util Namespace Reference

Kynema API: kynema::util Namespace Reference

Kynema API

A flexible multibody structural dynamics code for wind turbines

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Classes
class	AeroDynInflowLibrary
	Wrapper class for the AeroDynInflow (ADI) shared library. More...

struct	ControllerIO

class	dylib

struct	EnvironmentalConditions
	Struct to hold the environmental conditions. More...

struct	ErrorHandling
	Struct for error handling settings. More...

struct	FluidProperties
	Struct to hold the properties of the working fluid (air) More...

struct	InternalState

struct	MeshData
	Struct to hold the motion + loads data of any structural mesh component in AeroDyn/InflowWind compatible format. More...

class	NetCDFFile
	Class for managing NetCDF files for writing outputs. More...

class	NodeStateWriter
	Class for writing Kynema nodal state data to NetCDF-based output files. More...

struct	SimulationControls
	Struct to hold the settings for simulation controls. More...

class	TimeSeriesWriter
	Class for writing time-series data to NetCDF file. More...

struct	TurbineConfig
	Configuration for the initial state of a turbine. More...

class	TurbineController

struct	TurbineData
	Struct to hold and manage turbine-specific data. More...

struct	VTKSettings
	Struct to hold the settings for VTK output. More...

Functions
void	SetPositionAndOrientation (std::span< const double, 7 > data, std::span< float, 3 > position, std::array< std::array< double, 3 >, 3 > &orientation)
	Converts a 7-element array of position and quaternion to separate position and orientation arrays.

int	SetupFirstCall (const ControllerIO &swap, InternalState &state, char *const avcMSG)

void	FilterGeneratorSpeed (const ControllerIO &swap, InternalState &state)

void	VariableSpeedTorqueControl (ControllerIO &swap, InternalState &state)

void	PitchControl (ControllerIO &swap, InternalState &state)

int	ComputeControl (ControllerIO &swap, InternalState &state, char *const avcMSG)

void	PackInternalStateToFile (const InternalState &state, const char *const accINFILE)

void	UnpackInternalStateFromFile (const char *const accINFILE, InternalState &state)

void	DISCON (float avrSWAP[], int aviFAIL, const char accINFILE, char avcOUTNAME, char avcMSG)
	This Bladed-style DLL controller is used to implement a variable-speed generator-torque controller and PI collective blade pitch controller for the NREL Offshore 5MW baseline wind turbine. This routine was originally written in Fortran by J. Jonkman of NREL/NWTC for use in the IEA Annex XXIII OC3 studies.

void	PITCH_CONTROLLER (float avrSWAP[], int aviFAIL, const char const, char const, char const avcMSG)

template<>
int	NetCDFFile::AddVariable< std::string > (const std::string &name, std::span< const int > dim_ids) const

Variables
static constexpr int	kSwapArraySize = 128

static constexpr double	kVS_CtInSp {70.16224}
	Transitional generator speed (HSS side) between regions 1 and 1 1/2, rad/s.

static constexpr double	kVS_DT {0.000125}
	Communication interval for torque controller, sec.

static constexpr double	kVS_MaxRat {15000.}
	Maximum torque rate (in absolute value) in torque controller, N-m/s.

static constexpr double	kVS_MaxTq {47402.91}
	Maximum generator torque in Region 3 (HSS side), N-m.

static constexpr double	kVS_Rgn2K {2.332287}
	Generator torque constant in Region 2 (HSS side), N-m/(rad/s)^2.

static constexpr double	kVS_Rgn2Sp {91.21091}
	Transitional generator speed (HSS side) between regions 1 1/2 and 2, rad/s.

static constexpr double	kVS_Rgn3MP {0.01745329}

static constexpr double	kVS_RtGnSp {121.6805}
	Rated generator speed (HSS side), rad/s.

static constexpr double	kVS_RtPwr {5296610.0}
	Rated generator generator power in Region 3, Watts.

static constexpr double	kCornerFreq {1.570796}

static constexpr double	kOnePlusEps {1.0 + 1.19e-07}
	A value slightly greater than unity in single precision.

static constexpr double	kPC_DT {0.000125}
	Communication interval for the pitch controller, sec.

static constexpr double	kPC_KI {0.008068634}
	Integral gain for pitch controller at rated pitch (zero), (-)

static constexpr double	kPC_KK {0.1099965}

static constexpr double	kPC_KP {0.01882681}
	Proportional gain for pitch controller at rated pitch (zero), sec.

static constexpr double	kPC_MaxPit {1.570796}
	Maximum pitch setting in pitch controller, rad.

static constexpr double	kPC_MaxRat {0.1396263}
	Maximum pitch rate (in absolute value) in pitch controller, rad/s.

static constexpr double	kPC_MinPit {0.0}
	Minimum pitch setting in pitch controller, rad.

static constexpr double	kPC_RefSpd {122.9096}
	Desired (reference) HSS speed for pitch controller, rad/s.

static constexpr double	kVS_SlPc {10.0}
	Factor to convert radians to degrees.

