def main(test=False):
# --- Reading a existing AD file, just as a template, we'll replace things in it
templateADFile = os.path.join(MyDir,'../../../data/NREL5MW/data/Airfoils/Cylinder1.dat')
ADpol = weio.read(templateADFile)
# --- Creating a Polar object from Cl-Cd data
polarFile = os.path.join(MyDir,'../data/DU21_A17.csv')
p=weio.read(polarFile).toDataFrame().values
polar= Polar(np.nan, p[:,0],p[:,1],p[:,2],p[:,3])
(alpha0,alpha1,alpha2,cnSlope,cn1,cn2,cd0,cm0)=polar.unsteadyParams()
# --- Updating the AD polar file
# Setting unsteady parameters
ADpol['Re'] = 1.0000 # TODO UNKNOWN
if np.isnan(alpha0):
ADpol['alpha0'] = 0
else:
ADpol['alpha0'] = np.around(alpha0, 4)
ADpol['alpha1'] = np.around(alpha1, 4) # TODO approximate
ADpol['alpha2'] = np.around(alpha2, 4) # TODO approximate
ADpol['C_nalpha'] = np.around(cnSlope ,4)
ADpol['Cn1'] = np.around(cn1, 4) # TODO verify
ADpol['Cn2'] = np.around(cn2, 4)
ADpol['Cd0'] = np.around(cd0, 4)
ADpol['Cm0'] = np.around(cm0, 4)
# Setting polar
PolarTable = np.column_stack((polar.alpha,polar.cl,polar.cd,polar.cm))
ADpol['NumAlf'] = polar.cl.shape[0]
ADpol['AFCoeff'] = np.around(PolarTable, 5)
if not test:
filename='_Polar_out.dat.ignore'
ADpol.write(filename)
#print('Writing polar to file:',filename,' thick={}'.format(t))
return ADpol, polar
def FLEX2SteadyBEM(BladeFile, ProfileFile, cone, tilt, r_hub, rho=1.225, nB=3):
import welib.weio as weio
pro = weio.read(ProfileFile)
bld = weio.read(BladeFile).toDataFrame()
bld.columns = [v.split('_[')[0] for v in bld.columns.values]
# TODO
#rho=1.225;
#r_hub=2.253;
#nB = 3
#cone = 5
#tilt = 6; # TODO
r = bld['r'].values + r_hub
chord = bld['Chord'].values
twist = bld['AeroTwist'].values
thick = bld['RelThickness'].values
polars = []
ProfileSet = bld['ProfileSet'].astype(int)
for iset, thick in zip(ProfileSet, thick):
PSet = pro.ProfileSets[iset - 1]
AOA = PSet.polars[0][:, 0]
CL = np.column_stack([v[:, 1] for v in PSet.polars])
CD = np.column_stack([v[:, 2] for v in PSet.polars])
CM = np.column_stack([v[:, 3] for v in PSet.polars])
fCL = interp1d(PSet.thickness, CL, axis=1)
fCD = interp1d(PSet.thickness, CD, axis=1)
fCM = interp1d(PSet.thickness, CM, axis=1)
myCL = fCL(thick)
myCD = fCD(thick)
myCM = fCM(thick)
polar = np.zeros(PSet.polars[0].shape)
polar[:, 0] = AOA
polar[:, 1] = myCL
polar[:, 2] = myCD
polar[:, 3] = myCM
polars.append(polar)
return nB, cone, r, chord, twist, polars, rho
def loadMeasurements(KF, MeasFile, nUnderSamp=1, tRange=None):
# --- Loading "Measurements"
ColMap = {
'ut1': 'TTDspFA',
'psi': 'Azimuth',
'ut1dot': 'NcIMUTVxs',
'omega': 'RotSpeed',
'Thrust': 'RtAeroFxh',
'Qaero': 'RtAeroMxh',
'Qgen': 'GenTq',
'WS': 'RtVAvgxh',
'pitch': 'BldPitch1',
'TTacc': 'NcIMUTAxs'
}
# 'WS':'Wind1VelX', 'pitch':'BldPitch1','TTacc':'NcIMUTAxs'}
# 'Thrust':'RotThrust','Qaero':'RtAeroMxh','Qgen':'GenTq',
# NOTE: RotThrust contain gravity and inertia
# TODO
nGear = KF.WT.ED['GBRatio']
df = weio.read(MeasFile).toDataFrame()
df.columns = [v.split('_[')[0] for v in df.columns.values]
if tRange is not None:
df = df[(df['Time'] >= tRange[0]) &
(df['Time'] <= tRange[1])] # reducing time range
df = df.iloc[::nUnderSamp, :] # reducing sampling
time = df['Time'].values
dt = (time[-1] - time[0]) / (len(time) - 1)
df['GenSpeed'] *= 2 * np.pi / 60 # converted to rad/s
df['RotSpeed'] *= 2 * np.pi / 60 # converted to rad/s
df['GenTq'] *= 1000 * nGear # Convert to rot torque
df['Azimuth'] *= np.pi / 180 # rad
df['RotTorq'] *= 1000 # [kNm]->[Nm]
df['RotThrust'] *= 1000 # [kN]->[N]
KF.df = df
# ---
KF.discretize(dt, method='exponential')
KF.setTimeVec(time)
KF.setCleanValues(df, ColMap)
# --- Estimate sigmas from measurements
sigX_c, sigY_c = KF.sigmasFromClean(factor=1)
def simulate_py(self, model, p, time=None, refOut=None):
""" Perform non-linear simulation based on a model (python package) generated by yams_sympy """
from welib.system.mech_system import MechSystem
# --- Reference simulation
if refOut is not None:
df = weio.read(fstFilename.replace('.fst', '.out')).toDataFrame()
#time = np.linspace(0,50,5000)
time = df['Time_[s]'].values
elif time is None:
raise Exception(
'Time vector must be provided if no reference simulation is given'
)
# --- Checking package info
info = model.info()
nDOFExpected = info['nq']
print('DOFs:', self.DOFname, 'Model:', info['name'], 'nDOF:',
nDOFExpected)
if len(self.DOFname) != nDOFExpected:
raise Exception('Inconsistency in number of DOFs')
# --- Initial conditions
q0 = self.q0
qd0 = self.qd0
print('q0 :', q0)
print('qd0:', qd0)
# --- Non linear
u = dict()
for key in info['su']:
# TODO get it from ref simulation
u[key] = lambda t: 0
t = 0
MM = model.mass_matrix(q0, p)
forcing = model.forcing(t, q0, qd0, p, u)
# --- integrate non-linear system
fM = lambda x: model.mass_matrix(x, p)
fF = lambda t, x, xd: model.forcing(t, x, xd, p=p, u=u)
sysNL = MechSystem(fM, F=fF, x0=q0, xdot0=qd0)
resNL = sysNL.integrate(time, method='RK45')
return resNL, sysNL
def initFromSimulation(KF,
measFile,
nUnderSamp=1,
tRange=None,
colMap=None,
timeCol='Time_[s]',
dataDict=None):
""""
- Open a simulation result file
- Use dt to discretize the KF
- Define clean values of measurements and states based on simulation
- Define sigmas from the std of the clean signals
dataDict: additional data provided for ColMap
"""
import welib.fast.fastlib as fastlib
import welib.weio as weio
# --- Loading "Measurements"
df = weio.read(measFile).toDataFrame()
df = df.iloc[::nUnderSamp, :] # reducing sampling
if tRange is not None:
df = df[(df[timeCol] >= tRange[0]) &
(df[timeCol] <= tRange[1])] # reducing time range
time = df[timeCol].values
dt = (time[-1] - time[0]) / (len(time) - 1)
KF.df = fastlib.remap_df(df,
colMap,
bColKeepNewOnly=False,
dataDict=dataDict)
# ---
KF.discretize(dt, method='exponential')
KF.setTimeVec(time)
KF.setCleanValues(KF.df)
# --- Estimate sigmas from measurements
KF.sigX_c, KF.sigY_c = KF.sigmasFromClean(factor=1)
def main(runSim=True, runFAST=False):
model = get_model(
'F2T1RNA',
mergeFndTwr=False,
linRot=False,
yaw='zero',
tilt='fixed',
tiltShaft=True,
rot_elastic_type=
'SmallRot', #rot_elastic_type='Body', 'Body' or 'SmallRot'
orderMM=1,
orderH=1,
twrDOFDir=['x', 'y', 'x', 'y'
], # Order in which the flexible DOF of the tower are set
)
# --- Compute Kane's equations of motion
model.kaneEquations(Mform='TaylorExpanded')
EOM = model.to_EOM()
# --- Additional substitution
extraSubs = model.shapeNormSubs # shape functions normalized to unity
EOM.subs(extraSubs)
# --- Small angle approximations
EOM.smallAngleApprox(model.twr.vcList, order=2)
EOM.smallAngleApprox([theta_tilt, phi_y], order=1)
EOM.simplify()
# --- Separate EOM into mass matrix and forcing
EOM.mass_forcing_form() # EOM.M and EOM.F
# --- Linearize equation of motions
EOM.linearize(noAcc=True) # EOM.M0, EOM.K0, EOM.C0, EOM.B0
# --- Export equations
replaceDict = {'theta_tilt': ('tilt', None)}
EOM.savePython(folder='./', prefix='_', replaceDict=replaceDict)
EOM.saveTex(folder='./',
prefix='_',
variables=['M', 'F', 'M0', 'K0', 'C0', 'B0'])
# --- Run non linear and linear simulation using a FAST model as input
if runSim:
# --- Import the python module that was generated
model_pkg = importlib.import_module('_F2T1RNA')
# --- Load the wind turbine model, and extract relevant parameters "p"
MyDir = os.path.dirname(__file__)
#fstFilename = os.path.join(MyDir, '../../../data/NREL5MW/Main_Onshore_OF2.fst')
fstFilename = os.path.join(
MyDir, '../examples/_F2T1RNA_SmallAngle/Main_Spar_ED.fst')
from welib.yams.windturbine import FASTWindTurbine
WT = FASTWindTurbine(fstFilename, twrShapes=[0, 2], nSpanTwr=50)
p = WT.yams_parameters()
# --- Perform time integration
if os.path.exists(fstFilename.replace('.fst', '.out')):
import welib.weio as weio
dfFS = weio.read(fstFilename.replace('.fst', '.out')).toDataFrame()
time = dfFS['Time_[s]'].values
else:
time = np.linspace(0, 50, 1000)
dfFS = None
resNL, sysNL = WT.simulate_py(model_pkg, p, time)
resLI, sysLI = WT.simulate_py_lin(model_pkg, p, time)
dfNL = sysNL.toDataFrame(WT.channels, WT.FASTDOFScales)
dfLI = sysLI.toDataFrame(WT.channels, WT.FASTDOFScales)
# --- Simple Plot
fig, axes = plt.subplots(3, 1, sharey=False,
figsize=(6.4, 4.8)) # (6.4,4.8)
fig.subplots_adjust(left=0.12,
right=0.95,
top=0.95,
bottom=0.11,
hspace=0.20,
wspace=0.20)
for i, ax in enumerate(axes):
chan = dfNL.columns[i + 1]
ax.plot(dfNL['Time_[s]'], dfNL[chan], '-', label='non-linear')
ax.plot(dfLI['Time_[s]'], dfLI[chan], '--', label='linear')
if dfFS is not None:
ax.plot(dfFS['Time_[s]'], dfFS[chan], 'k:', label='OpenFAST')
ax.set_xlabel('Time [s]')
ax.set_ylabel(chan)
ax.tick_params(direction='in')
ax.legend()
def main(test=False):
"""
Performs BEM simulations for different Pitch, RPM and Wind Speed.
The wind turbine is initialized using a FAST input file (.fst)
"""
OutDir = os.path.join(MyDir, './')
MainFASTFile = os.path.join(MyDir,
'../../../data/NREL5MW/Main_Onshore_OF2.fst')
OperatingConditionFile = os.path.join(
MyDir, '../../../data/NREL5MW/NREL5MW_Oper.csv')
# --- Reading turbine operating conditions, Pitch, RPM, WS (From FAST)
df = weio.read(OperatingConditionFile).toDataFrame()
Pitch = df['BldPitch_[deg]'].values
Omega = df['RotSpeed_[rpm]'].values
WS = df['WS_[m/s]'].values
# -- Extracting information from a FAST main file and sub files
nB, cone, r, chord, twist, polars, rho, KinVisc = FASTFile2SteadyBEM(
MainFASTFile)
BladeData = np.column_stack((r, chord, twist))
# --- Running BEM simulations for each operating conditions
a0, ap0 = None, None # Initial guess for inductions, to speed up BEM
dfOut = None
if not os.path.exists(OutDir):
os.makedirs(OutDir)
# Loop on operating conditions
for i, (V0, RPM, pitch), in enumerate(zip(WS, Omega, Pitch)):
xdot = 0 # [m/s]
u_turb = 0 # [m/s]
BEM = SteadyBEM(RPM,
pitch,
V0,
xdot,
u_turb,
nB,
cone,
r,
chord,
twist,
polars,
rho=rho,
KinVisc=KinVisc,
bTIDrag=False,
bAIDrag=True,
a_init=a0,
ap_init=ap0)
a0, ap0 = BEM.a, BEM.aprime
# Export radial data to file
if not test:
filenameRadial = os.path.join(
OutDir, '_BEM_ws{:02.0f}_radial.csv'.format(V0))
BEM.WriteRadialFile(filenameRadial)
print('>>>', filenameRadial)
dfOut = BEM.StoreIntegratedValues(dfOut)
# --- Export integrated values to file
filenameOut = os.path.join(OutDir, '_BEM_IntegratedValues.csv')
if not test:
dfOut.to_csv(filenameOut, sep='\t', index=False)
print('>>>', filenameOut)
print(dfOut.keys())
# --- Plot
fig, ax = plt.subplots(1, 1, sharey=False,
figsize=(6.4, 4.8)) # (6.4,4.8)
fig.subplots_adjust(left=0.12,
right=0.95,
top=0.95,
bottom=0.11,
hspace=0.20,
wspace=0.20)
ax.plot(dfOut['WS_[m/s]'].values,
dfOut['AeroPower_[kW]'].values,
label='Power')
ax.set_xlabel('Wind speed [m/s]')
ax.set_ylabel('[-]')
ax.legend()
ax.set_title('Steady BEM - Performance curve')
ax.tick_params(direction='in')
return dfOut
bAIDrag=True,
a_init=a0,
ap_init=ap0)
a0, ap0 = BEM.a, BEM.aprime
# Export radial data to file
filenameRadial = os.path.join(OutDir,
'_BEM_ws{:02.0f}_radial.csv'.format(V0))
BEM.WriteRadialFile(filenameRadial)
print('>>>', filenameRadial)
dfOut = BEM.StoreIntegratedValues(dfOut)
# --- Export integrated values to file
filenameOut = os.path.join(OutDir, '_BEM_IntegratedValues.csv')
dfOut.to_csv(filenameOut, sep='\t', index=False)
print('>>>', filenameOut)
return dfOut
if __name__ == "__main__":
OutDir = './'
MainFASTFile = '../../../_data/NREL5MW/Main_Onshore_OF2.fst'
OperatingConditionFile = '../../../_data/NREL5MW/NREL5MW_Oper.csv'
# --- Reading turbine operating conditions, Pitch, RPM, WS (From FAST)
df = weio.read(OperatingConditionFile).toDataFrame()
Pitch = df['BldPitch_[deg]'].values
Omega = df['RotSpeed_[rpm]'].values
WS = df['WS_[m/s]'].values
dfOut = runParametricBEM_FAST(MainFASTFile, Pitch, Omega, WS)
def simulate(fstFilename, model_name, sims, sim_name):
# ---
p, WT = FAST2StructureInputs(fstFilename, model_name)
print('>>>>>',p['tilt'])
import importlib
model= importlib.import_module('_py.{}'.format(model_name))
MM_ED = readEDSummaryFile(fstFilename.replace('.fst','.ED.sum'))
lin = readFSTLin(fstFilename.replace('.fst','.1.lin'))
# freq_d2, zeta2, Q2, freq02 = eigA(lin['A'])
# --- Reference simulation
df=weio.read(fstFilename.replace('.fst','.out')).toDataFrame()
#time = np.linspace(0,50,5000)
time = df['Time_[s]'].values
# --- Initial conditions
nDOFExpected=np.sum([int(s) for s in model_name if s.isdigit()])
print('DOFs:', WT.DOFname, 'Model:',model_name, 'nDOF:',nDOFExpected )
if len(WT.DOFname)!=nDOFExpected:
raise Exception('Inconsistency in number of DOFs')
q0 = WT.q0
qd0 = WT.qd0
print('q0 :',q0)
print('qd0:',qd0)
q0l = WT.q0*0
qd0l= WT.qd0*0
DOFs = WT.activeDOFs
print('q0l :',q0l)
print('qd0l:',qd0l)
# --- Evaluate linear structural model
u0=dict() # Inputs at operating points
u0['T_a']= 0 # thrust at operating point # TODO
u0['M_y_a']= 0 # aerodynamic tilting moment at operating point
u0['M_z_a']= 0 #+0*np.sin(0.1*t) # aerodynamic "yawing" moment
u0['F_B']= 0 # Buoyancy t(at operating point
M_lin = model.M_lin(q0l,p)
C_lin = model.C_lin(q0l,qd0l,p,u0)
K_lin = model.K_lin(q0l,qd0l,p,u0)
B_lin = model.B_lin(q0l,qd0l,p,u0)
# --- Print linearized mass damping
# print('--------------------')
# print('Linear Mass Matrix: ')
# print(M_lin)
# print('--------------------')
# print('Linear Damping Matrix: ')
# print(C_lin)
# print('--------------------')
# print('Linear Stifness Matrix: ')
# print(K_lin)
# print('--------------------')
# print('Linear RHS: ')
# print(B_lin)
# --- Non linear
u=dict()
u['T_a']= lambda t: 0 #+0*np.sin(0.1*t) # Thrust as function of time # TODO
u['M_y_a']= lambda t: 0 #+0*np.sin(0.1*t) # aerodynamic tilting moment
u['M_z_a']= lambda t: 0 #+0*np.sin(0.1*t) # aerodynamic "yawing" moment
u['F_B']= lambda t: 0 #+0*np.sin(0.1*t) # Thrust as function of time # TODO
#u['F_B']= lambda t: (p['M_F'] + p['M_RNA'] + p['MM_T'][0,0])*p['g']
t=0
MM = model.mass_matrix(q0,p)
forcing = model.forcing(t,q0,qd0,p,u)
#print(WT.WT_rigid)
print('--------------------')
print('Mass Matrix: ')
print(MM)
print(MM_ED)
M_Ref=MM_ED.copy()
print(' Rel Error')
MM [np.abs(MM )<1e-1]=1
MM_ED[np.abs(MM_ED)<1e-1]=1
M_Ref[np.abs(M_Ref)<1e-1]=1
print(np.around(np.abs((MM_ED-MM))/M_Ref*100,1))
print('--------------------')
print('Forcing: ')
print(forcing)
if sims is False:
return p, WT, None, None, None, None
# --- integrate non-linear system
fM = lambda x: model.mass_matrix(x, p)
fF = lambda t,x,xd: model.forcing(t, x, xd, p=p, u=u)
sysNL = MechSystem(fM, F=fF, x0=q0, xdot0=qd0 )
resNL=sysNL.integrate(time, method='RK45')
# --- integrate linear system
fF = lambda t,x,xd: np.array([0]*len(q0))
sysLI = MechSystem(M=M_lin, K=K_lin, C=C_lin, F=fF, x0=q0, xdot0=qd0)
resLI=sysLI.integrate(time, method='RK45') # **options):
# --- Convert results to dataframe and save to file
channels = WT.channels
DOFscales= WT.FASTDOFScales
dfNL = sysNL.toDataFrame(WT.channels, DOFscales)
dfLI = sysLI.toDataFrame(WT.channels, DOFscales)
sysNL.save(fstFilename.replace('.fst','_NonLinear.csv'), WT.channels, DOFscales)
sysLI.save(fstFilename.replace('.fst','_Linear.csv'), WT.channels, DOFscales)
try:
print('>>>>> A')
print(sysLI.A)
print('>>>>> A')
print(lin['A'])
freq_d, zeta, Q, freq0 = eigA(sysLI.A)
freq_d2, zeta2, Q2, freq02 = eigA(lin['A'])
print(freq_d)
print(freq_d2)
print(zeta)
print(zeta2)
except:
print('>> No lin')
for c in dfNL.columns:
if c.find('[deg]')>1:
if np.max(dfNL[c])>90:
dfNL[c]= np.mod(dfNL[c],360)
dfLI[c]= np.mod(dfLI[c],360)
# --- Plot
# sys.plot()
legDone=False
nDOF=sysNL.nDOF
fig,axes = plt.subplots(nDOF, 2, sharey=False, sharex=True, figsize=(12.0,8.0)) # (6.4,4.8)
axes = axes.reshape(nDOF,2)
fig.subplots_adjust(left=0.08, right=0.99, top=0.98, bottom=0.06, hspace=0.07, wspace=0.18)
for idof, dof in enumerate(WT.activeDOFs):
# Positions
chan=channels[idof]
axes[idof,0].plot(dfNL['Time_[s]'], dfNL[chan], '-' , label='non-linear')
axes[idof,0].plot(dfLI['Time_[s]'], dfLI[chan], '--' , label='linear')
if chan in df.columns:
axes[idof,0].plot(df['Time_[s]'], df[chan], 'k:' , label='OpenFAST')
if not legDone:
legDone=True
axes[idof,0].legend(loc='upper right')
axes[idof,0].tick_params(direction='in')
