.. _api_change: API changes between versions ============================ This page lists the main changes in the ROSCO API (input file) between different versions. The changes are tabulated according to the line number, and flag name. The line number corresponds to the resulting line number after all changes are implemented. Thus, be sure to implement each in order so that subsequent line numbers are correct. 2.9.0 to 2.10.0 -------------------------- **New power reference control mode** * De-rate or power boost the turbine using the reference speed, rated torque, or minimum pitch. More details can be found in the Examples page. **New startup mode** * Startup the turbine by allowing the rotor to rotate freely (free-wheel) and the load rotor in stages to start the turbine. **Updated shutdown mode** * Shutdown mode is modified to enable shutdown based on a set of triggers. The triggers include shutdown on exceeding a predefined pitch, yaw error or generator speed threshold; or at a specific time. **Fixed blade pitch control mode** * The fixed blade pitch mode will use torque control only for the generator and stall-regulated control. ====== ======================= =============================================================================================================================================================================================================================================================== Removed in ROSCO 2.10.0 ------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- Line Input Name Example Value ====== ======================= =============================================================================================================================================================================================================================================================== 129 SD_MaxPit 0.4363 ! SD_MaxPit - Maximum blade pitch angle to initiate shutdown, [rad] 130 SD_CornerFreq 0.4188 ! SD_CornerFreq - Cutoff Frequency for first order low-pass filter for blade pitch angle, [rad/s] ====== ======================= =============================================================================================================================================================================================================================================================== ====== ================= ====================================================================================================================================================================================================== Changed in ROSCO 2.10.0 ---------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- Line Input Name Example Value ====== ================= ====================================================================================================================================================================================================== 19 PRC_Mode 0 ! PRC_Mode - Power reference tracking mode{0: power control disabled, 1: lookup table from wind speed to generator speed setpoints, 2: change speed, torque, pitch to control power} ====== ================= ====================================================================================================================================================================================================== ====== ========================= ================================================================================================================================================================================================================================================================================================================================================================================================================================================================================================================================================================================================================================================================================================================================================== New in ROSCO 2.10.0 -------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- Line Input Name Example Value ====== ========================= ================================================================================================================================================================================================================================================================================================================================================================================================================================================================================================================================================================================================================================================================================================================================================== 15 VS_FBP 0 ! VS_FBP - Fixed blade pitch configuration mode (0- variable pitch (disabled), 1- constant power overspeed, 2- WSE-lookup reference tracking, 3- torque-lookup reference tracking) 22 SU_Mode 0 ! Startup mode {0: no startup procedure, 1: startup enabled} 54 F_VSRefSpdCornerFreq 0.20944 ! F_VSRefSpdCornerFreq - Corner frequency (-3dB point) in the first order low pass filter of the generator speed reference used for TSR tracking torque control [rad/s]. 96 Fixed Pitch Section !------- FIXED PITCH REGION 3 TORQUE CONTROL ------------------------------------------------ 97 VS_FBP_n 60 ! VS_FBP_n - Number of gain-scheduling table entries 98 VS_FBP_U 3.000000 3.266897 3.533793 3.800690 4.067586 4.334483 4.601379 4.868276 5.135172 5.402069 5.668966 5.935862 6.202759 6.469655 6.736552 7.003448 7.270345 7.537241 7.804138 8.071034 8.337931 8.604828 8.871724 9.138621 9.405517 9.672414 9.939310 10.206207 10.473103 10.740000 11.215333 11.690667 12.166000 12.641333 13.116667 13.592000 14.067333 14.542667 15.018000 15.493333 15.968667 16.444000 16.919333 17.394667 17.870000 18.345333 18.820667 19.296000 19.771333 20.246667 20.722000 21.197333 21.672667 22.148000 22.623333 23.098667 23.574000 24.049333 24.524667 25.000000 ! VS_FBP_U - Operating schedule table: Wind speeds [m/s]. 99 VS_FBP_Omega 0.523599 0.523599 0.523599 0.523599 0.523599 0.523599 0.523599 0.523599 0.523599 0.523599 0.523599 0.523599 0.523599 0.523599 0.523599 0.523599 0.540904 0.560760 0.580617 0.600474 0.620330 0.640187 0.660044 0.679901 0.699757 0.719614 0.739471 0.759328 0.779184 0.791681 0.791681 0.791681 0.791681 0.791681 0.791681 0.791681 0.791681 0.791681 0.791681 0.791681 0.791681 0.791681 0.791681 0.791681 0.791681 0.791681 0.791681 0.791681 0.791681 0.791681 0.791681 0.791681 0.791681 0.791681 0.791681 0.791681 0.791681 0.791681 0.791681 0.791681 ! VS_FBP_Omega - Operating schedule table: Generator speeds [rad/s]. 100 VS_FBP_Tau 681375.170448 879890.618036 1113642.754997 1385510.322894 1698372.063292 2055106.717753 2458593.027842 2911709.735122 3417335.581157 3978349.307511 4597629.655747 5278055.367429 6022505.184121 6833857.847387 7714992.098789 8668786.679893 9387854.540424 10089767.991426 10816984.456311 11569503.935078 12347326.427729 13150451.934262 13978880.454677 14832611.988976 15711646.537157 16615984.099220 17545624.675167 18500568.264996 19480814.868708 20697039.768044 20697039.768044 20697039.768044 20697039.768044 20697039.768044 20697039.768044 20697039.768044 20697039.768044 20697039.768044 20697039.768044 20697039.768044 20697039.768044 20697039.768044 20697039.768044 20697039.768044 20697039.768044 20697039.768044 20697039.768044 20697039.768044 20697039.768044 20697039.768044 20697039.768044 20697039.768044 20697039.768044 20697039.768044 20697039.768044 20697039.768044 20697039.768044 20697039.768044 20697039.768044 20697039.768044 ! VS_FBP_Tau - Operating schedule table: Generator torques [N m]. 107 PRC_Comm 0 ! PRC_Comm - Power reference communication mode when PRC_Mode = 2, 0- use constant DISCON inputs, 1- use open loop inputs, 2- use ZMQ inputs 108 PRC_R_Torque 1.00000 ! PRC_R_Torque - Constant power rating through changing the rated torque, used if PRC_Mode = 2, PRC_Comm = 0, default is 1, effective above rated [-] 109 PRC_R_Speed 1.00000 ! PRC_R_Speed - Constant power rating through changing the rated generator speed, used if PRC_Mode = 2, PRC_Comm = 0, default is 1, effective above rated [-] 110 PRC_R_Pitch 1.00000 ! PRC_R_Pitch - Constant power rating through changing the fine pitch angle, used if PRC_Mode = 2, PRC_Comm = 0, default is 1, effective below rated [-] 111 PRC_Table_n 20 ! PRC_Table_n - Number of elements in PRC_R to _Pitch table. Used if PRC_Mode = 1. 112 PRC_R_Table 0.0000 0.0526 0.1053 0.1579 0.2105 0.2632 0.3158 0.3684 0.4211 0.4737 0.5263 0.5789 0.6316 0.6842 0.7368 0.7895 0.8421 0.8947 0.9474 1.0000 ! PRC_R_Table - Table of turbine rating versus fine pitch (PRC_Pitch_Table), length should be PRC_Table_n, default is 1 [-]. Used if PRC_Mode = 1. 