SD gearbox: rigid AD15 tower attached at ED platform

This branch is not intended for general use. This branch contains a quick hack for the special use case where the drivetrain is modeled with SubDyn, but the AD15 tower is needed for tower shadow. Modifications include: - change AD15 tower motion mapping from the ED tower to mapping from the ED PlatformPtMesh instead (point to line mapping -- AD15 tower is now rigid) - removal of all mapping from the AD15 loads to the ED tower - removed ED_L_2_AD_L_T and AD_L_2_ED_P_T mesh mappings
andrew-platt · Oct 25, 2023 · 13e17c1 · 13e17c1
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diff --git a/README_ThisBranch.txt b/README_ThisBranch.txt
@@ -0,0 +1,8 @@
+2023.10.25 -- ADP
+
+This branch is not intended for general use.  This branch contains a quick hack for the special use case where the drivetrain is modeled with SubDyn, but the AD15 tower is needed for tower shadow.
+
+Modifications include:
+ - change AD15 tower motion mapping from the ED tower to mapping from the ED PlatformPtMesh instead (point to line mapping -- AD15 tower is now rigid)
+ - removal of all mapping from the AD15 loads to the ED tower
+ - removed ED_L_2_AD_L_T and AD_L_2_ED_P_T mesh mappings
diff --git a/modules/openfast-library/src/FAST_Lin.f90 b/modules/openfast-library/src/FAST_Lin.f90
@@ -2118,18 +2118,18 @@ SUBROUTINE Linear_ED_InputSolve_du( p_FAST, y_FAST, SrvD, u_ED, y_ED, y_AD, u_AD
 
       ! ED inputs on tower from AD:
 
-      IF ( y_AD%rotors(1)%TowerLoad%Committed ) THEN
-         ED_Start_mt = Indx_u_ED_Tower_Start(u_ED, y_FAST) &
-                       + u_ED%TowerPtLoads%NNodes   * 3             ! 3 forces at each node (we're going to start at the moments)
-
-         CALL Linearize_Line2_to_Point( y_AD%rotors(1)%TowerLoad, u_ED%TowerPtLoads, MeshMapData%AD_L_2_ED_P_T, ErrStat2, ErrMsg2, u_AD%rotors(1)%TowerMotion, y_ED%TowerLn2Mesh )
-            CALL SetErrStat(ErrStat2, ErrMsg2, ErrStat, ErrMsg, RoutineName)  
-
-            ! AD is source in the mapping, so we want M_{uSm}
-         if (allocated(MeshMapData%AD_L_2_ED_P_T%dM%m_us )) then
-            call SetBlockMatrix( dUdu, MeshMapData%AD_L_2_ED_P_T%dM%m_us, ED_Start_mt, y_FAST%Lin%Modules(MODULE_AD)%Instance(1)%LinStartIndx(LIN_INPUT_COL) )
-         end if
-      END IF
+!      IF ( y_AD%rotors(1)%TowerLoad%Committed ) THEN
+!         ED_Start_mt = Indx_u_ED_Tower_Start(u_ED, y_FAST) &
+!                       + u_ED%TowerPtLoads%NNodes   * 3             ! 3 forces at each node (we're going to start at the moments)
+!         
+!         CALL Linearize_Line2_to_Point( y_AD%rotors(1)%TowerLoad, u_ED%TowerPtLoads, MeshMapData%AD_L_2_ED_P_T, ErrStat2, ErrMsg2, u_AD%rotors(1)%TowerMotion, y_ED%TowerLn2Mesh )
+!            CALL SetErrStat(ErrStat2, ErrMsg2, ErrStat, ErrMsg, RoutineName)  
+!            
+!            ! AD is source in the mapping, so we want M_{uSm}
+!         if (allocated(MeshMapData%AD_L_2_ED_P_T%dM%m_us )) then
+!            call SetBlockMatrix( dUdu, MeshMapData%AD_L_2_ED_P_T%dM%m_us, ED_Start_mt, y_FAST%Lin%Modules(MODULE_AD)%Instance(1)%LinStartIndx(LIN_INPUT_COL) )
+!         end if
+!      END IF
 
    END IF
 
@@ -2772,22 +2772,22 @@ SUBROUTINE Linear_AD_InputSolve_du( p_FAST, y_FAST, u_AD, y_ED, BD, MeshMapData,
    !-------------------------------------------------------------------------------------------------
 
       ! tower
-   IF (u_AD%rotors(1)%TowerMotion%Committed) THEN
-
-         CALL Linearize_Line2_to_Line2( y_ED%TowerLn2Mesh, u_AD%rotors(1)%TowerMotion, MeshMapData%ED_L_2_AD_L_T, ErrStat2, ErrMsg2 )
-            CALL SetErrStat(ErrStat2,ErrMsg2,ErrStat,ErrMsg,RoutineName//':u_AD%TowerMotion' )     
-
-
-      !AD is the destination here, so we need tv_ud
-      if (allocated( MeshMapData%ED_L_2_AD_L_T%dM%tv_ud)) then
-         AD_Start_td = y_FAST%Lin%Modules(MODULE_AD)%Instance(1)%LinStartIndx(LIN_INPUT_COL)
-         AD_Start_tv = AD_Start_td + u_AD%rotors(1)%TowerMotion%NNodes * 6 ! 2 fields (TranslationDisp and Orientation) with 3 components before translational velocity field      
-
-         call SetBlockMatrix( dUdu, MeshMapData%ED_L_2_AD_L_T%dM%tv_ud, AD_Start_tv, AD_Start_td )
-      end if
-
-
-   END IF
+!   IF (u_AD%rotors(1)%TowerMotion%Committed) THEN
+!
+!         CALL Linearize_Line2_to_Line2( y_ED%TowerLn2Mesh, u_AD%rotors(1)%TowerMotion, MeshMapData%ED_L_2_AD_L_T, ErrStat2, ErrMsg2 )
+!            CALL SetErrStat(ErrStat2,ErrMsg2,ErrStat,ErrMsg,RoutineName//':u_AD%TowerMotion' )     
+!
+!      
+!      !AD is the destination here, so we need tv_ud
+!      if (allocated( MeshMapData%ED_L_2_AD_L_T%dM%tv_ud)) then
+!         AD_Start_td = y_FAST%Lin%Modules(MODULE_AD)%Instance(1)%LinStartIndx(LIN_INPUT_COL)
+!         AD_Start_tv = AD_Start_td + u_AD%rotors(1)%TowerMotion%NNodes * 6 ! 2 fields (TranslationDisp and Orientation) with 3 components before translational velocity field      
+!
+!         call SetBlockMatrix( dUdu, MeshMapData%ED_L_2_AD_L_T%dM%tv_ud, AD_Start_tv, AD_Start_td )
+!      end if
+!               
+!            
+!   END IF
 
 
       ! blades
@@ -3294,22 +3294,22 @@ SUBROUTINE Linear_ED_InputSolve_dy( p_FAST, y_FAST, SrvD, u_ED, y_ED, y_AD, u_AD
       END IF ! ED
 
 
-      IF ( y_AD%rotors(1)%TowerLoad%Committed ) THEN
-         !!! ! This linearization was done in forming dUdu (see Linear_ED_InputSolve_du()), so we don't need to re-calculate these matrices 
-         !!! ! while forming dUdy, too.
-         !CALL Linearize_Line2_to_Point( y_AD%TowerLoad, u_ED%TowerPtLoads, MeshMapData%AD_L_2_ED_P_T, ErrStat2, ErrMsg2, u_AD%TowerMotion, y_ED%TowerLn2Mesh )
-
-            ! AD loads-to-ED loads transfer (dU^{ED}/dy^{AD}):
-         ED_Start = Indx_u_ED_Tower_Start(u_ED, y_FAST) ! u_ED%TowerPtLoads%Force field
-         AD_Out_Start = y_FAST%Lin%Modules(MODULE_AD)%Instance(1)%LinStartIndx(LIN_OUTPUT_COL) ! start of y_AD%Tower%Force
-         call Assemble_dUdy_Loads(y_AD%rotors(1)%TowerLoad, u_ED%TowerPtLoads, MeshMapData%AD_L_2_ED_P_T, ED_Start, AD_Out_Start, dUdy)
-
-            ! ED translation displacement-to-ED moment transfer (dU^{ED}/dy^{ED}):
-         ED_Start = ED_Start + u_ED%TowerPtLoads%NNodes*3 ! start of u_ED%TowerPtLoads%Moment field  [skip the ED forces to get to the moments]
-         ED_Out_Start  = Indx_y_ED_Tower_Start(y_ED, y_FAST) ! start of y_ED%TowerLn2Mesh%TranslationDisp field
-         call SumBlockMatrix( dUdy, MeshMapData%AD_L_2_ED_P_T%dM%m_uD, ED_Start, ED_Out_Start )
-
-      END IF ! tower
+!      IF ( y_AD%rotors(1)%TowerLoad%Committed ) THEN
+!         !!! ! This linearization was done in forming dUdu (see Linear_ED_InputSolve_du()), so we don't need to re-calculate these matrices 
+!         !!! ! while forming dUdy, too.
+!         !CALL Linearize_Line2_to_Point( y_AD%TowerLoad, u_ED%TowerPtLoads, MeshMapData%AD_L_2_ED_P_T, ErrStat2, ErrMsg2, u_AD%TowerMotion, y_ED%TowerLn2Mesh )
+!            
+!            ! AD loads-to-ED loads transfer (dU^{ED}/dy^{AD}):
+!         ED_Start = Indx_u_ED_Tower_Start(u_ED, y_FAST) ! u_ED%TowerPtLoads%Force field
+!         AD_Out_Start = y_FAST%Lin%Modules(MODULE_AD)%Instance(1)%LinStartIndx(LIN_OUTPUT_COL) ! start of y_AD%Tower%Force
+!         call Assemble_dUdy_Loads(y_AD%rotors(1)%TowerLoad, u_ED%TowerPtLoads, MeshMapData%AD_L_2_ED_P_T, ED_Start, AD_Out_Start, dUdy)
+!
+!            ! ED translation displacement-to-ED moment transfer (dU^{ED}/dy^{ED}):
+!         ED_Start = ED_Start + u_ED%TowerPtLoads%NNodes*3 ! start of u_ED%TowerPtLoads%Moment field  [skip the ED forces to get to the moments]
+!         ED_Out_Start  = Indx_y_ED_Tower_Start(y_ED, y_FAST) ! start of y_ED%TowerLn2Mesh%TranslationDisp field
+!         call SumBlockMatrix( dUdy, MeshMapData%AD_L_2_ED_P_T%dM%m_uD, ED_Start, ED_Out_Start )
+!            
+!      END IF ! tower
 
