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