Example of main input file#
begin Simulation;
time_stop 100;
solvertype 2 ; (sparse newmark)
on_no_convergence continue ;
logfile ./log/oc3_monopile_phase_1.log ;
animation ./animation/oc3_monopile_phase_1.dat;
;
begin newmark;
deltat 0.02;
end newmark;
end simulation;
;
begin new_htc_structure;
; Optional - Calculated beam properties of the bodies are written to file:
beam_output_file_name ./log/oc3_monopile_phase_1_beam.dat;
; Optional - Body initial position and orientation are written to file:
body_output_file_name ./log/oc3_monopile_phase_1_body.dat;
; body_eigenanalysis_file_name ./eigenfrq/oc3_monopile_phase_1_body_eigen.dat;
; structure_eigenanalysis_file_name ./eigenfrq/oc3_monopile_phase_1_strc_eigen.dat ;
;-------------------------------------------------------------------------------------
;
begin main_body; monopile 30m
name monopile ;
type timoschenko ;
nbodies 1 ;
node_distribution c2_def ;
damping 4.5E-02 4.5E-02 8.0E-01 1.2E-03 1.2E-03 4.5E-04 ;
begin timoschenko_input;
filename ./data/Monopile.txt ;
set 1 1 ; set subset 1=flexible,2=stiff
end timoschenko_input;
begin c2_def; Definition of centerline (main_body coordinates)
nsec 7;
sec 1 0.0 0.0 0.0 0.0 ; x,y,z,twist Mudline
sec 2 0.0 0.0 -0.1 0.0 ; x,y,z,twist
sec 3 0.0 0.0 -10.0 0.0 ; x,y,z,twist 50% between mudline and MSL
sec 4 0.0 0.0 -15.0 0.0 ; x,y,z,twist
sec 5 0.0 0.0 -20.0 0.0 ; x,y,z,twist MWL
sec 6 0.0 0.0 -25.0 0.0 ;
sec 7 0.0 0.0 -30.0 0.0 ; Monopile flange
end c2_def ;
end main_body;
;
begin main_body; tower 80m
name tower ;
type timoschenko ;
nbodies 1 ;
node_distribution c2_def ;
damping_posdef 6.456E-4 6.45E-4 1.25E-3 1.4E-3 1.4E-3 1.25E-3 ;
;damping_posdef Mx My Mz Kx Ky Kz , M´s raises overall level, K´s raises high freguency level
;
begin timoschenko_input;
filename ./data/NREL_5MW_st.txt ;
set 1 1 ;
end timoschenko_input;
begin c2_def; Definition of centerline (main_body coordinates)
nsec 8;
sec 1 0.0 0.0 0.0 0.0 ; x,y,z,twist
sec 2 0.0 0.0 -10.0 0.0 ;
sec 3 0.0 0.0 -20.0 0.0 ;
sec 4 0.0 0.0 -30.0 0.0 ;
sec 5 0.0 0.0 -40.0 0.0 ;
sec 6 0.0 0.0 -50.0 0.0 ;
sec 7 0.0 0.0 -60.0 0.0 ;
sec 8 0.0 0.0 -77.6 0.0 ;
end c2_def ;
end main_body;
;
begin main_body;
name towertop ;
type timoschenko ;
nbodies 1 ;
node_distribution c2_def ;
; damping_posdef 9.025E-06 9.025E-06 8.0E-05 8.3E-06 8.3E-06 8.5E-05 ;
damping 2.50E-04 1.40E-04 2.00E-03 3.00E-05 3.00E-05 2.00E-04 ;
;
;Nacelle mass and inertia:
concentrated_mass 2 0.0 1.9 0.21256 2.4E5 1741490.0 1.7E5 1741490.0 ;
begin timoschenko_input;
filename ./data/NREL_5MW_st.txt ;
set 2 1 ;
end timoschenko_input;
begin c2_def; Definition of centerline (main_body coordinates)
nsec 2;
sec 1 0.0 0.0 0.0 0.0 ; x,y,z,twist
sec 2 0.0 0.0 -1.96256 0.0 ;
end c2_def ;
end main_body;
;
begin main_body;
name shaft ;
type timoschenko ;
nbodies 1 ;
node_distribution c2_def ;
; damping_posdef 7.00E-3 7.00E-03 7.00E-02 3.48E-04 3.48E-04 1.156E-03 ;
damping_posdef 7.00E-3 7.00E-03 7.00E-02 6.5E-04 6.5E-04 1.84E-02 ;
