Merge pull request #202 from IEAWindTask37/develop

Fix nacelle mass properties

HAWC2/IEA-15-240-RWT/IEA_15MW_RWT_WTG_bodies_noFPM.htc

@@ -9,8 +9,8 @@
     nbodies     1 ;
     node_distribution     c2_def ;
     damping_posdef  0.0  0.0  0.0  7.00E-04  7.00E-04  7.00E-04  ;   dummy values (stiff body)
-    concentrated_mass  1  0.00   0.00    0.00    28280   0.00          0.00           0.00    ;  yaw system
-    concentrated_mass  1  0.00  -4.720  -4.275  646895  7.674778e+06  1.055686e+07  8.127143e+06    ;  nacelle: NR+R mass; NR inertia
+    concentrated_mass  1  0.00   0.00    0.00    28249   0.00          0.00           0.00    ;  yaw system
+    concentrated_mass  1  0.00  -5.125  -4.315  644857  7.674778e+06  1.055686e+07  8.127143e+06    ;  nacelle: NR+R mass; NR inertia
     begin timoschenko_input;
       filename ../IEA-15-240-RWT/IEA_15MW_RWT_Dummy_st.dat ;
       set 1 1 ;
@@ -46,7 +46,7 @@
     node_distribution     c2_def ;
     damping_posdef  0.0 0.0 0.0 4.65E-04  4.65E-04  5.971406e-04 ;  Kx=Ky=dummy; Kz tuned to 5% critical for free-free Ig, Ir
     concentrated_mass  1  0.0 0.0 0.0 0.0 0.0 0.0 1836784    ;    generator inertia about shaft
-    concentrated_mass  2  0.0 0.0 0.0 69360 0.0 0.0 973520    ;    hub mass/inertia;
+    concentrated_mass  2  0.0 0.0 0.0 69131 0.0 0.0 969952    ;    hub mass/inertia;
     begin timoschenko_input;
       filename ../IEA-15-240-RWT/IEA_15MW_RWT_Shaft_st.dat ;
       set 1 1 ;

OpenFAST/IEA-15-240-RWT-Monopile/IEA-15-240-RWT-Monopile_ElastoDyn.dat

@@ -54,9 +54,9 @@ True                   PtfmYDOF    - Platform yaw rotation DOF (flag)
 -12.097571763912535    OverHang    - Distance from yaw axis to rotor apex [3 blades] or teeter pin [2 blades] (meters)
 0.0                    ShftGagL    - Distance from rotor apex [3 blades] or teeter pin [2 blades] to shaft strain gages [positive for upwind rotors] (meters)
 -6.0                   ShftTilt    - Rotor shaft tilt angle (degrees)
--4.720                 NacCMxn     - Downwind distance from the tower-top to the nacelle CM (meters)
+-5.125                 NacCMxn     - Downwind distance from the tower-top to the nacelle CM (meters)
 0.0                    NacCMyn     - Lateral  distance from the tower-top to the nacelle CM (meters)
-4.275                  NacCMzn     - Vertical distance from the tower-top to the nacelle CM (meters)
+4.315                  NacCMzn     - Vertical distance from the tower-top to the nacelle CM (meters)
 0.0                    NcIMUxn     - Downwind distance from the tower-top to the nacelle IMU (meters)
 0.0                    NcIMUyn     - Lateral  distance from the tower-top to the nacelle IMU (meters)
 0.0                    NcIMUzn     - Vertical distance from the tower-top to the nacelle IMU (meters)
@@ -71,12 +71,12 @@ True                   PtfmYDOF    - Platform yaw rotation DOF (flag)
 0.0                    TipMass(1)  - Tip-brake mass, blade 1 (kg)
 0.0                    TipMass(2)  - Tip-brake mass, blade 2 (kg)
 0.0                    TipMass(3)  - Tip-brake mass, blade 3 (kg) [unused for 2 blades]
-69360                  HubMass     - Hub mass (kg)
-973520                 HubIner     - Hub inertia about rotor axis [3 blades] or teeter axis [2 blades] (kg m^2)
+69131                  HubMass     - Hub mass (kg)
+969952                 HubIner     - Hub inertia about rotor axis [3 blades] or teeter axis [2 blades] (kg m^2)
 1836784                GenIner     - Generator inertia about HSS (kg m^2)
-646895                 NacMass     - Nacelle mass (kg)
-29600436               NacYIner    - Nacelle inertia about yaw axis (kg m^2)
-28280                  YawBrMass   - Yaw bearing mass (kg)
+644857                 NacMass     - Nacelle mass (kg)
+32929058               NacYIner    - Nacelle inertia about yaw axis (kg m^2)
+28249                  YawBrMass   - Yaw bearing mass (kg)
 0.0                    PtfmMass    - Platform mass (kg)
 0.0                    PtfmRIner   - Platform inertia for roll tilt rotation about the platform CM (kg m^2)
 0.0                    PtfmPIner   - Platform inertia for pitch tilt rotation about the platform CM (kg m^2)
@@ -98,8 +98,8 @@ True                   PtfmYDOF    - Platform yaw rotation DOF (flag)
 ---------------------- DRIVETRAIN ----------------------------------------------
 100.0                  GBoxEff     - Gearbox efficiency (%)
 1.0                    GBRatio     - Gearbox ratio (-)
-51140939610.0          DTTorSpr    - Drivetrain torsional spring (N-m/rad)
-42676833.0             DTTorDmp    - Drivetrain torsional damper (N-m/(rad/s))
+69737644900.0          DTTorSpr    - Drivetrain torsional spring (N-m/rad)
+49418406.0             DTTorDmp    - Drivetrain torsional damper (N-m/(rad/s))
 ---------------------- FURLING -------------------------------------------------
 False                  Furling     - Read in additional model properties for furling turbine (flag) [must currently be FALSE)
 "unused"               FurlFile    - Name of file containing furling properties (quoted string) [unused when Furling=False]

