Add SoilDyn to dev-tc

CMakeLists.txt

@@ -42,6 +42,7 @@ 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_FASTFARM "Enable building FAST.Farm" off)
 option(BUILD_OPENFAST_CPP_API "Enable building OpenFAST - C++ API" off)
 option(BUILD_OPENFAST_CPP_DRIVER "Enable building OpenFAST C++ driver using C++ CFD API" off)
@@ -192,6 +193,7 @@ set(OPENFAST_MODULES
   aerodyn
   aerodisk
   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
 
@@ -53,8 +53,9 @@ \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}
 
@@ -125,6 +126,10 @@ \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
 %%%%
@@ -151,11 +156,11 @@ \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]
@@ -170,6 +175,7 @@ \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 $\mathit{u\_ED}$}
@@ -195,6 +201,7 @@ \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$\mathit{u\_SD\_tmp}      \gets \!
@@ -206,6 +213,7 @@ \section{Input-Output Relationships}
                         & \mathit{y\_HD},       \mathit{u\_HD\_tmp},       \\
                         & \mathit{y\_IceF},     \mathit{u\_IceF\_tmp},     \\
                         & \mathit{y\_IceD(:)},  \mathit{u\_IceD\_tmp(:)},  \\
+                        & \mathit{y\_SlD},      \mathit{u\_SlD\_tmp})      \\
                      \end{aligned}
          \end{aligned}$
       \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

@@ -494,7 +494,7 @@ 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: ON)
+    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)
     USE_LOCAL_STATIC_LAPACK        - Enable downloading and building static LAPACK and BLAS libs (Default: OFF)
     VARIABLE_TRACKING              - Enables variable tracking for better runtime debugging output. May increase compile time. Valid only for GNU. (Default: ON)

docs/source/user/api_change.rst

@@ -35,8 +35,10 @@ Added in OpenFAST `dev`
 Module                                        Line     Flag Name            Example Value
 ============================================= ======== ==================== ========================================================================================================================================================================================================
 OpenFAST                                      8        ModCoupling          3   ModCoupling  - Module coupling method (switch) {1=loose; 2=tight with fixed Jacobian updates (DT_UJac); 3=tight with automatic Jacobian updates}
+OpenFAST                                      20       CompSoil             0   CompSoil     - Compute soil-structural dynamics (switch) {0=None; 1=SoilDyn}
 OpenFAST                                      17       NRotors              2   NRotors      - Number of rotors in turbine (-)
 OpenFAST                                      28       MirrorRotor          F   MirrorRotor  - Flag to reverse rotor rotation direction [1 to NRotors] {F=Normal, T=Mirror}
+OpenFAST                                      45       SoilFile             "SoilDyn.dat"     SoilFile        - Name of the file containing the SoilDyn input parameters (quoted string)
 OpenFAST                                      52                            ---------------------- INPUT FILES Rotor 2 -------------------------------------
 OpenFAST                                      53       EDFile               "ElastoDyn.dat"   EDFile          - Name of file containing ElastoDyn input parameters (quoted string)
 OpenFAST                                      54       BDBldFile(1)         "BeamDyn.dat"     BDBldFile(1)    - Name of file containing BeamDyn input parameters for blade 1 (quoted string)

glue-codes/simulink/CMakeLists.txt

@@ -32,6 +32,7 @@ set(MEX_LIBS
   $<TARGET_FILE:orcaflexlib>
   $<TARGET_FILE:servodynlib-matlab> # MATLAB Specific
   $<TARGET_FILE:subdynlib>
+  $<TARGET_FILE:soildynlib>
   $<TARGET_FILE:extinflowlib>
   $<TARGET_FILE:extloadslib>
   $<TARGET_FILE:ifwlib>