Merge pull request #64 from WISDEM/rc-1.3.1

RAFT v1.3.1

designs/FOCTT_example.yaml

@@ -41,7 +41,7 @@ turbine:
     Rhub        : 1.25       # hub radius [m]
     precone     : 4.0        # [deg]
     shaft_tilt  : 6.0        # [deg]
-    overhang    : 2    # [m]
+    overhang    : -2    # [m]
     aeroServoMod : 2          # 0 aerodynamics off; 1 aerodynamics on (no control); 2 aerodynamics and control on
 
 

designs/OC3spar.yaml

@@ -39,7 +39,7 @@ turbine:
     Rhub        : 1.5        # hub radius [m]
     precone     : 2.5        # [rad]
     shaft_tilt  : 5.0        # [rad]
-    overhang    : 5.0        # [m]
+    overhang    : -5.0        # [m]
     aeroServoMod : 1          # 0 aerodynamics off; 1 aerodynamics on (no control); 2 aerodynamics and control on
 
     env: 

designs/OC4semi.yaml

@@ -37,7 +37,7 @@ turbine:
     Rhub        : 1.5        # hub radius [m]
     precone     : 2.5        # [rad]
     shaft_tilt  : 5.0        # [rad]
-    overhang    : 5.0        # [m]
+    overhang    : -5.0        # [m]
     aeroServoMod : 1          # 0 aerodynamics off; 1 aerodynamics on (no control); 2 aerodynamics and control on
 
     env: 

designs/VolturnUS-S.yaml

@@ -37,7 +37,7 @@ turbine:
     Rhub        : 3.97        # hub radius [m]
     precone     : 4.0     # [deg]
     shaft_tilt  : 6.0     # [deg]
-    overhang    : 12.0313 # [m]
+    overhang    : -12.0313 # [m]
     aeroServoMod : 2          # 0 aerodynamics off; 1 aerodynamics on (no control); 2 aerodynamics and control on
 
     blade: 

designs/VolturnUS-S_farm.yaml

@@ -62,7 +62,7 @@ turbine:
     Rhub        : 3.97        # hub radius [m]
     precone     : 4.0     # [deg]
     shaft_tilt  : 6.0     # [deg]
-    overhang    : 12.0313 # [m]
+    overhang    : -12.0313 # [m]
     aeroServoMod : 2          # 0 aerodynamics off; 1 aerodynamics on (no control); 2 aerodynamics and control on
 
     blade: 

raft/raft_member.py

@@ -39,7 +39,9 @@ def __init__(self, mi, nw, BEM=[], heading=0):
         if (self.rA0[2] == 0 or self.rB0[2] == 0) and self.type != 3:
             raise ValueError("RAFT Members cannot start or end on the waterplane")
         if self.rB0[2] < self.rA0[2]:
-            raise ValueError(f"The z position of rA is {self.rA0[2]}, and the z position of rB is {self.rB0[2]}. RAFT Members must have their rA position below the rB position. Try changing your input design yaml rA/rB values.")
+            print(f"The z position of rA is {self.rA0[2]}, and the z position of rB is {self.rB0[2]}. RAFT Members can have trouble when their rA position is below the rB position. Switching rA and rB now.")
+            self.rA0 = np.array(mi['rB'], dtype=np.double)
+            self.rB0 = np.array(mi['rA'], dtype=np.double)
 
         shape      = str(mi['shape'])                                # the shape of the cross section of the member as a string (the first letter should be c or r)
 

raft/raft_model.py

@@ -159,10 +159,12 @@ def __init__(self, design, nTurbines=1):
 
         self.design = design # save design dictionary for possible later use/reference
 
-
+        # Set mooring current modeling mode (0: no current; 1: uniform current included in MoorPy)
+        self.mooring_currentMod = getFromDict(design['mooring'], 'currentMod', default=0, dtype=int)
+
+        # Initialize array-level mooring system if it exists
         if self.ms:
             self.ms.initialize()
-        #>>> initialize all the mooring systems?
 
         self.results = {}     # dictionary to hold all results from the model
 
@@ -553,17 +555,29 @@ def solveStatics(self, case, display=0):
 
                 if display > 1:  print(" F_env_constant"+"  ".join(["{:+8.2e}"]*6).format(*F_env_constant[6*i:6*i+6]))
 
-        # preliminary approach to provide uniform currents on the mooring system(s)
-        currentMod = 0
-        currentU = np.zeros(3)
-        if case:
+
+        # ----- Pass case water current information to MoorPy -----
+
+        currentMod = 0  # current modeling mode for MoorPy
+        currentU = np.zeros(3)  # uniform current velocity for MoorPy [m/s]
+        if case and self.mooring_currentMod > 0:
             cur_speed = getFromDict(case, 'current_speed', shape=0, default=0.0)
             cur_heading = getFromDict(case, 'current_heading', shape=0, default=0)
             if cur_speed > 0:
                 currentMod = 1
                 currentU = np.array([cur_speed*np.cos(np.radians(cur_heading)),
                                      cur_speed*np.sin(np.radians(cur_heading)), 0])
 
+        # Apply current to MoorPy
+        if self.ms:
+            self.ms.currentMod = currentMod
+            self.ms.current = np.array(currentU)
+        for fowt in self.fowtList:
+            if fowt.ms:
+                fowt.ms.currentMod = currentMod
+                fowt.ms.current = np.array(currentU)
+
+
         # ----- calculate platform offsets and mooring system equilibrium state -----
 
         # figure out some settings to the equilibrium solve

raft/raft_rotor.py

@@ -690,6 +690,8 @@ def calcCavitation(self, case, azimuth=0, clearance_margin=1.0, Patm=101325, Pva
 
                 cav_check[a,n] = sigma_crit + cpmin_node         # if this value is negative, then cavitation occurs (sigma_crit - sigma_l < 0 -> cav occurs; sigma_l = -cpmin_node)
 
+        if np.any(cav_check < 0.0):
+            print("WARNING: Cavitation check was run and found a blade node that has cavitation occuring")
 
         return cav_check
 
@@ -992,16 +994,18 @@ def calcAero(self, case, current=False, display=0):
                 self.b[:3,:3, iw] = rotateMatrix3(np.diag([b2[iw],0,0]), self.R_q)
                 self.f[:3,    iw] = np.matmul(self.R_q, np.array([f2[iw],0,0]))
                 # Above is only forces for now. Moments can be added in future.
-
+
+        """ # Caltured in FOWT.calcHydroExcitation()
         # Add hydrodynamic inertial excitation for underwater rotors
         if current:
             self.f[0,:] += self.I_hydro[0,0] * 1j*self.w*self.V_w  # <<< this should have a rotation applied
             breakpoint()
+        """        
 
         return self.f0, self.f, self.a, self.b #  B_aero, C_aero, F_aero0, F_aero
 
 
-    def plot(self, ax, r_ptfm=[0,0,0], azimuth=0, color='k', 
+    def plot(self, ax, r_ptfm=np.array([0,0,0]), azimuth=0, color='k', 
              airfoils=False, draw_circle=False,
              plot2d=False, Xuvec=[1,0,0], Yuvec=[0,0,1], zorder=2):
         '''Draws the rotor on the passed axes, considering optional platform 
@@ -1059,8 +1063,9 @@ def plot(self, ax, r_ptfm=[0,0,0], azimuth=0, color='k',
             P2 = np.matmul(R_precone, P)
             P2 = np.matmul(R_azimuth[ib], P2)  # rotate around shaft
             P2 = np.matmul(self.R_q, P2)  # rotate to actual rotor orientation
-            P2 = P2 + self.r3[:,None] + r_ptfm[:,None]  # translate from PRP to absolute hub location
-
+            P2 = P2 + self.r3[:,None]  # translate from PRP to absolute hub location
+
+
             if plot2d:  # new 2d plotting option
 
                 # apply any 3D to 2D transformation here to provide desired viewing angle