SlD: add option for only returning non-linear portion of reaction forces

modules/soildyn/src/SoilDyn.f90

@@ -117,8 +117,10 @@ subroutine SlD_Init( InitInp, u, p, x, xd, z, OtherState, y, m, Interval, InitOu
    z%DummyConstrState         = 0.0_ReKi
    OtherState%DummyOtherState = 0.0_ReKi
 
+   ! are the returned reaction forces only the non-linear portion (used when SubDyn is calculating the linear portion)
+   p%SlDNonLinearForcePortionOnly = InitInp%SlDNonLinearForcePortionOnly
+   if (p%SlDNonLinearForcePortionOnly) call WrScr(' SoilDyn returning only non-linear portion of reaction forces')
 
-!FIXME: set some initial values of y and u here)
 
    if (InitInp%Linearize) then
 
@@ -510,6 +512,7 @@ subroutine SlD_CalcOutput( t, u, p, x, xd, z, OtherState, y, m, ErrStat, ErrMsg
    real(ReKi)                                         :: AllOuts(0:MaxOutPts)
    real(R8Ki)                                         :: Displacement(6)
    real(R8Ki)                                         :: Force(6)
+   real(R8Ki)                                         :: ForceLinear(6)
    integer(IntKi)                                     :: i           !< generic counter
 
       ! Initialize ErrStat
@@ -527,14 +530,21 @@ subroutine SlD_CalcOutput( t, u, p, x, xd, z, OtherState, y, m, ErrStat, ErrMsg
 
                ! Calculate reaction with F = k*dX
             Force = matmul(p%Stiffness(1:6,1:6,i), Displacement)
-
+            if (p%SlDNonLinearForcePortionOnly) then
+               ForceLinear = matmul(p%Stiffness(1:6,1:6,i), Displacement)
+            endif
+
+            ! TODO: add damping term effects here
+
             ! Return reaction force onto the resulting point mesh
-            y%SoilMesh%Force (1,i)  =  -real(Force(1),ReKi)
-            y%SoilMesh%Force (2,i)  =  -real(Force(2),ReKi)
-            y%SoilMesh%Force (3,i)  =  -real(Force(3),ReKi)
-            y%SoilMesh%Moment(1,i)  =  -real(Force(4),ReKi)
-            y%SoilMesh%Moment(2,i)  =  -real(Force(5),ReKi)
-            y%SoilMesh%Moment(3,i)  =  -real(Force(6),ReKi)
+            y%SoilMesh%Force (1:3,i)  =  -real(Force(1:3),ReKi)
+            y%SoilMesh%Moment(1:3,i)  =  -real(Force(4:6),ReKi)
+
+            ! Subrtract out the linear piece here
+            if (p%SlDNonLinearForcePortionOnly) then
+               y%SoilMesh%Force (1:3,i)  =  y%SoilMesh%Force (1:3,i) + real(ForceLinear(1:3),ReKi)
+               y%SoilMesh%Moment(1:3,i)  =  y%SoilMesh%Moment(1:3,i) + real(ForceLinear(4:6),ReKi)
+            endif
          enddo
 
       case (Calc_PYcurve)
@@ -552,11 +562,22 @@ subroutine SlD_CalcOutput( t, u, p, x, xd, z, OtherState, y, m, ErrStat, ErrMsg
             Displacement(1:3) = u%SoilMesh%TranslationDisp(1:3,i)                 ! Translations -- This is R8Ki in the mesh
             Displacement(4:6) = GetSmllRotAngs(u%SoilMesh%Orientation(1:3,1:3,i), ErrStat2, ErrMsg2); if (Failed()) return;   ! Small angle assumption should be valid here -- Note we are assuming reforientation is identity
 
+            ! Linear portion of the stiffness reaction (NOTE: the DLL stiffness info is stored in parameters
+            if (p%SlDNonLinearForcePortionOnly) then
+               ForceLinear = matmul(p%Stiffness(1:6,1:6,i), Displacement)
+            endif
+
             call    REDWINinterface_CalcOutput( p%DLL_Trgt, p%DLL_Model, Displacement, Force, m%dll_data(i), ErrStat2, ErrMsg2 ); if (Failed()) return;
 
