Merge pull request #1295 from andrew-platt/f/ReducedOrdModel

Reduced order models: AeroDisk and Simplified-ElastoDyn (SED)

CMakeLists.txt

@@ -189,6 +189,7 @@ set(OPENFAST_MODULES
   inflowwind
   extloads
   aerodyn
+  aerodisk
   servodyn
   elastodyn
   beamdyn
@@ -209,6 +210,7 @@ set(OPENFAST_MODULES
   supercontroller
   externalinflow
   openfast-library
+  simple-elastodyn
 )
 
 set(OPENFAST_REGISTRY_INCLUDES "" CACHE INTERNAL "Registry includes paths")

docs/source/user/aerodisk/index.rst

@@ -0,0 +1,19 @@
+.. _ADsk:
+
+AeroDisk
+========
+
+
+This document describes the AeroDisk (ADsk) module.
+
+
+.. only:: html
+
+
+.. toctree::
+   :maxdepth: 2
+
+   input_files.rst
+
+..
+   zrefs.rst

docs/source/user/aerodisk/input_files.rst

@@ -0,0 +1,165 @@
+.. _adsk_input-files:
+
+Input and Output Files
+======================
+
+
+Units
+-----
+
+AeroDisk uses the SI system (kg, m, s, N). 
+
+.. _adsk_input-file:
+
+Input file
+----------
+
+The AeroDisk input file defines the general inputs required for the actuator
+disk calculations.  The following inputs may be changed by the user to achieve
+the desired behaviour.
+
+Simulation Control
+~~~~~~~~~~~~~~~~~~
+
+**echo** [switch]
+
+   Write the input file contents to a file <RootName>.ADsk.ech.  This is useful
+   for diagnosing errors reported about the input file.
+
+**DT** [seconds]
+
+   Integration time step for AeroDisk to use, or _"default"_ to use the glue code
+   time step.
+
+Environmental Conditions
+~~~~~~~~~~~~~~~~~~~~~~~~
+
+**AirDens** [kg/m^3]
+
+   Air density, or _"default"_ to use the air density from the glue code
+
+Actuator Disk Properties
+~~~~~~~~~~~~~~~~~~~~~~~~
+
+**RotorRad** [m]
+
+   Radius of the rotor, or _"default"_ to use the value passed from the glue
+   code
+
+The lookup table for the disk actuator forces and moments follows. The data in
+this table is flexible as it allows for a very simple lookup based on a single
+variable (**TSR** for example), or up to four variables.  The last six columns
+of the table must include the six force and moment coefficients that correspond
+to a set of conditions given in the first set of columns.
+
+**InColNames** [-]
+
+   Comma separated List of column names corresponding to the variable columns in
+   the input file.  See below for options.
+
+**InColDims** [-]
+
+   Comma separted list of the number  unique entries for each of the named
+   variable column names.  The number of rows in the table must be equal to the
+   product of all numbers given.  Must be the same number of entries as given in
+   **InColNames**
+
+
+For the input variable columns in the table, at least one column must be given,
+with a maximum of four of the five listed below (**TSR** and **RtSpd** are
+mutually exclusive).
+
+**TSR** [-]
+
+   Tip Speed Ratio, cannot be used with _RtSpd_
+
+**RtSpd** [rpm]
+
+   Rotor speed, cannot be used with _TSR_
+
+**VRel** [m/s]
+
+   Relative velocity of wind normal to rotor
+
+**Pitch** [deg]
+
+   Collective blade pitch
+
+**Skew** [deg]
+
+   Skew angle of inflow.  If this is not provided, the affect of skew is modeled
+   as :math:`(cos(\chi))^2`
+
+
+The remaining six columns of the table must contain the force and moment
+coefficents.  See the example table below.
+
+
+
+Sample input file
+~~~~~~~~~~~~~~~~~
+
+Note that the table given below is for illustration of the format and does not
+represent any particular turbine.
+
+.. code::
+    
+   --- AERO DISK INPUT FILE -------
+   Sample actuator disk input file
+   --- SIMULATION CONTROL ---------
+    FALSE        echo            - Echo input data to "<RootName>.ADsk.ech" (flag)
+     "default"   DT              - Integration time step (s)
+   --- ENVIRONMENTAL CONDITIONS ---
+         1.225   AirDens         - Air density (kg/m^3) (or "default")
+   --- ACTUATOR DISK PROPERTIES ---
+        63.0     RotorRad        - Rotor radius (m) (or "default")
+   "RtSpd,VRel"  InColNames      - Input column headers (string) {may include a combination of "TSR, RtSpd, VRel, Pitch, Skew"} (up to 4 columns) [choose TSR or RtSpd,VRel; if Skew is absent, Skew is modeled as (COS(Skew))^2]
+   9,2           InColDims       - Number of unique values in each column (-) (must have same number of columns as InColName) [each >=2]
+   RtSpd     VRel      C_Fx   C_Fy   C_Fz   C_Mx   C_My   C_Mz
+   (rpm)     (m/s)     (-)    (-)    (-)    (-)    (-)    (-)
+     3.0      9.0     0.2347  0.0    0.0   0.0306  0.0    0.0
+     4.0      9.0     0.2349  0.0    0.0   0.0314  0.0    0.0
+     5.0      9.0     0.2350  0.0    0.0   0.0322  0.0    0.0
+     6.0      9.0     0.2351  0.0    0.0   0.0330  0.0    0.0
+     7.0      9.0     0.2352  0.0    0.0   0.0338  0.0    0.0
+     8.0      9.0     0.2352  0.0    0.0   0.0346  0.0    0.0
+     9.0      9.0     0.2351  0.0    0.0   0.0353  0.0    0.0
+    10.0      9.0     0.2350  0.0    0.0   0.0361  0.0    0.0
+    11.0      9.0     0.2349  0.0    0.0   0.0368  0.0    0.0
+     3.0     12.0     0.7837  0.0    0.0   0.0663  0.0    0.0
+     4.0     12.0     0.7733  0.0    0.0   0.0663  0.0    0.0
+     5.0     12.0     0.7628  0.0    0.0   0.0663  0.0    0.0
+     6.0     12.0     0.7520  0.0    0.0   0.0662  0.0    0.0
+     7.0     12.0     0.7409  0.0    0.0   0.0660  0.0    0.0
+     8.0     12.0     0.7297  0.0    0.0   0.0658  0.0    0.0
+     9.0     12.0     0.7182  0.0    0.0   0.0656  0.0    0.0
+    10.0     12.0     0.7066  0.0    0.0   0.0653  0.0    0.0
+    11.0     12.0     0.6947  0.0    0.0   0.0649  0.0    0.0
+   --- OUTPUTS --------------------
+                 OutList         - The next line(s) contains a list of output parameters.  See OutListParameters.xlsx for a listing of available output channels, (-)
+   END of input file (the word "END" must appear in the first 3 columns of this last OutList line)
+   --------------------------------
+
+
+
+
+
+
+.. _adsk_outputs:
+
+Outputs
+-------
+
+The write outputs are:
+ -  "ADSpeed":    Actuator disk rotational speed               (rpm)   
+ -  "ADTSR":      Actuator disk tip-speed ratio                (-)   
+ -  "ADPitch":    Actuator-disk collective blade-pitch angle   (deg)   
+ -  "ADVWindx, ADVWindy, ADVWindz":    Actuator-disk-averaged wind velocity in the local coordinate system  (m/s)
+ -  "ADSTVx, ADSTVy, ADSTVz":          Actuator-disk structural translational velocity in the local coordinate system  (m/s)
+ -  "ADVRel":     Actuator-disk-averaged relative wind speed    (m/s)
+ -  "ADSkew":     Actuator-disk inflow-skew angle               (deg)
+ -  "ADCp, ADCt, ADCq":   Actuator-disk power, thrust, and torque coefficients  (-)
+ -  "ADFx, ADFy, ADFz":   Actuator disk aerodynamic force loads in the local coordinate system (N)
+ -  "ADMx, ADMy, ADMz":   Actuator disk aerodynamic moment loads in the local coordinate system (N-m)
+ -  "ADPower":   Actuator disk power   (W)
+