113 PRC_Pitch_Table 0.2296 0.2222 0.2144 0.2066 0.1984 0.1902 0.1814 0.1726 0.1633 0.1538 0.1439 0.1334 0.1226 0.1112 0.0989 0.0858 0.0715 0.0552 0.0351 0.0000 ! PRC_Pitch_Table - Table of fine pitch versus PRC_R_Table, length should be PRC_Table_n [rad]. Used if PRC_Mode = 1. 155 Start Up Section !------- STARTUP ----------------------------------------------------------- 156 SU_StartTime 120.0000000000 ! SU_StartTime - Time to start startup routine [s] 157 SU_FW_MinDuration 200.000 ! SU_FW_MinDuration - Free-wheel minimum duration, [s] 158 SU_RotorSpeedThresh 0.5200 ! SU_RotorSpeedThresh - Rotor speed threshhold to switch from freewheel to loads, [rad/s] 159 SU_RotorSpeedCornerFreq 0.4188 ! SU_RotorSpeedCornerFreq - Cutoff Frequency for first order low-pass filter for rotor speed for startup, [rad/s] 160 SU_LoadStages_N 2 ! SU_LoadStages_N - Number of load staged for startup (should equal number of values in SU_LoadStages, SU_LoadRampDuration and SU_LoadHoldDuration) 161 SU_LoadStages 0.2000 1.0000 ! SU_LoadStages - Array containing loads as a fraction of full generator torque during startup 162 SU_LoadRampDuration 100.0000 100.0000 ! SU_LoadRampDuration - Array containing ramp duration to reach the corresponding partial loads during startup 164 SU_LoadHoldDuration 200.0000 100.0000 ! SU_LoadHoldDuration - Array containing duration to hold the partial loads during startup 165 Shutdown Section !------- SHUTDOWN ----------------------------------------------------------- 166 SD_TimeActivate 0 ! SD_TimeActivate - Time to acitvate shutdown modes, [s] 167 SD_EnablePitch 0 ! SD_EnablePitch - Shutdown when collective blade pitch exceeds a threshold, [-] 168 SD_EnableYawError 0 ! SD_EnableYawError - Shutdown when yaw error exceeds a threshold, [-] 169 SD_EnableGenSpeed 0 ! SD_EnableGenSpeed - Shutdown when generator speed exceeds a threshold, [-] 170 SD_EnableTime 0 ! SD_EnableTime - Shutdown at a predefined time, [-] 171 SD_MaxPit 0.393860000000 ! SD_MaxPit - Maximum blade pitch angle to initiate shutdown, [rad] 172 SD_PitchCornerFreq 0.418880000000 ! SD_PitchCornerFreq - Cutoff Frequency for first order low-pass filter for blade pitch angle for shutdown, [rad/s] 173 SD_MaxYawError 30.00000000000 ! SD_MaxYawError - Maximum yaw error to initiate shutdown, [deg] 174 SD_YawErrorCornerFreq 0.418880000000 ! SD_YawErrorCornerFreq - Cutoff Frequency for first order low-pass filter for yaw error for shutdown, [rad/s] 175 SD_MaxGenSpd 0.950020000000 ! SD_MaxGenSpd - Maximum generator speed to initiate shutdown, [rad/s] 176 SD_GenSpdCornerFreq 0.418880000000 ! SD_GenSpdCornerFreq - Cutoff Frequency for first order low-pass filter for generator speed for shutdown, [rad/s] 177 SD_Time 9999.000000000 ! SD_Time - Shutdown time, [s] 178 SD_Method 1 ! SD_Method - Shutdown method {1- Reduce generator torque and increase blade pitch in timed stages (SD_StageTime), 2- stages depend on pitch angle (SD_StagePitch)} 179 SD_Stage_N 1 ! SD_Stage_N - Number of shutdown stages (should equal number of values in SD_MaxPitchRate and SD_MaxTorqueRate) [-] 180 SD_StageTime 1000.0000 ! SD_StageTime - Array containing the time to spend in each shutdown stage [s] 181 SD_StagePitch 1.5708 ! SD_StagePitch - Array with pitch angles to reach in each shutdown stage [rad]. If the pitch < SD_StagePitch[i], the SD_Stage = i. If pitch > SD_StagePitch[SD_Stage_N], the maximum rates are used. 182 SD_MaxTorqueRate 225000.0000 ! SD_MaxTorqueRate - Maximum torque rate for shutdown [Nm/s] 183 SD_MaxPitchRate 0.0044 ! SD_MaxPitchRate - Maximum pitch rate used for shutdown [rad/s] 198 OL_BP_Mode 0 ! OL_BP_Mode - Breakpoint mode for open loop control, 0 - indexed by time (default), 1 - indexed by wind speed] 199 OL_BP_FiltFreq 0.000000 ! OL_BP_FiltFreq - Natural frequency of 1st order filter on breakpoint for open loop control. 0 will skip filter. 