             ! Return reaction force onto the resulting point mesh
             y%SoilMesh%Force (1:3,i)  =  -real(Force(1:3),ReKi)
             y%SoilMesh%Moment(1:3,i)  =  -real(Force(4:6),ReKi)
+
+            ! Subrtract out the linear piece here
+            if (p%SlDNonLinearForcePortionOnly) then
+               y%SoilMesh%Force (1:3,i)  =  y%SoilMesh%Force (1:3,i) + real(ForceLinear(1:3),ReKi)
+               y%SoilMesh%Moment(1:3,i)  =  y%SoilMesh%Moment(1:3,i) + real(ForceLinear(4:6),ReKi)
+            endif
          enddo
    end select
 

modules/soildyn/src/SoilDyn_Registry.txt

@@ -72,6 +72,7 @@ typedef  ^     InitInputType  CHARACTER(1024)      InputFile      - - -
 typedef  ^     InitInputType  CHARACTER(1024)      RootName       - - -          "Root name of the input file" -
 typedef  ^     InitInputType  LOGICAL              Linearize      - .FALSE. -    "Flag that tells this module if the glue code wants to linearize." -
 typedef  ^     InitInputType  ReKi                 WtrDpth        - - -          "Water depth to mudline (global coordinates)" '(m)'
+typedef  ^     InitInputType  logical              SlDNonLinearForcePortionOnly - .FALSE. - "Only the non-linear portion of the reaction forces is returned" -
 
 # Define outputs from the initialization routine here:
 typedef   ^               InitOutputType CHARACTER(ChanLen)    WriteOutputHdr  {:} - -   "Names of the output-to-file channels" -
@@ -131,7 +132,7 @@ typedef  ^              ParameterType     ReKi              WtrDepth
 typedef  ^              ParameterType     R8Ki              Stiffness          ::: - - "Stiffness matrix" '(N/m, N-m/rad)'
 #typedef  ^              ParameterType     R8Ki              Damping           ::: - - "Damping matrix" '(N/m, N-m/rad)'
 typedef  ^              ParameterType     logical           DLL_OnlyStiff        - - - "Use only the stiffness matrix in calculating the restoring forces" -
-
+typedef  ^              ParameterType     logical           SlDNonLinearForcePortionOnly - .FALSE. - "Only the non-linear portion of the reaction forces is returned" -
 # ..... Inputs ....................................................................................................................
 typedef  ^              InputType         MeshType          SoilMesh             - - - "Mesh of soil contact points" -
 

modules/soildyn/src/SoilDyn_Types.f90

@@ -90,6 +90,7 @@ MODULE SoilDyn_Types
     CHARACTER(1024)  :: RootName      !< Root name of the input file [-]
     LOGICAL  :: Linearize = .FALSE.      !< Flag that tells this module if the glue code wants to linearize. [-]
     REAL(ReKi)  :: WtrDpth      !< Water depth to mudline (global coordinates) ['(m)']
+    LOGICAL  :: SlDNonLinearForcePortionOnly = .FALSE.      !< Only the non-linear portion of the reaction forces is returned [-]
   END TYPE SlD_InitInputType
 ! =======================
 ! =========  SlD_InitOutputType  =======
@@ -143,6 +144,7 @@ MODULE SoilDyn_Types
     REAL(ReKi)  :: WtrDepth      !< Water depth to mudline (global coordinates) ['(m)']
     REAL(R8Ki) , DIMENSION(:,:,:), ALLOCATABLE  :: Stiffness      !< Stiffness matrix ['(N/m,]
     LOGICAL  :: DLL_OnlyStiff      !< Use only the stiffness matrix in calculating the restoring forces [-]
+    LOGICAL  :: SlDNonLinearForcePortionOnly = .FALSE.      !< Only the non-linear portion of the reaction forces is returned [-]
   END TYPE SlD_ParameterType
 ! =======================
 ! =========  SlD_InputType  =======
@@ -1434,6 +1436,7 @@ SUBROUTINE SlD_CopyInitInput( SrcInitInputData, DstInitInputData, CtrlCode, ErrS
     DstInitInputData%RootName = SrcInitInputData%RootName
     DstInitInputData%Linearize = SrcInitInputData%Linearize
     DstInitInputData%WtrDpth = SrcInitInputData%WtrDpth
+    DstInitInputData%SlDNonLinearForcePortionOnly = SrcInitInputData%SlDNonLinearForcePortionOnly
  END SUBROUTINE SlD_CopyInitInput
 