docs/source/user/aerodyn/examples/ad_primary_example.dat

@@ -49,8 +49,8 @@ True          AoA34              - Sample the angle of attack (AoA) at the 3/4 c
           3   UA_Mod             - Unsteady Aero Model Switch (switch) {0=Quasi-steady (no UA), 2=B-L Gonzalez, 3=B-L Minnema/Pierce, 4=B-L HGM 4-states, 5=B-L HGM+vortex 5 states, 6=Oye, 7=Boeing-Vertol}
 True          FLookup            - Flag to indicate whether a lookup for f' will be calculated (TRUE) or whether best-fit exponential equations will be used (FALSE); if FALSE S1-S4 must be provided in airfoil input files (flag) [used only when UA_Mod=2 or UA_Mod=3]
           3   IntegrationMethod  - Switch to indicate which integration method UA uses (1=RK4, 2=AB4, 3=ABM4, 4=BDF2)
-          0   UAStartRad         - Starting radius for dynamic stall (fraction of rotor radius [0.0,1.0]) [used only when UA_Mod=2; if line is missing UAStartRad=0]
-          1   UAEndRad           - Ending radius for dynamic stall (fraction of rotor radius [0.0,1.0]) [used only when UA_Mod=2; if line is missing UAEndRad=1]
+          0   UAStartRad         - Starting radius for dynamic stall (fraction of rotor radius [0.0,1.0]) [used only when UA_Mod>0; if line is missing UAStartRad=0]
+          1   UAEndRad           - Ending radius for dynamic stall (fraction of rotor radius [0.0,1.0]) [used only when UA_Mod>0; if line is missing UAEndRad=1]
 ======  Airfoil Information =========================================================================
           1   AFTabMod           - Interpolation method for multiple airfoil tables {1=1D interpolation on AoA (first table only); 2=2D interpolation on AoA and Re; 3=2D interpolation on AoA and UserProp} (-)
           1   InCol_Alfa         - The column in the airfoil tables that contains the angle of attack (-)

