Pitch and Torque Cntrl (Region 3)

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Jason.Jonkman
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Re: Pitch and Torque Cntrl (Region 3)

Dear Muddassir,

Your power is likely going so high because:
• the generator torque in your model is constant for speeds higher than rated speed (Region 3 control),
• the aerodynamic torque is higher than the rated generator torque, and
• you don't have active blade-pitch control to reduce the aerodynamic torque at high winds to regulate the speed,
which means that the rotor will overspeed (and generator power will exceed rated) until the aerodynamic torque balances with the generator torque.

You'll need another means of control to operate in Region 3 e.g. active blade pitch control.

Best regards,
Jason Jonkman, Ph.D.
Senior Engineer | National Wind Technology Center (NWTC)

National Renewable Energy Laboratory (NREL)
15013 Denver West Parkway | Golden, CO 80401
+1 (303) 384 – 7026 | Fax: +1 (303) 384 – 6901
nwtc.nrel.gov

Cheng.Zhang
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Re: Pitch and Torque Cntrl (Region 3)

Dear Jason,

If I am well understood, there are 2 methods to get generator torque, (considering the turbine working in region 3)
first, constant torque: fix it at its rated value;
second, constant power: get the generator torque by calculating T = P_rated/Omega;

And I'm working on the floating wind turbine control in region 3. The control objectives are keep rated power output and reduce the platform pitch motion. Currently, the generator torque was fixed at rated, the single control input is the collective blade pitch (CBP) angle.

My question is:
Is it possible to use generator torque as the second input? i.e. do not use the constant torque and the constant power strategy. Then, I will get two control inputs, it might improve the controller performance.

Best regards,
Cheng

Jason.Jonkman
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Re: Pitch and Torque Cntrl (Region 3)

Dear Cheng.Zhang.

Yes, what you propose has certainly been done before. Varying the torque in Region 3 can be effective to mitigate vibrations of the drivetrain-torsion and/or tower side-to-side modes.

Best regards,
Jason Jonkman, Ph.D.
Senior Engineer | National Wind Technology Center (NWTC)

National Renewable Energy Laboratory (NREL)
15013 Denver West Parkway | Golden, CO 80401
+1 (303) 384 – 7026 | Fax: +1 (303) 384 – 6901
nwtc.nrel.gov

Cheng.Zhang
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Location: france

Re: Pitch and Torque Cntrl (Region 3)

Dear Jason,

Thank you!

I'm confused that,
1). Do a high vibration of the drivetrain-torsion means a high variation of the rotor speed?
2). In my opinion, performance is highly related to the control algorithm.

If I introduce additional control input (generator torque), the control is different from the one only have a single input (blade pitch angle). Recall that in my case, the objectives are to keep rated power output and to reduce the platform pitch motion. I can compare the performance of power and platform pitch motion of the two controllers.
As for the vibrations of the drivetrain-torsion and/or tower side-to-side modes, since they are not my control objectives, I can only check it rather than controlling it. Hence, why it is effective to mitigate vibrations of the drivetrain-torsion and/or tower side-to-side modes.

Best regards,
Cheng

Jason.Jonkman
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Re: Pitch and Torque Cntrl (Region 3)

Dear Cheng,

My previous comment simply stated that I have seen combined blade-pitch and generator-torque controllers, but that the generator-torque is often used to mitigate drivetrain-torsion and tower-side-to-side vibrations. I would not expect control of the generator torque to have a strong influence on platform-pitch, but it may be useful to regulate rotor speed and power in Region 3 if the pitch controller is also tasked with mitigating platform pitch. I would suggest reviewing the literature on these matters. The work of Namik and Stol from around 2010 comes to mind, but there are likely many others as well.

Best regards,
Jason Jonkman, Ph.D.
Senior Engineer | National Wind Technology Center (NWTC)

National Renewable Energy Laboratory (NREL)
15013 Denver West Parkway | Golden, CO 80401
+1 (303) 384 – 7026 | Fax: +1 (303) 384 – 6901
nwtc.nrel.gov

Cheng.Zhang
Posts: 66
Joined: Tue Nov 14, 2017 6:50 am
Organization: ECN
Location: france

Re: Pitch and Torque Cntrl (Region 3)

Dear Jason,

Thank you!
Now, it is clear to me.

