Fix Docs and Minimum Rotor/Generator Speed (NREL#83)

* Combine ROSCO and the ROSCO_toolbox (NREL#54) (NREL#78) * Add peak shaving back to UMaine Semi example * create lin_util * move helper functions to lin _util * Revert controller to develop: TSR_at_minspeed * add survey * add survey * typo fix * Update headers * fix bullets * make uppercase * Update turbine.py (NREL#56) * Update turbine.py This add several lines for fixing the problem of repeated maximum values in the performance tables. This will cause the error (' the length of x and y is different.') of 'interpolate.interp1d.' * Add comments and catch when there are multiple optimal pitch angles Co-authored-by: dzalkind <dzalkind@nrel.gov> * increment version * Update for OpenFAST v3.0.0 * Update for OpenFAST v3.0.0 * Install OF3.0.0 for tests * update for OF v3.0.0 * add publish to pypi on release * Update to ROSCO v2.3.0 * Update Testing (NREL#58) * Update scripts to run on eagle * Update IEA-15MW semi example: use peak shaving w/ ps_percen=0.8 * Add comparison plots to testing scripts * Update submit script for testing * Update for latest eagle runs * Add future to install dependencies * add TMax to self, define tmin in print_results * run tests in CI * generic ROSCO path * default to overwrite * fix path * import platform * separate run_testing * cleanup, specify lite test * don't run testing in after examples, oops. Co-authored-by: nikhar-abbas <40865984+nikhar-abbas@users.noreply.github.com> Co-authored-by: Nikhar Abbas <nikhar.abbas@colorado.edu> * increment version * Update for OpenFAST v3.0.0 * Install OF3.0.0 for tests * update for OF v3.0.0 * add publish to pypi on release * Update to ROSCO v2.3.0 * Increment Version, OF3.0 (NREL#57) * increment version * Update for OpenFAST v3.0.0 * Install OF3.0.0 for tests * update for OF v3.0.0 * add publish to pypi on release * Update to ROSCO v2.3.0 * increment version * Update for OpenFAST v3.0.0 * Install OF3.0.0 for tests * update for OF v3.0.0 * add publish to pypi on release * Update to ROSCO v2.3.0 * add ROSCO without submodule * move ROSCO source to ROSCO folder * Move cmake-related files to ROSCO * Add back pesky ErrVar * Remove parameters_files * Merge ROSCO and _toolbox gitignore * Fix .gitignore * Remove Examples/DISCON.IN from git * Fix and point example_01 to Tune_Cases/ * Update verbiage around using ofTools vs. weis * Fix and point example_04 to Tune_Cases/ * Clean up example_06 * Clean up example_07 * Only check FlpCornerFreq if using Flp control, fixes example 05 * Make example_04 consistent with others * Let example_05 run independently from 04 * Clean up example_05, wind files * Add schema and update empty tuning yaml inputs, not connected yet * Integrate schema into turbine, controller, and examples * Only check Fl filter parameters if Fl_Mode > 0, fix example_05 * bump version to 2.3 * Compile ROSCO from ROSCO dir * Rename to CI_rosco * Add omega vs. windspeed functionality * Fix tests: 5MW U_pc and 06 example dir * Make _Toolbox vs_minspeed in rotor frame to match ROSCO * Revert ServoDyn change * change rotor speed constraint to be epsilon * rename for clarity * docs major refresh * fix FA_AccF units in debug file * docs that build locally * Deallocate arrays in ROSCO, check in example_05 * Clean up comments * remove gitmodules * furo theme * furo in requirements * move readthedocs config file, remove furo import in conf.py * add docs requirements file * typo * move index out of source folder * trying to get furo to work * import date * fix versions and titles, cleanup readthedocs requirements * typo fix, remove extras * more cleanup * bump version * no furo extension, "hack" to load RT version * proper toctree paths * specify method * add mock modules * fix typos * update python install requirements * running locally * move index to main docs dir again * update to build locally * error during warnings * automated version * cleanup * remove old docs * re-add docs * simplify * fix figure path * try alabaster * remove archived docs * Add