Merge pull request #1008 from luwang00/dev

Additional features for the new SeaState module and HydroDyn
OpenFAST · May 31, 2023 · ebf22d9 · ebf22d9
2 parents 26adf51 + a94caf6
commit ebf22d9
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diff --git a/.github/actions/tests-module-hydrodyn/action.yml b/.github/actions/tests-module-hydrodyn/action.yml
@@ -4,6 +4,6 @@ author: 'Rafael Mudafort https://github.com/rafmudaf'
 runs:
   using: "composite"
   steps:  
-    - run: ctest -VV -j7 -R hd_ -LE python
+    - run: ctest -VV -j1 -R hd_ -LE python
       working-directory: ${{runner.workspace}}/openfast/build
       shell: bash
diff --git a/.github/actions/tests-module-seastate/action.yml b/.github/actions/tests-module-seastate/action.yml
@@ -0,0 +1,9 @@
+name: 'SeaState module tests'
+description: 'Run tests specific to the SeaState module'
+author: 'Rafael Mudafort https://github.com/rafmudaf'
+runs:
+  using: "composite"
+  steps:  
+    - run: ctest -VV -j7 -R seastate_ -LE python
+      working-directory: ${{runner.workspace}}/openfast/build
+      shell: bash
diff --git a/.github/workflows/automated-dev-tests.yml b/.github/workflows/automated-dev-tests.yml
@@ -387,6 +387,8 @@ jobs:
           test-target: regression
       - name: Run MoorDyn tests
         uses: ./.github/actions/tests-module-moordyn
+      - name: Run SeaState tests
+        uses: ./.github/actions/tests-module-seastate
       - name: Run SubDyn tests
         uses: ./.github/actions/tests-module-subdyn
       - name: Failing test artifacts
@@ -441,6 +443,8 @@ jobs:
         uses: ./.github/actions/tests-module-moordyn
       - name: Run NWTC Library tests
         uses: ./.github/actions/tests-module-nwtclibrary
+      - name: Run SeaState tests
+        uses: ./.github/actions/tests-module-seastate
       - name: Run SubDyn tests
         uses: ./.github/actions/tests-module-subdyn
       - name: Run VersionInfo tests

diff --git a/CMakeLists.txt b/CMakeLists.txt
@@ -179,6 +179,7 @@ set(OPENFAST_MODULES
   elastodyn
   beamdyn
   subdyn
+  seastate
   hydrodyn
   orcaflex-interface
   extptfm

diff --git a/docs/OtherSupporting/HydroDyn/HydroDyn_MacCamy-Fuchs.docx b/docs/OtherSupporting/HydroDyn/HydroDyn_MacCamy-Fuchs.docx
diff --git a/docs/OtherSupporting/HydroDyn/HydroDyn_WaveStretching_Plan.docx b/docs/OtherSupporting/HydroDyn/HydroDyn_WaveStretching_Plan.docx
diff --git a/docs/OtherSupporting/OutListParameters.xlsx b/docs/OtherSupporting/OutListParameters.xlsx
diff --git a/docs/OtherSupporting/SeaState/SeaState_Constrained_NewWave.docx b/docs/OtherSupporting/SeaState/SeaState_Constrained_NewWave.docx
diff --git a/docs/OtherSupporting/SeaState/SeaState_WaveMod7.docx b/docs/OtherSupporting/SeaState/SeaState_WaveMod7.docx
diff --git a/docs/source/testing/regression_test.rst b/docs/source/testing/regression_test.rst
@@ -40,6 +40,7 @@ configuration as described in the following sections.
 
 In both modes of execution a directory is created in the build directory
 called ``reg_tests`` where all of the input files for the test cases are copied
+(but not overwritten) 
 and all of the locally generated outputs are stored. Ultimately, both CTest and
 the manual execution program call a series of Python scripts and libraries in
 ``reg_tests`` and ``reg_tests/lib``. One such script is ``lib/pass_fail.py``

diff --git a/docs/source/user/aerodyn/examples/ad_driver_example.dvr b/docs/source/user/aerodyn/examples/ad_driver_example.dvr
@@ -6,7 +6,7 @@ False           Echo         - Echo input parameters to "<rootname>.ech"?
