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HD: Reimplement the initialization of low-pass-filtered potential-flow body positions for ExctnDisp=2 #2444

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Oct 3, 2024
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HD: Reimplement the initialization of low-pass-filtered potential-flow body positions for ExctnDisp=2 #2444

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1 change: 1 addition & 0 deletions modules/hydrodyn/src/HydroDyn.f90
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Expand Up @@ -293,6 +293,7 @@ SUBROUTINE HydroDyn_Init( InitInp, u, p, x, xd, z, OtherState, y, m, Interval, I
p%vecMultiplier = InputFileData%vecMultiplier ! Multiply all vectors and matrices row/column lengths by NBody
InputFileData%WAMIT%NBodyMod = InputFileData%NBodyMod
InputFileData%WAMIT%Gravity = InitInp%Gravity
InputFileData%WAMIT%PlatformPos = InitInp%PlatformPos ! Initial platform/HD origin position
p%NBody = InputFileData%NBody
p%NBodyMod = InputFileData%NBodyMod
call AllocAry( m%F_PtfmAdd, 6*InputFileData%NBody, "m%F_PtfmAdd", ErrStat2, ErrMsg2 ); call SetErrStat( ErrStat2, ErrMsg2, ErrStat, ErrMsg, RoutineName )
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4 changes: 2 additions & 2 deletions modules/hydrodyn/src/HydroDyn.txt
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Expand Up @@ -71,13 +71,13 @@ typedef HydroDyn/HydroDyn InitInputType CHARACTER(1
typedef ^ ^ LOGICAL UseInputFile - .TRUE. - "Supplied by Driver: .TRUE. if using a input file, .FALSE. if all inputs are being passed in by the caller" -
typedef ^ ^ FileInfoType PassedFileData - - - "If we don't use the input file, pass everything through this" -
typedef ^ ^ CHARACTER(1024) OutRootName - - - "Supplied by Driver: The name of the root file (without extension) including the full path" -
typedef ^ ^ Logical Linearize - .FALSE. - "Flag that tells this module if the glue code wants to linearize." -
typedef ^ ^ Logical Linearize - .FALSE. - "Flag that tells this module if the glue code wants to linearize." -
typedef ^ ^ ReKi Gravity - - - "Supplied by Driver: Gravitational acceleration" "(m/s^2)"
typedef ^ ^ DbKi TMax - - - "Supplied by Driver: The total simulation time" "(sec)"
typedef ^ ^ logical VisMeshes - .false. - "Output visualization meshes" -
#
typedef ^ ^ LOGICAL InvalidWithSSExctn - - - "Whether SeaState configuration is invalid with HydroDyn's state-space excitation (ExctnMod=2)" (-)
typedef ^ ^ SeaSt_WaveFieldType *WaveField - - - "Pointer to SeaState wave field" -
typedef ^ ^ ReKi PlatformPos {6} - - "Initial platform position (6 DOFs)"
#
#
# Define outputs from the initialization routine here:
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23 changes: 6 additions & 17 deletions modules/hydrodyn/src/HydroDyn_DriverCode.f90
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Expand Up @@ -240,23 +240,6 @@ PROGRAM HydroDynDriver
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 @@ -348,6 +331,12 @@ subroutine SetHD_InitInputs()

InitInData_HD%WaveField => InitOutData_SeaSt%WaveField

IF (( drvrData%PRPInputsMod /= 2 ) .AND. ( drvrData%PRPInputsMod >= 0 )) THEN
InitInData_HD%PlatformPos = drvrData%uPRPInSteady
ELSE
InitInData_HD%PlatformPos = drvrData%PRPin(1,1:6)
END IF

end subroutine SetHD_InitInputs
!----------------------------------------------------------------------------------------------------------------------------------
subroutine CheckError()
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8 changes: 6 additions & 2 deletions modules/hydrodyn/src/HydroDyn_Types.f90
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Expand Up @@ -94,6 +94,7 @@ MODULE HydroDyn_Types
LOGICAL :: VisMeshes = .false. !< Output visualization meshes [-]
LOGICAL :: InvalidWithSSExctn = .false. !< Whether SeaState configuration is invalid with HydroDyn's state-space excitation (ExctnMod=2) [(-)]
TYPE(SeaSt_WaveFieldType) , POINTER :: WaveField => NULL() !< Pointer to SeaState wave field [-]
REAL(ReKi) , DIMENSION(1:6) :: PlatformPos = 0.0_ReKi !< Initial platform position (6 DOFs) [-]
END TYPE HydroDyn_InitInputType
! =======================
! ========= HydroDyn_InitOutputType =======
Expand Down Expand Up @@ -594,7 +595,7 @@ subroutine HydroDyn_CopyInitInput(SrcInitInputData, DstInitInputData, CtrlCode,
integer(IntKi), intent(in ) :: CtrlCode
integer(IntKi), intent( out) :: ErrStat
character(*), intent( out) :: ErrMsg
integer(B8Ki) :: LB(0), UB(0)
integer(B8Ki) :: LB(1), UB(1)
integer(IntKi) :: ErrStat2
character(ErrMsgLen) :: ErrMsg2
character(*), parameter :: RoutineName = 'HydroDyn_CopyInitInput'
Expand All @@ -612,6 +613,7 @@ subroutine HydroDyn_CopyInitInput(SrcInitInputData, DstInitInputData, CtrlCode,
DstInitInputData%VisMeshes = SrcInitInputData%VisMeshes
DstInitInputData%InvalidWithSSExctn = SrcInitInputData%InvalidWithSSExctn
DstInitInputData%WaveField => SrcInitInputData%WaveField
DstInitInputData%PlatformPos = SrcInitInputData%PlatformPos
end subroutine

subroutine HydroDyn_DestroyInitInput(InitInputData, ErrStat, ErrMsg)
Expand Down Expand Up @@ -650,14 +652,15 @@ subroutine HydroDyn_PackInitInput(RF, Indata)
call SeaSt_WaveField_PackSeaSt_WaveFieldType(RF, InData%WaveField)
end if
end if
call RegPack(RF, InData%PlatformPos)
if (RegCheckErr(RF, RoutineName)) return
end subroutine

subroutine HydroDyn_UnPackInitInput(RF, OutData)
type(RegFile), intent(inout) :: RF
type(HydroDyn_InitInputType), intent(inout) :: OutData
character(*), parameter :: RoutineName = 'HydroDyn_UnPackInitInput'
integer(B8Ki) :: LB(0), UB(0)
integer(B8Ki) :: LB(1), UB(1)
integer(IntKi) :: stat
logical :: IsAllocAssoc
integer(B8Ki) :: PtrIdx
Expand Down Expand Up @@ -690,6 +693,7 @@ subroutine HydroDyn_UnPackInitInput(RF, OutData)
else
OutData%WaveField => null()
end if
call RegUnpack(RF, OutData%PlatformPos); if (RegCheckErr(RF, RoutineName)) return
end subroutine

subroutine HydroDyn_CopyInitOutput(SrcInitOutputData, DstInitOutputData, CtrlCode, ErrStat, ErrMsg)
Expand Down
16 changes: 13 additions & 3 deletions modules/hydrodyn/src/WAMIT.f90
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Expand Up @@ -164,7 +164,7 @@ SUBROUTINE WAMIT_Init( InitInp, u, p, x, xd, z, OtherState, y, m, Interval, ErrS
REAL(ReKi), ALLOCATABLE :: WAMITPer (:) ! Period components as ordered in the WAMIT output files (sec )
REAL(ReKi), ALLOCATABLE :: WAMITWvDir(:) ! Wave direction components as ordered in the WAMIT output files (degrees)

INTEGER :: I,iGrid,iX,iY,iHdg,iBdy ! Generic index
INTEGER :: I,iGrid,iX,iY,iHdg,iBdy,iStp ! Generic index
INTEGER :: InsertInd ! The lowest sorted index whose associated frequency component is higher than the current frequency component -- this is to sort the frequency components from lowest to highest
INTEGER :: J ! Generic index
INTEGER :: K ! Generic index
Expand All @@ -190,6 +190,7 @@ SUBROUTINE WAMIT_Init( InitInp, u, p, x, xd, z, OtherState, y, m, Interval, ErrS
TYPE(FFT_DataType) :: FFT_Data ! the instance of the FFT module we're using
integer(IntKi) :: iSub, jSub ! indices into the 6x6 sub-matrices used to redimensionalize the WAMIT data (Needed because NBodyMod=1 could have WAMIT matrices which are 6N x 6N)
integer(IntKi) :: iBody ! WAMIT body index
real(ReKi) :: BdyPos0(3) ! Initial translational displacement of the WAMIT body
real(R8Ki) :: orientation(3,3) ! Initial orientation of the WAMIT body
real(R8Ki) :: theta(3) ! Euler angle rotations of the WAMIT body
real(ReKi) :: WaveNmbr ! Frequency-dependent wave number
Expand Down Expand Up @@ -1371,15 +1372,24 @@ SUBROUTINE WAMIT_Init( InitInp, u, p, x, xd, z, OtherState, y, m, Interval, ErrS
end if
end if

IF ( (p%ExctnMod>0) .AND. (p%ExctnDisp==2) ) THEN ! Allocate array for filtered potential-flow body positions
IF ( (p%ExctnMod>0) .AND. (p%ExctnDisp==2) ) THEN ! Allocate and initialize array for filtered potential-flow body positions
p%ExctnFiltConst = exp(-2.0*Pi*p%ExctnCutOff * Interval)
ALLOCATE ( xd%BdyPosFilt(1:2, 1:p%NBody, 1:3) , STAT=ErrStat2 )
IF ( ErrStat2 /= 0 ) THEN
CALL SetErrStat( ErrID_Fatal, 'Error allocating memory for the BdyPosFilt array.', ErrStat, ErrMsg, RoutineName)
CALL Cleanup()
RETURN
END IF
xd%BdyPosFilt = 0.0_ReKi
orientation = EulerConstructZYX(InitInp%PlatformPos(4:6));
DO iBdy = 1,p%NBody
! Initial WAMIT body position
BdyPos0 = InitInp%PlatformPos(1:3) &
+ matmul((/InitInp%PtfmRefxt(iBdy),InitInp%PtfmRefyt(iBdy),InitInp%PtfmRefzt(iBdy)/),orientation) &
- (/InitInp%PtfmRefxt(iBdy),InitInp%PtfmRefyt(iBdy),InitInp%PtfmRefzt(iBdy)/)
DO iStp = 1,3
xd%BdyPosFilt(1:2,iBdy,iStp) = BdyPos0(1:2)
END DO
END DO
END IF

ENDSELECT
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1 change: 1 addition & 0 deletions modules/hydrodyn/src/WAMIT.txt
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Expand Up @@ -41,6 +41,7 @@ typedef ^ ^ Conv_Rdtn_I
typedef ^ ^ SeaSt_WaveFieldType *WaveField - - - "Pointer to wave field"
typedef ^ ^ INTEGER PtfmYMod - - - "Large yaw model" -
typedef ^ ^ ReKi PtfmRefY - - - "Initial reference yaw offset" (rad)
typedef ^ ^ ReKi PlatformPos {6} - - "Initial platform position (6 DOFs)"
#
#
# Define outputs from the initialization routine here:
Expand Down
4 changes: 4 additions & 0 deletions modules/hydrodyn/src/WAMIT_Types.f90
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Expand Up @@ -61,6 +61,7 @@ MODULE WAMIT_Types
TYPE(SeaSt_WaveFieldType) , POINTER :: WaveField => NULL() !< Pointer to wave field [-]
INTEGER(IntKi) :: PtfmYMod = 0_IntKi !< Large yaw model [-]
REAL(ReKi) :: PtfmRefY = 0.0_ReKi !< Initial reference yaw offset [(rad)]
REAL(ReKi) , DIMENSION(1:6) :: PlatformPos = 0.0_ReKi !< Initial platform position (6 DOFs) [-]
END TYPE WAMIT_InitInputType
! =======================
! ========= WAMIT_ContinuousStateType =======
Expand Down Expand Up @@ -262,6 +263,7 @@ subroutine WAMIT_CopyInitInput(SrcInitInputData, DstInitInputData, CtrlCode, Err
DstInitInputData%WaveField => SrcInitInputData%WaveField
DstInitInputData%PtfmYMod = SrcInitInputData%PtfmYMod
DstInitInputData%PtfmRefY = SrcInitInputData%PtfmRefY
DstInitInputData%PlatformPos = SrcInitInputData%PlatformPos
end subroutine

subroutine WAMIT_DestroyInitInput(InitInputData, ErrStat, ErrMsg)
Expand Down Expand Up @@ -334,6 +336,7 @@ subroutine WAMIT_PackInitInput(RF, Indata)
end if
call RegPack(RF, InData%PtfmYMod)
call RegPack(RF, InData%PtfmRefY)
call RegPack(RF, InData%PlatformPos)
if (RegCheckErr(RF, RoutineName)) return
end subroutine

Expand Down Expand Up @@ -387,6 +390,7 @@ subroutine WAMIT_UnPackInitInput(RF, OutData)
end if
call RegUnpack(RF, OutData%PtfmYMod); if (RegCheckErr(RF, RoutineName)) return
call RegUnpack(RF, OutData%PtfmRefY); if (RegCheckErr(RF, RoutineName)) return
call RegUnpack(RF, OutData%PlatformPos); if (RegCheckErr(RF, RoutineName)) return
end subroutine

subroutine WAMIT_CopyContState(SrcContStateData, DstContStateData, CtrlCode, ErrStat, ErrMsg)
Expand Down
37 changes: 1 addition & 36 deletions modules/openfast-library/src/FAST_Subs.f90
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Expand Up @@ -924,6 +924,7 @@ SUBROUTINE FAST_InitializeAll( t_initial, p_FAST, y_FAST, m_FAST, ED, SED, BD, S
Init%InData_HD%OutRootName = TRIM(p_FAST%OutFileRoot)//'.'//TRIM(y_FAST%Module_Abrev(Module_HD))
Init%InData_HD%TMax = p_FAST%TMax
Init%InData_HD%Linearize = p_FAST%Linearize
Init%InData_HD%PlatformPos = Init%OutData_ED%PlatformPos ! Initial platform position; PlatformPos(1:3) is effectively the initial position of the HD origin
if (p_FAST%WrVTK /= VTK_None) Init%InData_HD%VisMeshes=.true.

! if ( p_FAST%CompSeaSt == Module_SeaSt ) then ! this is always true
Expand Down Expand Up @@ -1657,42 +1658,6 @@ SUBROUTINE FAST_InitializeAll( t_initial, p_FAST, y_FAST, m_FAST, ED, SED, BD, S
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