Merge branch 'weis' of https://github.com/NREL/ROSCO_toolbox into weis

.gitmodules

@@ -1,3 +1,3 @@
 [submodule "ROSCO"]
 	path = ROSCO
-	url = https://github.com/NREL/ROSCO.git
+	url = https://github.com/NREL/ROSCO

Examples/DISCON.IN

@@ -1,5 +1,5 @@
 ! Controller parameter input file for the NREL-5MW wind turbine
-!    - File written using ROSCO Controller tuning logic on 09/28/20
+!    - File written using ROSCO Controller tuning logic on 12/17/20
 
 !------- DEBUG ------------------------------------------------------------
 1                   ! LoggingLevel		- {0: write no debug files, 1: write standard output .dbg-file, 2: write standard output .dbg-file and complete avrSWAP-array .dbg2-file}
@@ -28,12 +28,12 @@
 0.00000   1.00000   ! F_FlpCornerFreq   - Corner frequency and damping in the second order low pass filter of the blade root bending moment for flap control [rad/s, -].
 
 !------- BLADE PITCH CONTROL ----------------------------------------------
-27                  ! PC_GS_n			- Amount of gain-scheduling table entries
-0.059999  0.087088  0.108614  0.127859  0.144840  0.161163  0.175942  0.190159  0.204314  0.216979  0.229469  0.242120  0.254317  0.265260  0.276444  0.287914  0.299653  0.309477  0.319290  0.329399  0.339820  0.350541  0.361041  0.369471  0.378187  0.387196  0.396499                ! PC_GS_angles	    - Gain-schedule table: pitch angles
--0.014412  -0.012578  -0.011083  -0.009842  -0.008794  -0.007898  -0.007123  -0.006446  -0.005850  -0.005320  -0.004847  -0.004422  -0.004037  -0.003688  -0.003370  -0.003078  -0.002810  -0.002562  -0.002333  -0.002120  -0.001923  -0.001738  -0.001565  -0.001404  -0.001252  -0.001109  -0.000974                ! PC_GS_KP		- Gain-schedule table: pitch controller kp gains
--0.005329  -0.004786  -0.004343  -0.003975  -0.003665  -0.003400  -0.003170  -0.002970  -0.002793  -0.002636  -0.002496  -0.002370  -0.002256  -0.002153  -0.002058  -0.001972  -0.001892  -0.001819  -0.001751  -0.001688  -0.001630  -0.001575  -0.001524  -0.001476  -0.001431  -0.001389  -0.001349                ! PC_GS_KI		- Gain-schedule table: pitch controller ki gains
-0.0  0.0  0.0  0.0  0.0  0.0  0.0  0.0  0.0  0.0  0.0  0.0  0.0  0.0  0.0  0.0  0.0  0.0  0.0  0.0  0.0  0.0  0.0  0.0  0.0  0.0  0.0                ! PC_GS_KD			- Gain-schedule table: pitch controller kd gains
-0.0  0.0  0.0  0.0  0.0  0.0  0.0  0.0  0.0  0.0  0.0  0.0  0.0  0.0  0.0  0.0  0.0  0.0  0.0  0.0  0.0  0.0  0.0  0.0  0.0  0.0  0.0                ! PC_GS_TF			- Gain-schedule table: pitch controller tf gains (derivative filter)
+28                  ! PC_GS_n			- Amount of gain-scheduling table entries
+0.000000  0.055534  0.083631  0.106008  0.125390  0.142939  0.159177  0.174442  0.188870  0.202686  0.215959  0.228773  0.241173  0.253254  0.264982  0.276438  0.287644  0.298587  0.309327  0.319883  0.330260  0.340461  0.350473  0.360332  0.370046  0.379623  0.389066  0.398385                ! PC_GS_angles	    - Gain-schedule table: pitch angles
+-0.019261  -0.016189  -0.013852  -0.012014  -0.010531  -0.009308  -0.008284  -0.007413  -0.006663  -0.006010  -0.005437  -0.004931  -0.004479  -0.004074  -0.003709  -0.003378  -0.003077  -0.002801  -0.002549  -0.002316  -0.002100  -0.001901  -0.001715  -0.001542  -0.001381  -0.001230  -0.001088  -0.000954                ! PC_GS_KP		- Gain-schedule table: pitch controller kp gains
+-0.006968  -0.006022  -0.005302  -0.004736  -0.004279  -0.003903  -0.003587  -0.003319  -0.003088  -0.002887  -0.002710  -0.002554  -0.002415  -0.002290  -0.002178  -0.002076  -0.001983  -0.001898  -0.001820  -0.001749  -0.001682  -0.001621  -0.001564  -0.001510  -0.001461  -0.001414  -0.001370  -0.001329                ! PC_GS_KI		- Gain-schedule table: pitch controller ki gains
+0.0  0.0  0.0  0.0  0.0  0.0  0.0  0.0  0.0  0.0  0.0  0.0  0.0  0.0  0.0  0.0  0.0  0.0  0.0  0.0  0.0  0.0  0.0  0.0  0.0  0.0  0.0  0.0                ! PC_GS_KD			- Gain-schedule table: pitch controller kd gains
+0.0  0.0  0.0  0.0  0.0  0.0  0.0  0.0  0.0  0.0  0.0  0.0  0.0  0.0  0.0  0.0  0.0  0.0  0.0  0.0  0.0  0.0  0.0  0.0  0.0  0.0  0.0  0.0                ! PC_GS_TF			- Gain-schedule table: pitch controller tf gains (derivative filter)
 1.570800000000      ! PC_MaxPit			- Maximum physical pitch limit, [rad].
 -0.00873000000      ! PC_MinPit			- Minimum physical pitch limit, [rad].
 0.174500000000      ! PC_MaxRat			- Maximum pitch rate (in absolute value) in pitch controller, [rad/s].
@@ -43,9 +43,9 @@
 0.017450000000      ! PC_Switch			- Angle above lowest minimum pitch angle for switch, [rad]
 
