Pull ROSCO mhk

ROSCO/.github/workflows/CI_rosco-pytools.yml

@@ -129,7 +129,7 @@ jobs:
       # Install OpenFAST
       - name: Install OpenFAST
         run: |
-          conda install openfast==3.4
+          conda install openfast==3.5
           
       # Run examples
       - name: Run examples
@@ -194,7 +194,7 @@ jobs:
       # Install OpenFAST
       - name: Install OpenFAST
         run: |
-          conda install openfast==3.4
+          conda install openfast==3.5
 
       # Run ROSCO Testing
       - name: Run ROSCO testing

ROSCO/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

ROSCO/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']),

ROSCO/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']),

ROSCO/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'

ROSCO/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)

ROSCO/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 

ROSCO/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

ROSCO/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)
@@ -145,6 +145,22 @@
 fastout = op.load_fast_out(out_file, tmin=0)
 fig, ax = op.plot_fast_out(cases=cases,showplot=False)
 
+# Check that open loop commands are close to control outputs from OpenFAST
+fo = fastout[0]
+tt = fo['Time']
+valid_ind = tt > 2  # first few timesteps can differ, depending on OpenFAST solve config
+
+# Computer errors
+nacelle_yaw_diff = fo['NacYaw'][valid_ind] - np.degrees(np.interp(tt[valid_ind],olc.ol_timeseries['time'],olc.ol_timeseries['nacelle_yaw']))
+bld_pitch_diff = fo['BldPitch1'][valid_ind] - np.degrees(np.interp(tt[valid_ind],olc.ol_timeseries['time'],olc.ol_timeseries['blade_pitch']))
+gen_tq_diff = fo['GenTq'][valid_ind] - np.interp(tt[valid_ind],olc.ol_timeseries['time'],olc.ol_timeseries['generator_torque'])/1e3
+
+# Check diff timeseries
+np.testing.assert_allclose(nacelle_yaw_diff,  0,  atol = 1e-1)   # yaw has dynamics and integration error, tolerance higher
+np.testing.assert_allclose(bld_pitch_diff,    0,  atol = 1e-3)
+np.testing.assert_allclose(gen_tq_diff,       0,  atol = 1e-3)
+
+
 if False:
   plt.show()
 else:

ROSCO/Examples/16_external_dll.py

@@ -43,7 +43,6 @@ def main():
     # Set DLL file and DISCON input dynamically (hard-coded in yaml)
     controller_params = {}
     controller_params['DISCON'] = {}
-    controller_params['OL_Mode'] = 2
     controller_params['DISCON']['DLL_FileName'] =  copy_lib
     controller_params['DISCON']['DLL_InFile'] =    os.path.join(rosco_dir,'Test_Cases/NREL-5MW/DISCON.IN')
     controller_params['DISCON']['DLL_ProcName'] =  'DISCON'
@@ -65,4 +64,4 @@ def main():
 
 
 if __name__=="__main__":
-    main()
+    main()

ROSCO/Examples/22_cable_control.py

@@ -120,7 +120,6 @@ def main():
     r.controller_params = controller_params
     r.save_dir      = run_dir
     r.rosco_dir     = rosco_dir
-
     r.run_FAST()
 
 

ROSCO/Examples/23_structural_control.py

@@ -13,17 +13,19 @@
 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
+
 
 '''
 ROSCO currently supports user-defined hooks for structural control control actuation, if StC_Mode = 1.
 The control logic can be determined in Controllers.f90 with the StructrualControl subroutine.
 In the DISCON input, users must specify StC_GroupIndex relating to the control ChannelID.  
 These indices can be found in the ServoDyn summary file (*SrvD.sum)
 
-In the example below (and hard-coded in ROSCO) a step change of -4e5 N on the first structural controller 
-is applied at 50 sec.
+In the example below, we implement a smooth step change mimicing the exchange of ballast from the 
+upwind column to the down wind columns
 
-The develop branch (as of Mar 3, 2023) of OpenFAST (v3.5.0, upcoming) is required to run this example
+OpenFAST v3.5.0 is required to run this example
 '''
 
 
@@ -65,6 +67,41 @@ def main():
     for StC_file in reader.fst_vt['ServoDyn']['SStCfiles']:
         reader.fst_vt['SStC'].append(reader.read_StC(StC_file))
 
+    # Set up open loop inputs to ROSCO
+    t_trans = 60
+    t_sigma = 80
+    t_max = 200
+
+    applied_force = [-2e6, 1e6, 1e6]
+
+    olc = OpenLoopControl(t_max=t_max)
+    olc.interp_timeseries(
+        'struct_control_1', 
+        [0,t_trans,t_trans+t_sigma], 
+        [0,0,applied_force[0]] , 
+        'sigma'
+        )
+
+    olc.interp_timeseries(
+        'struct_control_2', 
+        [0,t_trans,t_trans+t_sigma], 
+        [0,0,applied_force[1]] , 
+        'sigma'
+        )
+
+    olc.interp_timeseries(
+        'struct_control_3', 
+        [0,t_trans,t_trans+t_sigma], 
+        [0,0,applied_force[2]] , 
+        'sigma'
+        )
+
+
+    ol_params = olc.write_input(os.path.join(run_dir,'open_loop_ballast.dat'))
+
+    controller_params = {}
+    controller_params['open_loop'] = ol_params
+    controller_params['StC_Mode'] = 2
 
     # simulation set up
     r = run_FAST_ROSCO()
@@ -73,16 +110,15 @@ def main():
     r.wind_case_fcn = cl.power_curve
     r.wind_case_opts    = {
         'U': [9],
-        'T_max': 100,
+        'TMax': t_max,
         }
     r.case_inputs = {}
-    r.fst_vt        = reader.fst_vt
-    r.save_dir      = run_dir
-    r.rosco_dir     = rosco_dir
-
+    r.fst_vt            = reader.fst_vt
+    r.save_dir          = run_dir
+    r.rosco_dir         = rosco_dir
+    r.controller_params = controller_params
     r.run_FAST()
 
 
-
 if __name__=="__main__":
     main()