Inputs/Outputs¶

init_regulation¶

The following parameters need to be specified as parameters in init_regulation()

• 1: Rated power [kW]
• 2: Minimum rotor speed [rad/s]
• 3: Rated rotor speed [rad/s]
• 4: Maximum allowable generator torque [Nm]
• 5: Minimum pitch angle, PitchMin [deg], if |PitchMin|>90, then a table of <wsp,PitchMin> is read from a file named ‘wptable.n’, where n=int(PitchMin)
• 6: Maximum pitch angle [deg]
• 7: Maximum pitch velocity operation [deg/s]
• 8: Frequency of generator speed filter [Hz]
• 9: Damping ratio of speed filter [-]
• 10: Frequency of free-free DT torsion mode [Hz], if zero no notch filter used

Partial load control parameters

• 11: Optimal Cp tracking K factor [Nm/(rad/s)^2], Qg=K*Omega^2, K=eta*0.5*rho*A*Cp_opt*R^3/lambda_opt^3
• 12: Proportional gain of torque controller [Nm/(rad/s)]
• 13: Integral gain of torque controller [Nm/rad]
• 14: Differential gain of torque controller [Nm/(rad/s^2)]

Full load control parameters

• 15: Generator control switch [1=constant power, 2=constant torque]
• 16: Proportional gain of pitch controller [rad/(rad/s)]
• 17: Integral gain of pitch controller [rad/rad]
• 18: Differential gain of pitch controller [rad/(rad/s^2)]
• 19: Proportional power error gain [rad/W]
• 20: Integral power error gain [rad/(Ws)]
• 21: Coefficient of linear term in aerodynamic gain scheduling, KK1 [deg]
• 22: Coefficient of quadratic term in aerodynamic gain scheduling, KK2 [deg^2] (if zero, KK1 = pitch angle at double gain)
• 23: Relative speed for double nonlinear gain [-]

Cut-in simulation parameters

• 24: Cut-in time [s]
• 25: Time delay for soft start of torque [1/1P]

Cut-out simulation parameters

• 26: Cut-out time [s]
• 27: Time constant for linear torque cut-out [s]
• 28: Stop type [1=normal, 2=emergency]
• 29: Time delay for pitch stop after shut-down signal [s]
• 30: Maximum pitch velocity during initial period of stop [deg/s]
• 31: Time period of initial pitch stop phase [s] (maintains pitch speed specified in constant 30)
• 32: Maximum pitch velocity during final phase of stop [deg/s]

Expert parameters (keep default values unless otherwise given)

• 33: Lower angle above lowest minimum pitch angle for switch [deg]
• 34: Upper angle above lowest minimum pitch angle for switch [deg], if equal then hard switch
• 35: Ratio between filtered speed and reference speed for fully open torque limits [%]
• 36: Time constant of 1st order filter on wind speed used for minimum pitch [1/1P]
• 37: Time constant of 1st order filter on pitch angle used for gain scheduling [1/1P]

Drivetrain damper

• 38: Proportional gain of active DT damper [Nm/(rad/s)], requires frequency in input 10

Overspeed

• 39: Overspeed percentage before initiating turbine controller alarm (shut-down) [%]

Additional non-linear pitch control term (not used when all zero)

• 40: Err0 [rad/s]
• 41: ErrDot0 [rad/s^2]
• 42: PitNonLin1 [rad/s]

Storm control command

• 43: Wind speed ‘Vstorm’ above which derating of rotor speed is used [m/s]
• 44: Cut-out wind speed (only used for derating of rotor speed in storm) [m/s]

Safety system parameters

• 45: Overspeed percentage before initiating safety system alarm (shut-down) [%]
• 46: Max low-pass filtered tower top acceleration level before initiating turbine controller alarm (shut-down) [m/s^2]

Turbine parameter

• 47: Nominal rotor diameter [m]

Parameters for rotor inertia reduction in variable speed region

• 48: Proportional gain on rotor acceleration in variable speed region [Nm/(rad/s^2)] (not used when zero)

Parameters for alternative partial load controller with PI regulated TSR tracking

• 49: Optimal tip speed ratio [-] (only used when K=constant 11 = 0 otherwise Qg=K*Omega^2 is used)

Parameters for adding aerodynamic drivetrain damping on gain scheduling

• 50: Proportional gain of aerodynamic DT damping [Nm/(rad/s)]
• 51: Coefficient of linear term in aerodynamic DT damping scheduling, KK1 [deg]
• 52: Coefficient of quadratic term in aerodynamic DT damping scheduling, KK2 [deg^2]

init_regulation_advanced¶

When using the init_regulation_advanced() the following inputs need to be added

Torque exclusion zone

• 53: Torque exclusion zone: Low speed [rad/s]
• 54: Torque exclusion zone: Low speed generator toque [Nm]
• 55: Torque exclusion zone: High speed [rad/s]
• 56: Torque exclusion zone: High speed generator toque [Nm]
• 57: Time constant of reference switching at exclusion zone [s]

DT torsion mode damper

• 58: Frequency of notch filter [Hz]
• 59: Damping of BP filter [-]
• 60: Damping of notch filter [-]
• 61: Phase lag of damper [s] => max 40*dt

Fore-aft Tower mode damper

• 62: Frequency of BP filter [Hz]
• 63: Frequency of notch fiter [Hz]
• 64: Damping of BP filter [-]
• 65: Damping of notch filter [-]
• 66: Gain of damper [-]
• 67: Phase lag of damper [s] => max 40*dt
• 68: Time constant of 1st order filter on PWR used for fore-aft Tower mode damper GS [Hz]
• 69: Lower PWR limit used for fore-aft Tower mode damper GS [-]
• 70: Upper PWR limit used for fore-aft Tower mode damper GS [-]

Side-to-side Tower mode filter

• 71: Frequency of Tower side-to-sede notch filter [Hz]
• 72: Damping of notch filter [-]
• 73: Max low-pass filtered tower top acceleration level before initiating safety system alarm (shut-down) [m/s^2]

Additional filters

• 74: Time constant of 1st order filter on pitch angle used for switch [1/1P]
• 75: Time constant of 1st order filter on tower top acceleration used for ShakeGuard [1/1P]

Gear ratio

• 76: Gear ratio (To be used only if input #2 refers to HSS)

update_regulation¶

Inputs:

• 1: general time [s]
• 2: constraint bearing1 shaft_rot 1 only 2 [rad/s] Generator speed (Default LSS, if HSS insert gear ratio in input #76)
• 3: constraint bearing2 pitch1 1 only 1 [rad]
• 4: constraint bearing2 pitch2 1 only 1 [rad]
• 5: constraint bearing2 pitch3 1 only 1 [rad]
• 6-8: wind free_wind 1 0.0 0.0 hub height [m/s] global coords at hub height
• 9: elec. power [W]
• 10: grid flag [1=no grid,0=grid]
• 11: Tower top x-acceleration [m/s^2]
• 12: Tower top y-acceleration [m/s^2]

Outputs:

• 1: Generator torque reference [Nm]
• 2: Pitch angle reference of blade 1 [rad]
• 3: Pitch angle reference of blade 2 [rad]
• 4: Pitch angle reference of blade 3 [rad]
• 5: Power reference [W]
• 6: Filtered wind speed [m/s]
• 7: Filtered rotor speed [rad/s]
• 8: Filtered rotor speed error for torque [rad/s]
• 9: Bandpass filtered rotor speed [rad/s]
• 10: Proportional term of torque contr. [Nm]
• 11: Integral term of torque controller [Nm]
• 12: Minimum limit of torque [Nm]
• 13: Maximum limit of torque [Nm]
• 14: Torque limit switch based on pitch [-]
• 15: Filtered rotor speed error for pitch [rad/s]
• 16: Power error for pitch [W]
• 17: Proportional term of pitch controller [rad]
• 18: Integral term of pitch controller [rad]
• 19: Minimum limit of pitch [rad]
• 20: Maximum limit of pitch [rad]
• 21: Torque reference from DT damper [Nm]
• 22: Status signal [-]
• 23: Total added pitch rate [rad/s]
• 24: Filtered pitch angle [rad]
• 25: Flag for mechnical brake [0=off/1=on]
• 26: Flag for emergency pitch stop [0=off/1=on]
• 27: LP filtered acceleration level [m/s^2]
• 28: Rotor speed exlusion zone region [-]
• 29: Filtered tower top acc. for tower damper [m/s^2]
• 30: Reference pitch from tower damper [rad]