ServoDyn: StC controls, and cable controls for MD and SD

docs/OtherSupporting/OpenFAST_Algorithms/OpenFAST_Algorithms.tex

@@ -197,7 +197,7 @@ \section{Input-Output Relationships}
       \State$\mathit{u\_IceF\_tmp}    \gets \Call{TransferMeshMotions}{y\_SD}$
       \State$\mathit{u\_IceD\_tmp(:)} \gets \Call{TransferMeshMotions}{y\_SD}$
       \State$\mathit{u\_HD\_tmp}      \gets \Call{TransferMeshMotions}{y\_ED,y\_SD}$
-      \State$\mathit{u\_SrvD\_tmp}    \gets \Call{TransferMeshMotions}{y\_ED,y\_SD}$\footnote{Only if using ServoDyn Structural control with platform TMD.}
+      \State$\mathit{u\_SrvD\_tmp}    \gets \Call{TransferMeshMotions}{y\_BD,y\_ED,y\_SD}$\footnote{Only if using ServoDyn Structural control.}
       \State$\mathit{u\_SD\_tmp}      \gets \!
             \begin{aligned}[t]
            & \Call{TransferMeshMotions}{\mathit{y\_ED}}  \\
@@ -215,7 +215,7 @@ \section{Input-Output Relationships}
                                       & \mathit{y\_SD},  \mathit{u\_SD\_tmp},  \\  
                                       & \mathit{y\_MAP}, \mathit{u\_MAP\_tmp}, \\ 
                                       & \mathit{y\_FEAM},\mathit{u\_FEAM\_tmp},\\
-                                      & \mathit{y\_SrvD},\mathit{u\_SrvD\_tmp}\footnote{Only if using ServoDyn Structural control with platform TMD.} )    % SrvD%PtfmStC only
+                                      & \mathit{y\_SrvD},\mathit{u\_SrvD\_tmp}\footnote{Only if using ServoDyn Structural control.} )    % SrvD%PtfmStC only
                      \end{aligned}$
 
       \State
@@ -267,7 +267,7 @@ \section{Input-Output Relationships}
    \State $\mathit{u\_FEAM}    \gets \Call{TransferMeshMotions}{\mathit{y\_ED}}$
    \State $\mathit{u\_IceF}    \gets \Call{TransferMeshMotions}{\mathit{y\_SD}}$
    \State $\mathit{u\_IceD(:)} \gets \Call{TransferMeshMotions}{\mathit{y\_SD}}$
-   \State $\mathit{u\_SrvD}    \gets \Call{TransferMeshMotions}{\mathit{y\_ED,y\_SD}}$\footnote{Only if using ServoDyn Structural control with platform TMD.}    % For SrvD%PtfmStC
+   \State $\mathit{u\_SrvD}    \gets \Call{TransferMeshMotions}{\mathit{y\_BD,y\_ED,y\_SD}}$\footnote{Only if using ServoDyn Structural control.}    % For SrvD%PtfmStC
 
 \EndProcedure
 \end{algorithmic}
@@ -352,7 +352,7 @@ \section{Solve Option 2 Improvements}
 \State $\mathit{y\_IfW} \gets \Call{IfW\_CalcOutput}{\mathit{u\_IfW}$ and other $\mathit{IfW}$ data structures$}$
 \State
 \State $\mathit{u\_AD}($InflowWind only$) \gets \Call{TransferOutputsToInputs}{\mathit{y\_IfW}}$
-\State $\mathit{u\_SrvD} \gets \Call{TransferOutputsToInputs}{\mathit{y\_ED},\mathit{y\_BD},\mathit{y\_IfW}}$
+\State $\mathit{u\_SrvD} \gets \Call{TransferOutputsToInputs}{\mathit{y\_BD},\mathit{y\_ED},\mathit{y\_IfW},\mathit{y\_SD}}$
 \State $\Call{AD\_UpdateStates}{\mathit{p\_AD},\mathit{u\_AD},\mathit{x\_AD},\mathit{xd\_AD},\mathit{z\_AD}}$
 \State $\Call{SrvD\_UpdateStates}{\mathit{p\_SrvD},\mathit{u\_SrvD},\mathit{x\_SrvD},\mathit{xd\_SrvD},\mathit{z\_SrvD}}$
 \State

docs/source/user/api_change.rst

@@ -18,6 +18,13 @@ Added in OpenFAST dev
 ---------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------
 Module                                        Line  Flag Name        Example Value
 ============================================= ==== =============== ========================================================================================================================================================================================================
+ServoDyn                                      60   AeroControlSec  ---------------------- AERODYNAMIC FLOW CONTROL --------------------------------
+ServoDyn                                      61   AfCmode         0             AfCmode      - Airfoil control mode {0: none, 1: cosine wave cycle, 4: user-defined from Simulink/Labview, 5: user-defined from Bladed-style DLL} (switch)
+ServoDyn                                      61   AfC_Mean        0             AfC_Mean     - Mean level for cosine cycling or steady value (-) [used only with AfCmode==1]
+ServoDyn                                      61   AfC_Amp         0             AfC_Amp      - Amplitude for for cosine cycling of flap signal (-) [used only with AfCmode==1]
+ServoDyn                                      61   AfC_Phase       0             AfC_Phase    - Phase relative to the blade azimuth (0 is vertical) for for cosine cycling of flap signal (deg) [used only with AfCmode==1]
+ServoDyn                                      74   CablesSection   ---------------------- CABLE CONTROL -------------------------------------------
+ServoDyn                                      75   CCmode          0             CCmode       - Cable control mode {0: none, 4: user-defined from Simulink/Labview, 5: user-defined from Bladed-style DLL} (switch)
 HydroDyn driver                               6    WtrDens         1025       WtrDens           - Water density (kg/m^3)
 HydroDyn driver                               7    WtrDpth         200        WtrDpth           - Water depth (m)
 HydroDyn driver                               8    MSL2SWL         0          MSL2SWL           - Offset between still-water level and mean sea level (m) [positive upward]

docs/source/user/servodyn-stc/ExampleFiles/NRELOffshrBsline5MW_StC.dat

@@ -15,6 +15,7 @@ FALSE         StC_Z_DOF    - DOF on or off for StC Z (flag) [Used only when StC_
           1   StC_X_DSP    - StC X initial displacement (m) [relative to at rest position]
           1   StC_Y_DSP    - StC Y initial displacement (m) [relative to at rest position]
           0   StC_Z_DSP    - StC Z initial displacement (m) [relative to at rest position; used only when StC_DOF_MODE=1 and StC_Z_DOF=TRUE]
+"none"        StC_Z_PreLd  - StC Z pre-load (N) {"gravity" to offset for gravity load; "none" or 0 to turn off} [used only when StC_DOF_MODE=1 and StC_Z_DOF=TRUE]
 ---------------------- StC CONFIGURATION -------------------------------------- [used only when StC_DOF_MODE=1 or 2]
          10   StC_X_PSP    - Positive stop position (maximum X mass displacement) (m)
         -10   StC_X_NSP    - Negative stop position (minimum X mass displacement) (m)
@@ -63,7 +64,8 @@ False         Use_F_TBL    - Use spring force from user-defined table (flag)
  5.0000000E+00   2.4000000E+06   5.0000000E+00   2.4000000E+06   5.0000000E+00   2.4000000E+06
  6.0000000E+00   4.8000000E+06   6.0000000E+00   4.8000000E+06   6.0000000E+00   4.8000000E+06
 ---------------------- StructCtrl CONTROL -------------------------------------------- [used only when StC_DOF_MODE=1 or 2]
-          0   StC_CMODE     - Control mode (switch) {0:none; 1: Semi-Active Control Mode; 2: Active Control Mode}
+          0   StC_CMODE     - Control mode (switch) {0:none; 1: Semi-Active Control Mode; 4: Active Control Mode through Simulink (not available); 5: Active Control Mode through Bladed interface}
+          0   StC_CChan     - Control channel group (1:10) for stiffness and damping (StC_[XYZ]_K, StC_[XYZ]_C, and StC_[XYZ]_Brake) (specify additional channels for blade instances of StC active control -- one channel per blade) [used only when StC_DOF_MODE=1 or 2, and StC_CMODE=4 or 5]
           1   StC_SA_MODE   - Semi-Active control mode {1: velocity-based ground hook control; 2: Inverse velocity-based ground hook control; 3: displacement-based ground hook control 4: Phase difference Algorithm with Friction Force 5: Phase difference Algorithm with Damping Force} (-)
           0   StC_X_C_HIGH  - StC X high damping for ground hook control
           0   StC_X_C_LOW   - StC X low damping for ground hook control
@@ -88,7 +90,7 @@ False         Use_F_TBL    - Use spring force from user-defined table (flag)
      0.6433   headLossCoeff_Y - Y TLCD head loss coeff (-)
        1000   rho_Y           - Y TLCD liquid density (kg/m^3)
 ---------------------- PRESCRIBED TIME SERIES --------------------------------- [used only when StC_DOF_MODE=4]
-          0   PrescribedForcesCoord- Prescribed forces are in global or local coordinates (switch) {1: global; 2: local}
+          1   PrescribedForcesCoord- Prescribed forces are in global or local coordinates (switch) {1: global; 2: local}
 "TimeForceSeries.dat"  PrescribedForcesFile   - Time series force and moment (7 columns of time, FX, FY, FZ, MX, MY, MZ)
 -------------------------------------------------------------------------------