Merge pull request WISDEM#37 from NREL/develop

Update Main

.gitignore

@@ -28,9 +28,12 @@ _build
 *.out
 *.outb
 *.dbg
+*.vtp
 
-# Fortran files
+# ROSCO files
 *.85
+*.i90
+*local*
 
 # Binaries
 *.dylib
@@ -46,7 +49,11 @@ examples/cp_ct_cq_lut.p
 Examples/DISCON.IN
 Examples/*.p
 
-# Matlab Stuff
-Matlab_Toolbox/*.slxc
+# Exclude testing results
+ROSCO_testing/results/
+
+# Simulink/Matlab temp files
+*.slxc
+*.autosave
 *.mat
 

.gitmodules

@@ -1,3 +1,4 @@
 [submodule "ROSCO"]
 	path = ROSCO
-	url = https://github.com/NREL/ROSCO.git
+	url = https://github.com/NREL/ROSCO
+	branch = main

Examples/.gitignore

@@ -1,2 +1,3 @@
 Cp_Ct_Cq.*.txt
 *.p
+examples_out/

Examples/NREL5MW_example.yaml

@@ -3,8 +3,8 @@
     # Turbine: NREL 5MW Reference Wind Turbine
 # ------------------------------ OpenFAST PATH DEFINITIONS ------------------------------
 path_params:
-  FAST_InputFile: '5MW_Land_DLL_WTurb.fst'                                                                # Name of *.fst file
-  FAST_directory: '../Test_Cases/5MW_Land_DLL_WTurb'                     # Main OpenFAST model directory, where the *.fst lives 
+  FAST_InputFile: 'NREL-5MW.fst'                                                                # Name of *.fst file
+  FAST_directory: '../Test_Cases/NREL-5MW'                     # Main OpenFAST model directory, where the *.fst lives 
   # Optional
   rotor_performance_filename:  'Cp_Ct_Cq.NREL5MW.txt'                                # Filename for rotor performance text file (if it has been generated by ccblade already)
 

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 +13,33 @@
 '''
 
 # 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'
+this_dir = os.path.dirname(os.path.abspath(__file__))
+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']
 
 # 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(this_dir,path_params['FAST_directory']),
+    dev_branch=True,
+    rot_source='txt',txt_filename=os.path.join(this_dir,path_params['rotor_performance_filename'])
+    )
 
 # Print some basic turbine info
 print(turbine)
 
 # Save the turbine model
-turbine.save('NREL5MW_saved.p')
+example_out_dir = os.path.join(this_dir,'examples_out')
+if not os.path.isdir(example_out_dir):
+  os.makedirs(example_out_dir)
+
+turbine.save(os.path.join(example_out_dir,'01_NREL5MW_saved.p'))

Examples/example_02.py

@@ -9,18 +9,29 @@
 '''
 
 # Python modules
+import os
 import matplotlib.pyplot as plt
 # ROSCO toolbox modules 
 from ROSCO_toolbox import turbine as ROSCO_turbine
 
+this_dir = os.path.dirname(os.path.abspath(__file__))
+example_out_dir = os.path.join(this_dir,'examples_out')
+if not os.path.isdir(example_out_dir):
+  os.makedirs(example_out_dir)
 
 # Initialize a turbine class -- Don't need to instantiate!
 turbine = ROSCO_turbine.Turbine
 
 # Load quick from python pickle
-turbine = turbine.load('NREL5MW_saved.p')
+turbine = turbine.load(os.path.join(example_out_dir,'01_NREL5MW_saved.p'))
 
 # plot rotor performance 
 print('Plotting Cp data')
-turbine.Cp.plot_performance(turbine.Cp_table, turbine.pitch_initial_rad, turbine.TSR_initial)
-plt.show()
+turbine.Cp.plot_performance()
+
+
+
+if False:
+  plt.show()
+else:
+  plt.savefig(os.path.join(example_out_dir,'02_NREL5MW_Cp.png'))

Examples/example_03.py

@@ -10,26 +10,35 @@
 - 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 = {}
 
+this_dir = os.path.dirname(os.path.abspath(__file__))
+example_out_dir = os.path.join(this_dir,'examples_out')
+if not os.path.isdir(example_out_dir):
+  os.makedirs(example_out_dir)
+
 # Load yaml file
-parameter_filename = '../Tune_Cases/NREL5MW.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']
 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=None,txt_filename=None)
+turbine.load_from_fast(
+    path_params['FAST_InputFile'],
+    os.path.join(this_dir,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(example_out_dir,'03_Cp_Ct_Cq.Ex03.txt')
+write_rotor_performance(turbine,txt_filename=txt_filename)

Examples/example_04.py

@@ -12,15 +12,16 @@
 '''
 # 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'
+this_dir = os.path.dirname(os.path.abspath(__file__))
+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']
@@ -29,27 +30,39 @@
 # 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(this_dir,path_params['FAST_directory']),
+    dev_branch=True,
+    rot_source='txt',txt_filename=os.path.join(this_dir,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
-plt.figure(0)
-plt.plot(controller.v[len(controller.vs_gain_schedule.Kp):], controller.pc_gain_schedule.Kp)
-plt.xlabel('Wind Speed')
-plt.ylabel('Proportional Gain')
+fig, ax = plt.subplots(1,2,constrained_layout=True)
+ax[0].plot(controller.v[len(controller.v_below_rated)+1:], controller.pc_gain_schedule.Kp)
+ax[0].set_xlabel('Wind Speed')
+ax[0].set_ylabel('Proportional Gain')
 
-plt.figure(1)
-plt.plot(controller.v[len(controller.vs_gain_schedule.Ki):], controller.pc_gain_schedule.Ki)
-plt.xlabel('Wind Speed')
-plt.ylabel('Integral Gain')
+ax[1].plot(controller.v[len(controller.v_below_rated)+1:], controller.pc_gain_schedule.Ki)
+ax[1].set_xlabel('Wind Speed')
+ax[1].set_ylabel('Integral Gain')
 
-plt.show()
+plt.suptitle('Pitch Controller Gains')
+
+example_out_dir = os.path.join(this_dir,'examples_out')
+if not os.path.isdir(example_out_dir):
+  os.makedirs(example_out_dir)
+
+if False:
+  plt.show()
+else:
+  plt.savefig(os.path.join(example_out_dir,'04_GainSched.png'))

Examples/example_05.py

@@ -10,28 +10,37 @@
 
 Notes - You will need to have a compiled controller in ROSCO, and 
         properly point to it in the `lib_name` variable.
-      - The complex nature of the wind speed estimators implemented in ROSCO
-        make using them for simulations is known to cause problems for 
-        the simple simulator. We suggesting using WE_Mode = 0 in DISCON.IN.
+      - Using wind speed estimators in this simple simulation is 
+        known to cause problems. We suggesting using WE_Mode = 0 in DISCON.IN.
 '''
 # Python modules
 import matplotlib.pyplot as plt 
 import numpy as np
-import yaml 
+import yaml, os, platform
 # 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(os.path.abspath(__file__))
+example_out_dir = os.path.join(this_dir,'examples_out')
+if not os.path.isdir(example_out_dir):
+  os.makedirs(example_out_dir)
+
+if platform.system() == 'Windows':
+    lib_name = os.path.join(this_dir, '../ROSCO/build/libdiscon.dll')
+elif platform.system() == 'Darwin':
+    lib_name = os.path.join(this_dir, '../ROSCO/build/libdiscon.dylib')
+else:
+    lib_name = os.path.join(this_dir, '../ROSCO/build/libdiscon.so')
+
+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(example_out_dir,'01_NREL5MW_saved.p'))
 
 # Load controller library
 controller_int = ROSCO_ci.ControllerInterface(lib_name,param_filename=param_filename)
@@ -51,5 +60,9 @@
 
 # Run simulator and plot results
 sim.sim_ws_series(t,ws,rotor_rpm_init=4)
-plt.show()
+
+if False:
+  plt.show()
+else:
+  plt.savefig(os.path.join(example_out_dir,'05_NREL5MW_SimpSim.png'))
 

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(os.path.abspath(__file__))
 
 # Load yaml file 
-parameter_filename = 'NREL5MW_example.yaml'
+parameter_filename = os.path.join(os.path.dirname(this_dir), 'Tune_Cases', 'IEA15MW.yaml') 
 inps = yaml.safe_load(open(parameter_filename))
 path_params         = inps['path_params']
 turbine_params      = inps['turbine_params']
@@ -28,22 +31,24 @@
 # 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'])
+turbine.load_from_fast(path_params['FAST_InputFile'], \
+  os.path.join(this_dir,path_params['FAST_directory']), \
+    dev_branch=True,rot_source='txt',\
+      txt_filename=os.path.join(this_dir,path_params['FAST_directory'],path_params['rotor_performance_filename']))
 
 # Tune controller 
 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_dev', fastfile=path_params['FAST_InputFile'],chdir=True)
+fastcall = 'openfast'
+run_openfast(path_params['FAST_directory'], fastcall=fastcall, fastfile=path_params['FAST_InputFile'], chdir=True)