Merge pull request #2341 from luwang00/b/HD_ExctnDisp2_Init

HD: Initialization of the low-pass-filtered displacements of potential-flow bodies when ExctnDisp = 2

modules/hydrodyn/src/HydroDyn_DriverCode.f90

@@ -81,7 +81,7 @@ PROGRAM HydroDynDriver
  real(DbKi) :: TiLstPrn ! The simulation time of the last print
  integer :: n_SttsTime ! Number of time steps between screen status messages (-)
 
-
+ integer :: i ! Loop counter 
 
  logical :: SeaState_Initialized, HydroDyn_Initialized
  ! For testing
@@ -230,10 +230,31 @@ PROGRAM HydroDynDriver
  CALL CheckError()
  end if
  END IF
-
-
- ! Set any steady-state inputs, once before the time-stepping loop (these don't change, so we don't need to update them in the time-marching simulation)
- CALL SetHDInputs_Constant(u(1), mappingData, drvrData, ErrStat, ErrMsg); CALL CheckError()
+
+ ! Set initial inputs at t = 0
+ IF (( drvrData%PRPInputsMod /= 2 ) .AND. ( drvrData%PRPInputsMod >= 0 )) THEN
+ ! Set any steady-state inputs, once before the time-stepping loop (these don't change, so we don't need to update them in the time-marching simulation)
+ CALL SetHDInputs_Constant(u(1), mappingData, drvrData, ErrStat, ErrMsg); CALL CheckError()
+ ELSE
+ CALL SetHDInputs(0.0_R8Ki, n, u(1), mappingData, drvrData, ErrStat, ErrMsg); CALL CheckError()
+ END IF
+
+ ! Set the initial low-pass-filtered displacements of potential-flow bodies if ExctnDisp = 2
+ IF ( p%PotMod == 1_IntKi ) THEN
+ IF ( p%WAMIT(1)%ExctnDisp == 2_IntKi ) THEN
+ IF (p%NBodyMod .EQ. 1_IntKi) THEN ! One instance of WAMIT with NBody
+ DO i = 1,p%NBody
+ xd%WAMIT(1)%BdyPosFilt(1,i,:) = u(1)%WAMITMesh%TranslationDisp(1,i)
+ xd%WAMIT(1)%BdyPosFilt(2,i,:) = u(1)%WAMITMesh%TranslationDisp(2,i)
+ END DO
+ ELSE IF (p%NBodyMod > 1_IntKi) THEN ! NBody instances of WAMIT with one body each
+ DO i = 1,p%NBody
+ xd%WAMIT(i)%BdyPosFilt(1,1,:) = u(1)%WAMITMesh%TranslationDisp(1,i)
+ xd%WAMIT(i)%BdyPosFilt(2,1,:) = u(1)%WAMITMesh%TranslationDisp(2,i)
+ END DO
+ END IF
+ END IF
+ END IF
 
  !...............................................................................................................................
  ! --- Linearization
@@ -270,10 +291,11 @@ PROGRAM HydroDynDriver
  Time = (n-1) * drvrData%TimeInterval
  InputTime(1) = Time
 
+ IF (( drvrData%PRPInputsMod == 2 ) .OR. ( drvrData%PRPInputsMod < 0 )) THEN
  ! Modify u (likely from the outputs of another module or a set of test conditions) here:
- call SetHDInputs(Time, n, u(1), mappingData, drvrData, ErrStat, ErrMsg); CALL CheckError()
- ! SeaState has no inputs, so no need to set them.
-
+  call SetHDInputs(Time, n, u(1), mappingData, drvrData, ErrStat, ErrMsg); CALL CheckError()
+  ! SeaState has no inputs, so no need to set them.
+ END IF
 
  if (n==1 .and. drvrData%Linearize) then
  ! we set u(1)%PRPMesh motions, so we should assume that EDRP changed similarly: 

modules/openfast-library/src/FAST_Subs.f90

@@ -1547,6 +1547,42 @@ SUBROUTINE FAST_InitializeAll( t_initial, p_FAST, y_FAST, m_FAST, ED, BD, SrvD,
  ErrMsg = ""
  END IF
 
+ ! ----------------------------------------------------------------------------
+ ! Initialize low-pass-filtered displacements of HydroDyn potential-flow bodies
+ ! ----------------------------------------------------------------------------
+ IF ( (p_FAST%CompHydro == Module_HD) .AND. (HD%p%PotMod == 1_IntKi) ) THEN
+ IF ( HD%p%WAMIT(1)%ExctnDisp == 2_IntKi ) THEN
+ ! Set the initial displacement of ED%PlatformPtMesh here to use MeshMapping
+ ED%y%PlatformPtMesh%TranslationDisp(:,1) = Init%OutData_ED%PlatformPos(1:3)
+ CALL SmllRotTrans( 'initial platform rotation ', &
+ REAL(Init%OutData_ED%PlatformPos(4),R8Ki), &
+ REAL(Init%OutData_ED%PlatformPos(5),R8Ki), &
+ REAL(Init%OutData_ED%PlatformPos(6),R8Ki), &
+ ED%y%PlatformPtMesh%Orientation(:,:,1), '', ErrStat2, ErrMsg2 )
+ CALL SetErrStat( ErrStat2, ErrMsg2, ErrStat, ErrMsg, RoutineName )
+ ED%y%PlatformPtMesh%TranslationDisp(1,1) = ED%y%PlatformPtMesh%TranslationDisp(1,1) + ED%y%PlatformPtMesh%Orientation(3,1,1) * ED%p%PtfmRefzt
+ ED%y%PlatformPtMesh%TranslationDisp(2,1) = ED%y%PlatformPtMesh%TranslationDisp(2,1) + ED%y%PlatformPtMesh%Orientation(3,2,1) * ED%p%PtfmRefzt
+ ED%y%PlatformPtMesh%TranslationDisp(3,1) = ED%y%PlatformPtMesh%TranslationDisp(3,1) + ED%y%PlatformPtMesh%Orientation(3,3,1) * ED%p%PtfmRefzt - ED%p%PtfmRefzt
+ CALL Transfer_PlatformMotion_to_HD( ED%y%PlatformPtMesh, HD%Input(1), MeshMapData, ErrStat2, ErrMsg2 )
+ CALL SetErrStat( ErrStat2, ErrMsg2, ErrStat, ErrMsg, RoutineName )
+ IF (ErrStat >= AbortErrLev) THEN
+ CALL Cleanup()
+ RETURN
+ END IF
+ IF (HD%p%NBodyMod .EQ. 1_IntKi) THEN ! One instance of WAMIT with NBody
+ DO i = 1,HD%p%NBody
+ HD%xd(STATE_CURR)%WAMIT(1)%BdyPosFilt(1,i,:) = HD%Input(1)%WAMITMesh%TranslationDisp(1,i)
+ HD%xd(STATE_CURR)%WAMIT(1)%BdyPosFilt(2,i,:) = HD%Input(1)%WAMITMesh%TranslationDisp(2,i)
+ END DO
+ ELSE IF (HD%p%NBodyMod > 1_IntKi) THEN ! NBody instances of WAMIT with one body each
+ DO i = 1,HD%p%NBody
+ HD%xd(STATE_CURR)%WAMIT(i)%BdyPosFilt(1,1,:) = HD%Input(1)%WAMITMesh%TranslationDisp(1,i)
+ HD%xd(STATE_CURR)%WAMIT(i)%BdyPosFilt(2,1,:) = HD%Input(1)%WAMITMesh%TranslationDisp(2,i)
+ END DO
+ END IF
+ END IF
+ END IF
+
  ! -------------------------------------------------------------------------
  ! Initialize for linearization or computing aero maps:
  ! -------------------------------------------------------------------------