HAWCStab2 User Manual

Department of
Wind Energy
Report 2017

Morten Hartvig Hansen

Lars Christian Henriksen
Carlo Tibaldi
Leonardo Bergami
David Verelst
Georg Pirrung

DTU Wind Energy

November 2017
Author(s): Morten Hartvig Hansen, Lars Christian Publication Date: October
Henriksen, Carlo Tibaldi, Leonardo Bergami, David 2017
Verelst, Georg Pirrung
Title: HAWCStab2: User Manual
Institute: Department of Wind Energy HAWCStab2 version:
2.14
Summary (max. 2000 char.):
This report is a user manual for the code HAWCStab2.
HAWCStab2 is an implementation of an analytical
linearization of a nonlinear finite beam element model.
The beam model is coupled with an unsteady blade
element momentum model of the blade aerodynamics.
The aerodynamic model includes shed vorticity, dynamic
stall, and dynamic inflow. The code allows for
steady-states computations and open-loop and closed-loop
modal analysis.

E-mail:
hawcstab2@vindenergi.dtu.dk

Web-page:
www.hawcstab2.vindenergi.dtu.dk

Address:
Technical University of
Denmark
DTU Wind Energy
Frederiksborgvej 399
4000 Roskilde
Denmark
Preface

This report is the user manual of HAWCStab2. HAWCStab2 was originally developed by
Morten Hartvig Hansen. HAWCStab2 is a frequency based aeroservoelastic code for steady
states computation and stability analysis of wind turbines. The code, to some extent, reads
the same input files as HAWC2. HAWCStab2 is available in three versions: HAWCStab2,
which is graphical user interface based program, HAWC2S, which is a command line
based program suitable for e.g. optimization, and HS2pid, which is another command line
program, is available with reduced functionality. HS2pid is only able to calculate tuning
parameters for the Basic DTU Wind Energy Controller assuming torsionally stiff blades.
HAWCStab2 is, so far, only able to handle 3 bladed wind turbines.

4
Contents

1. Introduction 6

2. Input file and commands 7

2.1. HAWC2 commands . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7
2.1.1. new htc structure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7
2.1.2. wind . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8
2.1.3. aero . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8
2.2. HAWCStab2 commands . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9
2.2.1. Structural setup . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9
2.2.2. Damping . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10
2.2.3. Operational data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11
2.2.4. Controller tuning . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13
2.2.5. Controller input/output . . . . . . . . . . . . . . . . . . . . . . . . . 13
2.2.6. HAWC2S commands . . . . . . . . . . . . . . . . . . . . . . . . . . . 15
2.2.7. Advanced options . . . . . . . . . . . . . . . . . . . . . . . . . . . . 18
2.3. Automatic mode sorting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 20

3. Output files 21
3.1. Operational data in .opt . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 21
3.2. Performance data in .pwr . . . . . . . . . . . . . . . . . . . . . . . . . . . . 21
3.3. Spanwise steady-state results in .ind . . . . . . . . . . . . . . . . . . . . . . 22
3.4. Frequencies and damping ratios in .cmb . . . . . . . . . . . . . . . . . . . . 25
3.5. System matrices . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 26
3.5.1. Structural matrices . . . . . . . . . . . . . . . . . . . . . . . . . . . . 26
3.5.2. Open-loop matrices . . . . . . . . . . . . . . . . . . . . . . . . . . . 26
3.5.3. Closed-loop matrices . . . . . . . . . . . . . . . . . . . . . . . . . . . 27

4. Examples 28
4.1. Examples with the GUI: HAWCStab2.exe . . . . . . . . . . . . . . . . . . . 28
4.1.1. Calculating operational points . . . . . . . . . . . . . . . . . . . . . 28
4.1.2. Calculating steady state and induction . . . . . . . . . . . . . . . . . 30
4.1.3. Performing open-loop aeroelastic modal analysis . . . . . . . . . . . 31
4.1.4. Tuning of PI controller . . . . . . . . . . . . . . . . . . . . . . . . . . 32
4.1.5. Performing closed-loop aeroelastic modal analysis . . . . . . . . . . . 32
4.2. Examples with the command line program: HS2pid.exe . . . . . . . . . . . 34

5. Keyboard shortcuts 35

A. GnuPlot files 36

5
1. Introduction

HAWCStab2 is a tool developed at the Department of Wind Energy of the Technical

University of Denmark. HAWCStab2 is an improved version of HAWCStab [1] with a
different kinematic. The model is an analytical linearization of a nonlinear finite beam
element model. The beam model is coupled with an unsteady blade element momentum
model of the blade aerodynamic. The aerodynamic model includes shed vorticity, dynamic
stall, and dynamic inflow. Hansen [2] gives a detailed description of the model. A valida-
tion and analysis of the open-loop performances are provided by Sønderby and Hansen [3].
An analysis in closed-loop is shown by Tibaldi et al. [7].
In Chapter 2 the basic structure of the htc file is explained. In Chapter 3 the output files
are explained. In Chapter 4 a few examples on how to use the program are shown.
The examples shown in this document are based on:

• HAWC2 (version 11.8)

• HAWCStab2 (version 2.14)
• DTU 10MW RWT (version 2.0)

6
2. Input file and commands

The input to HAWCStab2 is an htc-file, which is also used for HAWC2. The file used
by HAWCStab2 has the normal HAWC2 specific commands as well as some HAWCStab2
specific commands.

2.1. HAWC2 commands

The following subsections give a short descriptions of the HAWC2 input required by
HAWCStab2. The HAWC2 user manual [4] available at www.hawc2.dk should be con-
sulted for a detailed description of the commands.

The following sections describe the HAWC2 blocks of the htc file are used by HAWCStab2.
Other blocks such as e.g. simulation, aerodrag,force, hydro, soil, dll and outputs are
not used by HAWCStab2.

2.1.1. new htc structure

The new htc structure block defines the structural setup of the wind turbine. Herein,
it defines the various main bodies e.g. tower, towertop, shaft, hub and blade in the
main body sub block. The main orientation of the main bodies is then defined in then
orientation sub block. The interconnection of the main bodies is defined in the con-
straints sub block.

begin new_htc_structure;
begin main_body;
...
end main_body;
;
begin orientation;
...
end orientation;
;
begin constraint;
...
end constraint;
end new_htc_structure;

7
Constraints The bottom of the first main body defined in the HAWCStab2 substructure
ground fixed substructure (see Section 2.2.1) is always fixed to the ground. The re-
maining constraints between the main bodies will follow the HAWC2 commands with the
exception of the shaft bearing.
Two different types of bearing constraints are basically available in HAWCStab2: bear-
ing1 and bearing2. The first type of bearing allows free rotation about one axis. This
bearing is normally used for the shaft. A bearing2 allows for a rotation about one axis
where the angle is set from an input to the system. This type of bearing is normally used
for the pitch bearing of pitch regulated wind turbines.
Note that if the user specifies a fix1, bearing2 or bearing3 for the constraint between
the last main body of the HAWCStab2 substructures ground fixed substructure and
rotating axissym substructure, then this bearing constraint will be treated as a con-
stant speed bearing (the omegas input is ignored in case of a the bearing3 command)
and there is no generator rotation degree of freedom.