docs/source/user/api_change.rst

@@ -10,19 +10,23 @@ The line number corresponds to the resulting line number after all changes are i
 Thus, be sure to implement each in order so that subsequent line numbers are correct.
 
 
+
 OpenFAST v3.5.3 to OpenFAST dev
 ----------------------------------
 
 The HydroDyn module was split into HydroDyn and SeaState.  This results in a
 completely new input file for SeaState, and complete revision of the HydroDyn
 input file.  See examples in the regression tests for the new formats.
 
+New modules AeroDisk (see :numref:`ADsk`) and Simplified-ElastoDyn (see :numref:`SED`).
+
 ============================================= ======= ==================== ========================================================================================================================================================================================================
 Modified in OpenFAST `dev`
 -----------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------
 Module                                        Line    Flag Name            Example Value
 ============================================= ======= ==================== ========================================================================================================================================================================================================
-OpenFAST                                      15      CompAero\**          2   CompAero        - Compute aerodynamic loads (switch) {0=None; 2=AeroDyn v15}
+OpenFAST                                      15      CompAero\**          2   CompAero        - Compute aerodynamic loads (switch) {0=None; 1=AeroDisk; 2=AeroDyn; 3=ExtLoads}
+OpenFAST                                      13      CompElast            3   CompElast       - Compute structural dynamics (switch) {1=ElastoDyn; 2=ElastoDyn + BeamDyn for blades; 3=Simplified ElastoDyn}
 AeroDyn                                       40      IntegrationMethod    3   IntegrationMethod  - Switch to indicate which integration method UA uses (1=RK4, 2=AB4, 3=ABM4, 4=BDF2)
 AeroDyn                                       140\*   BldNd_BlOutNd        "All"  BldNd_BlOutNd   - Specify a portion of the nodes to output. {"ALL", "Tip", "Root", or a list of node numbers} (-)
 ElastoDyn blade file                          15                           Removal of the `PitchAxis` input column
@@ -51,7 +55,14 @@ AeroDyn                                       82\*     NacDragAC           0, 0,
 
 \*Exact line number depends on number of entries in various preceeding tables.
 
-\*\* The AeroDyn 14 module has been removed.  AeroDyn15 renamed to AeroDyn
+\*\* The AeroDyn 14 module has been removed and replaced with AeroDisk.  AeroDyn15 renamed to AeroDyn
+
+New Modules
+~~~~~~~~~~~
+
+- AeroDisk             -- reduced order actuator disk model  (see :numref:`ADsk`)
+- Simplified ElastoDyn -- a reduced order structural model with only yaw and rotor speed degrees of freedom (see :numref:`SED`)
+- SeaState             -- wave dynamics calculations (previously part of HydroDyn)
 
 
 .. _api_change_ad4x:

docs/source/user/index.rst

@@ -17,6 +17,7 @@ This section contains documentation for the OpenFAST module-coupling environment
    AeroDyn <aerodyn/index.rst>
    OLAF <aerodyn-olaf/index.rst>
    Aeroacoustics <aerodyn-aeroacoustics/index.rst>
+   AeroDisk <aerodisk/index.rst>
    BeamDyn <beamdyn/index.rst>
    SubDyn <subdyn/index.rst>
    ExtPtfm <extptfm//index.rst>
@@ -26,6 +27,7 @@ This section contains documentation for the OpenFAST module-coupling environment
    InflowWind <inflowwind/index.rst>
    MoorDyn <moordyn/index.rst>
    ServoDyn <servodyn/index.rst>
+   Simplified ElastoDyn <simplified_elastodyn/index.rst>
    Structural Control <servodyn-stc/StC_index.rst>
    TurbSim <turbsim/index.rst>
    FAST.Farm <fast.farm/index.rst>