From a07705f20f10b4312f00205a80c6ede039e3bbc5 Mon Sep 17 00:00:00 2001 From: Lucas-Carmo Date: Mon, 20 Mar 2023 10:12:58 -0600 Subject: [PATCH 01/10] Added mean drift + option for QTF interpolation - Included mean drift. Current implementation is not rigorously correct when more than one wave direction are acting at the same time, but should be good enough for now. - The QTF files pre-computed with a BEM code are in a different resolution then the incoming waves in RAFT. To solve that, we were computing the second-order force spectrum considering the QTF resolution and then interpolating the result. Turns out that we obtain different results if we interpolate the QTF first. Left both implementations in the code, but still thinking whether it is worth adding a flag for that on the input file. - Typo fix --- raft/raft_fowt.py | 73 +++++++++++++++++++++++++++++----------------- raft/raft_model.py | 37 ++++++++++++++++------- 2 files changed, 74 insertions(+), 36 deletions(-) diff --git a/raft/raft_fowt.py b/raft/raft_fowt.py index 0ea13b8..5e81144 100644 --- a/raft/raft_fowt.py +++ b/raft/raft_fowt.py @@ -1205,13 +1205,12 @@ def readQTF(self, flPath): # plt.matshow(np.squeeze(np.abs(self.qtf[:,:,0,0]))) - # Change that for a spectrum + # Compute force due to 2nd order hydrodynamic loads + # See Pinkster (1980), Section IV.3 def calcHydroForce_2ndOrd(self, beta, S0): f = np.zeros([self.nDOF, self.nw], dtype=complex) - nw1 = len(self.w1_2nd) - - # Resample wave spectrum (the input is assumed to be in rad/s) - S = np.interp(self.w1_2nd, self.w, S0, left=0, right=0) + f_mean = np.zeros([self.nDOF]) + interpMode = 'qtf' # Interpolate for the wave incidence if beta < self.heads_2nd[0]: @@ -1226,30 +1225,52 @@ def calcHydroForce_2ndOrd(self, beta, S0): else: qtf_interpBeta = interp1d(self.heads_2nd, self.qtf, assume_sorted=True, axis=2, bounds_error=False, fill_value=(self.qtf[:,:,0,:], self.qtf[:,:,-1,:]))(beta) - # The number of difference frequencies is the same as the number of frequencies, but starting from frequency mu=0. - mu = self.w1_2nd - self.w1_2nd[0] - Sf = np.zeros([self.nDOF, nw1]) # Second-order force spectrum - Sf_interp = np.zeros([self.nDOF, self.nw]) - for idof in range(0,self.nDOF): - for imu in range(0, nw1): # Loop the difference frequencies - Saux = np.zeros(nw1) - Saux[0:nw1-imu] = S[imu:] # Auxiliar wave spectrum that is dislocated in frequency. See the definition of second-order force spectrum - Qaux = np.zeros(nw1, dtype=complex) - - Qaux[0:nw1-imu] = np.diag(np.squeeze(qtf_interpBeta[:,:,idof]), -imu) # Sum only the lower half of the QTF - Sf[idof, imu] = 8 * np.sum(S*Saux*np.abs(Qaux)**2) * (self.w1_2nd[1]-self.w1_2nd[0]) - - - # Interpolate the force spectrum to the same resolution as the original wave spectrum - Sf_interp[idof, :] = np.interp(self.mu_2nd, mu, Sf[idof,:], left=0, right=0) + # Compute force spectrum with QTF resolution and then interpolate to the frequency vector of the input wave spectrum + if interpMode == 'spectrum': + # Resample wave spectrum (the input is assumed to be in rad/s) + nw1 = len(self.w1_2nd) + S = np.interp(self.w1_2nd, self.w, S0, left=0, right=0) + + # The number of difference frequencies is the same as the number of frequencies, but starting from frequency mu=0. + mu = self.w1_2nd - self.w1_2nd[0] + Sf = np.zeros([self.nDOF, nw1]) # Second-order force spectrum + Sf_interp = np.zeros([self.nDOF, self.nw]) + for idof in range(0,self.nDOF): + for imu in range(1, nw1): # Loop the difference frequencies + Saux = np.zeros(nw1) + Saux[0:nw1-imu] = S[imu:] # Auxiliar wave spectrum that is dislocated in frequency. See the definition of second-order force spectrum + Qaux = np.zeros(nw1, dtype=complex) + + Qaux[0:nw1-imu] = np.diag(np.squeeze(qtf_interpBeta[:,:,idof]), -imu) # Sum only the lower half of the QTF + Sf[idof, imu] = 8 * np.sum(S*Saux*np.abs(Qaux)**2) * (self.w1_2nd[1]-self.w1_2nd[0]) + + # Mean drift is easier, as you have just the product of the same wave + f_mean[idof] = 2*np.sum(S*np.diag(np.squeeze(qtf_interpBeta[:,:,idof].real), 0)) * (self.w1_2nd[1]-self.w1_2nd[0]) - # # TODO: Those lines were here for debugging. Need to delete them after this feature is fully implemented. - f = np.sqrt(2*Sf_interp*self.dw) - f_mean = np.zeros([self.nDOF]) - f_mean[:] = f[:,0] - f[:, 0:-1] = f[:, 1:] # Displace f by one frequency so that it aligns with the frequency vector + # Interpolate the force spectrum to the same resolution as the original wave spectrum + Sf_interp[idof, :] = np.interp(self.mu_2nd, mu, Sf[idof,:], left=0, right=0) + + # Otherwise, interpolate the QTF first and then compute the force amplitude directly + else: + f = np.zeros([self.nDOF, self.nw]) + for idof in range(0,self.nDOF): + qtf_interp = interp2d(self.w1_2nd, self.w1_2nd, qtf_interpBeta[:,:, idof], bounds_error=False, fill_value=(0))(self.w, self.w) + for imu in range(1, self.nw): # Loop the difference frequencies + Saux = np.zeros(self.nw) + Saux[0:self.nw-imu] = S0[imu:] # Auxiliar wave spectrum that is dislocated in frequency. See the definition of second-order force spectrum + Qaux = np.zeros(self.nw, dtype=complex) + + Qaux[0:self.nw-imu] = np.diag(np.squeeze(qtf_interp), -imu) # Sum only the lower half of the QTF + f[idof, imu] = 4 *np.sqrt( np.sum(S0*Saux*np.abs(Qaux)**2) ) * self.dw + + # Mean drift is easier, as you have just the product of the same wave + f_mean[idof] = 2*np.sum(S0*np.diag(np.squeeze(qtf_interp.real), 0)) * self.dw + + # Displace f by one frequency so that it aligns with the frequency vector + f[:, 0:-1] = f[:, 1:] f[:, -1] = 0 + # # TODO: Those lines were here for debugging. Need to delete them after this feature is fully implemented. # with open('examples/Sf_2nd.txt', 'w') as file: # mu_interp = self.w - self.w[0] # for w, Srow in zip(mu_interp, Sf_interp.T): diff --git a/raft/raft_model.py b/raft/raft_model.py index ebdec83..7d70363 100644 --- a/raft/raft_model.py +++ b/raft/raft_model.py @@ -265,11 +265,25 @@ def analyzeCases(self, display=0, runPyHAMS=True, meshDir=os.path.join(os.getcwd else: nWaves = len(case['wave_heading']) + # Initialize second-order wave forces at each case to avoid using the results from the previous one + self.fowtList[0].Fhydro_2nd = np.zeros([nWaves, self.fowtList[0].nDOF, self.fowtList[0].nw], dtype = complex) + self.fowtList[0].Fhydro_2nd_mean = np.zeros([nWaves, self.fowtList[0].nDOF]) + + + # TODO: Once we have the slender-body approximation, we will perhaps need to iterate the mean offsets + # because the mean wave forces will depend on the first-order motions, which depend on the mean offsets. + # Not sure though whether this will be needed, as the mean offsets computed with the slender-body approximation + # should not be large due to its inherent assumptions (neglecting wave diffraction, hence no wave reflection). + # Iterating is not needed for the diffraction approach, as it is given by an input QTF. Just need to call solveStatics() twice + # solve system operating point / mean offsets for this load case - self.solveStatics(case, iCase) + self.solveStatics(case) # solve system dynamics self.solveDynamics(case) + + # Resolve system operating point / mean offsets, but now including mean wave forces + self.solveStatics(case) # >>> need to device if I want to store Xi0 and Xi in the FOWTs or work with them directly here. <<< @@ -343,7 +357,7 @@ def calcSystemConstantProps(self): self.results['properties'] = {} # signal this data is available by adding a section to the results dictionary """ - def calcMooringAndOffsets(self, iCase=0): + def calcMooringAndOffsets(self): '''Calculates mean offsets and linearized mooring properties for the current load case. setEnv and calcSystemProps must be called first. This will ultimately become a method for solving mean operating point. Mean offsets are saved in the FOWT object. @@ -354,13 +368,16 @@ def calcMooringAndOffsets(self, iCase=0): F_PRP = np.sum(self.fowtList[0].F_aero0, axis=1) # + self.fowtList[0].F_hydro0 <<< hydro load would be nice here eventually D_hydro = self.fowtList[0].D_hydro - self.ms.bodyList[0].f6Ext = np.array(F_PRP + D_hydro) + # Just sum mean drift from each wave direction. + # This is not exactly correct, as there would be the interactions among different + # wave directions, but it's the best we can do for now. F_meanDrift = np.zeros(len(D_hydro)) - # try: - # F_meanDrift = self.fowtList[0].Fhydro_2nd_mean[iCase, :] - # except: - # pass + try: + F_meanDrift = np.sum(self.fowtList[0].Fhydro_2nd_mean, axis = 0) + except: + pass + self.ms.bodyList[0].f6Ext = np.array(F_PRP + D_hydro + F_meanDrift) # Now find static equilibrium offsets of platform and get mooring properties about that point @@ -384,7 +401,7 @@ def calcMooringAndOffsets(self, iCase=0): #self.ms.plot() - print(f"Found mean offets with with surge = {r6eq[0]:.2f} m and pitch = {r6eq[4]*180/np.pi:.2f} deg.") + print(f"Found mean offets with surge = {r6eq[0]:.2f} m and pitch = {r6eq[4]*180/np.pi:.2f} deg.") try: C_moor, J_moor = self.ms.getCoupledStiffness(lines_only=True, tensions=True) # get stiffness matrix and tension jacobian matrix @@ -533,7 +550,7 @@ def solveEigen(self): self.results['eigen']['modes' ] = modes - def solveStatics(self, case, iCase): + def solveStatics(self, case): # get initial FOWT values assuming no offset for fowt in self.fowtList: @@ -545,7 +562,7 @@ def solveStatics(self, case, iCase): fowt.calcCurrentLoads(case) # calculate platform offsets and mooring system equilibrium state - self.calcMooringAndOffsets(iCase) + self.calcMooringAndOffsets() # update values based on offsets if applicable for fowt in self.fowtList: From 7e465ff35f9a4096b2d3ef4864a608bb59434f00 Mon Sep 17 00:00:00 2001 From: Lucas-Carmo Date: Fri, 31 Mar 2023 09:38:46 -0600 Subject: [PATCH 02/10] Partial implementation of the slender-body approximation - Added helper functions to compute quantities needed for the slender-body approximation for second-order wave loads - Added the capability of computing QTFs using the slender-body approximation - Included flags in the input file for the second-order loads - Updated solveDynamics for the case where the second-order loads are computed with the slender-body approximation. In that case, we need to first solve for the first-order motions to compute the second-order forces and moments. --- examples/VolturnUS-S-SlenderBody.yaml | 1253 +++++++++++++++++++++++++ examples/VolturnUS-S-WAMIT.yaml | 1252 ++++++++++++++++++++++++ examples/VolturnUS_SlenderBody.py | 36 + raft/helpers.py | 133 ++- raft/raft_fowt.py | 221 ++++- raft/raft_model.py | 47 +- 6 files changed, 2907 insertions(+), 35 deletions(-) create mode 100644 examples/VolturnUS-S-SlenderBody.yaml create mode 100644 examples/VolturnUS-S-WAMIT.yaml create mode 100644 examples/VolturnUS_SlenderBody.py diff --git a/examples/VolturnUS-S-SlenderBody.yaml b/examples/VolturnUS-S-SlenderBody.yaml new file mode 100644 index 0000000..8c3c6b1 --- /dev/null +++ b/examples/VolturnUS-S-SlenderBody.yaml @@ -0,0 +1,1253 @@ +type: input file for RAFT +name: IEA 15 MW with VolturnUS-S steel semi +comments: This is a quick example that includes second-order wave forces computed using the slender-body approximation + + +settings: # global Settings + min_freq : 0.00025 # [Hz] lowest frequency to consider, also the frequency bin width + max_freq : 0.20 # [Hz] highest frequency to consider + XiStart : 0 # sets initial amplitude of each DOF for all frequencies + nIter : 4 # sets how many iterations to perform in Model.solveDynamics() + +site: + water_depth : 200 # [m] uniform water depth + rho_water : 1025.0 # [kg/m^3] water density + rho_air : 1.225 # [kg/m^3] air density + mu_air : 1.81e-05 # air dynamic viscosity + shearExp : 0.12 # shear exponent + +cases: + + keys : [wind_speed, wind_heading, turbulence, turbine_status, yaw_misalign, wave_spectrum, wave_period, wave_height, wave_heading, current_speed ] + data : # m/s deg % or e.g. IIB_NTM string deg string (s) (m) (deg) + - [ 0, 0, 0, operating, 0, JONSWAP, 12, 6, 0, 0 ] + # - [ 16, 0, 0, operating, 0, JONSWAP, 12, 6, 0, 0 ] + + +turbine: + + mRNA : 991000 # [kg] RNA mass + IxRNA : 0 # [kg-m2] RNA moment of inertia about local x axis (assumed to be identical to rotor axis for now, as approx) [kg-m^2] + IrRNA : 0 # [kg-m2] RNA moment of inertia about local y or z axes [kg-m^2] + xCG_RNA : 0 # [m] x location of RNA center of mass [m] (Actual is ~= -0.27 m) + hHub : 150.0 # [m] hub height above water line [m] + Fthrust : 1500.0E3 # [N] temporary thrust force to use + + I_drivetrain: 318628138.0 # full rotor + drivetrain inertia as felt on the high-speed shaft + + nBlades : 3 # number of blades + Zhub : 150.0 # hub height [m] + Rhub : 3.97 # hub radius [m] + precone : 4.0 # [deg] + shaft_tilt : 6.0 # [deg] + overhang : 12.0313 # [m] + aeroMod : 1 # 0 aerodynamics off; 1 aerodynamics on + + + blade: + precurveTip : -3.9999999999999964 # + presweepTip : 0.0 # + Rtip : 120.96999999936446 # rotor radius + + # r chord theta precurve presweep + geometry: + - [ 8.004, 5.228, 15.474, 0.035, 0.000 ] + - [ 12.039, 5.321, 14.692, 0.084, 0.000 ] + - [ 16.073, 5.458, 13.330, 0.139, 0.000 ] + - [ 20.108, 5.602, 11.644, 0.192, 0.000 ] + - [ 24.142, 5.718, 9.927, 0.232, 0.000 ] + - [ 28.177, 5.767, 8.438, 0.250, 0.000 ] + - [ 32.211, 5.713, 7.301, 0.250, 0.000 ] + - [ 36.246, 5.536, 6.232, 0.246, 0.000 ] + - [ 40.280, 5.291, 5.230, 0.240, 0.000 ] + - [ 44.315, 5.035, 4.348, 0.233, 0.000 ] + - [ 48.349, 4.815, 3.606, 0.218, 0.000 ] + - [ 52.384, 4.623, 2.978, 0.178, 0.000 ] + - [ 56.418, 4.432, 2.423, 0.100, 0.000 ] + - [ 60.453, 4.245, 1.924, 0.000, 0.000 ] + - [ 64.487, 4.065, 1.467, -0.112, 0.000 ] + - [ 68.522, 3.896, 1.056, -0.244, 0.000 ] + - [ 72.556, 3.735, 0.692, -0.415, 0.000 ] + - [ 76.591, 3.579, 0.355, -0.620, 0.000 ] + - [ 80.625, 3.425, 0.019, -0.846, 0.000 ] + - [ 84.660, 3.268, -0.358, -1.080, 0.000 ] + - [ 88.694, 3.112, -0.834, -1.330, 0.000 ] + - [ 92.729, 2.957, -1.374, -1.602, 0.000 ] + - [ 96.763, 2.800, -1.848, -1.895, 0.000 ] + - [ 100.798, 2.637, -2.136, -2.202, 0.000 ] + - [ 104.832, 2.464, -2.172, -2.523, 0.000 ] + - [ 108.867, 2.283, -2.108, -2.864, 0.000 ] + - [ 112.901, 2.096, -1.953, -3.224, 0.000 ] + - [ 116.936, 1.902, -1.662, -3.605, 0.000 ] + # station(rel) airfoil name + airfoils: + - [ 0.00000, circular ] + - [ 0.02000, circular ] + - [ 0.15000, SNL-FFA-W3-500 ] + - [ 0.24517, FFA-W3-360 ] + - [ 0.32884, FFA-W3-330blend ] + - [ 0.43918, FFA-W3-301 ] + - [ 0.53767, FFA-W3-270blend ] + - [ 0.63821, FFA-W3-241 ] + - [ 0.77174, FFA-W3-211 ] + - [ 1.00000, FFA-W3-211 ] + + + airfoils: + - name : circular # + relative_thickness : 1.0 # + data: # alpha c_l c_d c_m + - [ -179.9087, 0.00010, 0.35000, -0.00010 ] + - [ 179.9087, 0.00010, 0.35000, -0.00010 ] + - name : SNL-FFA-W3-500 # + relative_thickness : 0.5 # + data: # alpha c_l c_d c_m + - [ -179.9660, 0.00000, 0.08440, 0.00000 ] + - [ -170.0000, 0.44190, 0.08440, 0.31250 ] + - [ -160.0002, 0.88370, 0.12680, 0.28310 ] + - [ -149.9998, 0.96740, 0.29270, 0.26320 ] + - [ -139.9999, 0.78010, 0.49700, 0.20480 ] + - [ -130.0001, 0.62930, 0.71610, 0.19320 ] + - [ -120.0003, 0.47850, 0.92460, 0.20080 ] + - [ -109.9999, 0.31890, 1.09850, 0.21360 ] + - [ -100.0000, 0.15530, 1.21820, 0.22210 ] + - [ -90.0002, 0.00000, 1.27070, 0.21980 ] + - [ -79.9998, -0.15530, 1.21820, 0.19600 ] + - [ -70.0000, -0.31890, 1.09850, 0.16350 ] + - [ -60.0001, -0.47840, 0.92460, 0.12850 ] + - [ -49.9997, -0.62930, 0.71610, 0.09650 ] + - [ -39.9999, -0.78010, 0.49700, 0.07160 ] + - [ -30.0001, -0.96740, 0.29270, 0.05220 ] + - [ -20.0002, -1.02810, 0.14990, -0.00630 ] + - [ -19.7499, -1.02430, 0.14720, -0.00890 ] + - [ -19.2502, -1.00520, 0.14470, -0.00990 ] + - [ -18.9999, -0.99710, 0.14330, -0.01050 ] + - [ -18.7500, -1.00520, 0.14030, -0.01100 ] + - [ -18.5002, -0.99950, 0.13860, -0.01160 ] + - [ -18.2499, -0.99080, 0.13730, -0.01200 ] + - [ -18.0000, -0.98150, 0.13600, -0.01260 ] + - [ -17.4998, -0.97640, 0.13220, -0.01350 ] + - [ -17.2500, -0.97050, 0.13060, -0.01390 ] + - [ -17.0002, -0.96550, 0.12900, -0.01430 ] + - [ -16.7498, -0.96620, 0.12680, -0.01470 ] + - [ -16.5000, -0.95440, 0.12580, -0.01510 ] + - [ -16.2502, -0.94440, 0.12460, -0.01550 ] + - [ -15.9998, -0.94050, 0.12290, -0.01580 ] + - [ -15.7500, -0.94330, 0.12060, -0.01610 ] + - [ -15.5002, -0.93300, 0.11950, -0.01640 ] + - [ -15.2498, -0.92110, 0.11850, -0.01680 ] + - [ -14.7502, -0.91580, 0.11500, -0.01730 ] + - [ -14.4998, -0.90700, 0.11380, -0.01750 ] + - [ -14.2500, -0.89590, 0.11270, -0.01780 ] + - [ -14.0002, -0.89260, 0.11100, -0.01810 ] + - [ -13.7498, -0.88080, 0.11000, -0.01840 ] + - [ -13.5000, -0.87220, 0.10890, -0.01860 ] + - [ -13.2502, -0.86600, 0.10750, -0.01880 ] + - [ -12.9998, -0.86260, 0.10590, -0.01880 ] + - [ -12.7500, -0.84890, 0.10510, -0.01920 ] + - [ -12.5002, -0.83630, 0.10420, -0.01940 ] + - [ -12.2498, -0.83630, 0.10230, -0.01940 ] + - [ -12.0000, -0.82710, 0.10130, -0.01960 ] + - [ -11.7502, -0.81410, 0.10040, -0.01980 ] + - [ -11.4998, -0.80040, 0.09970, -0.02000 ] + - [ -11.0002, -0.78900, 0.09710, -0.01990 ] + - [ -10.7498, -0.78620, 0.09560, -0.01960 ] + - [ -10.5000, -0.77470, 0.09480, -0.01940 ] + - [ -10.2502, -0.77010, 0.09400, -0.01840 ] + - [ -9.9998, -0.76740, 0.09250, -0.01830 ] + - [ -9.7500, -0.75060, 0.09170, -0.01920 ] + - [ -9.5002, -0.72900, 0.09120, -0.02050 ] + - [ -9.2498, -0.70950, 0.09020, -0.02240 ] + - [ -9.0000, -0.68550, 0.08950, -0.02470 ] + - [ -8.7502, -0.65900, 0.08910, -0.02670 ] + - [ -8.4998, -0.63190, 0.08870, -0.02870 ] + - [ -8.2500, -0.60190, 0.08790, -0.03200 ] + - [ -8.0002, -0.57180, 0.08750, -0.03450 ] + - [ -7.7498, -0.54240, 0.08730, -0.03670 ] + - [ -7.5000, -0.50980, 0.08680, -0.03990 ] + - [ -7.2502, -0.47670, 0.08640, -0.04300 ] + - [ -6.9998, -0.44540, 0.08620, -0.04530 ] + - [ -6.7500, -0.41420, 0.08600, -0.04760 ] + - [ -6.5002, -0.37910, 0.08560, -0.05100 ] + - [ -6.2498, -0.34600, 0.08530, -0.05380 ] + - [ -6.0000, -0.31440, 0.08520, -0.05600 ] + - [ -5.7502, -0.28170, 0.08500, -0.05860 ] + - [ -5.4998, -0.24610, 0.08470, -0.06190 ] + - [ -5.2500, -0.21330, 0.08460, -0.06440 ] + - [ -5.0002, -0.18270, 0.08450, -0.06630 ] + - [ -4.7498, -0.14940, 0.08430, -0.06880 ] + - [ -4.5000, -0.11580, 0.08420, -0.07150 ] + - [ -4.2502, -0.08370, 0.08400, -0.07370 ] + - [ -3.9998, -0.05290, 0.08400, -0.07560 ] + - [ -3.7500, -0.02250, 0.08390, -0.07740 ] + - [ -3.5002, 0.00890, 0.08380, -0.07930 ] + - [ -3.2498, 0.03920, 0.08380, -0.08110 ] + - [ -3.0000, 0.06860, 0.08380, -0.08260 ] + - [ -2.7502, 0.09740, 0.08380, -0.08380 ] + - [ -2.4998, 0.12600, 0.08380, -0.08520 ] + - [ -2.2500, 0.15550, 0.08380, -0.08670 ] + - [ -2.0002, 0.18530, 0.08380, -0.08830 ] + - [ -1.7498, 0.21460, 0.08370, -0.08970 ] + - [ -1.5000, 0.24300, 0.08370, -0.09100 ] + - [ -1.2502, 0.27130, 0.08380, -0.09210 ] + - [ -0.9998, 0.30060, 0.08380, -0.09360 ] + - [ -0.7500, 0.32950, 0.08380, -0.09490 ] + - [ -0.5002, 0.35780, 0.08380, -0.09610 ] + - [ -0.2498, 0.38570, 0.08380, -0.09720 ] + - [ 0.0000, 0.41350, 0.08380, -0.09830 ] + - [ 0.2298, 0.44250, 0.08390, -0.09950 ] + - [ 0.4698, 0.47150, 0.08390, -0.10080 ] + - 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[ 8.0000, 1.53090, 0.01831, -0.15118 ] + - [ 9.0000, 1.64065, 0.01963, -0.15262 ] + - [ 10.0000, 1.73926, 0.02150, -0.15310 ] + - [ 11.0000, 1.81971, 0.02445, -0.15254 ] + - [ 12.0000, 1.87065, 0.02966, -0.15121 ] + - [ 13.0000, 1.89221, 0.03770, -0.14969 ] + - [ 14.0000, 1.87910, 0.04824, -0.14562 ] + - [ 15.0000, 1.88111, 0.05838, -0.14358 ] + - [ 16.0000, 1.86359, 0.06992, -0.14095 ] + - [ 18.0000, 1.73324, 0.10166, -0.13711 ] + - [ 20.0000, 1.59357, 0.13916, -0.14082 ] + - [ 24.0000, 1.46708, 0.21002, -0.15693 ] + - [ 28.0000, 1.44834, 0.28200, -0.17979 ] + - [ 32.0000, 1.43563, 0.35424, -0.20147 ] + - [ 36.1429, 1.31283, 0.44192, -0.22409 ] + - [ 40.2857, 1.20580, 0.53379, -0.24619 ] + - [ 44.4286, 1.10690, 0.62793, -0.26133 ] + - [ 48.5714, 1.01129, 0.72238, -0.27648 ] + - [ 52.7143, 0.91594, 0.81520, -0.29062 ] + - [ 56.8571, 0.81907, 0.90444, -0.30424 ] + - [ 61.0000, 0.71982, 0.98826, -0.31787 ] + - [ 65.1429, 0.61801, 1.06493, -0.33154 ] + - [ 69.2857, 0.51401, 1.13285, -0.34522 ] + - [ 73.4286, 0.40862, 1.19061, -0.35846 ] + - [ 77.5714, 0.30299, 1.23704, -0.37161 ] + - [ 81.7143, 0.19855, 1.27116, -0.38405 ] + - [ 85.8571, 0.09695, 1.29229, -0.39547 ] + - [ 90.0000, 0.00000, 1.30000, -0.40690 ] + - [ 94.1429, -0.06787, 1.29229, -0.41277 ] + - [ 98.2857, -0.13899, 1.27116, -0.41864 ] + - [ 102.4286, -0.21209, 1.23704, -0.42163 ] + - [ 106.5714, -0.28603, 1.19061, -0.42258 ] + - [ 110.7143, -0.35981, 1.13285, -0.42312 ] + - [ 114.8571, -0.43261, 1.06493, -0.42168 ] + - [ 119.0000, -0.50388, 0.98826, -0.42024 ] + - [ 123.1429, -0.57335, 0.90444, -0.42058 ] + - [ 127.2857, -0.64116, 0.81520, -0.42150 ] + - [ 131.4286, -0.70790, 0.72238, -0.42591 ] + - [ 135.5714, -0.77483, 0.62793, -0.43697 ] + - [ 139.7143, -0.84406, 0.53379, -0.44803 ] + - [ 143.8571, -0.91898, 0.44192, -0.46784 ] + - [ 148.0000, -1.00494, 0.35424, -0.48830 ] + - [ 150.2857, -0.93316, 0.30832, -0.49600 ] + - [ 152.5714, -0.86138, 0.26453, -0.47857 ] + - [ 154.8571, -0.78960, 0.22313, -0.46114 ] + - [ 157.1429, -0.71781, 0.18439, -0.44370 ] + - [ 159.4286, -0.64603, 0.14856, -0.42627 ] + - [ 161.7143, -0.57425, 0.11586, -0.43530 ] + - [ 164.0000, -0.50247, 0.08651, -0.45315 ] + - [ 166.2857, -0.43069, 0.06068, -0.47100 ] + - [ 168.5714, -0.35891, 0.05174, -0.48884 ] + - [ 170.8571, -0.28713, 0.04653, -0.45714 ] + - [ 173.1429, -0.21534, 0.04245, -0.34286 ] + - [ 175.4286, -0.14356, 0.03951, -0.22857 ] + - [ 177.7143, -0.07178, 0.03774, -0.11429 ] + - [ 179.9087, 0.00000, 0.03715, 0.00000 ] + + + + pitch_control: + GS_Angles: [0.06019804, 0.08713416, 0.10844806, 0.12685912, 0.14339822, 0.1586021 , 0.17279614, 0.18618935, 0.19892772, 0.21111989, 0.22285021, 0.23417256, 0.2451469 , 0.25580691, 0.26619545, 0.27632495, 0.28623134, 0.29593266, 0.30544521, 0.314779 , 0.32395154, 0.33297489, 0.3418577 , 0.35060844, 0.35923641, 0.36774807, 0.37614942, 0.38444655, 0.39264363, 0.40074407] + GS_Kp: [-0.9394215 , -0.80602855, -0.69555026, -0.60254912, -0.52318192, -0.45465531, -0.39489024, -0.34230736, -0.29568537, -0.25406506, -0.2166825 , -0.18292183, -0.15228099, -0.12434663, -0.09877533, -0.0752794 , -0.05361604, -0.0335789 , -0.01499149, 0.00229803, 0.01842102, 0.03349169, 0.0476098 , 0.0608629 , 0.07332812, 0.0850737 , 0.0961602 , 0.10664158, 0.11656607, 0.12597691] + GS_Ki: [-0.07416547, -0.06719673, -0.0614251 , -0.05656651, -0.0524202 , -0.04884022, -0.04571796, -0.04297091, -0.04053528, -0.03836094, -0.03640799, -0.03464426, -0.03304352, -0.03158417, -0.03024826, -0.02902079, -0.02788904, -0.02684226, -0.02587121, -0.02496797, -0.02412567, -0.02333834, -0.02260078, -0.02190841, -0.0212572 , -0.02064359, -0.0200644 , -0.01951683, -0.01899836, -0.01850671] + Fl_Kp: -9.35 + wt_ops: + v: [3.0, 3.266896551724138, 3.533793103448276, 3.800689655172414, 4.067586206896552, 4.334482758620689, 4.601379310344828, 4.868275862068966, 5.135172413793104, 5.402068965517241, 5.6689655172413795, 5.935862068965518, 6.2027586206896554, 6.469655172413793, 6.736551724137931, 7.00344827586207, 7.270344827586207, 7.537241379310345, 7.804137931034483, 8.071034482758622, 8.337931034482759, 8.604827586206897, 8.871724137931036, 9.138620689655173, 9.405517241379311, 9.672413793103448, 9.939310344827586, 10.206206896551725, 10.473103448275863, 10.74, 11.231724137931035, 11.723448275862069, 12.215172413793104, 12.706896551724139, 13.198620689655172, 13.690344827586207, 14.182068965517242, 14.673793103448276, 15.16551724137931, 15.657241379310346, 16.14896551724138, 16.640689655172416, 17.13241379310345, 17.624137931034483, 18.11586206896552, 18.607586206896553, 19.099310344827586, 19.591034482758623, 20.082758620689653, 20.57448275862069, 21.066206896551726, 21.557931034482756, 22.049655172413793, 22.54137931034483, 23.03310344827586, 23.524827586206897, 24.016551724137933, 24.508275862068963, 25.0] + pitch_op: [-0.25, -0.25, -0.25, -0.25, -0.25, -0.25, -0.25, -0.25, -0.25, -0.25, -0.25, -0.25, -0.25, -0.25, -0.25, -0.25, -0.25, -0.25, -0.25, -0.25, -0.25, -0.25, -0.25, -0.25, -0.25, -0.25, -0.25, -0.25, -0.25, -0.25, 3.57152, 5.12896, 6.36736, 7.43866, 8.40197, 9.28843, 10.1161, 10.8974, 11.641, 12.3529, 13.038, 13.6997, 14.3409, 14.9642, 15.5713, 16.1639, 16.7435, 17.3109, 17.8673, 18.4136, 18.9506, 19.4788, 19.9989, 20.5112, 21.0164, 21.5147, 22.0067, 22.4925, 22.9724] + omega_op: [2.1486, 2.3397, 2.5309, 2.722, 2.9132, 3.1043, 3.2955, 3.4866, 3.6778, 3.8689, 4.0601, 4.2512, 4.4424, 4.6335, 4.8247, 5.0159, 5.207, 5.3982, 5.5893, 5.7805, 5.9716, 6.1628, 6.3539, 6.5451, 6.7362, 6.9274, 7.1185, 7.3097, 7.5008, 7.56, 7.56, 7.56, 7.56, 7.56, 7.56, 7.56, 7.56, 7.56, 7.56, 7.56, 7.56, 7.56, 7.56, 7.56, 7.56, 7.56, 7.56, 7.56, 7.56, 7.56, 7.56, 7.56, 7.56, 7.56, 7.56, 7.56, 7.56, 7.56, 7.56] + gear_ratio: 1 + torque_control: + VS_KP: -38609162.66552 + VS_KI: -4588245.18720 + + + tower: # (could remove some entries that don't apply for the tower) + dlsMax : 5.0 # maximum node splitting section amount; can't be 0 + + name : tower # [-] an identifier (no longer has to be number) + type : 1 # [-] + rA : [ 0, 0, 15] # [m] end A coordinates + rB : [ 0, 0, 144.582] # [m] and B coordinates + shape : circ # [-] circular or rectangular + gamma : 0.0 # [deg] twist angle about the member's z-axis + + # --- outer shell including hydro--- + stations : [ 15, 28, 28.001, 41, 41.001, 54, 54.001, 67, 67.001, 80, 80.001, 93, 93.001, 106, 106.001, 119, 119.001, 132, 132.001, 144.582 ] # [-] location of stations along axis. Will be normalized such that start value maps to rA and end value to rB + d : [ 10, 9.964, 9.964, 9.967, 9.967, 9.927, 9.927, 9.528, 9.528, 9.149, 9.149, 8.945, 8.945, 8.735, 8.735, 8.405, 8.405, 7.321, 7.321, 6.5 ] # [m] diameters if circular or side lengths if rectangular (can be pairs) + t : [ 0.082954, 0.082954, 0.083073, 0.083073, 0.082799, 0.082799, 0.0299, 0.0299, 0.027842, 0.027842, 0.025567, 0.025567, 0.022854, 0.022854, 0.02025, 0.02025, 0.018339, 0.018339, 0.021211, 0.021211 ] # [m] wall thicknesses (scalar or list of same length as stations) + Cd : 0.0 # [-] transverse drag coefficient (optional, scalar or list of same length as stations) + Ca : 0.0 # [-] transverse added mass coefficient (optional, scalar or list of same length as stations) + # (neglecting axial coefficients for now) + CdEnd : 0.0 # [-] end axial drag coefficient (optional, scalar or list of same length as stations) + CaEnd : 0.0 # [-] end axial added mass coefficient (optional, scalar or list of same length as stations) + rho_shell : 7850 # [kg/m3] material density + + + + + + + +platform: + + potModMaster : 1 # [int] master switch for potMod variables; 0=keeps all member potMod vars the same, 1=turns all potMod vars to False (no HAMS), 2=turns all potMod vars to True (no strip) + potSecOrder : 1 # [int] master switch for computing second-order wave forces; 0=do not compute, 1=compute QTFs using slender body approximation, 2=read QTF file in WAMIT format (.11d or .12d) + dlsMax : 5.0 # maximum node splitting section amount for platform members; can't be 0 + min_freq2nd : 0.004 # [Hz] minimum frequency for second-order wave forces, also the frequency step + max_freq2nd : 0.200 # [Hz] maximum frequency for second-order wave forces + + members: # list all members here + + - name : center_column # [-] an identifier (no longer has to be number) + type : 2 # [-] + rA : [ 0, 0, -20] # [m] end A coordinates + rB : [ 0, 0, 15] # [m] and B coordinates + shape : circ # [-] circular or rectangular + gamma : 0.0 # [deg] twist angle about the member's z-axis + potMod : True # [bool] Whether to model the member with potential flow (BEM model) plus viscous drag or purely strip theory + # --- outer shell including hydro--- + stations : [0, 1] # [-] location of stations along axis. Will be normalized such that start value maps to rA and end value to rB + d : 10.0 # [m] diameters if circular or side lengths if rectangular (can be pairs) + t : 0.05 # [m] wall thicknesses (scalar or list of same length as stations) + Cd : 0.6 # [-] transverse drag coefficient (optional, scalar or list of same length as stations) + Ca : 0.93 # [-] transverse added mass coefficient (optional, scalar or list of same length as stations) + CdEnd : 0.6 # [-] end axial drag coefficient (optional, scalar or list of same length as stations) + CaEnd : 1.0 # [-] end axial added mass coefficient (optional, scalar or list of same length as stations) + rho_shell : 7850 # [kg/m3] + # --- handling of end caps or any internal structures if we need them --- + cap_stations : [ 0 ] # [m] location along member of any inner structures (in same scaling as set by 'stations') + cap_t : [ 0.001 ] # [m] thickness of any internal structures + cap_d_in : [ 0 ] # [m] inner diameter of internal structures (0 for full cap/bulkhead, >0 for a ring shape) + + + - name : outer_column # [-] an identifier (no longer has to be number) + type : 2 # [-] + rA : [51.75, 0, -20] # [m] end A coordinates + rB : [51.75, 0, 15] # [m] and B coordinates + heading : [ 60, 180, 300] # [deg] heading rotation of column about z axis (for repeated members) + shape : circ # [-] circular or rectangular + gamma : 0.0 # [deg] twist angle about the member's z-axis + potMod : True # [bool] Whether to model the member with potential flow (BEM model) plus viscous drag or purely strip theory + # --- outer shell including hydro--- + stations : [0, 1] # [-] location of stations along axis. Will be normalized such that start value maps to rA and end value to rB + d : 12.5 # [m] diameters if circular or side lengths if rectangular (can be pairs) + t : 0.05 # [m] wall thicknesses (scalar or list of same length as stations) + Cd : 0.6 # [-] transverse drag coefficient (optional, scalar or list of same length as stations) + Ca : 0.93 # [-] transverse added mass coefficient (optional, scalar or list of same length as stations) + CdEnd : 1.0 # [-] end axial drag coefficient (optional, scalar or list of same length as stations) + CaEnd : 0.7 # value of 3.0 gives more heave response # [-] end axial added mass coefficient (optional, scalar or list of same length as stations) + rho_shell : 7850 # [kg/m3] + # --- ballast --- + l_fill : 1.4 # [m] + rho_fill : 5000 # [kg/m3] + # --- handling of end caps or any internal structures if we need them --- + cap_stations : [ 0 ] # [m] location along member of any inner structures (in same scaling as set by 'stations') + cap_t : [ 0.001 ] # [m] thickness of any internal structures + cap_d_in : [ 0 ] # [m] inner diameter of internal structures (0 for full cap/bulkhead, >0 for a ring shape) + + + - name : pontoon # [-] an identifier (no longer has to be number) + type : 2 # [-] + rA : [ 5 , 0, -16.5] # [m] end A coordinates + rB : [ 45.5, 0, -16.5] # [m] and B coordinates + heading : [ 60, 180, 300] # [deg] heading rotation of column about z axis (for repeated members) + shape : rect # [-] circular or rectangular + gamma : 0.0 # [deg] twist angle about the member's z-axis + potMod : False # [bool] Whether to model the member with potential flow (BEM model) plus viscous drag or purely strip theory + # --- outer shell including hydro--- + stations : [0, 1] # [-] location of stations along axis. Will be normalized such that start value maps to rA and end value to rB + d : [12.4, 7.0] # [m] diameters if circular or side lengths if rectangular (can be pairs) + t : 0.05 # [m] wall thicknesses (scalar or list of same length as stations) + Cd : [1.5, 2.2 ] # [-] transverse drag coefficient (optional, scalar or list of same length as stations) + Ca : [2.2, 0.2 ] # [-] transverse added mass coefficient (optional, scalar or list of same length as stations) + CdEnd : 0.0 # [-] end axial drag coefficient (optional, scalar or list of same length as stations) + CaEnd : 0.0 # [-] end axial added mass coefficient (optional, scalar or list of same length as stations) + rho_shell : 7850 # [kg/m3] + l_fill : 43.0 # [m] + rho_fill : 1025.0 # [kg/m3] + + + - name : upper_support # [-] an identifier (no longer has to be number) + type : 2 # [-] + rA : [ 5 , 0, 14.545] # [m] end A coordinates + rB : [ 45.5, 0, 14.545] # [m] and B coordinates + heading : [ 60, 180, 300] # [deg] heading rotation of column about z axis (for repeated members) + shape : circ # [-] circular or rectangular + gamma : 0.0 # [deg] twist angle about the member's z-axis + potMod : False # [bool] Whether to model the member with potential flow (BEM model) plus viscous drag or purely strip theory + # --- outer shell including hydro--- + stations : [0, 1] # [-] location of stations along axis. Will be normalized such that start value maps to rA and end value to rB + d : 0.91 # [m] diameters if circular or side lengths if rectangular (can be pairs) + t : 0.01 # [m] wall thicknesses (scalar or list of same length as stations) + Cd : 0.0 # [-] transverse drag coefficient (optional, scalar or list of same length as stations) + Ca : 0.0 # [-] transverse added mass coefficient (optional, scalar or list of same length as stations) + CdEnd : 0.0 # [-] end axial drag coefficient (optional, scalar or list of same length as stations) + CaEnd : 0.0 # [-] end axial added mass coefficient (optional, scalar or list of same length as stations) + rho_shell : 7850 # [kg/m3] + + +mooring: + water_depth: 200 # [m] uniform water depth + + points: + - name: line1_anchor + type: fixed + location: [-837, 0.0, -200.0] + anchor_type: drag_embedment + + - name: line2_anchor + type: fixed + location: [418, 725, -200.0] + anchor_type: drag_embedment + + - name: line3_anchor + type: fixed + location: [418, -725, -200.0] + anchor_type: drag_embedment + + - name: line1_vessel + type: vessel + location: [-58, 0.0, -14.0] + + - name: line2_vessel + type: vessel + location: [29, 50, -14.0] + + - name: line3_vessel + type: vessel + location: [29, -50, -14.0] + + lines: + - name: line1 + endA: line1_anchor + endB: line1_vessel + type: chain + length: 850 + + - name: line2 + endA: line2_anchor + endB: line2_vessel + type: chain + length: 850 + + - name: line3 + endA: line3_anchor + endB: line3_vessel + type: chain + length: 850 + + line_types: + - name: chain + diameter: 0.185 + mass_density: 685.0 + stiffness: 3270e6 + breaking_load: 1e8 + cost: 100.0 + transverse_added_mass: 1.0 + tangential_added_mass: 0.0 + transverse_drag: 1.6 + tangential_drag: 0.1 + + anchor_types: + - name: drag_embedment + mass: 1e3 + cost: 1e4 + max_vertical_load: 0.0 + max_lateral_load: 1e5 + \ No newline at end of file diff --git a/examples/VolturnUS-S-WAMIT.yaml b/examples/VolturnUS-S-WAMIT.yaml new file mode 100644 index 0000000..3c8a73e --- /dev/null +++ b/examples/VolturnUS-S-WAMIT.yaml @@ -0,0 +1,1252 @@ +type: input file for RAFT +name: IEA 15 MW with VolturnUS-S steel semi +comments: This is a quick example that includes second-order wave forces from precomputed QTF matrices + + +settings: # global Settings + min_freq : 0.00025 # [Hz] lowest frequency to consider, also the frequency bin width + max_freq : 0.20 # [Hz] highest frequency to consider + XiStart : 0 # sets initial amplitude of each DOF for all frequencies + nIter : 4 # sets how many iterations to perform in Model.solveDynamics() + +site: + water_depth : 200 # [m] uniform water depth + rho_water : 1025.0 # [kg/m^3] water density + rho_air : 1.225 # [kg/m^3] air density + mu_air : 1.81e-05 # air dynamic viscosity + shearExp : 0.12 # shear exponent + +cases: + + keys : [wind_speed, wind_heading, turbulence, turbine_status, yaw_misalign, wave_spectrum, wave_period, wave_height, wave_heading, current_speed ] + data : # m/s deg % or e.g. IIB_NTM string deg string (s) (m) (deg) + - [ 0, 0, 0, operating, 0, JONSWAP, 12, 6, 0, 0 ] + # - [ 16, 0, 0, operating, 0, JONSWAP, 12, 6, 0, 0 ] + + +turbine: + + mRNA : 991000 # [kg] RNA mass + IxRNA : 0 # [kg-m2] RNA moment of inertia about local x axis (assumed to be identical to rotor axis for now, as approx) [kg-m^2] + IrRNA : 0 # [kg-m2] RNA moment of inertia about local y or z axes [kg-m^2] + xCG_RNA : 0 # [m] x location of RNA center of mass [m] (Actual is ~= -0.27 m) + hHub : 150.0 # [m] hub height above water line [m] + Fthrust : 1500.0E3 # [N] temporary thrust force to use + + I_drivetrain: 318628138.0 # full rotor + drivetrain inertia as felt on the high-speed shaft + + nBlades : 3 # number of blades + Zhub : 150.0 # hub height [m] + Rhub : 3.97 # hub radius [m] + precone : 4.0 # [deg] + shaft_tilt : 6.0 # [deg] + overhang : 12.0313 # [m] + aeroMod : 1 # 0 aerodynamics off; 1 aerodynamics on + + + blade: + precurveTip : -3.9999999999999964 # + presweepTip : 0.0 # + Rtip : 120.96999999936446 # rotor radius + + # r chord theta precurve presweep + geometry: + - [ 8.004, 5.228, 15.474, 0.035, 0.000 ] + - [ 12.039, 5.321, 14.692, 0.084, 0.000 ] + - [ 16.073, 5.458, 13.330, 0.139, 0.000 ] + - [ 20.108, 5.602, 11.644, 0.192, 0.000 ] + - [ 24.142, 5.718, 9.927, 0.232, 0.000 ] + - [ 28.177, 5.767, 8.438, 0.250, 0.000 ] + - [ 32.211, 5.713, 7.301, 0.250, 0.000 ] + - [ 36.246, 5.536, 6.232, 0.246, 0.000 ] + - [ 40.280, 5.291, 5.230, 0.240, 0.000 ] + - [ 44.315, 5.035, 4.348, 0.233, 0.000 ] + - [ 48.349, 4.815, 3.606, 0.218, 0.000 ] + - [ 52.384, 4.623, 2.978, 0.178, 0.000 ] + - [ 56.418, 4.432, 2.423, 0.100, 0.000 ] + - [ 60.453, 4.245, 1.924, 0.000, 0.000 ] + - [ 64.487, 4.065, 1.467, -0.112, 0.000 ] + - [ 68.522, 3.896, 1.056, -0.244, 0.000 ] + - [ 72.556, 3.735, 0.692, -0.415, 0.000 ] + - [ 76.591, 3.579, 0.355, -0.620, 0.000 ] + - [ 80.625, 3.425, 0.019, -0.846, 0.000 ] + - [ 84.660, 3.268, -0.358, -1.080, 0.000 ] + - [ 88.694, 3.112, -0.834, -1.330, 0.000 ] + - [ 92.729, 2.957, -1.374, -1.602, 0.000 ] + - [ 96.763, 2.800, -1.848, -1.895, 0.000 ] + - [ 100.798, 2.637, -2.136, -2.202, 0.000 ] + - [ 104.832, 2.464, -2.172, -2.523, 0.000 ] + - [ 108.867, 2.283, -2.108, -2.864, 0.000 ] + - [ 112.901, 2.096, -1.953, -3.224, 0.000 ] + - [ 116.936, 1.902, -1.662, -3.605, 0.000 ] + # station(rel) airfoil name + airfoils: + - [ 0.00000, circular ] + - [ 0.02000, circular ] + - [ 0.15000, SNL-FFA-W3-500 ] + - [ 0.24517, FFA-W3-360 ] + - [ 0.32884, FFA-W3-330blend ] + - [ 0.43918, FFA-W3-301 ] + - [ 0.53767, FFA-W3-270blend ] + - [ 0.63821, FFA-W3-241 ] + - [ 0.77174, FFA-W3-211 ] + - [ 1.00000, FFA-W3-211 ] + + + airfoils: + - name : circular # + relative_thickness : 1.0 # + data: # alpha c_l c_d c_m + - [ -179.9087, 0.00010, 0.35000, -0.00010 ] + - [ 179.9087, 0.00010, 0.35000, -0.00010 ] + - name : SNL-FFA-W3-500 # + relative_thickness : 0.5 # + data: # alpha c_l c_d c_m + - [ -179.9660, 0.00000, 0.08440, 0.00000 ] + - [ -170.0000, 0.44190, 0.08440, 0.31250 ] + - [ -160.0002, 0.88370, 0.12680, 0.28310 ] + - [ -149.9998, 0.96740, 0.29270, 0.26320 ] + - [ -139.9999, 0.78010, 0.49700, 0.20480 ] + - [ -130.0001, 0.62930, 0.71610, 0.19320 ] + - [ -120.0003, 0.47850, 0.92460, 0.20080 ] + - [ -109.9999, 0.31890, 1.09850, 0.21360 ] + - [ -100.0000, 0.15530, 1.21820, 0.22210 ] + - [ -90.0002, 0.00000, 1.27070, 0.21980 ] + - [ -79.9998, -0.15530, 1.21820, 0.19600 ] + - [ -70.0000, -0.31890, 1.09850, 0.16350 ] + - [ -60.0001, -0.47840, 0.92460, 0.12850 ] + - [ -49.9997, -0.62930, 0.71610, 0.09650 ] + - [ -39.9999, -0.78010, 0.49700, 0.07160 ] + - [ -30.0001, -0.96740, 0.29270, 0.05220 ] + - [ -20.0002, -1.02810, 0.14990, -0.00630 ] + - [ -19.7499, -1.02430, 0.14720, -0.00890 ] + - [ -19.2502, -1.00520, 0.14470, -0.00990 ] + - [ -18.9999, -0.99710, 0.14330, -0.01050 ] + - [ -18.7500, -1.00520, 0.14030, -0.01100 ] + - [ -18.5002, -0.99950, 0.13860, -0.01160 ] + - [ -18.2499, -0.99080, 0.13730, -0.01200 ] + - [ -18.0000, -0.98150, 0.13600, -0.01260 ] + - [ -17.4998, -0.97640, 0.13220, -0.01350 ] + - [ -17.2500, -0.97050, 0.13060, -0.01390 ] + - [ -17.0002, -0.96550, 0.12900, -0.01430 ] + - [ -16.7498, -0.96620, 0.12680, -0.01470 ] + - [ -16.5000, -0.95440, 0.12580, -0.01510 ] + - [ -16.2502, -0.94440, 0.12460, -0.01550 ] + - [ -15.9998, -0.94050, 0.12290, -0.01580 ] + - [ -15.7500, -0.94330, 0.12060, -0.01610 ] + - [ -15.5002, -0.93300, 0.11950, -0.01640 ] + - [ -15.2498, -0.92110, 0.11850, -0.01680 ] + - [ -14.7502, -0.91580, 0.11500, -0.01730 ] + - [ -14.4998, -0.90700, 0.11380, -0.01750 ] + - [ -14.2500, -0.89590, 0.11270, -0.01780 ] + - [ -14.0002, -0.89260, 0.11100, -0.01810 ] + - [ -13.7498, -0.88080, 0.11000, -0.01840 ] + - [ -13.5000, -0.87220, 0.10890, -0.01860 ] + - [ -13.2502, -0.86600, 0.10750, -0.01880 ] + - [ -12.9998, -0.86260, 0.10590, -0.01880 ] + - [ -12.7500, -0.84890, 0.10510, -0.01920 ] + - [ -12.5002, -0.83630, 0.10420, -0.01940 ] + - [ -12.2498, -0.83630, 0.10230, -0.01940 ] + - [ -12.0000, -0.82710, 0.10130, -0.01960 ] + - [ -11.7502, -0.81410, 0.10040, -0.01980 ] + - [ -11.4998, -0.80040, 0.09970, -0.02000 ] + - [ -11.0002, -0.78900, 0.09710, -0.01990 ] + - [ -10.7498, -0.78620, 0.09560, -0.01960 ] + - [ -10.5000, -0.77470, 0.09480, -0.01940 ] + - [ -10.2502, -0.77010, 0.09400, -0.01840 ] + - [ -9.9998, -0.76740, 0.09250, -0.01830 ] + - [ -9.7500, -0.75060, 0.09170, -0.01920 ] + - [ -9.5002, -0.72900, 0.09120, -0.02050 ] + - [ -9.2498, -0.70950, 0.09020, -0.02240 ] + - [ -9.0000, -0.68550, 0.08950, -0.02470 ] + - [ -8.7502, -0.65900, 0.08910, -0.02670 ] + - [ -8.4998, -0.63190, 0.08870, -0.02870 ] + - [ -8.2500, -0.60190, 0.08790, -0.03200 ] + - [ -8.0002, -0.57180, 0.08750, -0.03450 ] + - [ -7.7498, -0.54240, 0.08730, -0.03670 ] + - [ -7.5000, -0.50980, 0.08680, -0.03990 ] + - [ -7.2502, -0.47670, 0.08640, -0.04300 ] + - [ -6.9998, -0.44540, 0.08620, -0.04530 ] + - [ -6.7500, -0.41420, 0.08600, -0.04760 ] + - [ -6.5002, -0.37910, 0.08560, -0.05100 ] + - [ -6.2498, -0.34600, 0.08530, -0.05380 ] + - [ -6.0000, -0.31440, 0.08520, -0.05600 ] + - [ -5.7502, -0.28170, 0.08500, -0.05860 ] + - [ -5.4998, -0.24610, 0.08470, -0.06190 ] + - [ -5.2500, -0.21330, 0.08460, -0.06440 ] + - [ -5.0002, -0.18270, 0.08450, -0.06630 ] + - [ -4.7498, -0.14940, 0.08430, -0.06880 ] + - [ -4.5000, -0.11580, 0.08420, -0.07150 ] + - [ -4.2502, -0.08370, 0.08400, -0.07370 ] + - [ -3.9998, -0.05290, 0.08400, -0.07560 ] + - [ -3.7500, -0.02250, 0.08390, -0.07740 ] + - [ -3.5002, 0.00890, 0.08380, -0.07930 ] + - [ -3.2498, 0.03920, 0.08380, -0.08110 ] + - [ -3.0000, 0.06860, 0.08380, -0.08260 ] + - [ -2.7502, 0.09740, 0.08380, -0.08380 ] + - [ -2.4998, 0.12600, 0.08380, -0.08520 ] + - [ -2.2500, 0.15550, 0.08380, -0.08670 ] + - [ -2.0002, 0.18530, 0.08380, -0.08830 ] + - [ -1.7498, 0.21460, 0.08370, -0.08970 ] + - [ -1.5000, 0.24300, 0.08370, -0.09100 ] + - [ -1.2502, 0.27130, 0.08380, -0.09210 ] + - [ -0.9998, 0.30060, 0.08380, -0.09360 ] + - [ -0.7500, 0.32950, 0.08380, -0.09490 ] + - [ -0.5002, 0.35780, 0.08380, -0.09610 ] + - [ -0.2498, 0.38570, 0.08380, -0.09720 ] + - [ 0.0000, 0.41350, 0.08380, -0.09830 ] + - [ 0.2298, 0.44250, 0.08390, -0.09950 ] + - [ 0.4698, 0.47150, 0.08390, -0.10080 ] + - [ 0.7002, 0.50030, 0.08390, -0.10190 ] + - [ 0.9402, 0.52860, 0.08400, -0.10290 ] + - [ 1.1700, 0.55670, 0.08400, -0.10400 ] + - [ 1.3997, 0.58500, 0.08410, -0.10500 ] + - [ 1.6398, 0.61350, 0.08410, -0.10610 ] + - [ 1.8701, 0.64170, 0.08420, -0.10720 ] + - [ 2.1102, 0.66970, 0.08420, -0.10820 ] + - [ 2.3400, 0.69750, 0.08430, -0.10910 ] + - [ 2.5697, 0.72510, 0.08430, -0.11000 ] + - [ 2.8098, 0.75280, 0.08440, -0.11090 ] + - [ 3.0401, 0.78070, 0.08450, -0.11190 ] + - [ 3.2802, 0.80830, 0.08460, -0.11280 ] + - [ 3.5099, 0.83580, 0.08460, -0.11370 ] + - [ 3.7403, 0.86310, 0.08470, -0.11460 ] + - [ 3.9798, 0.89020, 0.08470, -0.11530 ] + - [ 4.2101, 0.91730, 0.08480, -0.11610 ] + - [ 4.4502, 0.94440, 0.08490, -0.11700 ] + - [ 4.6799, 0.97130, 0.08500, -0.11780 ] + - [ 4.9102, 0.99810, 0.08510, -0.11850 ] + - [ 5.1497, 1.02490, 0.08520, -0.11920 ] + - [ 5.3801, 1.05150, 0.08530, -0.11990 ] + - [ 5.6201, 1.07790, 0.08530, -0.12060 ] + - [ 5.8499, 1.10410, 0.08540, -0.12120 ] + - [ 6.0802, 1.13020, 0.08560, -0.12180 ] + - [ 6.3197, 1.15600, 0.08570, -0.12240 ] + - [ 6.5501, 1.18180, 0.08580, -0.12300 ] + - [ 6.7901, 1.20760, 0.08590, -0.12350 ] + - [ 7.0199, 1.23340, 0.08600, -0.12400 ] + - [ 7.2502, 1.25890, 0.08610, -0.12450 ] + - [ 7.4903, 1.28410, 0.08620, -0.12500 ] + - [ 7.7200, 1.30880, 0.08640, -0.12540 ] + - [ 7.9601, 1.33310, 0.08650, -0.12570 ] + - [ 8.1899, 1.35700, 0.08670, -0.12590 ] + - [ 8.4202, 1.38100, 0.08690, -0.12620 ] + - [ 8.6603, 1.40540, 0.08700, -0.12650 ] + - [ 8.8900, 1.42950, 0.08710, -0.12670 ] + - [ 9.1198, 1.45310, 0.08730, -0.12700 ] + - [ 9.8801, 1.51540, 0.08790, -0.12650 ] + - [ 10.6398, 1.57490, 0.08860, -0.12560 ] + - [ 11.4001, 1.61510, 0.08950, -0.12140 ] + - [ 12.1501, 1.64430, 0.09120, -0.11630 ] + - [ 12.9099, 1.68240, 0.09300, -0.11330 ] + - [ 13.6702, 1.71460, 0.09540, -0.11070 ] + - [ 14.4202, 1.73620, 0.09890, -0.10800 ] + - [ 15.1799, 1.76270, 0.10240, -0.10630 ] + - [ 15.9403, 1.77060, 0.10760, -0.10420 ] + - [ 16.6903, 1.76390, 0.11440, -0.10250 ] + - [ 17.4500, 1.76040, 0.12110, -0.10130 ] + - [ 18.2097, 1.72510, 0.13100, -0.10010 ] + - [ 18.9701, 1.70350, 0.13990, -0.09980 ] + - [ 19.7201, 1.67840, 0.14920, -0.10010 ] + - [ 20.4798, 1.65050, 0.15910, -0.10160 ] + - [ 21.2401, 1.62270, 0.16910, -0.10360 ] + - [ 21.9901, 1.60670, 0.17780, -0.10640 ] + - [ 22.7499, 1.59720, 0.18580, -0.10990 ] + - [ 23.5102, 1.58920, 0.19370, -0.11360 ] + - [ 24.2602, 1.58150, 0.20140, -0.11800 ] + - [ 25.0199, 1.55630, 0.21350, -0.12490 ] + - [ 25.7802, 1.52720, 0.22670, -0.13250 ] + - [ 26.5302, 1.49820, 0.23990, -0.14000 ] + - [ 27.2900, 1.46910, 0.25310, -0.14760 ] + - [ 28.0497, 1.44010, 0.26630, -0.15510 ] + - [ 28.8100, 1.41100, 0.27950, -0.16270 ] + - [ 29.5600, 1.38200, 0.29270, -0.17030 ] + - [ 30.3198, 1.36220, 0.30780, -0.17400 ] + - [ 31.0801, 1.34240, 0.32300, -0.17770 ] + - [ 31.8301, 1.32250, 0.33810, -0.18150 ] + - [ 32.5898, 1.30270, 0.35320, -0.18520 ] + - [ 33.3502, 1.28290, 0.36840, -0.18890 ] + - [ 34.1002, 1.26310, 0.38350, -0.19260 ] + - [ 34.8599, 1.24330, 0.39870, -0.19640 ] + - [ 35.6202, 1.22340, 0.41380, -0.20010 ] + - [ 36.3800, 1.20360, 0.42890, -0.20390 ] + - [ 37.1300, 1.18380, 0.44410, -0.20760 ] + - [ 37.8903, 1.16400, 0.45920, -0.21130 ] + - [ 38.6500, 1.14420, 0.47430, -0.21500 ] + - [ 39.4000, 1.12430, 0.48950, -0.21880 ] + - [ 40.1598, 1.10640, 0.50520, -0.22180 ] + - [ 40.9201, 1.09050, 0.52140, -0.22420 ] + - [ 41.6701, 1.07450, 0.53760, -0.22660 ] + - [ 42.4298, 1.05860, 0.55380, -0.22890 ] + - [ 43.1901, 1.04260, 0.57010, -0.23130 ] + - [ 43.9401, 1.02670, 0.58630, -0.23370 ] + - [ 44.6999, 1.01070, 0.60250, -0.23610 ] + - [ 45.4602, 0.99480, 0.61880, -0.23840 ] + - [ 46.2199, 0.97880, 0.63500, -0.24080 ] + - [ 46.9699, 0.96280, 0.65120, -0.24320 ] + - [ 47.7302, 0.94690, 0.66750, -0.24550 ] + - [ 48.4900, 0.93090, 0.68370, -0.24790 ] + - [ 49.2400, 0.91500, 0.69990, -0.25030 ] + - [ 49.9997, 0.89900, 0.71610, -0.25270 ] + - [ 60.0001, 0.68360, 0.92460, -0.28330 ] + - [ 70.0000, 0.45560, 1.09850, -0.31560 ] + - [ 79.9998, 0.22190, 1.21820, -0.34820 ] + - [ 90.0002, 0.00000, 1.27070, -0.37730 ] + - [ 100.0000, -0.15530, 1.21820, -0.38770 ] + - [ 109.9999, -0.31890, 1.09850, -0.38650 ] + - [ 120.0003, -0.47840, 0.92460, -0.38060 ] + - [ 130.0001, -0.62930, 0.71610, -0.38030 ] + - [ 139.9999, -0.78010, 0.49700, -0.40320 ] + - [ 149.9998, -0.96740, 0.29270, -0.48540 ] + - [ 160.0002, -0.88370, 0.12680, -0.53250 ] + - [ 170.0000, -0.44180, 0.08440, -0.39060 ] + - [ 179.9660, 0.00000, 0.08440, 0.00000 ] + - name : FFA-W3-211 # + relative_thickness : 0.211 # + data: # alpha c_l c_d c_m + - [ -179.9087, 0.00000, 0.02464, 0.00000 ] + - [ -177.7143, 0.05403, 0.02534, 0.09143 ] + - [ -175.4286, 0.10805, 0.02742, 0.18286 ] + - [ -173.1429, 0.16208, 0.03088, 0.27429 ] + - [ -170.8572, 0.21610, 0.03570, 0.36571 ] + - [ -168.5716, 0.27013, 0.05599, 0.39192 ] + - [ -166.2857, 0.32415, 0.08143, 0.37898 ] + - [ -164.0000, 0.37818, 0.11112, 0.36605 ] + - [ -161.7145, 0.43220, 0.14485, 0.35312 ] + - [ -159.4284, 0.48623, 0.18242, 0.34768 ] + - [ -157.1428, 0.54025, 0.22359, 0.36471 ] + - [ -154.8573, 0.59428, 0.26810, 0.38175 ] + - [ -152.5714, 0.64830, 0.31566, 0.39878 ] + - [ -150.2857, 0.70233, 0.36597, 0.41581 ] + - [ -148.0000, 0.75635, 0.41871, 0.41955 ] + - [ -143.8571, 0.73188, 0.51941, 0.42287 ] + - [ -139.7143, 0.70655, 0.62488, 0.42632 ] + - [ -135.5714, 0.67760, 0.73293, 0.43163 ] + - [ -131.4286, 0.64333, 0.84130, 0.43694 ] + - [ -127.2857, 0.60277, 0.94773, 0.44389 ] + - [ -123.1429, 0.55550, 1.05001, 0.45171 ] + - [ -119.0000, 0.50156, 1.14600, 0.45897 ] + - [ -114.8571, 0.44131, 1.23371, 0.46448 ] + - [ -110.7143, 0.37542, 1.31129, 0.46998 ] + - [ -106.5714, 0.30482, 1.37714, 0.47096 ] + - [ -102.4286, 0.23063, 1.42988, 0.47101 ] + - [ -98.2857, 0.15413, 1.46842, 0.46824 ] + - [ -94.1429, 0.07675, 1.49196, 0.46149 ] + - [ -90.0000, 0.00000, 1.50000, 0.45474 ] + - [ -85.8571, -0.07675, 1.49196, 0.44026 ] + - [ -81.7143, -0.15413, 1.46842, 0.42578 ] + - [ -77.5714, -0.23063, 1.42988, 0.40821 ] + - [ -73.4286, -0.30482, 1.37714, 0.38846 ] + - [ -69.2857, -0.37542, 1.31129, 0.36815 ] + - 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[ -131.4286, 0.70790, 0.72238, 0.42591 ] + - [ -127.2857, 0.64116, 0.81520, 0.42150 ] + - [ -123.1429, 0.57335, 0.90444, 0.42058 ] + - [ -119.0000, 0.50388, 0.98826, 0.42024 ] + - [ -114.8571, 0.43261, 1.06493, 0.42168 ] + - [ -110.7143, 0.35981, 1.13285, 0.42312 ] + - [ -106.5714, 0.28603, 1.19061, 0.42258 ] + - [ -102.4286, 0.21209, 1.23704, 0.42163 ] + - [ -98.2857, 0.13899, 1.27116, 0.41864 ] + - [ -94.1429, 0.06787, 1.29229, 0.41277 ] + - [ -90.0000, 0.00000, 1.30000, 0.40690 ] + - [ -85.8571, -0.06787, 1.29229, 0.39426 ] + - [ -81.7143, -0.13899, 1.27116, 0.38162 ] + - [ -77.5714, -0.21209, 1.23704, 0.36676 ] + - [ -73.4286, -0.28603, 1.19061, 0.35033 ] + - [ -69.2857, -0.35981, 1.13285, 0.33362 ] + - [ -65.1429, -0.43261, 1.06493, 0.31561 ] + - [ -61.0000, -0.50388, 0.98826, 0.29759 ] + - [ -56.8571, -0.57335, 0.90444, 0.27989 ] + - [ -52.7143, -0.64116, 0.81520, 0.26230 ] + - [ -48.5714, -0.70790, 0.72238, 0.24491 ] + - [ -44.4286, -0.77483, 0.62793, 0.22794 ] + - [ -40.2857, -0.84406, 0.53379, 0.21097 ] + - [ -36.1429, -0.91898, 0.44192, 0.13525 ] + - [ -32.0000, -1.00494, 0.35424, 0.05517 ] + - [ -28.0000, -1.11306, 0.20494, 0.03211 ] + - [ -24.0000, -1.05425, 0.15434, 0.01268 ] + - [ -20.0000, -0.98247, 0.10967, -0.00282 ] + - [ -18.0000, -0.94173, 0.09249, -0.00741 ] + - [ -16.0000, -0.89333, 0.07597, -0.01107 ] + - [ -14.0000, -0.85472, 0.06054, -0.01250 ] + - [ -12.0000, -0.82348, 0.04641, -0.01177 ] + - [ -10.0000, -0.79541, 0.03441, -0.01082 ] + - [ -8.0000, -0.63650, 0.02548, -0.02769 ] + - [ -6.0000, -0.39095, 0.01994, -0.05107 ] + - [ -4.0000, -0.13071, 0.01653, -0.07148 ] + - [ -2.0000, 0.16173, 0.01507, -0.09179 ] + - [ -1.0000, 0.31121, 0.01477, -0.10119 ] + - [ 0.0000, 0.45956, 0.01465, -0.10988 ] + - [ 1.0000, 0.60566, 0.01466, -0.11776 ] + - [ 2.0000, 0.74868, 0.01481, -0.12477 ] + - [ 3.0000, 0.88862, 0.01507, -0.13098 ] + - [ 4.0000, 1.02544, 0.01544, -0.13648 ] + - [ 5.0000, 1.15878, 0.01593, -0.14130 ] + - [ 6.0000, 1.28822, 0.01654, -0.14540 ] + - [ 7.0000, 1.41282, 0.01731, -0.14875 ] + - [ 8.0000, 1.53090, 0.01831, -0.15118 ] + - [ 9.0000, 1.64065, 0.01963, -0.15262 ] + - [ 10.0000, 1.73926, 0.02150, -0.15310 ] + - [ 11.0000, 1.81971, 0.02445, -0.15254 ] + - [ 12.0000, 1.87065, 0.02966, -0.15121 ] + - [ 13.0000, 1.89221, 0.03770, -0.14969 ] + - [ 14.0000, 1.87910, 0.04824, -0.14562 ] + - [ 15.0000, 1.88111, 0.05838, -0.14358 ] + - [ 16.0000, 1.86359, 0.06992, -0.14095 ] + - [ 18.0000, 1.73324, 0.10166, -0.13711 ] + - [ 20.0000, 1.59357, 0.13916, -0.14082 ] + - [ 24.0000, 1.46708, 0.21002, -0.15693 ] + - [ 28.0000, 1.44834, 0.28200, -0.17979 ] + - [ 32.0000, 1.43563, 0.35424, -0.20147 ] + - [ 36.1429, 1.31283, 0.44192, -0.22409 ] + - [ 40.2857, 1.20580, 0.53379, -0.24619 ] + - [ 44.4286, 1.10690, 0.62793, -0.26133 ] + - [ 48.5714, 1.01129, 0.72238, -0.27648 ] + - [ 52.7143, 0.91594, 0.81520, -0.29062 ] + - [ 56.8571, 0.81907, 0.90444, -0.30424 ] + - [ 61.0000, 0.71982, 0.98826, -0.31787 ] + - [ 65.1429, 0.61801, 1.06493, -0.33154 ] + - [ 69.2857, 0.51401, 1.13285, -0.34522 ] + - [ 73.4286, 0.40862, 1.19061, -0.35846 ] + - [ 77.5714, 0.30299, 1.23704, -0.37161 ] + - [ 81.7143, 0.19855, 1.27116, -0.38405 ] + - [ 85.8571, 0.09695, 1.29229, -0.39547 ] + - [ 90.0000, 0.00000, 1.30000, -0.40690 ] + - [ 94.1429, -0.06787, 1.29229, -0.41277 ] + - [ 98.2857, -0.13899, 1.27116, -0.41864 ] + - [ 102.4286, -0.21209, 1.23704, -0.42163 ] + - [ 106.5714, -0.28603, 1.19061, -0.42258 ] + - [ 110.7143, -0.35981, 1.13285, -0.42312 ] + - [ 114.8571, -0.43261, 1.06493, -0.42168 ] + - [ 119.0000, -0.50388, 0.98826, -0.42024 ] + - [ 123.1429, -0.57335, 0.90444, -0.42058 ] + - [ 127.2857, -0.64116, 0.81520, -0.42150 ] + - [ 131.4286, -0.70790, 0.72238, -0.42591 ] + - [ 135.5714, -0.77483, 0.62793, -0.43697 ] + - [ 139.7143, -0.84406, 0.53379, -0.44803 ] + - [ 143.8571, -0.91898, 0.44192, -0.46784 ] + - [ 148.0000, -1.00494, 0.35424, -0.48830 ] + - [ 150.2857, -0.93316, 0.30832, -0.49600 ] + - [ 152.5714, -0.86138, 0.26453, -0.47857 ] + - [ 154.8571, -0.78960, 0.22313, -0.46114 ] + - [ 157.1429, -0.71781, 0.18439, -0.44370 ] + - [ 159.4286, -0.64603, 0.14856, -0.42627 ] + - [ 161.7143, -0.57425, 0.11586, -0.43530 ] + - [ 164.0000, -0.50247, 0.08651, -0.45315 ] + - [ 166.2857, -0.43069, 0.06068, -0.47100 ] + - [ 168.5714, -0.35891, 0.05174, -0.48884 ] + - [ 170.8571, -0.28713, 0.04653, -0.45714 ] + - [ 173.1429, -0.21534, 0.04245, -0.34286 ] + - [ 175.4286, -0.14356, 0.03951, -0.22857 ] + - [ 177.7143, -0.07178, 0.03774, -0.11429 ] + - [ 179.9087, 0.00000, 0.03715, 0.00000 ] + + + + pitch_control: + GS_Angles: [0.06019804, 0.08713416, 0.10844806, 0.12685912, 0.14339822, 0.1586021 , 0.17279614, 0.18618935, 0.19892772, 0.21111989, 0.22285021, 0.23417256, 0.2451469 , 0.25580691, 0.26619545, 0.27632495, 0.28623134, 0.29593266, 0.30544521, 0.314779 , 0.32395154, 0.33297489, 0.3418577 , 0.35060844, 0.35923641, 0.36774807, 0.37614942, 0.38444655, 0.39264363, 0.40074407] + GS_Kp: [-0.9394215 , -0.80602855, -0.69555026, -0.60254912, -0.52318192, -0.45465531, -0.39489024, -0.34230736, -0.29568537, -0.25406506, -0.2166825 , -0.18292183, -0.15228099, -0.12434663, -0.09877533, -0.0752794 , -0.05361604, -0.0335789 , -0.01499149, 0.00229803, 0.01842102, 0.03349169, 0.0476098 , 0.0608629 , 0.07332812, 0.0850737 , 0.0961602 , 0.10664158, 0.11656607, 0.12597691] + GS_Ki: [-0.07416547, -0.06719673, -0.0614251 , -0.05656651, -0.0524202 , -0.04884022, -0.04571796, -0.04297091, -0.04053528, -0.03836094, -0.03640799, -0.03464426, -0.03304352, -0.03158417, -0.03024826, -0.02902079, -0.02788904, -0.02684226, -0.02587121, -0.02496797, -0.02412567, -0.02333834, -0.02260078, -0.02190841, -0.0212572 , -0.02064359, -0.0200644 , -0.01951683, -0.01899836, -0.01850671] + Fl_Kp: -9.35 + wt_ops: + v: [3.0, 3.266896551724138, 3.533793103448276, 3.800689655172414, 4.067586206896552, 4.334482758620689, 4.601379310344828, 4.868275862068966, 5.135172413793104, 5.402068965517241, 5.6689655172413795, 5.935862068965518, 6.2027586206896554, 6.469655172413793, 6.736551724137931, 7.00344827586207, 7.270344827586207, 7.537241379310345, 7.804137931034483, 8.071034482758622, 8.337931034482759, 8.604827586206897, 8.871724137931036, 9.138620689655173, 9.405517241379311, 9.672413793103448, 9.939310344827586, 10.206206896551725, 10.473103448275863, 10.74, 11.231724137931035, 11.723448275862069, 12.215172413793104, 12.706896551724139, 13.198620689655172, 13.690344827586207, 14.182068965517242, 14.673793103448276, 15.16551724137931, 15.657241379310346, 16.14896551724138, 16.640689655172416, 17.13241379310345, 17.624137931034483, 18.11586206896552, 18.607586206896553, 19.099310344827586, 19.591034482758623, 20.082758620689653, 20.57448275862069, 21.066206896551726, 21.557931034482756, 22.049655172413793, 22.54137931034483, 23.03310344827586, 23.524827586206897, 24.016551724137933, 24.508275862068963, 25.0] + pitch_op: [-0.25, -0.25, -0.25, -0.25, -0.25, -0.25, -0.25, -0.25, -0.25, -0.25, -0.25, -0.25, -0.25, -0.25, -0.25, -0.25, -0.25, -0.25, -0.25, -0.25, -0.25, -0.25, -0.25, -0.25, -0.25, -0.25, -0.25, -0.25, -0.25, -0.25, 3.57152, 5.12896, 6.36736, 7.43866, 8.40197, 9.28843, 10.1161, 10.8974, 11.641, 12.3529, 13.038, 13.6997, 14.3409, 14.9642, 15.5713, 16.1639, 16.7435, 17.3109, 17.8673, 18.4136, 18.9506, 19.4788, 19.9989, 20.5112, 21.0164, 21.5147, 22.0067, 22.4925, 22.9724] + omega_op: [2.1486, 2.3397, 2.5309, 2.722, 2.9132, 3.1043, 3.2955, 3.4866, 3.6778, 3.8689, 4.0601, 4.2512, 4.4424, 4.6335, 4.8247, 5.0159, 5.207, 5.3982, 5.5893, 5.7805, 5.9716, 6.1628, 6.3539, 6.5451, 6.7362, 6.9274, 7.1185, 7.3097, 7.5008, 7.56, 7.56, 7.56, 7.56, 7.56, 7.56, 7.56, 7.56, 7.56, 7.56, 7.56, 7.56, 7.56, 7.56, 7.56, 7.56, 7.56, 7.56, 7.56, 7.56, 7.56, 7.56, 7.56, 7.56, 7.56, 7.56, 7.56, 7.56, 7.56, 7.56] + gear_ratio: 1 + torque_control: + VS_KP: -38609162.66552 + VS_KI: -4588245.18720 + + + tower: # (could remove some entries that don't apply for the tower) + dlsMax : 5.0 # maximum node splitting section amount; can't be 0 + + name : tower # [-] an identifier (no longer has to be number) + type : 1 # [-] + rA : [ 0, 0, 15] # [m] end A coordinates + rB : [ 0, 0, 144.582] # [m] and B coordinates + shape : circ # [-] circular or rectangular + gamma : 0.0 # [deg] twist angle about the member's z-axis + + # --- outer shell including hydro--- + stations : [ 15, 28, 28.001, 41, 41.001, 54, 54.001, 67, 67.001, 80, 80.001, 93, 93.001, 106, 106.001, 119, 119.001, 132, 132.001, 144.582 ] # [-] location of stations along axis. Will be normalized such that start value maps to rA and end value to rB + d : [ 10, 9.964, 9.964, 9.967, 9.967, 9.927, 9.927, 9.528, 9.528, 9.149, 9.149, 8.945, 8.945, 8.735, 8.735, 8.405, 8.405, 7.321, 7.321, 6.5 ] # [m] diameters if circular or side lengths if rectangular (can be pairs) + t : [ 0.082954, 0.082954, 0.083073, 0.083073, 0.082799, 0.082799, 0.0299, 0.0299, 0.027842, 0.027842, 0.025567, 0.025567, 0.022854, 0.022854, 0.02025, 0.02025, 0.018339, 0.018339, 0.021211, 0.021211 ] # [m] wall thicknesses (scalar or list of same length as stations) + Cd : 0.0 # [-] transverse drag coefficient (optional, scalar or list of same length as stations) + Ca : 0.0 # [-] transverse added mass coefficient (optional, scalar or list of same length as stations) + # (neglecting axial coefficients for now) + CdEnd : 0.0 # [-] end axial drag coefficient (optional, scalar or list of same length as stations) + CaEnd : 0.0 # [-] end axial added mass coefficient (optional, scalar or list of same length as stations) + rho_shell : 7850 # [kg/m3] material density + + + + + + + +platform: + + potModMaster : 1 # [int] master switch for potMod variables; 0=keeps all member potMod vars the same, 1=turns all potMod vars to False (no HAMS), 2=turns all potMod vars to True (no strip) + potSecOrder : 2 # [int] master switch for computing second-order wave forces; 0=do not compute, 1=compute QTFs using slender body approximation, 2=read QTF file in WAMIT format (.11d or .12d) + dlsMax : 5.0 # maximum node splitting section amount