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Torque Floating Feedback Update #331

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Torque Floating Feedback Update #331

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20dc219
Re-apply torque floating feedback changes to new branch forked from m…
Mar 27, 2024
3f07349
Made frequency of floating feedback LPF less aggressive and fixed err…
Mar 27, 2024
8751030
Parameterized the autotuning procedure for generator torque floating …
Apr 4, 2024
2ca57df
Rearranged torque-ff example script cases
Apr 8, 2024
0fac402
Merge branch 'develop' into torque-ff-retune
dzalkind Apr 8, 2024
b4ffbf7
Added FlTq controller parameters to example DISCON files for ROSCO_te…
Apr 8, 2024
71143ee
Merge remote-tracking branch 'ds/torque-ff-retune' into torque-ff-retune
dzalkind Apr 8, 2024
7a18adf
Fix 2p8 tuning yaml
dzalkind Apr 8, 2024
9d713bb
Update file writer, revert ptfm_freq param, regen discons
dzalkind Apr 8, 2024
d9d6ce6
Added separate filtered nacelle motion signal for torque floating fee…
Apr 8, 2024
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Added FlTq controller parameters to example DISCON files for ROSCO_te… 
…sting CI test
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David Stockhouse committed Apr 8, 2024
commit b4ffbf7005aa3c78eb65117df9390b386d2dd3f4
4 changes: 3 additions & 1 deletion Examples/Test_Cases/BAR_10/BAR_10_DISCON.IN
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Original file line number Diff line number Diff line change
Expand Up @@ -19,7 +19,8 @@
2 ! WE_Mode - Wind speed estimator mode {0: One-second low pass filtered hub height wind speed, 1: Immersion and Invariance Estimator, 2: Extended Kalman Filter}
1 ! PS_Mode - Pitch saturation mode {0: no pitch saturation, 1: implement pitch saturation}
0 ! SD_Mode - Shutdown mode {0: no shutdown procedure, 1: pitch to max pitch at shutdown}
0 ! Fl_Mode - Floating specific feedback mode {0: no nacelle velocity feedback, 1: feed back translational velocity, 2: feed back rotational veloicty}
0 ! Fl_Mode - Floating specific feedback mode to blade pitch {0: no nacelle velocity feedback, 1: feed back translational velocity, 2: feed back rotational veloicty}
0 ! FlTq_Mode - Floating specific feedback mode to generator torque {0: no nacelle velocity feedback, 1: feed back translational velocity, 2: feed back rotational veloicty}
0 ! TD_Mode - Tower damper mode (0- no tower damper, 1- feed back translational nacelle accelleration to pitch angle
0 ! TRA_Mode - Tower resonance avoidance mode (0- no tower resonsnace avoidance, 1- use torque control setpoints to avoid a specific frequency
2 ! Flp_Mode - Flap control mode {0: no flap control, 1: steady state flap angle, 2: Proportional flap control, 2: Cyclic (1P) flap control}
Expand Down Expand Up @@ -144,6 +145,7 @@
!------- Floating -----------------------------------------------------------
1 ! Fl_n - Number of Fl_Kp gains in gain scheduling, optional with default of 1
0.0000 ! Fl_Kp - Nacelle velocity proportional feedback gain [s]
0.0000 ! FlTq_Kp - Nacelle velocity proportional feedback gain [s]
0.0000 ! Fl_U - Wind speeds for scheduling Fl_Kp, optional if Fl_Kp is single value [m/s]

