Merge pull request #287 from WISDEM/moorpy_update

Moorpy update

examples/09_floating/IEA-15-240-RWT_VolturnUS-S.yaml

@@ -729,21 +729,15 @@ components:
         line_types:
             - name: main
               diameter: 0.185
-              mass_density: 685.0
-              stiffness: 3270e6
-              breaking_load: 1e8
-              cost: 100.0
+              type: chain
               transverse_added_mass: 1.0
               tangential_added_mass: 0.0
               transverse_drag: 1.6
               tangential_drag: 0.1
 
         anchor_types:
             - name: drag_embedment
-              mass: 1e3
-              cost: 1e4
-              max_vertical_load: 0.0
-              max_lateral_load: 1e5
+              type: drag_embedment
 
 airfoils:
    -  name: circular

examples/09_floating/nrel5mw-semi_oc4.yaml

@@ -634,21 +634,15 @@ components:
         line_types:
             - name: main
               diameter: 0.0766
-              mass_density: 113.35
-              stiffness: 7.536e8
-              breaking_load: 1e8
-              cost: 100.0
+              type: chain
               transverse_added_mass: 0.8
               tangential_added_mass: 0.25
               transverse_drag: 2.0
               tangential_drag: 0.4
 
         anchor_types:
             - name: drag_embedment
-              mass: 1e3
-              cost: 1e4
-              max_vertical_load: 0.0
-              max_lateral_load: 1e5
+              type: drag_embedment
 
 airfoils:
    -  aerodynamic_center: 0.275

examples/09_floating/nrel5mw-spar_oc3.yaml

@@ -405,21 +405,15 @@ components:
         line_types:
             - name: main
               diameter: 0.09
-              mass_density: 77.7066
-              stiffness: 384.243e6
-              breaking_load: 1e8
-              cost: 100.0
+              type: chain
               transverse_added_mass: 1.0
               tangential_added_mass: 0.0
               transverse_drag: 1.6
               tangential_drag: 0.1
 
         anchor_types:
             - name: drag_embedment
-              mass: 1e3
-              cost: 1e4
-              max_vertical_load: 0.0
-              max_lateral_load: 1e5
+              type: drag_embedment
 
 airfoils:
    -  aerodynamic_center: 0.275
@@ -709,11 +703,14 @@ control:
         maxOmega: 1.26711
     pitch:
         PC_zeta: 0.7                      # Pitch controller desired damping ratio [-]
-        PC_omega: 0.5                     # Pitch controller desired natural frequency [rad/s]
-        ps_percent: 0.8                   # Percent peak shaving  [%, <= 1 ], {default = 80%}
+        PC_omega: 0.35                     # Pitch controller desired natural frequency [rad/s]
+        ps_percent: 0.9                   # Percent peak shaving  [%, <= 1 ], {default = 80%}
         max_pitch: 1.57                     # Maximum pitch angle [rad], {default = 90 degrees}
         max_pitch_rate: 0.1745
         min_pitch: 0                      # Minimum pitch angle [rad], {default = 0 degrees}
+        fl_feedback:
+            twr_freq: 100                     # Frequency of notch in floating feedback (F_NotchCornerFreq)
+            ptfm_freq: .2                     # Frequency of LPF in floating feedback (F_FlCornerFreq)
     torque:
         control_type: tsr_tracking
         tsr: 7.01754386
@@ -738,8 +735,8 @@ environment:
     water_density: 1025.0
     water_dyn_viscosity: 1.3351e-3
     water_depth: 320.0
-    significant_wave_height: 9.14
-    significant_wave_period: 13.6
+    significant_wave_height: 6.0
+    significant_wave_period: 10.0
     soil_shear_modulus: 140.e+6
     soil_poisson: 0.4
 

examples/09_floating/tlp_example.py

@@ -41,6 +41,8 @@
 opt["mooring"] = {}
 opt["mooring"]["n_attach"] = 3
 opt["mooring"]["n_anchors"] = 3
+opt["mooring"]["line_anchor"] = ["custom"] * 3
+opt["mooring"]["line_material"] = ["custom"] * 3
 opt["materials"] = {}
 opt["materials"]["n_mat"] = 2
 

wisdem/commonse/frustum.py

@@ -34,7 +34,7 @@ def frustum(Db, Dt, H):
     return vol, cm
 
 
-def frustumVol(rb, rt, h, diamFlag=False):
+def frustumVol(rb_0, rt_0, h, diamFlag=False):
     """This function returns a frustum's volume with radii or diameter inputs.
 
     INPUTS:
@@ -51,12 +51,13 @@ def frustumVol(rb, rt, h, diamFlag=False):
     """
     if diamFlag:
         # Convert diameters to radii
-        rb *= 0.5
-        rt *= 0.5
+        rb, rt = 0.5 * rb_0, 0.5 * rt_0
+    else:
+        rb, rt = rb_0, rt_0
     return np.pi * (h / 3.0) * (rb * rb + rt * rt + rb * rt)
 
 
-def frustumCG(rb, rt, h, diamFlag=False):
+def frustumCG(rb_0, rt_0, h, diamFlag=False):
     """This function returns a frustum's center of mass/gravity (centroid) with radii or diameter inputs.
     NOTE: This is for a SOLID frustum, not a shell
 
@@ -74,12 +75,13 @@ def frustumCG(rb, rt, h, diamFlag=False):
     """
     if diamFlag:
         # Convert diameters to radii
-        rb *= 0.5
-        rt *= 0.5
+        rb, rt = 0.5 * rb_0, 0.5 * rt_0
+    else:
+        rb, rt = rb_0, rt_0
     return 0.25 * h * (rb ** 2 + 2.0 * rb * rt + 3.0 * rt ** 2) / (rb ** 2 + rb * rt + rt ** 2)
 
 
-def frustumIzz(rb, rt, h, diamFlag=False):
+def frustumIzz(rb_0, rt_0, h, diamFlag=False):
     """This function returns a frustum's mass-moment of inertia (divided by density) about the
     central (axial) z-axis with radii or diameter inputs.
     NOTE: This is for a SOLID frustum, not a shell
@@ -98,15 +100,16 @@ def frustumIzz(rb, rt, h, diamFlag=False):
     """
     if diamFlag:
         # Convert diameters to radii
-        rb *= 0.5
-        rt *= 0.5
+        rb, rt = 0.5 * rb_0, 0.5 * rt_0
+    else:
+        rb, rt = rb_0, rt_0
     # Integrate 2*pi*r*r^2 dr dz from r=0 to r(z), z=0 to h
     # Also equals 0.3*Vol * (rt**5.0 - rb**5.0) / (rt**3.0 - rb**3.0)
     # Also equals (0.1*np.pi*h * (rt**5.0 - rb**5.0) / (rt - rb) )
     return 0.1 * np.pi * h * (rt ** 4.0 + rb * rt ** 3 + rb ** 2 * rt ** 2 + rb ** 3 * rt + rb ** 4.0)
 
 
-def frustumIxx(rb, rt, h, diamFlag=False):
+def frustumIxx(rb_0, rt_0, h, diamFlag=False):
     """This function returns a frustum's mass-moment of inertia (divided by density) about the
     transverse x/y-axis passing through the center of mass with radii or diameter inputs.
     NOTE: This is for a SOLID frustum, not a shell
@@ -125,10 +128,11 @@ def frustumIxx(rb, rt, h, diamFlag=False):
     """
     if diamFlag:
         # Convert diameters to radii
-        rb *= 0.5
-        rt *= 0.5
+        rb, rt = 0.5 * rb_0, 0.5 * rt_0
+    else:
+        rb, rt = rb_0, rt_0
     # Integrate pi*r(z)^4/4 + pi*r(z)^2*(z-z_cg)^2 dz from z=0 to h
-    A = 0.5 * frustumIzz(rb, rt, h)
+    A = 0.5 * frustumIzz(rb_0, rt_0, h)
     B = (
         np.pi
         * h ** 3
@@ -141,7 +145,7 @@ def frustumIxx(rb, rt, h, diamFlag=False):
     return A + B
 
