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Monopile control gains #74

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merged 2 commits into from
Mar 14, 2024
Merged

Monopile control gains #74

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ac0f8eb
Update tuning yaml with optimized gains
dzalkind Mar 14, 2024
d49a0d5
Sync peak shaving with DTU values
dzalkind Mar 14, 2024
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39 changes: 34 additions & 5 deletions OpenFAST/IEA-22-280-RWT-Monopile/IEA-22-280-RWT-Monopile.yaml
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Original file line number Diff line number Diff line change
Expand Up @@ -4,8 +4,8 @@ controller_params:
PS_Mode: 3
ps_percent: 0.8
Fl_Mode: 0
zeta_pc: [1.4662448526479779, 2.030062512228778, 1.8130068579395848]
omega_pc: [0.11468384902891134, 0.12082643062647291, 0.3959805145442727]
zeta_pc: [0.847280836303482, 1.756230134689656, 0.7443639812392495]
omega_pc: [0.1039601890550169, 0.11266788743371176, 0.289233848967533]
U_pc: [12, 18, 24]
zeta_vs: 0.85
omega_vs: 0.12
Expand Down Expand Up @@ -36,12 +36,22 @@ controller_params:
AWC_freq: [0.05]
AWC_amp: [1.0]
AWC_clockangle: [0]
DT_Out: 0
Ext_Interface: 1
VS_PwrFiltF: 0.314
PRC_LPF_Freq: 0.078539
TRA_ExclSpeed: 0.0
TRA_ExclBand: 0.0
TRA_RateLimit: 0.0
RP_Gains: [0, 0, 0, 0]
ZMQ_CommAddress: tcp://localhost:5555
ZMQ_UpdatePeriod: 1.0
ZMQ_ID: 0
LoggingLevel: 2
F_LPFType: 1
F_NotchType: 0
IPC_ControlMode: 0
VS_ControlMode: 2
VS_ConstTorque: 1
VS_ConstPower: 1
PC_ControlMode: 1
Y_ControlMode: 0
Expand Down Expand Up @@ -71,7 +81,18 @@ controller_params:
IPC_Ki2p: 0.0
IPC_Vramp: [0.0, 0.0]
filter_params: {f_we_cornerfreq: 0.20944, f_fl_highpassfreq: 0.01042, f_ss_cornerfreq: 0.6283, f_yawerr: 0.17952, f_sd_cornerfreq: 0.41888}
open_loop: {flag: false, filename: unused, OL_Ind_Breakpoint: 1, OL_Ind_BldPitch: 0, OL_Ind_GenTq: 0, OL_Ind_YawRate: 0}
open_loop:
flag: false
filename: unused
OL_Ind_Breakpoint: 1
OL_Ind_BldPitch: 0
OL_Ind_GenTq: 0
OL_Ind_YawRate: 0
Ind_Breakpoint: 1
Ind_BldPitch: [0, 0, 0]
Ind_GenTq: 0
Ind_YawRate: 0
Ind_Azimuth: 0
linmodel_tuning:
type: none
linfile_path: none
Expand All @@ -85,7 +106,15 @@ controller_params:
AWC_Mode: 0
CC_Mode: 0
StC_Mode: 0
turbine_params: {rotor_inertia: 749154917.0, rated_rotor_speed: 0.739436, v_min: 3.0, v_rated: 11.51447692, v_max: 25.0, max_pitch_rate: 0.03490659, max_torque_rate: 4500000.0, rated_power: 22000000.0, bld_edgewise_freq: 3.6531113561725572, bld_flapwise_freq: 2.7716172770411616, TSR_operational: 9.15}
TRA_Mode: 0
ZMQ_UpdatePeriod: 2
OL_Mode: 0
U_Fl: []
rgn2k_factor: 1
n_pitch: 36
n_tsr: 26
n_U: 1
turbine_params: {rotor_inertia: 749154917.0, rated_rotor_speed: 0.739436, v_min: 3.0, v_rated: 11.51447692, v_max: 25.0, max_pitch_rate: 0.03490659, max_torque_rate: 4500000.0, rated_power: 22000000.0, bld_edgewise_freq: 3.6531113561725572, bld_flapwise_freq: 2.7716172770411616, TSR_operational: 9.15, reynolds_ref: 0}
linmodel_tuning:
type: none
linfile_path: none
Expand Down
6 changes: 3 additions & 3 deletions OpenFAST/IEA-22-280-RWT-Monopile/IEA-22-280-RWT_DISCON.IN
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Original file line number Diff line number Diff line change
Expand Up @@ -52,9 +52,9 @@

