diff --git a/SONATA/classBlade.py b/SONATA/classBlade.py index ee4a422..c322f3b 100644 --- a/SONATA/classBlade.py +++ b/SONATA/classBlade.py @@ -227,11 +227,19 @@ def __init__(self, *args, **kwargs): 'SONATA currently only supports windIO version 2.X. ' \ + ' A different version appears to be installed' - assert input_vers_tuple[0] == 2, \ 'SONATA currently only supports windIO version 2.X.' \ + ' Input specifies a different version.' + assert windIO_tuple[1] >= 1, \ + 'SONATA currently has tests that support windIO version '\ + + '2.1 and not 2.0. Installed version does not match.' + + if input_vers_tuple[1] < 1: + print('WARNING: Input indicates windIO less than 2.1.' + + ' SONATA supports testing with 2.1,' + ' but earlier versions may fail.') + else: yml = windIO.load_yaml(filename) self.name = yml.get('name') diff --git a/environment.yaml b/environment.yaml index f766e54..fa5caf0 100644 --- a/environment.yaml +++ b/environment.yaml @@ -20,7 +20,7 @@ dependencies: - pip: - shapely - triangle - - windIO >=2.0,<3.0 + - windIO >=2.1,<3.0 variables: PIP_EXTRA_INDEX_URL: https://pypi.org/simple diff --git a/examples/1_IEA15MW/IEA-15-240-RWT.yaml b/examples/1_IEA15MW/IEA-15-240-RWT.yaml index 2052c75..d08951a 100644 --- a/examples/1_IEA15MW/IEA-15-240-RWT.yaml +++ b/examples/1_IEA15MW/IEA-15-240-RWT.yaml @@ -1,4 +1,4 @@ -windIO_version: '2.0.1' +windIO_version: '2.1.1' name: IEA-15-240-RWT assembly: turbine_class: I @@ -10,6 +10,8 @@ assembly: rotor_diameter: 241.35064632 rated_power: 15000000.0 lifetime: 25.0 + cut_in_wind_speed: 3.0 + cut_out_wind_speed: 25.0 components: blade: reference_axis: @@ -1327,17 +1329,34 @@ materials: G: 1520000000.0 unit_cost: 9.0 control: - supervisory: - Vin: 3.0 - Vout: 25.0 - maxTS: 95.0 - pitch: - ps_percent: 1.0 - max_pitch: 89.95437383553924 - max_pitch_rate: 2.0 - min_pitch: 0.0 - torque: - tsr: 9.0 - max_torque_rate: 1500000.0 - VS_minspd: 4.999999999999999 - VS_maxspd: 7.559999999999999 + min_rotor_speed: 5.000011692174984 + rated_rotor_speed: 7.559987120819503 + rated_power: 15000000.0 + max_rotor_speed: 9.072022742169745 + max_gen_torque: 21765400.0 + max_torque_rate: 4500000.0 + fine_pitch: 0.0 + optimal_tsr: 9.0 + min_pitch_table: + wind_speed: [3.0, 3.2617, 3.5234, 3.7852, 4.0469, 4.3086, 4.5703, 4.8321, 5.0938, 5.3555, 5.6172, 5.879, 6.1407, 6.4024, 6.6641, 6.9259, 7.1876, 7.4493, 7.711, 7.9728, 8.2345, 8.4962, 8.7579, 9.0197, 9.2814, 9.5431, 9.8048, 10.0666, 10.3283, 10.59, 11.0703, 11.5507, 12.031, 12.5113, 12.9917, 13.472, 13.9523, 14.4327, 14.913, 15.3933, 15.8737, 16.354, 16.8343, 17.3147, 17.795, 18.2753, 18.7557, 19.236, 19.7163, 20.1967, 20.677, 21.1573, 21.6377, 22.118, 22.5983, 23.0787, 23.559, 24.0393, 24.5197, 25.0] + min_pitch: [3.437746770784939, 3.437746770784939, 3.437746770784939, 3.437746770784939, 3.437746770784939, 3.437746770784939, 3.2486706983917677, 3.019487580339438, 2.7501974166279517, 2.435070629305999, 2.1027551081301215, 1.7417916971977025, 1.357909974460051, 0.9740282517223996, 0.5729577951308232, 0.17188733853924698, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.813600069085769, 