diff --git a/docs/inputs.rst b/docs/inputs.rst index e852ca7f..ff6d1b41 100644 --- a/docs/inputs.rst +++ b/docs/inputs.rst @@ -637,7 +637,7 @@ The list of possible options is: - writeLog (0 C, -1 F): If >0 a log file is written recording information. The bigger the number the more verbose. Please, be mindful that big values would critically reduce the performance! - - dtM (3.402823e+38) – desired mooring model maximum time step (s). In + - dtM (3.402823e+38 C, coupling timestep size F) – desired mooring model maximum time step (s). In MoorDyn-F if this is left blank it defaults to the :ref:`driver file ` dtC value or the OpenFAST time step. - CFL (0.5) – Desired mooring model maximum Courant-Friedich-Lewy factor. CFL is the ratio @@ -683,7 +683,7 @@ The list of possible options is: The new stationary solver in MoorDyn-C is more stable and more precise than the dynamic solver, but it can take longer to reach equilibrium. - disableOutput (0): Disables some console and file outputs to improve runtime. - - disableOutTime (0): Disables the printing of the current timestep to the console, useful for the MATLAB wrapper + - disableOutTime (0): Disables the printing of the current timestep to the console, useful for running with MATLAB A note about time steps in MoorDyn-C: The internal time step is first taken from the dtM option. If no CFL factor is provided, then the user provided time step is used to calculate CFL and MoorDyn-C @@ -719,12 +719,12 @@ The following MoorDyn-C options are not supported by MoorDyn-F: - StatDynFricScale: Same as MC in MoorDyn-F. - ICgenDynamic: MoorDyn-F does not have a stationary solver for initial conditions - disableOutput: MoorDyn-F output verbosity is controlled by OpenFAST - - disableOutTime: MoorDyn-F output verbosity is controlled by OpenFAST The following options from MoorDyn-F are not supported by MoorDyn-C: - - WaterKin (Null): Path to the water kinematics file. Allows the inputs of wave and current - coefficients formatted as described in the :ref:`water kinematics file `. + - WaterKin (Null): Path to the water kinematics file or the SEASTATE Keyword. The formatting of the + water kinematics file can be found :ref:`here `. Details on the different MoorDyn-F + water kinematics options can be found in the :ref:`MoorDyn-F water kinematics section `. - MU_KT (0.0): Transverse line coefficient of friction. - MU_KA (0.0): Axial line coefficient of friction. - MC (1.0): Same as StatDynFricScale in MoorDyn-C. @@ -965,28 +965,33 @@ Water Kinematics file (MoorDyn-F) ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ .. _MDF_wtrkin: -The file provided to MoorDyn-F for water Kinematics should have the following format, which +This file is used if simulating water kinematics in MoorDyn-F with a user defined grid (Old Method and Hybrid Method). +More details on the different MoorDyn-F water kinematics methods can be found in the :ref:`MoorDyn-F water kinematics section `. + +The file provided to MoorDyn-F for water kinematics should have the following format, which specifies the inputted waves and current. MoorDyn-F can handle a maximum of 100 lines of current -data. Details on this format can be found in the :ref:`water kinematics section `. +data. .. code-block:: none MoorDyn Waves and Currents input file ...any notes here... - --------------------------- WAVES ------------------------------------- - 3 WaveKinMod - type of wave input {0 no waves; 3 set up grid of wave data based on time series} - "waveelev.dat" WaveKinFile - file containing wave elevation time series at 0,0,0 - 0.5 dtWave - time step to use in setting up wave kinematics grid (s) - 0 WaveDir - wave heading (deg) - 2 - X wave input type (0: not used; 1: list values in ascending order; 2: uniform specified by -xlim, xlim, num) - -24, 150, 100 - X wave grid point data - 2 - Y wave input type (0: not used; 1: list values in ascending order; 2: uniform specified by -xlim, xlim, num) - -100, 100, 5 - Y wave grid point data - 2 - Z wave input type (0: not used; 1: list values in ascending order; 2: uniform specified by -xlim, xlim, num) - -600, 0, 60 - Z wave grid point data - --------------------------- CURRENT ------------------------------------- - 1 CurrentMod - type of current input {0 no current; 1 steady current profile described below} - z-depth x-current y-current + --------------------------- WAVES ------------------------------------- + 2 WaveKinMod - type of wave input {0 no waves; 1 use the old method; 2 use the hybrid method} + "" WaveKinFile - file containing wave elevation time series at 0,0,0 # Ignored if WaveKinMod = 2 + 0 dtWave - time step to use in setting up wave kinematics grid (s) # Ignored if WaveKinMod = 2 + 0 WaveDir - wave heading (deg) # Ignored if WaveKinMod = 2 + 2 - X wave input type (0: not used; 1: list values in ascending order; 2: uniform specified by -xlim, xlim, num) + -800, 10, 101 - X wave grid point data + 2 - Y wave input type (0: not used; 1: list values in ascending order; 2: uniform specified by -xlim, xlim, num) + -5, 5, 3 - Y wave grid point data + 2 - Z wave input type (0: not used; 1: list values in ascending order; 2: uniform specified by -xlim, xlim, num) + -600, 0, 61 - Z wave grid point data + --------------------------- CURRENT ------------------------------------- + 2 CurrentMod - type of current input {0 no current; 1 steady current profile described below; 2 hybrid method} + 2 - Z wave input type (0: not used; 1: list values in ascending order; 2: uniform specified by -xlim, xlim, num) # Ignored if CurrentMod = 1 + -600, 0, 50 - Z wave grid point data # Ignored if CurrentMod = 1 + z-depth x-current y-current # Table ignored if CurrentMod = 2 (m) (m/s) (m/s) 0.0 0.9 0.0 150 0.5 0.0 @@ -995,7 +1000,7 @@ data. Details on this format can be found in the :ref:`water kinematics section 5000 0.15 0.0 --------------------- need this line ------------------ -MoorDyn with FAST.Farm - Inputs +MoorDyn-F with FAST.Farm - Inputs ------------------------------- MoorDyn is available at an array level in FAST.Farm using the MoorDyn-F v2 input file format. diff --git a/docs/waterkinematics.rst b/docs/waterkinematics.rst index 74d0468d..88bb3f5f 100644 --- a/docs/waterkinematics.rst +++ b/docs/waterkinematics.rst @@ -496,8 +496,30 @@ components, roughly meaning that all the water flows away from the origin. Water Kinematics (MoorDyn-F) ---------------------------- -The WaterKin flag in MoorDyn-F takes an input file formatted as described in the additional :ref:`input -files section `. This file contains both wave and current data. The input file -has a flag for a wave data file and MoorDyn-F processes the wave data the same way MoorDyn-C does -with WaveKin = 3. The current data is processed by MoorDyn-F as a steady 3D grid the same way -MoorDyn-C processes currents = 1. +.. _waterkinematics-F: + +MoorDyn-F has three options for simulating wave and current loads on the MoorDyn system: the Old Method, +the Hybrid Method, and the SeaState Method. Both the hybrid method and the SeaState method use a coupling +with the `OpenFAST SeaState module _` +to calculate the wave kinematics. The Old Method is a legacy method that is not coupled to SeaState. The three +methods can be described as: + +- **Old Method**: MoorDyn takes wave elevation time series and current speeds with depths as inputs generates it's + own water kinematics using the equivalent of WaveGrid = 3 and Currents = 1 in MoorDyn-C. +- **Hybrid Method**: SeaState sets up wave elevation frequencies and current speeds and then MoorDyn interpolates + this information to user provided wave grid and current depth discretization. This allows users to set the + WaterKinematics for the whole OpenFAST or FAST.Farm system while still maintaining a courser grid for the MoorDyn + water kinematics, enabling computational efficiency. This method is compatible with FAST.Farm. +- **SeaState Method**: SeaState does all the work, MoorDyn just accesses the SeaState grid data at any given + timestep and location. This requires the SeaState grid to encompass the whole MoorDyn system for the most + accurate results. If a point is quried outside the SeaState gird, it will recive the water kinematics of + the nearest grid point. This method is not compataible with FAST.Farm. + +The table below summarizes these three options. + +.. figure:: waterkinematics_MDF.png + :alt: MoorDyn-F water kinematics options + +The WaterKin flag in MoorDyn-F can be either `SEASTATE` or a file path. If the flag is set to `SEASTATE` then the SeaState +method is used. If the flag is set to a file path, then the Old Method or Hybrid Method is used. This file is formatted as +described in the additional :ref:`input files section `. This file contains both wave and current data. diff --git a/docs/waterkinematics_MDF.png b/docs/waterkinematics_MDF.png new file mode 100644 index 00000000..61b7c28c Binary files /dev/null and b/docs/waterkinematics_MDF.png differ