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Updates to rotor aero controller test
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@deslaughter
deslaughter committed Oct 17, 2024
1 parent 146af77 commit 3f30911
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Showing 2 changed files with 62 additions and 33 deletions.
3 changes: 2 additions & 1 deletion src/utilities/aerodynamics/aerodyn_inflow.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -306,6 +306,7 @@ struct TurbineData {
nacelle(1),
blade_roots(tc.NumberOfBlades()),
blade_nodes(CalculateTotalBladeNodes(tc)),
hh_vel({0.F, 0.F, 0.F}),
node_indices_by_blade(tc.NumberOfBlades()) {
// Initialize hub and nacelle data
InitializeHubAndNacelle(tc);
Expand Down Expand Up @@ -475,7 +476,7 @@ struct TurbineData {
* @param blade_number The number of the blade to update.
* @param node_number The number of the node to update within the specified blade.
*/
Array_6 GetBladeNodeLoad(size_t blade_number, size_t node_number) const {
[[nodiscard]] Array_6 GetBladeNodeLoad(size_t blade_number, size_t node_number) const {
if (blade_number >= static_cast<size_t>(n_blades) ||
node_number >= node_indices_by_blade[blade_number].size()) {
throw std::out_of_range("Blade or node number out of range.");
Expand Down
92 changes: 60 additions & 32 deletions tests/unit_tests/external/test_rotor_aero_controller.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -184,8 +184,8 @@ TEST(Milestone, IEA15RotorAeroController) {
constexpr size_t max_iter{6};
constexpr double step_size{0.01}; // seconds
constexpr double rho_inf{0.0};
// constexpr double t_end{60.0}; // seconds
constexpr double t_end{1.0}; // seconds
constexpr double t_end{30.0}; // seconds
// constexpr double t_end{1.0}; // seconds
constexpr auto num_steps{static_cast<size_t>(t_end / step_size + 1.)};

// Create model for adding nodes and constraints
Expand Down Expand Up @@ -301,6 +301,12 @@ TEST(Milestone, IEA15RotorAeroController) {
}
);

// Vector of blade tip nodes
std::vector<Node> tip_nodes;
for (size_t i = 0; i < n_blades; ++i) {
tip_nodes.emplace_back(beam_elems[i].nodes[beam_elems[i].nodes.size() - 1].node);
}

// Blade root nodes
std::vector<std::shared_ptr<Node>> root_nodes;
for (size_t i = 0; i < n_blades; ++i) {
Expand Down Expand Up @@ -393,6 +399,7 @@ TEST(Milestone, IEA15RotorAeroController) {

// Create mirrors for accessing node data
auto host_state_x = Kokkos::create_mirror(state.x);
auto host_state_q = Kokkos::create_mirror(state.q);
auto host_state_v = Kokkos::create_mirror(state.v);
auto host_state_vd = Kokkos::create_mirror(state.vd);

Expand Down Expand Up @@ -454,7 +461,7 @@ TEST(Milestone, IEA15RotorAeroController) {
};

// Define turbine initial position
std::vector<util::TurbineConfig> turbine_configs{
const std::vector<util::TurbineConfig> turbine_configs{
util::TurbineConfig(
true, // is horizontal axis wind turbine
{0., 0., 0.}, // reference position
Expand All @@ -480,6 +487,7 @@ TEST(Milestone, IEA15RotorAeroController) {
sc.point_load_output = use_node_loads;
sc.debug_level = util::SimulationControls::DebugLevel::kNone;
sc.transpose_DCM = false;
sc.output_format = util::SimulationControls::OutputFormat::kNone;

// VTK settings
util::VTKSettings vtk_settings;
Expand Down Expand Up @@ -510,26 +518,38 @@ TEST(Milestone, IEA15RotorAeroController) {
std::filesystem::create_directory(step_dir.parent_path());
std::filesystem::create_directory(step_dir);

// Write output file header
std::ofstream w("IEA15RotorAeroController.out");
w << std::scientific;
w << std::setw(16) << "Time" //
<< std::setw(16) << "Wind1VelX" //
<< std::setw(16) << "Azimuth" //
<< std::setw(16) << "BldPitch1" //
<< std::setw(16) << "RtSpeed" //
<< std::setw(16) << "GenSpeed" //
<< std::setw(16) << "GenTq" //
<< std::setw(16) << "GenPwr" //
<< "\n";
w << std::setw(16) << "(s)" //
<< std::setw(16) << "(m/s)" //
<< std::setw(16) << "(deg)" //
<< std::setw(16) << "(deg)" //
<< std::setw(16) << "(rpm)" //
<< std::setw(16) << "(rpm)" //
<< std::setw(16) << "(kN-m)" //
<< std::setw(16) << "(kW)" //
<< "\n";
w << std::left;
const std::vector<std::array<std::string, 2>> header_data{
{"Time", "(s)"}, //
{"ConvIter", "(-)"}, //
{"ConvError", "(-)"}, //
{"Azimuth", "(deg)"}, //
{"BldPitch1", "(deg)"}, //
{"GenSpeed", "(rpm)"}, //
{"GenTq", "(kN-m)"}, //
{"GenPwr", "(kW)"}, //
{"B1TipTDxr", "(m)"}, //
{"B2TipTDxr", "(m)"}, //
{"B3TipTDxr", "(m)"},
};
for (const auto& item : header_data) {
w << "\t" << item[0];
}
for (const auto& name : adi.channel_names) {
w << "\t" << name;
}
w << "\n";
for (const auto& item : header_data) {
w << "\t" << item[1];
}
for (const auto& unit : adi.channel_units) {
w << "\t" << unit;
}
w << "\n";
w << std::right;

//--------------------------------------------------------------------------
// Time stepping
Expand All @@ -543,7 +563,7 @@ TEST(Milestone, IEA15RotorAeroController) {
for (size_t i = 0; i < num_steps; ++i) {
#ifdef OpenTurbine_ENABLE_VTK
auto tmp = std::to_string(i);
tmp = std::string(4 - tmp.size(), '0') + tmp;
tmp.insert(0, 5 - tmp.size(), '0');
WriteVTKBeamsQP(beams, step_dir / (std::string("step_qp.") + tmp + ".vtu"));
WriteVTKBeamsNodes(beams, step_dir / (std::string("step_node.") + tmp + ".vtu"));
#endif
Expand All @@ -554,6 +574,7 @@ TEST(Milestone, IEA15RotorAeroController) {

// Copy state matrices from device to host
Kokkos::deep_copy(host_state_x, state.x);
Kokkos::deep_copy(host_state_q, state.q);
Kokkos::deep_copy(host_state_v, state.v);
Kokkos::deep_copy(host_state_vd, state.vd);

Expand Down Expand Up @@ -600,16 +621,23 @@ TEST(Milestone, IEA15RotorAeroController) {
torque_actual = controller.io.generator_torque_command;
pitch_actual = controller.io.pitch_collective_command;

// Write output
w << std::setw(16) << current_time //
<< std::setw(16) << controller.io.horizontal_wind_speed //
<< std::setw(16) << azimuth * 180. / M_PI //
<< std::setw(16) << controller.io.pitch_collective_command * 180. / M_PI //
<< std::setw(16) << rotor_speed / rpm_to_radps //
<< std::setw(16) << generator_speed / rpm_to_radps //
<< std::setw(16) << controller.io.generator_torque_command / 1000. //
<< std::setw(16) << controller.io.generator_power_actual / 1000. //
<< "\n";
// Write data to output file
const auto conv_err{solver.convergence_err.size() > 0 ? solver.convergence_err.back() : 0.};
w << "\t" << current_time // current time (s)
<< "\t" << solver.convergence_err.size() // num convergence iterations
<< "\t" << conv_err // convergence error
<< "\t" << azimuth * 180. / M_PI // azimuth angle (deg)
<< "\t" << pitch_actual * 180. / M_PI // blade pitch (deg)
<< "\t" << generator_speed / rpm_to_radps //
<< "\t" << controller.io.generator_torque_command / 1000. //
<< "\t" << controller.io.generator_power_actual / 1000. //
<< "\t" << GetNodeData(tip_nodes[0].ID, host_state_q)[0] // x displacement of tip nodes
<< "\t" << GetNodeData(tip_nodes[1].ID, host_state_q)[0] // x displacement of tip nodes
<< "\t" << GetNodeData(tip_nodes[2].ID, host_state_q)[0]; // x displacement of tip nodes
for (const auto& value : adi.channel_values) {
w << "\t" << value;
}
w << "\n";

// Predict state at end of step
auto converged = Step(parameters, solver, beams, state, constraints);
Expand Down

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