DTU 10-MW Reference Wind Turbine

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Yajun.Ren
Posts: 37
Joined: Mon Jan 21, 2019 6:54 am
Organization: The University of Edinburgh
Location: UK

Re: DTU 10-MW Reference Wind Turbine

Postby Yajun.Ren » Sun Jul 05, 2020 9:16 am

Dear all,

I am using the ROSCO controller to simulate a floating wind turbine. According to the above discussions, I downloaded the controller files DISCON_IEA_offshore, IEA-10.0-198-RWT_DISCON.IN and IEA-10.0-198-RWT_Cp_Ct_Cq.txt, applied them in the ServoDyn file and ran the simulation.

The question is that no matter I enable or disable the pitch control, the blade pitch angle came to be 90 after several seconds, and the power coefficient cp droped to about -1. Also, the power exceeds the rated power (10 MW), reaches to about 350MW, which is quite strange. I guess the power issue is related to the blade pitch error, but I cannot figure out what's wrong with my input files. I also tried to change the wind speed or disable the inflow wind, but the problem was not solved.

The related results and the ServoDyn file is shown below. I would be appreciate if anyone could help to check and give any suggestions on this problem.

------- SERVODYN v1.05.* INPUT FILE --------------------------------------------
Generated with AeroElasticSE FAST driver
---------------------- SIMULATION CONTROL --------------------------------------
False Echo - Echo input data to <RootName>.ech (flag)
"default" DT - Communication interval for controllers (s) (or "default")
---------------------- PITCH CONTROL -------------------------------------------
5 PCMode - Pitch control mode {0: none, 3: user-defined from routine PitchCntrl, 4: user-defined from Simulink/Labview, 5: user-defined from Bladed-style DLL} (switch)
0.0 TPCOn - Time to enable active pitch control (s) [unused when PCMode=0]
9999.9 TPitManS(1) - Time to start override pitch maneuver for blade 1 and end standard pitch control (s)
9999.9 TPitManS(2) - Time to start override pitch maneuver for blade 2 and end standard pitch control (s)
9999.9 TPitManS(3) - Time to start override pitch maneuver for blade 3 and end standard pitch control (s) [unused for 2 blades]
10.0 PitManRat(1) - Pitch rate at which override pitch maneuver heads toward final pitch angle for blade 1 (deg/s)
10.0 PitManRat(2) - Pitch rate at which override pitch maneuver heads toward final pitch angle for blade 2 (deg/s)
10.0 PitManRat(3) - Pitch rate at which override pitch maneuver heads toward final pitch angle for blade 3 (deg/s) [unused for 2 blades]
0.0 BlPitchF(1) - Blade 1 final pitch for pitch maneuvers (degrees)
0.0 BlPitchF(2) - Blade 2 final pitch for pitch maneuvers (degrees)
0.0 BlPitchF(3) - Blade 3 final pitch for pitch maneuvers (degrees) [unused for 2 blades]
---------------------- GENERATOR AND TORQUE CONTROL ----------------------------
5 VSContrl - Variable-speed control mode {0: none, 1: simple VS, 3: user-defined from routine UserVSCont, 4: user-defined from Simulink/Labview, 5: user-defined from Bladed-style DLL} (switch)
1 GenModel - Generator model {1: simple, 2: Thevenin, 3: user-defined from routine UserGen} (switch) [used only when VSContrl=0]
94.0 GenEff - Generator efficiency [ignored by the Thevenin and user-defined generator models] (%)
True GenTiStr - Method to start the generator {T: timed using TimGenOn, F: generator speed using SpdGenOn} (flag)
True GenTiStp - Method to stop the generator {T: timed using TimGenOf, F: when generator power = 0} (flag)
9999.9 SpdGenOn - Generator speed to turn on the generator for a startup (HSS speed) (rpm) [used only when GenTiStr=False]
0.0 TimGenOn - Time to turn on the generator for a startup (s) [used only when GenTiStr=True]
9999.9 TimGenOf - Time to turn off the generator (s) [used only when GenTiStp=True]
---------------------- SIMPLE VARIABLE-SPEED TORQUE CONTROL --------------------
49.76235 VS_RtGnSp - Rated generator speed for simple variable-speed generator control (HSS side) (rpm) [used only when VSContrl=1]
200955.1398 VS_RtTq - Rated generator torque/constant generator torque in Region 3 for simple variable-speed generator control (HSS side) (N-m) [used only when VSContrl=1]
81.1516502 VS_Rgn2K - Generator torque constant in Region 2 for simple variable-speed generator control (HSS side) (N-m/rpm^2) [used only when VSContrl=1]
9.9999e-06 VS_SlPc - Rated generator slip percentage in Region 2 1/2 for simple variable-speed generator control (%) [used only when VSContrl=1]
---------------------- SIMPLE INDUCTION GENERATOR ------------------------------
9999.9 SIG_SlPc - Rated generator slip percentage (%) [used only when VSContrl=0 and GenModel=1]
9999.9 SIG_SySp - Synchronous (zero-torque) generator speed (rpm) [used only when VSContrl=0 and GenModel=1]
9999.9 SIG_RtTq - Rated torque (N-m) [used only when VSContrl=0 and GenModel=1]
9999.9 SIG_PORt - Pull-out ratio (Tpullout/Trated) (-) [used only when VSContrl=0 and GenModel=1]
---------------------- THEVENIN-EQUIVALENT INDUCTION GENERATOR -----------------
9999.9 TEC_Freq - Line frequency [50 or 60] (Hz) [used only when VSContrl=0 and GenModel=2]
9998 TEC_NPol - Number of poles [even integer > 0] (-) [used only when VSContrl=0 and GenModel=2]
9999.9 TEC_SRes - Stator resistance (ohms) [used only when VSContrl=0 and GenModel=2]
9999.9 TEC_RRes - Rotor resistance (ohms) [used only when VSContrl=0 and GenModel=2]
9999.9 TEC_VLL - Line-to-line RMS voltage (volts) [used only when VSContrl=0 and GenModel=2]
