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User Manual 3 M' P* ~9 O9 c, e/ x# v- U" Y
1. INTRODUCTION 1
8 I5 w1 M6 c; i& f$ p7 v0 C1.1 Installation 1
. A- g [- X/ s. U3 U- Y; s) K* Q1.2 GH Bladed modules 2
: A' _6 t) |% F; b4 I1.3 The GH Bladed Educational version 2
' `% c% S6 p7 Q; A5 c1.4 The GH Bladed Demonstration version 3
[# ^. P8 L- A6 `) ~0 A1.5 Support 4
& A$ t1 y7 b1 t. X ~/ E1.6 Documentation 4
3 U3 \. X0 b! f1.7 Acknowledgements 4 0 }& J8 k6 K. ]8 O, E! l
2. USING GH Bladed 5
& E. Q* |8 t, |5 b J- m2.1 General description and layout of the user interface 5 5 x1 D5 h z$ S7 D
2.1.1 Main toolbar - pull-down menus 5
% r1 P7 E% |/ p# _0 A' T2.1.2 Toolbar icons 6 : ?1 ^1 E% ^5 j. z9 t
2.1.3 The calculation window 7 & u$ P1 b" T0 p: H. E2 g; e; Z
2.1.4 Sequence of operations 7 $ _2 q, F* p2 Z0 n
2.2 Entering data 8 & Q. ?# H6 u% e9 {9 ]" u- R
2.3 Using project files 8 9 Y* Q( a+ `& r. F- g
2.4 Performing calculations 9 1 Y3 W; v$ m; |' Z
2.5 Viewing results 9 : _/ D- ~# L6 a3 u9 p
2.6 Compiling reports 10
1 |$ \9 b! s/ W2.7 Data Encryption 10 5 k7 t0 T+ q- f4 ?6 Y( v* h+ K! D3 a
2.8 User preferences 11 * @' v+ }7 X: H/ \7 t+ H
2.9 Context-sensitive help 11 : j* A& |9 z1 n3 f
2.10 Dongles 11
. c u9 ?: q/ J" B3 c3 L3. DEFINING THE TURBINE BLADES 13 % v+ z2 k9 J( i. ?8 i
3.1 Choosing blade stations 14 ( V# C$ s, \0 o
3.2 Blade geometry 15 # a& E9 g: C; }, F! E
3.2.1 The blade reference plane 15
% ]: U3 X% w+ m4 ?( R+ a( e3.3 Blade mass distribution 16
6 D8 t& t9 Y. c4 t' X3.3.1 Distributed mass 16
$ @# a/ J2 ^6 m) Y5 B1 r3.3.2 Point masses 16
5 T' O5 [8 h# p! N! m& e3.3.3 Vibration dampers 16
7 c ]/ `) x5 d& P* k' g3.3.4 Blade icing 16 ( g1 f `( T, e% D
3.4 Blade stiffness distribution 17
2 D; m" n7 `* g2 O3.5 Flap-Twist Coupling 17
/ K$ l* a$ B8 e( f* W. \3.6 Aerofoil sections 18 2 z4 T* k3 z9 L
3.7 Aerofoil datasets 19 / I f, G" `2 W
3.7.1 Defining aerofoil datasets 19 , g. [# h2 e2 g1 I- \0 Q
3.7.2 Importing a dataset 19
: o4 v/ ^ U, u9 U3.7.3 Adding a new dataset manually or via the clipboard 19 . x- y( A' n, L3 b
3.7.4 Editing an existing dataset 20 5 ~# B1 I# J: ? D) a; A
3.7.5 Removing a dataset 20 , S, ^2 ?3 d+ H) ]
3.7.6 Viewing aerofoil data graphically 20 * r6 f# S8 M: p. ?3 R
3.8 Format of ASCII aerofoil files 20 ' c5 t( N, }2 v
3.9 Defining normal aerofoil sections 21 6 x+ e; u' p' ?, |/ i9 ]4 z k
3.10 Defining aileron sections 22
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4. DEFINING THE REST OF THE TURBINE 24
) v# {- Q0 _8 S7 A2 V8 E( H4.1 Defining the rotor 24 2 N$ ^8 Q$ |8 {) Q1 O
