Documentation for ExtPtfm

docs/source/user/extptfm/appendix.rst

@@ -0,0 +1,11 @@
+.. _ep_appendix_A:
+
+Example Files
+=============
+
+Examples of inputs files are given below:
+
+- `ExtPtfm Module input file <https://github.com/OpenFAST/r-test/blob/main/glue-codes/openfast/5MW_OC4Jckt_ExtPtfm/ExtPtfm.dat>`_
+
+- `Superelement input file <https://github.com/OpenFAST/r-test/blob/main/glue-codes/openfast/5MW_OC4Jckt_ExtPtfm/ExtPtfm_SE.dat>`_
+

docs/source/user/extptfm/bibliography.bib

@@ -0,0 +1,31 @@
+@article{Branlard:2020superelement,
+	doi = {10.1088/1742-6596/1452/1/012033},
+	url = {https://doi.org/10.1088/1742-6596/1452/1/012033},
+	year = 2020,
+	month = {jan},
+	publisher = {{IOP} Publishing},
+	volume = {1452},
+	pages = {012033},
+	author = {E. Branlard and M. Shields and B. Anderson and R. Damiani and F. Wendt and J. Jonkman and W. Musial and B. Foley},
+	title = {Superelement reduction of substructures for sequential load calculations in {OpenFAST}},
+	journal = {Journal of Physics: Conference Series}
+}
+
+@article{CraigBampton:1968,
+    author={Craig, R. and Bampton, M.},
+    title={{Coupling of Substructures for Dynamic Analysis}},
+    journal={AIAA Journal},
+    year= 1968,
+    volume=6,
+    number=7,
+    pages={1313-1319}
+}
+
+@article{Guyan:1965,
+    author={Guyan, R.},
+    year=1965,
+    title={Reduction of Stiffness and Mass Matrices},
+    journal={AIAA Journal},
+    volume={3},
+    pages={380}
+}

docs/source/user/extptfm/index.rst

@@ -0,0 +1,24 @@
+ExtPtfm
+=======
+
+.. only:: html
+
+   This document presents the ExtPtfm module. The ExtPtfm module is used to model
+   the substructure (or support structure) using a superelement.
+
+   The presentation of the module and its application were published in the following
+   article :cite:`ep-Branlard:2020superelement`
+   (available `here <https://iopscience.iop.org/article/10.1088/1742-6596/1452/1/012033>`_)
+   which may be used as a reference.
+
+
+   You can navigate the documentation using the links below:
+
+.. toctree::
+   :maxdepth: 2
+
+   usage.rst
+   input_files.rst
+   theory.rst
+   zrefs.rst
+   appendix.rst

