Merge pull request NREL#31 from dzalkind/openfast_250

Update to OpenFAST 2.5.0

Examples/example_01.py

@@ -18,7 +18,8 @@
 from ROSCO_toolbox import turbine as ROSCO_turbine
 
 # Load yaml file
-parameter_filename = os.path.join(os.path.dirname(__file__),'NREL5MW_example.yaml')
+this_dir = os.path.dirname(os.path.abspath(__file__))
+parameter_filename = os.path.join(this_dir,'NREL5MW_example.yaml')
 inps = yaml.safe_load(open(parameter_filename))
 path_params         = inps['path_params']
 turbine_params      = inps['turbine_params']
@@ -28,13 +29,13 @@
 
 turbine.load_from_fast(
     path_params['FAST_InputFile'],
-    os.path.join(os.path.dirname(__file__),path_params['FAST_directory']),
+    os.path.join(this_dir,path_params['FAST_directory']),
     dev_branch=True,
-    rot_source='txt',txt_filename=os.path.join(os.path.dirname(__file__),path_params['rotor_performance_filename'])
+    rot_source='txt',txt_filename=os.path.join(this_dir,path_params['rotor_performance_filename'])
     )
 
 # Print some basic turbine info
 print(turbine)
 
 # Save the turbine model
-turbine.save(os.path.join(os.path.dirname(__file__),'NREL5MW_saved.p'))
+turbine.save(os.path.join(this_dir,'NREL5MW_saved.p'))

Examples/example_02.py

@@ -19,7 +19,8 @@
 turbine = ROSCO_turbine.Turbine
 
 # Load quick from python pickle
-turbine = turbine.load(os.path.join(os.path.dirname(__file__),'NREL5MW_saved.p'))
+this_dir = os.path.dirname(os.path.abspath(__file__))
+turbine = turbine.load(os.path.join(this_dir,'NREL5MW_saved.p'))
 
 # plot rotor performance 
 print('Plotting Cp data')

Examples/example_03.py

@@ -19,7 +19,8 @@
 control_params = {}
 
 # Load yaml file
-parameter_filename = os.path.join(os.path.dirname(__file__),'NREL5MW_example.yaml')
+this_dir = os.path.dirname(os.path.abspath(__file__))
+parameter_filename = os.path.join(this_dir,'NREL5MW_example.yaml')
 inps = yaml.safe_load(open(parameter_filename))
 path_params         = inps['path_params']
 turbine_params      = inps['turbine_params']
@@ -29,11 +30,11 @@
 turbine = ROSCO_turbine.Turbine(turbine_params)
 turbine.load_from_fast(
     path_params['FAST_InputFile'],
-    os.path.join(os.path.dirname(__file__),path_params['FAST_directory']),
+    os.path.join(this_dir,path_params['FAST_directory']),
     dev_branch=True,
     rot_source='cc-blade',
     txt_filename=None)
 
 # Write rotor performance text file
-txt_filename = os.path.join(os.path.dirname(__file__),'Cp_Ct_Cq.Ex03.txt')
+txt_filename = os.path.join(this_dir,'Cp_Ct_Cq.Ex03.txt')
 write_rotor_performance(turbine,txt_filename=txt_filename)

Examples/example_04.py

@@ -20,7 +20,8 @@
 from ROSCO_toolbox.utilities import write_DISCON
 
 # Load yaml file 
-parameter_filename = os.path.join(os.path.dirname(__file__),'NREL5MW_example.yaml')
+this_dir = os.path.dirname(os.path.abspath(__file__))
+parameter_filename = os.path.join(this_dir,'NREL5MW_example.yaml')
 inps = yaml.safe_load(open(parameter_filename))
 path_params         = inps['path_params']
 turbine_params      = inps['turbine_params']
@@ -33,9 +34,9 @@
 # Load turbine data from OpenFAST and rotor performance text file
 turbine.load_from_fast(
     path_params['FAST_InputFile'],
-    os.path.join(os.path.dirname(__file__),path_params['FAST_directory']),
+    os.path.join(this_dir,path_params['FAST_directory']),
     dev_branch=True,
-    rot_source='txt',txt_filename=os.path.join(os.path.dirname(__file__),path_params['rotor_performance_filename'])
+    rot_source='txt',txt_filename=os.path.join(this_dir,path_params['rotor_performance_filename'])
     )
 
 # Tune controller 

Examples/example_05.py

@@ -25,7 +25,7 @@
 from ROSCO_toolbox import control_interface as ROSCO_ci
 
 # Specify controller dynamic library path and name
-this_dir = os.path.dirname(__file__)
+this_dir = os.path.dirname(os.path.abspath(__file__))
 lib_name = os.path.join(this_dir,'../ROSCO/build/libdiscon.dylib')
 param_filename = os.path.join(this_dir,'DISCON.IN')
 

Examples/example_06.py

@@ -19,10 +19,10 @@
 from ROSCO_toolbox.utilities import write_DISCON, run_openfast
 from ROSCO_toolbox import sim as ROSCO_sim
 
-this_dir = os.path.dirname(__file__)
+this_dir = os.path.dirname(os.path.abspath(__file__))
 
 # Load yaml file 
-parameter_filename = os.path.join(this_dir,'NREL5MW_example.yaml')
+parameter_filename = os.path.join(os.path.dirname(this_dir), 'Tune_Cases', 'IEA15MW.yaml') 
 inps = yaml.safe_load(open(parameter_filename))
 path_params         = inps['path_params']
 turbine_params      = inps['turbine_params']
@@ -33,7 +33,10 @@
 controller      = ROSCO_controller.Controller(controller_params)
 
 # Load turbine data from OpenFAST and rotor performance text file
-turbine.load_from_fast(path_params['FAST_InputFile'],path_params['FAST_directory'],dev_branch=True,rot_source='txt',txt_filename=path_params['rotor_performance_filename'])
+turbine.load_from_fast(path_params['FAST_InputFile'], \
+  os.path.join(this_dir,path_params['FAST_directory']), \
+    dev_branch=True,rot_source='txt',\
+      txt_filename=os.path.join(this_dir,path_params['FAST_directory'],path_params['rotor_performance_filename']))
 
 # Tune controller 
 controller.tune_controller(turbine)
@@ -44,7 +47,8 @@
 
 # Run OpenFAST
 # --- May need to change fastcall if you use a non-standard command to call openfast
-run_openfast(path_params['FAST_directory'], fastcall='openfast_sdev', fastfile=path_params['FAST_InputFile'], chdir=True)
+fastcall = 'openfast'
+run_openfast(path_params['FAST_directory'], fastcall=fastcall, fastfile=path_params['FAST_InputFile'], chdir=True)
 
 
 

Examples/example_08.py

@@ -19,7 +19,7 @@
 from ROSCO_toolbox.ofTools.fast_io import output_processing
 import os
 
-this_dir = os.path.dirname(__file__)
+this_dir = os.path.dirname(os.path.abspath(__file__))
 
 # Define openfast output filenames
 filenames = ["../Test_Cases/NREL-5MW/NREL-5MW.outb"]

Examples/example_09.py

@@ -14,11 +14,11 @@
 from ROSCO_toolbox.utilities import run_openfast
 import os
 
-this_dir = os.path.dirname(__file__)
+this_dir = os.path.dirname(os.path.abspath(__file__))
 
 # Define openfast output filenames
 wind_directory = os.path.join(this_dir,'../Test_Cases/Wind/')
 turbsim_infile = '90m_12mps_twr.inp'
 
-run_openfast(wind_directory, fastcall='turbsim_sdev', fastfile=turbsim_infile, chdir=False)
+run_openfast(wind_directory, fastcall='turbsim', fastfile=turbsim_infile, chdir=False)
 

Examples/example_10.py

@@ -21,10 +21,10 @@
 from ROSCO_toolbox import turbine as ROSCO_turbine
 from ROSCO_toolbox import controller as ROSCO_controller
 
-rt_dir = os.path.dirname(os.path.dirname(__file__))
+this_dir =  os.path.dirname(os.path.abspath(__file__))
 
 # Load yaml file
-parameter_filename = os.path.join(rt_dir,'Tune_Cases/BAR.yaml')
+parameter_filename = os.path.join(os.path.dirname(this_dir),'Tune_Cases/BAR.yaml')
 inps = yaml.safe_load(open(parameter_filename))
 path_params         = inps['path_params']
 turbine_params      = inps['turbine_params']
@@ -34,7 +34,7 @@
 turbine = ROSCO_turbine.Turbine(turbine_params)
 # turbine.load_from_fast(path_params['FAST_InputFile'],path_params['FAST_directory'],dev_branch=True,rot_source='txt',txt_filename=path_params['rotor_performance_filename'])
 turbine.load_from_fast(path_params['FAST_InputFile'], \
-    os.path.join(rt_dir,path_params['FAST_directory']),dev_branch=True)
+    os.path.join(this_dir,path_params['FAST_directory']),dev_branch=True)
 
 # Tune controller
 controller = ROSCO_controller.Controller(controller_params)

ROSCO_testing/run_Testing.py

@@ -79,16 +79,14 @@ def run_testing(turbine2test, testtype, rosco_binaries=[], discon_files=[], **kw
 if __name__ == "__main__":
 
     # WEIS directory, for running openfast, etc.
-    # weis_dir = os.environ.get('weis_dir')       # works if we do  `export weis_dir=$(pwd)` in WEIS directory in terminal
-    weis_dir = '/Users/dzalkind/Tools/WEIS-3'
     this_dir =  os.path.dirname(__file__)
 
     # Setup ROSCO testing parameters
     rt_kwargs = {} 
     rt_kwargs['runDir']     = os.path.join(this_dir,'results/')        # directory for FAST simulations
     rt_kwargs['namebase']   = 'lite_test'     # Base name for FAST files 
-    rt_kwargs['FAST_exe']   = os.path.join(weis_dir,'local','bin','openfast')       # OpenFAST executable path
-    rt_kwargs['Turbsim_exe']= os.path.join(weis_dir,'local','bin','turbsim')        # Turbsim executable path
+    rt_kwargs['FAST_exe']   = 'openfast'       # OpenFAST executable path
+    rt_kwargs['Turbsim_exe']= 'turbsim'    # Turbsim executable path
     rt_kwargs['FAST_ver']   = 'OpenFAST'            # FAST version
     rt_kwargs['dev_branch'] = True                  # dev branch of Openfast?
     rt_kwargs['debug_level']= 2                     # debug level. 0 - no outputs, 1 - minimal outputs, 2 - all outputs
@@ -99,11 +97,11 @@ def run_testing(turbine2test, testtype, rosco_binaries=[], discon_files=[], **kw
     rt_kwargs['outfile_fmt'] = 2                    # 1 = .txt, 2 = binary, 3 = both
 
     # ---- Define test type ----
-    turbine2test = 'IEA-15MW'   # IEA-15MW or NREL-5MW
+    turbine2test = 'NREL-5MW'   # IEA-15MW or NREL-5MW
     testtype     = 'lite'       # lite, heavy, binary-comp, discon-comp
 
     # Only fill one of these if comparing controllers
-    rosco_binaries = [glob.glob(os.path.join(this_dir,'../ROSCO/build/libdiscon*'))[0]] # Differently named libdiscons to compare
+    rosco_binaries = [glob.glob(os.path.join(this_dir,'../ROSCO/build/libdiscon.*'))[0]] # Differently named libdiscons to compare
     discon_files = []   # Differently named DISCON.IN files to compare
 
 

ROSCO_toolbox/controller.py

@@ -158,8 +158,8 @@ def tune_controller(self, turbine):
         TSR_rated = rated_rotor_speed*R/turbine.v_rated  # TSR at rated
 
         # separate wind speeds by operation regions
-        v_below_rated = np.arange(turbine.v_min,turbine.v_rated,0.5)             # below rated
-        v_above_rated = np.arange(turbine.v_rated,turbine.v_max,0.5)             # above rated
+        v_below_rated = np.linspace(turbine.v_min,turbine.v_rated, num=30)             # below rated
+        v_above_rated = np.linspace(turbine.v_rated,turbine.v_max, num=30)             # above rated
         v = np.concatenate((v_below_rated, v_above_rated))
 
         # separate TSRs by operations regions
@@ -242,12 +242,12 @@ def tune_controller(self, turbine):
 
         # separate and define below and above rated parameters
         A_vs = A[0:len(v_below_rated)]          # below rated
-        A_pc = A[len(v_below_rated):len(v)]     # above rated
+        A_pc = A[-len(v_above_rated)+1:]     # above rated
         B_tau = B_tau * np.ones(len(v))
 
         # -- Find gain schedule --
         self.pc_gain_schedule = ControllerTypes()
-        self.pc_gain_schedule.second_order_PI(self.zeta_pc, self.omega_pc,A_pc,B_beta[len(v_below_rated):len(v)],linearize=True,v=v_above_rated)
+        self.pc_gain_schedule.second_order_PI(self.zeta_pc, self.omega_pc,A_pc,B_beta[-len(v_above_rated)+1:],linearize=True,v=v_above_rated[1:])
         self.vs_gain_schedule = ControllerTypes()
         self.vs_gain_schedule.second_order_PI(self.zeta_vs, self.omega_vs,A_vs,B_tau[0:len(v_below_rated)],linearize=False,v=v_below_rated)
 
@@ -303,7 +303,8 @@ def tune_controller(self, turbine):
         # --- Floating feedback term ---
         if self.Fl_Mode == 1: # Floating feedback
             Kp_float = (dtau_dv/dtau_dbeta) * turbine.TowerHt * Ng 
-            self.Kp_float = Kp_float[len(v_below_rated)]
+            f_kp     = interpolate.interp1d(v,Kp_float)
+            self.Kp_float = f_kp(turbine.v_rated * (1.05))   # get Kp at v_rated + 0.5 m/s
             # Turn on the notch filter if floating
             self.F_NotchType = 2
 

ROSCO_toolbox/ofTools/README.md

@@ -1,6 +1,11 @@
 # OpenFAST Tools
 A set of OpenFAST tools is provided to ease the use of the ROSCO toolbox in conjuction with [OpenFAST](https://github.com/openfast/openfast).
 
+OpenFAST can be installed using conda-forge using
+```
+conda install -c conda-forge openfast
+```
+
 Note that most of these scripts are copy and pasted from [weis's aeroleasticse](https://github.com/WISDEM/WEIS/tree/master/weis/aeroelasticse)
 
 ### case_gen

ROSCO_toolbox/ofTools/case_gen/CaseGen_IEC.py

@@ -79,7 +79,10 @@ def execute(self, case_inputs={}):
                 IEC_WindType = 'NTM'
                 alpha = 0.2
                 iecwind = pyIECWind_turb()
-                TMax = 630.
+                if self.TMax == 0:
+                    TMax = 720.
+                else:
+                    TMax = self.TMax
 
             elif dlc in [1.3, 6.1, 6.3]:
                 if self.Turbine_Class == 'I':
@@ -93,19 +96,28 @@ def execute(self, case_inputs={}):
                 IEC_WindType = '%uETM'%x
                 alpha = 0.11
                 iecwind = pyIECWind_turb()
-                TMax = 630.
+                if self.TMax == 0:
+                    TMax = 720.
+                else:
+                    TMax = self.TMax
 
             elif dlc == 1.4:
                 IEC_WindType = 'ECD'
                 alpha = 0.2
                 iecwind = pyIECWind_extreme()
-                TMax = 90.
+                if self.TMax == 0:
+                    TMax = 120.
+                else:
+                    TMax = self.TMax
 
             elif dlc == 1.5:
                 IEC_WindType = 'EWS'
                 alpha = 0.2
                 iecwind = pyIECWind_extreme()
-                TMax = 90.
+                if self.TMax == 0:
+                    TMax = 120.
+                else:
+                    TMax = self.TMax
 
             # Windfile generation setup
             if self.TMax == 0.:
@@ -144,24 +156,24 @@ def execute(self, case_inputs={}):
                 case_inputs_i[("ServoDyn","TPitManS1")]  = {'vals':[self.TStart], 'group':0}
                 case_inputs_i[("ServoDyn","TPitManS2")]  = {'vals':[self.TStart], 'group':0}
                 case_inputs_i[("ServoDyn","TPitManS3")]  = {'vals':[self.TStart], 'group':0}
-                case_inputs_i[("ServoDyn","PitManRat1")] = {'vals':[self.PC_MaxRat], 'group':0}
-                case_inputs_i[("ServoDyn","PitManRat2")] = {'vals':[self.PC_MaxRat], 'group':0}
-                case_inputs_i[("ServoDyn","PitManRat3")] = {'vals':[self.PC_MaxRat], 'group':0}
-                case_inputs_i[("ServoDyn","BlPitchF1")]  = {'vals':[90.], 'group':0}
-                case_inputs_i[("ServoDyn","BlPitchF2")]  = {'vals':[90.], 'group':0}
-                case_inputs_i[("ServoDyn","BlPitchF3")]  = {'vals':[90.], 'group':0}
+                case_inputs_i[("ServoDyn","PitManRat(1)")] = {'vals':[self.PC_MaxRat], 'group':0}
+                case_inputs_i[("ServoDyn","PitManRat(2)")] = {'vals':[self.PC_MaxRat], 'group':0}
+                case_inputs_i[("ServoDyn","PitManRat(3)")] = {'vals':[self.PC_MaxRat], 'group':0}
+                case_inputs_i[("ServoDyn","BlPitchF(1)")]  = {'vals':[90.], 'group':0}
+                case_inputs_i[("ServoDyn","BlPitchF(2)")]  = {'vals':[90.], 'group':0}
+                case_inputs_i[("ServoDyn","BlPitchF(3)")]  = {'vals':[90.], 'group':0}
                 case_inputs_i[("ServoDyn","GenTiStp")]   = {'vals':["True"], 'group':0}
                 case_inputs_i[("ServoDyn","TimGenOf")]   = {'vals':[self.TStart], 'group':0}
             else:
                 case_inputs_i[("ServoDyn","TPitManS1")]  = {'vals':[9999.9], 'group':0}
                 case_inputs_i[("ServoDyn","TPitManS2")]  = {'vals':[9999.9], 'group':0}
                 case_inputs_i[("ServoDyn","TPitManS3")]  = {'vals':[9999.9], 'group':0}
-                case_inputs_i[("ServoDyn","PitManRat1")] = {'vals':[2.], 'group':0}
-                case_inputs_i[("ServoDyn","PitManRat2")] = {'vals':[2.], 'group':0}
-                case_inputs_i[("ServoDyn","PitManRat3")] = {'vals':[2.], 'group':0}
-                case_inputs_i[("ServoDyn","BlPitchF1")]  = {'vals':[0.], 'group':0}
-                case_inputs_i[("ServoDyn","BlPitchF2")]  = {'vals':[0.], 'group':0}
-                case_inputs_i[("ServoDyn","BlPitchF3")]  = {'vals':[0.], 'group':0}
+                case_inputs_i[("ServoDyn","PitManRat(1)")] = {'vals':[2.], 'group':0}
+                case_inputs_i[("ServoDyn","PitManRat(2)")] = {'vals':[2.], 'group':0}
+                case_inputs_i[("ServoDyn","PitManRat(3)")] = {'vals':[2.], 'group':0}
+                case_inputs_i[("ServoDyn","BlPitchF(1)")]  = {'vals':[0.], 'group':0}
+                case_inputs_i[("ServoDyn","BlPitchF(2)")]  = {'vals':[0.], 'group':0}
+                case_inputs_i[("ServoDyn","BlPitchF(3)")]  = {'vals':[0.], 'group':0}
                 case_inputs_i[("ServoDyn","GenTiStp")]   = {'vals':["True"], 'group':0}
                 case_inputs_i[("ServoDyn","TimGenOf")]   = {'vals':[9999.9], 'group':0}
 
@@ -192,7 +204,6 @@ def execute(self, case_inputs={}):
                 case_inputs_i[("ServoDyn","PCMode")]    = {'vals':[5], 'group':0}
                 case_inputs_i[("AeroDyn15","AFAeroMod")]= {'vals':[2], 'group':0}
                 case_inputs_i[("ElastoDyn","GenDOF")]   = {'vals':["True"], 'group':0}
-                case_inputs_i[("ElastoDyn","YawDOF")]   = {'vals':["True"], 'group':0}
 
 
             # Matrix combining N dlc variables that affect wind file generation
@@ -283,7 +294,9 @@ def execute(self, case_inputs={}):
             if ("Fst","TMax") not in case_inputs_i:
                 case_inputs_i[("Fst","TMax")] = {'vals':[TMax], 'group':0}
             case_inputs_i[("InflowWind","WindType")] = {'vals':WindFile_type_out, 'group':1}
-            case_inputs_i[("InflowWind","Filename")] = {'vals':WindFile_out, 'group':1}
+            case_inputs_i[("InflowWind","Filename_Uni")] = {'vals':WindFile_out, 'group':1}
+            case_inputs_i[("InflowWind","FileName_BTS")] = {'vals':WindFile_out, 'group':1}
+            case_inputs_i[("InflowWind","RefLength")] = {'vals':[self.D], 'group':0}
 
             if len(self.dlc_inputs['Yaw'][i]) > 0:
                     case_inputs_i[("ElastoDyn","NacYaw")] = {'vals':self.dlc_inputs['Yaw'][i], 'group':2}
@@ -298,7 +311,7 @@ def execute(self, case_inputs={}):
             # make unique wave seeds
             if self.uniqueWaveSeeds:
                 seed_base   = int(float(dlc) * 10000)   # set wave seed based on dlc so no repeats
-                num_in_dlc  = len(case_inputs_i[("InflowWind","Filename")]['vals'])  # sims in each DLC
+                num_in_dlc  = len(case_inputs_i[("InflowWind","FileName_BTS")]['vals'])  # sims in each DLC
                 wave_seeds  = (seed_base + np.arange(0,num_in_dlc)).tolist()
 
                 case_inputs_i[("HydroDyn","WaveSeed1")] = {'vals':wave_seeds, 'group':1}