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obsidian_backup/多体+耦合求解器/多体+水动HD+系泊MD.md

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260209
2026-02-09 16:23:41 +08:00
# 配置文件
- 配置文件新增MD和MD输入文件路径，加在气动后 done
- 新增p_fast.comp_mooring done
# init HD MD初始化
对照FAST_subs.f90 774行附近
```fortran
IF ( p_FAST%CompHydro == Module_HD ) THEN
```
对照FAST_subs.f90 919行附近
```fortran
! initialize CompMooring modules
```
**补充代码** coupled_solver_sub.rs
```rust
pub fn fast_init_with_yaml(){}
    if p_fast.comp_hydro == 1 {
    to be done
    }
   
    if p_fast.comp_mooring == 1{
    to be done
    }
   
}
```
模型文件路径data\HEROWIND_models\NREL_5MW_OC4Semi\
配置文件Herowind_NREL5MW_ppl_hdmd_calc_config.yaml中气动，控制，HD MD绝对路径需按需修改
路径使用示例代码：
配置文件参数
```rust
calc_config.hydrofile.hydro_input_file
calc_config.mooringfile.mooring_input_file
```
代码
```rust
// 1 获取运行程序exe所在的路径
    let exe_path: PathBuf = env::current_exe()
        .expect("Unable to get current executable path");
    let exe_dir = exe_path
        .parent()
        .expect("Executable must have a parent directory");
       
    // 2 路径拼接
let dll_path = &calc_config.controller_input.dll_path;
let dll_full_path = exe_dir.join(dll_path);
let dll_full_path_str: &str = dll_full_path.to_str().expect("proxy_path is not valid UTF‑8"); 
     
```
## InitModuleMappings
mapping code
```fortran
if (p_FAST%CompElast == Module_ED) then
NumBl = SIZE(ED%y%BladeRootMotion,1)
PlatformMotion => ED%y%PlatformPtMesh
PlatformLoads => ED%Input(1)%PlatformPtMesh
SubstructureMotion2HD => ED%y%PlatformPtMesh
SubstructureMotion => ED%y%PlatformPtMesh
SubstructureLoads => ED%Input(1)%PlatformPtMesh
IF ( SrvD%Input(1)%PtfmMotionMesh%Committed ) THEN
CALL MeshMapCreate( PlatformMotion, SrvD%Input(1)%PtfmMotionMesh, MeshMapData%ED_P_2_SrvD_P_P, ErrStat2, ErrMsg2 )
CALL SetErrStat( ErrStat2, ErrMsg2, ErrStat, ErrMsg, RoutineName//':ED_P_2_SrvD_P_P' )
ENDIF
IF ( p_FAST%CompHydro == Module_HD ) THEN ! HydroDyn-{ElastoDyn or SubDyn}
! Regardless of the offshore configuration, ED platform motions will be mapped to the PRPMesh of HD
! we're just going to assume PlatformLoads and PlatformMotion are committed
CALL MeshMapCreate( PlatformMotion, HD%Input(1)%PRPMesh, MeshMapData%ED_P_2_HD_PRP_P, ErrStat2, ErrMsg2 )
CALL SetErrStat( ErrStat2, ErrMsg2, ErrStat, ErrMsg, RoutineName//':ED_P_2_HD_PRP_P' )
IF ( HD%y%WAMITMesh%Committed ) THEN ! meshes for floating
! HydroDyn WAMIT point mesh to/from ElastoDyn or SD point mesh
CALL MeshMapCreate( HD%y%WAMITMesh, SubstructureLoads, MeshMapData%HD_W_P_2_SubStructure, ErrStat2, ErrMsg2 )
CALL SetErrStat( ErrStat2, ErrMsg2, ErrStat, ErrMsg, RoutineName//':HD_W_P_2_SubStructure' )
CALL MeshMapCreate( SubstructureMotion2HD, HD%Input(1)%WAMITMesh, MeshMapData%SubStructure_2_HD_W_P, ErrStat2, ErrMsg2 )
CALL SetErrStat( ErrStat2, ErrMsg2, ErrStat, ErrMsg, RoutineName//':SubStructure_2_HD_W_P' )
END IF
IF ( HD%Input(1)%Morison%Mesh%Committed ) THEN
CALL MeshMapCreate( HD%y%Morison%Mesh, SubstructureLoads, MeshMapData%HD_M_P_2_SubStructure, ErrStat2, ErrMsg2 )
CALL SetErrStat( ErrStat2, ErrMsg2, ErrStat, ErrMsg, RoutineName//':HD_M_P_2_SubStructure' )
CALL MeshMapCreate( SubstructureMotion2HD, HD%Input(1)%Morison%Mesh, MeshMapData%SubStructure_2_HD_M_P, ErrStat2, ErrMsg2 )
CALL SetErrStat( ErrStat2, ErrMsg2, ErrStat, ErrMsg, RoutineName//':SubStructure_2_HD_M_P' )
END IF
IF ( p_FAST%CompMooring == Module_MD ) THEN
!-------------------------
! SubDyn/ElastoDyn <-> MoorDyn
!-------------------------
! MoorDyn point mesh to/from SubDyn or ElastoDyn point mesh
CALL MeshMapCreate( MD%y%CoupledLoads(1), SubstructureLoads, MeshMapData%Mooring_2_Structure, ErrStat2, ErrMsg2 )
CALL SetErrStat( ErrStat2, ErrMsg2, ErrStat, ErrMsg, RoutineName//':Mooring_2_Structure' )
CALL MeshMapCreate( SubstructureMotion, MD%Input(1)%CoupledKinematics(1), MeshMapData%Structure_2_Mooring, ErrStat2, ErrMsg2 )
CALL SetErrStat( ErrStat2, ErrMsg2, ErrStat, ErrMsg, RoutineName//':Structure_2_Mooring' )
END IF
IF ( p_FAST%SolveOption == Solve_SimplifiedOpt1 ) THEN
CALL AllocAry( MeshMapData%Jacobian_Opt1, SizeJac_ED_HD, SizeJac_ED_HD, 'Jacobian for Ptfm-HD coupling', ErrStat2, ErrMsg2 )
CALL SetErrStat( ErrStat2, ErrMsg2, ErrStat, ErrMsg, RoutineName )
IF ( ALLOCATED( MeshMapData%Jacobian_Opt1 ) ) THEN
CALL AllocAry( MeshMapData%Jacobian_pivot, SIZE(MeshMapData%Jacobian_Opt1), 'Pivot array for Jacobian LU decomposition', ErrStat2, ErrMsg2 )
CALL SetErrStat( ErrStat2, ErrMsg2, ErrStat, ErrMsg, RoutineName )
END IF
CALL ResetRemapFlags(p_FAST, ED, SED, BD, AD, ExtLd, HD, SD, ExtPtfm, SrvD, MAPp, FEAM, MD, Orca, IceF, IceD )
CALL MeshCopy ( ED%Input(1)%HubPtLoad, MeshMapData%u_ED_HubPtLoad, MESH_NEWCOPY, ErrStat2, ErrMsg2 )
CALL SetErrStat( ErrStat2, ErrMsg2, ErrStat, ErrMsg, RoutineName//':u_ED_HubPtLoad' )
CALL MeshCopy ( SubStructureLoads, MeshMapData%SubstructureLoads_Tmp, MESH_NEWCOPY, ErrStat2, ErrMsg2 )
CALL SetErrStat( ErrStat2, ErrMsg2, ErrStat, ErrMsg, RoutineName//':SubstructureLoads_Tmp' )
CALL MeshCopy ( SubStructureLoads, MeshMapData%SubstructureLoads_Tmp2, MESH_NEWCOPY, ErrStat2, ErrMsg2 )
CALL SetErrStat( ErrStat2, ErrMsg2, ErrStat, ErrMsg, RoutineName//':SubstructureLoads_Tmp2' )
CALL MeshCopy ( PlatformLoads, MeshMapData%PlatformLoads_Tmp, MESH_NEWCOPY, ErrStat2, ErrMsg2 )
CALL SetErrStat( ErrStat2, ErrMsg2, ErrStat, ErrMsg, RoutineName//':PlatformLoads_Tmp' )
CALL MeshCopy ( PlatformLoads, MeshMapData%PlatformLoads_Tmp2, MESH_NEWCOPY, ErrStat2, ErrMsg2 )
CALL SetErrStat( ErrStat2, ErrMsg2, ErrStat, ErrMsg, RoutineName//':PlatformLoads_Tmp2' )
IF ( p_FAST%CompHydro == Module_HD ) THEN
!TODO: GJH Is this needed, I created it as a place holder, 5/11/2020
!CALL MeshCopy ( HD%Input(1)%PRPMesh, MeshMapData%u_HD_PRP_Mesh, MESH_NEWCOPY, ErrStat2, ErrMsg2 )
! CALL SetErrStat( ErrStat2, ErrMsg2, ErrStat, ErrMsg, RoutineName//':u_HD_PRP_Mesh' )
CALL MeshCopy ( HD%Input(1)%WAMITMesh, MeshMapData%u_HD_W_Mesh, MESH_NEWCOPY, ErrStat2, ErrMsg2 )
CALL SetErrStat( ErrStat2, ErrMsg2, ErrStat, ErrMsg, RoutineName//':u_HD_W_Mesh' )
CALL MeshCopy ( HD%Input(1)%Morison%Mesh, MeshMapData%u_HD_M_Mesh, MESH_NEWCOPY, ErrStat2, ErrMsg2 )
CALL SetErrStat( ErrStat2, ErrMsg2, ErrStat, ErrMsg, RoutineName//':u_HD_M_Mesh' )
END IF
END SUBROUTINE InitModuleMappings
```
### SUBROUTINE ResetRemapFlags
```fortran
IF ( p_FAST%CompHydro == Module_HD ) THEN
HD%Input(1)%PRPMesh%RemapFlag = .FALSE.
IF (HD%Input(1)%WAMITMesh%Committed) THEN
HD%Input(1)%WAMITMesh%RemapFlag = .FALSE.
HD%y%WAMITMesh%RemapFlag = .FALSE.
END IF
IF (HD%Input(1)%Morison%Mesh%Committed) THEN
HD%Input(1)%Morison%Mesh%RemapFlag = .FALSE.
HD%y%Morison%Mesh%RemapFlag = .FALSE.
END IF
END IF
IF ( p_FAST%CompMooring == Module_MD ) THEN
MD%Input(1)%CoupledKinematics(1)%RemapFlag = .FALSE.
MD%y%CoupledLoads(1)%RemapFlag = .FALSE.
```
# solution t0
```fortran
if ( P_FAST%CompSeaSt == Module_SeaSt .and. y_FAST%WriteThisStep) then
! note: SeaState has no inputs and only calculates WriteOutputs, so we don't need to call CalcOutput unless we are writing to the file
call SeaSt_CalcOutput( t_initial, SeaSt%u, SeaSt%p, SeaSt%x(1), SeaSt%xd(1), SeaSt%z(1), SeaSt%OtherSt(1), SeaSt%y, SeaSt%m, ErrStat2, ErrMsg2 )
call SetErrStat( ErrStat2, ErrMsg2, ErrStat, ErrMsg, RoutineName )
end if
```
## CALL CalcOutputs_And_SolveForInputs()
### solver_option_2（基本没变化）后
新增 transfer_ServD_to_SD_MD
传递u_MD%DeltaL    =  y_SrvD%CableDeltaL  和  u_MD%DeltaLdot =  y_SrvD%CableDeltaLdot
新增CALL Transfer_Structure_to_Opt1Inputs（）
### Transfer_Structure_to_Opt1Inputs（）
```fortran
PlatformMotion => y_ED%PlatformPtMesh
IF (p_FAST%CompSub == Module_SD) THEN
SubstructureMotion => SD%y%y3Mesh
SubstructureMotion2HD => SD%y%y2Mesh
ELSE
SubstructureMotion => PlatformMotion
SubstructureMotion2HD => PlatformMotion
ENDIF
IF ( p_FAST%CompHydro == Module_HD ) THEN
CALL Transfer_Point_to_Point( PlatformMotion, u_HD%PRPMesh, MeshMapData%ED_P_2_HD_PRP_P, ErrStat2, ErrMsg2 )
CALL SetErrStat(ErrStat2,ErrMsg2,ErrStat, ErrMsg, RoutineName//' (u_HD%PRPMesh)' )
! if we don't have a call to SD_CalcOutput, we need to check that p_FAST%CompSub /= Module_SD before this:
! IF (p_FAST%CompSub /= Module_SD) THEN
CALL Transfer_SubStructureMotion_to_HD( SubstructureMotion2HD, u_HD%WAMITMesh, u_HD%Morison%Mesh, MeshMapData, ErrStat2, ErrMsg2 )
CALL SetErrStat(ErrStat2,ErrMsg2, ErrStat, ErrMsg, RoutineName)
!END IF ! don't transfer for SubDyn unless we have called SD_CalcOutput
END IF
ELSEIF ( p_FAST%CompMooring == Module_MD ) THEN
! motions:
CALL Transfer_Point_to_Point( SubstructureMotion, u_MD%CoupledKinematics(1), MeshMapData%Structure_2_Mooring, ErrStat2, ErrMsg2 )
CALL SetErrStat(ErrStat2,ErrMsg2,ErrStat, ErrMsg,RoutineName//'u_MD%CoupledKinematics' )
```
### solveoption1
11
2026-02-12 23:22:38 +08:00
```fortran
SubstructureMotion => ED%y%PlatformPtMesh
ELSEIF ( p_FAST%CompMooring == Module_MD ) THEN
CALL MD_CalcOutput( this_time, MD%Input(1), MD%p, MD%x(this_state), MD%xd(this_state), MD%z(this_state), &
MD%OtherSt(this_state), MD%y, MD%m, ErrStat2, ErrMsg2 )
CALL SetErrStat( ErrStat2, ErrMsg2, ErrStat, ErrMsg, RoutineName )
ELSEIF ( p_FAST%SolveOption == Solve_SimplifiedOpt1 ) THEN ! No substructure model
CALL ED_HD_InputOutputSolve( this_time, p_FAST, calcJacobian &
, ED%Input(1), ED%p, ED%x(this_state), ED%xd(this_state), ED%z(this_state), ED%OtherSt(this_state), ED%y, ED%m &
, HD%Input(1), HD%p, HD%x(this_state), HD%xd(this_state), HD%z(this_state), HD%OtherSt(this_state), HD%y, HD%m &
, MAPp%Input(1), MAPp%y, FEAM%Input(1), FEAM%y, MD%Input(1), MD%y, SrvD%Input(1), SrvD%y &
, MeshMapData , ErrStat2, ErrMsg2, WriteThisStep )
CALL SetErrStat( ErrStat2, ErrMsg2, ErrStat, ErrMsg, RoutineName )
```
#### ED_HD_InputOutputSolve
```fortran
CALL ED_CopyOutput( y_ED, y_ED_input, MESH_NEWCOPY, ErrStat2, ErrMsg2)
CALL SetErrStat( ErrStat2, ErrMsg2, ErrStat, ErrMsg, RoutineName )
IF ( calcJacobian ) THEN
CALL ED_CopyInput( u_ED, u_ED_perturb, MESH_NEWCOPY, ErrStat2, ErrMsg2 )
CALL SetErrStat( ErrStat2, ErrMsg2, ErrStat, ErrMsg, RoutineName )
CALL ED_CopyOutput( y_ED, y_ED_perturb, MESH_NEWCOPY, ErrStat2, ErrMsg2 )
CALL SetErrStat( ErrStat2, ErrMsg2, ErrStat, ErrMsg, RoutineName )
CALL HydroDyn_CopyInput( u_HD, u_HD_perturb, MESH_NEWCOPY, ErrStat2, ErrMsg2 )
CALL SetErrStat( ErrStat2, ErrMsg2, ErrStat, ErrMsg, RoutineName )
CALL HydroDyn_CopyOutput( y_HD, y_HD_perturb, MESH_NEWCOPY, ErrStat2, ErrMsg2 )
CALL SetErrStat( ErrStat2, ErrMsg2, ErrStat, ErrMsg, RoutineName )
CALL Transfer_PlatformMotion_to_HD(y_ED_input%PlatformPtMesh, u_HD, MeshMapData, ErrStat2, ErrMsg2 ) ! get u_HD from y_ED_input
CALL SetErrStat( ErrStat2, ErrMsg2, ErrStat, ErrMsg, RoutineName )
u( 1: 3) = u_ED%PlatformPtMesh%Force(:,1) / p_FAST%UJacSclFact
u( 4: 6) = u_ED%PlatformPtMesh%Moment(:,1) / p_FAST%UJacSclFact
u( 7: 9) = y_ED_input%PlatformPtMesh%TranslationAcc(:,1)
u(10:12) = y_ED_input%PlatformPtMesh%RotationAcc(:,1)
K = 0
DO
!-------------------------------------------------------------------------------------------------
! Calculate outputs at this_time, based on inputs at this_time
!-------------------------------------------------------------------------------------------------
CALL ED_CalcOutput( this_time, u_ED, p_ED, x_ED, xd_ED, z_ED, OtherSt_ED, y_ED, m_ED, ErrStat2, ErrMsg2 )
CALL SetErrStat( ErrStat2, ErrMsg2, ErrStat, ErrMsg, RoutineName )
CALL HydroDyn_CalcOutput( this_time, u_HD, p_HD, x_HD, xd_HD, z_HD, OtherSt_HD, y_HD, m_HD, ErrStat2, ErrMsg2 )
CALL SetErrStat( ErrStat2, ErrMsg2, ErrStat, ErrMsg, RoutineName )
IF ( K >= p_FAST%KMax ) EXIT
!-------------------------------------------------------------------------------------------------
! Calculate Jacobian: partial U/partial u:
! (note that we don't want to change u_ED or u_HD here)
!-------------------------------------------------------------------------------------------------
CALL U_ED_HD_Residual(y_ED, y_HD, u, Fn_U_Resid) ! U_ED_HD_Residual checks for error
IF (ErrStat >= AbortErrLev) THEN
CALL CleanUp()
RETURN
END IF
IF ( calcJacobian ) THEN
!...............................
! Get ElastoDyn's contribution:
!...............................
DO i=1,6 !call ED_CalcOutput
CALL ED_CopyInput( u_ED, u_ED_perturb, MESH_UPDATECOPY, ErrStat2, ErrMsg2 )
CALL SetErrStat( ErrStat2, ErrMsg2, ErrStat, ErrMsg, RoutineName )
u_perturb = u
CALL Perturb_u( i, u_perturb, u_ED_perturb=u_ED_perturb, perturb=ThisPerturb ) ! perturb u and u_ED by ThisPerturb [routine sets ThisPerturb]
! calculate outputs with perturbed inputs:
CALL ED_CalcOutput( this_time, u_ED_perturb, p_ED, x_ED, xd_ED, z_ED, OtherSt_ED, y_ED_perturb, m_ED, ErrStat2, ErrMsg2 ) !calculate y_ED_perturb
CALL SetErrStat( ErrStat2, ErrMsg2, ErrStat, ErrMsg, RoutineName )
CALL U_ED_HD_Residual(y_ED_perturb, y_HD, u_perturb, Fn_U_perturb) ! get this perturbation, U_perturb
IF ( ErrStat >= AbortErrLev ) RETURN ! U_ED_HD_Residual checks for error
IF (ErrStat >= AbortErrLev) THEN
CALL CleanUp()
RETURN
END IF
MeshMapData%Jacobian_Opt1(:,i) = (Fn_U_perturb - Fn_U_Resid) / ThisPerturb
END DO ! ElastoDyn contribution ( columns 1-6 )
!...............................
! Get HydroDyn's contribution:
!...............................
DO i=7,12 !call HD_CalcOutput
! we want to perturb u_HD, but we're going to perturb the input y_ED and transfer that to HD to get u_HD
CALL ED_CopyOutput( y_ED_input, y_ED_perturb, MESH_UPDATECOPY, ErrStat2, ErrMsg2 )
CALL SetErrStat( ErrStat2, ErrMsg2, ErrStat, ErrMsg, RoutineName )
u_perturb = u
CALL Perturb_u( i, u_perturb, y_ED_perturb=y_ED_perturb, perturb=ThisPerturb ) ! perturb u and y_ED by ThisPerturb [routine sets ThisPerturb]
CALL Transfer_PlatformMotion_to_HD( y_ED_perturb%PlatformPtMesh, u_HD_perturb, MeshMapData, ErrStat2, ErrMsg2 ) ! get u_HD_perturb
CALL SetErrStat( ErrStat2, ErrMsg2, ErrStat, ErrMsg, RoutineName )
! calculate outputs with perturbed inputs:
CALL HydroDyn_CalcOutput( this_time, u_HD_perturb, p_HD, x_HD, xd_HD, z_HD, OtherSt_HD, y_HD_perturb, m_HD, ErrStat2, ErrMsg2 )
CALL SetErrStat( ErrStat2, ErrMsg2, ErrStat, ErrMsg, RoutineName )
CALL U_ED_HD_Residual(y_ED, y_HD_perturb, u_perturb, Fn_U_perturb) ! get this perturbation ! U_ED_HD_Residual checks for error
IF ( ErrStat >= AbortErrLev ) THEN
CALL CleanUp()
RETURN
END IF
MeshMapData%Jacobian_Opt1(:,i) = (Fn_U_perturb - Fn_U_Resid) / ThisPerturb
END DO ! HydroDyn contribution ( columns 7-12 )
CALL LAPACK_getrf( M=NumInputs, N=NumInputs, A=MeshMapData%Jacobian_Opt1, IPIV=MeshMapData%Jacobian_pivot, ErrStat=ErrStat2, ErrMsg=ErrMsg2 )
CALL SetErrStat( ErrStat2, ErrMsg2, ErrStat, ErrMsg, RoutineName )
u_delta = -Fn_U_Resid
CALL LAPACK_getrs( TRANS='N', N=NumInputs, A=MeshMapData%Jacobian_Opt1, IPIV=MeshMapData%Jacobian_pivot, B=u_delta, &
ErrStat=ErrStat2, ErrMsg=ErrMsg2 )
CALL SetErrStat( ErrStat2, ErrMsg2, ErrStat, ErrMsg, RoutineName )
u = u + u_delta
u_ED%PlatformPtMesh%Force( :,1) = u_ED%PlatformPtMesh%Force( :,1) + u_delta( 1: 3) * p_FAST%UJacSclFact
u_ED%PlatformPtMesh%Moment(:,1) = u_ED%PlatformPtMesh%Moment(:,1) + u_delta( 4: 6) * p_FAST%UJacSclFact
y_ED_input%PlatformPtMesh%TranslationAcc(:,1) = y_ED_input%PlatformPtMesh%TranslationAcc(:,1) + u_delta( 7: 9)
y_ED_input%PlatformPtMesh%RotationAcc( :,1) = y_ED_input%PlatformPtMesh%RotationAcc( :,1) + u_delta(10:12)
CALL Transfer_PlatformMotion_to_HD( y_ED_input%PlatformPtMesh, u_HD, MeshMapData, ErrStat2, ErrMsg2 ) ! get u_HD with u_delta changes
CALL SetErrStat( ErrStat2, ErrMsg2, ErrStat, ErrMsg, RoutineName )
K = K + 1
END DO ! K
```
260209
2026-02-09 16:23:41 +08:00
CALL MD_CalcOutput
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