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/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:
@@ -113,6 +124,7 @@ No input file changes were made. Some input files now include additional
 output channels: AeroDyn nodal outputs for another coordinate system, new
 MoorDyn output names (Connect changed to Point).
 
+>>>>>>> OpenFAST/dev
 
 
 OpenFAST v3.4.0 to OpenFAST v3.5.0 

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>