*NODECONT,NAME=PID
Data format:
Two lines with 2 parameters each followed by one line with 9 parameters
INOD XX
INOREAC YY
RefSpeed KP KD KI CornerFreq PC_DT MaxTorque MaxTorqueRate Tend ITAB Tcont
Status :
Optional
Restriction :
The controlled node identified by INOD and the reaction node for the control identified by INOREAC must have been previously defined.
Purpose :
To prescribe a rotational velocity to a wind turbine through a moment controlled by a proportionalintegralderivative controller.
Details :
| Parameter | Description |
|---|---|
| INOD | Identification number of the controlled node |
| XX | This parameter must be set to zero (load control) |
| INOREAC | Identification number of the reaction node for the control |
| YY | This parameter must be set to zero |
| RefSpeed | Target rotational velocity (rad/s) in Z local frame of the node |
| KP | Proportional term ( N.m / (rad/s) ) |
| KD | Derivative term ( N.m / (rad/s^2) ) |
| KI | Integral term ( N.m / rad ) |
| CornerFreq | Corner frequency (Hz) |
| PC_DT | PID time step (s) |
| MaxTorque | Maximum applied torque (N.m) |
| MaxTorqueRate | Maximum torque rate (N.m/s) |
| Tend | Time above which the torque is cancelled (s) |
| ITAB | ID number of a table defined by *TABLEMCOL with 2 columns providing the target velocity as a function of time. If non zero, it supersedes the RefSpeed parameter |
| Tcont | Time to end the PID control (s); used to start a turbine with PID and let the turbine controller take over after Tend |
