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DR_PowerSpeedCurve.m
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DR_PowerSpeedCurve.m
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function uout = DR_PowerSpeedCurve(uin)
global Parameters
persistent intSpeedError speedErrorLast genTorqueLast bladePitchLast rotorSpeedFiltered bladePitchFiltered torqueOutFiltered pitchAngleOutFiltered iter
powerSetpoint=uin(1);
rotorSpeed=uin(2);
bladePitch=uin(3);
downRegulationMode=2; % Type of down-regulation {1=near-perfect tracking
% % leaded by the generator torque [peak issues when saturation occurs],
% 2=lead by pitch with minimum torque strategy [smoother transitions but
% delay on tracking]
% Initializing controllers and filters
if isempty(iter)
iter = 1;
intSpeedError =0;
speedErrorLast =0;
powerSetpoint=Parameters.powerDemand.signals.values(1);
rotorSpeed=Parameters.rotorSpeedInit;
bladePitch=Parameters.bladePitchInit;
rotorSpeedFiltered=rotorSpeed;
bladePitchFiltered=bladePitch;
genTorqueLast =powerSetpoint/rotorSpeed/Parameters.genEfficiency;
bladePitchLast=Parameters.bladePitchFine;
torqueOutFiltered=genTorqueLast;
pitchAngleOutFiltered=bladePitchLast;
end
% Set the rotor speed reference from a look-up table based on the
% conventional torque law in below rated conditions
rotorSpeedReference = Parameters.rotorSpeedInterpolant.rotorSpeedInterpolant(powerSetpoint); %[rad/s]
% Filter rotor speed measurements
betaf1=exp(-Parameters.F_LPFCornerFreq_rotorSpeed*Parameters.dt); % betaf=exp(-wo*T), T=0.0125 & wo(-3dB)=1.12975 rad/s -> betaf1=0.986 (ROSCO)
rotorSpeedFiltered= rotorSpeedFiltered*betaf1 + (1-betaf1)*rotorSpeed;
% Filter blade pitch measurements
betaf2=exp(-Parameters.F_LPFCornerFreq_bladePitch*Parameters.dt); % betaf=exp(-wo*T), T=0.0125 & wo(-3dB)=0.4 rad/s -> betaf2=0.995
bladePitchFiltered= bladePitchFiltered*betaf2 + (1-betaf2)*bladePitch;
if (powerSetpoint>Parameters.VS_RtPwr) || (rotorSpeed<rotorSpeedReference && bladePitch<=Parameters.bladePitchFine) %TEST - COND 1
%if (powerSetpoint>Parameters.VS_RtPwr) || (rotorSpeedFiltered<rotorSpeedReference && bladePitchFiltered<=Parameters.bladePitchFine) %TEST - COND 2
%if (powerSetpoint>Parameters.VS_RtPwr) || (rotorSpeedFiltered<rotorSpeedReference && bladePitchFiltered<Parameters.PitchSwitch) %TEST - COND 3
turbIsGreedy = true;
disp(['Turbine is greedy.'])
%TORQUE CONTROLLER
genSpeed = rotorSpeedFiltered * Parameters.gbRatio; % in rad/s
torqueGreedy = Parameters.KGen * (genSpeed.^2); % Greedy control signal (Does Kgen is set fot genSpeed or rotSpeed?)
