FAST.Farm Interface

.gitignore

@@ -34,3 +34,5 @@ examples/lookup-based_wake_steering_florisstandin/inputs/amr_standin_data.csv
 # Documentation build
 docs/_build/
 
+# FAST.Farm output files
+*.out

examples/FAST.Farm_interface/FF_runscript.py

@@ -0,0 +1,29 @@
+import os
+
+import pandas as pd
+from hercules.utilities import load_yaml
+from hycon.controllers import LookupBasedWakeSteeringController
+from hycon.design_tools.wake_steering_design import compute_hysteresis_zones
+from hycon.interfaces.rosco_zmq_interface import ROSCO_Emulator, ROSCO_ZMQInterface
+
+input_dict = load_yaml(os.path.join("inputs", "hercules_input.yaml"))
+
+use_hysteresis = False
+
+# Load the optimal yaw angle lookup table for controller use.
+df_opt = pd.read_pickle(os.path.join("inputs", "yaw_offsets.pkl"))
+
+# Optionally, add hysteresis
+if use_hysteresis:
+    hysteresis_dict = compute_hysteresis_zones(df_opt, min_zone_width=8.0, verbose=True)
+else:
+    hysteresis_dict = None
+
+interface = ROSCO_ZMQInterface(input_dict)
+controller = LookupBasedWakeSteeringController(
+    interface, input_dict, df_yaw=df_opt, hysteresis_dict=hysteresis_dict, verbose=True
+)
+# interface.addcontroller(controller)
+
+emulator = ROSCO_Emulator(interface, controller)
+emulator.startserverandsim()

examples/FAST.Farm_interface/construct_yaw_offsets.py

@@ -0,0 +1,57 @@
+import argparse
+import os
+
+import numpy as np
+import pandas as pd
+import yaml
+from floris import FlorisModel
+from hycon.design_tools.wake_steering_design import build_simple_wake_steering_lookup_table
+
+with open(os.path.join("inputs", "gch_whoc_example.yaml"), "r") as f:
+    floris_dict = yaml.safe_load(f)
+
+if __name__ == "__main__":
+    # Handle inputs
+    parser = argparse.ArgumentParser()
+    parser.add_argument("--yaw_offset_filename", default="yaw_offsets.pkl")
+    parser.add_argument("--input_wind_filename", default="amr_standin_data.csv")
+
+    args = parser.parse_args()
+
+    fmodel = FlorisModel(floris_dict)
+
+    df_opt = build_simple_wake_steering_lookup_table(
+        fmodel,
+        wd_resolution=3.0,
+        ws_resolution=1.0,
+        ws_min=2.0,
+        ws_max=17.0,
+        minimum_yaw_angle=-25.0,
+        maximum_yaw_angle=25.0,
+    )
+
+    print("Optimization results:")
+    print(df_opt)
+
+    df_opt.to_pickle(args.yaw_offset_filename)
+
+    # Also, build an example external data file
+    total_time = 100  # seconds
+    dt = 0.5
+    np.random.seed(0)
+    wind_directions = np.concatenate(
+        (
+            260 * np.ones(60),
+            np.linspace(260.0, 270.0, 80),
+            270.0 + 5.0 * np.random.randn(round(total_time / dt) - 60 - 80),
+        )
+    )
+    df_data = pd.DataFrame(
+        data={
+            "time": np.arange(0, total_time, dt),
+            "amr_wind_speed": 8.0 * np.ones_like(wind_directions),
+            "amr_wind_direction": wind_directions,
+        }
+    )
+
+    df_data.to_csv(args.input_wind_filename, index=False)

