OpenFAST 5.0 Support

.github/workflows/CI_rosco-compile.yml

@@ -150,7 +150,7 @@ jobs:
 
             - name: Conda Install ROSCO
               run: |
-                  python -m pip install -e . --no-build-isolation
+                  python -m pip install -e . --no-build-isolation --no-deps
 
             - name: Generate Registry
               run: |

Examples/17c_zeromq_fastfarm.py

@@ -142,7 +142,7 @@ def write_openfast_1():
     r.wind_case_fcn = cl.power_curve
     r.wind_case_opts = {
         "U": [8],
-        "TMax": 25,
+        "TMax": 20,
     }
     run_dir = os.path.join(EXAMPLE_OUT_DIR, "17c_FASTFarm_OF1")
     r.controller_params = {}
@@ -173,7 +173,7 @@ def write_openfast_2():
     r.wind_case_fcn = cl.power_curve
     r.wind_case_opts = {
         "U": [8],
-        "TMax": 25,
+        "TMax": 20,
     }
     run_dir = os.path.join(EXAMPLE_OUT_DIR, "17c_FASTFarm_OF2")
     r.save_dir = run_dir

Examples/23_structural_control.py

@@ -23,6 +23,8 @@
 from rosco.toolbox.inputs.validation import load_rosco_yaml
 from rosco.toolbox.controller import OpenLoopControl
 
+TEST_MODE = True # set to False to run full simulation, True runs a short test case for debugging
+
 def main():
     #directories
     this_dir            = os.path.dirname(os.path.abspath(__file__))
@@ -95,7 +97,7 @@ def main():
     r.wind_case_fcn = cl.power_curve
     r.wind_case_opts    = {
         'U': [9],
-        'TMax': t_max,
+        'TMax': t_max if not TEST_MODE else 10,
         }
     r.case_inputs = {}
     r.fst_vt            = reader.fst_vt

Examples/26_marine_hydro.py

@@ -8,6 +8,7 @@
 from rosco.toolbox.ofTools.case_gen.run_FAST import run_FAST_ROSCO
 from rosco.toolbox.ofTools.case_gen import CaseLibrary as cl
 
+TEST_RUN = True
 
 def main():
     #directories
@@ -21,22 +22,20 @@ def main():
     run_dir = os.path.join(example_out_dir,'26_MHK/0_baseline')
     os.makedirs(run_dir,exist_ok=True)
 
-
     # simulation set up
     r = run_FAST_ROSCO()
     r.tuning_yaml   = parameter_filename
-    # r.wind_case_fcn = cl.simp_step  # single step wind input
     r.wind_case_fcn = cl.power_curve
     r.wind_case_opts    = {
         'U': [2.5],
         'TMax': 100.0,
         }
-    r.case_inputs = {}
-    # r.fst_vt        = reader.fst_vt
-    # r.controller_params = controller_params
+    if TEST_RUN:
+        r.wind_case_opts['TMax'] = 1.0
+
     r.save_dir      = run_dir
     r.rosco_dir     = rosco_dir
-    # r.rosco_dll     = '/Users/dzalkind/Tools/ROSCO-PRC/rosco/controller/build/libdiscon.dylib'
+    r.n_cores = 1
 
     r.run_FAST()
 

