7. ROSCO_Toolbox tuning .yaml
Definition of inputs for ROSCO tuning procedure
toolbox_schema
7.1. path_params
FAST_InputFile
StringName of *.fst file
FAST_directory
StringMain OpenFAST model directory, where the *.fst lives, relative to directory of this yaml (if applicable)
rotor_performance_filename
StringFilename for rotor performance text file (if it has been generated by ccblade already), relative to directory of this yaml
7.2. turbine_params
rotor_inertia
Float, kg m^2Rotor inertia [kg m^2], {Available in Elastodyn .sum file}
rated_rotor_speed
Float, rad/sRated rotor speed [rad/s]
Minimum = 0
v_min
Float, m/sCut-in wind speed of the wind turbine.
Minimum = 0
v_max
Float, m/sCut-out wind speed of the wind turbine.
Minimum = 0
max_pitch_rate
Float, rad/sMaximum blade pitch rate [rad/s]
Minimum = 0
max_torque_rate
Float, Nm/sMaximum torque rate [Nm/s], {~1/4 VS_RtTq/s}
Minimum = 0
rated_power
Float, WRated Power [W]
Minimum = 0
bld_edgewise_freq
Float, rad/sBlade edgewise first natural frequency [rad/s]
Default = 4.0
Minimum = 0
bld_flapwise_freq
Float, rad/sBlade flapwise first natural frequency [rad/s]
Default = 0
Minimum = 0
TSR_operational
FloatOptimal tip speed ratio, if 0 the optimal TSR will be determined by the Cp surface
Default = 0
Minimum = 0
reynolds_ref
FloatReynolds number near rated speeds, used to interpolate airfoils, if provided
Default = 0
Minimum = 0
7.3. controller_params
LoggingLevel
Float0- write no debug files, 1- write standard output .dbg-file, 2- write standard output .dbg-file and complete avrSWAP-array .dbg2-file
Default = 1
Minimum = 0 Maximum = 3
F_LPFType
Float1- first-order low-pass filter, 2- second-order low-pass filter, [rad/s] (currently filters generator speed and pitch control signals)
Default = 1
Minimum = 1 Maximum = 2
F_NotchType
FloatNotch on the measured generator speed and/or tower fore-aft motion (for floating) {0- disable, 1- generator speed, 2- tower-top fore- aft motion, 3- generator speed and tower-top fore-aft motion}
Default = 0
Minimum = 0 Maximum = 3
IPC_ControlMode
FloatTurn Individual Pitch Control (IPC) for fatigue load reductions (pitch contribution) (0- off, 1- 1P reductions, 2- 1P+2P reduction)
Default = 0
Minimum = 0 Maximum = 2
VS_ControlMode
FloatGenerator torque control mode in above rated conditions (0- no torque control, 1- k*omega^2 with PI transitions, 2- WSE TSR Tracking, 3- Power-based TSR Tracking)
Default = 2
Minimum = 0 Maximum = 3
VS_ConstPower
FloatDo constant power torque control, where above rated torque varies, 0 for constant torque
Default = 0
Minimum = 0 Maximum = 1
PC_ControlMode
FloatBlade pitch control mode (0- No pitch, fix to fine pitch, 1- active PI blade pitch control)
Default = 1
Minimum = 0 Maximum = 1
Y_ControlMode
FloatYaw control mode (0- no yaw control, 1- yaw rate control, 2- yaw- by-IPC)
Default = 0
Minimum = 0 Maximum = 2
SS_Mode
FloatSetpoint Smoother mode (0- no setpoint smoothing, 1- introduce setpoint smoothing)
Default = 1
Minimum = 0 Maximum = 2
WE_Mode
FloatWind speed estimator mode (0- One-second low pass filtered hub height wind speed, 1- Immersion and Invariance Estimator (Ortega et al.)
Default = 2
Minimum = 0 Maximum = 2
PS_Mode
FloatPitch saturation mode (0- no pitch saturation, 1- peak shaving, 2- Cp-maximizing pitch saturation, 3- peak shaving and Cp-maximizing pitch saturation)
Default = 3
Minimum = 0 Maximum = 3
SD_Mode
FloatShutdown mode (0- no shutdown procedure, 1- pitch to max pitch at shutdown)
Default = 0
Minimum = 0 Maximum = 1
TD_Mode
FloatTower damper mode (0- no tower damper, 1- feed back translational nacelle accelleration to pitch angle
Default = 0
Minimum = 0 Maximum = 1
TRA_Mode
FloatTower resonance avoidance mode (0- no tower resonsnace avoidance, 1- use torque control setpoints to avoid a specific frequency
Default = 0
Minimum = 0 Maximum = 1
Fl_Mode
FloatFloating specific feedback mode (0- no nacelle velocity feedback, 1 - nacelle velocity feedback, 2 - nacelle pitching acceleration feedback)
Default = 0
Minimum = 0 Maximum = 2
Flp_Mode
FloatFlap control mode (0- no flap control, 1- steady state flap angle, 2- Proportional flap control)
Default = 0
Minimum = 0 Maximum = 2
PwC_Mode
FloatActive Power Control Mode (0- no active power control 1- constant active power control, 2- open loop power vs time, 3- open loop power vs. wind speed)
Default = 0
Minimum = 0 Maximum = 2
ZMQ_Mode
FloatZMQ Mode (0 - ZMQ Inteface, 1 - ZMQ for yaw control)
Default = 0
Minimum = 0 Maximum = 1
ZMQ_UpdatePeriod
FloatCall ZeroMQ every [x] seconds, [s]
Default = 2
Minimum = 0
PA_Mode
FloatPitch actuator mode {0 - not used, 1 - first order filter, 2 - second order filter}
Default = 0
Minimum = 0 Maximum = 2
PF_Mode
FloatPitch fault mode {0 - not used, 1 - constant offset on one or more blades}
Default = 0
Minimum = 0 Maximum = 1
OL_Mode
FloatOpen loop control mode {0- no open loop control, 1- open loop control}
Default = 0
Minimum = 0 Maximum = 2
AWC_Mode
FloatActive wake control mode {0 - not used, 1 - SNL method, 2 - NREL method}
Default = 0
Minimum = 0 Maximum = 2
Ext_Mode
FloatExternal control mode [0 - not used, 1 - call external dynamic library]
Default = 0
Minimum = 0 Maximum = 1
CC_Mode
FloatCable control mode [0- unused, 1- User defined, 2- Open loop control]
Default = 0
Minimum = 0 Maximum = 2
StC_Mode
FloatStructural control mode [0- unused, 1- User defined, 2- Open loop control]
Default = 0
Minimum = 0 Maximum = 2
U_pc
Array of FloatsList of wind speeds to schedule pitch control zeta and omega
Default = [12]
Minimum = 0
zeta_pc
Array of Floats or FloatList of pitch controller desired damping ratio at U_pc [-]
Default = [1.0]
omega_pc
Array of Floats or Float, rad/sList of pitch controller desired natural frequency at U_pc [rad/s]
Default = [0.2]
interp_type
String from, [‘sigma’, ‘linear’, ‘quadratic’, ‘cubic’]Type of interpolation between above rated tuning values (only used for multiple pitch controller tuning values)
Default = sigma
zeta_vs
FloatTorque controller desired damping ratio [-]
Default = 1.0
Minimum = 0
omega_vs
Float, rad/sTorque controller desired natural frequency [rad/s]
Default = 0.2
Minimum = 0
max_pitch
Float, radMaximum pitch angle [rad], {default = 90 degrees}
Default = 1.57
min_pitch
Float, radMinimum pitch angle [rad], {default = 0 degrees}
Default = 0
vs_minspd
Float, rad/sMinimum rotor speed [rad/s], {default = 0 rad/s}
Default = 0
ss_vsgain
FloatTorque controller setpoint smoother gain bias percentage [%, <= 1 ], {default = 100%}
Default = 1.0
ss_pcgain
Float, radPitch controller setpoint smoother gain bias percentage [%, <= 1 ], {default = 0.1%}
Default = 0.001
ps_percent
Float, radPercent peak shaving [%, <= 1 ], {default = 80%}
Default = 0.8 Maximum = 1
sd_maxpit
Float, radMaximum blade pitch angle to initiate shutdown [rad], {default = 40 deg.}
Default = 0.6981
flp_maxpit
Float, radMaximum (and minimum) flap pitch angle [rad]
Default = 0.1745
twr_freq
Float, rad/sTower natural frequency, for floating only
Minimum = 0
ptfm_freq
Float, rad/sPlatform natural frequency, for floating only
Minimum = 0
WS_GS_n
FloatNumber of wind speed breakpoints
Default = 60
Minimum = 0
PC_GS_n
FloatNumber of pitch angle gain scheduling breakpoints
Default = 30
Minimum = 0
Kp_float
Float, s or Array of FloatsGain(s) of floating feedback control
tune_Fl
BooleanWhether to automatically tune Kp_float
Default = True
U_Fl
Array of Floats or String or FloatList of wind speeds for tuning floating feedback, or “all” for all above-rated wind speeds
Default = []
zeta_flp
FloatFlap controller desired damping ratio [-]
Minimum = 0
omega_flp
Float, rad/sFlap controller desired natural frequency [rad/s]
Minimum = 0
flp_kp_norm
FloatFlap controller normalization term for DC gain (kappa)
Minimum = 0
flp_tau
Float, sFlap controller time constant for integral gain
Minimum = 0
max_torque_factor
FloatMaximum torque = rated torque * max_torque_factor
Default = 1.1
Minimum = 0
IPC_Kp1p
Float, sProportional gain for IPC, 1P [s]
Default = 0.0
Minimum = 0
IPC_Kp2p
FloatProportional gain for IPC, 2P [-]
Default = 0.0
Minimum = 0
IPC_Ki1p
Float, sIntegral gain for IPC, 1P [s]
Default = 0.0
Minimum = 0
IPC_Ki2p
Floatintegral gain for IPC, 2P [-]
Default = 0.0
Minimum = 0
IPC_Vramp
Array of Floatswind speeds for IPC cut-in sigma function [m/s]
Default = [0.0, 0.0]
Minimum = 0.0
rgn2k_factor
FloatFactor on VS_Rgn2K to increase/decrease optimal torque control gain, default is 1. Sometimes environmental conditions or differences in BEM solvers necessitate this change.
Default = 1
Minimum = 0
7.3.1. filter_params
f_lpf_cornerfreq
Float, rad/sCorner frequency (-3dB point) in the first order low pass filter of the generator speed [rad/s]
Minimum = 0
f_lpf_damping
Float, rad/sDamping ratio in the first order low pass filter of the generator speed [-]
Minimum = 0
f_we_cornerfreq
Float, rad/sCorner frequency (-3dB point) in the first order low pass filter for the wind speed estimate [rad/s]
Default = 0.20944
Minimum = 0
f_fl_highpassfreq
Float, rad/sNatural frequency of first-order high-pass filter for nacelle fore-aft motion [rad/s]
Default = 0.01042
Minimum = 0
f_ss_cornerfreq
Float, rad/sFirst order low-pass filter cornering frequency for setpoint smoother [rad/s]
Default = 0.6283
Minimum = 0
f_yawerr
Float, rad/sLow pass filter corner frequency for yaw controller [rad/
Default = 0.17952
Minimum = 0
f_sd_cornerfreq
Float, radCutoff Frequency for first order low-pass filter for blade pitch angle [rad/s], {default = 0.41888 ~ time constant of 15s}
Default = 0.41888
7.3.2. open_loop
flag
BooleanFlag to use open loop control
Default = False
filename
StringFilename of open loop input that ROSCO reads
Default = unused
Ind_Breakpoint
FloatIndex (column, 1-indexed) of breakpoint (time) in open loop index
Default = 1
Minimum = 0
Ind_BldPitch
Array of FloatsIndices (columns, 1-indexed) of pitch (1,2,3) inputs in open loop input
Default = [0, 0, 0]
Minimum = 0
Ind_GenTq
FloatIndex (column, 1-indexed) of generator torque in open loop input
Default = 0
Minimum = 0
Ind_YawRate
FloatIndex (column, 1-indexed) of nacelle yaw in open loop input
Default = 0
Minimum = 0
Ind_Azimuth
FloatThe column in OL_Filename that contains the desired azimuth position in rad (used if OL_Mode = 2)
Default = 0
Ind_CableControl
Array of FloatsThe column in OL_Filename that contains the cable control inputs in m
Ind_StructControl
Array of FloatsThe column in OL_Filename that contains the structural control inputs in various units
PA_CornerFreq
Float, rad/sPitch actuator natural frequency [rad/s]
Default = 3.14
Minimum = 0
PA_Damping
FloatPitch actuator damping ratio [-]
Default = 0.707
Minimum = 0
7.3.3. DISCON
These are pass-through parameters for the DISCON.IN file. Use with caution. Do not set defaults in schema.
