IEA-15MW-RWT, IEA-22MW-RWT + StC control

Dear NREL community,

I am having trouble running simulations of the IEA15MW and IEA22MW wind turbine models. I want to couple the blades with TMD controllers using the StC module in OpenFAST.

  1. My first attempt is to run free decay tests with TMDs attached to the blades. So, I am basically enabling BeamDyn, ServoDyn (thus, StC for the blades) and the corresponding blade DOFs. The rotational speed is set to zero as well as pitch angle. No matter how much I decrease the simulation time step (DT), I get the error:

FAST_Solution:FAST_AdvanceStates:B1::BD_GA2:BD_DynamicSolutionGA2:Solution does not converge after the maximum number of iterations
FAST_AdvanceStates:B2::BD_GA2:BD_DynamicSolutionGA2:Solution does not converge after the maximum number of iterations
FAST_AdvanceStates:B3::BD_GA2:BD_DynamicSolutionGA2:Solution does not converge after the maximum number of iterations

Fyi, I have not changed anything in the BeamDyn files.

  1. Without StC, i.e. baseline case, BeamDyn does not show any blade response (no oscillation, just a flat number) during free decay tests. I try changing the initial deflection to facilitate the free decay evaluation, but no deflections are observed. Conversely, ElastoDyn does output the deflections of the non-rotating blades. Why could this be?
  2. I know that given the increased flexibility of the 22MW-RWT blades, BeamDyn should be used. However, would it be too bad or inaccurate to simulate the model using ElastoDyn? considering the issues mentioned above.

I appreciate your help!

Best,
Fanny

Dear @Fanny.Callisaya,

Here are my responses to your questions:

  1. Can you clarify what TMD settings you are using and how massive the TMD is relative to the blade mass? Have you tried adding a correction step (NumCrctn > 0) rather than reducing the time step?
  2. There is no option in BeamDyn to change the initial deflection, so, I’m not sure what you are doing here; can you clarify? Have you set CompElast to 2 to enable BeamDyn for this case?
  3. ElastoDyn assumes a straight blade, with bending only, and no offsets of mass or stiffness from the pitch axis. BeamDyn can better resolve blades with geometry and composite material coupling and other modes of motion, like torsion. These effects are more important for larger rotors, so, BeamDyn would be preffered for the IEA Wind 15- and 22-MW RWTs.

Best regards,

1 Like

Dear @Jason.Jonkman,

First of all, thank you for your help.

  1. I am placing the TMD at a certain location along the blade length. To make sure I am not adding too heavy TMDs to the blades, I use the modal mass of the blade instead of the total mass (which is way too heavy). However, no matter the mass of the TMD (could be very light to negligible), OpenFAST aborts simulations right away if I enable both the StC and BeamDyn modules at the same time. And not yet, I will set NumCrctn to different numbers larger than 1 and get back to you.
  2. I thought IPDefl also worked for BeamDyn based on the CompElast’s comment “2=ElastoDyn + BeamDyn for blades” in the .fst file. And yes, I am setting it to 2 to make use of BeamDyn. I suppose that BeamDyn does not account for gravity during free decay simulations, am I wrong? That is why I cannot evaluate the modes of deflection, at least in the edgewise direction. Conversely, ElastoDyn outputs deflections due to gravity, which allows me to see the free decay response of the blades.
  3. I understand. The problem is that I am not able to run any simulation if I enable StC with BeamDyn. So, what would you recommend I do in that case?

Thank you again!

Best,
Fanny

Dear @Fanny.Callisaya,

I am Riad, a wind turbine enthusiast.

Could you share please the .fst file you run when you do free decay test of the blade ? Also cold you share your ServoDyn file ?

I think maybe this error arises from the stroke of the TMD ?

Did yo use stroke limiters ?

Best Regards,

Riad

Dear @Fanny.Callisaya,

I’m not sure I can comment on further on why the simulations with StC are not working without more information on the model set up (and recommend that you check NumCrctn > 0 first).

Regarding (2), I would just clarify that the ElastoDyn blade-related inputs and outputs are not used when BeamDyn is enabled, including IPDefl. Also, gravity is applied to BeamDyn, when enabled.

Best regards,

Dear @Jason.Jonkman,

Thank you for your response. For your better understanding of my issue, here I attach the files of one simulation where the blades are set to assess free decay behavior. I changed NumCrctn to 5 this time, I also tried other values but unfortunately OpenFAST keeps crashing if I enable both BeamDyn and the structural controller. When I use this configuration and enable ElastoDyn instead however, I obtain reasonable blade responses, as observed in the next figure.