         3       AnalysisType - {1: multiple turbines, one simulation, 2: one turbine, one time-dependent simulation, 3: one turbine, combined cases}
        11.0     TMax         - Total run time [used only when AnalysisType/=3] (s)
         0.5     DT           - Simulation time step [used only when AnalysisType/=3] (s)
-"./AD.dat"      AeroFile - Name of the primary AeroDyn input file
+"ad_primary_example.dat"      AeroFile - Name of the primary AeroDyn input file
 ----- Environmental Conditions ----------------------------------------------------------
        1025     FldDens      - Density of working fluid (kg/m^3)
  1.4639E-05     KinVisc      - Kinematic viscosity of working fluid (m^2/s)
@@ -19,7 +19,7 @@ False           Echo         - Echo input parameters to "<rootname>.ech"?
 "unused"         InflowFile  - Name of the InflowWind input file [used only when CompInflow=1]
         9.0      HWindSpeed  - Horizontal wind speed   [used only when CompInflow=0 and AnalysisType=1] (m/s)
         140      RefHt       - Reference height for horizontal wind speed [used only when CompInflow=0]  (m)
-       0.10      PLExp       - Power law exponent   [used only when CompInflow=0 and AnalysisType=1]                        (-)
+       0.10      PLExp       - Power law exponent   [used only when CompInflow=0 and AnalysisType=1] (-)
 ----- Turbine Data ----------------------------------------------------------------------
 1               NumTurbines  - Number of turbines
 ----- Turbine(1) Geometry ---------------------------------------------------------------

diff --git a/docs/source/user/aerodyn/examples/ad_primary_example.dat b/docs/source/user/aerodyn/examples/ad_primary_example.dat
@@ -3,7 +3,7 @@ Description line that will be printed in the output file and written to the scre
 ======  General Options  ============================================================================
 True          Echo               - Echo the input to "<rootname>.AD.ech"?  (flag)
 "default"     DTAero             - Time interval for aerodynamic calculations {or "default"} (s)
-          1   WakeMod            - Type of wake/induction model (switch) {0=none, 1=BEMT, 2=DBEMT, 3=OLAF}  [WakeMod cannot be 2 or 3 when linearizing]
+          1   WakeMod            - Type of wake/induction model (switch) {0=none, 1=BEMT, 2=DBEMT, 3=OLAF} [WakeMod cannot be 2 or 3 when linearizing]
           1   AFAeroMod          - Type of blade airfoil aerodynamics model (switch) {1=steady model, 2=Beddoes-Leishman unsteady model} [AFAeroMod must be 1 when linearizing]
           0   TwrPotent          - Type of tower influence on wind based on potential flow around the tower (switch) {0=none, 1=baseline potential flow, 2=potential flow with Bak correction}
           0   TwrShadow          - Calculate tower influence on wind based on downstream tower shadow (switch) {0=none, 1=Powles model, 2=Eames model}
@@ -33,10 +33,12 @@ True          TIDrag             - Include the drag term in the tangential-induc
           2   DBEMT_Mod          - Type of dynamic BEMT (DBEMT) model {1=constant tau1, 2=time-dependent tau1, 3=constant tau1 with continuous formulation} (-) [used only when WakeMod=2]
           4   tau1_const         - Time constant for DBEMT (s) [used only when WakeMod=2 and DBEMT_Mod=1 or 3]
 ======  OLAF -- cOnvecting LAgrangian Filaments (Free Vortex Wake) Theory Options  ================== [used only when WakeMod=3]
-"unused"      OLAFInputFileName - Input file for OLAF [used only when WakeMod=3]
+"unused"      OLAFInputFileName  - Input file for OLAF [used only when WakeMod=3]
 ======  Beddoes-Leishman Unsteady Airfoil Aerodynamics Options  ===================================== [used only when AFAeroMod=2]
-          1   UAMod              - Unsteady Aero Model Switch (switch) {2=B-L Gonzalez, 3=B-L Minnema/Pierce, 4=B-L HGM 4-states, 5=B-L 5 states, 6=Oye, 7=Boeing-Vertol} [used only when AFAeroMod=2]
