Merge pull request #2203 from luwang00/f/LargeYaw

Support for large platform yaw offset in OpenFAST

modules/aerodyn/src/AeroDyn.f90

@@ -7433,7 +7433,7 @@ SUBROUTINE Perturb_u( p, n, perturb_sign, u, du )
  ! Module/Mesh/Field: u%TowerMotion%TranslationVel = 11;
  ! Module/Mesh/Field: u%TowerMotion%TranslationAcc = 12;
  case( 9); u%TowerMotion%TranslationDisp(fieldIndx,node) = u%TowerMotion%TranslationDisp( fieldIndx,node) + du * perturb_sign
- case(10); CALL PerturbOrientationMatrix( u%TowerMotion%Orientation(:,:,node), du * perturb_sign, fieldIndx, UseSmlAngle=.true. )
+ case(10); CALL PerturbOrientationMatrix( u%TowerMotion%Orientation(:,:,node), du * perturb_sign, fieldIndx, UseSmlAngle=.false. )
  case(11); u%TowerMotion%TranslationVel( fieldIndx,node) = u%TowerMotion%TranslationVel( fieldIndx,node) + du * perturb_sign
  case(12); u%TowerMotion%TranslationAcc( fieldIndx,node) = u%TowerMotion%TranslationAcc(fieldIndx,node) + du * perturb_sign
 

modules/elastodyn/src/ElastoDyn_IO.f90

@@ -4276,22 +4276,21 @@ SUBROUTINE ValidatePrimaryData( InputFileData, BD4Blades, Linearize, MHK, ErrSta
  CALL SetErrStat(ErrID_Fatal,'ShftTilt must be between -pi/2 and pi/2 radians (i.e., in the range [-90, 90] degrees).',ErrStat,ErrMsg,RoutineName)
  END IF
 
-
  ! Check for violations of the small-angle assumption (15-degree limit, using radians):
- IF ( ABS( InputFileData%PtfmRoll ) > SmallAngleLimit_Rad ) THEN
- CALL SetErrStat( ErrID_Fatal, 'PtfmRoll must be between -'//TRIM(Num2LStr(SmallAngleLimit_Rad))//' and ' &
- //TRIM(Num2LStr(SmallAngleLimit_Rad))//' radians.',ErrStat,ErrMsg,RoutineName)
- END IF
-
- IF ( ABS( InputFileData%PtfmPitch ) > SmallAngleLimit_Rad ) THEN
- CALL SetErrStat( ErrID_Fatal, 'PtfmPitch must be between -'//TRIM(Num2LStr(SmallAngleLimit_Rad))//' and ' &
- //TRIM(Num2LStr(SmallAngleLimit_Rad))//' radians.',ErrStat,ErrMsg,RoutineName)
- END IF
-
- IF ( ABS( InputFileData%PtfmYaw ) > SmallAngleLimit_Rad ) THEN
- CALL SetErrStat( ErrID_Fatal, 'PtfmYaw must be between -'//TRIM(Num2LStr(SmallAngleLimit_Rad))//' and ' &
- //TRIM(Num2LStr(SmallAngleLimit_Rad))//' radians.',ErrStat,ErrMsg,RoutineName)
- END IF
+ ! IF ( ABS( InputFileData%PtfmRoll ) > SmallAngleLimit_Rad ) THEN
+ !  CALL SetErrStat( ErrID_Fatal, 'PtfmRoll must be between -'//TRIM(Num2LStr(SmallAngleLimit_Rad))//' and ' &
+ !  //TRIM(Num2LStr(SmallAngleLimit_Rad))//' radians.',ErrStat,ErrMsg,RoutineName)
+ ! END IF
+
+ ! IF ( ABS( InputFileData%PtfmPitch ) > SmallAngleLimit_Rad ) THEN
+ !  CALL SetErrStat( ErrID_Fatal, 'PtfmPitch must be between -'//TRIM(Num2LStr(SmallAngleLimit_Rad))//' and ' &
+ !  //TRIM(Num2LStr(SmallAngleLimit_Rad))//' radians.',ErrStat,ErrMsg,RoutineName)
+ ! END IF
+
+ ! IF ( ABS( InputFileData%PtfmYaw  ) > SmallAngleLimit_Rad ) THEN
+ !  CALL SetErrStat( ErrID_Fatal, 'PtfmYaw must be between -'//TRIM(Num2LStr(SmallAngleLimit_Rad))//' and ' &
+ !  //TRIM(Num2LStr(SmallAngleLimit_Rad))//' radians.',ErrStat,ErrMsg,RoutineName)
+ ! END IF
 
  ! Check the output parameters:
  IF ( InputFileData%DecFact < 1_IntKi ) CALL SetErrStat( ErrID_Fatal, 'DecFact must be greater than 0.',ErrStat,ErrMsg,RoutineName )

modules/elastodyn/src/ElastoDyn_Registry.txt

@@ -262,6 +262,12 @@ typedef ^ ED_InputFile IntKi BldNd_BladesOut - - - "The blades to output (ED
 # ..... Internal data types: Coordinate Systems ...................................................................................
 # This type defines coordinate sytems used internally by FAST. The 3 components of each vector correspond to the z1, z2, and z3 components of the individual vectors.
 # NOTE: the orientations of most of these coordinate systems will change every time step.
+typedef ^ ED_CoordSys R8Ki alpha1 3 - - "Vector / direction alpha1 after ptfm yaw rotation" -
+typedef ^ ED_CoordSys R8Ki alpha2 3 - - "Vector / direction alpha2 after ptfm yaw rotation" -
+typedef ^ ED_CoordSys R8Ki alpha3 3 - - "Vector / direction alpha3 after ptfm yaw rotation" -
+typedef ^ ED_CoordSys R8Ki beta1 3 - - "Vector / direction beta1 after ptfm yaw and pitch rotation" -
+typedef ^ ED_CoordSys R8Ki beta2 3 - - "Vector / direction beta2 after ptfm yaw and pitch rotation" -
+typedef ^ ED_CoordSys R8Ki beta3 3 - - "Vector / direction beta3 after ptfm yaw and pitch rotation" -
 typedef ^ ED_CoordSys R8Ki a1 3 - - "Vector / direction a1 (= xt from the IEC coord. system)" -
 typedef ^ ED_CoordSys R8Ki a2 3 - - "Vector / direction a2 (= zt from the IEC coord. system)" -
 typedef ^ ED_CoordSys R8Ki a3 3 - - "Vector / direction a3 (= -yt from the IEC coord. system)" -

modules/elastodyn/src/ElastoDyn_Types.f90

@@ -275,6 +275,12 @@ MODULE ElastoDyn_Types
 ! =======================
 ! ========= ED_CoordSys =======
  TYPE, PUBLIC :: ED_CoordSys
+ REAL(R8Ki) , DIMENSION(1:3) :: alpha1 = 0.0_R8Ki !< Vector / direction alpha1 after ptfm yaw rotation [-]
+ REAL(R8Ki) , DIMENSION(1:3) :: alpha2 = 0.0_R8Ki !< Vector / direction alpha2 after ptfm yaw rotation [-]
+ REAL(R8Ki) , DIMENSION(1:3) :: alpha3 = 0.0_R8Ki !< Vector / direction alpha3 after ptfm yaw rotation [-]
+ REAL(R8Ki) , DIMENSION(1:3) :: beta1 = 0.0_R8Ki !< Vector / direction beta1 after ptfm yaw and pitch rotation [-]
+ REAL(R8Ki) , DIMENSION(1:3) :: beta2 = 0.0_R8Ki !< Vector / direction beta2 after ptfm yaw and pitch rotation [-]
+ REAL(R8Ki) , DIMENSION(1:3) :: beta3 = 0.0_R8Ki !< Vector / direction beta3 after ptfm yaw and pitch rotation [-]
  REAL(R8Ki) , DIMENSION(1:3) :: a1 = 0.0_R8Ki !< Vector / direction a1 (= xt from the IEC coord. system) [-]
  REAL(R8Ki) , DIMENSION(1:3) :: a2 = 0.0_R8Ki !< Vector / direction a2 (= zt from the IEC coord. system) [-]
  REAL(R8Ki) , DIMENSION(1:3) :: a3 = 0.0_R8Ki !< Vector / direction a3 (= -yt from the IEC coord. system) [-]
@@ -2365,6 +2371,12 @@ subroutine ED_CopyCoordSys(SrcCoordSysData, DstCoordSysData, CtrlCode, ErrStat,
  character(*), parameter :: RoutineName = 'ED_CopyCoordSys'
  ErrStat = ErrID_None
  ErrMsg = ''
+ DstCoordSysData%alpha1 = SrcCoordSysData%alpha1
+ DstCoordSysData%alpha2 = SrcCoordSysData%alpha2
+ DstCoordSysData%alpha3 = SrcCoordSysData%alpha3
+ DstCoordSysData%beta1 = SrcCoordSysData%beta1
+ DstCoordSysData%beta2 = SrcCoordSysData%beta2
+ DstCoordSysData%beta3 = SrcCoordSysData%beta3
  DstCoordSysData%a1 = SrcCoordSysData%a1
  DstCoordSysData%a2 = SrcCoordSysData%a2
  DstCoordSysData%a3 = SrcCoordSysData%a3
@@ -2683,6 +2695,12 @@ subroutine ED_PackCoordSys(RF, Indata)
  type(ED_CoordSys), intent(in) :: InData
  character(*), parameter :: RoutineName = 'ED_PackCoordSys'
  if (RF%ErrStat >= AbortErrLev) return
+ call RegPack(RF, InData%alpha1)
+ call RegPack(RF, InData%alpha2)
+ call RegPack(RF, InData%alpha3)
+ call RegPack(RF, InData%beta1)
+ call RegPack(RF, InData%beta2)
+ call RegPack(RF, InData%beta3)
  call RegPack(RF, InData%a1)
  call RegPack(RF, InData%a2)
  call RegPack(RF, InData%a3)
@@ -2744,6 +2762,12 @@ subroutine ED_UnPackCoordSys(RF, OutData)
  integer(IntKi) :: stat
  logical :: IsAllocAssoc
  if (RF%ErrStat /= ErrID_None) return
+ call RegUnpack(RF, OutData%alpha1); if (RegCheckErr(RF, RoutineName)) return
+ call RegUnpack(RF, OutData%alpha2); if (RegCheckErr(RF, RoutineName)) return
+ call RegUnpack(RF, OutData%alpha3); if (RegCheckErr(RF, RoutineName)) return
+ call RegUnpack(RF, OutData%beta1); if (RegCheckErr(RF, RoutineName)) return
+ call RegUnpack(RF, OutData%beta2); if (RegCheckErr(RF, RoutineName)) return
+ call RegUnpack(RF, OutData%beta3); if (RegCheckErr(RF, RoutineName)) return
  call RegUnpack(RF, OutData%a1); if (RegCheckErr(RF, RoutineName)) return
  call RegUnpack(RF, OutData%a2); if (RegCheckErr(RF, RoutineName)) return
  call RegUnpack(RF, OutData%a3); if (RegCheckErr(RF, RoutineName)) return

modules/hydrodyn/CMakeLists.txt

@@ -43,6 +43,7 @@ add_library(hydrodynlib STATIC
  src/SS_Excitation_Types.f90
  src/WAMIT_Types.f90
  src/WAMIT2_Types.f90
+ src/YawOffset.f90
 )
 target_link_libraries(hydrodynlib seastlib nwtclibs)