Update examples and associated files

Examples/Example_07.py

@@ -1,59 +1,49 @@
-# Example_07
-# Load gain schedules, write_paramter input file, plot gains
-
-#%%
-import numpy as np
-from scipy import interpolate 
-import yaml
-
-from WTC_toolbox import controller as wtc_controller
-from WTC_toolbox import turbine as wtc_turbine
-from WTC_toolbox import sim as wtc_sim
-import os
-
-# Ensure propper working directory
-os.chdir('/Users/nabbas/Documents/WindEnergyToolbox/WTC_toolbox/examples')
-
-# parameter filename
-parameter_filename = 'NREL5MW.yaml'         # Name of .yaml input file for the specific turbine
-
-# Load input file contents, put them in some dictionaries to keep things cleaner
+# ----------- Example_07 --------------
+# Load saved turbine, tune controller, plot minimum pitch schedule
+# -------------------------------------
+#
+# In this example:
+#   - Load a yaml file
+#   - Load a turbien from openfast
+#   - Tune a controller
+#   - Plot minimum pitch schedule
+
+
+# Python modules
+import matplotlib.pyplot as plt 
+import yaml 
+# ROSCO toolbox modules 
+from ROSCO_toolbox import controller as wtc_controller
+from ROSCO_toolbox import turbine as wtc_turbine
+from ROSCO_toolbox import sim as wtc_sim
+from ROSCO_toolbox import utilities as wtc_utilities
+
+# Load yaml file 
+parameter_filename = 'NREL5MW_example.yaml'
 inps = yaml.safe_load(open(parameter_filename))
-path_params = inps['path_params']
-turbine_params = inps['turbine_params']
-controller_params = inps['controller_params']
+path_params         = inps['path_params']
+turbine_params      = inps['turbine_params']
+controller_params   = inps['controller_params']
+
+# Ensure minimum generator speed at 50 rpm (for example's sake), turn on peak shaving and cp-maximizing min pitch
+controller_params['vs_minspd'] = 50
+controller_params['PS_Mode'] = 3
 
-# Initialiize turbine, controller, and file processing classes
+# Instantiate turbine, controller, and file processing classes
 turbine         = wtc_turbine.Turbine(turbine_params)
 controller      = wtc_controller.Controller(controller_params)
-file_processing = wtc_controller.FileProcessing()
-
-# Fast input file and Cp surface text file
-FAST_InputFile = '5MW_Land.fst'
-FAST_directory = '/Users/nabbas/Documents/TurbineModels/NREL_5MW/5MW_Land'
-txt_filename = 'Cp_Ct_Cq.txt'
+file_processing = wtc_utilities.FileProcessing()
 
+# Load turbine data from OpenFAST and rotor performance text file
 turbine.load_from_fast(path_params['FAST_InputFile'],path_params['FAST_directory'],dev_branch=True,rot_source='txt',txt_filename=path_params['rotor_performance_filename'])
 
-# Load controller
+# Tune controller 
 controller.tune_controller(turbine)
 
-# Write parameter input file
-param_file = 'DISCON_TEST.IN'
-file_processing.write_param_file(param_file,turbine,controller,new_file=True)
-
-# Plot
-import matplotlib.pyplot as pl 
-
-pl.figure(0)
-pl.plot(controller.v[len(controller.vs_gain_schedule.Kp):], controller.pc_gain_schedule.Kp)
-pl.xlabel('Wind Speed')
-pl.ylabel('Proportional Gain')
-
-pl.figure(1)
-pl.plot(controller.v[len(controller.vs_gain_schedule.Ki):], controller.pc_gain_schedule.Ki)
-pl.xlabel('Wind Speed')
-pl.ylabel('Integral Gain')
-
-pl.show()
-
+# Plot minimum pitch schedule
+plt.plot(controller.v, controller.pitch_op,label='Steady State Operation')
+plt.plot(controller.v, controller.ps_min_bld_pitch, label='Minimum Pitch Schedule')
+plt.legend()
+plt.xlabel('Wind speed (m/s)')
+plt.ylabel('Blade pitch (rad)')
+plt.show()

