Fixed Blade Pitch Control Updates for MHKs

.github/workflows/Publish_ROSCO.yml

@@ -25,8 +25,10 @@ jobs:
         if: false == contains( matrix.os, 'windows')
         uses: fortran-lang/setup-fortran@v1
 
+      # macOS runners already ship Apple clang; installing llvm via Homebrew
+      # builds from source on untiered images (e.g. macos-14) and breaks.
       - name: Install compiler
-        if: false == contains( matrix.os, 'windows')
+        if: contains( matrix.os, 'ubuntu')
         id: install_cc
         uses: rlalik/setup-cpp-compiler@master
         with:
@@ -68,16 +70,16 @@ jobs:
         if: contains( matrix.os, 'macos-14')
         uses: pypa/[email protected]
         env:
-          CC: ${{ steps.install_cc.outputs.cc }}
-          CXX: ${{ steps.install_cc.outputs.cxx }}
+          CC: clang
+          CXX: clang++
           CIBW_ENVIRONMENT_MACOS: MACOSX_DEPLOYMENT_TARGET="14.0"
 
       - name: Build wheels mac-15
         if: contains( matrix.os, 'macos-15')
         uses: pypa/[email protected]
         env:
-          CC: ${{ steps.install_cc.outputs.cc }}
-          CXX: ${{ steps.install_cc.outputs.cxx }}
+          CC: clang
+          CXX: clang++
           CIBW_ENVIRONMENT_MACOS: MACOSX_DEPLOYMENT_TARGET="15.0"
 
       - name: Build wheels windows

.readthedocs.yaml

@@ -13,8 +13,7 @@ build:
   jobs:
     # Read the docs needs a couple packages not in the environment file
     pre_install:
-      - conda install -y cmake compilers sphinx sphinxcontrib-bibtex sphinx-jsonschema
-      - conda install sphinx_rtd_theme>=1.3
+      - mamba install -y compilers sphinx sphinxcontrib-bibtex sphinx-jsonschema
       - pip install json-schema-for-humans 
     pre_build:
       - pwd

Examples/26_marine_hydro.py

@@ -1,7 +1,7 @@
 """
 26_marine_hydro
 ---------------
-Run MHK turbine in OpenFAST with ROSCO torque controller
+Run MHK turbine in OpenFAST with ROSCO pitch and torque controller
 """
 
 import os

Examples/31_fixed_pitch_mhk.py

@@ -5,33 +5,42 @@
 This example demonstrates the fixed-pitch control of a marine hydrodkinetic (MHK) turbine.
 
 There are several ways to control the power output of a turbine in above-rated conditions.  
-In this example we demonstrate the following control configurations:
+The first three configurations demonstrated here are the case studies verified against
+simulation in :ref:`marine_hydro`:
 
-#. Constant power underspeed (should be the default)
-#. Constant power overspeed
-#. Linear increasing power
-#. Linear increasing power, leveling out
-#. Generic numeric function
-#. Constant power overspeed, nonlinear lookup table control
+#. Example 1: Constant power overspeed, nonlinear control law
+#. Example 2: Linear increasing power, underspeed with torque-lookup reference
+#. Example 3: Generic user-defined power curve, underspeed with WSE-lookup reference
+
+The remaining three are experimental. They exercise the rest of the fixed-pitch input
+space and are not part of that verification campaign:
+
+* Constant power underspeed
+* Constant power overspeed, via WSE-lookup reference tracking
+* Linear increasing power, leveling out below cut-out
 
 More details about the controller methods can be found in :ref:`marine_hydro`.
 
 The desired power curves of each configuration are as follows:
 
 .. image:: ../images/examples/31_fixed_pitch_mhk_sched.png
 
-In the first case, the reference generator speed is decreased (underspeed) to maintain a constant rated power above rated.
-To slow down the generator, a higher torque must be used:
+In the first case, the reference generator speed is increased (overspeed) to maintain a constant
+rated power above rated, following the fixed control law tau = min(P_rated/omega, K*omega^2):
 
 .. image:: ../images/examples/31_fixed_pitch_mhk_sim.png
 
+All configurations are started softly: an open loop input ramps the torque rating
+(``R_Torque``) from ``SOFT_START_R0`` to 1.0 with a sigma function over ``SOFT_START_DUR``
+seconds, de-rating the generator torque limit while the turbine spins up.
+
 
 
 '''
 
 # Copying images, from docs/:
-# cp ../Examples/examples_out/30_fixed_pitch_mhk_sched.png images/
-# cp ../Examples/examples_out/30_fixed_pitch_mhk_sim.png images/
+# cp ../Examples/examples_out/31_fixed_pitch_mhk_sched.png images/examples/
+# cp ../Examples/examples_out/31_fixed_pitch_mhk_sim.png images/examples/
 
 import os
 from rosco.toolbox.ofTools.case_gen.run_FAST import run_FAST_ROSCO
@@ -53,10 +62,13 @@
 example_out_dir     = os.path.join(this_dir, 'examples_out')
 os.makedirs(example_out_dir,exist_ok=True)
 
+# Soft start up: R_Torque is ramped from SOFT_START_R0 to 1.0 over SOFT_START_DUR seconds
+SOFT_START_R0   = 0.5
+SOFT_START_DUR  = 100.
+
 def main():
 
     FULL_TEST = False   # Run a full test locally (True) or a shorter one for CI
-    sim_config = 1      # Choose which simulation configuration (1-6)
 
     # Input yaml and output directory
     parameter_filename = os.path.join(this_dir, 'Tune_Cases/RM1_MHK_FBP.yaml')
@@ -80,78 +92,74 @@ def main():
         )
 
