Merge pull request NREL#7 from NREL/develop

Develop

Examples/DISCON.IN

@@ -1,5 +1,5 @@
-! Controller parameter input file for the 5MW_Land wind turbine
-!    - File written using ROSCO Controller tuning logic on 01/22/20
+! Controller parameter input file for the 5MW_Land_DLL_WTurb wind turbine
+!    - File written using ROSCO Controller tuning logic on 03/01/20
 
 !------- DEBUG ------------------------------------------------------------
 1                   ! LoggingLevel		- {0: write no debug files, 1: write standard output .dbg-file, 2: write standard output .dbg-file and complete avrSWAP-array .dbg2-file}
@@ -13,7 +13,7 @@
 0                   ! Y_ControlMode		- Yaw control mode {0: no yaw control, 1: yaw rate control, 2: yaw-by-IPC}
 1                   ! SS_Mode           - Setpoint Smoother mode {0: no setpoint smoothing, 1: introduce setpoint smoothing}
 0                   ! WE_Mode           - Wind speed estimator mode {0: One-second low pass filtered hub height wind speed, 1: Immersion and Invariance Estimator, 2: Extended Kalman Filter}
-1                   ! PS_Mode           - Pitch saturation mode {0: no pitch saturation, 1: implement pitch saturation}
+0                   ! PS_Mode           - Pitch saturation mode {0: no pitch saturation, 1: implement pitch saturation}
 0                   ! SD_Mode           - Shutdown mode {0: no shutdown procedure, 1: pitch to max pitch at shutdown}
 0                   ! Fl_Mode           - Floating specific feedback mode {0: no nacelle velocity feedback, 1: nacelle velocity feedback}
 0                   ! Flp_Mode          - Flap control mode {0: no flap control, 1: steady state flap angle, 2: Proportional flap control}
@@ -24,8 +24,8 @@
 0.44990             ! F_NotchCornerFreq	- Natural frequency of the notch filter, [rad/s]
 0.00000   0.25000   ! F_NotchBetaNumDen	- Two notch damping values (numerator and denominator, resp) - determines the width and depth of the notch, [-]
 0.628320000000      ! F_SSCornerFreq    - Corner frequency (-3dB point) in the first order low pass filter for the setpoint smoother, [rad/s].
-0.23250   1.00000   ! F_FlCornerFreq    - Corner frequency and damping in the second order low pass filter of the tower-top fore-aft motion for floating feedback control [rad/s, -].
-0.87200   1.00000   ! F_FlpCornerFreq    - Corner frequency and damping in the second order low pass filter of the blade root bending moment for flap control [rad/s, -].
+0.23250   1.00000   ! F_FlCornerFreq    - Natural frequency and damping in the second order low pass filter of the tower-top fore-aft motion for floating feedback control [rad/s, -].
+0.00000   1.00000   ! F_FlpCornerFreq   - Corner frequency and damping in the second order low pass filter of the blade root bending moment for flap control [rad/s, -].
 
 !------- BLADE PITCH CONTROL ----------------------------------------------
 27                  ! PC_GS_n			- Amount of gain-scheduling table entries
@@ -35,15 +35,12 @@
 0.0  0.0  0.0  0.0  0.0  0.0  0.0  0.0  0.0  0.0  0.0  0.0  0.0  0.0  0.0  0.0  0.0  0.0  0.0  0.0  0.0  0.0  0.0  0.0  0.0  0.0  0.0                ! PC_GS_KD			- Gain-schedule table: pitch controller kd gains
 0.0  0.0  0.0  0.0  0.0  0.0  0.0  0.0  0.0  0.0  0.0  0.0  0.0  0.0  0.0  0.0  0.0  0.0  0.0  0.0  0.0  0.0  0.0  0.0  0.0  0.0  0.0                ! PC_GS_TF			- Gain-schedule table: pitch controller tf gains (derivative filter)
 1.570800000000      ! PC_MaxPit			- Maximum physical pitch limit, [rad].
--0.00873000000      ! PC_MinPit			- Minimum physical pitch limit, [rad].
+0.000000000000      ! PC_MinPit			- Minimum physical pitch limit, [rad].
 0.174500000000      ! PC_MaxRat			- Maximum pitch rate (in absolute value) in pitch controller, [rad/s].
 -0.17450000000      ! PC_MinRat			- Minimum pitch rate (in absolute value) in pitch controller, [rad/s].
 122.9096700000      ! PC_RefSpd			- Desired (reference) HSS speed for pitch controller, [rad/s].
--0.00873000000      ! PC_FinePit		- Record 5: Below-rated pitch angle set-point, [rad]
+0.000000000000      ! PC_FinePit		- Record 5: Below-rated pitch angle set-point, [rad]
 0.017450000000      ! PC_Switch			- Angle above lowest minimum pitch angle for switch, [rad]
-0                   ! Z_EnableSine		- Enable/disable sine pitch excitation, used to validate for dynamic induction control, will be removed later, [-]
-0.000000000000      ! Z_PitchAmplitude	- Amplitude of sine pitch excitation, [rad]
-0.000000000000      ! Z_PitchFrequency	- Frequency of sine pitch excitation, [rad/s]
 