Examples/NREL5MW_example.yaml

@@ -4,7 +4,7 @@
 # ------------------------------ OpenFAST PATH DEFINITIONS ------------------------------
 path_params:
   FAST_InputFile: '5MW_Land.fst'                                                                # Name of *.fst file
-  FAST_directory: '../5MW_Land/'                     # Main OpenFAST model directory, where the *.fst lives 
+  FAST_directory: '../Test_Cases/5MW_Land/'                     # Main OpenFAST model directory, where the *.fst lives 
   # FAST_directory: '/Users/nabbas/Documents/WindEnergyToolbox/WTC_toolbox/Test_Cases/5MW_Land'   # Main OpenFAST model directory, where the *.fst is 
   # Optional
   rotor_performance_filename:  'Cp_Ct_Cq.NREL5MW.txt'                                # Filename for rotor performance text file (if it has been generated by ccblade already)
@@ -33,7 +33,7 @@ controller_params:
   Y_ControlMode:      0                     # Yaw control mode {0: no yaw control, 1: yaw rate control, 2: yaw-by-IPC}
   SS_Mode:            1                     # Setpoint Smoother mode {0: no setpoint smoothing, 1: introduce setpoint smoothing}
   WE_Mode:            2                     # Wind speed estimator mode {0: One-second low pass filtered hub height wind speed, 1: Immersion and Invariance Estimator (Ortega et al.)}
-  PS_Mode:            20                    # Pitch saturation mode {0: no pitch saturation, 1: peak shaving, 2: Cp-maximizing pitch saturation, 3: peak shaving and Cp-maximizing pitch saturation}
+  PS_Mode:            0                    # Pitch saturation mode {0: no pitch saturation, 1: peak shaving, 2: Cp-maximizing pitch saturation, 3: peak shaving and Cp-maximizing pitch saturation}
   SD_Mode:            0                     # Shutdown mode {0: no shutdown procedure, 1: pitch to max pitch at shutdown}
   # Controller parameters 
   zeta_pc:            0.7                   # Pitch controller desired damping ratio [-]
@@ -43,7 +43,7 @@ controller_params:
   # Optional - these can be defined, but do not need to be
   max_pitch:          # None                  # Maximum pitch angle [rad], {default = 90 degrees}
   min_pitch:          # None                  # Minimum pitch angle [rad], {default = 0 degrees}
-  pc_minspd:          # None                  # Minimum rotor speed [rad/s], {default = 0 rad/s}
+  vs_minspd:          # None                  # Minimum rotor speed [rad/s], {default = 0 rad/s}
   ss_cornerfreq:      # None                  # First order low-pass filter cornering frequency for setpoint smoother [rad/s]
   ss_vsgain:          # None                  # Torque controller setpoint smoother gain bias percentage [%, <= 1 ], {default = 100%}
   ss_pcgain:          # None                  # Pitch controller setpoint smoother gain bias percentage  [%, <= 1 ], {default = 0.1%}

Examples/README.md

@@ -1,4 +1,12 @@
 # Examples
-We offer some example scripts to showcase the functionalities of the ROSCO toolbox. Enjoy!
+We offer some example scripts to showcase the functionalities of the ROSCO toolbox. This offers a non-inclusive overview of some of the primary functionalities of the ROSCO toolbox. Enjoy!
 
-- Example 1: Load and save a turbine model. Calculates rotor performance metrics, prints some basic turbine data, and saves the turbine. 
+Examples: 
+1. Load and save a turbine model. Prints some basic turbine data, and saves the turbine.
+2. Load a turbine model from saved pickle, make a Cp surface plot.
+3. Run CCblade, save a rotor performance text file.
+4. Load a turbine model and tune the controller.
+5. Run and plot a simple simple step wind simulation.
+6. Load a turbine, tune a controller, run an OpenFAST simulation.
+7. Load saved turbine, tune controller, plot minimum pitch schedule.
+8. Plot some OpenFAST output data.

Examples/example_01.py

@@ -4,26 +4,22 @@
 # In this example:
 # - Read .yaml input file
 # - Load an openfast turbine model
-# - Run CCBlade to find the rotor performance properties
+# - Read text file with rotor performance properties
 # - Print some basic turbine properties
 # - Save the turbine as a picklle
 # 
 # Note: Uses the NREL 5MW included in the Test Cases and is a part of the OpenFAST distribution
 
 # Python Modules
 import yaml
-import os
 # ROSCO Modules
 from ROSCO_toolbox import turbine as wtc_turbine
-from ROSCO_toolbox import controller as wtc_controller
-from ROSCO_toolbox import sim as wtc_sim
 
-# Point to yaml and openfast file
+# Load yaml file
 parameter_filename = '../Tune_Cases/NREL5MW.yaml'
 inps = yaml.safe_load(open(parameter_filename))
 path_params         = inps['path_params']
 turbine_params      = inps['turbine_params']
-controller_params   = inps['controller_params']
 
 # Load turbine data from openfast model
 turbine = wtc_turbine.Turbine(turbine_params)
@@ -33,4 +29,4 @@
 print(turbine)
 
 # Save the turbine model
-turbine.save('saved_turbine.p')
+turbine.save('NREL5MW_saved.p')

Examples/example_02.py

@@ -1,43 +1,24 @@
-# Example_04
-# Load a turbine model from saved pickle, make a quick cp plot
-
-
-from WTC_toolbox import turbine as wtc_turbine
-from WTC_toolbox import controller as wtc_controller
-from WTC_toolbox import sim as wtc_sim
-import numpy as np
+# ----------- Example_02 --------------
+# Load a turbine model from saved pickle, make a quick cp plot 
+# -------------------------------------
+#
+# In this example:
+#   - Load a turbine from a saved pickle
+#   - Plot Cp Surface
+
+# Python modules
 import matplotlib.pyplot as plt
+# ROSCO toolbox modules 
+from ROSCO_toolbox import turbine as wtc_turbine
 
-# Initialiize a turbine class
-turbine = wtc_turbine.Turbine()
-
-# Load quick from python
-# turbine.load('saved_turbine.p')
-
-# ## Or Load the turbine model from a FAST input folder
-FAST_InputFile = '5MW_Land.fst'
-FAST_directory = '/Users/nabbas/Documents/TurbineModels/NREL_5MW/5MW_Land'
-txt_filename = 'Cp_Ct_Cq.txt'
-drivetrain_inertia = 40469564.444
-turbine.load_from_fast(FAST_InputFile,FAST_directory,drivetrain_inertia=drivetrain_inertia,dev_branch=True,rot_source=None,txt_filename='Cp_Ct_Cq.txt')
-
-# Sweep TSR and fix pitch in two positions
-fixed_rpm = 10. # RPM
-fixed_pitch = 0.
 
-tsr = np.arange(1,15,0.1)
+# Initialize a turbine class -- Don't need to instantiate!
+turbine = wtc_turbine.Turbine
 
-# cp_0 = np.array([turbine.cp_interp(t,0) for t in tsr])
-# cp_3 = np.array([turbine.cp_interp(t,3) for t in tsr])
-cp_0 = np.array([turbine.Cp.interp_surface(0,t) for t in tsr])
-cp_3 = np.array([turbine.Cp.interp_surface(np.deg2rad(3),t) for t in tsr])
+# Load quick from python pickle
+turbine = turbine.load('NREL5MW_saved.p')
 
+# plot rotor performance 
 print('Plotting Cp data')
-fig, ax = plt.subplots()
-ax.plot(tsr,cp_0,label='Pitch=0')
-ax.plot(tsr,cp_3,label='Pitch=3')
-ax.set_xlabel('TSR')
-ax.set_ylabel('Cp')
-ax.grid(True)
-ax.legend()
+turbine.Cp.plot_performance(turbine.Cp_table, turbine.pitch_initial_rad, turbine.TSR_initial)
 plt.show()