axes[idof,0].set_ylabel(chan.replace('_',' '))
# Velocities
vdof = idof+nDOF
chan=channels[vdof]
axes[idof,1].plot(dfNL['Time_[s]'], dfNL[chan], '-' , label='non-linear')
axes[idof,1].plot(dfLI['Time_[s]'], dfLI[chan], '--' , label='linear')
if chan in df.columns:
axes[idof,1].plot(df['Time_[s]'], df[chan], 'k:' , label='OpenFAST')
axes[idof,1].tick_params(direction='in')
axes[idof,1].set_ylabel(chan.replace('_',' '))
if idof==nDOF-1:
axes[idof,0].set_xlabel('Time [s]')
axes[idof,1].set_xlabel('Time [s]')
fig.savefig('_figs/{}.png'.format(sim_name))
plt.show()
return p, WT, sysNL, dfNL, sysLI, dfLI
def test_BladeBeam_SID(self):
"""
In this test we use:
- Beam properties from the Blade of the NREL5MW
- Shape functions determined using a FEM beam representation (see welib/yams/tests/test_sid.py)
- We test for the gyroscopic and centrifugal matrix Gr, Ge, Oe
- Beam along z axis
"""
np.set_printoptions(linewidth=300, precision=9)
# --- Read data from NREL5MW Blade
edFile = os.path.join(MyDir,
'./../../../data/NREL5MW/data/NREL5MW_ED.dat')
parentDir = os.path.dirname(edFile)
ed = weio.FASTInputFile(edFile)
TipRad = ed['TipRad']
HubRad = ed['HubRad']
BldLen = TipRad - HubRad
BldFile = ed['BldFile(1)'].replace('"', '')
BldFile = os.path.join(parentDir, BldFile)
bld = weio.FASTInputFile(BldFile).toDataFrame()
z = bld['BlFract_[-]'] * BldLen + HubRad
m = bld['BMassDen_[kg/m]']
nSpan = len(z)
# --- Shape function taken from FEM
shapeFile = os.path.join(
MyDir, '../../../data/NREL5MW/NREL5MW_Blade_FEM_Modes.csv')
shapes = weio.read(shapeFile).toDataFrame()
nShapes = 2
PhiU = np.zeros((nShapes, 3, nSpan)) # Shape
s_G = np.zeros((3, nSpan))
main_axis = 'z'
if main_axis == 'z':
# Mode 1
PhiU[0, 0, :] = shapes['U1x']
PhiU[0, 1, :] = shapes['U1y']
# Mode 2
PhiU[1, 0, :] = shapes['U2x']
PhiU[1, 1, :] = shapes['U2y']
s_G[2, :] = z
# --- Testing for straight COG
s_span = z
jxxG = z * 0 + m # NOTE: unknown
MM, Gr, Ge, Oe, Oe6 = GMBeam(s_G,
s_span,
m,
PhiU,
jxxG=jxxG,
bUseIW=True,
main_axis=main_axis,
split_outputs=False,
rot_terms=True)
MM_ref = np.array(
[[
1.684475202e+04, 0.000000000e+00, 0.000000000e+00,
0.000000000e+00, 3.707069074e+05, -0.000000000e+00,
1.976263092e+03, -6.366476591e+00
],
[
0.000000000e+00, 1.684475202e+04, 0.000000000e+00,
-3.707069074e+05, 0.000000000e+00, 0.000000000e+00,
4.082717323e+00, 2.915664880e+03
],
[
0.000000000e+00, 0.000000000e+00, 1.684475202e+04,
0.000000000e+00, -0.000000000e+00, 0.000000000e+00,
0.000000000e+00, 0.000000000e+00
],
[
0.000000000e+00, -3.707069074e+05, 0.000000000e+00,
1.225603507e+07, -0.000000000e+00, -0.000000000e+00,
-1.817970390e+02, -1.200295386e+05
],
[
3.707069074e+05, 0.000000000e+00, -0.000000000e+00,
-0.000000000e+00, 1.225603507e+07, -0.000000000e+00,
8.737268222e+04, -2.574073558e+02
],
[
-0.000000000e+00, 0.000000000e+00, 0.000000000e+00,
-0.000000000e+00, -0.000000000e+00, 1.684475202e+04,
0.000000000e+00, 0.000000000e+00
],
[
1.976263092e+03, 4.082717323e+00, 0.000000000e+00,
-1.817970390e+02, 8.737268222e+04, 0.000000000e+00,
8.364646779e+02, -9.586291225e-04
],
[
-6.366476591e+00, 2.915664880e+03, 0.000000000e+00,
-1.200295386e+05, -2.574073558e+02, 0.000000000e+00,
-9.586291225e-04, 1.351321852e+03
]])
np.testing.assert_allclose(MM[0:3, 0:3], MM_ref[0:3, 0:3], rtol=1e-4)
np.testing.assert_allclose(MM[0:3, 3:6], MM_ref[0:3, 3:6], rtol=1e-4)
np.testing.assert_allclose(MM[0:3, 6:], MM_ref[0:3, 6::], rtol=1e-4)
np.testing.assert_allclose(MM[3:6, 3:6], MM_ref[3:6, 3:6], rtol=1e-4)
np.testing.assert_allclose(MM[3:6, 6:], MM_ref[3:6, 6:], rtol=1e-4)
np.testing.assert_allclose(MM[6::, 6::], MM_ref[6:, 6:], rtol=1e-4)
np.testing.assert_allclose(MM, MM.T, rtol=1e-4)
np.testing.assert_allclose(Gr[0][0, :], [0, 0, -174817], rtol=1e-5)
np.testing.assert_allclose(Gr[0][1, :], [0, 0, -363.7477], rtol=1e-5)
np.testing.assert_allclose(Gr[1][0, :], [0, 0, 514.944], rtol=1e-5)
np.testing.assert_allclose(Gr[1][1, :], [0, 0, -240127], rtol=1e-5)
np.testing.assert_allclose(Ge[0][1, :], [0, 0, 2087.767], rtol=1e-5)
np.testing.assert_allclose(Ge[1][0, :], [0, 0, -2087.767], rtol=1e-5)
np.testing.assert_allclose(Oe6[0][:], [0, 0, 0, 0, 181.8739, 87408.6],
rtol=1e-5)
np.testing.assert_allclose(Oe6[1][:], [0, 0, 0, 0, 120063, -257.472],
rtol=1e-5)
def test_TowerBeam_SID(self):
"""
In this test we use:
- Beam properties from the Tower of the NREL5MW
- Shape functions determined using a FEM beam representation (see welib/FEM/tests/test_beam_linear_element.py)
- We test for the gyroscopic and centrifugal matrix Gr, Ge, Oe
- Beam along z axis
"""
np.set_printoptions(linewidth=300, precision=9)
# --- Read data from NREL5MW tower
TowerHt = 87.6
TowerBs = 0
TwrFile = os.path.join(
MyDir, './../../../data/NREL5MW/data/NREL5MW_ED_Tower_Onshore.dat')
twr = weio.FASTInputFile(TwrFile).toDataFrame()
z = twr['HtFract_[-]'] * (TowerHt - TowerBs)
m = twr['TMassDen_[kg/m]']
nSpan = len(z)
# --- Shape function taken from FEM
shapeFile = os.path.join(
MyDir, '../../../data/NREL5MW/NREL5MW_Tower_Onshore_FEM_Modes.csv')
shapes = weio.read(shapeFile).toDataFrame()
nShapes = 2
PhiU = np.zeros((nShapes, 3, nSpan)) # Shape
PhiV = np.zeros((nShapes, 3, nSpan)) # Slope
s_G = np.zeros((3, nSpan))
main_axis = 'z'
if main_axis == 'x':
PhiU[0, 1, :] = shapes['U1'] # along y
PhiU[1, 2, :] = shapes['U2'] # along z
PhiV[0, 1, :] = shapes['V1'] # along y
PhiV[1, 2, :] = shapes['V2'] # along z
s_G[0, :] = z
elif main_axis == 'z':
PhiU[0, 0, :] = shapes['U1'] # along x
PhiU[1, 1, :] = shapes['U2'] # along y
PhiV[0, 0, :] = shapes[
'V1'] # along x (around theta y) # TODO double check convention
PhiV[1, 1, :] = shapes[
'V2'] # along y (around theta x # TODO double check convention
s_G[2, :] = z
# --- Testing for straight COG
s_span = z
jxxG = z * 0 + m # NOTE: unknown
#MM = GMBeam(s_G, s_span, m, PhiU, jxxG=jxxG, bUseIW=True, main_axis='x') # Ref uses IW_xm
Mxx, Mtt, Mxt, Mtg, Mxg, Mgg, Gr, Ge, Oe, Oe6 = GMBeam(
s_G,
s_span,
m,
PhiU,
jxxG=jxxG,
bUseIW=True,
main_axis=main_axis,
split_outputs=True,
rot_terms=True)
MM, Gr, Ge, Oe, Oe6 = GMBeam(s_G,
s_span,
m,
PhiU,
jxxG=jxxG,
bUseIW=True,
main_axis=main_axis,
split_outputs=False,
rot_terms=True)
MM_ref = np.array( # NOTE: this is onshore tower
[[
3.474602316e+05, 0.000000000e+00, 0.000000000e+00,
0.000000000e+00, 1.322633773e+07, -0.000000000e+00,
1.046938838e+05, 0.000000000e+00
],
[
0.000000000e+00, 3.474602316e+05, 0.000000000e+00,
-1.322633773e+07, 0.000000000e+00, 0.000000000e+00,
0.000000000e+00, 1.046938838e+05
],
[
0.000000000e+00, 0.000000000e+00, 3.474602316e+05,
0.000000000e+00, -0.000000000e+00, 0.000000000e+00,
0.000000000e+00, 0.000000000e+00
],
[
0.000000000e+00, -1.322633773e+07, 0.000000000e+00,
7.182575651e+08, -0.000000000e+00, -0.000000000e+00,
0.000000000e+00, -6.440479129e+06
],
[
1.322633773e+07, 0.000000000e+00, -0.000000000e+00,
-0.000000000e+00, 7.182575651e+08, -0.000000000e+00,
6.440479129e+06, 0.000000000e+00
],
[
-0.000000000e+00, 0.000000000e+00, 0.000000000e+00,
-0.000000000e+00, -0.000000000e+00, 3.474602316e+05,
0.000000000e+00, 0.000000000e+00
],
[
1.046938838e+05, 0.000000000e+00, 0.000000000e+00,
0.000000000e+00, 6.440479129e+06, 0.000000000e+00,
6.145588498e+04, 0.000000000e+00
],
[
0.000000000e+00, 1.046938838e+05, 0.000000000e+00,
-6.440479129e+06, 0.000000000e+00, 0.000000000e+00,
0.000000000e+00, 6.145588498e+04
]])
np.testing.assert_allclose(Mxx, MM_ref[0:3, 0:3], rtol=1e-4)
