diff --git a/examples/IEA-15-240-RWT-UMaineSemi_MoorDyn.dat b/examples/IEA-15-240-RWT-UMaineSemi_MoorDyn.dat new file mode 100644 index 00000000..351e6223 --- /dev/null +++ b/examples/IEA-15-240-RWT-UMaineSemi_MoorDyn.dat @@ -0,0 +1,61 @@ +--------------------- MoorDyn Input File ------------------------------------ +IEA 15 MW offshore reference model on UMaine VolturnUS-S semi-submersible floating platform mooring model- C. Allen UMaine +FALSE Echo - echo the input file data (flag) +----------------------- LINE TYPES ------------------------------------------ +Name Diam MassDen EA BA/-zeta EI Cd Ca CdAx CaAx +(-) (m) (kg/m) (N) (N-s/-) (-) (-) (-) (-) (-) +main 0.333 685.00 3.27E+09 -1.0 0 2.0 0.82 0.4 0.27 +---------------------- POINTS -------------------------------- +ID Type X Y Z M V CdA CA +(-) (-) (m) (m) (m) (kg) (m^3) (m^2) (-) +1 Vessel -58.000 0.000 -14.000 0 0 0 0 +2 Fixed -837.600 0.000 -200.000 0 0 0 0 +3 Vessel 29.000 50.229 -14.000 0 0 0 0 +4 Fixed 418.800 725.383 -200.000 0 0 0 0 +5 Vessel 29.000 -50.229 -14.000 0 0 0 0 +6 Fixed 418.800 -725.383 -200.000 0 0 0 0 +---------------------- LINES -------------------------------------- +ID LineType AttachA AttachB UnstrLen NumSegs Outputs +(-) (-) (-) (-) (m) (-) (-) +1 main 2 1 850.00 50 - +2 main 4 3 850.00 50 - +3 main 6 5 850.00 50 - +---------------------- SOLVER OPTIONS --------------------------------------- +0.001 dtM - time step to use in mooring integration (s) +3.0e6 kbot - bottom stiffness (Pa/m) +3.0e5 cbot - bottom damping (Pa-s/m) +1.0 dtIC - time interval for analyzing convergence during IC gen (s) +60.0 TmaxIC - max time for ic gen (s) +4.0 CdScaleIC - factor by which to scale drag coefficients during dynamic relaxation (-) +0.001 threshIC - threshold for IC convergence (-) +------------------------ OUTPUTS -------------------------------------------- +FairTen1 +FairTen2 +FairTen3 +AnchTen1 +AnchTen2 +AnchTen3 +Con1fx +Con3fx +Con5fx +Con1fy +Con3fy +Con5fy +Con1fz +Con3fz +Con5fz +Con2fx +Con4fx +Con6fx +Con2fy +Con4fy +Con6fy +Con2fz +Con4fz +Con6fz +fx +fy +fz +END +------------------------- need this line -------------------------------------- + diff --git a/examples/example-LumpedMassMoorings.yaml b/examples/example-LumpedMassMoorings.yaml new file mode 100644 index 00000000..4f783261 --- /dev/null +++ b/examples/example-LumpedMassMoorings.yaml @@ -0,0 +1,1185 @@ +type: input file for RAFT +name: IEA 15 MW with VolturnUS-S steel semi +comments: This is a quick example that includes potential flow BEM hydrodynamics with PyHAMS and different wave headings. + + +settings: # global Settings + min_freq : 0.001 # [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 ] + data : # m/s deg % or e.g. IIB_NTM string deg string (s) (m) (deg) + - [ 8, 0, 0, operating, 0, JONSWAP, 12, 6, 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 ] + - 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[ 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) + dlsMax : 5.0 # maximum node splitting section amount for platform members; can't be 0 + qtfPath : '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, 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) + 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, 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) + 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 : 40.5 # [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 + moorMod : 1 # 0: quasi-static mooring model with stiffness only; 1: lumped mass model with stiffness, damping, added mass, and inertia; 2: hybrid mode. Stiffness matrix os calculated using the quasi-static approach, while damping, added mass, and inertia are calculated