208 Ind_R_Speed 0 ! Ind_R_Speed - Index (column, 1-indexed) of power rating via speed offset 209 Ind_R_Torque 0 ! Ind_R_Torque - Index (column, 1-indexed) of power rating via torque offset 210 Ind_R_Pitch 0 ! Ind_R_Pitch - Index (column, 1-indexed) of power rating via pitch offset ====== ========================= ================================================================================================================================================================================================================================================================================================================================================================================================================================================================================================================================================================================================================================================================================================================================================== 2.8.0 to 2.9.0 ------------------------------- **Flag to use exteneded Bladed Interface** * Set `Ext_Interface` to 1 to use the extened bladed interface with OpenFAST v3.5.0 and greater **Gain scheduling of floating feedback** * The floating feedback gain can be scheduled on the low pass filtered wind speed signal. Note that Fl_Kp can now be an array. **Rotor position tracking** * Control the azimuth position of the rotor with `OL_Mode` of 2 using a PID torque controller with gains defined by `RP_Gains`. * Control all three blade pitch inputs in open loop **New torque control mode settings** * VS_ControlMode determines how the generator speed set point is determined: using the WSE (mode 2) or (P/K)^(1/3) (mode 3). The power signal in mode 3 is filtered using `VS_PwrFiltF`. * VS_ConstPower determines whether constant power is used (0 is constant torque, 1 is constant power) **Multiple notch filters** * Users can list any number of notch filters and apply them to either the generator speed and/or tower top accelleration signal based on their index **Power reference control via generator speed set points** * With this feature, enabled with `PRC_Mode`, a user can prescribe a set of generator speed set points (`PRC_GenSpeeds`) vs. the estimated wind speed (`PRC_WindSpeeds`), which can be used to avoid certain natural frequencies or implement a soft cut-out scheme. * A low pass filter with frequency `PRC_LPF_Freq` is used to filter the wind speed estimate. A lower value increases the stability of the generator speed reference signal. **ZeroMQ Interface** * Each turbine is assigned a `ZMQ_ID` by the controller, which is tracked by a farm-level controller **Tower resonance avoidance** * When `TRA_Mode` is 1, change the torque control generator speed setpoint to avoid TRA_ExclSpeed +/- TRA_ExclBand. * The set point is changed at a slow rate `TRA_RateLimit` to avoid generator power spikes. `VS_RefSpd`/100 is recommended. ====== ======================= =============================================================================================================================================================================================================================================================== Removed in ROSCO 2.9.0 ------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- Line Input Name Example Value ====== ======================= =============================================================================================================================================================================================================================================================== 11 F_NotchType 2 ! F_NotchType - Notch 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} 35 F_NotchCornerFreq 3.35500 ! F_NotchCornerFreq - Natural frequency of the notch filter, [rad/s] 36 F_NotchBetaNumDen 0.000000 0.250000 ! F_NotchBetaNumDen - Two notch damping values (numerator and denominator, resp) - determines the width and depth of the notch, [-] ====== ======================= =============================================================================================================================================================================================================================================================== ====== ======================= =============================================================================================================================================================================================================================================================== New in ROSCO 2.9.0 ------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- Line Input Name Example Value ====== ======================= =============================================================================================================================================================================================================================================================== 7 Ext_Interface 1 ! Ext_Interface - (0 - use standard bladed interface, 1 - Use the extened DLL interface introduced in OpenFAST 3.5.0.) 