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SubDyn: Consistent postprocessing for self-weight reconstruction #3356

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SubDyn: Consistent postprocessing for self-weight reconstruction #3356

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4f1c845
Update beams self-weight (only sensor outputs)
RBergua Jun 3, 2026
65d51f8
Fix (SubDyn): remove incorrect comment about Fg
RBergua Jun 4, 2026
65cbd8a
SubDyn: update CALC_NODE_FORCES description and comments
RBergua Jun 4, 2026
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21 changes: 10 additions & 11 deletions modules/subdyn/src/SubDyn_Output.f90
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Original file line number Diff line number Diff line change
Expand Up @@ -247,10 +247,9 @@ SUBROUTINE ConfigOutputNode_MKF_ID(pLst, iElem, iiNode, iStore, NodeID2)
CALL ElemM(p%ElemProps(iElem), pLst%Me(:,:,iiNode,iStore))
CALL ElemK(p%ElemProps(iElem), pLst%Ke(:,:,iiNode,iStore))
CALL ElemF(p%ElemProps(iElem), Init%g, pLst%Fg(:,iiNode,iStore), FCe)
! NOTE: Removing this force contribution for now
! The output of subdyn will just be the "Kx" part for now
!pLst%Fg(:,iiNode,iStore) = pLst%Fg(:,iiNode,iStore) + FCe(1:12) ! Adding cable element force
pLst%Fg(:,iiNode,iStore) = FCe(1:12) ! Adding cable element force
! Apply superposition correction: include both the element gravity force vector
! and the cable pretension nodal force when evaluating internal member loads.
pLst%Fg(:,iiNode,iStore) = pLst%Fg(:,iiNode,iStore) + FCe(1:12) ! gravity force + cable element force
END SUBROUTINE ConfigOutputNode_MKF_ID


Expand Down Expand Up @@ -516,15 +515,15 @@ subroutine ElementForce(pLst, iiNode, JJ, FM_elm, FK_elm, sgn, DIRCOS, bUseInput
end subroutine ElementForce

!====================================================================================================
!> Calculates static and dynamic forces for a given element, using K and M of the element, and
!output quantities Udotdot and Y2 containing the
!and K2 indicating wheter the 1st (1) or 2nd (2) node is to be picked
!> Calculates static and dynamic nodal forces for a given element using its stiffness and mass matrices.
! Udotdot contains nodal accelerations and Y2 contains nodal displacements.
! FirstOrSecond selects whether the node of interest is the first (1) or second (2) node of the element.
!----------------------------------------------------------------------------------------------------
SUBROUTINE CALC_NODE_FORCES(DIRCOS,Me,Ke,Udotdot,Y2 ,Fg, FirstOrSecond, FM_nod, FK_nod)
Real(FEKi), DIMENSION (3,3), INTENT(IN) :: DIRCOS !direction cosice matrix (global to local) (3x3)
Real(FEKi), DIMENSION (12,12), INTENT(IN) :: Me,Ke !element M and K matrices (12x12) in GLOBAL REFERENCE (DIRCOS^T K DIRCOS)
Real(ReKi), DIMENSION (12), INTENT(IN) :: Udotdot, Y2 !acceleration and velocities, gravity forces
Real(FEKi), DIMENSION (12), INTENT(IN) :: Fg !acceleration and velocities, gravity forces
Real(ReKi), DIMENSION (12), INTENT(IN) :: Udotdot, Y2 ! nodal accelerations and nodal displacements
Real(FEKi), DIMENSION (12), INTENT(IN) :: Fg ! constant element load vector (gravity + cable)
Integer(IntKi), INTENT(IN) :: FirstOrSecond !1 or 2 depending on node of interest
REAL(ReKi), DIMENSION (6), INTENT(OUT) :: FM_nod, FK_nod !output static and dynamic forces and moments
!Locals
Expand All @@ -533,7 +532,7 @@ SUBROUTINE CALC_NODE_FORCES(DIRCOS,Me,Ke,Udotdot,Y2 ,Fg, FirstOrSecond, FM_nod,

FM_glb = matmul(Me,Udotdot) ! GLOBAL REFERENCE
FF_glb = matmul(Ke,Y2) ! GLOBAL REFERENCE
FF_glb = FF_glb - Fg ! GLOBAL REFERENCE ! NOTE: Fg is now 0, only the "Kx" part in Fk
FF_glb = FF_glb - Fg ! GLOBAL REFERENCE
DO L=1,4 ! Transforming coordinates 3 at a time
FM_elm((L-1)*3+1:L*3) = matmul(DIRCOS, FM_glb( (L-1)*3+1:L*3 ) )
FF_elm((L-1)*3+1:L*3) = matmul(DIRCOS, FF_glb( (L-1)*3+1:L*3 ) )
Expand All @@ -547,7 +546,7 @@ END SUBROUTINE SDOut_MapOutputs

!====================================================================================================
SUBROUTINE SDOut_CloseSum( UnSum, ErrStat, ErrMsg )
INTEGER, INTENT( IN ) :: UnSum ! the unit number for the SubDyn summary file
INTEGER, INTENT( IN ) :: UnSum ! the unit number for the SubDyn summary file
INTEGER, INTENT( OUT ) :: ErrStat ! returns a non-zero value when an error occurs
CHARACTER(*), INTENT( OUT ) :: ErrMsg ! Error message if ErrStat /= ErrID_None
! Local variables
Expand Down
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