OpenFAST/IEA-15-240-RWT-Monopile/IEA-15-240-RWT-Monopile_HydroDyn.dat

@@ -124,9 +124,10 @@ MemberID  MJointID1  MJointID2  MPropSetID1  MPropSetID2  MDivSize   MCoefMod  P
   (-)        (-)        (-)         (-)          (-)        (m)      (switch)   (flag)
     1         1          2           1            1         0.5          1         FALSE   
 ---------------------- FILLED MEMBERS ------------------------------------------
-             0   NFillGroups     - Number of filled member groups (-) [If FillDens = DEFAULT, then FillDens = WtrDens; FillFSLoc is related to MSL2SWL]
+             1   NFillGroups     - Number of filled member groups (-) [If FillDens = DEFAULT, then FillDens = WtrDens; FillFSLoc is related to MSL2SWL]
 FillNumM FillMList             FillFSLoc     FillDens
 (-)      (-)                   (m)           (kg/m^3)
+ 1        1                    0.0           DEFAULT
 ---------------------- MARINE GROWTH -------------------------------------------
              0   NMGDepths      - Number of marine-growth depths specified (-)
 MGDpth     MGThck       MGDens

OpenFAST/IEA-15-240-RWT-UMaineSemi/IEA-15-240-RWT-UMaineSemi_ElastoDyn.dat

@@ -54,9 +54,9 @@ True          PtfmYDOF    - Platform yaw rotation DOF (flag)
     -12.098   OverHang    - Distance from yaw axis to rotor apex [3 blades] or teeter pin [2 blades] (meters)
         0.0   ShftGagL    - Distance from rotor apex [3 blades] or teeter pin [2 blades] to shaft strain gages [positive for upwind rotors] (meters)
        -6.0   ShftTilt    - Rotor shaft tilt angle (degrees)
-    -4.7201   NacCMxn     - Downwind distance from the tower-top to the nacelle CM (meters)
+     -5.125   NacCMxn     - Downwind distance from the tower-top to the nacelle CM (meters)
         0.0   NacCMyn     - Lateral  distance from the tower-top to the nacelle CM (meters)
-     4.2751   NacCMzn     - Vertical distance from the tower-top to the nacelle CM (meters)
+      4.315   NacCMzn     - Vertical distance from the tower-top to the nacelle CM (meters)
         0.0   NcIMUxn     - Downwind distance from the tower-top to the nacelle IMU (meters)
         0.0   NcIMUyn     - Lateral  distance from the tower-top to the nacelle IMU (meters)
         0.0   NcIMUzn     - Vertical distance from the tower-top to the nacelle IMU (meters)
@@ -71,12 +71,12 @@ True          PtfmYDOF    - Platform yaw rotation DOF (flag)
           0   TipMass(1)  - Tip-brake mass, blade 1 (kg)
           0   TipMass(2)  - Tip-brake mass, blade 2 (kg)
           0   TipMass(3)  - Tip-brake mass, blade 3 (kg) [unused for 2 blades]
-      69360   HubMass     - Hub mass (kg)
-     973520   HubIner     - Hub inertia about rotor axis [3 blades] or teeter axis [2 blades] (kg m^2)
+      69131   HubMass     - Hub mass (kg)
+     969952   HubIner     - Hub inertia about rotor axis [3 blades] or teeter axis [2 blades] (kg m^2)
     1836784   GenIner     - Generator inertia about HSS (kg m^2)
-     646895   NacMass     - Nacelle mass (kg)
-   24240914   NacYIner    - Nacelle inertia about yaw axis (kg m^2)
-      28280   YawBrMass   - Yaw bearing mass (kg)
+     644857   NacMass     - Nacelle mass (kg)
+   32929058   NacYIner    - Nacelle inertia about yaw axis (kg m^2)
+      28249   YawBrMass   - Yaw bearing mass (kg)
 1.7838E+07    PtfmMass    - Platform mass (kg)
 1.2507E+10    PtfmRIner   - Platform inertia for roll tilt rotation about the platform CM (kg m^2)
 1.2507E+10    PtfmPIner   - Platform inertia for pitch tilt rotation about the platform CM (kg m^2)
@@ -98,8 +98,8 @@ True          PtfmYDOF    - Platform yaw rotation DOF (flag)
 ---------------------- DRIVETRAIN ----------------------------------------------
         100   GBoxEff     - Gearbox efficiency (%)
           1   GBRatio     - Gearbox ratio (-)
-51140939610   DTTorSpr    - Drivetrain torsional spring (N-m/rad)
-   42676833   DTTorDmp    - Drivetrain torsional damper (N-m/(rad/s))
+69737644900   DTTorSpr    - Drivetrain torsional spring (N-m/rad)
+   49418406   DTTorDmp    - Drivetrain torsional damper (N-m/(rad/s))
 ---------------------- FURLING -------------------------------------------------
 False         Furling     - Read in additional model properties for furling turbine (flag) [must currently be FALSE)
 "unused"      FurlFile    - Name of file containing furling properties (quoted string) [unused when Furling=False]
@@ -243,4 +243,4 @@ END of input file (the word "END" must appear in the first 3 columns of this las
 "TDy"    - local edgewise (translational) deflection (relative to the undeflected position) of node
 "RDz"
 END of input file (the word "END" must appear in the first 3 columns of this last OutList line)
----------------------------------------------------------------------------------------
+---------------------------------------------------------------------------------------

WISDEM/run_model.py

@@ -149,6 +149,7 @@ def run_15mw(fname_wt_input):
     nacDF.loc['Blades'] = np.r_[blades_mass, hub_cm, blades_I, blades_I_TT].tolist()
     nacDF.loc['Hub_System'] = np.r_[hub_mass, hub_cm, hub_I, hub_I_TT].tolist()
     nacDF.loc['RNA'] = np.r_[rna_mass, rna_cm, rna_I, rna_I_TT].tolist()
+    print(nacDF)
 
     # Tabular output: Tower
     water_depth = prob['env.water_depth']

WT_Ontology/IEA-15-240-RWT.yaml

@@ -6,7 +6,7 @@ assembly:
     rotor_orientation: Upwind
     number_of_blades: 3
     hub_height: 150.
-    rotor_diameter: 242.23775645
+    rotor_diameter: 241.94
     rated_power: 15.e+6
     lifetime: 25.0
 components:
@@ -416,8 +416,8 @@ components:
             distance_tt_hub: 5.614
             overhang: 12.0313
             drag_coefficient: 0.5
-            distance_hub2mb: 1.0
-            distance_mb2mb: 1.2
+            distance_hub_mb: 1.0
+            distance_mb_mb: 1.2
             lss_diameter: [3.0, 3.0]
             lss_wall_thickness: [0.1, 0.1]
             nose_diameter: [2.2, 2.2]
@@ -748,6 +748,7 @@ materials:
       S: 0
       Xy: 345.e+6
       m: 3
+      A: 3.5534648443719767e10 #DOI 10.1016/j.proeng.2013.12.061 eqn 5
       unit_cost: 0.7
    -  name: steel_drive
       description: Steel of the drivetrain ASTM 4140 40Cr1Mo28
@@ -766,6 +767,7 @@ materials:
       S: 0
       Xy: 485.e+6
       m: 3
+      A: 3.5534648443719767e10 #DOI 10.1016/j.proeng.2013.12.061 eqn 5
       unit_cost: 0.9
    -  name: cast_iron
       description: Cast iron for hub and nacelle components

