diff --git a/.github/workflows/CI_WEIS.yml b/.github/workflows/CI_WEIS.yml index cfbdb2f2a..de7976fe1 100644 --- a/.github/workflows/CI_WEIS.yml +++ b/.github/workflows/CI_WEIS.yml @@ -124,6 +124,13 @@ jobs: treon rev_Opt.ipynb treon rev_WEIS_CSV.ipynb + - name: Test model creation notebooks and drivers + if: contains( matrix.os, 'ubuntu') && contains( github.event_name, 'pull_request') + run: | + cd examples/09_model_creation_process + treon 0_notebooks/chapter1.ipynb + treon iea22_ptfm_driver.ipynb + # Run parallel script calling OpenFAST - name: Run parallel cases if: contains( matrix.os, 'ubuntu') && contains( github.event_name, 'pull_request') diff --git a/examples/02_generate_openfast_model_for_dlcs/iea34_driver.py b/examples/02_generate_openfast_model_for_dlcs/iea34_driver.py index a45bf27fd..50ea2bf47 100644 --- a/examples/02_generate_openfast_model_for_dlcs/iea34_driver.py +++ b/examples/02_generate_openfast_model_for_dlcs/iea34_driver.py @@ -16,48 +16,48 @@ test_run=TEST_RUN ) - -import matplotlib.pyplot as plt -import numpy as np -from matplotlib import cm - -X = wt_opt['sse_tune.aeroperf_tables.pitch_vector'] -Y = wt_opt['sse_tune.aeroperf_tables.tsr_vector'] -X, Y = np.meshgrid(X, Y) -pitch_schedule = wt_opt['rotorse.rp.powercurve.pitch'] -tsr_schedule = wt_opt['rotorse.rp.powercurve.Omega'] / 30. * np.pi * wt_opt['rotorse.Rtip'] / wt_opt['rotorse.rp.powercurve.V'] - -# Plot the Cp surface -fig, ax = plt.subplots() -Z = wt_opt['sse_tune.aeroperf_tables.Cp'] -cs = ax.contourf(X, Y, Z[:,:,0], cmap=cm.inferno, levels = [0, 0.1, 0.2, 0.3, 0.4, 0.44, 0.47, 0.50, 0.53, 0.56]) -ax.plot(pitch_schedule, tsr_schedule, 'w--', label = 'Regulation trajectory') -ax.set_xlabel('Pitch angle (deg)', fontweight = 'bold') -ax.set_ylabel('Tip speed ratio (-)', fontweight = 'bold') -cbar = fig.colorbar(cs) -cbar.ax.set_ylabel('Aerodynamic power coefficient (-)', fontweight = 'bold') -plt.legend() - -# Plot the Ct surface -fig, ax = plt.subplots() -Z = wt_opt['sse_tune.aeroperf_tables.Ct'] -cs = ax.contourf(X, Y, Z[:,:,0], cmap=cm.inferno) -ax.plot(pitch_schedule, tsr_schedule, 'w--', label = 'Regulation trajectory') -ax.set_xlabel('Pitch angle (deg)', fontweight = 'bold') -ax.set_ylabel('Tip speed ratio (-)', fontweight = 'bold') -cbar = fig.colorbar(cs) -cbar.ax.set_ylabel('Aerodynamic thrust coefficient (-)', fontweight = 'bold') -plt.legend() - -# Plot the Cq surface -fig, ax = plt.subplots() -Z = wt_opt['sse_tune.aeroperf_tables.Cq'] -cs = ax.contourf(X, Y, Z[:,:,0], cmap=cm.inferno) -ax.plot(pitch_schedule, tsr_schedule, 'w--', label = 'Regulation trajectory') -ax.set_xlabel('Pitch angle (deg)', fontweight = 'bold') -ax.set_ylabel('Tip speed ratio (-)', fontweight = 'bold') -cbar = fig.colorbar(cs) -cbar.ax.set_ylabel('Aerodynamic torque coefficient (-)', fontweight = 'bold') -plt.legend() - -plt.show() \ No newline at end of file +if not TEST_RUN: + import matplotlib.pyplot as plt + import numpy as np + from matplotlib import cm + + X = wt_opt['sse_tune.aeroperf_tables.pitch_vector'] + Y = wt_opt['sse_tune.aeroperf_tables.tsr_vector'] + X, Y = np.meshgrid(X, Y) + pitch_schedule = wt_opt['rotorse.rp.powercurve.pitch'] + tsr_schedule = wt_opt['rotorse.rp.powercurve.Omega'] / 30. * np.pi * wt_opt['rotorse.Rtip'] / wt_opt['rotorse.rp.powercurve.V'] + + # Plot the Cp surface + fig, ax = plt.subplots() + Z = wt_opt['sse_tune.aeroperf_tables.Cp'] + cs = ax.contourf(X, Y, Z[:,:,0], cmap=cm.inferno, levels = [0, 0.1, 0.2, 0.3, 0.4, 0.44, 0.47, 0.50, 0.53, 0.56]) + ax.plot(pitch_schedule, tsr_schedule, 'w--', label = 'Regulation trajectory') + ax.set_xlabel('Pitch angle (deg)', fontweight = 'bold') + ax.set_ylabel('Tip speed ratio (-)', fontweight = 'bold') + cbar = fig.colorbar(cs) + cbar.ax.set_ylabel('Aerodynamic power coefficient (-)', fontweight = 'bold') + plt.legend() + + # Plot the Ct surface + fig, ax = plt.subplots() + Z = wt_opt['sse_tune.aeroperf_tables.Ct'] + cs = ax.contourf(X, Y, Z[:,:,0], cmap=cm.inferno) + ax.plot(pitch_schedule, tsr_schedule, 'w--', label = 'Regulation trajectory') + ax.set_xlabel('Pitch angle (deg)', fontweight = 'bold') + ax.set_ylabel('Tip speed ratio (-)', fontweight = 'bold') + cbar = fig.colorbar(cs) + cbar.ax.set_ylabel('Aerodynamic thrust coefficient (-)', fontweight = 'bold') + plt.legend() + + # Plot the Cq surface + fig, ax = plt.subplots() + Z = wt_opt['sse_tune.aeroperf_tables.Cq'] + cs = ax.contourf(X, Y, Z[:,:,0], cmap=cm.inferno) + ax.plot(pitch_schedule, tsr_schedule, 'w--', label = 'Regulation trajectory') + ax.set_xlabel('Pitch angle (deg)', fontweight = 'bold') + ax.set_ylabel('Tip speed ratio (-)', fontweight = 'bold') + cbar = fig.colorbar(cs) + cbar.ax.set_ylabel('Aerodynamic torque coefficient (-)', fontweight = 'bold') + plt.legend() + + plt.show() \ No newline at end of file diff --git a/examples/09_model_creation_process/0_notebooks/chapter1.ipynb b/examples/09_model_creation_process/0_notebooks/chapter1.ipynb new file mode 100644 index 000000000..c50c899fe --- /dev/null +++ b/examples/09_model_creation_process/0_notebooks/chapter1.ipynb @@ -0,0 +1,621 @@ +{ + "cells": [ + { + "cell_type": "markdown", + "id": "f010422a", + "metadata": {}, + "source": [ + "# Welcome to the WEIS Workshop - Chapter 1: Rotor Design and Optimization\n", + "\n", + "## Introduction\n", + "\n", + "WEIS is a comprehensive framework that performs multifidelity co-design of wind turbines by integrating multiple NREL-developed tools:\n", + "\n", + "- **WISDEM** (Wind-Plant Integrated System Design and Engineering Model) - A set of models for assessing overall wind plant cost of energy (COE) using wind turbine and plant cost, energy production, and financial models\n", + "- **OpenFAST** - A physics-based engineering tool for simulating the coupled dynamic response of wind turbines, including aero-hydro-servo-elastic simulation in the time domain\n", + "- **ROSCO** (Reference OpenSource Controller) - An open, modular, and fully adaptable baseline wind turbine controller with industry-standard functionality\n", + "- **RAFT** (Response Amplitudes of Floating Turbines) - A frequency-domain analysis tool for floating wind turbines\n", + "\n", + "These tools work together in a unique workflow to enable comprehensive wind turbine design optimization, from individual components to full system integration.\n", + "\n", + "## Workshop Objectives\n", + "\n", + "In this workshop, you are tasked with designing and optimizing a **20MW floating wind turbine** starting from the IEA 22MW reference turbine. Your objectives include:\n", + "\n", + "1. **Establish baseline performance** - Understand the IEA 22MW floating turbine characteristics and performance\n", + "2. **Scale and optimize the rotor** - Modify the rotor to achieve 20MW rating while optimizing aerodynamic and structural performance\n", + "3. **Optimize the controller** - Retune the ROSCO pitch controller for the new rotor design to ensure optimal performance\n", + "4. **Design the floating platform** - Optimize a semisubmersible platform to support the turbine under various load conditions\n", + "5. **Validate through load analysis** - Simulate the design according to IEC Design Load Case (DLC) analysis\n", + "\n", + "## Our Systematic Multi-Stage Approach \n", + "\n", + "We'll follow a systematic optimization approach that mirrors our wind turbine development practices:\n", + "\n", + "1. **IEA 22MW Baseline** - Start with the IEA 22MW floating turbine to establish a reference point\n", + "2. **Rotor Scaling and Optimization** - Scale the rotor diameter for 20MW rating, then optimize chord, twist, and structural properties using WISDEM\n", + "3. **Controller Re-tuning** - Use ROSCO to re-tune the controller for optimal performance with the modified rotor\n", + "4. **Floating Platform Optimization** - Use RAFT for frequency-domain optimization of the semisubmersible platform\n", + "5. **High-Fidelity Integration** - Refine the design using OpenFAST for coupled aero-hydro-servo-elastic optimization\n", + "6. **Design Validation** - Conduct comprehensive DLC analysis to verify the final design meets all requirements\n", + "\n", + "\n", + "\n" + ] + }, + { + "cell_type": "code", + "execution_count": null, + "id": "2d1a1fee", + "metadata": {}, + "outputs": [], + "source": [ + "# Importing nesscary libraries.\n", + "import numpy as np\n", + "import matplotlib.pyplot as plt\n", + "from weis import weis_main\n", + "from wisdem import run_wisdem\n", + "import os\n", + "import pandas as pd\n", + "\n", + "from weis_workshop import *\n", + "\n", + "example_dir = os.path.join(os.getcwd(), '..')" + ] + }, + { + "cell_type": "markdown", + "id": "372acfd5", + "metadata": {}, + "source": [ + "# Using Pre-Computed Results\n", + "\n", + "Download full runs from Google Drive: https://drive.google.com/file/d/145BH393nzpT2msCVsHSBxR3Qy8KdpddI/view?usp=sharing\n", + "\n", + "Move archive file (archive_weisWorkshop_OCT25.tar.gz) to examples/09_model_creation_process/1_drivers\n", + "\n", + "Change to that directory in terminal and run:\n", + "```\n", + "tar -xvzf archive_weisWorkshop_OCT25.tar.gz -C .\n", + "```\n", + "\n", + "The following flag will let you use the precomputed outputs instead of the test runs currently configured in the drivers\n" + ] + }, + { + "cell_type": "markdown", + "id": "12ec3331", + "metadata": {}, + "source": [ + "## Stage 0: Establishing a Baseline\n", + "\n", + "Let's start by running the IEA 22MW floating turbine to understand our starting point. Since we're designing a 20MW turbine, the IEA22MW reference gives us a good baseline that's close to our target size.\n", + "\n", + "The following inputs are used in `examples/09_model_creation_process/1_drivers/stage-0-baseline` to conduct a baseline analysis of the IEA-22MW reference turbine.\n" + ] + }, + { + "cell_type": "markdown", + "id": "95fb7196", + "metadata": {}, + "source": [ + "## Understanding the Input Files\n", + "\n", + "**For Google Colab users:** Use the file browser on the left to navigate to the cloned repository and open the YAML files (double click).\n", + "\n", + "### Turbine Geometry File (WindIO Format)\n", + "The turbine is defined using WindIO format. Here are the key sections:\n", + "\n", + "```yaml\n", + "name: IEA 22MW Offshore Wind Turbine in Floating Configuration\n", + "assembly:\n", + " turbine_class: I\n", + " turbulence_class: B\n", + " drivetrain: direct_drive\n", + " rotor_orientation: Upwind\n", + " number_of_blades: 3\n", + " hub_height: 170.0\n", + " rotor_diameter: 284.0\n", + " rated_power: 22000000.0\n", + " lifetime: 25.0\n", + "components:\n", + " blade:\n", + " outer_shape_bem:\n", + " reference_axis:\n", + " x: { grid: [...], values: [...] }\n", + " y: { grid: [...], values: [...] }\n", + " z: { grid: [...], values: [...] }\n", + " chord: { grid: [...], values: [...] }\n", + " twist: { grid: [...], values: [...] }\n", + " internal_structure_2d_fem:\n", + " reference_axis: [...]\n", + " layers: [...]\n", + " webs: [...]\n", + " hub:\n", + " diameter: 7.94 # m\n", + " cone_angle: -2.5 # degrees\n", + " \n", + " nacelle:\n", + " drivetrain: [...]\n", + " transformer: [...]\n", + " \n", + " tower:\n", + " outer_shape_bem: [...]\n", + " internal_structure_2d_fem: [...]\n", + " \n", + " mooring:\n", + " nodes: [...]\n", + " lines: [...]\n", + "airfoils: [...]\n", + "materials: [...]\n", + "controls: [...]\n", + "environment: [...]\n", + "bos: [...]\n", + "costs: [...]\n", + "```\n", + "\n", + "### Analysis and Modeling Options\n", + "These files control what WEIS calculates and how:\n", + "\n", + "**Analysis Options** (How to analyze the problem):\n", + "```yaml\n", + "general:\n", + " folder_output: outputs/\n", + " fname_output: stage-0-baseline\n", + "```\n", + "\n", + "**Modeling Options** (which tools to use):\n", + "```yaml\n", + "General:\n", + " verbosity: False\n", + "\n", + "WISDEM:\n", + " RotorSE:\n", + " flag: True\n", + " TowerSE:\n", + " flag: True\n", + " DriveSE:\n", + " flag: True\n", + " FloatingSE:\n", + " flag: True\n", + " BOS:\n", + " flag: True\n", + "\n", + "OpenFAST: # Options for WEIS fidelity level 3 = nonlinear time domain\n", + " flag: False\n", + "\n", + "RAFT:\n", + " flag: False\n", + "\n", + "ROSCO:\n", + " flag: True\n", + " tuning_yaml: ../source/iea22_rosco.yaml\n", + "```\n" + ] + }, + { + "cell_type": "markdown", + "id": "a6891ab5", + "metadata": {}, + "source": [ + "## Run the Stage 0 Driver\n", + "\n", + "`python 1_drivers/stage-0-baseline/stage-0-baseline_driver.py`" + ] + }, + { + "cell_type": "code", + "execution_count": null, + "id": "d797bf2c", + "metadata": {}, + "outputs": [], + "source": [ + "# Lets analyize the baseline design!!\n", + "\n", + "use_precomputed = False\n", + "if use_precomputed:\n", + " output_folder = \"outputs_preCompute\"\n", + "else:\n", + " output_folder = \"outputs\"\n", + "\n", + "baseline_turb = pd.read_csv(os.path.join(example_dir, \"1_drivers\", \"stage-0-baseline\", output_folder, \"stage-0-baseline.csv\"), index_col=0)\n", + "# Open the CSV file shown above so explore the various variables output from WISDEM/WEIS\n", + "\n", + "print(f'there are {len(baseline_turb.index)} variables in the baseline design:')\n", + "\n", + "baseline_turb.index " + ] + }, + { + "cell_type": "markdown", + "id": "31f7469d", + "metadata": {}, + "source": [ + "WEIS outputs a comprehensive set of variables about the wind turbine analysis - you can see there are hundreds of them!\n", + "\n", + "Here are the key variables we'll focus on for understanding the baseline design:\n", + "- `rotorse.rp.powercurve.V` → Wind speed (m/s)\n", + "- `rotorse.rp.powercurve.Cp_aero` → Power coefficient \n", + "- `rotorse.rp.powercurve.Ct_aero` → Thrust coefficient\n", + "- `rotorse.rp.powercurve.P` → Power (W)\n", + "- `rotorse.rp.powercurve.T` → Thrust (N)\n", + "- `rotorse.rp.powercurve.pitch` → Pitch angle (deg)" + ] + }, + { + "cell_type": "code", + "execution_count": null, + "id": "a337aa4f", + "metadata": {}, + "outputs": [], + "source": [ + "plot_comparison_plot(baseline_turb, label='IEA22MW')" + ] + }, + { + "cell_type": "markdown", + "id": "cd55587e", + "metadata": {}, + "source": [ + "## Something Looks Off......\n", + "\n", + "At first glance, the power curve looks reasonable, but notice the Cp values. The IEA 22MW is known to achieve ~0.49, but our plot shows ~0.45. What's happening?\n", + "\n", + "`The IEA 22MW is highly flexible with significant blade torsion. Our analysis uses CCBlade, which assumes rigid blades and misses the flexibility effects. For accurate performance, we'd need OpenFAST with BeamDyn (the high-fidelity blade model), but that's computationally expensive.`\n", + "\n", + "For this initial design and optimization phase, CCBlade gives us the right trends even if the absolute values aren't perfect." + ] + }, + { + "cell_type": "markdown", + "id": "4c887bf2", + "metadata": {}, + "source": [ + "## Converting the IEA 22MW to a 20MW\n", + "\n", + "Now let's create our 20MW turbine by scaling the IEA 22MW. We will calculate a new diameter to ensure the same specific power (W/m²) in the new 20 MW rotor.\n", + "\n", + "The power equation for a wind turbine rotor is:\n", + "\n", + "$$P = \\frac{1}{2} \\rho A V^3 C_p$$\n", + "\n", + "Where:\n", + "- $P$ = power (W)\n", + "- $\\rho$ = air density (kg/m³)\n", + "- $A = \\pi D^2/4$ = rotor swept area (m²)\n", + "- $V$ = wind speed (m/s) \n", + "- $C_p$ = power coefficient\n", + "\n", + "For scaling, we assume $\\rho$, $V$, and $C_p$ remain constant. This gives us:\n", + "\n", + "$$\\frac{P_{20MW}}{P_{22MW}} = \\frac{A_{20MW}}{A_{22MW}} = \\frac{D_{20MW}^2}{D_{22MW}^2}$$\n", + "\n", + "Solving for the new diameter:\n", + "\n", + "$$D_{20MW} = D_{22MW} \\sqrt{\\frac{P_{20MW}}{P_{22MW}}} = 284.0 \\times \\sqrt{\\frac{20}{22}} \\approx 270.0 \\text{ m}$$\n", + "\n", + "Here's the updated geometry file with the scaled values:\n", + "\n", + "``` yaml\n", + "assembly:\n", + " turbine_class: I\n", + " turbulence_class: B\n", + " drivetrain: direct_drive\n", + " rotor_orientation: Upwind\n", + " number_of_blades: 3\n", + " hub_height: 170.0\n", + " rotor_diameter: 270.0 # 284.0\n", + " rated_power: 20000000.0 # 22000000.0\n", + " lifetime: 25.0\n", + "```" + ] + }, + { + "cell_type": "markdown", + "id": "7a442bcb", + "metadata": {}, + "source": [ + "# Stage 1: Rotor Optimization\n", + "\n", + "Now that we have a baseline and the new 20MW geometry file, let's optimize the rotor design. \n", + "\n", + "We'll use WISDEM for this rotor optimization rather than the more complex OpenFAST+Controller approach. This gives us a quick first-pass optimization that's computationally efficient. This approach also demonstrates how we systematically use multiple tools in the optimization process, avoiding a single massive optimization problem that can be difficult to solve." + ] + }, + { + "cell_type": "markdown", + "id": "438a4a98", + "metadata": {}, + "source": [ + "# Run WISDEM with Scaled Rotor\n", + "\n", + "This script will run the geometry through WISDEM without any optimization, demonstrating the need to re-optimize the blade planform when scaling rotors\n", + "\n", + "Run: `python examples/09_model_creation_process/1_drivers/stage-1-aeroStruct/stage-1-aeroStruct_driver.py`\n" + ] + }, + { + "cell_type": "markdown", + "id": "69f2e17b", + "metadata": {}, + "source": [ + "## Examining the Input Files in `stage-1-aeroStruct`\n", + "\n", + "\n", + "### Google Colab Users:\n", + "1. Go to the file browser on the left\n", + "2. Navigate to the cloned repository\n", + "3. Open the YAML files to examine the configuration\n", + "\n", + "## Analysis Options:\n", + "The analysis options file defines what we want to optimize and the constraints we need to satisfy. Here are the key sections:\n", + "\n", + "```yaml\n", + "\n", + "design_variables:\n", + " \n", + " blade:\n", + " aero_shape:\n", + " twist:\n", + " flag: False # Flag to optimize the twist\n", + " inverse: True # Flag to determine twist from a desired angle of attack\n", + " inverse_target: 'max_efficiency' # Twist generates angles of attack # corresponding to 'max_efficiency' or 'stall_margin'\n", + " n_opt: 10 # Number of control points along blade span. During inverse design, # twist is smoothened with a spline with these\n", + " max_decrease: 0.08722222222222221 # Maximum decrease for the twist in [rad] at the n_opt locations. Only used if flag is set to True\n", + " max_increase: 0.08722222222222221 # Maximum increase for the twist in [rad] at the n_opt locations. Only used if flag is set to True\n", + " index_start: 2 # Lock the first two DVs from blade root\n", + " index_end: 10 # All DVs close to blade tip are active\n", + "\n", + " chord:\n", + " flag: True # Flag to optimize the chord\n", + " n_opt: 10 # Number of control points along blade span\n", + " max_decrease: 0.4 # Minimum multiplicative gain on existing chord at the n_opt locations\n", + " max_increase: 1.5 # Maximum multiplicative gain on existing chord at the n_opt locations\n", + " index_start: 1 # Lock the first DV from blade root\n", + " index_end: 9 # All DVs close to blade tip are active\n", + " af_positions:\n", + " flag: True\n", + " af_start: 4\n", + " structure:\n", + " - layer_name: spar_cap_ss\n", + " n_opt: 8 # Number of control points along blade span\n", + " max_decrease: 0.2 # Maximum nondimensional decrease at the n_opt locations\n", + " max_increase: 5. # Maximum nondimensional increase at the n_opt locations\n", + " index_start: 1 # Lock the first DV from blade root\n", + " index_end: 7 # The last DV at blade tip is locked\n", + " - layer_name: spar_cap_ps\n", + " n_opt: 8 # Number of control points along blade span\n", + " max_decrease: 0.2 # Maximum nondimensional decrease at the n_opt locations\n", + " max_increase: 5. # Maximum nondimensional increase at the n_opt locations\n", + " index_start: 1 # Lock the first DV from blade root\n", + " index_end: 7 # The last DV at blade tip is locked\n", + " - layer_name: te_reinforcement_ss\n", + " n_opt: 8 # Number of control points along blade span\n", + " max_decrease: 0.2 # Maximum nondimensional decrease at the n_opt locations\n", + " max_increase: 5. # Maximum nondimensional increase at the n_opt locations\n", + " index_start: 1 # Lock the first DV from blade root\n", + " index_end: 7 # The last DV at blade tip is locked\n", + " - layer_name: te_reinforcement_ps\n", + " n_opt: 8 # Number of control points along blade span\n", + " max_decrease: 0.2 # Maximum nondimensional decrease at the n_opt locations\n", + " max_increase: 5. # Maximum nondimensional increase at the n_opt locations\n", + " index_start: 1 # Lock the first DV from blade root\n", + " index_end: 7 # The last DV at blade tip is locked\n", + "\n", + "# figure of merit\n", + "merit_figure: LCOE\n", + "\n", + "constraints:\n", + " blade:\n", + " stall:\n", + " flag: False # Constraint on minimum stall margin\n", + " margin: 0.12 # Value of minimum stall margin in [rad]\n", + " chord:\n", + " flag: True # Constraint max chord to its default value (4.75 m)\n", + " max: 8. # Max chord value\n", + " chord_slope:\n", + " flag: True # Constraint to enforce monothonically decreasing chord after max chord\n", + " root_circle_diameter:\n", + " flag: False # Constraint for the minimum blade root circle diameter\n", + " max_ratio: 1.2 # The recommended value can be up to 20% larger than the actual\n", + " moment_coefficient:\n", + " flag: False # Constraint on maximum blade root flapwise moment coefficient\n", + " max: 0.20 # Lowering this value will lead to low induction rotors\n", + " strains_spar_cap_ss:\n", + " flag: True # Flag to impose constraints on maximum strains (absolute value) in the spar cap on the blade suction side\n", + " max: 3500.e-6 # Value of maximum strains [-]\n", + " index_start: 1 # Do not enforce constraint at the first station from blade root of the n_opt from spar_cap_ss\n", + " index_end: 7 # Do not enforce constraint at the last station at blade tip of the n_opt from spar_cap_ss\n", + " strains_spar_cap_ps:\n", + " flag: True # Flag to impose constraints on maximum strains (absolute value) in the spar cap on the blade pressure side\n", + " max: 3500.e-6 # Value of maximum strains [-]\n", + " index_start: 1 # Do not enforce constraint at the first station from blade root of the n_opt from spar_cap_ps\n", + " index_end: 7 # Do not enforce constraint at the last station at blade tip of the n_opt from spar_cap_ps \n", + " tip_deflection:\n", + " flag: True\n", + " margin: 1.4175\n", + "\n", + "driver:\n", + " optimization:\n", + " flag: True # Flag to enable optimization\n", + " tol: 1.e-6 # Optimality tolerance\n", + " max_iter: 1000 # Maximum number of iterations (SLSQP)\n", + " solver: SLSQP # Optimization solver. Other options are 'SLSQP' - 'CONMIN'\n", + " step_size: 1.e-3 # Step size for finite differencing\n", + " form: central # Finite differencing mode, either forward or central\n", + "\n", + "recorder:\n", + " flag: True # Flag to activate OpenMDAO recorder\n", + " file_name: log_opt.sql # Name of OpenMDAO recorder\n", + "\n", + "\n", + "```\n", + "\n", + "## Modeling Options:\n", + "The modeling options file controls which WISDEM modules are active during the optimization:\n", + "\n", + "```yaml\n", + "General:\n", + " verbosity: True # When set to True, the code prints to screen many infos\n", + "\n", + "\n", + "WISDEM:\n", + " RotorSE:\n", + " flag: True\n", + " spar_cap_ss: spar_cap_ss\n", + " spar_cap_ps: spar_cap_ps\n", + "\n", + " DriveSE:\n", + " flag: False\n", + " TowerSE:\n", + " flag: True\n", + " FloatingSE:\n", + " flag: False\n", + " BOS:\n", + " flag: False\n", + "\n", + "```" + ] + }, + { + "cell_type": "markdown", + "id": "97a12e68", + "metadata": {}, + "source": [ + "## Run Stage 1 Driver\n", + "\n", + "Run: `python examples/09_model_creation_process/1_drivers/stage-1-aeroStruct/stage-1-aeroStruct_driver.py`" + ] + }, + { + "cell_type": "markdown", + "id": "43f69079", + "metadata": {}, + "source": [ + "## 1.2: Aero-struct Outupts\n", + "\n", + "Now let's examine the optimization results! We've prepared two datasets for comparison:\n", + "\n", + "1. **Precomputed optimization results** - The full optimization has been completed and results are stored in the `outputs` folder\n", + "2. **Baseline comparison data** - We also ran the same case without optimization to show the \"before and after\" effects\n", + "\n", + "This comparison will help us understand how the optimization improved the rotor design." + ] + }, + { + "cell_type": "code", + "execution_count": null, + "id": "7385cf21", + "metadata": {}, + "outputs": [], + "source": [ + "stageFolder = \"stage-1-aeroStruct\"\n", + "\n", + "baseline_turb = pd.read_csv(os.path.join(example_dir, \"1_drivers\", stageFolder,\"outputs_nonOpti\", \"stage-1-aeroStruct-NonOptimized.csv\"), index_col=0)\n", + "\n", + "use_precomputed = True\n", + "if use_precomputed:\n", + " output_folder = \"outputs_preCompute\"\n", + "else:\n", + " output_folder = \"outputs\"\n", + "\n", + "\n", + "optimized_turb = pd.read_csv(os.path.join(example_dir, \"1_drivers\", stageFolder, output_folder, \"stage-1-aeroStruct-aero_analysis.csv\"), index_col=0)\n", + "\n", + "\n", + "plot_rotor_comparison(baseline_turb, optimized_turb)" + ] + }, + { + "cell_type": "markdown", + "id": "1a942b53", + "metadata": {}, + "source": [ + "## Important Considerations\n", + "\n", + "### Modeling Limitations\n", + "- As discussed earlier, this optimization uses CCBlade for aerodynamic analysis, which assumes rigid blades. The performance numbers show correct trends but may not be consistent with models at higher levels of fidelity.\n", + "- For more precise performance predictions, you would need to use WEIS with OpenFAST+BeamDyn, which captures blade flexibility but is computationally expensive.\n", + "\n", + "### Optimization Convergence\n", + "The optimization successfully converged in 44 iterations. We can examine the optimization history using the `log_opt.sql` file, which logs all design variables and constraints throughout the process.\n", + "\n", + "## 1.2 Plot Optimization Convergence" + ] + }, + { + "cell_type": "code", + "execution_count": null, + "id": "d43d648b", + "metadata": {}, + "outputs": [], + "source": [ + "use_precomputed = False\n", + "if use_precomputed:\n", + " output_folder = \"outputs_preCompute\"\n", + "else:\n", + " output_folder = \"outputs\"\n", + "\n", + "rec_data = load_OMsql(os.path.join(example_dir, \"1_drivers\", stageFolder, output_folder,\"log_opt.sql\")) # not sure what supresses the output here\n", + "\n", + "\n", + "plot_convergence(rec_data, [\n", + " 'financese.lcoe',\n", + " 'tcons.tip_deflection_ratio',\n", + " 'blade.opt_var.af_position',\n", + " 'blade.opt_var.chord_opt',\n", + " 'blade.pa.max_chord_constr',\n", + " 'rotorse.rs.constr.constr_max_strainL_spar',\n", + " 'rotorse.rs.constr.constr_max_strainU_spar'\n", + " ])" + ] + }, + { + "cell_type": "markdown", + "id": "13dc2d7b", + "metadata": {}, + "source": [ + "# Chapter 1 Complete: Your Optimized 20MW Rotor\n", + "\n", + "## What We Accomplished\n", + "\n", + "Congratulations! You've successfully completed the first stage of wind turbine design optimization. Here's what we achieved in this session:\n", + "\n", + "- **Baseline Analysis**: Started with the IEA 22MW floating wind turbine and established a performance baseline\n", + "- **Input File Understanding**: Explored the WEIS/WISDEM input file structure and configuration options\n", + "- **Performance Assessment**: Analyzed the baseline turbine and visualized key performance metrics from the CSV output\n", + "- **Turbine Scaling**: Modified the IEA 22MW design to create a 20MW turbine by adjusting rotor diameter and rated power\n", + "- **Rotor Optimization**: Used WISDEM to optimize chord distribution, structural properties, and airfoil positioning\n", + "- **Convergence Analysis**: Examined the optimization history using log_opt.sql and plotted convergence behavior\n", + "- **Design Comparison**: Evaluated the performance improvements between unoptimized and optimized 20MW rotors\n", + "\n", + "" + ] + } + ], + "metadata": { + "kernelspec": { + "display_name": "weis-eni", + "language": "python", + "name": "python3" + }, + "language_info": { + "codemirror_mode": { + "name": "ipython", + "version": 3 + }, + "file_extension": ".py", + "mimetype": "text/x-python", + "name": "python", + "nbconvert_exporter": "python", + "pygments_lexer": "ipython3", + "version": "3.11.14" + } + }, + "nbformat": 4, + "nbformat_minor": 5 +} diff --git a/examples/09_model_creation_process/0_notebooks/chapter2.ipynb b/examples/09_model_creation_process/0_notebooks/chapter2.ipynb new file mode 100644 index 000000000..222b7454a --- /dev/null +++ b/examples/09_model_creation_process/0_notebooks/chapter2.ipynb @@ -0,0 +1,963 @@ +{ + "cells": [ + { + "cell_type": "code", + "execution_count": null, + "id": "7a3a97e8", + "metadata": {}, + "outputs": [], + "source": [ + "# Downloading the precomputed data from Google Drive & extracting\n", + "# Drive link for downloading full runs: https://drive.google.com/file/d/145BH393nzpT2msCVsHSBxR3Qy8KdpddI/view?usp=sharing\n", + "# !gdown 145BH393nzpT2msCVsHSBxR3Qy8KdpddI -O /content/weisWorkshop/archive_weisWorkshop_OCT25.tar.gz\n", + "# move file and change directory to examples/09_model_creation_process/1_drivers\n", + "# tar -xvzf archive_weisWorkshop_OCT25.tar.gz -C .\n", + "\n", + "# This flag will let you use those precomputed outputs instead of the partial simulations in this notebook\n", + "use_precomputed_outputs = False" + ] + }, + { + "cell_type": "markdown", + "id": "92735b9d", + "metadata": {}, + "source": [ + "# Chapter 2: Controller Tuning and Platform Optimization\n", + "\n", + "## Introduction to Multi-Fidelity (Co-)Design\n", + "\n", + "In Chapter 1, we optimized our rotor using WISDEM's steady-state models. Now we advance to WEIS's full multi-fidelity capabilities, integrating dynamic analysis tools for comprehensive system optimization.\n", + "\n", + "WEIS enables a systematic progression through modeling fidelities:\n", + "- **WISDEM**: Steady-state system engineering models for initial design\n", + "- **RAFT**: Frequency-domain analysis for rapid floating platform evaluation\n", + "- **OpenFAST**: Time-domain aeroelastic simulation for medium-fidelity load analysis\n", + "\n", + "## Chapter 1 Recap\n", + "\n", + "We will build on our previous work, where we:\n", + "- Established baseline performance of the IEA 22MW floating wind turbine\n", + "- Scaled the design to create a 20MW turbine (with a smaller, 270m rotor diameter)\n", + "- Optimized rotor aerodynamics and structure using WISDEM\n", + "- Analyzed optimization convergence and performance improvements\n", + "\n", + "## Chapter 2 Objectives\n", + "\n", + "Now we'll complete the integrated system design through multi-stage optimization:\n", + "\n", + "### Stage 2: Controller Re-tuning with ROSCO\n", + "- **Challenge**: Our optimized rotor requires a retuned controller to operate efficiently and manage loads properly\n", + "- **Approach**: Use ROSCO within WEIS to optimize controller parameters for the new rotor design\n", + "- **Tools**: OpenFAST + ROSCO for analysis\n", + "\n", + "### Stage 3a: Floating Platform Optimization with RAFT\n", + "- **Challenge**: Design an optimal semisubmersible platform for the 20MW system\n", + "- **Approach**: Use RAFT's frequency-domain analysis for rapid platform sizing and optimization\n", + "- **Tools**: RAFT for efficient floating platform design iteration\n", + "\n", + "### Stage 3b: Medium-Fidelity System Integration\n", + "- **Challenge**: Validate and refine the design using high-fidelity dynamic analysis\n", + "- **Approach**: OpenFAST-based optimization incorporating controller and platform interactions\n", + "- **Tools**: OpenFAST with Design Load Cases (DLCs) for comprehensive load assessment\n", + "\n", + "\n", + "\n", + "This multi-stage approach demonstrates WEIS's systematic design methodology, progressing from rapid conceptual design to detailed engineering analysis." + ] + }, + { + "cell_type": "code", + "execution_count": null, + "id": "b78aebca", + "metadata": {}, + "outputs": [], + "source": [ + "# Importing nesscary libraries.\n", + "from weis import weis_main\n", + "import os\n", + "\n", + "from weis_workshop import *\n", + "\n", + "# set env variables\n", + "os.environ[\"OMP_NUM_THREADS\"] = \"1\" # export OMP_NUM_THREADS=1\n", + "os.environ[\"MKL_NUM_THREADS\"] = \"1\" # export MKL_NUM_THREADS=1\n", + "\n", + "# workshop repository folder\n", + "this_dir = os.getcwd()\n", + "\n" + ] + }, + { + "cell_type": "markdown", + "id": "9451cef9", + "metadata": {}, + "source": [ + "## Multi-Stage Optimization Workflow\n", + "\n", + "We'll now implement the multi-stage optimization approach outlined in our objectives. Each stage builds upon the previous work, demonstrating the systematic progression through WEIS's modeling capabilities.\n", + "\n", + "**Computational Notes**: For this workshop, we'll run single iterations and use precomputed results to demonstrate the workflow efficiently. In practice, these optimizations would run for many iterations to achieve full convergence." + ] + }, + { + "cell_type": "markdown", + "id": "de0d61f7", + "metadata": {}, + "source": [ + "## Stage 3: Controller Re-tuning with ROSCO\n", + "\n", + "### Why Controller Re-tuning is Essential\n", + "\n", + "Our optimized rotor from Chapter 1 has different aerodynamic characteristics than the original IEA 22MW design. The controller parameters that worked well for the baseline turbine may now be suboptimal or even cause stability issues with our new rotor.\n", + "\n", + "### Controller Optimization Objectives\n", + "\n", + "**Primary Goal**: Minimize tower base damage equivalent loads (DELs) while maintaining operational constraints\n", + "\n", + "**Key Design Variables**:\n", + "- **Pitch controller natural frequency (ω)**: Controls how aggressively the pitch system responds\n", + "- **Pitch controller damping (ζ)**: Determines system stability and response smoothness \n", + "- **Floating feedback gain (Kp_float)**: Manages platform motion interactions\n", + "- **Platform natural frequency (ptfm_freq)**: Used for floating feedback controller filtering\n", + "\n", + "**Constraints**:\n", + "- **Rotor overspeed limit**: Ensure safe operation under all conditions\n", + "- **Operational stability**: Maintain controller performance across the wind speed range\n", + "\n", + "This optimization uses OpenFAST for high-fidelity aeroelastic analysis, capturing the dynamic interactions between the controller, rotor, tower, and floating platform that are essential for offshore wind turbines." + ] + }, + { + "cell_type": "code", + "execution_count": null, + "id": "598f089c", + "metadata": {}, + "outputs": [], + "source": [ + "# Setting up file paths\n", + "stageFolder = \"stage-2-controller\"\n", + "\n", + "fname_wt_input = os.path.join(this_dir, \"..\", \"2_models\", \"stage-1-aeroStruct-aero_analysis.yaml\")\n", + "fname_modeling_options = os.path.join(this_dir, \"..\", \"1_drivers\", stageFolder, f\"stage-2-controller_modeling.yaml\")\n", + "fname_analysis_options = os.path.join(this_dir, \"..\", \"1_drivers\", stageFolder, f\"stage-2-controller_analysis.yaml\")\n" + ] + }, + { + "cell_type": "markdown", + "id": "bd03535c", + "metadata": {}, + "source": [ + "## Controller Optimization Configuration\n", + "\n", + "The controller optimization setup demonstrates WEIS's ability to perform high-fidelity aeroelastic optimization using OpenFAST. This configuration integrates multiple tools for comprehensive dynamic analysis.\n", + "\n", + "### Analysis Options Configuration\n", + "\n", + "The analysis options define our optimization problem:\n", + "\n", + "```yaml\n", + "design_variables:\n", + " control:\n", + " servo:\n", + " pitch_control:\n", + " omega:\n", + " flag: True\n", + " min: 0.025\n", + " max: 0.5\n", + " zeta:\n", + " flag: True\n", + " min: 0.1\n", + " max: 3.0\n", + " Kp_float:\n", + " flag: True\n", + " min: -40.0 # -0.25\n", + " max: 0\n", + " ptfm_freq:\n", + " flag: True\n", + " max: 0.5\n", + "\n", + "merit_figure: DEL_TwrBsMyt # Merit figure of the optimization problem. The options are 'AEP' - 'LCOE' - 'Cp' - 'blade_mass' - 'blade_tip_deflection'\n", + "\n", + "constraints:\n", + " control:\n", + " rotor_overspeed:\n", + " flag: True\n", + " min: 0.0\n", + " max: 0.2\n", + "\n", + "driver:\n", + " optimization:\n", + " flag: True\n", + " tol: 1.e-3 # Optimality tolerance\n", + " max_iter: 200 # Maximum number of iterations (SLSQP)\n", + " maxiter: 60 # Maximum number of iterations (SLSQP)\n", + " solver: LN_COBYLA # Optimization solver. Other options are 'SLSQP' - 'CONMIN'\n", + " step_size: 1.e-3 # Step size for finite differencing\n", + " form: forward # Finite differencing mode, either forward or central\n", + "```\n", + "\n", + "**Key Configuration Elements:**\n", + "- **Merit Figure**: `DEL_TwrBsMyt` - Tower base damage equivalent load in the fore-aft direction\n", + "- **Design Variables**: Four controller parameters with physically meaningful bounds\n", + "- **Constraints**: Rotor overspeed constraint to ensure safe operation\n", + "- **Solver**: LN_COBYLA for gradient-free optimization suitable for noisy objective functions\n", + "\n", + "### Modeling Options Configuration\n", + "\n", + "The modeling options enable high-fidelity simulation through OpenFAST integration:\n", + "\n", + "```yaml\n", + "General:\n", + " verbosity: False # When set to True, the code prints to screen many infos\n", + " openfast_configuration:\n", + " OF_run_fst: stage-2-controller\n", + " save_iterations: True\n", + " save_timeseries: True\n", + " use_exe: True\n", + " allow_fails: True\n", + " fail_value: 9999\n", + " write_stdout: True\n", + "\n", + "WISDEM:\n", + " RotorSE:\n", + " flag: True\n", + " n_pitch_perf_surfaces: 20\n", + " n_tsr_perf_surfaces: 20\n", + " spar_cap_ss: spar_cap_ss\n", + " spar_cap_ps: spar_cap_ps\n", + " peak_thrust_shaving: True\n", + " thrust_shaving_coeff: 0.8\n", + " TowerSE:\n", + " flag: True\n", + " wind: PowerWind # Wind used\n", + " gamma_f: 1.35 # Safety factor for fatigue loads\n", + " gamma_m: 1.3 # Safety factor for material properties\n", + " gamma_n: 1.0 # Safety factor for ...\n", + " gamma_b: 1.1 # Safety factor for ...\n", + " gamma_fatigue: 1.755 # Safety factor for fatigue loads\n", + " buckling_method: dnvgl # Buckling code type [eurocode or dnvgl]\n", + " buckling_length: 15 # Buckling parameter\n", + " frame3dd:\n", + " shear: True\n", + " geom: True\n", + " tol: 1e-9\n", + " DriveSE:\n", + " flag: True\n", + " FloatingSE:\n", + " flag: True\n", + " symmetric_moorings: True\n", + " gamma_f: 1.35 # Safety factor for fatigue loads\n", + " gamma_m: 1.3 # Safety factor for material properties\n", + " gamma_n: 1.0 # Safety factor for ...\n", + " gamma_b: 1.1 # Safety factor for ...\n", + " gamma_fatigue: 1.755 # Safety factor for fatigue loads\n", + " rank_and_file: True\n", + " BOS:\n", + " flag: True\n", + "\n", + "OpenFAST: # Options for WEIS fidelity level 3 = nonlinear time domain\n", + " flag: True\n", + " simulation:\n", + " DT: 0.01\n", + " CompElast: 1\n", + " CompInflow: 1\n", + " CompAero: 2\n", + " CompServo: 1\n", + " CompHydro: 1\n", + " CompSub: 0\n", + " CompMooring: 3\n", + " CompIce: 0\n", + " OutFileFmt: 3\n", + " NumCrctn: 1\n", + " ElastoDyn:\n", + " FlapDOF1: True\n", + " FlapDOF2: True\n", + " EdgeDOF: True\n", + " TeetDOF: False\n", + " DrTrDOF: False\n", + " GenDOF: True\n", + " YawDOF: False\n", + " TwFADOF1 : True\n", + " TwFADOF2 : True\n", + " TwSSDOF1 : True\n", + " TwSSDOF2 : True\n", + " PtfmSgDOF: True\n", + " PtfmSwDOF: True\n", + " PtfmHvDOF: True\n", + " PtfmRDOF : True\n", + " PtfmPDOF : True\n", + " PtfmYDOF : True\n", + "RAFT:\n", + " flag: True\n", + " potential_model_override: 0\n", + " trim_ballast: 2\n", + " heave_tol: 1\n", + " save_designs: True\n", + "ROSCO:\n", + " flag: True\n", + " tuning_yaml: ../source/iea22_rosco.yaml\n", + "\n", + "DLC_driver:\n", + " metocean_conditions:\n", + " wind_speed: [4., 6., 8., 10., 12., 14., 16., 18., 20., 22., 24.]\n", + " wave_height_NSS: [0.83, 0.88, 0.94, 1.03, 1.16, 1.34, 1.57, 1.86, 2.22, 2.62, 3.07]\n", + " wave_period_NSS: [6.9, 6.96, 7.02, 7.12, 7.25, 7.43, 7.66, 7.94, 8.27, 8.63, 9.01]\n", + " wave_height_SSS: [6.3, 8, 8, 8.1, 8.5, 8.5, 9.8, 9.8, 9.8, 9.8, 9.9]\n", + " wave_period_SSS: [11.5, 12.7, 12.7, 12.8, 13.1, 13.1, 14.1, 14.1, 14.1, 14.1, 14.1]\n", + " wave_height_1: 6.98\n", + " wave_period_1: 11.7\n", + " wave_height_50: 10.68\n", + " wave_period_50: 14.2\n", + " DLCs:\n", + " - DLC: \"1.1\"\n", + " n_seeds: 6\n", + " transient_time: 120.0 # 0.\n", + " analysis_time: 600.0 # 10.\n", + "```\n", + "\n", + "**Key Integration Elements:**\n", + "- **OpenFAST**: Full aeroelastic simulation with all relevant DOFs enabled\n", + "- **RAFT**: Frequency-domain analysis for platform initialization\n", + "- **ROSCO**: Controller integration with baseline tuning file\n", + "- **DLC Driver**: Design Load Case 1.1 (normal operation) with realistic metocean conditions\n", + "- **WISDEM**: All structural analysis modules activated for comprehensive modeling\n", + "\n", + "This configuration represents WEIS's highest fidelity level, combining time-domain aeroelastic simulation with controller optimization for floating offshore wind turbines." + ] + }, + { + "cell_type": "code", + "execution_count": null, + "id": "81eadf85", + "metadata": {}, + "outputs": [], + "source": [ + "# lets overide a few things so that we dont distrupt the existing results.\n", + "analysis_override = {}\n", + "analysis_override['general'] = {}\n", + "analysis_override['general']['folder_output'] = 'outputsCh2'\n", + "analysis_override['driver'] = {}\n", + "analysis_override['driver']['optimization'] = {}\n", + "analysis_override['driver']['optimization']['max_iter'] = 1 # only run one iteration for this demo, we have precomputed the solutions for you :)\n", + "\n", + "\n", + "# modeling_override = {}\n", + "# modeling_override['DLC_driver'] = {}\n", + "# modeling_override['DLC_driver']['DLCs'] = [\n", + "# {'DLC': \"1.1\",\n", + "# 'n_seeds': 1,\n", + "# 'wind_speed': [20.0],\n", + "# 'transient_time': 10.0,\n", + "# 'analysis_time': 30.0}]\n", + "\n", + "# Reference: examples/09_model_creation_process/1_drivers/stage-2-controller/stage-2-controller_driver.py\n", + "\n", + "control_20mw, modeling_options, opt_options = weis_main(fname_wt_input, \n", + " fname_modeling_options, \n", + " fname_analysis_options,\n", + " analysis_override=analysis_override,\n", + " # modeling_override=modeling_override,\n", + " test_run=True\n", + " )" + ] + }, + { + "cell_type": "markdown", + "id": "c6d100c8", + "metadata": {}, + "source": [ + "## 2.1: Controller Optimization Results Analysis\n", + "\n", + "Now we'll examine the controller optimization convergence using precomputed results. The optimization minimized tower base damage equivalent loads while satisfying rotor overspeed constraints.\n", + "\n", + "### What to Look For\n", + "\n", + "**Objective Function Behavior:**\n", + "- `aeroelastic.DEL_TwrBsMyt`: Tower base fore-aft damage equivalent loads (our primary objective)\n", + "- `aeroelastic.rotor_overspeed`: Constraint ensuring safe operational limits\n", + "\n", + "**Controller Parameter Evolution:**\n", + "- `tune_rosco_ivc.omega_pc`: Pitch controller natural frequency optimization\n", + "- `tune_rosco_ivc.zeta_pc`: Pitch controller damping ratio optimization \n", + "- `tune_rosco_ivc.Kp_float`: Floating platform feedback gain tuning\n", + "- `tune_rosco_ivc.ptfm_freq`: Platform frequency parameter for filtering\n", + "\n", + "\n", + "\n", + "The convergence plots will show how the optimizer balanced load reduction with operational constraints, demonstrating the effectiveness of controller co-design for floating offshore wind turbines." + ] + }, + { + "cell_type": "code", + "execution_count": null, + "id": "1755e26e", + "metadata": {}, + "outputs": [], + "source": [ + "use_precomputed_outputs = False\n", + "if use_precomputed_outputs:\n", + " output_folder = 'outputs_preCompute'\n", + "else:\n", + " output_folder = 'outputsCh2'\n", + "\n", + "rec_data = load_OMsql(os.path.join(this_dir,'..','1_drivers', stageFolder, output_folder, \"log_opt.sql\")) # not sure what supresses the output here\n", + "plot_convergence(\n", + " rec_data, \n", + " [\n", + " 'aeroelastic.DEL_TwrBsMyt', \n", + " 'aeroelastic.rotor_overspeed', \n", + " 'tune_rosco_ivc.Kp_float', \n", + " 'tune_rosco_ivc.omega_pc',\n", + " 'tune_rosco_ivc.ptfm_freq', \n", + " 'tune_rosco_ivc.zeta_pc'\n", + " ],\n", + " )" + ] + }, + { + "cell_type": "markdown", + "id": "2d959a33", + "metadata": {}, + "source": [ + "## Stage 3: Floating Platform Optimization with RAFT\n", + "\n", + "### Multi-Fidelity Platform Design Approach\n", + "\n", + "Following the methodology from **Zalkind et al. (2024)** \"Control Co-Design Studies for a 22 MW Semisubmersible Floating Wind Turbine Platform\" (DOI: 10.1088/1742-6596/2767/8/082020), we implement a systematic multi-fidelity approach:\n", + "\n", + "#### Phase 1: RAFT-Based Platform Sizing\n", + "- **Tool**: RAFT frequency-domain analysis\n", + "- **Purpose**: Rapid initial sizing and optimization of the semisubmersible platform\n", + "- **Advantages**: Fast computation allows extensive design space exploration\n", + "- **Focus**: Hydrostatic stability, natural periods, and basic motion responses\n", + "\n", + "#### Phase 2: OpenFAST High-Fidelity Refinement \n", + "- **Tool**: OpenFAST time-domain aeroelastic simulation\n", + "- **Purpose**: Detailed load analysis and platform optimization with full system interactions\n", + "- **Advantages**: Captures nonlinear effects, controller interactions, and realistic loads\n", + "- **Focus**: Fatigue loads, extreme responses, and coupled dynamics\n", + "\n", + "#### Phase 3: Integrated Co-Design (Optional)\n", + "- **Tool**: OpenFAST time-domain aeroelastic simulation\n", + "- **Approach**: Simultaneous optimization of platform and controller parameters\n", + "- **Benefits**: Captures synergistic effects between platform design and control strategy\n", + "- **Complexity**: Higher computational cost but potentially superior performance\n", + "\n", + "### Platform Design Objectives\n", + "\n", + "**Primary Goals:**\n", + "- Minimize platform structural mass (cost reduction)\n", + "- Ensure adequate stability margins\n", + "- Control platform motions within acceptable limits\n", + "- Satisfy manufacturing and installation constraints\n", + "\n", + "**Key Design Variables:**\n", + "- Platform geometry (member dimensions, spacing)\n", + "\n", + "This systematic approach demonstrates how WEIS enables efficient platform design by leveraging the appropriate fidelity level for each design phase." + ] + }, + { + "cell_type": "code", + "execution_count": null, + "id": "6172cf0a", + "metadata": {}, + "outputs": [], + "source": [ + "# Setting up file paths\n", + "stageFolder = \"stage-3-semisub\" # First the RAFT optimization\n", + "\n", + "fname_wt_input = os.path.join(this_dir,\"..\", \"2_models\", \"stage-2-controller_v2p0.yaml\")\n", + "fname_modeling_options = os.path.join(this_dir,\"..\", \"1_drivers\", stageFolder, f\"stage-3-semisub_raft_modeling.yaml\")\n", + "fname_analysis_options = os.path.join(this_dir,\"..\", \"1_drivers\", stageFolder, f\"stage-3-semisub_raft_analysis.yaml\")" + ] + }, + { + "cell_type": "markdown", + "id": "c1a329fd", + "metadata": {}, + "source": [ + "## RAFT Platform Optimization Configuration\n", + "\n", + "### Input File Setup and Analysis Configuration\n", + "\n", + "We're now setting up the RAFT-based floating platform optimization using the controller-optimized turbine from Stage 2. This configuration demonstrates WEIS's ability to perform rapid platform design iterations using frequency-domain analysis.\n", + "\n", + "### Analysis Options Configuration\n", + "\n", + "The analysis configuration defines our semisubmersible platform optimization problem with realistic design variables and constraints:\n", + "\n", + "```yaml\n", + "design_variables:\n", + " floating:\n", + " joints:\n", + " flag: True\n", + " z_coordinate: # draft\n", + " - names: [main_keel, col1_keel, col2_keel, col3_keel]\n", + " lower_bound: -30.0\n", + " upper_bound: -12.0\n", + " r_coordinate:\n", + " - names: [col1_keel, col1_freeboard, col2_keel, col2_freeboard, col3_keel, col3_freeboard]\n", + " lower_bound: 35.0\n", + " upper_bound: 75.0\n", + " members:\n", + " flag: True\n", + " groups:\n", + " - names: [column1, column2, column3]\n", + " diameter:\n", + " lower_bound: 10.0\n", + " upper_bound: 16.0\n", + " constant: True\n", + "\n", + "constraints:\n", + " floating:\n", + " survival_heel:\n", + " upper_bound: 0.17453292519943295 # 10 deg\n", + " metacentric_height:\n", + " flag: True\n", + " lower_bound: 1.0 # 15.0 --> Dan's experience\n", + " pitch_period:\n", + " flag: True\n", + " lower_bound: 20. # +/- 10%\n", + " upper_bound: 80.\n", + " heave_period:\n", + " flag: True\n", + " lower_bound: 16. # +/- 10%\n", + " upper_bound: 80.\n", + " fixed_ballast_capacity:\n", + " flag: True\n", + " variable_ballast_capacity:\n", + " flag: True\n", + " freeboard_margin: # keep freeboard from being submerged below water during survival_heel, largest wave\n", + " flag: True\n", + " draft_margin: # keep draft from raising above water line during survival_heel, largest wave\n", + " flag: True\n", + " fairlead_depth: # keep fairlead above bottom trough of largest wave\n", + " flag: True\n", + " control:\n", + " Max_PtfmPitch:\n", + " flag: True\n", + " max: 6.0\n", + " nacelle_acceleration:\n", + " flag: True\n", + " max: 0.4 # Change to 2.0 with new raft # prob wont be active with RAFT, maybe change to 0.5 in the future?\n", + "\n", + "merit_figure: structural_mass\n", + "```\n", + "\n", + "**Key Design Variables:**\n", + "- **Platform Draft (z_coordinate)**: Vertical position of platform elements (-30m to -12m)\n", + "- **Column Spacing (r_coordinate)**: Radial distance of columns from center (35m to 75m) \n", + "- **Column Diameter**: Outer diameter of the three main columns (10m to 16m)\n", + "\n", + "\n", + "\n", + "### Modeling Options Configuration\n", + "\n", + "The modeling configuration enables RAFT's frequency-domain analysis with realistic environmental conditions:\n", + "\n", + "```yaml\n", + "RAFT:\n", + " flag: True\n", + " potential_model_override: 0\n", + " trim_ballast: 2\n", + " heave_tol: 1\n", + " save_designs: True\n", + "ROSCO:\n", + " flag: True\n", + " tuning_yaml: ../source/iea22_rosco.yaml\n", + "DLC_driver:\n", + " metocean_conditions:\n", + " wind_speed: [4., 6., 8., 10., 12., 14., 16., 18., 20., 22., 24.]\n", + " wave_height_NSS: [0.83, 0.88, 0.94, 1.03, 1.16, 1.34, 1.57, 1.86, 2.22, 2.62, 3.07]\n", + " wave_period_NSS: [6.9, 6.96, 7.02, 7.12, 7.25, 7.43, 7.66, 7.94, 8.27, 8.63, 9.01]\n", + " wave_height_SSS: [6.3, 8, 8, 8.1, 8.5, 8.5, 9.8, 9.8, 9.8, 9.8, 9.9]\n", + " wave_period_SSS: [11.5, 12.7, 12.7, 12.8, 13.1, 13.1, 14.1, 14.1, 14.1, 14.1, 14.1]\n", + " wave_height_1: 6.98\n", + " wave_period_1: 11.7\n", + " wave_height_50: 10.68\n", + " wave_period_50: 14.2\n", + " DLCs:\n", + " - DLC: \"1.6\"\n", + " analysis_time: 600.\n", + " transient_time: 120.\n", + " - DLC: \"6.1\"\n", + " analysis_time: 600.\n", + " transient_time: 120.\n", + "```\n", + "\n", + "**RAFT Configuration:**\n", + "- **Potential Model**: 0 setting uses only Morison elements for hydrodynamics\n", + "- **Trim Ballast**: Automatically adjusts ballast to maintain zero mean heave\n", + "- **Design Load Cases**: DLC 1.6 (normal operation with severe sea state) and DLC 6.1 (parked, with 50-year wind and wave conditions)\n", + "\n", + "\n", + "\n", + "Since RAFT's frequency-domain analysis has significantly lower computational cost than OpenFAST's time-domain simulation, we can efficiently explore the platform design space while maintaining reasonable execution times for this workshop demonstration." + ] + }, + { + "cell_type": "code", + "execution_count": null, + "id": "774221b6", + "metadata": {}, + "outputs": [], + "source": [ + "# lets overide a few things so that we dont distrupt the existing results.\n", + "analysis_override = {}\n", + "analysis_override['general'] = {}\n", + "analysis_override['general']['folder_output'] = 'outputsCh2'\n", + "analysis_override['driver'] = {}\n", + "analysis_override['driver']['optimization'] = {}\n", + "analysis_override['driver']['optimization']['max_iter'] = 1 # only run one iteration for this demo, we have precomputed the solutions for you :)\n", + "\n", + "\n", + "control_20mw, modeling_options, opt_options = weis_main(fname_wt_input, \n", + " fname_modeling_options, \n", + " fname_analysis_options,\n", + " analysis_override=analysis_override,\n", + " # modeling_override=modeling_override,\n", + " test_run=False\n", + " )" + ] + }, + { + "cell_type": "markdown", + "id": "cd6fb7a2", + "metadata": {}, + "source": [ + "## Results Analysis\n", + "\n", + "### Understanding the RAFT Optimization Convergence\n", + "\n", + "The convergence plots show the evolution of key platform design parameters and constraints during the RAFT-based optimization. This frequency-domain analysis provides rapid insights into platform behavior while maintaining computational efficiency.