 
-def frustumShellVol(rb, rt, t, h, diamFlag=False):
+def frustumShellVol(rb_0, rt_0, t, h, diamFlag=False):
     """This function returns a frustum shell's volume (for computing mass with density) with radii or diameter inputs.
     NOTE: This is for a frustum SHELL, not a solid
 
@@ -160,8 +164,9 @@ def frustumShellVol(rb, rt, t, h, diamFlag=False):
     """
     if diamFlag:
         # Convert diameters to radii
-        rb *= 0.5
-        rt *= 0.5
+        rb, rt = 0.5 * rb_0, 0.5 * rt_0
+    else:
+        rb, rt = rb_0, rt_0
     # Integrate 2*pi*r*dr*dz from r=ri(z) to ro(z), z=0 to h
     rb_o = rb
     rb_i = rb - t
@@ -171,7 +176,7 @@ def frustumShellVol(rb, rt, t, h, diamFlag=False):
     return frustumVol(rb_o, rt_o, h) - frustumVol(rb_i, rt_i, h)
 
 
-def frustumShellCG(rb, rt, t, h, diamFlag=False):
+def frustumShellCG(rb_0, rt_0, t, h, diamFlag=False):
     """This function returns a frustum's center of mass/gravity (centroid) with radii or diameter inputs.
     NOTE: This is for a frustum SHELL, not a solid
 
@@ -190,8 +195,9 @@ def frustumShellCG(rb, rt, t, h, diamFlag=False):
     """
     if diamFlag:
         # Convert diameters to radii
-        rb *= 0.5
-        rt *= 0.5
+        rb, rt = 0.5 * rb_0, 0.5 * rt_0
+    else:
+        rb, rt = rb_0, rt_0
     # Integrate 2*pi*r*z*dr*dz/V from r=ri(z) to ro(z), z=0 to h
     rb_o = rb
     rb_i = rb - t
@@ -202,7 +208,7 @@ def frustumShellCG(rb, rt, t, h, diamFlag=False):
     return h * A / 4.0 / B
 
 
-def frustumShellIzz(rb, rt, t, h, diamFlag=False):
+def frustumShellIzz(rb_0, rt_0, t, h, diamFlag=False):
     """This function returns a frustum's mass-moment of inertia (divided by density) about the
     central (axial) z-axis with radii or diameter inputs.
     NOTE: This is for a frustum SHELL, not a solid
@@ -222,8 +228,9 @@ def frustumShellIzz(rb, rt, t, h, diamFlag=False):
     """
     if diamFlag:
         # Convert diameters to radii
-        rb *= 0.5
-        rt *= 0.5
+        rb, rt = 0.5 * rb_0, 0.5 * rt_0
+    else:
+        rb, rt = rb_0, rt_0
     # Integrate 2*pi*r*dr*dz from r=ri(z) to ro(z), z=0 to h
     rb_o = rb
     rb_i = rb - t
@@ -232,7 +239,7 @@ def frustumShellIzz(rb, rt, t, h, diamFlag=False):
     return frustumIzz(rb_o, rt_o, h) - frustumIzz(rb_i, rt_i, h)
 