2.1.2. wind

The wind block contains information about density of air, which is only parameter used
by HAWCStab2.

begin wind ;
density 1.225 ;
wsp 11 ;
tint 0.201454545454545 ;
horizontal_input 1 ; 0=false, 1=true
windfield_rotations 0 0.0 0.0 ; yaw, tilt, rotation
center_pos0 0.0 0.0 -119.00 ; hub height
shear_format 3 0.2 ;
turb_format 0 ; 0=none, 1=mann,2=flex
tower_shadow_method 0 ; 0=none, 1=potential flow, 2=jet
end wind;

2.1.3. aero

The aero block contains information about aerodynamic properties for the blade such
drag and lift coefficients. Furthermore, induction method and tiploss method are used by
HAWCStab2.

begin aero ;
nblades 3;
hub_vec shaft -3 ;
link 1 mbdy_c2_def blade1;
link 2 mbdy_c2_def blade2;
link 3 mbdy_c2_def blade3;

8
 ae_filename ./data/DTU_10MW_RWT_ae.dat ;
pc_filename ./data/DTU_10MW_RWT_pc.dat ;
induction_method 1 ; 0=none, 1=normal
aerocalc_method 1 ; 0=ingen aerodynamic, 1=med aerodynamic
aerosections 50 ;
ae_sets 1 1 1;
tiploss_method 1 ; 0=none, 1=prandtl
dynstall_method 2 ; 0=none, 1=stig oye method,2=mhh method
end aero ;

2.2. HAWCStab2 commands

HAWCStab2 needs a specific block called hawcstab2. Within this block different com-
mands are specified, which can be divided into the following inputs:

• structural setup

• damping

• operational data

• controller tuning

• controller input/output

• HAWC2s specific commands

• advanced options

All of these inputs are explained in the following sections.

2.2.1. Structural setup

The structural setup is specified through three different blocks where the bodies are
listed:

• ground fixed substructure: main bodies that are fixed with respect to the ground,
e.g. tower, and tower top;

• rotating axissym substructure: rotating main bodies that are not part of the
rotor, e.g. shaft. These bodies have to be axis-symmetric;

• rotating threebladed substructure: rotating main bodies that are part of the
rotor, e.g. hub and blades. Since HAWCStab2 assumes 3 bladed with isotropic rotor,
only the first blade and hub bodies need to be specified, the others will be included
automatically.

9
A second-order model of a pitch actuator can also be included in the wind turbine model.
The model is included adding the line
second_order_actuator pitch1 100.0 0.7 ;
in the block rotating threebladed substructure. The first number in the command
indicates the frequency of the second-order model, the second its damping ratio.
All the aerodynamic forces are assumed to be applied on the last main body in the block
rotating threebladed substructure.
The format of these commands is:

begin hawcstab2 ;
begin ground_fixed_substructure ;
main_body tower ;
main_body towertop ;
end ground_fixed_substructure ;
begin rotating_axissym_substructure ;
main_body shaft ;
end rotating_axissym_substructure ;
begin rotating_threebladed_substructure ;
main_body hub1 ;
main_body blade1 ;
second_order_actuator pitch1 100.0 0.7 ;
end rotating_threebladed_substructure ;
end hawcstab2 ;

2.2.2. Damping

If log decrements is present in the block of either ground fixed substructure, rotat-
ing axissym substructure or rotating threebladed substructure then the HAWC2
specific damping commands will be overwritten by a spectral damping model will be used
to calculate the damping properties. If for example the following command is present in
the rotating threebladed substructure:

log_decrements 1.0 1.2 1.5 2.0 ;

then the first four modes of the unloaded blade are structurally damped 1.0%, 1.2%, 1.5%,
and 2.0%. The logarithmic decrements of higher order modes will be increased relatively
with the factor 1.1 until a hard-coded maximum of 70%.
If log decrements is not used then the Rayleigh type damping model of HAWC2 will be
used. The damping properties will be calculated for the unloaded, standstill wind turbine.
It is strongly recommended only to use stiffness proportional terms. If mass proportional
terms are used, the damping for HAWC2 and HAWCStab2 will not be the same. Consult
Hansen [5] for more information about the mixed mass/stiffness damping model.

10
2.2.3. Operational data

The operational data block is optional. It is used to set the default values of the
parameters in the dialog window to compute the operational data points and to set the
values when running with HAWC2S. The parameters of this block are:
• windspeed, the minimum wind speed value, the maximum wind speed value, and
the number of wind speed between the minimum and maximum.
• genspeed, the minimum rotational speed, and the maximum rotational speed in
rpm.
• gearratio and the gear ratio.
• minpitch and the minimum pitch angle in degree.
• opt_lambda and the value of the tip-speed-ratio for the variable speed region.
• maxpow and the value of the aerodynamic rated power in kW.
• prvs_turbine and an integer to indicate the type of pitch regulation. 0 for fixed
pitch and 1 for variable pitch.
• include_torsiondeform and an integer to indicate if blade deformations should be
included in the computation. 0 for no deformations and 1 for with deformations.
If the operational data points have been precomputed or the user wants to enter them
manually, it is possible to specify them through a file. The file is specified by the com-
mand:
operational_data_filename ./operational_data_filename.opt ;
When given as input the file requires three columns: one for the wind speed, one for the
pitch angle and one for the rotor speed. The number of data points included in the file
need to be specified in the first row of the file. When the file is saved from HAWCStab2 it
adds two extra columns containing the aerodynamic power and thrust. These last two
columns are not needed as inputs because HAWCStab2 is used to compute them.

11
12
The operational_data_filename file contains information about the operational points for selected wind speeds.

22 Wind speed [m/s] Pitch [deg] Rot. speed [rpm] Aero power [kW] Aero thrust [kN]
4.000000 2.889748 6.000000 287.319260 224.286816
5.000000 2.115800 6.000000 805.573745 352.209828
6.000000 1.109058 6.000000 1543.002742 500.388658
7.000000 0.000048 6.000000 2525.245528 658.232557
8.000000 0.000055 6.424607 3770.277010 816.795864
9.000000 0.000019 7.226938 5374.530562 1034.430140
10.000000 0.000056 8.031337 7378.855371 1277.059791
11.000000 0.000048 8.839966 9826.489718 1544.121977
12.000000 4.807932 9.600000 10636.875545 1262.557036
13.000000 7.388350 9.600000 10640.312112 1080.883000
14.000000 9.289680 9.600000 10634.865878 970.253169
15.000000 10.887191 9.600000 10652.538640 892.739336
16.000000 12.346992 9.600000 10618.567809 828.619150
17.000000 13.672693 9.600000 10631.933899 780.318935
18.000000 14.926127 9.600000 10646.833268 740.590975
19.000000 16.120324 9.600000 10640.981055 706.090035
20.000000 17.268079 9.600000 10646.834596 677.263923
21.000000 18.374175 9.600000 10632.078861 651.469908
22.000000 19.443877 9.600000 10648.917163 630.689690
23.000000 20.484638 9.600000 10622.019335 610.636055
24.000000 21.496839 9.600000 10628.972396 594.608862
25.000000 22.485124 9.600000 10638.692060 580.889756
2.2.4. Controller tuning

This section contains two main commands. A command to set the parameters to auto-
matically compute the tuning of the controller and a command to manually specify the
controller tuning.