\n", + "\n", + "### Key Metrics to Analyze\n", + "\n", + "**Platform Motion Responses:**\n", + "- **`raft.Max_PtfmPitch`**: Maximum platform pitch angle - should remain within acceptable limits (≤6°)\n", + "- **`raft.max_nac_accel`**: Maximum nacelle acceleration - critical for component fatigue (≤0.4 m/s²)\n", + "- **`raft.heave_period`**: Platform heave natural period - must avoid wave resonance (16-80s)\n", + "- **`raft.pitch_period`**: Platform pitch natural period - must also avoid wave resonance (16-80s)\n", + "\n", + "\n", + "**Platform Structural Design:**\n", + "- **`floatingse.system_structural_mass`**: Structural mass of platform (without water ballast) - primary objective to minimize\n", + "- **`floating.jointdv_0/1`**: Platform geometry design variables (draft and column spacing)\n", + "- **`floating.memgrp1.outer_diameter_in`**: Column diameter optimization\n", + "\n", + "\n", + "\n", + "\n", + "\n", + "This RAFT analysis provides the foundation for subsequent high-fidelity OpenFAST optimization, where time-domain effects and controller interactions will be captured." + ] + }, + { + "cell_type": "code", + "execution_count": null, + "id": "fa437559", + "metadata": {}, + "outputs": [], + "source": [ + "use_precomputed_outputs = True\n", + "if use_precomputed_outputs:\n", + " output_folder = 'outputs_preCompute'\n", + "else:\n", + " output_folder = 'outputsCh2'\n", + "\n", + "rec_data = load_OMsql(os.path.join(this_dir,'..','1_drivers', stageFolder, output_folder, \"log_opt.sql\")) \n", + "\n", + "plot_convergence(\n", + " rec_data, \n", + " [\n", + " 'raft.Max_PtfmPitch', \n", + " 'raft.heave_period', \n", + " 'raft.max_nac_accel', \n", + " 'raft.pitch_period', \n", + " 'floatingse.constr_draft_heel_margin', # will the bottom of the platform leave the water? 1 = yes\n", + " # 'floatingse.constr_fairlead_wave', \n", + " # 'floatingse.constr_fixed_margin', \n", + " # 'floatingse.constr_freeboard_heel_margin', \n", + " 'floatingse.metacentric_height_pitch', \n", + " # 'floatingse.metacentric_height_roll', \n", + " 'floatingse.constr_variable_margin', # is there sufficient volume in the variable ballast chambers? 1 = no\n", + " 'floatingse.system_structural_mass', \n", + " 'floating.jointdv_0', # draft\n", + " 'floating.jointdv_1', # column spacing\n", + " 'floating.memgrp1.outer_diameter_in' # outer column diameter\n", + " ]\n", + ")\n", + "\n", + "\n", + "\n" + ] + }, + { + "cell_type": "markdown", + "id": "1507509e", + "metadata": {}, + "source": [ + "## Stage 3: High-Fidelity Platform Optimization with OpenFAST\n", + "\n", + "### Transitioning from RAFT to OpenFAST Analysis\n", + "\n", + "Having established an initial platform design using RAFT's efficient frequency-domain analysis, we now advance to OpenFAST for high-fidelity time-domain optimization. This represents the second phase of our multi-fidelity platform design methodology.\n", + "\n", + "### Why OpenFAST Refinement is Essential\n", + "\n", + "**Limitations of RAFT Analysis:**\n", + "- **Linear Assumptions**: RAFT uses linearized hydrodynamics and simplified aerodynamics\n", + "- **No Controller Interactions**: Cannot capture the complex feedback between platform motion and control system\n", + "- **Limited Load Assessment**: Frequency-domain analysis misses important nonlinear effects and transient responses\n", + "- **Simplified Environmental Modeling**: Less comprehensive representation of wind-wave interactions\n", + "\n", + "**OpenFAST Capabilities:**\n", + "- **Nonlinear Time-Domain Simulation**: Captures full system dynamics including large motions and nonlinearities\n", + "- **Integrated Controller Analysis**: Includes ROSCO controller interactions with platform motion\n", + "- **Comprehensive Load Evaluation**: Full Design Load Case (DLC) analysis for realistic loading conditions\n", + "- **Coupled Physics**: Simultaneous aerodynamics, hydrodynamics, structural dynamics, and control system modeling\n", + "\n", + "\n", + "\n", + "\n", + "\n", + "This methodology demonstrates WEIS's capability to seamlessly integrate multiple analysis fidelities, enabling both efficient design exploration and detailed engineering validation." + ] + }, + { + "cell_type": "code", + "execution_count": null, + "id": "6d73ba82", + "metadata": {}, + "outputs": [], + "source": [ + "# Setting up file paths\n", + "stageFolder = \"stage-3-semisub\"\n", + "\n", + "fname_wt_input = os.path.join(this_dir,\"..\", \"2_models\", \"stage-2-controller_v2p0.yaml\")\n", + "\n", + "\n", + "## File management\n", + "fname_wt_input = os.path.join(this_dir, \"..\", \"2_models\", \"stage-3-semisub_raft_v2p0.yaml\")\n", + "fname_modeling_options = os.path.join(this_dir, \"..\", \"1_drivers\", stageFolder, \"stage-3-semisub_of_modeling.yaml\") # Compare to examples/03_design_with_openfast/iea22_ptfm_opt_analysis.yaml\n", + "fname_analysis_options = os.path.join(this_dir, \"..\", \"1_drivers\", stageFolder, \"stage-3-semisub_of_analysis.yaml\") # Compare to examples/03_design_with_openfast/iea22_ptfm_opt_modeling.yaml" + ] + }, + { + "cell_type": "markdown", + "id": "9285b5d8", + "metadata": {}, + "source": [ + "## Inputs for OpenFAST Platform Optimization\n", + "\n", + "### Analysis Options Configuration (important parts only):\n", + "``` yaml\n", + " control:\n", + " Max_PtfmPitch:\n", + " flag: True\n", + " max: 6.0\n", + " Std_PtfmPitch:\n", + " flag: True\n", + " max: 1.25 # Same as IEA-15MW with same DLCs\n", + " nacelle_acceleration:\n", + " flag: True\n", + " max: 2.0\n", + "\n", + "\n", + "```\n", + "\n", + "### Modeling Options Configuration (important parts only):\n", + "``` yaml\n", + "OpenFAST:\n", + " flag: True\n", + "[...]\n", + "RAFT:\n", + " flag: False\n", + "```" + ] + }, + { + "cell_type": "code", + "execution_count": null, + "id": "2ab6c9d3", + "metadata": {}, + "outputs": [], + "source": [ + "# lets overide a few things so that we dont distrupt the existing results.\n", + "analysis_override = {}\n", + "analysis_override['general'] = {}\n", + "analysis_override['general']['folder_output'] = 'outputsCh2_OF'\n", + "\n", + "control_20mw, modeling_options, opt_options = weis_main(fname_wt_input, \n", + " fname_modeling_options, \n", + " fname_analysis_options,\n", + " analysis_override=analysis_override,\n", + " test_run=True\n", + " )\n" + ] + }, + { + "cell_type": "markdown", + "id": "604d3198", + "metadata": {}, + "source": [ + "## Analyzing the results" + ] + }, + { + "cell_type": "code", + "execution_count": null, + "id": "e1fe2215", + "metadata": {}, + "outputs": [], + "source": [ + "use_precomputed_outputs = False\n", + "if use_precomputed_outputs:\n", + " output_folder = 'outputs_of_preCompute'\n", + "else:\n", + " output_folder = 'outputsCh2_OF'\n", + "\n", + "rec_data = load_OMsql(os.path.join(this_dir,'..','1_drivers', stageFolder, output_folder, \"log_opt.sql\")) # not sure what supresses the output here\n", + "\n", + "plot_convergence(\n", + " rec_data, \n", + " [\n", + " 'aeroelastic.Max_PtfmPitch', # note aeroelastic comes from OpenFAST\n", + " 'aeroelastic.max_nac_accel', \n", + " 'floatingse.heave_period', \n", + " 'floatingse.pitch_period', \n", + " # 'floatingse.constr_draft_heel_margin', \n", + " 'floatingse.constr_fairlead_wave', # will the fairleads leave the water? 1 = yes\n", + " # 'floatingse.constr_fixed_margin', \n", + " # 'floatingse.constr_freeboard_heel_margin', \n", + " # 'floatingse.metacentric_height_pitch', \n", + " # 'floatingse.metacentric_height_roll', \n", + " # 'floatingse.constr_variable_margin', \n", + " 'floatingse.system_structural_mass', \n", + " 'floating.jointdv_0', \n", + " 'floating.jointdv_1', \n", + " 'floating.memgrp1.outer_diameter_in'\n", + " ]\n", + ")\n" + ] + }, + { + "cell_type": "markdown", + "id": "84f1aa2a", + "metadata": {}, + "source": [ + "## Loading in a CCD case\n", + "\n", + "We ran an additional case where we optimized the platform and controller at the same time. This is a more expensive optimization, but it captures the interaction between the platform design and the controller design.\n", + "\n", + "Lets briefly look at the results." + ] + }, + { + "cell_type": "code", + "execution_count": null, + "id": "4edc2de8", + "metadata": {}, + "outputs": [], + "source": [ + "use_precomputed_outputs = True\n", + "\n", + "if use_precomputed_outputs:\n", + " output_folder = 'outputs_of_preCompute'\n", + "\n", + " stageFolder = \"stage-3.5-semisubCCD\" # First the RAFT optimization\n", + "\n", + " rec_data = load_OMsql(os.path.join(this_dir, \"..\", \"1_drivers\", stageFolder, output_folder, \"log_opt.sql\")) # not sure what supresses the output here\n", + " plot_convergence(rec_data, ['aeroelastic.Max_PtfmPitch', 'aeroelastic.Std_PtfmPitch', 'aeroelastic.max_nac_accel', \n", + " 'aeroelastic.rotor_overspeed', 'raft.heave_period', 'raft.pitch_period', \n", + " 'sse_tune.tune_rosco.PC_Ki', 'sse_tune.tune_rosco.PC_Kp', 'tune_rosco_ivc.Kp_float', \n", + " 'tune_rosco_ivc.omega_pc', 'tune_rosco_ivc.ptfm_freq', 'tune_rosco_ivc.zeta_pc', \n", + " 'floatingse.constr_draft_heel_margin', 'floatingse.constr_fairlead_wave', \n", + " 'floatingse.constr_fixed_margin', 'floatingse.constr_freeboard_heel_margin', \n", + " 'floatingse.metacentric_height_pitch', 'floatingse.metacentric_height_roll', \n", + " 'floatingse.constr_variable_margin', 'floatingse.system_structural_mass', \n", + " 'floating.jointdv_0', 'floating.jointdv_1', 'floating.memgrp1.outer_diameter_in'])\n", + "\n", + "\n" + ] + }, + { + "cell_type": "code", + "execution_count": null, + "id": "7e6fe742", + "metadata": {}, + "outputs": [], + "source": [] + } + ], + "metadata": { + "kernelspec": { + "display_name": "weis-eni", + "language": "python", + "name": "python3" + }, + "language_info": { + "codemirror_mode": { + "name": "ipython", + "version": 3 + }, + "file_extension": ".py", + "mimetype": "text/x-python", + "name": "python", + "nbconvert_exporter": "python", + "pygments_lexer": "ipython3", + "version": "3.11.14" + } + }, + "nbformat": 4, + "nbformat_minor": 5 +} diff --git a/examples/09_model_creation_process/0_notebooks/chapter3.ipynb b/examples/09_model_creation_process/0_notebooks/chapter3.ipynb new file mode 100644 index 000000000..8ce2f6001 --- /dev/null +++ b/examples/09_model_creation_process/0_notebooks/chapter3.ipynb @@ -0,0 +1,249 @@ +{ + "cells": [ + { + "cell_type": "markdown", + "id": "92735b9d", + "metadata": {}, + "source": [ + "# Welcome to the WEIS Workshop - Chapter 3: Design Load Cases\n", + "\n", + "## Quick Recap\n", + "\n", + "We've successfully developed a complete 20MW floating wind turbine system:\n", + "- **Chapter 1**: Optimized rotor design using WISDEM\n", + "- **Chapter 2**: Re-tuned controller and optimized platform using RAFT and OpenFAST\n", + "\n", + "## Chapter 3: Design Load Cases (DLC) Analysis\n", + "\n", + "Now we validate our design using industry-standard Design Load Cases (DLCs). This ensures our optimized system meets safety and performance requirements under all operational and extreme conditions.\n", + "\n", + "### What We'll Cover\n", + "- **Load Analysis**: Using WEIS to generate a subset of DLCs for our floating wind turbine\n", + "- **Running Simulations**: Execute the DLCs using OpenFAST, with WEIS handling the file generation, parallelization, and postprocessing\n", + "\n", + "**Note**: DLC simulations are computationally expensive (~hours per case), so we'll analyze precomputed results that demonstrate the complete validation workflow." + ] + }, + { + "cell_type": "code", + "execution_count": null, + "id": "b78aebca", + "metadata": {}, + "outputs": [], + "source": [ + "# Importing nesscary libraries.\n", + "import os\n", + "import pickle\n", + "\n", + "from weis_workshop import *\n", + "\n", + "\n", + "this_dir = os.getcwd()" + ] + }, + { + "cell_type": "markdown", + "id": "de0d61f7", + "metadata": {}, + "source": [ + "## Stage 4: Design Load Cases (DLCs)\n", + "\n", + "The inputs and drivers can be found in `examples/09_model_creation_process/1_drivers`\n", + "\n", + "### Analysis options:\n", + "\n", + "``` yaml\n", + "general:\n", + " folder_output: outputs/\n", + " fname_output: stage-4-dlcs\n", + "```\n", + "\n", + "### Modeling options (important parts):\n", + "\n", + "``` yaml\n", + "\n", + "OpenFAST: \n", + " flag: True\n", + " simulation:\n", + " [...]\n", + "\n", + "DLC_driver:\n", + " metocean_conditions:\n", + " wind_speed: [4., 6., 8., 10., 12., 14., 16., 18., 20., 22., 24.]\n", + " wave_height_NSS: [0.83, 0.88, 0.94, 1.03, 1.16, 1.34, 1.57, 1.86, 2.22, 2.62, 3.07]\n", + " wave_period_NSS: [6.9, 6.96, 7.02, 7.12, 7.25, 7.43, 7.66, 7.94, 8.27, 8.63, 9.01]\n", + " wave_height_SSS: [6.3, 8, 8, 8.1, 8.5, 8.5, 9.8, 9.8, 9.8, 9.8, 9.9]\n", + " wave_period_SSS: [11.5, 12.7, 12.7, 12.8, 13.1, 13.1, 14.1, 14.1, 14.1, 14.1, 14.1]\n", + " wave_height_1: 6.98\n", + " wave_period_1: 11.7\n", + " wave_height_50: 10.68\n", + " wave_period_50: 14.2\n", + " DLCs:\n", + " - DLC: \"1.1\"\n", + " n_seeds: 6\n", + " transient_time: 100.\n", + " analysis_time: 600.\n", + " - DLC: \"1.4\"\n", + " wind_speed: [9.158, 11.158, 13.158]\n", + " - DLC: \"1.6\"\n", + " n_seeds: 6\n", + " transient_time: 120.\n", + " analysis_time: 600.\n", + " - DLC: \"5.1\"\n", + " - DLC: \"6.1\"\n", + " n_seeds: 6\n", + " transient_time: 120.\n", + " analysis_time: 600.\n", + "\n", + "```\n", + "\n", + "**Key Points:**\n", + "- **5 Different DLCs**: Covering normal operation, extreme winds, and extreme waves\n", + "- **Realistic Environment**: Wind speeds 4-24 m/s with corresponding wave conditions \n", + "- **Statistical Robustness**: Multiple seeds (6) for turbulent conditions\n", + "- **OpenFAST Integration**: Full aeroelastic simulation with platform dynamics" + ] + }, + { + "cell_type": "code", + "execution_count": null, + "id": "598f089c", + "metadata": {}, + "outputs": [], + "source": [ + "# Setting up file paths\n", + "stageFolder = \"stage-4-dlcs\"\n", + "\n", + "use_precomputed = True\n", + "\n", + "if use_precomputed:\n", + " sum_stat_file = os.path.join(this_dir,\"..\",\"1_drivers\", stageFolder,\"outputs_preCompute/dlcs/rank_0/iteration_0/summary_stats.p\")\n", + "else:\n", + " sum_stat_file = os.path.join(this_dir,\"..\",\"1_drivers\", stageFolder,\"outputs/dlcs/rank_0/iteration_0/summary_stats.p\")\n", + "\n", + "\n", + "with open(sum_stat_file, 'rb') as f:\n", + " data = pickle.load(f)\n", + "\n", + "custom_y_params = [\n", + " ('GenSpeed', 'mean'),\n", + " ('RootMyb1', 'max'),\n", + " ('TwrBsAxMxyt', 'median'),\n", + " ('PtfmPitch', 'max'),\n", + "]\n", + "\n", + "plot_weis_summary(data, custom_y_params)" + ] + }, + { + "cell_type": "code", + "execution_count": null, + "id": "356cb165", + "metadata": {}, + "outputs": [], + "source": [ + "custom_y_params = [\n", + " ('RootMxb1', 'max'),\n", + " ('RootMyb1', 'max'),\n", + " ('TwrBsMxt', 'median'),\n", + " ('TwrBsMyt', 'median'),\n", + "]\n", + "\n", + "plot_weis_summary(data, custom_y_params)" + ] + }, + { + "cell_type": "markdown", + "id": "e111372d", + "metadata": {}, + "source": [ + "# Workshop Summary\n", + "\n", + "## What We've Accomplished\n", + "\n", + "This workshop has taken you through the complete **multi-fidelity co-design workflow** used in modern floating offshore wind turbine development. You've experienced the same systematic approach used by industry and research organizations worldwide.\n", + "\n", + "### Chapter 1: Foundation - WISDEM Rotor Optimization\n", + "- **Started** with the IEA 22MW baseline floating wind turbine\n", + "- **Scaled** the design to create a 20MW turbine with 270m rotor diameter \n", + "- **Optimized** rotor aerodynamics and structure using steady-state WISDEM models\n", + "- **Learned** about design variables, constraints, and merit figures in wind turbine optimization\n", + "\n", + "### Chapter 2: Integration - Multi-Fidelity System Co-Design\n", + "- **Re-tuned** the ROSCO controller for our new rotor design using OpenFAST\n", + "- **Optimized** the floating platform using RAFT frequency-domain analysis\n", + "- **Refined** the platform design with high-fidelity OpenFAST time-domain simulations\n", + "- **Experienced** the systematic progression from fast models to detailed analysis\n", + "\n", + "### Chapter 3: Validation - Design Load Cases Analysis\n", + "- **Applied** industry-standard IEC 61400-3 Design Load Cases\n", + "- **Validated** our optimized system against operational and extreme conditions\n", + "- **Analyzed** comprehensive load statistics across multiple environmental scenarios\n", + "- **Confirmed** our design meets safety and performance requirements\n", + "\n", + "## Key WEIS Capabilities Demonstrated\n", + "\n", + "**Multi-Tool Integration:**\n", + "- WISDEM for system engineering and initial design\n", + "- RAFT for rapid floating platform analysis \n", + "- OpenFAST for detailed aeroelastic simulation\n", + "- ROSCO for advanced controller optimization\n", + "\n", + "**Multi-Fidelity Methodology:**\n", + "- Strategic use of appropriate model fidelity for each design phase\n", + "- Efficient progression from conceptual design to detailed validation\n", + "- Balanced computational cost with engineering accuracy\n", + "\n", + "**Industry-Standard Workflows:**\n", + "- Design Load Case generation and analysis\n", + "- Optimization under realistic constraints\n", + "- Comprehensive load assessment and validation\n", + "\n", + "## Next Steps\n", + "\n", + "To continue developing your WEIS skills:\n", + "1. **Explore the examples** in the WEIS repository for different turbine configurations\n", + "2. **Modify design variables** and constraints to understand their impacts\n", + "3. **Run additional DLCs** for comprehensive design validation\n", + "4. **Experiment with different optimization algorithms** and convergence criteria\n", + "\n", + "The WEIS framework provides the foundation for advanced floating offshore wind research and development. The skills you've developed here prepare you to tackle real-world engineering challenges in this rapidly growing field.