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Fix startup routine to add gearbox ratio to calculations #489

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Merged
dzalkind merged 5 commits into from
Jan 23, 2026
+16 −5
Merged

Fix startup routine to add gearbox ratio to calculations #489

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fd1ac2b
Fix startup routine to add gearbox ratio to calculations
abhineet-gupta Jan 13, 2026
c3fbee8
Fix order of operation for startup routine
abhineet-gupta Jan 13, 2026
d856066
Fix a float cast for new numpy
dzalkind Jan 22, 2026
e37b7f8
Increment version for release
dzalkind Jan 22, 2026
cffa7f1
Add write_yaml function for rosco tuning yaml
dzalkind Jan 22, 2026
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4 changes: 2 additions & 2 deletions rosco/controller/src/ControllerBlocks.f90
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Original file line number Diff line number Diff line change
Expand Up @@ -605,13 +605,13 @@ SUBROUTINE Startup(LocalVar, CntrPar, objInst,ErrVar)

! Set PRC_R_Speed, SU_PrevLoad based on SU_Stage
IF (LocalVar%SU_Stage == 1) THEN
LocalVar%PRC_R_Speed = CntrPar%SU_RotorSpeedThresh / CntrPar%PC_RefSpd
LocalVar%PRC_R_Speed = CntrPar%SU_RotorSpeedThresh / CntrPar%PC_RefSpd * CntrPar%WE_GearboxRatio
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@dzalkind dzalkind Jan 13, 2026

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Should this be CntrPar%SU_RotorSpeedThresh * CntrPar%WE_GearboxRatio / CntrPar%PC_RefSpd

PC_RefSpd is a generator value.

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@abhineet-gupta abhineet-gupta Jan 13, 2026

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Yes,
I think fortran calculates CntrPar%SU_RotorSpeedThresh / CntrPar%PC_RefSpd * CntrPar%WE_GearboxRatio same as CntrPar%SU_RotorSpeedThresh * CntrPar%WE_GearboxRatio / CntrPar%PC_RefSpd (unless I am mistaken).
I'll push a fix based on your suggestion as it is better for readability anyways.

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@dzalkind dzalkind Jan 13, 2026

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Ah, you might be correct. Have you tested this on a geared system?

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@abhineet-gupta abhineet-gupta Jan 13, 2026

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I tested it with NREL-5MW with two load staged of 0.2 and 1:
image
Seem to be working.

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@abhineet-gupta abhineet-gupta Jan 13, 2026

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Looked into why regression test is failing.
Example 11_robust_tuning.py fails becuase "self.controller.Kp_float" is a 1-d numpy array which causes error when using numpy=2.4.1 (current) here: https://github.com/NREL/ROSCO/blob/fc11f43984876559c8b355e5070dd8147c4225da/rosco/toolbox/utilities.py#L773.
The example runs fine with numpy=1.26.4.

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@dzalkind dzalkind Jan 13, 2026

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Thanks!! I've seen similar errors over in WEIS. I can fix this to work with new versions of numpy that are now being used.

ELSEIF (LocalVar%SU_Stage == 2) THEN
SU_PrevLoad = 0.0_DbKi
! Ramp up PRC_R_Speed to 1.0 in duration = SU_LoadRampDuration(1)
LocalVar%PRC_R_Speed = sigma(LocalVar%Time,LocalVar%SU_LoadStageStartTime, &
LocalVar%SU_LoadStageStartTime + CntrPar%SU_LoadRampDuration(LocalVar%SU_Stage - 1), &
CntrPar%SU_RotorSpeedThresh / CntrPar%PC_RefSpd ,1.0_DbKi,ErrVar)
CntrPar%SU_RotorSpeedThresh * CntrPar%WE_GearboxRatio / CntrPar%PC_RefSpd ,1.0_DbKi,ErrVar)
ELSEIF ((LocalVar%SU_Stage .ge. 2) .AND. (LocalVar%SU_Stage .le. CntrPar%SU_LoadStages_N + 1)) THEN
SU_PrevLoad = CntrPar%SU_LoadStages(LocalVar%SU_Stage-2)
ELSEIF (LocalVar%SU_Stage == CntrPar%SU_LoadStages_N + 2) THEN
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