Merge pull request #117 from WISDEM/update_wisdem

Update wisdem

WISDEM/README.md

@@ -1,6 +1,6 @@
 # WISDEM®
 
-[![Build Status](https://travis-ci.com/WISDEM/WISDEM.svg?branch=develop)](https://travis-ci.com/WISDEM/WISDEM)
+[![Actions Status](https://github.com/WISDEM/WISDEM/workflows/CI_WISDEM/badge.svg?branch=develop)](https://github.com/WISDEM/WISDEM/actions)
 [![Coverage Status](https://coveralls.io/repos/github/WISDEM/WISDEM/badge.svg?branch=develop)](https://coveralls.io/github/WISDEM/WISDEM?branch=develop)
 [![Documentation Status](https://readthedocs.org/projects/wisdem/badge/?version=master)](https://wisdem.readthedocs.io/en/master/?badge=master)
 

WISDEM/examples/09_floating/IEA-15-240-RWT_VolturnUS-S.yaml

@@ -729,21 +729,15 @@ components:
         line_types:
             - name: main
               diameter: 0.185
-              mass_density: 685.0
-              stiffness: 3270e6
-              breaking_load: 1e8
-              cost: 100.0
+              type: chain
               transverse_added_mass: 1.0
               tangential_added_mass: 0.0
               transverse_drag: 1.6
               tangential_drag: 0.1
 
         anchor_types:
             - name: drag_embedment
-              mass: 1e3
-              cost: 1e4
-              max_vertical_load: 0.0
-              max_lateral_load: 1e5
+              type: drag_embedment
 
 airfoils:
    -  name: circular
@@ -1135,7 +1129,7 @@ environment:
     water_dyn_viscosity: 1.3351e-3
     soil_shear_modulus: 140e6
     soil_poisson: 0.4
-    water_depth: 30.0
+    water_depth: 200.0
     significant_wave_height: 4.52
     significant_wave_period: 9.45
 

WISDEM/examples/09_floating/nrel5mw-semi_oc4.yaml

@@ -634,21 +634,15 @@ components:
         line_types:
             - name: main
               diameter: 0.0766
-              mass_density: 113.35
-              stiffness: 7.536e8
-              breaking_load: 1e8
-              cost: 100.0
+              type: chain
               transverse_added_mass: 0.8
               tangential_added_mass: 0.25
               transverse_drag: 2.0
               tangential_drag: 0.4
 
         anchor_types:
             - name: drag_embedment
-              mass: 1e3
-              cost: 1e4
-              max_vertical_load: 0.0
-              max_lateral_load: 1e5
+              type: drag_embedment
 
 airfoils:
    -  aerodynamic_center: 0.275

WISDEM/examples/09_floating/nrel5mw-spar_oc3.yaml

@@ -405,21 +405,15 @@ components:
         line_types:
             - name: main
               diameter: 0.09
-              mass_density: 77.7066
-              stiffness: 384.243e6
-              breaking_load: 1e8
-              cost: 100.0
+              type: chain
               transverse_added_mass: 1.0
               tangential_added_mass: 0.0
               transverse_drag: 1.6
               tangential_drag: 0.1
 
         anchor_types:
             - name: drag_embedment
-              mass: 1e3
-              cost: 1e4
-              max_vertical_load: 0.0
-              max_lateral_load: 1e5
+              type: drag_embedment
 
 airfoils:
    -  aerodynamic_center: 0.275
@@ -709,11 +703,14 @@ control:
         maxOmega: 1.26711
     pitch:
         PC_zeta: 0.7                      # Pitch controller desired damping ratio [-]
-        PC_omega: 0.5                     # Pitch controller desired natural frequency [rad/s]
-        ps_percent: 0.8                   # Percent peak shaving  [%, <= 1 ], {default = 80%}
+        PC_omega: 0.35                     # Pitch controller desired natural frequency [rad/s]
+        ps_percent: 0.9                   # Percent peak shaving  [%, <= 1 ], {default = 80%}
         max_pitch: 1.57                     # Maximum pitch angle [rad], {default = 90 degrees}
         max_pitch_rate: 0.1745
         min_pitch: 0                      # Minimum pitch angle [rad], {default = 0 degrees}
+        fl_feedback:
+            twr_freq: 100                     # Frequency of notch in floating feedback (F_NotchCornerFreq)
+            ptfm_freq: .2                     # Frequency of LPF in floating feedback (F_FlCornerFreq)
     torque:
         control_type: tsr_tracking
         tsr: 7.01754386
@@ -738,8 +735,8 @@ environment:
     water_density: 1025.0
     water_dyn_viscosity: 1.3351e-3
     water_depth: 320.0
-    significant_wave_height: 9.14
-    significant_wave_period: 13.6
+    significant_wave_height: 6.0
+    significant_wave_period: 10.0
     soil_shear_modulus: 140.e+6
     soil_poisson: 0.4
 

WISDEM/examples/09_floating/tlp_example.py

@@ -41,6 +41,8 @@
 opt["mooring"] = {}
 opt["mooring"]["n_attach"] = 3
 opt["mooring"]["n_anchors"] = 3
+opt["mooring"]["line_anchor"] = ["custom"] * 3
+opt["mooring"]["line_material"] = ["custom"] * 3
 opt["materials"] = {}
 opt["materials"]["n_mat"] = 2
 

WISDEM/wisdem/commonse/frustum.py

@@ -34,7 +34,7 @@ def frustum(Db, Dt, H):
     return vol, cm
 
 
-def frustumVol(rb, rt, h, diamFlag=False):
+def frustumVol(rb_0, rt_0, h, diamFlag=False):
     """This function returns a frustum's volume with radii or diameter inputs.
 
     INPUTS:
@@ -51,12 +51,13 @@ def frustumVol(rb, rt, h, diamFlag=False):
     """
     if diamFlag:
         # Convert diameters to radii
-        rb *= 0.5
-        rt *= 0.5
+        rb, rt = 0.5 * rb_0, 0.5 * rt_0
+    else:
+        rb, rt = rb_0, rt_0
     return np.pi * (h / 3.0) * (rb * rb + rt * rt + rb * rt)
 
 
-def frustumCG(rb, rt, h, diamFlag=False):
+def frustumCG(rb_0, rt_0, h, diamFlag=False):
     """This function returns a frustum's center of mass/gravity (centroid) with radii or diameter inputs.
     NOTE: This is for a SOLID frustum, not a shell
 
@@ -74,12 +75,13 @@ def frustumCG(rb, rt, h, diamFlag=False):
     """
     if diamFlag:
         # Convert diameters to radii
-        rb *= 0.5
-        rt *= 0.5
+        rb, rt = 0.5 * rb_0, 0.5 * rt_0
+    else:
+        rb, rt = rb_0, rt_0
     return 0.25 * h * (rb ** 2 + 2.0 * rb * rt + 3.0 * rt ** 2) / (rb ** 2 + rb * rt + rt ** 2)
 
 
-def frustumIzz(rb, rt, h, diamFlag=False):
+def frustumIzz(rb_0, rt_0, h, diamFlag=False):
     """This function returns a frustum's mass-moment of inertia (divided by density) about the
     central (axial) z-axis with radii or diameter inputs.
     NOTE: This is for a SOLID frustum, not a shell
@@ -98,15 +100,16 @@ def frustumIzz(rb, rt, h, diamFlag=False):
     """
     if diamFlag:
         # Convert diameters to radii
-        rb *= 0.5
-        rt *= 0.5
+        rb, rt = 0.5 * rb_0, 0.5 * rt_0
+    else:
+        rb, rt = rb_0, rt_0
     # Integrate 2*pi*r*r^2 dr dz from r=0 to r(z), z=0 to h
     # Also equals 0.3*Vol * (rt**5.0 - rb**5.0) / (rt**3.0 - rb**3.0)
     # Also equals (0.1*np.pi*h * (rt**5.0 - rb**5.0) / (rt - rb) )
     return 0.1 * np.pi * h * (rt ** 4.0 + rb * rt ** 3 + rb ** 2 * rt ** 2 + rb ** 3 * rt + rb ** 4.0)
 
 
-def frustumIxx(rb, rt, h, diamFlag=False):
+def frustumIxx(rb_0, rt_0, h, diamFlag=False):
     """This function returns a frustum's mass-moment of inertia (divided by density) about the
     transverse x/y-axis passing through the center of mass with radii or diameter inputs.
     NOTE: This is for a SOLID frustum, not a shell
@@ -125,10 +128,11 @@ def frustumIxx(rb, rt, h, diamFlag=False):
     """
     if diamFlag:
         # Convert diameters to radii
-        rb *= 0.5
-        rt *= 0.5
+        rb, rt = 0.5 * rb_0, 0.5 * rt_0
+    else:
+        rb, rt = rb_0, rt_0
     # Integrate pi*r(z)^4/4 + pi*r(z)^2*(z-z_cg)^2 dz from z=0 to h
-    A = 0.5 * frustumIzz(rb, rt, h)
+    A = 0.5 * frustumIzz(rb_0, rt_0, h)
     B = (
         np.pi
         * h ** 3
@@ -141,7 +145,7 @@ def frustumIxx(rb, rt, h, diamFlag=False):
     return A + B
 
 
-def frustumShellVol(rb, rt, t, h, diamFlag=False):
+def frustumShellVol(rb_0, rt_0, t, h, diamFlag=False):
     """This function returns a frustum shell's volume (for computing mass with density) with radii or diameter inputs.
     NOTE: This is for a frustum SHELL, not a solid
 
@@ -160,8 +164,9 @@ def frustumShellVol(rb, rt, t, h, diamFlag=False):
     """
     if diamFlag:
         # Convert diameters to radii
-        rb *= 0.5
-        rt *= 0.5
+        rb, rt = 0.5 * rb_0, 0.5 * rt_0
+    else:
+        rb, rt = rb_0, rt_0
     # Integrate 2*pi*r*dr*dz from r=ri(z) to ro(z), z=0 to h
     rb_o = rb
     rb_i = rb - t
@@ -171,7 +176,7 @@ def frustumShellVol(rb, rt, t, h, diamFlag=False):
     return frustumVol(rb_o, rt_o, h) - frustumVol(rb_i, rt_i, h)
 
 
-def frustumShellCG(rb, rt, t, h, diamFlag=False):
+def frustumShellCG(rb_0, rt_0, t, h, diamFlag=False):
     """This function returns a frustum's center of mass/gravity (centroid) with radii or diameter inputs.
     NOTE: This is for a frustum SHELL, not a solid
 
@@ -190,8 +195,9 @@ def frustumShellCG(rb, rt, t, h, diamFlag=False):
     """
     if diamFlag:
         # Convert diameters to radii
-        rb *= 0.5
-        rt *= 0.5
+        rb, rt = 0.5 * rb_0, 0.5 * rt_0
+    else:
+        rb, rt = rb_0, rt_0
     # Integrate 2*pi*r*z*dr*dz/V from r=ri(z) to ro(z), z=0 to h
     rb_o = rb
     rb_i = rb - t
@@ -202,7 +208,7 @@ def frustumShellCG(rb, rt, t, h, diamFlag=False):
     return h * A / 4.0 / B
 
 
-def frustumShellIzz(rb, rt, t, h, diamFlag=False):
+def frustumShellIzz(rb_0, rt_0, t, h, diamFlag=False):
     """This function returns a frustum's mass-moment of inertia (divided by density) about the
     central (axial) z-axis with radii or diameter inputs.
     NOTE: This is for a frustum SHELL, not a solid
@@ -222,8 +228,9 @@ def frustumShellIzz(rb, rt, t, h, diamFlag=False):
     """
     if diamFlag:
         # Convert diameters to radii
-        rb *= 0.5
-        rt *= 0.5
+        rb, rt = 0.5 * rb_0, 0.5 * rt_0
+    else:
+        rb, rt = rb_0, rt_0
     # Integrate 2*pi*r*dr*dz from r=ri(z) to ro(z), z=0 to h
     rb_o = rb
     rb_i = rb - t
@@ -232,7 +239,7 @@ def frustumShellIzz(rb, rt, t, h, diamFlag=False):
     return frustumIzz(rb_o, rt_o, h) - frustumIzz(rb_i, rt_i, h)
 
 
-def frustumShellIxx(rb, rt, t, h, diamFlag=False):
+def frustumShellIxx(rb_0, rt_0, t, h, diamFlag=False):
     """This function returns a frustum's mass-moment of inertia (divided by density) about the
     transverse x/y-axis passing through the center of mass with radii or diameter inputs.
     NOTE: This is for a frustum SHELL, not a solid
@@ -252,8 +259,9 @@ def frustumShellIxx(rb, rt, t, h, diamFlag=False):
     """
     if diamFlag:
         # Convert diameters to radii
-        rb *= 0.5
-        rt *= 0.5
+        rb, rt = 0.5 * rb_0, 0.5 * rt_0
+    else:
+        rb, rt = rb_0, rt_0
     # Integrate 2*pi*r*dr*dz from r=ri(z) to ro(z), z=0 to h
     rb_o = rb
     rb_i = rb - t

WISDEM/wisdem/commonse/utilities.py

@@ -30,12 +30,14 @@ def get_modal_coefficients(x, y, deg=[2, 3, 4, 5, 6]):
         # p6 = np.zeros((5, y.shape[1]))
         # for k in range(y.shape[1]):
         #    p6[:, k], _ = curve_fit(mode_fit, xn, y[:, k])
-        normval = np.maximum(p6.sum(axis=0), 1e-6)
+        # The normalization shouldn't be less than 1e-5 otherwise OpenFAST has trouble in single prec
+        normval = np.maximum(np.sum(p6, axis=0), 1e-5)
         p6 /= normval[np.newaxis, :]
     else:
         p6 = p6[2:]
-        # p6, _ = curve_fit(mode_fit, xn, y)
-        p6 /= p6.sum()
+        # The normalization shouldn't be less than 1e-5 otherwise OpenFAST has trouble in single prec
+        normval = np.maximum(p6.sum(), 1e-5)
+        p6 /= normval
 
     return p6
 

WISDEM/wisdem/floatingse/floating.py

@@ -110,8 +110,3 @@ def setup(self):
         for k in range(n_member):
             for var in mem_vars:
                 self.connect(f"member{k}." + var, f"member{k}:" + var)
-
-        """
-        self.connect("max_offset_restoring_force", "mooring_surge_restoring_force")
-        self.connect("operational_heel_restoring_force", "mooring_pitch_restoring_force")
-        """