Updates for windio 2.1

.github/workflows/CI_WEIS.yml

@@ -42,10 +42,10 @@ jobs:
 
       # Enable the next entries to use feature branches of dependencies for CI testing
 
-      # - name: Add dependencies ubuntu specific
-      #   if: false == contains( matrix.os, 'windows')
-      #   run: |
-      #     conda install -y compilers
+      - name: Add dependencies ubuntu specific
+        if: false == contains( matrix.os, 'windows')
+        run: |
+          conda install -y compilers
 
       # - name: Add dependencies windows specific
       #   if: contains( matrix.os, 'windows')
@@ -55,10 +55,10 @@ jobs:
 
 
 
-      # - name: feature branches of other codes
-      #   run: |
-      #     conda remove --force openraft
-      #     pip install https://github.com/yqliaohk/RAFT/archive/meshing_update.zip
+      - name: feature branches of other codes
+        run: |
+          conda remove --force wisdem
+          pip install https://github.com/NLRWindSystems/WISDEM/archive/develop.zip
 
       # Don't delete after this
 

environment.yml

@@ -14,7 +14,7 @@ dependencies:
   - openfast>=4.1.0
   - openfast-io>=4.1.0
   - pyopenfast>=4.1.0
-  # - openraft>=2.0.2
+  - openraft>=2.0.3
   - osqp  
   - pcrunch>=2.1.5
   - pip
@@ -33,7 +33,7 @@ dependencies:
     - orbit-nrel
     - smt
     - windIO>=2.0.1
-    - git+https://github.com/NLRWindSystems/RAFT.git@dev
+    # - git+https://github.com/NLRWindSystems/RAFT.git@dev
 # Needs to be done outside of environment file:
 #  - m2w64-toolchain # [win]
 #  - libpython # [win]

examples/00_setup/ref_turbines/BAR_USC.yaml

@@ -10,6 +10,8 @@ assembly:
     hub_height: 140.0
     rated_power: 5000000.0
     lifetime: 25.0
+    cut_in_wind_speed: 4.0
+    cut_out_wind_speed: 25.0
 components:
     blade:
         reference_axis:
@@ -1324,18 +1326,14 @@ materials:
       Xy: 1650000000.0
       unit_cost: 2
 control:
-    supervisory:
-        Vin: 4.0
-        Vout: 25.0
-        maxTS: 85.0
-    pitch:
-        ps_percent: 0.8
-        max_pitch: 89.95437383553924
-        max_pitch_rate: 1.9989860852342056
-        min_pitch: 0.0
-    torque:
-        tsr: 10.5
-        max_torque_rate: 4500000.0
-        VS_minspd: 0.0
-        VS_maxspd: 19.098593171027442
-comments: BAR-USC - Upwind segmented design - Spar caps with industry baseline CFRP - last updated on April 23rd 2021 by Pietro Bortolotti
+    min_rotor_speed: 0.
+    max_rotor_speed: 7.885576712533701
+    optimal_tsr: 10.5
+    min_pitch_table:
+        wind_speed: [4.0, 25.0]
+        min_pitch: [0.0, 0.0]
+    min_pitch_limit: 0.0
+    max_pitch_limit: 90.
+    max_pitch_rate: 2.0
+    peak_thrust_shaving: 0.8
+    max_allowable_blade_tip_speed: 85.0

examples/00_setup/ref_turbines/IEA-15-240-RWT.yaml

@@ -10,6 +10,8 @@ assembly:
     rotor_diameter: 241.35064632
     rated_power: 15000000.0
     lifetime: 25.0
+    cut_in_wind_speed: 3.0
+    cut_out_wind_speed: 25.0
 components:
     blade:
         reference_axis:
@@ -1161,17 +1163,36 @@ materials:
       G: 1520000000.0
       unit_cost: 9.0
 control:
-    supervisory:
-        Vin: 3.0
-        Vout: 25.0
-        maxTS: 95.0
-    pitch:
-        ps_percent: 1.0
-        max_pitch: 89.95437383553924
-        max_pitch_rate: 2.0
-        min_pitch: 0.0
-    torque:
-        tsr: 9.0
-        max_torque_rate: 1500000.0
-        VS_minspd: 4.999999999999999
-        VS_maxspd: 7.559999999999999
+    min_rotor_speed: 5.000011692174984
+    rated_rotor_speed: 7.559987120819503
+    rated_power: 15000000.0
+    max_rotor_speed: 9.072022742169745
+    max_gen_torque: 21765400.0
+    max_torque_rate: 4500000.0
+    fine_pitch: 0.0
+    optimal_tsr: 9.0
+    min_pitch_table:
+        wind_speed: [3.0, 3.2617, 3.5234, 3.7852, 4.0469, 4.3086, 4.5703, 4.8321, 5.0938, 5.3555, 5.6172, 5.879, 6.1407, 6.4024, 6.6641, 6.9259, 7.1876, 7.4493, 7.711, 7.9728, 8.2345, 8.4962, 8.7579, 9.0197, 9.2814, 9.5431, 9.8048, 10.0666, 10.3283, 10.59, 11.0703, 11.5507, 12.031, 12.5113, 12.9917, 13.472, 13.9523, 14.4327, 14.913, 15.3933, 15.8737, 16.354, 16.8343, 17.3147, 17.795, 18.2753, 18.7557, 19.236, 19.7163, 20.1967, 20.677, 21.1573, 21.6377, 22.118, 22.5983, 23.0787, 23.559, 24.0393, 24.5197, 25.0]
+        min_pitch: [3.437746770784939, 3.437746770784939, 3.437746770784939, 3.437746770784939, 3.437746770784939, 3.437746770784939, 3.2486706983917677, 3.019487580339438, 2.7501974166279517, 2.435070629305999, 2.1027551081301215, 1.7417916971977025, 1.357909974460051, 0.9740282517223996, 0.5729577951308232, 0.17188733853924698, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.813600069085769, 1.5355268909506063, 2.194428355351053, 2.807493196141034, 3.3861805692231655, 3.953408786402681, 4.491989113825654, 5.02483986329732, 5.540501878915061, 6.0504343165814936, 6.548907598345309, 7.041651302157817, 7.522935850067709, 8.0042203979776, 8.474045789984876, 8.94387118199215, 9.407966996048119, 9.866333232152776, 10.318969890306127, 10.771606548459477, 11.224243206612826, 11.66542070886356, 12.112327789065603, 12.547775713365029, 12.988953215615764, 13.41867156196388, 13.854119486263304, 14.278108254660115, 14.70782660100823, 15.131815369405041]
+    min_pitch_limit: 0.0
+    max_pitch_limit: 89.95437383553924
+    max_pitch_rate: 1.9996227050065731
+    lpf_frequency: 1.0081
+    lpf_damping: 0.7
+    region2_k: 418673.00518505543
+    gen_torque_kp: -3782257.6434363592
+    gen_torque_ki: -471172.92459274357
+    pitch_kp:
+        pitch_angle: [3.666929888837269, 5.213915935690491, 6.359831525952138, 7.39115555718762, 8.307888029396937, 9.167324722093172, 9.969465635276324, 10.714310768946394, 11.401860123103383, 12.08940947726037, 12.719663051904275, 13.349916626548183, 13.980170201192086, 14.55312799632291, 15.126085791453734, 15.699043586584558, 16.272001381715377, 16.78766339733312, 17.36062119246394, 17.876283208081684, 18.391945223699427, 18.907607239317166, 19.365973475421825, 19.881635491039564, 20.340001727144223, 20.855663742761966, 21.314029978866625, 21.772396214971284, 22.230762451075943, 22.689128687180602]
+        kp: [-6.941999999999999, -5.9862, -5.202, -4.545, -3.9876, -3.5088, -3.0917999999999997, -2.7264, -2.4036, -2.1162, -1.8581999999999996, -1.626, -1.4154, -1.224, -1.0488, -0.8879999999999999, -0.7404, -0.6035999999999999, -0.4768799999999999, -0.35916, -0.24954, -0.14712, -0.051269999999999996, 0.038646, 0.12317999999999998, 0.20273999999999998, 0.2778, 0.34872, 0.41585999999999995, 0.47945999999999994]
+    pitch_ki:
+        pitch_angle: [3.666929888837269, 5.213915935690491, 6.359831525952138, 7.39115555718762, 8.307888029396937, 9.167324722093172, 9.969465635276324, 10.714310768946394, 11.401860123103383, 12.08940947726037, 12.719663051904275, 13.349916626548183, 13.980170201192086, 14.55312799632291, 15.126085791453734, 15.699043586584558, 16.272001381715377, 16.78766339733312, 17.36062119246394, 17.876283208081684, 18.391945223699427, 18.907607239317166, 19.365973475421825, 19.881635491039564, 20.340001727144223, 20.855663742761966, 21.314029978866625, 21.772396214971284, 22.230762451075943, 22.689128687180602]
+        ki: [-0.7242, -0.6539999999999999, -0.5958, -0.54726, -0.50598, -0.47051999999999994, -0.43967999999999996, -0.41267999999999994, -0.38874, -0.3675, -0.34841999999999995, -0.33119999999999994, -0.31565999999999994, -0.30144, -0.28847999999999996, -0.2766, -0.26567999999999997, -0.25554, -0.24617999999999998, -0.23747999999999994, -0.22938, -0.22175999999999998, -0.21467999999999995, -0.20801999999999998, -0.20178, -0.19589999999999996, -0.19032, -0.1851, -0.18012, -0.17543999999999998]
+    constant_power: 0.0
+    gen_actuator_frequency: 10000.0
+    gen_actuator_damping: 1.0
+    pitch_actuator_frequency: 3.14
+    pitch_actuator_damping: 0.707
+    yaw_rate: 0.49847328176381617
+    max_allowable_blade_tip_speed: 95.0
+    peak_thrust_shaving: 1.0

