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Remove IfW data from AD15 inputs #1882

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merged 11 commits into from
May 9, 2024
Merged

Remove IfW data from AD15 inputs #1882

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066fb46
AD15: minor error handling cleanup
andrew-platt Nov 1, 2023
4fbd5c6
AD15: Error handling
andrew-platt Nov 1, 2023
4922ef4
AD15: move wind velocity storage to miscvar in type RotInflow
andrew-platt Jan 29, 2024
d35c456
IfW: minor cleanup of empty lines (linearization cleanup)
andrew-platt Nov 21, 2023
f1b536c
IfW: remove some unused routines and outdated notes
andrew-platt Nov 27, 2023
cc66e08
IfW: remove FAST_Solver call to IfW UpdateStates
andrew-platt Jan 22, 2024
5751e09
Merge remote-tracking branch 'OpenFAST/dev-unstable-pointers' into f/…
andrew-platt Apr 22, 2024
8494f07
ExtLoad: update how ExtLoad wind info is updated
andrew-platt Apr 22, 2024
e273bbc
testing: disable "Fake_" linear test cases -- segfaults fixed in next PR
andrew-platt Apr 22, 2024
ae58584
Merge branch 'dev-unstable-pointers' into f/AD15_IfW_dataAccess
andrew-platt May 8, 2024
8e483bb
Merge remote-tracking branch 'OpenFAST/dev-unstable-pointers' into f/…
andrew-platt May 8, 2024
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527 changes: 306 additions & 221 deletions modules/aerodyn/src/AeroDyn.f90
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33 changes: 17 additions & 16 deletions modules/aerodyn/src/AeroDyn_AllBldNdOuts_IO.f90
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Expand Up @@ -264,7 +264,7 @@ END SUBROUTINE AllBldNdOuts_InitOut
!! NOTE: the equations here came from the output section of AeroDyn_IO.f90. If anything changes in there, it needs to be reflected
!! here.

SUBROUTINE Calc_WriteAllBldNdOutput( p, p_AD, u, m, m_AD, x, y, OtherState, Indx, iRot, ErrStat, ErrMsg )
SUBROUTINE Calc_WriteAllBldNdOutput( p, p_AD, u, m, m_AD, x, y, OtherState, RotInflow, Indx, iRot, ErrStat, ErrMsg )
TYPE(RotParameterType), INTENT(IN ) :: p ! The rotor parameters
TYPE(AD_ParameterType),target,INTENT(IN ) :: p_AD ! The module parameters
TYPE(RotInputType), target, INTENT(IN ) :: u ! inputs
Expand All @@ -273,6 +273,7 @@ SUBROUTINE Calc_WriteAllBldNdOutput( p, p_AD, u, m, m_AD, x, y, OtherState, Indx
TYPE(RotContinuousStateType), INTENT(IN ) :: x ! rotor Continuous states
TYPE(RotOutputType), INTENT(INOUT) :: y ! outputs (updates y%WriteOutput)
TYPE(RotOtherStateType), INTENT(IN ) :: OtherState ! other states
TYPE(RotInflowType), INTENT(IN ) :: RotInflow ! other states%RotInflow(iRot)
INTEGER, INTENT(IN ) :: Indx ! index into m%BEMT_u(Indx) array; 1=t and 2=t+dt (but not checked here)
INTEGER, INTENT(IN ) :: iRot ! Rotor index, needed for OLAF
INTEGER(IntKi), INTENT( OUT) :: ErrStat ! The error status code
Expand Down Expand Up @@ -335,26 +336,26 @@ SUBROUTINE Calc_WriteAllBldNdOutput( p, p_AD, u, m, m_AD, x, y, OtherState, Indx
CASE (0 ); do iB=1,nB; do iNd=1,nNd; y%WriteOutput(iOut) = 0.0_ReKi; iOut = iOut + 1; enddo;enddo

! ***** Undisturbed wind velocity in inertial, polar, local and airfoil systems*****
CASE( BldNd_VUndxi ); do iB=1,nB; do iNd=1,nNd; y%WriteOutput(iOut) = u%Bld(iB)%InflowOnBlade(1,iNd); iOut = iOut + 1; enddo;enddo
CASE( BldNd_VUndyi ); do iB=1,nB; do iNd=1,nNd; y%WriteOutput(iOut) = u%Bld(iB)%InflowOnBlade(2,iNd); iOut = iOut + 1; enddo;enddo
CASE( BldNd_VUndzi ); do iB=1,nB; do iNd=1,nNd; y%WriteOutput(iOut) = u%Bld(iB)%InflowOnBlade(3,iNd); iOut = iOut + 1; enddo;enddo
CASE( BldNd_VUndxi ); do iB=1,nB; do iNd=1,nNd; y%WriteOutput(iOut) = RotInflow%Bld(iB)%InflowOnBlade(1,iNd); iOut = iOut + 1; enddo;enddo
CASE( BldNd_VUndyi ); do iB=1,nB; do iNd=1,nNd; y%WriteOutput(iOut) = RotInflow%Bld(iB)%InflowOnBlade(2,iNd); iOut = iOut + 1; enddo;enddo
CASE( BldNd_VUndzi ); do iB=1,nB; do iNd=1,nNd; y%WriteOutput(iOut) = RotInflow%Bld(iB)%InflowOnBlade(3,iNd); iOut = iOut + 1; enddo;enddo

CASE( BldNd_VUndxp ); do iB=1,nB; do iNd=1,nNd; y%WriteOutput(iOut) = dot_product( u%Bld(iB)%InflowOnBlade(:,iNd), R_pi(1,:,iB) ); iOut = iOut + 1; enddo;enddo
CASE( BldNd_VUndyp ); do iB=1,nB; do iNd=1,nNd; y%WriteOutput(iOut) = dot_product( u%Bld(iB)%InflowOnBlade(:,iNd), R_pi(2,:,iB) ); iOut = iOut + 1; enddo;enddo
CASE( BldNd_VUndzp ); do iB=1,nB; do iNd=1,nNd; y%WriteOutput(iOut) = dot_product( u%Bld(iB)%InflowOnBlade(:,iNd), R_pi(3,:,iB) ); iOut = iOut + 1; enddo;enddo
CASE( BldNd_VUndxp ); do iB=1,nB; do iNd=1,nNd; y%WriteOutput(iOut) = dot_product( RotInflow%Bld(iB)%InflowOnBlade(:,iNd), R_pi(1,:,iB) ); iOut = iOut + 1; enddo;enddo
CASE( BldNd_VUndyp ); do iB=1,nB; do iNd=1,nNd; y%WriteOutput(iOut) = dot_product( RotInflow%Bld(iB)%InflowOnBlade(:,iNd), R_pi(2,:,iB) ); iOut = iOut + 1; enddo;enddo
CASE( BldNd_VUndzp ); do iB=1,nB; do iNd=1,nNd; y%WriteOutput(iOut) = dot_product( RotInflow%Bld(iB)%InflowOnBlade(:,iNd), R_pi(3,:,iB) ); iOut = iOut + 1; enddo;enddo

CASE( BldNd_VUndxl ); do iB=1,nB; do iNd=1,nNd; y%WriteOutput(iOut) = dot_product( u%Bld(iB)%InflowOnBlade(:,iNd), R_li(1,:,iNd,iB) ); iOut = iOut + 1; enddo;enddo
CASE( BldNd_VUndyl ); do iB=1,nB; do iNd=1,nNd; y%WriteOutput(iOut) = dot_product( u%Bld(iB)%InflowOnBlade(:,iNd), R_li(2,:,iNd,iB) ); iOut = iOut + 1; enddo;enddo
CASE( BldNd_VUndzl ); do iB=1,nB; do iNd=1,nNd; y%WriteOutput(iOut) = dot_product( u%Bld(iB)%InflowOnBlade(:,iNd), R_li(3,:,iNd,iB) ); iOut = iOut + 1; enddo;enddo
CASE( BldNd_VUndxl ); do iB=1,nB; do iNd=1,nNd; y%WriteOutput(iOut) = dot_product( RotInflow%Bld(iB)%InflowOnBlade(:,iNd), R_li(1,:,iNd,iB) ); iOut = iOut + 1; enddo;enddo
CASE( BldNd_VUndyl ); do iB=1,nB; do iNd=1,nNd; y%WriteOutput(iOut) = dot_product( RotInflow%Bld(iB)%InflowOnBlade(:,iNd), R_li(2,:,iNd,iB) ); iOut = iOut + 1; enddo;enddo
CASE( BldNd_VUndzl ); do iB=1,nB; do iNd=1,nNd; y%WriteOutput(iOut) = dot_product( RotInflow%Bld(iB)%InflowOnBlade(:,iNd), R_li(3,:,iNd,iB) ); iOut = iOut + 1; enddo;enddo

CASE( BldNd_VUndxa ); do iB=1,nB; do iNd=1,nNd; y%WriteOutput(iOut) = dot_product( u%Bld(iB)%InflowOnBlade(:,iNd), u%BladeMotion(iB)%Orientation(1,:,iNd) ); iOut = iOut + 1; enddo;enddo
CASE( BldNd_VUndya ); do iB=1,nB; do iNd=1,nNd; y%WriteOutput(iOut) = dot_product( u%Bld(iB)%InflowOnBlade(:,iNd), u%BladeMotion(iB)%Orientation(2,:,iNd) ); iOut = iOut + 1; enddo;enddo
CASE( BldNd_VUndza ); do iB=1,nB; do iNd=1,nNd; y%WriteOutput(iOut) = dot_product( u%Bld(iB)%InflowOnBlade(:,iNd), u%BladeMotion(iB)%Orientation(3,:,iNd) ); iOut = iOut + 1; enddo;enddo
CASE( BldNd_VUndxa ); do iB=1,nB; do iNd=1,nNd; y%WriteOutput(iOut) = dot_product( RotInflow%Bld(iB)%InflowOnBlade(:,iNd), u%BladeMotion(iB)%Orientation(1,:,iNd) ); iOut = iOut + 1; enddo;enddo
CASE( BldNd_VUndya ); do iB=1,nB; do iNd=1,nNd; y%WriteOutput(iOut) = dot_product( RotInflow%Bld(iB)%InflowOnBlade(:,iNd), u%BladeMotion(iB)%Orientation(2,:,iNd) ); iOut = iOut + 1; enddo;enddo
CASE( BldNd_VUndza ); do iB=1,nB; do iNd=1,nNd; y%WriteOutput(iOut) = dot_product( RotInflow%Bld(iB)%InflowOnBlade(:,iNd), u%BladeMotion(iB)%Orientation(3,:,iNd) ); iOut = iOut + 1; enddo;enddo

! TODO: deprecate this
CASE( BldNd_VUndx ); do iB=1,nB; do iNd=1,nNd; y%WriteOutput(iOut) = dot_product( u%Bld(iB)%InflowOnBlade(:,iNd), R_wi(1,:,iNd,iB) ); iOut = iOut + 1; enddo;enddo
CASE( BldNd_VUndy ); do iB=1,nB; do iNd=1,nNd; y%WriteOutput(iOut) = dot_product( u%Bld(iB)%InflowOnBlade(:,iNd), R_wi(2,:,iNd,iB) ); iOut = iOut + 1; enddo;enddo
CASE( BldNd_VUndz ); do iB=1,nB; do iNd=1,nNd; y%WriteOutput(iOut) = dot_product( u%Bld(iB)%InflowOnBlade(:,iNd), R_wi(3,:,iNd,iB) ); iOut = iOut + 1; enddo;enddo
CASE( BldNd_VUndx ); do iB=1,nB; do iNd=1,nNd; y%WriteOutput(iOut) = dot_product( RotInflow%Bld(iB)%InflowOnBlade(:,iNd), R_wi(1,:,iNd,iB) ); iOut = iOut + 1; enddo;enddo
CASE( BldNd_VUndy ); do iB=1,nB; do iNd=1,nNd; y%WriteOutput(iOut) = dot_product( RotInflow%Bld(iB)%InflowOnBlade(:,iNd), R_wi(2,:,iNd,iB) ); iOut = iOut + 1; enddo;enddo
CASE( BldNd_VUndz ); do iB=1,nB; do iNd=1,nNd; y%WriteOutput(iOut) = dot_product( RotInflow%Bld(iB)%InflowOnBlade(:,iNd), R_wi(3,:,iNd,iB) ); iOut = iOut + 1; enddo;enddo


! ***** Disturbed wind velocity in inertial, polar, local and airfoil systems*****
Expand Down
7 changes: 4 additions & 3 deletions modules/aerodyn/src/AeroDyn_IO.f90
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Expand Up @@ -83,11 +83,12 @@ END FUNCTION Calc_Chi0


!----------------------------------------------------------------------------------------------------------------------------------
SUBROUTINE Calc_WriteOutput( p, p_AD, u, x, m, m_AD, y, OtherState, xd, indx, iRot, ErrStat, ErrMsg )
SUBROUTINE Calc_WriteOutput( p, p_AD, u, RotInflow, x, m, m_AD, y, OtherState, xd, indx, iRot, ErrStat, ErrMsg )

TYPE(RotParameterType), INTENT(IN ) :: p ! The rotor parameters
TYPE(AD_ParameterType), INTENT(IN ) :: p_AD ! The module parameters
TYPE(RotInputType), INTENT(IN ) :: u ! inputs
TYPE(RotInflowType), INTENT(IN ) :: RotInflow ! other states%RotInflow at t (for DBEMT and UA)
TYPE(RotContinuousStateType), INTENT(IN ) :: x !< Continuous states at t
TYPE(RotMiscVarType), INTENT(INOUT) :: m ! misc variables
TYPE(AD_MiscVarType), INTENT(INOUT) :: m_AD ! misc variables
Expand Down Expand Up @@ -162,7 +163,7 @@ subroutine Calc_WriteOutput_AD()
do beta=1,p%NTwOuts
j = p%TwOutNd(beta)

tmp = matmul( u%TowerMotion%Orientation(:,:,j) , u%InflowOnTower(:,j) )
tmp = matmul( u%TowerMotion%Orientation(:,:,j) , RotInflow%InflowOnTower(:,j) )
m%AllOuts( TwNVUnd(:,beta) ) = tmp

tmp = matmul( u%TowerMotion%Orientation(:,:,j) , u%TowerMotion%TranslationVel(:,j) )
Expand Down Expand Up @@ -220,7 +221,7 @@ subroutine Calc_WriteOutput_AD()
do beta=1,p%NBlOuts
j=p%BlOutNd(beta)

tmp = matmul( m%orientationAnnulus(:,:,j,k), u%Bld(k)%InflowOnBlade(:,j) )
tmp = matmul( m%orientationAnnulus(:,:,j,k), RotInflow%Bld(k)%InflowOnBlade(:,j) )
m%AllOuts( BNVUndx(beta,k) ) = tmp(1)
m%AllOuts( BNVUndy(beta,k) ) = tmp(2)
m%AllOuts( BNVUndz(beta,k) ) = tmp(3)
Expand Down
2 changes: 1 addition & 1 deletion modules/aerodyn/src/AeroDyn_Inflow.f90
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Expand Up @@ -308,7 +308,7 @@ subroutine ADI_CalcOutput(t, u, p, x, xd, z, OtherState, y, m, errStat, errMsg)

if (p%storeHHVel) then
do iWT = 1, size(u%AD%rotors)
y%HHVel(:,iWT) = u%AD%rotors(iWT)%InflowOnHub(:,1)
y%HHVel(:,iWT) = m%AD%Inflow(1)%RotInflow(iWT)%InflowOnHub(:,1)
end do
endif

Expand Down
25 changes: 15 additions & 10 deletions modules/aerodyn/src/AeroDyn_Registry.txt
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Expand Up @@ -346,6 +346,21 @@ typedef ^ MiscVarType ReKi WindPos {:}{:} - - "XYZ coordinates to que
typedef ^ MiscVarType ReKi WindVel {:}{:} - - "XYZ components of wind velocity" -
typedef ^ MiscVarType ReKi WindAcc {:}{:} - - "XYZ components of wind acceleration" -

# Inflow data storage
typedef ^ BldInflowType ReKi InflowOnBlade {:}{:} - - "U,V,W at nodes on each blade (note if we change the requirement that NumNodes is the same for each blade, this will need to change)" m/s
typedef ^ BldInflowType ReKi AccelOnBlade {:}{:} - - "Wind acceleration at nodes on each blade (note if we change the requirement that NumNodes is the same for each blade, this will need to change)" m/s
typedef ^ RotInflowType BldInflowType Bld {:} - - "Blade Inputs" -
typedef ^ RotInflowType ReKi InflowOnTower {:}{:} - - "U,V,W at nodes on the tower" m/s
typedef ^ RotInflowType ReKi AccelOnTower {:}{:} - - "Wind acceleration at nodes on the tower" m/s
typedef ^ RotInflowType ReKi InflowOnHub {3}{1} - - "U,V,W at hub" m/s
typedef ^ RotInflowType ReKi InflowOnNacelle {3}{1} - - "U,V,W at nacelle" m/s
typedef ^ RotInflowType ReKi InflowOnTailFin {3}{1} - - "U,V,W at tailfin" m/s
typedef ^ RotInflowType ReKi AvgDiskVel {3} - 0.0 "disk-averaged U,V,W" m/s
typedef ^ AD_InflowType ReKi InflowWakeVel {:}{:} - - "U,V,W at wake points" m/s
typedef ^ AD_InflowType RotInflowType RotInflow {:} - - "Inflow on rotor" -
typedef ^ MiscVarType AD_InflowType Inflow {:} - - "Inflow storage (size of u for history of inputs)" -


# ..... Parameters ................................................................................................................
# Define parameters here:

Expand Down Expand Up @@ -439,8 +454,6 @@ typedef ^ ^ IntKi SA_nPerSec - - - "Sector Averag


# ..... Inputs ....................................................................................................................
typedef ^ BldInputType ReKi InflowOnBlade {:}{:} - - "U,V,W at nodes on each blade (note if we change the requirement that NumNodes is the same for each blade, this will need to change)" m/s
typedef ^ BldInputType ReKi AccelOnBlade {:}{:} - - "Wind acceleration at nodes on each blade (note if we change the requirement that NumNodes is the same for each blade, this will need to change)" m/s
# Define inputs that are contained on a mesh here:
typedef ^ RotInputType MeshType NacelleMotion - - - "motion on the nacelle" -
typedef ^ RotInputType MeshType TowerMotion - - - "motion on the tower" -
Expand All @@ -449,18 +462,10 @@ typedef ^ RotInputType MeshType BladeRootMotion {:} - - "motion on each blade ro
typedef ^ RotInputType MeshType BladeMotion {:} - - "motion on each blade" -
typedef ^ RotInputType MeshType TFinMotion - - - "motion of tail fin (at tail fin ref point)" -
# Define inputs that are not on a mesh here:
typedef ^ RotInputType BldInputType Bld {:} - - "Blade Inputs" -
typedef ^ RotInputType ReKi InflowOnTower {:}{:} - - "U,V,W at nodes on the tower" m/s
typedef ^ RotInputType ReKi AccelOnTower {:}{:} - - "Wind acceleration at nodes on the tower" m/s
typedef ^ RotInputType ReKi InflowOnHub {3}{1} - - "U,V,W at hub" m/s
typedef ^ RotInputType ReKi InflowOnNacelle {3}{1} - - "U,V,W at nacelle" m/s
typedef ^ RotInputType ReKi InflowOnTailFin {3}{1} - - "U,V,W at tailfin" m/s
typedef ^ RotInputType ReKi AvgDiskVel {3} - 0.0 "disk-averaged U,V,W" m/s
typedef ^ RotInputType ReKi UserProp {:}{:} - - "Optional user property for interpolating airfoils (per element per blade)" -


typedef ^ InputType RotInputType rotors {:} - - "Inputs for each rotor" -
typedef ^ InputType ReKi InflowWakeVel {:}{:} - - "U,V,W at wake points" m/s


# ..... Outputs ...................................................................................................................
Expand Down
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