------- ELASTODYN v1.03.* INPUT FILE -------------------------------------------	
IEA 15 MW offshore reference model monopile configuration	
---------------------- SIMULATION CONTROL --------------------------------------	
False                  Echo        - Echo input data to "<RootName>.ech" (flag)	
3                      Method      - Integration method: {1: RK4, 2: AB4, or 3: ABM4} (-)	
"default"              DT          Integration time step (s)	
---------------------- DEGREES OF FREEDOM --------------------------------------	
True                   FlapDOF1    - First flapwise blade mode DOF (flag)	
True                   FlapDOF2    - Second flapwise blade mode DOF (flag)	
True                   EdgeDOF     - First edgewise blade mode DOF (flag)	
False                  TeetDOF     - Rotor-teeter DOF (flag) [unused for 3 blades]	
False                  DrTrDOF     - Drivetrain rotational-flexibility DOF (flag)	
False                  GenDOF      - Generator DOF (flag)	
False                  YawDOF      - Yaw DOF (flag)	
False                  TwFADOF1    - First fore-aft tower bending-mode DOF (flag)	
False                  TwFADOF2    - Second fore-aft tower bending-mode DOF (flag)	
False                  TwSSDOF1    - First side-to-side tower bending-mode DOF (flag)	
False                  TwSSDOF2    - Second side-to-side tower bending-mode DOF (flag)	
False                  PtfmSgDOF   - Platform horizontal surge translation DOF (flag)	
False                  PtfmSwDOF   - Platform horizontal sway translation DOF (flag)	
False                  PtfmHvDOF   - Platform vertical heave translation DOF (flag)	
False                  PtfmRDOF    - Platform roll tilt rotation DOF (flag)	
False                  PtfmPDOF    - Platform pitch tilt rotation DOF (flag)	
False                  PtfmYDOF    - Platform yaw rotation DOF (flag)	
---------------------- INITIAL CONDITIONS --------------------------------------	
0.0                    OoPDefl     - Initial out-of-plane blade-tip displacement (meters)	
0                    IPDefl      - Initial in-plane blade-tip deflection (meters)	
0                    BlPitch(1)  - Blade 1 initial pitch (degrees)	
0                    BlPitch(2)  - Blade 2 initial pitch (degrees)	
0                    BlPitch(3)  - Blade 3 initial pitch (degrees) [unused for 2 blades]	
0.0                    TeetDefl    - Initial or fixed teeter angle (degrees) [unused for 3 blades]	
0.0                    Azimuth     - Initial azimuth angle for blade 1 (degrees)	
0                     RotSpeed    - Initial or fixed rotor speed (rpm)	
0.0                    NacYaw      - Initial or fixed nacelle-yaw angle (degrees)	
0.0                    TTDspFA     - Initial fore-aft tower-top displacement (meters)	
0.0                    TTDspSS     - Initial side-to-side tower-top displacement (meters)	
0.0                    PtfmSurge   - Initial or fixed horizontal surge translational displacement of platform (meters)	
0.0                    PtfmSway    - Initial or fixed horizontal sway translational displacement of platform (meters)	
0.0                    PtfmHeave   - Initial or fixed vertical heave translational displacement of platform (meters)	
0.0                    PtfmRoll    - Initial or fixed roll tilt rotational displacement of platform (degrees)	
0.0                    PtfmPitch   - Initial or fixed pitch tilt rotational displacement of platform (degrees)	
0.0                    PtfmYaw     - Initial or fixed yaw rotational displacement of platform (degrees)	
---------------------- TURBINE CONFIGURATION -----------------------------------	
3                      NumBl       - Number of blades (-)	
120.97                 TipRad      - The distance from the rotor apex to the blade tip (meters)	
3.97                   HubRad      - The distance from the rotor apex to the blade root (meters)	
-4.0                   PreCone(1)  - Blade 1 cone angle (degrees)	
-4.0                   PreCone(2)  - Blade 2 cone angle (degrees)	
-4.0                   PreCone(3)  - Blade 3 cone angle (degrees) [unused for 2 blades]	
0.0                    HubCM       - Distance from rotor apex to hub mass [positive downwind] (meters)	
0.0                    UndSling    - Undersling length [distance from teeter pin to the rotor apex] (meters) [unused for 3 blades]	
0.0                    Delta3      - Delta-3 angle for teetering rotors (degrees) [unused for 3 blades]	
0.0                    AzimB1Up    - Azimuth value to use for I/O when blade 1 points up (degrees)	
-12.097571763912535    OverHang    - Distance from yaw axis to rotor apex [3 blades] or teeter pin [2 blades] (meters)	
0.0                    ShftGagL    - Distance from rotor apex [3 blades] or teeter pin [2 blades] to shaft strain gages [positive for upwind rotors] (meters)	
0                   ShftTilt    - Rotor shaft tilt angle (degrees)	
-5.125                 NacCMxn     - Downwind distance from the tower-top to the nacelle CM (meters)	
0.0                    NacCMyn     - Lateral  distance from the tower-top to the nacelle CM (meters)	
4.315                  NacCMzn     - Vertical distance from the tower-top to the nacelle CM (meters)	
0.0                    NcIMUxn     - Downwind distance from the tower-top to the nacelle IMU (meters)	
0.0                    NcIMUyn     - Lateral  distance from the tower-top to the nacelle IMU (meters)	
0.0                    NcIMUzn     - Vertical distance from the tower-top to the nacelle IMU (meters)	
4.349459414248071      Twr2Shft    - Vertical distance from the tower-top to the rotor shaft (meters)	
144.386                TowerHt     - Height of tower above ground level [onshore] or MSL [offshore] (meters)	
15.                    TowerBsHt   - Height of tower base above ground level [onshore] or MSL [offshore] (meters)	
0.0                    PtfmCMxt    - Downwind distance from the ground level [onshore] or MSL [offshore] to the platform CM (meters)	
0.0                    PtfmCMyt    - Lateral distance from the ground level [onshore] or MSL [offshore] to the platform CM (meters)	
15.                    PtfmCMzt    - Vertical distance from the ground level [onshore] or MSL [offshore] to the platform CM (meters)	
15.                    PtfmRefzt   - Vertical distance from the ground level [onshore] or MSL [offshore] to the platform reference point (meters)	
---------------------- MASS AND INERTIA ----------------------------------------	
0.0                    TipMass(1)  - Tip-brake mass, blade 1 (kg)	
0.0                    TipMass(2)  - Tip-brake mass, blade 2 (kg)	
0.0                    TipMass(3)  - Tip-brake mass, blade 3 (kg) [unused for 2 blades]	
69131                  HubMass     - Hub mass (kg)	
969952                 HubIner     - Hub inertia about rotor axis [3 blades] or teeter axis [2 blades] (kg m^2)	
1836784                GenIner     - Generator inertia about HSS (kg m^2)	
644857                 NacMass     - Nacelle mass (kg)	
32929058               NacYIner    - Nacelle inertia about yaw axis (kg m^2)	
28249                  YawBrMass   - Yaw bearing mass (kg)	
0.0                    PtfmMass    - Platform mass (kg)	
0.0                    PtfmRIner   - Platform inertia for roll tilt rotation about the platform CM (kg m^2)	
0.0                    PtfmPIner   - Platform inertia for pitch tilt rotation about the platform CM (kg m^2)	
100000000.0            PtfmYIner   - Platform inertia for yaw rotation about the platform CM (kg m^2)	
---------------------- BLADE ---------------------------------------------------	
50                     BldNodes    - Number of blade nodes (per blade) used for analysis (-)	
"../IEA-15-240-RWT/IEA-15-240-RWT_ElastoDyn_blade.dat" BldFile1    - Name of file containing properties for blade 1 (quoted string)	
"../IEA-15-240-RWT/IEA-15-240-RWT_ElastoDyn_blade.dat" BldFile2    - Name of file containing properties for blade 2 (quoted string)	
"../IEA-15-240-RWT/IEA-15-240-RWT_ElastoDyn_blade.dat" BldFile3    - Name of file containing properties for blade 3 (quoted string) [unused for 2 blades]	
---------------------- ROTOR-TEETER --------------------------------------------	
0                      TeetMod     - Rotor-teeter spring/damper model {0: none, 1: standard, 2: user-defined from routine UserTeet} (switch) [unused for 3 blades]	
0.0                    TeetDmpP    - Rotor-teeter damper position (degrees) [used only for 2 blades and when TeetMod=1]	
0.0                    TeetDmp     - Rotor-teeter damping constant (N-m/(rad/s)) [used only for 2 blades and when TeetMod=1]	
0.0                    TeetCDmp    - Rotor-teeter rate-independent Coulomb-damping moment (N-m) [used only for 2 blades and when TeetMod=1]	
0.0                    TeetSStP    - Rotor-teeter soft-stop position (degrees) [used only for 2 blades and when TeetMod=1]	
0.0                    TeetHStP    - Rotor-teeter hard-stop position (degrees) [used only for 2 blades and when TeetMod=1]	
0.0                    TeetSSSp    - Rotor-teeter soft-stop linear-spring constant (N-m/rad) [used only for 2 blades and when TeetMod=1]	
0.0                    TeetHSSp    - Rotor-teeter hard-stop linear-spring constant (N-m/rad) [used only for 2 blades and when TeetMod=1]	
---------------------- DRIVETRAIN ----------------------------------------------	
100.0                  GBoxEff     - Gearbox efficiency (%)	
1.0                    GBRatio     - Gearbox ratio (-)	
69737644900.0          DTTorSpr    - Drivetrain torsional spring (N-m/rad)	
49418406.0             DTTorDmp    - Drivetrain torsional damper (N-m/(rad/s))	
---------------------- FURLING -------------------------------------------------	
False                  Furling     - Read in additional model properties for furling turbine (flag) [must currently be FALSE)	
"unused"               FurlFile    - Name of file containing furling properties (quoted string) [unused when Furling=False]	
---------------------- TOWER ---------------------------------------------------	
20                     TwrNodes    - Number of tower nodes used for analysis (-)	
"../IEA-15-240-RWT-Monopile/IEA-15-240-RWT-Monopile_ElastoDyn_tower.dat" TwrFile     - Name of file containing tower properties (quoted string)	
---------------------- OUTPUT --------------------------------------------------	
True                   SumPrint    - Print summary data to "<RootName>.sum" (flag)	
1                      OutFile     - Switch to determine where output will be placed: {1: in module output file only; 2: in glue code output file only; 3: both} (currently unused)	
True                   TabDelim    - Use tab delimiters in text tabular output file? (flag) (currently unused)	
"ES10.3E2"             OutFmt      - Format used for text tabular output (except time).  Resulting field should be 10 characters. (quoted string) (currently unused)	
0.0                    TStart      - Time to begin tabular output (s) (currently unused)	
1                      DecFact     - Decimation factor for tabular output {1: output every time step} (-) (currently unused)	
1                      NTwGages    - Number of tower nodes that have strain gages for output [0 to 9] (-)	
         20   TwrGagNd    - List of tower nodes that have strain gages [1 to TwrNodes] (-) [unused if NTwGages=0] TwrGagNd    - List of tower nodes that have strain gages [1 to TwrNodes] (-) [unused if NTwGages=0] TwrGagNd    - List of tower nodes that have strain gages [1 to TwrNodes] (-) [unused if NTwGages=0]	
3                      NBlGages    - Number of blade nodes that have strain gages for output [0 to 9] (-)	
          5,            9,           13    BldGagNd    - List of blade nodes that have strain gages [1 to BldNodes] (-) [unused if NBlGages=0] BldGagNd    - List of blade nodes that have strain gages [1 to BldNodes] (-) [unused if NBlGages=0] BldGagNd    - List of blade nodes that have strain gages [1 to BldNodes] (-) [unused if NBlGages=0]	
                   OutList             - The next line(s) contains a list of output parameters.  See OutListParameters.xlsx for a listing of available output channels, (-)	
"Azimuth"	
"BldPitch1"	
"BldPitch2"	
"BldPitch3"	
"GenSpeed"	
"IPDefl1"	
"NacYaw"	
"OoPDefl1"	
"RotSpeed"	
"RotThrust"	
"RotTorq"	
"TTDspTwst"	
"TipDxb1"            
"TipDyb1"        	
"TipDxb2"             
"TipDyb2"                	
"TipDxb3"                
"TipDyb3"           	

---------------------------------------------------------------------------------------	

------- SERVODYN v1.05.* INPUT FILE --------------------------------------------		
IEA 15 MW offshore reference model monopile configuration		
---------------------- SIMULATION CONTROL --------------------------------------		
False                  Echo        - Echo input data to <RootName>.ech (flag)		
"default"              DT          - Communication interval for controllers (s) (or "default")		
---------------------- PITCH CONTROL -------------------------------------------		
0                      PCMode      - Pitch control mode {0: none, 3: user-defined from routine PitchCntrl, 4: user-defined from Simulink/Labview, 5: user-defined from Bladed-style DLL} (switch)		
0.0                    TPCOn       - Time to enable active pitch control (s) [unused when PCMode=0]		
9999.9                 TPitManS(1) - Time to start override pitch maneuver for blade 1 and end standard pitch control (s)		
9999.9                 TPitManS(2) - Time to start override pitch maneuver for blade 2 and end standard pitch control (s)		
9999.9                 TPitManS(3) - Time to start override pitch maneuver for blade 3 and end standard pitch control (s) [unused for 2 blades]		
2.0                    PitManRat(1) - Pitch rate at which override pitch maneuver heads toward final pitch angle for blade 1 (deg/s)		
2.0                    PitManRat(2) - Pitch rate at which override pitch maneuver heads toward final pitch angle for blade 2 (deg/s)		
2.0                    PitManRat(3) - Pitch rate at which override pitch maneuver heads toward final pitch angle for blade 3 (deg/s) [unused for 2 blades]		
0.0                    BlPitchF(1) - Blade 1 final pitch for pitch maneuvers (degrees)		
0.0                    BlPitchF(2) - Blade 2 final pitch for pitch maneuvers (degrees)		
0.0                    BlPitchF(3) - Blade 3 final pitch for pitch maneuvers (degrees) [unused for 2 blades]		
---------------------- GENERATOR AND TORQUE CONTROL ----------------------------		
0                      VSContrl    - Variable-speed control mode {0: none, 1: simple VS, 3: user-defined from routine UserVSCont, 4: user-defined from Simulink/Labview, 5: user-defined from Bladed-style DLL} (switch)		
1                      GenModel    - Generator model {1: simple, 2: Thevenin, 3: user-defined from routine UserGen} (switch) [used only when VSContrl=0]		
95.756                 GenEff      - Generator efficiency [ignored by the Thevenin and user-defined generator models] (%)		
True                   GenTiStr    - Method to start the generator {T: timed using TimGenOn, F: generator speed using SpdGenOn} (flag)		
True                   GenTiStp    - Method to stop the generator {T: timed using TimGenOf, F: when generator power = 0} (flag)		
9999.9                 SpdGenOn    - Generator speed to turn on the generator for a startup (HSS speed) (rpm) [used only when GenTiStr=False]		
0.0                    TimGenOn    - Time to turn on the generator for a startup (s) [used only when GenTiStr=True]		
9999.9                 TimGenOf    - Time to turn off the generator (s) [used only when GenTiStp=True]		
---------------------- SIMPLE VARIABLE-SPEED TORQUE CONTROL --------------------		
7.559987120819503      VS_RtGnSp   - Rated generator speed for simple variable-speed generator control (HSS side) (rpm) [used only when VSContrl=1]		
19624046.66639         VS_RtTq     - Rated generator torque/constant generator torque in Region 3 for simple variable-speed generator control (HSS side) (N-m) [used only when VSContrl=1]		
343357.4355671095      VS_Rgn2K    - Generator torque constant in Region 2 for simple variable-speed generator control (HSS side) (N-m/rpm^2) [used only when VSContrl=1]		
2.                     VS_SlPc     - Rated generator slip percentage in Region 2 1/2 for simple variable-speed generator control (%) [used only when VSContrl=1]		
---------------------- SIMPLE INDUCTION GENERATOR ------------------------------		
9999.9                 SIG_SlPc    - Rated generator slip percentage (%) [used only when VSContrl=0 and GenModel=1]		
9999.9                 SIG_SySp    - Synchronous (zero-torque) generator speed (rpm) [used only when VSContrl=0 and GenModel=1]		
9999.9                 SIG_RtTq    - Rated torque (N-m) [used only when VSContrl=0 and GenModel=1]		
9999.9                 SIG_PORt    - Pull-out ratio (Tpullout/Trated) (-) [used only when VSContrl=0 and GenModel=1]		
---------------------- THEVENIN-EQUIVALENT INDUCTION GENERATOR -----------------		
9999.9                 TEC_Freq    - Line frequency [50 or 60] (Hz) [used only when VSContrl=0 and GenModel=2]		
100                    TEC_NPol    - Number of poles [even integer > 0] (-) [used only when VSContrl=0 and GenModel=2]		
9999.9                 TEC_SRes    - Stator resistance (ohms) [used only when VSContrl=0 and GenModel=2]		
9999.9                 TEC_RRes    - Rotor resistance (ohms) [used only when VSContrl=0 and GenModel=2]		
9999.9                 TEC_VLL     - Line-to-line RMS voltage (volts) [used only when VSContrl=0 and GenModel=2]		
9999.9                 TEC_SLR     - Stator leakage reactance (ohms) [used only when VSContrl=0 and GenModel=2]		
9999.9                 TEC_RLR     - Rotor leakage reactance (ohms) [used only when VSContrl=0 and GenModel=2]		
9999.9                 TEC_MR      - Magnetizing reactance (ohms) [used only when VSContrl=0 and GenModel=2]		
---------------------- HIGH-SPEED SHAFT BRAKE ----------------------------------		
0                      HSSBrMode   - HSS brake model {0: none, 1: simple, 3: user-defined from routine UserHSSBr, 4: user-defined from Simulink/Labview, 5: user-defined from Bladed-style DLL} (switch)		
0                      THSSBrDp    - Time to initiate deployment of the HSS brake (s)		
9999.9                 HSSBrDT     - Time for HSS-brake to reach full deployment once initiated (sec) [used only when HSSBrMode=1]		
28116.2                HSSBrTqF    - Fully deployed HSS-brake torque (N-m)		
---------------------- NACELLE-YAW CONTROL -------------------------------------		
0                      YCMode      - Yaw control mode {0: none, 3: user-defined from routine UserYawCont, 4: user-defined from Simulink/Labview, 5: user-defined from Bladed-style DLL} (switch)		
0                      TYCOn       - Time to enable active yaw control (s) [unused when YCMode=0]		
0.0                    YawNeut     - Neutral yaw position--yaw spring force is zero at this yaw (degrees)		