examples/00_setup/ref_turbines/IEA-15-240-RWT_VolturnUS-S.yaml

@@ -10,6 +10,8 @@ assembly:
     rotor_diameter: 241.35064632
     rated_power: 15000000.0
     lifetime: 25.0
+    cut_in_wind_speed: 3.0
+    cut_out_wind_speed: 25.0
 components:
     blade:
         reference_axis:
@@ -1390,17 +1392,36 @@ materials:
       unit_cost: 1.0
       orth: 0.0
 control:
-    supervisory:
-        Vin: 3.0
-        Vout: 25.0
-        maxTS: 95.0
-    pitch:
-        ps_percent: 1.0
-        max_pitch: 89.95437383553924
-        max_pitch_rate: 2.0
-        min_pitch: 0.0
-    torque:
-        tsr: 9.0
-        max_torque_rate: 1500000.0
-        VS_minspd: 4.999999999999999
-        VS_maxspd: 7.559999999999999
+    min_rotor_speed: 5.000011692174984
+    rated_rotor_speed: 7.559987120819503
+    rated_power: 15000000.0
+    max_rotor_speed: 9.072022742169745
+    max_gen_torque: 21765400.0
+    max_torque_rate: 4500000.0
+    fine_pitch: 0.0
+    optimal_tsr: 9.0
+    min_pitch_table:
+        wind_speed: [3.0, 3.2669, 3.5338, 3.8007, 4.0676, 4.3345, 4.6014, 4.8683, 5.1352, 5.4021, 5.669, 5.9359, 6.2028, 6.4697, 6.7366, 7.0034, 7.2703, 7.5372, 7.8041, 8.071, 8.3379, 8.6048, 8.8717, 9.1386, 9.4055, 9.6724, 9.9393, 10.2062, 10.4731, 10.74, 11.2153, 11.6907, 12.166, 12.6413, 13.1167, 13.592, 14.0673, 14.5427, 15.018, 15.4933, 15.9687, 16.444, 16.9193, 17.3947, 17.87, 18.3453, 18.8207, 19.296, 19.7713, 20.2467, 20.722, 21.1973, 21.6727, 22.148, 22.6233, 23.0987, 23.574, 24.0493, 24.5247, 25.0]
+        min_pitch: [3.437746770784939, 3.437746770784939, 3.437746770784939, 3.437746770784939, 3.437746770784939, 3.437746770784939, 3.2200228086352265, 2.985110112631589, 2.7043607930174858, 2.3777748497929165, 2.034000172714422, 1.6615776058793874, 1.2662367272391195, 0.8708958485988513, 0.4640958140559668, 0.057295779513082325, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.3495042550298022, 1.1745634800181877, 1.902219879834333, 2.532473454478239, 3.036676314193363, 3.655470732934652, 4.2456172619194, 4.807115901147607, 5.357155384473197, 5.890006133944863, 6.4056681495626036, 6.921330165180345, 7.419803446944161, 7.918276728707976, 8.399561276617868, 8.88084582452776, 9.356400794486344, 9.826226186493619, 10.290322000549585, 10.754417814605553, 11.207054472758902, 11.659691130912252, 12.112327789065603, 12.553505291316336, 13.000412371518378, 13.435860295817804, 13.87130822011723, 14.301026566465348, 14.736474490764772, 15.160463259161583, 15.584452027558394, 16.01417037390651, 16.43242956435201, 16.85068875479751, 17.263218367291703]
+    min_pitch_limit: 0.0
+    max_pitch_limit: 89.95437383553924
+    max_pitch_rate: 1.9996227050065731
+    lpf_frequency: 1.0081
+    lpf_damping: 0.7
+    region2_k: 418673.00518505543
+    gen_torque_kp: -3741699.6822785153
+    gen_torque_ki: -471172.92459274357
+    pitch_kp:
+        pitch_angle: [3.552338329811104, 5.099324376664327, 6.245239966925973, 7.276563998161455, 8.193296470370772, 9.052733163067007, 9.854874076250159, 10.599719209920229, 11.287268564077218, 11.974817918234205, 12.60507149287811, 13.235325067522018, 13.865578642165922, 14.438536437296746, 15.068790011940651, 15.584452027558394, 16.157409822689214, 16.730367617820036, 17.24602963343778, 17.76169164905552, 18.27735366467326, 18.793015680291003, 19.251381916395662, 19.7670439320134, 20.22541016811806, 20.7410721837358, 21.199438419840458, 21.657804655945117, 22.116170892049777, 22.574537128154436]
+        kp: [-6.857999999999999, -5.9262, -5.1588, -4.514999999999999, -3.9672, -3.4955999999999996, -3.0846, -2.724, -2.4048, -2.1203999999999996, -1.8648, -1.6343999999999996, -1.4256, -1.2353999999999998, -1.0614, -0.9017999999999998, -0.7547999999999999, -0.6185999999999999, -0.49284, -0.37566, -0.26639999999999997, -0.16440000000000002, -0.06881999999999999, 0.020819999999999998, 0.10511999999999999, 0.1845, 0.25937999999999994, 0.33018, 0.39719999999999994, 0.46074]
+    pitch_ki:
+        pitch_angle: [3.552338329811104, 5.099324376664327, 6.245239966925973, 7.276563998161455, 8.193296470370772, 9.052733163067007, 9.854874076250159, 10.599719209920229, 11.287268564077218, 11.974817918234205, 12.60507149287811, 13.235325067522018, 13.865578642165922, 14.438536437296746, 15.068790011940651, 15.584452027558394, 16.157409822689214, 16.730367617820036, 17.24602963343778, 17.76169164905552, 18.27735366467326, 18.793015680291003, 19.251381916395662, 19.7670439320134, 20.22541016811806, 20.7410721837358, 21.199438419840458, 21.657804655945117, 22.116170892049777, 22.574537128154436]
+        ki: [-0.7175999999999999, -0.6486, -0.5917199999999999, -0.5440799999999999, -0.50352, -0.4686, -0.4382399999999999, -0.41153999999999996, -0.38789999999999997, -0.36684, -0.34793999999999997, -0.3308999999999999, -0.31548, -0.30138, -0.28854, -0.27671999999999997, -0.26586000000000004, -0.25578, -0.24642, -0.23777999999999996, -0.22968, -0.22211999999999996, -0.21509999999999999, -0.20844, -0.2022, -0.19632, -0.1908, -0.18551999999999996, -0.18059999999999998, -0.17586]
+    constant_power: 0.0
+    gen_actuator_frequency: 10000.0
+    gen_actuator_damping: 1.0
+    pitch_actuator_frequency: 3.14
+    pitch_actuator_damping: 0.707
+    yaw_rate: 0.49847328176381617
+    max_allowable_blade_tip_speed: 95.0
+    peak_thrust_shaving: 1.0

examples/00_setup/ref_turbines/IEA-15-240-RWT_VolturnUS-S_rectangular.yaml

@@ -10,6 +10,8 @@ assembly:
     rotor_diameter: 241.94
     rated_power: 15000000.0
     lifetime: 25.0
+    cut_in_wind_speed: 3.0
+    cut_out_wind_speed: 25.0
 components:
     blade:
         reference_axis:
@@ -1335,17 +1337,36 @@ materials:
       unit_cost: 1.0
       orth: 0.0
 control:
-    supervisory:
-        Vin: 3.0
-        Vout: 25.0
-        maxTS: 95.0
-    pitch:
-        ps_percent: 0.8
-        max_pitch: 89.95437383553924
-        max_pitch_rate: 2.0
-        min_pitch: 0.0
-    torque:
-        tsr: 9.0
-        max_torque_rate: 1500000.0
-        VS_minspd: 4.999999999999999
-        VS_maxspd: 7.559999999999999
+    min_rotor_speed: 5.000011692174984
+    rated_rotor_speed: 7.559987120819503
+    rated_power: 15000000.0
+    max_rotor_speed: 9.072022742169745
+    max_gen_torque: 21765400.0
+    max_torque_rate: 4500000.0
+    fine_pitch: 0.0
+    optimal_tsr: 9.0
+    min_pitch_table:
+        wind_speed: [3.0, 3.2669, 3.5338, 3.8007, 4.0676, 4.3345, 4.6014, 4.8683, 5.1352, 5.4021, 5.669, 5.9359, 6.2028, 6.4697, 6.7366, 7.0034, 7.2703, 7.5372, 7.8041, 8.071, 8.3379, 8.6048, 8.8717, 9.1386, 9.4055, 9.6724, 9.9393, 10.2062, 10.4731, 10.74, 11.2153, 11.6907, 12.166, 12.6413, 13.1167, 13.592, 14.0673, 14.5427, 15.018, 15.4933, 15.9687, 16.444, 16.9193, 17.3947, 17.87, 18.3453, 18.8207, 19.296, 19.7713, 20.2467, 20.722, 21.1973, 21.6727, 22.148, 22.6233, 23.0987, 23.574, 24.0493, 24.5247, 25.0]
+        min_pitch: [3.437746770784939, 3.437746770784939, 3.437746770784939, 3.437746770784939, 3.437746770784939, 3.437746770784939, 3.2200228086352265, 2.985110112631589, 2.7043607930174858, 2.3777748497929165, 2.034000172714422, 1.6615776058793874, 1.2662367272391195, 0.8708958485988513, 0.4640958140559668, 0.057295779513082325, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.3495042550298022, 1.1745634800181877, 1.902219879834333, 2.532473454478239, 3.036676314193363, 3.655470732934652, 4.2456172619194, 4.807115901147607, 5.357155384473197, 5.890006133944863, 6.4056681495626036, 6.921330165180345, 7.419803446944161, 7.918276728707976, 8.399561276617868, 8.88084582452776, 9.356400794486344, 9.826226186493619, 10.290322000549585, 10.754417814605553, 11.207054472758902, 11.659691130912252, 12.112327789065603, 12.553505291316336, 13.000412371518378, 13.435860295817804, 13.87130822011723, 14.301026566465348, 14.736474490764772, 15.160463259161583, 15.584452027558394, 16.01417037390651, 16.43242956435201, 16.85068875479751, 17.263218367291703]
+    min_pitch_limit: 0.0
+    max_pitch_limit: 89.95437383553924