 
+    ### Control configurations: overrides applied to the tuning yaml controller_params
+    # The first three are the verified case studies of :ref:`marine_hydro`; the rest
+    # demonstrate the rest of the FBP input space and are not part of that campaign.
+    # Each config states VS_FBP and its paired VS_ControlMode explicitly, rather than
+    # inheriting either from the tuning yaml.
+    control_configs = {
+        'Example 1: Constant Power Overspeed': {    # marine_hydro Example 1
+            'VS_FBP': 1,                    # Constant power overspeed, nonlinear control law
+            'VS_ControlMode': 1,            # Region 2 mode paired with VS_FBP = 1
+            'VS_FBP_speed_mode': 1,
+            'VS_FBP_U': [2.0, 4.0],
+            'VS_FBP_P': [1.0, 1.0],
+            },
+        'Example 2: Linear Increasing Power': {     # marine_hydro Example 2
+            'VS_FBP': 3,                    # Torque-lookup reference
+            'VS_ControlMode': 4,            # Region 2 mode paired with VS_FBP = 3
+            'VS_FBP_speed_mode': 0,
+            'VS_FBP_U': [2.0, 4.0],
+            'VS_FBP_P': [1.0, 2.0],
+            },
+        'Example 3: Generic User-Defined': {        # marine_hydro Example 3
+            'VS_FBP': 2,                    # WSE-lookup reference
+            'VS_ControlMode': 2,            # Region 2 mode paired with VS_FBP = 2
+            'VS_FBP_speed_mode': 0,
+            'VS_FBP_U': [2.0, 2.2, 2.4, 2.6, 2.8, 3.0, 3.2, 3.4, 3.6, 3.8, 4.0],
+            'VS_FBP_P': [1.0, 1.3, 1.6, 1.8, 1.9, 2.0, 1.9, 1.8, 1.7, 1.6, 1.5],
+            },
+        'Experimental: Constant Power Underspeed': {    # Example 2 held at rated power
+            'VS_FBP': 3,                    # Torque-lookup reference
+            'VS_ControlMode': 4,            # Region 2 mode paired with VS_FBP = 3
+            'VS_FBP_speed_mode': 0,
+            'VS_FBP_U': [2.0, 4.0],
+            'VS_FBP_P': [1.0, 1.0],
+            },
+        'Experimental: Constant Power Overspeed (WSE)': {   # Example 1 schedule via reference tracking
+            'VS_FBP': 2,                    # WSE-lookup reference
+            'VS_ControlMode': 2,            # Region 2 mode paired with VS_FBP = 2
+            'VS_FBP_speed_mode': 1,         # Overspeed: check against the cavitation limit, exceeded for the RM1
+            'VS_FBP_U': [2.0, 4.0],
+            'VS_FBP_P': [1.0, 1.0],
+            },
+        'Experimental: Increasing Leveled Power': {     # Example 2 leveling out below cut-out
+            'VS_FBP': 3,                    # Torque-lookup reference
+            'VS_ControlMode': 4,            # Region 2 mode paired with VS_FBP = 3
+            'VS_FBP_speed_mode': 0,
+            'VS_FBP_U': [2.0, 3.0],
+            'VS_FBP_P': [1.0, 2.0],
+            },
+        }
+
     ### Tune controller cases
-    # Constant power underspeed (should be the default)
-    controller_params_1 = controller_params.copy()
-    controller_params_1['VS_FBP'] = 3 # Power reference
-    controller_params_1['VS_FBP_speed_mode'] = 0
-    controller_params_1['VS_FBP_U'] = [2.0, 4.0]
-    controller_params_1['VS_FBP_P'] = [1.0, 1.0]
-    controller_1      = ROSCO_controller.Controller(controller_params_1)
-    controller_1.tune_controller(turbine)
-
-    # Constant power overspeed
-    controller_params_2 = controller_params.copy()
-    controller_params_2['VS_FBP'] = 2 # Switch to WSE reference
-    controller_params_2['VS_FBP_speed_mode'] = 1
-    controller_params_2['VS_FBP_U'] = [2.0, 4.0]
-    controller_params_2['VS_FBP_P'] = [1.0, 1.0]
-    controller_2      = ROSCO_controller.Controller(controller_params_2)
-    controller_2.tune_controller(turbine)
-
-    # Linear increasing power
-    controller_params_3 = controller_params.copy()
-    controller_params_3['VS_FBP_speed_mode'] = 0
-    controller_params_2['VS_FBP_U'] = [2.0, 4.0]
-    controller_params_3['VS_FBP_P'] = [1.0, 2.0]
-    controller_3      = ROSCO_controller.Controller(controller_params_3)
-    controller_3.tune_controller(turbine)
-
-    # Linear increasing power, leveling out
-    controller_params_4 = controller_params.copy()
-    controller_params_4['VS_FBP_U'] = [2.0, 3.0]
-    controller_params_4['VS_FBP_P'] = [1.0, 2.0]
-    controller_4      = ROSCO_controller.Controller(controller_params_4)
-    controller_4.tune_controller(turbine)
-
-    # Generic numeric function
-    controller_params_5 = controller_params.copy()
-    controller_params_5['VS_FBP'] = 2 # WSE reference
-    controller_params_5['VS_FBP_U'] = [2.0, 2.2, 2.4, 2.6, 2.8, 3.0, 3.2, 3.4, 3.6, 3.8, 4.0]
-    controller_params_5['VS_FBP_P'] = [1.0, 1.3, 1.6, 1.8, 1.9, 2.0, 1.9, 1.8, 1.7, 1.6, 1.5]
-    controller_5      = ROSCO_controller.Controller(controller_params_5)
-    controller_5.tune_controller(turbine)
-
-    # Constant power overspeed, nonlinear lookup table control
-    controller_params_6 = controller_params.copy()
-    controller_params_6['VS_FBP'] = 1 # Constant power overspeed
-    controller_params_6['VS_FBP_speed_mode'] = 1
-    controller_params_6['VS_FBP_U'] = [2.0, 4.0]
-    controller_params_6['VS_FBP_P'] = [1.0, 1.0]
-    controller_params_6['VS_ControlMode'] = 1
-    controller_6      = ROSCO_controller.Controller(controller_params_6)
-    controller_6.tune_controller(turbine)
-
-
-    plot_labels = ['Constant Power Underspeed', 'Constant Power Overspeed', 'Linear Increasing Power', 'Increasing Leveled Power', 'Generic User-Defined']
+    controllers = []
+    for overrides in control_configs.values():
+        controller = ROSCO_controller.Controller({**controller_params, **overrides})
+        controller.tune_controller(turbine)
+        controllers.append(controller)
+
+    # The WSE overspeed config tracks the same schedule as Example 1, so dash it to keep both visible
+    line_styles = {'Experimental: Constant Power Overspeed (WSE)': '--'}
+
     fig, axs = plt.subplots(3,1)
-    axs[0].plot(controller_1.v, controller_1.power_op, label=plot_labels[0])
-    axs[0].plot(controller_2.v, controller_2.power_op, label=plot_labels[1], linestyle='--')
-    axs[0].plot(controller_3.v, controller_3.power_op, label=plot_labels[2])
-    axs[0].plot(controller_4.v, controller_4.power_op, label=plot_labels[3])
-    axs[0].plot(controller_5.v, controller_5.power_op, label=plot_labels[4])
+    for label, cont in zip(control_configs, controllers):
+        line_style = line_styles.get(label, '-')
+        axs[0].plot(cont.v, cont.power_op, label=label, linestyle=line_style)
+        axs[1].plot(cont.v, cont.omega_gen_op, label=label, linestyle=line_style)
+        axs[2].plot(cont.v, cont.tau_op, label=label, linestyle=line_style)
     axs[0].set_ylabel('Gen Power [W]')
-    axs[1].plot(controller_1.v, controller_1.omega_gen_op, label=plot_labels[0])
-    axs[1].plot(controller_2.v, controller_2.omega_gen_op, label=plot_labels[1], linestyle='--')
-    axs[1].plot(controller_3.v, controller_3.omega_gen_op, label=plot_labels[2])
-    axs[1].plot(controller_4.v, controller_4.omega_gen_op, label=plot_labels[3])
-    axs[1].plot(controller_5.v, controller_5.omega_gen_op, label=plot_labels[4])
     axs[1].set_ylabel('Gen Speed [rad/s]')
-    axs[2].plot(controller_1.v, controller_1.tau_op, label=plot_labels[0])
-    axs[2].plot(controller_2.v, controller_2.tau_op, label=plot_labels[1], linestyle='--')
-    axs[2].plot(controller_3.v, controller_3.tau_op, label=plot_labels[2])
-    axs[2].plot(controller_4.v, controller_4.tau_op, label=plot_labels[3])
-    axs[2].plot(controller_5.v, controller_5.tau_op, label=plot_labels[4])
     axs[2].set_ylabel('Gen Torque [N m]')
     axs[2].set_xlabel('Flow Speed [m/s]')
     axs[0].legend(loc='upper left', bbox_to_anchor=(.2, 2.35))
@@ -163,60 +171,66 @@ def main():
     if False:
         plt.show()
     else:
-        fig_fname = os.path.join(example_out_dir, '30_fixed_pitch_mhk_sched.png')
+        fig_fname = os.path.join(example_out_dir, '31_fixed_pitch_mhk_sched.png')
         print('Saving figure ' + fig_fname)
         plt.savefig(fig_fname,bbox_inches='tight',)
 
