nrel_5mw_controller package

Submodules

nrel_5mw_controller.combined_controller module

Combined controller, including both torque and pitch control.

class nrel_5mw_controller.combined_controller.CombinedController(torque_params, pitch_params, torque_timestep, pitch_timestep=None, const_power_min_pitch=0)

Bases: object

Controller combining both torque and pitch control.

Parameters:

• torque_params (dict) – passed to the TorqueController
• pitch_params (dict) – passed to the PitchController
• torque_timestep (float) – timestep for the torque controller
• pitch_timestep (float, optional) – timestep for the pitch controller. Defaults to the same as torque_timestep.
• const_power_min_pitch (float, optional) – The minimum pitch angle to start forcing constant power mode for the torque controller. Default 0.

classmethod from_yaml(filename)

Read controller params from ‘controller’ section of YAML file

pitch_demand

The current pitch demand from the pitch controller.

step(time, measured_speed, measured_pitch)

Step both controllers forwards in time.

This is the main method of the controller class.

Parameters:

• time (float) – the current timestamp
• measured_speed (float) – current measured generator speed
• measured_pitch (float) – current measured pitch angle

torque_demand

The current torque demand from the torque controller.

nrel_5mw_controller.pitch_controller module

Implementation of the pitch controller for the NREL 5MW wind turbine controller.

class nrel_5mw_controller.pitch_controller.PitchController(timestep, params)

Bases: object

Time-stepping pitch controller for the NREL 5MW wind turbine.

It expects the following parameters:

• proportional gain: Proportional gain of the PI controller
• integral gain: Integral gain of the PI controller
• pitch schedule doubled angle: This is the angle at which the pitch controller gain is halved.
• pitch angle min: Minimum pitch angle limit
• pitch angle max: Maximum pitch angle limit
• pitch rate limit: Maximum pitch rate limit (up or down)
• rated speed: The generator speed setpoint for the controller
• speed filter corner freq: The frequency of the generator speed filter.

classmethod from_yaml(filename)

Read controller params from ‘controller’ section of YAML file

get_pitch_demand(speed_error, speed_error_int, GK)

get_scheduled_gain(pitch)

Calculate the gain schedule factor.

initialise(time, measured_speed, measured_pitch)

Initialise the controller.

Parameters:

• time (float) – current timestamp
• measured_speed (float) – current measured generator speed
• measured_pitch (float) – current measured pitch angle

reset()

Reset the controller state.

step(time, measured_speed, measured_pitch)

Step the controller forwards to the next timestep.

This is the main method of the controller class.

Parameters:

• time (float) – the current timestamp
• measured_speed (float) – current measured generator speed
• measured_pitch (float) – current measured pitch angle

nrel_5mw_controller.torque_controller module

Implementation of the NREL 5MW wind turbine torque controller.

class nrel_5mw_controller.torque_controller.TorqueController(timestep, params)

Bases: object

Time-stepping torque controller for the NREL 5MW wind turbine.

It expects the following parameters:

• rated speed: The generator speed setpoint for the controller
• rated power: The generator power setpoint for the controller, for constant power mode
• slip percent: Generator slip rate, to calculate the synchronous speed
• opt constant: the k coefficient for the optimal speed control region
• speed filter corner freq: The frequency of the generator speed filter.
• cut in speed: cut in generator speed
• opt min speed: minimum generator speed for optimal control (linear ramp between cut in speed and this speed)
• torque max: maximum generator torque
• torque rate limit: Maximum torque rate limit (up or down)

Optional parameters:

• constant torque: control for this constant torque above rated, instead of constant power.

classmethod from_yaml(filename)

Read controller params from ‘controller’ section of YAML file

get_torque(spd, const_power)

initialise(time, measured_speed)

Initialise the controller.

Parameters:

• time (float) – current timestamp
• measured_speed (float) – current measured generator speed

reset()

Reset the controller state.

step(time, measured_speed, force_constant_power)

Step the controller forwards to the next timestep.

This is the main method of the controller class.

Parameters:

• time (float) – the current timestamp
• measured_speed (float) – current measured generator speed
• force_constant_power (bool) – force constant power mode?

nrel_5mw_controller.util module

Utility functions.

nrel_5mw_controller.util.saturate(x, a, b)

Module contents