Windio 2p1p1

SONATA/classBlade.py

@@ -227,11 +227,19 @@ def __init__(self, *args, **kwargs):
                     'SONATA currently only supports windIO version 2.X. ' \
                     + ' A different version appears to be installed'
 
-
                 assert input_vers_tuple[0] == 2, \
                     'SONATA currently only supports windIO version 2.X.' \
                         + ' Input specifies a different version.'
 
+                assert windIO_tuple[1] >= 1, \
+                    'SONATA currently has tests that support windIO version '\
+                    + '2.1 and not 2.0. Installed version does not match.'
+
+                if input_vers_tuple[1] < 1:
+                    print('WARNING: Input indicates windIO less than 2.1.'
+                          + ' SONATA supports testing with 2.1,'
+                          ' but earlier versions may fail.')
+
             else:
                 yml = windIO.load_yaml(filename)
             self.name = yml.get('name')

environment.yaml

@@ -20,7 +20,7 @@ dependencies:
   - pip:
     - shapely
     - triangle
-    - windIO >=2.0,<3.0
+    - windIO >=2.1,<3.0
 
 variables:
   PIP_EXTRA_INDEX_URL: https://pypi.org/simple

examples/1_IEA15MW/IEA-15-240-RWT.yaml

@@ -1,4 +1,4 @@
-windIO_version: '2.0.1'
+windIO_version: '2.1.1'
 name: IEA-15-240-RWT
 assembly:
     turbine_class: I
@@ -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:
@@ -1327,17 +1329,34 @@ 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

examples/2_IEA22MW/IEA-22-280-RWT.yaml

@@ -1,4 +1,4 @@
-windIO_version: '2.0'
+windIO_version: '2.1.1'
 name: IEA-22-280-RWT
 assembly:
     turbine_class: I
@@ -10,6 +10,8 @@ assembly:
     rotor_diameter: 284.0
     rated_power: 22000000.0
     lifetime: 25.0
+    cut_in_wind_speed: 3.0
+    cut_out_wind_speed: 25.0
 components:
     blade:
         reference_axis:
@@ -1534,17 +1536,33 @@ materials:
       orth: 0.0
       unit_cost: 3.63
 control:
-    supervisory:
-        Vin: 3.0
-        Vout: 25.0
-        maxTS: 105.0
-    torque:
-        tsr: 9.153211158238001
-        VS_minspd: 1.975
-        VS_maxspd: 7.162
-        max_torque_rate: 4500000.0
-    pitch:
-        ps_percent: 0.8
-        max_pitch: 89.95437383553924
-        max_pitch_rate: 2.0
-        min_pitch: -0.9549247399288653
+    min_rotor_speed: 1.8459745229456574
+    rated_rotor_speed: 7.061131867192266
+    rated_power: 22000000.0
+    max_rotor_speed: 8.473281846258034
+    max_gen_torque: 34305700.0
+    max_torque_rate: 4500000.0
+    fine_pitch: -4.010704565915763
+    optimal_tsr: 9.15
+    min_pitch_table:
+        wind_speed: [3.0, 3.2936, 3.5872, 3.8808, 4.1744, 4.468, 4.7616, 5.0552, 5.3488, 5.6424, 5.936, 6.2296, 6.5232, 6.8168, 7.1104, 7.404, 7.6976, 7.9912, 8.2848, 8.5785, 8.8721, 9.1657, 9.4593, 9.7529, 10.0465, 10.3401, 10.6337, 10.9273, 13.3125, 13.7621, 14.2116, 14.6611, 15.1106, 15.5601, 16.0097, 16.4592, 16.9087, 17.3582, 17.8077, 18.2572, 18.7068, 19.1563, 19.6058, 20.0553, 20.5048, 20.9543, 21.4039, 21.8534, 22.3029, 22.7524, 23.2019, 23.6514, 24.101, 24.5505, 25.0]
