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How 2 HAWC2, the user's manual

1. Initialization of variables can be performed here end end Riso R 1597 ver 3 1 EN fixed length array data from DLL to HAWC2 in this case with length 5 Dummy integer value containing the array size of array2 fixed length array data from HAWC2 to DLL in this case with length 10 23 Wind and turbulence Main command block wind densiiy Density ofthe wind kh tint Turbulence intensity J _ horizontal input nea the above commands roms as defined in the global coordinate system with horizontal axes or the meteorological coordinates system u v w witch can be tilted etc 1 0 meteorological default 1 horizontal center pos0 Global coordinates for the center start point of the turbulence box meteorological coordinate system etc default should the hub center 1 XG m 2 yo m 3 Zq m windfield rotations Orientation of the wind field The rotations of the field are performed as a series of 3 rotations in the order yaw tilt and roll When all angles are zero the flow direction is following the global y direction 1 Wind yaw angle deg positive when the wind comes from the right seen from the turbine looking towards yg Terrain slope angle deg positive when the wind comes from below Roll of wind field deg positive when the wind field is rotated according to the turbulence u component j shear format Definition of the mean wind shear 1
2. 23 01 15 03 03 03 03 04 04 04 04 04 05 06 08 06 06 2007 2007 2007 2007 2007 2007 2007 2007 2007 2007 2007 2007 2007 2007 2007 2007 2007 2007 2007 2007 2007 2007 2007 TJUL ANMH TJUL TJUL ANMH TJUL TJUL ANMH TJUL TJUL TJUL ANMH TJUL TJUL TJUL TJUL TJUL TJUL TJUL TJUL TJUL TJUL TJUL ANMH TJUL TJUL TJUL PBJA TJUL TJUL TJUL TJUL New licence manager compiler option Bug fixed related to bearing3 Somehow the coupling nodes was not defined since version 4 0 It affects the transfer of loads from bearing3 and further dow the tower Eigenfrequency analysis feature added Performs analysis on every individual body Some pointer nullify s are changed to deallocate pointer Eigenfrequency analysis feature added Performs analysis on every individual body Some pointer nullify s are changed to deallocate pointer Small change in constraint bearing2 action input Now only 4 parameters nessecairy as was allways the idea Bug fix related to number of output sensors in DLL output Change in external force module force d11 f90 Update sequence of affected body changed body_update_T is called in the end of post_init in order to allow for added stiffness damping etc by the rest of the initialization subroutines Small update of continue on no convergence Mann turbulence
3. How 2 HAWC2 the user s manual Torben Juul Larsen Anders Melchior Hansen Riso R 1597 ver 3 1 EN Technical University of Denmark Roskilde Denmark December 2007 Ris National Laboratory DIU Author Torben Juul Larsen Anders Melchior Hansen Title How 2 HAWC2 the user s manual Department Wind Energy Department Abstract max 2000 char The report contains the user s manual for the aeroleastic code HAWC2 The code is intended for calculating wind turbine response in time domain and has a structural formulation based on multi body dynamics The aerodynamic part of the code is based on the blade element momentum theory but extended from the classic approach to handle dynamic inflow dynamic stall skew inflow shear effects on the induction and effects from large deflections It has been developed within the years 2003 2006 at the aeroelastic design research programme at Risoe National laboratory Denmark This manual is updated for HAWC2 version 6 4 Riss R 1597 ver 3 1 EN December 2007 ISSN 0106 2840 ISBN 978 87 550 3583 6 Contract no Groups own reg no 1110400 1 Sponsorship Cover Pages Tables References Information Service Department Ris National Laboratory Technical University of Denmark P O Box 49 DK 4000 Roskilde Denmark Telephone 45 46774004 bibl risoe dk Fax 45 46774013 Content Semel aay layout Sn ME er SEEE PISAO E EEN 6 Conme MUC ODT OW nine din e
4. N mA2 O0 CO CO CO CO O0 CO O0 CO OO 10E 10 10E 10 10E 10 10E 10 10E 10 10E 10 10E 10 10E 10 10E 10 10E 10 I x N m 4 M MA MA M M A 00E 02 00E 02 00E 02 00E 02 00E 02 00E 02 00E 02 00E 02 00E 02 00E 02 I x N m 4 1 1 1 1 1 1 1 1 1 1 00E 02 00E 02 00E 02 00E 02 00E 02 00E 02 00E 02 00E 02 00E 02 00E 02 I x N m 4 dt a MA MA M M A 00E 02 00E 02 00E 02 00E 02 00E 02 00E 02 00E 02 00E 02 00E 02 00E 02 I_y N m 4 D d M md 00E 02 00E 02 00E 02 00E 02 00E 02 00E 02 00E 02 00E 02 00E 02 00E 02 I_y N m 4 A d nd db md MA M A 00E 02 00E 02 00E 02 00E 02 00E 02 00E 02 00E 02 00E 02 00E 02 00E 02 I_y N m 4 D d M md A 00E 02 00E 02 00E 02 00E 02 00E 02 00E 02 00E 02 00E 02 00E 02 00E 02 19 K N m 4 OO0OO0OO0OO0OO0OOOOO K 05376 05376 05376 05376 05376 05376 05376 05376 05376 05376 N mA4 Oo OO OOOOOOOCO K 05376 05376 05376 05376 05376 05376 05376 05376 05376 05376 N mA4 Oo OO OOOOOOOE 05376 05376 05376 05376 05376 05376 05376 05376 05376 05376 OO OOOOOO theta s xe m deg OO0OO0OO0OO0OOOOOO theta_s deg
5. Ys Y Coordinate from Cz to shear center m E modulus of elasticity N m G shear modulus of elasticity N m7 I area moment of inertia with respect to principal bending x axis N m I area moment of inertia with respect to principal bending y axis N m K torsional stiffness constant with respect to Z axis at the shear center m rad For a circular section only this is identical to the polar moment of inertia k shear factor for force in principal bending x direction k Shear factor for force in principal bending y direction A cross sectional area m7 O structural pitch about z axis This is the angle between the x axis defined with the c2_def command and the 1 main principal bending axis Xa Xe X 2 coordinate from C to center of elasticity m Yes Y Coordinate from C to center of elasticity m An example of an inputfile can be seen on the next page The most important features to be aware of are colored with red 18 Ris R 1597 ver 3 1 EN 1 main data sets available More comments space r m X_Cg m kg m m m y_cgri_x x_sh m ri_y m m 1 10 Sub set number 1 with 10 data rows 0 00 100 0 0 224 18 224 180 0 10 100 0 0 224 18 224 180 0 1001 1 0 0 0 2 0 2 0 1 00 1 0 0 0 2 0 2 0 1 90 1 0 0 0 2 0 2 0 2 00 1 0 0 0 2 0 2 0 3 00 1 0 0 0 2 0 2 0 3 20 1 0 0 0 2 0 2 0 4 00 1 0 0 0 2 0 2 0 5 0191 1 0 0 0 2 0 2 0 More comments space r m x_cg y_cg
6. 27 11 2006 TJUL Same procedure used for the hydrodynamic part gt faster convergence global version HAWC2MB 4 4 27 11 2006 TJUL Bug fixed related to input for action sensor mbdy moment_int 04 12 2006 ANMH index 7 gt index 6 in body_get_state_rot subroutine Affects orientation of all local l load elements in load linker global version HAWC2MB 4 5 06 12 2006 TJUL New sensors in aero module l Out of bounds bug in aero output_at corrected 07 12 2006 ANMH Files used in topologi_tools are closed after use 12 12 2006 TJUL In make output command outputs are bypassed if global time gt output stoptime 13 12 2006 TJUL In mann turbulence a new command dont_scale is made 21 12 2006 TJUL Update of HAWC_mann module Important only if turbulence outside box is used 04 01 2007 TJUL omega vector for aerodynamic module in rotor reference coordinates In aero files only rotation speed around y axis is used Eliminates influence from e g pitch velocity 04 01 2007 MHHA TJUL New optional relaxation parameter for solver Extra command in simulation input l global version HAWC2MB 4 6 12 01 2007 ANMH Change of sign in forced11 f90 Important only if an external force dll as coupled springs are used Not important for hawc_d11 l global version HAWC2MB 4 7 06 02 2007 ANMH TJUL Update of code structure multibodyproto split into several subroutines l New logical variables related to simulation_input New state_at in mbdy o
7. Bug fixed in hydroload module Important if hydroelements have different coo than global Bug fixed in hydroload module Important if relative z_distances has been used as hydro element input Dynamic stall module that combines the mhh Beddoes stall model with the MACflap model Coded by PBJA implemented by TJUL New general output command general stairs for a series of step functions Some files synchronized with HAWC2aero regarding IFDEF compiler directives Torque and power output sensor in aero module modified to give correct results also with 11 12 27 11 2007 29 11 2007 TJUL ANMH use of hub extenders Wake meandering model implemented rearrangement of aero files to avoid compiler linker circulation errors Eigenvalue solver for complete turbine at standstill initialisation of aerodrag element number Ris R 1597 ver 3 1 EN Coordinate systems The global coordinate system is located with the z axis pointing vertical downwards The x and y axes are horizontal to the side When wind is submitted the default direction is along the global y axes Within the wind system meteorological u v w coordinates are used where u is the mean wind speed direction v is horizontal and w vertical upwards When x y z notation is used within the wind coo this refers directly to the u v w definition Every substructure and body normally the same is equipped with its own coordinate system with origo in nodel of this stru
8. Correction of bug in loadlinker It turned out that loadfunction were only correct if an even number of calculation points were used aero or hydro Now OK also for odd numbers I global version HAWC2MB 3 9 06 10 2006 TJUL Soil spring module added soil stuff from hydro module removed l global version HAWC2MB 4 0 02 11 2006 TJUL Extra output commands in aero output_at l global version HAWC2MB 4 1 02 11 2006 ANMH TJUL Replacement of added stiffness method for soil springs Much better and faster than l previous Still not perfect 10 11 2006 ANMH TJUL Update of bearing3 Now it is general 10 11 2006 TJUL Output variables rearranged Only command included in bearing outputs 10 11 2006 TJUL Topologi input modified so many bases are allowable 15 11 2006 ANMH TJUL Files synchronized with Anders Slight update in dll_calls dll_types and windturb_mann l global version HAWC2MB 4 2 16 11 2006 TJUL Rearrangement of output action sensor allocation Reduces exe size from 23MB to 2 3MB l TJUL HAMA Correction of sensors induc and windspeed in output_at aero They were previously in a wrong coordinate system when written to output_at l global version HAWC2MB 4 3 17 11 2006 TJUL New fix3 constraint Locks a node to ground in a given rotation direction 23 11 2006 ANMH Update of loadlinker with respect to procedures for numerical update of stiffness l damping and mass terms Improves solutions of soil spring systems significant
