m_alm_controller Module

Variable-speed generator-torque controller and PI collective blade-pitch controller of the NREL offshore 5 MW baseline turbine, as written by J. Jonkman (NREL/NWTC) for the IEA Annex XXIII OC3 studies (DISCON).

Ported from Incompact3d's acl_controller.f90. The torque law has five regions (1, 1 1/2, 2, 2 1/2 and 3) on the low-pass filtered generator speed; the pitch controller is a gain-scheduled PI on the speed error, with pitch-angle and pitch-rate limits. The pitch gains and limits are those of the NREL 5 MW turbine; the torque parameters come from the turbine input file.


Uses

  • module~~m_alm_controller~~UsesGraph module~m_alm_controller m_alm_controller module~m_common m_common module~m_alm_controller->module~m_common module~m_logger m_logger module~m_alm_controller->module~m_logger module~m_common->module~m_logger m_mpi m_mpi module~m_common->m_mpi iso_fortran_env iso_fortran_env module~m_logger->iso_fortran_env module~m_logger->m_mpi

Used by

  • module~~m_alm_controller~~UsedByGraph module~m_alm_controller m_alm_controller module~m_alm m_alm module~m_alm->module~m_alm_controller module~m_alm_turbine m_alm_turbine module~m_alm->module~m_alm_turbine module~m_alm_turbine->module~m_alm_controller module~m_turbine_setup m_turbine_setup module~m_turbine_setup->module~m_alm module~m_case_abl m_case_abl module~m_case_abl->module~m_turbine_setup module~m_case_wind_turbine m_case_wind_turbine module~m_case_wind_turbine->module~m_turbine_setup module~m_case_factory m_case_factory module~m_case_factory->module~m_case_abl module~m_case_factory->module~m_case_wind_turbine module~m_memcheck_build m_memcheck_build module~m_memcheck_build->module~m_case_abl module~m_memcheck_build->module~m_case_factory program~x3d2_memcheck x3d2_memcheck program~x3d2_memcheck->module~m_memcheck_build program~xcompact xcompact program~xcompact->module~m_case_factory

Variables

Type Visibility Attributes Name Initial
integer, public, parameter :: max_ctrl_blades = 3

Derived Types

type, public ::  controller_t

Components

Type Visibility Attributes Name Initial
real(kind=dp), public :: corner_freq = 0._dp

speed filter corner frequency [rad/s]
real(kind=dp), public :: pc_dt = 0._dp

pitch controller interval [s]
real(kind=dp), public :: pc_ki = 0._dp

integral gain at rated pitch [-]
real(kind=dp), public :: pc_kk = 0._dp

pitch where dP/dpitch doubles [rad]
real(kind=dp), public :: pc_kp = 0._dp

proportional gain at rated pitch [s]
real(kind=dp), public :: pc_max_pit = 0._dp

maximum pitch [rad]
real(kind=dp), public :: pc_max_rat = 0._dp

maximum pitch rate [rad/s]
real(kind=dp), public :: pc_min_pit = 0._dp

minimum pitch [rad]
real(kind=dp), public :: pc_ref_spd = 0._dp

reference generator speed [rad/s]
real(kind=dp), public :: vs_ct_in_sp = 0._dp

cut-in generator speed [rad/s]
real(kind=dp), public :: vs_dt = 0._dp

torque controller interval [s]
real(kind=dp), public :: vs_max_rat = 0._dp

maximum torque rate [N m/s]
real(kind=dp), public :: vs_max_tq = 0._dp

maximum generator torque [N m]
real(kind=dp), public :: vs_rgn2_k = 0._dp

region 2 torque constant
real(kind=dp), public :: vs_rgn2_sp = 0._dp

region 1 1/2 to 2 speed [rad/s]
real(kind=dp), public :: vs_rgn3_mp = 0._dp

pitch above which region 3 applies
real(kind=dp), public :: vs_rt_gn_sp = 0._dp

rated generator speed [rad/s]
real(kind=dp), public :: vs_rt_pwr = 0._dp

rated power [W]
real(kind=dp), public :: vs_sl_pc = 0._dp

region 2 1/2 slip [%]
real(kind=dp), public :: gear_box_ratio = 0._dp
real(kind=dp), public :: i_generator = 0._dp

generator moment of inertia
real(kind=dp), public :: bl_pitch(max_ctrl_blades) = 0._dp
real(kind=dp), public :: gen_speed = 0._dp
real(kind=dp), public :: gen_speed_f = 0._dp
real(kind=dp), public :: gen_trq = 0._dp
real(kind=dp), public :: gk = 0._dp
real(kind=dp), public :: int_spd_err = 0._dp
real(kind=dp), public :: last_gen_trq = 0._dp
real(kind=dp), public :: last_time = 0._dp
real(kind=dp), public :: last_time_pc = 0._dp
real(kind=dp), public :: last_time_vs = 0._dp
real(kind=dp), public :: pit_com(max_ctrl_blades) = 0._dp
real(kind=dp), public :: vs_slope15 = 0._dp
real(kind=dp), public :: vs_slope25 = 0._dp
real(kind=dp), public :: vs_sy_sp = 0._dp
real(kind=dp), public :: vs_tr_gn_sp = 0._dp
integer, public :: status = 0

0 on the first call, then > 0

Subroutines

public subroutine init_controller(ctrl, generator_inertia, gb_ratio, rated_gen_speed, rated_limit_gen_torque, cut_in_gen_speed, region2_start_gen_speed, kgen, rated_power, maximum_torque)

Arguments

Type IntentOptional Attributes Name
type(controller_t), intent(inout) :: ctrl
real(kind=dp), intent(in) :: generator_inertia
real(kind=dp), intent(in) :: gb_ratio
real(kind=dp), intent(in) :: rated_gen_speed
real(kind=dp), intent(in) :: rated_limit_gen_torque
real(kind=dp), intent(in) :: cut_in_gen_speed
real(kind=dp), intent(in) :: region2_start_gen_speed
real(kind=dp), intent(in) :: kgen
real(kind=dp), intent(in) :: rated_power
real(kind=dp), intent(in) :: maximum_torque

public subroutine operate_controller(ctrl, time, n_blades, rot_speed)

Advance the controller to time given the rotor speed [rad/s]. The commanded generator torque is left in gen_trq and the commanded blade pitch angles in pit_com.

Arguments

Type IntentOptional Attributes Name
type(controller_t), intent(inout) :: ctrl
real(kind=dp), intent(in) :: time
integer, intent(in) :: n_blades
real(kind=dp), intent(in) :: rot_speed