The controller_tuning block is optional, see 4.1.4 for an example. It is used to set the
default values of the parameters in the dialog window to tune the controller and to set the
values when running with HAWC2S. The parameters of this block are:

• partial_load, the frequency [Hz], and damping ratio [-] of the regulator mode.
These vales are used for the pole placement of the PI controller on the generator
torque in partial load region.

• full_load, the frequency [Hz], and damping ratio [-] of the regulator mode. These
vales are used for the pole placement of the PI controller on the pitch in full load
region.

• gain_scheduling and an integer to specify the type of gain scheduling. 1 for linear
and 2 for quadratic.

• constant_power and an integer to specify if the regulator strategy is constant torque

0 or constant power 1.

• rotorspeed_gs and an integer to specify if the gain scheduling should contain also
a term due to the aerodynamic damping 0 or 1.

• regions and four integers to specify the operational points at which there is a tran-
sition in the controller operational regions. This command is optional and overwrites
the build-in function that identifies the operational regions.

Two different controllers can be added to the model through the following commands:

• basic_dtu_we_controller (# 1)

• pi_pitch_controller (# 2)

The first controller is a simplified linearization of the Basic DTU Wind Energy controller,
so it includes sub-controllers to handle the different operational regions. The second
controller is only meant for the full load region and it is a basic PI pitch controller. Both
commands require several tuning parameters. The parameters are described in Table 2.1.

2.2.5. Controller input/output

This section specifies the input and outputs to the wind turbine models. These are used
to compute the input and output matrices. The inputs and outputs are specified following
the outputs convention of HAWC2. An example is:

13
 #1 #2 Parameter Unit Description
1 P_rated kW Rated power.
2 Omega_rated rad/s Rated rotor rotational speed.
1 Kp_partial Prop. gain of partial load PI torque con-
troller.
2 Ki_partial Int. gain of partial load PI torque controller.
3 Kopt_partial K-omega control parameter.
4 3 Kp_full Prop. gain of full load PI pitch controller.
5 4 Ki_full Int. gain of full load PI pitch controller.
6 5 K1_theta Gain scheduling parameter of the full load
PI gains w.r.t. pitch angle.
7 6 K2_theta Gain scheduling parameter of the full load
PI gains w.r.t. pitch angle.
8 7 omega_filt Natural frequency of second order speed fil-
ter.
9 8 csi_filt Damping ratio of second order speed filter.
10 DT_freq Frequency of a band-stop filter to remove
the drivetrain frequencies.
11 9 type Full load generator control type: 1 constant
power, 0 constant torque.
12 10 K0_omega (Optional) Gain scheduling of the full load
PI gains w.r.t. rotor speed.
13 11 K1_omega (Optional) Gain scheduling of the full load
PI gains w.r.t. rotor speed.
14 12 K2_omega (Optional) Gain scheduling of the full load
PI gains w.r.t. rotor speed.

Table 2.1.: Parameters for build-in controller commands.

14
 begin controller ;
begin input ;
constraint bearing1 shaft_rot ;
constraint bearing2 pitch1 collective ;
end input ;
begin output ;
constraint bearing1 shaft_rot 1 only 2 ;
constraint bearing2 pitch1 1 only 1 collective ;
mbdy momentvec tower 1 2 tower ;
end output ;
end controller ;

2.2.6. HAWC2S commands

HAWC2S is the command line version of HAWCStab2. The input file for HAWC2S must
contain all the parts used in the input file for HAWCStab2.
When using HAWC2S, the commands, that are selected through the GUI interface in
HAWCStab2, must be included in the htc file as command lines. These are then executed
as a workflow. The commands have to be inserted in the hawcstab2 section.
For some commands an output file is generated and the file name is derived from the used
htc input file, and which is represented here conceptually as: input_htc_file.ext. The
new output is then converted to the following format: input_htc_file_APPENDIX.NEW_EXT,
where _APPENDIX is used for some of the output commands but not all (see below for more
details), and depends on the analysis executed prior to save command. The file extension
is replaced with an appropriate alternative NEW_EXT for each of the different commands.
The commands available are:
• compute_optimal_pitch_angle use_operational_data
will compute and save to a file the operational data points according to the param-
eters inserted in the operational_data block. The rotor rotational speed is com-
puted according to the user-defined tip-speed-ratio and the minimum and maximum
rotor speeds. The pitch angle at each operational point is computed to maximize
the aerodynamic torque or to guarantee the user-defined rated power value.
• compute_structural_modal_analysis
Parameters:
– bladeonly or nobladeonly to specify if the analysis is for the blade only or for
the whole wind turbine.
– an integer to specify the number of modes.
Results saved to file:
– input_htc_file_Blade_struc.cmb for a structural blade-only analysis.
– input_htc_file_struc.cmb for a structural system analysis

15
 • compute_steady_states - (Sec. 4.1.2)
to compute the steady states from given operational points. The command needs
four parameters
– bladedeform or nobladedeform to specify if blade deformations needs to be
included in the computations.
– tipcorrect or notipcorrect to specify if tip correction needs to be included
in the computations.
– induction or noinduction to specify if induction needs to be included in the
computations.
– gradients or nogradients to specify if gradients needs to be computed. The
gradients are then printed in the .pwr file.
• compute_stability_analysis§ - (Sec. 4.1.3)
Parameters:
– bladeonly or windturbine
– an integer to specify the number of modes.
Results saved to file:
– input_htc_file_Blade.cmb for a blade-only aeroelastic analysis.
– input_htc_file.cmb for a system aeroelastic analysis.
• compute_aeroservoelastic§
Parameters:
– an integer to specify the number of modes.
Results saved to file:
– input_htc_file_Servo.cmb
• save_ol_matrices§ - Writes out the open-loop A,B,C,D matrices to text files.
• save_ol_matrices_full§ - Writes out the M,D,K matrices to text files.
• save_ol_matrices_all§ - Writes out both A,B,C,D and M,D,K matrices to text
files.
• save_cl_matrices_all§ - Writes out the closed-loop A, B, Bv, C, D, Dv, E, F, Fv
matrices to text files.
This command needs the block controller. Beside the specified closed-loop aero-
servo-elastic matrices, additional matrices can be saved by specifying one of the
following additional arguments:
– ctrl_out Saves also the controller matrices, Ac, Bc, Cc, Dc.
– vloc_out Saves also the local wind matrices, Bv loc, Dv loc, Fv loc
– ctrl_vloc_out Saves both the controller matrices and the local wind ones.

