Fixed-Pitch Torque Control in Region 3

Examples/19_update_discon_version.py

@@ -6,6 +6,9 @@
 """
 
 import os
+import shutil
+from rosco import discon_lib_path
+from rosco.toolbox import control_interface as ROSCO_ci
 from rosco.toolbox.tune import update_discon_version
 
 def main():
@@ -16,11 +19,27 @@ def main():
 
     # Tuning yaml can be anything, does not have to correspond to old discon
     tuning_yaml = os.path.join(this_dir,'Tune_Cases','NREL5MW.yaml')        # dummy for now
+    new_discon = os.path.join(this_dir,'examples_out','18_UPDATED_DISCON.IN')
     update_discon_version(
         old_discon_filename,
         tuning_yaml,
-        os.path.join(this_dir,'examples_out','18_UPDATED_DISCON.IN')
+        new_discon
         )
+
+    # Try using updated DISCON
+
+    shutil.copyfile(
+        os.path.join(this_dir,'example_inputs','Cp_Ct_Cq.IEA15MW.txt'),
+        os.path.join(this_dir,'examples_out','Cp_Ct_Cq.IEA15MW.txt')
+    )  # Copy Cp table for testing 
+
+    controller_int = ROSCO_ci.ControllerInterface(
+        discon_lib_path,
+        param_filename=new_discon,
+        sim_name='sim1')
+    controller_int.kill_discon()
+
+    assert(controller_int.aviFAIL.value == 0)
 
 if __name__ == "__main__":
     main()

Examples/21_optional_inputs.py

@@ -8,9 +8,7 @@
 import os
 from rosco import discon_lib_path
 from rosco.toolbox import control_interface as ROSCO_ci
-#from rosco.toolbox import sim as ROSCO_sim
 from rosco.toolbox import turbine as ROSCO_turbine
-#import numpy as np
 
 def main():#directories
     this_dir            = os.path.dirname(os.path.abspath(__file__))

Examples/31_fixed_pitch_mhk.py

@@ -0,0 +1,234 @@
+'''
+30_fixed_pitch_mhk
+------------------
+
+This example demonstrates the fixed-pitch control of a marine hydrodkinetic (MHK) turbine.
+
+There are several ways to control the power output of a turbine in above-rated conditions.  
+In this example we demonstrate the following control configurations:
+
+#. Constant power underspeed (should be the default)
+#. Constant power overspeed
+#. Linear increasing power
+#. Linear increasing power, leveling out
+#. Generic numeric function
+#. Constant power overspeed, nonlinear lookup table control
+
+The desired power curves of each configuration are as follows:
+
+.. image:: ../images/30_fixed_pitch_mhk_sched.png
+
+In the first case, the reference generator speed is decreased (underspeed) to maintain a constant rated power above rated.
+To slow down the generator, a higher torque must be used:
+
+.. image:: ../images/30_fixed_pitch_mhk_sim.png
+
+
+
+'''
+
+# Copying images, from docs/:
+# cp ../Examples/examples_out/30_fixed_pitch_mhk_sched.png images/
+# cp ../Examples/examples_out/30_fixed_pitch_mhk_sim.png images/
+
+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
+
+
+
+#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():
+
+    FULL_TEST = False   # Run a full test locally (True) or a shorter one for CI
+    sim_config = 1      # Choose which simulation configuration (1-6)
+
+    # 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)
+
+    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_U'] = [2.0, 4.0]
+    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_U'] = [2.0, 4.0]
+    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_2['VS_FBP_U'] = [2.0, 4.0]
+    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'] = 1 # Constant power overspeed
+    controller_params_6['VS_FBP_speed_mode'] = 1
+    controller_params_6['VS_FBP_U'] = [2.0, 4.0]
+    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', bbox_to_anchor=(.2, 2.35))
+
+    fig.align_ylabels()
+    plt.subplots_adjust(hspace=0.5)
+
+
+    if False:
+        plt.show()
+    else:
+        fig_fname = os.path.join(example_out_dir, '30_fixed_pitch_mhk_sched.png')
+        print('Saving figure ' + fig_fname)
+        plt.savefig(fig_fname,bbox_inches='tight',)
+
+    # Write parameter input file for constant power underspeed controller
+    run_dir = os.path.join(example_out_dir, f'31_MHK/{sim_config}_config')
+    os.makedirs(run_dir,exist_ok=True)
+
+    # simulation set up
+    if FULL_TEST:
+        TMax = 60
+    else:
+        TMax = 5
+
+    all_controller_params = [
+        controller_params_1,
+        controller_params_2,
+        controller_params_3,
+        controller_params_4,
+        controller_params_5,
+        controller_params_6,
+    ]
+
+    if sim_config in range(1,len(all_controller_params)+1):
+        controller_params = all_controller_params[sim_config-1]
+    else:
+        raise Exception(f'Invalid sim_config of {sim_config}.  Note the 1-indexing.')
+
+    r = run_FAST_ROSCO()
+    r.tuning_yaml   = parameter_filename
+    r.wind_case_fcn = cl.power_curve
+    r.wind_case_opts    = {
+        'U': [3.0],
+        'TMax': TMax,
+        }
+    r.case_inputs = {}
+    r.controller_params = controller_params
+    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]',rotation=0, labelpad=50)
+    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]',rotation=0, labelpad=50)
+    axs[2].plot(fast_out[0]['Time'], fast_out[0]['GenTq'] * 1e3,           label='Constant Power Underspeed')
+    axs[2].set_ylabel('Gen Torque [N m]',rotation=0, labelpad=50)
+    axs[3].plot(fast_out[0]['Time'], fast_out[0]['GenPwr'] * 1e3,          label='Constant Power Underspeed')
+    axs[3].set_ylabel('Gen Power [W]',rotation=0, labelpad=50)
+    axs[3].set_xlabel('Time [s]')
+
+    plt.subplots_adjust(hspace=0.5)
+    fig.align_ylabels()
+
+
+    # TODO: Compare result to desired operating schedule
+
+    if False:
+        plt.show()
+    else:
+        fig_fname = os.path.join(example_out_dir, '30_fixed_pitch_mhk_sim.png')
+        print('Saving figure ' + fig_fname)
+        plt.savefig(fig_fname, bbox_inches='tight')
+
+
+if __name__=="__main__":
+    main()