 !------- INDIVIDUAL PITCH CONTROL -----------------------------------------
-0.0                 ! IPC_IntSat		- Integrator saturation (maximum signal amplitude contribution to pitch from IPC), [rad]
-0.0   0.0           ! IPC_KI			- Integral gain for the individual pitch controller: first parameter for 1P reductions, second for 2P reductions, [-]
-0.0   0.0           ! IPC_aziOffset		- Phase offset added to the azimuth angle for the individual pitch controller, [rad]. 
+0.1                 ! IPC_IntSat		- Integrator saturation (maximum signal amplitude contribution to pitch from IPC), [rad]
+0.0e+00       0.0   ! IPC_KI			- Integral gain for the individual pitch controller: first parameter for 1P reductions, second for 2P reductions, [-]
+0.0e+00       0.0   ! IPC_aziOffset		- Phase offset added to the azimuth angle for the individual pitch controller, [rad]. 
 0.0                 ! IPC_CornerFreqAct - Corner frequency of the first-order actuators model, to induce a phase lag in the IPC signal {0: Disable}, [rad/s]
 
 !------- VS TORQUE CONTROL ------------------------------------------------
@@ -60,7 +60,7 @@
 43093.51876000      ! VS_RtTq			- Rated torque, [Nm].
 122.9096700000      ! VS_RefSpd			- Rated generator speed [rad/s]
 1                   ! VS_n				- Number of generator PI torque controller gains
--999.026780000      ! VS_KP				- Proportional gain for generator PI torque controller [1/(rad/s) Nm]. (Only used in the transitional 2.5 region if VS_ControlMode =/ 2)
+-998.986000000      ! VS_KP				- Proportional gain for generator PI torque controller [1/(rad/s) Nm]. (Only used in the transitional 2.5 region if VS_ControlMode =/ 2)
 -185.790360000      ! VS_KI				- Integral gain for generator PI torque controller [1/rad Nm]. (Only used in the transitional 2.5 region if VS_ControlMode =/ 2)
 7.51                ! VS_TSRopt			- Power-maximizing region 2 tip-speed-ratio [rad].
 
@@ -78,9 +78,9 @@
 1.225               ! WE_RhoAir			- Air density, [kg m^-3]
 "Cp_Ct_Cq.NREL5MW.txt"      ! PerfFileName      - File containing rotor performance tables (Cp,Ct,Cq)
 52      24          ! PerfTableSize     - Size of rotor performance tables, first number refers to number of blade pitch angles, second number referse to number of tip-speed ratios
-44                  ! WE_FOPoles_N      - Number of first-order system poles used in EKF
-3.00 3.50 4.00 4.50 5.00 5.50 6.00 6.50 7.00 7.50 8.00 8.50 9.00 9.50 10.00 10.50 11.00 11.90 12.40 12.90 13.40 13.90 14.40 14.90 15.40 15.90 16.40 16.90 17.40 17.90 18.40 18.90 19.40 19.90 20.40 20.90 21.40 21.90 22.40 22.90 23.40 23.90 24.40 24.90               ! WE_FOPoles_v      - Wind speeds corresponding to first-order system poles [m/s]
--0.01770358 -0.02065417 -0.02360477 -0.02655536 -0.02950596 -0.03245656 -0.03540715 -0.03835775 -0.04130834 -0.04425894 -0.04720953 -0.05016013 -0.05311073 -0.05606132 -0.05901192 -0.06196251 -0.06491311 -0.05663600 -0.06760328 -0.07958282 -0.09338576 -0.10660375 -0.12219164 -0.13633634 -0.15187319 -0.16971407 -0.18449677 -0.20097910 -0.21989102 -0.23853320 -0.25398015 -0.27191112 -0.29238174 -0.31524365 -0.33079361 -0.34730696 -0.36620087 -0.38763778 -0.41161251 -0.43863651 -0.46960731 -0.50322805 -0.53955583 -0.57860701               ! WE_FOPoles        - First order system poles
+45                  ! WE_FOPoles_N      - Number of first-order system poles used in EKF
+3.00 3.50 4.00 4.50 5.00 5.50 6.00 6.50 7.00 7.50 8.00 8.50 9.00 9.50 10.00 10.50 11.00 11.40 11.90 12.40 12.90 13.40 13.90 14.40 14.90 15.40 15.90 16.40 16.90 17.40 17.90 18.40 18.90 19.40 19.90 20.40 20.90 21.40 21.90 22.40 22.90 23.40 23.90 24.40 24.90               ! WE_FOPoles_v      - Wind speeds corresponding to first-order system poles [m/s]
+-0.01770597 -0.02065697 -0.02360796 -0.02655896 -0.02950995 -0.03246095 -0.03541194 -0.03836294 -0.04131393 -0.04426493 -0.04721592 -0.05016692 -0.05311791 -0.05606891 -0.05901990 -0.06197090 -0.06492189 -0.05552595 -0.05550495 -0.06612150 -0.07823391 -0.09181547 -0.10541082 -0.12063288 -0.13526687 -0.15098364 -0.16805193 -0.18381181 -0.20083198 -0.21911394 -0.23737327 -0.25461250 -0.27320900 -0.29297106 -0.31361831 -0.33167820 -0.35038172 -0.37015848 -0.39096899 -0.41270837 -0.43763254 -0.47283160 -0.50939485 -0.54727356 -0.58644343               ! WE_FOPoles        - First order system poles
 
 !------- YAW CONTROL ------------------------------------------------------
 0.0                 ! Y_ErrThresh		- Yaw error threshold. Turbine begins to yaw when it passes this. [rad^2 s]
@@ -101,9 +101,9 @@
 0.0                 ! FA_IntSat			- Integrator saturation (maximum signal amplitude contribution to pitch from FA damper), [rad]
 
 !------- MINIMUM PITCH SATURATION -------------------------------------------
-44                  ! PS_BldPitchMin_N  - Number of values in minimum blade pitch lookup table (should equal number of values in PS_WindSpeeds and PS_BldPitchMin)
-3.00 3.50 4.00 4.50 5.00 5.50 6.00 6.50 7.00 7.50 8.00 8.50 9.00 9.50 10.00 10.50 11.00 11.90 12.40 12.90 13.40 13.90 14.40 14.90 15.40 15.90 16.40 16.90 17.40 17.90 18.40 18.90 19.40 19.90 20.40 20.90 21.40 21.90 22.40 22.90 23.40 23.90 24.40 24.90               ! PS_WindSpeeds     - Wind speeds corresponding to minimum blade pitch angles [m/s]
--0.00872665 -0.00872665 -0.00872665 -0.00872665 -0.00872665 -0.00872665 -0.00872665 -0.00872665 -0.00872665 -0.00872665 -0.00872665 -0.00872665 -0.00872665 -0.00872665 -0.00872665 -0.00872665 -0.00872665 -0.00872665 -0.00872665 -0.00872665 -0.00872665 -0.00872665 -0.00872665 -0.00872665 -0.00872665 -0.00872665 -0.00872665 -0.00872665 -0.00872665 -0.00872665 -0.00872665 -0.00872665 -0.00872665 -0.00872665 -0.00872665 -0.00872665 -0.00872665 -0.00872665 -0.00872665 -0.00872665 -0.00872665 -0.00872665 -0.00872665 -0.00872665               ! PS_BldPitchMin    - Minimum blade pitch angles [rad]
+45                  ! PS_BldPitchMin_N  - Number of values in minimum blade pitch lookup table (should equal number of values in PS_WindSpeeds and PS_BldPitchMin)
+3.00 3.50 4.00 4.50 5.00 5.50 6.00 6.50 7.00 7.50 8.00 8.50 9.00 9.50 10.00 10.50 11.00 11.40 11.90 12.40 12.90 13.40 13.90 14.40 14.90 15.40 15.90 16.40 16.90 17.40 17.90 18.40 18.90 19.40 19.90 20.40 20.90 21.40 21.90 22.40 22.90 23.40 23.90 24.40 24.90               ! PS_WindSpeeds     - Wind speeds corresponding to minimum blade pitch angles [m/s]
+-0.00872665 -0.00872665 -0.00872665 -0.00872665 -0.00872665 -0.00872665 -0.00872665 -0.00872665 -0.00872665 -0.00872665 -0.00872665 -0.00872665 -0.00872665 -0.00872665 -0.00872665 -0.00872665 -0.00872665 -0.00872665 -0.00872665 -0.00872665 -0.00872665 -0.00872665 -0.00872665 -0.00872665 -0.00872665 -0.00872665 -0.00872665 -0.00872665 -0.00872665 -0.00872665 -0.00872665 -0.00872665 -0.00872665 -0.00872665 -0.00872665 -0.00872665 -0.00872665 -0.00872665 -0.00872665 -0.00872665 -0.00872665 -0.00872665 -0.00872665 -0.00872665 -0.00872665               ! PS_BldPitchMin    - Minimum blade pitch angles [rad]
 
 !------- SHUTDOWN -----------------------------------------------------------
 0.436300000000      ! SD_MaxPit         - Maximum blade pitch angle to initiate shutdown, [rad]

Examples/README.md

@@ -11,4 +11,5 @@ Examples:
 7. Load saved turbine, tune controller, plot minimum pitch schedule.
 8. Plot some OpenFAST output data.
 9. Run turbsim to compile binary.
-10. Tune a controller for distributed aerodynamic control.
+10. Tune a controller for distributed aerodynamic control.
+11. Generate simplified linear models, save the parameters to a file.

Examples/example_01.py

@@ -13,22 +13,28 @@
 '''
 
 # Python Modules
-import yaml
+import yaml, os
 # ROSCO Modules
 from ROSCO_toolbox import turbine as ROSCO_turbine
 
 # Load yaml file
-parameter_filename = 'NREL5MW_example.yaml'
+parameter_filename = os.path.join(os.path.dirname(__file__),'NREL5MW_example.yaml')
 inps = yaml.safe_load(open(parameter_filename))
 path_params         = inps['path_params']
 turbine_params      = inps['turbine_params']
 
 # Load turbine data from openfast model
 turbine = ROSCO_turbine.Turbine(turbine_params)
-turbine.load_from_fast(path_params['FAST_InputFile'],path_params['FAST_directory'],dev_branch=True,rot_source='txt',txt_filename=path_params['rotor_performance_filename'])
+
+turbine.load_from_fast(
+    path_params['FAST_InputFile'],
+    os.path.join(os.path.dirname(__file__),path_params['FAST_directory']),
+    dev_branch=True,
+    rot_source='txt',txt_filename=os.path.join(os.path.dirname(__file__),path_params['rotor_performance_filename'])
+    )
 
 # Print some basic turbine info
 print(turbine)
 
 # Save the turbine model
-turbine.save('NREL5MW_saved.p')
+turbine.save(os.path.join(os.path.dirname(__file__),'NREL5MW_saved.p'))

Examples/example_02.py

@@ -9,6 +9,7 @@
 '''
 
 # Python modules
+import os
 import matplotlib.pyplot as plt
 # ROSCO toolbox modules 
 from ROSCO_toolbox import turbine as ROSCO_turbine
@@ -18,7 +19,7 @@
 turbine = ROSCO_turbine.Turbine
 
 # Load quick from python pickle
-turbine = turbine.load('NREL5MW_saved.p')
+turbine = turbine.load(os.path.join(os.path.dirname(__file__),'NREL5MW_saved.p'))
 
 # plot rotor performance 
 print('Plotting Cp data')

Examples/example_03.py

@@ -10,26 +10,30 @@
 - Write a text file with rotor performance properties
 '''
 # Python modules
-import yaml 
+import yaml, os 
 # ROSCO toolbox modules 
 from ROSCO_toolbox import turbine as ROSCO_turbine
-from ROSCO_toolbox import utilities as ROSCO_utilities
+from ROSCO_toolbox.utilities import write_rotor_performance
 # Initialize parameter dictionaries
 turbine_params = {}
 control_params = {}
 
 # Load yaml file
-parameter_filename = '../Tune_Cases/NREL5MW.yaml'
+parameter_filename = os.path.join(os.path.dirname(__file__),'NREL5MW_example.yaml')
 inps = yaml.safe_load(open(parameter_filename))
 path_params         = inps['path_params']
 turbine_params      = inps['turbine_params']
 controller_params   = inps['controller_params']
 
 # Load turbine data from openfast model
 turbine = ROSCO_turbine.Turbine(turbine_params)
-turbine.load_from_fast(path_params['FAST_InputFile'],path_params['FAST_directory'],dev_branch=True,rot_source='cc-blade',txt_filename=None)
+turbine.load_from_fast(
+    path_params['FAST_InputFile'],
+    os.path.join(os.path.dirname(__file__),path_params['FAST_directory']),
+    dev_branch=True,
+    rot_source='cc-blade',
+    txt_filename=None)
 
 # Write rotor performance text file
-txt_filename = 'Cp_Ct_Cq.Ex03.txt'
-file_processing = ROSCO_utilities.FileProcessing()
-file_processing.write_rotor_performance(turbine,txt_filename=txt_filename)
+txt_filename = os.path.join(os.path.dirname(__file__),'Cp_Ct_Cq.Ex03.txt')
+write_rotor_performance(turbine,txt_filename=txt_filename)

Examples/example_04.py

@@ -12,15 +12,15 @@
 '''
 # Python modules
 import matplotlib.pyplot as plt 
-import yaml 
+import yaml, os 
 # ROSCO toolbox modules 
 from ROSCO_toolbox import controller as ROSCO_controller
 from ROSCO_toolbox import turbine as ROSCO_turbine
 from ROSCO_toolbox import sim as ROSCO_sim
-from ROSCO_toolbox import utilities as ROSCO_utilities
+from ROSCO_toolbox.utilities import write_DISCON
 
 # Load yaml file 
-parameter_filename = 'NREL5MW_example.yaml'
+parameter_filename = os.path.join(os.path.dirname(__file__),'NREL5MW_example.yaml')
 inps = yaml.safe_load(open(parameter_filename))
 path_params         = inps['path_params']
 turbine_params      = inps['turbine_params']
@@ -29,17 +29,21 @@
 # Instantiate turbine, controller, and file processing classes
 turbine         = ROSCO_turbine.Turbine(turbine_params)
 controller      = ROSCO_controller.Controller(controller_params)
-file_processing = ROSCO_utilities.FileProcessing()
 
 # Load turbine data from OpenFAST and rotor performance text file
-turbine.load_from_fast(path_params['FAST_InputFile'],path_params['FAST_directory'],dev_branch=True,rot_source='txt',txt_filename=path_params['rotor_performance_filename'])
+turbine.load_from_fast(
+    path_params['FAST_InputFile'],
+    os.path.join(os.path.dirname(__file__),path_params['FAST_directory']),
+    dev_branch=True,
+    rot_source='txt',txt_filename=os.path.join(os.path.dirname(__file__),path_params['rotor_performance_filename'])
+    )
 