WT_Ontology/IEA-15-240-RWT_VolturnUS-S.yaml

@@ -6,7 +6,7 @@ assembly:
     rotor_orientation: Upwind
     number_of_blades: 3
     hub_height: 150.
-    rotor_diameter: 242.23775645
+    rotor_diameter: 241.94
     rated_power: 15.e+6
     lifetime: 25.0
 components:
@@ -416,8 +416,8 @@ components:
             distance_tt_hub: 5.614
             overhang: 12.0313
             drag_coefficient: 0.5
-            distance_hub2mb: 1.0
-            distance_mb2mb: 1.2
+            distance_hub_mb: 1.0
+            distance_mb_mb: 1.2
             lss_diameter: [3.0, 3.0]
             lss_wall_thickness: [0.1, 0.1]
             nose_diameter: [2.2, 2.2]
@@ -1001,6 +1001,7 @@ materials:
       S: 0
       Xy: 345.e+6
       m: 3
+      A: 3.5534648443719767e10 #DOI 10.1016/j.proeng.2013.12.061 eqn 5
       unit_cost: 0.7
    -  name: steel_drive
       description: Steel of the drivetrain ASTM 4140 40Cr1Mo28
@@ -1019,6 +1020,7 @@ materials:
       S: 0
       Xy: 485.e+6
       m: 3
+      A: 3.5534648443719767e10 #DOI 10.1016/j.proeng.2013.12.061 eqn 5
       unit_cost: 0.9
    -  name: cast_iron
       description: Cast iron for hub and nacelle components

tests/test_hawc2_openfast_rnaprops.py

@@ -11,56 +11,65 @@
 
 import _test_functions as tstf
 from _test_functions import FROOT
+import unittest
 
+class TestConsistency(unittest.TestCase):
 
-def test_of_h2_onshore():
-    """Check RNA properties in OF Monopile model versus H2 onshore, UMaine, monopile
-    """
+    def test_of_h2_onshore(self):
+        """Check RNA properties in OF Monopile model versus H2 onshore, UMaine, monopile
+        """
 
-    ed_path = FROOT / 'OpenFAST'/  'IEA-15-240-RWT-Monopile'/  'IEA-15-240-RWT-Monopile_ElastoDyn.dat'
-    h2_dir = FROOT/  'HAWC2'/  'IEA-15-240-RWT-Onshore'
-    h2_path = h2_dir/  'htc'/  'IEA_15MW_RWT_Onshore.htc'
+        ed_path = FROOT / 'OpenFAST'/  'IEA-15-240-RWT-Monopile'/  'IEA-15-240-RWT-Monopile_ElastoDyn.dat'
+        h2_dir = FROOT/  'HAWC2'/  'IEA-15-240-RWT-Onshore'
+        h2_path = h2_dir/  'htc'/  'IEA_15MW_RWT_Onshore.htc'
 
