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LD: implemented state integration
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@ebranlard
ebranlard committed Oct 27, 2023
1 parent def9964 commit 5a0f935
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Showing 5 changed files with 1,079 additions and 720 deletions.
16 changes: 9 additions & 7 deletions modules/aerodyn/src/UA_Dvr_Subs.f90
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Original file line number Diff line number Diff line change
Expand Up @@ -115,18 +115,20 @@ subroutine ReadDriverInputFile( FileName, InitInp, ErrStat, ErrMsg )
! --- ELASTIC SECTION section
if (InitInp%SimMod==3) then ! Temporary to avoid changing r-test for now
call ParseCom(FI, iLine, Line , errStat2, errMsg2, UnEcho); if(Failed()) return
call ParseAry(FI, iLine, 'ActiveDOFs' , InitInp%activeDOFs, 3, errStat2, errMsg2, UnEcho); if(Failed()) return
call ParseVar(FI, iLine, 'TMax' , InitInp%Tmax , errStat2, errMsg2, UnEcho); if(Failed()) return
call ParseVar(FI, iLine, 'DT' , InitInp%dt , errStat2, errMsg2, UnEcho); if(Failed()) return
call ParseAry(FI, iLine, 'activeDOFs' , InitInp%activeDOFs, 3, errStat2, errMsg2, UnEcho); if(Failed()) return
call ParseAry(FI, iLine, 'initPos' , InitInp%initPos , 3, errStat2, errMsg2, UnEcho); if(Failed()) return
call ParseAry(FI, iLine, 'initVel' , InitInp%initVel , 3, errStat2, errMsg2, UnEcho); if(Failed()) return
call ParseAry(FI, iLine, 'MassMatrix1' , InitInp%MM(1,:) , 3, errStat2, errMsg2, UnEcho); if(Failed()) return
call ParseAry(FI, iLine, 'MassMatrix2' , InitInp%MM(1,:) , 3, errStat2, errMsg2, UnEcho); if(Failed()) return
call ParseAry(FI, iLine, 'MassMatrix3' , InitInp%MM(1,:) , 3, errStat2, errMsg2, UnEcho); if(Failed()) return
call ParseAry(FI, iLine, 'MassMatrix2' , InitInp%MM(2,:) , 3, errStat2, errMsg2, UnEcho); if(Failed()) return
call ParseAry(FI, iLine, 'MassMatrix3' , InitInp%MM(3,:) , 3, errStat2, errMsg2, UnEcho); if(Failed()) return
call ParseAry(FI, iLine, 'DampMatrix1' , InitInp%CC(1,:) , 3, errStat2, errMsg2, UnEcho); if(Failed()) return
call ParseAry(FI, iLine, 'DampMatrix2' , InitInp%CC(1,:) , 3, errStat2, errMsg2, UnEcho); if(Failed()) return
call ParseAry(FI, iLine, 'DampMatrix3' , InitInp%CC(1,:) , 3, errStat2, errMsg2, UnEcho); if(Failed()) return
call ParseAry(FI, iLine, 'DampMatrix2' , InitInp%CC(2,:) , 3, errStat2, errMsg2, UnEcho); if(Failed()) return
call ParseAry(FI, iLine, 'DampMatrix3' , InitInp%CC(3,:) , 3, errStat2, errMsg2, UnEcho); if(Failed()) return
call ParseAry(FI, iLine, 'StifMatrix1' , InitInp%KK(1,:) , 3, errStat2, errMsg2, UnEcho); if(Failed()) return
call ParseAry(FI, iLine, 'StifMatrix2' , InitInp%KK(1,:) , 3, errStat2, errMsg2, UnEcho); if(Failed()) return
call ParseAry(FI, iLine, 'StifMatrix3' , InitInp%KK(1,:) , 3, errStat2, errMsg2, UnEcho); if(Failed()) return
call ParseAry(FI, iLine, 'StifMatrix2' , InitInp%KK(2,:) , 3, errStat2, errMsg2, UnEcho); if(Failed()) return
call ParseAry(FI, iLine, 'StifMatrix3' , InitInp%KK(3,:) , 3, errStat2, errMsg2, UnEcho); if(Failed()) return
endif

! --- OUTPUT section
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70 changes: 64 additions & 6 deletions modules/aerodyn/src/UnsteadyAero_Driver.f90
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Original file line number Diff line number Diff line change
Expand Up @@ -53,6 +53,7 @@ program UnsteadyAero_Driver
type(LD_ContinuousStateType) :: LD_x ! Continuous states
type(LD_DiscreteStateType) :: LD_xd ! Discrete states
type(LD_OtherStateType) :: LD_OtherState ! Other/optimization states
type(LD_ConstraintStateType) :: LD_z ! Constraint states
type(LD_MiscVarType) :: LD_m ! Misc/optimization variables
type(LD_ParameterType) :: LD_p ! Parameters
type(LD_InputType) :: LD_u(NumInp) ! System inputs
Expand Down Expand Up @@ -118,10 +119,34 @@ program UnsteadyAero_Driver
simTime = dvrInitInp%TMax
dt = dvrInitInp%dt
nSimSteps = int(simTime/dt) ! TODO
print*,'nSimSteps',nSimSteps
print*,'nSimSteps',nSimSteps, simTime, dt