14 VS_ConstPower 0 ! VS_ConstPower - Do constant power torque control, where above rated torque varies, 0 for constant torque} 18 PRC_Mode 0 ! PRC_Mode - Power reference tracking mode{0: use standard rotor speed set points, 1: use PRC rotor speed setpoints} 38 F_NumNotchFilts 1 ! F_NumNotchFilts - Number of notch filters placed on sensors 39 F_NotchFreqs 3.3550 ! F_NotchFreqs - Natural frequency of the notch filters. Array with length F_NumNotchFilts 40 F_NotchBetaNum 0.0000 ! F_NotchBetaNum - Damping value of numerator (determines the width of notch). Array with length F_NumNotchFilts, [-] 41 F_NotchBetaDen 0.2500 ! F_NotchBetaDen - Damping value of denominator (determines the depth of notch). Array with length F_NumNotchFilts, [-] 42 F_GenSpdNotch_N 0 ! F_GenSpdNotch_N - Number of notch filters on generator speed 43 F_GenSpdNotch_Ind 0 ! F_GenSpdNotch_Ind - Indices of notch filters on generator speed 44 F_TwrTopNotch_N 1 ! F_TwrTopNotch_N - Number of notch filters on tower top acceleration signal 45 F_TwrTopNotch_Ind 1 ! F_TwrTopNotch_Ind - Indices of notch filters on tower top acceleration signal 92 VS_PwrFiltF 0.3140 ! VS_PwrFiltF - Low pass filter on power used to determine generator speed set point. Only used in VS_ControlMode = 3. 98 PRC_Section !------- POWER REFERENCE TRACKING -------------------------------------- 99 PRC_n 2 ! PRC_n - Number of elements in PRC_WindSpeeds and PRC_GenSpeeds array 100 PRC_LPF_Freq 0.07854 ! PRC_LPF_Freq - Frequency of the low pass filter on the wind speed estimate used to set PRC_GenSpeeds [rad/s] 101 PRC_WindSpeeds 3.0000 25.0000 ! PRC_WindSpeeds - Array of wind speeds used in rotor speed vs. wind speed lookup table [m/s] 102 PRC_GenSpeeds 0.7917 0.7917 ! PRC_GenSpeeds - Array of generator speeds corresponding to PRC_WindSpeeds [rad/s] 103 Empty Line 128 TRA_ExclSpeed 0.00000 ! TRA_ExclSpeed - Rotor speed for exclusion [LSS, rad/s] 129 TRA_ExclBand 0.00000 ! TRA_ExclBand - Size of the rotor frequency exclusion band [LSS, rad/s]. Torque controller reference will be TRA_ExclSpeed +/- TRA_ExlBand/2 130 TRA_RateLimit 0.00000e+00 ! TRA_RateLimit - Rate limit of change in rotor speed reference [LSS, rad/s]. Suggested to be VS_RefSpd/100. 145 Fl_n 1 ! Fl_n - Number of Fl_Kp gains in gain scheduling, optional with default of 1 147 Fl_U 0.0000 ! Fl_U - Wind speeds for scheduling Fl_Kp, optional if Fl_Kp is single value [m/s] 161 Ind_Azimuth 0 ! Ind_Azimuth - The column in OL_Filename that contains the desired azimuth position in rad (used if OL_Mode = 2) 162 RP_Gains 0.0000 0.0000 0.0000 0.0000 ! RP_Gains - PID gains and Tf of derivative for rotor position control (used if OL_Mode = 2) 186 ZMQ_ID 0 ! ZMQ_ID - Integer identifier of turbine ====== ======================= =============================================================================================================================================================================================================================================================== ====== ================= ====================================================================================================================================================================================================== Changed in ROSCO develop ---------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- Line Input Name Example Value ====== ================= ====================================================================================================================================================================================================== 12 VS_ControlMode 2 ! VS_ControlMode - Generator 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)}126 OL_mode 0 ! OL_Mode - Open loop control mode {0: no open loop control, 1: open loop control vs. time, 2: rotor position control} 125 Twr_Section !