np.testing.assert_allclose(Mxt, MM_ref[0:3, 3:6], rtol=1e-4)
np.testing.assert_allclose(Mxg, MM_ref[0:3, 6::], rtol=1e-4)
np.testing.assert_allclose(Mtt, MM_ref[3:6, 3:6], rtol=1e-4)
np.testing.assert_allclose(Mtg, MM_ref[3:6, 6:], rtol=1e-4)
np.testing.assert_allclose(Mgg, MM_ref[6:, 6:], rtol=1e-4)
np.testing.assert_allclose(Gr[0][0, :], [0, 0, -12945834], rtol=1e-5)
np.testing.assert_allclose(Gr[1][1, :], [0, 0, -12945834], rtol=1e-5)
np.testing.assert_allclose(Ge[0][1, :], [0, 0, 122911], rtol=1e-5)
np.testing.assert_allclose(Ge[1][0, :], [0, 0, -122911], rtol=1e-5)
np.testing.assert_allclose(Oe6[0][:], [0, 0, 0, 0, 0, 6472917],
rtol=1e-5)
np.testing.assert_allclose(Oe6[1][:], [0, 0, 0, 0, 6472917, 0],
rtol=1e-5)
def FAST2SID(ed_file, Imodes_twr=None, Imodes_bld=None):
import welib.weio as weio
import os
# --- Read data from ElastoDyn file
parentDir = os.path.dirname(ed_file)
ed = weio.read(ed_file)
# edfile =
# if twr:
twr_sid = None
if Imodes_twr is not None:
TowerHt = ed['TowerHt']
TowerBs = ed['TowerBsHt']
TwrFile = ed['TwrFile'].replace('"', '')
TwrFile = os.path.join(parentDir, TwrFile)
twr = weio.FASTInputFile(TwrFile).toDataFrame()
z = twr['HtFract_[-]'] * (TowerHt - TowerBs)
m = twr['TMassDen_[kg/m]'] # mu
EIy = twr['TwFAStif_[Nm^2]']
EIz = twr[
'TwSSStif_[Nm^2]'] # TODO actually EIx, but FEM beams along x
# --- Create Beam FEM model
# Derived parameters
A = m * 0 + 100 # Area
Kv = m * 0 + 100 # Saint Venant torsion
E = 214e9 # Young modulus
Iy = EIy / E
Iz = EIz / E
xNodes = np.zeros((3, len(m)))
xNodes[2, :] = z
twr_sid = Beam2SID(xNodes, Imodes_twr, m, Iy, Iz, Kv=Kv, A=A, E=E)
bld_sid = None
if Imodes_bld is not None:
TipRad = ed['TipRad']
HubRad = ed['HubRad']
BldLen = TipRad - HubRad
BldFile = ed['BldFile(1)'].replace('"', '')
BldFile = os.path.join(parentDir, BldFile)
bld = weio.FASTInputFile(BldFile).toDataFrame()
z = bld['BlFract_[-]'] * BldLen + HubRad
m = bld['BMassDen_[kg/m]'] # mu
EIy = bld['FlpStff_[Nm^2]']
EIz = bld['EdgStff_[Nm^2]'] # TODO actually EIx, but FEM beams along x
phi = bld['PitchAxis_[-]'] / (180) * np.pi
# --- Derived parameters
phi = np.concatenate(
([0], np.diff(phi))) #% add phi_abs(1) to pitch angle
A = m * 0 + 100 # Area
Kv = m * 0 + 100 # Saint Venant torsion
E = 214e9 # Young modulus
Iy = EIy / E
Iz = EIz / E
xNodes = np.zeros((3, len(m)))
xNodes[2, :] = z
bld_sid = Beam2SID(xNodes,
Imodes_bld,
m,
Iy,
Iz,
Kv=Kv,
A=A,
E=E,
phi=phi)
return twr_sid, bld_sid
def FASTWindTurbine(fstFilename,
main_axis='z',
nSpanTwr=None,
twrShapes=None,
nSpanBld=None,
algo=''):
"""
"""
# TODO TODO TODO Harmonize with TNSB.py
# --- Reading main OpenFAST files
ext = os.path.splitext(fstFilename)[1]
FST = weio.read(fstFilename)
rootdir = os.path.dirname(fstFilename)
EDfile = os.path.join(rootdir, FST['EDFile'].strip('"')).replace('\\', '/')
ED = weio.read(EDfile)
rootdir = os.path.dirname(EDfile)
bldfile = os.path.join(rootdir,
ED['BldFile(1)'].strip('"')).replace('\\', '/')
twrfile = os.path.join(rootdir,
ED['TwrFile'].strip('"')).replace('\\', '/')
# TODO SubDyn, MoorDyn, BeamDyn
r_ET_inE = np.array([0, 0, ED['TowerBsHt']])
r_TN_inT = np.array([0, 0, ED['TowerHt'] - ED['TowerBsHt']])
# Basic geometries for nacelle
theta_tilt_y = -ED[
'ShftTilt'] * np.pi / 180 # NOTE: tilt has wrong orientation in FAST
R_NS = R_y(theta_tilt_y) # Rotation fromShaft to Nacelle
r_NS_inN = np.array([0, 0, ED['Twr2Shft']]) # Shaft start in N
r_SR_inS = np.array([ED['OverHang'], 0, 0]) # Rotor center in S
r_SGhub_inS = np.array([ED['HubCM'], 0, 0]) + r_SR_inS # Hub G in S
r_NR_inN = r_NS_inN + R_NS.dot(r_SR_inS) # Rotor center in N
r_NGnac_inN = np.array([ED['NacCMxn'], 0, ED['NacCMzn']]) # Nacelle G in N
r_RGhub_inS = -r_SR_inS + r_SGhub_inS
if main_axis == 'x':
raise NotImplementedError()
# --- Hub (defined using point N and nacelle coord as ref)
M_hub = ED['HubMass']
JxxHub_atR = ED['HubIner']
hub = RigidBody('Hub',
M_hub, (JxxHub_atR, 0, 0),
s_OG=r_SGhub_inS,
R_b2g=R_NS,
s_OP=r_SR_inS,
r_O=r_NS_inN)
# --- Generator (Low speed shaft) (defined using point N and nacelle coord as ref)
gen = RigidBody('Gen',
0, (ED['GenIner'] * ED['GBRatio']**2, 0, 0),
s_OG=[0, 0, 0],
R_b2g=R_NS,
r_O=r_NS_inN)
# --- Nacelle (defined using point N and nacelle coord as ref)
M_nac = ED['NacMass']
JyyNac_atN = ED['NacYIner'] # Inertia of nacelle at N in N
nac = RigidBody('Nac',
M_nac, (0, JyyNac_atN, 0),
r_NGnac_inN,
s_OP=[0, 0, 0])
# --- Blades
bldFile = weio.read(bldfile)
m = bldFile['BldProp'][:, 3]
jxxG = m # NOTE: unknown
nB = ED['NumBl']
bld = np.zeros(nB, dtype=object)
bld[0] = FASTBeamBody(ED,
bldFile,
Mtop=0,
main_axis=main_axis,
jxxG=jxxG,
spanFrom0=False,
nSpan=nSpanBld)
for iB in range(nB - 1):
bld[iB + 1] = copy.deepcopy(bld[0])
bld[iB + 1].R_b2g
for iB, B in enumerate(bld):
B.name = 'bld' + str(iB + 1)
psi_B = -iB * 2 * np.pi / len(bld)
if main_axis == 'x':
R_SB = R_z(0 * np.pi + psi_B) # TODO psi offset and psi0
elif main_axis == 'z':
R_SB = R_x(0 * np.pi + psi_B) # TODO psi0
R_SB = np.dot(R_SB, R_y(ED['PreCone({})'.format(iB + 1)] * np.pi /
180)) # blade2shaft
B.R_b2g = R_SB
# --- Blades (with origin R, using N as "global" ref)
blades = rigidBlades(bld, r_O=[0, 0, 0])
blades.pos_global = r_NR_inN
blades.R_b2g = R_NS
# --- Rotor = Hub + Blades (with origin R, using N as global ref)
rot = blades.combine(hub, R_b2g=R_NS, r_O=blades.pos_global)
rot.name = 'rotor'
rotgen = rot.combine(gen, R_b2g=R_NS, r_O=blades.pos_global)
#print(rotgen)
# --- RNA
RNA = rot.combine(gen).combine(nac, r_O=[0, 0, 0])
RNA.name = 'RNA'
#print(RNA)
M_RNA = RNA.mass
# --- Fnd (defined wrt ground/MSL "E")
# print(FST.keys())
M_fnd = ED['PtfmMass']
r_OGfnd_inF = np.array([ED['PtfmCMxt'], ED['PtfmCMyt'], ED['PtfmCMzt']])
r_OT_inF = np.array([0, 0, ED['PtfmRefzt']])
r_TGfnd_inF = -r_OT_inF + r_OGfnd_inF
fnd = RigidBody('fnd',
M_fnd, (ED['PtfmRIner'], ED['PtfmPIner'], ED['PtfmYIner']),
s_OG=r_TGfnd_inF,
r_O=r_OT_inF)
# --- Twr
twrFile = weio.read(twrfile)
twr = FASTBeamBody(ED,
twrFile,
Mtop=M_RNA,
main_axis='z',
bAxialCorr=False,
bStiffening=True,
shapes=twrShapes,
nSpan=nSpanTwr,
algo=algo) # TODO options
twr_rigid = twr.toRigidBody()
twr_rigid.pos_global = r_ET_inE
# --- Full WT rigid body equivalent, with point T as ref
RNAb = copy.deepcopy(RNA)
RNAb.pos_global = r_TN_inT + r_ET_inE
RNAb.R_b2g = np.eye(3)
WT_rigid = RNAb.combine(twr_rigid, r_O=r_ET_inE).combine(fnd, r_O=r_ET_inE)
# --- Degrees of freedom
DOFs = []
DOFs += [{
'name': 'x',
'active': ED['PtfmSgDOF'][0] in ['t', 'T'],
'q0': ED['PtfmSurge'],
'qd0': 0,
'q_channel': 'PtfmSurge_[m]',
'qd_channel': 'QD_Sg_[m/s]'
}]
DOFs += [{
'name': 'y',
'active': ED['PtfmSwDOF'][0] in ['t', 'T'],
'q0': ED['PtfmSway'],
'qd0': 0,
'q_channel': 'PtfmSway_[m]',
'qd_channel': 'QD_Sw_[m/s]'
}]
DOFs += [{
'name': 'z',
'active': ED['PtfmHvDOF'][0] in ['t', 'T'],
'q0': ED['PtfmHeave'],
'qd0': 0,
'q_channel': 'PtfmHeave_[m]',
'qd_channel': 'QD_Hv_[m/s]'
}]
DOFs += [{
'name': '\phi_x',
'active': ED['PtfmRDOF'][0] in ['t', 'T'],
'q0': ED['PtfmRoll'] * np.pi / 180,
'qd0': 0,
'q_channel': 'PtfmRoll_[deg]',
'qd_channel': 'QD_R_[rad/s]'
}]
DOFs += [{
'name': '\phi_y',
'active': ED['PtfmPDOF'][0] in ['t', 'T'],
'q0': ED['PtfmPitch'] * np.pi / 180,
'qd0': 0,
'q_channel': 'PtfmPitch_[deg]',
'qd_channel': 'QD_P_[rad/s]'
}]
DOFs += [{
'name': '\phi_z',
'active': ED['PtfmYDOF'][0] in ['t', 'T'],
'q0': ED['PtfmYaw'] * np.pi / 180,
'qd0': 0,
