yaw control,yaw rate, power generation, wind vane

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Wenting.Chen
Posts: 6
Joined: Sat Dec 15, 2018 2:08 am
Organization: Zhejiang University
Location: China

yaw control,yaw rate, power generation, wind vane

Postby Wenting.Chen » Mon Nov 18, 2019 11:59 pm

Hello every one,
Recelently,I have been using the FAST v8, to do yaw control in Test18.fst.

Code: Select all

FAST Certification Test #18: NREL 5.0 MW Baseline Wind Turbine (Onshore)

In servodyn,the corresponding code is set as

Code: Select all

--------------------- NACELLE-YAW CONTROL -------------------------------------
          4   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)
          0   TYCOn        - Time to enable active yaw control (s) [unused when YCMode=0]
          0   YawNeut      - Neutral yaw position--yaw spring force is zero at this yaw (degrees)
9.02832E+09   YawSpr       - Nacelle-yaw spring constant (N-m/rad)
  1.916E+07   YawDamp      - Nacelle-yaw damping constant (N-m/(rad/s))
     9999.9   TYawManS     - Time to start override yaw maneuver and end standard yaw control (s)
        0.5   YawManRat    - Yaw maneuver rate (in absolute value) (deg/s)
          0   NacYawF      - Final yaw angle for override yaw maneuvers (degrees)


in ElastoDyn

Code: Select all

True          YawDOF      - Yaw DOF (flag)
 0   NacYaw      - Initial or fixed nacelle-yaw angle (degrees)

The pitch and generator and torque control are

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 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)
  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)

The input wind file is wind type 2 uniform shown as below

Here are some of my questions:
(1) yaw rate form simulink can not be use;
(2)nacelle position follow the wind direction, the power decrease compared with the situation when the nacelle position is constant 0.
(3)wind wane is the angle between the nacelle and the wind direction, I am not quite understand the direction Coordinate system relationship in FAST.
Here are some simulation resuls
(1) when the yaw rate is set to be 0 , the nacelle still follow the wind direction
nacelle position.PNG
nacelle position.PNG (18.03 KiB) Viewed 312 times

(2)when the nacelle position is set to be 0 and follow the wind direction the power comparision is as below:red line is the nacelle position is set to be 0, and the purple line is the line when nacelle position follow the wind direction. The power instead of increading ,but decrease
generator power.PNG
generator power.PNG (25.25 KiB) Viewed 312 times

however The generator speed is the same line
generator speed.PNG
generator speed.PNG (16.56 KiB) Viewed 312 times
    I don't know if someing was wrong

    Wenting.Chen
    Posts: 6
    Joined: Sat Dec 15, 2018 2:08 am
    Organization: Zhejiang University
    Location: China

    Re: yaw control,yaw rate, power generation, wind vane

    Postby Wenting.Chen » Tue Nov 19, 2019 12:01 am

    the simulation input wind speed and direction is as follows
    Attachments
    wind speed.PNG
    wind speed.PNG (14.22 KiB) Viewed 311 times
    wind direction.PNG
    wind direction.PNG (17.89 KiB) Viewed 311 times

    Jason.Jonkman
    Posts: 4394
    Joined: Thu Nov 03, 2005 4:38 pm
    Location: Boulder, CO
    Contact:

    Re: yaw control,yaw rate, power generation, wind vane

    Postby Jason.Jonkman » Tue Nov 19, 2019 8:52 pm

    Dear Wenting.Chen,

    Here are my answers to your questions:

    (1) You should set the yaw position command (YawPosCom) and yaw rate command (YawRateCom) with one of the following approaches: (a) YawPosCom is the time-integral of YawRateCom, (b) YawPosCom is zero with variable YawRateCom, or (c) YawRateCom is zero with variable YawPosCom. Each of these settings results in a different yaw actuator transfer function. See the "Nacelle Yaw Control" section of the "Controls" chapter of the old FAST User's Guide (https://nwtc.nrel.gov/system/files/FAST.pdf) for more information.

    (2) The nacelle-yaw angle is defined above positive z in ElastoDyn and ServoDyn, but the wind-direction is defined about negative z in InflowWind. So, you should set them to have opposite signs if you want ideal yaw control.

    (3) See (2).

    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

    Wenting.Chen
    Posts: 6
    Joined: Sat Dec 15, 2018 2:08 am
    Organization: Zhejiang University
    Location: China

    Re: yaw control,yaw rate, power generation, wind vane

    Postby Wenting.Chen » Sun Nov 24, 2019 7:46 pm

    Dear Jason.Jonkman,

    Thank you for your advice, follow your directions, I first set the yaw pisition is the intigration of yaw rate. Then, I change the yaw direction target. Here are some point: (1) the wind direction in input file is pisitive value. However, in simulink the wind direction comes from 'atan( "Wind1VelY"/"Wind1VelX")' considering its direction the value is negative. (2) the yaw position follow the negative value, then the power trend is right. Finally, the yaw controll function initially reallized.

    The advice helps a lot, thank you very much.

    Yours Sincerely!


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