AeroDyn driver update for multiple wind turbines, with arbitrary motions and geometries

docs/source/install/index.rst

@@ -149,7 +149,7 @@ After extracting the contents, the OpenFAST executables
 can be tested by opening a command prompt, moving into the directory
 containing the executables, and running a simple test command:
 
-.. code-block::
+.. code-block:: bash
 
     cd C:\your\path\Desktop\openfast_binaries\
     openfast_x64.exe /h

docs/source/user/aerodyn-olaf/AppendixA.rst

@@ -9,6 +9,6 @@ Appendix A: OLAF Primary Input File
 .. container::
    :name: Tab:OLAFinputfile
 
-   .. literalinclude:: ExampleFiles/ExampleFile--OLAF.txt
+   .. literalinclude:: ExampleFiles/ExampleFile--OLAF.dat
       :linenos:
       :language: none

docs/source/user/aerodyn-olaf/ExampleFiles/ExampleFile--OLAF.txt → docs/source/user/aerodyn-olaf/ExampleFiles/ExampleFile--OLAF.dat

@@ -3,29 +3,29 @@ Free wake input file for the Helix test case
 --------------------------- GENERAL OPTIONS ---------------------------------------------------
 5       IntMethod          Integration method {1: Runge-Kutta 4th order, 5: Forward Euler 1st order, default: 5} (switch)
 0.2     DTfvw              Time interval for wake propagation. {default: dtaero} (s)
-5       FreeWakeStart      Time when wake is free. (-) value = always free. {default: 0.0} (s)
-2.0     FullCircStart      Time at which full circulation is reached. {default: 0.0} (s)
+default FreeWakeStart      Time when wake is free. (-) value = always free. {default: 0.0} (s)
+default FullCircStart      Time at which full circulation is reached. {default: 0.0} (s)
 --------------------------- CIRCULATION SPECIFICATIONS ----------------------------------------
 1       CircSolvingMethod  Circulation solving method {1: Cl-Based, 2: No-Flow Through, 3: Prescribed, default: 1 }(switch)
-0.01    CircSolvConvCrit   Convergence criteria {default: 0.001} [only if CircSolvingMethod=1] (-)
-0.1     CircSolvRelaxation Relaxation factor {default: 0.1} [only if CircSolvingMethod=1] (-)
-30      CircSolvMaxIter    Maximum number of iterations for circulation solving {default: 30} (-)
+default CircSolvConvCrit   Convergence criteria {default: 0.001} [only if CircSolvingMethod=1] (-)
+default CircSolvRelaxation Relaxation factor {default: 0.1} [only if CircSolvingMethod=1] (-)
+default CircSolvMaxIter    Maximum number of iterations for circulation solving {default: 30} (-)
  "NA"   PrescribedCircFile File containing prescribed circulation [only if CircSolvingMethod=3] (quoted string)
 ===============================================================================================
 --------------------------- WAKE OPTIONS ------------------------------------------------------
 ------------------- WAKE EXTENT AND DISCRETIZATION --------------------------------------------
-50      nNWPanel           Number of near-wake panels [integer] (-)
+150      nNWPanel           Number of near-wake panels [integer] (-)
 400     WakeLength         Total wake distance [integer] (number of time steps)
 default FreeWakeLength     Wake length that is free [integer] (number of time steps) {default: WakeLength}
 False   FWShedVorticity    Include shed vorticity in the far wake {default: false}
 ------------------- WAKE REGULARIZATIONS AND DIFFUSION -----------------------------------------
 0       DiffusionMethod    Diffusion method to account for viscous effects {0: None, 1: Core Spreading, "default": 0}         
-0       RegDeterMethod     Method to determine the regularization parameters {0: Constant, 1: Optimized, 2: Chord-scaled, 3: dr-scaled, default: 0 }          
+2       RegDeterMethod     Method to determine the regularization parameters {0: Constant, 1: Optimized, 2: Chord-scaled, 3: dr-scaled, default: 0 }          
 2       RegFunction        Viscous diffusion function {0: None, 1: Rankine, 2: LambOseen, 3: Vatistas, 4: Denominator, "default": 3} (switch)
-0       WakeRegMethod      Wake regularization method {1: Constant, 2: Stretching, 3: Age, default: 1} (switch)
-2.0     WakeRegFactor      Wake regularization factor (m or -)
-2.0     BladeRegFactor     Blade regularization factor (m or -)
-100     CoreSpreadEddyVisc Eddy viscosity in core spreading methods, typical values 1-1000 
+3       WakeRegMethod      Wake regularization method {1: Constant, 2: Stretching, 3: Age, default: 1} (switch)
+0.25    WakeRegFactor      Wake regularization factor (m or -)
+0.25    BladeRegFactor     Blade regularization factor (m or -)
+1000    CoreSpreadEddyVisc Eddy viscosity in core spreading methods, typical values 1-1000 
 ------------------- WAKE TREATMENT OPTIONS ---------------------------------------------------
 False   TwrShadowOnWake    Include tower flow disturbance effects on wake convection {default:false} [only if TwrPotent or TwrShadow]
 0       ShearModel         Shear Model {0: No treatment, 1: Mirrored vorticity, default: 0}
@@ -40,6 +40,6 @@ False   TwrShadowOnWake    Include tower flow disturbance effects on wake convec
 2       VTKCoord           Coordinate system used for VTK export. {1: Global, 2: Hub, "default": 1} 
 1       VTK_fps            Frame rate for VTK output (frames per second) {"all" for all glue code timesteps, "default" for all OLAF timesteps} [used only if WrVTK=1] 
 0       nGridOut           Number of grid outputs
-GridName    DTOut     XStart    XEnd   nX    YStart   YEnd    nY    ZStart   ZEnd   nZ
-(-)         (s)        (m)      (m)    (-)    (m)     (m)     (-)    (m)     (m)    (-)
+GridName  GridType  TStart  TEnd     DTOut     XStart    XEnd   nX    YStart   YEnd    nY    ZStart   ZEnd   nZ
+(-)         (-)      (s)     (s)      (s)        (m)      (m)    (-)    (m)     (m)     (-)    (m)     (m)    (-)
 ------------------------------------------------------------------------------------------------

