a practical introduction to fast: modeling and control of ...kom.aau.dk/~anb/fast/start_fast.pdf ·...

A Practical Introduction to FAST:Modeling and Control of Wind Turbines in Linux

Anders Bech Borchersen

Aalborg UniversityVattenfall R&D

November 14, 2012

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Outline

1 Introduction2 Installing3 Modeling 14 Modeling 25 Control6 Evaluation7 Get Started

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Thanks and Disclaimer

Thanks to Jepser Larsen for patching the FAST code to compile onLinux.Some slides are inspired by Jonkman and othersThank you for being here.This is only based on my experiences with FAST.

Disclaimer from NRELYOU AGREE TO INDEMNIFY DOE/NREL/ALLIANCE, AND ITSSUBSIDIARIES, AFFILIATES, OFFICERS, AGENTS, AND EMPLOYEESAGAINST ANY CLAIM OR DEMAND, INCLUDING REASONABLEATTORNEYS’ FEES, RELATED TO YOUR USE OF THESE DATA.THESE DATA ARE PROVIDED BY DOE/NREL/ALLIANCE ”AS IS”AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING BUTNOT LIMITED TO, THE IMPLIED WARRANTIES OFMERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSEARE DISCLAIMED. ...

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Introduction to Wind Turbines

Nice application for control and fault detection.Growing industry.Young industry with room for improvements.

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Brief About FAST

Relatively high order dynamical model of wind turbines.Modular design several ”standard” turbines available.Active developed by NREL new version twice a year.Open source thus widely used in the community.Runs both on Windows and Linux.Suitable for control.Possibility for integrations with OpenFoam.

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Installing FAST

Windows:Download codeAnd Run (Only 32 bit for Matlab/Simulink)

Linux (where the focus will be):Download sourcePatch the source codeCompileDrink coffeeAnd then run (Current patch is for 64 bit only)

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Install FAST

Install it now

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Model Parameters

Focus will be on the 5 MW NREL turbineDegrees of freedomInputs and OutputsSelect a turbine and modify itSampling frequency

Get a turbine from:http://wind.nrel.gov/public/jjonkman/NRELOffshrBsline5MW/

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The Turbine

NREL Offshore Baseline 5MW:Conventional three-bladed upwind variable-speed variableblade-pitch-to-feather-controlled turbine.Heavy emphasis on the REpower 5M machine.Publicly available properties from the conceptual models in theWindPACT, RECOFF, and DOWEC projects.variable-speed, variable blade-pitch-to-feather configuration.Requires a controller to run

NREL Baseline 1.5 MW:The old standard turbine.variable-speed, variable blade-pitch-to-feather configuration.Controller included tower damping.Can run in open loop.

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Degrees of Freedom

The turbine 16 DOF:Two flapwise bending-modeOne edgewise bending-modeOne generator speedOne driveshaft torsionalOne nacelle-yaw-actuatorTwo fore-aft bending-modeTwo side-to-side bending-mode

The platform 6 DOFJonkman thesis page 69

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Selecting DOF

Start with a few and when it works add more if needed.How to select most significant degrees for your problem.Test and see if it adds anything.Lower DOF for speed improvements.First 7 could be:

1 Generator2 First tower fore-aft3 First flapwise4 Driveshaft5 First side-to-side

Ensure that your sampling frequency is capturing the selected modes.

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Model Input and Output

Specified by youIf the model is run trough Matlab do not use the .out file it does notcontains all samples.

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Try of Modeling

Simple model in FAST

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Wind Modeling

Tower shadow.Wind parameters.Designing turbulent wind in TurbSim.Designing Static wind fields.The wind is difficult to see:)

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Tower Shadow

Down wind and up wind turbine (normally we use up wind turbines).Modify the ipt file to enable the hidden feature of tower shadow forup wind turbines.Look at the effect in Matlab.

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Wind Parameters

Simple wind file:Wind shear vertical horizontal.Wind speed at hub height.Simple changes in the mean wind.Used in the controller design.

Turbulent wind:4D wind field.Used in test scenarios.

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Linear Models

1 Select degrees of freedom remember that each DOF adds two states.2 Setup and specify wind field (must be static).3 Specify input, disturbs, and outputs.4 Generate models using command line.5 Import them to Matlab.6 Stabilize model.

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Short Example

Linear model from FAST

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Azimuth LPV model

Easy to generate from the output from the linear models.Model approximations sin/cos modelling polynomials.Problem with operation points.

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Controller Design

Thats your job

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Reference Controller

Full region controller.Gain scheduled PI controller with anti wind up.Implemented in DISCON.f90.Detail descriptions of the controller can be found in jonkman thesispage 67.To test your on controller outside of Simulink Fortran or C/C++.

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Test Environment

Design a test wind.Compare your controller to the standard controller in FAST.Parameters to evaluate on.Simulation time set it to 700 and use the last 600.

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Questions

Problems and future work.

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