Example 12 Robust Scheduling of the NREL 5MW onshore Wind Turbine

[Tommymaxprog]

Hello,
I'm trying to apply the example 12 on the NREL 5MW Onshore Wind Turbine. I generated the linearizaton files by imitationg the fast input files in https://github.com/OpenFAST/r-test/tree/main/glue-codes/openfast/5MW_Land_ModeShapes. Then I tried to run the example 12 but I got the following error:

Using ofTools in ROSCO_toolbox...

Loading wind turbine data for NREL's ROSCO tuning and simulation processeses

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Tuning a reference wind turbine controller using NREL's ROSCO toolbox

Loading FAST model: NREL-5MW.fst
Loading rotor performace data from text file: /home/g69581/ROSCO/Test_Cases/NREL-5MW/Cp_Ct_Cq.NREL5MW.txt
Loading rotor performace data from text file: /home/g69581/ROSCO/Examples/../Test_Cases/NREL-5MW/Cp_Ct_Cq.NREL5MW.txt

Loading wind turbine data for NREL's ROSCO tuning and simulation processeses

---

Tuning a reference wind turbine controller using NREL's ROSCO toolbox

Loading FAST model: NREL-5MW.fst
Loading rotor performace data from text file: /home/g69581/ROSCO/Test_Cases/NREL-5MW/Cp_Ct_Cq.NREL5MW.txt
Loading linearizations from: /home/g69581/ROSCO/Test_Cases/NREL-5MW/linearizations/NREL-5MW_07
Loading linearizations from: /home/g69581/ROSCO/Test_Cases/NREL-5MW/linearizations/NREL-5MW_09
Loading linearizations from: /home/g69581/ROSCO/Test_Cases/NREL-5MW/linearizations/NREL-5MW_13
Loading linearizations from: /home/g69581/ROSCO/Test_Cases/NREL-5MW/linearizations/NREL-5MW_10
Loading linearizations from: /home/g69581/ROSCO/Test_Cases/NREL-5MW/linearizations/NREL-5MW_15
loaded in parallel in 0.8159067630767822 seconds
Finding ROSCO tuning parameters for u = 12, sm = 0.1, omega_pc = [0.0, 0.3], k_float = 0.0
Traceback (most recent call last):
File "/home/g69581/anaconda3/envs/rosco-env/lib/python3.8/site-packages/openmdao/core/system.py", line 2269, in _call_user_function
yield
File "/home/g69581/anaconda3/envs/rosco-env/lib/python3.8/site-packages/openmdao/core/explicitcomponent.py", line 258, in _compute_wrapper
self.compute(args)
File "/home/g69581/anaconda3/envs/rosco-env/lib/python3.8/site-packages/rosco-2.5.0-py3.8-linux-x86_64.egg/ROSCO_toolbox/linear/robust_scheduling.py", line 112, in compute
sm = smargin(linturb, self.controller, inputs['u_eval'][0])
File "/home/g69581/anaconda3/envs/rosco-env/lib/python3.8/site-packages/rosco-2.5.0-py3.8-linux-x86_64.egg/ROSCO_toolbox/linear/lin_util.py", line 108, in smargin
sens_sys = pc_sensitivity(linturb, controller, u_eval)
File "/home/g69581/anaconda3/envs/rosco-env/lib/python3.8/site-packages/rosco-2.5.0-py3.8-linux-x86_64.egg/ROSCO_toolbox/linear/lin_util.py", line 100, in pc_sensitivity
sens = feedback(1, CsP)
File "/home/g69581/anaconda3/envs/rosco-env/lib/python3.8/site-packages/scipy/signal/_ltisys.py", line 1404, in mul
a = np.vstack((np.hstack((self.A, np.dot(self.B, other.C))),
File "<array_function internals>", line 180, in dot
ValueError: shapes (1,1) and (0,31) not aligned: 1 (dim 1) != 0 (dim 0)

During handling of the above exception, another exception occurred:

Traceback (most recent call last):
File "example_12_5MWl.py", line 129, in
run_example()
File "example_12_5MWl.py", line 86, in run_example
sd.execute()
File "/home/g69581/anaconda3/envs/rosco-env/lib/python3.8/site-packages/rosco-2.5.0-py3.8-linux-x86_64.egg/ROSCO_toolbox/linear/robust_scheduling.py", line 239, in execute
self.om_opt.run_driver()
File "/home/g69581/anaconda3/envs/rosco-env/lib/python3.8/site-packages/openmdao/core/problem.py", line 753, in run_driver
return self.driver.run()
File "/home/g69581/anaconda3/envs/rosco-env/lib/python3.8/site-packages/openmdao/drivers/scipy_optimizer.py", line 247, in run
model.run_solve_nonlinear()
File "/home/g69581/anaconda3/envs/rosco-env/lib/python3.8/site-packages/openmdao/core/system.py", line 3989, in run_solve_nonlinear
self._solve_nonlinear()
File "/home/g69581/anaconda3/envs/rosco-env/lib/python3.8/site-packages/openmdao/core/group.py", line 2556, in _solve_nonlinear
self._nonlinear_solver.solve()
File "/home/g69581/anaconda3/envs/rosco-env/lib/python3.8/site-packages/openmdao/solvers/nonlinear/nonlinear_runonce.py", line 42, in solve
self._gs_iter()
File "/home/g69581/anaconda3/envs/rosco-env/lib/python3.8/site-packages/openmdao/solvers/solver.py", line 760, in _gs_iter
subsys._solve_nonlinear()
File "/home/g69581/anaconda3/envs/rosco-env/lib/python3.8/site-packages/openmdao/core/explicitcomponent.py", line 284, in _solve_nonlinear
self._compute_wrapper()
File "/home/g69581/anaconda3/envs/rosco-env/lib/python3.8/site-packages/openmdao/core/explicitcomponent.py", line 258, in _compute_wrapper
self.compute(*args)
File "/home/g69581/anaconda3/envs/rosco-env/lib/python3.8/contextlib.py", line 131, in exit
self.gen.throw(type, value, traceback)
File "/home/g69581/anaconda3/envs/rosco-env/lib/python3.8/site-packages/openmdao/core/system.py", line 2275, in _call_user_function
raise err_type(
File "/home/g69581/anaconda3/envs/rosco-env/lib/python3.8/site-packages/openmdao/core/system.py", line 2269, in _call_user_function
yield
File "/home/g69581/anaconda3/envs/rosco-env/lib/python3.8/site-packages/openmdao/core/explicitcomponent.py", line 258, in _compute_wrapper
self.compute(args)
File "/home/g69581/anaconda3/envs/rosco-env/lib/python3.8/site-packages/rosco-2.5.0-py3.8-linux-x86_64.egg/ROSCO_toolbox/linear/robust_scheduling.py", line 112, in compute
sm = smargin(linturb, self.controller, inputs['u_eval'][0])
File "/home/g69581/anaconda3/envs/rosco-env/lib/python3.8/site-packages/rosco-2.5.0-py3.8-linux-x86_64.egg/ROSCO_toolbox/linear/lin_util.py", line 108, in smargin
sens_sys = pc_sensitivity(linturb, controller, u_eval)
File "/home/g69581/anaconda3/envs/rosco-env/lib/python3.8/site-packages/rosco-2.5.0-py3.8-linux-x86_64.egg/ROSCO_toolbox/linear/lin_util.py", line 100, in pc_sensitivity
sens = feedback(1, CsP)
File "/home/g69581/anaconda3/envs/rosco-env/lib/python3.8/site-packages/scipy/signal/_ltisys.py", line 1404, in mul
a = np.vstack((np.hstack((self.A, np.dot(self.B, other.C))),
File "<array_function internals>", line 180, in dot
ValueError: 'r_sched' : Error calling compute(), shapes (1,1) and (0,31) not aligned: 1 (dim 1) != 0 (dim 0)

Can you help me fix it?
Thanks in advance.
Regards.

[nikhar-abbas]

Hi,

It looks like there may be an issue with the paths for the linearized models being loaded as it seems like the linear models are empty. Please make sure your path and naming conventions follow the correct formatting, especially when setting up the linmodel_tuning portion of the input yaml file.

Thanks,
Nikhar