Torque Floating Feedback Update

.gitignore

@@ -82,6 +82,7 @@ Examples/*.p
 # Exclude testing results
 ROSCO_testing/results/
 ROSCO_testing/testing
+rosco/test/testing
 
 # Simulink/Matlab temp files
 *.slxc

Examples/24_floating_feedback.py

@@ -1,5 +1,5 @@
 '''
------------ 23_structural_control ------------------------
+----------- 24_floating_feedback ------------------------
 Run openfast with ROSCO and all the floating feedback methods
 -----------------------------------------------
 

Examples/29_floating_feedback_torque.py

@@ -0,0 +1,169 @@
+'''
+----------- 29_floating_feedback_torque ------------------------
+Run openfast with ROSCO and torque floating feedback
+-----------------------------------------------
+
+Floating feedback methods available in ROSCO/ROSCO_Toolbox
+
+1. Automated tuning, constant for all wind speeds
+2. Automated tuning, varies with wind speed
+3. Direct tuning, constant for all wind speeds
+4. Direct tuning, varies with wind speeds
+
+'''
+
+import os
+from rosco.toolbox.ofTools.case_gen.run_FAST import run_FAST_ROSCO
+from rosco.toolbox.ofTools.case_gen import CaseLibrary as cl
+import numpy as np
+#from rosco.toolbox.ofTools.fast_io.FAST_reader import InputReader_OpenFAST
+#from rosco.toolbox.inputs.validation import load_rosco_yaml
+#from rosco.toolbox.controller import OpenLoopControl
+from rosco.toolbox.tune import yaml_to_objs
+from rosco.toolbox.utilities import write_DISCON, read_DISCON
+from rosco.toolbox import controller as ROSCO_controller
+from rosco.toolbox.ofTools.fast_io import output_processing
+import matplotlib.pyplot as plt
+
+
+
+#directories
+this_dir            = os.path.dirname(os.path.abspath(__file__))
+rosco_dir           = os.path.dirname(this_dir)
+example_out_dir     = os.path.join(this_dir,'examples_out')
+os.makedirs(example_out_dir,exist_ok=True)
+
+def main():
+
+    # Input yaml and output directory
+    parameter_filename = os.path.join(this_dir,'Tune_Cases/IEA15MW.yaml')
+    run_dir = os.path.join(example_out_dir,'29_floating_feedback_torque')
+    os.makedirs(run_dir,exist_ok=True)
+
+    controller, turbine, path_params = yaml_to_objs(parameter_filename)
+
+    # First, let's write the DISCONs for each method
+    param_files = []
+
+    # Method 1: Automated tuning, constant for all wind speeds (default param = 0.5)
+    controller_params_1 = controller.controller_params      # numbers correspond to methods above
+    controller_params_1['Fl_Mode']   = 0
+    controller_params_1['FlTq_Mode'] = 2
+    controller_params_1['U_Fl']      = 'all'
+    controller_params_1['tune_Fl']   = True
+    controller_params_1['tune_FlTq']   = True
+    controller_params_1['FlTq_param']   = [0.2] # Low tuning
+    controller = ROSCO_controller.Controller(controller_params_1)
+    controller.tune_controller(turbine)
+    # Reduce gain
+    # controller.Kp_floatTq = controller.Kp_floatTq/2
+    param_file = os.path.join(run_dir,'DISCON_Fl_1.IN')
+    param_files.append(param_file)
+    write_DISCON(turbine,controller,
+                 param_file=param_file, 
+                 txt_filename=path_params['rotor_performance_filename'])
+
+    # Automated tuning, constant for all wind speeds, with smaller scaling param
+    controller_params_2 = controller.controller_params      # numbers correspond to methods above
+    controller_params_2['Fl_Mode']   = 0
+    controller_params_2['FlTq_Mode'] = 2
+    controller_params_2['U_Fl']      = 'all'
+    controller_params_2['tune_Fl']   = True
+    controller_params_2['tune_FlTq']   = True
+    controller_params_2['FlTq_param']   = [0.5] # Moderate tuning
+    controller = ROSCO_controller.Controller(controller_params_1)
+    controller.tune_controller(turbine)
+    param_file = os.path.join(run_dir,'DISCON_Fl_2.IN')
+    param_files.append(param_file)
+    write_DISCON(turbine,controller,
