import dynamics
from dynamics import System, ModalElement, Integrator, RigidConnection, rotmat_y, \
RigidBody
from blade import Tower
#from loading import PointLoading
import dynvis
from linearisation import LinearisedSystem
dynamics.OPT_GRAVITY = False
modes_path = '/bladed/simple_tower/point_load/tower_2modes_only'
bladed_path = '/bladed/simple_tower/point_load/flextower_rigidblades_2modes'
# Modal element using data from Bladed model
print "Loading tower from '%s'..." % modes_path
tower = Tower(modes_path+'.$pj')
modes = tower.modal_rep()
# Load Bladed data for comparison
import pybladed.data
brun = pybladed.data.BladedRun(bladed_path)
thrust = brun.get('rotating hub Fx')
bladed_defl = np.c_[
brun.get('Nacelle fore-aft displacement'),
brun.get('Nacelle nod angle'),
]
#loading = PointLoading(blade, wind_table, None)
thrust_time = [0, 1, 2, 10 ]
thrust_force = [0, 0, 10e3, 10e3]
thrust = np.c_[ thrust_force, np.zeros((4,2)) ].T
import dynamics
from dynamics import System, ModalElement, Integrator, RigidConnection, rotmat_y, \
RigidBody
from blade import Tower
#from loading import PointLoading
import dynvis
from linearisation import LinearisedSystem
dynamics.OPT_GRAVITY = False
modes_path = '/bladed/simple_tower/point_load/tower_2modes_only'
bladed_path = '/bladed/simple_tower/point_load/flextower_rigidblades_2modes'
# Modal element using data from Bladed model
print "Loading tower from '%s'..." % modes_path
tower = Tower(modes_path + '.$pj')
modes = tower.modal_rep()
# Load Bladed data for comparison
import pybladed.data
brun = pybladed.data.BladedRun(bladed_path)
thrust = brun.get('rotating hub Fx')
bladed_defl = np.c_[brun.get('Nacelle fore-aft displacement'),
brun.get('Nacelle nod angle'), ]
#loading = PointLoading(blade, wind_table, None)
thrust_time = [0, 1, 2, 10]
thrust_force = [0, 0, 10e3, 10e3]
thrust = np.c_[thrust_force, np.zeros((4, 2))].T
loadfunc = scipy.interpolate.interp1d(thrust_time, thrust)
from dynamics import System, ModalElement, Integrator, RigidConnection, rotmat_y, \
RigidBody
from blade import Tower
#from loading import PointLoading
import dynvis
from linearisation import LinearisedSystem
dynamics.OPT_GRAVITY = False
modes_path = '/media/data/bladed/nrel_tower/point_load/tower_7modes_only'
bladed_path = '/media/data/bladed/nrel_tower/point_load/flextower_rigidblades_7modes'
# Modal element using data from Bladed model
print "Loading tower from '%s'..." % modes_path
#tower = Tower(modes_path+'.$pj')
tower = Tower(bladed_path+'.$PJ')
modes = tower.modal_rep(False)
# Get combined tower frequencies
#tower2 = Tower(bladed_path+'.$pj')
#modes2 = tower2.modal_rep()
isolated_freqs = 2*np.pi*np.array([1.28, 1.28, 20, 5.75, 5.75, 5.29, 5.29])
combined_freqs = modes.freqs
modes.freqs = isolated_freqs # to get correct stiffness
# Load Bladed data for comparison
import pybladed.data
brun = pybladed.data.BladedRun(bladed_path)
bladed_defl = np.c_[
brun.get('Nacelle fore-aft displacement'),
import dynamics
from dynamics import System, ModalElement, Integrator, RigidConnection, rotmat_y, \
RigidBody, DistalModalElement
from blade import Tower
#from loading import PointLoading