omega vs. windspeed functionality * Fix tests: 5MW U_pc and 06 example dir * more detailed sp.optimize settings * run MBC3 in parallel * restructure driver, run initialization doe for tuning * Try new dlclose function * Update example_05 to run simple simulation twice and check result * Revert deallocation stuff * Close discon library after every sim run * Test examples on macOS and windows * Run examples instead of testing on other platforms * Skip examples in windows for now * update paths and yaml load funciton * Skip mac testing of examples * provide default U_pc for single omega/zeta case * allow for float or list-like pc tuning inputs * Change name in setup.py * WE_Vw unit fix * cleeanup for improved stability * check for doe_logs as string in load_DOE * major restructure for rsched_driver class * cleanup verbosity * run serial by default * load_parallel as linturb_option * specific IEA15MW yaml for multi omega * remove unused module imports * fix error message types * lin_file as input * add comments on inputs to LinearTurbineModel init method * remove relative file paths * provide OpenFAST linearizations for IEA15MW UMaineSemi * put plotting in specific function * fix WE_lambda units * add self in on a few necessary variables * creaete example 12 for robust scheduling * try a few mbc3 locations for import * allow list-like or numpy arrays for omega_pc and zeta_pc schedules * create and use recorder setup function * Pass Through Kp_float (NREL#57) * Pass through kp_float, if desired * Minor fixes: schema error and InputReader defaults * fix setup_recorder to work for optimization driver too * cleanup om problems, update om0 calc * doe levels as input * negative k_float to account for OF conventions * cleanup print statements * variable name cleanup, use calculated k_float * Add defaults to omega_,zeta_ pc and vs, allow to be numbers * use standard tuning k_float as IC * formatting update * update problem setup methods * cleanup add_dv, enable adding design variables after problem is setup * change optimization step size * more setup restructure * update verbosity * use sphinx-rtd-theme * master doc and sphinx rtd theme * index back to root folder * only ignore install folders * remove hidden toctree * furo theme * update paths * convert rt version to string * update sphinx settings * move conf * furo theme * Mostly a docs update (NREL#61) * rename for clarity * docs major refresh * fix FA_AccF units in debug file * docs that build locally * remove gitmodules * furo theme * furo in requirements * move readthedocs config file, remove furo import in conf.py * add docs requirements file * typo * move index out of source folder * trying to get furo to work * import date * fix versions and titles, cleanup readthedocs requirements * typo fix, remove extras * more cleanup * bump version * no furo extension, "hack" to load RT version * proper toctree paths * specify method * add mock modules * fix typos * update python install requirements * running locally * move index to main docs dir again * update to build locally * error during warnings * automated version * cleanup * remove old docs * re-add docs * simplify * fix figure path * try alabaster * remove archived docs * use sphinx-rtd-theme * master doc and sphinx rtd theme * index back to root folder * only ignore install folders * remove hidden toctree * furo theme * update paths * convert rt version to string * update sphinx settings * move conf * furo theme * Pass through Kp_float = 0 (NREL#59) * Pass through kp_float, if desired * Minor fixes: schema error and InputReader defaults * Allow pass through of Kp_float = 0 * Add flp parameters to schema * Change Fl_Mode default to 0 * Add defaults to omega_,zeta_ pc and vs, allow to be numbers * Allow single pitch tuning values in code, default U_pc to 0 * use nac acceleration for floating feedback * Fix TSR saturation for region 2.5operation * Modify system for constant power operation * Only modify pole for constant power above-rated * Remove GenEff from K calc * Update