!------- BLADE PITCH CONTROL ----------------------------------------------
30 ! PC_GS_n - Amount of gain-scheduling table entries
0.082151 0.109030 0.129613 0.147744 0.162846 0.177479 0.191269 0.203408 0.215327 0.227045 0.238180 0.248521 0.258745 0.268859 0.278876 0.288166 0.297305 0.306387 0.315409 0.324375 0.332823 0.341140 0.349431 0.357694 0.365929 0.373993 0.381606 0.389221 0.396833 0.404440 ! PC_GS_angles - Gain-schedule table: pitch angles [rad].
-1.505649 -1.321918 -1.187016 -1.086644 -1.010776 -0.952169 -0.905423 -0.866396 -0.831827 -0.799094 -0.766058 -0.730953 -0.692318 -0.648959 -0.612174 -0.629554 -0.691018 -0.781292 -0.887372 -0.998454 -1.105797 -1.202515 -1.283339 -1.344327 -1.382560 -1.395807 -1.382172 -1.340581 -1.291899 -1.245759 ! PC_GS_KP - Gain-schedule table: pitch controller kp gains [s].
-0.061016 -0.055180 -0.050532 -0.046759 -0.043641 -0.041020 -0.038780 -0.036831 -0.035106 -0.033549 -0.032118 -0.030778 -0.029500 -0.028260 -0.027721 -0.030674 -0.037158 -0.047121 -0.060503 -0.077016 -0.096043 -0.116602 -0.137369 -0.156756 -0.173018 -0.184393 -0.189266 -0.186568 -0.181568 -0.176830 ! PC_GS_KI - Gain-schedule table: pitch controller ki gains [-].
0.087533 0.113396 0.133855 0.151322 0.166895 0.181166 0.194493 0.206974 0.218758 0.230122 0.240990 0.251436 0.261678 0.271430 0.281074 0.290366 0.299532 0.308435 0.317215 0.325775 0.334240 0.342494 0.350699 0.358678 0.366667 0.374396 0.382139 0.389697 0.397208 0.404630 ! PC_GS_angles - Gain-schedule table: pitch angles [rad].
-1.046190 -0.901036 -0.805977 -0.745262 -0.707832 -0.685800 -0.673301 -0.665799 -0.659669 -0.651931 -0.640095 -0.622062 -0.596078 -0.560710 -0.520237 -0.499699 -0.494331 -0.494887 -0.493553 -0.484701 -0.465216 -0.434503 -0.394232 -0.347893 -0.300193 -0.256331 -0.221173 -0.198046 -0.179791 -0.162502 ! PC_GS_KP - Gain-schedule table: pitch controller kp gains [s].
-0.051508 -0.046341 -0.042337 -0.039171 -0.036619 -0.034521 -0.032760 -0.031248 -0.029915 -0.028710 -0.027588 -0.026516 -0.025465 -0.024411 -0.023691 -0.025004 -0.028299 -0.033386 -0.040099 -0.048202 -0.057342 -0.067030 -0.076649 -0.085483 -0.092760 -0.097707 -0.099618 -0.098022 -0.095359 -0.092836 ! PC_GS_KI - Gain-schedule table: pitch controller ki gains [-].
0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 ! PC_GS_KD - Gain-schedule table: pitch controller kd gains
0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 ! PC_GS_TF - Gain-schedule table: pitch controller tf gains (derivative filter)
1.570000000000 ! PC_MaxPit - Maximum physical pitch limit, [rad].
Expand Down
8 changes: 4 additions & 4 deletions OpenFAST/ROSCO/update_rosco_peak_shaving.py
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Original file line number Diff line number Diff line change
Expand Up @@ -3,12 +3,12 @@

'''
import os
from ROSCO_toolbox.ofTools.fast_io.update_discons import update_discons
from rosco.toolbox.ofTools.fast_io.update_discons import update_discons
import numpy as np
from ROSCO_toolbox.tune import yaml_to_objs
from rosco.toolbox.tune import yaml_to_objs
import matplotlib.pyplot as plt
from ROSCO_toolbox.ofTools.util.FileTools import save_yaml
from ROSCO_toolbox.inputs.validation import load_rosco_yaml
from rosco.toolbox.ofTools.util.FileTools import save_yaml
from rosco.toolbox.inputs.validation import load_rosco_yaml
import pandas as pd


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