Merge pull request #73 from WISDEM/update_openfast

Update openfast

OpenFAST/cmake/OpenfastFortranOptions.cmake

@@ -110,7 +110,7 @@ macro(set_fast_gfortran)
   # Disable stack reuse within routines: issues seen with gfortran 9.x, but others may also exhibit
   #   see section 3.16 of https://gcc.gnu.org/onlinedocs/gcc-9.2.0/gcc.pdf
   #   and https://github.com/OpenFAST/openfast/pull/595
-  set(CMAKE_Fortran_FLAGS "${CMAKE_Fortran_FLAGS} -fstack-reuse='none'")
+  set(CMAKE_Fortran_FLAGS "${CMAKE_Fortran_FLAGS} -fstack-reuse=none")
 
   # Deal with Double/Single precision
   if (DOUBLE_PRECISION)

OpenFAST/docs/source/user/aerodyn/examples/ad_primary_example.inp

@@ -3,10 +3,10 @@ Description line that will be printed in the output file and written to the scre
 ======  General Options  ============================================================================
 True          Echo               - Echo the input to "<rootname>.AD.ech"?  (flag)
 "default"     DTAero             - Time interval for aerodynamic calculations {or "default"} (s)
-          1   WakeMod            - Type of wake/induction model (switch) {0=none, 1=BEMT, 2=DBEMT} [WakeMod cannot be 2 when linearizing]
+          1   WakeMod            - Type of wake/induction model (switch) {0=none, 1=BEMT, 2=DBEMT, 3=OLAF}  [WakeMod cannot be 2 or 3 when linearizing]
           1   AFAeroMod          - Type of blade airfoil aerodynamics model (switch) {1=steady model, 2=Beddoes-Leishman unsteady model} [AFAeroMod must be 1 when linearizing]
           0   TwrPotent          - Type tower influence on wind based on potential flow around the tower (switch) {0=none, 1=baseline potential flow, 2=potential flow with Bak correction}
-False         TwrShadow          - Calculate tower influence on wind based on downstream tower shadow? (flag)
+          0   TwrShadow          - Calculate tower influence on wind based on downstream tower shadow (switch) {0=none, 1=Powles model, 2=Eames model}
 False         TwrAero            - Calculate tower aerodynamic loads? (flag)
 False         FrozenWake         - Assume frozen wake during linearization? (flag) [used only when WakeMod=1 and when linearizing]
 False         CavitCheck         - Perform cavitation check? (flag) [AFAeroMod must be 1 when CavitCheck=true]
@@ -19,15 +19,15 @@ False         CompAA             - Flag to compute AeroAcoustics calculation [on
      101325   Patm               - Atmospheric pressure (Pa) [used only when CavitCheck=True]
        2000   Pvap               - Vapour pressure of fluid (Pa) [used only when CavitCheck=True]
         0.6   FluidDepth         - Water depth above mid-hub height (m) [used only when CavitCheck=True]
-======  Blade-Element/Momentum Theory Options  ====================================================== [unused when WakeMod=0]
-          1   SkewMod            - Type of skewed-wake correction model (switch) {1=uncoupled, 2=Pitt/Peters, 3=coupled} [unused when WakeMod=0]
-"default"     SkewModFactor      - Constant used in Pitt/Peters skewed wake model {or "default" is 15/32*pi} (-) [used only when SkewMod=2; unused when WakeMod=0]
-f             TipLoss            - Use the Prandtl tip-loss model? (flag) [unused when WakeMod=0]
-f             HubLoss            - Use the Prandtl hub-loss model? (flag) [unused when WakeMod=0]
-True          TanInd             - Include tangential induction in BEMT calculations? (flag) [unused when WakeMod=0]
-True          AIDrag             - Include the drag term in the axial-induction calculation? (flag) [unused when WakeMod=0]
-True          TIDrag             - Include the drag term in the tangential-induction calculation? (flag) [unused when WakeMod=0 or TanInd=FALSE]
-      1E-05   IndToler           - Convergence tolerance for BEMT nonlinear solve residual equation {or "default"} (-) [unused when WakeMod=0]
+======  Blade-Element/Momentum Theory Options  ====================================================== [unused when WakeMod=0 or 3]
+          1   SkewMod            - Type of skewed-wake correction model (switch) {1=uncoupled, 2=Pitt/Peters, 3=coupled} [unused when WakeMod=0 or 3]
+"default"     SkewModFactor      - Constant used in Pitt/Peters skewed wake model {or "default" is 15/32*pi} (-) [used only when SkewMod=2; unused when WakeMod=0 or 3]
+f             TipLoss            - Use the Prandtl tip-loss model? (flag) [unused when WakeMod=0 or 3]
+f             HubLoss            - Use the Prandtl hub-loss model? (flag) [unused when WakeMod=0 or 3]
+True          TanInd             - Include tangential induction in BEMT calculations? (flag) [unused when WakeMod=0 or 3]
+True          AIDrag             - Include the drag term in the axial-induction calculation? (flag) [unused when WakeMod=0 or 3]
+True          TIDrag             - Include the drag term in the tangential-induction calculation? (flag) [unused when WakeMod=0,3 or TanInd=FALSE]
+      1E-05   IndToler           - Convergence tolerance for BEMT nonlinear solve residual equation {or "default"} (-) [unused when WakeMod=0 or 3]
         100   MaxIter            - Maximum number of iteration steps (-) [unused when WakeMod=0]
 ======  Dynamic Blade-Element/Momentum Theory Options  ============================================== [used only when WakeMod=2]
           2   DBEMT_Mod          - Type of dynamic BEMT (DBEMT) model {1=constant tau1, 2=time-dependent tau1} (-) [used only when WakeMod=2]
@@ -60,15 +60,15 @@ True          UseBlCm            - Include aerodynamic pitching moment in calcul
 "Test01_UAE_AeroDyn_blade.dat"    ADBlFile(1)        - Name of file containing distributed aerodynamic properties for Blade #1 (-)
 "Test01_UAE_AeroDyn_blade.dat"    ADBlFile(2)        - Name of file containing distributed aerodynamic properties for Blade #2 (-) [unused if NumBl < 2]
 "Test01_UAE_AeroDyn_blade.dat"    ADBlFile(3)        - Name of file containing distributed aerodynamic properties for Blade #3 (-) [unused if NumBl < 3]
-======  Tower Influence and Aerodynamics ============================================================= [used only when TwrPotent/=0, TwrShadow=True, or TwrAero=True]
+======  Tower Influence and Aerodynamics ============================================================= [used only when TwrPotent/=0, TwrShadow/=0, or TwrAero=True]
           5   NumTwrNds         - Number of tower nodes used in the analysis  (-) [used only when TwrPotent/=0, TwrShadow=True, or TwrAero=True]
-TwrElev        TwrDiam        TwrCd
-(m)              (m)           (-)
-0.0000000E+00  6.0000000E+00  0.0000000E+00  
-2.0000000E+01  5.5000000E+00  0.0000000E+00  
-4.0000000E+01  5.0000000E+00  0.0000000E+00  
-6.0000000E+01  4.5000000E+00  0.0000000E+00  
-8.0000000E+01  4.0000000E+00  0.0000000E+00  
+TwrElev        TwrDiam        TwrCd          TwrTI (used only with TwrShadow=2)
+(m)              (m)           (-)            (-)
+0.0000000E+00  6.0000000E+00  0.0000000E+00  1.0000000E-01
+2.0000000E+01  5.5000000E+00  0.0000000E+00  1.0000000E-01
+4.0000000E+01  5.0000000E+00  0.0000000E+00  1.0000000E-01
+6.0000000E+01  4.5000000E+00  0.0000000E+00  1.0000000E-01
+8.0000000E+01  4.0000000E+00  0.0000000E+00  1.0000000E-01
 ======  Outputs  ====================================================================================
 True          SumPrint            - Generate a summary file listing input options and interpolated properties to "<rootname>.AD.sum"?  (flag)
           4   NBlOuts             - Number of blade node outputs [0 - 9] (-)

OpenFAST/docs/source/user/aerodyn/index.rst

@@ -19,5 +19,6 @@ AeroDyn Users Guide and Theory Manual
    input.rst
    output.rst
    modeling.rst
+   theory.rst
    appendix.rst
 

OpenFAST/docs/source/user/aerodyn/input.rst

@@ -180,11 +180,12 @@ potential-flow influence of the tower on the fluid flow local to the
 blade, 1 to enable the standard potential-flow model, or 2 to include
 the Bak correction in the potential-flow model. 
 
-Set the ``TwrShadow``
-flag to TRUE to include the influence of the tower on the flow local to
-the blade based on the downstream tower shadow model or FALSE to disable
-these effects. If the tower influence from potential flow and tower
-shadow are both enabled, the two influences will be superimposed. 
+Set the ``TwrShadow`` to 0 to disable to the tower shadow model,
+1 to enable the Powles tower shadow model, or 2 to use the Eames tower
+shadow model. These models calculate the influence of the tower on the 
+flow local to the blade based on the downstream tower shadow model. If
+the tower influence from potential flow and tower shadow are both
+enabled, the two influences will be superimposed. 
 
 Set the ``TwrAero`` flag to TRUE to calculate fluid drag loads on the
 tower or FALSE to disable these effects. 
@@ -379,7 +380,7 @@ Tower Influence and Aerodynamics
 
 The input parameters in this section pertain to the tower influence
 and/or tower drag calculations and are only used when ``TwrPotent`` >
-0, ``TwrShadow = TRUE``, or ``TwrAero = TRUE``.
+0, ``TwrShadow`` > 0, or ``TwrAero = TRUE``.
 
 ``NumTwrNds`` is the user-specified number of tower analysis nodes and
 determines the number of rows in the subsequent table (after two table
@@ -389,10 +390,17 @@ time; we recommend that ``NumTwrNds`` be between 10 and 20 to balance
 accuracy with computational expense. For each node, ``TwrElev``
 specifies the local elevation of the tower node above ground (or above
 MSL for offshore wind turbines or above the seabed for MHK turbines),
-``TwrDiam`` specifies the local tower diameter, and ``TwrCd``
-specifies the local tower drag-force coefficient. ``TwrElev`` must be
-entered in monotonically increasing order—from the lowest (tower-base)
-to the highest (tower-top) elevation. See Figure 2.
+``TwrDiam`` specifies the local tower diameter, ``TwrCd`` specifies the
+local tower drag-force coefficient, and ``TwrTI`` specifiest the
+turbulence intensity used in the Eames tower shadow model
+(``TwrShadow`` = 2). ``TwrElev`` must be entered in monotonically
+increasing order—from the lowest (tower-base) to the highest 
+(tower-top) elevation. Values of ``TwrTI`` between 0.05 and 0.4 are
+recommended.  Values larger than 0.4 up to 1 will trigger a warning
+that the results will need to be interpretted carefully, but the code
+will allow such values for scientific investigation purposes.
+See :numref:`fig:TwrGeom`.
+
 
 .. _AD-Outputs:
 
@@ -403,7 +411,7 @@ Specifying ``SumPrint`` to TRUE causes AeroDyn to generate a summary
 file with name ``OutFileRoot**.AD.sum*. ``OutFileRoot`` is either
 specified in the I/O SETTINGS section of the driver input file when
 running AeroDyn standalone, or by the OpenFAST program when running a
-coupled simulation. See section 5.2 for summary file details.
+coupled simulation. See :numref:`sec:ad_SumFile` for summary file details.
 
 AeroDyn can output aerodynamic and kinematic quantities at up to nine
 nodes specified along the tower and up to nine nodes along each blade.
@@ -427,6 +435,7 @@ quantities are actually output at these nodes.
 
 .. figure:: figs/ad_tower_geom.png
    :width: 60%
+   :name: fig:TwrGeom
    :align: center
 
    AeroDyn Tower Geometry

OpenFAST/docs/source/user/aerodyn/introduction.rst

@@ -3,17 +3,23 @@
 Introduction
 ============
 
-AeroDyn is a time-domain wind turbine aerodynamics module that is coupled in the OpenFAST multi-physics engineering tool to enable aero-elastic simulation of horizontal-axis turbines. 
-AeroDyn can also be driven as a standalone code to compute wind turbine aerodynamic response uncoupled from OpenFAST. 
-When coupled to OpenFAST, AeroDyn can also be linearized as part of the linearization of the full coupled solution (linearization is not available in standalone mode). 
-AeroDyn was originally developed for modeling wind turbine aerodynamics. 
+AeroDyn is a time-domain wind turbine aerodynamics module that is coupled in the
+OpenFAST multi-physics engineering tool to enable aero-elastic simulation of
+horizontal-axis turbines.  AeroDyn can also be driven as a standalone code to
+compute wind turbine aerodynamic response uncoupled from OpenFAST.  When coupled
+to OpenFAST, AeroDyn can also be linearized as part of the linearization of the
+full coupled solution (linearization is not available in standalone mode).
+AeroDyn was originally developed for modeling wind turbine aerodynamics.
 However, the module equally applies to the hydrodynamics of marine hydrokinetic
-(MHK) turbines (the terms “wind turbine”, “tower”, “aerodynamics” etc.  in this document imply “MHK turbine”, “MHK support structure”, “hydrodynamics” etc. for MHK turbines). 
-Additional physics important for MHK turbines, not applicable to wind turbines, computed by AeroDyn include a cavitation check. 
-This documentation pertains version of AeroDyn in the OpenFAST github repository.  
-The AeroDyn version released of OpenFAST 1.0.0 is most closely related to AeroDyn version 15 in the legacy version numbering. 
-AeroDyn version 15 was a complete overhaul from earlier version of AeroDyn. 
-AeroDyn version 15 and newer follows the requirements of the FAST modularization framework. 
+(MHK) turbines (the terms “wind turbine”, “tower”, “aerodynamics” etc.  in this
+document imply “MHK turbine”, “MHK support structure”, “hydrodynamics” etc. for
+MHK turbines).  Additional physics important for MHK turbines, not applicable to
+wind turbines, computed by AeroDyn include a cavitation check.  This
+documentation pertains version of AeroDyn in the OpenFAST github repository.
+The AeroDyn version released of OpenFAST 1.0.0 is most closely related to
+AeroDyn version 15 in the legacy version numbering.  AeroDyn version 15 was a
+complete overhaul from earlier version of AeroDyn.  AeroDyn version 15 and newer
+follows the requirements of the FAST modularization framework. 
 
 AeroDyn calculates aerodynamic loads on both the blades and tower.
 Aerodynamic calculations within AeroDyn are based on the principles of

OpenFAST/docs/source/user/aerodyn/modeling.rst

@@ -61,7 +61,7 @@ the blade tip. Aerodynamic imbalances are possible through the use of
 geometrical differences between each blade.
 
 When the tower potential-flow (``TwrPotent > 0``), tower shadow
-(``TwrShadow = TRUE``), and/or the tower aerodynamic load
+(``TwrShadow > 0``), and/or the tower aerodynamic load
 (``TwrAero = TRUE``) models are enabled, we also recommend that
 ``NumTwrNds`` be between 10 and 20 to balance accuracy with
 computational expense. Normally the local elevation of the tower node
@@ -117,7 +117,7 @@ speed, in which case we recommend that ``TwrAero = TRUE``. Otherwise,
 We recommend to include the influence of the tower on the fluid local to
 the blade for both operational and parked/idling rotors. We recommend
 that ``TwrPotent > 0`` for upwind rotors and that ``TwrPotent = 2``
-or ``TwrShadow = TRUE`` for downwind rotors.
+or ``TwrShadow > 0`` for downwind rotors.
 
 Linearization
 -------------

OpenFAST/docs/source/user/aerodyn/output.rst

@@ -22,6 +22,8 @@ will be truncated if AeroDyn encounters an error while parsing an input
 file. The error usually corresponds to the line after the last
 successfully echoed line.
 
+.. _sec:ad_SumFile:
+
 Summary File
 ------------
 

OpenFAST/docs/source/user/aerodyn/theory.rst

@@ -0,0 +1,30 @@
+
+.. _AD_theory:
+
+AeroDynTheory
+=============
+
+This theory manual is work in progress, please refer to the AeroDyn manual for more details. 
+
+
+.. _AD_twr_shadow:
+
+Tower shadow models
+~~~~~~~~~~~~~~~~~~~
+
+Powles tower shadow model (**TwrShadow=1**) is given by:
+
+.. math::
+   u_{TwrShadow} = - \frac{C_d}{  \sqrt{\overline{r}}  }
+               \cos\left( \frac{\pi/2 \overline{y}}{\sqrt{\overline{r}}}\right)^2
+
+where :math:`\overline{r} = \sqrt{ \overline{x}^2 + \overline{y}^2 }`.
+
+
+Eames tower shadow model (**TwrShadow=2**) is given by:
+
+.. math::
+   u_{TwrShadow} = -\frac{C_d}{ TI \: \overline{x} \, \sqrt{2 \pi }  }
+               \exp{\left(  -\frac{1}{2}  \left(\frac{ \overline{y}}{ TI \: \overline{x} } \right)^2 \right) }
+
+where :math:`TI` is the turbulence intensity at the tower node. 

OpenFAST/docs/source/user/api_change.rst

@@ -9,6 +9,28 @@ The changes are tabulated according to the module input file, line number, and f
 The line number corresponds to the resulting line number after all changes are implemented.
 Thus, be sure to implement each in order so that subsequent line numbers are correct.
 
+OpenFAST v2.5.0 to OpenFAST dev 
+-------------------------------
+
+============== ==== ================== =============================================================================================================================================================================
+Added in OpenFAST dev
+--------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------
+ Module        Line  Flag Name          Example Value
+============== ==== ================== =============================================================================================================================================================================
+AD15                TwrTi              0.0000000E+00  6.0000000E+00  1.0000000E+00  1.0000000E-01                 [additional column in *Tower Influence and Aerodynamics* table]
+============== ==== ================== =============================================================================================================================================================================
+
+
+
+============== ==== ================== =============================================================================================================================================================================
+Changed in OpenFAST dev
+--------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------
+ Module        Line  Flag Name          Example Value
+============== ==== ================== =============================================================================================================================================================================
+AD15           9    TwrShadow          0   TwrShadow          - Calculate tower influence on wind based on downstream tower shadow (switch) {0=none, 1=Powles model, 2=Eames model}
+============== ==== ================== =============================================================================================================================================================================
+
+
 OpenFAST v2.4.0 to OpenFAST v2.5.0
 ----------------------------------
 

OpenFAST/glue-codes/openfast/CMakeLists.txt

@@ -18,7 +18,9 @@ add_executable(openfast src/FAST_Prog.f90)
 target_link_libraries(openfast openfast_postlib foamfastlib)
 set_property(TARGET openfast PROPERTY LINKER_LANGUAGE Fortran)
 
-if (${CMAKE_Fortran_COMPILER_ID} STREQUAL "GNU" AND ${CMAKE_Fortran_COMPILER_ID} STREQUAL "RELEASE")
+string(TOUPPER ${CMAKE_Fortran_COMPILER_ID} _compiler_id)
+string(TOUPPER ${CMAKE_BUILD_TYPE} _build_type)
+if (${_compiler_id} STREQUAL "GNU" AND ${_build_type} STREQUAL "RELEASE")
   # With variable tracking enabled, the compile step frequently aborts on large modules and
   # restarts with this option off. Disabling in Release mode avoids this problem when compiling with
   # full optimizations, but leaves it enabled for RelWithDebInfo which adds both -O2 and -g flags.

OpenFAST/glue-codes/simulink/src/FAST_SFunc.c

@@ -51,6 +51,8 @@ static int NumAddInputs = 0;  // number of additional inputs
 static int NumOutputs = 1;
 static int ErrStat = 0;
 static char ErrMsg[INTERFACE_STRING_LENGTH];        // make sure this is the same size as IntfStrLen in FAST_Library.f90
+static int ErrStat2 = 0;
+static char ErrMsg2[INTERFACE_STRING_LENGTH];        // make sure this is the same size as IntfStrLen in FAST_Library.f90
 static char InputFileName[INTERFACE_STRING_LENGTH]; // make sure this is the same size as IntfStrLen in FAST_Library.f90
 static int n_t_global = -2;  // counter to determine which fixed-step simulation time we are at currently (start at -2 for initialization)
 static int AbortErrLev = ErrID_Fatal;      // abort error level; compare with NWTC Library
@@ -448,8 +450,10 @@ static void mdlTerminate(SimStruct *S)
       FAST_End(&iTurb, &tr);
       n_t_global = -2;
    }  
-   FAST_DeallocateTurbines(&ErrStat, ErrMsg);
-
+   FAST_DeallocateTurbines(&ErrStat2, ErrMsg2);
+   if (ErrStat2 != ErrID_None){
+      ssPrintf("\n%s\n", ErrMsg2);
+   }
 }