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dstockhouse wants to merge 11 commits into from
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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
83e446b
Update for multi-loop control features in progress
Apr 24, 2025
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1 change: 1 addition & 0 deletions .gitignore
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Original file line number Diff line number Diff line change
Expand Up @@ -82,6 +82,7 @@ Examples/*.p
# Exclude testing results
ROSCO_testing/results/
ROSCO_testing/testing
rosco/test/testing

# Simulink/Matlab temp files
*.slxc
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2 changes: 1 addition & 1 deletion Examples/24_floating_feedback.py
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@@ -1,5 +1,5 @@
'''
----------- 23_structural_control ------------------------
----------- 24_floating_feedback ------------------------
Run openfast with ROSCO and all the floating feedback methods
-----------------------------------------------

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354 changes: 354 additions & 0 deletions Examples/29_constant_power_detuned.py
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365 changes: 365 additions & 0 deletions Examples/29_floating_feedback_torque.py
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17 changes: 10 additions & 7 deletions Examples/Test_Cases/BAR_10/BAR_10_DISCON.IN
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@@ -1,10 +1,10 @@
! Controller parameter input file for the BAR_10 wind turbine
! - File written using ROSCO version 2.8.0 controller tuning logic on 01/05/24
! - File written using ROSCO version 2.9.0 controller tuning logic on 04/08/24

!------- SIMULATION CONTROL ------------------------------------------------------------
1 ! LoggingLevel - {0: write no debug files, 1: write standard output .dbg-file, 2: LoggingLevel 1 + ROSCO LocalVars (.dbg2) 3: LoggingLevel 2 + complete avrSWAP-array (.dbg3)}
0 ! DT_Out - {Time step to output .dbg* files, or 0 to match sampling period of OpenFAST}
1 ! Ext_Interface - (0 - use standard bladed interface, 1 - Use the extened DLL interface introduced in OpenFAST 3.5.0.)
1 ! Ext_Interface - (0 - use standard bladed interface, 1 - Use the extened DLL interface introduced in OpenFAST 3.5.0.)
0 ! Echo - (0 - no Echo, 1 - Echo input data to <RootName>.echo)

!------- CONTROLLER FLAGS -------------------------------------------------
Expand All @@ -19,9 +19,10 @@
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 ! 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 ! 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}
0 ! OL_Mode - Open loop control mode {0: no open loop control, 1: open loop control vs. time, 2: rotor position control}
0 ! PA_Mode - Pitch actuator mode {0 - not used, 1 - first order filter, 2 - second order filter}
Expand All @@ -46,7 +47,8 @@
0.62830 ! F_SSCornerFreq - Corner frequency (-3dB point) in the first order low pass filter for the setpoint smoother, [rad/s].
0.20944 ! F_WECornerFreq - Corner frequency (-3dB point) in the first order low pass filter for the wind speed estimate [rad/s].
0.17952 ! F_YawErr - Low pass filter corner frequency for yaw controller [rad/s].
0.000000 1.000000 ! F_FlCornerFreq - Natural frequency and damping in the second order low pass filter of the tower-top fore-aft motion for floating feedback control [rad/s, -].
0.000000 1.000000 ! F_FlCornerFreq - Natural frequency and damping in the second order low pass filter of the tower-top fore-aft motion for blade pitch floating feedback control [rad/s, -].
0.000000 1.000000 ! F_FlTqCornerFreq - Natural frequency and damping in the second order low pass filter of the tower-top fore-aft motion for generator torque floating feedback control [rad/s, -].
0.01042 ! F_FlHighPassFreq - Natural frequency of first-order high-pass filter for nacelle fore-aft motion [rad/s].
7.8480 1.0000 ! F_FlpCornerFreq - Corner frequency and damping in the second order low pass filter of the blade root bending moment for flap control

Expand Down Expand Up @@ -143,7 +145,8 @@

!------- 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 ! Fl_Kp - Nacelle velocity proportional feedback gain to blade pitch [s]
0.0000 ! FlTq_Kp - Nacelle velocity proportional feedback gain to generator torque [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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17 changes: 10 additions & 7 deletions Examples/Test_Cases/IEA-15-240-RWT-UMaineSemi/DISCON-UMaineSemi.IN
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@@ -1,10 +1,10 @@
! Controller parameter input file for the IEA-15-240-RWT-UMaineSemi wind turbine
! - File written using ROSCO version 2.8.0 controller tuning logic on 01/05/24
! - File written using ROSCO version 2.9.0 controller tuning logic on 04/08/24

!------- SIMULATION CONTROL ------------------------------------------------------------
2 ! LoggingLevel - {0: write no debug files, 1: write standard output .dbg-file, 2: LoggingLevel 1 + ROSCO LocalVars (.dbg2) 3: LoggingLevel 2 + complete avrSWAP-array (.dbg3)}
0 ! DT_Out - {Time step to output .dbg* files, or 0 to match sampling period of OpenFAST}
1 ! Ext_Interface - (0 - use standard bladed interface, 1 - Use the extened DLL interface introduced in OpenFAST 3.5.0.)
1 ! Ext_Interface - (0 - use standard bladed interface, 1 - Use the extened DLL interface introduced in OpenFAST 3.5.0.)
0 ! Echo - (0 - no Echo, 1 - Echo input data to <RootName>.echo)