docs/source/user/extptfm/input_files.rst

@@ -0,0 +1,289 @@
+.. _ep_input-files:
+
+Input Files
+===========
+
+The different input files used by ExtPtfm are described in this section.  ExtPtfm uses the SI system (kg, m, s, N)
+No lines should be added or removed from the input files.
+
+
+
+.. _ep_main-input-file:
+
+ExtPftm Module Input File
+-------------------------
+
+Prior to OpenFAST 2.3, the ExtPtfm module had no "module" input file, and the Guyan ASCII input file was given directly. This is no longer supported, and a module input file is required.
+An example of `OpenFAST setup with ExtPtfm is available here <https://github.com/OpenFAST/r-test/blob/main/glue-codes/openfast/5MW_OC4Jckt_ExtPtfm/>`_.
+An example of `ExtPtfm module input file is available here <https://github.com/OpenFAST/r-test/blob/main/glue-codes/openfast/5MW_OC4Jckt_ExtPtfm/ExtPtfm.dat>`_.
+The format is similar to other *OpenFAST* module.
+The input parameters are:
+
+-  ``DT``: Time step for numerical integration (s). The user may specify
+   a time step here or use “default” to rely on the glue-code time-step.
+
+-  ``IntMethod``: numerical method for the time integration. The
+   Runge-Kutta, Adams–Bashforth and Adams–Bashforth-Moutlon methods are
+   available.
+
+-  ``FileFormat``: file format used for the reduction inputs. Available
+   formats are ``GuyanASCII`` (see :ref:`epGuyanInputFile`) and ``FlexASCII`` (see :ref:`epSuperelementInputFile`)
+
+-  ``Red_Filename``: path of file containing the Guyan/Craig-Bampton
+   inputs.
+
+-  ``RedCst_Filename``: path of file containing the Guyan/Craig-Bampton
+   inputs that are constant. This input is not used yet but may be
+   introduced in the future to accommodate for reduction file formats
+   that use two files: one that contains the constants that are
+   structure dependent (static loads from e.g. gravity and matrices),
+   and one that contain the time-varying signals that are simulation
+   dependent (e.g. loads (on top of the constants loads) and wave
+   elevation)
+
+-  ``ActiveDOFList``: list of size ``NActiveDOFList`` containing the CB
+   modes indices that are active. This list is not read if
+   ``NActiveDOFList<=0``. When specified, all system matrices are reshaped as
+   :math:`\boldsymbol{M}_\text{new}=\boldsymbol{M}(I,I)` where :math:`I`
+   is the list of indices, potentially unsorted and noncontiguous.
+   Setting ``NActiveDOFList=0`` is equivalent to a Guyan reduction.
+   Setting :math:`\texttt{NActiveCBDOF}=-1` uses all the CB DOF provided
+   in the input file.
+
+-  ``InitPosList``: list of size ``NInitPosList`` containing the initial
+   positions for the CB modes. This list is not read if
+   ``NInitPosList<=0``, in which case all the CB DOF positions are
+   initialized to 0.
+
+-  ``InitVelList``: list of size ``NInitVelList`` containing the initial
+   velocities for the CB modes. This list is not read if
+   ``NInitVelList<=0``, in which case all the CB DOF velocities are
+   initialized to 0.
+
+ - ``SumPrint``:  Print summary data to <RootName>.sum 
+
+ - ``OutFile`` , ``TabDelim``, ``OutFmt``, ``TStart``: Output flags, currently unused
+
+-  ``OutList``: Specifies the list of outputs that the user requests.
+   These outputs are described in :ref:`epOutputChannels`.
+
+
+
+.. _epOutputChannels:
+
+Output channels
+---------------
+
+
+
+Outputs are written to disk via the ’.out’ or ’.outb’ files exported 
+by *OpenFAST*.
+The time series of loads and displacements at the
+interface can be selected in ElastoDyn (e.g. ``PtfmPitch``)
+Additional “write outputs” are 
+implemented in *ExtPtfm*, according to the
+list given below. The symbols used in the theory section (:ref:`ep-theory`) are also given in the table.
+
+.. table:: Output channels for the *ExtPtfm* module
+
+   ================ ======================================================================== ==================================== =========
+   **Channel name** **Description**                                                          **Symbol**                           **Units**
+   ================ ======================================================================== ==================================== =========
+   ``IntrfFx``      Platform interface force - Directed along the x-direction                :math:`f_{C}[1]`                     (N)
+   ``IntrfFy``      Platform interface force - Directed along the y-direction                :math:`f_{C}[2]`                     (N)
+   ``IntrfFz``      Platform interface force - Directed along the z-direction                :math:`f_{C}[3]`                     (N)
+   ``IntrfMx``      Platform interface moment - Directed along the x-direction               :math:`f_{C}[4]`                     (Nm)
+   ``IntrfMy``      Platform interface moment - Directed along the y-direction               :math:`f_{C}[5]`                     (Nm)
+   ``IntrfMz``      Platform interface moment - Directed along the z-direction               :math:`f_{C}[6]`                     (Nm)
+   ``InpF_Fx``      Reduced input force at interface point - Directed along the x-direction  :math:`f_{r1}[1]`                    (N)
+   ``InpF_Fy``      Reduced input force at interface point - Directed along the y-direction  :math:`f_{r1}[2]`                    (N)
+   ``InpF_Fz``      Reduced input force at interface point - Directed along the z-direction  :math:`f_{r1}[3]`                    (N)
+   ``InpF_Mx``      Reduced input moment at interface point - Directed along the x-direction :math:`f_{r1}[4]`                    (Nm)
+   ``InpF_My``      Reduced input moment at interface point - Directed along the y-direction :math:`f_{r1}[5]`                    (Nm)
+   ``InpF_Mz``      Reduced input moment at interface point - Directed along the z-direction :math:`f_{r1}[6]`                    (Nm)
+   ``CBQ_XXX``      Displacement of CB DOF number XXX (e.g. ``CBQ_001``)                     :math:`\boldsymbol{x}_2[XXX]`        (-)
+   ``CBQD_XXX``     Velocity of CB DOF number XXX     (e.g. ``CBQD_001``)                    :math:`\boldsymbol{\dot{x}}_2[XXX]`  (-)
+   ``CBQD2_XXX``    Acceleration of CB DOF number XXX                                        :math:`\boldsymbol{\ddot{x}}_2[XXX]` (-)
+   ``CBF_XXX``      Reduced input modal force in CB DOF number XXX                           :math:`\boldsymbol{f}_{r2}[XXX]`     (-)
+   ``WaveElevExt``  Wave elevation provided in the external file                             :math:`\eta`                         (m)
+   ================ ======================================================================== ==================================== =========
+
+
+
+.. _epGuyanInputFile:
+
+Guyan input file (``GuyanASCII``)
+---------------------------------
+
+The Guyan input files format is a legacy file format used for superelements
+that only contains 6 interface degrees of freedom.
+
+Example
+^^^^^^^
+
+An example of ASCII file that was used for Guyan-Reduced sub-structure
+is given below, where numerical values are implied instead of ``M11``,
+``t1``, ``Fx1`` etc.
+
+.. code::
+
+   Comment
+   #Mass
+     M11 ... M16
+        [...]
+     M61 ... M66
+   #Damping
+     [6 x 6 matrix]
+   #Stiffness
+     [6 x 6 matrix]
+   # time-varying force
+   # Time  Fx  Fy  Fz   Mx   My    Mz 
+   # s    (N) (N) (N) (N-m) (N-m) (N-m)
+     t1   Fx1 Fy1 Fz1  Mx1   My1   Mz1
+                   [...]
+     tN   FxN FyN FzN  MxN   MyN   MzN
+
+Specifications
+^^^^^^^^^^^^^^
+
+The format is a fixed form format
+where the line number are assumed. The format specifications are defined
+below:
+
+-  ASCII file
+
+-  Line 1 is an arbitrary comment
+
+-  Line 2 must contain ‘\ ``#mass``\ ‘ (case insensitive). If not, the
+   file format is invalidated. This requirement is important to
+   differentiate between this format and other ASCII formats.
+
+-  Lines: 9 and 16 are comment lines that are ignored
+
+-  Lines 3-8, 10-15, 17-22 contain six float values, forming the
+   elements of the mass, damping and stiffness matrices respectively.
+   These values corresponds to :math:`\boldsymbol{M}_r`,
+   :math:`\boldsymbol{K}_r` and :math:`\boldsymbol{D}_r`.
+
+-  Lines 23-25 are comment lines and are ignored
+
+-  The remaining lines of the files contain 7 float values,
+   corresponding to the values: :math:`t`, :math:`[F_x(t)`,
+   :math:`F_y(t)`, :math:`F_z(t)`, :math:`M_x(t)`, :math:`M_y(t)`,
+   :math:`M_z(t)] = \boldsymbol{f}_{r1}(t)`. The number of time steps is
+   here noted :math:`N` but it is not specified in the file.
+
+In particular the same file format
+should be used for Guyan and Craig-Bampton reduced substructures. The
+following sections define formats that can serve for both purposes.
+
+.. _epSuperelementInputFile:
+
+Superelement input file (``FlexASCII``)
+---------------------------------------
+
+This superelement input file is used to provide the system matrices and time series of loads 
+for superelements with an arbitrary number of Craig-Bampton modes.
+
+Example
+^^^^^^^
+
+
+An example of superelement file is available `here <https://github.com/OpenFAST/r-test/blob/main/glue-codes/openfast/5MW_OC4Jckt_ExtPtfm/ExtPtfm_SE.dat>`_.
+A "dummy" example is given below, where numerical values are
+implied for: ``n``, ``dt``, ``t``, ``M11``, ``F1`` etc.
+
+.. code::
+
+   !Comment
+   !Comment Flex 5 Format
+   !Dimension:                         n
+   !Time increment in simulation:      dt
+   !Total simulation time in file:     T
+   !Mass Matrix (Units (kg,m))
+   !Dimension:                         n
+     M11 ... M1n
+        [...]
+     Mn1 ... Mnn
+   !Stiffness Matrix (Units (N,m))
+   !Dimension:                         n
+     [n x n matrix]
+   !Damping Matrix (Units (N,m,kg))
+   !Dimension:                         n
+     [n x n matrix]
+   !Loading and Wave Elevation (Units (N,m))
+   !Dimension: 1 time column -  n force columns - 1 wave elevation column
+     t1   F11 ... F1n eta1
+            [...]
+     tN   F1N ... FnN etaN
+
+
+Specifications
+^^^^^^^^^^^^^^
+
+The file follows the following specifications:
+
+-  ASCII file
+
+-  Line 1: arbitrary comment that needs to start with an exclamation
+   mark ‘\ ``!``\ ‘
+
+-  Line 2: comment which must contain the string ‘\ ``Flex 5 format``\ ‘
+   (case insensitive)
+
+-  The following lines are header lines that should start with an
+   exclamation mark.
+
+-  The header lines are either comments or lines containing
+   keyword/value pairs
+
+-  The following (case insensitive) keywords are currently supported for
+   the header:
+
+   -  ‘\ ``!dimension``:‘ followed by the integer
+      ``n``\ :math:`=6+n_{CB}`
+
+   -  ‘\ ``!time increment in simulation:``\ ‘: followed by the time
+      step :math:`dt`
+
+   -  ‘\ ``!total simulation time in file:``\ ‘: following by the
+      simulation length :math:`T`
+
+-  The remaining lines consists of the following special (case
+   insensitive) keywords:
+
+   -  ‘\ ``!mass matrix``\ ‘: followed by some text. The next line
+      provide a dimension, but it is ignored. The dimension line is then
+      followed by :math:`n` lines each containing :math:`n` float values
+      These values corresponds to :math:`\boldsymbol{M}_r`.
+
+   -  ‘\ ``!stiffness matrix``\ ‘: similar to the mass matrix, the
+      values corresponds to :math:`\boldsymbol{K}_r`.
+
+   -  ‘\ ``!damping matrix``\ ‘: similar to the mass matrix, the values
+      corresponds to :math:`\boldsymbol{D}_r`.
+
+   -  ‘\ ``!loading``\ ‘: followed by some text. The next line contains
+      the dimensions but is ignored. The remaining lines of the file
+      after this keyword should each contain ``n``\ +2 values,
+      corresponding to the time :math:`t`, the loads
+      :math:`\boldsymbol{f}_r(t)` and the wave elevation
+      :math:`\eta(t)` NOTE: the wave elevation is intended for outputs
+      only, but it is not outputed yet.
+      The number of lines :math:`N` should be
+      consistent with the definition of :math:`dt` and :math:`T` from
+      the header. The inputs are linearly  interpolated if the time step is
+      different from the time step of *ExtPtfm*.
+
+-  For now, the units information and the dimension information after
+   the keywords are ignored. Only the dimension provided in the header
+   is read and should be respected throughout the file. The reason for
+   discarding these information is that at the time of writing, there is
+   no guarantee that this information is always provided, and the format
+   specifications of the units and dimension were not specified.
+
+
+
+
+
+