def compute(self, desvars):
with open(run_dir + f"CCBlade_inputs_{self.n_span}.pkl", "rb") as f:
saved_dict = dill.load(f)
chord_opt_gain = desvars["blade.opt_var.chord_opt_gain"]
chord_original = saved_dict["chord_original"]
s = saved_dict["s"]
s_opt_chord = np.linspace(0.0, 1.0, len(chord_opt_gain))
spline = PchipInterpolator
chord_spline = spline(s_opt_chord, chord_opt_gain)
chord = chord_original * chord_spline(s)
get_cp_cm = CCBladeOrig(
saved_dict["r"],
chord,
saved_dict["twist"],
saved_dict["af"],
saved_dict["Rhub"],
saved_dict["Rtip"],
saved_dict["nBlades"],
saved_dict["rho"],
saved_dict["mu"],
saved_dict["precone"],
saved_dict["tilt"],
saved_dict["yaw"],
saved_dict["shearExp"],
saved_dict["hub_height"],
saved_dict["nSector"],
saved_dict["precurve"],
saved_dict["precurveTip"],
saved_dict["presweep"],
saved_dict["presweepTip"],
saved_dict["tiploss"],
saved_dict["hubloss"],
saved_dict["wakerotation"],
saved_dict["usecd"],
)
get_cp_cm.inverse_analysis = False
get_cp_cm.induction = True
# Compute omega given TSR
Omega = (saved_dict["Uhub"] * saved_dict["tsr"] / saved_dict["Rtip"] *
30.0 / np.pi)
myout, derivs = get_cp_cm.evaluate([saved_dict["Uhub"]], [Omega],
[saved_dict["pitch"]],
coefficients=True)
outputs = {}
outputs["CP"] = myout["CP"]
return outputs
class Turbine():
"""
Class Turbine defines a turbine in terms of what is needed to
design the controller and to run the 'tiny' simulation.
Primary functions (at a high level):
- Reads an OpenFAST input deck
- Runs cc-blade rotor performance analysis
- Writes a text file containing Cp, Ct, and Cq tables
Methods:
-------
__str__
load
save
load_from_fast
load_from_ccblade
load_from_txt
generate_rotperf_fast
write_rotor_performance
Parameters:
-----------
turbine_params : dict
Dictionary containing known turbine paramaters that are not directly available from OpenFAST input files
"""
def __init__(self, turbine_params):
"""
Load turbine parameters from input dictionary
"""
print('-----------------------------------------------------------------------------')
print('Loading wind turbine data for NREL\'s ROSCO tuning and simulation processeses')
print('-----------------------------------------------------------------------------')
# ------ Turbine Parameters------
self.rotor_inertia = turbine_params['rotor_inertia']
self.rated_rotor_speed = turbine_params['rated_rotor_speed']
self.v_min = turbine_params['v_min']
self.v_rated = turbine_params['v_rated']
self.v_max = turbine_params['v_max']
self.max_pitch_rate = turbine_params['max_pitch_rate']
self.min_pitch_rate = -1 * self.max_pitch_rate
self.max_torque_rate = turbine_params['max_torque_rate']
self.rated_power = turbine_params['rated_power']
self.bld_edgewise_freq = turbine_params['bld_edgewise_freq']
if turbine_params['twr_freq']:
self.twr_freq = turbine_params['twr_freq']
else:
self.twr_freq = 0.0
if turbine_params['ptfm_freq']:
self.ptfm_freq = turbine_params['ptfm_freq']
else:
self.ptfm_freq = 0.0
if turbine_params['TSR_operational']:
self.TSR_operational = turbine_params['TSR_operational']
else:
self.TSR_operational = None
if turbine_params['bld_flapwise_freq']:
self.bld_flapwise_freq = turbine_params['bld_flapwise_freq']
else:
self.bld_flapwise_freq = 0.0
# Allow print out of class
def __str__(self):
'''
Print some data about the turbine.
'''
print('-------------- Turbine Info --------------')
print('Turbine Name: {}'.format(self.TurbineName))
print('Rated Power: {} [W]'.format(self.rated_power))
print('Total Inertia: {:.1f} [kg m^2]'.format(self.J))
print('Rotor Radius: {:.1f} [m]'.format(self.rotor_radius))
print('Rated Rotor Speed: {:.1f} [rad/s]'.format(self.rated_rotor_speed))
print('Max Cp: {:.2f}'.format(self.Cp.max))
print('------------------------------------------')
return ' '
# Save function
def save(self,filename):
'''
Save turbine to pickle
Parameters:
----------
filename : str
Name of file to save pickle
# '''
pickle.dump(self, open( filename, "wb" ) )
# Load function
@staticmethod
def load(filename):
'''
Load turbine from pickle - outdated, but might be okay!!
Parameters:
----------
filename : str
Name of pickle file
'''
turbine = pickle.load(open(filename,'rb'))
return turbine
# Load data from fast input deck
def load_from_fast(self, FAST_InputFile,FAST_directory, FAST_ver='OpenFAST',dev_branch=True,rot_source=None, txt_filename=None):
"""
Load the parameter files directly from a FAST input deck
Parameters:
-----------
Fast_InputFile: str
Primary fast model input file (*.fst)
FAST_directory: str
Directory for primary fast model input file
FAST_ver: string, optional
fast version, usually OpenFAST
dev_branch: bool, optional
dev_branch input to InputReader_OpenFAST, probably True
rot_source: str, optional
desired source for rotor to get Cp, Ct, Cq tables. Default is to run cc-blade.
options: cc-blade - run cc-blade
txt - from *.txt file
txt_filename: str, optional
filename for *.txt, only used if rot_source='txt'
"""
from wisdem.aeroelasticse.FAST_reader import InputReader_OpenFAST
print('Loading FAST model: %s ' % FAST_InputFile)
self.TurbineName = FAST_InputFile.strip('.fst')
fast = self.fast = InputReader_OpenFAST(FAST_ver=FAST_ver,dev_branch=dev_branch)
fast.FAST_InputFile = FAST_InputFile
fast.FAST_directory = FAST_directory
fast.execute()
if txt_filename:
self.rotor_performance_filename = txt_filename
else:
self.rotor_performance_filename = 'Cp_Ct_Cq.txt'
# Grab general turbine parameters
self.TipRad = fast.fst_vt['ElastoDyn']['TipRad']
self.Rhub = fast.fst_vt['ElastoDyn']['HubRad']
self.hubHt = fast.fst_vt['ElastoDyn']['TowerHt'] + fast.fst_vt['ElastoDyn']['Twr2Shft']
self.NumBl = fast.fst_vt['ElastoDyn']['NumBl']
self.TowerHt = fast.fst_vt['ElastoDyn']['TowerHt']
self.shearExp = 0.2 #HARD CODED FOR NOW
self.rho = fast.fst_vt['AeroDyn15']['AirDens']
self.mu = fast.fst_vt['AeroDyn15']['KinVisc']
self.Ng = fast.fst_vt['ElastoDyn']['GBRatio']
self.GenEff = fast.fst_vt['ServoDyn']['GenEff']
self.GBoxEff = fast.fst_vt['ElastoDyn']['GBoxEff']
self.DTTorSpr = fast.fst_vt['ElastoDyn']['DTTorSpr']
self.generator_inertia = fast.fst_vt['ElastoDyn']['GenIner']
self.tilt = fast.fst_vt['ElastoDyn']['ShftTilt']
try:
self.precone = fast.fst_vt['ElastoDyn']['PreCone1'] # May need to change to PreCone(1) depending on OpenFAST files
except:
self.precone = fast.fst_vt['ElastoDyn']['PreCone(1)']
self.yaw = 0.0
self.J = self.rotor_inertia + self.generator_inertia * self.Ng**2
self.rated_torque = self.rated_power/(self.GenEff/100*self.rated_rotor_speed*self.Ng*self.GBoxEff/100)
self.max_torque = self.rated_torque * 1.1
self.rotor_radius = self.TipRad
# self.omega_dt = np.sqrt(self.DTTorSpr/self.J)
# Load Cp, Ct, Cq tables
if rot_source == 'cc-blade': # Use cc-blade
self.load_from_ccblade()
elif rot_source == 'txt': # Use specified text file
file_processing = ROSCO_utilities.FileProcessing()
self.pitch_initial_rad, self.TSR_initial, self.Cp_table, self.Ct_table, self.Cq_table = file_processing.load_from_txt(
txt_filename)
else: # Use text file from DISCON.in
if os.path.exists(os.path.join(FAST_directory, fast.fst_vt['ServoDyn']['DLL_InFile'])):
try:
self.pitch_initial_rad = fast.fst_vt['DISCON_in']['Cp_pitch_initial_rad']
self.TSR_initial = fast.fst_vt['DISCON_in']['Cp_TSR_initial']
self.Cp_table = fast.fst_vt['DISCON_in']['Cp_table']
self.Ct_table = fast.fst_vt['DISCON_in']['Ct_table']
self.Cq_table = fast.fst_vt['DISCON_in']['Cq_table']
except: # Load from cc-blade
print('No rotor performance data source available, running CC-Blade.')
self.load_from_ccblade()
# Parse rotor performance data
self.Cp = RotorPerformance(self.Cp_table,self.pitch_initial_rad,self.TSR_initial)
self.Ct = RotorPerformance(self.Ct_table,self.pitch_initial_rad,self.TSR_initial)
self.Cq = RotorPerformance(self.Cq_table,self.pitch_initial_rad,self.TSR_initial)
# Define operational TSR
if not self.TSR_operational:
self.TSR_operational = self.Cp.TSR_opt
# Pull out some floating-related data
wave_tp = fast.fst_vt['HydroDyn']['WaveTp']
try:
self.wave_peak_period = 1/wave_tp # Will work if HydroDyn exists and a peak period is defined...
except:
self.wave_peak_period = 0.0 # Set as 0.0 when HydroDyn doesn't exist (fixed bottom)
# Load rotor performance data from CCBlade
def load_from_ccblade(self):
'''
Loads rotor performance information by running cc-blade aerodynamic analysis. Designed to work with Aerodyn15 blade input files.
Parameters:
-----------
fast: dict
Dictionary containing fast model details - defined using from InputReader_OpenFAST (distributed as a part of AeroelasticSE)
'''
print('Loading rotor performance data from CC-Blade.')
# Create CC-Blade Rotor
r0 = np.array(self.fast.fst_vt['AeroDynBlade']['BlSpn'])
chord0 = np.array(self.fast.fst_vt['AeroDynBlade']['BlChord'])
theta0 = np.array(self.fast.fst_vt['AeroDynBlade']['BlTwist'])
# -- Adjust for Aerodyn15
r = r0 + self.Rhub
chord_intfun = interpolate.interp1d(r0,chord0, bounds_error=None, fill_value='extrapolate', kind='zero')
chord = chord_intfun(r)
theta_intfun = interpolate.interp1d(r0,theta0, bounds_error=None, fill_value='extrapolate', kind='zero')
theta = theta_intfun(r)
af_idx = np.array(self.fast.fst_vt['AeroDynBlade']['BlAFID']).astype(int) - 1 #Reset to 0 index
AFNames = self.fast.fst_vt['AeroDyn15']['AFNames']
# Use airfoil data from FAST file read, assumes AeroDyn 15, assumes 1 Re num per airfoil
af_dict = {}
try:
for i, _ in enumerate(self.fast.fst_vt['AeroDyn15']['af_data']):
Re = [self.fast.fst_vt['AeroDyn15']['af_data'][i][0]['Re']]
Alpha = self.fast.fst_vt['AeroDyn15']['af_data'][i][0]['Alpha']
Cl = self.fast.fst_vt['AeroDyn15']['af_data'][i][0]['Cl']
Cd = self.fast.fst_vt['AeroDyn15']['af_data'][i][0]['Cd']
Cm = self.fast.fst_vt['AeroDyn15']['af_data'][i][0]['Cm']
af_dict[i] = CCAirfoil(Alpha, Re, Cl, Cd, Cm)
except: # Read airfoil tables without tab cabalities (will remove once wisdem master branch cleans up)
for i, _ in enumerate(self.fast.fst_vt['AeroDyn15']['af_data']):
Re = [self.fast.fst_vt['AeroDyn15']['af_data'][i]['Re']]
Alpha = self.fast.fst_vt['AeroDyn15']['af_data'][i]['Alpha']
Cl = self.fast.fst_vt['AeroDyn15']['af_data'][i]['Cl']
Cd = self.fast.fst_vt['AeroDyn15']['af_data'][i]['Cd']
Cm = self.fast.fst_vt['AeroDyn15']['af_data'][i]['Cm']
af_dict[i] = CCAirfoil(Alpha, Re, Cl, Cd, Cm)
# define airfoils for CCBlade
af = [0]*len(r)
for i in range(len(r)):
af[i] = af_dict[af_idx[i]]
# Now save the CC-Blade rotor
nSector = 8 # azimuthal discretizations
self.cc_rotor = CCBlade(r, chord, theta, af, self.Rhub, self.rotor_radius, self.NumBl, rho=self.rho, mu=self.mu,
precone=-self.precone, tilt=-self.tilt, yaw=self.yaw, shearExp=self.shearExp, hubHt=self.hubHt, nSector=nSector)
print('CCBlade initiated successfully.')
# Generate the look-up tables, mesh the grid and flatten the arrays for cc_rotor aerodynamic analysis
TSR_initial = np.arange(3, 15,0.5)
pitch_initial = np.arange(-1,25,0.5)
pitch_initial_rad = pitch_initial * deg2rad
ws_array = np.ones_like(TSR_initial) * self.v_rated # evaluate at rated wind speed
omega_array = (TSR_initial * ws_array / self.rotor_radius) * RadSec2rpm
ws_mesh, pitch_mesh = np.meshgrid(ws_array, pitch_initial)
ws_flat = ws_mesh.flatten()
pitch_flat = pitch_mesh.flatten()
omega_mesh, _ = np.meshgrid(omega_array, pitch_initial)
omega_flat = omega_mesh.flatten()
# tsr_flat = (omega_flat * rpm2RadSec * self.rotor_radius) / ws_flat
# Get values from cc-blade
print('Running CCBlade aerodynamic analysis, this may take a minute...')
try:
_, _, _, _, CP, CT, CQ, _ = self.cc_rotor.evaluate(ws_flat, omega_flat, pitch_flat, coefficients=True)
except ValueError: # On IEAontology4all
outputs, derivs = self.cc_rotor.evaluate(ws_flat, omega_flat, pitch_flat, coefficients=True)
CP = outputs['CP']
CT = outputs['CT']
CQ = outputs['CQ']
print('CCBlade aerodynamic analysis run successfully.')
# Reshape Cp, Ct and Cq
Cp = np.transpose(np.reshape(CP, (len(pitch_initial), len(TSR_initial))))
Ct = np.transpose(np.reshape(CT, (len(pitch_initial), len(TSR_initial))))
Cq = np.transpose(np.reshape(CQ, (len(pitch_initial), len(TSR_initial))))
# Store necessary metrics for analysis
self.pitch_initial_rad = pitch_initial_rad
self.TSR_initial = TSR_initial
self.Cp_table = Cp
self.Ct_table = Ct
self.Cq_table = Cq
# Save some blade parameters
self.span = r
self.chord = chord
self.twist = theta
def generate_rotperf_fast(self, openfast_path, FAST_runDirectory=None, run_BeamDyn=False,
debug_level=1, run_type='multi'):
'''
Use openfast to generate Cp surface data. Will be slow, especially if using BeamDyn,
but may be necessary if cc-blade is not sufficient.
Parameters:
-----------
openfast_path: str
path to openfast
FAST_runDirectory: str
directory to run openfast simulations in
run_BeamDyn: bool
Flag to run beamdyn - does not exist yet
debug_level: float
0 - no outputs, 1 - simple outputs, 2 - all outputs
run_type: str
'serial' - run in serial, 'multi' - run using python multiprocessing tools,
'mpi' - run using mpi tools
'''
# Load additional WISDEM tools
from wisdem.aeroelasticse import runFAST_pywrapper, CaseGen_General
from wisdem.aeroelasticse.Util import FileTools
# Load pCrunch tools
from pCrunch import pdTools, Processing
# setup values for surface
v0 = self.v_rated + 2
TSR_initial = np.arange(3, 15,1)
pitch_initial = np.arange(-1,25,1)
rotspeed_initial = TSR_initial*v0/self.rotor_radius * RadSec2rpm # rpms
# Specify Case Inputs
case_inputs = {}
# ------- Setup OpenFAST inputs --------
case_inputs[('Fst','TMax')] = {'vals': [330], 'group': 0}
case_inputs[('Fst','Compinflow')] = {'vals': [1], 'group': 0}
case_inputs[('Fst','CompAero')] = {'vals': [2], 'group': 0}
case_inputs[('Fst','CompServo')] = {'vals': [1], 'group': 0}
case_inputs[('Fst','CompHydro')] = {'vals': [0], 'group': 0}
if run_BeamDyn:
case_inputs[('Fst','CompElast')] = {'vals': [2], 'group': 0}
else:
case_inputs[('Fst','CompElast')] = {'vals': [1], 'group': 0}
case_inputs[('Fst', 'OutFileFmt')] = {'vals': [2], 'group': 0}
# AeroDyn15
case_inputs[('AeroDyn15', 'WakeMod')] = {'vals': [1], 'group': 0}
case_inputs[('AeroDyn15', 'AfAeroMod')] = {'vals': [1], 'group': 0}
case_inputs[('AeroDyn15', 'TwrPotent')] = {'vals': [0], 'group': 0}
# ElastoDyn
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', 'TeetDOF')] = {'vals': ['False'], 'group': 0}
case_inputs[('ElastoDyn', 'DrTrDOF')] = {'vals': ['False'], 'group': 0}
case_inputs[('ElastoDyn', 'GenDOF')] = {'vals': ['False'], 'group': 0}
case_inputs[('ElastoDyn', 'YawDOF')] = {'vals': ['False'], 'group': 0}
case_inputs[('ElastoDyn', 'TwFADOF1')] = {'vals': ['False'], 'group': 0}
case_inputs[('ElastoDyn', 'TwFADOF2')] = {'vals': ['False'], 'group': 0}
case_inputs[('ElastoDyn', 'TwSSDOF1')] = {'vals': ['False'], 'group': 0}
case_inputs[('ElastoDyn', 'TwSSDOF2')] = {'vals': ['False'], 'group': 0}
case_inputs[('ElastoDyn', 'PtfmSgDOF')] = {'vals': ['False'], 'group': 0}
case_inputs[('ElastoDyn', 'PtfmSwDOF')] = {'vals': ['False'], 'group': 0}
case_inputs[('ElastoDyn', 'PtfmHvDOF')] = {'vals': ['False'], 'group': 0}
case_inputs[('ElastoDyn', 'PtfmRDOF')] = {'vals': ['False'], 'group': 0}
case_inputs[('ElastoDyn', 'PtfmPDOF')] = {'vals': ['False'], 'group': 0}
case_inputs[('ElastoDyn', 'PtfmYDOF')] = {'vals': ['False'], 'group': 0}
# BeamDyn
# NEEDED
# InflowWind
case_inputs[('InflowWind', 'WindType')] = {'vals': [1], 'group': 0}
case_inputs[('InflowWind', 'HWindSpeed')] = {'vals': [v0], 'group': 0}
case_inputs[('InflowWind', 'PLexp')] = {'vals': [0], 'group': 0}
# ServoDyn
case_inputs[('ServoDyn', 'PCMode')] = {'vals': [0], 'group': 0}
case_inputs[('ServoDyn', 'VSContrl')] = {'vals': [0], 'group': 0}
case_inputs[('ServoDyn', 'HSSBrMode')] = {'vals': [0], 'group': 0}
case_inputs[('ServoDyn', 'YCMode')] = {'vals': [0], 'group': 0}
# ------- Setup sweep values inputs --------
case_inputs[('ElastoDyn', 'BlPitch1')] = {'vals': list(pitch_initial), 'group': 1}
case_inputs[('ElastoDyn', 'BlPitch2')] = {'vals': list(pitch_initial), 'group': 1}
case_inputs[('ElastoDyn', 'BlPitch3')] = {'vals': list(pitch_initial), 'group': 1}
case_inputs[('ElastoDyn', 'RotSpeed')] = {'vals': list(rotspeed_initial), 'group': 2}
# FAST details
fastBatch = runFAST_pywrapper.runFAST_pywrapper_batch(FAST_ver='OpenFAST', dev_branch=True)
fastBatch.FAST_exe = openfast_path # Path to executable
fastBatch.FAST_InputFile = self.fast.FAST_InputFile
fastBatch.FAST_directory = self.fast.FAST_directory
if not FAST_runDirectory:
FAST_runDirectory = os.path.join(os.getcwd(), 'RotPerf_OpenFAST')
fastBatch.FAST_runDirectory = FAST_runDirectory
fastBatch.debug_level = debug_level
# Generate cases
case_name_base = self.TurbineName + '_rotperf'
case_list, case_name_list = CaseGen_General.CaseGen_General(
case_inputs, dir_matrix=fastBatch.FAST_runDirectory, namebase=case_name_base)
fastBatch.case_list = case_list
fastBatch.case_name_list = case_name_list
# Make sure proper outputs exist
var_out = [
# ElastoDyn (this is probably overkill on the outputs)
"BldPitch1", "BldPitch2", "BldPitch3", "Azimuth", "RotSpeed", "GenSpeed", "NacYaw",
"OoPDefl1", "IPDefl1", "TwstDefl1", "OoPDefl2", "IPDefl2", "TwstDefl2", "OoPDefl3",
"IPDefl3", "TwstDefl3", "RootFxc1",
"RootFyc1", "RootFzc1", "RootMxc1", "RootMyc1", "RootMzc1", "RootFxc2", "RootFyc2",
"RootFzc2", "RootMxc2", "RootMyc2", "RootMzc2", "RootFxc3", "RootFyc3", "RootFzc3",
"RootMxc3", "RootMyc3", "RootMzc3", "Spn1MLxb1", "Spn1MLyb1", "Spn1MLzb1", "Spn1MLxb2",
"Spn1MLyb2", "Spn1MLzb2", "Spn1MLxb3", "Spn1MLyb3", "Spn1MLzb3", "RotThrust", "LSSGagFya",
"LSSGagFza", "RotTorq", "LSSGagMya", "LSSGagMza",
# ServoDyn
"GenPwr", "GenTq",
# AeroDyn15
"RtArea", "RtVAvgxh", "B1N3Clrnc", "B2N3Clrnc", "B3N3Clrnc",
"RtAeroCp", 'RtAeroCq', 'RtAeroCt', 'RtTSR', # NECESSARY
# InflowWind
"Wind1VelX",
]
channels = {}
for var in var_out:
channels[var] = True
fastBatch.channels = channels
# Run OpenFAST
if run_type.lower() == 'multi':
fastBatch.run_multi()
elif run_type.lower()=='mpi':
fastBatch.run_mpi()
elif run_type.lower()=='serial':
fastBatch.run_serial()
# ========== Post Processing ==========
# Save statistics
fp = Processing.FAST_Processing()
# Find all outfiles
fname_case_matrix = os.path.join(FAST_runDirectory, 'case_matrix.yaml')
case_matrix = FileTools.load_yaml(fname_case_matrix, package=1)
cm = pd.DataFrame(case_matrix)
# Parse case matrix and find outfiles names
outfiles = []
case_names = cm['Case_Name']
outfiles = []
for name in case_names:
outfiles.append(os.path.join(FAST_runDirectory, name + '.outb'))
# Set some processing parameters
fp.OpenFAST_outfile_list = outfiles
fp.namebase = case_name_base
fp.t0 = 270
fp.parallel_analysis = True
fp.results_dir = os.path.join(FAST_runDirectory,'stats')
fp.verbose = True
# Save for debug!
fp.save_LoadRanking = False
fp.save_SummaryStats = False
print('Processing openfast data on {} cores.'.format(fp.parallel_cores))
# Load and save statistics and load rankings
stats, load_rankings = fp.batch_processing()
# Get means of last 30 seconds of 300 second simulation
CP = stats[0]['RtAeroCp']['mean']
CT = stats[0]['RtAeroCt']['mean']
CQ = stats[0]['RtAeroCq']['mean']
# Reshape Cp, Ct and Cq
Cp = np.transpose(np.reshape(CP, (len(pitch_initial), len(TSR_initial))))
Ct = np.transpose(np.reshape(CT, (len(pitch_initial), len(TSR_initial))))
Cq = np.transpose(np.reshape(CQ, (len(pitch_initial), len(TSR_initial))))
# Store necessary metrics for analysis
self.pitch_initial_rad = pitch_initial * deg2rad
self.TSR_initial = TSR_initial
self.Cp_table = Cp
self.Ct_table = Ct
self.Cq_table = Cq
def load_blade_info(self):
'''
Loads wind turbine blade data from an OpenFAST model.
Should be used if blade information is needed (i.e.) for flap controller tuning, but a rotor performance file is defined and and cc-blade is not run already.
Parameters:
-----------
self - note: needs to contain fast input file info provided by load_from_fast.
'''
from wisdem.aeroelasticse.FAST_reader import InputReader_OpenFAST
# Load Fast input deck
# self.TurbineName = FAST_InputFile.strip('.fst')
# fast = InputReader_OpenFAST(FAST_ver=FAST_ver,dev_branch=dev_branch)
# self.fast.FAST_InputFile = FAST_InputFile
# self.fast.FAST_directory = FAST_directory
# self.fast.execute()
# Make sure cc_rotor exists for DAC analysis
try:
if self.cc_rotor:
self.af_data = self.fast.fst_vt['AeroDyn15']['af_data']
self.bld_flapwise_damp = self.fast.fst_vt['ElastoDynBlade']['BldFlDmp1']/100 * 0.7
except AttributeError:
# Create CC-Blade Rotor
r0 = np.array(self.fast.fst_vt['AeroDynBlade']['BlSpn'])
chord0 = np.array(self.fast.fst_vt['AeroDynBlade']['BlChord'])
theta0 = np.array(self.fast.fst_vt['AeroDynBlade']['BlTwist'])
# -- Adjust for Aerodyn15
r = r0 + self.Rhub
chord_intfun = interpolate.interp1d(r0,chord0, bounds_error=None, fill_value='extrapolate', kind='zero')
chord = chord_intfun(r)
theta_intfun = interpolate.interp1d(r0,theta0, bounds_error=None, fill_value='extrapolate', kind='zero')
theta = theta_intfun(r)
af_idx = np.array(self.fast.fst_vt['AeroDynBlade']['BlAFID']).astype(int) - 1 #Reset to 0 index
AFNames = self.fast.fst_vt['AeroDyn15']['AFNames']
# Use airfoil data from FAST file read, assumes AeroDyn 15, assumes 1 Re num per airfoil
af_dict = {}
for i, section in enumerate(self.fast.fst_vt['AeroDyn15']['af_data']):
Re = [section[0]['Re']]
Alpha = section[0]['Alpha']
if section[0]['NumTabs'] > 1: # sections with flaps
ref_tab = int(np.floor(section[0]['NumTabs']/2))
Cl = section[ref_tab]['Cl']
Cd = section[ref_tab]['Cd']
Cm = section[ref_tab]['Cm']
af_dict[i] = CCAirfoil(Alpha, Re, Cl, Cd, Cm)
else: # sections without flaps
Cl = section[0]['Cl']
Cd = section[0]['Cd']
Cm = section[0]['Cm']
af_dict[i] = CCAirfoil(Alpha, Re, Cl, Cd, Cm)
# define airfoils for CCBlade
af = [0]*len(r)
for i in range(len(r)):
af[i] = af_dict[af_idx[i]]
# Now save the CC-Blade rotor
nSector = 8 # azimuthal discretizations
self.cc_rotor = CCBlade(r, chord, theta, af, self.Rhub, self.rotor_radius, self.NumBl, rho=self.rho, mu=self.mu,
precone=-self.precone, tilt=-self.tilt, yaw=self.yaw, shearExp=self.shearExp, hubHt=self.hubHt, nSector=nSector)
# Save some blade data
self.af_data = self.fast.fst_vt['AeroDyn15']['af_data']
self.span = r
self.chord = chord
self.twist = theta
self.bld_flapwise_damp = self.fast.fst_vt['ElastoDynBlade']['BldFlDmp1']/100 * 0.7
class Performance_coef(unittest.TestCase):
def setup(self):
"""
Parameters
----------
r : array_like (m)
locations defining the blade along z-axis of :ref:`blade coordinate system <azimuth_blade_coord>`
(values should be increasing).
chord : array_like (m)
corresponding chord length at each section
theta : array_like (deg)
corresponding :ref:`twist angle <blade_airfoil_coord>` at each section---
positive twist decreases angle of attack.
Rhub : float (m)
location of hub
Rtip : float (m)
location of tip
B : int, optional
number of blades
rho : float, optional (kg/m^3)
freestream fluid density
mu : float, optional (kg/m/s)
dynamic viscosity of fluid
precone : float, optional (deg)
:ref:`hub precone angle <azimuth_blade_coord>`
tilt : float, optional (deg)
nacelle :ref:`tilt angle <yaw_hub_coord>`
yaw : float, optional (deg)
nacelle :ref:`yaw angle<wind_yaw_coord>`
shearExp : float, optional
shear exponent for a power-law wind profile across hub
hubHt : float, optional
hub height used for power-law wind profile.
U = Uref*(z/hubHt)**shearExp
nSector : int, optional
number of azimuthal sectors to descretize aerodynamic calculation. automatically set to
``1`` if tilt, yaw, and shearExp are all 0.0. Otherwise set to a minimum of 4.
"""
self.Rhub = 1.5
self.Rtip = 55.60721094924956
B = 3 # number of blades
# atmosphere
rho = 1.225
mu = 1.81206e-5
tilt = 5.0
precone = 2.5
yaw = 0.0
shearExp = 0.2
hubHt = (self.Rtip * 2) * 0.92
nSector = 8
tsr = 7.55
# max chord length
c_max = 5
# lift coefficients for the given airfoils
Cl = [
1.3871, 1.3871, 1.3871, 1.3871, 1.464, 1.464, 1.464, 1.464, 1.4509,
1.4509, 1.4509, 1.4509, 1.4509, 1.4509
]
self.r = np.array([
self.Rtip * 0.045503175, self.Rtip * 0.088888889,
self.Rtip * 0.132274603, self.Rtip * 0.186507937,
self.Rtip * 0.251587302, self.Rtip * 0.316666667,
self.Rtip * 0.381746032, self.Rtip * 0.446825397,
self.Rtip * 0.511904762, self.Rtip * 0.576984127,
self.Rtip * 0.642063492, self.Rtip * 0.707142857,
self.Rtip * 0.772222222, self.Rtip * 0.837301587,
self.Rtip * 0.891534921, self.Rtip * 0.934920635,
self.Rtip * 0.978306349
])
afinit = CCAirfoil.initFromAerodynFile # just for shorthand
basepath = 'C:/Users/Thomas/OneDrive/Tieto/Airfoils/'
# load all airfoils
airfoil_types = [0] * 5
airfoil_types[0] = afinit(basepath + 'Cylinder1.dat')
airfoil_types[1] = afinit(basepath + 'Cylinder2.dat')
airfoil_types[2] = afinit(basepath + 'S818_output3_extrap.txt')
airfoil_types[3] = afinit(basepath + 'S830_output_extrap.txt')
airfoil_types[4] = afinit(basepath + 'S831_output_extrap.txt')
# place at appropriate radial sections
af_idx = [0, 0, 1, 2, 2, 2, 2, 3, 3, 3, 3, 4, 4, 4, 4, 4, 4]
af = [0] * len(self.r)
for i in range(len(self.r)):
af[i] = airfoil_types[af_idx[i]]
# chord = np.array([3.542, 3.854, 4.167, 4.557, 4.652, 4.458, 4.249, 4.007, 3.748,
# 3.502, 3.256, 3.010, 2.764, 2.518, 2.313, 2.086, 1.419])
chord = np.array(
blade_geometry(self.Rtip, self.r, B, Cl, tsr, c_max, plot=False))
theta = np.array([
13.308, 13.308, 13.308, 13.308, 11.480, 10.162, 9.011, 7.795,
6.544, 5.361, 4.188, 3.125, 2.319, 1.526, 0.863, 0.370, 0.106
])
# create CCBlade object
self.aeroanalysis = CCBlade(self.r, chord, theta, af, self.Rhub,
self.Rtip, B, rho, mu, precone, tilt, yaw,
shearExp, hubHt, nSector)
def compute(self):
'''
Uinf : array_like (m/s)
hub height wind speed
Omega : array_like (RPM)
rotor rotation speed
pitch : array_like (deg)
blade pitch setting
'''
# set conditions
Uinf = np.array([
3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20,
21, 22, 23, 24, 25
])
Omega = np.array([
6.972, 7.183, 7.506, 7.942, 8.469, 9.156, 10.296, 11.431, 11.890,
12.100, 12.100, 12.100, 12.100, 12.100, 12.100, 12.100, 12.100,
12.100, 12.100, 12.100, 12.100, 12.100, 12.100
])
pitch = np.array([
0.000, 0.000, 0.000, 0.000, 0.000, 0.000, 0.000, 0.000, 0.000,
3.823, 6.602, 8.668, 10.450, 12.055, 13.536, 14.920, 16.226,
17.473, 18.699, 19.941, 21.177, 22.347, 23.469
])
P, T, Q, M, CP, CT, CQ, CM = self.aeroanalysis.evaluate(
Uinf, Omega, pitch, coefficients=True)
print('CP:' + str(CP))
path = "C:/Users/Thomas/OneDrive/Tieto/Scripts/Output/Cp_res.txt"
with open(path, 'w') as f:
f.write('Cp:\n')
for i in CP:
f.write("%s\n" % str(i))
f.write('\n')
f.write('Radius: \n')
f.write(str(self.Rtip))
f.close()
class Performance_coef(unittest.TestCase):
def setup(self):
"""
Parameters
----------
r : array_like (m)
locations defining the blade along z-axis of :ref:`blade coordinate system <azimuth_blade_coord>`
(values should be increasing).
chord : array_like (m)
corresponding chord length at each section
theta : array_like (deg)
corresponding :ref:`twist angle <blade_airfoil_coord>` at each section---
positive twist decreases angle of attack.
Rhub : float (m)
location of hub
Rtip : float (m)
location of tip
B : int, optional
number of blades
rho : float, optional (kg/m^3)
freestream fluid density
mu : float, optional (kg/m/s)
dynamic viscosity of fluid
precone : float, optional (deg)
:ref:`hub precone angle <azimuth_blade_coord>`
tilt : float, optional (deg)
nacelle :ref:`tilt angle <yaw_hub_coord>`
yaw : float, optional (deg)
nacelle :ref:`yaw angle<wind_yaw_coord>`
shearExp : float, optional
shear exponent for a power-law wind profile across hub
hubHt : float, optional
hub height used for power-law wind profile.
U = Uref*(z/hubHt)**shearExp
nSector : int, optional
number of azimuthal sectors to descretize aerodynamic calculation. automatically set to
``1`` if tilt, yaw, and shearExp are all 0.0. Otherwise set to a minimum of 4.
"""
self.Rhub = 1.5
self.Rtip = 63
self.r = np.array([
self.Rtip * 0.045503175, self.Rtip * 0.088888889,
self.Rtip * 0.132274603, self.Rtip * 0.186507937,
self.Rtip * 0.251587302, self.Rtip * 0.316666667,
self.Rtip * 0.381746032, self.Rtip * 0.446825397,
self.Rtip * 0.511904762, self.Rtip * 0.576984127,
self.Rtip * 0.642063492, self.Rtip * 0.707142857,
self.Rtip * 0.772222222, self.Rtip * 0.837301587,
self.Rtip * 0.891534921, self.Rtip * 0.934920635,
self.Rtip * 0.978306349
])
chord = np.array([
3.542, 3.854, 4.167, 4.557, 4.652, 4.458, 4.249, 4.007, 3.748,
3.502, 3.256, 3.010, 2.764, 2.518, 2.313, 2.086, 1.419
])
theta = np.array([
13.308, 13.308, 13.308, 13.308, 11.480, 10.162, 9.011, 7.795,
6.544, 5.361, 4.188, 3.125, 2.319, 1.526, 0.863, 0.370, 0.106
])
afinit = CCAirfoil.initFromAerodynFile # just for shorthand
basepath = os.path.join(os.path.dirname(os.path.realpath(__file__)),
"5MW_AFFiles/")
# load all airfoils
airfoil_types = [0] * 8
airfoil_types[0] = afinit(basepath + 'Cylinder1.dat')
airfoil_types[1] = afinit(basepath + 'Cylinder2.dat')
airfoil_types[2] = afinit(basepath + 'DU40_A17.dat')
airfoil_types[3] = afinit(basepath + 'DU35_A17.dat')
airfoil_types[4] = afinit(basepath + 'DU30_A17.dat')
airfoil_types[5] = afinit(basepath + 'DU25_A17.dat')
airfoil_types[6] = afinit(basepath + 'DU21_A17.dat')
airfoil_types[7] = afinit(basepath + 'NACA64_A17.dat')
# place at appropriate radial stations
af_idx = [0, 0, 1, 2, 3, 3, 4, 5, 5, 6, 6, 7, 7, 7, 7, 7, 7]
af = [0] * len(self.r)
for i in range(len(self.r)):
af[i] = airfoil_types[af_idx[i]]
B = 3 # number of blades
# atmosphere
rho = 1.225
mu = 1.81206e-5
tilt = 5.0
precone = 2.5
yaw = 0.0
shearExp = 0.2
hubHt = (self.Rtip * 2) * 0.92
nSector = 8
# create CCBlade object
self.aeroanalysis = CCBlade(self.r, chord, theta, af, self.Rhub,
self.Rtip, B, rho, mu, precone, tilt, yaw,
shearExp, hubHt, nSector)
def compute(self):
'''
Uinf : array_like (m/s)
hub height wind speed
Omega : array_like (RPM)
rotor rotation speed
pitch : array_like (deg)
blade pitch setting
'''
# set conditions
Uinf = np.array([
3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20,
21, 22, 23, 24, 25
])
Omega = np.array([
6.972, 7.183, 7.506, 7.942, 8.469, 9.156, 10.296, 11.431, 11.890,
12.100, 12.100, 12.100, 12.100, 12.100, 12.100, 12.100, 12.100,
12.100, 12.100, 12.100, 12.100, 12.100, 12.100
])
pitch = np.array([
0.000, 0.000, 0.000, 0.000, 0.000, 0.000, 0.000, 0.000, 0.000,
3.823, 6.602, 8.668, 10.450, 12.055, 13.536, 14.920, 16.226,
17.473, 18.699, 19.941, 21.177, 22.347, 23.469
])
Pref = np.array([
42.9, 188.2, 427.9, 781.3, 1257.6, 1876.2, 2668.0, 3653.0, 4833.2,
5296.6, 5296.6, 5296.6, 5296.6, 5296.6, 5296.6, 5296.6, 5296.6,
5296.7, 5296.6, 5296.7, 5296.6, 5296.6, 5296.7
])
Tref = np.array([
171.7, 215.9, 268.9, 330.3, 398.6, 478.0, 579.2, 691.5, 790.6,
690.0, 608.4, 557.9, 520.5, 491.2, 467.7, 448.4, 432.3, 418.8,
406.7, 395.3, 385.1, 376.7, 369.3
])
Qref = np.array([
58.8, 250.2, 544.3, 939.5, 1418.1, 1956.9, 2474.5, 3051.1, 3881.3,
4180.1, 4180.1, 4180.1, 4180.1, 4180.1, 4180.1, 4180.1, 4180.1,
4180.1, 4180.1, 4180.1, 4180.1, 4180.1, 4180.1
])
P, T, Q, M, CP, CT, CQ, CM = self.aeroanalysis.evaluate(
Uinf, Omega, pitch, coefficients=True)
print('CP:' + str(CP))
path = os.path.join(os.path.dirname(os.path.realpath(__file__)),
"Output\Cp_res.txt")
with open(path, 'w') as f:
f.write('Cp:\n')
for i in CP:
f.write("%s\n" % str(i))
f.write('\n')
f.write('Radius: \n')
f.write(str(self.Rtip))
f.close()
'''
class CCBladeLoads(ExplicitComponent):
def initialize(self):
self.options.declare('naero')
self.options.declare('npower')
self.options.declare('n_aoa_grid')
self.options.declare('n_Re_grid')
def setup(self):
self.naero = naero = self.options['naero']
npower = self.options['npower']
n_aoa_grid = self.options['n_aoa_grid']
n_Re_grid = self.options['n_Re_grid']
"""blade element momentum code"""
# inputs
self.add_input('V_load',
val=0.0,
units='m/s',
desc='hub height wind speed')
self.add_input('Omega_load',
val=0.0,
units='rpm',
desc='rotor rotation speed')
self.add_input('pitch_load',
val=0.0,
units='deg',
desc='blade pitch setting')
self.add_input('azimuth_load',
val=0.0,
units='deg',
desc='blade azimuthal location')
# outputs
self.add_output('loads_r',
val=np.zeros(naero),
units='m',
desc='radial positions along blade going toward tip')
self.add_output('loads_Px',
val=np.zeros(naero),
units='N/m',
desc='distributed loads in blade-aligned x-direction')
self.add_output('loads_Py',
val=np.zeros(naero),
units='N/m',
desc='distributed loads in blade-aligned y-direction')
self.add_output('loads_Pz',
val=np.zeros(naero),
units='N/m',
desc='distributed loads in blade-aligned z-direction')
# corresponding setting for loads
self.add_output('loads_V',
val=0.0,
units='m/s',
desc='hub height wind speed')
self.add_output('loads_Omega',
val=0.0,
units='rpm',
desc='rotor rotation speed')
self.add_output('loads_pitch',
val=0.0,
units='deg',
desc='pitch angle')
self.add_output('loads_azimuth',
val=0.0,
units='deg',
desc='azimuthal angle')
# (potential) variables
self.add_input(
'r',
val=np.zeros(naero),
units='m',
desc=
'radial locations where blade is defined (should be increasing and not go all the way to hub or tip)'
)
self.add_input('chord',
val=np.zeros(naero),
units='m',
desc='chord length at each section')
self.add_input(
'theta',
val=np.zeros(naero),
units='deg',
desc=
'twist angle at each section (positive decreases angle of attack)')
self.add_input('Rhub', val=0.0, units='m', desc='hub radius')
self.add_input('Rtip', val=0.0, units='m', desc='tip radius')
self.add_input('hub_height', val=0.0, units='m', desc='hub height')
self.add_input('precone', val=0.0, desc='precone angle', units='deg')
self.add_input('tilt', val=0.0, desc='shaft tilt', units='deg')
self.add_input('yaw', val=0.0, desc='yaw error', units='deg')
# TODO: I've not hooked up the gradients for these ones yet.
self.add_input('precurve',
val=np.zeros(naero),
units='m',
desc='precurve at each section')
self.add_input('precurveTip',
val=0.0,
units='m',
desc='precurve at tip')
# parameters
# self.add_discrete_input('airfoils', val=[0]*naero, desc='CCAirfoil instances')
self.add_input('airfoils_cl',
val=np.zeros((n_aoa_grid, naero, n_Re_grid)),
desc='lift coefficients, spanwise')
self.add_input('airfoils_cd',
val=np.zeros((n_aoa_grid, naero, n_Re_grid)),
desc='drag coefficients, spanwise')
self.add_input('airfoils_cm',
val=np.zeros((n_aoa_grid, naero, n_Re_grid)),
desc='moment coefficients, spanwise')
self.add_input('airfoils_aoa',
val=np.zeros((n_aoa_grid)),
units='deg',
desc='angle of attack grid for polars')
self.add_input('airfoils_Re',
val=np.zeros((n_Re_grid)),
desc='Reynolds numbers of polars')
self.add_discrete_input('nBlades', val=0, desc='number of blades')
self.add_input('rho', val=0.0, units='kg/m**3', desc='density of air')
self.add_input('mu',
val=0.0,
units='kg/(m*s)',
desc='dynamic viscosity of air')
self.add_input('shearExp', val=0.0, desc='shear exponent')
self.add_discrete_input(
'nSector',
val=4,
desc=
'number of sectors to divide rotor face into in computing thrust and power'
)
self.add_discrete_input('tiploss',
val=True,
desc='include Prandtl tip loss model')
self.add_discrete_input('hubloss',
val=True,
desc='include Prandtl hub loss model')
self.add_discrete_input(
'wakerotation',
val=True,
desc=
'include effect of wake rotation (i.e., tangential induction factor is nonzero)'
)
self.add_discrete_input(
'usecd',
val=True,
desc='use drag coefficient in computing induction factors')
#self.declare_partials('loads_r', ['r', 'Rhub', 'Rtip'])
#self.declare_partials(['loads_Px', 'loads_Py'],
# ['r', 'chord', 'theta', 'Rhub', 'Rtip', 'hub_height', 'precone', 'tilt',
# 'yaw', 'V_load', 'Omega_load', 'pitch_load', 'azimuth_load', 'precurve'])
#self.declare_partials('loads_V', 'V_load')
#self.declare_partials('loads_Omega', 'Omega_load')
#self.declare_partials('loads_pitch', 'pitch_load')
#self.declare_partials('loads_azimuth', 'azimuth_load')
def compute(self, inputs, outputs, discrete_inputs, discrete_outputs):
self.r = inputs['r']
self.chord = inputs['chord']
self.theta = inputs['theta']
self.Rhub = inputs['Rhub']
self.Rtip = inputs['Rtip']
self.hub_height = inputs['hub_height']
self.precone = inputs['precone']
self.tilt = inputs['tilt']
self.yaw = inputs['yaw']
self.precurve = inputs['precurve']
self.precurveTip = inputs['precurveTip']
# self.airfoils = discrete_inputs['airfoils']
self.B = discrete_inputs['nBlades']
self.rho = inputs['rho']
self.mu = inputs['mu']
self.shearExp = inputs['shearExp']
self.nSector = discrete_inputs['nSector']
self.tiploss = discrete_inputs['tiploss']
self.hubloss = discrete_inputs['hubloss']
self.wakerotation = discrete_inputs['wakerotation']
self.usecd = discrete_inputs['usecd']
self.V_load = inputs['V_load']
self.Omega_load = inputs['Omega_load']
self.pitch_load = inputs['pitch_load']
self.azimuth_load = inputs['azimuth_load']
if len(self.precurve) == 0:
self.precurve = np.zeros_like(self.r)
# airfoil files
# n = len(self.airfoils)
af = [None] * self.naero
for i in range(self.naero):
af[i] = CCAirfoil(inputs['airfoils_aoa'], inputs['airfoils_Re'],
inputs['airfoils_cl'][:, i, :],
inputs['airfoils_cd'][:, i, :],
inputs['airfoils_cm'][:, i, :])
# af = self.airfoils
self.ccblade = CCBlade(self.r,
self.chord,
self.theta,
af,
self.Rhub,
self.Rtip,
self.B,
self.rho,
self.mu,
self.precone,
self.tilt,
self.yaw,
self.shearExp,
self.hub_height,
self.nSector,
self.precurve,
self.precurveTip,
tiploss=self.tiploss,
hubloss=self.hubloss,
wakerotation=self.wakerotation,
usecd=self.usecd,
derivatives=True)
# distributed loads
Np, Tp, self.dNp, self.dTp \
= self.ccblade.distributedAeroLoads(self.V_load, self.Omega_load, self.pitch_load, self.azimuth_load)
# concatenate loads at root/tip
outputs['loads_r'] = self.r
# conform to blade-aligned coordinate system
outputs['loads_Px'] = Np
outputs['loads_Py'] = -Tp
outputs['loads_Pz'] = 0 * Np
# return other outputs needed
outputs['loads_V'] = self.V_load
outputs['loads_Omega'] = self.Omega_load
outputs['loads_pitch'] = self.pitch_load
outputs['loads_azimuth'] = self.azimuth_load
'''
def compute(self, inputs, outputs, discrete_inputs, discrete_outputs):
# Create Airfoil class instances
af = [None] * self.n_span
for i in range(self.n_span):
if self.n_tab > 1:
ref_tab = int(np.floor(self.n_tab / 2))
af[i] = CCAirfoil(inputs['airfoils_aoa'],
inputs['airfoils_Re'],
inputs['airfoils_cl'][i, :, :, ref_tab],
inputs['airfoils_cd'][i, :, :, ref_tab],
inputs['airfoils_cm'][i, :, :, ref_tab])
else:
af[i] = CCAirfoil(inputs['airfoils_aoa'],
inputs['airfoils_Re'],
inputs['airfoils_cl'][i, :, :, 0],
inputs['airfoils_cd'][i, :, :, 0],
inputs['airfoils_cm'][i, :, :, 0])
n_pitch = self.n_pitch
n_tsr = self.n_tsr
n_U = self.n_U
min_TSR = self.min_TSR
max_TSR = self.max_TSR
min_pitch = self.min_pitch
max_pitch = self.max_pitch
U_vector = inputs['U_vector_in']
V_in = inputs['v_min']
V_out = inputs['v_max']
tsr_vector = inputs['tsr_vector_in']
pitch_vector = inputs['pitch_vector_in']
self.ccblade = CCBlade(
inputs['r'], inputs['chord'], inputs['theta'], af, inputs['Rhub'],
inputs['Rtip'], discrete_inputs['nBlades'], inputs['rho'],
inputs['mu'], inputs['precone'], inputs['tilt'], inputs['yaw'],
inputs['shearExp'], inputs['hub_height'],
discrete_inputs['nSector'], inputs['precurve'],
inputs['precurveTip'], inputs['presweep'], inputs['presweepTip'],
discrete_inputs['tiploss'], discrete_inputs['hubloss'],
discrete_inputs['wakerotation'], discrete_inputs['usecd'])
if max(U_vector) == 0.:
U_vector = np.linspace(V_in[0], V_out[0], n_U)
if max(tsr_vector) == 0.:
tsr_vector = np.linspace(min_TSR, max_TSR, n_tsr)
if max(pitch_vector) == 0.:
pitch_vector = np.linspace(min_pitch, max_pitch, n_pitch)
outputs['pitch_vector'] = pitch_vector
outputs['tsr_vector'] = tsr_vector
outputs['U_vector'] = U_vector
R = inputs['Rtip']
k = 0
for i in range(n_U):
for j in range(n_tsr):
k += 1
# if k/2. == int(k/2.) :
print('Cp-Ct-Cq surfaces completed at ' +
str(int(k / (n_U * n_tsr) * 100.)) + ' %')
U = U_vector[i] * np.ones(n_pitch)
Omega = tsr_vector[j] * U_vector[
i] / R * 30. / np.pi * np.ones(n_pitch)
myout, _ = self.ccblade.evaluate(U,
Omega,
pitch_vector,
coefficients=True)
outputs['Cp'][j, :, i], outputs['Ct'][j, :, i], outputs['Cq'][
j, :, i] = [myout[key] for key in ['CP', 'CT', 'CQ']]
class Turbine():
"""
Class Turbine defines a turbine in terms of what is needed to
design the controller and to run the 'tiny' simulation.
Primary functions (at a high level):
- Reads an OpenFAST input deck
- Runs cc-blade rotor performance analysis
- Writes a text file containing Cp, Ct, and Cq tables
Methods:
-------
__str__
load
save
load_from_fast
load_from_ccblade
load_from_txt
write_rotor_performance
Parameters:
-----------
turbine_params : dict
Dictionary containing known turbine paramaters that are not directly available from OpenFAST input files
"""
def __init__(self, turbine_params):
"""
Load turbine parameters from input dictionary
"""
print('-----------------------------------------------------------------------------')
print('Loading wind turbine data for NREL\'s ROSCO tuning and simulation processeses')
print('-----------------------------------------------------------------------------')
# ------ Turbine Parameters------
self.rotor_inertia = turbine_params['rotor_inertia']
self.rated_rotor_speed = turbine_params['rated_rotor_speed']
self.v_min = turbine_params['v_min']
self.v_rated = turbine_params['v_rated']
self.v_max = turbine_params['v_max']
self.max_pitch_rate = turbine_params['max_pitch_rate']
self.min_pitch_rate = -1 * self.max_pitch_rate
self.max_torque_rate = turbine_params['max_torque_rate']
self.rated_power = turbine_params['rated_power']
self.bld_edgewise_freq = turbine_params['bld_edgewise_freq']
if turbine_params['twr_freq']:
self.twr_freq = turbine_params['twr_freq']
else:
self.twr_freq = 0.0
if turbine_params['ptfm_freq']:
self.ptfm_freq = turbine_params['ptfm_freq']
else:
self.ptfm_freq = 0.0
if turbine_params['TSR_operational']:
self.TSR_operational = turbine_params['TSR_operational']
else:
self.TSR_operational = None
if turbine_params['bld_flapwise_freq']:
self.bld_flapwise_freq = turbine_params['bld_flapwise_freq']
else:
self.bld_flapwise_freq = 0.0
# Allow print out of class
def __str__(self):
'''
Print some data about the turbine.
'''
print('-------------- Turbine Info --------------')
print('Turbine Name: {}'.format(self.TurbineName))
print('Rated Power: {} [W]'.format(self.rated_power))
print('Total Inertia: {:.1f} [kg m^2]'.format(self.J))
print('Rotor Radius: {:.1f} [m]'.format(self.rotor_radius))
print('Rated Rotor Speed: {:.1f} [rad/s]'.format(self.rated_rotor_speed))
print('Max Cp: {:.2f}'.format(self.Cp.max))
print('------------------------------------------')
return ' '
# Save function
def save(self,filename):
'''
Save turbine to pickle
Parameters:
----------
filename : str
Name of file to save pickle
# '''
pickle.dump(self, open( filename, "wb" ) )
# Load function
@staticmethod
def load(filename):
'''
Load turbine from pickle - outdated, but might be okay!!
Parameters:
----------
filename : str
Name of pickle file
'''
turbine = pickle.load(open(filename,'rb'))
return turbine
# Load data from fast input deck
def load_from_fast(self, FAST_InputFile,FAST_directory, FAST_ver='OpenFAST',dev_branch=True,rot_source=None, txt_filename=None):
"""
Load the parameter files directly from a FAST input deck
Parameters:
-----------
Fast_InputFile: str
Primary fast model input file (*.fst)
FAST_directory: str
Directory for primary fast model input file
FAST_ver: string, optional
fast version, usually OpenFAST
dev_branch: bool, optional
dev_branch input to InputReader_OpenFAST, probably True
rot_source: str, optional
desired source for rotor to get Cp, Ct, Cq tables. Default is to run cc-blade.
options: cc-blade - run cc-blade
txt - from *.txt file
txt_filename: str, optional
filename for *.txt, only used if rot_source='txt'
"""
from wisdem.aeroelasticse.FAST_reader import InputReader_OpenFAST
print('Loading FAST model: %s ' % FAST_InputFile)
self.TurbineName = FAST_InputFile.strip('.fst')
fast = self.fast = InputReader_OpenFAST(FAST_ver=FAST_ver,dev_branch=dev_branch)
fast.FAST_InputFile = FAST_InputFile
fast.FAST_directory = FAST_directory
fast.execute()
if txt_filename:
self.rotor_performance_filename = txt_filename
else:
self.rotor_performance_filename = 'Cp_Ct_Cq.txt'
# Grab general turbine parameters
self.TipRad = fast.fst_vt['ElastoDyn']['TipRad']
self.Rhub = fast.fst_vt['ElastoDyn']['HubRad']
self.hubHt = fast.fst_vt['ElastoDyn']['TowerHt']
self.NumBl = fast.fst_vt['ElastoDyn']['NumBl']
self.TowerHt = fast.fst_vt['ElastoDyn']['TowerHt']
self.shearExp = 0.2 #HARD CODED FOR NOW
self.rho = fast.fst_vt['AeroDyn15']['AirDens']
self.mu = fast.fst_vt['AeroDyn15']['KinVisc']
self.Ng = fast.fst_vt['ElastoDyn']['GBRatio']
self.GenEff = fast.fst_vt['ServoDyn']['GenEff']
self.GBoxEff = fast.fst_vt['ElastoDyn']['GBoxEff']
self.DTTorSpr = fast.fst_vt['ElastoDyn']['DTTorSpr']
self.generator_inertia = fast.fst_vt['ElastoDyn']['GenIner']
self.tilt = fast.fst_vt['ElastoDyn']['ShftTilt']
try:
self.precone = fast.fst_vt['ElastoDyn']['PreCone1'] # May need to change to PreCone(1) depending on OpenFAST files
except:
self.precone = fast.fst_vt['ElastoDyn']['PreCone(1)']
self.yaw = 0.0
self.J = self.rotor_inertia + self.generator_inertia * self.Ng**2
self.rated_torque = self.rated_power/(self.GenEff/100*self.rated_rotor_speed*self.Ng)
self.max_torque = self.rated_torque * 1.1
self.rotor_radius = self.TipRad
# self.omega_dt = np.sqrt(self.DTTorSpr/self.J)
# Load Cp, Ct, Cq tables
if rot_source == 'cc-blade': # Use cc-blade
self.load_from_ccblade()
elif rot_source == 'txt': # Use specified text file
file_processing = ROSCO_utilities.FileProcessing()
self.pitch_initial_rad, self.TSR_initial, self.Cp_table, self.Ct_table, self.Cq_table = file_processing.load_from_txt(
txt_filename)
else: # Use text file from DISCON.in
if os.path.exists(os.path.join(FAST_directory, fast.fst_vt['ServoDyn']['DLL_InFile'])):
if os.path.exists(fast.fst_vt['DISCON_in']['PerfFileName']):
self.pitch_initial_rad = fast.fst_vt['DISCON_in']['Cp_pitch_initial_rad']
self.TSR_initial = fast.fst_vt['DISCON_in']['Cp_TSR_initial']
self.Cp_table = fast.fst_vt['DISCON_in']['Cp_table']
self.Ct_table = fast.fst_vt['DISCON_in']['Ct_table']
self.Cq_table = fast.fst_vt['DISCON_in']['Cq_table']
else: # Load from cc-blade
print('No rotor performance data source available, running CC-Blade.')
self.load_from_ccblade()
# Parse rotor performance data
self.Cp = RotorPerformance(self.Cp_table,self.pitch_initial_rad,self.TSR_initial)
self.Ct = RotorPerformance(self.Ct_table,self.pitch_initial_rad,self.TSR_initial)
self.Cq = RotorPerformance(self.Cq_table,self.pitch_initial_rad,self.TSR_initial)
# Define operational TSR
if not self.TSR_operational:
self.TSR_operational = self.Cp.TSR_opt
# Pull out some floating-related data
wave_tp = fast.fst_vt['HydroDyn']['WaveTp']
try:
self.wave_peak_period = 1/wave_tp # Will work if HydroDyn exists and a peak period is defined...
except:
self.wave_peak_period = 0.0 # Set as 0.0 when HydroDyn doesn't exist (fixed bottom)
# Load rotor performance data from CCBlade
def load_from_ccblade(self):
'''
Loads rotor performance information by running cc-blade aerodynamic analysis. Designed to work with Aerodyn15 blade input files.
Parameters:
-----------
fast: dict
Dictionary containing fast model details - defined using from InputReader_OpenFAST (distributed as a part of AeroelasticSE)
'''
print('Loading rotor performance data from CC-Blade.')
# Create CC-Blade Rotor
r0 = np.array(self.fast.fst_vt['AeroDynBlade']['BlSpn'])
chord0 = np.array(self.fast.fst_vt['AeroDynBlade']['BlChord'])
theta0 = np.array(self.fast.fst_vt['AeroDynBlade']['BlTwist'])
# -- Adjust for Aerodyn15
r = r0 + self.Rhub
chord_intfun = interpolate.interp1d(r0,chord0, bounds_error=None, fill_value='extrapolate', kind='zero')
chord = chord_intfun(r)
theta_intfun = interpolate.interp1d(r0,theta0, bounds_error=None, fill_value='extrapolate', kind='zero')
theta = theta_intfun(r)
af_idx = np.array(self.fast.fst_vt['AeroDynBlade']['BlAFID']).astype(int) - 1 #Reset to 0 index
AFNames = self.fast.fst_vt['AeroDyn15']['AFNames']
# Use airfoil data from FAST file read, assumes AeroDyn 15, assumes 1 Re num per airfoil
af_dict = {}
try:
for i, _ in enumerate(self.fast.fst_vt['AeroDyn15']['af_data']):
Re = [self.fast.fst_vt['AeroDyn15']['af_data'][i][0]['Re']]
Alpha = self.fast.fst_vt['AeroDyn15']['af_data'][i][0]['Alpha']
Cl = self.fast.fst_vt['AeroDyn15']['af_data'][i][0]['Cl']
Cd = self.fast.fst_vt['AeroDyn15']['af_data'][i][0]['Cd']
Cm = self.fast.fst_vt['AeroDyn15']['af_data'][i][0]['Cm']
af_dict[i] = CCAirfoil(Alpha, Re, Cl, Cd, Cm)
except: # Read airfoil tables without tab cabalities (will remove once wisdem master branch cleans up)
for i, _ in enumerate(self.fast.fst_vt['AeroDyn15']['af_data']):
Re = [self.fast.fst_vt['AeroDyn15']['af_data'][i]['Re']]
Alpha = self.fast.fst_vt['AeroDyn15']['af_data'][i]['Alpha']
Cl = self.fast.fst_vt['AeroDyn15']['af_data'][i]['Cl']
Cd = self.fast.fst_vt['AeroDyn15']['af_data'][i]['Cd']
Cm = self.fast.fst_vt['AeroDyn15']['af_data'][i]['Cm']
af_dict[i] = CCAirfoil(Alpha, Re, Cl, Cd, Cm)
# define airfoils for CCBlade
af = [0]*len(r)
for i in range(len(r)):
af[i] = af_dict[af_idx[i]]
# Now save the CC-Blade rotor
nSector = 8 # azimuthal discretizations
self.cc_rotor = CCBlade(r, chord, theta, af, self.Rhub, self.rotor_radius, self.NumBl, rho=self.rho, mu=self.mu,
precone=-self.precone, tilt=-self.tilt, yaw=self.yaw, shearExp=self.shearExp, hubHt=self.hubHt, nSector=nSector)
print('CCBlade initiated successfully.')