using the lumped mass model. + file: 'IEA-15-240-RWT-UMaineSemi_MoorDyn.dat' \ No newline at end of file diff --git a/raft/helpers.py b/raft/helpers.py index 8942f511..fd45447e 100644 --- a/raft/helpers.py +++ b/raft/helpers.py @@ -664,8 +664,11 @@ def JONSWAP(ws, Hs, Tp, Gamma=None): def getRAO(Xi, zeta): '''Calculates the response amplitude operator (RAO). - It is simply the reponse (motion, load, anything) for unitary wave amplitude. - Xi can have any number of dimensions, but the last dimension must be the same length as zeta. + It is simply the reponse (motion, load, anything) for unitary wave amplitude. + + Inputs: + Xi: Motions amplitudes with any number of dimensions, but the last dimension must be the same length as zeta. + zeta: Wave amplitudes. Must be a 1D array. ''' # Check if zeta is a 1D array if len(zeta.shape) != 1: @@ -683,6 +686,37 @@ def getRAO(Xi, zeta): RAO[..., idx] = Xi[..., idx] / zeta[idx] return RAO +def getLineEndsRAO(line, ms, w, Xi, S, rBody): + '''Compute the RAOs of the ends of a MoorPy line object + Inputs + line: MoorPy line object + ms: MoorPy system object + w: Frequency vector of length nw [rad/s] + Xi: List with nFOWTs arrays, each with size 6 x nFreq arrays, corresponding to the motion amplitudes of the fowts in the array [m] and [rad] + S: Wave spectrum vector with length nw [m] + rBody: List of arrays with the x,y,z position of the bodies in the array [m] - len(rBody) = nFOWTs + ''' + zeta = np.sqrt(2*S*(w[1]-w[0])) # Wave amplitude + + # End A of the line + RAO_A = np.zeros([3, len(w)]) + endA = [point for point in ms.pointList if all(point.r==line.rA)][0] # find the point that correspond to the line's end A + for ibody, body in enumerate(ms.bodyList): + if endA.number in body.attachedP: + fowtRAO = getRAO(Xi[ibody], zeta) + RAO_A, _, _ = getKinematics(endA.r - rBody[ibody], fowtRAO, w) + break + + # End B of the line + RAO_B = np.zeros([3, len(w)]) + endB = [point for point in ms.pointList if all(point.r==line.rB)][0] # find the point that correspond to the line's end A + for ibody, body in enumerate(ms.bodyList): + if endB.number in body.attachedP: + fowtRAO = getRAO(Xi[ibody], zeta) + RAO_B, _, _ = getKinematics(endB.r - rBody[ibody], fowtRAO, w) + break + + return RAO_A, RAO_B def printMat(mat): '''Print a matrix''' diff --git a/raft/raft_fowt.py b/raft/raft_fowt.py index b62c9b48..ef460b80 100644 --- a/raft/raft_fowt.py +++ b/raft/raft_fowt.py @@ -10,6 +10,7 @@ from raft.raft_member import Member from raft.raft_rotor import Rotor import moorpy as mp +from moorpy.helpers import lines2ss # deleted call to ccblade in this file, since it is called in raft_rotor # also ignoring changes to solveEquilibrium3 in raft_model and the re-addition of n=len(stations) in raft_member, based on raft_patch @@ -162,6 +163,7 @@ def __init__(self, design, w, mpb, depth=600, x_ref=0, y_ref=0, heading_adjust=0 self.ms = mp.System() self.ms.parseYAML(design['mooring']) + self.ms.moorMod = getFromDict(design['mooring'], 'moorMod', default=0, dtype=int) # ensure proper setup with one coupled Body tied to this FOWT if len(self.ms.bodyList) == 0: @@ -279,7 +281,13 @@ def setPosition(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() + if self.ms.moorMod == 0 or self.ms.moorMod == 2: + C_moor = self.ms.getCoupledStiffnessA(lines_only=True) + elif self.ms.moorMod == 1: + self.ms.updateSystemDynamicMatrices() + _, _, _, C_moor = self.ms.getCoupledDynamicMatrices(lines_only=True) + + self.C_moor = C_moor self.F_moor0 = self.ms.bodyList[0].getForces(lines_only=True) @@ -961,7 +969,7 @@ def calcHydroExcitation(self, case, memberList=[], dgamma=0): self.beta = deg2rad(case['wave_heading']) # array of wave