+        min_pitch: [0.5786873730821315, 0.5099324376664327, 0.43544792429942564, 0.36669298888372687, 0.2807493196141034, 0.18334649444186343, 0.08594366926962349, -0.011459155902616465, -0.11459155902616465, -0.2119943841984046, -0.31512678732195276, -0.4068000345428845, -0.492743703812508, -0.5844169510334397, -0.6760901982543714, -0.7792226013779195, -0.8766254265501595, -0.9797578296737077, -1.0771606548459478, -1.180293057969496, -1.283425461093044, -0.985487407625016, -0.3838817227376516, 0.22345354010102106, 0.813600069085769, 1.306343772898277, 1.8048170546620932, 2.3032903364259094, 3.707036934496426, 4.2456172619194, 4.767008855488449, 5.288400449057498, 5.786873730821315, 6.268158278731206, 6.743713248689789, 7.219268218648373, 7.6890936106556484, 8.16464858061423, 8.611555660816272, 9.052733163067007, 9.49391066531774, 9.940817745519782, 10.381995247770517, 10.823172750021252, 11.241431940466752, 11.66542070886356, 12.083679899309063, 12.501939089754563, 12.925927858151372, 13.349916626548183, 13.750987083139757, 14.152057539731334, 14.55312799632291, 14.954198452914486, 15.355268909506064]
+    min_pitch_limit: -4.010704565915763
+    max_pitch_limit: 89.95437383553924
+    max_pitch_rate: 2.000195662801704
+    lpf_frequency: 0.91328
+    lpf_damping: 0.0
+    region2_k: 810380.0579009124
+    gen_torque_kp: -6759000.458516784
+    gen_torque_ki: -1134397.6912847382
+    pitch_kp:
+        pitch_angle: [6.932789321082961, 8.078704911344607, 8.995437383553925, 9.797578296737077, 10.657014989433312, 11.344564343590301, 12.032113697747288, 12.662367272391194, 13.349916626548183, 13.922874421679005, 14.495832216809827, 15.068790011940651, 15.641747807071475, 16.214705602202297, 16.730367617820036, 17.24602963343778, 17.704395869542438, 18.22005788516018, 18.73571990077792, 19.19408613688258, 19.652452372987238, 20.110818609091893, 20.626480624709636, 21.084846860814295, 21.48591731740587, 21.94428355351053, 22.345354010102106, 22.803720246206765, 23.20479070279834, 23.663156938902997]
+        kp: [-5.1048, -4.502999999999999, -4.1129999999999995, -3.8742, -3.7391999999999994, -3.675, -3.6528, -3.6516, -3.6516, -3.6377999999999995, -3.5964000000000005, -3.5153999999999996, -3.3846000000000003, -3.1955999999999998, -2.9784, -2.8775999999999997, -2.8619999999999997, -2.8782, -2.8811999999999998, -2.8373999999999997, -2.7294, -2.5524, -2.3177999999999996, -2.0454, -1.7639999999999998, -1.5041999999999998, -1.2966, -1.1603999999999999, -1.053, -0.9503999999999999]
+    pitch_ki:
+        pitch_angle: [6.932789321082961, 8.078704911344607, 8.995437383553925, 9.797578296737077, 10.657014989433312, 11.344564343590301, 12.032113697747288, 12.662367272391194, 13.349916626548183, 13.922874421679005, 14.495832216809827, 15.068790011940651, 15.641747807071475, 16.214705602202297, 16.730367617820036, 17.24602963343778, 17.704395869542438, 18.22005788516018, 18.73571990077792, 19.19408613688258, 19.652452372987238, 20.110818609091893, 20.626480624709636, 21.084846860814295, 21.48591731740587, 21.94428355351053, 22.345354010102106, 22.803720246206765, 23.20479070279834, 23.663156938902997]
+        ki: [-0.26093999999999995, -0.2403, -0.22386, -0.21054, -0.19962, -0.19043999999999997, -0.18264, -0.17579999999999998, -0.16968, -0.16404, -0.15864, -0.15336, -0.14801999999999998, -0.14262, -0.13932, -0.14814, -0.1686, -0.19967999999999997, -0.24054, -0.2898, -0.34535999999999994, -0.4044, -0.46307999999999994, -0.5172599999999999, -0.5620799999999999, -0.59292, -0.6054, -0.5967, -0.5815199999999999, -0.5671200000000001]
+    constant_power: 1.0
+    gen_actuator_frequency: 10000.0
+    gen_actuator_damping: 1.0
+    pitch_actuator_frequency: 6.2831
+    pitch_actuator_damping: 0.707