for platform members; can't be 0 + qtfPath : 'examples\IEA-15-240-RWT-UMaineSemi.12d' # path to the qtf file for the platform + + members: # list all members here + + - name : center_column # [-] an identifier (no longer has to be number) + type : 2 # [-] + rA : [ 0, 0, -20] # [m] end A coordinates + rB : [ 0, 0, 15] # [m] and B coordinates + shape : circ # [-] circular or rectangular + gamma : 0.0 # [deg] twist angle about the member's z-axis + potMod : True # [bool] Whether to model the member with potential flow (BEM model) plus viscous drag or purely strip theory + # --- outer shell including hydro--- + stations : [0, 1] # [-] location of stations along axis. Will be normalized such that start value maps to rA and end value to rB + d : 10.0 # [m] diameters if circular or side lengths if rectangular (can be pairs) + t : 0.05 # [m] wall thicknesses (scalar or list of same length as stations) + Cd : 0.6 # [-] transverse drag coefficient (optional, scalar or list of same length as stations) + Ca : 0.93 # [-] transverse added mass coefficient (optional, scalar or list of same length as stations) + CdEnd : 0.6 # [-] end axial drag coefficient (optional, scalar or list of same length as stations) + CaEnd : 1.0 # [-] end axial added mass coefficient (optional, scalar or list of same length as stations) + rho_shell : 7850 # [kg/m3] + # --- handling of end caps or any internal structures if we need them --- + cap_stations : [ 0 ] # [m] location along member of any inner structures (in same scaling as set by 'stations') + cap_t : [ 0.001 ] # [m] thickness of any internal structures + cap_d_in : [ 0 ] # [m] inner diameter of internal structures (0 for full cap/bulkhead, >0 for a ring shape) + + + - name : outer_column # [-] an identifier (no longer has to be number) + type : 2 # [-] + rA : [51.75, 0, -20] # [m] end A coordinates + rB : [51.75, 0, 15] # [m] and B coordinates + heading : [ 60, 180, 300] # [deg] heading rotation of column about z axis (for repeated members) + shape : circ # [-] circular or rectangular + gamma : 0.0 # [deg] twist angle about the member's z-axis + potMod : True # [bool] Whether to model the member with potential flow (BEM model) plus viscous drag or purely strip theory + # --- outer shell including hydro--- + stations : [0, 1] # [-] location of stations along axis. Will be normalized such that start value maps to rA and end value to rB + d : 12.5 # [m] diameters if circular or side lengths if rectangular (can be pairs) + t : 0.05 # [m] wall thicknesses (scalar or list of same length as stations) + Cd : 0.6 # [-] transverse drag coefficient (optional, scalar or list of same length as stations) + Ca : 0.93 # [-] transverse added mass coefficient (optional, scalar or list of same length as stations) + CdEnd : 1.0 # [-] end axial drag coefficient (optional, scalar or list of same length as stations) + CaEnd : 0.7 # value of 3.0 gives more heave response # [-] end axial added mass coefficient (optional, scalar or list of same length as stations) + rho_shell : 7850 # [kg/m3] + # --- ballast --- + l_fill : 1.4 # [m] + rho_fill : 5000 # [kg/m3] + # --- handling of end caps or any internal structures if we need them --- + cap_stations : [ 0 ] # [m] location along member of any inner structures (in same scaling as set by 'stations') + cap_t : [ 0.001 ] # [m] thickness of any internal structures + cap_d_in : [ 0 ] # [m] inner diameter of internal structures (0 for full cap/bulkhead, >0 for a ring shape) + + + - name : pontoon # [-] an identifier (no longer has to be number) + type : 2 # [-] + rA : [ 5 , 0, -16.5] # [m] end A coordinates + rB : [ 45.5, 0, -16.5] # [m] and B coordinates + heading : [ 60, 180, 300] # [deg] heading rotation of column about z axis (for repeated members) + shape : rect # [-] circular or rectangular + gamma : 0.0 # [deg] twist angle about the member's z-axis + potMod : False # [bool] Whether to model the member with potential flow (BEM model) plus viscous drag or purely strip theory + # --- outer shell including hydro--- + stations : [0, 1] # [-] location of stations along axis. Will be normalized such that start value maps to rA and end value to rB + d : [12.4, 7.0] # [m] diameters if circular or side lengths if rectangular (can be pairs) + t : 0.05 # [m] wall thicknesses (scalar or list of same length as stations) + Cd : [1.5, 2.2 ] # [-] transverse drag coefficient (optional, scalar or list of same length as stations) + Ca : [2.2, 0.2 ] # [-] transverse added mass coefficient (optional, scalar or list of same length as stations) + CdEnd : 0.0 # [-] end axial drag coefficient (optional, scalar or list of same length as stations) + CaEnd : 0.0 # [-] end axial added mass coefficient (optional, scalar or list of same length as stations) + rho_shell : 7850 # [kg/m3] + l_fill : 43.0 # [m] + rho_fill : 1025.0 # [kg/m3] + + + - name : upper_support # [-] an identifier (no longer has to be number) + type : 2 # [-] + rA : [ 5 , 0, 14.545] # [m] end A coordinates + rB : [ 45.5, 0, 14.545] # [m] and B coordinates + heading : [ 60, 180, 300] # [deg] heading rotation of column about z axis (for repeated members) + shape : circ # [-] circular or rectangular + gamma : 0.0 # [deg] twist angle about the member's z-axis + potMod : False # [bool] Whether to model the member with potential flow (BEM model) plus viscous drag or purely strip theory + # --- outer shell including hydro--- + stations : [0, 1] # [-] location of stations along axis. Will be normalized such that start value maps to rA and end value to rB + d : 0.91 # [m] diameters if circular or side lengths if rectangular (can be pairs) + t : 0.01 # [m] wall thicknesses (scalar or list of same length as stations) + Cd : 0.0 # [-] transverse drag coefficient (optional, scalar or list of same length as stations) + Ca : 0.0 # [-] transverse added mass coefficient (optional, scalar or list of same length as stations) + CdEnd : 0.0 # [-] end axial drag coefficient (optional, scalar or list of same length as stations) + CaEnd : 0.0 # [-] end axial added mass coefficient (optional, scalar or list of same length as stations) + rho_shell : 7850 # [kg/m3] + + +mooring: + water_depth: 200 # [m] uniform water depth + + points: + - name: line1_anchor + type: fixed + location: [-837, 0.0, -200.0] + anchor_type: drag_embedment + + - name: line2_anchor + type: fixed + location: [418, 725, -200.0] + anchor_type: drag_embedment + + - name: line3_anchor + type: fixed + location: [418, -725, -200.0] + anchor_type: drag_embedment + + - name: line1_vessel + type: vessel + location: [-58, 0.0, -14.0] + + - name: line2_vessel + type: vessel + location: [29, 50, -14.0] + + - name: line3_vessel + type: vessel + location: [29, -50, -14.0] + + lines: + - name: line1 + endA: line1_anchor + endB: line1_vessel + type: chain + length: 850 + + - name: line2 + endA: line2_anchor + endB: line2_vessel + type: chain + length: 850 + + - name: line3 + endA: line3_anchor + endB: line3_vessel + type: chain + length: 850 + + line_types: + - name: chain + diameter: 0.185 + mass_density: 685.0 + stiffness: 3270e6 + breaking_load: 1e8 + cost: 100.0 + transverse_added_mass: 1.0 + tangential_added_mass: 0.0 + transverse_drag: 1.6 + tangential_drag: 0.1 + + anchor_types: + - name: drag_embedment + mass: 1e3 + cost: 1e4 + max_vertical_load: 0.0 + max_lateral_load: 1e5 + \ No newline at end of file diff --git a/examples/VolturnUS_SlenderBody.py b/examples/VolturnUS_SlenderBody.py new file mode 100644 index 0000000..d82027c --- /dev/null +++ b/examples/VolturnUS_SlenderBody.py @@ -0,0 +1,36 @@ +# example script for running RAFT from a YAML input file + +import numpy as np +import matplotlib.pyplot as plt +import yaml +import raft + +# open the design YAML file and parse it into a dictionary for passing to raft +flNm = 'VolturnUS-S-SlenderBody' +with open('./examples/' + flNm + '.yaml') as file: + design = yaml.load(file, Loader=yaml.FullLoader) + +# Create the RAFT model (will set up all model objects based on the design dict) +model = raft.Model(design) + +# Evaluate the system properties and equilibrium position before loads are applied +model.analyzeUnloaded() + +# Compute natural frequencie +model.solveEigen() + +# Simule the different load cases +model.analyzeCases(display=1) + +# Plot the power spectral densities from the load cases +model.plotResponses() + +# Visualize the system in its most recently evaluated mean offset position +model.plot(hideGrid=True) + +model.saveResponses("examples/" + flNm) + +plt.show() + +# 0.02 +# 12.37 \ No newline at end of file diff --git a/raft/helpers.py b/raft/helpers.py index 03f6ca8..2460ca2 100644 --- a/raft/helpers.py +++ b/raft/helpers.py @@ -101,7 +101,7 @@ def getWaveKin(zeta0, beta, w, k, h, r, nw, rho=1025.0, g=9.81): z = r[2] # only process wave kinematics if this node is submerged - if z < 0: + if z <= 0: # Calculate SINH( k*( z + h ) )/SINH( k*h ) and COSH( k*( z + h ) )/SINH( k*h ) and COSH( k*( z + h ) )/COSH( k*h ) # given the wave number, k, water depth, h, and elevation z, as inputs. @@ -133,6 +133,137 @@ def getWaveKin(zeta0, beta, w, k, h, r, nw, rho=1025.0, g=9.81): return u, ud, pDyn +# Convective acceleration +def getWaveKin_convecAcc(w1, w2, k1, k2, beta1, beta2, h, r, g=9.81): + acc = np.zeros(3, dtype=complex) + + b1 = deg2rad(beta1) + cosB1 = np.cos(b1) + sinB1 = np.sin(b1) + + b2 = deg2rad(beta2) + cosB2 = np.cos(b2) + sinB2 = np.sin(b2) + + z = r[2] + + if (z <= 0 and k1 > 0 and k2 > 0): + k1_k2 = np.array([k1 * cosB1 - k2 * cosB2, k1 * sinB1 - k2 * sinB2, 0]) + aux = 0.25*(k1*k2*g*g/w1/w2) / (np.cosh(k1*h)*np.cosh(k2*h)) + + acc[0:2] = np.sin(np.dot(k1_k2, r)) + 1j * np.cos(np.dot(k1_k2, r)) + acc[0:2] *= aux * (np.cosh(k1*(z+h))*np.cosh(k2*(z+h)) * np.cos(b1 - b2) + np.sinh(k1*(z+h))*np.sinh(k2*(z+h))) + acc[0] *= -k1_k2[0] + acc[1] *= -k1_k2[1] + + acc[2] = np.sin(np.dot(k1_k2, r)) - 1j * np.sin(np.dot(k1_k2, r)) + acc[2] *= aux * (np.sinh(k1*(z+h))*np.sinh(k2*(z+h)) * np.cos(b1 - b2) + np.sinh(k1*(z+h))*np.sinh(k2*(z+h))) + acc[2] *= -(k1-k2) + + return acc + +# Matrix of gradient of wave velocity, which is needed to compute the axial-divergence acceleration +def getWaveKin_grad_u1(w, k, beta, h, r): + grad = np.zeros([3, 3], dtype="complex") + x,y,z = r[0], r[1], r[2] + + # More friendly notation + cosBeta = np.cos(deg2rad(beta)) + sinBeta = np.cos(deg2rad(beta)) + khz_xy = 0 + khz_z = 0 + + if z <= 0 and k > 0: + # When k*h is too high, which happens for deep water/short waves, sinh(k*h) and cosh(k*h) become too large and are considered "inf". + # Hence, we chose a threshold of 10, above which the deep water approximation is employed. + if k*h >= 10: + khz_xy = np.exp(k*z) + khz_z = khz_xy + else: + khz_xy = np.cosh(k * (z + h)) / np.sinh(k*h) + khz_z = np.sinh(k * (z + h)) / np.sinh(k*h) + + # Along x direction + aux = w * k * cosBeta * (np.sin(k*cosBeta*x + k * sinBeta*y) + 1j* np.cos(k*cosBeta*x + k * sinBeta*y)) + grad[0,0] = -aux * khz_xy * cosBeta # du/dx + grad[0,1] = -aux * khz_xy * sinBeta # du/dy + grad[0,2] = -aux * 1j * khz_z # du/dz + + # Along y direction + aux = w * k * sinBeta * (np.sin(k*cosBeta*x + k * sinBeta*y) + 1j* np.cos(k*cosBeta*x + k * sinBeta*y)) + grad[1,0] = grad[0,1] # dv/dx = du/dy + grad[1,1] = -aux * khz_xy * sinBeta # dv/dy + grad[1,2] = -aux * 1j * khz_z # dv/dz + + # Along z direction + aux = w * k * (np.cos(k*cosBeta*x + k * sinBeta*y) - 1j * np.sin(k*cosBeta*x + k * sinBeta*y)) + grad[2,0] = grad[0,2] # dw/dx = du/dz + grad[2,1] = grad[0,1] # dw/dy = dv/dz + grad[2,2] = aux * 1j * khz_xy # dw/dz + + return grad + +# Axial-divergence acceleration +def getWaveKin_axdivAcc(w1, w2, k1, k2, beta1, beta2, h, r, vel1, vel2, q, g=9.81): + acc = np.zeros(3, dtype=complex) + + aux = np.matmul(getWaveKin_grad_u1(w1, k1, beta1, h, r), q) + dwdz1 = np.dot(np.squeeze(aux), np.squeeze(q)) + u1, _, _ = getWaveKin(np.ones([1,1]), beta1, w1*np.ones([1,1]), k1*np.ones([1,1]), h, r, 1, rho=1025.0, g=g) + + aux = np.matmul(getWaveKin_grad_u1(w2, k2, beta2, h, r), q) + dwdz2 = np.dot(np.squeeze(aux), np.squeeze(q)) + u2, _, _ = getWaveKin(np.ones([1,1]), beta2, w2*np.ones([1,1]), k2*np.ones([1,1]), h, r, 1, rho=1025.0, g=g) + + acc = 0.25*(dwdz1*np.conj(u2 - vel2)+np.conj(dwdz2)*(u1 - vel1)) + + return np.squeeze(acc) + +# Acceleration due to second-order potential +def getWaveKin_du2dt(w1, w2, k1, k2, beta1, beta2, h, r, g=9.81): + acc = np.zeros(3, dtype=complex) + if w1 == w2: # The difference-frequency second-order potential does not contribute to the mean forces + return acc + + b1 = deg2rad(beta1) + cosB1 = np.cos(b1) + sinB1 = np.sin(b1) + + b2 = deg2rad(beta2) + cosB2 = np.cos(b2) + sinB2 = np.sin(b2) + + z = r[2] + + if (z <= 0 and k1 > 0 and k2 > 0): + k1_k2 = np.array([k1 * cosB1 - k2 * cosB2, k1 * sinB1 - k2 * sinB2, 0]) + norm_k1_k2 = np.linalg.norm(k1_k2) + + aux = ((w2 - w1) / (w1 * w2)) * k1 * k2 * (np.cos(b1 - b2) + np.tanh(k1*h) * np.tanh(k2*h)) - 0.5 * (k1*k1 / (w1 * np.cosh(k1*h)*np.cosh(k1*h)) - k2 * k2 / (w2 * np.cosh(k2*h)*np.cosh(k2*h))) + aux = aux / (g * norm_k1_k2 * np.tanh(norm_k1_k2 * h) - (w1 - w2)*(w1 - w2)) + + khz_xy, khz_z = (np.cosh(norm_k1_k2 * (z + h)) , np.sinh(norm_k1_k2 * (z + h))) / np.cosh(norm_k1_k2 * h) + + acc[0:2] = np.sin(np.dot(k1_k2, r)) + 1j * np.cos(np.dot(k1_k2, r)) * g*g * aux * khz_xy + acc[0] *= 0.5 * (w1 - w2) * (k1 * cosB1 - k2 * cosB2) + acc[1] *= 0.5 * (w1 - w2) * (k1 * sinB1 - k2 * sinB2) + + acc[2] = np.cos(np.dot(k1_k2, r)) - 1j * np.sin(np.dot(k1_k2, r)) * g*g * aux * khz_z + acc[2] *= -0.5 * (w1 - w2) * norm_k1_k2 + + return acc + +# Product of wave elevation and wave acceleration +def getWaveForce_du1dt_eta(w1, w2, k1, k2, beta1, beta2, h, r, g=9.81): + r[2] = 0 # Should call this function only for z=0, but make sure that it is exactly zero before proceeding + + eta1 = np.exp( -1j*(k1*(np.cos(beta1)*r[0] + np.sin(beta1)*r[1]))) + dudt1 = 1j*g*k1*eta1*np.array([np.cos(beta1), np.sin(beta1), 0]) + + eta2 = np.exp( -1j*(k2*(np.cos(beta2)*r[0] + np.sin(beta2)*r[1]))) + dudt2 = 1j*g*k2*eta2*np.array([np.cos(beta2), np.sin(beta2), 0]) + + return np.squeeze(0.25*(dudt1*np.conj(eta2) + np.conj(dudt2)*eta1)) # calculate wave number based on wave frequency in rad/s and depth diff --git a/raft/raft_fowt.py b/raft/raft_fowt.py index 5e81144..9df2e10 100644 --- a/raft/raft_fowt.py +++ b/raft/raft_fowt.py @@ -181,13 +181,25 @@ def __init__(self, design, w, mpb, depth=600): # Add a flag to either not compute 2nd order hydro; read QTF; or compute it with a slender-body approximation # self.qtf = np.zeros([nw1, nw2, nheads, self.nDOF], dtype=complex) - if 'qtfPath' in design['platform']: - self.secondOrderWaveMod = 1 # <<< temporary, until we implement a flag like this in the inputs + self.potSecOrder = getFromDict(design['platform'], 'potSecOrder', dtype=int, default=0) + if self.potSecOrder==1: + if (not 'min_freq2nd' in design['platform']) or (not 'max_freq2nd' in design['platform']): + raise Exception('If potSecOrder==1, then both min_freq2nd and max_freq2nd must be specified in the platform input.') + min_freq2nd = design['platform']['min_freq2nd'] + max_freq2nd = design['platform']['max_freq2nd'] + self.w1_2nd = np.arange(min_freq2nd, max_freq2nd+0.5*min_freq2nd, min_freq2nd)*2*np.pi + self.w2_2nd = self.w1_2nd.copy() + + self.k1_2nd = np.zeros(len(self.w1_2nd)) + for i, w in enumerate(self.w1_2nd): + self.k1_2nd[i] = waveNumber(w, self.depth) + self.k2_2nd = self.k1_2nd.copy() + + elif self.potSecOrder==2: + if not 'qtfPath' in design['platform']: + raise Exception('If potSecOrder==2, then qtfPath must be specified in the platform input.') self.qtfPath = design['platform']['qtfPath'] - self.readQTF(self.qtfPath) - self.mu_2nd = self.w - self.w[0] # The frequency array for difference-frequency second-order is the same as self.w, but starting at 0 - else: - self.secondOrderWaveMod = 0 # <<< temporary + self.readQTF(self.qtfPath) def calcStatics(self): '''Fills in the static quantities of the FOWT and its matrices. @@ -799,25 +811,20 @@ def calcHydroExcitation(self, case, memberList=[], Rotor=None, dgamma=0): self.beta = case['wave_heading'] # [rad] array of wave headings self.zeta = np.zeros([self.nWaves,self.nw], dtype=complex) - # make wave spectrum for each heading - # We are actually losing the phase by computing the 2nd order hydrodynamic forces this way, as the amplitudes will always be real - self.Fhydro_2nd = np.zeros([self.nWaves, self.nDOF, self.nw], dtype=complex) - self.Fhydro_2nd_mean = np.zeros([self.nWaves, self.nDOF]) + # make wave spectrum for each heading + self.S = np.zeros([self.nWaves,self.nw]) for ih in range(self.nWaves): if case['wave_spectrum'][ih] == 'unit': self.zeta[ih,:] = np.tile(1, self.nw) - S = np.tile(1, self.nw) + self.S[ih,:] = np.tile(1, self.nw) elif case['wave_spectrum'][ih] == 'JONSWAP': - S = JONSWAP(self.w, case['wave_height'][ih], case['wave_period'][ih], Gamma=case['wave_gamma'][ih]) - self.zeta[ih,:] = np.sqrt(2*S*self.dw) # wave elevation amplitudes (these are easiest to use) + self.S[ih,:] = JONSWAP(self.w, case['wave_height'][ih], case['wave_period'][ih], Gamma=case['wave_gamma'][ih]) + self.zeta[ih,:] = np.sqrt(2*self.S[ih,:]*self.dw) # wave elevation amplitudes (these are easiest to use) elif case['wave_spectrum'][ih] in ['none','still']: self.zeta[ih,:] = np.zeros(self.nw) - S = np.zeros(self.nw) + self.S[ih,:] = np.zeros(self.nw) else: - raise ValueError(f"Wave spectrum input '{case['wave_spectrum'][ih]}' not recognized.") - - if self.secondOrderWaveMod == 1: - self.Fhydro_2nd_mean[ih, :], self.Fhydro_2nd[ih, :, :] = self.calcHydroForce_2ndOrd(case['wave_heading'][ih], S) + raise ValueError(f"Wave spectrum input '{case['wave_spectrum'][ih]}' not recognized.") #print(f"significant wave height: {4*np.sqrt(np.sum(S)*self.dw):5.2f} = {4*getRMS(self.zeta, self.dw):5.2f}") # << temporary <<< @@ -1162,6 +1169,144 @@ def calcCurrentLoads(self, case): return D_hydro + def calcQTF_slenderBody(self, ih, Xi0): + '''This computes the second-order strip-theory-hydrodynamics terms''' + ''' Only long crested seas are currently considered here, but multidirectional + wave pairs can be considered in the functions that compute the accelerations''' + + rho = self.rho_water + g = self.g + beta = self.beta[ih] + self.heads_2nd = [beta] # Need that to print the QT + + # Downsample Xi0, which is input in the same frequency as the first-order loads, + # to the frequencies of the 2nd order hydrodynamic forces + # Same thing for the first-order loads + Xi = np.zeros([self.nDOF, len(self.w1_2nd)], dtype=complex) + F1st = np.zeros([self.nDOF, len(self.w1_2nd)], dtype=complex) + for iDoF in range(self.nDOF): + Xi[iDoF,:] = np.interp(self.w1_2nd, self.w, Xi0[iDoF,:], left=0, right=0) + F1st[iDoF,:] = np.interp(self.w1_2nd, self.w, self.F_BEM[ih, iDoF,:]+self.F_hydro_iner[ih, iDoF,:], left=0, right=0) + F1st += np.matmul(self.C_hydro, Xi) # Need to add hydrostatic force to F1st + + # Pre compute some quantities for each member + nodeV = [] # vector with body velocity at each member node + eta = [] # wave elevation at intersection with water line + eta_r = [] # relative wave elevation at intersection with water line + ud_wl = [] # acceleration at intersection with water line + a_wl = [] # node acceleration at intersection with water line + dr_wl = [] # displacement at intersection with water line + g_e1 = [] # dot product between gravity vector and unit vector perpendicular to the member + for i,mem in enumerate(self.memberList): + # append to nodeV + nodeV.append(np.zeros([3, len(self.w1_2nd), mem.ns], dtype=complex)) + for iNode, r in enumerate(mem.r): + _, nodeV[i][:,:, iNode], _ = getVelocity(r, Xi, self.w1_2nd) + + # Wave elevation and acceleration at intersection with water line + eta.append(np.zeros([len(self.w1_2nd)], dtype=complex)) + eta_r.append(np.zeros([len(self.w1_2nd)], dtype=complex)) + ud_wl.append(np.zeros([3, len(self.w1_2nd)], dtype=complex)) + dr_wl.append(np.zeros([3, len(self.w1_2nd)], dtype=complex)) + a_wl.append(np.zeros([3, len(self.w1_2nd)], dtype=complex)) + if mem.r[-1,2] * mem.r[0,2] < 0: + r_int = mem.r[0,:] + (mem.r[-1,:] - mem.r[0,:]) * (0. - mem.r[0,2]) / (mem.r[-1,2] - mem.r[0,2]) + _, ud_wl[i], eta[i] = getWaveKin(np.ones(self.w1_2nd.shape), beta, self.w1_2nd, self.k1_2nd, self.depth, r_int, len(self.w1_2nd), rho=rho, g=g) + eta[i] = eta[i]/(rho*g) # getWaveKin actually returns dynamic pressure, so divide by rho*g to get wave elevation + dr_wl[i], _, a_wl[i] = getVelocity(r_int, Xi, self.w1_2nd) + + g_e1.append(np.zeros([3, len(self.w1_2nd)], dtype=complex)) + for iw in range(len(self.w1_2nd)): + g_e1[i][:, iw] = g*np.cross(Xi[3:, iw], mem.p1)[2] * mem.p1 -g*np.cross(Xi[3:, iw], mem.p2)[2] * mem.p2 + + # Get relative wave elevation + eta_r[i] = eta[i]-dr_wl[i][2,:] + + # qtf_2ndPot = np.zeros([len(self.w1_2nd), len(self.w1_2nd), 1, self.nDOF], dtype=complex) + # qtf_gradPert = np.zeros([len(self.w1_2nd), len(self.w1_2nd), 1, self.nDOF], dtype=complex) + # qtf_convInc = np.zeros([len(self.w1_2nd), len(self.w1_2nd), 1, self.nDOF], dtype=complex) + # qtf_eta = np.zeros([len(self.w1_2nd), len(self.w1_2nd), 1, self.nDOF], dtype=complex) + # qtf_rotN = np.zeros([len(self.w1_2nd), len(self.w1_2nd), 1, self.nDOF], dtype=complex) + + # loop through each pair of frequency + self.qtf = np.zeros([len(self.w1_2nd), len(self.w2_2nd), 1, self.nDOF], dtype=complex) # Need this fourth dimension for conformity with the case where the QTFs are read from a file + print(f"Computing QTF for heading {beta:.2f}") + for i1, (w1, k1) in enumerate(zip(self.w1_2nd, self.k1_2nd)): + print(f" Line {i1} of {len(self.w1_2nd)}", end='\r') + for i2, (w2, k2) in enumerate(zip(self.w2_2nd, self.k2_2nd)): + F_2ndPot = np.zeros(6, dtype='complex') + F_conv = np.zeros(6, dtype='complex') + F_axdv = np.zeros(6, dtype='complex') + F_eta = np.zeros(6, dtype='complex') + F_rotN = np.zeros(6, dtype='complex') + + # Need to loop only half of the matrix due to symmetry (QTFs are Hermitian matrices) + if w2 < w1: + continue + + # loop through each member + for i,mem in enumerate(self.memberList): + + circ = mem.shape=='circular' # convenience boolian for circular vs. rectangular cross sections + + # loop through each node of the member + for il in range(mem.ns): + f_2ndPot = np.zeros(3, dtype='complex') + f_conv = np.zeros(3, dtype='complex') + f_axdv = np.zeros(3, dtype='complex') + + # only process hydrodynamics if this node is submerged + if mem.r[il,2] < 0: + + # interpolate coefficients for the current strip + Ca_p1 = np.interp( mem.ls[il], mem.stations, mem.Ca_p1 ) + Ca_p2 = np.interp( mem.ls[il], mem.stations, mem.Ca_p2 ) + Ca_End = np.interp( mem.ls[il], mem.stations, mem.Ca_End) + + + # ----- compute side effects --------------------------------------------------------- + if circ: + v_i = 0.25*np.pi*mem.ds[il]**2*mem.dls[il] + else: + v_i = mem.ds[il,0]*mem.ds[il,1]*mem.dls[il] # member volume assigned to this node + + if mem.r[il,2] + 0.5*mem.dls[il] > 0: # if member extends out of water # <<< may want a better appraoch for this... + v_i = v_i * (0.5*mem.dls[il] - mem.r[il,2]) / mem.dls[il] # scale volume by the portion that is under water + + # Convective acceleration + f_2ndPot = rho*v_i * np.matmul((1.+Ca_p1)*mem.p1Mat + (1.+Ca_p2)*mem.p2Mat, getWaveKin_du2dt(w1, w2, k1, k2, beta, beta, self.depth, mem.r[il,:], g=g)) + f_conv = rho*v_i * np.matmul((1.+Ca_p1)*mem.p1Mat + (1.+Ca_p2)*mem.p2Mat, getWaveKin_convecAcc(w1, w2, k1, k2, beta, beta, self.depth, mem.r[il,:], g=g)) + f_axdv = rho*v_i * np.matmul(Ca_p1*mem.p1Mat + Ca_p2*mem.p2Mat, getWaveKin_axdivAcc(w1, w2, k1, k2, beta, beta, self.depth, mem.r[il,:], np.zeros([3,1]), np.zeros([3,1]), mem.q, g=g)) + + # ----- add axial/end effects for added mass, and excitation including dynamic pressure ------ + F_2ndPot += translateForce3to6DOF(f_2ndPot, mem.r[il,:]) + F_conv += translateForce3to6DOF(f_conv, mem.r[il,:]) + F_axdv += translateForce3to6DOF(f_axdv, mem.r[il,:]) + + if mem.r[-1,2] * mem.r[0,2] < 0: + f_eta = 0.25*(ud_wl[i][:,i1]*np.conj(eta_r[i][i2])+np.conj(ud_wl[i][:,i2])*eta_r[i][i1]) + f_eta = np.matmul((1.+Ca_p1)*mem.p1Mat + (1.+Ca_p2)*mem.p2Mat, f_eta) + f_eta *= rho*(v_i/mem.dls[1]) # divide by length of member to get the area. The length is the relative wave elevation + f_eta += -0.25*rho*(v_i/mem.dls[1]) * (g_e1[i][:,i1]*np.conj(eta_r[i][i2])+np.conj(g_e1[i][:,i2])*eta_r[i][i1]) + F_eta = translateForce3to6DOF(f_eta, r_int) + + # Force due to rotation of first-order wave forces + F_rotN[0:3] = 0.25 * (np.cross(Xi[3:,i1], np.conj(F1st[0:3,i2])) + np.cross(np.conj(Xi[3:,i2]), F1st[0:3,i1])) + F_rotN[3: ] = 0.25 * (np.cross(Xi[3:,i1], np.conj(F1st[0:3,i2])) + np.cross(np.conj(Xi[3:,i2]), F1st[0:3,i1])) + + self.qtf[i1,i2,ih,:] = F_2ndPot + F_conv + F_axdv + F_eta + F_rotN + + # qtf_2ndPot[i1,i2,0,:] = F_2ndPot + # qtf_gradPert[i1,i2,0,:] = F_conv/2 + F_axdv + # qtf_convInc[i1,i2,0,:] = F_conv/2 + # qtf_eta[i1,i2,0,:] = F_eta + # qtf_rotN[i1,i2,0,:] = F_rotN + self.writeQTF(self.qtf, "./examples/qtf-slender_body-total.12d") + # self.writeQTF(qtf_2ndPot, "./examples/qtf-slender_body-pot2-new.12d") + # self.writeQTF(qtf_gradPert, "./examples/qtf-slender_body-gradPert-new.12d") + # self.writeQTF(qtf_convInc, "./examples/qtf-slender_body-convInc-new.12d") + # self.writeQTF(qtf_eta, "./examples/qtf-slender_body-eta-new.12d") + # self.writeQTF(qtf_rotN, "./examples/qtf-slender_body-rotN-new.12d") def readQTF(self, flPath): data = np.loadtxt(flPath) @@ -1199,14 +1344,28 @@ def readQTF(self, flPath): # Fill the other half of the matrix (which is equal to the conjugate of its symmetric element) if not indw1[0] == indw2[0]: - self.qtf[indw2[0], indw1[0], indhead[0], indDOF] = factor*(row[7]-1j*row[8]) - - + self.qtf[indw2[0], indw1[0], indhead[0], indDOF] = factor*(row[7]-1j*row[8]) # plt.matshow(np.squeeze(np.abs(self.qtf[:,:,0,0]))) + + def writeQTF(self, qtfIn, outPath): + with open(outPath, "w") as f: + ULEN = 1 + for ih in range(len(self.heads_2nd)): + for iDoF in range(self.nDOF): + qtf = qtfIn[:,:,ih,iDoF] + for i1 in range(len(self.w1_2nd)): + for i2 in range(i1, len(self.w2_2nd)): + F = qtf[i1,i2]/(self.rho_water*self.g*ULEN) + f.write(f"{2*np.pi/self.w1_2nd[i1]: 8.4e} {2*np.pi/self.w1_2nd[i2]: 8.4e} {self.heads_2nd[ih]: 8.4e} {self.heads_2nd[ih]: 8.4e} {iDoF+1} {np.abs(F): 8.4e} {np.angle(F): 8.4e} {F.real: 8.4e} {F.imag: 8.4e}\n") + + # Compute force due to 2nd order hydrodynamic loads # See Pinkster (1980), Section IV.3 + # We are losing the phases when computing forces from the spectrum. + # We should at least correct the phase of the incoming waves to account for different positions in arrays. + # Should just multiply things by exp(-1j*(k_j-j_l)*x_j) def calcHydroForce_2ndOrd(self, beta, S0): f = np.zeros([self.nDOF, self.nw], dtype=complex) f_mean = np.zeros([self.nDOF]) @@ -1224,7 +1383,7 @@ def calcHydroForce_2ndOrd(self, beta, S0): else: qtf_interpBeta = interp1d(self.heads_2nd, self.qtf, assume_sorted=True, axis=2, bounds_error=False, fill_value=(self.qtf[:,:,0,:], self.qtf[:,:,-1,:]))(beta) - + # Compute force spectrum with QTF resolution and then interpolate to the frequency vector of the input wave spectrum if interpMode == 'spectrum': # Resample wave spectrum (the input is assumed to be in rad/s) @@ -1241,26 +1400,27 @@ def calcHydroForce_2ndOrd(self, beta, S0): Saux[0:nw1-imu] = S[imu:] # Auxiliar wave spectrum that is dislocated in frequency. See the definition of second-order force spectrum Qaux = np.zeros(nw1, dtype=complex) - Qaux[0:nw1-imu] = np.diag(np.squeeze(qtf_interpBeta[:,:,idof]), -imu) # Sum only the lower half of the QTF + Qaux[0:nw1-imu] = np.diag(np.squeeze(qtf_interpBeta[:,:,idof]), imu) # Sum only the upper half of the QTF Sf[idof, imu] = 8 * np.sum(S*Saux*np.abs(Qaux)**2) * (self.w1_2nd[1]-self.w1_2nd[0]) # Mean drift is easier, as you have just the product of the same wave f_mean[idof] = 2*np.sum(S*np.diag(np.squeeze(qtf_interpBeta[:,:,idof].real), 0)) * (self.w1_2nd[1]-self.w1_2nd[0]) # Interpolate the force spectrum to the same resolution as the original wave spectrum - Sf_interp[idof, :] = np.interp(self.mu_2nd, mu, Sf[idof,:], left=0, right=0) + Sf_interp[idof, :] = np.interp(self.w - self.w[0], mu, Sf[idof,:], left=0, right=0) # Otherwise, interpolate the QTF first and then compute the force amplitude directly else: f = np.zeros([self.nDOF, self.nw]) for idof in range(0,self.nDOF): + # TODO: Need to interpolate real and imaginary part separately qtf_interp = interp2d(self.w1_2nd, self.w1_2nd, qtf_interpBeta[:,:, idof], bounds_error=False, fill_value=(0))(self.w, self.w) for imu in range(1, self.nw): # Loop the difference frequencies Saux = np.zeros(self.nw) Saux[0:self.nw-imu] = S0[imu:] # Auxiliar wave spectrum that is dislocated in frequency. See the definition of second-order force spectrum Qaux = np.zeros(self.nw, dtype=complex) - Qaux[0:self.nw-imu] = np.diag(np.squeeze(qtf_interp), -imu) # Sum only the lower half of the QTF + Qaux[0:self.nw-imu] = np.diag(np.squeeze(qtf_interp), imu) # Sum only the upper half of the QTF f[idof, imu] = 4 *np.sqrt( np.sum(S0*Saux*np.abs(Qaux)**2) ) * self.dw # Mean drift is easier, as you have just the product of the same wave @@ -1276,9 +1436,14 @@ def calcHydroForce_2ndOrd(self, beta, S0): # for w, Srow in zip(mu_interp, Sf_interp.T): # file.write(f'{w:.5f} {Srow[0]:.5f} {Srow[1]:.5f} {Srow[2]:.5f} {Srow[3]:.5f} {Srow[4]:.5f} {Srow[5]:.5f}\n') - # with open('examples/f_2nd.txt', 'w') as file: - # for w, frow in zip(mu_interp, f.T): - # file.write(f'{w:.5f} {frow[0]:.5f} {frow[1]:.5f} {frow[2]:.5f} {frow[3]:.5f} {frow[4]:.5f} {frow[5]:.5f}\n') + ident = 'WAMIT' + if self.potSecOrder == 1: + ident = 'slenderBody' + with open('examples/f_2nd-'+ ident + '.txt', 'w') as file: + for w, frow in zip(self.w, f.T): + file.write(f'{w:.5f} {frow[0]:.5f} {frow[1]:.5f} {frow[2]:.5f} {frow[3]:.5f} {frow[4]:.5f} {frow[5]:.5f}\n') + + return f_mean, f diff --git a/raft/raft_model.py b/raft/raft_model.py index 7d70363..476ea96 100644 --- a/raft/raft_model.py +++ b/raft/raft_model.py @@ -265,8 +265,7 @@ def analyzeCases(self, display=0, runPyHAMS=True, meshDir=os.path.join(os.getcwd else: nWaves = len(case['wave_heading']) - # Initialize second-order wave forces at each case to avoid using the results from the previous one - self.fowtList[0].Fhydro_2nd = np.zeros([nWaves, self.fowtList[0].nDOF, self.fowtList[0].nw], dtype = complex) + # Initialize second-order mean wave forces at each case to avoid using the results from the previous one in solveStatics() self.fowtList[0].Fhydro_2nd_mean = np.zeros([nWaves, self.fowtList[0].nDOF]) @@ -705,14 +704,50 @@ def solveDynamics(self, case, tol=0.01, conv_plot=0, RAO_plot=0): # wave excitation for ih in range(fowt.nWaves): - - F_linearized = fowt.calcDragExcitation(ih) - - F_wave = fowt.F_BEM[ih,:,:] + fowt.F_hydro_iner[ih,:,:] + F_linearized + fowt.Fhydro_2nd[ih,:,:] + # We can include second-order hydrodynamic forces here if they are computed by an external QTF file + Fhydro_2nd = np.zeros([fowt.nWaves, fowt.nDOF, fowt.nw], dtype=complex) + fowt.Fhydro_2nd_mean = np.zeros([fowt.nWaves, fowt.nDOF]) # Keep that as a member because it will be used in the functions that compute mean displacements + if fowt.potSecOrder==2: + fowt.Fhydro_2nd_mean[ih, :], Fhydro_2nd[ih, :, :] = fowt.calcHydroForce_2ndOrd(fowt.beta[ih], fowt.S[ih,:]) + + F_linearized = fowt.calcDragExcitation(ih) + F_wave = fowt.F_BEM[ih,:,:] + fowt.F_hydro_iner[ih,:,:] + F_linearized + Fhydro_2nd[ih,:,:] for iw in range(self.nw): Xi[ih,:,iw] = np.matmul(Zinv[:,:,iw], F_wave[:,iw]) + # Time this loop with tic and toc + import time + tic = time.perf_counter() + + # If we are computing the QTFs internally, we need to consider the motions induced by first-order hydrodynamic forces, which were computed above + if fowt.potSecOrder == 1: + Xi_unitWave = np.zeros([fowt.nDOF, fowt.nw], dtype=complex) + for iDoF in range(Xi_unitWave.shape[0]): + # get indices where fowt.zeta[ih,:] is not zero + idx = np.where(fowt.zeta[ih,:]!=0) # Is there an eps value to use instead of zero? + Xi_unitWave[iDoF, idx] = Xi[ih,iDoF, idx]/fowt.zeta[ih,idx] + + fowt.calcQTF_slenderBody(ih, Xi_unitWave) + fowt.Fhydro_2nd_mean[ih, :], Fhydro_2nd[ih, :, :] = fowt.calcHydroForce_2ndOrd(fowt.beta[ih], fowt.S[ih,:]) + + # Recompute the wave excitation forces and consequent motions to include second-order hydrodynamic forces + F_wave = fowt.F_BEM[ih,:,:] + fowt.F_hydro_iner[ih,:,:] + F_linearized + Fhydro_2nd[ih,:,:] + for iw in range(self.nw): + Xi[ih,:,iw] = np.matmul(Zinv[:,:,iw], F_wave[:,iw]) + toc = time.perf_counter() + print(f"\n Time to compute QTFs: {toc - tic:0.4f} seconds") + + # For illustration purposes + ident = '' + if fowt.potSecOrder == 1: + ident = 'slenderBody' + elif fowt.potSecOrder == 2: + ident += 'WAMIT' + with open('examples/f_hydro-'+ ident + '.txt', 'w') as file: + for w, frow in zip(self.w, np.abs(F_wave.T)): + file.write(f'{w:.5f} {frow[0]:.5f} {frow[1]:.5f} {frow[2]:.5f} {frow[3]:.5f} {frow[4]:.5f} {frow[5]:.5f}\n') + # rotor excitation F_rotor = np.sum(fowt.F_aero, axis=2) for iw in range(self.nw): From f51c259f02afa8e446b8b3a66d93417eded85093 Mon Sep 17 00:00:00 2001 From: Lucas-Carmo Date: Wed, 5 Apr 2023 17:43:01 -0600 Subject: [PATCH 03/10] Remaining horiz components + bug fixes + organization for performance - Added force due to the rotation term from slender-body approach - Added force due to body motions inside the wave field - Bug fix: The force component due to the relative wave elevation was being computed for one member only; - Bug fix: There was a cos instead of a sin in the computation of gradient matrix of fluid velocity induced by waves. This influenced the axial-divergence acceleration and the component due to body displacements; - Bug fix: The 2D qtf interpolation in calcHydroForce_2ndOrd was interpolating only the real part of the matrix - Commented a part of raft_member.py that breaks the computation of second-order loads. Still need to figure out why --- raft/helpers.py | 39 ++++---- raft/raft_fowt.py | 233 ++++++++++++++++++++++++++++---------------- raft/raft_member.py | 4 +- raft/raft_model.py | 2 +- 4 files changed, 172 insertions(+), 106 deletions(-) diff --git a/raft/helpers.py b/raft/helpers.py index 2460ca2..aa9cf06 100644 --- a/raft/helpers.py +++ b/raft/helpers.py @@ -169,7 +169,7 @@ def getWaveKin_grad_u1(w, k, beta, h, r): # More friendly notation cosBeta = np.cos(deg2rad(beta)) - sinBeta = np.cos(deg2rad(beta)) + sinBeta = np.sin(deg2rad(beta)) khz_xy = 0 khz_z = 0 @@ -203,10 +203,17 @@ def getWaveKin_grad_u1(w, k, beta, h, r): return grad +# Matrix of gradient of wave acceleration +def getWaveKin_grad_dudt(w, k, beta, h, r): + return 1j*w*getWaveKin_grad_u1(w, k, beta, h, r) + # Axial-divergence acceleration def getWaveKin_axdivAcc(w1, w2, k1, k2, beta1, beta2, h, r, vel1, vel2, q, g=9.81): acc = np.zeros(3, dtype=complex) + vel1 -= np.dot(vel1, q) * q + vel2 -= np.dot(vel2, q) * q + aux = np.matmul(getWaveKin_grad_u1(w1, k1, beta1, h, r), q) dwdz1 = np.dot(np.squeeze(aux), np.squeeze(q)) u1, _, _ = getWaveKin(np.ones([1,1]), beta1, w1*np.ones([1,1]), k1*np.ones([1,1]), h, r, 1, rho=1025.0, g=g) @@ -215,15 +222,20 @@ def getWaveKin_axdivAcc(w1, w2, k1, k2, beta1, beta2, h, r, vel1, vel2, q, g=9.8 dwdz2 = np.dot(np.squeeze(aux), np.squeeze(q)) u2, _, _ = getWaveKin(np.ones([1,1]), beta2, w2*np.ones([1,1]), k2*np.ones([1,1]), h, r, 1, rho=1025.0, g=g) - acc = 0.25*(dwdz1*np.conj(u2 - vel2)+np.conj(dwdz2)*(u1 - vel1)) + acc = 0.25*(dwdz1*np.conj(np.squeeze(u2) - vel2)+np.conj(dwdz2)*(np.squeeze(u1) - vel1)) + + # There can't be any axial-divergence acceleration in the axial direction + acc -= np.dot(np.squeeze(acc), q) * q return np.squeeze(acc) -# Acceleration due to second-order potential -def getWaveKin_du2dt(w1, w2, k1, k2, beta1, beta2, h, r, g=9.81): +# Acceleration and pressure due to second-order potential +def getWaveKin_pot2ndOrd(w1, w2, k1, k2, beta1, beta2, h, r, g=9.81, rho=1025.0): acc = np.zeros(3, dtype=complex) + p = 0+0j + if w1 == w2: # The difference-frequency second-order potential does not contribute to the mean forces - return acc + return acc, p b1 = deg2rad(beta1) cosB1 = np.cos(b1) @@ -251,20 +263,9 @@ def getWaveKin_du2dt(w1, w2, k1, k2, beta1, beta2, h, r, g=9.81): acc[2] = np.cos(np.dot(k1_k2, r)) - 1j * np.sin(np.dot(k1_k2, r)) * g*g * aux * khz_z acc[2] *= -0.5 * (w1 - w2) * norm_k1_k2 - return acc - -# Product of wave elevation and wave acceleration -def getWaveForce_du1dt_eta(w1, w2, k1, k2, beta1, beta2, h, r, g=9.81): - r[2] = 0 # Should call this function only for z=0, but make sure that it is exactly zero before proceeding - - eta1 = np.exp( -1j*(k1*(np.cos(beta1)*r[0] + np.sin(beta1)*r[1]))) - dudt1 = 1j*g*k1*eta1*np.array([np.cos(beta1), np.sin(beta1), 0]) - - eta2 = np.exp( -1j*(k2*(np.cos(beta2)*r[0] + np.sin(beta2)*r[1]))) - dudt2 = 1j*g*k2*eta2*np.array([np.cos(beta2), np.sin(beta2), 0]) - - return np.squeeze(0.25*(dudt1*np.conj(eta2) + np.conj(dudt2)*eta1)) - + p = 0.5 * np.cos(np.dot(k1_k2, r)) - 1j * np.sin(np.dot(k1_k2, r)) * g*g * aux * khz_xy + p *= 0.5 * rho * (w1 - w2) + return acc, p # calculate wave number based on wave frequency in rad/s and depth def waveNumber(omega, h, e=0.001): diff --git a/raft/raft_fowt.py b/raft/raft_fowt.py index 9df2e10..2c740c4 100644 --- a/raft/raft_fowt.py +++ b/raft/raft_fowt.py @@ -1184,76 +1184,102 @@ def calcQTF_slenderBody(self, ih, Xi0): # Same thing for the first-order loads Xi = np.zeros([self.nDOF, len(self.w1_2nd)], dtype=complex) F1st = np.zeros([self.nDOF, len(self.w1_2nd)], dtype=complex) + A_BEM = np.zeros([self.nDOF, self.nDOF, len(self.w1_2nd)]) for iDoF in range(self.nDOF): Xi[iDoF,:] = np.interp(self.w1_2nd, self.w, Xi0[iDoF,:], left=0, right=0) - F1st[iDoF,:] = np.interp(self.w1_2nd, self.w, self.F_BEM[ih, iDoF,:]+self.F_hydro_iner[ih, iDoF,:], left=0, right=0) - F1st += np.matmul(self.C_hydro, Xi) # Need to add hydrostatic force to F1st + F1st[iDoF,:] = np.interp(self.w1_2nd, self.w, self.F_BEM[ih, iDoF,:]+self.F_hydro_iner[ih, iDoF,:], left=0, right=0) + A_BEM = interp1d(self.w, self.A_BEM, axis=2, fill_value=0, bounds_error=False, assume_sorted=True)(self.w1_2nd) + + # Need to add hydrostatic force and added mass to F1st + for iw in range(len(self.w1_2nd)): # Need to add added mass force to F1st + F1st[:,iw] += -np.matmul(self.C_hydro, Xi[:,iw]) + F1st[:,iw] += -np.matmul(A_BEM[:,:,iw] + self.A_hydro_morison[:,:], -Xi[:,iw] * self.w1_2nd[iw] * self.w1_2nd[iw]) # Need to add added mass to F1st + + # Variables to store different components for post-processing + qtf_2ndPot = np.zeros([len(self.w1_2nd), len(self.w1_2nd), 1, self.nDOF], dtype=complex) + qtf_axdv = np.zeros([len(self.w1_2nd), len(self.w1_2nd), 1, self.nDOF], dtype=complex) + qtf_conv = np.zeros([len(self.w1_2nd), len(self.w1_2nd), 1, self.nDOF], dtype=complex) + qtf_eta = np.zeros([len(self.w1_2nd), len(self.w1_2nd), 1, self.nDOF], dtype=complex) + qtf_nabla = np.zeros([len(self.w1_2nd), len(self.w1_2nd), 1, self.nDOF], dtype=complex) + qtf_rotN = np.zeros([len(self.w1_2nd), len(self.w1_2nd), 1, self.nDOF], dtype=complex) + qtf_rslb = np.zeros([len(self.w1_2nd), len(self.w1_2nd), 1, self.nDOF], dtype=complex) - # Pre compute some quantities for each member - nodeV = [] # vector with body velocity at each member node - eta = [] # wave elevation at intersection with water line - eta_r = [] # relative wave elevation at intersection with water line - ud_wl = [] # acceleration at intersection with water line - a_wl = [] # node acceleration at intersection with water line - dr_wl = [] # displacement at intersection with water line - g_e1 = [] # dot product between gravity vector and unit vector perpendicular to the member + # loop through each pair of frequency + self.qtf = np.zeros([len(self.w1_2nd), len(self.w2_2nd), 1, self.nDOF], dtype=complex) # Need this fourth dimension for conformity with the case where the QTFs are read from a file + print(f"Computing QTF for heading {beta:.2f}") + + # Start with the force due to rotation of first-order wave forces + # This component depends on the forces on the whole body, hence it is outside of the member loop + for i1 in range(len(self.w1_2nd)): + for i2 in range(len(self.w2_2nd)): + F_rotN = np.zeros(6, dtype='complex') + F_rotN[0:3] = 0.25 * (np.cross(Xi[3:,i1], np.conj(F1st[0:3,i2])) + np.cross(np.conj(Xi[3:,i2]), F1st[0:3,i1])) + F_rotN[3: ] = 0.25 * (np.cross(Xi[3:,i1], np.conj(F1st[3:,i2])) + np.cross(np.conj(Xi[3:,i2]), F1st[3:,i1])) + self.qtf[i1,i2,0,:] += F_rotN + qtf_rotN[i1,i2,0,:] = F_rotN + + # loop through each member for i,mem in enumerate(self.memberList): - # append to nodeV - nodeV.append(np.zeros([3, len(self.w1_2nd), mem.ns], dtype=complex)) + circ = mem.shape=='circular' # convenience boolian for circular vs. rectangular cross sections + + # Quantities at each node + nodeV = np.zeros([3, len(self.w1_2nd), mem.ns], dtype=complex) + dr = np.zeros([3, len(self.w1_2nd), mem.ns], dtype=complex) + grad_dudt = np.zeros([3, 3, len(self.w1_2nd), mem.ns], dtype=complex) + nodeV_axial_rel = np.zeros([len(self.w1_2nd), mem.ns], dtype=complex) # Node relative axial velocity + + w_x = np.dot(Xi[3:, :].T, mem.p1) # Rotation along local x axis + w_y = np.dot(Xi[3:, :].T, mem.p2) # Rotation along local y axis for iNode, r in enumerate(mem.r): - _, nodeV[i][:,:, iNode], _ = getVelocity(r, Xi, self.w1_2nd) - - # Wave elevation and acceleration at intersection with water line - eta.append(np.zeros([len(self.w1_2nd)], dtype=complex)) - eta_r.append(np.zeros([len(self.w1_2nd)], dtype=complex)) - ud_wl.append(np.zeros([3, len(self.w1_2nd)], dtype=complex)) - dr_wl.append(np.zeros([3, len(self.w1_2nd)], dtype=complex)) - a_wl.append(np.zeros([3, len(self.w1_2nd)], dtype=complex)) + dr[:,:, iNode], nodeV[:,:, iNode], _ = getVelocity(r, Xi, self.w1_2nd) + u_aux, _, _ = getWaveKin(np.ones(self.w1_2nd.shape), beta, self.w1_2nd, self.k1_2nd, self.depth, r, len(self.w1_2nd), rho=rho, g=g) + + for iw in range(len(self.w1_2nd)): + grad_dudt[:, :, iw, iNode] = getWaveKin_grad_dudt(self.w1_2nd[iw], self.k1_2nd[iw], beta, self.depth, r) + nodeV_axial_rel[iw, iNode] = np.dot(u_aux[:, iw]-nodeV[:,iw, iNode], mem.q) + + # Quantities at intersection with water line + eta = np.zeros([len(self.w1_2nd)], dtype=complex) + eta_r = np.zeros([len(self.w1_2nd)], dtype=complex) + ud_wl = np.zeros([3, len(self.w1_2nd)], dtype=complex) + dr_wl = np.zeros([3, len(self.w1_2nd)], dtype=complex) + a_wl = np.zeros([3, len(self.w1_2nd)], dtype=complex) if mem.r[-1,2] * mem.r[0,2] < 0: r_int = mem.r[0,:] + (mem.r[-1,:] - mem.r[0,:]) * (0. - mem.r[0,2]) / (mem.r[-1,2] - mem.r[0,2]) - _, ud_wl[i], eta[i] = getWaveKin(np.ones(self.w1_2nd.shape), beta, self.w1_2nd, self.k1_2nd, self.depth, r_int, len(self.w1_2nd), rho=rho, g=g) - eta[i] = eta[i]/(rho*g) # getWaveKin actually returns dynamic pressure, so divide by rho*g to get wave elevation - dr_wl[i], _, a_wl[i] = getVelocity(r_int, Xi, self.w1_2nd) + _, ud_wl, eta = getWaveKin(np.ones(self.w1_2nd.shape), beta, self.w1_2nd, self.k1_2nd, self.depth, r_int, len(self.w1_2nd), rho=rho, g=g) + eta = eta/(rho*g) # getWaveKin actually returns dynamic pressure, so divide by rho*g to get wave elevation + dr_wl, _, a_wl = getVelocity(r_int, Xi, self.w1_2nd) - g_e1.append(np.zeros([3, len(self.w1_2nd)], dtype=complex)) + g_e1 = np.zeros([3, len(self.w1_2nd)], dtype=complex) for iw in range(len(self.w1_2nd)): - g_e1[i][:, iw] = g*np.cross(Xi[3:, iw], mem.p1)[2] * mem.p1 -g*np.cross(Xi[3:, iw], mem.p2)[2] * mem.p2 - - # Get relative wave elevation - eta_r[i] = eta[i]-dr_wl[i][2,:] - - # qtf_2ndPot = np.zeros([len(self.w1_2nd), len(self.w1_2nd), 1, self.nDOF], dtype=complex) - # qtf_gradPert = np.zeros([len(self.w1_2nd), len(self.w1_2nd), 1, self.nDOF], dtype=complex) - # qtf_convInc = np.zeros([len(self.w1_2nd), len(self.w1_2nd), 1, self.nDOF], dtype=complex) - # qtf_eta = np.zeros([len(self.w1_2nd), len(self.w1_2nd), 1, self.nDOF], dtype=complex) - # qtf_rotN = np.zeros([len(self.w1_2nd), len(self.w1_2nd), 1, self.nDOF], dtype=complex) - - # loop through each pair of frequency - self.qtf = np.zeros([len(self.w1_2nd), len(self.w2_2nd), 1, self.nDOF], dtype=complex) # Need this fourth dimension for conformity with the case where the QTFs are read from a file - print(f"Computing QTF for heading {beta:.2f}") - for i1, (w1, k1) in enumerate(zip(self.w1_2nd, self.k1_2nd)): - print(f" Line {i1} of {len(self.w1_2nd)}", end='\r') - for i2, (w2, k2) in enumerate(zip(self.w2_2nd, self.k2_2nd)): - F_2ndPot = np.zeros(6, dtype='complex') - F_conv = np.zeros(6, dtype='complex') - F_axdv = np.zeros(6, dtype='complex') - F_eta = np.zeros(6, dtype='complex') - F_rotN = np.zeros(6, dtype='complex') - - # Need to loop only half of the matrix due to symmetry (QTFs are Hermitian matrices) - if w2 < w1: - continue - - # loop through each member - for i,mem in enumerate(self.memberList): - - circ = mem.shape=='circular' # convenience boolian for circular vs. rectangular cross sections + g_e1[:, iw] = g*np.cross(Xi[3:, iw], mem.p1)[2] * mem.p1 -g*np.cross(Xi[3:, iw], mem.p2)[2] * mem.p2 + + # Relative wave elevation + eta_r = eta-dr_wl[2,:] + + # Loop through each pair of frequency + for i1, (w1, k1) in enumerate(zip(self.w1_2nd, self.k1_2nd)): + print(f" Element {i} of {len(self.memberList)} - Line {i1} of {len(self.w1_2nd)}", end='\r') + for i2, (w2, k2) in enumerate(zip(self.w2_2nd, self.k2_2nd)): + F_2ndPot = np.zeros(6, dtype='complex') + F_conv = np.zeros(6, dtype='complex') + F_axdv = np.zeros(6, dtype='complex') + F_eta = np.zeros(6, dtype='complex') + F_nabla = np.zeros(6, dtype='complex') + F_rslb = np.zeros(6, dtype='complex') + + # Need to loop only half of the matrix due to symmetry (QTFs are Hermitian matrices) + if w2 < w1: + continue # loop through each node of the member for il in range(mem.ns): f_2ndPot = np.zeros(3, dtype='complex') - f_conv = np.zeros(3, dtype='complex') - f_axdv = np.zeros(3, dtype='complex') + f_conv = np.zeros(3, dtype='complex') + f_axdv = np.zeros(3, dtype='complex') + f_nabla = np.zeros(3, dtype='complex') + f_rslb = np.zeros(3, dtype='complex') + # only process hydrodynamics if this node is submerged if mem.r[il,2] < 0: @@ -1273,40 +1299,59 @@ def calcQTF_slenderBody(self, ih, Xi0): if mem.r[il,2] + 0.5*mem.dls[il] > 0: # if member extends out of water # <<< may want a better appraoch for this... v_i = v_i * (0.5*mem.dls[il] - mem.r[il,2]) / mem.dls[il] # scale volume by the portion that is under water - # Convective acceleration - f_2ndPot = rho*v_i * np.matmul((1.+Ca_p1)*mem.p1Mat + (1.+Ca_p2)*mem.p2Mat, getWaveKin_du2dt(w1, w2, k1, k2, beta, beta, self.depth, mem.r[il,:], g=g)) + f_2ndPot, p_2nd = getWaveKin_pot2ndOrd(w1, w2, k1, k2, beta, beta, self.depth, mem.r[il,:], g=g, rho=rho) + f_2ndPot = rho*v_i * np.matmul((1.+Ca_p1)*mem.p1Mat + (1.+Ca_p2)*mem.p2Mat, f_2ndPot) + f_conv = rho*v_i * np.matmul((1.+Ca_p1)*mem.p1Mat + (1.+Ca_p2)*mem.p2Mat, getWaveKin_convecAcc(w1, w2, k1, k2, beta, beta, self.depth, mem.r[il,:], g=g)) - f_axdv = rho*v_i * np.matmul(Ca_p1*mem.p1Mat + Ca_p2*mem.p2Mat, getWaveKin_axdivAcc(w1, w2, k1, k2, beta, beta, self.depth, mem.r[il,:], np.zeros([3,1]), np.zeros([3,1]), mem.q, g=g)) + f_axdv = rho*v_i * np.matmul(Ca_p1*mem.p1Mat + Ca_p2*mem.p2Mat, getWaveKin_axdivAcc(w1, w2, k1, k2, beta, beta, self.depth, mem.r[il,:], nodeV[:, i1, il], nodeV[:, i2, il], mem.q, g=g)) + + f_nabla = 0.25*np.matmul(np.squeeze(grad_dudt[:, :, i1, il]), np.squeeze(np.conj(dr[:, i2, il]))) + 0.25*np.matmul(np.squeeze(np.conj(grad_dudt[:, :, i2, il])), np.squeeze(dr[:, i1, il])) + f_nabla = rho*v_i * np.matmul((1.+Ca_p1)*mem.p1Mat + (1.+Ca_p2)*mem.p2Mat, f_nabla) - # ----- add axial/end effects for added mass, and excitation including dynamic pressure ------ + f_rslb = -0.25*2*((w_y[i1]*np.conj(nodeV_axial_rel[i2, il])) + (np.conj(w_y[i2])*nodeV_axial_rel[i1, il]))*mem.p1 + f_rslb += 0.25*2*((w_x[i1]*np.conj(nodeV_axial_rel[i2, il])) + (np.conj(w_x[i2])*nodeV_axial_rel[i1, il]))*mem.p2 + f_rslb = rho*v_i * np.matmul(Ca_p1*mem.p1Mat + Ca_p2*mem.p2Mat, f_rslb) + F_2ndPot += translateForce3to6DOF(f_2ndPot, mem.r[il,:]) F_conv += translateForce3to6DOF(f_conv, mem.r[il,:]) F_axdv += translateForce3to6DOF(f_axdv, mem.r[il,:]) - + F_nabla += translateForce3to6DOF(f_nabla, mem.r[il,:]) + F_rslb += translateForce3to6DOF(f_rslb, mem.r[il,:]) + + # Force acting at the intersection of the member with the mean waterline if mem.r[-1,2] * mem.r[0,2] < 0: - f_eta = 0.25*(ud_wl[i][:,i1]*np.conj(eta_r[i][i2])+np.conj(ud_wl[i][:,i2])*eta_r[i][i1]) + f_eta = 0.25*((ud_wl[:,i1]-a_wl[:,i1])*np.conj(eta_r[i2])+np.conj((ud_wl[:,i2])-a_wl[:,i2])*eta_r[i1]) f_eta = np.matmul((1.+Ca_p1)*mem.p1Mat + (1.+Ca_p2)*mem.p2Mat, f_eta) f_eta *= rho*(v_i/mem.dls[1]) # divide by length of member to get the area. The length is the relative wave elevation - f_eta += -0.25*rho*(v_i/mem.dls[1]) * (g_e1[i][:,i1]*np.conj(eta_r[i][i2])+np.conj(g_e1[i][:,i2])*eta_r[i][i1]) + f_eta += -0.25*rho*(v_i/mem.dls[1]) * (g_e1[:,i1]*np.conj(eta_r[i2])+np.conj(g_e1[:,i2])*eta_r[i1]) F_eta = translateForce3to6DOF(f_eta, r_int) - # Force due to rotation of first-order wave forces - F_rotN[0:3] = 0.25 * (np.cross(Xi[3:,i1], np.conj(F1st[0:3,i2])) + np.cross(np.conj(Xi[3:,i2]), F1st[0:3,i1])) - F_rotN[3: ] = 0.25 * (np.cross(Xi[3:,i1], np.conj(F1st[0:3,i2])) + np.cross(np.conj(Xi[3:,i2]), F1st[0:3,i1])) + # Forces acting at the end of the member + # 2nd order pressure + # 2nd order axial acceleration + # Convective acceleration + # Gradient of first-order pressure times displacement + # Gradient of first-order axial accelertion times displacement - self.qtf[i1,i2,ih,:] = F_2ndPot + F_conv + F_axdv + F_eta + F_rotN + + self.qtf[i1,i2,0,:] += F_2ndPot + F_conv + F_axdv + F_nabla + F_eta + F_rslb - # qtf_2ndPot[i1,i2,0,:] = F_2ndPot - # qtf_gradPert[i1,i2,0,:] = F_conv/2 + F_axdv - # qtf_convInc[i1,i2,0,:] = F_conv/2 - # qtf_eta[i1,i2,0,:] = F_eta - # qtf_rotN[i1,i2,0,:] = F_rotN + qtf_2ndPot[i1,i2,0,:] += F_2ndPot + qtf_axdv[i1,i2,0,:] += F_axdv + qtf_conv[i1,i2,0,:] += F_conv + qtf_eta[i1,i2,0,:] += F_eta + qtf_nabla[i1,i2,0,:] += F_nabla + qtf_rslb[i1,i2,0,:] += F_rslb + self.writeQTF(self.qtf, "./examples/qtf-slender_body-total.12d") - # self.writeQTF(qtf_2ndPot, "./examples/qtf-slender_body-pot2-new.12d") - # self.writeQTF(qtf_gradPert, "./examples/qtf-slender_body-gradPert-new.12d") - # self.writeQTF(qtf_convInc, "./examples/qtf-slender_body-convInc-new.12d") - # self.writeQTF(qtf_eta, "./examples/qtf-slender_body-eta-new.12d") - # self.writeQTF(qtf_rotN, "./examples/qtf-slender_body-rotN-new.12d") + + self.writeQTF(qtf_2ndPot, "./examples/qtf-slender_body-pot2.12d") + self.writeQTF(qtf_axdv, "./examples/qtf-slender_body-axDv.12d") + self.writeQTF(qtf_conv, "./examples/qtf-slender_body-conv.12d") + self.writeQTF(qtf_eta, "./examples/qtf-slender_body-eta.12d") + self.writeQTF(qtf_nabla, "./examples/qtf-slender_body-nabla.12d") + self.writeQTF(qtf_rslb, "./examples/qtf-slender_body-rslb.12d") + self.writeQTF(qtf_rotN, "./examples/qtf-slender_body-rotN.12d") def readQTF(self, flPath): data = np.loadtxt(flPath) @@ -1349,16 +1394,23 @@ def readQTF(self, flPath): - def writeQTF(self, qtfIn, outPath): + def writeQTF(self, qtfIn, outPath, w=None): + if w is None: + w1 = self.w1_2nd + w2 = self.w2_2nd + else: + w1 = w + w2 = w + with open(outPath, "w") as f: ULEN = 1 for ih in range(len(self.heads_2nd)): for iDoF in range(self.nDOF): qtf = qtfIn[:,:,ih,iDoF] - for i1 in range(len(self.w1_2nd)): - for i2 in range(i1, len(self.w2_2nd)): + for i1 in range(len(w1)): + for i2 in range(i1, len(w2)): F = qtf[i1,i2]/(self.rho_water*self.g*ULEN) - f.write(f"{2*np.pi/self.w1_2nd[i1]: 8.4e} {2*np.pi/self.w1_2nd[i2]: 8.4e} {self.heads_2nd[ih]: 8.4e} {self.heads_2nd[ih]: 8.4e} {iDoF+1} {np.abs(F): 8.4e} {np.angle(F): 8.4e} {F.real: 8.4e} {F.imag: 8.4e}\n") + f.write(f"{2*np.pi/w1[i1]: 8.4e} {2*np.pi/w2[i2]: 8.4e} {self.heads_2nd[ih]: 8.4e} {self.heads_2nd[ih]: 8.4e} {iDoF+1} {np.abs(F): 8.4e} {np.angle(F): 8.4e} {F.real: 8.4e} {F.imag: 8.4e}\n") # Compute force due to 2nd order hydrodynamic loads @@ -1408,13 +1460,18 @@ def calcHydroForce_2ndOrd(self, beta, S0): # Interpolate the force spectrum to the same resolution as the original wave spectrum Sf_interp[idof, :] = np.interp(self.w - self.w[0], mu, Sf[idof,:], left=0, right=0) + f[idof, :] = 2*np.sqrt(Sf_interp[idof, :]*self.dw) # Otherwise, interpolate the QTF first and then compute the force amplitude directly else: - f = np.zeros([self.nDOF, self.nw]) + f = np.zeros([self.nDOF, self.nw]) + qtf4print = np.zeros([self.nw, self.nw, 1, self.nDOF], dtype=complex) for idof in range(0,self.nDOF): # TODO: Need to interpolate real and imaginary part separately - qtf_interp = interp2d(self.w1_2nd, self.w1_2nd, qtf_interpBeta[:,:, idof], bounds_error=False, fill_value=(0))(self.w, self.w) + qtf_interp_Re = interp2d(self.w1_2nd, self.w1_2nd, qtf_interpBeta[:,:, idof].real, bounds_error=False, fill_value=(0))(self.w, self.w) + qtf_interp_Im = interp2d(self.w1_2nd, self.w1_2nd, qtf_interpBeta[:,:, idof].imag, bounds_error=False, fill_value=(0))(self.w, self.w) + qtf_interp = qtf_interp_Re + 1j*qtf_interp_Im + # qtf4print[:,:,0,idof] = qtf_interp for imu in range(1, self.nw): # Loop the difference frequencies Saux = np.zeros(self.nw) Saux[0:self.nw-imu] = S0[imu:] # Auxiliar wave spectrum that is dislocated in frequency. See the definition of second-order force spectrum @@ -1426,6 +1483,14 @@ def calcHydroForce_2ndOrd(self, beta, S0): # Mean drift is easier, as you have just the product of the same wave f_mean[idof] = 2*np.sum(S0*np.diag(np.squeeze(qtf_interp.real), 0)) * self.dw + + # if self.potSecOrder == 1: + # identifier = "-slenderBody" + # else: + # identifier = "-WAMIT" + # self.writeQTF(qtf4print, "./examples/qtf-interp" + identifier + ".12d", w=self.w) + + # Displace f by one frequency so that it aligns with the frequency vector f[:, 0:-1] = f[:, 1:] f[:, -1] = 0 diff --git a/raft/raft_member.py b/raft/raft_member.py index bc2d0d8..52dc33a 100644 --- a/raft/raft_member.py +++ b/raft/raft_member.py @@ -88,8 +88,8 @@ def __init__(self, mi, nw, BEM=[]): if isinstance(self.l_fill, np.ndarray): if len(self.l_fill) != n-1 or len(self.rho_fill) != n-1: raise ValueError(f"Member '{self.name}': The number of stations ({n}) should always be 1 greater than the number of ballast sections, l_fill ({len(self.l_fill)}) and rho_fill ({len(self.rho_fill)})") - if np.array(mi['stations'], dtype=float)[-1] == 1: # if the input stations are relative (i.e. [0, 1]), then that means the input ballast fill levels are also relative (i.e., <= 1.0) - self.l_fill *= self.l # if it's relative, multiply the ballast fill level amount (-) by the length to get units of (m) + # if np.array(mi['stations'], dtype=float)[-1] == 1: # if the input stations are relative (i.e. [0, 1]), then that means the input ballast fill levels are also relative (i.e., <= 1.0) + # self.l_fill *= self.l # if it's relative, multiply the ballast fill level amount (-) by the length to get units of (m) self.rho_shell = getFromDict(mi, 'rho_shell', default=8500.) # shell mass density [kg/m^3] diff --git a/raft/raft_model.py b/raft/raft_model.py index e138d03..b75ee22 100644 --- a/raft/raft_model.py +++ b/raft/raft_model.py @@ -913,7 +913,7 @@ def saveResponses(self, outPath): metrics = self.results['case_metrics'] nCases = len(metrics['surge_avg']) - chooseMetrics = ['wave_PSD', 'surge_PSD', 'heave_PSD', 'pitch_PSD', 'AxRNA_PSD', 'Mbase_PSD'] + chooseMetrics = ['wave_PSD', 'surge_PSD', 'sway_PSD', 'heave_PSD', 'roll_PSD', 'pitch_PSD', 'yaw_PSD', 'AxRNA_PSD', 'Mbase_PSD'] metricUnit = ['m^2/Hz', 'm^2/Hz', 'm^2/Hz', 'deg^2/Hz', '(m/s^2)^2/Hz', '(Nm)^2/Hz'] for iCase in range(nCases): with open(f'{outPath}_Case{iCase}.txt', 'w') as file: From 828744013329af8215e6f3ec1ed662f21e2b4b58 Mon Sep 17 00:00:00 2001 From: Lucas-Carmo Date: Thu, 11 May 2023 14:24:24 -0600 Subject: [PATCH 04/10] Bug fixes and code reorganization Also changed test cases for the OC3 Hywind --- examples/IEA-15-240-RWT-UMaineSemi.12d | 9576 ----------------- examples/OC3spar-SlenderBodyQTF.py | 37 + examples/OC3spar-SlenderBodyQTF.yaml | 1180 ++ ...nUS_SlenderBody.py => OC3spar-WAMITQTF.py} | 7 +- examples/OC3spar-WAMITQTF.yaml | 1177 ++ examples/VolturnUS-S-SlenderBody.yaml | 1253 --- examples/VolturnUS-S-WAMIT.yaml | 1252 --- raft/helpers.py | 122 +- raft/raft_fowt.py | 315 +- raft/raft_model.py | 10 +- 10 files changed, 2663 insertions(+), 12266 deletions(-) delete mode 100644 examples/IEA-15-240-RWT-UMaineSemi.12d create mode 100644 examples/OC3spar-SlenderBodyQTF.py create mode 100644 examples/OC3spar-SlenderBodyQTF.yaml rename examples/{VolturnUS_SlenderBody.py => OC3spar-WAMITQTF.py} (86%) create mode 100644 examples/OC3spar-WAMITQTF.yaml delete mode 100644 examples/VolturnUS-S-SlenderBody.yaml delete mode 100644 examples/VolturnUS-S-WAMIT.yaml diff --git a/examples/IEA-15-240-RWT-UMaineSemi.12d b/examples/IEA-15-240-RWT-UMaineSemi.12d deleted file mode 100644 index 2d162fd..0000000 --- a/examples/IEA-15-240-RWT-UMaineSemi.12d +++ /dev/null @@ -1,9576 +0,0 @@ - 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0.22440E+01 0.22440E+01 0.00000E+00 0.00000E+00 4 8.10463E-06 0.00000E+00 8.10463E-06 0.00000E+00 - 0.22440E+01 0.22440E+01 0.00000E+00 0.00000E+00 6 8.84465E-05 1.80000E+02 -8.84465E-05 0.00000E+00 - 0.22046E+01 0.22440E+01 0.00000E+00 0.00000E+00 1 3.89333E+00 -1.24658E+02 -2.21402E+00 -3.20251E+00 - 0.22046E+01 0.22440E+01 0.00000E+00 0.00000E+00 3 2.48684E+00 -7.79987E+00 2.46383E+00 -3.37497E-01 - 0.22046E+01 0.22440E+01 0.00000E+00 0.00000E+00 5 4.22529E+01 5.74754E+01 2.27178E+01 3.56260E+01 - 0.22046E+01 0.22440E+01 0.00000E+00 0.00000E+00 2 2.01517E-06 -4.31111E+01 1.47114E-06 -1.37720E-06 - 0.22046E+01 0.22440E+01 0.00000E+00 0.00000E+00 4 6.54532E-06 1.62545E+02 -6.24391E-06 1.96335E-06 - 0.22046E+01 0.22440E+01 0.00000E+00 0.00000E+00 6 1.19649E-04 5.05196E+01 7.60744E-05 9.23498E-05 - 0.21666E+01 0.22440E+01 0.00000E+00 0.00000E+00 1 5.42571E+00 -1.76826E+02 -5.41739E+00 -3.00460E-01 - 0.21666E+01 0.22440E+01 0.00000E+00 0.00000E+00 3 4.70330E+00 -1.29312E+01 4.58402E+00 -1.05251E+00 - 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0.20944E+01 0.22440E+01 0.00000E+00 0.00000E+00 1 5.73219E+00 1.46528E+02 -4.78154E+00 3.16147E+00 - 0.20944E+01 0.22440E+01 0.00000E+00 0.00000E+00 3 7.68175E+00 -9.90306E+01 -1.20575E+00 -7.58653E+00 - 0.20944E+01 0.22440E+01 0.00000E+00 0.00000E+00 5 5.80712E+01 2.64435E+01 5.19954E+01 2.58600E+01 - 0.20944E+01 0.22440E+01 0.00000E+00 0.00000E+00 2 9.35021E-07 -1.55839E+02 -8.53109E-07 -3.82713E-07 - 0.20944E+01 0.22440E+01 0.00000E+00 0.00000E+00 4 2.26569E-06 -5.07482E+00 2.25680E-06 -2.00415E-07 - 0.20944E+01 0.22440E+01 0.00000E+00 0.00000E+00 6 7.68801E-05 -1.00813E+02 -1.44235E-05 -7.55150E-05 - 0.22046E+01 0.22046E+01 0.00000E+00 0.00000E+00 1 1.81499E+00 1.80000E+02 -1.81499E+00 0.00000E+00 - 0.22046E+01 0.22046E+01 0.00000E+00 0.00000E+00 3 3.49882E-06 0.00000E+00 3.49882E-06 0.00000E+00 - 0.22046E+01 0.22046E+01 0.00000E+00 0.00000E+00 5 1.24185E+01 0.00000E+00 1.24185E+01 