Remove supercontroller

CMakeLists.txt

@@ -208,7 +208,6 @@ set(OPENFAST_MODULES
   lindyn
   map
   turbsim
-  supercontroller
   externalinflow
   openfast-library
   simple-elastodyn

docs/source/user/api_change.rst

@@ -9,6 +9,20 @@ The changes are tabulated according to the module input file, line number, and f
 The line number corresponds to the resulting line number after all changes are implemented.
 Thus, be sure to implement each in order so that subsequent line numbers are correct.
 
+OpenFAST v4.0.3 to OpenFAST v4.1.0
+----------------------------------
+Supercontroller module has been removed from FAST.Farm.
+
+============================================= ==== =============== ========================================================================================================================================================================================================
+Removed in OpenFAST `v4.1.0`
+---------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------
+Module                                        Line  Flag Name        Example Value
+============================================= ==== =============== ========================================================================================================================================================================================================
+FAST.Farm                                     7    UseSC           False         UseSC                 - Use a super controller? (flag)
+FAST.Farm                                     11   na              --- SUPER CONTROLLER --- [used only for UseSC=True]
+FAST.Farm                                     12   SC_FileName     "SC_DLL.dll"  SC_FileName Name/location of the dynamic library {.dll [Windows] or .so [Linux]} containing the Super Controller algorithms (quoted string)
+============================================= ==== =============== ========================================================================================================================================================================================================
+
 
 OpenFAST v4.0.2 to OpenFAST v4.0.3
 ----------------------------------

docs/source/user/fast.farm/AppendixC.rst

@@ -15,14 +15,6 @@ is a one-digit number in the range [1,9], corresponding to row
 only values for the first 9 turbines can be output. Setting
 :math:`\alpha` > **NumTurbines** yields invalid output.
 
-In\ :math:`\zeta` and Ot\ :math:`\zeta` refer to super-controller input
-and output :math:`\zeta`, respectively, where :math:`\zeta` is a
-one-digit number in the range [1,9], corresponding to element
-:math:`\zeta` in the input and output arguments of the super-controller
-source code. If there are more than 9 elements, only values for the
-first 9 inputs and outputs can be output. Setting :math:`\zeta` greater
-than the number of elements yields invalid output.
-
 N\ :math:`\beta` refers to radial output node :math:`\beta`, where
 :math:`\beta` is a two-digit number in the range [01,20], corresponding
 to entry :math:`\beta` in the **OutRadii** list, where node
@@ -56,20 +48,6 @@ overlapped itself.
       +--------------------------------------------------------------+-------------------+-------------------------------------------------+
       | Channel Name                                                 | Units             | Description                                     |
       +==============================================================+===================+=================================================+
-      | *Super Controller*                                                                                                                 |
-      +--------------------------------------------------------------+-------------------+-------------------------------------------------+
-      | SCGblIn\ :math:`\zeta`                                       | (user)            | Global (turbine independent) super              |
-      |                                                              |                   | controller input :math:`\zeta`                  |
-      +--------------------------------------------------------------+-------------------+-------------------------------------------------+
-      | SCT\ :math:`\alpha`\ In\ :math:`\zeta`                       | (user)            | Turbine-dependent super controller input        |
-      |                                                              |                   | :math:`\zeta` for turbine :math:`\alpha`        |
-      +--------------------------------------------------------------+-------------------+-------------------------------------------------+
-      | SCGblOt\ :math:`\zeta`                                       | (user)            | Global (turbine independent) super              |
-      |                                                              |                   | controller output :math:`\zeta`                 |
-      +--------------------------------------------------------------+-------------------+-------------------------------------------------+
-      | SCT\ :math:`\alpha`\ Ot\ :math:`\zeta`                       | (user)            | Turbine-dependent super controller input        |
-      |                                                              |                   | :math:`\zeta` for turbine :math:`\alpha`        |
-      +--------------------------------------------------------------+-------------------+-------------------------------------------------+
       | *Wind Turbine and Inflow*                                                                                                          |
       +--------------------------------------------------------------+-------------------+-------------------------------------------------+
       | RtAxs\ :math:`\delta`\ T\ :math:`\alpha`                     | (-)               | Orientation of the rotor centerline for turbine |

docs/source/user/fast.farm/FFarmTheory.rst

@@ -9,7 +9,7 @@ turbines within a wind farm. FAST.Farm uses
 `OpenFAST <https://github.com/OpenFAST/openfast>`__ to solve the
 aero-hydro-servo-elastic dynamics of each individual turbine, but
 considers additional physics for wind-farm-wide ambient wind in the
-atmospheric boundary layer; a wind-farm super controller; and wake
+atmospheric boundary layer; and wake
 deficits, advection, deflection, meandering, and merging. FAST.Farm is
 based on the principles of the DWM model -- including passive tracer
 modeling of wake meandering -- but addresses many of the limitations of
@@ -101,9 +101,6 @@ appropriate in the next section.
    |    farm or based on mesoscale    |                                  |
    |    conditions or local terrain.  |                                  |
    +----------------------------------+----------------------------------+
-   | -  No treatment of a wind farm   | -  Optional inclusion of a wind  |
-   |    super controller.             |    farm super controller.        |
-   +----------------------------------+----------------------------------+
    | -  Wake advects at mean ambient  | -  Wake advects based on the     |
    |    wind speed, not accelerating  |    local spatially averaged      |
    |    from near wake to far wake or |    ambient wind speed and wake   |
@@ -178,8 +175,8 @@ code. The submodel hierarchy of FAST.Farm is illustrated in
 near-wake correction; and wake-deficit increment are submodels of the
 wake-dynamics (*WD*) model, implemented in a single module. Ambient wind
 and wake merging are submodels of the ambient wind and array effects
-(*AWAE*) model, implemented in a single module. Combined with the super
-controller (*SC*) and OpenFAST (*OF*) modules, FAST.Farm has four
+(*AWAE*) model, implemented in a single module. Combined with the 
+OpenFAST (*OF*) modules, FAST.Farm has three
 modules and one driver. There are multiple instances of the *OF* and
 *WD* modules -- one instance for each wind turbine/rotor. Each
 submodel/module is described in the subsections below.
@@ -272,9 +269,6 @@ sections below.
    +-----------------------------------------+---------------------------------------------------------------------------------+---------------------------------------------------------------------+----------------------------------------------------------------------+
    | **Module**                              | **States (Discrete Time)**                                                      | **Inputs**                                                          | **Outputs**                                                          |
    +=========================================+=================================================================================+=====================================================================+======================================================================+
-   | *Super Controller (SC)*                 | - User-defined                                                                  | - Global measurements                                               | - Global controller commands                                         |
-   |                                         |                                                                                 | - Commands/measurements from individual turbine controllers         | - Commands to individual turbine controllers                         |
-   +-----------------------------------------+---------------------------------------------------------------------------------+---------------------------------------------------------------------+----------------------------------------------------------------------+
    | *OpenFAST (OF)*                         | -  None in the OpenFAST wrapper, but there are many states internal to OpenFAST | - Global controller commands                                        | - Commands/measurements from the individual turbine controller       |
    |                                         |                                                                                 | - Commands to the individual turbine controller                     | - :math:`\hat{x}^\text{Disk}`                                        |
    |                                         |                                                                                 | - :math:`\vec{V}_\text{Dist}^\text{High}`                           | - :math:`\vec{p}^\text{Hub}`                                         |
@@ -334,55 +328,6 @@ results in simulations that are computationally inexpensive enough to
 run the many simulations necessary for wind turbine/farm design and
 analysis.
 
-.. _FF:Theory:SC:
-
-Super Controller (SC Module)
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-
-Wind-farm-wide super controllers have the potential to achieve the
-global benefit of improving overall power performance and reducing
-turbine loads, based on modifying wake deficits through variations in
-blade pitch or generator torque and/or redirecting (steering) wakes
-through variations in nacelle yaw or tilt, as illustrated in
-:numref:`FF:NacYaw`.
-
-.. figure:: Pictures/NacYawControl.png
-   :alt: Nacelle-yaw control used to redirect wakes away from downwind wind turbines. :cite:`ff-Gebraad16_1`
-   :name: FF:NacYaw
-   :width: 100%
-   :align: center
-
-   Nacelle-yaw control used to redirect wakes away from downwind wind
-   turbines. :cite:`ff-Gebraad16_1`
-
-The *SC* module of FAST.Farm provides an interface to the super
-controller dynamic library -- essentially identical to the super controller
-available in `SOWFA <https://github.com/NREL/SOWFA>`__ -- which allows the
-user of FAST.Farm to implement their own wind-farm-wide control logic in
-discrete time and without direct feedthrough of input to output -- perhaps
-developed through the application of
-`FLORIS <https://github.com/WISDEM/FLORISSE>`__. The inputs to the *SC*
-module are commands or measurements from individual turbine controllers
-(output from the *OF* module). [3]_ The outputs of the *SC* module are
-the global controller commands and individual turbine controller
-commands (inputs to the *OF* module).
-
-Note that at time zero, the *SC* module is called before the call to the
-*OF* module and the associated individual turbine controllers. So, the
-initial outputs from the super controller are sent as inputs to the
-individual turbine controllers, but the initial inputs to the super
-controller from the individual turbine controller outputs at time zero
-are always zero. At subsequent time steps, the *OF* module and the
-associated individual turbine controllers are called before the output
-calculation of the *SC* module. As a result, at each time step other
-than time zero, the outputs from the super controller are extrapolated
-in time based on past values within *OF* before being sent as input to
-the individual turbine controllers. Thus, care should be taken to ensure
-that the outputs from the super controller vary smoothly over time
-(without steps). See :numref:`FF:Parallel` for more information.
-
-.. _FF:OF:
-
 OpenFAST (OF Module)
 ~~~~~~~~~~~~~~~~~~~~
 
@@ -442,13 +387,6 @@ directed vertically upward (opposite gravity), *X* directed horizontally
 nominally downwind (along the zero-degree wind direction), and *Y*
 directed horizontally transversely.
 
-The global and turbine-dependent commands from the super controller
-(outputs from the *SC* module) are used as inputs to the *OF* module to
-enable the individual turbine controller to be guided by wind farm-level
-effects; likewise, the turbine-dependent commands or measurements are
-output from the *OF* module for access by the super controller (inputs
-to the *SC* module).
-
 The *OF* module also uses the disturbed wind (ambient plus wakes of
 neighboring turbines) across a high-resolution wind domain (in both time
 and space) around the turbine (output from the *AWAE* module -- see

docs/source/user/fast.farm/FutureWork.rst

@@ -73,8 +73,7 @@ releases:
 
    -  Support full-system linearization.
 
--  Support an interface to Simulink for super and individual wind
-   turbine controllers.
+-  Support an interface to Simulink for individual wind turbine controllers.
 
 -  Implement checkpoint-restart capability.
 
@@ -89,7 +88,7 @@ releases:
    naming convention used for the FAST.Farm-generated visualization
    output files in VTK format (with leading zeros and without the *t*).
 
--  Support super controller-, inflow-, and wake-related output channels
+-  Support inflow-, and wake-related output channels
    for more than the first 9 wind turbines in the wind farm.
 
 -  Interface FAST.Farm to the Wind-Plant Integrated System Design &

docs/source/user/fast.farm/InputFiles.rst

@@ -32,7 +32,6 @@ sections:
 
 -  Simulation Control
 
--  Super Controller
 
 -  Shared Moorings
 
@@ -81,12 +80,6 @@ at :math:`t` = **TMax**. The **TMax** set in FAST.Farm will override the
 simulation length set in the OpenFAST primary input file of each wind
 turbine in the wind farm.
 
-**UseSC** [flag] indicates if the wind-farm-wide super controller is to
-be used. If **UseSC** = TRUE, the super controller will be called. If
-**UseSC** = FALSE, the super controller will not be called, but each
-wind turbine may still have an individual controller specified in the
-OpenFAST module *ServoDyn*.
-
 **Mod_AmbWind** [switch] indicates the ambient wind source. There are
 three options: 1) use ambient wind data generated by a high-fidelity
 precursor simulation in VTK format **[Mod_AmbWind=1]**, 2) use ambient
@@ -106,19 +99,6 @@ origin.
 interconnects turbines.  There are presently two options: 0) No shared moorings,
 3) MoorDyn.
 
-Super Controller
-~~~~~~~~~~~~~~~~
-
-**SC_FileName** [quoted string] sets the name and location of the
-dynamic library containing the super controller code. It is only used
-when **UseSC** = TRUE. The dynamic library should be compiled as a
-*.dll* file in Windows or a *.so* file in Linux or Mac OS. **The file
-name must be in quotations** and can contain an absolute or a relative
-path. The super controller is used in conjunction with individual wind
-turbine controllers defined in the style of the DISCON dynamic library
-of the DNV GL’s Bladed wind turbine software package, with minor
-modification. See :numref:`FF:sec:SupCon` for more information.
-
 Shared Moorings
 ~~~~~~~~~~~~~~~
 

docs/source/user/fast.farm/Introduction.rst

@@ -9,7 +9,7 @@ structural loads of wind turbines within a wind farm. FAST.Farm uses
 `OpenFAST <https://github.com/OpenFAST/openfast>`__ to solve the
 aero-hydro-servo-elastic dynamics of each individual turbine, but
 considers additional physics for wind farm-wide ambient wind in the
-atmospheric boundary layer; a wind-farm super controller; and wake
+atmospheric boundary layer; and wake
 deficits, advection, deflection, meandering, and merging. FAST.Farm is
 based on some of the principles of the dynamic wake meandering (DWM)
 model -- including passive tracer modeling of wake meandering -- but addresses
@@ -72,8 +72,8 @@ Wake advection, deflection, and meandering; near-wake correction; and
 wake-deficit increment are submodels of the wake-dynamics (*WD*) model,
 implemented in a single module. Ambient wind and wake merging are
 submodels of the ambient wind and array effects (*AWAE*) model,
-implemented in a single module. Combined with the super controller
-(*SC*) and OpenFAST (*OF*) modules, FAST.Farm has four modules and one
+implemented in a single module. Combined with the OpenFAST (*OF*) modules,
+FAST.Farm has three modules and one
 driver. There are multiple instances of the *OF* and *WD* modules -- one
 instance for each wind turbine/rotor.
 
@@ -87,18 +87,6 @@ of simulation parameters, checks the validity of these parameters,
 initializes the modules, writes results to a file, and releases memory
 at the end of the simulation.
 
-Super Controller Module
------------------------
-
-The *SC* module of FAST.Farm -- essentially identical to the super
-controller available in `SOWFA <https://github.com/NREL/SOWFA>`__ allows
-wind-farm-wide control logic to be implemented by the user, including
-sending and receiving commands from the individual turbine controllers
-in OpenFAST. The logic of such a super controller could be developed
-through the application of the National Renewable Energy Laboratory
-(NREL) code FLOw Redirection and Induction in Steady state
-(`FLORIS <https://github.com/WISDEM/FLORISSE>`__).
-
 OpenFAST Module
 ---------------