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acl_model.f90
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module actuator_line_model
! Use the actuator_line Modules
use decomp_2d, only: mytype, nrank
use actuator_line_model_utils
use airfoils
use actuator_line_element
use actuator_line_turbine
use actuator_line_controller
use actuator_line_write_output
use dynstall
implicit none
type(ActuatorLineType), allocatable, save :: Actuatorline(:)
type(TurbineType), allocatable, save :: Turbine(:) ! Turbine
integer,save :: Ntur, Nal ! Number of the turbines
real(mytype),save :: DeltaT, Visc, ctime
logical,save :: actuator_line_model_writeFlag=.true.
public :: actuator_line_model_init, actuator_line_model_write_output, &
actuator_line_model_update, actuator_line_model_compute_forces
contains
subroutine actuator_line_model_init(Nturbines,Nactuatorlines,turbines_file,actuatorlines_file,dt)
use param, only: ialmrestart, filealmrestart
implicit none
integer :: Nturbines, Nactuatorlines
character(len=80),dimension(100),intent(in) :: turbines_file, actuatorlines_file
real(mytype), intent(in) :: dt
integer :: itur,ial
character(1000) :: ReadLine
if (nrank==0) then
write(6,*) '====================================================='
write(6,*) 'Initializing the Actuator Line Model'
write(6,*) 'Developed by G. Deskos 2015-2017'
write(6,*) 'gd1414@ic.ac.uk'
write(6,*) '====================================================='
end if
!### Specify Turbines
Ntur=Nturbines
if (nrank==0) then
write(6,*) 'Number of turbines : ', Ntur
endif
call get_turbine_options(turbines_file)
if (Ntur>0) then
if (ialmrestart==1) then
! Read the checkpoint information and rotate actuator lines accordingly
open(17,file=filealmrestart)
! Read the azimuthal angle
do itur=1,Ntur
read(22,'(A)') ReadLine ! Turb ....
read(ReadLine,*) turbine(itur)%AzimAngle, turbine(itur)%angularVel,turbine(itur)%cbp
end do
close(17)
endif
do itur=1,Ntur
call set_turbine_geometry(Turbine(itur))
end do
endif
!### Speficy Actuator Lines
Nal=NActuatorlines
if (nrank==0) then
write(6,*) 'Number of actuator lines : ', Nal
endif
call get_actuatorline_options(actuatorlines_file)
if(Nal>0) then
do ial=1,Nal
call set_actuatorline_geometry(actuatorline(ial))
end do
endif
!##### Initialize Time
ctime=0.0
DeltaT=dt
end subroutine actuator_line_model_init
subroutine actuator_line_model_write_output(dump_no)
implicit none
integer,intent(in) :: dump_no
integer :: itur,ial,iblade
character(len=100) :: dir
!call system('mkdir -p ALM/'//adjustl(trim(dirname(dump_no))))
!dir='ALM/'//adjustl(trim(dirname(dump_no)))
dir=adjustl(trim(dirname(dump_no)))
if (Ntur>0) then
do itur=1,Ntur
call actuator_line_turbine_write_output(turbine(itur),dir)
do iblade=1,turbine(itur)%NBlades
call actuator_line_element_write_output(turbine(itur)%Blade(iblade),dir)
if (turbine(itur)%Blade(iblade)%do_Sheng_stall) then
call dynamic_stall_write_output(turbine(itur)%Blade(iblade),dir)
end if
end do
if(turbine(itur)%Has_Tower) then
call actuator_line_element_write_output(turbine(itur)%tower,dir)
endif
end do
endif
if (Nal>0) then
do ial=1,Nal
call actuator_line_element_write_output(actuatorline(ial),dir)
if (actuatorline(ial)%do_Sheng_stall) then
call dynamic_stall_write_output(actuatorline(ial),dir)
end if
end do
endif
end subroutine actuator_line_model_write_output
subroutine get_turbine_options(turbines_path)
use param, only: u1,u2
implicit none
character(len=80),dimension(100),intent(in) :: turbines_path
integer :: i,j,k
integer, parameter :: MaxReadLine = 1000
integer :: nfoils
!-------------------------------------
! Dummy variables
!-------------------------------------
character(len=100) :: name, blade_geom, tower_geom, dynstall_param_file, AeroElastInputFile, AeroElastSolverFile, list_controller_file
character(len=100),dimension(20) :: afname
real(mytype), dimension(3) :: origin
integer :: numblades,numfoil,towerFlag, TypeFlag, OperFlag, RotFlag, AddedMassFlag, DynStallFlag, EndEffectsFlag
integer :: TipCorr, RootCorr, RandomWalkForcingFlag, AeroElastFlag, AeroElastModel, ConstantCirculationFlag
real(mytype) :: toweroffset,tower_drag,tower_lift,tower_strouhal, uref, tsr, ShenC1, ShenC2, GammaCirc
real(mytype) :: BladeInertia, GeneratorInertia, GBRatio, GBEfficiency, RatedGenSpeed
real(mytype) :: RatedLimitGenTorque, CutInGenSpeed, Region2StartGenSpeed, Region2EndGenSpeed,Kgen
real(mytype) :: RatedPower, MaximumTorque
real(mytype) :: yaw_angle, shaft_tilt_angle, blade_cone_angle
NAMELIST/TurbineSpecs/name,origin,numblades,blade_geom,numfoil,afname,towerFlag,towerOffset, &
tower_geom,tower_drag,tower_lift,tower_strouhal,TypeFlag, OperFlag, tsr, uref,RotFlag, AddedMassFlag, &
RandomWalkForcingFlag, DynStallFlag,dynstall_param_file,EndEffectsFlag,TipCorr, RootCorr,ShenC1, ShenC2, &
ConstantCirculationFlag, GammaCirc, &
yaw_angle, shaft_tilt_angle, blade_cone_angle,AeroElastFlag, AeroElastModel, AeroElastInputFile, AeroElastSolverFile, &
BladeInertia, GeneratorInertia, GBRatio, GBEfficiency, RatedGenSpeed, RatedLimitGenTorque, CutInGenSpeed, &
Region2StartGenSpeed,Region2EndGenSpeed,Kgen,RatedPower,MaximumTorque,list_controller_file
if (nrank==0) then
write(6,*) 'Loading the turbine options ...'
endif
! Allocate Turbines Arrays
Allocate(Turbine(Ntur))
! ==========================================
! Get Turbines' options and INITIALIZE THEM
! ==========================================
do i=1, Ntur
! Set some default parameters
!++++++++++++++++++++++++++++++++
towerFlag=0
tower_lift=0.3
tower_drag=1.0
tower_strouhal=0.21
AddedMassFlag=0
RandomWalkForcingFlag=0
DynStallFlag=0
EndEffectsFlag=0
ConstantCirculationFlag=0
TipCorr=0
RootCorr=0
ShenC1=0.125
ShenC2=21
yaw_angle=0.
shaft_tilt_angle=0.
blade_cone_angle=0.
!+++++++++++++++++++++++++++++++++
open(100,File=turbines_path(i))
read(100,nml=TurbineSpecs)
Turbine(i)%name=name
Turbine(i)%ID=i
Turbine(i)%origin=origin
Turbine(i)%NBlades=numblades
Turbine(i)%blade_geom_file=blade_geom
! Allocate Blades
Allocate(Turbine(i)%Blade(Turbine(i)%NBlades))
! Count how many Airfoil Sections are available
nfoils = numfoil
if(nfoils==0) then
write(6,*) "You need to provide at least one static_foils_data entry for the computation of the blade forces"
stop
else
if (nrank==0) then
write(6,*) "Loaded a total of : ", nfoils, "airfoil data sets"
do k=1,nfoils
write(6,*) "Airfoil :", k, "is ", afname(k)
enddo
endif
end if
! Assign variables on the blade level
do j=1,Turbine(i)%NBlades
! Assign the blade inertia
Turbine(i)%Blade(j)%Inertia=BladeInertia
! Allocate the memory of the Airfoils
Turbine(i)%Blade(j)%NAirfoilData=nfoils
Allocate(Turbine(i)%Blade(j)%AirfoilData(nfoils))
do k=1, Turbine(i)%Blade(j)%NAirfoilData
Turbine(i)%Blade(j)%AirfoilData(k)%afname=afname(k)
! Read and Store Airfoils
call airfoil_init_data(Turbine(i)%Blade(j)%AirfoilData(k))
end do
end do
! ## Tower ##
if (towerFlag==1) then
Turbine(i)%Has_Tower=.true.
Turbine(i)%TowerOffset=toweroffset
Turbine(i)%Tower%geom_file=tower_geom
Turbine(i)%TowerDrag=tower_drag
Turbine(i)%TowerLift=tower_lift
Turbine(i)%TowerStrouhal=tower_strouhal
endif
!#############2 Get turbine_specs #################
! Check the typ of Turbine (choose between Horizontal and Vertical Axis turbines)
if(TypeFlag==1) then
Turbine(i)%Type='Horizontal_Axis'
Turbine(i)%RotN=[1.0d0,0.0d0,0.0d0]
Turbine(i)%shaft_tilt_angle=shaft_tilt_angle
Turbine(i)%yaw_angle=yaw_angle
Turbine(i)%blade_cone_angle=blade_cone_angle
elseif(TypeFlag==2) then
! call get_option(trim(turbine_path(i))//"/type/Vertical_Axis/axis_of_rotation",Turbine(i)%RotN)
! call get_option(trim(turbine_path(i))//"/type/Vertical_Axis/distance_from_axis",Turbine(i)%dist_from_axis)
write(6,*) 'Not ready yet'
stop
else
write(6,*) "You should not be here"
stop
end if
!##############3 Get Operation Options ######################
if (OperFlag==1) then
Turbine(i)%Is_constant_rotation_operated= .true.
Turbine(i)%Uref=uref
Turbine(i)%TSR=tsr
else if(OperFlag==2) then
Turbine(i)%Is_NRELController = .true.
Turbine(i)%Uref=0.5*(u1+u2)
Turbine(i)%TSR=tsr
! Assign the Uref and TSR to compute the optimum tip-speed ratio (This applies only to the first time step)
! Controller Variables
!--------------------------
do j=1,Turbine(i)%NBlades
! Assign the blade inertia
Turbine(i)%Blade(j)%Inertia=BladeInertia
enddo
! Initialize Contoller
call init_controller(Turbine(i)%Controller,GeneratorInertia,GBRatio,GBEfficiency,&
RatedGenSpeed,RatedLimitGenTorque,CutInGenSpeed,&
Region2StartGenSpeed,Region2EndGenSpeed,Kgen,RatedPower,&
MaximumTorque)
Turbine(i)%Controller%IStatus=0
else if(OperFlag==3) then
! Assign the Uref and TSR to compute the optimum tip-speed ratio (This applies only to the first time step)
Turbine(i)%Uref=uref
Turbine(i)%TSR=tsr
Turbine(i)%Is_ListController= .true.
!> Read the list_controller file
call read_list_controller_file(list_controller_file,turbine(i))
else if(OperFlag==4) then
Turbine(i)%TSR=tsr
Turbine(i)%Is_upstreamvel_controlled=.true.
Turbine(i)%Uref=uref
else
write(*,*) "Only constant_rotation (1) and control_based (2) is used"
stop
endif
if(RotFlag==1) then
Turbine(i)%IsClockwise=.true.
elseif(RotFlag==2) then
Turbine(i)%IsCounterClockwise=.true.
Turbine(i)%RotN=-Turbine(i)%RotN
else
write(6,*) "You should not be here. The options are clockwise and counterclockwise"
stop
endif
!##################4 Get Unsteady Effects Modelling Options ##################
if(RandomWalkForcingFlag==1) then
do j=1,Turbine(i)%NBlades
Turbine(i)%Blade(j)%do_random_walk_forcing=.true.
end do
endif
if(AddedMassFlag==1) then
do j=1,Turbine(i)%NBlades
Turbine(i)%Blade(j)%do_added_mass=.true.
end do
endif
if(DynStallFlag>0) then
if(DynStallFlag==1) then ! Do Sheng et al. modelling
do j=1,Turbine(i)%NBlades
Turbine(i)%Blade(j)%do_Sheng_stall=.true.