8458453511.0           YawSpr      - Nacelle-yaw spring constant (N-m/rad)		
28561762.0             YawDamp     - Nacelle-yaw damping constant (N-m/(rad/s))		
9999.9                 TYawManS    - Time to start override yaw maneuver and end standard yaw control (s)		
0.25                   YawManRat   - Yaw maneuver rate (in absolute value) (deg/s)		
0.0                    NacYawF     - Final yaw angle for override yaw maneuvers (degrees)		
---------------------- Aerodynamic Flow Control -------------------------------------		
0                      AfCmode     - Airfoil control mode {0- none, 1- cosine wave cycle, 4- user-defined from Simulink/Labview, 5- user-defined from Bladed-style DLL}		
0.0                    AfC_Mean    - Mean level for sinusoidal cycling or steady value (-) [used only with AfCmode==1]		
0.0                    AfC_Amp     - Amplitude for for cosine cycling of flap signal (AfC = AfC_Amp*cos(Azimuth+phase)+AfC_mean) (-) [used only with AfCmode==1]		
0.0                    AfC_phase   - Phase relative to the blade azimuth (0 is vertical) for for cosine cycling of flap signal (deg) [used only with AfCmode==1]		
---------------------- STRUCTURAL CONTROL ---------------------------------------		
1                      NumBStC     - Number of blade structural controllers (integer)		
"FDT_wTMD_15MW_98_mLoc_0.03_massRatio_StC15MW.dat"               BStCfiles   - Name of the file for blade tuned mass damper (quoted string) [unused when CompNTMD is false]		
0                      NumNStC     - Number of nacelle structural controllers (integer)		
"unused"               NStCfiles   - Name of the file for nacelle tuned mass damper (quoted string) [unused when CompNTMD is false]		
0                      NumTStC     - Number of tower structural controllers (integer)		
"unused"               TStCfiles   - Name of the file for tower tuned mass damper (quoted string) [unused when CompNTMD is false]		
0                      NumSStC     - Number of sbustructure structural controllers (integer)		
"unused"               SStCfiles   - Name of the file for sbustructure tuned mass damper (quoted string) [unused when CompNTMD is false]		
---------------------- CABLE CONTROL ---------------------------------------- 		
0                      CCmode      - Cable control mode {0- none, 4- user-defined from Simulink/Labview, 5- user-defineAfC_phased from Bladed-style DLL}		
---------------------- BLADED INTERFACE ---------------------------------------- [used only with Bladed Interface]		
"../IEA-15-240-RWT/ServoData/libdiscon.dll"  DLL_FileName - Name/location of the dynamic library {.dll [Windows] or .so [Linux]} in the Bladed-DLL format (-) [used only with Bladed Interface]		
"IEA-15-240-RWT-Monopile_DISCON.IN"   DLL_InFile  - Name of input file sent to the DLL (-) [used only with Bladed Interface]		
"DISCON"               DLL_ProcName - Name of procedure in DLL to be called (-) [case sensitive; used only with DLL Interface]		
"default"              DLL_DT      - Communication interval for dynamic library (s) (or "default") [used only with Bladed Interface]		
False                  DLL_Ramp    - Whether a linear ramp should be used between DLL_DT time steps [introduces time shift when true] (flag) [used only with Bladed Interface]		
9999.9                 BPCutoff    - Cuttoff frequency for low-pass filter on blade pitch from DLL (Hz) [used only with Bladed Interface]		
0.0                    NacYaw_North - Reference yaw angle of the nacelle when the upwind end points due North (deg) [used only with Bladed Interface]		
0                      Ptch_Cntrl  - Record 28: Use individual pitch control {0: collective pitch; 1: individual pitch control} (switch) [used only with Bladed Interface]		
0.0                    Ptch_SetPnt - Record  5: Below-rated pitch angle set-point (deg) [used only with Bladed Interface]		
0.0                    Ptch_Min    - Record  6: Minimum pitch angle (deg) [used only with Bladed Interface]		
0.0                    Ptch_Max    - Record  7: Maximum pitch angle (deg) [used only with Bladed Interface]		
0.0                    PtchRate_Min - Record  8: Minimum pitch rate (most negative value allowed) (deg/s) [used only with Bladed Interface]		
0.0                    PtchRate_Max - Record  9: Maximum pitch rate  (deg/s) [used only with Bladed Interface]		
0.0                    Gain_OM     - Record 16: Optimal mode gain (Nm/(rad/s)^2) [used only with Bladed Interface]		
0.0                    GenSpd_MinOM - Record 17: Minimum generator speed (rpm) [used only with Bladed Interface]		
0.0                    GenSpd_MaxOM - Record 18: Optimal mode maximum speed (rpm) [used only with Bladed Interface]		
0.0                    GenSpd_Dem  - Record 19: Demanded generator speed above rated (rpm) [used only with Bladed Interface]		
0.0                    GenTrq_Dem  - Record 22: Demanded generator torque above rated (Nm) [used only with Bladed Interface]		
0.0                    GenPwr_Dem  - Record 13: Demanded power (W) [used only with Bladed Interface]		
---------------------- BLADED INTERFACE TORQUE-SPEED LOOK-UP TABLE -------------		
0                      DLL_NumTrq  - Record 26: No. of points in torque-speed look-up table {0 = none and use the optimal mode parameters; nonzero = ignore the optimal mode PARAMETERs by setting Record 16 to 0.0} (-) [used only with Bladed Interface]		
GenSpd_TLU            	GenTrq_TLU            	
(rpm)                 	(Nm)                  	
---------------------- OUTPUT --------------------------------------------------		
True                   SumPrint    - Print summary data to <RootName>.sum (flag) (currently unused)		
1                      OutFile     - Switch to determine where output will be placed: {1: in module output file only; 2: in glue code output file only; 3: both} (currently unused)		
True                   TabDelim    - Use tab delimiters in text tabular output file? (flag) (currently unused)		
"ES10.3E2"             OutFmt      - Format used for text tabular output (except time).  Resulting field should be 10 characters. (quoted string) (currently unused)		
0.0                    TStart      - Time to begin tabular output (s) (currently unused)		
              OutList      - The next line(s) contains a list of output parameters.  See OutListParameters.xlsx for a listing of available output channels, (-)		
"GenPwr"		
"GenTq"		
"BStC1_B1_XQ"           	
"BStC1_B1_YQ"            	
"BStC1_B2_XQ"             
"BStC1_B2_YQ"            	
"BStC1_B3_XQ"            	
"BStC1_B3_YQ"             	
	
END of input file (the word "END" must appear in the first 3 columns of this last OutList line)		
---------------------------------------------------------------------------------------		

------- STRUCTURAL CONTROL (StC) INPUT FILE ----------------------------	
Input file for tuned mass damper, module by Matt Lackner, Meghan Glade, and Semyung Park (UMass)	
---------------------- SIMULATION CONTROL --------------------------------------	
True          Echo         - Echo input data to <RootName>.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}	
false         StC_X_DOF    - DOF on or off for StC X (flag) [Used only when StC_DOF_MODE=1]	
true          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]	
          0   StC_P_X      - At rest X position of StC (m)	
          0   StC_P_Y      - At rest Y position of StC (m)	
         98   StC_P_Z      - At rest Z position of StC (m)	
---------------------- StC INITIAL CONDITIONS --------------------------------- [used only when StC_DOF_MODE=1 or 2]	
          0   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]	
"gravity"     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]	
          0   StC_X_PSP    - Positive stop position (maximum X mass displacement) (m)	
          0   StC_X_NSP    - Negative stop position (minimum X mass displacement) (m)	
         0   StC_Y_PSP    - Positive stop position (maximum Y mass displacement) (m)	
        0   StC_Y_NSP    - Negative stop position (minimum Y mass displacement) (m)	
          0   StC_Z_PSP    - Positive stop position (maximum Z mass displacement) (m) [used only when StC_DOF_MODE=1 and StC_Z_DOF=TRUE]	
          0   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]	
          0   StC_X_M      - StC X mass (kg) [must equal StC_Y_M for StC_DOF_MODE = 2]	
     75   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]	
          0   StC_XY_M     - StC XY mass (kg) [used only when StC_DOF_MODE=2]	
          0   StC_X_K      - StC X stiffness (N/m)	
     1534.3398   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]	
          0   StC_X_C      - StC X damping (N/(m/s))	
     56.5307   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]	
          0   StC_X_KS     - Stop spring X stiffness (N/m)	
      0   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]	
          0   StC_X_CS     - Stop spring X damping (N/(m/s))	
      0   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]	

-------------------------------------------------------------------------------	

Note that no major changes were made in the DISCON.IN file, compared to the one provided on the repository (https://github.com/IEAWindSystems/IEA-15-240-RWT/blob/master/OpenFAST/IEA-15-240-RWT-Monopile/IEA-15-240-RWT-Monopile_DISCON.IN)

Now, if I only change NumBStC to 0 (no structural control), OpenFAST runs normally and the response of the blade with BeamDyn is:

The discrepancy here is that I do get free decay oscillation response from the blades with ElastoDyn (observe first image), but BeamDyn gives me a flat number (for all 3 blades) or no free decay response as I see it (second image for blade 3). That is why I tried changing the initial in-plane deflection but now I understand, thanks to your explanation, that it is not an input used by BeamDyn. Does this mean the blades are not affected by gravity when BeamDyn is used, as opposed to ElastoDyn?