------- TOWER CONTROL ------------------------------------------------------ 141 Fl_Kp 0.0000 ! Fl_Kp - Nacelle velocity proportional feedback gain [s] 153 Ind_BldPitch 0 0 0 ! Ind_BldPitch - The columns in OL_Filename that contains the blade pitch (1,2,3) inputs in rad [array] ====== ================= ====================================================================================================================================================================================================== 2.7.0 to 2.8.0 ------------------------------- Optional Inputs - ROSCO now reads in the whole input file and searches for keywords to set the inputs. Blank spaces and specific ordering are no longer required. - Input requirements depend on control modes. E.g., open loop inputs are not required if `OL_Mode = 0`` Cable Control - Can control OpenFAST cables (MoorDyn or SubDyn) using ROSCO Structural Control - Can control OpenFAST structural control elements (ServoDyn) using ROSCO Active wake control - Added Active Wake Control (AWC) implementation ====== ================= ====================================================================================================================================================================================================== New in ROSCO 2.8.0 ---------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- Line Input Name Example Value ====== ================= ====================================================================================================================================================================================================== 6 Echo 0 ! Echo - (0 - no Echo, 1 - Echo input data to .echo) 25 AWC_Mode 0 ! AWC_Mode - Active wake control mode [0 - not used, 1 - complex number method, 2 - Coleman transform method] 28 CC_Mode 0 ! CC_Mode - Cable control mode [0- unused, 1- User defined, 2- Open loop control] 29 StC_Mode 0 ! StC_Mode - Structural control mode [0- unused, 1- User defined, 2- Open loop control] 139 Ind_CableControl 0 ! Ind_CableControl - The column(s) in OL_Filename that contains the cable control inputs in m [Used with CC_Mode = 2, must be the same size as CC_Group_N] 140 Ind_StructControl 0 ! Ind_StructControl - The column(s) in OL_Filename that contains the structural control inputs [Used with StC_Mode = 2, must be the same size as StC_Group_N] 148 Empty Line 149 AWC_Section !------- Active Wake Control ----------------------------------------------------- 150 AWC_NumModes 1 ! AWC_NumModes - AWC- Number of modes to include [-] 151 AWC_n 1 ! AWC_n - AWC azimuthal mode [-] (only used in complex number method) 152 AWC_harmonic 1 ! AWC_harmonic - AWC Coleman transform harmonic [-] (only used in Coleman transform method) 153 AWC_freq 0.03 ! AWC_freq - AWC frequency [Hz] 154 AWC_amp 2.0 ! AWC_amp - AWC amplitude [deg] 155 AWC_clockangle 0.0 ! AWC_clockangle - AWC clock angle [deg] 165 Empty Line 166 CC_Section !------- Cable Control --------------------------------------------------------- 167 CC_Group_N 3 ! CC_Group_N - Number of cable control groups 168 CC_GroupIndex 2601 2603 2605 ! CC_GroupIndex - First index for cable control group, should correspond to deltaL 169 CC_ActTau 20.000000 ! CC_ActTau - Time constant for line actuator [s] 170 Empty Line 171 StC_Section !------- Structural Controllers --------------------------------------------------------- 172 StC_Group_N 3 ! StC_Group_N - Number of cable control groups 173 StC_GroupIndex 2818 2838 2858 ! StC_GroupIndex - First index for structural control group, options specified in ServoDyn summary output ====== ================= ====================================================================================================================================================================================================== 2.6.0 to 2.7.0 ------------------------------- Pitch Faults - Constant pitch actuator offsets (PF_Mode = 1) IPC Saturation Modes - Added options for saturating the IPC command with the peak shaving limit ====== ================= ====================================================================================================================================================================================================== New in ROSCO 2.7.0 ---------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- Line Input Name Example Value ====== ================= ====================================================================================================================================================================================================== 22 PA_Mode 0 ! PA_Mode - Pitch actuator mode {0 - not used, 1 - first order filter, 2 - second order filter} 23 PF_Mode 0 ! PF_Mode - Pitch fault mode {0 - not used, 1 - constant offset on one or more blades} 56 IPC_SatMode 2 ! IPC_SatMode - IPC Saturation method (0 - no saturation (except by PC_MinPit), 1 - saturate by PS_BldPitchMin, 2 - saturate sotfly (full IPC cycle) by PC_MinPit, 3 - saturate softly by PS_BldPitchMin) 139 PF_Section !