\n", + "\n", + "# Feedback form: https://forms.office.com/g/hRp2YpTpAw" + ] + }, + { + "cell_type": "markdown", + "id": "68f36455", + "metadata": {}, + "source": [] + }, + { + "cell_type": "markdown", + "id": "81ebb743", + "metadata": {}, + "source": [] + } + ], + "metadata": { + "kernelspec": { + "display_name": "weis-eni", + "language": "python", + "name": "python3" + }, + "language_info": { + "codemirror_mode": { + "name": "ipython", + "version": 3 + }, + "file_extension": ".py", + "mimetype": "text/x-python", + "name": "python", + "nbconvert_exporter": "python", + "pygments_lexer": "ipython3", + "version": "3.11.14" + } + }, + "nbformat": 4, + "nbformat_minor": 5 +} diff --git a/examples/09_model_creation_process/0_notebooks/weis_workshop.py b/examples/09_model_creation_process/0_notebooks/weis_workshop.py new file mode 100644 index 000000000..96ad49f9a --- /dev/null +++ b/examples/09_model_creation_process/0_notebooks/weis_workshop.py @@ -0,0 +1,312 @@ +# Simple Colab detection +import sys +import numpy as np +import matplotlib.pyplot as plt +import openmdao.api as om +import pandas as pd +import pickle + +# TODO: +# 1. Add structural plots for the blade! + +# Global variable to check if we're in Google Colab +IN_COLAB = 'google.colab' in sys.modules + +if IN_COLAB: + print("Running in Google Colab") +else: + print("Running in local environment") + +def plotter(x,y, xlabel=None, ylabel=None, title=None, ax=None, label=None): + if ax is None: + return None + + ax.plot(np.array(eval(x)), np.array(eval(y)), label=label) + ax.set_xlabel(xlabel) + ax.set_ylabel(ylabel) + ax.set_title(title) + if label: + ax.legend() + return ax + +# This function loads the openmdao sql file and does most of the work here +def load_OMsql(log): + print('loading {}'.format(log)) + cr = om.CaseReader(log) + rec_data = {} + cases = cr.get_cases('driver') + for case in cases: + for key in case.outputs.keys(): + if key not in rec_data: + rec_data[key] = [] + rec_data[key].append(case[key]) + + return rec_data + +def plot_convergence(logs, vars): + + # create the figure + fig, ax = plt.subplots(nrows=len(vars), figsize=(10, 6*len(vars))) + + for var in vars: + + # start by squeezing the data + data = np.squeeze(logs[var]) + + ax[vars.index(var)].plot(data, marker='o') + ax[vars.index(var)].set_title(var) + ax[vars.index(var)].grid(True) + ax[vars.index(var)].set_xlabel('Iteration') + # ax[vars.index(var)].set_ylabel(var) + + return None + + + +def plot_comparison_plot(turb_csv, label, fig = None): + + if fig is None: + fig,ax = plt.subplots(2, 3, figsize=(10, 10), sharex=True) + fig.suptitle("Turbine Performance Curves", fontsize=16) + + ax[0, 0] = plotter(turb_csv.loc['rotorse.rp.powercurve.V']['values'], + turb_csv.loc['rotorse.rp.powercurve.Cp_aero']['values'], + ylabel='Cp', + title='Power Coefficient (Cp)', ax=ax[0, 0], label = label) + ax[0, 0].grid(True) + + ax[0, 1] = plotter(turb_csv.loc['rotorse.rp.powercurve.V']['values'], + turb_csv.loc['rotorse.rp.powercurve.Ct_aero']['values'], + ylabel='Ct', + title='Thrust Coefficient (Ct)', ax=ax[0, 1], label = label) + ax[0, 1].grid(True) + + ax[1, 0] = plotter(turb_csv.loc['rotorse.rp.powercurve.V']['values'], + turb_csv.loc['rotorse.rp.powercurve.P']['values'], + ylabel='Power (kW)', + title='Turbine Power Output', ax=ax[1, 0], label = label) + ax[1, 0].grid(True) + + ax[1, 1] = plotter(turb_csv.loc['rotorse.rp.powercurve.V']['values'], + turb_csv.loc['rotorse.rp.powercurve.T']['values'], + xlabel='Wind Speed (m/s)', ylabel='Thrust (kN)', + title='Turbine Thrust Output', ax=ax[1, 1], label = label) + ax[1, 1].grid(True) + + ax[0, 2] = plotter(turb_csv.loc['rotorse.rp.powercurve.V']['values'], + turb_csv.loc['rotorse.rp.powercurve.pitch']['values'], + xlabel='Wind Speed (m/s)', ylabel='Pitch (deg)', + title='Turbine Pitch Angle', ax=ax[0, 2], label = label) + ax[0, 2].grid(True) + + ax[1, 2] = plotter(turb_csv.loc['rotorse.rp.powercurve.V']['values'], + turb_csv.loc['rotorse.rp.powercurve.Omega']['values'], + xlabel='Wind Speed (m/s)', ylabel='Rotor Speed (rpm)', + title='Turbine Rotor Speed', ax=ax[1, 2], label = label) + ax[1, 2].grid(True) + + +def plot_rotor_comparison(baseline_turb, optimized_turb): + + def plotter(x,y, xlabel, ylabel, title, ax=None, label=None): + if ax is None: + return None + + ax.plot(np.array(eval(x)), np.array(eval(y)), label=label) + ax.set_xlabel(xlabel) + ax.set_ylabel(ylabel) + ax.set_title(title) + if label: + ax.legend() + return ax + + + # Creating Cp, Ct, power, thrust, pitch, induction vs WS + fig,ax = plt.subplots(3, 2, figsize=(12, 10),) + fig.suptitle("Turbine Performance Curves", fontsize=16) + + ax[0, 0] = plotter(optimized_turb.loc['rotorse.rp.powercurve.V']['values'], + optimized_turb.loc['rotorse.rp.powercurve.Cp_aero']['values'], + xlabel='Wind Speed (m/s)', ylabel='Cp', + title='Power Coefficient (Cp)', ax=ax[0, 0], label = 'Optimized') + + ax[0, 0] = plotter(baseline_turb.loc['rotorse.rp.powercurve.V']['values'], + baseline_turb.loc['rotorse.rp.powercurve.Cp_aero']['values'], + xlabel='Wind Speed (m/s)', ylabel='Cp', + title='Power Coefficient (Cp)', ax=ax[0, 0], label = 'Baseline') + + ax[0, 1] = plotter(optimized_turb.loc['rotorse.rp.powercurve.V']['values'], + optimized_turb.loc['rotorse.rp.powercurve.Ct_aero']['values'], + xlabel='Wind Speed (m/s)', ylabel='Ct', + title='Thrust Coefficient (Ct)', ax=ax[0, 1], label = 'Optimized') + + ax[0, 1] = plotter(baseline_turb.loc['rotorse.rp.powercurve.V']['values'], + baseline_turb.loc['rotorse.rp.powercurve.Ct_aero']['values'], + xlabel='Wind Speed (m/s)', ylabel='Ct', + title='Thrust Coefficient (Ct)', ax=ax[0, 1], label = 'Baseline') + + ax[1, 0] = plotter(optimized_turb.loc['rotorse.rp.powercurve.V']['values'], + optimized_turb.loc['rotorse.rp.powercurve.P']['values'], + xlabel='Wind Speed (m/s)', ylabel='Power (kW)', + title='Turbine Power Output', ax=ax[1, 0], label = 'Optimized') + + ax[1, 0] = plotter(baseline_turb.loc['rotorse.rp.powercurve.V']['values'], + baseline_turb.loc['rotorse.rp.powercurve.P']['values'], + xlabel='Wind Speed (m/s)', ylabel='Power (kW)', + title='Turbine Power Output', ax=ax[1, 0], label = 'Baseline') + + ax[1, 1] = plotter(optimized_turb.loc['rotorse.rp.powercurve.V']['values'], + optimized_turb.loc['rotorse.rp.powercurve.T']['values'], + xlabel='Wind Speed (m/s)', ylabel='Thrust (kN)', + title='Turbine Thrust Output', ax=ax[1, 1], label = 'Optimized') + + ax[1, 1] = plotter(baseline_turb.loc['rotorse.rp.powercurve.V']['values'], + baseline_turb.loc['rotorse.rp.powercurve.T']['values'], + xlabel='Wind Speed (m/s)', ylabel='Thrust (kN)', + title='Turbine Thrust Output', ax=ax[1, 1], label = 'Baseline') + + ax[2, 0] = plotter(optimized_turb.loc['rotorse.rp.powercurve.V']['values'], + optimized_turb.loc['rotorse.rp.powercurve.pitch']['values'], + xlabel='Wind Speed (m/s)', ylabel='Pitch Angle (deg)', + title='Turbine Pitch Angle', ax=ax[2, 0], label = 'Optimized') + + ax[2, 0] = plotter(baseline_turb.loc['rotorse.rp.powercurve.V']['values'], + baseline_turb.loc['rotorse.rp.powercurve.pitch']['values'], + xlabel='Wind Speed (m/s)', ylabel='Pitch Angle (deg)', + title='Turbine Pitch Angle', ax=ax[2, 0], label = 'Baseline') + + ax[2, 1] = plotter(optimized_turb.loc['rotorse.rp.powercurve.V']['values'], + optimized_turb.loc['rotorse.rp.powercurve.ax_induct_rotor']['values'], + xlabel='Wind Speed (m/s)', ylabel='Induction Factor', + title='Turbine Induction Factor', ax=ax[2, 1], label = 'Optimized') + + ax[2, 1] = plotter(baseline_turb.loc['rotorse.rp.powercurve.V']['values'], + baseline_turb.loc['rotorse.rp.powercurve.ax_induct_rotor']['values'], + xlabel='Wind Speed (m/s)', ylabel='Induction Factor', + title='Turbine Induction Factor', ax=ax[2, 1], label = 'Baseline') + + plt.tight_layout(rect=[0, 0.03, 1, 0.95]) + # plt.savefig("plots/turbine_performance_curves.png", dpi=300) + + + # Geomtric plots + + fig,ax = plt.subplots(1, 2, figsize=(12, 5),) + + ax[0] = plotter(baseline_turb.loc['rotorse.r']['values'], + baseline_turb.loc['rotorse.chord']['values'], + xlabel='Span (m)', ylabel='Chord (m)', + title='Blade Chord Distribution', ax=ax[0], label = 'Baseline') + + ax[0] = plotter(optimized_turb.loc['rotorse.r']['values'], + optimized_turb.loc['rotorse.chord']['values'], + xlabel='Span (m)', ylabel='Chord (m)', + title='Blade Chord Distribution', ax=ax[0], label = 'Optimized') + + ax[1] = plotter(baseline_turb.loc['rotorse.r']['values'], + baseline_turb.loc['rotorse.ccblade.theta_in']['values'], + xlabel='Span (m)', ylabel='Twist (deg)', + title='Blade Twist Distribution', ax=ax[1], label = 'Baseline') + + ax[1] = plotter(optimized_turb.loc['rotorse.r']['values'], + optimized_turb.loc['rotorse.ccblade.theta_in']['values'], + xlabel='Span (m)', ylabel='Twist (deg)', + title='Blade Twist Distribution', ax=ax[1], label = 'Optimized') + + plt.tight_layout(rect=[0, 0.03, 1, 0.95]) + # plt.savefig("plots/blade_geometry.png", dpi=300) + +def plot_weis_summary(data, y_params=None): + """ + Create nx2 scatter plots of WEIS summary data using absolute values + + Parameters: + data : pandas.DataFrame + WEIS summary statistics dataframe with MultiIndex columns + y_params : list of tuples, optional + List of (parameter_name, statistic) tuples for y-axis parameters + If None, uses default set of 4 parameters + """ + # Create a copy to avoid modifying original data + df = data.copy() + + # Extract DLC case from index - fix the extraction method + dlc_cases = [] + for idx in df.index: + match = pd.Series([idx]).str.extract(r'(DLC\d+\.\d+)')[0].iloc[0] + dlc_cases.append(match) + + df['DLC_Case'] = dlc_cases + + # Define the parameters to plot (using absolute values - no normalization) + x_param = ('Wind1VelX', 'mean') + + # Use provided y_params or default set + if y_params is None: + y_params = [ + ('GenSpeed', 'mean'), + ('RootMyb1', 'max'), + ('TwrBsAxMxyt', 'median'), + ('PtfmPitch', 'max') + ] + + # Calculate number of rows needed for nx2 layout + n_plots = len(y_params) + n_rows = (n_plots + 1) // 2 # Ceiling division + + # Create figure with nx2 subplots and shared x-axis + fig, axes = plt.subplots(n_rows, 2, figsize=(15, 6*n_rows), sharex=True) + + # Handle case where we only have one row + if n_rows == 1: + axes = axes.reshape(1, -1) + + # Get unique DLC cases for color coding + unique_dlcs = df['DLC_Case'].dropna().unique() + colors = plt.cm.Set1(np.linspace(0, 1, len(unique_dlcs))) + color_map = dict(zip(unique_dlcs, colors)) + + print(f"Found DLC cases: {unique_dlcs}") + + # Create each subplot + for i, y_param in enumerate(y_params): + row = i // 2 + col = i % 2 + ax = axes[row, col] + + # print(f" Y-axis {i+1} ({y_param}): {df[y_param].min():.4f} to {df[y_param].max():.4f}") + + # Plot each DLC case with different color + for j, dlc in enumerate(unique_dlcs): + mask = df['DLC_Case'] == dlc + subset = df[mask] + + # Use absolute values directly - no normalization, no alpha + x_vals = subset[x_param].values + y_vals = subset[y_param].values + + ax.scatter(x_vals, y_vals, + color=colors[j], label=dlc, s=50) + + # Set labels and title + ax.set_ylabel(f'{y_param[0]} ({y_param[1]})') + ax.set_title(f'{y_param[0]} ({y_param[1]}) vs {x_param[0]} ({x_param[1]})') + ax.grid(True, alpha=0.3) + + # Add legend only to subplot (0,0) - top left + if row == 0 and col == 0: + ax.legend(title='DLC Cases') + + # Let matplotlib handle the scaling automatically + ax.autoscale() + + # Hide any unused subplots + if n_plots % 2 == 1: # If odd number of plots + axes[-1, -1].set_visible(False) + + # Set x-label only on bottom row + for col in range(2): + if n_rows > 0: + axes[-1, col].set_xlabel(f'{x_param[0]} ({x_param[1]})') + + plt.tight_layout() \ No newline at end of file diff --git a/examples/09_model_creation_process/1_drivers/stage-0-baseline/stage-0-baseline_analysis.yaml b/examples/09_model_creation_process/1_drivers/stage-0-baseline/stage-0-baseline_analysis.yaml new file mode 100644 index 000000000..a7ec6671f --- /dev/null +++ b/examples/09_model_creation_process/1_drivers/stage-0-baseline/stage-0-baseline_analysis.yaml @@ -0,0 +1,3 @@ +general: + folder_output: outputs/ + fname_output: stage-0-baseline diff --git a/examples/09_model_creation_process/1_drivers/stage-0-baseline/stage-0-baseline_driver.py b/examples/09_model_creation_process/1_drivers/stage-0-baseline/stage-0-baseline_driver.py new file mode 100644 index 000000000..72d4745f7 --- /dev/null +++ b/examples/09_model_creation_process/1_drivers/stage-0-baseline/stage-0-baseline_driver.py @@ -0,0 +1,76 @@ +#!/usr/bin/env python3 +import os +from weis import weis_main + +import numpy as np +from openfast_io import FileTools +import pandas as pd +import matplotlib.pyplot as plt + + +def plotter(x,y, xlabel, ylabel, title, ax=None): + if ax is None: + return None + + ax.plot(np.array(eval(x)), np.array(eval(y))) + ax.set_xlabel(xlabel) + ax.set_ylabel(ylabel) + ax.set_title(title) + return ax + +# TEST_RUN will reduce the number and duration of simulations +TEST_RUN = False + +## File management +run_dir = os.path.dirname( os.path.realpath(__file__) ) +fname_wt_input = os.path.join(run_dir, "..", "..", "..", "00_setup", "ref_turbines", "IEA-22-280-RWT_Floater.yaml") +fname_modeling_options = os.path.join(run_dir, "stage-0-baseline_modeling.yaml") +fname_analysis_options = os.path.join(run_dir, "stage-0-baseline_analysis.yaml") + +wt_opt, modeling_options, opt_options = weis_main(fname_wt_input, + fname_modeling_options, + fname_analysis_options, + test_run=TEST_RUN + ) + + +weis_turb = pd.read_csv(os.path.join(run_dir,"outputs/stage-0-baseline.csv"), index_col=0) + + +# Creating Cp, Ct, power, thrust, pitch, induction vs WS +fig,ax = plt.subplots(3, 2, figsize=(12, 10),) +fig.suptitle("Turbine Performance Curves", fontsize=16) + +ax[0, 0] = plotter(weis_turb.loc['rotorse.rp.powercurve.V']['values'], + weis_turb.loc['rotorse.rp.powercurve.Cp_aero']['values'], + xlabel='Wind Speed (m/s)', ylabel='Cp', + title='Power Coefficient (Cp)', ax=ax[0, 0]) + +ax[0, 1] = plotter(weis_turb.loc['rotorse.rp.powercurve.V']['values'], + weis_turb.loc['rotorse.rp.powercurve.Ct_aero']['values'], + xlabel='Wind Speed (m/s)', ylabel='Ct', + title='Thrust Coefficient (Ct)', ax=ax[0, 1]) + + +ax[1, 0] = plotter(weis_turb.loc['rotorse.rp.powercurve.V']['values'], + weis_turb.loc['rotorse.rp.powercurve.P_aero']['values'], + xlabel='Wind Speed (m/s)', ylabel='Power (kW)', + title='Turbine Power Output', ax=ax[1, 0]) + +ax[1, 1] = plotter(weis_turb.loc['rotorse.rp.powercurve.V']['values'], + weis_turb.loc['rotorse.rp.powercurve.T']['values'], + xlabel='Wind Speed (m/s)', ylabel='Thrust (kN)', + title='Turbine Thrust Output', ax=ax[1, 1]) + +ax[2, 0] = plotter(weis_turb.loc['rotorse.rp.powercurve.V']['values'], + weis_turb.loc['rotorse.rp.powercurve.pitch']['values'], + xlabel='Wind Speed (m/s)', ylabel='Pitch Angle (deg)', + title='Turbine Pitch Angle', ax=ax[2, 0]) + +ax[2, 1] = plotter(weis_turb.loc['rotorse.rp.powercurve.V']['values'], + weis_turb.loc['rotorse.rp.powercurve.ax_induct_rotor']['values'], + xlabel='Wind Speed (m/s)', ylabel='Induction Factor', + title='Turbine Induction Factor', ax=ax[2, 1]) + +plt.tight_layout(rect=[0, 0.03, 1, 0.95]) +plt.savefig(os.path.join(run_dir,"outputs/turbine_performance_curves.png"), dpi=300) diff --git a/examples/09_model_creation_process/1_drivers/stage-0-baseline/stage-0-baseline_modeling.yaml b/examples/09_model_creation_process/1_drivers/stage-0-baseline/stage-0-baseline_modeling.yaml new file mode 100644 index 000000000..b1e647d73 --- /dev/null +++ b/examples/09_model_creation_process/1_drivers/stage-0-baseline/stage-0-baseline_modeling.yaml @@ -0,0 +1,91 @@ +General: + verbosity: False # When set to True, the code prints to screen many infos +Environment: + air_density: 1.225 + air_dyn_viscosity: 1.81e-5 + weib_shape_parameter: 2. + air_speed_sound: 340. + shear_exp: 0.12 + water_density: 1025.0 + water_dyn_viscosity: 1.3351e-3 + soil_shear_modulus: 140.e+6 + soil_poisson: 0.4 + water_depth: 200.0 + significant_wave_height: 4.52 + significant_wave_period: 9.45 + +WISDEM: + RotorSE: + flag: True + n_pitch_perf_surfaces: 20 + n_tsr_perf_surfaces: 20 + spar_cap_ss: spar_cap_ss + spar_cap_ps: spar_cap_ps + peak_thrust_shaving: True + thrust_shaving_coeff: 0.8 + TowerSE: + flag: True + wind: PowerWind # Wind used + gamma_f: 1.35 # Safety factor for fatigue loads + gamma_m: 1.3 # Safety factor for material properties + gamma_n: 1.0 # Safety factor for ... + gamma_b: 1.1 # Safety factor for ... + gamma_fatigue: 1.755 # Safety factor for fatigue loads + buckling_method: dnvgl # Buckling code type [eurocode or dnvgl] + buckling_length: 15 # Buckling parameter + frame3dd: + shear: True + geom: True + tol: 1e-9 + DriveSE: + flag: True + FloatingSE: + flag: True + symmetric_moorings: True + gamma_f: 1.35 # Safety factor for fatigue loads + gamma_m: 1.3 # Safety factor for material properties + gamma_n: 1.0 # Safety factor for ... + gamma_b: 1.1 # Safety factor for ... + gamma_fatigue: 1.755 # Safety factor for fatigue loads + rank_and_file: True + BOS: + flag: True + LCOE: + flag: True + wake_loss_factor: 0.15 + fixed_charge_rate: 0.056 + bos_per_kW: 4053. + opex_per_kW: 137. + turbine_number: 40. + labor_rate: 58.8 + painting_rate: 30.0 + +OpenFAST: # Options for WEIS fidelity level 3 = nonlinear time domain + flag: False + +RAFT: + flag: False + + +ROSCO: + flag: True + tuning_yaml: ../../../03_design_with_openfast/iea22_rosco.yaml + +DLC_driver: + metocean_conditions: + wind_speed: [4., 6., 8., 10., 12., 14., 16., 18., 20., 22., 24.] + wave_height_NSS: [0.83, 0.88, 0.94, 1.03, 1.16, 1.34, 1.57, 1.86, 2.22, 2.62, 3.07] + wave_period_NSS: [6.9, 6.96, 7.02, 7.12, 7.25, 7.43, 7.66, 7.94, 8.27, 8.63, 9.01] + wave_height_SSS: [6.3, 8, 8, 8.1, 8.5, 8.5, 9.8, 9.8, 9.8, 9.8, 9.9] + wave_period_SSS: [11.5, 12.7, 12.7, 12.8, 13.1, 13.1, 14.1, 14.1, 14.1, 14.1, 14.1] + wave_height_1: 6.98 + wave_period_1: 11.7 + wave_height_50: 10.68 + wave_period_50: 14.2 + DLCs: + - DLC: "1.6" + n_seeds: 6 + - DLC: "6.1" + n_seeds: 6 + turbulent_wind: + GridWidth: 400 \ No newline at end of file diff --git a/examples/09_model_creation_process/1_drivers/stage-2-controller/stage-2-controller_analysis.yaml b/examples/09_model_creation_process/1_drivers/stage-2-controller/stage-2-controller_analysis.yaml new file mode 100644 index 000000000..91e49eced --- /dev/null +++ b/examples/09_model_creation_process/1_drivers/stage-2-controller/stage-2-controller_analysis.yaml @@ -0,0 +1,52 @@ +general: + folder_output: outputs/05_rosco_opt + fname_output: iea15mw +design_variables: + control: + servo: + pitch_control: + omega: + flag: True + min: 0.1 + max: 0.5 + zeta: + flag: True + min: 0.1 + max: 3.0 + Kp_float: + flag: True + min: -40 + max: 0 + ptfm_freq: + flag: True + max: 0.4 + +merit_figure: DEL_TwrBsMyt # Merit figure of the optimization problem. The options are 'AEP' - 'LCOE' - 'Cp' - 'blade_mass' - 'blade_tip_deflection' + +constraints: + control: + rotor_overspeed: + flag: True + min: 0.0 + max: 0.2 + +driver: + optimization: + flag: True + tol: 1.e-2 # Optimality tolerance + max_major_iter: 2 # Maximum number of major design iterations (SNOPT) + max_minor_iter: 100 # Maximum number of minor design iterations (SNOPT) + max_iter: 2 # Maximum number of iterations (SLSQP) + solver: LN_COBYLA # Optimization solver. Other options are 'SLSQP' - 'CONMIN' + step_size: 1.e-3 # Step size for finite differencing + form: forward # Finite differencing mode, either forward or central + design_of_experiments: + flag: False # Flag to enable design of experiments + run_parallel: False # Flag to run using parallel processing + generator: LatinHypercube # Type of input generator. (Uniform) + num_samples: 8 # number of samples for (Uniform only) + criterion: center + +recorder: + flag: True # Flag to activate OpenMDAO recorder + file_name: log_opt.sql # Name of OpenMDAO recorder diff --git a/examples/09_model_creation_process/1_drivers/stage-2-controller/stage-2-controller_driver.py b/examples/09_model_creation_process/1_drivers/stage-2-controller/stage-2-controller_driver.py new file mode 100644 index 000000000..7ad41596c --- /dev/null +++ b/examples/09_model_creation_process/1_drivers/stage-2-controller/stage-2-controller_driver.py @@ -0,0 +1,21 @@ +#!/usr/bin/env python3 +import os +from weis import weis_main +from openmdao.utils.mpi import MPI + +# TEST_RUN will reduce the number and duration of simulations +TEST_RUN = True + +## File management +run_dir = os.path.dirname( os.path.realpath(__file__) ) +fname_wt_input = os.path.join(run_dir, "..", "..", "2_models", "stage-1-aeroStruct-aero_analysis_v2p0.yaml") +fname_modeling_options = os.path.join(run_dir, "stage-2-controller_modeling.yaml") # compare to examples/05_control_optimization/rosco_opt_modeling.yaml +fname_analysis_options = os.path.join(run_dir, "stage-2-controller_analysis.yaml") # same as examples/05_control_optimization/rosco_opt_analysis.yaml + +wt_opt, modeling_options, analysis_options = weis_main( + fname_wt_input, + fname_modeling_options, + fname_analysis_options, + test_run=TEST_RUN, + ) + diff --git a/examples/09_model_creation_process/1_drivers/stage-2-controller/stage-2-controller_modeling.yaml b/examples/09_model_creation_process/1_drivers/stage-2-controller/stage-2-controller_modeling.yaml new file mode 100644 index 000000000..35dde45e7 --- /dev/null +++ b/examples/09_model_creation_process/1_drivers/stage-2-controller/stage-2-controller_modeling.yaml @@ -0,0 +1,121 @@ +General: + verbosity: False # When set to True, the code prints to screen many infos + openfast_configuration: + use_exe: True + allow_fails: True + fail_value: 9999 + write_stdout: True + +Environment: + air_density: 1.225 + air_dyn_viscosity: 1.81e-5 + weib_shape_parameter: 2. + air_speed_sound: 340. + shear_exp: 0.12 + water_density: 1025.0 + water_dyn_viscosity: 1.3351e-3 + soil_shear_modulus: 140.e+6 + soil_poisson: 0.4 + water_depth: 200.0 + significant_wave_height: 4.52 + significant_wave_period: 9.45 + +WISDEM: + RotorSE: + flag: True + n_pitch_perf_surfaces: 20 + n_tsr_perf_surfaces: 20 + spar_cap_ss: spar_cap_ss + spar_cap_ps: spar_cap_ps + peak_thrust_shaving: True + thrust_shaving_coeff: 0.8 + TowerSE: + flag: True + wind: PowerWind # Wind used + gamma_f: 1.35 # Safety factor for fatigue loads + gamma_m: 1.3 # Safety factor for material properties + gamma_n: 1.0 # Safety factor for ... + gamma_b: 1.1 # Safety factor for ... + gamma_fatigue: 1.755 # Safety factor for fatigue loads + buckling_method: dnvgl # Buckling code type [eurocode or dnvgl] + buckling_length: 15 # Buckling parameter + frame3dd: + shear: True + geom: True + tol: 1e-9 + DriveSE: + flag: True + FloatingSE: + flag: True + symmetric_moorings: True + gamma_f: 1.35 # Safety factor for fatigue loads + gamma_m: 1.3 # Safety factor for material properties + gamma_n: 1.0 # Safety factor for ... + gamma_b: 1.1 # Safety factor for ... + gamma_fatigue: 1.755 # Safety factor for fatigue loads + rank_and_file: True + BOS: + flag: True + LCOE: + flag: True + wake_loss_factor: 0.15 + fixed_charge_rate: 0.056 + bos_per_kW: 4053. + opex_per_kW: 137. + turbine_number: 40. + labor_rate: 58.8 + painting_rate: 30.0 + + + +OpenFAST: # Options for WEIS fidelity level 3 = nonlinear time domain + flag: True + simulation: + DT: 0.01 + CompElast: 1 + CompInflow: 1 + CompAero: 2 + CompServo: 1 + CompHydro: 1 + CompSub: 0 + CompMooring: 3 + CompIce: 0 + OutFileFmt: 3 + NumCrctn: 1 + ElastoDyn: + FlapDOF1: True + FlapDOF2: True + EdgeDOF: True + TeetDOF: False + DrTrDOF: False + GenDOF: True + YawDOF: False + TwFADOF1 : True + TwFADOF2 : True + TwSSDOF1 : True + TwSSDOF2 : True + PtfmSgDOF: True + PtfmSwDOF: True + PtfmHvDOF: True + PtfmRDOF : True + PtfmPDOF : True + PtfmYDOF : True + +ROSCO: + flag: True + tuning_yaml: ../../2_models/iea22_rosco.yaml + +DLC_driver: + metocean_conditions: + wind_speed: [4., 6., 8., 10., 12., 14., 16., 18., 20., 22., 24.] + wave_height_NSS: [0.83, 0.88, 0.94, 1.03, 1.16, 1.34, 1.57, 1.86, 2.22, 2.62, 3.07] + wave_period_NSS: [6.9, 6.96, 7.02, 7.12, 7.25, 7.43, 7.66, 7.94, 8.27, 8.63, 9.01] + wave_height_SSS: [6.3, 8, 8, 8.1, 8.5, 8.5, 9.8, 9.8, 9.8, 9.8, 9.9] + wave_period_SSS: [11.5, 12.7, 12.7, 12.8, 13.1, 13.1, 14.1, 14.1, 14.1, 14.1, 14.1] + wave_height_1: 6.98 + wave_period_1: 11.7 + wave_height_50: 10.68 + wave_period_50: 14.2 + DLCs: + - DLC: "1.1" + n_seeds: 3 \ No newline at end of file diff --git a/examples/09_model_creation_process/1_drivers/stage-3-semisub/stage-3-semisub_of_analysis.yaml b/examples/09_model_creation_process/1_drivers/stage-3-semisub/stage-3-semisub_of_analysis.yaml new file mode 100644 index 000000000..7298bdc3a --- /dev/null +++ b/examples/09_model_creation_process/1_drivers/stage-3-semisub/stage-3-semisub_of_analysis.yaml @@ -0,0 +1,110 @@ +general: + folder_output: outputs_of_newFix + fname_output: stage-3-semisub_of + +design_variables: + floating: + joints: + z_coordinate: # draft + - names: [main_keel, col1_keel, col2_keel, col3_keel] + flag: True + lower_bound: -30.0 + upper_bound: -12.0 + # - names: [col1_freeboard, col2_freeboard, col3_freeboard] + # lower_bound: 10.0 + # upper_bound: 20.0 + r_coordinate: + - names: [col1_keel, col1_freeboard, col2_keel, col2_freeboard, col3_keel, col3_freeboard] + flag: True + lower_bound: 35.0 + upper_bound: 75.0 + members: + groups: + - names: [column1, column2, column3] + flag: True + diameter: + lower_bound: 8.0 + upper_bound: 16.0 + constant: True + +constraints: + tower: + height_constraint: + flag: False + lower_bound: 1.e-2 + upper_bound: 1.e-2 + stress: + flag: False + global_buckling: + flag: False + shell_buckling: + flag: False + d_to_t: + flag: False + lower_bound: 120.0 + upper_bound: 2000.0 + taper: + flag: False + lower_bound: 0.2 + slope: + flag: False + frequency_1: + flag: False + lower_bound: 0.37 + floating: + survival_heel: + upper_bound: 0.17453292519943295 # 10 deg + metacentric_height: + flag: True + lower_bound: 15.0 + pitch_period: + flag: True + lower_bound: 20. # +/- 10% + upper_bound: 80. + heave_period: + flag: True + lower_bound: 16. # +/- 10% + upper_bound: 80. + fixed_ballast_capacity: + flag: True + variable_ballast_capacity: + flag: True + buoyancy: + flag: False + stress: + flag: False + global_buckling: + flag: False + shell_buckling: + flag: False + mooring_heel: + flag: False + freeboard_margin: # keep freeboard from being submerged below water during survival_heel, largest wave + flag: True + draft_margin: # keep draft from raising above water line during survival_heel, largest wave + flag: True + fairlead_depth: # keep fairlead above bottom trough of largest wave + flag: True + control: + Max_PtfmPitch: + flag: True + max: 6.0 + Std_PtfmPitch: + flag: True + max: 1.25 # Same as IEA-15MW with same DLCs + nacelle_acceleration: + flag: True + max: 2.0 + +merit_figure: structural_mass + +driver: + optimization: + flag: True # Flag to enable optimization + tol: 1.e-3 # Optimality tolerance + max_iter: 50 # Maximum number of iterations (SLSQP) + solver: LN_COBYLA # Optimization solver. Other options are 'SLSQP' - 'CONMIN' + +recorder: + flag: True # Flag to activate OpenMDAO recorder + file_name: log_opt.sql # Name of OpenMDAO recorder diff --git a/examples/09_model_creation_process/1_drivers/stage-3-semisub/stage-3-semisub_of_driver.py b/examples/09_model_creation_process/1_drivers/stage-3-semisub/stage-3-semisub_of_driver.py new file mode 100644 index 000000000..fbd04367a --- /dev/null +++ b/examples/09_model_creation_process/1_drivers/stage-3-semisub/stage-3-semisub_of_driver.py @@ -0,0 +1,17 @@ +#!/usr/bin/env python3 +import os +from weis import weis_main +from openmdao.utils.mpi import MPI + +TEST_RUN = True + +# ## File management +run_dir = os.path.dirname( os.path.realpath(__file__) ) +fname_wt_input = os.path.join(run_dir, "..", "..", "2_models", "stage-3-semisub_raft_v2p0.yaml") +fname_modeling_options = os.path.join(run_dir, "stage-3-semisub_of_modeling.yaml") # Compare to examples/03_design_with_openfast/iea22_ptfm_opt_analysis.yaml +fname_analysis_options = os.path.join(run_dir, "stage-3-semisub_of_analysis.yaml") # Compare to examples/03_design_with_openfast/iea22_ptfm_opt_modeling.yaml + +wt_opt, modeling_options, analysis_options = weis_main( + fname_wt_input, fname_modeling_options, fname_analysis_options, test_run=TEST_RUN + ) + diff --git a/examples/09_model_creation_process/1_drivers/stage-3-semisub/stage-3-semisub_of_modeling.yaml b/examples/09_model_creation_process/1_drivers/stage-3-semisub/stage-3-semisub_of_modeling.yaml new file mode 100644 index 000000000..ed1b5304b --- /dev/null +++ b/examples/09_model_creation_process/1_drivers/stage-3-semisub/stage-3-semisub_of_modeling.yaml @@ -0,0 +1,135 @@ +General: + verbosity: False # When set to True, the code prints to screen many infos + openfast_configuration: + OF_run_fst: stage-3-semisub_of + # OF_run_dir: outputs/IEA_w_TMD_33 + save_iterations: True + save_timeseries: True + use_exe: True + allow_fails: True + fail_value: 9999 + write_stdout: True # !! Important for debugging! + +Environment: + air_density: 1.225 + air_dyn_viscosity: 1.81e-5 + weib_shape_parameter: 2. + air_speed_sound: 340. + shear_exp: 0.12 + water_density: 1025.0 + water_dyn_viscosity: 1.3351e-3 + soil_shear_modulus: 140.e+6 + soil_poisson: 0.4 + water_depth: 200.0 + significant_wave_height: 4.52 + significant_wave_period: 9.45 + +WISDEM: + RotorSE: + flag: True + n_pitch_perf_surfaces: 20 + n_tsr_perf_surfaces: 20 + spar_cap_ss: spar_cap_ss + spar_cap_ps: spar_cap_ps + peak_thrust_shaving: True + thrust_shaving_coeff: 0.8 + TowerSE: + flag: True + wind: PowerWind # Wind used + gamma_f: 1.35 # Safety factor for fatigue loads + gamma_m: 1.3 # Safety factor for material properties + gamma_n: 1.0 # Safety factor for ... + gamma_b: 1.1 # Safety factor for ... + gamma_fatigue: 1.755 # Safety factor for fatigue loads + buckling_method: dnvgl # Buckling code type [eurocode or dnvgl] + buckling_length: 15 # Buckling parameter + frame3dd: + shear: True + geom: True + tol: 1e-9 + DriveSE: + flag: True + FloatingSE: + flag: True + symmetric_moorings: True + gamma_f: 1.35 # Safety factor for fatigue loads + gamma_m: 1.3 # Safety factor for material properties + gamma_n: 1.0 # Safety factor for ... + gamma_b: 1.1 # Safety factor for ... + gamma_fatigue: 1.755 # Safety factor for fatigue loads + rank_and_file: True + BOS: + flag: True + LCOE: + flag: True + wake_loss_factor: 0.15 + fixed_charge_rate: 0.056 + bos_per_kW: 4053. + opex_per_kW: 137. + turbine_number: 40. + labor_rate: 58.8 + painting_rate: 30.0 + +OpenFAST: # Options for WEIS fidelity level 3 = nonlinear time domain + flag: True + simulation: + DT: 0.01 + CompElast: 1 + CompInflow: 1 + CompAero: 2 + CompServo: 1 + CompHydro: 1 + CompSub: 0 + CompMooring: 3 + CompIce: 0 + OutFileFmt: 3 + NumCrctn: 1 + ElastoDyn: + FlapDOF1: True + FlapDOF2: True + EdgeDOF: True + TeetDOF: False + DrTrDOF: False + GenDOF: True + YawDOF: False + TwFADOF1 : True + TwFADOF2 : True + TwSSDOF1 : True + TwSSDOF2 : True + PtfmSgDOF: True + PtfmSwDOF: True + PtfmHvDOF: True + PtfmRDOF : True + PtfmPDOF : True + PtfmYDOF : True +RAFT: + flag: False + potential_model_override: 0 + trim_ballast: 2 + heave_tol: 1 + save_designs: True +ROSCO: + flag: True + tuning_yaml: ../../2_models/iea22_rosco.yaml + +DLC_driver: + metocean_conditions: + wind_speed: [4., 6., 8., 10., 12., 14., 16., 18., 20., 22., 24.] + wave_height_NSS: [0.83, 0.88, 0.94, 1.03, 1.16, 1.34, 1.57, 1.86, 2.22, 2.62, 3.07] + wave_period_NSS: [6.9, 6.96, 7.02, 7.12, 7.25, 7.43, 7.66, 7.94, 8.27, 8.63, 9.01] + wave_height_SSS: [6.3, 8, 8, 8.1, 8.5, 8.5, 9.8, 9.8, 9.8, 9.8, 9.9] + wave_period_SSS: [11.5, 12.7, 12.7, 12.8, 13.1, 13.1, 14.1, 14.1, 14.1, 14.1, 14.1] + wave_height_1: 6.98 + wave_period_1: 11.7 + wave_height_50: 10.68 + wave_period_50: 14.2 + DLCs: + - DLC: "1.6" + n_seeds: 6 + transient_time: 120.0 + analysis_time: 600.0 + - DLC: "6.1" + n_seeds: 6 + analysis_time: 600.0 + turbulent_wind: + GridWidth: 400 diff --git a/examples/09_model_creation_process/1_drivers/stage-3-semisub/stage-3-semisub_raft_analysis.yaml b/examples/09_model_creation_process/1_drivers/stage-3-semisub/stage-3-semisub_raft_analysis.yaml new file mode 100644 index 000000000..54359d486 --- /dev/null +++ b/examples/09_model_creation_process/1_drivers/stage-3-semisub/stage-3-semisub_raft_analysis.yaml @@ -0,0 +1,112 @@ +general: + folder_output: outputs + fname_output: stage-3-semisub_raft + +design_variables: + floating: + joints: + z_coordinate: # draft + - names: [main_keel, col1_keel, col2_keel, col3_keel] + lower_bound: -30.0 + upper_bound: -12.0 + flag: True + # - names: [col1_freeboard, col2_freeboard, col3_freeboard] + # lower_bound: 10.0 + # upper_bound: 20.0 + r_coordinate: + - names: [col1_keel, col1_freeboard, col2_keel, col2_freeboard, col3_keel, col3_freeboard] + lower_bound: 50.0 + upper_bound: 70.0 + flag: True + members: + groups: + - names: [column1, column2, column3] + flag: True + diameter: + lower_bound: 12.0 + upper_bound: 16.0 + constant: True + +constraints: + tower: + height_constraint: + flag: False + lower_bound: 1.e-2 + upper_bound: 1.e-2 + stress: + flag: False + global_buckling: + flag: False + shell_buckling: + flag: False + d_to_t: + flag: False + lower_bound: 120.0 + upper_bound: 2000.0 + taper: + flag: False + lower_bound: 0.2 + slope: + flag: False + frequency_1: + flag: False + lower_bound: 0.37 + floating: + survival_heel: + upper_bound: 0.17453292519943295 # 10 deg + metacentric_height: + flag: True + lower_bound: 15.0 + pitch_period: + flag: True + lower_bound: 20. # +/- 10% + upper_bound: 80. + heave_period: + flag: True + lower_bound: 16. # +/- 10% + upper_bound: 80. + fixed_ballast_capacity: + flag: True + variable_ballast_capacity: + flag: True + buoyancy: + flag: False + stress: + flag: False + global_buckling: + flag: False + shell_buckling: + flag: False + mooring_heel: + flag: False + freeboard_margin: # keep freeboard from being submerged below water during survival_heel, largest wave + flag: True + draft_margin: # keep draft from raising above water line during survival_heel, largest wave + flag: True + fairlead_depth: # keep fairlead above bottom trough of largest wave + flag: True + control: + Max_PtfmPitch: + flag: True + max: 6.0 + Std_PtfmPitch: + flag: False + max: 1.25 # Same as IEA-15MW with same DLCs + nacelle_acceleration: + flag: True + max: 2.0 + +merit_figure: structural_mass + +driver: + optimization: + flag: True # Flag to enable optimization + tol: 1.e-6 # Optimality tolerance + max_iter: 50 # Maximum number of iterations (SLSQP) + max_gen: 2 # Maximum number of generations (DE) + #time_limit: 3420 + solver: LN_COBYLA # Optimization solver. Other options are 'SLSQP' - 'CONMIN' + +recorder: + flag: True # Flag to activate OpenMDAO recorder + file_name: log_opt.sql # Name of OpenMDAO recorder diff --git a/examples/09_model_creation_process/1_drivers/stage-3-semisub/stage-3-semisub_raft_driver.py b/examples/09_model_creation_process/1_drivers/stage-3-semisub/stage-3-semisub_raft_driver.py new file mode 100644 index 000000000..86fad6ff5 --- /dev/null +++ b/examples/09_model_creation_process/1_drivers/stage-3-semisub/stage-3-semisub_raft_driver.py @@ -0,0 +1,17 @@ +#!