# Generate the look-up tables, mesh the grid and flatten the arrays for cc_rotor aerodynamic analysis
TSR_initial = np.arange(3, 15,0.5)
pitch_initial = np.arange(-1,25,0.5)
pitch_initial_rad = pitch_initial * deg2rad
ws_array = np.ones_like(TSR_initial) * self.v_rated # evaluate at rated wind speed
omega_array = (TSR_initial * ws_array / self.rotor_radius) * RadSec2rpm
ws_mesh, pitch_mesh = np.meshgrid(ws_array, pitch_initial)
ws_flat = ws_mesh.flatten()
pitch_flat = pitch_mesh.flatten()
omega_mesh, _ = np.meshgrid(omega_array, pitch_initial)
omega_flat = omega_mesh.flatten()
# tsr_flat = (omega_flat * rpm2RadSec * self.rotor_radius) / ws_flat
# Get values from cc-blade
print('Running CCBlade aerodynamic analysis, this may take a minute...')
try:
_, _, _, _, CP, CT, CQ, _ = self.cc_rotor.evaluate(ws_flat, omega_flat, pitch_flat, coefficients=True)
except ValueError: # On IEAontology4all
outputs, derivs = self.cc_rotor.evaluate(ws_flat, omega_flat, pitch_flat, coefficients=True)
CP = outputs['CP']
CT = outputs['CT']
CQ = outputs['CQ']
print('CCBlade aerodynamic analysis run successfully.')
# Reshape Cp, Ct and Cq
Cp = np.transpose(np.reshape(CP, (len(pitch_initial), len(TSR_initial))))
Ct = np.transpose(np.reshape(CT, (len(pitch_initial), len(TSR_initial))))
Cq = np.transpose(np.reshape(CQ, (len(pitch_initial), len(TSR_initial))))
# Store necessary metrics for analysis
self.pitch_initial_rad = pitch_initial_rad
self.TSR_initial = TSR_initial
self.Cp_table = Cp
self.Ct_table = Ct
self.Cq_table = Cq
# Save some blade parameters
self.span = r
self.chord = chord
self.twist = theta
def load_blade_info(self):
'''
Loads wind turbine blade data from an OpenFAST model.
Should be used if blade information is needed (i.e.) for flap controller tuning, but a rotor performance file is defined and and cc-blade is not run already.
Parameters:
-----------
self - note: needs to contain fast input file info provided by load_from_fast.
'''
from wisdem.aeroelasticse.FAST_reader import InputReader_OpenFAST
# Load Fast input deck
# self.TurbineName = FAST_InputFile.strip('.fst')
# fast = InputReader_OpenFAST(FAST_ver=FAST_ver,dev_branch=dev_branch)
# self.fast.FAST_InputFile = FAST_InputFile
# self.fast.FAST_directory = FAST_directory
# self.fast.execute()
# Make sure cc_rotor exists for DAC analysis
try:
if self.cc_rotor:
self.af_data = self.fast.fst_vt['AeroDyn15']['af_data']
self.bld_flapwise_damp = self.fast.fst_vt['ElastoDynBlade']['BldFlDmp1']/100 * 0.7
except AttributeError:
# Create CC-Blade Rotor
r0 = np.array(self.fast.fst_vt['AeroDynBlade']['BlSpn'])
chord0 = np.array(self.fast.fst_vt['AeroDynBlade']['BlChord'])
theta0 = np.array(self.fast.fst_vt['AeroDynBlade']['BlTwist'])
# -- Adjust for Aerodyn15
r = r0 + self.Rhub
chord_intfun = interpolate.interp1d(r0,chord0, bounds_error=None, fill_value='extrapolate', kind='zero')
chord = chord_intfun(r)
theta_intfun = interpolate.interp1d(r0,theta0, bounds_error=None, fill_value='extrapolate', kind='zero')
theta = theta_intfun(r)
af_idx = np.array(self.fast.fst_vt['AeroDynBlade']['BlAFID']).astype(int) - 1 #Reset to 0 index
AFNames = self.fast.fst_vt['AeroDyn15']['AFNames']
# Use airfoil data from FAST file read, assumes AeroDyn 15, assumes 1 Re num per airfoil
af_dict = {}
for i, section in enumerate(self.fast.fst_vt['AeroDyn15']['af_data']):
Re = [section[0]['Re']]
Alpha = section[0]['Alpha']
if section[0]['NumTabs'] > 1: # sections with flaps
ref_tab = int(np.floor(section[0]['NumTabs']/2))
Cl = section[ref_tab]['Cl']
Cd = section[ref_tab]['Cd']
Cm = section[ref_tab]['Cm']
af_dict[i] = CCAirfoil(Alpha, Re, Cl, Cd, Cm)
else: # sections without flaps
Cl = section[0]['Cl']
Cd = section[0]['Cd']
Cm = section[0]['Cm']
af_dict[i] = CCAirfoil(Alpha, Re, Cl, Cd, Cm)
# define airfoils for CCBlade
af = [0]*len(r)
for i in range(len(r)):
af[i] = af_dict[af_idx[i]]
# Now save the CC-Blade rotor
nSector = 8 # azimuthal discretizations
self.cc_rotor = CCBlade(r, chord, theta, af, self.Rhub, self.rotor_radius, self.NumBl, rho=self.rho, mu=self.mu,
precone=-self.precone, tilt=-self.tilt, yaw=self.yaw, shearExp=self.shearExp, hubHt=self.hubHt, nSector=nSector)
# Save some blade data
self.af_data = self.fast.fst_vt['AeroDyn15']['af_data']
self.span = r
self.chord = chord
self.twist = theta
self.bld_flapwise_damp = self.fast.fst_vt['ElastoDynBlade']['BldFlDmp1']/100 * 0.7
def compute(self, inputs, outputs, discrete_inputs, discrete_outputs):
r = inputs['r']
chord = inputs['chord']
theta = inputs['theta']
Rhub = inputs['Rhub']
Rtip = inputs['Rtip']
hub_height = inputs['hub_height']
precone = inputs['precone']
tilt = inputs['tilt']
yaw = inputs['yaw']
precurve = inputs['precurve']
precurveTip = inputs['precurveTip']
# airfoils = discrete_inputs['airfoils']
B = discrete_inputs['nBlades']
rho = inputs['rho']
mu = inputs['mu']
shearExp = inputs['shearExp']
nSector = discrete_inputs['nSector']
tiploss = discrete_inputs['tiploss']
hubloss = discrete_inputs['hubloss']
wakerotation = discrete_inputs['wakerotation']
usecd = discrete_inputs['usecd']
V_load = inputs['V_load']
Omega_load = inputs['Omega_load']
pitch_load = inputs['pitch_load']
azimuth_load = inputs['azimuth_load']
if len(precurve) == 0:
precurve = np.zeros_like(r)
# airfoil files
af = [None] * self.n_span
for i in range(self.n_span):
af[i] = CCAirfoil(inputs['airfoils_aoa'], inputs['airfoils_Re'],
inputs['airfoils_cl'][i, :, :, 0],
inputs['airfoils_cd'][i, :, :, 0],
inputs['airfoils_cm'][i, :, :, 0])
ccblade = CCBlade(r,
chord,
theta,
af,
Rhub,
Rtip,
B,
rho,
mu,
precone,
tilt,
yaw,
shearExp,
hub_height,
nSector,
precurve,
precurveTip,
tiploss=tiploss,
hubloss=hubloss,
wakerotation=wakerotation,
usecd=usecd,
derivatives=True)
# distributed loads
loads, self.derivs = ccblade.distributedAeroLoads(
V_load, Omega_load, pitch_load, azimuth_load)
Np = loads['Np']
Tp = loads['Tp']
# concatenate loads at root/tip
outputs['loads_r'] = r
# conform to blade-aligned coordinate system
outputs['loads_Px'] = Np
outputs['loads_Py'] = -Tp
outputs['loads_Pz'] = 0 * Np
class TestNREL5MW(unittest.TestCase):
def setUp(self):
# geometry
Rhub = 1.5
Rtip = 63.0
r = np.array([
2.8667, 5.6000, 8.3333, 11.7500, 15.8500, 19.9500, 24.0500,
28.1500, 32.2500, 36.3500, 40.4500, 44.5500, 48.6500, 52.7500,
56.1667, 58.9000, 61.6333
])
chord = np.array([
3.542, 3.854, 4.167, 4.557, 4.652, 4.458, 4.249, 4.007, 3.748,
3.502, 3.256, 3.010, 2.764, 2.518, 2.313, 2.086, 1.419
])
theta = np.array([
13.308, 13.308, 13.308, 13.308, 11.480, 10.162, 9.011, 7.795,
6.544, 5.361, 4.188, 3.125, 2.319, 1.526, 0.863, 0.370, 0.106
])
B = 3 # number of blades
# atmosphere
rho = 1.225
mu = 1.81206e-5
afinit = CCAirfoil.initFromAerodynFile # just for shorthand
basepath = path.join(path.dirname(path.realpath(__file__)),
'5MW_AFFiles')
# load all airfoils
airfoil_types = [0] * 8
airfoil_types[0] = afinit(path.join(basepath, 'Cylinder1.dat'))
airfoil_types[1] = afinit(path.join(basepath, 'Cylinder2.dat'))
airfoil_types[2] = afinit(path.join(basepath, 'DU40_A17.dat'))
airfoil_types[3] = afinit(path.join(basepath, 'DU35_A17.dat'))
airfoil_types[4] = afinit(path.join(basepath, 'DU30_A17.dat'))
airfoil_types[5] = afinit(path.join(basepath, 'DU25_A17.dat'))
airfoil_types[6] = afinit(path.join(basepath, 'DU21_A17.dat'))
airfoil_types[7] = afinit(path.join(basepath, 'NACA64_A17.dat'))
# place at appropriate radial stations
af_idx = [0, 0, 1, 2, 3, 3, 4, 5, 5, 6, 6, 7, 7, 7, 7, 7, 7]
af = [0] * len(r)
for i in range(len(r)):
af[i] = airfoil_types[af_idx[i]]
tilt = -5.0
precone = 2.5
yaw = 0.0
# create CCBlade object
self.rotor = CCBlade(r,
chord,
theta,
af,
Rhub,
Rtip,
B,
rho,
mu,
precone,
tilt,
yaw,
shearExp=0.2,
hubHt=90.0)
def test_thrust_torque(self):
Uinf = np.array([
3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20,
21, 22, 23, 24, 25
])
Omega = np.array([
6.972, 7.183, 7.506, 7.942, 8.469, 9.156, 10.296, 11.431, 11.890,
12.100, 12.100, 12.100, 12.100, 12.100, 12.100, 12.100, 12.100,
12.100, 12.100, 12.100, 12.100, 12.100, 12.100
])
pitch = np.array([
0.000, 0.000, 0.000, 0.000, 0.000, 0.000, 0.000, 0.000, 0.000,
3.823, 6.602, 8.668, 10.450, 12.055, 13.536, 14.920, 16.226,
17.473, 18.699, 19.941, 21.177, 22.347, 23.469
])
Pref = np.array([
42.9, 188.2, 427.9, 781.3, 1257.6, 1876.2, 2668.0, 3653.0, 4833.2,
5296.6, 5296.6, 5296.6, 5296.6, 5296.6, 5296.6, 5296.6, 5296.6,
5296.7, 5296.6, 5296.7, 5296.6, 5296.6, 5296.7
])
Tref = np.array([
171.7, 215.9, 268.9, 330.3, 398.6, 478.0, 579.2, 691.5, 790.6,
690.0, 608.4, 557.9, 520.5, 491.2, 467.7, 448.4, 432.3, 418.8,
406.7, 395.3, 385.1, 376.7, 369.3
])
Qref = np.array([
58.8, 250.2, 544.3, 939.5, 1418.1, 1956.9, 2474.5, 3051.1, 3881.3,
4180.1, 4180.1, 4180.1, 4180.1, 4180.1, 4180.1, 4180.1, 4180.1,
4180.1, 4180.1, 4180.1, 4180.1, 4180.1, 4180.1
])
m_rotor = 110.0 # kg
g = 9.81
tilt = 5 * math.pi / 180.0
Tref -= m_rotor * g * math.sin(
tilt
) # remove weight of rotor that is included in reported results
P, T, Q, M = self.rotor.evaluate(Uinf, Omega, pitch)
# import matplotlib.pyplot as plt
# plt.plot(Uinf, P/1e6)
# plt.plot(Uinf, Pref/1e3)
# plt.figure()
# plt.plot(Uinf, T/1e6)
# plt.plot(Uinf, Tref/1e3)
# plt.show()
idx = (Uinf < 15)
np.testing.assert_allclose(Q[idx] / 1e6, Qref[idx] / 1e3, atol=0.15)
np.testing.assert_allclose(P[idx] / 1e6, Pref[idx] / 1e3,
atol=0.2) # within 0.2 of 1MW
np.testing.assert_allclose(T[idx] / 1e6, Tref[idx] / 1e3, atol=0.15)
def compute(self, inputs, outputs, discrete_inputs, discrete_outputs):
# Create Airfoil class instances
af = [None] * self.n_span
for i in range(self.n_span):
if self.n_tab > 1:
ref_tab = int(np.floor(self.n_tab / 2))
af[i] = CCAirfoil(inputs['airfoils_aoa'],
inputs['airfoils_Re'],
inputs['airfoils_cl'][i, :, :, ref_tab],
inputs['airfoils_cd'][i, :, :, ref_tab],
inputs['airfoils_cm'][i, :, :, ref_tab])
else:
af[i] = CCAirfoil(inputs['airfoils_aoa'],
inputs['airfoils_Re'],
inputs['airfoils_cl'][i, :, :, 0],
inputs['airfoils_cd'][i, :, :, 0],
inputs['airfoils_cm'][i, :, :, 0])
self.ccblade = CCBlade(
inputs['r'], inputs['chord'], inputs['theta'], af, inputs['Rhub'],
inputs['Rtip'], discrete_inputs['nBlades'], inputs['rho'],
inputs['mu'], inputs['precone'], inputs['tilt'], inputs['yaw'],
inputs['shearExp'], inputs['hub_height'],
discrete_inputs['nSector'], inputs['precurve'],
inputs['precurveTip'], inputs['presweep'], inputs['presweepTip'],
discrete_inputs['tiploss'], discrete_inputs['hubloss'],
discrete_inputs['wakerotation'], discrete_inputs['usecd'])
# JPJ: what is this grid for? Seems to be a special distribution of velocities
# for the hub
grid0 = np.cumsum(
np.abs(
np.diff(
np.cos(np.linspace(-np.pi / 4., np.pi / 2.,
self.n_pc + 1)))))
grid1 = (grid0 - grid0[0]) / (grid0[-1] - grid0[0])
Uhub = grid1 * (inputs['v_max'] - inputs['v_min']) + inputs['v_min']
P_aero = np.zeros(Uhub.shape)
Cp_aero = np.zeros(Uhub.shape)
Ct_aero = np.zeros(Uhub.shape)
Cq_aero = np.zeros(Uhub.shape)
Cm_aero = np.zeros(Uhub.shape)
P = np.zeros(Uhub.shape)
Cp = np.zeros(Uhub.shape)
T = np.zeros(Uhub.shape)
Q = np.zeros(Uhub.shape)
M = np.zeros(Uhub.shape)
pitch = np.zeros(Uhub.shape) + inputs['control_pitch']
# Unpack variables
P_rated = inputs['rated_power']
R_tip = inputs['Rtip']
tsr = inputs['tsr_operational']
driveType = discrete_inputs['drivetrainType']
driveEta = inputs['gearbox_efficiency'] * inputs['generator_efficiency']
# Set rotor speed based on TSR
Omega_tsr = Uhub * tsr / R_tip
# Determine maximum rotor speed (rad/s)- either by TS or by control input
Omega_max = min([
inputs['control_maxTS'] / R_tip, inputs['omega_max'] * np.pi / 30.
])
# Apply maximum and minimum rotor speed limits
Omega = np.maximum(np.minimum(Omega_tsr, Omega_max),
inputs['omega_min'] * np.pi / 30.)
Omega_rpm = Omega * 30. / np.pi
# Set baseline power production
myout, derivs = self.ccblade.evaluate(Uhub,
Omega_rpm,
pitch,
coefficients=True)
P_aero, T, Q, M, Cp_aero, Ct_aero, Cq_aero, Cm_aero = [
myout[key] for key in ['P', 'T', 'Q', 'M', 'CP', 'CT', 'CQ', 'CM']
]
P, eff = compute_P_and_eff(P_aero, P_rated, driveType, driveEta)
Cp = Cp_aero * eff
# Find Region 3 index
region_bool = np.nonzero(P >= P_rated)[0]
if len(region_bool) == 0:
i_3 = self.n_pc
region3 = False
else:
i_3 = region_bool[0] + 1
region3 = True
# Guess at Region 2.5, but we will do a more rigorous search below
if Omega_max < Omega_tsr[-1]:
U_2p5 = np.interp(Omega[-1], Omega_tsr, Uhub)
outputs['V_R25'] = U_2p5
else:
U_2p5 = Uhub[-1]
i_2p5 = np.nonzero(U_2p5 <= Uhub)[0][0]
# Find rated index and guess at rated speed
if P_aero[-1] > P_rated:
U_rated = np.interp(P_rated, P_aero * eff, Uhub)
else:
U_rated = Uhub[-1]
i_rated = np.nonzero(U_rated <= Uhub)[0][0]
# Function to be used inside of power maximization until Region 3
def maximizePower(pitch, Uhub, Omega_rpm):
myout, _ = self.ccblade.evaluate([Uhub], [Omega_rpm], [pitch],
coefficients=False)
return -myout['P']
# Maximize power until Region 3
region2p5 = False
for i in range(i_3):
# No need to optimize if already doing well
if Omega[i] == Omega_tsr[i]: continue
# Find pitch value that gives highest power rating
pitch0 = pitch[i] if i == 0 else pitch[i - 1]
bnds = [pitch0 - 10., pitch0 + 10.]
pitch[i] = minimize_scalar(
lambda x: maximizePower(x, Uhub[i], Omega_rpm[i]),
bounds=bnds,
method='bounded',
options={
'disp': False,
'xatol': 1e-2,
'maxiter': 40
})['x']
# Find associated power
myout, _ = self.ccblade.evaluate([Uhub[i]], [Omega_rpm[i]],
[pitch[i]],
coefficients=True)
P_aero[i], T[i], Q[i], M[i], Cp_aero[i], Ct_aero[i], Cq_aero[
i], Cm_aero[i] = [
myout[key]
for key in ['P', 'T', 'Q', 'M', 'CP', 'CT', 'CQ', 'CM']
]
P[i], eff = compute_P_and_eff(P_aero[i], P_rated, driveType,
driveEta)
Cp[i] = Cp_aero[i] * eff
# Note if we find Region 2.5
if ((not region2p5) and (Omega[i] == Omega_max)
and (P[i] < P_rated)):
region2p5 = True
i_2p5 = i
# Stop if we find Region 3 early
if P[i] > P_rated:
i_3 = i + 1
i_rated = i
break
# Solve for rated velocity
# JPJ: why rename i_rated to i here? It removes clarity in the following 50 lines that we're looking at the rated properties
i = i_rated
if i < self.n_pc - 1:
def const_Urated(x):
pitch = x[0]
Uhub_i = x[1]
Omega_i = min([Uhub_i * tsr / R_tip, Omega_max])
myout, _ = self.ccblade.evaluate([Uhub_i],
[Omega_i * 30. / np.pi],
[pitch],
coefficients=False)
P_aero_i = myout['P']
P_i, eff = compute_P_and_eff(P_aero_i.flatten(), P_rated,
driveType, driveEta)
return (P_i - P_rated)
if region2p5:
# Have to search over both pitch and speed
x0 = [0.0, Uhub[i]]
bnds = [
np.sort([pitch[i - 1], pitch[i + 1]]),
[Uhub[i - 1], Uhub[i + 1]]
]
const = {}
const['type'] = 'eq'
const['fun'] = const_Urated
params_rated = minimize(lambda x: x[1],
x0,
method='slsqp',
bounds=bnds,
constraints=const,
tol=1e-3)
if params_rated.success and not np.isnan(params_rated.x[1]):
U_rated = params_rated.x[1]
pitch[i] = params_rated.x[0]
else:
U_rated = U_rated # Use guessed value earlier
pitch[i] = 0.0
else:
# Just search over speed
pitch[i] = 0.0
try:
U_rated = brentq(lambda x: const_Urated([0.0, x]),
Uhub[i - 1],
Uhub[i + 1],
xtol=1e-4,
rtol=1e-5,
maxiter=40,
disp=False)
except ValueError:
U_rated = minimize_scalar(
lambda x: np.abs(const_Urated([0.0, x])),
bounds=[Uhub[i - 1], Uhub[i + 1]],
method='bounded',
options={
'disp': False,
'xatol': 1e-3,
'maxiter': 40
})['x']
Omega_rated = min([U_rated * tsr / R_tip, Omega_max])
Omega[i:] = np.minimum(
Omega[i:],
Omega_rated) # Stay at this speed if hit rated too early
Omega_rpm = Omega * 30. / np.pi
myout, _ = self.ccblade.evaluate([U_rated], [Omega_rpm[i]],
[pitch[i]],
coefficients=True)
P_aero[i], T[i], Q[i], M[i], Cp_aero[i], Ct_aero[i], Cq_aero[
i], Cm_aero[i] = [
myout[key]
for key in ['P', 'T', 'Q', 'M', 'CP', 'CT', 'CQ', 'CM']
]
P[i], eff = compute_P_and_eff(P_aero[i], P_rated, driveType,
driveEta)
Cp[i] = Cp_aero[i] * eff
P[i] = P_rated
# Store rated speed in array
Uhub[i_rated] = U_rated
# Store outputs
outputs['rated_V'] = np.float64(U_rated)
outputs['rated_Omega'] = Omega_rpm[i]
outputs['rated_pitch'] = pitch[i]
outputs['rated_T'] = T[i]
outputs['rated_Q'] = Q[i]
# JPJ: this part can be converted into a BalanceComp with a solver.
# This will be less expensive and allow us to get derivatives through the process.
if region3:
# Function to be used to stay at rated power in Region 3
def rated_power_dist(pitch, Uhub, Omega_rpm):
myout, _ = self.ccblade.evaluate([Uhub], [Omega_rpm], [pitch],
coefficients=False)
P_aero = myout['P']
P, eff = compute_P_and_eff(P_aero, P_rated, driveType,
driveEta)
return (P - P_rated)
# Solve for Region 3 pitch
options = {'disp': False}
if self.regulation_reg_III:
for i in range(i_3, self.n_pc):
pitch0 = pitch[i - 1]
try:
pitch[i] = brentq(lambda x: rated_power_dist(
x, Uhub[i], Omega_rpm[i]),
pitch0,
pitch0 + 10.,
xtol=1e-4,
rtol=1e-5,
maxiter=40,
disp=False)
except ValueError:
pitch[i] = minimize_scalar(
lambda x: np.abs(
rated_power_dist(x, Uhub[i], Omega_rpm[i])),
bounds=[pitch0 - 5., pitch0 + 15.],
method='bounded',
options={
'disp': False,
'xatol': 1e-3,
'maxiter': 40
})['x']
myout, _ = self.ccblade.evaluate([Uhub[i]], [Omega_rpm[i]],
[pitch[i]],
coefficients=True)
P_aero[i], T[i], Q[i], M[i], Cp_aero[i], Ct_aero[
i], Cq_aero[i], Cm_aero[i] = [
myout[key] for key in
['P', 'T', 'Q', 'M', 'CP', 'CT', 'CQ', 'CM']
]
P[i], eff = compute_P_and_eff(P_aero[i], P_rated,
driveType, driveEta)
Cp[i] = Cp_aero[i] * eff
#P[i] = P_rated
else:
P[i_3:] = P_rated
T[i_3:] = 0
Q[i_3:] = P[i_3:] / Omega[i_3:]
M[i_3:] = 0
pitch[i_3:] = 0
Cp[i_3:] = P[i_3:] / (0.5 * inputs['rho'] * np.pi * R_tip**2 *
Uhub[i_3:]**3)
Ct_aero[i_3:] = 0
Cq_aero[i_3:] = 0
Cm_aero[i_3:] = 0
outputs['T'] = T
outputs['Q'] = Q
outputs['Omega'] = Omega_rpm
outputs['P'] = P
outputs['Cp'] = Cp
outputs['Cp_aero'] = Cp_aero
outputs['Ct_aero'] = Ct_aero
outputs['Cq_aero'] = Cq_aero
outputs['Cm_aero'] = Cm_aero
outputs['V'] = Uhub
outputs['M'] = M
outputs['pitch'] = pitch
self.ccblade.induction_inflow = True
tsr_vec = Omega_rpm / 30. * np.pi * R_tip / Uhub
id_regII = np.argmin(abs(tsr_vec - inputs['tsr_operational']))
loads, derivs = self.ccblade.distributedAeroLoads(
Uhub[id_regII], Omega_rpm[id_regII], pitch[id_regII], 0.0)
# outputs
outputs['ax_induct_regII'] = loads['a']
outputs['tang_induct_regII'] = loads['ap']
outputs['aoa_regII'] = loads['alpha']
outputs['cl_regII'] = loads['Cl']
outputs['cd_regII'] = loads['Cd']
outputs['Cp_regII'] = Cp_aero[id_regII]
def compute(self, inputs, outputs, discrete_inputs, discrete_outputs):
r = inputs['r']
chord = inputs['chord']
theta = inputs['theta']
Rhub = inputs['Rhub']
Rtip = inputs['Rtip']
hub_height = inputs['hub_height']
precone = inputs['precone']
tilt = inputs['tilt']
yaw = inputs['yaw']
precurve = inputs['precurve']
precurveTip = inputs['precurveTip']
# airfoils = discrete_inputs['airfoils']
B = discrete_inputs['nBlades']
rho = inputs['rho']
mu = inputs['mu']
shearExp = inputs['shearExp']
nSector = discrete_inputs['nSector']
tiploss = discrete_inputs['tiploss']
hubloss = discrete_inputs['hubloss']
wakerotation = discrete_inputs['wakerotation']
usecd = discrete_inputs['usecd']
Uhub = inputs['Uhub']
Omega = inputs['Omega']
pitch = inputs['pitch']
af = [None] * self.naero
for i in range(self.naero):
af[i] = CCAirfoil(inputs['airfoils_aoa'], inputs['airfoils_Re'],
inputs['airfoils_cl'][:, i, :],
inputs['airfoils_cd'][:, i, :],
inputs['airfoils_cm'][:, i, :])
ccblade = CCBlade(r,
chord,
theta,
af,
Rhub,
Rtip,
B,
rho,
mu,
precone,
tilt,
yaw,
shearExp,
hub_height,
nSector,
precurve,
precurveTip,
tiploss=tiploss,
hubloss=hubloss,
wakerotation=wakerotation,
usecd=usecd,
derivatives=True)
# power, thrust, torque
myoutputs, self.derivs = ccblade.evaluate(Uhub,
Omega,
pitch,
coefficients=False)
outputs['T'] = myoutputs['T']
outputs['Q'] = myoutputs['Q']
outputs['P'] = myoutputs['P']
class ComputePowerCurve(ExplicitComponent):
"""
Iteratively call CCBlade to compute the power curve.
"""
def initialize(self):
self.options.declare('modeling_options')
def setup(self):
modeling_options = self.options['modeling_options']
self.n_span = n_span = modeling_options['blade']['n_span']
# self.n_af = n_af = af_init_options['n_af'] # Number of airfoils
self.n_aoa = n_aoa = modeling_options['airfoils'][
'n_aoa'] # Number of angle of attacks
self.n_Re = n_Re = modeling_options['airfoils'][
'n_Re'] # Number of Reynolds, so far hard set at 1
self.n_tab = n_tab = modeling_options['airfoils'][
'n_tab'] # Number of tabulated data. For distributed aerodynamic control this could be > 1
# self.n_xy = n_xy = af_init_options['n_xy'] # Number of coordinate points to describe the airfoil geometry
self.regulation_reg_III = modeling_options['servose'][
'regulation_reg_III']
# n_span = self.n_span = self.options['n_span']
self.n_pc = modeling_options['servose']['n_pc']
self.n_pc_spline = modeling_options['servose']['n_pc_spline']
# n_aoa = self.options['n_aoa']
# n_re = self.options['n_re']
# parameters
self.add_input('v_min', val=0.0, units='m/s', desc='cut-in wind speed')
self.add_input('v_max',
val=0.0,
units='m/s',
desc='cut-out wind speed')
self.add_input('rated_power',
val=0.0,
units='W',
desc='electrical rated power')
self.add_input('omega_min',
val=0.0,
units='rpm',
desc='minimum allowed rotor rotation speed')
self.add_input('omega_max',
val=0.0,
units='rpm',
desc='maximum allowed rotor rotation speed')
self.add_input('control_maxTS',
val=0.0,
units='m/s',
desc='maximum allowed blade tip speed')
self.add_input(
'tsr_operational',
val=0.0,
desc='tip-speed ratio in Region 2 (should be optimized externally)'
)
self.add_input(
'control_pitch',
val=0.0,
units='deg',
desc=
'pitch angle in region 2 (and region 3 for fixed pitch machines)')
self.add_discrete_input('drivetrainType', val='GEARED')
self.add_input('gearbox_efficiency',
val=0.0,
desc='Gearbox efficiency')
self.add_input('generator_efficiency',
val=0.0,
desc='Generator efficiency')
self.add_input(
'r',
val=np.zeros(n_span),
units='m',
desc=
'radial locations where blade is defined (should be increasing and not go all the way to hub or tip)'
)
self.add_input('chord',
val=np.zeros(n_span),
units='m',
desc='chord length at each section')
self.add_input(
'theta',
val=np.zeros(n_span),
units='deg',
desc=
'twist angle at each section (positive decreases angle of attack)')
self.add_input('Rhub', val=0.0, units='m', desc='hub radius')
self.add_input('Rtip', val=0.0, units='m', desc='tip radius')
self.add_input('hub_height', val=0.0, units='m', desc='hub height')
self.add_input(
'precone',
val=0.0,
units='deg',
desc='precone angle',
)
self.add_input(
'tilt',
val=0.0,
units='deg',
desc='shaft tilt',
)
self.add_input(
'yaw',
val=0.0,
units='deg',
desc='yaw error',
)
self.add_input('precurve',
val=np.zeros(n_span),
units='m',
desc='precurve at each section')
self.add_input('precurveTip',
val=0.0,
units='m',
desc='precurve at tip')
self.add_input('presweep',
val=np.zeros(n_span),
units='m',
desc='presweep at each section')
self.add_input('presweepTip',
val=0.0,
units='m',
desc='presweep at tip')
# self.add_discrete_input('airfoils', val=[0]*n_span, desc='CCAirfoil instances')
self.add_input('airfoils_cl',
val=np.zeros((n_span, n_aoa, n_Re, n_tab)),
desc='lift coefficients, spanwise')
self.add_input('airfoils_cd',
val=np.zeros((n_span, n_aoa, n_Re, n_tab)),
desc='drag coefficients, spanwise')
self.add_input('airfoils_cm',
val=np.zeros((n_span, n_aoa, n_Re, n_tab)),
desc='moment coefficients, spanwise')
self.add_input('airfoils_aoa',
val=np.zeros((n_aoa)),
units='deg',
desc='angle of attack grid for polars')
self.add_input('airfoils_Re',
val=np.zeros((n_Re)),
desc='Reynolds numbers of polars')
self.add_discrete_input('nBlades', val=0, desc='number of blades')
self.add_input('rho',
val=1.225,
units='kg/m**3',
desc='density of air')
self.add_input('mu',
val=1.81e-5,
units='kg/(m*s)',
desc='dynamic viscosity of air')
self.add_input('shearExp', val=0.0, desc='shear exponent')
self.add_discrete_input(
'nSector',
val=4,
desc=
'number of sectors to divide rotor face into in computing thrust and power'
)
self.add_discrete_input('tiploss',
val=True,
desc='include Prandtl tip loss model')
self.add_discrete_input('hubloss',
val=True,
desc='include Prandtl hub loss model')
self.add_discrete_input(
'wakerotation',
val=True,
desc=
'include effect of wake rotation (i.e., tangential induction factor is nonzero)'
)
self.add_discrete_input(
'usecd',
val=True,
desc='use drag coefficient in computing induction factors')
# outputs
self.add_output('V',
val=np.zeros(self.n_pc),
units='m/s',
desc='wind vector')
self.add_output('Omega',
val=np.zeros(self.n_pc),
units='rpm',
desc='rotor rotational speed')
self.add_output('pitch',
val=np.zeros(self.n_pc),
units='deg',
desc='rotor pitch schedule')
self.add_output('P',
val=np.zeros(self.n_pc),
units='W',
desc='rotor electrical power')
self.add_output('T',
val=np.zeros(self.n_pc),
units='N',
desc='rotor aerodynamic thrust')
self.add_output('Q',
val=np.zeros(self.n_pc),
units='N*m',
desc='rotor aerodynamic torque')
self.add_output('M',
val=np.zeros(self.n_pc),
units='N*m',
desc='blade root moment')
self.add_output('Cp',
val=np.zeros(self.n_pc),
desc='rotor electrical power coefficient')
self.add_output('Cp_aero',
val=np.zeros(self.n_pc),
desc='rotor aerodynamic power coefficient')
self.add_output('Ct_aero',
val=np.zeros(self.n_pc),
desc='rotor aerodynamic thrust coefficient')
self.add_output('Cq_aero',
val=np.zeros(self.n_pc),
desc='rotor aerodynamic torque coefficient')
self.add_output('Cm_aero',
val=np.zeros(self.n_pc),
desc='rotor aerodynamic moment coefficient')
self.add_output('V_R25',
val=0.0,
units='m/s',
desc='region 2.5 transition wind speed')
self.add_output('rated_V',
val=0.0,
units='m/s',
desc='rated wind speed')
self.add_output('rated_Omega',
val=0.0,
units='rpm',
desc='rotor rotation speed at rated')
self.add_output('rated_pitch',
val=0.0,
units='deg',
desc='pitch setting at rated')
self.add_output('rated_T',
val=0.0,
units='N',
desc='rotor aerodynamic thrust at rated')
self.add_output('rated_Q',
val=0.0,
units='N*m',
desc='rotor aerodynamic torque at rated')
self.add_output(
'ax_induct_regII',
val=np.zeros(n_span),
desc='rotor axial induction at cut-in wind speed along blade span')
self.add_output(
'tang_induct_regII',
val=np.zeros(n_span),
desc=
'rotor tangential induction at cut-in wind speed along blade span')
self.add_output(
'aoa_regII',
val=np.zeros(n_span),
units='deg',
desc=
'angle of attack distribution along blade span at cut-in wind speed'
)
self.add_output('Cp_regII',
val=0.0,
desc='power coefficient at cut-in wind speed')
self.add_output(
'cl_regII',
val=np.zeros(n_span),
desc=
'lift coefficient distribution along blade span at cut-in wind speed'
)
self.add_output(
'cd_regII',
val=np.zeros(n_span),
desc=
'drag coefficient distribution along blade span at cut-in wind speed'
)
# self.declare_partials('*', '*', method='fd', form='central', step=1e-6)
def compute(self, inputs, outputs, discrete_inputs, discrete_outputs):
# Create Airfoil class instances
af = [None] * self.n_span
for i in range(self.n_span):
if self.n_tab > 1:
ref_tab = int(np.floor(self.n_tab / 2))
af[i] = CCAirfoil(inputs['airfoils_aoa'],
inputs['airfoils_Re'],
inputs['airfoils_cl'][i, :, :, ref_tab],
inputs['airfoils_cd'][i, :, :, ref_tab],
inputs['airfoils_cm'][i, :, :, ref_tab])
else:
af[i] = CCAirfoil(inputs['airfoils_aoa'],
inputs['airfoils_Re'],
inputs['airfoils_cl'][i, :, :, 0],
inputs['airfoils_cd'][i, :, :, 0],
inputs['airfoils_cm'][i, :, :, 0])
self.ccblade = CCBlade(
inputs['r'], inputs['chord'], inputs['theta'], af, inputs['Rhub'],
inputs['Rtip'], discrete_inputs['nBlades'], inputs['rho'],
inputs['mu'], inputs['precone'], inputs['tilt'], inputs['yaw'],
inputs['shearExp'], inputs['hub_height'],
discrete_inputs['nSector'], inputs['precurve'],
inputs['precurveTip'], inputs['presweep'], inputs['presweepTip'],
discrete_inputs['tiploss'], discrete_inputs['hubloss'],
discrete_inputs['wakerotation'], discrete_inputs['usecd'])
# JPJ: what is this grid for? Seems to be a special distribution of velocities
# for the hub
grid0 = np.cumsum(
np.abs(
np.diff(
np.cos(np.linspace(-np.pi / 4., np.pi / 2.,
self.n_pc + 1)))))
grid1 = (grid0 - grid0[0]) / (grid0[-1] - grid0[0])
Uhub = grid1 * (inputs['v_max'] - inputs['v_min']) + inputs['v_min']
P_aero = np.zeros(Uhub.shape)
Cp_aero = np.zeros(Uhub.shape)
Ct_aero = np.zeros(Uhub.shape)
Cq_aero = np.zeros(Uhub.shape)
Cm_aero = np.zeros(Uhub.shape)
P = np.zeros(Uhub.shape)
Cp = np.zeros(Uhub.shape)
T = np.zeros(Uhub.shape)
Q = np.zeros(Uhub.shape)
M = np.zeros(Uhub.shape)
pitch = np.zeros(Uhub.shape) + inputs['control_pitch']
# Unpack variables
P_rated = inputs['rated_power']
R_tip = inputs['Rtip']
tsr = inputs['tsr_operational']
driveType = discrete_inputs['drivetrainType']
driveEta = inputs['gearbox_efficiency'] * inputs['generator_efficiency']
# Set rotor speed based on TSR
Omega_tsr = Uhub * tsr / R_tip
# Determine maximum rotor speed (rad/s)- either by TS or by control input
Omega_max = min([
inputs['control_maxTS'] / R_tip, inputs['omega_max'] * np.pi / 30.
])
# Apply maximum and minimum rotor speed limits
Omega = np.maximum(np.minimum(Omega_tsr, Omega_max),
inputs['omega_min'] * np.pi / 30.)
Omega_rpm = Omega * 30. / np.pi
# Set baseline power production
myout, derivs = self.ccblade.evaluate(Uhub,
Omega_rpm,
pitch,
coefficients=True)
P_aero, T, Q, M, Cp_aero, Ct_aero, Cq_aero, Cm_aero = [
myout[key] for key in ['P', 'T', 'Q', 'M', 'CP', 'CT', 'CQ', 'CM']
]
P, eff = compute_P_and_eff(P_aero, P_rated, driveType, driveEta)
Cp = Cp_aero * eff
# Find Region 3 index
region_bool = np.nonzero(P >= P_rated)[0]
if len(region_bool) == 0:
i_3 = self.n_pc
region3 = False
else:
i_3 = region_bool[0] + 1
region3 = True
# Guess at Region 2.5, but we will do a more rigorous search below
if Omega_max < Omega_tsr[-1]:
U_2p5 = np.interp(Omega[-1], Omega_tsr, Uhub)
outputs['V_R25'] = U_2p5
else:
U_2p5 = Uhub[-1]
i_2p5 = np.nonzero(U_2p5 <= Uhub)[0][0]
# Find rated index and guess at rated speed
if P_aero[-1] > P_rated:
U_rated = np.interp(P_rated, P_aero * eff, Uhub)
else:
U_rated = Uhub[-1]
i_rated = np.nonzero(U_rated <= Uhub)[0][0]
# Function to be used inside of power maximization until Region 3
def maximizePower(pitch, Uhub, Omega_rpm):
myout, _ = self.ccblade.evaluate([Uhub], [Omega_rpm], [pitch],
coefficients=False)
return -myout['P']
# Maximize power until Region 3
region2p5 = False
for i in range(i_3):
# No need to optimize if already doing well
if Omega[i] == Omega_tsr[i]: continue
# Find pitch value that gives highest power rating
pitch0 = pitch[i] if i == 0 else pitch[i - 1]
bnds = [pitch0 - 10., pitch0 + 10.]
pitch[i] = minimize_scalar(
lambda x: maximizePower(x, Uhub[i], Omega_rpm[i]),
bounds=bnds,
method='bounded',
options={
'disp': False,
'xatol': 1e-2,
'maxiter': 40
})['x']
# Find associated power
myout, _ = self.ccblade.evaluate([Uhub[i]], [Omega_rpm[i]],
[pitch[i]],
coefficients=True)
P_aero[i], T[i], Q[i], M[i], Cp_aero[i], Ct_aero[i], Cq_aero[
i], Cm_aero[i] = [
myout[key]
for key in ['P', 'T', 'Q', 'M', 'CP', 'CT', 'CQ', 'CM']
]
P[i], eff = compute_P_and_eff(P_aero[i], P_rated, driveType,
driveEta)
Cp[i] = Cp_aero[i] * eff
# Note if we find Region 2.5
if ((not region2p5) and (Omega[i] == Omega_max)
and (P[i] < P_rated)):
region2p5 = True
i_2p5 = i
# Stop if we find Region 3 early
if P[i] > P_rated:
i_3 = i + 1
i_rated = i
break
# Solve for rated velocity
# JPJ: why rename i_rated to i here? It removes clarity in the following 50 lines that we're looking at the rated properties
i = i_rated
if i < self.n_pc - 1:
def const_Urated(x):
pitch = x[0]
Uhub_i = x[1]
Omega_i = min([Uhub_i * tsr / R_tip, Omega_max])
myout, _ = self.ccblade.evaluate([Uhub_i],
[Omega_i * 30. / np.pi],
[pitch],
coefficients=False)
P_aero_i = myout['P']
P_i, eff = compute_P_and_eff(P_aero_i.flatten(), P_rated,
driveType, driveEta)
return (P_i - P_rated)
if region2p5:
# Have to search over both pitch and speed
x0 = [0.0, Uhub[i]]
bnds = [
np.sort([pitch[i - 1], pitch[i + 1]]),
[Uhub[i - 1], Uhub[i + 1]]
]
const = {}
const['type'] = 'eq'
const['fun'] = const_Urated
params_rated = minimize(lambda x: x[1],
x0,
method='slsqp',
bounds=bnds,
constraints=const,
tol=1e-3)
if params_rated.success and not np.isnan(params_rated.x[1]):
U_rated = params_rated.x[1]
pitch[i] = params_rated.x[0]
else:
U_rated = U_rated # Use guessed value earlier
pitch[i] = 0.0
else:
# Just search over speed
pitch[i] = 0.0
try:
U_rated = brentq(lambda x: const_Urated([0.0, x]),
Uhub[i - 1],
Uhub[i + 1],
xtol=1e-4,
rtol=1e-5,
maxiter=40,
disp=False)
except ValueError:
U_rated = minimize_scalar(
lambda x: np.abs(const_Urated([0.0, x])),
bounds=[Uhub[i - 1], Uhub[i + 1]],
method='bounded',
options={
'disp': False,
'xatol': 1e-3,
'maxiter': 40
})['x']
Omega_rated = min([U_rated * tsr / R_tip, Omega_max])
Omega[i:] = np.minimum(
Omega[i:],
Omega_rated) # Stay at this speed if hit rated too early
Omega_rpm = Omega * 30. / np.pi
myout, _ = self.ccblade.evaluate([U_rated], [Omega_rpm[i]],
[pitch[i]],
coefficients=True)
P_aero[i], T[i], Q[i], M[i], Cp_aero[i], Ct_aero[i], Cq_aero[
i], Cm_aero[i] = [
myout[key]
for key in ['P', 'T', 'Q', 'M', 'CP', 'CT', 'CQ', 'CM']
]
P[i], eff = compute_P_and_eff(P_aero[i], P_rated, driveType,
driveEta)
Cp[i] = Cp_aero[i] * eff
P[i] = P_rated
# Store rated speed in array
Uhub[i_rated] = U_rated
# Store outputs
outputs['rated_V'] = np.float64(U_rated)
outputs['rated_Omega'] = Omega_rpm[i]
outputs['rated_pitch'] = pitch[i]
outputs['rated_T'] = T[i]
outputs['rated_Q'] = Q[i]
# JPJ: this part can be converted into a BalanceComp with a solver.
# This will be less expensive and allow us to get derivatives through the process.
if region3:
# Function to be used to stay at rated power in Region 3
def rated_power_dist(pitch, Uhub, Omega_rpm):
myout, _ = self.ccblade.evaluate([Uhub], [Omega_rpm], [pitch],
coefficients=False)
P_aero = myout['P']
P, eff = compute_P_and_eff(P_aero, P_rated, driveType,
driveEta)
return (P - P_rated)
# Solve for Region 3 pitch
options = {'disp': False}
if self.regulation_reg_III:
for i in range(i_3, self.n_pc):
pitch0 = pitch[i - 1]
try:
pitch[i] = brentq(lambda x: rated_power_dist(
x, Uhub[i], Omega_rpm[i]),
pitch0,
pitch0 + 10.,
xtol=1e-4,
rtol=1e-5,
maxiter=40,
disp=False)
except ValueError:
pitch[i] = minimize_scalar(
lambda x: np.abs(
rated_power_dist(x, Uhub[i], Omega_rpm[i])),
bounds=[pitch0 - 5., pitch0 + 15.],
method='bounded',
options={
'disp': False,
'xatol': 1e-3,
'maxiter': 40
})['x']
myout, _ = self.ccblade.evaluate([Uhub[i]], [Omega_rpm[i]],
[pitch[i]],
coefficients=True)
P_aero[i], T[i], Q[i], M[i], Cp_aero[i], Ct_aero[
i], Cq_aero[i], Cm_aero[i] = [
myout[key] for key in
['P', 'T', 'Q', 'M', 'CP', 'CT', 'CQ', 'CM']
]
P[i], eff = compute_P_and_eff(P_aero[i], P_rated,
driveType, driveEta)
Cp[i] = Cp_aero[i] * eff
#P[i] = P_rated
else:
P[i_3:] = P_rated
T[i_3:] = 0
Q[i_3:] = P[i_3:] / Omega[i_3:]
M[i_3:] = 0
pitch[i_3:] = 0
Cp[i_3:] = P[i_3:] / (0.5 * inputs['rho'] * np.pi * R_tip**2 *
Uhub[i_3:]**3)
Ct_aero[i_3:] = 0
Cq_aero[i_3:] = 0
Cm_aero[i_3:] = 0
outputs['T'] = T
outputs['Q'] = Q
outputs['Omega'] = Omega_rpm
outputs['P'] = P
outputs['Cp'] = Cp
outputs['Cp_aero'] = Cp_aero
outputs['Ct_aero'] = Ct_aero
outputs['Cq_aero'] = Cq_aero
outputs['Cm_aero'] = Cm_aero
outputs['V'] = Uhub
outputs['M'] = M
outputs['pitch'] = pitch
self.ccblade.induction_inflow = True
tsr_vec = Omega_rpm / 30. * np.pi * R_tip / Uhub
id_regII = np.argmin(abs(tsr_vec - inputs['tsr_operational']))
loads, derivs = self.ccblade.distributedAeroLoads(
Uhub[id_regII], Omega_rpm[id_regII], pitch[id_regII], 0.0)
# outputs
outputs['ax_induct_regII'] = loads['a']
outputs['tang_induct_regII'] = loads['ap']
outputs['aoa_regII'] = loads['alpha']
outputs['cl_regII'] = loads['Cl']
outputs['cd_regII'] = loads['Cd']
outputs['Cp_regII'] = Cp_aero[id_regII]
class CCBladePower(ExplicitComponent):
def initialize(self):
self.options.declare('naero')
self.options.declare('npower')
self.options.declare('n_aoa_grid')
self.options.declare('n_Re_grid')
def setup(self):
self.naero = naero = self.options['naero']
npower = self.options['npower']
n_aoa_grid = self.options['n_aoa_grid']
n_Re_grid = self.options['n_Re_grid']
"""blade element momentum code"""
# inputs
self.add_input('Uhub',
val=np.zeros(npower),
units='m/s',
desc='hub height wind speed')
self.add_input('Omega',
val=np.zeros(npower),
units='rpm',
desc='rotor rotation speed')
self.add_input('pitch',
val=np.zeros(npower),
units='deg',
desc='blade pitch setting')
# outputs
self.add_output('T',
val=np.zeros(npower),
units='N',
desc='rotor aerodynamic thrust')
self.add_output('Q',
val=np.zeros(npower),
units='N*m',
desc='rotor aerodynamic torque')
self.add_output('P',
val=np.zeros(npower),
units='W',
desc='rotor aerodynamic power')
# (potential) variables
self.add_input(
'r',
val=np.zeros(naero),
units='m',
desc=
'radial locations where blade is defined (should be increasing and not go all the way to hub or tip)'
)
self.add_input('chord',
val=np.zeros(naero),
units='m',
desc='chord length at each section')
self.add_input(
'theta',
val=np.zeros(naero),
units='deg',
desc=
'twist angle at each section (positive decreases angle of attack)')
self.add_input('Rhub', val=0.0, units='m', desc='hub radius')
self.add_input('Rtip', val=0.0, units='m', desc='tip radius')
self.add_input('hub_height', val=0.0, units='m', desc='hub height')
self.add_input('precone', val=0.0, desc='precone angle', units='deg')
self.add_input('tilt', val=0.0, desc='shaft tilt', units='deg')
self.add_input('yaw', val=0.0, desc='yaw error', units='deg')
# TODO: I've not hooked up the gradients for these ones yet.
self.add_input('precurve',
val=np.zeros(naero),
units='m',
desc='precurve at each section')
self.add_input('precurveTip',
val=0.0,
units='m',
desc='precurve at tip')
# parameters
self.add_input('airfoils_cl',
val=np.zeros((n_aoa_grid, naero, n_Re_grid)),
desc='lift coefficients, spanwise')
self.add_input('airfoils_cd',
val=np.zeros((n_aoa_grid, naero, n_Re_grid)),
desc='drag coefficients, spanwise')
self.add_input('airfoils_cm',
val=np.zeros((n_aoa_grid, naero, n_Re_grid)),
desc='moment coefficients, spanwise')
self.add_input('airfoils_aoa',
val=np.zeros((n_aoa_grid)),
units='deg',
desc='angle of attack grid for polars')
self.add_input('airfoils_Re',
val=np.zeros((n_Re_grid)),
desc='Reynolds numbers of polars')
# self.add_discrete_input('airfoils', val=[0]*naero, desc='CCAirfoil instances')
self.add_discrete_input('nBlades', val=0, desc='number of blades')
self.add_input('rho', val=0.0, units='kg/m**3', desc='density of air')
self.add_input('mu',
val=0.0,
units='kg/(m*s)',
desc='dynamic viscosity of air')
self.add_input('shearExp', val=0.0, desc='shear exponent')
self.add_discrete_input(
'nSector',
val=4,
desc=
'number of sectors to divide rotor face into in computing thrust and power'
)
self.add_discrete_input('tiploss',
val=True,
desc='include Prandtl tip loss model')
self.add_discrete_input('hubloss',
val=True,
desc='include Prandtl hub loss model')
self.add_discrete_input(
'wakerotation',
val=True,
desc=
'include effect of wake rotation (i.e., tangential induction factor is nonzero)'
)
self.add_discrete_input(
'usecd',
val=True,
desc='use drag coefficient in computing induction factors')
#self.declare_partials(['P', 'T', 'Q'],['precone', 'tilt', 'hub_height', 'Rhub', 'Rtip', 'yaw',
# 'Uhub', 'Omega', 'pitch', 'r', 'chord', 'theta',
# 'precurve', 'precurveTip'])
def compute(self, inputs, outputs, discrete_inputs, discrete_outputs):
self.r = inputs['r']
self.chord = inputs['chord']
self.theta = inputs['theta']
self.Rhub = inputs['Rhub']
self.Rtip = inputs['Rtip']
self.hub_height = inputs['hub_height']
self.precone = inputs['precone']
self.tilt = inputs['tilt']
self.yaw = inputs['yaw']
self.precurve = inputs['precurve']
self.precurveTip = inputs['precurveTip']
# self.airfoils = discrete_inputs['airfoils']
self.B = discrete_inputs['nBlades']
self.rho = inputs['rho']
self.mu = inputs['mu']
self.shearExp = inputs['shearExp']
self.nSector = discrete_inputs['nSector']
self.tiploss = discrete_inputs['tiploss']
self.hubloss = discrete_inputs['hubloss']
self.wakerotation = discrete_inputs['wakerotation']
self.usecd = discrete_inputs['usecd']
self.Uhub = inputs['Uhub']
self.Omega = inputs['Omega']
self.pitch = inputs['pitch']
af = [None] * self.naero
for i in range(self.naero):
af[i] = CCAirfoil(inputs['airfoils_aoa'], inputs['airfoils_Re'],
inputs['airfoils_cl'][:, i, :],
inputs['airfoils_cd'][:, i, :],
inputs['airfoils_cm'][:, i, :])
self.ccblade = CCBlade(self.r,
self.chord,
self.theta,
af,
self.Rhub,
self.Rtip,
self.B,
self.rho,
self.mu,
self.precone,
self.tilt,
self.yaw,
self.shearExp,
self.hub_height,
self.nSector,
self.precurve,
self.precurveTip,
tiploss=self.tiploss,
hubloss=self.hubloss,
wakerotation=self.wakerotation,
usecd=self.usecd,
derivatives=True)
# power, thrust, torque
self.P, self.T, self.Q, self.M, self.dP, self.dT, self.dQ \
= self.ccblade.evaluate(self.Uhub, self.Omega, self.pitch, coefficients=False)
outputs['T'] = self.T
outputs['Q'] = self.Q
outputs['P'] = self.P
'''
def compute(self, inputs, outputs, discrete_inputs, discrete_outputs):
self.r = inputs['r']
self.chord = inputs['chord']
self.theta = inputs['theta']
self.Rhub = inputs['Rhub']
self.Rtip = inputs['Rtip']
self.hub_height = inputs['hub_height']
self.precone = inputs['precone']
self.tilt = inputs['tilt']
self.yaw = inputs['yaw']
self.precurve = inputs['precurve']
self.precurveTip = inputs['precurveTip']
# self.airfoils = discrete_inputs['airfoils']
self.B = discrete_inputs['nBlades']
self.rho = inputs['rho']
self.mu = inputs['mu']
self.shearExp = inputs['shearExp']
self.nSector = discrete_inputs['nSector']
self.tiploss = discrete_inputs['tiploss']
self.hubloss = discrete_inputs['hubloss']
self.wakerotation = discrete_inputs['wakerotation']
self.usecd = discrete_inputs['usecd']
self.V_load = inputs['V_load']
self.Omega_load = inputs['Omega_load']
self.pitch_load = inputs['pitch_load']
self.azimuth_load = inputs['azimuth_load']
if len(self.precurve) == 0:
self.precurve = np.zeros_like(self.r)
# airfoil files
# n = len(self.airfoils)
af = [None] * self.naero
for i in range(self.naero):
af[i] = CCAirfoil(inputs['airfoils_aoa'], inputs['airfoils_Re'],
inputs['airfoils_cl'][:, i, :],
inputs['airfoils_cd'][:, i, :],
inputs['airfoils_cm'][:, i, :])
# af = self.airfoils
self.ccblade = CCBlade(self.r,
self.chord,
self.theta,
af,
self.Rhub,
self.Rtip,
self.B,
self.rho,
self.mu,
self.precone,
self.tilt,
self.yaw,
self.shearExp,
self.hub_height,
self.nSector,
self.precurve,
self.precurveTip,
tiploss=self.tiploss,
hubloss=self.hubloss,
wakerotation=self.wakerotation,
usecd=self.usecd,
derivatives=True)
# distributed loads
Np, Tp, self.dNp, self.dTp \
= self.ccblade.distributedAeroLoads(self.V_load, self.Omega_load, self.pitch_load, self.azimuth_load)
# concatenate loads at root/tip
outputs['loads_r'] = self.r
# conform to blade-aligned coordinate system
outputs['loads_Px'] = Np
outputs['loads_Py'] = -Tp
outputs['loads_Pz'] = 0 * Np
# return other outputs needed
outputs['loads_V'] = self.V_load
outputs['loads_Omega'] = self.Omega_load
outputs['loads_pitch'] = self.pitch_load
outputs['loads_azimuth'] = self.azimuth_load
'''
def compute(self, inputs, outputs, discrete_inputs, discrete_outputs):
'''
Call ROSCO toolbox to define controller
'''
# Add control tuning parameters to dictionary
self.modeling_options['servose']['omega_pc'] = inputs['PC_omega']
self.modeling_options['servose']['zeta_pc'] = inputs['PC_zeta']
self.modeling_options['servose']['omega_vs'] = inputs['VS_omega']
self.modeling_options['servose']['zeta_vs'] = inputs['VS_zeta']
if self.modeling_options['servose']['Flp_Mode'] > 0:
self.modeling_options['servose']['omega_flp'] = inputs['Flp_omega']
self.modeling_options['servose']['zeta_flp'] = inputs['Flp_zeta']
else:
self.modeling_options['servose']['omega_flp'] = 0.0
self.modeling_options['servose']['zeta_flp'] = 0.0
#
self.modeling_options['servose']['max_pitch'] = inputs['max_pitch'][0]
self.modeling_options['servose']['min_pitch'] = inputs['min_pitch'][0]
self.modeling_options['servose']['vs_minspd'] = inputs['vs_minspd'][0]
self.modeling_options['servose']['ss_vsgain'] = inputs['ss_vsgain'][0]
self.modeling_options['servose']['ss_pcgain'] = inputs['ss_pcgain'][0]
self.modeling_options['servose']['ps_percent'] = inputs['ps_percent'][
0]
if self.modeling_options['servose']['Flp_Mode'] > 0:
self.modeling_options['servose']['flp_maxpit'] = inputs[
'delta_max_pos'][0]
else:
self.modeling_options['servose']['flp_maxpit'] = None
#
self.modeling_options['servose']['ss_cornerfreq'] = None
self.modeling_options['servose']['sd_maxpit'] = None
self.modeling_options['servose']['sd_cornerfreq'] = None
# Define necessary turbine parameters
WISDEM_turbine = type('', (), {})()
WISDEM_turbine.v_min = inputs['v_min'][0]
WISDEM_turbine.J = inputs['rotor_inertia'][0]
WISDEM_turbine.rho = inputs['rho'][0]
WISDEM_turbine.rotor_radius = inputs['R'][0]
WISDEM_turbine.Ng = inputs['gear_ratio'][0]
WISDEM_turbine.GenEff = inputs['generator_efficiency'][0] * 100.
WISDEM_turbine.GBoxEff = inputs['gearbox_efficiency'][0] * 100.
WISDEM_turbine.rated_rotor_speed = inputs['rated_rotor_speed'][0]
WISDEM_turbine.rated_power = inputs['rated_power'][0]
WISDEM_turbine.rated_torque = inputs['rated_torque'][
0] / WISDEM_turbine.Ng * inputs['gearbox_efficiency'][0]
WISDEM_turbine.v_rated = inputs['v_rated'][0]
WISDEM_turbine.v_min = inputs['v_min'][0]
WISDEM_turbine.v_max = inputs['v_max'][0]
WISDEM_turbine.max_pitch_rate = inputs['max_pitch_rate'][0]
WISDEM_turbine.TSR_operational = inputs['tsr_operational'][0]
WISDEM_turbine.max_torque_rate = inputs['max_torque_rate'][0]
# Load Cp tables
self.Cp_table = inputs['Cp_table']
self.Ct_table = inputs['Ct_table']
self.Cq_table = inputs['Cq_table']
self.pitch_vector = WISDEM_turbine.pitch_initial_rad = inputs[
'pitch_vector']
self.tsr_vector = WISDEM_turbine.TSR_initial = inputs['tsr_vector']
self.Cp_table = WISDEM_turbine.Cp_table = self.Cp_table.reshape(
len(self.pitch_vector), len(self.tsr_vector))
self.Ct_table = WISDEM_turbine.Ct_table = self.Ct_table.reshape(
len(self.pitch_vector), len(self.tsr_vector))
self.Cq_table = WISDEM_turbine.Cq_table = self.Cq_table.reshape(
len(self.pitch_vector), len(self.tsr_vector))
RotorPerformance = ROSCO_turbine.RotorPerformance
WISDEM_turbine.Cp = RotorPerformance(self.Cp_table, self.pitch_vector,
self.tsr_vector)
WISDEM_turbine.Ct = RotorPerformance(self.Ct_table, self.pitch_vector,
self.tsr_vector)
WISDEM_turbine.Cq = RotorPerformance(self.Cq_table, self.pitch_vector,
self.tsr_vector)
# Load blade info to pass to flap controller tuning process
if self.modeling_options['servose']['Flp_Mode'] >= 1:
# Create airfoils
af = [None] * self.n_span
for i in range(self.n_span):
if self.n_tab > 1:
ref_tab = int(np.floor(self.n_tab / 2))
af[i] = CCAirfoil(inputs['airfoils_aoa'],
inputs['airfoils_Re'],
inputs['airfoils_cl'][i, :, :, ref_tab],
inputs['airfoils_cd'][i, :, :, ref_tab],
inputs['airfoils_cm'][i, :, :, ref_tab])
else:
af[i] = CCAirfoil(inputs['airfoils_aoa'],
inputs['airfoils_Re'],
inputs['airfoils_cl'][i, :, :, 0],
inputs['airfoils_cd'][i, :, :, 0],
inputs['airfoils_cm'][i, :, :, 0])
# Initialize CCBlade as cc_rotor object
WISDEM_turbine.cc_rotor = CCBlade(
inputs['r'], inputs['chord'], inputs['theta'], af,
inputs['Rhub'], inputs['Rtip'], discrete_inputs['nBlades'],
inputs['rho'], inputs['mu'], inputs['precone'], inputs['tilt'],
inputs['yaw'], inputs['shearExp'], inputs['hub_height'],
discrete_inputs['nSector'], inputs['precurve'],
inputs['precurveTip'], inputs['presweep'],
inputs['presweepTip'], discrete_inputs['tiploss'],
discrete_inputs['hubloss'], discrete_inputs['wakerotation'],
discrete_inputs['usecd'])
# Load aerodynamic performance data for blades
WISDEM_turbine.af_data = [{} for i in range(self.n_span)]
for i in range(self.n_span):
# Check number of flap positions for each airfoil section
if self.n_tab > 1:
if inputs['airfoils_Ctrl'][
i, 0, 0] == inputs['airfoils_Ctrl'][i, 0, 1]:
n_tabs = 1 # If all Ctrl angles of the flaps are identical then no flaps
else:
n_tabs = self.n_tab
else:
n_tabs = 1
# Save data for each flap position
for j in range(n_tabs):
WISDEM_turbine.af_data[i][j] = {}
WISDEM_turbine.af_data[i][j]['NumTabs'] = n_tabs
WISDEM_turbine.af_data[i][j]['Ctrl'] = inputs[
'airfoils_Ctrl'][i, 0, j]
WISDEM_turbine.af_data[i][j]['Alpha'] = np.array(
inputs['airfoils_aoa']).flatten().tolist()
WISDEM_turbine.af_data[i][j]['Cl'] = np.array(
inputs['airfoils_cl'][i, :, 0, j]).flatten().tolist()
WISDEM_turbine.af_data[i][j]['Cd'] = np.array(
inputs['airfoils_cd'][i, :, 0, j]).flatten().tolist()
WISDEM_turbine.af_data[i][j]['Cm'] = np.array(
inputs['airfoils_cm'][i, :, 0, j]).flatten().tolist()
# Save some more airfoil info
WISDEM_turbine.span = inputs['r']
WISDEM_turbine.chord = inputs['chord']
WISDEM_turbine.twist = inputs['theta']
WISDEM_turbine.bld_flapwise_freq = inputs['flap_freq'][
0] * 2 * np.pi
WISDEM_turbine.bld_flapwise_damp = self.modeling_options[
'openfast']['fst_vt']['ElastoDynBlade']['BldFlDmp1'] / 100 * 0.7
# Tune Controller!
controller = ROSCO_controller.Controller(
self.modeling_options['servose'])
controller.tune_controller(WISDEM_turbine)
# DISCON Parameters
# - controller
if 'DISCON_in' not in self.modeling_options['openfast']['fst_vt'].keys(
):
self.modeling_options['openfast']['fst_vt']['DISCON_in'] = {}
self.modeling_options['openfast']['fst_vt']['DISCON_in'][
'LoggingLevel'] = controller.LoggingLevel
self.modeling_options['openfast']['fst_vt']['DISCON_in'][
'F_LPFType'] = controller.F_LPFType
self.modeling_options['openfast']['fst_vt']['DISCON_in'][
'F_NotchType'] = controller.F_NotchType
self.modeling_options['openfast']['fst_vt']['DISCON_in'][
'IPC_ControlMode'] = controller.IPC_ControlMode
self.modeling_options['openfast']['fst_vt']['DISCON_in'][
'VS_ControlMode'] = controller.VS_ControlMode
self.modeling_options['openfast']['fst_vt']['DISCON_in'][
'PC_ControlMode'] = controller.PC_ControlMode
self.modeling_options['openfast']['fst_vt']['DISCON_in'][
'Y_ControlMode'] = controller.Y_ControlMode
self.modeling_options['openfast']['fst_vt']['DISCON_in'][
'SS_Mode'] = controller.SS_Mode
self.modeling_options['openfast']['fst_vt']['DISCON_in'][
'WE_Mode'] = controller.WE_Mode
self.modeling_options['openfast']['fst_vt']['DISCON_in'][
'PS_Mode'] = controller.PS_Mode
self.modeling_options['openfast']['fst_vt']['DISCON_in'][
'SD_Mode'] = controller.SD_Mode
self.modeling_options['openfast']['fst_vt']['DISCON_in'][
'Fl_Mode'] = controller.Fl_Mode
self.modeling_options['openfast']['fst_vt']['DISCON_in'][
'Flp_Mode'] = controller.Flp_Mode
self.modeling_options['openfast']['fst_vt']['DISCON_in'][
'F_LPFDamping'] = controller.F_LPFDamping
self.modeling_options['openfast']['fst_vt']['DISCON_in'][
'F_SSCornerFreq'] = controller.ss_cornerfreq
self.modeling_options['openfast']['fst_vt']['DISCON_in'][
'PC_GS_angles'] = controller.pitch_op_pc
self.modeling_options['openfast']['fst_vt']['DISCON_in'][
'PC_GS_KP'] = controller.pc_gain_schedule.Kp
self.modeling_options['openfast']['fst_vt']['DISCON_in'][
'PC_GS_KI'] = controller.pc_gain_schedule.Ki
self.modeling_options['openfast']['fst_vt']['DISCON_in'][
'PC_MaxPit'] = controller.max_pitch
self.modeling_options['openfast']['fst_vt']['DISCON_in'][
'PC_MinPit'] = controller.min_pitch
self.modeling_options['openfast']['fst_vt']['DISCON_in'][
'VS_MinOMSpd'] = controller.vs_minspd
self.modeling_options['openfast']['fst_vt']['DISCON_in'][
'VS_Rgn2K'] = controller.vs_rgn2K
self.modeling_options['openfast']['fst_vt']['DISCON_in'][
'VS_RefSpd'] = controller.vs_refspd
self.modeling_options['openfast']['fst_vt']['DISCON_in'][
'VS_KP'] = controller.vs_gain_schedule.Kp
self.modeling_options['openfast']['fst_vt']['DISCON_in'][
'VS_KI'] = controller.vs_gain_schedule.Ki
self.modeling_options['openfast']['fst_vt']['DISCON_in'][
'SS_VSGain'] = controller.ss_vsgain
self.modeling_options['openfast']['fst_vt']['DISCON_in'][
'SS_PCGain'] = controller.ss_pcgain
self.modeling_options['openfast']['fst_vt']['DISCON_in'][
'WE_FOPoles_N'] = len(controller.v)
self.modeling_options['openfast']['fst_vt']['DISCON_in'][
'WE_FOPoles_v'] = controller.v
self.modeling_options['openfast']['fst_vt']['DISCON_in'][
'WE_FOPoles'] = controller.A
self.modeling_options['openfast']['fst_vt']['DISCON_in'][
'ps_wind_speeds'] = controller.v
self.modeling_options['openfast']['fst_vt']['DISCON_in'][
'PS_BldPitchMin'] = controller.ps_min_bld_pitch
self.modeling_options['openfast']['fst_vt']['DISCON_in'][
'SD_MaxPit'] = controller.sd_maxpit + 0.1
self.modeling_options['openfast']['fst_vt']['DISCON_in'][
'SD_CornerFreq'] = controller.sd_cornerfreq
self.modeling_options['openfast']['fst_vt']['DISCON_in'][
'Fl_Kp'] = controller.Kp_float
self.modeling_options['openfast']['fst_vt']['DISCON_in'][
'Flp_Kp'] = controller.Kp_flap
self.modeling_options['openfast']['fst_vt']['DISCON_in'][
'Flp_Ki'] = controller.Ki_flap
self.modeling_options['openfast']['fst_vt']['DISCON_in'][
'Flp_MaxPit'] = controller.flp_maxpit
self.modeling_options['openfast']['fst_vt']['DISCON_in'][
'Flp_Angle'] = 0.
# - turbine
self.modeling_options['openfast']['fst_vt']['DISCON_in'][
'WE_BladeRadius'] = WISDEM_turbine.rotor_radius
self.modeling_options['openfast']['fst_vt']['DISCON_in'][
'v_rated'] = inputs['v_rated'][0]
self.modeling_options['openfast']['fst_vt']['DISCON_in'][
'F_FlpCornerFreq'] = [
inputs['flap_freq'][0] * 2 * np.pi / 3., 0.7
]
self.modeling_options['openfast']['fst_vt']['DISCON_in'][
'F_LPFCornerFreq'] = inputs['edge_freq'][0] * 2 * np.pi / 4.
self.modeling_options['openfast']['fst_vt']['DISCON_in'][
'F_NotchCornerFreq'] = 0.0 # inputs(['twr_freq']) # zero for now, fix when floating introduced to WISDEM
self.modeling_options['openfast']['fst_vt']['DISCON_in'][
'F_FlCornerFreq'] = [
0.0, 0.0
] # inputs(['ptfm_freq']) # zero for now, fix when floating introduced to WISDEM
self.modeling_options['openfast']['fst_vt']['DISCON_in'][
'PC_MaxRat'] = WISDEM_turbine.max_pitch_rate
self.modeling_options['openfast']['fst_vt']['DISCON_in'][
'PC_MinRat'] = -WISDEM_turbine.max_pitch_rate
self.modeling_options['openfast']['fst_vt']['DISCON_in'][
'VS_MaxRat'] = WISDEM_turbine.max_torque_rate
self.modeling_options['openfast']['fst_vt']['DISCON_in'][
'PC_RefSpd'] = WISDEM_turbine.rated_rotor_speed * WISDEM_turbine.Ng
self.modeling_options['openfast']['fst_vt']['DISCON_in'][
'VS_RtPwr'] = WISDEM_turbine.rated_power
self.modeling_options['openfast']['fst_vt']['DISCON_in'][
'VS_RtTq'] = WISDEM_turbine.rated_torque
self.modeling_options['openfast']['fst_vt']['DISCON_in'][
'VS_MaxTq'] = WISDEM_turbine.rated_torque * 1.1
self.modeling_options['openfast']['fst_vt']['DISCON_in'][
'VS_TSRopt'] = WISDEM_turbine.TSR_operational
self.modeling_options['openfast']['fst_vt']['DISCON_in'][
'WE_RhoAir'] = WISDEM_turbine.rho
self.modeling_options['openfast']['fst_vt']['DISCON_in'][
'WE_GearboxRatio'] = WISDEM_turbine.Ng
self.modeling_options['openfast']['fst_vt']['DISCON_in'][
'WE_Jtot'] = WISDEM_turbine.J
self.modeling_options['openfast']['fst_vt']['DISCON_in'][
'Cp_pitch_initial_rad'] = self.pitch_vector
self.modeling_options['openfast']['fst_vt']['DISCON_in'][
'Cp_TSR_initial'] = self.tsr_vector
self.modeling_options['openfast']['fst_vt']['DISCON_in'][
'Cp_table'] = WISDEM_turbine.Cp_table
self.modeling_options['openfast']['fst_vt']['DISCON_in'][
'Ct_table'] = WISDEM_turbine.Ct_table
self.modeling_options['openfast']['fst_vt']['DISCON_in'][
'Cq_table'] = WISDEM_turbine.Cq_table
self.modeling_options['openfast']['fst_vt']['DISCON_in'][
'Cp'] = WISDEM_turbine.Cp
self.modeling_options['openfast']['fst_vt']['DISCON_in'][
'Ct'] = WISDEM_turbine.Ct
self.modeling_options['openfast']['fst_vt']['DISCON_in'][
'Cq'] = WISDEM_turbine.Cq
# Outputs
outputs['Flp_Kp'] = controller.Kp_flap[-1]
outputs['Flp_Ki'] = controller.Ki_flap[-1]
def setUp(self):
# geometry
Rhub = 1.5
Rtip = 63.0
r = np.array([
2.8667, 5.6000, 8.3333, 11.7500, 15.8500, 19.9500, 24.0500,
28.1500, 32.2500, 36.3500, 40.4500, 44.5500, 48.6500, 52.7500,
56.1667, 58.9000, 61.6333
])
chord = np.array([
3.542, 3.854, 4.167, 4.557, 4.652, 4.458, 4.249, 4.007, 3.748,
3.502, 3.256, 3.010, 2.764, 2.518, 2.313, 2.086, 1.419
])
theta = np.array([
13.308, 13.308, 13.308, 13.308, 11.480, 10.162, 9.011, 7.795,
6.544, 5.361, 4.188, 3.125, 2.319, 1.526, 0.863, 0.370, 0.106
])
B = 3 # number of blades
# atmosphere
rho = 1.225
mu = 1.81206e-5
afinit = CCAirfoil.initFromAerodynFile # just for shorthand
basepath = path.join(path.dirname(path.realpath(__file__)),
'5MW_AFFiles')
# load all airfoils
airfoil_types = [0] * 8
airfoil_types[0] = afinit(path.join(basepath, 'Cylinder1.dat'))
airfoil_types[1] = afinit(path.join(basepath, 'Cylinder2.dat'))
airfoil_types[2] = afinit(path.join(basepath, 'DU40_A17.dat'))
airfoil_types[3] = afinit(path.join(basepath, 'DU35_A17.dat'))
airfoil_types[4] = afinit(path.join(basepath, 'DU30_A17.dat'))
airfoil_types[5] = afinit(path.join(basepath, 'DU25_A17.dat'))
airfoil_types[6] = afinit(path.join(basepath, 'DU21_A17.dat'))
airfoil_types[7] = afinit(path.join(basepath, 'NACA64_A17.dat'))
# place at appropriate radial stations
af_idx = [0, 0, 1, 2, 3, 3, 4, 5, 5, 6, 6, 7, 7, 7, 7, 7, 7]
af = [0] * len(r)
for i in range(len(r)):
af[i] = airfoil_types[af_idx[i]]
tilt = -5.0
precone = 2.5
yaw = 0.0
# create CCBlade object
self.rotor = CCBlade(r,
chord,
theta,
af,
Rhub,
Rtip,
B,
rho,
mu,
precone,
tilt,
yaw,
shearExp=0.2,
hubHt=90.0)
class Cp_Ct_Cq_Tables(ExplicitComponent):
def initialize(self):
self.options.declare('modeling_options')
# self.options.declare('n_span')
# self.options.declare('n_pitch', default=20)
# self.options.declare('n_tsr', default=20)
# self.options.declare('n_U', default=1)
# self.options.declare('n_aoa')
# self.options.declare('n_re')
def setup(self):
modeling_options = self.options['modeling_options']
blade_init_options = modeling_options['blade']
servose_init_options = modeling_options['servose']
airfoils = modeling_options['airfoils']
self.n_span = n_span = blade_init_options['n_span']
self.n_aoa = n_aoa = airfoils['n_aoa'] # Number of angle of attacks
self.n_Re = n_Re = airfoils[
'n_Re'] # Number of Reynolds, so far hard set at 1
self.n_tab = n_tab = airfoils[
'n_tab'] # Number of tabulated data. For distributed aerodynamic control this could be > 1
self.n_pitch = n_pitch = servose_init_options['n_pitch_perf_surfaces']
self.n_tsr = n_tsr = servose_init_options['n_tsr_perf_surfaces']
self.n_U = n_U = servose_init_options['n_U_perf_surfaces']
self.min_TSR = servose_init_options['min_tsr_perf_surfaces']
self.max_TSR = servose_init_options['max_tsr_perf_surfaces']
self.min_pitch = servose_init_options['min_pitch_perf_surfaces']
self.max_pitch = servose_init_options['max_pitch_perf_surfaces']
# parameters
self.add_input('v_min', val=0.0, units='m/s', desc='cut-in wind speed')
self.add_input('v_max',
val=0.0,
units='m/s',
desc='cut-out wind speed')
self.add_input(
'r',
val=np.zeros(n_span),
units='m',
desc=
'radial locations where blade is defined (should be increasing and not go all the way to hub or tip)'
)
self.add_input('chord',
val=np.zeros(n_span),
units='m',
desc='chord length at each section')
self.add_input(
'theta',
val=np.zeros(n_span),
units='deg',
desc=
'twist angle at each section (positive decreases angle of attack)')
self.add_input('Rhub', val=0.0, units='m', desc='hub radius')
self.add_input('Rtip', val=0.0, units='m', desc='tip radius')
self.add_input('hub_height', val=0.0, units='m', desc='hub height')
self.add_input('precone', val=0.0, units='deg', desc='precone angle')
self.add_input('tilt', val=0.0, units='deg', desc='shaft tilt')
self.add_input('yaw', val=0.0, units='deg', desc='yaw error')
self.add_input('precurve',
val=np.zeros(n_span),
units='m',
desc='precurve at each section')
self.add_input('precurveTip',
val=0.0,
units='m',
desc='precurve at tip')
self.add_input('presweep',
val=np.zeros(n_span),
units='m',
desc='presweep at each section')
self.add_input('presweepTip',
val=0.0,
units='m',
desc='presweep at tip')
self.add_input('rho',
val=1.225,
units='kg/m**3',
desc='density of air')
self.add_input('mu',
val=1.81e-5,
units='kg/(m*s)',
desc='dynamic viscosity of air')
self.add_input('shearExp', val=0.0, desc='shear exponent')
# self.add_discrete_input('airfoils', val=[0]*n_span, desc='CCAirfoil instances')
self.add_input('airfoils_cl',
val=np.zeros((n_span, n_aoa, n_Re, n_tab)),
desc='lift coefficients, spanwise')
self.add_input('airfoils_cd',
val=np.zeros((n_span, n_aoa, n_Re, n_tab)),
desc='drag coefficients, spanwise')
self.add_input('airfoils_cm',
val=np.zeros((n_span, n_aoa, n_Re, n_tab)),
desc='moment coefficients, spanwise')
self.add_input('airfoils_aoa',
val=np.zeros((n_aoa)),
units='deg',
desc='angle of attack grid for polars')
self.add_input('airfoils_Re',
val=np.zeros((n_Re)),
desc='Reynolds numbers of polars')
self.add_discrete_input('nBlades', val=0, desc='number of blades')
self.add_discrete_input(
'nSector',
val=4,
desc=
'number of sectors to divide rotor face into in computing thrust and power'
)
self.add_discrete_input('tiploss',
val=True,
desc='include Prandtl tip loss model')
self.add_discrete_input('hubloss',
val=True,
desc='include Prandtl hub loss model')
self.add_discrete_input(
'wakerotation',
val=True,
desc=
'include effect of wake rotation (i.e., tangential induction factor is nonzero)'
)
self.add_discrete_input(
'usecd',
val=True,
desc='use drag coefficient in computing induction factors')
self.add_input('pitch_vector_in',
val=np.zeros(n_pitch),
units='deg',
desc='pitch vector specified by the user')
self.add_input('tsr_vector_in',
val=np.zeros(n_tsr),
desc='tsr vector specified by the user')
self.add_input('U_vector_in',
val=np.zeros(n_U),
units='m/s',
desc='wind vector specified by the user')
# outputs
self.add_output('Cp',
val=np.zeros((n_tsr, n_pitch, n_U)),
desc='table of aero power coefficient')
self.add_output('Ct',
val=np.zeros((n_tsr, n_pitch, n_U)),
desc='table of aero thrust coefficient')
self.add_output('Cq',
val=np.zeros((n_tsr, n_pitch, n_U)),
desc='table of aero torque coefficient')
self.add_output('pitch_vector',
val=np.zeros(n_pitch),
units='deg',
desc='pitch vector used')
self.add_output('tsr_vector',
val=np.zeros(n_tsr),
desc='tsr vector used')
self.add_output('U_vector',
val=np.zeros(n_U),
units='m/s',
desc='wind vector used')
def compute(self, inputs, outputs, discrete_inputs, discrete_outputs):
# Create Airfoil class instances
af = [None] * self.n_span
for i in range(self.n_span):
if self.n_tab > 1:
ref_tab = int(np.floor(self.n_tab / 2))
af[i] = CCAirfoil(inputs['airfoils_aoa'],
inputs['airfoils_Re'],
inputs['airfoils_cl'][i, :, :, ref_tab],
inputs['airfoils_cd'][i, :, :, ref_tab],
inputs['airfoils_cm'][i, :, :, ref_tab])
else:
af[i] = CCAirfoil(inputs['airfoils_aoa'],
inputs['airfoils_Re'],
inputs['airfoils_cl'][i, :, :, 0],
inputs['airfoils_cd'][i, :, :, 0],
inputs['airfoils_cm'][i, :, :, 0])
n_pitch = self.n_pitch
n_tsr = self.n_tsr
n_U = self.n_U
min_TSR = self.min_TSR
max_TSR = self.max_TSR
min_pitch = self.min_pitch
max_pitch = self.max_pitch
U_vector = inputs['U_vector_in']
V_in = inputs['v_min']
V_out = inputs['v_max']
tsr_vector = inputs['tsr_vector_in']
pitch_vector = inputs['pitch_vector_in']
self.ccblade = CCBlade(
inputs['r'], inputs['chord'], inputs['theta'], af, inputs['Rhub'],
inputs['Rtip'], discrete_inputs['nBlades'], inputs['rho'],
inputs['mu'], inputs['precone'], inputs['tilt'], inputs['yaw'],
inputs['shearExp'], inputs['hub_height'],
discrete_inputs['nSector'], inputs['precurve'],
inputs['precurveTip'], inputs['presweep'], inputs['presweepTip'],
discrete_inputs['tiploss'], discrete_inputs['hubloss'],
discrete_inputs['wakerotation'], discrete_inputs['usecd'])
if max(U_vector) == 0.:
U_vector = np.linspace(V_in[0], V_out[0], n_U)
if max(tsr_vector) == 0.:
tsr_vector = np.linspace(min_TSR, max_TSR, n_tsr)
if max(pitch_vector) == 0.:
pitch_vector = np.linspace(min_pitch, max_pitch, n_pitch)
outputs['pitch_vector'] = pitch_vector
outputs['tsr_vector'] = tsr_vector
outputs['U_vector'] = U_vector
R = inputs['Rtip']
k = 0
for i in range(n_U):
for j in range(n_tsr):
k += 1
# if k/2. == int(k/2.) :
print('Cp-Ct-Cq surfaces completed at ' +
str(int(k / (n_U * n_tsr) * 100.)) + ' %')
U = U_vector[i] * np.ones(n_pitch)
Omega = tsr_vector[j] * U_vector[
i] / R * 30. / np.pi * np.ones(n_pitch)
myout, _ = self.ccblade.evaluate(U,
Omega,
pitch_vector,
coefficients=True)
outputs['Cp'][j, :, i], outputs['Ct'][j, :, i], outputs['Cq'][
j, :, i] = [myout[key] for key in ['CP', 'CT', 'CQ']]
for i in range(len(s)):
cl[i, :, 0, 0] = np.interp(aoa, airfoils[i]['polars'][0]['c_l']['grid'],
airfoils[i]['polars'][0]['c_l']['values'])
cd[i, :, 0, 0] = np.interp(aoa, airfoils[i]['polars'][0]['c_d']['grid'],
airfoils[i]['polars'][0]['c_d']['values'])
cm[i, :, 0, 0] = np.interp(aoa, airfoils[i]['polars'][0]['c_m']['grid'],
airfoils[i]['polars'][0]['c_m']['values'])
af = [None] * len(s)
for i in range(len(s)):
af[i] = CCAirfoil(np.rad2deg(aoa), [1e+6], cl[i, :, 0, 0], cd[i, :, 0, 0],
cm[i, :, 0, 0])
########## Run CCBlade ##########
get_cp_cm = CCBlade(r, chord, twist, af, hub_r, Rtip, B, rho, mu, cone, tilt,
0., shearExp, hub_height, nSector, presweep, precurve[-1],
presweep, presweep[-1], tiploss, hubloss, wakerotation,
usecd)
# get_cp_cm.induction = True
Omega = Uhub * tsr / Rtip * 30.0 / np.pi # Rotor speed
myout, derivs = get_cp_cm.evaluate([Uhub], [Omega], [pitch], coefficients=True)
P, T, Q, M, CP, CT, CQ, CM = [
myout[key] for key in ['P', 'T', 'Q', 'M', 'CP', 'CT', 'CQ', 'CM']
]
get_cp_cm.induction_inflow = True
loads, deriv = get_cp_cm.distributedAeroLoads([Uhub], Omega, pitch, 0.)
