def main():
np.set_printoptions(linewidth=300, precision=2)
# Read ED file
edFilename = os.path.join(MyDir,
'./../../../data/NREL5MW/data/NREL5MW_ED.dat')
ed = weio.FASTInputFile(edFilename)
TowerHt = ed['TowerHt']
TowerBsHt = ed['TowerBsHt']
twrFilename = os.path.join(os.path.dirname(edFilename),
ed['TwrFile'].replace('"', ''))
# Read twr file
twr = weio.FASTInputFile(twrFilename).toDataFrame()
z = twr['HtFract_[-]'] * (TowerHt - TowerBsHt)
m = twr['TMassDen_[kg/m]']
nSpan = len(z)
PhiU = np.zeros((4, 3, nSpan)) # Shape functions
PhiU[0][0, :] = twr['ShapeForeAft1_[-]'] # along x
PhiU[1][0, :] = twr['ShapeForeAft2_[-]'] # along x
PhiU[2][1, :] = twr['ShapeSideSide1_[-]'] # along y
PhiU[3][1, :] = twr['ShapeSideSide2_[-]'] # along y
s_G = np.zeros((3, nSpan)) # COG location
s_G[2, :] = z
jxxG = z * 0 + m # NOTE: unknown
MM, Gr, Ge, Oe, Oe6 = GMBeam(s_G,
z,
m,
PhiU,
jxxG=jxxG,
bUseIW=True,
main_axis='z',
split_outputs=False,
rot_terms=True)
print(MM)
print('Gr')
print(Gr)
print('Ge')
print(Ge)
print('Oe')
print(Oe)
print('Oe6')
print(Oe6)
def test_inertia(self):
np.set_printoptions(linewidth=300, precision=2)
# read ElastoDyn file
edFile=os.path.join(MyDir,'./../../../data/NREL5MW/data/NREL5MW_ED.dat')
ED = weio.FASTInputFile(edFile)
#def __init__(self, name, mass, J, s_OG, R_b2g=np.eye(3), s_OP=None, r_O=[0,0,0]):
theta_tilt_y = -ED['ShftTilt']*np.pi/180 # NOTE: tilt has wrong orientation in FAST
R_NS = R_y(theta_tilt_y)
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
# --- Hub
M_hub = ED['HubMass']
JxxHub_atR = ED['HubIner'] #+ ED['GenIner']*ED['GBRatio']**2
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)
#print(hub)
# --- Generator
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)
#print(gen)
# --- Nacelle
# 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])
# print(nac)
# Blades
# TODO reconsider hubrad there
psi=0
bld1 = RigidBody('Bld1', 1.684475202e+04, (1.225603507e+07, 1.225603507e+07, 1.684475202e+04), s_OG=[0,0,22.00726], s_OP=[0,0,0], R_b2g=R_x(psi+ 0 ).dot(R_y(ED['PreCone(1)']*np.pi/180)) )
bld2 = RigidBody('Bld2', 1.684475202e+04, (1.225603507e+07, 1.225603507e+07, 1.684475202e+04), s_OG=[0,0,22.00726], s_OP=[0,0,0], R_b2g=R_x(psi+ 2*np.pi/3).dot(R_y(ED['PreCone(2)']*np.pi/180)) )
bld3 = RigidBody('Bld3', 1.684475202e+04, (1.225603507e+07, 1.225603507e+07, 1.684475202e+04), s_OG=[0,0,22.00726], s_OP=[0,0,0], R_b2g=R_x(psi+ 4*np.pi/3).dot(R_y(ED['PreCone(3)']*np.pi/180)) )
#print(bld1)
#print('Blade mass matrix\n',np.around(bld1.mass_matrix,5))
blades = bld1.combine(bld2).combine(bld3, name='Blades')
#print(blades)
#
blades.pos_global = r_NR_inN # Setting origin w.r.t. N
blades.R_b2g = R_NS # Setting frame w.r.t. N, as rotated
#print(blades)