headings. Input in [deg], but the code uses [rad] - self.zeta = np.zeros([self.nWaves,self.nw], dtype=complex) + self.zeta = np.zeros([self.nWaves,self.nw]) # make wave spectrum for each heading self.S = np.zeros([self.nWaves,self.nw]) @@ -1784,6 +1792,131 @@ def calcHydroForce_2ndOrd(self, beta, S0, iCase=None, iWT=None, interpMode='qtf' return f_mean, f + def moorDynamicTension(self, inMDFl): + '''Compute dynamic tension in mooring lines. + We use the algebraic approximation given by + Aranha and Pinto, "Dynamic tension in risers and mooring lines:an algebraic approximation for harmonic excitation", 2001 + ''' + + # Read data in MoorDyn output file to a dictionary + from pyFAST.input_output import FASTOutputFile + mdData = FASTOutputFile(inMDFl).toDataFrame() + + # Dont like the units together with the variable names. I also prefer to have all keys in lower case. + mdData.columns = mdData.columns.str.split('_').str[0] + mdData.columns = mdData.columns.str.lower() + + # Extract relevant data from MoorPy and use the same notation as in the paper + # Make this a loop later + line = self.ms.lineList[0] + rho = self.rho_water + + EA = line.type['EA'] # Elastic stiffness + W = line.type['w'] # Weight in air + D = line.type['d_vol'] # Equivalent diameter for volume + q = W - rho*np.pi/4*D**2*self.g # Linear submerged weight, i.e. weight minus buoyancy + l = line.L # SUspended line length + + # For now, we use the curvature of a catenary line touching the seabed at line.rA + # T0 = line.TA # Tension at TDP + # TS = line.TB # Tension at top of the line + # chi0 = q/T0 # Curvature at TDP + # s = np.linspace(0, line.L, line.nNodes) # Curvilinear coordinate along the line + # ds = s[1] - s[0] # Increment in curvilinear coordinate + # chi = chi0 * 1/(1+(chi0*s)**2) * TS/q # Nondimensional curvature along the line + # l = line.L # SUspended line length + # fig, ax = plt.subplots() + # ax.plot(s, chi, '-k') + + # Line properties + s = np.linspace(0, line.L, line.nNodes) + ds = s[1] - s[0] + Xs, Ys, Zs, Ts = line.getLineCoords(0) + + T0 = line.TA # Tension at TDP. For now, it is the same as the anchor because friction is not taken into account + TS = line.TB # Tension at top of the line + # T0 = mdData['anchten1'][0] + # TS = mdData['fairten1'][0] + + # Compute curvature + n = len(Xs) + theta = np.zeros(n-1) # Angle of each segment with respect to the horizontal + for i in range(1, n - 1): + # Segment + dx1 = Xs[i] - Xs[i - 1] + dy1 = Ys[i] - Ys[i - 1] + dz1 = Zs[i] - Zs[i - 1] + + # Angle with horizontal plane + theta[i] = np.arctan2(dz1, np.sqrt(dx1**2 + dy1**2)) + chi = np.zeros(n) + chi[1:-1] = np.diff(theta)/ds * TS/q + # ax.plot(s, curvature, '--r') + + + # Motion of the extremity of the line + # Part of the excitation parameters - Defined in section 2.3 + tanVec = line.fB/np.linalg.norm(line.fB) # Tangent vector at the top of the line. In line with the force. + U = np.array([mdData['body1px'], mdData['body1py'], mdData['body1pz']]) # Motion of the top of the line + U = U[0,:]*tanVec[0] + U[1,:]*tanVec[1] + U[2,:]*tanVec[2] # Project U along tanVec + sigmaU = np.std(U) + ampU = 2**0.5 * sigmaU + a = ampU/sigmaU # normalized wave envelope + + # Get period from inMDFl. File name follows a format such that md-T10p0-A2p0.MD.out + # corresponds to a period of 10.0s and amplitude of 2.0m + T = float(inMDFl.split('-')[-2].replace('p','.').replace('T','')) + w = 2*np.pi/T # Excitation frequency - rad/s + + # Effective length. Defined in Eq 2.1b + if line.cb == 0: + lp = line.LBot + else: + lp = min(line.LBot, T0/(q*line.cb)) + + # Static parameters - Defined in section 2.1 + I2 = 1/l * np.trapz(chi**2, s) # Integral parameter related to cable's lateral