Various Bug Fixes (#376)

* Update .readthedocs.yaml

* Docs: Fix small bug in docs that caused errors with links

* Start using automatic documentation for examples (#371)

* Added autodocumentation template for all examples

* Check for IPC openfast flag when using AWC

* Fix GB and gen efficiencies
GB efficiency reduces LSS to HSS
GEN reduces HSS to generator electrical output
We apply the GenTq at the HSS

* Allow updating of Ind_BldPitch from int to array

* Add a note about building docs

* Fix global variables in Example 17a and 17b

* Try numpy<2.0

* Fixed bug where TRA_LastRefSpd was set to a generator speed not the LSS speed (#381)

* Check for Ind_BldPitch in original_vt

---------

Co-authored-by: AbhineetGupta <abhineet.gupta@nrel.gov>
Co-authored-by: Ben Clayton <55184924+BenClaytonARUP@users.noreply.github.com>

rosco/controller/src/ControllerBlocks.f90

@@ -490,7 +490,7 @@ SUBROUTINE RefSpeedExclusion(LocalVar, CntrPar, objInst, DebugVar)
                     LocalVar%TRA_LastRefSpd = CntrPar%TRA_ExclSpeed - CntrPar%TRA_ExclBand / 2
                 ENDIF
             ELSE
-                LocalVar%TRA_LastRefSpd = LocalVar%VS_RefSpd
+                LocalVar%TRA_LastRefSpd = VS_RefSpeed_LSS
             END IF
         END IF 
 

rosco/controller/src/ReadSetParameters.f90

@@ -229,7 +229,7 @@ SUBROUTINE SetParameters(avrSWAP, accINFILE, size_avcMSG, CntrPar, LocalVar, obj
             ENDIF            
             LocalVar%VS_LastGenTrq = LocalVar%GenTq       
             LocalVar%VS_MaxTq      = CntrPar%VS_MaxTq
-            LocalVar%VS_GenPwr     = LocalVar%GenTq * LocalVar%GenSpeed
+            LocalVar%VS_GenPwr     = LocalVar%GenTq * LocalVar%GenSpeed * CntrPar%VS_GenEff/100.0
 
             ! Initialize variables
             LocalVar%CC_DesiredL = 0
@@ -1499,6 +1499,11 @@ SUBROUTINE CheckInputs(LocalVar, CntrPar, avrSWAP, ErrVar, size_avcMSG)
             ErrVar%ErrMsg  = 'Pitch offset fault enabled (PF_Mode = 1), but Ptch_Cntrl in ServoDyn has a value of 0. Set it to 1 for individual pitch control.'
         ENDIF
 
+        IF (NINT(avrSWAP(28)) == 0 .AND. (CntrPar%AWC_Mode > 1)) THEN
+            ErrVar%aviFAIL = -1
+            ErrVar%ErrMsg  = 'AWC enabled, but Ptch_Cntrl in ServoDyn has a value of 0. Set it to 1 for individual pitch control.'
+        ENDIF
+
         ! DT
         IF (LocalVar%DT <= 0.0) THEN
             ErrVar%aviFAIL = -1

rosco/toolbox/controller.py

@@ -325,8 +325,14 @@ def tune_controller(self, turbine):
         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)
 
         # -- Find K for Komega_g^2 --
-        self.vs_rgn2K = (pi*rho*R**5.0 * turbine.Cp.max * turbine.GBoxEff/100 * turbine.GenEff/100) / \
-              (2.0 * turbine.Cp.TSR_opt**3 * Ng**3) * self.controller_params['rgn2k_factor']
+        # Careful handling of different efficiencies
+        # P_lss = 1/2 * Cp * rho * pi * R^5 / (TSR^3 * Ng^3)
+        # P_hss = GBoxEff * P_lss = tau_gen * omega_gen = K * omega_gen^3
+        # P_gen = GenEff * P_hss
+        # Generator efficiency is not included in K here, but gearbox efficiency is
+        # Note that this differs from the
+        self.vs_rgn2K = (pi*rho*R**5.0 * turbine.Cp.max * turbine.GBoxEff/100) / (2.0 * turbine.Cp.TSR_opt**3 * Ng**3) * self.controller_params['rgn2k_factor']
+
         self.vs_refspd = min(turbine.TSR_operational * turbine.v_rated/R, turbine.rated_rotor_speed) * Ng
 
         # -- Define some setpoints --

rosco/toolbox/sim.py

@@ -113,8 +113,7 @@ def sim_ws_series(self, t_array, ws_array, rotor_rpm_init=10, init_pitch=0.0,
             # Update the turbine state
             #       -- 1DOF model: rotor speed and generator speed (scaled by Ng)
             aero_torque[i] = 0.5 * self.turbine.rho * (np.pi * R**3) * (cp/tsr) * ws**2
-            rot_speed[i] = rot_speed[i-1] + (dt/self.turbine.J)*(aero_torque[i]
-                                                                 * self.turbine.GenEff/100 - self.turbine.Ng * gen_torque[i-1])
+            rot_speed[i] = rot_speed[i-1] + (dt/self.turbine.J)*(aero_torque[i] - self.turbine.Ng * gen_torque[i-1] / (self.turbine.GBoxEff/100))
             gen_speed[i] = rot_speed[i] * self.turbine.Ng
             #       -- Simple nacelle model
             nac_yawerr[i] = wd - nac_yaw[i-1]

rosco/toolbox/tune.py

@@ -112,6 +112,10 @@ def update_discon_version(file,tuning_yaml,new_discon_filename):
         if original_vt['F_NotchType'] == 2 or original_vt['F_NotchType'] == 3:
             new_discon['F_TwrTopNotch_N'] = 1
             new_discon['F_TwrTopNotch_Ind'] = [1]
+
+    # OL blade pitch changed to array
+    if ('Ind_BldPitch' in original_vt) and (not hasattr(original_vt['Ind_BldPitch'],'__len__')):
+        new_discon['Ind_BldPitch'] = [original_vt['Ind_BldPitch']] * 3
 
 
     # Make the DISCON