Merge branch 'v2.9.0' into clean_setup

.github/workflows/CI_rosco-pytools.yml

@@ -222,5 +222,5 @@ jobs:
       # Regression testing
       - name: Run regression testing
         run: |
-          cd ROSCO_testing
+          cd rosco/test
           python test_checkpoint.py

Examples/Test_Cases/BAR_10/BAR_10_DISCON.IN

@@ -1,9 +1,10 @@
 ! Controller parameter input file for the BAR_10 wind turbine
-!    - File written using ROSCO version 2.8.0 controller tuning logic on 12/21/23
+!    - File written using ROSCO version 2.8.0 controller tuning logic on 01/05/24
 
 !------- 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.)
 0                   ! Echo		        - (0 - no Echo, 1 - Echo input data to <RootName>.echo)
 
 !------- CONTROLLER FLAGS -------------------------------------------------

Examples/Test_Cases/IEA-15-240-RWT-UMaineSemi/DISCON-UMaineSemi.IN

@@ -1,9 +1,10 @@
 ! Controller parameter input file for the IEA-15-240-RWT-UMaineSemi wind turbine
-!    - File written using ROSCO version 2.8.0 controller tuning logic on 12/21/23
+!    - File written using ROSCO version 2.8.0 controller tuning logic on 01/05/24
 
 !------- SIMULATION CONTROL ------------------------------------------------------------
 2                   ! 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.)
 0                   ! Echo		        - (0 - no Echo, 1 - Echo input data to <RootName>.echo)
 
 !------- CONTROLLER FLAGS -------------------------------------------------

Examples/Test_Cases/MHK_RM1/MHK_RM1_DISCON.IN

@@ -1,9 +1,10 @@
 ! Controller parameter input file for the MHK_RM1_Floating wind turbine
-!    - File written using ROSCO version 2.8.0 controller tuning logic on 12/21/23
+!    - File written using ROSCO version 2.8.0 controller tuning logic on 01/05/24
 
 !------- SIMULATION CONTROL ------------------------------------------------------------
 2                   ! 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.)
 0                   ! Echo		        - (0 - no Echo, 1 - Echo input data to <RootName>.echo)
 
 !------- CONTROLLER FLAGS -------------------------------------------------

Examples/Test_Cases/NREL-5MW/DISCON.IN

@@ -1,9 +1,10 @@
 ! Controller parameter input file for the NREL-5MW wind turbine
-!    - File written using ROSCO version 2.8.0 controller tuning logic on 12/21/23
+!    - File written using ROSCO version 2.8.0 controller tuning logic on 01/05/24
 
 !------- 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.)
 0                   ! Echo		        - (0 - no Echo, 1 - Echo input data to <RootName>.echo)
 
 !------- CONTROLLER FLAGS -------------------------------------------------

Examples/Test_Cases/NREL_2p8_127/NREL-2p8-127_DISCON.IN

@@ -1,9 +1,10 @@
 ! Controller parameter input file for the NREL-2p8-127 wind turbine
-!    - File written using ROSCO version 2.8.0 controller tuning logic on 12/21/23
+!    - File written using ROSCO version 2.8.0 controller tuning logic on 01/05/24
 
 !------- SIMULATION CONTROL ------------------------------------------------------------
 2                   ! 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.)
 0                   ! Echo		        - (0 - no Echo, 1 - Echo input data to <RootName>.echo)
 
 !------- CONTROLLER FLAGS -------------------------------------------------

docs/source/api_change.rst

@@ -11,6 +11,10 @@ Thus, be sure to implement each in order so that subsequent line numbers are cor
 
 2.8.0 to develop
 -------------------------------
+**Flag to use exteneded Bladed Interface
+
+*  Set `Ext_Interface` to 1 to use the extened bladed interface with OpenFAST v3.5.0 and greater
+
 **Gain scheduling of floating feedback**
 
 *  The floating feedback gain can be scheduled on the low pass filtered wind speed signal.  Note that Fl_Kp can now be an array.
@@ -56,31 +60,32 @@ New in ROSCO develop
 -------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------
 Line    Input Name                 Example Value
 ====== =======================    ===============================================================================================================================================================================================================================================================
-13      VS_ConstPower             0           ! VS_ConstPower - Do constant power torque control, where above rated torque varies, 0 for constant torque}
-17      PRC_Mode                  0           ! PRC_Mode          - Power reference tracking mode{0: use standard rotor speed set points, 1: use PRC rotor speed setpoints}
-37      F_NumNotchFilts           1           ! F_NumNotchFilts   - Number of notch filters placed on sensors
-38      F_NotchFreqs              3.3550      ! F_NotchFreqs      - Natural frequency of the notch filters. Array with length F_NumNotchFilts
-39      F_NotchBetaNum            0.0000      ! F_NotchBetaNum    - Damping value of numerator (determines the width of notch). Array with length F_NumNotchFilts, [-]
-40      F_NotchBetaDen            0.2500      ! F_NotchBetaDen    - Damping value of denominator (determines the depth of notch). Array with length F_NumNotchFilts, [-]
-41      F_GenSpdNotch_N           0           ! F_GenSpdNotch_N   - Number of notch filters on generator speed
-42      F_GenSpdNotch_Ind         0           ! F_GenSpdNotch_Ind - Indices of notch filters on generator speed
-43      F_TwrTopNotch_N           1           ! F_TwrTopNotch_N   - Number of notch filters on tower top acceleration signal
-44      F_TwrTopNotch_Ind         1           ! F_TwrTopNotch_Ind - Indices of notch filters on tower top acceleration signal
-91      VS_PwrFiltF               0.3140      ! VS_PwrFiltF       - Low pass filter on power used to determine generator speed set point. Only used in VS_ControlMode = 3.
-97      PRC_Section               !------- POWER REFERENCE TRACKING --------------------------------------
-98      PRC_n                     2                   ! PRC_n			  - Number of elements in PRC_WindSpeeds and PRC_GenSpeeds array
-99      PRC_LPF_Freq              0.07854             ! PRC_LPF_Freq    - Frequency of the low pass filter on the wind speed estimate used to set PRC_GenSpeeds [rad/s]
-100     PRC_WindSpeeds            3.0000 25.0000      ! PRC_WindSpeeds  - Array of wind speeds used in rotor speed vs. wind speed lookup table [m/s]
-101     PRC_GenSpeeds             0.7917 0.7917       ! PRC_GenSpeeds   - Array of generator speeds corresponding to PRC_WindSpeeds [rad/s]
-102     Empty Line         
-127     TRA_ExclSpeed             0.00000             ! TRA_ExclSpeed	    - Rotor speed for exclusion [LSS, rad/s]
-128     TRA_ExclBand              0.00000             ! TRA_ExclBand	    - Size of the rotor frequency exclusion band [LSS, rad/s]. Torque controller reference will be TRA_ExclSpeed +/- TRA_ExlBand/2
-129     TRA_RateLimit             0.00000e+00         ! TRA_RateLimit	    - Rate limit of change in rotor speed reference [LSS, rad/s].  Suggested to be VS_RefSpd/100.
-144     Fl_n                      1           ! Fl_n          - Number of Fl_Kp gains in gain scheduling, optional with default of 1
-146     Fl_U                      0.0000      ! Fl_U          - Wind speeds for scheduling Fl_Kp, optional if Fl_Kp is single value [m/s]
-160     Ind_Azimuth               0           ! Ind_Azimuth   - The column in OL_Filename that contains the desired azimuth position in rad (used if OL_Mode = 2)
-161     RP_Gains                  0.0000 0.0000 0.0000 0.0000     ! RP_Gains - PID gains and Tf of derivative for rotor position control (used if OL_Mode = 2)
-185     ZMQ_ID                    0     ! ZMQ_ID - Integer identifier of turbine
+7       Ext_Interface             1           ! Ext_Interface - (0 - use standard bladed interface, 1 - Use the extened DLL interface introduced in OpenFAST 3.5.0.)  
+14      VS_ConstPower             0           ! VS_ConstPower - Do constant power torque control, where above rated torque varies, 0 for constant torque}
+18      PRC_Mode                  0           ! PRC_Mode          - Power reference tracking mode{0: use standard rotor speed set points, 1: use PRC rotor speed setpoints}
+38      F_NumNotchFilts           1           ! F_NumNotchFilts   - Number of notch filters placed on sensors
+39      F_NotchFreqs              3.3550      ! F_NotchFreqs      - Natural frequency of the notch filters. Array with length F_NumNotchFilts
+40      F_NotchBetaNum            0.0000      ! F_NotchBetaNum    - Damping value of numerator (determines the width of notch). Array with length F_NumNotchFilts, [-]
+41      F_NotchBetaDen            0.2500      ! F_NotchBetaDen    - Damping value of denominator (determines the depth of notch). Array with length F_NumNotchFilts, [-]
+42      F_GenSpdNotch_N           0           ! F_GenSpdNotch_N   - Number of notch filters on generator speed
+43      F_GenSpdNotch_Ind         0           ! F_GenSpdNotch_Ind - Indices of notch filters on generator speed
+44      F_TwrTopNotch_N           1           ! F_TwrTopNotch_N   - Number of notch filters on tower top acceleration signal
+45      F_TwrTopNotch_Ind         1           ! F_TwrTopNotch_Ind - Indices of notch filters on tower top acceleration signal
+92      VS_PwrFiltF               0.3140      ! VS_PwrFiltF       - Low pass filter on power used to determine generator speed set point. Only used in VS_ControlMode = 3.
+98      PRC_Section               !------- POWER REFERENCE TRACKING --------------------------------------
+99      PRC_n                     2                   ! PRC_n			  - Number of elements in PRC_WindSpeeds and PRC_GenSpeeds array
+100     PRC_LPF_Freq              0.07854             ! PRC_LPF_Freq    - Frequency of the low pass filter on the wind speed estimate used to set PRC_GenSpeeds [rad/s]
+101     PRC_WindSpeeds            3.0000 25.0000      ! PRC_WindSpeeds  - Array of wind speeds used in rotor speed vs. wind speed lookup table [m/s]
+102     PRC_GenSpeeds             0.7917 0.7917       ! PRC_GenSpeeds   - Array of generator speeds corresponding to PRC_WindSpeeds [rad/s]
+103     Empty Line         
+128     TRA_ExclSpeed             0.00000             ! TRA_ExclSpeed	    - Rotor speed for exclusion [LSS, rad/s]
+129     TRA_ExclBand              0.00000             ! TRA_ExclBand	    - Size of the rotor frequency exclusion band [LSS, rad/s]. Torque controller reference will be TRA_ExclSpeed +/- TRA_ExlBand/2
+130     TRA_RateLimit             0.00000e+00         ! TRA_RateLimit	    - Rate limit of change in rotor speed reference [LSS, rad/s].  Suggested to be VS_RefSpd/100.
+145     Fl_n                      1           ! Fl_n          - Number of Fl_Kp gains in gain scheduling, optional with default of 1
+147     Fl_U                      0.0000      ! Fl_U          - Wind speeds for scheduling Fl_Kp, optional if Fl_Kp is single value [m/s]
+161     Ind_Azimuth               0           ! Ind_Azimuth   - The column in OL_Filename that contains the desired azimuth position in rad (used if OL_Mode = 2)
+162     RP_Gains                  0.0000 0.0000 0.0000 0.0000     ! RP_Gains - PID gains and Tf of derivative for rotor position control (used if OL_Mode = 2)
+186     ZMQ_ID                    0     ! ZMQ_ID - Integer identifier of turbine
 ====== =================          ======================================================================================================================================================================================================
 
 ====== =================    ======================================================================================================================================================================================================

rosco/controller/rosco_registry/rosco_types.yaml

@@ -83,6 +83,9 @@ ControlParameters:
     Echo: 
       <<: *integer
       description: 0 - no Echo, 1 - Echo input data to <RootName>.echo
+    Ext_Interface: 
+      <<: *integer
+      description: 0 - use standard bladed interface, 1 - Use the extened DLL interface introduced in OpenFAST 3.5.0.
 
     DT_Out: 
       <<: *real

rosco/controller/src/ROSCO_Types.f90

@@ -11,6 +11,7 @@ MODULE ROSCO_Types
     INTEGER(IntKi)                :: ZMQ_ID                      ! 0000 - 9999, Identifier of the rosco, used for zeromq interface only
     INTEGER(IntKi)                :: LoggingLevel                ! 0 - write no debug files, 1 - write standard output .dbg-file, 2 - write standard output .dbg-file and complete avrSWAP-array .dbg2-file
     INTEGER(IntKi)                :: Echo                        ! 0 - no Echo, 1 - Echo input data to <RootName>.echo
+    INTEGER(IntKi)                :: Ext_Interface               ! 0 - use standard bladed interface, 1 - Use the extened DLL interface introduced in OpenFAST 3.5.0.
     REAL(DbKi)                    :: DT_Out                      ! Output time step
     INTEGER(IntKi)                :: n_DT_Out                    ! output every this many steps
     INTEGER(IntKi)                :: n_DT_ZMQ                    ! Send measurements to ZMQ after this many time steps