1.5355268909506063, 2.194428355351053, 2.807493196141034, 3.3861805692231655, 3.953408786402681, 4.491989113825654, 5.02483986329732, 5.540501878915061, 6.0504343165814936, 6.548907598345309, 7.041651302157817, 7.522935850067709, 8.0042203979776, 8.474045789984876, 8.94387118199215, 9.407966996048119, 9.866333232152776, 10.318969890306127, 10.771606548459477, 11.224243206612826, 11.66542070886356, 12.112327789065603, 12.547775713365029, 12.988953215615764, 13.41867156196388, 13.854119486263304, 14.278108254660115, 14.70782660100823, 15.131815369405041] + min_pitch_limit: 0.0 + max_pitch_limit: 89.95437383553924 + max_pitch_rate: 1.9996227050065731 + lpf_frequency: 1.0081 + lpf_damping: 0.7 + region2_k: 418673.00518505543 + gen_torque_kp: -3782257.6434363592 + gen_torque_ki: -471172.92459274357 + pitch_kp: + pitch_angle: [3.666929888837269, 5.213915935690491, 6.359831525952138, 7.39115555718762, 8.307888029396937, 9.167324722093172, 9.969465635276324, 10.714310768946394, 11.401860123103383, 12.08940947726037, 12.719663051904275, 13.349916626548183, 13.980170201192086, 14.55312799632291, 15.126085791453734, 15.699043586584558, 16.272001381715377, 16.78766339733312, 17.36062119246394, 17.876283208081684, 18.391945223699427, 18.907607239317166, 19.365973475421825, 19.881635491039564, 20.340001727144223, 20.855663742761966, 21.314029978866625, 21.772396214971284, 22.230762451075943, 22.689128687180602] + kp: [-6.941999999999999, -5.9862, -5.202, -4.545, -3.9876, -3.5088, -3.0917999999999997, -2.7264, -2.4036, -2.1162, -1.8581999999999996, -1.626, -1.4154, -1.224, -1.0488, -0.8879999999999999, -0.7404, -0.6035999999999999, -0.4768799999999999, -0.35916, -0.24954, -0.14712, -0.051269999999999996, 0.038646, 0.12317999999999998, 0.20273999999999998, 0.2778, 0.34872, 0.41585999999999995, 0.47945999999999994] + pitch_ki: + pitch_angle: [3.666929888837269, 5.213915935690491, 6.359831525952138, 7.39115555718762, 8.307888029396937, 9.167324722093172, 9.969465635276324, 10.714310768946394, 11.401860123103383, 12.08940947726037, 12.719663051904275, 13.349916626548183, 13.980170201192086, 14.55312799632291, 15.126085791453734, 15.699043586584558, 16.272001381715377, 16.78766339733312, 17.36062119246394, 17.876283208081684, 18.391945223699427, 18.907607239317166, 19.365973475421825, 19.881635491039564, 20.340001727144223, 20.855663742761966, 21.314029978866625, 21.772396214971284, 22.230762451075943, 22.689128687180602] + ki: [-0.7242, -0.6539999999999999, -0.5958, -0.54726, -0.50598, -0.47051999999999994, -0.43967999999999996, -0.41267999999999994, -0.38874, -0.3675, -0.34841999999999995, -0.33119999999999994, -0.31565999999999994, -0.30144, -0.28847999999999996, -0.2766, -0.26567999999999997, -0.25554, -0.24617999999999998, -0.23747999999999994, -0.22938, -0.22175999999999998, -0.21467999999999995, -0.20801999999999998, -0.20178, -0.19589999999999996, -0.19032, -0.1851, -0.18012, -0.17543999999999998] + constant_power: 0.0 + gen_actuator_frequency: 10000.0 + gen_actuator_damping: 1.0 + pitch_actuator_frequency: 3.14 + pitch_actuator_damping: 0.707 + yaw_rate: 0.49847328176381617 diff --git a/examples/2_IEA22MW/IEA-22-280-RWT.yaml b/examples/2_IEA22MW/IEA-22-280-RWT.yaml index b7af46c..3037f6e 100644 --- a/examples/2_IEA22MW/IEA-22-280-RWT.yaml +++ b/examples/2_IEA22MW/IEA-22-280-RWT.yaml @@ -1,4 +1,4 @@ -windIO_version: '2.0' +windIO_version: '2.1.1' name: IEA-22-280-RWT assembly: turbine_class: I @@ -10,6 +10,8 @@ assembly: rotor_diameter: 284.0 rated_power: 22000000.0 lifetime: 25.0 + cut_in_wind_speed: 3.0 + cut_out_wind_speed: 25.0 components: blade: reference_axis: @@ -1534,17 +1536,33 @@ materials: orth: 0.0 unit_cost: 3.63 control: - supervisory: - Vin: 3.0 - Vout: 25.0 - maxTS: 105.0 - torque: - tsr: 9.153211158238001 - VS_minspd: 1.975 - VS_maxspd: 7.162 - max_torque_rate: 4500000.0 - pitch: - ps_percent: 0.8 - max_pitch: 89.95437383553924 - max_pitch_rate: 2.0 - min_pitch: -0.9549247399288653 + min_rotor_speed: 1.8459745229456574 + rated_rotor_speed: 7.061131867192266 + rated_power: 22000000.0 + max_rotor_speed: 8.473281846258034 + max_gen_torque: 34305700.0 + max_torque_rate: 4500000.0 + fine_pitch: -4.010704565915763 + optimal_tsr: 9.15 + min_pitch_table: + wind_speed: [3.0, 3.2936, 3.5872, 3.8808, 4.1744, 4.468, 4.7616, 5.0552, 5.3488, 5.6424, 5.936, 6.2296, 6.5232, 6.8168, 7.1104, 7.404, 7.6976, 7.9912, 8.2848, 8.5785, 8.8721, 9.1657, 9.4593, 9.7529, 10.0465, 10.3401, 10.6337, 10.9273, 13.3125, 13.7621, 14.2116, 14.6611, 15.1106, 15.5601, 16.0097, 16.4592, 16.9087, 17.3582, 17.8077, 18.2572, 18.7068, 19.1563, 19.6058, 20.0553, 20.5048, 20.9543, 21.4039, 21.8534, 22.3029, 22.7524, 23.2019, 23.6514, 24.101, 24.5505, 25.0] + min_pitch: [0.5786873730821315, 0.5099324376664327, 0.43544792429942564, 0.36669298888372687, 0.2807493196141034, 0.18334649444186343, 0.08594366926962349, -0.011459155902616465, -0.11459155902616465, -0.2119943841984046, -0.31512678732195276, -0.4068000345428845, -0.492743703812508, -0.5844169510334397, -0.6760901982543714, -0.7792226013779195, -0.8766254265501595, -0.9797578296737077, -1.0771606548459478, -1.180293057969496, -1.283425461093044, -0.985487407625016, -0.3838817227376516, 0.22345354010102106, 0.813600069085769, 1.306343772898277, 1.8048170546620932, 2.3032903364259094, 3.707036934496426, 4.2456172619194, 4.767008855488449, 5.288400449057498, 5.786873730821315, 6.268158278731206, 6.743713248689789, 7.219268218648373, 7.6890936106556484, 8.16464858061423, 8.611555660816272, 9.052733163067007, 9.49391066531774, 9.940817745519782, 10.381995247770517, 10.823172750021252, 11.241431940466752, 11.66542070886356, 12.083679899309063, 12.501939089754563, 12.925927858151372, 13.349916626548183, 13.750987083139757, 14.152057539731334, 14.55312799632291, 14.954198452914486, 15.355268909506064] + min_pitch_limit: -4.010704565915763 + max_pitch_limit: 89.95437383553924 + max_pitch_rate: 2.000195662801704 + lpf_frequency: 0.91328 + lpf_damping: 0.0 + region2_k: 810380.0579009124 + gen_torque_kp: -6759000.458516784 + gen_torque_ki: -1134397.6912847382 + pitch_kp: + pitch_angle: [6.932789321082961, 8.078704911344607, 8.995437383553925, 9.797578296737077, 10.657014989433312, 11.344564343590301, 12.032113697747288, 12.662367272391194, 13.349916626548183, 13.922874421679005, 14.495832216809827, 15.068790011940651, 15.641747807071475, 16.214705602202297, 16.730367617820036, 17.24602963343778, 17.704395869542438, 18.22005788516018, 18.73571990077792, 19.19408613688258, 19.652452372987238, 20.110818609091893, 20.626480624709636, 21.084846860814295, 21.48591731740587, 21.94428355351053, 22.345354010102106, 22.803720246206765, 23.20479070279834, 23.663156938902997] + kp: [-5.1048, -4.502999999999999, -4.1129999999999995, -3.8742, -3.7391999999999994, -3.675, -3.6528, -3.6516, -3.6516, -3.6377999999999995, -3.5964000000000005, -3.5153999999999996, -3.3846000000000003, -3.1955999999999998, -2.9784, -2.8775999999999997, -2.8619999999999997, -2.8782, -2.8811999999999998, -2.8373999999999997, -2.7294, -2.5524, -2.3177999999999996, -2.0454, -1.7639999999999998, -1.5041999999999998, -1.2966, -1.1603999999999999, -1.053, -0.9503999999999999] + pitch_ki: + pitch_angle: [6.932789321082961, 8.078704911344607, 8.995437383553925, 9.797578296737077, 10.657014989433312, 11.344564343590301, 12.032113697747288, 12.662367272391194, 13.349916626548183, 13.922874421679005, 14.495832216809827, 15.068790011940651, 15.641747807071475, 16.214705602202297, 16.730367617820036, 17.24602963343778, 17.704395869542438, 18.22005788516018, 18.73571990077792, 19.19408613688258, 19.652452372987238, 20.110818609091893, 20.626480624709636, 21.084846860814295, 21.48591731740587, 21.94428355351053, 22.345354010102106, 22.803720246206765, 23.20479070279834, 23.663156938902997] + ki: [-0.26093999999999995, -0.2403, -0.22386, -0.21054, -0.19962, -0.19043999999999997, -0.18264, -0.17579999999999998, -0.16968, -0.16404, -0.15864, -0.15336, -0.14801999999999998, -0.14262, -0.13932, -0.14814, -0.1686, -0.19967999999999997, -0.24054, -0.2898, -0.34535999999999994, -0.4044, -0.46307999999999994, -0.5172599999999999, -0.5620799999999999, -0.59292, -0.6054, -0.5967, -0.5815199999999999, -0.5671200000000001] + constant_power: 1.0 + gen_actuator_frequency: 10000.0 + gen_actuator_damping: 1.0 + pitch_actuator_frequency: 6.2831 + pitch_actuator_damping: 0.707 diff --git a/examples/3_IEA10MW/IEA-10-198-RWT.yaml b/examples/3_IEA10MW/IEA-10-198-RWT.yaml index 9706ea7..a2a3ce1 100644 --- a/examples/3_IEA10MW/IEA-10-198-RWT.yaml +++ b/examples/3_IEA10MW/IEA-10-198-RWT.yaml @@ -1,4 +1,4 @@ -windIO_version: '2.0' +windIO_version: '2.1.1' name: IEA-10.0-198-RWT assembly: turbine_class: I @@ -9,6 +9,8 @@ assembly: hub_height: 119.0 rated_power: 10000000.0 rotor_diameter: 197.82692681 + cut_in_wind_speed: 3.0 + cut_out_wind_speed: 25.0 components: blade: reference_axis: @@ -1289,17 +1291,33 @@ materials: S: 310000.0 G: 1520000000.0 control: - supervisory: - Vin: 4.0 - Vout: 25.0 - maxTS: 90.0 - pitch: - ps_percent: 0.9 - max_pitch: 89.95437383553924 - max_pitch_rate: 9.994930426171027 - min_pitch: 0.0 - torque: - tsr: 9.0 - max_torque_rate: 1500000.0 - VS_minspd: 6.0 - VS_maxspd: 8.684000000000001 + min_rotor_speed: 5.000011692174984 + rated_rotor_speed: 8.66761003177324 + max_rotor_speed: 10.401132038127887 + max_gen_torque: 12837.86218877 + max_torque_rate: 4500.0 + fine_pitch: 0.0 + optimal_tsr: 9.0 + min_pitch_table: + wind_speed: [3.0, 3.241, 3.483, 3.724, 3.966, 4.207, 4.448, 4.69, 4.931, 5.172, 5.414, 5.655, 5.897, 6.138, 6.379, 6.621, 6.862, 7.103, 7.345, 7.586, 7.828, 8.069, 8.31, 8.552, 8.793, 9.034, 9.276, 9.517, 9.759, 10.0, 10.5, 11.0, 11.5, 12.0, 12.5, 13.0, 13.5, 14.0, 14.5, 15.0, 15.5, 16.0, 16.5, 17.0, 17.5, 18.0, 18.5, 19.0, 19.5, 20.0, 20.5, 21.0, 21.5, 22.0, 22.5, 23.0, 23.5, 24.0, 24.5, 25.0] + min_pitch: [2.8647889756541165, 2.8647889756541165, 2.8647889756541165, 2.8647889756541165, 2.8647889756541165, 2.8647889756541165, 2.6929016371148693, 2.4637185190625397, 2.0626480624709633, 1.4323944878270582, 0.9740282517223996, 0.5156620156177408, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.34377467707849396, 1.2032113697747289, 2.0053522829578814, 2.6929016371148693, 3.323155211758775, 4.068000345428844, 4.755549699585833, 5.443099053742821, 6.130648407899808, 6.7609019825437136, 7.39115555718762, 8.021409131831525, 8.651662706475431, 9.281916281119337, 9.854874076250159, 10.427831871380983, 11.000789666511807, 11.631043241155712, 12.146705256773451, 12.719663051904275, 13.2926208470351, 13.80828286265284, 14.381240657783662, 14.896902673401405, 15.469860468532229, 15.98552248414997, 16.501184499767707, 17.074142294898532, 17.53250853100319, 18.04817054662093, 18.563832562238673, 19.079494577856416, 19.595156593474155, 20.110818609091893, 20.569184845196553] + min_pitch_limit: 0.0 + max_pitch_limit: 89.95437383553924 + max_pitch_rate: 3.0000070153049903 + lpf_frequency: 1.0081 + lpf_damping: 0.7 + region2_k: 159801.1419702424 + gen_torque_kp: -3506558.0616751374 + gen_torque_ki: -329833.5286368695 + pitch_kp: + pitch_angle: [4.281255236776537, 6.008150031300838, 7.3202806779299365, 8.470894522111656, 9.511615061187284, 10.43688460454405, 11.32691724350027, 12.142694552207537, 12.9299958584968, 13.68801902145488, 14.401007701715676, 15.11451204399209, 15.787049903916651, 16.449790185544472, 17.11338990386499, 17.72954871674868, 18.346566966325064, 18.963699807460475, 19.544850899061668, 20.126460356898967, 20.709043842987988, 21.265557749398557, 21.817545289227592, 22.370105786851756, 22.90994662142402, 23.437411567621453, 23.96504840115743, 24.492513347354866, 25.001070686312985, 25.50848210968084] + kp: [-5.865462, -4.835567999999999, -4.026096, -3.3731159999999996, -2.890176, -2.5745579999999997, -2.372166, -2.243988, -2.161188, -2.1019679999999994, -2.0495819999999996, -1.9909139999999999, -1.9155719999999998, -1.81521, -1.6830299999999998, -1.5134699999999999, -1.367334, -1.293426, -1.2716399999999999, -1.2849, -1.3186379999999998, -1.3603379999999998, -1.3991999999999998, -1.4258339999999998, -1.432062, -1.410702, -1.3554419999999998, -1.260714, -1.1478359999999999, -1.0411679999999999] + pitch_ki: + pitch_angle: [4.281255236776537, 6.008150031300838, 7.3202806779299365, 8.470894522111656, 9.511615061187284, 10.43688460454405, 11.32691724350027, 12.142694552207537, 12.9299958584968, 13.68801902145488, 14.401007701715676, 15.11451204399209, 15.787049903916651, 16.449790185544472, 17.11338990386499, 17.72954871674868, 18.346566966325064, 18.963699807460475, 19.544850899061668, 20.126460356898967, 20.709043842987988, 21.265557749398557, 21.817545289227592, 22.370105786851756, 22.90994662142402, 23.437411567621453, 23.96504840115743, 24.492513347354866, 25.001070686312985, 25.50848210968084] + ki: [-0.1617, -0.14232, -0.12709199999999998, -0.11480399999999999, -0.10884600000000001, -0.110988, -0.11898, -0.131292, -0.14658, -0.16349399999999997, -0.180558, -0.196176, -0.208704, -0.21653399999999998, -0.21820799999999999, -0.21261, -0.208872, -0.21488999999999997, -0.22852799999999998, -0.24805199999999997, -0.271794, -0.29796, -0.324552, -0.349362, -0.37002599999999997, -0.38416799999999995, -0.38954999999999995, -0.38423399999999996, -0.37336199999999997, -0.36308999999999997] + constant_power: 1.0 + gen_actuator_frequency: 10000.0 + gen_actuator_damping: 1.0 + pitch_actuator_frequency: 1.5708 + pitch_actuator_damping: 0.707 + yaw_rate: 0.49847328176381617 diff --git a/examples/4_IEA_3.4MW/IEA-3p4-130-RWT.yaml b/examples/4_IEA_3.4MW/IEA-3p4-130-RWT.yaml index 504e779..5502b62 100644 --- a/examples/4_IEA_3.4MW/IEA-3p4-130-RWT.yaml +++ b/examples/4_IEA_3.4MW/IEA-3p4-130-RWT.yaml @@ -1,4 +1,4 @@ -windIO_version: '2.0' +windIO_version: '2.1.1' name: IEA-3.4-130-RWT assembly: turbine_class: III @@ -9,6 +9,8 @@ assembly: hub_height: 110.0 rotor_diameter: 129.82183952 rated_power: 3370000.0 + cut_in_wind_speed: 3.0 + cut_out_wind_speed: 25.0 components: blade: reference_axis: @@ -946,18 +948,32 @@ materials: m: 3 A: 35534648443.719765 control: - supervisory: - Vin: 3.0 - Vout: 25.0 - maxTS: 80.0 - pitch: - ps_percent: 0.8 - max_pitch: 89.95437383553924 - max_pitch_rate: 7.0 - min_pitch: 0.0 - torque: - tsr: 8.01754386 - max_torque_rate: 1500000.0 - VS_minspd: 0.0 - VS_maxspd: 19.098593171027442 -comments: version from December 16th 2019 + min_rotor_speed: 3.5386060475357093 + rated_rotor_speed: 11.633938548501897 + max_rotor_speed: 13.960726258202277 + max_gen_torque: 31.982722000000003 + max_torque_rate: 1500.0 + fine_pitch: 0.0 + min_pitch_table: + wind_speed: [3.0, 3.2367, 3.4733, 3.71, 3.9466, 4.1833, 4.42, 4.6566, 4.8933, 5.1299, 5.3666, 5.6033, 5.8399, 6.0766, 6.3132, 6.5499, 6.7866, 7.0232, 7.2599, 7.4965, 7.7332, 7.9699, 8.2065, 8.4432, 8.6799, 8.9165, 9.1532, 9.3898, 9.6265, 9.8632, 10.3677, 10.8723, 11.3768, 11.8814, 12.386, 12.8905, 13.3951, 13.8996, 14.4042, 14.9088, 15.4133, 15.9179, 16.4225, 16.927, 17.4316, 17.9361, 18.4407, 18.9453, 19.4498, 19.9544, 20.4589, 20.9635, 21.4681, 21.9726, 22.4772, 22.9818, 23.4863, 23.9909, 24.4954, 25.0] + min_pitch: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.4299939390475753, 1.35595676133645, 2.1931787343998725, 2.8923035548918885, 3.520823359247728, 4.345674027598686, 5.101621364465006, 5.847545377663308, 6.554314028100164, 7.246603462096268, 7.9284564698540665, 8.555700297200149, 9.189619655817301, 9.835791716883328, 10.457554057003394, 11.075789268936637, 11.674093571008456, 12.237563185051913, 12.823665204960832, 13.423231733055326, 13.982126279104664, 14.539559782776418, 15.103976496055225, 15.661917067375668, 16.221311805580157, 16.780704251953463, 17.32413237528104, 17.84907344239092, 18.383694058491745, 18.93734260296887, 19.46497714467366, 19.99543866013963, 20.528921382059327, 21.048093337130037, 21.5484671199003] + min_pitch_limit: 0.0 + max_pitch_limit: 89.95437383553924 + max_pitch_rate: 6.999825383113268 + lpf_frequency: 1.68372 + lpf_damping: 0.0 + optimal_tsr: 8.01754386 + region2_k: 0.025287132760573285 + gen_torque_kp: -100.68999338219564 + gen_torque_ki: -12.802275948309882 + pitch_kp: + pitch_angle: [4.91534762864782, 6.6460239446199845, 8.029774315640434, 9.181820554309981, 10.237094221381932, 11.21519047344976, 12.123443170291141, 12.990041835426512, 13.8081109753143, 14.590255661447387, 15.373890037847813, 16.09873894446782, 16.81631128708966, 17.50907455718234, 18.189691122018242, 18.87471946187666, 19.517807291131493, 20.151727795664236, 20.78473156772477, 21.394530549082504, 22.007652685651998, 22.625473076141564, 23.202269688499765, 23.77511289207156, 24.346179926478452, 24.907220199470558, 25.46436435945577, 26.020878265866337, 26.564042255650357, 27.092481230099516] + kp: [-0.042359999999999995, -0.035753999999999994, -0.030378, -0.025914, -0.022146, -0.01893, -0.016152, -0.013721999999999998, -0.011585999999999999, -0.009689999999999999, -0.007991999999999999, -0.006467999999999999, -0.005094, -0.0038459999999999996, -0.0027059999999999996, -0.001662, -0.0007019999999999999, 0.000186, 0.0010019999999999999, 0.001764, 0.002472, 0.003132, 0.00375, 0.004325999999999999, 0.004866, 0.005382, 0.005861999999999999, 0.006311999999999999, 0.006743999999999999, 0.007151999999999999] + pitch_ki: + pitch_angle: [4.91534762864782, 6.6460239446199845, 8.029774315640434, 9.181820554309981, 10.237094221381932, 11.21519047344976, 12.123443170291141, 12.990041835426512, 13.8081109753143, 14.590255661447387, 15.373890037847813, 16.09873894446782, 16.81631128708966, 17.50907455718234, 18.189691122018242, 18.87471946187666, 19.517807291131493, 20.151727795664236, 20.78473156772477, 21.394530549082504, 22.007652685651998, 22.625473076141564, 23.202269688499765, 23.77511289207156, 24.346179926478452, 24.907220199470558, 25.46436435945577, 26.020878265866337, 26.564042255650357, 27.092481230099516] + ki: [-0.004457999999999999, -0.0040019999999999995, -0.0036299999999999995, -0.003318, -0.0030600000000000002, -0.002838, -0.0026459999999999995, -0.0024779999999999997, -0.0023279999999999998, -0.0021959999999999996, -0.0020819999999999996, -0.0019739999999999996, -0.0018780000000000001, -0.0017939999999999998, -0.001716, -0.0016439999999999996, -0.0015779999999999998, -0.001518, -0.0014579999999999999, -0.0014039999999999999, -0.0013559999999999998, -0.001314, -0.001272, -0.0012299999999999998, -0.001194, -0.001158, -0.001122, -0.001092, -0.001062, -0.001032] + constant_power: 0.0 + gen_actuator_frequency: 10000.0 + gen_actuator_damping: 1.0 + pitch_actuator_frequency: 3.14 + pitch_actuator_damping: 0.707 diff --git a/examples/6_beam_stress/6_box_beam.yaml b/examples/6_beam_stress/6_box_beam.yaml index 82ac185..f1b398f 100644 --- a/examples/6_beam_stress/6_box_beam.yaml +++ b/examples/6_beam_stress/6_box_beam.yaml @@ -1,5 +1,5 @@ name: Box_Beam -windIO_version: '2.0.1' +windIO_version: '2.1.1' assembly: number_of_blades: 1 components: diff --git a/examples/7_viscoelastic/7_hollow_rect.yaml b/examples/7_viscoelastic/7_hollow_rect.yaml index 6f2778a..925be3e 100644 --- a/examples/7_viscoelastic/7_hollow_rect.yaml +++ b/examples/7_viscoelastic/7_hollow_rect.yaml @@ -1,5 +1,5 @@ name: Box_Beam -windIO_version: '2.0.1' +windIO_version: '2.1.1' assembly: number_of_blades: 1 components: diff --git a/examples/8_fiber_orient/8_box_beam.yaml b/examples/8_fiber_orient/8_box_beam.yaml index a01c1ec..fdd9596 100644 --- a/examples/8_fiber_orient/8_box_beam.yaml +++ b/examples/8_fiber_orient/8_box_beam.yaml @@ -1,5 +1,5 @@ name: Box_Beam -windIO_version: '2.0.1' +windIO_version: '2.1.1' assembly: number_of_blades: 1 components: diff --git a/tests/regression/6_box_beam/circle_beam.yaml b/tests/regression/6_box_beam/circle_beam.yaml index fcc0dc1..a514f44 100644 --- a/tests/regression/6_box_beam/circle_beam.yaml +++ b/tests/regression/6_box_beam/circle_beam.yaml @@ -1,5 +1,5 @@ name: Box_Beam -windIO_version: '2.0.1' +windIO_version: '2.1.1' assembly: number_of_blades: 1 components: diff --git a/tests/regression/6_box_beam/rotated_beam.yaml b/tests/regression/6_box_beam/rotated_beam.yaml index 4de2472..3dd6bb3 100644 --- a/tests/regression/6_box_beam/rotated_beam.yaml +++ b/tests/regression/6_box_beam/rotated_beam.yaml @@ -1,5 +1,5 @@ name: Rotated_Beam -windIO_version: '2.0.1' +windIO_version: '2.1.1' assembly: number_of_blades: 1 components: diff --git a/tests/regression/7_viscoelastic/7_full_ortho.yaml b/tests/regression/7_viscoelastic/7_full_ortho.yaml index 8c07f10..714593d 100644 --- a/tests/regression/7_viscoelastic/7_full_ortho.yaml +++ b/tests/regression/7_viscoelastic/7_full_ortho.yaml @@ -1,5 +1,5 @@ name: Box_Beam_Ortho -windIO_version: '2.0.1' +windIO_version: '2.1.1' assembly: number_of_blades: 1 components: diff --git a/tests/regression/7_viscoelastic/7_one_term.yaml b/tests/regression/7_viscoelastic/7_one_term.yaml index d395b1a..9bb975e 100644 --- a/tests/regression/7_viscoelastic/7_one_term.yaml +++ b/tests/regression/7_viscoelastic/7_one_term.yaml @@ -1,5 +1,5 @@ name: Box_Beam1 -windIO_version: '2.0.1' +windIO_version: '2.1.1' assembly: number_of_blades: 1 components: diff --git a/tests/regression/7_viscoelastic/7_two_term.yaml b/tests/regression/7_viscoelastic/7_two_term.yaml index ff4f34e..a80fba6 100644 --- a/tests/regression/7_viscoelastic/7_two_term.yaml +++ b/tests/regression/7_viscoelastic/7_two_term.yaml @@ -1,5 +1,5 @@ name: Box_Beam2 -windIO_version: '2.0.1' +windIO_version: '2.1.1' assembly: number_of_blades: 1 components: