Power control

Examples/05_openfast_sim.py

@@ -10,7 +10,7 @@
 
 Note
 
-* you will need to have a compiled controller in ROSCO/build/ 
+* you will need to have a compiled controller in ROSCO/rosco/controller/build
 """
 
 # Python Modules
@@ -67,4 +67,4 @@ def main():
     )
 
 if __name__ == "__main__":
-    main()
+    main()

Examples/06_peak_shaving.py

@@ -1,13 +1,16 @@
 """
-06_peak_shavings
-----------------
+06_peak_shaving
+---------------
 Load saved turbine, tune controller, plot minimum pitch schedule
 In this example:
 
 * Load a yaml file
 * Load a turbine from openfast
 * Tune a controller
 * Plot minimum pitch schedule
+
+.. image:: ../images/06_MinPitch.png
+
 """
 
 # Python modules

Examples/14_open_loop_control.py

@@ -46,7 +46,7 @@ def main():
 
     # Set up open loop input
     olc = ROSCO_controller.OpenLoopControl(t_max=20)
-    olc.interp_timeseries(
+    olc.interp_series(
     'blade_pitch', 
     [0,20], 
     [0,0.0873] , 
@@ -59,7 +59,7 @@ def main():
     olc.sine_timeseries('nacelle_yaw', 0.0524, 60)
 
     # Plot open loop timeseries
-    fig,ax = olc.plot_timeseries()
+    fig,ax = olc.plot_series()
     if False:
         plt.show()
     else:
@@ -144,9 +144,9 @@ def main():
     valid_ind = tt > 2  # first few timesteps can differ, depending on OpenFAST solve config
 
     # Compute errors
-    nacelle_yaw_diff = fo['NacYaw'][valid_ind] - np.degrees(np.interp(tt[valid_ind],olc.ol_timeseries['time'],olc.ol_timeseries['nacelle_yaw']))
-    bld_pitch_diff = fo['BldPitch1'][valid_ind] - np.degrees(np.interp(tt[valid_ind],olc.ol_timeseries['time'],olc.ol_timeseries['blade_pitch']))
-    gen_tq_diff = fo['GenTq'][valid_ind] - np.interp(tt[valid_ind],olc.ol_timeseries['time'],olc.ol_timeseries['generator_torque'])/1e3
+    nacelle_yaw_diff = fo['NacYaw'][valid_ind] - np.degrees(np.interp(tt[valid_ind],olc.ol_series['time'],olc.ol_series['nacelle_yaw']))
+    bld_pitch_diff = fo['BldPitch1'][valid_ind] - np.degrees(np.interp(tt[valid_ind],olc.ol_series['time'],olc.ol_series['blade_pitch']))
+    gen_tq_diff = fo['GenTq'][valid_ind] - np.interp(tt[valid_ind],olc.ol_series['time'],olc.ol_series['generator_torque'])/1e3
 
     # Check diff timeseries
     np.testing.assert_allclose(nacelle_yaw_diff,  0,  atol = 1e-1)   # yaw has dynamics and integration error, tolerance higher

Examples/17b_zeromq_multi_openfast.py

@@ -19,6 +19,71 @@
 
 TIME_CHECK = 20
 DESIRED_YAW_OFFSET = [-10, 10]
+DESIRED_R_PITCH = 0.9
+
+def main():
+
+
+    # Start wind farm control server and two openfast simulation
+    # as separate processes
+    logfile = os.path.join(EXAMPLE_OUT_DIR,os.path.splitext(os.path.basename(__file__))[0]+'.log')
+    p0 = mp.Process(target=run_zmq,args=(logfile,))
+    p1 = mp.Process(target=sim_openfast_1)
+    p2 = mp.Process(target=sim_openfast_2)
+
+    p0.start()
+    p1.start()
+    p2.start()
+
+    p0.join()
+    p1.join()
+    p2.join()
+
+    ## Run tests
+    # Check that info is passed to ROSCO for first simulation
+    op1 = output_processing.output_processing()
+    debug_file1 = os.path.join(
+        EXAMPLE_OUT_DIR,
+        "17b_zeromq_OF1",
+        "NREL5MW",
+        "power_curve",
+        "base",
+        "NREL5MW_0.RO.dbg2",
+    )
+    local_vars1 = op1.load_fast_out(debug_file1, tmin=0)
+
+    # Check that info is passed to ROSCO for first simulation
+    op2 = output_processing.output_processing()
+    debug_file2 = os.path.join(
+        EXAMPLE_OUT_DIR,
+        "17b_zeromq_OF2",
+        "NREL5MW",
+        "power_curve",
+        "base",
+        "NREL5MW_0.RO.dbg2",
+    )
+    local_vars2 = op2.load_fast_out(debug_file2, tmin=0)
+
+    # Generate plots
+    _, axs = plt.subplots(2, 1)
+    axs[0].plot(local_vars1[0]["Time"], local_vars1[0]["ZMQ_YawOffset"])
+    axs[1].plot(local_vars2[0]["Time"], local_vars2[0]["ZMQ_YawOffset"])
+
+    if False:
+        plt.show()
+    else:
+        plt.savefig(os.path.join(EXAMPLE_OUT_DIR, "17b_NREL5MW_ZMQ_Setpoints.png"))
+
+    # Spot check input at time = 30 sec.
+    ind1_30 = local_vars1[0]["Time"] == TIME_CHECK
+    ind2_30 = local_vars2[0]["Time"] == TIME_CHECK
+
+    np.testing.assert_almost_equal(
+        local_vars1[0]["ZMQ_YawOffset"][ind1_30], DESIRED_YAW_OFFSET[0]
+    )
+    np.testing.assert_almost_equal(
+        local_vars2[0]["ZMQ_YawOffset"][ind2_30], DESIRED_YAW_OFFSET[1]
+    )
 
 def main():
 
@@ -115,13 +180,15 @@ def __init__(self):
         return None
 
     def update_setpoints(self, id, current_time, measurements):
+        R_Pitch = 1.0
         if current_time <= 10.0:
             YawOffset = 0.0
             col_pitch_command = 0.0
         else:
             col_pitch_command = np.deg2rad(2) * np.sin(0.1 * current_time) + np.deg2rad(2) # Implement dynamic induction control
             if id == 1:
                 YawOffset = DESIRED_YAW_OFFSET[0]
+                R_Pitch = DESIRED_R_PITCH
             else:
                 YawOffset = DESIRED_YAW_OFFSET[1]
 
@@ -131,6 +198,7 @@ def update_setpoints(self, id, current_time, measurements):
         setpoints['ZMQ_PitOffset(1)'] = col_pitch_command
         setpoints['ZMQ_PitOffset(2)'] = col_pitch_command
         setpoints['ZMQ_PitOffset(3)'] = col_pitch_command
+        setpoints['ZMQ_R_Pitch'] = R_Pitch
         return setpoints
 
 
@@ -149,6 +217,8 @@ def sim_openfast_1():
     r.controller_params["DISCON"] = {}
     r.controller_params["DISCON"]["ZMQ_Mode"] = 1
     r.controller_params["DISCON"]["ZMQ_ID"] = 1
+    r.controller_params['DISCON']['PRC_Mode'] = 1
+    r.controller_params['DISCON']['PRC_Comm'] = 2
     r.save_dir = run_dir
     r.run_FAST()
 
@@ -169,6 +239,8 @@ def sim_openfast_2():
     r.controller_params["LoggingLevel"] = 2
     r.controller_params["DISCON"]["ZMQ_Mode"] = 1
     r.controller_params["DISCON"]["ZMQ_ID"] = 2
+    r.controller_params['DISCON']['PRC_Mode'] = 1
+    r.controller_params['DISCON']['PRC_Comm'] = 2
     r.run_FAST()
 
 

Examples/22_cable_control.py

@@ -72,21 +72,21 @@ def main():
     line_ends = [-14.51, 1.58, 10.33]
 
     olc = OpenLoopControl(t_max=t_max)
-    olc.interp_timeseries(
+    olc.interp_series(
         'cable_control_1', 
         [0,t_trans,t_trans+t_sigma], 
         [0,0,line_ends[0]] , 
         'sigma'
         )
 
-    olc.interp_timeseries(
+    olc.interp_series(
         'cable_control_2', 
         [0,t_trans,t_trans+t_sigma], 
         [0,0,line_ends[1]] , 
         'sigma'
         )
 
-    olc.interp_timeseries(
+    olc.interp_series(
         'cable_control_3', 
         [0,t_trans,t_trans+t_sigma], 
         [0,0,line_ends[2]] , 

Examples/23_structural_control.py

@@ -60,21 +60,21 @@ def main():
     applied_force = [-2e6, 1e6, 1e6]
 
     olc = OpenLoopControl(t_max=t_max)
-    olc.interp_timeseries(
+    olc.interp_series(
         'struct_control_1', 
         [0,t_trans,t_trans+t_sigma], 
         [0,0,applied_force[0]] , 
         'sigma'
         )
 
-    olc.interp_timeseries(
+    olc.interp_series(
         'struct_control_2', 
         [0,t_trans,t_trans+t_sigma], 
         [0,0,applied_force[1]] , 
         'sigma'
         )
 
-    olc.interp_timeseries(
+    olc.interp_series(
         'struct_control_3', 
         [0,t_trans,t_trans+t_sigma], 
         [0,0,applied_force[2]] , 

Examples/25_rotor_position_control.py

@@ -44,12 +44,12 @@ def main():
     fast_out = op.load_fast_out(os.path.join(run_dir,'NREL2p8/power_curve/base/NREL2p8_0.outb'), tmin=0)
 
     olc = OpenLoopControl()
-    olc.ol_timeseries['time'] = fast_out[0]['Time']
-    olc.ol_timeseries['blade_pitch1'] = np.radians(fast_out[0]['BldPitch1'])
-    olc.ol_timeseries['blade_pitch2'] = np.radians(fast_out[0]['BldPitch2'])
-    olc.ol_timeseries['blade_pitch3'] = np.radians(fast_out[0]['BldPitch3'])
-    olc.ol_timeseries['generator_torque'] = fast_out[0]['GenTq'] * 1000
-    olc.ol_timeseries['azimuth'] = np.radians(fast_out[0]['Azimuth'])
+    olc.ol_series['time'] = fast_out[0]['Time']
+    olc.ol_series['blade_pitch1'] = np.radians(fast_out[0]['BldPitch1'])
+    olc.ol_series['blade_pitch2'] = np.radians(fast_out[0]['BldPitch2'])
+    olc.ol_series['blade_pitch3'] = np.radians(fast_out[0]['BldPitch3'])
+    olc.ol_series['generator_torque'] = fast_out[0]['GenTq'] * 1000
+    olc.ol_series['azimuth'] = np.radians(fast_out[0]['Azimuth'])
 
     # Save initial RotSpeed, Azimuth for later
     RotSpeed_0 = fast_out[0]['RotSpeed'][0]

Examples/26_marine_hydro.py

@@ -7,11 +7,7 @@
 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.ofTools.fast_io.FAST_reader import InputReader_OpenFAST
-#from rosco.toolbox.inputs.validation import load_rosco_yaml
-#import matplotlib.pyplot as plt
-#from rosco.toolbox.controller import OpenLoopControl
+
 
 def main():
     #directories
@@ -40,35 +36,10 @@ def main():
     # r.controller_params = controller_params
     r.save_dir      = run_dir
     r.rosco_dir     = rosco_dir
+    # r.rosco_dll     = '/Users/dzalkind/Tools/ROSCO-PRC/rosco/controller/build/libdiscon.dylib'
 
     r.run_FAST()
 
-    print('here')
-
-
-    # op = output_processing.output_processing()
-    # op2 = output_processing.output_processing()
-
-    # md_out = op.load_fast_out([os.path.join(run_dir,'IEA15MW_cable/power_curve/base/IEA15MW_cable_0.MD.Line1.out')], tmin=0)
-    # local_vars = op2.load_fast_out([os.path.join(run_dir,'IEA15MW_cable/power_curve/base/IEA15MW_cable_0.RO.dbg2')], tmin=0)
-
-    # fig, axs = plt.subplots(4,1)
-    # axs[0].plot(local_vars[0]['Time'],local_vars[0]['CC_DesiredL'],label='CC_DesiredL')
-    # axs[1].plot(local_vars[0]['Time'],local_vars[0]['CC_ActuatedL'],label='CC_ActuatedL')
-    # axs[2].plot(local_vars[0]['Time'],local_vars[0]['CC_ActuatedDL'],label='CC_ActuatedDL')
-    # axs[3].plot(md_out[0]['Time'],md_out[0]['Seg20Lst'],label='Seg20Lst')
-
-    # [a.legend() for a in axs]
-    # [a.grid() for a in axs]
-
-    # if False:
-    #     plt.show()
-    # else:
-    #     plt.savefig(os.path.join(example_out_dir,'22_cable_control.png'))
-
-    # Check that the last segment of line 1 shrinks by 10 m
-    # np.testing.assert_almost_equal(md_out[0]['Seg20Lst'][-1] - md_out[0]['Seg20Lst'][0], line_ends[0], 2)
-
 
 
 if __name__=="__main__":

Examples/27_power_ref_control.py → Examples/27_soft_cut_out.py

@@ -1,9 +1,11 @@
 """
-27_power_ref_control
---------------------
-Run openfast with ROSCO and cable control
-Demonstrate a simulation with a generator reference speed that changes with estimated wind speed
-Set reference rotor speed as a function of wind speed (estimate in ROSCO)
+27_soft_cut_out
+---------------
+Set up a control input to do a soft cut-out of a wind turbine at high wind speeds.
+This example uses the first power reference control implementation (PRC_Mode of 1), where the user specifies the speed setpoint versus wind speed.
+We can use this to track specific rotor speeds based on the wind speed, or de-rate/power boost using by changing the speed.  
+With PRC_Mode of 2, we can do this but also change the power rating with pitch and torque.
+
 """
 
 import os
@@ -58,7 +60,7 @@ def main():
 
     r = run_FAST_ROSCO()
     r.tuning_yaml   = parameter_filename
-    r.wind_case_fcn = cl.ramp  # single step wind input
+    r.wind_case_fcn = cl.ramp  # ramp wind input
 
     if FULL_TEST:
         # Full test