7. ROSCO_Toolbox tuning .yaml

Definition of inputs for ROSCO tuning procedure

toolbox_schema

7.1. path_params

FAST_InputFileString

Name of *.fst file

FAST_directoryString

Main OpenFAST model directory, where the *.fst lives, relative to ROSCO dir (if applicable)

rotor_performance_filenameString

Filename for rotor performance text file (if it has been generated by ccblade already)

7.2. turbine_params

rotor_inertiaFloat, kg m^2

Rotor inertia [kg m^2], {Available in Elastodyn .sum file}

rated_rotor_speedFloat, rad/s

Rated rotor speed [rad/s]

Minimum = 0

v_minFloat, m/s

Cut-in wind speed of the wind turbine.

Minimum = 0

v_maxFloat, m/s

Cut-out wind speed of the wind turbine.

Minimum = 0

max_pitch_rateFloat, rad/s

Maximum blade pitch rate [rad/s]

Minimum = 0

max_torque_rateFloat, Nm/s

Maximum torque rate [Nm/s], {~1/4 VS_RtTq/s}

Minimum = 0

rated_powerFloat, W

Rated Power [W]

Minimum = 0

bld_edgewise_freqFloat, rad/s

Blade edgewise first natural frequency [rad/s]

Default = 4.0

Minimum = 0

bld_flapwise_freqFloat, rad/s

Blade flapwise first natural frequency [rad/s]

Default = 0

Minimum = 0

TSR_operationalFloat

Optimal tip speed ratio, if 0 the optimal TSR will be determined by the Cp surface

Default = 0

Minimum = 0

7.3. controller_params

LoggingLevelFloat

0- write no debug files, 1- write standard output .dbg-file, 2- write standard output .dbg-file and complete avrSWAP-array .dbg2-file

Default = 1

Minimum = 0 Maximum = 3

F_LPFTypeFloat

1- first-order low-pass filter, 2- second-order low-pass filter, [rad/s] (currently filters generator speed and pitch control signals)

Default = 1

Minimum = 1 Maximum = 2

F_NotchTypeFloat

Notch on the measured generator speed and/or tower fore-aft motion (for floating) {0- disable, 1- generator speed, 2- tower-top fore- aft motion, 3- generator speed and tower-top fore-aft motion}

Default = 0

Minimum = 0 Maximum = 3

IPC_ControlModeFloat

Turn Individual Pitch Control (IPC) for fatigue load reductions (pitch contribution) (0- off, 1- 1P reductions, 2- 1P+2P reduction)

Default = 0

Minimum = 0 Maximum = 2

VS_ControlModeFloat

Generator torque control mode in above rated conditions (0- constant torque, 1- constant power, 2- TSR tracking PI control with constant torque, 3- TSR tracking with constant power)

Default = 2

Minimum = 0 Maximum = 3

PC_ControlModeFloat

Blade pitch control mode (0- No pitch, fix to fine pitch, 1- active PI blade pitch control)

Default = 1

Minimum = 0 Maximum = 1

Y_ControlModeFloat

Yaw control mode (0- no yaw control, 1- yaw rate control, 2- yaw- by-IPC)

Default = 0

Minimum = 0 Maximum = 2

SS_ModeFloat

Setpoint Smoother mode (0- no setpoint smoothing, 1- introduce setpoint smoothing)

Default = 1

Minimum = 0 Maximum = 2

WE_ModeFloat

Wind speed estimator mode (0- One-second low pass filtered hub height wind speed, 1- Immersion and Invariance Estimator (Ortega et al.)

Default = 2

Minimum = 0 Maximum = 2

PS_ModeFloat

Pitch saturation mode (0- no pitch saturation, 1- peak shaving, 2- Cp-maximizing pitch saturation, 3- peak shaving and Cp-maximizing pitch saturation)

Default = 3

Minimum = 0 Maximum = 3

SD_ModeFloat

Shutdown mode (0- no shutdown procedure, 1- pitch to max pitch at shutdown)

Default = 0

Minimum = 0 Maximum = 1

TD_ModeFloat

Tower damper mode (0- no tower damper, 1- feed back translational nacelle accelleration to pitch angle

Default = 0

Minimum = 0 Maximum = 1

Fl_ModeFloat

Floating specific feedback mode (0- no nacelle velocity feedback, 1 - nacelle velocity feedback, 2 - nacelle pitching acceleration feedback)

Default = 0

Minimum = 0 Maximum = 2

Flp_ModeFloat

Flap control mode (0- no flap control, 1- steady state flap angle, 2- Proportional flap control)

