Skip to content

Commit

Permalink
Merge pull request #2341 from luwang00/b/HD_ExctnDisp2_Init
Browse files Browse the repository at this point in the history 
HD: Initialization of the low-pass-filtered displacements of potential-flow bodies when ExctnDisp = 2
  • Loading branch information
@andrew-platt
andrew-platt authored Aug 8, 2024
2 parents b36a4d8 + 065ffce commit 8b09b6d
Show file tree
Hide file tree
Showing 2 changed files with 66 additions and 8 deletions.
38 changes: 30 additions & 8 deletions modules/hydrodyn/src/HydroDyn_DriverCode.f90
View file
Original file line number Diff line number Diff line change
Expand Up @@ -81,7 +81,7 @@ PROGRAM HydroDynDriver
real(DbKi) :: TiLstPrn ! The simulation time of the last print
integer :: n_SttsTime ! Number of time steps between screen status messages (-)


integer :: i ! Loop counter

logical :: SeaState_Initialized, HydroDyn_Initialized
! For testing
Expand Down Expand Up @@ -230,10 +230,31 @@ PROGRAM HydroDynDriver
CALL CheckError()
end if
END IF


! Set any steady-state inputs, once before the time-stepping loop (these don't change, so we don't need to update them in the time-marching simulation)
CALL SetHDInputs_Constant(u(1), mappingData, drvrData, ErrStat, ErrMsg); CALL CheckError()

! Set initial inputs at t = 0
IF (( drvrData%PRPInputsMod /= 2 ) .AND. ( drvrData%PRPInputsMod >= 0 )) THEN
! Set any steady-state inputs, once before the time-stepping loop (these don't change, so we don't need to update them in the time-marching simulation)
CALL SetHDInputs_Constant(u(1), mappingData, drvrData, ErrStat, ErrMsg); CALL CheckError()
ELSE
CALL SetHDInputs(0.0_R8Ki, n, u(1), mappingData, drvrData, ErrStat, ErrMsg); CALL CheckError()
END IF

! Set the initial low-pass-filtered displacements of potential-flow bodies if ExctnDisp = 2
IF ( p%PotMod == 1_IntKi ) THEN
IF ( p%WAMIT(1)%ExctnDisp == 2_IntKi ) THEN
IF (p%NBodyMod .EQ. 1_IntKi) THEN ! One instance of WAMIT with NBody
DO i = 1,p%NBody
xd%WAMIT(1)%BdyPosFilt(1,i,:) = u(1)%WAMITMesh%TranslationDisp(1,i)
xd%WAMIT(1)%BdyPosFilt(2,i,:) = u(1)%WAMITMesh%TranslationDisp(2,i)
END DO
ELSE IF (p%NBodyMod > 1_IntKi) THEN ! NBody instances of WAMIT with one body each
DO i = 1,p%NBody
xd%WAMIT(i)%BdyPosFilt(1,1,:) = u(1)%WAMITMesh%TranslationDisp(1,i)
xd%WAMIT(i)%BdyPosFilt(2,1,:) = u(1)%WAMITMesh%TranslationDisp(2,i)
END DO
END IF
END IF
END IF

!...............................................................................................................................
! --- Linearization
Expand Down Expand Up @@ -270,10 +291,11 @@ PROGRAM HydroDynDriver
Time = (n-1) * drvrData%TimeInterval
InputTime(1) = Time

IF (( drvrData%PRPInputsMod == 2 ) .OR. ( drvrData%PRPInputsMod < 0 )) THEN
! Modify u (likely from the outputs of another module or a set of test conditions) here:
call SetHDInputs(Time, n, u(1), mappingData, drvrData, ErrStat, ErrMsg); CALL CheckError()
! SeaState has no inputs, so no need to set them.

call SetHDInputs(Time, n, u(1), mappingData, drvrData, ErrStat, ErrMsg); CALL CheckError()
! SeaState has no inputs, so no need to set them.
END IF

if (n==1 .and. drvrData%Linearize) then
! we set u(1)%PRPMesh motions, so we should assume that EDRP changed similarly:
Expand Down
36 changes: 36 additions & 0 deletions modules/openfast-library/src/FAST_Subs.f90
View file
Original file line number Diff line number Diff line change
Expand Up @@ -1547,6 +1547,42 @@ SUBROUTINE FAST_InitializeAll( t_initial, p_FAST, y_FAST, m_FAST, ED, BD, SrvD,
ErrMsg = ""
END IF

! ----------------------------------------------------------------------------
! Initialize low-pass-filtered displacements of HydroDyn potential-flow bodies
! ----------------------------------------------------------------------------
IF ( (p_FAST%CompHydro == Module_HD) .AND. (HD%p%PotMod == 1_IntKi) ) THEN
IF ( HD%p%WAMIT(1)%ExctnDisp == 2_IntKi ) THEN
! Set the initial displacement of ED%PlatformPtMesh here to use MeshMapping
ED%y%PlatformPtMesh%TranslationDisp(:,1) = Init%OutData_ED%PlatformPos(1:3)
CALL SmllRotTrans( 'initial platform rotation ', &
REAL(Init%OutData_ED%PlatformPos(4),R8Ki), &
REAL(Init%OutData_ED%PlatformPos(5),R8Ki), &
REAL(Init%OutData_ED%PlatformPos(6),R8Ki), &
ED%y%PlatformPtMesh%Orientation(:,:,1), '', ErrStat2, ErrMsg2 )
CALL SetErrStat( ErrStat2, ErrMsg2, ErrStat, ErrMsg, RoutineName )
ED%y%PlatformPtMesh%TranslationDisp(1,1) = ED%y%PlatformPtMesh%TranslationDisp(1,1) + ED%y%PlatformPtMesh%Orientation(3,1,1) * ED%p%PtfmRefzt
ED%y%PlatformPtMesh%TranslationDisp(2,1) = ED%y%PlatformPtMesh%TranslationDisp(2,1) + ED%y%PlatformPtMesh%Orientation(3,2,1) * ED%p%PtfmRefzt
ED%y%PlatformPtMesh%TranslationDisp(3,1) = ED%y%PlatformPtMesh%TranslationDisp(3,1) + ED%y%PlatformPtMesh%Orientation(3,3,1) * ED%p%PtfmRefzt - ED%p%PtfmRefzt
CALL Transfer_PlatformMotion_to_HD( ED%y%PlatformPtMesh, HD%Input(1), MeshMapData, ErrStat2, ErrMsg2 )
CALL SetErrStat( ErrStat2, ErrMsg2, ErrStat, ErrMsg, RoutineName )
IF (ErrStat >= AbortErrLev) THEN
CALL Cleanup()
RETURN
END IF
IF (HD%p%NBodyMod .EQ. 1_IntKi) THEN ! One instance of WAMIT with NBody
DO i = 1,HD%p%NBody
HD%xd(STATE_CURR)%WAMIT(1)%BdyPosFilt(1,i,:) = HD%Input(1)%WAMITMesh%TranslationDisp(1,i)
HD%xd(STATE_CURR)%WAMIT(1)%BdyPosFilt(2,i,:) = HD%Input(1)%WAMITMesh%TranslationDisp(2,i)
END DO
ELSE IF (HD%p%NBodyMod > 1_IntKi) THEN ! NBody instances of WAMIT with one body each
DO i = 1,HD%p%NBody
HD%xd(STATE_CURR)%WAMIT(i)%BdyPosFilt(1,1,:) = HD%Input(1)%WAMITMesh%TranslationDisp(1,i)
HD%xd(STATE_CURR)%WAMIT(i)%BdyPosFilt(2,1,:) = HD%Input(1)%WAMITMesh%TranslationDisp(2,i)
END DO
END IF
END IF
END IF

! -------------------------------------------------------------------------
! Initialize for linearization or computing aero maps:
! -------------------------------------------------------------------------
Expand Down

0 comments on commit 8b09b6d

Please sign in to comment.