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Merge pull request #167 from IEAWindTask37/develop
Minor release update for ROSCO and HAWCStab2
2 parents fbe6057 + eebdaf1 commit 94efa50

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‎HAWC2/IEA-15-240-RWT-Onshore/data/IEA_15MW_RWT_Onshore.opt

+17-17
Original file line numberDiff line numberDiff line change
@@ -1,18 +1,18 @@
11
17 wind speed [m/s] pitch [deg] rot. speed [rpm] aero power [kw] aero thrust [kn]
2-
0.500000 2.391072 5.000012 -330.960548 3.504929
3-
3.000000 2.399471 5.000012 95.827156 233.598121
4-
5.000000 0.419366 5.000012 1651.234346 656.045539
5-
7.000000 0.000535 5.000012 4653.192214 1020.690492
6-
8.000000 0.000535 5.681907 6852.011306 1294.791393
7-
9.000000 0.000535 6.390847 9596.706829 1591.355121
8-
10.000000 0.000535 7.101997 12894.953970 1901.431891
9-
10.500000 0.000687 7.460480 14751.493214 2060.266998
10-
10.700000 0.000802 7.559987 15523.305242 2118.746815
11-
11.000000 1.325255 7.559987 15534.545497 1962.412862
12-
13.000000 6.093161 7.559987 15531.161639 1486.246005
13-
15.000000 9.189877 7.559987 15534.994492 1259.488076
14-
17.000000 11.800808 7.559987 15533.957177 1112.397641
15-
19.000000 14.160073 7.559987 15535.644038 1007.825701
16-
21.000000 16.367237 7.559987 15530.596072 928.973999
17-
23.000000 18.461961 7.559987 15537.643552 868.465684
18-
25.000000 20.478844 7.559987 15534.270402 820.237938
2+
0.500000 2.438110 5.000012 -331.165840 3.387139
3+
3.000000 2.426047 5.000012 95.227704 233.548534
4+
5.000000 0.377375 5.000012 1651.064647 659.852440
5+
7.000000 0.000535 5.000012 4654.278839 1021.311184
6+
8.000000 0.000535 5.681900 6852.108460 1295.039597
7+
9.000000 0.000535 6.390847 9593.158784 1590.613558
8+
10.000000 0.000535 7.101976 12880.953731 1898.680029
9+
10.500000 0.000660 7.460359 14728.982528 2056.067347
10+
10.700000 0.000783 7.559987 15496.958017 2113.988659
11+
11.000000 1.170321 7.559987 15663.825045 1986.250804
12+
13.000000 6.052129 7.559987 15665.502056 1499.217869
13+
15.000000 9.189114 7.559987 15666.723955 1268.983499
14+
17.000000 11.824437 7.559987 15663.732588 1119.978392
15+
19.000000 14.199750 7.559987 15667.741615 1014.234365
16+
21.000000 16.421070 7.559987 15662.890627 934.463958
17+
23.000000 18.525951 7.559987 15678.725250 873.505303
18+
25.000000 20.553121 7.559987 15662.421940 824.091159

‎HAWC2/IEA-15-240-RWT-Onshore/scripts/make_htc.py

+2-2
Original file line numberDiff line numberDiff line change
@@ -18,9 +18,9 @@
1818
kw = dict(cut_in=3, cut_out=25, dt=39, tstart=220, # step parameters
1919
wsp=12, tint=0.17, tb_wid=252, tb_ht=252, # turbulence parameters
2020
n_wsp=45, gen_min=5.000011692174984, gen_max=7.559987120819503, # hawcstab2 parameters
21-
gbr=1, pitch_min=0, opt_lambda=9, rate_pow=15e3, gen_eff=0.9655, # hawcstab2 parameters
21+
gbr=1, pitch_min=0, opt_lambda=9, rate_pow=15e3, gen_eff=0.95756, # hawcstab2 parameters
2222
p1_f=0.05, p1_z=0.7, p2_f=0.03, p2_z=0.7, gs=2, constant_power=0, # hawcstab2 parameters
23-
oper_dat='./data/IEA_15MW_RWT_FixedSubstructure.opt') # hawcstab2 parameters
23+
oper_dat='./data/IEA_15MW_RWT_Onshore.opt') # hawcstab2 parameters
2424

2525

2626
if __name__ == '__main__':

‎OpenFAST/IEA-15-240-RWT-Monopile/IEA-15-240-RWT-Monopile_DISCON.IN

+27-4
Original file line numberDiff line numberDiff line change
@@ -1,11 +1,12 @@
11
! Controller parameter input file for the IEA-15-240-RWT-Monopile wind turbine
2-
! - File written using ROSCO version 2.7.0 controller tuning logic on 03/14/23
2+
! - File written using ROSCO version 2.8.0 controller tuning logic on 09/29/23
33

44
!------- DEBUG ------------------------------------------------------------
5-
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)}
5+
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))
6+
0 ! Echo - (0 - no Echo, 1 - Echo input data to <RootName>.echo)
67

78
!------- CONTROLLER FLAGS -------------------------------------------------
8-
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
9+
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
910
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}
1011
0 ! IPC_ControlMode - Turn Individual Pitch Control (IPC) for fatigue load reductions (pitch contribution) {0: off, 1: 1P reductions, 2: 1P+2P reductions}
1112
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}
@@ -21,8 +22,11 @@
2122
0 ! OL_Mode - Open loop control mode {0: no open loop control, 1: open loop control vs. time}
2223
0 ! PA_Mode - Pitch actuator mode {0 - not used, 1 - first order filter, 2 - second order filter}
2324
0 ! PF_Mode - Pitch fault mode {0 - not used, 1 - constant offset on one or more blades}
25+
0 ! AWC_Mode - Active wake control {0 - not used, 1 - complex number method, 2 - Coleman transform method}
2426
0 ! Ext_Mode - External control mode {0 - not used, 1 - call external dynamic library}
2527
0 ! ZMQ_Mode - Fuse ZeroMQ interface {0: unused, 1: Yaw Control}
28+
0 ! CC_Mode - Cable control mode [0- unused, 1- User defined, 2- Open loop control]
29+
0 ! StC_Mode - Structural control mode [0- unused, 1- User defined, 2- Open loop control]
2630

2731
!------- FILTERS ----------------------------------------------------------
2832
1.00810 ! F_LPFCornerFreq - Corner frequency (-3dB point) in the low-pass filters, [rad/s]
@@ -131,7 +135,9 @@
131135
0 ! Ind_Breakpoint - The column in OL_Filename that contains the breakpoint (time if OL_Mode = 1)
132136
0 ! Ind_BldPitch - The column in OL_Filename that contains the blade pitch input in rad
133137
0 ! Ind_GenTq - The column in OL_Filename that contains the generator torque in Nm
134-
0 ! Ind_YawRate - The column in OL_Filename that contains the generator torque in Nm
138+
0 ! Ind_YawRate - The column in OL_Filename that contains the nacelle yaw rate rad/s
139+
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]
140+
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]
135141

136142
!------- Pitch Actuator Model -----------------------------------------------------
137143
3.140000000000 ! PA_CornerFreq - Pitch actuator bandwidth/cut-off frequency [rad/s]
@@ -140,6 +146,14 @@
140146
!------- Pitch Actuator Faults -----------------------------------------------------
141147
0.00000000 0.00000000 0.00000000 ! PF_Offsets - Constant blade pitch offsets for blades 1-3 [rad]
142148

149+
!------- Active Wake Control -----------------------------------------------------
150+
1 ! AWC_NumModes - Number of user-defined AWC forcing modes
151+
1 ! AWC_n - Azimuthal mode number(s) (i.e., the number and direction of the lobes of the wake structure)
152+
1 ! AWC_harmonic - Harmonic(s) to apply in the AWC Inverse Coleman Transformation (only used when AWC_Mode = 2)
153+
0.0500 ! AWC_freq - Frequency(s) of forcing mode(s) [Hz]
154+
1.0000 ! AWC_amp - Pitch amplitude(s) of individual forcing mode(s) [deg]
155+
0.0000 ! AWC_clockangle - Initial angle(s) of forcing mode(s) [deg]
156+
143157
!------- External Controller Interface -----------------------------------------------------
144158
"unused" ! DLL_FileName - Name/location of the dynamic library in the Bladed-DLL format
145159
"unused" ! DLL_InFile - Name of input file sent to the DLL (-)
@@ -148,3 +162,12 @@
148162
!------- ZeroMQ Interface ---------------------------------------------------------
149163
"tcp://localhost:5555" ! ZMQ_CommAddress - Communication address for ZMQ server, (e.g. "tcp://localhost:5555")
150164
2 ! ZMQ_UpdatePeriod - Call ZeroMQ every [x] seconds, [s]
165+
166+
!------- Cable Control ---------------------------------------------------------
167+
1 ! CC_Group_N - Number of cable control groups
168+
0 ! CC_GroupIndex - First index for cable control group, should correspond to deltaL
169+
20.000000 ! CC_ActTau - Time constant for line actuator [s]
170+
171+
!------- Structural Controllers ---------------------------------------------------------
172+
1 ! StC_Group_N - Number of cable control groups
173+
0 ! StC_GroupIndex - First index for structural control group, options specified in ServoDyn summary output

‎OpenFAST/IEA-15-240-RWT-UMaineSemi/IEA-15-240-RWT-UMaineSemi_DISCON.IN

+27-4
Original file line numberDiff line numberDiff line change
@@ -1,11 +1,12 @@
11
! Controller parameter input file for the IEA-15-240-RWT-UMaineSemi wind turbine
2-
! - File written using ROSCO version 2.7.0 controller tuning logic on 03/14/23
2+
! - File written using ROSCO version 2.8.0 controller tuning logic on 09/29/23
33

44
!------- DEBUG ------------------------------------------------------------
5-
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)}
5+
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))
6+
0 ! Echo - (0 - no Echo, 1 - Echo input data to <RootName>.echo)
67

78
!------- CONTROLLER FLAGS -------------------------------------------------
8-
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
9+
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
910
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}
1011
0 ! IPC_ControlMode - Turn Individual Pitch Control (IPC) for fatigue load reductions (pitch contribution) {0: off, 1: 1P reductions, 2: 1P+2P reductions}
1112
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}
@@ -21,8 +22,11 @@
2122
0 ! OL_Mode - Open loop control mode {0: no open loop control, 1: open loop control vs. time}
2223
0 ! PA_Mode - Pitch actuator mode {0 - not used, 1 - first order filter, 2 - second order filter}
2324
0 ! PF_Mode - Pitch fault mode {0 - not used, 1 - constant offset on one or more blades}
25+
0 ! AWC_Mode - Active wake control {0 - not used, 1 - complex number method, 2 - Coleman transform method}
2426
0 ! Ext_Mode - External control mode {0 - not used, 1 - call external dynamic library}
2527
0 ! ZMQ_Mode - Fuse ZeroMQ interface {0: unused, 1: Yaw Control}
28+
0 ! CC_Mode - Cable control mode [0- unused, 1- User defined, 2- Open loop control]
29+
0 ! StC_Mode - Structural control mode [0- unused, 1- User defined, 2- Open loop control]
2630

2731
!------- FILTERS ----------------------------------------------------------
2832
1.00810 ! F_LPFCornerFreq - Corner frequency (-3dB point) in the low-pass filters, [rad/s]
@@ -131,7 +135,9 @@
131135
0 ! Ind_Breakpoint - The column in OL_Filename that contains the breakpoint (time if OL_Mode = 1)
132136
0 ! Ind_BldPitch - The column in OL_Filename that contains the blade pitch input in rad
133137
0 ! Ind_GenTq - The column in OL_Filename that contains the generator torque in Nm
134-
0 ! Ind_YawRate - The column in OL_Filename that contains the generator torque in Nm
138+
0 ! Ind_YawRate - The column in OL_Filename that contains the nacelle yaw rate rad/s
139+
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]
140+
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]
135141

136142
!------- Pitch Actuator Model -----------------------------------------------------
137143
3.140000000000 ! PA_CornerFreq - Pitch actuator bandwidth/cut-off frequency [rad/s]
@@ -140,6 +146,14 @@
140146
!------- Pitch Actuator Faults -----------------------------------------------------
141147
0.00000000 0.00000000 0.00000000 ! PF_Offsets - Constant blade pitch offsets for blades 1-3 [rad]
142148

149+
!------- Active Wake Control -----------------------------------------------------
150+
1 ! AWC_NumModes - Number of user-defined AWC forcing modes
151+
1 ! AWC_n - Azimuthal mode number(s) (i.e., the number and direction of the lobes of the wake structure)
152+
1 ! AWC_harmonic - Harmonic(s) to apply in the AWC Inverse Coleman Transformation (only used when AWC_Mode = 2)
153+
0.0500 ! AWC_freq - Frequency(s) of forcing mode(s) [Hz]
154+
1.0000 ! AWC_amp - Pitch amplitude(s) of individual forcing mode(s) [deg]
155+
0.0000 ! AWC_clockangle - Initial angle(s) of forcing mode(s) [deg]
156+
143157
!------- External Controller Interface -----------------------------------------------------
144158
"unused" ! DLL_FileName - Name/location of the dynamic library in the Bladed-DLL format
145159
"unused" ! DLL_InFile - Name of input file sent to the DLL (-)
@@ -148,3 +162,12 @@
148162
!------- ZeroMQ Interface ---------------------------------------------------------
149163
"tcp://localhost:5555" ! ZMQ_CommAddress - Communication address for ZMQ server, (e.g. "tcp://localhost:5555")
150164
2 ! ZMQ_UpdatePeriod - Call ZeroMQ every [x] seconds, [s]
165+
166+
!------- Cable Control ---------------------------------------------------------
167+
1 ! CC_Group_N - Number of cable control groups
168+
0 ! CC_GroupIndex - First index for cable control group, should correspond to deltaL
169+
20.000000 ! CC_ActTau - Time constant for line actuator [s]
170+
171+
!------- Structural Controllers ---------------------------------------------------------
172+
1 ! StC_Group_N - Number of cable control groups
173+
0 ! StC_GroupIndex - First index for structural control group, options specified in ServoDyn summary output

‎tests/environment.yml

+1-1
Original file line numberDiff line numberDiff line change
@@ -29,7 +29,7 @@ dependencies:
2929
- psutil
3030
- pbr
3131
- pytables
32-
- rosco ==2.7.0
32+
- rosco ==2.8.0
3333
- sshtunnel
3434
- simpy
3535
- tomli

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