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Update of PR 391 regression tests #405

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merged 5 commits into from
Mar 27, 2020
Merged

Update of PR 391 regression tests #405

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0e660bf
ED: add rotational velocity and translational acceleration
bjonkman Feb 12, 2020
6bd2e0a
Merge pull request #391 from bjonkman/b/EDBladeMesh_Issue39
andrew-platt Feb 28, 2020
a8dddca
Updated reg-tests for PR391
andrew-platt Mar 26, 2020
afe9a1b
Merge remote-tracking branch 'upstream/dev' into PR391_to_update
andrew-platt Mar 27, 2020
afdf240
Move CI tests to an entrypoint script
rafmudaf Mar 27, 2020
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30 changes: 3 additions & 27 deletions .github/actions/compile-and-test/Dockerfile
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Expand Up @@ -16,33 +16,9 @@

FROM rafmudaf/openfast-ubuntu:dev

# Move into the openfast directory and update
# Move into the openfast directory
WORKDIR /openfast
RUN git fetch origin ${GITHUB_REF}:CI
RUN git checkout CI
RUN git submodule update

# Move into the "build" directory, remove the old reg tests, and compile
WORKDIR /openfast/build
RUN rm -rf reg_tests
RUN cmake ..
RUN make -j4 install
COPY entrypoint.sh /entrypoint.sh

# Run the tests

# NWTC Library tests
RUN ctest -VV -R nwtc_library_utest

# BeamDyn-specific tests
RUN ctest -VV -j7 -R bd_
RUN ctest -VV -R beamdyn_utest

# OpenFAST linearization tests
# Dont run these in parallel, copying the case files can fail in a race condition
RUN ctest -VV -L linear

# Subset of OpenFAST regression tests; do not run
## - 9, 16 because they're very sensitive
## - 19, 20 because theyre too long
## - 17, 22, 23 becuase we dont know why they fail :(
RUN ctest -VV -j8 -I 1,1,1,2,3,4,5,6,7,8,10,11,12,13,14,15,18,21,24,25
ENTRYPOINT ["/entrypoint.sh"]
38 changes: 38 additions & 0 deletions .github/actions/compile-and-test/entrypoint.sh
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@@ -0,0 +1,38 @@
#!/bin/bash

git fetch origin ${GITHUB_REF}:CI
git checkout CI
git submodule update

# Print the current git info
echo `git status`
echo `git log -1`
cd /openfast/reg_tests/r-test
echo `git status`
echo `git log -1`
cd /openfast

# Move into the "build" directory, remove the old reg tests, and compile
cd /openfast/build
rm -rf reg_tests
cmake ..
make -j4 install

# Run the tests

# NWTC Library tests
ctest -VV -R nwtc_library_utest

# BeamDyn-specific tests
ctest -VV -j7 -R bd_
ctest -VV -R beamdyn_utest

# OpenFAST linearization tests
# Dont run these in parallel, copying the case files can fail in a race condition
ctest -VV -L linear

# Subset of OpenFAST regression tests; do not run
## - 9, 16 because they're very sensitive
## - 19, 20 because theyre too long
## - 17, 22, 23 becuase we dont know why they fail :(
ctest -VV -j8 -I 1,1,1,2,3,4,5,6,7,8,10,11,12,13,14,15,18,21,24,25
84 changes: 33 additions & 51 deletions modules/elastodyn/src/ElastoDyn.f90
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Expand Up @@ -1331,11 +1331,6 @@ SUBROUTINE ED_CalcOutput( t, u, p, x, xd, z, OtherState, y, m, ErrStat, ErrMsg )
y%BladeLn2Mesh(K)%Orientation(2,3,NodeNum) = m%CoordSys%te2(K,J2,2)
y%BladeLn2Mesh(K)%Orientation(3,3,NodeNum) = m%CoordSys%te3(K,J2,2)

! Translational Acceleration (for water-power request for added mass calculations)
y%BladeLn2Mesh(K)%TranslationAcc(1,NodeNum) = LinAccES(1,J2,K)
y%BladeLn2Mesh(K)%TranslationAcc(2,NodeNum) = -1.*LinAccES(3,J2,K)
y%BladeLn2Mesh(K)%TranslationAcc(3,NodeNum) = LinAccES(2,J2,K)

else
! Translational Displacement (first calculate absolute position)
y%BladeLn2Mesh(K)%TranslationDisp(1,NodeNum) = m%RtHS%rS (1,K,J2) ! = the distance from the undeflected tower centerline to the current blade node in the xi ( z1) direction
Expand All @@ -1357,12 +1352,22 @@ SUBROUTINE ED_CalcOutput( t, u, p, x, xd, z, OtherState, y, m, ErrStat, ErrMsg )
! Translational Displacement (get displacement, not absolute position):
y%BladeLn2Mesh(K)%TranslationDisp(:,NodeNum) = y%BladeLn2Mesh(K)%TranslationDisp(:,NodeNum) - y%BladeLn2Mesh(K)%Position(:,NodeNum)


! Translational Velocity
y%BladeLn2Mesh(K)%TranslationVel(1,NodeNum) = m%RtHS%LinVelES(1,J2,K)
y%BladeLn2Mesh(K)%TranslationVel(2,NodeNum) = -1.*m%RtHS%LinVelES(3,J2,K)
y%BladeLn2Mesh(K)%TranslationVel(3,NodeNum) = m%RtHS%LinVelES(2,J2,K)


! Rotational Velocity
y%BladeLn2Mesh(K)%RotationVel(1,NodeNum) = m%RtHS%AngVelEM(1,J2,K)
y%BladeLn2Mesh(K)%RotationVel(2,NodeNum) = -1.*m%RtHS%AngVelEM(3,J2,K)
y%BladeLn2Mesh(K)%RotationVel(3,NodeNum) = m%RtHS%AngVelEM(2,J2,K)

! Translational Acceleration
y%BladeLn2Mesh(K)%TranslationAcc(1,NodeNum) = LinAccES(1,J2,K)
y%BladeLn2Mesh(K)%TranslationAcc(2,NodeNum) = -1.*LinAccES(3,J2,K)
y%BladeLn2Mesh(K)%TranslationAcc(3,NodeNum) = LinAccES(2,J2,K)


END DO !J = 1,p%BldNodes ! Loop through the blade nodes / elements

END DO !K = 1,p%NumBl
Expand Down Expand Up @@ -2969,7 +2974,7 @@ SUBROUTINE Alloc_RtHS( RtHS, p, ErrStat, ErrMsg )
ErrMsg = ' Error allocating memory for the PAngVelEL array.'
RETURN
ENDIF
ALLOCATE ( RtHS%PAngVelEM(p%NumBl,p%TipNode,p%NDOF,0:1,Dims) , STAT=ErrStat )
ALLOCATE ( RtHS%PAngVelEM(p%NumBl,0:p%TipNode,p%NDOF,0:1,Dims) , STAT=ErrStat )
IF ( ErrStat /= 0_IntKi ) THEN
ErrStat = ErrID_Fatal
ErrMsg = ' Error allocating memory for the PAngVelEM array.'
Expand All @@ -2989,10 +2994,11 @@ SUBROUTINE Alloc_RtHS( RtHS, p, ErrStat, ErrMsg )
!CALL AllocAry( RtHS%LinVelET, Dims, p%TwrNodes, 'LinVelET', ErrStat, ErrMsg ); IF ( ErrStat /= ErrID_None ) RETURN

!CALL AllocAry( RtHS%LinVelESm2, p%NumBl, 'LinVelESm2',ErrStat, ErrMsg ); IF ( ErrStat /= ErrID_None ) RETURN ! The m2-component (closest to tip) of LinVelES
ALLOCATE( RtHS%LinVelES( Dims, 0:p%TipNode, p%NumBl ), STAT=ErrStat )
ALLOCATE( RtHS%LinVelES( Dims, 0:p%TipNode, p%NumBl ), &
RtHS%AngVelEM( Dims, 0:p%TipNode, p%NumBl ), STAT=ErrStat )
IF (ErrStat /= 0 ) THEN
ErrStat = ErrID_Fatal
ErrMsg = RoutineName//":Error allocating LinVelES."
ErrMsg = RoutineName//":Error allocating LinVelES and AngVelEM."
RETURN
END IF

Expand Down Expand Up @@ -3094,6 +3100,12 @@ SUBROUTINE Alloc_RtHS( RtHS, p, ErrStat, ErrMsg )
RETURN
ENDIF

ALLOCATE(RtHS%AngPosHM(Dims, p%NumBl, 0:p%TipNode), STAT=ErrStat )
IF ( ErrStat /= 0_IntKi ) THEN
ErrStat = ErrID_Fatal
ErrMsg = ' Error allocating memory for the AngPosHM arrays.'
RETURN
ENDIF

!CALL AllocAry( RtHS%LinAccESt, Dims, p%NumBl, p%TipNode,'LinAccESt', ErrStat, ErrMsg ); IF ( ErrStat /= ErrID_None ) RETURN
!CALL AllocAry( RtHS%LinAccETt, Dims, p%TwrNodes, 'LinAccETt', ErrStat, ErrMsg ); IF ( ErrStat /= ErrID_None ) RETURN
Expand All @@ -3112,7 +3124,6 @@ SUBROUTINE Alloc_RtHS( RtHS, p, ErrStat, ErrMsg )
CALL AllocAry( RtHS%FSAero, Dims, p%NumBl,p%BldNodes,'FSAero', ErrStat, ErrMsg ); IF ( ErrStat /= ErrID_None ) RETURN
CALL AllocAry( RtHS%MMAero, Dims, p%NumBl,p%BldNodes,'MMAero', ErrStat, ErrMsg ); IF ( ErrStat /= ErrID_None ) RETURN
CALL AllocAry( RtHS%FSTipDrag, Dims, p%NumBl, 'FSTipDrag', ErrStat, ErrMsg ); IF ( ErrStat /= ErrID_None ) RETURN
CALL AllocAry( RtHS%AngPosHM, Dims, p%NumBl,p%TipNode, 'AngPosHM', ErrStat, ErrMsg ); IF ( ErrStat /= ErrID_None ) RETURN
CALL AllocAry( RtHS%PFTHydro, Dims, p%TwrNodes, p%NDOF,'PFTHydro', ErrStat, ErrMsg ); IF ( ErrStat /= ErrID_None ) RETURN
CALL AllocAry( RtHS%PMFHydro, Dims, p%TwrNodes, p%NDOF,'PMFHydro', ErrStat, ErrMsg ); IF ( ErrStat /= ErrID_None ) RETURN
CALL AllocAry( RtHS%FTHydrot, Dims, p%TwrNodes, 'FTHydrot', ErrStat, ErrMsg ); IF ( ErrStat /= ErrID_None ) RETURN
Expand Down Expand Up @@ -6768,6 +6779,8 @@ SUBROUTINE CalculateAngularPosVelPAcc( p, x, CoordSys, RtHSdat )
TYPE(ED_RtHndSide), INTENT(INOUT) :: RtHSdat !< data from the RtHndSid module (contains positions to be set)

!Local variables

REAL(ReKi) :: AngVelHM (3) ! Angular velocity of eleMent J of blade K (body M) in the hub (body H).
! REAL(ReKi) :: AngVelEN (3) ! Angular velocity of the nacelle (body N) in the inertia frame (body E for earth).
REAL(ReKi) :: AngAccELt (3) ! Portion of the angular acceleration of the low-speed shaft (body L) in the inertia frame (body E for earth) associated with everything but the QD2T()'s.
INTEGER(IntKi) :: J ! Counter for elements
Expand Down Expand Up @@ -6887,54 +6900,23 @@ SUBROUTINE CalculateAngularPosVelPAcc( p, x, CoordSys, RtHSdat )

DO K = 1,p%NumBl ! Loop through all blades

! Define the partial angular velocities of the tip (body M(p%BldFlexL)) in the inertia frame:
! NOTE: PAngVelEM(K,J,I,D,:) = the Dth-derivative of the partial angular velocity of DOF I for body M of blade K, element J in body E.

