ROSCO v2.7.0

[dzalkind]

Description and Purpose

Added Features:

• IPC saturation modes (IPC_SatMode)
• Pitch actuator faults: simulate constant blade pitch offsets. More is possible in future releases.
• Ability to initialize filters with specific values
• Support for latest OpenFAST version (v3.4.0)
• Add a tool for updating DISCONs from older ROSCO versions

Bug Fixes:

• Initialize NacIMU_FA_Acc and FA_Acc to 0. Initial conditions would result in offset of floating feedback pitch command
• Fix cases where debug outputs ***
• Add nacelle heading (NacHeading) input to ROSCO
• Add method for closing dll in control interface on Windows
• Fix units in sim.py

Software Changes:

• Support for the latest numpy version (1.24)
• Re-named examples to represent the features they demonstrate
• Refactored ratelimit function to store it's own previous signal value
• Features that rely on collective blade pitch signal now use average of 3 current blade pitch values (useful in IPC cases)
• Clean up file readers/writers to sync with WEIS analogues
• Update features that rely on latest version of pyFAST
• Enable use of runFAST when python setup.py install is used.
• Add tune.py for specifically translating tuning yaml to controller objects and updating discon files
• When reading turbine model from openfast, only read necessary input module files

Type of change

What types of change is it? Select the appropriate type(s) that describe this PR

• [ ] Bugfix (non-breaking change which fixes an issue)
• [ ] New feature (non-breaking change which adds functionality)
• [ ] Breaking change (non-backwards-compatible fix or feature)
• [ ] Code style update (formatting, renaming)
• [ ] Refactoring (no functional changes, no API changes)
• [ ] Documentation update
• [ ] Maintenance update
• [ ] Other (please describe)

TODO Items General:

• [x] Add example/test for new feature
• [x] Update registry
• [x] Run testing

TODO Items API Change:

• [x] Update docs with API change
• [x] Run update_rosco_discons.py in Test_Cases/
• [x] Update DISCON schema

Github issues addressed, if one exists

Examples/Testing, if applicable

[dzalkind]

comp_outputs.pdf

Testing on the IEA-15MW VolturnUS looks good, with improved performance at the start of simulations due to initializing the NacIMU filters.