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* Finalize v2.9.0 documentation * Add ruamel.yaml as a requirement in pyproject.toml * Re-add wisdem in pyproject.toml * Revise docs slightly * Add developer documentation * Fix small typo with documentation --------- Co-authored-by: dzalkind <[email protected]>
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# File: docs/requirements.txt | ||
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sphinx>4.0.0 | ||
furo | ||
sphinx_rtd_theme |
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.. toctree:: | ||
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.. _examplepage: | ||
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ROSCO Examples | ||
============== | ||
Methods for reading turbine models, generating the control parameters of a :code:`DISCON.IN`: file, and running aeroelastic simulations to test controllers | ||
Reading Turbine Models | ||
---------------------- | ||
Control parameters depend on the turbine model. | ||
The rosco.toolbox uses OpenFAST inputs and an additional :code:`.yaml` formatted file to set up a :code:`turbine` object in python. | ||
Several OpenFAST inputs are located in `Test_Cases/ <https://github.com/NREL/ROSCO/tree/main/Test_Cases>`_. | ||
The controller tuning :code:`.yaml` are located in `Tune_Cases/ <https://github.com/NREL/ROSCO/tree/main/Tune_Cases>`_. | ||
A detailed description of the ROSCO control inputs and tuning :code:`.yaml` are provided in :ref:`discon_in` and :ref:`rt_tuning_yaml`, respectively. | ||
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* :code:`01_turbine_model.py` loads an OpenFAST turbine model and displays a summary of its information | ||
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ROSCO requires the power and thrust coefficients for tuning control inputs and running the extended Kalman filter wind speed estimator. | ||
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* :code:`02_ccblade.py` runs cc-blade, a blade element momentum solver from WISDEM, to generate a :math:`C_p` surface. | ||
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The :code:`Cp_Cq_Ct.txt` (or similar) file contains the rotor performance tables that are necessary to run the ROSCO controller. | ||
This file can be located wherever you desire, just be sure to point to it properly with the :code:`PerfFileName` parameter in :code:`DISCON.IN`. | ||
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Tuning Controllers and Generating DISCON.IN | ||
------------------------------------------- | ||
The ROSCO :code:`turbine` object, which contains turbine information required for controller tuning, along with control parameters in the tuning yaml and the :math:`C_p` surface are used to generate control parameters and :code:`DISCON.IN` files. | ||
To tune the PI gains of the torque control, set :code:`omega_vs` and :code:`zeta_vs` in the yaml. | ||
Similarly, set :code:`omega_pc` and :code:`zeta_pc` to tune the PI pitch controller; gain scheduling is automatically handled using turbine information. | ||
Generally :code:`omega_*` increases the responsiveness of the controller, reducing generator speed variations, but an also increases loading on the turbine. | ||
:code:`zeta_*` changes the damping of the controller and is generally less important of a tuning parameter, but could also help with loading. | ||
The default parameters in `Tune_Cases/ <https://github.com/NREL/ROSCO/tree/main/Tune_Cases>`_ are known to work well with the turbines in this repository. | ||
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* :code:`03_tune_controller.py` loads a turbine and tunes the PI control gains | ||
* :code:`04_simple_sim.py` tunes a controller and runs a simple simualtion (not using OpenFAST) | ||
* :code:`05_openfast_sim.py` loads a turbine, tunes a controller, and runs an OpenFAST simulation | ||
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Each of these examples generates a :code:`DISCON.IN` file, which is an input to libdiscon.*. | ||
When running the controller in OpenFAST, :code:`DISCON.IN` must be appropriately named using the :code:`DLL_FileName` parameter in ServoDyn. | ||
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OpenFAST can be installed from `source <https://github.com/OpenFAST/openfast>`_ or in a conda environment using: | ||
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.. code-block:: bash | ||
conda install -c conda-forge openfast | ||
ROSCO can implement peak shaving (or thrust clipping) by changing the minimum pitch angle based on the estimated wind speed: | ||
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* :code:`06_peak_shaving.py` loads a turbine and tunes a controller with peak shaving. | ||
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By setting the :code:`ps_percent` value in the tuning yaml, the minimum pitch versus wind speed table changes and is updated in the :code:`DISCON.IN` file. | ||
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ROSCO also contains a method for distributed aerodynamic control (e.g., via trailing edge flaps): | ||
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* :code:`09_distributed_aero.py` tunes a controller for distributed aerodynamic control | ||
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The ROSCO toolbox also contains methods for working with OpenFAST linear models | ||
* :code:`10_linear_params.py` exports a file of the parameters used for the simplified linear models used to tune ROSCO | ||
* :code:`11_robust_tuning.py` shows how linear models generated using OpenFAST can be used to tune controllers with robust stability properties. | ||
* :code:`12_tune_ipc.py` shows the tuning procedure for IPC | ||
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Running OpenFAST Simulations | ||
---------------------------- | ||
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To run an aeroelastic simulation with ROSCO, the ROSCO input (:code:`DISCON.IN`) must point to a properly formatted :code:`Cp_Cq_Ct.txt` file using the :code:`PerfFileName` parameter. | ||
If called from OpenFAST, the main OpenFAST input points to the ServoDyn input, which points to the :code:`DISCON.IN` file and the :code:`libdiscon.*` dynamic library. | ||
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For example in `Test_Cases/NREL-5MW`: | ||
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* :code:`NREL-5MW.fst` has :code:`"NRELOffshrBsline5MW_Onshore_ServoDyn.dat"` as the :code:`ServoFile` input | ||
* :code:`NRELOffshrBsline5MW_Onshore_ServoDyn.dat` has :code:`"../../ROSCO/build/libdiscon.dylib"` as the :code:`DLL_FileName` input and :code:`"DISCON.IN"` as the :code:`DLL_InFile` input. | ||
Note that these file paths are relative to the path of the main fast input (:code:`NREL-5MW.fst`) | ||
* :code:`DISCON.IN` has :code:`"Cp_Ct_Cq.NREL5MW.txt"` as the :code:`PerfFileName` input | ||
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The rosco.toolbox has methods for running OpenFAST (and other) binary executables using system calls, as well as post-processing tools in `ofTools/ <https://github.com/NREL/ROSCO/tree/main/rosco.toolbox/ofTools>`_. | ||
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Several example scripts are set up to quickly simulate ROSCO with OpenFAST: | ||
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* :code:`05_openfast_sim.py` loads a turbine, tunes a controller, and runs an OpenFAST simulation | ||
* :code:`07_openfast_outputs.py` loads the OpenFAST output files and plots the results | ||
* :code:`08_run_turbsim.py` runs TurbSim, for generating turbulent wind inputs | ||
* :code:`14_open_loop_control.py` runs an OpenFAST simulation with ROSCO providing open loop control inputs | ||
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Testing ROSCO | ||
------------- | ||
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The rosco.toolbox also contains tools for testing ROSCO in IEC design load cases (DLCs), located in `ROSCO_testing/ <https://github.com/NREL/ROSCO/tree/main/ROSCO_testing>`_. | ||
The script :code:`run_Testing.py` allows the user to set up their own set of tests. | ||
By setting :code:`testtype`, the user can run a variety of tests: | ||
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* :code:`lite`, which runs DLC 1.1 simulations at 5 wind speed from cut-in to cut-out, in 330 second simulations | ||
* :code:`heavy`, which runs DLC 1.3 from cut-in to cut-out in 2 m/s steps and 2 seeds for each, in 630 seconds, as well as DLC 1.4 simulations | ||
* :code:`binary-comp`, where the user can compare :code:`libdiscon.*` dynamic libraries (compiled ROSCO source code), with either a lite or heavy set of simulations | ||
* :code:`discon-comp`, where the user can compare :code:`DISCON.IN` controller tunings (and the complied ROSCO source is constant) | ||
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Setting the :code:`turbine2test` allows the user to test either the IEA-15MW with the UMaine floating semisubmersible or the NREL-5MW reference onshore turbine. | ||
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