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Merged
andrew-platt merged 6 commits into from
May 15, 2025
Merged

BD: output aero only loads mapped to the root #2811

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16e3d85
BD: add outputs channels for all loads mapped to root
andrew-platt May 8, 2025
d8efcb4
BD: add calculations for mapping loads to root outputs
andrew-platt May 8, 2025
d309316
BD: LoadsAtRoot - sum forces/moments from distr and point
andrew-platt May 9, 2025
185a092
BD: Loads at root -- change mesh from sibling to cousin
andrew-platt May 9, 2025
cfeb2d5
BD: aero loads at root - remove point load mapping
andrew-platt May 14, 2025
b13fa61
OF: correct description of BStC to beamdyn
andrew-platt May 14, 2025
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Binary file modified docs/OtherSupporting/OutListParameters.xlsx
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21 changes: 21 additions & 0 deletions modules/beamdyn/src/BeamDyn.f90
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Expand Up @@ -1746,6 +1746,27 @@ subroutine Init_MiscVars( p, u, y, m, ErrStat, ErrMsg )
CALL BD_CopyInput(u, m%u2, MESH_NEWCOPY, ErrStat2, ErrMsg2)
CALL SetErrStat( ErrStat2, ErrMsg2, ErrStat, ErrMsg, RoutineName )

! compute mapping of applied distributed loads to the root location
! NOTE: PtLoads are not handled at present. See comments in BeamDyn_IO.f90 for changes required.
if (p%CompAppliedLdAtRoot .and. p%BldMotionNodeLoc == BD_MESH_QP) then
! create point mesh at root (cousin of rootmotion)
CALL MeshCopy( SrcMesh = u%RootMotion &
, DestMesh = m%LoadsAtRoot &
, CtrlCode = MESH_COUSIN &
, IOS = COMPONENT_OUTPUT &
, Force = .TRUE. &
, Moment = .TRUE. &
, ErrStat = ErrStat2 &
, ErrMess = ErrMsg2 )
CALL SetErrStat( ErrStat2, ErrMsg2, ErrStat, ErrMsg, RoutineName )
if (ErrStat>=AbortErrLev) RETURN

! mapping of distributed loads to LoadsAtRoot
CALL MeshMapCreate( u%DistrLoad, m%LoadsAtRoot, m%Map_u_DistrLoad_to_R, ErrStat2, ErrMsg2 )
CALL SetErrStat( ErrStat2, ErrMsg2, ErrStat, ErrMsg, RoutineName )
m%LoadsAtRoot%remapFlag = .false.

endif

end subroutine Init_MiscVars
!-----------------------------------------------------------------------------------------------------------------------------------
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1,161 changes: 642 additions & 519 deletions modules/beamdyn/src/BeamDyn_IO.f90
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20 changes: 20 additions & 0 deletions modules/beamdyn/src/BeamDyn_Types.f90
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Expand Up @@ -237,6 +237,7 @@ MODULE BeamDyn_Types
LOGICAL :: RotStates = .false. !< Orient states in rotating frame during linearization? (flag) [-]
LOGICAL :: RelStates = .false. !< Define states relative to root motion during linearization? (flag) [-]
LOGICAL :: CompAeroMaps = .FALSE. !< flag to determine if BeamDyn is computing aero maps (true) or running a normal simulation (false) [-]
LOGICAL :: CompAppliedLdAtRoot = .FALSE. !< flag to determine if BeamDyn should compute the applied loads at root [-]
END TYPE BD_ParameterType
! =======================
! ========= BD_InputType =======
Expand Down Expand Up @@ -295,8 +296,10 @@ MODULE BeamDyn_Types
TYPE, PUBLIC :: BD_MiscVarType
TYPE(MeshType) :: u_DistrLoad_at_y !< input loads at output node locations [-]
TYPE(MeshType) :: y_BldMotion_at_u !< output motions at input node locations (displacements necessary for mapping loads) [-]
TYPE(MeshType) :: LoadsAtRoot !< Applied loads mapped to root [-]
TYPE(MeshMapType) :: Map_u_DistrLoad_to_y !< mapping of input loads to output node locations [-]
TYPE(MeshMapType) :: Map_y_BldMotion_to_u !< mapping of output motions to input node locations (for load transfer) [-]
TYPE(MeshMapType) :: Map_u_DistrLoad_to_R !< mapping of input loads to root location [-]
INTEGER(IntKi) :: Un_Sum = 0_IntKi !< unit number of summary file [-]
TYPE(EqMotionQP) :: qp !< Quadrature point calculation info [-]
REAL(R8Ki) , DIMENSION(:,:), ALLOCATABLE :: lin_A !< A (dXdx) matrix used in linearization (before RotState is applied) [-]
Expand Down Expand Up @@ -1685,6 +1688,7 @@ subroutine BD_CopyParam(SrcParamData, DstParamData, CtrlCode, ErrStat, ErrMsg)
DstParamData%RotStates = SrcParamData%RotStates
DstParamData%RelStates = SrcParamData%RelStates
DstParamData%CompAeroMaps = SrcParamData%CompAeroMaps
DstParamData%CompAppliedLdAtRoot = SrcParamData%CompAppliedLdAtRoot
end subroutine

subroutine BD_DestroyParam(ParamData, ErrStat, ErrMsg)
Expand Down Expand Up @@ -1899,6 +1903,7 @@ subroutine BD_PackParam(RF, Indata)
call RegPack(RF, InData%RotStates)
call RegPack(RF, InData%RelStates)
call RegPack(RF, InData%CompAeroMaps)
call RegPack(RF, InData%CompAppliedLdAtRoot)
if (RegCheckErr(RF, RoutineName)) return
end subroutine

Expand Down Expand Up @@ -2013,6 +2018,7 @@ subroutine BD_UnPackParam(RF, OutData)
call RegUnpack(RF, OutData%RotStates); if (RegCheckErr(RF, RoutineName)) return
call RegUnpack(RF, OutData%RelStates); if (RegCheckErr(RF, RoutineName)) return
call RegUnpack(RF, OutData%CompAeroMaps); if (RegCheckErr(RF, RoutineName)) return
call RegUnpack(RF, OutData%CompAppliedLdAtRoot); if (RegCheckErr(RF, RoutineName)) return
end subroutine

subroutine BD_CopyInput(SrcInputData, DstInputData, CtrlCode, ErrStat, ErrMsg)
Expand Down Expand Up @@ -2747,12 +2753,18 @@ subroutine BD_CopyMisc(SrcMiscData, DstMiscData, CtrlCode, ErrStat, ErrMsg)
call MeshCopy(SrcMiscData%y_BldMotion_at_u, DstMiscData%y_BldMotion_at_u, CtrlCode, ErrStat2, ErrMsg2 )
call SetErrStat(ErrStat2, ErrMsg2, ErrStat, ErrMsg, RoutineName)
if (ErrStat >= AbortErrLev) return
call MeshCopy(SrcMiscData%LoadsAtRoot, DstMiscData%LoadsAtRoot, CtrlCode, ErrStat2, ErrMsg2 )
call SetErrStat(ErrStat2, ErrMsg2, ErrStat, ErrMsg, RoutineName)
if (ErrStat >= AbortErrLev) return
call NWTC_Library_CopyMeshMapType(SrcMiscData%Map_u_DistrLoad_to_y, DstMiscData%Map_u_DistrLoad_to_y, CtrlCode, ErrStat2, ErrMsg2)
call SetErrStat(ErrStat2, ErrMsg2, ErrStat, ErrMsg, RoutineName)
if (ErrStat >= AbortErrLev) return
call NWTC_Library_CopyMeshMapType(SrcMiscData%Map_y_BldMotion_to_u, DstMiscData%Map_y_BldMotion_to_u, CtrlCode, ErrStat2, ErrMsg2)
call SetErrStat(ErrStat2, ErrMsg2, ErrStat, ErrMsg, RoutineName)
if (ErrStat >= AbortErrLev) return
call NWTC_Library_CopyMeshMapType(SrcMiscData%Map_u_DistrLoad_to_R, DstMiscData%Map_u_DistrLoad_to_R, CtrlCode, ErrStat2, ErrMsg2)
call SetErrStat(ErrStat2, ErrMsg2, ErrStat, ErrMsg, RoutineName)
if (ErrStat >= AbortErrLev) return
DstMiscData%Un_Sum = SrcMiscData%Un_Sum
call BD_CopyEqMotionQP(SrcMiscData%qp, DstMiscData%qp, CtrlCode, ErrStat2, ErrMsg2)
call SetErrStat(ErrStat2, ErrMsg2, ErrStat, ErrMsg, RoutineName)
Expand Down Expand Up @@ -3138,10 +3150,14 @@ subroutine BD_DestroyMisc(MiscData, ErrStat, ErrMsg)
call SetErrStat(ErrStat2, ErrMsg2, ErrStat, ErrMsg, RoutineName)
call MeshDestroy( MiscData%y_BldMotion_at_u, ErrStat2, ErrMsg2)
call SetErrStat(ErrStat2, ErrMsg2, ErrStat, ErrMsg, RoutineName)
call MeshDestroy( MiscData%LoadsAtRoot, ErrStat2, ErrMsg2)
call SetErrStat(ErrStat2, ErrMsg2, ErrStat, ErrMsg, RoutineName)
call NWTC_Library_DestroyMeshMapType(MiscData%Map_u_DistrLoad_to_y, ErrStat2, ErrMsg2)
call SetErrStat(ErrStat2, ErrMsg2, ErrStat, ErrMsg, RoutineName)
call NWTC_Library_DestroyMeshMapType(MiscData%Map_y_BldMotion_to_u, ErrStat2, ErrMsg2)
call SetErrStat(ErrStat2, ErrMsg2, ErrStat, ErrMsg, RoutineName)
call NWTC_Library_DestroyMeshMapType(MiscData%Map_u_DistrLoad_to_R, ErrStat2, ErrMsg2)
call SetErrStat(ErrStat2, ErrMsg2, ErrStat, ErrMsg, RoutineName)
call BD_DestroyEqMotionQP(MiscData%qp, ErrStat2, ErrMsg2)
call SetErrStat(ErrStat2, ErrMsg2, ErrStat, ErrMsg, RoutineName)
if (allocated(MiscData%lin_A)) then
Expand Down Expand Up @@ -3247,8 +3263,10 @@ subroutine BD_PackMisc(RF, Indata)
if (RF%ErrStat >= AbortErrLev) return
call MeshPack(RF, InData%u_DistrLoad_at_y)
call MeshPack(RF, InData%y_BldMotion_at_u)
call MeshPack(RF, InData%LoadsAtRoot)
call NWTC_Library_PackMeshMapType(RF, InData%Map_u_DistrLoad_to_y)
call NWTC_Library_PackMeshMapType(RF, InData%Map_y_BldMotion_to_u)
call NWTC_Library_PackMeshMapType(RF, InData%Map_u_DistrLoad_to_R)
call RegPack(RF, InData%Un_Sum)
call BD_PackEqMotionQP(RF, InData%qp)
call RegPackAlloc(RF, InData%lin_A)
Expand Down Expand Up @@ -3296,8 +3314,10 @@ subroutine BD_UnPackMisc(RF, OutData)
if (RF%ErrStat /= ErrID_None) return
call MeshUnpack(RF, OutData%u_DistrLoad_at_y) ! u_DistrLoad_at_y
call MeshUnpack(RF, OutData%y_BldMotion_at_u) ! y_BldMotion_at_u
call MeshUnpack(RF, OutData%LoadsAtRoot) ! LoadsAtRoot
call NWTC_Library_UnpackMeshMapType(RF, OutData%Map_u_DistrLoad_to_y) ! Map_u_DistrLoad_to_y
call NWTC_Library_UnpackMeshMapType(RF, OutData%Map_y_BldMotion_to_u) ! Map_y_BldMotion_to_u
call NWTC_Library_UnpackMeshMapType(RF, OutData%Map_u_DistrLoad_to_R) ! Map_u_DistrLoad_to_R
call RegUnpack(RF, OutData%Un_Sum); if (RegCheckErr(RF, RoutineName)) return
call BD_UnpackEqMotionQP(RF, OutData%qp) ! qp
call RegUnpackAlloc(RF, OutData%lin_A); if (RegCheckErr(RF, RoutineName)) return
Expand Down
3 changes: 3 additions & 0 deletions modules/beamdyn/src/Registry_BeamDyn.txt
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Expand Up @@ -250,6 +250,7 @@ typedef ^ ParameterType Integer Jac_nx -
typedef ^ ParameterType logical RotStates - - - "Orient states in rotating frame during linearization? (flag)" -
typedef ^ ParameterType Logical RelStates - - - "Define states relative to root motion during linearization? (flag)" -
typedef ^ ParameterType LOGICAL CompAeroMaps - .FALSE. - "flag to determine if BeamDyn is computing aero maps (true) or running a normal simulation (false)" -
typedef ^ ParameterType LOGICAL CompAppliedLdAtRoot - .FALSE. - "flag to determine if BeamDyn should compute the applied loads at root" -


