Merge 55db29c into d6ba203

examples/17_jacket/analysis_options_jacket.yaml

@@ -4,10 +4,10 @@ general:
 design_variables:
 
     jacket:
-        r_foot:
+        foot_head_ratio:
             flag: True
-            lower_bound: 6.
-            upper_bound: 16.
+            lower_bound: 1.1
+            upper_bound: 5.0
         r_head:
             flag: True
             lower_bound: 2.
@@ -39,6 +39,12 @@ constraints:
             flag: False
         shell_buckling:
             flag: True
+        frequency_1:
+            flag: False #True
+            lower_bound: 0.13
+            upper_bound: 0.40
+        tower_diameter_coupling:
+            flag: True
 
 driver:
     optimization:

wisdem/fixed_bottomse/jacket.py

@@ -29,20 +29,24 @@ def setup(self):
         n_bays = mod_opt["WISDEM"]["FixedBottomSE"]["n_bays"]
 
         self.add_input("height", val=70.0, units="m")
-        self.add_input("r_foot", val=10.0, units="m")
         self.add_input("r_head", val=6.0, units="m")
+        self.add_input("foot_head_ratio", val=1.5)
         self.add_input("bay_spacing", val=np.linspace(0.1, 0.9, n_bays + 1))
+        self.add_input("tower_base_diameter", val=0.0, units="m")
 
+        self.add_output("r_foot", val=10.0, units="m")
         self.add_output("leg_nodes", val=np.zeros((n_legs, n_bays + 2, 3)), units="m")
         self.add_output("bay_nodes", val=np.zeros((n_legs, n_bays + 1, 3)), units="m")
+        self.add_output("constr_diam_consistency", val=0.0)
 
     def compute(self, inputs, outputs):
         mod_opt = self.options["modeling_options"]
         n_legs = mod_opt["WISDEM"]["FixedBottomSE"]["n_legs"]
         n_bays = mod_opt["WISDEM"]["FixedBottomSE"]["n_bays"]
 
-        r_foot = inputs["r_foot"]
+        ratio = inputs["foot_head_ratio"]
         r_head = inputs["r_head"]
+        outputs["r_foot"] = r_foot = r_head * ratio
         height = inputs["height"]
 
         leg_spacing = np.linspace(0, 1.0, n_bays + 2)
@@ -60,6 +64,8 @@ def compute(self, inputs, outputs):
             outputs["bay_nodes"][i, :, 1] = x_bay * np.sin(i / n_legs * 2 * np.pi)
             outputs["bay_nodes"][i, :, 2] = z_bay
 
+        outputs["constr_diam_consistency"] = inputs["tower_base_diameter"] / r_head
+
 
 class ComputeFrame3DD(om.ExplicitComponent):
     """
@@ -146,6 +152,14 @@ def setup(self):
         self.add_output("jacket_Myy", np.zeros((n_elem, n_dlc)), units="N*m")
         self.add_output("jacket_Mzz", np.zeros((n_elem, n_dlc)), units="N*m")
 
+        # Frequencies
+        self.add_output("f1", val=0.0, units="Hz")
+        self.add_output("f2", val=0.0, units="Hz")
+        self.add_output("structural_frequencies", np.zeros(NFREQ), units="Hz")
+
+        self.add_output("jacket_deflection", np.zeros((n_node, n_dlc)), units="m")
+        self.add_output("top_deflection", np.zeros(n_dlc), units="m")
+
         self.idx = 0
 
     def compute(self, inputs, outputs, discrete_inputs, discrete_outputs):
@@ -442,6 +456,15 @@ def add_element(n1_nodes, n1_indices, n2_nodes, n2_indices, itube, idx1, idx2, i
         # self.frame.draw()
         displacements, forces, reactions, internalForces, mass, modal = self.frame.run()
 
+        # natural frequncies
+        outputs["f1"] = modal.freq[0]
+        outputs["f2"] = modal.freq[1]
+        outputs["structural_frequencies"] = modal.freq[:NFREQ]
+
+        # deflections due to loading (from cylinder top and wind/wave loads)
+        outputs["jacket_deflection"] = np.sqrt(displacements.dx**2 + displacements.dy**2).T
+        outputs["top_deflection"] = outputs["jacket_deflection"][-1, :]
+
         # Determine reaction forces
         outputs["jacket_base_F"] = -np.c_[
             reactions.Fx.sum(axis=1), reactions.Fy.sum(axis=1), reactions.Fz.sum(axis=1)
@@ -633,7 +656,8 @@ def compute(self, inputs, outputs, discrete_inputs, discrete_outputs):
         leg_L = np.linalg.norm(leg_vec, axis=1)
 
