Shutdown

Examples/04_simple_sim.py

@@ -112,6 +112,3 @@ def main():
 if __name__ == "__main__":
     main()
 
-if __name__=='__main__':
-    main()
-

Examples/30_shutdown.py

@@ -0,0 +1,123 @@
+"""
+30_shutdown
+----------------
+This example demonstrates turbine shutdown using collective blade pitch threshold mode.
+
+ROSCO allows for four shutdown trigger options:
+
+- collective blade pitch exceeds a threshold
+- yaw error exceeds a threshold
+- generator speed exceeds a threshold
+- Shutdown at a predefined time
+
+
+Pitch Threshold Demo
+````````````````````
+The following plot demonstrates turbine shutdown when blade pitch exceeds a threshold of 30 degrees.
+This shutdown mode can provide protection against high wind speeds.
+
+.. image:: ../images/30_shutdown_pitch_demo.png
+
+Yaw Error Threshold Demo
+````````````````````````
+The following plot demonstrates turbine shutdown when turbine yaw error pitch exceeds a threshold of 25 degrees.
+This demonstration uses the extreme coherent gust with direction change wind inflow used in DLC 1.4.
+
+.. image:: ../images/30_shutdown_yaw_demo.png
+
+Generator Speed Threshold Demo
+``````````````````````````````
+The following plot demonstrates turbine shutdown when generator speed exceeds a threshold of 8.5 rpm.
+This also compares the use of :code:`SD_TimeActive` to enable shutdown at 0 seconds and 10 seconds.
+
+.. image:: ../images/30_shutdown_gen_demo.png
+
+Time Demo
+`````````
+The following plot demonstrates turbine shutdown at 20 second time.
+
+.. image:: ../images/30_shutdown_time_demo.png
+
+"""
+
+import os
+import numpy as np
+import matplotlib.pyplot as plt
+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
+
+rpm2RadSec = 2.0 * (np.pi) / 60.0
+deg2rad = np.pi/180.0
+
+# directories
+this_dir = os.path.dirname(os.path.abspath(__file__))
+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/IEA15MW.yaml")
+
+    # Set DISCON input dynamically through yaml/dict
+    controller_params = {}
+    controller_params["DISCON"] = {}
+    controller_params["DISCON"]["Echo"] = 1
+    controller_params["LoggingLevel"] = 3
+    controller_params["SD_Mode"] = 1
+    controller_params["DISCON"]["SD_EnablePitch"] = 1
+    controller_params["DISCON"]["SD_MaxPit"] = 30*deg2rad
+    controller_params["DISCON"]["SD_MaxPitchRate"] = 0.0348
+    controller_params["DISCON"]["SD_MaxTorqueRate"] = 4500000
+
+    # simulation set up
+    r = run_FAST_ROSCO()
+    r.tuning_yaml = parameter_filename
+    r.case_inputs = {}
+
+    # Disable floating DOFs for clarity
+    r.case_inputs[("ElastoDyn", "PtfmSgDOF")] = {"vals": ["False"], "group": 0}
+    r.case_inputs[("ElastoDyn", "PtfmSwDOF")] = {"vals": ["False"], "group": 0}
+    r.case_inputs[("ElastoDyn", "PtfmHvDOF")] = {"vals": ["False"], "group": 0}
+    r.case_inputs[("ElastoDyn", "PtfmRDOF")] = {"vals": ["False"], "group": 0}
+    r.case_inputs[("ElastoDyn", "PtfmPDOF")] = {"vals": ["False"], "group": 0}
+    r.case_inputs[("ElastoDyn", "PtfmYDOF")] = {"vals": ["False"], "group": 0}
+
+
+    t_max = 80
+
+    run_dir = os.path.join(example_out_dir, "30_shutdown_demo/1_pitch")
+
+    # Wind case
+    r.wind_case_fcn = cl.ramp
+    r.wind_case_opts = {
+        "U_start": 25,
+        "U_end": 50,
+        "t_start": 0,
+        "t_end": t_max,
+    }
+    r.case_inputs[("ElastoDyn", "BlPitch1")] = {"vals": [20.0], "group": 0}
+    r.case_inputs[("ElastoDyn", "BlPitch2")] = {"vals": [20.0], "group": 0}
+    r.case_inputs[("ElastoDyn", "BlPitch3")] = {"vals": [20.0], "group": 0}
+    r.case_inputs[("ElastoDyn", "RotSpeed")] = {"vals": [10.0], "group": 0}
+
+    # Run simulation 
+    os.makedirs(run_dir, exist_ok=True)
+    r.controller_params = controller_params
+    r.save_dir = run_dir
+    r.run_FAST()
+
+    # Plot output
+    outfile = [os.path.join(run_dir, "IEA15MW", "ramp", "base", "IEA15MW_0.outb")]
+    cases = {}
+    cases["Baseline"] = ["Wind1VelX", "BldPitch1", "GenTq", "RotSpeed", "GenPwr"]
+    fast_out = output_processing.output_processing()
+    fastout = fast_out.load_fast_out(outfile)
+    fast_out.plot_fast_out(cases=cases, showplot=False)
+
+    plt.savefig(os.path.join(example_out_dir, "30_shutdown.png"))
+
+
+if __name__ == "__main__":
+    main()

Examples/Test_Cases/BAR_10/BAR_10_DISCON.IN

@@ -1,5 +1,5 @@
 ! Controller parameter input file for the BAR_10 wind turbine
-!    - File written using ROSCO version 2.9.4 controller tuning logic on 09/03/24
+!    - File written using ROSCO version 2.9.4 controller tuning logic on 12/11/24
 
 !------- 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)}
@@ -18,7 +18,7 @@
 0                   ! PRC_Mode        - Power reference tracking mode{0: power control disabled, 1: lookup table from wind speed to generator speed setpoints, 2: change speed, torque, pitch to control power}
 2                   ! WE_Mode         - Wind speed estimator mode {0: One-second low pass filtered hub height wind speed, 1: Immersion and Invariance Estimator, 2: Extended Kalman Filter}
 1                   ! PS_Mode         - Pitch saturation mode {0: no pitch saturation, 1: implement pitch saturation}
-0                   ! SD_Mode         - Shutdown mode {0: no shutdown procedure, 1: pitch to max pitch at shutdown}
+0                   ! SD_Mode         - Shutdown mode {0: no shutdown procedure, 1: shutdown enabled}
 0                   ! Fl_Mode         - Floating specific feedback mode {0: no nacelle velocity feedback, 1: feed back translational velocity, 2: feed back rotational veloicty}
 0                   ! TD_Mode         - Tower damper mode (0- no tower damper, 1- feed back translational nacelle accelleration to pitch angle
 0                   ! TRA_Mode        - Tower resonance avoidance mode (0- no tower resonsnace avoidance, 1- use torque control setpoints to avoid a specific frequency
@@ -81,7 +81,7 @@
 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
+11.43674000000      ! VS_Rgn2K		- Generator torque constant in Region 2 (HSS side). Only used in VS_ControlMode = 1,3
 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]
@@ -145,8 +145,21 @@
 -0.015     -0.015     -0.015     -0.015     -0.015     -0.015     -0.015     -0.015     -0.015     -0.015     -0.015     -0.015     -0.015     -0.015     -0.015     -0.015     -0.015     -0.015     -0.015     -0.015     -0.015     -0.015     -0.015     -0.015     -0.012     0.000      0.011      0.020      0.029      0.041      0.056      0.069      0.082      0.095      0.108      0.120      0.132      0.143      0.155      0.166      0.178      0.189      0.200      0.211      0.222      0.232      0.243      0.254      0.264      0.274      0.285      0.295      0.305      0.315      0.325      0.335      0.344      0.354      0.364      0.373                    ! PS_BldPitchMin    - Minimum blade pitch angles [rad]
 
 !------- SHUTDOWN -----------------------------------------------------------
-0.698100000000      ! SD_MaxPit         - Maximum blade pitch angle to initiate shutdown, [rad]
-0.418880000000      ! SD_CornerFreq     - Cutoff Frequency for first order low-pass filter for blade pitch angle, [rad/s]
+0                   ! SD_TimeActivate        - Time to acitvate shutdown modes, [s]
+0                   ! SD_EnablePitch         - Shutdown when collective blade pitch exceeds a threshold, [-]
+0                   ! SD_EnableYawError      - Shutdown when yaw error exceeds a threshold, [-]
+0                   ! SD_EnableGenSpeed      - Shutdown when generator speed exceeds a threshold, [-]
+0                   ! SD_EnableTime          - Shutdown at a predefined time, [-]
+0.698100000000      ! SD_MaxPit              - Maximum blade pitch angle to initiate shutdown, [rad]
+0.418880000000      ! SD_PitchCornerFreq     - Cutoff Frequency for first order low-pass filter for blade pitch angle for shutdown, [rad/s]
+30.00000000000      ! SD_MaxYawError         - Maximum yaw error to initiate shutdown, [deg]
+0.418880000000      ! SD_YawErrorCornerFreq  - Cutoff Frequency for first order low-pass filter for yaw error for shutdown, [rad/s]
+10.00000000000      ! SD_MaxGenSpd           - Maximum generator speed to initiate shutdown, [rad/s]
+0.418880000000      ! SD_GenSpdCornerFreq    - Cutoff Frequency for first order low-pass filter for generator speed for shutdown, [rad/s] 
+9999.000000000      ! SD_Time                - Shutdown time, [s]
+1                   ! SD_Method              - Shutdown method {1: Reduce generator torque and increase blade pitch}, [-]
+62000.00000000      ! SD_MaxTorqueRate       - Maximum torque rate for shutdown, [Nm/s]
+2.000000000000      ! SD_MaxPitchRate        - Maximum pitch rate used for shutdown, [rad/s]
 
 !------- Floating -----------------------------------------------------------
 1                   ! Fl_n              - Number of Fl_Kp gains in gain scheduling, optional with default of 1

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

@@ -1,5 +1,5 @@
 ! Controller parameter input file for the IEA-15-240-RWT-UMaineSemi wind turbine
-!    - File written using ROSCO version 2.9.4 controller tuning logic on 09/03/24
+!    - File written using ROSCO version 2.9.4 controller tuning logic on 12/11/24
 
 !------- 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)}
@@ -18,7 +18,7 @@
 0                   ! PRC_Mode        - Power reference tracking mode{0: power control disabled, 1: lookup table from wind speed to generator speed setpoints, 2: change speed, torque, pitch to control power}
 2                   ! WE_Mode         - Wind speed estimator mode {0: One-second low pass filtered hub height wind speed, 1: Immersion and Invariance Estimator, 2: Extended Kalman Filter}
 1                   ! PS_Mode         - Pitch saturation mode {0: no pitch saturation, 1: implement pitch saturation}
-0                   ! SD_Mode         - Shutdown mode {0: no shutdown procedure, 1: pitch to max pitch at shutdown}
+0                   ! SD_Mode         - Shutdown mode {0: no shutdown procedure, 1: shutdown enabled}
 2                   ! Fl_Mode         - Floating specific feedback mode {0: no nacelle velocity feedback, 1: feed back translational velocity, 2: feed back rotational veloicty}
 0                   ! TD_Mode         - Tower damper mode (0- no tower damper, 1- feed back translational nacelle accelleration to pitch angle
 0                   ! TRA_Mode        - Tower resonance avoidance mode (0- no tower resonsnace avoidance, 1- use torque control setpoints to avoid a specific frequency
@@ -81,7 +81,7 @@
 21765444.21450      ! VS_MaxTq			- Maximum generator torque in Region 3 (HSS side), [Nm].
 0.000000000000      ! VS_MinTq			- Minimum generator torque (HSS side), [Nm].
 0.523600000000      ! VS_MinOMSpd		- Minimum generator speed [rad/s]
-32413847.90763      ! VS_Rgn2K		- Generator torque constant in Region 2 (HSS side). Only used in VS_ControlMode = 1,3
+33850461.49341      ! VS_Rgn2K		- Generator torque constant in Region 2 (HSS side). Only used in VS_ControlMode = 1,3
 15000000.00000      ! VS_RtPwr			- Wind turbine rated power [W]
 19786767.46773      ! VS_RtTq			- Rated torque, [Nm].
 0.791680000000      ! VS_RefSpd			- Rated generator speed [rad/s]
@@ -145,8 +145,21 @@
 0.060      0.060      0.060      0.060      0.060      0.060      0.056      0.052      0.047      0.041      0.036      0.029      0.022      0.015      0.008      0.001      0.000      0.000      0.000      0.000      0.000      0.000      0.000      0.000      0.000      0.006      0.021      0.033      0.044      0.053      0.064      0.074      0.084      0.093      0.103      0.112      0.121      0.130      0.138      0.147      0.155      0.163      0.172      0.180      0.188      0.196      0.203      0.211      0.219      0.227      0.234      0.242      0.250      0.257      0.265      0.272      0.279      0.287      0.294      0.301                    ! PS_BldPitchMin    - Minimum blade pitch angles [rad]
 
 !------- SHUTDOWN -----------------------------------------------------------
-0.698100000000      ! SD_MaxPit         - Maximum blade pitch angle to initiate shutdown, [rad]
-0.418880000000      ! SD_CornerFreq     - Cutoff Frequency for first order low-pass filter for blade pitch angle, [rad/s]
+0                   ! SD_TimeActivate        - Time to acitvate shutdown modes, [s]
+0                   ! SD_EnablePitch         - Shutdown when collective blade pitch exceeds a threshold, [-]
+0                   ! SD_EnableYawError      - Shutdown when yaw error exceeds a threshold, [-]
+0                   ! SD_EnableGenSpeed      - Shutdown when generator speed exceeds a threshold, [-]
+0                   ! SD_EnableTime          - Shutdown at a predefined time, [-]
+0.698100000000      ! SD_MaxPit              - Maximum blade pitch angle to initiate shutdown, [rad]
+0.418880000000      ! SD_PitchCornerFreq     - Cutoff Frequency for first order low-pass filter for blade pitch angle for shutdown, [rad/s]
+30.00000000000      ! SD_MaxYawError         - Maximum yaw error to initiate shutdown, [deg]
+0.418880000000      ! SD_YawErrorCornerFreq  - Cutoff Frequency for first order low-pass filter for yaw error for shutdown, [rad/s]
+10.00000000000      ! SD_MaxGenSpd           - Maximum generator speed to initiate shutdown, [rad/s]
+0.418880000000      ! SD_GenSpdCornerFreq    - Cutoff Frequency for first order low-pass filter for generator speed for shutdown, [rad/s] 
+9999.000000000      ! SD_Time                - Shutdown time, [s]
+1                   ! SD_Method              - Shutdown method {1: Reduce generator torque and increase blade pitch}, [-]
+4500000.000000      ! SD_MaxTorqueRate       - Maximum torque rate for shutdown, [Nm/s]
+0.034900000000      ! SD_MaxPitchRate        - Maximum pitch rate used for shutdown, [rad/s]
 
 !------- Floating -----------------------------------------------------------
 1                   ! Fl_n              - Number of Fl_Kp gains in gain scheduling, optional with default of 1

Examples/Test_Cases/MHK_RM1/MHK_RM1_DISCON.IN

@@ -1,5 +1,5 @@
 ! Controller parameter input file for the MHK_RM1_Floating wind turbine
-!    - File written using ROSCO version 2.9.4 controller tuning logic on 09/03/24
+!    - File written using ROSCO version 2.9.4 controller tuning logic on 12/11/24
 
 !------- 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)}
@@ -18,7 +18,7 @@
 0                   ! PRC_Mode        - Power reference tracking mode{0: power control disabled, 1: lookup table from wind speed to generator speed setpoints, 2: change speed, torque, pitch to control power}
 0                   ! WE_Mode         - Wind speed estimator mode {0: One-second low pass filtered hub height wind speed, 1: Immersion and Invariance Estimator, 2: Extended Kalman Filter}
 0                   ! PS_Mode         - Pitch saturation mode {0: no pitch saturation, 1: implement pitch saturation}
-0                   ! SD_Mode         - Shutdown mode {0: no shutdown procedure, 1: pitch to max pitch at shutdown}
+0                   ! SD_Mode         - Shutdown mode {0: no shutdown procedure, 1: shutdown enabled}
 1                   ! Fl_Mode         - Floating specific feedback mode {0: no nacelle velocity feedback, 1: feed back translational velocity, 2: feed back rotational veloicty}
 0                   ! TD_Mode         - Tower damper mode (0- no tower damper, 1- feed back translational nacelle accelleration to pitch angle
 0                   ! TRA_Mode        - Tower resonance avoidance mode (0- no tower resonsnace avoidance, 1- use torque control setpoints to avoid a specific frequency
@@ -81,7 +81,7 @@
 12450.50344000      ! VS_MaxTq			- Maximum generator torque in Region 3 (HSS side), [Nm].
 0.000000000000      ! VS_MinTq			- Minimum generator torque (HSS side), [Nm].
 19.00309000000      ! VS_MinOMSpd		- Minimum generator speed [rad/s]
-1.142870000000      ! VS_Rgn2K		- Generator torque constant in Region 2 (HSS side). Only used in VS_ControlMode = 1,3
+1.210670000000      ! VS_Rgn2K		- Generator torque constant in Region 2 (HSS side). Only used in VS_ControlMode = 1,3
 500000.0000000      ! VS_RtPwr			- Wind turbine rated power [W]
 8300.335630000      ! VS_RtTq			- Rated torque, [Nm].
 63.81200000000      ! VS_RefSpd			- Rated generator speed [rad/s]
@@ -145,8 +145,21 @@
 0.001      0.001      0.001      0.001      0.001      0.001      0.001      0.001      0.001      0.001      0.001      0.001      0.001      0.001      0.001      0.001      0.001      0.001      0.001      0.001      0.001      0.001      0.001      0.001      0.001      0.001      0.001      0.001      0.001      0.001      0.001      0.001      0.001      0.001      0.001      0.001      0.001      0.001      0.001      0.001      0.001      0.001      0.001      0.001      0.001      0.001      0.001      0.001      0.001      0.001      0.001      0.001      0.001      0.001      0.001      0.001      0.001      0.001      0.001      0.001                    ! PS_BldPitchMin    - Minimum blade pitch angles [rad]
 
 !------- SHUTDOWN -----------------------------------------------------------
-0.436300000000      ! SD_MaxPit         - Maximum blade pitch angle to initiate shutdown, [rad]
-0.418880000000      ! SD_CornerFreq     - Cutoff Frequency for first order low-pass filter for blade pitch angle, [rad/s]
+0                   ! SD_TimeActivate        - Time to acitvate shutdown modes, [s]
+0                   ! SD_EnablePitch         - Shutdown when collective blade pitch exceeds a threshold, [-]
+0                   ! SD_EnableYawError      - Shutdown when yaw error exceeds a threshold, [-]
+0                   ! SD_EnableGenSpeed      - Shutdown when generator speed exceeds a threshold, [-]
+0                   ! SD_EnableTime          - Shutdown at a predefined time, [-]
+0.698100000000      ! SD_MaxPit              - Maximum blade pitch angle to initiate shutdown, [rad]
+0.418880000000      ! SD_PitchCornerFreq     - Cutoff Frequency for first order low-pass filter for blade pitch angle for shutdown, [rad/s]
+30.00000000000      ! SD_MaxYawError         - Maximum yaw error to initiate shutdown, [deg]
+0.418880000000      ! SD_YawErrorCornerFreq  - Cutoff Frequency for first order low-pass filter for yaw error for shutdown, [rad/s]
+10.00000000000      ! SD_MaxGenSpd           - Maximum generator speed to initiate shutdown, [rad/s]
+0.418880000000      ! SD_GenSpdCornerFreq    - Cutoff Frequency for first order low-pass filter for generator speed for shutdown, [rad/s] 
+9999.000000000      ! SD_Time                - Shutdown time, [s]
+1                   ! SD_Method              - Shutdown method {1: Reduce generator torque and increase blade pitch}, [-]
+7800.000000000      ! SD_MaxTorqueRate       - Maximum torque rate for shutdown, [Nm/s]
+0.174500000000      ! SD_MaxPitchRate        - Maximum pitch rate used for shutdown, [rad/s]
 
 !------- Floating -----------------------------------------------------------
 1                   ! Fl_n              - Number of Fl_Kp gains in gain scheduling, optional with default of 1