concentrated_mass 1 0.0 0.0 0.0 0.0 0.0 0.0 5025497.444 ;generator equivalent slow shaft
concentrated_mass 5 0.0 0.0 0.0 56780 0.0 0.0 115926 ; hub mass and inertia;
begin timoschenko_input;
filename ./data/NREL_5MW_st.txt ;
set 3 1 ;
end timoschenko_input;
begin c2_def; Definition of centerline (main_body coordinates)
nsec 5;
sec 1 0.0 0.0 0.0 0.0 ; Tower top x,y,z,twist
sec 2 0.0 0.0 1.0 0.0 ;
sec 3 0.0 0.0 2.0 0.0 ;
sec 4 0.0 0.0 3.1071 0.0 ; Main bearing
sec 5 0.0 0.0 5.0191 0.0 ; Rotor centre
end c2_def ;
end main_body;
;
begin main_body;
name hub1 ;
type timoschenko ;
nbodies 1 ;
node_distribution c2_def ;
damping_posdef 2.00E-05 2.00E-05 2.00E-04 3.00E-06 3.00E-06 2.00E-05;
begin timoschenko_input;
filename ./data/NREL_5MW_st.txt ;
set 4 1 ;
end timoschenko_input;
begin c2_def; Definition of centerline (main_body coordinates)
nsec 2;
sec 1 0.0 0.0 0.0 0.0 ; x,y,z,twist
sec 2 0.0 0.0 1.5 0.0 ;
end c2_def ;
end main_body;
;
begin main_body;
name hub2 ;
copy_main_body hub1;
end main_body;
;
begin main_body;
name hub3 ;
copy_main_body hub1 ;
end main_body;
;
begin main_body;
name blade1 ;
type timoschenko ;
nbodies 9 ;
node_distribution c2_def;
; damping 3.5e-2 5.5e-4 5.0e-4 3.0e-4 0.5e-3 5.5e-3 ;
damping_posdef 1.16e-4 5.75e-5 6.1e-6 6.5e-4 5.1e-4 6.4e-4 ;
begin timoschenko_input ;
filename ./data/NREL_5MW_st.txt ;
set 5 1 ; set subset
end timoschenko_input;
begin c2_def; Definition of centerline (main_body coordinates)
nsec 19 ;
sec 1 0.0000 0.0000 0.000 0.000 ; x.y.z. twist
sec 2 -0.0041 0.0010 1.367 -13.308 ;
sec 3 -0.1058 0.0250 4.100 -13.308 ;
sec 4 -0.2502 0.0592 6.833 -13.308 ;
sec 5 -0.4594 0.1087 10.250 -13.308 ;
sec 6 -0.5699 0.1157 14.350 -11.480 ;
sec 7 -0.5485 0.0983 18.450 -10.162 ;
sec 8 -0.5246 0.0832 22.550 -9.011 ;
sec 9 -0.4962 0.0679 26.650 -7.795 ;
sec 10 -0.4654 0.0534 30.750 -6.544 ; 50% blade radius
sec 11 -0.4358 0.0409 34.850 -5.361 ;
sec 12 -0.4059 0.0297 38.950 -4.188 ;
sec 13 -0.3757 0.0205 43.050 -3.125 ;
sec 14 -0.3452 0.0140 47.150 -2.319 ;
sec 15 -0.3146 0.0084 51.250 -1.526 ;
sec 16 -0.2891 0.0044 54.667 -0.863 ;
sec 17 -0.2607 0.0017 57.400 -0.370 ;
sec 18 -0.1774 0.0003 60.133 -0.106 ;
sec 19 -0.1201 0.0000 61.500 -0.000 ;
end c2_def ;
end main_body;
;
begin main_body;
name blade2 ;
copy_main_body blade1;
end main_body;
;
begin main_body;
name blade3 ;
copy_main_body blade1 ;
end main_body;
;------------------------------------------------------------------------------------
;
begin orientation;
begin base;
body monopile;
inipos 0.0 0.0 20.0 ; initial position of node 1
body_eulerang 0.0 0.0 0.0;
end base;
;
begin relative;
body1 monopile last; indtil videre antages der internt i programmet at der
; altid kobles mellen sidste knude body1 og første
; knude body 2
body2 tower 1;
body2_eulerang 0.0 0.0 0.0;
end relative;
;
begin relative;
body1 tower last;
body2 towertop 1;
body2_eulerang 0.0 0.0 0.0;
end relative;
;
begin relative;
body1 towertop last;
body2 shaft 1;
body2_eulerang 90.0 0.0 0.0;
body2_eulerang 5.0 0.0 0.0; 5 deg tilt angle
;body initial rotation velocity x.y.z.angle velocity[rad/s] (body 2 coordinates):
body2_ini_rotvec_d1 0.0 0.0 -1.0 0.5 ;
end relative;
;
begin relative;
body1 shaft last;
body2 hub1 1;
body2_eulerang -90.0 0.0 0.0;
body2_eulerang 0.0 180.0 0.0;
body2_eulerang 2.5 0.0 0.0; 2.5deg cone angle
end relative;
;
begin relative;
body1 shaft last;
body2 hub2 1;
body2_eulerang -90.0 0.0 0.0;
body2_eulerang 0.0 60.0 0.0;
body2_eulerang 2.5 0.0 0.0; 2.5deg cone angle
end relative;
;
begin relative;
body1 shaft last;
body2 hub3 1;
body2_eulerang -90.0 0.0 0.0;
body2_eulerang 0.0 -60.0 0.0;
body2_eulerang 2.5 0.0 0.0; 2.5deg cone angle
end relative;
;
begin relative;
body1 hub1 last;
body2 blade1 1;
body2_eulerang 0.0 0.0 0;
end relative;
;
begin relative;
body1 hub2 last;
body2 blade2 1;
body2_eulerang 0.0 0.0 0.0;
end relative;
;
begin relative;
body1 hub3 last;
body2 blade3 1;
body2_eulerang 0.0 0.0 0.0;
end relative;
;
end orientation;
;------------------------------------------------------------------------
begin constraint;
;
begin fix0; fixed to ground in translation and rotation of node 1
body monopile;
end fix0;
;
begin fix1; fixed relative to other body in translation and rotation
body1 monopile last;
body2 tower 1;
end fix1;
;
begin fix1;
body1 tower last ;
body2 towertop 1;
end fix1;
;
begin bearing1; free bearing
name shaft_rot;
body1 towertop last;
body2 shaft 1;
bearing_vector 2 0.0 0.0 -1.0; x=coo (0=global.1=body1.2=body2) vector in body2
; coordinates where the free rotation is present
end bearing1;
;
begin fix1;
body1 shaft last ;
body2 hub1 1;
end fix1;
;
begin fix1;
body1 shaft last ;
body2 hub2 1;
end fix1;
;
begin fix1;
body1 shaft last ;
body2 hub3 1;
end fix1;
;
begin bearing2;
name pitch1;
body1 hub1 last;
body2 blade1 1;
bearing_vector 2 0.0 0.0 -1.0;
end bearing2;
;
begin bearing2;
name pitch2;
body1 hub2 last;
body2 blade2 1;
bearing_vector 2 0.0 0.0 -1.0;
end bearing2;
;
begin bearing2;
name pitch3;
body1 hub3 last;
body2 blade3 1;
bearing_vector 2 0.0 0.0 -1.0;
end bearing2;
end constraint;
;
end new_htc_structure;
;---------------------------------------------------------------------
begin wind ;
density 1.25;
wsp 8 ;
horizontal_input 1;
windfield_rotations 0.0 0.0 0.0 ; yaw, tilt, rotation
center_pos0 0.0 0.0 -90.00; hub_height
shear_format 3 0.12;
turb_format 1 ; 0=none, 1=mann,2=flex
tower_shadow_method 1;
tint 0.06 ;
scale_time_start 200;
wind_ramp_factor 0.0 200 0.5 1.0 ;
;------------------------------------------------------------------
begin tower_shadow_potential;
tower_offset 0.0;
nsec 2;
radius 0.0 2.10;
radius -68.10 1.15;
end tower_shadow_potential;
;------------------------------------------------------------------
; This next part is only to be include in case of wake effects being studied
begin wakes;
nsource 35;
source_pos 2548 -2900 -90 ;
source_pos 2123 -2417 -90 ;
source_pos 1706 -1942 -90 ;
source_pos 1281 -1458 -90 ;
source_pos 857 975 -90 ; WT5
source_pos 432 491 -90 ; WT6
source_pos -425 -484 -90 ; WT8
source_pos -850 -968 -90 ; WT9
source_pos -1267 1458 -90 ;
source_pos -1700 1935 -90 ;
source_pos -2125 2419 -90 ;
source_pos 3556 -2533 -90 ;
source_pos 3131 -2049 -90 ;
source_pos 2706 -1565 -90 ;
source_pos 2281 1081 -90 ; WT16
source_pos 1602 308 -90 ; WT17
source_pos 1176 -176 -90 ; WT18
source_pos 751 -660 -90 ; WT19
source_pos 326 -1144 -90 ; WT20
source_pos -99 -1627 -90 ; WT21
source_pos 3915 -1427 -90 ;
source_pos 3486 -943 -90 ;
source_pos 3062 -455 -90 ;
source_pos 2405 -292 -90 ; WT25
source_pos 1927 -836 -90 ; WT26
source_pos 1502 -1319 -90 ; WT27
source_pos 1077 -1803 -90 ; WT28
source_pos 652 -2287 -90 ; WT29
source_pos 4235 -283 -90 ;
source_pos 3813 205 -90 ;
source_pos 3163 944 -90 ;
source_pos 2679 1495 -90 ;
source_pos 2254 1979 -90 ;
source_pos 1829 2463 -90 ;
source_pos 1404 2947 -90 ;
op_data 1.4252392 2 ; 1.8 -23.1 ;1.87 0.0 rad/sec, pitch [grader] opstrøms;
ble_parameters 0.10 0.008 0;
begin mann_meanderturb ;
create_turb_parameters 33.6 1 3.7 508 0.0 ; L, alfaeps,gamma,seed, highfrq compensation
filename_v ./free_sector_monopile/wake-meander/wake_meand_turb_wsp8_s508_t1800v.bin ;
filename_w ./free_sector_monopile/wake-meander/wake_meand_turb_wsp8_s508_t1800w.bin ;
box_dim_u 16384 1.7578125 ;
box_dim_v 32 90 ;
box_dim_w 32 90 ;
end mann_meanderturb;
;
begin mann_microturb ;
create_turb_parameters 8.0 1.0 1.0 508 1.0 ; L, alfaeps,gamma,seed, highfrq compensation
filename_u ./free_sector_monopile/wake-micro/wake_turb_wsp8_s508_t1800u.bin ;
filename_v ./free_sector_monopile/wake-micro/wake_turb_wsp8_s508_t1800v.bin ;
filename_w ./free_sector_monopile/wake-micro/wake_turb_wsp8_s508_t1800w.bin ;
box_dim_u 128 1.0 ;
box_dim_v 128 1.0 ;
box_dim_w 128 1.0 ;
end mann_microturb;
end wakes;
;-----------------------------------------------------------------
begin mann;
create_turb_parameters 33.6 1 3.7 508 1.0 ; L, alfaeps,gamma,seed, highfrq compensation
filename_u ./free_sector_monopile/turb/turb_wsp8_s508_t1800u.bin ;
filename_v ./free_sector_monopile/turb/turb_wsp8_s508_t1800v.bin ;
filename_w ./free_sector_monopile/turb/turb_wsp8_s508_t1800w.bin ;
box_dim_u 16384 1.7578125 ;
box_dim_v 32 3.75;
box_dim_w 32 3.75;
end mann;
end wind;;
begin aero ;
nblades 3;
hub_vec shaft -3 ; rotor rotation vector (normally shaft component directed from
; pressure to suction side)
link 1 mbdy_c2_def blade1;
link 2 mbdy_c2_def blade2;
link 3 mbdy_c2_def blade3;
ae_filename ./data/NREL_5MW_ae.txt;
pc_filename ./data/NREL_5MW_pc.txt;
induction_method 1 ; 0=none, 1=normal
aerocalc_method 1 ; 0=ingen aerodynamic, 1=med aerodynamic
aerosections 30 ;
ae_sets 1 1 1;
tiploss_method 1 ; 0=none, 1=prandtl
dynstall_method 2 ; 0=none, 1=stig øye method,2=mhh method
end aero ;
;
;-------------------------------------------------------------------------------------------------
begin hydro;
begin water_properties;
rho 1027 ; kg/m^3
gravity 9.81 ; m/s^2
mwl 0.0 ;
mudlevel 20.0 ;
water_kinematics_dll ./wkin_dll.dll ./htc_hydro/reg_airy_h6_t10.inp ;
end water_properties;
