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Patching PR309 #319

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cbdf835
Re-tuned controller
RRiva May 11, 2026
9e7a944
Porting control parameters over to onshore/floating models
jennirinker Aug 4, 2026
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20 changes: 10 additions & 10 deletions HAWC2/IEA-15-240-RWT-Monopile/htc/IEA_15MW_RWT_Monopile.htc
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Original file line number Diff line number Diff line change
Expand Up @@ -209,32 +209,32 @@ begin dll;
begin init ;
; Overall parameters
constant 1 15000.0 ; Rated power [kW]
constant 2 0.524 ; Minimum rotor (LSS) speed [rad/s]
constant 3 0.792 ; Rated rotor (LSS) speed [rad/s]
constant 2 0.52360 ; Minimum rotor (LSS) speed [rad/s]
constant 3 0.79168 ; Rated rotor (LSS) speed [rad/s]
constant 4 21586451.33303 ; Maximum allowable generator torque [Nm]
constant 5 100.0 ; Minimum pitch angle, theta_min [deg],
; if |theta_min|>90, then a table of <wsp,theta_min> is read ;
; from a file named 'wptable.n', where n=int(theta_min)
constant 6 90.0 ; Maximum pitch angle [deg]
constant 7 2.0 ; Maximum pitch velocity operation [deg/s]
constant 8 0.15915 ; Frequency of generator speed filter [Hz]
constant 8 0.315 ; Frequency of generator speed filter [Hz], tuned to 2.5P like for the IEA 22 MW.
constant 9 0.7 ; Damping ratio of speed filter [-]
constant 10 1.01 ; Frequency of free-free DT torsion mode [Hz], if zero no notch filter used
; Partial load control parameters
constant 11 0.302217E+08 ; Optimal Cp tracking K factor [Nm/(rad/s)^2], ;
constant 11 0.302485E+08 ; Optimal Cp tracking K factor [Nm/(rad/s)^2], ;
; Qg=K*Omega^2, K=eta*0.5*rho*A*Cp_opt*R^3/lambda_opt^3
constant 12 0.112427E+09 ; Proportional gain of torque controller [Nm/(rad/s)]
constant 13 0.201829E+08 ; Integral gain of torque controller [Nm/rad]
constant 12 0.150858E+09 ; Proportional gain of torque controller [Nm/(rad/s)]
constant 13 0.338526E+08 ; Integral gain of torque controller [Nm/rad]
constant 14 0.0 ; Differential gain of torque controller [Nm/(rad/s^2)]
; Full load control parameters
constant 15 0 ; Generator control switch [1=constant power, 0=constant torque]
constant 16 0.640241E+00 ; Proportional gain of pitch controller [rad/(rad/s)]
constant 17 0.862019E-01 ; Integral gain of pitch controller [rad/rad]
constant 16 0.646235E+00 ; Proportional gain of pitch controller [rad/(rad/s)]
constant 17 0.870088E-01 ; Integral gain of pitch controller [rad/rad]
constant 18 0.0 ; Differential gain of pitch controller [rad/(rad/s^2)]
constant 19 0.4e-8 ; Proportional power error gain [rad/W]
constant 20 0.4e-8 ; Integral power error gain [rad/(Ws)]
constant 21 11.95434 ; Coefficient of linear term in aerodynamic gain scheduling, KK1 [deg]
constant 22 720.25183 ; Coefficient of quadratic term in aerodynamic gain scheduling, KK2 [deg^2] &
constant 21 12.09150 ; Coefficient of linear term in aerodynamic gain scheduling, KK1 [deg]
constant 22 705.91663 ; Coefficient of quadratic term in aerodynamic gain scheduling, KK2 [deg^2] &
; (if zero, KK1 = pitch angle at double gain)
constant 23 1.5 ; Relative speed for double nonlinear gain [-]
; Cut-in simulation parameters
Expand Down
20 changes: 10 additions & 10 deletions HAWC2/IEA-15-240-RWT-Onshore/htc/IEA_15MW_RWT_Onshore.htc
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Original file line number Diff line number Diff line change
Expand Up @@ -129,32 +129,32 @@ begin dll;
begin init ;
; Overall parameters
constant 1 15000.0 ; Rated power [kW]
constant 2 0.524 ; Minimum rotor (LSS) speed [rad/s]
constant 3 0.792 ; Rated rotor (LSS) speed [rad/s]
constant 2 0.52360 ; Minimum rotor (LSS) speed [rad/s]
constant 3 0.79168 ; Rated rotor (LSS) speed [rad/s]
constant 4 21586451.33303 ; Maximum allowable generator torque [Nm]
constant 5 100.0 ; Minimum pitch angle, theta_min [deg],
; if |theta_min|>90, then a table of <wsp,theta_min> is read ;
; from a file named 'wptable.n', where n=int(theta_min)
constant 6 90.0 ; Maximum pitch angle [deg]
constant 7 2.0 ; Maximum pitch velocity operation [deg/s]
constant 8 0.15915 ; Frequency of generator speed filter [Hz]
constant 8 0.315 ; Frequency of generator speed filter [Hz], tuned to 2.5P like for the IEA 22 MW.
