Linearization of FAST v7

NREL Wind Turbine

Modeling Workshop

November 20, 2013

EWEA Offshore
Frankfurt, Germany

Jason Jonkman, Ph.D.

Senior Engineer, NREL

NREL is a national laboratory of the U.S. Department of Energy, Office of Energy Efficiency and Renewable Energy, operated by the Alliance for Sustainable Energy, LLC.
 Outline

Introduction & Background

Calculating Operating Points
Model Linearization:
2nd-Order Model
1st-Order Model
Numerics
Example Campbell Diagram for OC3-Hywind
Current & Planned Work

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 Introduction & Background
While linearization is not yet available in FAST v8,
linearization across all coupled modules was a design feature
of the modularization framework
FAST v7 only allows linearization of the structural model with
quasi-steady aero-hydro-servo features
Applications of linearization:
Full-system modal analysis:
Frequencies
Damping
Mode shapes
Of a stationary or operational turbine
Controls design:
Develop state-space representation of wind turbine plant
Includes control inputs, wind disturbances, & output
Stability analysis
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 Introduction & Background (cont)
ZNR
Linear model is only valid in the
local vicinity of an operating point
(OP):
Requires that one select or compute b XNR
an OP before linearization
When rotor is spinning, the linear YNR
system is periodic: blade b
Azimuth-averaging averages-out the
periodic effects
Multi-blade coordinate (MBC) Rotor disk
transformation expresses cumulative
effect of blade dynamics in the fixed
frame
Bir

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 Calculating Operating Points
Operating-point choices:
Initial condition (user-selected) (watch out for nonstationary OP!)
Static equilibrium (parked or idling)
Periodic steady-state equilibrium (operational):
No trim: All controls fixed (fixed speed)
Trim: One control input varied to achieve desired rotor speed:
Nacelle yaw
Generator torque
Blade pitch

Equilibrium solutions found through time-domain simulation:

Solution found within user-selected displacement & velocity tolerances
Solution can be sped up with optional compile-time feature to artificially
increase system damping
Optional trim calculation is automated with a proportional feedback
control law on rotor-speed error
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 Model Linearization
2nd-Order Model
Nonlinear EoM: Nonlinear Outputs:
M ( q,u,t ) q + f ( q,q,u,u
,t ) =
0d OutData Y ( q,q,u,u
= = ,t ) Y ( q,u,t ) q + Y ( q,q,u,u
d r
,t ) t d

Perturbation of system variables:

t = t op q q
= + q q q
= + q u u op + u
= ud ud
= + ud q q + q
= Y Y
= op
+ Y
op op op op

Linear EoM: Linear Outputs:

M q + C q + K q = F u + Fd ud Y= VelC q + DspC q + D u + Dd ud

M =M Y 1
Yt
op
f VelC == Yr M C +
Fd = q q
op
f ud op

C= op
q Y Yr Yt
op
f DspC = = q Yr M 1 K +
M q q q
F=
q + op op
M f u u op
=K q + Y Yr Yt
q q op D= = q
+ Yr M 1
F +
u op u u
op

Y 1
Yt
Dd
= = Yr M Fd +
(matrix sizes determined by enabled DOFs) ud
op
u d
op
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 Model Linearization
1st-Order Model

Conversion From 2nd Order to 1st Order:

q q
x= x = y = Y
q q

Linear EoM & Outputs:

x =Ax + B u + Bd ud

y =C x + D u + Dd ud

0 I 0 0
A= B = 1 Bd = 1 C = [ DspC VelC ]
1
M K M 1C M F M Fd

Wind Turbine Modeling Workshop 7 National Renewable Energy Laboratory

 Model Linearization
Numerics
Linearization done numerically with central-difference method:
Perturbations made about OP
Perturbations are hard-coded:
Default perturbation: 2
Can be changed at compile time

1
M C =
op ( op ) (
q q + q q q q ) VelC =
Y q( op ) (
+ q Y q
op
q )
2 q 2 q

1
M K =
op (
q q + q q q q
op ) ( ) DspC =
Y q ( op ) (
+ q Y q
op
q )
2 q 2 q

M 1 F =
( ) (
q u op + u q u op u ) D=
(
Y u op + u Y u op u ) ( )
2 u 2 u

1
M Fd =
(
q ud
op ) (
+ ud q ud
op
ud ) Dd =
Y ud( op ) (
+ ud Y ud
op
ud )
2 ud 2 ud
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 Example
Campbell Diagram for OC3-Hywind
p g y p

2nd Flap Progressive

2 2nd Flap Collective

2nd Flap Regressive

Drivetrain

1.5

6P
Frequency (Hz)

Edge Progressive

Edge Regressive
1

1st Flap Progressive

1st Flap Collective

3P
1st Flap Regressive

Tower Fore-Aft
0.5

Tower Side-Side

1P

Yaw

Pitch/Roll/Heave
Surge/Sway
0
0 2 4 6 8 10 12 14
Rotor Speed (rpm)
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 Current & Planned Work
For tight coupling in u +(1)
FAST v8, introduce: u (1) u (1) A(1) , ADAC (1) ,B (1) ,
+
OP determination: A ADC (1) , Ad (1) ,B ADC (1) ,
Static equilibrium y ( 1) C (1) ,C DAC (1) ,D (1)
(constant disp.) U u +( 2 )
Steady state (constant ,
u op u ( 2 ) u ( 2 ) A( 2 ) , ADAC ( 2 ) ,B ( 2 ) ,
velocity) +
U A ADC ( 2 ) , Ad ( 2 ) ,B ADC ( 2 ) ,
Periodic steady state
y op y( 2) C ( 2 ) ,C DAC ( 2 ) ,D ( 2 )
With or without trim
Linearization u +( N )
u ( N ) u ( N ) A( N ) , ADAC ( N ) ,B ( N )
Across all coupled +
modules: A ADC ( N ) , Ad ( N ) ,B ADC ( N ) ,
Structural dynamics y( N ) C ( N ) ,C DAC ( N ) ,D ( N )
Aerodynamics
Hydrodynamics y
Coupled Linear System
Controls
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 Questions?

Jason Jonkman, Ph.D.

+1 (303) 384 7026
jason.jonkman@nrel.gov

NREL is a national laboratory of the U.S. Department of Energy, Office of Energy Efficiency and Renewable Energy, operated by the Alliance for Sustainable Energy, LLC.