 
-def frustumShellIxx(rb, rt, t, h, diamFlag=False):
+def frustumShellIxx(rb_0, rt_0, t, h, diamFlag=False):
     """This function returns a frustum's mass-moment of inertia (divided by density) about the
     transverse x/y-axis passing through the center of mass with radii or diameter inputs.
     NOTE: This is for a frustum SHELL, not a solid
@@ -252,8 +259,9 @@ def frustumShellIxx(rb, rt, t, h, diamFlag=False):
     """
     if diamFlag:
         # Convert diameters to radii
-        rb *= 0.5
-        rt *= 0.5
+        rb, rt = 0.5 * rb_0, 0.5 * rt_0
+    else:
+        rb, rt = rb_0, rt_0
     # Integrate 2*pi*r*dr*dz from r=ri(z) to ro(z), z=0 to h
     rb_o = rb
     rb_i = rb - t

wisdem/floatingse/floating.py

@@ -110,8 +110,3 @@ def setup(self):
         for k in range(n_member):
             for var in mem_vars:
                 self.connect(f"member{k}." + var, f"member{k}:" + var)
-
-        """
-        self.connect("max_offset_restoring_force", "mooring_surge_restoring_force")
-        self.connect("operational_heel_restoring_force", "mooring_pitch_restoring_force")
-        """

wisdem/floatingse/floating_frame.py

@@ -470,6 +470,7 @@ def setup(self):
         self.add_output("system_center_of_mass", np.zeros(3), units="m")
         self.add_output("system_mass", 0.0, units="kg")
         self.add_output("variable_ballast_mass", 0.0, units="kg")
+        self.add_output("variable_center_of_mass", val=np.zeros(3), units="m")
         self.add_output("constr_variable_margin", val=0.0)
         self.add_output("member_variable_volume", val=np.zeros(n_member), units="m**3")
         self.add_output("member_variable_height", val=np.zeros(n_member))
@@ -619,6 +620,7 @@ def compute(self, inputs, outputs):
             outputs["member_variable_height"][k] = s_end - spts[0]
 
         cg_variable = np.dot(V_variable_member, cg_variable_member) / V_variable
+        outputs["variable_center_of_mass"] = cg_variable
 
         # Now find total system mass
         outputs["system_mass"] = m_sys + m_variable
@@ -643,6 +645,9 @@ def setup(self):
 
         self.add_input("platform_mass", 0.0, units="kg")
         self.add_input("platform_center_of_mass", np.zeros(3), units="m")
+        self.add_input("platform_added_mass", np.zeros(6), units="kg")
+        self.add_input("platform_center_of_buoyancy", np.zeros(3), units="m")
+        self.add_input("platform_displacement", 0.0, units="m**3")
 
         self.add_input("tower_nodes", NULL * np.ones((MEMMAX, 3)), units="m")
         self.add_input("tower_Fnode", NULL * np.ones((MEMMAX, 3)), units="N")
@@ -702,6 +707,9 @@ def setup(self):
         self.add_input("rna_I", np.zeros(6), units="kg*m**2")
         self.add_input("mooring_neutral_load", np.zeros((n_attach, 3)), units="N")
         self.add_input("mooring_fairlead_joints", np.zeros((n_attach, 3)), units="m")
+        self.add_input("mooring_stiffness", np.zeros((6, 6)), units="N/m")
+        self.add_input("variable_ballast_mass", 0.0, units="kg")
+        self.add_input("variable_center_of_mass", val=np.zeros(3), units="m")
 
         NFREQ2 = int(NFREQ / 2)
         self.add_output("tower_freqs", val=np.zeros(NFREQ), units="Hz")
@@ -737,11 +745,16 @@ def compute(self, inputs, outputs):
         n_attach = opt["mooring"]["n_attach"]
         m_rna = float(inputs["rna_mass"])
         cg_rna = inputs["rna_cg"]
+        cb = inputs["platform_center_of_buoyancy"]
+        V_total = inputs["platform_displacement"]
         I_rna = inputs["rna_I"]
         I_trans = inputs["transition_piece_I"]
+        m_variable = float(inputs["variable_ballast_mass"])
+        cg_variable = inputs["variable_center_of_mass"]
 
         fairlead_joints = inputs["mooring_fairlead_joints"]
         mooringF = inputs["mooring_neutral_load"]
+        mooringK = np.abs(np.diag(inputs["mooring_stiffness"]))
 
         # Create frame3dd instance: nodes, elements, reactions, and options
         for frame in ["tower", "system"]:
@@ -776,9 +789,20 @@ def compute(self, inputs, outputs):
             ielem = np.arange(nelem) + 1
             elem_obj = pyframe3dd.ElementData(ielem, N1 + 1, N2 + 1, A, Asx, Asy, Izz, Ixx, Iyy, E, G, roll, rho)
 
-            # TODO: Hydro_K + Mooring_K for tower (system too?)
-            rid = np.array([itrans])  # np.array([np.argmin(nodes[:, 2])])
-            Rx = Ry = Rz = Rxx = Ryy = Rzz = np.array([RIGID])
+            # Use Mooring stiffness (TODO Hydro_K too)
+            if frame == "tower":
+                rid = np.array([itrans])  # np.array([np.argmin(nodes[:, 2])])
+            else:
+                ind = []
+                for k in range(n_attach):
+                    ind.append(util.closest_node(nodes, fairlead_joints[k, :]))
+                rid = np.array([ind])  # np.array([np.argmin(nodes[:, 2])])
+
+            Rx = Ry = Rz = Rxx = Ryy = Rzz = RIGID * np.ones(rid.size)
+            # Rx, Ry, Rz = [mooringK[0]], [mooringK[1]], [mooringK[2]]
+            # Only this solution works and there isn't much different with fully rigid
+            # Rx, Ry, Rz = [RIGID], [RIGID], [mooringK[2]]
+            # Rxx, Ryy, Rzz = [RIGID], [RIGID], [RIGID]
             react_obj = pyframe3dd.ReactionData(rid + 1, Rx, Ry, Rz, Rxx, Ryy, Rzz, rigid=RIGID)
 
             frame3dd_opt = opt["WISDEM"]["FloatingSE"]["frame3dd"]
@@ -789,10 +813,11 @@ def compute(self, inputs, outputs):
             # Added mass
             m_trans = float(inputs["transition_piece_mass"])
             if frame == "tower":
-                # TODO: Added mass and stiffness
-                m_trans += float(inputs["platform_mass"])
+                m_trans += float(inputs["platform_mass"]) + inputs["platform_added_mass"][0] + m_variable
                 cg_trans = inputs["transition_node"] - inputs["platform_center_of_mass"]
+                I_trans[:3] += inputs["platform_added_mass"][3:]
             else:
+                m_trans += m_variable
                 cg_trans = np.zeros(3)
             add_gravity = True
             mID = np.array([itrans, ihub], dtype=np.int_).flatten()
@@ -830,6 +855,11 @@ def compute(self, inputs, outputs):
                 for k in range(n_attach):
                     ind = util.closest_node(nodes, fairlead_joints[k, :])
                     Fnode[ind, :] += mooringF[k, :]
+            else:
+                # Combine all buoyancy forces into one
+                ind = util.closest_node(nodes, cb)
+                Fnode[ind, -1] += V_total * 1025 * gravity
+
             Fnode[ihub, :] += inputs["rna_F"]
             Mnode[ihub, :] += inputs["rna_M"]
             nF = np.where(np.abs(Fnode).sum(axis=1) > 0.0)[0]

wisdem/floatingse/member.py

@@ -1651,7 +1651,9 @@ def setup(self):
         )
 
         self.add_subsystem(
-            "gc", GeometricConstraints(nPoints=n_height, diamFlag=True), promotes=["constr_taper", "constr_d_to_t"]
+            "gc",
+            GeometricConstraints(nPoints=n_height, diamFlag=True),
+            promotes=["constr_taper", "constr_d_to_t", "slope"],
         )
         self.connect("outer_diameter", "gc.d")
         self.connect("wall_thickness", "gc.t")