Merge branch 'ctopt' into dev

designs/FOCTT_example.yaml

@@ -1064,14 +1064,14 @@ turbine:
 
         name      :  tower                     # [-]    an identifier (no longer has to be number)       
         type      :  1                         # [-]    
-        rA        :  [ 0, 0, -2.5]              # [m]    end A coordinates
-        rB        :  [ 0, 0, -33.5]          # [m]    and B coordinates
+        rA        :  [ 0, 0, -33.5]              # [m]    end A coordinates
+        rB        :  [ 0, 0, -2.5]          # [m]    and B coordinates
         shape     :  circ                      # [-]    circular or rectangular
         gamma     :  0.0                       # [deg]   twist angle about the member's z-axis
 
         # --- outer shell including hydro---
-        stations  :  [ -2.5,  -31,  -33.5 ]    # [-]    location of stations along axis. Will be normalized such that start value maps to rA and end value to rB
-        d         :  [ 1.25,  1.25,  .25 ]    # [m]    diameters if circular or side lengths if rectangular (can be pairs)
+        stations  :  [ -33.5,  -31,  -2.5 ]    # [-]    location of stations along axis. Will be normalized such that start value maps to rA and end value to rB
+        d         :  [ .25,  1.25,  1.25 ]    # [m]    diameters if circular or side lengths if rectangular (can be pairs)
         t         :  [ 0.03,  0.03,  0.03 ]                     # [m]    wall thicknesses (scalar or list of same length as stations)
         Cd        :  1.1                       # [-]    transverse drag coefficient       (optional, scalar or list of same length as stations)
         Ca        :  1.0                       # [-]    transverse added mass coefficient (optional, scalar or list of same length as stations)

designs/RM1_Floating.yaml

@@ -721,6 +721,8 @@ platform:
         CdEnd     :  0.0                       # [-]    end axial drag coefficient        (optional, scalar or list of same length as stations)
         CaEnd     :  0.0                       # [-]    end axial added mass coefficient  (optional, scalar or list of same length as stations)
         rho_shell :  7850                      # [kg/m3]
+        l_fill    : 0.4473325
+        rho_fill  : 1025
 
       - name      :  column-W                 # [-]    an identifier (no longer has to be number)       
         type      :  2                         # [-]    
@@ -737,6 +739,8 @@ platform:
         CdEnd     :  0.0                       # [-]    end axial drag coefficient        (optional, scalar or list of same length as stations)
         CaEnd     :  0.0                       # [-]    end axial added mass coefficient  (optional, scalar or list of same length as stations)
         rho_shell :  7850                      # [kg/m3] 
+        l_fill    : 0.4473325
+        rho_fill  : 1025
 
       - name      :  column-S                 # [-]    an identifier (no longer has to be number)       
         type      :  2                         # [-]    
@@ -753,6 +757,8 @@ platform:
         CdEnd     :  0.0                       # [-]    end axial drag coefficient        (optional, scalar or list of same length as stations)
         CaEnd     :  0.0                       # [-]    end axial added mass coefficient  (optional, scalar or list of same length as stations)
         rho_shell :  7850                      # [kg/m3]
+        l_fill    : 0.4473325
+        rho_fill  : 1025
 
       - name      :  column-N                 # [-]    an identifier (no longer has to be number)       
         type      :  2                         # [-]    
@@ -769,6 +775,8 @@ platform:
         CdEnd     :  0.0                       # [-]    end axial drag coefficient        (optional, scalar or list of same length as stations)
         CaEnd     :  0.0                       # [-]    end axial added mass coefficient  (optional, scalar or list of same length as stations)
         rho_shell :  7850                      # [kg/m3]
+        l_fill    : 0.4473325
+        rho_fill  : 1025
 
       - name      :  upper_brace-NE                # [-]    an identifier (no longer has to be number)       
         type      :  2                         # [-]    

raft/raft_fowt.py

@@ -2024,36 +2024,38 @@ def saveTurbineOutputs(self, results, case):
         self.add_output('tower_maxMy_Mz', val=np.zeros(n_full_tow-1), units='kN*m', desc='distributed moment around tower-aligned x-axis corresponding to maximum fore-aft moment at tower base')
         '''
 
-    def plot(self, ax, color=None, nodes=0, plot_rotor=True, station_plot=[], airfoils=False, zorder=2):
+    def plot(self, ax, color=None, nodes=0, plot_rotor=True, station_plot=[], airfoils=False, zorder=2,
+             plot_fowt=True, plot_ms=True, shadow=True):
         '''plots the FOWT...'''
 
         R = rotationMatrix(self.r6[3], self.r6[4], self.r6[5])  # note: eventually Rotor could handle orientation internally <<<
 
-        if self.ms:
-            self.ms.plot(ax=ax, color=color)
+        if plot_ms:
+            if self.ms:
+                self.ms.plot(ax=ax, color=color, shadow=shadow)
 
         if color==None:
             color='k'
 
-        if plot_rotor:
-            for rotor in self.rotorList:
-                coords = np.array([rotor.coords[0], rotor.coords[1], 0]) + self.r6[:3]
-                rotor.plot(ax, r_ptfm=coords, R_ptfm=R, color=color, airfoils=airfoils, zorder=zorder)
-                #rotor.plot(ax, r_ptfm=self.body.r6[:3], R_ptfm=self.body.R, color=color)
-                '''
-                for afmem in rotor.bladeMemberList:
-                    afmem.calcOrientation()
-                    afmem.plot(ax, r_ptfm=self.body.r6[:3], R_ptfm=self.body.R, color=color, nodes=nodes, station_plot=station_plot)
-                '''
-
+        if plot_fowt:
+            if plot_rotor:
+                for rotor in self.rotorList:
+                    coords = np.array([rotor.coords[0], rotor.coords[1], 0]) + self.r6[:3]
+                    rotor.plot(ax, r_ptfm=coords, R_ptfm=R, color=color, airfoils=airfoils, zorder=zorder)
+                    #rotor.plot(ax, r_ptfm=self.body.r6[:3], R_ptfm=self.body.R, color=color)
+                    '''
+                    for afmem in rotor.bladeMemberList:
+                        afmem.calcOrientation()
+                        afmem.plot(ax, r_ptfm=self.body.r6[:3], R_ptfm=self.body.R, color=color, nodes=nodes, station_plot=station_plot)
+                    '''
 
-        # loop through each member and plot it
-        for mem in self.memberList:
+            # loop through each member and plot it
+            for mem in self.memberList:
 
-            mem.setPosition()  # offsets/rotations could be done in this function rather than in mem.plot <<<
+                mem.setPosition()  # offsets/rotations could be done in this function rather than in mem.plot <<<
 
-            mem.plot(ax, r_ptfm=self.r6[:3], R_ptfm=R, color=color, 
-                     nodes=nodes, station_plot=station_plot, zorder=zorder)
+                mem.plot(ax, r_ptfm=self.r6[:3], R_ptfm=R, color=color, 
+                        nodes=nodes, station_plot=station_plot, zorder=zorder)
 
         # in future should consider ability to animate mode shapes and also to animate response at each frequency
         # including hydro excitation vectors stored in each member

raft/raft_member.py

@@ -392,7 +392,7 @@ def RectangularFrustumMOI(La, Wa, Lb, Wb, H, p):
                     y2 = (1/12)*p* ( (Wb-Wa)**3*H*(Lb/5 + La/20) + (Wb-Wa)**2*Wa*H(3*Lb/4 + La/4) + \
                                      (Wb-Wa)*Wa**2*H*(Lb + La/2) + Wa**3*H*(Lb/2 + La/2) )
 
-                    z2 = p*( Wb*Lb/5 + Wa*Lb/20 + La*Wb/20 + Wa*La*(8/15) )
+                    z2 = p*( Wb*Lb/5 + Wa*Lb/20 + La*Wb/20 + Wa*La*(1/30) ) * H**3
 
                     Ixx = y2+z2                                 # MoI around the local x-axis about the end node [kg-m^2]
                     Iyy = x2+z2                                 # MoI around the local y-axis about the end node [kg-m^2]
@@ -1002,7 +1002,8 @@ def getSectionProperties(self, station):
         '''Get member cross sectional area and moments of inertia at a user-
         specified location along the member.'''
 
-
+        A = 0
+        I = 0        
 
         return A, I
 

raft/raft_model.py

@@ -1434,8 +1434,8 @@ def preprocess_HAMS(self, dw=0, wMax=0, dz=0, da=0):
 
     def plot(self, ax=None, hideGrid=False, draw_body=True, color=None, nodes=0, 
              xbounds=None, ybounds=None, zbounds=None, plot_rotor=True, airfoils=False, 
-             station_plot=[], zorder=2, figsize=(6,4), plot_water=False, plot_soil=False):
-
+             station_plot=[], zorder=2, figsize=(6,4), plot_fowt=True, plot_ms=True, 
+             shadow=True, plot_water=False, plot_soil=False):
         '''plots the whole model, including FOWTs and mooring system...'''
 
         # for now, start the plot via the mooring system, since MoorPy doesn't yet know how to draw on other codes' plots
@@ -1462,8 +1462,8 @@ def plot(self, ax=None, hideGrid=False, draw_body=True, color=None, nodes=0,
         # plot each FOWT
         for fowt in self.fowtList:
             fowt.plot(ax, color=color, zorder=zorder, nodes=nodes, 
-                      plot_rotor=plot_rotor, station_plot=station_plot, 
-                      airfoils=airfoils)
+                    plot_rotor=plot_rotor, station_plot=station_plot, 
+                    airfoils=airfoils, plot_ms=plot_ms, plot_fowt=plot_fowt, shadow=shadow)
 
         set_axes_equal(ax)
 
@@ -2182,13 +2182,11 @@ def runRAFTFarm(input_file, plot=0):
     ### Run a Reference FOWT Model ###
     #model = runRAFT(os.path.join(raft_dir,'designs/OC3spar.yaml'), plot=1)
     #model = runRAFT(os.path.join(raft_dir,'designs/OC4semi.yaml'), plot=1)
-    model = runRAFT(os.path.join(raft_dir,'designs/VolturnUS-S.yaml'), plot=1)
+    #model = runRAFT(os.path.join(raft_dir,'designs/VolturnUS-S.yaml'), plot=1)
 
     ### Run a MHK Model ###
     #model = runRAFT(os.path.join(raft_dir,'designs/FOCTT_example.yaml'), plot=1)
-    #model = runRAFT(os.path.join(raft_dir,'designs/RM1_Floating.yaml'), plot=1)
-    #model = runRAFT(os.path.join(raft_dir,'designs/test2.yaml'), plot=1)
-    #model = runRAFT(os.path.join(raft_dir,'designs/test2.yaml'), plot=1)
+    model = runRAFT(os.path.join(raft_dir,'designs/RM1_Floating.yaml'), plot=1)
 
     ### Run a RAFT Farm Model ###
     #model = runRAFTFarm(os.path.join(raft_dir,'designs/VolturnUS-S_farm.yaml'), plot=1)

raft/raft_rotor.py

@@ -555,28 +555,30 @@ def calcHydroConstants(self, dgamma=0, rho=1025, g=9.81):
 
         # --- whole-rotor members approach ---
         for i,mem in enumerate(self.bladeMemberList):
-            # the input memberList is the rotor.bladeMemberList multiplied by nBlades (e.g. if len(rotor.bladeMemberList)=10, then this len(memberList)=30 for 3 blade rotor)
-            # adjust the heading/orientation of the each section of blade members by the corresponding heading in rotor.headings based on where in the list you are
-            j = i // int(len(self.bladeMemberList)/self.nBlades)     # i (from 0 to 30) // 10, which results in either j = 1, 2, or 3, for each blade heading
-
-            rOG = np.array([mem.rA0, mem.rB0])
-
-            # find the end nodes of the blade member about the global coordinates (e.g,, if rA_OG = [0,0,0] and rB_OG=[0,1,0], and heading=90, then rA=[0,0,0] and rB=[0,0,1])
-            rUpdated = self.getBladeMemberPositions(self.headings[j], rOG) # blade node coords relative to hub
-            mem.rA0 = rUpdated[0]
-            mem.rB0 = rUpdated[-1]
-
-            # apply a blade pitch angle to every blade member if applicable
-            mem.gamma = mem.gamma + dgamma
 
-            # run calcOrientation to ensure the p1 and p2 axes of the members are oriented the way they should be
-            mem.setPosition()
-
-            # compute hydro added mass and inertial excitation terms relative to hub
-            A_hydro_i, I_hydro_i = mem.calcHydroConstants(sum_inertia=True, rho=rho, g=g)
+            rOG = np.array([mem.rA0, mem.rB0])      # save the original position of the blade members
+
+            for theta in self.headings:             # for each blade member, repeat the process for each heading
+
+                # find the end nodes of the blade member about the global coordinates (e.g,, if rA_OG = [0,0,0] and rB_OG=[0,1,0], and heading=90, then rA=[0,0,0] and rB=[0,0,1])
+                rUpdated = self.getBladeMemberPositions(theta, rOG) # blade node coords relative to hub
+                mem.rA0 = rUpdated[0]
+                mem.rB0 = rUpdated[-1]
+
+                # apply a blade pitch angle to every blade member if applicable
+                mem.gamma = mem.gamma + dgamma
+
+                # run calcOrientation to ensure the p1 and p2 axes of the members are oriented the way they should be
+                mem.setPosition()
+
+                # compute hydro added mass and inertial excitation terms relative to hub
+                A_hydro_i, I_hydro_i = mem.calcHydroConstants(sum_inertia=True, rho=rho, g=g)
+
+                A_hydro += A_hydro_i 
+                I_hydro += I_hydro_i
 
-            A_hydro += A_hydro_i 
-            I_hydro += I_hydro_i 
+            mem.rA0 = rOG[0]    # reset end positions of each blade member after rotating
+            mem.rB0 = rOG[1]
 
         # --- save hydro matrices (these are in global orientations) ---
         self.A_hydro = A_hydro