'q_channel': 'PtfmYaw_[deg]',
'qd_channel': 'QD_Y_[rad/s]'
}]
DOFs += [{
'name': 'q_FA1',
'active': ED['TwFADOF1'][0] in ['t', 'T'],
'q0': ED['TTDspFA'],
'qd0': 0,
'q_channel': 'Q_TFA1_[m]',
'qd_channel': 'QD_TFA1_[m/s]'
}]
DOFs += [{
'name': 'q_SS1',
'active': ED['TwSSDOF1'][0] in ['t', 'T'],
'q0': ED['TTDspSS'],
'qd0': 0,
'q_channel': 'Q_TSS1_[m]',
'qd_channel': 'QD_TSS1_[m/s]'
}]
DOFs += [{
'name': 'q_FA2',
'active': ED['TwFADOF2'][0] in ['t', 'T'],
'q0': ED['TTDspFA'],
'qd0': 0,
'q_channel': 'Q_TFA2_[m]',
'qd_channel': 'QD_TFA2_[m/s]'
}]
DOFs += [{
'name': 'q_SS2',
'active': ED['TwSSDOF2'][0] in ['t', 'T'],
'q0': ED['TTDspSS'],
'qd0': 0,
'q_channel': 'Q_TSS1_[m]',
'qd_channel': 'QD_TSS1_[m/s]'
}]
DOFs += [{
'name': '\\theta_y',
'active': ED['YawDOF'][0] in ['t', 'T'],
'q0': ED['NacYaw'] * np.pi / 180,
'qd0': 0,
'q_channel': 'NacYaw_[deg]',
'qd_channel': 'QD_Yaw_[rad/s]'
}]
DOFs += [{
'name': '\\psi',
'active': ED['GenDOF'][0] in ['t', 'T'],
'q0': ED['Azimuth'] * np.pi / 180,
'qd0': ED['RotSpeed'] * 2 * np.pi / 60,
'q_channel': 'Azimuth_[deg]',
'qd_channel': 'RotSpeed_[rpm]'
}]
DOFs += [{
'name': '\\nu',
'active': ED['DrTrDOF'][0] in ['t', 'T'],
'q0': 0,
'qd0': 0,
'q_channel': 'Q_DrTr_[rad]',
'qd_channel': 'QD_DrTr_[rad/s]'
}]
DOFs += [{
'name': 'q_Fl1',
'active': ED['FlapDOF1'][0] in ['t', 'T'],
'q0': ED['OOPDefl'],
'qd0': 0,
'q_channel': 'Q_B1F1_[m]',
'qd_channel': 'QD_B1F1_[m/s]'
}]
DOFs += [{
'name': 'q_Ed1',
'active': ED['EdgeDOF'][0] in ['t', 'T'],
'q0': ED['IPDefl'],
'qd0': 0,
'q_channel': 'Q_B1E1_[m]',
'qd_channel': 'QD_B1E1_[m/s]'
}]
# ---------------------- DEGREES OF FREEDOM --------------------------------------
# False FlapDOF1 - First flapwise blade mode DOF (flag)
# False FlapDOF2 - Second flapwise blade mode DOF (flag)
# False EdgeDOF - First edgewise blade mode DOF (flag)
# ---------------------- INITIAL CONDITIONS --------------------------------------
# 0 OoPDefl - Initial out-of-plane blade-tip displacement (meters)
# 0 IPDefl - Initial in-plane blade-tip deflection (meters)
# --- Return
WT = WindTurbineStructure()
WT.bld = bld # origin at R
WT.hub = hub # origin at S
WT.rot = rot # origin at R, rigid body bld+hub
WT.rotgen = rotgen # origin at R, rigid body bld+hub+genLSS
WT.gen = gen # origin at S
WT.nac = nac # origin at N
WT.twr = twr # origin at T
WT.fnd = fnd # origin at T
WT.RNA = RNA # origin at N, rigid body bld+hub+gen+nac
WT.WT_rigid = WT_rigid # rigid wind turbine body, origin at MSL
WT.DOF = DOFs
#WT.r_ET_inE =
#WT.r_TN_inT
WT.r_NS_inN = r_NS_inN
WT.r_NR_inN = r_NR_inN
WT.r_SR_inS = r_SR_inS
WT.ED = ED
return WT
def simulate_py_lin(self,
model,
p,
time=None,
refOut=None,
qop=None,
qdop=None):
""" Perform linear simulation based on a model (python package) generated by yams_sympy """
from welib.system.mech_system import MechSystem
# --- Reference simulation
if refOut is not None:
df = weio.read(fstFilename.replace('.fst', '.out')).toDataFrame()
#time = np.linspace(0,50,5000)
time = df['Time_[s]'].values
elif time is None:
raise Exception(
'Time vector must be provided if no reference simulation is given'
)
# --- Checking package info
info = model.info()
nDOFExpected = info['nq']
print('DOFs:', self.DOFname, 'Model:', info['name'], 'nDOF:',
nDOFExpected)
if len(self.DOFname) != nDOFExpected:
raise Exception('Inconsistency in number of DOFs')
# --- Operating point
if qop is None:
qop = self.q0 * 0 # TODO
if qdop is None:
qdop = self.qd0 * 0 # TODO
uop = dict() # Inputs at operating points
for key in info['su']:
# TODO get it from ref simulation
uop[key] = 0
# --- Initial conditions (of pertubations)
q0 = self.q0 - qop
qd0 = self.qd0 - qdop
# --- Evaluate linear structural model at operating point
M_lin = model.M_lin(qop, p)
C_lin = model.C_lin(qop, qdop, p, uop)
K_lin = model.K_lin(qop, qdop, p, uop)
B_lin = model.B_lin(qop, qdop, p, uop)
# --- Integrate linear system
fF = lambda t, x, xd: np.array([0] * len(qop)) # TODO
sysLI = MechSystem(M=M_lin, K=K_lin, C=C_lin, F=fF, x0=q0, xdot0=qd0)
resLI = sysLI.integrate(time, method='RK45') # **options):
# --- Print linearized mass damping
# print('--------------------')
# print('Linear Mass Matrix: ')
# print(M_lin)
# print('--------------------')
# print('Linear Damping Matrix: ')
# print(C_lin)
# print('--------------------')
# print('Linear Stifness Matrix: ')
# print(K_lin)
# print('--------------------')
# print('Linear RHS: ')
# print(B_lin)
return resLI, sysLI
def FASTmodel2TNSB(ED_or_FST_file,
nB=3,
nShapes_twr=2,
nShapes_bld=0,
nSpan_twr=101,
nSpan_bld=61,
bHubMass=1,
bNacMass=1,
bBldMass=1,
DEBUG=False,
main_axis='x',
bStiffening=True,
assembly='manual',
q=None,
bTiltBeforeNac=False):
"""
Returns the following structure
Twr : BeamBody
Shft: RigiBody
Nac : RigidBody
Blds: List of BeamBodies
MM, KK, DD : mass, stiffness and damping matrix of full system
"""
nDOF = 1 + nShapes_twr + nShapes_bld * nB # +1 for Shaft
if q is None:
q = np.zeros((nDOF, 1)) # TODO, full account of q not done
# --- Input data from ED file
ext = os.path.splitext(ED_or_FST_file)[1]
if ext.lower() == '.fst':
FST = weio.read(ED_or_FST_file)
rootdir = os.path.dirname(ED_or_FST_file)
EDfile = os.path.join(rootdir,
FST['EDFile'].strip('"')).replace('\\', '/')
else:
EDfile = ED_or_FST_file
# Reading elastodyn file
ED = weio.read(EDfile)
rootdir = os.path.dirname(EDfile)
bldfile = os.path.join(rootdir,
ED['BldFile(1)'].strip('"')).replace('\\', '/')
twrfile = os.path.join(rootdir,
ED['TwrFile'].strip('"')).replace('\\', '/')
twr = weio.read(twrfile)
bld = weio.read(bldfile)
## --- Strucural and geometrical Inputs
if main_axis == 'x':
theta_tilt_y = ED[
'ShftTilt'] * np.pi / 180 # NOTE: tilt has wrong orientation in FAST
theta_cone_y = -ED['Precone(1)'] * np.pi / 180
r_ET_inE = np.array([[ED['TowerBsHt']], [0],
[0]]) # NOTE: could be used to get hub height
r_TN_inT = np.array([[ED['TowerHt'] - ED['TowerBsHt']], [0], [0]])
if bTiltBeforeNac:
raise NotImplementedError()
R_NS0 = np.eye(3)
R_TN0 = R_y(theta_tilt_y)
else:
R_NS0 = R_y(theta_tilt_y)
R_TN0 = np.eye(3)
r_NGnac_inN = np.array([[ED['NacCMzn']], [0], [ED['NacCMxn']]])
r_NS_inN = np.array([[ED['Twr2Shft']], [0],
[0]]) # S on tower axis
r_SR_inS = np.array([[0], [0], [ED['OverHang']]]) # S and R
r_SGhub_inS = np.array([[0], [0], [ED['OverHang'] + ED['HubCM']]]) #
elif main_axis == 'z':
theta_tilt_y = -ED[
'ShftTilt'] * np.pi / 180 # NOTE: tilt has wrong orientation in FAST
theta_cone_y = ED['Precone(1)'] * np.pi / 180
r_ET_inE = np.array([[0], [0], [ED['TowerBsHt']]
]) # NOTE: could be used to get hub height
r_TN_inT = np.array([[0], [0], [ED['TowerHt'] - ED['TowerBsHt']]])
if bTiltBeforeNac:
raise NotImplementedError()
R_NS0 = np.eye(3)
R_TN0 = R_y(theta_tilt_y)
else:
R_NS0 = R_y(theta_tilt_y)
R_TN0 = np.eye(3)
r_NGnac_inN = np.array([[ED['NacCMxn']], [0], [ED['NacCMzn']]])
r_NS_inN = np.array([[0], [0],
[ED['Twr2Shft']]]) # S on tower axis
r_SR_inS = np.array([[ED['OverHang']], [0], [0]]) # S and R
r_SGhub_inS = np.array([[ED['OverHang'] + ED['HubCM']], [0], [0]]) #
r_RGhub_inS = -r_SR_inS + r_SGhub_inS
M_hub = ED['HubMass'] * bHubMass
M_nac = ED['NacMass'] * bNacMass
IR_hub = np.zeros((3, 3))
I0_nac = np.zeros((3, 3))
if main_axis == 'x':
IR_hub[2, 2] = ED['HubIner'] + ED['GenIner'] * ED['GBRatio']**2
I0_nac[0, 0] = ED['NacYIner']
elif main_axis == 'z':
IR_hub[0, 0] = ED['HubIner'] + ED['GenIner'] * ED['GBRatio']**2
I0_nac[2, 2] = ED['NacYIner']
