional flap control}
ps_percent: 1.0
# Controller parameters
zeta_pc: 1.0 # Pitch controller desired damping ratio [-]
omega_pc: 0.2 # Pitch controller desired natural frequency [rad/s]
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10 changes: 5 additions & 5 deletions OpenFAST/IEA-15-240-RWT-UMaineSemi/IEA-15-240-RWT-UMaineSemi_DISCON.IN
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! Controller parameter input file for the IEA-15-240-RWT-UMaineSemi wind turbine
! - File written using ROSCO version 2.9.0 controller tuning logic on 02/06/24
! - File written using ROSCO version 2.9.4 controller tuning logic on 12/13/24

!------- SIMULATION CONTROL ------------------------------------------------------------
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)}
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!------- BLADE PITCH CONTROL ----------------------------------------------
30 ! PC_GS_n - Amount of gain-scheduling table entries
0.062094 0.088628 0.109270 0.127148 0.143223 0.158025 0.171764 0.184722 0.197105 0.209011 0.220338 0.231364 0.242063 0.252399 0.262569 0.272384 0.282068 0.291504 0.300785 0.309890 0.318839 0.327654 0.336324 0.344874 0.353301 0.361612 0.369834 0.377928 0.385970 0.393863 ! PC_GS_angles - Gain-schedule table: pitch angles [rad].
-1.143968 -0.988219 -0.859873 -0.752282 -0.660788 -0.582031 -0.513524 -0.453388 -0.400177 -0.352760 -0.310240 -0.271895 -0.237139 -0.205490 -0.176551 -0.149987 -0.125517 -0.102903 -0.081942 -0.062459 -0.044302 -0.027341 -0.011462 0.003436 0.017441 0.030631 0.043075 0.054835 0.065966 0.076516 ! PC_GS_KP - Gain-schedule table: pitch controller kp gains [s].
-0.119726 -0.108178 -0.098661 -0.090684 -0.083900 -0.078060 -0.072981 -0.068522 -0.064576 -0.061061 -0.057908 -0.055065 -0.052488 -0.050141 -0.047995 -0.046026 -0.044211 -0.042535 -0.040980 -0.039536 -0.038189 -0.036932 -0.035754 -0.034650 -0.033611 -0.032633 -0.031711 -0.030839 -0.030013 -0.029231 ! PC_GS_KI - Gain-schedule table: pitch controller ki gains [-].
-1.142777 -0.987724 -0.859824 -0.752519 -0.661205 -0.582556 -0.514107 -0.453995 -0.400785 -0.353352 -0.310803 -0.272422 -0.237625 -0.205931 -0.176944 -0.150331 -0.125812 -0.103149 -0.082139 -0.062607 -0.044403 -0.027396 -0.011472 0.003470 0.017518 0.030750 0.043234 0.055033 0.066202 0.076789 ! PC_GS_KP - Gain-schedule table: pitch controller kp gains [s].
-0.119556 -0.108083 -0.098619 -0.090679 -0.083922 -0.078102 -0.073038 -0.068590 -0.064652 -0.061143 -0.057994 -0.055154 -0.052579 -0.050234 -0.048089 -0.046120 -0.044306 -0.042629 -0.041074 -0.039629 -0.038282 -0.037024 -0.035845 -0.034740 -0.033700 -0.032721 -0.031797 -0.030924 -0.030098 -0.029315 ! PC_GS_KI - Gain-schedule table: pitch controller ki gains [-].
0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 ! PC_GS_KD - Gain-schedule table: pitch controller kd gains
0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 ! PC_GS_TF - Gain-schedule table: pitch controller tf gains (derivative filter)
1.570000000000 ! PC_MaxPit - Maximum physical pitch limit, [rad].
