Skip to content

Lin: CalcSteady, forcing linearization at end of simulation #958

New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Merged
rafmudaf merged 5 commits into from
Feb 15, 2022
Merged

Lin: CalcSteady, forcing linearization at end of simulation #958

Show file tree
Hide file tree
Changes from all commits
Commits
Show all changes
5 commits
Select commit Hold shift + click to select a range
13b5a64
Lin: CalcSteady, forcing linearization at end of simulation
ebranlard Jan 4, 2022
013ae02
Lin: Calcsteady with increased margin and using init rot speed
ebranlard Jan 5, 2022
5ae23df
Lin: forced lin only if rotor speed closed to 0.1% of desired value
ebranlard Jan 5, 2022
4abdd99
Lin: forced lin only if simulation more than 10 rev
ebranlard Jan 5, 2022
975115f
Lin: force lin, performing only one lin at final time
ebranlard Jan 7, 2022
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
18 changes: 18 additions & 0 deletions modules/openfast-library/src/FAST_Lin.f90
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -293,6 +293,7 @@ SUBROUTINE Init_Lin(p_FAST, y_FAST, m_FAST, AD, ED, NumBl, NumBlNodes, ErrStat,
m_FAST%Lin%n_rot = 0
m_FAST%Lin%IsConverged = .false.
m_FAST%Lin%FoundSteady = .false.
m_FAST%Lin%ForceLin = .false.
m_FAST%Lin%AzimIndx = 1

p_FAST%AzimDelta = TwoPi / p_FAST%NLinTimes
Expand Down Expand Up @@ -5317,12 +5318,25 @@ SUBROUTINE FAST_CalcSteady( n_t_global, t_global, p_FAST, y_FAST, m_FAST, ED, BD
! this is the 2pi boundary, so we are either larger than the last target azimuth or less than the next one
NextAzimuth = psi >= m_FAST%Lin%AzimTarget(m_FAST%Lin%AzimIndx) .and. psi < m_FAST%Lin%AzimTarget(m_FAST%Lin%AzimIndx-1)
end if

! Forcing linearization if it's the last step
if (t_global >= p_FAST%TMax - 0.5_DbKi*p_FAST%DT) then
call WrScr('')
call WrScr('[WARNING] Steady state not found before end of simulation. Forcing linearization.')
m_FAST%Lin%ForceLin = .True.
m_FAST%Lin%AzimIndx = 1
NextAzimuth = .True.
endif

if (NextAzimuth) then

! interpolate to find y at the target azimuth
call FAST_DiffInterpOutputs( m_FAST%Lin%AzimTarget(m_FAST%Lin%AzimIndx), p_FAST, y_FAST, m_FAST, ED, BD, SrvD, AD, IfW, HD, SD, ExtPtfm, MAPp, FEAM, MD, Orca, &
IceF, IceD, ErrStat, ErrMsg )
! If linearization is forced
if (m_FAST%Lin%ForceLin) then
m_FAST%Lin%IsConverged = .True.
endif

if (m_FAST%Lin%IsConverged .or. m_FAST%Lin%n_rot == 0) then ! save this operating point for linearization later
m_FAST%Lin%LinTimes(m_FAST%Lin%AzimIndx) = t_global
Expand All @@ -5349,6 +5363,10 @@ SUBROUTINE FAST_CalcSteady( n_t_global, t_global, p_FAST, y_FAST, m_FAST, ED, BD
end if

end if
if (m_FAST%Lin%ForceLin) then
m_FAST%Lin%IsConverged=.true.
m_FAST%Lin%FoundSteady=.true.
endif


END SUBROUTINE FAST_CalcSteady
Expand Down
1 change: 1 addition & 0 deletions modules/openfast-library/src/FAST_Registry.txt
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -325,6 +325,7 @@ typedef ^ FAST_MiscLinType IntKi CopyOP_CtrlCode - - - "mesh control co
typedef ^ FAST_MiscLinType DbKi AzimTarget {:} - - "target azimuth positions in CalcSteady algorithm" rad
typedef ^ FAST_MiscLinType logical IsConverged - - - "whether the error calculation in the CalcSteady algorithm is converged" -
typedef ^ FAST_MiscLinType logical FoundSteady - - - "whether the CalcSteady algorithm found a steady-state solution" -
typedef ^ FAST_MiscLinType logical ForceLin - - - "whether the CalcSteady algorithm found a steady-state solution" -
typedef ^ FAST_MiscLinType IntKi n_rot - - - "number of rotations completed in CalcSteady algorithm" -
typedef ^ FAST_MiscLinType IntKi AzimIndx - - - "index into target azimuth array in CalcSteady algorithm" -
typedef ^ FAST_MiscLinType IntKi NextLinTimeIndx - - - "index for next time in LinTimes where linearization should occur" -
Expand Down
9 changes: 9 additions & 0 deletions modules/openfast-library/src/FAST_Subs.f90
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -6131,6 +6131,9 @@ SUBROUTINE FAST_Linearize_T(t_initial, n_t_global, Turbine, ErrStat, ErrMsg)
call SetErrStat(ErrStat2, ErrMsg2, ErrStat, ErrMsg, RoutineName )

if (Turbine%m_FAST%Lin%FoundSteady) then
if (Turbine%m_FAST%Lin%ForceLin) then
Turbine%p_FAST%NLinTimes=1
endif

do iLinTime=1,Turbine%p_FAST%NLinTimes
t_global = Turbine%m_FAST%Lin%LinTimes(iLinTime)
Expand Down Expand Up @@ -6162,6 +6165,12 @@ SUBROUTINE FAST_Linearize_T(t_initial, n_t_global, Turbine, ErrStat, ErrMsg)

if (Turbine%p_FAST%WrVTK == VTK_ModeShapes) CALL WrVTKCheckpoint()

if (Turbine%m_FAST%Lin%ForceLin) then
ErrStat2 = ErrID_Warn
ErrMsg2 = 'Linearization was forced at simulation end. The linearized model may not be sufficiently representative of the solution in steady state.'
CALL SetErrStat(ErrStat2, ErrMsg2, ErrStat, ErrMsg, RoutineName )
endif

end if

end if
Expand Down
7 changes: 7 additions & 0 deletions modules/openfast-library/src/FAST_Types.f90
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -325,6 +325,7 @@ MODULE FAST_Types
REAL(DbKi) , DIMENSION(:), ALLOCATABLE :: AzimTarget !< target azimuth positions in CalcSteady algorithm [rad]
LOGICAL :: IsConverged !< whether the error calculation in the CalcSteady algorithm is converged [-]
LOGICAL :: FoundSteady !< whether the CalcSteady algorithm found a steady-state solution [-]
LOGICAL :: ForceLin !< whether the CalcSteady algorithm found a steady-state solution [-]
INTEGER(IntKi) :: n_rot !< number of rotations completed in CalcSteady algorithm [-]
INTEGER(IntKi) :: AzimIndx !< index into target azimuth array in CalcSteady algorithm [-]
INTEGER(IntKi) :: NextLinTimeIndx !< index for next time in LinTimes where linearization should occur [-]
Expand Down Expand Up @@ -14769,6 +14770,7 @@ SUBROUTINE FAST_CopyMiscLinType( SrcMiscLinTypeData, DstMiscLinTypeData, CtrlCod
ENDIF
DstMiscLinTypeData%IsConverged = SrcMiscLinTypeData%IsConverged
DstMiscLinTypeData%FoundSteady = SrcMiscLinTypeData%FoundSteady
DstMiscLinTypeData%ForceLin = SrcMiscLinTypeData%ForceLin
DstMiscLinTypeData%n_rot = SrcMiscLinTypeData%n_rot
DstMiscLinTypeData%AzimIndx = SrcMiscLinTypeData%AzimIndx
DstMiscLinTypeData%NextLinTimeIndx = SrcMiscLinTypeData%NextLinTimeIndx
Expand Down Expand Up @@ -14901,6 +14903,7 @@ SUBROUTINE FAST_PackMiscLinType( ReKiBuf, DbKiBuf, IntKiBuf, Indata, ErrStat, Er
END IF
Int_BufSz = Int_BufSz + 1 ! IsConverged
Int_BufSz = Int_BufSz + 1 ! FoundSteady
Int_BufSz = Int_BufSz + 1 ! ForceLin
Int_BufSz = Int_BufSz + 1 ! n_rot
Int_BufSz = Int_BufSz + 1 ! AzimIndx
Int_BufSz = Int_BufSz + 1 ! NextLinTimeIndx
Expand Down Expand Up @@ -14987,6 +14990,8 @@ SUBROUTINE FAST_PackMiscLinType( ReKiBuf, DbKiBuf, IntKiBuf, Indata, ErrStat, Er
Int_Xferred = Int_Xferred + 1
IntKiBuf(Int_Xferred) = TRANSFER(InData%FoundSteady, IntKiBuf(1))
Int_Xferred = Int_Xferred + 1
IntKiBuf(Int_Xferred) = TRANSFER(InData%ForceLin, IntKiBuf(1))
Int_Xferred = Int_Xferred + 1
IntKiBuf(Int_Xferred) = InData%n_rot
Int_Xferred = Int_Xferred + 1
IntKiBuf(Int_Xferred) = InData%AzimIndx
Expand Down Expand Up @@ -15130,6 +15135,8 @@ SUBROUTINE FAST_UnPackMiscLinType( ReKiBuf, DbKiBuf, IntKiBuf, Outdata, ErrStat,
Int_Xferred = Int_Xferred + 1
OutData%FoundSteady = TRANSFER(IntKiBuf(Int_Xferred), OutData%FoundSteady)
Int_Xferred = Int_Xferred + 1
OutData%ForceLin = TRANSFER(IntKiBuf(Int_Xferred), OutData%ForceLin)
Int_Xferred = Int_Xferred + 1
OutData%n_rot = IntKiBuf(Int_Xferred)
Int_Xferred = Int_Xferred + 1
OutData%AzimIndx = IntKiBuf(Int_Xferred)
Expand Down