Merge remote-tracking branch 'upstream/develop' into dev

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()

Examples/test_examples.py

@@ -25,6 +25,7 @@
     '20_active_wake_control',   
     '21_optional_inputs',
     '22_cable_control',
+    '23_structural_control',
     'update_rosco_discons',     
 ]
 

ROSCO/src/Controllers.f90

@@ -702,6 +702,8 @@ SUBROUTINE CableControl(avrSWAP, CntrPar, LocalVar, objInst, ErrVar)
 
         ! Internal Variables
         Integer(IntKi)                            :: I_GROUP
+        CHARACTER(*),               PARAMETER           :: RoutineName = 'StructuralControl'
+
 
 
         IF (CntrPar%CC_Mode == 1) THEN
@@ -756,31 +758,40 @@ SUBROUTINE CableControl(avrSWAP, CntrPar, LocalVar, objInst, ErrVar)
 
         END DO
 
+        ! Add RoutineName to error message
+        IF (ErrVar%aviFAIL < 0) THEN
+            ErrVar%ErrMsg = RoutineName//':'//TRIM(ErrVar%ErrMsg)
+        ENDIF
+
     END SUBROUTINE CableControl
 
 !-------------------------------------------------------------------------------------------------------------------------------
-SUBROUTINE StructuralControl(avrSWAP, CntrPar, LocalVar, objInst)
+SUBROUTINE StructuralControl(avrSWAP, CntrPar, LocalVar, objInst, ErrVar)
         ! Cable controller
         !       StC_Mode = 0, No cable control, this code not executed
         !       StC_Mode = 1, User-defined cable control
         !       StC_Mode = 2, Ballast-like control, not yet implemented
         !
         ! Note that LocalVar%StC_Input() has a fixed max size of 12, which can be increased in rosco_types.yaml
         !
-        USE ROSCO_Types, ONLY : ControlParameters, LocalVariables, ObjectInstances
+        USE ROSCO_Types, ONLY : ControlParameters, LocalVariables, ObjectInstances, ErrorVariables
 
         REAL(ReKi), INTENT(INOUT) :: avrSWAP(*) ! The swap array, used to pass data to, and receive data from, the DLL controller.
 
         TYPE(ControlParameters), INTENT(INOUT)    :: CntrPar
         TYPE(LocalVariables), INTENT(INOUT)       :: LocalVar
         TYPE(ObjectInstances), INTENT(INOUT)      :: objInst
+        TYPE(ErrorVariables), INTENT(INOUT)      :: ErrVar
+
 
         ! Internal Variables
         Integer(IntKi)                            :: I_GROUP
+        CHARACTER(*),               PARAMETER           :: RoutineName = 'StructuralControl'
+
 
 
         IF (CntrPar%StC_Mode == 1) THEN
-            ! User defined control
+            ! User defined control, step example
 
             IF (LocalVar%Time > 500) THEN
                 ! Step change in input of -4500 N
@@ -791,6 +802,18 @@ SUBROUTINE StructuralControl(avrSWAP, CntrPar, LocalVar, objInst)
             END IF
 
 
+        ELSEIF (CntrPar%StC_Mode == 2) THEN
+
+
+            DO I_GROUP = 1,CntrPar%StC_Group_N
+                IF (CntrPar%Ind_StructControl(I_GROUP) > 0) THEN
+                    LocalVar%StC_Input(I_GROUP) =  interp1d(CntrPar%OL_Breakpoints, &
+                                                            CntrPar%OL_StructControl(I_GROUP,:), &
+                                                            LocalVar%Time,ErrVar)
+                ENDIF
+            ENDDO
+
+
 
         END IF
 
@@ -800,6 +823,11 @@ SUBROUTINE StructuralControl(avrSWAP, CntrPar, LocalVar, objInst)
             avrSWAP(CntrPar%StC_GroupIndex(I_GROUP)) = LocalVar%StC_Input(I_GROUP)
         END DO
 
+        ! Add RoutineName to error message
+        IF (ErrVar%aviFAIL < 0) THEN
+            ErrVar%ErrMsg = RoutineName//':'//TRIM(ErrVar%ErrMsg)
+        ENDIF
+
     END SUBROUTINE StructuralControl
 !-------------------------------------------------------------------------------------------------------------------------------
 END MODULE Controllers

ROSCO/src/DISCON.F90

@@ -124,7 +124,7 @@ SUBROUTINE DISCON(avrSWAP, aviFAIL, accINFILE, avcOUTNAME, avcMSG) BIND (C, NAME
 
     ! Structural control
     IF (CntrPar%StC_Mode > 0) THEN
-        CALL StructuralControl(avrSWAP,CntrPar,LocalVar, objInst)
+        CALL StructuralControl(avrSWAP,CntrPar,LocalVar, objInst, ErrVar)
     END IF
 
     IF ( CntrPar%LoggingLevel > 0 ) THEN

ROSCO_toolbox/utilities.py

@@ -30,6 +30,7 @@
 from wisdem.inputs import load_yaml
 
 from wisdem.inputs import load_yaml
+from ROSCO_toolbox.ofTools.util.FileTools import remove_numpy
 
 # Some useful constants
 now = datetime.datetime.now()
@@ -296,7 +297,7 @@ def read_DISCON(DISCON_filename):
                 if (line.split()[1] != '!'):    # Array valued entries
                     array_length = line.split().index('!')
                     param = line.split()[array_length+1]
-                    values = np.array( [float(x) for x in line.split()[:array_length]] )
+                    values = [float(x) for x in line.split()[:array_length]]
                     DISCON_in[param] = values
                 else:                           # All other entries
                     param = line.split()[2]
@@ -587,6 +588,8 @@ def DISCON_dict(turbine, controller, txt_filename=None):
     for param, value in controller.controller_params['DISCON'].items():
         DISCON_dict[param] = value
 
+    # Make all lists, not numpy
+    DISCON_dict = remove_numpy(DISCON_dict)
 
     return DISCON_dict