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3 changes: 2 additions & 1 deletion docs/index.rst
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source/this_doc.rst
source/install/index.rst
source/testing/index.rst
source/working.rst
source/user/index.rst
source/testing/index.rst
source/dev/index.rst
source/license.rst
source/help.rst
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7 changes: 7 additions & 0 deletions docs/source/user/api_change.rst
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Expand Up @@ -9,6 +9,7 @@ The changes are tabulated according to the module input file, line number, and f
The line number corresponds to the resulting line number after all changes are implemented.
Thus, be sure to implement each in order so that subsequent line numbers are correct.


OpenFAST v3.5.1 to OpenFAST dev
----------------------------------

Expand All @@ -23,8 +24,14 @@ Module Line Flag Name Example
============================================= ==== ==================== ========================================================================================================================================================================================================
HydroDyn all Complete restructuring of input file
SeaState all New module (split from HydroDyn, so contains some inputs previously found in HydroDyn)
SubDyn 56\* ----------------------- SPRING ELEMENT PROPERTIES -------------------------------------
SubDyn 57\* NSpringPropSets 0 - Number of spring properties
SubDyn 58\* PropSetID k11 k12 k13 k14 k15 k16 k22 k23 k24 k25 k26 k33 k34 k35 k36 k44 k45 k46 k55 k56 k66
SubDyn 59\* (-) (N/m) (N/m) (N/m) (N/rad) (N/rad) (N/rad) (N/m) (N/m) (N/rad) (N/rad) (N/rad) (N/m) (N/rad) (N/rad) (N/rad) (Nm/rad) (Nm/rad) (Nm/rad) (Nm/rad) (Nm/rad) (Nm/rad)
============================================= ==== ==================== ========================================================================================================================================================================================================

\*Exact line number depends on number of entries in various preceeding tables.



OpenFAST v3.5.0 to OpenFAST v3.5.1
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.. _general-reference-docs:

General
~~~~~~~
.. toctree::
:maxdepth: 1

fast_to_openfast.rst
api_change.rst
input_file_overview.rst

Workshop material, legacy documentation, and other resources are listed below.

- `Overview of OpenFAST at NAWEA WindTech 2023 <https://forums.nrel.gov/t/modeling-workshops/523/27>`_
- `Overview of OpenFAST at NAWEA WindTech 2022 <https://drive.google.com/file/d/1bD5a6rRg6cCKht9Ar8AFJQ8YrI4-wsFe/view>`_
- `Practical Guide to OpenFAST at NAWEA WindTech 2022 <https://drive.google.com/file/d/1FHovo6btDStPBh1Kv2swA09hIQRcZGZf/view>`_
- `Overview of OpenFAST at NAWEA WindTech 2019 <https://drive.google.com/file/d/1wagMTOV_CLxSKzS2EEPFp2CExUo3JLpQ/view>`_
- `Workshop Presentations <https://drive.google.com/drive/folders/1BDDfcnIyvmZCwf7eFo0ISI7aF_FMAOvt>`_
- :download:`Old FAST v6 User's Guide <../../OtherSupporting/Old_FAST6_UsersGuide.pdf>`
- :download:`FAST v8 README <../../OtherSupporting/FAST8_README.pdf>`
- `Implementation of Substructure Flexibility and Member-Level Load Capabilities for Floating Offshore Wind Turbines in OpenFAST <https://www.nrel.gov/docs/fy20osti/76822.pdf>`_
- `FAST modularization framework for wind turbine simulation: full-system linearization <https://www.nrel.gov/docs/fy17osti/67015.pdf>`_
- `Full-System Linearization for Floating Offshore Wind Turbines in OpenFAST <https://www.nrel.gov/docs/fy19osti/71865.pdf>`_
- :download:`FAST with Labview <../../OtherSupporting/UsingFAST4Labview.pdf>`
- :download:`OutListParameters.xlsx <../../OtherSupporting/OutListParameters.xlsx>` - Contains the full list of outputs for each module.



Modularization Framework
************************

Information specific to the modularization framework of OpenFAST is provided here. These are a collection
of publications, presentations, and past studies on the subject.

- `The New Modularization Framework for the FAST Wind Turbine CAE Tool <https://www.nrel.gov/docs/fy13osti/57228.pdf>`_
- :download:`Example Module Implementation Plans <../../OtherSupporting/ModulePlan_GasmiPaperExamples.doc>`
- :download:`Module and Mesh-Mapping Linearization Implementation Plan <../../OtherSupporting/LinearizationOfMeshMapping_Rev18_Rev2.doc>`
- :download:`Interpolation of DCMs <../../OtherSupporting/DCM_Interpolation/DCM_Interpolation.pdf>` - A summary of the mathematics used in the interpolation of DCM (direction cosine matrices) using logarithmic mapping and matrix exponentials.
- :download:`Set-point Linearization Development Plan <../../OtherSupporting/DevelopmentPlan-SetPoint-Linearization.pdf>`

.. - :download:`OpenFAST Steady State Solution <../../OtherSupporting/OpenFASTSteadyStateSolution_Rev7.doc>`
Glue Code and Mesh Mapping
**************************

- `FAST Modular Wind Turbine CAE Tool: Nonmatching Spatial and Temporal Meshes <https://www.nrel.gov/docs/fy14osti/60742.pdf>`_
- `FAST Modular Framework for Wind Turbine Simulation: New Algorithms and Numerical Examples <https://dx.doi.org/10.2514/6.2015-1461>`_
- :download:`OpenFAST Algorithms <../../OtherSupporting/OpenFAST_Algorithms/OpenFAST_Algorithms.pdf>` - A summary of the solve method used in the glue code.
- :download:`Predictor-Corrector Approach <../../OtherSupporting/ProposedPCApproach_Rev4.docx>`
72 changes: 8 additions & 64 deletions docs/source/user/index.rst
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User Documentation
==================

We are in the process of transitioning legacy FAST v8 documentation, which can be found at https://www.nrel.gov/wind/nwtc.html.

.. note::
We are in the process of transitioning legacy FAST v8 documentation to this online documentation. The legacy FAST v8 documentation can be found at https://www.nrel.gov/wind/nwtc.html.

Much of the documentation here is legacy documentation from FAST v8. While most of it is still
directly applicable to OpenFAST, portions may be out of date.
This section contains documentation for the OpenFAST module-coupling environment and its underlying modules. Documentation covers usage of models, underlying theory, and in some cases module verification.


.. _general-reference-docs:

General
~~~~~~~
.. toctree::
:maxdepth: 1