! --- Initialize Elastic Section
!call LD_Init(LD_InitInData, LD_u(1), LD_p, LD_x, LD_xd, LD_O, LD_y, LD_m, LD_InitOutData, errStat, errMsg); call checkError()
call LD_InitInputData(3, LD_InitInData, errStat, errMsg); call checkError()
LD_InitInData%dt = dt
LD_InitInData%IntMethod = 1 ! TODO
LD_InitInData%prefix = '' ! TODO for output channel names
LD_InitInData%MM = dvrInitInp%MM
LD_InitInData%CC = dvrInitInp%CC
LD_InitInData%KK = dvrInitInp%KK
LD_InitInData%x0 = dvrInitInp%initPos
LD_InitInData%xd0 = dvrInitInp%initVel
LD_InitInData%activeDOFs = dvrInitInp%activeDOFs
call LD_Init(LD_InitInData, LD_u(1), LD_p, LD_x, LD_xd, LD_z, LD_OtherState, LD_y, LD_m, LD_InitOutData, errStat, errMsg); call checkError()

! set inputs:
!u(1) = time at n=1 (t= 0)
!u(2) = time at n=0 (t= -dt)
!u(3) = time at n=-1 (t= -2dt) if NumInp > 2
! t = (n-1)*dt
do iu = 1, NumInp !u(NumInp) is overwritten in time-sim loop, so no need to init here
uTimes(iu) = (2-iu-1)*dt
enddo
! Allocs
do iu = 2,NumInp
call AllocAry(LD_u(iu)%Fext, LD_p%nx, 'Fext', errStat, errMsg); call checkError()
enddo

end if

! --- Init UA input data based on driver inputs
Expand All @@ -136,21 +161,54 @@ program UnsteadyAero_Driver
end if


if ( dvrInitInp%SimMod == 3 ) then

LD_u(1)%Fext=0.0_ReKi ! TODO TODO
LD_u(2)%Fext=0.0_ReKi ! TODO TODO

! --- time marching loop
do n = 1, nSimSteps
! set inputs:
DO iu = NumInp-1, 1, -1
LD_u( iu+1) = LD_u( iu)
uTimes(iu+1) = uTimes(iu)
END DO
! ! first value of uTimes/u contain inputs at t+dt
! call setUAinputs(n+1, u(1), uTimes(1), dt, dvrInitInp, timeArr, AOAarr, Uarr, OmegaArr, errStat, errMsg); call checkError()
uTimes(1) = (n+1-1)*dt

t = uTimes(2)
! Use existing states to compute the outputs
call LD_CalcOutput(t, LD_u(2), LD_p, LD_x, LD_xd, LD_z, LD_OtherState, LD_y, LD_m, errStat, errMsg); call checkError()
!! Use existing states to compute the outputs
!call UA_CalcOutput(i, j, t, u(2), p, x, xd, OtherState, AFI_Params(AFIndx(i,j)), y, m, errStat, errMsg ); call checkError()
print*,'t',t, LD_x%q
! ! Generate file outputs
! call UA_WriteOutputToFile(t, p, y)
! Prepare states for next time step
call LD_UpdateStates(t, n, LD_u, uTimes, LD_p, LD_x, LD_xd, LD_z, LD_OtherState, LD_m, errStat, errMsg); call checkError()
! ! Prepare states for next time step
! call UA_UpdateStates(i, j, t, n, u, uTimes, p, x, xd, OtherState, AFI_Params(AFIndx(i,j)), m, errStat, errMsg ); call checkError()
end do

print*,'STOPPING FOR NOW'
call cleanUp()
call NormStop()
endif

! set inputs:
!u(1) = time at n=1 (t= 0)
!u(2) = time at n=0 (t= -dt)
!u(3) = time at n=-1 (t= -2dt) if NumInp > 2

DO iu = 1, NumInp-1 !u(NumInp) is overwritten in time-sim loop, so no need to init here
call setUAinputs(2-iu, u(iu), uTimes(iu), dt, dvrInitInp, timeArr, AOAarr, Uarr, OmegaArr, errStat, errMsg); call checkError()
END DO

! --- time marching loop
do n = 1, nSimSteps
i = 1 ! nodes per blade
j = 1 ! number of blades

i = 1 ! nodes per blade
j = 1 ! number of blades
do n = 1, nSimSteps

! set inputs:
DO iu = NumInp-1, 1, -1
Expand Down
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