Merge pull request #447 from andrew-platt/f/vc

Free Vortex Wake within AeroDyn15

.github/actions/compile-and-test/entrypoint.sh

@@ -41,6 +41,9 @@ ctest -VV -R nwtc_library_utest
 ctest -VV -j7 -R bd_
 ctest -VV -R beamdyn_utest
 
+# OLAF free vortex wake tests
+ctest -VV -R fvw_utest
+
 # OpenFAST linearization tests
 # Dont run these in parallel, copying the case files can fail in a race condition
 ctest -VV -L linear
@@ -49,4 +52,4 @@ ctest -VV -L linear
 ## - 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 1,1,1,2,3,4,5,6,7,8,10,11,12,13,14,15,18,21,24,25,26
+ctest -VV -j8 -I 1,1,1,2,3,4,5,6,7,8,10,11,12,13,14,15,18,21,24,25,26,27,28

.gitmodules

@@ -1,6 +1,6 @@
 [submodule "reg_tests/r-test"]
 	path = reg_tests/r-test
-	url = https://github.com/openfast/r-test.git
+	url = https://github.com/OpenFAST/r-test.git
 [submodule "unit_tests/pfunit"]
 	path = unit_tests/pfunit
 	url = https://github.com/Goddard-Fortran-Ecosystem/pFUnit.git

CMakeLists.txt

@@ -33,8 +33,9 @@ option(BUILD_SHARED_LIBS "Enable building shared libraries" off)
 option(DOUBLE_PRECISION "Treat REAL as double precision" on)
 option(USE_DLL_INTERFACE "Enable runtime loading of dynamic libraries" on)
 option(FPE_TRAP_ENABLED "Enable FPE trap in compiler options" off)
-option(ORCA_DLL_LOAD "Enable OrcaFlex Library Load" off)
+option(ORCA_DLL_LOAD "Enable OrcaFlex Library Load" on)
 option(BUILD_OPENFAST_CPP_API "Enable building OpenFAST - C++ API" off)
+option(OPENMP                 "Enable OpenMP support"              off)
 
 # Precompiler/preprocessor flag configuration
 # Do this before configuring modules so that the flags are included
@@ -169,4 +170,4 @@ endif()
 option(BUILD_DOCUMENTATION "Build documentation." OFF)
 if(BUILD_DOCUMENTATION)
   add_subdirectory(docs)
-endif()
+endif()

cmake/OpenfastFortranOptions.cmake

@@ -83,6 +83,7 @@ macro(set_fast_gfortran)
   endif(NOT WIN32)
 
   # Fix free-form compilation for OpenFAST
+  #set(CMAKE_Fortran_FLAGS "${CMAKE_Fortran_FLAGS} -ffree-line-length-none -cpp -fopenmp")
   set(CMAKE_Fortran_FLAGS "${CMAKE_Fortran_FLAGS} -ffree-line-length-none -cpp")
 
   # Deal with Double/Single precision
@@ -93,7 +94,7 @@ macro(set_fast_gfortran)
 
   # debug flags
   if(CMAKE_BUILD_TYPE MATCHES Debug)
-    set( CMAKE_Fortran_FLAGS_DEBUG "${CMAKE_Fortran_FLAGS_DEBUG} -fcheck=all -pedantic -fbacktrace" )
+    set( CMAKE_Fortran_FLAGS_DEBUG "${CMAKE_Fortran_FLAGS_DEBUG} -fcheck=all -pedantic -fbacktrace " )
   endif()
 
   if(CYGWIN)
@@ -102,6 +103,12 @@ macro(set_fast_gfortran)
     set(CMAKE_EXE_LINKER_FLAGS "${CMAKE_EXE_LINKER_FLAGS},--stack,${stack_size}")
   endif()
 
+  # OPENMP
+  if (OPENMP)
+     set(CMAKE_Fortran_FLAGS "${CMAKE_Fortran_FLAGS} -fopenmp")
+     set(CMAKE_Fortran_FLAGS_DEBUG "${CMAKE_Fortran_FLAGS_DEBUG} -fopenmp" )
+  endif()
+
 endmacro(set_fast_gfortran)
 
 #
@@ -131,6 +138,12 @@ macro(set_fast_intel_fortran_posix)
   if(CMAKE_BUILD_TYPE MATCHES Debug)
     set( CMAKE_Fortran_FLAGS_DEBUG "${CMAKE_Fortran_FLAGS_DEBUG} -check all -traceback" )
   endif()
+
+  # OPENMP
+  if (OPENMP)
+     set(CMAKE_Fortran_FLAGS "${CMAKE_Fortran_FLAGS} -qopenmp")
+     set(CMAKE_Fortran_FLAGS_DEBUG "${CMAKE_Fortran_FLAGS_DEBUG} -qopenmp" )
+  endif()
 endmacro(set_fast_intel_fortran_posix)
 