  SUBROUTINE SlD_DestroyInitInput( InitInputData, ErrStat, ErrMsg )
@@ -1486,6 +1489,7 @@ SUBROUTINE SlD_PackInitInput( ReKiBuf, DbKiBuf, IntKiBuf, Indata, ErrStat, ErrMs
       Int_BufSz  = Int_BufSz  + 1*LEN(InData%RootName)  ! RootName
       Int_BufSz  = Int_BufSz  + 1  ! Linearize
       Re_BufSz   = Re_BufSz   + 1  ! WtrDpth
+      Int_BufSz  = Int_BufSz  + 1  ! SlDNonLinearForcePortionOnly
   IF ( Re_BufSz  .GT. 0 ) THEN 
      ALLOCATE( ReKiBuf(  Re_BufSz  ), STAT=ErrStat2 )
      IF (ErrStat2 /= 0) THEN 
@@ -1525,6 +1529,8 @@ SUBROUTINE SlD_PackInitInput( ReKiBuf, DbKiBuf, IntKiBuf, Indata, ErrStat, ErrMs
       Int_Xferred   = Int_Xferred   + 1
       ReKiBuf ( Re_Xferred:Re_Xferred+(1)-1 ) = InData%WtrDpth
       Re_Xferred   = Re_Xferred   + 1
+      IntKiBuf ( Int_Xferred:Int_Xferred+1-1 ) = TRANSFER( InData%SlDNonLinearForcePortionOnly , IntKiBuf(1), 1)
+      Int_Xferred   = Int_Xferred   + 1
  END SUBROUTINE SlD_PackInitInput
 
  SUBROUTINE SlD_UnPackInitInput( ReKiBuf, DbKiBuf, IntKiBuf, Outdata, ErrStat, ErrMsg )
@@ -1571,6 +1577,8 @@ SUBROUTINE SlD_UnPackInitInput( ReKiBuf, DbKiBuf, IntKiBuf, Outdata, ErrStat, Er
       Int_Xferred   = Int_Xferred + 1
       OutData%WtrDpth = ReKiBuf( Re_Xferred )
       Re_Xferred   = Re_Xferred + 1
+      OutData%SlDNonLinearForcePortionOnly = TRANSFER( IntKiBuf( Int_Xferred ), mask0 )
+      Int_Xferred   = Int_Xferred + 1
  END SUBROUTINE SlD_UnPackInitInput
 
  SUBROUTINE SlD_CopyInitOutput( SrcInitOutputData, DstInitOutputData, CtrlCode, ErrStat, ErrMsg )
@@ -2990,6 +2998,7 @@ SUBROUTINE SlD_CopyParam( SrcParamData, DstParamData, CtrlCode, ErrStat, ErrMsg
     DstParamData%Stiffness = SrcParamData%Stiffness
 ENDIF
     DstParamData%DLL_OnlyStiff = SrcParamData%DLL_OnlyStiff
+    DstParamData%SlDNonLinearForcePortionOnly = SrcParamData%SlDNonLinearForcePortionOnly
  END SUBROUTINE SlD_CopyParam
 
  SUBROUTINE SlD_DestroyParam( ParamData, ErrStat, ErrMsg )
@@ -3107,6 +3116,7 @@ SUBROUTINE SlD_PackParam( ReKiBuf, DbKiBuf, IntKiBuf, Indata, ErrStat, ErrMsg, S
       Db_BufSz   = Db_BufSz   + SIZE(InData%Stiffness)  ! Stiffness
   END IF
       Int_BufSz  = Int_BufSz  + 1  ! DLL_OnlyStiff
+      Int_BufSz  = Int_BufSz  + 1  ! SlDNonLinearForcePortionOnly
   IF ( Re_BufSz  .GT. 0 ) THEN 
      ALLOCATE( ReKiBuf(  Re_BufSz  ), STAT=ErrStat2 )
      IF (ErrStat2 /= 0) THEN 
@@ -3256,6 +3266,8 @@ SUBROUTINE SlD_PackParam( ReKiBuf, DbKiBuf, IntKiBuf, Indata, ErrStat, ErrMsg, S
   END IF
       IntKiBuf ( Int_Xferred:Int_Xferred+1-1 ) = TRANSFER( InData%DLL_OnlyStiff , IntKiBuf(1), 1)
       Int_Xferred   = Int_Xferred   + 1
+      IntKiBuf ( Int_Xferred:Int_Xferred+1-1 ) = TRANSFER( InData%SlDNonLinearForcePortionOnly , IntKiBuf(1), 1)
+      Int_Xferred   = Int_Xferred   + 1
  END SUBROUTINE SlD_PackParam
 
  SUBROUTINE SlD_UnPackParam( ReKiBuf, DbKiBuf, IntKiBuf, Outdata, ErrStat, ErrMsg )
@@ -3452,6 +3464,8 @@ SUBROUTINE SlD_UnPackParam( ReKiBuf, DbKiBuf, IntKiBuf, Outdata, ErrStat, ErrMsg
   END IF
       OutData%DLL_OnlyStiff = TRANSFER( IntKiBuf( Int_Xferred ), mask0 )
       Int_Xferred   = Int_Xferred + 1
+      OutData%SlDNonLinearForcePortionOnly = TRANSFER( IntKiBuf( Int_Xferred ), mask0 )
+      Int_Xferred   = Int_Xferred + 1
  END SUBROUTINE SlD_UnPackParam
 
  SUBROUTINE SlD_CopyInput( SrcInputData, DstInputData, CtrlCode, ErrStat, ErrMsg )

modules/soildyn/src/driver/SoilDyn_Driver.f90

@@ -261,6 +261,7 @@ PROGRAM SoilDyn_Driver
    !...............................................................................................................................
 
