Update OpenFAST and FAST.Farm to give MoorDyn access to the ED Ptfm 6 DOF at initalization

Author: RyanDavies19

glue-codes/fast-farm/src/FAST_Farm_Subs.f90

@@ -834,9 +834,9 @@ SUBROUTINE Farm_InitMD( farm, ErrStat, ErrMsg )
    ALLOCATE( MD_InitInp%PtfmInit(6,farm%p%NumTurbines), MD_InitInp%TurbineRefPos(3,farm%p%NumTurbines), STAT = ErrStat2 )
    if (Failed0("MoorDyn PtfmInit and TurbineRefPos initialization inputs in FAST.Farm.")) return;
 
-   ! gather spatial initialization inputs for Farm-level MoorDyn
-   DO nt = 1,farm%p%NumTurbines              
-      MD_InitInp%PtfmInit(:,nt) = farm%FWrap(nt)%m%Turbine%MD%m%PtfmInit   ! turbine PRP initial positions and rotations in their respective coordinate systems from each FAST/MD instance
+   ! gather spatial initialization inputs for Farm-level MoorDyn (platform locations in their respective coordinate systems and locations of the turbines in the farm global coordinate system)
+   DO nt = 1,farm%p%NumTurbines  
+      MD_InitInp%PtfmInit(:,nt) = farm%FWrap(nt)%m%Turbine%p_FAST%PlatformPosInit ! platform initial positions in their respective coordinate systems from each FAST/ED instance
       MD_InitInp%TurbineRefPos(:,nt) = farm%p%WT_Position(:,nt)            ! reference positions of each turbine in the farm global coordinate system
    END DO 
 

modules/openfast-library/src/FAST_Registry.txt

@@ -193,6 +193,7 @@ typedef	^	FAST_ParameterType	INTEGER	VTK_tWidth	-	-	-	"Width of number of files
 typedef	^	FAST_ParameterType	DbKi	VTK_fps	-	-	-	"number of frames per second to output VTK data" -
 typedef	^	FAST_ParameterType	FAST_VTK_SurfaceType	VTK_surface	-	-	-	"Data for VTK surface visualization"
 typedef	^	FAST_ParameterType	CHARACTER(4)	Tdesc	-	-	-	"description of turbine ID (for FAST.Farm) screen printing"	
+typedef	^	FAST_ParameterType	DbKi	PlatformPosInit	{6}	-	-	"Platform inital 6 DOF position from ED (this is different from TurbinePos)"	-
 
 #  Parameters for linearization
 typedef	^	FAST_ParameterType	LOGICAL	CalcSteady	-	-	-	"Calculate a steady-state periodic operating point before linearization [unused if Linearize=False]"	-

modules/openfast-library/src/FAST_Subs.f90

@@ -290,6 +290,9 @@ SUBROUTINE FAST_InitializeAll( t_initial, p_FAST, y_FAST, m_FAST, ED, SED, BD, S
       CALL ED_Init( Init%InData_ED, ED%Input(1), ED%p, ED%x(STATE_CURR), ED%xd(STATE_CURR), ED%z(STATE_CURR), ED%OtherSt(STATE_CURR), &
                   ED%y, ED%m, p_FAST%dt_module( MODULE_ED ), Init%OutData_ED, ErrStat2, ErrMsg2 )
          CALL SetErrStat(ErrStat2,ErrMsg2,ErrStat,ErrMsg,RoutineName)
+
+      ! Assign the inital positions for use by MoorDyn initalization
+      p_FAST%PlatformPosInit = Init%OutData_ED%PlatformPos
 
       p_FAST%ModuleInitialized(Module_ED) = .TRUE.
       CALL SetModuleSubstepTime(Module_ED, p_FAST, y_FAST, ErrStat2, ErrMsg2)
@@ -1207,7 +1210,7 @@ SUBROUTINE FAST_InitializeAll( t_initial, p_FAST, y_FAST, m_FAST, ED, SED, BD, S
       Init%InData_MD%FileName  = p_FAST%MooringFile         ! This needs to be set according to what is in the FAST input file.
       Init%InData_MD%RootName  = p_FAST%OutFileRoot
 
-      Init%InData_MD%PtfmInit(:,1)  = Init%OutData_ED%PlatformPos ! initial position of the platform (when a FAST module, MoorDyn just takes one row in this matrix)
+      Init%InData_MD%PtfmInit(:,1)  = p_FAST%PlatformPosInit ! initial position of the platform (when a FAST module, MoorDyn just takes one row in this matrix)
       Init%InData_MD%FarmSize       = 0                           ! 0 here indicates normal FAST module use of MoorDyn, for a single turbine
       Init%InData_MD%TurbineRefPos(:,1) = 0.0_DbKi                ! for normal FAST use, the global reference frame is at 0,0,0
       Init%InData_MD%g         = p_FAST%Gravity                   ! This need to be according to g used in ElastoDyn

modules/openfast-library/src/FAST_Types.f90

@@ -207,6 +207,7 @@ MODULE FAST_Types
     REAL(DbKi)  :: VTK_fps = 0.0_R8Ki      !< number of frames per second to output VTK data [-]
     TYPE(FAST_VTK_SurfaceType)  :: VTK_surface      !< Data for VTK surface visualization [-]
     CHARACTER(4)  :: Tdesc      !< description of turbine ID (for FAST.Farm) screen printing [-]
+    REAL(DbKi) , DIMENSION(1:6)  :: PlatformPosInit = 0.0_R8Ki      !< Platform inital 6 DOF position from ED (this is different from TurbinePos) [-]
     LOGICAL  :: CalcSteady = .false.      !< Calculate a steady-state periodic operating point before linearization [unused if Linearize=False] [-]
     INTEGER(IntKi)  :: TrimCase = 0_IntKi      !< Controller parameter to be trimmed {1:yaw; 2:torque; 3:pitch} [unused if Linearize=False; used only if CalcSteady=True] [-]
     REAL(ReKi)  :: TrimTol = 0.0_ReKi      !< Tolerance for the rotational speed convergence (>0) [unused if Linearize=False; used only if CalcSteady=True] [-]
@@ -1487,6 +1488,7 @@ subroutine FAST_CopyParam(SrcParamData, DstParamData, CtrlCode, ErrStat, ErrMsg)
    call SetErrStat(ErrStat2, ErrMsg2, ErrStat, ErrMsg, RoutineName)
    if (ErrStat >= AbortErrLev) return
    DstParamData%Tdesc = SrcParamData%Tdesc
+   DstParamData%PlatformPosInit = SrcParamData%PlatformPosInit
    DstParamData%CalcSteady = SrcParamData%CalcSteady
    DstParamData%TrimCase = SrcParamData%TrimCase
    DstParamData%TrimTol = SrcParamData%TrimTol
@@ -1657,6 +1659,7 @@ subroutine FAST_PackParam(RF, Indata)
    call RegPack(RF, InData%VTK_fps)
    call FAST_PackVTK_SurfaceType(RF, InData%VTK_surface) 
    call RegPack(RF, InData%Tdesc)
+   call RegPack(RF, InData%PlatformPosInit)
    call RegPack(RF, InData%CalcSteady)
    call RegPack(RF, InData%TrimCase)
    call RegPack(RF, InData%TrimTol)
@@ -1772,6 +1775,7 @@ subroutine FAST_UnPackParam(RF, OutData)
    call RegUnpack(RF, OutData%VTK_fps); if (RegCheckErr(RF, RoutineName)) return
    call FAST_UnpackVTK_SurfaceType(RF, OutData%VTK_surface) ! VTK_surface 
    call RegUnpack(RF, OutData%Tdesc); if (RegCheckErr(RF, RoutineName)) return
+   call RegUnpack(RF, OutData%PlatformPosInit); if (RegCheckErr(RF, RoutineName)) return
    call RegUnpack(RF, OutData%CalcSteady); if (RegCheckErr(RF, RoutineName)) return
    call RegUnpack(RF, OutData%TrimCase); if (RegCheckErr(RF, RoutineName)) return
    call RegUnpack(RF, OutData%TrimTol); if (RegCheckErr(RF, RoutineName)) return