torqueTracking = Parameters.RatedGenTorque; % Constant torque [also need to change the transition
if (genSpeed > Parameters.VS_RtGnSp)
disp(['Current torque control mode: Region 3.']);
torqueOut = torqueTracking;
elseif genSpeed< (Parameters.VS_CtInSp)
torqueOut=0;
disp(['Current torque control mode: Region 1.']);
elseif genSpeed< (Parameters.VS_Rgn2Sp)
torqueOut= Parameters.VS_Slope15*( genSpeed - Parameters.VS_CtInSp);
disp(['Current torque control mode: Region 1.1/2.']);
elseif genSpeed< (Parameters.VS_TrGnSp)
disp(['Current torque control mode: Region 2.']);
torqueOut = torqueGreedy; % Perfect tracking whenever possible, otherwise fall back on greedy
else
disp(['Current torque control mode: Region 2.1/2.']);
torqueOut= Parameters.Region2EndGenTorque + Parameters.VS_Slope25*( genSpeed - Parameters.VS_TrGnSp);
end
%BLADE PITCH CONTROLLER - Gain-scheduling PID CONTROL
if rotorSpeedFiltered<Parameters.rotorSpeedRated && bladePitchFiltered<Parameters.PitchSwitch
pitchAngleOut=Parameters.bladePitchFine;
Parameters.InitializePitchControl1=true;
else
if Parameters.InitializePitchControl1
PitchControlKI = -Parameters.gainSchedulingPitch.Ki(bladePitchFiltered*Parameters.degRad)*Parameters.gbRatio;
intSpeedError= (bladePitchFiltered*Parameters.degRad) / PitchControlKI;
speedErrorLast= 0;
Parameters.InitializePitchControl1=false;
end
%Compute the gains
PitchControlKP= -Parameters.gainSchedulingPitch.Kp(bladePitchFiltered*Parameters.degRad)*Parameters.gbRatio;
PitchControlKI= -Parameters.gainSchedulingPitch.Ki(bladePitchFiltered*Parameters.degRad)*Parameters.gbRatio;
PitchControlKD= -Parameters.gainSchedulingPitch.Kd(bladePitchFiltered*Parameters.degRad)*Parameters.gbRatio;
%Compute the low speed shaft speed error.
speedError= rotorSpeedFiltered- Parameters.rotorSpeedRated; %[rad/s]
%Numerically integrate the speed error over time.
intSpeedError= intSpeedError+speedError*Parameters.dt;
%Numerically take the deriviative of speed error w.r.t time.
derivSpeedError = (speedError - speedErrorLast) / Parameters.dt;
%Store the old value of speed error.
speedErrorLast=speedError;
%Saturate the integrated speed error based on pitch saturation.
intSpeedError = min(max(intSpeedError, Parameters.PitchMin*Parameters.degRad/PitchControlKI), Parameters.PitchMax*Parameters.degRad/PitchControlKI);
%Compute the pitch components from the proportional, integral, and derivative parts and sum them.
pitchP = PitchControlKP* speedError; %[rad]
pitchI = PitchControlKI* intSpeedError; %[rad]
pitchD = PitchControlKD* derivSpeedError; %[rad]
pitchAngleOut= (pitchP + pitchI + pitchD) / Parameters.degRad; %[deg]
pitchAngleOut= min(max(pitchAngleOut, Parameters.PitchMin), Parameters.PitchMax);
end
Parameters.InitializePitchControl2=true;
else
%POWER TRACKING ALGORITHM (based on KNU2 and pitch reserve method)
turbIsGreedy = false;
disp(['Turbine is tracking power.'])
%PITCH POWER REFERENCE CONTROL
rotorSpeedReference = min(rotorSpeedReference,Parameters.rotorSpeedRated);
if Parameters.InitializePitchControl2
PitchControlKI = -Parameters.gainSchedulingPitch.Ki(bladePitchFiltered*Parameters.degRad)*Parameters.gbRatio;
intSpeedError = (bladePitchFiltered*Parameters.degRad) / PitchControlKI;
speedErrorLast= 0;
Parameters.InitializePitchControl2=false;
end
%Compute the gains
PitchControlKP= -Parameters.gainSchedulingPitch.Kp(bladePitchFiltered*Parameters.degRad)*Parameters.gbRatio;
PitchControlKI= -Parameters.gainSchedulingPitch.Ki(bladePitchFiltered*Parameters.degRad)*Parameters.gbRatio;
PitchControlKD= -Parameters.gainSchedulingPitch.Kd(bladePitchFiltered*Parameters.degRad)*Parameters.gbRatio;
%Compute the low speed shaft speed error.
speedError= rotorSpeedFiltered- rotorSpeedReference; %[rad/s]
%Numerically integrate the speed error over time.
intSpeedError= intSpeedError+speedError*Parameters.dt;
%Numerically take the deriviative of speed error w.r.t time.
derivSpeedError = (speedError - speedErrorLast) / Parameters.dt;
%Store the old value of speed error.
speedErrorLast=speedError;
%Saturate the integrated speed error based on pitch saturation.
intSpeedError = min(max(intSpeedError, Parameters.PitchMin*Parameters.degRad/PitchControlKI), Parameters.PitchMax*Parameters.degRad/PitchControlKI);
%Compute the pitch components from the proportional, integral, and derivative parts and sum them.