!------- CONTROLLER FLAGS -------------------------------------------------
Expand All @@ -19,9 +19,10 @@
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}
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 ! 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}
0 ! OL_Mode - Open loop control mode {0: no open loop control, 1: open loop control vs. time, 2: rotor position control}
2 ! PA_Mode - Pitch actuator mode {0 - not used, 1 - first order filter, 2 - second order filter}
Expand All @@ -46,7 +47,8 @@
0.62830 ! F_SSCornerFreq - Corner frequency (-3dB point) in the first order low pass filter for the setpoint smoother, [rad/s].
0.20944 ! F_WECornerFreq - Corner frequency (-3dB point) in the first order low pass filter for the wind speed estimate [rad/s].
0.17952 ! F_YawErr - Low pass filter corner frequency for yaw controller [rad/s].
0.213000 1.000000 ! F_FlCornerFreq - Natural frequency and damping in the second order low pass filter of the tower-top fore-aft motion for floating feedback control [rad/s, -].
0.213000 1.000000 ! F_FlCornerFreq - Natural frequency and damping in the second order low pass filter of the tower-top fore-aft motion for blade pitch floating feedback control [rad/s, -].
0.639000 1.000000 ! F_FlTqCornerFreq - Natural frequency and damping in the second order low pass filter of the tower-top fore-aft motion for generator torque floating feedback control [rad/s, -].
0.01042 ! F_FlHighPassFreq - Natural frequency of first-order high-pass filter for nacelle fore-aft motion [rad/s].
10.4616 1.0000 ! F_FlpCornerFreq - Corner frequency and damping in the second order low pass filter of the blade root bending moment for flap control

Expand Down Expand Up @@ -143,7 +145,8 @@

!------- 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]
0.0000 ! FlTq_Kp - Nacelle pitching 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 -----------------------------------------------------
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17 changes: 10 additions & 7 deletions Examples/Test_Cases/MHK_RM1/MHK_RM1_DISCON.IN
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@@ -1,10 +1,10 @@
! Controller parameter input file for the MHK_RM1_Floating wind turbine
! - File written using ROSCO version 2.8.0 controller tuning logic on 01/05/24
! - File written using ROSCO version 2.9.0 controller tuning logic on 04/08/24

!------- SIMULATION CONTROL ------------------------------------------------------------
2 ! LoggingLevel - {0: write no debug files, 1: write standard output .dbg-file, 2: LoggingLevel 1 + ROSCO LocalVars (.dbg2) 3: LoggingLevel 2 + complete avrSWAP-array (.dbg3)}
0 ! DT_Out - {Time step to output .dbg* files, or 0 to match sampling period of OpenFAST}
1 ! Ext_Interface - (0 - use standard bladed interface, 1 - Use the extened DLL interface introduced in OpenFAST 3.5.0.)
1 ! Ext_Interface - (0 - use standard bladed interface, 1 - Use the extened DLL interface introduced in OpenFAST 3.5.0.)
0 ! Echo - (0 - no Echo, 1 - Echo input data to <RootName>.echo)

!------- CONTROLLER FLAGS -------------------------------------------------
Expand All @@ -19,9 +19,10 @@
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}
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
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}
0 ! OL_Mode - Open loop control mode {0: no open loop control, 1: open loop control vs. time, 2: rotor position control}
0 ! PA_Mode - Pitch actuator mode {0 - not used, 1 - first order filter, 2 - second order filter}
Expand All @@ -46,7 +47,8 @@
0.62830 ! F_SSCornerFreq - Corner frequency (-3dB point) in the first order low pass filter for the setpoint smoother, [rad/s].
0.20944 ! F_WECornerFreq - Corner frequency (-3dB point) in the first order low pass filter for the wind speed estimate [rad/s].
0.17952 ! F_YawErr - Low pass filter corner frequency for yaw controller [rad/s].
0.661300 1.000000 ! F_FlCornerFreq - Natural frequency and damping in the second order low pass filter of the tower-top fore-aft motion for floating feedback control [rad/s, -].
0.661300 1.000000 ! F_FlCornerFreq - Natural frequency and damping in the second order low pass filter of the tower-top fore-aft motion for blade pitch floating feedback control [rad/s, -].
1.983900 1.000000 ! F_FlTqCornerFreq - Natural frequency and damping in the second order low pass filter of the tower-top fore-aft motion for generator torque floating feedback control [rad/s, -].
1.50000 ! F_FlHighPassFreq - Natural frequency of first-order high-pass filter for nacelle fore-aft motion [rad/s].
0.0000 1.0000 ! F_FlpCornerFreq - Corner frequency and damping in the second order low pass filter of the blade root bending moment for flap control

Expand Down Expand Up @@ -143,7 +145,8 @@

!------- 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]
-0.3999 ! Fl_Kp - Nacelle velocity proportional feedback gain to blade pitch [s]
0.0000 ! FlTq_Kp - Nacelle velocity proportional feedback gain to generator torque [s]
2.1000 ! Fl_U - Wind speeds for scheduling Fl_Kp, optional if Fl_Kp is single value [m/s]

!------- FLAP ACTUATION -----------------------------------------------------
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