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Merge pull request #167 from IEAWindTask37/develop
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Minor release update for ROSCO and HAWCStab2
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@gbarter
gbarter authored Oct 22, 2023
2 parents fbe6057 + eebdaf1 commit 94efa50
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34 changes: 17 additions & 17 deletions HAWC2/IEA-15-240-RWT-Onshore/data/IEA_15MW_RWT_Onshore.opt
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17 wind speed [m/s] pitch [deg] rot. speed [rpm] aero power [kw] aero thrust [kn]
0.500000 2.391072 5.000012 -330.960548 3.504929
3.000000 2.399471 5.000012 95.827156 233.598121
5.000000 0.419366 5.000012 1651.234346 656.045539
7.000000 0.000535 5.000012 4653.192214 1020.690492
8.000000 0.000535 5.681907 6852.011306 1294.791393
9.000000 0.000535 6.390847 9596.706829 1591.355121
10.000000 0.000535 7.101997 12894.953970 1901.431891
10.500000 0.000687 7.460480 14751.493214 2060.266998
10.700000 0.000802 7.559987 15523.305242 2118.746815
11.000000 1.325255 7.559987 15534.545497 1962.412862
13.000000 6.093161 7.559987 15531.161639 1486.246005
15.000000 9.189877 7.559987 15534.994492 1259.488076
17.000000 11.800808 7.559987 15533.957177 1112.397641
19.000000 14.160073 7.559987 15535.644038 1007.825701
21.000000 16.367237 7.559987 15530.596072 928.973999
23.000000 18.461961 7.559987 15537.643552 868.465684
25.000000 20.478844 7.559987 15534.270402 820.237938
0.500000 2.438110 5.000012 -331.165840 3.387139
3.000000 2.426047 5.000012 95.227704 233.548534
5.000000 0.377375 5.000012 1651.064647 659.852440
7.000000 0.000535 5.000012 4654.278839 1021.311184
8.000000 0.000535 5.681900 6852.108460 1295.039597
9.000000 0.000535 6.390847 9593.158784 1590.613558
10.000000 0.000535 7.101976 12880.953731 1898.680029
10.500000 0.000660 7.460359 14728.982528 2056.067347
10.700000 0.000783 7.559987 15496.958017 2113.988659
11.000000 1.170321 7.559987 15663.825045 1986.250804
13.000000 6.052129 7.559987 15665.502056 1499.217869
15.000000 9.189114 7.559987 15666.723955 1268.983499
17.000000 11.824437 7.559987 15663.732588 1119.978392
19.000000 14.199750 7.559987 15667.741615 1014.234365
21.000000 16.421070 7.559987 15662.890627 934.463958
23.000000 18.525951 7.559987 15678.725250 873.505303
25.000000 20.553121 7.559987 15662.421940 824.091159
4 changes: 2 additions & 2 deletions HAWC2/IEA-15-240-RWT-Onshore/scripts/make_htc.py
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Expand Up @@ -18,9 +18,9 @@
kw = dict(cut_in=3, cut_out=25, dt=39, tstart=220, # step parameters
wsp=12, tint=0.17, tb_wid=252, tb_ht=252, # turbulence parameters
n_wsp=45, gen_min=5.000011692174984, gen_max=7.559987120819503, # hawcstab2 parameters
gbr=1, pitch_min=0, opt_lambda=9, rate_pow=15e3, gen_eff=0.9655, # hawcstab2 parameters
gbr=1, pitch_min=0, opt_lambda=9, rate_pow=15e3, gen_eff=0.95756, # hawcstab2 parameters
p1_f=0.05, p1_z=0.7, p2_f=0.03, p2_z=0.7, gs=2, constant_power=0, # hawcstab2 parameters
oper_dat='./data/IEA_15MW_RWT_FixedSubstructure.opt') # hawcstab2 parameters
oper_dat='./data/IEA_15MW_RWT_Onshore.opt') # hawcstab2 parameters


if __name__ == '__main__':
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31 changes: 27 additions & 4 deletions OpenFAST/IEA-15-240-RWT-Monopile/IEA-15-240-RWT-Monopile_DISCON.IN
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! Controller parameter input file for the IEA-15-240-RWT-Monopile wind turbine
! - File written using ROSCO version 2.7.0 controller tuning logic on 03/14/23
! - File written using ROSCO version 2.8.0 controller tuning logic on 09/29/23

!------- DEBUG ------------------------------------------------------------
1 ! LoggingLevel - {0: write no debug files, 1: write standard output .dbg-file, 2: LoggingLevel 1 + ROSCO LocalVars (.dbg2) 3: LoggingLevel 2 + complete avrSWAP-array (.dbg3)}
1 ! LoggingLevel - (0: write no debug files, 1: write standard output .dbg-file, 2: LoggingLevel 1 + ROSCO LocalVars (.dbg2) 3: LoggingLevel 2 + complete avrSWAP-array (.dbg3))
0 ! Echo - (0 - no Echo, 1 - Echo input data to <RootName>.echo)

!------- CONTROLLER FLAGS -------------------------------------------------
2 ! F_LPFType - {1: first-order low-pass filter, 2: second-order low-pass filter}, [rad/s] (currently filters generator speed and pitch control signals
2 ! F_LPFType - (1: first-order low-pass filter, 2: second-order low-pass filter), [rad/s] (currently filters generator speed and pitch control signals
0 ! F_NotchType - Notch on the measured generator speed and/or tower fore-aft motion (for floating) {0: disable, 1: generator speed, 2: tower-top fore-aft motion, 3: generator speed and tower-top fore-aft motion}
0 ! IPC_ControlMode - Turn Individual Pitch Control (IPC) for fatigue load reductions (pitch contribution) {0: off, 1: 1P reductions, 2: 1P+2P reductions}
2 ! VS_ControlMode - Generator torque control mode in above rated conditions {0: constant torque, 1: constant power, 2: TSR tracking PI control with constant torque, 3: TSR tracking PI control with constant power}
Expand All @@ -21,8 +22,11 @@
0 ! OL_Mode - Open loop control mode {0: no open loop control, 1: open loop control vs. time}
0 ! PA_Mode - Pitch actuator mode {0 - not used, 1 - first order filter, 2 - second order filter}
0 ! PF_Mode - Pitch fault mode {0 - not used, 1 - constant offset on one or more blades}
0 ! AWC_Mode - Active wake control {0 - not used, 1 - complex number method, 2 - Coleman transform method}
0 ! Ext_Mode - External control mode {0 - not used, 1 - call external dynamic library}
0 ! ZMQ_Mode - Fuse ZeroMQ interface {0: unused, 1: Yaw Control}
0 ! CC_Mode - Cable control mode [0- unused, 1- User defined, 2- Open loop control]
0 ! StC_Mode - Structural control mode [0- unused, 1- User defined, 2- Open loop control]

!------- FILTERS ----------------------------------------------------------
1.00810 ! F_LPFCornerFreq - Corner frequency (-3dB point) in the low-pass filters, [rad/s]
Expand Down Expand Up @@ -131,7 +135,9 @@
0 ! Ind_Breakpoint - The column in OL_Filename that contains the breakpoint (time if OL_Mode = 1)
0 ! Ind_BldPitch - The column in OL_Filename that contains the blade pitch input in rad
0 ! Ind_GenTq - The column in OL_Filename that contains the generator torque in Nm
0 ! Ind_YawRate - The column in OL_Filename that contains the generator torque in Nm
0 ! Ind_YawRate - The column in OL_Filename that contains the nacelle yaw rate rad/s
0 ! Ind_CableControl - The column(s) in OL_Filename that contains the cable control inputs in m [Used with CC_Mode = 2, must be the same size as CC_Group_N]
0 ! Ind_StructControl - The column(s) in OL_Filename that contains the structural control inputs [Used with StC_Mode = 2, must be the same size as StC_Group_N]

!------- Pitch Actuator Model -----------------------------------------------------
3.140000000000 ! PA_CornerFreq - Pitch actuator bandwidth/cut-off frequency [rad/s]
Expand All @@ -140,6 +146,14 @@
!------- Pitch Actuator Faults -----------------------------------------------------
0.00000000 0.00000000 0.00000000 ! PF_Offsets - Constant blade pitch offsets for blades 1-3 [rad]

!------- Active Wake Control -----------------------------------------------------
1 ! AWC_NumModes - Number of user-defined AWC forcing modes
1 ! AWC_n - Azimuthal mode number(s) (i.e., the number and direction of the lobes of the wake structure)
1 ! AWC_harmonic - Harmonic(s) to apply in the AWC Inverse Coleman Transformation (only used when AWC_Mode = 2)
0.0500 ! AWC_freq - Frequency(s) of forcing mode(s) [Hz]
1.0000 ! AWC_amp - Pitch amplitude(s) of individual forcing mode(s) [deg]
0.0000 ! AWC_clockangle - Initial angle(s) of forcing mode(s) [deg]

!------- External Controller Interface -----------------------------------------------------
"unused" ! DLL_FileName - Name/location of the dynamic library in the Bladed-DLL format
"unused" ! DLL_InFile - Name of input file sent to the DLL (-)
Expand All @@ -148,3 +162,12 @@
!------- ZeroMQ Interface ---------------------------------------------------------
"tcp://localhost:5555" ! ZMQ_CommAddress - Communication address for ZMQ server, (e.g. "tcp://localhost:5555")
2 ! ZMQ_UpdatePeriod - Call ZeroMQ every [x] seconds, [s]

!------- Cable Control ---------------------------------------------------------
1 ! CC_Group_N - Number of cable control groups
0 ! CC_GroupIndex - First index for cable control group, should correspond to deltaL
20.000000 ! CC_ActTau - Time constant for line actuator [s]

!------- Structural Controllers ---------------------------------------------------------
1 ! StC_Group_N - Number of cable control groups
0 ! StC_GroupIndex - First index for structural control group, options specified in ServoDyn summary output
31 changes: 27 additions & 4 deletions OpenFAST/IEA-15-240-RWT-UMaineSemi/IEA-15-240-RWT-UMaineSemi_DISCON.IN
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@@ -1,11 +1,12 @@
! Controller parameter input file for the IEA-15-240-RWT-UMaineSemi wind turbine
! - File written using ROSCO version 2.7.0 controller tuning logic on 03/14/23
! - File written using ROSCO version 2.8.0 controller tuning logic on 09/29/23

!------- DEBUG ------------------------------------------------------------
1 ! LoggingLevel - {0: write no debug files, 1: write standard output .dbg-file, 2: LoggingLevel 1 + ROSCO LocalVars (.dbg2) 3: LoggingLevel 2 + complete avrSWAP-array (.dbg3)}
1 ! LoggingLevel - (0: write no debug files, 1: write standard output .dbg-file, 2: LoggingLevel 1 + ROSCO LocalVars (.dbg2) 3: LoggingLevel 2 + complete avrSWAP-array (.dbg3))
0 ! Echo - (0 - no Echo, 1 - Echo input data to <RootName>.echo)

!------- CONTROLLER FLAGS -------------------------------------------------
2 ! F_LPFType - {1: first-order low-pass filter, 2: second-order low-pass filter}, [rad/s] (currently filters generator speed and pitch control signals
2 ! F_LPFType - (1: first-order low-pass filter, 2: second-order low-pass filter), [rad/s] (currently filters generator speed and pitch control signals
2 ! F_NotchType - Notch on the measured generator speed and/or tower fore-aft motion (for floating) {0: disable, 1: generator speed, 2: tower-top fore-aft motion, 3: generator speed and tower-top fore-aft motion}
0 ! IPC_ControlMode - Turn Individual Pitch Control (IPC) for fatigue load reductions (pitch contribution) {0: off, 1: 1P reductions, 2: 1P+2P reductions}
2 ! VS_ControlMode - Generator torque control mode in above rated conditions {0: constant torque, 1: constant power, 2: TSR tracking PI control with constant torque, 3: TSR tracking PI control with constant power}
Expand All @@ -21,8 +22,11 @@
0 ! OL_Mode - Open loop control mode {0: no open loop control, 1: open loop control vs. time}
0 ! PA_Mode - Pitch actuator mode {0 - not used, 1 - first order filter, 2 - second order filter}
0 ! PF_Mode - Pitch fault mode {0 - not used, 1 - constant offset on one or more blades}
0 ! AWC_Mode - Active wake control {0 - not used, 1 - complex number method, 2 - Coleman transform method}
0 ! Ext_Mode - External control mode {0 - not used, 1 - call external dynamic library}
0 ! ZMQ_Mode - Fuse ZeroMQ interface {0: unused, 1: Yaw Control}
0 ! CC_Mode - Cable control mode [0- unused, 1- User defined, 2- Open loop control]
0 ! StC_Mode - Structural control mode [0- unused, 1- User defined, 2- Open loop control]

!------- FILTERS ----------------------------------------------------------
1.00810 ! F_LPFCornerFreq - Corner frequency (-3dB point) in the low-pass filters, [rad/s]
Expand Down Expand Up @@ -131,7 +135,9 @@
0 ! Ind_Breakpoint - The column in OL_Filename that contains the breakpoint (time if OL_Mode = 1)
0 ! Ind_BldPitch - The column in OL_Filename that contains the blade pitch input in rad
0 ! Ind_GenTq - The column in OL_Filename that contains the generator torque in Nm
0 ! Ind_YawRate - The column in OL_Filename that contains the generator torque in Nm
0 ! Ind_YawRate - The column in OL_Filename that contains the nacelle yaw rate rad/s
0 ! Ind_CableControl - The column(s) in OL_Filename that contains the cable control inputs in m [Used with CC_Mode = 2, must be the same size as CC_Group_N]
0 ! Ind_StructControl - The column(s) in OL_Filename that contains the structural control inputs [Used with StC_Mode = 2, must be the same size as StC_Group_N]

!------- Pitch Actuator Model -----------------------------------------------------
3.140000000000 ! PA_CornerFreq - Pitch actuator bandwidth/cut-off frequency [rad/s]
Expand All @@ -140,6 +146,14 @@
!------- Pitch Actuator Faults -----------------------------------------------------
0.00000000 0.00000000 0.00000000 ! PF_Offsets - Constant blade pitch offsets for blades 1-3 [rad]

!------- Active Wake Control -----------------------------------------------------
1 ! AWC_NumModes - Number of user-defined AWC forcing modes
1 ! AWC_n - Azimuthal mode number(s) (i.e., the number and direction of the lobes of the wake structure)
1 ! AWC_harmonic - Harmonic(s) to apply in the AWC Inverse Coleman Transformation (only used when AWC_Mode = 2)
0.0500 ! AWC_freq - Frequency(s) of forcing mode(s) [Hz]
1.0000 ! AWC_amp - Pitch amplitude(s) of individual forcing mode(s) [deg]
0.0000 ! AWC_clockangle - Initial angle(s) of forcing mode(s) [deg]

!------- External Controller Interface -----------------------------------------------------
"unused" ! DLL_FileName - Name/location of the dynamic library in the Bladed-DLL format
"unused" ! DLL_InFile - Name of input file sent to the DLL (-)
Expand All @@ -148,3 +162,12 @@
!------- ZeroMQ Interface ---------------------------------------------------------
"tcp://localhost:5555" ! ZMQ_CommAddress - Communication address for ZMQ server, (e.g. "tcp://localhost:5555")
2 ! ZMQ_UpdatePeriod - Call ZeroMQ every [x] seconds, [s]

!------- Cable Control ---------------------------------------------------------
1 ! CC_Group_N - Number of cable control groups
0 ! CC_GroupIndex - First index for cable control group, should correspond to deltaL
20.000000 ! CC_ActTau - Time constant for line actuator [s]

!------- Structural Controllers ---------------------------------------------------------
1 ! StC_Group_N - Number of cable control groups
0 ! StC_GroupIndex - First index for structural control group, options specified in ServoDyn summary output
2 changes: 1 addition & 1 deletion tests/environment.yml
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Expand Up @@ -29,7 +29,7 @@ dependencies:
- psutil
- pbr
- pytables
- rosco ==2.7.0
- rosco ==2.8.0
- sshtunnel
- simpy
- tomli
Expand Down

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