fix drivetrain connections

environment.yml

@@ -28,7 +28,7 @@ dependencies:
   - pyvista
   - rosco>=2.10.1
   - trimesh
-  - wisdem>=4.2
+  - wisdem>=4.2.5
   - pip:
     - control
     - dash-vtk

examples/04_frequency_domain_analysis_design/oc3_raft_analysis.yaml

@@ -39,7 +39,7 @@ driver:
     max_major_iter: 10    # Maximum number of major design iterations (SNOPT)
     max_minor_iter: 100   # Maximum number of minor design iterations (SNOPT)
     max_iter: 10           # Maximum number of iterations (SLSQP)
-    solver: SLSQP     # Optimization solver. Other options are 'SLSQP' - 'CONMIN'
+    solver: LN_COBYLA     # Optimization solver. Other options are 'SLSQP' - 'CONMIN'
     step_size: 1.e-3      # Step size for finite differencing
     form: central         # Finite differencing mode, either forward or central
 

examples/04_frequency_domain_analysis_design/oc3_raft_driver.py

@@ -2,7 +2,7 @@
 from weis import weis_main
 
 # TEST_RUN will reduce the number and duration of simulations
-TEST_RUN = False
+TEST_RUN = True
 
 ## File management
 run_dir = os.path.dirname( os.path.realpath(__file__) )

weis/aeroelasticse/openmdao_openfast.py

@@ -222,6 +222,9 @@ def setup(self):
             # ServoDyn Inputs
             self.add_input('generator_efficiency',   val=1.0,              desc='Generator efficiency')
             self.add_input('max_pitch_rate',         val=0.0,        units='deg/s',          desc='Maximum allowed blade pitch rate')
+            self.add_input('VS_RefSpd',              val=0.0,        units='rad/s',          desc='Rated generator speed from ROSCO tuning')
+            self.add_input('VS_RtTq',                val=0.0,        units='N*m',            desc='Rated generator torque from ROSCO tuning')
+            self.add_input('VS_Rgn2K',               val=0.0,        units='N*m/(rad/s)**2', desc='Region 2 torque constant from ROSCO tuning')
 
             # StC or TMD inputs; structural control and tuned mass dampers
 
@@ -1112,9 +1115,9 @@ def update_FAST_model(self, fst_vt, inputs, discrete_inputs):
         fst_vt['ServoDyn']['PitManRat(2)'] = float(inputs['max_pitch_rate'][0])
         fst_vt['ServoDyn']['PitManRat(3)'] = float(inputs['max_pitch_rate'][0])
         # Tune simple variable speed controller in ServoDyn, mostly to support free-free rotor configurations during linearization
-        fst_vt['ServoDyn']['VS_RtGnSp'] = fst_vt['DISCON_in']['VS_RefSpd'] * 30. / np.pi # rpm
-        fst_vt['ServoDyn']['VS_RtTq'] = fst_vt['DISCON_in']['VS_RtTq'] # Nm
-        fst_vt['ServoDyn']['VS_Rgn2K'] = fst_vt['DISCON_in']['VS_Rgn2K'] / (30./np.pi)**2. # N-m/rpm^2
+        fst_vt['ServoDyn']['VS_RtGnSp'] = float(inputs['VS_RefSpd'][0]) * 30. / np.pi # rpm
+        fst_vt['ServoDyn']['VS_RtTq'] = float(inputs['VS_RtTq'][0]) # Nm
+        fst_vt['ServoDyn']['VS_Rgn2K'] = float(inputs['VS_Rgn2K'][0]) / (30./np.pi)**2. # N-m/rpm^2
         # Prevent error in OpenFAST
         if fst_vt['ServoDyn']['VS_Rgn2K']*fst_vt['ServoDyn']['VS_RtGnSp']**2. > fst_vt['ServoDyn']['VS_RtTq']:
             fst_vt['ServoDyn']['VS_Rgn2K'] = fst_vt['ServoDyn']['VS_RtTq']/fst_vt['ServoDyn']['VS_RtGnSp']**2.