examples/FAST.Farm_interface/inputs/FFFiles/5MW_Land_DLL_WTurb.T1.fst

@@ -0,0 +1,73 @@
+------- OpenFAST EXAMPLE INPUT FILE -------------------------------------------
+FAST          Certification - Test #18: NREL 5.0 MW Baseline Wind Turbine (Onshore)
+---------------------- SIMULATION CONTROL --------------------------------------
+False         Echo          - Echo input data to <RootName>.ech (flag)
+"FATAL"       AbortLevel    - Error level when simulation should abort (string) {"WARNING", "SEVERE", "FATAL"}
+600           TMax          - Total run time (s)
+0.00625       DT            - Recommended module time step (s)
+2             InterpOrder   - Interpolation order for input/output time history (-) {1=linear, 2=quadratic}
+0             NumCrctn      - Number of correction iterations (-) {0=explicit calculation, i.e., no corrections}
+99999         DT_UJac       - Time between calls to get Jacobians (s)
+1000000.0     UJacSclFact   - Scaling factor used in Jacobians (-)
+---------------------- FEATURE SWITCHES AND FLAGS ------------------------------
+1             CompElast     - Compute structural dynamics (switch) {1=ElastoDyn; 2=ElastoDyn + BeamDyn for blades}
+1             CompInflow    - Compute inflow wind velocities (switch) {0=still air; 1=InflowWind; 2=external from OpenFOAM}
+2             CompAero      - Compute aerodynamic loads (switch) {0=None; 1=AeroDyn v14; 2=AeroDyn v15}
+1             CompServo     - Compute control and electrical-drive dynamics (switch) {0=None; 1=ServoDyn}
+0             CompSeaSt       - Compute sea state information (switch) {0=None; 1=SeaState}
+0             CompHydro     - Compute hydrodynamic loads (switch) {0=None; 1=HydroDyn}
+0             CompSub       - Compute sub-structural dynamics (switch) {0=None; 1=SubDyn; 2=External Platform MCKF}
+0             CompMooring   - Compute mooring system (switch) {0=None; 1=MAP++; 2=FEAMooring; 3=MoorDyn; 4=OrcaFlex}
+0             CompIce       - Compute ice loads (switch) {0=None; 1=IceFloe; 2=IceDyn}
+0             MHK           - MHK turbine type (switch) {0=Not an MHK turbine; 1=Fixed MHK turbine; 2=Floating MHK turbine}
+---------------------- ENVIRONMENTAL CONDITIONS --------------------------------
+9.80665       Gravity       - Gravitational acceleration (m/s^2)
+1.225         AirDens       - Air density (kg/m^3)
+0             WtrDens       - Water density (kg/m^3)
+1.464e-05     KinVisc       - Kinematic viscosity of working fluid (m^2/s)
+335           SpdSound      - Speed of sound in working fluid (m/s)
+103500        Patm          - Atmospheric pressure (Pa) [used only for an MHK turbine cavitation check]
+1700          Pvap          - Vapour pressure of working fluid (Pa) [used only for an MHK turbine cavitation check]
+0             WtrDpth       - Water depth (m)
+0             MSL2SWL       - Offset between still-water level and mean sea level (m) [positive upward]
+---------------------- INPUT FILES ---------------------------------------------
+"./NRELOffshrBsline5MW_Onshore_ElastoDyn.T1_mod.dat" EDFile        - Name of file containing ElastoDyn input parameters (quoted string)
+"unused"      BDBldFile(1)  - Name of file containing BeamDyn input parameters for blade 1 (quoted string)
+"unused"      BDBldFile(2)  - Name of file containing BeamDyn input parameters for blade 2 (quoted string)
+"unused"      BDBldFile(3)  - Name of file containing BeamDyn input parameters for blade 3 (quoted string)
+"./NRELOffshrBsline5MW_InflowWind_Steady8mps.dat" InflowFile    - Name of file containing inflow wind input parameters (quoted string)
+"./NRELOffshrBsline5MW_Onshore_AeroDyn15.dat" AeroFile      - Name of file containing aerodynamic input parameters (quoted string)
+"./NRELOffshrBsline5MW_Onshore_ServoDyn.T1_mod.dat" ServoFile     - Name of file containing control and electrical-drive input parameters (quoted string)
+"unused"      SeaStFile       - Name of file containing sea state input parameters (quoted string)
+"./unused"    HydroFile     - Name of file containing hydrodynamic input parameters (quoted string)
+"unused"      SubFile       - Name of file containing sub-structural input parameters (quoted string)
+"unused"      MooringFile   - Name of file containing mooring system input parameters (quoted string)
+"unused"      IceFile       - Name of file containing ice input parameters (quoted string)
+---------------------- OUTPUT --------------------------------------------------
+False         SumPrint      - Print summary data to "<RootName>.sum" (flag)
+5             SttsTime      - Amount of time between screen status messages (s)
+99999         ChkptTime     - Amount of time between creating checkpoint files for potential restart (s)
+"default"     DT_Out        - Time step for tabular output (s) (or "default")
+0             TStart        - Time to begin tabular output (s)
+0             OutFileFmt    - Format for tabular (time-marching) output file (switch) {0: uncompressed binary [<RootName>.outb], 1: text file [<RootName>.out], 2: binary file [<RootName>.outb], 3: both 1 and 2}
+True          TabDelim      - Use tab delimiters in text tabular output file? (flag) {uses spaces if false}
+"ES10.3E2"    OutFmt        - Format used for text tabular output, excluding the time channel. Resulting field should be 10 characters. (quoted string)
+---------------------- LINEARIZATION -------------------------------------------
+False         Linearize     - Linearization analysis (flag)
+False         CalcSteady    - Calculate a steady-state periodic operating point before linearization? [unused if Linearize=False] (flag)
+3             TrimCase      - Controller parameter to be trimmed {1:yaw; 2:torque; 3:pitch} [used only if CalcSteady=True] (-)
+0.001         TrimTol       - Tolerance for the rotational speed convergence [used only if CalcSteady=True] (-)
+0.01          TrimGain      - Proportional gain for the rotational speed error (>0) [used only if CalcSteady=True] (rad/(rad/s) for yaw or pitch; Nm/(rad/s) for torque)
+0             Twr_Kdmp      - Damping factor for the tower [used only if CalcSteady=True] (N/(m/s))
+0             Bld_Kdmp      - Damping factor for the blades [used only if CalcSteady=True] (N/(m/s))
+2             NLinTimes     - Number of times to linearize (-) [>=1] [unused if Linearize=False]
+30, 60        LinTimes      - List of times at which to linearize (s) [1 to NLinTimes] [used only when Linearize=True and CalcSteady=False]
+1             LinInputs     - Inputs included in linearization (switch) {0=none; 1=standard; 2=all module inputs (debug)} [unused if Linearize=False]
+1             LinOutputs    - Outputs included in linearization (switch) {0=none; 1=from OutList(s); 2=all module outputs (debug)} [unused if Linearize=False]
+False         LinOutJac     - Include full Jacobians in linearization output (for debug) (flag) [unused if Linearize=False; used only if LinInputs=LinOutputs=2]
+False         LinOutMod     - Write module-level linearization output files in addition to output for full system? (flag) [unused if Linearize=False]
+---------------------- VISUALIZATION ------------------------------------------
+0             WrVTK         - VTK visualization data output: (switch) {0=none; 1=initialization data only; 2=animation; 3=mode shapes}
+1             VTK_type      - Type of VTK visualization data: (switch) {1=surfaces; 2=basic meshes (lines/points); 3=all meshes (debug)} [unused if WrVTK=0]
+True          VTK_fields    - Write mesh fields to VTK data files? (flag) {true/false} [unused if WrVTK=0]
+15            VTK_fps       - Frame rate for VTK output (frames per second){will use closest integer multiple of DT} [used only if WrVTK=2 or WrVTK=3]

examples/FAST.Farm_interface/inputs/FFFiles/5MW_Land_DLL_WTurb.T2.fst

@@ -0,0 +1,73 @@
+------- OpenFAST EXAMPLE INPUT FILE -------------------------------------------
+FAST          Certification - Test #18: NREL 5.0 MW Baseline Wind Turbine (Onshore)
+---------------------- SIMULATION CONTROL --------------------------------------
+False         Echo          - Echo input data to <RootName>.ech (flag)
+"FATAL"       AbortLevel    - Error level when simulation should abort (string) {"WARNING", "SEVERE", "FATAL"}
+600           TMax          - Total run time (s)
+0.00625       DT            - Recommended module time step (s)
+2             InterpOrder   - Interpolation order for input/output time history (-) {1=linear, 2=quadratic}
+0             NumCrctn      - Number of correction iterations (-) {0=explicit calculation, i.e., no corrections}
+99999         DT_UJac       - Time between calls to get Jacobians (s)
+1000000.0     UJacSclFact   - Scaling factor used in Jacobians (-)
+---------------------- FEATURE SWITCHES AND FLAGS ------------------------------
+1             CompElast     - Compute structural dynamics (switch) {1=ElastoDyn; 2=ElastoDyn + BeamDyn for blades}
+1             CompInflow    - Compute inflow wind velocities (switch) {0=still air; 1=InflowWind; 2=external from OpenFOAM}
+2             CompAero      - Compute aerodynamic loads (switch) {0=None; 1=AeroDyn v14; 2=AeroDyn v15}
+1             CompServo     - Compute control and electrical-drive dynamics (switch) {0=None; 1=ServoDyn}
+0             CompSeaSt       - Compute sea state information (switch) {0=None; 1=SeaState}
+0             CompHydro     - Compute hydrodynamic loads (switch) {0=None; 1=HydroDyn}
+0             CompSub       - Compute sub-structural dynamics (switch) {0=None; 1=SubDyn; 2=External Platform MCKF}
+0             CompMooring   - Compute mooring system (switch) {0=None; 1=MAP++; 2=FEAMooring; 3=MoorDyn; 4=OrcaFlex}
+0             CompIce       - Compute ice loads (switch) {0=None; 1=IceFloe; 2=IceDyn}
+0             MHK           - MHK turbine type (switch) {0=Not an MHK turbine; 1=Fixed MHK turbine; 2=Floating MHK turbine}
+---------------------- ENVIRONMENTAL CONDITIONS --------------------------------
+9.80665       Gravity       - Gravitational acceleration (m/s^2)
+1.225         AirDens       - Air density (kg/m^3)
+0             WtrDens       - Water density (kg/m^3)
+1.464e-05     KinVisc       - Kinematic viscosity of working fluid (m^2/s)
+335           SpdSound      - Speed of sound in working fluid (m/s)
+103500        Patm          - Atmospheric pressure (Pa) [used only for an MHK turbine cavitation check]
+1700          Pvap          - Vapour pressure of working fluid (Pa) [used only for an MHK turbine cavitation check]
+0             WtrDpth       - Water depth (m)
+0             MSL2SWL       - Offset between still-water level and mean sea level (m) [positive upward]
+---------------------- INPUT FILES ---------------------------------------------
+"./NRELOffshrBsline5MW_Onshore_ElastoDyn.T2_mod.dat" EDFile        - Name of file containing ElastoDyn input parameters (quoted string)
+"unused"      BDBldFile(1)  - Name of file containing BeamDyn input parameters for blade 1 (quoted string)
+"unused"      BDBldFile(2)  - Name of file containing BeamDyn input parameters for blade 2 (quoted string)
+"unused"      BDBldFile(3)  - Name of file containing BeamDyn input parameters for blade 3 (quoted string)
+"./NRELOffshrBsline5MW_InflowWind_Steady8mps.dat" InflowFile    - Name of file containing inflow wind input parameters (quoted string)
+"./NRELOffshrBsline5MW_Onshore_AeroDyn15.dat" AeroFile      - Name of file containing aerodynamic input parameters (quoted string)
+"./NRELOffshrBsline5MW_Onshore_ServoDyn.T2_mod.dat" ServoFile     - Name of file containing control and electrical-drive input parameters (quoted string)
+"unused"      SeaStFile       - Name of file containing sea state input parameters (quoted string)
+"./unused"    HydroFile     - Name of file containing hydrodynamic input parameters (quoted string)
+"unused"      SubFile       - Name of file containing sub-structural input parameters (quoted string)
+"unused"      MooringFile   - Name of file containing mooring system input parameters (quoted string)
+"unused"      IceFile       - Name of file containing ice input parameters (quoted string)
+---------------------- OUTPUT --------------------------------------------------
+False         SumPrint      - Print summary data to "<RootName>.sum" (flag)
+5             SttsTime      - Amount of time between screen status messages (s)
+99999         ChkptTime     - Amount of time between creating checkpoint files for potential restart (s)
+"default"     DT_Out        - Time step for tabular output (s) (or "default")
+0             TStart        - Time to begin tabular output (s)
+0             OutFileFmt    - Format for tabular (time-marching) output file (switch) {0: uncompressed binary [<RootName>.outb], 1: text file [<RootName>.out], 2: binary file [<RootName>.outb], 3: both 1 and 2}
+True          TabDelim      - Use tab delimiters in text tabular output file? (flag) {uses spaces if false}
+"ES10.3E2"    OutFmt        - Format used for text tabular output, excluding the time channel. Resulting field should be 10 characters. (quoted string)
+---------------------- LINEARIZATION -------------------------------------------
+False         Linearize     - Linearization analysis (flag)
+False         CalcSteady    - Calculate a steady-state periodic operating point before linearization? [unused if Linearize=False] (flag)
+3             TrimCase      - Controller parameter to be trimmed {1:yaw; 2:torque; 3:pitch} [used only if CalcSteady=True] (-)
+0.001         TrimTol       - Tolerance for the rotational speed convergence [used only if CalcSteady=True] (-)
+0.01          TrimGain      - Proportional gain for the rotational speed error (>0) [used only if CalcSteady=True] (rad/(rad/s) for yaw or pitch; Nm/(rad/s) for torque)
+0             Twr_Kdmp      - Damping factor for the tower [used only if CalcSteady=True] (N/(m/s))
+0             Bld_Kdmp      - Damping factor for the blades [used only if CalcSteady=True] (N/(m/s))
+2             NLinTimes     - Number of times to linearize (-) [>=1] [unused if Linearize=False]
+30, 60        LinTimes      - List of times at which to linearize (s) [1 to NLinTimes] [used only when Linearize=True and CalcSteady=False]
+1             LinInputs     - Inputs included in linearization (switch) {0=none; 1=standard; 2=all module inputs (debug)} [unused if Linearize=False]
+1             LinOutputs    - Outputs included in linearization (switch) {0=none; 1=from OutList(s); 2=all module outputs (debug)} [unused if Linearize=False]
+False         LinOutJac     - Include full Jacobians in linearization output (for debug) (flag) [unused if Linearize=False; used only if LinInputs=LinOutputs=2]
+False         LinOutMod     - Write module-level linearization output files in addition to output for full system? (flag) [unused if Linearize=False]
+---------------------- VISUALIZATION ------------------------------------------
+0             WrVTK         - VTK visualization data output: (switch) {0=none; 1=initialization data only; 2=animation; 3=mode shapes}
+1             VTK_type      - Type of VTK visualization data: (switch) {1=surfaces; 2=basic meshes (lines/points); 3=all meshes (debug)} [unused if WrVTK=0]
+True          VTK_fields    - Write mesh fields to VTK data files? (flag) {true/false} [unused if WrVTK=0]
+15            VTK_fps       - Frame rate for VTK output (frames per second){will use closest integer multiple of DT} [used only if WrVTK=2 or WrVTK=3]