 #
@@ -157,4 +170,11 @@ macro(set_fast_intel_fortran_windows)
   if(CMAKE_BUILD_TYPE MATCHES Debug)
     set( CMAKE_Fortran_FLAGS_DEBUG "${CMAKE_Fortran_FLAGS_DEBUG} /check:all /traceback" )
   endif()
+
+  # OPENMP
+  if (OPENMP)
+     set(CMAKE_Fortran_FLAGS "${CMAKE_Fortran_FLAGS} /qopenmp")
+     set(CMAKE_Fortran_FLAGS_DEBUG "${CMAKE_Fortran_FLAGS_DEBUG} /qopenmp" )
+  endif()
+
 endmacro(set_fast_intel_fortran_windows)

docs/_static/css/math_eq.css

@@ -0,0 +1,6 @@
+.math {
+    text-align: left;
+}
+.eqno {
+    float: right;
+}

docs/conf.py

@@ -245,6 +245,7 @@ def runDoxygen(sourcfile, doxyfileIn, doxyfileOut):
 ]
 
 def setup(app):
+    app.add_css_file('css/math_eq.css')
     app.add_object_type(
         "confval",
         "confval",
@@ -257,3 +258,4 @@ def setup(app):
         objname="CMake configuration value",
         indextemplate="pair: %s; CMake configuration"
     )
+

docs/source/install/index.rst

@@ -236,6 +236,7 @@ The CMake options specific to OpenFAST and their default settings are:
     GENERATE_TYPES                 - Use the openfast-regsitry to autogenerate types modules
     ORCA_DLL_LOAD                  - Enable OrcaFlex library load (Default: OFF)
     USE_DLL_INTERFACE              - Enable runtime loading of dynamic libraries (Default: ON)
+    OPENMP                         - Enable OpenMP parallelization in FVW (Default: OFF)
 
 Additional system-specific options may exist for a given system, but those
 should not impact the OpenFAST configuration. As mentioned above, the

docs/source/user/aerodyn-olaf/Acknowledgments.txt

@@ -0,0 +1,19 @@
+.. _Acknowledgments:
+
+Acknowledgments
+===============
+
+This work was authored by the National Renewable Energy Laboratory,
+operated by Alliance for Sustainable Energy, LLC, for the U.S.
+Department of Energy (DOE) under Contract No. DE-AC36-08GO28308. Funding
+provided by the U.S. Department of Energy Office of Energy Efficiency
+and Renewable Energy Wind Energy Technologies Office. The views
+expressed in the article do not necessarily represent the views of the
+DOE or the U.S. Government. The U.S. Government retains and the
+publisher, by accepting the article for publication, acknowledges that
+the U.S. Government retains a nonexclusive, paid-up, irrevocable,
+worldwide license to publish or reproduce the published form of this
+work, or allow others to do so, for U.S. Government purposes.
+
+The authors are also grateful to the Big Adaptive Rotor program for
+supporting the development of this software.

docs/source/user/aerodyn-olaf/Acronyms.rst

@@ -0,0 +1,52 @@
+.. _Acronyms:
+
+List of Symbols
+===============
+
++-----------------------------+---------------------------------------+
+| BEM                         | blade-element momentum                |
++-----------------------------+---------------------------------------+
+| CFD                         | computational fluid dynamics          |
++-----------------------------+---------------------------------------+
+| DOE                         | U.S. Department of Energy             |
++-----------------------------+---------------------------------------+
+| :math:`F_v`                 | core radius factor                    |
++-----------------------------+---------------------------------------+
+| :math:`t`                   | time                                  |
++-----------------------------+---------------------------------------+
+| FVW                         | free vortex wake                      |
++-----------------------------+---------------------------------------+
+| :math:`N`                   | number of rotor revolutions before    |
+|                             | wake cutoff condition                 |
++-----------------------------+---------------------------------------+
+| :math:`\vec{r}`             | vector between point of interest and  |
+|                             | vortex segment                        |
++-----------------------------+---------------------------------------+
+| :math:`\vec{r}(\psi,\zeta)` | position vector of Lagrangian markers |
++-----------------------------+---------------------------------------+
+| :math:`r_c`                 | core radius                           |
++-----------------------------+---------------------------------------+
+| :math:`r_{c0}`              | initial core radius                   |
++-----------------------------+---------------------------------------+
+| OLAF                        | cOnvecting LAgrangian Filaments       |
++-----------------------------+---------------------------------------+
+| :math:`\alpha`              | numerical constant :math:`=1.25643`   |
++-----------------------------+---------------------------------------+
+| :math:`\Gamma`              | circulation strength                  |
++-----------------------------+---------------------------------------+
+| :math:`\delta`              | measure of viscous diffusion          |
++-----------------------------+---------------------------------------+
+| :math:`\epsilon`            | measure of strain                     |
++-----------------------------+---------------------------------------+
+| :math:`\Delta \psi`         | step size for blade rotation          |
++-----------------------------+---------------------------------------+
+| :math:`\Omega`              | rotational speed of wind turbine      |
++-----------------------------+---------------------------------------+
+| :math:`\zeta`               | vortex wake age                       |
++-----------------------------+---------------------------------------+
+| :math:`\zeta_0`             | vortex wake age offset                |
++-----------------------------+---------------------------------------+
+| :math:`\nu`                 | kinematic viscosity                   |
++-----------------------------+---------------------------------------+
+| :math:`\psi`                | azimuth blade position                |
++-----------------------------+---------------------------------------+

docs/source/user/aerodyn-olaf/AppendixA.rst

@@ -0,0 +1,13 @@
+.. _OLAF-Primary-Input-File:
+
+Appendix A: OLAF Primary Input File
+===================================
+
+
+**Check the regression test cases for updates to this input file.**
+
+.. container::
+   :name: Tab:OLAFinputfile
+
+   .. literalinclude:: ExampleFiles/ExampleFile--OLAF.txt
+      :linenos:

docs/source/user/aerodyn-olaf/AppendixB.rst

@@ -0,0 +1,12 @@
+.. _Prescribed-Circulation-Input-File:
+
+Appendix B: Prescribed Circulation Input File
+=============================================
+
+**Check the regression tests for updated versions of this file.**
+
+.. container::
+   :name: TabPrescribeCirc
+
+   .. literalinclude:: ExampleFiles/ExampleFile--PrescribeCirc.txt
+      :linenos:

docs/source/user/aerodyn-olaf/AppendixC.rst

@@ -0,0 +1,35 @@
+.. _OLAF-List-of-Output-Channels:
+
+Appendix C: OLAF List of Output Channels
+========================================
+
+This is a list of all possible output parameters from the OLAF module.
+The names are grouped by meaning, but can be ordered in the OUTPUTS
+section of the *AeroDyn15* primary input file, as the user sees fit.
+:math:`N\beta` refers to output node, :math:`\beta`, where :math:`\beta`
+is a number in the range [1,9], corresponding to entry, :math:`\beta`,
+in the **OutNd** list. :math:`B\alpha` is prefixed to each output name,
+where :math:`\alpha` is a number in the range [1,3], corresponding to
+the blade number.
+
+
+.. list-table:: Available OLAF Output Channels
+   :widths: 25 15 50
+   :header-rows: 1
+   :align: center
+   :name: Tab:OLAFoutputs
+
+   *  - Channel Name(s)
+      - Units
+      - Description
+   *  - :math:`B \alpha N \beta Gam`
+      - :math:`m^2/s`
+      - Circulation along the blade
+
+
+..
+      ============================ ============= ===========================
+      Channel Name(s)              Units         Description
+      ============================ ============= ===========================
+      :math:`B \alpha N \beta Gam` :math:`m^2/s` Circulation along the blade
+      ============================ ============= ===========================