;
begin hydro_element;
body_name monopile ;
hydrosections uniform 50 ; distribution of hydro calculation points from sec 1 to nsec
nsec 2;
sec 0.0 1.0 1.0 28.27 28.27 6.0 ; nr z Cm Cd V Vr width
sec 30.0 1.0 1.0 28.27 28.27 6.0 ; nr z Cm Cd V Vr width
end hydro_element;
end hydro;
;
;-------------------------------------------------------------------------------------------
begin dll;
begin hawc_dll;
filename ./control/bladed2hawc.dll ;
dll_subroutine regulation ;
arraysizes 15 15 ;
deltat 0.02;
begin output;
general time ;
constraint bearing2 pitch1 1; angle and angle velocity written to dll
constraint bearing2 pitch2 1; angle and angle velocity written to dll
constraint bearing2 pitch3 1; angle and angle velocity written to dll
constraint bearing2 shaft_rot 1; angle and angle velocity written to dll (slow speed shaft)
wind free_wind 1 0.0 0.0 -90.55; local wind at fixed position: coo
general constant 97.0 ; generator exchange ratio
end output;
;
begin actions;
body moment_int shaft 1 3 towertop 2 ;
end actions;
end hawc_dll;
;
begin hawc_dll;
filename ./control/pitchservo_pos.dll ;
dll_subroutine servo ;
arraysizes 15 15 ;
deltat 0.02 ;
begin output;
general time ; 1
dll inpvec 1 2; 2
dll inpvec 1 3; 3
dll inpvec 1 4; 4
constraint bearing2 pitch1 1; angle and angle velocity written to dll 5,6
constraint bearing2 pitch2 1; angle and angle velocity written to dll 7,8
constraint bearing2 pitch3 1; angle and angle velocity written to dll 9,10
end output;
;
begin actions;
body bearing_angle pitch1;
body bearing_angle pitch2;
body bearing_angle pitch3;
end actions;
end hawc_dll;
;
begin hawc_dll;
filename ./control/damper.dll ;
dll_subroutine damp ;
arraysizes 15 15 ;
begin output;
general time ; 1
general constant 5.0;
general constant 10.0;
general constant -1.0E1 ;
mbdy state vel towertop 1 1.0 tower;
end output;
;
begin actions;
mbdy force_ext towertop 2 1 towertop;
mbdy force_ext towertop 2 2 towertop;
end actions;
end hawc_dll;
end dll;
;
;--------------------------------------------------------------------------------------
;
begin output;
filename ./res/oc3_monopile_phase_1 ;
; time 390.0 450.0 ;
buffer 1 ;
general time;
data_format hawc_binary;
;
constraint bearing1 shaft_rot 2; angle and angle velocity
constraint bearing2 pitch1 5; angle and angle velocity
constraint bearing2 pitch2 5; angle and angle velocity
constraint bearing2 pitch3 5; angle and angle velocity
aero omega ;
aero torque;
aero power;
aero thrust;
wind free_wind 1 0.0 0.0 -90.0; local wind at fixed position: coo
hydro water_surface 0.0 0.0 ; x,y gl. pos
mbdy momentvec towertop 1 2 towertop # yaw bearing ;
mbdy forcevec towertop 1 2 towertop # yaw bering ;
mbdy momentvec shaft 4 1 shaft # main bearing ;
mbdy momentvec blade1 3 1 blade1 # blade 1 root ;
mbdy momentvec blade1 10 1 local # blade 1 50% local e coo ;
mbdy momentvec hub1 1 2 hub1 # blade 1 root ;
mbdy momentvec hub2 1 2 hub2 # blade 2 root ;
mbdy momentvec hub3 1 2 hub3 # blade 3 root ;
