Add baseline supervisory hybrid plant controller

examples/simple_hybrid_plant/amr_input.inp

@@ -0,0 +1,163 @@
+#¨¨¨¨¨¨¨¨¨¨¨¨¨¨¨¨¨¨¨¨¨¨¨¨¨¨¨¨¨¨¨¨¨¨¨¨¨¨¨#
+#            SIMULATION STOP            #
+#.......................................#
+time.stop_time               =   100.0     # Max (simulated) time to evolve
+time.max_step                =   -1          # Max number of time steps
+
+#¨¨¨¨¨¨¨¨¨¨¨¨¨¨¨¨¨¨¨¨¨¨¨¨¨¨¨¨¨¨¨¨¨¨¨¨¨¨¨#
+#         TIME STEP COMPUTATION         #
+#.......................................#
+time.fixed_dt         =   0.5               # Use this constant dt if > 0
+time.cfl              =   0.95               # CFL factor
+
+#¨¨¨¨¨¨¨¨¨¨¨¨¨¨¨¨¨¨¨¨¨¨¨¨¨¨¨¨¨¨¨¨¨¨¨¨¨¨¨#
+#            INPUT AND OUTPUT           #
+#.......................................#
+time.plot_interval            =  3600        # Steps between plot files
+time.checkpoint_interval      =  3600        # Steps between checkpoint files
+io.restart_file = "/projects/ssc/amr_precursors/b_abl_neutral_lowTI_redo/chk14400"
+
+#¨¨¨¨¨¨¨¨¨¨¨¨¨¨¨¨¨¨¨¨¨¨¨¨¨¨¨¨¨¨¨¨¨¨¨¨¨¨¨#
+#               PHYSICS                 #
+#.......................................#
+incflo.gravity          =   0.  0. -9.81     # Gravitational force (3D)
+incflo.density             = 1.0             # Reference density 
+
+incflo.use_godunov = 1
+incflo.godunov_type = weno_z
+incflo.diffusion_type = 1
+transport.viscosity = 1.0e-5
+transport.laminar_prandtl = 0.7
+transport.turbulent_prandtl = 0.3333
+turbulence.model = OneEqKsgsM84
+
+incflo.physics = ABL Actuator
+ICNS.source_terms = BoussinesqBuoyancy CoriolisForcing ABLMeanBoussinesq ActuatorForcing
+TKE.source_terms = KsgsM84Src
+BoussinesqBuoyancy.reference_temperature = 300.0
+CoriolisForcing.latitude = 41.3
+ABLForcing.abl_forcing_height = 90
+incflo.velocity = 6.928203230275509 4.0 0.0
+
+
+# Atmospheric boundary layer
+ABL.temperature_heights = 0.0 700.0 800.0 1280.0
+ABL.temperature_values = 300.0 300.0 308.0 309.44
+ABL.reference_temperature = 300.0
+ABL.kappa = .40
+ABL.surface_roughness_z0 = 1.0E-4
+ABL.Uperiods                                = 25.0
+ABL.Vperiods                                = 25.0
+ABL.cutoff_height                           = 50.0
+ABL.deltaU                                  = 1.0
+ABL.deltaV                                  = 1.0
+ABL.normal_direction                        = 2
+ABL.perturb_ref_height                      = 50.0
+ABL.perturb_temperature                     = false
+ABL.perturb_velocity                        = true
+ABL.stats_output_format                     = netcdf
+ABL.stats_output_frequency                  = 1
+ABL.surface_temp_flux                       = 0.00
+ABL.wall_shear_stress_type                  = "Moeng"
+
+ABL.bndry_file = "/projects/ssc/amr_precursors/b_abl_neutral_lowTI_redo/bndry_files"
+ABL.bndry_io_mode = 1
+ABL.bndry_planes = ylo xlo # I'm (Paul) adding this but not sure if I have to
+ABL.bndry_var_names = velocity temperature tke
+
+
+# Output boundary files
+ABL.bndry_planes = ylo xlo
+ABL.bndry_output_start_time = 7200.0
+ABL.bndry_var_names = velocity temperature tke
+ABL.bndry_output_format = native
+ABL.stats_output_frequency = 1                   
+ABL.stats_output_format = netcdf  
+
+# Whether to use helics
+helics.activated        =   true
+helics.broker_port = 32000
+
+#¨¨¨¨¨¨¨¨¨¨¨¨¨¨¨¨¨¨¨¨¨¨¨¨¨¨¨¨¨¨¨¨¨¨¨¨¨¨¨#
+#        ADAPTIVE MESH REFINEMENT       #
+#.......................................#
+amr.n_cell              = 512 512 128    # Grid cells at coarsest AMRlevel
+amr.max_level           = 0           # Max AMR level in hierarchy 
+
+#¨¨¨¨¨¨¨¨¨¨¨¨¨¨¨¨¨¨¨¨¨¨¨¨¨¨¨¨¨¨¨¨¨¨¨¨¨¨¨#
+#              GEOMETRY                 #
+#.......................................#
+geometry.prob_lo        =   0.       0.     0.  # Lo corner coordinates
+geometry.prob_hi        =   5120.  5120.  1280.  # Hi corner coordinates
+geometry.is_periodic  =   0 0 0
+xlo.type = "mass_inflow"
+xlo.density = 1.0
+xlo.temperature = 0.0 # value required but ignored
+xlo.tke = 0.0
+xhi.type = "pressure_outflow"
+
+ylo.type = "mass_inflow"
+ylo.density = 1.0
+ylo.temperature = 0.0
+ylo.tke = 0.0
+yhi.type = "pressure_outflow"
+
+# Boundary conditions
+zlo.type =   "wall_model"
+zlo.tke_type = "zero_gradient"
+
+zhi.type =   "slip_wall"
+zhi.temperature_type = "fixed_gradient"
+zhi.temperature = 0.003 # tracer is used to specify potential temperature gradient
+
+#¨¨¨¨¨¨¨¨¨¨¨¨¨¨¨¨¨¨¨¨¨¨¨¨¨¨¨¨¨¨¨¨¨¨¨¨¨¨¨#
+#              VERBOSITY                #
+#.......................................#
+incflo.verbose          =   0          # incflo_level
+
+
+
+#¨¨¨¨¨¨¨¨¨¨¨¨¨¨¨¨¨¨¨¨¨¨¨¨¨¨¨¨¨¨¨¨¨¨¨¨¨¨¨#
+#              SAMPLING                 #
+#.......................................#
+incflo.post_processing = samplingPlane samplingLine
+
+samplingPlane.output_frequency = 600
+samplingPlane.labels = z_plane
+samplingPlane.fields = velocity temperature
+samplingPlane.z_plane.type = PlaneSampler
+samplingPlane.z_plane.axis1 = 5110 0.0 0.0
+samplingPlane.z_plane.axis2 = 0.0 5110 0.0
+samplingPlane.z_plane.origin = 5.0 5.0 0.0
+samplingPlane.z_plane.num_points = 512 512
+samplingPlane.z_plane.normal = 0.0 0.0 1.0
+samplingPlane.z_plane.offsets = 5.0 85.0 155.0 255.0
+
+
+samplingLine.output_frequency = 1
+samplingLine.labels = z_line
+samplingLine.fields = velocity temperature
+samplingLine.z_line.type = LineSampler
+samplingLine.z_line.num_points = 128
+samplingLine.z_line.start = 5.0 5.0 5.0
+samplingLine.z_line.end = 5.0 5.0 1275.0
+
+#¨¨¨¨¨¨¨¨¨¨¨¨¨¨¨¨¨¨¨¨¨¨¨¨¨¨¨¨¨¨¨¨¨¨¨¨¨¨¨#
+#              TURBINES                 #
+#.......................................#
+
+Actuator.type = UniformCtDisk
+Actuator.UniformCtDisk.rotor_diameter = 126.0
+Actuator.UniformCtDisk.hub_height = 90.0
+Actuator.UniformCtDisk.thrust_coeff =  0.0 0.0 1.132034888 0.999470963 0.917697381 0.860849503 0.815371198 0.811614904 0.807939328 0.80443352 0.800993851 0.79768116 0.794529244 0.791495834 0.788560434 0.787217182 0.787127977 0.785839257 0.783812219 0.783568108 0.783328285 0.781194418 0.777292539 0.773464375 0.769690236 0.766001924 0.762348072 0.758760824 0.755242872 0.751792927 0.748434131 0.745113997 0.717806682 0.672204789 0.63831272 0.610176496 0.585456847 0.563222111 0.542912273 0.399312061 0.310517829 0.248633226 0.203543725 0.169616419 0.143478955 0.122938861 0.106515296 0.093026095 0.081648606 0.072197368 0.064388275 0.057782745 0.0 0.0
+Actuator.UniformCtDisk.wind_speed = 0.0 2.9 3.0 4.0 5.0 6.0 7.0 7.1 7.2 7.3 7.4 7.5 7.6 7.7 7.8 7.9 8.0 9.0 10.0 10.1 10.2 10.3 10.4 10.5 10.6 10.7 10.8 10.9 11.0 11.1 11.2 11.3 11.4 11.5 11.6 11.7 11.8 11.9 12.0 13.0 14.0 15.0 16.0 17.0 18.0 19.0 20.0 21.0 22.0 23.0 24.0 25.0 25.1 50.0
+Actuator.UniformCtDisk.epsilon = 10.0
+Actuator.UniformCtDisk.density = 1.225
+Actuator.UniformCtDisk.diameters_to_sample = 1.0
+Actuator.UniformCtDisk.num_points_r = 20
+Actuator.UniformCtDisk.num_points_t = 5
+
+
+Actuator.labels = T00 T01 
+Actuator.T00.base_position = 0.0 0.0 0.0
+Actuator.T01.base_position = 1000.0 0.0 0.0

examples/simple_hybrid_plant/bash_script.sh

@@ -0,0 +1,18 @@
+# Example bash for running things locally
+# I just run these one at a t time
+
+# A lot of modules and conda stuff
+conda activate hercules
+
+# Set the helics port to use: 
+export HELICS_PORT=32000
+
+#make sure you use the same port number in the amr_input.inp and hercules_input_000.yaml files. 
+
+# Clear old log files for clarity
+rm loghercules logfloris
+
+# Set up the helics broker and run the open-loop control simulation
+helics_broker -t zmq  -f 2 --loglevel="debug" --local_port=$HELICS_PORT & 
+python3 hercules_runscript_windsolarstorage.py hercules_input_000.yaml >> loghercules 2>&1 &
+python3 floris_runscript.py amr_input.inp >> logfloris 2>&1

examples/simple_hybrid_plant/floris_runscript.py

@@ -0,0 +1,14 @@
+import sys
+
+from hercules.floris_standin import launch_floris
+
+# Check that one command line argument was given
+if len(sys.argv) < 2:
+    raise Exception("Usage: python floris_runscript.py <amr_input_file>")
+
+# # Get the first command line argument
+# This is the name of the file to read
+amr_input_file = sys.argv[1]
+print(f"Running FLORIS standin with input file: {amr_input_file}")
+
+launch_floris(amr_input_file)

examples/simple_hybrid_plant/hercules_input_000.yaml

@@ -0,0 +1,71 @@
+# Input YAML for emy_python
+
+# Name
+name: example_000
+
+###
+# Describe this emulator setup
+description: Hybrid wind, solar, and battery plant
+
+dt: 0.5
+
+hercules_comms:
+
+  amr_wind:
+
+    wind_farm_0:
+      type: amr_wind_local #options are amr_wind or amr_wind_local
+      amr_wind_input_file: amr_input.inp
+
+  helics:
+
+    config:
+        name: hercules # What is the purpose of this name
+        use_dash_frontend: False
+        KAFKA: False
+        KAFKA_topics: EMUV1py
+        helics: 
+            # deltat: 1 # This will be assigned in software
+            subscription_topics: [status]
+            publication_topics: [control]
+            endpoints: []
+            helicsport : 32000
+        publication_interval: 1
+        endpoint_interval: 1
+        starttime: 0
+        stoptime: 100
+        Agent: ControlCenter
+
+py_sims:
+
+  solar_farm_0: # The name of py_sim object 1
+
+    py_sim_type: SolarPySAM
+    weather_file_name: NonAnnualSimulation-sample_data-interpolated-daytime.csv
+    system_info_file_name: 100MW_1axis_pvsamv1.json
+    lat: 39.7442
+    lon: -105.1778
+    elev: 1829
+
+    # capacity: 100 # MW
+
+    initial_conditions:
+
+      power: 25 # MW
+      dni: 1000
+
+  battery_0: # The name of py_sim object 1
+
+    py_sim_type: LIB
+    size: 10  # MW size of the battery 
+    energy_capacity: 40 # total capacity of the battery in MWh (4-hour 20 MW battery)
+    charge_rate: 20 # charge rate of the battery in MW
+    discharge_rate: 20 # discharge rate of the battery in MW
+    max_SOC: 0.9 # upper boundary on battery SOC
+    min_SOC: 0.1 # lower boundary on battery SOC
+
+    initial_conditions:
+      SOC: 0.5   # initial state of charge of the battery as fraction of total size
+
+controller:
+  num_turbines: 2

examples/simple_hybrid_plant/hercules_runscript_windsolarstorage.py

@@ -0,0 +1,52 @@
+# Copyright 2021 NREL
+
+# Licensed under the Apache License, Version 2.0 (the "License"); you may not
+# use this file except in compliance with the License. You may obtain a copy of
+# the License at http://www.apache.org/licenses/LICENSE-2.0
+
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
+# WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the
+# License for the specific language governing permissions and limitations under
+# the License.
+
+# See https://nrel.github.io/wind-hybrid-open-controller for documentation
+
+import sys
+
+from hercules.emulator import Emulator
+from hercules.py_sims import PySims
+from hercules.utilities import load_yaml
+from whoc.controllers import (
+    BatteryPassthroughController,
+    HybridSupervisoryControllerSkeleton,
+    SolarPassthroughController,
+    WindFarmPowerTrackingController,
+)
+from whoc.interfaces.hercules_hybrid_actuator_disk_interface import HerculesHybridADInterface
+
+input_dict = load_yaml(sys.argv[1])
+input_dict["output_file"] = "hercules_output_hybrid.csv"
+
+interface = HerculesHybridADInterface(input_dict)
+
+print("Setting up controller.")
+wind_controller = WindFarmPowerTrackingController(interface, input_dict)
+solar_controller = SolarPassthroughController(interface, input_dict)
+battery_controller = BatteryPassthroughController(interface, input_dict)
+controller = HybridSupervisoryControllerSkeleton(
+    interface,
+    input_dict,
+    wind_controller=wind_controller,
+    solar_controller=solar_controller,
+    battery_controller=battery_controller
+)
+
+print("Establishing simulators.")
+py_sims = PySims(input_dict)
+
+emulator = Emulator(controller, py_sims, input_dict)
+emulator.run_helics_setup()
+emulator.enter_execution(function_targets=[], function_arguments=[[]])
+
+print("Finished running open-loop controller.")

tests/interface_library_test.py

@@ -13,10 +13,7 @@
 # See https://nrel.github.io/wind-hybrid-open-controller for documentation
 
 import pytest
-from whoc.interfaces import (
-    HerculesADInterface,
-    HerculesWindBatteryInterface,
-)
+from whoc.interfaces import HerculesADInterface, HerculesWindBatteryInterface
 
 test_hercules_dict = {
     "dt": 1,

whoc/controllers/__init__.py

@@ -1,4 +1,7 @@
+from whoc.controllers.battery_passthrough_controller import BatteryPassthroughController
+from whoc.controllers.hybrid_supervisory_controller import HybridSupervisoryControllerSkeleton
 from whoc.controllers.lookup_based_wake_steering_controller import LookupBasedWakeSteeringController
+from whoc.controllers.solar_passthrough_controller import SolarPassthroughController
 from whoc.controllers.wake_steering_rosco_standin import WakeSteeringROSCOStandin
 from whoc.controllers.wind_battery_controller import WindBatteryController
 from whoc.controllers.wind_farm_power_tracking_controller import (

whoc/controllers/battery_passthrough_controller.py

@@ -0,0 +1,28 @@
+# Copyright 2021 NREL
+
+# Licensed under the Apache License, Version 2.0 (the "License"); you may not
+# use this file except in compliance with the License. You may obtain a copy of
+# the License at http://www.apache.org/licenses/LICENSE-2.0
+
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
+# WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the
+# License for the specific language governing permissions and limitations under
+# the License.
+
+# See https://nrel.github.io/wind-hybrid-open-controller for documentation
+
+
+from whoc.controllers.controller_base import ControllerBase
+
+
+class BatteryPassthroughController(ControllerBase):
+    """
+    Simply passes power reference down to (single) battery.
+    """
+    def __init__(self, interface, input_dict, verbose=True):
+        super().__init__(interface, verbose)
+
+    def compute_controls(self):
+        reference_power = self.measurements_dict["battery_power_reference"]
+        self.controls_dict["power_setpoint"] = reference_power

whoc/controllers/controller_base.py

@@ -45,8 +45,9 @@ def __init__(self, interface, verbose=True):
         #     from servers.python_server import WHOC_python_server
         #     self._s = WHOC_python_server()
 
-        # Initialize controls to send
-        self.controls_dict = None
+        # Initialize measurements and controls to send
+        self.measurements_dict = {}
+        self.controls_dict = {}
 
     def _receive_measurements(self, dict=None):
         # May need to eventually loop here, depending on server set up.