Fixed-Pitch Torque Control in Region 3 #347

dstockhouse · 2024-05-10T15:15:12Z

Description and Purpose

Type of change

What types of change is it?
Select the appropriate type(s) that describe this PR

Bugfix (non-breaking change which fixes an issue)
New feature (non-breaking change which adds functionality)
Breaking change (non-backwards-compatible fix or feature)
Code style update (formatting, renaming)
Refactoring (no functional changes, no API changes)
Documentation update
Maintenance update
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TODO Items General:

Add example/test for new feature
Update registry
Run testing

TODO Items API Change:

Update docs with API change
Run update_rosco_discons.py in Test_Cases/
Update DISCON schema

Github issues addressed, if one exists

Examples/Testing, if applicable

* FOCAL Updates (#64) * Update headers * fix bullets * make uppercase * Update turbine.py (#56) * Update turbine.py This add several lines for fixing the problem of repeated maximum values in the performance tables. This will cause the error (' the length of x and y is different.') of 'interpolate.interp1d.' * Add comments and catch when there are multiple optimal pitch angles Co-authored-by: dzalkind <[email protected]> * increment version * Update for OpenFAST v3.0.0 * Update for OpenFAST v3.0.0 * Install OF3.0.0 for tests * update for OF v3.0.0 * add publish to pypi on release * Update to ROSCO v2.3.0 * Update Testing (#58) * Update scripts to run on eagle * Update IEA-15MW semi example: use peak shaving w/ ps_percen=0.8 * Add comparison plots to testing scripts * Update submit script for testing * Update for latest eagle runs * Add future to install dependencies * add TMax to self, define tmin in print_results * run tests in CI * generic ROSCO path * default to overwrite * fix path * import platform * separate run_testing * cleanup, specify lite test * don't run testing in after examples, oops. Co-authored-by: nikhar-abbas <[email protected]> Co-authored-by: Nikhar Abbas <[email protected]> * increment version * Update for OpenFAST v3.0.0 * Install OF3.0.0 for tests * update for OF v3.0.0 * add publish to pypi on release * Update to ROSCO v2.3.0 * Increment Version, OF3.0 (#57) * increment version * Update for OpenFAST v3.0.0 * Install OF3.0.0 for tests * update for OF v3.0.0 * add publish to pypi on release * Update to ROSCO v2.3.0 * increment version * Update for OpenFAST v3.0.0 * Install OF3.0.0 for tests * update for OF v3.0.0 * add publish to pypi on release * Update to ROSCO v2.3.0 * add ROSCO without submodule * move ROSCO source to ROSCO folder * Move cmake-related files to ROSCO * Add back pesky ErrVar * Remove parameters_files * Merge ROSCO and _toolbox gitignore * Fix .gitignore * Remove Examples/DISCON.IN from git * Fix and point example_01 to Tune_Cases/ * Update verbiage around using ofTools vs. weis * Fix and point example_04 to Tune_Cases/ * Clean up example_06 * Clean up example_07 * Only check FlpCornerFreq if using Flp control, fixes example 05 * Make example_04 consistent with others * Let example_05 run independently from 04 * Clean up example_05, wind files * Add schema and update empty tuning yaml inputs, not connected yet * Integrate schema into turbine, controller, and examples * Only check Fl filter parameters if Fl_Mode > 0, fix example_05 * bump version to 2.3 * Compile ROSCO from ROSCO dir * Rename to CI_rosco * Add omega vs. windspeed functionality * Fix tests: 5MW U_pc and 06 example dir * Make _Toolbox vs_minspeed in rotor frame to match ROSCO * Revert ServoDyn change * change rotor speed constraint to be epsilon * rename for clarity * docs major refresh * fix FA_AccF units in debug file * docs that build locally * Deallocate arrays in ROSCO, check in example_05 * Clean up comments * remove gitmodules * furo theme * furo in requirements * move readthedocs config file, remove furo import in conf.py * add docs requirements file * typo * move index out of source folder * trying to get furo to work * import date * fix versions and titles, cleanup readthedocs requirements * typo fix, remove extras * more cleanup * bump version * no furo extension, "hack" to load RT version * proper toctree paths * specify method * add mock modules * fix typos * update python install requirements * running locally * move index to main docs dir again * update to build locally * error during warnings * automated version * cleanup * remove old docs * re-add docs * simplify * fix figure path * try alabaster * remove archived docs * Add omega vs. windspeed functionality * Fix tests: 5MW U_pc and 06 example dir * more detailed sp.optimize settings * run MBC3 in parallel * restructure driver, run initialization doe for tuning * Try new dlclose function * Update example_05 to run simple simulation twice and check result * Revert deallocation stuff * Close discon library after every sim run * Test examples on macOS and windows * Run examples instead of testing on other platforms * Skip examples in windows for now * update paths and yaml load funciton * Skip mac testing of examples * provide default U_pc for single omega/zeta case * allow for float or list-like pc tuning inputs * Change name in setup.py * WE_Vw unit fix * Pass through kp_float, if desired * Minor fixes: schema error and InputReader defaults * cleeanup for improved stability * check for doe_logs as string in load_DOE * major restructure for rsched_driver class * cleanup verbosity * run serial by default * load_parallel as linturb_option * specific IEA15MW yaml for multi omega * remove unused module imports * fix error message types * lin_file as input * add comments on inputs to LinearTurbineModel init method * remove relative file paths * provide OpenFAST linearizations for IEA15MW UMaineSemi * put plotting in specific function * fix WE_lambda units * add self in on a few necessary variables * creaete example 12 for robust scheduling * try a few mbc3 locations for import * allow list-like or numpy arrays for omega_pc and zeta_pc schedules * create and use recorder setup function * Pass Through Kp_float (#57) * Pass through kp_float, if desired * Minor fixes: schema error and InputReader defaults * fix setup_recorder to work for optimization driver too * Allow pass through of Kp_float = 0 * cleanup om problems, update om0 calc * doe levels as input * negative k_float to account for OF conventions * cleanup print statements * variable name cleanup, use calculated k_float * Add defaults to omega_,zeta_ pc and vs, allow to be numbers * use standard tuning k_float as IC * formatting update * update problem setup methods * cleanup add_dv, enable adding design variables after problem is setup * change optimization step size * more setup restructure * update verbosity * use sphinx-rtd-theme * master doc and sphinx rtd theme * index back to root folder * only ignore install folders * remove hidden toctree * furo theme * update paths * convert rt version to string * update sphinx settings * move conf * furo theme * Mostly a docs update (#61) * rename for clarity * docs major refresh * fix FA_AccF units in debug file * docs that build locally * remove gitmodules * furo theme * furo in requirements * move readthedocs config file, remove furo import in conf.py * add docs requirements file * typo * move index out of source folder * trying to get furo to work * import date * fix versions and titles, cleanup readthedocs requirements * typo fix, remove extras * more cleanup * bump version * no furo extension, "hack" to load RT version * proper toctree paths * specify method * add mock modules * fix typos * update python install requirements * running locally * move index to main docs dir again * update to build locally * error during warnings * automated version * cleanup * remove old docs * re-add docs * simplify * fix figure path * try alabaster * remove archived docs * use sphinx-rtd-theme * master doc and sphinx rtd theme * index back to root folder * only ignore install folders * remove hidden toctree * furo theme * update paths * convert rt version to string * update sphinx settings * move conf * furo theme * Pass through Kp_float = 0 (#59) * Pass through kp_float, if desired * Minor fixes: schema error and InputReader defaults * Allow pass through of Kp_float = 0 * Add flp parameters to schema * Change Fl_Mode default to 0 * Add defaults to omega_,zeta_ pc and vs, allow to be numbers * Allow single pitch tuning values in code, default U_pc to 0 * use nac acceleration for floating feedback * Fix TSR saturation for region 2.5operation * Modify system for constant power operation * Only modify pole for constant power above-rated * Remove GenEff from K calc * Update tuning, use constant power * use load_rosco_yaml * constant power * Fix broken tests * Include Fl_Mode=2 for nacelle pitching feedback * Add FOCAL inputs - hpf on floating feedback - lpf on wind speed estimator - associated schema updates * Set notch and check frequencies when Fl_Mode = 1 (fixes bug) * Skip filter step if there's an error * Update IEA-15MW test case DISCON with focal inputs * Allow Fl_Mode = 2 in ROSCO * Pass through lpf frequency * Add FOCAL tuning yaml * Set Cp contour number of levels * Add FOCAL params to various writers * Update/tune focal yaml * Add scripts for running FAST, tuning various parameters and cases * Add notebook for FAST plotting * Set up step case for testing * Change doubles to C_doubles * Define real and integer kinds, assign to all of ROSCO * Add ADJUSTL to DISCON error message * Fix Fl_Mode == 2 * Fix Fl_Mode == 2 again * Call yaw, flap, and debug only if enabled in DISOCN.IN * Make avrSWAP a ReKi and set constant kinds * Add DISCONs for testing - revert this later * Fix DISCON comparison, before DISCON's were overwritten by model * Rename DEBUG2.dbg to RootName.dbg2 * Update TestCase DISCONs to new input file * Add API change page in docs * Add link to API change on main page * Fix table headers * Fix title underlines * Fix tables again * Fix tables again * Fix version numbering in docs * Simplify FAST_directory in run_FAST * Versioning (#65) * use sphinx-rtd-theme * master doc and sphinx rtd theme * index back to root folder * only ignore install folders * remove hidden toctree * furo theme * update paths * convert rt version to string * update sphinx settings * move conf * furo theme * remove git versioning from cmake * use hard coded rosco_version * update intro write method * set nowrap for intel compilers * Add transfer of error message and clear message after each call * update install instructions * Catch nans in ROSCO at end of WSE * fix conda install typo * cleanup docs * Rename DEBUG2.dbg to RootName.dbg2 * Fix Fl_Mode == 2 * Fix Fl_Mode == 2 again * Allow Fl_Mode = 2 in ROSCO * Set notch and check frequencies when Fl_Mode = 1 (fixes bug) * Update FOCAL tuning yaml * Update TSR * Clean up and doc fix * Remove publish to pypi * Define all constant inputs to functions with kind typing * Generate Test_Case/ inputs automatically * Fix IEA15 DISCON path * Fix example 11 paths * Auto-generate tuning input yaml using schema * Add toolbox_input to doc index * Add toctree * Re-name title of toolbox_input Co-authored-by: Nikhar Abbas <[email protected]> Co-authored-by: Xianping Du <[email protected]> Co-authored-by: nikhar-abbas <[email protected]> * update listcheck method for numpy arrays * Open Loop Control (#98) * create rosco types yaml * Add more descriptions, add integer_c default, cleanup * updates for allocatability and shapes * python scripts to write ROSCO_types.f90 * reemove superfulous modules * use types from ROSCO registry * create rosco types yaml * Add more descriptions, add integer_c default, cleanup * updates for allocatability and shapes * python scripts to write ROSCO_types.f90 * reemove superfulous modules * use types from ROSCO registry * Saturate inputs to WSE. Needs some TLC, but seems to work * Reduce saturation limits on speed, torque * Re-organize, set saturation limits. Working at 3 m/s * Initial add of OL control to ROSCO: builds * Update DISCONs with open loop inputs * Fix file reading for OL_Filename * Add open loop control generation and file writing * Use DISCON_dict for more manageable DISCON file writing * Add open loop example, fix constant timeseries * Make open loop example generate power * Handle relative paths and calling from outside the run directory: - Some helper functions borrowed from OpenFAST, f/ext_control - Updated file writing * Clean up: versions, print statements * Fix SysFiles paths in CMakeLists * Tidy up Ext_DLL names * More Ext_DLL name tidying * Test write_registry.py * Update for OL Control * Move preprocessor lines * add zenodo DOI * Regenerated Types * fix shape * revert filepath change * give all types a size, ProcAddr size = 3 * update types * test registry in compile step * specify default shell * update write_registry path * remove default shell * Document API changes, provide OL input example * Fix example 14 (yaw input) * Add error catching to yaw control * Tidy up OL_Input Reading: error catching, generalize * More yaw control fixes, to model * Checkout develop CMakeLists for ROSCO * Update DISCON.INs for TestCases/ * Revert "Checkout develop CMakeLists for ROSCO" This reverts commit 87a491359d73806e3aaa59b4cfdc00f2838875df. * Revert windows cmake stuff to develop * Fix CMake again * Revert "Revert windows cmake stuff to develop" This reverts commit 39df122449b0e2055f2e12e3ce38a0c010c7bd91. * Make last cmake fix - hopefully Co-authored-by: Nikhar Abbas <[email protected]> * Convert WE saved variables to WE type * Put restart flag in localvars * Use saved filter params from LocalVar * save pitcomt last * Move IPC saved variables to localvars * Saved pi controller variables to localvar * Save RootMyb_Last to localvar * ROSCO_IO - initial commit. Include restart and debug functions * Use ROSCO IO and call restart functions * Remove debug from function.f90 * Save ACC Infile info * update for restart capabilities * add rosco_io with restart and debug functions * cleanup debug call * use registry generate types and IO * delete DFController * fix timestep mismatch * remove unnecessaray istatus check * close files * add reg test for restart * add restart option to run_openfast * add testing to CI, ignore generate files * fix fastcall * remove extra commas * specify gfortran-10 * testing flag cleanup * Use lv_strings to generate debug output * Revert "testing flag cleanup" This reverts commit 6f295563832413e96347acd82716f9aadac6d46c. * Revert "specify gfortran-10" This reverts commit 4c3154491523bcd542133ca2bce5803cdc94523f. * minor cleanup * Use kind from constants * Add some comments for clarity * put debug in if statements * separate reg tests from oother tests * Fl_Mode>0 * Remove hard coded values * Add filtered signals and WE_Vw to debug varrs * cd for regtest * Check logging level before calling debug * add fl_pitcom and pc_minpit to debugvars * Turn runFAST into a class * Refactor/simplify CaseLibrary * Restart & registry (#99) * Convert WE saved variables to WE type * Put restart flag in localvars * Use saved filter params from LocalVar * save pitcomt last * Move IPC saved variables to localvars * Saved pi controller variables to localvar * Save RootMyb_Last to localvar * ROSCO_IO - initial commit. Include restart and debug functions * Use ROSCO IO and call restart functions * Remove debug from function.f90 * Save ACC Infile info * update for restart capabilities * add rosco_io with restart and debug functions * cleanup debug call * use registry generate types and IO * delete DFController * fix timestep mismatch * remove unnecessaray istatus check * close files * add reg test for restart * add restart option to run_openfast * add testing to CI, ignore generate files * fix fastcall * remove extra commas * specify gfortran-10 * testing flag cleanup * Use lv_strings to generate debug output * Revert "testing flag cleanup" This reverts commit 6f295563832413e96347acd82716f9aadac6d46c. * Revert "specify gfortran-10" This reverts commit 4c3154491523bcd542133ca2bce5803cdc94523f. * minor cleanup * Use kind from constants * Add some comments for clarity * put debug in if statements * separate reg tests from oother tests * Fl_Mode>0 * Remove hard coded values * Add filtered signals and WE_Vw to debug varrs * cd for regtest * Check logging level before calling debug * add fl_pitcom and pc_minpit to debugvars Co-authored-by: dzalkind <[email protected]> * Implement initial pitch actuator * Set up steps case * Break up if statement in open loop pitch (#100) * Break up if statement in open loop pitch * Make torque and yaw consistent with pitch: can start after some time * add bld edgewise freq to robust dict_inputs * Add actuator variable * Print first time step in debug outs * Fix FOCAL yaml * Set actuator to 0.25 Hz bandwidth * Fix ccrotor inputs (#104) * remove interpolation of blade chord and twist * rename aerodynblade inputs * Update surface and DISCON.INs * Fix performance table paths * Allow default inputs (#110) * Allow defaults for AeroDyn inputs * Allow AeroDyn inputs to be floats, too * ipc (#105) * remove interpolation of blade chord and twist * rename aerodynblade inputs * Update surface and DISCON.INs * Fix performance table paths * Add proportional control and cleanup IPC * Add IPC and filtered RootMyc to registry * Better logic for filtering RootMOOP and fix notch filter slopes bug * Add cyclic flap conrol * Fix comments in ColemanTransformInverse * Addd IPC_KP to DISCON.IN * Error checking foro flp or ipc * add mutichannel plotting with tuples * add CMakeFiles to gitignore * Add IPC_KP to api changes * numerical qualifiers for error handling * add IPC gains to schema for pass-through ability * fix variable names * fix ipc gain printing bug * make sure IPC_KP is positive * Update Polars to point to coord files * ignore dbg2 files * Add IEA15MW_OL.yaml * update coord reader/writer * expand pitch_initial to 30 degrees * Add example 13 for IPC * Update cp surfaces and DISCONS * add examples to readme * cleanup and streaamline run_examples * Add IPC tuning vars * Allow IPC to command pitch value below peak shaving saturation limit * shorten simulation time * Fix Material parameter path * Update DISCONs again * Fix OL_Input reading * Set wind speed, rotor speed IC in example 14 * Debug OL reading * Add more debugging lines * Add more debugging lines 2 * Clean up, hone in on debug call * Disable logging level * Update discons - resolve conflict * Print when finished with ROSCO * add control packageg * Use PriPath and RootName to name dbg files * Print AvrSWAP * Revert "Use PriPath and RootName to name dbg files" This reverts commit 062fcaa55b3bf42d44f8a3f163aa883ab9552412. * Disable other examples * Print OL inputs * Allow logging level 3 * Print OL inputs * Make example shorter * Print more stuf * Print shape * Revert "Print OL inputs" This reverts commit 8e2a642bb35e46850f579ca4e69ca6d6fc93f4cc. * Update ROSCO Simulink model with IPC example * refactor flap tuning for normalization methods * improved flap controller filtering * delete extra F_FlpCornerFrerq * Update inputs, reader, and writer for OF 3.1.0 * Make sigma default interp type for multi_sigma * Use openfast 3.1.0 in CI * Fix leak...maybe * Use OF 3.1.0 in testing * Use gfotran for compile * Clean up print statements * Re-enable all examples * Update NREL-5MW AD file * Only check airfoil controls if more than one table * Update BAR models * Revert "Use gfotran for compile" This reverts commit 5a6e2b7e30287a09a09781e2ba12f9b578132e1f. * Install pyFAST for CI * Fix some paths in ex12 * Disable example 12 * Fix example 12 linear path, re-enable * Skip compilers install for mac * Try gfortran-9, no compilers * Try gfortran-10, no compilers * Skip windows compile in pytools * Re-enable windows, use gfortran as FC * Unset FC in windows * Set environment for windows when dependencies installed * Try setting environment in installation * Put conditional env setting in correct place * Try in setup again * Break up tasks: Windows vs. not * Update DISCONs * Update docs with new variables * Add example documentation * Update ROSCO Simulink model for 3.1.0 * Make IEA model float again * Reduce IEA timestep * Match DT to checkpoint time Co-authored-by: dzalkind <[email protected]> * Increment version number * Bladed docs (#116) * Added image of Bladed control screen setup * Delete Bladed control screen.png * Adding image of Bladed control screen * Add files via upload * Minor edit 1 * Minor change 2 * Minor change 3 * Minor change 4 * Change 6 * Change 7 * Change 8 * Minor change 9 Co-authored-by: nikhar-abbas <[email protected]> Co-authored-by: WillC-DNV <[email protected]> * Update version in API change docs * Bladed readthedocs (#117) * Added image of Bladed control screen setup * Delete Bladed control screen.png * Adding image of Bladed control screen * Add files via upload * Minor edit 1 * Minor change 2 * Minor change 3 * Minor change 4 * Change 6 * Change 7 * Change 8 * Minor change 9 * Tinker with characters in bladed instructions * Add bladed instructions to index * Change bladed toctree label * Do underline stuff * Make toctree label same as file * Remove colons from headers Co-authored-by: nikhar-abbas <[email protected]> Co-authored-by: WillC-DNV <[email protected]> * Update docs to reflect CI process * Regenerate types, IO with registry * Update registry so first timestep is printed * Update inverted notch to move frequency properly * Saturate inv notch corner frequency at 0 * Add tower damper mode flag * Add Azimuth tracking controller in Simulink * Always enable GenDOF, add options for simp_step * Add sweep for IPC gains and FA damper * Fix NumCoords in FAST_writer * sigma + ipc (#125) * cleanup api change table * Update inverted notch to move frequency properly * Saturate inv notch corner frequency at 0 * add sigma function * Use IPC_Vramp for IPC cut-in * Add IPC_Vramp DISCON inputs * update registry * Update DISCONs * Update docs for API change * Fix IPC_Vramp data type * update comments Co-authored-by: dzalkind <[email protected]> * Add turbulent case to runFAST/CaseLibrary * Add peak shaving sweep function * Increase default IPC_IntSat, make input parameter in future * Flip Ct and Cq table allocation * Flip Ct and Cq table allocation (#130) * Regen types * Remove print statements used for debugging * Update input files: IEA model has pitch actuator * Add back flap control (no idea when it was deleted) * Update discons, docs with API change * Add user-defined hh case * Fix AddF0 and RayleighDamp in FAST_reader * Pitch Actuator and IPC updates (#123) * Convert WE saved variables to WE type * Put restart flag in localvars * Use saved filter params from LocalVar * save pitcomt last * Move IPC saved variables to localvars * Saved pi controller variables to localvar * Save RootMyb_Last to localvar * ROSCO_IO - initial commit. Include restart and debug functions * Use ROSCO IO and call restart functions * Remove debug from function.f90 * Save ACC Infile info * update for restart capabilities * add rosco_io with restart and debug functions * cleanup debug call * use registry generate types and IO * delete DFController * fix timestep mismatch * remove unnecessaray istatus check * close files * add reg test for restart * add restart option to run_openfast * add testing to CI, ignore generate files * fix fastcall * remove extra commas * specify gfortran-10 * testing flag cleanup * Use lv_strings to generate debug output * Revert "testing flag cleanup" This reverts commit 6f295563832413e96347acd82716f9aadac6d46c. * Revert "specify gfortran-10" This reverts commit 4c3154491523bcd542133ca2bce5803cdc94523f. * minor cleanup * Use kind from constants * Add some comments for clarity * put debug in if statements * separate reg tests from oother tests * Fl_Mode>0 * Remove hard coded values * Add filtered signals and WE_Vw to debug varrs * cd for regtest * Check logging level before calling debug * add fl_pitcom and pc_minpit to debugvars * Turn runFAST into a class * Refactor/simplify CaseLibrary * Implement initial pitch actuator * Set up steps case * Add actuator variable * Print first time step in debug outs * Fix FOCAL yaml * Set actuator to 0.25 Hz bandwidth * ROSCO 2.5.0 (#115) * FOCAL Updates (#64) * Update headers * fix bullets * make uppercase * Update turbine.py (#56) * Update turbine.py This add several lines for fixing the problem of repeated maximum values in the performance tables. This will cause the error (' the length of x and y is different.') of 'interpolate.interp1d.' * Add comments and catch when there are multiple optimal pitch angles Co-authored-by: dzalkind <[email protected]> * increment version * Update for OpenFAST v3.0.0 * Update for OpenFAST v3.0.0 * Install OF3.0.0 for tests * update for OF v3.0.0 * add publish to pypi on release * Update to ROSCO v2.3.0 * Update Testing (#58) * Update scripts to run on eagle * Update IEA-15MW semi example: use peak shaving w/ ps_percen=0.8 * Add comparison plots to testing scripts * Update submit script for testing * Update for latest eagle runs * Add future to install dependencies * add TMax to self, define tmin in print_results * run tests in CI * generic ROSCO path * default to overwrite * fix path * import platform * separate run_testing * cleanup, specify lite test * don't run testing in after examples, oops. Co-authored-by: nikhar-abbas <[email protected]> Co-authored-by: Nikhar Abbas <[email protected]> * increment version * Update for OpenFAST v3.0.0 * Install OF3.0.0 for tests * update for OF v3.0.0 * add publish to pypi on release * Update to ROSCO v2.3.0 * Increment Version, OF3.0 (#57) * increment version * Update for OpenFAST v3.0.0 * Install OF3.0.0 for tests * update for OF v3.0.0 * add publish to pypi on release * Update to ROSCO v2.3.0 * increment version * Update for OpenFAST v3.0.0 * Install OF3.0.0 for tests * update for OF v3.0.0 * add publish to pypi on release * Update to ROSCO v2.3.0 * add ROSCO without submodule * move ROSCO source to ROSCO folder * Move cmake-related files to ROSCO * Add back pesky ErrVar * Remove parameters_files * Merge ROSCO and _toolbox gitignore * Fix .gitignore * Remove Examples/DISCON.IN from git * Fix and point example_01 to Tune_Cases/ * Update verbiage around using ofTools vs. weis * Fix and point example_04 to Tune_Cases/ * Clean up example_06 * Clean up example_07 * Only check FlpCornerFreq if using Flp control, fixes example 05 * Make example_04 consistent with others * Let example_05 run independently from 04 * Clean up example_05, wind files * Add schema and update empty tuning yaml inputs, not connected yet * Integrate schema into turbine, controller, and examples * Only check Fl filter parameters if Fl_Mode > 0, fix example_05 * bump version to 2.3 * Compile ROSCO from ROSCO dir * Rename to CI_rosco * Add omega vs. windspeed functionality * Fix tests: 5MW U_pc and 06 example dir * Make _Toolbox vs_minspeed in rotor frame to match ROSCO * Revert ServoDyn change * change rotor speed constraint to be epsilon * rename for clarity * docs major refresh * fix FA_AccF units in debug file * docs that build locally * Deallocate arrays in ROSCO, check in example_05 * Clean up comments * remove gitmodules * furo theme * furo in requirements * move readthedocs config file, remove furo import in conf.py * add docs requirements file * typo * move index out of source folder * trying to get furo to work * import date * fix versions and titles, cleanup readthedocs requirements * typo fix, remove extras * more cleanup * bump version * no furo extension, "hack" to load RT version * proper toctree paths * specify method * add mock modules * fix typos * update python install requirements * running locally * move index to main docs dir again * update to build locally * error during warnings * automated version * cleanup * remove old docs * re-add docs * simplify * fix figure path * try alabaster * remove archived docs * Add omega vs. windspeed functionality * Fix tests: 5MW U_pc and 06 example dir * more detailed sp.optimize settings * run MBC3 in parallel * restructure driver, run initialization doe for tuning * Try new dlclose function * Update example_05 to run simple simulation twice and check result * Revert deallocation stuff * Close discon library after every sim run * Test examples on macOS and windows * Run examples instead of testing on other platforms * Skip examples in windows for now * update paths and yaml load funciton * Skip mac testing of examples * provide default U_pc for single omega/zeta case * allow for float or list-like pc tuning inputs * Change name in setup.py * WE_Vw unit fix * Pass through kp_float, if desired * Minor fixes: schema error and InputReader defaults * cleeanup for improved stability * check for doe_logs as string in load_DOE * major restructure for rsched_driver class * cleanup verbosity * run serial by default * load_parallel as linturb_option * specific IEA15MW yaml for multi omega * remove unused module imports * fix error message types * lin_file as input * add comments on inputs to LinearTurbineModel init method * remove relative file paths * provide OpenFAST linearizations for IEA15MW UMaineSemi * put plotting in specific function * fix WE_lambda units * add self in on a few necessary variables * creaete example 12 for robust scheduling * try a few mbc3 locations for import * allow list-like or numpy arrays for omega_pc and zeta_pc schedules * create and use recorder setup function * Pass Through Kp_float (#57) * Pass through kp_float, if desired * Minor fixes: schema error and InputReader defaults * fix setup_recorder to work for optimization driver too * Allow pass through of Kp_float = 0 * cleanup om problems, update om0 calc * doe levels as input * negative k_float to account for OF conventions * cleanup print statements * variable name cleanup, use calculated k_float * Add defaults to omega_,zeta_ pc and vs, allow to be numbers * use standard tuning k_float as IC * formatting update * update problem