RtHSdat%PAngVelEM(K,p%TipNode, :,0,:) = RtHSdat%PAngVelEH(:,0,:)
RtHSdat%PAngVelEM(K,p%TipNode,DOF_BF(K,1),0,:) = - p%TwistedSF(K,2,1,p%TipNode,1)*CoordSys%j1(K,:) &
+ p%TwistedSF(K,1,1,p%TipNode,1)*CoordSys%j2(K,:)
RtHSdat%PAngVelEM(K,p%TipNode,DOF_BF(K,2),0,:) = - p%TwistedSF(K,2,2,p%TipNode,1)*CoordSys%j1(K,:) &
+ p%TwistedSF(K,1,2,p%TipNode,1)*CoordSys%j2(K,:)
RtHSdat%PAngVelEM(K,p%TipNode,DOF_BE(K,1),0,:) = - p%TwistedSF(K,2,3,p%TipNode,1)*CoordSys%j1(K,:) &
+ p%TwistedSF(K,1,3,p%TipNode,1)*CoordSys%j2(K,:)
! AngVelHM(K,p%TipNode ,:) = RtHSdat%AngVelEH + x%QDT(DOF_BF(K,1))*RtHSdat%PAngVelEM(K,p%TipNode,DOF_BF(K,1),0,:) & ! Currently
! + x%QDT(DOF_BF(K,2))*RtHSdat%PAngVelEM(K,p%TipNode,DOF_BF(K,2),0,:) & ! unused
! + x%QDT(DOF_BE(K,1))*RtHSdat%PAngVelEM(K,p%TipNode,DOF_BE(K,1),0,:) ! calculations
RtHSdat%AngPosHM(:,K,p%TipNode) = x%QT (DOF_BF(K,1))*RtHSdat%PAngVelEM(K,p%TipNode,DOF_BF(K,1),0,:) &
+ x%QT (DOF_BF(K,2))*RtHSdat%PAngVelEM(K,p%TipNode,DOF_BF(K,2),0,:) &
+ x%QT (DOF_BE(K,1))*RtHSdat%PAngVelEM(K,p%TipNode,DOF_BE(K,1),0,:)


! Define the 1st derivatives of the partial angular velocities of the tip
! (body M(p%BldFlexL)) in the inertia frame:

! NOTE: These are currently unused by the code, therefore, they need not
! be calculated. Thus, they are currently commented out. If it
! turns out that they are ever needed (i.e., if inertias of the
! blade elements are ever added, etc...) simply uncomment out these
! computations:
! RtHSdat%PAngVelEM(K,p%TipNode, :,1,:) = RtHSdat%PAngVelEH(:,1,:)
! RtHSdat%PAngVelEM(K,p%TipNode,DOF_BF(K,1),1,:) = CROSS_PRODUCT( RtHSdat%AngVelEH, RtHSdat%PAngVelEM(K,p%TipNode,DOF_BF(K,1),0,:) )
! RtHSdat%PAngVelEM(K,p%TipNode,DOF_BF(K,2),1,:) = CROSS_PRODUCT( RtHSdat%AngVelEH, RtHSdat%PAngVelEM(K,p%TipNode,DOF_BF(K,2),0,:) )
! RtHSdat%PAngVelEM(K,p%TipNode,DOF_BE(K,1),1,:) = CROSS_PRODUCT( RtHSdat%AngVelEH, RtHSdat%PAngVelEM(K,p%TipNode,DOF_BE(K,1),0,:) )


DO J = 1,p%BldNodes ! Loop through the blade nodes / elements
DO J = 0,p%TipNode ! Loop through the blade nodes / elements
! Define the partial angular velocities of the current node (body M(RNodes(J))) in the inertia frame:
! NOTE: PAngVelEM(K,J,I,D,:) = the Dth-derivative of the partial angular velocity
! of DOF I for body M of blade K, element J in body E.

RtHSdat%PAngVelEM(K,J, :,0,:) = RtHSdat%PAngVelEH(:,0,:)
RtHSdat%PAngVelEM(K,J,DOF_BF(K,1),0,:) = - p%TwistedSF(K,2,1,J,1)*CoordSys%j1(K,:) &
+ p%TwistedSF(K,1,1,J,1)*CoordSys%j2(K,:)
+ p%TwistedSF(K,1,1,J,1)*CoordSys%j2(K,:)
RtHSdat%PAngVelEM(K,J,DOF_BF(K,2),0,:) = - p%TwistedSF(K,2,2,J,1)*CoordSys%j1(K,:) &
+ p%TwistedSF(K,1,2,J,1)*CoordSys%j2(K,:)
+ p%TwistedSF(K,1,2,J,1)*CoordSys%j2(K,:)
RtHSdat%PAngVelEM(K,J,DOF_BE(K,1),0,:) = - p%TwistedSF(K,2,3,J,1)*CoordSys%j1(K,:) &
+ p%TwistedSF(K,1,3,J,1)*CoordSys%j2(K,:)
! AngVelHM(K,J ,:) = RtHSdat%AngVelEH + x%QDT(DOF_BF(K,1))*RtHSdat%PAngVelEM(K,J,DOF_BF(K,1),0,:) & ! Currently
! + x%QDT(DOF_BF(K,2))*RtHSdat%PAngVelEM(K,J,DOF_BF(K,2),0,:) & ! unused
! + x%QDT(DOF_BE(K,1))*RtHSdat%PAngVelEM(K,J,DOF_BE(K,1),0,:) ! calculations
RtHSdat%AngPosHM(:,K,J ) = x%QT (DOF_BF(K,1))*RtHSdat%PAngVelEM(K,J,DOF_BF(K,1),0,:) &
+ p%TwistedSF(K,1,3,J,1)*CoordSys%j2(K,:)
AngVelHM = RtHSdat%AngVelEH + x%QDT(DOF_BF(K,1))*RtHSdat%PAngVelEM(K,J,DOF_BF(K,1),0,:) &
+ x%QDT(DOF_BF(K,2))*RtHSdat%PAngVelEM(K,J,DOF_BF(K,2),0,:) &
+ x%QDT(DOF_BE(K,1))*RtHSdat%PAngVelEM(K,J,DOF_BE(K,1),0,:)
RtHSdat%AngVelEM(:,J,K ) = RtHSdat%AngVelEH + AngVelHM
RtHSdat%AngPosHM(:,K,J ) = x%QT (DOF_BF(K,1))*RtHSdat%PAngVelEM(K,J,DOF_BF(K,1),0,:) &
+ x%QT (DOF_BF(K,2))*RtHSdat%PAngVelEM(K,J,DOF_BF(K,2),0,:) &
+ x%QT (DOF_BE(K,1))*RtHSdat%PAngVelEM(K,J,DOF_BE(K,1),0,:)

Expand Down
1 change: 1 addition & 0 deletions modules/elastodyn/src/ElastoDyn_Registry.txt
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Expand Up @@ -399,6 +399,7 @@ typedef ^ ED_RtHndSide ReKi PAngVelEG {:}{:}{:} - - "Partial angular velocity (a
typedef ^ ED_RtHndSide ReKi PAngVelEH {:}{:}{:} - - "Partial angular velocity (and its 1st time derivative) of the hub (body H) in the inertia frame (body E for earth)"
typedef ^ ED_RtHndSide ReKi PAngVelEL {:}{:}{:} - - "Partial angular velocity (and its 1st time derivative) of the low-speed shaft (body L) in the inertia frame (body E for earth)"
typedef ^ ED_RtHndSide ReKi PAngVelEM {:}{:}{:}{:}{:} - - "Partial angular velocity (and its 1st time derivative) of eleMent J of blade K (body M) in the inertia frame (body E for earth)"
typedef ^ ED_RtHndSide ReKi AngVelEM {:}{:}{:} - - "Angular velocity of of eleMent J of blade K (body M) in the inertia frame (body E for earth)"
typedef ^ ED_RtHndSide ReKi PAngVelEN {:}{:}{:} - - "Partial angular velocity (and its 1st time derivative) of the nacelle (body N) in the inertia frame (body E for earth)"
typedef ^ ED_RtHndSide ReKi AngVelEA 3 - - "Angular velocity of the tail (body A) in the inertia frame (body E for earth)"
typedef ^ ED_RtHndSide ReKi PAngVelEB {:}{:}{:} - - "Partial angular velocity (and its 1st time derivative) of the base plate (body B) in the inertia frame (body E for earth)"
Expand Down
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