4.2 Defining the hub 25
8 R: Y( U& `+ k: j% F1 G3 }7 Q, I4.3 Teeter restraint 26
3 c" g# G$ i P" Z" ^/ q4.4 Defining the tower 26 ! a/ i) ?, e4 D1 o6 u. C5 W
4.4.1 Monopile Tower 26 0 x: K; l) H! H0 x3 A7 f
4.4.2 Multi-member tower 27
. C( s9 f! s' w) y1 J2 v6 ]4.4.3 Flanges and point masses 28 , s( @" u& Q D2 L% l
4.4.4 Vibration dampers 28 - r* w. i6 R |4 U+ j9 J0 a7 @
4.4.5 Environment 28
' r/ b0 [5 r9 N7 i4.4.6 Foundations 29 & w G' E0 E8 P9 o7 w
4.5 Defining the power train 30 % z% f- n+ y. P' z' w
4.6 Transmission 30
$ g- f. A2 `+ q/ P; s# ]4.6.1 Locked speed model 31
# {( K) \9 j" N* U3 ?8 ?9 b4.6.2 Dynamic model 31 0 e$ P5 R8 ]' Y1 L) r( O% J
4.6.3 External DLL for transmission dynamics 32 * i. [5 f/ i' Q
4.7 Drive train mountings 32 : K$ y# U! U7 l7 F5 z; v9 Y& G6 P
4.8 Generator 33
" B" J$ e2 B- p! h4.8.1 Induction generator 34
0 v4 X- @2 N# F4.8.2 Variable speed generator models 35 0 M! p1 u1 p, L+ Y
4.8.3 Variable speed mechanical model 35
) Z( w5 u" k# E8 B/ |5 O4.8.4 Doubly fed induction generator model 35 2 i6 R0 H9 i( f# }0 B) ]; H
4.8.5 Synchronous generator with fully rated converter 36
; \' q9 i! @4 U) I/ @4.8.6 Variable slip generator 39 2 @" i% B8 h# d" J# L2 B. @
4.8.7 User-defined generator model 39
3 W) k" ^8 J4 y( ~$ z. ~& a4.8.8 Drive train damping feedback 40 ! s o, e. P6 A9 q/ n& g7 b
4.9 Energy losses 40
! W* ^& _5 f( H. m1 }5 j; p- p4.9.1 Mechanical losses 40
* H, [- q1 P a' X8 [4.9.2 Electrical losses 41
4 [6 n& @, U: i+ _$ F9 N* @' Q2 _* [4.10 The Electrical Network 42 , n/ M& l1 B! F
4.11 The nacelle 42 # ~' i# B& }+ x" g
5. CONTROL SYSTEMS 44 9 _8 E) W% x, Y: a; i
5.1 Fixed Speed Stall Regulated Control 45
: n+ }1 f- S" j5 B5.2 The fixed speed pitch regulated controller 45
4 K1 b* W- B+ ~+ d- F$ c, a) b5.2.1 Steady state parameters 45 ( u5 n0 x2 r" C4 Q5 j
5.2.2 Dynamic parameters 45 " M1 H) O) s; Z
5.3 The variable speed stall regulated controller 46
! f% G' x1 H+ {5.3.1 Steady state parameters 46 ) X# T! K- o4 F" U( p. V, k/ [
5.3.2 Dynamic parameters 46
+ Z$ d' x; W2 l+ Y' d3 n! V9 C) [5.4 The variable speed pitch regulated controller 47 0 p0 R: @! G0 Y- ]
5.4.1 Steady state parameters 47
- r4 |- J) y7 e$ }# V' A; ~5.4.2 Dynamic parameters 47 + Z& T( H5 l! x% a8 r
5.5 PI control 48 2 d) k; ^- f; l0 X: d1 X, L
5.6 Gain scheduling 49
; _& U4 h- B: K5.7 Variable speed control below rated 50 ! ~9 k# M0 j; j+ Q9 s4 B
5.7.1 Optimal tip speed ratio 50 ) r3 M. w p4 \0 Y( H
5.7.2 Look-up table 51
. j7 A. }, @4 A) Q5.7.3 Other parameters 51