Examples/Test_Cases/BAR_10/BAR_10.fst

@@ -5,21 +5,28 @@ True                   Echo        - Echo input data to <RootName>.ech (flag)
 "FATAL"                AbortLevel  - Error level when simulation should abort (string) {"WARNING", "SEVERE", "FATAL"}
 10.0                   TMax        - Total run time (s)
 0.01                   DT          - Recommended module time step (s)
+           1   ModCoupling     - Module coupling method (switch) {1=loose; 2=tight with fixed Jacobian updates (DT_UJac); 3=tight with automatic Jacobian updates}
 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}
+         0.0   RhoInf          - Numerical damping parameter for tight coupling generalized-alpha integrator (-) [0.0 to 1.0]
+        1e-4   ConvTol         - Convergence iteration error tolerance for tight coupling generalized alpha integrator (-)
+           6   MaxConvIter     - Maximum number of convergence iterations for tight coupling generalized alpha integrator (-)
 99999.0                DT_UJac     - Time between calls to get Jacobians (s)
 1000000.0              UJacSclFact - Scaling factor used in Jacobians (-)
 ---------------------- FEATURE SWITCHES AND FLAGS ------------------------------
-2                      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   NRotors         - Number of rotors in turbine (-)
+2                      CompElast   - Compute structural dynamics (switch) {1=ElastoDyn; 2=ElastoDyn + BeamDyn for blades; 3=Simplified ElastoDyn}
+1                      CompInflow  - Compute inflow wind velocities (switch) {0=still air; 1=InflowWind; 2=external from ExtInflow}
+2                      CompAero    - Compute aerodynamic loads (switch) {0=None; 1=AeroDisk; 2=AeroDyn; 3=ExtLoads}
 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   CompSoil        - Compute soil-structural dynamics (switch) {0=None; 1=SoilDyn}
           0   MHK             - MHK turbine type (switch) {0=Not an MHK turbine; 1=Fixed MHK turbine; 2=Floating MHK turbine}
+           F   MirrorRotor     - Flag to reverse rotor rotation direction [1 to NRotors] {F=Normal, T=Mirror}
 ---------------------- ENVIRONMENTAL CONDITIONS --------------------------------
     9.80665   Gravity         - Gravitational acceleration (m/s^2)
       1.225   AirDens         - Air density (kg/m^3)
@@ -43,13 +50,14 @@ True                   Echo        - Echo input data to <RootName>.ech (flag)
 "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)
+"unused"      SoilFile        - Name of the file containing the SoilDyn input parameters (quoted string)
 ---------------------- OUTPUT --------------------------------------------------
 True                   SumPrint    - Print summary data to "<RootName>.sum" (flag)
 5.0                    SttsTime    - Amount of time between screen status messages (s)
 99999.0                ChkptTime   - Amount of time between creating checkpoint files for potential restart (s)
 "default"              DT_Out      - Time step for tabular output (s) (or "default")
 0.0                    TStart      - Time to begin tabular output (s)
-2                      OutFileFmt  - Format for tabular (time-marching) output file (switch) {1: text file [<RootName>.out], 2: binary file [<RootName>.outb], 3: both}
+2                      OutFileFmt      - Format for tabular (time-marching) output file (switch) {1: text file [<RootName>.out], 2: binary file [<RootName>.outb], 3: both 1 and 2, 4: uncompressed binary [<RootName>.outb], 5: both 1 and 4}
 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 -------------------------------------------