!------- FLAP ACTUATION -----------------------------------------------------
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6 changes: 4 additions & 2 deletions Examples/Test_Cases/IEA-15-240-RWT-UMaineSemi/DISCON-UMaineSemi.IN
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Original file line number Diff line number Diff line change
Expand Up @@ -19,7 +19,8 @@
2 ! WE_Mode - Wind speed estimator mode {0: One-second low pass filtered hub height wind speed, 1: Immersion and Invariance Estimator, 2: Extended Kalman Filter}
1 ! PS_Mode - Pitch saturation mode {0: no pitch saturation, 1: implement pitch saturation}
0 ! SD_Mode - Shutdown mode {0: no shutdown procedure, 1: pitch to max pitch at shutdown}
2 ! Fl_Mode - Floating specific feedback mode {0: no nacelle velocity feedback, 1: feed back translational velocity, 2: feed back rotational veloicty}
2 ! Fl_Mode - Floating specific feedback mode to blade pitch {0: no nacelle velocity feedback, 1: feed back translational velocity, 2: feed back rotational veloicty}
0 ! FlTq_Mode - Floating specific feedback mode to generator torque {0: no nacelle velocity feedback, 1: feed back translational velocity, 2: feed back rotational veloicty}
0 ! TD_Mode - Tower damper mode (0- no tower damper, 1- feed back translational nacelle accelleration to pitch angle
0 ! TRA_Mode - Tower resonance avoidance mode (0- no tower resonsnace avoidance, 1- use torque control setpoints to avoid a specific frequency
0 ! Flp_Mode - Flap control mode {0: no flap control, 1: steady state flap angle, 2: Proportional flap control, 2: Cyclic (1P) flap control}
Expand Down Expand Up @@ -143,7 +144,8 @@

!------- Floating -----------------------------------------------------------
1 ! Fl_n - Number of Fl_Kp gains in gain scheduling, optional with default of 1
-9.3465 ! Fl_Kp - Nacelle pitching proportional feedback gain [s]
-9.3465 ! Fl_Kp - Nacelle pitching proportional feedback gain to blade pitch [s]
0.00000 ! FlTq_Kp - Nacelle velocity proportional feedback gain to generator torque [s]
11.2770 ! Fl_U - Wind speeds for scheduling Fl_Kp, optional if Fl_Kp is single value [m/s]

!------- FLAP ACTUATION -----------------------------------------------------
Expand Down
4 changes: 3 additions & 1 deletion Examples/Test_Cases/MHK_RM1/MHK_RM1_DISCON.IN
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Original file line number Diff line number Diff line change
Expand Up @@ -19,7 +19,8 @@
0 ! WE_Mode - Wind speed estimator mode {0: One-second low pass filtered hub height wind speed, 1: Immersion and Invariance Estimator, 2: Extended Kalman Filter}
0 ! PS_Mode - Pitch saturation mode {0: no pitch saturation, 1: implement pitch saturation}
0 ! SD_Mode - Shutdown mode {0: no shutdown procedure, 1: pitch to max pitch at shutdown}
1 ! Fl_Mode - Floating specific feedback mode {0: no nacelle velocity feedback, 1: feed back translational velocity, 2: feed back rotational veloicty}
1 ! Fl_Mode - Floating specific feedback mode to blade pitch {0: no nacelle velocity feedback, 1: feed back translational velocity, 2: feed back rotational veloicty}
0 ! FlTq_Mode - Floating specific feedback mode to generator torque {0: no nacelle velocity feedback, 1: feed back translational velocity, 2: feed back rotational veloicty}
0 ! TD_Mode - Tower damper mode (0- no tower damper, 1- feed back translational nacelle accelleration to pitch angle
0 ! TRA_Mode - Tower resonance avoidance mode (0- no tower resonsnace avoidance, 1- use torque control setpoints to avoid a specific frequency
0 ! Flp_Mode - Flap control mode {0: no flap control, 1: steady state flap angle, 2: Proportional flap control, 2: Cyclic (1P) flap control}
Expand Down Expand Up @@ -144,6 +145,7 @@
!------- Floating -----------------------------------------------------------
1 ! Fl_n - Number of Fl_Kp gains in gain scheduling, optional with default of 1
-0.3999 ! Fl_Kp - Nacelle velocity proportional feedback gain [s]
0.0000 ! FlTq_Kp - Nacelle velocity proportional feedback gain [s]
2.1000 ! Fl_U - Wind speeds for scheduling Fl_Kp, optional if Fl_Kp is single value [m/s]

!------- FLAP ACTUATION -----------------------------------------------------
Expand Down
4 changes: 3 additions & 1 deletion Examples/Test_Cases/NREL-5MW/DISCON.IN
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Original file line number Diff line number Diff line change
Expand Up @@ -19,7 +19,8 @@
2 ! WE_Mode - Wind speed estimator mode {0: One-second low pass filtered hub height wind speed, 1: Immersion and Invariance Estimator, 2: Extended Kalman Filter}
1 ! PS_Mode - Pitch saturation mode {0: no pitch saturation, 1: implement pitch saturation}
0 ! SD_Mode - Shutdown mode {0: no shutdown procedure, 1: pitch to max pitch at shutdown}
0 ! Fl_Mode - Floating specific feedback mode {0: no nacelle velocity feedback, 1: feed back translational velocity, 2: feed back rotational veloicty}
0 ! Fl_Mode - Floating specific feedback mode to blade pitch {0: no nacelle velocity feedback, 1: feed back translational velocity, 2: feed back rotational veloicty}
0 ! FlTq_Mode - Floating specific feedback mode to generator torque {0: no nacelle velocity feedback, 1: feed back translational velocity, 2: feed back rotational veloicty}
0 ! TD_Mode - Tower damper mode (0- no tower damper, 1- feed back translational nacelle accelleration to pitch angle
0 ! TRA_Mode - Tower resonance avoidance mode (0- no tower resonsnace avoidance, 1- use torque control setpoints to avoid a specific frequency
0 ! Flp_Mode - Flap control mode {0: no flap control, 1: steady state flap angle, 2: Proportional flap control, 2: Cyclic (1P) flap control}
Expand Down Expand Up @@ -144,6 +145,7 @@
!------- Floating -----------------------------------------------------------
1 ! Fl_n - Number of Fl_Kp gains in gain scheduling, optional with default of 1
0.0000 ! Fl_Kp - Nacelle velocity proportional feedback gain [s]
0.0000 ! FlTq_Kp - Nacelle velocity proportional feedback gain [s]
0.0000 ! Fl_U - Wind speeds for scheduling Fl_Kp, optional if Fl_Kp is single value [m/s]

!------- FLAP ACTUATION -----------------------------------------------------
Expand Down
4 changes: 3 additions & 1 deletion Examples/Test_Cases/NREL_2p8_127/NREL-2p8-127_DISCON.IN
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Original file line number Diff line number Diff line change
Expand Up @@ -19,7 +19,8 @@
2 ! WE_Mode - Wind speed estimator mode {0: One-second low pass filtered hub height wind speed, 1: Immersion and Invariance Estimator, 2: Extended Kalman Filter}
1 ! PS_Mode - Pitch saturation mode {0: no pitch saturation, 1: implement pitch saturation}
0 ! SD_Mode - Shutdown mode {0: no shutdown procedure, 1: pitch to max pitch at shutdown}
0 ! Fl_Mode - Floating specific feedback mode {0: no nacelle velocity feedback, 1: feed back translational velocity, 2: feed back rotational veloicty}
0 ! Fl_Mode - Floating specific feedback mode to blade pitch {0: no nacelle velocity feedback, 1: feed back translational velocity, 2: feed back rotational veloicty}
0 ! FlTq_Mode - Floating specific feedback mode to generator torque {0: no nacelle velocity feedback, 1: feed back translational velocity, 2: feed back rotational veloicty}
0 ! TD_Mode - Tower damper mode (0- no tower damper, 1- feed back translational nacelle accelleration to pitch angle
0 ! TRA_Mode - Tower resonance avoidance mode (0- no tower resonsnace avoidance, 1- use torque control setpoints to avoid a specific frequency
0 ! Flp_Mode - Flap control mode {0: no flap control, 1: steady state flap angle, 2: Proportional flap control, 2: Cyclic (1P) flap control}
Expand Down Expand Up @@ -144,6 +145,7 @@
!------- Floating -----------------------------------------------------------
1 ! Fl_n - Number of Fl_Kp gains in gain scheduling, optional with default of 1
0.0000 ! Fl_Kp - Nacelle velocity proportional feedback gain [s]
0.0000 ! FlTq_Kp - Nacelle velocity proportional feedback gain [s]
0.0000 ! Fl_U - Wind speeds for scheduling Fl_Kp, optional if Fl_Kp is single value [m/s]

!------- FLAP ACTUATION -----------------------------------------------------
Expand Down
2 changes: 1 addition & 1 deletion rosco/test/ROSCO_testing.py
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Original file line number Diff line number Diff line change
Expand Up @@ -77,7 +77,7 @@ def __init__(self, **kwargs):
'Wind1VelX', 'Wind1VelY', 'Wind1VelZ',
'RtVAvgxh', 'RtVAvgyh', 'RtVAvgzh'
]

if self.cores > mp.cpu_count():
self.parallel_cores = mp.cpu_count()

Expand Down
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