Applications Case: PTO Extension Feature for RM3

.github/workflows/run-tests-dev.yml

@@ -44,6 +44,7 @@ jobs:
                  Passive_Yaw,
                  PTO-Sim,
                  Radiation_Force_Options,
+                 RM3_PTO_Extension,
                  Wave_Markers,
                  WECCCOMP,
                  Write_Custom_h5]

RM3_PTO_Extension/README.md

@@ -0,0 +1,9 @@
+# RM3 PTO Extension
+
+**Author:**	Allison File
+
+**Version:** 	WEC-Sim v6.0
+
+**Geometry:**	Two-Body Point Absorber
+
+Examples setting [PTO Extension] (https://wec-sim.github.io/WEC-Sim/master/user/advanced_features.html#constraint-and-pto-features) feature for both the float and spar bodies for the [RM3] (https://wec-sim.github.io/WEC-Sim/master/user/tutorials.html#two-body-point-absorber-rm3) geometry. 

RM3_PTO_Extension/TestRM3PTOExtension.m

@@ -0,0 +1,64 @@
+classdef TestRM3PTOExtension < matlab.unittest.TestCase
+
+    properties
+        OriginalDefault
+        testDir
+        h5Dir = '../_Common_Input_Files/RM3/hydroData/'
+        h5Name = 'rm3.h5'
+        outName = 'rm3.out'
+    end    
+
+    methods (Access = 'public')        
+        function obj = TestRM3PTOExtension
+            obj.testDir = fileparts(mfilename('fullpath'));
+        end    
+    end
+
+    methods (TestMethodSetup)
+        function killPlots (~)
+            set(0,'DefaultFigureVisible','off');
+        end
+    end
+
+    methods(TestClassSetup)        
+        function captureVisibility(testCase)
+            testCase.OriginalDefault = get(0,'DefaultFigureVisible');
+        end        
+        function runBemio(testCase)            
+            cd(testCase.h5Dir);
+            if isfile(testCase.h5Name)
+                fprintf('runBemio skipped, *.h5 already exists\n')
+            else
+                bemio
+            end
+            cd(testCase.testDir)            
+        end        
+    end
+
+    methods(TestMethodTeardown)
+        function returnHome(testCase)
+            cd(testCase.testDir)
+        end
+    end
+
+    methods(TestClassTeardown)        
+        function checkVisibilityRestored(testCase)
+            set(0,'DefaultFigureVisible',testCase.OriginalDefault);
+            testCase.assertEqual(get(0,'DefaultFigureVisible'),     ...
+                                 testCase.OriginalDefault);
+        end
+    end
+
+    methods(Test)        
+        function testRM3_PTO_Extension_float(testCase)
+            cd('float')
+            wecSim
+            cd(testCase.testDir)
+        end        
+        function testRM3_PTO_Extension_spar(testCase)
+            cd('spar')
+            wecSim
+            cd(testCase.testDir)
+        end              
+    end    
+end

RM3_PTO_Extension/float/README.md

@@ -0,0 +1,7 @@
+# RM3 PTO Extension for Float Body
+
+This folder highlights the default model setup in which the PTO extension feature can be utilized to define the PTO mechanism as the float for the RM3 model. 
+
+To define the extension value for this scenario, follow the instructions oulined in the pto extension section of the constraint and pto features found at https://wec-sim.github.io/WEC-Sim/master/user/advanced_features.html#constraint-and-pto-features.
+
+Set the 'pto.extension.PositionTargetSpecify' to 1 and set the 'pto.extension.PositionTargetValue' to the desired value within the wecSimInputFile.m.

RM3_PTO_Extension/float/userDefinedFunctions.m

@@ -0,0 +1,25 @@
+%Example of user input MATLAB file for post processing
+
+%Plot waves
+waves.plotElevation(simu.rampTime);
+try 
+    waves.plotSpectrum();
+catch
+end
+
+%Plot heave response for body 1
+output.plotResponse(1,3);
+
+%Plot heave response for body 2
+output.plotResponse(2,3);
+
+%Plot heave forces for body 1
+output.plotForces(1,3);
+
+%Plot heave forces for body 2
+output.plotForces(2,3);
+
+%Save waves and response as video
+% output.saveViz(simu,body,waves,...
+%     'timesPerFrame',5,'axisLimits',[-150 150 -150 150 -50 20],...
+%     'startEndTime',[100 125]);

RM3_PTO_Extension/float/wecSimInputFile.m

@@ -0,0 +1,81 @@
+%% Simulation Data
+simu = simulationClass();               % Initialize Simulation Class
+simu.simMechanicsFile = 'RM3.slx';      % Specify Simulink Model File
+simu.mode = 'normal';                   % Specify Simulation Mode ('normal','accelerator','rapid-accelerator')
+simu.explorer = 'on';                   % Turn SimMechanics Explorer (on/off)
+simu.startTime = 0;                     % Simulation Start Time [s]
+simu.rampTime = 0;                      % Wave Ramp Time [s]
+simu.endTime = 30;                      % Simulation End Time [s]
+simu.solver = 'ode4';                   % simu.solver = 'ode4' for fixed step & simu.solver = 'ode45' for variable step 
+simu.dt = 0.1; 							% Simulation time-step [s]
+
+%% Wave Information 
+% % noWaveCIC, no waves with radiation CIC  
+waves = waveClass('noWaveCIC');       % Initialize Wave Class and Specify Type  
+
+% % Regular Waves  
+% waves = waveClass('regular');           % Initialize Wave Class and Specify Type                                 
+% waves.height = 2.5;                     % Wave Height [m]
+% waves.period = 8;                       % Wave Period [s]
+
+% % Regular Waves with CIC
+% waves = waveClass('regularCIC');          % Initialize Wave Class and Specify Type                                 
+% waves.height = 2.5;                       % Wave Height [m]
+% waves.period = 8;                         % Wave Period [s]
+
+% % Irregular Waves using PM Spectrum 
+%  waves = waveClass('irregular');           % Initialize Wave Class and Specify Type
+%  waves.height = 2.5;                       % Significant Wave Height [m]
+%  waves.period = 8;                         % Peak Period [s]
+%  waves.spectrumType = 'PM';                % Specify Wave Spectrum Type
+%  waves.direction=[0];
+
+% % Irregular Waves using JS Spectrum with Equal Energy and Seeded Phase
+% waves = waveClass('irregular');           % Initialize Wave Class and Specify Type
+% waves.height = 2.5;                       % Significant Wave Height [m]
+% waves.period = 8;                         % Peak Period [s]
+% waves.spectrumType = 'JS';                % Specify Wave Spectrum Type
+% waves.bem.option = 'EqualEnergy';         % Uses 'EqualEnergy' bins (default) 
+% waves.phaseSeed = 1;                      % Phase is seeded so eta is the same
+
+% % Irregular Waves using PM Spectrum with Traditional and State Space 
+% waves = waveClass('irregular');           % Initialize Wave Class and Specify Type
+% waves.height = 2.5;                       % Significant Wave Height [m]
+% waves.period = 8;                         % Peak Period [s]
+% waves.spectrumType = 'PM';                % Specify Wave Spectrum Type
+% simu.stateSpace = 1;                      % Turn on State Space
+% waves.bem.option = 'Traditional';         % Uses 1000 frequnecies
+
+% % Irregular Waves with imported spectrum
+% waves = waveClass('spectrumImport');      % Create the Wave Variable and Specify Type
+% waves.spectrumFile = 'spectrumData.mat';  % Name of User-Defined Spectrum File [:,2] = [f, Sf]
+
+% % Waves with imported wave elevation time-history  
+% waves = waveClass('elevationImport');          % Create the Wave Variable and Specify Type
+% waves.elevationFile = 'elevationData.mat';     % Name of User-Defined Time-Series File [:,2] = [time, eta]
+
+%% Body Data
+% Float
+body(1) = bodyClass('../../_Common_Input_Files/RM3/hydroData/rm3.h5');
+body(1).geometryFile = '../../_Common_Input_Files/RM3/geometry/float.stl';
+body(1).mass = 'equilibrium';
+body(1).inertia = [20907301 21306090.66 37085481.11];  % Moment of Inertia [kg*m^2]
+
+% Spar/Plate
+body(2) = bodyClass('../../_Common_Input_Files/RM3/hydroData/rm3.h5');
+body(2).geometryFile = '../../_Common_Input_Files/RM3/geometry/plate.stl';
+body(2).mass = 'equilibrium';                   
+body(2).inertia = [94419614.57 94407091.24 28542224.82];
+
+%% PTO and Constraint Parameters
+% Floating (3DOF) Joint
+constraint(1) = constraintClass('Constraint1'); % Initialize Constraint Class for Constraint1
+constraint(1).location = [0 0 0];               % Constraint Location [m]
+
+% Translational PTO
+pto(1) = ptoClass('PTO1');                      % Initialize PTO Class for PTO1
+pto(1).stiffness = 0;                           % PTO Stiffness [N/m]
+pto(1).damping = 0;                             % PTO Damping [N/(m/s)]
+pto(1).location = [0 0 0];                      % PTO Location [m]
+pto(1).extension.PositionTargetSpecify = 1;     % Initialize PTO Extension
+pto(1).extension.PositionTargetValue = 5;       % PTO Extension [m]

RM3_PTO_Extension/spar/README.md

@@ -0,0 +1,9 @@
+# RM3 PTO Extension for Spar Body
+
+This file specifies the steps that need to be taken to define the PTO mechanism as the spar for the model. This can be utilized as a reference and modified for WEC design that possess similar characteristics, specifically with a higher DOF that allows movement for different system bodies. 
+
+The steps are as follows:
+
+1. Edit only one of the two Rigid Transform (Position) blocks within the floating 3DOF constraint library block, temporarily unlocking the library to have editing access.
+2. For both Rigid Transform (Position) blocks, the Translation Offset option is defined as 'constraint.initial.displacement+constraint.location.' Switch one of these to [0 0 pto.extension.PositionTargetValue]. This value will be defined within the wecSimInputFile.m
+3. Follow the instructions as outlined in the pto extension section of the constraint and pto features found at https://wec-sim.github.io/WEC-Sim/master/user/advanced_features.html#constraint-and-pto-features. Set the 'pto.extension.PositionTargetSpecify' to 1 and set the 'pto.extension.PositionTargetValue' within the wecSimInputFile.m.

RM3_PTO_Extension/spar/userDefinedFunctions.m

@@ -0,0 +1,25 @@
+%Example of user input MATLAB file for post processing
+
+%Plot waves
+waves.plotElevation(simu.rampTime);
+try 
+    waves.plotSpectrum();
+catch
+end
+
+%Plot heave response for body 1
+output.plotResponse(1,3);
+
+%Plot heave response for body 2
+output.plotResponse(2,3);
+
+%Plot heave forces for body 1
+output.plotForces(1,3);
+
+%Plot heave forces for body 2
+output.plotForces(2,3);
+
+%Save waves and response as video
+% output.saveViz(simu,body,waves,...
+%     'timesPerFrame',5,'axisLimits',[-150 150 -150 150 -50 20],...
+%     'startEndTime',[100 125]);