0.00000E+00 - 0.22046E+01 0.22046E+01 0.00000E+00 0.00000E+00 2 3.62506E-06 0.00000E+00 3.62506E-06 0.00000E+00 - 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0.21299E+01 0.22046E+01 0.00000E+00 0.00000E+00 5 1.29327E+02 8.25524E+01 1.67633E+01 1.28236E+02 - 0.21299E+01 0.22046E+01 0.00000E+00 0.00000E+00 2 2.54464E-06 -1.47866E+02 -2.15482E-06 -1.35349E-06 - 0.21299E+01 0.22046E+01 0.00000E+00 0.00000E+00 4 2.39613E-06 -1.53281E+02 -2.14028E-06 -1.07735E-06 - 0.21299E+01 0.22046E+01 0.00000E+00 0.00000E+00 6 1.70334E-04 -8.26972E+01 2.16517E-05 -1.68952E-04 - 0.20944E+01 0.22046E+01 0.00000E+00 0.00000E+00 1 1.25312E+01 1.57711E+02 -1.15949E+01 4.75278E+00 - 0.20944E+01 0.22046E+01 0.00000E+00 0.00000E+00 3 6.24369E+00 -7.16336E+01 1.96733E+00 -5.92564E+00 - 0.20944E+01 0.22046E+01 0.00000E+00 0.00000E+00 5 1.01246E+02 7.43523E+01 2.73082E+01 9.74934E+01 - 0.20944E+01 0.22046E+01 0.00000E+00 0.00000E+00 2 2.26889E-06 8.98722E+01 5.06218E-09 2.26889E-06 - 0.20944E+01 0.22046E+01 0.00000E+00 0.00000E+00 4 8.62987E-06 -9.21313E+01 -3.20947E-07 -8.62390E-06 - 0.20944E+01 0.22046E+01 0.00000E+00 0.00000E+00 6 2.16609E-05 1.18665E+02 -1.03906E-05 1.90061E-05 - 0.21666E+01 0.21666E+01 0.00000E+00 0.00000E+00 1 1.91536E+00 1.80000E+02 -1.91536E+00 0.00000E+00 - 0.21666E+01 0.21666E+01 0.00000E+00 0.00000E+00 3 6.90190E-06 0.00000E+00 6.90190E-06 0.00000E+00 - 0.21666E+01 0.21666E+01 0.00000E+00 0.00000E+00 5 1.22242E+01 0.00000E+00 1.22242E+01 0.00000E+00 - 0.21666E+01 0.21666E+01 0.00000E+00 0.00000E+00 2 3.47327E-07 0.00000E+00 3.47327E-07 0.00000E+00 - 0.21666E+01 0.21666E+01 0.00000E+00 0.00000E+00 4 1.02372E-05 0.00000E+00 1.02372E-05 0.00000E+00 - 0.21666E+01 0.21666E+01 0.00000E+00 0.00000E+00 6 1.28242E-05 0.00000E+00 1.28242E-05 0.00000E+00 - 0.21299E+01 0.21666E+01 0.00000E+00 0.00000E+00 1 4.16790E+00 -1.24268E+02 -2.34681E+00 -3.44440E+00 - 0.21299E+01 0.21666E+01 0.00000E+00 0.00000E+00 3 2.73395E+00 -9.44882E+00 2.69686E+00 -4.48823E-01 - 0.21299E+01 0.21666E+01 0.00000E+00 0.00000E+00 5 4.54091E+01 6.15691E+01 2.16192E+01 3.99324E+01 - 0.21299E+01 0.21666E+01 0.00000E+00 0.00000E+00 2 7.87168E-07 1.02104E+02 -1.65060E-07 7.69668E-07 - 0.21299E+01 0.21666E+01 0.00000E+00 0.00000E+00 4 1.09217E-06 6.62516E+01 4.39841E-07 9.99688E-07 - 0.21299E+01 0.21666E+01 0.00000E+00 0.00000E+00 6 1.50123E-04 1.23949E+01 1.46624E-04 3.22235E-05 - 0.20944E+01 0.21666E+01 0.00000E+00 0.00000E+00 1 5.78062E+00 1.73491E+02 -5.74336E+00 6.55279E-01 - 0.20944E+01 0.21666E+01 0.00000E+00 0.00000E+00 3 4.79947E+00 -1.50422E+01 4.63502E+00 -1.24561E+00 - 0.20944E+01 0.21666E+01 0.00000E+00 0.00000E+00 5 1.36075E+02 8.33994E+01 1.56415E+01 1.35173E+02 - 0.20944E+01 0.21666E+01 0.00000E+00 0.00000E+00 2 4.64743E-07 -3.89751E+01 3.61301E-07 -2.92315E-07 - 0.20944E+01 0.21666E+01 0.00000E+00 0.00000E+00 4 1.22359E-06 -1.15149E+02 -5.20003E-07 -1.10760E-06 - 0.20944E+01 0.21666E+01 0.00000E+00 0.00000E+00 6 1.49979E-04 -9.17476E+01 -4.57377E-06 -1.49910E-04 - 0.21299E+01 0.21299E+01 0.00000E+00 0.00000E+00 1 2.25674E+00 1.80000E+02 -2.25674E+00 0.00000E+00 - 0.21299E+01 0.21299E+01 0.00000E+00 0.00000E+00 3 5.26849E-06 0.00000E+00 5.26849E-06 0.00000E+00 - 0.21299E+01 0.21299E+01 0.00000E+00 0.00000E+00 5 1.18046E+01 0.00000E+00 1.18046E+01 0.00000E+00 - 0.21299E+01 0.21299E+01 0.00000E+00 0.00000E+00 2 2.13086E-06 0.00000E+00 2.13086E-06 0.00000E+00 - 0.21299E+01 0.21299E+01 0.00000E+00 0.00000E+00 4 5.13815E-06 0.00000E+00 5.13815E-06 0.00000E+00 - 0.21299E+01 0.21299E+01 0.00000E+00 0.00000E+00 6 4.39875E-05 1.80000E+02 -4.39875E-05 0.00000E+00 - 0.20944E+01 0.21299E+01 0.00000E+00 0.00000E+00 1 3.73377E+00 -1.26958E+02 -2.24486E+00 -2.98356E+00 - 0.20944E+01 0.21299E+01 0.00000E+00 0.00000E+00 3 2.77177E+00 -8.04265E+00 2.74451E+00 -3.87799E-01 - 0.20944E+01 0.21299E+01 0.00000E+00 0.00000E+00 5 4.62629E+01 6.19648E+01 2.17442E+01 4.08344E+01 - 0.20944E+01 0.21299E+01 0.00000E+00 0.00000E+00 2 1.02241E-06 1.04605E+02 -2.57809E-07 9.89370E-07 - 0.20944E+01 0.21299E+01 0.00000E+00 0.00000E+00 4 3.25000E-06 -1.66784E+02 -3.16393E-06 -7.43009E-07 - 0.20944E+01 0.21299E+01 0.00000E+00 0.00000E+00 6 2.69725E-04 -7.31518E+01 7.81765E-05 -2.58147E-04 - 0.20944E+01 0.20944E+01 0.00000E+00 0.00000E+00 1 2.91315E+00 1.80000E+02 -2.91315E+00 0.00000E+00 - 0.20944E+01 0.20944E+01 0.00000E+00 0.00000E+00 3 3.44961E-06 0.00000E+00 3.44961E-06 0.00000E+00 - 0.20944E+01 0.20944E+01 0.00000E+00 0.00000E+00 5 1.19853E+01 0.00000E+00 1.19853E+01 0.00000E+00 - 0.20944E+01 0.20944E+01 0.00000E+00 0.00000E+00 2 2.44990E-06 0.00000E+00 2.44990E-06 0.00000E+00 - 0.20944E+01 0.20944E+01 0.00000E+00 0.00000E+00 4 3.07220E-08 0.00000E+00 3.07220E-08 0.00000E+00 - 0.20944E+01 0.20944E+01 0.00000E+00 0.00000E+00 6 2.42692E-06 1.80000E+02 -2.42692E-06 0.00000E+00 diff --git a/examples/OC3spar-SlenderBodyQTF.py b/examples/OC3spar-SlenderBodyQTF.py new file mode 100644 index 0000000..aee1af1 --- /dev/null +++ b/examples/OC3spar-SlenderBodyQTF.py @@ -0,0 +1,37 @@ +# example script for running RAFT from a YAML input file + +import numpy as np +import matplotlib.pyplot as plt +import yaml +import raft +import os.path as path + +# open the design YAML file and parse it into a dictionary for passing to raft +flNm = 'OC3spar-SlenderBodyQTF' +with open(flNm + '.yaml') as file: + design = yaml.load(file, Loader=yaml.FullLoader) + +# Create the RAFT model (will set up all model objects based on the design dict) +model = raft.Model(design) + +# Evaluate the system properties and equilibrium position before loads are applied +model.analyzeUnloaded() + +# Compute natural frequencie +model.solveEigen() + +# Simule the different load cases +model.analyzeCases(display=1) + +# Plot the power spectral densities from the load cases +model.plotResponses() + +# Visualize the system in its most recently evaluated mean offset position +model.plot(hideGrid=True) + +model.saveResponses(path.join(model.fowtList[0].outFolderQTF, flNm)) + +plt.show() + +# 0.02 +# 12.37 \ No newline at end of file diff --git a/examples/OC3spar-SlenderBodyQTF.yaml b/examples/OC3spar-SlenderBodyQTF.yaml new file mode 100644 index 0000000..c43eb6e --- /dev/null +++ b/examples/OC3spar-SlenderBodyQTF.yaml @@ -0,0 +1,1180 @@ +type: input file for RAFT +name: 5MW with OC3-Hywind spar + + +settings: # global Settings + min_freq : 0.00025 # [Hz] lowest frequency to consider, also the frequency bin width + max_freq : 0.25 # [Hz] highest frequency to consider + XiStart : 0 # sets initial amplitude of each DOF for all frequencies + nIter : 10 # sets how many iterations to perform in Model.solveDynamics() + +site: + water_depth : 200 # [m] uniform water depth + rho_water : 1025.0 # [kg/m^3] water density + rho_air : 1.225 # [kg/m^3] air density + mu_air : 1.81e-05 # air dynamic viscosity + shearExp : 0.12 # shear exponent + +cases: + keys : [wind_speed, wind_heading, turbulence, turbine_status, yaw_misalign, wave_spectrum, wave_period, wave_height, wave_heading ] + data : # m/s deg % or e.g. 2B_NTM string deg string (s) (m) (deg) + - [ 0, 0, 0, operating, 0, JONSWAP, 10, 6, 0 ] + + +turbine: + + mRNA : 350000 # [kg] RNA mass + IxRNA : 35444067 # [kg-m2] RNA moment of inertia about local x axis (assumed to be identical to rotor axis for now, as approx) [kg-m^2] + IrRNA : 26159984.0 # [kg-m2] RNA moment of inertia about local y or z axes [kg-m^2] + xCG_RNA : 0 # [m] x location of RNA center of mass [m] (Actual is ~= -0.27 m) + hHub : 90.0 # [m] hub height above water line [m] + Fthrust : 800.0E3 # [N] temporary thrust force to use + + I_drivetrain: 318628138.0 # full rotor + drivetrain inertia as felt on the high-speed shaft <<< not correct! <<< + + nBlades : 3 # number of blades + Zhub : 90.0 # hub height [m] + Rhub : 1.5 # hub radius [m] + precone : 2.5 # [rad] + shaft_tilt : 5.0 # [rad] + overhang : 5.0 # [m] + aeroServoMod : 1 # 0 aerodynamics off; 1 aerodynamics on (no control); 2 aerodynamics and control on + + env: + rho : 1.225 # air density [kg/m^3] + mu : 1.81e-05 # air dynamic viscosity + shearExp: 0.2 # shear exponent + + blade: + precurveTip : 0.0 # + presweepTip : 0.0 # + Rtip : 63.0 # rotor radius + + geometry: # r chord theta precurve presweep + # (m) (m) (deg) (m) (m) + - [ 3.621, 3.628, 13.308, 0.000, 0.000 ] + - [ 5.741, 3.870, 13.308, 0.000, 0.000 ] + - [ 7.862, 4.113, 13.308, 0.000, 0.000 ] + - [ 9.983, 4.355, 13.308, 0.000, 0.000 ] + - [ 12.103, 4.565, 13.150, 0.000, 0.000 ] + - [ 14.224, 4.614, 12.205, 0.000, 0.000 ] + - [ 16.345, 4.629, 11.321, 0.000, 0.000 ] + - [ 18.466, 4.528, 10.639, 0.000, 0.000 ] + - [ 20.586, 4.426, 9.983, 0.000, 0.000 ] + - [ 22.707, 4.317, 9.388, 0.000, 0.000 ] + - [ 24.828, 4.203, 8.780, 0.000, 0.000 ] + - [ 26.948, 4.078, 8.151, 0.000, 0.000 ] + - [ 29.069, 3.949, 7.515, 0.000, 0.000 ] + - [ 31.190, 3.815, 6.868, 0.000, 0.000 ] + - [ 33.310, 3.684, 6.238, 0.000, 0.000 ] + - [ 35.431, 3.557, 5.626, 0.000, 0.000 ] + - [ 37.552, 3.430, 5.017, 0.000, 0.000 ] + - [ 39.672, 3.303, 4.410, 0.000, 0.000 ] + - [ 41.793, 3.175, 3.840, 0.000, 0.000 ] + - [ 43.914, 3.048, 3.290, 0.000, 0.000 ] + - [ 46.034, 2.921, 2.833, 0.000, 0.000 ] + - [ 48.155, 2.794, 2.416, 0.000, 0.000 ] + - [ 50.276, 2.666, 2.005, 0.000, 0.000 ] + - [ 52.397, 2.539, 1.594, 0.000, 0.000 ] + - [ 54.517, 2.412, 1.183, 0.000, 0.000 ] + - [ 56.638, 2.274, 0.778, 0.000, 0.000 ] + - [ 58.759, 2.098, 0.396, 0.000, 0.000 ] + - [ 60.879, 1.603, 0.179, 0.000, 0.000 ] + + airfoils: # location name + # (0-1) (string) name must match name in airfoils list + - [ 0.00000, Cylinder ] + - [ 0.02222, Cylinder ] + - [ 0.17138, DU40_A17 ] + - [ 0.23333, DU35_A17 ] + - [ 0.36667, DU30_A17 ] + - [ 0.47222, DU25_A17 ] + - [ 0.60053, DU21_A17 ] + - [ 0.70000, NACA64_A17 ] + - [ 1.00000, NACA64_A17 ] + + airfoils: + - name : DU40_A17 # + relative_thickness : 0.4 # + data: # alpha c_l c_d c_m + # (deg) (-) (-) (-) + - [ -180.00, 0.01277, 0.06163, 0.00037 ] + - [ -175.00, 0.22137, 0.06517, 0.09287 ] + - [ -170.00, 0.39249, 0.11527, 0.16942 ] + - [ -160.00, 0.63138, 0.30351, 0.28180 ] + - [ -155.00, 0.70368, 0.41734, 0.32119 ] + - [ -150.00, 0.74756, 0.53515, 0.35174 ] + - [ -145.00, 0.76529, 0.65323, 0.37511 ] + - [ -140.00, 0.75915, 0.76859, 0.39234 ] + - [ -135.00, 0.73138, 0.87843, 0.40437 ] + - [ -130.00, 0.68426, 0.97993, 0.41213 ] + - [ -125.00, 0.62005, 1.07065, 0.41644 ] + - [ -120.00, 0.54101, 1.14968, 0.41769 ] + - [ -115.00, 0.44942, 1.21645, 0.41619 ] + - [ -110.00, 0.34753, 1.27041, 0.41223 ] + - [ -105.00, 0.23761, 1.31102, 0.40611 ] + - [ -100.00, 0.12192, 1.33771, 0.39813 ] + - [ -95.00, 0.00274, 1.34994, 0.38858 ] + - [ -90.00, -0.11769, 1.34715, 0.37776 ] + - [ -85.00, -0.23709, 1.32904, 0.36592 ] + - [ -80.00, -0.35319, 1.29630, 0.35309 ] + - [ -75.00, -0.46374, 1.24987, 0.33925 ] + - [ -70.00, -0.56646, 1.19068, 0.32440 ] + - [ -65.00, -0.65910, 1.11967, 0.30851 ] + - [ -60.00, -0.73938, 1.03778, 0.29156 ] + - [ -55.00, -0.80505, 0.94595, 0.27355 ] + - [ -50.00, -0.85384, 0.84512, 0.25445 ] + - [ -45.00, -0.88349, 0.73622, 0.23425 ] + - [ -40.00, -0.89172, 0.62088, 0.21294 ] + - [ -35.00, -0.87628, 0.50345, 0.19049 ] + - [ -30.00, -0.83490, 0.38899, 0.16689 ] + - [ -25.00, -0.76531, 0.28255, 0.14212 ] + - [ -24.00, -0.74781, 0.26266, 0.13702 ] + - [ -23.00, -0.72908, 0.24334, 0.13188 ] + - [ -22.00, -0.70908, 0.22462, 0.12669 ] + - [ -21.00, -0.68782, 0.20655, 0.12146 ] + - [ -20.00, -0.66524, 0.18918, 0.11603 ] + - [ -19.00, -0.64126, 0.17267, 0.10969 ] + - [ -18.00, -0.61573, 0.15721, 0.10159 ] + - [ -17.00, -0.58855, 0.14297, 0.09111 ] + - [ -16.00, -0.55958, 0.13013, 0.07854 ] + - [ -15.00, -0.52870, 0.11886, 0.06439 ] + - [ -14.00, -0.49580, 0.10936, 0.04902 ] + - [ -13.50, -0.47855, 0.10532, 0.04098 ] + - [ -13.00, -0.46075, 0.10179, 0.03274 ] + - [ -12.00, -0.42342, 0.09633, 0.01588 ] + - [ -11.00, -0.38376, 0.09295, -0.00174 ] + - [ -10.00, -0.34199, 0.09068, -0.02219 ] + - [ -9.00, -0.29839, 0.08834, -0.04526 ] + - [ -8.00, -0.25324, 0.08476, -0.05967 ] + - [ -7.00, -0.20683, 0.07876, -0.05687 ] + - [ -6.00, -0.15943, 0.06915, -0.05057 ] + - [ -5.00, -0.11134, 0.05565, -0.05301 ] + - [ -4.00, -0.06283, 0.04155, -0.05431 ] + - [ -3.00, -0.01318, 0.03025, -0.05647 ] + - [ -2.00, 0.04234, 0.02206, -0.05124 ] + - [ -1.00, 0.10949, 0.01650, -0.04661 ] + - [ 0.00, 0.19400, 0.01310, -0.05773 ] + - [ 1.00, 0.30131, 0.01140, -0.07224 ] + - [ 2.00, 0.42940, 0.01092, -0.08230 ] + - [ 3.00, 0.56886, 0.01120, -0.08867 ] + - [ 4.00, 0.70992, 0.01175, -0.09249 ] + - [ 5.00, 0.84308, 0.01215, -0.09486 ] + - [ 6.00, 0.96387, 0.01276, -0.09633 ] + - [ 7.00, 1.07292, 0.01475, -0.09687 ] + - [ 8.00, 1.17110, 0.01933, -0.09642 ] + - [ 8.50, 1.21638, 0.02297, -0.09581 ] + - [ 9.00, 1.25926, 0.02771, -0.09494 ] + - [ 9.50, 1.29985, 0.03368, -0.09380 ] + - [ 10.00, 1.33825, 0.04091, -0.09251 ] + - [ 10.50, 1.37457, 0.04942, -0.09115 ] + - [ 11.00, 1.40892, 0.05922, -0.08984 ] + - [ 11.50, 1.44141, 0.07033, -0.08869 ] + - [ 12.00, 1.47213, 0.08275, -0.08779 ] + - [ 12.50, 1.50121, 0.09651, -0.08727 ] + - [ 13.00, 1.52873, 0.11161, -0.08721 ] + - [ 13.50, 1.55481, 0.12804, -0.08773 ] + - [ 14.00, 1.57950, 0.14568, -0.08883 ] + - [ 14.50, 1.60284, 0.16437, -0.09052 ] + - [ 15.00, 1.62489, 0.18397, -0.09281 ] + - [ 15.50, 1.64568, 0.20433, -0.09570 ] + - [ 16.00, 1.66527, 0.22529, -0.09920 ] + - [ 16.50, 1.68371, 0.24671, -0.10327 ] + - [ 17.00, 1.70103, 0.26843, -0.10775 ] + - [ 17.50, 1.71730, 0.29030, -0.11242 ] + - [ 18.00, 1.73254, 0.31217, -0.11708 ] + - [ 18.50, 1.74682, 0.33393, -0.12155 ] + - [ 19.00, 1.76018, 0.35556, -0.12582 ] + - [ 19.50, 1.77266, 0.37709, -0.12989 ] + - [ 20.00, 1.78432, 0.39855, -0.13379 ] + - [ 21.00, 1.80533, 0.44134, -0.14111 ] + - [ 22.00, 1.82360, 0.48413, -0.14789 ] + - [ 23.00, 1.83950, 0.52712, -0.15425 ] + - [ 24.00, 1.85341, 0.57050, -0.16031 ] + - [ 25.00, 1.86570, 0.61447, -0.16619 ] + - [ 26.00, 1.87668, 0.65917, -0.17199 ] + - [ 28.00, 1.89481, 0.75036, -0.18339 ] + - [ 30.00, 1.90768, 0.84297, -0.19454 ] + - [ 32.00, 1.91507, 0.93582, -0.20543 ] + - [ 35.00, 1.91545, 1.07303, -0.22131 ] + - [ 40.00, 1.88584, 1.28829, -0.24654 ] + - [ 45.00, 1.81567, 1.47953, -0.27027 ] + - [ 50.00, 1.70176, 1.63935, -0.29254 ] + - [ 55.00, 1.54093, 1.76030, -0.31338 ] + - [ 60.00, 1.33424, 1.83576, -0.33284 ] + - [ 65.00, 1.09966, 1.86218, -0.35095 ] + - [ 70.00, 0.85939, 1.83677, -0.36776 ] + - [ 75.00, 0.63565, 1.75677, -0.38329 ] + - [ 80.00, 0.44538, 1.62773, -0.39759 ] + - [ 85.00, 0.28452, 1.48854, -0.41069 ] + - [ 90.00, 0.14377, 1.39312, -0.42264 ] + - [ 95.00, 0.01380, 1.38360, -0.43346 ] + - [ 100.00, -0.11276, 1.37835, -0.44314 ] + - [ 105.00, -0.23547, 1.35451, -0.45131 ] + - [ 110.00, -0.35199, 1.31357, -0.45759 ] + - [ 115.00, -0.45993, 1.25705, -0.46155 ] + - [ 120.00, -0.55695, 1.18644, -0.46277 ] + - [ 125.00, -0.64068, 1.10326, -0.46086 ] + - [ 130.00, -0.70875, 1.00900, -0.45540 ] + - [ 135.00, -0.75880, 0.90517, -0.44597 ] + - [ 140.00, -0.78846, 0.79341, -0.43204 ] + - [ 145.00, -0.79538, 0.67581, -0.41255 ] + - [ 150.00, -0.77717, 0.55462, -0.38632 ] + - [ 155.00, -0.73150, 0.43205, -0.35217 ] + - [ 160.00, -0.65598, 0.31183, -0.30875 ] + - [ 170.00, -0.40596, 0.11826, -0.18583 ] + - [ 175.00, -0.22673, 0.06706, -0.10192 ] + - [ 180.00, 0.01277, 0.06163, 0.00037 ] + - name : Cylinder # + relative_thickness : 1.0 # + data: # alpha c_l c_d c_m + # (deg) (-) (-) (-) + - [ -180.00, 0.00000, 0.50000, 0.00000 ] + - [ -175.00, 0.00000, 0.50000, 0.00000 ] + - [ -170.00, 0.00000, 0.50000, 0.00000 ] + - [ -160.00, 0.00000, 0.50000, 0.00000 ] + - [ -155.00, 0.00000, 0.50000, 0.00000 ] + - [ -150.00, 0.00000, 0.50000, 0.00000 ] + - [ -145.00, 0.00000, 0.50000, 0.00000 ] + - [ -140.00, 0.00000, 0.50000, 0.00000 ] + - [ -135.00, 0.00000, 0.50000, 0.00000 ] + - [ -130.00, 0.00000, 0.50000, 0.00000 ] + - [ -125.00, 0.00000, 0.50000, 0.00000 ] + - [ -120.00, 0.00000, 0.50000, 0.00000 ] + - [ -115.00, 0.00000, 0.50000, 0.00000 ] + - [ -110.00, 0.00000, 0.50000, 0.00000 ] + - [ -105.00, 0.00000, 0.50000, 0.00000 ] + - [ -100.00, 0.00000, 0.50000, 0.00000 ] + - [ -95.00, 0.00000, 0.50000, 0.00000 ] + - [ -90.00, 0.00000, 0.50000, 0.00000 ] + - [ -85.00, 0.00000, 0.50000, 0.00000 ] + - [ -80.00, 0.00000, 0.50000, 0.00000 ] + - [ -75.00, 0.00000, 0.50000, 0.00000 ] + - [ -70.00, 0.00000, 0.50000, 0.00000 ] + - [ -65.00, 0.00000, 0.50000, 0.00000 ] + - [ -60.00, 0.00000, 0.50000, 0.00000 ] + - [ -55.00, 0.00000, 0.50000, 0.00000 ] + - [ -50.00, 0.00000, 0.50000, 0.00000 ] + - [ -45.00, 0.00000, 0.50000, 0.00000 ] + - [ -40.00, 0.00000, 0.50000, 0.00000 ] + - [ -35.00, 0.00000, 0.50000, 0.00000 ] + - [ -30.00, 0.00000, 0.50000, 0.00000 ] + - [ -25.00, 0.00000, 0.50000, 0.00000 ] + - [ -24.00, 0.00000, 0.50000, 0.00000 ] + - [ -23.00, 0.00000, 0.50000, 0.00000 ] + - [ -22.00, 0.00000, 0.50000, 0.00000 ] + - [ -21.00, 0.00000, 0.50000, 0.00000 ] + - [ -20.00, 0.00000, 0.50000, 0.00000 ] + - [ -19.00, 0.00000, 0.50000, 0.00000 ] + - [ -18.00, 0.00000, 0.50000, 0.00000 ] + - [ -17.00, 0.00000, 0.50000, 0.00000 ] + - [ -16.00, 0.00000, 0.50000, 0.00000 ] + - [ -15.00, 0.00000, 0.50000, 0.00000 ] + - [ -14.00, 0.00000, 0.50000, 0.00000 ] + - [ -13.50, 0.00000, 0.50000, 0.00000 ] + - [ -13.00, 0.00000, 0.50000, 0.00000 ] + - [ -12.00, 0.00000, 0.50000, 0.00000 ] + - [ -11.00, 0.00000, 0.50000, 0.00000 ] + - [ -10.00, 0.00000, 0.50000, 0.00000 ] + - [ -9.00, 0.00000, 0.50000, 0.00000 ] + - [ -8.00, 0.00000, 0.50000, 0.00000 ] + - [ -7.00, 0.00000, 0.50000, 0.00000 ] + - [ -6.00, 0.00000, 0.50000, 0.00000 ] + - [ -5.00, 0.00000, 0.50000, 0.00000 ] + - [ -4.00, 0.00000, 0.50000, 0.00000 ] + - [ -3.00, 0.00000, 0.50000, 0.00000 ] + - [ -2.00, 0.00000, 0.50000, 0.00000 ] + - [ -1.00, 0.00000, 0.50000, 0.00000 ] + - [ 0.00, 0.00000, 0.50000, 0.00000 ] + - [ 1.00, 0.00000, 0.50000, 0.00000 ] + - [ 2.00, 0.00000, 0.50000, 0.00000 ] + - [ 3.00, 0.00000, 0.50000, 0.00000 ] + - [ 4.00, 0.00000, 0.50000, 0.00000 ] + - [ 5.00, 0.00000, 0.50000, 0.00000 ] + - [ 6.00, 0.00000, 0.50000, 0.00000 ] + - [ 7.00, 0.00000, 0.50000, 0.00000 ] + - [ 8.00, 0.00000, 0.50000, 0.00000 ] + - [ 8.50, 0.00000, 0.50000, 0.00000 ] + - [ 9.00, 0.00000, 0.50000, 0.00000 ] + - [ 9.50, 0.00000, 0.50000, 0.00000 ] + - [ 10.00, 0.00000, 0.50000, 0.00000 ] + - [ 10.50, 0.00000, 0.50000, 0.00000 ] + - [ 11.00, 0.00000, 0.50000, 0.00000 ] + - [ 11.50, 0.00000, 0.50000, 0.00000 ] + - [ 12.00, 0.00000, 0.50000, 0.00000 ] + - [ 12.50, 0.00000, 0.50000, 0.00000 ] + - [ 13.00, 0.00000, 0.50000, 0.00000 ] + - [ 13.50, 0.00000, 0.50000, 0.00000 ] + - [ 14.00, 0.00000, 0.50000, 0.00000 ] + - [ 14.50, 0.00000, 0.50000, 0.00000 ] + - [ 15.00, 0.00000, 0.50000, 0.00000 ] + - [ 15.50, 0.00000, 0.50000, 0.00000 ] + - [ 16.00, 0.00000, 0.50000, 0.00000 ] + - [ 16.50, 0.00000, 0.50000, 0.00000 ] + - [ 17.00, 0.00000, 0.50000, 0.00000 ] + - [ 17.50, 0.00000, 0.50000, 0.00000 ] + - [ 18.00, 0.00000, 0.50000, 0.00000 ] + - [ 18.50, 0.00000, 0.50000, 0.00000 ] + - [ 19.00, 0.00000, 0.50000, 0.00000 ] + - [ 19.50, 0.00000, 0.50000, 0.00000 ] + - [ 20.00, 0.00000, 0.50000, 0.00000 ] + - [ 21.00, 0.00000, 0.50000, 0.00000 ] + - [ 22.00, 0.00000, 0.50000, 0.00000 ] + - [ 23.00, 0.00000, 0.50000, 0.00000 ] + - [ 24.00, 0.00000, 0.50000, 0.00000 ] + - [ 25.00, 0.00000, 0.50000, 0.00000 ] + - [ 26.00, 0.00000, 0.50000, 0.00000 ] + - [ 28.00, 0.00000, 0.50000, 0.00000 ] + - [ 30.00, 0.00000, 0.50000, 0.00000 ] + - [ 32.00, 0.00000, 0.50000, 0.00000 ] + - [ 35.00, 0.00000, 0.50000, 0.00000 ] + - [ 40.00, 0.00000, 0.50000, 0.00000 ] + - [ 45.00, 0.00000, 0.50000, 0.00000 ] + - [ 50.00, 0.00000, 0.50000, 0.00000 ] + - [ 55.00, 0.00000, 0.50000, 0.00000 ] + - [ 60.00, 0.00000, 0.50000, 0.00000 ] + - [ 65.00, 0.00000, 0.50000, 0.00000 ] + - [ 70.00, 0.00000, 0.50000, 0.00000 ] + - [ 75.00, 0.00000, 0.50000, 0.00000 ] + - [ 80.00, 0.00000, 0.50000, 0.00000 ] + - [ 85.00, 0.00000, 0.50000, 0.00000 ] + - [ 90.00, 0.00000, 0.50000, 0.00000 ] + - [ 95.00, 0.00000, 0.50000, 0.00000 ] + - [ 100.00, 0.00000, 0.50000, 0.00000 ] + - [ 105.00, 0.00000, 0.50000, 0.00000 ] + - [ 110.00, 0.00000, 0.50000, 0.00000 ] + - [ 115.00, 0.00000, 0.50000, 0.00000 ] + - [ 120.00, 0.00000, 0.50000, 0.00000 ] + - [ 125.00, 0.00000, 0.50000, 0.00000 ] + - [ 130.00, 0.00000, 0.50000, 0.00000 ] + - [ 135.00, 0.00000, 0.50000, 0.00000 ] + - [ 140.00, 0.00000, 0.50000, 0.00000 ] + - [ 145.00, 0.00000, 0.50000, 0.00000 ] + - [ 150.00, 0.00000, 0.50000, 0.00000 ] + - [ 155.00, 0.00000, 0.50000, 0.00000 ] + - [ 160.00, 0.00000, 0.50000, 0.00000 ] + - 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[ -4.00, -0.02919, 0.00751, -0.08706 ] + - [ -3.00, 0.09689, 0.00670, -0.08985 ] + - [ -2.00, 0.22282, 0.00564, -0.09352 ] + - [ -1.00, 0.34757, 0.00469, -0.09782 ] + - [ 0.00, 0.47009, 0.00417, -0.10248 ] + - [ 1.00, 0.58933, 0.00433, -0.10726 ] + - [ 2.00, 0.70425, 0.00504, -0.11194 ] + - [ 3.00, 0.81379, 0.00608, -0.11631 ] + - [ 4.00, 0.91692, 0.00723, -0.12019 ] + - [ 5.00, 1.01258, 0.00827, -0.12305 ] + - [ 6.00, 1.09974, 0.00897, -0.12315 ] + - [ 7.00, 1.17735, 0.00912, -0.11981 ] + - [ 8.00, 1.24462, 0.00917, -0.11683 ] + - [ 8.50, 1.27448, 0.01008, -0.11583 ] + - [ 9.00, 1.30191, 0.01222, -0.11513 ] + - [ 9.50, 1.32699, 0.01606, -0.11472 ] + - [ 10.00, 1.34980, 0.02193, -0.11457 ] + - [ 10.50, 1.37041, 0.02957, -0.11469 ] + - [ 11.00, 1.38891, 0.03858, -0.11504 ] + - [ 11.50, 1.40536, 0.04857, -0.11561 ] + - [ 12.00, 1.41984, 0.05917, -0.11622 ] + - [ 12.50, 1.43243, 0.07026, -0.11599 ] + - [ 13.00, 1.44320, 0.08171, -0.11432 ] + - [ 13.50, 1.45223, 0.09343, -0.11234 ] + - [ 14.00, 1.45959, 0.10532, -0.11129 ] + - [ 14.50, 1.46536, 0.11728, -0.11106 ] + - [ 15.00, 1.46962, 0.12920, -0.11120 ] + - [ 15.50, 1.47244, 0.14098, -0.11127 ] + - [ 16.00, 1.47386, 0.15255, -0.11092 ] + - [ 16.50, 1.47373, 0.16389, -0.11024 ] + - [ 17.00, 1.47189, 0.17501, -0.10940 ] + - [ 17.50, 1.46817, 0.18594, -0.10859 ] + - [ 18.00, 1.46237, 0.19668, -0.10798 ] + - [ 18.50, 1.45433, 0.20725, -0.10775 ] + - [ 19.00, 1.44388, 0.21766, -0.10810 ] + - [ 19.50, 1.43084, 0.22792, -0.10919 ] + - [ 20.00, 1.41509, 0.23805, -0.11109 ] + - [ 21.00, 1.37638, 0.25794, -0.11549 ] + - [ 22.00, 1.32981, 0.27746, -0.11865 ] + - [ 23.00, 1.27754, 0.29670, -0.12505 ] + - [ 24.00, 1.22171, 0.31576, -0.13804 ] + - [ 25.00, 1.16446, 0.33475, -0.14411 ] + - [ 26.00, 1.10795, 0.35376, -0.14832 ] + - [ 28.00, 1.00572, 0.39231, -0.15761 ] + - [ 30.00, 0.92850, 0.43205, -0.16705 ] + - [ 32.00, 0.87508, 0.47297, -0.17638 ] + - [ 35.00, 0.82882, 0.53616, -0.19017 ] + - [ 40.00, 0.80111, 0.64473, -0.21254 ] + - [ 45.00, 0.78088, 0.75492, -0.23413 ] + - [ 50.00, 0.75258, 0.86419, -0.25489 ] + - [ 55.00, 0.71288, 0.97009, -0.27477 ] + - [ 60.00, 0.65846, 1.07016, -0.29374 ] + - [ 65.00, 0.58698, 1.16219, -0.31175 ] + - [ 70.00, 0.50008, 1.24506, -0.32876 ] + - [ 75.00, 0.40038, 1.31788, -0.34471 ] + - [ 80.00, 0.29049, 1.37978, -0.35958 ] + - [ 85.00, 0.17305, 1.42847, -0.37330 ] + - [ 90.00, 0.05067, 1.45609, -0.38584 ] + - [ 95.00, -0.07402, 1.45636, -0.39716 ] + - [ 100.00, -0.19841, 1.43497, -0.40721 ] + - [ 105.00, -0.31986, 1.39912, -0.41589 ] + - [ 110.00, -0.43576, 1.34998, -0.42293 ] + - [ 115.00, -0.54346, 1.28727, -0.42798 ] + - [ 120.00, -0.64036, 1.21066, -0.43070 ] + - [ 125.00, -0.72380, 1.12029, -0.43070 ] + - [ 130.00, -0.79118, 1.01800, -0.42730 ] + - [ 135.00, -0.83985, 0.90605, -0.41975 ] + - [ 140.00, -0.86720, 0.78670, -0.40731 ] + - [ 145.00, -0.87020, 0.66243, -0.38958 ] + - [ 150.00, -0.84431, 0.53648, -0.36755 ] + - [ 155.00, -0.79259, 0.41228, -0.33443 ] + - [ 160.00, -0.75004, 0.29328, -0.29431 ] + - [ 170.00, -0.67017, 0.09473, -0.37708 ] + - [ 175.00, -0.45166, 0.03599, -0.18791 ] + - [ 180.00, -0.00130, 0.01800, -0.00000 ] + + + + + pitch_control: # NOTE: these values from IEA 15 - not updated for NREL 5 MW yet + GS_Angles: [0.08951732571568687, 0.11113133201402342, 0.12982917355231283, 0.1466420801733839, 0.16211366466881905, 0.17655839335287876, 0.19019635501633186, 0.2031735797715147, 0.2155988980768675, 0.22755610891787487, 0.23910432007046029, 0.25029505429019794, 0.261175108296815, 0.2717701141434908, 0.2821130743895577, 0.2922299908966622, 0.30213155066939196, 0.3118425748263288, 0.32137789704483055, 0.3307503670667345, 0.3399699865577445, 0.3490461860239008, 0.3579880322509144, 0.3668047339186282, 0.37550289814624044, 0.3840890078940221, 0.3925675520014984, 0.4009446279452681] + GS_Kp: [-1.3577105502989462, -1.2022843685437077, -1.0708549194177244, -0.9582630743745694, -0.8607297095205451, -0.7754232092569442, -0.7001800303510133, -0.6333186502486411, -0.5735124113109392, -0.5197005998242658, -0.47102498684717165, -0.42678371240552293, -0.3863972240349146, -0.3493827470593987, -0.3153348933114633, -0.2839107527034031, -0.25481830344353146, -0.22780730986914496, -0.20266210648191768, -0.17919582739515136, -0.1572457543239439, -0.13666953808436225, -0.11734210805288207, -0.09915312775509398, -0.0820048872139108, -0.06581054702303714, -0.05049266752014871, -0.035981970477687836] + GS_Ki: [-0.17894491650627248, -0.16397538879097576, -0.1513170531162574, -0.14047301946725416, -0.13107930991420289, -0.12286320368570448, -0.11561632391744817, -0.10917671849690443, -0.1034166133382032, -0.09823384815435132, -0.09354576452975885, -0.08928476437884968, -0.08539502939237623, -0.08183006219898042, -0.07855081873709882, -0.07552427238274959, -0.07272229770523143, -0.07012079381210852, -0.06769898935959591, -0.06543888677457954, -0.06332481420661495, -0.06134306161000666, -0.05948158308525387, -0.057729751819724194, -0.05607815709384934, -0.054518435162958796, -0.0530431275978591, -0.05164556201983143] + Fl_Kp: -9.35 + wt_ops: # operating points: wind speed [m/s], blade pitch [deg], rotor speed [rpm] + v: [3.00, 4.00, 5.00, 6.00, 7.00, 8.00, 9.00, 10.00, 11.00, 12.00, 13.00, 14.00, 15.00, 16.00, 17.00, 18.00, 19.00, 20.00, 21.00, 22.00, 23.00, 24.00] + pitch_op: [0.00, 0.00, 0.00, 0.00, 0.00, 0.00, 0.00, 0.00, 0.00, 3.75, 6.58, 8.61, 10.46, 12.06, 13.48, 14.91, 16.17, 17.43, 18.70, 19.96, 21.12, 22.29] + omega_op: [7.02, 7.25, 7.52, 8.00, 8.51, 9.19, 10.35, 11.46, 11.93, 12.11, 12.10, 12.10, 12.10, 12.09, 12.10, 12.10, 12.10, 12.11, 12.10, 12.10, 12.10, 12.10] + gear_ratio: 1 + torque_control: # NOTE: these values from IEA 15 - not updated for NREL 5 MW yet + VS_KP: -38609162.66552 + VS_KI: -4588245.18720 + + tower: # (could remove some entries that don't apply for the tower) + name : tower # [-] an identifier (no longer has to be number) + type : 1 # [-] + rA : [ 0, 0, 10] # [m] end A coordinates + rB : [ 0, 0, 87.6] # [m] and B coordinates + shape : circ # [-] circular or rectangular + gamma : 0.0 # [deg] twist angle about the member's z-axis + + # --- outer shell including hydro--- + stations : [ 10, 17.76, 25.52, 33.28, 41.04, 48.8, 56.56, 64.32, 72.08, 79.84, 87.6 ] # [-] location of stations along axis. Will be normalized such that start value maps to rA and end value to rB + d : [ 6.5, 6.237, 5.974, 5.711, 5.448, 5.185, 4.922, 4.659, 4.396, 4.133, 3.870 ] # [m] diameters if circular or side lengths if rectangular (can be pairs) + t : [ 0.027, 0.0262, 0.0254, 0.0246, 0.0238, 0.023, 0.0222, 0.0214, 0.0206, 0.0198, 0.0190 ] # [m] wall thicknesses (scalar or list of same length as stations) + Cd : 0.0 # [-] transverse drag coefficient (optional, scalar or list of same length as stations) + Ca : 0.0 # [-] transverse added mass coefficient (optional, scalar or list of same length as stations) + # (neglecting axial coefficients for now) + CdEnd : 0.0 # [-] end axial drag coefficient (optional, scalar or list of same length as stations) + CaEnd : 0.0 # [-] end axial added mass coefficient (optional, scalar or list of same length as stations) + rho_shell : 8500 # [kg/m3] material density + + # --- ballast --- + l_fill : 0 # [m] + rho_fill : 0 # [kg/m3] + + # --- handling of end caps or any internal structures if we need them --- + # (These will only be *within* the inner diameter of the outer shell, so they don't interrupt the outer shell.) + #cap_stations : [ ] # [m] location along member of any inner structures (in same scaling as set by 'stations') + #cap_t : [ ] # [m] thickness of any internal structures + #cap_d_in : [ ] # [m] inner diameter of internal structures (0 for full cap/bulkhead, >0 for a ring shape) + + + +platform: + + min_freq_BEM : 0.03 # [Hz] lowest frequency and frequency interval to use in BEM analysis + dz_BEM : 3.0 # [m] axial discretization panel length target for BEM analysis + da_BEM : 2.0 # [m] azimuthal discretization panel length target for BEM analysis + potModMaster : 1 + potSecOrder : 1 # [int] master switch for computing second-order wave forces; 0=do not compute, 1=compute QTFs using slender body approximation, 2=read QTF file in WAMIT format (.11d or .12d) + min_freq2nd : 0.040 # [Hz] minimum frequency for second-order wave forces + df_freq2nd : 0.008 # [Hz] frequency step for second-order wave forces + max_freq2nd : 0.400 # [Hz] maximum frequency for second-order wave forces + outFolderQTF : '.' # Output folder for storing the QTFs computed by RAFT. Written in .12d format. + + yaw_stiffness : 98340000.0 # [N-m/rad] additional yaw stiffness to apply if not modeling crowfoot in the mooring system + + members: # list all members here + + - name : center_spar # [-] an identifier (no longer has to be number) + type : 2 # [-] + rA : [ 0, 0, -120] # [m] end A coordinates + rB : [ 0, 0, 10] # [m] and B coordinates + shape : circ # [-] circular or rectangular + gamma : 0.0 # [deg] twist angle about the member's z-axis + potMod : True # [bool] Whether to model the member with potential flow (BEM model) plus viscous drag or purely strip theory + + # --- outer shell including hydro--- + stations : [-120, -12, -4, 10 ] # [-] location of stations along axis. Will be normalized such that start value maps to rA and end value to rB + d : [ 9.4, 9.4, 6.5, 6.5] # [m] diameters if circular or side lengths if rectangular (can be pairs) + t : 0.027 # [m] wall thicknesses (scalar or list of same length as stations) + Cd : 0.8 # [-] transverse drag coefficient (optional, scalar or list of same length as stations) + Ca : 1.0 # [-] transverse added mass coefficient (optional, scalar or list of same length as stations) + # (neglecting axial coefficients for now) + CdEnd : 0.6 # [-] end axial drag coefficient (optional, scalar or list of same length as stations) + CaEnd : 0.6 # [-] end axial added mass coefficient (optional, scalar or list of same length as stations) + rho_shell : 8500 # [kg/m3] + + # --- ballast --- + l_fill : [52.9, 0.0, 0.0] # [m] + rho_fill : [1800.0, 0.0, 0.0] # [kg/m3] + + # --- handling of end caps or any internal structures if we need them --- + # (These will only be *within* the inner diameter of the outer shell, so they don't interrupt the outer shell.) + cap_stations : [-120 ] # [m] location along member of any inner structures (in same scaling as set by 'stations') + cap_t : [ 0.2 ] # [m] thickness of any internal structures + cap_d_in : [ 0 ] # [m] inner diameter of internal structures (0 for full cap/bulkhead, >0 for a ring shape) + + +mooring: + water_depth: 320 # [m] uniform water depth + + points: + - name: line1_anchor + type: fixed + location: [853.87, 0.0, -320.0] + anchor_type: drag_embedment + + - name: line2_anchor + type: fixed + location: [-426.935, 739.47311, -320.0] + anchor_type: drag_embedment + + - name: line3_anchor + type: fixed + location: [-426.935, -739.47311, -320.0] + anchor_type: drag_embedment + + - name: line1_vessel + type: vessel + location: [5.2, 0.0, -70.0] + + - name: line2_vessel + type: vessel + location: [-2.6, 4.5033, -70.0] + + - name: line3_vessel + type: vessel + location: [-2.6, -4.5033, -70.0] + + lines: + - name: line1 + endA: line1_anchor + endB: line1_vessel + type: main + length: 902.2 + + - name: line2 + endA: line2_anchor + endB: line2_vessel + type: main + length: 902.2 + + - name: line3 + endA: line3_anchor + endB: line3_vessel + type: main + length: 902.2 + + line_types: + - name: main + diameter: 0.09 + mass_density: 77.7066 + stiffness: 384.243e6 + breaking_load: 1e8 + cost: 100.0 + transverse_added_mass: 1.0 + tangential_added_mass: 0.0 + transverse_drag: 1.6 + tangential_drag: 0.1 + + anchor_types: + - name: drag_embedment + mass: 1e3 + cost: 1e4 + max_vertical_load: 0.0 + max_lateral_load: 1e5 + + + + \ No newline at end of file diff --git a/examples/VolturnUS_SlenderBody.py b/examples/OC3spar-WAMITQTF.py similarity index 86% rename from examples/VolturnUS_SlenderBody.py rename to examples/OC3spar-WAMITQTF.py index d82027c..76b4c92 100644 --- a/examples/VolturnUS_SlenderBody.py +++ b/examples/OC3spar-WAMITQTF.py @@ -4,10 +4,11 @@ import matplotlib.pyplot as plt import yaml import raft +import os.path as path # open the design YAML file and parse it into a dictionary for passing to raft -flNm = 'VolturnUS-S-SlenderBody' -with open('./examples/' + flNm + '.yaml') as file: +flNm = 'OC3spar-WAMITQTF' +with open(flNm + '.yaml') as file: design = yaml.load(file, Loader=yaml.FullLoader) # Create the RAFT model (will set up all model objects based on the design dict) @@ -28,8 +29,6 @@ # Visualize the system in its most recently evaluated mean offset position model.plot(hideGrid=True) -model.saveResponses("examples/" + flNm) - plt.show() # 0.02 diff --git a/examples/OC3spar-WAMITQTF.yaml b/examples/OC3spar-WAMITQTF.yaml new file mode 100644 index 0000000..32db955 --- /dev/null +++ b/examples/OC3spar-WAMITQTF.yaml @@ -0,0 +1,1177 @@ +type: input file for RAFT +name: 5MW with OC3-Hywind spar + + +settings: # global Settings + min_freq : 0.00025 # [Hz] lowest frequency to consider, also the frequency bin width + max_freq : 0.40 # [Hz] highest frequency to consider + XiStart : 0 # sets initial amplitude of each DOF for all frequencies + nIter : 10 # sets how many iterations to perform in Model.solveDynamics() + +site: + water_depth : 200 # [m] uniform water depth + rho_water : 1025.0 # [kg/m^3] water density + rho_air : 1.225 # [kg/m^3] air density + mu_air : 1.81e-05 # air dynamic viscosity + shearExp : 0.12 # shear exponent + +cases: + keys : [wind_speed, wind_heading, turbulence, turbine_status, yaw_misalign, wave_spectrum, wave_period, wave_height, wave_heading ] + data : # m/s deg % or e.g. 2B_NTM string deg string (s) (m) (deg) + - [ 0, 0, 0, operating, 0, JONSWAP, 10, 6, 0 ] + + +turbine: + + mRNA : 350000 # [kg] RNA mass + IxRNA : 35444067 # [kg-m2] RNA moment of inertia about local x axis (assumed to be identical to rotor axis for now, as approx) [kg-m^2] + IrRNA : 26159984.0 # [kg-m2] RNA moment of inertia about local y or z axes [kg-m^2] + xCG_RNA : 0 # [m] x location of RNA center of mass [m] (Actual is ~= -0.27 m) + hHub : 90.0 # [m] hub height above water line [m] + Fthrust : 800.0E3 # [N] temporary thrust force to use + + I_drivetrain: 318628138.0 # full rotor + drivetrain inertia as felt on the high-speed shaft <<< not correct! <<< + + nBlades : 3 # number of blades + Zhub : 90.0 # hub height [m] + Rhub : 1.5 # hub radius [m] + precone : 2.5 # [rad] + shaft_tilt : 5.0 # [rad] + overhang : 5.0 # [m] + aeroServoMod : 1 # 0 aerodynamics off; 1 aerodynamics on (no control); 2 aerodynamics and control on + + env: + rho : 1.225 # air density [kg/m^3] + mu : 1.81e-05 # air dynamic viscosity + shearExp: 0.2 # shear exponent + + blade: + precurveTip : 0.0 # + presweepTip : 0.0 # + Rtip : 63.0 # rotor radius + + geometry: # r chord theta precurve presweep + # (m) (m) (deg) (m) (m) + - [ 3.621, 3.628, 13.308, 0.000, 0.000 ] + - [ 5.741, 3.870, 13.308, 0.000, 0.000 ] + - [ 7.862, 4.113, 13.308, 0.000, 0.000 ] + - [ 9.983, 4.355, 13.308, 0.000, 0.000 ] + - [ 12.103, 4.565, 13.150, 0.000, 0.000 ] + - [ 14.224, 4.614, 12.205, 0.000, 0.000 ] + - [ 16.345, 4.629, 11.321, 0.000, 0.000 ] + - [ 18.466, 4.528, 10.639, 0.000, 0.000 ] + - [ 20.586, 4.426, 9.983, 0.000, 0.000 ] + - [ 22.707, 4.317, 9.388, 0.000, 0.000 ] + - [ 24.828, 4.203, 8.780, 0.000, 0.000 ] + - [ 26.948, 4.078, 8.151, 0.000, 0.000 ] + - [ 29.069, 3.949, 7.515, 0.000, 0.000 ] + - [ 31.190, 3.815, 6.868, 0.000, 0.000 ] + - [ 33.310, 3.684, 6.238, 0.000, 0.000 ] + - [ 35.431, 3.557, 5.626, 0.000, 0.000 ] + - [ 37.552, 3.430, 5.017, 0.000, 0.000 ] + - [ 39.672, 3.303, 4.410, 0.000, 0.000 ] + - [ 41.793, 3.175, 3.840, 0.000, 0.000 ] + - [ 43.914, 3.048, 3.290, 0.000, 0.000 ] + - [ 46.034, 2.921, 2.833, 0.000, 0.000 ] + - [ 48.155, 2.794, 2.416, 0.000, 0.000 ] + - [ 50.276, 2.666, 2.005, 0.000, 0.000 ] + - [ 52.397, 2.539, 1.594, 0.000, 0.000 ] + - [ 54.517, 2.412, 1.183, 0.000, 0.000 ] + - [ 56.638, 2.274, 0.778, 0.000, 0.000 ] + - [ 58.759, 2.098, 0.396, 0.000, 0.000 ] + - [ 60.879, 1.603, 0.179, 0.000, 0.000 ] + + airfoils: # location name + # (0-1) (string) name must match name in airfoils list + - [ 0.00000, Cylinder ] + - [ 0.02222, Cylinder ] + - [ 0.17138, DU40_A17 ] + - [ 0.23333, DU35_A17 ] + - [ 0.36667, DU30_A17 ] + - [ 0.47222, DU25_A17 ] + - [ 0.60053, DU21_A17 ] + - [ 0.70000, NACA64_A17 ] + - [ 1.00000, NACA64_A17 ] + + airfoils: + - name : DU40_A17 # + relative_thickness : 0.4 # + data: # alpha c_l c_d c_m + # (deg) (-) (-) (-) + - [ -180.00, 0.01277, 0.06163, 0.00037 ] + - [ -175.00, 0.22137, 0.06517, 0.09287 ] + - [ -170.00, 0.39249, 0.11527, 0.16942 ] + - [ -160.00, 0.63138, 0.30351, 0.28180 ] + - [ -155.00, 0.70368, 0.41734, 0.32119 ] + - [ -150.00, 0.74756, 0.53515, 0.35174 ] + - [ -145.00, 0.76529, 0.65323, 0.37511 ] + - [ -140.00, 0.75915, 0.76859, 0.39234 ] + - [ -135.00, 0.73138, 0.87843, 0.40437 ] + - [ -130.00, 0.68426, 0.97993, 0.41213 ] + - [ -125.00, 0.62005, 1.07065, 0.41644 ] + - [ -120.00, 0.54101, 1.14968, 0.41769 ] + - [ -115.00, 0.44942, 1.21645, 0.41619 ] + - [ -110.00, 0.34753, 1.27041, 0.41223 ] + - [ -105.00, 0.23761, 1.31102, 0.40611 ] + - [ -100.00, 0.12192, 1.33771, 0.39813 ] + - [ -95.00, 0.00274, 1.34994, 0.38858 ] + - [ -90.00, -0.11769, 1.34715, 0.37776 ] + - [ -85.00, -0.23709, 1.32904, 0.36592 ] + - [ -80.00, -0.35319, 1.29630, 0.35309 ] + - [ -75.00, -0.46374, 1.24987, 0.33925 ] + - [ -70.00, -0.56646, 1.19068, 0.32440 ] + - [ -65.00, -0.65910, 1.11967, 0.30851 ] + - [ -60.00, -0.73938, 1.03778, 0.29156 ] + - [ -55.00, -0.80505, 0.94595, 0.27355 ] + - [ -50.00, -0.85384, 0.84512, 0.25445 ] + - [ -45.00, -0.88349, 0.73622, 0.23425 ] + - [ -40.00, -0.89172, 0.62088, 0.21294 ] + - [ -35.00, -0.87628, 0.50345, 0.19049 ] + - [ -30.00, -0.83490, 0.38899, 0.16689 ] + - [ -25.00, -0.76531, 0.28255, 0.14212 ] + - [ -24.00, -0.74781, 0.26266, 0.13702 ] + - [ -23.00, -0.72908, 0.24334, 0.13188 ] + - [ -22.00, -0.70908, 0.22462, 0.12669 ] + - 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[ 14.50, 1.46536, 0.11728, -0.11106 ] + - [ 15.00, 1.46962, 0.12920, -0.11120 ] + - [ 15.50, 1.47244, 0.14098, -0.11127 ] + - [ 16.00, 1.47386, 0.15255, -0.11092 ] + - [ 16.50, 1.47373, 0.16389, -0.11024 ] + - [ 17.00, 1.47189, 0.17501, -0.10940 ] + - [ 17.50, 1.46817, 0.18594, -0.10859 ] + - [ 18.00, 1.46237, 0.19668, -0.10798 ] + - [ 18.50, 1.45433, 0.20725, -0.10775 ] + - [ 19.00, 1.44388, 0.21766, -0.10810 ] + - [ 19.50, 1.43084, 0.22792, -0.10919 ] + - [ 20.00, 1.41509, 0.23805, -0.11109 ] + - [ 21.00, 1.37638, 0.25794, -0.11549 ] + - [ 22.00, 1.32981, 0.27746, -0.11865 ] + - [ 23.00, 1.27754, 0.29670, -0.12505 ] + - [ 24.00, 1.22171, 0.31576, -0.13804 ] + - [ 25.00, 1.16446, 0.33475, -0.14411 ] + - [ 26.00, 1.10795, 0.35376, -0.14832 ] + - [ 28.00, 1.00572, 0.39231, -0.15761 ] + - [ 30.00, 0.92850, 0.43205, -0.16705 ] + - [ 32.00, 0.87508, 0.47297, -0.17638 ] + - [ 35.00, 0.82882, 0.53616, -0.19017 ] + - [ 40.00, 0.80111, 0.64473, -0.21254 ] + - [ 45.00, 0.78088, 0.75492, -0.23413 ] + - [ 50.00, 0.75258, 0.86419, -0.25489 ] + - [ 55.00, 0.71288, 0.97009, -0.27477 ] + - [ 60.00, 0.65846, 1.07016, -0.29374 ] + - [ 65.00, 0.58698, 1.16219, -0.31175 ] + - [ 70.00, 0.50008, 1.24506, -0.32876 ] + - [ 75.00, 0.40038, 1.31788, -0.34471 ] + - [ 80.00, 0.29049, 1.37978, -0.35958 ] + - [ 85.00, 0.17305, 1.42847, -0.37330 ] + - [ 90.00, 0.05067, 1.45609, -0.38584 ] + - [ 95.00, -0.07402, 1.45636, -0.39716 ] + - [ 100.00, -0.19841, 1.43497, -0.40721 ] + - [ 105.00, -0.31986, 1.39912, -0.41589 ] + - [ 110.00, -0.43576, 1.34998, -0.42293 ] + - [ 115.00, -0.54346, 1.28727, -0.42798 ] + - [ 120.00, -0.64036, 1.21066, -0.43070 ] + - [ 125.00, -0.72380, 1.12029, -0.43070 ] + - [ 130.00, -0.79118, 1.01800, -0.42730 ] + - [ 135.00, -0.83985, 0.90605, -0.41975 ] + - [ 140.00, -0.86720, 0.78670, -0.40731 ] + - [ 145.00, -0.87020, 0.66243, -0.38958 ] + - [ 150.00, -0.84431, 0.53648, -0.36755 ] + - [ 155.00, -0.79259, 0.41228, -0.33443 ] + - [ 160.00, -0.75004, 0.29328, -0.29431 ] + - [ 170.00, -0.67017, 0.09473, -0.37708 ] + - [ 175.00, -0.45166, 0.03599, -0.18791 ] + - [ 180.00, -0.00130, 0.01800, -0.00000 ] + + + + + pitch_control: # NOTE: these values from IEA 15 - not updated for NREL 5 MW yet + GS_Angles: [0.08951732571568687, 0.11113133201402342, 0.12982917355231283, 0.1466420801733839, 0.16211366466881905, 0.17655839335287876, 0.19019635501633186, 0.2031735797715147, 0.2155988980768675, 0.22755610891787487, 0.23910432007046029, 0.25029505429019794, 0.261175108296815, 0.2717701141434908, 0.2821130743895577, 0.2922299908966622, 0.30213155066939196, 0.3118425748263288, 0.32137789704483055, 0.3307503670667345, 0.3399699865577445, 0.3490461860239008, 0.3579880322509144, 0.3668047339186282, 0.37550289814624044, 0.3840890078940221, 0.3925675520014984, 0.4009446279452681] + GS_Kp: [-1.3577105502989462, -1.2022843685437077, -1.0708549194177244, -0.9582630743745694, -0.8607297095205451, -0.7754232092569442, -0.7001800303510133, -0.6333186502486411, -0.5735124113109392, -0.5197005998242658, -0.47102498684717165, -0.42678371240552293, -0.3863972240349146, -0.3493827470593987, -0.3153348933114633, -0.2839107527034031, -0.25481830344353146, -0.22780730986914496, -0.20266210648191768, -0.17919582739515136, -0.1572457543239439, -0.13666953808436225, -0.11734210805288207, -0.09915312775509398, -0.0820048872139108, -0.06581054702303714, -0.05049266752014871, -0.035981970477687836] + GS_Ki: [-0.17894491650627248, -0.16397538879097576, -0.1513170531162574, -0.14047301946725416, -0.13107930991420289, -0.12286320368570448, -0.11561632391744817, -0.10917671849690443, -0.1034166133382032, -0.09823384815435132, -0.09354576452975885, -0.08928476437884968, -0.08539502939237623, -0.08183006219898042, -0.07855081873709882, -0.07552427238274959, -0.07272229770523143, -0.07012079381210852, -0.06769898935959591, -0.06543888677457954, -0.06332481420661495, -0.06134306161000666, -0.05948158308525387, -0.057729751819724194, -0.05607815709384934, -0.054518435162958796, -0.0530431275978591, -0.05164556201983143] + Fl_Kp: -9.35 + wt_ops: # operating points: wind speed [m/s], blade pitch [deg], rotor speed [rpm] + v: [3.00, 4.00, 5.00, 6.00, 7.00, 8.00, 9.00, 10.00, 11.00, 12.00, 13.00, 14.00, 15.00, 16.00, 17.00, 18.00, 19.00, 20.00, 21.00, 22.00, 23.00, 24.00] + pitch_op: [0.00, 0.00, 0.00, 0.00, 0.00, 0.00, 0.00, 0.00, 0.00, 3.75, 6.58, 8.61, 10.46, 12.06, 13.48, 14.91, 16.17, 17.43, 18.70, 19.96, 21.12, 22.29] + omega_op: [7.02, 7.25, 7.52, 8.00, 8.51, 9.19, 10.35, 11.46, 11.93, 12.11, 12.10, 12.10, 12.10, 12.09, 12.10, 12.10, 12.10, 12.11, 12.10, 12.10, 12.10, 12.10] + gear_ratio: 1 + torque_control: # NOTE: these values from IEA 15 - not updated for NREL 5 MW yet + VS_KP: -38609162.66552 + VS_KI: -4588245.18720 + + tower: # (could remove some entries that don't apply for the tower) + name : tower # [-] an identifier (no longer has to be number) + type : 1 # [-] + rA : [ 0, 0, 10] # [m] end A coordinates + rB : [ 0, 0, 87.6] # [m] and B coordinates + shape : circ # [-] circular or rectangular + gamma : 0.0 # [deg] twist angle about the member's z-axis + + # --- outer shell including hydro--- + stations : [ 10, 17.76, 25.52, 33.28, 41.04, 48.8, 56.56, 64.32, 72.08, 79.84, 87.6 ] # [-] location of stations along axis. Will be normalized such that start value maps to rA and end value to rB + d : [ 6.5, 6.237, 5.974, 5.711, 5.448, 5.185, 4.922, 4.659, 4.396, 4.133, 3.870 ] # [m] diameters if circular or side lengths if rectangular (can be pairs) + t : [ 0.027, 0.0262, 0.0254, 0.0246, 0.0238, 0.023, 0.0222, 0.0214, 0.0206, 0.0198, 0.0190 ] # [m] wall thicknesses (scalar or list of same length as stations) + Cd : 0.0 # [-] transverse drag coefficient (optional, scalar or list of same length as stations) + Ca : 0.0 # [-] transverse added mass coefficient (optional, scalar or list of same length as stations) + # (neglecting axial coefficients for now) + CdEnd : 0.0 # [-] end axial drag coefficient (optional, scalar or list of same length as stations) + CaEnd : 0.0 # [-] end axial added mass coefficient (optional, scalar or list of same length as stations) + rho_shell : 8500 # [kg/m3] material density + + # --- ballast --- + l_fill : 0 # [m] + rho_fill : 0 # [kg/m3] + + # --- handling of end caps or any internal structures if we need them --- + # (These will only be *within* the inner diameter of the outer shell, so they don't interrupt the outer shell.) + #cap_stations : [ ] # [m] location along member of any inner structures (in same scaling as set by 'stations') + #cap_t : [ ] # [m] thickness of any internal structures + #cap_d_in : [ ] # [m] inner diameter of internal structures (0 for full cap/bulkhead, >0 for a ring shape) + + + +platform: + + min_freq_BEM : 0.03 # [Hz] lowest frequency and frequency interval to use in BEM analysis + dz_BEM : 3.0 # [m] axial discretization panel length target for BEM analysis + da_BEM : 2.0 # [m] azimuthal discretization panel length target for BEM analysis + potSecOrder : 2 # [int] master switch for computing second-order wave forces; 0=do not compute, 1=compute QTFs using slender body approximation, 2=read QTF file in WAMIT format (.11d or .12d) + qtfPath : 'oc3_hywind.12d' # path to the qtf file for the platform + potModMaster : 1 + + yaw_stiffness : 98340000.0 # [N-m/rad] additional yaw stiffness to apply if not modeling crowfoot in the mooring system + + members: # list all members here + + - name : center_spar # [-] an identifier (no longer has to be number) + type : 2 # [-] + rA : [ 0, 0, -120] # [m] end A coordinates + rB : [ 0, 0, 10] # [m] and B coordinates + shape : circ # [-] circular or rectangular + gamma : 0.0 # [deg] twist angle about the member's z-axis + potMod : True # [bool] Whether to model the member with potential flow (BEM model) plus viscous drag or purely strip theory + + # --- outer shell including hydro--- + stations : [-120, -12, -4, 10 ] # [-] location of stations along axis. Will be normalized such that start value maps to rA and end value to rB + d : [ 9.4, 9.4, 6.5, 6.5] # [m] diameters if circular or side lengths if rectangular (can be pairs) + t : 0.027 # [m] wall thicknesses (scalar or list of same length as stations) + Cd : 0.8 # [-] transverse drag coefficient (optional, scalar or list of same length as stations) + Ca : 1.0 # [-] transverse added mass coefficient (optional, scalar or list of same length as stations) + # (neglecting axial coefficients for now) + CdEnd : 0.6 # [-] end axial drag coefficient (optional, scalar or list of same length as stations) + CaEnd : 0.6 # [-] end axial added mass coefficient (optional, scalar or list of same length as stations) + rho_shell : 8500 # [kg/m3] + + # --- ballast --- + l_fill : [52.9, 0.0, 0.0] # [m] + rho_fill : [1800.0, 0.0, 0.0] # [kg/m3] + + # --- handling of end caps or any internal structures if we need them --- + # (These will only be *within* the inner diameter of the outer shell, so they don't interrupt the outer shell.) + cap_stations : [-120 ] # [m] location along member of any inner structures (in same scaling as set by 'stations') + cap_t : [ 0.2 ] # [m] thickness of any internal structures + cap_d_in : [ 0 ] # [m] inner diameter of internal structures (0 for full cap/bulkhead, >0 for a ring shape) + + +mooring: + water_depth: 320 # [m] uniform water depth + + points: + - name: line1_anchor + type: fixed + location: [853.87, 0.0, -320.0] + anchor_type: drag_embedment + + - name: line2_anchor + type: fixed + location: [-426.935, 739.47311, -320.0] + anchor_type: drag_embedment + + - name: line3_anchor + type: fixed + location: [-426.935, -739.47311, -320.0] + anchor_type: drag_embedment + + - name: line1_vessel + type: vessel + location: [5.2, 0.0, -70.0] + + - name: line2_vessel + type: vessel + location: [-2.6, 4.5033, -70.0] + + - name: line3_vessel + type: vessel + location: [-2.6, -4.5033, -70.0] + + lines: + - name: line1 + endA: line1_anchor + endB: line1_vessel + type: main + length: 902.2 + + - name: line2 + endA: line2_anchor + endB: line2_vessel + type: main + length: 902.2 + + - name: line3 + endA: line3_anchor + endB: line3_vessel + type: main + length: 902.2 + + line_types: + - name: main + diameter: 0.09 + mass_density: 77.7066 + stiffness: 384.243e6 + breaking_load: 1e8 + cost: 100.0 + transverse_added_mass: 1.0 + tangential_added_mass: 0.0 + transverse_drag: 1.6 + tangential_drag: 0.1 + + anchor_types: + - name: drag_embedment + mass: 1e3 + cost: 1e4 + max_vertical_load: 0.0 + max_lateral_load: 1e5 + + + + \ No newline at end of file diff --git a/examples/VolturnUS-S-SlenderBody.yaml b/examples/VolturnUS-S-SlenderBody.yaml deleted file mode 100644 index 8c3c6b1..0000000 --- a/examples/VolturnUS-S-SlenderBody.yaml +++ /dev/null @@ -1,1253 +0,0 @@ -type: input file for RAFT -name: IEA 15 MW with VolturnUS-S steel semi -comments: This is a quick example that includes second-order wave forces computed using the slender-body approximation - - -settings: # global Settings - min_freq : 0.00025 # [Hz] lowest frequency to consider, also the frequency bin width - max_freq : 0.20 # [Hz] highest frequency to consider - XiStart : 0 # sets initial amplitude of each DOF for all frequencies - nIter : 4 # sets how many iterations to perform in Model.solveDynamics() - -site: - water_depth : 200 # [m] uniform water depth - rho_water : 1025.0 # [kg/m^3] water density - rho_air : 1.225 # [kg/m^3] air density - mu_air : 1.81e-05 # air dynamic viscosity - shearExp : 0.12 # shear exponent - -cases: - - keys : [wind_speed, wind_heading, turbulence, turbine_status, yaw_misalign, wave_spectrum, wave_period, wave_height, wave_heading, current_speed ] - data : # m/s deg % or e.g. IIB_NTM string deg string (s) (m) (deg) - - [ 0, 0, 0, operating, 0, JONSWAP, 12, 6, 0, 0 ] - # - [ 16, 0, 0, operating, 0, JONSWAP, 12, 6, 0, 0 ] - - -turbine: - - mRNA : 991000 # [kg] RNA mass - IxRNA : 0 # [kg-m2] RNA moment of inertia about local x axis (assumed to be identical to rotor axis for now, as approx) [kg-m^2] - IrRNA : 0 # [kg-m2] RNA moment of inertia about local y or z axes [kg-m^2] - xCG_RNA : 0 # [m] x location of RNA center of mass [m] (Actual is ~= -0.27 m) - hHub : 150.0 # [m] hub height above water line [m] - Fthrust : 1500.0E3 # [N] temporary thrust force to use - - I_drivetrain: 318628138.0 # full rotor + drivetrain inertia as felt on the high-speed shaft - - nBlades : 3 # number of blades - Zhub : 150.0 # hub height [m] - Rhub : 3.97 # hub radius [m] - precone : 4.0 # [deg] - shaft_tilt : 6.0 # [deg] - overhang : 12.0313 # [m] - aeroMod : 1 # 0 aerodynamics off; 1 aerodynamics on - - - blade: - precurveTip : -3.9999999999999964 # - presweepTip : 0.0 # - Rtip : 120.96999999936446 # rotor radius - - # r chord theta precurve presweep - geometry: - - [ 8.004, 5.228, 15.474, 0.035, 0.000 ] - - [ 12.039, 5.321, 14.692, 0.084, 0.000 ] - - [ 16.073, 5.458, 13.330, 0.139, 0.000 ] - - [ 20.108, 5.602, 11.644, 0.192, 0.000 ] - - [ 24.142, 5.718, 9.927, 0.232, 0.000 ] - - [ 28.177, 5.767, 8.438, 0.250, 0.000 ] - - [ 32.211, 5.713, 7.301, 0.250, 0.000 ] - - [ 36.246, 5.536, 6.232, 0.246, 0.000 ] - - [ 40.280, 5.291, 5.230, 0.240, 0.000 ] - - [ 44.315, 5.035, 4.348, 0.233, 0.000 ] - - [ 48.349, 4.815, 3.606, 0.218, 0.000 ] - - [ 52.384, 4.623, 2.978, 0.178, 0.000 ] - - [ 56.418, 4.432, 2.423, 0.100, 0.000 ] - - [ 60.453, 4.245, 1.924, 0.000, 0.000 ] - - [ 64.487, 4.065, 1.467, -0.112, 0.000 ] - - [ 68.522, 3.896, 1.056, -0.244, 0.000 ] - - [ 72.556, 3.735, 0.692, -0.415, 0.000 ] - - [ 76.591, 3.579, 0.355, -0.620, 0.000 ] - - [ 80.625, 3.425, 0.019, -0.846, 0.000 ] - - [ 84.660, 3.268, -0.358, -1.080, 0.000 ] - - [ 88.694, 3.112, -0.834, -1.330, 0.000 ] - - [ 92.729, 2.957, -1.374, -1.602, 0.000 ] - - [ 96.763, 2.800, -1.848, -1.895, 0.000 ] - - [ 100.798, 2.637, -2.136, -2.202, 0.000 ] - - [ 104.832, 2.464, -2.172, -2.523, 0.000 ] - - [ 108.867, 2.283, -2.108, -2.864, 0.000 ] - - [ 112.901, 2.096, -1.953, -3.224, 0.000 ] - - [ 116.936, 1.902, -1.662, -3.605, 0.000 ] - # station(rel) airfoil name - airfoils: - - [ 0.00000, circular ] - - [ 0.02000, circular ] - - [ 0.15000, SNL-FFA-W3-500 ] - - [ 0.24517, FFA-W3-360 ] - - [ 0.32884, FFA-W3-330blend ] - - [ 0.43918, FFA-W3-301 ] - - [ 0.53767, FFA-W3-270blend ] - - [ 0.63821, FFA-W3-241 ] - - [ 0.77174, FFA-W3-211 ] - - [ 1.00000, FFA-W3-211 ] - - - airfoils: - - name : circular # - relative_thickness : 1.0 # - data: # alpha c_l c_d c_m - - [ -179.9087, 0.00010, 0.35000, -0.00010 ] - - [ 179.9087, 0.00010, 0.35000, -0.00010 ] - - name : SNL-FFA-W3-500 # - relative_thickness : 0.5 # - data: # alpha c_l c_d c_m - - [ -179.9660, 0.00000, 0.08440, 0.00000 ] - - [ -170.0000, 0.44190, 0.08440, 0.31250 ] - - [ -160.0002, 0.88370, 0.12680, 0.28310 ] - - [ -149.9998, 0.96740, 0.29270, 0.26320 ] - - [ -139.9999, 0.78010, 0.49700, 0.20480 ] - - [ -130.0001, 0.62930, 0.71610, 0.19320 ] - - [ -120.0003, 0.47850, 0.92460, 0.20080 ] - - [ -109.9999, 0.31890, 1.09850, 0.21360 ] - - [ -100.0000, 0.15530, 1.21820, 0.22210 ] - - [ -90.0002, 0.00000, 1.27070, 0.21980 ] - - [ -79.9998, -0.15530, 1.21820, 0.19600 ] - - [ -70.0000, -0.31890, 1.09850, 0.16350 ] - - [ -60.0001, -0.47840, 0.92460, 0.12850 ] - - [ -49.9997, -0.62930, 0.71610, 0.09650 ] - - [ -39.9999, -0.78010, 0.49700, 0.07160 ] - - [ -30.0001, -0.96740, 0.29270, 0.05220 ] - - [ -20.0002, -1.02810, 0.14990, -0.00630 ] - - [ -19.7499, -1.02430, 0.14720, -0.00890 ] - - [ -19.2502, -1.00520, 0.14470, -0.00990 ] - - [ -18.9999, -0.99710, 0.14330, -0.01050 ] - - [ -18.7500, -1.00520, 0.14030, -0.01100 ] - - [ -18.5002, -0.99950, 0.13860, -0.01160 ] - - [ -18.2499, -0.99080, 0.13730, -0.01200 ] - - [ -18.0000, -0.98150, 0.13600, -0.01260 ] - - [ -17.4998, -0.97640, 0.13220, -0.01350 ] - - [ -17.2500, -0.97050, 0.13060, -0.01390 ] - - [ -17.0002, -0.96550, 0.12900, -0.01430 ] - - [ -16.7498, -0.96620, 0.12680, -0.01470 ] - - [ -16.5000, -0.95440, 0.12580, -0.01510 ] - - [ -16.2502, -0.94440, 0.12460, -0.01550 ] - - [ -15.9998, -0.94050, 0.12290, -0.01580 ] - - [ -15.7500, -0.94330, 0.12060, -0.01610 ] - - [ -15.5002, -0.93300, 0.11950, -0.01640 ] - - [ -15.2498, -0.92110, 0.11850, -0.01680 ] - - [ -14.7502, -0.91580, 0.11500, -0.01730 ] - - [ -14.4998, -0.90700, 0.11380, -0.01750 ] - - [ -14.2500, -0.89590, 0.11270, -0.01780 ] - - [ -14.0002, -0.89260, 0.11100, -0.01810 ] - - [ -13.7498, -0.88080, 0.11000, -0.01840 ] - - [ -13.5000, -0.87220, 0.10890, -0.01860 ] - - [ -13.2502, -0.86600, 0.10750, -0.01880 ] - - [ -12.9998, -0.86260, 0.10590, -0.01880 ] - - [ -12.7500, -0.84890, 0.10510, -0.01920 ] - - [ -12.5002, -0.83630, 0.10420, -0.01940 ] - - [ -12.2498, -0.83630, 0.10230, -0.01940 ] - - [ -12.0000, -0.82710, 0.10130, -0.01960 ] - - [ -11.7502, -0.81410, 0.10040, -0.01980 ] - - [ -11.4998, -0.80040, 0.09970, -0.02000 ] - - [ -11.0002, -0.78900, 0.09710, -0.01990 ] - - [ -10.7498, -0.78620, 0.09560, -0.01960 ] - - [ -10.5000, -0.77470, 0.09480, -0.01940 ] - - [ -10.2502, -0.77010, 0.09400, -0.01840 ] - - [ -9.9998, -0.76740, 0.09250, -0.01830 ] - - [ -9.7500, -0.75060, 0.09170, -0.01920 ] - - [ -9.5002, -0.72900, 0.09120, -0.02050 ] - - [ -9.2498, -0.70950, 0.09020, -0.02240 ] - - [ -9.0000, -0.68550, 0.08950, -0.02470 ] - - [ -8.7502, -0.65900, 0.08910, -0.02670 ] - - [ -8.4998, -0.63190, 0.08870, -0.02870 ] - - [ -8.2500, -0.60190, 0.08790, -0.03200 ] - - [ -8.0002, -0.57180, 0.08750, -0.03450 ] - - [ -7.7498, -0.54240, 0.08730, -0.03670 ] - - [ -7.5000, -0.50980, 0.08680, -0.03990 ] - - [ -7.2502, -0.47670, 0.08640, -0.04300 ] - 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- [ 0.0000, 0.45956, 0.01465, -0.10988 ] - - [ 1.0000, 0.60566, 0.01466, -0.11776 ] - - [ 2.0000, 0.74868, 0.01481, -0.12477 ] - - [ 3.0000, 0.88862, 0.01507, -0.13098 ] - - [ 4.0000, 1.02544, 0.01544, -0.13648 ] - - [ 5.0000, 1.15878, 0.01593, -0.14130 ] - - [ 6.0000, 1.28822, 0.01654, -0.14540 ] - - [ 7.0000, 1.41282, 0.01731, -0.14875 ] - - [ 8.0000, 1.53090, 0.01831, -0.15118 ] - - [ 9.0000, 1.64065, 0.01963, -0.15262 ] - - [ 10.0000, 1.73926, 0.02150, -0.15310 ] - - [ 11.0000, 1.81971, 0.02445, -0.15254 ] - - [ 12.0000, 1.87065, 0.02966, -0.15121 ] - - [ 13.0000, 1.89221, 0.03770, -0.14969 ] - - [ 14.0000, 1.87910, 0.04824, -0.14562 ] - - [ 15.0000, 1.88111, 0.05838, -0.14358 ] - - [ 16.0000, 1.86359, 0.06992, -0.14095 ] - - [ 18.0000, 1.73324, 0.10166, -0.13711 ] - - [ 20.0000, 1.59357, 0.13916, -0.14082 ] - - [ 24.0000, 1.46708, 0.21002, -0.15693 ] - - [ 28.0000, 1.44834, 0.28200, -0.17979 ] - - [ 32.0000, 1.43563, 0.35424, -0.20147 ] - - [ 36.1429, 1.31283, 0.44192, -0.22409 ] - - [ 40.2857, 1.20580, 0.53379, -0.24619 ] - - [ 44.4286, 1.10690, 0.62793, -0.26133 ] - - [ 48.5714, 1.01129, 0.72238, -0.27648 ] - - [ 52.7143, 0.91594, 0.81520, -0.29062 ] - - [ 56.8571, 0.81907, 0.90444, -0.30424 ] - - [ 61.0000, 0.71982, 0.98826, -0.31787 ] - - [ 65.1429, 0.61801, 1.06493, -0.33154 ] - - [ 69.2857, 0.51401, 1.13285, -0.34522 ] - - [ 73.4286, 0.40862, 1.19061, -0.35846 ] - - [ 77.5714, 0.30299, 1.23704, -0.37161 ] - - [ 81.7143, 0.19855, 1.27116, -0.38405 ] - - [ 85.8571, 0.09695, 1.29229, -0.39547 ] - - [ 90.0000, 0.00000, 1.30000, -0.40690 ] - - [ 94.1429, -0.06787, 1.29229, -0.41277 ] - - [ 98.2857, -0.13899, 1.27116, -0.41864 ] - - [ 102.4286, -0.21209, 1.23704, -0.42163 ] - - [ 106.5714, -0.28603, 1.19061, -0.42258 ] - - [ 110.7143, -0.35981, 1.13285, -0.42312 ] - - [ 114.8571, -0.43261, 1.06493, -0.42168 ] - - [ 119.0000, -0.50388, 0.98826, -0.42024 ] - - [ 123.1429, -0.57335, 0.90444, -0.42058 ] - - [ 127.2857, -0.64116, 0.81520, -0.42150 ] - - [ 131.4286, -0.70790, 0.72238, -0.42591 ] - - [ 135.5714, -0.77483, 0.62793, -0.43697 ] - - [ 139.7143, -0.84406, 0.53379, -0.44803 ] - - [ 143.8571, -0.91898, 0.44192, -0.46784 ] - - [ 148.0000, -1.00494, 0.35424, -0.48830 ] - - [ 150.2857, -0.93316, 0.30832, -0.49600 ] - - [ 152.5714, -0.86138, 0.26453, -0.47857 ] - - [ 154.8571, -0.78960, 0.22313, -0.46114 ] - - [ 157.1429, -0.71781, 0.18439, -0.44370 ] - - [ 159.4286, -0.64603, 0.14856, -0.42627 ] - - [ 161.7143, -0.57425, 0.11586, -0.43530 ] - - [ 164.0000, -0.50247, 0.08651, -0.45315 ] - - [ 166.2857, -0.43069, 0.06068, -0.47100 ] - - [ 168.5714, -0.35891, 0.05174, -0.48884 ] - - [ 170.8571, -0.28713, 0.04653, -0.45714 ] - - [ 173.1429, -0.21534, 0.04245, -0.34286 ] - - [ 175.4286, -0.14356, 0.03951, -0.22857 ] - - [ 177.7143, -0.07178, 0.03774, -0.11429 ] - - [ 179.9087, 0.00000, 0.03715, 0.00000 ] - - - - pitch_control: - GS_Angles: [0.06019804, 0.08713416, 0.10844806, 0.12685912, 0.14339822, 0.1586021 , 0.17279614, 