 !------- INDIVIDUAL PITCH CONTROL -----------------------------------------
 0.0                 ! IPC_IntSat		- Integrator saturation (maximum signal amplitude contribution to pitch from IPC), [rad]
@@ -57,15 +54,15 @@
 1500000.000000      ! VS_MaxRat			- Maximum torque rate (in absolute value) in torque controller, [Nm/s].
 47402.87063000      ! VS_MaxTq			- Maximum generator torque in Region 3 (HSS side), [Nm].
 0.000000000000      ! VS_MinTq			- Minimum generator (HSS side), [Nm].
-34.66095000000      ! VS_MinOMSpd		- Optimal mode minimum speed, cut-in speed towards optimal mode gain path, [rad/s]
-2.390870000000      ! VS_Rgn2K			- Generator torque constant in Region 2 (HSS side), [N-m/(rad/s)^2]
+34.68909000000      ! VS_MinOMSpd		- Optimal mode minimum speed, cut-in speed towards optimal mode gain path, [rad/s]
+2.385060000000      ! VS_Rgn2K			- Generator torque constant in Region 2 (HSS side), [N-m/(rad/s)^2]
 5000000.000000      ! VS_RtPwr			- Wind turbine rated power [W]
 43093.51876000      ! VS_RtTq			- Rated torque, [Nm].
 122.9096700000      ! VS_RefSpd			- Rated generator speed [rad/s]
 1                   ! VS_n				- Number of generator PI torque controller gains
--999.249170000      ! VS_KP				- Proportional gain for generator PI torque controller [1/(rad/s) Nm]. (Only used in the transitional 2.5 region if VS_ControlMode =/ 2)
+-999.026780000      ! VS_KP				- Proportional gain for generator PI torque controller [1/(rad/s) Nm]. (Only used in the transitional 2.5 region if VS_ControlMode =/ 2)
 -185.790360000      ! VS_KI				- Integral gain for generator PI torque controller [1/rad Nm]. (Only used in the transitional 2.5 region if VS_ControlMode =/ 2)
-7.50                ! VS_TSRopt			- Power-maximizing region 2 tip-speed-ratio [rad].
+7.51                ! VS_TSRopt			- Power-maximizing region 2 tip-speed-ratio [rad].
 
 !------- SETPOINT SMOOTHER ---------------------------------------------
 1.00000             ! SS_VSGain         - Variable speed torque controller setpoint smoother gain, [-].
@@ -83,7 +80,7 @@
 52      24          ! PerfTableSize     - Size of rotor performance tables, first number refers to number of blade pitch angles, second number referse to number of tip-speed ratios
 44                  ! WE_FOPoles_N      - Number of first-order system poles used in EKF
 3.00 3.50 4.00 4.50 5.00 5.50 6.00 6.50 7.00 7.50 8.00 8.50 9.00 9.50 10.00 10.50 11.00 11.90 12.40 12.90 13.40 13.90 14.40 14.90 15.40 15.90 16.40 16.90 17.40 17.90 18.40 18.90 19.40 19.90 20.40 20.90 21.40 21.90 22.40 22.90 23.40 23.90 24.40 24.90               ! WE_FOPoles_v      - Wind speeds corresponding to first-order system poles [m/s]
--0.01769052 -0.02063894 -0.02358736 -0.02653578 -0.02948420 -0.03243262 -0.03538104 -0.03832946 -0.04127787 -0.04422629 -0.04717471 -0.05012313 -0.05307155 -0.05601997 -0.05896839 -0.06191681 -0.06486523 -0.05663600 -0.06760328 -0.07958282 -0.09338576 -0.10660375 -0.12219164 -0.13633634 -0.15187319 -0.16971407 -0.18449677 -0.20097910 -0.21989102 -0.23853320 -0.25398015 -0.27191112 -0.29238174 -0.31524365 -0.33079361 -0.34730696 -0.36620087 -0.38763778 -0.41161251 -0.43863651 -0.46960731 -0.50322805 -0.53955583 -0.57860701               ! WE_FOPoles        - First order system poles
+-0.01770358 -0.02065417 -0.02360477 -0.02655536 -0.02950596 -0.03245656 -0.03540715 -0.03835775 -0.04130834 -0.04425894 -0.04720953 -0.05016013 -0.05311073 -0.05606132 -0.05901192 -0.06196251 -0.06491311 -0.05663600 -0.06760328 -0.07958282 -0.09338576 -0.10660375 -0.12219164 -0.13633634 -0.15187319 -0.16971407 -0.18449677 -0.20097910 -0.21989102 -0.23853320 -0.25398015 -0.27191112 -0.29238174 -0.31524365 -0.33079361 -0.34730696 -0.36620087 -0.38763778 -0.41161251 -0.43863651 -0.46960731 -0.50322805 -0.53955583 -0.57860701               ! WE_FOPoles        - First order system poles
 
 !------- YAW CONTROL ------------------------------------------------------
 0.0                 ! Y_ErrThresh		- Yaw error threshold. Turbine begins to yaw when it passes this. [rad^2 s]
@@ -105,14 +102,14 @@
 
 !------- MINIMUM PITCH SATURATION -------------------------------------------
 44                  ! PS_BldPitchMin_N  - Number of values in minimum blade pitch lookup table (should equal number of values in PS_WindSpeeds and PS_BldPitchMin)
-3.00 3.50 4.00 4.50 5.00 5.50 6.00 6.50 7.00 7.50 8.00 8.50 9.00 9.50 10.00 10.50 11.00 11.90 12.40 12.90 13.40 13.90 14.40 14.90 15.40 15.90 16.40 16.90 17.40 17.90 18.40 18.90 19.40 19.90 20.40 20.90 21.40 21.90 22.40 22.90 23.40 23.90 24.40 24.90               ! PS_WindSpeeds       - Wind speeds corresponding to minimum blade pitch angles [m/s]
--0.01745329 -0.01745329 -0.01745329 -0.01745329 -0.01745329 -0.01745329 -0.01745329 -0.01745329 -0.01745329 -0.01745329 -0.01745329 -0.01745329 -0.01745329 -0.01745329 0.00074125 0.02518723 0.04429189 0.06483986 0.07731764 0.08911796 0.10090686 0.11199467 0.12339803 0.13400056 0.14465035 0.15570849 0.16561909 0.17569242 0.18619063 0.19643771 0.20565005 0.21528873 0.22536468 0.23587372 0.24455259 0.25332677 0.26249366 0.27206222 0.28203149 0.29186687 0.29970910 0.30786724 0.31635795 0.32519097               ! PS_BldPitchMin          - Minimum blade pitch angles [rad]
+3.00 3.50 4.00 4.50 5.00 5.50 6.00 6.50 7.00 7.50 8.00 8.50 9.00 9.50 10.00 10.50 11.00 11.90 12.40 12.90 13.40 13.90 14.40 14.90 15.40 15.90 16.40 16.90 17.40 17.90 18.40 18.90 19.40 19.90 20.40 20.90 21.40 21.90 22.40 22.90 23.40 23.90 24.40 24.90               ! PS_WindSpeeds     - Wind speeds corresponding to minimum blade pitch angles [m/s]
+0.00000000 0.00000000 0.00000000 0.00000000 0.00000000 0.00000000 0.00000000 0.00000000 0.00000000 0.00000000 0.00000000 0.00000000 0.00000000 0.00000000 0.00000000 0.00000000 0.00000000 0.00000000 0.00000000 0.00000000 0.00000000 0.00000000 0.00000000 0.00000000 0.00000000 0.00000000 0.00000000 0.00000000 0.00000000 0.00000000 0.00000000 0.00000000 0.00000000 0.00000000 0.00000000 0.00000000 0.00000000 0.00000000 0.00000000 0.00000000 0.00000000 0.00000000 0.00000000 0.00000000               ! PS_BldPitchMin    - Minimum blade pitch angles [rad]
 
-!------- SHUTDOWN -------------------------------------------
+!------- SHUTDOWN -----------------------------------------------------------
 0.436300000000      ! SD_MaxPit         - Maximum blade pitch angle to initiate shutdown, [rad]
 0.418880000000      ! SD_CornerFreq     - Cutoff Frequency for first order low-pass filter for blade pitch angle, [rad/s]
 
-!------- Floating -------------------------------------------
+!------- Floating -----------------------------------------------------------
 0.000000000000      ! Fl_Kp             - Nacelle velocity proportional feedback gain [s]
 
 !------- FLAP ACTUATION -----------------------------------------------------

Examples/NREL5MW_example.yaml

@@ -3,9 +3,9 @@
     # Turbine: NREL 5MW Reference Wind Turbine
 # ------------------------------ OpenFAST PATH DEFINITIONS ------------------------------
 path_params:
-  FAST_InputFile: '5MW_Land.fst'                                                                # Name of *.fst file
-  FAST_directory: '../Test_Cases/5MW_Land'                     # Main OpenFAST model directory, where the *.fst lives 
-# Optional
+  FAST_InputFile: '5MW_Land_DLL_WTurb.fst'                                                                # Name of *.fst file
+  FAST_directory: '../Test_Cases/5MW_Land_DLL_WTurb'                     # Main OpenFAST model directory, where the *.fst lives 
+  # Optional
   rotor_performance_filename:  'Cp_Ct_Cq.NREL5MW.txt'                                # Filename for rotor performance text file (if it has been generated by ccblade already)
 
 # -------------------------------- TURBINE PARAMETERS ----------------------------------- 
@@ -36,8 +36,8 @@ controller_params:
   PC_ControlMode:     1                     # Blade pitch control mode {0: No pitch, fix to fine pitch, 1: active PI blade pitch control}
   Y_ControlMode:      0                     # Yaw control mode {0: no yaw control, 1: yaw rate control, 2: yaw-by-IPC}
   SS_Mode:            1                     # Setpoint Smoother mode {0: no setpoint smoothing, 1: introduce setpoint smoothing}
-  WE_Mode:            2                     # Wind speed estimator mode {0: One-second low pass filtered hub height wind speed, 1: Immersion and Invariance Estimator (Ortega et al.)}
-  PS_Mode:            1                     # Pitch saturation mode {0: no pitch saturation, 1: peak shaving, 2: Cp-maximizing pitch saturation, 3: peak shaving and Cp-maximizing pitch saturation}
+  WE_Mode:            0                     # Wind speed estimator mode {0: One-second low pass filtered hub height wind speed, 1: Immersion and Invariance Estimator (Ortega et al.)}
+  PS_Mode:            0                     # Pitch saturation mode {0: no pitch saturation, 1: peak shaving, 2: Cp-maximizing pitch saturation, 3: peak shaving and Cp-maximizing pitch saturation}
   SD_Mode:            0                     # Shutdown mode {0: no shutdown procedure, 1: pitch to max pitch at shutdown}
   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}

Examples/README.md

@@ -10,4 +10,5 @@ Examples:
 6. Load a turbine, tune a controller, run an OpenFAST simulation.
 7. Load saved turbine, tune controller, plot minimum pitch schedule.
 8. Plot some OpenFAST output data.
-9. Run turbsim to compile binary.
+9. Run turbsim to compile binary.
+10. Tune a controller for distributed aerodynamic control.

Examples/ROSCO_walkthrough.ipynb

@@ -337,7 +337,7 @@
     "# Write parameter input file\n",
     "file_processing = ROSCO_utilities.FileProcessing()\n",
     "param_file = 'DISCON.IN'   # This must be named DISCON.IN to be seen by the compiled controller binary. \n",
-    "file_processing.write_param_file(turbine,controller,param_file=param_file, txt_filename=path_params['rotor_performance_filename'])"
+    "file_processing.write_DISCON(turbine,controller,param_file=param_file, txt_filename=path_params['rotor_performance_filename'])"
    ]
   },
   {

Examples/example_01.py

@@ -1,14 +1,16 @@
-# ----------- Example_01 --------------
-# Load and save a turbine model
-# -------------------------------------
-# In this example:
-# - Read .yaml input file
-# - Load an openfast turbine model
-# - Read text file with rotor performance properties
-# - Print some basic turbine properties
-# - Save the turbine as a picklle
-# 
-# Note: Uses the NREL 5MW included in the Test Cases and is a part of the OpenFAST distribution
+'''
+----------- Example_01 --------------
+Load and save a turbine model
+-------------------------------------
+In this example:
+- Read .yaml input file
+- Load an openfast turbine model
+- Read text file with rotor performance properties
+- Print some basic turbine properties
+- Save the turbine as a picklle
+
+Note: Uses the NREL 5MW included in the Test Cases and is a part of the OpenFAST distribution
+'''
 
