NREL · dzalkind · Dec 13, 2024 · Nov 10, 2024 · Nov 12, 2024 · Nov 13, 2024
diff --git a/Examples/30_shutdown.py b/Examples/30_shutdown.py
@@ -0,0 +1,92 @@
+"""
+30_shutdown
+----------------
+This example demonstrates turbine shutdown.
+"""
+
+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():
+    # Test Config
+    FULL_TEST = False  # FULL_TEST for local testing, otherwise shorter for CI
+
+    # 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
+    controller_params["DISCON"]["SD_EnableTime"] = 1
+    controller_params["DISCON"]["SD_Time"] = 20
+
+    # 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()
diff --git a/Examples/Test_Cases/BAR_10/BAR_10_DISCON.IN b/Examples/Test_Cases/BAR_10/BAR_10_DISCON.IN
@@ -145,8 +145,20 @@
 -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_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, [-]
+0.5236            ! SD_MaxPit                - Maximum blade pitch angle to initiate shutdown, [rad]
+0.4189            ! SD_PitchCornerFreq       - Cutoff Frequency for first order low-pass filter for blade pitch angle for shutdown, [rad/s]
+0.5236            ! SD_MaxYawError           - Maximum yaw error to initiate shutdown, [rad]
+0.4189            ! SD_YawErrorCornerFreq    - Cutoff Frequency for first order low-pass filter for yaw error for shutdown, [rad/s]
+10.000            ! SD_MaxGenSpd             - Maximum generator speed to initiate shutdown, [rad/s]
+0.4189            ! SD_GenSpdCornerFreq       - Cutoff Frequency for first order low-pass filter for generator speed for shutdown, [rad/s] 
+9999.00           ! SD_Time   - Shutdown time, [s]
+1                 ! SD_Method   - Shutdown method {1: Reduce generator torque and increase blade pitch}, [-]
+62000             ! SD_MaxTorqueRate   - Maximum torque rate for shutdown, [Nm/s]
+2.00              ! 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

diff --git a/Examples/Test_Cases/IEA-15-240-RWT-UMaineSemi/DISCON-UMaineSemi.IN b/Examples/Test_Cases/IEA-15-240-RWT-UMaineSemi/DISCON-UMaineSemi.IN
@@ -145,8 +145,20 @@
 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_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, [-]
+0.5236            ! SD_MaxPit                - Maximum blade pitch angle to initiate shutdown, [rad]
+0.4189            ! SD_PitchCornerFreq       - Cutoff Frequency for first order low-pass filter for blade pitch angle for shutdown, [rad/s]
+0.5236            ! SD_MaxYawError           - Maximum yaw error to initiate shutdown, [rad]
+0.4189            ! SD_YawErrorCornerFreq    - Cutoff Frequency for first order low-pass filter for yaw error for shutdown, [rad/s]
+10.000            ! SD_MaxGenSpd             - Maximum generator speed to initiate shutdown, [rad/s]
+0.4189            ! SD_GenSpdCornerFreq       - Cutoff Frequency for first order low-pass filter for generator speed for shutdown, [rad/s] 
+9999.00           ! SD_Time   - Shutdown time, [s]
+1                 ! SD_Method   - Shutdown method {1: Reduce generator torque and increase blade pitch}, [-]
+4500000           ! SD_MaxTorqueRate   - Maximum torque rate for shutdown, [Nm/s]
+0.03490           ! 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

diff --git a/Examples/Test_Cases/MHK_RM1/MHK_RM1_DISCON.IN b/Examples/Test_Cases/MHK_RM1/MHK_RM1_DISCON.IN
@@ -145,8 +145,20 @@
 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_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, [-]
+0.5236            ! SD_MaxPit                - Maximum blade pitch angle to initiate shutdown, [rad]
+0.4189            ! SD_PitchCornerFreq       - Cutoff Frequency for first order low-pass filter for blade pitch angle for shutdown, [rad/s]
+0.5236            ! SD_MaxYawError           - Maximum yaw error to initiate shutdown, [rad]
+0.4189            ! SD_YawErrorCornerFreq    - Cutoff Frequency for first order low-pass filter for yaw error for shutdown, [rad/s]
+10.000            ! SD_MaxGenSpd             - Maximum generator speed to initiate shutdown, [rad/s]
+0.4189            ! SD_GenSpdCornerFreq       - Cutoff Frequency for first order low-pass filter for generator speed for shutdown, [rad/s] 
+9999.00           ! SD_Time   - Shutdown time, [s]
+1                 ! SD_Method   - Shutdown method {1: Reduce generator torque and increase blade pitch}, [-]
+7800              ! SD_MaxTorqueRate   - Maximum torque rate for shutdown, [Nm/s]
+0.1745            ! 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

diff --git a/Examples/Test_Cases/NREL-5MW/DISCON.IN b/Examples/Test_Cases/NREL-5MW/DISCON.IN
@@ -145,8 +145,20 @@
 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      0.011      0.023      0.032      0.040      0.047      0.059      0.070      0.081      0.091      0.102      0.112      0.122      0.131      0.141      0.150      0.160      0.169      0.178      0.187      0.196      0.205      0.214      0.223      0.232      0.240      0.249      0.257      0.266      0.274      0.282      0.290      0.299      0.307      0.315      0.323                    ! 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_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, [-]
+0.5236            ! SD_MaxPit                - Maximum blade pitch angle to initiate shutdown, [rad]
+0.4189            ! SD_PitchCornerFreq       - Cutoff Frequency for first order low-pass filter for blade pitch angle for shutdown, [rad/s]
+0.5236            ! SD_MaxYawError           - Maximum yaw error to initiate shutdown, [rad]
+0.4189            ! SD_YawErrorCornerFreq    - Cutoff Frequency for first order low-pass filter for yaw error for shutdown, [rad/s]
+10.000            ! SD_MaxGenSpd             - Maximum generator speed to initiate shutdown, [rad/s]
+0.4189            ! SD_GenSpdCornerFreq       - Cutoff Frequency for first order low-pass filter for generator speed for shutdown, [rad/s] 
+9999.00           ! SD_Time   - Shutdown time, [s]
+1                 ! SD_Method   - Shutdown method {1: Reduce generator torque and increase blade pitch}, [-]
+4500000           ! SD_MaxTorqueRate   - Maximum torque rate for shutdown, [Nm/s]
+0.03490           ! 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

diff --git a/Examples/Test_Cases/NREL_2p8_127/NREL-2p8-127_DISCON.IN b/Examples/Test_Cases/NREL_2p8_127/NREL-2p8-127_DISCON.IN
@@ -145,8 +145,20 @@
 0.000      0.000      0.000      0.000      0.000      0.000      0.000      0.000      0.000      0.000      0.000      0.000      0.000      0.000      0.000      0.000      0.000      0.000      0.000      0.000      0.000      0.000      0.000      0.019      0.031      0.041      0.050      0.058      0.066      0.074      0.086      0.096      0.107      0.117      0.127      0.137      0.147      0.156      0.165      0.174      0.183      0.192      0.201      0.210      0.218      0.227      0.236      0.244      0.253      0.262      0.270      0.279      0.287      0.295      0.303      0.312      0.320      0.328      0.337      0.345                    ! 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_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, [-]
+0.5236            ! SD_MaxPit                - Maximum blade pitch angle to initiate shutdown, [rad]
+0.4189            ! SD_PitchCornerFreq       - Cutoff Frequency for first order low-pass filter for blade pitch angle for shutdown, [rad/s]
+0.5236            ! SD_MaxYawError           - Maximum yaw error to initiate shutdown, [rad]
+0.4189            ! SD_YawErrorCornerFreq    - Cutoff Frequency for first order low-pass filter for yaw error for shutdown, [rad/s]
+10.000            ! SD_MaxGenSpd             - Maximum generator speed to initiate shutdown, [rad/s]
+0.4189            ! SD_GenSpdCornerFreq       - Cutoff Frequency for first order low-pass filter for generator speed for shutdown, [rad/s] 
+9999.00           ! SD_Time   - Shutdown time, [s]
+1                 ! SD_Method   - Shutdown method {1: Reduce generator torque and increase blade pitch}, [-]
+22000             ! SD_MaxTorqueRate   - Maximum torque rate for shutdown, [Nm/s]
+0.1745            ! 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

diff --git a/Examples/Tune_Cases/NREL5MW.yaml b/Examples/Tune_Cases/NREL5MW.yaml
@@ -48,4 +48,3 @@ controller_params:
   ptfm_freq:          0.2325                # Platform natural frequency [rad/s]  (OC4Hywind Parameters, here)   
   # Optional         
   ps_percent:         0.80                  # Percent peak shaving  [%, <= 1 ], {default = 80%}
-  sd_maxpit:          0.4363                # Maximum blade pitch angle to initiate shutdown [rad], {default = bld pitch at v_max}
diff --git a/Examples/example_inputs/DISCON_v2.2.0.IN b/Examples/example_inputs/DISCON_v2.2.0.IN
@@ -106,8 +106,20 @@
 0.06108652 0.06108652 0.06108652 0.05672320 0.04799655 0.03926991 0.02617994 0.01308997 0.00000000 0.00000000 0.00000000 0.00000000 0.00000000 0.00000000 0.00000000 0.00000000 0.00000000 0.00000000 0.00000000 0.00000000 0.00000000 0.00000000 0.00000000 0.00000000 0.00000000 0.00000000 0.00000000 0.00000000 0.00000000 0.00000000 0.00000000 0.00000000 0.00000000 0.00000000 0.00000000 0.00000000 0.00000000 0.00000000 0.00000000 0.00000000 0.00000000 0.00000000 0.00000000 0.00000000               ! PS_BldPitchMin    - Minimum blade pitch angles [rad]
 
 !------- SHUTDOWN -----------------------------------------------------------
-0.393240000000      ! 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_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, [-]
+0.436300000000      ! 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]
+0.523600000000      ! SD_MaxYawError           - Maximum yaw error to initiate shutdown, [rad]
+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}, [-]
+22000.00000000      ! SD_MaxTorqueRate   - Maximum torque rate for shutdown, [Nm/s]
+0.174500000000      ! SD_MaxPitchRate    - Maximum pitch rate used for shutdown, [rad/s]
 
 !------- Floating -----------------------------------------------------------
 -9.32196000000      ! Fl_Kp             - Nacelle velocity proportional feedback gain [s]