constant 9 0.7 ; Damping ratio of speed filter [-]
constant 10 1.01 ; Frequency of free-free DT torsion mode [Hz], if zero no notch filter used
; Partial load control parameters
constant 11 0.302217E+08 ; Optimal Cp tracking K factor [Nm/(rad/s)^2], ;
constant 11 0.302485E+08 ; Optimal Cp tracking K factor [Nm/(rad/s)^2], ;
; Qg=K*Omega^2, K=eta*0.5*rho*A*Cp_opt*R^3/lambda_opt^3
constant 12 0.112427E+09 ; Proportional gain of torque controller [Nm/(rad/s)]
constant 13 0.201829E+08 ; Integral gain of torque controller [Nm/rad]
constant 12 0.150858E+09 ; Proportional gain of torque controller [Nm/(rad/s)]
constant 13 0.338526E+08 ; Integral gain of torque controller [Nm/rad]
constant 14 0.0 ; Differential gain of torque controller [Nm/(rad/s^2)]
; Full load control parameters
constant 15 0 ; Generator control switch [1=constant power, 0=constant torque]
constant 16 0.640241E+00 ; Proportional gain of pitch controller [rad/(rad/s)]
constant 17 0.862019E-01 ; Integral gain of pitch controller [rad/rad]
constant 16 0.646235E+00 ; Proportional gain of pitch controller [rad/(rad/s)]
constant 17 0.870088E-01 ; Integral gain of pitch controller [rad/rad]
constant 18 0.0 ; Differential gain of pitch controller [rad/(rad/s^2)]
constant 19 0.4e-8 ; Proportional power error gain [rad/W]
constant 20 0.4e-8 ; Integral power error gain [rad/(Ws)]
constant 21 11.95434 ; Coefficient of linear term in aerodynamic gain scheduling, KK1 [deg]
constant 22 720.25183 ; Coefficient of quadratic term in aerodynamic gain scheduling, KK2 [deg^2] &
constant 21 12.09150 ; Coefficient of linear term in aerodynamic gain scheduling, KK1 [deg]
constant 22 705.91663 ; Coefficient of quadratic term in aerodynamic gain scheduling, KK2 [deg^2] &
; (if zero, KK1 = pitch angle at double gain)
constant 23 1.5 ; Relative speed for double nonlinear gain [-]
; Cut-in simulation parameters
Expand Down
20 changes: 10 additions & 10 deletions HAWC2/IEA-15-240-RWT-UMaineSemi/htc/IEA_15MW_RWT_UMaineSemi.htc
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Original file line number Diff line number Diff line change
Expand Up @@ -229,32 +229,32 @@ begin dll;
begin init ;
; Overall parameters
constant 1 15000.0 ; Rated power [kW]
constant 2 0.524 ; Minimum rotor (LSS) speed [rad/s]
constant 3 0.792 ; Rated rotor (LSS) speed [rad/s]
constant 2 0.52360 ; Minimum rotor (LSS) speed [rad/s]
constant 3 0.79168 ; Rated rotor (LSS) speed [rad/s]
constant 4 21586451.33303 ; Maximum allowable generator torque [Nm]
constant 5 100.0 ; Minimum pitch angle, theta_min [deg],
; if |theta_min|>90, then a table of <wsp,theta_min> is read ;
; from a file named 'wptable.n', where n=int(theta_min)
constant 6 90.0 ; Maximum pitch angle [deg]
constant 7 2.0 ; Maximum pitch velocity operation [deg/s]
constant 8 0.15915 ; Frequency of generator speed filter [Hz]
constant 8 0.315 ; Frequency of generator speed filter [Hz], tuned to 2.5P like for the IEA 22 MW.
constant 9 0.7 ; Damping ratio of speed filter [-]
constant 10 1.01 ; Frequency of free-free DT torsion mode [Hz], if zero no notch filter used
; Partial load control parameters
constant 11 0.302217E+08 ; Optimal Cp tracking K factor [Nm/(rad/s)^2], ;
constant 11 0.302485E+08 ; Optimal Cp tracking K factor [Nm/(rad/s)^2], ;
; Qg=K*Omega^2, K=eta*0.5*rho*A*Cp_opt*R^3/lambda_opt^3
constant 12 0.112427E+09 ; Proportional gain of torque controller [Nm/(rad/s)]
constant 13 0.201829E+08 ; Integral gain of torque controller [Nm/rad]
constant 12 0.150858E+09 ; Proportional gain of torque controller [Nm/(rad/s)]
constant 13 0.338526E+08 ; Integral gain of torque controller [Nm/rad]
constant 14 0.0 ; Differential gain of torque controller [Nm/(rad/s^2)]
; Full load control parameters
constant 15 0 ; Generator control switch [1=constant power, 0=constant torque]
constant 16 0.640241E+00 ; Proportional gain of pitch controller [rad/(rad/s)]
constant 17 0.862019E-01 ; Integral gain of pitch controller [rad/rad]
constant 16 0.646235E+00 ; Proportional gain of pitch controller [rad/(rad/s)]
constant 17 0.870088E-01 ; Integral gain of pitch controller [rad/rad]
constant 18 0.0 ; Differential gain of pitch controller [rad/(rad/s^2)]
constant 19 0.4e-8 ; Proportional power error gain [rad/W]
constant 20 0.4e-8 ; Integral power error gain [rad/(Ws)]
constant 21 11.95434 ; Coefficient of linear term in aerodynamic gain scheduling, KK1 [deg]
constant 22 720.25183 ; Coefficient of quadratic term in aerodynamic gain scheduling, KK2 [deg^2] &
constant 21 12.09150 ; Coefficient of linear term in aerodynamic gain scheduling, KK1 [deg]
constant 22 705.91663 ; Coefficient of quadratic term in aerodynamic gain scheduling, KK2 [deg^2] &
; (if zero, KK1 = pitch angle at double gain)
constant 23 1.5 ; Relative speed for double nonlinear gain [-]
; Cut-in simulation parameters
Expand Down
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