0.18618935, 0.19892772, 0.21111989, 0.22285021, 0.23417256, 0.2451469 , 0.25580691, 0.26619545, 0.27632495, 0.28623134, 0.29593266, 0.30544521, 0.314779 , 0.32395154, 0.33297489, 0.3418577 , 0.35060844, 0.35923641, 0.36774807, 0.37614942, 0.38444655, 0.39264363, 0.40074407] - GS_Kp: [-0.9394215 , -0.80602855, -0.69555026, -0.60254912, -0.52318192, -0.45465531, -0.39489024, -0.34230736, -0.29568537, -0.25406506, -0.2166825 , -0.18292183, -0.15228099, -0.12434663, -0.09877533, -0.0752794 , -0.05361604, -0.0335789 , -0.01499149, 0.00229803, 0.01842102, 0.03349169, 0.0476098 , 0.0608629 , 0.07332812, 0.0850737 , 0.0961602 , 0.10664158, 0.11656607, 0.12597691] - GS_Ki: [-0.07416547, -0.06719673, -0.0614251 , -0.05656651, -0.0524202 , -0.04884022, -0.04571796, -0.04297091, -0.04053528, -0.03836094, -0.03640799, -0.03464426, -0.03304352, -0.03158417, -0.03024826, -0.02902079, -0.02788904, -0.02684226, -0.02587121, -0.02496797, -0.02412567, -0.02333834, -0.02260078, -0.02190841, -0.0212572 , -0.02064359, -0.0200644 , -0.01951683, -0.01899836, -0.01850671] - Fl_Kp: -9.35 - wt_ops: - v: [3.0, 3.266896551724138, 3.533793103448276, 3.800689655172414, 4.067586206896552, 4.334482758620689, 4.601379310344828, 4.868275862068966, 5.135172413793104, 5.402068965517241, 5.6689655172413795, 5.935862068965518, 6.2027586206896554, 6.469655172413793, 6.736551724137931, 7.00344827586207, 7.270344827586207, 7.537241379310345, 7.804137931034483, 8.071034482758622, 8.337931034482759, 8.604827586206897, 8.871724137931036, 9.138620689655173, 9.405517241379311, 9.672413793103448, 9.939310344827586, 10.206206896551725, 10.473103448275863, 10.74, 11.231724137931035, 11.723448275862069, 12.215172413793104, 12.706896551724139, 13.198620689655172, 13.690344827586207, 14.182068965517242, 14.673793103448276, 15.16551724137931, 15.657241379310346, 16.14896551724138, 16.640689655172416, 17.13241379310345, 17.624137931034483, 18.11586206896552, 18.607586206896553, 19.099310344827586, 19.591034482758623, 20.082758620689653, 20.57448275862069, 21.066206896551726, 21.557931034482756, 22.049655172413793, 22.54137931034483, 23.03310344827586, 23.524827586206897, 24.016551724137933, 24.508275862068963, 25.0] - pitch_op: [-0.25, -0.25, -0.25, -0.25, -0.25, -0.25, -0.25, -0.25, -0.25, -0.25, -0.25, -0.25, -0.25, -0.25, -0.25, -0.25, -0.25, -0.25, -0.25, -0.25, -0.25, -0.25, -0.25, -0.25, -0.25, -0.25, -0.25, -0.25, -0.25, -0.25, 3.57152, 5.12896, 6.36736, 7.43866, 8.40197, 9.28843, 10.1161, 10.8974, 11.641, 12.3529, 13.038, 13.6997, 14.3409, 14.9642, 15.5713, 16.1639, 16.7435, 17.3109, 17.8673, 18.4136, 18.9506, 19.4788, 19.9989, 20.5112, 21.0164, 21.5147, 22.0067, 22.4925, 22.9724] - omega_op: [2.1486, 2.3397, 2.5309, 2.722, 2.9132, 3.1043, 3.2955, 3.4866, 3.6778, 3.8689, 4.0601, 4.2512, 4.4424, 4.6335, 4.8247, 5.0159, 5.207, 5.3982, 5.5893, 5.7805, 5.9716, 6.1628, 6.3539, 6.5451, 6.7362, 6.9274, 7.1185, 7.3097, 7.5008, 7.56, 7.56, 7.56, 7.56, 7.56, 7.56, 7.56, 7.56, 7.56, 7.56, 7.56, 7.56, 7.56, 7.56, 7.56, 7.56, 7.56, 7.56, 7.56, 7.56, 7.56, 7.56, 7.56, 7.56, 7.56, 7.56, 7.56, 7.56, 7.56, 7.56] - gear_ratio: 1 - torque_control: - VS_KP: -38609162.66552 - VS_KI: -4588245.18720 - - - tower: # (could remove some entries that don't apply for the tower) - dlsMax : 5.0 # maximum node splitting section amount; can't be 0 - - name : tower # [-] an identifier (no longer has to be number) - type : 1 # [-] - rA : [ 0, 0, 15] # [m] end A coordinates - rB : [ 0, 0, 144.582] # [m] and B coordinates - shape : circ # [-] circular or rectangular - gamma : 0.0 # [deg] twist angle about the member's z-axis - - # --- outer shell including hydro--- - stations : [ 15, 28, 28.001, 41, 41.001, 54, 54.001, 67, 67.001, 80, 80.001, 93, 93.001, 106, 106.001, 119, 119.001, 132, 132.001, 144.582 ] # [-] location of stations along axis. Will be normalized such that start value maps to rA and end value to rB - d : [ 10, 9.964, 9.964, 9.967, 9.967, 9.927, 9.927, 9.528, 9.528, 9.149, 9.149, 8.945, 8.945, 8.735, 8.735, 8.405, 8.405, 7.321, 7.321, 6.5 ] # [m] diameters if circular or side lengths if rectangular (can be pairs) - t : [ 0.082954, 0.082954, 0.083073, 0.083073, 0.082799, 0.082799, 0.0299, 0.0299, 0.027842, 0.027842, 0.025567, 0.025567, 0.022854, 0.022854, 0.02025, 0.02025, 0.018339, 0.018339, 0.021211, 0.021211 ] # [m] wall thicknesses (scalar or list of same length as stations) - Cd : 0.0 # [-] transverse drag coefficient (optional, scalar or list of same length as stations) - Ca : 0.0 # [-] transverse added mass coefficient (optional, scalar or list of same length as stations) - # (neglecting axial coefficients for now) - CdEnd : 0.0 # [-] end axial drag coefficient (optional, scalar or list of same length as stations) - CaEnd : 0.0 # [-] end axial added mass coefficient (optional, scalar or list of same length as stations) - rho_shell : 7850 # [kg/m3] material density - - - - - - - -platform: - - potModMaster : 1 # [int] master switch for potMod variables; 0=keeps all member potMod vars the same, 1=turns all potMod vars to False (no HAMS), 2=turns all potMod vars to True (no strip) - potSecOrder : 1 # [int] master switch for computing second-order wave forces; 0=do not compute, 1=compute QTFs using slender body approximation, 2=read QTF file in WAMIT format (.11d or .12d) - dlsMax : 5.0 # maximum node splitting section amount for platform members; can't be 0 - min_freq2nd : 0.004 # [Hz] minimum frequency for second-order wave forces, also the frequency step - max_freq2nd : 0.200 # [Hz] maximum frequency for second-order wave forces - - members: # list all members here - - - name : center_column # [-] an identifier (no longer has to be number) - type : 2 # [-] - rA : [ 0, 0, -20] # [m] end A coordinates - rB : [ 0, 0, 15] # [m] and B coordinates - shape : circ # [-] circular or rectangular - gamma : 0.0 # [deg] twist angle about the member's z-axis - potMod : True # [bool] Whether to model the member with potential flow (BEM model) plus viscous drag or purely strip theory - # --- outer shell including hydro--- - stations : [0, 1] # [-] location of stations along axis. Will be normalized such that start value maps to rA and end value to rB - d : 10.0 # [m] diameters if circular or side lengths if rectangular (can be pairs) - t : 0.05 # [m] wall thicknesses (scalar or list of same length as stations) - Cd : 0.6 # [-] transverse drag coefficient (optional, scalar or list of same length as stations) - Ca : 0.93 # [-] transverse added mass coefficient (optional, scalar or list of same length as stations) - CdEnd : 0.6 # [-] end axial drag coefficient (optional, scalar or list of same length as stations) - CaEnd : 1.0 # [-] end axial added mass coefficient (optional, scalar or list of same length as stations) - rho_shell : 7850 # [kg/m3] - # --- handling of end caps or any internal structures if we need them --- - cap_stations : [ 0 ] # [m] location along member of any inner structures (in same scaling as set by 'stations') - cap_t : [ 0.001 ] # [m] thickness of any internal structures - cap_d_in : [ 0 ] # [m] inner diameter of internal structures (0 for full cap/bulkhead, >0 for a ring shape) - - - - name : outer_column # [-] an identifier (no longer has to be number) - type : 2 # [-] - rA : [51.75, 0, -20] # [m] end A coordinates - rB : [51.75, 0, 15] # [m] and B coordinates - heading : [ 60, 180, 300] # [deg] heading rotation of column about z axis (for repeated members) - shape : circ # [-] circular or rectangular - gamma : 0.0 # [deg] twist angle about the member's z-axis - potMod : True # [bool] Whether to model the member with potential flow (BEM model) plus viscous drag or purely strip theory - # --- outer shell including hydro--- - stations : [0, 1] # [-] location of stations along axis. Will be normalized such that start value maps to rA and end value to rB - d : 12.5 # [m] diameters if circular or side lengths if rectangular (can be pairs) - t : 0.05 # [m] wall thicknesses (scalar or list of same length as stations) - Cd : 0.6 # [-] transverse drag coefficient (optional, scalar or list of same length as stations) - Ca : 0.93 # [-] transverse added mass coefficient (optional, scalar or list of same length as stations) - CdEnd : 1.0 # [-] end axial drag coefficient (optional, scalar or list of same length as stations) - CaEnd : 0.7 # value of 3.0 gives more heave response # [-] end axial added mass coefficient (optional, scalar or list of same length as stations) - rho_shell : 7850 # [kg/m3] - # --- ballast --- - l_fill : 1.4 # [m] - rho_fill : 5000 # [kg/m3] - # --- handling of end caps or any internal structures if we need them --- - cap_stations : [ 0 ] # [m] location along member of any inner structures (in same scaling as set by 'stations') - cap_t : [ 0.001 ] # [m] thickness of any internal structures - cap_d_in : [ 0 ] # [m] inner diameter of internal structures (0 for full cap/bulkhead, >0 for a ring shape) - - - - name : pontoon # [-] an identifier (no longer has to be number) - type : 2 # [-] - rA : [ 5 , 0, -16.5] # [m] end A coordinates - rB : [ 45.5, 0, -16.5] # [m] and B coordinates - heading : [ 60, 180, 300] # [deg] heading rotation of column about z axis (for repeated members) - shape : rect # [-] circular or rectangular - gamma : 0.0 # [deg] twist angle about the member's z-axis - potMod : False # [bool] Whether to model the member with potential flow (BEM model) plus viscous drag or purely strip theory - # --- outer shell including hydro--- - stations : [0, 1] # [-] location of stations along axis. Will be normalized such that start value maps to rA and end value to rB - d : [12.4, 7.0] # [m] diameters if circular or side lengths if rectangular (can be pairs) - t : 0.05 # [m] wall thicknesses (scalar or list of same length as stations) - Cd : [1.5, 2.2 ] # [-] transverse drag coefficient (optional, scalar or list of same length as stations) - Ca : [2.2, 0.2 ] # [-] transverse added mass coefficient (optional, scalar or list of same length as stations) - CdEnd : 0.0 # [-] end axial drag coefficient (optional, scalar or list of same length as stations) - CaEnd : 0.0 # [-] end axial added mass coefficient (optional, scalar or list of same length as stations) - rho_shell : 7850 # [kg/m3] - l_fill : 43.0 # [m] - rho_fill : 1025.0 # [kg/m3] - - - - name : upper_support # [-] an identifier (no longer has to be number) - type : 2 # [-] - rA : [ 5 , 0, 14.545] # [m] end A coordinates - rB : [ 45.5, 0, 14.545] # [m] and B coordinates - heading : [ 60, 180, 300] # [deg] heading rotation of column about z axis (for repeated members) - shape : circ # [-] circular or rectangular - gamma : 0.0 # [deg] twist angle about the member's z-axis - potMod : False # [bool] Whether to model the member with potential flow (BEM model) plus viscous drag or purely strip theory - # --- outer shell including hydro--- - stations : [0, 1] # [-] location of stations along axis. Will be normalized such that start value maps to rA and end value to rB - d : 0.91 # [m] diameters if circular or side lengths if rectangular (can be pairs) - t : 0.01 # [m] wall thicknesses (scalar or list of same length as stations) - Cd : 0.0 # [-] transverse drag coefficient (optional, scalar or list of same length as stations) - Ca : 0.0 # [-] transverse added mass coefficient (optional, scalar or list of same length as stations) - CdEnd : 0.0 # [-] end axial drag coefficient (optional, scalar or list of same length as stations) - CaEnd : 0.0 # [-] end axial added mass coefficient (optional, scalar or list of same length as stations) - rho_shell : 7850 # [kg/m3] - - -mooring: - water_depth: 200 # [m] uniform water depth - - points: - - name: line1_anchor - type: fixed - location: [-837, 0.0, -200.0] - anchor_type: drag_embedment - - - name: line2_anchor - type: fixed - location: [418, 725, -200.0] - anchor_type: drag_embedment - - - name: line3_anchor - type: fixed - location: [418, -725, -200.0] - anchor_type: drag_embedment - - - name: line1_vessel - type: vessel - location: [-58, 0.0, -14.0] - - - name: line2_vessel - type: vessel - location: [29, 50, -14.0] - - - name: line3_vessel - type: vessel - location: [29, -50, -14.0] - - lines: - - name: line1 - endA: line1_anchor - endB: line1_vessel - type: chain - length: 850 - - - name: line2 - endA: line2_anchor - endB: line2_vessel - type: chain - length: 850 - - - name: line3 - endA: line3_anchor - endB: line3_vessel - type: chain - length: 850 - - line_types: - - name: chain - diameter: 0.185 - mass_density: 685.0 - stiffness: 3270e6 - breaking_load: 1e8 - cost: 100.0 - transverse_added_mass: 1.0 - tangential_added_mass: 0.0 - transverse_drag: 1.6 - tangential_drag: 0.1 - - anchor_types: - - name: drag_embedment - mass: 1e3 - cost: 1e4 - max_vertical_load: 0.0 - max_lateral_load: 1e5 - \ No newline at end of file diff --git a/examples/VolturnUS-S-WAMIT.yaml b/examples/VolturnUS-S-WAMIT.yaml deleted file mode 100644 index 3c8a73e..0000000 --- a/examples/VolturnUS-S-WAMIT.yaml +++ /dev/null @@ -1,1252 +0,0 @@ -type: input file for RAFT -name: IEA 15 MW with VolturnUS-S steel semi -comments: This is a quick example that includes second-order wave forces from precomputed QTF matrices - - -settings: # global Settings - min_freq : 0.00025 # [Hz] lowest frequency to consider, also the frequency bin width - max_freq : 0.20 # [Hz] highest frequency to consider - XiStart : 0 # sets initial amplitude of each DOF for all frequencies - nIter : 4 # sets how many iterations to perform in Model.solveDynamics() - -site: - water_depth : 200 # [m] uniform water depth - rho_water : 1025.0 # [kg/m^3] water density - rho_air : 1.225 # [kg/m^3] air density - mu_air : 1.81e-05 # air dynamic viscosity - shearExp : 0.12 # shear exponent - -cases: - - keys : [wind_speed, wind_heading, turbulence, turbine_status, yaw_misalign, wave_spectrum, wave_period, wave_height, wave_heading, current_speed ] - data : # m/s deg % or e.g. IIB_NTM string deg string (s) (m) (deg) - - [ 0, 0, 0, operating, 0, JONSWAP, 12, 6, 0, 0 ] - # - [ 16, 0, 0, operating, 0, JONSWAP, 12, 6, 0, 0 ] - - -turbine: - - mRNA : 991000 # [kg] RNA mass - IxRNA : 0 # [kg-m2] RNA moment of inertia about local x axis (assumed to be identical to rotor axis for now, as approx) [kg-m^2] - IrRNA : 0 # [kg-m2] RNA moment of inertia about local y or z axes [kg-m^2] - xCG_RNA : 0 # [m] x location of RNA center of mass [m] (Actual is ~= -0.27 m) - hHub : 150.0 # [m] hub height above water line [m] - Fthrust : 1500.0E3 # [N] temporary thrust force to use - - I_drivetrain: 318628138.0 # full rotor + drivetrain inertia as felt on the high-speed shaft - - nBlades : 3 # number of blades - Zhub : 150.0 # hub height [m] - Rhub : 3.97 # hub radius [m] - precone : 4.0 # [deg] - shaft_tilt : 6.0 # [deg] - overhang : 12.0313 # [m] - aeroMod : 1 # 0 aerodynamics off; 1 aerodynamics on - - - blade: - precurveTip : -3.9999999999999964 # - presweepTip : 0.0 # - Rtip : 120.96999999936446 # rotor radius - - # r chord theta precurve presweep - geometry: - - [ 8.004, 5.228, 15.474, 0.035, 0.000 ] - - [ 12.039, 5.321, 14.692, 0.084, 0.000 ] - - [ 16.073, 5.458, 13.330, 0.139, 0.000 ] - - [ 20.108, 5.602, 11.644, 0.192, 0.000 ] - - [ 24.142, 5.718, 9.927, 0.232, 0.000 ] - - [ 28.177, 5.767, 8.438, 0.250, 0.000 ] - - [ 32.211, 5.713, 7.301, 0.250, 0.000 ] - - [ 36.246, 5.536, 6.232, 0.246, 0.000 ] - - [ 40.280, 5.291, 5.230, 0.240, 0.000 ] - - [ 44.315, 5.035, 4.348, 0.233, 0.000 ] - - [ 48.349, 4.815, 3.606, 0.218, 0.000 ] - - [ 52.384, 4.623, 2.978, 0.178, 0.000 ] - - [ 56.418, 4.432, 2.423, 0.100, 0.000 ] - - [ 60.453, 4.245, 1.924, 0.000, 0.000 ] - - [ 64.487, 4.065, 1.467, -0.112, 0.000 ] - - [ 68.522, 3.896, 1.056, -0.244, 0.000 ] - - [ 72.556, 3.735, 0.692, -0.415, 0.000 ] - - [ 76.591, 3.579, 0.355, -0.620, 0.000 ] - - [ 80.625, 3.425, 0.019, -0.846, 0.000 ] - - [ 84.660, 3.268, -0.358, -1.080, 0.000 ] - - [ 88.694, 3.112, -0.834, -1.330, 0.000 ] - - [ 92.729, 2.957, -1.374, -1.602, 0.000 ] - - [ 96.763, 2.800, -1.848, -1.895, 0.000 ] - - [ 100.798, 2.637, -2.136, -2.202, 0.000 ] - - [ 104.832, 2.464, -2.172, -2.523, 0.000 ] - - [ 108.867, 2.283, -2.108, -2.864, 0.000 ] - - [ 112.901, 2.096, -1.953, -3.224, 0.000 ] - - [ 116.936, 1.902, -1.662, -3.605, 0.000 ] - # station(rel) airfoil name - airfoils: - - [ 0.00000, circular ] - - [ 0.02000, circular ] - - [ 0.15000, SNL-FFA-W3-500 ] - - [ 0.24517, FFA-W3-360 ] - - [ 0.32884, FFA-W3-330blend ] - - [ 0.43918, FFA-W3-301 ] - - [ 0.53767, FFA-W3-270blend ] - - [ 0.63821, FFA-W3-241 ] - - [ 0.77174, FFA-W3-211 ] - - [ 1.00000, FFA-W3-211 ] - - - airfoils: - - name : circular # - relative_thickness : 1.0 # - data: # alpha c_l c_d c_m - - [ -179.9087, 0.00010, 0.35000, -0.00010 ] - - [ 179.9087, 0.00010, 0.35000, -0.00010 ] - - name : SNL-FFA-W3-500 # - relative_thickness : 0.5 # - data: # alpha c_l c_d c_m - - [ -179.9660, 0.00000, 0.08440, 0.00000 ] - - [ -170.0000, 0.44190, 0.08440, 0.31250 ] - - [ -160.0002, 0.88370, 0.12680, 0.28310 ] - - [ -149.9998, 0.96740, 0.29270, 0.26320 ] - - [ -139.9999, 0.78010, 0.49700, 0.20480 ] - - [ -130.0001, 0.62930, 0.71610, 0.19320 ] - - [ -120.0003, 0.47850, 0.92460, 0.20080 ] - - [ -109.9999, 0.31890, 1.09850, 0.21360 ] - - [ -100.0000, 0.15530, 1.21820, 0.22210 ] - - [ -90.0002, 0.00000, 1.27070, 0.21980 ] - - [ -79.9998, -0.15530, 1.21820, 0.19600 ] - - [ -70.0000, -0.31890, 1.09850, 0.16350 ] - - [ -60.0001, -0.47840, 0.92460, 0.12850 ] - - [ -49.9997, -0.62930, 0.71610, 0.09650 ] - - [ -39.9999, -0.78010, 0.49700, 0.07160 ] - - [ -30.0001, -0.96740, 0.29270, 0.05220 ] - - [ -20.0002, -1.02810, 0.14990, -0.00630 ] - - [ -19.7499, -1.02430, 0.14720, -0.00890 ] - - [ -19.2502, -1.00520, 0.14470, -0.00990 ] - - [ -18.9999, -0.99710, 0.14330, -0.01050 ] - - [ -18.7500, -1.00520, 0.14030, -0.01100 ] - - [ -18.5002, -0.99950, 0.13860, -0.01160 ] - - [ -18.2499, -0.99080, 0.13730, -0.01200 ] - - [ -18.0000, -0.98150, 0.13600, -0.01260 ] - - [ -17.4998, -0.97640, 0.13220, -0.01350 ] - - [ -17.2500, -0.97050, 0.13060, -0.01390 ] - - [ -17.0002, -0.96550, 0.12900, -0.01430 ] - - [ -16.7498, -0.96620, 0.12680, -0.01470 ] - - [ -16.5000, -0.95440, 0.12580, -0.01510 ] - - [ -16.2502, -0.94440, 0.12460, -0.01550 ] - - [ -15.9998, -0.94050, 0.12290, -0.01580 ] - - [ -15.7500, -0.94330, 0.12060, -0.01610 ] - - [ -15.5002, -0.93300, 0.11950, -0.01640 ] - - [ -15.2498, -0.92110, 0.11850, -0.01680 ] - - [ -14.7502, -0.91580, 0.11500, -0.01730 ] - - [ -14.4998, -0.90700, 0.11380, -0.01750 ] - - [ -14.2500, -0.89590, 0.11270, -0.01780 ] - - [ -14.0002, -0.89260, 0.11100, -0.01810 ] - - [ -13.7498, -0.88080, 0.11000, -0.01840 ] - - [ -13.5000, -0.87220, 0.10890, -0.01860 ] - - [ -13.2502, -0.86600, 0.10750, -0.01880 ] - - [ -12.9998, -0.86260, 0.10590, -0.01880 ] - - [ -12.7500, -0.84890, 0.10510, -0.01920 ] - - [ -12.5002, -0.83630, 0.10420, -0.01940 ] - - [ -12.2498, -0.83630, 0.10230, -0.01940 ] - - [ -12.0000, -0.82710, 0.10130, -0.01960 ] - - [ -11.7502, -0.81410, 0.10040, -0.01980 ] - - [ -11.4998, -0.80040, 0.09970, -0.02000 ] - - [ -11.0002, -0.78900, 0.09710, -0.01990 ] - - [ -10.7498, -0.78620, 0.09560, -0.01960 ] - - [ -10.5000, -0.77470, 0.09480, -0.01940 ] - - [ -10.2502, -0.77010, 0.09400, -0.01840 ] - - [ -9.9998, -0.76740, 0.09250, -0.01830 ] - - [ -9.7500, -0.75060, 0.09170, -0.01920 ] - - [ -9.5002, -0.72900, 0.09120, -0.02050 ] - - [ -9.2498, -0.70950, 0.09020, -0.02240 ] - - [ -9.0000, -0.68550, 0.08950, -0.02470 ] - - [ -8.7502, -0.65900, 0.08910, -0.02670 ] - - [ -8.4998, -0.63190, 0.08870, -0.02870 ] - - [ -8.2500, -0.60190, 0.08790, -0.03200 ] - - [ -8.0002, -0.57180, 0.08750, -0.03450 ] - - [ -7.7498, -0.54240, 0.08730, -0.03670 ] - - [ -7.5000, -0.50980, 0.08680, -0.03990 ] - - [ -7.2502, -0.47670, 0.08640, -0.04300 ] - - [ -6.9998, -0.44540, 0.08620, -0.04530 ] - - [ -6.7500, -0.41420, 0.08600, -0.04760 ] - - [ -6.5002, -0.37910, 0.08560, -0.05100 ] - - [ -6.2498, -0.34600, 0.08530, -0.05380 ] - - [ -6.0000, -0.31440, 0.08520, -0.05600 ] - - [ -5.7502, -0.28170, 0.08500, -0.05860 ] - - [ -5.4998, -0.24610, 0.08470, -0.06190 ] - - [ -5.2500, -0.21330, 0.08460, -0.06440 ] - - [ -5.0002, -0.18270, 0.08450, -0.06630 ] - - [ -4.7498, -0.14940, 0.08430, -0.06880 ] - - [ -4.5000, -0.11580, 0.08420, -0.07150 ] - - [ -4.2502, -0.08370, 0.08400, -0.07370 ] - - [ -3.9998, -0.05290, 0.08400, -0.07560 ] - - [ -3.7500, -0.02250, 0.08390, -0.07740 ] - - [ -3.5002, 0.00890, 0.08380, -0.07930 ] - - [ -3.2498, 0.03920, 0.08380, -0.08110 ] - - [ -3.0000, 0.06860, 0.08380, -0.08260 ] - - [ -2.7502, 0.09740, 0.08380, -0.08380 ] - - [ -2.4998, 0.12600, 0.08380, -0.08520 ] - - [ -2.2500, 0.15550, 0.08380, -0.08670 ] - - [ -2.0002, 0.18530, 0.08380, -0.08830 ] - - [ -1.7498, 0.21460, 0.08370, -0.08970 ] - - [ -1.5000, 0.24300, 0.08370, -0.09100 ] - - [ -1.2502, 0.27130, 0.08380, -0.09210 ] - - [ -0.9998, 0.30060, 0.08380, -0.09360 ] - - [ -0.7500, 0.32950, 0.08380, -0.09490 ] - - [ -0.5002, 0.35780, 0.08380, -0.09610 ] - - [ -0.2498, 0.38570, 0.08380, -0.09720 ] - - [ 0.0000, 0.41350, 0.08380, -0.09830 ] - - [ 0.2298, 0.44250, 0.08390, -0.09950 ] - - [ 0.4698, 0.47150, 0.08390, -0.10080 ] - - [ 0.7002, 0.50030, 0.08390, -0.10190 ] - - [ 0.9402, 0.52860, 0.08400, -0.10290 ] - - [ 1.1700, 0.55670, 0.08400, -0.10400 ] - - [ 1.3997, 0.58500, 0.08410, -0.10500 ] - - [ 1.6398, 0.61350, 0.08410, -0.10610 ] - - [ 1.8701, 0.64170, 0.08420, -0.10720 ] - - [ 2.1102, 0.66970, 0.08420, -0.10820 ] - - [ 2.3400, 0.69750, 0.08430, -0.10910 ] - - [ 2.5697, 0.72510, 0.08430, -0.11000 ] - - [ 2.8098, 0.75280, 0.08440, -0.11090 ] - - [ 3.0401, 0.78070, 0.08450, -0.11190 ] - - [ 3.2802, 0.80830, 0.08460, -0.11280 ] - - [ 3.5099, 0.83580, 0.08460, -0.11370 ] - - [ 3.7403, 0.86310, 0.08470, -0.11460 ] - - [ 3.9798, 0.89020, 0.08470, -0.11530 ] - - [ 4.2101, 0.91730, 0.08480, -0.11610 ] - - [ 4.4502, 0.94440, 0.08490, -0.11700 ] - - [ 4.6799, 0.97130, 0.08500, -0.11780 ] - - [ 4.9102, 0.99810, 0.08510, -0.11850 ] - - [ 5.1497, 1.02490, 0.08520, -0.11920 ] - - [ 5.3801, 1.05150, 0.08530, -0.11990 ] - - [ 5.6201, 1.07790, 0.08530, -0.12060 ] - - [ 5.8499, 1.10410, 0.08540, -0.12120 ] - - [ 6.0802, 1.13020, 0.08560, -0.12180 ] - - [ 6.3197, 1.15600, 0.08570, -0.12240 ] - - [ 6.5501, 1.18180, 0.08580, -0.12300 ] - - [ 6.7901, 1.20760, 0.08590, -0.12350 ] - - [ 7.0199, 1.23340, 0.08600, -0.12400 ] - - [ 7.2502, 1.25890, 0.08610, -0.12450 ] - - [ 7.4903, 1.28410, 0.08620, -0.12500 ] - - [ 7.7200, 1.30880, 0.08640, -0.12540 ] - - [ 7.9601, 1.33310, 0.08650, -0.12570 ] - - [ 8.1899, 1.35700, 0.08670, -0.12590 ] - - [ 8.4202, 1.38100, 0.08690, -0.12620 ] - - [ 8.6603, 1.40540, 0.08700, -0.12650 ] - - [ 8.8900, 1.42950, 0.08710, -0.12670 ] - - [ 9.1198, 1.45310, 0.08730, -0.12700 ] - - [ 9.8801, 1.51540, 0.08790, -0.12650 ] - - [ 10.6398, 1.57490, 0.08860, -0.12560 ] - - [ 11.4001, 1.61510, 0.08950, -0.12140 ] - - [ 12.1501, 1.64430, 0.09120, -0.11630 ] - - [ 12.9099, 1.68240, 0.09300, -0.11330 ] - - [ 13.6702, 1.71460, 0.09540, -0.11070 ] - - [ 14.4202, 1.73620, 0.09890, -0.10800 ] - - [ 15.1799, 1.76270, 0.10240, -0.10630 ] - - [ 15.9403, 1.77060, 0.10760, -0.10420 ] - - [ 16.6903, 1.76390, 0.11440, -0.10250 ] - - [ 17.4500, 1.76040, 0.12110, -0.10130 ] - - [ 18.2097, 1.72510, 0.13100, -0.10010 ] - - [ 18.9701, 1.70350, 0.13990, -0.09980 ] - - [ 19.7201, 1.67840, 0.14920, -0.10010 ] - - [ 20.4798, 1.65050, 0.15910, -0.10160 ] - - [ 21.2401, 1.62270, 0.16910, -0.10360 ] - - [ 21.9901, 1.60670, 0.17780, -0.10640 ] - - [ 22.7499, 1.59720, 0.18580, -0.10990 ] - - [ 23.5102, 1.58920, 0.19370, -0.11360 ] - - [ 24.2602, 1.58150, 0.20140, -0.11800 ] - - [ 25.0199, 1.55630, 0.21350, -0.12490 ] - - [ 25.7802, 1.52720, 0.22670, -0.13250 ] - - [ 26.5302, 1.49820, 0.23990, -0.14000 ] - - [ 27.2900, 1.46910, 0.25310, -0.14760 ] - - [ 28.0497, 1.44010, 0.26630, -0.15510 ] - - [ 28.8100, 1.41100, 0.27950, -0.16270 ] - - [ 29.5600, 1.38200, 0.29270, -0.17030 ] - - [ 30.3198, 1.36220, 0.30780, -0.17400 ] - - [ 31.0801, 1.34240, 0.32300, -0.17770 ] - - [ 31.8301, 1.32250, 0.33810, -0.18150 ] - - [ 32.5898, 1.30270, 0.35320, -0.18520 ] - - [ 33.3502, 1.28290, 0.36840, -0.18890 ] - - [ 34.1002, 1.26310, 0.38350, -0.19260 ] - - [ 34.8599, 1.24330, 0.39870, -0.19640 ] - - [ 35.6202, 1.22340, 0.41380, -0.20010 ] - - [ 36.3800, 1.20360, 0.42890, -0.20390 ] - - [ 37.1300, 1.18380, 0.44410, -0.20760 ] - - [ 37.8903, 1.16400, 0.45920, -0.21130 ] - - [ 38.6500, 1.14420, 0.47430, -0.21500 ] - - [ 39.4000, 1.12430, 0.48950, -0.21880 ] - - [ 40.1598, 1.10640, 0.50520, -0.22180 ] - - [ 40.9201, 1.09050, 0.52140, -0.22420 ] - - [ 41.6701, 1.07450, 0.53760, -0.22660 ] - - [ 42.4298, 1.05860, 0.55380, -0.22890 ] - - [ 43.1901, 1.04260, 0.57010, -0.23130 ] - - [ 43.9401, 1.02670, 0.58630, -0.23370 ] - - [ 44.6999, 1.01070, 0.60250, -0.23610 ] - - [ 45.4602, 0.99480, 0.61880, -0.23840 ] - - [ 46.2199, 0.97880, 0.63500, -0.24080 ] - - [ 46.9699, 0.96280, 0.65120, -0.24320 ] - - [ 47.7302, 0.94690, 0.66750, -0.24550 ] - - [ 48.4900, 0.93090, 0.68370, -0.24790 ] - - [ 49.2400, 0.91500, 0.69990, -0.25030 ] - - [ 49.9997, 0.89900, 0.71610, -0.25270 ] - - [ 60.0001, 0.68360, 0.92460, -0.28330 ] - - [ 70.0000, 0.45560, 1.09850, -0.31560 ] - - [ 79.9998, 0.22190, 1.21820, -0.34820 ] - - [ 90.0002, 0.00000, 1.27070, -0.37730 ] - - [ 100.0000, -0.15530, 1.21820, -0.38770 ] - - [ 109.9999, -0.31890, 1.09850, -0.38650 ] - - [ 120.0003, -0.47840, 0.92460, -0.38060 ] - - [ 130.0001, -0.62930, 0.71610, -0.38030 ] - - [ 139.9999, -0.78010, 0.49700, -0.40320 ] - - [ 149.9998, -0.96740, 0.29270, -0.48540 ] - - [ 160.0002, -0.88370, 0.12680, -0.53250 ] - - [ 170.0000, -0.44180, 0.08440, -0.39060 ] - - [ 179.9660, 0.00000, 0.08440, 0.00000 ] - - name : FFA-W3-211 # - relative_thickness : 0.211 # - data: # alpha c_l c_d c_m - - [ -179.9087, 0.00000, 0.02464, 0.00000 ] - - [ -177.7143, 0.05403, 0.02534, 0.09143 ] - - [ -175.4286, 0.10805, 0.02742, 0.18286 ] - - [ -173.1429, 0.16208, 0.03088, 0.27429 ] - - [ -170.8572, 0.21610, 0.03570, 0.36571 ] - - [ -168.5716, 0.27013, 0.05599, 0.39192 ] - - [ -166.2857, 0.32415, 0.08143, 0.37898 ] - - [ -164.0000, 0.37818, 0.11112, 0.36605 ] - - [ -161.7145, 0.43220, 0.14485, 0.35312 ] - - [ -159.4284, 0.48623, 0.18242, 0.34768 ] - - [ -157.1428, 0.54025, 0.22359, 0.36471 ] - - [ -154.8573, 0.59428, 0.26810, 0.38175 ] - - [ -152.5714, 0.64830, 0.31566, 0.39878 ] - - [ -150.2857, 0.70233, 0.36597, 0.41581 ] - - [ -148.0000, 0.75635, 0.41871, 0.41955 ] - - [ -143.8571, 0.73188, 0.51941, 0.42287 ] - - [ -139.7143, 0.70655, 0.62488, 0.42632 ] - - [ -135.5714, 0.67760, 0.73293, 0.43163 ] - - [ -131.4286, 0.64333, 0.84130, 0.43694 ] - - [ -127.2857, 0.60277, 0.94773, 0.44389 ] - - [ -123.1429, 0.55550, 1.05001, 0.45171 ] - - [ -119.0000, 0.50156, 1.14600, 0.45897 ] - - [ -114.8571, 0.44131, 1.23371, 0.46448 ] - - [ -110.7143, 0.37542, 1.31129, 0.46998 ] - - [ -106.5714, 0.30482, 1.37714, 0.47096 ] - - [ -102.4286, 0.23063, 1.42988, 0.47101 ] - - [ -98.2857, 0.15413, 1.46842, 0.46824 ] - - [ -94.1429, 0.07675, 1.49196, 0.46149 ] - - [ -90.0000, 0.00000, 1.50000, 0.45474 ] - - [ -85.8571, -0.07675, 1.49196, 0.44026 ] - - [ -81.7143, -0.15413, 1.46842, 0.42578 ] - - [ -77.5714, -0.23063, 1.42988, 0.40821 ] - - [ -73.4286, -0.30482, 1.37714, 0.38846 ] - - [ -69.2857, -0.37542, 1.31129, 0.36815 ] - - [ -65.1429, -0.44131, 1.23371, 0.34519 ] - - [ -61.0000, -0.50156, 1.14600, 0.32223 ] - - [ -56.8571, -0.55550, 1.05001, 0.29864 ] - - [ -52.7143, -0.60277, 0.94773, 0.27486 ] - - [ -48.5714, -0.64333, 0.84130, 0.25128 ] - - [ -44.4286, -0.67760, 0.73293, 0.22810 ] - - [ -40.2857, -0.70655, 0.62488, 0.20491 ] - - [ -36.1429, -0.73188, 0.51941, 0.15416 ] - - [ -32.0000, -0.75635, 0.41871, 0.10137 ] - - [ -28.0000, -0.85636, 0.28691, 0.06527 ] - - [ -24.0000, -1.18292, 0.13960, 0.01647 ] - - [ -20.0000, -1.23596, 0.08345, -0.00352 ] - - [ -18.0000, -1.22536, 0.06509, -0.00672 ] - - [ -16.0000, -1.20476, 0.04888, -0.00881 ] - - [ -14.0000, -1.18332, 0.03417, -0.01101 ] - - [ -12.0000, -1.10093, 0.02132, -0.02269 ] - - [ -10.0000, -0.88209, 0.01386, -0.04397 ] - - [ -8.0000, -0.62981, 0.01075, -0.05756 ] - - [ -6.0000, -0.37670, 0.00882, -0.06747 ] - - [ -4.0000, -0.12177, 0.00702, -0.07680 ] - - [ -2.0000, 0.12810, 0.00663, -0.08283 ] - - [ -1.0000, 0.25192, 0.00664, -0.08534 ] - - [ 0.0000, 0.37535, 0.00670, -0.08777 ] - - [ 1.0000, 0.49828, 0.00681, -0.09011 ] - - [ 2.0000, 0.62052, 0.00698, -0.09234 ] - - [ 3.0000, 0.74200, 0.00720, -0.09447 ] - - [ 4.0000, 0.86238, 0.00751, -0.09646 ] - 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- [ 32.0000, 1.39203, 0.35131, -0.19417 ] - - [ 36.1429, 1.27731, 0.43913, -0.21792 ] - - [ 40.2857, 1.17689, 0.53115, -0.24115 ] - - [ 44.4286, 1.08350, 0.62546, -0.25734 ] - - [ 48.5714, 0.99253, 0.72010, -0.27354 ] - - [ 52.7143, 0.90112, 0.81310, -0.28862 ] - - [ 56.8571, 0.80760, 0.90255, -0.30311 ] - - [ 61.0000, 0.71119, 0.98659, -0.31757 ] - - [ 65.1429, 0.61175, 1.06348, -0.33194 ] - - [ 69.2857, 0.50971, 1.13162, -0.34631 ] - - [ 73.4286, 0.40589, 1.18963, -0.36014 ] - - [ 77.5714, 0.30146, 1.23629, -0.37385 ] - - [ 81.7143, 0.19788, 1.27067, -0.38681 ] - - [ 85.8571, 0.09679, 1.29204, -0.39872 ] - - [ 90.0000, 0.00000, 1.30000, -0.41063 ] - - [ 94.1429, -0.06775, 1.29204, -0.41683 ] - - [ 98.2857, -0.13851, 1.27067, -0.42303 ] - - [ 102.4286, -0.21103, 1.23629, -0.42628 ] - - [ 106.5714, -0.28412, 1.18963, -0.42745 ] - - [ 110.7143, -0.35680, 1.13162, -0.42817 ] - - [ 114.8571, -0.42823, 1.06348, -0.42673 ] - - [ 119.0000, -0.49783, 0.98659, -0.42528 ] - - [ 123.1429, -0.56532, 0.90255, -0.42535 ] - - [ 127.2857, -0.63079, 0.81310, -0.42589 ] - - [ 131.4286, -0.69477, 0.72010, -0.42974 ] - - [ 135.5714, -0.75845, 0.62546, -0.43985 ] - - [ 139.7143, -0.82382, 0.53115, -0.44996 ] - - [ 143.8571, -0.89412, 0.43913, -0.46839 ] - - [ 148.0000, -0.97442, 0.35131, -0.48743 ] - - [ 150.2857, -0.90482, 0.30532, -0.49447 ] - - [ 152.5714, -0.83522, 0.26146, -0.47732 ] - - [ 154.8571, -0.76562, 0.22000, -0.46017 ] - - [ 157.1429, -0.69601, 0.18121, -0.44302 ] - - [ 159.4286, -0.62641, 0.14533, -0.42586 ] - - [ 161.7143, -0.55681, 0.11258, -0.43502 ] - - [ 164.0000, -0.48721, 0.08319, -0.45294 ] - - [ 166.2857, -0.41761, 0.05732, -0.47087 ] - - [ 168.5714, -0.34801, 0.04638, -0.48880 ] - - [ 170.8571, -0.27841, 0.04114, -0.45714 ] - - [ 173.1429, -0.20880, 0.03702, -0.34286 ] - - [ 175.4286, -0.13920, 0.03406, -0.22857 ] - - [ 177.7143, -0.06960, 0.03228, -0.11429 ] - - [ 179.9087, 0.00000, 0.03169, 0.00000 ] - - name : FFA-W3-360 # - relative_thickness : 0.36 # - data: # alpha c_l c_d c_m - - [ -179.9087, 0.00000, 0.03715, 0.00000 ] - - [ -177.7143, 0.07178, 0.03774, 0.09143 ] - - [ -175.4286, 0.14356, 0.03951, 0.18286 ] - - [ -173.1429, 0.21534, 0.04245, 0.27429 ] - - [ -170.8572, 0.28713, 0.04653, 0.36571 ] - - [ -168.5716, 0.35891, 0.05174, 0.40313 ] - - [ -166.2857, 0.43069, 0.06068, 0.40814 ] - - [ -164.0000, 0.50247, 0.08651, 0.41315 ] - - [ -161.7145, 0.57425, 0.11586, 0.41816 ] - - [ -159.4284, 0.64603, 0.14856, 0.42627 ] - - [ -157.1428, 0.71781, 0.18439, 0.44370 ] - - [ -154.8573, 0.78960, 0.22313, 0.46114 ] - - [ -152.5714, 0.86138, 0.26453, 0.47857 ] - - [ -150.2857, 0.93316, 0.30832, 0.49600 ] - - [ -148.0000, 1.00494, 0.35424, 0.48830 ] - - [ -143.8571, 0.91898, 0.44192, 0.46784 ] - - [ -139.7143, 0.84406, 0.53379, 0.44803 ] - - [ -135.5714, 0.77483, 0.62793, 0.43697 ] - - [ -131.4286, 0.70790, 0.72238, 0.42591 ] - - [ -127.2857, 0.64116, 0.81520, 0.42150 ] - - [ -123.1429, 0.57335, 0.90444, 0.42058 ] - - [ -119.0000, 0.50388, 0.98826, 0.42024 ] - - [ -114.8571, 0.43261, 1.06493, 0.42168 ] - - [ -110.7143, 0.35981, 1.13285, 0.42312 ] - - [ -106.5714, 0.28603, 1.19061, 0.42258 ] - - [ -102.4286, 0.21209, 1.23704, 0.42163 ] - - [ -98.2857, 0.13899, 1.27116, 0.41864 ] - - [ -94.1429, 0.06787, 1.29229, 0.41277 ] - - [ -90.0000, 0.00000, 1.30000, 0.40690 ] - - [ -85.8571, -0.06787, 1.29229, 0.39426 ] - - [ -81.7143, -0.13899, 1.27116, 0.38162 ] - - [ -77.5714, -0.21209, 1.23704, 0.36676 ] - - [ -73.4286, -0.28603, 1.19061, 0.35033 ] - - [ -69.2857, -0.35981, 1.13285, 0.33362 ] - - [ -65.1429, -0.43261, 1.06493, 0.31561 ] - - [ -61.0000, -0.50388, 0.98826, 0.29759 ] - - [ -56.8571, -0.57335, 0.90444, 0.27989 ] - - [ -52.7143, -0.64116, 0.81520, 0.26230 ] - - [ -48.5714, -0.70790, 0.72238, 0.24491 ] - - [ -44.4286, -0.77483, 0.62793, 0.22794 ] - - [ -40.2857, -0.84406, 0.53379, 0.21097 ] - - [ -36.1429, -0.91898, 0.44192, 0.13525 ] - - [ -32.0000, -1.00494, 0.35424, 0.05517 ] - - [ -28.0000, -1.11306, 0.20494, 0.03211 ] - - [ -24.0000, -1.05425, 0.15434, 0.01268 ] - - [ -20.0000, -0.98247, 0.10967, -0.00282 ] - - [ -18.0000, -0.94173, 0.09249, -0.00741 ] - - [ -16.0000, -0.89333, 0.07597, -0.01107 ] - - [ -14.0000, -0.85472, 0.06054, -0.01250 ] - - [ -12.0000, -0.82348, 0.04641, -0.01177 ] - - [ -10.0000, -0.79541, 0.03441, -0.01082 ] - - [ -8.0000, -0.63650, 0.02548, -0.02769 ] - - [ -6.0000, -0.39095, 0.01994, -0.05107 ] - - [ -4.0000, -0.13071, 0.01653, -0.07148 ] - - [ -2.0000, 0.16173, 0.01507, -0.09179 ] - - [ -1.0000, 0.31121, 0.01477, -0.10119 ] - - [ 0.0000, 0.45956, 0.01465, -0.10988 ] - - [ 1.0000, 0.60566, 0.01466, -0.11776 ] - - [ 2.0000, 0.74868, 0.01481, -0.12477 ] - - [ 3.0000, 0.88862, 0.01507, -0.13098 ] - - [ 4.0000, 1.02544, 0.01544, -0.13648 ] - - [ 5.0000, 1.15878, 0.01593, -0.14130 ] - - [ 6.0000, 1.28822, 0.01654, -0.14540 ] - - [ 7.0000, 1.41282, 0.01731, -0.14875 ] - - [ 8.0000, 1.53090, 0.01831, -0.15118 ] - - [ 9.0000, 1.64065, 0.01963, -0.15262 ] - - [ 10.0000, 1.73926, 0.02150, -0.15310 ] - - [ 11.0000, 1.81971, 0.02445, -0.15254 ] - - [ 12.0000, 1.87065, 0.02966, -0.15121 ] - - [ 13.0000, 1.89221, 0.03770, -0.14969 ] - - [ 14.0000, 1.87910, 0.04824, -0.14562 ] - - [ 15.0000, 1.88111, 0.05838, -0.14358 ] - - [ 16.0000, 1.86359, 0.06992, -0.14095 ] - - [ 18.0000, 1.73324, 0.10166, -0.13711 ] - - [ 20.0000, 1.59357, 0.13916, -0.14082 ] - - [ 24.0000, 1.46708, 0.21002, -0.15693 ] - - [ 28.0000, 1.44834, 0.28200, -0.17979 ] - - [ 32.0000, 1.43563, 0.35424, -0.20147 ] - - [ 36.1429, 1.31283, 0.44192, -0.22409 ] - - [ 40.2857, 1.20580, 0.53379, -0.24619 ] - - [ 44.4286, 1.10690, 0.62793, -0.26133 ] - - [ 48.5714, 1.01129, 0.72238, -0.27648 ] - - [ 52.7143, 0.91594, 0.81520, -0.29062 ] - - [ 56.8571, 0.81907, 0.90444, -0.30424 ] - - [ 61.0000, 0.71982, 0.98826, -0.31787 ] - - [ 65.1429, 0.61801, 1.06493, -0.33154 ] - - [ 69.2857, 0.51401, 1.13285, -0.34522 ] - - [ 73.4286, 0.40862, 1.19061, -0.35846 ] - - [ 77.5714, 0.30299, 1.23704, -0.37161 ] - - [ 81.7143, 0.19855, 1.27116, -0.38405 ] - - [ 85.8571, 0.09695, 1.29229, -0.39547 ] - - [ 90.0000, 0.00000, 1.30000, -0.40690 ] - - [ 94.1429, -0.06787, 1.29229, -0.41277 ] - - [ 98.2857, -0.13899, 1.27116, -0.41864 ] - - [ 102.4286, -0.21209, 1.23704, -0.42163 ] - - [ 106.5714, -0.28603, 1.19061, -0.42258 ] - - [ 110.7143, -0.35981, 1.13285, -0.42312 ] - - [ 114.8571, -0.43261, 1.06493, -0.42168 ] - - [ 119.0000, -0.50388, 0.98826, -0.42024 ] - - [ 123.1429, -0.57335, 0.90444, -0.42058 ] - - [ 127.2857, -0.64116, 0.81520, -0.42150 ] - - [ 131.4286, -0.70790, 0.72238, -0.42591 ] - - [ 135.5714, -0.77483, 0.62793, -0.43697 ] - - [ 139.7143, -0.84406, 0.53379, -0.44803 ] - - [ 143.8571, -0.91898, 0.44192, -0.46784 ] - - [ 148.0000, -1.00494, 0.35424, -0.48830 ] - - [ 150.2857, -0.93316, 0.30832, -0.49600 ] - - [ 152.5714, -0.86138, 0.26453, -0.47857 ] - - [ 154.8571, -0.78960, 0.22313, -0.46114 ] - - [ 157.1429, -0.71781, 0.18439, -0.44370 ] - - [ 159.4286, -0.64603, 0.14856, -0.42627 ] - - [ 161.7143, -0.57425, 0.11586, -0.43530 ] - - [ 164.0000, -0.50247, 0.08651, -0.45315 ] - - [ 166.2857, -0.43069, 0.06068, -0.47100 ] - - [ 168.5714, -0.35891, 0.05174, -0.48884 ] - - [ 170.8571, -0.28713, 0.04653, -0.45714 ] - - [ 173.1429, -0.21534, 0.04245, -0.34286 ] - - [ 175.4286, -0.14356, 0.03951, -0.22857 ] - - [ 177.7143, -0.07178, 0.03774, -0.11429 ] - - [ 179.9087, 0.00000, 0.03715, 0.00000 ] - - - - pitch_control: - GS_Angles: [0.06019804, 0.08713416, 0.10844806, 0.12685912, 0.14339822, 0.1586021 , 0.17279614, 0.18618935, 0.19892772, 0.21111989, 0.22285021, 0.23417256, 0.2451469 , 0.25580691, 0.26619545, 0.27632495, 0.28623134, 0.29593266, 0.30544521, 0.314779 , 0.32395154, 0.33297489, 0.3418577 , 0.35060844, 0.35923641, 0.36774807, 0.37614942, 0.38444655, 0.39264363, 0.40074407] - GS_Kp: [-0.9394215 , -0.80602855, -0.69555026, -0.60254912, -0.52318192, -0.45465531, -0.39489024, -0.34230736, -0.29568537, -0.25406506, -0.2166825 , -0.18292183, -0.15228099, -0.12434663, -0.09877533, -0.0752794 , -0.05361604, -0.0335789 , -0.01499149, 0.00229803, 0.01842102, 0.03349169, 0.0476098 , 0.0608629 , 0.07332812, 0.0850737 , 0.0961602 , 0.10664158, 0.11656607, 0.12597691] - GS_Ki: [-0.07416547, -0.06719673, -0.0614251 , -0.05656651, -0.0524202 , -0.04884022, -0.04571796, -0.04297091, -0.04053528, -0.03836094, -0.03640799, -0.03464426, -0.03304352, -0.03158417, -0.03024826, -0.02902079, -0.02788904, -0.02684226, -0.02587121, -0.02496797, -0.02412567, -0.02333834, -0.02260078, -0.02190841, -0.0212572 , -0.02064359, -0.0200644 , -0.01951683, -0.01899836, -0.01850671] - Fl_Kp: -9.35 - wt_ops: - v: [3.0, 3.266896551724138, 3.533793103448276, 3.800689655172414, 4.067586206896552, 4.334482758620689, 4.601379310344828, 4.868275862068966, 5.135172413793104, 5.402068965517241, 5.6689655172413795, 5.935862068965518, 6.2027586206896554, 6.469655172413793, 6.736551724137931, 7.00344827586207, 7.270344827586207, 7.537241379310345, 7.804137931034483, 8.071034482758622, 8.337931034482759, 8.604827586206897, 8.871724137931036, 9.138620689655173, 9.405517241379311, 9.672413793103448, 9.939310344827586, 10.206206896551725, 10.473103448275863, 10.74, 11.231724137931035, 11.723448275862069, 12.215172413793104, 12.706896551724139, 13.198620689655172, 13.690344827586207, 14.182068965517242, 14.673793103448276, 15.16551724137931, 15.657241379310346, 16.14896551724138, 16.640689655172416, 17.13241379310345, 17.624137931034483, 18.11586206896552, 18.607586206896553, 19.099310344827586, 19.591034482758623, 20.082758620689653, 20.57448275862069, 21.066206896551726, 21.557931034482756, 22.049655172413793, 22.54137931034483, 23.03310344827586, 23.524827586206897, 24.016551724137933, 24.508275862068963, 25.0] - pitch_op: [-0.25, -0.25, -0.25, -0.25, -0.25, -0.25, -0.25, -0.25, -0.25, -0.25, -0.25, -0.25, -0.25, -0.25, -0.25, -0.25, -0.25, -0.25, -0.25, -0.25, -0.25, -0.25, -0.25, -0.25, -0.25, -0.25, -0.25, -0.25, -0.25, -0.25, 3.57152, 5.12896, 6.36736, 7.43866, 8.40197, 9.28843, 10.1161, 10.8974, 11.641, 12.3529, 13.038, 13.6997, 14.3409, 14.9642, 15.5713, 16.1639, 16.7435, 17.3109, 17.8673, 18.4136, 18.9506, 19.4788, 19.9989, 20.5112, 21.0164, 21.5147, 22.0067, 22.4925, 22.9724] - omega_op: [2.1486, 2.3397, 2.5309, 2.722, 2.9132, 3.1043, 3.2955, 3.4866, 3.6778, 3.8689, 4.0601, 4.2512, 4.4424, 4.6335, 4.8247, 5.0159, 5.207, 5.3982, 5.5893, 5.7805, 5.9716, 6.1628, 6.3539, 6.5451, 6.7362, 6.9274, 7.1185, 7.3097, 7.5008, 7.56, 7.56, 7.56, 7.56, 7.56, 7.56, 7.56, 7.56, 7.56, 7.56, 7.56, 7.56, 7.56, 7.56, 7.56, 7.56, 7.56, 7.56, 7.56, 7.56, 7.56, 7.56, 7.56, 7.56, 7.56, 7.56, 7.56, 7.56, 7.56, 7.56] - gear_ratio: 1 - torque_control: - VS_KP: -38609162.66552 - VS_KI: -4588245.18720 - - - tower: # (could remove some entries that don't apply for the tower) - dlsMax : 5.0 # maximum node splitting section amount; can't be 0 - - name : tower # [-] an identifier (no longer has to be number) - type : 1 # [-] - rA : [ 0, 0, 15] # [m] end A coordinates - rB : [ 0, 0, 144.582] # [m] and B coordinates - shape : circ # [-] circular or rectangular - gamma : 0.0 # [deg] twist angle about the member's z-axis - - # --- outer shell including hydro--- - stations : [ 15, 28, 28.001, 41, 41.001, 54, 54.001, 67, 67.001, 80, 80.001, 93, 93.001, 106, 106.001, 119, 119.001, 132, 132.001, 144.582 ] # [-] location of stations along axis. Will be normalized such that start value maps to rA and end value to rB - d : [ 10, 9.964, 9.964, 9.967, 9.967, 9.927, 9.927, 9.528, 9.528, 9.149, 9.149, 8.945, 8.945, 8.735, 8.735, 8.405, 8.405, 7.321, 7.321, 6.5 ] # [m] diameters if circular or side lengths if rectangular (can be pairs) - t : [ 0.082954, 0.082954, 0.083073, 0.083073, 0.082799, 0.082799, 0.0299, 0.0299, 0.027842, 0.027842, 0.025567, 0.025567, 0.022854, 0.022854, 0.02025, 0.02025, 0.018339, 0.018339, 0.021211, 0.021211 ] # [m] wall thicknesses (scalar or list of same length as stations) - Cd : 0.0 # [-] transverse drag coefficient (optional, scalar or list of same length as stations) - Ca : 0.0 # [-] transverse added mass coefficient (optional, scalar or list of same length as stations) - # (neglecting axial coefficients for now) - CdEnd : 0.0 # [-] end axial drag coefficient (optional, scalar or list of same length as stations) - CaEnd : 0.0 # [-] end axial added mass coefficient (optional, scalar or list of same length as stations) - rho_shell : 7850 # [kg/m3] material density - - - - - - - -platform: - - potModMaster : 1 # [int] master switch for potMod variables; 0=keeps all member potMod vars the same, 1=turns all potMod vars to False (no HAMS), 2=turns all potMod vars to True (no strip) - potSecOrder : 2 # [int] master switch for computing second-order wave forces; 0=do not compute, 1=compute QTFs using slender body approximation, 2=read QTF file in WAMIT format (.11d or .12d) - dlsMax : 5.0 # maximum node splitting section amount for platform members; can't be 0 - qtfPath : 'examples\IEA-15-240-RWT-UMaineSemi.12d' # path to the qtf file for the platform - - members: # list all members here - - - name : center_column # [-] an identifier (no longer has to be number) - type : 2 # [-] - rA : [ 0, 0, -20] # [m] end A coordinates - rB : [ 0, 0, 15] # [m] and B coordinates - shape : circ # [-] circular or rectangular - gamma : 0.0 # [deg] twist angle about the member's z-axis - potMod : True # [bool] Whether to model the member with potential flow (BEM model) plus viscous drag or purely strip theory - # --- outer shell including hydro--- - stations : [0, 1] # [-] location of stations along axis. Will be normalized such that start value maps to rA and end value to rB - d : 10.0 # [m] diameters if circular or side lengths if rectangular (can be pairs) - t : 0.05 # [m] wall thicknesses (scalar or list of same length as stations) - Cd : 0.6 # [-] transverse drag coefficient (optional, scalar or list of same length as stations) - Ca : 0.93 # [-] transverse added mass coefficient (optional, scalar or list of same length as stations) - CdEnd : 0.6 # [-] end axial drag coefficient (optional, scalar or list of same length as stations) - CaEnd : 1.0 # [-] end axial added mass coefficient (optional, scalar or list of same length as stations) - rho_shell : 7850 # [kg/m3] - # --- handling of end caps or any internal structures if we need them --- - cap_stations : [ 0 ] # [m] location along member of any inner structures (in same scaling as set by 'stations') - cap_t : [ 0.001 ] # [m] thickness of any internal structures - cap_d_in : [ 0 ] # [m] inner diameter of internal structures (0 for full cap/bulkhead, >0 for a ring shape) - - - - name : outer_column # [-] an identifier (no longer has to be number) - type : 2 # [-] - rA : [51.75, 0, -20] # [m] end A coordinates - rB : [51.75, 0, 15] # [m] and B coordinates - heading : [ 60, 180, 300] # [deg] heading rotation of column about z axis (for repeated members) - shape : circ # [-] circular or rectangular - gamma : 0.0 # [deg] twist angle about the member's z-axis - potMod : True # [bool] Whether to model the member with potential flow (BEM model) plus viscous drag or purely strip theory - # --- outer shell including hydro--- - stations : [0, 1] # [-] location of stations along axis. Will be normalized such that start value maps to rA and end value to rB - d : 12.5 # [m] diameters if circular or side lengths if rectangular (can be pairs) - t : 0.05 # [m] wall thicknesses (scalar or list of same length as stations) - Cd : 0.6 # [-] transverse drag coefficient (optional, scalar or list of same length as stations) - Ca : 0.93 # [-] transverse added mass coefficient (optional, scalar or list of same length as stations) - CdEnd : 1.0 # [-] end axial drag coefficient (optional, scalar or list of same length as stations) - CaEnd : 0.7 # value of 3.0 gives more heave response # [-] end axial added mass coefficient (optional, scalar or list of same length as stations) - rho_shell : 7850 # [kg/m3] - # --- ballast --- - l_fill : 1.4 # [m] - rho_fill : 5000 # [kg/m3] - # --- handling of end caps or any internal structures if we need them --- - cap_stations : [ 0 ] # [m] location along member of any inner structures (in same scaling as set by 'stations') - cap_t : [ 0.001 ] # [m] thickness of any internal structures - cap_d_in : [ 0 ] # [m] inner diameter of internal structures (0 for full cap/bulkhead, >0 for a ring shape) - - - - name : pontoon # [-] an identifier (no longer has to be number) - type : 2 # [-] - rA : [ 5 , 0, -16.5] # [m] end A coordinates - rB : [ 45.5, 0, -16.5] # [m] and B coordinates - heading : [ 60, 180, 300] # [deg] heading rotation of column about z axis (for repeated members) - shape : rect # [-] circular or rectangular - gamma : 0.0 # [deg] twist angle about the member's z-axis - potMod : False # [bool] Whether to model the member with potential flow (BEM model) plus viscous drag or purely strip theory - # --- outer shell including hydro--- - stations : [0, 1] # [-] location of stations along axis. Will be normalized such that start value maps to rA and end value to rB - d : [12.4, 7.0] # [m] diameters if circular or side lengths if rectangular (can be pairs) - t : 0.05 # [m] wall thicknesses (scalar or list of same length as stations) - Cd : [1.5, 2.2 ] # [-] transverse drag coefficient (optional, scalar or list of same length as stations) - Ca : [2.2, 0.2 ] # [-] transverse added mass coefficient (optional, scalar or list of same length as stations) - CdEnd : 0.0 # [-] end axial drag coefficient (optional, scalar or list of same length as stations) - CaEnd : 0.0 # [-] end axial added mass coefficient (optional, scalar or list of same length as stations) - rho_shell : 7850 # [kg/m3] - l_fill : 43.0 # [m] - rho_fill : 1025.0 # [kg/m3] - - - - name : upper_support # [-] an identifier (no longer has to be number) - type : 2 # [-] - rA : [ 5 , 0, 14.545] # [m] end A coordinates - rB : [ 45.5, 0, 14.545] # [m] and B coordinates - heading : [ 60, 180, 300] # [deg] heading rotation of column about z axis (for repeated members) - shape : circ # [-] circular or rectangular - gamma : 0.0 # [deg] twist angle about the member's z-axis - potMod : False # [bool] Whether to model the member with potential flow (BEM model) plus viscous drag or purely strip theory - # --- outer shell including hydro--- - stations : [0, 1] # [-] location of stations along axis. Will be normalized such that start value maps to rA and end value to rB - d : 0.91 # [m] diameters if circular or side lengths if rectangular (can be pairs) - t : 0.01 # [m] wall thicknesses (scalar or list of same length as stations) - Cd : 0.0 # [-] transverse drag coefficient (optional, scalar or list of same length as stations) - Ca : 0.0 # [-] transverse added mass coefficient (optional, scalar or list of same length as stations) - CdEnd : 0.0 # [-] end axial drag coefficient (optional, scalar or list of same length as stations) - CaEnd : 0.0 # [-] end axial added mass coefficient (optional, scalar or list of same length as stations) - rho_shell : 7850 # [kg/m3] - - -mooring: - water_depth: 200 # [m] uniform water depth - - points: - - name: line1_anchor - type: fixed - location: [-837, 0.0, -200.0] - anchor_type: drag_embedment - - - name: line2_anchor - type: fixed - location: [418, 725, -200.0] - anchor_type: drag_embedment - - - name: line3_anchor - type: fixed - location: [418, -725, -200.0] - anchor_type: drag_embedment - - - name: line1_vessel - type: vessel - location: [-58, 0.0, -14.0] - - - name: line2_vessel - type: vessel - location: [29, 50, -14.0] - - - name: line3_vessel - type: vessel - location: [29, -50, -14.0] - - lines: - - name: line1 - endA: line1_anchor - endB: line1_vessel - type: chain - length: 850 - - - name: line2 - endA: line2_anchor - endB: line2_vessel - type: chain - length: 850 - - - name: line3 - endA: line3_anchor - endB: line3_vessel - type: chain - length: 850 - - line_types: - - name: chain - diameter: 0.185 - mass_density: 685.0 - stiffness: 3270e6 - breaking_load: 1e8 - cost: 100.0 - transverse_added_mass: 1.0 - tangential_added_mass: 0.0 - transverse_drag: 1.6 - tangential_drag: 0.1 - - anchor_types: - - name: drag_embedment - mass: 1e3 - cost: 1e4 - max_vertical_load: 0.0 - max_lateral_load: 1e5 - \ No newline at end of file diff --git a/raft/helpers.py b/raft/helpers.py index aa9cf06..f687ac1 100644 --- a/raft/helpers.py +++ b/raft/helpers.py @@ -133,36 +133,7 @@ def getWaveKin(zeta0, beta, w, k, h, r, nw, rho=1025.0, g=9.81): return u, ud, pDyn -# Convective acceleration -def getWaveKin_convecAcc(w1, w2, k1, k2, beta1, beta2, h, r, g=9.81): - acc = np.zeros(3, dtype=complex) - - b1 = deg2rad(beta1) - cosB1 = np.cos(b1) - sinB1 = np.sin(b1) - - b2 = deg2rad(beta2) - cosB2 = np.cos(b2) - sinB2 = np.sin(b2) - - z = r[2] - - if (z <= 0 and k1 > 0 and k2 > 0): - k1_k2 = np.array([k1 * cosB1 - k2 * cosB2, k1 * sinB1 - k2 * sinB2, 0]) - aux = 0.25*(k1*k2*g*g/w1/w2) / (np.cosh(k1*h)*np.cosh(k2*h)) - - acc[0:2] = np.sin(np.dot(k1_k2, r)) + 1j * np.cos(np.dot(k1_k2, r)) - acc[0:2] *= aux * (np.cosh(k1*(z+h))*np.cosh(k2*(z+h)) * np.cos(b1 - b2) + np.sinh(k1*(z+h))*np.sinh(k2*(z+h))) - acc[0] *= -k1_k2[0] - acc[1] *= -k1_k2[1] - - acc[2] = np.sin(np.dot(k1_k2, r)) - 1j * np.sin(np.dot(k1_k2, r)) - acc[2] *= aux * (np.sinh(k1*(z+h))*np.sinh(k2*(z+h)) * np.cos(b1 - b2) + np.sinh(k1*(z+h))*np.sinh(k2*(z+h))) - acc[2] *= -(k1-k2) - - return acc - -# Matrix of gradient of wave velocity, which is needed to compute the axial-divergence acceleration +# Matrix of gradient of wave velocity def getWaveKin_grad_u1(w, k, beta, h, r): grad = np.zeros([3, 3], dtype="complex") x,y,z = r[0], r[1], r[2] @@ -183,23 +154,28 @@ def getWaveKin_grad_u1(w, k, beta, h, r): khz_xy = np.cosh(k * (z + h)) / np.sinh(k*h) khz_z = np.sinh(k * (z + h)) / np.sinh(k*h) + + # u[0,i] = w[i]* zeta[i]*COSHNumOvrSIHNDen *np.cos(beta) + # u[1,i] = w[i]* zeta[i]*COSHNumOvrSIHNDen *np.sin(beta) + # u[2,i] = 1j*w[i]* zeta[i]*SINHNumOvrSIHNDen + # Along x direction - aux = w * k * cosBeta * (np.sin(k*cosBeta*x + k * sinBeta*y) + 1j* np.cos(k*cosBeta*x + k * sinBeta*y)) - grad[0,0] = -aux * khz_xy * cosBeta # du/dx - grad[0,1] = -aux * khz_xy * sinBeta # du/dy - grad[0,2] = -aux * 1j * khz_z # du/dz + aux = w * cosBeta * np.exp( -1j*(k*(np.cos(beta)*r[0] + np.sin(beta)*r[1]))) + grad[0,0] = -1j*aux * khz_xy * k*cosBeta # du/dx + grad[0,1] = -1j*aux * khz_xy * k*sinBeta # du/dy + grad[0,2] = aux * k * khz_z # du/dz # Along y direction - aux = w * k * sinBeta * (np.sin(k*cosBeta*x + k * sinBeta*y) + 1j* np.cos(k*cosBeta*x + k * sinBeta*y)) - grad[1,0] = grad[0,1] # dv/dx = du/dy - grad[1,1] = -aux * khz_xy * sinBeta # dv/dy - grad[1,2] = -aux * 1j * khz_z # dv/dz + aux = w * sinBeta * np.exp( -1j*(k*(np.cos(beta)*r[0] + np.sin(beta)*r[1]))) + grad[1,0] = grad[0,1] # dv/dx = du/dy + grad[1,1] = -1j*aux * khz_xy * k*sinBeta # dv/dy + grad[1,2] = aux * k * khz_z # dv/dz # Along z direction - aux = w * k * (np.cos(k*cosBeta*x + k * sinBeta*y) - 1j * np.sin(k*cosBeta*x + k * sinBeta*y)) + aux = 1j * w * np.exp( -1j*(k*(np.cos(beta)*r[0] + np.sin(beta)*r[1]))) grad[2,0] = grad[0,2] # dw/dx = du/dz grad[2,1] = grad[0,1] # dw/dy = dv/dz - grad[2,2] = aux * 1j * khz_xy # dw/dz + grad[2,2] = aux * k * khz_xy # dw/dz return grad @@ -207,27 +183,57 @@ def getWaveKin_grad_u1(w, k, beta, h, r): def getWaveKin_grad_dudt(w, k, beta, h, r): return 1j*w*getWaveKin_grad_u1(w, k, beta, h, r) +# Gradient of first order pressure +def getWaveKin_grad_pres1st(k, beta, h, r, rho=1025, g=9.81): + grad = np.zeros(3, dtype="complex") + z = r[2] + + # More friendly notation + cosBeta = np.cos(deg2rad(beta)) + sinBeta = np.sin(deg2rad(beta)) + khz_xy = 0 + khz_z = 0 + + if z <= 0 and k > 0: + # When k*h is too high, which happens for deep water/short waves, sinh(k*h) and cosh(k*h) become too large and are considered "inf". + # Hence, we chose a threshold of 10, above which the deep water approximation is employed. + if k*h >= 10: + khz_xy = np.exp(k*z) + khz_z = khz_xy + else: + khz_xy = np.cosh(k * (z + h)) / np.cosh(k*h) + khz_z = np.sinh(k * (z + h)) / np.cosh(k*h) + + grad[0] = rho*g*khz_xy*np.exp(-1j*(k*(cosBeta*r[0] + sinBeta*r[1])))*(-1j*k*cosBeta) + grad[1] = rho*g*khz_xy*np.exp(-1j*(k*(cosBeta*r[0] + sinBeta*r[1])))*(-1j*k*sinBeta) + grad[2] = rho*g*khz_z *np.exp(-1j*(k*(cosBeta*r[0] + sinBeta*r[1])))*k + return grad + # Axial-divergence acceleration def getWaveKin_axdivAcc(w1, w2, k1, k2, beta1, beta2, h, r, vel1, vel2, q, g=9.81): acc = np.zeros(3, dtype=complex) - vel1 -= np.dot(vel1, q) * q - vel2 -= np.dot(vel2, q) * q - aux = np.matmul(getWaveKin_grad_u1(w1, k1, beta1, h, r), q) dwdz1 = np.dot(np.squeeze(aux), np.squeeze(q)) u1, _, _ = getWaveKin(np.ones([1,1]), beta1, w1*np.ones([1,1]), k1*np.ones([1,1]), h, r, 1, rho=1025.0, g=g) + u1 = np.squeeze(u1) aux = np.matmul(getWaveKin_grad_u1(w2, k2, beta2, h, r), q) dwdz2 = np.dot(np.squeeze(aux), np.squeeze(q)) u2, _, _ = getWaveKin(np.ones([1,1]), beta2, w2*np.ones([1,1]), k2*np.ones([1,1]), h, r, 1, rho=1025.0, g=g) + u2 = np.squeeze(u2) - acc = 0.25*(dwdz1*np.conj(np.squeeze(u2) - vel2)+np.conj(dwdz2)*(np.squeeze(u1) - vel1)) + vel1 -= np.dot(vel1, q) * q + vel2 -= np.dot(vel2, q) * q + u1 -= np.dot(u1, q) * q + u2 -= np.dot(u2, q) * q + + acc = 0.25*(dwdz1*np.conj(u2 - vel2)+np.conj(dwdz2)*(u1 - vel1)) # There can't be any axial-divergence acceleration in the axial direction - acc -= np.dot(np.squeeze(acc), q) * q + acc -= np.dot(acc, q) * q - return np.squeeze(acc) + return acc # Acceleration and pressure due to second-order potential def getWaveKin_pot2ndOrd(w1, w2, k1, k2, beta1, beta2, h, r, g=9.81, rho=1025.0): @@ -250,21 +256,23 @@ def getWaveKin_pot2ndOrd(w1, w2, k1, k2, beta1, beta2, h, r, g=9.81, rho=1025.0) if (z <= 0 and k1 > 0 and k2 > 0): k1_k2 = np.array([k1 * cosB1 - k2 * cosB2, k1 * sinB1 - k2 * sinB2, 0]) norm_k1_k2 = np.linalg.norm(k1_k2) - - aux = ((w2 - w1) / (w1 * w2)) * k1 * k2 * (np.cos(b1 - b2) + np.tanh(k1*h) * np.tanh(k2*h)) - 0.5 * (k1*k1 / (w1 * np.cosh(k1*h)*np.cosh(k1*h)) - k2 * k2 / (w2 * np.cosh(k2*h)*np.cosh(k2*h))) - aux = aux / (g * norm_k1_k2 * np.tanh(norm_k1_k2 * h) - (w1 - w2)*(w1 - w2)) - khz_xy, khz_z = (np.cosh(norm_k1_k2 * (z + h)) , np.sinh(norm_k1_k2 * (z + h))) / np.cosh(norm_k1_k2 * h) + gamma_12 = (-1j*g/(2*w1)) * ( (k1**2)*(1-np.tanh(k1*h)**2) - 2*k1*k2*(1+np.tanh(k1*h)*np.tanh(k2*h)) ) / ((w1-w2)**2/g - norm_k1_k2*np.tanh(norm_k1_k2*h)) + gamma_21 = (-1j*g/(2*w2)) * ( (k2**2)*(1-np.tanh(k2*h)**2) - 2*k2*k1*(1+np.tanh(k2*h)*np.tanh(k1*h)) ) / ((w2-w1)**2/g - norm_k1_k2*np.tanh(norm_k1_k2*h)) + aux = 0.5*(gamma_21+np.conj(gamma_12)) - acc[0:2] = np.sin(np.dot(k1_k2, r)) + 1j * np.cos(np.dot(k1_k2, r)) * g*g * aux * khz_xy - acc[0] *= 0.5 * (w1 - w2) * (k1 * cosB1 - k2 * cosB2) - acc[1] *= 0.5 * (w1 - w2) * (k1 * sinB1 - k2 * sinB2) + khz_xy = np.cosh(norm_k1_k2 * (z + h)) / np.cosh(norm_k1_k2 * h) + khz_z = np.sinh(norm_k1_k2 * (z + h)) / np.cosh(norm_k1_k2 * h) + + acc[0:2] = aux * khz_xy * np.exp(-1j*np.dot(k1_k2, r)) + acc[0] *= (w1 - w2) * (k1 * cosB1 - k2 * cosB2) + acc[1] *= (w1 - w2) * (k1 * sinB1 - k2 * sinB2) - acc[2] = np.cos(np.dot(k1_k2, r)) - 1j * np.sin(np.dot(k1_k2, r)) * g*g * aux * khz_z - acc[2] *= -0.5 * (w1 - w2) * norm_k1_k2 + acc[2] = aux * khz_z * np.exp(-1j*np.dot(k1_k2, r)) + acc[2] *= 1j * (w1 - w2) * norm_k1_k2 - p = 0.5 * np.cos(np.dot(k1_k2, r)) - 1j * np.sin(np.dot(k1_k2, r)) * g*g * aux * khz_xy - p *= 0.5 * rho * (w1 - w2) + p = aux * khz_xy * np.exp(-1j*np.dot(k1_k2, r)) + p *= -1j * rho * (w1 - w2) return acc, p # calculate wave number based on wave frequency in rad/s and depth diff --git a/raft/raft_fowt.py b/raft/raft_fowt.py index 2c740c4..155bddb 100644 --- a/raft/raft_fowt.py +++ b/raft/raft_fowt.py @@ -187,7 +187,10 @@ def __init__(self, design, w, mpb, depth=600): raise Exception('If potSecOrder==1, then both min_freq2nd and max_freq2nd must be specified in the platform input.') min_freq2nd = design['platform']['min_freq2nd'] max_freq2nd = design['platform']['max_freq2nd'] - self.w1_2nd = np.arange(min_freq2nd, max_freq2nd+0.5*min_freq2nd, min_freq2nd)*2*np.pi + df_freq2nd = min_freq2nd + if ('df_freq2nd' in design['platform']): + df_freq2nd = design['platform']['df_freq2nd'] + self.w1_2nd = np.arange(min_freq2nd, max_freq2nd+0.5*min_freq2nd, df_freq2nd)*2*np.pi self.w2_2nd = self.w1_2nd.copy() self.k1_2nd = np.zeros(len(self.w1_2nd)) @@ -199,7 +202,13 @@ def __init__(self, design, w, mpb, depth=600): if not 'qtfPath' in design['platform']: raise Exception('If potSecOrder==2, then qtfPath must be specified in the platform input.') self.qtfPath = design['platform']['qtfPath'] - self.readQTF(self.qtfPath) + self.readQTF(self.qtfPath) + + # Set output folder for QTFs + self.outFolderQTF = None + if 'outFolderQTF' in design['platform']: + self.outFolderQTF = design['platform']['outFolderQTF'] + def calcStatics(self): '''Fills in the static quantities of the FOWT and its matrices. @@ -1169,32 +1178,39 @@ def calcCurrentLoads(self, case): return D_hydro - def calcQTF_slenderBody(self, ih, Xi0): + def calcQTF_slenderBody(self, ih, Xi0=None, beta=None): '''This computes the second-order strip-theory-hydrodynamics terms''' ''' Only long crested seas are currently considered here, but multidirectional wave pairs can be considered in the functions that compute the accelerations''' - + if Xi0 is None: + Xi0 = np.zeros([self.nDOF, len(self.w)], dtype=complex) + rho = self.rho_water g = self.g - beta = self.beta[ih] - self.heads_2nd = [beta] # Need that to print the QT + if beta is None: + beta = self.beta[ih] + self.heads_2nd = [beta] # Need that to print the QTF - # Downsample Xi0, which is input in the same frequency as the first-order loads, + # Resample Xi0, which is input in the same frequency as the first-order loads, # to the frequencies of the 2nd order hydrodynamic forces - # Same thing for the first-order loads Xi = np.zeros([self.nDOF, len(self.w1_2nd)], dtype=complex) - F1st = np.zeros([self.nDOF, len(self.w1_2nd)], dtype=complex) - A_BEM = np.zeros([self.nDOF, self.nDOF, len(self.w1_2nd)]) for iDoF in range(self.nDOF): - Xi[iDoF,:] = np.interp(self.w1_2nd, self.w, Xi0[iDoF,:], left=0, right=0) - F1st[iDoF,:] = np.interp(self.w1_2nd, self.w, self.F_BEM[ih, iDoF,:]+self.F_hydro_iner[ih, iDoF,:], left=0, right=0) - A_BEM = interp1d(self.w, self.A_BEM, axis=2, fill_value=0, bounds_error=False, assume_sorted=True)(self.w1_2nd) - - # Need to add hydrostatic force and added mass to F1st - for iw in range(len(self.w1_2nd)): # Need to add added mass force to F1st - F1st[:,iw] += -np.matmul(self.C_hydro, Xi[:,iw]) - F1st[:,iw] += -np.matmul(A_BEM[:,:,iw] + self.A_hydro_morison[:,:], -Xi[:,iw] * self.w1_2nd[iw] * self.w1_2nd[iw]) # Need to add added mass to F1st + Xi[iDoF,:] = np.interp(self.w1_2nd, self.w, Xi0[iDoF,:], left=0, right=0) + # First-order forces, which are used to compute Pinkster's IV term] + # F1st = np.matmul(self.M_struc, -self.w1_2nd**2 * Xi) + F1st = np.zeros([self.nDOF, len(self.w1_2nd)], dtype=complex) + F1st[0:3,:] = self.M_struc[0,0] * (-self.w1_2nd**2 * Xi[0:3,:]) # F_1stOrder = Mass * Acceleration_1stOrder + F1st[3:6,:] = np.matmul(self.M_struc[3:,3:], (-self.w1_2nd**2 * Xi[3:,:])) + + # Print Xi in the same format as a WAMIT .4 file for comparison + if self.outFolderQTF is not None: + with open(os.path.join(self.outFolderQTF, 'raos-slender_body.4'), "w") as f: + ULEN = 1 + for iDoF in range(self.nDOF): + for w1, x in zip(self.w1_2nd, Xi[iDoF,:]): + f.write(f"{2*np.pi/w1: 8.4e} {beta: 8.4e} {iDoF+1} {np.abs(x): 8.4e} {np.angle(x): 8.4e} {x.real: 8.4e} {x.imag: 8.4e}\n") + # Variables to store different components for post-processing qtf_2ndPot = np.zeros([len(self.w1_2nd), len(self.w1_2nd), 1, self.nDOF], dtype=complex) qtf_axdv = np.zeros([len(self.w1_2nd), len(self.w1_2nd), 1, self.nDOF], dtype=complex) @@ -1203,63 +1219,70 @@ def calcQTF_slenderBody(self, ih, Xi0): qtf_nabla = np.zeros([len(self.w1_2nd), len(self.w1_2nd), 1, self.nDOF], dtype=complex) qtf_rotN = np.zeros([len(self.w1_2nd), len(self.w1_2nd), 1, self.nDOF], dtype=complex) qtf_rslb = np.zeros([len(self.w1_2nd), len(self.w1_2nd), 1, self.nDOF], dtype=complex) - - # loop through each pair of frequency - self.qtf = np.zeros([len(self.w1_2nd), len(self.w2_2nd), 1, self.nDOF], dtype=complex) # Need this fourth dimension for conformity with the case where the QTFs are read from a file + + # Initialize qtf that will actually be used by the solver + self.qtf = np.zeros([len(self.w1_2nd), len(self.w2_2nd), 1, self.nDOF], dtype=complex) # Need this fourth dimension for conformity with the case where the QTFs are read from a file print(f"Computing QTF for heading {beta:.2f}") # Start with the force due to rotation of first-order wave forces # This component depends on the forces on the whole body, hence it is outside of the member loop for i1 in range(len(self.w1_2nd)): - for i2 in range(len(self.w2_2nd)): + for i2 in range(i1, len(self.w2_2nd)): + if self.w2_2nd[i2] < self.w1_2nd[i1]: + continue F_rotN = np.zeros(6, dtype='complex') F_rotN[0:3] = 0.25 * (np.cross(Xi[3:,i1], np.conj(F1st[0:3,i2])) + np.cross(np.conj(Xi[3:,i2]), F1st[0:3,i1])) - F_rotN[3: ] = 0.25 * (np.cross(Xi[3:,i1], np.conj(F1st[3:,i2])) + np.cross(np.conj(Xi[3:,i2]), F1st[3:,i1])) - self.qtf[i1,i2,0,:] += F_rotN + F_rotN[3: ] = 0.25 * (np.cross(Xi[3:,i1], np.conj(F1st[3: ,i2])) + np.cross(np.conj(Xi[3:,i2]), F1st[3: ,i1])) + self.qtf[i1,i2,0,:] = F_rotN qtf_rotN[i1,i2,0,:] = F_rotN - # loop through each member + # Loop for each member to pre-compute quantities that are used in the QTF computation for i,mem in enumerate(self.memberList): + if mem.r[-1,2] > 0 and mem.r[0,2] > 0: + continue + circ = mem.shape=='circular' # convenience boolian for circular vs. rectangular cross sections - - # Quantities at each node - nodeV = np.zeros([3, len(self.w1_2nd), mem.ns], dtype=complex) - dr = np.zeros([3, len(self.w1_2nd), mem.ns], dtype=complex) - grad_dudt = np.zeros([3, 3, len(self.w1_2nd), mem.ns], dtype=complex) - nodeV_axial_rel = np.zeros([len(self.w1_2nd), mem.ns], dtype=complex) # Node relative axial velocity - w_x = np.dot(Xi[3:, :].T, mem.p1) # Rotation along local x axis - w_y = np.dot(Xi[3:, :].T, mem.p2) # Rotation along local y axis + # Quantities at each node + nodeV = np.zeros([3, len(self.w1_2nd), mem.ns], dtype=complex) # Node velocity + dr = np.zeros([3, len(self.w1_2nd), mem.ns], dtype=complex) # Node displacement + u = np.zeros([3, len(self.w1_2nd), mem.ns], dtype=complex) # Incident fluid velocity at node + grad_u = np.zeros([3, 3, len(self.w1_2nd), mem.ns], dtype=complex) # Gradient matrix of first-order velocity + grad_dudt = np.zeros([3, 3, len(self.w1_2nd), mem.ns], dtype=complex) # Gradient matrix of first-order acceleration + nodeV_axial_rel = np.zeros([len(self.w1_2nd), mem.ns], dtype=complex) # Node relative axial velocity + grad_pres1st = np.zeros([3, len(self.w1_2nd), mem.ns], dtype=complex) # Gradient of first order pressure at each node for iNode, r in enumerate(mem.r): dr[:,:, iNode], nodeV[:,:, iNode], _ = getVelocity(r, Xi, self.w1_2nd) - u_aux, _, _ = getWaveKin(np.ones(self.w1_2nd.shape), beta, self.w1_2nd, self.k1_2nd, self.depth, r, len(self.w1_2nd), rho=rho, g=g) + u[:,:, iNode], _, _ = getWaveKin(np.ones(self.w1_2nd.shape), beta, self.w1_2nd, self.k1_2nd, self.depth, r, len(self.w1_2nd), rho=rho, g=g) for iw in range(len(self.w1_2nd)): + grad_u[:, :, iw, iNode] = getWaveKin_grad_u1(self.w1_2nd[iw], self.k1_2nd[iw], beta, self.depth, r) grad_dudt[:, :, iw, iNode] = getWaveKin_grad_dudt(self.w1_2nd[iw], self.k1_2nd[iw], beta, self.depth, r) - nodeV_axial_rel[iw, iNode] = np.dot(u_aux[:, iw]-nodeV[:,iw, iNode], mem.q) + nodeV_axial_rel[iw, iNode] = np.dot(u[:, iw, iNode]-nodeV[:,iw, iNode], mem.q) + grad_pres1st[:, iw, iNode] = getWaveKin_grad_pres1st(self.k1_2nd[iw], beta, self.depth, r, rho=rho, g=g) # Quantities at intersection with water line - eta = np.zeros([len(self.w1_2nd)], dtype=complex) - eta_r = np.zeros([len(self.w1_2nd)], dtype=complex) - ud_wl = np.zeros([3, len(self.w1_2nd)], dtype=complex) - dr_wl = np.zeros([3, len(self.w1_2nd)], dtype=complex) - a_wl = np.zeros([3, len(self.w1_2nd)], dtype=complex) + eta = np.zeros([len(self.w1_2nd)], dtype=complex) # Incoming wave elevation + eta_r = np.zeros([len(self.w1_2nd)], dtype=complex) # Relative incoming wave elevation (i.e. wave elevation - vertical body motion) + ud_wl = np.zeros([3, len(self.w1_2nd)], dtype=complex) # Incoming wave acceleration + dr_wl = np.zeros([3, len(self.w1_2nd)], dtype=complex) # Body displacement at intersection with water line + a_wl = np.zeros([3, len(self.w1_2nd)], dtype=complex) # Body acceleration at intersection with water line if mem.r[-1,2] * mem.r[0,2] < 0: r_int = mem.r[0,:] + (mem.r[-1,:] - mem.r[0,:]) * (0. - mem.r[0,2]) / (mem.r[-1,2] - mem.r[0,2]) - _, ud_wl, eta = getWaveKin(np.ones(self.w1_2nd.shape), beta, self.w1_2nd, self.k1_2nd, self.depth, r_int, len(self.w1_2nd), rho=rho, g=g) - eta = eta/(rho*g) # getWaveKin actually returns dynamic pressure, so divide by rho*g to get wave elevation + _, ud_wl, eta = getWaveKin(np.ones(self.w1_2nd.shape), beta, self.w1_2nd, self.k1_2nd, self.depth, r_int, len(self.w1_2nd), rho=1, g=1) # getWaveKin actually returns dynamic pressure, so consider unitary rho and g to get wave elevation dr_wl, _, a_wl = getVelocity(r_int, Xi, self.w1_2nd) - + + # Vector with the acceleration of gravity projected along the displaced local x and y axes g_e1 = np.zeros([3, len(self.w1_2nd)], dtype=complex) for iw in range(len(self.w1_2nd)): - g_e1[:, iw] = g*np.cross(Xi[3:, iw], mem.p1)[2] * mem.p1 -g*np.cross(Xi[3:, iw], mem.p2)[2] * mem.p2 + g_e1[:, iw] = -g * (np.cross(Xi[3:, iw], mem.p1)[2] * mem.p1 + np.cross(Xi[3:, iw], mem.p2)[2] * mem.p2) # Relative wave elevation eta_r = eta-dr_wl[2,:] # Loop through each pair of frequency for i1, (w1, k1) in enumerate(zip(self.w1_2nd, self.k1_2nd)): - print(f" Element {i} of {len(self.memberList)} - Line {i1} of {len(self.w1_2nd)}", end='\r') + print(f" Element {i+1} of {len(self.memberList)} - Line {i1+1:02d} of {len(self.w1_2nd):02d}", end='\r') for i2, (w2, k2) in enumerate(zip(self.w2_2nd, self.k2_2nd)): F_2ndPot = np.zeros(6, dtype='complex') F_conv = np.zeros(6, dtype='complex') @@ -1274,84 +1297,134 @@ def calcQTF_slenderBody(self, ih, Xi0): # loop through each node of the member for il in range(mem.ns): - f_2ndPot = np.zeros(3, dtype='complex') - f_conv = np.zeros(3, dtype='complex') - f_axdv = np.zeros(3, dtype='complex') - f_nabla = np.zeros(3, dtype='complex') - f_rslb = np.zeros(3, dtype='complex') + # only process hydrodynamics if this node is submerged + if mem.r[il,2] >= 0: + continue + + # interpolate coefficients for the current strip + Ca_p1 = np.interp( mem.ls[il], mem.stations, mem.Ca_p1 ) + Ca_p2 = np.interp( mem.ls[il], mem.stations, mem.Ca_p2 ) + Ca_End = np.interp( mem.ls[il], mem.stations, mem.Ca_End) - # only process hydrodynamics if this node is submerged - if mem.r[il,2] < 0: + # ----- compute side effects --------------------------------------------------------- + if circ: + v_i = 0.25*np.pi*mem.ds[il]**2*mem.dls[il] + else: + v_i = mem.ds[il,0]*mem.ds[il,1]*mem.dls[il] # member volume assigned to this node + + if mem.r[il,2] + 0.5*mem.dls[il] > 0: # if member extends out of water # <<< may want a better appraoch for this... + v_i = v_i * (0.5*mem.dls[il] - mem.r[il,2]) / mem.dls[il] # scale volume by the portion that is under water + + acc_2ndPot, p_2nd = getWaveKin_pot2ndOrd(w1, w2, k1, k2, beta, beta, self.depth, mem.r[il,:], g=g, rho=rho) + f_2ndPot = rho*v_i * np.matmul((1.+Ca_p1)*mem.p1Mat + (1.+Ca_p2)*mem.p2Mat, acc_2ndPot) - # interpolate coefficients for the current strip - Ca_p1 = np.interp( mem.ls[il], mem.stations, mem.Ca_p1 ) - Ca_p2 = np.interp( mem.ls[il], mem.stations, mem.Ca_p2 ) - Ca_End = np.interp( mem.ls[il], mem.stations, mem.Ca_End) + conv_acc = 0.25 * ( np.matmul(grad_u[:, :, i1, il], np.conj(u[:, i2, il])) + np.matmul(np.conj(grad_u[:, :, i2, il]), u[:, i1, il]) ) + f_conv = rho*v_i * np.matmul((1.+Ca_p1)*mem.p1Mat + (1.+Ca_p2)*mem.p2Mat, conv_acc) + f_axdv = rho*v_i * np.matmul(Ca_p1*mem.p1Mat + Ca_p2*mem.p2Mat, getWaveKin_axdivAcc(w1, w2, k1, k2, beta, beta, self.depth, mem.r[il,:], nodeV[:, i1, il], nodeV[:, i2, il], mem.q, g=g)) + + acc_nabla = 0.25*np.matmul(np.squeeze(grad_dudt[:, :, i1, il]), np.squeeze(np.conj(dr[:, i2, il]))) + 0.25*np.matmul(np.squeeze(np.conj(grad_dudt[:, :, i2, il])), np.squeeze(dr[:, i1, il])) + f_nabla = rho*v_i * np.matmul((1.+Ca_p1)*mem.p1Mat + (1.+Ca_p2)*mem.p2Mat, acc_nabla) + OMEGA1 = -getH(1j*w1*Xi[3:,i1]) # The alternator matrix is the opposite of what we need, that is why we subtract it + OMEGA2 = -getH(1j*w2*Xi[3:,i2]) + f_rslb = -0.25*2*np.matmul(Ca_p1*mem.p1Mat + Ca_p2*mem.p2Mat, np.matmul(OMEGA1, np.conj(nodeV_axial_rel[i2, il]*mem.q)) + np.matmul(np.conj(OMEGA2), nodeV_axial_rel[i1, il]*mem.q)) + f_rslb *= rho*v_i + + # # Rainey load that is only non zero for non-circular cylinders + # u1_aux = u[:,i1, il]-nodeV[:,i1, il] + # u2_aux = u[:,i2, il]-nodeV[:,i2, il] + # Vmatrix1 = getWaveKin_grad_u1(w1, k1, beta, self.depth, mem.r[il,:]) + OMEGA1 + # Vmatrix2 = getWaveKin_grad_u1(w2, k2, beta, self.depth, mem.r[il,:]) + OMEGA2 + # aux = 0.25*(np.matmul(Vmatrix1, np.conj(np.matmul(Ca_p1*mem.p1Mat + Ca_p2*mem.p2Mat, u2_aux))) + np.matmul(np.conj(Vmatrix2), np.matmul(Ca_p1*mem.p1Mat + Ca_p2*mem.p2Mat, u1_aux))) + # aux -= np.matmul(mem.qMat, aux) # remove axial component + # f_rslb += rho*v_i * aux + + # # Similar to the one above, but note that the order in which the axial part is removed is different + # u1_aux -= np.matmul(mem.qMat, u1_aux) # remove axial component + # u2_aux -= np.matmul(mem.qMat, u2_aux) + # aux = 0.25*(np.matmul(Ca_p1*mem.p1Mat + Ca_p2*mem.p2Mat, np.matmul(Vmatrix1, np.conj(u2_aux))) + np.matmul(Ca_p1*mem.p1Mat + Ca_p2*mem.p2Mat, np.matmul(np.conj(Vmatrix2), u1_aux))) + # f_rslb += - rho*v_i * aux + + + # ----- add axial/end effects for added mass, and excitation including dynamic pressure ------ + # note : v_a and a_i work out to zero for non-tapered sections or non-end sections + if circ: + v_i = np.pi/12.0 * abs((mem.ds[il]+mem.drs[il])**3 - (mem.ds[il]-mem.drs[il])**3) # volume assigned to this end surface + a_i = np.pi*mem.ds[il] * mem.drs[il] # signed end area (positive facing down) = mean diameter of strip * radius change of strip + else: + v_i = np.pi/12.0 * ((np.mean(mem.ds[il]+mem.drs[il]))**3 - (np.mean(mem.ds[il]-mem.drs[il]))**3) # so far just using sphere eqn and taking mean of side lengths as d + a_i = (mem.ds[il,0]+mem.drs[il,0])*(mem.ds[il,1]+mem.drs[il,1]) - (mem.ds[il,0]-mem.drs[il,0])*(mem.ds[il,1]-mem.drs[il,1]) + - # ----- compute side effects --------------------------------------------------------- - if circ: - v_i = 0.25*np.pi*mem.ds[il]**2*mem.dls[il] - else: - v_i = mem.ds[il,0]*mem.ds[il,1]*mem.dls[il] # member volume assigned to this node - - if mem.r[il,2] + 0.5*mem.dls[il] > 0: # if member extends out of water # <<< may want a better appraoch for this... - v_i = v_i * (0.5*mem.dls[il] - mem.r[il,2]) / mem.dls[il] # scale volume by the portion that is under water + f_2ndPot += mem.a_i[il]*p_2nd*mem.q # 2nd order pressure + f_2ndPot += rho*v_i*Ca_End*np.matmul(mem.qMat, acc_2ndPot) # 2nd order axial acceleration + f_conv += rho*v_i*Ca_End*np.matmul(mem.qMat, conv_acc) # convective acceleration + f_nabla += rho*v_i*Ca_End*np.matmul(mem.qMat, acc_nabla) # Gradient of first-order axial acceleration times displacement + p_nabla = 0.25*np.dot(grad_pres1st[:, i1, il], np.conj(dr[:, i2, il])) + 0.25*np.dot(np.conj(grad_pres1st[:, i2, il]), dr[:, i1, il]) + f_nabla += mem.a_i[il]*p_nabla*mem.q # Gradient of first-order pressure times displacement + p_drop = -0.25*0.5*rho*np.dot(u[:,i1, il]-nodeV[:, i1, il], np.conj(np.matmul(Ca_p1*mem.p1Mat + Ca_p2*mem.p2Mat, u[:,i2, il]-nodeV[:, i2, il]))) + p_drop += -0.25*0.5*rho*np.dot(np.conj(u[:,i2, il]-nodeV[:, i2, il]), np.matmul(Ca_p1*mem.p1Mat + Ca_p2*mem.p2Mat, u[:,i2, il]-nodeV[:, i2, il])) + f_conv += mem.a_i[il]*p_drop*mem.q + + F_2ndPot += translateForce3to6DOF(f_2ndPot, mem.r[il,:]) + F_conv += translateForce3to6DOF(f_conv, mem.r[il,:]) + F_axdv += translateForce3to6DOF(f_axdv, mem.r[il,:]) + F_nabla += translateForce3to6DOF(f_nabla, mem.r[il,:]) + F_rslb += translateForce3to6DOF(f_rslb, mem.r[il,:]) - f_2ndPot, p_2nd = getWaveKin_pot2ndOrd(w1, w2, k1, k2, beta, beta, self.depth, mem.r[il,:], g=g, rho=rho) - f_2ndPot = rho*v_i * np.matmul((1.+Ca_p1)*mem.p1Mat + (1.+Ca_p2)*mem.p2Mat, f_2ndPot) - - f_conv = rho*v_i * np.matmul((1.+Ca_p1)*mem.p1Mat + (1.+Ca_p2)*mem.p2Mat, getWaveKin_convecAcc(w1, w2, k1, k2, beta, beta, self.depth, mem.r[il,:], g=g)) - f_axdv = rho*v_i * np.matmul(Ca_p1*mem.p1Mat + Ca_p2*mem.p2Mat, getWaveKin_axdivAcc(w1, w2, k1, k2, beta, beta, self.depth, mem.r[il,:], nodeV[:, i1, il], nodeV[:, i2, il], mem.q, g=g)) - - f_nabla = 0.25*np.matmul(np.squeeze(grad_dudt[:, :, i1, il]), np.squeeze(np.conj(dr[:, i2, il]))) + 0.25*np.matmul(np.squeeze(np.conj(grad_dudt[:, :, i2, il])), np.squeeze(dr[:, i1, il])) - f_nabla = rho*v_i * np.matmul((1.+Ca_p1)*mem.p1Mat + (1.+Ca_p2)*mem.p2Mat, f_nabla) - - f_rslb = -0.25*2*((w_y[i1]*np.conj(nodeV_axial_rel[i2, il])) + (np.conj(w_y[i2])*nodeV_axial_rel[i1, il]))*mem.p1 - f_rslb += 0.25*2*((w_x[i1]*np.conj(nodeV_axial_rel[i2, il])) + (np.conj(w_x[i2])*nodeV_axial_rel[i1, il]))*mem.p2 - f_rslb = rho*v_i * np.matmul(Ca_p1*mem.p1Mat + Ca_p2*mem.p2Mat, f_rslb) - - F_2ndPot += translateForce3to6DOF(f_2ndPot, mem.r[il,:]) - F_conv += translateForce3to6DOF(f_conv, mem.r[il,:]) - F_axdv += translateForce3to6DOF(f_axdv, mem.r[il,:]) - F_nabla += translateForce3to6DOF(f_nabla, mem.r[il,:]) - F_rslb += translateForce3to6DOF(f_rslb, mem.r[il,:]) - # Force acting at the intersection of the member with the mean waterline + f_eta = np.zeros(3, dtype=complex) if mem.r[-1,2] * mem.r[0,2] < 0: - f_eta = 0.25*((ud_wl[:,i1]-a_wl[:,i1])*np.conj(eta_r[i2])+np.conj((ud_wl[:,i2])-a_wl[:,i2])*eta_r[i1]) - f_eta = np.matmul((1.+Ca_p1)*mem.p1Mat + (1.+Ca_p2)*mem.p2Mat, f_eta) - f_eta *= rho*(v_i/mem.dls[1]) # divide by length of member to get the area. The length is the relative wave elevation - f_eta += -0.25*rho*(v_i/mem.dls[1]) * (g_e1[:,i1]*np.conj(eta_r[i2])+np.conj(g_e1[:,i2])*eta_r[i1]) - F_eta = translateForce3to6DOF(f_eta, r_int) - - # Forces acting at the end of the member - # 2nd order pressure - # 2nd order axial acceleration - # Convective acceleration - # Gradient of first-order pressure times displacement - # Gradient of first-order axial accelertion times displacement + # Need just the cross section area, as the length is the relative wave elevation + # Get the area of the cross section at the mean waterline + i_wl = np.where(mem.r[:,2] < 0)[0][-1] # find index of mem.r[:,2] that is right before crossing 0 + if circ: + if i_wl != len(mem.ds)-1: + d_wl = 0.5*(mem.ds[i_wl]+mem.ds[i_wl+1]) + else: + d_wl = mem.ds[iwl] + a_i = 0.25*np.pi*d_wl**2 + else: + if i_wl != len(mem.ds)-1: + d1_wl = 0.5*(mem.ds[i_wl,0]+mem.ds[i_wl+1,0]) + d2_wl = 0.5*(mem.ds[i_wl,1]+mem.ds[i_wl+1,1]) + else: + d1_wl = mem.ds[i_wl, 0] + d2_wl = mem.ds[i_wl, 1] + a_i = d1_wl*d2_wl + + f_eta = 0.25*((ud_wl[:,i1])*np.conj(eta_r[i2])+np.conj((ud_wl[:,i2]))*eta_r[i1]) + f_eta = rho*a_i*np.matmul((1.+Ca_p1)*mem.p1Mat + (1.+Ca_p2)*mem.p2Mat, f_eta) + a_eta = 0.25*((a_wl[:,i1])*np.conj(eta_r[i2])+np.conj((a_wl[:,i2]))*eta_r[i1]) + f_eta -= rho*a_i*np.matmul(Ca_p1*mem.p1Mat + Ca_p2*mem.p2Mat, a_eta) + f_eta -= 0.25*rho*a_i * (g_e1[:,i1]*np.conj(eta_r[i2])+np.conj(g_e1[:,i2])*eta_r[i1]) + + F_eta = translateForce3to6DOF(f_eta, r_int) - self.qtf[i1,i2,0,:] += F_2ndPot + F_conv + F_axdv + F_nabla + F_eta + F_rslb - + self.qtf[i1,i2,0,:] += F_2ndPot + F_axdv + F_conv + F_nabla + F_eta + F_rslb + qtf_2ndPot[i1,i2,0,:] += F_2ndPot - qtf_axdv[i1,i2,0,:] += F_axdv - qtf_conv[i1,i2,0,:] += F_conv - qtf_eta[i1,i2,0,:] += F_eta - qtf_nabla[i1,i2,0,:] += F_nabla - qtf_rslb[i1,i2,0,:] += F_rslb - - self.writeQTF(self.qtf, "./examples/qtf-slender_body-total.12d") - - self.writeQTF(qtf_2ndPot, "./examples/qtf-slender_body-pot2.12d") - self.writeQTF(qtf_axdv, "./examples/qtf-slender_body-axDv.12d") - self.writeQTF(qtf_conv, "./examples/qtf-slender_body-conv.12d") - self.writeQTF(qtf_eta, "./examples/qtf-slender_body-eta.12d") - self.writeQTF(qtf_nabla, "./examples/qtf-slender_body-nabla.12d") - self.writeQTF(qtf_rslb, "./examples/qtf-slender_body-rslb.12d") - self.writeQTF(qtf_rotN, "./examples/qtf-slender_body-rotN.12d") + qtf_axdv[i1,i2,0,:] += F_axdv + qtf_conv[i1,i2,0,:] += F_conv + qtf_eta[i1,i2,0,:] += F_eta + qtf_nabla[i1,i2,0,:] += F_nabla + qtf_rslb[i1,i2,0,:] += F_rslb + + # Need a complete matrix due to interpolations that are used to computed the forces + for i in range(self.nDOF): + self.qtf[:,:,0,i] = self.qtf[:,:,0,i] + np.conj(self.qtf[:,:,0,i]).T - np.diag(np.diag(np.conj(self.qtf[:,:,0,i]))) + + if self.outFolderQTF is not None: + self.writeQTF(self.qtf, os.path.join(self.outFolderQTF, "qtf-slender_body-total.12d")) + self.writeQTF(qtf_2ndPot, os.path.join(self.outFolderQTF, "qtf-slender_body-pot2.12d")) + self.writeQTF(qtf_axdv, os.path.join(self.outFolderQTF, "qtf-slender_body-axDv.12d")) + self.writeQTF(qtf_conv, os.path.join(self.outFolderQTF, "qtf-slender_body-conv.12d")) + self.writeQTF(qtf_eta, os.path.join(self.outFolderQTF, "qtf-slender_body-eta.12d")) + self.writeQTF(qtf_nabla, os.path.join(self.outFolderQTF, "qtf-slender_body-nabla.12d")) + self.writeQTF(qtf_rslb, os.path.join(self.outFolderQTF, "qtf-slender_body-rslb.12d")) + self.writeQTF(qtf_rotN, os.path.join(self.outFolderQTF, "qtf-slender_body-rotN.12d")) def readQTF(self, flPath): data = np.loadtxt(flPath) @@ -1389,7 +1462,8 @@ def readQTF(self, flPath): # Fill the other half of the matrix (which is equal to the conjugate of its symmetric element) if not indw1[0] == indw2[0]: - self.qtf[indw2[0], indw1[0], indhead[0], indDOF] = factor*(row[7]-1j*row[8]) + self.qtf[indw2[0], indw1[0], indhead[0], indDOF] = factor*(row[7]-1j*row[8]) + # plt.matshow(np.squeeze(np.abs(self.qtf[:,:,0,0]))) @@ -1434,7 +1508,9 @@ def calcHydroForce_2ndOrd(self, beta, S0): qtf_interpBeta = self.qtf[:,:,0,:] else: - qtf_interpBeta = interp1d(self.heads_2nd, self.qtf, assume_sorted=True, axis=2, bounds_error=False, fill_value=(self.qtf[:,:,0,:], self.qtf[:,:,-1,:]))(beta) + qtf_interpBetaRe = interp1d(self.heads_2nd, self.qtf, assume_sorted=True, axis=2, bounds_error=False, fill_value=(self.qtf[:,:,0,:], self.qtf[:,:,-1,:].real))(beta) + qtf_interpBetaIm = interp1d(self.heads_2nd, self.qtf, assume_sorted=True, axis=2, bounds_error=False, fill_value=(self.qtf[:,:,0,:], self.qtf[:,:,-1,:].imag))(beta) + qtf_interpBeta = qtf_interpBetaRe + 1j*qtf_interpBetaIm # Compute force spectrum with QTF resolution and then interpolate to the frequency vector of the input wave spectrum if interpMode == 'spectrum': @@ -1476,7 +1552,6 @@ def calcHydroForce_2ndOrd(self, beta, S0): Saux = np.zeros(self.nw) Saux[0:self.nw-imu] = S0[imu:] # Auxiliar wave spectrum that is dislocated in frequency. See the definition of second-order force spectrum Qaux = np.zeros(self.nw, dtype=complex) - Qaux[0:self.nw-imu] = np.diag(np.squeeze(qtf_interp), imu) # Sum only the upper half of the QTF f[idof, imu] = 4 *np.sqrt( np.sum(S0*Saux*np.abs(Qaux)**2) ) * self.dw @@ -1503,12 +1578,12 @@ def calcHydroForce_2ndOrd(self, beta, S0): ident = 'WAMIT' if self.potSecOrder == 1: - ident = 'slenderBody' - with open('examples/f_2nd-'+ ident + '.txt', 'w') as file: - for w, frow in zip(self.w, f.T): - file.write(f'{w:.5f} {frow[0]:.5f} {frow[1]:.5f} {frow[2]:.5f} {frow[3]:.5f} {frow[4]:.5f} {frow[5]:.5f}\n') + ident = 'slenderBody' - + if self.outFolderQTF is not None: + with open(os.path.join(self.outFolderQTF, 'f_2nd-'+ ident + '.txt'), 'w') as file: + for w, frow in zip(self.w, f.T): + file.write(f'{w:.5f} {frow[0]:.5f} {frow[1]:.5f} {frow[2]:.5f} {frow[3]:.5f} {frow[4]:.5f} {frow[5]:.5f}\n') return f_mean, f diff --git a/raft/raft_model.py b/raft/raft_model.py index b75ee22..c874c3a 100644 --- a/raft/raft_model.py +++ b/raft/raft_model.py @@ -725,7 +725,7 @@ def solveDynamics(self, case, tol=0.01, conv_plot=0, RAO_plot=0): Xi_unitWave = np.zeros([fowt.nDOF, fowt.nw], dtype=complex) for iDoF in range(Xi_unitWave.shape[0]): # get indices where fowt.zeta[ih,:] is not zero - idx = np.where(fowt.zeta[ih,:]!=0) # Is there an eps value to use instead of zero? + idx = np.where(np.abs(fowt.zeta[ih,:])>1e-6) # Is there an eps value to use instead of that? Xi_unitWave[iDoF, idx] = Xi[ih,iDoF, idx]/fowt.zeta[ih,idx] fowt.calcQTF_slenderBody(ih, Xi_unitWave) @@ -744,9 +744,11 @@ def solveDynamics(self, case, tol=0.01, conv_plot=0, RAO_plot=0): ident = 'slenderBody' elif fowt.potSecOrder == 2: ident += 'WAMIT' - with open('examples/f_hydro-'+ ident + '.txt', 'w') as file: - for w, frow in zip(self.w, np.abs(F_wave.T)): - file.write(f'{w:.5f} {frow[0]:.5f} {frow[1]:.5f} {frow[2]:.5f} {frow[3]:.5f} {frow[4]:.5f} {frow[5]:.5f}\n') + + if fowt.outFolderQTF is not None: + with open(os.path.join(fowt.outFolderQTF, 'f_hydro-'+ ident + '.txt'), 'w') as file: + for w, frow in zip(self.w, np.abs(F_wave.T)): + file.write(f'{w:.5f} {frow[0]:.5f} {frow[1]:.5f} {frow[2]:.5f} {frow[3]:.5f} {frow[4]:.5f} {frow[5]:.5f}\n') # rotor excitation F_rotor = np.sum(fowt.F_aero, axis=2) From 188e768767bfa5e5770662c0777968a7d536d2d0 Mon Sep 17 00:00:00 2001 From: Lucas-Carmo Date: Thu, 11 May 2023 16:02:46 -0600 Subject: [PATCH 05/10] WIP to make hydro 2nd order work with arrays Made it run for a single turbine case, but need to test it with an array. Besides, had to change some stuff in the code from ctopt and comment other stuff that I don't know how to fix right now. --- examples/oc3_hywind.12d | 9576 +++++++++++++++++++++++++++++++++++++++ raft/raft_model.py | 69 +- 2 files changed, 9619 insertions(+), 26 deletions(-) create mode 100644 examples/oc3_hywind.12d diff --git a/examples/oc3_hywind.12d b/examples/oc3_hywind.12d new file mode 100644 index 0000000..8b80d0f --- /dev/null +++ b/examples/oc3_hywind.12d @@ -0,0 +1,9576 @@ + 0.25133E+02 0.25133E+02 0.00000E+00 0.00000E+00 3 9.08146E-02 0.00000E+00 9.08146E-02 0.00000E+00 + 0.25133E+02 0.25133E+02 0.00000E+00 0.00000E+00 1 2.37765E-02 0.00000E+00 2.37765E-02 0.00000E+00 + 0.25133E+02 0.25133E+02 0.00000E+00 0.00000E+00 5 1.52537E+00 1.80000E+02 -1.52537E+00 0.00000E+00 + 0.25133E+02 0.25133E+02 0.00000E+00 0.00000E+00 6 1.26187E-04 1.80000E+02 -1.26187E-04 0.00000E+00 + 0.25133E+02 0.25133E+02 0.00000E+00 0.00000E+00 2 2.84861E-06 3.45670E-01 2.84856E-06 1.71858E-08 + 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0.00000E+00 0.00000E+00 5 1.46108E+00 -4.56520E-09 1.46108E+00 -1.16415E-10 + 0.21299E+01 0.21299E+01 0.00000E+00 0.00000E+00 6 3.06320E-09 -1.80000E+02 -3.06320E-09 -2.77556E-17 + 0.21299E+01 0.21299E+01 0.00000E+00 0.00000E+00 2 3.40036E-05 -1.80000E+02 -3.40036E-05 -2.36444E-10 + 0.21299E+01 0.21299E+01 0.00000E+00 0.00000E+00 4 1.61255E-06 -1.79997E+02 -1.61255E-06 -7.05001E-11 + 0.20944E+01 0.21299E+01 0.00000E+00 0.00000E+00 3 2.05782E-01 -7.70988E-02 2.05781E-01 -2.76905E-04 + 0.20944E+01 0.21299E+01 0.00000E+00 0.00000E+00 1 1.06678E+00 -5.77811E+01 5.68758E-01 -9.02511E-01 + 0.20944E+01 0.21299E+01 0.00000E+00 0.00000E+00 5 3.05305E+01 8.72941E+01 1.44130E+00 3.04964E+01 + 0.20944E+01 0.21299E+01 0.00000E+00 0.00000E+00 6 2.16818E-09 -9.53461E+01 -2.02014E-10 -2.15875E-09 + 0.20944E+01 0.21299E+01 0.00000E+00 0.00000E+00 2 3.53420E-05 -1.78941E+02 -3.53360E-05 -6.53402E-07 + 0.20944E+01 0.21299E+01 0.00000E+00 0.00000E+00 4 6.88573E-06 1.79507E+02 -6.88548E-06 5.92389E-08 + 0.20944E+01 0.20944E+01 0.00000E+00 0.00000E+00 3 1.04452E-03 -4.67711E-08 1.04452E-03 -8.52651E-13 + 0.20944E+01 0.20944E+01 0.00000E+00 0.00000E+00 1 5.54027E-01 2.13096E-06 5.54027E-01 2.06055E-08 + 0.20944E+01 0.20944E+01 0.00000E+00 0.00000E+00 5 1.42765E+00 3.65007E-11 1.42765E+00 9.09495E-13 + 0.20944E+01 0.20944E+01 0.00000E+00 0.00000E+00 6 1.84687E-09 8.61068E-07 1.84687E-09 2.77556E-17 + 0.20944E+01 0.20944E+01 0.00000E+00 0.00000E+00 2 3.48972E-05 1.80000E+02 -3.48972E-05 1.80709E-11 + 0.20944E+01 0.20944E+01 0.00000E+00 0.00000E+00 4 6.75360E-06 -1.79999E+02 -6.75360E-06 -1.17923E-10 diff --git a/raft/raft_model.py b/raft/raft_model.py index ae03ce7..613f077 100644 --- a/raft/raft_model.py +++ b/raft/raft_model.py @@ -141,19 +141,27 @@ def __init__(self, design, nTurbines=1): # This is the original approach. It assumes a single turbine, platform, and mooring section are given. # Note: its mooring system will be put in the FOWT now rather than existing at the model/array level. - + design['platform'] = design['platform'][0] # only use the first platform in the list + design['turbine'] = design['turbine'][0] # only use the first turbine in the list + design['mooring'] = design['mooring'][0] # only use the first mooring in the list + # # process mooring information - # self.ms = mp.System() - # self.ms.parseYAML(design['mooring']) - self.ms = None + self.ms = mp.System() + self.ms.parseYAML(design['mooring']) + self.ms.bodyList[0].type = -1 # need to make sure it's set to a coupled type + try: + self.ms.initialize() # reinitialize the mooring system to ensure all things are tallied properly etc. + except Exception as e: + raise RuntimeError('An error occured when initializing the mooring system: '+e.message) + # set up the FOWT here #self.fowtList.append(fowt.FOWT(design, self.w, self.ms.bodyList[0], depth=self.depth)) - self.fowtList.append(fowt.FOWT(design, self.w, None, depth=self.depth)) + self.fowtList.append(fowt.FOWT(design, self.w, self.ms.bodyList[0], depth=self.depth)) self.coords.append([0.0,0.0]) self.nDOF += 6 - #self.ms.bodyList[0].type = -1 # need to make sure it's set to a coupled type + self.nFOWT = 1 if self.ms: @@ -236,7 +244,7 @@ def analyzeUnloaded(self, ballast=0, heave_tol = 1): self.results['properties'] = {} # signal this data is available by adding a section to the results dictionary # calculate platform offsets and mooring system equilibrium state - self.calcMooringAndOffsets() + # self.calcMooringAndOffsets() self.results['properties']['offset_unloaded'] = self.fowtList[0].Xi0 # TODO: add printing of summary info here - mass, stiffnesses, etc @@ -433,7 +441,8 @@ def analyzeCases(self, display=0, runPyHAMS=False, meshDir=os.path.join(os.getcw #nLines = int(len(self.T_moor)/2) T_moor_amps = np.zeros([nWaves+1, 2*nLines, self.nw], dtype=complex) # mooring tension amplitudes for each excitation source and line end - if self.ms: + # if self.ms: + if False: C_moor, J_moor = self.ms.getCoupledStiffness(lines_only=True, tensions=True) # get stiffness matrix and tension jacobian matrix T_moor = self.ms.getTensions() # get line end mean tensions @@ -745,8 +754,8 @@ def eval_func_equil(X, args): RMSeForce = np.linalg.norm([Y[6*i :6*i+3] for i in range(self.nFOWT)]) RMSeMoment = np.linalg.norm([Y[6*i+3:6*i+6] for i in range(self.nFOWT)]) print(f"Iteration RMS force adn moment errors: {RMSeForce:8.2e} {RMSeMoment:8.2e}") - if RMSeForce < 100 and RMSeMoment < 100: - breakpoint() + # if RMSeForce < 100 and RMSeMoment < 100: + # breakpoint() return Y, oths, False @@ -1121,7 +1130,14 @@ def solveDynamics(self, case, tol=0.01, conv_plot=0, RAO_plot=0): # calculate linear and nonlinear wave excitation for this FOWT and case (consider phasing due to position in array) fowt.calcHydroExcitation(case, memberList=fowt.memberList) F_linearized = fowt.calcDragExcitation(ih) - F_wave[i*6:i*6+6] = fowt.F_BEM[ih,:,:] + fowt.F_hydro_iner[ih,:,:] + F_linearized #+ fowt.Fhydro_2nd[ih,:,:] + + # We can include second-order hydrodynamic forces here if they are computed by an external QTF file + Fhydro_2nd = np.zeros([fowt.nWaves, fowt.nDOF, fowt.nw], dtype=complex) + fowt.Fhydro_2nd_mean = np.zeros([fowt.nWaves, fowt.nDOF]) # Keep that as a member because it will be used in the functions that compute mean displacements + if fowt.potSecOrder==2: + fowt.Fhydro_2nd_mean[ih, :], Fhydro_2nd[ih, :, :] = fowt.calcHydroForce_2ndOrd(fowt.beta[ih], fowt.S[ih,:]) + + F_wave[i*6:i*6+6] = fowt.F_BEM[ih,:,:] + fowt.F_hydro_iner[ih,:,:] + F_linearized + Fhydro_2nd[ih, :, :] # compute system response for iw in range(self.nw): @@ -1132,20 +1148,21 @@ def solveDynamics(self, case, tol=0.01, conv_plot=0, RAO_plot=0): tic = time.perf_counter() # If we are computing the QTFs internally, we need to consider the motions induced by first-order hydrodynamic forces, which were computed above - if fowt.potSecOrder == 1: - Xi_unitWave = np.zeros([fowt.nDOF, fowt.nw], dtype=complex) - for iDoF in range(Xi_unitWave.shape[0]): - # get indices where fowt.zeta[ih,:] is not zero - idx = np.where(np.abs(fowt.zeta[ih,:])>1e-6) # Is there an eps value to use instead of that? - Xi_unitWave[iDoF, idx] = Xi[ih,iDoF, idx]/fowt.zeta[ih,idx] - - fowt.calcQTF_slenderBody(ih, Xi_unitWave) - fowt.Fhydro_2nd_mean[ih, :], Fhydro_2nd[ih, :, :] = fowt.calcHydroForce_2ndOrd(fowt.beta[ih], fowt.S[ih,:]) - - # Recompute the wave excitation forces and consequent motions to include second-order hydrodynamic forces - F_wave = fowt.F_BEM[ih,:,:] + fowt.F_hydro_iner[ih,:,:] + F_linearized + Fhydro_2nd[ih,:,:] + # For now, I am assuming that 2nd order loads will be computed in the same way for all FOWTs + if self.fowtList[0].potSecOrder == 1: + for i, fowt in enumerate(self.fowtList): + Xi_unitWave = np.zeros([fowt.nDOF, fowt.nw], dtype=complex) + for iDoF in range(Xi_unitWave.shape[0]): + # get indices where fowt.zeta[ih,:] is not zero + idx = np.where(np.abs(fowt.zeta[ih,:])>1e-6) # Is there an eps value to use instead of that? + Xi_unitWave[iDoF, idx] = self.Xi[ih,i*6+iDoF, idx]/fowt.zeta[ih,idx] + fowt.calcQTF_slenderBody(ih, Xi_unitWave) + fowt.Fhydro_2nd_mean[ih, :], Fhydro_2nd[ih, :, :] = fowt.calcHydroForce_2ndOrd(fowt.beta[ih], fowt.S[ih,:]) + + F_wave[i*6:i*6+6] = fowt.F_BEM[ih,:,:] + fowt.F_hydro_iner[ih,:,:] + F_linearized + Fhydro_2nd[ih, :, :] + # Recompute system response for iw in range(self.nw): - Xi[ih,:,iw] = np.matmul(Zinv[:,:,iw], F_wave[:,iw]) + self.Xi[ih,:,iw] = np.matmul(Zinv[:,:,iw], F_wave[:,iw]) toc = time.perf_counter() print(f"\n Time to compute QTFs: {toc - tic:0.4f} seconds") @@ -1310,7 +1327,7 @@ def plotResponses(self): fig, ax = plt.subplots(6, 1, sharex=True) - metrics = self.results['case_metrics'] + metrics = self.results['case_metrics'][0] nCases = len(metrics['surge_avg']) for iCase in range(nCases): @@ -1345,7 +1362,7 @@ def plotResponses(self): def saveResponses(self, outPath): '''Save the power spectral densities of the available response channels for each case to an output file.''' - metrics = self.results['case_metrics'] + metrics = self.results['case_metrics'][0] nCases = len(metrics['surge_avg']) chooseMetrics = ['wave_PSD', 'surge_PSD', 'sway_PSD', 'heave_PSD', 'roll_PSD', 'pitch_PSD', 'yaw_PSD', 'AxRNA_PSD', 'Mbase_PSD'] From 0c2220a3ad3b9b9f8db1cd2fc645ef5309429392 Mon Sep 17 00:00:00 2001 From: Lucas-Carmo Date: Fri, 9 Jun 2023 09:35:55 -0600 Subject: [PATCH 06/10] Included second-order loads in drag linearization + bug fix - Damping levels were heavily underpredicted when motions induced by second-order loads are large. It much improved after including these motions in the drag linearization procedure. - There was a bug in the calculation of the second-order force amplitude from the spectrum, namely a factor of 2 that was outside a sqrt but should be inside it. --- raft/raft_fowt.py | 2 +- raft/raft_model.py | 56 +++++++++++++++++++++++++++++----------------- 2 files changed, 37 insertions(+), 21 deletions(-) diff --git a/raft/raft_fowt.py b/raft/raft_fowt.py index 155bddb..101a829 100644 --- a/raft/raft_fowt.py +++ b/raft/raft_fowt.py @@ -1536,7 +1536,7 @@ def calcHydroForce_2ndOrd(self, beta, S0): # Interpolate the force spectrum to the same resolution as the original wave spectrum Sf_interp[idof, :] = np.interp(self.w - self.w[0], mu, Sf[idof,:], left=0, right=0) - f[idof, :] = 2*np.sqrt(Sf_interp[idof, :]*self.dw) + f[idof, :] = np.sqrt(2*Sf_interp[idof, :]*self.dw) # Otherwise, interpolate the QTF first and then compute the force amplitude directly else: diff --git a/raft/raft_model.py b/raft/raft_model.py index c874c3a..cf6b128 100644 --- a/raft/raft_model.py +++ b/raft/raft_model.py @@ -244,12 +244,6 @@ def analyzeCases(self, display=0, runPyHAMS=True, meshDir=os.path.join(os.getcwd if runPyHAMS: fowt.calcBEM(meshDir=meshDir) - - # w_2nd = np.linspace(self.w[0], self.w[-1], 50) - # k_2nd = np.zeros(len(w_2nd)) - # for i in range(len(w_2nd)): - # k_2nd[i] = waveNumber(w_2nd[i], self.depth) - # fowt.calcQTF_slenderbody(w_2nd=w_2nd, k_2nd=k_2nd, beta=0) # loop through each case for iCase in range(nCases): @@ -610,12 +604,19 @@ def solveDynamics(self, case, tol=0.01, conv_plot=0, RAO_plot=0): # >>>> NOTE: Turbulent wind excitation is currently disabled pending formulation checks/fixes <<<< print('Solving for system response to wave excitation in primary wave direction') + # We can compute second-order hydrodynamic forces here if they are calculated using external QTF file + Fhydro_2nd = np.zeros([fowt.nWaves, fowt.nDOF, fowt.nw], dtype=complex) + fowt.Fhydro_2nd_mean = np.zeros([fowt.nWaves, fowt.nDOF]) # Keep that as a member because it will be used in the functions that compute mean displacements + if fowt.potSecOrder==2: + fowt.Fhydro_2nd_mean[0, :], Fhydro_2nd[0, :, :] = fowt.calcHydroForce_2ndOrd(fowt.beta[0], fowt.S[0,:]) + # sum up all linear (non-varying) matrices up front, including potential summation across multiple rotors M_lin = M_turb + fowt.M_struc[:,:,None] + fowt.A_BEM + fowt.A_hydro_morison[:,:,None] # mass B_lin = B_turb + fowt.B_struc[:,:,None] + fowt.B_BEM + np.sum(fowt.B_gyro, axis=2)[:,:,None] # damping C_lin = fowt.C_struc + self.C_moor + fowt.C_hydro # stiffness # consider only excitation from the primary sea state in the load case for now - F_lin = fowt.F_BEM[0,:,:] + fowt.F_hydro_iner[0,:,:] + F_lin = fowt.F_BEM[0,:,:] + fowt.F_hydro_iner[0,:,:] + Fhydro_2nd[0, :, :] + #F_lin = np.sum(fowt.F_aero, axis=2) + fowt.F_BEM + np.sum(fowt.F_hydro_iner, axis=0) # excitation @@ -655,6 +656,24 @@ def solveDynamics(self, case, tol=0.01, conv_plot=0, RAO_plot=0): # solve response (complex amplitude) Xi[:,ii] = np.linalg.solve(Z[:,:,ii], F_tot[:,ii]) + # If we are computing the QTFs internally, we need to consider the motions induced by first-order hydrodynamic forces, which were computed above + # Rigorously, they should be computed at each iteration, but that would be very expensive. We will assume that the first-order motions won't change that much after two iterations + # to impact the QTFs at a level that justifies the computational cost + if fowt.potSecOrder == 1 and iiter < 1: + Xi_unitWave = np.zeros([fowt.nDOF, fowt.nw], dtype=complex) # RAOs (unit wave amplitude) + for iDoF in range(Xi_unitWave.shape[0]): + # get indices where fowt.zeta[ih,:] is not zero + idx = np.where(np.abs(fowt.zeta[0,:])>1e-6) # Is there an eps value to use instead of that? + Xi_unitWave[iDoF, idx] = Xi[iDoF, idx]/fowt.zeta[0,idx] + + # Time the QTF computation + import time + tic = time.perf_counter() + fowt.calcQTF_slenderBody(0, Xi_unitWave) + toc = time.perf_counter() + print(f"\n Time to compute QTFs: {toc - tic:0.4f} seconds") + _, Fhydro_2nd[0, :, :] = fowt.calcHydroForce_2ndOrd(fowt.beta[0], fowt.S[0,:]) + F_lin += Fhydro_2nd[0, :, :] if conv_plot: # Convergence Plotting @@ -715,28 +734,25 @@ def solveDynamics(self, case, tol=0.01, conv_plot=0, RAO_plot=0): for iw in range(self.nw): Xi[ih,:,iw] = np.matmul(Zinv[:,:,iw], F_wave[:,iw]) - - # Time this loop with tic and toc - import time - tic = time.perf_counter() # If we are computing the QTFs internally, we need to consider the motions induced by first-order hydrodynamic forces, which were computed above + # TODO: Not very nice to keep the same code twice. Maybe we can move it to a function? if fowt.potSecOrder == 1: - Xi_unitWave = np.zeros([fowt.nDOF, fowt.nw], dtype=complex) - for iDoF in range(Xi_unitWave.shape[0]): - # get indices where fowt.zeta[ih,:] is not zero - idx = np.where(np.abs(fowt.zeta[ih,:])>1e-6) # Is there an eps value to use instead of that? - Xi_unitWave[iDoF, idx] = Xi[ih,iDoF, idx]/fowt.zeta[ih,idx] - - fowt.calcQTF_slenderBody(ih, Xi_unitWave) + if ih > 0: # Don't recompute it for the first wave because it was already done above. It would change slightly, but it's probably not worth the computational cost + Xi_unitWave = np.zeros([fowt.nDOF, fowt.nw], dtype=complex) + for iDoF in range(Xi_unitWave.shape[0]): + # get indices where fowt.zeta[ih,:] is not zero + idx = np.where(np.abs(fowt.zeta[ih,:])>1e-6) # Is there an eps value to use instead of that? + Xi_unitWave[iDoF, idx] = Xi[ih,iDoF, idx]/fowt.zeta[ih,idx] + + fowt.calcQTF_slenderBody(ih, Xi_unitWave) fowt.Fhydro_2nd_mean[ih, :], Fhydro_2nd[ih, :, :] = fowt.calcHydroForce_2ndOrd(fowt.beta[ih], fowt.S[ih,:]) # Recompute the wave excitation forces and consequent motions to include second-order hydrodynamic forces F_wave = fowt.F_BEM[ih,:,:] + fowt.F_hydro_iner[ih,:,:] + F_linearized + Fhydro_2nd[ih,:,:] for iw in range(self.nw): Xi[ih,:,iw] = np.matmul(Zinv[:,:,iw], F_wave[:,iw]) - toc = time.perf_counter() - print(f"\n Time to compute QTFs: {toc - tic:0.4f} seconds") + # For illustration purposes ident = '' From a1a98f5e907a8823c2743233481138a2ef51d7ef Mon Sep 17 00:00:00 2001 From: Lucas-Carmo Date: Fri, 9 Jun 2023 11:27:33 -0600 Subject: [PATCH 07/10] Modifications for array --- raft/raft_model.py | 55 ++++++++++++++++++++++++++++++++-------------- 1 file changed, 38 insertions(+), 17 deletions(-) diff --git a/raft/raft_model.py b/raft/raft_model.py index 31f8eb0..f8c728c 100644 --- a/raft/raft_model.py +++ b/raft/raft_model.py @@ -467,7 +467,7 @@ def analyzeCases(self, display=0, runPyHAMS=False, meshDir=os.path.join(os.getcw self.T_moor_amps = T_moor_amps # save for future processing! - + ''' """ def calcSystemConstantProps(self): '''This gets the various static/constant calculations of each FOWT done. (Those that don't depend on load case.)''' @@ -995,11 +995,17 @@ def solveDynamics(self, case, tol=0.01, conv_plot=0, RAO_plot=0): # >>>> NOTE: Turbulent wind excitation is currently disabled pending formulation checks/fixes <<<< print('Solving for system response to wave excitation in primary wave direction') + # We can compute second-order hydrodynamic forces here if they are calculated using external QTF file + Fhydro_2nd = np.zeros([fowt.nWaves, fowt.nDOF, fowt.nw], dtype=complex) + fowt.Fhydro_2nd_mean = np.zeros([fowt.nWaves, fowt.nDOF]) # Keep that as a member because it will be used in the functions that compute mean displacements + if fowt.potSecOrder==2: + fowt.Fhydro_2nd_mean[0, :], Fhydro_2nd[0, :, :] = fowt.calcHydroForce_2ndOrd(fowt.beta[0], fowt.S[0,:]) + # sum up all linear (non-varying) matrices up front, including potential summation across multiple rotors M_lin.append( M_turb + fowt.M_struc[:,:,None] + fowt.A_BEM + fowt.A_hydro_morison[:,:,None] ) # mass B_lin.append( B_turb + fowt.B_struc[:,:,None] + fowt.B_BEM + np.sum(fowt.B_gyro, axis=2)[:,:,None] ) # damping C_lin.append( fowt.C_struc + fowt.C_moor + fowt.C_hydro ) # stiffness - F_lin.append( fowt.F_BEM[0,:,:] + fowt.F_hydro_iner[0,:,:] ) # consider only excitation from the primary sea state in the load case for now + F_lin.append( fowt.F_BEM[0,:,:] + fowt.F_hydro_iner[0,:,:] + Fhydro_2nd[0, :, :]) # consider only excitation from the primary sea state in the load case for now #F_lin = np.sum(fowt.F_aero, axis=2) + fowt.F_BEM + np.sum(fowt.F_hydro_iner, axis=0) # excitation @@ -1039,6 +1045,25 @@ def solveDynamics(self, case, tol=0.01, conv_plot=0, RAO_plot=0): # solve response (complex amplitude) Xi[:,ii] = np.linalg.solve(Z[:,:,ii], F_tot[:,ii]) + # If we are computing the QTFs internally, we need to consider the motions induced by first-order hydrodynamic forces + # Rigorously, they should be computed at each iteration, but that would be very expensive. + # We will assume that the first-order motions won't change that much after two iterations + # to impact the QTFs at a level that justifies the computational cost + if fowt.potSecOrder == 1 and iiter < 1: + Xi_unitWave = np.zeros([fowt.nDOF, fowt.nw], dtype=complex) # RAOs (unit wave amplitude) + for iDoF in range(Xi_unitWave.shape[0]): + # get indices where fowt.zeta[ih,:] is not zero + idx = np.where(np.abs(fowt.zeta[0,:])>1e-6) # Is there an eps value to use instead of that? + Xi_unitWave[iDoF, idx] = self.Xi[ih,i*6+iDoF, idx]/fowt.zeta[ih,idx] + + # Time the QTF computation + import time + tic = time.perf_counter() + fowt.calcQTF_slenderBody(0, Xi_unitWave) + toc = time.perf_counter() + print(f"\n Time to compute QTFs: {toc - tic:0.4f} seconds") + _, Fhydro_2nd[0, :, :] = fowt.calcHydroForce_2ndOrd(fowt.beta[0], fowt.S[0,:]) + F_lin[i*6:i*6+6] += Fhydro_2nd[0, :, :] if conv_plot: # Convergence Plotting @@ -1136,28 +1161,24 @@ def solveDynamics(self, case, tol=0.01, conv_plot=0, RAO_plot=0): for iw in range(self.nw): self.Xi[ih,:,iw] = np.matmul(Zinv[:,:,iw], F_wave[:,iw]) - # Time this loop with tic and toc - import time - tic = time.perf_counter() # If we are computing the QTFs internally, we need to consider the motions induced by first-order hydrodynamic forces, which were computed above - # For now, I am assuming that 2nd order loads will be computed in the same way for all FOWTs + # TODO: Not very nice to keep the same code twice. Maybe we can move it to a function? if self.fowtList[0].potSecOrder == 1: for i, fowt in enumerate(self.fowtList): - Xi_unitWave = np.zeros([fowt.nDOF, fowt.nw], dtype=complex) - for iDoF in range(Xi_unitWave.shape[0]): - # get indices where fowt.zeta[ih,:] is not zero - idx = np.where(np.abs(fowt.zeta[ih,:])>1e-6) # Is there an eps value to use instead of that? - Xi_unitWave[iDoF, idx] = self.Xi[ih,i*6+iDoF, idx]/fowt.zeta[ih,idx] - fowt.calcQTF_slenderBody(ih, Xi_unitWave) + if ih > 0: # Don't recompute the QTFs for the first wave because it was already done above. It would change slightly, but it's probably not worth the computational cost + Xi_unitWave = np.zeros([fowt.nDOF, fowt.nw], dtype=complex) + for iDoF in range(Xi_unitWave.shape[0]): + # get indices where fowt.zeta[ih,:] is not zero + idx = np.where(np.abs(fowt.zeta[ih,:])>1e-6) # Is there an eps value to use instead of that? + Xi_unitWave[iDoF, idx] = self.Xi[ih,i*6+iDoF, idx]/fowt.zeta[ih,idx] + fowt.calcQTF_slenderBody(ih, Xi_unitWave) fowt.Fhydro_2nd_mean[ih, :], Fhydro_2nd[ih, :, :] = fowt.calcHydroForce_2ndOrd(fowt.beta[ih], fowt.S[ih,:]) - - F_wave[i*6:i*6+6] = fowt.F_BEM[ih,:,:] + fowt.F_hydro_iner[ih,:,:] + F_linearized + Fhydro_2nd[ih, :, :] - # Recompute system response + + # Recompute the wave excitation forces and consequent motions to include second-order hydrodynamic forces + F_wave[i*6:i*6+6] = fowt.F_BEM[ih,:,:] + fowt.F_hydro_iner[ih,:,:] + F_linearized + Fhydro_2nd[ih, :, :] for iw in range(self.nw): self.Xi[ih,:,iw] = np.matmul(Zinv[:,:,iw], F_wave[:,iw]) - toc = time.perf_counter() - print(f"\n Time to compute QTFs: {toc - tic:0.4f} seconds") # For illustration purposes From 63b4b446edf17e85373e5fa2f831bea20c2e6701 Mon Sep 17 00:00:00 2001 From: Lucas-Carmo Date: Wed, 9 Aug 2023 12:09:22 -0600 Subject: [PATCH 08/10] Bug fixes from previous merge --- raft/raft_model.py | 33 ++++++++++++++------------------- 1 file changed, 14 insertions(+), 19 deletions(-) diff --git a/raft/raft_model.py b/raft/raft_model.py index eaf2d18..1f15349 100644 --- a/raft/raft_model.py +++ b/raft/raft_model.py @@ -141,9 +141,9 @@ def __init__(self, design, nTurbines=1): self.nFOWT = 1 # Note: its mooring system will be put in the FOWT now rather than existing at the model/array level. - design['platform'] = design['platform'][0] # only use the first platform in the list - design['turbine'] = design['turbine'][0] # only use the first turbine in the list - design['mooring'] = design['mooring'][0] # only use the first mooring in the list + design['platform'] = design['platform'] # only use the first platform in the list + design['turbine'] = design['turbine'] # only use the first turbine in the list + design['mooring'] = design['mooring'] # only use the first mooring in the list # # process mooring information self.ms = mp.System() @@ -354,7 +354,6 @@ def analyzeCases(self, display=0, runPyHAMS=False, meshDir=os.path.join(os.getcw # calculate the system's constant properties - ''' >>> this part needs to be made to work again, so that we have unloaded equilibrium <<< for fowt in self.fowtList: fowt.calcStatics() @@ -472,7 +471,6 @@ def analyzeCases(self, display=0, runPyHAMS=False, meshDir=os.path.join(os.getcw self.T_moor_amps = T_moor_amps # save for future processing! - ''' """ def calcSystemConstantProps(self): '''This gets the various static/constant calculations of each FOWT done. (Those that don't depend on load case.)''' @@ -1067,7 +1065,7 @@ def solveDynamics(self, case, tol=0.01, conv_plot=0, RAO_plot=0): for iDoF in range(Xi_unitWave.shape[0]): # get indices where fowt.zeta[ih,:] is not zero idx = np.where(np.abs(fowt.zeta[0,:])>1e-6) # Is there an eps value to use instead of that? - Xi_unitWave[iDoF, idx] = self.Xi[ih,i*6+iDoF, idx]/fowt.zeta[ih,idx] + Xi_unitWave[iDoF, idx] = Xi[i*6+iDoF, idx]/fowt.zeta[0,idx] # Time the QTF computation import time @@ -1357,21 +1355,18 @@ def plotResponses(self): metrics = self.results['case_metrics'][0] nCases = len(metrics['surge_avg']) - - metrics = self.results['case_metrics'][i] - nCases = len(metrics['surge_avg']) - for iCase in range(nCases): - - ax[0].plot(self.w/TwoPi, TwoPi*metrics['surge_PSD'][iCase,:] ) # surge - ax[1].plot(self.w/TwoPi, TwoPi*metrics['heave_PSD'][iCase,:] ) # heave - ax[2].plot(self.w/TwoPi, TwoPi*metrics['pitch_PSD'][iCase,:] ) # pitch [deg] - ax[3].plot(self.w/TwoPi, TwoPi*metrics['AxRNA_PSD'][iCase,:] ) # nacelle acceleration - ax[4].plot(self.w/TwoPi, TwoPi*metrics['Mbase_PSD'][iCase,:] ) # tower base bending moment (using FAST's kN-m) - ax[5].plot(self.w/TwoPi, TwoPi*metrics['wave_PSD' ][iCase,:], label=f'case {iCase+1}') # wave spectrum + for iCase in range(nCases): + + ax[0].plot(self.w/TwoPi, TwoPi*metrics['surge_PSD'][iCase,:] ) # surge + ax[1].plot(self.w/TwoPi, TwoPi*metrics['heave_PSD'][iCase,:] ) # heave + ax[2].plot(self.w/TwoPi, TwoPi*metrics['pitch_PSD'][iCase,:] ) # pitch [deg] + ax[3].plot(self.w/TwoPi, TwoPi*metrics['AxRNA_PSD'][iCase,:] ) # nacelle acceleration + ax[4].plot(self.w/TwoPi, TwoPi*metrics['Mbase_PSD'][iCase,:] ) # tower base bending moment (using FAST's kN-m) + ax[5].plot(self.w/TwoPi, TwoPi*metrics['wave_PSD' ][iCase,:], label=f'case {iCase+1}') # wave spectrum - # need a variable number of subplots for the mooring lines - #ax2[3].plot(model.w/2/np.pi, TwoPi*metrics['Tmoor_PSD'][0,3,:] ) # fairlead tension + # need a variable number of subplots for the mooring lines + #ax2[3].plot(model.w/2/np.pi, TwoPi*metrics['Tmoor_PSD'][0,3,:] ) # fairlead tension ax[0].set_ylabel('surge \n'+r'(m$^2$/Hz)') ax[1].set_ylabel('heave \n'+r'(m$^2$/Hz)') From 5d25a537132d1f5307140dd04b0023db3f7067c7 Mon Sep 17 00:00:00 2001 From: Lucas-Carmo Date: Wed, 29 Nov 2023 16:46:42 -0700 Subject: [PATCH 09/10] Some cleanup before merging with dev --- examples/IEA-15-240-RWT-UMaineSemi.12d | 9576 ++++++++++++++++++++++++ examples/VolturnUS-S_example.yaml | 10 +- examples/example-slenderBodyQTF.py | 37 + examples/example_from_yaml.py | 48 +- raft/RAFT.code-workspace | 10 + raft/__init__.py | 7 +- raft/helpers.py | 91 +- raft/member2pnl.py | 1 + raft/omdao_raft.py | 29 +- raft/raft_fowt.py | 685 +- raft/raft_member.py | 254 +- raft/raft_model.py | 735 +- raft/raft_rotor.py | 389 +- 13 files changed, 11101 insertions(+), 771 deletions(-) create mode 100644 examples/IEA-15-240-RWT-UMaineSemi.12d create mode 100644 examples/example-slenderBodyQTF.py create mode 100644 raft/RAFT.code-workspace diff --git a/examples/IEA-15-240-RWT-UMaineSemi.12d b/examples/IEA-15-240-RWT-UMaineSemi.12d new file mode 100644 index 0000000..2d162fd --- /dev/null +++ b/examples/IEA-15-240-RWT-UMaineSemi.12d @@ -0,0 +1,9576 @@ + 0.25133E+02 0.25133E+02 0.00000E+00 0.00000E+00 1 2.77205E-02 1.80000E+02 -2.77205E-02 0.00000E+00 + 0.25133E+02 0.25133E+02 0.00000E+00 0.00000E+00 3 5.03997E-01 1.80000E+02 -5.03997E-01 0.00000E+00 + 0.25133E+02 0.25133E+02 0.00000E+00 0.00000E+00 5 1.81440E+00 1.80000E+02 -1.81440E+00 0.00000E+00 + 0.25133E+02 0.25133E+02 0.00000E+00 0.00000E+00 2 5.76573E-06 0.00000E+00 5.76573E-06 0.00000E+00 + 0.25133E+02 0.25133E+02 0.00000E+00 0.00000E+00 4 2.94257E-05 1.80000E+02 -2.94257E-05 0.00000E+00 + 0.25133E+02 0.25133E+02 0.00000E+00 0.00000E+00 6 4.87109E-05 1.80000E+02 -4.87109E-05 0.00000E+00 + 0.20944E+02 0.25133E+02 0.00000E+00 0.00000E+00 1 1.12881E-01 1.06256E+02 -3.15991E-02 1.08368E-01 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4.54091E+01 6.15691E+01 2.16192E+01 3.99324E+01 + 0.21299E+01 0.21666E+01 0.00000E+00 0.00000E+00 2 7.87168E-07 1.02104E+02 -1.65060E-07 7.69668E-07 + 0.21299E+01 0.21666E+01 0.00000E+00 0.00000E+00 4 1.09217E-06 6.62516E+01 4.39841E-07 9.99688E-07 + 0.21299E+01 0.21666E+01 0.00000E+00 0.00000E+00 6 1.50123E-04 1.23949E+01 1.46624E-04 3.22235E-05 + 0.20944E+01 0.21666E+01 0.00000E+00 0.00000E+00 1 5.78062E+00 1.73491E+02 -5.74336E+00 6.55279E-01 + 0.20944E+01 0.21666E+01 0.00000E+00 0.00000E+00 3 4.79947E+00 -1.50422E+01 4.63502E+00 -1.24561E+00 + 0.20944E+01 0.21666E+01 0.00000E+00 0.00000E+00 5 1.36075E+02 8.33994E+01 1.56415E+01 1.35173E+02 + 0.20944E+01 0.21666E+01 0.00000E+00 0.00000E+00 2 4.64743E-07 -3.89751E+01 3.61301E-07 -2.92315E-07 + 0.20944E+01 0.21666E+01 0.00000E+00 0.00000E+00 4 1.22359E-06 -1.15149E+02 -5.20003E-07 -1.10760E-06 + 0.20944E+01 0.21666E+01 0.00000E+00 0.00000E+00 6 1.49979E-04 -9.17476E+01 -4.57377E-06 -1.49910E-04 + 0.21299E+01 0.21299E+01 0.00000E+00 0.00000E+00 1 2.25674E+00 1.80000E+02 -2.25674E+00 0.00000E+00 + 0.21299E+01 0.21299E+01 0.00000E+00 0.00000E+00 3 5.26849E-06 0.00000E+00 5.26849E-06 0.00000E+00 + 0.21299E+01 0.21299E+01 0.00000E+00 0.00000E+00 5 1.18046E+01 0.00000E+00 1.18046E+01 0.00000E+00 + 0.21299E+01 0.21299E+01 0.00000E+00 0.00000E+00 2 2.13086E-06 0.00000E+00 2.13086E-06 0.00000E+00 + 0.21299E+01 0.21299E+01 0.00000E+00 0.00000E+00 4 5.13815E-06 0.00000E+00 5.13815E-06 0.00000E+00 + 0.21299E+01 0.21299E+01 0.00000E+00 0.00000E+00 6 4.39875E-05 1.80000E+02 -4.39875E-05 0.00000E+00 + 0.20944E+01 0.21299E+01 0.00000E+00 0.00000E+00 1 3.73377E+00 -1.26958E+02 -2.24486E+00 -2.98356E+00 + 0.20944E+01 0.21299E+01 0.00000E+00 0.00000E+00 3 2.77177E+00 -8.04265E+00 2.74451E+00 -3.87799E-01 + 0.20944E+01 0.21299E+01 0.00000E+00 0.00000E+00 5 4.62629E+01 6.19648E+01 2.17442E+01 4.08344E+01 + 0.20944E+01 0.21299E+01 0.00000E+00 0.00000E+00 2 1.02241E-06 1.04605E+02 -2.57809E-07 9.89370E-07 + 0.20944E+01 0.21299E+01 0.00000E+00 0.00000E+00 4 3.25000E-06 -1.66784E+02 -3.16393E-06 -7.43009E-07 + 0.20944E+01 0.21299E+01 0.00000E+00 0.00000E+00 6 2.69725E-04 -7.31518E+01 7.81765E-05 -2.58147E-04 + 0.20944E+01 0.20944E+01 0.00000E+00 0.00000E+00 1 2.91315E+00 1.80000E+02 -2.91315E+00 0.00000E+00 + 0.20944E+01 0.20944E+01 0.00000E+00 0.00000E+00 3 3.44961E-06 0.00000E+00 3.44961E-06 0.00000E+00 + 0.20944E+01 0.20944E+01 0.00000E+00 0.00000E+00 5 1.19853E+01 0.00000E+00 1.19853E+01 0.00000E+00 + 0.20944E+01 0.20944E+01 0.00000E+00 0.00000E+00 2 2.44990E-06 0.00000E+00 2.44990E-06 0.00000E+00 + 0.20944E+01 0.20944E+01 0.00000E+00 0.00000E+00 4 3.07220E-08 0.00000E+00 3.07220E-08 0.00000E+00 + 0.20944E+01 0.20944E+01 0.00000E+00 0.00000E+00 6 2.42692E-06 1.80000E+02 -2.42692E-06 0.00000E+00 diff --git a/examples/VolturnUS-S_example.yaml b/examples/VolturnUS-S_example.yaml index 554822b..d580664 100644 --- a/examples/VolturnUS-S_example.yaml +++ b/examples/VolturnUS-S_example.yaml @@ -1086,9 +1086,9 @@ turbine: platform: - potModMaster : 0 # [int] master switch for potMod variables; 0=keeps all member potMod vars the same, 1=turns all potMod vars to False (no HAMS), 2=turns all potMod vars to True (no strip) + potModMaster : 1 # [int] master switch for potMod variables; 0=keeps all member potMod vars the same, 1=turns all potMod vars to False (no HAMS), 2=turns all potMod vars to True (no strip) dlsMax : 5.0 # maximum node splitting section amount for platform members; can't be 0 - qtfPath : 'examples\IEA-15-240-RWT-UMaineSemi.12d' # path to the qtf file for the platform + qtfPath : 'IEA-15-240-RWT-UMaineSemi.12d' # path to the qtf file for the platform members: # list all members here @@ -1123,7 +1123,7 @@ platform: gamma : 0.0 # [deg] twist angle about the member's z-axis potMod : True # [bool] Whether to model the member with potential flow (BEM model) plus viscous drag or purely strip theory # --- outer shell including hydro--- - stations : [0, 1] # [-] location of stations along axis. Will be normalized such that start value maps to rA and end value to rB + stations : [0, 35] # [-] location of stations along axis. Will be normalized such that start value maps to rA and end value to rB d : 12.5 # [m] diameters if circular or side lengths if rectangular (can be pairs) t : 0.05 # [m] wall thicknesses (scalar or list of same length as stations) Cd : 0.6 # [-] transverse drag coefficient (optional, scalar or list of same length as stations) @@ -1149,7 +1149,7 @@ platform: gamma : 0.0 # [deg] twist angle about the member's z-axis potMod : False # [bool] Whether to model the member with potential flow (BEM model) plus viscous drag or purely strip theory # --- outer shell including hydro--- - stations : [0, 1] # [-] location of stations along axis. Will be normalized such that start value maps to rA and end value to rB + stations : [0, 40.5] # [-] location of stations along axis. Will be normalized such that start value maps to rA and end value to rB d : [12.4, 7.0] # [m] diameters if circular or side lengths if rectangular (can be pairs) t : 0.05 # [m] wall thicknesses (scalar or list of same length as stations) Cd : [1.5, 2.2 ] # [-] transverse drag coefficient (optional, scalar or list of same length as stations) @@ -1157,7 +1157,7 @@ platform: CdEnd : 0.0 # [-] end axial drag coefficient (optional, scalar or list of same length as stations) CaEnd : 0.0 # [-] end axial added mass coefficient (optional, scalar or list of same length as stations) rho_shell : 7850 # [kg/m3] - l_fill : 43.0 # [m] + l_fill : 40.5 # [m] rho_fill : 1025.0 # [kg/m3] diff --git a/examples/example-slenderBodyQTF.py b/examples/example-slenderBodyQTF.py new file mode 100644 index 0000000..d4042df --- /dev/null +++ b/examples/example-slenderBodyQTF.py @@ -0,0 +1,37 @@ +# example script for running RAFT from a YAML input file + +import numpy as np +import matplotlib.pyplot as plt +import yaml +import raft +import os.path as path + +# open the design YAML file and parse it into a dictionary for passing to raft +flNm = 'OC3spar-SlenderBodyQTF' +with open('./examples/' + flNm + '.yaml') as file: + design = yaml.load(file, Loader=yaml.FullLoader) + +# Create the RAFT model (will set up all model objects based on the design dict) +model = raft.Model(design) + +# Evaluate the system properties and equilibrium position before loads are applied +model.analyzeUnloaded() + +# Compute natural frequencie +model.solveEigen() + +# Simule the different load cases +model.analyzeCases(display=1) + +# Plot the power spectral densities from the load cases +model.plotResponses() + +# Visualize the system in its most recently evaluated mean offset position +model.plot(hideGrid=True) + +model.saveResponses(path.join(model.fowtList[0].outFolderQTF, flNm)) + +plt.show() + +# 0.02 +# 12.37 \ No newline at end of file diff --git a/examples/example_from_yaml.py b/examples/example_from_yaml.py index 8d4e901..94d1501 100644 --- a/examples/example_from_yaml.py +++ b/examples/example_from_yaml.py @@ -1,30 +1,44 @@ # example script for running RAFT from a YAML input file -import numpy as np +import sys import matplotlib.pyplot as plt import yaml import raft -# open the design YAML file and parse it into a dictionary for passing to raft -with open('VolturnUS-S_example.yaml') as file: - design = yaml.load(file, Loader=yaml.FullLoader) +def run_example(plot_flag = False): + # open the design YAML file and parse it into a dictionary for passing to raft + with open('./exampleS/VolturnUS-S_example.yaml') as file: + design = yaml.load(file, Loader=yaml.FullLoader) -# Create the RAFT model (will set up all model objects based on the design dict) -model = raft.Model(design) + # Create the RAFT model (will set up all model objects based on the design dict) + model = raft.Model(design) -# Evaluate the system properties and equilibrium position before loads are applied -model.analyzeUnloaded() + # Evaluate the system properties and equilibrium position before loads are applied + model.analyzeUnloaded() -# Compute natural frequencie -model.solveEigen() + # Compute natural frequencie + model.solveEigen() -# Simule the different load cases -model.analyzeCases(display=1) + # Simule the different load cases + model.analyzeCases(display=1) -# Plot the power spectral densities from the load cases -model.plotResponses() + if plot_flag: + # Plot the power spectral densities from the load cases + model.plotResponses() -# Visualize the system in its most recently evaluated mean offset position -model.plot(hideGrid=True) + # Visualize the system in its most recently evaluated mean offset position + model.plot() -plt.show() + plt.show() + +if __name__ == "__main__": + if len(sys.argv) == 2: + plot_flag = sys.argv[1].lower() in ["1", "t", "true", "y", "yes", 1, True] + elif len(sys.argv) == 1: + plot_flag = True + else: + print("Usage: python example_from_yaml.py ") + print(" The last argument is an optional declaration to show or suppress the plots (default is True)") + + run_example(plot_flag = plot_flag) + diff --git a/raft/RAFT.code-workspace b/raft/RAFT.code-workspace new file mode 100644 index 0000000..63596da --- /dev/null +++ b/raft/RAFT.code-workspace @@ -0,0 +1,10 @@ +{ + "folders": [ + { + "path": ".." + }, + { + "path": "../../../OneDrive - NREL/raft-backup/RAFT" + } + ] +} \ No newline at end of file diff --git a/raft/__init__.py b/raft/__init__.py index 5f589a5..0216fb2 100644 --- a/raft/__init__.py +++ b/raft/__init__.py @@ -1,6 +1 @@ -#from .raft_model import Model - -import raft.raft_model as model - -from importlib import reload -Model = reload(model).Model +from raft.raft_model import Model diff --git a/raft/helpers.py b/raft/helpers.py index a26b791..78c30d9 100644 --- a/raft/helpers.py +++ b/raft/helpers.py @@ -1,5 +1,6 @@ import os import numpy as np +import matplotlib.pyplot as plt # ---------------------------- misc classes ----------------------------------- @@ -62,8 +63,27 @@ def FrustumVCV(dA, dB, H, rtn=0): return hc -def getVelocity(r, Xi, ws): - '''Get node complex velocity spectrum based on platform motion's and relative position from PRP''' +def getKinematics(r, Xi, ws): + '''Get node complex displacement, velocity, and acceleration complex + amplitudes based on platform motion's and relative position from + platform reference point PRP). + + Parameters + ---------- + r : array + X, y, z coordinates of point of interest relative to PRP [m]. + Xi : complex 2D array + Complex amplitudes of 6 degree of freedom as a function of frequency + (size 6 by nw). + ws : array + Frequency vector of length nw [rad/s]. + + Returns + ------- + dr, v, a : complex 2D array + Each is a 3 by nw array of the complex amplitudes of the point's + displacements, velocities, and accelerations, respectively. + ''' nw = len(ws) @@ -275,6 +295,7 @@ def getWaveKin_pot2ndOrd(w1, w2, k1, k2, beta1, beta2, h, r, g=9.81, rho=1025.0) p *= -1j * rho * (w1 - w2) return acc, p + # calculate wave number based on wave frequency in rad/s and depth def waveNumber(omega, h, e=0.001): @@ -322,6 +343,10 @@ def VecVecTrans(vec): return vvt +def intrp(x, xA, xB, yA, yB): + '''Do simple interpolation between two points.''' + return yA + (x-xA)*(yB-yA)/(xB-xA) + # produce alternator matrix def getH(r): '''Produces the alternator matrix for a size-3 vector, r. Multiplying this array by a vector @@ -498,12 +523,26 @@ def rotateMatrix6(Min, rotMat): rotMat : array(3,3) rotation matrix (DCM) ''' - outMat = np.zeros([6,6]) # rotated matrix + outMat = np.zeros_like(Min) # rotated matrix - outMat[:3,:3] = rotateMatrix3(Min[:3,:3], rotMat) # mass matrix - outMat[:3,3:] = rotateMatrix3(Min[:3,3:], rotMat) # product of inertia matrix - outMat[3:,:3] = outMat[:3,3:].T - outMat[3:,3:] = rotateMatrix3(Min[3:,3:], rotMat) # moment of inertia matrix + shape = Min.shape + if not (shape[0]==6 and shape[1]==6): + raise Exception('The input matrix must be 6x6 (with an optional third dimension).') + + if len(shape) == 2: + outMat[:3,:3] = rotateMatrix3(Min[:3,:3], rotMat) # mass matrix + outMat[:3,3:] = rotateMatrix3(Min[:3,3:], rotMat) # product of inertia matrix + outMat[3:,:3] = outMat[:3,3:].T + outMat[3:,3:] = rotateMatrix3(Min[3:,3:], rotMat) # moment of inertia matrix + + elif len(shape) == 3: + for i in range(shape[2]): # process each 6x6 slice + outMat[:3,:3, i] = rotateMatrix3(Min[:3,:3, i], rotMat) + outMat[:3,3:, i] = rotateMatrix3(Min[:3,3:, i], rotMat) + outMat[3:,:3, i] = outMat[:3,3:, i].T + outMat[3:,3:, i] = rotateMatrix3(Min[3:,3:, i], rotMat) + else: + raise Exception('Input matrix must be two- or three-dimensional.') return outMat @@ -522,6 +561,25 @@ def rotateMatrix3(Min, rotMat): return np.matmul( np.matmul(rotMat, Min), rotMat.T ) +def RotFrm2Vect( A, B): + '''Rodriguez rotation function, which returns the rotation matrix + that transforms vector A into Vector B. + ''' + + + v = np.cross(A,B) + + if np.sum(v**2)==0: # if something goes wrong (or A==B), no transformation + return np.eye(3) + + ssc = np.array([[0, -v[2], v[1]], + [v[2], 0, -v[0]], + [-v[1], v[0], 0]]) + + R = np.eye(3,3) + ssc + np.matmul(ssc,ssc)*(1-np.dot(A,B))/(np.linalg.norm(v)*np.linalg.norm(v)) + + return R + def getRMS(xi): '''Calculates standard deviation or RMS of inputted (complex) response amplitude vector. If a matrix is provided, the first dimension is considered to be multiple cases and the @@ -547,7 +605,7 @@ def getPSD(xi, dw): return psd -def JONSWAP(ws, Hs, Tp, Gamma=1.0): +def JONSWAP(ws, Hs, Tp, Gamma=None): '''Returns the JONSWAP wave spectrum for the given frequencies and parameters. Parameters @@ -575,6 +633,17 @@ def JONSWAP(ws, Hs, Tp, Gamma=1.0): on what's documented in IEC 61400-3. ''' + # If peak shape parameter gamma is not specified, use the recommendation + # from IEC 61400-3 as a function of Hs and Tp. For PM spectrum, use 1. + if not Gamma: + TpOvrSqrtHs = Tp/np.sqrt(Hs) + if TpOvrSqrtHs <= 3.6: + Gamma = 5.0 + elif TpOvrSqrtHs >= 5.0: + Gamma = 1.0 + else: + Gamma = np.exp( 5.75 - 1.15*TpOvrSqrtHs ) + # handle both scalar and array inputs if isinstance(ws, (list, tuple, np.ndarray)): ws = np.array(ws) @@ -620,8 +689,10 @@ def getFromDict(dict, key, shape=0, dtype=float, default=None, index=None): The desired shape of the output. If not provided, assuming scalar output. If -1, any input shape is used. dtype : type Must be a python type than can serve as a function to format the input value to the right type. - default : number, optional - The default value to fill in if the item isn't in the dictionary. Otherwise will raise error if the key doesn't exist. + default : number or list, optional + The default value to fill in if the item isn't in the dictionary. + Otherwise will raise error if the key doesn't exist. It may be a list + (to be tiled shape times if shape > 1) but may not be a numpy array. ''' # in future could support nested keys if type(key)==list: ... diff --git a/raft/member2pnl.py b/raft/member2pnl.py index a21dae7..4f56f24 100644 --- a/raft/member2pnl.py +++ b/raft/member2pnl.py @@ -139,6 +139,7 @@ def meshMember(stations, diameters, rA, rB, dz_max=0, da_max=0, savedNodes=[], s # make subdivision # local panel longitudinal discretization n_z = int(np.ceil( np.sqrt(dr_s*dr_s + dz_s*dz_s) / dz_ps )) + # local panel longitudinal dimension d_l = np.sqrt(dr_s*dr_s + dz_s*dz_s)/n_z; for i_z in range(1,n_z+1): diff --git a/raft/omdao_raft.py b/raft/omdao_raft.py index cf667d2..a2f3f1b 100644 --- a/raft/omdao_raft.py +++ b/raft/omdao_raft.py @@ -283,6 +283,8 @@ def setup(self): if n == 'Tmoor': myval = np.zeros((n_cases, 2*nlines)) if s not in ['PSD'] else np.zeros((n_cases, 2*nlines, nfreq)) + elif n == 'Mbase': + myval = np.zeros(n_cases) if s not in ['PSD','std'] else np.zeros((n_cases, nfreq)) else: myval = np.zeros(n_cases) if s not in ['PSD'] else np.zeros((n_cases, nfreq)) @@ -641,13 +643,15 @@ def compute(self, inputs, outputs, discrete_inputs, discrete_outputs): if outs[i][0].startswith('properties_'): name = outs[i][0].split('properties_')[1] outputs['properties_'+name] = results['properties'][name] + ''' + Note: dynamic results should be taken from results['case metrics'] elif outs[i][0].startswith('response_'): name = outs[i][0].split('response_')[1] if np.iscomplex(results['response'][name]).any(): outputs['response_'+name] = np.abs(results['response'][name]) else: outputs['response_'+name] = results['response'][name] - + ''' # Pattern matching for case-by-case outputs names = ['surge','sway','heave','roll','pitch','yaw','AxRNA','Mbase','omega','torque','power','bPitch','Tmoor'] @@ -657,7 +661,7 @@ def compute(self, inputs, outputs, discrete_inputs, discrete_outputs): for s in stats: if s == 'DEL' and not n in ['Tmoor','Mbase']: continue iout = f'{n}_{s}' - outputs['stats_'+iout][case_mask] = results['case_metrics'][iout] + outputs['stats_'+iout][case_mask] = np.squeeze( results['case_metrics'][iout] ) # Other case outputs for n in ['wind_PSD','wave_PSD']: @@ -680,3 +684,24 @@ def compute(self, inputs, outputs, discrete_inputs, discrete_outputs): outputs["platform_I_total"][:3] = np.r_[outputs['properties_roll inertia at subCG'][0], outputs['properties_pitch inertia at subCG'][0], outputs['properties_yaw inertia at subCG'][0]] + + +class RAFT_Group(om.Group): + def initialize(self): + self.options.declare('modeling_options') + self.options.declare('turbine_options') + self.options.declare('mooring_options') + self.options.declare('member_options') + self.options.declare('analysis_options') + + def setup(self): + modeling_opt = self.options['modeling_options'] + analysis_opt = self.options['analysis_options'] + turbine_opt = self.options['turbine_options'] + members_opt = self.options['member_options'] + mooring_opt = self.options['mooring_options'] + self.add_subsystem("raft", RAFT_OMDAO(modeling_options=modeling_opt, + analysis_options=analysis_opt, + turbine_options=turbine_opt, + mooring_options=mooring_opt, + member_options=members_opt), promotes=["*"]) diff --git a/raft/raft_fowt.py b/raft/raft_fowt.py index 52e4beb..532573c 100644 --- a/raft/raft_fowt.py +++ b/raft/raft_fowt.py @@ -5,7 +5,6 @@ import numpy as np from scipy.interpolate import interp1d, interp2d, griddata -import pyhams.pyhams as ph import raft.member2pnl as pnl from raft.helpers import * from raft.raft_member import Member @@ -46,8 +45,6 @@ def __init__(self, design, w, mpb, depth=600, x_ref=0, y_ref=0, heading_adjust=0 print("Making FOWT") - # >>> TODO: still need to apply heading_adjust <<< - # from Joep: for muliple HAMS threads and multiple wave headings >>> #self.numThreads = int(getFromDict(design['settings'],'numThreads', default=8)) # number of threads to run HAMS #self.headsStored = np.empty(1) @@ -67,7 +64,7 @@ def __init__(self, design, w, mpb, depth=600, x_ref=0, y_ref=0, heading_adjust=0 self.nplatmems = 0 for platmem in design['platform']['members']: if 'heading' in platmem: - print(platmem['heading']) + #print(platmem['heading']) self.nplatmems += len(platmem['heading']) else: self.nplatmems += 1 @@ -133,11 +130,11 @@ def __init__(self, design, w, mpb, depth=600, x_ref=0, y_ref=0, heading_adjust=0 self.dw_BEM = 2.0*np.pi*min_freq_BEM self.dz_BEM = getFromDict(design['platform'], 'dz_BEM', default=3.0) self.da_BEM = getFromDict(design['platform'], 'da_BEM', default=2.0) - + #self.aeroServoMod = np.atleast_1d(getFromDict(design['turbine'], 'aeroServoMod', default=1)) # flag for aeroservodynamics (0=none, 1=aero only, 2=aero and control) - - + + # member-based platform description self.memberList = [] # list of member objects @@ -157,15 +154,12 @@ def __init__(self, design, w, mpb, depth=600, x_ref=0, y_ref=0, heading_adjust=0 # create member object if np.isscalar(headings): - mi['heading'] = headings - self.memberList.append(Member(mi, self.nw)) - mi['heading'] = [headings] # restore the headings dict value for next time + self.memberList.append(Member(mi, self.nw, heading=headings+heading_adjust)) else: for heading in headings: - mi['heading'] = heading - self.memberList.append(Member(mi, self.nw)) - mi['heading'] = headings # set the headings dict value back to the yaml headings value, instead of the last one used - + self.memberList.append(Member(mi, self.nw, heading=heading+heading_adjust)) + + # add tower(s) to member list if applicable for ti in range(self.ntowers): #tower['dlsMax'] = design['turbine']['tower']['dlsMax'] # for when we want to make a list of tower 'members' and have general inputs like dlsMax first @@ -177,19 +171,7 @@ def __init__(self, design, w, mpb, depth=600, x_ref=0, y_ref=0, heading_adjust=0 # this FOWT's own MoorPy system (may not be used) if design['mooring']: - ''' - if 'file' in design['mooring']: - self.ms = mp.System(design['mooring']['file'], depth = design['mooring']['water_depth']) - self.ms.bodyList[0].type = -1 # need to make sure it's set to a coupled type - self.ms.transform(trans=[x_ref, y_ref]) # move mooring system according to the FOWT's reference position - self.ms.initialize() - else: - self.ms = mp.System() - self.ms.parseYAML(design['mooring']) - self.ms.bodyList[0].type = -1 # need to make sure it's set to a coupled type - self.ms.transform(trans=[x_ref, y_ref]) # move mooring system according to the FOWT's reference position - self.ms.initialize() - ''' + self.ms = mp.System() self.ms.parseYAML(design['mooring']) @@ -207,7 +189,7 @@ def __init__(self, design, w, mpb, depth=600, x_ref=0, y_ref=0, heading_adjust=0 raise Exception("More than one body detected in FOWT mooring system.") # move mooring system according to the FOWT's reference position - self.ms.transform(trans=[x_ref, y_ref]) + self.ms.transform(trans=[x_ref, y_ref], rot=heading_adjust) self.ms.initialize() else: @@ -226,11 +208,10 @@ def __init__(self, design, w, mpb, depth=600, x_ref=0, y_ref=0, heading_adjust=0 self.rotorList.append(Rotor(design['turbine'], self.w, ir)) #self.rotorCoords.append(design['turbine']['rotorCoords']) - # initialize mean force arrays to zero, so the model can work before we calculate excitation - self.F_aero0 = np.zeros([6, self.nrotors]) + self.f_aero0 = np.zeros([6, self.nrotors]) # mean weight and hydro force arrays are set elsewhere. In future hydro could include current. - self.D_hydro = np.zeros(6) # initialize mean drag force from current - acts as a "static" force, like F_aero0 + self.D_hydro = np.zeros(6) # initialize mean drag force from current - acts as a "static" force, like f_aero0 # flag to signal whether any BEM hydro modeling is done self.potMod = any([member['potMod']==True for member in design['platform']['members'] ]) @@ -272,9 +253,7 @@ def __init__(self, design, w, mpb, depth=600, x_ref=0, y_ref=0, heading_adjust=0 self.outFolderQTF = None if 'outFolderQTF' in design['platform']: self.outFolderQTF = design['platform']['outFolderQTF'] - - - + def setPosition(self, r6): '''Updates the FOWT's (mean) position including all components. @@ -288,17 +267,24 @@ def setPosition(self, r6): #else: # self.r6 = np.array([x_ref, y_ref, 0, 0, 0, 0]) self.Xi0 = self.r6 - np.array([self.x_ref, self.y_ref, 0, 0, 0, 0]) - - # set the positions of the FOWT's members and MoorPy system + + # calculate and save a rotation/orientation matrix + self.Rmat = rotationMatrix(*self.r6[3:]) # rotation matrix for fowt orientation + + # set the positions of the FOWT's members, rotors, and MoorPy system if self.ms: self.ms.bodyList[0].setPosition(self.r6) + + for rot in self.rotorList: + rot.setPosition(r6=self.r6) + for mem in self.memberList: mem.setPosition(r6=self.r6) - + # solve the mooring system equilibrium of this FOWT's own MoorPy system if self.ms: self.ms.solveEquilibrium() - self.C_moor = self.ms.getCoupledStiffnessA() # remember this might not be perfect because of its double inverse approach + self.C_moor = self.ms.getCoupledStiffnessA() self.F_moor0 = self.ms.bodyList[0].getForces(lines_only=True) @@ -316,8 +302,7 @@ def calcStatics(self): self.B_struc = np.zeros([6,6]) # structure damping matrix [N-s/m, N-s, N-s-m] (may not be used) self.C_struc = np.zeros([6,6]) # structure effective stiffness matrix [N/m, N, N-m] self.W_struc = np.zeros([6]) # static weight vector [N, N-m] - self.C_struc_sub = np.zeros([6,6]) # substructure effective stiffness matrix [N/m, N, N-m] - + # hydrostatic arrays self.C_hydro = np.zeros([6,6]) # hydrostatic stiffness matrix [N/m, N, N-m] self.W_hydro = np.zeros(6) # buoyancy force/moment vector [N, N-m] <<<<< not used yet @@ -330,18 +315,19 @@ def calcStatics(self): # initialize some variables for running totals VTOT = 0. # Total underwater volume of all members combined - mTOT = 0. # Total mass of all members [kg] + m_all = 0. # Total mass of all members [kg] AWP_TOT = 0. # Total waterplane area of all members [m^2] IWPx_TOT = 0 # Total waterplane moment of inertia of all members about x axis [m^4] IWPy_TOT = 0 # Total waterplane moment of inertia of all members about y axis [m^4] Sum_V_rCB = np.zeros(3) # product of each member's buoyancy multiplied by center of buoyancy [m^4] Sum_AWP_rWP = np.zeros(2) # product of each member's waterplane area multiplied by the area's center point [m^3] - Sum_M_center = np.zeros(3) # product of each member's mass multiplied by its center of mass [kg-m] (Only considers the shell mass right now) + m_center_sum = np.zeros(3) # product of each member's mass multiplied by its center of mass [kg-m] (Only considers the shell mass right now) - self.msubstruc = 0 # total mass of just the members that make up the substructure [kg] - self.M_struc_subPRP = np.zeros([6,6]) # total mass matrix of just the substructure about the PRP - msubstruc_sum = 0 # product of each substructure member's mass and CG, to be used to find the total substructure CG [kg-m] - self.mshell = 0 # total mass of the shells/steel of the members in the substructure [kg] + self.m_sub = 0 # total mass of just the members that make up the substructure [kg] + self.C_struc_sub = np.zeros([6,6]) # substructure effective stiffness matrix [N/m, N, N-m] + self.M_struc_sub = np.zeros([6,6]) # total mass matrix of just the substructure about the PRP + m_sub_sum = 0 # product of each substructure member's mass and CG, to be used to find the total substructure CG [kg-m] + self.m_shell = 0 # total mass of the shells/steel of the members in the substructure [kg] mballast = [] # list to store the mass of the ballast in each of the substructure members [kg] pballast = [] # list to store the density of ballast in each of the substructure members [kg] ''' @@ -357,19 +343,19 @@ def calcStatics(self): for i,mem in enumerate(self.memberList): # calculate member's orientation information (stored in the member and used in later steps) - mem.setPosition(r6=self.r6) + mem.setPosition(r6=self.r6) # <<< is this redundant, assume fowt.setPosition has been called? # note: quantities in the following section are relative to the PRP (but with global direcions) # ---------------------- get member's mass and inertia properties ------------------------------ # get member mass and inertia info (including mem.M_struc) <<< still split between converting to PRP in or out of these functions - mass, center, mshell, mfill, pfill = mem.getInertia(rPRP=self.r6[:3]) + mass, center, m_shell, mfill, pfill = mem.getInertia(rPRP=self.r6[:3]) # Calculate the mass matrix of the FOWT about the PRP self.W_struc += translateForce3to6DOF( np.array([0,0, -g*mass]), center ) # weight vector self.M_struc += mem.M_struc # mass/inertia matrix about the PRP - Sum_M_center += center*mass # product sum of the mass and center of mass to find the total center of mass [kg-m] + m_center_sum += center*mass # product sum of the mass and center of mass to find the total center of mass [kg-m] # Tower calculations if mem.type <= 1: # <<<<<<<<<<<< maybe find a better way to do the if condition @@ -377,10 +363,10 @@ def calcStatics(self): self.rCG_tow.append(center) # center of mass of the tower from the PRP [m] # Substructure calculations if mem.type > 1: - self.msubstruc += mass # mass of the substructure - self.M_struc_subPRP += mem.M_struc # mass matrix of the substructure about the PRP - msubstruc_sum += center*mass # product sum of the substructure members and their centers of mass [kg-m] - self.mshell += mshell # mass of the substructure shell material [kg] + self.m_sub += mass # mass of the substructure + self.M_struc_sub += mem.M_struc # mass matrix of the substructure about the PRP + m_sub_sum += center*mass # product sum of the substructure members and their centers of mass [kg-m] + self.m_shell += m_shell # mass of the substructure shell material [kg] mballast.extend(mfill) # list of ballast masses in each substructure member (list of lists) [kg] pballast.extend(pfill) # list of ballast densities in each substructure member (list of lists) [kg/m^3] ''' @@ -393,7 +379,7 @@ def calcStatics(self): # -------------------- get each member's buoyancy/hydrostatic properties ----------------------- - Fvec, Cmat, V_UW, r_CB, AWP, IWP, xWP, yWP = mem.getHydrostatics(self.rho_water, self.g, rPRP=self.r6[:3]) + Fvec, Cmat, V_UW, r_CB, AWP, IWP, xWP, yWP = mem.getHydrostatics(rho=self.rho_water, g=self.g, rPRP=self.r6[:3]) # add to fowt's mean force vector and stiffness matrix self.W_hydro += Fvec # translateForce3to6DOF( np.array([0,0, Fz]), mem.rA ) # buoyancy vector @@ -448,11 +434,11 @@ def calcStatics(self): afmem.setPosition() # calculate the mass and inertial properties of the blade members - #mass, center, mshell, mfill, pfill = afmem.getInertia() + #mass, center, m_shell, mfill, pfill = afmem.getInertia() # >>>>>> can be used later if actual rectangular mass properties are desired other than mRNA <<<<<<<< # calculate hydrostatic properties of the blade (sub)member and add them to the system matrices - Fvec, Cmat, V_UW, r_CB, AWP, IWP, xWP, yWP = afmem.getHydrostatics(self.rho_water, self.g, rPRP=self.r6[:3]) + Fvec, Cmat, V_UW, r_CB, AWP, IWP, xWP, yWP = afmem.getHydrostatics(rho=self.rho_water, g=self.g, rPRP=self.r6[:3]) # outputs of getHydrostatics should already be about the PRP self.W_hydro += Fvec # buoyancy vector @@ -485,51 +471,42 @@ def calcStatics(self): # below are temporary placeholders # for now, turbine RNA is specified by some simple lumped properties - + for i in range(self.nrotors): Mmat = np.diag([self.mRNA[i], self.mRNA[i], self.mRNA[i], self.IxRNA[i], self.IrRNA[i], self.IrRNA[i]]) # create mass/inertia matrix center = np.array([self.xCG_RNA[i], self.rotorList[i].rHub[1], self.hHub[i]]) # RNA center of mass location <<< need to overhaul this! # compute rotated RNA mass properties considering current fowt pose <<< need to double check these - Rmat = rotationMatrix(*self.r6[3:]) # rotation matrix for fowt orientation - Mmat = rotateMatrix6(Mmat,Rmat) # adjust the inertia matrix to align with global directions - center = np.matmul(Rmat, center) # adjust center offset from PRP along global directions + Mmat = rotateMatrix6(Mmat, self.Rmat) # adjust the inertia matrix to align with global directions + center = np.matmul(self.Rmat, center) # adjust center offset from PRP along global directions # now convert everything to be about PRP (platform reference point) and add to global vectors/matrices self.W_struc += translateForce3to6DOF(np.array([0,0, -g*self.mRNA[i]]), center ) # weight vector self.M_struc += translateMatrix6to6DOF(Mmat, center) # mass/inertia matrix - Sum_M_center += center*self.mRNA[i] + m_center_sum += center*self.mRNA[i] # ----------- process inertia-related totals ---------------- - mTOT = self.M_struc[0,0] # total mass of all the members - self.mTOT = mTOT - rCG_TOT = Sum_M_center/mTOT # total CG of all the members - self.rCG_TOT = rCG_TOT - - self.rCG_sub = msubstruc_sum/self.msubstruc # solve for just the substructure mass and CG + m_all = self.M_struc[0,0] # total mass of all the members + rCG_all = m_center_sum/m_all # total CG of all the members - self.M_struc_subCM = translateMatrix6to6DOF(self.M_struc_subPRP, -self.rCG_sub) # the mass matrix of the substructure about the substruc's CM - # need to make rCG_sub negative here because tM6to6DOF takes a vector that goes from where you want the ref point to be (CM) to the currently ref point (PRP) + self.rCG = rCG_all + self.rCG_sub = m_sub_sum/self.m_sub # solve for just the substructure mass and CG + + + + # get principal moments of inertia (about CG) + # note: these are likely only useful in the unrotated frame, i.e. + # the first time calcStatics is called. + + # the mass matrix of the substructure about the substruc's CM + M_sub = translateMatrix6to6DOF(self.M_struc_sub, -self.rCG_sub) # -rCG_sub due to convention of the function + + # overall structure mass matrix about its CM + M_all = translateMatrix6to6DOF(self.M_struc, -self.rCG) + + # could check that off-diagonals are approximately zero as an error check - ''' - self.I44 = 0 # moment of inertia in roll due to roll of the substructure about the substruc's CG [kg-m^2] - self.I44B = 0 # moment of inertia in roll due to roll of the substructure about the PRP [kg-m^2] - self.I55 = 0 # moment of inertia in pitch due to pitch of the substructure about the substruc's CG [kg-m^2] - self.I55B = 0 # moment of inertia in pitch due to pitch of the substructure about the PRP [kg-m^2] - self.I66 = 0 # moment of inertia in yaw due to yaw of the substructure about the substruc's centerline [kg-m^2] - - # Use the parallel axis theorem to move each substructure's MoI to the substructure's CG - x = np.linalg.norm([self.rCG_sub[1],self.rCG_sub[2]]) # the normalized distance between the x and x' axes - y = np.linalg.norm([self.rCG_sub[0],self.rCG_sub[2]]) # the normalized distance between the y and y' axes - z = np.linalg.norm([self.rCG_sub[0],self.rCG_sub[1]]) # the normalized distance between the z and z' axes - for i in range(len(I44list)): - self.I44 += I44list[i] - masslist[i]*x**2 - self.I44B += I44list[i] - self.I55 += I55list[i] - masslist[i]*y**2 - self.I55B += I55list[i] - self.I66 += I66list[i] - masslist[i]*z**2 - ''' # Solve for the total mass of each type of ballast in the substructure self.pb = [] # empty list to store the unique ballast densities @@ -538,45 +515,60 @@ def calcStatics(self): if self.pb.count(pballast[i]) == 0: # and if that value is not already in pb self.pb.append(pballast[i]) # store that ballast density value - self.mballast = np.zeros(len(self.pb)) # make an empty mballast list with len=len(pb) + self.m_ballast = np.zeros(len(self.pb)) # make an empty m_ballast list with len=len(pb) for i in range(len(self.pb)): # for each ballast density for j in range(len(mballast)): # loop through each ballast mass if float(pballast[j]) == float(self.pb[i]): # but only if the index of the ballast mass (density) matches the value of pb - self.mballast[i] += mballast[j] # add that ballast mass to the correct index of mballast + self.m_ballast[i] += mballast[j] # add that ballast mass to the correct index of mballast # ----------- process key hydrostatic-related totals for use in static equilibrium solution ------------------ - - self.V = VTOT # save the total underwater volume + # save the total underwater volume rCB_TOT = Sum_V_rCB/VTOT # location of center of buoyancy on platform - self.rCB = rCB_TOT - + if VTOT==0: # if you're only working with members above the platform, like modeling the wind turbine zMeta = 0 else: zMeta = rCB_TOT[2] + IWPx_TOT/VTOT # add center of buoyancy and BM=I/v to get z elevation of metecenter [m] (have to pick one direction for IWP) - self.C_struc[3,3] = -mTOT*g*rCG_TOT[2] - self.C_struc[4,4] = -mTOT*g*rCG_TOT[2] + self.C_struc[3,3] = -m_all*g*rCG_all[2] + self.C_struc[4,4] = -m_all*g*rCG_all[2] - self.C_struc_sub[3,3] = -self.msubstruc*g*self.rCG_sub[2] - self.C_struc_sub[4,4] = -self.msubstruc*g*self.rCG_sub[2] + self.C_struc_sub[3,3] = -self.m_sub*g*self.rCG_sub[2] + self.C_struc_sub[4,4] = -self.m_sub*g*self.rCG_sub[2] # add relevant properties to this turbine's MoorPy Body # >>> should double check proper handling of mean weight and buoyancy forces throughout model <<< if self.body: # note: this is likely unused now <<< - self.body.m = mTOT + self.body.m = m_all self.body.v = VTOT - self.body.rCG = rCG_TOT + self.body.rCG = rCG_all self.body.AWP = AWP_TOT self.body.rM = np.array([rCB_TOT[0], rCB_TOT[1], zMeta]) # now includes x and y coordinates for center of buoyancy #is there any risk of additional moments due to offset CB since MoorPy assumes CB at ref point? <<< - self.m = mTOT - self.v = VTOT - self.rCG = rCG_TOT + self.rCB = rCB_TOT + self.m = m_all + self.V = VTOT self.AWP = AWP_TOT self.rM = np.array([rCB_TOT[0], rCB_TOT[1], zMeta]) + + # save things in a dictionary now + self.props = {} + self.props['m'] = self.m + self.props['m_sub'] = self.m_sub + self.props['v'] = self.V + self.props['rCG'] = self.rCG + self.props['rCG_sub'] = self.rCG_sub + self.props['rCB'] = self.rCB + self.props['AWP'] = self.AWP + self.props['rM'] = self.rM + self.props['Ixx'] = M_all[3,3] # principale moments of inertia of entire structure + self.props['Iyy'] = M_all[4,4] + self.props['Izz'] = M_all[5,5] + self.props['Ixx_sub'] = M_sub[3,3] # principale moments of inertia of substructure + self.props['Iyy_sub'] = M_sub[4,4] + self.props['Izz_sub'] = M_sub[5,5] def calcBEM(self, dw=0, wMax=0, wInf=10.0, dz=0, da=0, headings=[0], meshDir=os.path.join(os.getcwd(),'BEM')): @@ -594,7 +586,7 @@ def calcBEM(self, dw=0, wMax=0, wInf=10.0, dz=0, da=0, headings=[0], meshDir=os. Optional specification of maximum frequency for BEM analysis (rad/s). Will only be used if it is greater than the maximum frequency used in RAFT. wInf : float - Optional specification of large frequency to use as approximation for infinite + Optional specification of large frequency to use as approximation for infinite frequency in pyHAMS analysis (rad/s). dz : float desired longitudinal panel size for potential flow BEM analysis (m) @@ -603,22 +595,22 @@ def calcBEM(self, dw=0, wMax=0, wInf=10.0, dz=0, da=0, headings=[0], meshDir=os. headings : list of floats incident wave headings to be considered, default [0] (deg). <<<<<<<< capability still needs to be added, after adjustments to pyHAMS ''' - + # go through members to be modeled with BEM and calculated their nodes and panels lists nodes = [] panels = [] - + vertices = np.zeros([0,3]) # for GDF output - + dz = self.dz_BEM if dz==0 else dz # allow override if provided - da = self.da_BEM if da==0 else da + da = self.da_BEM if da==0 else da for mem in self.memberList: - + if mem.potMod==True: pnl.meshMember(mem.stations, mem.d, mem.rA, mem.rB, dz_max=dz, da_max=da, savedNodes=nodes, savedPanels=panels) - + # for GDF output vertices_i = pnl.meshMemberForGDF(mem.stations, mem.d, mem.rA, mem.rB, dz_max=dz, da_max=da) vertices = np.vstack([vertices, vertices_i]) # append the member's vertices to the master list @@ -627,23 +619,25 @@ def calcBEM(self, dw=0, wMax=0, wInf=10.0, dz=0, da=0, headings=[0], meshDir=os. # only try to save a mesh and run HAMS if some members DO have potMod=True if len(panels) > 0: + import pyhams.pyhams as ph # import PyHAMS only if we're going to use it + pnl.writeMesh(nodes, panels, oDir=os.path.join(meshDir,'Input')) # generate a mesh file in the HAMS .pnl format - + #pnl.writeMeshToGDF(vertices) # also a GDF for visualization - + ph.create_hams_dirs(meshDir) # - + # HAMS needs a hydrostatics file, it's unused for .1 and .3, # but HAMS write the .hst file that OpenFAST uses - ph.write_hydrostatic_file(meshDir, kHydro=self.C_hydro) - + ph.write_hydrostatic_file(meshDir, kHydro=self.C_hydro) + # prepare frequency settings for HAMS dw_HAMS = self.dw_BEM if dw==0 else dw # frequency increment - allow override if provided - + wMax_HAMS = max(wMax, max(self.w)) # make sure the HAMS runs includes both RAFT and export frequency extents - + nw_HAMS = int(np.ceil(wMax_HAMS/dw_HAMS)) # ensure the upper frequency of the HAMS analysis is large enough - + ph.write_control_file(meshDir, waterDepth=self.depth, incFLim=1, iFType=3, oFType=4, # inputs are in rad/s, outputs in s numFreqs=-nw_HAMS, minFreq=dw_HAMS, dFreq=dw_HAMS, numHeadings=len(headings), headingList=headings) #, numThreads=self.numThreads) <<< @@ -653,19 +647,35 @@ def calcBEM(self, dw=0, wMax=0, wInf=10.0, dz=0, da=0, headings=[0], meshDir=os. # period by specifying the values PER= 0:0 and PER< 0:0, respectively. These special values are always # associated with the wave period, irrespective of the value of IPERIN and the corresponding # interpretation of the positive elements of the array PER - - + + # execute the HAMS analysis - ph.run_hams(meshDir) - + ph.run_hams(meshDir) + # read the HAMS WAMIT-style output files addedMass, damping, w1 = ph.read_wamit1(os.path.join(meshDir,'Output','Wamit_format','Buoy.1'), TFlag=True) # first two entries in frequency dimension are expected to be zero-frequency then infinite frequency M, P, R, I, w3, heads = ph.read_wamit3(os.path.join(meshDir,'Output','Wamit_format','Buoy.3'), TFlag=True) + + # process headings and sort frequencies self.BEM_headings = np.array(heads)%(360) # save headings in range of 0-360 [deg] # interpole to the frequencies RAFT is using + ''' + isort1 = np.argsort(w1) # indices that will sort the radiation results + isort3 = np.argsort(w3) # indices that will sort the diffraction results + w1 = np.take(w1, isort1) + w3 = np.take(w3, isort3) + addedMass = np.take(addedMass, isort1, axis=2) + damping = np.take(damping , isort1, axis=2) + M = np.take(M , isort3, axis=2) + P = np.take(P , isort3, axis=2) + R = np.take(R , isort3, axis=2) + I = np.take(I , isort3, axis=2) + ''' + # interpolate to RAFT model frequencies + # zero frequency values are being stacked on to give smooth results if the requested frequency is below what's available from HAMS addedMassInterp = interp1d(np.hstack([w1[2:], 0.0]), np.dstack([addedMass[:,:,2:], addedMass[:,:,0]]), assume_sorted=False, axis=2)(self.w) dampingInterp = interp1d(np.hstack([w1[2:], 0.0]), np.dstack([ damping[:,:,2:], np.zeros([6,6]) ]), assume_sorted=False, axis=2)(self.w) - fExRealInterp = interp1d(w3, R , assume_sorted=False )(self.w) - fExImagInterp = interp1d(w3, I , assume_sorted=False )(self.w) + fExRealInterp = interp1d(np.hstack([w3, 0.0]), np.dstack([ R, np.zeros([len(heads),6]) ]), assume_sorted=False, axis=2)(self.w) + fExImagInterp = interp1d(np.hstack([w3, 0.0]), np.dstack([ I, np.zeros([len(heads),6]) ]), assume_sorted=False, axis=2)(self.w) # note: fEx tensors are sized according to [nHeadings, 6 DOFs, frequencies] # copy results over to the FOWT's coefficient arrays @@ -702,92 +712,85 @@ def calcBEM(self, dw=0, wMax=0, wInf=10.0, dz=0, da=0, headings=[0], meshDir=os. #print("NaN values detected in HAMS calculations for excitation. Check the geometry.") #breakpoint() raise Exception("NaN values detected in HAMS calculations for excitation. Check the geometry.") - + # TODO: add support for multiple wave headings <<< # note: RAFT will only be using finite-frequency potential flow coefficients - - + + def calcTurbineConstants(self, case, ptfm_pitch=0): - '''This computes turbine linear terms + '''This computes turbine linear terms (excluding hydrodynamic added + mass and inertial excitation, which are handled by getHydroConstants). case dictionary of case information ptfm_pitch mean pitch angle of the platform [rad] - + ''' - + #self.rotor.runCCBlade(case['wind_speed'], ptfm_pitch=ptfm_pitch, yaw_misalign=case['yaw_misalign']) - print(case) + #print(case) turbine_heading = getFromDict(case, 'turbine_heading', shape=0, dtype = float, default=0.0) # [deg] turbine_status = getFromDict(case, 'turbine_status', shape=0, dtype=str, default='operating') - + # initialize arrays (can remain zero if aerodynamics are disabled) - self.A_aero = np.zeros([6,6,self.nw,self.nrotors]) # frequency-dependent aero-servo added mass matrix + self.A_aero = np.zeros([6,6,self.nw,self.nrotors]) # frequency-dependent aero-servo added mass matrix self.B_aero = np.zeros([6,6,self.nw,self.nrotors]) # frequency-dependent aero-servo damping matrix - self.F_aero = np.zeros([6, self.nw,self.nrotors], dtype=complex) # dynamice excitation force and moment amplitude spectra - self.F_aero0 = np.zeros([6, self.nrotors]) # mean aerodynamic forces and moments + self.f_aero = np.zeros([6, self.nw,self.nrotors], dtype=complex) # dynamice excitation force and moment amplitude spectra + self.f_aero0 = np.zeros([6, self.nrotors]) # mean aerodynamic forces and moments #todo: reorder above so that w is last index <<< self.B_gyro = np.zeros([6,6,self.nrotors]) # rotor gyroscopic damping matrix if turbine_status == 'operating': - for t in range(self.nrotors): + for ir in range(self.nrotors): # only compute the aerodynamics if enabled and windspeed is nonzero - if self.rotorList[t].Zhub < 0: + if self.rotorList[ir].Zhub < 0: current = True speed = getFromDict(case, 'current_speed', shape=0, default=1.0) else: current = False speed = getFromDict(case, 'wind_speed', shape=0, default=10.0) - if self.rotorList[t].aeroServoMod > 0 and speed > 0.0: + if self.rotorList[ir].aeroServoMod > 0 and speed > 0.0: - # get mean aero forces and fore-aft coefficients (these are about hub coordinate in nacelle reference frame) - F_aero0, f_aero, a_aero, b_aero = self.rotorList[t].calcAeroServoContributions(case, ptfm_pitch=ptfm_pitch, current=current) # get values about hub + # Get mean aero forces and fore-aft coefficients + # Note: these are about hub coordinate in global orientation. + f_aero0, f_aero, a_aero, b_aero = self.rotorList[ir].calcAero(case, current=current) # get values about hub # hub reference frame relative to PRP <<<<<<<<<<<<<<<<< - rHub = self.rotorList[t].rHub # TODO: change the loop to use enumerate to streamline this section, and add mean position support <<< - #rotMatHub = rotationMatrix(0, 0.01, 0) + rHub = self.rotorList[ir].rHub # TODO: change the loop to use enumerate to streamline this section, and add mean position support <<< - # TODO: enable and check capability for nonzero turbine headings <<< - # convert coefficients to platform reference frame and populate tensor slice for this rotor - for i in range(self.nw): - self.A_aero[:,:,i,t] = translateMatrix3to6DOF( np.diag([a_aero[i], 0, 0]), rHub) - self.B_aero[:,:,i,t] = translateMatrix3to6DOF( np.diag([b_aero[i], 0, 0]), rHub) - #self.C_aero = translateMatrix6to6DOF( rotateMatrix6(C_aero, rotMatHub), rHub) + for iw in range(self.nw): + self.A_aero[:,:,iw,ir] = translateMatrix6to6DOF(a_aero[:,:,iw], rHub) + self.B_aero[:,:,iw,ir] = translateMatrix6to6DOF(b_aero[:,:,iw], rHub) # convert forces to platform reference frame - self.F_aero0[:,t] = transformForce(F_aero0, offset=rHub) # mean forces and moments - # >>> TO ADD to above: F_aero0 = transformForce(F_aero0, orientation=[0, 0, np.radians(turbine_heading)]) # rotate to put forces on rotor in global oriention (if yawed) - if not turbine_heading == 0: - print("WARNING: yawed turbine features are not yet implemented but a nonzero turbine_heading was given") - + self.f_aero0[:,ir] = transformForce(f_aero0, offset=rHub) # mean forces and moments + for iw in range(self.nw): - #self.F_aero[:,iw] = transformForce(F_aero[:,iw], offset=rHub, orientation=rotMatHub) - self.F_aero[:,iw,t] = translateForce3to6DOF(np.array([f_aero[iw], 0, 0]), rHub) + self.f_aero[:,iw,ir] = transformForce(f_aero[:,iw], offset=rHub) # excitation - # calculate cavitation of the rotor (platform motions should already be accounted for in the CCBlade object after running calcAeroServoContributions) + # calculate cavitation of the rotor (platform motions should already be accounted for in the CCBlade object after running calcAero) # if rotor is submerged... - # cav = self.rotorList[t].calcCavitation(case) # TO-DO: wire this to be a result/output, then uncomment <<< + # cav = self.rotorList[ir].calcCavitation(case) # TO-DO: wire this to be a result/output, then uncomment <<< # ----- calculate rotor gyroscopic effects ----- # rotor speed [rpm] - Omega_rpm = np.interp(speed, self.rotorList[t].Uhub, self.rotorList[t].Omega_rpm) + Omega_rpm = np.interp(speed, self.rotorList[ir].Uhub, self.rotorList[ir].Omega_rpm) - rotMat = rotationMatrix(0, self.rotorList[t].shaft_tilt, 0) # rotation matrix for shaft tilt - # should also add rotatoin matrix for device orientation + rotMat = RotFrm2Vect(np.array([1,0,0]), self.rotorList[ir].q) # rotation matrix from global to rotor axis Omega_rotor = np.matmul(rotMat, [Omega_rpm*2*np.pi/60, 0, 0]) # rotor angular velocity vector - # rotating inertia vector - approximation of matmul(I_rotor,Omega_rotor) - IO_rotor = self.rotorList[t].I_drivetrain*Omega_rotor # note units: kg-m^2 * rad/s = N-m-s + # rotating inertia vector [kg-m^2 * rad/s = N-m-s] + IO_rotor = self.rotorList[ir].I_drivetrain * Omega_rotor GyroDampingMatrix = getH(IO_rotor) - self.B_gyro[3:, 3:, t] = GyroDampingMatrix + self.B_gyro[3:, 3:, ir] = GyroDampingMatrix # note, gyroscopic effect is purely rotational so no translation adjustment needed @@ -795,20 +798,9 @@ def calcTurbineConstants(self, case, ptfm_pitch=0): print(f"Warning: turbine status is '{turbine_status}' so rotor fluid loads are neglected.") - def calcHydroConstants(self, case, memberList=[], Rotor=None, dgamma=0): - '''This computes the linear strip-theory-hydrodynamics terms, - related to drag and added mass, which are also a precursor to excitation. - - Parameters - ---------- - memberList : list of Member objects - List of members to be involved in the calculations. - rotor : Rotor object - The rotor in case hydro constants of an underwater rotor are being calculated. - dgamma : float - Blade pitch angle to be applied when modeling the hydrodynamics of any underwater rotors. - - ''' + def calcHydroConstants(self): + '''Compute FOWT hydrodynamic added mass matrix and member-level + inertial excitation coefficients.''' rho = self.rho_water @@ -819,8 +811,10 @@ def calcHydroConstants(self, case, memberList=[], Rotor=None, dgamma=0): self.A_hydro_morison = np.zeros([6,6]) # hydrodynamic added mass matrix, from only Morison equation [kg, kg-m, kg-m^2] # loop through each member - for i,mem in enumerate(memberList): - + + for i,mem in enumerate(self.memberList): + ''' + circ = mem.shape=='circular' # convenience boolian for circular vs. rectangular cross sections # find the proper member node positions (mem.r) if this memberList is a bladeMemberList for underwater rotors. Otherwise, skip @@ -850,7 +844,7 @@ def calcHydroConstants(self, case, memberList=[], Rotor=None, dgamma=0): # - Do we need to adjust any other methods in raft_fowt to account for added mass? # - Do we need to make any changes to the pyHAMS code to account for rotor added mass? # - How should we adjust the inclusion of member end effects of added mass knowing blade members are attached on ends to each other? - + # loop through each node of the member for il in range(mem.ns): @@ -868,25 +862,22 @@ def calcHydroConstants(self, case, memberList=[], Rotor=None, dgamma=0): Ca_End = np.interp( mem.ls[il], mem.stations, mem.Ca_End) - # ----- compute side effects --------------------------------------------------------- + # ----- compute side effects (transverse only) ----- if circ: v_i = 0.25*np.pi*mem.ds[il]**2*mem.dls[il] else: v_i = mem.ds[il,0]*mem.ds[il,1]*mem.dls[il] # member volume assigned to this node - + if mem.r[il,2] + 0.5*mem.dls[il] > 0: # if member extends out of water # <<< may want a better appraoch for this... v_i = v_i * (0.5*mem.dls[il] - mem.r[il,2]) / mem.dls[il] # scale volume by the portion that is under water - - + # added mass (axial term explicitly excluded here - we aren't dealing with chains) Amat_sides = rho*v_i *( Ca_p1*mem.p1Mat + Ca_p2*mem.p2Mat ) # local added mass matrix - #Amat = rho*v_i *( Ca_q*mem.qMat + Ca_p1*mem.p1Mat + Ca_p2*mem.p2Mat ) # local added mass matrix - + # inertial excitation - Froude-Krylov (axial term explicitly excluded here - we aren't dealing with chains) Imat_sides = rho*v_i *( (1.+Ca_p1)*mem.p1Mat + (1.+Ca_p2)*mem.p2Mat ) # local inertial excitation matrix (note: the 1 is the Cp, dynamic pressure, term) - #Imat = rho*v_i *( (1.+Ca_q)*mem.qMat + (1.+Ca_p1)*mem.p1Mat + (1.+Ca_p2)*mem.p2Mat ) # local inertial excitation matrix - + # ----- add axial/end effects for added mass, and excitation including dynamic pressure ------ # note : v_a and a_i work out to zero for non-tapered sections or non-end sections @@ -914,20 +905,34 @@ def calcHydroConstants(self, case, memberList=[], Rotor=None, dgamma=0): # add to global added mass matrix for Morison members, which considers the mean offsets and is relative to the RPP with global orientation self.A_hydro_morison += translateMatrix3to6DOF(mem.Amat[il,:,:], mem.r[il,:] - self.r6[:3]) - + # reset the member.r variable if underwater blade members were used if mem.type==3 and Rotor is not None: mem.rA0 = rOG[0] mem.rB0 = rOG[-1] + ''' + # get member added mass matrix about PRP (also saves each member's inertial excitation coefficients) + A_hydro_i = mem.calcHydroConstants(r_ref=self.r6[:3]) + + self.A_hydro_morison += A_hydro_i # add to FOWT added mass matrix + + + # ----- Get hydrodynamic contributions from any underwater rotors ------ + for i, rot in enumerate(self.rotorList): + + # compute rotor hydro added mass/inertia properties + A_hydro_i, I_hydro_i = rot.calcHydroConstants(rho=self.rho_water, g=self.g) + + # make relative to PRP and add to system added mass matrix + self.A_hydro_morison += translateMatrix6to6DOF(A_hydro_i, rot.r3-self.r6[:3]) + - - def calcHydroExcitation(self, case, memberList=[], Rotor=None, dgamma=0): + def calcHydroExcitation(self, case, memberList=[], dgamma=0): '''This computes the wave kinematics and linear excitation for a given case. It calculates and F_BEM and F_hydro_iner, each with dimensions [wave headings, DOFs, frequencies]. - ''' - + # ----- set up sea state ----- # JvS made support for a second set of case wave info for a different heading. Instead, to generalize, @@ -943,18 +948,19 @@ def calcHydroExcitation(self, case, memberList=[], Rotor=None, dgamma=0): case['wave_spectrum']= getFromDict(case, 'wave_spectrum' , shape=self.nWaves, dtype=str, default='JONSWAP') case['wave_period'] = getFromDict(case, 'wave_period' , shape=self.nWaves, dtype=float) case['wave_height'] = getFromDict(case, 'wave_height' , shape=self.nWaves, dtype=float) - case['wave_gamma'] = getFromDict(case, 'wave_gamma' , shape=self.nWaves, dtype=float, default=2.0) + case['wave_gamma'] = getFromDict(case, 'wave_gamma' , shape=self.nWaves, dtype=float, default=0) self.beta = case['wave_heading'] # [rad] array of wave headings self.zeta = np.zeros([self.nWaves,self.nw], dtype=complex) - # make wave spectrum for each heading - self.S = np.zeros([self.nWaves,self.nw]) + # make wave spectrum for each heading + self.S = np.zeros([self.nWaves,self.nw]) for ih in range(self.nWaves): if case['wave_spectrum'][ih] == 'unit': - self.zeta[ih,:] = np.tile(1, self.nw) - self.S[ih,:] = np.tile(1, self.nw) + #self.zeta[ih,:] = np.tile(1, self.nw) + S = np.tile(1, self.nw) + self.zeta[ih,:] = np.sqrt(2*S*self.dw) elif case['wave_spectrum'][ih] == 'JONSWAP': self.S[ih,:] = JONSWAP(self.w, case['wave_height'][ih], case['wave_period'][ih], Gamma=case['wave_gamma'][ih]) self.zeta[ih,:] = np.sqrt(2*self.S[ih,:]*self.dw) # wave elevation amplitudes (these are easiest to use) @@ -973,7 +979,12 @@ def calcHydroExcitation(self, case, memberList=[], Rotor=None, dgamma=0): mem.u = np.zeros([self.nWaves, mem.ns, 3, self.nw], dtype=complex) mem.ud = np.zeros([self.nWaves, mem.ns, 3, self.nw], dtype=complex) mem.pDyn = np.zeros([self.nWaves, mem.ns, self.nw], dtype=complex) - + + # also set up wave kinematics arrays for the rotors + for i,rot in enumerate(self.rotorList): + rot.u = np.zeros([self.nWaves, 3, self.nw], dtype=complex) + rot.ud = np.zeros([self.nWaves, 3, self.nw], dtype=complex) + rot.pDyn = np.zeros([self.nWaves, self.nw], dtype=complex) # ----- calculate potential-flow wave excitation force ----- @@ -1038,6 +1049,7 @@ def calcHydroExcitation(self, case, memberList=[], Rotor=None, dgamma=0): self.F_BEM[ih,:,:] = self.X_BEM[ih,:,:] * self.zeta[ih,:] * phase_offset + # ----- strip-theory wave excitation force ----- # loop through each member to compute strip-theory contributions for i,mem in enumerate(memberList): @@ -1051,12 +1063,6 @@ def calcHydroExcitation(self, case, memberList=[], Rotor=None, dgamma=0): if mem.r[il,2] < 0: # get wave kinematics spectra given a certain wave spectrum and location - #mem.u[il,:,:], mem.ud[il,:,:], mem.pDyn[il,:] = getWaveKin(self.zeta, self.beta, self.w, self.k, self.depth, mem.r[il,:], self.nw) - - #u = np.zeros([self.nWaves,3,self.nw]) - #ud = np.zeros([self.nWaves,3,self.nw]) - #pDyn = np.zeros([self.nWaves,self.nw]) - # for each wave direction, calculate this node's frequency-dependent wave velocity, acceleration, and dynamic presure for ih in range(self.nWaves): mem.u[ih,il,:,:], mem.ud[ih,il,:,:], mem.pDyn[ih,il,:] = getWaveKin(self.zeta[ih,:], self.beta[ih], @@ -1074,17 +1080,40 @@ def calcHydroExcitation(self, case, memberList=[], Rotor=None, dgamma=0): for ih in range(self.nWaves): for i in range(self.nw): - #mem.F_exc_a[il,:,i] = np.matmul(mem.Imat[il,:,:], ud[ih,:,i]) # local inertial excitation force complex amplitude in x,y,z - # >>> may want to add a separate dynamic pressure input <<< - #mem.F_exc_p[il,:,i] = pDyn[ih,i]*mem.a_i[il]*mem.q # add dynamic pressure - positive with q if end A - determined by sign of a_i - # + # add dynamic pressure - positive with q if end A - determined by sign of a_i F_exc_iner_temp = np.matmul(mem.Imat[il,:,:], mem.ud[ih,il,:,i]) + mem.pDyn[ih,il,i]*mem.a_i[il]*mem.q - #mem.F_exc_iner[il,:,i] += F_exc_iner_temp # add to stored member force vector - + # add the excitation complex amplitude for this heading and frequency to the global excitation vector self.F_hydro_iner[ih,:,i] += translateForce3to6DOF(F_exc_iner_temp, mem.r[il,:] - self.r6[:3]) # (about PRP) + # ----- inertial excitation on rotor(s) ----- + + for i, rot in enumerate(self.rotorList): + if rot.Zhub < 0: # if submerged + + # get wave kinematics spectra given a certain wave spectrum and location + # for each wave direction, calculate the hub wave kinematics + for ih in range(self.nWaves): + rot.u[ih,:,:], rot.ud[ih,:,:], rot.pDyn[ih,:] = getWaveKin(self.zeta[ih,:], self.beta[ih], + self.w, self.k, self.depth, rot.r3, self.nw) + # Note: the above wave kinematics account for phasing due to the FOWT's mean offset position in the array + + # Rotate rotor inertial excitation matrix to align with global + #angles = self.r6[3:] + np.array([0, np.atan2(rot.axis[2], rot.axis[0]), + # np.atan2(rot.axis[1], rot.axis[0])]) + #Rmat = rotationMatrix(*angles) # rotation matrix for rotor+fowt orientation + Rmat = RotFrm2Vect( np.array([1,0,0]), rot.q) + I_hydro = rotateMatrix6(rot.I_hydro, Rmat) # Should check. Only first 3 columns of I_hydro have meaning. + + # compute force across frequency range + for i in range(self.nw): + f3 = np.matmul( I_hydro[:3,:3], rot.ud[ih,:,i] ) # Forces due to acceleration + f6 = translateForce3to6DOF(f3, rot.r3 - self.r6[:3]) # Translate to about PRP (induces some moments) + f6[3:] += np.matmul( I_hydro[3:,:3], rot.ud[ih,:,i] ) # Add moments due to acceleration + + self.F_hydro_iner[ih,:,i] += f6 + def calcHydroLinearization(self, Xi): '''The FOWT's dynamics solve iteration method. This calculates the amplitude-dependent @@ -1117,8 +1146,9 @@ def calcHydroLinearization(self, Xi): # loop through each node of the member for il in range(mem.ns): + # get node complex velocity spectrum based on platform motion's and relative position from PRP # node displacement, velocity, and acceleration (each [3 x nw]) - drnode, vnode, anode = getVelocity(mem.r[il,:], Xi, self.w) # get node complex velocity spectrum based on platform motion's and relative position from PRP + drnode, vnode, anode = getKinematics(mem.r[il,:], Xi, self.w) # only process hydrodynamics if this node is submerged if mem.r[il,2] < 0: @@ -1250,7 +1280,7 @@ def calcCurrentLoads(self, case): heading = getFromDict(case, 'current_heading', shape=0, default=0) - Zref = 0.0 # reference z elevation for current profile (at the sea surface by default) + Zref = 0.0 # reference z elevation for current profile (at the sea surface by default) (reference height set to submerged rotor hub depth if rotor is submerged) for ti in range(self.nrotors): if self.rotorList[ti].Zhub < 0: # If there is a submerged rotor, Zref = self.rotorList[ti].Zhub # use it for the reference current height. @@ -1310,7 +1340,7 @@ def calcCurrentLoads(self, case): D_hydro += translateForce3to6DOF(D, mem.r[il,:] - self.r6[:3]) # sum as forces and moments about PRP - self.D_hydro = D_hydro + self.D_hydro = D_hydro # save hydro drag forces/moments to FOWT for later access return D_hydro @@ -1388,7 +1418,7 @@ def calcQTF_slenderBody(self, ih, Xi0=None, beta=None): nodeV_axial_rel = np.zeros([len(self.w1_2nd), mem.ns], dtype=complex) # Node relative axial velocity grad_pres1st = np.zeros([3, len(self.w1_2nd), mem.ns], dtype=complex) # Gradient of first order pressure at each node for iNode, r in enumerate(mem.r): - dr[:,:, iNode], nodeV[:,:, iNode], _ = getVelocity(r, Xi, self.w1_2nd) + dr[:,:, iNode], nodeV[:,:, iNode], _ = getKinematics(r, Xi, self.w1_2nd) u[:,:, iNode], _, _ = getWaveKin(np.ones(self.w1_2nd.shape), beta, self.w1_2nd, self.k1_2nd, self.depth, r, len(self.w1_2nd), rho=rho, g=g) for iw in range(len(self.w1_2nd)): @@ -1406,7 +1436,7 @@ def calcQTF_slenderBody(self, ih, Xi0=None, beta=None): if mem.r[-1,2] * mem.r[0,2] < 0: r_int = mem.r[0,:] + (mem.r[-1,:] - mem.r[0,:]) * (0. - mem.r[0,2]) / (mem.r[-1,2] - mem.r[0,2]) _, ud_wl, eta = getWaveKin(np.ones(self.w1_2nd.shape), beta, self.w1_2nd, self.k1_2nd, self.depth, r_int, len(self.w1_2nd), rho=1, g=1) # getWaveKin actually returns dynamic pressure, so consider unitary rho and g to get wave elevation - dr_wl, _, a_wl = getVelocity(r_int, Xi, self.w1_2nd) + dr_wl, _, a_wl = getKinematics(r_int, Xi, self.w1_2nd) # Vector with the acceleration of gravity projected along the displaced local x and y axes g_e1 = np.zeros([3, len(self.w1_2nd)], dtype=complex) @@ -1468,13 +1498,13 @@ def calcQTF_slenderBody(self, ih, Xi0=None, beta=None): f_rslb *= rho*v_i # # Rainey load that is only non zero for non-circular cylinders - # u1_aux = u[:,i1, il]-nodeV[:,i1, il] - # u2_aux = u[:,i2, il]-nodeV[:,i2, il] - # Vmatrix1 = getWaveKin_grad_u1(w1, k1, beta, self.depth, mem.r[il,:]) + OMEGA1 - # Vmatrix2 = getWaveKin_grad_u1(w2, k2, beta, self.depth, mem.r[il,:]) + OMEGA2 - # aux = 0.25*(np.matmul(Vmatrix1, np.conj(np.matmul(Ca_p1*mem.p1Mat + Ca_p2*mem.p2Mat, u2_aux))) + np.matmul(np.conj(Vmatrix2), np.matmul(Ca_p1*mem.p1Mat + Ca_p2*mem.p2Mat, u1_aux))) - # aux -= np.matmul(mem.qMat, aux) # remove axial component - # f_rslb += rho*v_i * aux + u1_aux = u[:,i1, il]-nodeV[:,i1, il] + u2_aux = u[:,i2, il]-nodeV[:,i2, il] + Vmatrix1 = getWaveKin_grad_u1(w1, k1, beta, self.depth, mem.r[il,:]) + OMEGA1 + Vmatrix2 = getWaveKin_grad_u1(w2, k2, beta, self.depth, mem.r[il,:]) + OMEGA2 + aux = 0.25*(np.matmul(Vmatrix1, np.conj(np.matmul(Ca_p1*mem.p1Mat + Ca_p2*mem.p2Mat, u2_aux))) + np.matmul(np.conj(Vmatrix2), np.matmul(Ca_p1*mem.p1Mat + Ca_p2*mem.p2Mat, u1_aux))) + aux -= np.matmul(mem.qMat, aux) # remove axial component + f_rslb += rho*v_i * aux # # Similar to the one above, but note that the order in which the axial part is removed is different # u1_aux -= np.matmul(mem.qMat, u1_aux) # remove axial component @@ -1554,13 +1584,13 @@ def calcQTF_slenderBody(self, ih, Xi0=None, beta=None): if self.outFolderQTF is not None: self.writeQTF(self.qtf, os.path.join(self.outFolderQTF, "qtf-slender_body-total.12d")) - self.writeQTF(qtf_2ndPot, os.path.join(self.outFolderQTF, "qtf-slender_body-pot2.12d")) - self.writeQTF(qtf_axdv, os.path.join(self.outFolderQTF, "qtf-slender_body-axDv.12d")) - self.writeQTF(qtf_conv, os.path.join(self.outFolderQTF, "qtf-slender_body-conv.12d")) - self.writeQTF(qtf_eta, os.path.join(self.outFolderQTF, "qtf-slender_body-eta.12d")) - self.writeQTF(qtf_nabla, os.path.join(self.outFolderQTF, "qtf-slender_body-nabla.12d")) - self.writeQTF(qtf_rslb, os.path.join(self.outFolderQTF, "qtf-slender_body-rslb.12d")) - self.writeQTF(qtf_rotN, os.path.join(self.outFolderQTF, "qtf-slender_body-rotN.12d")) + # self.writeQTF(qtf_2ndPot, os.path.join(self.outFolderQTF, "qtf-slender_body-pot2.12d")) + # self.writeQTF(qtf_axdv, os.path.join(self.outFolderQTF, "qtf-slender_body-axDv.12d")) + # self.writeQTF(qtf_conv, os.path.join(self.outFolderQTF, "qtf-slender_body-conv.12d")) + # self.writeQTF(qtf_eta, os.path.join(self.outFolderQTF, "qtf-slender_body-eta.12d")) + # self.writeQTF(qtf_nabla, os.path.join(self.outFolderQTF, "qtf-slender_body-nabla.12d")) + # self.writeQTF(qtf_rslb, os.path.join(self.outFolderQTF, "qtf-slender_body-rslb.12d")) + # self.writeQTF(qtf_rotN, os.path.join(self.outFolderQTF, "qtf-slender_body-rotN.12d")) def readQTF(self, flPath): data = np.loadtxt(flPath) @@ -1599,6 +1629,7 @@ def readQTF(self, flPath): # Fill the other half of the matrix (which is equal to the conjugate of its symmetric element) if not indw1[0] == indw2[0]: self.qtf[indw2[0], indw1[0], indhead[0], indDOF] = factor*(row[7]-1j*row[8]) + # plt.matshow(np.squeeze(np.abs(self.qtf[:,:,0,0]))) @@ -1623,12 +1654,12 @@ def writeQTF(self, qtfIn, outPath, w=None): f.write(f"{2*np.pi/w1[i1]: 8.4e} {2*np.pi/w2[i2]: 8.4e} {self.heads_2nd[ih]: 8.4e} {self.heads_2nd[ih]: 8.4e} {iDoF+1} {np.abs(F): 8.4e} {np.angle(F): 8.4e} {F.real: 8.4e} {F.imag: 8.4e}\n") + def calcHydroForce_2ndOrd(self, beta, S0): # Compute force due to 2nd order hydrodynamic loads # See Pinkster (1980), Section IV.3 # We are losing the phases when computing forces from the spectrum. # We should at least correct the phase of the incoming waves to account for different positions in arrays. # Should just multiply things by exp(-1j*(k_j-j_l)*x_j) - def calcHydroForce_2ndOrd(self, beta, S0): f = np.zeros([self.nDOF, self.nw], dtype=complex) f_mean = np.zeros([self.nDOF]) interpMode = 'qtf' @@ -1694,14 +1725,6 @@ def calcHydroForce_2ndOrd(self, beta, S0): # Mean drift is easier, as you have just the product of the same wave f_mean[idof] = 2*np.sum(S0*np.diag(np.squeeze(qtf_interp.real), 0)) * self.dw - - # if self.potSecOrder == 1: - # identifier = "-slenderBody" - # else: - # identifier = "-WAMIT" - # self.writeQTF(qtf4print, "./examples/qtf-interp" + identifier + ".12d", w=self.w) - - # Displace f by one frequency so that it aligns with the frequency vector f[:, 0:-1] = f[:, 1:] f[:, -1] = 0 @@ -1723,10 +1746,10 @@ def calcHydroForce_2ndOrd(self, beta, S0): return f_mean, f - def saveTurbineOutputs(self, results, case, iCase): + def saveTurbineOutputs(self, results, case): '''Calculate and store output metrics of the FOWT response at the current load case. Note that the FOWT offset, motions, load case info, etc. are taken from what is stored - in the FOWT object. I.e. >>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>> >> case parameter should be removed << + in the FOWT object. I.e. >>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>> Load cases may have multiple sources of excitation (such as wind, wave, and another wave at a different heading). Results are computed by RMS summing across these excitation sources. ''' @@ -1734,48 +1757,79 @@ def saveTurbineOutputs(self, results, case, iCase): self.Xi0 = self.r6 - np.array([self.x_ref, self.y_ref,0,0,0,0]) # FOWT's mean offset vector [m, rad] # platform motions - results['surge_avg'][iCase] = self.Xi0[0] - results['surge_std'][iCase] = getRMS(self.Xi[:,0,:]) - results['surge_max'][iCase] = self.Xi0[0] + 3*results['surge_std'][iCase] - results['surge_PSD'][iCase,:] = getPSD(self.Xi[:,0,:], self.dw) + results['surge_avg'] = self.Xi0[0] + results['surge_std'] = getRMS(self.Xi[:,0,:]) + results['surge_max'] = self.Xi0[0] + 3*results['surge_std'] + results['surge_PSD'] = getPSD(self.Xi[:,0,:], self.dw) - results['sway_avg'][iCase] = self.Xi0[1] - results['sway_std'][iCase] = getRMS(self.Xi[:,1,:]) - results['sway_max'][iCase] = self.Xi0[1] + 3*results['sway_std'][iCase] - results['sway_PSD'][iCase,:] = getPSD(self.Xi[:,1,:], self.dw) + results['sway_avg'] = self.Xi0[1] + results['sway_std'] = getRMS(self.Xi[:,1,:]) + results['sway_max'] = self.Xi0[1] + 3*results['sway_std'] + results['sway_PSD'] = getPSD(self.Xi[:,1,:], self.dw) - results['heave_avg'][iCase] = self.Xi0[2] - results['heave_std'][iCase] = getRMS(self.Xi[:,2,:]) - results['heave_max'][iCase] = self.Xi0[2] + 3*results['heave_std'][iCase] - results['heave_PSD'][iCase,:] = getPSD(self.Xi[:,2,:], self.dw) + results['heave_avg'] = self.Xi0[2] + results['heave_std'] = getRMS(self.Xi[:,2,:]) + results['heave_max'] = self.Xi0[2] + 3*results['heave_std'] + results['heave_PSD'] = getPSD(self.Xi[:,2,:], self.dw) roll_deg = rad2deg(self.Xi[:,3,:]) - results['roll_avg'][iCase] = rad2deg(self.Xi0[3]) - results['roll_std'][iCase] = getRMS(roll_deg) - results['roll_max'][iCase] = rad2deg(self.Xi0[3]) + 3*results['roll_std'][iCase] - results['roll_PSD'][iCase,:] = getPSD(roll_deg, self.dw) + results['roll_avg'] = rad2deg(self.Xi0[3]) + results['roll_std'] = getRMS(roll_deg) + results['roll_max'] = rad2deg(self.Xi0[3]) + 3*results['roll_std'] + results['roll_PSD'] = getPSD(roll_deg, self.dw) pitch_deg = rad2deg(self.Xi[:,4,:]) - results['pitch_avg'][iCase] = rad2deg(self.Xi0[4]) - results['pitch_std'][iCase] = getRMS(pitch_deg) - results['pitch_max'][iCase] = rad2deg(self.Xi0[4]) + 3*results['pitch_std'][iCase] - results['pitch_PSD'][iCase,:] = getPSD(pitch_deg, self.dw) + results['pitch_avg'] = rad2deg(self.Xi0[4]) + results['pitch_std'] = getRMS(pitch_deg) + results['pitch_max'] = rad2deg(self.Xi0[4]) + 3*results['pitch_std'] + results['pitch_PSD'] = getPSD(pitch_deg, self.dw) yaw_deg = rad2deg(self.Xi[:,5,:]) - results['yaw_avg'][iCase] = rad2deg(self.Xi0[5]) - results['yaw_std'][iCase] = getRMS(yaw_deg) - results['yaw_max'][iCase] = rad2deg(self.Xi0[5]) + 3*results['yaw_std'][iCase] - results['yaw_PSD'][iCase,:] = getPSD(yaw_deg, self.dw) + results['yaw_avg'] = rad2deg(self.Xi0[5]) + results['yaw_std'] = getRMS(yaw_deg) + results['yaw_max'] = rad2deg(self.Xi0[5]) + 3*results['yaw_std'] + results['yaw_PSD'] = getPSD(yaw_deg, self.dw) + + # ----- turbine-level mooring outputs (similar code as array-level) ----- + if self.ms: + nLines = len(self.ms.lineList) + T_moor_amps = np.zeros([self.nWaves+1, 2*nLines, self.nw], dtype=complex) # mooring tension amplitudes for each excitation source and line end + C_moor, J_moor = self.ms.getCoupledStiffness(lines_only=True, tensions=True) # get stiffness matrix and tension jacobian matrix + T_moor = self.ms.getTensions() # get line end mean tensions + + for ih in range(self.nWaves+1): + for iw in range(self.nw): + T_moor_amps[ih,:,iw] = np.matmul(J_moor, self.Xi[ih,:,iw]) # FFT of mooring tensions + + results['Tmoor_avg'] = T_moor + results['Tmoor_std'] = [] + results['Tmoor_max'] = [] + results['Tmoor_PSD'] = np.zeros([ self.nw, 2*nLines]) + for iT in range(2*nLines): + TRMS = getRMS(T_moor_amps[:,iT,:]) # estimated mooring line RMS tension [N] + results['Tmoor_std'].append(TRMS) + results['Tmoor_max'].append( T_moor[iT] + 3*TRMS) + results['Tmoor_PSD'][:,iT] = (getPSD(T_moor_amps[:,iT,:], self.w[0])) # PSD in N^2/(rad/s) + + # log the maximum line tensions predicted by RAFT for MoorPy use + # self.ms.saveMaxTensions(results['Tmoor_max']) # hub fore-aft displacement amplitude and acceleration (used as an approximation in a number of outputs) XiHub = np.zeros([self.Xi.shape[0], self.nrotors, self.nw], dtype=complex) + results['AxRNA_std'] = [] + results['AxRNA_PSD'] = np.zeros([self.nw, self.nrotors]) + results['AxRNA_avg'] = [] + results['AxRNA_max'] = [] + for ir in range(self.nrotors): XiHub[:,ir,:] = self.Xi[:,0,:] + self.hHub[ir]*self.Xi[:,4,:] # nacelle acceleration - results['AxRNA_std'][iCase, ir] = getRMS(XiHub[:,ir,:]*self.w**2) - results['AxRNA_PSD'][iCase,:,ir] = getPSD(XiHub[:,ir,:]*self.w**2, self.dw) - + results['AxRNA_std'].append(getRMS(XiHub[:,ir,:]*self.w**2)) + results['AxRNA_PSD'][:,ir] = (getPSD(XiHub[:,ir,:]*self.w**2, self.dw)) + results['AxRNA_avg'].append(abs(np.sin(self.Xi0[4])*9.81)) # @Matt check this! + results['AxRNA_max'].append(results['AxRNA_avg'][ir]+3*results['AxRNA_std'][ir]) + # tower base bending moment >>> should three-dimensionalize this <<< m_turbine = np.zeros(len(self.mtower)) zCG_turbine = np.zeros_like(m_turbine) @@ -1790,6 +1844,10 @@ def saveTurbineOutputs(self, results, case, iCase): dynamic_moment = np.zeros_like(XiHub) dynamic_moment_RMS = np.zeros(self.nrotors) + results['Mbase_avg'] = [] + results['Mbase_std'] = [] + results['Mbase_PSD'] = np.zeros([self.nw, self.nrotors]) + results['Mbase_max'] = [] for ir in range(self.nrotors): # mass and moment arm >>> should three-dimensionalize <<< m_turbine[ir] = self.mtower[ir] + self.mRNA[ir] # total masses of each turbine @@ -1807,22 +1865,23 @@ def saveTurbineOutputs(self, results, case, iCase): M_I[:,ir,:] = -m_turbine[ir]*aCG_turbine[:,ir,:]*hArm[ir] - ICG_turbine[ir]*(-self.w**2 *self.Xi[:,4,:] ) # tower base inertial reaction moment M_w[:,ir,:] = m_turbine[ir]*self.g * hArm[ir]*self.Xi[:,4] # tower base weight moment - M_F_aero = 0.0 # <<<>> import matplotlib.pyplot as plt @@ -1832,7 +1891,7 @@ def saveTurbineOutputs(self, results, case, iCase): ax[1].plot(abs(M_w )) ax[2].plot(abs(M_F_aero)) ax[3].plot(abs(M_X_aero)) - + ax[0].set_ylabel('M_I ') ax[1].set_ylabel('M_w ') ax[2].set_ylabel('M_F_aero') @@ -1848,6 +1907,20 @@ def saveTurbineOutputs(self, results, case, iCase): torque_w = np.zeros([self.nWaves+1, self.nrotors, self.nw], dtype=complex) # generator torque bPitch_w = np.zeros([self.nWaves+1, self.nrotors, self.nw], dtype=complex) # blade pitch + + results['omega_avg'] = [] + results['omega_std'] = [] + results['omega_max'] = [] + results['omega_PSD'] = [] + results['torque_avg'] = [] + results['torque_std'] = [] + results['torque_PSD'] = [] + results['power_avg'] = [] + results['bPitch_avg'] = [] + results['bPitch_std'] = [] + results['bPitch_PSD'] = [] + + for ir in range(self.nrotors): # get inflow speed for wind or current turbine @@ -1869,37 +1942,37 @@ def saveTurbineOutputs(self, results, case, iCase): omega_w[ :,ir,:] = 1j*self.w * phi_w[:,ir,:] torque_w[:,ir,:] = (1j*self.w * self.rotorList[ir].kp_tau + self.rotorList[ir].ki_tau ) * phi_w[:,ir,:] bPitch_w[:,ir,:] = (1j*self.w * self.rotorList[ir].kp_beta + self.rotorList[ir].ki_beta) * phi_w[:,ir,:] - + # rotor speed (rpm) - results['omega_avg'][iCase,ir] = self.rotorList[ir].Omega_case - results['omega_std'][iCase,ir] = radps2rpm(getRMS(omega_w[:,ir,:])) - results['omega_max'][iCase,ir] = results['omega_avg'][iCase,ir] + 2 * results['omega_std'][iCase,ir] # this and other _max values will be based on std (avg + 2 or 3 * std) (95% or 99% max) - results['omega_PSD'][iCase,:,ir] = radps2rpm(1)**2 * getPSD(omega_w[:,ir,:], self.dw) + results['omega_avg'].append(self.rotorList[ir].Omega_case) + results['omega_std'].append(radps2rpm(getRMS(omega_w[:,ir,:]))) + results['omega_max'].append(results['omega_avg'][ir] + 2 * results['omega_std'][ir]) # this and other _max values will be based on std (avg + 2 or 3 * std) (95% or 99% max) + results['omega_PSD'].append(radps2rpm(1)**2 * getPSD(omega_w[:,ir,:], self.dw)) # generator torque (Nm) - results['torque_avg'][iCase,ir] = self.rotorList[ir].aero_torque / self.rotorList[ir].Ng # Nm - results['torque_std'][iCase,ir] = getRMS(torque_w[:,ir,:]) - results['torque_PSD'][iCase,:,ir] = getPSD(torque_w[:,ir,:], self.dw) + results['torque_avg'].append(self.rotorList[ir].aero_torque / self.rotorList[ir].Ng) # Nm + results['torque_std'].append(getRMS(torque_w[:,ir,:])) + results['torque_PSD'].append(getPSD(torque_w[:,ir,:], self.dw)) # results['torque_max'][iCase] # skip, nonlinear # rotor power (W) - results['power_avg'][iCase,ir] = self.rotorList[ir].aero_power # compute from cc-blade coeffs + results['power_avg'].append(self.rotorList[ir].aero_power) # compute from cc-blade coeffs # results['power_std'][iCase] # nonlinear near rated, covered by torque_ and omega_std # results['power_max'][iCase] # skip, nonlinear - + # collective blade pitch (deg) - results['bPitch_avg'][iCase,ir] = self.rotorList[ir].pitch_case - results['bPitch_std'][iCase,ir] = rad2deg(getRMS(bPitch_w[:,ir,:])) - results['bPitch_PSD'][iCase,:,ir] = rad2deg(1)**2 *getPSD(bPitch_w[:,ir,:], self.dw) + results['bPitch_avg'].append(self.rotorList[ir].pitch_case) + results['bPitch_std'].append(rad2deg(getRMS(bPitch_w[:,ir,:]))) + results['bPitch_PSD'].append(rad2deg(1)**2 *getPSD(bPitch_w[:,ir,:], self.dw)) # results['bPitch_max'][iCase] # skip, not something we'd consider in design - + # wind PSD for reference - results['wind_PSD'][iCase,:] = getPSD(self.rotorList[ir].V_w, self.dw) # <<< need to confirm + results['wind_PSD'] = getPSD(self.rotorList[ir].V_w, self.dw) # <<< need to confirm ''' Outputs from OpenFAST to consider covering: - + # Rotor power outputs self.add_output('V_out', val=np.zeros(n_ws_dlc11), units='m/s', desc='wind speed vector from the OF simulations') self.add_output('P_out', val=np.zeros(n_ws_dlc11), units='W', desc='rotor electrical power') @@ -1957,18 +2030,21 @@ def saveTurbineOutputs(self, results, case, iCase): self.add_output('tower_maxMy_Mz', val=np.zeros(n_full_tow-1), units='kN*m', desc='distributed moment around tower-aligned x-axis corresponding to maximum fore-aft moment at tower base') ''' - def plot(self, ax, color='k', nodes=0, plot_rotor=True, station_plot=[], airfoils=False): + def plot(self, ax, color=None, nodes=0, plot_rotor=True, station_plot=[], airfoils=False, zorder=2): '''plots the FOWT...''' R = rotationMatrix(self.r6[3], self.r6[4], self.r6[5]) # note: eventually Rotor could handle orientation internally <<< if self.ms: self.ms.plot(ax=ax, color=color) - + + if color==None: + color='k' + if plot_rotor: for rotor in self.rotorList: coords = np.array([rotor.coords[0], rotor.coords[1], 0]) + self.r6[:3] - rotor.plot(ax, r_ptfm=coords, R_ptfm=R, color=color, airfoils=airfoils) + rotor.plot(ax, r_ptfm=coords, R_ptfm=R, color=color, airfoils=airfoils, zorder=zorder) #rotor.plot(ax, r_ptfm=self.body.r6[:3], R_ptfm=self.body.R, color=color) ''' for afmem in rotor.bladeMemberList: @@ -1976,12 +2052,31 @@ def plot(self, ax, color='k', nodes=0, plot_rotor=True, station_plot=[], airfoil afmem.plot(ax, r_ptfm=self.body.r6[:3], R_ptfm=self.body.R, color=color, nodes=nodes, station_plot=station_plot) ''' + # loop through each member and plot it for mem in self.memberList: mem.setPosition() # offsets/rotations could be done in this function rather than in mem.plot <<< - mem.plot(ax, r_ptfm=self.r6[:3], R_ptfm=R, color=color, nodes=nodes, station_plot=station_plot) + mem.plot(ax, r_ptfm=self.r6[:3], R_ptfm=R, color=color, + nodes=nodes, station_plot=station_plot, zorder=zorder) # in future should consider ability to animate mode shapes and also to animate response at each frequency # including hydro excitation vectors stored in each member + + + def plot2d(self, ax, color=None, station_plot=[], Xuvec=[1,0,0], Yuvec=[0,0,1]): + '''plots the FOWT in 2d - only the platform and moorings so far...''' + + R = rotationMatrix(self.r6[3], self.r6[4], self.r6[5]) # note: eventually Rotor could handle orientation internally <<< + + if self.ms: + self.ms.plot2d(ax=ax, color=color, Xuvec=Xuvec, Yuvec=Yuvec) + + if color==None: + color='k' + + # loop through each member and plot it + for mem in self.memberList: + mem.setPosition() + mem.plot(ax, r_ptfm=self.r6[:3], R_ptfm=R, color=color, plot2d=True, Xuvec=Xuvec, Yuvec=Yuvec) diff --git a/raft/raft_member.py b/raft/raft_member.py index d3d643c..c93e878 100644 --- a/raft/raft_member.py +++ b/raft/raft_member.py @@ -12,7 +12,7 @@ # used during the model's operation. class Member: - def __init__(self, mi, nw, BEM=[]): + def __init__(self, mi, nw, BEM=[], heading=0): '''Initialize a Member. For now, this function accepts a space-delimited string with all member properties. PARAMETERS @@ -23,7 +23,8 @@ def __init__(self, mi, nw, BEM=[]): nw : int Number of frequencies in the analysis - used for initializing. heading : float, optional - Rotation to apply to the coordinates when setting up the member - used for circular patterns of members. + Heading rotation to apply to the coordinates when setting up the + member. Used for member arrangements or FOWT heading offsets [deg]. ''' @@ -34,6 +35,10 @@ def __init__(self, mi, nw, BEM=[]): self.rA0 = np.array(mi['rA'], dtype=np.double) # [x,y,z] coordinates of lower node relative to PRP [m] self.rB0 = np.array(mi['rB'], dtype=np.double) # [x,y,z] coordinates of upper node relative to PRP [m] + if (self.rA0[2] == 0 or self.rB0[2] == 0) and self.type != 3: + raise ValueError("RAFT Members cannot start or end on the waterplane") + if self.rB0[2] < self.rA0[2]: + raise ValueError(f"The z position of rA is {self.rA0[2]}, and the z position of rB is {self.rB0[2]}. RAFT Members must have their rA position below the rB position. Try changing your input design yaml rA/rB values.") shape = str(mi['shape']) # the shape of the cross section of the member as a string (the first letter should be c or r) @@ -41,11 +46,16 @@ def __init__(self, mi, nw, BEM=[]): # heading feature for rotation members about the z axis (used for rotated patterns) + ''' self.headings = getFromDict(mi, 'headings', shape=-1, default=0.0) self.heading = getFromDict(mi, 'heading', default=0.0) # rotation about z axis to apply to the member [deg] if self.heading != 0.0: c = np.cos(np.deg2rad(self.heading)) s = np.sin(np.deg2rad(self.heading)) + ''' + if heading != 0.0: + c = np.cos(np.deg2rad(heading)) + s = np.sin(np.deg2rad(heading)) rotMat = np.array([[c, -s, 0], [s, c, 0], [0, 0, 1]]) self.rA0 = np.matmul(rotMat, self.rA0) self.rB0 = np.matmul(rotMat, self.rB0) @@ -55,14 +65,22 @@ def __init__(self, mi, nw, BEM=[]): self.l = np.linalg.norm(rAB) # member length [m] - # station positions - n = len(mi['stations']) # number of stations + # ----- process station positions and other distributed inputs ----- + + # Station inputs are mapped linearly over the length of the member from + # end A to B. The inputted station list must be in increasing order. + st = np.array(mi['stations'], dtype=float) # station input values (abritrary units/scale) + n = len(st) # number of stations + if n < 2: raise ValueError("At least two stations entries must be provided") - - A = np.array(mi['stations'], dtype=float) - self.stations = (A - A[0])/(A[-1] - A[0])*self.l # calculate station positions along the member axis from 0 to l [m] - + + # ensure the stations are in ascending order (assumed to be from end A to B) + if not sorted(st) == st.tolist(): + raise ValueError(f"Member {self.name}: the station list is not in ascending order.") + + # calculate station positions along the member axis from 0 to l [m] + self.stations = (st - st[0])/(st[-1] - st[0])*self.l # shapes if shape[0].lower() == 'c': @@ -82,18 +100,38 @@ def __init__(self, mi, nw, BEM=[]): raise ValueError('The only allowable shape strings are circular and rectangular') - self.t = getFromDict(mi, 't', shape=n) # shell thickness of the nodes [m] + self.t = getFromDict(mi, 't', shape=n) # shell thickness at each station [m] + self.rho_shell = getFromDict(mi, 'rho_shell', shape=0, default=8500.) # shell mass density [kg/m^3] + - self.l_fill = getFromDict(mi, 'l_fill' , shape=-1, default=0.0) # length of member (from end A to B) filled with ballast [m] - self.rho_fill = getFromDict(mi, 'rho_fill', shape=-1, default=0.0) # density of ballast in member [kg/m^3] + # ----- ballast inputs (for each section between stations) ----- - if isinstance(self.l_fill, np.ndarray): - if len(self.l_fill) != n-1 or len(self.rho_fill) != n-1: - raise ValueError(f"Member '{self.name}': The number of stations ({n}) should always be 1 greater than the number of ballast sections, l_fill ({len(self.l_fill)}) and rho_fill ({len(self.rho_fill)})") - # if np.array(mi['stations'], dtype=float)[-1] == 1: # if the input stations are relative (i.e. [0, 1]), then that means the input ballast fill levels are also relative (i.e., <= 1.0) - # self.l_fill *= self.l # if it's relative, multiply the ballast fill level amount (-) by the length to get units of (m) + # read the ballast fill level of each section (same units/scale as stations list) + st_fill = getFromDict(mi, 'l_fill' , shape=n-1, default=0) + + #ensure each ballast entry is valid (fill level doesn't exceed section length) + for i in range(n-1): + if st_fill[i] < 0: + raise Exception(f"Member {self.name}: ballast level in section {i+1} is negative.") + if st_fill[i] > st[i+1] - st[i]: + raise Exception(f"Member {self.name}: ballast level in section {i+1} exceeds section length." + +f" ({st_fill[i]} > {st[i+1] - st[i]}).") + + # convert ballast fill levels into length units [m] + self.l_fill = st_fill/(st[-1] - st[0])*self.l - self.rho_shell = getFromDict(mi, 'rho_shell', default=8500.) # shell mass density [kg/m^3] + # density of ballast in member [kg/m^3] + rho_fill = getFromDict(mi, 'rho_fill', shape=-1, default=1025) + + if np.isscalar(rho_fill): + self.rho_fill = np.zeros(n-1) + rho_fill + else: + if len(rho_fill) == n-1: + self.rho_fill = np.array(rho_fill) + else: + raise Exception(f"Member {self.name}: the number of provided ballast densities (rho_fill) must be 1 less than the number of stations.") + + # raise ValueError(f"Member '{self.name}': The number of stations ({n}) should always be 1 greater than the number of ballast sections, l_fill ({len(self.l_fill)}) and rho_fill ({len(self.rho_fill)})") # initialize member orientation variables @@ -103,17 +141,17 @@ def __init__(self, mi, nw, BEM=[]): self.R = np.eye(3) # rotation matrix from global x,y,z to member q,p1,p2 - # store end cap and bulkhead info + # ----- end cap and bulkhead info ----- cap_stations = getFromDict(mi, 'cap_stations', shape=-1, default=[]) # station location inputs before scaling - if cap_stations == []: + if len(cap_stations) == 0: self.cap_t = [] self.cap_d_in = [] self.cap_stations = [] else: self.cap_t = getFromDict(mi, 'cap_t' , shape=cap_stations.shape[0]) # thicknesses [m] self.cap_d_in = getFromDict(mi, 'cap_d_in', shape=cap_stations.shape[0]) # inner diameter (if it isn't a solid plate) [m] - self.cap_stations = (cap_stations - A[0])/(A[-1] - A[0])*self.l # calculate station positions along the member axis from 0 to l [m] + self.cap_stations = (cap_stations - st[0])/(st[-1] - st[0])*self.l # calculate station positions along the member axis from 0 to l [m] # Drag coefficients @@ -143,10 +181,12 @@ def __init__(self, mi, nw, BEM=[]): self.Ca_p2 = getFromDict(mi, 'Ca' , shape=n, default=0.97) # transverse2 added mass coefficient ''' + # ----- Strip theory discretization ----- + # discretize into strips with a node at the midpoint of each strip (flat surfaces have dl=0) dorsl = list(self.d) if self.shape=='circular' else list(self.sl) # get a variable that is either diameter or side length pair dlsMax = getFromDict(mi, 'dlsMax', shape=1, default=5) - #dlsMax = mi['dlsMax'] + # start things off with the strip for end A ls = [0.0] # list of lengths along member axis where a node is located <<< should these be midpoints instead of ends??? @@ -693,7 +733,7 @@ def RectangularFrustumMOI(La, Wa, Lb, Wb, H, p): - def getHydrostatics(self, rho, g, rPRP=np.zeros(3)): + def getHydrostatics(self, rPRP=np.zeros(3), rho=1025, g=9.81): '''Calculates member hydrostatic properties, namely buoyancy and stiffness matrix. Properties are calculated relative to the platform reference point (PRP) in the global orientation directions. @@ -744,10 +784,6 @@ def getHydrostatics(self, rho, g, rPRP=np.zeros(3)): cosBeta=np.cos(beta) sinBeta=np.sin(beta) tanBeta=sinBeta/cosBeta - - # TODO: move to helper func - def intrp(x, xA, xB, yA, yB): # little basic interpolation function for 2 values rather than a vector - return yA + (x-xA)*(yB-yA)/(xB-xA) # -------------------- buoyancy and waterplane area properties ------------------------ @@ -858,8 +894,130 @@ def intrp(x, xA, xB, yA, yB): # little basic interpolation function for 2 value return Fvec, Cmat, V_UW, r_center, AWP, IWP, xWP, yWP - def plot(self, ax, r_ptfm=[0,0,0], R_ptfm=[], color='k', nodes=0, station_plot=[]): - '''Draws the member on the passed axes, and optional platform offset and rotation matrix''' + def calcHydroConstants(self, r_ref=np.zeros(3), sum_inertia=False, rho=1025, g=9.81): + '''Compute the Member's linear strip-theory-hydrodynamics terms, + related to drag and added mass, which are also a precursor to + excitation. All computed quantities are in global orientations. + + Parameters + ---------- + r_ref : size-3 vector + Reference point coordinates to compute matrices about [m]. + sum_inertia : boolean, optional + Flag to calculate and return an overall inertial excitation matrix + (default False). + + Returns + ------- + A_hydro, I_hydro : 3x3 matrices + Hydrodynamic added mass and inertial excitation matrices. + ''' + + # hydrodynamic added mass matrix from strip theory [kg, kg-m, kg-m^2] + A_hydro = np.zeros([6,6]) + I_hydro = np.zeros([6,6]) + + circ = self.shape=='circular' # boolean for circular vs. rectangular + + + # loop through each node of the member + for il in range(self.ns): + + # only process hydrodynamics if this node is submerged + if self.r[il,2] < 0: + + # only compute inertial loads and added mass for members that aren't modeled with potential flow + if self.potMod==False: + + # interpolate coefficients for the current strip + Ca_q = np.interp( self.ls[il], self.stations, self.Ca_q ) + Ca_p1 = np.interp( self.ls[il], self.stations, self.Ca_p1 ) + Ca_p2 = np.interp( self.ls[il], self.stations, self.Ca_p2 ) + Ca_End = np.interp( self.ls[il], self.stations, self.Ca_End) + + + # ----- compute side effects (transverse only) ----- + + # volume assigned to this node + if circ: + v_i = 0.25*np.pi*self.ds[il]**2*self.dls[il] + else: + v_i = self.ds[il,0]*self.ds[il,1]*self.dls[il] + + if self.r[il,2] + 0.5*self.dls[il] > 0: # if member extends out of water + v_i = v_i * (0.5*self.dls[il] - self.r[il,2]) / self.dls[il] # scale volume by the portion that is under water + + # Local added mass matrix (axial term explicitly excluded here - we aren't dealing with chains) + Amat_sides = rho*v_i *( Ca_p1*self.p1Mat + Ca_p2*self.p2Mat ) + + # Local inertial excitation matrix - Froude-Krylov + # (axial term explicitly excluded here - we aren't dealing with chains) + # Note, the 1 is the Cp, dynamic pressure, term. + Imat_sides = rho*v_i *( (1.+Ca_p1)*self.p1Mat + (1.+Ca_p2)*self.p2Mat ) + + + # ----- add axial/end effects for added mass, and excitation including dynamic pressure ------ + # Note : v_a and a_i work out to zero for non-tapered sections or non-end sections + + # compute volume assigned to this end surface, and + # signed end area (positive facing down) = mean diameter of strip * radius change of strip + if circ: + v_i = np.pi/12.0 * abs( (self.ds[il]+self.drs[il])**3 + - (self.ds[il]-self.drs[il])**3 ) + a_i = np.pi*self.ds[il] * self.drs[il] + else: + v_i = np.pi/12.0 * ( (np.mean(self.ds[il]+self.drs[il]))**3 + - (np.mean(self.ds[il]-self.drs[il]))**3 ) # so far just using sphere eqn and taking mean of side lengths as d + a_i = ( (self.ds[il,0]+self.drs[il,0])*(self.ds[il,1]+self.drs[il,1]) + - (self.ds[il,0]-self.drs[il,0])*(self.ds[il,1]-self.drs[il,1])) + # >>> should support different coefficients or reference volumes for rectangular cross sections <<< + + # Local added mass matrix + Amat_end = rho*v_i * Ca_End*self.qMat + + # Local inertial excitation matrix + # Note, there is no 1 added to Ca_End because dynamic pressure is handled separately + Imat_end = rho*v_i * Ca_End*self.qMat + + + # ----- sum up side and end added mass and inertial excitation coefficient matrices ------ + self.Amat[il,:,:] = Amat_sides + Amat_end + self.Imat[il,:,:] = Imat_sides + Imat_end + self.a_i[il] = a_i + + + # add to global added mass and inertial excitation matrices + # which consider the mean offsets and are relative to the ref in global orientation + A_hydro += translateMatrix3to6DOF(self.Amat[il,:,:], self.r[il,:] - r_ref[:3]) + if sum_inertia: + I_hydro += translateMatrix3to6DOF(self.Imat[il,:,:], self.r[il,:] - r_ref[:3]) + + if sum_inertia: + return A_hydro, I_hydro + else: + return A_hydro + + + def getSectionProperties(self, station): + '''Get member cross sectional area and moments of inertia at a user- + specified location along the member.''' + + + + return A, I + + def plot(self, ax, r_ptfm=[0,0,0], R_ptfm=[], color='k', nodes=0, + station_plot=[], plot2d=False, Xuvec=[1,0,0], Yuvec=[0,0,1], zorder=2): + '''Draws the member on the passed axes, and optional platform offset and rotation matrix + + Parameters + ---------- + + plot2d: bool + If true, produces a 2d plot on the axes defined by Xuvec and Yuvec. + Otherwise produces a 3d plot (default). + + ''' # --- get coordinates of member edges in member reference frame ------------------- @@ -918,21 +1076,31 @@ def plot(self, ax, r_ptfm=[0,0,0], R_ptfm=[], color='k', nodes=0, station_plot=[ # plot on the provided axes linebit = [] # make empty list to hold plotted lines, however many there are - for i in range(n): #range(int(len(Xs)/2-1)): - #linebit.append(ax.plot(Xs[2*i:2*i+2],Ys[2*i:2*i+2],Zs[2*i:2*i+2] , color='k')) # side edges - #linebit.append(ax.plot(Xs[[2*i,2*i+2]],Ys[[2*i,2*i+2]],Zs[[2*i,2*i+2]] , color='k')) # end A edges - #linebit.append(ax.plot(Xs[[2*i+1,2*i+3]],Ys[[2*i+1,2*i+3]],Zs[[2*i+1,2*i+3]], color='k')) # end B edges - - linebit.append(ax.plot(Xs[nm*i:nm*i+nm],Ys[nm*i:nm*i+nm],Zs[nm*i:nm*i+nm] , color=color, lw=0.5, zorder=2)) # side edges - - for j in range(nm): - linebit.append(ax.plot(Xs[j::nm], Ys[j::nm], Zs[j::nm] , color=color, lw=0.5, zorder=2)) # station rings - - - # plot nodes if asked - if nodes > 0: - ax.scatter(self.r[:,0], self.r[:,1], self.r[:,2]) - + + if plot2d: # new 2d plotting option + + # apply any 3D to 2D transformation here to provide desired viewing angle + Xs2d = Xs*Xuvec[0] + Ys*Xuvec[1] + Zs*Xuvec[2] + Ys2d = Xs*Yuvec[0] + Ys*Yuvec[1] + Zs*Yuvec[2] + + for i in range(n): + linebit.append(ax.plot(Xs2d[nm*i:nm*i+nm],Ys2d[nm*i:nm*i+nm], color=color, lw=0.5, zorder=zorder)) # side edges + + for j in range(nm): + linebit.append(ax.plot(Xs2d[j::nm], Ys2d[j::nm], color=color, lw=0.5, zorder=zorder)) # station rings + + else: # normal 3d case + + for i in range(n): + linebit.append(ax.plot(Xs[nm*i:nm*i+nm],Ys[nm*i:nm*i+nm],Zs[nm*i:nm*i+nm], color=color, lw=0.5, zorder=zorder)) # side edges + + for j in range(nm): + linebit.append(ax.plot(Xs[j::nm], Ys[j::nm], Zs[j::nm], color=color, lw=0.5, zorder=zorder)) # station rings + + # plot nodes if asked + if nodes > 0: + ax.scatter(self.r[:,0], self.r[:,1], self.r[:,2]) + return linebit diff --git a/raft/raft_model.py b/raft/raft_model.py index 1f15349..ef541bb 100644 --- a/raft/raft_model.py +++ b/raft/raft_model.py @@ -4,6 +4,8 @@ import numpy as np import matplotlib.pyplot as plt from matplotlib import cm +from matplotlib.patches import Circle +import mpl_toolkits.mplot3d.art3d as art3d import yaml try: @@ -141,27 +143,18 @@ def __init__(self, design, nTurbines=1): self.nFOWT = 1 # Note: its mooring system will be put in the FOWT now rather than existing at the model/array level. - design['platform'] = design['platform'] # only use the first platform in the list - design['turbine'] = design['turbine'] # only use the first turbine in the list - design['mooring'] = design['mooring'] # only use the first mooring in the list - # # process mooring information - self.ms = mp.System() - self.ms.parseYAML(design['mooring']) - self.ms.bodyList[0].type = -1 # need to make sure it's set to a coupled type - try: - self.ms.initialize() # reinitialize the mooring system to ensure all things are tallied properly etc. - except Exception as e: - raise RuntimeError('An error occured when initializing the mooring system: '+e.message) - + # self.ms = mp.System() + # self.ms.parseYAML(design['mooring']) + self.ms = None # set up the FOWT here #self.fowtList.append(fowt.FOWT(design, self.w, self.ms.bodyList[0], depth=self.depth)) - self.fowtList.append(fowt.FOWT(design, self.w, self.ms.bodyList[0], depth=self.depth)) + self.fowtList.append(fowt.FOWT(design, self.w, None, depth=self.depth)) self.coords.append([0.0,0.0]) self.nDOF += 6 - self.nFOWT = 1 + #self.ms.bodyList[0].type = -1 # need to make sure it's set to a coupled type self.design = design # save design dictionary for possible later use/reference @@ -214,17 +207,33 @@ def analyzeUnloaded(self, ballast=0, heave_tol = 1): # >>> this whole method needs to be updated or possibly removed <<< - # need to zero out external loads >>> + if len(self.fowtList) > 1: + raise Exception('analyzeUnloaded is an old method that only works for a single FOWT.') + + # need to zero out external loads + self.fowtList[0].setPosition(np.zeros(6)) self.fowtList[0].D_hydr0 = np.zeros(6) - self.fowtList[0].F_aero0 = np.zeros([6,self.fowtList[0].nrotors]) + self.fowtList[0].f_aero0 = np.zeros([6,self.fowtList[0].nrotors]) + - # get mooring system characteristics about undisplaced platform position (useful for baseline and verification) - try: - self.C_moor0 = self.ms.getCoupledStiffness(lines_only=True) # this method accounts for eqiuilibrium of free objects in the system - self.F_moor0 = self.ms.getForces(DOFtype="coupled", lines_only=True) - except Exception as e: - raise RuntimeError('An error occured when getting linearized mooring properties in undisplaced state: '+e.message) + self.C_moor0 = np.zeros([6,6]) + self.F_moor0 = np.zeros(6) + + if self.ms: + try: + self.C_moor0 += self.ms.getCoupledStiffness(lines_only=True) + self.F_moor0 += self.ms.getForces(DOFtype="coupled", lines_only=True) + except Exception as e: + raise RuntimeError('An error occured when getting linearized mooring properties in undisplaced state: '+e.message) + + if self.fowtList[0].ms: + try: + self.C_moor0 += self.fowtList[0].ms.getCoupledStiffness(lines_only=True) + self.F_moor0 += self.fowtList[0].ms.getForces(DOFtype="coupled", lines_only=True) + except Exception as e: + raise RuntimeError('An error occured when getting linearized mooring properties in undisplaced state: '+e.message) + # calculate the system's constant properties #self.calcSystemConstantProps() @@ -241,124 +250,39 @@ def analyzeUnloaded(self, ballast=0, heave_tol = 1): # compute FOWT static and constant hydrodynamic properties fowt.calcStatics() #fowt.calcBEM() - fowt.calcHydroConstants(dict(wave_spectrum='still', wave_heading=0), memberList=fowt.memberList) # for normal platform members - #for rotor in fowt.rotorList: # for blade members (bladeMemberList will be empty if rotors are not underwater) - #fowt.calcHydroConstants(dict(wave_spectrum='still', wave_heading=0), memberList=rotor.bladeMemberList*rotor.nBlades, Rotor=rotor) + fowt.calcHydroConstants() # includes rotor when underwater self.results['properties'] = {} # signal this data is available by adding a section to the results dictionary # calculate platform offsets and mooring system equilibrium state - # self.calcMooringAndOffsets() + #self.calcMooringAndOffsets() + self.solveStatics(None) # passing none should imply no load case (no WWC) self.results['properties']['offset_unloaded'] = self.fowtList[0].Xi0 # TODO: add printing of summary info here - mass, stiffnesses, etc - def analyzeCases(self, display=0, runPyHAMS=False, meshDir=os.path.join(os.getcwd(),'BEM'), RAO_plot=False): + def analyzeCases(self, display=0, meshDir=os.path.join(os.getcwd(),'BEM'), RAO_plot=False): '''This runs through all the specified load cases, building a dictionary of results.''' nCases = len(self.design['cases']['data']) + self.results['properties'] = {} # signal that the properties calcs will be done # set up output arrays for load cases >>> put these into an initialization function <<< self.results['case_metrics'] = {} - for i in range(self.nFOWT): - self.results['case_metrics'][i] = {} # make dictionary entry indexed to FOWT index - - self.results['case_metrics'][i]['surge_avg'] = np.zeros(nCases) - self.results['case_metrics'][i]['surge_std'] = np.zeros(nCases) - self.results['case_metrics'][i]['surge_max'] = np.zeros(nCases) - self.results['case_metrics'][i]['surge_PSD'] = np.zeros([nCases,self.nw]) # adding PSDs as well. Could put behind an if statement if this slows things down - - self.results['case_metrics'][i]['sway_avg'] = np.zeros(nCases) - self.results['case_metrics'][i]['sway_std'] = np.zeros(nCases) - self.results['case_metrics'][i]['sway_max'] = np.zeros(nCases) - self.results['case_metrics'][i]['sway_PSD'] = np.zeros([nCases,self.nw]) - - self.results['case_metrics'][i]['heave_avg'] = np.zeros(nCases) - self.results['case_metrics'][i]['heave_std'] = np.zeros(nCases) - self.results['case_metrics'][i]['heave_max'] = np.zeros(nCases) - self.results['case_metrics'][i]['heave_PSD'] = np.zeros([nCases,self.nw]) - - self.results['case_metrics'][i]['roll_avg'] = np.zeros(nCases) - self.results['case_metrics'][i]['roll_std'] = np.zeros(nCases) - self.results['case_metrics'][i]['roll_max'] = np.zeros(nCases) - self.results['case_metrics'][i]['roll_PSD'] = np.zeros([nCases,self.nw]) - - self.results['case_metrics'][i]['pitch_avg'] = np.zeros(nCases) - self.results['case_metrics'][i]['pitch_std'] = np.zeros(nCases) - self.results['case_metrics'][i]['pitch_max'] = np.zeros(nCases) - self.results['case_metrics'][i]['pitch_PSD'] = np.zeros([nCases,self.nw]) - - self.results['case_metrics'][i]['yaw_avg'] = np.zeros(nCases) - self.results['case_metrics'][i]['yaw_std'] = np.zeros(nCases) - self.results['case_metrics'][i]['yaw_max'] = np.zeros(nCases) - self.results['case_metrics'][i]['yaw_PSD'] = np.zeros([nCases,self.nw]) - - nrotors = self.fowtList[i].nrotors - - # nacelle acceleration - self.results['case_metrics'][i]['AxRNA_avg'] = np.zeros([nCases,nrotors]) - self.results['case_metrics'][i]['AxRNA_std'] = np.zeros([nCases,nrotors]) - self.results['case_metrics'][i]['AxRNA_max'] = np.zeros([nCases,nrotors]) - self.results['case_metrics'][i]['AxRNA_PSD'] = np.zeros([nCases,self.nw, nrotors]) - # tower base bending moment - self.results['case_metrics'][i]['Mbase_avg'] = np.zeros([nCases,nrotors]) - self.results['case_metrics'][i]['Mbase_std'] = np.zeros([nCases,nrotors]) - self.results['case_metrics'][i]['Mbase_max'] = np.zeros([nCases,nrotors]) - self.results['case_metrics'][i]['Mbase_PSD'] = np.zeros([nCases,self.nw, nrotors]) - self.results['case_metrics'][i]['Mbase_DEL'] = np.zeros([nCases,nrotors]) - # rotor speed - self.results['case_metrics'][i]['omega_avg'] = np.zeros([nCases,nrotors]) - self.results['case_metrics'][i]['omega_std'] = np.zeros([nCases,nrotors]) - self.results['case_metrics'][i]['omega_max'] = np.zeros([nCases,nrotors]) - self.results['case_metrics'][i]['omega_PSD'] = np.zeros([nCases,self.nw, nrotors]) - # generator torque - self.results['case_metrics'][i]['torque_avg'] = np.zeros([nCases,nrotors]) - self.results['case_metrics'][i]['torque_std'] = np.zeros([nCases,nrotors]) - self.results['case_metrics'][i]['torque_max'] = np.zeros([nCases,nrotors]) - self.results['case_metrics'][i]['torque_PSD'] = np.zeros([nCases,self.nw, nrotors]) - # rotor power - self.results['case_metrics'][i]['power_avg'] = np.zeros([nCases,nrotors]) - self.results['case_metrics'][i]['power_std'] = np.zeros([nCases,nrotors]) - self.results['case_metrics'][i]['power_max'] = np.zeros([nCases,nrotors]) - self.results['case_metrics'][i]['power_PSD'] = np.zeros([nCases,self.nw, nrotors]) - # collective blade pitch - self.results['case_metrics'][i]['bPitch_avg'] = np.zeros([nCases,nrotors]) - self.results['case_metrics'][i]['bPitch_std'] = np.zeros([nCases,nrotors]) - self.results['case_metrics'][i]['bPitch_max'] = np.zeros([nCases,nrotors]) - self.results['case_metrics'][i]['bPitch_PSD'] = np.zeros([nCases,self.nw, nrotors]) - - # wind and wave spectra for reference - self.results['case_metrics'][i]['wind_PSD'] = np.zeros([nCases, self.nw]) - self.results['case_metrics'][i]['wave_PSD'] = np.zeros([nCases, self.nw]) - - - # mooring tension (handled at system level) - - # get number of mooring lines - nLines = 0 - if self.ms: - nLines += len(self.ms.lineList) - for fowt in self.fowtList: - if fowt.ms: - nLines += len(fowt.ms.lineList) - - self.results['case_metrics']['Tmoor_avg'] = np.zeros([nCases, 2*nLines]) # 2d array, for each line in each case? - self.results['case_metrics']['Tmoor_std'] = np.zeros([nCases, 2*nLines]) - self.results['case_metrics']['Tmoor_max'] = np.zeros([nCases, 2*nLines]) - self.results['case_metrics']['Tmoor_DEL'] = np.zeros([nCases, 2*nLines]) - self.results['case_metrics']['Tmoor_PSD'] = np.zeros([nCases, 2*nLines, self.nw]) - + # calculate the system's constant properties for fowt in self.fowtList: + fowt.setPosition([fowt.x_ref, fowt.y_ref,0,0,0,0]) fowt.calcStatics() - if runPyHAMS: + for i, fowt in enumerate(self.fowtList): fowt.calcBEM(meshDir=meshDir) + # loop through each case for iCase in range(nCases): @@ -374,58 +298,55 @@ def analyzeCases(self, display=0, runPyHAMS=False, meshDir=os.path.join(os.getcw else: nWaves = len(case['wave_heading']) - # Initialize second-order mean wave forces at each case to avoid using the results from the previous one in solveStatics() - self.fowtList[0].Fhydro_2nd_mean = np.zeros([nWaves, self.fowtList[0].nDOF]) - - - # TODO: Once we have the slender-body approximation, we will perhaps need to iterate the mean offsets - # because the mean wave forces will depend on the first-order motions, which depend on the mean offsets. - # Not sure though whether this will be needed, as the mean offsets computed with the slender-body approximation - # should not be large due to its inherent assumptions (neglecting wave diffraction, hence no wave reflection). - # Iterating is not needed for the diffraction approach, as it is given by an input QTF. Just need to call solveStatics() twice - + # initialize dictionary of case results + self.results['case_metrics'][iCase] = {} + # solve system operating point / mean offsets for this load case self.solveStatics(case, display=display) # >>> add a flag that stores what case has had solveStatics to ensure consistency <<< # solve system dynamics - self.solveDynamics(case) + self.solveDynamics(case, RAO_plot=RAO_plot) - # Resolve system operating point / mean offsets, but now including mean wave forces - self.solveStatics(case) + # Solve system operating point / mean offsets again, but now including mean wave forces + self.solveStatics(case) # >>> need to decide if I want to store Xi0 and Xi in the FOWTs or work with them directly here. <<< - # process outputs that are specific to the floating unit + # process outputs that are specific to the floating unit (initialize dictionary for case and turb index) for i, fowt in enumerate(self.fowtList): - fowt.saveTurbineOutputs(self.results['case_metrics'][i], case, iCase) + self.results['case_metrics'][iCase][i] = {} + fowt.saveTurbineOutputs(self.results['case_metrics'][iCase][i],case) nTowers = fowt.ntowers nRotors = fowt.nrotors if display > 0: - metrics = self.results['case_metrics'][i] + metrics = self.results['case_metrics'][iCase][i] # print statistics table print(f"-------------------- FOWT {i+1} Case {iCase+1} Statistics --------------------") print("Response channel Average RMS Maximum") - print(f"surge (m) {metrics['surge_avg'][iCase] :10.2e} {metrics['surge_std'][iCase] :10.2e} {metrics['surge_max'][iCase] :10.2e}") - print(f"sway (m) {metrics['sway_avg' ][iCase] :10.2e} {metrics['sway_std' ][iCase] :10.2e} {metrics['sway_max' ][iCase] :10.2e}") - print(f"heave (m) {metrics['heave_avg'][iCase] :10.2e} {metrics['heave_std'][iCase] :10.2e} {metrics['heave_max'][iCase] :10.2e}") - print(f"roll (deg) {metrics['roll_avg' ][iCase] :10.2e} {metrics['roll_std' ][iCase] :10.2e} {metrics['roll_max' ][iCase] :10.2e}") - print(f"pitch (deg) {metrics['pitch_avg'][iCase] :10.2e} {metrics['pitch_std'][iCase] :10.2e} {metrics['pitch_max'][iCase] :10.2e}") - print(f"yaw (deg) {metrics[ 'yaw_avg'][iCase] :10.2e} {metrics[ 'yaw_std'][iCase] :10.2e} {metrics['yaw_max' ][iCase] :10.2e}") + print(f"surge (m) {metrics['surge_avg'] :10.2e} {metrics['surge_std'] :10.2e} {metrics['surge_max'] :10.2e}") + print(f"sway (m) {metrics['sway_avg' ] :10.2e} {metrics['sway_std' ] :10.2e} {metrics['sway_max' ] :10.2e}") + print(f"heave (m) {metrics['heave_avg'] :10.2e} {metrics['heave_std'] :10.2e} {metrics['heave_max'] :10.2e}") + print(f"roll (deg) {metrics['roll_avg' ] :10.2e} {metrics['roll_std' ] :10.2e} {metrics['roll_max' ] :10.2e}") + print(f"pitch (deg) {metrics['pitch_avg'] :10.2e} {metrics['pitch_std'] :10.2e} {metrics['pitch_max'] :10.2e}") + print(f"yaw (deg) {metrics[ 'yaw_avg'] :10.2e} {metrics[ 'yaw_std'] :10.2e} {metrics['yaw_max' ] :10.2e}") for i in range(nTowers): - print(f"nacelle acc. (m/s) {metrics['AxRNA_avg'][iCase,i] :10.2e} {metrics['AxRNA_std'][iCase,i] :10.2e} {metrics['AxRNA_max'][iCase,i] :10.2e}") + print(f"nacelle acc. (m/s) {metrics['AxRNA_avg'][i] :10.2e} {metrics['AxRNA_std'][i] :10.2e} {metrics['AxRNA_max'][i] :10.2e}") for i in range(nTowers): - print(f"tower bending (Nm) {metrics['Mbase_avg'][iCase,i] :10.2e} {metrics['Mbase_std'][iCase,i] :10.2e} {metrics['Mbase_max'][iCase,i] :10.2e}") - for i in range(nRotors): - print(f"rotor speed (RPM) {metrics['omega_avg'][iCase,i] :10.2e} {metrics['omega_std'][iCase,i] :10.2e} {metrics['omega_max'][iCase,i] :10.2e}") + print(f"tower bending (Nm) {metrics['Mbase_avg'][i] :10.2e} {metrics['Mbase_std'][i] :10.2e} {metrics['Mbase_max'][i] :10.2e}") for i in range(nRotors): - print(f"blade pitch (deg) {metrics['bPitch_avg'][iCase,i] :10.2e} {metrics['bPitch_std'][iCase,i] :10.2e} ") - for i in range(nRotors): - print(f"rotor power {metrics['power_avg'][iCase,i] :10.2e} ") + if fowt.rotorList[i].Zhub < 0: + speed = getFromDict(case, 'current_speed', shape=0, default=1.0) + else: + speed = getFromDict(case, 'wind_speed', shape=0, default=10.0) + if fowt.rotorList[i].aeroServoMod > 1 and speed > 0.0: + print(f"rotor speed (RPM) {metrics['omega_avg'][i] :10.2e} {metrics['omega_std'][i] :10.2e} {metrics['omega_max'][i] :10.2e}") + print(f"blade pitch (deg) {metrics['bPitch_avg'][i] :10.2e} {metrics['bPitch_std'][i] :10.2e} ") + print(f"rotor power {metrics['power_avg'][i] :10.2e} ") #for i in range(nLine): >>> could have the turbine's own mooring system results here <<< # j = i+nLine # print(f"line {i} tension (N) {metrics['Tmoor_avg'][iCase,j]:10.2e} {metrics['Tmoor_std'][iCase,j]:10.2e} {metrics['Tmoor_max'][iCase,j]:10.2e}") @@ -433,44 +354,53 @@ def analyzeCases(self, display=0, runPyHAMS=False, meshDir=os.path.join(os.getcw - # process mooring tension outputs - - #nLines = int(len(self.T_moor)/2) - T_moor_amps = np.zeros([nWaves+1, 2*nLines, self.nw], dtype=complex) # mooring tension amplitudes for each excitation source and line end - - # if self.ms: - if False: + # process array-level mooring tension outputs + if self.ms: + + self.results['case_metrics'][iCase]['array_mooring'] = {} + + nLines = len(self.ms.lineList) + T_moor_amps = np.zeros([nWaves+1, 2*nLines, self.nw], dtype=complex) # mooring tension amplitudes for each excitation source and line end + C_moor, J_moor = self.ms.getCoupledStiffness(lines_only=True, tensions=True) # get stiffness matrix and tension jacobian matrix T_moor = self.ms.getTensions() # get line end mean tensions - # >>> so far this is only set up for the system level MoorPy instance <<< for ih in range(nWaves+1): for iw in range(self.nw): T_moor_amps[ih,:,iw] = np.matmul(J_moor, self.Xi[ih,:,iw]) # FFT of mooring tensions - self.results['case_metrics']['Tmoor_avg'][iCase,:] = T_moor + self.results['case_metrics'][iCase]['array_mooring']['Tmoor_avg'] = T_moor + self.results['case_metrics'][iCase]['array_mooring']['Tmoor_std'] = np.zeros(2*nLines) + self.results['case_metrics'][iCase]['array_mooring']['Tmoor_max'] = np.zeros(2*nLines) + self.results['case_metrics'][iCase]['array_mooring']['Tmoor_PSD'] = np.zeros([ 2*nLines, self.nw ]) + + for iT in range(2*nLines): TRMS = getRMS(T_moor_amps[:,iT,:]) # estimated mooring line RMS tension [N] - self.results['case_metrics']['Tmoor_std'][iCase,iT] = TRMS - self.results['case_metrics']['Tmoor_max'][iCase,iT] = T_moor[iT] + 3*TRMS - self.results['case_metrics']['Tmoor_PSD'][iCase,iT,:] = getPSD(T_moor_amps[:,iT,:], self.w[0]) # PSD in N^2/(rad/s) - #self.results['case_metrics']['Tmoor_DEL'][iCase,iT] = - + self.results['case_metrics'][iCase]['array_mooring']['Tmoor_std'][iT] = TRMS + self.results['case_metrics'][iCase]['array_mooring']['Tmoor_max'][iT] = T_moor[iT] + 3*TRMS + self.results['case_metrics'][iCase]['array_mooring']['Tmoor_PSD'][iT,:] = getPSD(T_moor_amps[:,iT,:], self.w[0]) # PSD in N^2/(rad/s) + #self.results['case_metrics']['array_mooring']['Tmoor_DEL'][iCase,iT] = + + # log the maximum line tensions predicted by RAFT for MoorPy use + # self.ms.saveMaxTensions(self.results['case_metrics'][iCase]['array_mooring']['Tmoor_max']) + if display > 0: - metrics = self.results['case_metrics'] + metrics = self.results['case_metrics'][iCase]['array_mooring'] # print statistics table - print(f"-------------------- Case {iCase+1} Statistics --------------------") + print(f"-------------------- Mooring Case {iCase+1} Statistics --------------------") print("Response channel Average RMS Maximum") for i in range(nLines): j = i+nLines - print(f"line {i} tension (N) {metrics['Tmoor_avg'][iCase,j]:10.2e} {metrics['Tmoor_std'][iCase,j]:10.2e} {metrics['Tmoor_max'][iCase,j]:10.2e}") + print(f"line {i} tension (N) {metrics['Tmoor_avg'][j]:10.2e} {metrics['Tmoor_std'][j]:10.2e} {metrics['Tmoor_max'][j]:10.2e}") print(f"-----------------------------------------------------------") self.T_moor_amps = T_moor_amps # save for future processing! + """ def calcSystemConstantProps(self): '''This gets the various static/constant calculations of each FOWT done. (Those that don't depend on load case.)''' @@ -635,22 +565,17 @@ def solveStatics(self, case, display=0): X_initial = np.zeros(self.nDOF) # position vector of all FOWTs - caseorig = copy.deepcopy(case) # save original case data in new dict - if type(case['wind_speed']) == list : - print('List of wind speeds found!') - - if len(case['wind_speed']) != len(self.fowtList): - raise IndexError("List of wind speeds must be the same length as the list of wind turbines") + if case: + caseorig = copy.deepcopy(case) # save original case data in new dict + if type(case['wind_speed']) == list : + print('List of wind speeds found!') + + if len(case['wind_speed']) != len(self.fowtList): + raise IndexError("List of wind speeds must be the same length as the list of wind turbines") # set initial values before solving for i, fowt in enumerate(self.fowtList): - # If list of wind speeds, set each turbine case with corresponding wind speed - if type(caseorig['wind_speed']) == list : - case['wind_speed'] = caseorig['wind_speed'][i] - print('Fowt ' + str(i)) - print(case) - if display > 0: print(f"FOWT {i+1:}") #X_initial[6*i:6*i+6] = fowt.r6 - np.array([fowt.xref, fowt.yref,0,0,0,0]) @@ -665,16 +590,43 @@ def solveStatics(self, case, display=0): if display > 0: print(" F_undisplaced "+" ".join(["{:+8.2e}"]*6).format(*F_undisplaced[6*i:6*i+6])) - if forcing_mod == 0: + if forcing_mod == 0 and case: + + # If list of wind speeds, set each turbine case with corresponding wind speed + if type(caseorig['wind_speed']) == list : + case['wind_speed'] = caseorig['wind_speed'][i] + print('Fowt ' + str(i)) + print(case) + fowt.calcTurbineConstants(case, ptfm_pitch=0) # for turbine forces >>> still need to update to use current fowt pose <<< - fowt.calcHydroConstants(case, memberList=fowt.memberList) # prep for drag force (and eventually mean drift) + fowt.calcHydroConstants() #for rotor in fowt.rotorList: # for blade members (bladeMemberList will be empty if rotors are not underwater) ?? #fowt.calcHydroConstants(case, memberList=rotor.bladeMemberList*rotor.nBlades, Rotor=rotor) ?? # wave mean drift to be added - F_env_constant[6*i:6*i+6] = np.sum(fowt.F_aero0, axis=1) + fowt.calcCurrentLoads(case) + F_env_constant[6*i:6*i+6] = np.sum(fowt.f_aero0, axis=1) + fowt.calcCurrentLoads(case) if display > 0: print(" F_env_constant"+" ".join(["{:+8.2e}"]*6).format(*F_env_constant[6*i:6*i+6])) + # preliminary approach to provide uniform currents on the mooring system(s) + currentMod = 0 + currentU = np.zeros(3) + if case: + cur_speed = getFromDict(case, 'current_speed', shape=0, default=0.0) + cur_heading = getFromDict(case, 'current_heading', shape=0, default=0) + if cur_speed > 0: + currentMod = 1 + currentU = np.array([cur_speed*np.cos(np.radians(cur_heading)), + cur_speed*np.sin(np.radians(cur_heading)), 0]) + + if self.ms: + self.ms.currentMod = currentMod + self.ms.current = currentU + + for fowt in self.fowtList: + if fowt.ms: + fowt.ms.currentMod = currentMod + fowt.ms.current = currentU + # ----- calculate platform offsets and mooring system equilibrium state ----- @@ -688,7 +640,10 @@ def solveStatics(self, case, display=0): setEnv and calcSystemProps must be called first. This will ultimately become a method for solving mean operating point. Mean offsets are saved in the FOWT object. ''' + def eval_func_equil(X, args): + + display = args['display'] # set latest positions of each FOWT for i, fowt in enumerate(self.fowtList): @@ -696,7 +651,7 @@ def eval_func_equil(X, args): fowt.setPosition(r6) # this updates the fowt's position and its own MoorPy system's state (including new F and K) if self.ms: self.ms.bodyList[i].setPosition(r6) # FOWT body in array level MoorPy system - + # update array-level mooring system's internal equilibrium (free DOFs only) if self.ms: self.ms.solveEquilibrium() @@ -707,18 +662,8 @@ def eval_func_equil(X, args): for i, fowt in enumerate(self.fowtList): - # If list of wind speeds, set each turbine case with corresponding wind speed - if type(caseorig['wind_speed']) == list : - case['wind_speed'] = caseorig['wind_speed'][i] - Xi0 = X[6*i:6*i+6] - np.array([fowt.x_ref, fowt.y_ref,0,0,0,0]) # fowt mean offset from its reference position - - # mooring forces - Fnet[6*i:6*i+6] += fowt.F_moor0 # fowt.ms.bodyList[0].getForces(lines_only=True) # individual mooring forces - if self.ms: - Fnet[6*i:6*i+6] += self.ms.bodyList[i].getForces(lines_only=True) # array-level mooring forces - - + # update FOWT hydrostatic loads if statics_mod == 0 : # constant linear hydrostatics option Fnet[6*i:6*i+6] += F_undisplaced[6*i:6*i+6] # add original hydrostatics forces @@ -741,23 +686,32 @@ def eval_func_equil(X, args): Fnet[6*i:6*i+6] += F_env_constant[6*i:6*i+6] elif forcing_mod == 1: # updated loads approach + + # If list of wind speeds, set each turbine case with corresponding wind speed + if type(caseorig['wind_speed']) == list : + case['wind_speed'] = caseorig['wind_speed'][i] fowt.calcTurbineConstants(case, ptfm_pitch=r6[4]) # for turbine forces >>> still need to update to use current fowt pose <<< fowt.calcHydroConstants(case, memberList=fowt.memberList) # prep for drag force (and eventually mean drift) #for rotor in fowt.rotorList: # for blade members (bladeMemberList will be empty if rotors are not underwater) ?? #fowt.calcHydroConstants(case, memberList=rotor.bladeMemberList*rotor.nBlades, Rotor=rotor) ?? - Fnet[6*i:6*i+6] += np.sum(fowt.F_aero0, axis=1) # sum mean turbine force across turbines + Fnet[6*i:6*i+6] += np.sum(fowt.f_aero0, axis=1) # sum mean turbine force across turbines # F_meanDrift = self.fowtList[0].Fhydro_2nd_mean[iCase, :] # wave mean drift to be added Fnet[6*i:6*i+6] += fowt.calcCurrentLoads(case) # current drag force i.e. fowt.D_hydro # This could eventually include FLORIS. If it's slow, FLORIS could be updated only every 5 or 10 iterations... - #breakpoint() + + # mooring forces (includes if currents were updated above) + Fnet[6*i:6*i+6] += fowt.F_moor0 # fowt.ms.bodyList[0].getForces(lines_only=True) # individual mooring forces + if self.ms: + Fnet[6*i:6*i+6] += self.ms.bodyList[i].getForces(lines_only=True) # array-level mooring forces + # note that the above also calculates many stiffnes terms that are used in step_func_equil - + if display > 1: print("Net forces") printVec(Fnet) @@ -769,10 +723,14 @@ def eval_func_equil(X, args): if display > 0: RMSeForce = np.linalg.norm([Y[6*i :6*i+3] for i in range(self.nFOWT)]) RMSeMoment = np.linalg.norm([Y[6*i+3:6*i+6] for i in range(self.nFOWT)]) - print(f"Iteration RMS force adn moment errors: {RMSeForce:8.2e} {RMSeMoment:8.2e}") - # if RMSeForce < 100 and RMSeMoment < 100: - # breakpoint() - + print(f"Iteration RMS force and moment errors: {RMSeForce:8.2e} {RMSeMoment:8.2e}") + if RMSeForce < 100 and RMSeMoment < 100: + if display > 1: + breakpoint() + else: + print('Warning: RMS error of equilibrium forces or moments exceeds 100.') + + return Y, oths, False @@ -820,6 +778,11 @@ def step_func_equil(X, args, Y, oths, Ytarget, err, tol_, iter, maxIter): try: if self.nDOF > 36: # if huge, count on the system being sparse and use a sparse solver + # import relevant packages + import warnings + from scipy.sparse import csr_matrix + from scipy.sparse.linalg import spsolve, MatrixRankWarning + with warnings.catch_warnings(): warnings.simplefilter("error", category=MatrixRankWarning) Kcsr = csr_matrix(K) @@ -866,13 +829,13 @@ def step_func_equil(X, args, Y, oths, Ytarget, err, tol_, iter, maxIter): # Now find static equilibrium offsets X, Y, info = dsolve2(eval_func_equil, X_initial, step_func=step_func_equil, - tol=tols, a_max=1.6, maxIter=20, display=0 ) #, dodamping=True) + tol=tols, a_max=1.6, maxIter=20, display=0, args={'display': display} ) #, dodamping=True) #X, Y, info = dsolve2(eval_func_equil, X_initial, step_func=step_func_equil, # ytol=1e4, a_max=1.6, maxIter=20, display=0 ) #, dodamping=True) - #if display > 1: - print(X) - print(Y) + if display > 0: + print('New Equilibrium Position', X) + print('Remaining Forces on the Model (N)', Y) self.Xs2 = info['Xs'] # List of positions as it finds equilibrium for every iteration self.Es2 = info['Es'] # List of errors that the forces are away from 0, which in this case, is the same as the forces @@ -926,12 +889,13 @@ def step_func_equil(X, args, Y, oths, Ytarget, err, tol_, iter, maxIter): self.T_moor = T_moor # store results - self.results['means'] = {} # signal this data is available by adding a section to the results dictionary - self.results['means']['aero force' ] = self.fowtList[0].F_aero0 - self.results['means']['platform offset' ] = r6eq - self.results['means']['mooring force' ] = F_moor - self.results['means']['fairlead tensions'] = np.array([np.linalg.norm(self.ms.pointList[id-1].getForces()) for id in self.ms.bodyList[0].attachedP]) - + self.results['means'] = [] # signal this data is available by adding a section to the results dictionary + for i, fowt in enumerate(self.fowtList): + self.results['means'].append({}) + self.results['means'][i]['aero force' ] = fowt.f_aero0 + self.results['means'][i]['platform offset' ] = fowt.r6 + self.results['means'][i]['mooring force' ] = F_moor + self.results['means'][i]['fairlead tensions'] = np.array([np.linalg.norm(self.ms.pointList[id-1].getForces()) for id in self.ms.bodyList[0].attachedP]) # mean tower base bending moment @@ -947,7 +911,7 @@ def step_func_equil(X, args, Y, oths, Ytarget, err, tol_, iter, maxIter): + self.fowtList[j].hHub[i]*self.fowtList[j].mRNA[i])/m_turbine[j,i] zBase[j,i] = self.fowtList[j].memberList[self.fowtList[j].nplatmems + i].rA[2] # tower base elevation [m] hArm[j,i] = zCG_turbine[j,i] - zBase[j,i] # vertical distance from tower base to turbine CG [m] - self.results['means']['Mbase'][j,i] = m_turbine[j,i]*self.fowtList[j].g * hArm[j,i]*np.sin(r6eq[4]) + transformForce(self.fowtList[j].F_aero0[:,i], offset=[0,0,-hArm[j,i]])[4] # mean moment from weight and thrust + self.results['means']['Mbase'][j,i] = m_turbine[j,i]*self.fowtList[j].g * hArm[j,i]*np.sin(r6eq[4]) + transformForce(self.fowtList[j].f_aero0[:,i], offset=[0,0,-hArm[j,i]])[4] # mean moment from weight and thrust # update values based on offsets if applicable @@ -1060,7 +1024,7 @@ def solveDynamics(self, case, tol=0.01, conv_plot=0, RAO_plot=0): # Rigorously, they should be computed at each iteration, but that would be very expensive. # We will assume that the first-order motions won't change that much after two iterations # to impact the QTFs at a level that justifies the computational cost - if fowt.potSecOrder == 1 and iiter < 1: + if fowt.potSecOrder == 1 and iiter <= 1: Xi_unitWave = np.zeros([fowt.nDOF, fowt.nw], dtype=complex) # RAOs (unit wave amplitude) for iDoF in range(Xi_unitWave.shape[0]): # get indices where fowt.zeta[ih,:] is not zero @@ -1159,15 +1123,8 @@ def solveDynamics(self, case, tol=0.01, conv_plot=0, RAO_plot=0): # calculate linear and nonlinear wave excitation for this FOWT and case (consider phasing due to position in array) fowt.calcHydroExcitation(case, memberList=fowt.memberList) F_linearized = fowt.calcDragExcitation(ih) - - # We can include second-order hydrodynamic forces here if they are computed by an external QTF file - Fhydro_2nd = np.zeros([fowt.nWaves, fowt.nDOF, fowt.nw], dtype=complex) - fowt.Fhydro_2nd_mean = np.zeros([fowt.nWaves, fowt.nDOF]) # Keep that as a member because it will be used in the functions that compute mean displacements - if fowt.potSecOrder==2: - fowt.Fhydro_2nd_mean[ih, :], Fhydro_2nd[ih, :, :] = fowt.calcHydroForce_2ndOrd(fowt.beta[ih], fowt.S[ih,:]) - - F_wave[i*6:i*6+6] = fowt.F_BEM[ih,:,:] + fowt.F_hydro_iner[ih,:,:] + F_linearized + Fhydro_2nd[ih, :, :] - + F_wave[i*6:i*6+6] = fowt.F_BEM[ih,:,:] + fowt.F_hydro_iner[ih,:,:] + F_linearized #+ fowt.Fhydro_2nd[ih,:,:] + # compute system response for iw in range(self.nw): self.Xi[ih,:,iw] = np.matmul(Zinv[:,:,iw], F_wave[:,iw]) @@ -1190,19 +1147,6 @@ def solveDynamics(self, case, tol=0.01, conv_plot=0, RAO_plot=0): F_wave[i*6:i*6+6] = fowt.F_BEM[ih,:,:] + fowt.F_hydro_iner[ih,:,:] + F_linearized + Fhydro_2nd[ih, :, :] for iw in range(self.nw): self.Xi[ih,:,iw] = np.matmul(Zinv[:,:,iw], F_wave[:,iw]) - - - # For illustration purposes - ident = '' - if fowt.potSecOrder == 1: - ident = 'slenderBody' - elif fowt.potSecOrder == 2: - ident += 'WAMIT' - - if fowt.outFolderQTF is not None: - with open(os.path.join(fowt.outFolderQTF, 'f_hydro-'+ ident + '.txt'), 'w') as file: - for w, frow in zip(self.w, np.abs(F_wave.T)): - file.write(f'{w:.5f} {frow[0]:.5f} {frow[1]:.5f} {frow[2]:.5f} {frow[3]:.5f} {frow[4]:.5f} {frow[5]:.5f}\n') # rotor excitation ''' @@ -1290,19 +1234,16 @@ def calcOutputs(self): self.results['properties']['tower mass'] = fowt.mtower self.results['properties']['tower CG'] = fowt.rCG_tow - self.results['properties']['substructure mass'] = fowt.msubstruc + self.results['properties']['substructure mass'] = fowt.m_sub self.results['properties']['substructure CG'] = fowt.rCG_sub - self.results['properties']['shell mass'] = fowt.mshell - self.results['properties']['ballast mass'] = fowt.mballast + self.results['properties']['shell mass'] = fowt.m_shell + self.results['properties']['ballast mass'] = fowt.m_ballast self.results['properties']['ballast densities'] = fowt.pb self.results['properties']['total mass'] = fowt.M_struc[0,0] - self.results['properties']['total CG'] = fowt.rCG_TOT - #self.results['properties']['roll inertia at subCG'] = fowt.I44 - #self.results['properties']['pitch inertia at subCG'] = fowt.I55 - #self.results['properties']['yaw inertia at subCG'] = fowt.I66 - self.results['properties']['roll inertia at subCG'] = fowt.M_struc_subCM[3,3] - self.results['properties']['pitch inertia at subCG'] = fowt.M_struc_subCM[4,4] - self.results['properties']['yaw inertia at subCG'] = fowt.M_struc_subCM[5,5] + self.results['properties']['total CG'] = fowt.rCG + self.results['properties']['roll inertia at subCG'] = fowt.props['Ixx_sub'] + self.results['properties']['pitch inertia at subCG'] = fowt.props['Iyy_sub'] + self.results['properties']['yaw inertia at subCG'] = fowt.props['Izz_sub'] self.results['properties']['buoyancy (pgV)'] = fowt.rho_water*fowt.g*fowt.V self.results['properties']['center of buoyancy'] = fowt.rCB @@ -1315,14 +1256,14 @@ def calcOutputs(self): self.results['properties']['C_lines0'] = self.C_moor0 # 6DOF matrices for the support structure (everything but turbine) including mass, hydrostatics, and mooring reactions - self.results['properties']['M support structure'] = fowt.M_struc_subCM # mass matrix + self.results['properties']['M support structure'] = fowt.M_struc_sub # mass matrix (about PRP) self.results['properties']['A support structure'] = fowt.A_hydro_morison + fowt.A_BEM[:,:,-1] # hydrodynamic added mass (currently using highest frequency of BEM added mass) self.results['properties']['C support structure'] = fowt.C_struc_sub + fowt.C_hydro + self.C_moor0 # stiffness # ----- response outputs (always in standard units) --------------------------------------- - + ''' if 'response' in self.results: RAOmag = abs(self.Xi /fowt.zeta) # magnitudes of motion RAO @@ -1330,6 +1271,7 @@ def calcOutputs(self): self.results['response']['frequencies'] = self.w/2/np.pi # Hz self.results['response']['wave elevation'] = fowt.zeta self.results['response']['Xi' ] = self.Xi + self.results['response']['surge RAO' ] = RAOmag[0,:] self.results['response'][ 'sway RAO' ] = RAOmag[1,:] self.results['response']['heave RAO' ] = RAOmag[2,:] @@ -1340,7 +1282,7 @@ def calcOutputs(self): # save dynamic derived quantities #self.results['response']['mooring tensions'] = ... self.results['response']['nacelle acceleration'] = self.w**2 * (self.Xi[0] + self.Xi[4]*fowt.hHub) - + ''' return self.results @@ -1351,22 +1293,25 @@ def calcOutputs(self): def plotResponses(self): '''Plots the power spectral densities of the available response channels for each case.''' - fig, ax = plt.subplots(6, 1, sharex=True) + fig, ax = plt.subplots(6, 1, sharex=True, figsize=(6,6)) - metrics = self.results['case_metrics'][0] - nCases = len(metrics['surge_avg']) - - for iCase in range(nCases): + # loop through each FOWT and plot its response (on the same figure for now) + for i in range(self.nFOWT): - ax[0].plot(self.w/TwoPi, TwoPi*metrics['surge_PSD'][iCase,:] ) # surge - ax[1].plot(self.w/TwoPi, TwoPi*metrics['heave_PSD'][iCase,:] ) # heave - ax[2].plot(self.w/TwoPi, TwoPi*metrics['pitch_PSD'][iCase,:] ) # pitch [deg] - ax[3].plot(self.w/TwoPi, TwoPi*metrics['AxRNA_PSD'][iCase,:] ) # nacelle acceleration - ax[4].plot(self.w/TwoPi, TwoPi*metrics['Mbase_PSD'][iCase,:] ) # tower base bending moment (using FAST's kN-m) - ax[5].plot(self.w/TwoPi, TwoPi*metrics['wave_PSD' ][iCase,:], label=f'case {iCase+1}') # wave spectrum + + nCases = len(self.results['case_metrics']) + + for iCase in range(nCases): + metrics = self.results['case_metrics'][iCase][i] + ax[0].plot(self.w/TwoPi, TwoPi*metrics['surge_PSD'] ) # surge + ax[1].plot(self.w/TwoPi, TwoPi*metrics['heave_PSD'] ) # heave + ax[2].plot(self.w/TwoPi, TwoPi*metrics['pitch_PSD'] ) # pitch [deg] + ax[3].plot(self.w/TwoPi, TwoPi*metrics['AxRNA_PSD'] ) # nacelle acceleration + ax[4].plot(self.w/TwoPi, TwoPi*metrics['Mbase_PSD'] ) # tower base bending moment (using FAST's kN-m) + ax[5].plot(self.w/TwoPi, TwoPi*metrics['wave_PSD' ], label=f'FOWT {i+1}; Case {iCase+1}') # wave spectrum - # need a variable number of subplots for the mooring lines - #ax2[3].plot(model.w/2/np.pi, TwoPi*metrics['Tmoor_PSD'][0,3,:] ) # fairlead tension + # need a variable number of subplots for the mooring lines + #ax2[3].plot(model.w/2/np.pi, TwoPi*metrics['Tmoor_PSD'][0,3,:] ) # fairlead tension ax[0].set_ylabel('surge \n'+r'(m$^2$/Hz)') ax[1].set_ylabel('heave \n'+r'(m$^2$/Hz)') @@ -1384,23 +1329,21 @@ def plotResponses(self): #if nCases > 1: ax[-1].legend() fig.suptitle('RAFT power spectral densities') + fig.tight_layout() def saveResponses(self, outPath): '''Save the power spectral densities of the available response channels for each case to an output file.''' - metrics = self.results['case_metrics'][0] - nCases = len(metrics['surge_avg']) - - chooseMetrics = ['wave_PSD', 'surge_PSD', 'sway_PSD', 'heave_PSD', 'roll_PSD', 'pitch_PSD', 'yaw_PSD', 'AxRNA_PSD', 'Mbase_PSD'] + chooseMetrics = ['wave_PSD', 'surge_PSD', 'heave_PSD', 'pitch_PSD', 'AxRNA_PSD', 'Mbase_PSD'] metricUnit = ['m^2/Hz', 'm^2/Hz', 'm^2/Hz', 'deg^2/Hz', '(m/s^2)^2/Hz', '(Nm)^2/Hz'] for i in range(self.nFOWT): - metrics = self.results['case_metrics'][i] - nCases = len(metrics['surge_avg']) - + nCases = len(self.results['case_metrics']) + for iCase in range(nCases): + metrics = self.results['case_metrics'][iCase][i] with open(f'{outPath}_Case{iCase}_WT{i}.txt', 'w') as file: # Write the header file.write('Frequency [rad/s] \t') @@ -1412,7 +1355,7 @@ def saveResponses(self, outPath): for iFreq in range(len(self.w)): file.write(f'{self.w[iFreq]:.5f} \t') for metric in chooseMetrics: - file.write(f'{np.squeeze(metrics[metric][iCase, iFreq]):.5f} \t') + file.write(f'{np.squeeze(metrics[metric][iFreq]):.5f} \t') file.write('\n') @@ -1424,20 +1367,20 @@ def plotResponses_extended(self): # loop through each FOWT and plot its response (on the same figure for now) for i in range(self.nFOWT): - metrics = self.results['case_metrics'][i] - nCases = len(metrics['surge_avg']) - + nCases = len(self.results['case_metrics']) + for iCase in range(nCases): - ax[0].plot(self.w / TwoPi, TwoPi * metrics['surge_PSD'][iCase, :]) # surge - ax[1].plot(self.w / TwoPi, TwoPi * metrics['sway_PSD'][iCase, :]) # surge - ax[2].plot(self.w / TwoPi, TwoPi * metrics['heave_PSD'][iCase, :]) # heave - ax[3].plot(self.w / TwoPi, TwoPi * metrics['pitch_PSD'][iCase, :]) # pitch [deg] - ax[4].plot(self.w / TwoPi, TwoPi * metrics['roll_PSD'][iCase, :]) # pitch [deg] - ax[5].plot(self.w / TwoPi, TwoPi * metrics['yaw_PSD'][iCase, :]) # pitch [deg] - ax[6].plot(self.w / TwoPi, TwoPi * metrics['AxRNA_PSD'][iCase, :]) # nacelle acceleration + metrics = self.results['case_metrics'][iCase][i] + ax[0].plot(self.w / TwoPi, TwoPi * metrics['surge_PSD'][:]) # surge + ax[1].plot(self.w / TwoPi, TwoPi * metrics['sway_PSD'][:]) # surge + ax[2].plot(self.w / TwoPi, TwoPi * metrics['heave_PSD'][:]) # heave + ax[3].plot(self.w / TwoPi, TwoPi * metrics['pitch_PSD'][:]) # pitch [deg] + ax[4].plot(self.w / TwoPi, TwoPi * metrics['roll_PSD'][:]) # pitch [deg] + ax[5].plot(self.w / TwoPi, TwoPi * metrics['yaw_PSD'][:]) # pitch [deg] + ax[6].plot(self.w / TwoPi, TwoPi * metrics['AxRNA_PSD'][:]) # nacelle acceleration ax[7].plot(self.w / TwoPi, - TwoPi * metrics['Mbase_PSD'][iCase, :]) # tower base bending moment (using FAST's kN-m) - ax[8].plot(self.w / TwoPi, TwoPi * metrics['wave_PSD'][iCase, :], + TwoPi * metrics['Mbase_PSD'][:]) # tower base bending moment (using FAST's kN-m) + ax[8].plot(self.w / TwoPi, TwoPi * metrics['wave_PSD'][ :], label=f'case {iCase + 1}') # wave spectrum # need a variable number of subplots for the mooring lines @@ -1489,8 +1432,10 @@ def preprocess_HAMS(self, dw=0, wMax=0, dz=0, da=0): self.fowtList[0].calcBEM(dw=dw, wMax=wMax, dz=dz, da=da) - def plot(self, ax=None, hideGrid=False, draw_body=True, color='k', nodes=0, - xbounds=None, ybounds=None, zbounds=None, plot_rotor=True, airfoils=False, station_plot=[]): + def plot(self, ax=None, hideGrid=False, draw_body=True, color=None, nodes=0, + xbounds=None, ybounds=None, zbounds=None, plot_rotor=True, airfoils=False, + station_plot=[], zorder=2, figsize=(6,4), plot_water=False, plot_soil=False): + '''plots the whole model, including FOWTs and mooring system...''' # for now, start the plot via the mooring system, since MoorPy doesn't yet know how to draw on other codes' plots @@ -1503,9 +1448,10 @@ def plot(self, ax=None, hideGrid=False, draw_body=True, color='k', nodes=0, # if axes not passed in, make a new figure if ax == None: if self.ms: - fig, ax = self.ms.plot(color=color, draw_body=draw_body, xbounds=xbounds, ybounds=ybounds, zbounds=zbounds) + fig, ax = self.ms.plot(color=color, draw_body=draw_body,figsize=figsize, + xbounds=xbounds, ybounds=ybounds, zbounds=zbounds) else: - fig = plt.figure(figsize=(6,4)) + fig = plt.figure(figsize=figsize) ax = plt.axes(projection='3d') else: @@ -1515,7 +1461,9 @@ def plot(self, ax=None, hideGrid=False, draw_body=True, color='k', nodes=0, # plot each FOWT for fowt in self.fowtList: - fowt.plot(ax, color=color, nodes=nodes, plot_rotor=plot_rotor, station_plot=station_plot, airfoils=airfoils) + fowt.plot(ax, color=color, zorder=zorder, nodes=nodes, + plot_rotor=plot_rotor, station_plot=station_plot, + airfoils=airfoils) set_axes_equal(ax) @@ -1527,10 +1475,64 @@ def plot(self, ax=None, hideGrid=False, draw_body=True, color='k', nodes=0, ax.grid(b=None) ax.axis('off') ax.set_frame_on(False) + + #vx = np.array( ax.get_xlim() ) + #vy = np.array( ax.get_ylim() ) + r = 75 #0.1*np.maximum(vx.max(), vy.max()) + + if plot_water: + water_color = (0.122, 0.4667, 0.706) + p_sea = Circle((0,0), r, color=water_color, alpha=0.3) + ax.add_patch(p_sea) + art3d.pathpatch_2d_to_3d(p_sea, z=0, zdir="z") + if plot_soil: + soil_color = (0.703125, 0.390625, 0.0) + p_soil = Circle((0,0), r, color=soil_color, alpha=0.5) + ax.add_patch(p_soil) + art3d.pathpatch_2d_to_3d(p_soil, z=-self.depth, zdir="z") return fig, ax + def plot2d(self, ax=None, hideGrid=False, draw_body=True, color=None, + station_plot=[], Xuvec=[1,0,0], Yuvec=[0,0,1], figsize=(6,4)): + '''plots the whole model, including FOWTs and mooring system...''' + + # for now, start the plot via the mooring system, since MoorPy doesn't yet know how to draw on other codes' plots + #self.ms.bodyList[0].setPosition(np.zeros(6)) + #self.ms.initialize() + + #fig = plt.figure(figsize=(20/2.54,12/2.54)) + #ax = Axes3D(fig) + + # if axes not passed in, make a new figure + if ax == None: + if self.ms: + fig, ax = self.ms.plot2d(color=color, draw_body=draw_body, Xuvec=Xuvec, Yuvec=Yuvec, figsize=figsize) + else: + fig, ax = plt.subplots(1,1, figsize=figsize) + + else: + fig = ax.get_figure() + if self.ms: + self.ms.plot2d(ax=ax, color=color, draw_body=draw_body, Xuvec=Xuvec, Yuvec=Yuvec) + + # plot each FOWT + for fowt in self.fowtList: + fowt.plot2d(ax, color=color, station_plot=station_plot, Xuvec=Xuvec, Yuvec=Yuvec) + + ax.axis("equal") + + if hideGrid: + ax.set_xticks([]) # Hide axes ticks + ax.set_yticks([]) + ax.grid(False) # Hide grid lines + ax.grid(b=None) + ax.axis('off') + ax.set_frame_on(False) + + return fig, ax + def adjustBallast(self, fowt, heave_tol=1, l_fill_adj=1e-2, rtn=0, display=0): '''function to add or subtract the fill level of ballast in a member to get equilibrium heave close to 0 @@ -1547,7 +1549,7 @@ def adjustBallast(self, fowt, heave_tol=1, l_fill_adj=1e-2, rtn=0, display=0): mass = (fowt.V*fowt.rho_water*fowt.g + self.F_moor0[2])/fowt.g dmass = mass - fowt.M_struc[0,0] sumFz = -fowt.M_struc[0,0]*fowt.g + fowt.V*fowt.rho_water*fowt.g + self.F_moor0[2] - heave = sumFz/(fowt.rho_water*fowt.g*fowt.body.AWP) + heave = sumFz/(fowt.rho_water*fowt.g*fowt.AWP) if display==1: print(mass, dmass, heave) # loop through each member and adjust the l_fill of each to match the volume needed to balance the mass @@ -1649,7 +1651,7 @@ def adjustBallast(self, fowt, heave_tol=1, l_fill_adj=1e-2, rtn=0, display=0): # check if heave equilibrium was reached by only changing this ballast section of the member fowt.calcStatics() sumFz = -fowt.M_struc[0,0]*fowt.g + fowt.V*fowt.rho_water*fowt.g + self.F_moor0[2] - heave = sumFz/(fowt.rho_water*fowt.g*fowt.body.AWP) + heave = sumFz/(fowt.rho_water*fowt.g*fowt.AWP) if display==1: print('heave', heave, heave_tol) if abs(heave) < heave_tol: # congrats, you've ballasted to achieve the given heave tolerance member_break_flag=True # break out of the outer member for loop as well @@ -1668,7 +1670,7 @@ def adjustBallast(self, fowt, heave_tol=1, l_fill_adj=1e-2, rtn=0, display=0): """ fowt.calcStatics() sumFz = -fowt.M_struc[0,0]*fowt.g + fowt.V*fowt.rho_water*fowt.g + self.F_moor0[2] - heave = sumFz/(fowt.rho_water*fowt.g*fowt.body.AWP) + heave = sumFz/(fowt.rho_water*fowt.g*fowt.AWP) while abs(heave) > 0.5: #print(f'Adjusting ballast since the heave is {heave:6.2f} m') for i in range(len(fowt.memberList)): @@ -1680,7 +1682,7 @@ def adjustBallast(self, fowt, heave_tol=1, l_fill_adj=1e-2, rtn=0, display=0): # >>>>>> fyi there could be an else case where no members have ballast initially <<<<< fowt.calcStatics() sumFz = -fowt.M_struc[0,0]*fowt.g + fowt.V*fowt.rho_water*fowt.g + self.F_moor0[2] - heave = sumFz/(fowt.rho_water*fowt.g*fowt.body.AWP) + heave = sumFz/(fowt.rho_water*fowt.g*fowt.AWP) """ if rtn: @@ -1707,7 +1709,7 @@ def adjustBallastDensity(self, fowt): # compute ballast and check initial offset fowt.calcStatics() sumFz = -fowt.M_struc[0,0]*fowt.g + fowt.V*fowt.rho_water*fowt.g + self.F_moor0[2] - heave = sumFz/(fowt.rho_water*fowt.g*fowt.body.AWP) + heave = sumFz/(fowt.rho_water*fowt.g*fowt.AWP) print(f" Original sumFz is {sumFz/1000:.0f} kN and heave is ~{heave:.3f} m") # total up the ballast volume @@ -1737,7 +1739,7 @@ def adjustBallastDensity(self, fowt): # recompute ballast and check adjusted offset fowt.calcStatics() sumFz = -fowt.M_struc[0,0]*fowt.g + fowt.V*fowt.rho_water*fowt.g + self.F_moor0[2] - heave = sumFz/(fowt.rho_water*fowt.g*fowt.body.AWP) + heave = sumFz/(fowt.rho_water*fowt.g*fowt.AWP) print(f" New sumFz is {sumFz/1000:.0f} kN and heave is ~{heave:.3f} m") @@ -1820,11 +1822,18 @@ def powerThrustCurve(self,nfowt, nrotor, uhubs, heading, yaw, plot = False ): case = dict(zip( self.design['cases']['keys'], self.design['cases']['data'][0])) self.solveStatics(case=case) + + # Calculate platform pitch + rot = self.fowtList[nfowt].rotorList[nrotor] + turbine_tilt = np.arctan2(rot.q[2], rot.q[0]) # [rad] front facing up is positive + + + # Not sure how the pitch angle should be handled if wind comes at angle..... - loads, derivs = self.fowtList[nfowt].rotorList[nrotor].runCCBlade(Uhub = uhub, ptfm_pitch = self.fowtList[nfowt].Xi0[4]) + loads, derivs = self.fowtList[nfowt].rotorList[nrotor].runCCBlade(uhub, ptfm_pitch=turbine_tilt, ) cp.append(loads["CP"][0]) ct.append(loads["CT"][0]) - pitch.append(self.fowtList[nfowt].Xi0[4]) + pitch.append(rad2deg(self.fowtList[nfowt].Xi0[4])) power.append(self.fowtList[nfowt].rotorList[nrotor].aero_power) thrust.append(self.fowtList[nfowt].rotorList[nrotor].aero_thrust) @@ -1931,14 +1940,18 @@ def florisCoupling(self, config, turbconfig, path ): uhubs.append(25.02) uhubs.append(50) - #currently only setup to handle one rotor - power, thrust, pitch = self.powerThrustCurve(i, 0, uhubs, case['wind_heading'], case['yaw_misalign']) + #Currently only setup to handle one rotor + #FLORIS inputs Cp, Ct, Cq curves with a yaw misalignment of 0 and wind heading of 0 + #In reality, the mooring system stiffness would slightly change the Cp curve based on heading (because the pitch angle would change) + power, thrust, pitch = self.powerThrustCurve(i, 0, uhubs, 0, yaw = 0) turbData['power_thrust_table']['power'] = np.array(power).tolist() turbData['power_thrust_table']['thrust'] = np.array(thrust).tolist() turbData['power_thrust_table']['wind_speed'] = np.array(uhubs).tolist() print('len winds ', len(uhubs)) print('len pitch ', len(pitch)) + + #Set floating tilt table only for use in Empirical Gaussian wake model (wake deflection for pitch angle) turbData['floating_tilt_table']['wind_speeds'] = np.array(uhubs).tolist() # match roughly the wind speeds in example files turbData['floating_tilt_table']['tilt'] = np.array(pitch).tolist() @@ -1965,7 +1978,7 @@ def florisCoupling(self, config, turbconfig, path ): self.turblist = turblist - def florisFindEquilibrium(self, path, updateCpCt = False): + def florisFindEquilibrium(self, path, plotting = True): if not hasattr(self, 'fi'): raise AttributeError("Need to initialize floris coupling first") @@ -1980,15 +1993,46 @@ def florisFindEquilibrium(self, path, updateCpCt = False): #FLORIS inputs the wind direction as direction wind is coming from (where the -X axis is 0) self.fi.reinitialize(wind_directions = [-case['wind_heading']+270], wind_speeds = [case['wind_speed']], turbulence_intensity= case['turbulence']) - yaw_angles = np.ones([1,1,self.nFOWT]) * case['yaw_misalign'] - + yaw_angles = np.ones([1,1,self.nFOWT]) + + + #calc yaw misalignment to input into FLORIS + heading = case['wind_heading'] + for nfowt in range(0, (self.nFOWT)): + rot = self.fowtList[nfowt].rotorList[0] + + if rot.yaw_mode == 0: # assume aligned + nac_yaw = np.radians(heading) + + elif rot.yaw_mode == 1: # use case info + turbine_heading = getFromDict(case, 'turbine_heading', shape=0, default=0.0) # [deg] + nac_yaw = np.radians(turbine_heading - heading) + + elif rot.yaw_mode == 2: # use self.yaw value + nac_yaw = rot.yaw + else: + raise Exception('Unsupported yaw_mode value. Must be 0, 1, or 2.') + + rot.yaw = nac_yaw # save the nacelle yaw value just in case it's useful later + + # find turbine global heading and tilt + turbine_heading = np.arctan2(rot.q[1], rot.q[0]) + nac_yaw # [rad] + + # inflow misalignment heading relative to turbine heading [deg] + yaw_misalign = turbine_heading - np.radians(heading) + yaw_angles[0,0,nfowt] = np.degrees(yaw_misalign) + + print('Yaw misalignment angles: ', yaw_angles) + + winds = [] xpositions = [] ypositions = [] - for n in range(0, 10): + for n in range(0, 2): #solve statics to find updated turbine positions self.solveStatics(case=case, display = 1) + #update floris turbine positions self.fi.reinitialize(layout_x=[self.fowtList[nfowt].Xi0[0] + fowtInfo[nfowt]["x_location"] for nfowt in range(len(self.fowtList))], layout_y=[self.fowtList[nfowt].Xi0[1] + fowtInfo[nfowt]["y_location"] for nfowt in range(len(self.fowtList))]) @@ -2001,14 +2045,56 @@ def florisFindEquilibrium(self, path, updateCpCt = False): xpositions.append([self.fowtList[nfowt].Xi0[0] + fowtInfo[nfowt]["x_location"] for nfowt in range(len(self.fowtList))]) ypositions.append( [self.fowtList[nfowt].Xi0[1] + fowtInfo[nfowt]["y_location"] for nfowt in range(len(self.fowtList))]) - return(winds,xpositions, ypositions) + #return FLORIS turbine powers (in order of turbine list) + turbine_powers = self.fi.get_turbine_powers() + + if plotting: + import floris.tools.visualization as wakeviz + horizontal_plane = self.fi.calculate_horizontal_plane( + x_resolution=200, + y_resolution=100, + height=90.0, + yaw_angles=yaw_angles, + ) + + y_plane = self.fi.calculate_y_plane( + x_resolution=200, + z_resolution=100, + crossstream_dist=0.0, + yaw_angles=yaw_angles, + ) + cross_plane = self.fi.calculate_cross_plane( + y_resolution=100, + z_resolution=100, + downstream_dist=630.0, + yaw_angles=yaw_angles, + ) + + # Create the plots + fig, ax_list = plt.subplots(1, 1, figsize=(10, 8)) + #ax_list = ax_list.flatten() + wakeviz.visualize_cut_plane(horizontal_plane, ax=ax_list) + + cmap = plt.cm.get_cmap('viridis_r') + + #plot offset turbine positions for all iterations + for step in range(0, len(xpositions)): + + ax_list.scatter(xpositions[step], ypositions[step], c=[ + cmap(step/len(xpositions))], s=100) + + #plot neutral turbine positions + for i in range(0, self.nFOWT): + ax_list.scatter(self.design['array']['data'][i][3], self.design['array']['data'][i][4],color = 'black',s = 100, marker = "x") + + + return(winds,xpositions, ypositions, turbine_powers) def runRAFT(input_file, turbine_file="", plot=0, ballast=False, station_plot=[]): ''' This will set up and run RAFT based on a YAML input file. ''' - if input_file[-3:]=='pkl' or input_file[-6:]=='pickle': with open(input_file, 'rb') as pfile: design = pickle.load(pfile) @@ -2035,11 +2121,12 @@ def runRAFT(input_file, turbine_file="", plot=0, ballast=False, station_plot=[]) # Create and run the model print(" --- making model ---") model = Model(design) - #print(" --- analyzing unloaded ---") - #model.analyzeUnloaded(ballast=ballast) + print(" --- analyzing unloaded ---") + model.analyzeUnloaded(ballast=ballast) print(" --- analyzing cases ---") model.analyzeCases(display=1) + model.calcOutputs() if plot: #model.plot(station_plot=station_plot, zbounds=[-model.ms.depth, model.ms.depth + 2*model.ms.bodyList[0].r6[2]], hideGrid=True, draw_body=True) @@ -2049,22 +2136,62 @@ def runRAFT(input_file, turbine_file="", plot=0, ballast=False, station_plot=[]) #model.preprocess_HAMS("testHAMSoutput", dw=0.1, wMax=10) return model + + + +def runRAFTFarm(input_file, plot=0): + ''' + This will set up and run RAFT "Farm" based on a YAML input file. + ''' + + if input_file[-3:]=='pkl' or input_file[-6:]=='pickle': + with open(input_file, 'rb') as pfile: + design = pickle.load(pfile) + elif not isinstance(input_file, dict): + # open the design YAML file and parse it into a dictionary for passing to raft + print("\n\nLoading RAFTFarm input file: "+input_file) + with open(input_file) as file: + design = yaml.load(file, Loader=yaml.FullLoader) + else: + design = input_file + print(f"'{design['name']}'") + + # Create and run the model + print(" --- making model ---") + model = Model(design) + print('**Note: RAFTFarm cannot run model.analyzeUnloaded()') + print(" --- analyzing cases ---") + model.analyzeCases(display=1) + + print('**Note: model.calcOutputs is not supported yet for multi-turbine Farm configurations') + + if plot: + model.plot() + model.plotResponses() + + return model if __name__ == "__main__": + ### Run a Simple Model ### + #model = runRAFT(os.path.join(raft_dir,'designs/Vertical_cylinder.yaml'), plot=1) + + ### Run a Reference FOWT Model ### #model = runRAFT(os.path.join(raft_dir,'designs/OC3spar.yaml'), plot=1) #model = runRAFT(os.path.join(raft_dir,'designs/OC4semi.yaml'), plot=1) model = runRAFT(os.path.join(raft_dir,'designs/VolturnUS-S.yaml'), plot=1) + ### Run a MHK Model ### + #model = runRAFT(os.path.join(raft_dir,'designs/FOCTT_example.yaml'), plot=1) + #model = runRAFT(os.path.join(raft_dir,'designs/RM1_Floating.yaml'), plot=1) + #model = runRAFT(os.path.join(raft_dir,'designs/test2.yaml'), plot=1) + #model = runRAFT(os.path.join(raft_dir,'designs/test2.yaml'), plot=1) + ### Run a RAFT Farm Model ### + #model = runRAFTFarm(os.path.join(raft_dir,'designs/VolturnUS-S_farm.yaml'), plot=1) - #model = runRAFT(os.path.join(raft_dir,'designs/test2.yaml'), plot=1) - #model = runRAFT(os.path.join(raft_dir,'designs/FOCTT_example.yaml'), plot=1) - #model = runRAFT(os.path.join(raft_dir,'designs/Vertical_cylinder.yaml'), plot=1) - #model = runRAFT(os.path.join(raft_dir,'designs/MHKF1_Rotor_RAFT.yaml'), plot=1) - plt.show() diff --git a/raft/raft_rotor.py b/raft/raft_rotor.py index d78bfd2..fc9481b 100644 --- a/raft/raft_rotor.py +++ b/raft/raft_rotor.py @@ -12,7 +12,7 @@ from scipy.special import modstruve, iv -from raft.helpers import rotationMatrix, getFromDict +from raft.helpers import rotationMatrix, getFromDict, rotateMatrix3, rotateMatrix6, RotFrm2Vect try: from ccblade.ccblade import CCBlade, CCAirfoil @@ -42,23 +42,37 @@ def __init__(self, turbine, w, ir): # Should inherit these from raft_model or _env? self.w = np.array(w) + self.nw = len(self.w) self.turbine = turbine # store dictionary for later use self.coords = getFromDict(turbine, 'rotorCoords', dtype=list, shape=turbine['nrotors'], default=[[0,0]])[ir] + self.speed_gain = getFromDict(turbine, 'speed_gain', shape=turbine['nrotors'], default=1.0)[ir] - self.nBlades = getFromDict(turbine, 'nBlades', shape=turbine['nrotors'], dtype=int)[ir] # [-] self.headings = getFromDict(turbine, 'headings', shape=-1, default=[90,210,330]) # [deg] - self.nBlades = len(self.headings) + if 'headings' not in turbine: + self.nBlades = getFromDict(turbine, 'nBlades', shape=turbine['nrotors'], dtype=int)[ir] # [-] + else: + self.nBlades = len(self.headings) self.axis = getFromDict(turbine, 'axis', shape=turbine['nrotors'], default=[1,0,0])[ir] # unit vector of rotor axis, facing downflow [-] self.Zhub = getFromDict(turbine, 'hHub', shape=turbine['nrotors'])[ir] # [m] self.Rhub = getFromDict(turbine, 'Rhub', shape=turbine['nrotors'])[ir] # [m] self.precone = getFromDict(turbine, 'precone', shape=turbine['nrotors'])[ir] # [m] - self.shaft_tilt = getFromDict(turbine, 'shaft_tilt', shape=turbine['nrotors'])[ir] # [deg] + self.shaft_tilt = getFromDict(turbine, 'shaft_tilt', shape=turbine['nrotors'])[ir]*np.pi/180 # [rad] self.overhang = getFromDict(turbine, 'overhang', shape=turbine['nrotors'])[ir] # [m] self.aeroServoMod = getFromDict(turbine, 'aeroServoMod', shape=turbine['nrotors'], default=1)[ir] # flag for aeroservodynamics (0=none, 1=aero only, 2=aero and control) + self.yaw = 0 # the relative yaw rotation of this rotor, as from a yaw drive [rad] + + # how nacelle yaw is handled: 0=assume aligned, 1=use case info, 2=use self.yaw value + self.yaw_mode = getFromDict(turbine, 'yaw_mode', shape=turbine['nrotors'], dtype=int, default=0)[ir] + + # initialize absolute position/orientation variables + self.r3 = np.zeros(3) # instantaneous global position of rotor hub location + self.q = np.array([1,0,0]) # instantaneous unit vector of rotor axis, downflow + self.R = np.ones(3) # rotation matrix for platform orientation + self.rHub = np.array([self.coords[0], self.coords[1], self.Zhub]) # save the rotor's hub coordinates in the platform reference frame [m] # support if blade and wt_ops are each a single dictionary or a list of dictionaries for each rotor @@ -89,16 +103,12 @@ def __init__(self, turbine, w, ir): raise ValueError(f"Input blade geometry is invalid. First node radius needs to be >= Rhub ({self.Rhub}) or last node radius needs to be <= Rtip ({self.R_rot})") - #yaw = 0 - self.Uhub = getFromDict(turbine['wt_ops'][ir], 'v', shape=-1) self.Omega_rpm = getFromDict(turbine['wt_ops'][ir], 'omega_op', shape=-1) self.pitch_deg = getFromDict(turbine['wt_ops'][ir], 'pitch_op', shape=-1) self.I_drivetrain = getFromDict(turbine, 'I_drivetrain', shape=turbine['nrotors'])[ir] - #self.aeroServoMod = getFromDict(turbine, 'aeroServoMod', default=1) # flag for aeroservodynamics (0=none, 1=aero only, 2=aero and control) - # Add parked pitch, rotor speed, assuming fully shut down by 40% above cut-out self.Uhub = np.r_[self.Uhub, self.Uhub.max()*1.4, 100] self.Omega_rpm = np.r_[self.Omega_rpm, 0, 0] @@ -109,6 +119,11 @@ def __init__(self, turbine, w, ir): self.ki_0 = np.zeros_like(self.Uhub) self.k_float = 0 # np.zeros_like(self.Uhub), right now this is a single value, but this may change <<< what is this? + # arrays to hold water wave velocities and accelerations if applicable + self.u = np.array([[[]]]) + self.ud = np.array([[[]]]) + + self.f0 = np.zeros(6) # mean forces and moments about hub (aligned with platform local directions) # Set CCBlade flags tiploss = True # Tip loss model True/False @@ -293,7 +308,7 @@ def __init__(self, turbine, w, ir): self.rho, # (kg/m^3) freestream fluid density self.mu, # (kg/m/s) dynamic viscosity of fluid self.precone, # (deg) hub precone angle - self.shaft_tilt, # (deg) hub tilt angle + np.degrees(self.shaft_tilt), # (deg) hub tilt angle 0.0, # (deg) nacelle yaw angle self.shearExp, # shear exponent for a power-law wind profile across hub self.Zhub, # (m) hub height used for power-law wind profile. U = Uref*(z/hubHt)**shearExp @@ -319,9 +334,34 @@ def __init__(self, turbine, w, ir): else: self.bladeMemberList = [] - + + def setPosition(self, r6=np.zeros(6), R=None): + '''Calculate rotor pose based on FOWT pose. + + Parameters + ---------- + r6 : array, optional + Absolute position/orientation of FOWT to which member is attached. + ''' + + # store rotation matrix for platform roll, pitch, yaw + if R: + self.R = np.array(R) + else: + self.R = rotationMatrix(*r6[3:]) + + # apply platform rotation to rotor axis and position relative to PRP + self.q = np.matmul(self.R, self.axis) # axis unit vector in global orientation + r3_rel = np.matmul(self.R, self.rHub) + + self.r3 = r6[:3] + self.rHub # absolute hub coordinate [m] + + + """ def bladeAirfoil2Member(self, Ca_edge=0.5, Ca_flap=1.0): - '''Method to create members for each airfoil in the turbine blade + '''First iteration of a method to create RAFT members for the rotor blades (not used right now). + + Method to create members for each airfoil in the turbine blade To be used for added mass and buoyancy calculations of underwater turbines''' self.bladeMemberList = [] @@ -372,10 +412,14 @@ def bladeAirfoil2Member(self, Ca_edge=0.5, Ca_flap=1.0): airfoil['rho_shell'] = 1850 self.bladeMemberList.append(Member(airfoil, len(self.w))) + """ + def bladeGeometry2Member(self): - '''Method to create members for each "node" that is specified in turbine['blade']['geometry'] + '''Second iteration of a function to create RAFT members based on rotor blades (is currently used). + + Method to create members for each "node" that is specified in turbine['blade']['geometry'] To be used for added mass and buoyancy calculations of underwater turbines''' self.bladeMemberList = [] @@ -430,13 +474,117 @@ def getBladeMemberPositions(self, azimuth, r_OG): # find the new node positions of the blade member r_new = np.zeros_like(r_OG) - for i in range(len(r_OG)): + for i in range(r_OG.shape[0]): r_from_Zhub = np.matmul(R, r_OG[i,:]) # wrt to the hub center r_new[i,:] = r_from_Zhub + self.rHub # wrt to the global coordinates return r_new + def calcHydroConstants(self, dgamma=0, rho=1025, g=9.81): + '''Compute hydrodynamic added mass and inertial excitation coefficients + for the rotor as a whole. Stores and returns results in local reference + frame about hub location. + + Parameters + ---------- + dgamma : float + Blade pitch angle to be applied to the rotor. + + Returns + ------- + A_hydro, I_hydro : 3x3 matrices + Hydrodynamic added mass and inertial excitation matrices. + ''' + + A_hydro = np.zeros([6,6]) + I_hydro = np.zeros([6,6]) + + + ''' --- manual temporary option --- + # make a temporary set of members for a blade (coordinates relative to hub) + + bladeMemberList = [] + + for i in range(len(self.blade_r)-1): + blademem = dict(name=i, type=3, shape='rect', potMod=False) + + q = np.matmul(np.array([[0, -1, 0],[1, 0, 0],[0, 0, 1]]), self.axis) + blademem['rA'] = q * (self.blade_r[i] - self.dr/2) + blademem['rB'] = q * (self.blade_r[i] + self.dr/2) + + blademem['stations'] = [0,1] + + chord = self.blade_chord[i] + rel_thick = self.r_thick_interp[i] + area = (np.pi/4)*chord**2 * rel_thick + rect_thick = area/chord # thickness of rectange with same chord length to achieve same cross sectional area + blademem['d'] = [[chord, rect_thick],[chord, rect_thick]] + + blademem['gamma'] = self.blade_theta[i] + + blademem['Cd'] = 0.0 + blademem['Ca'] = self.Ca_interp[i,:] + blademem['CdEnd'] = 0.0 + blademem['CaEnd'] = 0.0 + + blademem['t'] = 0.01 + blademem['rho_shell'] = 0 + + bladeMemberList.append(Member(blademem, len(self.w))) + + # sum up hydro coefficients + A_hydro_morison = np.zeros([6,6]) + for i, mem in enumerate(bladeMemberList): + + A_hydro_i, I_hydro_i = mem.calcHydroConstants(sum_inertia=True) + + A_hydro += A_hydro_i + I_hydro += I_hydro_i + + + # duplicate for number of blades and compute whole-rotor terms! + self.A_11 = A_hydro[0,0] * self.nBlades # thrust + self.A_44 = A_hydro[3,3] * self.nBlades # torque + self.A_14 = A_hydro[0,3] * self.nBlades # torque-thrust coupling + elf.A_55 = A_hydro[0,3] * self.nBlades * 0.707 # torque-thrust coupling <<< need to azimuthally average <<< + self.I_11 = I_hydro[0,0] * self.nBlades # thrust (neglect the others for now) + self.I_14 = I_hydro[0,3] * self.nBlades # thrust-torque coupling + then populate full matrices? + + ''' + + # --- whole-rotor members approach --- + for i,mem in enumerate(self.bladeMemberList): + # the input memberList is the rotor.bladeMemberList multiplied by nBlades (e.g. if len(rotor.bladeMemberList)=10, then this len(memberList)=30 for 3 blade rotor) + # adjust the heading/orientation of the each section of blade members by the corresponding heading in rotor.headings based on where in the list you are + j = i // int(len(self.bladeMemberList)/self.nBlades) # i (from 0 to 30) // 10, which results in either j = 1, 2, or 3, for each blade heading + + rOG = np.array([mem.rA0, mem.rB0]) + + # find the end nodes of the blade member about the global coordinates (e.g,, if rA_OG = [0,0,0] and rB_OG=[0,1,0], and heading=90, then rA=[0,0,0] and rB=[0,0,1]) + rUpdated = self.getBladeMemberPositions(self.headings[j], rOG) # blade node coords relative to hub + mem.rA0 = rUpdated[0] + mem.rB0 = rUpdated[-1] + + # apply a blade pitch angle to every blade member if applicable + mem.gamma = mem.gamma + dgamma + + # run calcOrientation to ensure the p1 and p2 axes of the members are oriented the way they should be + mem.setPosition() + + # compute hydro added mass and inertial excitation terms relative to hub + A_hydro_i, I_hydro_i = mem.calcHydroConstants(sum_inertia=True, rho=rho, g=g) + + A_hydro += A_hydro_i + I_hydro += I_hydro_i + + # --- save hydro matrices (these are in global orientations) --- + self.A_hydro = A_hydro + self.I_hydro = I_hydro + + return A_hydro, I_hydro + def calcCavitation(self, case, azimuth=0, clearance_margin=1.0, Patm=101325, Pvap=2500, error_on_cavitation=False): ''' Method to calculate the cavitation number of the rotor @@ -496,22 +644,31 @@ def calcCavitation(self, case, azimuth=0, clearance_margin=1.0, Patm=101325, Pva return cav_check - def runCCBlade(self, Uhub, ptfm_pitch=0, yaw_misalign=0): + def runCCBlade(self, U0, ptfm_pitch=0, yaw_misalign=0): '''This performs a single CCBlade evaluation at specified conditions. + U0 + Freestream flow speed [m/s]. ptfm_pitch mean platform pitch angle to be included in rotor tilt angle [rad] yaw_misalign - turbine yaw misalignment angle [deg] + turbine yaw misalignment angle [rad] + + In future could add options to specify rotor speed and blade pitch values + that override the default scheduled values, for controls applications. ''' + # apply inflow speed gain factor (for any confinement/blockage effects) + Uhub = U0*self.speed_gain + # find turbine operating point at the provided wind speed Omega_rpm = np.interp(Uhub, self.Uhub, self.Omega_rpm) # rotor speed [rpm] pitch_deg = np.interp(Uhub, self.Uhub, self.pitch_deg) # blade pitch angle [deg] - # adjust rotor angles based on provided info (I think this intervention in CCBlade should work...) - self.ccblade.tilt = np.deg2rad(self.shaft_tilt) + ptfm_pitch - self.ccblade.yaw = np.deg2rad(yaw_misalign) + # Adjust rotor angles based on provided info + # Note: this adjusts internal CCBlade angles (which are in radians) + self.ccblade.tilt = self.shaft_tilt + ptfm_pitch + self.ccblade.yaw = yaw_misalign # evaluate aero loads and derivatives with CCBlade loads, derivs = self.ccblade.evaluate(Uhub, Omega_rpm, pitch_deg, coefficients=True) @@ -538,26 +695,11 @@ def runCCBlade(self, Uhub, ptfm_pitch=0, yaw_misalign=0): print(f"Wind speed: {Uhub:.2f} m/s, Omega: {Omega_rpm:.2f} rpm, Cp: {loads['CP'][0]:4.3f}, T: {loads['T'][0]/1e3:.0f} kN") + # save select derivatives J={} # Jacobian/derivatives dP = derivs["dP"] J["P", "r"] = dP["dr"] - # J["P", "chord"] = dP["dchord"] - # J["P", "theta"] = dP["dtheta"] - # J["P", "Rhub"] = np.squeeze(dP["dRhub"]) - # J["P", "Rtip"] = np.squeeze(dP["dRtip"]) - # J["P", "hub_height"] = np.squeeze(dP["dhubHt"]) - # J["P", "precone"] = np.squeeze(dP["dprecone"]) - # J["P", "tilt"] = np.squeeze(dP["dtilt"]) - # J["P", "yaw"] = np.squeeze(dP["dyaw"]) - # J["P", "shearExp"] = np.squeeze(dP["dshear"]) - # J["P", "V_load"] = np.squeeze(dP["dUinf"]) - # J["P", "Omega_load"] = np.squeeze(dP["dOmega"]) - # J["P", "pitch_load"] = np.squeeze(dP["dpitch"]) - # J["P", "precurve"] = dP["dprecurve"] - # J["P", "precurveTip"] = dP["dprecurveTip"] - # J["P", "presweep"] = dP["dpresweep"] - # J["P", "presweepTip"] = dP["dpresweepTip"] dQ = derivs["dQ"] J["Q","Uhub"] = np.atleast_1d(np.diag(dQ["dUinf"])) @@ -569,28 +711,9 @@ def runCCBlade(self, Uhub, ptfm_pitch=0, yaw_misalign=0): J["T","pitch_deg"] = np.atleast_1d(np.diag(dT["dpitch"])) J["T","Omega_rpm"] = np.atleast_1d(np.diag(dT["dOmega"])) - # dT = derivs["dT"] - # .J["Fhub", "r"][0,:] = dT["dr"] # 0 is for thrust force, 1 would be y, 2 z - # .J["Fhub", "chord"][0,:] = dT["dchord"] - # .J["Fhub", "theta"][0,:] = dT["dtheta"] - # .J["Fhub", "Rhub"][0,:] = np.squeeze(dT["dRhub"]) - # .J["Fhub", "Rtip"][0,:] = np.squeeze(dT["dRtip"]) - # .J["Fhub", "hub_height"][0,:] = np.squeeze(dT["dhubHt"]) - # .J["Fhub", "precone"][0,:] = np.squeeze(dT["dprecone"]) - # .J["Fhub", "tilt"][0,:] = np.squeeze(dT["dtilt"]) - # .J["Fhub", "yaw"][0,:] = np.squeeze(dT["dyaw"]) - # .J["Fhub", "shearExp"][0,:] = np.squeeze(dT["dshear"]) - # .J["Fhub", "V_load"][0,:] = np.squeeze(dT["dUinf"]) - # .J["Fhub", "Omega_load"][0,:] = np.squeeze(dT["dOmega"]) - # .J["Fhub", "pitch_load"][0,:] = np.squeeze(dT["dpitch"]) - # .J["Fhub", "precurve"][0,:] = dT["dprecurve"] - # .J["Fhub", "precurveTip"][0,:] = dT["dprecurveTip"] - # .J["Fhub", "presweep"][0,:] = dT["dpresweep"] - # .J["Fhub", "presweepTip"][0,:] = dT["dpresweepTip"] - self.J = J - return loads, derivs + return loads, derivs def setControlGains(self,turbine): @@ -611,64 +734,139 @@ def setControlGains(self,turbine): - def calcAeroServoContributions(self, case, ptfm_pitch=0, current=False, display=0): + def calcAero(self, case, current=False, display=0): '''Calculates stiffness, damping, added mass, and excitation coefficients from rotor aerodynamics coupled with turbine controls. Results are w.r.t. the hub coordinate on the nacelle reference frame (may be yawed) Currently returning 6 DOF mean loads, but other terms are just hub fore-aft scalars. - - ptfm_pitch - mean platform pitch angle to be included in rotor tilt angle [rad] ''' - # get relative inflow angle + # added mass, damping, excitation, mean force arrays to be filled in (6 DOF) + self.a = np.zeros([6,6,self.nw]) + self.b = np.zeros([6,6,self.nw]) + self.f = np.zeros([6 ,self.nw], dtype=complex) + self.f0 = np.zeros(6) + + # get inflow if current: speed = getFromDict(case, 'current_speed', shape=0, default=1.0) heading = getFromDict(case, 'current_heading', shape=0, default=0.0) else: speed = getFromDict(case, 'wind_speed', shape=0, default=10) heading = getFromDict(case, 'wind_heading', shape=0, default=0.0) + + # Figure out relative inflow angles considering platform orientation, + # rotor axis angles, nacelle yaw, and inflow direction + + # Apply nacelle yaw depending on the yaw mode + # (this does not consider if the axis has a permanent lateral angle) + if self.yaw_mode == 0: # assume aligned + nac_yaw = np.radians(heading) + + elif self.yaw_mode == 1: # use case info + turbine_heading = getFromDict(case, 'turbine_heading', shape=0, default=0.0) # [deg] + nac_yaw = np.radians(turbine_heading - heading) - turbine_heading = getFromDict(case, 'turbine_heading', shape=0, default=0.0) # [deg] - yaw_misalign = heading - turbine_heading # inflow misalignment heading relative to turbine heading [deg] + elif self.yaw_mode == 2: # use self.yaw value + nac_yaw = self.yaw + else: + raise Exception('Unsupported yaw_mode value. Must be 0, 1, or 2.') + + self.yaw = nac_yaw # save the nacelle yaw value just in case it's useful later + + # find turbine global heading and tilt + turbine_heading = np.arctan2(self.q[1], self.q[0]) + nac_yaw # [rad] + turbine_tilt = np.arctan2(self.q[2], self.q[0]) # [rad] front facing up is positive + + # inflow misalignment heading relative to turbine heading [deg] + yaw_misalign = turbine_heading - np.radians(heading) + turbine_tilt = turbine_tilt # call CCBlade - loads, derivs = self.runCCBlade(speed, ptfm_pitch=ptfm_pitch, yaw_misalign=yaw_misalign) + loads, derivs = self.runCCBlade(speed, ptfm_pitch=turbine_tilt, + yaw_misalign=yaw_misalign) + + + # ----- Set up rotation matrices to re-orient the results ----- + + # Rotation matrix from rotor axis orientation to wind inflow direction + R_inflow = rotationMatrix(0, turbine_tilt, yaw_misalign) # <<< double check directions/signs - #Uinf = case['wind_speed'] # inflow wind speed (m/s) <<< eventually should be consistent with rest of RAFT - Uinf = speed + # Rotation matrix from FOWT orientation to rotor axis oriention + R_axis = rotationMatrix(0, np.arctan2(self.axis[2], self.axis[0]), + np.arctan2(self.axis[1], self.axis[0]) ) - # extract derivatives of interest + # ----- Process derivatives of interest ----- dT_dU = np.atleast_1d(np.diag(derivs["dT"]["dUinf"])) dT_dOm = np.atleast_1d(np.diag(derivs["dT"]["dOmega"])) / rpm2radps dT_dPi = np.atleast_1d(np.diag(derivs["dT"]["dpitch"])) * rad2deg dQ_dU = np.atleast_1d(np.diag(derivs["dQ"]["dUinf"])) dQ_dOm = np.atleast_1d(np.diag(derivs["dQ"]["dOmega"])) / rpm2radps dQ_dPi = np.atleast_1d(np.diag(derivs["dQ"]["dpitch"])) * rad2deg + # note: orientation corrections still need to be applied on these! <<< - # calculate steady aero forces and moments - F_aero0 = np.array([loads["T" ][0], loads["Y" ][0], loads["Z" ][0], - loads["My" ][0], loads["Q" ][0], loads["Mz" ][0] ]) + + # ----- Process steady rotor forces and moments ----- + + # Set up vectors in axis frame (Assuming CCBlade forces (but not + # moments) are relative to inflow direction. + forces_inflow = np.array([loads["T"][0], loads["Y"][0], loads["Z" ][0]]) + moments_axis = np.array([loads["My"][0], loads["Q"][0], loads["Mz"][0]]) + forces_axis = np.matmul(R_inflow, forces_inflow) + + # Rotate forces and moments to be relative to FOWT orientations + self.f0[:3] = np.matmul(R_axis, forces_axis) + self.f0[3:] = np.matmul(R_axis, moments_axis) + + + # ----- Dynamic rotor forces and reaction matrices ----- + + # Note: this is currently looking at the inflow direction and then + # rotating to the global frame, but this needs to be checked. + R_global2inflow = np.matmul(self.R, np.matmul(R_axis, R_inflow)) # calculate rotor-averaged turbulent wind spectrum _,_,_,S_rot = self.IECKaimal(case, current=current) # PSD [(m/s)^2/rad] - self.V_w = np.sqrt(S_rot) # convert from power spectral density to complex amplitudes (FFT) + + # convert from power spectral density to complex amplitudes (FFT) + self.V_w = np.array(np.sqrt(S_rot), dtype=complex) + + # Do we need to worry about scaling by dot prod of rotor axis and + # inflow direction? *np.cos(turbine_tilt)*np.cos(yaw_misalign) <<< + # prepare rotated hydro inertial excitation matrix for the rotor + if current: + I_hydro = rotateMatrix6(self.I_hydro, self.R) # no-control option if self.aeroServoMod == 1: - a_aero = np.zeros(len(self.w)) - b_aero = np.zeros(len(self.w)) + dT_dU - - f_aero = dT_dU * np.sqrt(S_rot) + # Edded mass matrix is empty + a_inflow = np.zeros([6,6,len(self.w)]) + + # Damping matrix has just windspeed-thrust derivative + b_inflow = np.zeros([6,6,len(self.w)]) + b_inflow[0,0,:] = dT_dU + + # Excitation vector + f_inflow = np.zeros([6,len(self.w)]) + f_inflow[0,:] = dT_dU*self.V_w + + # Rotate to global orientations + self.a = rotateMatrix6(a_inflow, R_global2inflow) + self.b = rotateMatrix6(b_inflow, R_global2inflow) + self.f[:3,:] = np.matmul(R_global2inflow, f_inflow[:3,:]) + #self.f[3:,:] = np.matmul(R_global2inflow, f_inflow[3:,:]) zero for now + # control option elif self.aeroServoMod == 2: - # Pitch control gains at Uinf (Uinf), flip sign to translate ROSCO convention to this one - self.kp_beta = -np.interp(Uinf, self.Uhub, self.kp_0) - self.ki_beta = -np.interp(Uinf, self.Uhub, self.ki_0) + # include added mass somewhere? and maybe even effect of inertial excitation on control? + + # Pitch control gains at the inflow speed (flip sign due to ROSCO convention) + self.kp_beta = -np.interp(speed, self.Uhub, self.kp_0) + self.ki_beta = -np.interp(speed, self.Uhub, self.ki_0) # Torque control gains, need to get these from somewhere kp_tau = self.kp_tau * (self.kp_beta == 0) # -38609162.66552 ! VS_KP - Proportional gain for generator PI torque controller [1/(rad/s) Nm]. (Only used in the transitional 2.5 region if VS_ControlMode =/ 2) @@ -735,6 +933,10 @@ def calcAeroServoContributions(self, case, ptfm_pitch=0, current=False, display= b3 = np.real( dT_dU - H_QT*dQ_dU ) # damping a3 = np.real( (dT_dU - H_QT*dQ_dU)/(1j*self.w)) # added mass + # Add hydrodynamic inertial excitation for underwater rotors + # (thrust only, neglecting rotor dynamics) + #if current: + # f2 += self.I_hydro[0,0] * 1j*self.w*self.V_w if display > 1: ''' @@ -781,15 +983,23 @@ def calcAeroServoContributions(self, case, ptfm_pitch=0, current=False, display= plt.show() - - f_aero = f2 # wind thrust force excitation spectrum - a_aero = a2 - b_aero = b2 + # Rotate to global orientations + for iw in range(self.nw): + self.a[:3,:3, iw] = rotateMatrix3(np.diag([a2[iw],0,0]), R_global2inflow) + self.b[:3,:3, iw] = rotateMatrix3(np.diag([b2[iw],0,0]), R_global2inflow) + self.f[:3, iw] = np.matmul(R_global2inflow, np.array([f2[iw],0,0])) + # Above is only forces for now. Moments can be added in future. + + # Add hydrodynamic inertial excitation for underwater rotors + if current: + self.f[0,:] += self.I_hydro[0,0] * 1j*self.w*self.V_w # <<< this should have a rotation applied + breakpoint() - return F_aero0, f_aero, a_aero, b_aero # B_aero, C_aero, F_aero0, F_aero + return self.f0, self.f, self.a, self.b # B_aero, C_aero, F_aero0, F_aero - def plot(self, ax, r_ptfm=[0,0,0], R_ptfm=np.eye(3), azimuth=0, color='k', airfoils=False): + def plot(self, ax, r_ptfm=[0,0,0], R_ptfm=np.eye(3), azimuth=0, color='k', + airfoils=False, zorder=2): '''Draws the rotor on the passed axes, considering optional platform offset and rotation matrix, and rotor azimuth angle''' # ----- blade geometry ---------- @@ -821,16 +1031,17 @@ def plot(self, ax, r_ptfm=[0,0,0], R_ptfm=np.eye(3), azimuth=0, color='k', airfo # ----- rotation matricse ----- # (blade pitch would be a -rotation about local z) R_precone = rotationMatrix(0, -self.ccblade.precone, 0) - R_azimuth = [rotationMatrix(azimuth + azi, 0, 0) for azi in 2*np.pi/3.*np.arange(3)] - R_tilt = rotationMatrix(0, np.deg2rad(self.shaft_tilt), 0) # # define x as along shaft downwind, y is same as ptfm y + #R_azimuth = [rotationMatrix(azimuth + azi, 0, 0) for azi in 2*np.pi/3.*np.arange(3)] + R_azimuth = [rotationMatrix(azimuth + azi, 0, 0) for azi in (2*np.pi/self.nBlades)*np.arange(self.nBlades)] + R_tilt = rotationMatrix(0, self.shaft_tilt, 0) # # define x as along shaft downwind, y is same as ptfm y # ----- transform coordinates ----- - for ib in range(3): + for ib in range(self.nBlades): P2 = np.matmul(R_precone, P) P2 = np.matmul(R_azimuth[ib], P2) P2 = np.matmul(R_tilt, P2) - P2 = P2 + np.array([-self.overhang, 0, self.Zhub])[:,None] # PRP to tower-shaft intersection point + P2 = P2 + np.array([-self.overhang, 0, self.Zhub])[:,None] # PRP to tower-shaft intersection point # assumes overhang value is always positive P2 = np.matmul(R_ptfm, P2) + np.array(r_ptfm)[:,None] # drawing airfoils @@ -838,8 +1049,8 @@ def plot(self, ax, r_ptfm=[0,0,0], R_ptfm=np.eye(3), azimuth=0, color='k', airfo for ii in range(m-1): ax.plot(P2[0, npts*ii:npts*(ii+1)], P2[1, npts*ii:npts*(ii+1)], P2[2, npts*ii:npts*(ii+1)], color=color, lw=0.4) # draw outline - ax.plot(P2[0, 0:-1:npts], P2[1, 0:-1:npts], P2[2, 0:-1:npts], color=color, lw=0.4, zorder=2) # leading edge - ax.plot(P2[0, 2:-1:npts], P2[1, 2:-1:npts], P2[2, 2:-1:npts], color=color, lw=0.4, zorder=2) # trailing edge + ax.plot(P2[0, 0:-1:npts], P2[1, 0:-1:npts], P2[2, 0:-1:npts], color=color, lw=0.4, zorder=zorder) # leading edge + ax.plot(P2[0, 2:-1:npts], P2[1, 2:-1:npts], P2[2, 2:-1:npts], color=color, lw=0.4, zorder=zorder) # trailing edge #for j in range(m): @@ -1000,7 +1211,7 @@ def IECKaimal(self, case, current=False): # print(f" Running case {i_case}") - F_aero0, f_aero, a_aero, b_aero = rotor.calcAeroServoContributions(case) + f_aero0, f_aero, a_aero, b_aero = rotor.calcAero(case) rgba = cmapper((i_case+1)/8) From c72e46ee13f5078a6b0129f5cf525dbcc77e27c1 Mon Sep 17 00:00:00 2001 From: Lucas-Carmo Date: Thu, 30 Nov 2023 09:56:08 -0700 Subject: [PATCH 10/10] More cleanup --- examples/IEA-15-240-RWT-UMaineSemi.12d | 9576 ----------------- examples/OC3spar-WAMITQTF.py | 35 - examples/OC3spar-WAMITQTF.yaml | 2 +- ...-SlenderBodyQTF.py => example-WAMITQTF.py} | 6 +- examples/example-slenderBodyQTF.py | 6 +- raft/RAFT.code-workspace | 10 - raft/raft_fowt.py | 6 - raft/raft_model.py | 4 +- 8 files changed, 10 insertions(+), 9635 deletions(-) delete mode 100644 examples/IEA-15-240-RWT-UMaineSemi.12d delete mode 100644 examples/OC3spar-WAMITQTF.py rename examples/{OC3spar-SlenderBodyQTF.py => example-WAMITQTF.py} (81%) delete mode 100644 raft/RAFT.code-workspace diff --git a/examples/IEA-15-240-RWT-UMaineSemi.12d b/examples/IEA-15-240-RWT-UMaineSemi.12d deleted file mode 100644 index 2d162fd..0000000 --- a/examples/IEA-15-240-RWT-UMaineSemi.12d +++ /dev/null @@ -1,9576 +0,0 @@ - 0.25133E+02 0.25133E+02 0.00000E+00 0.00000E+00 1 2.77205E-02 1.80000E+02 -2.77205E-02 0.00000E+00 - 0.25133E+02 0.25133E+02 0.00000E+00 0.00000E+00 3 5.03997E-01 1.80000E+02 -5.03997E-01 0.00000E+00 - 0.25133E+02 0.25133E+02 0.00000E+00 0.00000E+00 5 1.81440E+00 1.80000E+02 -1.81440E+00 0.00000E+00 - 0.25133E+02 0.25133E+02 0.00000E+00 0.00000E+00 2 5.76573E-06 0.00000E+00 5.76573E-06 0.00000E+00 - 0.25133E+02 0.25133E+02 0.00000E+00 0.00000E+00 4 2.94257E-05 1.80000E+02 -2.94257E-05 0.00000E+00 - 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0.21666E+01 0.21666E+01 0.00000E+00 0.00000E+00 6 1.28242E-05 0.00000E+00 1.28242E-05 0.00000E+00 - 0.21299E+01 0.21666E+01 0.00000E+00 0.00000E+00 1 4.16790E+00 -1.24268E+02 -2.34681E+00 -3.44440E+00 - 0.21299E+01 0.21666E+01 0.00000E+00 0.00000E+00 3 2.73395E+00 -9.44882E+00 2.69686E+00 -4.48823E-01 - 0.21299E+01 0.21666E+01 0.00000E+00 0.00000E+00 5 4.54091E+01 6.15691E+01 2.16192E+01 3.99324E+01 - 0.21299E+01 0.21666E+01 0.00000E+00 0.00000E+00 2 7.87168E-07 1.02104E+02 -1.65060E-07 7.69668E-07 - 0.21299E+01 0.21666E+01 0.00000E+00 0.00000E+00 4 1.09217E-06 6.62516E+01 4.39841E-07 9.99688E-07 - 0.21299E+01 0.21666E+01 0.00000E+00 0.00000E+00 6 1.50123E-04 1.23949E+01 1.46624E-04 3.22235E-05 - 0.20944E+01 0.21666E+01 0.00000E+00 0.00000E+00 1 5.78062E+00 1.73491E+02 -5.74336E+00 6.55279E-01 - 0.20944E+01 0.21666E+01 0.00000E+00 0.00000E+00 3 4.79947E+00 -1.50422E+01 4.63502E+00 -1.24561E+00 - 0.20944E+01 0.21666E+01 0.00000E+00 0.00000E+00 5 1.36075E+02 8.33994E+01 1.56415E+01 1.35173E+02 - 0.20944E+01 0.21666E+01 0.00000E+00 0.00000E+00 2 4.64743E-07 -3.89751E+01 3.61301E-07 -2.92315E-07 - 0.20944E+01 0.21666E+01 0.00000E+00 0.00000E+00 4 1.22359E-06 -1.15149E+02 -5.20003E-07 -1.10760E-06 - 0.20944E+01 0.21666E+01 0.00000E+00 0.00000E+00 6 1.49979E-04 -9.17476E+01 -4.57377E-06 -1.49910E-04 - 0.21299E+01 0.21299E+01 0.00000E+00 0.00000E+00 1 2.25674E+00 1.80000E+02 -2.25674E+00 0.00000E+00 - 0.21299E+01 0.21299E+01 0.00000E+00 0.00000E+00 3 5.26849E-06 0.00000E+00 5.26849E-06 0.00000E+00 - 0.21299E+01 0.21299E+01 0.00000E+00 0.00000E+00 5 1.18046E+01 0.00000E+00 1.18046E+01 0.00000E+00 - 0.21299E+01 0.21299E+01 0.00000E+00 0.00000E+00 2 2.13086E-06 0.00000E+00 2.13086E-06 0.00000E+00 - 0.21299E+01 0.21299E+01 0.00000E+00 0.00000E+00 4 5.13815E-06 0.00000E+00 5.13815E-06 0.00000E+00 - 0.21299E+01 0.21299E+01 0.00000E+00 0.00000E+00 6 4.39875E-05 1.80000E+02 -4.39875E-05 0.00000E+00 - 0.20944E+01 0.21299E+01 0.00000E+00 0.00000E+00 1 3.73377E+00 -1.26958E+02 -2.24486E+00 -2.98356E+00 - 0.20944E+01 0.21299E+01 0.00000E+00 0.00000E+00 3 2.77177E+00 -8.04265E+00 2.74451E+00 -3.87799E-01 - 0.20944E+01 0.21299E+01 0.00000E+00 0.00000E+00 5 4.62629E+01 6.19648E+01 2.17442E+01 4.08344E+01 - 0.20944E+01 0.21299E+01 0.00000E+00 0.00000E+00 2 1.02241E-06 1.04605E+02 -2.57809E-07 9.89370E-07 - 0.20944E+01 0.21299E+01 0.00000E+00 0.00000E+00 4 3.25000E-06 -1.66784E+02 -3.16393E-06 -7.43009E-07 - 0.20944E+01 0.21299E+01 0.00000E+00 0.00000E+00 6 2.69725E-04 -7.31518E+01 7.81765E-05 -2.58147E-04 - 0.20944E+01 0.20944E+01 0.00000E+00 0.00000E+00 1 2.91315E+00 1.80000E+02 -2.91315E+00 0.00000E+00 - 0.20944E+01 0.20944E+01 0.00000E+00 0.00000E+00 3 3.44961E-06 0.00000E+00 3.44961E-06 0.00000E+00 - 0.20944E+01 0.20944E+01 0.00000E+00 0.00000E+00 5 1.19853E+01 0.00000E+00 1.19853E+01 0.00000E+00 - 0.20944E+01 0.20944E+01 0.00000E+00 0.00000E+00 2 2.44990E-06 0.00000E+00 2.44990E-06 0.00000E+00 - 0.20944E+01 0.20944E+01 0.00000E+00 0.00000E+00 4 3.07220E-08 0.00000E+00 3.07220E-08 0.00000E+00 - 0.20944E+01 0.20944E+01 0.00000E+00 0.00000E+00 6 2.42692E-06 1.80000E+02 -2.42692E-06 0.00000E+00 diff --git a/examples/OC3spar-WAMITQTF.py b/examples/OC3spar-WAMITQTF.py deleted file mode 100644 index 76b4c92..0000000 --- a/examples/OC3spar-WAMITQTF.py +++ /dev/null @@ -1,35 +0,0 @@ -# example script for running RAFT from a YAML input file - -import numpy as np -import matplotlib.pyplot as plt -import yaml -import raft -import os.path as path - -# open the design YAML file and parse it into a dictionary for passing to raft -flNm = 'OC3spar-WAMITQTF' -with open(flNm + '.yaml') as file: - design = yaml.load(file, Loader=yaml.FullLoader) - -# Create the RAFT model (will set up all model objects based on the design dict) -model = raft.Model(design) - -# Evaluate the system properties and equilibrium position before loads are applied -model.analyzeUnloaded() - -# Compute natural frequencie -model.solveEigen() - -# Simule the different load cases -model.analyzeCases(display=1) - -# Plot the power spectral densities from the load cases -model.plotResponses() - -# Visualize the system in its most recently evaluated mean offset position -model.plot(hideGrid=True) - -plt.show() - -# 0.02 -# 12.37 \ No newline at end of file diff --git a/examples/OC3spar-WAMITQTF.yaml b/examples/OC3spar-WAMITQTF.yaml index 32db955..aeaeebc 100644 --- a/examples/OC3spar-WAMITQTF.yaml +++ b/examples/OC3spar-WAMITQTF.yaml @@ -1066,7 +1066,7 @@ platform: dz_BEM : 3.0 # [m] axial discretization panel length target for BEM analysis da_BEM : 2.0 # [m] azimuthal discretization panel length target for BEM analysis potSecOrder : 2 # [int] master switch for computing second-order wave forces; 0=do not compute, 1=compute QTFs using slender body approximation, 2=read QTF file in WAMIT format (.11d or .12d) - qtfPath : 'oc3_hywind.12d' # path to the qtf file for the platform + qtfPath : './examples/oc3_hywind.12d' # path to the qtf file for the platform potModMaster : 1 yaw_stiffness : 98340000.0 # [N-m/rad] additional yaw stiffness to apply if not modeling crowfoot in the mooring system diff --git a/examples/OC3spar-SlenderBodyQTF.py b/examples/example-WAMITQTF.py similarity index 81% rename from examples/OC3spar-SlenderBodyQTF.py rename to examples/example-WAMITQTF.py index aee1af1..a52f5f0 100644 --- a/examples/OC3spar-SlenderBodyQTF.py +++ b/examples/example-WAMITQTF.py @@ -1,4 +1,4 @@ -# example script for running RAFT from a YAML input file +# example script for running RAFT with QTFs precomputed with a frequency-domain hydrodynamics code (in WAMIT format) import numpy as np import matplotlib.pyplot as plt @@ -7,8 +7,8 @@ import os.path as path # open the design YAML file and parse it into a dictionary for passing to raft -flNm = 'OC3spar-SlenderBodyQTF' -with open(flNm + '.yaml') as file: +flNm = 'OC3spar-WAMITQTF' +with open('./examples/' + flNm + '.yaml') as file: design = yaml.load(file, Loader=yaml.FullLoader) # Create the RAFT model (will set up all model objects based on the design dict) diff --git a/examples/example-slenderBodyQTF.py b/examples/example-slenderBodyQTF.py index d4042df..f2abfb5 100644 --- a/examples/example-slenderBodyQTF.py +++ b/examples/example-slenderBodyQTF.py @@ -1,4 +1,4 @@ -# example script for running RAFT from a YAML input file +# example script for running RAFT with second-order loads computed internally with the slender-body approximation based on Rainey's equation import numpy as np import matplotlib.pyplot as plt @@ -29,7 +29,9 @@ # Visualize the system in its most recently evaluated mean offset position model.plot(hideGrid=True) -model.saveResponses(path.join(model.fowtList[0].outFolderQTF, flNm)) +# Save the response to a given output folder +outFolder = './examples/' +model.saveResponses(path.join(outFolder, flNm)) plt.show() diff --git a/raft/RAFT.code-workspace b/raft/RAFT.code-workspace deleted file mode 100644 index 63596da..0000000 --- a/raft/RAFT.code-workspace +++ /dev/null @@ -1,10 +0,0 @@ -{ - "folders": [ - { - "path": ".." - }, - { - "path": "../../../OneDrive - NREL/raft-backup/RAFT" - } - ] -} \ No newline at end of file diff --git a/raft/raft_fowt.py b/raft/raft_fowt.py index 532573c..cebfdb1 100644 --- a/raft/raft_fowt.py +++ b/raft/raft_fowt.py @@ -1729,12 +1729,6 @@ def calcHydroForce_2ndOrd(self, beta, S0): f[:, 0:-1] = f[:, 1:] f[:, -1] = 0 - # # TODO: Those lines were here for debugging. Need to delete them after this feature is fully implemented. - # with open('examples/Sf_2nd.txt', 'w') as file: - # mu_interp = self.w - self.w[0] - # for w, Srow in zip(mu_interp, Sf_interp.T): - # file.write(f'{w:.5f} {Srow[0]:.5f} {Srow[1]:.5f} {Srow[2]:.5f} {Srow[3]:.5f} {Srow[4]:.5f} {Srow[5]:.5f}\n') - ident = 'WAMIT' if self.potSecOrder == 1: ident = 'slenderBody' diff --git a/raft/raft_model.py b/raft/raft_model.py index ef541bb..72950a9 100644 --- a/raft/raft_model.py +++ b/raft/raft_model.py @@ -972,7 +972,7 @@ def solveDynamics(self, case, tol=0.01, conv_plot=0, RAO_plot=0): # We can compute second-order hydrodynamic forces here if they are calculated using external QTF file Fhydro_2nd = np.zeros([fowt.nWaves, fowt.nDOF, fowt.nw], dtype=complex) - fowt.Fhydro_2nd_mean = np.zeros([fowt.nWaves, fowt.nDOF]) # Keep that as a member because it will be used in the functions that compute mean displacements + fowt.Fhydro_2nd_mean = np.zeros([fowt.nWaves, fowt.nDOF]) # Keep that as a member because it will be used in the functions that compute mean displacements if fowt.potSecOrder==2: fowt.Fhydro_2nd_mean[0, :], Fhydro_2nd[0, :, :] = fowt.calcHydroForce_2ndOrd(fowt.beta[0], fowt.S[0,:]) @@ -1123,7 +1123,7 @@ def solveDynamics(self, case, tol=0.01, conv_plot=0, RAO_plot=0): # calculate linear and nonlinear wave excitation for this FOWT and case (consider phasing due to position in array) fowt.calcHydroExcitation(case, memberList=fowt.memberList) F_linearized = fowt.calcDragExcitation(ih) - F_wave[i*6:i*6+6] = fowt.F_BEM[ih,:,:] + fowt.F_hydro_iner[ih,:,:] + F_linearized #+ fowt.Fhydro_2nd[ih,:,:] + F_wave[i*6:i*6+6] = fowt.F_BEM[ih,:,:] + fowt.F_hydro_iner[ih,:,:] + F_linearized + Fhydro_2nd[ih,:,:] # compute system response for iw in range(self.nw):