LD: starting lindyn

ebranlard · Oct 27, 2023 · dbec473 · dbec473
1 parent 889501f
commit dbec473
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Showing 10 changed files with 4,249 additions and 19 deletions.
diff --git a/CMakeLists.txt b/CMakeLists.txt
@@ -200,6 +200,7 @@ set(OPENFAST_MODULES
   icefloe
   wakedynamics
   awae
+  lindyn
   map
   turbsim
   supercontroller

diff --git a/modules/aerodyn/CMakeLists.txt b/modules/aerodyn/CMakeLists.txt
@@ -88,7 +88,7 @@ add_executable(unsteadyaero_driver
   src/UnsteadyAero_Driver.f90
   src/UA_Dvr_Subs.f90
 )
-target_link_libraries(unsteadyaero_driver aerodyn_driver_subs)
+target_link_libraries(unsteadyaero_driver aerodyn_driver_subs lindynlib)
 
 # AeroDyn-InflowWind c-bindings interface library
 add_library(aerodyn_inflow_c_binding SHARED 

diff --git a/modules/aerodyn/src/UA_Dvr_Subs.f90 b/modules/aerodyn/src/UA_Dvr_Subs.f90
@@ -8,7 +8,6 @@ module UA_Dvr_Subs
 
    implicit none
 
-
    type UA_Dvr_InitInput
       logical         :: Echo            
       real(ReKi)      :: SpdSound        
@@ -30,30 +29,32 @@ module UA_Dvr_Subs
       character(1024) :: InputsFile      
       logical         :: SumPrint         
       logical         :: WrAFITables
+      ! Section
+      real(ReKi)      :: MM(3,3)
+      real(ReKi)      :: CC(3,3)
+      real(ReKi)      :: KK(3,3)
+      logical         :: activeDOFs(3)
+      real(ReKi)      :: initPos(3)
+      real(ReKi)      :: initVel(3)
    end type UA_Dvr_InitInput
 
    contains
 
    subroutine ReadDriverInputFile( inputFile, InitInp, ErrStat, ErrMsg )
-
       character(1024),               intent( in    )   :: inputFile
       type(UA_Dvr_InitInput),       intent(   out )   :: InitInp
       integer,                       intent(   out )   :: ErrStat              ! returns a non-zero value when an error occurs  
       character(*),                  intent(   out )   :: ErrMsg               ! Error message if ErrStat /= ErrID_None
-
          ! Local variables  
       integer                                          :: UnIn                 ! Unit number for the input file
       integer                                          :: UnEchoLocal          ! The local unit number for this module's echo file
       character(1024)                                  :: EchoFile             ! Name of HydroDyn echo file  
       character(1024)                                  :: FileName             ! Name of HydroDyn input file  
-
       integer(IntKi)                                   :: errStat2    ! Status of error message
       character(1024)                                  :: errMsg2     ! Error message if ErrStat /= ErrID_None
       character(*), parameter                          :: RoutineName = 'ReadDriverInputFile'
-
       character(1024) :: PriPath                         ! the path to the primary input file
       CALL GetPath( inputFile, PriPath )    ! Input files will be relative to the path where the primary input file is located.
-
 
          ! Initialize the echo file unit to -1 which is the default to prevent echoing, we will alter this based on user input
       UnEchoLocal = -1

diff --git a/modules/aerodyn/src/UnsteadyAero_Driver.f90 b/modules/aerodyn/src/UnsteadyAero_Driver.f90
@@ -19,10 +19,6 @@
 ! limitations under the License.
 !
 !**********************************************************************************************************************************
-
-
-
-
 program UnsteadyAero_Driver
 
    use NWTC_Library
@@ -31,19 +27,17 @@ program UnsteadyAero_Driver
    use UnsteadyAero_Types
    use UnsteadyAero
    use UA_Dvr_Subs
-   USE VersionInfo
+   use VersionInfo
 
-   implicit none
+   use LinDyn
 
-
-
-
-
+   implicit none
     ! Variables
    integer(IntKi), parameter                     :: NumInp = 2           ! Number of inputs sent to UA_UpdateStates (must be at least 2)
 
    real(DbKi)  :: dt, t, uTimes(NumInp)
    integer     :: i, j, n, iu
+   ! --- UA
    type(UA_InitInputType)                        :: InitInData           ! Input data for initialization
    type(UA_InitOutputType)                       :: InitOutData          ! Output data from initialization
    type(UA_ContinuousStateType)                  :: x                    ! Continuous states
@@ -53,6 +47,19 @@ program UnsteadyAero_Driver
    type(UA_ParameterType)                        :: p                    ! Parameters
    type(UA_InputType)                            :: u(NumInp)            ! System inputs
    type(UA_OutputType)                           :: y                    ! System outputs
+   ! --- LinDyn
+   type(LD_InitInputType)                        :: LD_InitInData           ! Input data for initialization
+   type(LD_InitOutputType)                       :: LD_InitOutData          ! Output data from initialization
+   type(LD_ContinuousStateType)                  :: LD_x                    ! Continuous states
+   type(LD_DiscreteStateType)                    :: LD_xd                   ! Discrete states
+   type(LD_OtherStateType)                       :: LD_OtherState           ! Other/optimization states
+   type(LD_MiscVarType)                          :: LD_m                    ! Misc/optimization variables
+   type(LD_ParameterType)                        :: LD_p                    ! Parameters
+   type(LD_InputType)                            :: LD_u(NumInp)            ! System inputs
+   type(LD_OutputType)                           :: LD_y                    ! System outputs
+
+
+
    integer(IntKi)                                :: ErrStat              ! Status of error message
    character(ErrMsgLen)                          :: ErrMsg               ! Error message if ErrStat /= ErrID_None
 
@@ -160,14 +167,21 @@ program UnsteadyAero_Driver
 
    InitInData%WrSum = dvrInitInp%SumPrint ! write all the AFI data
 
+   if ( dvrInitInp%SimMod == 3 ) then
+
+      print*,'>>>> STopping'
 
-   if ( dvrInitInp%SimMod == 1 ) then
+
+      call NormStop()
+
+
+   elseif ( dvrInitInp%SimMod == 1 ) then
          ! Using the frequency and NCycles, determine how long the simulation needs to run
       simTime   = dvrInitInp%NCycles/dvrInitInp%Frequency
       nSimSteps = dvrInitInp%StepsPerCycle*dvrInitInp%NCycles  ! we could add 1 here to make this a complete cycle
       dt        = simTime / nSimSteps
 
-   else
+   else if ( dvrInitInp%SimMod == 2 ) then
          ! Read time-series data file with a 1 line header and then each row contains time-step data with 4, white-space-separated columns
          ! time,  Angle-of-attack, Vrel, omega 
       call ReadTimeSeriesData( dvrInitInp%InputsFile, nSimSteps, timeArr, AOAarr, Uarr, OmegaArr, errStat, errMsg )

diff --git a/modules/lindyn/CMakeLists.txt b/modules/lindyn/CMakeLists.txt
@@ -0,0 +1,32 @@
+#
+# Copyright 2016 National Renewable Energy Laboratory
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+#
+
+if (GENERATE_TYPES)
+    generate_f90_types(src/LinDyn_Registry.txt ${CMAKE_CURRENT_LIST_DIR}/src/LinDyn_Types.f90)
+endif()
+
+add_library(lindynlib 
+  src/LinDyn.f90
+  src/LinDyn_Types.f90
+)
+target_link_libraries(lindynlib nwtclibs)
+
+install(TARGETS lindynlib
+  EXPORT "${CMAKE_PROJECT_NAME}Libraries"
+  RUNTIME DESTINATION bin
+  LIBRARY DESTINATION lib
+  ARCHIVE DESTINATION lib
+)
diff --git a/modules/lindyn/README.md b/modules/lindyn/README.md
@@ -0,0 +1,4 @@
+# LinDyn Module
+
+## Overview
+A module for linear dynamics (m, c, k, f) in OpenFAST