LoggingLevel
Float(0- write no debug files, 1- write standard output .dbg-file, 2- write standard output .dbg-file and complete avrSWAP-array .dbg2-file)
Echo
Float0 - no Echo, 1 - Echo input data to <RootName>.echo
Default = 0
DT_Out
FloatTime step to output .dbg* files, or 0 to match sampling period of OpenFAST
Default = 0
F_LPFType
Float1- first-order low-pass filter, 2- second-order low-pass filter (currently filters generator speed and pitch control signals
VS_ControlMode
FloatGenerator torque control mode in above rated conditions (0- no torque control, 1- k*omega^2 with PI transitions, 2- WSE TSR Tracking, 3- Power-based TSR Tracking)
Minimum = 0 Maximum = 3
VS_ConstPower
FloatDo constant power torque control, where above rated torque varies
Minimum = 0 Maximum = 1
F_NotchType
FloatNotch on the measured generator speed and/or tower fore-aft motion (for floating) (0- disable, 1- generator speed, 2- tower-top fore- aft motion, 3- generator speed and tower-top fore-aft motion)
IPC_ControlMode
FloatTurn Individual Pitch Control (IPC) for fatigue load reductions (pitch contribution) (0- off, 1- 1P reductions, 2- 1P+2P reductions)
PC_ControlMode
FloatBlade pitch control mode (0- No pitch, fix to fine pitch, 1- active PI blade pitch control)
Y_ControlMode
FloatYaw control mode (0- no yaw control, 1- yaw rate control, 2- yaw- by-IPC)
SS_Mode
FloatSetpoint Smoother mode (0- no setpoint smoothing, 1- introduce setpoint smoothing)
WE_Mode
FloatWind speed estimator mode (0- One-second low pass filtered hub height wind speed, 1- Immersion and Invariance Estimator, 2- Extended Kalman Filter)
PS_Mode
FloatPitch saturation mode (0- no pitch saturation, 1- implement pitch saturation)
SD_Mode
FloatShutdown mode (0- no shutdown procedure, 1- pitch to max pitch at shutdown)
Fl_Mode
FloatFloating specific feedback mode (0- no nacelle velocity feedback, 1- feed back translational velocity, 2- feed back rotational veloicty)
Flp_Mode
FloatFlap control mode (0- no flap control, 1- steady state flap angle, 2- Proportional flap control)
OL_Mode
FloatOpen loop control mode (0 - no open-loop control, 1 - direct open loop control, 2 - rotor position control)
F_LPFCornerFreq
Float, rad/sCorner frequency (-3dB point) in the low-pass filters,
F_LPFDamping
FloatDamping coefficient (used only when F_FilterType = 2 [-]
F_NumNotchFilts
FloatNumber of notch filters placed on sensors
F_NotchFreqs
Array of Floats or Float, rad/sNatural frequency of the notch filters. Array with length F_NumNotchFilts
F_NotchBetaNum
Array of Floats or FloatDamping value of numerator (determines the width of notch). Array with length F_NumNotchFilts, [-]
F_NotchBetaDen
Array of Floats or FloatDamping value of denominator (determines the depth of notch). Array with length F_NumNotchFilts, [-]
F_GenSpdNotch_N
FloatNumber of notch filters on generator speed
F_TwrTopNotch_N
FloatNumber of notch filters on tower top acceleration signal
F_GenSpdNotch_Ind
Array of Floats or FloatIndices of notch filters on generator speed
F_TwrTopNotch_Ind
Array of Floats or FloatIndices of notch filters on tower top acceleration signal
F_SSCornerFreq
Float, rad/s.Corner frequency (-3dB point) in the first order low pass filter for the setpoint smoother,
F_WECornerFreq
Float, rad/s.Corner frequency (-3dB point) in the first order low pass filter for the wind speed estimate
