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Remove the modification in init and mapping
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@wenchaoyu
wenchaoyu committed Oct 9, 2024
1 parent db2ceb8 commit 0fb1cba
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Showing 2 changed files with 15 additions and 55 deletions.
10 changes: 5 additions & 5 deletions modules/aerodyn/src/AeroDyn.f90
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Original file line number Diff line number Diff line change
Expand Up @@ -1189,7 +1189,7 @@ subroutine Init_u( u, p, p_AD, InputFileData, MHK, WtrDpth, InitInp, errStat, er
positionL(3) = InputFileData%BladeProps(k)%BlSpn( j)

! reference position of the jth node in the kth blade:
! position = u%BladeRootMotion(k)%Position(:,1) + matmul(positionL,u%BladeRootMotion(k)%RefOrientation(:,:,1)) ! note that because positionL is a 1-D array, we're doing the transpose of matmul(transpose(u%BladeRootMotion(k)%RefOrientation),positionL)
position = u%BladeRootMotion(k)%Position(:,1) + matmul(positionL,u%BladeRootMotion(k)%RefOrientation(:,:,1)) ! note that because positionL is a 1-D array, we're doing the transpose of matmul(transpose(u%BladeRootMotion(k)%RefOrientation),positionL)


! reference orientation of the jth node in the kth blade, relative to the root in the local blade coordinate system:
Expand All @@ -1199,12 +1199,12 @@ subroutine Init_u( u, p, p_AD, InputFileData, MHK, WtrDpth, InitInp, errStat, er
orientationL = EulerConstruct( theta )

! reference orientation of the jth node in the kth blade
! orientation = matmul( orientationL, u%BladeRootMotion(k)%RefOrientation(:,:,1) )
orientation = matmul( orientationL, u%BladeRootMotion(k)%RefOrientation(:,:,1) )

! Init u directly with seahowl blade motion information
ii = (k - 1) * InputFileData%BladeProps(k)%NumBlNds + j
position = InitInp%BladeMeshPosition(:,ii)
orientation = InitInp%BladeMeshOrientation(:,:,ii)
! ii = (k - 1) * InputFileData%BladeProps(k)%NumBlNds + j
! position = InitInp%BladeMeshPosition(:,ii)
! orientation = InitInp%BladeMeshOrientation(:,:,ii)


call MeshPositionNode(u%BladeMotion(k), j, position, errStat2, errMsg2, orientation)
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60 changes: 10 additions & 50 deletions modules/aerodyn/src/AeroDyn_Inflow_C_Binding.f90
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Original file line number Diff line number Diff line change
Expand Up @@ -461,21 +461,6 @@ SUBROUTINE AeroDyn_Inflow_C_Init( ADinputFilePassed, ADinputFileString_C, ADinpu
tmpBldPtMeshPos( 1:3,1:NumMeshPts) = reshape( real(InitMeshPos_C(1:3*NumMeshPts),ReKi), (/ 3,NumMeshPts/) )
tmpBldPtMeshOri(1:3,1:3,1:NumMeshPts) = reshape( real(InitMeshOri_C(1:9*NumMeshPts),ReKi), (/3,3,NumMeshPts/) )

! Init balde mesh via InitInp to pass directly meshinfo from seahowl to aerodyn
call AllocAry(InitInp%AD%rotors(1)%BladeMeshPosition, 3, NumMeshPts, 'BldMeshPos', errStat2, errMsg2 ); if (Failed()) return
call AllocAry(InitInp%AD%rotors(1)%BladeMeshOrientation, 3, 3, NumMeshPts, 'BldMeshOri', errStat2, errMsg2 ); if (Failed()) return
InitInp%AD%rotors(1)%BladeMeshPosition = reshape( real(InitMeshPos_C(1:3*NumMeshPts),ReKi), (/ 3,NumMeshPts/) )
InitInp%AD%rotors(1)%BladeMeshOrientation = reshape( real(InitMeshOri_C(1:9*NumMeshPts),ReKi), (/3,3,NumMeshPts/) )
if (TransposeDCM) then
do i=1,NumMeshPts
InitInp%AD%rotors(1)%BladeMeshOrientation(1:3,1:3,i) = transpose(InitInp%AD%rotors(1)%BladeMeshOrientation(1:3,1:3,i))
enddo
endif

do i=1,NumMeshPts
call OrientRemap(InitInp%AD%rotors(1)%BladeMeshOrientation(1:3,1:3,i))
enddo

!----------------------------------------------------
! Allocate input array u and corresponding InputTimes
!----------------------------------------------------
Expand Down Expand Up @@ -1084,7 +1069,7 @@ SUBROUTINE AeroDyn_Inflow_C_CalcOutput(Time_C, &
if (Failed()) return

! Set output force/moment array
call Set_OutputLoadArray(ADI%y)
call Set_OutputLoadArray()
MeshFrc_C(1:6*NumMeshPts) = reshape( real(tmpBldPtMeshFrc(1:6,1:NumMeshPts), c_float), (/6*NumMeshPts/) )

! Get the output channel info out of y
Expand Down Expand Up @@ -1521,27 +1506,11 @@ subroutine AD_SetInputMotion( u_local, &
enddo

! Blade mesh
! do i=1,Sim%WT(1)%numBlades
! if ( u_local%AD%rotors(1)%BladeMotion(i)%Committed ) then
! call Transfer_Point_to_Line2( BldPtMotionMesh, u_local%AD%rotors(1)%BladeMotion(i), Map_BldPtMotion_2_AD_Blade(i), ErrStat, ErrMsg )
! if (ErrStat >= AbortErrLev) return
! endif
! enddo
numMeshBld = NumMeshPts / Sim%WT(1)%numBlades
do i=1,Sim%WT(1)%numBlades
do j=1,numMeshBld
ii = (i - 1) * numMeshBld + j
u_local%AD%rotors(1)%BladeMotion(i)%TranslationDisp(1:3,j) = BldPtMotionMesh%TranslationDisp(1:3,ii)
u_local%AD%rotors(1)%BladeMotion(i)%Orientation(1:3,1:3,j) = BldPtMotionMesh%Orientation(1:3,1:3,ii)
u_local%AD%rotors(1)%BladeMotion(i)%TranslationVel(1:3,j) = BldPtMotionMesh%TranslationVel(1:3,ii)
u_local%AD%rotors(1)%BladeMotion(i)%RotationVel(1:3,j) = BldPtMotionMesh%RotationVel(1:3,ii)
u_local%AD%rotors(1)%BladeMotion(i)%TranslationAcc(1:3,j) = BldPtMotionMesh%TranslationAcc(1:3,ii)
! u_local%AD%rotors(1)%BladeMotion(i)%RotationAcc (1:3,j) = BldPtMotionMesh%RotationAcc(1:3,ii) ! Rotational acc not included
call OrientRemap(u_local%AD%rotors(1)%BladeMotion(i)%Orientation(1:3,1:3,j))
if (TransposeDCM) then
u_local%AD%rotors(1)%BladeMotion(i)%Orientation(1:3,1:3,j) = transpose(u_local%AD%rotors(1)%BladeMotion(i)%Orientation(1:3,1:3,j))
endif
enddo
if ( u_local%AD%rotors(1)%BladeMotion(i)%Committed ) then
call Transfer_Point_to_Line2( BldPtMotionMesh, u_local%AD%rotors(1)%BladeMotion(i), Map_BldPtMotion_2_AD_Blade(i), ErrStat, ErrMsg )
if (ErrStat >= AbortErrLev) return
endif
enddo
end subroutine AD_SetInputMotion

Expand All @@ -1558,7 +1527,7 @@ subroutine AD_TransferLoads( u_local, y_local, ErrStat3, ErrMsg3 )
do i=1,Sim%WT(1)%NumBlades
if ( y_local%AD%rotors(1)%BladeLoad(i)%Committed ) then
if (debugverbose > 4) call MeshPrintInfo( CU, y_local%AD%rotors(1)%BladeLoad(i), MeshName='AD%rotors('//trim(Num2LStr(1))//')%BladeLoad('//trim(Num2LStr(i))//')' )
call Transfer_Line2_to_Point( y_local%AD%rotors(1)%BladeLoad(i), BldPtLoadMesh_tmp, Map_AD_BldLoad_P_2_BldPtLoad(i), &
call Transfer_Line2_to_Point( ADI%y%AD%rotors(1)%BladeLoad(i), BldPtLoadMesh_tmp, Map_AD_BldLoad_P_2_BldPtLoad(i), &
ErrStat3, ErrMsg3, u_local%AD%rotors(1)%BladeMotion(i), BldPtMotionMesh )
if (ErrStat3 >= AbortErrLev) return
BldPtLoadMesh%Force = BldPtLoadMesh%Force + BldPtLoadMesh_tmp%Force
Expand All @@ -1570,24 +1539,15 @@ end subroutine AD_TransferLoads

!> Transfer the loads from the load mesh to the temporary array for output
!! This routine is operating on module level data, hence few inputs
subroutine Set_OutputLoadArray(y_local)
type(ADI_OutputType), intent(in ) :: y_local ! Only one input (probably at T)
subroutine Set_OutputLoadArray()
integer(IntKi) :: iNode
integer(IntKi) :: jNode
integer(IntKi) :: numMeshBld
integer(IntKi) :: ii
! Set mesh corresponding to input motions
! do iNode=1,NumMeshPts
! tmpBldPtMeshFrc(1:3,iNode) = BldPtLoadMesh%Force (1:3,iNode)
! tmpBldPtMeshFrc(4:6,iNode) = BldPtLoadMesh%Moment(1:3,iNode)
! enddo
numMeshBld = NumMeshPts / Sim%WT(1)%numBlades
do iNode=1,Sim%WT(1)%numBlades
do jNode=1,numMeshBld
ii = (iNode - 1) * numMeshBld + jNode
tmpBldPtMeshFrc(1:3,ii) = y_local%AD%rotors(1)%BladeLoad(iNode)%Force (1:3,jNode)
tmpBldPtMeshFrc(4:6,ii) = y_local%AD%rotors(1)%BladeLoad(iNode)%Moment(1:3,jNode)
enddo
do iNode=1,NumMeshPts
tmpBldPtMeshFrc(1:3,iNode) = BldPtLoadMesh%Force (1:3,iNode)
tmpBldPtMeshFrc(4:6,iNode) = BldPtLoadMesh%Moment(1:3,iNode)
enddo
end subroutine Set_OutputLoadArray

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