+    max_pitch_rate: 1.9996227050065731
+    lpf_frequency: 1.0081
+    lpf_damping: 0.7
+    region2_k: 418673.00518505543
+    gen_torque_kp: -3741699.6822785153
+    gen_torque_ki: -471172.92459274357
+    pitch_kp:
+        pitch_angle: [3.552338329811104, 5.099324376664327, 6.245239966925973, 7.276563998161455, 8.193296470370772, 9.052733163067007, 9.854874076250159, 10.599719209920229, 11.287268564077218, 11.974817918234205, 12.60507149287811, 13.235325067522018, 13.865578642165922, 14.438536437296746, 15.068790011940651, 15.584452027558394, 16.157409822689214, 16.730367617820036, 17.24602963343778, 17.76169164905552, 18.27735366467326, 18.793015680291003, 19.251381916395662, 19.7670439320134, 20.22541016811806, 20.7410721837358, 21.199438419840458, 21.657804655945117, 22.116170892049777, 22.574537128154436]
+        kp: [-6.857999999999999, -5.9262, -5.1588, -4.514999999999999, -3.9672, -3.4955999999999996, -3.0846, -2.724, -2.4048, -2.1203999999999996, -1.8648, -1.6343999999999996, -1.4256, -1.2353999999999998, -1.0614, -0.9017999999999998, -0.7547999999999999, -0.6185999999999999, -0.49284, -0.37566, -0.26639999999999997, -0.16440000000000002, -0.06881999999999999, 0.020819999999999998, 0.10511999999999999, 0.1845, 0.25937999999999994, 0.33018, 0.39719999999999994, 0.46074]
+    pitch_ki:
+        pitch_angle: [3.552338329811104, 5.099324376664327, 6.245239966925973, 7.276563998161455, 8.193296470370772, 9.052733163067007, 9.854874076250159, 10.599719209920229, 11.287268564077218, 11.974817918234205, 12.60507149287811, 13.235325067522018, 13.865578642165922, 14.438536437296746, 15.068790011940651, 15.584452027558394, 16.157409822689214, 16.730367617820036, 17.24602963343778, 17.76169164905552, 18.27735366467326, 18.793015680291003, 19.251381916395662, 19.7670439320134, 20.22541016811806, 20.7410721837358, 21.199438419840458, 21.657804655945117, 22.116170892049777, 22.574537128154436]
+        ki: [-0.7175999999999999, -0.6486, -0.5917199999999999, -0.5440799999999999, -0.50352, -0.4686, -0.4382399999999999, -0.41153999999999996, -0.38789999999999997, -0.36684, -0.34793999999999997, -0.3308999999999999, -0.31548, -0.30138, -0.28854, -0.27671999999999997, -0.26586000000000004, -0.25578, -0.24642, -0.23777999999999996, -0.22968, -0.22211999999999996, -0.21509999999999999, -0.20844, -0.2022, -0.19632, -0.1908, -0.18551999999999996, -0.18059999999999998, -0.17586]
+    constant_power: 0.0
+    gen_actuator_frequency: 10000.0
+    gen_actuator_damping: 1.0
+    pitch_actuator_frequency: 3.14
+    pitch_actuator_damping: 0.707
+    yaw_rate: 0.49847328176381617
+    max_allowable_blade_tip_speed: 95.0
+    peak_thrust_shaving: 1.0