Function Documentation

◆ ComputeControl()

int kynema::util::ComputeControl	(	ControllerIO &	swap,
		InternalState &	state,
		char *const	avcMSG
	)

inline

◆ DISCON()

void kynema::util::DISCON	(	float	avrSWAP[],
		int *	aviFAIL,
		const char *	accINFILE,
		char *	avcOUTNAME,
		char *	avcMSG
	)

This Bladed-style DLL controller is used to implement a variable-speed generator-torque controller and PI collective blade pitch controller for the NREL Offshore 5MW baseline wind turbine. This routine was originally written in Fortran by J. Jonkman of NREL/NWTC for use in the IEA Annex XXIII OC3 studies.

Parameters

avrSWAP	The swap array, used to pass data to, and receive data from, the DLL controller.
aviFAIL	Flag used to indicate the success of this DLL call set as follows: 0 if the DLL call was successful, > 0 if the DLL call was successful but cMessage should be issued as a warning messsage, < 0 if the DLL call was unsuccessful or for any other reason the simulation is to be stopped at this point with cMessage as the error message
accINFILE	The name of the parameter input file, 'DISCON.IN'
avcOUTNAME	OUTNAME (Simulation RootName)
avcMSG	MESSAGE (Message from DLL to simulation code [ErrMsg]) The message which will be displayed by the calling program if aviFAIL <> 0

◆ FilterGeneratorSpeed()

void kynema::util::FilterGeneratorSpeed	(	const ControllerIO &	swap,
		InternalState &	state
	)

inline

◆ NetCDFFile::AddVariable< std::string >()

template<>

int kynema::util::NetCDFFile::AddVariable< std::string >	(	const std::string &	name,
		std::span< const int >	dim_ids
	)		const

◆ PackInternalStateToFile()

void kynema::util::PackInternalStateToFile	(	const InternalState &	state,
		const char *const	accINFILE
	)

inline

◆ PITCH_CONTROLLER()

void kynema::util::PITCH_CONTROLLER	(	float	avrSWAP[],
		int *	aviFAIL,
		const char *	accINFILE,
		char *	avcOUTNAME,
		char *	avcMSG
	)

Implement a test controller that returns pitch angle in radians (ranges from -90 to 90 starting at zero) - used for testing purposes

◆ PitchControl()

void kynema::util::PitchControl	(	ControllerIO &	swap,
		InternalState &	state
	)

inline

◆ SetPositionAndOrientation()

void kynema::util::SetPositionAndOrientation	(	std::span< const double, 7 >	data,
		std::span< float, 3 >	position,
		std::array< std::array< double, 3 >, 3 > &	orientation
	)

inline

Converts a 7-element array of position and quaternion to separate position and orientation arrays.

Parameters

data	Input array: [x, y, z, qw, qx, qy, qz]
position	Output array for position [x, y, z]
orientation	Output array for flattened 3x3 rotation matrix

◆ SetupFirstCall()

int kynema::util::SetupFirstCall	(	const ControllerIO &	swap,
		InternalState &	state,
		char *const	avcMSG
	)

inline

◆ UnpackInternalStateFromFile()

void kynema::util::UnpackInternalStateFromFile	(	const char *const	accINFILE,
		InternalState &	state
	)

inline

◆ VariableSpeedTorqueControl()

void kynema::util::VariableSpeedTorqueControl	(	ControllerIO &	swap,
		InternalState &	state
	)

inline

Variable Documentation

◆ kCornerFreq

constexpr double kynema::util::kCornerFreq {1.570796}

staticconstexpr

Corner frequency (-3dB point) in the recursive, single-pole, low-pass filter, rad/s – chosen to be 1/4 the blade edgewise natural frequency ( 1/4 of approx. 1 Hz = 0.25 Hz = 1.570796 rad/s)

◆ kOnePlusEps

constexpr double kynema::util::kOnePlusEps {1.0 + 1.19e-07}

staticconstexpr

A value slightly greater than unity in single precision.

◆ kPC_DT

constexpr double kynema::util::kPC_DT {0.000125}

staticconstexpr

Communication interval for the pitch controller, sec.