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36 26 ! PerfTableSize - Size of rotor performance tables, first number refers to number of blade pitch angles, second number referse to number of tip-speed ratios
60 ! WE_FOPoles_N - Number of first-order system poles used in EKF
3.0000 3.2669 3.5338 3.8007 4.0676 4.3345 4.6014 4.8683 5.1352 5.4021 5.6690 5.9359 6.2028 6.4697 6.7366 7.0034 7.2703 7.5372 7.8041 8.0710 8.3379 8.6048 8.8717 9.1386 9.4055 9.6724 9.9393 10.2062 10.4731 10.7400 11.2153 11.6907 12.1660 12.6413 13.1167 13.5920 14.0673 14.5427 15.0180 15.4933 15.9687 16.4440 16.9193 17.3947 17.8700 18.3453 18.8207 19.2960 19.7713 20.2467 20.7220 21.1973 21.6727 22.1480 22.6233 23.0987 23.5740 24.0493 24.5247 25.0000 ! WE_FOPoles_v - Wind speeds corresponding to first-order system poles [m/s]
-0.02567895 -0.02796349 -0.03024803 -0.03253257 -0.03481711 -0.03710166 -0.03938620 -0.04167074 -0.04395528 -0.04623982 -0.04852436 -0.05080890 -0.05309344 -0.05537798 -0.05766253 -0.05994707 -0.06223161 -0.06451615 -0.06680069 -0.06908523 -0.07136977 -0.07365431 -0.07593885 -0.07822339 -0.08050794 -0.08279248 -0.08507702 -0.08736156 -0.08964610 -0.09059663 -0.06049391 -0.06284948 -0.06999814 -0.07929908 -0.08986026 -0.10164081 -0.11414940 -0.12758646 -0.14144758 -0.15588074 -0.17113587 -0.18650122 -0.20251939 -0.21912926 -0.23583120 -0.25319804 -0.27095717 -0.28905917 -0.30746443 -0.32634101 -0.34558843 -0.36517204 -0.38493017 -0.40510931 -0.42563447 -0.44649211 -0.46766192 -0.48900392 -0.51050507 -0.53219472 ! WE_FOPoles - First order system poles [1/s]
-0.02567895 -0.02796349 -0.03024803 -0.03253257 -0.03481711 -0.03710166 -0.03938620 -0.04167074 -0.04395528 -0.04623982 -0.04852436 -0.05080890 -0.05309344 -0.05537798 -0.05766253 -0.05994707 -0.06223161 -0.06451615 -0.06680069 -0.06908523 -0.07136977 -0.07365431 -0.07593885 -0.07822339 -0.08050794 -0.08279248 -0.08507702 -0.08736156 -0.08964610 -0.09072643 -0.06009903 -0.06290457 -0.06990800 -0.07913876 -0.08983236 -0.10162611 -0.11417145 -0.12741619 -0.14137334 -0.15599691 -0.17090894 -0.18647049 -0.20252854 -0.21889218 -0.23592237 -0.25309367 -0.27087557 -0.28892640 -0.30743285 -0.32627475 -0.34546793 -0.36504435 -0.38494782 -0.40520553 -0.42575368 -0.44656633 -0.46770980 -0.48900537 -0.51069324 -0.53238692 ! WE_FOPoles - First order system poles [1/s]

!------- YAW CONTROL ------------------------------------------------------
0.00000 ! Y_uSwitch - Wind speed to switch between Y_ErrThresh. If zero, only the second value of Y_ErrThresh is used [m/s]
Expand Down Expand Up @@ -143,7 +143,7 @@

!------- Floating -----------------------------------------------------------
1 ! Fl_n - Number of Fl_Kp gains in gain scheduling, optional with default of 1
-9.2561 ! Fl_Kp - Nacelle pitching proportional feedback gain [s]
-9.1984 ! Fl_Kp - Nacelle pitching proportional feedback gain [s]
11.2770 ! Fl_U - Wind speeds for scheduling Fl_Kp, optional if Fl_Kp is single value [m/s]

!------- FLAP ACTUATION -----------------------------------------------------
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