IR_hub = IR_hub * bHubMass
I0_nac = I0_nac * bNacMass
# Inertias not at COG...
IG_hub = translateInertiaMatrix(IR_hub, M_hub, np.array([0, 0, 0]),
r_RGhub_inS)
IG_nac = translateInertiaMatrixToCOG(I0_nac, M_nac, -r_NGnac_inN)
# --------------------------------------------------------------------------------}
## --- Creating bodies
# --------------------------------------------------------------------------------{
# Bld
Blds = []
Blds.append(
FASTBeamBody('blade',
ED,
bld,
Mtop=0,
nShapes=nShapes_bld,
nSpan=nSpan_bld,
main_axis=main_axis))
Blds[0].MM *= bBldMass
for iB in range(nB - 1):
Blds.append(copy.deepcopy(Blds[0]))
# ShaftHub Body
Sft = RigidBody('ShaftHub', M_hub, IG_hub, r_SGhub_inS)
# Nacelle Body
Nac = RigidBody('Nacelle', M_nac, IG_nac, r_NGnac_inN)
M_rot = sum([B.Mass for B in Blds])
M_RNA = M_rot + Sft.Mass + Nac.Mass
# Tower Body
Twr = FASTBeamBody('tower',
ED,
twr,
Mtop=M_RNA,
nShapes=nShapes_twr,
nSpan=nSpan_twr,
main_axis=main_axis,
bStiffening=bStiffening)
#print('Stiffnening', bStiffening)
#print('Ttw.KKg \n', Twr.KKg[6:,6:])
if DEBUG:
print('IG_hub')
print(IG_hub)
print('IG_nac')
print(IG_nac)
print('I_gen_LSS', ED['GenIner'] * ED['GBRatio']**2)
print('I_hub_LSS', ED['hubIner'])
print('I_rot_LSS', nB * Blds[0].MM[5, 5])
print(
'I_tot_LSS', nB * Blds[0].MM[5, 5] + ED['hubIner'] +
ED['GenIner'] * ED['GBRatio']**2)
print('r_NGnac_inN', r_NGnac_inN.T)
print('r_SGhub_inS', r_SGhub_inS.T)
# --------------------------------------------------------------------------------}
# --- Assembly
# --------------------------------------------------------------------------------{
if assembly == 'manual':
Struct = manual_assembly(Twr,
Nac,
Sft,
Blds,
q,
r_ET_inE,
r_TN_inT,
r_NS_inN,
r_SR_inS,
main_axis=main_axis,
theta_tilt_y=theta_tilt_y,
theta_cone_y=theta_cone_y,
DEBUG=DEBUG,
bTiltBeforeNac=bTiltBeforeNac)
else:
Struct = auto_assembly(Twr,
Nac,
Sft,
Blds,
q,
r_ET_inE,
r_TN_inT,
r_NS_inN,
r_SR_inS,
main_axis=main_axis,
theta_tilt_y=theta_tilt_y,
theta_cone_y=theta_cone_y,
DEBUG=DEBUG,
bTiltBeforeNac=bTiltBeforeNac)
# --- Initial conditions
omega_init = ED['RotSpeed'] * 2 * np.pi / 60 # rad/s
psi_init = ED['Azimuth'] * np.pi / 180 # rad
FA_init = ED['TTDspFA']
iPsi = Struct.iPsi
nDOFMech = len(Struct.MM)
q_init = np.zeros(2 * nDOFMech) # x2, state space
if nShapes_twr > 0:
q_init[0] = FA_init
q_init[iPsi] = psi_init
q_init[nDOFMech + iPsi] = omega_init
Struct.q_init = q_init
if DEBUG:
print('Initial conditions:')
print(q_init)
# --- Useful data
Struct.ED = ED
return Struct
def main():
# --- Parameters
InFile = '../../../data/NREL5MW/Main_Onshore_OF2_DriveTrainTorsion.fst'
model = 2 # 1=1DOF (theta_r), 2= 2DOF (theta_r, nu), 22: (theta_r, theta_g_LSS), 3: (theta_r, theta_g)
# --- Turbine parameters
OutFile = InFile.replace('.fst', '.outb')
WT = FASTWindTurbine(InFile)
nGear = WT.ED['GBRatio']
K_DT = WT.ED['DTTorSpr']
D_DT = WT.ED['DTTorDmp']
Jr_LSS = WT.rot.inertia[0, 0] * 1.000 # bld + hub, LSS
Jg_LSS = WT.gen.inertia[0, 0] # gen, LSS
Jg_HSS = WT.gen.inertia[0, 0] / nGear**2
print('Jr', Jr_LSS)
print('Jg', Jg_HSS)
print('N ', nGear)
# --- Read output from openfast
df = weio.read(OutFile).toDataFrame()
time = df['Time_[s]'].values
Q_r = df['RtAeroMxh_[N-m]'].values
Q_g = df['GenTq_[kN-m]'].values * 1000
Q_LSS = df['RotTorq_[kN-m]'].values * 1000
q_r = df['Q_GeAz_[rad]'] # NOTE: weird initial condition
q_DT = df['Q_DrTr_[rad]']
qd_r = df['QD_GeAz_[rad/s]']
qd_DT = df['QD_DrTr_[rad/s]']
# qdd_r = df['QD2_GeAz_[rad/s^2]']
# qdd_DT = df['QD2_DrTr_[rad/s^2]']
GenSpeed = df['GenSpeed_[rpm]'] * 2 * np.pi / 60
GenSpeed_LSS = GenSpeed / nGear
RotSpeed = df['RotSpeed_[rpm]'] * 2 * np.pi / 60
NuSpeed = qd_DT
# Generator from rotor + drivetrain torsion (note: jumps due to modulo)
q_g = (q_r + q_DT) * nGear
qd_g = (qd_r + qd_DT) * nGear
q_g_LSS = (q_r + q_DT)
qd_g_LSS = (qd_r + qd_DT)
# Drive train torsion torque
Q_DT = K_DT * q_DT + D_DT * qd_DT
# --- Drivetrain speed
# theta_gen = theta_rot - Nu
# fig,ax = plt.subplots(1, 1, sharey=False, figsize=(6.4,4.8)) # (6.4,4.8)
# fig.subplots_adjust(left=0.12, right=0.95, top=0.95, bottom=0.11, hspace=0.20, wspace=0.20)
# ax.plot(GenSpeed_LSS , label='Gen')
# ax.plot(RotSpeed , label='Rot')
# # ax.plot(NuSpeed , label='Nu')
# ax.plot(RotSpeed-NuSpeed ,'--' , label='Gen=Nu+Rot')
# ax.set_xlabel('')
# ax.set_ylabel('')
# ax.legend()
# --- Setup Model
if model == 1:
# One degree of freedom on LSS (torsion omitted): theta
F = Q_r - Q_g * nGear
F = F.reshape((1, -1))
M = np.array([[Jr_LSS + Jg_LSS]])
K = K_DT * np.array([[0]])
D = D_DT * np.array([[0]])
elif model == 2:
# Everything on LSS: theta, and nu = theta_r-theta_g_LSS
# [Jr + Jg N^2, -Jg N^2 ][theta_r]_dd + [0, 0][theta_r] + [0, 0][theta_r]_d = Q_r - Q_g N
# [ -Jg N^2 , Jg N^2][ nu ]_dd + [0, K][ nu ] + [0, B][ nu ]_d = Q_g N
F = np.column_stack((Q_r - Q_g * nGear, Q_g * nGear)).T
M = np.array([[Jr_LSS + Jg_LSS, -Jg_LSS], [-Jg_LSS, Jg_LSS]])
K = K_DT * np.array([[0, 0], [0, 1]])
D = D_DT * np.array([[0, 0], [0, 1]])
elif model == 22:
# Everything on LSS: theta_r, and theta_g_LSS
# [Jr , 0 ][theta_r ]_dd + [ K,-K][theta_r ] + [ B,-B][theta_r ]_d = Q_r
# [0 ,Jg N^2][theta_g_LSS]_dd + [-K, K][theta_g_LSS] + [-B, B][theta_g_LSS]_d = Q_g N
F = np.column_stack((Q_r, -Q_g * nGear)).T
M = np.array([[Jr_LSS, 0], [0, Jg_LSS]])
K = K_DT * np.array([[1, -1], [-1, 1]])
D = D_DT * np.array([[1, -1], [-1, 1]])
elif model == 3:
# theta_r on LSS, theta_g on HSS
# [Jr , 0 ][theta_r]_dd + [ K ,-K/N ][theta_r] + [ B, -B/N ][theta_r]_d = Q_r
# [0, Jg ][theta_g]_dd + [-K/N, K/N^2][theta_g] + [-B/N, B/N^2][theta_g]_d = Q_g
F = np.column_stack((Q_r, -Q_g)).T
M = np.array([[Jr_LSS, 0], [0, Jg_HSS]])
K = K_DT * np.array([[1, -1 / nGear], [-1 / nGear, 1 / nGear**2]])
D = D_DT * np.array([[1, -1 / nGear], [-1 / nGear, 1 / nGear**2]])
# --- Define a system and perform time integration
q0 = np.zeros(2)
qd0 = np.zeros(2)
q0[0] = q_r[0]
qd0[0] = qd_r[0]
if model == 22:
q0[1] = q_g_LSS[0]
qd0[1] = qd_g_LSS[0]
if model == 3:
q0[1] = q_g[0]
qd0[1] = qd_g[0]
if model == 1:
sys = MechSystem(M, D, K, F=(time, F), x0=q0[0:1], xdot0=qd0[0:1])
else:
sys = MechSystem(M, D, K, F=(time, F), x0=q0, xdot0=qd0)
print(sys)
res = sys.integrate(time, method='LSODA') # **options):
# res=sys.integrate(time, method='RK45') # **options):
# sys.plot()
# --- Plot states
fig, axes = plt.subplots(sys.nStates, 1, sharey=False,
figsize=(6.4, 4.8)) # (6.4,4.8)
fig.subplots_adjust(left=0.12,
right=0.95,
top=0.95,
bottom=0.11,
hspace=0.20,
wspace=0.20)
axes[0].plot(sys.res.t, np.mod(sys.res.y[0, :], 2 * np.pi))
axes[0].plot(sys.res.t, q_r)
axes[0].set_ylabel(r'$\theta_r$ [rad]')
if model == 1:
axes[1].plot(sys.res.t, sys.res.y[1, :])
axes[1].plot(sys.res.t, qd_r)
axes[1].set_ylabel(r'$\dot{\theta}_r$ [rad/s]')
else:
axes[2].plot(sys.res.t, sys.res.y[2, :])
axes[2].plot(sys.res.t, RotSpeed, '--') # qd_r is not good here...
