Skip to content

Commit

Permalink
moorMod is now stored outside of ms, and a couple other tweaks:
Browse files Browse the repository at this point in the history 
- Moved the moorMod switch out of the MoorPy System object and into the
  RAFT objects to avoid burying it.
- A couple adjustments for more consistent handling of cases whether
  a mooring section is provided in the RAFT input YAML.
- This helps for a couple less typical use cases.
  • Loading branch information
@mattEhall
mattEhall committed Jan 28, 2025
1 parent 5c75190 commit 9fdc8ee
Show file tree
Hide file tree
Showing 2 changed files with 25 additions and 24 deletions.
11 changes: 6 additions & 5 deletions raft/raft_fowt.py
View file
Original file line number Diff line number Diff line change
Expand Up @@ -164,11 +164,11 @@ def __init__(self, design, w, mpb, depth=600, x_ref=0, y_ref=0, heading_adjust=0
self.body = mpb # reference to Body in mooring system corresponding to this turbine

# this FOWT's own MoorPy system (may not be used)
if design['mooring']:
if 'mooring' in design:

self.ms = mp.System()
self.ms.parseYAML(design['mooring'])
self.ms.moorMod = getFromDict(design['mooring'], 'moorMod', default=0, dtype=int)
self.moorMod = getFromDict(design['mooring'], 'moorMod', default=0, dtype=int)

# ensure proper setup with one coupled Body tied to this FOWT
if len(self.ms.bodyList) == 0:
Expand All @@ -189,6 +189,7 @@ def __init__(self, design, w, mpb, depth=600, x_ref=0, y_ref=0, heading_adjust=0

else:
self.ms = None
self.moorMod = 0

self.F_moor0 = np.zeros(6) # mean mooring forces in a given scenario
self.C_moor = np.zeros([6,6]) # mooring stiffness matrix in a given scenario
Expand Down Expand Up @@ -286,9 +287,9 @@ def setPosition(self, r6):
# solve the mooring system equilibrium of this FOWT's own MoorPy system
if self.ms:
self.ms.solveEquilibrium()
if self.ms.moorMod == 0 or self.ms.moorMod == 2:
if self.moorMod == 0 or self.moorMod == 2:
C_moor = self.ms.getCoupledStiffnessA(lines_only=True)
elif self.ms.moorMod == 1:
elif self.moorMod == 1:
self.ms.updateSystemDynamicMatrices()
_, _, _, C_moor = self.ms.getCoupledDynamicMatrices(lines_only=True)

Expand Down Expand Up @@ -2025,7 +2026,7 @@ def saveTurbineOutputs(self, results, case):
T_moor_std = np.zeros([2*nLines], dtype=float)
C_moor, J_moor = self.ms.getCoupledStiffness(lines_only=True, tensions=True) # get stiffness matrix and tension jacobian matrix
T_moor = self.ms.getTensions() # get line end mean tensions
if self.ms.moorMod == 0:
if self.moorMod == 0:
for ih in range(self.nWaves+1):
for iw in range(self.nw):
T_moor_amps[ih,:,iw] = np.matmul(J_moor, self.Xi[ih,:,iw]) # FFT of mooring tensions
Expand Down
38 changes: 19 additions & 19 deletions raft/raft_model.py
View file
Original file line number Diff line number Diff line change
Expand Up @@ -102,7 +102,7 @@ def __init__(self, design, nTurbines=1):
else:
raise Exception("When using 'array_mooring', a MoorDyn-style input file must be provided as 'file'.")

self.ms.moorMod = getFromDict(design['array_mooring'], 'moorMod', default=0, dtype=int)
self.moorMod = getFromDict(design['array_mooring'], 'moorMod', default=0, dtype=int)
else:
self.ms = None

Expand Down Expand Up @@ -211,9 +211,9 @@ def analyzeUnloaded(self, ballast=0, heave_tol = 1):

if self.ms:
try:
if self.ms.moorMod == 0 or self.ms.moorMod == 2:
if self.moorMod == 0 or self.moorMod == 2:
C_moor = self.ms.getCoupledStiffness(lines_only=True)
elif self.ms.moorMod == 1:
elif self.moorMod == 1:
self.ms.updateLumpedMassSystem()
_, _, _, C_moor = self.ms.getCoupledDynamicMatrices(lines_only=True)

Expand All @@ -224,9 +224,9 @@ def analyzeUnloaded(self, ballast=0, heave_tol = 1):

if self.fowtList[0].ms:
try:
if self.fowtList[0].ms.moorMod == 0 or self.fowtList[0].ms.moorMod == 2:
if self.fowtList[0].moorMod == 0 or self.fowtList[0].moorMod == 2:
C_moor = self.fowtList[0].ms.getCoupledStiffness(lines_only=True)
elif self.fowtList[0].ms.moorMod == 1:
elif self.fowtList[0].moorMod == 1:
self.fowtList[0].ms.updateSystemDynamicMatrices()
_, _, _, C_moor = self.fowtList[0].ms.getCoupledDynamicMatrices(lines_only=True)

Expand Down Expand Up @@ -377,7 +377,7 @@ def analyzeCases(self, display=0, meshDir=os.path.join(os.getcwd(),'BEM'), RAO_p
T_moor = self.ms.getTensions() # get line end mean tensions


if self.ms.moorMod == 0:
if self.moorMod == 0:
for ih in range(nWaves+1):
for iw in range(self.nw):
T_moor_amps[ih,:,iw] = np.matmul(J_moor, self.Xi[ih,:,iw]) # FFT of mooring tensions
Expand Down Expand Up @@ -461,9 +461,9 @@ def solveEigen(self, display=0):

# include array-level mooring stiffness
if self.ms:
if self.ms.moorMod == 0 or self.ms.moorMod == 2:
if self.moorMod == 0 or self.moorMod == 2:
C_moor = self.ms.getCoupledStiffnessA(lines_only=True)
elif self.ms.moorMod == 1:
elif self.moorMod == 1:
self.ms.updateSystemDynamicMatrices()
_, _, _, C_moor = self.ms.getCoupledDynamicMatrices(lines_only=True)
C_tot += C_moor
Expand Down Expand Up @@ -732,9 +732,9 @@ def step_func_equil(X, args, Y, oths, Ytarget, err, tol_, iter, maxIter):

# add array mooring system stiffness (if applicable)
if self.ms:
if self.ms.moorMod == 0 or self.ms.moorMod == 2:
if self.moorMod == 0 or self.moorMod == 2:
Kmoor = self.ms.getCoupledStiffnessA(lines_only=True)
elif self.ms.moorMod == 1:
elif self.moorMod == 1:
self.ms.updateSystemDynamicMatrices()
_, _, _, Kmoor = self.ms.getCoupledDynamicMatrices(lines_only=True)

Expand All @@ -752,9 +752,9 @@ def step_func_equil(X, args, Y, oths, Ytarget, err, tol_, iter, maxIter):
if fowt.ms:
if fowt.ms:
fowt.ms.solveEquilibrium()
if fowt.ms.moorMod == 0 or fowt.ms.moorMod == 2:
if fowt.moorMod == 0 or fowt.moorMod == 2:
Kmoor_fowt = fowt.ms.getCoupledStiffnessA(lines_only=True)
elif fowt.ms.moorMod == 1:
elif fowt.moorMod == 1:
fowt.ms.updateSystemDynamicMatrices()
_, _, _, Kmoor_fowt = fowt.ms.getCoupledDynamicMatrices(lines_only=True)
K6 += Kmoor_fowt
Expand Down Expand Up @@ -961,12 +961,12 @@ def solveDynamics(self, case, tol=0.01, conv_plot=0, RAO_plot=0, display=0):
# We would need to pass the motions of the extremities of the mooring lines within getCoupledDynamicMatrices
# I think this would be straightforward for lines connecting the fairlead to the anchor, but not sure about cases with buoys
M_moor, A_moor, B_moor, C_moor = (np.zeros([6,6]) for _ in range(4))
if not fowt.ms or fowt.ms.moorMod == 0:
if not fowt.ms or fowt.moorMod == 0:
C_moor = fowt.C_moor
elif fowt.ms.moorMod == 1:
elif fowt.moorMod == 1:
fowt.updateMooringDynamicMatrices(XiLast, fowt.S[0,:])
M_moor, A_moor, B_moor, C_moor = fowt.ms.getCoupledDynamicMatrices(lines_only=True)
elif fowt.ms.moorMod == 2:
elif fowt.moorMod == 2:
C_moor = fowt.C_moor
fowt.updateMooringDynamicMatrices(XiLast, fowt.S[0,:])
M_moor, A_moor, B_moor, _ = fowt.ms.getCoupledDynamicMatrices(lines_only=True)
Expand Down Expand Up @@ -1007,7 +1007,7 @@ def solveDynamics(self, case, tol=0.01, conv_plot=0, RAO_plot=0, display=0):
# Recompute mooring damping matrix as it depends on body motions (linearization of drag lods). The other matrices are kept the same.
# Note: Is it worth recomputing the mooring damping matrix at each step? The impact of mooring damping on body dynamics is small, and the motion
# RAOs are probably not changing much. Perhaps compute this only once and keep it constant?
if fowt.ms and (fowt.ms.moorMod == 1 or fowt.ms.moorMod == 2):
if fowt.ms and (fowt.moorMod == 1 or fowt.moorMod == 2):
fowt.updateMooringDynamicMatrices(XiLast, fowt.S[0,:])
_, _, B_moor, _ = fowt.ms.getCoupledDynamicMatrices(lines_only=True)

Expand Down Expand Up @@ -1112,12 +1112,12 @@ def solveDynamics(self, case, tol=0.01, conv_plot=0, RAO_plot=0, display=0):
# include array-level mooring stiffness
if self.ms:
M_moor, A_moor, B_moor, C_moor = (np.zeros([Z_sys.shape[0], Z_sys.shape[1]]) for _ in range(4))
if self.ms.moorMod == 0:
if self.moorMod == 0:
C_moor = self.ms.getCoupledStiffnessA(lines_only=True)
elif self.ms.moorMod == 1:
elif self.moorMod == 1:
self.updateMooringDynamicMatrices(XiLast_all, self.fowtList[0].S[0,:])
M_moor, A_moor, B_moor, C_moor = self.ms.getCoupledDynamicMatrices(lines_only=True)
elif self.ms.moorMod == 2:
elif self.moorMod == 2:
self.updateMooringDynamicMatrices(XiLast_all, self.fowtList[0].S[0,:])
C_moor = self.ms.getCoupledStiffnessA(lines_only=True)
M_moor, A_moor, B_moor, _ = self.ms.getCoupledDynamicMatrices(lines_only=True)
Expand Down

0 comments on commit 9fdc8ee

Please sign in to comment.