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HD: Initialization of the low-pass-filtered displacements of potential-flow bodies when ExctnDisp = 2 #2341

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merged 8 commits into from
Aug 8, 2024
Merged

HD: Initialization of the low-pass-filtered displacements of potential-flow bodies when ExctnDisp = 2 #2341

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4a64d78
HD: Initialize the low-pass-filtered displacements of potential-flow …
luwang00 Jul 20, 2024
935825b
HD: Fix compiling problem with logical operator
luwang00 Jul 20, 2024
4af9c0c
Fix single-precision build
luwang00 Jul 20, 2024
f294e9b
HD: HD driver should now properly initialize the low-pass-filtered po…
luwang00 Jul 20, 2024
3419a94
HD: Only initialize the low-pass-filtered positions of potential-flow…
luwang00 Jul 20, 2024
77c6d08
HD driver: fixes for failing module tests with debug build
luwang00 Jul 20, 2024
c0e4151
One more fix for debug build
luwang00 Jul 20, 2024
065ffce
Fix some comments
luwang00 Jul 22, 2024
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38 changes: 30 additions & 8 deletions modules/hydrodyn/src/HydroDyn_DriverCode.f90
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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

IF ( p%PotMod == 1_IntKi ) THEN
IF ( p%WAMIT(1)%ExctnDisp == 2_IntKi ) THEN
! Set the initial displacement of ED%PlatformPtMesh here to use MeshMapping
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 instance 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
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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 instance 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