pitchP = PitchControlKP* speedError; %[rad]
pitchI = PitchControlKI* intSpeedError; %[rad]
pitchD = PitchControlKD* derivSpeedError; %[rad]
pitchAngleOut= (pitchP + pitchI + pitchD) / Parameters.degRad; %[deg]
pitchAngleOut= min(max(pitchAngleOut, Parameters.PitchMin), Parameters.PitchMax);
%TORQUE CONTROLLER
genSpeed = rotorSpeedFiltered * Parameters.gbRatio; % in rad/s
torqueTracking = powerSetpoint / (genSpeed*Parameters.genEfficiency); % Tracking control signal
if downRegulationMode==1
torqueOut=torqueTracking;
elseif downRegulationMode==2
torqueGreedy = Parameters.KGen * (genSpeed.^2); % Greedy control signal (Does Kgen is set fot genSpeed or rotSpeed?
if (genSpeed > Parameters.VS_RtGnSp)
disp(['Current torque control mode: Region 3.']);
torqueOutConv = Parameters.RatedGenTorque; % Constant torque [also need to change the transition]
elseif genSpeed< (Parameters.VS_CtInSp)
torqueOutConv=0;
disp(['Current torque control mode: Region 1.']);
elseif genSpeed< (Parameters.VS_Rgn2Sp)
torqueOutConv= Parameters.VS_Slope15*( genSpeed - Parameters.VS_CtInSp);
disp(['Current torque control mode: Region 1.1/2.']);
elseif genSpeed< (Parameters.VS_TrGnSp)
disp(['Current torque control mode: Region 2.']);
torqueOutConv = torqueGreedy; % Perfect tracking whenever possible, otherwise fall back on greedy
else
disp(['Current torque control mode: Region 2.1/2.']);
torqueOutConv= Parameters.Region2EndGenTorque + Parameters.VS_Slope25*( genSpeed - Parameters.VS_TrGnSp);
end
torqueOut = min( torqueTracking, torqueOutConv); %see more details in Silva 2022 at TORQUE paper
if torqueOut==torqueTracking
disp(['Torque tracking has been applied']);
else
disp(['Torque greedy has been applied']);
end
else
disp(['The down-regulation mode is not found.']);
return
end
Parameters.InitializePitchControl1=true;
end
% Saturate using the maximum torque limit
if (min(torqueOut,Parameters.VS_MaxTq)==Parameters.VS_MaxTq)
torqueOut=Parameters.VS_MaxTq;
disp(['Generator torque reaches maximum!']);
end
% Generator torque command filter
%{
betaf3=exp(-Parameters.F_LPFCornerFreq_torqueOut*Parameters.dt); % betaf=exp(-wo*T), T=0.0125 & wo(-3dB)=0.4 rad/s -> betaf = 0.9950
torqueOutFiltered= torqueOutFiltered*betaf3 + (1-betaf3)*torqueOut;
torqueOut=torqueOutFiltered;
%}
% Blade pitch command filter
%{
betaf4=exp(-Parameters.F_LPFCornerFreq_pitchAngleOut*Parameters.dt);
pitchAngleOutFiltered= pitchAngleOutFiltered*betaf4 + (1-betaf4)*pitchAngleOut;
pitchAngleOut=pitchAngleOutFiltered;
%}
% RATE LIMITERS
applyRateLimiterTorque = true;
if applyRateLimiterTorque
torqueRateLimit = Parameters.GenTorqueRate * Parameters.dt;
deltaTorque = torqueOut - genTorqueLast;
deltaTorque = max(min(deltaTorque,torqueRateLimit),-torqueRateLimit);
torqueOut = genTorqueLast + deltaTorque;
end
applyRateLimiterPitch = true;
if applyRateLimiterPitch
pitchRateLimit = Parameters.PitchRate * Parameters.dt;
deltaPitch = pitchAngleOut - bladePitchLast;
deltaPitch = max(min(deltaPitch,pitchRateLimit),-pitchRateLimit);
pitchAngleOut = bladePitchLast + deltaPitch;
end
genTorqueLast=torqueOut;
bladePitchLast=pitchAngleOut;
uout=[torqueOut; pitchAngleOut];
iter = iter + 1;
end