########## Post Process Output ##########
# Compute forces in the airfoil coordinate system, pag 21 of https://www.nrel.gov/docs/fy13osti/58819.pdf
P_b = DirectionVector(loads['Np'], -loads['Tp'], 0)
P_af = P_b.bladeToAirfoil(twist)
# Compute lift and drag forces
def load_from_ccblade(self):
'''
Loads rotor performance information by running cc-blade aerodynamic analysis. Designed to work with Aerodyn15 blade input files.
Parameters:
-----------
fast: dict
Dictionary containing fast model details - defined using from InputReader_OpenFAST (distributed as a part of AeroelasticSE)
'''
print('Loading rotor performance data from CC-Blade.')
# Create CC-Blade Rotor
r0 = np.array(self.fast.fst_vt['AeroDynBlade']['BlSpn'])
chord0 = np.array(self.fast.fst_vt['AeroDynBlade']['BlChord'])
theta0 = np.array(self.fast.fst_vt['AeroDynBlade']['BlTwist'])
# -- Adjust for Aerodyn15
r = r0 + self.Rhub
chord_intfun = interpolate.interp1d(r0,chord0, bounds_error=None, fill_value='extrapolate', kind='zero')
chord = chord_intfun(r)
theta_intfun = interpolate.interp1d(r0,theta0, bounds_error=None, fill_value='extrapolate', kind='zero')
theta = theta_intfun(r)
af_idx = np.array(self.fast.fst_vt['AeroDynBlade']['BlAFID']).astype(int) - 1 #Reset to 0 index
AFNames = self.fast.fst_vt['AeroDyn15']['AFNames']
# Use airfoil data from FAST file read, assumes AeroDyn 15, assumes 1 Re num per airfoil
af_dict = {}
try:
for i, _ in enumerate(self.fast.fst_vt['AeroDyn15']['af_data']):
Re = [self.fast.fst_vt['AeroDyn15']['af_data'][i][0]['Re']]
Alpha = self.fast.fst_vt['AeroDyn15']['af_data'][i][0]['Alpha']
Cl = self.fast.fst_vt['AeroDyn15']['af_data'][i][0]['Cl']
Cd = self.fast.fst_vt['AeroDyn15']['af_data'][i][0]['Cd']
Cm = self.fast.fst_vt['AeroDyn15']['af_data'][i][0]['Cm']
af_dict[i] = CCAirfoil(Alpha, Re, Cl, Cd, Cm)
except: # Read airfoil tables without tab cabalities (will remove once wisdem master branch cleans up)
for i, _ in enumerate(self.fast.fst_vt['AeroDyn15']['af_data']):
Re = [self.fast.fst_vt['AeroDyn15']['af_data'][i]['Re']]
Alpha = self.fast.fst_vt['AeroDyn15']['af_data'][i]['Alpha']
Cl = self.fast.fst_vt['AeroDyn15']['af_data'][i]['Cl']
Cd = self.fast.fst_vt['AeroDyn15']['af_data'][i]['Cd']
Cm = self.fast.fst_vt['AeroDyn15']['af_data'][i]['Cm']
af_dict[i] = CCAirfoil(Alpha, Re, Cl, Cd, Cm)
# define airfoils for CCBlade
af = [0]*len(r)
for i in range(len(r)):
af[i] = af_dict[af_idx[i]]
# Now save the CC-Blade rotor
nSector = 8 # azimuthal discretizations
self.cc_rotor = CCBlade(r, chord, theta, af, self.Rhub, self.rotor_radius, self.NumBl, rho=self.rho, mu=self.mu,
precone=-self.precone, tilt=-self.tilt, yaw=self.yaw, shearExp=self.shearExp, hubHt=self.hubHt, nSector=nSector)
print('CCBlade initiated successfully.')
# Generate the look-up tables, mesh the grid and flatten the arrays for cc_rotor aerodynamic analysis
TSR_initial = np.arange(3, 15,0.5)
pitch_initial = np.arange(-1,25,0.5)
pitch_initial_rad = pitch_initial * deg2rad
ws_array = np.ones_like(TSR_initial) * self.v_rated # evaluate at rated wind speed
omega_array = (TSR_initial * ws_array / self.rotor_radius) * RadSec2rpm
ws_mesh, pitch_mesh = np.meshgrid(ws_array, pitch_initial)
ws_flat = ws_mesh.flatten()
pitch_flat = pitch_mesh.flatten()
omega_mesh, _ = np.meshgrid(omega_array, pitch_initial)
omega_flat = omega_mesh.flatten()
# tsr_flat = (omega_flat * rpm2RadSec * self.rotor_radius) / ws_flat
# Get values from cc-blade
print('Running CCBlade aerodynamic analysis, this may take a minute...')
try:
_, _, _, _, CP, CT, CQ, _ = self.cc_rotor.evaluate(ws_flat, omega_flat, pitch_flat, coefficients=True)
except ValueError: # On IEAontology4all
outputs, derivs = self.cc_rotor.evaluate(ws_flat, omega_flat, pitch_flat, coefficients=True)
CP = outputs['CP']
CT = outputs['CT']
CQ = outputs['CQ']
print('CCBlade aerodynamic analysis run successfully.')
# Reshape Cp, Ct and Cq
Cp = np.transpose(np.reshape(CP, (len(pitch_initial), len(TSR_initial))))
Ct = np.transpose(np.reshape(CT, (len(pitch_initial), len(TSR_initial))))
Cq = np.transpose(np.reshape(CQ, (len(pitch_initial), len(TSR_initial))))
# Store necessary metrics for analysis
self.pitch_initial_rad = pitch_initial_rad
self.TSR_initial = TSR_initial
self.Cp_table = Cp
self.Ct_table = Ct
self.Cq_table = Cq
# Save some blade parameters
self.span = r
self.chord = chord
self.twist = theta
for i in range(len(r)):
af[i] = airfoil_types[af_idx[i]]
# 2 ----------
# 3 ----------
# create CCBlade object
rotor = CCBlade(r,
chord,
theta,
af,
Rhub,
Rtip,
B,
rho,
mu,
precone,
tilt,
yaw,
shearExp,
hubHt,
nSector,
derivatives=True)
# 3 ----------
# 4 ----------
# set conditions
Uinf = 10.0
tsr = 7.55
pitch = 0.0
def load_blade_info(self):
'''
Loads wind turbine blade data from an OpenFAST model.
Should be used if blade information is needed (i.e.) for flap controller tuning, but a rotor performance file is defined and and cc-blade is not run already.
Parameters:
-----------
self - note: needs to contain fast input file info provided by load_from_fast.
'''
from wisdem.aeroelasticse.FAST_reader import InputReader_OpenFAST
# Load Fast input deck
# self.TurbineName = FAST_InputFile.strip('.fst')
# fast = InputReader_OpenFAST(FAST_ver=FAST_ver,dev_branch=dev_branch)
# self.fast.FAST_InputFile = FAST_InputFile
# self.fast.FAST_directory = FAST_directory
# self.fast.execute()
# Make sure cc_rotor exists for DAC analysis
try:
if self.cc_rotor:
self.af_data = self.fast.fst_vt['AeroDyn15']['af_data']
self.bld_flapwise_damp = self.fast.fst_vt['ElastoDynBlade']['BldFlDmp1']/100 * 0.7
except AttributeError:
# Create CC-Blade Rotor
r0 = np.array(self.fast.fst_vt['AeroDynBlade']['BlSpn'])
chord0 = np.array(self.fast.fst_vt['AeroDynBlade']['BlChord'])
theta0 = np.array(self.fast.fst_vt['AeroDynBlade']['BlTwist'])
# -- Adjust for Aerodyn15
r = r0 + self.Rhub
chord_intfun = interpolate.interp1d(r0,chord0, bounds_error=None, fill_value='extrapolate', kind='zero')
chord = chord_intfun(r)
theta_intfun = interpolate.interp1d(r0,theta0, bounds_error=None, fill_value='extrapolate', kind='zero')
theta = theta_intfun(r)
af_idx = np.array(self.fast.fst_vt['AeroDynBlade']['BlAFID']).astype(int) - 1 #Reset to 0 index
AFNames = self.fast.fst_vt['AeroDyn15']['AFNames']
# Use airfoil data from FAST file read, assumes AeroDyn 15, assumes 1 Re num per airfoil
af_dict = {}
for i, section in enumerate(self.fast.fst_vt['AeroDyn15']['af_data']):
Re = [section[0]['Re']]
Alpha = section[0]['Alpha']
if section[0]['NumTabs'] > 1: # sections with flaps
ref_tab = int(np.floor(section[0]['NumTabs']/2))
Cl = section[ref_tab]['Cl']
Cd = section[ref_tab]['Cd']
Cm = section[ref_tab]['Cm']
af_dict[i] = CCAirfoil(Alpha, Re, Cl, Cd, Cm)
else: # sections without flaps
Cl = section[0]['Cl']
Cd = section[0]['Cd']
Cm = section[0]['Cm']
af_dict[i] = CCAirfoil(Alpha, Re, Cl, Cd, Cm)
# define airfoils for CCBlade
af = [0]*len(r)
for i in range(len(r)):
af[i] = af_dict[af_idx[i]]
# Now save the CC-Blade rotor
nSector = 8 # azimuthal discretizations
self.cc_rotor = CCBlade(r, chord, theta, af, self.Rhub, self.rotor_radius, self.NumBl, rho=self.rho, mu=self.mu,
precone=-self.precone, tilt=-self.tilt, yaw=self.yaw, shearExp=self.shearExp, hubHt=self.hubHt, nSector=nSector)
# Save some blade data
self.af_data = self.fast.fst_vt['AeroDyn15']['af_data']
self.span = r
self.chord = chord
self.twist = theta
self.bld_flapwise_damp = self.fast.fst_vt['ElastoDynBlade']['BldFlDmp1']/100 * 0.7
# 1 ----------
precone = 0.0
precurve = np.linspace(0, 4.9, len(r))**2
precurveTip = 25.0
# create CCBlade object
rotor = CCBlade(r,
chord,
theta,
af,
Rhub,
Rtip,
B,
rho,
mu,
precone,
tilt,
yaw,
shearExp,
hubHt,
nSector,
precurve=precurve,
precurveTip=precurveTip)
# 1 ----------
if plot_flag:
plt.plot(precurve, r, 'k')
plt.plot(precurve, -r, 'k')
plt.axis('equal')
def setup(self):
"""
Parameters
----------
r : array_like (m)
locations defining the blade along z-axis of :ref:`blade coordinate system <azimuth_blade_coord>`
(values should be increasing).
chord : array_like (m)
corresponding chord length at each section
theta : array_like (deg)
corresponding :ref:`twist angle <blade_airfoil_coord>` at each section---
positive twist decreases angle of attack.
Rhub : float (m)
location of hub
Rtip : float (m)
location of tip
B : int, optional
number of blades
rho : float, optional (kg/m^3)
freestream fluid density
mu : float, optional (kg/m/s)
dynamic viscosity of fluid
precone : float, optional (deg)
:ref:`hub precone angle <azimuth_blade_coord>`
tilt : float, optional (deg)
nacelle :ref:`tilt angle <yaw_hub_coord>`
yaw : float, optional (deg)
nacelle :ref:`yaw angle<wind_yaw_coord>`
shearExp : float, optional
shear exponent for a power-law wind profile across hub
hubHt : float, optional
hub height used for power-law wind profile.
U = Uref*(z/hubHt)**shearExp
nSector : int, optional
number of azimuthal sectors to descretize aerodynamic calculation. automatically set to
``1`` if tilt, yaw, and shearExp are all 0.0. Otherwise set to a minimum of 4.
"""
self.Rhub = 1.5
self.Rtip = 63
self.r = np.array([
self.Rtip * 0.045503175, self.Rtip * 0.088888889,
self.Rtip * 0.132274603, self.Rtip * 0.186507937,
self.Rtip * 0.251587302, self.Rtip * 0.316666667,
self.Rtip * 0.381746032, self.Rtip * 0.446825397,
self.Rtip * 0.511904762, self.Rtip * 0.576984127,
self.Rtip * 0.642063492, self.Rtip * 0.707142857,
self.Rtip * 0.772222222, self.Rtip * 0.837301587,
self.Rtip * 0.891534921, self.Rtip * 0.934920635,
self.Rtip * 0.978306349
])
chord = np.array([
3.542, 3.854, 4.167, 4.557, 4.652, 4.458, 4.249, 4.007, 3.748,
3.502, 3.256, 3.010, 2.764, 2.518, 2.313, 2.086, 1.419
])
theta = np.array([
13.308, 13.308, 13.308, 13.308, 11.480, 10.162, 9.011, 7.795,
6.544, 5.361, 4.188, 3.125, 2.319, 1.526, 0.863, 0.370, 0.106
])
afinit = CCAirfoil.initFromAerodynFile # just for shorthand
basepath = os.path.join(os.path.dirname(os.path.realpath(__file__)),
"5MW_AFFiles/")
# load all airfoils
airfoil_types = [0] * 8
airfoil_types[0] = afinit(basepath + 'Cylinder1.dat')
airfoil_types[1] = afinit(basepath + 'Cylinder2.dat')
airfoil_types[2] = afinit(basepath + 'DU40_A17.dat')
airfoil_types[3] = afinit(basepath + 'DU35_A17.dat')
airfoil_types[4] = afinit(basepath + 'DU30_A17.dat')
airfoil_types[5] = afinit(basepath + 'DU25_A17.dat')
airfoil_types[6] = afinit(basepath + 'DU21_A17.dat')
airfoil_types[7] = afinit(basepath + 'NACA64_A17.dat')
# place at appropriate radial stations
af_idx = [0, 0, 1, 2, 3, 3, 4, 5, 5, 6, 6, 7, 7, 7, 7, 7, 7]
af = [0] * len(self.r)
for i in range(len(self.r)):
af[i] = airfoil_types[af_idx[i]]
B = 3 # number of blades
# atmosphere
rho = 1.225
mu = 1.81206e-5
tilt = 5.0
precone = 2.5
yaw = 0.0
shearExp = 0.2
hubHt = (self.Rtip * 2) * 0.92
nSector = 8
# create CCBlade object
self.aeroanalysis = CCBlade(self.r, chord, theta, af, self.Rhub,
self.Rtip, B, rho, mu, precone, tilt, yaw,
shearExp, hubHt, nSector)
def compute(self, inputs, outputs, discrete_inputs, discrete_outputs):
self.r = inputs['r']
self.chord = inputs['chord']
self.theta = inputs['theta']
self.Rhub = inputs['Rhub']
self.Rtip = inputs['Rtip']
self.hub_height = inputs['hub_height']
self.precone = inputs['precone']
self.tilt = inputs['tilt']
self.yaw = inputs['yaw']
self.precurve = inputs['precurve']
self.precurveTip = inputs['precurveTip']
# self.airfoils = discrete_inputs['airfoils']
self.B = discrete_inputs['nBlades']
self.rho = inputs['rho']
self.mu = inputs['mu']
self.shearExp = inputs['shearExp']
self.nSector = discrete_inputs['nSector']
self.tiploss = discrete_inputs['tiploss']
self.hubloss = discrete_inputs['hubloss']
self.wakerotation = discrete_inputs['wakerotation']
self.usecd = discrete_inputs['usecd']
self.Uhub = inputs['Uhub']
self.Omega = inputs['Omega']
self.pitch = inputs['pitch']
af = [None] * self.naero
for i in range(self.naero):
af[i] = CCAirfoil(inputs['airfoils_aoa'], inputs['airfoils_Re'],
inputs['airfoils_cl'][:, i, :],
inputs['airfoils_cd'][:, i, :],
inputs['airfoils_cm'][:, i, :])
self.ccblade = CCBlade(self.r,
self.chord,
self.theta,
af,
self.Rhub,
self.Rtip,
self.B,
self.rho,
self.mu,
self.precone,
self.tilt,
self.yaw,
self.shearExp,
self.hub_height,
self.nSector,
self.precurve,
self.precurveTip,
tiploss=self.tiploss,
hubloss=self.hubloss,
wakerotation=self.wakerotation,
usecd=self.usecd,
derivatives=True)
# power, thrust, torque
self.P, self.T, self.Q, self.M, self.dP, self.dT, self.dQ \
= self.ccblade.evaluate(self.Uhub, self.Omega, self.pitch, coefficients=False)
outputs['T'] = self.T
outputs['Q'] = self.Q
outputs['P'] = self.P
'''
