A Practical Introduction to FAST:Modeling and Control of Wind Turbines in Linux
Anders Bech Borchersen
Aalborg UniversityVattenfall R&D
November 14, 2012
1 Introduction to FAST [email protected] November 14, 2012
Outline
1 Introduction2 Installing3 Modeling 14 Modeling 25 Control6 Evaluation7 Get Started
2 Introduction to FAST [email protected] November 14, 2012
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. ...
3 Introduction to FAST [email protected] November 14, 2012
Introduction to Wind Turbines
Nice application for control and fault detection.Growing industry.Young industry with room for improvements.
4 Introduction to FAST [email protected] November 14, 2012
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.
5 Introduction to FAST [email protected] November 14, 2012
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)
6 Introduction to FAST [email protected] November 14, 2012
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/
8 Introduction to FAST [email protected] November 14, 2012
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.
9 Introduction to FAST [email protected] November 14, 2012
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
10 Introduction to FAST [email protected] November 14, 2012
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.
11 Introduction to FAST [email protected] November 14, 2012
Model Input and Output
Specified by youIf the model is run trough Matlab do not use the .out file it does notcontains all samples.
12 Introduction to FAST [email protected] November 14, 2012
Wind Modeling
Tower shadow.Wind parameters.Designing turbulent wind in TurbSim.Designing Static wind fields.The wind is difficult to see:)
14 Introduction to FAST [email protected] November 14, 2012
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.
15 Introduction to FAST [email protected] November 14, 2012
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.
16 Introduction to FAST [email protected] November 14, 2012
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.
17 Introduction to FAST [email protected] November 14, 2012
Azimuth LPV model
Easy to generate from the output from the linear models.Model approximations sin/cos modelling polynomials.Problem with operation points.
19 Introduction to FAST [email protected] November 14, 2012
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++.
21 Introduction to FAST [email protected] November 14, 2012
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.
22 Introduction to FAST [email protected] November 14, 2012
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