fast_to_openfast.rst
api_change.rst
input_file_overview.rst

Workshop material, legacy documentation, and other resources are listed below.

- `Overview of OpenFAST at NAWEA WindTech 2022 <https://drive.google.com/file/d/1bD5a6rRg6cCKht9Ar8AFJQ8YrI4-wsFe/view>`_
- `Practical Guide to OpenFAST at NAWEA WindTech 2022 <https://drive.google.com/file/d/1FHovo6btDStPBh1Kv2swA09hIQRcZGZf/view>`_
- `Overview of OpenFAST at NAWEA WindTech 2019 <https://drive.google.com/file/d/1wagMTOV_CLxSKzS2EEPFp2CExUo3JLpQ/view>`_
- `Workshop Presentations <https://drive.google.com/drive/folders/1BDDfcnIyvmZCwf7eFo0ISI7aF_FMAOvt>`_
- :download:`Old FAST v6 User's Guide <../../OtherSupporting/Old_FAST6_UsersGuide.pdf>`
- :download:`FAST v8 README <../../OtherSupporting/FAST8_README.pdf>`
- `Implementation of Substructure Flexibility and Member-Level Load Capabilities for Floating Offshore Wind Turbines in OpenFAST <https://www.nrel.gov/docs/fy20osti/76822.pdf>`_
- `FAST modularization framework for wind turbine simulation: full-system linearization <https://www.nrel.gov/docs/fy17osti/67015.pdf>`_
- `Full-System Linearization for Floating Offshore Wind Turbines in OpenFAST <https://www.nrel.gov/docs/fy19osti/71865.pdf>`_
- :download:`FAST with Labview <../../OtherSupporting/UsingFAST4Labview.pdf>`
- :download:`OutListParameters.xlsx <../../OtherSupporting/OutListParameters.xlsx>` - Contains the full list of outputs for each module.


Module Documentation
~~~~~~~~~~~~~~~~~~~~
This section contains documentation for the OpenFAST module-coupling environment and its underlying modules.
Documentation covers usage of models, underlying theory, and in some cases module verification.

.. toctree::
:maxdepth: 1

General considerations <general.rst>
AeroDyn <aerodyn/index.rst>
OLAF <aerodyn-olaf/index.rst>
Aeroacoustics <aerodyn-aeroacoustics/index.rst>
Expand All @@ -59,8 +28,12 @@ Documentation covers usage of models, underlying theory, and in some cases modul
ServoDyn <servodyn/index.rst>
Structural Control <servodyn-stc/StC_index.rst>
TurbSim <turbsim/index.rst>
C++ API <cppapi/index.rst>
FAST.Farm <fast.farm/index.rst>
C++ API <cppapi/index.rst>


Additional module documentation
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

The following modules do not currently have formal documentation
or are contributed to OpenFAST from organizations
Expand All @@ -79,10 +52,6 @@ with the information for the new documentation.
- :download:`Theory Manual <../../OtherSupporting/FEAMooring/FEAM_Theory_Manual.pdf>`
- :download:`User's Guide <../../OtherSupporting/FEAMooring/FEAM_Users_Guide.pdf>`

- MoorDyn

- `Official User's Guide <http://www.matt-hall.ca/files/MoorDyn%20Users%20Guide%202017-08-16.pdf>`_

- OrcaFlex Interface:

- :download:`User's Guide <../../OtherSupporting/OrcaFlex/User_Guide_OrcaFlexInterface.pdf>`
Expand All @@ -95,32 +64,7 @@ with the information for the new documentation.

- :download:`Draft: FAST Ice Module Manual <../../OtherSupporting/IceDyn/IceDyn_Manual.pdf>`

- TurbSim

- :download:`User's Guide <../../OtherSupporting/TurbSim/TurbSim_v2.00.pdf>`

Modularization Framework
~~~~~~~~~~~~~~~~~~~~~~~~

Information specific to the modularization framework of OpenFAST is provided here. These are a collection
of publications, presentations, and past studies on the subject.

- `The New Modularization Framework for the FAST Wind Turbine CAE Tool <https://www.nrel.gov/docs/fy13osti/57228.pdf>`_
- :download:`Example Module Implementation Plans <../../OtherSupporting/ModulePlan_GasmiPaperExamples.doc>`
- :download:`Module and Mesh-Mapping Linearization Implementation Plan <../../OtherSupporting/LinearizationOfMeshMapping_Rev18_Rev2.doc>`
- :download:`Interpolation of DCMs <../../OtherSupporting/DCM_Interpolation/DCM_Interpolation.pdf>` - A summary of the mathematics used in the interpolation of DCM (direction cosine matrices) using logarithmic mapping and matrix exponentials.
- :download:`Set-point Linearization Development Plan <../../OtherSupporting/DevelopmentPlan-SetPoint-Linearization.pdf>`

.. - :download:`OpenFAST Steady State Solution <../../OtherSupporting/OpenFASTSteadyStateSolution_Rev7.doc>`
Glue Code and Mesh Mapping
~~~~~~~~~~~~~~~~~~~~~~~~~~

- `FAST Modular Wind Turbine CAE Tool: Nonmatching Spatial and Temporal Meshes <https://www.nrel.gov/docs/fy14osti/60742.pdf>`_
- `FAST Modular Framework for Wind Turbine Simulation: New Algorithms and Numerical Examples <https://dx.doi.org/10.2514/6.2015-1461>`_
- :download:`OpenFAST Algorithms <../../OtherSupporting/OpenFAST_Algorithms/OpenFAST_Algorithms.pdf>` - A summary of the solve method used in the glue code.
- :download:`Predictor-Corrector Approach <../../OtherSupporting/ProposedPCApproach_Rev4.docx>`


NWTC Subroutine Library
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Expand Up @@ -11,3 +11,7 @@ usage of MoorDyn at the FAST.Farm level
(`MoorDyn with FAST.Farm <https://moordyn.readthedocs.io/en/latest/inputs.html#moordyn-with-fast-farm-inputs>`_),
and links to publications with the relevant theory.


The user guide can be downloaded below.

`Official User's Guide <http://www.matt-hall.ca/files/MoorDyn%20Users%20Guide%202017-08-16.pdf>`_
6 changes: 5 additions & 1 deletion docs/source/user/subdyn/examples/OC4_Jacket_SD_Input.dat
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Expand Up @@ -111,7 +111,7 @@ IJointID ItfTDXss ItfTDYss ItfTDZss ItfRDXss ItfRDYss ItfRDZss
56 1 1 1 1 1 1
----------------------------------- MEMBERS -------------------------------------------
112 NMembers - Number of members (-)
MemberID MJointID1 MJointID2 MPropSetID1 MPropSetID2 MType COSMID ![MType={1:beam circ., 2:cable, 3:rigid, 4:beam arb.}. COMSID={-1:none}]
MemberID MJointID1 MJointID2 MPropSetID1 MPropSetID2 MType COSMID ![MType={1:beam circ., 2:cable, 3:rigid, 4:beam arb., 5:spring}. COMSID={-1:none}]
(-) (-) (-) (-) (-) (-) (-)
1 1 2 2 2 1 -1
2 2 3 2 2 1 -1
Expand Down Expand Up @@ -247,6 +247,10 @@ PropSetID EA MatDens T0 CtrlChannel
0 NRigidPropSets - Number of rigid link properties
PropSetID MatDens
(-) (kg/m)
----------------------- SPRING ELEMENT PROPERTIES -------------------------------------
0 NSpringPropSets - Number of spring properties
PropSetID k11 k12 k13 k14 k15 k16 k22 k23 k24 k25 k26 k33 k34 k35 k36 k44 k45 k46 k55 k56 k66
(-) (N/m) (N/m) (N/m) (N/rad) (N/rad) (N/rad) (N/m) (N/m) (N/rad) (N/rad) (N/rad) (N/m) (N/rad) (N/rad) (N/rad) (Nm/rad) (Nm/rad) (Nm/rad) (Nm/rad) (Nm/rad) (Nm/rad)
---------------------- MEMBER COSINE MATRICES COSM(i,j) -------------------------------
0 NCOSMs - Number of unique cosine matrices (i.e., of unique member alignments including principal axis rotations); ignored if NXPropSets=0 or 9999 in any element below
COSMID COSM11 COSM12 COSM13 COSM21 COSM22 COSM23 COSM31 COSM32 COSM33
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Expand Up @@ -179,11 +179,10 @@ properties, the material properties are not allowed to change within a
single member.

Future releases will allow for members of different cross-sections,
i.e., noncircular members. For this reason, the input file has
(currently unused) sections dedicated to the identification of direction
cosines that in the future will allow the module to identify the correct
orientation of noncircular members. The current release only accepts
tubular (circular) members.
i.e., noncircular members. For this reason, the input file has sections
dedicated to the identification of direction cosines that in the future
will allow the module to identify the correct orientation of noncircular
members. The current release only accepts tubular (circular) members.

The file is organized into several functional sections. Each section
corresponds to an aspect of the SubDyn model and substructure.
Expand Down Expand Up @@ -419,17 +418,20 @@ MEMBER X-SECTION PROPERTY table (discussed next) for starting
cross-section properties and **MPropSetID2** specifies the identifier
for ending cross-section properties, allowing for tapered members.
The sixth column specify the member type **MType**.
A member is one of the three following types (see :numref:`SD_FEM`):
A member is one of the four following types (see :numref:`SD_FEM`):

- Beams (*MType=1*), Euler-Bernoulli (*FEMMod=1*) or Timoshenko (*FEMMod=3*)

- Pretension cables (*MType=2*)

- Rigid link (*MType=3*)

- Spring element (*MType=5*)

**COSMID** refers to the IDs of the members' cosine matrices for noncircular
members; the current release uses SubDyn's default direction cosine convention
if it's not present or when COSMID values are -1.
members and spring elements; the current release uses SubDyn's default direction cosine convention
if it's not present or when COSMID values are -1. Spring elements are defined between joints that
are coincident in the space and the direction cosine must be provided.


An example of member table is given below
Expand Down Expand Up @@ -525,22 +527,27 @@ An example of rigid link properties table is given below
(-) (kg/m)
12 7850.0
3 7000.0
Spring Properties
~~~~~~~~~~~~~~~~~
Members that are specified as spring elements (**MType=5**),
have their properties defined in the spring element properties table.
The table lists for each spring property: the property ID (**PropSetID**) and the
stiffness coefficients (**K11**, **K12**, **K13**, **K14**, **K15**, **K16**, **K22**,
**K23**, **K24**, **K25**, **K26**, **K33**, **K34**, **K35**, **K36**, **K44**, **K45**,
**K46**, **K55**, **K56**, **K66**). The stiffness matrix is considered symmetric and
includes diagonal (kii) and cross-coupling (kij) coefficients.
The FEM representation of the spring element is given in :numref:`SD_SpringElement`.

An example of spring properties table is given below:

.. code::
-------------------------- SPRING ELEMENT PROPERTIES ----------------------------
1 NSpringPropSets - Number of spring properties
PropSetID k11 k12 k13 k14 k15 k16 k22 k23 k24 k25 k26 k33 k34 k35 k36 k44 k45 k46 k55 k56 k66
(-) (N/m) (N/m) (N/m) (N/rad) (N/rad) (N/rad) (N/m) (N/m) (N/rad) (N/rad) (N/rad) (N/m) (N/rad) (N/rad) (N/rad) (Nm/rad) (Nm/rad) (Nm/rad) (Nm/rad) (Nm/rad) (Nm/rad)
2 2E7 0 0 0 0 0 1E12 0 0 0 0 1E12 0 0 0 1E12 0 0 1E8 0 1E12
Member Cosine Matrices COSM (i,j)
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
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