Merge pull request #6 from NREL/develop

Bug fixes

ROSCO_toolbox/controller.py

@@ -179,7 +179,8 @@ def tune_controller(self, turbine):
 
  # Define minimum pitch saturation to be at Cp-maximizing pitch angle if not specifically defined
  if not self.min_pitch:
- self.min_pitch = pitch_op[0]
+ self.min_pitch = 0.0
+ self.min_pitch = max(self.min_pitch,pitch_op[0])
 
  # Full Cp surface gradients
  dCp_dbeta = dCp_beta/np.diff(pitch_initial_rad)[0]
@@ -260,17 +261,17 @@ def tune_controller(self, turbine):
 
  # --- Floating feedback term ---
  if self.Fl_Mode == 1: # Floating feedback
- Kpf = (dtau_dv/dtau_dbeta)*turbine.TowerHt * Ng * 2.0 * pi;
- self.Kpf = Kpf[len(v_below_rated)]
- else:
- self.Kpf = 0.0
-
- # And check for .yaml input inconsistencies
- if self.Fl_Mode > 0:
+ Kp_float = (dtau_dv/dtau_dbeta)*turbine.TowerHt * Ng * 2.0 * pi;
+ self.Kp_float = Kp_float[len(v_below_rated)]
+
+ # And check for .yaml input inconsistencies
  if turbine.twr_freq == 0.0 or turbine.ptfm_freq == 0.0:
  print('WARNING: twr_freq and ptfm_freq should be defined for floating turbine control!!')
  # Turn on the notch filter if floating
- self.F_NotchType == 1
+ self.F_NotchType = 2
+ else:
+ self.Kp_float = 0.0
+
 
 
 class ControllerBlocks():

ROSCO_toolbox/turbine.py

@@ -14,7 +14,8 @@
 import datetime
 from wisdem.ccblade import CCAirfoil, CCBlade
 from wisdem.aeroelasticse.FAST_reader import InputReader_OpenFAST
-from scipy import interpolate, gradient
+from scipy import interpolate
+from numpy import gradient
 import pickle
 import matplotlib.pyplot as plt
 
@@ -128,6 +129,7 @@ def load(filename):
  '''
  turbine = pickle.load(open(filename,'rb'))
  return turbine
+
  # Load data from fast input deck
  def load_from_fast(self, FAST_InputFile,FAST_directory, FAST_ver='OpenFAST',dev_branch=True,rot_source=None, txt_filename=None):
  """
@@ -249,11 +251,11 @@ def load_from_ccblade(self,fast):
  # Use airfoil data from FAST file read, assumes AeroDyn 15, assumes 1 Re num per airfoil
  af_dict = {}
  for i, _ in enumerate(fast.fst_vt['AeroDyn15']['af_data']):
- Re = [fast.fst_vt['AeroDyn15']['af_data'][i]['Re']]
- Alpha = fast.fst_vt['AeroDyn15']['af_data'][i]['Alpha']
- Cl = fast.fst_vt['AeroDyn15']['af_data'][i]['Cl']
- Cd = fast.fst_vt['AeroDyn15']['af_data'][i]['Cd']
- Cm = fast.fst_vt['AeroDyn15']['af_data'][i]['Cm']
+ Re = [fast.fst_vt['AeroDyn15']['af_data'][i][0]['Re']]
+ Alpha = fast.fst_vt['AeroDyn15']['af_data'][i][0]['Alpha']
+ Cl = fast.fst_vt['AeroDyn15']['af_data'][i][0]['Cl']
+ Cd = fast.fst_vt['AeroDyn15']['af_data'][i][0]['Cd']
+ Cm = fast.fst_vt['AeroDyn15']['af_data'][i][0]['Cm']
  af_dict[i] = CCAirfoil(Alpha, Re, Cl, Cd, Cm)
  # define airfoils for CCBlade
  af = [0]*len(r)
@@ -388,7 +390,7 @@ def __init__(self,performance_table, pitch_initial_rad, TSR_initial):
  # -- nja: this seems to work a little better than interpolating
  performance_beta_max = np.ndarray.flatten(performance_table[:,self.max_ind[1]]) # performance metric at maximizing pitch angle
  TSR_ind = np.arange(0,len(TSR_initial))
- TSR_fine_ind = np.linspace(TSR_initial[0],TSR_initial[-1],(TSR_initial[-1] - TSR_initial[0])*100)
+ TSR_fine_ind = np.linspace(TSR_initial[0],TSR_initial[-1],int(TSR_initial[-1] - TSR_initial[0])*100)
  f_TSR = interpolate.interp1d(TSR_initial,TSR_initial,bounds_error='False',kind='quadratic') # interpolate function for Cp(tsr) values
  TSR_fine = f_TSR(TSR_fine_ind)
  f_performance = interpolate.interp1d(TSR_initial,performance_beta_max,bounds_error='False',kind='quadratic') # interpolate function for Cp(tsr) values

ROSCO_toolbox/utilities.py

@@ -498,7 +498,7 @@ def write_param_file(self, turbine, controller, param_file='DISCON.IN', txt_file
  file.write('{:<13.1f} ! WE_GearboxRatio - Gearbox ratio [>=1], [-]\n'.format(turbine.Ng))
  file.write('{:<014.5f} ! WE_Jtot - Total drivetrain inertia, including blades, hub and casted generator inertia to LSS, [kg m^2]\n'.format(turbine.J))
  file.write('{:<13.3f} ! WE_RhoAir - Air density, [kg m^-3]\n'.format(turbine.rho))
- file.write( '"{}" ! PerfFileName - File containing rotor performance tables (Cp,Ct,Cq)\n'.format(turbine.rotor_performance_filename))
+ file.write( '"{}" ! PerfFileName - File containing rotor performance tables (Cp,Ct,Cq)\n'.format(txt_filename))
  file.write('{:<7d} {:<10d} ! PerfTableSize - Size of rotor performance tables, first number refers to number of blade pitch angles, second number referse to number of tip-speed ratios\n'.format(len(turbine.Cp.pitch_initial_rad),len(turbine.Cp.TSR_initial)))
  file.write('{:<11d} ! WE_FOPoles_N - Number of first-order system poles used in EKF\n'.format(len(controller.A)))
  file.write('{} ! WE_FOPoles_v - Wind speeds corresponding to first-order system poles [m/s]\n'.format(''.join('{:<4.2f} '.format(controller.v[i]) for i in range(len(controller.v)))))
@@ -532,7 +532,7 @@ def write_param_file(self, turbine, controller, param_file='DISCON.IN', txt_file
  file.write('{:<014.5f} ! SD_CornerFreq - Cutoff Frequency for first order low-pass filter for blade pitch angle, [rad/s]\n'.format(controller.sd_cornerfreq))
  file.write('\n')
  file.write('!------- Floating -------------------------------------------\n')
- file.write('{:<014.5f} ! Fl_Kp - Nacelle velocity proportional feedback gain [s]\n'.format(controller.Kpf))
+ file.write('{:<014.5f} ! Fl_Kp - Nacelle velocity proportional feedback gain [s]\n'.format(controller.Kp_float))
  file.close()
 
  def write_rotor_performance(self,turbine,txt_filename='Cp_Ct_Cq.txt'):