    END IF ! aero loads
 
@@ -3652,18 +3652,18 @@ SUBROUTINE Linear_AD_InputSolve_NoIfW_dy( p_FAST, y_FAST, u_AD, y_ED, BD, MeshMa
       !...................................
       ! tower
       !...................................
-   IF (u_AD%rotors(1)%TowerMotion%Committed) THEN
-
-      !!! ! This linearization was done in forming dUdu (see Linear_AD_InputSolve_du()), so we don't need to re-calculate these matrices 
-      !!! ! while forming dUdy, too.
-      !!!CALL Linearize_Line2_to_Line2( y_ED%TowerLn2Mesh, u_AD%TowerMotion, MeshMapData%ED_L_2_AD_L_T, ErrStat2, ErrMsg2 )
-
-      AD_Start = Indx_u_AD_Tower_Start(u_AD, y_FAST) ! start of u_AD%TowerMotion%TranslationDisp field
-
-         ED_Out_Start = Indx_y_ED_Tower_Start(y_ED, y_FAST) ! start of y_ED%TowerLn2Mesh%TranslationDisp field
-         call Assemble_dUdy_Motions(y_ED%TowerLn2Mesh, u_AD%rotors(1)%TowerMotion, MeshMapData%ED_L_2_AD_L_T, AD_Start, ED_Out_Start, dUdy, skipRotVel=.true.)
-
-   END IF
+!   IF (u_AD%rotors(1)%TowerMotion%Committed) THEN
+!            
+!      !!! ! This linearization was done in forming dUdu (see Linear_AD_InputSolve_du()), so we don't need to re-calculate these matrices 
+!      !!! ! while forming dUdy, too.
+!      !!!CALL Linearize_Line2_to_Line2( y_ED%TowerLn2Mesh, u_AD%TowerMotion, MeshMapData%ED_L_2_AD_L_T, ErrStat2, ErrMsg2 )
+!      
+!      AD_Start = Indx_u_AD_Tower_Start(u_AD, y_FAST) ! start of u_AD%TowerMotion%TranslationDisp field
+!      
+!         ED_Out_Start = Indx_y_ED_Tower_Start(y_ED, y_FAST) ! start of y_ED%TowerLn2Mesh%TranslationDisp field
+!         call Assemble_dUdy_Motions(y_ED%TowerLn2Mesh, u_AD%rotors(1)%TowerMotion, MeshMapData%ED_L_2_AD_L_T, AD_Start, ED_Out_Start, dUdy, skipRotVel=.true.)
+!      
+!   END IF
 
       !...................................
       ! hub

diff --git a/modules/openfast-library/src/FAST_Registry.txt b/modules/openfast-library/src/FAST_Registry.txt
@@ -628,8 +628,9 @@ typedef	^	FAST_ModuleMapType	MeshMapType	ED_P_2_AD_P_N	-	-	-	"Map ElastoDyn Nace
 typedef	^	FAST_ModuleMapType	MeshMapType	AD_P_2_ED_P_N	-	-	-	"Map AeroDyn Nacelle point load mesh to ElastoDyn nacelle point load mesh"
 typedef	^	FAST_ModuleMapType	MeshMapType	ED_P_2_AD_P_TF	-	-	-	"Map ElastoDyn TailFin CM point motion mesh to AeroDyn TailFin ref point motion mesh"
 typedef	^	FAST_ModuleMapType	MeshMapType	AD_P_2_ED_P_TF	-	-	-	"Map AeroDyn TailFin ref point load mesh to ElastoDyn TailFin CM point load mesh"
-typedef	^	FAST_ModuleMapType	MeshMapType	ED_L_2_AD_L_T	-	-	-	"Map ElastoDyn TowerLn2Mesh line2 mesh to AeroDyn14 Twr_InputMarkers or AeroDyn TowerMotion line2 mesh"
-typedef	^	FAST_ModuleMapType	MeshMapType	AD_L_2_ED_P_T	-	-	-	"Map AeroDyn14 Twr_InputMarkers or AeroDyn TowerLoad line2 mesh to ElastoDyn TowerPtLoads point mesh"
+#typedef	^	FAST_ModuleMapType	MeshMapType	ED_L_2_AD_L_T	-	-	-	"Map ElastoDyn TowerLn2Mesh line2 mesh to AeroDyn14 Twr_InputMarkers or AeroDyn TowerMotion line2 mesh"
+typedef	^	FAST_ModuleMapType	MeshMapType	ED_P_2_AD_L_T	-	-	-	"Map ElastoDyn Tower Base to AeroDyn TowerMotion line2 mesh (rigid tower in AD15, for tower shadow model when modeling drivetrain with SD)"
+#typedef	^	FAST_ModuleMapType	MeshMapType	AD_L_2_ED_P_T	-	-	-	"Map AeroDyn14 Twr_InputMarkers or AeroDyn TowerLoad line2 mesh to ElastoDyn TowerPtLoads point mesh"
 typedef	^	FAST_ModuleMapType	MeshMapType	ED_P_2_AD_P_R	{:}	-	-	"Map ElastoDyn BladeRootMotion point meshes to AeroDyn BladeRootMotion point meshes"
 typedef	^	FAST_ModuleMapType	MeshMapType	ED_P_2_AD_P_H	-	-	-	"Map ElastoDyn HubPtMotion point mesh to AeroDyn HubMotion point mesh"
 typedef	^	FAST_ModuleMapType	MeshMapType	AD_P_2_ED_P_H	-	-	-	"Map AeroDyn HubLoad point mesh to ElastoDyn HubPtLoad point mesh"

diff --git a/modules/openfast-library/src/FAST_Solver.f90 b/modules/openfast-library/src/FAST_Solver.f90
@@ -268,12 +268,12 @@ SUBROUTINE ED_InputSolve( p_FAST, u_ED, y_ED, p_AD14, y_AD14, y_AD, y_SrvD, u_AD
 
       END IF   
 
-   ELSEIF ( p_FAST%CompAero == Module_AD ) THEN
-
-      IF ( y_AD%rotors(1)%TowerLoad%Committed ) THEN
-         CALL Transfer_Line2_to_Point( y_AD%rotors(1)%TowerLoad, u_ED%TowerPtLoads, MeshMapData%AD_L_2_ED_P_T, ErrStat2, ErrMsg2, u_AD%rotors(1)%TowerMotion, y_ED%TowerLn2Mesh )
-            CALL SetErrStat(ErrStat2, ErrMsg2, ErrStat, ErrMsg, RoutineName)         
-      END IF
+!   ELSEIF ( p_FAST%CompAero == Module_AD ) THEN
+!      
+!      IF ( y_AD%rotors(1)%TowerLoad%Committed ) THEN
+!         CALL Transfer_Line2_to_Point( y_AD%rotors(1)%TowerLoad, u_ED%TowerPtLoads, MeshMapData%AD_L_2_ED_P_T, ErrStat2, ErrMsg2, u_AD%rotors(1)%TowerMotion, y_ED%TowerLn2Mesh )
+!            CALL SetErrStat(ErrStat2, ErrMsg2, ErrStat, ErrMsg, RoutineName)         
+!      END IF
 
    ELSE
       u_ED%TowerPtLoads%Force  = 0.0_ReKi
@@ -616,7 +616,9 @@ SUBROUTINE AD_InputSolve_NoIfW( p_FAST, u_AD, y_SrvD, y_ED, BD, MeshMapData, Err
       ! tower
    IF (u_AD%rotors(1)%TowerMotion%Committed) THEN
 
-      CALL Transfer_Line2_to_Line2( y_ED%TowerLn2Mesh, u_AD%rotors(1)%TowerMotion, MeshMapData%ED_L_2_AD_L_T, ErrStat2, ErrMsg2 )
+!      CALL Transfer_Line2_to_Line2( y_ED%TowerLn2Mesh, u_AD%rotors(1)%TowerMotion, MeshMapData%ED_L_2_AD_L_T, ErrStat2, ErrMsg2 )
+!         CALL SetErrStat(ErrStat2,ErrMsg2,ErrStat,ErrMsg,RoutineName//':u_AD%TowerMotion' )      
+      CALL Transfer_Point_to_Line2( y_ED%PlatformPtMesh, u_AD%rotors(1)%TowerMotion, MeshMapData%ED_P_2_AD_L_T, ErrStat2, ErrMsg2 )
          CALL SetErrStat(ErrStat2,ErrMsg2,ErrStat,ErrMsg,RoutineName//':u_AD%TowerMotion' )      
 
    END IF
@@ -4510,10 +4512,10 @@ SUBROUTINE InitModuleMappings(p_FAST, ED, BD, AD14, AD, HD, SD, ExtPtfm, SrvD, M
 
       ! Tower mesh:
       IF ( AD14%Input(1)%Twr_InputMarkers%Committed ) THEN
-         CALL MeshMapCreate( ED%y%TowerLn2Mesh, AD14%Input(1)%Twr_InputMarkers, MeshMapData%ED_L_2_AD_L_T, ErrStat2, ErrMsg2 )
-            CALL SetErrStat( ErrStat2, ErrMsg2, ErrStat, ErrMsg, RoutineName//':ED_2_AD_TowerMotion' )
-         CALL MeshMapCreate( AD14%y%Twr_OutputLoads, ED%Input(1)%TowerPtLoads,  MeshMapData%AD_L_2_ED_P_T, ErrStat2, ErrMsg2 )
-            CALL SetErrStat( ErrStat2, ErrMsg2, ErrStat, ErrMsg, RoutineName//':AD_2_ED_TowerLoad' )
+!         CALL MeshMapCreate( ED%y%TowerLn2Mesh, AD14%Input(1)%Twr_InputMarkers, MeshMapData%ED_L_2_AD_L_T, ErrStat2, ErrMsg2 )
+!            CALL SetErrStat( ErrStat2, ErrMsg2, ErrStat, ErrMsg, RoutineName//':ED_2_AD_TowerMotion' )
+!         CALL MeshMapCreate( AD14%y%Twr_OutputLoads, ED%Input(1)%TowerPtLoads,  MeshMapData%AD_L_2_ED_P_T, ErrStat2, ErrMsg2 )
+!            CALL SetErrStat( ErrStat2, ErrMsg2, ErrStat, ErrMsg, RoutineName//':AD_2_ED_TowerLoad' )
       END IF
 
       IF (ErrStat >= AbortErrLev ) RETURN
@@ -4564,13 +4566,15 @@ SUBROUTINE InitModuleMappings(p_FAST, ED, BD, AD14, AD, HD, SD, ExtPtfm, SrvD, M
 
          ! Tower mesh:
       IF ( AD%Input(1)%rotors(1)%TowerMotion%Committed ) THEN
-         CALL MeshMapCreate( ED%y%TowerLn2Mesh, AD%Input(1)%rotors(1)%TowerMotion, MeshMapData%ED_L_2_AD_L_T, ErrStat2, ErrMsg2 )
+!         CALL MeshMapCreate( ED%y%TowerLn2Mesh, AD%Input(1)%rotors(1)%TowerMotion, MeshMapData%ED_L_2_AD_L_T, ErrStat2, ErrMsg2 )
+!            CALL SetErrStat( ErrStat2, ErrMsg2, ErrStat, ErrMsg, RoutineName//':ED_2_AD_TowerMotion' )
+         CALL MeshMapCreate( ED%y%PlatformPtMesh, AD%Input(1)%rotors(1)%TowerMotion, MeshMapData%ED_P_2_AD_L_T, ErrStat2, ErrMsg2 )
             CALL SetErrStat( ErrStat2, ErrMsg2, ErrStat, ErrMsg, RoutineName//':ED_2_AD_TowerMotion' )
 
-         IF ( AD%y%rotors(1)%TowerLoad%Committed ) THEN            
-            CALL MeshMapCreate( AD%y%rotors(1)%TowerLoad, ED%Input(1)%TowerPtLoads,  MeshMapData%AD_L_2_ED_P_T, ErrStat2, ErrMsg2 )
-               CALL SetErrStat( ErrStat2, ErrMsg2, ErrStat, ErrMsg, RoutineName//':AD_2_ED_TowerLoad' )
-         END IF         
+!         IF ( AD%y%rotors(1)%TowerLoad%Committed ) THEN            
+!            CALL MeshMapCreate( AD%y%rotors(1)%TowerLoad, ED%Input(1)%TowerPtLoads,  MeshMapData%AD_L_2_ED_P_T, ErrStat2, ErrMsg2 )
+!               CALL SetErrStat( ErrStat2, ErrMsg2, ErrStat, ErrMsg, RoutineName//':AD_2_ED_TowerLoad' )
+!         END IF         
       END IF
 
          ! Nacelle mesh: