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UADvr: LD outputs to driver
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@ebranlard
ebranlard committed Oct 4, 2023
1 parent f07f301 commit d263e47
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Showing 5 changed files with 101 additions and 201 deletions.
146 changes: 40 additions & 106 deletions modules/aerodyn/src/UA_Dvr_Subs.f90
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Original file line number Diff line number Diff line change
Expand Up @@ -6,14 +6,15 @@ module UA_Dvr_Subs
use UnsteadyAero_Types
use UnsteadyAero
use LinDyn
use LinDyn_Types

implicit none

integer, parameter :: NumAFfiles = 1
integer(IntKi), parameter :: NumInp = 2 ! Number of inputs sent to UA_UpdateStates (must be at least 2)
integer(IntKi), parameter :: InflowMod_Cst = 1 ! Inflow is constant
integer(IntKi), parameter :: InflowMod_File = 2 ! Inflow is read from file
real(ReKi), parameter :: myNaN = -99.9_ReKi
real(ReKi), parameter :: myNaN = -9999.9_ReKi
integer(IntKi), parameter :: idFmtAscii = 1
integer(IntKi), parameter :: idFmtBinary = 2
integer(IntKi), parameter :: idFmtBoth = 3
Expand Down Expand Up @@ -76,15 +77,18 @@ module UA_Dvr_Subs
type :: Dvr_Outputs
integer(intki) :: unOutFile = -1 !< unit number for writing output file
!integer(intki) :: actualchanlen !< actual length of channels written to text file (less than or equal to chanlen) [-]
integer(intki) :: nDvrOutputs=2 !< number of outputs for the driver (without UA) [-]
integer(intki) :: ny !< total number of outputs for the driver
integer(intki) :: ny_dvr !< number of outputs for the driver (without UA and LD)
integer(intki) :: ny_UA !< number of outputs for UA
integer(intki) :: ny_LD !< number of outputs for LD
!character(20) :: fmt_t !< format specifier for time channel [-]
!character(25) :: fmt_a !< format specifier for each column (including delimiter) [-]
!character(1) :: delim !< column delimiter [-]
!character(20) :: outfmt !< format specifier [-]
integer(intki) :: fileFmt = idFmtBinary !< output format 1=text, 2=binary, 3=both [-]
character(1024) :: root = '' !< output file rootname [-]
character(chanlen) , dimension(:), allocatable :: writeoutputhdr !< channel headers [-]
character(chanlen) , dimension(:), allocatable :: writeoutputunt !< channel units [-]
character(ChanLen) , dimension(:), allocatable :: WriteOutputHdr !< channel headers [-]
character(ChanLen) , dimension(:), allocatable :: WriteOutputUnt !< channel units [-]
real(ReKi) , dimension(:,:), allocatable :: storage !< nchannel x ntime [-]
real(ReKi) , dimension(:), allocatable :: outline !< output line to be written to disk [-]
!real(dbki) :: dt_outs !< output time resolution [s]
Expand Down Expand Up @@ -643,6 +647,7 @@ subroutine AeroKinetics(U0, q, qd, C_dyn, p, m)
m%GF(3) = m%tau_A * p%GFScaling(3)

end subroutine AeroKinetics
!----------------------------------------------------------------------------------------------------

!> Set LinDyn inputs (scaled aerodynamic forces at point A)
subroutine setLDinputs(U0, LD_x, UA_y, p, m, LD_u)
Expand All @@ -660,6 +665,7 @@ subroutine setLDinputs(U0, LD_x, UA_y, p, m, LD_u)

end subroutine setLDinputs

!----------------------------------------------------------------------------------------------------
!> Set UA Inputs from Flow and LinDyn
subroutine setUAinputs(U0, LD_x, p, m, UA_u)
real(ReKi) , intent(in ) :: U0(2) !< Parameters
Expand All @@ -679,7 +685,7 @@ subroutine setUAinputs(U0, LD_x, p, m, UA_u)
UA_u%U = sqrt(m%Vrel_norm2_Q)
end subroutine setUAinputs


!----------------------------------------------------------------------------------------------------
!> Set UA inptus for a simulation where the angle of attack is prescribed and the relative velocity is constant
subroutine setUAinputsAlphaSim(n, u, t, p, errStat, errMsg)
integer, intent(in) :: n
Expand Down Expand Up @@ -762,7 +768,6 @@ subroutine setUAinputsAlphaSim(n, u, t, p, errStat, errMsg)
end if

end subroutine setUAinputsAlphaSim
!----------------------------------------------------------------------------------------------------

!----------------------------------------------------------------------------------------------------------------------------------
subroutine Dvr_EndSim(dvr, errStat, errMsg)
Expand All @@ -781,7 +786,7 @@ subroutine Dvr_EndSim(dvr, errStat, errMsg)
if (out%unOutFile > 0) close(out%unOutFile)
endif
if (out%fileFmt==idFmtBoth .or. out%fileFmt == idFmtBinary) then
print*,'>>>> OUTPUT',trim(out%Root)//'.outb'
call WrScr(' Writing output file: '//trim(out%Root)//'.outb')
call WrBinFAST(trim(out%Root)//'.outb', FileFmtID_ChanLen_In, 'AeroDynDriver', out%WriteOutputHdr, out%WriteOutputUnt, (/0.0_DbKi, dvr%p%dt/), out%storage(:,:), errStat2, errMsg2)
call SetErrStat(errStat2, errMsg2, errStat, errMsg, RoutineName)
endif
Expand All @@ -796,7 +801,7 @@ end subroutine Dvr_EndSim
! --------------------------------------------------------------------------------
!----------------------------------------------------------------------------------------------------------------------------------
!> Concatenate new output channels info to the extisting ones in the driver
!! TODO COPY PASTED FROM AeroDyn_Inflow. Should be placed in NWTC_Lib
!! TODO COPY PASTED FROM AeroDyn_Inflow. Should be placed in NWTC_Lib NWTC_Str
subroutine concatOutputHeaders(WriteOutputHdr0, WriteOutputUnt0, WriteOutputHdr, WriteOutputUnt, errStat, errMsg)
character(ChanLen), dimension(:), allocatable, intent(inout) :: WriteOutputHdr0 !< Channel headers
character(ChanLen), dimension(:), allocatable, intent(inout) :: WriteOutputUnt0 !< Channel units
Expand All @@ -810,7 +815,6 @@ subroutine concatOutputHeaders(WriteOutputHdr0, WriteOutputUnt0, WriteOutputHdr,
integer :: nOld, nAdd
errStat = ErrID_None
errMsg = ''
!print*,'>>> Concat',allocated(WriteOutputHdr0), allocated(WriteOutputUnt0), allocated(WriteOutputHdr), allocated(WriteOutputUnt)
if (.not.allocated(WriteOutputHdr)) return
if (.not.allocated(WriteOutputHdr0)) then
call move_alloc(WriteOutputHdr, WriteOutputHdr0)
Expand Down Expand Up @@ -924,11 +928,14 @@ subroutine Dvr_InitializeDriverOutputs(dvr, out, errStat, errMsg)
errStat = ErrID_None
errMsg = ''

! --- Allocate driver-level outputs
out%nDvrOutputs = 27 + 9 ! Misc + LD
out%ny_dvr = 27 ! Driver only
out%ny_UA = size(dvr%UA_InitOutData%WriteOutputHdr)
out%ny_LD = size(dvr%LD_InitOutData%WriteOutputHdr)


call AllocAry(out%WriteOutputHdr, 1+out%nDvrOutputs, 'WriteOutputHdr', errStat2, errMsg2); if(Failed()) return
call AllocAry(out%WriteOutputUnt, 1+out%nDvrOutputs, 'WriteOutputUnt', errStat2, errMsg2); if(Failed()) return
! --- Allocate driver-level outputs
call AllocAry(out%WriteOutputHdr, 1+out%ny_dvr, 'WriteOutputHdr', errStat2, errMsg2); if(Failed()) return
call AllocAry(out%WriteOutputUnt, 1+out%ny_dvr, 'WriteOutputUnt', errStat2, errMsg2); if(Failed()) return

j=1
out%WriteOutputHdr(j) = 'Time' ; out%WriteOutputUnt(j) = '(s)' ; j=j+1
Expand Down Expand Up @@ -960,94 +967,23 @@ subroutine Dvr_InitializeDriverOutputs(dvr, out, errStat, errMsg)
out%WriteOutputHdr(j) = 'GFx' ; out%WriteOutputUnt(j) = '(N/m)' ; j=j+1
out%WriteOutputHdr(j) = 'GFy' ; out%WriteOutputUnt(j) = '(N/m)' ; j=j+1
out%WriteOutputHdr(j) = 'GFM' ; out%WriteOutputUnt(j) = '(Nm/m)' ; j=j+1
! Dynamics - HACK should be returned by LD
out%WriteOutputHdr(j) = 'x' ; out%WriteOutputUnt(j) = '(m)' ; j=j+1
out%WriteOutputHdr(j) = 'y' ; out%WriteOutputUnt(j) = '(m)' ; j=j+1
out%WriteOutputHdr(j) = 'th' ; out%WriteOutputUnt(j) = '(rad)' ; j=j+1
out%WriteOutputHdr(j) = 'dx' ; out%WriteOutputUnt(j) = '(m/s)' ; j=j+1
out%WriteOutputHdr(j) = 'dy' ; out%WriteOutputUnt(j) = '(m/s)' ; j=j+1
out%WriteOutputHdr(j) = 'dth' ; out%WriteOutputUnt(j) = '(rad/s)' ; j=j+1
out%WriteOutputHdr(j) = 'ddx' ; out%WriteOutputUnt(j) = '(m/s^2)' ; j=j+1
out%WriteOutputHdr(j) = 'ddy' ; out%WriteOutputUnt(j) = '(m/s^2)' ; j=j+1
out%WriteOutputHdr(j) = 'ddth' ; out%WriteOutputUnt(j) = '(rad/s^2)' ; j=j+1
! Dynamics
call concatOutputHeaders(out%WriteOutputHdr, out%WriteOutputUnt, dvr%LD_InitOutData%WriteOutputHdr, dvr%LD_InitOutData%WriteOutputUnt, errStat2, errMsg2)
! UA
call concatOutputHeaders(out%WriteOutputHdr, out%WriteOutputUnt, dvr%UA_InitOutData%WriteOutputHdr, dvr%UA_InitOutData%WriteOutputUnt, errStat2, errMsg2)

out%ny = size(out%WriteOutputHdr)
! Debug Write
!do j = 1, out%ny
! print*,'Write Out: ',j, trim(out%WriteOutputHdr(j)), ' ', trim(out%WriteOutputUnt(j))
!enddo
contains
logical function Failed()
CALL SetErrStat(errStat2, errMsg2, errStat, errMsg, 'Dvr_InitializeDriverOutputs' )
Failed = errStat >= AbortErrLev
end function Failed
end subroutine Dvr_InitializeDriverOutputs
!----------------------------------------------------------------------------------------------------------------------------------
! !> Store driver data
! subroutine Dvr_CalcOutputDriver(dvr, y_ADI, FED, errStat, errMsg)
! type(Dvr_SimData), target, intent(inout) :: dvr ! driver data
! type(FED_Data), target, intent(in ) :: FED !< Elastic wind turbine data (Fake ElastoDyn)
! type(ADI_OutputType), intent(in ) :: y_ADI ! ADI output data
! integer(IntKi) , intent( out) :: errStat ! Status of error message
! character(*) , intent( out) :: errMsg ! Error message if errStat /= ErrID_None
! integer :: maxNumBlades, k, j, iWT
! real(ReKi) :: rotations(3)
! integer(IntKi) :: errStat2 ! Status of error message
! character(ErrMsgLen) :: errMsg2 ! Error message
! real(ReKi), pointer :: arr(:)
! type(WTData), pointer :: wt ! Alias to shorten notation
! type(RotFED), pointer :: y_ED ! Alias to shorten notation
!
! errStat = ErrID_None
! errMsg = ''
!
! maxNumBlades = 0
! do iWT=1,size(dvr%WT)
! maxNumBlades= max(maxNumBlades, dvr%WT(iWT)%numBlades)
! end do
!
! ! Determine if a swap array is present
!
! do iWT = 1, dvr%numTurbines
! wt => dvr%wt(iWT)
! y_ED => FED%wt(iWT)
! if (dvr%wt(iWT)%numBlades >0 ) then ! TODO, export for tower only
! arr => dvr%wt(iWT)%WriteOutput
! k=1
! ! NOTE: to do this properly we would need to store at the previous time step and perform a rotation
! arr(k) = dvr%iCase ; k=k+1
! ! Environment
! arr(k) = y_ADI%HHVel(1, iWT) ; k=k+1 ! NOTE: stored at beginning of array
! arr(k) = y_ADI%HHVel(2, iWT) ; k=k+1
! arr(k) = y_ADI%HHVel(3, iWT) ; k=k+1
! arr(k) = y_ADI%PLExp ; k=k+1 ! shear exp, not set if CompInflow=1
!
! ! 6 base DOF
! rotations = EulerExtract(y_ED%PlatformPtMesh%Orientation(:,:,1));
! arr(k) = y_ED%PlatformPtMesh%TranslationDisp(1,1); k=k+1 ! surge
! arr(k) = y_ED%PlatformPtMesh%TranslationDisp(2,1); k=k+1 ! sway
! arr(k) = y_ED%PlatformPtMesh%TranslationDisp(3,1); k=k+1 ! heave
! arr(k) = rotations(1) * R2D ; k=k+1 ! roll
! arr(k) = rotations(2) * R2D ; k=k+1 ! pitch
! arr(k) = rotations(3) * R2D ; k=k+1 ! yaw
! ! RNA motion
! arr(k) = wt%nac%yaw*R2D ; k=k+1 ! yaw [deg]
! arr(k) = modulo(real(wt%hub%azimuth+(dvr%dt * wt%hub%rotSpeed)*R2D, ReKi), 360.0_ReKi); k=k+1 ! azimuth [deg], stored at nt-1
! arr(k) = wt%hub%rotSpeed*RPS2RPM; k=k+1 ! rotspeed [rpm]
! do j=1,maxNumBlades
! if (j<= wt%numBlades) then
! arr(k) = wt%bld(j)%pitch*R2D ! pitch [deg]
! else
! arr(k) = 0.0_ReKi ! myNaN
! endif
! k=k+1;
! enddo
! ! Swap array
! if (wt%hub%motionType == idHubMotionUserFunction) then
! do j=1,size(wt%userSwapArray)
! arr(k) = wt%userSwapArray(j); k=k+1;
! enddo
! endif
!
! endif
! enddo
!
! end subroutine Dvr_CalcOutputDriver
!----------------------------------------------------------------------------------------------------------------------------------
subroutine Dvr_WriteOutputs(nt, t, dvr, out, errStat, errMsg)
integer(IntKi) , intent(in ) :: nt ! simulation time step
real(DbKi) , intent(in ) :: t ! simulation time (s)
Expand All @@ -1062,14 +998,15 @@ subroutine Dvr_WriteOutputs(nt, t, dvr, out, errStat, errMsg)
errMsg = ''
out%outLine = myNaN ! Safety
!
! ! Packing all outputs excpet time into one array
!nUA = size(yADI%AD%rotors(1)%WriteOutput)
!nLD = size(yADI%IW_WriteOutput)
nDV = 27 ! out%nDvrOutputs
! --- Packing all outputs except time into one array
nDV = out%ny_dvr
nLD = out%ny_LD
nUA = out%ny_UA
! Driver outputs
j = 1
out%outLine(j) = dvr%U0(1, 1) ; j=j+1 ! Ux
out%outLine(j) = dvr%U0(1, 2) ; j=j+1 ! Uy
out%outLine(j) = dvr%m%Vst_Q(1) ; j=j+1 ! VSTx_Q
out%outLine(j) = dvr%m%Vst_Q(1) ; j=j+1 ! VSTx_Q
out%outLine(j) = dvr%m%Vst_Q(2) ; j=j+1 ! VSTy_Q
out%outLine(j) = dvr%m%Vst_T(1) ; j=j+1 ! VSTx_T
out%outLine(j) = dvr%m%Vst_T(2) ; j=j+1 ! VSTy_T
Expand All @@ -1094,14 +1031,11 @@ subroutine Dvr_WriteOutputs(nt, t, dvr, out, errStat, errMsg)
out%outLine(j) = dvr%m%GF(1) ; j=j+1 ! GFx
out%outLine(j) = dvr%m%GF(2) ; j=j+1 ! GFy
out%outLine(j) = dvr%m%GF(3) ; j=j+1 ! GFM
! LD Outputs
out%outLine(nDV+1:nDV+nLD) = dvr%LD_y%WriteOutput(1:nLD)
! UA Outputs
out%outLine(nDV+nLD+1:nDV+nLD+nUA) = dvr%UA_y%WriteOutput(1:nUA)

nLD = 6 ! HACK
out%outLine(nDV+1:nDV+nLD) = dvr%LD_x%q(1:nLD)
out%outLine(nDV+nLD+1:nDV+nLD+3) = dvr%LD_y%xdd(1:3)


!out%outLine(nDV+1:nDV+nAD) = yADI%AD%rotors%WriteOutput ! AeroDyn WriteOutputs
!out%outLine(nDV+nAD+1:) = yADI%IW_WriteOutput ! InflowWind WriteOutputs
!if (out%fileFmt==idFmtBoth .or. out%fileFmt == idFmtAscii) then
! ! ASCII
! ! time
Expand Down
2 changes: 1 addition & 1 deletion modules/aerodyn/src/UnsteadyAero_Driver.f90
View file
Original file line number Diff line number Diff line change
Expand Up @@ -148,7 +148,7 @@ program UnsteadyAero_Driver
dvr%LD_u(2)%Fext=0.0_ReKi ! TODO TODO

! --- time marching loop
print*,'>>> Time simulation', dvr%uTimes(1), dvr%p%numSteps*dvr%p%dt
call WrScr(' Time simulation - TMax = '//trim(num2lstr(dvr%p%numSteps*dvr%p%dt)))
do n = 1, dvr%p%numSteps

! --- Set inputs at t by storing in u(2) what was in u(1) at previous time step
Expand Down
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