Default = 0

Minimum = 0 Maximum = 2

PwC_ModeFloat

Active Power Control Mode (0- no active power control 1- constant active power control, 2- open loop power vs time, 3- open loop power vs. wind speed)

Default = 0

Minimum = 0 Maximum = 2

ZMQ_ModeFloat

ZMQ Mode (0 - ZMQ Inteface, 1 - ZMQ for yaw control)

Default = 0

Minimum = 0 Maximum = 1

PA_ModeFloat

Pitch actuator mode {0 - not used, 1 - first order filter, 2 - second order filter}

Default = 0

Minimum = 0 Maximum = 2

PF_ModeFloat

Pitch fault mode {0 - not used, 1 - constant offset on one or more blades}

Default = 0

Minimum = 0 Maximum = 1

Ext_ModeFloat

External control mode [0 - not used, 1 - call external dynamic library]

Default = 0

Minimum = 0 Maximum = 1

CC_ModeFloat

Cable control mode [0- unused, 1- User defined, 2- Position control (not yet implemented)]

Default = 0

Minimum = 0 Maximum = 1

StC_ModeFloat

Structural control mode [0- unused, 1- User defined]

Default = 0

Minimum = 0 Maximum = 1

U_pcArray of Floats

List of wind speeds to schedule pitch control zeta and omega

Default = [12]

Minimum = 0

zeta_pcArray of Floats or Float

List of pitch controller desired damping ratio at U_pc [-]

Default = [1.0]

omega_pcArray of Floats or Float, rad/s

List of pitch controller desired natural frequency at U_pc [rad/s]

Default = [0.2]

interp_typeString from, [‘sigma’, ‘linear’, ‘quadratic’, ‘cubic’]

Type of interpolation between above rated tuning values (only used for multiple pitch controller tuning values)

Default = sigma

zeta_vsFloat

Torque controller desired damping ratio [-]

Default = 1.0

Minimum = 0

omega_vsFloat, rad/s

Torque controller desired natural frequency [rad/s]

Default = 0.2

Minimum = 0

max_pitchFloat, rad

Maximum pitch angle [rad], {default = 90 degrees}

Default = 1.57

min_pitchFloat, rad

Minimum pitch angle [rad], {default = 0 degrees}

Default = 0

vs_minspdFloat, rad/s

Minimum rotor speed [rad/s], {default = 0 rad/s}

Default = 0

ss_vsgainFloat

Torque controller setpoint smoother gain bias percentage [%, <= 1 ], {default = 100%}

Default = 1.0

ss_pcgainFloat, rad

Pitch controller setpoint smoother gain bias percentage [%, <= 1 ], {default = 0.1%}

Default = 0.001

ps_percentFloat, rad

Percent peak shaving [%, <= 1 ], {default = 80%}

Default = 0.8 Maximum = 1

sd_maxpitFloat, rad

Maximum blade pitch angle to initiate shutdown [rad], {default = 40 deg.}

Default = 0.6981

flp_maxpitFloat, rad

Maximum (and minimum) flap pitch angle [rad]

Default = 0.1745

twr_freqFloat, rad/s

Tower natural frequency, for floating only

Minimum = 0

ptfm_freqFloat, rad/s

Platform natural frequency, for floating only

Minimum = 0

WS_GS_nFloat

Number of wind speed breakpoints

Default = 60

Minimum = 0

PC_GS_nFloat

Number of pitch angle gain scheduling breakpoints

Default = 30

Minimum = 0

Kp_floatFloat, s

Gain of floating feedback control

tune_FlBoolean

Whether to automatically tune Kp_float

Default = True

zeta_flpFloat

Flap controller desired damping ratio [-]

Minimum = 0

omega_flpFloat, rad/s

Flap controller desired natural frequency [rad/s]

Minimum = 0

flp_kp_normFloat

Flap controller normalization term for DC gain (kappa)

Minimum = 0

flp_tauFloat, s

Flap controller time constant for integral gain

Minimum = 0

max_torque_factorFloat

Maximum torque = rated torque * max_torque_factor

Default = 1.1

Minimum = 0

IPC_Kp1pFloat, s

Proportional gain for IPC, 1P [s]

Default = 0.0

Minimum = 0

IPC_Kp2pFloat

Proportional gain for IPC, 2P [-]

Default = 0.0

Minimum = 0

IPC_Ki1pFloat, s

Integral gain for IPC, 1P [s]

Default = 0.0

Minimum = 0

IPC_Ki2pFloat

integral gain for IPC, 2P [-]

Default = 0.0

Minimum = 0

IPC_VrampArray of Floats

wind speeds for IPC cut-in sigma function [m/s]

Default = [0.0, 0.0]