------- Pitch Actuator Faults --------------------------------------------------------- 140 PF_Offsets 0.00000000 0.00000000 0.00000000 ! PF_Offsets - Constant blade pitch offsets for blades 1-3 [rad] 141 Empty Line ====== ================= ====================================================================================================================================================================================================== 2.5.0 to develop ------------------------------- IPC - A wind speed based soft cut-in using a sigma interpolation is added for the IPC controller Pitch Actuator - A first or second order filter can be used to model a pitch actuator External Control Interface - Call another control library from ROSCO ZeroMQ Interface - Communicate with an external routine via ZeroMQ. Only yaw control currently supported Updated yaw control - Filter wind direction with deadband, and yaw until direction error changes signs (https://iopscience.iop.org/article/10.1088/1742-6596/1037/3/032011) ====== ================= ====================================================================================================================================================================================================== New in ROSCO 2.6.0 ---------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- Line Input Name Example Value ====== ================= ====================================================================================================================================================================================================== 19 TD_Mode 0 ! TD_Mode - Tower damper mode {0: no tower damper, 1: feed back translational nacelle accelleration to pitch angle} 22 PA_Mode 0 ! PA_Mode - Pitch actuator mode {0 - not used, 1 - first order filter, 2 - second order filter} 23 Ext_Mode 0 ! Ext_Mode - External control mode {0 - not used, 1 - call external dynamic library} 24 ZMQ_Mode 0 ! ZMQ_Mode - Fuse ZeroMQ interaface {0: unused, 1: Yaw Control} 33 F_YawErr 0.17952 ! F_YawErr - Low pass filter corner frequency for yaw controller [rad/s]. 54 IPC_Vramp 9.120000 11.400000 ! IPC_Vramp - Start and end wind speeds for cut-in ramp function. First entry: IPC inactive, second entry: IPC fully active. [m/s] 96 Y_uSwitch 0.00000 ! Y_uSwitch - Wind speed to switch between Y_ErrThresh. If zero, only the first value of Y_ErrThresh is used [m/s] 133 Empty Line N/A 134 PitchActSec !------- Pitch Actuator Model ----------------------------------------------------- 135 PA_CornerFreq 3.140000000000 ! PA_CornerFreq - Pitch actuator bandwidth/cut-off frequency [rad/s] 136 PA_Damping 0.707000000000 ! PA_Damping - Pitch actuator damping ratio [-, unused if PA_Mode = 1] 137 Empty Line 138 ExtConSec !------- External Controller Interface ----------------------------------------------------- 139 DLL_FileName "unused" ! DLL_FileName - Name/location of the dynamic library in the Bladed-DLL format 140 DLL_InFile "unused" ! DLL_InFile - Name of input file sent to the DLL (-) 141 DLL_ProcName "DISCON" ! DLL_ProcName - Name of procedure in DLL to be called (-) 142 Empty Line 143 ZeroMQSec !------- ZeroMQ Interface --------------------------------------------------------- 144 ZMQ_CommAddress "tcp://localhost:5555" ! ZMQ_CommAddress - Communication address for ZMQ server, (e.g. "tcp://localhost:5555") 145 ZMQ_UpdatePeriod 2 ! ZMQ_UpdatePeriod - Call ZeroMQ every [x] seconds, [s] ====== ================= ====================================================================================================================================================================================================== ====== ================= ====================================================================================================================================================================================================== Modified in ROSCO 2.6.0 ---------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- Line Input Name Example Value ====== ================= ====================================================================================================================================================================================================== 97 Y_ErrThresh 4.000000 8.000000 ! Y_ErrThresh - Yaw error threshold/deadbands. Turbine begins to yaw when it passes this. If Y_uSwitch is zero, only the second value is used. [deg]. 