Best regards,
Cheng

Cheng.Zhang
Posts: 66
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Re: Pitch and Torque Cntrl (Region 3)

Dear Jason,

I have a controller that reduced the platform roll by -20% and platform pitch rate by -25% comparing with GSPI.
But the DEL of tower base side-to-side and fore-aft moment almost same as GSPI. Is it normal?

best regards,
Cheng

Jason.Jonkman
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Re: Pitch and Torque Cntrl (Region 3)

Dear Cheng,

That sounds a bit strange, but I'm not sure I can comment on that for a general system.

Best regards,
Jason Jonkman, Ph.D.
Senior Engineer | National Wind Technology Center (NWTC)

National Renewable Energy Laboratory (NREL)
15013 Denver West Parkway | Golden, CO 80401
+1 (303) 384 – 7026 | Fax: +1 (303) 384 – 6901
nwtc.nrel.gov

zarei.atefe
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Re: Pitch and Torque Cntrl (Region 3)

hi mr jonkman

Error reported by S-function 'FAST_SFunc' in 'OpenLoopA/FAST Nonlinear Wind Turbine/S-Function':

What is this error related to?
How to fix it?

thanks

Jason.Jonkman
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Re: Pitch and Torque Cntrl (Region 3)

Dear Zarei,

There were issues in AeroDyn v15.03 within FAST v8.16 that led to the error "no valid value of phi" in some cases. However, these issues have been fixed in AeroDyn v15.04 and newer in OpenFAST. I suggest you upgrade to OpenFAST: https://github.com/OpenFAST/openfast. The Simulink-OpenFAST interface has been developed, but it is sitting in a pull request, which has not yet been merged (I'm not sure what the hold up has been): https://github.com/OpenFAST/openfast/pull/204.

Best regards,
Jason Jonkman, Ph.D.
Senior Engineer | National Wind Technology Center (NWTC)

National Renewable Energy Laboratory (NREL)
15013 Denver West Parkway | Golden, CO 80401
+1 (303) 384 – 7026 | Fax: +1 (303) 384 – 6901
nwtc.nrel.gov

zarei.atefe
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Location: iran

Re: Pitch and Torque Cntrl (Region 3)

I download AeroDyn v15.04 but the AeroDyn Input file related to Test 11-14 (1.5 MW Wind turbine) does not exist. How to find it?

Jason.Jonkman
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Location: Boulder, CO
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Re: Pitch and Torque Cntrl (Region 3)

Dear Zarei,

As I said, I suggest updating to OpenFAST: https://github.com/OpenFAST/openfast. All of the models from the FAST v8 CertTest are available and up-to-date in the r-test: https://github.com/OpenFAST/r-test.

Best regards,
Jason Jonkman, Ph.D.
Senior Engineer | National Wind Technology Center (NWTC)

National Renewable Energy Laboratory (NREL)
15013 Denver West Parkway | Golden, CO 80401
+1 (303) 384 – 7026 | Fax: +1 (303) 384 – 6901
nwtc.nrel.gov

Hamidreza.Mor
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Location: Iran

Re: Pitch and Torque Cntrl (Region 3)

Hi mr jonkamn.

I simulated 5 MW wind turbine with " Definition of a 5-MW Reference Wind Turbine for Offshore System Development ". When my input wind is in partial load region, I got logical results but when input wind is in full load region, the results look like these:
power.jpg (44.41 KiB) Viewed 2165 times

gentorq.jpg (56.71 KiB) Viewed 2165 times

Can you tell me if these power and generator torque diagrams seem correct? Can power be constant?
Thanks.

Jason.Jonkman
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Joined: Thu Nov 03, 2005 4:38 pm
Location: Boulder, CO
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Re: Pitch and Torque Cntrl (Region 3)

Dear Hamidreza,

The baseline controller for the NREL 5-MW turbine uses a constant power above rated; i.e. the generator torque is inversely proportional to the generator speed such that the power (= torque*speed) is constant.

It looks like in your simulation you have an exaggerated start-up transient likely due to poor initial conditions; in general, I suggest initializing the rotor speed and blade-pitch angles to their expected mean values for a given mean hub-height wind speed.

Best regards,
Jason Jonkman, Ph.D.
Senior Engineer | National Wind Technology Center (NWTC)

National Renewable Energy Laboratory (NREL)
15013 Denver West Parkway | Golden, CO 80401
+1 (303) 384 – 7026 | Fax: +1 (303) 384 – 6901
nwtc.nrel.gov

Hamidreza.Mor
Posts: 8
Joined: Wed Jul 03, 2019 5:49 am
Organization: self
Location: Iran