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Merged
andrew-platt merged 11 commits into from
Feb 28, 2025
Merged

MoorDyn: VIV and Rk4 #2650

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b3c13d2
MD: RK4 in MoorDyn. Tested by hardcoding default to RK4 and running r…
RyanDavies19 Feb 11, 2025
1f5936a
MD: cleaned up spacing, commented out timestep function, added dynami…
RyanDavies19 Feb 13, 2025
96fd04a
MD: removed forgotten print statement
RyanDavies19 Feb 13, 2025
3201d74
MD: VIV attempt 1, broken
RyanDavies19 Feb 24, 2025
fd0b36b
MD: VIV working, verified against MD-C
RyanDavies19 Feb 24, 2025
fdd47fc
MD: VIV for internal nodes only, removing print statements
RyanDavies19 Feb 25, 2025
20bbb03
MD: update OpenfAST_io for VIV
RyanDavies19 Feb 25, 2025
1c883b5
MD: Code clean up
RyanDavies19 Feb 25, 2025
df78329
Merge remote-tracking branch 'upstream/dev' into MD_RK4
RyanDavies19 Feb 27, 2025
1f3e89a
MD: Error check to prevent viv or visco with linearized MD
RyanDavies19 Feb 27, 2025
02f07ec
MD: initialize unused VIV things to zero
RyanDavies19 Feb 27, 2025
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408 changes: 292 additions & 116 deletions modules/moordyn/src/MoorDyn.f90
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50 changes: 34 additions & 16 deletions modules/moordyn/src/MoorDyn_IO.f90
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Original file line number Diff line number Diff line change
Expand Up @@ -785,8 +785,8 @@ SUBROUTINE MDIO_ProcessOutList(OutList, p, m, y, InitOut, ErrStat, ErrMsg )


! calculate number of output entries (excluding time) to write for this line
LineNumOuts = 3*(m%LineList(I)%N + 1)*SUM(m%LineList(I)%OutFlagList(2:6)) &
+ (m%LineList(I)%N + 1)*SUM(m%LineList(I)%OutFlagList(7:9)) &
LineNumOuts = 3*(m%LineList(I)%N + 1)*SUM(m%LineList(I)%OutFlagList(2:7)) &
+ (m%LineList(I)%N + 1)*SUM(m%LineList(I)%OutFlagList(8:9)) &
+ m%LineList(I)%N*SUM(m%LineList(I)%OutFlagList(10:18))

ALLOCATE(m%LineList(I)%LineWrOutput( 1 + LineNumOuts), STAT = ErrStat)
Expand Down Expand Up @@ -934,8 +934,8 @@ SUBROUTINE MDIO_OpenOutput( MD_ProgDesc, p, m, InitOut, ErrStat, ErrMsg )


! calculate number of output entries (excluding time) to write for this line
LineNumOuts = 3*(m%LineList(I)%N + 1)*SUM(m%LineList(I)%OutFlagList(2:6)) &
+ (m%LineList(I)%N + 1)*SUM(m%LineList(I)%OutFlagList(7:9)) &
LineNumOuts = 3*(m%LineList(I)%N + 1)*SUM(m%LineList(I)%OutFlagList(2:7)) &
+ (m%LineList(I)%N + 1)*SUM(m%LineList(I)%OutFlagList(8:9)) &
+ m%LineList(I)%N*SUM(m%LineList(I)%OutFlagList(10:18))

if (wordy > 2) PRINT *, LineNumOuts, " output channels"
Expand Down Expand Up @@ -966,12 +966,17 @@ SUBROUTINE MDIO_OpenOutput( MD_ProgDesc, p, m, InitOut, ErrStat, ErrMsg )
WRITE(m%LineList(I)%LineUnOut,'('//TRIM(Int2LStr((3+3*m%LineList(I)%N)))//'(A1,A15))', advance='no', IOSTAT=ErrStat2) &
( p%Delim, 'Node'//TRIM(Int2Lstr(J))//'bx', p%Delim, 'Node'//TRIM(Int2Lstr(J))//'by', p%Delim, 'Node'//TRIM(Int2Lstr(J))//'bz', J=0,(m%LineList(I)%N) )
END IF

IF (m%LineList(I)%OutFlagList(7) == 1) THEN
WRITE(m%LineList(I)%LineUnOut,'('//TRIM(Int2LStr((3+3*m%LineList(I)%N)))//'(A1,A15))', advance='no', IOSTAT=ErrStat2) &
( p%Delim, 'Node'//TRIM(Int2Lstr(J))//'Vx', p%Delim, 'Node'//TRIM(Int2Lstr(J))//'Vy', p%Delim, 'Node'//TRIM(Int2Lstr(J))//'Vz', J=0,(m%LineList(I)%N) ) ! TODO adjust these when force to internal nodes
END IF

IF (m%LineList(I)%OutFlagList(8) == 1) THEN
WRITE(m%LineList(I)%LineUnOut,'('//TRIM(Int2LStr((m%LineList(I)%N)))//'(A1,A15))', advance='no', IOSTAT=ErrStat2) &
( p%Delim, 'Node'//TRIM(Int2Lstr(J))//'Wz', J=0,(m%LineList(I)%N) )
END IF
IF (m%LineList(I)%OutFlagList(8) == 1) THEN
IF (m%LineList(I)%OutFlagList(9) == 1) THEN
WRITE(m%LineList(I)%LineUnOut,'('//TRIM(Int2LStr((m%LineList(I)%N)))//'(A1,A15))', advance='no', IOSTAT=ErrStat2) &
( p%Delim, 'Node'//TRIM(Int2Lstr(J))//'Kurv', J=0,(m%LineList(I)%N) )
END IF
Expand Down Expand Up @@ -1023,12 +1028,16 @@ SUBROUTINE MDIO_OpenOutput( MD_ProgDesc, p, m, InitOut, ErrStat, ErrMsg )
WRITE(m%LineList(I)%LineUnOut,'('//TRIM(Int2LStr((3+3*m%LineList(I)%N)))//'(A1,A15))', advance='no', IOSTAT=ErrStat2) &
( p%Delim, '(N)', p%Delim, '(N)', p%Delim, '(N)', J=0,(m%LineList(I)%N) )
END IF

IF (m%LineList(I)%OutFlagList(7) == 1) THEN
WRITE(m%LineList(I)%LineUnOut,'('//TRIM(Int2LStr((3+3*m%LineList(I)%N)))//'(A1,A15))', advance='no', IOSTAT=ErrStat2) &
( p%Delim, '(N)', p%Delim, '(N)', p%Delim, '(N)', J=0,(m%LineList(I)%N) )
END IF

IF (m%LineList(I)%OutFlagList(8) == 1) THEN
WRITE(m%LineList(I)%LineUnOut,'('//TRIM(Int2LStr((m%LineList(I)%N)))//'(A1,A15))', advance='no', IOSTAT=ErrStat2) &
( p%Delim, '(Nup)', J=0,(m%LineList(I)%N) )
END IF
IF (m%LineList(I)%OutFlagList(8) == 1) THEN
IF (m%LineList(I)%OutFlagList(9) == 1) THEN
WRITE(m%LineList(I)%LineUnOut,'('//TRIM(Int2LStr((m%LineList(I)%N)))//'(A1,A15))', advance='no', IOSTAT=ErrStat2) &
( p%Delim, '(1/m)', J=0,(m%LineList(I)%N) )
END IF
Expand Down Expand Up @@ -1669,22 +1678,31 @@ SUBROUTINE MDIO_WriteOutputs( Time, p, m, y, ErrStat, ErrMsg )
END DO
END IF

! Node VIV force
IF (m%LineList(I)%OutFlagList(7) == 1) THEN
DO J = 0,m%LineList(I)%N
DO K = 1,3
m%LineList(I)%LineWrOutput(L) = m%LineList(I)%Lf(K,J)
L = L+1
END DO
END DO
END IF

! Node weights
IF (m%LineList(I)%OutFlagList(7) == 1) THEN
IF (m%LineList(I)%OutFlagList(8) == 1) THEN
DO J = 0,m%LineList(I)%N
m%LineList(I)%LineWrOutput(L) = m%LineList(I)%W(3,J)
L = L+1
END DO
END IF

! ! Node curvatures
! IF (m%LineList(I)%OutFlagList(8) == 1) THEN
! DO J = 0,m%LineList(I)%N
! m%LineList(I)%LineWrOutput(L) = m%LineList(I)%W(3,J)
! L = L+1
! END DO
! END IF
! Node curvatures
IF (m%LineList(I)%OutFlagList(9) == 1) THEN
DO J = 0,m%LineList(I)%N
m%LineList(I)%LineWrOutput(L) = m%LineList(I)%Kurv(J)
L = L+1
END DO
END IF


! Segment tension force (excludes damping term, just EA)
Expand Down
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