Control¶

Actuators¶

    supervisory:
        Vin: 3.0
        Vout: 25.0
        maxTS: 95.
    pitch:
        PC_zeta: 1.0                      # Pitch controller desired damping ratio [-]
        PC_omega: 0.2                     # Pitch controller desired natural frequency [rad/s]
        ps_percent: 0.8                   # Percent peak shaving  [%, <= 1 ], {default = 80%}
        max_pitch: 1.57                     # Maximum pitch angle [rad], {default = 90 degrees}
        max_pitch_rate: 0.03490658503988659 # 2 deg/s
        min_pitch: 0.                     # Minimum pitch angle [rad], {default = 0 degrees}
    torque:
        control_type: tsr_tracking
        tsr: 9.0
        max_torque_rate: 1500000.
        VS_minspd: 0.5235987755982988     # Minimum rotor speed [rad/s], {default = 0 rad/s}
        VS_maxspd: 0.7916813487046278     # Minimum rotor speed [rad/s], {default = 0 rad/s}
        VS_zeta: 1.0                      # Torque controller desired damping ratio [-]
        VS_omega: 0.2                     # Torque controller desired natural frequency [rad/s]
    setpoint_smooth:
        ss_vsgain: 1                      # Torque controller setpoint smoother gain bias percentage [%, <= 1 ], {default = 100%}
        ss_pcgain: .001                   # Pitch controller setpoint smoother gain bias percentage  [%, <= 1 ], {default = 0.1%}
    shutdown:
        limit_type: gen_speed
        limit_value: 2.0

pitch¶

supervisory¶

VinFloat, m/s

Cut-in wind speed of the wind turbine.

Minimum = 0 Maximum = 10

VoutFloat, m/s

Cut-out wind speed of the wind turbine.

Minimum = 0 Maximum = 50

maxTSFloat, m/s

Maximum allowable blade tip speed.

Minimum = 60 Maximum = 120

pitch¶

PC_omegaFloat, rad/s

Pitch controller desired natural frequency. It is used by the ROSCO controller (https://github.com/NREL/ROSCO)

Minimum = 0 Maximum = 5

PC_zetaFloat

Pitch controller desired damping ratio. It is used by the ROSCO controller (https://github.com/NREL/ROSCO)

Minimum = 0 Maximum = 5

ps_percentFloat

Percent peak shaving. It is used by the ROSCO controller (https://github.com/NREL/ROSCO)

Minimum = 0 Maximum = 1

fine_pitchFloat, rad

Optimal pitch angle of the wind turbine. As default, it is maintained constant in region II.

Minimum = -10 Maximum = 10

max_pitch_rateFloat, rad/s

Maximum pitch rate of the rotor blades.

Minimum = 0 Maximum = 0.2

max_pitchFloat, rad

Maximum pitch angle, where the default is 90 degrees. It is used by the ROSCO controller (https://github.com/NREL/ROSCO)

Minimum = 0 Maximum = 2.0

min_pitchFloat, rad

Minimum pitch angle, where the default is 0 degrees. It is used by the ROSCO controller (https://github.com/NREL/ROSCO)

Minimum = -0.5 Maximum = 1.0

torque¶

max_torque_rateFloat, Nm/s

Maximum torque rate of the wind turbine generator.

Minimum = 1000 Maximum = 100000000

control_typeString from, [‘tsr_tracking’, ‘legacy’, ‘pi_transitions’]

Type of torque control used.

tsrFloat

Rated tip speed ratio of the wind turbine. As default, it is maintained constant in region II.

Minimum = 0 Maximum = 15

VS_zetaFloat

Torque controller desired damping ratio. It is used by the ROSCO controller (https://github.com/NREL/ROSCO)

Minimum = 0 Maximum = 5

VS_omegaFloat, rad/s

Torque controller desired natural frequency. It is used by the ROSCO controller (https://github.com/NREL/ROSCO)

Minimum = 0 Maximum = 5

VS_minspdFloat, rad/s

Minimum rotor speed. It is used by the ROSCO controller (https://github.com/NREL/ROSCO)

Minimum = 0 Maximum = 5

setpoint_smooth¶

ss_vsgainFloat

Torque controller setpoint smoother gain bias percentage. It is used by the ROSCO controller (https://github.com/NREL/ROSCO)

Minimum = 0 Maximum = 1

ss_pcgainFloat

Pitch controller setpoint smoother gain bias percentage. It is used by the ROSCO controller (https://github.com/NREL/ROSCO)

Minimum = 0 Maximum = 1

shutdown¶

Turbine shutdown control, when a certain limit is reached

limit_typeString from, [‘time’, ‘pitch’, ‘yaw’, ‘gen_speed’, ‘wind_speed’, ‘plt_pitch’, ‘nac_IMU’]

What value is used to trigger shutdown procedure

limit_valueFloat

When limit_type > limit_value, shutdown is initiated

pitch_rateFloat, rad/s

Rate of pitch manuever to max_pitch. Default is 2 deg./s ?

Minimum = 0 Maximum = 0.2

open_loop_pitch¶

wind_speed_estimator¶

Extended Kalman filter implementation of wind speed estimator

gen_process_noiseFloat

Process noise for EKF generator speed state, Default = 1e-5

Minimum = 0 Maximum = 0.001

turb_intensityFloat

Turbulence intensity defined in usual way, parameterizes EKF process noise for wind, Default = 0.14

Minimum = 0 Maximum = 0.5

turb_length_scaleFloat

Turbulence length scale, parameterizes EKF process noise for wind, Defulat = 3 * TurbineDiameter

Minimum = 0 Maximum = 1000

yaw¶

Yaw control for changing wind direction or steady offset as implemented by ROSCO

yaw_error_threshFloat, rad^2 s

Yaw error threshold, Turbine begins to yaw when it passes this

Minimum = 0

yaw_filt_fastFloat, rad/s

Corner frequency for fast low pass filter, Default = 1.0 Hz

Minimum = 1e-06

yaw_filt_slowFloat, rad/s

Corner frequency for slow low pass filter, Default = 1/60 Hz

Minimum = 1e-09

yaw_rateFloat, rad/s

Yaw rate when changing yaw

Minimum = 0

power_control¶

methodString from, [‘gen_speed’]: Method used to control power output, generator speed only for now.

reference_control¶

Control power reference R

methodString from, [‘constrained_ref_control’, ‘open_loop_opt’]

Method of controlling power reference R

const_gen_limFloat, rad/s

Generator speed limit to start de-rating

Minimum = 0

const_gen_gainFloat, (rad/s)^-1

Gain for de-rating when gen speed > lim

Minimum = 0

const_gen_estFloat, (rad/m)

Generator speed transient estimation gain

Minimum = 0

const_plt_limFloat, rad

Platform pitch limit to start de-rating

Minimum = 0

const_plt_gainFloat, (rad)^-1

Gain for de-rating when plt pitch > lim

Minimum = 0

const_plt_estFloat, (rad)/(m/s)

Platform pitch transient estimation gain

Minimum = 0

freq_avoidance¶

Changes generator speed setpoint to avoid turbine natural frequencies

list_of_freqsArray of Floats, rad/s: List of frequencies to avoid
avoidance_paramArray of Floats, rad/s: Buffer speed around frequencies to avoid