Adding some smoothing to hybrid controller (#40)

* Adding some smoothing to hybrid controller

* Updating test that wasn't passing

* Update supervisory controller test to be more intuitive.

---------

Co-authored-by: Starke <gstarke@gstarke-41230s.nrel.gov>
Co-authored-by: Genevieve Starke <gstarke@kl2.head.cm.kestrel.hpc.nrel.gov>
Co-authored-by: misi9170 <michael.sinner@nrel.gov>

tests/controller_library_test.py

@@ -242,9 +242,27 @@ def test_HybridSupervisoryControllerBaseline():
         interface=test_interface, input_dict=test_hercules_dict
     )
 
+    solar_current = 800 
+    wind_current = [600, 300]
+    power_ref = 1000
+
     # Simply test the supervisory_control method, for the time being
-    test_hercules_dict["external_signals"]["plant_power_reference"] = 1000
-    test_hercules_dict["hercules_comms"]["amr_wind"]["test_farm"]["turbine_powers"] = [500, 500]
+    test_hercules_dict["external_signals"]["plant_power_reference"] = power_ref
+    test_hercules_dict["hercules_comms"]["amr_wind"]["test_farm"]["turbine_powers"] = wind_current
+    test_hercules_dict["py_sims"]["test_solar"]["outputs"]["power_mw"] = solar_current / 1e3
+    test_controller.prev_solar_power = solar_current # To override filtering
+    test_controller.prev_wind_power = sum(wind_current) # To override filtering
+
     test_controller.step(test_hercules_dict) # Run the controller once to update measurements
     supervisory_control_output = test_controller.supervisory_control()
-    assert np.allclose(supervisory_control_output, [10500.0, 10500.0, 1000.0]) # To charge battery
+
+    # Expected outputs
+    wind_solar_current = sum(wind_current)+solar_current
+    wind_power_cmd = 20000/2 + sum(wind_current)-(wind_solar_current - power_ref)/2
+    solar_power_cmd = 20000/2 + solar_current-(wind_solar_current - power_ref)/2
+    battery_power_cmd = wind_solar_current - power_ref
+
+    assert np.allclose(
+            supervisory_control_output,
+            [wind_power_cmd, solar_power_cmd, battery_power_cmd]
+        ) # To charge battery

whoc/controllers/hybrid_supervisory_controller.py

@@ -93,6 +93,12 @@ def supervisory_control(self):
         solar_aoi = self.measurements_dict["solar_aoi"] # angle of incidence # noqa: F841
         reference_power = self.measurements_dict["plant_power_reference"]
 
+        # Filter the wind and solar power measurements to reduce noise and improve closed-loop
+        # controller damping
+        a = 0.1
+        wind_power = (1-a)*self.prev_wind_power + a*wind_power
+        solar_power = (1-a)*self.prev_solar_power + a*solar_power
+
         # Temporary print statements (note that negative battery indicates discharging)
         print("Measured powers (wind, solar, battery):", wind_power, solar_power, battery_power)
         print("Reference power:", reference_power)