import dynvis
from linearisation import LinearisedSystem
dynamics.OPT_GRAVITY = False
modes_path = '/media/data/bladed/simple_tower/point_load/tower_7modes_only'
bladed_path = '/media/data/bladed/simple_tower/point_load/flextower_rigidblades_7modes'
# Modal element using data from Bladed model
print "Loading tower from '%s'..." % modes_path
tower = Tower(modes_path + '.$PJ')
modes = tower.modal_rep(rejig=True)
# Get combined tower frequencies
tower2 = Tower(bladed_path + '.$PJ')
modes2 = tower2.modal_rep(rejig=True)
# Load Bladed data for comparison
import pybladed.data
brun = pybladed.data.BladedRun(bladed_path)
thrust = brun.get('rotating hub Fx')
bladed_defl = np.c_[brun.get('Nacelle fore-aft displacement'),
brun.get('Nacelle nod angle'), ]
#loading = PointLoading(blade, wind_table, None)
thrust_time = [0, 1, 2, 10]
from dynamics import System, ModalElement, Integrator, RigidConnection, rotmat_y, \
RigidBody
from blade import Tower
#from loading import PointLoading
import dynvis
from linearisation import LinearisedSystem
dynamics.OPT_GRAVITY = False
modes_path = '/media/data/bladed/nrel_tower/point_load/tower_7modes_only'
bladed_path = '/media/data/bladed/nrel_tower/point_load/flextower_rigidblades_7modes'
# Modal element using data from Bladed model
print "Loading tower from '%s'..." % modes_path
#tower = Tower(modes_path+'.$pj')
tower = Tower(bladed_path + '.$PJ')
modes = tower.modal_rep(False)
# Get combined tower frequencies
#tower2 = Tower(bladed_path+'.$pj')
#modes2 = tower2.modal_rep()
isolated_freqs = 2 * np.pi * np.array([1.28, 1.28, 20, 5.75, 5.75, 5.29, 5.29])
combined_freqs = modes.freqs
modes.freqs = isolated_freqs # to get correct stiffness
# Load Bladed data for comparison
import pybladed.data
brun = pybladed.data.BladedRun(bladed_path)
bladed_defl = np.c_[brun.get('Nacelle fore-aft displacement'),
brun.get('Nacelle nod angle'), ]
from numpy import pi, array, dot
import matplotlib.pylab as plt
import matplotlib.gridspec as gridspec
import dynamics
from dynamics import (ModalElement, System, Integrator, RigidBody)
from blade import Tower
# Options
dynamics.OPT_GRAVITY = True
dynamics.OPT_GEOMETRIC_STIFFNESS = False
# Create model
bladed_file = r'C:\Users\Rick Lupton\Dropbox\phd\Bladed\Models\OC3-Hywind_SparBuoy_NREL5MW.prj'
print "Loading modes from '%s'..." % bladed_file
towerdef = Tower(bladed_file)
modes = towerdef.modal_rep()
endmass = 100000
endinertia = 100
el1 = ModalElement('el', modes, distal=False)
system1 = System(el1)
el2 = ModalElement('el', modes, distal=True)
body = RigidBody('body', endmass, inertia=endinertia*np.eye(3))
el2.add_leaf(body)
system2 = System(el2)
integ1 = Integrator(system1)
integ1.add_output(el1.output_positions())
from numpy import pi, array, dot
import matplotlib.pylab as plt
import matplotlib.gridspec as gridspec
import dynamics
from dynamics import (ModalElement, System, Integrator, RigidBody)
from blade import Tower
# Options
dynamics.OPT_GRAVITY = True
dynamics.OPT_GEOMETRIC_STIFFNESS = False
# Create model
bladed_file = r'C:\Users\Rick Lupton\Dropbox\phd\Bladed\Models\OC3-Hywind_SparBuoy_NREL5MW.prj'