# --- Rotor = Hub + Blades
hubgen= hub.combine(gen, R_b2g=R_NS, r_O=hub.pos_global)
rotor = blades.combine(hubgen, R_b2g=R_NS, r_O=hub.pos_global)
#print(rotor)
rotor = blades.combine(hub).combine(gen, r_O=r_NS_inN, R_b2g=R_NS)
#print(rotor)
rotor = blades.combine(hub, r_O=r_NS_inN, R_b2g=R_NS)
def test_beam_linear_element(self):
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]'] # mu
EIy = twr['TwFAStif_[Nm^2]']
EIz = twr['TwSSStif_[Nm^2]'] # TODO actually EIx
# --- Create Beam FEM model
# Derived parameters
A = m * 0 + 100 # Area
Kv = m * 0 + 100 # Saint Venant torsion
E = 214e9 # Young modulus [N/m^2]
Iy = EIy / E # Area moment [m^4]
Iz = EIz / E # Area moment [m^4]
nNodes = len(z)
nElem = nNodes - 1
nqe = 12 # Number of DOF per element
nqk = int(nqe / 2) # Number of DOF per nodes
nDOF_tot = nNodes * nqk # Total number of DOF without constraint (BC)
nDOF = nDOF_tot - nqk # Total number of DOF with constraint (BC) applied
# Nodes positions
xNodes = np.zeros((3, nNodes))
xNodes[2, :] = z
MM, KK, DCM, Elem2Nodes, Nodes2DOF, Elem2DOF = cbeam_frame3dlin(xNodes,
m,
Iy,
Iz=Iz,
A=A,
Kv=Kv,
E=E)
np.testing.assert_almost_equal(MM[0, 0], 17921.9563543, 5)
np.testing.assert_almost_equal(MM[-1, -1], 7590.2188, 5)
np.testing.assert_almost_equal(MM[11, 11], 30565.98330, 5)
np.testing.assert_almost_equal(MM[20, 20], 26585.67290, 5)
np.testing.assert_almost_equal(KK[7, 7] / 1e10, 1.91655, 5)
np.testing.assert_almost_equal(KK[10, 10] / 1e11, 4.893305, 5)
np.testing.assert_almost_equal(KK[11, 11] / 1e12, 1.87917, 5)
# --- Constraints/ BC
MMr, KKr, Tr = applyBC(MM,
KK,
Elem2Nodes,
Nodes2DOF,
BC_root=[0, 0, 0, 0, 0, 0],
BC_tip=[1, 1, 1, 1, 1, 1])
iStart = 0
# --- Eigenvalues/vectors
[Q, freq] = eig(KKr, MMr, freq_out=True)
# --- Orthogonalization/ normalization of modes
Imodes = [0, 1]
Q[:, 0], Q[:, 1] = orthogonalizeModePair(Q[:, 0], Q[:, 1], iStart)
Q = normalize_to_last(Q, Imodes, iStart)
np.testing.assert_almost_equal(freq[0], 0.891449, 5)
np.testing.assert_almost_equal(freq[1], 0.891449, 5)
np.testing.assert_almost_equal(freq[-1], 5250.756553, 5)
# --- Export Modes
#U1 = np.concatenate(([0],Q[0::6,0] )) # along x
#V1 = np.concatenate(([0],Q[4::6,0] )) # theta y
#U2 = np.concatenate(([0],Q[1::6,1] )) # along y
#V2 = np.concatenate(([0],Q[3::6,1] )) # theta x
#M=np.column_stack([z,U1,V2,U2,V2])
# np.savetxt('out.csv',M)
# --- Generalized mass matrix
# Selecting modes
if len(Imodes) > 0:
Se = Tr.dot(Q[:, Imodes]) # nDOF_tot x nShapes
else:
Se = Tr # All
Mtt, J0, Mrt, Mgt, Mgr, Mgg, St, Sr = generalizedMassMatrix(
xNodes, MM, Se)
Ct0_ = (Tr.T).dot(MM).dot(St) # Mode mass matrix for all modes
np.testing.assert_almost_equal(np.diag(Mtt), [347460.2316] * 3, 5)
np.testing.assert_almost_equal(np.diag(Mgg), [61094.66490] * 2, 5)
np.testing.assert_almost_equal(