Examples/example_03.py

@@ -1,7 +1,34 @@
-# Example_03
-# Load controller parameter file, make some changes and save as new file
+# ----------- Example_03 --------------
+# Run CCblade, save a rotor performance text file
+# -------------------------------------
+#
+# In this example:
+# - Read .yaml input file
+# - Load an openfast turbine model
+# - Run ccblade to get rotor performance properties
+# - Write a text file with rotor performance properties
 
+# Python modules
+import yaml 
+# ROSCO toolbox modules 
+from ROSCO_toolbox import turbine as wtc_turbine
+from ROSCO_toolbox import utilities as wtc_utilities
+# Initialize parameter dictionaries
+turbine_params = {}
+control_params = {}
 
-from WTC_toolbox import turbine as wtc_turbine
-from WTC_toolbox import controller as wtc_controller
-from WTC_toolbox import sim as wtc_sim
+# Load yaml file
+parameter_filename = '../Tune_Cases/NREL5MW.yaml'
+inps = yaml.safe_load(open(parameter_filename))
+path_params         = inps['path_params']
+turbine_params      = inps['turbine_params']
+controller_params   = inps['controller_params']
+
+# Load turbine data from openfast model
+turbine = wtc_turbine.Turbine(turbine_params)
+turbine.load_from_fast(path_params['FAST_InputFile'],path_params['FAST_directory'],dev_branch=True,rot_source=None,txt_filename=None)
+
+# Write rotor performance text file
+txt_filename = 'Cp_Ct_Cq.Ex03.txt'
+file_processing = wtc_utilities.FileProcessing()
+file_processing.write_rotor_performance(turbine,txt_filename=txt_filename)

Examples/example_04.py

@@ -1,13 +1,54 @@
-# Example_04
-# Load a turbine model and use to tune the controller
+# ----------- Example_04 --------------
+# Load a turbine model and tune the controller
+# -------------------------------------
+#
+# In this example:
+#   - Read a .yaml file
+#   - Load a turbine model from OpenFAST
+#   - Tune a controller
+#   - Write a controller input file
+#   - Plot gain schedule
 
+# Python modules
+import matplotlib.pyplot as plt 
+import yaml 
+# ROSCO toolbox modules 
+from ROSCO_toolbox import controller as wtc_controller
+from ROSCO_toolbox import turbine as wtc_turbine
+from ROSCO_toolbox import sim as wtc_sim
+from ROSCO_toolbox import utilities as wtc_utilities
 
-from WTC_toolbox import turbine as wtc_turbine
-from WTC_toolbox import controller as wtc_controller
-from WTC_toolbox import sim as wtc_sim
+# Load yaml file 
+parameter_filename = '../Tune_Cases/NREL5MW.yaml'
+inps = yaml.safe_load(open(parameter_filename))
+path_params         = inps['path_params']
+turbine_params      = inps['turbine_params']
+controller_params   = inps['controller_params']
 
-# Initialiize a turbine class
-turbine = wtc_turbine.Turbine()
+# Instantiate turbine, controller, and file processing classes
+turbine         = wtc_turbine.Turbine(turbine_params)
+controller      = wtc_controller.Controller(controller_params)
+file_processing = wtc_utilities.FileProcessing()
 
-# Load quick from python
-turbine.load('saved_turbine.p')
+# 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'])
+
+# Tune controller 
+controller.tune_controller(turbine)
+
+# Write parameter input file
+param_file = 'DISCON.IN'   # This must be named DISCON.IN to be seen by the compiled controller binary. 
+file_processing.write_param_file(turbine,controller,param_file=param_file, txt_filename=path_params['rotor_performance_filename'])
+
+# Plot gain schedule
+plt.figure(0)
+plt.plot(controller.v[len(controller.vs_gain_schedule.Kp):], controller.pc_gain_schedule.Kp)
+plt.xlabel('Wind Speed')
+plt.ylabel('Proportional Gain')
+
+plt.figure(1)
+plt.plot(controller.v[len(controller.vs_gain_schedule.Ki):], controller.pc_gain_schedule.Ki)
+plt.xlabel('Wind Speed')
+plt.ylabel('Integral Gain')
+
+plt.show()