Error calling “NRELOffshrBsline5MW_ServoDyn_StC.dat”

Monge.Low · November 25, 2024, 11:59am

Dear all，

I’d like to try using OpenFAST to test the effectiveness of the nacelle TMD in dampening the OC4DeepCwind semi-submersible model.
My model works without errors.But when I call “NRELOffshrBsline5MW_ServoDyn_StC.dat” I get an error.The error message is as follows:

E:\r-test-main\r-test-main\glue-codes\openfast111111\5MW_OC4Semi_WSt_WavesWN>openfast_x64 5MW_OC4Semi_WSt_WavesWN_Freedecay_TMD.fst

OpenFAST

This program is licensed under Apache License Version 2.0 and comes with ABSOLUTELY NO WARRANTY.
See the “LICENSE” file distributed with this software for details.

OpenFAST-v3.5.4
Compile Info:
** - Compiler: Intel(R) Fortran Compiler 2021**
** - Architecture: 64 bit**
** - Precision: single**
** - OpenMP: Yes, number of threads: 12/12**
** - Date: Oct 29 2024**
** - Time: 20:09:11**
Execution Info:
** - Date: 11/25/2024**
** - Time: 19:38:05+0800**

OpenFAST input file heading:
** FAST Certification Test #25: NREL 5.0 MW Baseline Wind Turbine with OC4-DeepCwind semi**
** configuration, for use in offshore analysis**

Running ElastoDyn.
Nodal outputs section of ElastoDyn input file not found or improperly formatted.
Running AeroDyn.
AD15 Nodal Outputs: Nodal output section of AeroDyn input file not found or improperly formatted.
Skipping nodal outputs.
Warning: Turning off Unsteady Aerodynamics because polar has constant data. (node 1, blade 1)
Warning: Turning off Unsteady Aerodynamics because polar has constant data. (node 2, blade 1)
Warning: Turning off Unsteady Aerodynamics because polar has constant data. (node 3, blade 1)
Warning: Turning off Unsteady Aerodynamics because polar has constant data. (node 4, blade 1)
Warning: Turning off Unsteady Aerodynamics because polar has constant data. (node 1, blade 2)
Warning: Turning off Unsteady Aerodynamics because polar has constant data. (node 2, blade 2)
Warning: Turning off Unsteady Aerodynamics because polar has constant data. (node 3, blade 2)
Warning: Turning off Unsteady Aerodynamics because polar has constant data. (node 4, blade 2)
Warning: Turning off Unsteady Aerodynamics because polar has constant data. (node 1, blade 3)
Warning: Turning off Unsteady Aerodynamics because polar has constant data. (node 2, blade 3)
Warning: Turning off Unsteady Aerodynamics because polar has constant data. (node 3, blade 3)
Warning: Turning off Unsteady Aerodynamics because polar has constant data. (node 4, blade 3)
Running HydroDyn.
** Setting WaveTMax to 0.0 since WaveMod = 0**
** Reading in WAMIT output with root name “.../5MW_Baseline/HydroData/marin_semi”.**
** Computing radiation impulse response functions and wave diffraction forces.**
** Calculating second order difference-frequency force using the full quadratic transfer function.**
** Calculating second order sum-frequency force using the full quadratic transfer function.**
Running MoorDyn (v2.0.0, 2023-09-18).
** This is MoorDyn v2, with significant input file changes from v1.**
** Copyright: (C) 2023 National Renewable Energy Laboratory, (C) 2019 Matt Hall**
** Parsing MoorDyn input file: .\NRELOffshrBsline5MW_OC4DeepCwindSemi_MoorDyn.dat**
** Created mooring system: 3 lines, 6 points, 0 rods, 0 bodies.**
** Catenary solve of Line 1 unsuccessful. Initializing as linear.**
** Catenary solve of Line 2 unsuccessful. Initializing as linear.**
** Catenary solve of Line 3 unsuccessful. Initializing as linear.**
** Finalizing initial conditions using dynamic relaxation.**
** t=46.4 FairTen 1: 1.11561E+06, 1.11705E+06, 1.11816E+06**

** Fairlead tensions converged to 1% after 46.4 seconds.**
** Fairlead tension: 1.11561E+06**
** Fairlead forces: 4.64122E+05, 7.95314E+05, -6.29799E+05**
** Fairlead tension: 1.12068E+06**
** Fairlead forces: -9.18242E+05, 0, -6.42456E+05**
** Fairlead tension: 1.11561E+06**
** Fairlead forces: 4.64122E+05, -7.95314E+05, -6.29799E+05**
** MoorDyn initialization completed.**
Running ServoDyn.
Running StrucCtrl.
Running ServoDyn Interface for Bladed Controllers (using Intel Visual Fortran for Windows).
Using legacy Bladed DLL interface.
** Time: 0 of 200 seconds.**
The BEM solution is being turned off due to low TSR. (TSR = 0). This warning will not be
repeated though the condition may persist. (See GeomPhi output channel.)
Warning: SkewedWakeCorrection encountered a large value of chi (114.75 deg), so the yaw
correction will be limited. This warning will not be repeated though the condition may persist.
See the AD15 chi output channels, and consider turning off the Pitt/Peters skew model (set
SkewMod=1) if this condition persists.

FAST_Solution:CalcOutputs_And_SolveForInputs:SolveOption2:AD_CalcOutput:RotCalcOutput:BEMT_CalcOut
put(node 5, blade 1):UA_CalcOutput:UA_BlendSteady:Temporarily turning off UA due to high angle of
attack or low relative velocity. This warning will not be repeated though the condition may
persist.

FAST_Solution:FAST_AdvanceStates:AD_UpdateStates:BEMT_UpdateStates:UpdatePhi(node 16, blade
1):BEMT_UnCoupledSolve:There is no valid value of phi for these operating conditions: Vx =
1.5347, Vy = -68.507, rlocal = 55.845, theta = 1.71918E-02, geometric phi = 3.1192. This warning
will not be repeated though the condition may persist. (See GeomPhi output channel.)
FAST_Solution:CalcOutputs_And_SolveForInputs:SolveOption2:AD_CalcOutput:RotCalcOutput:BEMT_CalcOut
put(node 5, blade 1):UA_CalcOutput:Mach number exceeds 0.3. Theory is invalid. This warning will
not be repeated though the condition may persist.
BEMT_CalcOutput(node 13, blade 1):UA_CalcOutput:Mach number exceeds 1.0. Equations cannot be
evaluated.

** OpenFAST encountered an error at simulation time 7.50000E-02 of 200 seconds.**
** Simulation error level: FATAL ERROR**

** Aborting OpenFAST.**

My “ServoDyn” file is set up this way:

---------------------- STRUCTURAL CONTROL --------------------------------------
0 NumBStC - Number of blade structural controllers (integer)
“unused” BStCfiles - Name of the files for blade structural controllers (quoted strings) [unused when NumBStC==0]
1 NumNStC - Number of nacelle structural controllers (integer)
“…/5MW_Baseline/NRELOffshrBsline5MW_ServoDyn_StC.dat” NStCfiles - Name of the files for nacelle structural controllers (quoted strings) [unused when NumNStC==0]
0 NumTStC - Number of tower structural controllers (integer)
“unused” TStCfiles - Name of the files for tower structural controllers (quoted strings) [unused when NumTStC==0]
0 NumSStC - Number of substructure structural controllers (integer)
“unused” SStCfiles - Name of the files for substructure structural controllers (quoted strings) [unused when NumSStC==0]

“NRELOffshrBsline5MW_ServoDyn_StC.dat” is set like this:

------- STRUCTURAL CONTROL (StC) INPUT FILE ----------------------------
Input file for tuned mass damper, module by Matt Lackner, Meghan Glade, and Semyung Park (UMass)
---------------------- SIMULATION CONTROL --------------------------------------
False Echo - Echo input data to .ech (flag)
---------------------- StC DEGREES OF FREEDOM ----------------------------------
** 1 StC_DOF_MODE - DOF mode (switch) {0: No StC or TLCD DOF; 1: StC_X_DOF, StC_Y_DOF, and/or StC_Z_DOF (three independent StC DOFs); 2: StC_XY_DOF (Omni-Directional StC); 3: TLCD; 4: Prescribed force/moment time series; 5: Force determined by external DLL}**
true StC_X_DOF - DOF on or off for StC X (flag) [Used only when StC_DOF_MODE=1]
false StC_Y_DOF - DOF on or off for StC Y (flag) [Used only when StC_DOF_MODE=1]
FALSE StC_Z_DOF - DOF on or off for StC Z (flag) [Used only when StC_DOF_MODE=1]
---------------------- StC LOCATION ------------------------------------------- [relative to the reference origin of component attached to]
** 1 StC_P_X - At rest X position of StC (m)**
** 0 StC_P_Y - At rest Y position of StC (m)**
** 75 StC_P_Z - At rest Z position of StC (m)**
---------------------- StC INITIAL CONDITIONS --------------------------------- [used only when StC_DOF_MODE=1 or 2]
** 1 StC_X_DSP - StC X initial displacement (m) [relative to at rest position]**
** 0 StC_Y_DSP - StC Y initial displacement (m) [relative to at rest position]**
** 0 StC_Z_DSP - StC Z initial displacement (m) [relative to at rest position; used only when StC_DOF_MODE=1 and StC_Z_DOF=TRUE]**
“none” StC_Z_PreLd - StC Z pre-load (N) {“gravity” to offset for gravity load; “none” or 0 to turn off} [used only when StC_DOF_MODE=1 and StC_Z_DOF=TRUE]
---------------------- StC CONFIGURATION -------------------------------------- [used only when StC_DOF_MODE=1 or 2]
** 10 StC_X_PSP - Positive stop position (maximum X mass displacement) (m)**
** -10 StC_X_NSP - Negative stop position (minimum X mass displacement) (m)**
** 10 StC_Y_PSP - Positive stop position (maximum Y mass displacement) (m)**
** -10 StC_Y_NSP - Negative stop position (minimum Y mass displacement) (m)**
** 10 StC_Z_PSP - Positive stop position (maximum Z mass displacement) (m) [used only when StC_DOF_MODE=1 and StC_Z_DOF=TRUE]**
** -10 StC_Z_NSP - Negative stop position (minimum Z mass displacement) (m) [used only when StC_DOF_MODE=1 and StC_Z_DOF=TRUE]**
---------------------- StC MASS, STIFFNESS, & DAMPING ------------------------- [used only when StC_DOF_MODE=1 or 2]
** 47664 StC_X_M - StC X mass (kg) [must equal StC_Y_M for StC_DOF_MODE = 2]**
** 47664 StC_Y_M - StC Y mass (kg) [must equal StC_X_M for StC_DOF_MODE = 2]**
** 0 StC_Z_M - StC Z mass (kg) [used only when StC_DOF_MODE=1 and StC_Z_DOF=TRUE]**
** 20000 StC_XY_M - StC XY mass (kg) [used only when StC_DOF_MODE=2]**
** 3913 StC_X_K - StC X stiffness (N/m)**
** 28000 StC_Y_K - StC Y stiffness (N/m)**
** 0 StC_Z_K - StC Z stiffness (N/m) [used only when StC_DOF_MODE=1 and StC_Z_DOF=TRUE]**
** 10925 StC_X_C - StC X damping (N/(m/s))**
** 2800 StC_Y_C - StC Y damping (N/(m/s))**
** 0 StC_Z_C - StC Z damping (N/(m/s)) [used only when StC_DOF_MODE=1 and StC_Z_DOF=TRUE]**
** 15000 StC_X_KS - Stop spring X stiffness (N/m)**
** 15000 StC_Y_KS - Stop spring Y stiffness (N/m)**
** 0 StC_Z_KS - Stop spring Z stiffness (N/m) [used only when StC_DOF_MODE=1 and StC_Z_DOF=TRUE]**
** 10000 StC_X_CS - Stop spring X damping (N/(m/s))**
** 10000 StC_Y_CS - Stop spring Y damping (N/(m/s))**
** 0 StC_Z_CS - Stop spring Z damping (N/(m/s)) [used only when StC_DOF_MODE=1 and StC_Z_DOF=TRUE]**
---------------------- StC USER-DEFINED SPRING FORCES ------------------------- [used only when StC_DOF_MODE=1 or 2]
False Use_F_TBL - Use spring force from user-defined table (flag)