tuning, use constant power * use load_rosco_yaml * constant power * Fix broken tests * Include Fl_Mode=2 for nacelle pitching feedback * Versioning (NREL#65) * use sphinx-rtd-theme * master doc and sphinx rtd theme * index back to root folder * only ignore install folders * remove hidden toctree * furo theme * update paths * convert rt version to string * update sphinx settings * move conf * furo theme * remove git versioning from cmake * use hard coded rosco_version * update intro write method * set nowrap for intel compilers * update install instructions * Catch nans in ROSCO at end of WSE * fix conda install typo * cleanup docs * Rename DEBUG2.dbg to RootName.dbg2 * Fix Fl_Mode == 2 * Fix Fl_Mode == 2 again * Allow Fl_Mode = 2 in ROSCO * Set notch and check frequencies when Fl_Mode = 1 (fixes bug) * Update robust scheduling methods * Fail fast when not using custom build_extension * Add a Windows install step with FC var set * Force using MinGW for Windows build * Use FC environment variable for all systems * Portable option for setting the CMake generator * Remove unused input to setup function * Fix notch types allowed * Add VS_ControlMode of 3 to DISCON comment * Allow PS_Mode of 2 and 3 to work in ROSCO as if PS_Mode = 1 * Format and clean up ROSCO * cleanup checks for lengths of pitch controller tuning inputs * restructure for WEIS, cleanup nearest nyquist calculation methods * update example for restructure * specify VS_ControlMode=3 option * Update links, add issues and discussions, cleanup * Fix plotting typo * Update and cleanup docs for recent changes * bump version numbers to 2.4.0 * updates for more consistent convergence to minimum nyquist * list_check tuning inputs * change initial condition to om0=0.1 * delete unuses modules * list_check controller params without return_bool * More oneROSCO2 updates, primarily housekeeping (NREL#76) * cleanup checks for lengths of pitch controller tuning inputs * restructure for WEIS, cleanup nearest nyquist calculation methods * update example for restructure * specify VS_ControlMode=3 option * Update links, add issues and discussions, cleanup * Fix plotting typo * Update and cleanup docs for recent changes * bump version numbers to 2.4.0 * updates for more consistent convergence to minimum nyquist * list_check tuning inputs * change initial condition to om0=0.1 * delete unuses modules * list_check controller params without return_bool * Align y labels * indentation fixes * minor restructure * change to code-block commands * add spaces * remove space * more spacing fixes * use code-block command throughout * add cmake to requirements * make figure svg instead of png * Update and cleanup, especially install instructions * Update titles * delete old instructions * change header type * minor hyperlink update * include build directories in gitignore Co-authored-by: Nikhar Abbas <nikhar.abbas@colorado.edu> Co-authored-by: Xianping Du <38188001+Seager1989@users.noreply.github.com> Co-authored-by: nikhar-abbas <40865984+nikhar-abbas@users.noreply.github.com> Co-authored-by: Rafael M Mudafort <rafmudaf@gmail.com> Co-authored-by: Nikhar Abbas <nikhar.abbas@colorado.edu> Co-authored-by: Xianping Du <38188001+Seager1989@users.noreply.github.com> Co-authored-by: nikhar-abbas <40865984+nikhar-abbas@users.noreply.github.com> Co-authored-by: Rafael M Mudafort <rafmudaf@gmail.com> * Fix docs link and gearbox issue for minimum rotor/generator speed * add package data * setup.py install instead of develop for examples * cleanup tuning yaml files Co-authored-by: nikhar-abbas <40865984+nikhar-abbas@users.noreply.github.com> Co-authored-by: Nikhar Abbas <nikhar.abbas@colorado.edu> Co-authored-by: Xianping Du <38188001+Seager1989@users.noreply.github.com> Co-authored-by: Rafael M Mudafort <rafmudaf@gmail.com>
Ben-Mertz · Nov 10, 2021 · 277b637 · 277b637
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diff --git a/.github/workflows/CI_rosco-pytools.yml b/.github/workflows/CI_rosco-pytools.yml
@@ -98,7 +98,7 @@ jobs:
       # Install ROSCO toolbox