I greatly appreciate your input on this matter.

Best,
Fanny

Dear @Jason.Jonkman

Here is my .fst file for the free decay simulation. I couldn’t fit it in the previous post.

------- OpenFAST INPUT FILE -------------------------------------------	
IEA 15 MW offshore reference model monopile configuration	
---------------------- SIMULATION CONTROL --------------------------------------	
False                  Echo        - Echo input data to <RootName>.ech (flag)	
"FATAL"                AbortLevel  - Error level when simulation should abort (string) {"WARNING", "SEVERE", "FATAL"}	
60                    TMax        - Total run time (s)	
0.0004                  DT          - Recommended module time step (s)	
2                      InterpOrder - Interpolation order for input/output time history (-) {1=linear, 2=quadratic}	
5                      NumCrctn    - Number of correction iterations (-) {0=explicit calculation, i.e., no corrections}	
99999.0                DT_UJac     - Time between calls to get Jacobians (s)	
1000000.0              UJacSclFact - Scaling factor used in Jacobians (-)	
---------------------- FEATURE SWITCHES AND FLAGS ------------------------------	
2                      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}	
0                      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}	
0                      CompHydro   - Compute hydrodynamic loads (switch) {0=None; 1=HydroDyn}	
0                      CompSub     - Compute sub-structural dynamics (switch) {0=None; 1=SubDyn; 2=External Platform MCKF}	
0                      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 --------------------------------	
9.81                   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 (Pa) [used only for an MHK turbine cavitation check]	
1700                   Pvap        - Vapour pressure of working fluid (Pa) [used only for an MHK turbine cavitation check]	
30                     WtrDpth     - Water depth (m)	
0                      MSL2SWL     - Offset between still-water level and mean sea level (m) [positive upward]	
---------------------- INPUT FILES ---------------------------------------------	
"FDT_wTMD_15MW_98_mLoc_0.03_massRatio_Elasto15MW.dat"  EDFile      - Name of file containing ElastoDyn input parameters (quoted string)	
"../IEA-15-240-RWT/IEA-15-240-RWT_BeamDyn.dat"    BDBldFile(1) - Name of file containing BeamDyn input parameters for blade 1 (quoted string)	
"../IEA-15-240-RWT/IEA-15-240-RWT_BeamDyn.dat"    BDBldFile(2) - Name of file containing BeamDyn input parameters for blade 2 (quoted string)	
"../IEA-15-240-RWT/IEA-15-240-RWT_BeamDyn.dat"    BDBldFile(3) - Name of file containing BeamDyn input parameters for blade 3 (quoted string)	
"none"                 InflowFile  - Name of file containing inflow wind input parameters (quoted string)	
"none"                 AeroFile    - Name of file containing aerodynamic input parameters (quoted string)	
"FDT_wTMD_15MW_98_mLoc_0.03_massRatio_Servo15MW.dat"   ServoFile   - Name of file containing control and electrical-drive input parameters (quoted string)	
"none"                 HydroFile   - Name of file containing hydrodynamic input parameters (quoted string)	
"none"                 SubFile     - Name of file containing sub-structural input parameters (quoted string)	
"none"                 MooringFile - Name of file containing mooring system input parameters (quoted string)	
"none"                 IceFile     - Name of file containing ice input parameters (quoted string)	
---------------------- OUTPUT --------------------------------------------------	
False                  SumPrint    - Print summary data to "<RootName>.sum" (flag)	
10.0                   SttsTime    - Amount of time between screen status messages (s)	
99999.0                ChkptTime   - Amount of time between creating checkpoint files for potential restart (s)	
"default"              DT_Out      - Time step for tabular output (s) (or "default")	
0                     TStart      - Time to begin tabular output (s)	
2                      OutFileFmt  - Format for tabular (time-marching) output file (switch) {1: text file [<RootName>.out], 2: binary file [<RootName>.outb], 3: both}	
True                   TabDelim    - Use tab delimiters in text tabular output file? (flag) {uses spaces if false}	
"ES10.3E2"             OutFmt      - Format used for text tabular output, excluding the time channel.  Resulting field should be 10 characters. (quoted string)	


Best,
Fanny

Dear @Riad.Elhamoud,

I shared the files for the free decay tests in this thread.

I don’t think it has to do with the stops not being configured. Even if I set them, OpenFAST aborts simulations.

Best,
Fanny

Dear @Fanny.Callisaya,

I’m not aware of an issue with the coupling between StC and BeamDyn, but I’m not sure what testing has been done in the coupling between those modules either. It could be that there is a bug in the coupling.

But before that, I want to know why BeamDyn is returning a fixed B3TipTDyr of 1.0367 m when StC is not enabled. I would expect BeamDyn to be influenced by gravitational loading based on your configuration. What do the other BeamDyn outputs show? Which version of OpenFAST are you using? Do you see any transients resulting from the gravitational loading?

FYI: you mention “no major changes were made in the DISCON.IN file”, but I don’t see that you’ve enabled the ROSCO controller in this test.

Best regards,

1 Like

Dear @Jason.Jonkman,

The other BeamDyn outputs for blade 3 are all fixed values with no transients except for B3RootMzr (see figure).

  • B3RootFxr = 2.29e+04
  • B3RootFyr = 5.69e+05
  • B3RootFzr = 3.27e+05
  • B3RootMxr = -1.53e+07
  • B3RootMyr = 6.2e+05
  • B3RootMzr = -1.3e+03
  • B3TipTDxr = 0
  • B3TipTDyr = 1.04
  • B3TipTDzr = 0

Besides that, the only other output that shows transients is B1RootFyr.

I am using OpenFAST-v3.5.3 for this one (IEA-15MW turbine).

I just started using OpenFAST-v4 with the IEA-22MW model and I get the same fixed values but scaled. For instance, B3TipTDyr is now 1.8 m.

Best,
Fanny

Dear @Fanny.Callisaya,

Let’s stick with the IEA Wind 15-MW RWT for now. Can you share your BeamDyn input files as well so that we have a complete model to test?

Can you also share the error reported by OpenFAST when it “crashes” with StC enabled?