16
• compute_controller_input§ (Sec. 4.1.4)
This command needs the block controller. Optional parameter:
– outputfile.txt, defaults to input_htc_file_ctrl_tuning.txt.
• save_power§
Results saved to file: input_htc_file.pwr.
• save_induction§
For each operating point three files are saved, and each operating point contains the
used wind speed as a reference WSP=int(windspeed*1000):
– input_htc_file_uWSP.ind
– input_htc_file_fext_uWSP.ind
– input_htc_file_defl_uWSP.ind
• degrees_of_freedom
Lock different degrees of freedom and select the inflow model. Parameters:
– true or false to specify if the ground fixed substructure is rigid
– true or false to specify if the rotating axial symmetric substructure is rigid
– true or false to specify if the rotating three bladed substructure is rigid
– true or false to set quasi-steady aerodynamic
– frozen, quasi or dynamic to indicate the desired type of inflow.
• save_beam_data
• save_blade_geometry
• save_aero_point_data
• save_profile_coeffs
• save_modal_amplitude
Save modal amplitudes to file: input_htc_file_APPENDIX.amp as follows:
– input_htc_file_Blade_struc.amp for a structural blade-only analysis.
– input_htc_file_struc.amp for a structural system analysis
– input_htc_file_Blade.amp for a blade-only aeroelastic analysis.
– input_htc_file.amp for a system aeroelastic analysis.
– input_htc_file_Servo.amp for an aero-servo-elastic analysis
• save_modal_binary
Save modal results in binary format to file: input_htc_file_APPENDIX.NEW_EXT as
follows:
– input_htc_file_Blade_struc_Modal.hmd for a structural blade-only analysis.
– input_htc_file_struc_Modal.hmd for a structural system analysis

17
 – input_htc_file_Blade_Modal.hsd for a blade-only aeroelastic analysis.

– input_htc_file_Modal.hsd for a system aeroelastic analysis.

– input_htc_file_Servo_Modal.hsd for an aero-servo-elastic analysis

• save_eigenvalues
Save eigenvalues to file: input_htc_file_APPENDIX.dat as follows:

– input_htc_file_Blade_struc.dat for a structural blade-only analysis.

– input_htc_file_struc.dat for a structural system analysis

– input_htc_file_Blade.dat for a blade-only aeroelastic analysis.

– input_htc_file.dat for a system aeroelastic analysis.

– input_htc_file_Servo.dat for an aero-servo-elastic analysis

The commands with the symbol § require the commands compute_steady_states to be

executed first.

2.2.7. Advanced options

Advanced options commands can be entered as HAWC2S commands but will be executed
also with HAWCStab2.

• verbose
This command prints additional information in the log files.

• steady_state_convergence_limits
Modify the convergence criterion for the computation of the operational points and
steady states. The command is followed by a sequence of nine parameters. The
parameters and their default values when the command is not issued are:

1. Absolute tolerance on the 2-norm of the change of induction factors in each

aerodynamic section, default=1e-6

2. Maximum number of BEM iterations in a single aerodynamic section, default=10000

3. Relaxation factor of the BEM iterations (low number is stable but slower),
default=0.02

4. Relative tolerance on the force differences in the inner and outer iteration loops
(see Figure 2.1), default=1e-5

5. Maximum number of iterations in either the inner or outer iteration loop,

default=500

6. Relaxation factor of the increment of the blade deformation, default=0

18
 7. Maximum variation of operating point characteristic in compute optimal op-
eration data (e.g. pitch angle above rated), default=10.0. The variation is
given with respect to the previously computed value, or to zero for the first
point; hence this value should be increased when computing operational data
at a single operating point above rated.

8. Maximum variation of operating point characteristic between stiff computations

and computations with blade deformation in compute optimal operation data.
The default value 5.0 can be decreased for wind turbines that are not very
flexible.

9. Absolute tolerance on pitch angle for the optimal operational point computa-
tions, default=1e-9.

Example:
steady_state_convergence_limits 1e-7 1e4 0.02 1e-6 1e3 0 10.0 5.0 1e-9

Figure 2.1 shows a representation of the iterative process to obtain the nonlinear
steady-states solution. Two loops can be identified: an outer loop where the aero-
dynamic forces are calculated with the BEM and an inner loop where the deflections
are computed for fixed forces. Both loops these use the aeroelastic convergence pa-
rameters (4, 5, and 6). Their absolute tolerances are computed from the relative
tolerance (denoted rel ) as i = o = 150rel So , where So is the blade curve length.

• print_full_precision
Save operational points file with extended precision.

Stop

Compute aerodynamic forces

Is | Faero|< o?
and moment using BEM

Compute external node forces Fext and

Compute aero force change
geometric stiffness matrix Ksf
Faero since last BEM update
from aerodynamic forces and moments

Compute elastic and centrifugal stiffness

matrix K and internal node forces Fint Is |Fext – Fint|< i?
from potential energy stored in elements

Solve (K+Ksf) u = Fext – Fint and

update element positions Compute norm of residuals
and their coordinate systems

Figure 2.1.: Diagram representing the iterative process to obtain the nonlinear steady-
states solution.

19
2.3. Automatic mode sorting

Since version 2.14, HAWCStab2 and HAWC2S have an automatic mode sorting algorithm
that does not require any other input from the user than the number of desired modes.
The modes are the eigensolutions most similar to the structural modes. Thus, the open-
or closed-loop aeroelastic modes sorted out are only the modes that have a mode shape
similar to the structural modes. This algorithm removes eigensolutions dominated by state
variables of the unsteady aerodynamic models or the controller equations. Note that the
user can change the number of modes to be plotted and saved under the menu Plot.

20
3. Output files

This chapter describes some of the output files that can be generated with HAWCStab2.
When saving result files, extensions must be added in the file name. It is an advantage
to use the extensions suggested in the dialog window because the already existing files of
similar format are then filtered out.

3.1. Operational data in .opt

The operational data file is an input/output file. To perform steady-states computations a

set of operational points is required, and these are passed to HAWCStab2 with an .opt file.
This file can be generated by HAWCStab2 with the commands Optimal operational data
plus Save optimal power data. When saved, the file contains five columns, each column
correspond to:

1. Wind speed [m/s]

2. Pitch angle [deg]

3. Rotor speed [rpm]

4. Aerodynamic power [kW]

5. Aerodynamic thrust [kN]

When the file is used as input, it can be arbitrary modified by the user, i.e., any operational
point can be given as an input. Because an operational point is defined uniquely by wind
speed, pitch angle, and rotor speed only the first three columns need to be present in the
file, all the other columns are not read. Special attention need to be paid to the first line of
the file because it contains a number. This number needs to be equivalent to the number
of operational points included in the file.