axes[2].set_ylabel(r'$\dot{\theta}_r$ [rad/s]')
if model == 2:
axes[1].plot(sys.res.t, sys.res.y[1, :])
axes[1].plot(sys.res.t, q_DT)
axes[1].set_ylabel(r'$\nu$ [rad]')
axes[3].plot(sys.res.t, sys.res.y[3, :])
axes[3].plot(sys.res.t, qd_DT)
axes[3].set_ylabel(r'$\dot{\nu}$ [rad/s]')
elif model == 22:
axes[1].plot(sys.res.t, np.mod(sys.res.y[1, :], 2 * np.pi))
axes[1].plot(sys.res.t, q_g_LSS)
axes[3].plot(sys.res.t, sys.res.y[3, :])
axes[3].plot(sys.res.t, GenSpeed_LSS)
elif model == 3:
axes[1].plot(sys.res.t, np.mod(sys.res.y[1, :], 2 * np.pi))
axes[1].plot(sys.res.t, q_g)
axes[3].plot(sys.res.t, sys.res.y[3, :])
axes[3].plot(sys.res.t, GenSpeed)
axes[-1].set_xlabel('Time [s]')
def FASTmodel2FNSB(
FST_file,
shapes_sub=[0, 4],
nShapes_bld=0,
nSpan_sub=101,
nSpan_bld=61,
bHubMass=1,
bNacMass=1,
bBldMass=1,
DEBUG=False,
main_axis='x',
bStiffening=True,
assembly='manual',
q=None,
bTiltBeforeNac=False,
spanFrom0=True, # TODO for legacy, we keep this for now..
bladeMassExpected=None):
"""
Returns the following structure
Fnd : BeamBody
Shft: RigiBody
Nac : RigidBody
Blds: List of BeamBodies
MM, KK, DD : mass, stiffness and damping matrix of full system
shapes_sub: 0:ux, 1:uy, 2:uz, 3:vx, 4:vy, 5:vz
E.g. for surge and pitch (ux, vy): [0,4]
NOTE/TODO: compare this with "windturbine.py"
"""
# --- Read fst file
ext = os.path.splitext(FST_file)[1]
if ext.lower() != '.fst':
raise Exception('FNSB requires a fst file as input')
FST = weio.read(FST_file)
rootdir = os.path.dirname(FST_file)
EDfile = os.path.join(rootdir, FST['EDFile'].strip('"')).replace('\\', '/')
subfile = os.path.join(rootdir,
FST['SubFile'].strip('"')).replace('\\', '/')
# Reading elastodyn file
ED = weio.read(EDfile)
rootdir = os.path.dirname(EDfile)
bldfile = os.path.join(rootdir,
ED['BldFile(1)'].strip('"')).replace('\\', '/')
twrfile = os.path.join(rootdir,
ED['TwrFile'].strip('"')).replace('\\', '/')
#twr = weio.read(twrfile)
bld = weio.read(bldfile)
# Reading SubDyn file
sub = weio.read(subfile)
nShapes_sub = len(shapes_sub)
graph = sub.toGraph() # NOTE: this is repeated in bodies.py...
graph.divideElements(sub['NDiv'])
graph.sortNodesBy('z')
df = graph.nodalDataFrame()
zBot = np.min(df['z'])
zTop = np.max(df['z'])
RayleighCoeff = None
DampMat = None
if sub['GuyanDampMod'] == 1:
# Rayleigh Damping
RayleighCoeff = sub['RayleighDamp']
#if RayleighCoeff[0]==0:
# damp_zeta=omega*RayleighCoeff[1]/2.
elif sub['GuyanDampMod'] == 2:
# Full matrix
DampMat = sub['GuyanDampMatrix']
DampMat = DampMat[np.ix_(shapes, shapes)]
nB = ED['NumBl']
nDOF = 1 + nShapes_sub + nShapes_bld * nB # +1 for Shaft
if q is None:
q = np.zeros((nDOF, 1)) # TODO, full account of q not done
## --- Strucural and geometrical Inputs
if main_axis == 'x':
theta_tilt_y = ED[
'ShftTilt'] * np.pi / 180 # NOTE: tilt has wrong orientation in FAST
theta_cone_y = -ED['Precone(1)'] * np.pi / 180
r_EF_inE = np.array([[zBot], [0], [0]])
r_ET_inE = np.array([[ED['TowerBsHt']], [0], [0]])
r_FT_inF = np.array([[ED['TowerBsHt'] - zBot], [0], [0]])
r_TN_inT = np.array([[ED['TowerHt'] - ED['TowerBsHt']], [0], [0]])
if bTiltBeforeNac:
raise NotImplementedError()
R_NS0 = np.eye(3)
R_TN0 = R_y(theta_tilt_y)
else:
R_NS0 = R_y(theta_tilt_y)
R_TN0 = np.eye(3)
r_NGnac_inN = np.array([[ED['NacCMzn']], [0], [ED['NacCMxn']]])
r_NS_inN = np.array([[ED['Twr2Shft']], [0],
[0]]) # S on tower axis
r_SR_inS = np.array([[0], [0], [ED['OverHang']]]) # S and R
r_SGhub_inS = np.array([[0], [0], [ED['OverHang'] + ED['HubCM']]]) #
elif main_axis == 'z':
theta_tilt_y = -ED[
'ShftTilt'] * np.pi / 180 # NOTE: tilt has wrong orientation in FAST
theta_cone_y = ED['Precone(1)'] * np.pi / 180
r_EF_inE = np.array([[0], [0], [zBot]])
r_ET_inE = np.array([[0], [0], [ED['TowerBsHt']]])
r_FT_inF = np.array([[0], [0], [ED['TowerBsHt'] - zBot]])
r_TN_inT = np.array([[0], [0], [ED['TowerHt'] - ED['TowerBsHt']]])
if bTiltBeforeNac:
raise NotImplementedError()
R_NS0 = np.eye(3)
R_TN0 = R_y(theta_tilt_y)
else:
R_NS0 = R_y(theta_tilt_y)
R_TN0 = np.eye(3)
r_NGnac_inN = np.array([[ED['NacCMxn']], [0], [ED['NacCMzn']]])
r_NS_inN = np.array([[0], [0],
[ED['Twr2Shft']]]) # S on tower axis
r_SR_inS = np.array([[ED['OverHang']], [0], [0]]) # S and R
r_SGhub_inS = np.array([[ED['OverHang'] + ED['HubCM']], [0], [0]]) #
r_RGhub_inS = -r_SR_inS + r_SGhub_inS
M_hub = ED['HubMass'] * bHubMass
M_nac = ED['NacMass'] * bNacMass
IR_hub = np.zeros((3, 3))
I0_nac = np.zeros((3, 3))
if main_axis == 'x':
IR_hub[2, 2] = ED['HubIner'] + ED['GenIner'] * ED['GBRatio']**2
I0_nac[0, 0] = ED['NacYIner']
elif main_axis == 'z':
IR_hub[0, 0] = ED['HubIner'] + ED['GenIner'] * ED['GBRatio']**2
I0_nac[2, 2] = ED['NacYIner']
