# -*- coding: utf-8 -*- """ Created on Tue Apr 20 14:58:58 2021 @author: benoit.schiltz """ import numpy as np # This matrix has been found using linearization in openfast (of RNA only, by disabling all # DOFs except the platform, by putting to 0 masses and inertia of the floater and the tower # (for the tower, has been done in the elastodyn files in distirbuted properties to 0.001) # by outputing the platform accelerations and for the input the input option in the .fst file set # to 2 (the platform loads are input ID 361 to 366 with openfast version used (2.4) and the input file of UMaine), # the starting column for where to take the matrix is column 6485) D = np.array([[1.276342365E-004, -9.957425175E-014, 6.143684499E-006, -6.666356696E-016, -8.504106945E-007, -4.216870486E-017], [-9.957456263E-014, 7.125371988E-005, -4.832488286E-015, 4.683889859E-007, 6.687388379E-016, 6.943297141E-008], [6.143610226E-006, 0.000000000E+000, 1.306764459E-006, 0.000000000E+000, -4.126078423E-008, 0.000000000E+000], [-3.819835870E-014, 2.683671187E-005, -1.853804526E-015, 1.796813161E-007, 2.565383795E-016, 1.135616139E-008], [-4.872449080E-005, 3.831587983E-014, -2.364040014E-006, 2.565483196E-016, 3.272311527E-007, 1.619331143E-017], [-2.414205897E-015, 3.978215898E-006, -1.172044017E-016, 1.135615814E-008, 1.621930936E-017, 3.166062984E-007]]) M = np.linalg.inv(D)