** 17 NKInpSt - Number of spring force input stations**
---------------------- StC SPRING FORCES TABLE -------------------------------- [used only when StC_DOF_MODE=1 or 2]
** X F_X Y F_Y Z F_Z**
** (m) (N) (m) (N) (m) (N)**
-6.0000000E+00 -4.8000000E+06 -6.0000000E+00 -4.8000000E+06 -6.0000000E+00 -4.8000000E+06
-5.0000000E+00 -2.4000000E+06 -5.0000000E+00 -2.4000000E+06 -5.0000000E+00 -2.4000000E+06
-4.5000000E+00 -1.2000000E+06 -4.5000000E+00 -1.2000000E+06 -4.5000000E+00 -1.2000000E+06
-4.0000000E+00 -6.0000000E+05 -4.0000000E+00 -6.0000000E+05 -4.0000000E+00 -6.0000000E+05
-3.5000000E+00 -3.0000000E+05 -3.5000000E+00 -3.0000000E+05 -3.5000000E+00 -3.0000000E+05
-3.0000000E+00 -1.5000000E+05 -3.0000000E+00 -1.5000000E+05 -3.0000000E+00 -1.5000000E+05
-2.5000000E+00 -1.0000000E+05 -2.5000000E+00 -1.0000000E+05 -2.5000000E+00 -1.0000000E+05
-2.0000000E+00 -6.5000000E+04 -2.0000000E+00 -6.5000000E+04 -2.0000000E+00 -6.5000000E+04
** 0.0000000E+00 0.0000000E+00 0.0000000E+00 0.0000000E+00 0.0000000E+00 0.0000000E+00**
** 2.0000000E+00 6.5000000E+04 2.0000000E+00 6.5000000E+04 2.0000000E+00 6.5000000E+04**
** 2.5000000E+00 1.0000000E+05 2.5000000E+00 1.0000000E+05 2.5000000E+00 1.0000000E+05**
** 3.0000000E+00 1.5000000E+05 3.0000000E+00 1.5000000E+05 3.0000000E+00 1.5000000E+05**
** 3.5000000E+00 3.0000000E+05 3.5000000E+00 3.0000000E+05 3.5000000E+00 3.0000000E+05**
** 4.0000000E+00 6.0000000E+05 4.0000000E+00 6.0000000E+05 4.0000000E+00 6.0000000E+05**
** 4.5000000E+00 1.2000000E+06 4.5000000E+00 1.2000000E+06 4.5000000E+00 1.2000000E+06**
** 5.0000000E+00 2.4000000E+06 5.0000000E+00 2.4000000E+06 5.0000000E+00 2.4000000E+06**
** 6.0000000E+00 4.8000000E+06 6.0000000E+00 4.8000000E+06 6.0000000E+00 4.8000000E+06**
---------------------- StructCtrl CONTROL -------------------------------------------- [used only when StC_DOF_MODE=1 or 2]
** 0 StC_CMODE - Control mode (switch) {0:none; 1: Semi-Active Control Mode; 4: Active Control Mode through Simulink (not available); 5: Active Control Mode through Bladed interface}**
** 0 StC_CChan - Control channel group (1:10) for stiffness and damping (StC_[XYZ]K, StC[XYZ]C, and StC[XYZ]_Brake) (specify additional channels for blade instances of StC active control – one channel per blade) [used only when StC_DOF_MODE=1 or 2, and StC_CMODE=4 or 5]**
** 1 StC_SA_MODE - Semi-Active control mode {1: velocity-based ground hook control; 2: Inverse velocity-based ground hook control; 3: displacement-based ground hook control 4: Phase difference Algorithm with Friction Force 5: Phase difference Algorithm with Damping Force} (-)**
** 0 StC_X_C_HIGH - StC X high damping for ground hook control**
** 0 StC_X_C_LOW - StC X low damping for ground hook control**
** 0 StC_Y_C_HIGH - StC Y high damping for ground hook control**
** 0 StC_Y_C_LOW - StC Y low damping for ground hook control**
** 0 StC_Z_C_HIGH - StC Z high damping for ground hook control [used only when StC_DOF_MODE=1 and StC_Z_DOF=TRUE]**
** 0 StC_Z_C_LOW - StC Z low damping for ground hook control [used only when StC_DOF_MODE=1 and StC_Z_DOF=TRUE]**
** 0 StC_X_C_BRAKE - StC X high damping for braking the StC (Don’t use it now. should be zero)**
** 0 StC_Y_C_BRAKE - StC Y high damping for braking the StC (Don’t use it now. should be zero)**
** 0 StC_Z_C_BRAKE - StC Z high damping for braking the StC (Don’t use it now. should be zero) [used only when StC_DOF_MODE=1 and StC_Z_DOF=TRUE]**
---------------------- TLCD --------------------------------------------------- [used only when StC_DOF_MODE=3]
** 7.9325 L_X - X TLCD total length (m)**
** 6.5929 B_X - X TLCD horizontal length (m)**
** 2.0217 area_X - X TLCD cross-sectional area of vertical column (m^2)**
** 0.913 area_ratio_X - X TLCD cross-sectional area ratio (vertical column area divided by horizontal column area) (-)**
** 2.5265 headLossCoeff_X - X TLCD head loss coeff (-)**
** 1000 rho_X - X TLCD liquid density (kg/m^3)**
** 3.5767 L_Y - Y TLCD total length (m)**
** 2.1788 B_Y - Y TLCD horizontal length (m)**
** 1.2252 area_Y - Y TLCD cross-sectional area of vertical column (m^2)**
** 2.7232 area_ratio_Y - Y TLCD cross-sectional area ratio (vertical column area divided by horizontal column area) (-)**
** 0.6433 headLossCoeff_Y - Y TLCD head loss coeff (-)**
** 1000 rho_Y - Y TLCD liquid density (kg/m^3)**
---------------------- PRESCRIBED TIME SERIES --------------------------------- [used only when StC_DOF_MODE=4]
** 0 PrescribedForcesCoord- Prescribed forces are in global or local coordinates (switch) {1: global; 2: local}**
“TimeForceSeries.dat” PrescribedForcesFile - Time series force and moment (7 columns of time, FX, FY, FZ, MX, MY, MZ)
-------------------------------------------------------------------------------

Is there a similar problem and how to solve it?

Best regards，
Monge

Riad.Elhamoud · November 26, 2024, 12:41am

Dear @Monge.Low

Please could you give us the load case you are simulating ?

Why setting values for parameters in side-side if you are using a TMD in fore-aft direction?

You told OpenFAST in servodyn that your TMD is placed in the nacelle. Then, you should specify its position according to nacelle reference frame. That means in Servodyn Stc you cannot put 75 in the z-direction (see StC location in Servodyn Stc). I think for the 5 MW the nacelle has the following dimensions : 8mx4mx4m.
I think that the maximum value is 4m and not 75 m.

Could you try the last point i mention and tell us whether it works or no ?

Best Regards,

Riad

Monge.Low · November 26, 2024, 7:17am

Dear @Riad.Elhamoud

Thank you very much for your answers.

My loads are set to 12m/s turbulent winds and JONSWAP waves with a significant wave height of 3m and a spectral peak period of 6s. However, in fact, I tried other load conditions, such as a steady wind of 12m/s, but still got the same reported error.I then tried the free decay test, i.e. still water, no wind conditions, giving the platform an initial pitch angle of 8° and again got this error
I really just want to focus on the TMD in fore-aft direction.So I set “StC_X_DOF” to “true” in the “NRELOffshrBsline5MW_ServoDyn_StC.dat” file. My understanding is that this only enables the degrees of freedom of the TMD in the X direction, so I’m only changing the stiffness, damping, etc. of the TMD in the X direction. Therefore, I only change the stiffness, damping, etc. of the TMD in X direction, the other parameters, such as the “side-side” direction you mentioned, are defaulted, so I don’t change them. I’m not sure if I understand you correctly, so please forgive me.
Regarding the location of the TMD in the nacelle, thanks for the answer, I did overlook that as 75m is the default setting .
I changed “StC_P_Z” to “0”，as shown below.
---------------------- StC LOCATION ------------------------------------------- [relative to the reference origin of component attached to]
** 0 StC_P_X - At rest X position of StC (m)**
** 0 StC_P_Y - At rest Y position of StC (m)**
** 0 StC_P_Z - At rest Z position of StC (m)**

Then I tested the free decay (still water, no wind, 8° pitch of the platform) and also other loading conditions, such as the turbulent wind of 12m/s mentioned earlier, but unfortunately still get a similar error.

The BEM solution is being turned off due to low TSR. (TSR = 0). This warning will not be
repeated though the condition may persist. (See GeomPhi output channel.)
Warning: SkewedWakeCorrection encountered a large value of chi (114.21 deg), so the yaw
correction will be limited. This warning will not be repeated though the condition may persist.
See the AD15 chi output channels, and consider turning off the Pitt/Peters skew model (set
SkewMod=1) if this condition persists.

FAST_Solution:CalcOutputs_And_SolveForInputs:SolveOption2:AD_CalcOutput:RotCalcOutput:BEMT_CalcOut
put(node 5, blade 1):UA_CalcOutput:UA_BlendSteady:Temporarily turning off UA due to high angle of
attack or low relative velocity. This warning will not be repeated though the condition may
persist.

FAST_Solution:FAST_AdvanceStates:AD_UpdateStates:BEMT_UpdateStates:UpdatePhi(node 7, blade
2):BEMT_UnCoupledSolve:There is no valid value of phi for these operating conditions: Vx =
-4.21355E-02, Vy = -0.30133, rlocal = 19.935, theta = 0.17737, geometric phi = -3.0027. This
warning will not be repeated though the condition may persist. (See GeomPhi output channel.)
** Time: 2 of 200 seconds. Estimated final completion at 15:12:53.**

FAST_Solution:CalcOutputs_And_SolveForInputs:SolveOption2:AD_CalcOutput:RotCalcOutput:BEMT_CalcOut
put(node 18, blade 3):UA_CalcOutput:Mach number exceeds 0.3. Theory is invalid. This warning will
not be repeated though the condition may persist.

FAST_Solution:FAST_AdvanceStates:ED_ABM4:ED_CalcContStateDeriv:SetCoordSy:Small angle assumption
violated in SUBROUTINE SmllRotTrans() due to a large blade deflection (ElastoDyn SetCoordSy). The
solution may be inaccurate. Simulation continuing, but future warnings from SmllRotTrans() will
be suppressed.
** Additional debugging message from SUBROUTINE SmllRotTrans(): 2.1625 s**

FAST_Solution:CalcOutputs_And_SolveForInputs:SolveOption2:AD_CalcOutput:RotCalcOutput:BEMT_CalcOut
put(node 18, blade 3):UA_CalcOutput:Mach number exceeds 1.0. Equations cannot be evaluated.

** OpenFAST encountered an error at simulation time 2.1625 of 200 seconds.**
** Simulation error level: FATAL ERROR**

** Aborting OpenFAST.**

Thanks again for your answers and eagerly awaiting your reply!

Best regards，
Monge

Riad.Elhamoud · November 26, 2024, 7:44am

Dear @Monge.Low,

First, I suggest that you do a free decay test.
could you show me your .fst file you use when you run a free decay test ?

Best regards,

Riad

Monge.Low · November 26, 2024, 8:30am

Dear @Riad.Elhamoud

Thank you for your reply.

------- OpenFAST EXAMPLE INPUT FILE -------------------------------------------
FAST Certification Test #25: NREL 5.0 MW Baseline Wind Turbine with OC4-DeepCwind semi configuration, for use in offshore analysis
---------------------- SIMULATION CONTROL --------------------------------------
False Echo - Echo input data to .ech (flag)
“FATAL” AbortLevel - Error level when simulation should abort (string) {“WARNING”, “SEVERE”, “FATAL”}
200 TMax - Total run time (s)
0.0125 DT - Recommended module time step (s)
2 InterpOrder - Interpolation order for input/output time history (-) {1=linear, 2=quadratic}
0 NumCrctn - Number of correction iterations (-) {0=explicit calculation, i.e., no corrections}
99999 DT_UJac - Time between calls to get Jacobians (s)
1E+06 UJacSclFact - Scaling factor used in Jacobians (-)
---------------------- FEATURE SWITCHES AND FLAGS ------------------------------
1 CompElast - Compute structural dynamics (switch) {1=ElastoDyn; 2=ElastoDyn + BeamDyn for blades}
0 CompInflow - Compute inflow wind velocities (switch) {0=still air; 1=InflowWind; 2=external from OpenFOAM}
2 CompAero - Compute aerodynamic loads (switch) {0=None; 1=AeroDyn v14; 2=AeroDyn v15}
1 CompServo - Compute control and electrical-drive dynamics (switch) {0=None; 1=ServoDyn}
1 CompHydro - Compute hydrodynamic loads (switch) {0=None; 1=HydroDyn}
0 CompSub - Compute sub-structural dynamics (switch) {0=None; 1=SubDyn; 2=External Platform MCKF}
3 CompMooring - Compute mooring system (switch) {0=None; 1=MAP++; 2=FEAMooring; 3=MoorDyn; 4=OrcaFlex}
0 CompIce - Compute ice loads (switch) {0=None; 1=IceFloe; 2=IceDyn}
0 MHK - MHK turbine type (switch) {0=Not an MHK turbine; 1=Fixed MHK turbine; 2=Floating MHK turbine}
---------------------- ENVIRONMENTAL CONDITIONS --------------------------------
9.80665 Gravity - Gravitational acceleration (m/s^2)
1.225 AirDens - Air density (kg/m^3)
1025 WtrDens - Water density (kg/m^3)
1.464E-05 KinVisc - Kinematic viscosity of working fluid (m^2/s)
335 SpdSound - Speed of sound in working fluid (m/s)
103500 Patm - Atmospheric pressure ¶ [used only for an MHK turbine cavitation check]
1700 Pvap - Vapour pressure of working fluid ¶ [used only for an MHK turbine cavitation check]
200 WtrDpth - Water depth (m)
0 MSL2SWL - Offset between still-water level and mean sea level (m) [positive upward]
---------------------- INPUT FILES ---------------------------------------------
“NRELOffshrBsline5MW_OC4DeepCwindSemi_ElastoDyn_Freedecay.dat” EDFile - Name of file containing ElastoDyn input parameters (quoted string)
“…/5MW_Baseline/NRELOffshrBsline5MW_BeamDyn.dat” BDBldFile(1) - Name of file containing BeamDyn input parameters for blade 1 (quoted string)
“…/5MW_Baseline/NRELOffshrBsline5MW_BeamDyn.dat” BDBldFile(2) - Name of file containing BeamDyn input parameters for blade 2 (quoted string)
“…/5MW_Baseline/NRELOffshrBsline5MW_BeamDyn.dat” BDBldFile(3) - Name of file containing BeamDyn input parameters for blade 3 (quoted string)
“…/5MW_Baseline/NRELOffshrBsline5MW_InflowWind_12mps.dat” InflowFile - Name of file containing inflow wind input parameters (quoted string)
“NRELOffshrBsline5MW_OC3Hywind_AeroDyn15.dat” AeroFile - Name of file containing aerodynamic input parameters (quoted string)
“NRELOffshrBsline5MW_OC4DeepCwindSemi_ServoDyn_TMD.dat” ServoFile - Name of file containing control and electrical-drive input parameters (quoted string)
“NRELOffshrBsline5MW_OC4DeepCwindSemi_HydroDyn_Stillwater.dat” HydroFile - Name of file containing hydrodynamic input parameters (quoted string)
“unused” SubFile - Name of file containing sub-structural input parameters (quoted string)
“NRELOffshrBsline5MW_OC4DeepCwindSemi_MoorDyn.dat” MooringFile - Name of file containing mooring system input parameters (quoted string)
“unused” IceFile - Name of file containing ice input parameters (quoted string)
---------------------- OUTPUT --------------------------------------------------
False SumPrint - Print summary data to “.sum” (flag)
1 SttsTime - Amount of time between screen status messages (s)
1000 ChkptTime - Amount of time between creating checkpoint files for potential restart (s)
0.05 DT_Out - Time step for tabular output (s) (or “default”)
0 TStart - Time to begin tabular output (s)
1 OutFileFmt - Format for tabular (time-marching) output file (switch) {0: uncompressed binary [.outb], 1: text file [.out], 2: binary file [.outb], 3: both 1 and 2}
True TabDelim - Use tab delimiters in text tabular output file? (flag) {uses spaces if false}
“ES15.7E2” OutFmt - Format used for text tabular output, excluding the time channel. Resulting field should be 10 characters. (quoted string)
---------------------- LINEARIZATION -------------------------------------------
False Linearize - Linearization analysis (flag)
False CalcSteady - Calculate a steady-state periodic operating point before linearization? [unused if Linearize=False] (flag)
3 TrimCase - Controller parameter to be trimmed {1:yaw; 2:torque; 3:pitch} [used only if CalcSteady=True] (-)
0.001 TrimTol - Tolerance for the rotational speed convergence [used only if CalcSteady=True] (-)
0.01 TrimGain - Proportional gain for the rotational speed error (>0) [used only if CalcSteady=True] (rad/(rad/s) for yaw or pitch; Nm/(rad/s) for torque)
0 Twr_Kdmp - Damping factor for the tower [used only if CalcSteady=True] (N/(m/s))
0 Bld_Kdmp - Damping factor for the blades [used only if CalcSteady=True] (N/(m/s))
2 NLinTimes - Number of times to linearize (-) [>=1] [unused if Linearize=False]
30, 60 LinTimes - List of times at which to linearize (s) [1 to NLinTimes] [used only when Linearize=True and CalcSteady=False]
1 LinInputs - Inputs included in linearization (switch) {0=none; 1=standard; 2=all module inputs (debug)} [unused if Linearize=False]
1 LinOutputs - Outputs included in linearization (switch) {0=none; 1=from OutList(s); 2=all module outputs (debug)} [unused if Linearize=False]
False LinOutJac - Include full Jacobians in linearization output (for debug) (flag) [unused if Linearize=False; used only if LinInputs=LinOutputs=2]
False LinOutMod - Write module-level linearization output files in addition to output for full system? (flag) [unused if Linearize=False]
---------------------- VISUALIZATION ------------------------------------------
0 WrVTK - VTK visualization data output: (switch) {0=none; 1=initialization data only; 2=animation; 3=mode shapes}
2 VTK_type - Type of VTK visualization data: (switch) {1=surfaces; 2=basic meshes (lines/points); 3=all meshes (debug)} [unused if WrVTK=0]
false VTK_fields - Write mesh fields to VTK data files? (flag) {true/false} [unused if WrVTK=0]
15 VTK_fps - Frame rate for VTK output (frames per second){will use closest integer multiple of DT} [used only if WrVTK=2 or WrVTK=3]

This is the main file where I perform the free decay test, please check it out. Once again, my sincere thanks.

Best regards，
Monge

Riad.Elhamoud · November 26, 2024, 11:10am

Dear @Monge.Low

A free decay test is ,performed in the absence of wind and wave. This means that CompAero=0.
In addition, CompServo=0;

Moreover, i would recommend to use ElastoDyn instead of BeamDyn if you are not interested in an accurate modeling of the blade.

In ElastoDyn file, you should set the pitch to 3 degrees. Some people use higher angles but personally, i dont like that because some times it can induce some nonlinear effect.

In Hydrodyn file, dont forget to use still water.

Best regards,

Riad

Monge.Low · November 26, 2024, 11:44am

Dear @Riad.Elhamoud

I performed the free decay without TMD, i.e., set “CompServo” to “0”, and gave the platform a pitch angle of 8°, and indeed tested it under still water and no wind conditions, and the results were very satisfactory, as shown in the figure.

But now that I want to add TMD, I do have to enable “Servo”, and then I get the same error as before.

As for “CompAero” and “CompElast”, I’m not sure what the effect is, but at least I was able to perform the free decay test without TMD.

Once again, I would like to express my sincere gratitude.

Best regards，
Monge

Riad.Elhamoud · November 26, 2024, 11:56am

Dear @Monge.Low,

Glad to know that it works with you !!!

In order to enable to put a TMD, you should set CompServo=1 in .fst file. Then, you should disable the blade pitch controller in ServoDyn by setting PCMode =0.

Hope that helps.

Best Regards,

Riad

Monge.Low · November 26, 2024, 12:48pm

Dear @Riad.Elhamoud

Thank you very much for your reply.

I tried to set “PCMode” to “0” in “ServoDyn” and then execute the free decay, again, the same error.

My model works fine without calling TMD, as soon as I call TMD I get the above error. So I’m confused and don’t know how to fix it .

Anyway, thanks again.

Best regards，
Monge

Riad.Elhamoud · November 26, 2024, 1:02pm

Dear @Monge.Low,

Could yu share your .fst file, your servodyn and your stc file whcih contains TMD parameters ?

Best regards,

Riad

Monge.Low · November 26, 2024, 1:46pm

Dear @Riad.Elhamoud

I’m sorry, this forum doesn’t seem to be able to upload files? Could you please tell me your e-mail and I’ll send it to you.

Best regards，
Monge

Riad.Elhamoud · November 26, 2024, 1:49pm

Dear @Monge.Low

I dont mean to upload the files. Just upload screen shots.

Best regards,

Riad

Monge.Low · November 26, 2024, 2:16pm

Dear @Riad.Elhamoud

Thanks again and please check .

Best regards，
Monge

Jason.Jonkman · November 26, 2024, 2:33pm

Dear @Monge.Low,

I would first eliminate all of the aerodynamics-related warnings. Are you modeling the rotor spinning or stationary? It is probably easiest at first to park the rotor by disabling the generator degree of freedom in ElastoDyn (GenDOF = FALSE) and disabling aerodynamics in the OpenFAST primary input file (CompAero = 0). What does your simulation do in that case?

Best regards,

Riad.Elhamoud · November 26, 2024, 2:44pm

Dear @Monge.Low

I have seen your .fst file. You did not disable CompAero. In other word, CompAero is not equal to zero in your .fst file

The VSCntrl in servodyn should also be zero. But i think it is not significant but the most important thing is that you did npot disable CompAero

Best Regards,

Riad

Monge.Low · November 26, 2024, 3:06pm

Dear @Jason.Jonkman

It’s an honor to hear from you.
I reset the main file and ElastoDyn as follows:

But I got a new error.

E:\r-test-main\r-test-main\glue-codes\openfast111111\5MW_OC4Semi_WSt_WavesWN>openfast_x64 5MW_OC4Semi_WSt_WavesWN_Freedecay_TMD.fst

OpenFAST

This program is licensed under Apache License Version 2.0 and comes with ABSOLUTELY NO WARRANTY.
See the “LICENSE” file distributed with this software for details.

OpenFAST-v3.5.4
Compile Info:

Compiler: Intel(R) Fortran Compiler 2021
Architecture: 64 bit
Precision: single
OpenMP: Yes, number of threads: 12/12
Date: Oct 29 2024
Time: 20:09:11
Execution Info:
Date: 11/26/2024
Time: 23:01:03+0800

OpenFAST input file heading:
FAST Certification Test #25: NREL 5.0 MW Baseline Wind Turbine with OC4-DeepCwind semi
configuration, for use in offshore analysis

Running ElastoDyn.
Nodal outputs section of ElastoDyn input file not found or improperly formatted.
Running HydroDyn.
Setting WaveTMax to 0.0 since WaveMod = 0
Reading in WAMIT output with root name “.../5MW_Baseline/HydroData/marin_semi”.
Computing radiation impulse response functions and wave diffraction forces.
Calculating second order difference-frequency force using the full quadratic transfer function.
Calculating second order sum-frequency force using the full quadratic transfer function.
Running MoorDyn (v2.0.0, 2023-09-18).
This is MoorDyn v2, with significant input file changes from v1.
Copyright: (C) 2023 National Renewable Energy Laboratory, (C) 2019 Matt Hall
Parsing MoorDyn input file: .\NRELOffshrBsline5MW_OC4DeepCwindSemi_MoorDyn.dat
Created mooring system: 3 lines, 6 points, 0 rods, 0 bodies.
Catenary solve of Line 1 unsuccessful. Initializing as linear.
Catenary solve of Line 2 unsuccessful. Initializing as linear.
Catenary solve of Line 3 unsuccessful. Initializing as linear.
Finalizing initial conditions using dynamic relaxation.
t=46.4 FairTen 1: 1.11561E+06, 1.11705E+06, 1.11816E+06

Fairlead tensions converged to 1% after 46.4 seconds.
Fairlead tension: 1.11561E+06
Fairlead forces: 4.64122E+05, 7.95314E+05, -6.29799E+05
Fairlead tension: 1.12068E+06
Fairlead forces: -9.18242E+05, 0, -6.42456E+05
Fairlead tension: 1.11561E+06
Fairlead forces: 4.64122E+05, -7.95314E+05, -6.29799E+05
MoorDyn initialization completed.
Running ServoDyn.
Running StrucCtrl.
Time: 4 of 200 seconds. Estimated final completion at 23:02:04.

FAST_Solution:FAST_AdvanceStates:ED_ABM4:ED_CalcContStateDeriv:SetCoordSy:Small angle assumption
violated in SUBROUTINE SmllRotTrans() due to a large tower deflection (ElastoDyn SetCoordSy). The
solution may be inaccurate. Simulation continuing, but future warnings from SmllRotTrans() will
be suppressed.
Additional debugging message from SUBROUTINE SmllRotTrans(): 4.9 s
Time: 5 of 200 seconds. Estimated final completion at 23:02:04.

FAST_Solution:CalcOutputs_And_SolveForInputs:SolveOption1:ED_HD_InputOutputSolve:HydroDyn_CalcOutp
ut: Angles in GetSmllRotAngs() are larger than 0.4 radians.
HydroDyn_CalcOutput:HDOut_MapOutputs: Angles in GetSmllRotAngs() are larger than 0.4 radians.
ED_HD_InputOutputSolve:HydroDyn_CalcOutput: Angles in GetSmllRotAngs() are larger than 0.4
radians.
HydroDyn_CalcOutput:HDOut_MapOutputs: Angles in GetSmllRotAngs() are larger than 0.4 radians.

NaN detected at time 5.00288461538462 in Line 1 in MoorDyn
.
NaN detected at time 5.00288461538462 in Line 2 in MoorDyn
.
NaN detected at time 5.00288461538462 in Line 3 in MoorDyn
.
NaN detected at time 5.00336538461539 in Line 1 in MoorDyn
.
NaN detected at time 5.00336538461539 in Line 2 in MoorDyn
.
NaN detected at time 5.00336538461539 in Line 3 in MoorDyn
.
NaN detected at time 5.0038 in MoorDyn.
NaN detected at time 5.0038 in MoorDyn.

FAST_Solution:FAST_AdvanceStates: NaN state detected.

OpenFAST encountered an error at simulation time 5 of 200 seconds.
Simulation error level: FATAL ERROR

Aborting OpenFAST.

Best regards，
Monge

Monge.Low · November 26, 2024, 3:11pm

Dear @Riad.Elhamoud

Thank you very much for your patience.

I reset the file as follows:

Then there’s a new error.

E:\r-test-main\r-test-main\glue-codes\openfast111111\5MW_OC4Semi_WSt_WavesWN>openfast_x64 5MW_OC4Semi_WSt_WavesWN_Freedecay_TMD.fst

OpenFAST

This program is licensed under Apache License Version 2.0 and comes with ABSOLUTELY NO WARRANTY.
See the “LICENSE” file distributed with this software for details.

OpenFAST-v3.5.4
Compile Info:

Compiler: Intel(R) Fortran Compiler 2021
Architecture: 64 bit
Precision: single
OpenMP: Yes, number of threads: 12/12
Date: Oct 29 2024
Time: 20:09:11
Execution Info:
Date: 11/26/2024
Time: 23:01:03+0800

OpenFAST input file heading:
FAST Certification Test #25: NREL 5.0 MW Baseline Wind Turbine with OC4-DeepCwind semi
configuration, for use in offshore analysis

Running ElastoDyn.
Nodal outputs section of ElastoDyn input file not found or improperly formatted.
Running HydroDyn.
Setting WaveTMax to 0.0 since WaveMod = 0
Reading in WAMIT output with root name “.../5MW_Baseline/HydroData/marin_semi”.
Computing radiation impulse response functions and wave diffraction forces.
Calculating second order difference-frequency force using the full quadratic transfer function.
Calculating second order sum-frequency force using the full quadratic transfer function.
Running MoorDyn (v2.0.0, 2023-09-18).
This is MoorDyn v2, with significant input file changes from v1.
Copyright: (C) 2023 National Renewable Energy Laboratory, (C) 2019 Matt Hall
Parsing MoorDyn input file: .\NRELOffshrBsline5MW_OC4DeepCwindSemi_MoorDyn.dat
Created mooring system: 3 lines, 6 points, 0 rods, 0 bodies.
Catenary solve of Line 1 unsuccessful. Initializing as linear.
Catenary solve of Line 2 unsuccessful. Initializing as linear.
Catenary solve of Line 3 unsuccessful. Initializing as linear.
Finalizing initial conditions using dynamic relaxation.
t=46.4 FairTen 1: 1.11561E+06, 1.11705E+06, 1.11816E+06

Fairlead tensions converged to 1% after 46.4 seconds.
Fairlead tension: 1.11561E+06
Fairlead forces: 4.64122E+05, 7.95314E+05, -6.29799E+05
Fairlead tension: 1.12068E+06
Fairlead forces: -9.18242E+05, 0, -6.42456E+05
Fairlead tension: 1.11561E+06
Fairlead forces: 4.64122E+05, -7.95314E+05, -6.29799E+05
MoorDyn initialization completed.
Running ServoDyn.
Running StrucCtrl.
Time: 4 of 200 seconds. Estimated final completion at 23:02:04.

FAST_Solution:FAST_AdvanceStates:ED_ABM4:ED_CalcContStateDeriv:SetCoordSy:Small angle assumption
violated in SUBROUTINE SmllRotTrans() due to a large tower deflection (ElastoDyn SetCoordSy). The
solution may be inaccurate. Simulation continuing, but future warnings from SmllRotTrans() will
be suppressed.
Additional debugging message from SUBROUTINE SmllRotTrans(): 4.9 s
Time: 5 of 200 seconds. Estimated final completion at 23:02:04.

FAST_Solution:CalcOutputs_And_SolveForInputs:SolveOption1:ED_HD_InputOutputSolve:HydroDyn_CalcOutp
ut: Angles in GetSmllRotAngs() are larger than 0.4 radians.
HydroDyn_CalcOutput:HDOut_MapOutputs: Angles in GetSmllRotAngs() are larger than 0.4 radians.
ED_HD_InputOutputSolve:HydroDyn_CalcOutput: Angles in GetSmllRotAngs() are larger than 0.4
radians.
HydroDyn_CalcOutput:HDOut_MapOutputs: Angles in GetSmllRotAngs() are larger than 0.4 radians.

