merging WHOC-style battery controller

example_case_folders/01_amr_wind_only/batch_script.sh

@@ -30,4 +30,4 @@ python3 hercules_runscript.py hercules_input_000.yaml >> loghercules 2>&1  & # S
 
 # Now go back to scratch folder and launch the job
 # cd /scratch/pfleming/c2c/example_sim_02
-mpirun -n 72 /home/pfleming/amr-wind/build/amr_wind amr_input.inp >> logamr 2>&1 
+mpirun -n 72 /home/pfleming/amr-wind/build/amr_wind amr_input.inp >> logamr 2>&1 

example_case_folders/01_amr_wind_only/hercules_runscript.py

@@ -1,5 +1,5 @@
 from hercules.emulator import Emulator
-from hercules.controller import Controller
+from hercules.controller_standin import ControllerStandin
 from hercules.py_sims import PySims
 from hercules.utilities import load_yaml
 
@@ -9,7 +9,7 @@
 
 input_dict = load_yaml(sys.argv[1])
 
-controller = Controller(input_dict)
+controller = ControllerStandin(input_dict)
 py_sims = PySims(input_dict)
 
 

example_case_folders/02_amr_wind_dummy_only/hercules_runscript.py

@@ -1,5 +1,5 @@
 from hercules.emulator import Emulator
-from hercules.controller import Controller
+from hercules.controller_standin import ControllerStandin
 from hercules.py_sims import PySims
 from hercules.utilities import load_yaml
 
@@ -10,7 +10,7 @@
 input_dict = load_yaml(sys.argv[1])
 
 
-controller = Controller(input_dict)
+controller = ControllerStandin(input_dict)
 py_sims = PySims(input_dict)
 
 

example_case_folders/03_amr_wind_and_solar/hercules_runscript.py

@@ -1,5 +1,5 @@
 from hercules.emulator import Emulator
-from hercules.controller import Controller
+from hercules.controller_standin import ControllerStandin
 from hercules.py_sims import PySims
 from hercules.utilities import load_yaml
 
@@ -9,7 +9,7 @@
 
 input_dict = load_yaml(sys.argv[1])
 
-controller = Controller(input_dict)
+controller = ControllerStandin(input_dict)
 py_sims = PySims(input_dict)
 
 

example_case_folders/04_amr_wind_and_solar_and_battery/hercules_runscript.py

@@ -1,5 +1,5 @@
 from hercules.emulator import Emulator
-from hercules.controller import Controller
+from hercules.controller_standin import ControllerStandin
 from hercules.py_sims import PySims
 from hercules.utilities import load_yaml
 
@@ -9,7 +9,7 @@
 
 input_dict = load_yaml(sys.argv[1])
 
-controller = Controller(input_dict)
+controller = ControllerStandin(input_dict)
 py_sims = PySims(input_dict)
 
 

example_case_folders/05_amr_wind_dummy_and_electrolzyer/amr_input.inp

@@ -158,8 +158,7 @@ Actuator.UniformCtDisk.num_points_r = 20
 Actuator.UniformCtDisk.num_points_t = 5
 
 
-Actuator.labels                            = T00 T01 
-# T02 T03 T04 T05 T06 T07
+Actuator.labels                            = T00 T01 T02 T03 T04 T05 T06 T07
 Actuator.JoukowskyDisk.thrust_coeff        = 8.1672e-01 7.9044e-01 7.8393e-01 7.8624e-01 7.8824e-01 7.8942e-01 7.8902e-01 7.8740e-01 7.8503e-01 7.8237e-01 7.7955e-01 7.7583e-01 7.7583e-01 7.7583e-01 7.7583e-01 7.7583e-01 7.7583e-01 7.7583e-01 7.7583e-01 7.7583e-01 7.7583e-01 7.7583e-01 7.7583e-01 7.7583e-01 7.7583e-01 7.7583e-01 7.7583e-01 7.7583e-01 7.6922e-01 7.4270e-01 5.5949e-01 4.6163e-01 3.8786e-01 3.2901e-01 2.8093e-01 2.4114e-01 2.0795e-01 1.8010e-01 1.5663e-01 1.3679e-01 1.1995e-01 1.0562e-01 9.3384e-02 8.2908e-02 7.3910e-02 6.6159e-02 5.9463e-02 5.3662e-02 4.8622e-02 4.4230e-02
 Actuator.JoukowskyDisk.wind_speed          = 3.0000e+00 3.5495e+00 4.0679e+00 4.5539e+00 5.0064e+00 5.4244e+00 5.8069e+00 6.1530e+00 6.4619e+00 6.7330e+00 6.9655e+00 7.1589e+00 7.3128e+00 7.4269e+00 7.5009e+00 7.5345e+00 7.5412e+00 7.5883e+00 7.6757e+00 7.8031e+00 7.9702e+00 8.1767e+00 8.4221e+00 8.7059e+00 9.0273e+00 9.3856e+00 9.7800e+00 1.0210e+01 1.0659e+01 1.0673e+01 1.1170e+01 1.1699e+01 1.2259e+01 1.2848e+01 1.3465e+01 1.4109e+01 1.4778e+01 1.5471e+01 1.6185e+01 1.6921e+01 1.7674e+01 1.8445e+01 1.9231e+01 2.0030e+01 2.0841e+01 2.1661e+01 2.2489e+01 2.3323e+01 2.4160e+01 2.5000e+01
 Actuator.JoukowskyDisk.rpm                 = 5.0000e+00 5.0000e+00 5.0000e+00 5.0000e+00 5.0000e+00 5.0000e+00 5.0000e+00 5.0000e+00 5.0000e+00 5.0000e+00 5.0000e+00 5.0861e+00 5.1954e+00 5.2765e+00 5.3290e+00 5.3529e+00 5.3577e+00 5.3912e+00 5.4532e+00 5.5437e+00 5.6625e+00 5.8092e+00 5.9836e+00 6.1851e+00 6.4135e+00 6.6681e+00 6.9483e+00 7.2535e+00 7.4992e+00 7.4992e+00 7.4992e+00 7.4992e+00 7.4992e+00 7.4992e+00 7.4992e+00 7.4992e+00 7.4992e+00 7.4992e+00 7.4992e+00 7.4992e+00 7.4992e+00 7.4992e+00 7.4992e+00 7.4992e+00 7.4992e+00 7.4992e+00 7.4992e+00 7.4992e+00 7.4992e+00 7.4992e+00
@@ -175,7 +174,13 @@ Actuator.JoukowskyDisk.use_root_correction = true
 Actuator.JoukowskyDisk.epsilon             = 5.0                 
 Actuator.JoukowskyDisk.vortex_core_size    = 24.0                
 
