Merge remote-tracking branch 'OpenFAST/dev' into f/underrelaxation

Author: andrew-platt

modules/subdyn/src/SubDyn.f90

@@ -869,7 +869,7 @@ SUBROUTINE SD_CalcOutput( t, u, p, x, xd, z, OtherState, y, m, ErrStat, ErrMsg )
             ! --- Rigid body displacements for hydrodyn
             y%Y2mesh%Orientation     (:,:,iSDNode)   = Rg2b
             y%Y2mesh%TranslationDisp (:,iSDNode)     = duP(1:3)                       ! Y2: NOTE: only the rigid-body displacements for floating
-            ! --- Full elastic displacements for others (moordyn)
+            ! --- Elastic displacements without SIM for others (Moordyn)
             y%Y3mesh%Orientation     (:,:,iSDNode)   = EulerConstructZYX(m%U_full_NS(DOFList(4:6)))
             y%Y3mesh%TranslationDisp (:,iSDNode)     = m%U_full_NS     (DOFList(1:3)) ! Y3: Guyan+CB (but no SIM) displacements
             ! --- Elastic velocities and accelerations 
@@ -880,7 +880,9 @@ SUBROUTINE SD_CalcOutput( t, u, p, x, xd, z, OtherState, y, m, ErrStat, ErrMsg )
             end associate
          enddo
       else
-         ! --- Fixed bottom - Y3 and Y2 meshes are identical in this case
+         ! --- Fixed bottom
+         ! Y2: Guyan+CB displacements without SIM
+         ! Y3 = Y2 for all nodes (Guyan+CB, no SIM), then overwrite reaction node(s) with SIM correction for SoilDyn
          do iSDNode = 1,p%nNodes
             associate(DOFList => p%NodesDOF(iSDNode)%List)  ! Alias to shorten notations
             ! TODO TODO which orientation to give for joints with more than 6 dofs?
@@ -894,8 +896,18 @@ SUBROUTINE SD_CalcOutput( t, u, p, x, xd, z, OtherState, y, m, ErrStat, ErrMsg )
             y%Y2mesh%RotationAcc     (:,iSDNode)     = m%U_full_dotdot (DOFList(4:6))
             end associate
          enddo
+         ! Y3 = Y2 for all nodes (Guyan+CB, no SIM)
          y%Y3mesh%TranslationDisp = y%Y2mesh%TranslationDisp
          y%Y3mesh%Orientation     = y%Y2mesh%Orientation
+         ! Overwrite reaction node(s) in Y3 mesh with full elastic displacements including SIM (for SoilDyn) 
+         do i = 1, p%nNodes_C
+            iSDNode = p%Nodes_C(i,1)
+            associate(DOFList => p%NodesDOF(iSDNode)%List)  ! Alias to shorten notations
+            CALL SmllRotTrans( 'UR_bar input angles', m%U_full(DOFList(4)), m%U_full(DOFList(5)), m%U_full(DOFList(6)), DCM, '', ErrStat2, ErrMsg2); if(Failed()) return
+            y%Y3mesh%Orientation     (:,:,iSDNode)   = DCM
+            y%Y3mesh%TranslationDisp (:,iSDNode)     = m%U_full        (DOFList(1:3)) ! Y3: Guyan+CB+SIM displacements
+            end associate
+         enddo
       endif
       ! --- Y3 mesh and Y2 mesh both have elastic (Guyan+CB) velocities and accelerations
       y%Y3mesh%TranslationVel = y%Y2mesh%TranslationVel

openfast_io/openfast_io/FAST_writer.py

@@ -290,10 +290,10 @@ def write_MainInput(self):
         f.write('{:<22} {:<11} {:}'.format(self.fst_vt['Fst']['DT'], 'DT', '- Recommended module time step (s)\n'))
         f.write('{:<22} {:<11} {:}'.format(self.fst_vt['Fst']['ModCoupling'], 'ModCoupling', '- Module coupling method (switch) {1=loose; 2=tight with fixed Jacobian updates (DT_UJac); 3=tight with automatic Jacobian updates}\n'))
         f.write('{:<22} {:<11} {:}'.format(self.fst_vt['Fst']['InterpOrder'], 'InterpOrder', '- Interpolation order for input/output time history (-) {1=linear, 2=quadratic}\n'))
-        f.write('{:<22} {:<11} {:}'.format(self.fst_vt['Fst']['NumCrctn'], 'NumCrctn', '- Numerical damping parameter for tight coupling generalized-alpha integrator (-) [0.0 to 1.0]\n'))
-        f.write('{:<22} {:<11} {:}'.format(self.fst_vt['Fst']['RhoInf'], 'RhoInf', '- Convergence iteration error tolerance for tight coupling generalized alpha integrator (-)\n'))
-        f.write('{:<22} {:<11} {:}'.format(self.fst_vt['Fst']['ConvTol'], 'ConvTol', '- Maximum number of convergence iterations for tight coupling generalized alpha integrator (-)\n'))
-        f.write('{:<22} {:<11} {:}'.format(self.fst_vt['Fst']['MaxConvIter'], 'MaxConvIter', '- Number of correction iterations (-) {0=explicit calculation, i.e., no corrections}\n'))
+        f.write('{:<22} {:<11} {:}'.format(self.fst_vt['Fst']['NumCrctn'], 'NumCrctn', '- Number of correction iterations (-) {0=explicit calculation, i.e., no corrections}\n'))
+        f.write('{:<22} {:<11} {:}'.format(self.fst_vt['Fst']['RhoInf'], 'RhoInf', '- Numerical damping parameter for tight coupling generalized-alpha integrator (-) [0.0 to 1.0]\n'))
+        f.write('{:<22} {:<11} {:}'.format(self.fst_vt['Fst']['ConvTol'], 'ConvTol', '- Convergence iteration error tolerance for tight coupling generalized alpha integrator (-)\n'))
+        f.write('{:<22} {:<11} {:}'.format(self.fst_vt['Fst']['MaxConvIter'], 'MaxConvIter', '- Maximum number of convergence iterations for tight coupling generalized alpha integrator (-)\n'))
         f.write('{!s:<22} {:<11} {:}'.format(self.fst_vt['Fst']['AutoRelax'], 'AutoRelax', '- Adaptive under-relaxation for the tight-coupling iterative solver (flag) [default=true]\n'))
         f.write('{:<22} {:<11} {:}'.format(self.fst_vt['Fst']['RelaxFactor'], 'RelaxFactor', '- Constant or initial (if AutoRelax) under-relaxation factor for the tight-coupling iterative solver (-) [>0 and <=1; default=0.7 if AutoRelax=false; default=0.3 if AutoRelax=true]\n'))
         f.write('{:<22} {:<11} {:}'.format(self.fst_vt['Fst']['DT_UJac'], 'DT_UJac', '- Time between calls to get Jacobians (s)\n'))

openfast_io/openfast_io/StC_defaults.py

@@ -29,7 +29,7 @@ def default_StC_vt():
     StC['StC_X_M']      = 0     #  - StC X mass (kg) [must equal StC_Y_M for StC_DOF_MODE = 2]
     StC['StC_Y_M']      = 0     #  - StC Y mass (kg) [must equal StC_X_M for StC_DOF_MODE = 2]
     StC['StC_Z_M']      = 0     #  - StC Z mass (kg) [used only when StC_DOF_MODE=1 and StC_Z_DOF=TRUE]
-    StC['StC_XY_M']     = 0     #  - StC Z mass (kg) [used only when StC_DOF_MODE=2]
+    StC['StC_Omni_M']   = 0     #  - StC omni mass (kg) [used only when StC_DOF_MODE=2 or 3]
     StC['StC_X_K']      = 0     #  - StC X stiffness (N/m)
     StC['StC_Y_K']      = 0     #  - StC Y stiffness (N/m)
     StC['StC_Z_K']      = 0     #  - StC Z stiffness (N/m) [used only when StC_DOF_MODE=1 and StC_Z_DOF=TRUE]

reg_tests/r-test

@@ -15,7 +15,7 @@
 			<Tool Name="VFPostBuildEventTool"/>
 			<Tool Name="VFManifestTool" SuppressStartupBanner="true"/>
 		</Configuration>
-		<Configuration Name="Matlab_Release|x64" UseCompiler="ifxCompiler" OutputDirectory="..\..\build\bin\" IntermediateDirectory="..\..\build\$(Configuration)_$(Platform)\$(ProjectName)\" TargetName="$(ProjectName)_$(Configuration)" ConfigurationType="typeDynamicLibrary" WholeProgramOptimization="true">
+		<Configuration Name="Matlab_Release|x64" UseCompiler="ifxCompiler" OutputDirectory="..\..\build\bin\" IntermediateDirectory="..\..\build\$(Configuration)_$(Platform)\$(ProjectName)\" TargetName="$(ProjectName)" ConfigurationType="typeDynamicLibrary" WholeProgramOptimization="true">
 			<Tool Name="VFFortranCompilerTool" SuppressStartupBanner="true" MultiProcessorCompilation="true" Preprocess="preprocessYes" PreprocessorDefinitions="COMPILE_SIMULINK" StandardWarnings="standardWarningsF03" DisableSpecificDiagnostics="5268,5199"/>
 			<Tool Name="VFLinkerTool" SuppressStartupBanner="true" GenerateManifest="false" SubSystem="subSystemWindows" LinkDLL="true" AdditionalDependencies="&quot;$(MATLAB_ROOT)\extern\lib\win64\microsoft\libmex.lib&quot;"/>
 			<Tool Name="VFResourceCompilerTool"/>