F_FlCornerFreq
Array of FloatsNatural frequency and damping in the second order low pass filter of the tower-top fore-aft motion for floating feedback control
F_FlHighPassFreq
Float, rad/sNatural frequency of first-order high-pass filter for nacelle fore-aft motion
F_FlpCornerFreq
Array of FloatsCorner frequency and damping in the second order low pass filter of the blade root bending moment for flap control
PC_GS_n
FloatAmount of gain-scheduling table entries
PC_GS_angles
Array of FloatsGain-schedule table- pitch angles
PC_GS_KP
Array of FloatsGain-schedule table- pitch controller kp gains
PC_GS_KI
Array of FloatsGain-schedule table- pitch controller ki gains
PC_GS_KD
Array of FloatsGain-schedule table- pitch controller kd gains
PC_GS_TF
Array of FloatsGain-schedule table- pitch controller tf gains (derivative filter)
PC_MaxPit
Float, radMaximum physical pitch limit,
PC_MinPit
Float, radMinimum physical pitch limit,
PC_MaxRat
Float, rad/s.Maximum pitch rate (in absolute value) in pitch controller
PC_MinRat
Float, rad/s.Minimum pitch rate (in absolute value) in pitch controller
PC_RefSpd
Float, rad/s.Desired (reference) HSS speed for pitch controller
PC_FinePit
Float, radRecord 5- Below-rated pitch angle set-point
PC_Switch
Float, radAngle above lowest minimum pitch angle for switch
IPC_IntSat
Float, radIntegrator saturation (maximum signal amplitude contribution to pitch from IPC)
IPC_SatMode
IntegerIPC Saturation method (0 - no saturation, 1 - saturate by PC_MinPit, 2 - saturate by PS_BldPitchMin)
IPC_KP
Array of FloatsProportional gain for the individual pitch controller- first parameter for 1P reductions, second for 2P reductions, [-]
IPC_KI
Array of FloatsIntegral gain for the individual pitch controller- first parameter for 1P reductions, second for 2P reductions, [-]
IPC_aziOffset
Array of FloatsPhase offset added to the azimuth angle for the individual pitch controller
IPC_CornerFreqAct
Float, rad/sCorner frequency of the first-order actuators model, to induce a phase lag in the IPC signal (0- Disable)
VS_GenEff
Float, percentGenerator efficiency mechanical power -> electrical power, should match the efficiency defined in the generator properties
VS_ArSatTq
Float, NmAbove rated generator torque PI control saturation
VS_MaxRat
Float, Nm/sMaximum torque rate (in absolute value) in torque controller
VS_MaxTq
Float, NmMaximum generator torque in Region 3 (HSS side)
VS_MinTq
Float, NmMinimum generator torque (HSS side)
VS_MinOMSpd
Float, rad/sMinimum generator speed
VS_Rgn2K
Float, Nm/(rad/s)^2Generator torque constant in Region 2 (HSS side). Only used in VS_ControlMode = 1,3
VS_RtPwr
Float, WWind turbine rated power
VS_RtTq
Float, NmRated torque
VS_RefSpd
Float, rad/sRated generator speed
VS_n
FloatNumber of generator PI torque controller gains
VS_KP
FloatProportional gain for generator PI torque controller. (Only used in the transitional 2.5 region if VS_ControlMode =/ 2)
VS_KI
Float, sIntegral gain for generator PI torque controller (Only used in the transitional 2.5 region if VS_ControlMode =/ 2)
VS_TSRopt
Float, radPower-maximizing region 2 tip-speed-ratio. Only used in VS_ControlMode = 2.
VS_PwrFiltF
Float, radLow pass filter on power used to determine generator speed set point. Only used in VS_ControlMode = 3.
Default = 0.314
SS_VSGain
FloatVariable speed torque controller setpoint smoother gain
SS_PCGain
FloatCollective pitch controller setpoint smoother gain
PRC_Mode
FloatPower reference tracking mode, 0- use standard rotor speed set points, 1- use PRC rotor speed setpoints
PRC_WindSpeeds
Array of FloatsArray of wind speeds used in rotor speed vs. wind speed lookup table [m/s]
PRC_GenSpeeds
Array of FloatsArray of generator speeds corresponding to PRC_WindSpeeds [rad/s]
PRC_LPF_Freq
FloatFrequency of the low pass filter on the wind speed estimate used to set PRC_GenSpeeds [rad/s]
Default = 0.078539
PRC_n
FloatNumber of elements in PRC_WindSpeeds and PRC_GenSpeeds array
TRA_ExclSpeed
FloatRotor speed for exclusion [LSS, rad/s]
Default = 0.0
Minimum = 0
TRA_ExclBand
FloatSize of the rotor frequency exclusion band [LSS, rad/s]. Torque controller reference will be TRA_ExclSpeed +/- TRA_ExlBand/2
Default = 0.0
Minimum = 0
TRA_RateLimit
FloatRate limit of change in rotor speed reference [LSS, rad/s]. Suggested to be VS_RefSpd/400.
Default = 0.0
Minimum = 0
WE_BladeRadius
Float, mBlade length (distance from hub center to blade tip)
WE_CP_n
FloatAmount of parameters in the Cp array
WE_CP
Array of FloatsParameters that define the parameterized CP(lambda) function
WE_Gamma
Float, m/radAdaption gain of the wind speed estimator algorithm
WE_GearboxRatio
FloatGearbox ratio, >=1
WE_Jtot
Float, kg m^2Total drivetrain inertia, including blades, hub and casted generator inertia to LSS
WE_RhoAir
Float, kg m^-3Air density
PerfFileName
StringFile containing rotor performance tables (Cp,Ct,Cq) (absolute path or relative to this file)
PerfTableSize
FloatSize of rotor performance tables, first number refers to number of blade pitch angles, second number referse to number of tip-speed ratios
WE_FOPoles_N
FloatNumber of first-order system poles used in EKF
WE_FOPoles_v
Array of FloatsWind speeds corresponding to first-order system poles
WE_FOPoles
Array of FloatsFirst order system poles
Y_ErrThresh
Float, rad^2 sYaw error threshold. Turbine begins to yaw when it passes this
Y_IPC_IntSat
Float, radIntegrator saturation (maximum signal amplitude contribution to pitch from yaw-by-IPC)
Y_IPC_n
FloatNumber of controller gains (yaw-by-IPC)
Y_IPC_KP
FloatYaw-by-IPC proportional controller gain Kp
Y_IPC_KI
FloatYaw-by-IPC integral controller gain Ki
Y_IPC_omegaLP
Float, rad/s.Low-pass filter corner frequency for the Yaw-by-IPC controller to filtering the yaw alignment error
Y_IPC_zetaLP
FloatLow-pass filter damping factor for the Yaw-by-IPC controller to filtering the yaw alignment error.
Y_MErrSet
Float, radYaw alignment error, set point
Y_omegaLPFast
Float, rad/sCorner frequency fast low pass filter, 1.0
Y_omegaLPSlow
Float, rad/sCorner frequency slow low pass filter, 1/60
Y_Rate
Float, rad/sYaw rate
FA_KI
Float, rad s/mIntegral gain for the fore-aft tower damper controller, -1 = off / >0 = on
FA_HPFCornerFreq
Float, rad/sCorner frequency (-3dB point) in the high-pass filter on the fore- aft acceleration signal
FA_IntSat
Float, radIntegrator saturation (maximum signal amplitude contribution to pitch from FA damper)
PS_BldPitchMin_N
FloatNumber of values in minimum blade pitch lookup table (should equal number of values in PS_WindSpeeds and PS_BldPitchMin)
PS_WindSpeeds
Array of FloatsWind speeds corresponding to minimum blade pitch angles
PS_BldPitchMin
Array of FloatsMinimum blade pitch angles
SD_MaxPit
Float, radMaximum blade pitch angle to initiate shutdown
SD_CornerFreq
Float, rad/sCutoff Frequency for first order low-pass filter for blade pitch angle
Fl_n
Float, sNumber of Fl_Kp gains in gain scheduling, optional with default of 1
Fl_Kp
Array of FloatsNacelle velocity proportional feedback gain
Fl_U
Array of FloatsWind speeds for scheduling Fl_Kp, optional if Fl_Kp is single value [m/s]
Flp_Angle
Float, radInitial or steady state flap angle
Flp_Kp
Float, sBlade root bending moment proportional gain for flap control
Flp_Ki
FloatFlap displacement integral gain for flap control
Flp_MaxPit
Float, radMaximum (and minimum) flap pitch angle
OL_Filename
StringInput file with open loop timeseries (absolute path or relative to this file)
Ind_Breakpoint
FloatThe column in OL_Filename that contains the breakpoint (time if OL_Mode > 0)
Ind_BldPitch
FloatThe column in OL_Filename that contains the blade pitch input in rad
Ind_GenTq
FloatThe column in OL_Filename that contains the generator torque in Nm
Ind_YawRate
FloatThe column in OL_Filename that contains the generator torque in Nm
Ind_Azimuth
FloatThe column in OL_Filename that contains the desired azimuth position in rad (used if OL_Mode = 2)
RP_Gains
Array of FloatsPID gains and Tf of derivative for rotor position control (used if OL_Mode = 2)
Default = [0, 0, 0, 0]
Ind_CableControl
Array of FloatsThe column in OL_Filename that contains the cable control inputs in m
Ind_StructControl
Array of FloatsThe column in OL_Filename that contains the structural control inputs in various units
DLL_FileName
StringName/location of the dynamic library {.dll [Windows] or .so [Linux]} in the Bladed-DLL format
Default = unused
DLL_InFile
StringName of input file sent to the DLL
Default = unused
DLL_ProcName
StringName of procedure in DLL to be called
Default = DISCON
PF_Offsets
Array of FloatsPitch angle offsets for each blade (array with length of 3)
Default = [0, 0, 0]
CC_Group_N
FloatNumber of cable control groups
Default = 0
CC_GroupIndex
Array of FloatsFirst index for cable control group, should correspond to deltaL
Default = [0]
CC_ActTau
FloatTime constant for line actuator [s]
Default = 20
StC_Group_N
FloatNumber of cable control groups
Default = 0
StC_GroupIndex
Array of FloatsFirst index for structural control group, options specified in ServoDyn summary output
Default = [0]
AWC_Mode
FloatActive wake control mode {0 - not used, 1 - complex number method, 2 - Coleman transformation method}
Default = 0
Minimum = 0 Maximum = 2
AWC_NumModes
Float, radNumber of AWC modes
Default = 1
AWC_n
Array of FloatsAWC azimuthal number (only used in complex number method)
Default = [1]
AWC_harmonic
Array of IntegersAWC Coleman transform harmonic (only used in Coleman transform method)
Default = [1]
AWC_freq
Array of FloatsAWC frequency [Hz]
Default = [0.05]
AWC_amp
Array of FloatsAWC amplitude [deg]
Default = [1.0]
AWC_clockangle
Array of FloatsAWC clock angle [deg]
Default = [0]
ZMQ_CommAddress
StringCommunication address for ZMQ server, (e.g. “tcp://localhost:5555”)
Default = tcp://localhost:5555
ZMQ_UpdatePeriod
FloatUpdate period at zmq interface to send measurements and wait for setpoint [sec.]
Default = 1.0
ZMQ_ID
FloatInteger identifier of turbine
Default = 0
7.4. linmodel_tuning
Inputs used for tuning ROSCO using linear (level 2) models
type
String from, [‘none’, ‘robust’, ‘simulation’]Type of level 2 based tuning - robust gain scheduling (robust) or simulation based optimization (simulation)
Default = none
linfile_path
StringPath to OpenFAST linearization (.lin) files, if they exist
Default = none
lintune_outpath
StringPath for outputs from linear model based tuning
Default = lintune_outfiles
load_parallel
BooleanLoad linearization files in parallel (True/False)
Default = False
stability_margin
Float or Array of FloatsDesired maximum stability margin
Default = 0.1