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5.7.4 Control in the variable slip case 51 3 Z7 D4 H" l9 y9 _- s$ d, R
5.8 User-defined controllers 51
$ l# O& P k4 B! A/ \" S, e W5.8.1 Writing a user-defined controller as an executable program 52 4 s, l. T0 ] ^0 F
5.8.2 Writing a user-defined controller as a dynamic link library 53 + ?6 _, l+ e" o& L, g$ T
5.8.3 Using a user-defined controller 54 6 L9 J1 F Y- y! r
5.8.4 Signal noise and discretisation 55
7 a/ A# e Q8 j$ }/ I5.9 Transducers 55 9 W8 O9 v1 p! W) t0 K
5.10 The pitch actuator 55
' y7 r" ?6 [: A7 p+ S5.10.1 Passive dynamics 57
/ `5 N9 j0 D( O& k! O5.10.2 PID parameters 57
. [0 v' @; S) b- @. a' M1 s5.11 The shaft brake 58
2 g# u' ~2 |3 O$ t3 i5.12 Start-up sequence 58 : R7 x6 P! g2 q8 W" i
5.13 Normal stop sequence 59 8 ?6 h" F, y( O- L. p4 \
5.14 Emergency stop sequence 60 ; {2 Z4 S% v0 c& a& i- O- A
5.15 Idling conditions 60
7 q! b. o6 C" m3 {0 ~5.16 Parked conditions 60 . Y4 `# l9 ^- F1 T6 Y, r
5.17 Yaw control 61 & Q' |# c; {: M5 C
5.17.1 Yaw Dynamics 61
! f+ M0 B" T! ~" B6 y* l5.17.2 Active Yaw 62 + y( i/ y, t9 A, b5 |
5.18 Safety System 62 , s+ s2 O1 }* ]2 t
5.18.1 Safety System Circuits 62
1 q* ? N0 _$ ?* R) }7 \5.18.2 Safety System Pitch Action 62
* S+ n$ h7 B6 Q+ j5.18.3 Safety System Trips 63 . Q5 L$ r2 x3 D7 K
6. DEFINING THE ENVIRONMENT 64 % U! Z- z( Y. [3 {
6.1 Defining the wind 64
! _4 z! G" y# u) f6.2 Wind shear 65
8 _) T" s. m O6.3 Tower shadow 65 % I: k! Z- m/ U# \3 y
6.4 Upwind turbine wake 66 * l8 r+ k7 u: | i- v
6.5 No time variation of wind speed 67 2 C6 d4 B* A" v0 `4 m$ L
6.6 Single point wind history 67
* Q3 w; b9 ^" o6.7 3D turbulent wind 68
! ?" j1 F& z% C& f @0 D( S+ m" _6.8 Transients 69 5 ?) e7 q! I9 M/ T( l; A3 Q- t
6.9 Definition of wind direction 71
5 F2 q( Y) u6 a% a" _6.10 Generating turbulent wind fields 72 , m3 J0 C- I- d6 ^: I/ O
6.10.1 Defining turbulence characteristics 72
0 {* N3 D+ P: x6.10.2 Advanced options 73
% P# i, j" ~9 B' O% [6.10.3 Generating the turbulence field 74 ; v$ g0 f9 s3 z' z7 a) C7 o
6.11 Annual wind distribution 75
. E5 V. ~$ L( Q. P6 _: V6.12 Defining Waves 76
/ ]4 ^0 @7 Q$ X! g+ }3 Z! S6.12.1 None (no waves) 76
$ l! ^4 k+ |+ Y9 Q: t* b4 _6.12.2 Irregular waves 76 6 C; T' K4 D" ?/ i: b$ L
6.12.3 Constrained waves 77
4 R+ k4 j: F5 S5 N% l6.12.4 Regular waves 77 ! c: B4 g) I# q3 o- i8 \
6.13 Defining Currents 78
" m. k+ Z" }8 `5 A6.13.1 Near-surface current 78 0 n& @9 j. P: U& `% x7 t
6.13.2 Sub-surface current 78
! j/ k5 G, h1 w" S1 W* j6.13.3 Near-shore current 79 1 Q6 `; s& S( \: t6 H$ h# X6 |
6.14 Tide height 79
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8 d6 _$ d' t+ b: g1 ]' v# H6.15 Scatter diagram 79
) z9 \4 l2 h) j) @6.16 Earthquakes 80 - A( x1 i7 E( Y: H5 S
6.16.1 Generating earthquake time histories 80 # @* p& i+ @; _; p/ B% l& [ D
7. EXECUTING WIND TURBINE CALCULATIONS 82 4 f3 o( ~' g% D/ C" f
7.1 Modal analysis 82
+ [3 Q l8 Q1 [# e$ l [7.1.1 Defining the modes 82 ! {9 f: _) S. ]7 X1 U
7.1.2 Performing the calculation 83 - q) h. i- i8 k3 A C3 U
7.1.3 The modal frequencies 83
9 U. j: }. }/ P; ^+ N. [2 d- ^7.2 The calculations screen 83 : m3 l' D+ h( n6 x9 i& Y6 b
7.2.1 Calculations available 84
9 _7 j6 z- @! z+ J# h7.2.2 Data required for calculations 84
l5 B o. i: y' R% G7.2.3 Calculation options 84
% U Q& q( x% i# m8 C0 F7.2.4 Specifying outputs 84
: V1 d" g' f* _& ^6 q7.2.5 Calculation parameters 84 + {# H! b( k$ j& S( ^- K
7.2.6 Executing a calculation 85
% v6 P# u& e( Q7.2.7 Batch processing 85 ' {% i" D* h T a3 }- V
7.2.8 Retrieving calculation details 87 ( x2 r, W" T- e0 N1 N F! S9 ^9 J
7.3 Steady calculations 87
( y; N+ ]% B- {" W1 |0 O, J7.4 Simulations 88
4 x' G. w! |$ k6 U7.5 Calculation parameters 88 O" X! u- p0 f! c
7.6 Aerodynamic information calculation 89 $ N& u: H' v0 d; l4 X0 o
7.7 Performance coefficients calculation 89
! B+ h0 f1 m! L1 ]7 p' m7.8 Steady power curve calculation 90 & W3 v2 I/ b+ v6 R
7.9 Steady operational loads calculation 90 9 K7 a6 y1 O# U" x: _# W! B
7.10 Steady parked loads calculation 91
% T* T& U+ U2 T6 k8 t" G7.11 Model linearisation calculation 91 4 Z, t- @1 C+ J6 H* `
7.11.1 Selection of model features for linearisations and Campbell diagram 92
3 L7 @6 a9 y4 O. \7 H% Z1 `- R7.12 Pitch and speed schedule 93 + ]3 C5 c$ l, N4 S8 G+ c
7.13 Simulation control 93 - U, p8 x' @4 Q. ]
7.14 Initial conditions 94
+ |3 Q7 i3 D0 N8 G. b7.15 Hardware test simulation 94 & T- a" Y+ \% Q6 s
7.16 Aerodynamic models 95
( q3 H, o6 J* t) \% z+ x# l7.17 Physical constants 96 5 _3 U$ X3 ~6 U
7.18 Safety factors 97 ( E4 [3 E1 i- d! e# m' b/ V
7.19 Imbalances 97
# ^6 Y& e: G* V g4 z7.20 Turbine Faults 97 0 ^) u5 D1 a. g
7.20.1 Pitch faults 97 / w" m, H: x/ l8 B: ?- }4 V: A, g
7.20.2 Generator and network faults 98
7 r) X: c; { \4 J* i- X5 i) T7.20.3 Yaw faults 98
9 |7 R. f! m: f# q4 z7 B8 h6 Y7 o7.20.4 Transducer faults 99
3 _! Q1 N E- O) j; H/ m& t8 j7.21 Controlling the calculation outputs 99 * Y0 [9 o6 S7 O
7.21.1 Blade outputs 99
4 w$ ]5 F( M2 o9 n( ~7.21.2 Tower outputs 99
8 _; _( Y2 a0 O! m; _1 |7.21.3 Other outputs 100
+ H* |# M h3 A7.21.4 Co-ordinate systems 100
* ~( Z% I) E. z8 v7.21.5 Exceptions to the use of the ‘GL’ co-ordinate system 103
# I! o' h% i7 ^4 V0 O7.21.6 Refinement of deflections and loads 104 # T z0 k! O: M3 y% O7 O
7.22 Specifying calculation options 104
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- r. ]; f: E" W+ \( F. K% h7.23 Multiple calculation setup 105
9 E+ ~9 m) N8 u9 ~$ t, d8. POST-PROCESSING 107
# R9 n/ J0 F1 _, M" _8 t' D8.1 Basic statistics 107
$ ]- _$ R% r' ]) [3 o2 _1 A8.2 Fourier harmonics 108 2 Z5 ?& G3 z: ]
8.3 Periodic components 108 ! Z" b2 ~7 H0 ^1 m2 u4 x4 U, y/ w
8.4 Extreme predictions 108
" `1 ?+ }/ x6 Y ]1 b& G8.5 Auto spectrum 109
3 w% @. m7 M& o' Q8.5.1 Options for spectral analysis 109 ( g8 o/ C. z& L# y6 N' E
8.6 Cross spectrum 110 ( `; u* R; N J0 \' v' T# v
8.7 Probability density 110 - d2 Y4 n4 d& [# }1 i; p3 v; T
8.8 Peak value analysis 111 " h; E) ?6 A/ C6 G! j
8.9 Level crossing analysis 111
. ?& C0 g& F$ X; p; Z; {4 O4 d8.10 Rainflow cycle counting 112 ) z2 i# K8 W: o" _% e9 x
8.11 Fatigue damage estimation 112 $ D9 h9 ]- x1 y( j9 R
8.12 Setting bin limits 113
, ? ?& i, ]6 I; a8.13 Annual energy yield 113 7 T) R/ j ^$ r5 i
8.14 Channel Combination and Tabulation 114 1 ? o; B2 \4 U5 L) E
8.14.1 Multiple processing option – Channel combination 115
! C5 M- o; _' w! [) e. k8.14.2 Multiple processing option - Tabulation 115
9 q0 L8 ?5 f5 ?4 R! ?7 `8.14.3 Multiple processing option – Matrix combination 115
- C- B4 W3 Y9 [8.14.4 Multiple processing option – Old Style channel combination 116
8 c, q* m; v6 n+ t' S; y8.14.5 Single channel combinations 117 - p; |" K# E7 a
8.15 Multiple Processing 117 * F) v$ p# T: I& C
8.16 Ultimate Loads 118
6 H2 ~+ F0 A; p% B! e8.17 Ultimate Load Cases 119 & j6 e: l* t! r# M( T4 N5 y
8.18 Flicker 119
) S# z" S7 C. h2 z1 N9 o8.19 Linear Model 119
h3 N+ f6 D- q: L0 A! L( \8.20 Extreme load extrapolation 121
" ]# S0 I/ ^! H8.21 Data channel selection 122 . V) b ]1 t0 w( @4 c0 g
8.21.1 Selecting independent variables 122
! _+ f8 ~7 e/ _' m8.21.2 Messages and further information 122 / a$ e, H4 _9 Z# e4 K- W, d& N
8.21.3 Deleting information 122
1 m& o. r: b# @" w6 M' X+ n9. GRAPHICAL DATA VIEW FACILITY 123
; c F$ J; a6 l3 V2 g0 G' N9.1 Graphs of several variables 123
' f$ [: V/ F$ w; J7 \( v9.2 Graph styles 123 3 b1 p# ^( k! W# U
9.3 Grids and logarithmic axes 123
/ `5 Q2 i2 D! S+ Y: C' Y S9.4 Units 124
E; F# m2 F( {- E( y; h9.5 Axis limits 124
- o/ z7 R8 P0 Q9 T( A0 f5 d2 ]. z9.6 Graph titles 124 , N. E n3 L! D7 m3 ^
9.7 Graph legends and line styles 124 V4 G8 l5 N2 R# B
9.8 Cross-plots 125
+ H$ e7 F+ U5 ]" b9.9 Tabular output of results 125 " G6 V) O4 \% y. k2 y) ?