9999.9 TEC_SLR - Stator leakage reactance (ohms) [used only when VSContrl=0 and GenModel=2]
9999.9 TEC_RLR - Rotor leakage reactance (ohms) [used only when VSContrl=0 and GenModel=2]
9999.9 TEC_MR - Magnetizing reactance (ohms) [used only when VSContrl=0 and GenModel=2]
---------------------- HIGH-SPEED SHAFT BRAKE ----------------------------------
0 HSSBrMode - HSS brake model {0: none, 1: simple, 3: user-defined from routine UserHSSBr, 4: user-defined from Simulink/Labview, 5: user-defined from Bladed-style DLL} (switch)
9999.9 THSSBrDp - Time to initiate deployment of the HSS brake (s)
0.6 HSSBrDT - Time for HSS-brake to reach full deployment once initiated (sec) [used only when HSSBrMode=1]
28116.2 HSSBrTqF - Fully deployed HSS-brake torque (N-m)
---------------------- NACELLE-YAW CONTROL -------------------------------------
0 YCMode - Yaw control mode {0: none, 3: user-defined from routine UserYawCont, 4: user-defined from Simulink/Labview, 5: user-defined from Bladed-style DLL} (switch)
9999.9 TYCOn - Time to enable active yaw control (s) [unused when YCMode=0]
0.0 YawNeut - Neutral yaw position--yaw spring force is zero at this yaw (degrees)
9028320000.0 YawSpr - Nacelle-yaw spring constant (N-m/rad)
19160000.0 YawDamp - Nacelle-yaw damping constant (N-m/(rad/s))
9999.9 TYawManS - Time to start override yaw maneuver and end standard yaw control (s)
0.25 YawManRat - Yaw maneuver rate (in absolute value) (deg/s)
0.0 NacYawF - Final yaw angle for override yaw maneuvers (degrees)
---------------------- TUNED MASS DAMPER ---------------------------------------
False CompNTMD - Compute nacelle tuned mass damper {true/false} (flag)
"" NTMDfile - Name of the file for nacelle tuned mass damper (quoted string) [unused when CompNTMD is false]
False CompTTMD - Compute tower tuned mass damper {true/false} (flag)
"" TTMDfile - Name of the file for tower tuned mass damper (quoted string) [unused when CompTTMD is false]
---------------------- BLADED INTERFACE ---------------------------------------- [used only with Bladed Interface]
"D:\OpenFAST\DTU_10MW\DISCON_IEA_offshore.dll" DLL_FileName - Name/location of the dynamic library {.dll [Windows] or .so [Linux]} in the Bladed-DLL format (-) [used only with Bladed Interface]
"D:\OpenFAST\DTU_10MW\IEA-10.0-198-RWT_DISCON.IN" DLL_InFile - Name of input file sent to the DLL (-) [used only with Bladed Interface]
"DISCON" DLL_ProcName - Name of procedure in DLL to be called (-) [case sensitive; used only with DLL Interface]
"default" DLL_DT - Communication interval for dynamic library (s) (or "default") [used only with Bladed Interface]
False DLL_Ramp - Whether a linear ramp should be used between DLL_DT time steps [introduces time shift when true] (flag) [used only with Bladed Interface]
9999.9 BPCutoff - Cuttoff frequency for low-pass filter on blade pitch from DLL (Hz) [used only with Bladed Interface]
0.0 NacYaw_North - Reference yaw angle of the nacelle when the upwind end points due North (deg) [used only with Bladed Interface]
0 Ptch_Cntrl - Record 28: Use individual pitch control {0: collective pitch; 1: individual pitch control} (switch) [used only with Bladed Interface]
0.0 Ptch_SetPnt - Record 5: Below-rated pitch angle set-point (deg) [used only with Bladed Interface]
0.0 Ptch_Min - Record 6: Minimum pitch angle (deg) [used only with Bladed Interface]
0.0 Ptch_Max - Record 7: Maximum pitch angle (deg) [used only with Bladed Interface]
0.0 PtchRate_Min - Record 8: Minimum pitch rate (most negative value allowed) (deg/s) [used only with Bladed Interface]
0.0 PtchRate_Max - Record 9: Maximum pitch rate (deg/s) [used only with Bladed Interface]
0.0 Gain_OM - Record 16: Optimal mode gain (Nm/(rad/s)^2) [used only with Bladed Interface]
0.0 GenSpd_MinOM - Record 17: Minimum generator speed (rpm) [used only with Bladed Interface]
0.0 GenSpd_MaxOM - Record 18: Optimal mode maximum speed (rpm) [used only with Bladed Interface]
0.0 GenSpd_Dem - Record 19: Demanded generator speed above rated (rpm) [used only with Bladed Interface]
0.0 GenTrq_Dem - Record 22: Demanded generator torque above rated (Nm) [used only with Bladed Interface]
0.0 GenPwr_Dem - Record 13: Demanded power (W) [used only with Bladed Interface]
---------------------- BLADED INTERFACE TORQUE-SPEED LOOK-UP TABLE -------------
0 DLL_NumTrq - Record 26: No. of points in torque-speed look-up table {0 = none and use the optimal mode parameters; nonzero = ignore the optimal mode PARAMETERs by setting Record 16 to 0.0} (-) [used only with Bladed Interface]
GenSpd_TLU GenTrq_TLU
(rpm) (Nm)
---------------------- OUTPUT --------------------------------------------------
True SumPrint - Print summary data to <RootName>.sum (flag) (currently unused)
1 OutFile - Switch to determine where output will be placed: {1: in module output file only; 2: in glue code output file only; 3: both} (currently unused)
True TabDelim - Use tab delimiters in text tabular output file? (flag) (currently unused)
"ES10.3E2" OutFmt - Format used for text tabular output (except time). Resulting field should be 10 characters. (quoted string) (currently unused)
0.0 TStart - Time to begin tabular output (s) (currently unused)
OutList - The next line(s) contains a list of output parameters. See OutListParameters.xlsx for a listing of available output channels, (-)
"GenPwr"
"GenTq"
END of input file (the word "END" must appear in the first 3 columns of this last OutList line)
---------------------------------------------------------------------------------------




Regards,
Yajun
Attachments
Blade pitch.JPG
Blade pitch.JPG (30.61 KiB) Viewed 198 times
GenPwr.JPG
GenPwr.JPG (27.46 KiB) Viewed 198 times
RatAeroCp.JPG
RatAeroCp.JPG (27.63 KiB) Viewed 198 times

Abhinay.Goga
Posts: 21
Joined: Tue Oct 25, 2016 8:12 am
Organization: Hochschule Flensburg
Location: Germany

Re: DTU 10-MW Reference Wind Turbine

Postby Abhinay.Goga » Mon Jul 06, 2020 2:10 am

Dear Matt,

Thanks for the source code and suggestion to recompile with double precision. As expected it took tremendous amount of simulation time with double precision. Though its worth it. As you can observe there isn't any strange behavior on the fairlead tensions.

Kind regards
Abhinay Goga
Attachments
regwave double precision.jpg
regwave double precision.jpg (66.66 KiB) Viewed 190 times

Jason.Jonkman
Posts: 4933
Joined: Thu Nov 03, 2005 4:38 pm
Location: Boulder, CO
Contact:

Re: DTU 10-MW Reference Wind Turbine

Postby Jason.Jonkman » Mon Jul 06, 2020 6:52 am

Dear Abhinay,

Matt wasn't suggesting that you recompile in double precision, but to use his branch where the time variable is stored in double, even when compiling in single precision. This should solve the MoorDyn problem and still run fast.

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

Abhinay.Goga
Posts: 21
Joined: Tue Oct 25, 2016 8:12 am
Organization: Hochschule Flensburg
Location: Germany

Re: DTU 10-MW Reference Wind Turbine

Postby Abhinay.Goga » Tue Jul 07, 2020 4:21 am

Dear Jason,

Thanks for correcting me. The code that Mr.Matt provided with single precision also provided a stable numerical output.

Kind regards
Abhinay Goga
Attachments
regwave single precision.jpg
regwave single precision.jpg (109.69 KiB) Viewed 171 times

Jason.Jonkman
Posts: 4933
Joined: Thu Nov 03, 2005 4:38 pm
Location: Boulder, CO
Contact:

Re: DTU 10-MW Reference Wind Turbine

Postby Jason.Jonkman » Tue Jul 07, 2020 6:50 am

Great!
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

Lixian.Zhang
Posts: 18
Joined: Wed Dec 05, 2018 11:04 pm
Organization: Dalian University of technology
Location: China

Re: DTU 10-MW Reference Wind Turbine

Postby Lixian.Zhang » Wed Jul 08, 2020 8:20 pm

Dear Dr. Nikhar

I'm sorry for the late response. The simulation problem has been solved after I used the latest version of 10MW WT downloaded in GitHub.
Thank you very much.
Also, many thanks to Dr. Roger and Jason!

Best regards
Lixian Zhang


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