Examples/Test_Cases/BAR_10/BAR_10_AeroDyn15.dat

@@ -8,7 +8,6 @@ False                  Echo        - Echo the input to "<rootname>.AD.ech"?  (fl
 0                   TwrShadow   - Calculate tower influence on wind based on downstream tower shadow? (flag)
 True                   TwrAero     - Calculate tower aerodynamic loads? (flag)
 False                  CavitCheck  - Perform cavitation check? (flag) TRUE will turn off unsteady aerodynamics
-False                    Buoyancy     - Include buoyancy effects? (flag)
 False                  NacelleDrag - Include Nacelle Drag effects? (flag)
 False                  CompAA      Flag to compute AeroAcoustics calculation [only used when WakeMod=1 or 2]
 "AeroAcousticsInput.dat" AA_InputFile - Aeroacoustics input file
@@ -94,10 +93,10 @@ True                   UseBlCm     - Include aerodynamic pitching moment in calc
 "BAR_10_AeroDyn15_blade.dat" ADBlFile(1) - Name of file containing distributed aerodynamic properties for Blade #1 (-)
 "BAR_10_AeroDyn15_blade.dat" ADBlFile(2) - Name of file containing distributed aerodynamic properties for Blade #2 (-) [unused if NumBl < 2]
 "BAR_10_AeroDyn15_blade.dat" ADBlFile(3) - Name of file containing distributed aerodynamic properties for Blade #3 (-) [unused if NumBl < 3]
-======  Hub Properties ============================================================================== [used only when Buoyancy=True]
+======  Hub Properties ============================================================================== [used only when MHK=1 or 2]
 0.0   VolHub             - Hub volume (m^3)
 0.0   HubCenBx           - Hub center of buoyancy x direction offset (m)
-======  Nacelle Properties ========================================================================== [used only when Buoyancy=True or NacelleDrag=True]
+======  Nacelle Properties ========================================================================== [used only when MHK=1 or 2 or when NacelleDrag=True]
 0                      VolNac      - Nacelle volume (m^3)
 0.0, 0.0, 0.0   NacCenB            - Position of nacelle center of buoyancy from yaw bearing in nacelle coordinates (m)
 0, 0, 0      NacArea        - Projected area of the nacelle in X, Y, Z in the nacelle coordinate system (m^2)
@@ -106,20 +105,20 @@ True                   UseBlCm     - Include aerodynamic pitching moment in calc
 ======  Tail Fin Aerodynamics =======================================================================
 False         TFinAero           - Calculate tail fin aerodynamics model (flag)
 "unused"      TFinFile           - Input file for tail fin aerodynamics [used only when TFinAero=True]
-======  Tower Influence and Aerodynamics ============================================================= [used only when TwrPotent/=0, TwrShadow=True, or TwrAero=True]
-9                      NumTwrNds   - Number of tower nodes used in the analysis  (-) [used only when TwrPotent/=0, TwrShadow=True, or TwrAero=True]
-TwrElev        TwrDiam        TwrCd          TwrTI          TwrCb !TwrTI used only with TwrShadow=2, TwrCb used only with Buoyancy=True
-(m)              (m)           (-)            (-)           (-)
- 2.740e+01      6.00000e+00  1.0e+00        1.0e-1              0.0
- 4.110e+01      6.00000e+00  1.0e+00        1.0e-1              0.0
- 5.480e+01      6.00000e+00  1.0e+00        1.0e-1              0.0
- 6.850e+01      6.00000e+00  1.0e+00        1.0e-1              0.0
- 8.220e+01      6.00000e+00  1.0e+00        1.0e-1              0.0
- 9.590e+01      6.00000e+00  1.0e+00        1.0e-1              0.0
- 1.096e+02      6.00000e+00  1.0e+00        1.0e-1              0.0
- 1.233e+02      5.89079e+00  1.0e+00        1.0e-1              0.0
- 1.370e+02      5.53032e+00  1.0e+00        1.0e-1              0.0
-======  Tower Influence and Aerodynamics ============================================================= [used only when TwrPotent/=0, TwrShadow=True, or TwrAero=True]
+======  Tower Influence and Aerodynamics ============================================================= [used only when TwrPotent/=0, TwrShadow/=0, TwrAero=True, or MHK=1 or 2]
+9                      NumTwrNds   - Number of tower nodes used in the analysis  (-) [used only when TwrPotent/=0, TwrShadow/=0, TwrAero=True, or MHK=1 or 2]
+TwrElev        TwrDiam        TwrCd          TwrTI          TwrCb          TwrCp          TwrCa !TwrTI used only with TwrShadow=2, TwrCb/TwrCp/TwrCa used only with MHK=1 or 2
+(m)              (m)           (-)            (-)           (-)            (-)            (-)
+2.740e+01      6.00000e+00  1.0e+00        1.0e-1              0.0  0.0000000E+00  0.0000000E+00
+4.110e+01      6.00000e+00  1.0e+00        1.0e-1              0.0  0.0000000E+00  0.0000000E+00
+5.480e+01      6.00000e+00  1.0e+00        1.0e-1              0.0  0.0000000E+00  0.0000000E+00
+6.850e+01      6.00000e+00  1.0e+00        1.0e-1              0.0  0.0000000E+00  0.0000000E+00
+8.220e+01      6.00000e+00  1.0e+00        1.0e-1              0.0  0.0000000E+00  0.0000000E+00
+9.590e+01      6.00000e+00  1.0e+00        1.0e-1              0.0  0.0000000E+00  0.0000000E+00
+1.096e+02      6.00000e+00  1.0e+00        1.0e-1              0.0  0.0000000E+00  0.0000000E+00
+1.233e+02      5.89079e+00  1.0e+00        1.0e-1              0.0  0.0000000E+00  0.0000000E+00
+1.370e+02      5.53032e+00  1.0e+00        1.0e-1              0.0  0.0000000E+00  0.0000000E+00
+======  Tower Influence and Aerodynamics ============================================================= [used only when TwrPotent/=0, TwrShadow/=0, TwrAero=True, or MHK=1 or 2]
 True                   SumPrint    - Generate a summary file listing input options and interpolated properties to "<rootname>.AD.sum"?  (flag)
 9                      NBlOuts     - Number of blade node outputs [0 - 9] (-)
 4, 7, 10, 13, 16, 18, 21, 24, 27 BlOutNd     - Blade nodes whose values will be output  (-)

Examples/Test_Cases/BAR_10/BAR_10_DISCON.IN

@@ -1,5 +1,5 @@
 ! Controller parameter input file for the BAR_10 wind turbine
-!    - File written using ROSCO version 2.10.1 controller tuning logic on 11/26/25
+!    - File written using ROSCO version 2.10.6 controller tuning logic on 06/09/26
 
 !------- SIMULATION CONTROL ------------------------------------------------------------
 1                   ! LoggingLevel		- 0: write no debug files, 1: write standard output .dbg-file, 2: LoggingLevel 1 + ROSCO LocalVars (.dbg2) 3: LoggingLevel 2 + complete avrSWAP-array (.dbg3)
@@ -189,8 +189,8 @@
 
 !------- FLAP ACTUATION -----------------------------------------------------
 0.000000000000      ! Flp_Angle         - Initial or steady state flap angle [rad]
-1.46450132e-08      ! Flp_Kp            - Blade root bending moment proportional gain for flap control [s]
-1.46450132e-09      ! Flp_Ki            - Flap displacement integral gain for flap control [-]
+1.46476122e-08      ! Flp_Kp            - Blade root bending moment proportional gain for flap control [s]
+1.46476122e-09      ! Flp_Ki            - Flap displacement integral gain for flap control [-]
 0.174500000000      ! Flp_MaxPit        - Maximum (and minimum) flap pitch angle [rad]
 
 !------- Open Loop Control -----------------------------------------------------

Examples/Test_Cases/BAR_10/BAR_10_ElastoDyn.dat

@@ -8,6 +8,7 @@ False                  Echo        - Echo input data to "<RootName>.ech" (flag)
 True                   FlapDOF1    - First flapwise blade mode DOF (flag)
 True                   FlapDOF2    - Second flapwise blade mode DOF (flag)
 True                   EdgeDOF     - First edgewise blade mode DOF (flag)
+False         PitchDOF    - Blade pitch DOF (flag)
 False                  TeetDOF     - Rotor-teeter DOF (flag) [unused for 3 blades]
 False                  DrTrDOF     - Drivetrain rotational-flexibility DOF (flag)
 True                   GenDOF      - Generator DOF (flag)
@@ -66,11 +67,19 @@ False                  PtfmYDOF    - Platform yaw rotation DOF (flag)
 0.0                    PtfmCMxt    - Downwind distance from the ground level [onshore] or MSL [offshore] to the platform CM (meters)
 0.0                    PtfmCMyt    - Lateral distance from the ground level [onshore] or MSL [offshore] to the platform CM (meters)
 0.0                    PtfmCMzt    - Vertical distance from the ground level [onshore] or MSL [offshore] to the platform CM (meters)
+          0   PtfmRefxt   - Downwind distance from the ground level [onshore], MSL [offshore wind or floating MHK], or seabed [fixed MHK] to the platform reference point (meters)
+          0   PtfmRefyt   - Lateral distance from the ground level [onshore], MSL [offshore wind or floating MHK], or seabed [fixed MHK] to the platform reference point (meters)
 0.0                    PtfmRefzt   - Vertical distance from the ground level [onshore] or MSL [offshore] to the platform reference point (meters)
 ---------------------- MASS AND INERTIA ----------------------------------------
 0.0                    TipMass(1)  - Tip-brake mass, blade 1 (kg)
 0.0                    TipMass(2)  - Tip-brake mass, blade 2 (kg)
 0.0                    TipMass(3)  - Tip-brake mass, blade 3 (kg) [unused for 2 blades]
+          0   PBrIner(1)  - Pitch bearing inertia, blade 1 (kg m^2)
+          0   PBrIner(2)  - Pitch bearing inertia, blade 2 (kg m^2)
+          0   PBrIner(3)  - Pitch bearing inertia, blade 3 (kg m^2) [unused for 2 blades]
+          0   BlPIner(1)  - Blade pitch inertia, blade 1 (kg m^2)
+          0   BlPIner(2)  - Blade pitch inertia, blade 2 (kg m^2)
+          0   BlPIner(3)  - Blade pitch inertia, blade 3 (kg m^2) [unused for 2 blades]
 119991.18553379682     HubMass     - Hub mass (kg)
 894745.0292084403      HubIner     - Hub inertia about rotor axis [3 blades] or teeter axis [2 blades] (kg m^2)
 0                      HubIner_Teeter - Hub inertia about teeter axis (2-blades) (kg m^2)

Examples/Test_Cases/BAR_10/BAR_10_ServoDyn.dat

@@ -6,6 +6,15 @@ False                  Echo        - Echo input data to <RootName>.ech (flag)
 ---------------------- PITCH CONTROL -------------------------------------------
 5                      PCMode      - Pitch control mode {0: none, 3: user-defined from routine PitchCntrl, 4: user-defined from Simulink/Labview, 5: user-defined from Bladed-style DLL} (switch)
 0.0                    TPCOn       - Time to enable active pitch control (s) [unused when PCMode=0]
+           0   PitNeut(1)   - Blade 1 neutral pitch position--pitch spring moment is zero at this pitch (degrees)
+           0   PitNeut(2)   - Blade 2 neutral pitch position--pitch spring moment is zero at this pitch (degrees)
+           0   PitNeut(3)   - Blade 3 neutral pitch position--pitch spring moment is zero at this pitch (degrees)
+       7.0e8   PitSpr(1)    - Blade 1 pitch spring constant (N-m/rad)
+       7.0e8   PitSpr(2)    - Blade 2 pitch spring constant (N-m/rad)
+       7.0e8   PitSpr(3)    - Blade 3 pitch spring constant (N-m/rad)
+       2.3e5   PitDamp(1)   - Blade 1 pitch damping constant (N-m/(rad/s))
+       2.3e5   PitDamp(2)   - Blade 2 pitch damping constant (N-m/(rad/s))
+       2.3e5   PitDamp(3)   - Blade 3 pitch damping constant (N-m/(rad/s))
 9999.9                 TPitManS(1) - Time to start override pitch maneuver for blade 1 and end standard pitch control (s)
 9999.9                 TPitManS(2) - Time to start override pitch maneuver for blade 2 and end standard pitch control (s)
 9999.9                 TPitManS(3) - Time to start override pitch maneuver for blade 3 and end standard pitch control (s) [unused for 2 blades]
@@ -74,7 +83,7 @@ True                   GenTiStp    - Method to stop the generator {T: timed usin
 ---------------------- CABLE CONTROL -------------------------------------------
           0   CCmode       - Cable control mode {0: none, 4: user-defined from Simulink/Labview, 5: user-defined from Bladed-style DLL} (switch)
 ---------------------- BLADED INTERFACE ---------------------------------------- [used only with Bladed Interface]
-"../../../lib/libdiscon.so" DLL_FileName - Name/location of the dynamic library {.dll [Windows] or .so [Linux]} in the Bladed-DLL format (-) [used only with Bladed Interface]
+"/Users/dzalkind/Tools/ROSCO-main/rosco/lib/libdiscon.dylib"    DLL_FileName - Name/location of the dynamic library (.dll [Windows] or .so [Linux]) in the Bladed-DLL format (-) [used only with Bladed Interface]
 "BAR_10_DISCON.IN"     DLL_InFile  - Name of input file sent to the DLL (-) [used only with Bladed Interface]
 "DISCON"               DLL_ProcName - Name of procedure in DLL to be called (-) [case sensitive; used only with DLL Interface]
 "default"              DLL_DT      - Communication interval for dynamic library (s) (or "default") [used only with Bladed Interface]