Merge remote-tracking branch 'OpenFAST/dev' into f/LargeYaw

OpenFAST · Aug 26, 2024 · cbdeb8d · cbdeb8d
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diff --git a/.gitmodules b/.gitmodules
@@ -1,3 +1,3 @@
 [submodule "reg_tests/r-test"]
  path = reg_tests/r-test
- url = https://github.com/OpenFAST/r-test.git
+ url = https://github.com/OpenFAST/r-test.git
diff --git a/CMakeLists.txt b/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")

diff --git a/docs/OtherSupporting/AeroDisk/AeroDisk_Plan_Rev2.doc b/docs/OtherSupporting/AeroDisk/AeroDisk_Plan_Rev2.doc
diff --git a/docs/OtherSupporting/OutListParameters.xlsx b/docs/OtherSupporting/OutListParameters.xlsx
diff --git a/docs/source/user/aerodisk/index.rst b/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
diff --git a/docs/source/user/aerodisk/input_files.rst b/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)
+
diff --git a/docs/source/user/aerodyn-aeroacoustics/example/AeroDyn.ipt b/docs/source/user/aerodyn-aeroacoustics/example/AeroDyn.ipt
@@ -11,6 +11,7 @@ False TwrAero - Calculate tower aerodynamic loads? (flag)
 False FrozenWake - Assume frozen wake during linearization? (flag
 False CavitCheck - Perform cavitation check? (flag)
 False Buoyancy - Include buoyancy effects? (flag)
+False NacelleDrag - Include Nacelle Drag effects? (flag)
 True CompAA - Flag to compute AeroAcoustics calculation
 "AeroAcousticsInput.dat" AA_InputFile
 ====== Environmental Conditions ==========================================

diff --git a/docs/source/user/aerodyn/ADNodalOutputs.rst b/docs/source/user/aerodyn/ADNodalOutputs.rst
@@ -17,7 +17,11 @@ are 0 through the number of blades AeroDyn is modeling. If the value is set to
 1, only blade 1 will be output, and if the value is 2, blades 1 and 2 will be
 output.
 
-**BldNd_BlOutNd** specifies which nodes to output. This is currently unused.
+**BldNd_BlOutNd** specifies which nodes to output (on all blades selected for 
+output). Valid entries are "ALL" (all blade nodes), "TIP" (only the last blade
+node), "ROOT", (only the first blade node), or a list of numbers corresponding 
+to the node to output; valid numbers are 1 through the number of blade nodes 
+AeroDyn is modeling on each blade.
 
 The **OutList** section controls the nodal output quantities generated by
 AeroDyn. In this section, the user specifies the name of the channel family to

diff --git a/docs/source/user/aerodyn/appendix.rst b/docs/source/user/aerodyn/appendix.rst
@@ -27,7 +27,7 @@ outside of OpenFAST.
 3) AeroDyn Primary Input File 
 :download:`(primary input file example) <examples/ad_primary_example.dat>`: 
 
-The primary AeroDyn input file defines modeling options, environmental conditions (except freestream flow), airfoils, tower nodal discretization and properties, tower, hub, and nacelle buoyancy properties, as well as output file specifications.
+The primary AeroDyn input file defines modeling options, environmental conditions (except freestream flow), airfoils, tower nodal discretization and properties, tower, hub, and nacelle properties, as well as output file specifications.
 
 The file is organized into several functional sections. Each section corresponds to an aspect of the aerodynamics model. 
 

diff --git a/docs/source/user/aerodyn/driver.rst b/docs/source/user/aerodyn/driver.rst
@@ -375,24 +375,30 @@ An example is given below for two turbines, the first one having 3 blades, the s
 
 **Hub and nacelle inputs**
 
-The sections defining the hub and nacelle buoyancy parameters must also be reproduced for each turbine.
+The sections defining the hub and nacelle parameters must also be reproduced for each turbine.
 
 An example is given below for two turbines:
 
 .. code::
 
  ====== Hub Properties ============================================================================== [used only when Buoyancy=True]
- 7.0 VolHub - Hub volume (m^3)
- 0.0 HubCenBx - Hub center of buoyancy x direction offset (m)
+ 7.0 VolHub  - Hub volume (m^3)
+ 0.0 HubCenBx  - Hub center of buoyancy x direction offset (m)
  ====== Hub Properties ============================================================================== [used only when Buoyancy=True]
- 5.0 VolHub - Hub volume (m^3)
- 0.2 HubCenBx - Hub center of buoyancy x direction offset (m)
- ====== Nacelle Properties ========================================================================== [used only when Buoyancy=True]
- 32.0 VolNac - Nacelle volume (m^3)
- 0.3, 0.0, 0.05 NacCenB - Position of nacelle center of buoyancy from yaw bearing in nacelle coordinates (m)
- ====== Nacelle Properties ========================================================================== [used only when Buoyancy=True]
- 30.0 VolNac - Nacelle volume (m^3)
- 0.5, 0.1, 0.05 NacCenB - Position of nacelle center of buoyancy from yaw bearing in nacelle coordinates (m)
+ 5.0 VolHub - Hub volume (m^3)
+ 0.2 HubCenBx - Hub center of buoyancy x direction offset (m)
+ ====== Nacelle Properties ========================================================================== [used only when Buoyancy=True or NacelleDrag=True]
+ 32.0 VolNac - Nacelle volume (m^3)
+ 0.3, 0.0, 0.05 NacCenB - Position of nacelle center of buoyancy from yaw bearing in nacelle coordinates (m)
+ 4.67, 20.15, 20.15 NacArea - Projected area of the nacelle in X, Y, Z in the nacelle coordinate system (m^2)
+ 0.5, 0.5, 0.5 NacCd - Drag coefficient for the nacelle areas defined above (-)
+ 0.43, 0, 0 NacDragAC - Position of aerodynamic center of nacelle drag in nacelle coordinates (m)
+ ====== Nacelle Properties ========================================================================== [used only when Buoyancy=True or NacelleDrag=True]
+ 32.0 VolNac - Nacelle volume (m^3)
+ 0.3, 0.0, 0.05 NacCenB - Position of nacelle center of buoyancy from yaw bearing in nacelle coordinates (m)
+ 4.67, 20.15, 20.15 NacArea - Projected area of the nacelle in X, Y, Z in the nacelle coordinate system (m^2)
+ 0.5, 0.5, 0.5 NacCd - Drag coefficient for the nacelle areas defined above (-)
+ 0.43, 0, 0 NacDragAC - Position of aerodynamic center of nacelle drag in nacelle coordinates (m)
 
 
 **Aerodynamic tower inputs**

diff --git a/docs/source/user/aerodyn/examples/NodalOutputs.txt b/docs/source/user/aerodyn/examples/NodalOutputs.txt
@@ -1,7 +1,7 @@
 END of input file (the word "END" must appear in the first 3 columns of this last OutList line)
 ---------------------- NODE OUTPUTS --------------------------------------------
- 3 BldNd_BladesOut - Blades to output
- 99 BldNd_BlOutNd - Blade nodes on each blade (currently unused)
+ 3 BldNd_BladesOut - Number of blades to output all node information at. Up to number of blades on turbine. (-)
+ "ALL" BldNd_BlOutNd - Specify a portion of the nodes to output. {"ALL", "Tip", "Root", or a list of node numbers} (-)
  OutList - The next line(s) contains a list of output parameters. See OutListParameters.xlsx, AeroDyn_Nodes tab for a listing of available output channels, (-)
 "VUndx" - x-component of undisturbed wind velocity at each node
 "VUndy" - y-component of undisturbed wind velocity at each node

diff --git a/docs/source/user/aerodyn/examples/ad_primary_example.dat b/docs/source/user/aerodyn/examples/ad_primary_example.dat
@@ -9,6 +9,7 @@ False Echo - Echo the input to "<rootname>.AD.ech"? (flag
 False TwrAero - Calculate tower aerodynamic loads? (flag)
 False CavitCheck - Perform cavitation check? (flag) [UA_Mod must be 0 when CavitCheck=true]
 False Buoyancy - Include buoyancy effects? (flag)
+False NacelleDrag - Include Nacelle Drag effects? (flag)
 False CompAA - Flag to compute AeroAcoustics calculation [used only when Wake_Mod = 1 or 2]
 "unused" AA_InputFile - AeroAcoustics input file [used only when CompAA=true]
 ====== Environmental Conditions ===================================================================
@@ -46,7 +47,8 @@ False SectAvg - Use sector averaging (flag)
 ====== Unsteady Airfoil Aerodynamics Options ====================================================
 True AoA34 - Sample the angle of attack (AoA) at the 3/4 chord or the AC point {default=True} [always used]
  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>0]
+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>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 =========================================================================
@@ -75,9 +77,12 @@ True UseBlCm - Include aerodynamic pitching moment in calcul
 ====== Hub Properties ============================================================================== [used only when Buoyancy=True]
  0 VolHub - Hub volume (m^3)
  0 HubCenBx - Hub center of buoyancy x direction offset (m)
-====== Nacelle Properties ========================================================================== [used only when Buoyancy=True]
+====== Nacelle Properties ========================================================================== [used only when Buoyancy=True or NacelleDrag=True]
  0 VolNac - Nacelle volume (m^3)
- 0, 0, 0 NacCenB - Position of nacelle center of buoyancy from yaw bearing in nacelle coordinates (m)
+ 0, 0, 0 NacCenB - Position of nacelle center of buoyancy from yaw bearing in nacelle coordinates (m)
+ 0, 0, 0 NacArea - Projected area of the nacelle in X, Y, Z in the nacelle coordinate system (m^2)
+ 0, 0, 0 NacCd - Drag coefficient for the nacelle areas defined above (-)
+ 0, 0, 0 NacDragAC - Position of aerodynamic center of nacelle drag in nacelle coordinates (m)
 ====== Tail Fin Aerodynamics =======================================================================
 False TFinAero - Calculate tail fin aerodynamics model (flag)
 "unused" TFinFile - Input file for tail fin aerodynamics [used only when TFinAero=True]
@@ -110,7 +115,7 @@ True SumPrint - Generate a summary file listing input option
 END of OutList section (the word "END" must appear in the first 3 columns of the last OutList line)
 ====== Outputs for all blade stations (same ending as above for B1N1.... =========================== [optional section]
  1 BldNd_BladesOut - Number of blades to output all node information at. Up to number of blades on turbine. (-)
-"All" BldNd_BlOutNd - Future feature will allow selecting a portion of the nodes to output.  Not implemented yet. (-)
+"All" BldNd_BlOutNd - Specify a portion of the nodes to output. {"ALL", "Tip", "Root", or a list of node numbers} (-)
  OutList_Nodal - The next line(s) contains a list of output parameters. See OutListParameters.xlsx for a listing of available output channels, (-)
 "Fx, Fy" 
 "Vx, Vy"