NaN detected at time 5.00288461538462 in Line 1 in MoorDyn
.
NaN detected at time 5.00288461538462 in Line 2 in MoorDyn
.
NaN detected at time 5.00288461538462 in Line 3 in MoorDyn
.
NaN detected at time 5.00336538461539 in Line 1 in MoorDyn
.
NaN detected at time 5.00336538461539 in Line 2 in MoorDyn
.
NaN detected at time 5.00336538461539 in Line 3 in MoorDyn
.
NaN detected at time 5.0038 in MoorDyn.
NaN detected at time 5.0038 in MoorDyn.

FAST_Solution:FAST_AdvanceStates: NaN state detected.

OpenFAST encountered an error at simulation time 5 of 200 seconds.
Simulation error level: FATAL ERROR

Aborting OpenFAST.

E:\r-test-main\r-test-main\glue-codes\openfast111111\5MW_OC4Semi_WSt_WavesWN>openfast_x64 5MW_OC4Semi_WSt_WavesWN_Freedecay_TMD.fst

OpenFAST

This program is licensed under Apache License Version 2.0 and comes with ABSOLUTELY NO WARRANTY.
See the “LICENSE” file distributed with this software for details.

OpenFAST-v3.5.4
Compile Info:

Compiler: Intel(R) Fortran Compiler 2021
Architecture: 64 bit
Precision: single
OpenMP: Yes, number of threads: 12/12
Date: Oct 29 2024
Time: 20:09:11
Execution Info:
Date: 11/26/2024
Time: 23:10:48+0800

OpenFAST input file heading:
FAST Certification Test #25: NREL 5.0 MW Baseline Wind Turbine with OC4-DeepCwind semi
configuration, for use in offshore analysis

Running ElastoDyn.
Nodal outputs section of ElastoDyn input file not found or improperly formatted.
Running HydroDyn.
Setting WaveTMax to 0.0 since WaveMod = 0
Reading in WAMIT output with root name “.../5MW_Baseline/HydroData/marin_semi”.
Computing radiation impulse response functions and wave diffraction forces.
Calculating second order difference-frequency force using the full quadratic transfer function.
Calculating second order sum-frequency force using the full quadratic transfer function.
Running MoorDyn (v2.0.0, 2023-09-18).
This is MoorDyn v2, with significant input file changes from v1.
Copyright: (C) 2023 National Renewable Energy Laboratory, (C) 2019 Matt Hall
Parsing MoorDyn input file: .\NRELOffshrBsline5MW_OC4DeepCwindSemi_MoorDyn.dat
Created mooring system: 3 lines, 6 points, 0 rods, 0 bodies.
Catenary solve of Line 1 unsuccessful. Initializing as linear.
Catenary solve of Line 2 unsuccessful. Initializing as linear.
Catenary solve of Line 3 unsuccessful. Initializing as linear.
Finalizing initial conditions using dynamic relaxation.
t=46.4 FairTen 1: 1.11561E+06, 1.11705E+06, 1.11816E+06

Fairlead tensions converged to 1% after 46.4 seconds.
Fairlead tension: 1.11561E+06
Fairlead forces: 4.64122E+05, 7.95314E+05, -6.29799E+05
Fairlead tension: 1.12068E+06
Fairlead forces: -9.18242E+05, 0, -6.42456E+05
Fairlead tension: 1.11561E+06
Fairlead forces: 4.64122E+05, -7.95314E+05, -6.29799E+05
MoorDyn initialization completed.
Running ServoDyn.
Running StrucCtrl.
Time: 4 of 200 seconds. Estimated final completion at 23:11:49.

FAST_Solution:FAST_AdvanceStates:ED_ABM4:ED_CalcContStateDeriv:SetCoordSy:Small angle assumption
violated in SUBROUTINE SmllRotTrans() due to a large tower deflection (ElastoDyn SetCoordSy). The
solution may be inaccurate. Simulation continuing, but future warnings from SmllRotTrans() will
be suppressed.
Additional debugging message from SUBROUTINE SmllRotTrans(): 4.9 s
Time: 5 of 200 seconds. Estimated final completion at 23:11:48.

FAST_Solution:CalcOutputs_And_SolveForInputs:SolveOption1:ED_HD_InputOutputSolve:HydroDyn_CalcOutp
ut: Angles in GetSmllRotAngs() are larger than 0.4 radians.
HydroDyn_CalcOutput:HDOut_MapOutputs: Angles in GetSmllRotAngs() are larger than 0.4 radians.
ED_HD_InputOutputSolve:HydroDyn_CalcOutput: Angles in GetSmllRotAngs() are larger than 0.4
radians.
HydroDyn_CalcOutput:HDOut_MapOutputs: Angles in GetSmllRotAngs() are larger than 0.4 radians.

NaN detected at time 5.00288461538462 in Line 1 in MoorDyn
.
NaN detected at time 5.00288461538462 in Line 2 in MoorDyn
.
NaN detected at time 5.00288461538462 in Line 3 in MoorDyn
.
NaN detected at time 5.00336538461539 in Line 1 in MoorDyn
.
NaN detected at time 5.00336538461539 in Line 2 in MoorDyn
.
NaN detected at time 5.00336538461539 in Line 3 in MoorDyn
.
NaN detected at time 5.0038 in MoorDyn.
NaN detected at time 5.0038 in MoorDyn.

FAST_Solution:FAST_AdvanceStates: NaN state detected.

OpenFAST encountered an error at simulation time 5 of 200 seconds.
Simulation error level: FATAL ERROR

Aborting OpenFAST.

Best regards，
Monge

Riad.Elhamoud · November 26, 2024, 3:28pm

Dear @Monge.Low,

I think that the error you obtain comes from the displacement of the TMD in the nacelle. Indeed, when the TMD has high displacement, OpenFAST exites with an error.

To validate my statement, i recommend that you plot TMD displacement in function of time by adding in the output in ServoDyn_TMD: “NStC1_XQ”.

It will give you an error. When OpenFAST aborts, plot “NStC1_XQ” versus time and tell me the result.

Best Regards,

Riad

Monge.Low · November 27, 2024, 2:56am

Dear @Riad.Elhamoud

Thank you very much for your answer, my gratitude is beyond words.

Indeed, as you mentioned, the displacement of the TMD in the X-direction is abnormal.

It seems I need to reconsider the parameters of my TMD. I’ll try adjusting the TMD parameters first.

Expressing my sincere gratitude once again.

Best regards，
Monge

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Error calling “NRELOffshrBsline5MW_ServoDyn_StC.dat”

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