       - name: Install ROSCO toolbox
         run: |
-          python setup.py develop --compile-rosco
+          python setup.py install --compile-rosco
           
       # Install OpenFAST
       - name: Install OpenFAST

diff --git a/ROSCO_toolbox/utilities.py b/ROSCO_toolbox/utilities.py
@@ -110,8 +110,8 @@ def write_DISCON(turbine, controller, param_file='DISCON.IN', txt_filename='Cp_C
     file.write('{:<014.5f}      ! VS_ArSatTq		- Above rated generator torque PI control saturation, [Nm]\n'.format(turbine.rated_torque))
     file.write('{:<014.5f}      ! VS_MaxRat			- Maximum torque rate (in absolute value) in torque controller, [Nm/s].\n'.format(turbine.max_torque_rate))
     file.write('{:<014.5f}      ! VS_MaxTq			- Maximum generator torque in Region 3 (HSS side), [Nm].\n'.format(turbine.max_torque))
-    file.write('{:<014.5f}      ! VS_MinTq			- Minimum generator (HSS side), [Nm].\n'.format(0.0))
-    file.write('{:<014.5f}      ! VS_MinOMSpd		- Optimal mode minimum speed, cut-in speed towards optimal mode gain path, [rad/s]\n'.format(controller.vs_minspd))
+    file.write('{:<014.5f}      ! VS_MinTq			- Minimum generator torque (HSS side), [Nm].\n'.format(0.0))
+    file.write('{:<014.5f}      ! VS_MinOMSpd		- Minimum generator speed [rad/s]\n'.format(controller.vs_minspd  * turbine.Ng))
     file.write('{:<014.5f}      ! VS_Rgn2K			- Generator torque constant in Region 2 (HSS side), [Nm/(rad/s)^2]\n'.format(controller.vs_rgn2K))
     file.write('{:<014.5f}      ! VS_RtPwr			- Wind turbine rated power [W]\n'.format(turbine.rated_power))
     file.write('{:<014.5f}      ! VS_RtTq			- Rated torque, [Nm].\n'.format(turbine.rated_torque))

diff --git a/Tune_Cases/BAR.yaml b/Tune_Cases/BAR.yaml
@@ -19,12 +19,7 @@ turbine_params:
   max_torque_rate:    4500000.                # Maximum torque rate [Nm/s], {~1/4 VS_RtTq/s}
   rated_power:        5000000.                # Rated Power [W]
   bld_edgewise_freq:  3.27082                 # Blade edgewise first natural frequency [rad/s]
-  bld_flapwise_freq:  2.61601                 # Blade flapwise first natural frequency [rad/s]
-  # Optional 
-  # TSR_operational:    # None                  # Desired below-rated operational tip speed ratio (Cp-maximizing TSR is used if not defined)
-  # - should be defined if Fl_Mode = 1
-  twr_freq:           0.0                     # Tower natural frequency [rad/s]
-  ptfm_freq:          0.0                     # Platform natural frequency [rad/s]              
+  bld_flapwise_freq:  2.61601                 # Blade flapwise first natural frequency [rad/s]    
 #------------------------------- CONTROLLER PARAMETERS ----------------------------------
 controller_params:
   # Controller flags  
@@ -49,15 +44,4 @@ controller_params:
   omega_vs:           0.1                     # Torque controller desired natural frequency [rad/s]
   # Only needed if Flp_Mode > 0
   zeta_flp:           0.7                     # Flap controller desired damping ratio [-]
-  omega_flp:          2.63                    # Flap controller desired natural frequency [rad/s]
-  # Optional - these can be defined, but do not need to be
-  # max_pitch:          # None                    # Maximum pitch angle [rad], {default = 90 degrees}
-  # min_pitch:          # None                    # Minimum pitch angle [rad], {default = 0 degrees}
-  # vs_minspd:          # None                    # Minimum rotor speed [rad/s], {default = 0 rad/s}
-  # ss_cornerfreq:      # None                    # First order low-pass filter cornering frequency for setpoint smoother [rad/s]
-  # ss_vsgain:          # None                    # Torque controller setpoint smoother gain bias percentage [%, <= 1 ], {default = 100%}
-  # ss_pcgain:          # None                    # Pitch controller setpoint smoother gain bias percentage  [%, <= 1 ], {default = 0.1%}
-  # ps_percent:         # None                    # Percent peak shaving  [%, <= 1 ], {default = 80%}
-  # sd_maxpit:          # None                    # Maximum blade pitch angle to initiate shutdown [rad], {default = bld pitch at v_max}
-  # sd_cornerfreq:      # None                    # Cutoff Frequency for first order low-pass filter for blade pitch angle [rad/s], {default = 0.41888 ~ time constant of 15s}
-  # flp_maxpit:         # None                    # Maximum (and minimum) flap pitch angle [rad]
+  omega_flp:          2.63                    # Flap controller desired natural frequency [rad/s]
diff --git a/Tune_Cases/DTU10MW.yaml b/Tune_Cases/DTU10MW.yaml
@@ -22,9 +22,6 @@ turbine_params:
   bld_flapwise_freq:  0.0                   # Blade flapwise first natural frequency [rad/s]
   # Optional 
   # TSR_operational:    # None                # Desired below-rated operational tip speed ratio (Cp-maximizing TSR is used if not defined)
-  # - should be defined if Fl_Mode = 1
-  # twr_freq:           # None                # Tower natural frequency [rad/s]
-  # ptfm_freq:          # None                # Platform natural frequency [rad/s]   
 #------------------------------- CONTROLLER PARAMETERS ----------------------------------
 controller_params:
   # Controller flags 
@@ -49,15 +46,4 @@ controller_params:
   zeta_pc:            [0.8]                  # Pitch controller desired damping ratio [-]
   omega_pc:           [0.3]                   # Pitch controller desired natural frequency [rad/s]
   zeta_vs:            0.7                   # Torque controller desired damping ratio [-]
-  omega_vs:           0.2                   # Torque controller desired natural frequency [rad/s]
-  # Optional - these can be defined, but do not need to be
-  # max_pitch:          # None                  # Maximum pitch angle [rad], {default = 90 degrees}
-  # min_pitch:          # None                  # Minimum pitch angle [rad], {default = 0 degrees}
-  # vs_minspd:          # None                  # Minimum rotor speed [rad/s], {default = 0 rad/s}
-  # ss_cornerfreq:      # None                  # First order low-pass filter cornering frequency for setpoint smoother [rad/s]
-  # ss_vsgain:          # None                  # Torque controller setpoint smoother gain bias percentage [%, <= 1 ], {default = 100%}
-  # ss_pcgain:          # None                  # Pitch controller setpoint smoother gain bias percentage  [%, <= 1 ], {default = 0.1%}
-  # ps_percent:         # None                  # Percent peak shaving  [%, <= 1 ], {default = 80%}
-  # sd_maxpit:          # None                  # Maximum blade pitch angle to initiate shutdown [rad], {default = bld pitch at v_max}
-  # sd_cornerfreq:      # None                  # Cutoff Frequency for first order low-pass filter for blade pitch angle [rad/s], {default = 0.41888 ~ time constant of 15s}
-  # flp_maxpit:         # None                  # Maximum (and minimum) flap pitch angle [rad]
+  omega_vs:           0.2                   # Torque controller desired natural frequency [rad/s]
diff --git a/Tune_Cases/IEA15MW.yaml b/Tune_Cases/IEA15MW.yaml
@@ -40,20 +40,13 @@ controller_params:
   Flp_Mode:           0                     # Flap control mode {0: no flap control, 1: steady state flap angle, 2: Proportional flap control}
   # Controller parameters       
   # U_pc:               [14]
-  zeta_pc:            2.0                 # Pitch controller desired damping ratio [-]
-  omega_pc:           0.3                  # Pitch controller desired natural frequency [rad/s]
-  zeta_vs:            0.85                   # Torque controller desired damping ratio [-]
-  omega_vs:           0.12                 # Torque controller desired natural frequency [rad/s]
+  zeta_pc:            2.0                   # Pitch controller desired damping ratio [-]
+  omega_pc:           0.3                   # Pitch controller desired natural frequency [rad/s]
+  zeta_vs:            0.85                  # Torque controller desired damping ratio [-]
+  omega_vs:           0.12                  # Torque controller desired natural frequency [rad/s]
+  twr_freq:           3.355 # for semi only!
+  ptfm_freq:          0.213 # for semi only!
   # Optional - these can be defined, but do not need to be
-  # max_pitch:          # None                # Maximum pitch angle [rad], {default = 90 degrees}
   min_pitch:          0.0                   # Minimum pitch angle [rad], {default = 0 degrees}
   vs_minspd:          0.523598775           # Minimum rotor speed [rad/s], {default = 0 rad/s}
-  # ss_cornerfreq:      # None                # First order low-pass filter cornering frequency for setpoint smoother [rad/s]
-  # ss_vsgain:          # None                # Torque controller setpoint smoother gain bias percentage [%, <= 1 ], {default = 100%}
-  # ss_pcgain:          # None                # Pitch controller setpoint smoother gain bias percentage  [%, <= 1 ], {default = 0.1%}
-  ps_percent:         0.8 # None                # Percent peak shaving  [%, <= 1 ], {default = 80%}
-  # sd_maxpit:          # None                # Maximum blade pitch angle to initiate shutdown [rad], {default = bld pitch at v_max}
-  # sd_cornerfreq:      # None                # Cutoff Frequency for first order low-pass filter for blade pitch angle [rad/s], {default = 0.41888 ~ time constant of 15s}
-  # flp_maxpit:         # None                  # Maximum (and minimum) flap pitch angle [rad]
-  twr_freq:  3.355 # for semi only!
-  ptfm_freq: 0.213 # for semi only!
+  ps_percent:         0.8                   # Percent peak shaving  [%, <= 1 ], {default = 80%}
diff --git a/Tune_Cases/IEA15MW_MultiOmega.yaml b/Tune_Cases/IEA15MW_MultiOmega.yaml
@@ -43,17 +43,10 @@ controller_params:
   zeta_pc:            [2.0,1.0]                  # Pitch controller desired damping ratio [-]
   omega_pc:           [0.15,0.3]                  # Pitch controller desired natural frequency [rad/s]
   zeta_vs:            0.85                   # Torque controller desired damping ratio [-]
-  omega_vs:           0.12                 # Torque controller desired natural frequency [rad/s]
+  omega_vs:           0.12                   # Torque controller desired natural frequency [rad/s]
+  twr_freq:           3.355 # for semi only!
+  ptfm_freq:          0.213 # for semi only!
   # Optional - these can be defined, but do not need to be
-  # max_pitch:          # None                # Maximum pitch angle [rad], {default = 90 degrees}
-  min_pitch:          0.0                   # Minimum pitch angle [rad], {default = 0 degrees}
-  vs_minspd:          0.523598775           # Minimum rotor speed [rad/s], {default = 0 rad/s}
-  # ss_cornerfreq:      # None                # First order low-pass filter cornering frequency for setpoint smoother [rad/s]
-  # ss_vsgain:          # None                # Torque controller setpoint smoother gain bias percentage [%, <= 1 ], {default = 100%}
-  # ss_pcgain:          # None                # Pitch controller setpoint smoother gain bias percentage  [%, <= 1 ], {default = 0.1%}
-  ps_percent:         0.8 # None                # Percent peak shaving  [%, <= 1 ], {default = 80%}
-  # sd_maxpit:          # None                # Maximum blade pitch angle to initiate shutdown [rad], {default = bld pitch at v_max}
-  # sd_cornerfreq:      # None                # Cutoff Frequency for first order low-pass filter for blade pitch angle [rad/s], {default = 0.41888 ~ time constant of 15s}
-  # flp_maxpit:         # None                  # Maximum (and minimum) flap pitch angle [rad]
-  twr_freq:  3.355 # for semi only!
-  ptfm_freq: 0.213 # for semi only!
+  min_pitch:          0.0                    # Minimum pitch angle [rad], {default = 0 degrees}
+  vs_minspd:          0.523598775            # Minimum rotor speed [rad/s], {default = 0 rad/s}
+  ps_percent:         0.8                    # Percent peak shaving  [%, <= 1 ], {default = 80%}
diff --git a/Tune_Cases/IEA15MW_robust.yaml b/Tune_Cases/IEA15MW_robust.yaml
@@ -41,23 +41,16 @@ controller_params:
   # Controller parameters       
   U_pc:               [12,14, 15, 18, 20]
   zeta_pc:            [1.2]                  # Pitch controller desired damping ratio [-]
-  omega_pc:           [0.15]                  # Pitch controller desired natural frequency [rad/s]
+  omega_pc:           [0.15]                 # Pitch controller desired natural frequency [rad/s]
   zeta_vs:            0.85                   # Torque controller desired damping ratio [-]
-  omega_vs:           0.12                 # Torque controller desired natural frequency [rad/s]
+  omega_vs:           0.12                   # Torque controller desired natural frequency [rad/s]
+  twr_freq:           3.355 # for semi only!
+  ptfm_freq:          0.213 # for semi only!
   # Optional - these can be defined, but do not need to be
   interp_type: sigma
-  # max_pitch:          # None                # Maximum pitch angle [rad], {default = 90 degrees}
   min_pitch:          0.0                   # Minimum pitch angle [rad], {default = 0 degrees}
   vs_minspd:          0.523598775           # Minimum rotor speed [rad/s], {default = 0 rad/s}
-  # ss_cornerfreq:      # None                # First order low-pass filter cornering frequency for setpoint smoother [rad/s]
-  # ss_vsgain:          # None                # Torque controller setpoint smoother gain bias percentage [%, <= 1 ], {default = 100%}
-  # ss_pcgain:          # None                # Pitch controller setpoint smoother gain bias percentage  [%, <= 1 ], {default = 0.1%}
-  ps_percent:         0.8 # None                # Percent peak shaving  [%, <= 1 ], {default = 80%}
-  # sd_maxpit:          # None                # Maximum blade pitch angle to initiate shutdown [rad], {default = bld pitch at v_max}
-  # sd_cornerfreq:      # None                # Cutoff Frequency for first order low-pass filter for blade pitch angle [rad/s], {default = 0.41888 ~ time constant of 15s}
-  # flp_maxpit:         # None                  # Maximum (and minimum) flap pitch angle [rad]
-  twr_freq:  3.355 # for semi only!
-  ptfm_freq: 0.213 # for semi only!
+  ps_percent:         0.8                   # Percent peak shaving  [%, <= 1 ], {default = 80%}
 
 linmodel_tuning:
   type: 'robust'                      # Type of level 2 based tuning - robust gain scheduling (robust) or simulation based optimization (simulation)

diff --git a/Tune_Cases/NREL5MW.yaml b/Tune_Cases/NREL5MW.yaml
@@ -22,9 +22,6 @@ turbine_params:
   bld_flapwise_freq:  0.0                   # Blade flapwise first natural frequency [rad/s]
   # Optional 
   # TSR_operational:    # None                # Desired below-rated operational tip speed ratio (Cp-maximizing TSR is used if not defined)
-  # - should be defined if Fl_Mode = 1
-  twr_freq:           0.4499                # Tower natural frequency [rad/s]
-  ptfm_freq:          0.2325                # Platform natural frequency [rad/s]              
 #------------------------------- CONTROLLER PARAMETERS ----------------------------------
 controller_params:
   # Controller flags 
@@ -42,22 +39,12 @@ controller_params:
   Fl_Mode:            0                     # Floating specific feedback mode {0: no nacelle velocity feedback, 1: nacelle velocity feedback}
   Flp_Mode:           0                     # Flap control mode {0: no flap control, 1: steady state flap angle, 2: Proportional flap control}
   # Controller parameters 
-  # U_pc:               [12]
   zeta_pc:            0.7                   # Pitch controller desired damping ratio [-]
   omega_pc:           0.6                   # Pitch controller desired natural frequency [rad/s]
   zeta_vs:            0.7                   # Torque controller desired damping ratio [-]
   omega_vs:           0.15                   # Torque controller desired natural frequency [rad/s]
-  # Only needed if Flp_Mode > 0
-  # zeta_flp:           # None                  # Flap controller desired damping ratio [-]
-  # omega_flp:          # None                  # Flap controller desired natural frequency [rad/s]
-  # Optional - these can be defined, but do not need to be
-  # max_pitch:          # None                  # Maximum pitch angle [rad], {default = 90 degrees}
-  # min_pitch:          # None                  # Minimum pitch angle [rad], {default = 0 degrees}
-  # vs_minspd:          # None                  # Minimum rotor speed [rad/s], {default = 0 rad/s}
-  # ss_cornerfreq:      # None                  # First order low-pass filter cornering frequency for setpoint smoother [rad/s]
-  # ss_vsgain:          # None                  # Torque controller setpoint smoother gain bias percentage [%, <= 1 ], {default = 100%}
-  # ss_pcgain:          # None                  # Pitch controller setpoint smoother gain bias percentage  [%, <= 1 ], {default = 0.1%}
+  twr_freq:           0.4499                # Tower natural frequency [rad/s]
+  ptfm_freq:          0.2325                # Platform natural frequency [rad/s]  (OC4Hywind Parameters, here)   
+  # Optional         
   ps_percent:         0.80                  # Percent peak shaving  [%, <= 1 ], {default = 80%}
-  sd_maxpit:          0.4363                # Maximum blade pitch angle to initiate shutdown [rad], {default = bld pitch at v_max}
-  # sd_cornerfreq:      # None                  # Cutoff Frequency for first order low-pass filter for blade pitch angle [rad/s], {default = 0.41888 ~ time constant of 15s}
-  # flp_maxpit:         # None                  # Maximum (and minimum) flap pitch angle [rad]
+  sd_maxpit:          0.4363                # Maximum blade pitch angle to initiate shutdown [rad], {default = bld pitch at v_max}
diff --git a/docs/source/install.rst b/docs/source/install.rst
@@ -18,7 +18,7 @@ Depending on what is needed, a user can choose to use just the ROSCO controller
    * - :ref:`rosco_direct_download`
      - Best for users who simply want to use a released version of the controller without working through the compilation procedures. 
    * - :ref:`rosco_anaconda_download`
-     - Best for users who just want to use the controller but prefer to download using the Anaconda package man age Full ROSCO Installation   - Ur.
+     - Best for users who just want to use the controller but prefer to download using the Anaconda package man age Full ROSCO Installation.
    * - :ref:`full_rosco`
      - Best for users who wish to both use the controller and leverage the tools in the ROSCO toolbox
    * - :ref:`cmake_compile`
@@ -189,8 +189,8 @@ Please follow the following steps to install the ROSCO tool-chain. You should do
 
 .. code-block:: bash
 
-    git clone https://github.com/NREL/ROSCO_toolbox.git
-    cd ROSCO_toolbox
+    git clone https://github.com/NREL/ROSCO.git
+    cd ROSCO
     conda install compilers # (Mac/Linux only)
     conda install m2w64-toolchain libpython # (Windows only)
     python setup.py install --compile-rosco 
@@ -199,7 +199,7 @@ Please follow the following steps to install the ROSCO tool-chain. You should do
 
 .. code-block:: bash
 
-    git clone https://github.com/NREL/ROSCO_toolbox.git
+    git clone https://github.com/NREL/ROSCO.git
     cd ROSCO_toolbox
     python setup.py install
 

diff --git a/setup.py b/setup.py
@@ -183,6 +183,7 @@ def run(self):
     install_requires              = REQUIRED,
     python_requires               = REQUIRES_PYTHON,
     packages                      = find_packages(exclude=["tests", "*.tests", "*.tests.*", "tests.*"]),
+    package_data                  = {'': ['*.yaml']},
     license                       = 'Apache License, Version 2.0',
     cmdclass                      = {'build_ext': CMakeBuildExt, 'upload': UploadCommand},
     zip_safe                      = False,