-    h2_dir = h2_dir.as_posix()  # wetb requires strings, not Path objects...
-    h2_path = h2_path.as_posix()
-
-    ed_dict = weio.read(str(ed_path))
-    htc = HTCFile(h2_path, modelpath=h2_dir)
-
-    htc_struc = htc.new_htc_structure
-
-    # tower
-    z_towerbottom = -htc_struc.orientation.base.inipos[2]  # location of tower bottom in space
-    twrht_h2 = tstf.get_body_length(htc_struc, 'tower') + z_towerbottom
-    assert np.isclose(ed_dict['TowerHt'], twrht_h2)  # tower height
-
-    # nacelle and yaw bearing masses and inertias
-    assert np.isclose(ed_dict['YawBrMass'], htc_struc.get_subsection_by_name('towertop').concentrated_mass__1.values[4]) # yaw bearing mass
-    assert np.isclose(ed_dict['NacCMxn'], htc_struc.get_subsection_by_name('towertop').concentrated_mass__2.values[2], atol=1e-3)  # nacelle cm
-    assert np.isclose(ed_dict['NacCMzn'], -htc_struc.get_subsection_by_name('towertop').concentrated_mass__2.values[3], atol=1e-3)  # nacelle cm
-    assert np.isclose(ed_dict['NacMass'], htc_struc.get_subsection_by_name('towertop').concentrated_mass__2[4])  # nacelle mass
-
-    # generator and hub inertia
-    assert np.isclose(ed_dict['GenIner'], htc_struc.get_subsection_by_name('shaft').concentrated_mass__1.values[-1])  # generator inertia
-    assert np.isclose(ed_dict['HubMass'], htc_struc.get_subsection_by_name('shaft').concentrated_mass__2.values[4])  # hub mass
-    assert np.isclose(ed_dict['HubIner'], htc_struc.get_subsection_by_name('shaft').concentrated_mass__2.values[-1])  # hub inertia
-
-    # hub radius, shaft tilt and coning
-    assert np.isclose(ed_dict['HubRad'], htc_struc.get_subsection_by_name('hub1').c2_def.sec__2.values[-2])  # hub radius
-    assert np.isclose(-ed_dict['ShftTilt'], htc_struc.orientation.relative__2.mbdy2_eulerang__2.values[0])  # tilt
+        h2_dir = h2_dir.as_posix()  # wetb requires strings, not Path objects...
+        h2_path = h2_path.as_posix()
+
+        ed_dict = weio.read(str(ed_path))
+        htc = HTCFile(h2_path, modelpath=h2_dir)
+
+        htc_struc = htc.new_htc_structure
+
+        # tower
+        z_towerbottom = -htc_struc.orientation.base.inipos[2]  # location of tower bottom in space
+        twrht_h2 = tstf.get_body_length(htc_struc, 'tower') + z_towerbottom
+        np.testing.assert_allclose(ed_dict['TowerHt'], twrht_h2)  # tower height
+
+        # nacelle and yaw bearing masses and inertias
+        np.testing.assert_allclose(ed_dict['YawBrMass'], htc_struc.get_subsection_by_name('towertop').concentrated_mass__1.values[4], rtol=2e-3) # yaw bearing mass
+        np.testing.assert_allclose(ed_dict['NacCMxn'], htc_struc.get_subsection_by_name('towertop').concentrated_mass__2.values[2], atol=1e-3)  # nacelle cm
+        np.testing.assert_allclose(ed_dict['NacCMzn'], -htc_struc.get_subsection_by_name('towertop').concentrated_mass__2.values[3], atol=1e-3)  # nacelle cm
+        np.testing.assert_allclose(ed_dict['NacMass'], htc_struc.get_subsection_by_name('towertop').concentrated_mass__2[4])  # nacelle mass
+
+        # generator and hub inertia
+        np.testing.assert_allclose(ed_dict['GenIner'], htc_struc.get_subsection_by_name('shaft').concentrated_mass__1.values[-1])  # generator inertia
+        np.testing.assert_allclose(ed_dict['HubMass'], htc_struc.get_subsection_by_name('shaft').concentrated_mass__2.values[4])  # hub mass
+        np.testing.assert_allclose(ed_dict['HubIner'], htc_struc.get_subsection_by_name('shaft').concentrated_mass__2.values[-1])  # hub inertia
+
+        # hub radius, shaft tilt and coning
+        np.testing.assert_allclose(ed_dict['HubRad'], htc_struc.get_subsection_by_name('hub1').c2_def.sec__2.values[-2])  # hub radius
+        np.testing.assert_allclose(-ed_dict['ShftTilt'], htc_struc.orientation.relative__2.mbdy2_eulerang__2.values[0])  # tilt
+
+        # hub height
+        tilt = 6 * np.pi / 180
+        z_hub = 150
+        ttop_length = tstf.get_body_length(htc_struc, 'towertop')
+        conn_length = tstf.get_body_length(htc_struc, 'connector')
+        shaft_length = tstf.get_body_length(htc_struc, 'shaft')
+        z_hub_h2 = twrht_h2 + ttop_length + conn_length*np.sin(tilt) + shaft_length*np.sin(tilt)
+        z_hub_of = ed_dict['TowerHt'] + ed_dict['Twr2Shft'] + -ed_dict['OverHang']*np.tan(tilt)
+        np.testing.assert_allclose(z_hub_h2, z_hub, atol=1e-2)
+        np.testing.assert_allclose(z_hub_of, z_hub, atol=1e-2)
+
+        # overhang distance (measured along tilted axis)
+        overhang_h2 = shaft_length + conn_length
+        overhang_of = -ed_dict['OverHang']
+        assert overhang_h2 == overhang_of
+
+
+
+if __name__ == "__main__":
+    unittest.main()
 
-    # hub height
-    tilt = 6 * np.pi / 180
-    z_hub = 150
-    ttop_length = tstf.get_body_length(htc_struc, 'towertop')
-    conn_length = tstf.get_body_length(htc_struc, 'connector')
-    shaft_length = tstf.get_body_length(htc_struc, 'shaft')
-    z_hub_h2 = twrht_h2 + ttop_length + conn_length*np.sin(tilt) + shaft_length*np.sin(tilt)
-    z_hub_of = ed_dict['TowerHt'] + ed_dict['Twr2Shft'] + -ed_dict['OverHang']*np.tan(tilt)
-    assert np.isclose(z_hub_h2, z_hub, atol=1e-2)
-    assert np.isclose(z_hub_of, z_hub, atol=1e-2)
-
-    # overhang distance (measured along tilted axis)
-    overhang_h2 = shaft_length + conn_length
-    overhang_of = -ed_dict['OverHang']
-    assert overhang_h2 == overhang_of
+    np.testing.assert_allclose