◆ kPC_KI

constexpr double kynema::util::kPC_KI {0.008068634}

staticconstexpr

Integral gain for pitch controller at rated pitch (zero), (-)

◆ kPC_KK

constexpr double kynema::util::kPC_KK {0.1099965}

staticconstexpr

Pitch angle where the the derivative of the aerodynamic power w.r.t. pitch has increased by a factor of two relative to the derivative at rated pitch (zero), rad

◆ kPC_KP

constexpr double kynema::util::kPC_KP {0.01882681}

staticconstexpr

Proportional gain for pitch controller at rated pitch (zero), sec.

◆ kPC_MaxPit

constexpr double kynema::util::kPC_MaxPit {1.570796}

staticconstexpr

Maximum pitch setting in pitch controller, rad.

◆ kPC_MaxRat

constexpr double kynema::util::kPC_MaxRat {0.1396263}

staticconstexpr

Maximum pitch rate (in absolute value) in pitch controller, rad/s.

◆ kPC_MinPit

constexpr double kynema::util::kPC_MinPit {0.0}

staticconstexpr

Minimum pitch setting in pitch controller, rad.

◆ kPC_RefSpd

constexpr double kynema::util::kPC_RefSpd {122.9096}

staticconstexpr

Desired (reference) HSS speed for pitch controller, rad/s.

◆ kSwapArraySize

constexpr int kynema::util::kSwapArraySize = 128

staticconstexpr

◆ kVS_CtInSp

constexpr double kynema::util::kVS_CtInSp {70.16224}

staticconstexpr

Transitional generator speed (HSS side) between regions 1 and 1 1/2, rad/s.

◆ kVS_DT

constexpr double kynema::util::kVS_DT {0.000125}

staticconstexpr

Communication interval for torque controller, sec.

◆ kVS_MaxRat

constexpr double kynema::util::kVS_MaxRat {15000.}

staticconstexpr

Maximum torque rate (in absolute value) in torque controller, N-m/s.

◆ kVS_MaxTq

constexpr double kynema::util::kVS_MaxTq {47402.91}

staticconstexpr

Maximum generator torque in Region 3 (HSS side), N-m.

◆ kVS_Rgn2K

constexpr double kynema::util::kVS_Rgn2K {2.332287}

staticconstexpr

Generator torque constant in Region 2 (HSS side), N-m/(rad/s)^2.

◆ kVS_Rgn2Sp

constexpr double kynema::util::kVS_Rgn2Sp {91.21091}

staticconstexpr

Transitional generator speed (HSS side) between regions 1 1/2 and 2, rad/s.

◆ kVS_Rgn3MP

constexpr double kynema::util::kVS_Rgn3MP {0.01745329}

staticconstexpr

Minimum pitch angle at which the torque is computed as if we are in region 3 regardless of the generator speed, rad

◆ kVS_RtGnSp

constexpr double kynema::util::kVS_RtGnSp {121.6805}

staticconstexpr

Rated generator speed (HSS side), rad/s.

◆ kVS_RtPwr

constexpr double kynema::util::kVS_RtPwr {5296610.0}

staticconstexpr

Rated generator generator power in Region 3, Watts.

◆ kVS_SlPc

constexpr double kynema::util::kVS_SlPc {10.0}

staticconstexpr

Factor to convert radians to degrees.

Factor to convert radians per second to revolutions per minute Rated generator slip percentage in Region 2 1/2, %

util Namespace Reference

Classes

Functions

Variables

Function Documentation

◆ ComputeControl()

◆ DISCON()

◆ FilterGeneratorSpeed()

◆ NetCDFFile::AddVariable< std::string >()

◆ PackInternalStateToFile()

◆ PITCH_CONTROLLER()

◆ PitchControl()

◆ SetPositionAndOrientation()

◆ SetupFirstCall()

◆ UnpackInternalStateFromFile()

◆ VariableSpeedTorqueControl()

Variable Documentation

◆ kCornerFreq

◆ kOnePlusEps

◆ kPC_DT

◆ kPC_KI

◆ kPC_KK

◆ kPC_KP

◆ kPC_MaxPit

◆ kPC_MaxRat

◆ kPC_MinPit

◆ kPC_RefSpd

◆ kSwapArraySize

◆ kVS_CtInSp

◆ kVS_DT

◆ kVS_MaxRat

◆ kVS_MaxTq

◆ kVS_Rgn2K

◆ kVS_Rgn2Sp

◆ kVS_Rgn3MP

◆ kVS_RtGnSp

◆ kVS_RtPwr

◆ kVS_SlPc