+                 param_file=param_file, 
+                 txt_filename=path_params['rotor_performance_filename'])
+
+
+    # Automated tuning, constant for all wind speeds, with smaller scaling param
+    controller_params_3 = controller.controller_params      # numbers correspond to methods above
+    controller_params_3['Fl_Mode']   = 0
+    controller_params_3['FlTq_Mode'] = 2
+    controller_params_3['U_Fl']      = 'all'
+    controller_params_3['tune_Fl']   = True
+    controller_params_3['tune_FlTq']   = True
+    controller_params_3['FlTq_param']   = [0.8] # Aggressive tuning
+    controller = ROSCO_controller.Controller(controller_params_1)
+    controller.tune_controller(turbine)
+    param_file = os.path.join(run_dir,'DISCON_Fl_3.IN')
+    param_files.append(param_file)
+    write_DISCON(turbine,controller,
+                 param_file=param_file, 
+                 txt_filename=path_params['rotor_performance_filename'])
+
+
+    # Read all DISCONs and make into case_inputs
+    case_inputs = {}
+    discon_lists = {}  
+    for discon in param_files:
+        discon_vt = read_DISCON(discon)
+        for discon_input in discon_vt:
+            if discon_input not in discon_lists:        # initialize
+                discon_lists[discon_input] = []
+            discon_lists[discon_input].append(discon_vt[discon_input])
+
+    for discon_input, input in discon_lists.items():
+        case_inputs[('DISCON_in',discon_input)] = {'vals': input, 'group': 2}
+
+
+    # Additional config for the torque controller
+    case_inputs[('DISCON_in', 'VS_MaxTq')] = {'vals': [turbine.rated_torque * 1.5], 'group': 0} # 29436069.9996
+    case_inputs[('ElastoDyn', 'RotSpeed')] = {'vals': [7.56], 'group': 0}
+    case_inputs[('ElastoDyn', 'BlPitch1')] = {'vals': [10], 'group': 0}
+    case_inputs[('ElastoDyn', 'BlPitch2')] = {'vals': [10], 'group': 0}
+    case_inputs[('ElastoDyn', 'BlPitch3')] = {'vals': [10], 'group': 0}
+
+    # simulation set up
+    r = run_FAST_ROSCO()
+    r.tuning_yaml   = parameter_filename
+    r.wind_case_fcn = cl.simp_step  # single step wind input
+    r.wind_case_opts    = {
+        'U_start': [13],
+        'U_end': [16],
+        'TMax': 800,
+        'TStep': 400,
+        }
+    r.case_inputs       = case_inputs
+    r.save_dir          = run_dir
+    r.rosco_dir         = rosco_dir
+    r.n_cores           = 4
+    r.run_FAST()
+
+    op = output_processing.output_processing()
+    op_dbg = output_processing.output_processing()
+    op_dbg2 = output_processing.output_processing()
+
+    out_files = [os.path.join(run_dir,f'IEA15MW/simp_step/base/IEA15MW_{i_case}.outb') for i_case in range(len(param_files))]
+    dbg_files = [os.path.join(run_dir,f'IEA15MW/simp_step/base/IEA15MW_{i_case}.RO.dbg') for i_case in range(len(param_files))]
+    dbg2_files = [os.path.join(run_dir,f'IEA15MW/simp_step/base/IEA15MW_{i_case}.RO.dbg2') for i_case in range(len(param_files))]
+
+    fst_out = op.load_fast_out(out_files, tmin=0)
+    debug_vars = op_dbg.load_fast_out(dbg_files, tmin=0)
+    local_vars = op_dbg2.load_fast_out(dbg2_files, tmin=0)
+
+    comb_out = [None] * len(fst_out)
+    for i, (r_out, f_out) in enumerate(zip(debug_vars,fst_out)):
+        r_out.update(f_out)
+        comb_out[i] = r_out
+    for i, (r_out2, f_out) in enumerate(zip(local_vars,comb_out)):
+        r_out2.update(f_out)
+        comb_out[i] = r_out2
+
+    cases = {}
+    cases['Fl Sigs.'] = ['Wind1VelX', 'GenSpeed', 'BldPitch1', 'PtfmPitch', 'Fl_TqCom', 'GenTq'] # , 'NcIMURAys']#,'PtfmPitch','PtfmYaw','NacYaw']
+    fig, ax = op.plot_fast_out(comb_out,cases, showplot=False)
+
+    if False:
+        plt.show()
+    else:
+        plt.savefig(os.path.join(run_dir,'29_floating_feedback_torque.png'))
+
+    plt.show()
+
+if __name__=="__main__":
+    main()