-    # Write parameter input file for constant power underspeed controller
-    run_dir = os.path.join(example_out_dir, f'31_MHK/{sim_config}_config')
+    # Simulate all control configurations, in parallel
+    run_dir = os.path.join(example_out_dir, '31_MHK')
     os.makedirs(run_dir,exist_ok=True)
 
     # simulation set up
     if FULL_TEST:
-        TMax = 60
+        TMax = SOFT_START_DUR + 100
     else:
         TMax = 5
 
-    all_controller_params = [
-        controller_params_1,
-        controller_params_2,
-        controller_params_3,
-        controller_params_4,
-        controller_params_5,
-        controller_params_6,
-    ]
-
-    if sim_config in range(1,len(all_controller_params)+1):
-        controller_params = all_controller_params[sim_config-1]
-    else:
-        raise Exception(f'Invalid sim_config of {sim_config}.  Note the 1-indexing.')
+    # Soft start up: phase in the torque rating with an open loop input
+    olc = ROSCO_controller.OpenLoopControl(t_max=SOFT_START_DUR)
+    olc.interp_series('R_torque', [0, SOFT_START_DUR], [SOFT_START_R0, 1.0], 'sigma')
+    ol_dict = olc.write_input(os.path.join(run_dir, '31_OL_Input.dat'))
 
     r = run_FAST_ROSCO()
     r.tuning_yaml   = parameter_filename
+    r.controller_params = {
+        'PRC_Mode': 2,          # power reference control
+        'OL_Mode': 1,
+        'open_loop': ol_dict,
+        'DISCON': {
+            'PRC_Comm': 1,      # open loop inputs
+            },
+        }
     r.wind_case_fcn = cl.power_curve
     r.wind_case_opts    = {
         'U': [3.0],
         'TMax': TMax,
         }
     r.case_inputs = {}
-    r.controller_params = controller_params
+    r.control_sweep_fcn = cl.sweep_yaml_input
+    r.control_sweep_opts = {'param_sweeps': list(control_configs.values())}
     r.save_dir      = run_dir
     r.rosco_dir     = rosco_dir
+    r.n_cores       = min(len(control_configs), os.cpu_count())
 
     r.run_FAST()
 
     op = output_processing.output_processing()
-    fast_out = op.load_fast_out([os.path.join(run_dir,'RM1_MHK_FBP_0.out')], tmin=0)
+    out_files = [os.path.join(run_dir,f'RM1_MHK_FBP_{i}.out') for i in range(len(control_configs))]
+    fast_out = op.load_fast_out(out_files, tmin=0)
+    assert len(fast_out) == len(control_configs)
+
     fig, axs = plt.subplots(4,1)
-    axs[0].plot(fast_out[0]['Time'], fast_out[0]['Wind1VelX'],             label='Constant Power Underspeed')
+    for label, fo in zip(control_configs, fast_out):
+        axs[0].plot(fo['Time'], fo['Wind1VelX'],             label=label)
+        axs[1].plot(fo['Time'], fo['GenSpeed'] * 2*np.pi/60, label=label)
+        axs[2].plot(fo['Time'], fo['GenTq'] * 1e3,           label=label)
+        axs[3].plot(fo['Time'], fo['GenPwr'] * 1e3,          label=label)
     axs[0].set_ylabel('Flow Speed [m/s]',rotation=0, labelpad=50)
-    axs[1].plot(fast_out[0]['Time'], fast_out[0]['GenSpeed'] * 2*np.pi/60, label='Constant Power Underspeed')
     axs[1].set_ylabel('Gen Speed [rad/s]',rotation=0, labelpad=50)
-    axs[2].plot(fast_out[0]['Time'], fast_out[0]['GenTq'] * 1e3,           label='Constant Power Underspeed')
     axs[2].set_ylabel('Gen Torque [N m]',rotation=0, labelpad=50)
-    axs[3].plot(fast_out[0]['Time'], fast_out[0]['GenPwr'] * 1e3,          label='Constant Power Underspeed')
     axs[3].set_ylabel('Gen Power [W]',rotation=0, labelpad=50)
     axs[3].set_xlabel('Time [s]')
+    axs[0].legend(loc='upper left', bbox_to_anchor=(.2, 1.9))
 
     plt.subplots_adjust(hspace=0.5)
     fig.align_ylabels()
@@ -227,7 +241,7 @@ def main():
     if False:
         plt.show()
     else:
-        fig_fname = os.path.join(example_out_dir, '30_fixed_pitch_mhk_sim.png')
+        fig_fname = os.path.join(example_out_dir, '31_fixed_pitch_mhk_sim.png')
         print('Saving figure ' + fig_fname)
         plt.savefig(fig_fname, bbox_inches='tight')
 

Examples/Test_Cases/BAR_10/BAR_10_DISCON.IN

@@ -1,5 +1,5 @@
 ! Controller parameter input file for the BAR_10 wind turbine
-!    - File written using ROSCO version 2.10.6 controller tuning logic on 06/09/26
+!    - File written using ROSCO version 2.10.6 controller tuning logic on 09/16/26
 
 !------- 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)
@@ -10,7 +10,7 @@
 !------- CONTROLLER FLAGS -------------------------------------------------
 2                   ! F_LPFType       - 1: first-order low-pass filter, 2: second-order low-pass filter, [rad/s] (currently filters generator speed and pitch control signals
 0                   ! IPC_ControlMode - Turn Individual Pitch Control (IPC) for fatigue load reductions (pitch contribution) (0: off, 1: 1P reductions, 2: 1P+2P reductions)
-2                   ! VS_ControlMode  - Generator torque control mode in above rated conditions (0- no torque control, 1- k*omega^2 with PI transitions, 2- WSE TSR Tracking, 3- Power-based TSR Tracking, 4- Torque-based TSR Tracking)
+2                   ! VS_ControlMode  - Generator torque control mode in below rated conditions (0- no torque control, 1- k*omega^2 with PI transitions, 2- WSE TSR Tracking, 3- Power-based TSR Tracking, 4- Torque-based TSR Tracking)
 0                   ! VS_ConstPower   - Do constant power torque control, where above rated torque varies, 0 for constant torque)
 0                   ! VS_FBP          - Fixed blade pitch configuration mode (0- variable pitch (disabled), 1- constant power overspeed, 2- WSE-lookup reference tracking, 3- torque-lookup reference tracking)
 1                   ! PC_ControlMode  - Blade pitch control mode (0: No pitch, fix to fine pitch, 1: active PI blade pitch control)
@@ -114,7 +114,7 @@
 2                   ! PRC_n			    -  Number of elements in PRC_WindSpeeds and PRC_GenSpeeds array
 0.07854             ! PRC_LPF_Freq   - Frequency of the low pass filter on the wind speed estimate used to set PRC_GenSpeeds [rad/s]
 3.0000       25.0000           ! PRC_WindSpeeds   - Array of wind speeds used in rotor speed vs. wind speed lookup table [m/s]
-7.9168e-01   7.9168e-01         ! PRC_GenSpeeds   - Array of generator speeds corresponding to PRC_WindSpeeds [rad/s]
+7.9853e+01   7.9853e+01         ! PRC_GenSpeeds   - Array of generator speeds corresponding to PRC_WindSpeeds [rad/s]
 
 !------- WIND SPEED ESTIMATOR ---------------------------------------------
 102.996             ! WE_BladeRadius	- Blade length (distance from hub center to blade tip), [m]