SoilDyn -- soil dynamics module

.gitignore

@@ -44,6 +44,7 @@ vs-build/
 # backup files
 *.asv
 ~$*.xlsx
+.*swp
 
 # LaTeX compiling files
 *.aux

CMakeLists.txt

@@ -34,7 +34,7 @@ option(BUILD_SHARED_LIBS "Enable building shared libraries" off)
 option(DOUBLE_PRECISION "Treat REAL as double precision" on)
 option(USE_DLL_INTERFACE "Enable runtime loading of dynamic libraries" on)
 option(FPE_TRAP_ENABLED "Enable FPE trap in compiler options" off)
-option(ORCA_DLL_LOAD "Enable OrcaFlex Library Load" on)
+option(WIN_DLL_LOAD "Enable loading of Windows only DLL's (OrcaFlex, SoilDyn)" on)  # This is mostly for testing purposes
 option(BUILD_OPENFAST_CPP_API "Enable building OpenFAST - C++ API" off)
 option(BUILD_FASTFARM "Enable building FAST.Farm" off)
 option(OPENMP "Enable OpenMP support" off)
@@ -131,6 +131,7 @@ set(OPENFAST_MODULES
   aerodyn
   aerodyn14
   servodyn
+  soildyn
   elastodyn
   beamdyn
   subdyn

docs/OtherSupporting/OpenFAST_Algorithms/OpenFAST_Algorithms.tex

@@ -24,7 +24,7 @@
 \title{Solve Algorithms in OpenFAST}
 \author{Bonnie Jonkman}
 %\begin{abstract}
-%This document is used to describe the algorithms implemented in FAST v8.
+%This document is used to describe the algorithms implemented in OpenFAST v3.x
 %\end{abstract}
 \maketitle
 
@@ -54,8 +54,9 @@ \section{Definitions and Nomenclature}
       InflowWind         & IfW                   & IfW       \\   
       IceFloe            & IceFloe               & IceF      \\   
       IceDyn             & IceD                  & IceD      \\   
+      SoilDyn            & SlD                   & SlD       \\
       \end{tabular}
-   \caption{Abbreviations for modules in FAST v8}
+   \caption{Abbreviations for modules in OpenFAST v3.0.x}
    \label{tab:Abbrev}
 \end{table}
 
@@ -126,6 +127,10 @@ \section{Input-Output Relationships}
    \State $\mathit{u\_FEAM} \gets \Call{TransferMeshMotions}{\mathit{y\_ED}}$
    \State $\mathit{u\_MD}   \gets \Call{TransferMeshMotions}{\mathit{y\_ED}}$
    \State $\mathit{u\_Orca} \gets \Call{TransferMeshMotions}{\mathit{y\_ED}}$
+
+\State
+   \State $\mathit{y\_SD} \gets \Call{SD\_CalcOutput}{\mathit{p\_SD},\mathit{u\_SD},\mathit{x\_SD},\mathit{xd\_SD},\mathit{z\_SD}}$
+   \State $\mathit{u\_SlD}  \gets \Call{TransferMeshPosition}{\mathit{y\_SD}}$
    \State $\mathit{u\_SrvD\%PtfmStC} \gets \Call{TransferMeshMotions}{\mathit{y\_ED}}$\footnote{Only if using ServoDyn Structural control with platform TMD.}
 % \end Transfer_ED_to_HD_SD_BD_Mooring
 %%%%
@@ -152,11 +157,11 @@ \section{Input-Output Relationships}
 
 
 %\pagebreak %break here for now so that it doesn't look so strange
-\subsection {Input-Output Solve for \textit{HydroDyn}, \textit{SubDyn}, \textit{OrcaFlexInterface}, \textit{BeamDyn}, \textit{ExtPtfm},  \textit{MAP}, \textit{FEAMooring}, \textit{MoorDyn},  
+\subsection {Input-Output Solve for \textit{HydroDyn}, \textit{SubDyn}, \textit{OrcaFlexInterface}, \textit{BeamDyn}, \textit{SoilDyn}, \textit{ExtPtfm},  \textit{MAP}, \textit{FEAMooring}, \textit{MoorDyn},  
        \textit{FEAMooring}, \textit{IceFloe}, \textit{IceDyn}, and the Platform Reference Point Mesh in \textit{ElastoDyn}}
 