98 Y_Rate 0.00870 ! Y_Rate - Yaw rate [rad/s] 99 Y_MErrSet 0.00000 ! Y_MErrSet - Integrator saturation (maximum signal amplitude contribution to pitch from yaw-by-IPC), [rad] ====== ================= ====================================================================================================================================================================================================== ====== ================= ====================================================================================================================================================================================================== Removed in ROSCO 2.6.0 ---------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- Line Input Name Example Value ====== ================= ====================================================================================================================================================================================================== 96 Y_IPn 1 ! Y_IPC_n - Number of controller gains (yaw-by-IPC) 99 Y_IPC_omegaLP 0.20940 ! Y_IPC_omegaLP - Low-pass filter corner frequency for the Yaw-by-IPC controller to filtering the yaw alignment error, [rad/s]. 100 Y_IPC_zetaLP 1.00000 ! Y_IPC_zetaLP - Low-pass filter damping factor for the Yaw-by-IPC controller to filtering the yaw alignment error, [-]. 102 Y_omegaLPFast 0.20940 ! Y_omegaLPFast - Corner frequency fast low pass filter, 1.0 [rad/s] 103 Y_omegaLPSlow 0.10470 ! Y_omegaLPSlow - Corner frequency slow low pass filter, 1/60 [rad/s] ====== ================= ====================================================================================================================================================================================================== ROSCO v2.4.1 to ROSCO v2.5.0 ------------------------------- Two filter parameters were added to - change the high pass filter in the floating feedback module - change the low pass filter of the wind speed estimator signal that is used in torque control Open loop control inputs, users must specify: - The open loop input filename, an example can be found in Examples/Example_OL_Input.dat - Indices (columns) of values specified in OL_Filename IPC - Proportional Control capabilities were added, 1P and 2P gains should be specified ====== ================= ====================================================================================================================================================================================================== Line Input Name Example Value ====== ================= ====================================================================================================================================================================================================== 20 OL_Mode 0 ! OL_Mode - Open loop control mode {0: no open loop control, 1: open loop control vs. time, 2: open loop control vs. wind speed} 27 F_WECornerFreq 0.20944 ! F_WECornerFreq - Corner frequency (-3dB point) in the first order low pass filter for the wind speed estimate [rad/s]. 29 F_FlHighPassFreq 0.01000 ! F_FlHighPassFreq - Natural frequency of first-order high-pass filter for nacelle fore-aft motion [rad/s]. 50 IPC_KP 0.000000 0.000000 ! IPC_KP - Proportional gain for the individual pitch controller: first parameter for 1P reductions, second for 2P reductions, [-] 125 OL_Filename "14_OL_Input.dat" ! OL_Filename - Input file with open loop timeseries (absolute path or relative to this file) 126 Ind_Breakpoint 1 ! Ind_Breakpoint - The column in OL_Filename that contains the breakpoint (time if OL_Mode = 1) 127 Ind_BldPitch 2 ! Ind_BldPitch - The column in OL_Filename that contains the blade pitch input in rad 128 Ind_GenTq 3 ! Ind_GenTq - The column in OL_Filename that contains the generator torque in Nm 129 Ind_YawRate 4 ! Ind_YawRate - The column in OL_Filename that contains the generator torque in Nm ====== ================= ======================================================================================================================================================================================================