np.diag(J0) / 1e8,
np.array([7.198598843e8] * 2 + [3.474602316e5]) / 1e8, 5)
np.testing.assert_almost_equal(Mrt[0, 1], -13265404.838207997,
5) # -m*zCOG
np.testing.assert_almost_equal(Mgt[0, 0], 104625.69072, 5) # -m*zCOG
np.testing.assert_almost_equal(Mgt[1, 1], 104625.69072, 5) # -m*zCOG
np.testing.assert_almost_equal(Mgr[0, 1], 6449889.716099, 5) # -m*zCOG
np.testing.assert_almost_equal(Mgr[1, 0], -6449889.716099,
5) # -m*zCOG
# --- Shape integrals
C3, Kr, C4, KFom_ab, Kom, Kom0, Kom0_ = shapeIntegrals(
xNodes, Nodes2DOF, Elem2Nodes, Elem2DOF, DCM, m, Se, Sr, Tr)
# --- C3 mass matrix 3 3 12 12 ie
np.testing.assert_almost_equal(C3[0, 0, 0, 0, 0], 16063.6792,
5) # -m*zCOG
np.testing.assert_almost_equal(C3[0, 0, 0, 6, 0], 7901.009,
5) # -m*zCOG
np.testing.assert_almost_equal(C3[1, 1, 1, 1, 0], 17921.95635,
5) # -m*zCOG
np.testing.assert_almost_equal(C3[1, 1, 5, 1, 0], 22014.56673,
5) # -m*zCOG
np.testing.assert_almost_equal(C3[2, 2, 2, 2, 0], 17921.95635,
5) # -m*zCOG
np.testing.assert_almost_equal(C3[2, 2, 10, 10, 0], 34359.12315,
5) # -m*zCOG
# --- Term for second order Cr (Mgr) terms and Oe
np.testing.assert_almost_equal(Kr[2, 0, 1], -61094.66491, 5)
np.testing.assert_almost_equal(Kr[2, 1, 0], 61094.66491, 5)
# --- Terms useful for 0th order of Gr, and 1st order of J
np.testing.assert_almost_equal(C4[0, 2, 0], 6449889.7161, 4)
np.testing.assert_almost_equal(C4[1, 2, 1], 6449889.7161, 4)
# --- Omega terms
np.testing.assert_almost_equal(KFom_ab[0, 0][1, 1], -17921.956354, 5)
np.testing.assert_almost_equal(KFom_ab[0, 0][3, 1], 22014.566733, 5)
np.testing.assert_almost_equal(KFom_ab[0, 0][7, 1], -6095.064086, 5)
np.testing.assert_almost_equal(KFom_ab[0, 0][6, 6], 0.0, 5)
np.testing.assert_almost_equal(KFom_ab[2, 2][0, 0], -17921.956354, 5)
np.testing.assert_almost_equal(KFom_ab[2, 2][4, 0], -22014.566733, 5)
np.testing.assert_almost_equal(KFom_ab[2, 2][6, 0], -6095.064086, 5)
np.testing.assert_almost_equal(Kom[0][1, 1], -61094.664906, 5)
np.testing.assert_almost_equal(Kom[1][0, 0], -61094.664906, 5)
np.testing.assert_almost_equal(Kom[2][0, 0], -61094.664906, 5)
np.testing.assert_almost_equal(Kom[3][0, 1], 61094.664906, 5)
np.testing.assert_almost_equal(Kom[4][0, 0], 0, 5)
np.testing.assert_almost_equal(Kom[5][0, 0], 0, 5)
# --- Stiffening terms
Kinv = Tr.dot(inv(KKr)).dot(Tr.T)
GKg = geometricalStiffening(xNodes, Kinv, Tr, Se, Nodes2DOF,
Elem2Nodes, Elem2DOF, DCM, E, A, Kom0_,
Ct0_)
np.testing.assert_almost_equal(GKg['omxx'][0, 0], 77201.43393, 5)
np.testing.assert_almost_equal(GKg['omyy'][0, 0], 77201.43393, 5)
np.testing.assert_almost_equal(GKg['omzz'][0, 0], 0, 5)
np.testing.assert_almost_equal(GKg['omyz'][0, 0], 0, 5)
# --- Convert to SID
sid = FEMBeam2SID(Mtt, J0, Mrt, Mgt, Mgr, Mgg, KK, xNodes, DCM, Se, Kr,
Kom0, Kom, C4, GKg)
#print(sid)
with open('_OUT_SID_PY.txt', 'w') as f:
f.write(str(sid).replace('-0.000000', ' 0.000000'))
def OpenFASTIsolatedTower():
# --- 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]'] # mu
EIy = twr['TwFAStif_[Nm^2]']
EIz = twr['TwSSStif_[Nm^2]'] # TODO actually EIx
# --- Create Beam FEM model
# Derived parameters
A = m * 0 + 100 # Area
Kv = m * 0 + 100 # Saint Venant torsion
E = 214e9 # Young modulus [N/m^2]
Iy = EIy / E # Area moment [m^4]
Iz = EIz / E # Area moment [m^4]
nNodes = len(z)
nElem = nNodes - 1
# Nodes positions
xNodes = np.zeros((3, nNodes))
xNodes[2, :] = z
# Assembly
MM, KK, xNodes, DCM, Elem2Nodes, Nodes2DOF, Elem2DOF = cbeam_assembly_frame3dlin(
xNodes, m, Iy, Iz=Iz, A=A, Kv=Kv, E=E)
# --- Constraints/ BC
MMr, KKr, Tr, _, _ = applyBC(MM,
KK,
Elem2Nodes,
Nodes2DOF,
BC_root=[0, 0, 0, 0, 0, 0],
BC_tip=[1, 1, 1, 1, 1, 1])
iStart = 0
# --- Eigenvalues/vectors
[Q, freq] = eig(KKr, MMr, freq_out=True)
# --- Orthogonalization/ normalization of modes
Imodes = [0, 1]
#Q[:,0],Q[:,1] = orthogonalizeModePair(Q[:,0],Q[:,1], iStart)
#Q= normalize_to_last(Q, Imodes, iStart);
# --- Export Modes
U1 = np.concatenate(([0], Q[0::6, 0])) # Deflection mode 1, along x
V1 = np.concatenate(([0], Q[4::6, 0])) # Slope mode 1 , theta y
U2 = np.concatenate(([0], Q[1::6, 1])) # Deflection mode 2, along y
V2 = np.concatenate(([0], Q[3::6, 1])) # Slope mode 2, theta x
#print(U1)
#print(U2)
#print(Q[:,0])
#print(Q[:,1])
#print(Q[:,2])
#print(Q[:,3])
#M=np.column_stack([z,U1,V2,U2,V2])
# np.savetxt('out.csv',M)
# --- Generalized mass matrix
# Selecting modes
Imodes = [0, 1]
if len(Imodes) > 0:
Se = Tr.dot(Q[:, Imodes]) # nDOF_tot x nShapes
else:
Se = Tr # All
Mtt, J0, Mrt, Mgt, Mgr, Mgg, St, Sr = generalizedMassMatrix(xNodes, MM, Se)
#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(z, U1 , label='Mode 1')
#ax.plot(z, U2 , label='Mode 2')
#ax.set_xlabel('')
#ax.set_ylabel('')
#ax.legend()
return MM, KK, Q, freq
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
Graph.addMode(displ=dispCB[:, :, iMode],
name='CB{:d}'.format(iMode + 1),
freq=data['CB_frequencies'][iMode])
#print(Graph.toJSON())
return Graph
if __name__ == '__main__':
import welib.weio as weio
filename = '../../_data/Monopile/MT100_SD.dat'
# filename='../../_data/Monopile/TetraSpar_SubDyn_v3.dat'
sd = weio.FASTInputFile(filename)
# sd.write('OutMT.dat')
Graph = sd.toGraph()
Graph.divideElements(2)
print(Graph)
print(Graph.sortNodesBy('z'))
# print(Graph.nodalDataFrame(sortBy='z'))
print(Graph.points)
print(Graph.connectivity)
print(Graph)
# import numpy as np
# import matplotlib.pyplot as plt
# from matplotlib import collections as mc
# from mpl_toolkits.mplot3d import Axes3D
# fig = plt.figure()