+          1   UAMod              - Unsteady Aero Model Switch (switch) {2=B-L Gonzalez, 3=B-L Minnema/Pierce, 4=B-L HGM 4-states, 5=B-L HGM+vortex 5 states, 6=Oye, 7=Boeing-Vertol} [used only when AFAeroMod=2]
 FALSE         FLookup            - Flag to indicate whether a lookup for f' will be calculated (TRUE) or whether best-fit exponential equations will be used (FALSE); if FALSE S1-S4 must be provided in airfoil input files (flag) [used only when AFAeroMod=2]
+       0.25   UAStartRad         - Starting radius for dynamic stall (fraction of rotor radius [0.0,1.0]) [used only when AFAeroMod=2; if line is missing UAStartRad=0]
+       0.95   UAEndRad           - Ending radius for dynamic stall (fraction of rotor radius [0.0,1.0]) [used only when AFAeroMod=2; if line is missing UAEndRad=1]
 ======  Airfoil Information =========================================================================
           1   AFTabMod           - Interpolation method for multiple airfoil tables {1=1D interpolation on AoA (first table only); 2=2D interpolation on AoA and Re; 3=2D interpolation on AoA and UserProp} (-)
           1   InCol_Alfa         - The column in the airfoil tables that contains the angle of attack (-)
@@ -61,27 +63,30 @@ True          UseBlCm            - Include aerodynamic pitching moment in calcul
 "Test01_UAE_AeroDyn_blade.dat"    ADBlFile(2)        - Name of file containing distributed aerodynamic properties for Blade #2 (-) [unused if NumBl < 2]
 "Test01_UAE_AeroDyn_blade.dat"    ADBlFile(3)        - Name of file containing distributed aerodynamic properties for Blade #3 (-) [unused if NumBl < 3]
 ======  Hub Properties ============================================================================== [used only when Buoyancy=True]
-        0.0   VolHub             - Hub volume (m^3)
-        0.0   HubCenBx           - Hub center of buoyancy x direction offset (m)
+          0   VolHub             - Hub volume (m^3)
+          0   HubCenBx           - Hub center of buoyancy x direction offset (m)
 ======  Nacelle Properties ========================================================================== [used only when Buoyancy=True]
-        0.0   VolNac             - Nacelle volume (m^3)
-0.0, 0.0, 0.0 NacCenB            - Position of nacelle center of buoyancy from yaw bearing in nacelle coordinates (m)
+          0   VolNac             - Nacelle volume (m^3)
+          0,          0,          0    NacCenB            - Position of nacelle center of buoyancy from yaw bearing in nacelle coordinates (m)
+======  Tail Fin Aerodynamics =======================================================================
+False         TFinAero           - Calculate tail fin aerodynamics model (flag)
+"unused"      TFinFile           - Input file for tail fin aerodynamics [used only when TFinAero=True]
 ======  Tower Influence and Aerodynamics ============================================================ [used only when TwrPotent/=0, TwrShadow/=0, TwrAero=True, or Buoyancy=True]
           5   NumTwrNds         - Number of tower nodes used in the analysis  (-) [used only when TwrPotent/=0, TwrShadow/=0, TwrAero=True, or Buoyancy=True]
-TwrElev        TwrDiam        TwrCd          TwrTI (used only with TwrShadow=2)  TwrCb (used only with Buoyancy=True)
-(m)            (m)            (-)            (-)                                 (-)
-0.0000000E+00  6.0000000E+00  0.0000000E+00  1.0000000E-01                       0.0
-2.0000000E+01  5.5000000E+00  0.0000000E+00  1.0000000E-01                       0.0
-4.0000000E+01  5.0000000E+00  0.0000000E+00  1.0000000E-01                       0.0
-6.0000000E+01  4.5000000E+00  0.0000000E+00  1.0000000E-01                       0.0