Minimum = 0.0

7.3.1. filter_params

f_lpf_cornerfreqFloat, rad/s

Corner frequency (-3dB point) in the first order low pass filter of the generator speed [rad/s]

Minimum = 0

f_lpf_dampingFloat, rad/s

Damping ratio in the first order low pass filter of the generator speed [-]

Minimum = 0

f_we_cornerfreqFloat, rad/s

Corner frequency (-3dB point) in the first order low pass filter for the wind speed estimate [rad/s]

Default = 0.20944

Minimum = 0

f_fl_highpassfreqFloat, rad/s

Natural frequency of first-order high-pass filter for nacelle fore-aft motion [rad/s]

Default = 0.01042

Minimum = 0

f_ss_cornerfreqFloat, rad/s

First order low-pass filter cornering frequency for setpoint smoother [rad/s]

Default = 0.6283

Minimum = 0

f_yawerrFloat, rad/s

Low pass filter corner frequency for yaw controller [rad/

Default = 0.17952

Minimum = 0

f_sd_cornerfreqFloat, rad

Cutoff Frequency for first order low-pass filter for blade pitch angle [rad/s], {default = 0.41888 ~ time constant of 15s}

Default = 0.41888

7.3.2. open_loop

flagBoolean

Flag to use open loop control

Default = False

filenameString

Filename of open loop input that ROSCO reads

Default = unused

OL_Ind_BreakpointFloat

Index (column, 1-indexed) of breakpoint (time) in open loop index

Default = 1

OL_Ind_BldPitchFloat

Index (column, 1-indexed) of breakpoint (time) in open loop index

Default = 0

OL_Ind_GenTqFloat

Index (column, 1-indexed) of breakpoint (time) in open loop index

Default = 0

OL_Ind_YawRateFloat

Index (column, 1-indexed) of breakpoint (time) in open loop index

Default = 0

PA_CornerFreqFloat, rad/s

Pitch actuator natural frequency [rad/s]

Default = 3.14

Minimum = 0

PA_DampingFloat

Pitch actuator damping ratio [-]

Default = 0.707

Minimum = 0

7.3.3. DISCON

These are pass-through parameters for the DISCON.IN file. Use with caution.

LoggingLevelFloat

(0- write no debug files, 1- write standard output .dbg-file, 2- write standard output .dbg-file and complete avrSWAP-array .dbg2-file)

EchoFloat

0 - no Echo, 1 - Echo input data to <RootName>.echo

Default = 0

F_LPFTypeFloat

1- first-order low-pass filter, 2- second-order low-pass filter (currently filters generator speed and pitch control signals

F_NotchTypeFloat

Notch on the measured generator speed and/or tower fore-aft motion (for floating) (0- disable, 1- generator speed, 2- tower-top fore- aft motion, 3- generator speed and tower-top fore-aft motion)

IPC_ControlModeFloat

Turn Individual Pitch Control (IPC) for fatigue load reductions (pitch contribution) (0- off, 1- 1P reductions, 2- 1P+2P reductions)

VS_ControlModeFloat

Generator torque control mode in above rated conditions (0- constant torque, 1- constant power, 2- TSR tracking PI control with constant torque, 3- TSR tracking PI control with constant power)

PC_ControlModeFloat

Blade pitch control mode (0- No pitch, fix to fine pitch, 1- active PI blade pitch control)

Y_ControlModeFloat

Yaw control mode (0- no yaw control, 1- yaw rate control, 2- yaw- by-IPC)

SS_ModeFloat

Setpoint Smoother mode (0- no setpoint smoothing, 1- introduce setpoint smoothing)

WE_ModeFloat

Wind speed estimator mode (0- One-second low pass filtered hub height wind speed, 1- Immersion and Invariance Estimator, 2- Extended Kalman Filter)

PS_ModeFloat

Pitch saturation mode (0- no pitch saturation, 1- implement pitch saturation)

SD_ModeFloat

Shutdown mode (0- no shutdown procedure, 1- pitch to max pitch at shutdown)

Fl_ModeFloat

Floating specific feedback mode (0- no nacelle velocity feedback, 1- feed back translational velocity, 2- feed back rotational veloicty)

Flp_ModeFloat

Flap control mode (0- no flap control, 1- steady state flap angle, 2- Proportional flap control)

F_LPFCornerFreqFloat, rad/s

Corner frequency (-3dB point) in the low-pass filters,

F_LPFDampingFloat

Damping coefficient (used only when F_FilterType = 2 [-]

F_NotchCornerFreqFloat, rad/s

Natural frequency of the notch filter,

F_NotchBetaNumDenArray of Floats

Two notch damping values (numerator and denominator, resp) - determines the width and depth of the notch, [-]

F_SSCornerFreqFloat, rad/s.

Corner frequency (-3dB point) in the first order low pass filter for the setpoint smoother,

F_WECornerFreqFloat, rad/s.

Corner frequency (-3dB point) in the first order low pass filter for the wind speed estimate

F_FlCornerFreqArray of Floats

Natural frequency and damping in the second order low pass filter of the tower-top fore-aft motion for floating feedback control

F_FlHighPassFreqFloat, rad/s

Natural frequency of first-order high-pass filter for nacelle fore-aft motion

F_FlpCornerFreqArray of Floats

Corner frequency and damping in the second order low pass filter of the blade root bending moment for flap control

PC_GS_nFloat

Amount of gain-scheduling table entries

PC_GS_anglesArray of Floats

Gain-schedule table- pitch angles

PC_GS_KPArray of Floats

Gain-schedule table- pitch controller kp gains

PC_GS_KIArray of Floats

Gain-schedule table- pitch controller ki gains

PC_GS_KDArray of Floats

Gain-schedule table- pitch controller kd gains

PC_GS_TFArray of Floats

Gain-schedule table- pitch controller tf gains (derivative filter)

PC_MaxPitFloat, rad

Maximum physical pitch limit,

PC_MinPitFloat, rad

Minimum physical pitch limit,

PC_MaxRatFloat, rad/s.

Maximum pitch rate (in absolute value) in pitch controller

PC_MinRatFloat, rad/s.

Minimum pitch rate (in absolute value) in pitch controller

PC_RefSpdFloat, rad/s.

Desired (reference) HSS speed for pitch controller

PC_FinePitFloat, rad

Record 5- Below-rated pitch angle set-point

PC_SwitchFloat, rad

Angle above lowest minimum pitch angle for switch

IPC_IntSatFloat, rad

Integrator saturation (maximum signal amplitude contribution to pitch from IPC)

IPC_SatModeInteger

IPC Saturation method (0 - no saturation, 1 - saturate by PC_MinPit, 2 - saturate by PS_BldPitchMin)

IPC_KPArray of Floats

Proportional gain for the individual pitch controller- first parameter for 1P reductions, second for 2P reductions, [-]

IPC_KIArray of Floats

Integral gain for the individual pitch controller- first parameter for 1P reductions, second for 2P reductions, [-]

IPC_aziOffsetArray of Floats

Phase offset added to the azimuth angle for the individual pitch controller

IPC_CornerFreqActFloat, rad/s

Corner frequency of the first-order actuators model, to induce a phase lag in the IPC signal (0- Disable)

VS_GenEffFloat, percent

Generator efficiency mechanical power -> electrical power, should match the efficiency defined in the generator properties

VS_ArSatTqFloat, Nm

Above rated generator torque PI control saturation

VS_MaxRatFloat, Nm/s

Maximum torque rate (in absolute value) in torque controller

VS_MaxTqFloat, Nm

Maximum generator torque in Region 3 (HSS side)

VS_MinTqFloat, Nm

Minimum generator torque (HSS side)

VS_MinOMSpdFloat, rad/s

Minimum generator speed

VS_Rgn2KFloat, Nm/(rad/s)^2

Generator torque constant in Region 2 (HSS side)

VS_RtPwrFloat, W

Wind turbine rated power

VS_RtTqFloat, Nm

Rated torque

VS_RefSpdFloat, rad/s

Rated generator speed

VS_nFloat

Number of generator PI torque controller gains

VS_KPFloat

Proportional gain for generator PI torque controller. (Only used in the transitional 2.5 region if VS_ControlMode =/ 2)

VS_KIFloat, s

Integral gain for generator PI torque controller (Only used in the transitional 2.5 region if VS_ControlMode =/ 2)

VS_TSRoptFloat, rad

Power-maximizing region 2 tip-speed-ratio

SS_VSGainFloat

Variable speed torque controller setpoint smoother gain

SS_PCGainFloat

Collective pitch controller setpoint smoother gain

WE_BladeRadiusFloat, m

Blade length (distance from hub center to blade tip)

WE_CP_nFloat

Amount of parameters in the Cp array

WE_CPArray of Floats

Parameters that define the parameterized CP(lambda) function

WE_GammaFloat, m/rad

Adaption gain of the wind speed estimator algorithm

WE_GearboxRatioFloat

Gearbox ratio, >=1

WE_JtotFloat, kg m^2

Total drivetrain inertia, including blades, hub and casted generator inertia to LSS

WE_RhoAirFloat, kg m^-3

Air density

PerfFileNameString

File containing rotor performance tables (Cp,Ct,Cq) (absolute path or relative to this file)