IR_hub = IR_hub * bHubMass
I0_nac = I0_nac * bNacMass
# Inertias not at COG...
IG_hub = translateInertiaMatrix(IR_hub, M_hub, np.array([0, 0, 0]),
r_RGhub_inS)
IG_nac = translateInertiaMatrixToCOG(I0_nac, M_nac, r_NGnac_inN)
# --------------------------------------------------------------------------------}
## --- Creating bodies
# --------------------------------------------------------------------------------{
# Bld
Blds = []
Blds.append(
FASTBeamBody('blade',
ED,
bld,
Mtop=0,
nShapes=nShapes_bld,
nSpan=nSpan_bld,
main_axis=main_axis,
spanFrom0=spanFrom0,
massExpected=bladeMassExpected)) # NOTE: legacy spanfrom0
Blds[0].MM *= bBldMass
for iB in range(nB - 1):
Blds.append(copy.deepcopy(Blds[0]))
# IMPORTANT FOR RNA set R_b2g
for iB, B in enumerate(Blds):
B.name = 'bld' + str(iB + 1)
psi_B = -iB * 2 * np.pi / len(Blds)
if main_axis == 'x':
R_SB = R_z(0 * np.pi + psi_B) # TODO psi offset and psi0
elif main_axis == 'z':
R_SB = R_x(0 * np.pi + psi_B) # TODO psi0
R_SB = np.dot(R_SB, R_y(ED['PreCone({})'.format(iB + 1)] * np.pi /
180)) # blade2shaft
B.R_b2g = R_SB
# ShaftHub Body
Sft = RigidBody('ShaftHub', M_hub, IG_hub, r_SGhub_inS)
# Nacelle Body
Nac = RigidBody('Nacelle', M_nac, IG_nac, r_NGnac_inN)
M_rot = sum([B.Mass for B in Blds])
M_RNA = M_rot + Sft.Mass + Nac.Mass
# Substructure Body
Fnd = FASTBeamBody('substructure',
ED,
sub,
Mtop=M_RNA,
shapes=shapes_sub,
nSpan=nSpan_sub,
main_axis=main_axis,
bStiffening=bStiffening)
#print(Fnd)
#print('Fnd MM\n',Fnd.MM[6:,6:])
#print('Fnd KK\n',Fnd.KK[6:,6:])
# HACK here because doesn't handle this for now
if sub['GuyanDampMod'] == 1:
Fnd.DD[6:, 6:] = Fnd.MM[6:, 6:] * RayleighCoeff[0] + Fnd.KK[
6:, 6:] * RayleighCoeff[1]
#print('Stiffnening', bStiffening)
#print('Ttw.KKg \n', Twr.KKg[6:,6:])
if DEBUG:
print('HubMass', Sft.Mass)
print('NacMass', Nac.Mass)
print('RotMass', M_rot)
print('RNAMass', M_RNA)
print('IG_hub')
print(IG_hub)
print('IG_nac')
print(IG_nac)
print('I_gen_LSS', ED['GenIner'] * ED['GBRatio']**2)
print('I_hub_LSS', ED['hubIner'])
print('I_rot_LSS', nB * Blds[0].MM[5, 5])
print(
'I_tot_LSS', nB * Blds[0].MM[5, 5] + ED['hubIner'] +
ED['GenIner'] * ED['GBRatio']**2)
print('r_NGnac_inN', r_NGnac_inN.T)
print('r_SGhub_inS', r_SGhub_inS.T)
# --------------------------------------------------------------------------------}
# --- Assembly
# --------------------------------------------------------------------------------{
r_ET_inE = r_EF_inE
r_TN_inT = r_FT_inF + r_TN_inT # assume that F and T are in system E here
if assembly == 'manual':
Struct = manual_assembly(Fnd,
Nac,
Sft,
Blds,
q,
r_ET_inE,
r_TN_inT,
r_NS_inN,
r_SR_inS,
main_axis=main_axis,
theta_tilt_y=theta_tilt_y,
theta_cone_y=theta_cone_y,
DEBUG=DEBUG,
bTiltBeforeNac=bTiltBeforeNac)
else:
Struct = auto_assembly(Fnd,
Nac,
Sft,
Blds,
q,
r_ET_inE,
r_TN_inT,
r_NS_inN,
r_SR_inS,
main_axis=main_axis,
theta_tilt_y=theta_tilt_y,
theta_cone_y=theta_cone_y,
DEBUG=DEBUG,
bTiltBeforeNac=bTiltBeforeNac)
# --- Initial conditions
omega_init = ED['RotSpeed'] * 2 * np.pi / 60 # rad/s
psi_init = ED['Azimuth'] * np.pi / 180 # rad
FA_init = ED['TTDspFA']
Surge_init = ED['PtfmSurge']
Sway_init = ED['PtfmSway']
Heave_init = ED['PtfmHeave']
Roll_init = ED['PtfmRoll'] * np.pi / 180
Pitch_init = ED['PtfmPitch'] * np.pi / 180
Yaw_init = ED['PtfmYaw'] * np.pi / 180
iPsi = Struct.iPsi
nDOFMech = len(Struct.MM)
q_init = np.zeros(2 * nDOFMech) # x2, state space
if nShapes_sub > 0:
sub_init = np.array([
Surge_init, Sway_init, Heave_init, Roll_init, Pitch_init, Yaw_init
])
for iDOF, iDOFfull in enumerate(shapes_sub):
q_init[iDOF] = sub_init[iDOFfull]
q_init[iPsi] = psi_init
q_init[nDOFMech + iPsi] = omega_init
Struct.q_init = q_init
if DEBUG:
print('Initial conditions:')
print(q_init)
# --- Useful data
Struct.ED = ED
Struct.DampMat = DampMat
Struct.RayleighCoeff = RayleighCoeff
return Struct
def BeamDyn2Hawc2(BD_mainfile, BD_bladefile, H2_htcfile, H2_stfile, bodyname, A=None, E=None, G=None, FPM=False):
"""
FPM: fully populated matrix, if True, use the FPM format of hawc2
"""
# --- Read BeamDyn files
bdLine = weio.read(BD_mainfile).toDataFrame()
bd = weio.read(BD_bladefile).toDataFrame()
# --- Extract relevant info
prop = bd['BeamProperties']
kp_x = bdLine['kp_xr_[m]'].values
kp_y = bdLine['kp_yr_[m]'].values
kp_z = bdLine['kp_zr_[m]'].values
twist = bdLine['initial_twist_[deg]'].values
r_bar = prop['Span'].values
K = np.zeros((6,6),dtype='object')
M = np.zeros((6,6),dtype='object')
for i in np.arange(6):
for j in np.arange(6):
K[i,j]=prop['K{}{}'.format(i+1,j+1)].values
M[i,j]=prop['M{}{}'.format(i+1,j+1)].values
# Map 6x6 data to "beam" data
EA, EIx, EIy, kxsGA, kysGA, GKt, x_C, y_C, x_S, y_S, theta_p, theta_s = K66toProps(K)
m, Ixi, Iyi, Ip, x_G, y_G, theta_i = M66toProps(M)
print('kxGA {:e}'.format(np.mean(kxsGA)))
print('kyGA {:e}'.format(np.mean(kysGA)))
print('EA {:e}'.format(np.mean(EA)))
print('EIx {:e}'.format(np.mean(EIx)))
print('EIy {:e}'.format(np.mean(EIy)))
print('GKt {:e}'.format(np.mean(GKt)))
print('xC ',np.mean(x_C))
print('yC ',np.mean(y_C))
print('xS ',np.mean(x_S))
print('yS ',np.mean(y_S))
print('thetap',np.mean(theta_p))
print('thetas',np.mean(theta_s))
print('m ',np.mean(m))
print('Ixi ',np.mean(Ixi))
print('Iyi ',np.mean(Iyi))
print('Ip ',np.mean(Ip))
print('x_G ',np.mean(x_G))
print('y_G ',np.mean(y_G))
print('thetai',np.mean(theta_i))
# Convert to Hawc2 system
if FPM:
dfMeanLine , dfStructure = BeamDyn2Hawc2FPM_raw(r_bar,
kp_x, kp_y, kp_z, twist,
m, Ixi, Iyi, x_G, y_G, theta_i,
x_C, y_C, theta_p, K)
print(dfStructure.shape)
else:
dfMeanLine , dfStructure = BeamDyn2Hawc2_raw(r_bar,
kp_x, kp_y, kp_z, twist,
m, Ixi, Iyi, x_G, y_G, theta_i,
EA, EIx, EIy, GKt, kxsGA, kysGA, x_C, y_C, theta_p, x_S, y_S, theta_s,
A=None, E=None, G=None)
# --- Rewrite st file
with open(H2_stfile, 'w') as f:
f.write('%i ; number of sets, Nset\n' % 1)
f.write('-------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------\n')
f.write('#%i ; set number\n' % 1)
if FPM:
cols=['r','m_[kg/m]','x_cg_[m]','y_cg_[m]','ri_x_[m]','ri_y_[m]','pitch_[deg]','x_e_[m]','y_e_[m]','K11','K12','K13','K14','K15','K16','K22','K23','K24','K25','K26','K33','K34','K35','K36','K44','K45','K46','K55','K56','K66']
else:
cols=['r','m','x_cg','y_cg','ri_x','ri_y','x_sh','y_sh','E','G','I_x','I_y','I_p','k_x','k_y','A','pitch','x_e','y_e']
f.write('\t'.join(['{:20s}'.format(s) for s in cols])+'\n')
f.write('$%i %i\n' % (1, dfStructure.shape[0]))
f.write('\n'.join('\t'.join('%19.13e' %x for x in y) for y in dfStructure.values))
# --- Rewrite st file
def readToMarker(lines, marker, i, nMax=None, noException=False):
l_sel=[]
if nMax is None: nMax=len(lines)
while i<nMax:
line=lines[i]
if line.replace(' ','').lower().find(marker)>=0:
break
l_sel.append(line.strip())
i+=1
if line.strip().replace(' ','').lower().find(marker)<0:
if noException:
return None, None, None
else:
raise Exception('Marker not found '+ marker)
return l_sel, line, i
with open(H2_htcfile, 'r') as f:
lines_in = f.readlines()
lines_out = []
bodyNotFound=True
iBodyEnd=0
nBodies=0
while bodyNotFound and nBodies<10:
_, line, iBodyStart = readToMarker(lines_in, 'beginmain_body',iBodyEnd)
_, line, iBodyEnd = readToMarker(lines_in, 'endmain_body', iBodyStart)
_, line, iBody = readToMarker(lines_in, 'name'+bodyname, iBodyStart, iBodyEnd, True)
nBodies+=1
if line is None:
iBody=-1
else:
print('Body {} found between lines {} and {} '.format(bodyname, iBodyStart+1, iBodyEnd+1))
bodyNotFound=False
if nBodies>=10:
raise Exception('Body {} not found in file'.format(bodyname))
_, line, iC2Start = readToMarker(lines_in, 'beginc2_def', iBodyStart, iBodyEnd)
_, line, iC2End = readToMarker(lines_in, 'endc2_def' , iC2Start, iBodyEnd)
_, line, iTIStart = readToMarker(lines_in, 'begintimoschenko_input', iBodyStart, iBodyEnd)
_, line, iTIEnd = readToMarker(lines_in, 'endtimoschenko_input' , iTIStart, iBodyEnd)
simdir = os.path.dirname(H2_htcfile)
H2_stfile_rel = os.path.relpath(H2_stfile, simdir)
lines_out = lines_in[:iTIStart+1]
lines_out += [' filename {};\n'.format(H2_stfile_rel)]
if FPM:
lines_out += [' FPM 1 ;\n']
# lines_out += [' FPM 0 ;\n']
lines_out += [' set 1 1 ;\n']
lines_out += lines_in[iTIEnd:iC2Start+1]
lines_out += [' nsec {} ;\n'.format(dfMeanLine.shape[0])]
for i, row in dfMeanLine.iterrows():
lines_out += [' sec {:4d}\t{:13.6e}\t{:13.6e}\t{:13.6e}\t{:13.6e};\n'.format(i+1, row['X_[m]'],row['Y_[m]'],row['Z_[m]'],row['Twist_[deg]'])]
lines_out += lines_in[iC2End:]
with open(H2_htcfile, 'w') as f:
f.write(''.join(lines_out))