-8.0000000E+01  4.0000000E+00  0.0000000E+00  1.0000000E-01                       0.0
+TwrElev        TwrDiam        TwrCd          TwrTI           TwrCb  ! TwrTI used only when TwrShadow=2; TwrCb used only when Buoyancy=True
+(m)              (m)           (-)            (-)            (-)
+0.0000000E+00  6.0000000E+00  0.0000000E+00  1.0000000E-01  0.0000000E+00  
+2.0000000E+01  5.5000000E+00  0.0000000E+00  1.0000000E-01  0.0000000E+00  
+4.0000000E+01  5.0000000E+00  0.0000000E+00  1.0000000E-01  0.0000000E+00  
+6.0000000E+01  4.5000000E+00  0.0000000E+00  1.0000000E-01  0.0000000E+00  
+8.0000000E+01  4.0000000E+00  0.0000000E+00  1.0000000E-01  0.0000000E+00  
 ======  Outputs  ====================================================================================
-True          SumPrint            - Generate a summary file listing input options and interpolated properties to "<rootname>.AD.sum"?  (flag)
+True          SumPrint            - Generate a summary file listing input options and interpolated properties to "<rootname>.AD.sum"? (flag)
           4   NBlOuts             - Number of blade node outputs [0 - 9] (-)
           1,          3,          4,          6    BlOutNd             - Blade nodes whose values will be output  (-)
           0   NTwOuts             - Number of tower node outputs [0 - 9]  (-)
           1   TwOutNd             - Tower nodes whose values will be output  (-)
-                   OutList             - The next line(s) contains a list of output parameters.  See OutListParameters.xlsx for a listing of available output channels, (-)
+              OutList             - The next line(s) contains a list of output parameters.  See OutListParameters.xlsx for a listing of available output channels, (-)
 "B1N1VDisx, B1N1VDisy, B1N1VDisz" ! disturbed wind velocity at Blade 1, Node 1
 "B1N2VDisx, B1N2VDisy, B1N2VDisz" ! disturbed wind velocity at Blade 1, Node 2
 "B1N3VDisx, B1N3VDisy, B1N3VDisz" ! disturbed wind velocity at Blade 1, Node 3
@@ -93,18 +98,19 @@ True          SumPrint            - Generate a summary file listing input option
 "B1N1Alpha, B1N2Alpha, B1N3Alpha"  
 "B1N1Theta, B1N2Theta, B1N3Theta"  
 END of OutList section (the word "END" must appear in the first 3 columns of the last OutList line)
-====== Outputs for all blade stations (same ending as above for B1N1.... ============================ [optional section]
-   1              BldNd_BladesOut     - Number of blades to output all node information at.  Up to number of blades on turbine. (-)
-   "All"          BldNd_BlOutNd       - Future feature will allow selecting a portion of the nodes to output.  Not implemented yet. (-)
-                  OutList             - The next line(s) contains a list of output parameters.  See OutListParameters.xlsx for a listing of available output channels, (-)
-"Fx, Fy"
-"Vx, Vy"
-Vrel
-TnInd
-AxInd
-Theta
-Phi
-Vindx
-Vindy
-Alpha
+====== Outputs for all blade stations (same ending as above for B1N1.... =========================== [optional section]
+          1   BldNd_BladesOut     - Number of blades to output all node information at.  Up to number of blades on turbine. (-)
+"All"         BldNd_BlOutNd       - Future feature will allow selecting a portion of the nodes to output.  Not implemented yet. (-)
+              OutList             - The next line(s) contains a list of output parameters.  See OutListParameters.xlsx for a listing of available output channels, (-)
+"Fx, Fy"                   
+"Vx, Vy"                   
+"Vrel"                     
+"TnInd"                    
+"AxInd"                    
+"Theta"                    
+"Phi"                      
+"Vindx"                    
+"Vindy"                    
+"Alpha"                    
 END (the word "END" must appear in the first 3 columns of this last OutList line in the optional nodal output section)
