5MW baseline controller

Wind & Water Controls
22

Dear @Hyeon.Cha,

The baseline controller for the NREL 5-MW bsaeline wind turbine uses gain-scheduled PI gains based on the instantaneous blade-pitch angle (theta). The Kp and Ki values you state are for theta = 0 and KK is used in the gain scheduler.

Best regards,

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23

Dear Jonkman,

Thank you for the information.

I really appreciate for your help. With your helpful answers, I was successfully able to design a reinforcement learning based pitch controller.

Best regards,

Hyeon Cha

24

Dear Jonkman,

In my simulations, I want to clearly understand where all operational limit or shutdown thresholds are defined.
By “thresholds”, I mean any numeric limits that trigger warnings, limitations, or shutdowns —
for example: tower-strike clearance limit, overspeed limits, pitch angle limits, torque limits, etc.

Could you please confirm:

  1. In OpenFAST core modules (AeroDyn, ElastoDyn, etc.), where can I find the hard-coded physical thresholds (e.g., tower-strike check)?
  2. Is there a comprehensive list or documentation that consolidates these thresholds, or is searching through the source code the only way?

Best regards,
Hyeon Cha

25

Dear @Hyeon.Cha,

There is no comprehensive list in the documentation of fatal errors. However, you can scan the code easily for these by searching for ErrID_Fatal, which is a global PARAMETER set in the NWTC Library. That said, many of the fatal errors are tied to incorrect user inputs or memory allocation that could be triggered at model initialization, so, you’ll have to skip over those to isolate the run-time fatal errors.

Many of the limits you state (overspeed, pitch/torque limits) are not limits of OpenFAST, but of the controller, so, you’ll have to review those independently from ErrID_Fatal.

Best regards,

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