         # Get the angle of intersection between all edges (as vectors) and all legs (as vectors)
-        leg_alpha = np.arccos(np.dot(edge_vec, leg_vec.T) / np.outer(L, leg_L))
+        vec_vals = np.dot(edge_vec, leg_vec.T) / np.outer(L, leg_L)
+        leg_alpha = np.arccos(np.minimum(np.maximum(vec_vals, -1.0), 1.0))
         # If angle of intersection is close to 0 or 180, the edge is part of a leg
         tol = np.deg2rad(5)
         idx_leg = np.any((np.abs(leg_alpha) < tol) | (np.abs(leg_alpha - np.pi) < tol), axis=1)

wisdem/glue_code/gc_LoadInputs.py

@@ -1,4 +1,5 @@
 import numpy as np
+
 import wisdem.inputs as sch
 
 
@@ -217,7 +218,7 @@ def set_openmdao_vectors(self):
                     )
 
             joint_pos = self.wt_init["components"]["blade"]["internal_structure_2d_fem"]["joint"]["position"]
-            if joint_pos>0.:
+            if joint_pos > 0.0:
                 self.modeling_options["WISDEM"]["RotorSE"]["bjs"] = True
                 # Adjust grid to have grid point at join location
                 closest_grid_pt = np.argmin(abs(self.modeling_options["WISDEM"]["RotorSE"]["nd_span"] - joint_pos))
@@ -886,7 +887,7 @@ def write_ontology(self, wt_opt, fname_output):
                         "grid"
                     ] = wt_opt["blade.internal_structure_2d_fem.s"].tolist()
                     self.wt_init["components"]["blade"]["internal_structure_2d_fem"]["layers"][i]["width"][
-                    "values"
+                        "values"
                     ] = wt_opt["blade.internal_structure_2d_fem.layer_width"][i, :].tolist()
                 if (
                     wt_opt["blade.internal_structure_2d_fem.definition_layer"][i] == 2
@@ -902,7 +903,7 @@ def write_ontology(self, wt_opt, fname_output):
                         "grid"
                     ] = wt_opt["blade.internal_structure_2d_fem.s"].tolist()
                     self.wt_init["components"]["blade"]["internal_structure_2d_fem"]["layers"][i]["offset_y_pa"][
-                    "values"
+                        "values"
                     ] = wt_opt["blade.internal_structure_2d_fem.layer_offset_y_pa"][i, :].tolist()
                 if (
                     wt_opt["blade.internal_structure_2d_fem.definition_layer"][i] == 4
@@ -927,7 +928,9 @@ def write_ontology(self, wt_opt, fname_output):
             # TODO assign joint mass to wt_init from rs.bjs
             # Elastic properties of the blade
             if self.modeling_options["WISDEM"]["RotorSE"]["bjs"]:
-                self.wt_init["components"]["blade"]["internal_structure_2d_fem"]["joint"]["mass"] = float(wt_opt["rotorse.rs.bjs.joint_mass"])
+                self.wt_init["components"]["blade"]["internal_structure_2d_fem"]["joint"]["mass"] = float(
+                    wt_opt["rotorse.rs.bjs.joint_mass"]
+                )
 
             self.wt_init["components"]["blade"]["elastic_properties_mb"] = {}
             self.wt_init["components"]["blade"]["elastic_properties_mb"]["six_x_six"] = {}
@@ -1232,6 +1235,19 @@ def write_ontology(self, wt_opt, fname_output):
                     "values"
                 ] = wt_opt["monopile.layer_thickness"][i, :].tolist()
 
+        # Update jacket
+        if self.modeling_options["flags"]["jacket"]:
+            self.wt_init["components"]["jacket"]["r_head"] = float(wt_opt["jacket.r_head"][0])
+            self.wt_init["components"]["jacket"]["r_foot"] = float(
+                wt_opt["jacket.r_head"] * wt_opt["jacket.foot_head_ratio"]
+            )
+            self.wt_init["components"]["jacket"]["height"] = float(wt_opt["jacket.height"][0])
+            self.wt_init["components"]["jacket"]["leg_diameter"] = float(wt_opt["jacket.leg_diameter"][0])
+            self.wt_init["components"]["jacket"]["leg_thickness"] = float(wt_opt["jacket.leg_thickness"][0])
+            self.wt_init["components"]["jacket"]["brace_diameters"] = wt_opt["jacket.brace_diameters"].tolist()
+            self.wt_init["components"]["jacket"]["brace_thicknesses"] = wt_opt["jacket.brace_thicknesses"].tolist()
+            self.wt_init["components"]["jacket"]["bay_spacing"] = wt_opt["jacket.bay_spacing"].tolist()
+
         # Update floating platform and mooring
         if self.modeling_options["flags"]["floating"]:
             yaml_out = self.wt_init["components"]["floating_platform"]

wisdem/glue_code/gc_PoseOptimization.py

@@ -835,12 +835,11 @@ def set_design_variables(self, wt_opt, wt_init):
             )
 
         # -- Jacket --
-        if jacket_opt["r_foot"]["flag"]:
+        if jacket_opt["foot_head_ratio"]["flag"]:
             wt_opt.model.add_design_var(
-                "jacket.r_foot",
-                lower=jacket_opt["r_foot"]["lower_bound"],
-                upper=jacket_opt["r_foot"]["upper_bound"],
-                ref=5.0,
+                "jacket.foot_head_ratio",
+                lower=jacket_opt["foot_head_ratio"]["lower_bound"],
+                upper=jacket_opt["foot_head_ratio"]["upper_bound"],
             )
 
         if jacket_opt["r_head"]["flag"]:
@@ -1370,6 +1369,9 @@ def set_constraints(self, wt_opt):
         if jacket_constr["shell_buckling"]["flag"]:
             wt_opt.model.add_constraint("fixedse.constr_shell_buckling", upper=1.0)
 
+        if jacket_constr["tower_diameter_coupling"]["flag"]:
+            wt_opt.model.add_constraint("fixedse.constr_diam_consistency", upper=1.0)
+
         if jacket_constr["frequency_1"]["flag"]:
             wt_opt.model.add_constraint(
                 "fixedse.structural_frequencies",

wisdem/glue_code/gc_WT_DataStruc.py

@@ -2171,7 +2171,7 @@ def setup(self):
 
 class Compute_Grid(om.ExplicitComponent):
     """
-    Compute the non-dimensional grid for a tower or monopile/jacket.
+    Compute the non-dimensional grid for a tower or monopile.
 
     Using the dimensional `ref_axis` array, this component computes the
     non-dimensional grid, height (vertical distance) and length (curve distance)
@@ -2298,10 +2298,9 @@ def setup(self):
 
         ivc = self.add_subsystem("jacket_indep_vars", om.IndepVarComp(), promotes=["*"])
         ivc.add_output(
-            "r_foot",
-            val=0.0,
-            units="m",
-            desc="Radius of foot (bottom) of jacket, in meters.",
+            "foot_head_ratio",
+            val=1.5,
+            desc="Ratio of radius of foot (bottom) of jacket to head.",
         )
         ivc.add_output(
             "r_head",

wisdem/glue_code/gc_WT_InitModel.py

@@ -977,8 +977,8 @@ def assign_jacket_values(wt_opt, modeling_options, jacket):
     wt_opt["jacket.transition_piece_mass"] = jacket["transition_piece_mass"]
     wt_opt["jacket.transition_piece_cost"] = jacket["transition_piece_cost"]
     wt_opt["jacket.gravity_foundation_mass"] = jacket["gravity_foundation_mass"]
-    wt_opt["jacket.r_foot"] = jacket["r_foot"]
     wt_opt["jacket.r_head"] = jacket["r_head"]
+    wt_opt["jacket.foot_head_ratio"] = jacket["r_foot"] / jacket["r_head"]
     wt_opt["jacket.height"] = jacket["height"]
     wt_opt["jacket.leg_diameter"] = jacket["leg_diameter"]
     wt_opt["jacket.leg_thickness"] = jacket["leg_thickness"]

wisdem/glue_code/glue_code.py

@@ -516,8 +516,6 @@ def setup(self):
             self.connect("env.Tsig_wave", "fixedse.Tsig_wave")
             self.connect("monopile.diameter", "fixedse.monopile_outer_diameter_in")
             self.connect("monopile.diameter", "fixedse.monopile_top_diameter", src_indices=[-1])
-            if modeling_options["flags"]["tower"]:
-                self.connect("tower.diameter", "fixedse.tower_base_diameter", src_indices=[0])
             self.connect("monopile.foundation_height", "fixedse.monopile_foundation_height")
             self.connect("monopile.outfitting_factor", "fixedse.outfitting_factor_in")
             self.connect("monopile.height", "fixedse.monopile_height")
@@ -539,6 +537,7 @@ def setup(self):
             self.connect("monopile.transition_piece_mass", "fixedse.transition_piece_mass")
             self.connect("monopile.gravity_foundation_mass", "fixedse.gravity_foundation_mass")
             if modeling_options["flags"]["tower"]:
+                self.connect("tower.diameter", "fixedse.tower_base_diameter", src_indices=[0])
                 self.connect("towerse.tower_mass", "fixedse.tower_mass")
                 self.connect("towerse.tower_cost", "fixedse.tower_cost")
                 self.connect("towerse.turbine_mass", "fixedse.turbine_mass")
@@ -564,7 +563,7 @@ def setup(self):
             self.connect("materials.G", "fixedse.G_mat")
             self.connect("materials.rho", "fixedse.rho_mat")
             self.connect("materials.name", "fixedse.material_names")
-            self.connect("jacket.r_foot", "fixedse.r_foot")
+            self.connect("jacket.foot_head_ratio", "fixedse.foot_head_ratio")
             self.connect("jacket.r_head", "fixedse.r_head")
             self.connect("jacket.height", "fixedse.height")
             self.connect("jacket.leg_diameter", "fixedse.leg_diameter")
@@ -580,6 +579,7 @@ def setup(self):
                 self.connect("towerse.turbine_I_base", "fixedse.turbine_I")
                 self.connect("towerse.tower.turbine_F", "fixedse.turbine_F")
                 self.connect("towerse.tower.turbine_M", "fixedse.turbine_M")
+                self.connect("tower.diameter", "fixedse.tower_base_diameter", src_indices=[0])
 
         if modeling_options["flags"]["floating"]:
             self.connect("env.rho_water", "floatingse.rho_water")
@@ -844,7 +844,14 @@ def setup(self):
         self.add_subsystem("wt", WT_RNTA(modeling_options=modeling_options, opt_options=opt_options), promotes=["*"])
         if modeling_options["WISDEM"]["BOS"]["flag"]:
             if modeling_options["flags"]["offshore"]:
-                self.add_subsystem("orbit", Orbit(floating=modeling_options["flags"]["floating_platform"]))
+                self.add_subsystem(
+                    "orbit",
+                    Orbit(
+                        floating=modeling_options["flags"]["floating"],
+                        jacket=modeling_options["flags"]["jacket"],
+                        jacket_legs=modeling_options["WISDEM"]["FixedBottomSE"]["n_legs"],
+                    ),
+                )
             else:
                 self.add_subsystem("landbosse", LandBOSSE())
 
@@ -874,6 +881,13 @@ def setup(self):
                     self.connect("monopile.transition_piece_mass", "orbit.transition_piece_mass")
                     self.connect("monopile.transition_piece_cost", "orbit.transition_piece_cost")
                     self.connect("monopile.diameter", "orbit.monopile_diameter", src_indices=[0])
+                elif modeling_options["flags"]["jacket"]:
+                    self.connect("fixedse.r_foot", "orbit.jacket_r_foot")
+                    self.connect("jacket.height", "orbit.jacket_length")
+                    self.connect("fixedse.jacket_mass", "orbit.jacket_mass")
+                    self.connect("fixedse.jacket_cost", "orbit.jacket_cost")
+                    self.connect("jacket.transition_piece_mass", "orbit.transition_piece_mass")
+                    self.connect("jacket.transition_piece_cost", "orbit.transition_piece_cost")
                 elif modeling_options["flags"]["floating"]:
                     self.connect("mooring.n_lines", "orbit.num_mooring_lines")
                     self.connect("floatingse.line_mass", "orbit.mooring_line_mass", src_indices=[0])

wisdem/inputs/analysis_schema.yaml

@@ -589,18 +589,17 @@ properties:
                 description: Design variables associated with the jacket
                 default: {}
                 properties:
-                    r_foot:
+                    foot_head_ratio:
                         type: object
-                        description: Adjust the radius of the jacket foot.
+                        description: Adjust the ratio of the jacket foot (bottom) radius to that of the head (top)
                         default: {}
                         properties:
                             flag: *flag
                             lower_bound: &rfootbound
                                 type: number
-                                minimum: 0.1
+                                minimum: 1.0
                                 maximum: 100.0
-                                default: 5.0
-                                unit: m
+                                default: 1.5
                                 description: Design variable bound
                             upper_bound: *rfootbound
                     r_head:

wisdem/library/vessels/example_scour_protection_vessel.yaml

@@ -1,5 +1,5 @@
 storage_specs:
-  max_cargo: 6000       # t
+  max_cargo: 10000       # t
   max_deck_load: 8      # t/m^2
   max_deck_space: 600   # m^2
 transport_specs: