Support for large platform yaw offset in OpenFAST

modules/aerodyn/src/AeroDyn.f90

@@ -7433,7 +7433,7 @@ SUBROUTINE Perturb_u( p, n, perturb_sign, u, du )
       !     Module/Mesh/Field: u%TowerMotion%TranslationVel  = 11;
       !     Module/Mesh/Field: u%TowerMotion%TranslationAcc  = 12;
       case( 9);   u%TowerMotion%TranslationDisp(fieldIndx,node) = u%TowerMotion%TranslationDisp( fieldIndx,node) + du * perturb_sign
-      case(10);   CALL PerturbOrientationMatrix( u%TowerMotion%Orientation(:,:,node), du * perturb_sign, fieldIndx, UseSmlAngle=.true. )
+      case(10);   CALL PerturbOrientationMatrix( u%TowerMotion%Orientation(:,:,node), du * perturb_sign, fieldIndx, UseSmlAngle=.false. )
       case(11);   u%TowerMotion%TranslationVel( fieldIndx,node) = u%TowerMotion%TranslationVel( fieldIndx,node) + du * perturb_sign
       case(12);   u%TowerMotion%TranslationAcc( fieldIndx,node) = u%TowerMotion%TranslationAcc(fieldIndx,node) + du * perturb_sign
 

modules/elastodyn/src/ElastoDyn_IO.f90

@@ -4276,22 +4276,21 @@ SUBROUTINE ValidatePrimaryData( InputFileData, BD4Blades, Linearize, MHK, ErrSta
       CALL SetErrStat(ErrID_Fatal,'ShftTilt must be between -pi/2 and pi/2 radians (i.e., in the range [-90, 90] degrees).',ErrStat,ErrMsg,RoutineName)
    END IF
 
-
       ! Check for violations of the small-angle assumption (15-degree limit, using radians):
-   IF ( ABS( InputFileData%PtfmRoll ) > SmallAngleLimit_Rad ) THEN
-      CALL SetErrStat( ErrID_Fatal, 'PtfmRoll must be between -'//TRIM(Num2LStr(SmallAngleLimit_Rad))//' and ' &
-                                    //TRIM(Num2LStr(SmallAngleLimit_Rad))//' radians.',ErrStat,ErrMsg,RoutineName)
-   END IF
-
-   IF ( ABS( InputFileData%PtfmPitch ) > SmallAngleLimit_Rad ) THEN
-      CALL SetErrStat( ErrID_Fatal, 'PtfmPitch must be between -'//TRIM(Num2LStr(SmallAngleLimit_Rad))//' and ' &
-                                    //TRIM(Num2LStr(SmallAngleLimit_Rad))//' radians.',ErrStat,ErrMsg,RoutineName)
-   END IF
-
-   IF ( ABS( InputFileData%PtfmYaw ) > SmallAngleLimit_Rad ) THEN
-      CALL SetErrStat( ErrID_Fatal, 'PtfmYaw must be between -'//TRIM(Num2LStr(SmallAngleLimit_Rad))//' and ' &
-                                    //TRIM(Num2LStr(SmallAngleLimit_Rad))//' radians.',ErrStat,ErrMsg,RoutineName)
-   END IF
+   ! IF ( ABS( InputFileData%PtfmRoll ) > SmallAngleLimit_Rad ) THEN
+   !    CALL SetErrStat( ErrID_Fatal, 'PtfmRoll must be between -'//TRIM(Num2LStr(SmallAngleLimit_Rad))//' and ' &
+   !                                  //TRIM(Num2LStr(SmallAngleLimit_Rad))//' radians.',ErrStat,ErrMsg,RoutineName)
+   ! END IF
+
+   ! IF ( ABS( InputFileData%PtfmPitch ) > SmallAngleLimit_Rad ) THEN
+   !    CALL SetErrStat( ErrID_Fatal, 'PtfmPitch must be between -'//TRIM(Num2LStr(SmallAngleLimit_Rad))//' and ' &
+   !                                  //TRIM(Num2LStr(SmallAngleLimit_Rad))//' radians.',ErrStat,ErrMsg,RoutineName)
+   ! END IF
+
+   ! IF ( ABS( InputFileData%PtfmYaw  ) > SmallAngleLimit_Rad ) THEN
+   !    CALL SetErrStat( ErrID_Fatal, 'PtfmYaw must be between -'//TRIM(Num2LStr(SmallAngleLimit_Rad))//' and ' &
+   !                                  //TRIM(Num2LStr(SmallAngleLimit_Rad))//' radians.',ErrStat,ErrMsg,RoutineName)
+   ! END IF
 
       ! Check the output parameters:
    IF ( InputFileData%DecFact < 1_IntKi )  CALL SetErrStat( ErrID_Fatal, 'DecFact must be greater than 0.',ErrStat,ErrMsg,RoutineName )

modules/elastodyn/src/ElastoDyn_Registry.txt

@@ -262,6 +262,12 @@ typedef  ^  ED_InputFile   IntKi BldNd_BladesOut - - - "The blades to output (ED
 # ..... Internal data types: Coordinate Systems ...................................................................................
 #  This type defines coordinate sytems used internally by FAST.  The 3 components of each vector correspond to the z1, z2, and z3 components of the individual vectors.
 #  NOTE: the orientations of most of these coordinate systems will change every time step.
+typedef ^       ED_CoordSys     R8Ki    alpha1  3       -       -       "Vector / direction alpha1 after ptfm yaw rotation"	-
+typedef ^       ED_CoordSys     R8Ki    alpha2  3       -       -       "Vector / direction alpha2 after ptfm yaw rotation"	-
+typedef ^       ED_CoordSys     R8Ki    alpha3  3       -       -       "Vector / direction alpha3 after ptfm yaw rotation"	-
+typedef ^       ED_CoordSys     R8Ki    beta1   3       -       -       "Vector / direction beta1 after ptfm yaw and pitch rotation"	-
+typedef ^       ED_CoordSys     R8Ki    beta2   3       -       -       "Vector / direction beta2 after ptfm yaw and pitch rotation"	-
+typedef ^       ED_CoordSys     R8Ki    beta3   3       -       -       "Vector / direction beta3 after ptfm yaw and pitch rotation"	-
 typedef	^	ED_CoordSys	R8Ki	a1	3	-	-	"Vector / direction a1 (=  xt from the IEC coord. system)"	-
 typedef	^	ED_CoordSys	R8Ki	a2	3	-	-	"Vector / direction a2 (=  zt from the IEC coord. system)"	-
 typedef	^	ED_CoordSys	R8Ki	a3	3	-	-	"Vector / direction a3 (= -yt from the IEC coord. system)"	-

modules/elastodyn/src/ElastoDyn_Types.f90

@@ -275,6 +275,12 @@ MODULE ElastoDyn_Types
 ! =======================
 ! =========  ED_CoordSys  =======
   TYPE, PUBLIC :: ED_CoordSys
+    REAL(R8Ki) , DIMENSION(1:3)  :: alpha1 = 0.0_R8Ki      !< Vector / direction alpha1 after ptfm yaw rotation [-]
+    REAL(R8Ki) , DIMENSION(1:3)  :: alpha2 = 0.0_R8Ki      !< Vector / direction alpha2 after ptfm yaw rotation [-]
+    REAL(R8Ki) , DIMENSION(1:3)  :: alpha3 = 0.0_R8Ki      !< Vector / direction alpha3 after ptfm yaw rotation [-]
+    REAL(R8Ki) , DIMENSION(1:3)  :: beta1 = 0.0_R8Ki      !< Vector / direction beta1 after ptfm yaw and pitch rotation [-]
+    REAL(R8Ki) , DIMENSION(1:3)  :: beta2 = 0.0_R8Ki      !< Vector / direction beta2 after ptfm yaw and pitch rotation [-]
+    REAL(R8Ki) , DIMENSION(1:3)  :: beta3 = 0.0_R8Ki      !< Vector / direction beta3 after ptfm yaw and pitch rotation [-]
     REAL(R8Ki) , DIMENSION(1:3)  :: a1 = 0.0_R8Ki      !< Vector / direction a1 (=  xt from the IEC coord. system) [-]
     REAL(R8Ki) , DIMENSION(1:3)  :: a2 = 0.0_R8Ki      !< Vector / direction a2 (=  zt from the IEC coord. system) [-]
     REAL(R8Ki) , DIMENSION(1:3)  :: a3 = 0.0_R8Ki      !< Vector / direction a3 (= -yt from the IEC coord. system) [-]
@@ -2365,6 +2371,12 @@ subroutine ED_CopyCoordSys(SrcCoordSysData, DstCoordSysData, CtrlCode, ErrStat,
    character(*), parameter        :: RoutineName = 'ED_CopyCoordSys'
    ErrStat = ErrID_None
    ErrMsg  = ''
+   DstCoordSysData%alpha1 = SrcCoordSysData%alpha1
+   DstCoordSysData%alpha2 = SrcCoordSysData%alpha2
+   DstCoordSysData%alpha3 = SrcCoordSysData%alpha3
+   DstCoordSysData%beta1 = SrcCoordSysData%beta1
+   DstCoordSysData%beta2 = SrcCoordSysData%beta2
+   DstCoordSysData%beta3 = SrcCoordSysData%beta3
    DstCoordSysData%a1 = SrcCoordSysData%a1
    DstCoordSysData%a2 = SrcCoordSysData%a2
    DstCoordSysData%a3 = SrcCoordSysData%a3
@@ -2683,6 +2695,12 @@ subroutine ED_PackCoordSys(RF, Indata)
    type(ED_CoordSys), intent(in) :: InData
    character(*), parameter         :: RoutineName = 'ED_PackCoordSys'
    if (RF%ErrStat >= AbortErrLev) return
+   call RegPack(RF, InData%alpha1)
+   call RegPack(RF, InData%alpha2)
+   call RegPack(RF, InData%alpha3)
+   call RegPack(RF, InData%beta1)
+   call RegPack(RF, InData%beta2)
+   call RegPack(RF, InData%beta3)
    call RegPack(RF, InData%a1)
    call RegPack(RF, InData%a2)
    call RegPack(RF, InData%a3)
@@ -2744,6 +2762,12 @@ subroutine ED_UnPackCoordSys(RF, OutData)
    integer(IntKi)  :: stat
    logical         :: IsAllocAssoc
    if (RF%ErrStat /= ErrID_None) return
+   call RegUnpack(RF, OutData%alpha1); if (RegCheckErr(RF, RoutineName)) return
+   call RegUnpack(RF, OutData%alpha2); if (RegCheckErr(RF, RoutineName)) return
+   call RegUnpack(RF, OutData%alpha3); if (RegCheckErr(RF, RoutineName)) return
+   call RegUnpack(RF, OutData%beta1); if (RegCheckErr(RF, RoutineName)) return
+   call RegUnpack(RF, OutData%beta2); if (RegCheckErr(RF, RoutineName)) return
+   call RegUnpack(RF, OutData%beta3); if (RegCheckErr(RF, RoutineName)) return
    call RegUnpack(RF, OutData%a1); if (RegCheckErr(RF, RoutineName)) return
    call RegUnpack(RF, OutData%a2); if (RegCheckErr(RF, RoutineName)) return
    call RegUnpack(RF, OutData%a3); if (RegCheckErr(RF, RoutineName)) return

modules/hydrodyn/CMakeLists.txt

@@ -43,6 +43,7 @@ add_library(hydrodynlib STATIC
   src/SS_Excitation_Types.f90
   src/WAMIT_Types.f90
   src/WAMIT2_Types.f90
+  src/YawOffset.f90
 )
 target_link_libraries(hydrodynlib seastlib nwtclibs)