examples/3_IEA10MW/IEA-10-198-RWT.yaml

@@ -1,4 +1,4 @@
-windIO_version: '2.0'
+windIO_version: '2.1.1'
 name: IEA-10.0-198-RWT
 assembly:
     turbine_class: I
@@ -9,6 +9,8 @@ assembly:
     hub_height: 119.0
     rated_power: 10000000.0
     rotor_diameter: 197.82692681
+    cut_in_wind_speed: 3.0
+    cut_out_wind_speed: 25.0
 components:
     blade:
         reference_axis:
@@ -1289,17 +1291,33 @@ materials:
       S: 310000.0
       G: 1520000000.0
 control:
-    supervisory:
-        Vin: 4.0
-        Vout: 25.0
-        maxTS: 90.0
-    pitch:
-        ps_percent: 0.9
-        max_pitch: 89.95437383553924
-        max_pitch_rate: 9.994930426171027
-        min_pitch: 0.0
-    torque:
-        tsr: 9.0
-        max_torque_rate: 1500000.0
-        VS_minspd: 6.0
-        VS_maxspd: 8.684000000000001
+    min_rotor_speed: 5.000011692174984
+    rated_rotor_speed: 8.66761003177324
+    max_rotor_speed: 10.401132038127887
+    max_gen_torque: 12837.86218877
+    max_torque_rate: 4500.0
+    fine_pitch: 0.0
+    optimal_tsr: 9.0
+    min_pitch_table:
+        wind_speed: [3.0, 3.241, 3.483, 3.724, 3.966, 4.207, 4.448, 4.69, 4.931, 5.172, 5.414, 5.655, 5.897, 6.138, 6.379, 6.621, 6.862, 7.103, 7.345, 7.586, 7.828, 8.069, 8.31, 8.552, 8.793, 9.034, 9.276, 9.517, 9.759, 10.0, 10.5, 11.0, 11.5, 12.0, 12.5, 13.0, 13.5, 14.0, 14.5, 15.0, 15.5, 16.0, 16.5, 17.0, 17.5, 18.0, 18.5, 19.0, 19.5, 20.0, 20.5, 21.0, 21.5, 22.0, 22.5, 23.0, 23.5, 24.0, 24.5, 25.0]
+        min_pitch: [2.8647889756541165, 2.8647889756541165, 2.8647889756541165, 2.8647889756541165, 2.8647889756541165, 2.8647889756541165, 2.6929016371148693, 2.4637185190625397, 2.0626480624709633, 1.4323944878270582, 0.9740282517223996, 0.5156620156177408, 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, 0.34377467707849396, 1.2032113697747289, 2.0053522829578814, 2.6929016371148693, 3.323155211758775, 4.068000345428844, 4.755549699585833, 5.443099053742821, 6.130648407899808, 6.7609019825437136, 7.39115555718762, 8.021409131831525, 8.651662706475431, 9.281916281119337, 9.854874076250159, 10.427831871380983, 11.000789666511807, 11.631043241155712, 12.146705256773451, 12.719663051904275, 13.2926208470351, 13.80828286265284, 14.381240657783662, 14.896902673401405, 15.469860468532229, 15.98552248414997, 16.501184499767707, 17.074142294898532, 17.53250853100319, 18.04817054662093, 18.563832562238673, 19.079494577856416, 19.595156593474155, 20.110818609091893, 20.569184845196553]
+    min_pitch_limit: 0.0
+    max_pitch_limit: 89.95437383553924
+    max_pitch_rate: 3.0000070153049903
+    lpf_frequency: 1.0081
+    lpf_damping: 0.7
+    region2_k: 159801.1419702424
+    gen_torque_kp: -3506558.0616751374
+    gen_torque_ki: -329833.5286368695
+    pitch_kp:
+        pitch_angle: [4.281255236776537, 6.008150031300838, 7.3202806779299365, 8.470894522111656, 9.511615061187284, 10.43688460454405, 11.32691724350027, 12.142694552207537, 12.9299958584968, 13.68801902145488, 14.401007701715676, 15.11451204399209, 15.787049903916651, 16.449790185544472, 17.11338990386499, 17.72954871674868, 18.346566966325064, 18.963699807460475, 19.544850899061668, 20.126460356898967, 20.709043842987988, 21.265557749398557, 21.817545289227592, 22.370105786851756, 22.90994662142402, 23.437411567621453, 23.96504840115743, 24.492513347354866, 25.001070686312985, 25.50848210968084]
+        kp: [-5.865462, -4.835567999999999, -4.026096, -3.3731159999999996, -2.890176, -2.5745579999999997, -2.372166, -2.243988, -2.161188, -2.1019679999999994, -2.0495819999999996, -1.9909139999999999, -1.9155719999999998, -1.81521, -1.6830299999999998, -1.5134699999999999, -1.367334, -1.293426, -1.2716399999999999, -1.2849, -1.3186379999999998, -1.3603379999999998, -1.3991999999999998, -1.4258339999999998, -1.432062, -1.410702, -1.3554419999999998, -1.260714, -1.1478359999999999, -1.0411679999999999]
+    pitch_ki:
+        pitch_angle: [4.281255236776537, 6.008150031300838, 7.3202806779299365, 8.470894522111656, 9.511615061187284, 10.43688460454405, 11.32691724350027, 12.142694552207537, 12.9299958584968, 13.68801902145488, 14.401007701715676, 15.11451204399209, 15.787049903916651, 16.449790185544472, 17.11338990386499, 17.72954871674868, 18.346566966325064, 18.963699807460475, 19.544850899061668, 20.126460356898967, 20.709043842987988, 21.265557749398557, 21.817545289227592, 22.370105786851756, 22.90994662142402, 23.437411567621453, 23.96504840115743, 24.492513347354866, 25.001070686312985, 25.50848210968084]
+        ki: [-0.1617, -0.14232, -0.12709199999999998, -0.11480399999999999, -0.10884600000000001, -0.110988, -0.11898, -0.131292, -0.14658, -0.16349399999999997, -0.180558, -0.196176, -0.208704, -0.21653399999999998, -0.21820799999999999, -0.21261, -0.208872, -0.21488999999999997, -0.22852799999999998, -0.24805199999999997, -0.271794, -0.29796, -0.324552, -0.349362, -0.37002599999999997, -0.38416799999999995, -0.38954999999999995, -0.38423399999999996, -0.37336199999999997, -0.36308999999999997]
+    constant_power: 1.0
+    gen_actuator_frequency: 10000.0
+    gen_actuator_damping: 1.0
+    pitch_actuator_frequency: 1.5708
+    pitch_actuator_damping: 0.707
+    yaw_rate: 0.49847328176381617