Turbine(i)%Blade(j)%DynStallFile=dynstall_param_file
end do
endif
if(DynStallFlag==2) then ! Do the legacy LB model
do j=1,Turbine(i)%NBlades
Turbine(i)%Blade(j)%do_LB_stall=.true.
Turbine(i)%Blade(j)%DynStallFile=dynstall_param_file
end do
endif
endif
if (ConstantCirculationFlag==1) then
do j=1,Turbine(i)%NBlades
Turbine(i)%Blade(j)%Is_constant_circulation=.true.
Turbine(i)%Blade(j)%GammaCirc=GammaCirc
end do
endif
if (EndEffectsFlag>0) then
Turbine(i)%Has_BladeEndEffectModelling=.true.
if(EndEffectsFlag==1) then
Turbine(i)%EndEffectModel_is_Glauret=.true.
if(TipCorr==1) Turbine(i)%do_tip_correction=.true.
if (RootCorr==1) Turbine(i)%do_root_correction=.true.
else if(EndEffectsFlag==2) then
Turbine(i)%EndEffectModel_is_Shen=.true.
Turbine(i)%ShenCoeff_c1=ShenC1
Turbine(i)%ShenCoeff_c2=ShenC2
if(TipCorr==1) Turbine(i)%do_tip_correction=.true.
if (RootCorr==1) Turbine(i)%do_root_correction=.true.
endif
endif
if (AeroElastFlag==1) then
Turbine(i)%do_aeroelasticity=.true.
endif
end do
end subroutine get_turbine_options
subroutine get_actuatorline_options(actuatorline_path)
implicit none
integer :: i,k
integer, parameter :: MaxReadLine = 1000
character(len=80), dimension(100),intent(in) :: actuatorline_path
!-------------------------------------
! Dummy variables
!-------------------------------------
character(len=100) :: name, actuatorline_geom, afname, dynstall_param_file
real(mytype), dimension(3) :: origin
real(mytype) :: PitchStartTime, PitchEndTime, PitchAngleInit, PitchAmp, AngularPitchFreq
integer :: numfoil, AddedMassFlag, DynStallFlag, EndEffectsFlag, RandomWalkForcingFlag, PitchControlFlag
NAMELIST/ActuatorLineSpecs/name,origin, actuatorline_geom,numfoil,afname, AddedMassFlag, &
DynStallFlag,EndEffectsFlag, PitchControlFlag,PitchStartTime, &
PitchEndTime, PitchAngleInit, PitchAmp, AngularPitchFreq, dynstall_param_file
if (nrank==0) then
write(6,*) 'Loading the actuator line options ...'
endif
! Allocate Turbines Arrays
allocate(actuatorline(Nal))
! ==========================================
! Get Actuator lines' options and INITIALIZE THEM
! ==========================================
do i=1, Nal
open(200,File=actuatorline_path(i))
read(200,nml=ActuatorLineSpecs)
close(200)
Actuatorline(i)%name=name
Actuatorline(i)%COR=origin
Actuatorline(i)%geom_file=actuatorline_geom
! Count how many Airfoil Sections are available
Actuatorline(i)%NAirfoilData=numfoil
! Allocate the memory of the Airfoils
Allocate(Actuatorline(i)%AirfoilData(Actuatorline(i)%NAirfoilData))
do k=1, Actuatorline(i)%NAirfoilData
Actuatorline(i)%AirfoilData(k)%afname=afname
! Read and Store Airfoils
call airfoil_init_data(Actuatorline(i)%AirfoilData(k))
end do
!##################4 Get Dynamic Loads Modelling Options ##################
if(AddedMassFlag==1) then
Actuatorline%do_added_mass=.true.
endif
if(DynStallFlag>0) then
if(DynStallFlag==1) then
Actuatorline%do_Sheng_stall=.true.
Actuatorline%DynStallFile=dynstall_param_file
endif
if(DynstallFlag==2) then
Actuatorline%do_LB_stall=.true.
Actuatorline%DynStallFile=dynstall_param_file
endif
endif
! !##################4 Get Pitching Opions ##################
if(PitchControlFlag==1) then ! Sinusoidal
Actuatorline%pitch_control=.true.