kinetic energy + I3 = 1/l * np.trapz(chi**3, s) # Integral parameter related to dissipated power in the lateral motion + Ic = 0 # This one is for the current. Implement that later + Lambda = q*l/TS * np.sqrt(I2 * EA/TS * l/(l+lp)) # Ratio between elastic and geometric restoring forces + + # Dynamic parameters - Defined in section 2.2 + # ca = self.ms.lineTypes[line.type['name']] + ca = 1.00 + cd = 1.20 + m = 1/(I2*l) * np.trapz(W/self.g * chi**2, s) + ma = 1/(I2*l) * np.trapz(rho*np.pi*D**2/4 * chi**2 * ca, s) + CD0 = 1/(I3*l) * np.trapz(cd * np.abs(chi)**3, s) # We are assuming uniform diameter + CDc = 0 # Used when current is2 involved. Do it later + Zeta0 = 8/3/np.pi * 2*CD0/np.pi * rho*np.pi*D**2/4/(m+ma) * TS/(q*l) * I3/I2**2 * sigmaU/D + ZetaC = 0 # Used when current is involved. Do it later + wc = np.pi/l * np.sqrt(TS/(m+ma)) # Characteristic frequency associeted with the geometric restoring force + we = np.pi/(l+lp) * np.sqrt(EA/m) # Characteristic frequency associated with the elastic restoring force + + # Remaining excitation parameters - Defined in section 2.3 + Te = EA * sigmaU / (l+lp) + Omega = np.pi/Lambda * (w/wc) + + + # Finally, the algebraic expression for the dynamic tension - Defined in section 2.4 + b = ((1-Omega**2)/Omega**2)**2 + ZetaC + c1 = (1 - l/(l+lp) * np.pi**2 * (w/we)**2 * s/l)**2 + c2 = (1 + (1-Omega**2)/Omega**2 * l/(l+lp) * np.pi**2 * (w/we)**2 * s/l)**2 + ZetaC**2*c1 + + aux = np.sqrt(b**2+(4*Zeta0**2/Omega**4)*a**2) - b + Tau = np.sqrt( (c1*aux**2 + 2*c2*aux)/(4*Zeta0**2/Omega**4) ) + + return Tau, Te, T0, TS + + def updateMooringDynamicMatrices(self, Xi, S): + '''Update matrices from mooring dynamics + Inputs + Xi: 6 x Nfreq array with the motion amplitudes of the fowt + S: 1 x Nfreq array with the wave spectrum + ''' + for line in self.ms.lineList: + RAO_A, RAO_B = getLineEndsRAO(line, self.ms, self.w, [Xi], S, [self.r6[:3]]) # Need Xi and r6 within a list + line.updateLumpedMass(self.w, S, self.depth, kbot=0, cbot=0, RAO_A=RAO_A.T, RAO_B=RAO_B.T) # Need to transpose RAO_fl so that it is in the right shape (nFreq x 3) def saveTurbineOutputs(self, results, case): '''Calculate and store output metrics of the FOWT response at the current load case. @@ -1842,23 +1975,46 @@ def saveTurbineOutputs(self, results, case): results['yaw_RA' ] = rad2deg(self.Xi[:,5,:]) # ----- turbine-level mooring outputs (similar code as array-level) ----- - if self.ms: + if self.ms: + self.ms = lines2ss(self.ms) # convert composite lines to subsystem 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 + T_moor_amps = np.zeros([self.nWaves+1, 2*nLines, self.nw], dtype=complex) # mooring tension amplitudes for each wave component and each line end + T_moor_psd = np.zeros([2*nLines, self.nw], dtype=float) + T_moor_std = np.zeros([2*nLines], dtype=float) 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 + T_moor = self.ms.getTensions() # get line end mean tensions + if self.ms.moorMod == 0: + 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 + + for iT in range(2*nLines): + T_moor_psd[iT,:] = getPSD(T_moor_amps[:,iT,:], self.w[0]) # PSD in N^2/(rad/s) + T_moor_std[iT] = getRMS(T_moor_amps[:,iT,:]) - 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 - + else: + for il, line in enumerate(self.ms.lineList): + for ih in range(self.nWaves): + RAO_A, RAO_B = getLineEndsRAO(line, self.ms, self.w, [self.Xi[ih,:,:]], self.S[ih,:], [self.r6[:3]]) # Need Xi and r6 within a list + T_nodes_amp, _, _, _, _, _, _, _ = line.dynamicSolve(self.w, self.S[ih,:], RAO_A=RAO_A.T, RAO_B=RAO_B.T, depth=self.depth, kbot=0,cbot=0, tol = 0.01, conv_time=False) + + # Tension at the end nodes of the line + T_moor_amps[ih, il, :] += T_nodes_amp[:,0] + T_moor_amps[ih, il+nLines,:] += T_nodes_amp[:,-1] + + # Compute PSD and std from the different wave component + for iT in range(2*nLines): + T_moor_psd[iT,:] = getPSD(T_moor_amps[:,iT,:], self.w[1]-self.w[0]) + T_moor_std[iT] = getRMS(T_moor_amps[:,iT,:]) + + results['Tmoor_avg'] = T_moor results['Tmoor_std'] = np.zeros(2*nLines) results['Tmoor_max'] = np.zeros(2*nLines) results['Tmoor_min'] = np.zeros(2*nLines) results['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] + TRMS = T_moor_std[iT] results['Tmoor_std'][iT] = TRMS results['Tmoor_max'][iT] = T_moor[iT] + 3*TRMS results['Tmoor_max'][iT] = T_moor[iT] - 3*TRMS diff --git a/raft/raft_model.py b/raft/raft_model.py index e766d3aa..67453895 100644 --- a/raft/raft_model.py +++ b/raft/raft_model.py @@ -17,7 +17,7 @@ import moorpy as mp import raft.raft_fowt as fowt from raft.helpers import * -from moorpy.helpers import dsolve2, set_axes_equal, dsolvePlot +from moorpy.helpers import dsolve2, set_axes_equal, dsolvePlot, lines2ss import copy #import F6T1RNA as structural # import turbine structural model functions @@ -98,6 +98,8 @@ def __init__(self, design, nTurbines=1): self.ms.load(design['array_mooring']['file'], clear=False) # add the array level mooring system to the already created bodies else: raise Exception("When using 'array_mooring', a MoorDyn-style input file must be provided as 'file'.") + + self.ms.moorMod = getFromDict(design['array_mooring'], 'moorMod', default=0, dtype=int) else: self.ms = None @@ -201,14 +203,26 @@ def analyzeUnloaded(self, ballast=0, heave_tol = 1): if self.ms: try: - self.C_moor0 += self.ms.getCoupledStiffness(lines_only=True) + if self.ms.moorMod == 0 or self.ms.moorMod == 2: + C_moor = self.ms.getCoupledStiffness(lines_only=True) + elif self.ms.moorMod == 1: + self.ms.updateLumpedMassSystem() + _, _, _, C_moor = self.ms.getCoupledDynamicMatrices(lines_only=True) + + self.C_moor0 += C_moor 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) + if self.fowtList[0].ms.moorMod == 0 or self.fowtList[0].ms.moorMod == 2: + C_moor = self.fowtList[0].ms.getCoupledStiffness(lines_only=True) + elif self.fowtList[0].ms.moorMod == 1: + self.fowtList[0].ms.updateSystemDynamicMatrices() + _, _, _, C_moor = self.fowtList[0].ms.getCoupledDynamicMatrices(lines_only=True) + + self.C_moor0 += C_moor 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) @@ -291,6 +305,8 @@ def analyzeCases(self, display=0, meshDir=os.path.join(os.getcwd(),'BEM'), RAO_p # Solve system operating point / mean offsets again, but now including mean wave forces. # We actually wouldn't need to do that if the QTFs are computed externally, but all the wave information # is currently computed only when solveDynamics is called. Should work on that. + # In principle, solveDynamics should be recomputed to account for the actual mean position. + # However, if computing the QTFs internally, the mean drift due to the waves shouldn't be too large, so probably not worth the cost. if any(fowt.potSecOrder > 0 for fowt in self.fowtList): if display > 1: print('Recomputing equilibrium position, now with wave mean drift') @@ -342,7 +358,7 @@ def analyzeCases(self, display=0, meshDir=os.path.join(os.getcwd(),'BEM'), RAO_p # process array-level mooring tension outputs if self.ms: - + self.ms = lines2ss(self.ms) # convert composite lines to subsystem self.results['case_metrics'][iCase]['array_mooring'] = {} nLines = len(self.ms.lineList) @@ -352,9 +368,28 @@ def analyzeCases(self, display=0, meshDir=os.path.join(os.getcwd(),'BEM'), RAO_p T_moor = self.ms.getTensions() # get line end mean tensions - 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 + if self.ms.moorMod == 0: + 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 + else: + for il, line in enumerate(self.ms.lineList): + for ih in range(nWaves): # Only working with waves for now + # Reshape Xi to be a nFOWTs list of 6 x nFreqs numpy arrays + resh_Xi = self.Xi[ih, :].reshape(self.nFOWT, 6, self.nw) + Xi = [resh_Xi[i] for i in range(self.nFOWT)] + + # List of mean position of the FOWTs + rBody = [f.r6[:3] for f in self.fowtList] + + RAO_A, RAO_B = getLineEndsRAO(line, self.ms, self.w, Xi, self.fowtList[0].S[ih,:], rBody) + + # Get tension along the mooring line + T_nodes_amp, _, _, _, _, _, _, _ = line.dynamicSolve(self.w, self.fowtList[0].S[ih,:], RAO_A=RAO_A.T, RAO_B=RAO_B.T, depth=self.depth, kbot=0,cbot=0, tol = 0.01, conv_time=False) + + # Tension at the end nodes of the line + T_moor_amps[ih, il, :] += T_nodes_amp[:,0] + T_moor_amps[ih, il+nLines,:] += T_nodes_amp[:,-1] self.results['case_metrics'][iCase]['array_mooring']['Tmoor_avg'] = T_moor self.results['case_metrics'][iCase]['array_mooring']['Tmoor_std'] = np.zeros(2*nLines) @@ -860,6 +895,7 @@ def solveDynamics(self, case, tol=0.01, conv_plot=0, RAO_plot=0, display=0): # Loop through each fowt to calculate its independent response to wave excitation. # This is the iterative linearization stage to get individual impedance matrices. + XiLast_all = [] # list to store the last iteration's response for each turbine for i, fowt in enumerate(self.fowtList): i1 = i*6 # range of DOFs for the current turbine i2 = i*6+6 @@ -882,6 +918,20 @@ def solveDynamics(self, case, tol=0.01, conv_plot=0, RAO_plot=0, display=0): if display > 0: print('Solving for system response to wave excitation in primary wave direction') + # TODO: Need to iterate the dynamic matrices as well due to the drag force on the moorings + # We would need to pass the motions of the extremities of the mooring lines within getCoupledDynamicMatrices + # I think this would be straightforward for lines connecting the fairlead to the anchor, but not sure about cases with buoys + M_moor, A_moor, B_moor, C_moor = (np.zeros([6,6]) for _ in range(4)) + if not fowt.ms or fowt.ms.moorMod == 0: + C_moor = fowt.C_moor + elif fowt.ms.moorMod == 1: + fowt.updateMooringDynamicMatrices(XiLast, fowt.S[0,:]) + M_moor, A_moor, B_moor, C_moor = fowt.ms.getCoupledDynamicMatrices(lines_only=True) + elif fowt.ms.moorMod == 2: + C_moor = fowt.C_moor + fowt.updateMooringDynamicMatrices(XiLast, fowt.S[0,:]) + M_moor, A_moor, B_moor, _ = fowt.ms.getCoupledDynamicMatrices(lines_only=True) + # We can compute second-order hydrodynamic forces here if they are calculated using external QTF file. # In some cases, they may be very relevant to the motion RMS values, so should be included in the drag linearization process. fowt.Fhydro_2nd = np.zeros([fowt.nWaves, fowt.nDOF, fowt.nw], dtype=complex) @@ -894,9 +944,9 @@ def solveDynamics(self, case, tol=0.01, conv_plot=0, RAO_plot=0, display=0): flagComputedQTF = False # 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 + M_lin.append( M_turb + fowt.M_struc[:,:,None] + fowt.A_BEM + fowt.A_hydro_morison[:,:,None] + M_moor[:,:,None] + A_moor[:,:,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_hydro + C_moor ) # stiffness F_lin.append( fowt.F_BEM[0,:,:] + fowt.F_hydro_iner[0,:,:] + fowt.Fhydro_2nd[0, :, :]) # consider only excitation from the primary sea state in the load case for now # start fixed point iteration loop for dynamics of the individual FOWT @@ -914,13 +964,20 @@ def solveDynamics(self, case, tol=0.01, conv_plot=0, RAO_plot=0, display=0): # get linearized terms for the current turbine given latest amplitudes B_linearized = fowt.calcHydroLinearization(XiLast) F_linearized = fowt.calcDragExcitation(0) # just looking at first sea state (wave heading) for the sake of linearization - + + # Recompute mooring damping matrix as it depends on body motions (linearization of drag lods). The other matrices are kept the same. + # Note: Is it worth recomputing the mooring damping matrix at each step? The impact of mooring damping on body dynamics is small, and the motion + # RAOs are probably not changing much. Perhaps compute this only once and keep it constant? + if fowt.ms and (fowt.ms.moorMod == 1 or fowt.ms.moorMod == 2): + fowt.updateMooringDynamicMatrices(XiLast, fowt.S[0,:]) + _, _, B_moor, _ = fowt.ms.getCoupledDynamicMatrices(lines_only=True) + # calculate the response based on the latest linearized terms Xi = np.zeros([fowt.nDOF,self.nw], dtype=complex) # displacement and rotation complex amplitudes [m, rad] # add fowt's terms to system matrices (BEM arrays are not yet included here) M_tot[:,:,:] = M_lin[i] - B_tot[:,:,:] = B_lin[i] + B_linearized[:,:,None] + B_tot[:,:,:] = B_lin[i] + B_linearized[:,:,None] + B_moor[:,:,None] C_tot[:,:,:] = C_lin[i][:,:,None] F_tot[: ,:] = F_lin[i] + F_linearized @@ -997,6 +1054,7 @@ def solveDynamics(self, case, tol=0.01, conv_plot=0, RAO_plot=0, display=0): # Save the FOWT's impedance matrix fowt.Z = Z + XiLast_all.append(XiLast) # Now that invididual FOWT impedences matrices have been found, construct the # system-level matrices (in case of couplings) and compute the total response @@ -1014,7 +1072,19 @@ def solveDynamics(self, case, tol=0.01, conv_plot=0, RAO_plot=0, display=0): # include array-level mooring stiffness if self.ms: - Z_sys += self.ms.getCoupledStiffnessA(lines_only=True)[:,:,None] + M_moor, A_moor, B_moor, C_moor = (np.zeros([Z_sys.shape[0], Z_sys.shape[1]]) for _ in range(4)) + if self.ms.moorMod == 0: + C_moor = self.ms.getCoupledStiffnessA(lines_only=True) + elif self.ms.moorMod == 1: + self.updateMooringDynamicMatrices(XiLast_all, self.fowtList[0].S[0,:]) + M_moor, A_moor, B_moor, C_moor = self.ms.getCoupledDynamicMatrices(lines_only=True) + elif self.ms.moorMod == 2: + self.updateMooringDynamicMatrices(XiLast_all, self.fowtList[0].S[0,:]) + C_moor = self.ms.getCoupledStiffnessA(lines_only=True) + M_moor, A_moor, B_moor, _ = self.ms.getCoupledDynamicMatrices(lines_only=True) + + for ii in range(self.nw): + Z_sys[:,:,ii] += -self.w[ii]**2 *(M_moor+A_moor) + 1j*self.w[ii]*B_moor + C_moor # >>> For arrays, we would want a sparse solver for Zinv. <<< @@ -1059,7 +1129,7 @@ def solveDynamics(self, case, tol=0.01, conv_plot=0, RAO_plot=0, display=0): # Don't recompute the QTFs for the first wave because it was already done above. # Also, we would end up including second-order motions if we computed it again. if ih > 0: - Xi0 = getRAO(self.Xi[ih,i1:i2, :], fowt.zeta[ih,:]) + Xi0 = getRAO(self.Xi[ih,i1:i2, :], fowt.zeta[ih,:]) fowt.calcQTF_slenderBody(waveHeadInd=ih, Xi0=Xi0, verbose=True, iCase=iCase, iWT=i) fowt.Fhydro_2nd_mean[ih, :], fowt.Fhydro_2nd[ih, :, :] = fowt.calcHydroForce_2ndOrd(fowt.beta[ih], fowt.S[ih,:]) @@ -1132,6 +1202,19 @@ def solveDynamics(self, case, tol=0.01, conv_plot=0, RAO_plot=0, display=0): return self.Xi # is it better to return the response or save it in the model object? Or in the FOWT objects? <<< + def updateMooringDynamicMatrices(self, Xi, S): + '''Update matrices from mooring dynamics + Inputs + Xi: List with nFOWTs arrays, each with size 6 x nFreq arrays, corresponding to the motion amplitudes of the fowts in the array [m] and [rad] + S: Wave spectrum vector with length nw [m] + ''' + from raft.helpers import getLineEndsRAO + rBody = [f.r6[:3] for f in self.fowtList] # List of mean position of the FOWTs + + for il, line in