mbdy state pos towertop 1 1.0 global # tower top flange position ;
mbdy state pos tower 1 0.0 global # tower MSL position ;
mbdy state pos blade1 18 1.0 blade1 # blade 1 tip pos ;
mbdy state pos blade2 18 1.0 blade2 # blade 2 tip pos ;
mbdy state pos blade3 18 1.0 blade3 # blade 3 tip pos ;
mbdy state pos blade1 18 1.0 global # blade 1 tip pos ;
aero windspeed 3 1 1 63.0; wind seen from the blade:
; coo(1=local ae,2=blade,3=global,4=rotor polar),
aero windspeed 3 1 2 63.0;
aero windspeed 3 1 3 63.0;
aero alfa 1 45.0;
aero alfa 2 45.0;
aero alfa 3 45.0;
mbdy momentvec towertop 1 1 tower # tower top -1: below top mass ;
mbdy forcevec towertop 1 1 tower # tower top -1: below top mass ;
mbdy momentvec tower 1 1 tower # tower MSL ;
mbdy forcevec tower 1 1 tower # tower MSL ;
; mbdy statevec_new mbdyname center coo elastic/absolute r sign xy_vector:
mbdy statevec_new blade1 c2def blade1 elastic 88.0 1.d0 0.0 0.0
mbdy statevec_new blade1 default blade1 elastic 88.0 1.d0 0.0 0.0 ;
mbdy statevec_new blade1 c2def blade1 absolute 88.0 1.d0 0.0 0.0 ;
mbdy statevec_new blade1 default blade1 absolute 88.0 1.d0 0.0 0.0 ;
mbdy statevec_new blade1 default global absolute 88.0 1.d0 0.0 0.0 ;
; mbdy forcemomentvec_interp mbdy_name center coo_mbdy curved_distance_from_orig sign
mbdy forcemomentvec_interp blade1 default blade1 5 1.0 # blade1 R= 5 ;
mbdy forcemomentvec_interp blade1 default blade1 55 1.0 # blade1 R=55 ;
mbdy forcemomentvec_interp blade1 c2def local_aero 35 1.0 # blade1 R=35 ;
mbdy forcemomentvec_interp blade1 c2def local_aero 60 1.0 # blade1 R=60 ;
mbdy forcemomentvec_interp blade1 c2def local_element 50 1.0 # blade1 R=50 ;
; an example where the forces and moments are extracted at the c2def instead of the actual node:
mbdy forcemomentvec_interp blade1 c2def blade1 5 1.0 # blade1 R= 5 ; ()
;
dll outvec 1 1 # time;
dll outvec 1 2 # pitch angle 1;
dll outvec 1 3 # pitch vel 1;
dll outvec 1 4 # pitch angle 2;
dll outvec 1 5 # pitch vel 2;
dll outvec 1 6 # pitch angle 3;
dll outvec 1 7 # pitch vel 3;
dll outvec 1 8 # gen. azi slow;
dll outvec 1 9 # gen. speed slow;
dll outvec 1 10 # free wind x;
dll outvec 1 11 # free wind y;
dll outvec 1 12 # free wind z;
dll outvec 1 13 # gear ratio;
dll inpvec 1 1 # Mgen slow;
dll inpvec 1 2 # pitchref 1;
dll inpvec 1 3 # pitchref 2;
dll inpvec 1 4 # pitchref 3;
dll inpvec 1 7 # F;
dll inpvec 1 8 # Mechanical power generator [kW];
dll inpvec 1 10 # Pitch rate [rad/s];
dll inpvec 2 1 # pitch 1;
dll inpvec 2 2 # pitch 2;
dll inpvec 2 3 # pitch 3;
dll outvec 2 1 # time;
dll outvec 2 2 # pitchref 1;
dll outvec 2 3 # pitchref 2;
dll outvec 2 4 # pitchref 3;
dll outvec 2 5 # pitch angle 1;
dll outvec 2 6 # pitch speed 1;
dll outvec 2 7 # pitch angle 2;
dll outvec 2 8 # pitch speed 2;
dll outvec 2 9 # pitch angle 3;
dll outvec 2 10 # pitch speed 3;
end output;
;
exit;
Code Version Data#
The release notes from all previous HAWC2 releases are included as a text file in the all-in-one download package available on http://tools.windenergy.dtu.dk/HAWC2/downloads.