PerfTableSizeFloat

Size of rotor performance tables, first number refers to number of blade pitch angles, second number referse to number of tip-speed ratios

WE_FOPoles_NFloat

Number of first-order system poles used in EKF

WE_FOPoles_vArray of Floats

Wind speeds corresponding to first-order system poles

WE_FOPolesArray of Floats

First order system poles

Y_ErrThreshFloat, rad^2 s

Yaw error threshold. Turbine begins to yaw when it passes this

Y_IPC_IntSatFloat, rad

Integrator saturation (maximum signal amplitude contribution to pitch from yaw-by-IPC)

Y_IPC_nFloat

Number of controller gains (yaw-by-IPC)

Y_IPC_KPFloat

Yaw-by-IPC proportional controller gain Kp

Y_IPC_KIFloat

Yaw-by-IPC integral controller gain Ki

Y_IPC_omegaLPFloat, rad/s.

Low-pass filter corner frequency for the Yaw-by-IPC controller to filtering the yaw alignment error

Y_IPC_zetaLPFloat

Low-pass filter damping factor for the Yaw-by-IPC controller to filtering the yaw alignment error.

Y_MErrSetFloat, rad

Yaw alignment error, set point

Y_omegaLPFastFloat, rad/s

Corner frequency fast low pass filter, 1.0

Y_omegaLPSlowFloat, rad/s

Corner frequency slow low pass filter, 1/60

Y_RateFloat, rad/s

Yaw rate

FA_KIFloat, rad s/m

Integral gain for the fore-aft tower damper controller, -1 = off / >0 = on

FA_HPFCornerFreqFloat, rad/s

Corner frequency (-3dB point) in the high-pass filter on the fore- aft acceleration signal

FA_IntSatFloat, rad

Integrator saturation (maximum signal amplitude contribution to pitch from FA damper)

PS_BldPitchMin_NFloat

Number of values in minimum blade pitch lookup table (should equal number of values in PS_WindSpeeds and PS_BldPitchMin)

PS_WindSpeedsArray of Floats

Wind speeds corresponding to minimum blade pitch angles

PS_BldPitchMinArray of Floats

Minimum blade pitch angles

SD_MaxPitFloat, rad

Maximum blade pitch angle to initiate shutdown

SD_CornerFreqFloat, rad/s

Cutoff Frequency for first order low-pass filter for blade pitch angle

Fl_KpFloat, s

Nacelle velocity proportional feedback gain

Flp_AngleFloat, rad

Initial or steady state flap angle

Flp_KpFloat, s

Blade root bending moment proportional gain for flap control

Flp_KiFloat

Flap displacement integral gain for flap control

Flp_MaxPitFloat, rad

Maximum (and minimum) flap pitch angle

OL_FilenameString

Input file with open loop timeseries (absolute path or relative to this file)

Ind_BreakpointFloat

The column in OL_Filename that contains the breakpoint (time if OL_Mode = 1)

Ind_BldPitchFloat

The column in OL_Filename that contains the blade pitch input in rad

Ind_GenTqFloat

The column in OL_Filename that contains the generator torque in Nm

Ind_YawRateFloat

The column in OL_Filename that contains the generator torque in Nm

DLL_FileNameString

Name/location of the dynamic library {.dll [Windows] or .so [Linux]} in the Bladed-DLL format

Default = unused

DLL_InFileString

Name of input file sent to the DLL

Default = unused

DLL_ProcNameString

Name of procedure in DLL to be called

Default = DISCON

PF_OffsetsArray of Floats

Pitch angle offsets for each blade (array with length of 3)

CC_Group_NFloat

Number of cable control groups

Default = 0

CC_GroupIndexArray of Floats

First index for cable control group, should correspond to deltaL

Default = [0]

CC_ActTauFloat

Time constant for line actuator [s]

Default = 20

StC_Group_NFloat

Number of cable control groups

Default = 0

StC_GroupIndexArray of Floats

First index for structural control group, options specified in ServoDyn summary output

Default = [0]

7.4. linmodel_tuning

Inputs used for tuning ROSCO using linear (level 2) models

typeString from, [‘none’, ‘robust’, ‘simulation’]

Type of level 2 based tuning - robust gain scheduling (robust) or simulation based optimization (simulation)

Default = none

linfile_pathString

Path to OpenFAST linearization (.lin) files, if they exist

Default = none

lintune_outpathString

Path for outputs from linear model based tuning

Default = lintune_outfiles

load_parallelBoolean

Load linearization files in parallel (True/False)

Default = False

stability_marginFloat or Array of Floats

Desired maximum stability margin

Default = 0.1