Examples/Test_Cases/BAR_10/BAR_10_DISCON.IN

@@ -1,10 +1,10 @@
 ! Controller parameter input file for the BAR_10 wind turbine
-!    - File written using ROSCO version 2.8.0 controller tuning logic on 01/05/24
+!    - File written using ROSCO version 2.9.0 controller tuning logic on 04/08/24
 
 !------- SIMULATION CONTROL ------------------------------------------------------------
 1                   ! LoggingLevel		- {0: write no debug files, 1: write standard output .dbg-file, 2: LoggingLevel 1 + ROSCO LocalVars (.dbg2) 3: LoggingLevel 2 + complete avrSWAP-array (.dbg3)}
 0                   ! DT_Out    		  - {Time step to output .dbg* files, or 0 to match sampling period of OpenFAST}
-1                   ! Ext_Interface		        - (0 - use standard bladed interface, 1 - Use the extened DLL interface introduced in OpenFAST 3.5.0.)
+1                   ! Ext_Interface		- (0 - use standard bladed interface, 1 - Use the extened DLL interface introduced in OpenFAST 3.5.0.)
 0                   ! Echo		        - (0 - no Echo, 1 - Echo input data to <RootName>.echo)
 
 !------- CONTROLLER FLAGS -------------------------------------------------
@@ -19,9 +19,10 @@
 2                   ! WE_Mode         - Wind speed estimator mode {0: One-second low pass filtered hub height wind speed, 1: Immersion and Invariance Estimator, 2: Extended Kalman Filter}
 1                   ! PS_Mode         - Pitch saturation mode {0: no pitch saturation, 1: implement pitch saturation}
 0                   ! SD_Mode         - Shutdown mode {0: no shutdown procedure, 1: pitch to max pitch at shutdown}
-0                   ! Fl_Mode         - Floating specific feedback mode {0: no nacelle velocity feedback, 1: feed back translational velocity, 2: feed back rotational veloicty}
-0                   ! TD_Mode         - Tower damper mode (0- no tower damper, 1- feed back translational nacelle accelleration to pitch angle
-0                   ! TRA_Mode        - Tower resonance avoidance mode (0- no tower resonsnace avoidance, 1- use torque control setpoints to avoid a specific frequency
+0                   ! Fl_Mode         - Floating specific feedback mode to blade pitch {0: no nacelle velocity feedback, 1: feed back translational velocity, 2: feed back rotational veloicty}
+0                   ! FlTq_Mode       - Floating specific feedback mode to generator torque {0: no nacelle velocity feedback, 1: feed back translational velocity, 2: feed back rotational veloicty}
+0                    ! TD_Mode         - Tower damper mode (0- no tower damper, 1- feed back translational nacelle accelleration to pitch angle
+0                    ! TRA_Mode        - Tower resonance avoidance mode (0- no tower resonsnace avoidance, 1- use torque control setpoints to avoid a specific frequency
 2                   ! Flp_Mode        - Flap control mode {0: no flap control, 1: steady state flap angle, 2: Proportional flap control, 2: Cyclic (1P) flap control}
 0                   ! OL_Mode         - Open loop control mode {0: no open loop control, 1: open loop control vs. time, 2: rotor position control}
 0                   ! PA_Mode         - Pitch actuator mode {0 - not used, 1 - first order filter, 2 - second order filter}
@@ -46,7 +47,8 @@
 0.62830             ! F_SSCornerFreq    - Corner frequency (-3dB point) in the first order low pass filter for the setpoint smoother, [rad/s].
 0.20944             ! F_WECornerFreq    - Corner frequency (-3dB point) in the first order low pass filter for the wind speed estimate [rad/s].
 0.17952             ! F_YawErr          - Low pass filter corner frequency for yaw controller [rad/s].
-0.000000  1.000000  ! F_FlCornerFreq    - Natural frequency and damping in the second order low pass filter of the tower-top fore-aft motion for floating feedback control [rad/s, -].
+0.000000  1.000000  ! F_FlCornerFreq    - Natural frequency and damping in the second order low pass filter of the tower-top fore-aft motion for blade pitch floating feedback control [rad/s, -].
+0.000000  1.000000  ! F_FlTqCornerFreq  - Natural frequency and damping in the second order low pass filter of the tower-top fore-aft motion for generator torque floating feedback control [rad/s, -].
 0.01042             ! F_FlHighPassFreq  - Natural frequency of first-order high-pass filter for nacelle fore-aft motion [rad/s].
 7.8480 1.0000      ! F_FlpCornerFreq   - Corner frequency and damping in the second order low pass filter of the blade root bending moment for flap control
 
@@ -143,7 +145,8 @@
 
 !------- Floating -----------------------------------------------------------
 1                   ! Fl_n              - Number of Fl_Kp gains in gain scheduling, optional with default of 1
-0.0000              ! Fl_Kp             - Nacelle velocity proportional feedback gain [s]
+0.0000              ! Fl_Kp             - Nacelle velocity proportional feedback gain to blade pitch [s]
+0.0000              ! FlTq_Kp           - Nacelle velocity proportional feedback gain to generator torque [s]
 0.0000              ! Fl_U              - Wind speeds for scheduling Fl_Kp, optional if Fl_Kp is single value [m/s]
 
 !------- FLAP ACTUATION -----------------------------------------------------

Examples/Test_Cases/IEA-15-240-RWT-UMaineSemi/DISCON-UMaineSemi.IN

@@ -1,10 +1,10 @@
 ! Controller parameter input file for the IEA-15-240-RWT-UMaineSemi wind turbine
-!    - File written using ROSCO version 2.8.0 controller tuning logic on 01/05/24
+!    - File written using ROSCO version 2.9.0 controller tuning logic on 04/08/24
 
 !------- SIMULATION CONTROL ------------------------------------------------------------
 2                   ! LoggingLevel		- {0: write no debug files, 1: write standard output .dbg-file, 2: LoggingLevel 1 + ROSCO LocalVars (.dbg2) 3: LoggingLevel 2 + complete avrSWAP-array (.dbg3)}
 0                   ! DT_Out    		  - {Time step to output .dbg* files, or 0 to match sampling period of OpenFAST}
-1                   ! Ext_Interface		        - (0 - use standard bladed interface, 1 - Use the extened DLL interface introduced in OpenFAST 3.5.0.)
+1                   ! Ext_Interface		- (0 - use standard bladed interface, 1 - Use the extened DLL interface introduced in OpenFAST 3.5.0.)
 0                   ! Echo		        - (0 - no Echo, 1 - Echo input data to <RootName>.echo)
 