+====================================================================================================
diff --git a/docs/source/user/beamdyn/examples/bd_primary_nrel_5mw.inp b/docs/source/user/beamdyn/examples/bd_primary_nrel_5mw.inp
@@ -78,7 +78,7 @@ True          RotStates        - Orient states in the rotating frame during line
 ---------------------- PITCH ACTUATOR PARAMETERS -------------------------------
 False         UsePitchAct - Whether a pitch actuator should be used (flag)
         200   PitchJ      - Pitch actuator inertia (kg-m^2) [used only when UsePitchAct is true]
-      2E+07   PitchK      - Pitch actuator stiffness (kg-m^2/s^2) [used only when UsePitchAct is true]
+   20000000   PitchK      - Pitch actuator stiffness (kg-m^2/s^2) [used only when UsePitchAct is true]
      500000   PitchC      - Pitch actuator damping (kg-m^2/s) [used only when UsePitchAct is true]
 ---------------------- OUTPUTS -------------------------------------------------
 True          SumPrint       - Print summary data to "<RootName>.sum" (flag)
@@ -92,17 +92,18 @@ True          SumPrint       - Print summary data to "<RootName>.sum" (flag)
 "N1Mxl,N1Myl,N1Mzl"          
 "TipTDxr, TipTDyr, TipTDzr"  
 "TipRDxr, TipRDyr, TipRDzr"  
-END of input file (the word "END" must appear in the first 3 columns of the last OutList line)
+END of OutList section (the word "END" must appear in the first 3 columns of the last OutList line)
 ====== Outputs for all blade stations (same ending as above for B1N1.... =========================== (optional section)
-   "All"          BldNd_BlOutNd       - Future feature will allow selecting a portion of the nodes to output.  Not implemented yet. (-)
+"All"         BldNd_BlOutNd       - Future feature will allow selecting a portion of the nodes to output.  Not implemented yet. (-)
                   OutList             - The next line(s) contains a list of output parameters.  See OutListParameters.xlsx for a listing of available output channels, (-)
-"TDxr, TDyr, TDzr"
-"TVxr, TVyr, TVzr"
-"TAxr, TAyr, TAzr"
-"RDxr, RDyr, RDzr"
-"RVxr, RVyr, RVzr"
-"RAxr, RAyr, RAzr"
-"Fxr, Fyr, Fzr"
+"TDxr, TDyr, TDzr"           
+"TVxr, TVyr, TVzr"           
+"TAxr, TAyr, TAzr"           
+"RDxr, RDyr, RDzr"           
+"RVxr, RVyr, RVzr"           
+"RAxr, RAyr, RAzr"           
+"Fxr, Fyr, Fzr"              
 "TipTDxr, TipTDyr, TipTDzr"  
 "TipRDxr, TipRDyr, TipRDzr"  
-END of input file (the word "END" must appear in the first 3 columns of this last OutList line)
+END (the word "END" must appear in the first 3 columns of this last OutList line in the optional nodal output section)
+--------------------------------------------------------------------------------
diff --git a/docs/source/user/hydrodyn/appendix.rst b/docs/source/user/hydrodyn/appendix.rst
@@ -282,10 +282,6 @@ structure::
       1.0   2.0   3.0   4.0   5.0   6.0    uMorisonInSteady       - input displacements and rotations for the morison elements (m, rads)
       7.0   8.0   9.0  10.0  11.0  12.0    uDotMorisonInSteady    - input translational and rotational velocities for the morison elements (m/s, rads/s)
       13.0 14.0  15.0  16.0  17.0  18.0    uDotDotMorisonInSteady - input translational and rotational acccelerations for the morison elements (m/s^2, rads/s^2)
-      ---------------------- Waves multipoint elevation output -------------------------------                                                                                                                
-      TRUE             WaveElevSeriesFlag  - T/F flag to calculate the wave elevation field (for movies)
-      5.0   5.0        WaveElevDX WaveElevDY  - WaveElevSeries spacing -- WaveElevDX WaveElevDY
-      3   3            WaveElevNX WaveElevNY  - WaveElevSeries points -- WaveElevNX WaveElevNY
       END of driver input file
 
 .. _hd-output-channels: