Floating Feedback Gain Scheduling

Examples/01_turbine_model.py

@@ -34,7 +34,7 @@
 turbine.load_from_fast(
     path_params['FAST_InputFile'],
     os.path.join(tune_dir,path_params['FAST_directory']),
-    rot_source='txt',txt_filename=os.path.join(tune_dir,path_params['FAST_directory'],path_params['rotor_performance_filename'])
+    rot_source='txt',txt_filename=os.path.join(tune_dir,path_params['rotor_performance_filename'])
     )
 
 # Print some basic turbine info

Examples/03_tune_controller.py

@@ -34,7 +34,7 @@
 controller      = ROSCO_controller.Controller(controller_params)
 
 # Load turbine data from OpenFAST and rotor performance text file
-cp_filename = os.path.join(tune_dir,path_params['FAST_directory'],path_params['rotor_performance_filename'])
+cp_filename = os.path.join(tune_dir,path_params['rotor_performance_filename'])
 turbine.load_from_fast(
     path_params['FAST_InputFile'],
     os.path.join(tune_dir,path_params['FAST_directory']),

Examples/04_simple_sim.py

@@ -55,7 +55,7 @@
 # controller      = ROSCO_controller.Controller(controller_params)
 
 # Load turbine data from OpenFAST and rotor performance text file
-cp_filename = os.path.join(tune_dir,path_params['FAST_directory'],path_params['rotor_performance_filename'])
+cp_filename = os.path.join(tune_dir,path_params['rotor_performance_filename'])
 turbine.load_from_fast(
     path_params['FAST_InputFile'],
     os.path.join(tune_dir,path_params['FAST_directory']),

Examples/05_openfast_sim.py

@@ -41,48 +41,16 @@
   path_params['FAST_InputFile'],
     os.path.join(this_dir,path_params['FAST_directory']),
     rot_source='txt',
-    txt_filename=os.path.join(this_dir,path_params['FAST_directory'],path_params['rotor_performance_filename'])
+    txt_filename=os.path.join(this_dir,path_params['rotor_performance_filename'])
     )
 
 # Tune controller 
 controller.tune_controller(turbine)
 
-# Now double Kp_float and check that it's passed through
-Kp_float = -18
-controller_params['Kp_float'] = Kp_float
-controller_params['tune_Fl'] = False
-controller      = ROSCO_controller.Controller(controller_params)
-controller.tune_controller(turbine)
-np.testing.assert_almost_equal(Kp_float,controller.Kp_float)
-
 # Write parameter input file
 param_file = os.path.join(this_dir,'DISCON.IN')   # This must be named DISCON.IN to be seen by the compiled controller binary. 
 write_DISCON(turbine,controller,param_file=param_file, txt_filename=path_params['rotor_performance_filename'])
 
-# Plot gain schedule
-fig, ax = plt.subplots(2,2,constrained_layout=True,sharex=True)
-ax = ax.flatten()
-ax[0].plot(controller.v[len(controller.v_below_rated)+1:], controller.omega_pc_U)
-ax[0].set_ylabel('omega_pc')
-
-ax[1].plot(controller.v[len(controller.v_below_rated)+1:], controller.zeta_pc_U)
-ax[1].set_ylabel('zeta_pc')
-
-ax[2].plot(controller.v[len(controller.v_below_rated)+1:], controller.pc_gain_schedule.Kp)
-ax[2].set_xlabel('Wind Speed')
-ax[2].set_ylabel('Proportional Gain')
-
-ax[3].plot(controller.v[len(controller.v_below_rated)+1:], controller.pc_gain_schedule.Ki)
-ax[3].set_xlabel('Wind Speed')
-ax[3].set_ylabel('Integral Gain')
-
-plt.suptitle('Pitch Controller Gains')
-
-if False:
-  plt.show()
-else:
-  plt.savefig(os.path.join(example_out_dir,'05_GainSched.png'))
-
 # Run OpenFAST
 # --- May need to change fastcall if you use a non-standard command to call openfast
 fastcall = 'openfast'

Examples/06_peak_shaving.py

@@ -44,7 +44,7 @@
 turbine.load_from_fast(
     path_params['FAST_InputFile'],
     os.path.join(tune_dir,path_params['FAST_directory']),
-    rot_source='txt',txt_filename=os.path.join(tune_dir,path_params['FAST_directory'],path_params['rotor_performance_filename'])
+    rot_source='txt',txt_filename=os.path.join(tune_dir,path_params['rotor_performance_filename'])
     )
 # Tune controller 
 controller.tune_controller(turbine)

Examples/10_linear_params.py

@@ -45,7 +45,7 @@
   path_params['FAST_InputFile'],
   os.path.join(this_dir,path_params['FAST_directory']),
   rot_source='txt',
-  txt_filename=os.path.join(tune_dir,path_params['FAST_directory'],path_params['rotor_performance_filename'])
+  txt_filename=os.path.join(tune_dir,path_params['rotor_performance_filename'])
   )
 
 # Tune controller 

Examples/11_robust_tuning.py

@@ -3,6 +3,8 @@
 Controller tuning to satisfy a robustness criteria
 -------------------------------------
 NOTE: This example necessitates the mbc3 through either pyFAST or WEIS
+pyFAST is the easiest to install by cloning https://github.com/OpenFAST/python-toolbox and 
+running `python setup.py develop` from your conda environment
 
 In this example:
   - setup ROSCO's robust tuning methods for the IEA15MW on the UMaine Semi-sub
@@ -53,12 +55,12 @@ def run_example():
     controller = ROSCO_controller.Controller(controller_params)
     turbine.load_from_fast(
         path_params['FAST_InputFile'],
-        os.path.join(this_dir, path_params['FAST_directory']),
-        rot_source='txt', txt_filename=os.path.join(this_dir,path_params['FAST_directory'],path_params['rotor_performance_filename'])
+        os.path.join(tune_dir, path_params['FAST_directory']),
+        rot_source='txt', txt_filename=os.path.join(tune_dir,path_params['rotor_performance_filename'])
         )
 
     # Fix path params for robust setup
-    path_params['FAST_directory'] = os.path.join(this_dir, path_params['FAST_directory'])
+    path_params['FAST_directory'] = os.path.join(tune_dir, path_params['FAST_directory'])
 
     controller.tune_controller(turbine)
     k_float = controller.Kp_float

Examples/14_open_loop_control.py

@@ -77,7 +77,7 @@
 turbine.load_from_fast(path_params['FAST_InputFile'], \
   os.path.join(this_dir,path_params['FAST_directory']), \
     rot_source='txt',\
-      txt_filename=os.path.join(this_dir,path_params['FAST_directory'],path_params['rotor_performance_filename']))
+      txt_filename=os.path.join(this_dir,path_params['rotor_performance_filename']))
 
 # Tune controller 
 controller.tune_controller(turbine)

Examples/24_floating_feedback.py

@@ -0,0 +1,165 @@
+'''
+----------- 23_structural_control ------------------------
+Run openfast with ROSCO and all the floating feedback methods
+-----------------------------------------------
+
+Floating feedback methods available in ROSCO/ROSCO_Toolbox
+
+1. Automated tuning, constant for all wind speeds
+2. Automated tuning, varies with wind speed
+3. Direct tuning, constant for all wind speeds
+4. Direct tuning, varies with wind speeds
+
+'''
+
+import os, platform
+from ROSCO_toolbox.ofTools.case_gen.run_FAST import run_FAST_ROSCO
+from ROSCO_toolbox.ofTools.case_gen import CaseLibrary as cl
+import numpy as np
+from ROSCO_toolbox.ofTools.fast_io.FAST_reader import InputReader_OpenFAST
+from ROSCO_toolbox.inputs.validation import load_rosco_yaml
+from ROSCO_toolbox.controller import OpenLoopControl
+from ROSCO_toolbox.tune import yaml_to_objs
+from ROSCO_toolbox.utilities import write_DISCON, read_DISCON
+from ROSCO_toolbox import controller as ROSCO_controller
+from ROSCO_toolbox.ofTools.fast_io import output_processing
+import matplotlib.pyplot as plt
+
+
+
+#directories
+this_dir            = os.path.dirname(os.path.abspath(__file__))
+rosco_dir           = os.path.dirname(this_dir)
+example_out_dir     = os.path.join(this_dir,'examples_out')
+os.makedirs(example_out_dir,exist_ok=True)
+
+if platform.system() == 'Windows':
+    lib_name = os.path.realpath(os.path.join(this_dir, '../ROSCO/build/libdiscon.dll'))
+elif platform.system() == 'Darwin':
+    lib_name = os.path.realpath(os.path.join(this_dir, '../ROSCO/build/libdiscon.dylib'))
+else:
+    lib_name = os.path.realpath(os.path.join(this_dir, '../ROSCO/build/libdiscon.so'))
+
+
+def main():
+
+    # Input yaml and output directory
+    parameter_filename = os.path.join(rosco_dir,'Tune_Cases/IEA15MW.yaml')
+    run_dir = os.path.join(example_out_dir,'24_floating_feedback')
+    os.makedirs(run_dir,exist_ok=True)
+
+    controller, turbine, path_params = yaml_to_objs(parameter_filename)
+
+    # First, let's write the DISCONs for each method
+    param_files = []
+
+    # Method 1: Automated tuning, constant for all wind speeds
+    controller_params_1 = controller.controller_params      # numbers correspond to methods above
+    param_file = os.path.join(run_dir,'DISCON_Fl_1.IN')
+    param_files.append(param_file)
+    write_DISCON(turbine,controller,
+                 param_file=param_file, 
+                 txt_filename=path_params['rotor_performance_filename'])
+
+
+    # Method 2: Automated tuning, all wind speeds
+    controller_params_2 = controller_params_1.copy()
+    controller_params_2['U_Fl'] = 'all'
+    controller_params_2['tune_Fl'] = True
+    controller      = ROSCO_controller.Controller(controller_params_2)
+    controller.tune_controller(turbine)
+    param_file = os.path.join(run_dir,'DISCON_Fl_2.IN')
+    param_files.append(param_file)
+    write_DISCON(turbine,controller,
+                 param_file=param_file, 
+                 txt_filename=path_params['rotor_performance_filename'])
+
+    # Method 3: Direct tuning, constant for all wind speeds
+    controller_params_3 = controller_params_1.copy()
+    Kp_float = -18
+    controller_params_3['Kp_float'] = Kp_float
+    controller_params_3['tune_Fl'] = False
+    controller      = ROSCO_controller.Controller(controller_params_3)
+    controller.tune_controller(turbine)
+    np.testing.assert_almost_equal(Kp_float,controller.Kp_float)        # Check that it's passed through correctly
+    param_file = os.path.join(run_dir,'DISCON_Fl_3.IN')
+    param_files.append(param_file)
+    write_DISCON(turbine,controller,
+                 param_file=param_file, 
+                 txt_filename=path_params['rotor_performance_filename'])
+
+    # Method 4: Direct tuning, varies with wind speeds
+    controller_params_4 = controller_params_1.copy()
+    controller_params_4['U_Fl'] = [12,16,25]
+    controller_params_4['Kp_float'] = [-12,-6,-3]
+    controller_params_4['tune_Fl'] = False
+    controller      = ROSCO_controller.Controller(controller_params_4)
+    controller.tune_controller(turbine)
+    param_file = os.path.join(run_dir,'DISCON_Fl_4.IN')
+    param_files.append(param_file)
+    write_DISCON(turbine,controller,
+                 param_file=os.path.join(run_dir,'DISCON_Fl_4.IN'), 
+                 txt_filename=path_params['rotor_performance_filename'])
+
+    # Read all DISCONs and make into case_inputs
+    case_inputs = {}
+    discon_lists = {}  
+    for discon in param_files:
+        discon_vt = read_DISCON(discon)
+        for discon_input in discon_vt:
+            if discon_input not in discon_lists:        # initialize
+                discon_lists[discon_input] = []
+            discon_lists[discon_input].append(discon_vt[discon_input])
+
+    for discon_input, input in discon_lists.items():
+        case_inputs[('DISCON_in',discon_input)] = {'vals': input, 'group': 2}
+
+
+    # simulation set up
+    r = run_FAST_ROSCO()
+    r.tuning_yaml   = parameter_filename
+    r.wind_case_fcn = cl.simp_step  # single step wind input
+    r.wind_case_opts    = {
+        'U_start': [13],
+        'U_end': [16],
+        'TMax': 100,
+        'TStep': 50,
+        }
+    r.case_inputs       = case_inputs
+    r.save_dir          = run_dir
+    r.rosco_dir         = rosco_dir
+    r.n_cores           = 4
+    r.run_FAST()
+
+    op = output_processing.output_processing()
+    op_dbg = output_processing.output_processing()
+    op_dbg2 = output_processing.output_processing()
+
+    out_files = [os.path.join(run_dir,f'IEA15MW/simp_step/base/IEA15MW_{i_case}.outb') for i_case in range(4)]
+    dbg_files = [os.path.join(run_dir,f'IEA15MW/simp_step/base/IEA15MW_{i_case}.RO.dbg') for i_case in range(4)]
+    dbg2_files = [os.path.join(run_dir,f'IEA15MW/simp_step/base/IEA15MW_{i_case}.RO.dbg2') for i_case in range(4)]
+
+    fst_out = op.load_fast_out(out_files, tmin=0)
+    debug_vars = op_dbg.load_fast_out(dbg_files, tmin=0)
+    local_vars = op_dbg2.load_fast_out(dbg2_files, tmin=0)
+
+    comb_out = [None] * len(fst_out)
+    for i, (r_out, f_out) in enumerate(zip(debug_vars,fst_out)):
+        r_out.update(f_out)
+        comb_out[i] = r_out
+    for i, (r_out2, f_out) in enumerate(zip(local_vars,comb_out)):
+        r_out2.update(f_out)
+        comb_out[i] = r_out2
+
+    cases = {}
+    cases['Fl Sigs.'] = ['Wind1VelX','Kp_Float', 'Fl_PitCom', 'BldPitch1','PtfmPitch']#,'PtfmPitch','PtfmYaw','NacYaw']
+    fig, ax = op.plot_fast_out(comb_out,cases, showplot=True)
+
+    if False:
+        plt.show()
+    else:
+        plt.savefig(os.path.join(run_dir,'24_floating_feedback.png'))
+
+
+if __name__=="__main__":
+    main()

Examples/test_examples.py

@@ -26,6 +26,7 @@
     '21_optional_inputs',
     '22_cable_control',
     '23_structural_control',
+    '24_floating_feedback',
     'update_rosco_discons',     
 ]
 

ROSCO/rosco_registry/rosco_types.yaml

@@ -376,9 +376,17 @@ ControlParameters:
     Fl_Mode:
       <<: *integer
       description: Floating specific feedback mode {0 - no nacelle velocity feedback, 1 - nacelle velocity feedback}
+    Fl_n:
+      <<: *integer
+      description: Number of Fl_Kp for gain scheduling
     Fl_Kp:
       <<: *real
       description: Nacelle velocity proportional feedback gain [s]
+      allocatable: True
+    Fl_U:
+      <<: *real
+      description: Wind speeds for scheduling Fl_Kp [m/s]
+      allocatable: True
 
     # Trailing edge flaps
     Flp_Mode:
@@ -494,30 +502,6 @@ ControlParameters:
       allocatable: True
       description: AWC clocking angle [deg]
 
-    # Active wake control
-    AWC_Mode:
-      <<: *integer
-      description: Active wake control mode [0 - unused, 1 - SNL method, 2 - NREL method]
-    AWC_NumModes:
-      <<: *integer
-      description: AWC- Number of modes to include [-] 
-    AWC_n:
-      <<: *integer
-      allocatable: True
-      description: AWC azimuthal mode [-]
-    AWC_freq:
-      <<: *real
-      allocatable: True
-      description: AWC frequency [Hz]
-    AWC_amp:
-      <<: *real
-      allocatable: True
-      description: AWC amplitude [deg]
-    AWC_clockangle:
-      <<: *real
-      allocatable: True
-      description: AWC clocking angle [deg]
-
     # Pitch actuator error
     PF_Mode:
       <<: *integer
@@ -1017,6 +1001,9 @@ LocalVariables:
     TestType:                     
       <<: *real 
       description: Test variable, no use
+    Kp_Float:
+      <<: *real
+      description: Local, instantaneous Kp_Float, scheduled on wind speed, if desired
     VS_MaxTq:                     
       <<: *real 
       description: Maximum allowable generator torque [Nm].