# 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 ```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 ``` CALL MD_CalcOutput