 !------- CONTROLLER FLAGS -------------------------------------------------
@@ -19,9 +19,10 @@
 2                   ! WE_Mode         - Wind speed estimator mode {0: One-second low pass filtered hub height wind speed, 1: Immersion and Invariance Estimator, 2: Extended Kalman Filter}
 1                   ! PS_Mode         - Pitch saturation mode {0: no pitch saturation, 1: implement pitch saturation}
 0                   ! SD_Mode         - Shutdown mode {0: no shutdown procedure, 1: pitch to max pitch at shutdown}
-2                   ! Fl_Mode         - Floating specific feedback mode {0: no nacelle velocity feedback, 1: feed back translational velocity, 2: feed back rotational veloicty}
-0                   ! TD_Mode         - Tower damper mode (0- no tower damper, 1- feed back translational nacelle accelleration to pitch angle
-0                   ! TRA_Mode        - Tower resonance avoidance mode (0- no tower resonsnace avoidance, 1- use torque control setpoints to avoid a specific frequency
+2                   ! Fl_Mode         - Floating specific feedback mode to blade pitch {0: no nacelle velocity feedback, 1: feed back translational velocity, 2: feed back rotational veloicty}
+0                   ! FlTq_Mode       - Floating specific feedback mode to generator torque {0: no nacelle velocity feedback, 1: feed back translational velocity, 2: feed back rotational veloicty}
+0                    ! TD_Mode         - Tower damper mode (0- no tower damper, 1- feed back translational nacelle accelleration to pitch angle
+0                    ! TRA_Mode        - Tower resonance avoidance mode (0- no tower resonsnace avoidance, 1- use torque control setpoints to avoid a specific frequency
 0                   ! Flp_Mode        - Flap control mode {0: no flap control, 1: steady state flap angle, 2: Proportional flap control, 2: Cyclic (1P) flap control}
 0                   ! OL_Mode         - Open loop control mode {0: no open loop control, 1: open loop control vs. time, 2: rotor position control}
 2                   ! PA_Mode         - Pitch actuator mode {0 - not used, 1 - first order filter, 2 - second order filter}
@@ -46,7 +47,8 @@
 0.62830             ! F_SSCornerFreq    - Corner frequency (-3dB point) in the first order low pass filter for the setpoint smoother, [rad/s].
 0.20944             ! F_WECornerFreq    - Corner frequency (-3dB point) in the first order low pass filter for the wind speed estimate [rad/s].
 0.17952             ! F_YawErr          - Low pass filter corner frequency for yaw controller [rad/s].
-0.213000  1.000000  ! F_FlCornerFreq    - Natural frequency and damping in the second order low pass filter of the tower-top fore-aft motion for floating feedback control [rad/s, -].
+0.213000  1.000000  ! F_FlCornerFreq    - Natural frequency and damping in the second order low pass filter of the tower-top fore-aft motion for blade pitch floating feedback control [rad/s, -].
+0.639000  1.000000  ! F_FlTqCornerFreq  - Natural frequency and damping in the second order low pass filter of the tower-top fore-aft motion for generator torque floating feedback control [rad/s, -].
 0.01042             ! F_FlHighPassFreq  - Natural frequency of first-order high-pass filter for nacelle fore-aft motion [rad/s].
 10.4616 1.0000      ! F_FlpCornerFreq   - Corner frequency and damping in the second order low pass filter of the blade root bending moment for flap control
 
@@ -143,7 +145,8 @@
 
 !------- Floating -----------------------------------------------------------
 1                   ! Fl_n              - Number of Fl_Kp gains in gain scheduling, optional with default of 1
--9.3465             ! Fl_Kp             - Nacelle pitching proportional feedback gain [s]
+-9.3465             ! Fl_Kp             - Nacelle pitching proportional feedback gain to blade pitch [s]
+0.0000              ! FlTq_Kp           - Nacelle pitching proportional feedback gain to generator torque [s]
 11.2770             ! Fl_U              - Wind speeds for scheduling Fl_Kp, optional if Fl_Kp is single value [m/s]
 
 !------- FLAP ACTUATION -----------------------------------------------------