# ..... Inputs
Expand Down Expand Up @@ -330,8 +331,10 @@ typedef ^ EqMotionQP ^ Yd :::: - - "Dissipative
# e.g. indices for searching in an array, large arrays that are local variables in any routine called multiple times, etc.
typedef ^ MiscVarType MeshType u_DistrLoad_at_y - - - "input loads at output node locations" -
typedef ^ MiscVarType MeshType y_BldMotion_at_u - - - "output motions at input node locations (displacements necessary for mapping loads)" -
typedef ^ MiscVarType MeshType LoadsAtRoot - - - "Applied loads mapped to root" -
typedef ^ MiscVarType MeshMapType Map_u_DistrLoad_to_y - - - "mapping of input loads to output node locations" -
typedef ^ MiscVarType MeshMapType Map_y_BldMotion_to_u - - - "mapping of output motions to input node locations (for load transfer)" -
typedef ^ MiscVarType MeshMapType Map_u_DistrLoad_to_R - - - "mapping of input loads to root location" -
typedef ^ MiscVarType IntKi Un_Sum - - - "unit number of summary file" -
typedef ^ MiscVarType EqMotionQP qp - - - "Quadrature point calculation info" -
typedef ^ MiscVarType R8Ki lin_A {:}{:} - - "A (dXdx) matrix used in linearization (before RotState is applied)" -
Expand Down
2 changes: 1 addition & 1 deletion modules/openfast-library/src/FAST_Registry.txt
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Expand Up @@ -720,7 +720,7 @@ typedef ^ FAST_ModuleMapType MeshMapType TStC_P_2_ED_P_T {:} - - "Map ServoDyn/T
typedef ^ FAST_ModuleMapType MeshMapType ED_L_2_BStC_P_B {:}{:} - - "Map ElastoDyn blade line2 mesh to ServoDyn/BStC point mesh"
typedef ^ FAST_ModuleMapType MeshMapType BStC_P_2_ED_P_B {:}{:} - - "Map ServoDyn/BStC point mesh to ElastoDyn point load mesh on the blade"
typedef ^ FAST_ModuleMapType MeshMapType BD_L_2_BStC_P_B {:}{:} - - "Map BeamDyn blade line2 mesh to ServoDyn/BStC point mesh"
typedef ^ FAST_ModuleMapType MeshMapType BStC_P_2_BD_P_B {:}{:} - - "Map ServoDyn/BStC point mesh to BeamDyn point load mesh on the blade"
typedef ^ FAST_ModuleMapType MeshMapType BStC_P_2_BD_P_B {:}{:} - - "Map ServoDyn/BStC point mesh to BeamDyn distributed load mesh on the blade"
# ED/SD <-> SrvD/StC -- Platform TMD
typedef ^ FAST_ModuleMapType MeshMapType SStC_P_P_2_SubStructure {:} - - "Map ServoDyn/SStC platform point mesh load to SubDyn/ElastoDyn point load mesh"
typedef ^ FAST_ModuleMapType MeshMapType SubStructure_2_SStC_P_P {:} - - "Map SubDyn y3mesh or ED platform mesh motion to ServoDyn/SStC point mesh"
Expand Down
2 changes: 1 addition & 1 deletion modules/openfast-library/src/FAST_Types.f90
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Expand Up @@ -743,7 +743,7 @@ MODULE FAST_Types
TYPE(MeshMapType) , DIMENSION(:,:), ALLOCATABLE :: ED_L_2_BStC_P_B !< Map ElastoDyn blade line2 mesh to ServoDyn/BStC point mesh [-]
TYPE(MeshMapType) , DIMENSION(:,:), ALLOCATABLE :: BStC_P_2_ED_P_B !< Map ServoDyn/BStC point mesh to ElastoDyn point load mesh on the blade [-]
TYPE(MeshMapType) , DIMENSION(:,:), ALLOCATABLE :: BD_L_2_BStC_P_B !< Map BeamDyn blade line2 mesh to ServoDyn/BStC point mesh [-]
TYPE(MeshMapType) , DIMENSION(:,:), ALLOCATABLE :: BStC_P_2_BD_P_B !< Map ServoDyn/BStC point mesh to BeamDyn point load mesh on the blade [-]
TYPE(MeshMapType) , DIMENSION(:,:), ALLOCATABLE :: BStC_P_2_BD_P_B !< Map ServoDyn/BStC point mesh to BeamDyn distributed load mesh on the blade [-]
TYPE(MeshMapType) , DIMENSION(:), ALLOCATABLE :: SStC_P_P_2_SubStructure !< Map ServoDyn/SStC platform point mesh load to SubDyn/ElastoDyn point load mesh [-]
TYPE(MeshMapType) , DIMENSION(:), ALLOCATABLE :: SubStructure_2_SStC_P_P !< Map SubDyn y3mesh or ED platform mesh motion to ServoDyn/SStC point mesh [-]
TYPE(MeshMapType) :: ED_P_2_SrvD_P_P !< Map ElastoDyn/Simplified-ElastoDyn platform point mesh motion to ServoDyn point mesh -- for passing to controller [-]
Expand Down