from ROSCO_toolbox import turbine as ROSCO_turbine
from ROSCO_toolbox.utilities import write_rotor_performance, write_DISCON
# Initialize parameter dictionaries
turbine_params = {}
control_params = {}
# Load input file contents, put them in some dictionaries to keep things cleaner
inps = yaml.safe_load(open(parameter_filename))
path_params = inps['path_params']
turbine_params = inps['turbine_params']
controller_params = inps['controller_params']
#---------------------------------- DO THE FUN STUFF ------------------------------------#
# Initialiize turbine and controller
turbine = ROSCO_turbine.Turbine(turbine_params)
# Load Turbine, write rotor performance file if it doesn't exist
if os.path.exists(
os.path.join(this_dir, 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=path_params['rotor_performance_filename'])
else:
turbine.load_from_fast(path_params['FAST_InputFile'], \
os.path.join(this_dir,path_params['FAST_directory']), \
dev_branch=True,rot_source=None, txt_filename=path_params['rotor_performance_filename'])
write_rotor_performance(turbine,
txt_filename=os.path.join(
this_dir,
def gen_control_cases(self, input_params, DISCON_params, values, group):
'''
Generate control case input dictionary for controller parameters
Parameters
----------
input_params: list
List of parameters that exist in the controller tuning yaml file that will be modified
DISCON_params: list
List of parameters in DISCON.IN that will be changed by the paremeters in input_params
values: list
List with nested lists of floats that correspond to the input_params.
- i.e. [[0.1],[0.5]]
group: int
Group number for case_inputs
Returns
-------
case_inputs: dict
Dictionary of case inputs for WISDEM's CaseGen_General
tuning_inputs: dict
Dictionary containing yaml input tuning parameters
'''
# Load turbine
turbine = ROSCO_turbine.Turbine(self.turbine_params)
turbine.load_from_fast(self.path_params['FAST_InputFile'],
self.path_params['FAST_directory'],
dev_branch=True)
# if not os.path.exists(self.path_params['rotor_performance_filename']):
# R.write_rotor_performance(turbine,txt_filename=path_params['rotor_performance_filename'])
# Check for flaps
if 'zeta_flp' in input_params or 'omega_flp' in input_params:
self.controller_params['Flp_Mode'] = 2
turbine.load_blade_info()
# Create tuning value matrix
tuning_matrix = list(itertools.product(*values))
# Generate cases
case_inputs = {}
tuning_inputs = {key: [] for key in input_params}
DISCON_vals_list = {key: [] for key in DISCON_params}
for tuning_params in tuning_matrix:
for inp_ind, inp_p in enumerate(input_params):
# Modify controller parameters
self.controller_params[inp_p] = tuning_params[inp_ind]
# tuning_inputs[inp_p].append(tuning_params[inp_ind])
# Initialize and tune controller
controller = ROSCO_controller.Controller(self.controller_params)
controller.tune_controller(turbine)
# Get DISCON input parameters
data_processing = ROSCO_Utilities.DataProcessing()
DISCON_inputs = data_processing.DISCON_dict(turbine, controller)
# Check for invalid controller inputs
if (any(item in ['VS_KP', 'VS_KI'] for item in DISCON_params)
and any(DISCON_inputs[DISCON_p][0] > 0
for DISCON_p in DISCON_params)):
print(
'WARNING: Control gains cannot be greater than zero and are for {} = {}'
.format([param for param in input_params], tuning_params))
elif (any(item in ['Flp_Kp', 'Flp_Ki'] for item in DISCON_params)
and any(DISCON_inputs[DISCON_p][0] < 0
for DISCON_p in DISCON_params)):
print(
'WARNING: Control gains cannot be less than zero and are for {} = {}'
.format([param for param in input_params], tuning_params))
# Save DISCON and tuning inputs
else:
for DISCON_p in DISCON_params:
DISCON_vals = DISCON_inputs[DISCON_p]
DISCON_vals_list[DISCON_p].append(DISCON_vals)
for inp_ind, inp_p in enumerate(input_params):
tuning_inputs[inp_p].append(tuning_params[inp_ind])
# Write case_inputs
for DISCON_p in DISCON_params:
case_inputs[('DISCON_in', DISCON_p)] = {
'vals': DISCON_vals_list[DISCON_p],
'group': group
}
return case_inputs, tuning_inputs
def run_PC_sweep(omega, zeta=1.0):
# Process inputs, single (omega, zeta) or multiple?
# Turbine inputs
iec = CaseGen_IEC()
iec.Turbine_Class = 'I' # Wind class I, II, III, IV
iec.Turbulence_Class = 'B' # Turbulence class 'A', 'B', or 'C'
iec.D = 240. # Rotor diameter to size the wind grid
iec.z_hub = 150. # Hub height to size the wind grid
cut_in = 3. # Cut in wind speed
cut_out = 25. # Cut out wind speed
n_ws = 3 # Number of wind speed bins
TMax = 800. # Length of wind grids and OpenFAST simulations, suggested 720 s
Vrated = 10.59 # Rated wind speed
Ttrans = max([
0., TMax - 60.
]) # Start of the transient for DLC with a transient, e.g. DLC 1.4
TStart = max([0., TMax - 600.
]) # Start of the recording of the channels of OpenFAST
iec.cores = 1
iec.overwrite = False
# Initial conditions to start the OpenFAST runs
u_ref = np.arange(3., 26.) # Wind speed
pitch_ref = [
0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.5058525323662666,
5.253759185225932, 7.50413344606208, 9.310153958810268,
10.8972969450052, 12.412247669440042, 13.883219268525659,
15.252012626933068, 16.53735488246438, 17.76456777500061,
18.953261878035104, 20.11055307762722, 21.238680277668898,
22.30705111326602, 23.455462501156205
] # Pitch values in deg
omega_ref = [
2.019140272160114, 2.8047214918577925, 3.594541645994511,
4.359025795823625, 5.1123509774611025, 5.855691196288371,
6.589281196735111, 7.312788026081227, 7.514186181824161,
7.54665511646938, 7.573823812448151, 7.600476033113538,
7.630243938880304, 7.638301051122195, 7.622050377183605,
7.612285710588359, 7.60743945212863, 7.605865650155881,
7.605792924227456, 7.6062185247519825, 7.607153933765292,
7.613179734210654, 7.606737845170748
] # Rotor speeds in rpm
iec.init_cond = {}
iec.init_cond[("ElastoDyn", "RotSpeed")] = {'U': u_ref}
iec.init_cond[("ElastoDyn", "RotSpeed")]['val'] = omega_ref
iec.init_cond[("ElastoDyn", "BlPitch1")] = {'U': u_ref}
iec.init_cond[("ElastoDyn", "BlPitch1")]['val'] = pitch_ref
iec.init_cond[("ElastoDyn", "BlPitch2")] = iec.init_cond[("ElastoDyn",
"BlPitch1")]
iec.init_cond[("ElastoDyn", "BlPitch3")] = iec.init_cond[("ElastoDyn",
"BlPitch1")]
iec.init_cond[("HydroDyn", "WaveHs")] = {
'U': [3, 4, 6, 8, 10, 12, 14, 16, 18, 20, 22, 24, 25, 40, 50]
}
iec.init_cond[("HydroDyn", "WaveHs")]['val'] = [
1.101917033, 1.101917033, 1.179052649, 1.315715154, 1.536867124,
1.835816514, 2.187994638, 2.598127096, 3.061304068, 3.617035443,
4.027470219, 4.51580671, 4.51580671, 6.98, 10.7
]
iec.init_cond[("HydroDyn", "WaveTp")] = {
'U': [3, 4, 6, 8, 10, 12, 14, 16, 18, 20, 22, 24, 25, 40, 50]
}
iec.init_cond[("HydroDyn", "WaveTp")]['val'] = [
8.515382435, 8.515382435, 8.310063688, 8.006300889, 7.6514231,
7.440581338, 7.460834063, 7.643300307, 8.046899942, 8.521314105,
8.987021024, 9.451641026, 9.451641026, 11.7, 14.2
]
iec.init_cond[("HydroDyn", "PtfmSurge")] = {'U': [3., 15., 25.]}
iec.init_cond[("HydroDyn", "PtfmSurge")]['val'] = [4., 15., 10.]
iec.init_cond[("HydroDyn", "PtfmPitch")] = {'U': [3., 15., 25.]}
iec.init_cond[("HydroDyn", "PtfmPitch")]['val'] = [-1., 3., 1.3]
iec.init_cond[("HydroDyn", "PtfmHeave")] = {'U': [3., 25.]}
iec.init_cond[("HydroDyn", "PtfmHeave")]['val'] = [0.5, 0.5]
# DLC inputs
if False:
wind_speeds = np.linspace(int(cut_in), int(cut_out), int(n_ws))
iec.dlc_inputs = {}
iec.dlc_inputs['DLC'] = [1.1, 1.3, 1.4, 1.5, 5.1, 6.1, 6.3]
iec.dlc_inputs['U'] = [
wind_speeds, wind_speeds, [Vrated - 2., Vrated, Vrated + 2.],
wind_speeds, [Vrated - 2., Vrated, Vrated + 2., cut_out], [], []
]
iec.dlc_inputs['Seeds'] = [[1], [1], [], [], [1], [1], [1]]
# iec.dlc_inputs['Seeds'] = [range(1,7), range(1,7),[],[], range(1,7), range(1,7), range(1,7)]
iec.dlc_inputs['Yaw'] = [[], [], [], [], [], [], []]
else:
wind_speeds = [18]
iec.dlc_inputs = {}
iec.dlc_inputs['DLC'] = [1.1]
iec.dlc_inputs['U'] = [wind_speeds]
iec.dlc_inputs['Seeds'] = [[1]]
# iec.dlc_inputs['Seeds'] = [range(1,7), range(1,7),[],[], range(1,7), range(1,7), range(1,7)]
iec.dlc_inputs['Yaw'] = [[]]
iec.PC_MaxRat = 2.
iec.TStart = Ttrans
iec.TMax = TMax # wind file length
iec.transient_dir_change = 'both' # '+','-','both': sign for transient events in EDC, EWS
iec.transient_shear_orientation = 'both' # 'v','h','both': vertical or horizontal shear for EWS
iec.wind_dir = 'outputs/wind'
# Management of parallelization
# not using for now, copy from run_DLC.py if needed later
iec.parallel_windfile_gen = True
iec.cores = 4
iec.run_dir = 'outputs/iea15mw/PC_sweep_play'
# Run case generator / wind file writing
case_inputs = {}
case_inputs[("Fst", "TMax")] = {'vals': [TMax], 'group': 0}
case_inputs[("Fst", "TStart")] = {'vals': [TStart], 'group': 0}
# case_inputs[("Fst","DT_Out")] = {'vals':[0.01], 'group':0} #0.005
case_inputs[("Fst", "OutFileFmt")] = {'vals': [2], 'group': 0}
case_inputs[("Fst", "CompHydro")] = {'vals': [1], 'group': 0}
case_inputs[("Fst", "CompSub")] = {'vals': [0], 'group': 0}
case_inputs[("InflowWind", "WindType")] = {'vals': [1], 'group': 0}
case_inputs[("ElastoDyn", "TwFADOF1")] = {'vals': ["True"], 'group': 0}
case_inputs[("ElastoDyn", "TwFADOF2")] = {'vals': ["True"], 'group': 0}
case_inputs[("ElastoDyn", "TwSSDOF1")] = {'vals': ["True"], 'group': 0}
case_inputs[("ElastoDyn", "TwSSDOF2")] = {'vals': ["True"], 'group': 0}
case_inputs[("ElastoDyn", "FlapDOF1")] = {'vals': ["True"], 'group': 0}
case_inputs[("ElastoDyn", "FlapDOF2")] = {'vals': ["True"], 'group': 0}
case_inputs[("ElastoDyn", "EdgeDOF")] = {'vals': ["True"], 'group': 0}
case_inputs[("ElastoDyn", "DrTrDOF")] = {'vals': ["False"], 'group': 0}
case_inputs[("ElastoDyn", "GenDOF")] = {'vals': ["True"], 'group': 0}
case_inputs[("ElastoDyn", "YawDOF")] = {'vals': ["False"], 'group': 0}
case_inputs[("ElastoDyn", "PtfmSgDOF")] = {'vals': ["True"], 'group': 0}
case_inputs[("ElastoDyn", "PtfmSwDOF")] = {'vals': ["True"], 'group': 0}
case_inputs[("ElastoDyn", "PtfmHvDOF")] = {'vals': ["True"], 'group': 0}
case_inputs[("ElastoDyn", "PtfmRDOF")] = {'vals': ["True"], 'group': 0}
case_inputs[("ElastoDyn", "PtfmPDOF")] = {'vals': ["True"], 'group': 0}
case_inputs[("ElastoDyn", "PtfmYDOF")] = {'vals': ["True"], 'group': 0}
case_inputs[("ServoDyn", "PCMode")] = {'vals': [5], 'group': 0}
case_inputs[("ServoDyn", "VSContrl")] = {'vals': [5], 'group': 0}
run_dir1 = os.path.dirname(
os.path.dirname(os.path.dirname(os.path.realpath(__file__)))) + os.sep
if platform.system() == 'Windows':
path2dll = os.path.join(run_dir1, 'local/lib/libdiscon.dll')
elif platform.system() == 'Darwin':
path2dll = os.path.join(run_dir1, 'local/lib/libdiscon.dylib')
else:
path2dll = os.path.join(run_dir1, 'local/lib/libdiscon.so')
case_inputs[("ServoDyn", "DLL_FileName")] = {
'vals': [path2dll],
'group': 0
}
case_inputs[("AeroDyn15", "TwrAero")] = {'vals': ["True"], 'group': 0}
case_inputs[("AeroDyn15", "TwrPotent")] = {'vals': [1], 'group': 0}
case_inputs[("AeroDyn15", "TwrShadow")] = {'vals': [1], 'group': 0}
case_inputs[("HydroDyn", "WaveMod")] = {'vals': [2], 'group': 0}
case_inputs[("HydroDyn", "WvDiffQTF")] = {'vals': ["False"], 'group': 0}
channels = {}
for var in [
"TipDxc1", "TipDyc1", "TipDzc1", "TipDxb1", "TipDyb1", "TipDxc2",
"TipDyc2", "TipDzc2", "TipDxb2", "TipDyb2", "TipDxc3", "TipDyc3",
"TipDzc3", "TipDxb3", "TipDyb3", "RootMxc1", "RootMyc1",
"RootMzc1", "RootMxb1", "RootMyb1", "RootMxc2", "RootMyc2",
"RootMzc2", "RootMxb2", "RootMyb2", "RootMxc3", "RootMyc3",
"RootMzc3", "RootMxb3", "RootMyb3", "TwrBsMxt", "TwrBsMyt",
"TwrBsMzt", "GenPwr", "GenTq", "RotThrust", "RtAeroCp", "RtAeroCt",
"RotSpeed", "BldPitch1", "TTDspSS", "TTDspFA", "NacYaw",
"Wind1VelX", "Wind1VelY", "Wind1VelZ", "LSSTipMxa", "LSSTipMya",
"LSSTipMza", "LSSTipMxs", "LSSTipMys", "LSSTipMzs", "LSShftFys",
"LSShftFzs", "TipRDxr", "TipRDyr", "TipRDzr"
]:
channels[var] = True
# mass sweep
# case_inputs[("ElastoDyn","PtfmMass")] = {'vals': (1.7838E+07*np.array([.7,.8,.9,1,1.1,1.2,1.3])).tolist(), 'group':3}
# case_inputs[("ElastoDyn","PtfmRIner")] = {'vals':(1.2507E+10*np.array([.7,.8,.9,1,1.1,1.2,1.3])).tolist(), 'group':3}
# case_inputs[("ElastoDyn","PtfmPIner")] = {'vals':(1.2507E+10*np.array([.7,.8,.9,1,1.1,1.2,1.3])).tolist(), 'group':3}
# case_inputs[("ElastoDyn","PtfmYIner")] = {'vals':(2.3667E+10*np.array([.7,.8,.9,1,1.1,1.2,1.3])).tolist(), 'group':3}
# controller params
# load default params
print('here')
rt_dir = os.path.join(
os.path.dirname(
os.path.dirname(os.path.dirname(os.path.realpath(__file__)))),
'ROSCO_toolbox')
rt_dir = '/Users/dzalkind/Tools/ROSCO_toolbox'
weis_dir = os.path.join(rt_dir, 'Tune_Cases')
control_param_yaml = os.path.join(rt_dir, 'Tune_Cases', 'IEA15MW.yaml')
inps = yaml.safe_load(open(control_param_yaml))
path_params = inps['path_params']
turbine_params = inps['turbine_params']
controller_params = inps['controller_params']
# make default controller, turbine objects for ROSCO_toolbox
turbine = ROSCO_turbine.Turbine(turbine_params)
turbine.load_from_fast(path_params['FAST_InputFile'],
os.path.join(rt_dir, path_params['FAST_directory']),
dev_branch=True)
controller = ROSCO_controller.Controller(controller_params)
# tune default controller
controller.tune_controller(turbine)
# check if inputs are lists
if not isinstance(omega, list):
omega = [omega]
if not isinstance(zeta, list):
zeta = [zeta]
# Loop through and make PI gains
pc_kp = []
pc_ki = []
omega_zeta = [] # flattened (omega,zeta) pairs
for o in omega:
for z in zeta:
controller.omega_pc = o
controller.zeta_pc = z
controller.tune_controller(turbine)
pc_kp.append(controller.pc_gain_schedule.Kp.tolist())
pc_ki.append(controller.pc_gain_schedule.Ki.tolist())
omega_zeta.append((o, z))
# add control gains to case_list
case_inputs[('DISCON_in', 'PC_GS_KP')] = {'vals': pc_kp, 'group': 3}
case_inputs[('DISCON_in', 'PC_GS_KI')] = {'vals': pc_ki, 'group': 3}
iec.case_name_base = 'pc_play'
# generate cases
case_list, case_name_list, dlc_list = iec.execute(case_inputs=case_inputs)
#for var in var_out+[var_x]:
# Run FAST cases
fastBatch = runFAST_pywrapper_batch(FAST_ver='OpenFAST', dev_branch=True)
# Monopile
# fastBatch.FAST_InputFile = 'IEA-15-240-RWT-Monopile.fst' # FAST input file (ext=.fst)
# run_dir2 = os.path.dirname( os.path.dirname( os.path.realpath(__file__) ) ) + os.sep
# fastBatch.FAST_directory = os.path.join(run_dir2, 'OpenFAST_models/IEA-15-240-RWT/IEA-15-240-RWT-Monopile') # Path to fst directory files
fastBatch.channels = channels
# fastBatch.FAST_runDirectory = iec.run_dir
fastBatch.case_list = case_list
fastBatch.case_name_list = case_name_list
fastBatch.debug_level = 2
# if MPI:
# fastBatch.run_mpi(comm_map_down)
# else:
# fastBatch.run_serial()
# U-Maine semi-sub
fastBatch.FAST_InputFile = 'IEA-15-240-RWT-UMaineSemi.fst' # FAST input file (ext=.fst)
run_dir2 = os.path.dirname(os.path.realpath(__file__)) + os.sep
fastBatch.FAST_directory = os.path.join(
run_dir2, 'OpenFAST_models', 'IEA-15-240-RWT',
'IEA-15-240-RWT-UMaineSemi') # Path to fst directory files
fastBatch.FAST_runDirectory = iec.run_dir
if True:
fastBatch.run_multi(cores=4)
else:
fastBatch.run_serial()
openfast_call = os.path.join(
os.path.dirname(os.path.realpath(__file__)),
'OpenFAST_executables', 'openfast_x64.exe')
elif platform.system() == 'Darwin':
openfast_call = 'openfast'
# Load yaml file
parameter_filename = os.path.join(os.path.dirname(os.path.realpath(__file__)),
'BAR_00', 'ServoData', 'BAR_00.yaml')
inps = yaml.safe_load(open(parameter_filename))
path_params = inps['path_params']
turbine_params = inps['turbine_params']
controller_params = inps['controller_params']
# Instantiate turbine, controller, and file processing classes
turb = turbine.Turbine(turbine_params)
cont = controller.Controller(controller_params)
file_processing = utilities.FileProcessing()
fast_io = utilities.FAST_IO()
# Load turbine data from OpenFAST and rotor performance text file
turb.load_from_fast(path_params['FAST_InputFile'],
path_params['FAST_directory'],
dev_branch=True)
# Tune controller
cont.tune_controller(turb)
# Write parameter input file
param_filename = 'OpenFAST_BAR_00_DISCON.IN'
param_file = os.path.join(os.path.dirname(os.path.realpath(__file__)),