 # Tune controller 
 controller.tune_controller(turbine)
 
 # Write parameter input file
 param_file = 'DISCON.IN'   
-file_processing.write_DISCON(turbine,controller,param_file=param_file, txt_filename=path_params['rotor_performance_filename'])
+write_DISCON(turbine,controller,param_file=param_file, txt_filename=path_params['rotor_performance_filename'])
 
 # Plot gain schedule
 fig, ax = plt.subplots(1,2,constrained_layout=True)

Examples/example_05.py

@@ -17,21 +17,21 @@
 # Python modules
 import matplotlib.pyplot as plt 
 import numpy as np
-import yaml 
+import yaml, os
 # ROSCO toolbox modules 
 from ROSCO_toolbox import controller as ROSCO_controller
 from ROSCO_toolbox import turbine as ROSCO_turbine
 from ROSCO_toolbox import sim as ROSCO_sim
-from ROSCO_toolbox import utilities as ROSCO_utilities
 from ROSCO_toolbox import control_interface as ROSCO_ci
 
 # Specify controller dynamic library path and name
-lib_name = '../ROSCO/build/libdiscon.dylib'
-param_filename = 'DISCON.IN'
+this_dir = os.path.dirname(__file__)
+lib_name = os.path.join(this_dir,'../ROSCO/build/libdiscon.dylib')
+param_filename = os.path.join(this_dir,'DISCON.IN')
 
 # Load turbine model from saved pickle
 turbine = ROSCO_turbine.Turbine
-turbine = turbine.load('NREL5MW_saved.p')
+turbine = turbine.load(os.path.join(this_dir,'NREL5MW_saved.p'))
 
 # Load controller library
 controller_int = ROSCO_ci.ControllerInterface(lib_name,param_filename=param_filename)

Examples/example_06.py

@@ -12,14 +12,17 @@
 '''
 # Python Modules
 import yaml
+import os
 # ROSCO toolbox modules 
 from ROSCO_toolbox import controller as ROSCO_controller
 from ROSCO_toolbox import turbine as ROSCO_turbine
+from ROSCO_toolbox.utilities import write_DISCON, run_openfast
 from ROSCO_toolbox import sim as ROSCO_sim
-from ROSCO_toolbox import utilities as ROSCO_utilities
+
+this_dir = os.path.dirname(__file__)
 
 # Load yaml file 
-parameter_filename = 'NREL5MW_example.yaml'
+parameter_filename = os.path.join(this_dir,'NREL5MW_example.yaml')
 inps = yaml.safe_load(open(parameter_filename))
 path_params         = inps['path_params']
 turbine_params      = inps['turbine_params']
@@ -28,8 +31,6 @@
 # Instantiate turbine, controller, and file processing classes
 turbine         = ROSCO_turbine.Turbine(turbine_params)
 controller      = ROSCO_controller.Controller(controller_params)
-file_processing = ROSCO_utilities.FileProcessing()
-fast_io         = ROSCO_utilities.FAST_IO()
 
 # Load turbine data from OpenFAST and rotor performance text file
 turbine.load_from_fast(path_params['FAST_InputFile'],path_params['FAST_directory'],dev_branch=True,rot_source='txt',txt_filename=path_params['rotor_performance_filename'])
@@ -38,12 +39,12 @@
 controller.tune_controller(turbine)
 
 # Write parameter input file
-param_file = 'DISCON.IN'   # This must be named DISCON.IN to be seen by the compiled controller binary. 
-file_processing.write_DISCON(turbine,controller,param_file=param_file, txt_filename=path_params['rotor_performance_filename'])
+param_file = os.path.join(this_dir,'DISCON.IN')   # This must be named DISCON.IN to be seen by the compiled controller binary. 
+write_DISCON(turbine,controller,param_file=param_file, txt_filename=path_params['rotor_performance_filename'])
 
 # Run OpenFAST
 # --- May need to change fastcall if you use a non-standard command to call openfast
-fast_io.run_openfast(path_params['FAST_directory'], fastcall='openfast', fastfile=path_params['FAST_InputFile'],chdir=True)
+run_openfast(path_params['FAST_directory'], fastcall='openfast_sdev', fastfile=path_params['FAST_InputFile'], chdir=True)