-Actuator.UniformCtDisk.yaw = 240.0
+Actuator.JoukowskyDisk.yaw = 240.0
 
-Actuator.T00.base_position = 2000.0 2000.0 0.0
-Actuator.T01.base_position = 2500.0 2500.0 0.0
+Actuator.T00.base_position               = 2000    1000    0
+Actuator.T01.base_position               = 1321.17749    1678.82251    0
+Actuator.T02.base_position               = 642.35498    2357.64502    0
+Actuator.T03.base_position               = 2509.116882    2187.939392    0
+Actuator.T04.base_position               = 1830.294372    2866.761902    0
+Actuator.T05.base_position               = 3697.056274    2697.056274    0
+Actuator.T06.base_position               = 3018.233764    3375.878784    0
+Actuator.T07.base_position               = 2339.411254    4054.701294    0

example_case_folders/05_amr_wind_dummy_and_electrolzyer/hercules_runscript.py

@@ -1,5 +1,5 @@
 from hercules.emulator import Emulator
-from hercules.controller import Controller
+from hercules.controller_standin import ControllerStandin
 from hercules.py_sims import PySims
 from hercules.utilities import load_yaml
 
@@ -10,7 +10,7 @@
 
 input_dict = load_yaml(sys.argv[1])
 
-controller = Controller(input_dict)
+controller = ControllerStandin(input_dict)
 py_sims = PySims(input_dict)
 
 

example_case_folders/06_amr_wind_standin_and_battery/batch_script.sh

@@ -1,13 +1,13 @@
 #!/bin/bash
 
 export HELICS_PORT=32000 
+helics_broker -f 2 --consoleloglevel=trace --loglevel=debug --local_port=$HELICS_PORT &
 
 
-helics_broker -f 2 --consoleloglevel=trace --loglevel=debug --local_port=$HELICS_PORT &
 
 cd example_case_folders/06_amr_wind_standin_and_battery 
 
-python hercules_runscript_dummy_amr.py amr_input.inp amr_standin_data.csv >> logdummy 2>&1 &
+python hercules_runscript_dummy_amr.py amr_input.inp amr_standin_windpower.csv >> logdummy 2>&1 &
 
-python hercules_runscript.py hercules_input_000.yaml >> logdummy 2>&1
+python hercules_runscript.py hercules_input_000.yaml
 

hercules/controller_standin.py

@@ -0,0 +1,38 @@
+from abc import abstractmethod
+
+class ControllerStandin():
+    """
+    This class is a pass-through stand-in for a plant-level controller.
+    Actual controllers should be implemented in WHOC
+    (https://github.com/NREL/wind-hybrid-open-controller). However, this
+    has been left in to allow users to run Hercules without plant-level
+    control, if desired.
+    """
+
+    def __init__(self, input_dict):
+
+        # Get wind farm information (assumes exactly one wind farm)
+        self.wf_name = list(input_dict["hercules_comms"]["amr_wind"].keys())[0]
+
+    @abstractmethod
+    def step(self, main_dict):
+
+        num_turbines = main_dict["hercules_comms"]\
+                                ["amr_wind"]\
+                                [self.wf_name]\
+                                ["num_turbines"]
+
+        # Set turbine yaw angles based on current AMR-Wind wind direction
+        wd = main_dict["hercules_comms"]\
+                      ["amr_wind"]\
+                      [self.wf_name]\
+                      ["wind_direction"]
+        main_dict["hercules_comms"]\
+                 ["amr_wind"]\
+                 [self.wf_name]\
+                 ["turbine_yaw_angles"] = num_turbines*[wd]
+
+        # TODO: does there need to be a seperate "controller" dict?
+        # Might make understanding the log easier?
+        return main_dict
+

hercules/dummy_amr_wind.py

@@ -58,6 +58,11 @@ def read_amr_wind_input(amr_wind_input):
     with open(amr_wind_input) as fp:
         Lines = fp.readlines()
 
+        # Get the simulation time step
+        for line in Lines:
+            if "time.fixed_dt" in line:
+                dt = float(line.split()[2])
+
         # Find the actuators
         for line in Lines:
             if "Actuator.labels" in line:
@@ -78,6 +83,7 @@ def read_amr_wind_input(amr_wind_input):
                     turbine_locations.append(locations)
 
         return_dict = {
+            "dt": dt,
             "num_turbines": num_turbines,
             "turbine_labels": turbine_labels,
             "rotor_diameter": D,
@@ -104,6 +110,10 @@ def __init__(self, config_dict, amr_wind_input, amr_standin_data_file=None):
         self.amr_wind_input = amr_wind_input
         self.amr_wind_input_dict = read_amr_wind_input(self.amr_wind_input)
 
+        # Get the simulation time step
+        self.dt = self.amr_wind_input_dict["dt"]
+        self.config_dict["helics"]["deltat"] = self.dt
+
         # Get the number of turbines
         self.num_turbines = self.amr_wind_input_dict["num_turbines"]
 
@@ -120,6 +130,7 @@ def run(self):
         # Initialize the values
         turbine_powers = np.zeros(self.num_turbines)
         sim_time_s = 0.0  # initialize time to 0
+        time_step = 0  # Initialize time step counter to 0
         amr_wind_speed = 8.0
         amr_wind_direction = 240.0
 
@@ -157,21 +168,28 @@ def run(self):
             # SIMULATE A CALCULATION STEP IN AMR WIND=========================
             logger.info("Calculating simulation time: %.1f" % sim_time_s)
 
-            amr_wind_speed, amr_wind_direction, turbine_powers = self.get_step(
-                sim_time_s
-            )
+            (
+                amr_wind_speed,
+                amr_wind_direction,
+                turbine_powers,
+                turbine_wind_directions,
+            ) = self.get_step(sim_time_s)
 
             # ================================================================
             # Communicate with control center
             # Send the turbine powers for this time step and get wind speed and wind direction for the
             # nex time step
-            logger.info("Time step: %d" % sim_time_s)
+            logger.info("Time step: %d" % time_step)
             logger.info("** Communicating with control center")
-            message_from_client_array = [
-                sim_time_s,
-                amr_wind_speed,
-                amr_wind_direction,
-            ] + turbine_powers
+            message_from_client_array = (
+                [
+                    sim_time_s,
+                    amr_wind_speed,
+                    amr_wind_direction,
+                ]
+                + turbine_powers
+                + turbine_wind_directions
+            )
 
             # Send helics message to Control Center
             # publish on topic: status
@@ -196,8 +214,9 @@ def run(self):
 
                 # Note dummy doesn't currently use received info for anything
 
-            # Advance simulation time
-            sim_time_s += 1
+            # Advance simulation time and time step counter
+            sim_time_s += self.dt
+            time_step += 1
             self.sync_time_helics(self.absolute_helics_time + self.deltat)
 
     # TODO cleanup code to move publish and subscribe here.
@@ -234,6 +253,8 @@ def get_step(self, sim_time_s):
                 for turb in range(self.num_turbines)
             ]
 
+            turbine_wind_directions = [0] * self.num_turbines
+
         else:
             amr_wind_speed = 8.0
             amr_wind_direction = 240.0
@@ -252,7 +273,17 @@ def get_step(self, sim_time_s):
             # Convert to a list
             turbine_powers = turbine_powers.tolist()
 
-        return amr_wind_speed, amr_wind_direction, turbine_powers
+            turbine_wind_directions = list(
+                amr_wind_direction + 5.0 * np.random.randn(self.num_turbines)
+            )
+            turbine_wind_directions = [sim_time_s + 0.01, sim_time_s + 0.02]
+
+        return (
+            amr_wind_speed,
+            amr_wind_direction,
+            turbine_powers,
+            turbine_wind_directions,
+        )
 
     def process_endpoint_event(self, msg):
         pass
@@ -273,7 +304,7 @@ def launch_dummy_amr_wind(amr_input_file, amr_standin_data_file=None):
         "name": "dummy_amr_wind",
         "gridpack": {},
         "helics": {
-            "deltat": 1,
+            "deltat": 1,  # Will be overridden by input file value
             "subscription_topics": ["control"],
             "publication_topics": ["status"],
             "endpoints": [],