diff --git a/examples/02_reference_turbines/IEA-10-198-RWT.yaml b/examples/02_reference_turbines/IEA-10-198-RWT.yaml index 8505486a0..c18b96cc3 100644 --- a/examples/02_reference_turbines/IEA-10-198-RWT.yaml +++ b/examples/02_reference_turbines/IEA-10-198-RWT.yaml @@ -1285,17 +1285,35 @@ materials: S: 310000.0 G: 1520000000.0 control: - supervisory: - Vin: 4.0 - Vout: 25.0 - maxTS: 90.0 - pitch: - ps_percent: 0.9 - max_pitch: 89.95437383553924 - max_pitch_rate: 9.994930426171027 - min_pitch: 0.0 - torque: - tsr: 9.0 - max_torque_rate: 1500000.0 - VS_minspd: 6.0 - VS_maxspd: 8.684000000000001 + min_rotor_speed: 5.000011692174984 + rated_rotor_speed: 8.66761003177324 + max_rotor_speed: 10.401132038127887 + max_gen_torque: 12837.86218877 + max_torque_rate: 4500.0 + fine_pitch: 0.0 + optimal_tsr: 9.0 + min_pitch_table: + wind_speed: [3.0, 3.241, 3.483, 3.724, 3.966, 4.207, 4.448, 4.69, 4.931, 5.172, 5.414, 5.655, 5.897, 6.138, 6.379, 6.621, 6.862, 7.103, 7.345, 7.586, 7.828, 8.069, 8.31, 8.552, 8.793, 9.034, 9.276, 9.517, 9.759, 10.0, 10.5, 11.0, 11.5, 12.0, 12.5, 13.0, 13.5, 14.0, 14.5, 15.0, 15.5, 16.0, 16.5, 17.0, 17.5, 18.0, 18.5, 19.0, 19.5, 20.0, 20.5, 21.0, 21.5, 22.0, 22.5, 23.0, 23.5, 24.0, 24.5, 25.0] + min_pitch: [2.8647889756541165, 2.8647889756541165, 2.8647889756541165, 2.8647889756541165, 2.8647889756541165, 2.8647889756541165, 2.6929016371148693, 2.4637185190625397, 2.0626480624709633, 1.4323944878270582, 0.9740282517223996, 0.5156620156177408, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.34377467707849396, 1.2032113697747289, 2.0053522829578814, 2.6929016371148693, 3.323155211758775, 4.068000345428844, 4.755549699585833, 5.443099053742821, 6.130648407899808, 6.7609019825437136, 7.39115555718762, 8.021409131831525, 8.651662706475431, 9.281916281119337, 9.854874076250159, 10.427831871380983, 11.000789666511807, 11.631043241155712, 12.146705256773451, 12.719663051904275, 13.2926208470351, 13.80828286265284, 14.381240657783662, 14.896902673401405, 15.469860468532229, 15.98552248414997, 16.501184499767707, 17.074142294898532, 17.53250853100319, 18.04817054662093, 18.563832562238673, 19.079494577856416, 19.595156593474155, 20.110818609091893, 20.569184845196553] + min_pitch_limit: 0.0 + max_pitch_limit: 89.95437383553924 + max_pitch_rate: 3.0000070153049903 + lpf_frequency: 1.0081 + lpf_damping: 0.7 + region2_k: 159801.1419702424 + gen_torque_kp: -3506558.0616751374 + gen_torque_ki: -329833.5286368695 + pitch_kp: + pitch_angle: [4.281255236776537, 6.008150031300838, 7.3202806779299365, 8.470894522111656, 9.511615061187284, 10.43688460454405, 11.32691724350027, 12.142694552207537, 12.9299958584968, 13.68801902145488, 14.401007701715676, 15.11451204399209, 15.787049903916651, 16.449790185544472, 17.11338990386499, 17.72954871674868, 18.346566966325064, 18.963699807460475, 19.544850899061668, 20.126460356898967, 20.709043842987988, 21.265557749398557, 21.817545289227592, 22.370105786851756, 22.90994662142402, 23.437411567621453, 23.96504840115743, 24.492513347354866, 25.001070686312985, 25.50848210968084] + kp: [-5.865462, -4.835567999999999, -4.026096, -3.3731159999999996, -2.890176, -2.5745579999999997, -2.372166, -2.243988, -2.161188, -2.1019679999999994, -2.0495819999999996, -1.9909139999999999, -1.9155719999999998, -1.81521, -1.6830299999999998, -1.5134699999999999, -1.367334, -1.293426, -1.2716399999999999, -1.2849, -1.3186379999999998, -1.3603379999999998, -1.3991999999999998, -1.4258339999999998, -1.432062, -1.410702, -1.3554419999999998, -1.260714, -1.1478359999999999, -1.0411679999999999] + pitch_ki: + pitch_angle: [4.281255236776537, 6.008150031300838, 7.3202806779299365, 8.470894522111656, 9.511615061187284, 10.43688460454405, 11.32691724350027, 12.142694552207537, 12.9299958584968, 13.68801902145488, 14.401007701715676, 15.11451204399209, 15.787049903916651, 16.449790185544472, 17.11338990386499, 17.72954871674868, 18.346566966325064, 18.963699807460475, 19.544850899061668, 20.126460356898967, 20.709043842987988, 21.265557749398557, 21.817545289227592, 22.370105786851756, 22.90994662142402, 23.437411567621453, 23.96504840115743, 24.492513347354866, 25.001070686312985, 25.50848210968084] + ki: [-0.1617, -0.14232, -0.12709199999999998, -0.11480399999999999, -0.10884600000000001, -0.110988, -0.11898, -0.131292, -0.14658, -0.16349399999999997, -0.180558, -0.196176, -0.208704, -0.21653399999999998, -0.21820799999999999, -0.21261, -0.208872, -0.21488999999999997, -0.22852799999999998, -0.24805199999999997, -0.271794, -0.29796, -0.324552, -0.349362, -0.37002599999999997, -0.38416799999999995, -0.38954999999999995, -0.38423399999999996, -0.37336199999999997, -0.36308999999999997] + constant_power: 1.0 + gen_actuator_frequency: 10000.0 + gen_actuator_damping: 1.0 + pitch_actuator_frequency: 1.5708 + pitch_actuator_damping: 0.707 + yaw_rate: 0.49847328176381617 + max_allowable_blade_tip_speed: 90.0 + peak_thrust_shaving: 0.9 diff --git a/examples/02_reference_turbines/IEA-15-240-RWT.yaml b/examples/02_reference_turbines/IEA-15-240-RWT.yaml index e61a7790e..7d1fe4700 100644 --- a/examples/02_reference_turbines/IEA-15-240-RWT.yaml +++ b/examples/02_reference_turbines/IEA-15-240-RWT.yaml @@ -1161,17 +1161,36 @@ materials: G: 1520000000.0 unit_cost: 9.0 control: - supervisory: - Vin: 3.0 - Vout: 25.0 - maxTS: 95.0 - pitch: - ps_percent: 1.0 - max_pitch: 89.95437383553924 - max_pitch_rate: 2.0 - min_pitch: 0.0 - torque: - tsr: 9.0 - max_torque_rate: 1500000.0 - VS_minspd: 4.999999999999999 - VS_maxspd: 7.559999999999999 + min_rotor_speed: 5.000011692174984 + rated_rotor_speed: 7.559987120819503 + rated_power: 15000000.0 + max_rotor_speed: 9.072022742169745 + max_gen_torque: 21765400.0 + max_torque_rate: 4500000.0 + fine_pitch: 0.0 + optimal_tsr: 9.0 + min_pitch_table: + wind_speed: [3.0, 3.2617, 3.5234, 3.7852, 4.0469, 4.3086, 4.5703, 4.8321, 5.0938, 5.3555, 5.6172, 5.879, 6.1407, 6.4024, 6.6641, 6.9259, 7.1876, 7.4493, 7.711, 7.9728, 8.2345, 8.4962, 8.7579, 9.0197, 9.2814, 9.5431, 9.8048, 10.0666, 10.3283, 10.59, 11.0703, 11.5507, 12.031, 12.5113, 12.9917, 13.472, 13.9523, 14.4327, 14.913, 15.3933, 15.8737, 16.354, 16.8343, 17.3147, 17.795, 18.2753, 18.7557, 19.236, 19.7163, 20.1967, 20.677, 21.1573, 21.6377, 22.118, 22.5983, 23.0787, 23.559, 24.0393, 24.5197, 25.0] + min_pitch: [3.437746770784939, 3.437746770784939, 3.437746770784939, 3.437746770784939, 3.437746770784939, 3.437746770784939, 3.2486706983917677, 3.019487580339438, 2.7501974166279517, 2.435070629305999, 2.1027551081301215, 1.7417916971977025, 1.357909974460051, 0.9740282517223996, 0.5729577951308232, 0.17188733853924698, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.813600069085769, 1.5355268909506063, 2.194428355351053, 2.807493196141034, 3.3861805692231655, 3.953408786402681, 4.491989113825654, 5.02483986329732, 5.540501878915061, 6.0504343165814936, 6.548907598345309, 7.041651302157817, 7.522935850067709, 8.0042203979776, 8.474045789984876, 8.94387118199215, 9.407966996048119, 9.866333232152776, 10.318969890306127, 10.771606548459477, 11.224243206612826, 11.66542070886356, 12.112327789065603, 12.547775713365029, 12.988953215615764, 13.41867156196388, 13.854119486263304, 14.278108254660115, 14.70782660100823, 15.131815369405041] + min_pitch_limit: 0.0 + max_pitch_limit: 89.95437383553924 + max_pitch_rate: 1.9996227050065731 + lpf_frequency: 1.0081 + lpf_damping: 0.7 + region2_k: 418673.00518505543 + gen_torque_kp: -3782257.6434363592 + gen_torque_ki: -471172.92459274357 + pitch_kp: + pitch_angle: [3.666929888837269, 5.213915935690491, 6.359831525952138, 7.39115555718762, 8.307888029396937, 9.167324722093172, 9.969465635276324, 10.714310768946394, 11.401860123103383, 12.08940947726037, 12.719663051904275, 13.349916626548183, 13.980170201192086, 14.55312799632291, 15.126085791453734, 15.699043586584558, 16.272001381715377, 16.78766339733312, 17.36062119246394, 17.876283208081684, 18.391945223699427, 18.907607239317166, 19.365973475421825, 19.881635491039564, 20.340001727144223, 20.855663742761966, 21.314029978866625, 21.772396214971284, 22.230762451075943, 22.689128687180602] + kp: [-6.941999999999999, -5.9862, -5.202, -4.545, -3.9876, -3.5088, -3.0917999999999997, -2.7264, -2.4036, -2.1162, -1.8581999999999996, -1.626, -1.4154, -1.224, -1.0488, -0.8879999999999999, -0.7404, -0.6035999999999999, -0.4768799999999999, -0.35916, -0.24954, -0.14712, -0.051269999999999996, 0.038646, 0.12317999999999998, 0.20273999999999998, 0.2778, 0.34872, 0.41585999999999995, 0.47945999999999994] + pitch_ki: + pitch_angle: [3.666929888837269, 5.213915935690491, 6.359831525952138, 7.39115555718762, 8.307888029396937, 9.167324722093172, 9.969465635276324, 10.714310768946394, 11.401860123103383, 12.08940947726037, 12.719663051904275, 13.349916626548183, 13.980170201192086, 14.55312799632291, 15.126085791453734, 15.699043586584558, 16.272001381715377, 16.78766339733312, 17.36062119246394, 17.876283208081684, 18.391945223699427, 18.907607239317166, 19.365973475421825, 19.881635491039564, 20.340001727144223, 20.855663742761966, 21.314029978866625, 21.772396214971284, 22.230762451075943, 22.689128687180602] + ki: [-0.7242, -0.6539999999999999, -0.5958, -0.54726, -0.50598, -0.47051999999999994, -0.43967999999999996, -0.41267999999999994, -0.38874, -0.3675, -0.34841999999999995, -0.33119999999999994, -0.31565999999999994, -0.30144, -0.28847999999999996, -0.2766, -0.26567999999999997, -0.25554, -0.24617999999999998, -0.23747999999999994, -0.22938, -0.22175999999999998, -0.21467999999999995, -0.20801999999999998, -0.20178, -0.19589999999999996, -0.19032, -0.1851, -0.18012, -0.17543999999999998] + constant_power: 0.0 + gen_actuator_frequency: 10000.0 + gen_actuator_damping: 1.0 + pitch_actuator_frequency: 3.14 + pitch_actuator_damping: 0.707 + yaw_rate: 0.49847328176381617 + max_allowable_blade_tip_speed: 95.0 + peak_thrust_shaving: 1.0 \ No newline at end of file diff --git a/examples/02_reference_turbines/IEA-22-280-RWT.yaml b/examples/02_reference_turbines/IEA-22-280-RWT.yaml index 2120a6feb..417362fa3 100644 --- a/examples/02_reference_turbines/IEA-22-280-RWT.yaml +++ b/examples/02_reference_turbines/IEA-22-280-RWT.yaml @@ -1497,17 +1497,35 @@ materials: orth: 0.0 unit_cost: 3.63 control: - supervisory: - Vin: 3.0 - Vout: 25.0 - maxTS: 105.0 - torque: - tsr: 9.153211158238001 - VS_minspd: 1.975 - VS_maxspd: 7.162 - max_torque_rate: 4500000.0 - pitch: - ps_percent: 0.8 - max_pitch: 89.95437383553924 - max_pitch_rate: 2.0 - min_pitch: -0.9549247399288653 \ No newline at end of file + min_rotor_speed: 1.8459745229456574 + rated_rotor_speed: 7.061131867192266 + rated_power: 22000000.0 + max_rotor_speed: 8.473281846258034 + max_gen_torque: 34305700.0 + max_torque_rate: 4500000.0 + fine_pitch: -4.010704565915763 + optimal_tsr: 9.15 + min_pitch_table: + wind_speed: [3.0, 3.2936, 3.5872, 3.8808, 4.1744, 4.468, 4.7616, 5.0552, 5.3488, 5.6424, 5.936, 6.2296, 6.5232, 6.8168, 7.1104, 7.404, 7.6976, 7.9912, 8.2848, 8.5785, 8.8721, 9.1657, 9.4593, 9.7529, 10.0465, 10.3401, 10.6337, 10.9273, 13.3125, 13.7621, 14.2116, 14.6611, 15.1106, 15.5601, 16.0097, 16.4592, 16.9087, 17.3582, 17.8077, 18.2572, 18.7068, 19.1563, 19.6058, 20.0553, 20.5048, 20.9543, 21.4039, 21.8534, 22.3029, 22.7524, 23.2019, 23.6514, 24.101, 24.5505, 25.0] + min_pitch: [0.5786873730821315, 0.5099324376664327, 0.43544792429942564, 0.36669298888372687, 0.2807493196141034, 0.18334649444186343, 0.08594366926962349, -0.011459155902616465, -0.11459155902616465, -0.2119943841984046, -0.31512678732195276, -0.4068000345428845, -0.492743703812508, -0.5844169510334397, -0.6760901982543714, -0.7792226013779195, -0.8766254265501595, -0.9797578296737077, -1.0771606548459478, -1.180293057969496, -1.283425461093044, -0.985487407625016, -0.3838817227376516, 0.22345354010102106, 0.813600069085769, 1.306343772898277, 1.8048170546620932, 2.3032903364259094, 3.707036934496426, 4.2456172619194, 4.767008855488449, 5.288400449057498, 5.786873730821315, 6.268158278731206, 6.743713248689789, 7.219268218648373, 7.6890936106556484, 8.16464858061423, 8.611555660816272, 9.052733163067007, 9.49391066531774, 9.940817745519782, 10.381995247770517, 10.823172750021252, 11.241431940466752, 11.66542070886356, 12.083679899309063, 12.501939089754563, 12.925927858151372, 13.349916626548183, 13.750987083139757, 14.152057539731334, 14.55312799632291, 14.954198452914486, 15.355268909506064] + min_pitch_limit: -4.010704565915763 + max_pitch_limit: 89.95437383553924 + max_pitch_rate: 2.000195662801704 + lpf_frequency: 0.91328 + lpf_damping: 0.0 + region2_k: 810380.0579009124 + gen_torque_kp: -6759000.458516784 + gen_torque_ki: -1134397.6912847382 + pitch_kp: + pitch_angle: [6.932789321082961, 8.078704911344607, 8.995437383553925, 9.797578296737077, 10.657014989433312, 11.344564343590301, 12.032113697747288, 12.662367272391194, 13.349916626548183, 13.922874421679005, 14.495832216809827, 15.068790011940651, 15.641747807071475, 16.214705602202297, 16.730367617820036, 17.24602963343778, 17.704395869542438, 18.22005788516018, 18.73571990077792, 19.19408613688258, 19.652452372987238, 20.110818609091893, 20.626480624709636, 21.084846860814295, 21.48591731740587, 21.94428355351053, 22.345354010102106, 22.803720246206765, 23.20479070279834, 23.663156938902997] + kp: [-5.1048, -4.502999999999999, -4.1129999999999995, -3.8742, -3.7391999999999994, -3.675, -3.6528, -3.6516, -3.6516, -3.6377999999999995, -3.5964000000000005, -3.5153999999999996, -3.3846000000000003, -3.1955999999999998, -2.9784, -2.8775999999999997, -2.8619999999999997, -2.8782, -2.8811999999999998, -2.8373999999999997, -2.7294, -2.5524, -2.3177999999999996, -2.0454, -1.7639999999999998, -1.5041999999999998, -1.2966, -1.1603999999999999, -1.053, -0.9503999999999999] + pitch_ki: + pitch_angle: [6.932789321082961, 8.078704911344607, 8.995437383553925, 9.797578296737077, 10.657014989433312, 11.344564343590301, 12.032113697747288, 12.662367272391194, 13.349916626548183, 13.922874421679005, 14.495832216809827, 15.068790011940651, 15.641747807071475, 16.214705602202297, 16.730367617820036, 17.24602963343778, 17.704395869542438, 18.22005788516018, 18.73571990077792, 19.19408613688258, 19.652452372987238, 20.110818609091893, 20.626480624709636, 21.084846860814295, 21.48591731740587, 21.94428355351053, 22.345354010102106, 22.803720246206765, 23.20479070279834, 23.663156938902997] + ki: [-0.26093999999999995, -0.2403, -0.22386, -0.21054, -0.19962, -0.19043999999999997, -0.18264, -0.17579999999999998, -0.16968, -0.16404, -0.15864, -0.15336, -0.14801999999999998, -0.14262, -0.13932, -0.14814, -0.1686, -0.19967999999999997, -0.24054, -0.2898, -0.34535999999999994, -0.4044, -0.46307999999999994, -0.5172599999999999, -0.5620799999999999, -0.59292, -0.6054, -0.5967, -0.5815199999999999, -0.5671200000000001] + constant_power: 1.0 + gen_actuator_frequency: 10000.0 + gen_actuator_damping: 1.0 + pitch_actuator_frequency: 6.2831 + pitch_actuator_damping: 0.707 + yaw_rate: 0.49847328176381617 + max_allowable_blade_tip_speed: 105.0 diff --git a/examples/02_reference_turbines/IEA-3p4-130-RWT.yaml b/examples/02_reference_turbines/IEA-3p4-130-RWT.yaml index 11077e5f6..9a85129bf 100644 --- a/examples/02_reference_turbines/IEA-3p4-130-RWT.yaml +++ b/examples/02_reference_turbines/IEA-3p4-130-RWT.yaml @@ -1,963 +1,979 @@ -windIO_version: '2.0' -name: IEA-3.4-130-RWT -assembly: - turbine_class: III - turbulence_class: A - drivetrain: Geared - rotor_orientation: Upwind - number_of_blades: 3 - hub_height: 110.0 - rotor_diameter: 129.82183952 - rated_power: 3370000.0 -components: - blade: - reference_axis: - x: - grid: [0.0, 0.016666666666666666, 0.03333333333333333, 0.05, 0.06666666666666667, 0.08333333333333333, 0.1, 0.12258064516129033, 0.14516129032258066, 0.16774193548387098, 0.1903225806451613, 0.21290322580645163, 0.23548387096774195, 0.25806451612903225, 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+ description: epoxy + E: 1000000.0 + rho: 1150.0 + nu: 0.3 + orth: 0 + unit_cost: 3.63 + waste: 0.2 + - name: steel + description: Steel of the tower + source: Standard steel with higher density to account for auxiliary systems of the tower (elevator, stairs, etc) + orth: 0 + rho: 8500 + E: 210000000000.0 + Xy: 450000000.0 + nu: 0.3 + alpha: 0.0 + Xt: 355000000.0 + Xc: 355000000.0 + m: 3 + A: 35534648443.719765 +control: + min_rotor_speed: 3.5386060475357093 + rated_rotor_speed: 11.633938548501897 + max_rotor_speed: 13.960726258202277 + max_gen_torque: 31.982722000000003 + max_torque_rate: 1500.0 + fine_pitch: 0.0 + min_pitch_table: + wind_speed: [3.0, 3.2367, 3.4733, 3.71, 3.9466, 4.1833, 4.42, 4.6566, 4.8933, 5.1299, 5.3666, 5.6033, 5.8399, 6.0766, 6.3132, 6.5499, 6.7866, 7.0232, 7.2599, 7.4965, 7.7332, 7.9699, 8.2065, 8.4432, 8.6799, 8.9165, 9.1532, 9.3898, 9.6265, 9.8632, 10.3677, 10.8723, 11.3768, 11.8814, 12.386, 12.8905, 13.3951, 13.8996, 14.4042, 14.9088, 15.4133, 15.9179, 16.4225, 16.927, 17.4316, 17.9361, 18.4407, 18.9453, 19.4498, 19.9544, 20.4589, 20.9635, 21.4681, 21.9726, 22.4772, 22.9818, 23.4863, 23.9909, 24.4954, 25.0] + min_pitch: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.4299939390475753, 1.35595676133645, 2.1931787343998725, 2.8923035548918885, 3.520823359247728, 4.345674027598686, 5.101621364465006, 5.847545377663308, 6.554314028100164, 7.246603462096268, 7.9284564698540665, 8.555700297200149, 9.189619655817301, 9.835791716883328, 10.457554057003394, 11.075789268936637, 11.674093571008456, 12.237563185051913, 12.823665204960832, 13.423231733055326, 13.982126279104664, 14.539559782776418, 15.103976496055225, 15.661917067375668, 16.221311805580157, 16.780704251953463, 17.32413237528104, 17.84907344239092, 18.383694058491745, 18.93734260296887, 19.46497714467366, 19.99543866013963, 20.528921382059327, 21.048093337130037, 21.5484671199003] + min_pitch_limit: 0.0 + max_pitch_limit: 89.95437383553924 + max_pitch_rate: 6.999825383113268 + lpf_frequency: 1.68372 + lpf_damping: 0.0 + optimal_tsr: 8.01754386 + region2_k: 0.025287132760573285 + gen_torque_kp: -100.68999338219564 + gen_torque_ki: -12.802275948309882 + pitch_kp: + pitch_angle: [4.91534762864782, 6.6460239446199845, 8.029774315640434, 9.181820554309981, 10.237094221381932, 11.21519047344976, 12.123443170291141, 12.990041835426512, 13.8081109753143, 14.590255661447387, 15.373890037847813, 16.09873894446782, 16.81631128708966, 17.50907455718234, 18.189691122018242, 18.87471946187666, 19.517807291131493, 20.151727795664236, 20.78473156772477, 21.394530549082504, 22.007652685651998, 22.625473076141564, 23.202269688499765, 23.77511289207156, 24.346179926478452, 24.907220199470558, 25.46436435945577, 26.020878265866337, 26.564042255650357, 27.092481230099516] + kp: [-0.042359999999999995, -0.035753999999999994, -0.030378, -0.025914, -0.022146, -0.01893, -0.016152, -0.013721999999999998, -0.011585999999999999, -0.009689999999999999, -0.007991999999999999, -0.006467999999999999, -0.005094, -0.0038459999999999996, -0.0027059999999999996, -0.001662, -0.0007019999999999999, 0.000186, 0.0010019999999999999, 0.001764, 0.002472, 0.003132, 0.00375, 0.004325999999999999, 0.004866, 0.005382, 0.005861999999999999, 0.006311999999999999, 0.006743999999999999, 0.007151999999999999] + pitch_ki: + pitch_angle: [4.91534762864782, 6.6460239446199845, 8.029774315640434, 9.181820554309981, 10.237094221381932, 11.21519047344976, 12.123443170291141, 12.990041835426512, 13.8081109753143, 14.590255661447387, 15.373890037847813, 16.09873894446782, 16.81631128708966, 17.50907455718234, 18.189691122018242, 18.87471946187666, 19.517807291131493, 20.151727795664236, 20.78473156772477, 21.394530549082504, 22.007652685651998, 22.625473076141564, 23.202269688499765, 23.77511289207156, 24.346179926478452, 24.907220199470558, 25.46436435945577, 26.020878265866337, 26.564042255650357, 27.092481230099516] + ki: [-0.004457999999999999, -0.0040019999999999995, -0.0036299999999999995, -0.003318, -0.0030600000000000002, -0.002838, -0.0026459999999999995, -0.0024779999999999997, -0.0023279999999999998, -0.0021959999999999996, -0.0020819999999999996, -0.0019739999999999996, -0.0018780000000000001, -0.0017939999999999998, -0.001716, -0.0016439999999999996, -0.0015779999999999998, -0.001518, -0.0014579999999999999, -0.0014039999999999999, -0.0013559999999999998, -0.001314, -0.001272, -0.0012299999999999998, -0.001194, -0.001158, -0.001122, -0.001092, -0.001062, -0.001032] + constant_power: 0.0 + gen_actuator_frequency: 10000.0 + gen_actuator_damping: 1.0 + pitch_actuator_frequency: 3.14 + pitch_actuator_damping: 0.707 + yaw_rate: 0.49847328176381617 + max_allowable_blade_tip_speed: 80.0 diff --git a/examples/02_reference_turbines/nrel5mw.yaml b/examples/02_reference_turbines/nrel5mw.yaml index 2afe9fc9c..703420f9e 100644 --- a/examples/02_reference_turbines/nrel5mw.yaml +++ b/examples/02_reference_turbines/nrel5mw.yaml @@ -624,7 +624,7 @@ components: outer_shape: outer_diameter: grid: [0, 0.097329909, 0.19466895, 0.291997717, 0.389326484, 0.486678082, 0.583995434, 0.681335616, 0.778664384, 0.876004566, 0.973378995, 1] - values: [6.0000, 5.7870, 5.5740, 5.3610, 5.1480, 4.9350, 4.7220, 4.5090, 4.2960, 4.0830, 3.8700, 3.8700] + values: [6.0, 5.787, 5.574, 5.361, 5.148, 4.935, 4.722, 4.509, 4.296, 4.083, 3.87, 3.87] cd: grid: [0.0, 1.0] values: [1.0, 1.0] @@ -689,7 +689,7 @@ components: uptower: true generator: generator_rpm_efficiency_user: - grid: [0., 1.] + grid: [0.0, 1.0] values: [0.944, 0.944] rated_rpm: 1200.0 rho_Fe: 7700.0 @@ -740,8 +740,8 @@ components: length: 2.0 elastic_properties: mass: 240000.0 - inertia: [0., 0., 0., 