Best regards,

1 Like

Dear @Jason.Jonkman,

Of course, my BeamDyn input files are identical to the ones on the repository (I only deleted the optional section for nodes output):

--------- BEAMDYN with OpenFAST INPUT FILE -------------------------------------------
IEA 15 MW Offshore Reference Turbine
---------------------- SIMULATION CONTROL --------------------------------------
False          Echo            - Echo input data to "<RootName>.ech" (flag)
True          QuasiStaticInit - Use quasistatic pre-conditioning with centripetal accelerations in initialization (flag) [dynamic solve only]
 0            rhoinf          - Numerical damping parameter for generalized-alpha integrator
 2            quadrature      - Quadrature method: 1=Gaussian; 2=Trapezoidal (switch)
 2            refine          - Refinement factor for trapezoidal quadrature (-). DEFAULT = 1 [used only when quadrature=2]
DEFAULT       n_fact          - Factorization frequency (-). DEFAULT = 5
DEFAULT       DTBeam          - Time step size (s).
DEFAULT       load_retries    - Number of factored load retries before quitting the aimulation
DEFAULT       NRMax           - Max number of iterations in Newton-Ralphson algorithm (-). DEFAULT = 10
DEFAULT       stop_tol        - Tolerance for stopping criterion (-)
DEFAULT       tngt_stf_fd     - Flag to use finite differenced tangent stiffness matrix (-)
DEFAULT       tngt_stf_comp   - Flag to compare analytical finite differenced tangent stiffness matrix  (-)
DEFAULT       tngt_stf_pert   - perturbation size for finite differencing (-)
DEFAULT       tngt_stf_difftol- Maximum allowable relative difference between analytical and fd tangent stiffness (-)
True          RotStates       - Orient states in the rotating frame during linearization? (flag) [used only when linearizing]
---------------------- GEOMETRY PARAMETER --------------------------------------
          1   member_total    - Total number of members (-)
         50   kp_total        - Total number of key points (-) [must be at least 3]
     1     50                 - Member number; Number of key points in this member
		 kp_xr 			 kp_yr 			 kp_zr 		 initial_twist
		  (m)  			  (m)  			  (m)  		   (deg)
	 0.00000e+00 	 0.00000e+00 	 0.00000e+00 	 1.55946e+01 
	 1.83726e-02 	 0.00000e+00 	 2.38776e+00 	 1.55877e+01 
	 4.22062e-02 	 0.00000e+00 	 4.77551e+00 	 1.54108e+01 
	 7.13101e-02 	 0.00000e+00 	 7.16327e+00 	 1.49486e+01 
	 1.03610e-01 	 0.00000e+00 	 9.55102e+00 	 1.42585e+01 
	 1.37050e-01 	 0.00000e+00 	 1.19388e+01 	 1.33971e+01 
	 1.69613e-01 	 0.00000e+00 	 1.43265e+01 	 1.24220e+01 
	 1.99102e-01 	 0.00000e+00 	 1.67143e+01 	 1.13946e+01 
	 2.23601e-01 	 0.00000e+00 	 1.91020e+01 	 1.03710e+01 
	 2.41069e-01 	 0.00000e+00 	 2.14898e+01 	 9.40400e+00 
	 2.49238e-01 	 0.00000e+00 	 2.38776e+01 	 8.55152e+00 
	 2.50309e-01 	 0.00000e+00 	 2.62653e+01 	 7.83315e+00 
	 2.49413e-01 	 0.00000e+00 	 2.86531e+01 	 7.19135e+00 
	 2.47571e-01 	 0.00000e+00 	 3.10408e+01 	 6.55163e+00 
	 2.44817e-01 	 0.00000e+00 	 3.34286e+01 	 5.93400e+00 
	 2.41329e-01 	 0.00000e+00 	 3.58163e+01 	 5.34609e+00 
	 2.36990e-01 	 0.00000e+00 	 3.82041e+01 	 4.79633e+00 
	 2.32446e-01 	 0.00000e+00 	 4.05918e+01 	 4.29659e+00 
	 2.25312e-01 	 0.00000e+00 	 4.29796e+01 	 3.84696e+00 
	 2.11013e-01 	 0.00000e+00 	 4.53673e+01 	 3.44534e+00 
	 1.86954e-01 	 0.00000e+00 	 4.77551e+01 	 3.07691e+00 
	 1.47931e-01 	 0.00000e+00 	 5.01429e+01 	 2.73356e+00 
	 9.91710e-02 	 0.00000e+00 	 5.25306e+01 	 2.41223e+00 
	 4.11154e-02 	 0.00000e+00 	 5.49184e+01 	 2.11169e+00 
	 -2.23395e-02 	 0.00000e+00 	 5.73061e+01 	 1.82840e+00 
	 -8.88277e-02 	 0.00000e+00 	 5.96939e+01 	 1.55878e+00 
	 -1.58920e-01 	 0.00000e+00 	 6.20816e+01 	 1.30244e+00 
	 -2.39251e-01 	 0.00000e+00 	 6.44694e+01 	 1.06443e+00 
	 -3.36643e-01 	 0.00000e+00 	 6.68571e+01 	 8.43446e-01 
	 -4.46936e-01 	 0.00000e+00 	 6.92449e+01 	 6.36564e-01 
	 -5.67957e-01 	 0.00000e+00 	 7.16327e+01 	 4.37029e-01 
	 -6.97521e-01 	 0.00000e+00 	 7.40204e+01 	 2.39657e-01 
	 -8.31916e-01 	 0.00000e+00 	 7.64082e+01 	 3.96777e-02 
	 -9.69965e-01 	 0.00000e+00 	 7.87959e+01 	 -1.72828e-01 
	 -1.10909e+00 	 0.00000e+00 	 8.11837e+01 	 -4.07084e-01 
	 -1.25513e+00 	 0.00000e+00 	 8.35714e+01 	 -6.80378e-01 
	 -1.41034e+00 	 0.00000e+00 	 8.59592e+01 	 -9.99294e-01 
	 -1.57330e+00 	 0.00000e+00 	 8.83469e+01 	 -1.32053e+00 
	 -1.74350e+00 	 0.00000e+00 	 9.07347e+01 	 -1.62330e+00 
	 -1.91945e+00 	 0.00000e+00 	 9.31224e+01 	 -1.88437e+00 
	 -2.10009e+00 	 0.00000e+00 	 9.55102e+01 	 -2.08623e+00 
	 -2.28550e+00 	 0.00000e+00 	 9.78980e+01 	 -2.16400e+00 
	 -2.47569e+00 	 0.00000e+00 	 1.00286e+02 	 -2.17584e+00 
	 -2.67342e+00 	 0.00000e+00 	 1.02673e+02 	 -2.15530e+00 
	 -2.87783e+00 	 0.00000e+00 	 1.05061e+02 	 -2.10291e+00 
	 -3.09009e+00 	 0.00000e+00 	 1.07449e+02 	 -2.01840e+00 
	 -3.30846e+00 	 0.00000e+00 	 1.09837e+02 	 -1.89674e+00 
	 -3.53371e+00 	 0.00000e+00 	 1.12224e+02 	 -1.72433e+00 
	 -3.76350e+00 	 0.00000e+00 	 1.14612e+02 	 -1.50813e+00 
	 -4.00000e+00 	 0.00000e+00 	 1.17000e+02 	 -1.24239e+00 
---------------------- MESH PARAMETER ------------------------------------------
         10   order_elem     - Order of interpolation (basis) function (-)
---------------------- MATERIAL PARAMETER --------------------------------------
"IEA-15-240-RWT_BeamDyn_blade.dat"    BldFile - Name of file containing properties for blade (quoted string)
---------------------- PITCH ACTUATOR PARAMETERS -------------------------------
False         UsePitchAct - Whether a pitch actuator should be used (flag)
        200   PitchJ      - Pitch actuator inertia (kg-m^2) [used only when UsePitchAct is true]
      2E+07   PitchK      - Pitch actuator stiffness (kg-m^2/s^2) [used only when UsePitchAct is true]
     500000   PitchC      - Pitch actuator damping (kg-m^2/s) [used only when UsePitchAct is true]
---------------------- OUTPUTS -------------------------------------------------
False          SumPrint       - Print summary data to "<RootName>.sum" (flag)
"ES10.3E2"     OutFmt         - Format used for text tabular output, excluding the time channel.
          0    NNodeOuts      - Number of nodes to output to file [0 - 9] (-)
          0    OutNd          - Nodes whose values will be output  (-)
          OutList            - The next line(s) contains a list of output parameters. See OutListParameters.xlsx for a listing of available output channels, (-)
"RootFxr, RootFyr, RootFzr"
"RootMxr, RootMyr, RootMzr"
"TipTDxr, TipTDyr, TipTDzr"
"TipRDxr, TipRDyr, TipRDzr"
END of input file (the word "END" must appear in the first 3 columns of this last OutList line)

