/
utilities.py
718 lines (651 loc) · 48.5 KB
/
utilities.py
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# Copyright 2019 NREL
# Licensed under the Apache License, Version 2.0 (the "License"); you may not use
# this file except in compliance with the License. You may obtain a copy of the
# License at http://www.apache.org/licenses/LICENSE-2.0
# Unless required by applicable law or agreed to in writing, software distributed
# under the License is distributed on an "AS IS" BASIS, WITHOUT WARRANTIES OR
# CONDITIONS OF ANY KIND, either express or implied. See the License for the
# specific language governing permissions and limitations under the License.
"""
Class FileProcessing used to write out controller
parameter files need to run ROSCO
Methods:
-----------
run_openfast
write_DISCON
read_DISCON
write_rotor_performance
load_from_txt
DISCON_dict
list_check
"""
import datetime
import os
import numpy as np
import subprocess
import rosco.toolbox
from wisdem.inputs import load_yaml
from wisdem.inputs import load_yaml
from rosco.toolbox.ofTools.util.FileTools import remove_numpy
# Some useful constants
now = datetime.datetime.now()
pi = np.pi
rad2deg = np.rad2deg(1)
deg2rad = np.deg2rad(1)
rpm2RadSec = 2.0*(np.pi)/60.0
RadSec2rpm = 60/(2.0 * np.pi)
def write_DISCON(turbine, controller, param_file='DISCON.IN', txt_filename='Cp_Ct_Cq.txt', rosco_vt = {}):
"""
Print the controller parameters to the DISCON.IN input file for the generic controller
Parameters:
-----------
turbine: class
Turbine class containing turbine operation information (ref speeds, etc...)
controller: class
Controller class containing controller operation information (gains, etc...)
param_file: str, optional
filename for parameter input file, should be DISCON.IN
txt_filename: str, optional
filename of rotor performance file
"""
# Get ROSCO var tree if not provided
if not rosco_vt:
rosco_vt = DISCON_dict(turbine, controller, txt_filename)
# Get input descriptions from input schema
fname_schema = os.path.join(os.path.dirname(__file__),'inputs/toolbox_schema.yaml')
sch = load_yaml(fname_schema)
# mode descriptions in main controller_params, might not be needed
mode_descriptions = {}
for input, props in sch['properties']['controller_params']['properties'].items():
if 'description' in props:
mode_descriptions[input] = props['description']
input_descriptions = {}
for input, props in sch['properties']['controller_params']['properties']['DISCON']['properties'].items():
if 'description' in props:
input_descriptions[input] = props['description']
# Tidy inputs, if needed
if not hasattr(rosco_vt['CC_GroupIndex'],'__len__'):
rosco_vt['CC_GroupIndex'] = [rosco_vt['CC_GroupIndex']] # make an array
if not hasattr(rosco_vt['StC_GroupIndex'],'__len__'):
rosco_vt['StC_GroupIndex'] = [rosco_vt['StC_GroupIndex']]
print('Writing new controller parameter file parameter file: %s.' % param_file)
# Should be obvious what's going on here...
file = open(param_file,'w')
file.write('! Controller parameter input file for the %s wind turbine\n' % turbine.TurbineName)
file.write('! - File written using ROSCO version {} controller tuning logic on {}\n'.format(rosco.toolbox.__version__, now.strftime('%m/%d/%y')))
file.write('\n')
file.write('!------- SIMULATION CONTROL ------------------------------------------------------------\n')
file.write('{0:<12d} ! 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)}}\n'.format(int(rosco_vt['LoggingLevel'])))
file.write('{} ! DT_Out - {{Time step to output .dbg* files, or 0 to match sampling period of OpenFAST}}\n'.format(rosco_vt['DT_Out']))
file.write('{:<11d} ! Ext_Interface - ({})\n'.format(int(rosco_vt['Ext_Interface']), input_descriptions['Ext_Interface']))
file.write('{:<11d} ! Echo - ({})\n'.format(int(rosco_vt['Echo']), input_descriptions['Echo']))
file.write('\n')
file.write('!------- CONTROLLER FLAGS -------------------------------------------------\n')
file.write('{0:<12d} ! F_LPFType - (1: first-order low-pass filter, 2: second-order low-pass filter), [rad/s] (currently filters generator speed and pitch control signals\n'.format(int(rosco_vt['F_LPFType'])))
file.write('{0:<12d} ! IPC_ControlMode - Turn Individual Pitch Control (IPC) for fatigue load reductions (pitch contribution) {{0: off, 1: 1P reductions, 2: 1P+2P reductions}}\n'.format(int(rosco_vt['IPC_ControlMode'])))
file.write('{0:<12d} ! VS_ControlMode - Generator torque control mode in above rated conditions (0- no torque control, 1- k*omega^2 with PI transitions, 2- WSE TSR Tracking, 3- Power-based TSR Tracking)}}\n'.format(int(rosco_vt['VS_ControlMode'])))
file.write('{0:<12d} ! VS_ConstPower - Do constant power torque control, where above rated torque varies, 0 for constant torque}}\n'.format(int(rosco_vt['VS_ConstPower'])))
file.write('{0:<12d} ! PC_ControlMode - Blade pitch control mode {{0: No pitch, fix to fine pitch, 1: active PI blade pitch control}}\n'.format(int(rosco_vt['PC_ControlMode'])))
file.write('{0:<12d} ! Y_ControlMode - Yaw control mode {{0: no yaw control, 1: yaw rate control, 2: yaw-by-IPC}}\n'.format(int(rosco_vt['Y_ControlMode'])))
file.write('{0:<12d} ! SS_Mode - Setpoint Smoother mode {{0: no setpoint smoothing, 1: introduce setpoint smoothing}}\n'.format(int(rosco_vt['SS_Mode'])))
file.write('{0:<12d} ! PRC_Mode - Power reference tracking mode{{0: use standard rotor speed set points, 1: use PRC rotor speed setpoints}}\n'.format(int(rosco_vt['PRC_Mode'])))
file.write('{0:<12d} ! 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}}\n'.format(int(rosco_vt['WE_Mode'])))
file.write('{0:<12d} ! PS_Mode - Pitch saturation mode {{0: no pitch saturation, 1: implement pitch saturation}}\n'.format(int(rosco_vt['PS_Mode'])))
file.write('{0:<12d} ! SD_Mode - Shutdown mode {{0: no shutdown procedure, 1: pitch to max pitch at shutdown}}\n'.format(int(rosco_vt['SD_Mode'])))
file.write('{0:<12d} ! Fl_Mode - Floating specific feedback mode {{0: no nacelle velocity feedback, 1: feed back translational velocity, 2: feed back rotational veloicty}}\n'.format(int(rosco_vt['Fl_Mode'])))
file.write('{:<12d} ! TD_Mode - {}\n'.format(int(rosco_vt['TD_Mode']),mode_descriptions['TD_Mode']))
file.write('{:<12d} ! TRA_Mode - {}\n'.format(int(rosco_vt['TRA_Mode']),mode_descriptions['TRA_Mode']))
file.write('{0:<12d} ! Flp_Mode - Flap control mode {{0: no flap control, 1: steady state flap angle, 2: Proportional flap control, 2: Cyclic (1P) flap control}}\n'.format(int(rosco_vt['Flp_Mode'])))
file.write('{0:<12d} ! OL_Mode - Open loop control mode {{0: no open loop control, 1: open loop control vs. time, 2: rotor position control}}\n'.format(int(rosco_vt['OL_Mode'])))
file.write('{0:<12d} ! PA_Mode - Pitch actuator mode {{0 - not used, 1 - first order filter, 2 - second order filter}}\n'.format(int(rosco_vt['PA_Mode'])))
file.write('{0:<12d} ! PF_Mode - Pitch fault mode {{0 - not used, 1 - constant offset on one or more blades}}\n'.format(int(rosco_vt['PF_Mode'])))
file.write('{0:<12d} ! AWC_Mode - Active wake control {{0 - not used, 1 - complex number method, 2 - Coleman transform method}}\n'.format(int(rosco_vt['AWC_Mode'])))
file.write('{0:<12d} ! Ext_Mode - External control mode {{0 - not used, 1 - call external dynamic library}}\n'.format(int(rosco_vt['Ext_Mode'])))
file.write('{0:<12d} ! ZMQ_Mode - Fuse ZeroMQ interface {{0: unused, 1: Yaw Control}}\n'.format(int(rosco_vt['ZMQ_Mode'])))
file.write('{:<12d} ! CC_Mode - {}\n'.format(int(rosco_vt['CC_Mode']),mode_descriptions['CC_Mode']))
file.write('{:<12d} ! StC_Mode - {}\n'.format(int(rosco_vt['StC_Mode']),mode_descriptions['StC_Mode']))
file.write('\n')
file.write('!------- FILTERS ----------------------------------------------------------\n')
file.write('{:<13.5f} ! F_LPFCornerFreq - Corner frequency (-3dB point) in the low-pass filters, [rad/s]\n'.format(rosco_vt['F_LPFCornerFreq']))
file.write('{:<13.5f} ! F_LPFDamping - Damping coefficient {{used only when F_FilterType = 2}} [-]\n'.format(rosco_vt['F_LPFDamping']))
file.write('{:<12d} ! F_NumNotchFilts - {}\n'.format(int(rosco_vt["F_NumNotchFilts"]), input_descriptions["F_NumNotchFilts"]))
file.write('{} ! F_NotchFreqs - {}\n'.format(write_array(rosco_vt["F_NotchFreqs"]), input_descriptions["F_NotchFreqs"]))
file.write('{} ! F_NotchBetaNum - {}\n'.format(write_array(rosco_vt['F_NotchBetaNum']), input_descriptions["F_NotchBetaNum"]))
file.write('{} ! F_NotchBetaDen - {}\n'.format(write_array(rosco_vt['F_NotchBetaDen']), input_descriptions["F_NotchBetaDen"]))
file.write('{:<12d} ! F_GenSpdNotch_N - {}\n'.format(int(rosco_vt['F_GenSpdNotch_N']), input_descriptions["F_GenSpdNotch_N"]))
file.write('{} ! F_GenSpdNotch_Ind - {}\n'.format(write_array(rosco_vt['F_GenSpdNotch_Ind'],'d'), input_descriptions["F_GenSpdNotch_Ind"]))
file.write('{:<12d} ! F_TwrTopNotch_N - {}\n'.format(int(rosco_vt['F_TwrTopNotch_N']), input_descriptions["F_TwrTopNotch_N"]))
file.write('{} ! F_TwrTopNotch_Ind - {}\n'.format(write_array(rosco_vt['F_TwrTopNotch_Ind'],'d'), input_descriptions["F_TwrTopNotch_Ind"]))
file.write('{:<13.5f} ! F_SSCornerFreq - Corner frequency (-3dB point) in the first order low pass filter for the setpoint smoother, [rad/s].\n'.format(rosco_vt['F_SSCornerFreq']))
file.write('{:<13.5f} ! F_WECornerFreq - Corner frequency (-3dB point) in the first order low pass filter for the wind speed estimate [rad/s].\n'.format(rosco_vt['F_WECornerFreq']))
file.write('{:<13.5f} ! F_YawErr - Low pass filter corner frequency for yaw controller [rad/s].\n'.format(rosco_vt['F_YawErr']))
file.write('{}! F_FlCornerFreq - Natural frequency and damping in the second order low pass filter of the tower-top fore-aft motion for floating feedback control [rad/s, -].\n'.format(''.join('{:<4.6f} '.format(rosco_vt['F_FlCornerFreq'][i]) for i in range(len(rosco_vt['F_FlCornerFreq'])))))
file.write('{:<13.5f} ! F_FlHighPassFreq - Natural frequency of first-order high-pass filter for nacelle fore-aft motion [rad/s].\n'.format(rosco_vt['F_FlHighPassFreq']))
file.write('{} ! F_FlpCornerFreq - {}\n'.format(write_array(rosco_vt["F_FlpCornerFreq"]), input_descriptions["F_FlpCornerFreq"]))
file.write('\n')
file.write('!------- BLADE PITCH CONTROL ----------------------------------------------\n')
file.write('{:<11d} ! PC_GS_n - Amount of gain-scheduling table entries\n'.format(int(rosco_vt['PC_GS_n'])))
file.write('{} ! PC_GS_angles - Gain-schedule table: pitch angles [rad].\n'.format(''.join('{:<4.6f} '.format(rosco_vt['PC_GS_angles'][i]) for i in range(len(rosco_vt['PC_GS_angles'])))))
file.write('{} ! PC_GS_KP - Gain-schedule table: pitch controller kp gains [s].\n'.format(''.join('{:<4.6f} '.format(rosco_vt['PC_GS_KP'][i]) for i in range(len(rosco_vt['PC_GS_KP'])))))
file.write('{} ! PC_GS_KI - Gain-schedule table: pitch controller ki gains [-].\n'.format(''.join('{:<4.6f} '.format(rosco_vt['PC_GS_KI'][i]) for i in range(len(rosco_vt['PC_GS_KI'])))))#
file.write('{} ! PC_GS_KD - Gain-schedule table: pitch controller kd gains\n'.format(''.join('{:<4.6f} '.format(rosco_vt['PC_GS_KD'][i]) for i in range(len(rosco_vt['PC_GS_KD'])))))
file.write('{} ! PC_GS_TF - Gain-schedule table: pitch controller tf gains (derivative filter)\n'.format(''.join('{:<4.6f} '.format(rosco_vt['PC_GS_TF'][i]) for i in range(len(rosco_vt['PC_GS_TF'])))))
file.write('{:<014.5f} ! PC_MaxPit - Maximum physical pitch limit, [rad].\n'.format(rosco_vt['PC_MaxPit']))
file.write('{:<014.5f} ! PC_MinPit - Minimum physical pitch limit, [rad].\n'.format(rosco_vt['PC_MinPit']))
file.write('{:<014.5f} ! PC_MaxRat - Maximum pitch rate (in absolute value) in pitch controller, [rad/s].\n'.format(rosco_vt['PC_MaxRat']))
file.write('{:<014.5f} ! PC_MinRat - Minimum pitch rate (in absolute value) in pitch controller, [rad/s].\n'.format(rosco_vt['PC_MinRat']))
file.write('{:<014.5f} ! PC_RefSpd - Desired (reference) HSS speed for pitch controller, [rad/s].\n'.format(rosco_vt['PC_RefSpd']))
file.write('{:<014.5f} ! PC_FinePit - Record 5: Below-rated pitch angle set-point, [rad]\n'.format(rosco_vt['PC_FinePit']))
file.write('{:<014.5f} ! PC_Switch - Angle above lowest minimum pitch angle for switch, [rad]\n'.format(rosco_vt['PC_Switch']))
file.write('\n')
file.write('!------- INDIVIDUAL PITCH CONTROL -----------------------------------------\n')
file.write('{}! IPC_Vramp - Start and end wind speeds for cut-in ramp function. First entry: IPC inactive, second entry: IPC fully active. [m/s]\n'.format(''.join('{:<4.6f} '.format(rosco_vt['IPC_Vramp'][i]) for i in range(len(rosco_vt['IPC_Vramp'])))))
file.write('{:<11d} ! IPC_SatMode - IPC Saturation method (0 - no saturation (except by PC_MinPit), 1 - saturate by PS_BldPitchMin, 2 - saturate sotfly (full IPC cycle) by PC_MinPit, 3 - saturate softly by PS_BldPitchMin)\n'.format(int(rosco_vt['IPC_SatMode']))) # Hardcode to 5 degrees
file.write('{:<13.1f} ! IPC_IntSat - Integrator saturation (maximum signal amplitude contribution to pitch from IPC), [rad]\n'.format(rosco_vt['IPC_IntSat']))
file.write('{}! IPC_KP - Proportional gain for the individual pitch controller: first parameter for 1P reductions, second for 2P reductions, [-]\n'.format(''.join('{:<4.3e} '.format(rosco_vt['IPC_KP'][i]) for i in range(len(rosco_vt['IPC_KP'])))))
file.write('{}! IPC_KI - Integral gain for the individual pitch controller: first parameter for 1P reductions, second for 2P reductions, [-]\n'.format(''.join('{:<4.3e} '.format(rosco_vt['IPC_KI'][i]) for i in range(len(rosco_vt['IPC_KI'])))))
file.write('{}! IPC_aziOffset - Phase offset added to the azimuth angle for the individual pitch controller, [rad]. \n'.format(''.join('{:<4.6f} '.format(rosco_vt['IPC_aziOffset'][i]) for i in range(len(rosco_vt['IPC_aziOffset'])))))
file.write('{:<13.1f} ! IPC_CornerFreqAct - Corner frequency of the first-order actuators model, to induce a phase lag in the IPC signal {{0: Disable}}, [rad/s]\n'.format(rosco_vt['IPC_CornerFreqAct']))
file.write('\n')
file.write('!------- VS TORQUE CONTROL ------------------------------------------------\n')
file.write('{:<014.5f} ! VS_GenEff - Generator efficiency mechanical power -> electrical power, [should match the efficiency defined in the generator properties!], [%]\n'.format(rosco_vt['VS_GenEff']))
file.write('{:<014.5f} ! VS_ArSatTq - Above rated generator torque PI control saturation, [Nm]\n'.format(rosco_vt['VS_ArSatTq']))
file.write('{:<014.5f} ! VS_MaxRat - Maximum torque rate (in absolute value) in torque controller, [Nm/s].\n'.format(rosco_vt['VS_MaxRat']))
file.write('{:<014.5f} ! VS_MaxTq - Maximum generator torque in Region 3 (HSS side), [Nm].\n'.format(rosco_vt['VS_MaxTq']))
file.write('{:<014.5f} ! VS_MinTq - Minimum generator torque (HSS side), [Nm].\n'.format(rosco_vt['VS_MinTq']))
file.write('{:<014.5f} ! VS_MinOMSpd - Minimum generator speed [rad/s]\n'.format(rosco_vt['VS_MinOMSpd']))
file.write('{:<014.5f} ! VS_Rgn2K - {}\n'.format(float(rosco_vt['VS_Rgn2K']),input_descriptions['VS_Rgn2K']))
file.write('{:<014.5f} ! VS_RtPwr - Wind turbine rated power [W]\n'.format(rosco_vt['VS_RtPwr']))
file.write('{:<014.5f} ! VS_RtTq - Rated torque, [Nm].\n'.format(rosco_vt['VS_RtTq']))
file.write('{:<014.5f} ! VS_RefSpd - Rated generator speed [rad/s]\n'.format(rosco_vt['VS_RefSpd']))
file.write('{:<11d} ! VS_n - Number of generator PI torque controller gains\n'.format(int(rosco_vt['VS_n'])))
file.write('{:<014.5f} ! VS_KP - Proportional gain for generator PI torque controller [-]. (Only used in the transitional 2.5 region if VS_ControlMode =/ 2)\n'.format(rosco_vt['VS_KP']))
file.write('{:<014.5f} ! VS_KI - Integral gain for generator PI torque controller [s]. (Only used in the transitional 2.5 region if VS_ControlMode =/ 2)\n'.format(rosco_vt['VS_KI']))
file.write('{:<13.2f} ! VS_TSRopt - {}\n'.format(float(rosco_vt['VS_TSRopt']),input_descriptions['VS_TSRopt']))
file.write('{:<014.5f} ! VS_PwrFiltF - {}\n'.format(float(rosco_vt['VS_PwrFiltF']),input_descriptions['VS_PwrFiltF']))
file.write('\n')
file.write('!------- SETPOINT SMOOTHER ---------------------------------------------\n')
file.write('{:<13.5f} ! SS_VSGain - Variable speed torque controller setpoint smoother gain, [-].\n'.format(rosco_vt['SS_VSGain']))
file.write('{:<13.5f} ! SS_PCGain - Collective pitch controller setpoint smoother gain, [-].\n'.format(rosco_vt['SS_PCGain']))
file.write('\n')
file.write('!------- POWER REFERENCE TRACKING --------------------------------------\n')
file.write('{:<11d} ! PRC_n - Number of elements in PRC_WindSpeeds and PRC_GenSpeeds array\n'.format(int(rosco_vt['PRC_n'])))
file.write('{:<13.5f} ! PRC_LPF_Freq - {}\n'.format(float(rosco_vt['PRC_LPF_Freq']), input_descriptions["PRC_LPF_Freq"]))
file.write('{} ! PRC_WindSpeeds - {}\n'.format(write_array(rosco_vt["PRC_WindSpeeds"]), input_descriptions["PRC_WindSpeeds"]))
file.write('{} ! PRC_GenSpeeds - {}\n'.format(write_array(rosco_vt["PRC_GenSpeeds"]), input_descriptions["PRC_GenSpeeds"]))
file.write('\n')
file.write('!------- WIND SPEED ESTIMATOR ---------------------------------------------\n')
file.write('{:<13.3f} ! WE_BladeRadius - Blade length (distance from hub center to blade tip), [m]\n'.format(rosco_vt['WE_BladeRadius']))
file.write('{:<11d} ! WE_CP_n - Amount of parameters in the Cp array\n'.format(int(rosco_vt['WE_CP_n'])))
file.write('{:<13.1f} ! WE_CP - Parameters that define the parameterized CP(lambda) function\n'.format(rosco_vt['WE_CP']))
file.write('{:<13.1f} ! WE_Gamma - Adaption gain of the wind speed estimator algorithm [m/rad]\n'.format(rosco_vt['WE_Gamma']))
file.write('{:<13.1f} ! WE_GearboxRatio - Gearbox ratio [>=1], [-]\n'.format(rosco_vt['WE_GearboxRatio']))
file.write('{:<14.5f} ! WE_Jtot - Total drivetrain inertia, including blades, hub and casted generator inertia to LSS, [kg m^2]\n'.format(rosco_vt['WE_Jtot']))
file.write('{:<13.3f} ! WE_RhoAir - Air density, [kg m^-3]\n'.format(rosco_vt['WE_RhoAir']))
file.write( '"{}" ! PerfFileName - File containing rotor performance tables (Cp,Ct,Cq) (absolute path or relative to this file)\n'.format(rosco_vt['PerfFileName']))
file.write('{:<7d} {:<10d} ! PerfTableSize - Size of rotor performance tables, first number refers to number of blade pitch angles, second number referse to number of tip-speed ratios\n'.format(int(rosco_vt['PerfTableSize'][0]),int(rosco_vt['PerfTableSize'][1])))
file.write('{:<11d} ! WE_FOPoles_N - Number of first-order system poles used in EKF\n'.format(int(rosco_vt['WE_FOPoles_N'])))
file.write('{} ! WE_FOPoles_v - Wind speeds corresponding to first-order system poles [m/s]\n'.format(''.join('{:<4.4f} '.format(rosco_vt['WE_FOPoles_v'][i]) for i in range(len(rosco_vt['WE_FOPoles_v'])))))
file.write('{} ! WE_FOPoles - First order system poles [1/s]\n'.format(''.join('{:<10.8f} '.format(rosco_vt['WE_FOPoles'][i]) for i in range(len(rosco_vt['WE_FOPoles'])))))
file.write('\n')
file.write('!------- YAW CONTROL ------------------------------------------------------\n')
file.write('{:<13.5f} ! Y_uSwitch - Wind speed to switch between Y_ErrThresh. If zero, only the second value of Y_ErrThresh is used [m/s]\n'.format(rosco_vt['Y_uSwitch']))
file.write('{}! Y_ErrThresh - Yaw error threshold/deadbands. Turbine begins to yaw when it passes this. If Y_uSwitch is zero, only the second value is used. [deg].\n'.format(''.join('{:<4.6f} '.format(rosco_vt['Y_ErrThresh'][i]) for i in range(len(rosco_vt['F_FlCornerFreq'])))))
file.write('{:<13.5f} ! Y_Rate - Yaw rate [rad/s]\n'.format(rosco_vt['Y_Rate']))
file.write('{:<13.5f} ! Y_MErrSet - Integrator saturation (maximum signal amplitude contribution to pitch from yaw-by-IPC), [rad]\n'.format(rosco_vt['Y_MErrSet']))
file.write('{:<13.5f} ! Y_IPC_IntSat - Integrator saturation (maximum signal amplitude contribution to pitch from yaw-by-IPC), [rad]\n'.format(rosco_vt['Y_IPC_IntSat']))
file.write('{:<13.5f} ! Y_IPC_KP - Yaw-by-IPC proportional controller gain Kp\n'.format(rosco_vt['Y_IPC_KP']))
file.write('{:<13.5f} ! Y_IPC_KI - Yaw-by-IPC integral controller gain Ki\n'.format(rosco_vt['Y_IPC_KI']))
file.write('\n')
file.write('!------- TOWER CONTROL ------------------------------------------------------\n')
file.write('{:<13.5f} ! TRA_ExclSpeed - {}\n'.format(rosco_vt['TRA_ExclSpeed'], input_descriptions['TRA_ExclSpeed'] ))
file.write('{:<13.5f} ! TRA_ExclBand - {}\n'.format(rosco_vt['TRA_ExclBand'], input_descriptions['TRA_ExclBand'] ))
file.write('{:<13.5e} ! TRA_RateLimit - {}\n'.format(rosco_vt['TRA_RateLimit'], input_descriptions['TRA_RateLimit'] ))
file.write('{:<13.5f} ! FA_KI - Integral gain for the fore-aft tower damper controller, [rad*s/m]\n'.format(rosco_vt['FA_KI'] ))
file.write('{:<13.5f} ! FA_HPFCornerFreq - Corner frequency (-3dB point) in the high-pass filter on the fore-aft acceleration signal [rad/s]\n'.format(rosco_vt['FA_HPFCornerFreq'] ))
file.write('{:<13.5f} ! FA_IntSat - Integrator saturation (maximum signal amplitude contribution to pitch from FA damper), [rad]\n'.format(rosco_vt['FA_IntSat'] ))
file.write('\n')
file.write('!------- MINIMUM PITCH SATURATION -------------------------------------------\n')
file.write('{:<11d} ! PS_BldPitchMin_N - Number of values in minimum blade pitch lookup table (should equal number of values in PS_WindSpeeds and PS_BldPitchMin)\n'.format(int(rosco_vt['PS_BldPitchMin_N'])))
file.write('{} ! PS_WindSpeeds - Wind speeds corresponding to minimum blade pitch angles [m/s]\n'.format(''.join('{:<4.3f} '.format(rosco_vt['PS_WindSpeeds'][i]) for i in range(len(rosco_vt['PS_WindSpeeds'])))))
file.write('{} ! PS_BldPitchMin - Minimum blade pitch angles [rad]\n'.format(''.join('{:<10.3f} '.format(rosco_vt['PS_BldPitchMin'][i]) for i in range(len(rosco_vt['PS_BldPitchMin'])))))
file.write('\n')
file.write('!------- SHUTDOWN -----------------------------------------------------------\n')
file.write('{:<014.5f} ! SD_MaxPit - Maximum blade pitch angle to initiate shutdown, [rad]\n'.format(rosco_vt['SD_MaxPit']))
file.write('{:<014.5f} ! SD_CornerFreq - Cutoff Frequency for first order low-pass filter for blade pitch angle, [rad/s]\n'.format(rosco_vt['SD_CornerFreq']))
file.write('\n')
file.write('!------- Floating -----------------------------------------------------------\n')
if rosco_vt['Fl_Mode'] == 2:
floatstr = 'pitching'
else:
floatstr = 'velocity'
file.write('{:<11d} ! Fl_n - Number of Fl_Kp gains in gain scheduling, optional with default of 1\n'.format(int(rosco_vt['Fl_n'])))
file.write('{} ! Fl_Kp - Nacelle {} proportional feedback gain [s]\n'.format(write_array(rosco_vt['Fl_Kp'],'<6.4f'), floatstr))
file.write('{} ! Fl_U - Wind speeds for scheduling Fl_Kp, optional if Fl_Kp is single value [m/s]\n'.format(write_array(rosco_vt['Fl_U'],'<6.4f')))
file.write('\n')
file.write('!------- FLAP ACTUATION -----------------------------------------------------\n')
file.write('{:<014.5f} ! Flp_Angle - Initial or steady state flap angle [rad]\n'.format(rosco_vt['Flp_Angle']))
file.write('{:<014.8e} ! Flp_Kp - Blade root bending moment proportional gain for flap control [s]\n'.format(rosco_vt['Flp_Kp']))
file.write('{:<014.8e} ! Flp_Ki - Flap displacement integral gain for flap control [-]\n'.format(rosco_vt['Flp_Ki']))
file.write('{:<014.5f} ! Flp_MaxPit - Maximum (and minimum) flap pitch angle [rad]\n'.format(rosco_vt['Flp_MaxPit']))
file.write('\n')
file.write('!------- Open Loop Control -----------------------------------------------------\n')
file.write('"{}" ! OL_Filename - Input file with open loop timeseries (absolute path or relative to this file)\n'.format(rosco_vt['OL_Filename']))
file.write('{0:<12d} ! Ind_Breakpoint - The column in OL_Filename that contains the breakpoint (time if OL_Mode = 1)\n'.format(int(rosco_vt['Ind_Breakpoint'])))
file.write('{} ! Ind_BldPitch - The columns in OL_Filename that contains the blade pitch (1,2,3) inputs in rad [array]\n'.format(' '.join([f'{int(ipb):3d}' for ipb in rosco_vt['Ind_BldPitch']])))
file.write('{0:<12d} ! Ind_GenTq - The column in OL_Filename that contains the generator torque in Nm\n'.format(int(rosco_vt['Ind_GenTq'])))
file.write('{0:<12d} ! Ind_YawRate - The column in OL_Filename that contains the yaw rate in rad/s\n'.format(int(rosco_vt['Ind_YawRate'])))
file.write('{:<12d} ! Ind_Azimuth - {}\n'.format(int(rosco_vt["Ind_Azimuth"]), input_descriptions["Ind_Azimuth"]))
file.write('{} ! {} - {}\n'.format(' '.join([f'{g:02.4f}' for g in rosco_vt["RP_Gains"]]),"RP_Gains",input_descriptions["RP_Gains"]))
file.write('{} ! Ind_CableControl - The column(s) in OL_Filename that contains the cable control inputs in m [Used with CC_Mode = 2, must be the same size as CC_Group_N]\n'.format(write_array(rosco_vt['Ind_CableControl'],'<4d')))
file.write('{} ! Ind_StructControl - The column(s) in OL_Filename that contains the structural control inputs [Used with StC_Mode = 2, must be the same size as StC_Group_N]\n'.format(write_array(rosco_vt['Ind_StructControl'],'<4d')))
file.write('\n')
file.write('!------- Pitch Actuator Model -----------------------------------------------------\n')
file.write('{:<014.5f} ! PA_CornerFreq - Pitch actuator bandwidth/cut-off frequency [rad/s]\n'.format(rosco_vt['PA_CornerFreq']))
file.write('{:<014.5f} ! PA_Damping - Pitch actuator damping ratio [-, unused if PA_Mode = 1]\n'.format(rosco_vt['PA_Damping']))
file.write('\n')
file.write('!------- Pitch Actuator Faults -----------------------------------------------------\n')
file.write('{} ! PF_Offsets - Constant blade pitch offsets for blades 1-3 [rad]\n'.format(''.join('{:<10.8f} '.format(rosco_vt['PF_Offsets'][i]) for i in range(3))))
file.write('\n')
file.write('!------- Active Wake Control -----------------------------------------------------\n')
file.write('{0:<12d} ! AWC_NumModes - Number of user-defined AWC forcing modes \n'.format(int(rosco_vt['AWC_NumModes'])))
file.write('{} ! AWC_n - Azimuthal mode number(s) (i.e., the number and direction of the lobes of the wake structure)\n'.format(write_array(rosco_vt['AWC_n'],'<4d')))
file.write('{} ! AWC_harmonic - Harmonic(s) to apply in the AWC Inverse Coleman Transformation (only used when AWC_Mode = 2)\n'.format(write_array(rosco_vt['AWC_harmonic'],'<4d')))
file.write('{} ! AWC_freq - Frequency(s) of forcing mode(s) [Hz]\n'.format(write_array(rosco_vt['AWC_freq'],'<6.4f')))
file.write('{} ! AWC_amp - Pitch amplitude(s) of individual forcing mode(s) [deg]\n'.format(write_array(rosco_vt['AWC_amp'],'<6.4f')))
file.write('{} ! AWC_clockangle - Initial angle(s) of forcing mode(s) [deg]\n'.format(write_array(rosco_vt['AWC_clockangle'],'<6.4f')))
file.write('\n')
file.write('!------- External Controller Interface -----------------------------------------------------\n')
file.write('"{}" ! DLL_FileName - Name/location of the dynamic library in the Bladed-DLL format\n'.format(rosco_vt['DLL_FileName']))
file.write('"{}" ! DLL_InFile - Name of input file sent to the DLL (-)\n'.format(rosco_vt['DLL_InFile']))
file.write('"{}" ! DLL_ProcName - Name of procedure in DLL to be called (-) \n'.format(rosco_vt['DLL_ProcName']))
file.write('\n')
file.write('!------- ZeroMQ Interface ---------------------------------------------------------\n')
file.write('"{}" ! ZMQ_CommAddress - {} \n'.format(rosco_vt['ZMQ_CommAddress'],input_descriptions['ZMQ_CommAddress']))
file.write('{:<11f} ! ZMQ_UpdatePeriod - {}\n'.format(rosco_vt['ZMQ_UpdatePeriod'],input_descriptions['ZMQ_UpdatePeriod']))
file.write('{:<11d} ! ZMQ_ID - {}\n'.format(int(rosco_vt['ZMQ_ID']),input_descriptions['ZMQ_ID']))
file.write('\n')
file.write('!------- Cable Control ---------------------------------------------------------\n')
file.write('{:<11d} ! CC_Group_N - {}\n'.format(len(rosco_vt['CC_GroupIndex']), input_descriptions['CC_Group_N']))
file.write('{:^11s} ! CC_GroupIndex - {}\n'.format(write_array(rosco_vt['CC_GroupIndex'],'<6d'), input_descriptions['CC_GroupIndex']))
file.write('{:<11f} ! CC_ActTau - {}\n'.format(rosco_vt['CC_ActTau'], input_descriptions['CC_ActTau'] ))
file.write('\n')
file.write('!------- Structural Controllers ---------------------------------------------------------\n')
file.write('{:<11d} ! StC_Group_N - {}\n'.format(len(rosco_vt['StC_GroupIndex']), input_descriptions['StC_Group_N']))
file.write('{:^11s} ! StC_GroupIndex - {}\n'.format(write_array(rosco_vt['StC_GroupIndex'],'<6d'), input_descriptions['StC_GroupIndex']))
file.close()
# Write Open loop input
if rosco_vt['OL_Mode'] and hasattr(controller, 'OpenLoop'):
write_ol_control(controller)
def read_DISCON(DISCON_filename):
'''
Read the DISCON input file.
Parameters:
----------
DISCON_filename: string
Name of DISCON input file to read
Returns:
--------
DISCON_in: Dict
Dictionary containing input parameters from DISCON_in, organized by parameter name
'''
DISCON_in = {}
with open(DISCON_filename) as discon:
for line in discon:
# Skip whitespace and comment lines
if (line[0] != '!') == (len(line.strip()) != 0):
if (line.split()[1] != '!'): # Array valued entries
array_length = line.split().index('!')
param = line.split()[array_length+1]
values = [float(x) for x in line.split()[:array_length]]
DISCON_in[param] = values
else: # All other entries
param = line.split()[2]
value = line.split()[0]
# Remove printed quotations if string is in quotes
if (value[0] == '"') or (value[0] == "'"):
value = value[1:-1]
elif value == 'DEFAULT':
pass
else:
value = float(value)
DISCON_in[param] = value
return DISCON_in
def write_rotor_performance(turbine,txt_filename='Cp_Ct_Cq.txt'):
'''
Write text file containing rotor performance data
Parameters:
------------
txt_filename: str, optional
Desired output filename to print rotor performance data. Default is Cp_Ct_Cq.txt
'''
print('Writing rotor performance text file: {}'.format(txt_filename))
file = open(txt_filename,'w')
# Headerlines
file.write('# ----- Rotor performance tables for the {} wind turbine ----- \n'.format(turbine.TurbineName))
file.write('# ------------ Written on {} using the ROSCO toolbox ------------ \n\n'.format(now.strftime('%b-%d-%y')))
# Pitch angles, TSR, and wind speed
file.write('# Pitch angle vector, {} entries - x axis (matrix columns) (deg)\n'.format(len(turbine.Cp.pitch_initial_rad)))
for i in range(len(turbine.Cp.pitch_initial_rad)):
file.write('{:0.4} '.format(turbine.Cp.pitch_initial_rad[i] * rad2deg))
file.write('\n# TSR vector, {} entries - y axis (matrix rows) (-)\n'.format(len(turbine.TSR_initial)))
for i in range(len(turbine.TSR_initial)):
file.write('{:0.4} '.format(turbine.Cp.TSR_initial[i]))
file.write('\n# Wind speed vector - z axis (m/s)\n')
file.write('{:0.4} '.format(turbine.v_rated))
file.write('\n')
# Cp
file.write('\n# Power coefficient\n\n')
for i in range(len(turbine.Cp.TSR_initial)):
for j in range(len(turbine.Cp.pitch_initial_rad)):
file.write('{0:.6f} '.format(turbine.Cp_table[i,j]))
file.write('\n')
file.write('\n')
# Ct
file.write('\n# Thrust coefficient\n\n')
for i in range(len(turbine.Ct.TSR_initial)):
for j in range(len(turbine.Ct.pitch_initial_rad)):
file.write('{0:.6f} '.format(turbine.Ct_table[i,j]))
file.write('\n')
file.write('\n')
# Cq
file.write('\n# Torque coefficient\n\n')
for i in range(len(turbine.Cq.TSR_initial)):
for j in range(len(turbine.Cq.pitch_initial_rad)):
file.write('{0:.6f} '.format(turbine.Cq_table[i,j]))
file.write('\n')
file.write('\n')
file.close()
def load_from_txt(txt_filename):
'''
Load rotor performance data from a *.txt file.
Parameters:
-----------
txt_filename: str
Filename of the text containing the Cp, Ct, and Cq data. This should be in the format printed by the write_rotorperformance function
'''
print('Loading rotor performace data from text file:', txt_filename)
with open(txt_filename) as pfile:
for line in pfile:
# Read Blade Pitch Angles (degrees)
if 'Pitch angle' in line:
pitch_initial = np.array([float(x) for x in pfile.readline().strip().split()])
pitch_initial_rad = pitch_initial * deg2rad # degrees to rad -- should this be conditional?
# Read Tip Speed Ratios (rad)
if 'TSR' in line:
TSR_initial = np.array([float(x) for x in pfile.readline().strip().split()])
# Read Power Coefficients
if 'Power' in line:
pfile.readline()
Cp = np.empty((len(TSR_initial),len(pitch_initial)))
for tsr_i in range(len(TSR_initial)):
Cp[tsr_i] = np.array([float(x) for x in pfile.readline().strip().split()])
# Read Thrust Coefficients
if 'Thrust' in line:
pfile.readline()
Ct = np.empty((len(TSR_initial),len(pitch_initial)))
for tsr_i in range(len(TSR_initial)):
Ct[tsr_i] = np.array([float(x) for x in pfile.readline().strip().split()])
# Read Torque Coefficients
if 'Torque' in line:
pfile.readline()
Cq = np.empty((len(TSR_initial),len(pitch_initial)))
for tsr_i in range(len(TSR_initial)):
Cq[tsr_i] = np.array([float(x) for x in pfile.readline().strip().split()])
# return pitch_initial_rad TSR_initial Cp Ct Cq
# Store necessary metrics for analysis and tuning
# self.pitch_initial_rad = pitch_initial_rad
# self.TSR_initial = TSR_initial
# self.Cp_table = Cp
# self.Ct_table = Ct
# self.Cq_table = Cq
return pitch_initial_rad, TSR_initial, Cp, Ct, Cq
def DISCON_dict(turbine, controller, txt_filename=None):
'''
Convert the turbine and controller objects to a dictionary organized by the parameter names
that are defined in the DISCON.IN file.
Parameters
----------
turbine: obj
Turbine object output from the turbine class
controller: obj
Controller object output from the controller class
txt_filename: string, optional
Name of rotor performance filename
'''
DISCON_dict = {}
# Populate with available defaults
input_schema = load_yaml(os.path.join(os.path.dirname(__file__),'inputs/toolbox_schema.yaml'))
discon_props = input_schema['properties']['controller_params']['properties']['DISCON']['properties']
for prop in discon_props:
if 'default' in discon_props[prop]:
DISCON_dict[prop] = discon_props[prop]['default']
# ------- DEBUG -------
DISCON_dict['LoggingLevel'] = int(controller.LoggingLevel)
# ------- CONTROLLER FLAGS -------
DISCON_dict['F_LPFType'] = int(controller.F_LPFType)
DISCON_dict['F_NotchType'] = int(controller.F_NotchType)
DISCON_dict['IPC_ControlMode'] = int(controller.IPC_ControlMode)
DISCON_dict['VS_ControlMode'] = int(controller.VS_ControlMode)
DISCON_dict['VS_ConstPower'] = int(controller.VS_ConstPower)
DISCON_dict['PC_ControlMode'] = int(controller.PC_ControlMode)
DISCON_dict['Y_ControlMode'] = int(controller.Y_ControlMode)
DISCON_dict['SS_Mode'] = int(controller.SS_Mode)
DISCON_dict['PRC_Mode'] = 0
DISCON_dict['WE_Mode'] = int(controller.WE_Mode)
DISCON_dict['PS_Mode'] = int(controller.PS_Mode > 0)
DISCON_dict['SD_Mode'] = int(controller.SD_Mode)
DISCON_dict['Fl_Mode'] = int(controller.Fl_Mode)
DISCON_dict['TD_Mode'] = int(controller.TD_Mode)
DISCON_dict['TRA_Mode'] = int(controller.TRA_Mode)
DISCON_dict['Flp_Mode'] = int(controller.Flp_Mode)
DISCON_dict['OL_Mode'] = int(controller.OL_Mode)
DISCON_dict['PF_Mode'] = int(controller.PF_Mode)
DISCON_dict['PA_Mode'] = int(controller.PA_Mode)
DISCON_dict['AWC_Mode'] = int(controller.AWC_Mode)
DISCON_dict['Ext_Mode'] = int(controller.Ext_Mode)
DISCON_dict['ZMQ_Mode'] = int(controller.ZMQ_Mode)
DISCON_dict['CC_Mode'] = int(controller.CC_Mode)
DISCON_dict['StC_Mode'] = int(controller.StC_Mode)
# ------- FILTERS -------
DISCON_dict['F_LPFCornerFreq'] = turbine.bld_edgewise_freq * 1/4
DISCON_dict['F_LPFDamping'] = controller.F_LPFDamping
DISCON_dict['F_NumNotchFilts'] = len(controller.f_notch_freqs)
DISCON_dict['F_NotchFreqs'] = controller.f_notch_freqs if controller.f_notch_freqs else [0.0]
DISCON_dict['F_NotchBetaNum'] = controller.f_notch_beta_nums if controller.f_notch_beta_nums else [0.0]
DISCON_dict['F_NotchBetaDen'] = controller.f_notch_beta_dens if controller.f_notch_beta_dens else [0.0]
DISCON_dict['F_GenSpdNotch_N'] = len(controller.f_notch_gen_inds)
DISCON_dict['F_GenSpdNotch_Ind'] = controller.f_notch_gen_inds if controller.f_notch_gen_inds else [0]
DISCON_dict['F_TwrTopNotch_N'] = len(controller.f_notch_twr_inds)
DISCON_dict['F_TwrTopNotch_Ind'] = controller.f_notch_twr_inds if controller.f_notch_twr_inds else [0]
DISCON_dict['F_WECornerFreq'] = controller.f_we_cornerfreq
DISCON_dict['F_SSCornerFreq'] = controller.f_ss_cornerfreq
DISCON_dict['F_FlHighPassFreq'] = controller.f_fl_highpassfreq
DISCON_dict['F_FlCornerFreq'] = [controller.ptfm_freq, 1.0]
DISCON_dict['F_FlpCornerFreq'] = [turbine.bld_flapwise_freq*3, 1.0]
DISCON_dict['F_WECornerFreq'] = controller.f_we_cornerfreq
DISCON_dict['F_SSCornerFreq'] = controller.f_ss_cornerfreq
DISCON_dict['F_YawErr'] = controller.f_yawerr
DISCON_dict['F_FlHighPassFreq'] = controller.f_fl_highpassfreq
DISCON_dict['F_FlCornerFreq'] = [controller.ptfm_freq, 1.0]
# ------- BLADE PITCH CONTROL -------
DISCON_dict['PC_GS_n'] = len(controller.pitch_op_pc)
DISCON_dict['PC_GS_angles'] = controller.pitch_op_pc
DISCON_dict['PC_GS_KP'] = controller.pc_gain_schedule.Kp
DISCON_dict['PC_GS_KI'] = controller.pc_gain_schedule.Ki
DISCON_dict['PC_GS_KD'] = [0.0 for i in range(len(controller.pc_gain_schedule.Ki))]
DISCON_dict['PC_GS_TF'] = [0.0 for i in range(len(controller.pc_gain_schedule.Ki))]
#
DISCON_dict['PC_MaxPit'] = controller.max_pitch
DISCON_dict['PC_MinPit'] = controller.min_pitch
DISCON_dict['PC_MaxRat'] = turbine.max_pitch_rate
DISCON_dict['PC_MinRat'] = turbine.min_pitch_rate
DISCON_dict['PC_RefSpd'] = turbine.rated_rotor_speed*turbine.Ng
DISCON_dict['PC_FinePit'] = controller.min_pitch
DISCON_dict['PC_Switch'] = 1 * deg2rad
# ------- INDIVIDUAL PITCH CONTROL -------
DISCON_dict['IPC_Vramp'] = controller.IPC_Vramp
DISCON_dict['IPC_IntSat'] = 0.2618
DISCON_dict['IPC_SatMode'] = 2
DISCON_dict['IPC_KP'] = [controller.Kp_ipc1p, controller.Kp_ipc2p]
DISCON_dict['IPC_KI'] = [controller.Ki_ipc1p, controller.Ki_ipc2p]
DISCON_dict['IPC_aziOffset'] = [0.0, 0.0]
DISCON_dict['IPC_CornerFreqAct'] = 0.0
# ------- VS TORQUE CONTROL -------
DISCON_dict['VS_GenEff'] = turbine.GenEff
DISCON_dict['VS_ArSatTq'] = turbine.rated_torque
DISCON_dict['VS_MaxRat'] = turbine.max_torque_rate
DISCON_dict['VS_MaxTq'] = turbine.max_torque
DISCON_dict['VS_MinTq'] = 0.0
DISCON_dict['VS_MinOMSpd'] = controller.vs_minspd * turbine.Ng
DISCON_dict['VS_Rgn2K'] = controller.vs_rgn2K
DISCON_dict['VS_RtPwr'] = turbine.rated_power
DISCON_dict['VS_RtTq'] = turbine.rated_torque
DISCON_dict['VS_RefSpd'] = controller.vs_refspd
DISCON_dict['VS_n'] = 1
DISCON_dict['VS_KP'] = controller.vs_gain_schedule.Kp[-1]
DISCON_dict['VS_KI'] = controller.vs_gain_schedule.Ki[-1]
DISCON_dict['VS_TSRopt'] = turbine.TSR_operational
# ------- SETPOINT SMOOTHER -------
DISCON_dict['SS_VSGain'] = controller.ss_vsgain
DISCON_dict['SS_PCGain'] = controller.ss_pcgain
# -------- POWER REFERENCE TRACKING ------
DISCON_dict['PRC_n'] = 2
DISCON_dict['PRC_WindSpeeds'] = [3,25]
DISCON_dict['PRC_GenSpeeds'] = [rpm2RadSec * 7.56] * 2
# ------- WIND SPEED ESTIMATOR -------
DISCON_dict['WE_BladeRadius'] = turbine.rotor_radius
DISCON_dict['WE_CP_n'] = 1
DISCON_dict['WE_CP'] = 0
DISCON_dict['WE_Gamma'] = 0.0
DISCON_dict['WE_GearboxRatio'] = turbine.Ng
DISCON_dict['WE_Jtot'] = turbine.J
DISCON_dict['WE_RhoAir'] = turbine.rho
DISCON_dict['PerfFileName'] = txt_filename
DISCON_dict['PerfTableSize'] = [len(turbine.Cp.pitch_initial_rad),len(turbine.Cp.TSR_initial)]
DISCON_dict['WE_FOPoles_N'] = len(controller.A)
DISCON_dict['WE_FOPoles_v'] = controller.v
DISCON_dict['WE_FOPoles'] = controller.A
# ------- YAW CONTROL -------
DISCON_dict['Y_uSwitch'] = 0.0
DISCON_dict['Y_ErrThresh'] = [4.0, 8.0] # NJA: hard coding these params right now b/c we can just use the DISCON pass-through if needed
DISCON_dict['Y_Rate'] = 0.0087 #0.5 deg/s
DISCON_dict['Y_MErrSet'] = 0.0
DISCON_dict['Y_IPC_IntSat'] = 0.0
DISCON_dict['Y_IPC_KP'] = 0.0
DISCON_dict['Y_IPC_KI'] = 0.0
# ------- TOWER FORE-AFT DAMPING -------
DISCON_dict['FA_KI'] = 0.0
DISCON_dict['FA_HPFCornerFreq'] = 0.0
DISCON_dict['FA_IntSat'] = 0.0
# ------- MINIMUM PITCH SATURATION -------
DISCON_dict['PS_BldPitchMin_N'] = len(controller.ps_min_bld_pitch)
DISCON_dict['PS_WindSpeeds'] = controller.v
DISCON_dict['PS_BldPitchMin'] = controller.ps_min_bld_pitch
# ------- SHUTDOWN -------
DISCON_dict['SD_MaxPit'] = controller.sd_maxpit
DISCON_dict['SD_CornerFreq'] = controller.f_sd_cornerfreq
# ------- Floating -------
DISCON_dict['Fl_n'] = len(controller.Kp_float)
DISCON_dict['Fl_Kp'] = controller.Kp_float
DISCON_dict['Fl_U'] = controller.U_Fl
# ------- FLAP ACTUATION -------
DISCON_dict['Flp_Angle'] = controller.flp_angle
DISCON_dict['Flp_Kp'] = controller.Kp_flap[-1]
DISCON_dict['Flp_Ki'] = controller.Ki_flap[-1]
DISCON_dict['Flp_MaxPit'] = controller.flp_maxpit
# ------- Open Loop Control -------
DISCON_dict['OL_Filename'] = controller.OL_Filename
DISCON_dict['Ind_Breakpoint'] = controller.OL_Ind_Breakpoint
DISCON_dict['Ind_BldPitch'] = controller.OL_Ind_BldPitch
DISCON_dict['Ind_GenTq'] = controller.OL_Ind_GenTq
DISCON_dict['Ind_YawRate'] = controller.OL_Ind_YawRate
DISCON_dict['Ind_CableControl'] = controller.OL_Ind_CableControl
DISCON_dict['Ind_StructControl'] = controller.OL_Ind_StructControl
DISCON_dict['Ind_Azimuth'] = controller.OL_Ind_Azimuth
# ------- Pitch Actuator -------
DISCON_dict['PA_Mode'] = controller.PA_Mode
DISCON_dict['PA_CornerFreq'] = controller.PA_CornerFreq
DISCON_dict['PA_Damping'] = controller.PA_Damping
# ------- Pitch Actuator Fault -------
DISCON_dict['PF_Offsets'] = [0.,0.,0.]
# Add pass through here
for param, value in controller.controller_params['DISCON'].items():
DISCON_dict[param] = value
# Make all lists, not numpy
DISCON_dict = remove_numpy(DISCON_dict)
return DISCON_dict
def run_openfast(fast_dir, fastcall='openfast', fastfile=None, chdir=True, restart=False):
'''
Runs a openfast openfast simulation.
NOTE: Enabling chdir can help reduce file path errors in the DISCON.IN file.
Parameters:
------------
fast_dir: string
Name of OpenFAST directory containing input files.
fast_file: string
Name of OpenFAST directory containing input files.
fastcall: string, optional
Line used to call openfast when executing from the terminal.
fastfile: string, optional
Filename for *.fst input file. Function will find *.fst if not provided.
chdir: bool, optional
Change directory to openfast model directory before running.
'''
# Define OpenFAST input filename
if not fastfile:
for file in os.listdir(fast_dir):
if file.endswith('.fst'):
fastfile = file
print('Using {} to run OpenFAST simulation'.format(fastfile))
if chdir: # Change cwd before calling OpenFAST -- note: This is an artifact of needing to call OpenFAST from the same directory as DISCON.IN
cwd = fast_dir
else:
cwd = None
print('Running OpenFAST simulation for {} through the ROSCO toolbox...'.format(fastfile))
# os.system('{} {}'.format(fastcall, os.path.join(fastfile)))
if restart:
subprocess.run([fastcall,'-restart', os.path.join(fastfile)], check=True, cwd=cwd)
else:
subprocess.run([fastcall, os.path.join(fastfile)], check=True, cwd=cwd)
print('OpenFAST simulation complete.')
def list_check(x, return_bool=True):
'''
Check if the input is list-like or not
Parameters:
-----------
x: int, float, list, or np.ndarray
input to check
return_bool: bool
if true, returns True or False
'''
if isinstance(x, (int, float)):
y = x
is_list = False
elif isinstance(x, list):
if len(x) == 1:
y = x[0]
is_list = False
else:
y = x
is_list = True
elif isinstance(x, np.ndarray):
if x.size == 1:
is_list = False
y = float(x)
else:
is_list = True
y = x
else:
raise AttributeError('Cannot run list_check for variable of type: {}'.format(type(x)))
if return_bool:
return is_list
else:
return y
def write_array(array,format='<.4f',line_width=12):
if not hasattr(array,'__len__'): #not an array
array = [array]
# force int if not
if 'd' in format and type(array[0]) != int:
array = [int(a) for a in array]
return ''.join(['{:{}} '.format(item,format) for item in array]).ljust(line_width)