0., 0., 2607890.0] - location: [0., 0., 0.] + inertia: [0.0, 0.0, 0.0, 0.0, 0.0, 2607890.0] + location: [0.0, 0.0, 0.0] airfoils: - aerodynamic_center: 0.275 polars: @@ -1057,17 +1057,34 @@ materials: G: 1520000.0 unit_cost: 9.0 control: - supervisory: - Vin: 3.0 - Vout: 25.0 - maxTS: 80.0 - pitch: - ps_percent: 0.8 - max_pitch: 89.95437383553924 - max_pitch_rate: 9.998113525032865 - min_pitch: 0.0 - torque: - tsr: 7.01754386 - max_torque_rate: 1500000.0 - VS_minspd: 6.899939740828794 - VS_maxspd: 12.10000919647029 + min_rotor_speed: 6.899939740828794 + rated_rotor_speed: 12.100009196470292 + max_rotor_speed: 14.520010641978924 + max_gen_torque: 47.4029 + max_torque_rate: 40.0 + fine_pitch: 0.0 + optimal_tsr: 7.01754386 + min_pitch_table: + wind_speed: [3.0, 3.2897, 3.5793, 3.869, 4.1586, 4.4483, 4.7379, 5.0276, 5.3172, 5.6069, 5.8966, 6.1862, 6.4759, 6.7655, 7.0552, 7.3448, 7.6345, 7.9241, 8.2138, 8.5034, 8.7931, 9.0828, 9.3724, 9.6621, 9.9517, 10.2414, 10.531, 10.8207, 11.1103, 11.4, 11.8533, 12.3067, 12.76, 13.2133, 13.6667, 14.12, 14.5733, 15.0267, 15.48, 15.9333, 16.3867, 16.84, 17.2933, 17.7467, 18.2, 18.6533, 19.1067, 19.56, 20.0133, 20.4667, 20.92, 21.3733, 21.8267, 22.28, 22.7333, 23.1867, 23.64, 24.0933, 24.5467, 25.0] + min_pitch: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.8307888029396937, 1.558445202755839, 2.1084846860814292, 2.5611213442347798, 3.002298846485514, 3.6497411549833445, 4.27999472962725, 4.893059570417231, 5.488935677353286, 6.073352628386726, 6.64631042351755, 7.213538640697065, 7.769307701973963, 8.313617607348245, 8.857927512722526, 9.390778262194193, 9.923629011665858, 10.445020605234907, 10.966412198803956, 11.482074214421697, 11.992006652088131, 12.496209511803254, 13.000412371518378, 13.493156075330885, 13.991629357094704, 14.472913905004594, 14.965657608817102, 15.441212578775687, 15.922497126685576, 16.386592940741544, 16.85641833274882, 17.320514146804786, 17.790339538812063, 18.24870577491672, 18.707072011021378] + min_pitch_limit: 0.0 + max_pitch_limit: 89.95437383553924 + max_pitch_rate: 9.998113525032865 + lpf_frequency: 1.5708 + lpf_damping: 0.0 + region2_k: 0.02533801605437446 + gen_torque_kp: -73.0704082496001 + gen_torque_ki: -10.943947448290283 + pitch_kp: + pitch_angle: [3.2658594322456924, 4.8128454790989155, 6.073352628386726, 7.104676659622208, 8.078704911344607, 8.938141604040842, 9.740282517223996, 10.485127650894064, 11.229972784564136, 11.917522138721123, 12.60507149287811, 13.2926208470351, 13.922874421679005, 14.495832216809827, 15.126085791453734, 15.699043586584558, 16.272001381715377, 16.844959176846203, 17.417916971977025, 17.99087476710785, 18.50653678272559, 19.022198798343332, 19.537860813961075, 20.05352282957881, 20.569184845196553, 21.084846860814295, 21.600508876432034, 22.058875112536693, 22.574537128154436, 23.032903364259095] + kp: [-0.1245, -0.10937999999999999, -0.09713999999999999, -0.087, -0.07848, -0.07122, -0.06491999999999999, -0.059478, -0.054678, -0.050424, -0.046632, -0.043224000000000005, -0.040152, -0.03736199999999999, -0.034817999999999995, -0.03249, -0.030354, -0.028385999999999998, -0.026562, -0.024876, -0.023304, -0.02184, -0.020465999999999998, -0.019187999999999997, -0.017981999999999998, -0.016853999999999997, -0.015786, -0.014778, -0.013830000000000002, -0.012929999999999999] + pitch_ki: + pitch_angle: [3.2658594322456924, 4.8128454790989155, 6.073352628386726, 7.104676659622208, 8.078704911344607, 8.938141604040842, 9.740282517223996, 10.485127650894064, 11.229972784564136, 11.917522138721123, 12.60507149287811, 13.2926208470351, 13.922874421679005, 14.495832216809827, 15.126085791453734, 15.699043586584558, 16.272001381715377, 16.844959176846203, 17.417916971977025, 17.99087476710785, 18.50653678272559, 19.022198798343332, 19.537860813961075, 20.05352282957881, 20.569184845196553, 21.084846860814295, 21.600508876432034, 22.058875112536693, 22.574537128154436, 23.032903364259095] + ki: [-0.05050199999999999, -0.04521599999999999, -0.040931999999999996, -0.037391999999999995, -0.034409999999999996, -0.031872, -0.029682, -0.027774, -0.026099999999999995, -0.024611999999999995, -0.023285999999999998, -0.022092, -0.021018, -0.020045999999999998, -0.019152, -0.018341999999999997, -0.017592, -0.016908, -0.016272, -0.015677999999999997, -0.015131999999999998, -0.014615999999999997, -0.014142, -0.013692, -0.013272, -0.012875999999999999, -0.012504, -0.012149999999999998, -0.011819999999999999, -0.011502] + constant_power: 1.0 + gen_actuator_frequency: 10000.0 + gen_actuator_damping: 1.0 + pitch_actuator_frequency: 3.14 + pitch_actuator_damping: 0.707 + yaw_rate: 0.49847328176381617 + max_allowable_blade_tip_speed: 80.0 diff --git a/examples/03_blade/BAR_URC.yaml b/examples/03_blade/BAR_URC.yaml index 6d714c1db..4410bc1a3 100644 --- a/examples/03_blade/BAR_URC.yaml +++ b/examples/03_blade/BAR_URC.yaml @@ -1229,18 +1229,14 @@ materials: m: 3 unit_cost: 0.7 control: - supervisory: - Vin: 4.0 - Vout: 25.0 - maxTS: 85.0 - pitch: - ps_percent: 0.8 - max_pitch: 89.95437383553924 - max_pitch_rate: 1.9989860852342056 - min_pitch: 0.0 - torque: - tsr: 10.5 - max_torque_rate: 4500000.0 - VS_minspd: 0.0 - VS_maxspd: 19.098593171027442 -comments: Flexible upwind design - rail transportable - Spar caps with industry baseline CFRP - last updated on April 29th 2021 by Pietro Bortolotti + min_rotor_speed: 0. + max_rotor_speed: 7.885576712533701 + optimal_tsr: 10.5 + min_pitch_table: + wind_speed: [4.0, 25.0] + min_pitch: [0.0, 0.0] + min_pitch_limit: 0.0 + max_pitch_limit: 90. + max_pitch_rate: 2.0 + peak_thrust_shaving: 0.8 + max_allowable_blade_tip_speed: 85.0 \ No newline at end of file diff --git a/examples/03_blade/BAR_USC.yaml b/examples/03_blade/BAR_USC.yaml index d78bbda8c..1eb788168 100644 --- a/examples/03_blade/BAR_USC.yaml +++ b/examples/03_blade/BAR_USC.yaml @@ -1324,18 +1324,14 @@ materials: Xy: 1650000000.0 unit_cost: 2 control: - supervisory: - Vin: 4.0 - Vout: 25.0 - maxTS: 85.0 - pitch: - ps_percent: 0.8 - max_pitch: 89.95437383553924 - max_pitch_rate: 1.9989860852342056 - min_pitch: 0.0 - torque: - tsr: 10.5 - max_torque_rate: 4500000.0 - VS_minspd: 0.0 - VS_maxspd: 19.098593171027442 -comments: BAR-USC - Upwind segmented design - Spar caps with industry baseline CFRP - last updated on April 23rd 2021 by Pietro Bortolotti + min_rotor_speed: 0. + max_rotor_speed: 7.885576712533701 + optimal_tsr: 10.5 + min_pitch_table: + wind_speed: [4.0, 25.0] + min_pitch: [0.0, 0.0] + min_pitch_limit: 0.0 + max_pitch_limit: 90. + max_pitch_rate: 2.0 + peak_thrust_shaving: 0.8 + max_allowable_blade_tip_speed: 85.0 \ No newline at end of file diff --git a/examples/05_tower_monopile/nrel5mw_monopile.yaml b/examples/05_tower_monopile/nrel5mw_monopile.yaml index 09e86469b..b322268ab 100644 --- a/examples/05_tower_monopile/nrel5mw_monopile.yaml +++ b/examples/05_tower_monopile/nrel5mw_monopile.yaml @@ -84,3 +84,12 @@ materials: m: 3 A: 35534648443.719765 unit_cost: 0.7 +control: + min_pitch_table: + wind_speed: [3.0, 25.0] + min_pitch: [0.0, 18.707072011021378] + min_rotor_speed: 6.899939740828794 + max_rotor_speed: 14.520010641978924 + optimal_tsr: 7.01754386 + max_allowable_blade_tip_speed: 80.0 + min_pitch_limit: 0.0 diff --git a/examples/05_tower_monopile/nrel5mw_tower.yaml b/examples/05_tower_monopile/nrel5mw_tower.yaml index 7b67ffeb0..b702451d6 100644 --- a/examples/05_tower_monopile/nrel5mw_tower.yaml +++ b/examples/05_tower_monopile/nrel5mw_tower.yaml @@ -59,3 +59,12 @@ materials: m: 3 A: 3.5534648443719767e10 unit_cost: 0.7 +control: + min_pitch_table: + wind_speed: [3.0, 25.0] + min_pitch: [0.0, 18.707072011021378] + min_rotor_speed: 6.899939740828794 + max_rotor_speed: 14.520010641978924 + optimal_tsr: 7.01754386 + max_allowable_blade_tip_speed: 80.0 + min_pitch_limit: 0.0 diff --git a/examples/09_floating/IEA-15-240-RWT_VolturnUS-S.yaml b/examples/09_floating/IEA-15-240-RWT_VolturnUS-S.yaml index 11f70db15..8553075ba 100644 --- a/examples/09_floating/IEA-15-240-RWT_VolturnUS-S.yaml +++ b/examples/09_floating/IEA-15-240-RWT_VolturnUS-S.yaml @@ -1390,17 +1390,36 @@ materials: unit_cost: 1.0 orth: 0.0 control: - supervisory: - Vin: 3.0 - Vout: 25.0 - maxTS: 95.0 - pitch: - ps_percent: 1.0 - max_pitch: 89.95437383553924 - max_pitch_rate: 2.0 - min_pitch: 0.0 - torque: - tsr: 9.0 - max_torque_rate: 1500000.0 - VS_minspd: 4.999999999999999 - VS_maxspd: 7.559999999999999 \ No newline at end of file + min_rotor_speed: 5.000011692174984 + rated_rotor_speed: 7.559987120819503 + rated_power: 15000000.0 + max_rotor_speed: 9.072022742169745 + max_gen_torque: 21765400.0 + max_torque_rate: 4500000.0 + fine_pitch: 0.0 + optimal_tsr: 9.0 + min_pitch_table: + wind_speed: [3.0, 3.2669, 3.5338, 3.8007, 4.0676, 4.3345, 4.6014, 4.8683, 5.1352, 5.4021, 5.669, 5.9359, 6.2028, 6.4697, 6.7366, 7.0034, 7.2703, 7.5372, 7.8041, 8.071, 8.3379, 8.6048, 8.8717, 9.1386, 9.4055, 9.6724, 9.9393, 10.2062, 10.4731, 10.74, 11.2153, 11.6907, 12.166, 12.6413, 13.1167, 13.592, 14.0673, 14.5427, 15.018, 15.4933, 15.9687, 16.444, 16.9193, 17.3947, 17.87, 18.3453, 18.8207, 19.296, 19.7713, 20.2467, 20.722, 21.1973, 21.6727, 22.148, 22.6233, 23.0987, 23.574, 24.0493, 24.5247, 25.0] + min_pitch: [3.437746770784939, 3.437746770784939, 3.437746770784939, 3.437746770784939, 3.437746770784939, 3.437746770784939, 3.2200228086352265, 2.985110112631589, 2.7043607930174858, 2.3777748497929165, 2.034000172714422, 1.6615776058793874, 1.2662367272391195, 0.8708958485988513, 0.4640958140559668, 0.057295779513082325, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.3495042550298022, 1.1745634800181877, 1.902219879834333, 2.532473454478239, 3.036676314193363, 3.655470732934652, 4.2456172619194, 4.807115901147607, 5.357155384473197, 5.890006133944863, 6.4056681495626036, 6.921330165180345, 7.419803446944161, 7.918276728707976, 8.399561276617868, 8.88084582452776, 9.356400794486344, 9.826226186493619, 10.290322000549585, 10.754417814605553, 11.207054472758902, 11.659691130912252, 12.112327789065603, 12.553505291316336, 13.000412371518378, 13.435860295817804, 13.87130822011723, 14.301026566465348, 14.736474490764772, 15.160463259161583, 15.584452027558394, 16.01417037390651, 16.43242956435201, 16.85068875479751, 17.263218367291703] + min_pitch_limit: 0.0 + max_pitch_limit: 89.95437383553924 + max_pitch_rate: 1.9996227050065731 + lpf_frequency: 1.0081 + lpf_damping: 0.7 + region2_k: 418673.00518505543 + gen_torque_kp: -3741699.6822785153 + gen_torque_ki: -471172.92459274357 + pitch_kp: + pitch_angle: [3.552338329811104, 5.099324376664327, 6.245239966925973, 7.276563998161455, 8.193296470370772, 9.052733163067007, 9.854874076250159, 10.599719209920229, 11.287268564077218, 11.974817918234205, 12.60507149287811, 13.235325067522018, 13.865578642165922, 14.438536437296746, 15.068790011940651, 15.584452027558394, 16.157409822689214, 16.730367617820036, 17.24602963343778, 17.76169164905552, 18.27735366467326, 18.793015680291003, 19.251381916395662, 19.7670439320134, 20.22541016811806, 20.7410721837358, 21.199438419840458, 21.657804655945117, 22.116170892049777, 22.574537128154436] + kp: [-6.857999999999999, -5.9262, -5.1588, -4.514999999999999, -3.9672, -3.4955999999999996, -3.0846, -2.724, -2.4048, -2.1203999999999996, -1.8648, -1.6343999999999996, -1.4256, -1.2353999999999998, -1.0614, -0.9017999999999998, -0.7547999999999999, -0.6185999999999999, -0.49284, -0.37566, -0.26639999999999997, -0.16440000000000002, -0.06881999999999999, 0.020819999999999998, 0.10511999999999999, 0.1845, 0.25937999999999994, 0.33018, 0.39719999999999994, 0.46074] + pitch_ki: + pitch_angle: [3.552338329811104, 5.099324376664327, 6.245239966925973, 7.276563998161455, 8.193296470370772, 9.052733163067007, 9.854874076250159, 10.599719209920229, 11.287268564077218, 11.974817918234205, 12.60507149287811, 13.235325067522018, 13.865578642165922, 14.438536437296746, 15.068790011940651, 15.584452027558394, 16.157409822689214, 16.730367617820036, 17.24602963343778, 17.76169164905552, 18.27735366467326, 18.793015680291003, 19.251381916395662, 19.7670439320134, 20.22541016811806, 20.7410721837358, 21.199438419840458, 21.657804655945117, 22.116170892049777, 22.574537128154436] + ki: [-0.7175999999999999, -0.6486, -0.5917199999999999, -0.5440799999999999, -0.50352, -0.4686, -0.4382399999999999, -0.41153999999999996, -0.38789999999999997, -0.36684, -0.34793999999999997, -0.3308999999999999, -0.31548, -0.30138, -0.28854, -0.27671999999999997, -0.26586000000000004, -0.25578, -0.24642, -0.23777999999999996, -0.22968, -0.22211999999999996, -0.21509999999999999, -0.20844, -0.2022, -0.19632, -0.1908, -0.18551999999999996, -0.18059999999999998, -0.17586] + constant_power: 0.0 + gen_actuator_frequency: 10000.0 + gen_actuator_damping: 1.0 + pitch_actuator_frequency: 3.14 + pitch_actuator_damping: 0.707 + yaw_rate: 0.49847328176381617 + max_allowable_blade_tip_speed: 95.0 + peak_thrust_shaving: 1.0 \ No newline at end of file diff --git a/examples/09_floating/IEA-22-280-RWT_Floater.yaml b/examples/09_floating/IEA-22-280-RWT_Floater.yaml index b6d8ab622..f2aa62c20 100644 --- a/examples/09_floating/IEA-22-280-RWT_Floater.yaml +++ b/examples/09_floating/IEA-22-280-RWT_Floater.yaml @@ -1804,17 +1804,36 @@ materials: orth: 0.0 unit_cost: 3.63 control: - supervisory: - Vin: 3.0 - Vout: 25.0 - maxTS: 105.0 - torque: - tsr: 9.153211158238001 - VS_minspd: 1.975 - VS_maxspd: 7.162 - max_torque_rate: 4500000.0 - pitch: - ps_percent: 0.8 - max_pitch: 89.95437383553924 - max_pitch_rate: 2.0 - min_pitch: -0.9549247399288653 + min_rotor_speed: 1.8459745229456574 + rated_rotor_speed: 7.061131867192266 + rated_power: 22000000.0 + max_rotor_speed: 8.473281846258034 + max_gen_torque: 34305700.0 + max_torque_rate: 4500000.0 + fine_pitch: -4.010704565915763 + optimal_tsr: 9.15 + min_pitch_table: + wind_speed: [3.0, 3.2936, 3.5872, 3.8808, 4.1744, 4.468, 4.7616, 5.0552, 5.3488, 5.6424, 5.936, 6.2296, 6.5232, 6.8168, 7.1104, 7.404, 7.6976, 7.9912, 8.2848, 8.5785, 8.8721, 9.1657, 9.4593, 9.7529, 10.0465, 10.3401, 10.6337, 10.9273, 13.3125, 13.7621, 14.2116, 14.6611, 15.1106, 15.5601, 16.0097, 16.4592, 16.9087, 17.3582, 17.8077, 18.2572, 18.7068, 19.1563, 19.6058, 20.0553, 20.5048, 20.9543, 21.4039, 21.8534, 22.3029, 22.7524, 23.2019, 23.6514, 24.101, 24.5505, 25.0] + min_pitch: [0.5786873730821315, 0.5099324376664327, 0.43544792429942564, 0.36669298888372687, 0.2807493196141034, 0.18334649444186343, 0.08594366926962349, -0.011459155902616465, -0.11459155902616465, -0.2119943841984046, -0.31512678732195276, -0.4068000345428845, -0.492743703812508, -0.5844169510334397, -0.6760901982543714, -0.7792226013779195, -0.8766254265501595, -0.9797578296737077, -1.0771606548459478, -1.180293057969496, -1.283425461093044, -0.985487407625016, -0.3838817227376516, 0.22345354010102106, 0.813600069085769, 1.306343772898277, 1.8048170546620932, 2.3032903364259094, 3.707036934496426, 4.2456172619194, 4.767008855488449, 5.288400449057498, 5.786873730821315, 6.268158278731206, 6.743713248689789, 7.219268218648373, 7.6890936106556484, 8.16464858061423, 8.611555660816272, 9.052733163067007, 9.49391066531774, 9.940817745519782, 10.381995247770517, 10.823172750021252, 11.241431940466752, 11.66542070886356, 12.083679899309063, 12.501939089754563, 12.925927858151372, 13.349916626548183, 13.750987083139757, 14.152057539731334, 14.55312799632291, 14.954198452914486, 15.355268909506064] + min_pitch_limit: -4.010704565915763 + max_pitch_limit: 89.95437383553924 + max_pitch_rate: 2.000195662801704 + lpf_frequency: 0.91328 + lpf_damping: 0.0 + region2_k: 810380.0579009124 + gen_torque_kp: -6759000.458516784 + gen_torque_ki: -1134397.6912847382 + pitch_kp: + pitch_angle: [6.932789321082961, 8.078704911344607, 8.995437383553925, 9.797578296737077, 10.657014989433312, 11.344564343590301, 12.032113697747288, 12.662367272391194, 13.349916626548183, 13.922874421679005, 14.495832216809827, 15.068790011940651, 15.641747807071475, 16.214705602202297, 16.730367617820036, 17.24602963343778, 17.704395869542438, 18.22005788516018, 18.73571990077792, 19.19408613688258, 19.652452372987238, 20.110818609091893, 20.626480624709636, 21.084846860814295, 21.48591731740587, 21.94428355351053, 22.345354010102106, 22.803720246206765, 23.20479070279834, 23.663156938902997] + kp: [-7.68, -6.851999999999999, -6.233999999999999, -5.7749999999999995, -5.4258, -5.1564, -4.941599999999999, -4.7616, -4.5996, -4.4430000000000005, -4.2791999999999994, -4.1004, -3.8969999999999994, -3.6624, -3.4632, -3.5784, -3.9509999999999996, -4.494599999999999, -5.133, -5.803199999999999, -6.4559999999999995, -7.044, -7.5360000000000005, -7.913999999999999, -8.16, -8.249999999999998, -8.184000000000001, -7.949999999999999, -7.667999999999999, -7.403999999999999] + pitch_ki: + pitch_angle: [6.932789321082961, 8.078704911344607, 8.995437383553925, 9.797578296737077, 10.657014989433312, 11.344564343590301, 12.032113697747288, 12.662367272391194, 13.349916626548183, 13.922874421679005, 14.495832216809827, 15.068790011940651, 15.641747807071475, 16.214705602202297, 16.730367617820036, 17.24602963343778, 17.704395869542438, 18.22005788516018, 18.73571990077792, 19.19408613688258, 19.652452372987238, 20.110818609091893, 20.626480624709636, 21.084846860814295, 21.48591731740587, 21.94428355351053, 22.345354010102106, 22.803720246206765, 23.20479070279834, 23.663156938902997] + ki: [-0.31758, -0.29219999999999996, -0.27149999999999996, -0.25433999999999996, -0.23988, -0.22757999999999995, -0.21689999999999998, -0.20747999999999997, -0.19901999999999997, -0.19127999999999998, -0.18401999999999996, -0.17717999999999998, -0.17058, -0.16404, -0.16146, -0.17922, -0.21779999999999997, -0.27696, -0.35652, -0.45491999999999994, -0.56862, -0.6918, -0.8165999999999999, -0.9335999999999999, -1.0326, -1.1022, -1.1328, -1.1184, -1.0902, -1.0632] + constant_power: 0.0 + gen_actuator_frequency: 10000.0 + gen_actuator_damping: 1.0 + pitch_actuator_frequency: 6.2831 + pitch_actuator_damping: 0.707 + yaw_rate: 0.49847328176381617 + max_allowable_blade_tip_speed: 95.0 + peak_thrust_shaving: 1.0 \ No newline at end of file diff --git a/examples/09_floating/nrel5mw-semi_oc4.yaml b/examples/09_floating/nrel5mw-semi_oc4.yaml index f1ee6d9b3..03520d450 100644 --- a/examples/09_floating/nrel5mw-semi_oc4.yaml +++ b/examples/09_floating/nrel5mw-semi_oc4.yaml @@ -1305,28 +1305,34 @@ materials: G: 1520000.0 unit_cost: 9.0 control: - supervisory: - Vin: 3.0 - Vout: 25.0 - maxTS: 80.0 - #rated_power: 5000000.0 - pitch: - #PC_zeta: 0.7 - #PC_omega: 0.5 - ps_percent: 0.8 - max_pitch: 89.95437383553924 - max_pitch_rate: 9.998113525032865 - min_pitch: 0.0 - torque: - #control_type: tsr_tracking - tsr: 7.01754386 - #VS_zeta: 0.7 - #VS_omega: 0.2 - max_torque_rate: 1500000.0 - VS_minspd: 6.899939740828794 - #setpoint_smooth: - # ss_vsgain: 1 - # ss_pcgain: 0.01 - #shutdown: - # limit_type: gen_speed - # limit_value: 2.0 + min_rotor_speed: 3.4104633475302046 + rated_rotor_speed: 12.100009196470292 + max_rotor_speed: 14.520010641978924 + max_gen_torque: 47.4029 + max_torque_rate: 40.0 + fine_pitch: 0.0 + optimal_tsr: 7.01754386 + min_pitch_table: + wind_speed: [3.0, 3.2897, 3.5793, 3.869, 4.1586, 4.4483, 4.7379, 5.0276, 5.3172, 5.6069, 5.8966, 6.1862, 6.4759, 6.7655, 7.0552, 7.3448, 7.6345, 7.9241, 8.2138, 8.5034, 8.7931, 9.0828, 9.3724, 9.6621, 9.9517, 10.2414, 10.531, 10.8207, 11.1103, 11.4, 11.8533, 12.3067, 12.76, 13.2133, 13.6667, 14.12, 14.5733, 15.0267, 15.48, 15.9333, 16.3867, 16.84, 17.2933, 17.7467, 18.2, 18.6533, 19.1067, 19.56, 20.0133, 20.4667, 20.92, 21.3733, 21.8267, 22.28, 22.7333, 23.1867, 23.64, 24.0933, 24.5467, 25.0] + min_pitch: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.8307888029396937, 1.558445202755839, 2.1084846860814292, 2.5611213442347798, 3.002298846485514, 3.6497411549833445, 4.27999472962725, 4.893059570417231, 5.488935677353286, 6.073352628386726, 6.64631042351755, 7.213538640697065, 7.769307701973963, 8.313617607348245, 8.857927512722526, 9.390778262194193, 9.923629011665858, 10.445020605234907, 10.966412198803956, 11.482074214421697, 11.992006652088131, 12.496209511803254, 13.000412371518378, 13.493156075330885, 13.991629357094704, 14.472913905004594, 14.965657608817102, 15.441212578775687, 15.922497126685576, 16.386592940741544, 16.85641833274882, 17.320514146804786, 17.790339538812063, 18.24870577491672, 18.707072011021378] + min_pitch_limit: 0.0 + max_pitch_limit: 89.95437383553924 + max_pitch_rate: 9.998113525032865 + lpf_frequency: 1.5708 + lpf_damping: 0.0 + region2_k: 0.02533801605437446 + gen_torque_kp: -73.0704082496001 + gen_torque_ki: -10.943947448290283 + pitch_kp: + pitch_angle: [3.2658594322456924, 4.8128454790989155, 6.073352628386726, 7.104676659622208, 8.078704911344607, 8.938141604040842, 9.740282517223996, 10.485127650894064, 11.229972784564136, 11.917522138721123, 12.60507149287811, 13.2926208470351, 13.922874421679005, 14.495832216809827, 15.126085791453734, 15.699043586584558, 16.272001381715377, 16.844959176846203, 17.417916971977025, 17.99087476710785, 18.50653678272559, 19.022198798343332, 19.537860813961075, 20.05352282957881, 20.569184845196553, 21.084846860814295, 21.600508876432034, 22.058875112536693, 22.574537128154436, 23.032903364259095] + kp: [-0.1245, -0.10937999999999999, -0.09713999999999999, -0.087, -0.07848, -0.07122, -0.06491999999999999, -0.059478, -0.054678, -0.050424, -0.046632, -0.043224000000000005, -0.040152, -0.03736199999999999, -0.034817999999999995, -0.03249, -0.030354, -0.028385999999999998, -0.026562, -0.024876, -0.023304, -0.02184, -0.020465999999999998, -0.019187999999999997, -0.017981999999999998, -0.016853999999999997, -0.015786, -0.014778, -0.013830000000000002, -0.012929999999999999] + pitch_ki: + pitch_angle: [3.2658594322456924, 4.8128454790989155, 6.073352628386726, 7.104676659622208, 8.078704911344607, 8.938141604040842, 9.740282517223996, 10.485127650894064, 11.229972784564136, 11.917522138721123, 12.60507149287811, 13.2926208470351, 13.922874421679005, 14.495832216809827, 15.126085791453734, 15.699043586584558, 16.272001381715377, 16.844959176846203, 17.417916971977025, 17.99087476710785, 18.50653678272559, 19.022198798343332, 19.537860813961075, 20.05352282957881, 20.569184845196553, 21.084846860814295, 21.600508876432034, 22.058875112536693, 22.574537128154436, 23.032903364259095] + ki: [-0.05050199999999999, -0.04521599999999999, -0.040931999999999996, -0.037391999999999995, -0.034409999999999996, -0.031872, -0.029682, -0.027774, -0.026099999999999995, -0.024611999999999995, -0.023285999999999998, -0.022092, -0.021018, -0.020045999999999998, -0.019152, -0.018341999999999997, -0.017592, -0.016908, -0.016272, -0.015677999999999997, -0.015131999999999998, -0.014615999999999997, -0.014142, -0.013692, -0.013272, -0.012875999999999999, -0.012504, -0.012149999999999998, -0.011819999999999999, -0.011502] + constant_power: 1.0 + gen_actuator_frequency: 10000.0 + gen_actuator_damping: 1.0 + pitch_actuator_frequency: 3.14 + pitch_actuator_damping: 0.707 + yaw_rate: 0.49847328176381617 + max_allowable_blade_tip_speed: 80.0 \ No newline at end of file diff --git a/examples/09_floating/nrel5mw-spar_oc3.yaml b/examples/09_floating/nrel5mw-spar_oc3.yaml index 41f1a2b0e..7c0ce3937 100644 --- a/examples/09_floating/nrel5mw-spar_oc3.yaml +++ b/examples/09_floating/nrel5mw-spar_oc3.yaml @@ -1149,17 +1149,34 @@ materials: G: 1520000.0 unit_cost: 9.0 control: - supervisory: - Vin: 3.0 - Vout: 25.0 - maxTS: 80.0 - pitch: - ps_percent: 0.9 - max_pitch: 89.95437383553924 - max_pitch_rate: 9.998113525032865 - min_pitch: 0.0 - torque: - tsr: 7.01754386 - max_torque_rate: 1500000.0 - VS_minspd: 6.899939740828794 - VS_maxspd: 19.098593171027442 + min_rotor_speed: 3.4104633475302046 + rated_rotor_speed: 12.100009196470292 + max_rotor_speed: 14.520010641978924 + max_gen_torque: 47.4029 + max_torque_rate: 40.0 + fine_pitch: 0.0 + optimal_tsr: 7.01754386 + min_pitch_table: + wind_speed: [3.0, 3.2897, 3.5793, 3.869, 4.1586, 4.4483, 4.7379, 5.0276, 5.3172, 5.6069, 5.8966, 6.1862, 6.4759, 6.7655, 7.0552, 7.3448, 7.6345, 7.9241, 8.2138, 8.5034, 8.7931, 9.0828, 9.3724, 9.6621, 9.9517, 10.2414, 10.531, 10.8207, 11.1103, 11.4, 11.8533, 12.3067, 12.76, 13.2133, 13.6667, 14.12, 14.5733, 15.0267, 15.48, 15.9333, 16.3867, 16.84, 17.2933, 17.7467, 18.2, 18.6533, 19.1067, 19.56, 20.0133, 20.4667, 20.92, 21.3733, 21.8267, 22.28, 22.7333, 23.1867, 23.64, 24.0933, 24.5467, 25.0] + min_pitch: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.8307888029396937, 1.558445202755839, 2.1084846860814292, 2.5611213442347798, 3.002298846485514, 3.6497411549833445, 4.27999472962725, 4.893059570417231, 5.488935677353286, 6.073352628386726, 6.64631042351755, 7.213538640697065, 7.769307701973963, 8.313617607348245, 8.857927512722526, 9.390778262194193, 9.923629011665858, 10.445020605234907, 10.966412198803956, 11.482074214421697, 11.992006652088131, 12.496209511803254, 13.000412371518378, 13.493156075330885, 13.991629357094704, 14.472913905004594, 14.965657608817102, 15.441212578775687, 15.922497126685576, 16.386592940741544, 16.85641833274882, 17.320514146804786, 17.790339538812063, 18.24870577491672, 18.707072011021378] + min_pitch_limit: 0.0 + max_pitch_limit: 89.95437383553924 + max_pitch_rate: 9.998113525032865 + lpf_frequency: 1.5708 + lpf_damping: 0.0 + region2_k: 0.02533801605437446 + gen_torque_kp: -73.0704082496001 + gen_torque_ki: -10.943947448290283 + pitch_kp: + pitch_angle: [3.2658594322456924, 4.8128454790989155, 6.073352628386726, 7.104676659622208, 8.078704911344607, 8.938141604040842, 9.740282517223996, 10.485127650894064, 11.229972784564136, 11.917522138721123, 12.60507149287811, 13.2926208470351, 13.922874421679005, 14.495832216809827, 15.126085791453734, 15.699043586584558, 16.272001381715377, 16.844959176846203, 17.417916971977025, 17.99087476710785, 18.50653678272559, 19.022198798343332, 19.537860813961075, 20.05352282957881, 20.569184845196553, 21.084846860814295, 21.600508876432034, 22.058875112536693, 22.574537128154436, 23.032903364259095] + kp: [-0.1245, -0.10937999999999999, -0.09713999999999999, -0.087, -0.07848, -0.07122, -0.06491999999999999, -0.059478, -0.054678, -0.050424, -0.046632, -0.043224000000000005, -0.040152, -0.03736199999999999, -0.034817999999999995, -0.03249, -0.030354, -0.028385999999999998, -0.026562, -0.024876, -0.023304, -0.02184, -0.020465999999999998, -0.019187999999999997, -0.017981999999999998, -0.016853999999999997, -0.015786, -0.014778, -0.013830000000000002, -0.012929999999999999] + pitch_ki: + pitch_angle: [3.2658594322456924, 4.8128454790989155, 6.073352628386726, 7.104676659622208, 8.078704911344607, 8.938141604040842, 9.740282517223996, 10.485127650894064, 11.229972784564136, 11.917522138721123, 12.60507149287811, 13.2926208470351, 13.922874421679005, 14.495832216809827, 15.126085791453734, 15.699043586584558, 16.272001381715377, 16.844959176846203, 17.417916971977025, 17.99087476710785, 18.50653678272559, 19.022198798343332, 19.537860813961075, 20.05352282957881, 20.569184845196553, 21.084846860814295, 21.600508876432034, 22.058875112536693, 22.574537128154436, 23.032903364259095] + ki: [-0.05050199999999999, -0.04521599999999999, -0.040931999999999996, -0.037391999999999995, -0.034409999999999996, -0.031872, -0.029682, -0.027774, -0.026099999999999995, -0.024611999999999995, -0.023285999999999998, -0.022092, -0.021018, -0.020045999999999998, -0.019152, -0.018341999999999997, -0.017592, -0.016908, -0.016272, -0.015677999999999997, -0.015131999999999998, -0.014615999999999997, -0.014142, -0.013692, -0.013272, -0.012875999999999999, -0.012504, -0.012149999999999998, -0.011819999999999999, -0.011502] + constant_power: 1.0 + gen_actuator_frequency: 10000.0 + gen_actuator_damping: 1.0 + pitch_actuator_frequency: 3.14 + pitch_actuator_damping: 0.707 + yaw_rate: 0.49847328176381617 + max_allowable_blade_tip_speed: 80.0 diff --git a/examples/11_user_custom/IEA-15-240-RWT_VolturnUS-S_user_elastic.yaml b/examples/11_user_custom/IEA-15-240-RWT_VolturnUS-S_user_elastic.yaml index 383b70a06..c97206383 100644 --- a/examples/11_user_custom/IEA-15-240-RWT_VolturnUS-S_user_elastic.yaml +++ b/examples/11_user_custom/IEA-15-240-RWT_VolturnUS-S_user_elastic.yaml @@ -1370,17 +1370,36 @@ materials: A: 35534648443.719765 unit_cost: 0.7 control: - supervisory: - Vin: 3.0 - Vout: 25.0 - maxTS: 95.0 - pitch: - ps_percent: 0.8 - max_pitch: 89.95437383553924 - max_pitch_rate: 2.0 - min_pitch: 0.0 - torque: - tsr: 9.0 - max_torque_rate: 1500000.0 - VS_minspd: 4.999999999999999 - VS_maxspd: 7.559999999999999 + min_rotor_speed: 5.000011692174984 + rated_rotor_speed: 7.559987120819503 + rated_power: 15000000.0 + max_rotor_speed: 9.072022742169745 + max_gen_torque: 21765400.0 + max_torque_rate: 4500000.0 + fine_pitch: 0.0 + optimal_tsr: 9.0 + min_pitch_table: + wind_speed: [3.0, 3.2669, 3.5338, 3.8007, 4.0676, 4.3345, 4.6014, 4.8683, 5.1352, 5.4021, 5.669, 5.9359, 6.2028, 6.4697, 6.7366, 7.0034, 7.2703, 7.5372, 7.8041, 8.071, 8.3379, 8.6048, 8.8717, 9.1386, 9.4055, 9.6724, 9.9393, 10.2062, 10.4731, 10.74, 11.2153, 11.6907, 12.166, 12.6413, 13.1167, 13.592, 14.0673, 14.5427, 15.018, 15.4933, 15.9687, 16.444, 16.9193, 17.3947, 17.87, 18.3453, 18.8207, 19.296, 19.7713, 20.2467, 20.722, 21.1973, 21.6727, 22.148, 22.6233, 23.0987, 23.574, 24.0493, 24.5247, 25.0] + min_pitch: [3.437746770784939, 3.437746770784939, 3.437746770784939, 3.437746770784939, 3.437746770784939, 3.437746770784939, 3.2200228086352265, 2.985110112631589, 2.7043607930174858, 2.3777748497929165, 2.034000172714422, 1.6615776058793874, 1.2662367272391195, 0.8708958485988513, 0.4640958140559668, 0.057295779513082325, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.3495042550298022, 1.1745634800181877, 1.902219879834333, 2.532473454478239, 3.036676314193363, 3.655470732934652, 4.2456172619194, 4.807115901147607, 5.357155384473197, 5.890006133944863, 6.4056681495626036, 6.921330165180345, 7.419803446944161, 7.918276728707976, 8.399561276617868, 8.88084582452776, 9.356400794486344, 9.826226186493619, 10.290322000549585, 10.754417814605553, 11.207054472758902, 11.659691130912252, 12.112327789065603, 12.553505291316336, 13.000412371518378, 13.435860295817804, 13.87130822011723, 14.301026566465348, 14.736474490764772, 15.160463259161583, 15.584452027558394, 16.01417037390651, 16.43242956435201, 16.85068875479751, 17.263218367291703] + min_pitch_limit: 0.0 + max_pitch_limit: 89.95437383553924 + max_pitch_rate: 1.9996227050065731 + lpf_frequency: 1.0081 + lpf_damping: 0.7 + region2_k: 418673.00518505543 + gen_torque_kp: -3741699.6822785153 + gen_torque_ki: -471172.92459274357 + pitch_kp: + pitch_angle: [3.552338329811104, 5.099324376664327, 6.245239966925973, 7.276563998161455, 8.193296470370772, 9.052733163067007, 9.854874076250159, 10.599719209920229, 11.287268564077218, 11.974817918234205, 12.60507149287811, 13.235325067522018, 13.865578642165922, 14.438536437296746, 15.068790011940651, 15.584452027558394, 16.157409822689214, 16.730367617820036, 17.24602963343778, 17.76169164905552, 18.27735366467326, 18.793015680291003, 19.251381916395662, 19.7670439320134, 20.22541016811806, 20.7410721837358, 21.199438419840458, 21.657804655945117, 22.116170892049777, 22.574537128154436] + kp: [-6.857999999999999, -5.9262, -5.1588, -4.514999999999999, -3.9672, -3.4955999999999996, -3.0846, -2.724, -2.4048, -2.1203999999999996, -1.8648, -1.6343999999999996, -1.4256, -1.2353999999999998, -1.0614, -0.9017999999999998, -0.7547999999999999, -0.6185999999999999, -0.49284, -0.37566, -0.26639999999999997, -0.16440000000000002, -0.06881999999999999, 0.020819999999999998, 0.10511999999999999, 0.1845, 0.25937999999999994, 0.33018, 0.39719999999999994, 0.46074] + pitch_ki: + pitch_angle: [3.552338329811104, 5.099324376664327, 6.245239966925973, 7.276563998161455, 8.193296470370772, 9.052733163067007, 9.854874076250159, 10.599719209920229, 11.287268564077218, 11.974817918234205, 12.60507149287811, 13.235325067522018, 13.865578642165922, 14.438536437296746, 15.068790011940651, 15.584452027558394, 16.157409822689214, 16.730367617820036, 17.24602963343778, 17.76169164905552, 18.27735366467326, 18.793015680291003, 19.251381916395662, 19.7670439320134, 20.22541016811806, 20.7410721837358, 21.199438419840458, 21.657804655945117, 22.116170892049777, 22.574537128154436] + ki: [-0.7175999999999999, -0.6486, -0.5917199999999999, -0.5440799999999999, -0.50352, -0.4686, -0.4382399999999999, -0.41153999999999996, -0.38789999999999997, -0.36684, -0.34793999999999997, -0.3308999999999999, -0.31548, -0.30138, -0.28854, -0.27671999999999997, -0.26586000000000004, -0.25578, -0.24642, -0.23777999999999996, -0.22968, -0.22211999999999996, -0.21509999999999999, -0.20844, -0.2022, -0.19632, -0.1908, -0.18551999999999996, -0.18059999999999998, -0.17586] + constant_power: 0.0 + gen_actuator_frequency: 10000.0 + gen_actuator_damping: 1.0 + pitch_actuator_frequency: 3.14 + pitch_actuator_damping: 0.707 + yaw_rate: 0.49847328176381617 + max_allowable_blade_tip_speed: 95.0 + peak_thrust_shaving: 1.0 \ No newline at end of file diff --git a/examples/11_user_custom/nrel5mw-spar_oc3_user_mass.yaml b/examples/11_user_custom/nrel5mw-spar_oc3_user_mass.yaml index 335919e45..84bf5a9b6 100644 --- a/examples/11_user_custom/nrel5mw-spar_oc3_user_mass.yaml +++ b/examples/11_user_custom/nrel5mw-spar_oc3_user_mass.yaml @@ -1157,20 +1157,34 @@ materials: G: 1520000.0 unit_cost: 9.0 control: - supervisory: - Vin: 3.0 - Vout: 25.0 - maxTS: 80.0 - pitch: - ps_percent: 0.9 - max_pitch: 89.95437383553924 - max_pitch_rate: 9.998113525032865 - min_pitch: 0.0 - fl_feedback: - twr_freq: 100 - ptfm_freq: 0.2 - torque: - tsr: 7.01754386 - max_torque_rate: 1500000.0 - VS_minspd: 6.899939740828794 - VS_maxspd: 19.098593171027442 + min_rotor_speed: 3.4104633475302046 + rated_rotor_speed: 12.100009196470292 + max_rotor_speed: 14.520010641978924 + max_gen_torque: 47.4029 + max_torque_rate: 40.0 + fine_pitch: 0.0 + optimal_tsr: 7.01754386 + min_pitch_table: + wind_speed: [3.0, 3.2897, 3.5793, 3.869, 4.1586, 4.4483, 4.7379, 5.0276, 5.3172, 5.6069, 5.8966, 6.1862, 6.4759, 6.7655, 7.0552, 7.3448, 7.6345, 7.9241, 8.2138, 8.5034, 8.7931, 9.0828, 9.3724, 9.6621, 9.9517, 10.2414, 10.531, 10.8207, 11.1103, 11.4, 11.8533, 12.3067, 12.76, 13.2133, 13.6667, 14.12, 14.5733, 15.0267, 15.48, 15.9333, 16.3867, 16.84, 17.2933, 17.7467, 18.2, 18.6533, 19.1067, 19.56, 20.0133, 20.4667, 20.92, 21.3733, 21.8267, 22.28, 22.7333, 23.1867, 23.64, 24.0933, 24.5467, 25.0] + min_pitch: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.8307888029396937, 1.558445202755839, 2.1084846860814292, 2.5611213442347798, 3.002298846485514, 3.6497411549833445, 4.27999472962725, 4.893059570417231, 5.488935677353286, 6.073352628386726, 6.64631042351755, 7.213538640697065, 7.769307701973963, 8.313617607348245, 8.857927512722526, 9.390778262194193, 9.923629011665858, 10.445020605234907, 10.966412198803956, 11.482074214421697, 11.992006652088131, 12.496209511803254, 13.000412371518378, 13.493156075330885, 13.991629357094704, 14.472913905004594, 14.965657608817102, 15.441212578775687, 15.922497126685576, 16.386592940741544, 16.85641833274882, 17.320514146804786, 17.790339538812063, 18.24870577491672, 18.707072011021378] + min_pitch_limit: 0.0 + max_pitch_limit: 89.95437383553924 + max_pitch_rate: 9.998113525032865 + lpf_frequency: 1.5708 + lpf_damping: 0.0 + region2_k: 0.02533801605437446 + gen_torque_kp: -73.0704082496001 + gen_torque_ki: -10.943947448290283 + pitch_kp: + pitch_angle: [3.2658594322456924, 4.8128454790989155, 6.073352628386726, 7.104676659622208, 8.078704911344607, 8.938141604040842, 9.740282517223996, 10.485127650894064, 11.229972784564136, 11.917522138721123, 12.60507149287811, 13.2926208470351, 13.922874421679005, 14.495832216809827, 15.126085791453734, 15.699043586584558, 16.272001381715377, 16.844959176846203, 17.417916971977025, 17.99087476710785, 18.50653678272559, 19.022198798343332, 19.537860813961075, 20.05352282957881, 20.569184845196553, 21.084846860814295, 21.600508876432034, 22.058875112536693, 22.574537128154436, 23.032903364259095] + kp: [-0.1245, -0.10937999999999999, -0.09713999999999999, -0.087, -0.07848, -0.07122, -0.06491999999999999, -0.059478, -0.054678, -0.050424, -0.046632, -0.043224000000000005, -0.040152, -0.03736199999999999, -0.034817999999999995, -0.03249, -0.030354, -0.028385999999999998, -0.026562, -0.024876, -0.023304, -0.02184, -0.020465999999999998, -0.019187999999999997, -0.017981999999999998, -0.016853999999999997, -0.015786, -0.014778, -0.013830000000000002, -0.012929999999999999] + pitch_ki: + pitch_angle: [3.2658594322456924, 4.8128454790989155, 6.073352628386726, 7.104676659622208, 8.078704911344607, 8.938141604040842, 9.740282517223996, 10.485127650894064, 11.229972784564136, 11.917522138721123, 12.60507149287811, 13.2926208470351, 13.922874421679005, 14.495832216809827, 15.126085791453734, 15.699043586584558, 16.272001381715377, 16.844959176846203, 17.417916971977025, 17.99087476710785, 18.50653678272559, 19.022198798343332, 19.537860813961075, 20.05352282957881, 20.569184845196553, 21.084846860814295, 21.600508876432034, 22.058875112536693, 22.574537128154436, 23.032903364259095] + ki: [-0.05050199999999999, -0.04521599999999999, -0.040931999999999996, -0.037391999999999995, -0.034409999999999996, -0.031872, -0.029682, -0.027774, -0.026099999999999995, -0.024611999999999995, -0.023285999999999998, -0.022092, -0.021018, -0.020045999999999998, -0.019152, -0.018341999999999997, -0.017592, -0.016908, -0.016272, -0.015677999999999997, -0.015131999999999998, -0.014615999999999997, -0.014142, -0.013692, -0.013272, -0.012875999999999999, -0.012504, -0.012149999999999998, -0.011819999999999999, -0.011502] + constant_power: 1.0 + gen_actuator_frequency: 10000.0 + gen_actuator_damping: 1.0 + pitch_actuator_frequency: 3.14 + pitch_actuator_damping: 0.707 + yaw_rate: 0.49847328176381617 + max_allowable_blade_tip_speed: 80.0 \ No newline at end of file diff --git a/examples/17_jacket/nrel5mw_jacket.yaml b/examples/17_jacket/nrel5mw_jacket.yaml index 5e7b02491..72539bc1f 100644 --- a/examples/17_jacket/nrel5mw_jacket.yaml +++ b/examples/17_jacket/nrel5mw_jacket.yaml @@ -71,3 +71,12 @@ materials: m: 3 A: 35534648443.719765 unit_cost: 0.7 +control: + min_pitch_table: + wind_speed: [3.0, 25.0] + min_pitch: [0.0, 18.707072011021378] + min_rotor_speed: 6.899939740828794 + max_rotor_speed: 14.520010641978924 + optimal_tsr: 7.01754386 + max_allowable_blade_tip_speed: 80.0 + min_pitch_limit: 0.0 diff --git a/examples/18_rotor_tower_monopile/IEA15MW_scaled.yaml b/examples/18_rotor_tower_monopile/IEA15MW_scaled.yaml index 555da3ba1..b74d68177 100644 --- a/examples/18_rotor_tower_monopile/IEA15MW_scaled.yaml +++ b/examples/18_rotor_tower_monopile/IEA15MW_scaled.yaml @@ -1201,17 +1201,36 @@ materials: G: 1520000.0 unit_cost: 9.0 control: - supervisory: - Vin: 3.0 - Vout: 25.0 - maxTS: 95.0 - pitch: - ps_percent: 0.8 - max_pitch: 89.95437383553924 - max_pitch_rate: 2.0 - min_pitch: 0.0 - torque: - tsr: 9.0 - max_torque_rate: 1500000.0 - VS_minspd: 4.999999999999999 - VS_maxspd: 7.559999999999999 + min_rotor_speed: 5.000011692174984 + rated_rotor_speed: 7.559987120819503 + rated_power: 15000000.0 + max_rotor_speed: 9.072022742169745 + max_gen_torque: 21765400.0 + max_torque_rate: 4500000.0 + fine_pitch: 0.0 + optimal_tsr: 9.0 + min_pitch_table: + wind_speed: [3.0, 3.2617, 3.5234, 3.7852, 4.0469, 4.3086, 4.5703, 4.8321, 5.0938, 5.3555, 5.6172, 5.879, 6.1407, 6.4024, 6.6641, 6.9259, 7.1876, 7.4493, 7.711, 7.9728, 8.2345, 8.4962, 8.7579, 9.0197, 9.2814, 9.5431, 9.8048, 10.0666, 10.3283, 10.59, 11.0703, 11.5507, 12.031, 12.5113, 12.9917, 13.472, 13.9523, 14.4327, 14.913, 15.3933, 15.8737, 16.354, 16.8343, 17.3147, 17.795, 18.2753, 18.7557, 19.236, 19.7163, 20.1967, 20.677, 21.1573, 21.6377, 22.118, 22.5983, 23.0787, 23.559, 24.0393, 24.5197, 25.0] + min_pitch: [3.437746770784939, 3.437746770784939, 3.437746770784939, 3.437746770784939, 3.437746770784939, 3.437746770784939, 3.2486706983917677, 3.019487580339438, 2.7501974166279517, 2.435070629305999, 2.1027551081301215, 1.7417916971977025, 1.357909974460051, 0.9740282517223996, 0.5729577951308232, 0.17188733853924698, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.813600069085769, 1.5355268909506063, 2.194428355351053, 2.807493196141034, 3.3861805692231655, 3.953408786402681, 4.491989113825654, 5.02483986329732, 5.540501878915061, 6.0504343165814936, 6.548907598345309, 7.041651302157817, 7.522935850067709, 8.0042203979776, 8.474045789984876, 8.94387118199215, 9.407966996048119, 9.866333232152776, 10.318969890306127, 10.771606548459477, 11.224243206612826, 11.66542070886356, 12.112327789065603, 12.547775713365029, 12.988953215615764, 13.41867156196388, 13.854119486263304, 14.278108254660115, 14.70782660100823, 15.131815369405041] + min_pitch_limit: 0.0 + max_pitch_limit: 89.95437383553924 + max_pitch_rate: 1.9996227050065731 + lpf_frequency: 1.0081 + lpf_damping: 0.7 + region2_k: 418673.00518505543 + gen_torque_kp: -3782257.6434363592 + gen_torque_ki: -471172.92459274357 + pitch_kp: + pitch_angle: [3.666929888837269, 5.213915935690491, 6.359831525952138, 7.39115555718762, 8.307888029396937, 9.167324722093172, 9.969465635276324, 10.714310768946394, 11.401860123103383, 12.08940947726037, 12.719663051904275, 13.349916626548183, 13.980170201192086, 14.55312799632291, 15.126085791453734, 15.699043586584558, 16.272001381715377, 16.78766339733312, 17.36062119246394, 17.876283208081684, 18.391945223699427, 18.907607239317166, 19.365973475421825, 19.881635491039564, 20.340001727144223, 20.855663742761966, 21.314029978866625, 21.772396214971284, 22.230762451075943, 22.689128687180602] + kp: [-6.941999999999999, -5.9862, -5.202, -4.545, -3.9876, -3.5088, -3.0917999999999997, -2.7264, -2.4036, -2.1162, -1.8581999999999996, -1.626, -1.4154, -1.224, -1.0488, -0.8879999999999999, -0.7404, -0.6035999999999999, -0.4768799999999999, -0.35916, -0.24954, -0.14712, -0.051269999999999996, 0.038646, 0.12317999999999998, 0.20273999999999998, 0.2778, 0.34872, 0.41585999999999995, 0.47945999999999994] + pitch_ki: + pitch_angle: [3.666929888837269, 5.213915935690491, 6.359831525952138, 7.39115555718762, 8.307888029396937, 9.167324722093172, 9.969465635276324, 10.714310768946394, 11.401860123103383, 12.08940947726037, 12.719663051904275, 13.349916626548183, 13.980170201192086, 14.55312799632291, 15.126085791453734, 15.699043586584558, 16.272001381715377, 16.78766339733312, 17.36062119246394, 17.876283208081684, 18.391945223699427, 18.907607239317166, 19.365973475421825, 19.881635491039564, 20.340001727144223, 20.855663742761966, 21.314029978866625, 21.772396214971284, 22.230762451075943, 22.689128687180602] + ki: [-0.7242, -0.6539999999999999, -0.5958, -0.54726, -0.50598, -0.47051999999999994, -0.43967999999999996, -0.41267999999999994, -0.38874, -0.3675, -0.34841999999999995, -0.33119999999999994, -0.31565999999999994, -0.30144, -0.28847999999999996, -0.2766, -0.26567999999999997, -0.25554, -0.24617999999999998, -0.23747999999999994, -0.22938, -0.22175999999999998, -0.21467999999999995, -0.20801999999999998, -0.20178, -0.19589999999999996, -0.19032, -0.1851, -0.18012, -0.17543999999999998] + constant_power: 0.0 + gen_actuator_frequency: 10000.0 + gen_actuator_damping: 1.0 + pitch_actuator_frequency: 3.14 + pitch_actuator_damping: 0.707 + yaw_rate: 0.49847328176381617 + max_allowable_blade_tip_speed: 95.0 + peak_thrust_shaving: 1.0 diff --git a/wisdem/glue_code/gc_LoadInputs.py b/wisdem/glue_code/gc_LoadInputs.py index b7d392e16..0e7ebb703 100644 --- a/wisdem/glue_code/gc_LoadInputs.py +++ b/wisdem/glue_code/gc_LoadInputs.py @@ -1405,9 +1405,9 @@ def update_ontology(self, wt_opt): # Update controller if self.modeling_options["flags"]["control"]: - self.wt_init["control"]["torque"]["tsr"] = float(wt_opt["control.rated_TSR"][0]) - if "ROSCO" not in self.modeling_options: # If using WEIS, will have ROSCO, and ps_percent will be set there - self.wt_init["control"]["pitch"]["ps_percent"] = float(wt_opt["control.ps_percent"][0]) + self.wt_init["control"]["optimal_tsr"] = float(wt_opt["control.rated_TSR"][0]) + if "ROSCO" not in self.modeling_options: # If using WEIS, will have ROSCO, and peak_thrust_shaving will be set there + self.wt_init["control"]["peak_thrust_shaving"] = float(wt_opt["control.peak_thrust_shaving"][0]) # Update cost coefficients if self.modeling_options["flags"]["costs"]: diff --git a/wisdem/glue_code/gc_WT_DataStruc.py b/wisdem/glue_code/gc_WT_DataStruc.py index 817145b40..4e97a3c31 100644 --- a/wisdem/glue_code/gc_WT_DataStruc.py +++ b/wisdem/glue_code/gc_WT_DataStruc.py @@ -151,14 +151,12 @@ def setup(self): ) ctrl_ivc.add_output("minOmega", val=0.0, units="rpm", desc="Minimum allowed rotor speed.") ctrl_ivc.add_output("maxOmega", val=0.0, units="rpm", desc="Maximum allowed rotor speed.") - ctrl_ivc.add_output("max_TS", val=0.0, units="m/s", desc="Maximum allowed blade tip speed.") - ctrl_ivc.add_output("max_pitch_rate", val=0.0, units="deg/s", desc="Maximum allowed blade pitch rate") - ctrl_ivc.add_output("max_torque_rate", val=0.0, units="N*m/s", desc="Maximum allowed generator torque rate") + ctrl_ivc.add_output("max_allowable_blade_tip_speed", val=0.0, units="m/s", desc="Maximum allowed blade tip speed.") ctrl_ivc.add_output("rated_TSR", val=0.0, desc="Constant tip speed ratio in region II.") ctrl_ivc.add_output("rated_pitch", val=0.0, units="deg", desc="Constant pitch angle in region II.") - if "ROSCO" not in modeling_options: # If using WEIS, ps_percent will be set there + if "ROSCO" not in modeling_options: # If using WEIS, peak_thrust_shaving will be set there ctrl_ivc.add_output( - "ps_percent", + "peak_thrust_shaving", val=1.0, desc="Scalar applied to the max thrust within RotorSE for peak thrust shaving.", ) @@ -476,7 +474,6 @@ def setup(self): self.connect("blade.pa.chord_param", "af_3d.chord") self.connect("control.rated_TSR", "af_3d.rated_TSR") self.connect("control.maxOmega", "blade.compute_reynolds.maxOmega") - self.connect("control.max_TS", "blade.compute_reynolds.max_TS") self.connect("control.V_out", "blade.compute_reynolds.V_out") if modeling_options["flags"]["tower"]: self.connect("tower.ref_axis", "high_level_tower_props.tower_ref_axis_user") diff --git a/wisdem/glue_code/gc_WT_InitModel.py b/wisdem/glue_code/gc_WT_InitModel.py index 6d232f3b7..6add8d086 100644 --- a/wisdem/glue_code/gc_WT_InitModel.py +++ b/wisdem/glue_code/gc_WT_InitModel.py @@ -1429,23 +1429,21 @@ def assign_mooring_values(wt_opt, modeling_options, mooring): def assign_control_values(wt_opt, modeling_options, control): # Controller parameters - wt_opt["control.V_in"] = control["supervisory"]["Vin"] - wt_opt["control.V_out"] = control["supervisory"]["Vout"] - wt_opt["control.minOmega"] = control["torque"]["VS_minspd"] - wt_opt["control.maxOmega"] = control["torque"]["VS_maxspd"] - wt_opt["control.rated_TSR"] = control["torque"]["tsr"] - wt_opt["control.rated_pitch"] = control["pitch"]["min_pitch"] - wt_opt["control.max_TS"] = control["supervisory"]["maxTS"] - wt_opt["control.max_pitch_rate"] = control["pitch"]["max_pitch_rate"] - wt_opt["control.max_torque_rate"] = control["torque"]["max_torque_rate"] + wt_opt["control.V_in"] = min(control["min_pitch_table"]["wind_speed"]) + wt_opt["control.V_out"] = max(control["min_pitch_table"]["wind_speed"]) + wt_opt["control.minOmega"] = control["min_rotor_speed"] + wt_opt["control.maxOmega"] = control["max_rotor_speed"] + wt_opt["control.rated_TSR"] = control["optimal_tsr"] + wt_opt["control.rated_pitch"] = control["min_pitch_limit"] + wt_opt["control.max_allowable_blade_tip_speed"] = control["max_allowable_blade_tip_speed"] if "ROSCO" in modeling_options: # Will only be there if called by WEIS - if modeling_options["ROSCO"]["ps_percent"] != control["pitch"]["ps_percent"]: + if modeling_options["ROSCO"]["ps_percent"] != control["peak_thrust_shaving"]: logger.warning( - f"The ROSCO (modeling) ps_percent does not match the WindIO (geometry) ps_percent. Using the ROSCO value of {modeling_options['ROSCO']['ps_percent']:.2f}." + f"The ROSCO (modeling) ps_percent does not match the WindIO (geometry) peak_thrust_shaving. Using the ROSCO value of {modeling_options['ROSCO']['ps_percent']:.2f}." ) else: - wt_opt["control.ps_percent"] = control["pitch"]["ps_percent"] + wt_opt["control.peak_thrust_shaving"] = control["peak_thrust_shaving"] return wt_opt diff --git a/wisdem/glue_code/glue_code.py b/wisdem/glue_code/glue_code.py index 6d748f76e..5ffe6aa98 100644 --- a/wisdem/glue_code/glue_code.py +++ b/wisdem/glue_code/glue_code.py @@ -148,7 +148,7 @@ def setup(self): if modeling_options["flags"]["control"]: self.connect("control.rated_pitch", "rotorse.pitch") if "ROSCO" not in modeling_options: # If using WEIS, connection will happen there - self.connect("control.ps_percent", "rotorse.rp.powercurve.ps_percent") + self.connect("control.peak_thrust_shaving", "rotorse.rp.powercurve.peak_thrust_shaving") self.connect("control.rated_TSR", "rotorse.tsr") self.connect("env.rho_air", "rotorse.rho_air") self.connect("env.mu_air", "rotorse.mu_air") @@ -167,7 +167,7 @@ def setup(self): self.connect("configuration.rated_power", "rotorse.rp.rated_power") self.connect("control.minOmega", "rotorse.rp.omega_min") self.connect("control.maxOmega", "rotorse.rp.omega_max") - self.connect("control.max_TS", "rotorse.rp.control_maxTS") + self.connect("control.max_allowable_blade_tip_speed", "rotorse.rp.max_allowable_blade_tip_speed") self.connect("configuration.gearbox_type", "rotorse.rp.drivetrainType") self.connect("drivetrain.gearbox_efficiency", "rotorse.rp.powercurve.gearbox_efficiency") if modeling_options["flags"]["drivetrain"]: diff --git a/wisdem/inputs/geometry_schema.yaml b/wisdem/inputs/geometry_schema.yaml index 9af6187be..6f8a49c8f 100644 --- a/wisdem/inputs/geometry_schema.yaml +++ b/wisdem/inputs/geometry_schema.yaml @@ -596,6 +596,22 @@ properties: description: Override bottom-up calculation of total jacket mass with this value minimum: 0.0 + control: + type: object + default: {} + properties: + max_allowable_blade_tip_speed: + type: number + default: 0.0 + units: m/s + description: Maximum allowable blade tip speed in m/s. If zero, no tip speed limit is enforced. + peak_thrust_shaving: + type: number + default: 0.8 + minimum: 0.0 + maximum: 1.0 + description: Scalar applied to the max thrust within RotorSE for peak thrust shaving. If 1, no shaving is applied. + definitions: distributed_data: grid_al: diff --git a/wisdem/rotorse/parametrize_rotor.py b/wisdem/rotorse/parametrize_rotor.py index fa2d2fa0b..21b400cc1 100644 --- a/wisdem/rotorse/parametrize_rotor.py +++ b/wisdem/rotorse/parametrize_rotor.py @@ -192,7 +192,6 @@ def setup(self): desc="Diameter of the wind turbine rotor specified by the user, defined as 2 x (Rhub + blade length along z) * cos(precone).", ) self.add_input("maxOmega", val=0.0, units="rad/s", desc="Maximum allowed rotor speed.") - self.add_input("max_TS", val=0.0, units="m/s", desc="Maximum allowed blade tip speed.") self.add_input("V_out", val=0.0, units="m/s", desc="Cut out wind speed. This is the wind speed where region III ends.") self.add_output("Re", val=np.zeros((n_span)), ref=1.0e6) @@ -201,10 +200,8 @@ def compute(self, inputs, outputs): # Note that we used to use ccblade outputs of local wind speed at the rated condition # This is more accurate, of course, but creates an implicit feedback loop in the code # This way gets an order-of-magnitude estimate for Reynolds number, which is really all that is needed - max_local_TS = inputs["max_TS"][0] / (inputs["rotor_diameter"][0] / 2.) * inputs["r_blade"][0] - if np.all(max_local_TS == 0.0): - max_local_TS = inputs["maxOmega"] * inputs["r_blade"] + max_local_TS = inputs["maxOmega"] * inputs["r_blade"] max_local_V = np.sqrt(inputs["V_out"]**2 + max_local_TS**2) outputs["Re"] = np.nan_to_num( inputs["rho"] * max_local_V * inputs["chord"] / inputs["mu"] diff --git a/wisdem/rotorse/rotor_power.py b/wisdem/rotorse/rotor_power.py index e59488693..d09fdbddb 100644 --- a/wisdem/rotorse/rotor_power.py +++ b/wisdem/rotorse/rotor_power.py @@ -38,7 +38,7 @@ def setup(self): "rated_power", "omega_min", "omega_max", - "control_maxTS", + "max_allowable_blade_tip_speed", "tsr_operational", "control_pitch", "drivetrainType", @@ -160,7 +160,7 @@ def setup(self): self.add_input("rated_power", val=0.0, units="W", desc="electrical rated power") self.add_input("omega_min", val=0.0, units="rpm", desc="minimum allowed rotor rotation speed") self.add_input("omega_max", val=0.0, units="rpm", desc="maximum allowed rotor rotation speed") - self.add_input("control_maxTS", val=0.0, units="m/s", desc="maximum allowed blade tip speed") + self.add_input("max_allowable_blade_tip_speed", val=0.0, units="m/s", desc="maximum allowed blade tip speed") self.add_input("tsr_operational", val=0.0, desc="tip-speed ratio in Region 2 (should be optimized externally)") self.add_input( "control_pitch", @@ -168,7 +168,7 @@ def setup(self): units="deg", desc="pitch angle in region 2 (and region 3 for fixed pitch machines)", ) - self.add_input("ps_percent", val=1.0, desc="Scalar applied to the max torque within RotorSE for peak thrust shaving. Only used if `peak_thrust_shaving` is True.") + self.add_input("peak_thrust_shaving", val=1.0, desc="Scalar applied to the max torque within RotorSE for peak thrust shaving. Only used if `peak_thrust_shaving` is True.") self.add_discrete_input("drivetrainType", val="GEARED") self.add_input("gearbox_efficiency", val=1.0) @@ -294,7 +294,8 @@ def compute(self, inputs, outputs, discrete_inputs, discrete_outputs): rated_power=inputs["rated_power"], omega_min=inputs["omega_min"], omega_max=inputs["omega_max"], - control_maxTS=inputs["control_maxTS"], + max_allowable_blade_tip_speed=inputs["max_allowable_blade_tip_speed"], + peak_thrust_shaving=inputs["peak_thrust_shaving"], tsr_operational=inputs["tsr_operational"], control_pitch=inputs["control_pitch"], gearbox_efficiency=inputs["gearbox_efficiency"], @@ -323,7 +324,6 @@ def compute(self, inputs, outputs, discrete_inputs, discrete_outputs): shearExp=inputs["shearExp"], nBlades=discrete_inputs["nBlades"], ) - # Create Airfoil class instances af = [None] * self.n_span for i in range(self.n_span): @@ -393,8 +393,15 @@ def compute(self, inputs, outputs, discrete_inputs, discrete_outputs): Omega_tsr = Uhub * tsr / Rtip_cone # Determine maximum rotor speed (rad/s)- either by TS or by control input - Omega_max = min([float(inputs["control_maxTS"][0]) / Rtip_cone, + if inputs["max_allowable_blade_tip_speed"][0] > 0.0 and inputs["omega_max"][0] > 0.0: + Omega_max = min([inputs["max_allowable_blade_tip_speed"][0] / Rtip_cone, float(inputs["omega_max"][0]) * np.pi / 30.0]) + elif inputs["omega_max"][0] > 0.0: + Omega_max = float(inputs["omega_max"][0]) * np.pi / 30.0 + elif inputs["max_allowable_blade_tip_speed"][0] > 0.0: + Omega_max = inputs["max_allowable_blade_tip_speed"][0] / Rtip_cone + else: + Omega_max = np.inf # Apply maximum and minimum rotor speed limits Omega_min = float(inputs["omega_min"][0]) * np.pi / 30.0 @@ -447,12 +454,12 @@ def compute(self, inputs, outputs, discrete_inputs, discrete_outputs): region2p5 = U_2p5 < U_rated # Initialize peak shaving thrust value, will be updated later - ps_percent = float(inputs["ps_percent"][0]) - if ps_percent < 1.: + if inputs["peak_thrust_shaving"][0] < 1.: peak_thrust_shaving = True + pts = inputs["peak_thrust_shaving"][0] else: peak_thrust_shaving = False - max_T = ps_percent * T.max() if peak_thrust_shaving and found_rated else 1e16 + max_T = pts * T.max() if peak_thrust_shaving and found_rated else 1e16 ## REGION II.5 and RATED ## # Solve for rated velocity @@ -533,7 +540,7 @@ def const_Urated(x): ## REGION II.5 and RATED with peak shaving## if peak_thrust_shaving: - max_T = ps_percent * T_rated + max_T = pts * T_rated def const_Urated_Tpeak(x): pitch_i = x[0] diff --git a/wisdem/test/test_rotorse/debug.npz b/wisdem/test/test_rotorse/debug.npz index ce2d723b9..a7c88396a 100644 Binary files a/wisdem/test/test_rotorse/debug.npz and b/wisdem/test/test_rotorse/debug.npz differ diff --git a/wisdem/test/test_rotorse/test_rotor_power.py b/wisdem/test/test_rotorse/test_rotor_power.py index b81a92aa4..117a5d372 100644 --- a/wisdem/test/test_rotorse/test_rotor_power.py +++ b/wisdem/test/test_rotorse/test_rotor_power.py @@ -22,7 +22,7 @@ def fillprob(prob, n_pc, n_span): prob.set_val("rated_power", 5e6, units="W") prob.set_val("omega_min", 0.0, units="rpm") prob.set_val("omega_max", 100.0, units="rpm") - prob.set_val("control_maxTS", 90.0, units="m/s") + prob.set_val("max_allowable_blade_tip_speed", 90.0, units="m/s") prob.set_val("tsr_operational", 10.0) prob.set_val("control_pitch", 0.0, units="deg") prob.set_val("gearbox_efficiency", 0.975) @@ -115,20 +115,20 @@ def testStall(self): myobj.compute(inputs, outputs) ref_no_stall_constraint = np.array([0. , 0. , 0. , 0. , 0. , - 0. , 0. , 0.67118396, 0.790765 , 0.91126711, - 1.04726257, 1.07996108, 1.10021102, 1.10700111, 1.11135515, - 1.11887215, 1.12847682, 1.13645538, 1.14486372, 1.14846378, - 1.13405906, 1.13241738, 1.11592884, 1.11454111, 1.11388991, - 1.11688013, 1.13381233, 1.14722555, 1.13538874, 0.92356469]) + 0. , 0. , 0.70033738, 0.75218097, 0.79315049, + 0.82765667, 0.86538097, 0.95065128, 1.04466023, 1.09225808, + 1.11726308, 1.13587504, 1.13809885, 1.13778982, 1.12488231, + 1.07696038, 1.07288003, 1.07288003, 1.07288003, 1.07288003, + 1.07288003, 1.07288003, 1.07288003, 1.07288003, 1.07288003]) - ref_stall_angle_along_span = np.array([1.00000000e-06, 3.12001944e+00, 2.80452784e+00, 3.57331530e+01, - 3.02078680e+01, 2.60958541e+01, 2.26989830e+01, 1.48990450e+01, - 1.26459821e+01, 1.09737309e+01, 9.54870368e+00, 9.25959294e+00, - 9.08916542e+00, 9.03341461e+00, 8.99802368e+00, 8.93757165e+00, - 8.86150239e+00, 8.79928960e+00, 8.73466410e+00, 8.70728371e+00, - 8.81788291e+00, 8.83066627e+00, 8.96114484e+00, 8.97230255e+00, - 8.97754785e+00, 8.95351232e+00, 8.81980176e+00, 8.71668173e+00, - 8.80755609e+00, 1.08276119e+01]) + ref_stall_angle_along_span = np.array([1.00000000e-06, 6.20764268e+01, 3.05626324e+00, 3.71512410e+01, + 2.65640306e+01, 2.13870345e+01, 1.55639231e+01, 1.42788322e+01, + 1.32946730e+01, 1.26079478e+01, 1.20823046e+01, 1.15556042e+01, + 1.05191044e+01, 9.57249039e+00, 9.15534539e+00, 8.95044341e+00, + 8.80378528e+00, 8.78658297e+00, 8.78896951e+00, 8.88981886e+00, + 9.28539266e+00, 9.32070663e+00, 9.32070663e+00, 9.32070663e+00, + 9.32070663e+00, 9.32070663e+00, 9.32070663e+00, 9.32070663e+00, + 9.32070663e+00, 9.32070663e+00]) npt.assert_almost_equal(outputs["no_stall_constraint"], ref_no_stall_constraint) npt.assert_almost_equal(outputs["stall_angle_along_span"], ref_stall_angle_along_span) @@ -157,7 +157,7 @@ def testRegulationTrajectory(self): # All reg 2: no maxTS, no max rpm, no power limit prob["omega_max"] = 1e3 - prob["control_maxTS"] = 1e5 + prob["max_allowable_blade_tip_speed"] = 1e5 prob["rated_power"] = 1e16 prob.run_model() @@ -190,7 +190,7 @@ def testRegulationTrajectory(self): # Test no maxTS, max rpm, no power limit prob["omega_max"] = 15.0 - prob["control_maxTS"] = 1e5 + prob["max_allowable_blade_tip_speed"] = 1e5 prob["rated_power"] = 1e16 prob.run_model() V_expect1 = np.sort(np.r_[V_expect0, prob["rated_V"]]) @@ -214,7 +214,7 @@ def testRegulationTrajectory(self): # Test maxTS, no max rpm, no power limit prob["omega_max"] = 1e3 - prob["control_maxTS"] = 105.0 + prob["max_allowable_blade_tip_speed"] = 105.0 prob["rated_power"] = 1e16 prob.run_model() V_expect1 = np.sort(np.r_[V_expect0, prob["rated_V"]]) @@ -237,10 +237,11 @@ def testRegulationTrajectory(self): npt.assert_allclose(myCp[:irated], myCp[0]) npt.assert_allclose(myCp[:irated], prob["Cp"][:irated]) - # Test no maxTS, no max rpm, power limit + # Test no maxTS, no max rpm, power limit, no peak shaving prob["omega_max"] = 1e3 - prob["control_maxTS"] = 1e4 + prob["max_allowable_blade_tip_speed"] = 1e4 prob["rated_power"] = 5e6 + prob["peak_thrust_shaving"] = 1.0 prob.run_model() V_expect1 = np.sort(np.r_[V_expect0, prob["rated_V"]]) Omega_tsr = V_expect1 * 10 * 60 / 70.0 / 2.0 / np.pi @@ -266,7 +267,7 @@ def testRegulationTrajectory(self): # Test min & max rpm, no power limit prob["omega_min"] = 7.0 prob["omega_max"] = 15.0 - prob["control_maxTS"] = 1e5 + prob["max_allowable_blade_tip_speed"] = 1e5 prob["rated_power"] = 1e16 prob.run_model() V_expect1 = np.sort(np.r_[V_expect0, prob["rated_V"]]) @@ -291,7 +292,7 @@ def testRegulationTrajectory(self): # Test min & max rpm, normal power prob["omega_min"] = 7.0 prob["omega_max"] = 14.0 - prob["control_maxTS"] = 1e5 + prob["max_allowable_blade_tip_speed"] = 1e5 prob["rated_power"] = 5e6 prob.run_model() V_expect1 = np.sort(np.r_[V_expect0, prob["rated_V"]]) @@ -315,7 +316,7 @@ def testRegulationTrajectory(self): # Test fixed pitch prob["omega_min"] = 0.0 prob["omega_max"] = 15.0 - prob["control_maxTS"] = 1e5 + prob["max_allowable_blade_tip_speed"] = 1e5 prob["rated_power"] = 1e16 prob["control_pitch"] = 5.0 prob.run_model() @@ -362,10 +363,11 @@ def testRegulationTrajectoryNoRegion3(self): ) prob = fillprob(prob, n_pc, n_span) - # All reg 2: no maxTS, no max rpm, no power limit + # All reg 2: no maxTS, no max rpm, no power limit, no peak shaving prob["omega_max"] = 1e3 - prob["control_maxTS"] = 1e5 + prob["max_allowable_blade_tip_speed"] = 1e5 prob["rated_power"] = 1e16 + prob["peak_thrust_shaving"] = 1.0 prob.run_model() grid0 = np.cumsum(np.abs(np.diff(np.cos(np.linspace(-np.pi / 4.0, np.pi / 2.0, n_pc))))) @@ -397,7 +399,7 @@ def testRegulationTrajectoryNoRegion3(self): # Test no maxTS, no max rpm, power limit prob["omega_max"] = 1e3 - prob["control_maxTS"] = 1e4 + prob["max_allowable_blade_tip_speed"] = 1e4 prob["rated_power"] = 5e6 prob.run_model() V_expect1 = np.sort(np.r_[V_expect0, prob["rated_V"]]) @@ -445,9 +447,9 @@ def testRegulationTrajectory_PeakShaving(self): # All reg 2: no maxTS, no max rpm, no power limit prob["omega_max"] = 1e3 - prob["control_maxTS"] = 1e5 + prob["max_allowable_blade_tip_speed"] = 1e5 prob["rated_power"] = 1e16 - prob["ps_percent"] = 0.8 + prob["peak_thrust_shaving"] = 0.8 prob.run_model() grid0 = np.cumsum(np.abs(np.diff(np.cos(np.linspace(-np.pi / 4.0, np.pi / 2.0, n_pc))))) @@ -479,7 +481,7 @@ def testRegulationTrajectory_PeakShaving(self): # Test no maxTS, max rpm, no power limit prob["omega_max"] = 15.0 - prob["control_maxTS"] = 1e5 + prob["max_allowable_blade_tip_speed"] = 1e5 prob["rated_power"] = 1e16 prob.run_model() V_expect1 = np.sort(np.r_[V_expect0, prob["rated_V"]]) @@ -503,7 +505,7 @@ def testRegulationTrajectory_PeakShaving(self): # Test maxTS, no max rpm, no power limit prob["omega_max"] = 1e3 - prob["control_maxTS"] = 105.0 + prob["max_allowable_blade_tip_speed"] = 105.0 prob["rated_power"] = 1e16 prob.run_model() V_expect1 = np.sort(np.r_[V_expect0, prob["rated_V"]]) @@ -528,12 +530,12 @@ def testRegulationTrajectory_PeakShaving(self): # Test no maxTS, no max rpm, power limit prob["omega_max"] = 1e3 - prob["control_maxTS"] = 1e4 + prob["max_allowable_blade_tip_speed"] = 1e4 prob["rated_power"] = 5e6 - prob["ps_percent"] = 1.0 + prob["peak_thrust_shaving"] = 1.0 prob.run_model() T_peak = max(prob["T"]) - prob["ps_percent"] = 0.8 + prob["peak_thrust_shaving"] = 0.8 prob.run_model() V_expect1 = np.sort(np.r_[V_expect0, prob["rated_V"]]) Omega_tsr = V_expect1 * 10 * 60 / 70.0 / 2.0 / np.pi @@ -546,7 +548,7 @@ def testRegulationTrajectory_PeakShaving(self): npt.assert_array_almost_equal(prob["Cp"], prob["Cp_aero"] * 0.975 * 0.975) npt.assert_array_less(prob["P"][:irated], prob["P"][1 : (irated + 1)]) npt.assert_allclose(prob["P"][irated:], 5e6, rtol=1e-4, atol=0) - npt.assert_array_less(prob["T"], 1.01 * prob["ps_percent"][0] * T_peak) # within 1% + npt.assert_array_less(prob["T"], 1.01 * prob["peak_thrust_shaving"][0] * T_peak) # within 1% self.assertAlmostEqual(prob["rated_Omega"][0], Omega_expect[-1]) self.assertGreater(prob["rated_pitch"], 0.0) myCp = prob["P"] / (0.5 * 1.225 * V_expect1**3.0 * np.pi * 70**2) @@ -556,7 +558,7 @@ def testRegulationTrajectory_PeakShaving(self): # Test min & max rpm, no power limit prob["omega_min"] = 7.0 prob["omega_max"] = 15.0 - prob["control_maxTS"] = 1e5 + prob["max_allowable_blade_tip_speed"] = 1e5 prob["rated_power"] = 1e16 prob.run_model() V_expect1 = np.sort(np.r_[V_expect0, prob["rated_V"]]) @@ -581,7 +583,7 @@ def testRegulationTrajectory_PeakShaving(self): # Test min & max rpm, normal power prob["omega_min"] = 7.0 prob["omega_max"] = 14.0 - prob["control_maxTS"] = 1e5 + prob["max_allowable_blade_tip_speed"] = 1e5 prob["rated_power"] = 5e6 prob.run_model() V_expect1 = np.sort(np.r_[V_expect0, prob["rated_V"]])