3.2. Performance data in .pwr

This file is generated with the command save power. In the file each row corresponds
to an operational point and each column refers to a parameter or computed result as
follows:

21
 # Name Description
1 V Wind speed [m/s]
2 P Aerodynamic power [kW]
3 T Aerodynamic thrust [KN]
4 Cp Power coefficient [-]
5 Ct Thrust coefficient [-]
6 Pitch Q Pitch torque [kNm]
7 Flap M Hub root out-of-plane bending moment [kNm]
8 Edge M Hub root in-plane bending moment [kNm]
9 Pitch Pitch angle [deg]
10 Speed Rotor speed [rpm]
11 Tip x In-plane tip position relative to the rotor center [m]
12 Tip y Out-of-plane tip position relative to the rotor center [m]
13 Tip z Radial tip position relative to the rotor center [m]
14 J_rot Rotor inertia [kg m2 ]
15 J_DT Inertia of entire drivetrain including rotor [kg m2 ]
16∗ dQ/dt Wake updated: Aero. torque gain of pitch angle change [kNm/deg]
17∗ dQ/dV Wake updated: Aero. torque gain of wind speed change [kNs]
18∗ dQ/dO Wake updated: Aero. torque gain of rotor speed change [kN-
m/rpm]
19∗ dT/dt Wake updated: Aero. thrust gain of pitch angle change [kN/deg]
20∗ dT/dV Wake updated: Aero. thrust gain of wind speed change [kNs/m]
21∗ dT/dO Wake updated: Aero. thrust gain of rotor speed change [kN/rpm]
22∗ dQ/dt Frozen wake: Aero. torque gain of pitch angle change [kNm/deg]
23∗ dQ/dV Frozen wake: Aero. torque gain of wind speed change [kNs]
24∗ dQ/dO Frozen wake: Aero. torque gain of rotor speed change [kNm/rpm]
25∗ dT/dt Frozen wake: Aero. thrust gain of pitch angle change [kN/deg]
26∗ dT/dV Frozen wake: Aero. thrust gain of wind speed change [kNs/m]
27∗ dT/dO Frozen wake: Aero. thrust gain of rotor speed change [kN/rpm]

The derivatives marked by ∗ are only saved if the option to compute the aerodynamic
gradients is selected in the dialog window of the computation of the steady states. The
gradients are either assuming an instantly updated wake corresponding the gradients on
the CP and CT surfaces, or assuming frozen wake where the induced velocities are kept
constant.

3.3. Spanwise steady-state results in .ind

This file is generated with the command save steady state. One file for each operational
point is saved. The files contain a matrix where each row corresponds to a spanwise
aerodynamic station on the last main body of the rotating threebladed substructure.
The columns are

22
 # Name Description
1 s [m] Curvilinear coordinate
2 A [-] Axial induction factor
3 AP [-] Tangential induction factor
4 PHI0 [rad] Inflow angle in rotor plane coordinates
5 ALPHA0 [rad] Angle of attack
6 U0 [m/s] Relative wind speed
7 FX0 [N/m] Force in rotor plane coordinates (in-plane)
8 FY0 [N/m] Force in rotor plane coordinates (out-of-plane)
9 M0 [Nm/m] Moment in rotor plane coordinates
10 UX0 [m] In-plane deflection of aero. center relative to rotor center
11 UY0 [m] Out-of-plane deflection of aero. center relative to rotor center
12 UZ0 [m] Radial deflection of aero. center relative to rotor center
13 Twist [rad] Static chord twist including pitch
14 X AC0 [m] In-plane position of aero. center relative to rotor center
15 Y AC0 [m] Out-of-plane position of aero. center relative to rotor center
16 Z AC0 [m] Radial position of aero. center relative to rotor center
17 CL0 [-] Lift coefficient
18 CD0 [-] Drag coefficient
19 CM0 [-] Moment coefficient
20 CLp0 [1/rad] Slope of lift coefficient
21 CDp0 [1/rad] Slope of drag coefficient
22 CMp0 [1/rad] Slope of moment coefficient
23 F0 [-] Steady value of the separation function
24 F’[1/rad] Slope of the separation function
25 CL FS0 [-] Lift coefficient of the fully separated lift curve
26 CLFS’[1/rad] Slope of the fully separated lift coefficient
27 V a [m/s] Axial induced velocity
28 V t [m/s] Tangential induced velocity
29 Tors. [rad] Torsional component of chord rotation (here torsional refers to
rotation about the spanwise unit-vector of the chord coordinate
system of the undeformed blade.
20 vx [m/s] Relative inflow in chord reference system (chordwise)
31 vy [m/s] Relative inflow in chord reference system (normal)
32 chord [m] Chord
33 CT [-] Thrust coefficient
34 CP [-] Power coefficent
35 angle [rad] Angle describing together with columns 36–38 the complete rota-
tion of the chord coordinate system from the undeformed blade
36 v1 [-] In-plane vector comp. related to the rotation angle in column 35
37 v2 [-] Out-of-plane vector comp. related to the rot. angle in column 35
38 v3 [-] Radial vector comp. related to the rotation angle in column 35

Additional files with _fext inserted in the file names are also saved with the extension
.ind. These files contain the spanwise distributions of the structural forces and moments
on the last main body of the rotating threebladed substructure. The columns are

23
 # Name Description
1 s [m] Curvilinear coordinate
2 Node [-] Node number (node 1 is the blade flange)
3 Fx e [N] Edgewise force in element coordinates
4 Fy e [N] Flapwise force in element coordinates
5 Fz e [N] Spanwise force in element coordinates
6 Mx e [Nm] Edgewise moment in element coordinates
7 My e [Nm] Flapwise moment in element coordinates
8 Mz e [Nm] Torsional moment in element coordinates
9 Fx r [N] Edgewise force in rotor coordinates
10 Fy r [N] Flapwise force in rotor coordinates
11 Fz r [N] Spanwise force in rotor coordinates
12 Mx r [Nm] Edgewise moment in rotor coordinates
13 My r [Nm] Flapwise moment in rotor coordinates
14 Mz r [Nm] Torsional moment in rotor coordinates

Additional files with _defl_u inserted in the file names are also saved with the extension
.ind. These files contain the spanwise distributions of the nodal positions and deformations
of the elements on the last main body of the rotating threebladed substructure. The
columns are

24
 # Name Description
1 s [m] Curvilinear coordinate
2 Element no [-] Element number
3 pos xR [m] In-plane position of element origo relative to the blade flange
(origo)
4 pos yR [m] Out-of-plane position of element origo relative to the blade
flange (origo)
5 pos zR [m] Radial position of element origo relative to the blade flange
(origo)
6 Elem angle [rad] Angle describing together with columns 7–9 the complete ro-
tation of the element coordinate system from the undeformed
blade
7 Elem v 1 [-] In-plane vector comp. related to the rotation angle in column
6
8 Elem v 2 [-] Out-of-plane vector comp. related to the rot. angle in column
6
9 Elem v 3 [-] Radial vector comp. related to the rotation angle in column 6
10 Node 1 angle [rad] Angle describing together with columns 11–13 the complete
rotation of the first element node relative to the element coor-
dinate system
11 Node 1 v 1 [-] In-plane vector comp. related to the rotation angle in column
10
12 Node 1 v 2 [-] Out-of-plane vector comp. related to the rot. angle in column
10
13 Node 1 v 3 [-] Radial vector comp. related to the rotation angle in column 10
14 Node 2 angle [rad] Angle describing together with columns 15–17 the complete
rotation of the second element node relative to the element
coordinate system
15 Node 2 v 1 [-] In-plane vector comp. related to the rotation angle in column
14
16 Node 2 v 2 [-] Out-of-plane vector comp. related to the rot. angle in column
14
17 Node 2 v 3 [-] Radial vector comp. related to the rotation angle in column 14
18 Elongation [m] Elongation of the element

3.4. Frequencies and damping ratios in .cmb

The files with these extensions can contain results form eigenvalues analysis. Depending
on what the user selects these results can be from structural analysis, open-loop analysis,
and closed-loop analysis. In the file each line refers to an operational point.

For the structural eigenanalysis there are 1+2N columns, where N refers to the num-
ber of modes. The first column refers to the wind speed, the following N columns re-
fer to the damped frequencies of the modes and the last N columns refer to the re-
spective damping. Hence if the user selects to compute 15 modes, with the command

25
aeroelastic modal analysis, and then saves the file, with the command save frequencies and dampin
the file will contain 31 columns.
In case of an aero- or aeroservo-elastic analysis, an additional N columns are added (after
the 1+2N columns for frequencies and damping) referring to the real part of the eigenvalue
of each respective mode. As a result, the output file will now contain 1+3N columns.

3.5. System matrices

When saving the system matrices the following files are generated, depending on the
command selected.

3.5.1. Structural matrices

• tm_mat Structural mass matrix.

• tc_mat Damping matrix.
• tk_mat Stiffness matrix.
• phi_mat Transformation matrix to reduce the system.
• vtmtotv Reduced structural mass matrix.
• vtctotv Reduced structural damping matrix.
• vtktotv Reduced structural stiffness matrix.

3.5.2. Open-loop matrices

Corresponding to the state and output equation:


ẋ = Ax + Bu + BV w
(3.1)
y = Cx + Du + DV w

• amat Open-loop A matrix.

• bmat Open-loop B matrix, input from the controller.
• cmat Open-loop C matrix.
• dmat Open-loop D matrix, input from the controller.
• bvmat Open-loop B matrix, input from uniform wind in three components, collective,
cosine, and sine.
• dvmat Open-loop D matrix, input from uniform wind.
• bvmat_loc_v Open-loop B matrix, input from wind at each aerodynamic section
along the blade in three components, collective, cosine, and sine.

26
• dvmat_loc_v Open-loop D matrix, input from wind at each aerodynamic section
along the blade in three components, collective, cosine, and sine.
• gmat
• gvmat
• gvmat_loc_v

3.5.3. Closed-loop matrices

Corresponding to the state and output equation:


 ẋ = Ax + Bupert + BV w
T
y = zctrl , uTctrl
 T
= Cx + Dupert + DV w (3.2)

zall = Ex + F upert + FV w

• amat_ase Closed-loop A matrix.

• bmat_ase Closed-loop B matrix, from perturbation on the input signals, for all the
inputs specified, either used by the controller or not.
• cmat_ase Closed-loop C matrix. From aero-servo-elastic states to y output, which
includes the outputs used by the controller, and the input signals returned by the
closed-loop controller uctrl .
• dmat_ase Closed-loop D matrix, input from the controller.
• bvmat_ase Closed-loop B matrix, input from uniform wind in three components,
collective, cosine, and sine.
• dvmat_ase Closed-loop D matrix, input from uniform wind.
• bvmat_loc_v_ase Closed-loop B matrix, input from wind at each aerodynamic sec-
tion along the blade in three components, collective, cosine, and sine.
• dvmat_loc_v_ase Closed-loop D matrix, input from wind at each aerodynamic sec-
tion along the blade in three components, collective, cosine, and sine.
• emat_ase Closed-loop E matrix. From aero-servo-elastic states to all outputs.
• fmat_ase Closed-loop F matrix. Direct term from perturbation input to all outputs.
• fvmat_ase Closed-loop Fv matrix. Direct term from wind input to all outputs.
Wind in three components: collective, cosine, and sine.
• fvmat_loc_v_ase Closed-loop Fv matrix. Direct term from local wind input to all
outputs. Wind input for each aerodynamic section along the blade, in the three
components: collective, cosine, and sine.

27
4. Examples

In this chapter a few examples on how to use the program are shown.

4.1. Examples with the GUI: HAWCStab2.exe

In this section a small example on how to use HS2 is shown.

Assuming that no prior calculations are performed, the first thing to calculate is opera-
tional points for different wind speeds. When opening the desired htc file under

File->Open HAWC2 model file...

HS2 will produce an error because the operational data filename file does not exist. This
should be ignored by pressing ok on the error dialog box.

4.1.1. Calculating operational points

Normal operation

The first step is to create the operational data filename. This is done under

Computation->Optimal operational data

A dialogue box will appear where the user is required to fill various information. If the
htc file contains the following

begin operational_data ;
windspeed 4.0 25.0 22 ; cut-in [m/s], cut-out [m/s], points [-]
genspeed 300.0 480.0 ; gen. speed. min. [rpm], gen. speed. max. [rpm]
gearratio 50.0 ; [-]
minpitch 0.0 ; [deg.]
opt_lambda 7.5 ; [-]
maxpow 10638.3 ; [kW]
prvs_turbine 1 ; [-] 0 Fixed pitch, 1 PRVS, 2 SRVS
include_torsiondeform 1 ; [-]
end operational_data ;

28
then the default values in the dialogue box are replaced by the values given by the htc
file.
Once the computations have been performed the user should save the computed data.
This is done under
File->Save optimal power data
The saved data file should be named to match the file name specified by operational data filename.
The Gnuplot code found in Listings A.1 has been used to generate Fig. 4.1.

25
Pitch angle
Pitch angle [deg] and aero. power [MW]

Aero. power

20

15

10

5 10 15 20 25
Wind speed [m/s]

Figure 4.1.: Steady state power and pitch angle values.

Run away operation

For run away stability analysis the operating points are typically calculated for pitch angles
of 0 degrees and no generator torque, i.e. max power equal to 0 kW. Furthermore, fixed
pitch is selected in the dialog box. The wind speed range being examined is typically
from e.g. 8 to 12 m/s with e.g. 9 points. Once these operating points have been found a
stability analysis can be performed for the specific operating conditions.

begin operational_data ;
windspeed 8.0 12.0 9 ; cut-in [m/s], cut-out [m/s], points [-]
genspeed 300.0 480.0 ; gen. speed. min. [rpm], gen. speed. max. [rpm]
gearratio 50.0 ; [-]
minpitch 0.0 ; [deg.]
opt_lambda 7.5 ; [-]
maxpow 0.0 ; [kW]
prvs_turbine 0 ; [-] 0 Fixed pitch, 1 PRVS, 2 SRVS
include_torsiondeform 1 ; [-]
end operational_data ;

29
4.1.2. Calculating steady state and induction

First ensure that the steps found in Sec. 4.1.1 have been performed. Then

Compute->Steady state and induction

should be chosen. Afterwards further analysis can be performed.

Using

File->Save power...

to produce def.pwr provides steady state value for power, pitch angle, blade tip deflections
etc. The Gnuplot code found in Listings A.2 has been used to generate Fig. 4.2, where
flapwise and edgewise tip deflections are shown.

6
5 Flapwise
Blade tip deflection [m]

Edgewise
4
3
2
1
0
-1
-2
-3
5 10 15 20 25
Wind speed [m/s]

Figure 4.2.: Steady state blade tip deflections.

Using

File->Save steady state...

to produce multiple files opt u*.ind, preferably in a dedicated folder, for various wind
speeds provide an extended number of steady state values. The Gnuplot code found in
Listings A.3 has been used to generate Fig. 4.3, where the torsion of the blade along the
blade span for various wind speed is seen. Steady state pitch values has been added to
the total torsion of the blade to get the shown plots.
Local blade torsion [deg]

0.5
0
-0.5 5 m/s
-1 10 m/s
15 m/s
-1.5 20 m/s
25 m/s
-2
0 10 20 30 40 50 60 70 80 90
Blade curve coord. [m]

Figure 4.3.: Steady state blade torsion.

30
4.1.3. Performing open-loop aeroelastic modal analysis

First, ensure that the steps found in Sec. 4.1.2 have been performed.

Selecting

Compute->Structural modal analysis->Entire turbine

will compute the structural modes. This calculation is required to perform the

Compute->Aeroelastic modal analysis->Entire turbine

The sort the modes, the following values was used: (0.01,0.30,0.50Hz,0.1,8,sort after mode
shapes)

Results obtained from the analysis can be saved under

File->Save modal amplitudes

as e.g. turbine ae.cmb.

The Gnuplot code found in Listings A.4 and A.5 has been used to generate Fig. 4.4.

1.2 100
Damping ratio [%]

80
1

60 B.W. flap
Sym. flap
Modal frequencies [Hz]

F.W. flap
0.8
40
5 10 15 20 25

0.6 12
Lat. twr
Long. twr 10
Damping ratio [%]

B.W. flap
DT tors. 8
Sym. flap Lat. twr
F.W. flap 6 Long. twr
0.4 DT tors.
B.W. edge
F.W. edge 4 B.W. edge
F.W. edge
2
0.2 0
5 10 15 20 25 5 10 15 20 25
Wind speed [m/s] Wind speed [m/s]

Figure 4.4.: Open-loop modal frequencies and damping ratios.

31
4.1.4. Tuning of PI controller

Selecting

Compute->Tune pitch controller by DTU Wind Energy

A dialogue box will appear where the user is required to fill various information. If the
htc file contains the following

begin controller_tuning ;
partial_load 0.05 0.7; fn [hz], zeta [-]
full_load 0.06 0.7 ; fn [hz], zeta [-]
gain_scheduling 1 ; 1 linear, 2 quadratic
constant_power 1 ; 0 constant torque, 1 constant power
end controller_tuning ;

then the default values in the dialogue box are replaced by the values given by the htc
file.

The computations produces controller input.txt, which can be used with the Basic DTU
Wind Energy controller [6].

4.1.5. Performing closed-loop aeroelastic modal analysis

To perform a closed-loop analysis several approaches can be used. The first approach is
to use one of the two built-in hard coded PI controllers

• basic_dtu_we_controller (# 1)

• pi_pitch_controller (# 2)

where the first can handle full range operation and the second can only handle above rated
operation. A description of the parameters is found in Table 2.1, the first two columns in
table describe the parameter number for the two controller commands, respectively. Many
of the parameters can be calculated by the controller tuning described in Sec. 4.1.4. An
example:

pi_pitch_controller 5200 1.2671 0.771100 0.319309 102.68665 754.18745

... 0.6 0.7 1;

basic_dtu_we_controller 0.19297E+08 0.43304E+07 0.21E+07 1.36516

...0.669945 11.63317 553.75769 0.6 0.7 1.622 0 ;

Furthermore, the following should be included

32
 begin controller ;
begin input ;
constraint bearing1 shaft_rot ;
constraint bearing2 pitch1 collective ;
constraint bearing2 pitch1 cosine ;
constraint bearing2 pitch1 sine ;
end input ;
begin output ;
constraint bearing1 shaft_rot 1 only 2 ; 1
constraint bearing2 pitch1 1 only 1 collective ; 2
constraint bearing2 pitch1 1 only 1 cosine ; 3
constraint bearing2 pitch1 1 only 1 sine ; 4
end output ;
end controller ;

The inputs are defining how the wind turbine is controlled. The outputs are defining
which sensors the controller is using. The cosine and sine pitch actuators/sensors can be
used by an individual pitch controller in the Coleman coordinates.
Additional outputs can be added to the output vector. Those will not be used to close the
loop with the controller but they can be used to examine e.g. their transfer functions.

33
4.2. Examples with the command line program: HS2pid.exe

This program is free but has reduced functionality. Its sole purpose is to provide tuning
parameters for a PI controller for the wind turbine. The program is hard coded with blade
torsion disabled. If blade torsion is to be included in the analysis HAWC2S.exe is to be
used instead.
Procedure for using HS2pid.exe to tune the Basic DTU Wind Energy controller [6].
• The operational parameters should be added to the htc file (sec. 4.1.1).
• The controller data parameters should be added to the htc file (sec. 4.1.4).
• Execute ”HS2pid.exe xxx.htc” in a MS-DOS command prompt.
• Use the calculated values from controller input.txt to tune the controller in the htc
file.
The closed loop frequencies should be below the first tower mode. Thus for a floating
wind turbine, very low frequencies has to be selected.

34
5. Keyboard shortcuts

Keys Action
Shift + x Rotation about tilt axis
Shift + y Rotation about yaw axis
Shift + s Zoom out
Shift + w Zoom in
Arrow up Move turbine up (only in turbine view)
Arrow down Move turbine down (only in turbine view)
Shift + h Recenter the view
Shift + b Toggle between blade turbine views
Shift + v Transparent view
Shift + n Toggle drawing of nacelle
Shift + a Decrease amplitude of modal vibration
Shift + q Increase amplitude of modal vibration
Shift + f Animate forces due to vibration
Shift + k Decrease speed of modal vibration
Shift + i Increase speed of modal vibration
Shift + c Draw aerodyn. choord. sys.
Shift + e Draw struct. choord. sys.

35
Appendix A.

GnuPlot files

Listing A.1: Gnuplot commands used to power and pitch figure.

reset
s e t term p o s t e p s s o l i mono 12
set out ’ p o w e r a n d p i t c h . eps
s e t key at 15 ,25
set size 0.5 ,0.6
set xr [ 4 : 2 5 ]
set yr [ −3:26]
s e t f o r m a t y ’%3g ’
s e t x l a b e l ’ Wind s p e e d [m/ s ] ’
s e t y l a b e l ’ P i t c h a n g l e [ deg ] and a e r o . power [MW] ’
p l o t ’ o p e r a t i o n a l d a t a . opt ’ us 1 : 2 t ’ P i t c h a n g l e ’ w l p pt 7 l t 7 , \
’ o p e r a t i o n a l d a t a . o p t ’ u s 1 : ( $4 ∗1 e −3) t ’ Aero . power ’ w l p p t 6 l t 7
s e t term wxt
s e t out

Listing A.2: Gnuplot commands used to deflection figure.

reset
s e t term p o s t e p s s o l i mono 12
set out ’ d e f l e c . eps
s e t key r i g h t
set size 0.4 ,0.4
set xr [ 3 : 2 5 ]
#s e t y r [ 0 : 1 1 ]
s e t f o r m a t y ’%3g ’
s e t x l a b e l ’ Wind s p e e d [m/ s ] ’
s e t y l a b e l ’ B l a d e t i p d e f l e c t i o n [m] ’
p l o t ’ d e f . pwr ’ u s 1 : ( $12 +3.766) t ’ F l a p w i s e ’ w l p p t 7 l t 7 , \
’ d e f . pwr ’ u s 1 : ( $11 ) t ’ E d g e w i s e ’ w l p p t 5 l t 7
s e t term wxt
s e t out

Listing A.3: Gnuplot commands used to power and pitch figure.

reset
s e t term p o s t e p s s o l i mono 12
set out ’ t o r s i o n . eps ’
s e t key l e f t bottom
set size 0.4 ,0.32
set xr [ 0 : 9 0 ]
#s e t y r [ − 1 . 5 : 2 ]
s e t format y ’%3g ’
s e t x l a b e l ’ B l a d e c u r v e c o o r d . [m] ’

36
s e t y l a b e l ’ L o c a l b l a d e t o r s i o n [ deg ] ’
p l o t ’ o p t u 5 0 0 0 . i n d ’ u s 1 : ( $29 ∗180/ p i +0.2477776000E+01) t ’ 5 m/ s ’ w l p p t 1
lt 7, \
’ o p t u 1 0 0 0 0 . i n d ’ u s 1 : ( $29 ∗180/ p i +0.4800000000E−04) t ’ 10 m/ s ’ w l p p t
2 lt 7, \
’ o p t u 1 5 0 0 0 . i n d ’ u s 1 : ( $29 ∗180/ p i +0.1074508600E+02) t ’ 15 m/ s ’ w l p p t
3 lt 7, \
’ o p t u 2 0 0 0 0 . i n d ’ u s 1 : ( $29 ∗180/ p i +0.1713331300E+02) t ’ 20 m/ s ’ w l p p t
4 lt 7, \
’ o p t u 2 5 0 0 0 . i n d ’ u s 1 : ( $29 ∗180/ p i +0.2234911500E+02) t ’ 25 m/ s ’ w l p p t
5 lt 7
s e t term wxt
set out

Listing A.4: Gnuplot commands used to generate modal frequencies figure.

reset
s e t term p o s t e p s s o l i mono 12
set out ’ t u r b i n e f r q . eps ’
s e t key a t 2 4 , 0 . 6
set size 0.4 ,0.8
set xr [ 4 : 2 5 ]
set yr [ 0 . 2 : 1 . 2 ]
s e t format y ’%3g ’
s e t x l a b e l ’ Wind s p e e d [m/ s ] ’
s e t y l a b e l ’ Modal f r e q u e n c i e s [ Hz ] ’
p l o t ’ t u r b i n e a e . cmb ’ u s 1 : 2 t ’ L a t . t w r ’ w l p p t 1 l t 7 , \
’ t u r b i n e a e . cmb ’ u s 1 : 3 t ’ Long . t w r ’ w l p p t 2 l t 7 , \
’ t u r b i n e a e . cmb ’ u s 1 : 4 t ’B .W. f l a p ’ w l p p t 3 l t 7 , \
’ t u r b i n e a e . cmb ’ u s 1 : 5 t ’DT t o r s . ’ w l p p t 4 l t 7 , \
’ t u r b i n e a e . cmb ’ u s 1 : 6 t ’ Sym . f l a p ’ w l p p t 5 l t 7 , \
’ t u r b i n e a e . cmb ’ u s 1 : 7 t ’ F .W. f l a p ’ w l p p t 6 l t 7 , \
’ t u r b i n e a e . cmb ’ u s 1 : 8 t ’B .W. e d g e ’ w l p p t 7 l t 7 , \
’ t u r b i n e a e . cmb ’ u s 1 : 9 t ’ F .W. e d g e ’ w l p p t 8 l t 7
s e t term wxt
set out

Listing A.5: Gnuplot commands used to generate modal damping ratios figure.
reset
s e t term p o s t e p s s o l i mono 12
set out ’ turbine dmp . eps ’
set xr [ 4 : 2 5 ]
set m u l t i p l o t
set size 0.4 ,0.39
set o r i g 0 ,0.42
s e t format x ’%g ’
s e t format y ’ %3.0 f ’
set xlabel ’ ’
set yr [40:100]
set y t i c s 40 ,20 ,100
s e t y l a b e l ’ Damping r a t i o [%] ’
s e t key a t 2 4 , 6 0
p l o t ’ t u r b i n e a e . cmb ’ u s 1 : 1 2 t ’B .W. f l a p ’ w l p p t 3 l t 7 , \
’ t u r b i n e a e . cmb ’ u s 1 : 1 4 t ’ Sym . f l a p ’ w l p p t 5 l t 7 , \
’ t u r b i n e a e . cmb ’ u s 1 : 1 5 t ’ F .W. f l a p ’ w l p p t 6 l t 7
set size 0.4 ,0.39

37
set o r i g 0 ,0
s e t format x ’%g ’
s e t format y ’ %3.0 f ’
s e t x l a b e l ’ Wind s p e e d [m/ s ] ’
s e t y l a b e l ’ Damping r a t i o [%] ’
s e t key a t 2 4 , 8
set y t i c s 0 ,2 ,12
set yr [ 0 : 1 2 ]
p l o t ’ t u r b i n e a e . cmb ’ u s 1 : 1 0 t ’ Lat . twr ’ w l p pt 1 l t 7, \
’ t u r b i n e a e . cmb ’ u s 1 : 1 1 t ’ Long . t w r ’ w l p pt 2 l t 7, \
’ t u r b i n e a e . cmb ’ u s 1 : 1 3 t ’DT t o r s . ’ w l p pt 4 l t 7, \
’ t u r b i n e a e . cmb ’ u s 1 : 1 6 t ’B .W. e d g e ’ w l p pt 7 l t 7, \
’ t u r b i n e a e . cmb ’ u s 1 : 1 7 t ’ F .W. e d g e ’ w l p pt 8 l t 7
unset multiplot
s e t term wxt
set out

38
Bibliography
[1] Hansen MH. Aeroelastic stability analysis of wind turbines using an eigenvalue ap-
proach. Wind Energy 2004; 7(2):133–143, doi:10.1002/we.116.

[2] Hansen MH. Aeroelastic properties of backward swept blades. 49th AIAA Aerospace
Sciences Meeting including the New Horizons Forum and Aerospace Exposition. Amer-
ican Institute of Aeronautics and Astronautics, 2011, doi:10.2514/6.2011-260.

[3] Sønderby I, Hansen MH. Open-loop frequency response analysis of a wind turbine
using a high-order linear aeroelastic model. Wind Energy 2014; 17: 1147–1167, doi:
10.1002/we.1624.

[4] Larsen TJ, Hansen MA. How 2 HAWC2, the user’s manual. Technical Report Risø-
R-1597(ver. 3-1)(EN), Risø National Laboratory, 2007. www.hawc2.dk

[5] Hansen MH. Anisotropic damping of Timoshenko beam elements. Technical Report
Risø–R–1267(EN), Risø National Laboratory, Denmark, 2001.

[6] Hansen MH, Henriksen LC. Basic DTU Wind Energy controller. Technical Report
E-0028, DTU Wind Energy, 2013.

[7] Tibaldi C, Henriksen LC, Hansen MH, Bak C. Effects of gain-scheduling methods
in a classical wind turbine controller on wind turbine aero-servo-elastic modes and
loads. 32nd ASME Wind Energy Symposium. American Institute of Aeronautics and
Astronautics, 2014, doi:10.2514/6.2014-0873.

39