Actuatorline(i)%pitch_start_time=PitchStartTime
Actuatorline(i)%pitch_end_time=PitchEndTime
Actuatorline(i)%pitch_angle_init=PitchAngleInit
Actuatorline(i)%pitchAmp=PitchAmp
Actuatorline(i)%angular_pitch_freq=AngularPitchFreq
elseif(PitchControlFlag==2) then ! Ramping up
Actuatorline%pitch_control=.true.
write(*,*) 'Ramping up not implemented yet'
stop
endif
end do
end subroutine get_actuatorline_options
subroutine actuator_line_model_update(current_time,dt)
implicit none
real(mytype),intent(inout) :: current_time, dt
integer :: i,j,k, Nstation
real(mytype) :: theta, pitch_angle, deltapitch, pitch_angle_old
real(mytype) :: WSRotorAve,Omega
! This routine updates the location of the actuator lines
ctime=current_time
DeltaT=dt
if (Ntur>0) then
do i=1,Ntur
if(Turbine(i)%Is_constant_rotation_operated) then
theta=Turbine(i)%angularVel*DeltaT
Turbine(i)%AzimAngle=Turbine(i)%AzimAngle+theta
! Computes the rigid-body velocity
call rotate_turbine(Turbine(i),Turbine(i)%RotN,theta)
! Computes the displacement on the turbine
!if(turbine(i)%do_aeroelasticity) then
! call actuator_line_beam_solve(turbine(i)%beam,DeltaT)
!endif
! Computes the new velocity
call Compute_Turbine_RotVel(Turbine(i))
else if(Turbine(i)%Is_NRELController) then
!if(nrank==0) write(*,*) 'Entering the control-based operation for turbine', Turbine(i)%name
! First do control
call compute_rotor_upstream_velocity(Turbine(i))
call operate_controller(Turbine(i)%Controller,ctime,Turbine(i)%NBlades,Turbine(i)%angularVel)
Turbine(i)%deltaOmega=(Turbine(i)%Torque-Turbine(i)%Controller%GearBoxRatio*Turbine(i)%Controller%GenTrq)/(Turbine(i)%IRotor+Turbine(i)%Controller%GearBoxRatio**2.*Turbine(i)%Controller%IGenerator)*DeltaT
Turbine(i)%angularVel=Turbine(i)%angularVel+Turbine(i)%deltaOmega
! Then Calculate the angular velocity and compute the DeltaTheta and AzimAngle
theta=Turbine(i)%angularVel*DeltaT
Turbine(i)%AzimAngle=Turbine(i)%AzimAngle+theta
! Then do picth control (if not zero)
do j=1,Turbine(i)%NBlades
if (Turbine(i)%IsClockwise) then
Turbine(i)%cbp=-Turbine(i)%Controller%PitCom(j)
else
stop
endif
deltapitch=Turbine(i)%cbp-Turbine(i)%cbp_old
if(nrank==0) print *, 'Doing Pitch control', -deltapitch*180./pi
call pitch_actuator_line(Turbine(i)%Blade(j),deltapitch)
enddo
Turbine(i)%cbp_old=Turbine(i)%cbp
call rotate_turbine(Turbine(i),Turbine(i)%RotN,theta)
call Compute_Turbine_RotVel(Turbine(i))
! After you do both variable speed and pitch control update the status of the controller
Turbine(i)%Controller%IStatus=Turbine(i)%Controller%IStatus+1
else if(Turbine(i)%Is_ListController) then
if(nrank==0) write(*,*) 'Entering the List-controlled operation for the turbine', Turbine(i)%name
!> Compute the rotor averaged wind speed
call compute_rotor_upstream_velocity(Turbine(i))
Turbine(i)%Uref=WSRotorAve
!> Compute Omega and pitch by interpolating from the list
call from_list_controller(Omega,pitch_angle,turbine(i),WSRotorAve)
Turbine(i)%angularVel=Omega/(60./(2.*pi)) !Translate in Rad/sec
theta=Turbine(i)%angularVel*DeltaT
Turbine(i)%AzimAngle=Turbine(i)%AzimAngle+theta
call rotate_turbine(Turbine(i),Turbine(i)%RotN,theta)
call Compute_Turbine_RotVel(Turbine(i))
!> Do pitch control
! Then do picth control (if not zero)
if (Turbine(i)%IsClockwise) then
deltapitch=pitch_angle
else
deltapitch=pitch_angle
endif
do j=1,Turbine(i)%NBlades
call pitch_actuator_line(Turbine(i)%Blade(j),deltapitch)
enddo
else if (Turbine(i)%Is_upstreamvel_controlled) then
call compute_rotor_upstream_velocity(Turbine(i))
!Turbine(i)%angularVel=Turbine(i)%Uref*Turbine(i)%TSR/Turbine(i)%Rmax
Turbine(i)%angularVel=sqrt(abs(Turbine(i)%Torque)/(0.5*0.432*Turbine(i)%A*Turbine(i)%Rmax**3./Turbine(i)%TSR**3.))
theta=Turbine(i)%angularVel*DeltaT
Turbine(i)%AzimAngle=Turbine(i)%AzimAngle+theta
call rotate_turbine(Turbine(i),Turbine(i)%RotN,theta)
call Compute_Turbine_RotVel(Turbine(i))
endif
enddo
! DO FARM_LEVEL CONTROL
endif
if (Nal>0) then
do i=1,Nal
if(ActuatorLine(i)%pitch_control.and.ctime > ActuatorLine(i)%pitch_start_time.and.ctime < ActuatorLine(i)%pitch_end_time) then
!> Do harmonic pitch control for all elements of the actuator line
Nstation=ActuatorLine(i)%NElem+1
do j=1,Nstation
ActuatorLine(i)%pitch(j)=actuatorline(i)%pitchAmp*sin(actuatorline(i)%angular_pitch_freq*(ctime-ActuatorLine(i)%pitch_start_time))
end do
if(nrank==0) then
print *, '-----------------------'
print *, ' Harmonic pitch :'
print *, '-----------------------'
print *, 'Current pitch angle : ', sum(ActuatorLine(i)%pitch)/(ActuatorLine%Nelem+1)
endif
call pitch_actuator_line(actuatorline(i),ActuatorLine(i)%pitch(j))
endif
enddo
endif
return
end subroutine actuator_line_model_update
subroutine actuator_line_model_compute_forces
use param, only: rho_air
implicit none
integer :: i,j
! Zero the Source Term at each time step
!write(*,*) 'Entering the actuator_line_model_compute_forces'
if (Ntur>0) then
! Get into each Turbine and Compute the Forces blade by blade and element by element
do i=1,Ntur
! First compute the end effects on the turbine and
if (Turbine(i)%Has_BladeEndEffectModelling) then
call Compute_Turbine_EndEffects(Turbine(i))
endif
! Then compute the coefficients
do j=1,Turbine(i)%Nblades
call Compute_ActuatorLine_Forces(Turbine(i)%Blade(j),rho_air,visc,deltaT,ctime)
end do
call Compute_performance(Turbine(i))
! Tower
if(Turbine(i)%has_tower) then
call Compute_Tower_Forces(Turbine(i)%Tower,rho_air,visc,ctime,Turbine(i)%TowerLift,Turbine(i)%TowerDrag,Turbine(i)%TowerStrouhal)
endif
end do
end if
if (Nal>0) then
do i=1,Nal
call Compute_ActuatorLine_Forces(ActuatorLine(i),rho_air,visc,deltaT,ctime)
end do
end if
!write(*,*) 'Exiting actuator_line_model_compute_forces'
return
end subroutine actuator_line_model_compute_forces
subroutine actuator_line_statistics()
implicit none
integer :: itur
do itur=1,Ntur
turbine(itur)%CP_ave =turbine(itur)%CP_ave+Turbine(itur)%CP
turbine(itur)%CT_ave =turbine(itur)%CT_ave+Turbine(itur)%CT
turbine(itur)%Torque_ave=turbine(itur)%CP_ave+Turbine(itur)%Torque
if(nrank==0) then
print *, 'Writing statistics for alm'
print *, 'Turbine name , CT_ave, CP_ave, Torque_ave'
print *, turbine(itur)%name, turbine(itur)%CT_ave, turbine(itur)%CP_ave, turbine(itur)%Torque_ave
endif
enddo
return
end subroutine actuator_line_statistics
end module actuator_line_model