enumerate(self.ms.lineList): + RAO_A, RAO_B = getLineEndsRAO(line, self.ms, self.w, Xi, S, rBody) + line.updateLumpedMass(self.w, S, self.depth, kbot=0, cbot=0, RAO_A=RAO_A.T, RAO_B=RAO_B.T) # Need to transpose RAO_fl so that it is in the right shape (nFreq x 3) + def calcOutputs(self): '''This is where various output quantities of interest are calculated based on the already-solved system response.''' @@ -1216,36 +1299,66 @@ def plotResponses(self): def saveResponses(self, outPath): '''Save the power spectral densities of the available response channels for each case to an output file.''' + # Perhaps easier to save everything to a pickle file? - 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'] + chooseMetrics = ['wave_PSD', 'surge_PSD', 'heave_PSD', 'pitch_PSD', 'AxRNA_PSD', 'Tmoor_PSD'] + metricUnit = ['m^2*s/rad', 'm^2*s/rad', 'm^2*s/rad', 'deg^2*s/rad', '(m/s^2)^2*s/rad', 'N^2*s/rad'] for i in range(self.nFOWT): - nCases = len(self.results['case_metrics']) - for iCase in range(nCases): metrics = self.results['case_metrics'][iCase][i] + if 'Tmoor_PSD' in metrics: + nLinesTensions = metrics['Tmoor_PSD'].shape[0] with open(f'{outPath}_Case{iCase+1}_WT{i}.txt', 'w') as file: # Write the header - file.write('Frequency [rad/s] \t') + header = 'Frequency [rad/s]' for metric, unit in zip(chooseMetrics, metricUnit): - file.write(f'{metric} [{unit}] \t') - file.write('\n') + if metric not in metrics: + continue + + if metric == 'Tmoor_PSD': + for iLine in range(nLinesTensions): + header += f'\t{metric}_{iLine} [{unit}]' + else: + header += f'\t {metric} [{unit}]' + file.write(f'{header}\n') # Write the data for iFreq in range(len(self.w)): - file.write(f'{self.w[iFreq]:.5f} \t') + txt = f'{self.w[iFreq]:.5f}' for metric in chooseMetrics: - file.write(f'{np.squeeze(metrics[metric][iFreq]):.5f} \t') - file.write('\n') + if metric not in metrics: + continue + + if metric == 'Tmoor_PSD': + for iLine in range(nLinesTensions): + txt += f'\t{np.squeeze(metrics[metric][iLine, iFreq]):.5f}' + else: + txt += f'\t{np.squeeze(metrics[metric][iFreq]):.5f}' + file.write(f'{txt}\n') # if self.results['mean_offsets']: # with open(f'{outPath}_Case{iCase+1}_WT{i}_meanOffsets.txt', 'w') as file: # file.write('Surge [m] \t Sway [m] \t Heave [m] \t Pitch [deg] \t Roll [deg] \t Yaw [deg] \n') # mean_offsets = self.results['mean_offsets'][iCase] # file.write(f'{mean_offsets[0]:.5f} \t {mean_offsets[1]:.5f} \t {mean_offsets[2]:.5f} \t {mean_offsets[3]:.5f} \t {mean_offsets[4]:.5f} \t {mean_offsets[5]:.5f} \n') + + # Save array tension as well + for iCase in range(nCases): + if 'array_mooring' in self.results['case_metrics'][iCase] and 'Tmoor_PSD' in self.results['case_metrics'][iCase]['array_mooring']: + nLinesTensions = self.results["case_metrics"][iCase]["array_mooring"]["Tmoor_PSD"].shape[0] + with open(f'{outPath}_Case{iCase+1}_array_tensions.txt', 'w') as file: + header = 'Frequency [rad/s]' + for iLine in range(nLinesTensions): + header += f'\tTmoor_PSD_{iLine} [N^2*s/rad]' + file.write(header + '\n') + for iFreq in range(len(self.w)): + file.write(f'{self.w[iFreq]:.5f}') + for iLine in range(nLinesTensions): + file.write(f'\t {np.squeeze(self.results["case_metrics"][iCase]["array_mooring"]["Tmoor_PSD"][iLine, iFreq]):.5f}') + file.write('\n') def plotResponses_extended(self): '''Plots more power spectral densities of the available response channels for each case.''' diff --git a/tests/test_data/VolturnUS-S_farm_true_analyzeCases.pkl b/tests/test_data/VolturnUS-S_farm_true_analyzeCases.pkl index 976f9c2c..cf714930 100644 Binary files a/tests/test_data/VolturnUS-S_farm_true_analyzeCases.pkl and b/tests/test_data/VolturnUS-S_farm_true_analyzeCases.pkl differ