 ------- BEAMDYN V1.00.* INDIVIDUAL BLADE INPUT FILE --------------------------
IEA 15 MW Offshore Reference Turbine
 ---------------------- BLADE PARAMETERS --------------------------------------
26   station_total    - Number of blade input stations (-)
 1   damp_type        - Damping type: 0: no damping; 1: damped
  ---------------------- DAMPING COEFFICIENT------------------------------------
   mu1        mu2        mu3        mu4        mu5        mu6
   (-)        (-)        (-)        (-)        (-)        (-)
	 0.00299005 0.00218775 0.00084171 0.00218775 0.00299005 0.00084171
 ---------------------- DISTRIBUTED PROPERTIES---------------------------------
	 0.000000 
	 6.7403759942007923e+09 	 2.6537385919261174e+06 	 0.0000000000000000e+00 	 0.0000000000000000e+00 	 0.0000000000000000e+00 	 1.4844668300814739e+08
	 2.6537385828939164e+06 	 6.7290887653959208e+09 	 0.0000000000000000e+00 	 0.0000000000000000e+00 	 0.0000000000000000e+00 	 3.8985021665204242e+07
	 0.0000000000000000e+00 	 0.0000000000000000e+00 	 4.6051081603604736e+10 	 -1.0924947421422234e+09 	 1.8829097302851561e+07 	 0.0000000000000000e+00
	 0.0000000000000000e+00 	 0.0000000000000000e+00 	 -1.0924947421446135e+09 	 1.4962901263796594e+11 	 -2.2581466165237263e+07 	 0.0000000000000000e+00
	 0.0000000000000000e+00 	 0.0000000000000000e+00 	 1.8829097300796624e+07 	 -2.2581466167482525e+07 	 1.4972909591641461e+11 	 0.0000000000000000e+00
	 1.4844668300808364e+08 	 3.8985021665402792e+07 	 0.0000000000000000e+00 	 0.0000000000000000e+00 	 0.0000000000000000e+00 	 8.7489183048032883e+10

	 3.1274021155424143e+03 	 0.0000000000000000e+00 	 0.0000000000000000e+00 	 0.0000000000000000e+00 	 0.0000000000000000e+00 	 7.3931954710604941e+01
	 0.0000000000000000e+00 	 3.1274021155424143e+03 	 0.0000000000000000e+00 	 0.0000000000000000e+00 	 0.0000000000000000e+00 	 -2.3227931035313248e-01
	 0.0000000000000000e+00 	 0.0000000000000000e+00 	 3.1274021155424143e+03 	 -7.3931954710604941e+01 	 2.3227931035313248e-01 	 0.0000000000000000e+00
	 0.0000000000000000e+00 	 0.0000000000000000e+00 	 -7.3931954710604941e+01 	 1.0167976322208995e+04 	 1.0683130734106165e+00 	 0.0000000000000000e+00
	 0.0000000000000000e+00 	 0.0000000000000000e+00 	 2.3227931035313248e-01 	 1.0683130734106165e+00 	 1.0166284427210068e+04 	 0.0000000000000000e+00
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Note that I am partially sharing the BeamDyn_blade file because it has too many characters to fit in here.

Using these, if I run OpenFAST, I get the following error:

Best,
Fanny

Dear @Fanny.Callisaya,

After internal deliberation, I learned that gravity is included within BeamDyn’s internal quasi-static solve that happens at model initialization. And because your OpenFAST model has a rigid ElastoDyn, there is nothing left to “kick” the system, resulting in a constant response for the entire simulation. See the following OpenFAST Discussion for a related conversation: Acceleration Behavior at Blade Tip – IEA 15 MW + BeamDyn (No Aero/Inflow) · OpenFAST/openfast · Discussion #2703 · GitHub.

Also, @Derek.Slaughter reported the following:

I think that I ran across the StC issue when I was working on the tight-coupling mesh mapping. I vaguely recall there being something funny about those meshes. I think it had to do with the displacement mesh of the StC not being a sibling of the BeamDyn mesh to which it was applied, so you have to create a temporary mesh to transfer it. A good check would be to see if the TC branch also has this issue with StC.

The Tight Coupling (TC) algorithm of OpenFAST is being developed in the following Pull Request, which we intend to release in OpenFAST v5.0 later this year: Tight-Coupling Algorithm for OpenFAST 5.0 by deslaughter · Pull Request #2439 · OpenFAST/openfast · GitHub. But you could use this branch if you want to try it out sooner. And @Andy.Platt may look into fixing this issue in an earlier OpenFAST 4.x release sooner.

Best regards,