setup methods * cleanup add_dv, enable adding design variables after problem is setup * change optimization step size * more setup restructure * update verbosity * use sphinx-rtd-theme * master doc and sphinx rtd theme * index back to root folder * only ignore install folders * remove hidden toctree * furo theme * update paths * convert rt version to string * update sphinx settings * move conf * furo theme * Mostly a docs update (#61) * rename for clarity * docs major refresh * fix FA_AccF units in debug file * docs that build locally * remove gitmodules * furo theme * furo in requirements * move readthedocs config file, remove furo import in conf.py * add docs requirements file * typo * move index out of source folder * trying to get furo to work * import date * fix versions and titles, cleanup readthedocs requirements * typo fix, remove extras * more cleanup * bump version * no furo extension, "hack" to load RT version * proper toctree paths * specify method * add mock modules * fix typos * update python install requirements * running locally * move index to main docs dir again * update to build locally * error during warnings * automated version * cleanup * remove old docs * re-add docs * simplify * fix figure path * try alabaster * remove archived docs * use sphinx-rtd-theme * master doc and sphinx rtd theme * index back to root folder * only ignore install folders * remove hidden toctree * furo theme * update paths * convert rt version to string * update sphinx settings * move conf * furo theme * Pass through Kp_float = 0 (#59) * Pass through kp_float, if desired * Minor fixes: schema error and InputReader defaults * Allow pass through of Kp_float = 0 * Add flp parameters to schema * Change Fl_Mode default to 0 * Add defaults to omega_,zeta_ pc and vs, allow to be numbers * Allow single pitch tuning values in code, default U_pc to 0 * use nac acceleration for floating feedback * Fix TSR saturation for region 2.5operation * Modify system for constant power operation * Only modify pole for constant power above-rated * Remove GenEff from K calc * Update tuning, use constant power * use load_rosco_yaml * constant power * Fix broken tests * Include Fl_Mode=2 for nacelle pitching feedback * Add FOCAL inputs - hpf on floating feedback - lpf on wind speed estimator - associated schema updates * Set notch and check frequencies when Fl_Mode = 1 (fixes bug) * Skip filter step if there's an error * Update IEA-15MW test case DISCON with focal inputs * Allow Fl_Mode = 2 in ROSCO * Pass through lpf frequency * Add FOCAL tuning yaml * Set Cp contour number of levels * Add FOCAL params to various writers * Update/tune focal yaml * Add scripts for running FAST, tuning various parameters and cases * Add notebook for FAST plotting * Set up step case for testing * Change doubles to C_doubles * Define real and integer kinds, assign to all of ROSCO * Add ADJUSTL to DISCON error message * Fix Fl_Mode == 2 * Fix Fl_Mode == 2 again * Call yaw, flap, and debug only if enabled in DISOCN.IN * Make avrSWAP a ReKi and set constant kinds * Add DISCONs for testing - revert this later * Fix DISCON comparison, before DISCON's were overwritten by model * Rename DEBUG2.dbg to RootName.dbg2 * Update TestCase DISCONs to new input file * Add API change page in docs * Add link to API change on main page * Fix table headers * Fix title underlines * Fix tables again * Fix tables again * Fix version numbering in docs * Simplify FAST_directory in run_FAST * Versioning (#65) * use sphinx-rtd-theme * master doc and sphinx rtd theme * index back to root folder * only ignore install folders * remove hidden toctree * furo theme * update paths * convert rt version to string * update sphinx settings * move conf * furo theme * remove git versioning from cmake * use hard coded rosco_version * update intro write method * set nowrap for intel compilers * Add transfer of error message and clear message after each call * update install instructions * Catch nans in ROSCO at end of WSE * fix conda install typo * cleanup docs * Rename DEBUG2.dbg to RootName.dbg2 * Fix Fl_Mode == 2 * Fix Fl_Mode == 2 again * Allow Fl_Mode = 2 in ROSCO * Set notch and check frequencies when Fl_Mode = 1 (fixes bug) * Update FOCAL tuning yaml * Update TSR * Clean up and doc fix * Remove publish to pypi * Define all constant inputs to functions with kind typing * Generate Test_Case/ inputs automatically * Fix IEA15 DISCON path * Fix example 11 paths * Auto-generate tuning input yaml using schema * Add toolbox_input to doc index * Add toctree * Re-name title of toolbox_input Co-authored-by: Nikhar Abbas <[email protected]> Co-authored-by: Xianping Du <[email protected]> Co-authored-by: nikhar-abbas <[email protected]> * update listcheck method for numpy arrays * Open Loop Control (#98) * create rosco types yaml * Add more descriptions, add integer_c default, cleanup * updates for allocatability and shapes * python scripts to write ROSCO_types.f90 * reemove superfulous modules * use types from ROSCO registry * create rosco types yaml * Add more descriptions, add integer_c default, cleanup * updates for allocatability and shapes * python scripts to write ROSCO_types.f90 * reemove superfulous modules * use types from ROSCO registry * Saturate inputs to WSE. Needs some TLC, but seems to work * Reduce saturation limits on speed, torque * Re-organize, set saturation limits. Working at 3 m/s * Initial add of OL control to ROSCO: builds * Update DISCONs with open loop inputs * Fix file reading for OL_Filename * Add open loop control generation and file writing * Use DISCON_dict for more manageable DISCON file writing * Add open loop example, fix constant timeseries * Make open loop example generate power * Handle relative paths and calling from outside the run directory: - Some helper functions borrowed from OpenFAST, f/ext_control - Updated file writing * Clean up: versions, print statements * Fix SysFiles paths in CMakeLists * Tidy up Ext_DLL names * More Ext_DLL name tidying * Test write_registry.py * Update for OL Control * Move preprocessor lines * add zenodo DOI * Regenerated Types * fix shape * revert filepath change * give all types a size, ProcAddr size = 3 * update types * test registry in compile step * specify default shell * update write_registry path * remove default shell * Document API changes, provide OL input example * Fix example 14 (yaw input) * Add error catching to yaw control * Tidy up OL_Input Reading: error catching, generalize * More yaw control fixes, to model * Checkout develop CMakeLists for ROSCO * Update DISCON.INs for TestCases/ * Revert "Checkout develop CMakeLists for ROSCO" This reverts commit 87a491359d73806e3aaa59b4cfdc00f2838875df. * Revert windows cmake stuff to develop * Fix CMake again * Revert "Revert windows cmake stuff to develop" This reverts commit 39df122449b0e2055f2e12e3ce38a0c010c7bd91. * Make last cmake fix - hopefully Co-authored-by: Nikhar Abbas <[email protected]> * Restart & registry (#99) * Convert WE saved variables to WE type * Put restart flag in localvars * Use saved filter params from LocalVar * save pitcomt last * Move IPC saved variables to localvars * Saved pi controller variables to localvar * Save RootMyb_Last to localvar * ROSCO_IO - initial commit. Include restart and debug functions * Use ROSCO IO and call restart functions * Remove debug from function.f90 * Save ACC Infile info * update for restart capabilities * add rosco_io with restart and debug functions * cleanup debug call * use registry generate types and IO * delete DFController * fix timestep mismatch * remove unnecessaray istatus check * close files * add reg test for restart * add restart option to run_openfast * add testing to CI, ignore generate files * fix fastcall * remove extra commas * specify gfortran-10 * testing flag cleanup * Use lv_strings to generate debug output * Revert "testing flag cleanup" This reverts commit 6f295563832413e96347acd82716f9aadac6d46c. * Revert "specify gfortran-10" This reverts commit 4c3154491523bcd542133ca2bce5803cdc94523f. * minor cleanup * Use kind from constants * Add some comments for clarity * put debug in if statements * separate reg tests from oother tests * Fl_Mode>0 * Remove hard coded values * Add filtered signals and WE_Vw to debug varrs * cd for regtest * Check logging level before calling debug * add fl_pitcom and pc_minpit to debugvars Co-authored-by: dzalkind <[email protected]> * Break up if statement in open loop pitch (#100) * Break up if statement in open loop pitch * Make torque and yaw consistent with pitch: can start after some time * add bld edgewise freq to robust dict_inputs * Fix ccrotor inputs (#104) * remove interpolation of blade chord and twist * rename aerodynblade inputs * Update surface and DISCON.INs * Fix performance table paths * Allow default inputs (#110) * Allow defaults for AeroDyn inputs * Allow AeroDyn inputs to be floats, too * ipc (#105) * remove interpolation of blade chord and twist * rename aerodynblade inputs * Update surface and DISCON.INs * Fix performance table paths * Add proportional control and cleanup IPC * Add IPC and filtered RootMyc to registry * Better logic for filtering RootMOOP and fix notch filter slopes bug * Add cyclic flap conrol * Fix comments in ColemanTransformInverse * Addd IPC_KP to DISCON.IN * Error checking foro flp or ipc * add mutichannel plotting with tuples * add CMakeFiles to gitignore * Add IPC_KP to api changes * numerical qualifiers for error handling * add IPC gains to schema for pass-through ability * fix variable names * fix ipc gain printing bug * make sure IPC_KP is positive * Update Polars to point to coord files * ignore dbg2 files * Add IEA15MW_OL.yaml * update coord reader/writer * expand pitch_initial to 30 degrees * Add example 13 for IPC * Update cp surfaces and DISCONS * add examples to readme * cleanup and streaamline run_examples * Add IPC tuning vars * Allow IPC to command pitch value below peak shaving saturation limit * shorten simulation time * Fix Material parameter path * Update DISCONs again * Fix OL_Input reading * Set wind speed, rotor speed IC in example 14 * Debug OL reading * Add more debugging lines * Add more debugging lines 2 * Clean up, hone in on debug call * Disable logging level * Update discons - resolve conflict * Print when finished with ROSCO * add control packageg * Use PriPath and RootName to name dbg files * Print AvrSWAP * Revert "Use PriPath and RootName to name dbg files" This reverts commit 062fcaa55b3bf42d44f8a3f163aa883ab9552412. * Disable other examples * Print OL inputs * Allow logging level 3 * Print OL inputs * Make example shorter * Print more stuf * Print shape * Revert "Print OL inputs" This reverts commit 8e2a642bb35e46850f579ca4e69ca6d6fc93f4cc. * Update ROSCO Simulink model with IPC example * refactor flap tuning for normalization methods * improved flap controller filtering * delete extra F_FlpCornerFrerq * Update inputs, reader, and writer for OF 3.1.0 * Make sigma default interp type for multi_sigma * Use openfast 3.1.0 in CI * Fix leak...maybe * Use OF 3.1.0 in testing * Use gfotran for compile * Clean up print statements * Re-enable all examples * Update NREL-5MW AD file * Only check airfoil controls if more than one table * Update BAR models * Revert "Use gfotran for compile" This reverts commit 5a6e2b7e30287a09a09781e2ba12f9b578132e1f. * Install pyFAST for CI * Fix some paths in ex12 * Disable example 12 * Fix example 12 linear path, re-enable * Skip compilers install for mac * Try gfortran-9, no compilers * Try gfortran-10, no compilers * Skip windows compile in pytools * Re-enable windows, use gfortran as FC * Unset FC in windows * Set environment for windows when dependencies installed * Try setting environment in installation * Put conditional env setting in correct place * Try in setup again * Break up tasks: Windows vs. not * Update DISCONs * Update docs with new variables * Add example documentation * Update ROSCO Simulink model for 3.1.0 * Make IEA model float again * Reduce IEA timestep * Match DT to checkpoint time Co-authored-by: dzalkind <[email protected]> * Increment version number * Bladed docs (#116) * Added image of Bladed control screen setup * Delete Bladed control screen.png * Adding image of Bladed control screen * Add files via upload * Minor edit 1 * Minor change 2 * Minor change 3 * Minor change 4 * Change 6 * Change 7 * Change 8 * Minor change 9 Co-authored-by: nikhar-abbas <[email protected]> Co-authored-by: WillC-DNV <[email protected]> * Update version in API change docs * Bladed readthedocs (#117) * Added image of Bladed control screen setup * Delete Bladed control screen.png * Adding image of Bladed control screen * Add files via upload * Minor edit 1 * Minor change 2 * Minor change 3 * Minor change 4 * Change 6 * Change 7 * Change 8 * Minor change 9 * Tinker with characters in bladed instructions * Add bladed instructions to index * Change bladed toctree label * Do underline stuff * Make toctree label same as file * Remove colons from headers Co-authored-by: nikhar-abbas <[email protected]> Co-authored-by: WillC-DNV <[email protected]> * Update docs to reflect CI process Co-authored-by: Nikhar Abbas <[email protected]> Co-authored-by: Xianping Du <[email protected]> Co-authored-by: nikhar-abbas <[email protected]> Co-authored-by: WillC-DNV <[email protected]> * Fixed wrong formatting of list items (#122) extra newline required between list elements * Regenerate types, IO with registry * Update registry so first timestep is printed * Update inverted notch to move frequency properly * Saturate inv notch corner frequency at 0 * Add tower damper mode flag * Flip Ct and Cq table allocation * Regen types * Remove print statements used for debugging * Update input files: IEA model has pitch actuator * Add back flap control (no idea when it was deleted) * Update discons, docs with API change Co-authored-by: nikhar-abbas <[email protected]> Co-authored-by: Nikhar Abbas <[email protected]> Co-authored-by: Xianping Du <[email protected]> Co-authored-by: WillC-DNV <[email protected]> Co-authored-by: Gustavo Hylander <[email protected]> * Add max_torque_factor for constant power control, flexible upper limit * Make update discons relative to tuning yaml * Update AddF0 and NumCoords in FAST_reader/writer * Add OpenFAST channels that Simulink reads (#135) * RAAW Updates (#133) * Convert WE saved variables to WE type * Put restart flag in localvars * Use saved filter params from LocalVar * save pitcomt last * Move IPC saved variables to localvars * Saved pi controller variables to localvar * Save RootMyb_Last to localvar * ROSCO_IO - initial commit. Include restart and debug functions * Use ROSCO IO and call restart functions * Remove debug from function.f90 * Save ACC Infile info * update for restart capabilities * add rosco_io with restart and debug functions * cleanup debug call * use registry generate types and IO * delete DFController * fix timestep mismatch * remove unnecessaray istatus check * close files * add reg test for restart * add restart option to run_openfast * add testing to CI, ignore generate files * fix fastcall * remove extra commas * specify gfortran-10 * testing flag cleanup * Use lv_strings to generate debug output * Revert "testing flag cleanup" This reverts commit 6f295563832413e96347acd82716f9aadac6d46c. * Revert "specify gfortran-10" This reverts commit 4c3154491523bcd542133ca2bce5803cdc94523f. * minor cleanup * Use kind from constants * Add some comments for clarity * put debug in if statements * separate reg tests from oother tests * Fl_Mode>0 * Remove hard coded values * Add filtered signals and WE_Vw to debug varrs * cd for regtest * Check logging level before calling debug * add fl_pitcom and pc_minpit to debugvars * Turn runFAST into a class * Refactor/simplify CaseLibrary * Implement initial pitch actuator * Set up steps case * Add actuator variable * Print first time step in debug outs * Fix FOCAL yaml * Set actuator to 0.25 Hz bandwidth * ROSCO 2.5.0 (#115) * FOCAL Updates (#64) * Update headers * fix bullets * make uppercase * Update turbine.py (#56) * Update turbine.py This add several lines for fixing the problem of repeated maximum values in the performance tables. This will cause the error (' the length of x and y is different.') of 'interpolate.interp1d.' * Add comments and catch when there are multiple optimal pitch angles Co-authored-by: dzalkind <[email protected]> * increment version * Update for OpenFAST v3.0.0 * Update for OpenFAST v3.0.0 * Install OF3.0.0 for tests * update for OF v3.0.0 * add publish to pypi on release * Update to ROSCO v2.3.0 * Update Testing (#58) * Update scripts to run on eagle * Update IEA-15MW semi example: use peak shaving w/ ps_percen=0.8 * Add comparison plots to testing scripts * Update submit script for testing * Update for latest eagle runs * Add future to install dependencies * add TMax to self, define tmin in print_results * run tests in CI * generic ROSCO path * default to overwrite * fix path * import platform * separate run_testing * cleanup, specify lite test * don't run testing in after examples, oops. Co-authored-by: nikhar-abbas <[email protected]> Co-authored-by: Nikhar Abbas <[email protected]> * increment version * Update for OpenFAST v3.0.0 * Install OF3.0.0 for tests * update for OF v3.0.0 * add publish to pypi on release * Update to ROSCO v2.3.0 * Increment Version, OF3.0 (#57) * increment version * Update for OpenFAST v3.0.0 * Install OF3.0.0 for tests * update for OF v3.0.0 * add publish to pypi on release * Update to ROSCO v2.3.0 * increment version * Update for OpenFAST v3.0.0 * Install OF3.0.0 for tests * update for OF v3.0.0 * add publish to pypi on release * Update to ROSCO v2.3.0 * add ROSCO without submodule * move ROSCO source to ROSCO folder * Move cmake-related files to ROSCO * Add back pesky ErrVar * Remove parameters_files * Merge ROSCO and _toolbox gitignore * Fix .gitignore * Remove Examples/DISCON.IN from git * Fix and point example_01 to Tune_Cases/ * Update verbiage around using ofTools vs. weis * Fix and point example_04 to Tune_Cases/ * Clean up example_06 * Clean up example_07 * Only check FlpCornerFreq if using Flp control, fixes example 05 * Make example_04 consistent with others * Let example_05 run independently from 04 * Clean up example_05, wind files * Add schema and update empty tuning yaml inputs, not connected yet * Integrate schema into turbine, controller, and examples * Only check Fl filter parameters if Fl_Mode > 0, fix example_05 * bump version to 2.3 * Compile ROSCO from ROSCO dir * Rename to CI_rosco * Add omega vs. windspeed functionality * Fix tests: 5MW U_pc and 06 example dir * Make _Toolbox vs_minspeed in rotor frame to match ROSCO * Revert ServoDyn change * change rotor speed constraint to be epsilon * rename for clarity * docs major refresh * fix FA_AccF units in debug file * docs that build locally * Deallocate arrays in ROSCO, check in example_05 * Clean up comments * remove gitmodules * furo theme * furo in requirements * move readthedocs config file, remove furo import in conf.py * add docs requirements file * typo * move index out of source folder * trying to get furo to work * import date * fix versions and titles, cleanup readthedocs requirements * typo fix, remove extras * more cleanup * bump version * no furo extension, "hack" to load RT version * proper toctree paths * specify method * add mock modules * fix typos * update python install requirements * running locally * move index to main docs dir again * update to build locally * error during warnings * automated version * cleanup * remove old docs * re-add docs * simplify * fix figure path * try alabaster * remove archived docs * Add omega vs. windspeed functionality * Fix tests: 5MW U_pc and 06 example dir * more detailed sp.optimize settings * run MBC3 in parallel * restructure driver, run initialization doe for tuning * Try new dlclose function * Update example_05 to run simple simulation twice and check result * Revert deallocation stuff * Close discon library after every sim run * Test examples on macOS and windows * Run examples instead of testing on other platforms * Skip examples in windows for now * update paths and yaml load funciton * Skip mac testing of examples * provide default U_pc for single omega/zeta case * allow for float or list-like pc tuning inputs * Change name in setup.py * WE_Vw unit fix * Pass through kp_float, if desired * Minor fixes: schema error and InputReader defaults * cleeanup for improved stability * check for doe_logs as string in load_DOE * major restructure for rsched_driver class * cleanup verbosity * run serial by default * load_parallel as linturb_option * specific IEA15MW yaml for multi omega * remove unused module imports * fix error message types * lin_file as input * add comments on inputs to LinearTurbineModel init method * remove relative file paths * provide OpenFAST linearizations for IEA15MW UMaineSemi * put plotting in specific function * fix WE_lambda units * add self in on a few necessary variables * creaete example 12 for robust scheduling * try a few mbc3 locations for import * allow list-like or numpy arrays for omega_pc and zeta_pc schedules * create and use recorder setup function * Pass Through Kp_float (#57) * Pass through kp_float, if desired * Minor fixes: schema error and InputReader defaults * fix setup_recorder to work for optimization driver too * Allow pass through of Kp_float = 0 * cleanup om problems, update om0 calc * doe levels as input * negative k_float to account for OF conventions * cleanup print statements * variable name cleanup, use calculated k_float * Add defaults to omega_,zeta_ pc and vs, allow to be numbers * use standard tuning k_float as IC * formatting update * update problem setup methods * cleanup add_dv, enable adding design variables after problem is setup * change optimization step size * more setup restructure * update verbosity * use sphinx-rtd-theme * master doc and sphinx rtd theme * index back to root folder * only ignore install folders * remove hidden toctree * furo theme * update paths * convert rt version to string * update sphinx settings * move conf * furo theme * Mostly a docs update (#61) * rename for clarity * docs major refresh * fix FA_AccF units in debug file * docs that build locally * remove gitmodules * furo theme * furo in requirements * move readthedocs config file, remove furo import in conf.py * add docs requirements file * typo * move index out of source folder * trying to get furo to work * import date * fix versions and titles, cleanup readthedocs requirements * typo fix, remove extras * more cleanup * bump version * no furo extension, "hack" to load RT version * proper toctree paths * specify method * add mock modules * fix typos * update python install requirements * running locally * move index to main docs dir again * update to build locally * error during warnings * automated version * cleanup * remove old docs * re-add docs * simplify * fix figure path * try alabaster * remove archived docs * use sphinx-rtd-theme * master doc and sphinx rtd theme * index back to root folder * only ignore install folders * remove hidden toctree * furo theme * update paths * convert rt version to string * update sphinx settings * move conf * furo theme * Pass through Kp_float = 0 (#59) * Pass through kp_float, if desired * Minor fixes: schema error and InputReader defaults * Allow pass through of Kp_float = 0 * Add flp parameters to schema * Change Fl_Mode default to 0 * Add defaults to omega_,zeta_ pc and vs, allow to be numbers * Allow single pitch tuning values in code, default U_pc to 0 * use nac acceleration for floating feedback * Fix TSR saturation for region 2.5operation * Modify system for constant power operation * Only modify pole for constant power above-rated * Remove GenEff from K calc * Update tuning, use constant power * use load_rosco_yaml * constant power * Fix broken tests * Include Fl_Mode=2 for nacelle pitching feedback * Add FOCAL inputs - hpf on floating feedback - lpf on wind speed estimator - associated schema updates * Set notch and check frequencies when Fl_Mode = 1 (fixes bug) * Skip filter step if there's an error * Update IEA-15MW test case DISCON with focal inputs * Allow Fl_Mode = 2 in ROSCO * Pass through lpf frequency * Add FOCAL tuning yaml * Set Cp contour number of levels * Add FOCAL params to various writers * Update/tune focal yaml * Add scripts for running FAST, tuning various parameters and cases * Add notebook for FAST plotting * Set up step case for testing * Change doubles to C_doubles * Define real and integer kinds, assign to all of ROSCO * Add ADJUSTL to DISCON error message * Fix Fl_Mode == 2 * Fix Fl_Mode == 2 again * Call yaw, flap, and debug only if enabled in DISOCN.IN * Make avrSWAP a ReKi and set constant kinds * Add DISCONs for testing - revert this later * Fix DISCON comparison, before DISCON's were overwritten by model * Rename DEBUG2.dbg to RootName.dbg2 * Update TestCase DISCONs to new input file * Add API change page in docs * Add link to API change on main page * Fix table headers * Fix title underlines * Fix tables again * Fix tables again * Fix version numbering in docs * Simplify FAST_directory in run_FAST * Versioning (#65) * use sphinx-rtd-theme * master doc and sphinx rtd theme * index back to root folder * only ignore install folders * remove hidden toctree * furo theme * update paths * convert rt version to string * update sphinx settings * move conf * furo theme * remove git versioning from cmake * use hard coded rosco_version * update intro write method * set nowrap for intel compilers * Add transfer of error message and clear message after each call * update install instructions * Catch nans in ROSCO at end of WSE * fix conda install typo * cleanup docs * Rename DEBUG2.dbg to RootName.dbg2 * Fix Fl_Mode == 2 * Fix Fl_Mode == 2 again * Allow Fl_Mode = 2 in ROSCO * Set notch and check frequencies when Fl_Mode = 1 (fixes bug) * Update FOCAL tuning yaml * Update TSR * Clean up and doc fix * Remove publish to pypi * Define all constant inputs to functions with kind typing * Generate Test_Case/ inputs automatically * Fix IEA15 DISCON path * Fix example 11 paths * Auto-generate tuning input yaml using schema * Add toolbox_input to doc index * Add toctree * Re-name title of toolbox_input Co-authored-by: Nikhar Abbas <[email protected]> Co-authored-by: Xianping Du <[email protected]> Co-authored-by: nikhar-abbas <[email protected]> * update listcheck method for numpy arrays * Open Loop Control (#98) * create rosco types yaml * Add more descriptions, add integer_c default, cleanup * updates for allocatability and shapes * python scripts to write ROSCO_types.f90 * reemove superfulous modules * use types from ROSCO registry * create rosco types yaml * Add more descriptions, add integer_c default, cleanup * updates for allocatability and shapes * python scripts to write ROSCO_types.f90 * reemove superfulous modules * use types from ROSCO registry * Saturate inputs to WSE. Needs some TLC, but seems to work * Reduce saturation limits on speed, torque * Re-organize, set saturation limits. Working at 3 m/s * Initial add of OL control to ROSCO: builds * Update DISCONs with open loop inputs * Fix file reading for OL_Filename * Add open loop control generation and file writing * Use DISCON_dict for more manageable DISCON file writing * Add open loop example, fix constant timeseries * Make open loop example generate power * Handle relative paths and calling from outside the run directory: - Some helper functions borrowed from OpenFAST, f/ext_control - Updated file writing * Clean up: versions, print statements * Fix SysFiles paths in CMakeLists * Tidy up Ext_DLL names * More Ext_DLL name tidying * Test write_registry.py * Update for OL Control * Move preprocessor lines * add zenodo DOI * Regenerated Types * fix shape * revert filepath change * give all types a size, ProcAddr size = 3 * update types * test registry in compile step * specify default shell * update write_registry path * remove default shell * Document API changes, provide OL input example * Fix example 14 (yaw input) * Add error catching to yaw control * Tidy up OL_Input Reading: error catching, generalize * More yaw control fixes, to model * Checkout develop CMakeLists for ROSCO * Update DISCON.INs for TestCases/ * Revert "Checkout develop CMakeLists for ROSCO" This reverts commit 87a491359d73806e3aaa59b4cfdc00f2838875df. * Revert windows cmake stuff to develop * Fix CMake again * Revert "Revert windows cmake stuff to develop" This reverts commit 39df122449b0e2055f2e12e3ce38a0c010c7bd91. * Make last cmake fix - hopefully Co-authored-by: Nikhar Abbas <[email protected]> * Restart & registry (#99) * Convert WE saved variables to WE type * Put restart flag in localvars * Use saved filter params from LocalVar * save pitcomt last * Move IPC saved variables to localvars * Saved pi controller variables to localvar * Save RootMyb_Last to localvar * ROSCO_IO - initial commit. Include restart and debug functions * Use ROSCO IO and call restart functions * Remove debug from function.f90 * Save ACC Infile info * update for restart capabilities * add rosco_io with restart and debug functions * cleanup debug call * use registry generate types and IO * delete DFController * fix timestep mismatch * remove unnecessaray istatus check * close files * add reg test for restart * add restart option to run_openfast * add testing to CI, ignore generate files * fix fastcall * remove extra commas * specify gfortran-10 * testing flag cleanup * Use lv_strings to generate debug output * Revert "testing flag cleanup" This reverts commit 6f295563832413e96347acd82716f9aadac6d46c. * Revert "specify gfortran-10" This reverts commit 4c3154491523bcd542133ca2bce5803cdc94523f. * minor cleanup * Use kind from constants * Add some comments for clarity * put debug in if statements * separate reg tests from oother tests * Fl_Mode>0 * Remove hard coded values * Add filtered signals and WE_Vw to debug varrs * cd for reg…

* FOCAL Updates (#64) * Update headers * fix bullets * make uppercase * Update turbine.py (#56) * Update turbine.py This add several lines for fixing the problem of repeated maximum values in the performance tables. This will cause the error (' the length of x and y is different.') of 'interpolate.interp1d.' * Add comments and catch when there are multiple optimal pitch angles Co-authored-by: dzalkind <[email protected]> * increment version * Update for OpenFAST v3.0.0 * Update for OpenFAST v3.0.0 * Install OF3.0.0 for tests * update for OF v3.0.0 * add publish to pypi on release * Update to ROSCO v2.3.0 * Update Testing (#58) * Update scripts to run on eagle * Update IEA-15MW semi example: use peak shaving w/ ps_percen=0.8 * Add comparison plots to testing scripts * Update submit script for testing * Update for latest eagle runs * Add future to install dependencies * add TMax to self, define tmin in print_results * run tests in CI * generic ROSCO path * default to overwrite * fix path * import platform * separate run_testing * cleanup, specify lite test * don't run testing in after examples, oops. Co-authored-by: nikhar-abbas <[email protected]> Co-authored-by: Nikhar Abbas <[email protected]> * increment version * Update for OpenFAST v3.0.0 * Install OF3.0.0 for tests * update for OF v3.0.0 * add publish to pypi on release * Update to ROSCO v2.3.0 * Increment Version, OF3.0 (#57) * increment version * Update for OpenFAST v3.0.0 * Install OF3.0.0 for tests * update for OF v3.0.0 * add publish to pypi on release * Update to ROSCO v2.3.0 * increment version * Update for OpenFAST v3.0.0 * Install OF3.0.0 for tests * update for OF v3.0.0 * add publish to pypi on release * Update to ROSCO v2.3.0 * add ROSCO without submodule * move ROSCO source to ROSCO folder * Move cmake-related files to ROSCO * Add back pesky ErrVar * Remove parameters_files * Merge ROSCO and _toolbox gitignore * Fix .gitignore * Remove Examples/DISCON.IN from git * Fix and point example_01 to Tune_Cases/ * Update verbiage around using ofTools vs. weis * Fix and point example_04 to Tune_Cases/ * Clean up example_06 * Clean up example_07 * Only check FlpCornerFreq if using Flp control, fixes example 05 * Make example_04 consistent with others * Let example_05 run independently from 04 * Clean up example_05, wind files * Add schema and update empty tuning yaml inputs, not connected yet * Integrate schema into turbine, controller, and examples * Only check Fl filter parameters if Fl_Mode > 0, fix example_05 * bump version to 2.3 * Compile ROSCO from ROSCO dir * Rename to CI_rosco * Add omega vs. windspeed functionality * Fix tests: 5MW U_pc and 06 example dir * Make _Toolbox vs_minspeed in rotor frame to match ROSCO * Revert ServoDyn change * change rotor speed constraint to be epsilon * rename for clarity * docs major refresh * fix FA_AccF units in debug file * docs that build locally * Deallocate arrays in ROSCO, check in example_05 * Clean up comments * remove gitmodules * furo theme * furo in requirements * move readthedocs config file, remove furo import in conf.py * add docs requirements file * typo * move index out of source folder * trying to get furo to work * import date * fix versions and titles, cleanup readthedocs requirements * typo fix, remove extras * more cleanup * bump version * no furo extension, "hack" to load RT version * proper toctree paths * specify method * add mock modules * fix typos * update python install requirements * running locally * move index to main docs dir again * update to build locally * error during warnings * automated version * cleanup * remove old docs * re-add docs * simplify * fix figure path * try alabaster * remove archived docs * Add omega vs. windspeed functionality * Fix tests: 5MW U_pc and 06 example dir * more detailed sp.optimize settings * run MBC3 in parallel * restructure driver, run initialization doe for tuning * Try new dlclose function * Update example_05 to run simple simulation twice and check result * Revert deallocation stuff * Close discon library after every sim run * Test examples on macOS and windows * Run examples instead of testing on other platforms * Skip examples in windows for now * update paths and yaml load funciton * Skip mac testing of examples * provide default U_pc for single omega/zeta case * allow for float or list-like pc tuning inputs * Change name in setup.py * WE_Vw unit fix * Pass through kp_float, if desired * Minor fixes: schema error and InputReader defaults * cleeanup for improved stability * check for doe_logs as string in load_DOE * major restructure for rsched_driver class * cleanup verbosity * run serial by default * load_parallel as linturb_option * specific IEA15MW yaml for multi omega * remove unused module imports * fix error message types * lin_file as input * add comments on inputs to LinearTurbineModel init method * remove relative file paths * provide OpenFAST linearizations for IEA15MW UMaineSemi * put plotting in specific function * fix WE_lambda units * add self in on a few necessary variables * creaete example 12 for robust scheduling * try a few mbc3 locations for import * allow list-like or numpy arrays for omega_pc and zeta_pc schedules * create and use recorder setup function * Pass Through Kp_float (#57) * Pass through kp_float, if desired * Minor fixes: schema error and InputReader defaults * fix setup_recorder to work for optimization driver too * Allow pass through of Kp_float = 0 * cleanup om problems, update om0 calc * doe levels as input * negative k_float to account for OF conventions * cleanup print statements * variable name cleanup, use calculated k_float * Add defaults to omega_,zeta_ pc and vs, allow to be numbers * use standard tuning k_float as IC * formatting update * update problem setup methods * cleanup add_dv, enable adding design variables after problem is setup * change optimization step size * more setup restructure * update verbosity * use sphinx-rtd-theme * master doc and sphinx rtd theme * index back to root folder * only ignore install folders * remove hidden toctree * furo theme * update paths * convert rt version to string * update sphinx settings * move conf * furo theme * Mostly a docs update (#61) * rename for clarity * docs major refresh * fix FA_AccF units in debug file * docs that build locally * remove gitmodules * furo theme * furo in requirements * move readthedocs config file, remove furo import in conf.py * add docs requirements file * typo * move index out of source folder * trying to get furo to work * import date * fix versions and titles, cleanup readthedocs requirements * typo fix, remove extras * more cleanup * bump version * no furo extension, "hack" to load RT version * proper toctree paths * specify method * add mock modules * fix typos * update python install requirements * running locally * move index to main docs dir again * update to build locally * error during warnings * automated version * cleanup * remove old docs * re-add docs * simplify * fix figure path * try alabaster * remove archived docs * use sphinx-rtd-theme * master doc and sphinx rtd theme * index back to root folder * only ignore install folders * remove hidden toctree * furo theme * update paths * convert rt version to string * update sphinx settings * move conf * furo theme * Pass through Kp_float = 0 (#59) * Pass through kp_float, if desired * Minor fixes: schema error and InputReader defaults * Allow pass through of Kp_float = 0 * Add flp parameters to schema * Change Fl_Mode default to 0 * Add defaults to omega_,zeta_ pc and vs, allow to be numbers * Allow single pitch tuning values in code, default U_pc to 0 * use nac acceleration for floating feedback * Fix TSR saturation for region 2.5operation * Modify system for constant power operation * Only modify pole for constant power above-rated * Remove GenEff from K calc * Update tuning, use constant power * use load_rosco_yaml * constant power * Fix broken tests * Include Fl_Mode=2 for nacelle pitching feedback * Add FOCAL inputs - hpf on floating feedback - lpf on wind speed estimator - associated schema updates * Set notch and check frequencies when Fl_Mode = 1 (fixes bug) * Skip filter step if there's an error * Update IEA-15MW test case DISCON with focal inputs * Allow Fl_Mode = 2 in ROSCO * Pass through lpf frequency * Add FOCAL tuning yaml * Set Cp contour number of levels * Add FOCAL params to various writers * Update/tune focal yaml * Add scripts for running FAST, tuning various parameters and cases * Add notebook for FAST plotting * Set up step case for testing * Change doubles to C_doubles * Define real and integer kinds, assign to all of ROSCO * Add ADJUSTL to DISCON error message * Fix Fl_Mode == 2 * Fix Fl_Mode == 2 again * Call yaw, flap, and debug only if enabled in DISOCN.IN * Make avrSWAP a ReKi and set constant kinds * Add DISCONs for testing - revert this later * Fix DISCON comparison, before DISCON's were overwritten by model * Rename DEBUG2.dbg to RootName.dbg2 * Update TestCase DISCONs to new input file * Add API change page in docs * Add link to API change on main page * Fix table headers * Fix title underlines * Fix tables again * Fix tables again * Fix version numbering in docs * Simplify FAST_directory in run_FAST * Versioning (#65) * use sphinx-rtd-theme * master doc and sphinx rtd theme * index back to root folder * only ignore install folders * remove hidden toctree * furo theme * update paths * convert rt version to string * update sphinx settings * move conf * furo theme * remove git versioning from cmake * use hard coded rosco_version * update intro write method * set nowrap for intel compilers * Add transfer of error message and clear message after each call * update install instructions * Catch nans in ROSCO at end of WSE * fix conda install typo * cleanup docs * Rename DEBUG2.dbg to RootName.dbg2 * Fix Fl_Mode == 2 * Fix Fl_Mode == 2 again * Allow Fl_Mode = 2 in ROSCO * Set notch and check frequencies when Fl_Mode = 1 (fixes bug) * Update FOCAL tuning yaml * Update TSR * Clean up and doc fix * Remove publish to pypi * Define all constant inputs to functions with kind typing * Generate Test_Case/ inputs automatically * Fix IEA15 DISCON path * Fix example 11 paths * Auto-generate tuning input yaml using schema * Add toolbox_input to doc index * Add toctree * Re-name title of toolbox_input Co-authored-by: Nikhar Abbas <[email protected]> Co-authored-by: Xianping Du <[email protected]> Co-authored-by: nikhar-abbas <[email protected]> * update listcheck method for numpy arrays * Open Loop Control (#98) * create rosco types yaml * Add more descriptions, add integer_c default, cleanup * updates for allocatability and shapes * python scripts to write ROSCO_types.f90 * reemove superfulous modules * use types from ROSCO registry * create rosco types yaml * Add more descriptions, add integer_c default, cleanup * updates for allocatability and shapes * python scripts to write ROSCO_types.f90 * reemove superfulous modules * use types from ROSCO registry * Saturate inputs to WSE. Needs some TLC, but seems to work * Reduce saturation limits on speed, torque * Re-organize, set saturation limits. Working at 3 m/s * Initial add of OL control to ROSCO: builds * Update DISCONs with open loop inputs * Fix file reading for OL_Filename * Add open loop control generation and file writing * Use DISCON_dict for more manageable DISCON file writing * Add open loop example, fix constant timeseries * Make open loop example generate power * Handle relative paths and calling from outside the run directory: - Some helper functions borrowed from OpenFAST, f/ext_control - Updated file writing * Clean up: versions, print statements * Fix SysFiles paths in CMakeLists * Tidy up Ext_DLL names * More Ext_DLL name tidying * Test write_registry.py * Update for OL Control * Move preprocessor lines * add zenodo DOI * Regenerated Types * fix shape * revert filepath change * give all types a size, ProcAddr size = 3 * update types * test registry in compile step * specify default shell * update write_registry path * remove default shell * Document API changes, provide OL input example * Fix example 14 (yaw input) * Add error catching to yaw control * Tidy up OL_Input Reading: error catching, generalize * More yaw control fixes, to model * Checkout develop CMakeLists for ROSCO * Update DISCON.INs for TestCases/ * Revert "Checkout develop CMakeLists for ROSCO" This reverts commit 87a491359d73806e3aaa59b4cfdc00f2838875df. * Revert windows cmake stuff to develop * Fix CMake again * Revert "Revert windows cmake stuff to develop" This reverts commit 39df122449b0e2055f2e12e3ce38a0c010c7bd91. * Make last cmake fix - hopefully Co-authored-by: Nikhar Abbas <[email protected]> * Convert WE saved variables to WE type * Put restart flag in localvars * Use saved filter params from LocalVar * save pitcomt last * Move IPC saved variables to localvars * Saved pi controller variables to localvar * Save RootMyb_Last to localvar * ROSCO_IO - initial commit. Include restart and debug functions * Use ROSCO IO and call restart functions * Remove debug from function.f90 * Save ACC Infile info * update for restart capabilities * add rosco_io with restart and debug functions * cleanup debug call * use registry generate types and IO * delete DFController * fix timestep mismatch * remove unnecessaray istatus check * close files * add reg test for restart * add restart option to run_openfast * add testing to CI, ignore generate files * fix fastcall * remove extra commas * specify gfortran-10 * testing flag cleanup * Use lv_strings to generate debug output * Revert "testing flag cleanup" This reverts commit 6f295563832413e96347acd82716f9aadac6d46c. * Revert "specify gfortran-10" This reverts commit 4c3154491523bcd542133ca2bce5803cdc94523f. * minor cleanup * Use kind from constants * Add some comments for clarity * put debug in if statements * separate reg tests from oother tests * Fl_Mode>0 * Remove hard coded values * Add filtered signals and WE_Vw to debug varrs * cd for regtest * Check logging level before calling debug * add fl_pitcom and pc_minpit to debugvars * Turn runFAST into a class * Refactor/simplify CaseLibrary * Restart & registry (#99) * Convert WE saved variables to WE type * Put restart flag in localvars * Use saved filter params from LocalVar * save pitcomt last * Move IPC saved variables to localvars * Saved pi controller variables to localvar * Save RootMyb_Last to localvar * ROSCO_IO - initial commit. Include restart and debug functions * Use ROSCO IO and call restart functions * Remove debug from function.f90 * Save ACC Infile info * update for restart capabilities * add rosco_io with restart and debug functions * cleanup debug call * use registry generate types and IO * delete DFController * fix timestep mismatch * remove unnecessaray istatus check * close files * add reg test for restart * add restart option to run_openfast * add testing to CI, ignore generate files * fix fastcall * remove extra commas * specify gfortran-10 * testing flag cleanup * Use lv_strings to generate debug output * Revert "testing flag cleanup" This reverts commit 6f295563832413e96347acd82716f9aadac6d46c. * Revert "specify gfortran-10" This reverts commit 4c3154491523bcd542133ca2bce5803cdc94523f. * minor cleanup * Use kind from constants * Add some comments for clarity * put debug in if statements * separate reg tests from oother tests * Fl_Mode>0 * Remove hard coded values * Add filtered signals and WE_Vw to debug varrs * cd for regtest * Check logging level before calling debug * add fl_pitcom and pc_minpit to debugvars Co-authored-by: dzalkind <[email protected]> * Implement initial pitch actuator * Set up steps case * Break up if statement in open loop pitch (#100) * Break up if statement in open loop pitch * Make torque and yaw consistent with pitch: can start after some time * add bld edgewise freq to robust dict_inputs * Add actuator variable * Print first time step in debug outs * Fix FOCAL yaml * Set actuator to 0.25 Hz bandwidth * Fix ccrotor inputs (#104) * remove interpolation of blade chord and twist * rename aerodynblade inputs * Update surface and DISCON.INs * Fix performance table paths * Allow default inputs (#110) * Allow defaults for AeroDyn inputs * Allow AeroDyn inputs to be floats, too * ipc (#105) * remove interpolation of blade chord and twist * rename aerodynblade inputs * Update surface and DISCON.INs * Fix performance table paths * Add proportional control and cleanup IPC * Add IPC and filtered RootMyc to registry * Better logic for filtering RootMOOP and fix notch filter slopes bug * Add cyclic flap conrol * Fix comments in ColemanTransformInverse * Addd IPC_KP to DISCON.IN * Error checking foro flp or ipc * add mutichannel plotting with tuples * add CMakeFiles to gitignore * Add IPC_KP to api changes * numerical qualifiers for error handling * add IPC gains to schema for pass-through ability * fix variable names * fix ipc gain printing bug * make sure IPC_KP is positive * Update Polars to point to coord files * ignore dbg2 files * Add IEA15MW_OL.yaml * update coord reader/writer * expand pitch_initial to 30 degrees * Add example 13 for IPC * Update cp surfaces and DISCONS * add examples to readme * cleanup and streaamline run_examples * Add IPC tuning vars * Allow IPC to command pitch value below peak shaving saturation limit * shorten simulation time * Fix Material parameter path * Update DISCONs again * Fix OL_Input reading * Set wind speed, rotor speed IC in example 14 * Debug OL reading * Add more debugging lines * Add more debugging lines 2 * Clean up, hone in on debug call * Disable logging level * Update discons - resolve conflict * Print when finished with ROSCO * add control packageg * Use PriPath and RootName to name dbg files * Print AvrSWAP * Revert "Use PriPath and RootName to name dbg files" This reverts commit 062fcaa55b3bf42d44f8a3f163aa883ab9552412. * Disable other examples * Print OL inputs * Allow logging level 3 * Print OL inputs * Make example shorter * Print more stuf * Print shape * Revert "Print OL inputs" This reverts commit 8e2a642bb35e46850f579ca4e69ca6d6fc93f4cc. * Update ROSCO Simulink model with IPC example * refactor flap tuning for normalization methods * improved flap controller filtering * delete extra F_FlpCornerFrerq * Update inputs, reader, and writer for OF 3.1.0 * Make sigma default interp type for multi_sigma * Use openfast 3.1.0 in CI * Fix leak...maybe * Use OF 3.1.0 in testing * Use gfotran for compile * Clean up print statements * Re-enable all examples * Update NREL-5MW AD file * Only check airfoil controls if more than one table * Update BAR models * Revert "Use gfotran for compile" This reverts commit 5a6e2b7e30287a09a09781e2ba12f9b578132e1f. * Install pyFAST for CI * Fix some paths in ex12 * Disable example 12 * Fix example 12 linear path, re-enable * Skip compilers install for mac * Try gfortran-9, no compilers * Try gfortran-10, no compilers * Skip windows compile in pytools * Re-enable windows, use gfortran as FC * Unset FC in windows * Set environment for windows when dependencies installed * Try setting environment in installation * Put conditional env setting in correct place * Try in setup again * Break up tasks: Windows vs. not * Update DISCONs * Update docs with new variables * Add example documentation * Update ROSCO Simulink model for 3.1.0 * Make IEA model float again * Reduce IEA timestep * Match DT to checkpoint time Co-authored-by: dzalkind <[email protected]> * Increment version number * Bladed docs (#116) * Added image of Bladed control screen setup * Delete Bladed control screen.png * Adding image of Bladed control screen * Add files via upload * Minor edit 1 * Minor change 2 * Minor change 3 * Minor change 4 * Change 6 * Change 7 * Change 8 * Minor change 9 Co-authored-by: nikhar-abbas <[email protected]> Co-authored-by: WillC-DNV <[email protected]> * Update version in API change docs * Bladed readthedocs (#117) * Added image of Bladed control screen setup * Delete Bladed control screen.png * Adding image of Bladed control screen * Add files via upload * Minor edit 1 * Minor change 2 * Minor change 3 * Minor change 4 * Change 6 * Change 7 * Change 8 * Minor change 9 * Tinker with characters in bladed instructions * Add bladed instructions to index * Change bladed toctree label * Do underline stuff * Make toctree label same as file * Remove colons from headers Co-authored-by: nikhar-abbas <[email protected]> Co-authored-by: WillC-DNV <[email protected]> * Update docs to reflect CI process * Regenerate types, IO with registry * Update registry so first timestep is printed * Update inverted notch to move frequency properly * Saturate inv notch corner frequency at 0 * Add tower damper mode flag * Add Azimuth tracking controller in Simulink * Always enable GenDOF, add options for simp_step * Add sweep for IPC gains and FA damper * Fix NumCoords in FAST_writer * sigma + ipc (#125) * cleanup api change table * Update inverted notch to move frequency properly * Saturate inv notch corner frequency at 0 * add sigma function * Use IPC_Vramp for IPC cut-in * Add IPC_Vramp DISCON inputs * update registry * Update DISCONs * Update docs for API change * Fix IPC_Vramp data type * update comments Co-authored-by: dzalkind <[email protected]> * Add turbulent case to runFAST/CaseLibrary * Add peak shaving sweep function * Increase default IPC_IntSat, make input parameter in future * Flip Ct and Cq table allocation * Flip Ct and Cq table allocation (#130) * Regen types * Remove print statements used for debugging * Update input files: IEA model has pitch actuator * Add back flap control (no idea when it was deleted) * Update discons, docs with API change * Add user-defined hh case * Fix AddF0 and RayleighDamp in FAST_reader * Pitch Actuator and IPC updates (#123) * Convert WE saved variables to WE type * Put restart flag in localvars * Use saved filter params from LocalVar * save pitcomt last * Move IPC saved variables to localvars * Saved pi controller variables to localvar * Save RootMyb_Last to localvar * ROSCO_IO - initial commit. Include restart and debug functions * Use ROSCO IO and call restart functions * Remove debug from function.f90 * Save ACC Infile info * update for restart capabilities * add rosco_io with restart and debug functions * cleanup debug call * use registry generate types and IO * delete DFController * fix timestep mismatch * remove unnecessaray istatus check * close files * add reg test for restart * add restart option to run_openfast * add testing to CI, ignore generate files * fix fastcall * remove extra commas * specify gfortran-10 * testing flag cleanup * Use lv_strings to generate debug output * Revert "testing flag cleanup" This reverts commit 6f295563832413e96347acd82716f9aadac6d46c. * Revert "specify gfortran-10" This reverts commit 4c3154491523bcd542133ca2bce5803cdc94523f. * minor cleanup * Use kind from constants * Add some comments for clarity * put debug in if statements * separate reg tests from oother tests * Fl_Mode>0 * Remove hard coded values * Add filtered signals and WE_Vw to debug varrs * cd for regtest * Check logging level before calling debug * add fl_pitcom and pc_minpit to debugvars * Turn runFAST into a class * Refactor/simplify CaseLibrary * Implement initial pitch actuator * Set up steps case * Add actuator variable * Print first time step in debug outs * Fix FOCAL yaml * Set actuator to 0.25 Hz bandwidth * ROSCO 2.5.0 (#115) * FOCAL Updates (#64) * Update headers * fix bullets * make uppercase * Update turbine.py (#56) * Update turbine.py This add several lines for fixing the problem of repeated maximum values in the performance tables. This will cause the error (' the length of x and y is different.') of 'interpolate.interp1d.' * Add comments and catch when there are multiple optimal pitch angles Co-authored-by: dzalkind <[email protected]> * increment version * Update for OpenFAST v3.0.0 * Update for OpenFAST v3.0.0 * Install OF3.0.0 for tests * update for OF v3.0.0 * add publish to pypi on release * Update to ROSCO v2.3.0 * Update Testing (#58) * Update scripts to run on eagle * Update IEA-15MW semi example: use peak shaving w/ ps_percen=0.8 * Add comparison plots to testing scripts * Update submit script for testing * Update for latest eagle runs * Add future to install dependencies * add TMax to self, define tmin in print_results * run tests in CI * generic ROSCO path * default to overwrite * fix path * import platform * separate run_testing * cleanup, specify lite test * don't run testing in after examples, oops. Co-authored-by: nikhar-abbas <[email protected]> Co-authored-by: Nikhar Abbas <[email protected]> * increment version * Update for OpenFAST v3.0.0 * Install OF3.0.0 for tests * update for OF v3.0.0 * add publish to pypi on release * Update to ROSCO v2.3.0 * Increment Version, OF3.0 (#57) * increment version * Update for OpenFAST v3.0.0 * Install OF3.0.0 for tests * update for OF v3.0.0 * add publish to pypi on release * Update to ROSCO v2.3.0 * increment version * Update for OpenFAST v3.0.0 * Install OF3.0.0 for tests * update for OF v3.0.0 * add publish to pypi on release * Update to ROSCO v2.3.0 * add ROSCO without submodule * move ROSCO source to ROSCO folder * Move cmake-related files to ROSCO * Add back pesky ErrVar * Remove parameters_files * Merge ROSCO and _toolbox gitignore * Fix .gitignore * Remove Examples/DISCON.IN from git * Fix and point example_01 to Tune_Cases/ * Update verbiage around using ofTools vs. weis * Fix and point example_04 to Tune_Cases/ * Clean up example_06 * Clean up example_07 * Only check FlpCornerFreq if using Flp control, fixes example 05 * Make example_04 consistent with others * Let example_05 run independently from 04 * Clean up example_05, wind files * Add schema and update empty tuning yaml inputs, not connected yet * Integrate schema into turbine, controller, and examples * Only check Fl filter parameters if Fl_Mode > 0, fix example_05 * bump version to 2.3 * Compile ROSCO from ROSCO dir * Rename to CI_rosco * Add omega vs. windspeed functionality * Fix tests: 5MW U_pc and 06 example dir * Make _Toolbox vs_minspeed in rotor frame to match ROSCO * Revert ServoDyn change * change rotor speed constraint to be epsilon * rename for clarity * docs major refresh * fix FA_AccF units in debug file * docs that build locally * Deallocate arrays in ROSCO, check in example_05 * Clean up comments * remove gitmodules * furo theme * furo in requirements * move readthedocs config file, remove furo import in conf.py * add docs requirements file * typo * move index out of source folder * trying to get furo to work * import date * fix versions and titles, cleanup readthedocs requirements * typo fix, remove extras * more cleanup * bump version * no furo extension, "hack" to load RT version * proper toctree paths * specify method * add mock modules * fix typos * update python install requirements * running locally * move index to main docs dir again * update to build locally * error during warnings * automated version * cleanup * remove old docs * re-add docs * simplify * fix figure path * try alabaster * remove archived docs * Add omega vs. windspeed functionality * Fix tests: 5MW U_pc and 06 example dir * more detailed sp.optimize settings * run MBC3 in parallel * restructure driver, run initialization doe for tuning * Try new dlclose function * Update example_05 to run simple simulation twice and check result * Revert deallocation stuff * Close discon library after every sim run * Test examples on macOS and windows * Run examples instead of testing on other platforms * Skip examples in windows for now * update paths and yaml load funciton * Skip mac testing of examples * provide default U_pc for single omega/zeta case * allow for float or list-like pc tuning inputs * Change name in setup.py * WE_Vw unit fix * Pass through kp_float, if desired * Minor fixes: schema error and InputReader defaults * cleeanup for improved stability * check for doe_logs as string in load_DOE * major restructure for rsched_driver class * cleanup verbosity * run serial by default * load_parallel as linturb_option * specific IEA15MW yaml for multi omega * remove unused module imports * fix error message types * lin_file as input * add comments on inputs to LinearTurbineModel init method * remove relative file paths * provide OpenFAST linearizations for IEA15MW UMaineSemi * put plotting in specific function * fix WE_lambda units * add self in on a few necessary variables * creaete example 12 for robust scheduling * try a few mbc3 locations for import * allow list-like or numpy arrays for omega_pc and zeta_pc schedules * create and use recorder setup function * Pass Through Kp_float (#57) * Pass through kp_float, if desired * Minor fixes: schema error and InputReader defaults * fix setup_recorder to work for optimization driver too * Allow pass through of Kp_float = 0 * cleanup om problems, update om0 calc * doe levels as input * negative k_float to account for OF conventions * cleanup print statements * variable name cleanup, use calculated k_float * Add defaults to omega_,zeta_ pc and vs, allow to be numbers * use standard tuning k_float as IC * formatting update * update problem setup methods * cleanup add_dv, enable adding design variables after problem is setup * change optimization step size * more setup restructure * update verbosity * use sphinx-rtd-theme * master doc and sphinx rtd theme * index back to root folder * only ignore install folders * remove hidden toctree * furo theme * update paths * convert rt version to string * update sphinx settings * move conf * furo theme * Mostly a docs update (#61) * rename for clarity * docs major refresh * fix FA_AccF units in debug file * docs that build locally * remove gitmodules * furo theme * furo in requirements * move readthedocs config file, remove furo import in conf.py * add docs requirements file * typo * move index out of source folder * trying to get furo to work * import date * fix versions and titles, cleanup readthedocs requirements * typo fix, remove extras * more cleanup * bump version * no furo extension, "hack" to load RT version * proper toctree paths * specify method * add mock modules * fix typos * update python install requirements * running locally * move index to main docs dir again * update to build locally * error during warnings * automated version * cleanup * remove old docs * re-add docs * simplify * fix figure path * try alabaster * remove archived docs * use sphinx-rtd-theme * master doc and sphinx rtd theme * index back to root folder * only ignore install folders * remove hidden toctree * furo theme * update paths * convert rt version to string * update sphinx settings * move conf * furo theme * Pass through Kp_float = 0 (#59) * Pass through kp_float, if desired * Minor fixes: schema error and InputReader defaults * Allow pass through of Kp_float = 0 * Add flp parameters to schema * Change Fl_Mode default to 0 * Add defaults to omega_,zeta_ pc and vs, allow to be numbers * Allow single pitch tuning values in code, default U_pc to 0 * use nac acceleration for floating feedback * Fix TSR saturation for region 2.5operation * Modify system for constant power operation * Only modify pole for constant power above-rated * Remove GenEff from K calc * Update tuning, use constant power * use load_rosco_yaml * constant power * Fix broken tests * Include Fl_Mode=2 for nacelle pitching feedback * Add FOCAL inputs - hpf on floating feedback - lpf on wind speed estimator - associated schema updates * Set notch and check frequencies when Fl_Mode = 1 (fixes bug) * Skip filter step if there's an error * Update IEA-15MW test case DISCON with focal inputs * Allow Fl_Mode = 2 in ROSCO * Pass through lpf frequency * Add FOCAL tuning yaml * Set Cp contour number of levels * Add FOCAL params to various writers * Update/tune focal yaml * Add scripts for running FAST, tuning various parameters and cases * Add notebook for FAST plotting * Set up step case for testing * Change doubles to C_doubles * Define real and integer kinds, assign to all of ROSCO * Add ADJUSTL to DISCON error message * Fix Fl_Mode == 2 * Fix Fl_Mode == 2 again * Call yaw, flap, and debug only if enabled in DISOCN.IN * Make avrSWAP a ReKi and set constant kinds * Add DISCONs for testing - revert this later * Fix DISCON comparison, before DISCON's were overwritten by model * Rename DEBUG2.dbg to RootName.dbg2 * Update TestCase DISCONs to new input file * Add API change page in docs * Add link to API change on main page * Fix table headers * Fix title underlines * Fix tables again * Fix tables again * Fix version numbering in docs * Simplify FAST_directory in run_FAST * Versioning (#65) * use sphinx-rtd-theme * master doc and sphinx rtd theme * index back to root folder * only ignore install folders * remove hidden toctree * furo theme * update paths * convert rt version to string * update sphinx settings * move conf * furo theme * remove git versioning from cmake * use hard coded rosco_version * update intro write method * set nowrap for intel compilers * Add transfer of error message and clear message after each call * update install instructions * Catch nans in ROSCO at end of WSE * fix conda install typo * cleanup docs * Rename DEBUG2.dbg to RootName.dbg2 * Fix Fl_Mode == 2 * Fix Fl_Mode == 2 again * Allow Fl_Mode = 2 in ROSCO * Set notch and check frequencies when Fl_Mode = 1 (fixes bug) * Update FOCAL tuning yaml * Update TSR * Clean up and doc fix * Remove publish to pypi * Define all constant inputs to functions with kind typing * Generate Test_Case/ inputs automatically * Fix IEA15 DISCON path * Fix example 11 paths * Auto-generate tuning input yaml using schema * Add toolbox_input to doc index * Add toctree * Re-name title of toolbox_input Co-authored-by: Nikhar Abbas <[email protected]> Co-authored-by: Xianping Du <[email protected]> Co-authored-by: nikhar-abbas <[email protected]> * update listcheck method for numpy arrays * Open Loop Control (#98) * create rosco types yaml * Add more descriptions, add integer_c default, cleanup * updates for allocatability and shapes * python scripts to write ROSCO_types.f90 * reemove superfulous modules * use types from ROSCO registry * create rosco types yaml * Add more descriptions, add integer_c default, cleanup * updates for allocatability and shapes * python scripts to write ROSCO_types.f90 * reemove superfulous modules * use types from ROSCO registry * Saturate inputs to WSE. Needs some TLC, but seems to work * Reduce saturation limits on speed, torque * Re-organize, set saturation limits. Working at 3 m/s * Initial add of OL control to ROSCO: builds * Update DISCONs with open loop inputs * Fix file reading for OL_Filename * Add open loop control generation and file writing * Use DISCON_dict for more manageable DISCON file writing * Add open loop example, fix constant timeseries * Make open loop example generate power * Handle relative paths and calling from outside the run directory: - Some helper functions borrowed from OpenFAST, f/ext_control - Updated file writing * Clean up: versions, print statements * Fix SysFiles paths in CMakeLists * Tidy up Ext_DLL names * More Ext_DLL name tidying * Test write_registry.py * Update for OL Control * Move preprocessor lines * add zenodo DOI * Regenerated Types * fix shape * revert filepath change * give all types a size, ProcAddr size = 3 * update types * test registry in compile step * specify default shell * update write_registry path * remove default shell * Document API changes, provide OL input example * Fix example 14 (yaw input) * Add error catching to yaw control * Tidy up OL_Input Reading: error catching, generalize * More yaw control fixes, to model * Checkout develop CMakeLists for ROSCO * Update DISCON.INs for TestCases/ * Revert "Checkout develop CMakeLists for ROSCO" This reverts commit 87a491359d73806e3aaa59b4cfdc00f2838875df. * Revert windows cmake stuff to develop * Fix CMake again * Revert "Revert windows cmake stuff to develop" This reverts commit 39df122449b0e2055f2e12e3ce38a0c010c7bd91. * Make last cmake fix - hopefully Co-authored-by: Nikhar Abbas <[email protected]> * Restart & registry (#99) * Convert WE saved variables to WE type * Put restart flag in localvars * Use saved filter params from LocalVar * save pitcomt last * Move IPC saved variables to localvars * Saved pi controller variables to localvar * Save RootMyb_Last to localvar * ROSCO_IO - initial commit. Include restart and debug functions * Use ROSCO IO and call restart functions * Remove debug from function.f90 * Save ACC Infile info * update for restart capabilities * add rosco_io with restart and debug functions * cleanup debug call * use registry generate types and IO * delete DFController * fix timestep mismatch * remove unnecessaray istatus check * close files * add reg test for restart * add restart option to run_openfast * add testing to CI, ignore generate files * fix fastcall * remove extra commas * specify gfortran-10 * testing flag cleanup * Use lv_strings to generate debug output * Revert "testing flag cleanup" This reverts commit 6f295563832413e96347acd82716f9aadac6d46c. * Revert "specify gfortran-10" This reverts commit 4c3154491523bcd542133ca2bce5803cdc94523f. * minor cleanup * Use kind from constants * Add some comments for clarity * put debug in if statements * separate reg tests from oother tests * Fl_Mode>0 * Remove hard coded values * Add filtered signals and WE_Vw to debug varrs * cd for regtest * Check logging level before calling debug * add fl_pitcom and pc_minpit to debugvars Co-authored-by: dzalkind <[email protected]> * Break up if statement in open loop pitch (#100) * Break up if statement in open loop pitch * Make torque and yaw consistent with pitch: can start after some time * add bld edgewise freq to robust dict_inputs * Fix ccrotor inputs (#104) * remove interpolation of blade chord and twist * rename aerodynblade inputs * Update surface and DISCON.INs * Fix performance table paths * Allow default inputs (#110) * Allow defaults for AeroDyn inputs * Allow AeroDyn inputs to be floats, too * ipc (#105) * remove interpolation of blade chord and twist * rename aerodynblade inputs * Update surface and DISCON.INs * Fix performance table paths * Add proportional control and cleanup IPC * Add IPC and filtered RootMyc to registry * Better logic for filtering RootMOOP and fix notch filter slopes bug * Add cyclic flap conrol * Fix comments in ColemanTransformInverse * Addd IPC_KP to DISCON.IN * Error checking foro flp or ipc * add mutichannel plotting with tuples * add CMakeFiles to gitignore * Add IPC_KP to api changes * numerical qualifiers for error handling * add IPC gains to schema for pass-through ability * fix variable names * fix ipc gain printing bug * make sure IPC_KP is positive * Update Polars to point to coord files * ignore dbg2 files * Add IEA15MW_OL.yaml * update coord reader/writer * expand pitch_initial to 30 degrees * Add example 13 for IPC * Update cp surfaces and DISCONS * add examples to readme * cleanup and streaamline run_examples * Add IPC tuning vars * Allow IPC to command pitch value below peak shaving saturation limit * shorten simulation time * Fix Material parameter path * Update DISCONs again * Fix OL_Input reading * Set wind speed, rotor speed IC in example 14 * Debug OL reading * Add more debugging lines * Add more debugging lines 2 * Clean up, hone in on debug call * Disable logging level * Update discons - resolve conflict * Print when finished with ROSCO * add control packageg * Use PriPath and RootName to name dbg files * Print AvrSWAP * Revert "Use PriPath and RootName to name dbg files" This reverts commit 062fcaa55b3bf42d44f8a3f163aa883ab9552412. * Disable other examples * Print OL inputs * Allow logging level 3 * Print OL inputs * Make example shorter * Print more stuf * Print shape * Revert "Print OL inputs" This reverts commit 8e2a642bb35e46850f579ca4e69ca6d6fc93f4cc. * Update ROSCO Simulink model with IPC example * refactor flap tuning for normalization methods * improved flap controller filtering * delete extra F_FlpCornerFrerq * Update inputs, reader, and writer for OF 3.1.0 * Make sigma default interp type for multi_sigma * Use openfast 3.1.0 in CI * Fix leak...maybe * Use OF 3.1.0 in testing * Use gfotran for compile * Clean up print statements * Re-enable all examples * Update NREL-5MW AD file * Only check airfoil controls if more than one table * Update BAR models * Revert "Use gfotran for compile" This reverts commit 5a6e2b7e30287a09a09781e2ba12f9b578132e1f. * Install pyFAST for CI * Fix some paths in ex12 * Disable example 12 * Fix example 12 linear path, re-enable * Skip compilers install for mac * Try gfortran-9, no compilers * Try gfortran-10, no compilers * Skip windows compile in pytools * Re-enable windows, use gfortran as FC * Unset FC in windows * Set environment for windows when dependencies installed * Try setting environment in installation * Put conditional env setting in correct place * Try in setup again * Break up tasks: Windows vs. not * Update DISCONs * Update docs with new variables * Add example documentation * Update ROSCO Simulink model for 3.1.0 * Make IEA model float again * Reduce IEA timestep * Match DT to checkpoint time Co-authored-by: dzalkind <[email protected]> * Increment version number * Bladed docs (#116) * Added image of Bladed control screen setup * Delete Bladed control screen.png * Adding image of Bladed control screen * Add files via upload * Minor edit 1 * Minor change 2 * Minor change 3 * Minor change 4 * Change 6 * Change 7 * Change 8 * Minor change 9 Co-authored-by: nikhar-abbas <[email protected]> Co-authored-by: WillC-DNV <[email protected]> * Update version in API change docs * Bladed readthedocs (#117) * Added image of Bladed control screen setup * Delete Bladed control screen.png * Adding image of Bladed control screen * Add files via upload * Minor edit 1 * Minor change 2 * Minor change 3 * Minor change 4 * Change 6 * Change 7 * Change 8 * Minor change 9 * Tinker with characters in bladed instructions * Add bladed instructions to index * Change bladed toctree label * Do underline stuff * Make toctree label same as file * Remove colons from headers Co-authored-by: nikhar-abbas <[email protected]> Co-authored-by: WillC-DNV <[email protected]> * Update docs to reflect CI process Co-authored-by: Nikhar Abbas <[email protected]> Co-authored-by: Xianping Du <[email protected]> Co-authored-by: nikhar-abbas <[email protected]> Co-authored-by: WillC-DNV <[email protected]> * Fixed wrong formatting of list items (#122) extra newline required between list elements * Regenerate types, IO with registry * Update registry so first timestep is printed * Update inverted notch to move frequency properly * Saturate inv notch corner frequency at 0 * Add tower damper mode flag * Flip Ct and Cq table allocation * Regen types * Remove print statements used for debugging * Update input files: IEA model has pitch actuator * Add back flap control (no idea when it was deleted) * Update discons, docs with API change Co-authored-by: nikhar-abbas <[email protected]> Co-authored-by: Nikhar Abbas <[email protected]> Co-authored-by: Xianping Du <[email protected]> Co-authored-by: WillC-DNV <[email protected]> Co-authored-by: Gustavo Hylander <[email protected]> * Add max_torque_factor for constant power control, flexible upper limit * Make update discons relative to tuning yaml * Update AddF0 and NumCoords in FAST_reader/writer * Add OpenFAST channels that Simulink reads (#135) * RAAW Updates (#133) * Convert WE saved variables to WE type * Put restart flag in localvars * Use saved filter params from LocalVar * save pitcomt last * Move IPC saved variables to localvars * Saved pi controller variables to localvar * Save RootMyb_Last to localvar * ROSCO_IO - initial commit. Include restart and debug functions * Use ROSCO IO and call restart functions * Remove debug from function.f90 * Save ACC Infile info * update for restart capabilities * add rosco_io with restart and debug functions * cleanup debug call * use registry generate types and IO * delete DFController * fix timestep mismatch * remove unnecessaray istatus check * close files * add reg test for restart * add restart option to run_openfast * add testing to CI, ignore generate files * fix fastcall * remove extra commas * specify gfortran-10 * testing flag cleanup * Use lv_strings to generate debug output * Revert "testing flag cleanup" This reverts commit 6f295563832413e96347acd82716f9aadac6d46c. * Revert "specify gfortran-10" This reverts commit 4c3154491523bcd542133ca2bce5803cdc94523f. * minor cleanup * Use kind from constants * Add some comments for clarity * put debug in if statements * separate reg tests from oother tests * Fl_Mode>0 * Remove hard coded values * Add filtered signals and WE_Vw to debug varrs * cd for regtest * Check logging level before calling debug * add fl_pitcom and pc_minpit to debugvars * Turn runFAST into a class * Refactor/simplify CaseLibrary * Implement initial pitch actuator * Set up steps case * Add actuator variable * Print first time step in debug outs * Fix FOCAL yaml * Set actuator to 0.25 Hz bandwidth * ROSCO 2.5.0 (#115) * FOCAL Updates (#64) * Update headers * fix bullets * make uppercase * Update turbine.py (#56) * Update turbine.py This add several lines for fixing the problem of repeated maximum values in the performance tables. This will cause the error (' the length of x and y is different.') of 'interpolate.interp1d.' * Add comments and catch when there are multiple optimal pitch angles Co-authored-by: dzalkind <[email protected]> * increment version * Update for OpenFAST v3.0.0 * Update for OpenFAST v3.0.0 * Install OF3.0.0 for tests * update for OF v3.0.0 * add publish to pypi on release * Update to ROSCO v2.3.0 * Update Testing (#58) * Update scripts to run on eagle * Update IEA-15MW semi example: use peak shaving w/ ps_percen=0.8 * Add comparison plots to testing scripts * Update submit script for testing * Update for latest eagle runs * Add future to install dependencies * add TMax to self, define tmin in print_results * run tests in CI * generic ROSCO path * default to overwrite * fix path * import platform * separate run_testing * cleanup, specify lite test * don't run testing in after examples, oops. Co-authored-by: nikhar-abbas <[email protected]> Co-authored-by: Nikhar Abbas <[email protected]> * increment version * Update for OpenFAST v3.0.0 * Install OF3.0.0 for tests * update for OF v3.0.0 * add publish to pypi on release * Update to ROSCO v2.3.0 * Increment Version, OF3.0 (#57) * increment version * Update for OpenFAST v3.0.0 * Install OF3.0.0 for tests * update for OF v3.0.0 * add publish to pypi on release * Update to ROSCO v2.3.0 * increment version * Update for OpenFAST v3.0.0 * Install OF3.0.0 for tests * update for OF v3.0.0 * add publish to pypi on release * Update to ROSCO v2.3.0 * add ROSCO without submodule * move ROSCO source to ROSCO folder * Move cmake-related files to ROSCO * Add back pesky ErrVar * Remove parameters_files * Merge ROSCO and _toolbox gitignore * Fix .gitignore * Remove Examples/DISCON.IN from git * Fix and point example_01 to Tune_Cases/ * Update verbiage around using ofTools vs. weis * Fix and point example_04 to Tune_Cases/ * Clean up example_06 * Clean up example_07 * Only check FlpCornerFreq if using Flp control, fixes example 05 * Make example_04 consistent with others * Let example_05 run independently from 04 * Clean up example_05, wind files * Add schema and update empty tuning yaml inputs, not connected yet * Integrate schema into turbine, controller, and examples * Only check Fl filter parameters if Fl_Mode > 0, fix example_05 * bump version to 2.3 * Compile ROSCO from ROSCO dir * Rename to CI_rosco * Add omega vs. windspeed functionality * Fix tests: 5MW U_pc and 06 example dir * Make _Toolbox vs_minspeed in rotor frame to match ROSCO * Revert ServoDyn change * change rotor speed constraint to be epsilon * rename for clarity * docs major refresh * fix FA_AccF units in debug file * docs that build locally * Deallocate arrays in ROSCO, check in example_05 * Clean up comments * remove gitmodules * furo theme * furo in requirements * move readthedocs config file, remove furo import in conf.py * add docs requirements file * typo * move index out of source folder * trying to get furo to work * import date * fix versions and titles, cleanup readthedocs requirements * typo fix, remove extras * more cleanup * bump version * no furo extension, "hack" to load RT version * proper toctree paths * specify method * add mock modules * fix typos * update python install requirements * running locally * move index to main docs dir again * update to build locally * error during warnings * automated version * cleanup * remove old docs * re-add docs * simplify * fix figure path * try alabaster * remove archived docs * Add omega vs. windspeed functionality * Fix tests: 5MW U_pc and 06 example dir * more detailed sp.optimize settings * run MBC3 in parallel * restructure driver, run initialization doe for tuning * Try new dlclose function * Update example_05 to run simple simulation twice and check result * Revert deallocation stuff * Close discon library after every sim run * Test examples on macOS and windows * Run examples instead of testing on other platforms * Skip examples in windows for now * update paths and yaml load funciton * Skip mac testing of examples * provide default U_pc for single omega/zeta case * allow for float or list-like pc tuning inputs * Change name in setup.py * WE_Vw unit fix * Pass through kp_float, if desired * Minor fixes: schema error and InputReader defaults * cleeanup for improved stability * check for doe_logs as string in load_DOE * major restructure for rsched_driver class * cleanup verbosity * run serial by default * load_parallel as linturb_option * specific IEA15MW yaml for multi omega * remove unused module imports * fix error message types * lin_file as input * add comments on inputs to LinearTurbineModel init method * remove relative file paths * provide OpenFAST linearizations for IEA15MW UMaineSemi * put plotting in specific function * fix WE_lambda units * add self in on a few necessary variables * creaete example 12 for robust scheduling * try a few mbc3 locations for import * allow list-like or numpy arrays for omega_pc and zeta_pc schedules * create and use recorder setup function * Pass Through Kp_float (#57) * Pass through kp_float, if desired * Minor fixes: schema error and InputReader defaults * fix setup_recorder to work for optimization driver too * Allow pass through of Kp_float = 0 * cleanup om problems, update om0 calc * doe levels as input * negative k_float to account for OF conventions * cleanup print statements * variable name cleanup, use calculated k_float * Add defaults to omega_,zeta_ pc and vs, allow to be numbers * use standard tuning k_float as IC * formatting update * update problem setup methods * cleanup add_dv, enable adding design variables after problem is setup * change optimization step size * more setup restructure * update verbosity * use sphinx-rtd-theme * master doc and sphinx rtd theme * index back to root folder * only ignore install folders * remove hidden toctree * furo theme * update paths * convert rt version to string * update sphinx settings * move conf * furo theme * Mostly a docs update (#61) * rename for clarity * docs major refresh * fix FA_AccF units in debug file * docs that build locally * remove gitmodules * furo theme * furo in requirements * move readthedocs config file, remove furo import in conf.py * add docs requirements file * typo * move index out of source folder * trying to get furo to work * import date * fix versions and titles, cleanup readthedocs requirements * typo fix, remove extras * more cleanup * bump version * no furo extension, "hack" to load RT version * proper toctree paths * specify method * add mock modules * fix typos * update python install requirements * running locally * move index to main docs dir again * update to build locally * error during warnings * automated version * cleanup * remove old docs * re-add docs * simplify * fix figure path * try alabaster * remove archived docs * use sphinx-rtd-theme * master doc and sphinx rtd theme * index back to root folder * only ignore install folders * remove hidden toctree * furo theme * update paths * convert rt version to string * update sphinx settings * move conf * furo theme * Pass through Kp_float = 0 (#59) * Pass through kp_float, if desired * Minor fixes: schema error and InputReader defaults * Allow pass through of Kp_float = 0 * Add flp parameters to schema * Change Fl_Mode default to 0 * Add defaults to omega_,zeta_ pc and vs, allow to be numbers * Allow single pitch tuning values in code, default U_pc to 0 * use nac acceleration for floating feedback * Fix TSR saturation for region 2.5operation * Modify system for constant power operation * Only modify pole for constant power above-rated * Remove GenEff from K calc * Update tuning, use constant power * use load_rosco_yaml * constant power * Fix broken tests * Include Fl_Mode=2 for nacelle pitching feedback * Add FOCAL inputs - hpf on floating feedback - lpf on wind speed estimator - associated schema updates * Set notch and check frequencies when Fl_Mode = 1 (fixes bug) * Skip filter step if there's an error * Update IEA-15MW test case DISCON with focal inputs * Allow Fl_Mode = 2 in ROSCO * Pass through lpf frequency * Add FOCAL tuning yaml * Set Cp contour number of levels * Add FOCAL params to various writers * Update/tune focal yaml * Add scripts for running FAST, tuning various parameters and cases * Add notebook for FAST plotting * Set up step case for testing * Change doubles to C_doubles * Define real and integer kinds, assign to all of ROSCO * Add ADJUSTL to DISCON error message * Fix Fl_Mode == 2 * Fix Fl_Mode == 2 again * Call yaw, flap, and debug only if enabled in DISOCN.IN * Make avrSWAP a ReKi and set constant kinds * Add DISCONs for testing - revert this later * Fix DISCON comparison, before DISCON's were overwritten by model * Rename DEBUG2.dbg to RootName.dbg2 * Update TestCase DISCONs to new input file * Add API change page in docs * Add link to API change on main page * Fix table headers * Fix title underlines * Fix tables again * Fix tables again * Fix version numbering in docs * Simplify FAST_directory in run_FAST * Versioning (#65) * use sphinx-rtd-theme * master doc and sphinx rtd theme * index back to root folder * only ignore install folders * remove hidden toctree * furo theme * update paths * convert rt version to string * update sphinx settings * move conf * furo theme * remove git versioning from cmake * use hard coded rosco_version * update intro write method * set nowrap for intel compilers * Add transfer of error message and clear message after each call * update install instructions * Catch nans in ROSCO at end of WSE * fix conda install typo * cleanup docs * Rename DEBUG2.dbg to RootName.dbg2 * Fix Fl_Mode == 2 * Fix Fl_Mode == 2 again * Allow Fl_Mode = 2 in ROSCO * Set notch and check frequencies when Fl_Mode = 1 (fixes bug) * Update FOCAL tuning yaml * Update TSR * Clean up and doc fix * Remove publish to pypi * Define all constant inputs to functions with kind typing * Generate Test_Case/ inputs automatically * Fix IEA15 DISCON path * Fix example 11 paths * Auto-generate tuning input yaml using schema * Add toolbox_input to doc index * Add toctree * Re-name title of toolbox_input Co-authored-by: Nikhar Abbas <[email protected]> Co-authored-by: Xianping Du <[email protected]> Co-authored-by: nikhar-abbas <[email protected]> * update listcheck method for numpy arrays * Open Loop Control (#98) * create rosco types yaml * Add more descriptions, add integer_c default, cleanup * updates for allocatability and shapes * python scripts to write ROSCO_types.f90 * reemove superfulous modules * use types from ROSCO registry * create rosco types yaml * Add more descriptions, add integer_c default, cleanup * updates for allocatability and shapes * python scripts to write ROSCO_types.f90 * reemove superfulous modules * use types from ROSCO registry * Saturate inputs to WSE. Needs some TLC, but seems to work * Reduce saturation limits on speed, torque * Re-organize, set saturation limits. Working at 3 m/s * Initial add of OL control to ROSCO: builds * Update DISCONs with open loop inputs * Fix file reading for OL_Filename * Add open loop control generation and file writing * Use DISCON_dict for more manageable DISCON file writing * Add open loop example, fix constant timeseries * Make open loop example generate power * Handle relative paths and calling from outside the run directory: - Some helper functions borrowed from OpenFAST, f/ext_control - Updated file writing * Clean up: versions, print statements * Fix SysFiles paths in CMakeLists * Tidy up Ext_DLL names * More Ext_DLL name tidying * Test write_registry.py * Update for OL Control * Move preprocessor lines * add zenodo DOI * Regenerated Types * fix shape * revert filepath change * give all types a size, ProcAddr size = 3 * update types * test registry in compile step * specify default shell * update write_registry path * remove default shell * Document API changes, provide OL input example * Fix example 14 (yaw input) * Add error catching to yaw control * Tidy up OL_Input Reading: error catching, generalize * More yaw control fixes, to model * Checkout develop CMakeLists for ROSCO * Update DISCON.INs for TestCases/ * Revert "Checkout develop CMakeLists for ROSCO" This reverts commit 87a491359d73806e3aaa59b4cfdc00f2838875df. * Revert windows cmake stuff to develop * Fix CMake again * Revert "Revert windows cmake stuff to develop" This reverts commit 39df122449b0e2055f2e12e3ce38a0c010c7bd91. * Make last cmake fix - hopefully Co-authored-by: Nikhar Abbas <[email protected]> * Restart & registry (#99) * Convert WE saved variables to WE type * Put restart flag in localvars * Use saved filter params from LocalVar * save pitcomt last * Move IPC saved variables to localvars * Saved pi controller variables to localvar * Save RootMyb_Last to localvar * ROSCO_IO - initial commit. Include restart and debug functions * Use ROSCO IO and call restart functions * Remove debug from function.f90 * Save ACC Infile info * update for restart capabilities * add rosco_io with restart and debug functions * cleanup debug call * use registry generate types and IO * delete DFController * fix timestep mismatch * remove unnecessaray istatus check * close files * add reg test for restart * add restart option to run_openfast * add testing to CI, ignore generate files * fix fastcall * remove extra commas * specify gfortran-10 * testing flag cleanup * Use lv_strings to generate debug output * Revert "testing flag cleanup" This reverts commit 6f295563832413e96347acd82716f9aadac6d46c. * Revert "specify gfortran-10" This reverts commit 4c3154491523bcd542133ca2bce5803cdc94523f. * minor cleanup * Use kind from constants * Add some comments for clarity * put debug in if statements * separate reg tests from oother tests * Fl_Mode>0 * Remove hard coded values * Add filtered signals and WE_Vw to debug varrs * cd for regtest * …

…r influence. (NREL#177) closes NREL#176

* Fix yaw threshold documentation in DISCON * Fix debug unit labels * Add nacelle heading error to DebugVar * Update ROSCO_IO and Types * Read NacHeading from OpenFAST * Update DISCONs * Fix ******s in dbg files * Allow single U in power_curve * Initialize floating feedback filters at 0, make optional input for filts * give dummy units if dbg units missing * Update FAST_wrapper.py Fix UnboundLocalError: local variable 'e' referenced before assignment * Update example_08.py Remove tmin so that entire simulation is plotted. Removing tmin=10 because with that setting only the final timestep of the simulation is loaded * Update linear_model handling for new pyFAST, will break with weis import * Try with conda installed compiler * Re-do filter initialization, reset value unused for now * Regen registry and discons * Enable run_FAST in setup install * Set default wind_dir in simp_step case * Add dll shutdown method to control_interface Co-authored-by: Alex Clerc <[email protected]>

Fix gen_power in sim_ws_wd_series so it includes efficiency

* Correction of Full ROSCO Installation document * Use numpy 1.23 until other things catch up, like openmdao Co-authored-by: sarijalou <[email protected]>

* Correction of Full ROSCO Installation document * Update FAST_reader, writer, input for 3.3.0 * Use numpy 1.23 until other things catch up, like openmdao * Tidy label to match OpenFAST reg-test * Use OpenFAST 3.3 in CI tests Co-authored-by: sarijalou <[email protected]>

* compatibility with numpy 1.24 * update CI to newest action, generic gfortran, and python 3.9 * install gfortran on macs * change slashes on windows? * revert slash and shell changes * more path fix * trying quotes * try bash again * specify source dir * trial and error. . . * trial and error. . . * try a different shell? * trial and error * trial and error * trial and error

* FOCAL Updates (NREL#64) * Update headers * fix bullets * make uppercase * Update turbine.py (NREL#56) * Update turbine.py This add several lines for fixing the problem of repeated maximum values in the performance tables. This will cause the error (' the length of x and y is different.') of 'interpolate.interp1d.' * Add comments and catch when there are multiple optimal pitch angles Co-authored-by: dzalkind <[email protected]> * increment version * Update for OpenFAST v3.0.0 * Update for OpenFAST v3.0.0 * Install OF3.0.0 for tests * update for OF v3.0.0 * add publish to pypi on release * Update to ROSCO v2.3.0 * Update Testing (NREL#58) * Update scripts to run on eagle * Update IEA-15MW semi example: use peak shaving w/ ps_percen=0.8 * Add comparison plots to testing scripts * Update submit script for testing * Update for latest eagle runs * Add future to install dependencies * add TMax to self, define tmin in print_results * run tests in CI * generic ROSCO path * default to overwrite * fix path * import platform * separate run_testing * cleanup, specify lite test * don't run testing in after examples, oops. Co-authored-by: nikhar-abbas <[email protected]> Co-authored-by: Nikhar Abbas <[email protected]> * increment version * Update for OpenFAST v3.0.0 * Install OF3.0.0 for tests * update for OF v3.0.0 * add publish to pypi on release * Update to ROSCO v2.3.0 * Increment Version, OF3.0 (NREL#57) * increment version * Update for OpenFAST v3.0.0 * Install OF3.0.0 for tests * update for OF v3.0.0 * add publish to pypi on release * Update to ROSCO v2.3.0 * increment version * Update for OpenFAST v3.0.0 * Install OF3.0.0 for tests * update for OF v3.0.0 * add publish to pypi on release * Update to ROSCO v2.3.0 * add ROSCO without submodule * move ROSCO source to ROSCO folder * Move cmake-related files to ROSCO * Add back pesky ErrVar * Remove parameters_files * Merge ROSCO and _toolbox gitignore * Fix .gitignore * Remove Examples/DISCON.IN from git * Fix and point example_01 to Tune_Cases/ * Update verbiage around using ofTools vs. weis * Fix and point example_04 to Tune_Cases/ * Clean up example_06 * Clean up example_07 * Only check FlpCornerFreq if using Flp control, fixes example 05 * Make example_04 consistent with others * Let example_05 run independently from 04 * Clean up example_05, wind files * Add schema and update empty tuning yaml inputs, not connected yet * Integrate schema into turbine, controller, and examples * Only check Fl filter parameters if Fl_Mode > 0, fix example_05 * bump version to 2.3 * Compile ROSCO from ROSCO dir * Rename to CI_rosco * Add omega vs. windspeed functionality * Fix tests: 5MW U_pc and 06 example dir * Make _Toolbox vs_minspeed in rotor frame to match ROSCO * Revert ServoDyn change * change rotor speed constraint to be epsilon * rename for clarity * docs major refresh * fix FA_AccF units in debug file * docs that build locally * Deallocate arrays in ROSCO, check in example_05 * Clean up comments * remove gitmodules * furo theme * furo in requirements * move readthedocs config file, remove furo import in conf.py * add docs requirements file * typo * move index out of source folder * trying to get furo to work * import date * fix versions and titles, cleanup readthedocs requirements * typo fix, remove extras * more cleanup * bump version * no furo extension, "hack" to load RT version * proper toctree paths * specify method * add mock modules * fix typos * update python install requirements * running locally * move index to main docs dir again * update to build locally * error during warnings * automated version * cleanup * remove old docs * re-add docs * simplify * fix figure path * try alabaster * remove archived docs * Add omega vs. windspeed functionality * Fix tests: 5MW U_pc and 06 example dir * more detailed sp.optimize settings * run MBC3 in parallel * restructure driver, run initialization doe for tuning * Try new dlclose function * Update example_05 to run simple simulation twice and check result * Revert deallocation stuff * Close discon library after every sim run * Test examples on macOS and windows * Run examples instead of testing on other platforms * Skip examples in windows for now * update paths and yaml load funciton * Skip mac testing of examples * provide default U_pc for single omega/zeta case * allow for float or list-like pc tuning inputs * Change name in setup.py * WE_Vw unit fix * Pass through kp_float, if desired * Minor fixes: schema error and InputReader defaults * cleeanup for improved stability * check for doe_logs as string in load_DOE * major restructure for rsched_driver class * cleanup verbosity * run serial by default * load_parallel as linturb_option * specific IEA15MW yaml for multi omega * remove unused module imports * fix error message types * lin_file as input * add comments on inputs to LinearTurbineModel init method * remove relative file paths * provide OpenFAST linearizations for IEA15MW UMaineSemi * put plotting in specific function * fix WE_lambda units * add self in on a few necessary variables * creaete example 12 for robust scheduling * try a few mbc3 locations for import * allow list-like or numpy arrays for omega_pc and zeta_pc schedules * create and use recorder setup function * Pass Through Kp_float (NREL#57) * Pass through kp_float, if desired * Minor fixes: schema error and InputReader defaults * fix setup_recorder to work for optimization driver too * Allow pass through of Kp_float = 0 * cleanup om problems, update om0 calc * doe levels as input * negative k_float to account for OF conventions * cleanup print statements * variable name cleanup, use calculated k_float * Add defaults to omega_,zeta_ pc and vs, allow to be numbers * use standard tuning k_float as IC * formatting update * update problem setup methods * cleanup add_dv, enable adding design variables after problem is setup * change optimization step size * more setup restructure * update verbosity * use sphinx-rtd-theme * master doc and sphinx rtd theme * index back to root folder * only ignore install folders * remove hidden toctree * furo theme * update paths * convert rt version to string * update sphinx settings * move conf * furo theme * Mostly a docs update (NREL#61) * rename for clarity * docs major refresh * fix FA_AccF units in debug file * docs that build locally * remove gitmodules * furo theme * furo in requirements * move readthedocs config file, remove furo import in conf.py * add docs requirements file * typo * move index out of source folder * trying to get furo to work * import date * fix versions and titles, cleanup readthedocs requirements * typo fix, remove extras * more cleanup * bump version * no furo extension, "hack" to load RT version * proper toctree paths * specify method * add mock modules * fix typos * update python install requirements * running locally * move index to main docs dir again * update to build locally * error during warnings * automated version * cleanup * remove old docs * re-add docs * simplify * fix figure path * try alabaster * remove archived docs * use sphinx-rtd-theme * master doc and sphinx rtd theme * index back to root folder * only ignore install folders * remove hidden toctree * furo theme * update paths * convert rt version to string * update sphinx settings * move conf * furo theme * Pass through Kp_float = 0 (NREL#59) * Pass through kp_float, if desired * Minor fixes: schema error and InputReader defaults * Allow pass through of Kp_float = 0 * Add flp parameters to schema * Change Fl_Mode default to 0 * Add defaults to omega_,zeta_ pc and vs, allow to be numbers * Allow single pitch tuning values in code, default U_pc to 0 * use nac acceleration for floating feedback * Fix TSR saturation for region 2.5operation * Modify system for constant power operation * Only modify pole for constant power above-rated * Remove GenEff from K calc * Update tuning, use constant power * use load_rosco_yaml * constant power * Fix broken tests * Include Fl_Mode=2 for nacelle pitching feedback * Add FOCAL inputs - hpf on floating feedback - lpf on wind speed estimator - associated schema updates * Set notch and check frequencies when Fl_Mode = 1 (fixes bug) * Skip filter step if there's an error * Update IEA-15MW test case DISCON with focal inputs * Allow Fl_Mode = 2 in ROSCO * Pass through lpf frequency * Add FOCAL tuning yaml * Set Cp contour number of levels * Add FOCAL params to various writers * Update/tune focal yaml * Add scripts for running FAST, tuning various parameters and cases * Add notebook for FAST plotting * Set up step case for testing * Change doubles to C_doubles * Define real and integer kinds, assign to all of ROSCO * Add ADJUSTL to DISCON error message * Fix Fl_Mode == 2 * Fix Fl_Mode == 2 again * Call yaw, flap, and debug only if enabled in DISOCN.IN * Make avrSWAP a ReKi and set constant kinds * Add DISCONs for testing - revert this later * Fix DISCON comparison, before DISCON's were overwritten by model * Rename DEBUG2.dbg to RootName.dbg2 * Update TestCase DISCONs to new input file * Add API change page in docs * Add link to API change on main page * Fix table headers * Fix title underlines * Fix tables again * Fix tables again * Fix version numbering in docs * Simplify FAST_directory in run_FAST * Versioning (NREL#65) * use sphinx-rtd-theme * master doc and sphinx rtd theme * index back to root folder * only ignore install folders * remove hidden toctree * furo theme * update paths * convert rt version to string * update sphinx settings * move conf * furo theme * remove git versioning from cmake * use hard coded rosco_version * update intro write method * set nowrap for intel compilers * Add transfer of error message and clear message after each call * update install instructions * Catch nans in ROSCO at end of WSE * fix conda install typo * cleanup docs * Rename DEBUG2.dbg to RootName.dbg2 * Fix Fl_Mode == 2 * Fix Fl_Mode == 2 again * Allow Fl_Mode = 2 in ROSCO * Set notch and check frequencies when Fl_Mode = 1 (fixes bug) * Update FOCAL tuning yaml * Update TSR * Clean up and doc fix * Remove publish to pypi * Define all constant inputs to functions with kind typing * Generate Test_Case/ inputs automatically * Fix IEA15 DISCON path * Fix example 11 paths * Auto-generate tuning input yaml using schema * Add toolbox_input to doc index * Add toctree * Re-name title of toolbox_input Co-authored-by: Nikhar Abbas <[email protected]> Co-authored-by: Xianping Du <[email protected]> Co-authored-by: nikhar-abbas <[email protected]> * update listcheck method for numpy arrays * Open Loop Control (NREL#98) * create rosco types yaml * Add more descriptions, add integer_c default, cleanup * updates for allocatability and shapes * python scripts to write ROSCO_types.f90 * reemove superfulous modules * use types from ROSCO registry * create rosco types yaml * Add more descriptions, add integer_c default, cleanup * updates for allocatability and shapes * python scripts to write ROSCO_types.f90 * reemove superfulous modules * use types from ROSCO registry * Saturate inputs to WSE. Needs some TLC, but seems to work * Reduce saturation limits on speed, torque * Re-organize, set saturation limits. Working at 3 m/s * Initial add of OL control to ROSCO: builds * Update DISCONs with open loop inputs * Fix file reading for OL_Filename * Add open loop control generation and file writing * Use DISCON_dict for more manageable DISCON file writing * Add open loop example, fix constant timeseries * Make open loop example generate power * Handle relative paths and calling from outside the run directory: - Some helper functions borrowed from OpenFAST, f/ext_control - Updated file writing * Clean up: versions, print statements * Fix SysFiles paths in CMakeLists * Tidy up Ext_DLL names * More Ext_DLL name tidying * Test write_registry.py * Update for OL Control * Move preprocessor lines * add zenodo DOI * Regenerated Types * fix shape * revert filepath change * give all types a size, ProcAddr size = 3 * update types * test registry in compile step * specify default shell * update write_registry path * remove default shell * Document API changes, provide OL input example * Fix example 14 (yaw input) * Add error catching to yaw control * Tidy up OL_Input Reading: error catching, generalize * More yaw control fixes, to model * Checkout develop CMakeLists for ROSCO * Update DISCON.INs for TestCases/ * Revert "Checkout develop CMakeLists for ROSCO" This reverts commit 87a4913. * Revert windows cmake stuff to develop * Fix CMake again * Revert "Revert windows cmake stuff to develop" This reverts commit 39df122. * Make last cmake fix - hopefully Co-authored-by: Nikhar Abbas <[email protected]> * Convert WE saved variables to WE type * Put restart flag in localvars * Use saved filter params from LocalVar * save pitcomt last * Move IPC saved variables to localvars * Saved pi controller variables to localvar * Save RootMyb_Last to localvar * ROSCO_IO - initial commit. Include restart and debug functions * Use ROSCO IO and call restart functions * Remove debug from function.f90 * Save ACC Infile info * update for restart capabilities * add rosco_io with restart and debug functions * cleanup debug call * use registry generate types and IO * delete DFController * fix timestep mismatch * remove unnecessaray istatus check * close files * add reg test for restart * add restart option to run_openfast * add testing to CI, ignore generate files * fix fastcall * remove extra commas * specify gfortran-10 * testing flag cleanup * Use lv_strings to generate debug output * Revert "testing flag cleanup" This reverts commit 6f29556. * Revert "specify gfortran-10" This reverts commit 4c31544. * minor cleanup * Use kind from constants * Add some comments for clarity * put debug in if statements * separate reg tests from oother tests * Fl_Mode>0 * Remove hard coded values * Add filtered signals and WE_Vw to debug varrs * cd for regtest * Check logging level before calling debug * add fl_pitcom and pc_minpit to debugvars * Turn runFAST into a class * Refactor/simplify CaseLibrary * Restart & registry (NREL#99) * Convert WE saved variables to WE type * Put restart flag in localvars * Use saved filter params from LocalVar * save pitcomt last * Move IPC saved variables to localvars * Saved pi controller variables to localvar * Save RootMyb_Last to localvar * ROSCO_IO - initial commit. Include restart and debug functions * Use ROSCO IO and call restart functions * Remove debug from function.f90 * Save ACC Infile info * update for restart capabilities * add rosco_io with restart and debug functions * cleanup debug call * use registry generate types and IO * delete DFController * fix timestep mismatch * remove unnecessaray istatus check * close files * add reg test for restart * add restart option to run_openfast * add testing to CI, ignore generate files * fix fastcall * remove extra commas * specify gfortran-10 * testing flag cleanup * Use lv_strings to generate debug output * Revert "testing flag cleanup" This reverts commit 6f29556. * Revert "specify gfortran-10" This reverts commit 4c31544. * minor cleanup * Use kind from constants * Add some comments for clarity * put debug in if statements * separate reg tests from oother tests * Fl_Mode>0 * Remove hard coded values * Add filtered signals and WE_Vw to debug varrs * cd for regtest * Check logging level before calling debug * add fl_pitcom and pc_minpit to debugvars Co-authored-by: dzalkind <[email protected]> * Implement initial pitch actuator * Set up steps case * Break up if statement in open loop pitch (NREL#100) * Break up if statement in open loop pitch * Make torque and yaw consistent with pitch: can start after some time * add bld edgewise freq to robust dict_inputs * Add actuator variable * Print first time step in debug outs * Fix FOCAL yaml * Set actuator to 0.25 Hz bandwidth * Fix ccrotor inputs (NREL#104) * remove interpolation of blade chord and twist * rename aerodynblade inputs * Update surface and DISCON.INs * Fix performance table paths * Allow default inputs (NREL#110) * Allow defaults for AeroDyn inputs * Allow AeroDyn inputs to be floats, too * ipc (NREL#105) * remove interpolation of blade chord and twist * rename aerodynblade inputs * Update surface and DISCON.INs * Fix performance table paths * Add proportional control and cleanup IPC * Add IPC and filtered RootMyc to registry * Better logic for filtering RootMOOP and fix notch filter slopes bug * Add cyclic flap conrol * Fix comments in ColemanTransformInverse * Addd IPC_KP to DISCON.IN * Error checking foro flp or ipc * add mutichannel plotting with tuples * add CMakeFiles to gitignore * Add IPC_KP to api changes * numerical qualifiers for error handling * add IPC gains to schema for pass-through ability * fix variable names * fix ipc gain printing bug * make sure IPC_KP is positive * Update Polars to point to coord files * ignore dbg2 files * Add IEA15MW_OL.yaml * update coord reader/writer * expand pitch_initial to 30 degrees * Add example 13 for IPC * Update cp surfaces and DISCONS * add examples to readme * cleanup and streaamline run_examples * Add IPC tuning vars * Allow IPC to command pitch value below peak shaving saturation limit * shorten simulation time * Fix Material parameter path * Update DISCONs again * Fix OL_Input reading * Set wind speed, rotor speed IC in example 14 * Debug OL reading * Add more debugging lines * Add more debugging lines 2 * Clean up, hone in on debug call * Disable logging level * Update discons - resolve conflict * Print when finished with ROSCO * add control packageg * Use PriPath and RootName to name dbg files * Print AvrSWAP * Revert "Use PriPath and RootName to name dbg files" This reverts commit 062fcaa. * Disable other examples * Print OL inputs * Allow logging level 3 * Print OL inputs * Make example shorter * Print more stuf * Print shape * Revert "Print OL inputs" This reverts commit 8e2a642. * Update ROSCO Simulink model with IPC example * refactor flap tuning for normalization methods * improved flap controller filtering * delete extra F_FlpCornerFrerq * Update inputs, reader, and writer for OF 3.1.0 * Make sigma default interp type for multi_sigma * Use openfast 3.1.0 in CI * Fix leak...maybe * Use OF 3.1.0 in testing * Use gfotran for compile * Clean up print statements * Re-enable all examples * Update NREL-5MW AD file * Only check airfoil controls if more than one table * Update BAR models * Revert "Use gfotran for compile" This reverts commit 5a6e2b7. * Install pyFAST for CI * Fix some paths in ex12 * Disable example 12 * Fix example 12 linear path, re-enable * Skip compilers install for mac * Try gfortran-9, no compilers * Try gfortran-10, no compilers * Skip windows compile in pytools * Re-enable windows, use gfortran as FC * Unset FC in windows * Set environment for windows when dependencies installed * Try setting environment in installation * Put conditional env setting in correct place * Try in setup again * Break up tasks: Windows vs. not * Update DISCONs * Update docs with new variables * Add example documentation * Update ROSCO Simulink model for 3.1.0 * Make IEA model float again * Reduce IEA timestep * Match DT to checkpoint time Co-authored-by: dzalkind <[email protected]> * Increment version number * Bladed docs (NREL#116) * Added image of Bladed control screen setup * Delete Bladed control screen.png * Adding image of Bladed control screen * Add files via upload * Minor edit 1 * Minor change 2 * Minor change 3 * Minor change 4 * Change 6 * Change 7 * Change 8 * Minor change 9 Co-authored-by: nikhar-abbas <[email protected]> Co-authored-by: WillC-DNV <[email protected]> * Update version in API change docs * Bladed readthedocs (NREL#117) * Added image of Bladed control screen setup * Delete Bladed control screen.png * Adding image of Bladed control screen * Add files via upload * Minor edit 1 * Minor change 2 * Minor change 3 * Minor change 4 * Change 6 * Change 7 * Change 8 * Minor change 9 * Tinker with characters in bladed instructions * Add bladed instructions to index * Change bladed toctree label * Do underline stuff * Make toctree label same as file * Remove colons from headers Co-authored-by: nikhar-abbas <[email protected]> Co-authored-by: WillC-DNV <[email protected]> * Update docs to reflect CI process * Regenerate types, IO with registry * Update registry so first timestep is printed * Update inverted notch to move frequency properly * Saturate inv notch corner frequency at 0 * Add tower damper mode flag * Add Azimuth tracking controller in Simulink * Always enable GenDOF, add options for simp_step * Add sweep for IPC gains and FA damper * Fix NumCoords in FAST_writer * sigma + ipc (NREL#125) * cleanup api change table * Update inverted notch to move frequency properly * Saturate inv notch corner frequency at 0 * add sigma function * Use IPC_Vramp for IPC cut-in * Add IPC_Vramp DISCON inputs * update registry * Update DISCONs * Update docs for API change * Fix IPC_Vramp data type * update comments Co-authored-by: dzalkind <[email protected]> * Add turbulent case to runFAST/CaseLibrary * Add peak shaving sweep function * Increase default IPC_IntSat, make input parameter in future * Flip Ct and Cq table allocation * Flip Ct and Cq table allocation (NREL#130) * Regen types * Remove print statements used for debugging * Update input files: IEA model has pitch actuator * Add back flap control (no idea when it was deleted) * Update discons, docs with API change * Add user-defined hh case * Fix AddF0 and RayleighDamp in FAST_reader * Pitch Actuator and IPC updates (NREL#123) * Convert WE saved variables to WE type * Put restart flag in localvars * Use saved filter params from LocalVar * save pitcomt last * Move IPC saved variables to localvars * Saved pi controller variables to localvar * Save RootMyb_Last to localvar * ROSCO_IO - initial commit. Include restart and debug functions * Use ROSCO IO and call restart functions * Remove debug from function.f90 * Save ACC Infile info * update for restart capabilities * add rosco_io with restart and debug functions * cleanup debug call * use registry generate types and IO * delete DFController * fix timestep mismatch * remove unnecessaray istatus check * close files * add reg test for restart * add restart option to run_openfast * add testing to CI, ignore generate files * fix fastcall * remove extra commas * specify gfortran-10 * testing flag cleanup * Use lv_strings to generate debug output * Revert "testing flag cleanup" This reverts commit 6f29556. * Revert "specify gfortran-10" This reverts commit 4c31544. * minor cleanup * Use kind from constants * Add some comments for clarity * put debug in if statements * separate reg tests from oother tests * Fl_Mode>0 * Remove hard coded values * Add filtered signals and WE_Vw to debug varrs * cd for regtest * Check logging level before calling debug * add fl_pitcom and pc_minpit to debugvars * Turn runFAST into a class * Refactor/simplify CaseLibrary * Implement initial pitch actuator * Set up steps case * Add actuator variable * Print first time step in debug outs * Fix FOCAL yaml * Set actuator to 0.25 Hz bandwidth * ROSCO 2.5.0 (NREL#115) * FOCAL Updates (NREL#64) * Update headers * fix bullets * make uppercase * Update turbine.py (NREL#56) * Update turbine.py This add several lines for fixing the problem of repeated maximum values in the performance tables. This will cause the error (' the length of x and y is different.') of 'interpolate.interp1d.' * Add comments and catch when there are multiple optimal pitch angles Co-authored-by: dzalkind <[email protected]> * increment version * Update for OpenFAST v3.0.0 * Update for OpenFAST v3.0.0 * Install OF3.0.0 for tests * update for OF v3.0.0 * add publish to pypi on release * Update to ROSCO v2.3.0 * Update Testing (NREL#58) * Update scripts to run on eagle * Update IEA-15MW semi example: use peak shaving w/ ps_percen=0.8 * Add comparison plots to testing scripts * Update submit script for testing * Update for latest eagle runs * Add future to install dependencies * add TMax to self, define tmin in print_results * run tests in CI * generic ROSCO path * default to overwrite * fix path * import platform * separate run_testing * cleanup, specify lite test * don't run testing in after examples, oops. Co-authored-by: nikhar-abbas <[email protected]> Co-authored-by: Nikhar Abbas <[email protected]> * increment version * Update for OpenFAST v3.0.0 * Install OF3.0.0 for tests * update for OF v3.0.0 * add publish to pypi on release * Update to ROSCO v2.3.0 * Increment Version, OF3.0 (NREL#57) * increment version * Update for OpenFAST v3.0.0 * Install OF3.0.0 for tests * update for OF v3.0.0 * add publish to pypi on release * Update to ROSCO v2.3.0 * increment version * Update for OpenFAST v3.0.0 * Install OF3.0.0 for tests * update for OF v3.0.0 * add publish to pypi on release * Update to ROSCO v2.3.0 * add ROSCO without submodule * move ROSCO source to ROSCO folder * Move cmake-related files to ROSCO * Add back pesky ErrVar * Remove parameters_files * Merge ROSCO and _toolbox gitignore * Fix .gitignore * Remove Examples/DISCON.IN from git * Fix and point example_01 to Tune_Cases/ * Update verbiage around using ofTools vs. weis * Fix and point example_04 to Tune_Cases/ * Clean up example_06 * Clean up example_07 * Only check FlpCornerFreq if using Flp control, fixes example 05 * Make example_04 consistent with others * Let example_05 run independently from 04 * Clean up example_05, wind files * Add schema and update empty tuning yaml inputs, not connected yet * Integrate schema into turbine, controller, and examples * Only check Fl filter parameters if Fl_Mode > 0, fix example_05 * bump version to 2.3 * Compile ROSCO from ROSCO dir * Rename to CI_rosco * Add omega vs. windspeed functionality * Fix tests: 5MW U_pc and 06 example dir * Make _Toolbox vs_minspeed in rotor frame to match ROSCO * Revert ServoDyn change * change rotor speed constraint to be epsilon * rename for clarity * docs major refresh * fix FA_AccF units in debug file * docs that build locally * Deallocate arrays in ROSCO, check in example_05 * Clean up comments * remove gitmodules * furo theme * furo in requirements * move readthedocs config file, remove furo import in conf.py * add docs requirements file * typo * move index out of source folder * trying to get furo to work * import date * fix versions and titles, cleanup readthedocs requirements * typo fix, remove extras * more cleanup * bump version * no furo extension, "hack" to load RT version * proper toctree paths * specify method * add mock modules * fix typos * update python install requirements * running locally * move index to main docs dir again * update to build locally * error during warnings * automated version * cleanup * remove old docs * re-add docs * simplify * fix figure path * try alabaster * remove archived docs * Add omega vs. windspeed functionality * Fix tests: 5MW U_pc and 06 example dir * more detailed sp.optimize settings * run MBC3 in parallel * restructure driver, run initialization doe for tuning * Try new dlclose function * Update example_05 to run simple simulation twice and check result * Revert deallocation stuff * Close discon library after every sim run * Test examples on macOS and windows * Run examples instead of testing on other platforms * Skip examples in windows for now * update paths and yaml load funciton * Skip mac testing of examples * provide default U_pc for single omega/zeta case * allow for float or list-like pc tuning inputs * Change name in setup.py * WE_Vw unit fix * Pass through kp_float, if desired * Minor fixes: schema error and InputReader defaults * cleeanup for improved stability * check for doe_logs as string in load_DOE * major restructure for rsched_driver class * cleanup verbosity * run serial by default * load_parallel as linturb_option * specific IEA15MW yaml for multi omega * remove unused module imports * fix error message types * lin_file as input * add comments on inputs to LinearTurbineModel init method * remove relative file paths * provide OpenFAST linearizations for IEA15MW UMaineSemi * put plotting in specific function * fix WE_lambda units * add self in on a few necessary variables * creaete example 12 for robust scheduling * try a few mbc3 locations for import * allow list-like or numpy arrays for omega_pc and zeta_pc schedules * create and use recorder setup function * Pass Through Kp_float (NREL#57) * Pass through kp_float, if desired * Minor fixes: schema error and InputReader defaults * fix setup_recorder to work for optimization driver too * Allow pass through of Kp_float = 0 * cleanup om problems, update om0 calc * doe levels as input * negative k_float to account for OF conventions * cleanup print statements * variable name cleanup, use calculated k_float * Add defaults to omega_,zeta_ pc and vs, allow to be numbers * use standard tuning k_float as IC * formatting update * update problem setup methods * cleanup add_dv, enable adding design variables after problem is setup * change optimization step size * more setup restructure * update verbosity * use sphinx-rtd-theme * master doc and sphinx rtd theme * index back to root folder * only ignore install folders * remove hidden toctree * furo theme * update paths * convert rt version to string * update sphinx settings * move conf * furo theme * Mostly a docs update (NREL#61) * rename for clarity * docs major refresh * fix FA_AccF units in debug file * docs that build locally * remove gitmodules * furo theme * furo in requirements * move readthedocs config file, remove furo import in conf.py * add docs requirements file * typo * move index out of source folder * trying to get furo to work * import date * fix versions and titles, cleanup readthedocs requirements * typo fix, remove extras * more cleanup * bump version * no furo extension, "hack" to load RT version * proper toctree paths * specify method * add mock modules * fix typos * update python install requirements * running locally * move index to main docs dir again * update to build locally * error during warnings * automated version * cleanup * remove old docs * re-add docs * simplify * fix figure path * try alabaster * remove archived docs * use sphinx-rtd-theme * master doc and sphinx rtd theme * index back to root folder * only ignore install folders * remove hidden toctree * furo theme * update paths * convert rt version to string * update sphinx settings * move conf * furo theme * Pass through Kp_float = 0 (NREL#59) * Pass through kp_float, if desired * Minor fixes: schema error and InputReader defaults * Allow pass through of Kp_float = 0 * Add flp parameters to schema * Change Fl_Mode default to 0 * Add defaults to omega_,zeta_ pc and vs, allow to be numbers * Allow single pitch tuning values in code, default U_pc to 0 * use nac acceleration for floating feedback * Fix TSR saturation for region 2.5operation * Modify system for constant power operation * Only modify pole for constant power above-rated * Remove GenEff from K calc * Update tuning, use constant power * use load_rosco_yaml * constant power * Fix broken tests * Include Fl_Mode=2 for nacelle pitching feedback * Add FOCAL inputs - hpf on floating feedback - lpf on wind speed estimator - associated schema updates * Set notch and check frequencies when Fl_Mode = 1 (fixes bug) * Skip filter step if there's an error * Update IEA-15MW test case DISCON with focal inputs * Allow Fl_Mode = 2 in ROSCO * Pass through lpf frequency * Add FOCAL tuning yaml * Set Cp contour number of levels * Add FOCAL params to various writers * Update/tune focal yaml * Add scripts for running FAST, tuning various parameters and cases * Add notebook for FAST plotting * Set up step case for testing * Change doubles to C_doubles * Define real and integer kinds, assign to all of ROSCO * Add ADJUSTL to DISCON error message * Fix Fl_Mode == 2 * Fix Fl_Mode == 2 again * Call yaw, flap, and debug only if enabled in DISOCN.IN * Make avrSWAP a ReKi and set constant kinds * Add DISCONs for testing - revert this later * Fix DISCON comparison, before DISCON's were overwritten by model * Rename DEBUG2.dbg to RootName.dbg2 * Update TestCase DISCONs to new input file * Add API change page in docs * Add link to API change on main page * Fix table headers * Fix title underlines * Fix tables again * Fix tables again * Fix version numbering in docs * Simplify FAST_directory in run_FAST * Versioning (NREL#65) * use sphinx-rtd-theme * master doc and sphinx rtd theme * index back to root folder * only ignore install folders * remove hidden toctree * furo theme * update paths * convert rt version to string * update sphinx settings * move conf * furo theme * remove git versioning from cmake * use hard coded rosco_version * update intro write method * set nowrap for intel compilers * Add transfer of error message and clear message after each call * update install instructions * Catch nans in ROSCO at end of WSE * fix conda install typo * cleanup docs * Rename DEBUG2.dbg to RootName.dbg2 * Fix Fl_Mode == 2 * Fix Fl_Mode == 2 again * Allow Fl_Mode = 2 in ROSCO * Set notch and check frequencies when Fl_Mode = 1 (fixes bug) * Update FOCAL tuning yaml * Update TSR * Clean up and doc fix * Remove publish to pypi * Define all constant inputs to functions with kind typing * Generate Test_Case/ inputs automatically * Fix IEA15 DISCON path * Fix example 11 paths * Auto-generate tuning input yaml using schema * Add toolbox_input to doc index * Add toctree * Re-name title of toolbox_input Co-authored-by: Nikhar Abbas <[email protected]> Co-authored-by: Xianping Du <[email protected]> Co-authored-by: nikhar-abbas <[email protected]> * update listcheck method for numpy arrays * Open Loop Control (NREL#98) * create rosco types yaml * Add more descriptions, add integer_c default, cleanup * updates for allocatability and shapes * python scripts to write ROSCO_types.f90 * reemove superfulous modules * use types from ROSCO registry * create rosco types yaml * Add more descriptions, add integer_c default, cleanup * updates for allocatability and shapes * python scripts to write ROSCO_types.f90 * reemove superfulous modules * use types from ROSCO registry * Saturate inputs to WSE. Needs some TLC, but seems to work * Reduce saturation limits on speed, torque * Re-organize, set saturation limits. Working at 3 m/s * Initial add of OL control to ROSCO: builds * Update DISCONs with open loop inputs * Fix file reading for OL_Filename * Add open loop control generation and file writing * Use DISCON_dict for more manageable DISCON file writing * Add open loop example, fix constant timeseries * Make open loop example generate power * Handle relative paths and calling from outside the run directory: - Some helper functions borrowed from OpenFAST, f/ext_control - Updated file writing * Clean up: versions, print statements * Fix SysFiles paths in CMakeLists * Tidy up Ext_DLL names * More Ext_DLL name tidying * Test write_registry.py * Update for OL Control * Move preprocessor lines * add zenodo DOI * Regenerated Types * fix shape * revert filepath change * give all types a size, ProcAddr size = 3 * update types * test registry in compile step * specify default shell * update write_registry path * remove default shell * Document API changes, provide OL input example * Fix example 14 (yaw input) * Add error catching to yaw control * Tidy up OL_Input Reading: error catching, generalize * More yaw control fixes, to model * Checkout develop CMakeLists for ROSCO * Update DISCON.INs for TestCases/ * Revert "Checkout develop CMakeLists for ROSCO" This reverts commit 87a4913. * Revert windows cmake stuff to develop * Fix CMake again * Revert "Revert windows cmake stuff to develop" This reverts commit 39df122. * Make last cmake fix - hopefully Co-authored-by: Nikhar Abbas <[email protected]> * Restart & registry (NREL#99) * Convert WE saved variables to WE type * Put restart flag in localvars * Use saved filter params from LocalVar * save pitcomt last * Move IPC saved variables to localvars * Saved pi controller variables to localvar * Save RootMyb_Last to localvar * ROSCO_IO - initial commit. Include restart and debug functions * Use ROSCO IO and call restart functions * Remove debug from function.f90 * Save ACC Infile info * update for restart capabilities * add rosco_io with restart and debug functions * cleanup debug call * use registry generate types and IO * delete DFController * fix timestep mismatch * remove unnecessaray istatus check * close files * add reg test for restart * add restart option to run_openfast * add testing to CI, ignore generate files * fix fastcall * remove extra commas * specify gfortran-10 * testing flag cleanup * Use lv_strings to generate debug output * Revert "testing flag cleanup" This reverts commit 6f29556. * Revert "specify gfortran-10" This reverts commit 4c31544. * minor cleanup * Use kind from constants * Add some comments for clarity * put debug in if statements * separate reg tests from oother tests * Fl_Mode>0 * Remove hard coded values * Add filtered signals and WE_Vw to debug varrs * cd for regtest * Check logging level before calling debug * add fl_pitcom and pc_minpit to debugvars Co-authored-by: dzalkind <[email protected]> * Break up if statement in open loop pitch (NREL#100) * Break up if statement in open loop pitch * Make torque and yaw consistent with pitch: can start after some time * add bld edgewise freq to robust dict_inputs * Fix ccrotor inputs (NREL#104) * remove interpolation of blade chord and twist * rename aerodynblade inputs * Update surface and DISCON.INs * Fix performance table paths * Allow default inputs (NREL#110) * Allow defaults for AeroDyn inputs * Allow AeroDyn inputs to be floats, too * ipc (NREL#105) * remove interpolation of blade chord and twist * rename aerodynblade inputs * Update surface and DISCON.INs * Fix performance table paths * Add proportional control and cleanup IPC * Add IPC and filtered RootMyc to registry * Better logic for filtering RootMOOP and fix notch filter slopes bug * Add cyclic flap conrol * Fix comments in ColemanTransformInverse * Addd IPC_KP to DISCON.IN * Error checking foro flp or ipc * add mutichannel plotting with tuples * add CMakeFiles to gitignore * Add IPC_KP to api changes * numerical qualifiers for error handling * add IPC gains to schema for pass-through ability * fix variable names * fix ipc gain printing bug * make sure IPC_KP is positive * Update Polars to point to coord files * ignore dbg2 files * Add IEA15MW_OL.yaml * update coord reader/writer * expand pitch_initial to 30 degrees * Add example 13 for IPC * Update cp surfaces and DISCONS * add examples to readme * cleanup and streaamline run_examples * Add IPC tuning vars * Allow IPC to command pitch value below peak shaving saturation limit * shorten simulation time * Fix Material parameter path * Update DISCONs again * Fix OL_Input reading * Set wind speed, rotor speed IC in example 14 * Debug OL reading * Add more debugging lines * Add more debugging lines 2 * Clean up, hone in on debug call * Disable logging level * Update discons - resolve conflict * Print when finished with ROSCO * add control packageg * Use PriPath and RootName to name dbg files * Print AvrSWAP * Revert "Use PriPath and RootName to name dbg files" This reverts commit 062fcaa. * Disable other examples * Print OL inputs * Allow logging level 3 * Print OL inputs * Make example shorter * Print more stuf * Print shape * Revert "Print OL inputs" This reverts commit 8e2a642. * Update ROSCO Simulink model with IPC example * refactor flap tuning for normalization methods * improved flap controller filtering * delete extra F_FlpCornerFrerq * Update inputs, reader, and writer for OF 3.1.0 * Make sigma default interp type for multi_sigma * Use openfast 3.1.0 in CI * Fix leak...maybe * Use OF 3.1.0 in testing * Use gfotran for compile * Clean up print statements * Re-enable all examples * Update NREL-5MW AD file * Only check airfoil controls if more than one table * Update BAR models * Revert "Use gfotran for compile" This reverts commit 5a6e2b7. * Install pyFAST for CI * Fix some paths in ex12 * Disable example 12 * Fix example 12 linear path, re-enable * Skip compilers install for mac * Try gfortran-9, no compilers * Try gfortran-10, no compilers * Skip windows compile in pytools * Re-enable windows, use gfortran as FC * Unset FC in windows * Set environment for windows when dependencies installed * Try setting environment in installation * Put conditional env setting in correct place * Try in setup again * Break up tasks: Windows vs. not * Update DISCONs * Update docs with new variables * Add example documentation * Update ROSCO Simulink model for 3.1.0 * Make IEA model float again * Reduce IEA timestep * Match DT to checkpoint time Co-authored-by: dzalkind <[email protected]> * Increment version number * Bladed docs (NREL#116) * Added image of Bladed control screen setup * Delete Bladed control screen.png * Adding image of Bladed control screen * Add files via upload * Minor edit 1 * Minor change 2 * Minor change 3 * Minor change 4 * Change 6 * Change 7 * Change 8 * Minor change 9 Co-authored-by: nikhar-abbas <[email protected]> Co-authored-by: WillC-DNV <[email protected]> * Update version in API change docs * Bladed readthedocs (NREL#117) * Added image of Bladed control screen setup * Delete Bladed control screen.png * Adding image of Bladed control screen * Add files via upload * Minor edit 1 * Minor change 2 * Minor change 3 * Minor change 4 * Change 6 * Change 7 * Change 8 * Minor change 9 * Tinker with characters in bladed instructions * Add bladed instructions to index * Change bladed toctree label * Do underline stuff * Make toctree label same as file * Remove colons from headers Co-authored-by: nikhar-abbas <[email protected]> Co-authored-by: WillC-DNV <[email protected]> * Update docs to reflect CI process Co-authored-by: Nikhar Abbas <[email protected]> Co-authored-by: Xianping Du <[email protected]> Co-authored-by: nikhar-abbas <[email protected]> Co-authored-by: WillC-DNV <[email protected]> * Fixed wrong formatting of list items (NREL#122) extra newline required between list elements * Regenerate types, IO with registry * Update registry so first timestep is printed * Update inverted notch to move frequency properly * Saturate inv notch corner frequency at 0 * Add tower damper mode flag * Flip Ct and Cq table allocation * Regen types * Remove print statements used for debugging * Update input files: IEA model has pitch actuator * Add back flap control (no idea when it was deleted) * Update discons, docs with API change Co-authored-by: nikhar-abbas <[email protected]> Co-authored-by: Nikhar Abbas <[email protected]> Co-authored-by: Xianping Du <[email protected]> Co-authored-by: WillC-DNV <[email protected]> Co-authored-by: Gustavo Hylander <[email protected]> * Add max_torque_factor for constant power control, flexible upper limit * Make update discons relative to tuning yaml * Update AddF0 and NumCoords in FAST_reader/writer * Remove matlab/rotor position control stuff * Add OpenFAST channels that Simulink reads (NREL#135) * Add collective blade pitch signal for WSE, shutdown * Clean up merge: two sigma functions, finish adding collective BP * Use IPC always in IEA-15MW case * Add IPC_SatMode input * Force IPC_SatMode to be an int in writer * Fix IPC_SatMode cherry pick * Fix IPC_SatMode/IntSat description, update DISCONs * Add new IPC_SatModes * Rate limit blade pitch on first time step * Update discons, registry * Move BlPitchC -> BlPitchCMeas(ured) * Update registry description * Remove old update_discons

* Allow PA_Mode 1 * Add update_discon_version function * Add update_rosco_discons to testing, add example for updating version * Fix tuning_yaml name in example_19

* Allow PA_Mode 1 * Add update_discon_version function * Add update_rosco_discons to testing, add example for updating version * Rename and consolidate examples * Rename to test_examples.py to follow pytest convention * Fix tuning_yaml name in example_19 * Change to pytest for test_examples * Revert "Change to pytest for test_examples" This reverts commit 2f996d9. * Remove dev_branch input, clean up old code, fix reader * Fix load_from_fast in 09 * Update reader/writer/inputs for OpenFAST v3.4.0 * Finish updating inputs for 3.4.0 * Tidy up some more example naming * Fix airfoil reader * Remove remaining dev_branch references * Increment openfast version * Fix example paths * Fix ROSCO_walkthrough notebook * Include ROSCO_walkthrough outputs

* Allow PA_Mode 1 * Add update_discon_version function * Add update_rosco_discons to testing, add example for updating version * Rename and consolidate examples * Rename to test_examples.py to follow pytest convention * Fix tuning_yaml name in example_19 * Change to pytest for test_examples * Revert "Change to pytest for test_examples" This reverts commit 2f996d9. * Remove dev_branch input, clean up old code, fix reader * Fix load_from_fast in 09 * Update reader/writer/inputs for OpenFAST v3.4.0 * Finish updating inputs for 3.4.0 * Tidy up some more example naming * Fix airfoil reader * Remove remaining dev_branch references * Increment openfast version * Increment version number * Update docs for API changes in 2.7.0 * Fix example paths * Fix ROSCO_walkthrough notebook * Include ROSCO_walkthrough outputs * Update toolbox_input in docs * Allow any numpy * Fix array casting not allowed in new numpy version * Make check of cmake install dir better

dzalkind · 2024-05-10T16:41:16Z

Can you add a description of the added features to the PR?

dzalkind · 2024-05-10T16:41:44Z

Can you describe the extra inputs here? https://github.com/NREL/ROSCO/blob/main/docs/source/api_change.rst

…ntroller reference filtering approach, in the process of renaming generator speed filter frequency parameter

dzalkind · 2024-05-15T14:54:11Z

@dstockhouse, for any API changes to the DISCON, please use the registry as described here: https://github.com/NREL/ROSCO/blob/vbf/docs/source/how_to_contribute_code.rst#updating-the-rosco-api-changing-input-files

Edit: I see that you have...thanks!

dzalkind · 2024-05-15T15:46:55Z

I'm seeing this model still pitching, probably due to the floating feedback. I'm going to disable the whole pitch controller with PC_ControlMode and then let you finish your work here.

dzalkind · 2024-05-15T15:47:36Z

Perhaps we leave the torque-speed lookup out of this PR and address it another time. We're already doing a lot here. Let me know what you think.

…results

…into r3-fixed-pitch

…turbines. FBP modes changed so that any VS Region 2 mode can be paired with any FBP Region 3 mode, and the logic for controller switching has been restructured and (hopefully) made more readable. Still undergoing testing.

dzalkind

Overall, this looks good. I have a few minor questions before we decide how to proceed. I plan on testing this against an old version and trying out your example before merging, along with a few minor things.

There may be some old comments included in this review. Not sure how to see them all.

dzalkind · 2024-05-10T16:25:20Z

rosco/controller/src/ControllerBlocks.f90

+                VS_RefSpdRaw = interp1d(CntrPar%FBP_Tau, CntrPar%FBP_Omega, LocalVar%GenTq, ErrVar)
+            ENDIF
+
+            ! VS_RefSpdRaw = (LocalVar%GenTq/CntrPar%VS_Rgn2K)**(1./2.) ! WSE-independent below-rated generator speed reference based on torque instead of power


What's happening with these commented pieces of code?

rosco/controller/src/Controllers.f90

dzalkind · 2024-05-10T16:27:24Z

rosco/controller/src/ROSCO_Types.f90

@@ -79,6 +79,11 @@ MODULE ROSCO_Types
    REAL(DbKi), DIMENSION(:), ALLOCATABLE     :: VS_KI                       ! Integral gain for generator PI torque controller, used in the transitional 2.5 region
    REAL(DbKi)                    :: VS_TSRopt                   ! Power-maximizing region 2 tip-speed ratio [rad]
    REAL(DbKi)                    :: VS_PwrFiltF                 ! Cut-off frequency of filter on generator power for power-based tsr tracking control
+    INTEGER(IntKi)                :: FBP_RefMode                 ! Fixed blade pitch reference interpolation mode (0 for WSE, 1 for torque feedback)


TODO: Add these to registry.

DZ TODO: Check if these are in the right place for types and registry.

rosco/controller/src/ReadSetParameters.f90

rosco/toolbox/controller.py

dzalkind · 2024-05-10T17:24:58Z

rosco/toolbox/utilities.py

@@ -179,6 +182,13 @@ def write_DISCON(turbine, controller, param_file='DISCON.IN', txt_filename='Cp_C
    file.write('{:<13.2f}       ! VS_TSRopt		    - {}\n'.format(float(rosco_vt['VS_TSRopt']),input_descriptions['VS_TSRopt']))
    file.write('{:<014.5f}      ! VS_PwrFiltF		- {}\n'.format(float(rosco_vt['VS_PwrFiltF']),input_descriptions['VS_PwrFiltF']))
    file.write('\n')
+    file.write('!------- FIXED PITCH REGION 3 TORQUE CONTROL ------------------------------------------------\n')


Dan TODO: use schema descriptions

dzalkind · 2024-08-08T15:18:20Z

rosco/controller/src/ControllerBlocks.f90


        ! Exclude reference speeds specified by user
        IF (CntrPar%TRA_Mode > 0) THEN
            CALL RefSpeedExclusion(LocalVar, CntrPar, objInst, DebugVar)
        END IF

        ! Saturate torque reference speed between min speed and rated speed
-        LocalVar%VS_RefSpd = saturate(LocalVar%VS_RefSpd,CntrPar%VS_MinOMSpd, CntrPar%VS_RefSpd)
+        ! LocalVar%VS_RefSpd = saturate(LocalVar%VS_RefSpd, CntrPar%VS_MinOMSpd, CntrPar%VS_RefSpd)
+        ! Saturate torque reference speed above lower bound (below)


I think we want to bring this back for at least some torque control modes. Why was it removed?

This saturation step has been added back for variable blade pitch modes

dzalkind · 2024-08-08T15:22:22Z

rosco/controller/src/Controllers.f90

                LocalVar%VS_MaxTq = min((CntrPar%VS_RtPwr/(CntrPar%VS_GenEff/100.0))/LocalVar%GenSpeedF, CntrPar%VS_MaxTq)
            END IF

+            IF (CntrPar%VS_FBP > 0) THEN


I think this is the default value for LocalVar%VS_MaxTq. https://github.com/dstockhouse/ROSCO/blob/102286d97d4d93695fd45f89d4168b149b14fef2/rosco/controller/src/ReadSetParameters.f90#L236

Why does it need to be set here?

This has been modified to instead be on line 213, but it does look like this is already the default. I added this to effectively reset the default because it's being changed in a lot of other conditional blocks in this function, so if anything should modify this variable unexpectedly, this would restore the default. But such a situation would probably be a larger bug that needs fixing anyway

dzalkind · 2024-08-09T21:50:04Z

Yeah, there are a lot of outdated comments. Please ignore.

…drops below 0

…ller tuning

… remove some redundant saturations and restored some that had been previously removed

… FBP and VBP tuning procedure to compute everything based on min_pitch rather than assuming fine pitch to be zero

dzalkind and others added 30 commits September 12, 2022 09:14

Update example 05 units

ae7b267

Add generator efficiency to power output of simple simulation

778822b

Update Windows install instructions

86c8acf

Add rotor speed tracking, test case

b933b3b

Update discons

34ca985

Added feature to read AeroDyn 14 files also for the case without towe…

9384f03

…r influence. (NREL#177) closes NREL#176

Update sim.py (NREL#196)

827b281

Fix gen_power in sim_ws_wd_series so it includes efficiency

Doc fix (NREL#200)

5ad1d41

* Correction of Full ROSCO Installation document * Use numpy 1.23 until other things catch up, like openmdao Co-authored-by: sarijalou <[email protected]>

AWC First Version, collected changes

75a648c

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

f5428de

Add AWC parameters to registry, regenerate types

0be88d4

Apply DbKi to COMPLEX

1e80263

Re-organize AWC pitch contribution, before actuator

0575d75

Separate contribution to PitCom from mode calculation

974e271

Make AWC_complexangle a LocalVar for logging

515da17

Allow PA_Mode 1 (NREL#213)

be28641

Removed duplicate pitch assignment and removed MinPitch mods for AWC

c51ed30

Add script for updating DISCON versions (NREL#214)

3155b63

* Allow PA_Mode 1 * Add update_discon_version function * Add update_rosco_discons to testing, add example for updating version * Fix tuning_yaml name in example_19

Fixes to readsetparams and awc location

0c0e466

Adding NREL 2.8 127 for AWC testing

20c9c9d

Add case generation updates

f5c3c1e

Add initial AWC example, needs OF3.4

a471783

David Stockhouse and others added 11 commits May 10, 2024 10:42

updated DISCONs

32ecfc8

Remove extra RefSpd localvars

8c57a31

Merge remote-tracking branch 'ds/r3-fixed-pitch' into r3-fixed-pitch

4c1202c

Added overspeed config option and expanded Cp surface again

de4f6a7

Add constants for various VS_Control modes

ae07303

Regen registry

2df9e54

Cleaned up fixed pitch example script

8eab998

Merge remote-tracking branch 'ds/r3-fixed-pitch' into r3-fixed-pitch

38e28cf

Added comments to fixed pitch controller tuning, rearranged torque co…

1008cc6

…ntroller reference filtering approach, in the process of renaming generator speed filter frequency parameter

Finished renaming FBP variables and VS ref speed filter

25001e0

Regenerated DISCONs

822b731

Merge remote-tracking branch 'ds/r3-fixed-pitch' into r3-fixed-pitch

e639706

dzalkind and others added 4 commits May 15, 2024 09:49

Disable the pitch controller at the DISCON level

7726f0d

Working on overspeed operating schedule, still not yet giving stable …

01121e2

…results

Merge branch 'r3-fixed-pitch' of https://github.com/dstockhouse/ROSCO …

be58bbb

…into r3-fixed-pitch

dzalkind reviewed Aug 9, 2024

View reviewed changes

David Stockhouse added 7 commits August 14, 2024 23:07

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

ead419d

Merged branch upstream/develop

f0debea

Fixed bug in FBP control with VS_RefSpd turning to NaN if GenTq ever …

6216972

…drops below 0

Revised usage of generator and gearbox efficiencies in toolbox contro…

ce1b0eb

…ller tuning

Modified comments related to GBoxEff in rng2K calculation

44703b6

Restructured some controller code related to saturation, attempted to…

d77ba20

… remove some redundant saturations and restored some that had been previously removed

Added more precise calculation of Cp-optimizing pitch and updated the…

6d79062

… FBP and VBP tuning procedure to compute everything based on min_pitch rather than assuming fine pitch to be zero

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Fixed-Pitch Torque Control in Region 3 #347

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Fixed-Pitch Torque Control in Region 3 #347

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