Add open loop control of StCs

Examples/23_structural_control.py

@@ -13,17 +13,19 @@
 import numpy as np
 from ROSCO_toolbox.ofTools.fast_io.FAST_reader import InputReader_OpenFAST
 from ROSCO_toolbox.inputs.validation import load_rosco_yaml
+from ROSCO_toolbox.controller import OpenLoopControl
+
 
 '''
 ROSCO currently supports user-defined hooks for structural control control actuation, if StC_Mode = 1.
 The control logic can be determined in Controllers.f90 with the StructrualControl subroutine.
 In the DISCON input, users must specify StC_GroupIndex relating to the control ChannelID.  
 These indices can be found in the ServoDyn summary file (*SrvD.sum)
 
-In the example below (and hard-coded in ROSCO) a step change of -4e5 N on the first structural controller 
-is applied at 50 sec.
+In the example below, we implement a smooth step change mimicing the exchange of ballast from the 
+upwind column to the down wind columns
 
-The develop branch (as of Mar 3, 2023) of OpenFAST (v3.5.0, upcoming) is required to run this example
+OpenFAST v3.5.0 is required to run this example
 '''
 
 
@@ -45,7 +47,7 @@ def main():
 
     # Input yaml and output directory
     parameter_filename = os.path.join(rosco_dir,'Tune_Cases/IEA15MW_ballast.yaml')
-    run_dir = os.path.join(example_out_dir,'23_structural_control')
+    run_dir = os.path.join(example_out_dir,'23_structural_control_OL_2')
     os.makedirs(run_dir,exist_ok=True)
 
     # Read initial input file
@@ -65,6 +67,41 @@ def main():
     for StC_file in reader.fst_vt['ServoDyn']['SStCfiles']:
         reader.fst_vt['SStC'].append(reader.read_StC(StC_file))
 
+    # Set up open loop inputs to ROSCO
+    t_trans = 60
+    t_sigma = 80
+    t_max = 200
+
+    applied_force = [-2e6, 1e6, 1e6]
+
+    olc = OpenLoopControl(t_max=t_max)
+    olc.interp_timeseries(
+        'struct_control_1', 
+        [0,t_trans,t_trans+t_sigma], 
+        [0,0,applied_force[0]] , 
+        'sigma'
+        )
+
+    olc.interp_timeseries(
+        'struct_control_2', 
+        [0,t_trans,t_trans+t_sigma], 
+        [0,0,applied_force[1]] , 
+        'sigma'
+        )
+
+    olc.interp_timeseries(
+        'struct_control_3', 
+        [0,t_trans,t_trans+t_sigma], 
+        [0,0,applied_force[2]] , 
+        'sigma'
+        )
+
+
+    ol_params = olc.write_input(os.path.join(run_dir,'open_loop_ballast.dat'))
+
+    controller_params = {}
+    controller_params['open_loop'] = ol_params
+    controller_params['StC_Mode'] = 2
 
     # simulation set up
     r = run_FAST_ROSCO()
@@ -73,16 +110,17 @@ def main():
     r.wind_case_fcn = cl.power_curve
     r.wind_case_opts    = {
         'U': [9],
-        'T_max': 100,
+        'TMax': t_max,
         }
     r.case_inputs = {}
-    r.fst_vt        = reader.fst_vt
-    r.save_dir      = run_dir
-    r.rosco_dir     = rosco_dir
+    r.fst_vt            = reader.fst_vt
+    r.save_dir          = run_dir
+    r.rosco_dir         = rosco_dir
+    r.controller_params = controller_params
+    r.openfast_exe      = '/Users/dzalkind/opt/anaconda3/envs/rosco-env/bin/openfast'
 
     r.run_FAST()
 
 
-
 if __name__=="__main__":
     main()

ROSCO/src/Controllers.f90

@@ -697,6 +697,8 @@ SUBROUTINE CableControl(avrSWAP, CntrPar, LocalVar, objInst, ErrVar)
 
         ! Internal Variables
         Integer(IntKi)                            :: I_GROUP
+        CHARACTER(*),               PARAMETER           :: RoutineName = 'StructuralControl'
+
 
 
         IF (CntrPar%CC_Mode == 1) THEN
@@ -751,31 +753,40 @@ SUBROUTINE CableControl(avrSWAP, CntrPar, LocalVar, objInst, ErrVar)
 
         END DO
 
+        ! Add RoutineName to error message
+        IF (ErrVar%aviFAIL < 0) THEN
+            ErrVar%ErrMsg = RoutineName//':'//TRIM(ErrVar%ErrMsg)
+        ENDIF
+
     END SUBROUTINE CableControl
 
 !-------------------------------------------------------------------------------------------------------------------------------
-SUBROUTINE StructuralControl(avrSWAP, CntrPar, LocalVar, objInst)
+SUBROUTINE StructuralControl(avrSWAP, CntrPar, LocalVar, objInst, ErrVar)
         ! Cable controller
         !       StC_Mode = 0, No cable control, this code not executed
         !       StC_Mode = 1, User-defined cable control
         !       StC_Mode = 2, Ballast-like control, not yet implemented
         !
         ! Note that LocalVar%StC_Input() has a fixed max size of 12, which can be increased in rosco_types.yaml
         !
-        USE ROSCO_Types, ONLY : ControlParameters, LocalVariables, ObjectInstances
+        USE ROSCO_Types, ONLY : ControlParameters, LocalVariables, ObjectInstances, ErrorVariables
 
         REAL(ReKi), INTENT(INOUT) :: avrSWAP(*) ! The swap array, used to pass data to, and receive data from, the DLL controller.
 
         TYPE(ControlParameters), INTENT(INOUT)    :: CntrPar
         TYPE(LocalVariables), INTENT(INOUT)       :: LocalVar
         TYPE(ObjectInstances), INTENT(INOUT)      :: objInst
+        TYPE(ErrorVariables), INTENT(INOUT)      :: ErrVar
+
 
         ! Internal Variables
         Integer(IntKi)                            :: I_GROUP
+        CHARACTER(*),               PARAMETER           :: RoutineName = 'StructuralControl'
+
 
 
         IF (CntrPar%StC_Mode == 1) THEN
-            ! User defined control
+            ! User defined control, step example
 
             IF (LocalVar%Time > 500) THEN
                 ! Step change in input of -4500 N
@@ -786,6 +797,18 @@ SUBROUTINE StructuralControl(avrSWAP, CntrPar, LocalVar, objInst)
             END IF
 
 
+        ELSEIF (CntrPar%StC_Mode == 2) THEN
+
+
+            DO I_GROUP = 1,CntrPar%StC_Group_N
+                IF (CntrPar%Ind_StructControl(I_GROUP) > 0) THEN
+                    LocalVar%StC_Input(I_GROUP) =  interp1d(CntrPar%OL_Breakpoints, &
+                                                            CntrPar%OL_StructControl(I_GROUP,:), &
+                                                            LocalVar%Time,ErrVar)
+                ENDIF
+            ENDDO
+
+
 
         END IF
 
@@ -795,6 +818,11 @@ SUBROUTINE StructuralControl(avrSWAP, CntrPar, LocalVar, objInst)
             avrSWAP(CntrPar%StC_GroupIndex(I_GROUP)) = LocalVar%StC_Input(I_GROUP)
         END DO
 
+        ! Add RoutineName to error message
+        IF (ErrVar%aviFAIL < 0) THEN
+            ErrVar%ErrMsg = RoutineName//':'//TRIM(ErrVar%ErrMsg)
+        ENDIF
+
     END SUBROUTINE StructuralControl
 !-------------------------------------------------------------------------------------------------------------------------------
 END MODULE Controllers

ROSCO/src/DISCON.F90

@@ -124,7 +124,7 @@ SUBROUTINE DISCON(avrSWAP, aviFAIL, accINFILE, avcOUTNAME, avcMSG) BIND (C, NAME
 
     ! Structural control
     IF (CntrPar%StC_Mode > 0) THEN
-        CALL StructuralControl(avrSWAP,CntrPar,LocalVar, objInst)
+        CALL StructuralControl(avrSWAP,CntrPar,LocalVar, objInst, ErrVar)
     END IF
 
     IF ( CntrPar%LoggingLevel > 0 ) THEN