print "Loading modes from '%s'..." % bladed_file
towerdef = Tower(bladed_file)
modes = towerdef.modal_rep()
endmass = 100000
endinertia = 100
el1 = ModalElement('el', modes, distal=False)
system1 = System(el1)
el2 = ModalElement('el', modes, distal=True)
body = RigidBody('body', endmass, inertia=endinertia * np.eye(3))
el2.add_leaf(body)
system2 = System(el2)
integ1 = Integrator(system1)
integ1.add_output(el1.output_positions())
def __init__(self, bladed_file, root_length=0, rigid=False):
# Modal element using data from Bladed model
print "Loading modes from '%s'..." % bladed_file
self.blade = Blade(bladed_file)
self.tower = Tower(bladed_file)
self.modes = self.blade.modal_rep()
Ry = rotmat_y(-pi / 2)
Rhb1 = rotmat_x(0 * 2 * pi / 3)
Rhb2 = rotmat_x(1 * 2 * pi / 3)
Rhb3 = rotmat_x(2 * 2 * pi / 3)
self.base = FreeJoint('base')
self.towerlink = RigidConnection('tower', [0, 0, self.tower.hubheight])
self.bearing = Hinge('bearing', [1, 0, 0])
root1 = RigidConnection('root1', root_length * np.dot(Rhb1, [0, 0, 1]),
dot(Rhb1, Ry))
root2 = RigidConnection('root2', root_length * np.dot(Rhb2, [0, 0, 1]),
dot(Rhb2, Ry))
root3 = RigidConnection('root3', root_length * np.dot(Rhb3, [0, 0, 1]),
dot(Rhb3, Ry))
self.blade1 = ModalElement('blade1', self.modes)
self.blade2 = ModalElement('blade2', self.modes)
self.blade3 = ModalElement('blade3', self.modes)
self.base.add_leaf(self.towerlink)
self.towerlink.add_leaf(self.bearing)
self.bearing.add_leaf(root1)
self.bearing.add_leaf(root2)
self.bearing.add_leaf(root3)
root1.add_leaf(self.blade1)
root2.add_leaf(self.blade2)
root3.add_leaf(self.blade3)
self.system = System(self.base)
# Prescribed DOF accelerations - constant rotor speed
self.base_motion = None
self.base_motion_amp = 0
self.system.prescribe(self.bearing, vel=0)
self.system.prescribe(self.base, vel=0)
if rigid:
for b in (self.blade1, self.blade2, self.blade3):
self.system.prescribe(b, vel=0)
# setup integrator
self.integ = Integrator(self.system, ('pos', 'vel', 'acc'))
self.integ.add_output(dynamics.LoadOutput(self.base.iprox))
self.integ.add_output(dynamics.LoadOutput(self.towerlink.iprox))
self.integ.add_output(
dynamics.LoadOutput(self.bearing.iprox, local=True))
self.integ.add_output(
dynamics.LoadOutput(self.bearing.idist[0], local=True))
for b in (self.blade1, self.blade2, self.blade3):
self.integ.add_output(dynamics.LoadOutput(b.iprox, local=True))
for b in (self.blade1, self.blade2, self.blade3):
self.integ.add_output(b.output_deflections())
for b in (self.blade1, self.blade2, self.blade3):
self.integ.add_output(b.output_positions())
for b in (self.blade1, self.blade2, self.blade3):
self.integ.add_output(
dynamics.NodeOutput(b.iprox, local=True, deriv=2))
def __init__(self, bladed_file, root_length=0):
# Load modes but use a simple flapped blade
print "Loading modes from '%s'..." % bladed_file
self.blade = Blade(bladed_file)
self.tower = Tower(bladed_file)
self.modes = self.blade.modal_rep()
# Calculate equivalent blade properties
I1 = self.modes.I0[0]
I2 = self.modes.J0[0, 0]
print I1, I2
wflap = self.modes.freqs[0]
bmass = self.modes.mass
inertia = self.modes.inertia_tensor(np.zeros(len(self.modes.freqs)))
Xc = [I1 / bmass, 0, 0]
kflap = I2 * wflap**2
Ry = rotmat_y(-pi / 2)
Rhb1 = rotmat_x(0 * 2 * pi / 3)
Rhb2 = rotmat_x(1 * 2 * pi / 3)
Rhb3 = rotmat_x(2 * 2 * pi / 3)
self.base = FreeJoint('base')
self.towerlink = RigidConnection('tower', [0, 0, self.tower.hubheight])
self.bearing = Hinge('bearing', [1, 0, 0])
root1 = RigidConnection('root1', root_length * np.dot(Rhb1, [0, 0, 1]),
dot(Rhb1, Ry))
root2 = RigidConnection('root2', root_length * np.dot(Rhb2, [0, 0, 1]),
dot(Rhb2, Ry))
root3 = RigidConnection('root3', root_length * np.dot(Rhb3, [0, 0, 1]),
dot(Rhb3, Ry))
self.flap1 = Hinge('flap1', [0, 1, 0])
self.flap2 = Hinge('flap2', [0, 1, 0])
self.flap3 = Hinge('flap3', [0, 1, 0])
self.blade1 = RigidBody('blade1', bmass, inertia, Xc)
self.blade2 = RigidBody('blade2', bmass, inertia, Xc)
self.blade3 = RigidBody('blade3', bmass, inertia, Xc)
self.flap1.stiffness = self.flap2.stiffness = self.flap3.stiffness = kflap
self.base.add_leaf(self.towerlink)
self.towerlink.add_leaf(self.bearing)
self.bearing.add_leaf(root1)
self.bearing.add_leaf(root2)
self.bearing.add_leaf(root3)
root1.add_leaf(self.flap1)
root2.add_leaf(self.flap2)
root3.add_leaf(self.flap3)
self.flap1.add_leaf(self.blade1)
self.flap2.add_leaf(self.blade2)
self.flap3.add_leaf(self.blade3)
self.system = System(self.base)
# Prescribed DOF accelerations - constant rotor speed
self.base_motion = None
self.base_motion_amp = 0
self.system.prescribe(self.bearing, vel=0)
self.system.prescribe(self.base, vel=0)
# setup integrator
self.integ = Integrator(self.system, ('pos', 'vel', 'acc'))
self.integ.add_output(dynamics.LoadOutput(self.base.iprox))
self.integ.add_output(dynamics.LoadOutput(self.towerlink.iprox))
self.integ.add_output(
dynamics.LoadOutput(self.bearing.iprox, local=True))
self.integ.add_output(
dynamics.LoadOutput(self.bearing.idist[0], local=True))
for b in (self.blade1, self.blade2, self.blade3):
self.integ.add_output(dynamics.LoadOutput(b.iprox, local=True))
for b in (self.blade1, self.blade2, self.blade3):
self.integ.add_output(
dynamics.NodeOutput(b.iprox, local=True, deriv=2))
import dynamics
from dynamics import System, ModalElement, Integrator, RigidConnection, rotmat_y, RigidBody, DistalModalElement
from blade import Tower
# from loading import PointLoading
import dynvis
from linearisation import LinearisedSystem
dynamics.OPT_GRAVITY = False
modes_path = "/media/data/bladed/simple_tower/point_load/tower_7modes_only"
bladed_path = "/media/data/bladed/simple_tower/point_load/flextower_rigidblades_7modes"
# Modal element using data from Bladed model
print "Loading tower from '%s'..." % modes_path
tower = Tower(modes_path + ".$PJ")
modes = tower.modal_rep(rejig=True)
# Get combined tower frequencies
tower2 = Tower(bladed_path + ".$PJ")
modes2 = tower2.modal_rep(rejig=True)
# Load Bladed data for comparison
import pybladed.data
brun = pybladed.data.BladedRun(bladed_path)
thrust = brun.get("rotating hub Fx")
bladed_defl = np.c_[brun.get("Nacelle fore-aft displacement"), brun.get("Nacelle nod angle")]
# loading = PointLoading(blade, wind_table, None)
thrust_time = [0, 1, 2, 10]