/usr/bin/env python3 +import os +from weis import weis_main +from openmdao.utils.mpi import MPI + +TEST_RUN = True + +## File management +run_dir = os.path.dirname( os.path.realpath(__file__) ) +fname_wt_input = os.path.join(run_dir, "..", "..", "2_models", "stage-2-controller_v2p0.yaml") +fname_modeling_options = os.path.join(run_dir, "stage-3-semisub_raft_modeling.yaml") +fname_analysis_options = os.path.join(run_dir, "stage-3-semisub_raft_analysis.yaml") # Compare to /Users/dzalkind/Tools/WEIS-Eni/examples/04_frequency_domain_analysis_design/iea22_raft_opt_analysis.yaml + +wt_opt, modeling_options, analysis_options = weis_main( + fname_wt_input, fname_modeling_options, fname_analysis_options, test_run=TEST_RUN + ) + diff --git a/examples/09_model_creation_process/1_drivers/stage-3-semisub/stage-3-semisub_raft_modeling.yaml b/examples/09_model_creation_process/1_drivers/stage-3-semisub/stage-3-semisub_raft_modeling.yaml new file mode 100644 index 000000000..044be9120 --- /dev/null +++ b/examples/09_model_creation_process/1_drivers/stage-3-semisub/stage-3-semisub_raft_modeling.yaml @@ -0,0 +1,115 @@ +General: + verbosity: False # When set to True, the code prints to screen many infos + openfast_configuration: + OF_run_fst: stage-3-semisub_raft + save_iterations: True + save_timeseries: True + use_exe: True + allow_fails: True + fail_value: 9999 + write_stdout: True +WISDEM: + RotorSE: + flag: True + n_pitch_perf_surfaces: 20 + n_tsr_perf_surfaces: 20 + spar_cap_ss: spar_cap_ss + spar_cap_ps: spar_cap_ps + # te_ss: TE_reinforcement_SS + # te_ps: TE_reinforcement_PS + peak_thrust_shaving: True + thrust_shaving_coeff: 0.8 + TowerSE: + flag: True + wind: PowerWind # Wind used + gamma_f: 1.35 # Safety factor for fatigue loads + gamma_m: 1.3 # Safety factor for material properties + gamma_n: 1.0 # Safety factor for ... + gamma_b: 1.1 # Safety factor for ... + gamma_fatigue: 1.755 # Safety factor for fatigue loads + buckling_method: dnvgl # Buckling code type [eurocode or dnvgl] + buckling_length: 15 # Buckling parameter + frame3dd: + shear: True + geom: True + tol: 1e-9 + DriveSE: + flag: True + FloatingSE: + flag: True + symmetric_moorings: True + gamma_f: 1.35 # Safety factor for fatigue loads + gamma_m: 1.3 # Safety factor for material properties + gamma_n: 1.0 # Safety factor for ... + gamma_b: 1.1 # Safety factor for ... + gamma_fatigue: 1.755 # Safety factor for fatigue loads + BOS: + flag: True + plant_turbine_spacing: 7 + plant_row_spacing: 7 + commissioning_cost_kW: 44.0 + decommissioning_cost_kW: 58.0 + distance_to_substation: 1.0 + distance_to_interconnection: 8.5 + interconnect_voltage: 130. + distance_to_site: 115. + distance_to_landfall: 50. + port_cost_per_month: 2e6 + construction_insurance: 44.0 + construction_financing: 183.0 + contingency: 316.0 + site_auction_price: 100e6 + site_assessment_cost: 50e6 + construction_plan_cost: 2.5e5 + installation_plan_cost: 1e6 + LCOE: + flag: True + wake_loss_factor: 0.15 + fixed_charge_rate: 0.056 + bos_per_kW: 4053. + opex_per_kW: 137. + turbine_number: 40. + labor_rate: 58.8 + painting_rate: 30.0 +Environment: + air_density: 1.225 + air_dyn_viscosity: 1.81e-5 + weib_shape_parameter: 2. + air_speed_sound: 340. + shear_exp: 0.12 + water_density: 1025.0 + water_dyn_viscosity: 1.3351e-3 + soil_shear_modulus: 140.e+6 + soil_poisson: 0.4 + water_depth: 200.0 + significant_wave_height: 4.52 + significant_wave_period: 9.45 + +RAFT: + flag: True + potential_model_override: 0 + trim_ballast: 2 + heave_tol: 1 + save_designs: True + +ROSCO: + flag: True + +DLC_driver: + metocean_conditions: + wind_speed: [4., 6., 8., 10., 12., 14., 16., 18., 20., 22., 24.] + wave_height_NSS: [0.83, 0.88, 0.94, 1.03, 1.16, 1.34, 1.57, 1.86, 2.22, 2.62, 3.07] + wave_period_NSS: [6.9, 6.96, 7.02, 7.12, 7.25, 7.43, 7.66, 7.94, 8.27, 8.63, 9.01] + wave_height_SSS: [6.3, 8, 8, 8.1, 8.5, 8.5, 9.8, 9.8, 9.8, 9.8, 9.9] + wave_period_SSS: [11.5, 12.7, 12.7, 12.8, 13.1, 13.1, 14.1, 14.1, 14.1, 14.1, 14.1] + wave_height_1: 6.98 + wave_period_1: 11.7 + wave_height_50: 10.68 + wave_period_50: 14.2 + DLCs: + - DLC: "1.6" + analysis_time: 600. + transient_time: 120. + - DLC: "6.1" + analysis_time: 600. + transient_time: 120. \ No newline at end of file diff --git a/examples/09_model_creation_process/1_drivers/stage-3.5-semisubCCD/stage-3.5-semisub_of_analysis.yaml b/examples/09_model_creation_process/1_drivers/stage-3.5-semisubCCD/stage-3.5-semisub_of_analysis.yaml new file mode 100644 index 000000000..e047012df --- /dev/null +++ b/examples/09_model_creation_process/1_drivers/stage-3.5-semisubCCD/stage-3.5-semisub_of_analysis.yaml @@ -0,0 +1,133 @@ +general: + folder_output: outputs_of_newFix + fname_output: stage-3-semisub_of + +design_variables: + floating: + joints: + z_coordinate: # draft + - names: [main_keel, col1_keel, col2_keel, col3_keel] + flag: True + lower_bound: -30.0 + upper_bound: -12.0 + # - names: [col1_freeboard, col2_freeboard, col3_freeboard] + # lower_bound: 10.0 + # upper_bound: 20.0 + r_coordinate: + - names: [col1_keel, col1_freeboard, col2_keel, col2_freeboard, col3_keel, col3_freeboard] + flag: True + lower_bound: 35.0 + upper_bound: 75.0 + members: + groups: + - names: [column1, column2, column3] + flag: True + diameter: + lower_bound: 8.0 + upper_bound: 16.0 + constant: True + control: + servo: + pitch_control: + omega: + flag: True + min: 0.025 + max: 0.5 + zeta: + flag: True + min: 0.1 + max: 3.0 + Kp_float: + flag: True + min: -40.0 # -0.25 + max: 0 + ptfm_freq: + flag: True + max: 0.5 + + +constraints: + tower: + height_constraint: + flag: False + lower_bound: 1.e-2 + upper_bound: 1.e-2 + stress: + flag: False + global_buckling: + flag: False + shell_buckling: + flag: False + d_to_t: + flag: False + lower_bound: 120.0 + upper_bound: 2000.0 + taper: + flag: False + lower_bound: 0.2 + slope: + flag: False + frequency_1: + flag: False + lower_bound: 0.37 + floating: + survival_heel: + upper_bound: 0.17453292519943295 # 10 deg + metacentric_height: + flag: True + lower_bound: 15.0 + pitch_period: + flag: True + lower_bound: 20. # +/- 10% + upper_bound: 80. + heave_period: + flag: True + lower_bound: 16. # +/- 10% + upper_bound: 80. + fixed_ballast_capacity: + flag: True + variable_ballast_capacity: + flag: True + buoyancy: + flag: False + stress: + flag: False + global_buckling: + flag: False + shell_buckling: + flag: False + mooring_heel: + flag: False + freeboard_margin: # keep freeboard from being submerged below water during survival_heel, largest wave + flag: True + draft_margin: # keep draft from raising above water line during survival_heel, largest wave + flag: True + fairlead_depth: # keep fairlead above bottom trough of largest wave + flag: True + control: + Max_PtfmPitch: + flag: True + max: 6.0 + Std_PtfmPitch: + flag: True + max: 1.25 # Same as IEA-15MW with same DLCs + nacelle_acceleration: + flag: True + max: 2.0 + rotor_overspeed: + flag: True + min: 0.0 + max: 0.3 + +merit_figure: structural_mass + +driver: + optimization: + flag: True # Flag to enable optimization + tol: 1.e-3 # Optimality tolerance + max_iter: 120 # Maximum number of iterations (SLSQP) + solver: LN_COBYLA # Optimization solver. Other options are 'SLSQP' - 'CONMIN' + +recorder: + flag: True # Flag to activate OpenMDAO recorder + file_name: log_opt.sql # Name of OpenMDAO recorder diff --git a/examples/09_model_creation_process/1_drivers/stage-3.5-semisubCCD/stage-3.5-semisub_of_driver.py b/examples/09_model_creation_process/1_drivers/stage-3.5-semisubCCD/stage-3.5-semisub_of_driver.py new file mode 100644 index 000000000..97ae95fca --- /dev/null +++ b/examples/09_model_creation_process/1_drivers/stage-3.5-semisubCCD/stage-3.5-semisub_of_driver.py @@ -0,0 +1,16 @@ +#!/usr/bin/env python3 +import os +from weis import weis_main +from openmdao.utils.mpi import MPI + + +## File management +run_dir = os.path.dirname( os.path.realpath(__file__) ) +fname_wt_input = os.path.join(run_dir, "..", "..", "2_models", "stage-3-semisub_raft_v2p0.yaml") +fname_modeling_options = os.path.join(run_dir, "stage-3.5-semisub_of_modeling.yaml") +fname_analysis_options = os.path.join(run_dir, "stage-3.5-semisub_of_analysis.yaml") + +wt_opt, modeling_options, analysis_options = weis_main( + fname_wt_input, fname_modeling_options, fname_analysis_options, test_run=True + ) + diff --git a/examples/09_model_creation_process/1_drivers/stage-3.5-semisubCCD/stage-3.5-semisub_of_modeling.yaml b/examples/09_model_creation_process/1_drivers/stage-3.5-semisubCCD/stage-3.5-semisub_of_modeling.yaml new file mode 100644 index 000000000..3a2f923d4 --- /dev/null +++ b/examples/09_model_creation_process/1_drivers/stage-3.5-semisubCCD/stage-3.5-semisub_of_modeling.yaml @@ -0,0 +1,135 @@ +General: + verbosity: False # When set to True, the code prints to screen many infos + openfast_configuration: + OF_run_fst: stage-3.5-semisub_of + # OF_run_dir: outputs/IEA_w_TMD_33 + save_iterations: True + save_timeseries: True + use_exe: True + allow_fails: True + fail_value: 9999 + write_stdout: True # !! Important for debugging! + +Environment: + air_density: 1.225 + air_dyn_viscosity: 1.81e-5 + weib_shape_parameter: 2. + air_speed_sound: 340. + shear_exp: 0.12 + water_density: 1025.0 + water_dyn_viscosity: 1.3351e-3 + soil_shear_modulus: 140.e+6 + soil_poisson: 0.4 + water_depth: 200.0 + significant_wave_height: 4.52 + significant_wave_period: 9.45 + +WISDEM: + RotorSE: + flag: True + n_pitch_perf_surfaces: 20 + n_tsr_perf_surfaces: 20 + spar_cap_ss: spar_cap_ss + spar_cap_ps: spar_cap_ps + peak_thrust_shaving: True + thrust_shaving_coeff: 0.8 + TowerSE: + flag: True + wind: PowerWind # Wind used + gamma_f: 1.35 # Safety factor for fatigue loads + gamma_m: 1.3 # Safety factor for material properties + gamma_n: 1.0 # Safety factor for ... + gamma_b: 1.1 # Safety factor for ... + gamma_fatigue: 1.755 # Safety factor for fatigue loads + buckling_method: dnvgl # Buckling code type [eurocode or dnvgl] + buckling_length: 15 # Buckling parameter + frame3dd: + shear: True + geom: True + tol: 1e-9 + DriveSE: + flag: True + FloatingSE: + flag: True + symmetric_moorings: True + gamma_f: 1.35 # Safety factor for fatigue loads + gamma_m: 1.3 # Safety factor for material properties + gamma_n: 1.0 # Safety factor for ... + gamma_b: 1.1 # Safety factor for ... + gamma_fatigue: 1.755 # Safety factor for fatigue loads + rank_and_file: True + BOS: + flag: True + LCOE: + flag: True + wake_loss_factor: 0.15 + fixed_charge_rate: 0.056 + bos_per_kW: 4053. + opex_per_kW: 137. + turbine_number: 40. + labor_rate: 58.8 + painting_rate: 30.0 + +OpenFAST: # Options for WEIS fidelity level 3 = nonlinear time domain + flag: True + simulation: + DT: 0.01 + CompElast: 1 + CompInflow: 1 + CompAero: 2 + CompServo: 1 + CompHydro: 1 + CompSub: 0 + CompMooring: 3 + CompIce: 0 + OutFileFmt: 3 + NumCrctn: 1 + ElastoDyn: + FlapDOF1: True + FlapDOF2: True + EdgeDOF: True + TeetDOF: False + DrTrDOF: False + GenDOF: True + YawDOF: False + TwFADOF1 : True + TwFADOF2 : True + TwSSDOF1 : True + TwSSDOF2 : True + PtfmSgDOF: True + PtfmSwDOF: True + PtfmHvDOF: True + PtfmRDOF : True + PtfmPDOF : True + PtfmYDOF : True +RAFT: + flag: True + potential_model_override: 0 + trim_ballast: 2 + heave_tol: 1 + save_designs: True +ROSCO: + flag: True + tuning_yaml: ../../2_models/iea22_rosco.yaml + +DLC_driver: + metocean_conditions: + wind_speed: [4., 6., 8., 10., 12., 14., 16., 18., 20., 22., 24.] + wave_height_NSS: [0.83, 0.88, 0.94, 1.03, 1.16, 1.34, 1.57, 1.86, 2.22, 2.62, 3.07] + wave_period_NSS: [6.9, 6.96, 7.02, 7.12, 7.25, 7.43, 7.66, 7.94, 8.27, 8.63, 9.01] + wave_height_SSS: [6.3, 8, 8, 8.1, 8.5, 8.5, 9.8, 9.8, 9.8, 9.8, 9.9] + wave_period_SSS: [11.5, 12.7, 12.7, 12.8, 13.1, 13.1, 14.1, 14.1, 14.1, 14.1, 14.1] + wave_height_1: 6.98 + wave_period_1: 11.7 + wave_height_50: 10.68 + wave_period_50: 14.2 + DLCs: + - DLC: "1.6" # kestrel + n_seeds: 6 + transient_time: 120.0 # 0. + analysis_time: 600.0 # 10. + - DLC: "6.1" + n_seeds: 6 + analysis_time: 600.0 # 10. + turbulent_wind: + GridWidth: 400 diff --git a/examples/09_model_creation_process/1_drivers/stage-4-dlcs/stage-4-dlcs_analysis.yaml b/examples/09_model_creation_process/1_drivers/stage-4-dlcs/stage-4-dlcs_analysis.yaml new file mode 100644 index 000000000..82572404e --- /dev/null +++ b/examples/09_model_creation_process/1_drivers/stage-4-dlcs/stage-4-dlcs_analysis.yaml @@ -0,0 +1,3 @@ +general: + folder_output: outputs/ + fname_output: stage-4-dlcs \ No newline at end of file diff --git a/examples/09_model_creation_process/1_drivers/stage-4-dlcs/stage-4-dlcs_driver.py b/examples/09_model_creation_process/1_drivers/stage-4-dlcs/stage-4-dlcs_driver.py new file mode 100644 index 000000000..1f2eb44be --- /dev/null +++ b/examples/09_model_creation_process/1_drivers/stage-4-dlcs/stage-4-dlcs_driver.py @@ -0,0 +1,15 @@ +#!/usr/bin/env python3 +import os +from weis import weis_main + +TEST_RUN = True + +run_dir = os.path.dirname( os.path.realpath(__file__) ) +fname_wt_input = os.path.join(run_dir, "..", "..", "2_models", "new-20-270-RWT_Floater.yaml") +fname_modeling_options = os.path.join(run_dir, "stage-4-dlcs_modeling.yaml") +fname_analysis_options = os.path.join(run_dir, "stage-4-dlcs_analysis.yaml") + +wt_opt, modeling_options, analysis_options = weis_main( + fname_wt_input, fname_modeling_options, fname_analysis_options, test_run=TEST_RUN + ) + diff --git a/examples/09_model_creation_process/1_drivers/stage-4-dlcs/stage-4-dlcs_modeling.yaml b/examples/09_model_creation_process/1_drivers/stage-4-dlcs/stage-4-dlcs_modeling.yaml new file mode 100644 index 000000000..1b5f0b591 --- /dev/null +++ b/examples/09_model_creation_process/1_drivers/stage-4-dlcs/stage-4-dlcs_modeling.yaml @@ -0,0 +1,141 @@ +General: + verbosity: False # When set to True, the code prints to screen many infos + openfast_configuration: + OF_run_fst: stage-4-dlc_20MW + OF_run_dir: outputs/dlcs + save_iterations: True + save_timeseries: True + use_exe: True + allow_fails: True + fail_value: 9999 + write_stdout: True # !! Important for debugging! + +Environment: + air_density: 1.225 + air_dyn_viscosity: 1.81e-5 + weib_shape_parameter: 2. + air_speed_sound: 340. + shear_exp: 0.12 + water_density: 1025.0 + water_dyn_viscosity: 1.3351e-3 + soil_shear_modulus: 140.e+6 + soil_poisson: 0.4 + water_depth: 200.0 + significant_wave_height: 4.52 + significant_wave_period: 9.45 + +WISDEM: + RotorSE: + flag: True + n_pitch_perf_surfaces: 20 + n_tsr_perf_surfaces: 20 + spar_cap_ss: spar_cap_ss + spar_cap_ps: spar_cap_ps + peak_thrust_shaving: True + thrust_shaving_coeff: 0.8 + TowerSE: + flag: True + wind: PowerWind # Wind used + gamma_f: 1.35 # Safety factor for fatigue loads + gamma_m: 1.3 # Safety factor for material properties + gamma_n: 1.0 # Safety factor for ... + gamma_b: 1.1 # Safety factor for ... + gamma_fatigue: 1.755 # Safety factor for fatigue loads + buckling_method: dnvgl # Buckling code type [eurocode or dnvgl] + buckling_length: 15 # Buckling parameter + frame3dd: + shear: True + geom: True + tol: 1e-9 + DriveSE: + flag: True + FloatingSE: + flag: True + symmetric_moorings: True + gamma_f: 1.35 # Safety factor for fatigue loads + gamma_m: 1.3 # Safety factor for material properties + gamma_n: 1.0 # Safety factor for ... + gamma_b: 1.1 # Safety factor for ... + gamma_fatigue: 1.755 # Safety factor for fatigue loads + rank_and_file: True + BOS: + flag: True + LCOE: + flag: True + wake_loss_factor: 0.15 + fixed_charge_rate: 0.056 + bos_per_kW: 4053. + opex_per_kW: 137. + turbine_number: 40. + labor_rate: 58.8 + painting_rate: 30.0 + +OpenFAST: # Options for WEIS fidelity level 3 = nonlinear time domain + flag: True + simulation: + DT: 0.01 + CompElast: 1 + CompInflow: 1 + CompAero: 2 + CompServo: 1 + CompSeaSt: 1 + CompHydro: 1 + CompSub: 0 + CompMooring: 3 + CompIce: 0 + OutFileFmt: 3 + NumCrctn: 1 + ElastoDyn: + FlapDOF1: True + FlapDOF2: True + EdgeDOF: True + TeetDOF: False + DrTrDOF: False + GenDOF: True + YawDOF: False + TwFADOF1 : True + TwFADOF2 : True + TwSSDOF1 : True + TwSSDOF2 : True + PtfmSgDOF: True + PtfmSwDOF: True + PtfmHvDOF: True + PtfmRDOF : True + PtfmPDOF : True + PtfmYDOF : True + AeroDyn: + BEM_Mod: 2 + UA_Mod: 2 + IntegrationMethod: 4 + +ROSCO: + flag: True + tuning_yaml: ../../2_models/iea20_semisub_rosco.yaml + +DLC_driver: + metocean_conditions: + wind_speed: [4., 6., 8., 10., 12., 14., 16., 18., 20., 22., 24.] + wave_height_NSS: [0.83, 0.88, 0.94, 1.03, 1.16, 1.34, 1.57, 1.86, 2.22, 2.62, 3.07] + wave_period_NSS: [6.9, 6.96, 7.02, 7.12, 7.25, 7.43, 7.66, 7.94, 8.27, 8.63, 9.01] + wave_height_SSS: [6.3, 8, 8, 8.1, 8.5, 8.5, 9.8, 9.8, 9.8, 9.8, 9.9] + wave_period_SSS: [11.5, 12.7, 12.7, 12.8, 13.1, 13.1, 14.1, 14.1, 14.1, 14.1, 14.1] + wave_height_1: 6.98 + wave_period_1: 11.7 + wave_height_50: 10.68 + wave_period_50: 14.2 + DLCs: + - DLC: "1.1" + n_seeds: 6 + transient_time: 100. + analysis_time: 600. + - DLC: "1.4" + wind_speed: [9.158, 11.158, 13.158] + - DLC: "1.6" + n_seeds: 6 + transient_time: 120. + analysis_time: 600. + # - DLC: "5.1" # shutdown is important for floating systems, but the test mode requires more setup + - DLC: "6.1" + n_seeds: 6 + transient_time: 120. + analysis_time: 600. diff --git