ServoDyn Overview |
 
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ServoDyn Overview |
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Documentation on ServoDyn is incomplete as yet. Further details will soon become available on the ServoDyn website.
The Wind Energy section of the Flexcom examples set contains several sample ServoDyn input files. In order to familiarise yourself with the ServoDyn input file format, you should:
•Examine the ServoDyn files in Example L06 - IEA 22MW RWT. There are separate input files for Operational and Parked cases.
•Example the OpenFAST documentation on ServoDyn Input Files.
Note that ServoDyn input files must be manually assembled by the user, unlike AeroDyn input files which are automatically generated by Flexcom based on information specified in $AERODYN. Hence a detailed understanding of the ServoDyn input file format is strongly recommended.
The ServoDyn input file references a controller DLL via the DLL_FileName entry. The controller DLL is accompanied by an input file referenced via the DLL_InFile entry. This file contains a set of input parameters which implement controller tuning logic, so it is recommended not to vary the parameters unless you have a strong knowledge of control systems.
A list of all possible output parameters for the ServoDyn module is presented below.
Category: |
Name: |
Description |
Convention |
Units |
Pitch Control |
BlPitchC1 |
Blade 1 pitch angle command |
Positive towards feather about the minus zc1- and minus zb1-axes |
deg |
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BlPitchC2 |
Blade 2 pitch angle command |
Positive towards feather about the minus zc2- and minus zb2-axes |
deg |
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BlPitchC3 |
Blade 3 pitch angle command |
Positive towards feather about the minus zc3- and minus zb3-axes |
deg |
Generator & Torque Control |
GenTq |
Electrical generator torque |
Positive reflects power extracted and negative represents a motoring-up situation (power input) |
kN.m |
GenPwr |
Electrical generator power |
Same sign as GenTq |
kW |
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High Speed Shaft Brake |
HSSBrTqC |
High-speed shaft brake torque command |
Always positive (indicating dissipation of power) |
kN.m |
Nacelle Yaw Control |
YawMomCom or YawMom |
Nacelle yaw moment command |
About the zn- and zp-axes |
kN.m |
Nacelle Tuned Mass Damper (TMD) |
NTMD_XQ |
Nacelle X TMD position (displacement) |
Relative to rest position |
m |
NTMD_XQD |
Nacelle X TMD velocity |
Relative to nacelle |
m/s |
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NTMD_YQ |
Nacelle Y TMD position |
Relative to rest position |
m |
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NTMD_YQD |
Nacelle Y TMD velocity |
Relative to nacelle |
m/s |
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Tower Tuned Mass Damper (TMD) |
TTMD_XQ |
Tower X TMD position (displacement) |
Relative to rest position |
m |
TTMD_XQD |
Tower X TMD velocity |
Relative to tower |
m/s |
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TTMD_YQ |
Tower Y TMD position |
Relative to rest position |
m |
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TTMD_YQD |
Tower Y TMD velocity |
Relative to tower |
m/s |