ZeroMQ TorqueOffset has No Effect

[Ian-Ammerman]

Hi,

I am trying to use the zeroMQ interface while running OpenFAST per example 17. I have prepared the following wfc_controller:

`def wfc_controller(id, current_time, measurements):

# Stand in cosntant control commands
YawOffset = 0

if current_time > 125:
    col_pitch_command = np.deg2rad(0)
else:
    col_pitch_command = np.deg2rad(0)

# Assign control commands
setpoints = {}
setpoints["ZMQ_TorqueOffset"] = 172*current_time
setpoints["ZMQ_YawOffset"] = YawOffset
setpoints['ZMQ_PitOffset(1)'] = col_pitch_command
setpoints['ZMQ_PitOffset(2)'] = col_pitch_command
setpoints['ZMQ_PitOffset(3)'] = col_pitch_command

return setpoints`

I am running into a couple of challenges regarding the torque setting.

1). I am unable to run a constant torque simulation. The closest available is constant power, but setting VS_ControlMode to 0 keeps torque at zero.

2). Adjusting ZMQ_TorqueOffset has no effect. When running the simulation above, I get the following plots output (using a constant power torque controller - VS_ControlMode = 1):

If I set VS_ControlMode = 0 in the .yaml file and re-run with settings as above I get the following response:

I would expect to see the generator torque either a) held at saturated region 3 torque to start or b) ramp up per the wfc_controller command. I have not touched any other settings within the .yaml file and I compiled the controller myself, ensuring that the setpoint channels were included in the .f90 file beforehand. Any help is much appreciated.

[dzalkind]

Hi Ian,

This discussion may be helpful: #405

We recommend using VS_ControlMode of 2 or 3. Constant power or constant torque control can be set using VS_ConstPower.

Since you're trying something new with the examples, I recommend reviewing the existing torque controller to see if any saturation limits or logic is preventing your desired outcome:

ROSCO/rosco/controller/src/Controllers.f90

Line 186 in 975ffac

SUBROUTINE VariableSpeedControl(avrSWAP, CntrPar, LocalVar, objInst, ErrVar)

I hope this helps.

Best, Dan

[Hermse]

您发给我的消息已经收到，我将尽快处理，谢谢。