a/examples/09_model_creation_process/2_models/new-20-270-RWT_Floater.yaml b/examples/09_model_creation_process/2_models/new-20-270-RWT_Floater.yaml new file mode 100644 index 000000000..6a9455ad4 --- /dev/null +++ b/examples/09_model_creation_process/2_models/new-20-270-RWT_Floater.yaml @@ -0,0 +1,1814 @@ +windIO_version: '2.0' +name: IEA 22MW Offshore Wind Turbine in Floating Configuration +assembly: + turbine_class: I + turbulence_class: B + drivetrain: direct_drive + rotor_orientation: Upwind + number_of_blades: 3 + hub_height: 170.0 + rotor_diameter: 270.0 + rated_power: 20000000.0 + lifetime: 25.0 +components: + blade: + reference_axis: + x: + grid: [0.0, 0.01, 0.02, 0.03, 0.04, 0.05, 0.060000000000000005, 0.07, 0.08, 0.09, 0.1, 0.11, 0.12000000000000001, 0.13, 0.14, 0.15000000000000002, 0.16, 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col1_freeboard + location: [65.0, 179.99999979432002, 15.0] + cylindrical: true + transition: false + - name: col2_keel + location: [65.0, 60.00000279622898, -25.0] + cylindrical: true + transition: false + - name: col2_freeboard + location: [65.0, 59.99999706665103, 15.0] + cylindrical: true + transition: false + - name: col3_keel + location: [65.0, -60.00000279622898, -25.0] + cylindrical: true + transition: false + - name: col3_freeboard + location: [65.0, -60.00000279622898, 15.0] + cylindrical: true + transition: false + - name: anchor1 + location: [837.8, 179.99999979432002, -200.0] + cylindrical: true + transition: false + - name: anchor2 + location: [837.8, 60.00000279622898, -200.0] + cylindrical: true + transition: false + - name: anchor3 + location: [837.8, -60.00000279622898, -200.0] + cylindrical: true + transition: false + members: + - name: main_column + joint1: main_keel + joint2: main_freeboard + Ca: [1.0, 1.0] + Cd: [0.8, 0.8] + outer_shape: + shape: circular + outer_diameter: + grid: [0.0, 1.0] + values: [12.0, 12.0] + axial_joints: + - name: main_upper_pontoon + grid: 0.987 + - name: main_lower_pontoon + grid: 0.2 + Cp: 0.0 + structure: + layers: + - name: main_twall + material: steel + thickness: + grid: [0.0, 1.0] + values: [0.05, 0.05] + bulkhead: + material: steel + thickness: + grid: [0.0, 0.1, 0.25, 1.0] + values: [0.05, 0.05, 0.05, 0.05] + outfitting_factor: 1.0 + ballast: + - variable_flag: true + grid: [0.0, 0.25] + - name: column1 + joint1: col1_keel + joint2: col1_freeboard + Ca: [1.0, 1.0] + Cd: [0.8, 0.8] + outer_shape: &id003 + shape: circular + outer_diameter: + grid: [0.0, 1.0] + values: [12.5, 12.5] + axial_joints: + - name: col1_upper_pontoon + grid: 0.987 + - name: col1_lower_pontoon + grid: 0.2 + - name: col1_fairlead + grid: 0.1714 + Cp: 0.0 + structure: &id004 + layers: + - name: col_twall + material: steel + thickness: + grid: [0.0, 1.0] + values: [0.05, 0.05] + bulkhead: + material: steel + thickness: + grid: [0.0, 0.35, 1.0] + values: [0.05, 0.05, 0.05] + ring_stiffeners: + material: steel + flange_thickness: 0.1 + flange_width: 0.2 + web_height: 0.2 + web_thickness: 0.1 + spacing: 0.083333 + longitudinal_stiffeners: + material: steel + flange_thickness: 0.1 + flange_width: 0.2 + web_height: 0.2 + web_thickness: 0.1 + spacing: 0.52359 + outfitting_factor: 1.0 + ballast: + - variable_flag: true + grid: [0.0, 0.35] + - name: column2 + joint1: col2_keel + joint2: col2_freeboard + Ca: [1.0, 1.0] + Cd: [0.8, 0.8] + outer_shape: *id003 + axial_joints: + - name: col2_upper_pontoon + grid: 0.987 + - name: col2_lower_pontoon + grid: 0.2 + - name: col2_fairlead + grid: 0.1714 + Cp: 0.0 + structure: *id004 + - name: column3 + joint1: col3_keel + joint2: col3_freeboard + Ca: [1.0, 1.0] + Cd: [0.8, 0.8] + outer_shape: *id003 + axial_joints: + - name: col3_upper_pontoon + grid: 0.987 + - name: col3_lower_pontoon + grid: 0.2 + - name: col3_fairlead + grid: 0.1714 + Cp: 0.0 + structure: *id004 + - name: Y_pontoon_upper1 + joint1: main_upper_pontoon + joint2: col1_upper_pontoon + Ca: [1.0, 1.0] + Cd: [0.8, 0.8] + outer_shape: &id005 + shape: circular + outer_diameter: + grid: [0.0, 1.0] + values: [0.91, 0.91] + Cp: 0.0 + structure: &id006 + layers: + - name: pontoon_upper_twall + material: steel + thickness: + grid: [0.0, 1.0] + values: [0.02, 0.02] + outfitting_factor: 1.0 + bulkhead: + material: steel + thickness: + grid: [0.0, 1.0] + values: [0.02, 0.02] + - name: Y_pontoon_upper2 + joint1: main_upper_pontoon + joint2: col2_upper_pontoon + Ca: [1.0, 1.0] + Cd: [0.8, 0.8] + outer_shape: *id005 + Cp: 0.0 + structure: *id006 + - name: Y_pontoon_upper3 + joint1: main_upper_pontoon + joint2: col3_upper_pontoon + Ca: [1.0, 1.0] + Cd: [0.8, 0.8] + outer_shape: *id005 + Cp: 0.0 + structure: *id006 + - name: Y_pontoon_lower1 + joint1: main_lower_pontoon + joint2: col1_lower_pontoon + Ca: [1.0, 1.0] + Cd: [0.8, 0.8] + outer_shape: &id007 + shape: circular + outer_diameter: + grid: [0.0, 1.0] + values: [10.0, 10.0] + Cp: 0.0 + structure: &id008 + layers: + - name: pontoon_lower_twall + material: steel + thickness: + grid: [0.0, 1.0] + values: [0.04, 0.04] + outfitting_factor: 1.0 + bulkhead: + material: steel + thickness: + grid: [0.0, 1.0] + values: [0.02, 0.02] + ballast: + - variable_flag: true + grid: [0.0, 1.0] + - name: Y_pontoon_lower2 + joint1: main_lower_pontoon + joint2: col2_lower_pontoon + Ca: [1.0, 1.0] + Cd: [0.8, 0.8] + outer_shape: *id007 + Cp: 0.0 + structure: *id008 + - name: Y_pontoon_lower3 + joint1: main_lower_pontoon + joint2: col3_lower_pontoon + Ca: [1.0, 1.0] + Cd: [0.8, 0.8] + outer_shape: *id007 + Cp: 0.0 + structure: *id008 + mooring: + nodes: + - name: line1_anchor + node_type: fixed + joint: anchor1 + anchor_type: drag_embedment + fairlead_type: rigid + node_mass: 0.0 + node_volume: 0.0 + drag_area: 0.0 + added_mass: 0.0 + - name: line2_anchor + node_type: fixed + joint: anchor2 + anchor_type: drag_embedment + fairlead_type: rigid + node_mass: 0.0 + node_volume: 0.0 + drag_area: 0.0 + added_mass: 0.0 + - name: line3_anchor + node_type: fixed + joint: anchor3 + anchor_type: drag_embedment + fairlead_type: rigid + node_mass: 0.0 + node_volume: 0.0 + drag_area: 0.0 + added_mass: 0.0 + - name: line1_vessel + node_type: vessel + joint: col1_fairlead + fairlead_type: rigid + anchor_type: none + node_mass: 0.0 + node_volume: 0.0 + drag_area: 0.0 + added_mass: 0.0 + - name: line2_vessel + node_type: vessel + joint: col2_fairlead + fairlead_type: rigid + anchor_type: none + node_mass: 0.0 + node_volume: 0.0 + drag_area: 0.0 + added_mass: 0.0 + - name: line3_vessel + joint: col3_fairlead + node_type: vessel + fairlead_type: rigid + anchor_type: none + node_mass: 0.0 + node_volume: 0.0 + drag_area: 0.0 + added_mass: 0.0 + lines: + - name: line1 + node1: line1_anchor + node2: line1_vessel + line_type: main + unstretched_length: 837.0 + - name: line2 + node1: line2_anchor + node2: line2_vessel + line_type: main + unstretched_length: 837.0 + - name: line3 + node1: line3_anchor + node2: line3_vessel + line_type: main + unstretched_length: 837.0 + line_types: + - name: main + diameter: 0.225 + type: chain + transverse_added_mass: 1.0 + tangential_added_mass: 0.0 + transverse_drag: 1.6 + tangential_drag: 0.1 + damping: 0.0 + anchor_types: + - name: drag_embedment + type: drag_embedment + drivetrain: + outer_shape: + uptilt: 6.000000000000001 + distance_tt_hub: 5.614 + overhang: 14.0 + cd: 0.5 + gearbox: + gear_ratio: 1.0 + efficiency: 1.0 + damping_ratio: 0.005 + lss: + diameter: [3.1, 3.1] + wall_thickness: [0.02, 0.02] + material: steel_drive + hss: {} + nose: + diameter: [2.1, 2.1] + wall_thickness: [0.035, 0.035] + bedplate: + wall_thickness: + grid: [0.0, 0.3333333333333333, 0.6666666666666666, 1.0] + values: [0.1, 0.1, 0.1, 0.1] + material: steel + other_components: + brake_mass: 0.0 + hvac_mass_coefficient: 0.025 + converter_mass: 0.0 + transformer_mass: 0.0 + mb1Type: CARB + mb2Type: SRB + uptower: true + generator: + length: 3.047 +airfoils: + - name: FFA-W3-211 + coordinates: + x: [1.0, 0.99258, 0.98009, 0.96604, 0.95066, 0.93415, 0.91684, 0.89901, 0.88084, 0.8625, 0.84401, 0.82544, 0.80688, 0.78829, 0.76963, 0.75088, 0.73205, 0.71319, 0.69435, 0.67555, 0.65682, 0.63817, 0.61968, 0.60133, 0.58309, 0.56491, 0.54677, 0.5287, 0.51074, 0.4929, 0.47519, 0.4576, 0.44014, 0.42283, 0.40569, 0.38873, 0.37195, 0.35536, 0.339, 0.32287, 0.30693, 0.29113, 0.27547, 0.25996, 0.24458, 0.2293, 0.21414, 0.19912, 0.18429, 0.1697, 0.15539, 0.14144, 0.12793, 0.11496, 0.10262, 0.09103, 0.08028, 0.07044, 0.06155, 0.05357, 0.04648, 0.04021, 0.03466, 0.02977, 0.02545, 0.02163, 0.01825, 0.01526, 0.01262, 0.01029, 0.00825, 0.00646, 0.00492, 0.00359, 0.00248, 0.00158, 0.00087, 0.00038, 8e-05, 0.0, 0.00014, 0.00051, 0.00115, 0.00209, 0.00332, 0.00482, 0.00657, 0.00859, 0.01087, 0.01343, 0.0163, 0.01949, 0.02306, 0.02705, 0.03152, 0.03657, 0.04228, 0.04876, 0.05611, 0.06444, 0.07382, 0.08428, 0.09582, 0.10833, 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aerodynamic_center: 0.25 + description: Airfoil data computed using EllipSys2D v22.0 assuming incompressible flow. 360 degree extrapolation done using AirfoilPreppy, no 3D correction. F Zahle, DTU Wind Energy 12 June 2023 + polars: + - configuration: default + re_sets: + - re: 10000000.0 + cl: + grid: [-180.0, -177.71428571428572, -175.42857142857142, -173.14285714285714, -170.8571428571429, -168.57142857142858, -166.2857142857143, -164.0, -161.71428571428572, -159.42857142857142, -157.14285714285717, -154.85714285714286, -152.57142857142858, -150.28571428571428, -148.0, -143.8571428571429, -139.71428571428572, -135.57142857142856, -131.42857142857144, -127.28571428571429, -123.14285714285715, -119.0, -114.85714285714288, -110.71428571428572, -106.5714285714286, -102.42857142857143, -98.28571428571428, -94.14285714285715, -90.0, -85.85714285714286, -81.71428571428572, -77.57142857142857, -73.42857142857143, -69.28571428571428, -65.14285714285714, -61.0, -56.857142857142854, -52.714285714285715, -48.57142857142857, -44.42857142857142, -40.285714285714285, -36.14285714285714, -32.0, -28.0, -24.000000000000004, -20.0, -18.0, -16.0, -14.0, -12.000000000000002, -10.0, 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0.99114, 0.99606, 0.99901, 1.0] + y: [0.002, 0.0314, 0.06267, 0.09369, 0.12434, 0.15451, 0.18406, 0.21289, 0.24088, 0.26791, 0.29389, 0.31871, 0.34227, 0.36448, 0.38526, 0.40451, 0.42216, 0.43815, 0.45241, 0.46489, 0.47553, 0.48429, 0.49114, 0.49606, 0.49901, 0.5, 0.49901, 0.49606, 0.49114, 0.48429, 0.47553, 0.46489, 0.45241, 0.43815, 0.42216, 0.40451, 0.38526, 0.36448, 0.34227, 0.31871, 0.29389, 0.26791, 0.24088, 0.21289, 0.18406, 0.15451, 0.12434, 0.09369, 0.06267, 0.0314, 0.0, -0.0314, -0.06267, -0.09369, -0.12434, -0.15451, -0.18406, -0.21289, -0.24088, -0.26791, -0.29389, -0.31871, -0.34227, -0.36448, -0.38526, -0.40451, -0.42216, -0.43815, -0.45241, -0.46489, -0.47553, -0.48429, -0.49114, -0.49606, -0.49901, -0.5, -0.49901, -0.49606, -0.49114, -0.48429, -0.47553, -0.46489, -0.45241, -0.43815, -0.42216, -0.40451, -0.38526, -0.36448, -0.34227, -0.31871, -0.29389, -0.26791, -0.24088, -0.21289, -0.18406, -0.15451, -0.12434, -0.09369, -0.06267, -0.0314, -0.002] + aerodynamic_center: 0.5 + polars: + - configuration: default + re_sets: + - re: 3000000.0 + cl: + grid: [-180.0, 180.0] + values: [0.0001, 0.0001] + cd: + grid: [-180.0, 180.0] + values: [0.35, 0.35] + cm: + grid: [-180.0, 180.0] + values: [-0.0001, -0.0001] + rthick: 1.0 +materials: + - name: gelcoat + rho: 1235.0 + E: 3440000000.0 + G: 1323000000.0 + nu: 0.3 + orth: 0 + ply_t: 0.0005 + waste: 0.25 + unit_cost: 7.23 + Xt: 74000000.0 + Xc: 87000000.0 + alpha: 0.0 + S: 21260000.0 + GIc: 303 + GIIc: 3446 + alp0: 53 + - name: Adhesive + orth: 0.0 + rho: 1100.0 + E: 4560000000.0 + G: 1450000000.0 + nu: 0.3 + alpha: 0.0 + Xt: 61510000.0 + Xc: 65360000.0 + S: 36610000.0 + GIc: 0.0 + GIIc: 0.0 + alp0: 0.0 + ply_t: 0.001 + waste: 0.25 + unit_cost: 7.23 + - name: steel + rho: 7850.0 + E: 200000000000.0 + G: 79300000000.0 + nu: 0.265 + orth: 0 + GIc: 0 + GIIc: 0 + alp0: 0.0 + Xt: 450000000.0 + Xc: 450000000.0 + S: 0 + Xy: 345000000.0 + m: 3 + unit_cost: 0.7 + - name: steel_drive + description: Steel of the drivetrain ASTM 4140 40Cr1Mo28 + source: http://www.matweb.com/search/DataSheet.aspx?MatGUID=38108bfd64c44b4c9c6a02af78d5b6c6 + orth: 0 + rho: 7850 + alpha: 0.0 + E: 205000000000.0 + nu: 0.3 + G: 80000000000.0 + GIc: 0 + GIIc: 0 + alp0: 0.0 + Xt: 814000000.0 + Xc: 814000000.0 + S: 0 + Xy: 485000000.0 + m: 3 + unit_cost: 0.9 + - name: cast_iron + description: Cast iron for hub and nacelle components + source: TODO + orth: 0 + rho: 7200 + alpha: 0.0 + E: 118000000000.0 + nu: 0.3 + G: 47600000000.0 + GIc: 0 + GIIc: 0 + alp0: 0.0 + Xt: 310000000.0 + Xc: 310000000.0 + S: 0 + Xy: 265000000.0 + m: 3 + unit_cost: 0.5 + - name: glass_uniax + description: Vectorply E-LT-5500, Epikote MGS RIMR 135/Epicure MGS RIMH 1366 epoxy + source: MSU composites database 3D property tests, desrcibed in https://doi.org/10.5194/wes-7-19-2022 + orth: 1.0 + rho: 1940.0 + E: [43700000000.0, 16500000000.0, 15450000000.0] + G: [3265000000.0, 3495000000.0, 3480000000.0] + nu: [0.262, 0.264, 0.35] + Xt: [640230000.0, 38100000.0, 0.0] + Xc: [370690000.0, 82180000.0, 0] + S: [30170000.0, 18970000.0, 6210000.0] + m: 10 + GIc: 61.0 + GIIc: 101.0 + alp0: 50.0 + fvf: 0.57 + fwf: 0.7450682696347697 + ply_t: 0.005 + unit_cost: 1.87 + waste: 0.05 + fiber_density: 2535.5 + area_density_dry: 7.227162215457267 + manufacturing_id: 5 + - name: carbon_uniax + description: Baseline industry CFRP tested by Sandia National Labs within the BAR Project + source: Described in https://doi.org/10.5194/wes-7-19-2022 and https://energy.sandia.gov/download/45350/, RVE analysis. Nominal E11 is 157.6 GPa, but it is reduced to 140 GPa to be more in line with the actual properties seen in real blades. + orth: 1.0 + rho: 1600.0 + E: [140000000000.0, 9100000000.0, 9100000000.0] + G: [4131000000.0, 4131000000.0, 2689000000.0] + nu: [0.3133, 0.3133, 0.47066] + Xt: [1285200000.0, 38100000.0, 0.0] + Xc: [878210000.0, 82180000.0, 0.0] + S: [30170000.0, 18970000.0, 6210000.0] + m: 16.1 + GIc: 0.0 + GIIc: 0.0 + alp0: 0.0 + fvf: 0.6923076923076923 + fwf: 0.7788461538461539 + ply_t: 0.005 + unit_cost: 20.08 + waste: 0.05 + fiber_density: 1800.0 + area_density_dry: 6.230769230769231 + manufacturing_id: 4 + - name: glass_biax + description: "(+-45)6 PPG-Devold DB810- E05\u2014a fabric infused with Epikote MGS RIMR 135/Epicure RIMH 1366 epoxy resin. todo update Xt once clarified with Sandia" + source: Described in https://doi.org/10.5194/wes-7-19-2022 + orth: 1.0 + rho: 1940.0 + E: [11023100000.0, 11023100000.0, 16047700000.0] + G: [13231400000.0, 3487480000.0, 3487480000.0] + nu: [0.688074, 0.117173, 0.117173] + Xt: [69315000.0, 69315000.0, 69315000.0] + Xc: [70690000.0, 70690000.0, 70690000.0] + S: [124460000.0, 18970000.0, 6210000.0] + m: 10 + GIc: 41.0 + GIIc: 170.0 + alp0: 45.0 + fvf: 0.57 + fwf: 0.7450682696347697 + ply_t: 0.001 + waste: 0.15 + unit_cost: 3.0 + fiber_density: 2535.5 + area_density_dry: 1.4454324430914534 + roll_mass: 181.4368 + manufacturing_id: 3 + - name: glass_triax + description: "((\xB145)(0)2)s Saertex U14EU920-00940-T1300 and Saertex VU-90079-00830-01270\u2014fabrics infused with Vantico TDT 177-155." + source: Described in https://doi.org/10.5194/wes-7-19-2022 + orth: 1.0 + rho: 1940.0 + E: [28211400000.0, 16238800000.0, 15835500000.0] + G: [8248220000.0, 3491240000.0, 3491240000.0] + nu: [0.497511, 0.18091, 0.27481] + Xt: [435630000.0, 76440000.0, 0] + Xc: [343100000.0, 174710000.0, 0] + S: [85060000.0, 18970000.0, 6210000.0] + m: 10 + GIc: 41.0 + GIIc: 170.0 + alp0: 45.0 + fvf: 0.57 + fwf: 0.7450682696347697 + ply_t: 0.001 + unit_cost: 2.86 + waste: 0.15 + fiber_density: 2535.5 + area_density_dry: 1.4454324430914534 + roll_mass: 181.4368 + manufacturing_id: 2 + - name: medium_density_foam + description: Airex C70.130 PVC Foam, source 'https://www.3accorematerials.com/uploads/documents/TDS-AIREX-C70-E_1106.pdf' + source: Described in https://doi.org/10.5194/wes-7-19-2022 + orth: 0.0 + rho: 130.0 + E: 142500000.0 + G: 54000000.0 + nu: 0.3194 + Xt: 2083000.0 + Xc: 1563000.0 + S: 1250000.0 + GIc: 303.0 + GIIc: 3446.0 + alp0: 53.0 + waste: 0.2 + unit_cost: 13.0 + manufacturing_id: 1 + - name: resin + description: epoxy + source: Described in https://doi.org/10.5194/wes-7-19-2022 + E: 1000000.0 + nu: 0.3 + G: 312500.0 + GIc: 0.0 + GIIc: 0.0 + alp0: 0.0 + Xt: 0.0 + Xc: 0.0 + S: 0.0 + rho: 1150.0 + alpha: 0.0 + 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 diff --git a/weis/aeroelasticse/runFAST_pywrapper.py b/weis/aeroelasticse/runFAST_pywrapper.py index cf0eeca8e..55643dea8 100644 --- a/weis/aeroelasticse/runFAST_pywrapper.py +++ b/weis/aeroelasticse/runFAST_pywrapper.py @@ -413,10 +413,10 @@ def run_mpi(self, mpi_comm_map_down): for j, case_data in enumerate(case_data_all[idx_s:idx_e]): rank_j = sub_ranks[j] data_out = comm.recv(source=rank_j, tag=1) - output.append(data_out) + # output.append(data_out) + self.cruncher.add_output(data_out) - for iout in output: - self.cruncher.add_output(iout) + # for iout in output: return self.cruncher diff --git a/weis/aeroelasticse/utils.py b/weis/aeroelasticse/utils.py index b69628de7..95d83ada8 100644 --- a/weis/aeroelasticse/utils.py +++ b/weis/aeroelasticse/utils.py @@ -526,6 +526,7 @@ def generate_wind_files(dlc_generator, FAST_namingOut, wind_directory, rotorD, h # Write out turbsim input file turbsim_input_file_name = FAST_namingOut + '_' + dlc_generator.cases[i_case].IEC_WindType + ( + dlc_generator.cases[i_case].IECturbc + '_U%1.6f'%dlc_generator.cases[i_case].URef + '_Seed%1.1f'%dlc_generator.cases[i_case].RandSeed1) + '.in' wind_file_path_InflowWind = os.path.join(wind_directory, turbsim_input_file_name[:-3] + '.bts')