docs/source/user/aerodyn-olaf/InputFiles.rst

@@ -213,7 +213,11 @@ Output Options
 
 **WrVTK** [flag] specifies if Visualization Toolkit (VTK) visualization files
 are to be written out. *WrVTK* = *[0]* does not write out any VTK files. *WrVTK*
-= *[1]* outputs a VTK file at every time step. The outputs are written in the
+= *[1]* outputs VTK files at time steps defined by *VTK_fps*.
+*WrVTK*= *[2]*, outputs at time steps defined by *VTK_fps*, but ensures that
+a file is written at the beginning and the end of the simulation (typically 
+used with `VTK_fps=0` to output only at the end of the simulation).
+The outputs are written in the
 folder, ``vtk_fvw.``   The parameters *WrVTK*, *VTKCoord*, and *VTK_fps* are
 independent of the glue code VTK output options.
 
@@ -229,29 +233,36 @@ coordinate system *[2]*. The default option is *[1]*.
 **VTK_fps** [:math:`1`/sec] specifies the output frequency of the VTK files. The
 provided value is rounded to the nearest allowable multiple of the time step.
 The default value is :math:`1/dt_\text{fvw}`. Specifying *VTK_fps* = *[all]*,
-is equivalent to using the value :math:`1/dt_\text{aero}`.
-
+is equivalent to using the value :math:`1/dt_\text{aero}`. If *VTK_fps<0*, then 
+no outputs are created, except if *WrVTK=2*.
 
 **nGridOut** [-] specifies the number of grid outputs. The default value is 0.
-The grid outputs are velocity fields that are exported on a regular Cartesian grid. 
-The are defined using a table that follows on the subsequent lines, with two lines of headers. 
-The user needs to specify a **GridName**, used for the VTK output filename, a time interval 
-**DTOut**, and the grid extent in each directions, e.g. **XStart**, **XEnd**, **nX**. 
-With these options, it is possible to export the velocity field at a point (**nX=nY=nZ=1**),
-a line, a plane, or a box. When the variable **DTOut** is set to "all", the AeroDyn time step is used,  when it is set to "default", the OLAF time step is used. 
+The grid outputs are fields (velocity, vorticity) that are exported on a regular Cartesian grid. 
+They are defined using a table that follows on the subsequent lines, with two lines of headers. 
+The user needs to specify a name (**GridName**) used for the VTK output filename,
+a grid type (**GridType**), a start time (**TStart**), an end time (**TEnd**), a time interval 
+(**DTOut**), and the grid extent in each directions, e.g. **XStart**, **XEnd**, **nX**. 
+When **GridType** is 1, the velocity field is written to disk, when **GridType** is 2, 
+both the velocity field and the vorticity field (computed using finite differences) are written.
+It is possible to export fields at a point (**nX=nY=nZ=1**),
+a line, a plane, or a 3D grid.
+When set to "default", the start time is 0 and the end time is set to the end of the simulation.
+The outputs are done for :math:`t_{Start}\leq t \leq t_{End}`
+When the variable **DTOut** is set to "all", the AeroDyn time step is used,  when it is set to "default", the OLAF time step is used. 
 An example of input is given below: 
 
 .. code::
 
     3       nGridOut           Number of grid outputs
-    GridName    DTOut     XStart    XEnd   nX    YStart   YEnd    nY    ZStart   ZEnd   nZ
-    (-)         (s)        (m)      (m)    (-)    (m)     (m)     (-)    (m)     (m)    (-)
-    "box"       all        -200     1000.    5    -150.   150.    20      5.     300.    30
-    "vert"      default    -200     1000.   100     0.     0.     1       5.     300.    30
-    "hori"      2.0        -200     1000.   100   -150.   150.    20     100.    100.    1
+    GridName  GridType  TStart  TEnd     DTOut     XStart    XEnd   nX    YStart   YEnd    nY    ZStart   ZEnd   nZ
+    (-)         (-)      (s)     (s)      (s)        (m)      (m)    (-)    (m)     (m)     (-)    (m)     (m)    (-)
+    "box"        2     default default  all        -200     1000.    5    -150.   150.    20      5.     300.    30
+    "vert"       1     default default  default    -200     1000.   100     0.     0.     1       5.     300.    30
+    "hori"       1     default default  2.0        -200     1000.   100   -150.   150.    20     100.    100.    1
 
 In this example, the first grid, named "box", is exported at the AeroDyn time step, and consists 
-of a box of shape 5x20x30 and dimension 1200x300x295.  The two other grids are vertical and horizontal planes.
+of a box of shape 5x20x30 and dimension 1200x300x295.  The grid contains both the velocity and vorticity.
+The two other grids are vertical and horizontal planes containing only the velocity.
 
 
 AeroDyn15 Input File

docs/source/user/aerodyn/appendix.rst

@@ -10,19 +10,22 @@ AeroDyn Input Files
 
 In this appendix we describe the AeroDyn input-file structure and provide examples.
 
-1) AeroDyn Driver Input File 
-:download:`(driver input file example) <examples/ad_driver_example.inp>`: 
-
+1) Baseline AeroDyn Driver Input Files:
+:download:`(driver input file example) <examples/ad_driver_example.dvr>`: 
 The driver input file is only needed for the standalone version of AeroDyn and contains inputs normally generated by OpenFAST, and necessary to control the aerodynamic simulation for uncoupled models.  
 
-2) AeroDyn Driver Timeseries Input File
-:download:`(driver timeseries input file example) <examples/ad_driver_timeseries_example.inp>`: 
+AeroDyn Driver Timeseries Input File
+:download:`(driver timeseries input file example) <examples/ad_driver_timeseries_example.csv>`: 
 The timeseries input file for a case in the AeroDyn driver allows the parameters
 to vary with time. This feature can be useful for debugging the aerodynamic response
 outside of OpenFAST. 
 
+2) Multi-rotor AeroDyn Driver Input File 
+:download:`(driver input file example) <examples/ad_driver_multiple.dvr>`: 
+
+
 3) AeroDyn Primary Input File 
-:download:`(primary input file example) <examples/ad_primary_example.inp>`: 
+:download:`(primary input file example) <examples/ad_primary_example.dat>`: 
 
 The primary AeroDyn input file defines modeling options, environmental conditions (except freestream flow), airfoils, tower nodal discretization and properties, as well as output file specifications.
 
@@ -31,12 +34,14 @@ The file is organized into several functional sections.  Each section correspond
 The input file begins with two lines of header information which is for your use, but is not used by the software.
 
 4) Airfoil Data Input File
-:download:`(airfoil data input file example) <examples/ad_airfoil_example.inp>`: 
+
+:download:`(profile data) <examples/ad_polar_example.dat>`: 
+:download:`(profile coordinates) <examples/ad_airfoil_example.dat>`: 
 
 The airfoil data input files themselves (one for each airfoil) include tables containing coefficients of lift force, drag force, and pitching moment versus AoA, as well as UA model parameters.  In these files, any line whose first non-blank character is an exclamation point (!) is ignored (for inserting comment lines).  The non-comment lines should appear within the file in order, but comment lines may be intermixed as desired for reading clarity.  
 
 5) Blade Data Input File
-:download:`(blade data input file example) <examples/ad_blade_example.inp>`: 
+:download:`(blade data input file example) <examples/ad_blade_example.dat>`: 
 
 The blade data input file contains the nodal discretization, geometry, twist, chord, and airfoil identifier for a blade.  Separate files are used for each blade, which permits modeling of aerodynamic imbalances.  
 

docs/source/user/aerodyn/bibliography.bib

@@ -0,0 +1,96 @@
+
+@TECHREPORT{AeroDyn:manual,
+    title       = {AeroDyn Theory Manual},
+    author      = {P. J. Moriarty and A. Craig Hansen},
+    institution = {National Renewable Energy Laboratory},
+    year        = 2005,
+    month       = {December},
+    note        = {NREL/EL-500-36881}
+}
+
+@TECHREPORT{AeroDyn:manualUnsteady,
+    title  = {The Unsteady Aerodynamics Module for FAST 8},
+    author = {R. Damiani and G. Hayman},
+    year   = 2019,
+    institution = {National Renewable Energy Laboratory},
+    note        = {NREL/TP-5000-66347}
+}
+
+@book{Branlard:book,
+    author = {E. Branlard},
+    title = {Wind Turbine Aerodynamics and Vorticity-Based Methods: Fundamentals and Recent Applications},
+    year = {2017},
+    publisher= {Springer International Publishing},
+    doi={10.1007/978-3-319-55164-7},
+    isbn={ 978-3-319-55163-0}
+}
+
+
+@article{Hansen:book,
+    author = {Hansen, M. O. L. and S{\o}rensen, J. N. and Voutsinas, S. and S{\o}rensen, N. and Madsen, H. Aa.},
+    doi = {10.1016/j.paerosci.2006.10.002},
+    journal = {Progress in Aerospace Sciences},
+    keywords = {aeroelasticity,wind turbines},
+    pages = {285--330},
+    title = {{State of the art in wind turbine aerodynamics and aeroelasticity}},
+    volume = {42},
+    year = {2006}
+}
+
+
+@article{Ning:2014,
+    author = {Ning, S. Andrew},
+    title = {A simple solution method for the blade element momentum equations with guaranteed convergence},
+    journal = {Wind Energy},
+    volume = {17},
+    number = {9},
+    pages = {1327-1345},
+    keywords = {blade element momentum equations, robust solution methodology, guaranteed convergence},
+    doi = {https://doi.org/10.1002/we.1636},
+    year = {2014}
+}
+
+
+@techreport{Hansen:2004,
+  title = {A Beddoes-Leishman type dynamic stall model in state-space and indicial formulations},
+  author = {Hansen, M.H. and Gaunaa, Mac and Aagaard Madsen, Helge},
+  year = {2004},
+  issn = {01062840},
+  isbn = {8755030904},
+  institution={Ris{\o} National Laboratory},
+  address={Roskilde, Denmark}
+}
+
+@techreport{Bladed:manual,
+  title = {Bladed Theory Manual version 4.8},
+  author = {DNV GL},
+  year = {2016},
+  institution={DNV-GL - Energy},
+  address={Bristol, UK}
+}
+
+
+@article{Oye:1991,
+    author = {S. {\O}ye},
+    title = {Dynamic stall, simulated as a time lag of separation},
+    year = {1991},
+    journal= {Proceedings of the 4th IEA Symposium on the Aerodynamics of Wind Turbines},
+    publisher={ETSU-N-118, Harwell Laboratory, UK}
+}
+
+@article{LeishmanBeddoes:1989,
+    author = {J. G. Leishman and T.S. Beddoes},
+    title = {A semi-empirical model for dynamic stall},
+    year = {1989},
+    journal= {Journal of the American Helicopter Society},
+    volume={34},
+    number={3},
+    pages={p3-17}
+}
+
+@techreport{Murray:2011,
+  title={The development of CACTUS : a wind and marine turbine performance simulation code.},
+  author={J. Murray and M. Barone},
+  year={2011},
+  institution={49th AIAA Aerospace Sciences Meeting, Orlando, Florida}
+}