    InitInData%InputFile = Settings%SldIptFileName
+   InitInData%SlDNonLinearForcePortionOnly = SettingsFlags%SlDNonLinearForcePortionOnly
 
       ! Initialize the module
    CALL SlD_Init( InitInData, u(1), p,  x, xd, z, OtherState, y, misc, TimeInterval, InitOutData, ErrStat, ErrMsg )

modules/soildyn/src/driver/SoilDyn_Driver_Subs.f90

@@ -48,6 +48,7 @@ SUBROUTINE DispHelpText()
    CALL WrScr("                  "//SwChar//"TSteps[#]     -- number of timesteps                             ")
    CALL WrScr("                  "//SwChar//"v             -- verbose output ")
    CALL WrScr("                  "//SwChar//"vv            -- very verbose output ")
+   CALL WrScr("                  "//SwChar//"NonLinear     -- only return non-linear portion of reaction force")
    CALL WrScr("                  "//SwChar//"help          -- print this help menu and exit")
    CALL WrScr("")
    CALL WrScr("   Notes:")
@@ -85,6 +86,7 @@ subroutine InitSettingsFlags( ProgInfo, CLSettings, CLFlags )
    CLFlags%DTDefault           =  .FALSE.        ! specified 'DEFAULT' for resolution in time
    CLFlags%Verbose             =  .FALSE.        ! Turn on verbose error reporting?
    CLFlags%VVerbose            =  .FALSE.        ! Turn on very verbose error reporting?
+   CLFlags%SlDNonLinearForcePortionOnly =  .FALSE. ! Report only non-linear portion of forces
 
 end subroutine InitSettingsFlags
 
@@ -278,7 +280,10 @@ SUBROUTINE ParseArg( CLSettings, CLFlags, ThisArgUC, ThisArg, sldFlagSet, ErrSta
          ! If no delimeters were given, than this option is simply a flag
       IF ( Delim1 == 0_IntKi ) THEN
             ! check to see if the filename is the name of the SlD input file
-         IF       ( ThisArgUC(1:3) == "SLD" )   THEN
+         IF   ( ThisArgUC(1:9) == "NONLINEAR"   )   THEN
+            CLFlags%SlDNonLinearForcePortionOnly = .TRUE.
+            RETURN
+         ELSEIF   ( ThisArgUC(1:3) == "SLD" )   THEN
             sldFlagSet              = .TRUE.             ! More logic in the routine that calls this one to set things.
             RETURN
          ELSEIF   ( ThisArgUC(1:2) == "VV"  )   THEN
@@ -549,6 +554,12 @@ SUBROUTINE ReadDvrIptFile( DvrFileName, DvrFlags, DvrSettings, ProgInfo, ErrStat
       ErrStatTmp,ErrMsgTmp, UnEchoLocal )
    if (Failed()) return
 
+      ! Non-linear reaction portion only
+   CALL ReadVar( UnIn, FileName,DvrFlags%SlDNonLinearForcePortionOnly,'SlDNonLinearForcePortionOnly',' Only report the non-linear portion of the reaction force.',   &
+      ErrStatTmp,ErrMsgTmp, UnEchoLocal )
+   if (Failed()) return
+
+
 
    !-------------------------------------------------------------------------------------------------
    !  SoilDyn time series input -- this is read from a file of 7 columns (time and 6 dof)

modules/soildyn/src/driver/SoilDyn_Driver_Types.f90

@@ -50,6 +50,7 @@ MODULE SoilDyn_Driver_Types
       LOGICAL                 :: DTDefault            = .FALSE.      !< specified a 'DEFAULT' for the time resolution
       LOGICAL                 :: Verbose              = .FALSE.      !< Verbose error reporting
       LOGICAL                 :: VVerbose             = .FALSE.      !< Very Verbose error reporting
+      LOGICAL                 :: SlDNonLinearForcePortionOnly = .FALSE. !< To only return the non-linear portion of the reaction force
    END TYPE    SlDDriver_Flags