Fixed-Pitch Torque Control in Region 3

Examples/29_marine_hydro_fbp.py

@@ -0,0 +1,190 @@
+'''
+----------- 29_marine_hydro_fbp ---------------
+Run openfast with ROSCO and a MHK turbine with fixed blade pitch control
+-----------------------------------------------
+
+
+'''
+
+import os
+from rosco.toolbox.ofTools.case_gen.run_FAST import run_FAST_ROSCO
+from rosco.toolbox.ofTools.case_gen import CaseLibrary as cl
+from rosco.toolbox.ofTools.fast_io import output_processing
+from rosco.toolbox import controller as ROSCO_controller
+from rosco.toolbox import turbine as ROSCO_turbine
+from rosco.toolbox import utilities as ROSCO_utilities
+from rosco.toolbox.utilities import write_DISCON
+from rosco.toolbox.inputs.validation import load_rosco_yaml
+import matplotlib.pyplot as plt
+import numpy as np
+
+'''
+Run MHK turbine in OpenFAST with ROSCO torque controller
+
+
+'''
+
+
+#directories
+this_dir            = os.path.dirname(os.path.abspath(__file__))
+rosco_dir           = os.path.dirname(this_dir)
+example_out_dir     = os.path.join(this_dir, 'examples_out')
+os.makedirs(example_out_dir,exist_ok=True)
+
+def main():
+
+    # Input yaml and output directory
+    parameter_filename = os.path.join(this_dir, 'Tune_Cases/RM1_MHK_FBP.yaml')
+    tune_dir = os.path.dirname(parameter_filename)
+    run_dir = os.path.join(example_out_dir, '29_MHK/0_baseline')
+    os.makedirs(run_dir,exist_ok=True)
+
+    inps = load_rosco_yaml(parameter_filename)
+    path_params         = inps['path_params']
+    turbine_params      = inps['turbine_params']
+    controller_params   = inps['controller_params']
+
+    # Instantiate turbine, controller, and file processing classes
+    turbine         = ROSCO_turbine.Turbine(turbine_params)
+    controller      = ROSCO_controller.Controller(controller_params)
+
+    # Load turbine data from OpenFAST and rotor performance text file
+    cp_filename = os.path.join(tune_dir, path_params['rotor_performance_filename'])
+    turbine.load_from_fast(
+        path_params['FAST_InputFile'],
+        os.path.join(tune_dir, path_params['FAST_directory']),
+        rot_source='txt', txt_filename= cp_filename
+        )
+
+
+    ### Tune controller cases
+    # Constant power underspeed (should be the default)
+    controller_params_1 = controller_params.copy()
+    controller_params_1['VS_FBP'] = 3 # Power reference
+    controller_params_1['VS_FBP_speed_mode'] = 0
+    controller_params_1['VS_FBP_P'] = [1.0, 1.0]
+    controller_1      = ROSCO_controller.Controller(controller_params_1)
+    controller_1.tune_controller(turbine)
+
+    # Constant power overspeed
+    controller_params_2 = controller_params.copy()
+    controller_params_2['VS_FBP'] = 2 # Switch to WSE reference
+    controller_params_2['VS_FBP_speed_mode'] = 1
+    controller_params_2['VS_FBP_P'] = [1.0, 1.0]
+    controller_2      = ROSCO_controller.Controller(controller_params_2)
+    controller_2.tune_controller(turbine)
+
+    # Linear increasing power
+    controller_params_3 = controller_params.copy()
+    controller_params_3['VS_FBP_speed_mode'] = 0
+    controller_params_3['VS_FBP_P'] = [1.0, 2.0]
+    controller_3      = ROSCO_controller.Controller(controller_params_3)
+    controller_3.tune_controller(turbine)
+
+    # Linear increasing power, leveling out
+    controller_params_4 = controller_params.copy()
+    controller_params_4['VS_FBP_U'] = [2.0, 3.0]
+    controller_params_4['VS_FBP_P'] = [1.0, 2.0]
+    controller_4      = ROSCO_controller.Controller(controller_params_4)
+    controller_4.tune_controller(turbine)
+
+    # Generic numeric function
+    controller_params_5 = controller_params.copy()
+    controller_params_5['VS_FBP'] = 2 # WSE reference
+    controller_params_5['VS_FBP_U'] = [2.0, 2.2, 2.4, 2.6, 2.8, 3.0, 3.2, 3.4, 3.6, 3.8, 4.0]
+    controller_params_5['VS_FBP_P'] = [1.0, 1.3, 1.6, 1.8, 1.9, 2.0, 1.9, 1.8, 1.7, 1.6, 1.5]
+    controller_5      = ROSCO_controller.Controller(controller_params_5)
+    controller_5.tune_controller(turbine)
+
+    # Constant power overspeed, nonlinear lookup table control
+    controller_params_6 = controller_params.copy()
+    controller_params_6['VS_FBP'] = 0 # Constant power overspeed
+    controller_params_6['VS_FBP_speed_mode'] = 1
+    controller_params_6['VS_FBP_P'] = [1.0, 1.0]
+    controller_params_6['VS_ControlMode'] = 1
+    controller_6      = ROSCO_controller.Controller(controller_params_6)
+    controller_6.tune_controller(turbine)
+
+
+    plot_labels = ['Constant Power Underspeed', 'Constant Power Overspeed', 'Linear Increasing Power', 'Increasing Leveled Power', 'Generic User-Defined']
+    fig, axs = plt.subplots(3,1)
+    axs[0].plot(controller_1.v, controller_1.power_op, label=plot_labels[0])
+    axs[0].plot(controller_2.v, controller_2.power_op, label=plot_labels[1], linestyle='--')
+    axs[0].plot(controller_3.v, controller_3.power_op, label=plot_labels[2])
+    axs[0].plot(controller_4.v, controller_4.power_op, label=plot_labels[3])
+    axs[0].plot(controller_5.v, controller_5.power_op, label=plot_labels[4])
+    axs[0].set_ylabel('Gen Power [W]')
+    axs[1].plot(controller_1.v, controller_1.omega_gen_op, label=plot_labels[0])
+    axs[1].plot(controller_2.v, controller_2.omega_gen_op, label=plot_labels[1], linestyle='--')
+    axs[1].plot(controller_3.v, controller_3.omega_gen_op, label=plot_labels[2])
+    axs[1].plot(controller_4.v, controller_4.omega_gen_op, label=plot_labels[3])
+    axs[1].plot(controller_5.v, controller_5.omega_gen_op, label=plot_labels[4])
+    axs[1].set_ylabel('Gen Speed [rad/s]')
+    axs[2].plot(controller_1.v, controller_1.tau_op, label=plot_labels[0])
+    axs[2].plot(controller_2.v, controller_2.tau_op, label=plot_labels[1], linestyle='--')
+    axs[2].plot(controller_3.v, controller_3.tau_op, label=plot_labels[2])
+    axs[2].plot(controller_4.v, controller_4.tau_op, label=plot_labels[3])
+    axs[2].plot(controller_5.v, controller_5.tau_op, label=plot_labels[4])
+    axs[2].set_ylabel('Gen Torque [N m]')
+    axs[2].set_xlabel('Flow Speed [m/s]')
+    axs[0].legend(loc='upper left')
+
+    if False:
+        plt.show()
+    else:
+        fig_fname = os.path.join(example_out_dir, '29_marine_hydro_fbp_sched.png')
+        print('Saving figure ' + fig_fname)
+        plt.savefig(fig_fname)
+
+    # Write parameter input file for constant power underspeed controller
+    param_file = os.path.join(run_dir,'DISCON.IN')
+    write_DISCON(turbine,
+                 controller_1,
+                 param_file=param_file, 
+                 txt_filename=cp_filename
+    )
+
+
+    # simulation set up
+    # TODO: simulate multiple controller configurations in parallel
+    r = run_FAST_ROSCO()
+    r.tuning_yaml   = parameter_filename
+    # r.wind_case_fcn = cl.simp_step  # single step wind input
+    r.wind_case_fcn = cl.power_curve
+    r.wind_case_opts    = {
+        'U': [3.0],
+        'TMax': 60.0,
+        }
+    r.case_inputs = {}
+    # r.fst_vt        = reader.fst_vt
+    r.controller_params = controller_params_1
+    r.save_dir      = run_dir
+    r.rosco_dir     = rosco_dir
+
+    r.run_FAST()
+
+    op = output_processing.output_processing()
+    fast_out = op.load_fast_out([os.path.join(run_dir,'RM1_MHK_FBP/power_curve/base/RM1_MHK_FBP_0.out')], tmin=0)
+    fig, axs = plt.subplots(4,1)
+    axs[0].plot(fast_out[0]['Time'], fast_out[0]['Wind1VelX'],             label='Constant Power Underspeed')
+    axs[0].set_ylabel('Flow Speed [m/s]')
+    axs[1].plot(fast_out[0]['Time'], fast_out[0]['GenSpeed'] * 2*np.pi/60, label='Constant Power Underspeed')
+    axs[1].set_ylabel('Gen Speed [rad/s]')
+    axs[2].plot(fast_out[0]['Time'], fast_out[0]['GenTq'] * 1e3,           label='Constant Power Underspeed')
+    axs[2].set_ylabel('Gen Torque [N m]')
+    axs[3].plot(fast_out[0]['Time'], fast_out[0]['GenPwr'] * 1e3,          label='Constant Power Underspeed')
+    axs[3].set_ylabel('Gen Power [W]')
+    axs[3].set_xlabel('Time [s]')
+
+    # TODO: Compare result to desired operating schedule
+
+    if False:
+        plt.show()
+    else:
+        fig_fname = os.path.join(example_out_dir, '29_marine_hydro_fbp_sim.png')
+        print('Saving figure ' + fig_fname)
+        plt.savefig(fig_fname)
+
+
+if __name__=="__main__":
+    main()

Examples/ROSCO_walkthrough.ipynb

@@ -1,6 +1,7 @@
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Examples/Test_Cases/BAR_10/BAR_10_DISCON.IN

@@ -1,17 +1,18 @@
 ! Controller parameter input file for the BAR_10 wind turbine
-!    - File written using ROSCO version 2.8.0 controller tuning logic on 01/05/24
+!    - File written using ROSCO version 2.9.0 controller tuning logic on 07/24/24
 
 !------- SIMULATION CONTROL ------------------------------------------------------------
 1                   ! LoggingLevel		- {0: write no debug files, 1: write standard output .dbg-file, 2: LoggingLevel 1 + ROSCO LocalVars (.dbg2) 3: LoggingLevel 2 + complete avrSWAP-array (.dbg3)}
 0                   ! DT_Out    		  - {Time step to output .dbg* files, or 0 to match sampling period of OpenFAST}
-1                   ! Ext_Interface		        - (0 - use standard bladed interface, 1 - Use the extened DLL interface introduced in OpenFAST 3.5.0.)
+1                   ! Ext_Interface		- (0 - use standard bladed interface, 1 - Use the extened DLL interface introduced in OpenFAST 3.5.0.)
 0                   ! Echo		        - (0 - no Echo, 1 - Echo input data to <RootName>.echo)
 
 !------- CONTROLLER FLAGS -------------------------------------------------
 2                   ! F_LPFType			  - (1: first-order low-pass filter, 2: second-order low-pass filter), [rad/s] (currently filters generator speed and pitch control signals
 0                   ! IPC_ControlMode	- Turn Individual Pitch Control (IPC) for fatigue load reductions (pitch contribution) {0: off, 1: 1P reductions, 2: 1P+2P reductions}
 2                   ! VS_ControlMode	- Generator torque control mode in above rated conditions (0- no torque control, 1- k*omega^2 with PI transitions, 2- WSE TSR Tracking, 3- Power-based TSR Tracking)}
 0                   ! VS_ConstPower  	- Do constant power torque control, where above rated torque varies, 0 for constant torque}
+0                   ! VS_FBP         	- Fixed blade pitch configuration mode
 1                   ! PC_ControlMode  - Blade pitch control mode {0: No pitch, fix to fine pitch, 1: active PI blade pitch control}
 0                   ! Y_ControlMode   - Yaw control mode {0: no yaw control, 1: yaw rate control, 2: yaw-by-IPC}
 1                   ! SS_Mode         - Setpoint Smoother mode {0: no setpoint smoothing, 1: introduce setpoint smoothing}
@@ -49,6 +50,7 @@
 0.000000  1.000000  ! F_FlCornerFreq    - Natural frequency and damping in the second order low pass filter of the tower-top fore-aft motion for floating feedback control [rad/s, -].
 0.01042             ! F_FlHighPassFreq  - Natural frequency of first-order high-pass filter for nacelle fore-aft motion [rad/s].
 7.8480 1.0000      ! F_FlpCornerFreq   - Corner frequency and damping in the second order low pass filter of the blade root bending moment for flap control
+0.05000000000      ! F_VSRefSpdCornerFreq		- Corner frequency (-3dB point) in the first order low pass filter of the generator speed reference used for TSR tracking torque control [rad/s].
 
 !------- BLADE PITCH CONTROL ----------------------------------------------
 30                  ! PC_GS_n			- Amount of gain-scheduling table entries
@@ -81,15 +83,20 @@
 70282.09458000      ! VS_MaxTq			- Maximum generator torque in Region 3 (HSS side), [Nm].
 0.000000000000      ! VS_MinTq			- Minimum generator torque (HSS side), [Nm].
 27.49717000000      ! VS_MinOMSpd		- Minimum generator speed [rad/s]
-11.20801000000      ! VS_Rgn2K		- Generator torque constant in Region 2 (HSS side). Only used in VS_ControlMode = 1,3
+12.03868000000      ! VS_Rgn2K		- Generator torque constant in Region 2 (HSS side). Only used in VS_ControlMode = 1,3,4
 5000000.000000      ! VS_RtPwr			- Wind turbine rated power [W]
 63892.81326000      ! VS_RtTq			- Rated torque, [Nm].
 75.83317000000      ! VS_RefSpd			- Rated generator speed [rad/s]
 1                   ! VS_n				- Number of generator PI torque controller gains
 -2452.07948000      ! VS_KP				- Proportional gain for generator PI torque controller [-]. (Only used in the transitional 2.5 region if VS_ControlMode =/ 2)
 -332.357190000      ! VS_KI				- Integral gain for generator PI torque controller [s]. (Only used in the transitional 2.5 region if VS_ControlMode =/ 2)
 9.76                ! VS_TSRopt		    - Power-maximizing region 2 tip-speed-ratio. Only used in VS_ControlMode = 2.
-0.314000000000      ! VS_PwrFiltF		- Low pass filter on power used to determine generator speed set point.  Only used in VS_ControlMode = 3.
+
+!------- FIXED PITCH REGION 3 TORQUE CONTROL ------------------------------------------------
+60                  ! VS_FBP_n			- Number of gain-scheduling table entries
+3.000000  3.181847  3.363694  3.545541  3.727388  3.909234  4.091081  4.272928  4.454775  4.636622  4.818469  5.000316  5.182163  5.364010  5.545857  5.727703  5.909550  6.091397  6.273244  6.455091  6.636938  6.818785  7.000632  7.182479  7.364326  7.546172  7.728019  7.909866  8.091713  8.273560  8.831108  9.388656  9.946204  10.503752  11.061300  11.618848  12.176396  12.733944  13.291492  13.849040  14.406588  14.964136  15.521684  16.079232  16.636780  17.194328  17.751876  18.309424  18.866972  19.424520  19.982068  20.539616  21.097164  21.654712  22.212260  22.769808  23.327356  23.884904  24.442452  25.000000                ! VS_FBP_U	        - Operating schedule table: Wind speeds [m/s].
+27.497174  29.163932  30.830691  32.497450  34.164208  35.830967  37.497725  39.164484  40.831243  42.498001  44.164760  45.831518  47.498277  49.165035  50.831794  52.498553  54.165311  55.832070  57.498828  59.165587  60.832346  62.499104  64.165863  65.832621  67.499380  69.166138  70.832897  72.499656  74.166414  79.853125  79.853125  79.853125  79.853125  79.853125  79.853125  79.853125  79.853125  79.853125  79.853125  79.853125  79.853125  79.853125  79.853125  79.853125  79.853125  79.853125  79.853125  79.853125  79.853125  79.853125  79.853125  79.853125  79.853125  79.853125  79.853125  79.853125  79.853125  79.853125  79.853125  79.853125                ! VS_FBP_Omega	    - Operating schedule table: Generator speeds [rad/s].
+9102.377387  10239.314561  11443.140643  12713.855635  14051.459535  15455.952344  16927.334062  18465.604688  20070.764223  21742.812668  23481.750020  25287.576282  27160.291453  29099.895532  31106.388520  33179.770417  35320.041223  37527.200937  39801.249560  42142.187093  44550.013533  47024.728883  49566.333142  52174.826309  54850.208385  57592.479370  60401.639263  63277.688066  66220.625777  65712.002182  65712.002182  65712.002182  65712.002182  65712.002182  65712.002182  65712.002182  65712.002182  65712.002182  65712.002182  65712.002182  65712.002182  65712.002182  65712.002182  65712.002182  65712.002182  65712.002182  65712.002182  65712.002182  65712.002182  65712.002182  65712.002182  65712.002182  65712.002182  65712.002182  65712.002182  65712.002182  65712.002182  65712.002182  65712.002182  65712.002182                ! VS_FBP_Tau		- Operating schedule table: Generator torques [N m].
 
 !------- SETPOINT SMOOTHER ---------------------------------------------
 1.00000             ! SS_VSGain         - Variable speed torque controller setpoint smoother gain, [-].