docs/source/user/aerodyn-olaf/ExampleFiles/ExampleFile--OLAF.txt

@@ -0,0 +1,42 @@
+--------------------------- OLAF (cOnvecting LAgrangian Filaments) INPUT FILE -----------------
+Free wake input file for the Helix test case
+--------------------------- GENERAL OPTIONS ---------------------------------------------------
+5       IntMethod          Integration method {5: Forward Euler 1st order, default: 5} (switch)
+0.2     DTfvw              Time interval for wake propagation. {default: dtaero} (s)
+5       FreeWakeStart      Time when wake is free. (-) value = always free. {default: 0.0} (s)
+2.0     FullCircStart      Time at which full circulation is reached. {default: 0.0} (s)
+--------------------------- CIRCULATION SPECIFICATIONS ----------------------------------------
+1       CircSolvingMethod  Circulation solving method {1: Cl-Based, 2: No-Flow Through, 3: Prescribed, default: 1 }(switch)
+0.01    CircSolvConvCrit   Convergence criteria {default: 0.001} [only if CircSolvingMethod=1] (-)
+0.1     CircSolvRelaxation Relaxation factor {default: 0.1} [only if CircSolvingMethod=1] (-)
+30      CircSolvMaxIter    Maximum number of iterations for circulation solving {default: 30} (-)
+ "NA"   PrescribedCircFile File containing prescribed circulation [only if CircSolvingMethod=3] (quoted string)
+===============================================================================================
+--------------------------- WAKE OPTIONS ------------------------------------------------------
+------------------- WAKE EXTENT AND DISCRETIZATION --------------------------------------------
+50      nNWPanel           Number of near-wake panels [integer] (-)
+400     WakeLength         Total wake distance [integer] (number of time steps)
+default FreeWakeLength     Wake length that is free [integer] (number of time steps) {default: WakeLength}
+False   FWShedVorticity    Include shed vorticity in the far wake {default: false}
+------------------- WAKE REGULARIZATIONS AND DIFFUSION -----------------------------------------
+0       DiffusionMethod    Diffusion method to account for viscous effects {0: None, 1: Core Spreading, "default": 0}         
+0       RegDeterMethod     Method to determine the regularization parameters {0:  Manual, 1: Optimized, default: 0 }          
+2       RegFunction        Viscous diffusion function {0: None, 1: Rankine, 2: LambOseen, 3: Vatistas, 4: Denominator, "default": 3} (switch)
+0       WakeRegMethod      Wake regularization method {1: Constant, 2: Stretching, 3: Age, default: 1} (switch)
+2.0     WakeRegFactor      Wake regularization factor (m)
+2.0     WingRegFactor      Wing regularization factor (m)
+100     CoreSpreadEddyVisc Eddy viscosity in core spreading methods, typical values 1-1000 
+------------------- WAKE TREATMENT OPTIONS ---------------------------------------------------
+False   TwrShadowOnWake    Include tower flow disturbance effects on wake convection {default:false} [only if TwrPotent or TwrShadow]
+0       ShearModel         Shear Model {0: No treatment, 1: Mirrored vorticity, default: 0}
+------------------- SPEEDUP OPTIONS -----------------------------------------------------------
+2       VelocityMethod     Method to determine the velocity {1:Biot-Savart Segment, 2:Particle tree, default: 1}
+1.5     TreeBranchFactor   Branch radius fraction above which a multipole calculation is used {default: 2.0} [only if VelocityMethod=2]
+1       PartPerSegment     Number of particles per segment [only if VelocityMethod=2]
+===============================================================================================
+--------------------------- OUTPUT OPTIONS  ---------------------------------------------------
+1       WrVTk              Outputs Visualization Toolkit (VTK) (independent of .fst option) {0: NoVTK, 1: Write VTK at each time step} (flag)
+1       nVTKBlades         Number of blades for which VTK files are exported {0: No VTK per blade, n: VTK for blade 1 to n} (-) 
+2       VTKCoord           Coordinate system used for VTK export. {1: Global, 2: Hub, "default": 1} 
+1       VTK_fps            Frame rate for VTK output (frames per second) {"all" for all glue code timesteps, "default" for all OLAF timesteps} [used only if WrVTK=1] 
+------------------------------------------------------------------------------------------------

docs/source/user/aerodyn-olaf/ExampleFiles/ExampleFile--PrescribeCirc.txt

@@ -0,0 +1,26 @@
+r/R [-],  Gamma [m^2/s]
+0.048488,     0.000000
+0.087326,     0.442312
+0.126163,     6.909277
+0.165000,    23.678557
+0.203837,    55.650700
+0.242674,    74.091529
+0.281512,    84.205843
+0.320349,    88.740429
+0.359186,    89.730814
+0.398023,    88.568114
+0.436860,    87.114743
+0.475698,    86.110557
+0.514535,    85.705529
+0.553372,    85.215829
+0.592209,    84.547371
+0.631047,    83.774329
+0.669884,    82.889157
+0.708721,    81.635600
+0.747558,    79.788700
+0.786395,    77.195200
+0.825233,    73.765100
+0.864070,    69.275900
+0.902907,    62.965400
+0.941744,    53.603300
+0.980581,    39.854000

docs/source/user/aerodyn-olaf/FutureWork.rst

@@ -0,0 +1,31 @@
+.. _Future-Work:
+
+Future Work
+===========
+
+This first implementation phase focused on single-turbine capabilities,
+fulfilling the basic requirements for the design of large and novel
+rotor concepts. Future development work will turn toward the
+implementation of features enabling multiple-turbine simulations on
+medium-to-large-scale computational clusters. The reduction of the
+computational time will also be of focus. This may be achieved using
+tree techniques such as the fast multipole method. Further algorithmic
+options, such as vortex amalgamation in the far wake, will be considered
+to speed up the simulation. The framework presented in this manual is
+compatible with grid-free or grid-based vortex particle formulations.
+Such particle-based implementations will also be envisaged in the
+future. Further validation of the code against measurements and
+higher-order tools will be pursued. Applications to cases known to be
+challenging for the BEM algorithm will also be investigated, such as
+highly flexible rotors, offshore floating turbines, small-scale wind
+farms, multiple-rotor turbines, or kites.
+
+The following list contains future work on OLAF software:
+
+-  Lagrangian particles
+
+-  Multiple turbines, integration into FAST.Farm
+
+-  Code speed-up
+
+-  Dedicated dynamic stall model