SubDyn upgrade to support multiple transition pieces #2782
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…tentially large rotation
…h corrector steps
…x of high condition number
… Also disabled analytical Jacobians, which are no longer valid for floating systems.
… the new rigid-body states
…ultiple transition pieces
luwang00
added
Type: Enhancement
Module: SubDyn
Type: IO Readers/Writers
…t file for clarity to the user
Collaborator
|
Could you add some test results here? |
* Updated SD_AM2 to use the new linearization subroutines. * Added the rigid-body states to ModVar. * Cleaned up some unused variables.
…sh for tight coupling
deslaughter
reviewed
May 1, 2025
…o the MiscVarType to avoid dynamic allocation at every time step
deslaughter
approved these changes
May 1, 2025
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Feature or improvement description
This PR modifies SubDyn to support multiple transition pieces. This is a part of the necessary upgrades to OpenFAST to enable simulations of multirotor systems (either wind turbines or MHK turbines).
For floating structures with multiple transition pieces, SubDyn now also solves and tracks the 6DoF "rigid-body" motion of the structure internally. The "rigid-body" motion can be large, including large rotation. We only require the elastic deflection of the structure relative to the "rigid-body" configuration to be small. Users need to select a joint on the structure to serve as the rigid-body reference point about which the 6DoF equations of motion are constructed.
The interface load and motion output channels is expanded to support up to 9 transition pieces. (Internally, there is no limit to the number of transition pieces. Only the output is limited to 9.) These channels are
Intf?FXss,Intf?FYss, etc., where?is a number between 1 to 9. If no number is provided, the values associated with the first transition piece is returned for backward compatibility.The modified SubDyn is now compatible with tight coupling of OpenFAST v5. The necessary changes were made with the help of @deslaughter.
More information to come.
Additional changes
Impacted areas of the software
SubDyn, openfast_io, glue-code
Test results, if applicable
Existing SubDyn r-test results changed slightly due to corrections to SubDyn driver and other modifications. SubDyn driver and primary input files are also updated with new inputs needed for multiple transition pieces.