Add Startup procedure #424

abhineet-gupta · 2025-02-26T21:43:40Z

Description and Purpose

Add startup procedure in ROSCO

Type of change

Bugfix (non-breaking change which fixes an issue)
New feature (non-breaking change which adds functionality)
Breaking change (non-backwards-compatible fix or feature)
Code style update (formatting, renaming)
Refactoring (no functional changes, no API changes)
Documentation update
Maintenance update
Other (please describe)

TODO Items General:

Add example/test for new feature
Update registry
Run testing

TODO Items API Change:

[-] Update docs with API change
[-] Run update_rosco_discons.py in Test_Cases/
Update DISCON schema

Github issues addressed, if one exists

Examples/Testing, if applicable

Add Example-31 to demonstrate startup

Added AWC inputs

Update 20_active_wake_control.py

* AWC First Version, collected changes * Add AWC parameters to registry, regenerate types * Apply DbKi to COMPLEX * Re-organize AWC pitch contribution, before actuator * Separate contribution to PitCom from mode calculation * Make AWC_complexangle a LocalVar for logging * Removed duplicate pitch assignment and removed MinPitch mods for AWC * Fixes to readsetparams and awc location * Adding NREL 2.8 127 for AWC testing * Add case generation updates * Add initial AWC example, needs OF3.4 * Add AWC_Mode and move AWC into subroutine * Update example to point to correct inputs * Remove LocalVar%PC_MinPit = CntrPar%PC_MinPit, breaking setpoint smoother * Set min pitch for AWC * Tidy up input additions * Update other DISCONs * Add AWC to toolbox schema * Tidy example * Update AWC example with instructions/theory * Formatting fixes * Prep for more modes * Update 20_active_wake_control.py * Fix units in schema * Test all AWC cases in example 20 * Tidy up DISCON file writing * Revert setup directory * Update 20_active_wake_control.py Documentation update: -added type of input, either integer or float -added suggested ranges for input variables (only one of these ranges is a hard rule that might break something if not followed, which is that AWC_NumModes>=0) -added more description of what the azimuthal mode number is Note to Dan: I didn't follow exactly if the units in the code changed between rad and deg - can you check that the units in rows 14-16 are correct? Also, let's have Lawrence review these additions. * Update NREL-2p8-127_DISCON.IN Updating units. * Update Controllers.f90 Update units. * Update ROSCO_Types.f90 Update units. * Update ReadSetParameters.f90 Update units. * Update 20_active_wake_control.py Update units and documentation. * Update toolbox_schema.yaml Update units. * Update utilities.py Update AWC descriptions and units. * Update rosco_types.yaml Update AWC units. * Added NREL-developed AWC-implementation * Undo unintentional changes to wrie_registry.py * Fix file writing in AWC section * Update all DISCONs * Add 20_awc to test_examples * Add 2.8 to update_discons, regenerate DISCON Should match closely to original DISCON * Update AWC_Mode descriptions * Updated Coleman Transformation based AWC * Tidy print statements, file writing * Remove duplicate PF_Offsets input read * Rename methods in readme * Tidy input writing, remove `future` references * Force AWC_n into int * Force AWC_n into int better * Make AWC_n a list, too * Fix input file writing, force into int in write_array * Run ROSCO_testing from anywhere * Dylib -> so in Test_Cases * Updated AWC input parameters. * Added checks for AWC inputs. * Fixed bug in added AWC input checks. * Update error message * Tidy up IPC, allow AWC and IPC with warning * Remove AWC references from IPC * Remove lingering comment * Tidy file writing * Clean up comments * Allow more than 99 local variables in dbg2 * Update api_change.rst Added AWC inputs * Update 20_active_wake_control.py --------- Co-authored-by: Nathaniel deVelder <[email protected]> Co-authored-by: kbrown1snl <[email protected]> Co-authored-by: jfrederik-nrel <[email protected]> Co-authored-by: jfrederik-nrel <[email protected]>

* Allow optional UAStart/EndRad * Re-wind file read if the input is not there * Set avrSWAP(79) to 4 to follow Bladed API * Update documentation with new example names

This reverts commit 0311649.

dzalkind · 2025-03-05T16:59:00Z

Examples/32_startup.py

+Stage 1: Free-Wheeling (PRC_R_Torque is set to 0 and blade pitch is set to SU_FW_Pitch)
+Stage 2 - (SU_LoadStages_N+1): PRC_R_Torque is set to values in SU_LoadStages
+
+TODO: Can you explain all the parameters here and show an illustrative timeseries?


Can we expand the documentation here to include all the parameters and an illustrative timeseries? Something we think is realistic, even if long.

Yes, I'll update this.

Addressed in 9fdd36a

dzalkind · 2025-03-05T17:12:02Z

rosco/controller/src/ReadSetParameters.f90

@@ -535,6 +536,16 @@ SUBROUTINE ReadControlParameterFileSub(CntrPar, LocalVar, accINFILE, accINFILE_s
        CALL ParseAry(  FileLines,  'PS_WindSpeeds',    CntrPar%PS_WindSpeeds,      CntrPar%PS_BldPitchMin_N,   accINFILE(1), ErrVar, CntrPar%PS_Mode == 0, UnEc)
        CALL ParseAry(  FileLines,  'PS_BldPitchMin',   CntrPar%PS_BldPitchMin,     CntrPar%PS_BldPitchMin_N,   accINFILE(1), ErrVar, CntrPar%PS_Mode == 0, UnEc)
        IF (ErrVar%aviFAIL < 0) RETURN
+


Should we have any checks on these values?

Durations > 0, speed > 0, frequency > 0, Load stages increasing?

Good point. I'll add these as well.
I think we don't strictly need the loads to be in the increasing order. The code should work just fine without it if we want to give user more freedom.

Addressed in 2e9adcb
I did not include a check for load stages to be in an increasing order but they have to be positive.

dzalkind · 2025-03-05T17:15:58Z

rosco/toolbox/inputs/toolbox_schema.yaml

-                description: Shutdown method {Only 1 supported for now}
-                type: number
-                default: 1
+            # su_fw_pitch:


Are these controller parameters no longer needed? Or are they just set in the DISCON directly?

The changes to the SD_* variables were meant from another pull request to fix some of the shutdown related code issues. I'll revert the unnecessary sections from this PR and put these in another.

But yes, I had duplicates of these variables under controller_params and DISCON and was only using the DISCON ones. I can discuss these in the new PR fixing code issues. The fixes would not change any functionality of the code.

Addressed in eaaf6fc

dzalkind · 2025-03-05T17:17:47Z

Overall, this looks great. Thanks!

Pending a few minor additions to the documentation and input checks, let's merge this and start on v2.10.

abhineet-gupta · 2025-03-05T22:45:48Z

Overall, this looks great. Thanks!

Pending a few minor additions to the documentation and input checks, let's merge this and start on v2.10.

Agreed, I'll address these today and we can merge the two PRs tomorrow.

abhineet-gupta · 2025-03-10T15:26:19Z

Should be ready to merge now (pending checks)

…zation

jfrederik-nrel and others added 30 commits March 16, 2023 16:31

Added checks for AWC inputs.

bd4d7d5

Fixed bug in added AWC input checks.

1e25c88

Update error message

50f4191

Tidy up IPC, allow AWC and IPC with warning

50bd08c

Remove AWC references from IPC

e02379d

Remove lingering comment

3851a6b

Tidy file writing

9d7e18d

Clean up comments

7f12c9c

Allow more than 99 local variables in dbg2

8e4cf8b

Update api_change.rst

bc33417

Added AWC inputs

Merge remote-tracking branch 'jfred/patch-1' into awc

17ce1a5

Update 20_active_wake_control.py

728c61d

Merge pull request NREL#2 from kbrown1snl/patch-2

820aa66

Update 20_active_wake_control.py

Add optimized NREL2p8 controller input

90c4041

Parallelize output processing

5afb385

Add IPC gain to NREL2p8

fbb44c4

Merge remote-tracking branch 'upstream/develop' into power_ref_tracking

fe24704

Finish merge with inputs and registry

52e3708

Update IPC example for testing sat modes

1e38c90

Add latest plot_FAST notebook

e49f383

Add PRC example

9e5fd58

Merge remote-tracking branch 'origin/awc' into power_ref_tracking

f1037ec

Finish merge with awc inputs and registry

099532b

Update example with ramp, reference

8a39f3c

Merge remote-tracking branch 'upstream/develop' into power_ref_tracking

7669419

Various bug fixes (NREL#233)

de15e52

* Allow optional UAStart/EndRad * Re-wind file read if the input is not there * Set avrSWAP(79) to 4 to follow Bladed API * Update documentation with new example names

Init PC_RefSpeed if no PRC

ac14b17

Revert openfast changes

60b366d

Add note about offset

24bded0

abhineet-gupta requested a review from dzalkind February 28, 2025 18:14

abhineet-gupta and others added 7 commits February 28, 2025 11:16

Startup: Add startup example-31 to test queue in test_examples.py

bf83e70

Startup: Update exmaple python discons

9991077

Revert "Try disabling initialization test"

0884092

This reverts commit 0311649.

Merge branch 'r3-fixed-pitch' into startup

649d13a

Regenerate registry

6cdfbff

Regenerate discons, registry

0f85145

Rename and shorten example

d8698d8

dzalkind reviewed Mar 5, 2025

View reviewed changes

abhineet-gupta added 4 commits March 6, 2025 08:10

Fix small coding issues

eaaf6fc

Startup: Add documentation

9fdd36a

Startup: Add checks for inputs

2e9adcb

Startup: Revert startup example to not run full test

cabb5f2

abhineet-gupta and others added 12 commits March 13, 2025 22:58

Startup: SU_Stage goes back to 0 after startup; startup code modulari…

d4ecb73

…zation

Set up test script for full run

8d6d99f

Don't print extra last time step

a5c8f6d

Add start up min pitch

517dfb6

Split power setpoints and speed control set points, step startup pitch

8535efc

Merge remote-tracking branch 'ag/startup' into startup

90c1fa5

Startup: Remove SU_Min_Pitch

7637a7a

Startup: Use SU_RotorSpeedThresh for free-wheeling

f278e75

Startup: Remove SU_FW_Pitch

9793226

Startup: Update DISCON.IN files in Test_Cases

e7dcc30

Startup: Modify startup example and figure for docs

6f3e4b3

Startup: Revert changes to ServoDyn files

8ad1c1b

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Add Startup procedure #424

Add Startup procedure #424

abhineet-gupta commented Feb 26, 2025

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abhineet-gupta commented Mar 10, 2025

Add Startup procedure #424

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abhineet-gupta commented Feb 26, 2025

Description and Purpose

Type of change

Github issues addressed, if one exists

Examples/Testing, if applicable

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dzalkind commented Mar 5, 2025

abhineet-gupta commented Mar 5, 2025

abhineet-gupta commented Mar 10, 2025