Phase Realizations Demo and Docs

[jtgrasb]

Description

This PR adds a demonstration of the selection of the frequency range, number of frequencies, and the number of irregular wave phase realizations to the end of the Pioneer tutorial. Related to #262 and #297. The three recommended processes can be summarized as follows:

• Select frequency array to include relevant dynamics including nonlinearities
• Select number of frequencies to ensure accurate results
• Select number of phase realizations to ensure precision of results

One thing I have not addressed is using a structured controller (such as PI). When optimizing a PI controller across many phase realizations for a constrained system, the resulting gains are different across the different realizations. If the average PI gains were to be used, it would violate constraints for many of the realizations. This can be slightly improved by increasing the number of frequencies used (decreasing f1), but this does not resolve the issue. For now, I think it may be best to add a note in the docs to say something like PI gains should be tested in the time-domain to ensure constraints are met.

Type of PR

• [X] New feature
• [X] Documentation

Checklist for PR

• [X] Authors read the contribution guidelines
• [X] The pull request is from an issue branch (not main) on your fork, to the main branch in WecOptTool.
• [X] The authors have given the admins edit access
• [X] All changes adhere to the style guide including PEP8, Docstrings, and Type Hints.
• [X] Modified the documentation if applicable
• [ ] Modified or added a new test
• [ ] All tests pass
• [ ] Reference or close any relevant issues

Additional details

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Totals
Change from base Build 8540364958:	0.0%
Covered Lines:	2505
Relevant Lines:	2664

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💛 - Coveralls

[jtgrasb]

I made the following updates to this PR:

• Updated each tutorial to specify the waves, then explain how to select f1 and nfreq - resolves #252.
  • For tutorials 1 and 2, I made f1 equal to the wave frequency and reduced nfreq but still made sure its enough to capture nonlinear responses at the odd harmonics.
  • Note: changing the frequency array slightly changes some results slightly. Notably, the WaveBot has slightly higher power. This is because the previous frequency array had a negative spike in radiation damping, which was causing the radiation damping to be uniformly shifted upwards and less average power. The cylindrical/largest radius case now outperforms the other cases: Old: New:
• Removed logging from tutorial 2. This was unintentionally added in a previous PR and make tutorial 2 very difficult to read on our docs.