 This procedure implements Solve Option 1 for the accelerations and loads in
-\emph{HydroDyn},\emph{SubDyn},\emph{MAP},\emph{FEAMooring},\emph{OrcaFlexInterface},\emph{MoorDyn}, \emph{BeamDyn}, \emph{ExtPtfm}, \emph{IceFloe}, \emph{IceDyn}, and \emph{ElastoDyn} (at its platform reference point mesh). 
+\emph{HydroDyn},\emph{SubDyn},\emph{MAP},\emph{FEAMooring},\emph{OrcaFlexInterface},\emph{MoorDyn},\emph{SoilDyn}, \emph{BeamDyn}, \emph{ExtPtfm}, \emph{IceFloe}, \emph{IceDyn}, and \emph{ElastoDyn} (at its platform reference point mesh). 
 The other input-output relationships for these modules are solved using Solve Option 2.
 
 %\begin{algorithm}[ht]
@@ -171,6 +176,7 @@ \section{Input-Output Relationships}
    \State $\mathit{y\_FEAM}    \gets \Call{CalcOutput}{\mathit{p\_FEAM},\mathit{u\_FEAM},\mathit{x\_FEAM},\mathit{xd\_FEAM},\mathit{z\_FEAM}}$
    \State $\mathit{y\_IceF}    \gets \Call{CalcOutput}{\mathit{p\_IceF},\mathit{u\_IceF},\mathit{x\_IceF},\mathit{xd\_IceF},\mathit{z\_IceF}}$
    \State $\mathit{y\_IceD(:)} \gets \Call{CalcOutput}{\mathit{p\_IceD(:)},\mathit{u\_IceD(:)},\mathit{x\_IceD(:)},\mathit{xd\_IceD(:)},\mathit{z\_IceD(:)}}$
+   \State $\mathit{y\_SlD}     \gets \Call{CalcOutput}{\mathit{p\_SlD},\mathit{u\_SlD},\mathit{x\_SlD},\mathit{xd\_SlD},\mathit{z\_SlD}}$ 
    \State $\mathit{y\_SrvD}    \gets \Call{CalcOutput}{\mathit{p\_SrvD},\mathit{u\_SrvD},\mathit{x\_SrvD},\mathit{xd\_SrvD},\mathit{z\_SrvD}}$\footnote{Only if using ServoDyn Structural control with platform TMD.}
    \State
    \State\Comment{Form $u$ vector using loads and accelerations from $\mathit{u\_HD}$, $\mathit{u\_BD}$,  $\mathit{u\_SD}$, $\mathit{u\_Orca}$, $\mathit{u\_ExtPtfm}$, $\mathit{u\_SrvD}$\footnote{Only if using ServoDyn Structural control with platform TMD and SubDyn.} and platform reference input from $\mathit{u\_ED}$}
@@ -196,6 +202,7 @@ \section{Input-Output Relationships}
       \State$\mathit{u\_MD\_tmp}      \gets \Call{TransferMeshMotions}{y\_ED}$
       \State$\mathit{u\_IceF\_tmp}    \gets \Call{TransferMeshMotions}{y\_SD}$
       \State$\mathit{u\_IceD\_tmp(:)} \gets \Call{TransferMeshMotions}{y\_SD}$
+      \State$\mathit{u\_SlD\_tmp}     \gets \Call{TransferMeshMotions}{y\_SD}$
       \State$\mathit{u\_HD\_tmp}      \gets \Call{TransferMeshMotions}{y\_ED,y\_SD}$
       \State$\mathit{u\_SrvD\_tmp}    \gets \Call{TransferMeshMotions}{y\_BD,y\_ED,y\_SD}$\footnote{Only if using ServoDyn Structural control.}
       \State$\mathit{u\_SD\_tmp}      \gets \!
@@ -207,6 +214,7 @@ \section{Input-Output Relationships}
                         & \mathit{y\_HD},       \mathit{u\_HD\_tmp},       \\
                         & \mathit{y\_IceF},     \mathit{u\_IceF\_tmp},     \\
                         & \mathit{y\_IceD(:)},  \mathit{u\_IceD\_tmp(:)},  \\
+                        & \mathit{y\_SlD},      \mathit{u\_SlD\_tmp})      \\
                      \end{aligned}
          \end{aligned}$
       \State$\mathit{u\_ED\_tmp} \gets \Call{TransferMeshLoads}{}( \!
@@ -267,6 +275,7 @@ \section{Input-Output Relationships}
    \State $\mathit{u\_FEAM}    \gets \Call{TransferMeshMotions}{\mathit{y\_ED}}$
    \State $\mathit{u\_IceF}    \gets \Call{TransferMeshMotions}{\mathit{y\_SD}}$
    \State $\mathit{u\_IceD(:)} \gets \Call{TransferMeshMotions}{\mathit{y\_SD}}$
+   \State $\mathit{u\_SlD}     \gets \Call{TransferMeshPosition}{\mathit{y\_SD}}$
    \State $\mathit{u\_SrvD}    \gets \Call{TransferMeshMotions}{\mathit{y\_BD,y\_ED,y\_SD}}$\footnote{Only if using ServoDyn Structural control.}    % For SrvD%PtfmStC
 
 \EndProcedure
@@ -356,9 +365,19 @@ \section{Solve Option 2 Improvements}
 \State $\Call{AD\_UpdateStates}{\mathit{p\_AD},\mathit{u\_AD},\mathit{x\_AD},\mathit{xd\_AD},\mathit{z\_AD}}$
 \State $\Call{SrvD\_UpdateStates}{\mathit{p\_SrvD},\mathit{u\_SrvD},\mathit{x\_SrvD},\mathit{xd\_SrvD},\mathit{z\_SrvD}}$
 \State
+\State $\mathit{u\_SD}   \gets \Call{TransferMeshMotions}{\mathit{y\_ED}}$
+\State $\Call{SD\_UpdateStates}{\mathit{p\_SD},\mathit{u\_SD},\mathit{x\_SD},\mathit{xd\_SD},\mathit{z\_SD}}$
+\State
+\If{CompSoil}
+   \State $\mathit{y\_SD} \gets \Call{SD\_CalcOutput}{\mathit{p\_SD},\mathit{u\_SD},\mathit{x\_SD},\mathit{xd\_SD},\mathit{z\_SD}}$
+   \State $\mathit{u\_SlD}  \gets \Call{TransferMeshPosition}{\mathit{y\_SD}}$
+   \State $\Call{SlD\_UpdateStates}{\mathit{p\_SlD},\mathit{u\_SlD},\mathit{x\_SlD},\mathit{xd\_SlD},\mathit{z\_SlD}}$
+\EndIf
+\State
 \State All other modules (used in Solve Option 1) advance their states
 \EndProcedure
 \end{algorithmic}
+Note that SoilDyn is very sensitive to the motion of SubDyn, thus calculations of SubDyn are performed before the SoilDyn extrapolation.
 
 Note that AeroDyn and ServoDyn outputs get calculated inside the ${CalcOutputs\_And\_SolveForInputs}$ routine. ElastoDyn, BeamDyn, and
 InflowWind outputs do not get recalculated in ${CalcOutputs\_And\_SolveForInputs}$ except for the first time the routine is called

docs/source/install/index.rst

@@ -381,7 +381,7 @@ The CMake options specific to OpenFAST and their default settings are:
     FPE_TRAP_ENABLED               - Enable Floating Point Exception (FPE) trap in compiler options (Default: OFF)
     GENERATE_TYPES                 - Use the openfast-registry to autogenerate types modules (Default: OFF)
     OPENMP                         - Enable OpenMP support (Default: OFF)
-    ORCA_DLL_LOAD                  - Enable OrcaFlex library load (Default: OFF)
+    WIN_DLL_LOAD                   - Enable loading of Windows DLLs for OrcaFlex and SoilDyn (Default: ON)
     USE_DLL_INTERFACE              - Enable runtime loading of dynamic libraries (Default: ON)
 
 Additional system-specific options may exist for a given system, but those

docs/source/user/api_change.rst

@@ -63,6 +63,7 @@ ServoDyn                                      75   CCmode          0
 HydroDyn driver                               6    WtrDens         1025       WtrDens           - Water density (kg/m^3)
 HydroDyn driver                               7    WtrDpth         200        WtrDpth           - Water depth (m)
 HydroDyn driver                               8    MSL2SWL         0          MSL2SWL           - Offset between still-water level and mean sea level (m) [positive upward]
+OpenFAST                                      20   CompSoil        0          CompSoil          - Compute soil-structural dynamics (switch) {0=None; 1=with SubDyn mesh}
 OpenFAST                                      21   MHK             0          MHK               - MHK turbine type (switch) {0=Not an MHK turbine; 1=Fixed MHK turbine; 2=Floating MHK turbine}
 OpenFAST                                      22   N/A             ---------------------- ENVIRONMENTAL CONDITIONS --------------------------------
 OpenFAST                                      23   Gravity         9.80665    Gravity           - Gravitational acceleration (m/s^2)
@@ -74,6 +75,7 @@ OpenFAST                                      28   Patm            103500     Pa
 OpenFAST                                      29   Pvap            1700       Pvap              - Vapour pressure of working fluid (Pa) [used only for an MHK turbine cavitation check]
 OpenFAST                                      30   WtrDpth         50         WtrDpth           - Water depth (m)
 OpenFAST                                      31   MSL2SWL         0          MSL2SWL           - Offset between still-water level and mean sea level (m) [positive upward]
+OpenFAST                                      45   SoilFile        "unused"   SoilFile          - Name of the file containing the SoilDyn input parameters (quoted string)
 AeroDyn 15                                    40   UAStartRad      0.25       UAStartRad        - Starting radius for dynamic stall (fraction of rotor radius) [used only when AFAeroMod=2; if line is missing UAStartRad=0]
 AeroDyn 15                                    41   UAEndRad        0.95       UAEndRad          - Ending radius for dynamic stall (fraction of rotor radius) [used only when AFAeroMod=2; if line is missing UAEndRad=1]
 AeroDyn driver                                34   Twr2Shft        3.09343    Twr2Shft          - Vertical distance from the tower-top to the rotor shaft (m)

modules/openfast-library/CMakeLists.txt

@@ -33,6 +33,7 @@ target_link_libraries(openfast_prelib
   elastodynlib
   beamdynlib
   subdynlib
+  soildynlib
   hydrodynlib
   orcaflexlib
   extptfm_mckflib

modules/openfast-library/src/FAST_Registry.txt

@@ -17,6 +17,7 @@ usefrom	ServoDyn_Registry.txt
 usefrom	Registry-AD14.txt
 usefrom	AeroDyn_Registry.txt
 usefrom	SubDyn_Registry.txt
+usefrom	SoilDyn_Registry.txt
 usefrom	HydroDyn.txt
 usefrom	IceFloe_FASTRegistry.inp
 usefrom	InflowWind.txt
@@ -53,7 +54,8 @@ param	^	-	INTEGER	Module_MD	-	14	-	"MoorDyn"	-
 param	^	-	INTEGER	Module_Orca	-	15	-	"OrcaFlex integration (HD/Mooring)"	-
 param	^	-	INTEGER	Module_IceF	-	16	-	"IceFloe"	-
 param	^	-	INTEGER	Module_IceD	-	17	-	"IceDyn"	-
-param	^	-	INTEGER	NumModules	-	17	-	"The number of modules available in FAST"	-
+param	^	-	INTEGER	Module_SlD	-	18	-	"SoilDyn"	-
+param	^	-	INTEGER	NumModules	-	18	-	"The number of modules available in FAST"	-
 # Other Constants
 param	^	-	INTEGER	MaxNBlades	-	3	-	"Maximum number of blades allowed on a turbine"	-
 param	^	-	INTEGER	IceD_MaxLegs	-	4	-	"because I don't know how many legs there are before calling IceD_Init and I don't want to copy the data because of sibling mesh issues, I'm going to allocate IceD based on this number"	-
@@ -112,9 +114,10 @@ typedef	^	FAST_ParameterType	IntKi	CompInflow	-	-	-	"Compute inflow wind conditi
 typedef	^	FAST_ParameterType	IntKi	CompAero	-	-	-	"Compute aerodynamic loads (switch) {Module_None; Module_AD14; Module_AD}"	-
 typedef	^	FAST_ParameterType	IntKi	CompServo	-	-	-	"Compute control and electrical-drive dynamics (switch) {Module_None; Module_SrvD}"	-
 typedef	^	FAST_ParameterType	IntKi	CompHydro	-	-	-	"Compute hydrodynamic loads (switch) {Module_None; Module_HD}"	-
-typedef	^	FAST_ParameterType	IntKi	CompSub	-	-	-	"Compute sub-structural dynamics (switch) {Module_None; Module_HD}"	-
+typedef	^	FAST_ParameterType	IntKi	CompSub	-	-	-	"Compute sub-structural dynamics (switch) {Module_None; Module_SD}"	-
 typedef	^	FAST_ParameterType	IntKi	CompMooring	-	-	-	"Compute mooring system (switch) {Module_None; Module_MAP; Module_FEAM; Module_MD; Module_Orca}"	-
 typedef	^	FAST_ParameterType	IntKi	CompIce	-	-	-	"Compute ice loading (switch) {Module_None; Module_IceF, Module_IceD}"	-
+typedef	^	FAST_ParameterType	IntKi	CompSoil	-	-	-	"Compute soil-structural dynamics (switch) {Module_None; Module_SlD}"	-
 typedef	^	FAST_ParameterType	IntKi	MHK	        -	-	-	"MHK turbine type (switch) {0=Not an MHK turbine; 1=Fixed MHK turbine; 2=Floating MHK turbine}"	-
 typedef	^	FAST_ParameterType	LOGICAL	UseDWM	-	-	-	"Use the DWM module in AeroDyn"	-
 typedef	^	FAST_ParameterType	LOGICAL	Linearize	-	-	-	"Linearization analysis (flag)"	-
@@ -138,6 +141,7 @@ typedef	^	FAST_ParameterType	CHARACTER(1024)	HydroFile	-	-	-	"Name of file conta
 typedef	^	FAST_ParameterType	CHARACTER(1024)	SubFile	-	-	-	"Name of file containing sub-structural input parameters"	-
 typedef	^	FAST_ParameterType	CHARACTER(1024)	MooringFile	-	-	-	"Name of file containing mooring system input parameters"	-
 typedef	^	FAST_ParameterType	CHARACTER(1024)	IceFile	-	-	-	"Name of file containing ice loading input parameters"	-
+typedef	^	FAST_ParameterType	CHARACTER(1024)	SoilFile	-	-	-	"Name of file containing soil-structure input parameters"	-
 #  Parameters for file/screen output
 #typedef	^	FAST_ParameterType	DbKi	SttsTime	-	-	-	"Amount of time between screen status messages"	s
 typedef	^	FAST_ParameterType	DbKi	TStart	-	-	-	"Time to begin tabular output"	s
@@ -485,6 +489,18 @@ typedef	^	^	SD_OutputType	Output	{:}	-	-	"Array of outputs associated with CalcS
 typedef	^	^	SD_OutputType	y_interp	-	-	-	"interpolated system outputs for CalcSteady"
 typedef	^	^	DbKi	InputTimes	{:}	-	-	"Array of times associated with Input Array"
 
+# ..... SoilDyn data .......................................................................................................
+typedef	FAST	SoilDyn_Data	SlD_ContinuousStateType	x	{2}	-	-	"Continuous states"
+typedef	^	^	SlD_DiscreteStateType	xd	{2}	-	-	"Discrete states"
+typedef	^	^	SlD_ConstraintStateType	z	{2}	-	-	"Constraint states"
+typedef	^	^	SlD_OtherStateType	OtherSt	{2}	-	-	"Other states"
+typedef	^	^	SlD_ParameterType	p	-	-	-	"Parameters"
+typedef	^	^	SlD_InputType	u	-	-	-	"System inputs"
+typedef	^	^	SlD_OutputType	y	-	-	-	"System outputs"
+typedef	^	^	SlD_MiscVarType	m	-	-	-	"Misc/optimization variables"
+typedef	^	^	SlD_InputType	Input	{:}	-	-	"Array of inputs associated with InputTimes"
+typedef	^	^	DbKi	InputTimes	{:}	-	-	"Array of times associated with Input Array"
+
 # ..... ExtPtfm data .......................................................................................................
 typedef	FAST	ExtPtfm_Data	ExtPtfm_ContinuousStateType	x	{2}	-	-	"Continuous states"
 typedef	^	^	ExtPtfm_DiscreteStateType	xd	{2}	-	-	"Discrete states"
@@ -632,6 +648,9 @@ typedef	^	FAST_ModuleMapType	MeshMapType	SDy3_P_2_IceF_P	-	-	-	"Map SubDyn y3Mes
 # IceD <-> SD
 typedef	^	FAST_ModuleMapType	MeshMapType	IceD_P_2_SD_P	{:}	-	-	"Map IceDyn point mesh to SubDyn LMesh point mesh"
 typedef	^	FAST_ModuleMapType	MeshMapType	SDy3_P_2_IceD_P	{:}	-	-	"Map SubDyn y3Mesh point mesh to IceDyn point mesh"
+# SlD <-> SD
+typedef	^	FAST_ModuleMapType	MeshMapType	SlD_P_3_SD_P	-	-	-	"Map SoilDyn point mesh to SubDyn y3Mesh point mesh"
+typedef	^	FAST_ModuleMapType	MeshMapType	SD_P_3_SlD_P	-	-	-	"Map SubDyn y3Mesh point mesh to SoilDyn point mesh"
 # Stored Jacobians:
 typedef	^	FAST_ModuleMapType	ReKi	Jacobian_Opt1	{:}{:}	-	-	"Stored Jacobian in ED_HD_InputOutputSolve or FullOpt1_InputOutputSolve"
 typedef	^	FAST_ModuleMapType	Integer	Jacobian_pivot	{:}	-	-	"Pivot array used for LU decomposition of Jacobian_Opt1"
@@ -716,6 +735,8 @@ typedef   ^   FAST_InitData    IceFloe_InitInputType        InData_IceF     -  -
 typedef   ^   FAST_InitData    IceFloe_InitOutputType      OutData_IceF     -  -  -  "IceF Initialization output data"
 typedef   ^   FAST_InitData    IceD_InitInputType           InData_IceD     -  -  -  "IceD Initialization input data"
 typedef   ^   FAST_InitData    IceD_InitOutputType         OutData_IceD     -  -  -  "IceD Initialization output data (each instance will have the same output channels)"
+typedef   ^   FAST_InitData    SlD_InitInputType            InData_SlD      -  -  -  "SlD Initialization input data"
+typedef   ^   FAST_InitData    SlD_InitOutputType          OutData_SlD      -  -  -  "SlD Initialization output data"
 
 
 # ..... FAST External Initialization Input data .......................................................................................................
@@ -754,6 +775,7 @@ typedef	^	FAST_TurbineType	OpenFOAM_Data	OpFM	-	-	-	"Data for OpenFOAM integrati
 typedef	^	FAST_TurbineType	SCDataEx_Data	SC_DX	-	-	-	"Data for SuperController integration module"	-
 typedef	^	FAST_TurbineType	HydroDyn_Data	HD	-	-	-	"Data for the HydroDyn module"	-
 typedef	^	FAST_TurbineType	SubDyn_Data	SD	-	-	-	"Data for the SubDyn module"	-
+typedef	^	FAST_TurbineType	SoilDyn_Data	SlD	-	-	-	"Data for the SoilDyn module"	-
 typedef	^	FAST_TurbineType	MAP_Data	MAP	-	-	-	"Data for the MAP (Mooring Analysis Program) module"	-
 typedef	^	FAST_TurbineType	FEAMooring_Data	FEAM	-	-	-	"Data for the FEAMooring module"	-
 typedef	^	FAST_TurbineType	MoorDyn_Data	MD	-	-	-	"Data for the MoorDyn module"	-