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ServoDyn and glue code bug fixes #46

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5 commits merged into from
Sep 14, 2017
Merged

ServoDyn and glue code bug fixes #46

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2d1886b
Merge remote-tracking branch 'OpenFAST-upstream/dev' into dev
bjonkman Jun 27, 2017
b12f409
Merge remote-tracking branch 'OpenFAST-upstream/dev' into dev
bjonkman Sep 7, 2017
cbcb8e7
Merge remote-tracking branch 'OpenFAST-upstream/dev' into dev
bjonkman Sep 13, 2017
a856909
SrvD: replaced y_prev with y in calls to update SrvD inputs
bjonkman Sep 13, 2017
0c6977f
Moved check on valid HSS brake in FAST_InitializeAll
bjonkman Sep 13, 2017
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1 change: 0 additions & 1 deletion modules-local/fast-library/src/FAST_Registry.txt
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Expand Up @@ -245,7 +245,6 @@ typedef ^ ^ SrvD_OutputType y - - - "System outputs"
typedef ^ ^ SrvD_MiscVarType m - - - "Misc (optimization) variables not associated with time"
typedef ^ ^ SrvD_InputType Input {:} - - "Array of inputs associated with InputTimes"
typedef ^ ^ DbKi InputTimes {:} - - "Array of times associated with Input Array"
typedef ^ ^ SrvD_OutputType y_prev - - - "previous outputs; a hack because this basically makes them states. Used in BladedDLL"

# ..... AeroDyn14 data .......................................................................................................
typedef FAST AeroDyn14_Data AD14_ContinuousStateType x {2} - - "Continuous states"
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4 changes: 2 additions & 2 deletions modules-local/fast-library/src/FAST_Solver.f90
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Expand Up @@ -4471,7 +4471,7 @@ SUBROUTINE CalcOutputs_And_SolveForInputs( n_t_global, this_time, this_state, ca


IF ( p_FAST%CompServo == Module_SrvD ) THEN
CALL SrvD_InputSolve( p_FAST, m_FAST, SrvD%Input(1), ED%Output(1), IfW%y, OpFM%y, BD%y, MeshmapData, ErrStat2, ErrMsg2 ) ! At initialization, we don't have a previous value, so we'll use the guess inputs instead. note that this violates the framework.... (done for the Bladed DLL)
CALL SrvD_InputSolve( p_FAST, m_FAST, SrvD%Input(1), ED%Output(1), IfW%y, OpFM%y, BD%y, MeshmapData, ErrStat2, ErrMsg2, SrvD%y ) ! At initialization, we don't have a previous value, so we'll use the guess inputs instead. note that this violates the framework.... (done for the Bladed DLL)
CALL SetErrStat( ErrStat2, ErrMsg2, ErrStat, ErrMsg, RoutineName )
END IF

Expand Down Expand Up @@ -4790,7 +4790,7 @@ SUBROUTINE SolveOption2(this_time, this_state, p_FAST, m_FAST, ED, BD, AD14, AD,
IF ( firstCall ) THEN
CALL SrvD_InputSolve( p_FAST, m_FAST, SrvD%Input(1), ED%Output(1), IfW%y, OpFM%y, BD%y, MeshMapData, ErrStat2, ErrMsg2 ) ! At initialization, we don't have a previous value, so we'll use the guess inputs instead. note that this violates the framework.... (done for the Bladed DLL)
ELSE
CALL SrvD_InputSolve( p_FAST, m_FAST, SrvD%Input(1), ED%Output(1), IfW%y, OpFM%y, BD%y, MeshMapData, ErrStat2, ErrMsg2, SrvD%y_prev )
CALL SrvD_InputSolve( p_FAST, m_FAST, SrvD%Input(1), ED%Output(1), IfW%y, OpFM%y, BD%y, MeshMapData, ErrStat2, ErrMsg2, SrvD%y ) ! note that this uses the outputs from the previous step, violating the framework for the Bladed DLL (if SrvD%y is used in another way, this will need to be changed)
END IF
CALL SetErrStat( ErrStat2, ErrMsg2, ErrStat, ErrMsg, RoutineName )

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56 changes: 22 additions & 34 deletions modules-local/fast-library/src/FAST_Subs.f90
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Expand Up @@ -621,29 +621,6 @@ SUBROUTINE FAST_InitializeAll( t_initial, p_FAST, y_FAST, m_FAST, ED, BD, SrvD,
RETURN
END IF

! ........................
! some checks for AeroDyn inputs with the high-speed shaft brake hack in ElastoDyn:
! (DO NOT COPY THIS CODE!)
! ........................
IF ( p_FAST%CompServo == Module_SrvD ) THEN

! bjj: this is a hack to get high-speed shaft braking in FAST v8

IF ( InitOutData_SrvD%UseHSSBrake ) THEN
IF ( p_FAST%CompAero == Module_AD14 ) THEN
IF ( AD14%p%DYNINFL ) THEN
CALL SetErrStat(ErrID_Fatal,'AeroDyn v14 "DYNINFL" InfModel is invalid for models with high-speed shaft braking.',ErrStat,ErrMsg,RoutineName)
END IF
END IF


IF ( ED%p%method == 1 ) THEN ! bjj: should be using ElastoDyn's Method_ABM4 Method_AB4 parameters
CALL SetErrStat(ErrID_Fatal,'ElastoDyn must use the AB4 or ABM4 integration method to implement high-speed shaft braking.',ErrStat,ErrMsg,RoutineName)
END IF
END IF

END IF

! ........................
! some checks for AeroDyn14's Dynamic Inflow with Mean Wind Speed from InflowWind:
! (DO NOT COPY THIS CODE!)
Expand Down Expand Up @@ -704,10 +681,7 @@ SUBROUTINE FAST_InitializeAll( t_initial, p_FAST, y_FAST, m_FAST, ED, BD, SrvD,
CALL SetModuleSubstepTime(Module_SrvD, p_FAST, y_FAST, ErrStat2, ErrMsg2)
CALL SetErrStat(ErrStat2,ErrMsg2,ErrStat,ErrMsg,RoutineName)

!! initialize y%ElecPwr and y%GenTq because they are one timestep different (used as input for the next step)
!!bjj: perhaps this will require some better thought so that these two fields of y_SrvD_prev don't get set here in the glue code
!CALL SrvD_CopyOutput( SrvD%y, SrvD%y_prev, MESH_NEWCOPY, ErrStat, ErrMsg)
!
!! initialize SrvD%y%ElecPwr and SrvD%y%GenTq because they are one timestep different (used as input for the next step)

if (allocated(InitOutData_SrvD%LinNames_y)) call move_alloc(InitOutData_SrvD%LinNames_y,y_FAST%Lin%Modules(MODULE_SrvD)%Names_y )
if (allocated(InitOutData_SrvD%LinNames_u)) call move_alloc(InitOutData_SrvD%LinNames_u,y_FAST%Lin%Modules(MODULE_SrvD)%Names_u )
Expand All @@ -718,6 +692,27 @@ SUBROUTINE FAST_InitializeAll( t_initial, p_FAST, y_FAST, m_FAST, ED, BD, SrvD,
CALL Cleanup()
RETURN
END IF

! ........................
! some checks for AeroDyn inputs with the high-speed shaft brake hack in ElastoDyn:
! (DO NOT COPY THIS CODE!)
! ........................
! bjj: this is a hack to get high-speed shaft braking in FAST v8

IF ( InitOutData_SrvD%UseHSSBrake ) THEN
IF ( p_FAST%CompAero == Module_AD14 ) THEN
IF ( AD14%p%DYNINFL ) THEN
CALL SetErrStat(ErrID_Fatal,'AeroDyn v14 "DYNINFL" InfModel is invalid for models with high-speed shaft braking.',ErrStat,ErrMsg,RoutineName)
END IF
END IF


IF ( ED%p%method == 1 ) THEN ! bjj: should be using ElastoDyn's Method_RK4 parameter
CALL SetErrStat(ErrID_Fatal,'ElastoDyn must use the AB4 or ABM4 integration method to implement high-speed shaft braking.',ErrStat,ErrMsg,RoutineName)
END IF
END IF


END IF

! ........................
Expand Down Expand Up @@ -4231,13 +4226,6 @@ SUBROUTINE FAST_InitIOarrays( t_initial, p_FAST, y_FAST, m_FAST, ED, BD, SrvD, A
END IF ! CompIce


! ServoDyn: copy current outputs to store as previous outputs for next step
!bjj: @todo: FIX ME (note that copying SrvD outputs here is a violation of the framework as this is basically a state,
! but it's only used for the GH-Bladed DLL, which itself violates the framework....
CALL SrvD_CopyOutput ( SrvD%y, SrvD%y_prev, MESH_NEWCOPY, ErrStat2, ErrMsg2)
CALL SetErrStat( Errstat2, ErrMsg2, ErrStat, ErrMsg, RoutineName )


END SUBROUTINE FAST_InitIOarrays
!----------------------------------------------------------------------------------------------------------------------------------
!> Routine that calls FAST_Solution for one instance of a Turbine data structure. This is a separate subroutine so that the FAST
Expand Down