RM3_PTO_Extension/spar/wecSimInputFile.m

@@ -0,0 +1,81 @@
+%% Simulation Data
+simu = simulationClass();               % Initialize Simulation Class
+simu.simMechanicsFile = 'RM3.slx';      % Specify Simulink Model File
+simu.mode = 'normal';                   % Specify Simulation Mode ('normal','accelerator','rapid-accelerator')
+simu.explorer = 'on';                   % Turn SimMechanics Explorer (on/off)
+simu.startTime = 0;                     % Simulation Start Time [s]
+simu.rampTime = 0;                      % Wave Ramp Time [s]
+simu.endTime = 30;                      % Simulation End Time [s]
+simu.solver = 'ode4';                   % simu.solver = 'ode4' for fixed step & simu.solver = 'ode45' for variable step 
+simu.dt = 0.1; 							% Simulation time-step [s]
+
+%% Wave Information 
+% % noWaveCIC, no waves with radiation CIC  
+waves = waveClass('noWaveCIC');       % Initialize Wave Class and Specify Type  
+
+% % Regular Waves  
+% waves = waveClass('regular');           % Initialize Wave Class and Specify Type                                 
+% waves.height = 2.5;                     % Wave Height [m]
+% waves.period = 8;                       % Wave Period [s]
+
+% % Regular Waves with CIC
+% waves = waveClass('regularCIC');          % Initialize Wave Class and Specify Type                                 
+% waves.height = 2.5;                       % Wave Height [m]
+% waves.period = 8;                         % Wave Period [s]
+
+% % Irregular Waves using PM Spectrum 
+%  waves = waveClass('irregular');           % Initialize Wave Class and Specify Type
+%  waves.height = 2.5;                       % Significant Wave Height [m]
+%  waves.period = 8;                         % Peak Period [s]
+%  waves.spectrumType = 'PM';                % Specify Wave Spectrum Type
+%  waves.direction=[0];
+
+% % Irregular Waves using JS Spectrum with Equal Energy and Seeded Phase
+% waves = waveClass('irregular');           % Initialize Wave Class and Specify Type
+% waves.height = 2.5;                       % Significant Wave Height [m]
+% waves.period = 8;                         % Peak Period [s]
+% waves.spectrumType = 'JS';                % Specify Wave Spectrum Type
+% waves.bem.option = 'EqualEnergy';         % Uses 'EqualEnergy' bins (default) 
+% waves.phaseSeed = 1;                      % Phase is seeded so eta is the same
+
+% % Irregular Waves using PM Spectrum with Traditional and State Space 
+% waves = waveClass('irregular');           % Initialize Wave Class and Specify Type
+% waves.height = 2.5;                       % Significant Wave Height [m]
+% waves.period = 8;                         % Peak Period [s]
+% waves.spectrumType = 'PM';                % Specify Wave Spectrum Type
+% simu.stateSpace = 1;                      % Turn on State Space
+% waves.bem.option = 'Traditional';         % Uses 1000 frequnecies
+
+% % Irregular Waves with imported spectrum
+% waves = waveClass('spectrumImport');      % Create the Wave Variable and Specify Type
+% waves.spectrumFile = 'spectrumData.mat';  % Name of User-Defined Spectrum File [:,2] = [f, Sf]
+
+% % Waves with imported wave elevation time-history  
+% waves = waveClass('elevationImport');          % Create the Wave Variable and Specify Type
+% waves.elevationFile = 'elevationData.mat';     % Name of User-Defined Time-Series File [:,2] = [time, eta]
+
+%% Body Data
+% Float
+body(1) = bodyClass('../../_Common_Input_Files/RM3/hydroData/rm3.h5');
+body(1).geometryFile = '../../_Common_Input_Files/RM3/geometry/float.stl';
+body(1).mass = 'equilibrium';
+body(1).inertia = [20907301 21306090.66 37085481.11];  % Moment of Inertia [kg*m^2]
+
+% Spar/Plate
+body(2) = bodyClass('../../_Common_Input_Files/RM3/hydroData/rm3.h5');
+body(2).geometryFile = '../../_Common_Input_Files/RM3/geometry/plate.stl';
+body(2).mass = 'equilibrium';                   
+body(2).inertia = [94419614.57 94407091.24 28542224.82];
+
+%% PTO and Constraint Parameters
+% Floating (3DOF) Joint
+constraint(1) = constraintClass('Constraint1'); % Initialize Constraint Class for Constraint1
+constraint(1).location = [0 0 0];               % Constraint Location [m]
+
+% Translational PTO
+pto(1) = ptoClass('PTO1');                      % Initialize PTO Class for PTO1
+pto(1).stiffness = 0;                           % PTO Stiffness [N/m]
+pto(1).damping = 0;                             % PTO Damping [N/(m/s)]
+pto(1).location = [0 0 0];                      % PTO Location [m]
+pto(1).extension.PositionTargetSpecify = 1;     % Initialize PTO Extension
+pto(1).extension.PositionTargetValue = 5;       % PTO Extension [m]