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Clarify setpoint default unit; comment out code for integral action t…
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…o avoid confusion.
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@misi9170
misi9170 committed Feb 26, 2024
1 parent 8158b68 commit 5e2cbae
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20 changes: 1 addition & 19 deletions examples/wind_farm_power_tracking_florisstandin/amr_input.inp
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Original file line number Diff line number Diff line change
Expand Up @@ -158,24 +158,6 @@ Actuator.UniformCtDisk.num_points_r = 20
Actuator.UniformCtDisk.num_points_t = 5


Actuator.labels = T00 T01
# T02 T03 T04 T05 T06 T07
Actuator.JoukowskyDisk.thrust_coeff = 8.1672e-01 7.9044e-01 7.8393e-01 7.8624e-01 7.8824e-01 7.8942e-01 7.8902e-01 7.8740e-01 7.8503e-01 7.8237e-01 7.7955e-01 7.7583e-01 7.7583e-01 7.7583e-01 7.7583e-01 7.7583e-01 7.7583e-01 7.7583e-01 7.7583e-01 7.7583e-01 7.7583e-01 7.7583e-01 7.7583e-01 7.7583e-01 7.7583e-01 7.7583e-01 7.7583e-01 7.7583e-01 7.6922e-01 7.4270e-01 5.5949e-01 4.6163e-01 3.8786e-01 3.2901e-01 2.8093e-01 2.4114e-01 2.0795e-01 1.8010e-01 1.5663e-01 1.3679e-01 1.1995e-01 1.0562e-01 9.3384e-02 8.2908e-02 7.3910e-02 6.6159e-02 5.9463e-02 5.3662e-02 4.8622e-02 4.4230e-02
Actuator.JoukowskyDisk.wind_speed = 3.0000e+00 3.5495e+00 4.0679e+00 4.5539e+00 5.0064e+00 5.4244e+00 5.8069e+00 6.1530e+00 6.4619e+00 6.7330e+00 6.9655e+00 7.1589e+00 7.3128e+00 7.4269e+00 7.5009e+00 7.5345e+00 7.5412e+00 7.5883e+00 7.6757e+00 7.8031e+00 7.9702e+00 8.1767e+00 8.4221e+00 8.7059e+00 9.0273e+00 9.3856e+00 9.7800e+00 1.0210e+01 1.0659e+01 1.0673e+01 1.1170e+01 1.1699e+01 1.2259e+01 1.2848e+01 1.3465e+01 1.4109e+01 1.4778e+01 1.5471e+01 1.6185e+01 1.6921e+01 1.7674e+01 1.8445e+01 1.9231e+01 2.0030e+01 2.0841e+01 2.1661e+01 2.2489e+01 2.3323e+01 2.4160e+01 2.5000e+01
Actuator.JoukowskyDisk.rpm = 5.0000e+00 5.0000e+00 5.0000e+00 5.0000e+00 5.0000e+00 5.0000e+00 5.0000e+00 5.0000e+00 5.0000e+00 5.0000e+00 5.0000e+00 5.0861e+00 5.1954e+00 5.2765e+00 5.3290e+00 5.3529e+00 5.3577e+00 5.3912e+00 5.4532e+00 5.5437e+00 5.6625e+00 5.8092e+00 5.9836e+00 6.1851e+00 6.4135e+00 6.6681e+00 6.9483e+00 7.2535e+00 7.4992e+00 7.4992e+00 7.4992e+00 7.4992e+00 7.4992e+00 7.4992e+00 7.4992e+00 7.4992e+00 7.4992e+00 7.4992e+00 7.4992e+00 7.4992e+00 7.4992e+00 7.4992e+00 7.4992e+00 7.4992e+00 7.4992e+00 7.4992e+00 7.4992e+00 7.4992e+00 7.4992e+00 7.4992e+00
Actuator.JoukowskyDisk.rotor_diameter = 240.0
Actuator.JoukowskyDisk.hub_height = 150.0
Actuator.JoukowskyDisk.output_frequency = 100
Actuator.JoukowskyDisk.diameters_to_sample = 1.0
Actuator.JoukowskyDisk.num_points_r = 40
Actuator.JoukowskyDisk.num_points_t = 5
Actuator.JoukowskyDisk.num_blades = 3
Actuator.JoukowskyDisk.use_tip_correction = true
Actuator.JoukowskyDisk.use_root_correction = true
Actuator.JoukowskyDisk.epsilon = 5.0
Actuator.JoukowskyDisk.vortex_core_size = 24.0

Actuator.UniformCtDisk.yaw = 240.0

Actuator.labels = T00 T01
Actuator.T00.base_position = 0.0 0.0 0.0
Actuator.T01.base_position = 1000.0 0.0 0.0
46 changes: 24 additions & 22 deletions whoc/controllers/wind_farm_power_tracking_controller.py
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Original file line number Diff line number Diff line change
Expand Up @@ -16,7 +16,8 @@

from whoc.controllers.controller_base import ControllerBase

POWER_SETPOINT_DEFAULT = 1e9
# Default power setpoint in kW (meant to ensure power maximization)
POWER_SETPOINT_DEFAULT = 1e9

class WindFarmPowerDistributingController(ControllerBase):
"""
Expand Down Expand Up @@ -65,7 +66,8 @@ def turbine_power_references(self, farm_power_reference=POWER_SETPOINT_DEFAULT):

class WindFarmPowerTrackingController(WindFarmPowerDistributingController):
"""
Based on controller developed under A2e2g project.
Based on controller developed under A2e2g project. Proportional control only---
all integral action is disabled.
Inherits from WindFarmPowerDistributingController.
"""
Expand All @@ -74,19 +76,19 @@ def __init__(self, interface, input_dict, proportional_gain=1, verbose=False):
super().__init__(interface, input_dict, verbose=verbose)

# No integral action for now. beta and omega_n not used.
beta=0.7
omega_n=0.01
integral_gain=0
# beta=0.7
# omega_n=0.01
# integral_gain=0

self.K_p = proportional_gain * 1/self.n_turbines
self.K_i = integral_gain *(4*beta*omega_n)
# self.K_i = integral_gain *(4*beta*omega_n)

# Initialize controller (only used for integral action)
self.e_prev = 0
self.u_prev = 0
self.u_i_prev = 0
self.ai_prev = [0.33]*self.n_turbines # TODO: different method for anti-windup?
self.n_saturated = 0
# self.e_prev = 0
# self.u_prev = 0
# self.u_i_prev = 0
# self.ai_prev = [0.33]*self.n_turbines # TODO: different method for anti-windup?
# self.n_saturated = 0

def turbine_power_references(self, farm_power_reference=POWER_SETPOINT_DEFAULT):
"""
Expand All @@ -109,19 +111,19 @@ def turbine_power_references(self, farm_power_reference=POWER_SETPOINT_DEFAULT):
else:
gain_adjustment = self.n_turbines
K_p_gs = gain_adjustment*self.K_p
K_i_gs = gain_adjustment*self.K_i
#K_i_gs = gain_adjustment*self.K_i

# Discretize and apply difference equation (trapezoid rule)
u_p = K_p_gs*farm_current_error
u_i = self.dt/2*K_i_gs * (farm_current_error + self.e_prev) + self.u_i_prev
#u_i = self.dt/2*K_i_gs * (farm_current_error + self.e_prev) + self.u_i_prev

# Apply integral anti-windup
eps = 0.0001 # Threshold for anti-windup
if (np.array(self.ai_prev) > 1/3-eps).all() or \
(np.array(self.ai_prev) < 0+eps).all():
u_i = 0
#eps = 0.0001 # Threshold for anti-windup
#if (np.array(self.ai_prev) > 1/3-eps).all() or \
# (np.array(self.ai_prev) < 0+eps).all():
# u_i = 0

u = u_p + u_i
u = u_p #+ u_i
delta_P_ref = u

turbine_power_setpoints = np.array(turbine_current_powers) + delta_P_ref
Expand All @@ -133,9 +135,9 @@ def turbine_power_references(self, farm_power_reference=POWER_SETPOINT_DEFAULT):
"yaw_angles": [-1000]*self.n_turbines
}

# Store error, control
self.e_prev = farm_current_error
self.u_prev = u
self.u_i_prev = u_i
# Store error, control (only needed for integral action, which is disabled)
# self.e_prev = farm_current_error
# self.u_prev = u
# self.u_i_prev = u_i

return None

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