9.10 Refreshing graphs 125
, h/ l5 I% z# H p* C3 T9 H9.11 Graph configurations 125
. Z; i( C8 q$ W A% V, G9.12 Multiple Plotting and Tabulation 126 0 N5 z& ~5 V5 _& K0 e
9.12.1 Graph configurations 126 + w5 y& ?: A5 P1 {6 V7 @& J
9.12.2 Replacing variables 126
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9.12.3 Replacing runs 126 0 G7 j/ b& b: D
9.12.4 Sequence Control 126
- ~7 B& M0 T2 w+ _% E# J: k/ K4 [. b* Q9.12.5 Tabulation of Ultimate Loads 126
6 k+ T, G& F; ^5 k* U9.12.6 Output 126
# C2 c! ?# u8 Z1 P10. REPORTING 128 $ G: R* A9 k1 t% _( `& v& e, h4 |
10.1 Project reports 128 7 s; P. C% C- s
10.2 Calculation reports 128 ( s8 z3 Y3 j5 C, j, U
10.3 Adding calculation results to a report 129 8 W" c( h: n- _& s, _
10.4 Editing and printing reports 129
' m, T' P7 s E; _7 o( l) v10.5 Linked graphs 129 8 V/ F; H: I& N# Y& a
11. THE WINDFARMER LINK MODULE 130
9 s# T3 R8 L6 U+ y) l( h11.1 The GH Windfarmer output file 131 ( v% M/ P5 W" A
11.2 The wind file template 135
) L) ^$ f! ]6 m4 |6 Z11.3 The turbine model template 135 2 Q# L9 C# h! o8 f
11.4 The fatigue processing template 135
1 {$ p+ I' E" \7 Z, J2 q9 H0 n5 g11.5 The Ranking Calculation 135
8 ^' j+ e* r6 ?/ o" t11.6 Sectors and Options 136 / g# r: X2 |1 T1 k% U; b9 v
11.6.1 Direction sectors 136 2 `& i$ f% |# {; Y
11.6.2 Overriding values from GH Windfarmer 136
% r8 M7 R9 e1 M' `. M) r8 ]: a2 y11.7 Output folders and file naming convention 137
1 _; X# r1 m9 l" ]4 W( v" z11.8 Image viewer 138
6 h' }- z# M! n; x9 SAPPENDIX A Communication Between Bladed And External Controllers 139 " g# e! T' A5 P" T% a
A.1 Data exchange records 139
2 b. W1 _) v5 Q/ W/ c- Q' t' ^A.2 Record 1: the Status flag 144
$ H7 g: L" R9 f, @A.3 Sending messages to the simulation 145 $ b% ^1 l% c7 M! n8 y% M ~
A.4 Pitch and torque override 145 ; W( K& V9 |0 s9 q7 I1 ^
A.5 Sending logging output to Bladed 145 ]8 e, p ?0 J* ]3 s: e V _
APPENDIX B Example External Controller Code In Selected Languages 147 / c# M8 c* R) } E; k0 X1 ?
B.1 Simple example of DLL code written in C 147
2 r6 b" i6 b z" h6 f, b( h( JB.2 Simple example of DLL code written in FORTRAN 90 148 2 P& l2 u" k$ m" O( ^. a: t' I
B.3 Simple example of EXE code written in FORTRAN 90 149 ' |7 w7 |2 J" `0 _2 S2 D
APPENDIX C GEARBOX DLL INTERFACE SPECIFICATION 150 + v$ G# t3 n$ ?; t- h" D; E
APPENDIX D GENERATOR DLL INTERFACE SPECIFICATION 157 . t2 u0 d( v/ m/ R6 Z6 t
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