 # Python Modules
 import yaml

Examples/example_02.py

@@ -1,10 +1,12 @@
-# ----------- Example_02 --------------
-# Load a turbine model from saved pickle, make a quick cp plot 
-# -------------------------------------
-#
-# In this example:
-#   - Load a turbine from a saved pickle
-#   - Plot Cp Surface
+'''
+----------- Example_02 --------------
+Load a turbine model from saved pickle, make a quick cp plot 
+-------------------------------------
+
+In this example:
+  - Load a turbine from a saved pickle
+  - Plot Cp Surface
+'''
 
 # Python modules
 import matplotlib.pyplot as plt

Examples/example_03.py

@@ -1,13 +1,14 @@
-# ----------- Example_03 --------------
-# Run CCblade, save a rotor performance text file
-# -------------------------------------
-#
-# In this example:
-# - Read .yaml input file
-# - Load an openfast turbine model
-# - Run ccblade to get rotor performance properties
-# - Write a text file with rotor performance properties
+'''
+----------- Example_03 --------------
+Run CCblade, save a rotor performance text file
+-------------------------------------
 
+In this example:
+- Read .yaml input file
+- Load an openfast turbine model
+- Run ccblade to get rotor performance properties
+- Write a text file with rotor performance properties
+'''
 # Python modules
 import yaml 
 # ROSCO toolbox modules 

Examples/example_04.py

@@ -1,14 +1,15 @@
-# ----------- Example_04 --------------
-# Load a turbine model and tune the controller
-# -------------------------------------
-#
-# In this example:
-#   - Read a .yaml file
-#   - Load a turbine model from OpenFAST
-#   - Tune a controller
-#   - Write a controller input file
-#   - Plot gain schedule
-
+'''
+----------- Example_04 --------------
+Load a turbine model and tune the controller
+-------------------------------------
+
+In this example:
+  - Read a .yaml file
+  - Load a turbine model from OpenFAST
+  - Tune a controller
+  - Write a controller input file
+  - Plot gain schedule
+'''
 # Python modules
 import matplotlib.pyplot as plt 
 import yaml 
@@ -38,7 +39,7 @@
 
 # Write parameter input file
 param_file = 'DISCON.IN'   
-file_processing.write_param_file(turbine,controller,param_file=param_file, txt_filename=path_params['rotor_performance_filename'])
+file_processing.write_DISCON(turbine,controller,param_file=param_file, txt_filename=path_params['rotor_performance_filename'])
 
 # Plot gain schedule
 plt.figure(0)

Examples/example_05.py

@@ -1,15 +1,19 @@
-# ----------- Example_05 --------------
-# Run and plot a simple simple step wind simulation
-# -------------------------------------
-#
-# In this example:
-#   - Load turbine from saved pickle
-#   - Tune a controller
-#   - Run and plot a simple step wind simulation
-#
-# Note - you will need to have a compiled controller in ROSCO, and 
-#        properly point to it in the `controller_path` variable
-
+'''
+----------- Example_05 --------------
+Run and plot a simple simple step wind simulation
+-------------------------------------
+
+In this example:
+  - Load turbine from saved pickle
+  - Tune a controller
+  - Run and plot a simple step wind simulation
+
+Notes - You will need to have a compiled controller in ROSCO, and 
+        properly point to it in the `lib_name` variable.
+      - The complex nature of the wind speed estimators implemented in ROSCO
+        make using them for simulations is known to cause problems for 
+        the simple simulator. We suggesting using WE_Mode = 0 in DISCON.IN.
+'''
 # Python modules
 import matplotlib.pyplot as plt 
 import numpy as np
@@ -22,14 +26,15 @@
 from ROSCO_toolbox import control_interface as ROSCO_ci
 
 # Specify controller dynamic library path and name
-lib_name = ('../ROSCO/build/libdiscon.dylib')
+lib_name = '../ROSCO/build/libdiscon.dylib'
+param_filename = 'DISCON.IN'
 
 # Load turbine model from saved pickle
 turbine = ROSCO_turbine.Turbine
 turbine = turbine.load('NREL5MW_saved.p')
 
 # Load controller library
-controller_int = ROSCO_ci.ControllerInterface(lib_name)
+controller_int = ROSCO_ci.ControllerInterface(lib_name,param_filename=param_filename)
 
 # Load the simulator
 sim = ROSCO_sim.Sim(turbine,controller_int)