weis/control/tune_rosco.py

@@ -226,7 +226,10 @@ def setup(self):
         self.add_output('PC_GS_Ki',         val=np.zeros(rosco_init_options['PC_GS_n']),              desc='Gain-schedule table: pitch controller ki gains')
         self.add_output('Fl_Kp',            val=0.0,            desc='Floating feedback gain')
 
-        # self.add_output('VS_Rgn2K',     val=0.0, units='N*m/(rad/s)**2',      desc='Generator torque constant in Region 2 (HSS side), [N-m/(rad/s)^2]')
+        # ServoDyn parameters passed to FASTLoadCases via formal OpenMDAO connection
+        self.add_output('VS_RefSpd',        val=0.0,        units='rad/s',      desc='Rated generator speed for ServoDyn')
+        self.add_output('VS_RtTq',          val=0.0,        units='N*m',        desc='Rated generator torque for ServoDyn')
+        self.add_output('VS_Rgn2K',         val=0.0,        units='N*m/(rad/s)**2', desc='Generator torque constant in Region 2 (HSS side)')
 
     def compute(self,inputs,outputs, discrete_inputs, discrete_outputs):
         '''
@@ -426,6 +429,11 @@ def compute(self,inputs,outputs, discrete_inputs, discrete_outputs):
         # outputs['VS_Rgn2K']     = controller.vs_rgn2K
         outputs['VS_Kp'] = controller.vs_gain_schedule.Kp[0]
         outputs['VS_Ki'] = controller.vs_gain_schedule.Ki[0]
+
+        # ServoDyn parameters for FASTLoadCases
+        outputs['VS_RefSpd'] = ROSCO_input['VS_RefSpd']
+        outputs['VS_RtTq'] = ROSCO_input['VS_RtTq']
+        outputs['VS_Rgn2K'] = ROSCO_input['VS_Rgn2K']
 
 class Cp_Ct_Cq_Tables(ExplicitComponent):
     def initialize(self):

weis/glue_code/glue_code.py

@@ -496,6 +496,9 @@ def setup(self):
                 self.connect("drivetrain.gear_ratio",              "aeroelastic.gearbox_ratio")
                 self.connect("rotorse.rp.powercurve.rated_efficiency",  "aeroelastic.generator_efficiency")
                 self.connect("tune_rosco_ivc.max_pitch_rate" ,         "aeroelastic.max_pitch_rate")
+                self.connect("sse_tune.tune_rosco.VS_RefSpd",          "aeroelastic.VS_RefSpd")
+                self.connect("sse_tune.tune_rosco.VS_RtTq",            "aeroelastic.VS_RtTq")
+                self.connect("sse_tune.tune_rosco.VS_Rgn2K",           "aeroelastic.VS_Rgn2K")
                 self.connect("drivetrain.gearbox_efficiency",      "aeroelastic.gearbox_efficiency")
                 self.connect("drivetrain.uptilt",                  "aeroelastic.tilt")
                 self.connect("drivetrain.overhang",                "aeroelastic.overhang")
@@ -758,12 +761,6 @@ def setup(self):
                     self.connect("drivetrain.mb2Type",                   "drivese_post.bear2.bearing_type")
                     self.connect("drivetrain.lss_diameter",              "drivese_post.lss_diameter")
                     self.connect("drivetrain.lss_wall_thickness",        "drivese_post.lss_wall_thickness")
-                    if modeling_options["WISDEM"]["DriveSE"]["direct"]:
-                        self.connect("drivetrain.nose_diameter",              "drivese_post.bear1.D_shaft", src_indices=[0])
-                        self.connect("drivetrain.nose_diameter",              "drivese_post.bear2.D_shaft", src_indices=[-1])
-                    else:
-                        self.connect("drivetrain.lss_diameter",              "drivese_post.bear1.D_shaft", src_indices=[0])
-                        self.connect("drivetrain.lss_diameter",              "drivese_post.bear2.D_shaft", src_indices=[-1])
                     self.connect("drivetrain.uptower",                   "drivese_post.uptower")
                     self.connect("drivetrain.brake_mass_user",           "drivese_post.brake_mass_user")
                     self.connect("drivetrain.hvac_mass_coeff",           "drivese_post.hvac_mass_coeff")