9. LL poe eo LLC LATE LL D 00 0 0 0 ch1 ch1 ch2 ch2 ch3 ch3 angle angle angle angle angle angle 14 23 28 22 11 2006 speed speed speed important thing to notice is that in the binary data file all sensors are stored sequentially 1 e all data for sensor 1 all data for sensor 2 etc This way of storing the data makes later reading of a sensor extra fast since all data for a sensor can be read without reading any data for the other sensor Risg R 1597 ver 3 1 EN 53 mbdy main body related commands Command 1 Command 2 Explanation Only Label option option mbdy forcevec Fx Fy Fz shear force vector defined to output yes yes 1 Main body name 2 Element number 3 Node number on element 4 Main body name of which coordinate system is used for output global and local can also be used Local is around local beam main bending directions mbdy momentvec M My M moment vector defined to output yes yes 1 Main body name 2 Element number 3 Node number on element 4 Main body name of which coordinate system is used for output global and local can also be used Local is around local beam main bending directions mbdy state Vector with 3 components of either position yes yes velocity or acceleration of a point on an element defined to output 1 State pos vel or acc 2 Main body name 3 Element number 4 Relative distance from node 1 t
10. Shear type O none 1 constant 2 logarithmic 3 power law 4 linear 2 Parameter used together with shear type case of shear type 0 dummy 1 dummy 2 roughness length 3 power law exponent 4 du dz at center tur format o 1 Turbulence format 0 none 1 mann 2 flex tower shadow method 1 Tower shadow model 0 none 1 potential flow default 2 jet model 3 potential 2 flow where shadow source is moved and rotated with tower coordinates system a 1 Starting time for turbulence scaling s Stop time is determined by simulation length wind ramp factor Command that can be repeated as many times as needed The wind ramp factor is used to calculate a factor that is multiplied to the wind speed vectors Can be used to make troublefree cut in situations Linear interpolation 1s performed between to and tstop 1 time start to 2 time stop tstop 3 factor at to 4 factor at titop 34 Riso R 1597 ver 3 1 EN Obl Command name Explanation wind ramp abs Command that can be repeated as many times as needed The wind ramp abs is used to calculate a wind speed that is added to the wind speed u composant Can be used to make wind steps etc Linear interpolation is performed between to and tstop 1 time start to 2 time stop tstop 3 wind speed at to 4 wind speed at tstop l Filename incl relative path to file containing user defined shear example user defined shear data hawc2 shea
11. The datasets are repated without blank lines etc 1 Set number 2 Nrows Number of data rows for this set Data row according to Table 4 Table 3 Format of main data structure for the aerodynamic blade layout file The content of the colums in a data row is specified in the table below Parameter r distance from main body node 1 along z coordinate m chord length m thickness ratio between profile height and chord Profile coefficient set number Table 4 Format of the data rows for the aerodynamic blade layout file 44 Ris R 1597 ver 3 1 EN Data format for the profile coefficients file The format of this file which in the old HAWC code was known as the hawc pc file has not been changed for the HAWC2 code The format of the file is specified in the following two tables Line number 1 Nset Number of datasets present in the file The format of ecah data set can be read below The datasets are repated without blank lines etc 1 Nprofiles Number of profiles included in the data set 1 Set number 2 Nrows 3 Thickness in percent of chord length 4 3 Nrows Data row according to Table Table 5 Format of main data structure for the profile coefficients file The content of the colums in a data row is specified in table below Parameter a angle of attack deg Starting with 180 0 ending with 180 0 Ci lift coefficient Ca drag coefficient Cn moment coefficient Ta
12. deg 2 Oy deg 3 0 deg The rotation is given as euler parameters quaternions directly global coo l To PA r 3 r2 4 r Command that can be repeated as many times as needed A version of the euler parameters where the input is a rotation vector and the rotation angle of this vector Until a rotation command is specified body2 has same coo as body1 Rotations are performed in the present body2 coo system x value y value z value angle deg Initial rotation velocity of main body and all subsequent attached bodies A rotation vector is set up and the size of vector the rotational speed is given The coordinate system used is body2 coo l1 x value 2 y value 3 z value 4 Vector size rotational speed rad s 21 Sub command constraint In this block constraints between the main bodies and to the global coordinate system are defined Sub sub command fix0 This constraint fix node number 1 of a given main body to ground Name of main body that is fixed to ground at node 1 Sub sub command fix1 This constraint fix a given node on one main_body to another main_body s node oS Command name Main body name to which the next main body is fixed Node number of bodyl that is used for the constraint last can be specified which ensures that the last node on the main_body 1s used last must be used for now first or internal nodes doesn t work for now Main_body name of the main_bod
13. hy i l Camberline coef default 0 00199404265933 fdydxle Camberline coef default 0 00619732559359 1 Camberline coef default 0 002884364 19056 1 Camberline coef default 0 00006407600471 Choice between update methods 1 1 default gt update aerodynamics all iterations all timesteps 0 gt only update aerodynamics first iteration each new timestep Non dimensional time lag parameters modeling pressure time lag Default value 1 5 Non dimensional time lag parameters modeling boundary layer time lag Default value 6 0 Camberline coefficients used to specify the dynamics of the flap These coefficients are given by the Gaunaa model Default vales used are for the Riso B1 18 profile with a 10 chord length flap mounted Riso R 1597 ver 3 1 EN 43 Data format for the aerodynamic layout The format of this file which in the old HAWC code was known as the hawc_ae file is changed slightly for the HAWC2 input format The position of the aerodynamic center is no longer an input value since the definition is that the center is located in C 14 with calculated velocities in C3 Position of aerodynamic centers related to c2 def section coo center C474 Yc2 center C 3 4 Figure 4 Illustration of aerodynamic centers c1 4 and c3 4 The format of the file is specified in the following two tables Line number Description l 1 Nset Number of datasets present in the file The format of ecah data set can be read below
14. into small letters This could have importance if something case sensitive is written e g the name of a subroutine within a DLL begin simulation time_stop 100 0 solvertype 1 newmark begin newmark beta 0 27 gamma 0 51 deltat 0 02 bdynamic 1 0 end newmark end simulation In the next chapters the input commands are explaned for every part of the code The notation is main command for a begin end command block that is not a sub part of another begin end block and sub command block for a begin end block that is included within another block In the above written example simulation is a main command block and newmark is a sub command block Continue_in_file option A feature from version 6 0 and newer is the possibility of continuing reading of the main input file into another The command word continue_in_file followed by a file name causes the program to open the new file and continue reading of input until the command word exit When exit is read the reading will continue in the previous file An infinite number of file levels can be used 1 File name and path to sublevel input file exit End of input file Input reading is continued in higher level input file 6 Riso R 1597 ver 3 1 EN HAWC2 version handling The HAWC2 code is still frequently updated and version handling is therefore of utmost importance to ensure quality control For every new released version of the code a new version number
15. 0 2 0 2 0 0 2 10 As dataset 1 but stiff 0 00 100 0 0 224 18 224 180 0 0 10 100 0 0 224 18 224 180 0 0 1001 1 0 0 0 2 0 2 0 0 1 00 1 0 0 0 2 2 0 0 1 90 1 0 0 0 2 0 2 0 0 2 00 1 0 0 0 2 0 2 0 0 3 00 1 0 0 0 2 0 2 0 0 3 20 1 0 0 0 2 0 2 0 0 4 00 1 0 0 0 2 0 2 0 0 5 0191 1 0 0 0 2 0 2 0 0 1 Main data set 2 contains 1 sub sets The shaft 1 2 0 00 100 0 0 0 2 0 2 0 0 5 0191 100 0 0 0 2 0 2 0 0 1 Main data set 3 contains 1 sub sets The tower 1 2 0 00 100 0 0 0 2 0 2 0 0 Ris R 1597 ver 3 1 EN N NN NN ND NN ND NN N M ND NN NN NN ND N ND NN 10E 11 10E 11 10E 11 10E 11 10E 11 10E 11 10E 11 10E 11 10E 11 10E 11 10E 16 10E 16 10E 16 10E 16 10E 16 10E 16 10E 16 10E 16 10E 16 10E 16 10E 11 10E 11 10E 11 O0 CO CO O amp O O0 O0 O0 GQ O0 CO CO CO OC O0 O0 O0 CO CO O0 10E 10 10E 10 10E 10 10E 10 10E 10 10E 10 10E 10 10E 10 10E 10 10E 10 10E 15 10E 15 10E 15 10E 15 10E 15 10E 15 10E 15 10E 15 10E 15 10E 15 10E 10 10E 10 10E 10 00E 02 00E 02 00E 02 00E 02 00E 02 00E 02 00E 02 00E 02 00E 02 00E 02 00E 02 00E 02 00E 02 00E 02 00E 02 00E 02 00E 02 00E 02 00E 02 00E 02 00E 02 00E 02 00E 02 E E eS E E a E E S py A ee M ee ee MA M A y 00E 02 00E 02 00E 02 00E 02 00E 02 00E 02 00E 02 00E 02 00E 02 00E 02
16. 5 1 dont scale 0 scaling according to specified inputs default 1 raw turbulence field used without any scaling Riso R 1597 ver 3 1 EN 35 Sub command block flex Block that must be included if the mann turbulence format is chosen Obl filename u 1 Filename incl relative path to file containing flex turbulence u composant example turb flex u int filename v Filename incl relative path to file containing flex turbulence v composant example turb flex v int j filename w Filename incl relative path to file containing flex turbulence w composant example turb flex w int std scaling Ratio between standard deveation for specified composant related to turbulence intensity input specified in main wind command block 1 Ratio to u direction default 1 0 2 Ratio to v direction default 0 7 3 Ratio to w direction default 0 5 File description of user defined shear In this file a user defined shear used instead or in combination with one of the default shear types logarithmic exponential When the user defined shear is used the name and location of the datafile must be specified with the wind user_defined_shear command This command specifies the location of the file and activates the user defined shear If this shear is replacing the original default shear the command wind shear_format must be set to zero Only one shear can be present in a single file The shear describes the
17. Command 1 Command 2 Explanation Only Label omen opion mm 62 Wind vector Vx Vy Vz wind as if the turbine didn t exist 1 Coordinate system 1 global 2 non rotating rotor coordinates x always horizontal y always out of plane x pos global coo y pos global coo Z pos global coo Horizontal wind component velocity m s and direction deg defined to output Dir 0 when wind equals y dir 1 Coordinate system 1 global 2 non rotating rotor coordinates x always horizontal y always out of plane x pos global coo y pos global coo z pos global coo Position of the wake deficit center after the meandering proces to the downstream end position x y and z position is written in meteorological coordinates x y Z q U V W with origo in the position defined with center pos0 in the general wind commands 1 wake source number Value from DLL input vector is defined to output 1 DLL number 2 array index number Value from DLL output vector is defined to output 1 DLL number 2 array index number Riso R 1597 ver 3 1 EN hydro hydrodynamic related commands Command 1 Command 2 Explanation Only Label option option hydro water surface Water surface level at a given horizontal location is defined to output global coordinates Unit m l x pos 2 y pos hydro water vel acc Water velocity Vx V Vz and acceleration Ax Ay A vectors defined to output Unit m s and m s l x
18. ee with opposite sign coordinate system possible options are mbdy name global local local means local element coo on the inner element on the element indexed 1 lower that the node number One exception 1f node number 1 then the element nr also equals 1 main body name for reaction moment Node number on this main body The angle of a bearing2 constraint is set The angle limits are so far 0 90deg 1 Bearing name Variable is just echoed on the screen No a will be ignored Variable is just echoed on the screen No a will be ignored constraint bearing2 angle 32 Riso R 1597 ver 3 1 EN DLL format example written in FORTRAN 90 subroutine test n1 array1 n2 array2 implicit none IDEC ATTRIBUTES DLLEXPORT ALIAS test test integer 4 n1 amp Dummy integer value containing the array size of array n2 real 4 dimension 10 array real 4 dimension 5 array2 Code is written here end subroutine test DLL format example written in Delphi library test_dl1 type array_10 array 1 10 of single array_5 array 1 5 of single Procedure test var ni integer var array1 array_10 var n2 integer var array2 array_5 stdcall ni is a dummy integer value containing the size of array n2 is a dummy integer value containing the size of array2 begin Code is written here end exports test begin writeln The DLL pitchservo dll is loaded with succes
19. end main_body Risg R 1597 ver 3 1 EN 86 28 23 03 93 LS OO OOO 0 CO 67 begin main_body name copy_main_body end main_body blade2 bladel begin main_body name copy_main_body end main_body blade3 bladel begin orientation begin base body tower inipos end base 03 0 05 0 00 initial position of node 1 begin relative bodyl tower body2 shaft last only last is valid Te r body2_eulerang 90 0 0 0 0 0 body2_eulerang 5 0 0 0 0 0 horizontal position 5 degrees tilt body2_ini_rotvec_dl1 0 0 0 0 1 0 1 3 body ini rot coo end relative begin relative bodyl shaft last only last is valid body2 bladel 1 body2_eulerang 90 0 0 0 0 0 end relative blade 1 downwards begin relative bodyl shaft last only last is valid body2 blade2 1 body2_eulerang 0 0 0 0 120 0 Blade passage nr 2 body2_eulerang 90 0 0 0 0 0 end relative begin relative bodyl shaft last only last is valid body2 blade3 1 body2_eulerang 0 0 0 0 120 0 body2_eulerang 90 0 0 0 0 0 end relative end orientation Blade passage nr 3 begin constraint begin fix0 body tower end fix0 begin bearingl name bodyl tower shaft_rot last body2 shaft 1 r bearing_vector 2 0 0 0 0 1 0 end bearingl free bearing X COO
20. files is closed after every buffer read To allow several simulations acces to the same turbulence files New initial buffer read so out of x bounds errors are avoided Uses periodicity of turbulence boxes In principal this allows for infinitely large simulations Opening of mann turbulence boxed with loops and waits so several simulations can acces the same turbulence Only option in mbdy output wind output hydro output SO dynamic stall input parameters put in as default No need for parameter input if not changed Check that turbulence scale_time_start is less the total simulation length Correction of bug related to only option for output for main_body wind and hydro output commands New error check that animation can be written to Error message if not New possibility of continuing read in masterfile in a new file with the command continue_in_file Infinite number of level can be made Filename also written to logfile when line number is written Logfile_name command option in simulation_input Enables file written logfiles Error messages more clear with ERROR as key word Aerodynamic drag forces on structures enables with the new module aerodrag Corrections made in continue_in_file option End of file check removed replaced with exit command New unitnumber used when turbulence files are reopened To avoid unit mismatch especial Bug fixed in hydroload module Only important when more than one hydro element are used
21. in the table below Table 2 Structural data Riso R 1597 ver 3 1 EN 27 Column Parameter 3 Xm xr coordinate from Cin to mass center m O O O Z o o Ym Y1 Coordinate from C to mass center m fix radius of inertia related to elastic center corresponding to rotation about y axis m Tiy radius of inertia related to elastic center corresponding to rotation about x axis m 7 10 11 Ix area moment of inertia with respect to x axis N m 12 area moment of inertia with respect to y axis N m 13 K torsional stiffness constant with respect to z axis N m For a circular section only this is identical to the polar moment of inertia 14 15 16 17 O structural pitch about z axis This angle is the sum of structural pitch and aerodynamic pitch Positive with leading edge towards the wind deg An example of an inputfile can be seen on the next page The most important features to be aware of are colored with red The data in the table does not necessarily correspond to real turbine properties 28 Riso R 1597 ver 3 1 EN 1 1 1 A title can be written here 2 Main data set 1 contains 2 sub sets The blade 110r m x_cg y_cgri_x ri_y x_sh y_sh 0 00 100 0 0 224 18 224 180 0 0 10 100 0 0 224 18 224 180 0 0 1001 1 0 0 0 2 0 2 0 0 1 00 1 0 0 0 2 0 2 0 0 1 90 1 0 0 0 2 0 2 0 0 2 00 1 0 0 0 2 0 2 0 0 3 00 1 0 0 0 2 0 2 0 0 3 20 1 0 0 0 2 0 2 0 0 4 00 1 0 0 0 2 0 2 0 0 5 0191 1 0 0
22. is hard coded in the source This number can be found by executing the HAWC2 exe file without any parameters The version number is echoed to screen The same version number is also written to every result file no matter whether ASCII or binary format is chosen Hereby it is possible to reproduce all results at later stage and to dig in the source code for at previous version if special problems occur All information covering the different code versions has been made These data are listed on the next pages Riso R 1597 ver 3 1 EN Version information Version name global version HAWC2MB global version HAWC2MB global version HAWC2MB global version HAWC2MB global version HAWC2MB global version HAWC2MB global version HAWC2MB global version HAWC2MB global version HAWC2MB global version HAWC2MB global version HAWC2MB global version HAWC2MB global version HAWC2MB global version HAWC2MB global version HAWC2MB global version HAWC2MB global version HAWC2MB global version HAWC2MB 6 8 19 at 31 01 13 05 06 04 06 06 2006 2006 2006 2006 2006 2006 2006 2006 2006 2006 2006 2006 2006 TJUL TJUL ANMH TJUL TJUL TJUL TJUL TJUL TJUL TJUL MACQ TJUL TJUL TJUL TJUL TJUL TJUL TJUL MHHA TJUL TJUL TJUL TJUL TJUL TJUL TJUL TJUL Version system started Changes in so_dyn_stall model per
23. m 1 Blade number 2 Dof number 1 F 2 F 3 F 3 Radius m nearest inner calculation point is used aero Q Ci OQ ga lift aero acro aero moment 58 Ris R 1597 ver 3 1 EN Label option aero secmoment aero int force aero int moment aero torque aero thrust aero position aero rotation aero velocity Riso R 1597 ver 3 1 EN Aerodynamic moment at calculation point Local aero coo Unit kN m 1 Blade number 2 Dof number 1 M 2 M 3 M 3 Radius m nearest inner calculation point is used Integrated aerodynamic forces from tip to calculational point NB the integration is performed around the C location Unit KN Coordinates system 1 local aero coo 2 blade ref system 3 global 4 rotor polar Blade number Dof number 1 M 2 M 3 M Radius m nearest inner calculation point is used Integrated aerodynamic moment from tip to calculational point NB the integration is performed around the C location Unit KN Coordinates system 1 local aero coo 2 blade ref system 3 global 4 rotor polar Blade number Dof number 1 M 2 M 3 M Radius m nearest inner calculation point is used Integrated aerodynamic forces of all blades to rotor torsion Unit kNm No parameters Integrated aerodynamic forces of all blades to rotor thrust Unit kN No parameters Position of calculation point Unit m Coordinates system 1 local aero coo 2 blade ref system
24. mean wind profile of the u v and w component of a vertical cross section at the rotor The wind speeds are normalized with the mean wind speed defined with the command wind wsp Line number Description 1 Headline not used by HAWC2 2 Information of shear v component 1 is the number of columns NC 2 1s the number of rows NR 3 Headline not used by HAWC2 4 NR Wind speed in v direction normalized with u mean NC columns Wind speed in v direction normalized with u mean NC columns 1 Headline not used by HAWC2 Headline not used by HAWC2 Horizontal position of grid points meteorological coo Headline not used by HAWC2 Vertical position of grid points meteorological coo l l l Wind speed in v direction normalized with u mean NC columns l l l io 36 Ris R 1597 ver 3 1 EN Example of user defined shear file User defined shear file D Se ne Vy Tw array sizes shear_v component normalized with U_mean Oy 0 O a omponent D ona Pe 1 sD SI Ds ey eS omponent Cr OD GE ir CG Cs Ca I Cae WO O OO Ce ee ee On Cr Er O EDR CURE EN CD Co EN CS Creer Dee O1 CD Cy EN Co Cs Ce SC 1 ee er ere OG coordinates O O1 O W me NO 60 0 100 0 2005 0 Sub command block wakes Block that must be included if the Dynamic Wake Meandering model is used to model the wind flow from one or more upstream turbines In order to make the model f
25. pos 2 y pos 3 7 pos hydro fm Inertia force Fx Fy F contribution from Morisons formula in a given calculation point Unit kN 1 hydro element number 2 sec number 3 coordinate system 1 global hydro fd Drag force F F F contribution from Morisons formula in a given calculation point Unit kN 1 hydro element number 2 sec number 3 coordinate system 1 global general general output commands option Eee oa 1 constant value general step A step function is created This function changes No from fp to f at time to 1 to sec 2 fo F fi general stairs A series of steps are created a staircase N 1 f start value 2 Stepsize 3 Step duration s 4 Number of steps No general deltat The time increment is send to output No N parameters general harmonic A harmonic function is send to output N F t Asin 2x f t k 1 A 2 fo 3 k Riso R 1597 ver 3 1 EN 63 No O The time is send to output No parameters No O O Command 1 Command 2 Explanation Label option o general harmonic2 A harmonic function is send to output N 0 t lt ty F t 5Asm 2z7f t t k 1 lt t lt t t gt t general stairs A series of steps resulting in a staircase signal is created 1 fo start value of function 2 ty time for first step change s 3 Step size 4 Step duration s 5 Number of steps Output_at_time output at a given time This command is especially usefull if a snapshot of loads
26. tmp_gen_speed sensor Updates in hawcstructure f90 and body_output f90 New error message in body_output Improvement of general command reader in genout_tools in order to accept tabulator spacings General shine up of aerodynamic calculations regarding induction and tiploss calculations rechecked against IEA rev 3 calculations Number of radial point in the induction calculation is default set to the name number as number of aero sections Previous default of 30 stations Linear interpolation in aeroload_tools updated so no division by zero occurs when x0 x1 used in cases where extrapolation is not wanted Fix1 constraints updated in topologi_constraints_fix1 f90 and hawcstructure f90 Ensures e g that constraint properties are identical for blades Ensures that blades performs identically New acceptance criteria from license manager New general load linker that replaces bladelink f90 and wavelink f90 Pitchsensors bearing sensor updated during iterations too Especially important for DLL controllers Correction of bug related to aero int_force and int_moment sensors Correction of bug in DLL actions On nodes different from nr 1 in and external forces and moments were placed on the node 1 number lower Pitch sensor modified Now pitch velocity is clculated based on numerical differentiation of calculated angle Should be less sensitive to solver inaccuracies In output of bearing sensor new options are added 180 180 deg output etc
27. 0 150 150 axial lateral nrow ndefl 0 2 20 20 20 20 20 axial lateral 1 0 500 500 500 500 500 nrow ndefl 0 2 200 200 200 200 200 1 0 5000 5000 5000 5000 5000 Sc eS ee ee m ZG RARES Less IE ndei kN m Ml NS esse m ZG OB Os a BP mee TKN mIl axial lateral rotation z nrow ndefl 0 2 200 200 200 200 200 1 0 5000 5000 5000 5000 5000 xl X2 X3 rad ZGMi1M2M3 M ndefl kNm m Ris R 1597 ver 3 1 EN Output This command output can either be a main command block or a sub command block within the hawc dll command block In the tables below two special columns are introduced One is only option and the other label option When the check mark is yes in only option it is possible to use only one of the fields if mre than one sensor was defined through the command The sensor that is used is determined by the number following the only command word see example below constraint bearing1 shaft_rot 2 only 2 If the only command and the following number was omitted two sensors was defined one for the angle and one for the velocity With the only command only the velocity sensor is used in the output since the following number is 2 With the label option it is possible to make a user defined label of the sensor which is written in the sensor list file The label command is the symbol Everything after the symbol is used as a label An example of this cou
28. 00E 02 00E 02 00E 02 00E 02 00E 02 00E 02 00E 02 00E 02 00E 02 00E 02 00E 02 00E 02 00E 02 29 Oo OO OOOOOOOX Oo OO OOOOOOO 05376 05376 05376 05376 05376 05376 05376 05376 05376 05376 05376 05376 05376 05376 05376 05376 05376 05376 05376 05376 05376 05376 05376 Oo OO OOOOOOOX Oo OO OOOOOCOOCO Oo Oo OO OO6OOOOOX OO Oo OO OOOOOCOoO Oo OO OOOOOCOoOCO Oo oOOOOOOCOoO gt ct gt oO ct ab _S Oo OO OOOCOOOO Oo OO OOOOOCOOCO ee a N Oooo0o0o0o000 oO Ooooa0o0000 Oo OO OOOOOCOOEO Oo OO OOOOOOOK lt Oo OO OOOOOOOCO Oo OO OOOOOCOOCO OO O OOCOOCOEOCOO DLL control This block contains the possible Dynamic Link Library formats accessible for the user The DII s are mainly used to control the turbine speed and pitch but since the DLL format is very general other use is possible too e g external loading of the turbine Main command block dll So far only one DLL format is availbale which is the hawc dll format listed below Sub command block hawc dil The basic thing regarding the HAWC DLL format is that two one dimensional arrays are transferred between the HAWC2 core and the DLL procedure The first contains data going from the HAWC2 core to the DLL and the other contains data going from
29. 1 0 bladel blade 1 tip pos mbdy state pos blade2 14 1 0 blade2 blade 2 tip pos mbdy state pos blade3 14 1 0 blade3 blade 3 tip pos mody state vel tower 9 1 0 global Velocoty tower top mbdy state acc tower 9 1 0 global Acceleration tower top DLL inpvec 1 1 Ref power w DLL inpvec 2 Generator torque LSS Nm end output r exit 70 Ov Ris R 1597 ver 3 1 EN Risg s research is aimed at solving concrete problems in the society Research targets are set through continuous dialogue with business the political system and researchers The effects of our research are sustainable energy supply and new technology for the health sector www risoe dk
30. 290 0 00 Nacelle element start sec 10 O0 0 59 890 0 00 Tower top end c2_def end main_body i begin main_body name shaft type timoschenko nbodies 1 node_distribution c2_def damping 0 03 0 03 0 03 0 005 0 005 0 005 begin timoschenko_input filename data hawc_st 001 S t 22 L amp end timoschenko_input begin c2_ def nsec 5 sec 1 0 0 0 0 0 000 0 0 Tower top sec 2 0 0 0 0 0 500 0 0 Gearbox sec 3 0 0 0 0 1 840 0 0 Main bearing sec 4 0 0 0 0 2 582 0 0 Hub start sec 5 0 0 0 0 4 030 0 0 Rotor center end c2_def end main_body begin main_body name bladel type timoschenko nbodies 4 node_distribution c2_ def damping 0 028 0 042 0 009 0 00023 0 0002 0 0002 begin timoschenko_input filename data hawc_st 001 set 1 1 set subset end timoschenko_input begin c2_def nsec 15 sec 1 0 000 0 000 0 000 0 000 sec 2 0 000 0 000 1 031 0 000 sec 3 0 000 0 000 1 240 0 000 sec 4 0 000 0 000 3 08 2 00 sec 5 0 000 0 000 5 240 6 690 sec 6 0 000 0 000 9 240 9 110 sec 7 0 000 0 000 13 240 F 53910 237 sec 8 0 000 0 000 17 240 5 450 sec 9 0 000 0 000 20 440 3 840 sec 10 0 000 0 000 24 060 2 sec 11 0 000 0 000 29 240 1 sec 12 0 000 0 000 35 000 sec 13 0 000 0 000 37 240 Ox sec 14 0 000 0 000 39 240 0 sec 15 0 000 0 000 40 040 G end c2_def
31. 3 global 4 rotor polar Blade number Dof number 1 M 2 M 3 M Radius m nearest inner calculation point is used Orientation of calculation point Unit deg Coordinates system 1 blade ref coo 2 rotor polar coo Blade number Dof number 1 0 2 0 3 0 Radius m nearest inner calculation point is used Velocity of calculation point Unit m s 1 Coordinates system 1 local aero coo 2 blade ref system 3 global 4 rotor polar 2 Blade number 3 Dof number 1 Vx 2 V 3 V 4 Radius m nearest inner calculation point is used No No No N N No aero aero aero acro acro aero aero acceleration aero windspeed aero induc induc sector ct induc sector cq induc sector a induc sector am Acceleration of calculation point Unit m s Coordinates system l local aero coo 2 blade ref system 3 global 4 rotor polar Blade number Dof number 1 Vx 2 Vy 3 V Radius m nearest inner calculation point is used Free wind speed seen from the blade Unit m s 1 Coordinates system l local aero coo 2 blade ref system 3 global 4 rotor polar Blade number Dof number 1 Vx 2 Vy 3 V Radius m nearest inner calculation point is used Thrust coefficient at a position on the rotor Unit 1 Radius m s 2 Azimuth angle zero downwards deg Torque coefficient at a position on the rotor Unit 1 Radius m s 2 Azimu
32. 6 2006 ANMH TJUL FRBA TJUL TJUL TJUL TJUL TJUL TJUL ANMH TJUL TJUL TJUL TJUL ANMH TJUL TJUL TJUL ANMH TJUL TJUL TJUL TJUL ANMH Normalisation of vectors in utils funtions get_two_plane_vectors Used for better accuracy in bearing1 and bearing2 definitions Correction of bug in get_ae_data procedure in aeroload_calcforces unit Profile sets higher than one is now also usable Gravity loads cut in at 0 5secs same method as for the aero loads To reduce initial transients Harmonic2 function in general output time limitid harmonic function topologi_mainbody_actions module added New features to the actions list Mann turbulence is reused if simulation time is longer than included in turbulence box Correction of bug in aerodynamic moment integration procedure only related to aerodynamic file output Change of error message criteria regarding alowable number of bodies within a mainbody lt n elements Correction of bug in dynstall_mhh model so no division by zero occurs when a zerolift profile is used Correction of bug related to torsion of blade in the blade linker Check applied on exp expressions in dynamic stall mhh model to avoid underflow errors New check applied in mann turbulence unit to avoid array out of bounds during bizar startup transients Correction of exp check in dynstall_mhh model just created in version 3 2 Generator_rotation sensor setup for old_htc_structure format replaces the older
33. A begin bearing3 name shaft_rot bodyl tower last body2 shaft 1 bearing_vector 2 0 0 0 0 1 0 omegas 1 236 s end bearing3 Prescribed rotation speed X COO begin bearing2 name pitchl bodyl shaft last body2 bladel 1 bearing_vector 2 0 0 0 0 1 0 end bearing2 forced bearing X COO begin bearing2 name pitch2 bodyl shaft last body2 blade2 1 bearing_vector 2 0 0 0 0 1 0 end bearing2 forced bearing X COO begin bearing2 name pitch3 bodyl shaft last body2 blade3 1 bearing_vector 2 0 0 0 0 1 0 end bearing2 end constraint r end new_htc_ structure forced bearing X COO r r begin wind density 2 De 5 wsp SEOs op horizontal_input 1 gt windfield_rotations 8 0 0 0 O center_pos0 0 0 0 0 59 shear_format Orde 3 turb_format Eg tower_shadow_method 1 tint 0 03 68 0 89 hub_height O no turbulence X Y Z angle vel rad s fixed to ground in translation and rotation of node 1 O global 1 body1 2 body2 O global 1 bodyl1 2 body2 O global 1 bodyl1 2 body2 O global 1 bodyl1 2 body2 O global 1 bodyl1 2 body2 l mann body 2 vector in body2 coo vector in body2 coo vector in body2 coo vector in body2 coo vector in body2 coo 2 flex Ris R 1597 ver 3 1 EN begin wakes nsource 1 sour
34. Character ef inputfile IDECS ATTRIBUTES DLLEXPORT ALIAS init init end subroutine init subroutine set_new_time time implicit none IDECS ATTRIBUTES DLLEXPORT ALIAS set new time set_new time real 8 time end subroutine set_new_time subroutine get_sea_elevation pos_xy elevation implicit none IDECS ATTRIBUTES DLLEXPORT ALIAS get_sea_elevation get_sea_elevation real 8 dimension 2 pos_xy only present for future use together with more complex wave fields real 8 elevation end subroutine get_sea_elevation subroutine get_kinematics pos vel acc implicit none IDECS ATTRIBUTES DLLEXPORT ALIAS get_kinematics get_kinematics real 8 dimension 3 pos amp vel amp acc end subroutine get_kinematics 48 Riso R 1597 ver 3 1 EN Soil module Main command block soil In this command block soil spring damper forces can be attached to a main body The formulation is performed so it can be used for other external distributed spring damper systems than soil Sub command block soil_ element Command block that can be repeated as many times as needed In this command block the distributed soil spring damper system is set up for a given main body Obl body name l Main body name to which the hydrodynamic calculation points are linked 1 Filename incl relative path to file containing soil spring properties example soil soildata dat 1 Distribution method uniform only pos
35. F number 1 x 2 y 3 z 3 Coordinate system l aero 2 blade 3 global 4 rotor polar int moment Aerodynamic moment integrated from tip to given radius N 1 Blade number 2 DOF number 1 x 2 y 3 z 3 Coordinate system l aero 2 blade 3 global 4 rotor polar inipos Initial position of sections in blade coo m No 1 Blade number 2 DOF number 1 x 2 y 3 z position Actual position of section m No 1 Blade number 2 DOF number 1 x 2 y 3 z 3 Coordinate system l aero 2 blade 3 global 4 rotor polar velocity Actual velocity of section m s No 1 Blade number 2 DOF number 1 x 2 y 3 z 3 Coordinate system l aero 2 blade 3 global 4 rotor polar acceleration Actual acceleration of section m s No 1 Blade number 2 DOF number 1 x 2 y 3 z 3 Coordinate system l aero 2 blade 4 rotor polar ct_ local Local thrust coefficient Calculated based on the expression No ETAT Blade number cq local Local thrust coefficient Calculated based on the expression No c V Fac B 4 2 Tr Vine 1 Blade number o chord Chord length m 1 Blade number induc Induced velocity m s N 1 Blade number 2 DOF number 1 x 2 y 3 z 3 Coordinate system l aero 2 blade 3 global 4 rotor polar Riso R 1597 ver 3 1 EN 65 Label option windspeed Free windspeed without induction but incl tower shadow effects if used m s 1 Blade number 2 DOF number 1 x 2 y 3 z 3 Coordinate system l aero 2 bla
36. From line number 13 and onwards the sensors are specified with the following information Sensor number Variable description unit Long description Example 5 beal angle_speed rad s pitchl angle speed Full example of the sel file Version ID HAWC2MB 4 3w Time 14 23 28 Date 22 11 2006 Result file res2 rev0 case41c nohydro dat Scans Channels Time sec Format 4500 199 90 000 ASCII Channel Variable Description 1 Time S Time 2 beal angle deg shaft_rot angle 3 beal angle_speed rpm shaft_rot angle speed 4 beal angle deg pitchl angle 5 beal angle_speed rad s pitchl angle speed 6 beal angle deg pitch2 angle 4 beal angle _ speed rad s pitch2 angle speed 8 beal angle deg pitch3 angle 9 beal angle_speed rad s pitch3 angle speed File format of HAWC_BINARY files In this file format results are written to a binary unformatted data file with the name assigned to the filename variable eg filename res resfil The data file will have the extension dat as a standard The description of the sensors in the data file is given in another textfile with same filename as the data file but the extension sel An example could be res resfil dat and res resfil sel The data are scaled to standard 2 byte integers with a range of 32000 using a scalefactor The scalefactor is determined for each output sensor ae MAX abs max abs min 32000 where max and min are the largest and lowest number in the original data
37. OO0OO0OO0OO0OOOOOO theta_s deg OO0OO0OO0OO0OOOOOO m gt lt m lt OO0OO0OO0OO0OOOOOO OO0OO0OOC0OO0OOOOOO O OO0OO0OO0OO0OOOOOO O OO0OO0OO0OO0OOOOOO OO0OO0O0OO0OO0OOOOOO 3 Ooooao0O0000 O 3 m lt 3 D m lt D m x lt D Oo OO OOOOOCOOC Oo OO OOOOOCOOC Oo OO OOOOOOOC Oo OO OOOOOCOOC Oo OO OOOOOOO Oo OO OOOOOOOC Sub command orientation In this command block the orientation regarding position and rotation of every main_body are specified Sub sub command base The orientation of a main_body to which all other bodies are linked directly or indirectly body 1 Main body name that is declared to be the base of all bodies normally the tower or foundation s inipos Initial position in global coordinates 1 x pos m 2 y pos m 3 z pos m body_eulerang Command that can be repeated as many times as needed All following rotation are given as a sequence of euler angle rotations All angle can be filled in rotation order X y Z but it is recommended only to give a value different from zero on one of the angles and reuse the command if several rotations are needed 1 0 deg 2 Oy deg 3 0 deg body_eulerpar The rotation is given as euler parameters quaternions directly global coo lz To version of the euler parameters where the input is a rotation vector and the rotation angle of this vector x value y value z value an
38. R 1597 ver 3 1 EN TYPES SHAFT_STRUCTURE Specification of actual structural shaft data sets The data set must be available in the HAWC stexl file 1 Set number TYPES TOWER_STRUCTURE Specification of actual structural tower data sets The data set must be available in the HAWC st ex file 1 Set number n ee En oe Las End of file No parameters Description of the data format in the hawc_st ex1 file This file contains information of the distributed element properties that is being discretized by to HAWC2 code for each beam element The general layout of the file 1s specified in the table below Line 1 Three numbers are red They declare whether data is included for respectively BLADE SHAFT TOWER They shall always be set to 1 because of all substructures are needed for the model The file is divided into 3 sections One for the blade nacelle and tower In a section One number is read This is the number of data sets in the section The file is divided into the number of sets In a set Line 1 Two numbers are read First number is the data number second is the number of lines N included in the data set Lines 3 The data information is read to N 2 The columns of the data set contain Cross sectional properties of the respective substructures as function of distance from substructures as function of distance from substructure base node as shown in table below The content of the colums in a data row is specified
39. R 1597 ver 3 1 EN 13 Simulation Main command block Simulation This block shall be present when time simulations are requested always 1 Simulation length s 1 Choice of available solver method 1 newmark solver_relax 1 Relaxation parameter on increment within a timestep Can be used to make difficult simulation run through solver when parameter is decreased however on the cost of simulation speed Default 1 0 on no convergence Parameter that informs solver of what to do if convergence is not obtained in a time step l stop simulation stops default continue simulation continues error message is written convergence limits Convergence limits that must be obtained at every time step l epsresq residual on internal external forces default 10 0 2 epsresd residual on increment default 1 0 3 epsresg residual on constraint equations default 0 7 _ max iterations 1 Number of maximum iterations within a time step animation Included if animation file is requested 1 Animation file name incl relative path E g animation animation 1 dat logfile Included if a logfile is requested internally from the htc command file 1 Logfile name incl relative path E g logfiles log 1 txt Sub command block newmark This block shall be present when the solvertype is set to the newmark method bea o l beta value default 0 27 gamma 1 gamma value default 0 51 deltat 1 ti
40. approximation Phi s 1 Al exp b1 s A2 exp b2 s default b2 0 300 update Choice between update methods 1 1 default gt update aerodynamics all iterations all timesteps 0 gt only update aerodynamics first iteration each new timestep a Non dimensional time lag parameters modeling pressure time lag Default value 1 5 D a Non dimensional time lag parameters modeling boundary layer time lag Default value 6 0 only potential model O default gt run full MHH beddoes model 1 gt Potential flow model dynamics superposed to steady force coefficients Sub command block dynstall_ mhhmagf Block that may be included if the MHHMAGF Beddoes dynamic stall method is chosen The stall model is the mhhbeddoes model expanded with dynamic effects of trailing edge flap motion If not included defaults parameters are automatically used Riso R 1597 ver 3 1 EN 41 g Command pane _ Explanation Eoo Eoo 1 1 DS ES Command that must be repeated for each flap section defined Non dim radius r R of flap section start from blade root Non dim radius r R of flap section end from blade root Filename incl relative path to file containing a delta C static profile coefficients Fileformat is ASCII two colums The delta C marks the delta for one degree positive flap angle at various angles of attack Coefficients of the exponential potential flow step response approximation 1 Al default 0 0821 2 A2 def
41. ault 0 1429 3 A3 default 0 3939 Default coefficients is derived for the Riso B1 18 profile Coefficients of the exponential potential flow step response approximation 1 Bl 2 B2 3 B3 Camberline coefficients 1 TII a default 0 01095889075152 2 TII b default 0 00097224060418 Camberline coefficients 1 TI2 a default 0 00105409494045 2 TI2 b default 0 00000964520546 3 TI2 c default 0 0001 140994543 1 4 TI2 d default 0 00000096469297 Camberline coefficients 1 TI3 a default 0 01823405820608 2 TI3 b default 0 00043 120871058 3 TI3 c default 0 00042628415385 4 TI3 d default 0 00004009691664 Camberline coefficients 1 TI4 a default 0 04288996443976 2 TI4 b default 0 00090740475877 Camberline coefficients 1 TIS a default 0 17732761097554 2 TIS b default 0 00050518296019 Camberline coefficients TI6 a default 0 154797867401 19 TI6 b default 0 00144695790428 Yoo orh coefficients TI7_a default 0 20821609838649 2 TI7 b default 0 01746039372665 nu es coefficients 1 TIS a default 0 0132968841 1426 2 TIS b default 0 00088185679919 3 TIS c default 0 00737988450743 42 4 TIS d default 0 00054605607792 Camberline coefficients 1 TI9 a default 0 02960508187800 2 TI9 b default 0 00001446048395 3 TI9 c default 0 00211611339069 4 TI9 d default 0 00001171165409 Riso R 1597 ver 3 1 EN hdydx Camberline coef default 0 07 106384522900
42. ble 6 Format of the data rows for the profile coefficients file Main command block blade_c2_def for use with old_htc_structure format In this command block the definition of the centerline of the main body is described position of the half chord This command shall be used as a main command even though it is only used together with the aerodynamic module The reason for this is that it used to submit information that is usually given in the new_htc_ structure format which is also a main command block The input data given with the sec commands below is used to define a continous differentiable line in space using akima spline functions This centerline is used as basis for local coordinate system definitions for sections along the structure If a straight line 1s requested a minimum of three points of this line must be present Must be the present before a sec command 1 Number of section commands given below sec Command that must be repeated nsec times Number X pos m y pos m Z pos m 0 deg Angle between local x axis and main body x axis in the main body x y coordinate plane For a straight blade this angle 1s the aerodynamic twist Note that the sign is positive around the z axis which is opposite to traditional notation for etc a pitch angle Riso R 1597 ver 3 1 EN 45 Aerodrag for tower and nacelle drag Main command aerodrag With this module it is possible to apply aerodynamic drag force
43. ce_pos ble_parameters op_data 0 0 28 0 001 0 0012 0 1 3 0 0 rad sec 0 0 3992 89 S d 2D kl k2 delete file pitch grader opstr ms begin man n_meanderturb end man filename_v filename_w wake meander m ander_8 _ 6v bin wake meander m box_dim_u 8192 0 732421875 box_dim_v 32 80 box_dim_w 32 80 3 std_scaling 13 0 0 8 0 5 n_meanderturb ander_8_6w bin begin mann_microturb filename_u wake turbulence filename_v wake turbulence filename_w wake turbulence box_dim_u 128 1 5625 box_dim_v 128 0 78125 box_dim_w 128 0 78125 std_scaling 1 0 1 0 1 0 end mann_microturb end wakes wake 108 6u bin wake 108 6v bin wake 108 6w bin wake turbulence begin mann filename filename filename box_dim box_dim r u V WwW U EANA box_dim_w std_scaling end mann turb 80m_8ms_8u b turb 80m_8ms_8v b turb 80m_8ms_8w b 8192 0 732421875 B26 245625 F 32 2 562 5 4 1 0 0 8 0 5 TN ath cigar in begin tower_shadow potential tower_offset 0 0 nsec 2 radius radius 04 0 2 21 gt 600 1 25 end tower_shadow potential end wind r r begin aero nblades 3 hub_vec shaft link 1 mbdy_c2_def bladel link 2 mbdy_c2_def blade2 link 3 mbdy_c2_def blade3 ae_filename oe vector data hawc_ae 0
44. cture The structure can be arbitrarily defined regarding orientation within this coordinate system Within a body a number of structural elements are present The orientation of coordinate systems for these elements are chosen automatically by the program The local z axis is from node to 2 on the element The coordinate system for the blade structures must be defined with the z axis pointing from the blade root and outwards x axis in the tangential direction of rotation and y axis from the pressure side towards the suction side of the blade profiles This is in order to make the linkage between aerodynamics and structure function Tr Figure I Illustration of coordinate system as result of user input from example in section Example of main input file at page 67 There are two coordinate systems in black which are the default coordinate systems of gloabl reference and default wind direction The blue coordinate systems are main body coordinate systems attached to node I of the substructure the orientation of these are fully determined by the user The red coordinate systems are also defined by the user but in order to make the linkage between aerodynamic forces and structure work these have to have the z from root to tip x in chordwise direction and y towards the suction side The green coordinate system is just included to illustrate an intermediate coordinate rotation of 90 of the tower coo before the final tilt angle rotation Riso
45. d dti are de 6 HAWC verson Wren ag 8 200 cn 7 Coordinate systems Se nn eee 13 LE LL DE AGN DE LP RE EE D DE LE EE D EE RE EN 14 Main command block Simulationa ssl 14 Sub command block NEWINGLK iis nn hi sans TAN emilie 14 DUC EAN ue 15 Main command block new_htc_structure ss 15 Sub command block main body ccccccccccccceeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeees 16 Format definition of file including distributed beam properties 17 Sub command orientation saes a aa a eld el te el ale it nr a 20 Sub cominand COns thai sinc aceed sacle chew ees As sence aaa 22 Main command block old NtiC structure sente niet mises 25 Description of the old hte file format 2 en a ieee 25 Description of the data format in the hawc_st ex1 file 27 DIE Control sin nintendo delete EE des eine 30 Moin commandblock dilisssssnhenn hide ain thai sente 30 Sub command block haw dit 30 DLL format example written in FORTRAN 90 33 DLL format example written in Delphi 33 Wind and tirpnl nee ss un 34 Man command blocek MURS ANR nt a ent 34 SUD Commiand block MANN Meine Asan enn eda ai aoe eee esa nee 35 Sub Comimiand Block TEX ssnciats ids aa a eset amas a 36 Pile descnptuon Of user defined SOA din dns S emda 36 Example Of user delined Shear les hum as Paleo ae ee 37 Sub comunand DIOCK Wakes lt i crass cst teats nn MR sien tite 37 Sub comma
46. de 3 global 4 rotor polar inflow_angle Angle of attack rotation angle of profile related to polar coordinates not pitching Unit deg 1 Blade number dcldalfa Gradient dCl da Unit deg 1 Blade number dcddalfa Gradient dCd d Unit deg N 1 Blade number No No No O 66 Ris R 1597 ver 3 1 EN Example of main input file Fictitious 2MW Turbine for wake simulationes r begin Simulation time_stop 625 00 solvertype ISE newmark animation anim anim_2MW_step dat begin newmark beta 0 27 gamma Osby deltat 0 02 bdynamic 1 0 end newmark end simulation begin new_htc_structure beam_output_file_name info 2MW_beam txt body_output_file name info 2MW body txt body_eigenanalysis file name info body_eigen dat begin main_ body tower name tower type timoschenko nbodies 1 node_distribution uniform 10 damping 0 02 0 02 0 02 0 0022 0 0022 0 0007 begin timoschenko_input filename data hawc_st 001 set 3 1 set subset end timoschenko_input begin c2_def nsec 10 gt sec 1 0 0 0 000 0 00 Ground BC element start sec 2 0 O 0 050 0 00 Ground BC element end sec 3 0 QO 3 000 0 00 Foundation top sec 4 0 0 3 875 0 00 Lower flange sec 5 0 0 13 020 0 00 sec 6 0 0 25 000 0 00 Mid flange sec 7 0 0 37 040 0 00 sec 8 0 0 49 000 0 00 sec 9 0 0 58
47. file which in the old HAWC code was known as the hawc st file is changed slightly for the HAWC2 new htc structure format In the file which is a text file two different datasets exist There is a main set and a sub set The main set is located after a sign followed by the main set number Within a main there can be as many subsets as desired They are located after a sign followed by the local set number The next sign of the local set number is the number of lines in the following rows that belong to this sub set Riso R 1597 ver 3 1 EN 17 The content of the columns in a data row is specified in the table below In general all centers are given according to the C center location and all other are related to the principal bending axes Position of structural centers related to c2_def section coo Center of mass Ye Ye Shear center Figure 3 Illustration of structural properties that in the input files are related to the c2 coordinate system Table 1 Structural data 2 m mass per unit length kg m Xm X 2 coordinate from C 2 to mass center m Yms Y 2 coordinate from Cin to mass center m rx radius of inertia related to elastic center projected on the x axis corresponding to rotation about principal bending y axis m Fiy radius of inertia related to elastic center projected on the y axis corresponding to rotation about principal bending x axis m X X 2 coordinate from Cz to shear center m
48. for the sensor These scale factors are written in the end of the accompanying sel file 52 Riso R 1597 ver 3 1 EN When converting a binary number to the actual number its just a matter of multiplying the binary numbers of a sensor with the corresponding scalefactor In the accompanying text file which has the extension sel file information of the content in the datafile is stored In line number 9 the following parameters are specified Number of scans Number of sensors Duration of output file Data format ASCII BINARY Example TO 6 200 OD ASCLE From line number 13 and onwards the sensors are specified with the following information Sensor number Variable description unit Long description Example beal angle_speed rad s pitchl angle speed From line number 9 nsensors 5 and upwards the scalefactors are written Full example of the sel file Version ID Result file HAWC2MB 4 3 res2_rev0 case41c nohydro dat Scans Channels Time sec Format 4500 9 90 000 ASCII Channel Variable Description 1 Time S 2 beal angle deg 3 beal angle_speed rpm 4 beal angle deg 5 beal angle_speed rad s 6 beal angle deg 7 beal angle_speed rad s 8 beal angle deg 9 beal angle_speed rad s Scale factors An 56250E 04 61731E 03 41991E 04 00000E 00 00000E 00 00000E 00 00000E 00 00000E 00 00000E 00 Time Date Time shaft_rot angle shaft_rot angle speed A es LL PRE LLC Mic te ui
49. formed Bearing3 in topology slight modification still needed but now mhha needs a version mhha laptop in MAC check integer overflow negletec in compiler settings tjul stationairy pc in MAC check New check regarding thicknesses in aeodynamic files ktho stationairy pc in MAC check Radius non dim in structural _st input data and aerodynamic _ae data Extra check in structural files reading procedures Tab characters can now be used in htc files and other input files Check that c2_def structure length larger than eps New check in hawc_file output that time_stop gt time_start Topologi_timoschenko f90 updated related to changes in version 1 3 ktho laptop in MAC check Get_state_rot function in body f90 New mbdy state_rot output command in topologi_mainbody_output Rotation velocity and acceleration in aerodynamic blade section variables Dynamic_stall_mhh included Extension of bladelink criteria for execution stop New error message in windturb_mann f90 New error messages regarding matrix not definite problems New MAC checks Niels Kj lstad students New MAC check New MAC check New MAC check Error messages corrected in mbdy state_rot command New MAC check procedure loop over all adresses instead of only one New ignore function in body actions Old MAC check procedure reimplemented since troubles occured with the new version Replacement of procedure that calculates euler parameters based on transformation matrix only importa
50. from Riso National Laboratory Technical University of Denmark but the research that forms the basis of the code is mainly done under contract with the Danish Energy Authority The structural formulation of the model is written by Anders M Hansen as well as the solver and the linking between external loads and structure The aerodynamic module is written by Helge A Madsen and Torben J Larsen Three different stall models are implemented where the S Stig ye model is implemented by Torben J Larsen the mhh Beddoes model is written by Morten Hansen and Mac Gaunaa and the mhhmacg model used for trailing edge flaps is written by Mac Gaunaa and Peter Bj rn Andersen The wind and turbulence module as well as the hydrodynamic soil and DLL modules are written by Torben J Larsen The dynamic wake meandering module is written by Helge A Madsen Gunner Larsen and Torben J Larsen Risg R 1597 ver 3 1 EN General input layout The HAWC 2 input format is written in a form that forces the user to write the input commands in a structured way so aerodynamic commands are kept together structural commands the same etc The commands are divided into command blocks using the begin end syntax Each line has to be ended with a semi colon which gives the possibility for writing comments and the end of each line after the semi colon All command lines can be written with capital or small letters but inside the code all lines are transformed
51. gle deg body axisangle Command that can be repeated as many times as needed A amp One of these commands must be present 20 Riso R 1597 ver 3 1 EN Sub sub command relative This command block can be repeated as many times as needed However the orientation of every main_body should be described body2 eulerang body _eulerpar body2 ini rotvec dl body axisangle Riso R 1597 ver 3 1 EN Main body name to which the next main body is attached Node number of body1 that is used for connection last can be specified which ensures that the last node on the main body is used last must be used for now first or internal nodes doesn t work for now Main body name of the main body that is positioned in space by the relative command Node number of body2 that is used for connection last can be specified which ensures that the last node on the main body is used 1 must be used for now last or internal nodes don t work for now Command that can be repeated as many times as needed All following rotation are given as a sequence of euler angle rotations All angle can be filled in rotation order X y Z but it is recommended only to give a value different from zero on one of the angles and reuse the command if several rotations are needed Until a rotation command is specified body2 has same coo as bodyl Rotations are performed in the present body2 coo system 1 0
52. hoice between which tip loss model that shall be used O none prandtl default dynstall method 1 Choice between which dynamic stall model that shall be used O none 1 Stig ye method 2 MHH Beddoes method 40 Riso R 1597 ver 3 1 EN Sub command block dynstall_ so Block that may be included if the Stig ye dynamic stall method is chosen If not included defaults parameters are automatically used l Linear slope coefficient for unseparated flow default 6 28 1 Linear slope coefficient for fully separated flow default 3 14 1 Angle of attack deg where profile flow is fully separated default 40 1 Factor used to generate synthetic separated flow Cl values default 40 Time constant factor in first order filter for F function default 10 0 Internally used as tau taufak chord vrel Sub command block dynstall_ mhh Block that may be included if the MHH Beddoes dynamic stall method is chosen If not included defaults parameters are automatically used Coefficients of the exponential potential flow step response approximation Phi s 1 Al exp b1 s A2 exp b2 s default 0 165 Coefficients of the exponential potential flow step response approximation Phi s 1 Al exp b1 s A2 exp b2 s default 0 335 Coefficients of the exponential potential flow step response approximation Phi s 1 Al exp b1 s A2 exp b2 s default 0 0455 Coefficients of the exponential potential flow step response
53. ld be dll inpvec 1 1 This is a dummy label Commands used with results file writing When the output command is used for output files the most normal purpose some information regarding file name and format needs to be give filename 1 Filename incl relative path to outputfile without extension example res output data format ASCII or compressed binary output can be chosen Default is the ASCII format if nothing is specified 1 format hawc_asci ASCII format hawc_binary compressed binary format buffer Buffer size in terms of time steps When the buffer is full the data are written to data file Only used togeter with the ASCII format 1 buffer size time Time start t and stop t for output is defined Defult is the entire simulation length if nothin is specified l to 2 ti Riso R 1597 ver 3 1 EN 51 File format of HAWC_ASCII files Results are written to an ascii formatted data file with the name assigned to the filename variable eg filename res resfil The data file will have the extension dat as a standard The description of the sensors in the data file is given in another textfile with same filename as the data file but the extension sel An example could be res resfil dat and res resfil sel In the sel file line numer 9 specifies the following parameters Number of scans Number of sensors Duration of output file Data format ASCH BINARY Example LO 96 ZO e000 ASCI
54. lement on the element indexed 1 lower that the node number One exception 1f node number 1 then the element nr also equals 1 Riso R 1597 ver 3 1 EN 31 Obl Command name Explanation mbdy moment ext An external moment is placed on the structure Unit is Nm main body name node number on main body composant 1 M 2 M 3 M 1 negative number the mamei 1S ar with opposite sign coordinate system possible options are mbdy name global local local means local element coo on the inner element on the element indexed 1 lower that the node number One exception 1f node number 1 then the element nr also equals 1 mbdy force int An internal force with a reaction component is placed on the structure Unit is N main body name for action force node number on main body composant 1 Fx 2 Fy 3 F if negative number the force is inserted with opposite sign coordinate system possible options are mbdy name global local local means local element coo on the inner element on the element indexed 1 lower that the node number One exception 1f node number 1 then the element nr also equals 1 main body name for reaction force Node number on this main body mbdy moment int An internal force with a reaction component 1s placed on the structure Unit is Nm main body name for action moment node number on main body composant 1 M 2 M 3 M 1 negative number the momen 1S
55. mbdy coordinate from the tower main body To make sure that the tower source model is always linked in the same way as the tower could be tricky since the tower is fully free to be specified along the x y or z axis or a combination the base coordinate system for the shadow model is identical to the coordinates system obtained by the local element coordinates where the z axis is always pointing from node 1 towards node 2 This is the reason that the tower radius input has to specified with positive z values see below tower mbdy link Name of the main body to which the shadow source is linked 1 mbdy name nsec Command that needs to present before the radius commands 1 Number of datasets specified by the radius command radius Command that needs to be listed nsec times 1 z coordinate m allways positive 2 Tower radius at z coordinate m Riso R 1597 ver 3 1 EN 39 Aerodynamics Main command block aero This module set up parameters for the aerodynamic specification of the rotor It is also possible to submit aerodynamic forces to other structures as example the tower or nacelle but see chapter Aerodrag regarding this Obl Explanation SN T Must be the first line in aero commands 1 SN T of blades hub vec Link to main body vector that points downwind from the rotor under normal conditions For a upsteam turbine this corresponds to the direction from hub towards tower perpendicular to the ro
56. me increment s bdynamic 1 Bodies assumed rigid or flexible 1 flexible default 14 Riso R 1597 ver 3 1 EN Structural input Main command block new_htc__ structure Obl Command name beam output file name Filename incl relative path to file where the beam data are listed output example info beam dat body output file name 1 Filename incl relative path to file where the body data are listed output example info body dat body eigenanalysis file name 1 Filename incl relative path to file where the results of an eigenanalysis are written output example info eigenfreq dat constraint output file name 1 Filename incl relative path to file where the constraint data are listed output example info constraint dat Riso R 1597 ver 3 1 EN 15 Sub command block main_body This block can be repeated as many times as needed For every block a new body 1s added to the structure A main body is a collection of normal bodies which are grouped together for bookkeeping purposes related to input output When a main body consist of several bodies the spacing the name of each body inherits the name of the master body and is given an additional name of where is the body number An example could be a main body called bladel which consist of two bodies These are then called bladel_1 and bladel 2 internally in the code The internal names are only important if output command
57. n of the old htc file format 2 rane file all commands must be ee with CAPITAL letters Command Command 2 DEFINE STRUCTURE_FILE_EXT File extension ex1 for identification of input file with element structural data The file has to be located in the data subdirectory located mn TURBINE 1 Number of blades 2 Yawing DOF I yes and a real DOF 2 fixed Default 2 Shaft rotation DOF 1 yes and a real DOF used with normal generator model 2 fixed 3 Prescribed 4 variable speed controlled through regulation 4 Teeter DOF 1 yes and a real DOF 2 fixed TILT 1 Tilt angle deg ROTOR ic a7 LAYOUT 1 Number of blades Default 3 2 Blade flange node number 3 Cone angle for blade deg 4 Cone angle for blade 2 deg 5 Cone angle for blade 3 deg 6 63 angle for blade 1 deg 7 63 angle for blade 2 deg 8 9 03 angle for blade 3 deg Pitch angle pos sign acc to z dir for blade 1 deg 10 Pitch angle pos sign acc to z dir for blade 2 deg Riso R 1597 ver 3 1 EN 25 11 Pitch angle pos sign acc to z dir for blade 3 deg 12 Collective pitch angle for blade 1 3 deg DAMPING BLADE Rayleigh damping proportionality factors for the mass matrix 1 Bending about x axis 2 Bending about y axis 3 Bending about z axis Rayleigh damping proportionality factors for the stiffness matrix 4 Bending about x axis 5 Bending about y axis 6 Bending about z axi
58. n the main body is used 1 must be used for now last or internal nodes doesn t work for now bearing vector Vector to which the rotation occur The direction of this vector also defines the coo to which the output angle is defined l Coo system used for vector definition 0O global 1 body1 2 body2 2 X axis 3 y axis Z axis Ris R 1597 ver 3 1 EN 23 Sub sub command bearing3 This constraint allows a rotation where the angle velocity is kept constant throughout the simulation Obl Command name a Identification name bodyl T Main body name to which the next main body is fixed with bearing3 properties 2 Node number of bodyl that is used for the constraint last can be specified which ensures that the last node on the main_body 1s used last must be used for now first or internal nodes doesn t work for now body2 1 Main body name of the main body that is fixed to body1 with bearing3 properties 2 Node number of body2 that is used for the constraint last can be specified which ensures that the last node on the main body is used 1 must be used for now last or internal nodes doesn t work for now bearing vector Vector to which the rotation occur The direction of this vector also defines the coo to which the output angle is defined l Coo system used for vector definition 0O global 1 body1 2 body2 2 X axis 3 y axis 4 Z axis 1 R
59. nates 1 Mean water level m in global z coordinates 1 Density of the water kg m Default 1027 water kinematics dil 1 Filename incl relative path to file containing water kinematics dll example Jhydro water kin dil Sub sub command block hydro element Command block that can be repeated as many times as needed This command block set up hydrodynamic calculation points and link them to a main_body Explanation body name Main body name to which the hydrodynamic mbdy name calculation points are linked Distribution method of hydrodynamic calculation points Options are uniform nnodes Where uniform ensures equal distance of the calculation points nnodes are number of calculation points This os must be repeated nsec times distance along the main body c2 def line Positive directed from node 1 to node last Cn Inertia coefficient default 1 0 Ca drag coefficient default 1 0 Cross sectional area Cross sectional area to which C is related default area for circular sections buoyancy Specification whether buoyancy forces are included or not 0 off default I on update states Specification whether the hydrodynamic sections are updated in time with respect to pos vel acc and orientations or simply considered to remain fixed 0 not updated 1 updated default Riso R 1597 ver 3 1 EN 47 Description of the water_kinematics_dll format subroutine init inputfile implicit none
60. nd block tower shadow potential 38 Sub command block tower shadow jet 39 Sub command block tower shadow potential 2 39 PLOT OG VRAIMICS Sie Me de diese cet 40 Man command DOCKET OnE EEE EE din aoe oda eee 40 Sub command block dynstall so 41 Sub command block dynstall mhh 41 Sub command block dynstall mhhmagf ccc cccccccccccccceeeeeeeeeeeeeeeeseeeeeeess 41 Data format for the aerodynamic layout 44 Data format forthe profile coefficients nes sl tin fans 45 Main command block blade c2 def for use with old htc structure format 45 Aerodrag for tower and nacelle drag sssscccsscsccssssssssssssssssssssccssccccccccsccscccsssssssscees 46 Matt command derodra aranera NME aust te aaah EN Marne ns ce dns 46 Subcommand aerodrag Clement 9505 0sisis uses nn ate ep oa ae 46 EN COG RAMICS SSSR TR ne 47 Main command block WV O16 sh in ann nn anni 47 Sub command block water properties 47 SO MOQUIC E En En nn nn ne ns nu 49 M GIP COMMGANG DIOCK SOW sun hein unes 49 Sub command block Sol elements rainse nn ni nan 49 Data format of the soil sprns dates 49 ODA nn ee et es nee 51 Commands used with results file writing 51 Pilestormat of HA WC ASCII Ties aiei ad E RE ae 52 File format of HAWC BINARY HIS nine nrane 52 mbdy main body related commands ii ae Ei ENNE 54 Constrai
61. nt constraint related commands bearing1 Command 1 Command 2 Explanation Only Label option option constraint bearing 1 Bearing angle and angle velocity defined to output 1 bearing name 2 unit of output 1 angle unit rad range n r vel rad s 2 angle unit deg range 0 360 vel rpm 3 angle unit deg range 0 360 vel rad s 4 angle unit deg range 180 180 vel rad s S angle unit deg range 180 180 vel deg s Cet Command oer constraint ee Bearing angle and angle velocity defined to output 1 bearing name 2 unit of output 1 angle unit rad range n r vel rad s 2 angle unit deg range 0 360 vel rpm 3 angle unit deg range 0 360 vel rad s 4 angle unit deg range 180 180 vel rad s S angle unit deg range 180 180 vel deg s Riso R 1597 ver 3 1 EN 55 bearing3 Command 1 Command 2 sal ol E a 7 Only Label sal ol ee ee ee option Yes No Bearing angle and angle velocity defined to output 56 l 2 bearing name unit of output 1 angle unit rad range n r vel rad s 2 angle unit deg range 0 360 vel rpm 3 angle unit deg range 0 360 vel rad s 4 angle unit deg range 180 180 vel rad s S angle unit deg range 180 180 vel deg s Riso R 1597 ver 3 1 EN body old body related commands Command 1 body forcevec Fx Fy Fz shear force vector defined to No output Unit kN body number Element n
62. nt constraint related commands ss 55 oper L aE A ER ee eee ee none E See en wee een ene 55 ISS A seat aa eset ed ese td eter 55 Oleg las eee eee ek ee eee ee eee me E eee ee oe eee Rs ere meer TN 56 body old body related commands niea N AE i AA NEE Ti D7 aero aerodynamic related commands sssccccccccceseeeeseeecceeeaaeeseeeceeeeeasseseseeseesaaaassseeees 58 WING WING TEIGICd COMMON a E E E den O E N AE A 62 wind_wake wind wake related commands 62 H CDEL r la ed commands Essen ER ni RSR Mie es ie eee 62 hydro hydrodynamic related commands ss 63 general general output COMMANAS usine nn a 63 Output_at_time output at a Given tIME sssssccccccccccccccccccsssssssssssscscccssscccsssssseeeees 63 aero aerodynamic output commands nier esse 64 Exampie OF main impul Me sen sen tete 67 4 Riso R 1597 ver 3 1 EN Preface The HAWC2 code is a code intended for calculating wind turbine response in time domain It has been developed within the years 2003 2006 at the aeroelastic design research programme at Risoe National laboratory Denmark The structural part of the code is based on a multibody formulation where each body is an assembly of timoshenko beam elements The formulation is general which means that quite complex structures can be handled and arbitrary large rotations of the bodies can be handled The turbine is modeled by an assembly of bodies connected with constraint equations where a constraint c
63. nt for cases with eulerp output used General cleanup in multibodyproto f90 file simple generator model excluded now tmp_gen_speed output command is excluded New MAC checks External Licence manager DLL used Avoids new versions of the HAWC2 code to be build at every new MAC number and and also works when the computer is not connected to a LAN Newmark variables reorganized Hydrodynamic loads cut in at 2secs as for the aero loads To reduce initial transients New acceptance criteria from License manager New input check in topologi_mainbody Order of radius of gyration input shifted for the new_htc_structure input Now 1st column Rix is the one affected if mass center position changes on the chord line Riso R 1597 ver 3 1 EN global version HAWC2MB global version HAWC2MB global version HAWC2MB global version HAWC2MB global version HAWC2MB global version HAWC2MB global version HAWC2MB global version HAWC2MB global version HAWC2MB 3 4 global version HAWC2MB 3 6 global version HAWC2MB 3 7 global version HAWC2MB 3 8 Ris R 1597 ver 3 1 EN 23 17 17 24 28 34 01 04 O9 11 29 14 15 06 06 07 07 07 07 07 08 08 08 08 28 08 09 10 2006 2006 2006 2006 2006 2006 2006 2006 2006 2006 2006 2006 2006 2006 2006 200
64. o node 2 on element Main body name of which coordinate system is used for output global can also be used yes yes mbdy state at Vector with 3 components of either position velocity or acceleration of a point on an element defined to output The point 1s offset from the element z axis by an x and y distance 1 State pos vel or acc 2 Main body name 3 Element number 4 Relative distance from node 1 to node 2 on element 5 Main body name of which coordinate system is used for output global can also be used 6 x coordinate offset m 7 y coordinate offset m 54 Riso R 1597 ver 3 1 EN Command 1 Command 2 lacie tnsiaiaeig E Only Label ee tan opaan mbdy state_rot Vector with components of either axis and angle angle rad r1 r2 r3 euler parameters quaternions f9 f r3 euler angles rotation velocity vector or rotation acceleration vector of a point on an element defined to output For the sensor eulerang xyx a set of euler angles are created based on the orientation matrix Be aware that the method used is only valid for rotations in the intervals 8 180 0 90 6 180 1 State ARISANCIE eulerp f eulerang xyz omega or emegadot Main body name Element number Relative distance from node 1 to node 2 on element Main body name of which coordinate system is used for output global can also be used Constrai
65. or other properties are required at a specific time This is mostly used for writing calculated aerodynamic properties as function of blade location The command block can be repeated as many times as needed e g if outputs at more than one time is needed The command must be written with the following syntax output_at_time keyword time where keyword is a command listed in the subsections below Sofar only the command aero is present The last command word t me is the time in seconds from simulation start to which the output are written aero aerodynamic output commands The first line in the output at block must be the information regarding which file the outputs are written the filename command listed in the table below Filename incl relative path to output file example output output_at dat 1 filename 1 Blade number vrel Relative velocity m s 1 Blade number Blade number o t 1 Blade number 1 Blade number 1 Blade number 1 Blade number 64 Riso R 1597 ver 3 1 EN Label option moment Moment force M Nm 1 Blade number secforce Aerodynamic forces N 1 Blade number 2 DOF number 1 x 2 y 3 z 3 Coordinate system l aero 2 blade 3 global 4 rotor polar secmoment Aerodynamic moments Nm 1 Blade number 2 DOF number 1 x 2 y 3 z 3 Coordinate system l aero 2 blade 3 global 4 rotor polar int force Aerodynamic forces integrated from tip to given radius N 1 Blade number 2 DO
66. otational speed rad sec 24 Riso R 1597 ver 3 1 EN Main command block old htc structure The old htc structure format is taken from the old HAWC code which is also the format used in the code HAWCStab One of the main differences of this format compared to the new htc format is that the number of bodies and their properties are more restricted in the old format In this format there is always one body named tower one body named shaft and three blades The naming procedure for blade 1 is bladel if the blade only consist of one body or bladelbody4 if the blade consist of several bodies In this case body 4 of blade 1 was addressed The command options are listed in the table below Obl 1 File name where old htc structure input is located E g data old htc structure htc nbbl 1 Number of bodies a blade is divided into i omegas 1 Initial rotation velocity of the shaft rad s fixed speed 1 Specification whether the rotational speed is kept constant the constraint acts as a_ bearing yes constant no bearing fixed pitch 1 Specification whether the pitch angle is kept constant or controlled with direct specification of the angle or the constraint acts as a bearing yes fixed no bearing free tower suspension 1 Specification whether the first node on the tower is free in translation and rotation or fully fixed yes free no fixed Descriptio
67. ould be a rigid coupling a bearing a prescribed fixed bearing angle etc The aerodynamic part of the code is based on the blade element momentum theory but extended from the classic approach to handle dynamic inflow dynamic stall skew inflow shear effects on the induction and effects from large deflections Several turbulence formats can be used Control of the turbine is performed through one or more DLL s Dynamic Link Library The format for these DLL s is also very general which means that any possible output sensor normally used for data file output can also be used as a sensor to the DLL This allows the same DLL format to be used whether a control of a bearing angle an external force or moment is placed on the structure The code has internally at Risoe been tested against the older validated code HAWC Further on a detailed verification is at moment performed in the IEA annex 23 research project During the programming of the code a lot of focus has been put in the input checking so hopefully meaningful error messages are written to the screen in case of lacking or obvious erroneous inputs However since the code is new and still constantly improved we appreciate feedback from the users both good and bad critics are welcome The manual is also constantly updated and improved but should at the moment cover the description of available input commands Acknowledgements The code has been developed primarly by internal funds
68. output No parameters aero azimuth Azimuth angle of selected blade Zero is vertical downwards Positive clockwise around blade root y axis Unit deg l Blade number omega vrel Relative velocity in x y Joal ie plane Unit m s 1 Blade number 2 Radius m nearest inner calculation point is used Angle of attack in x y local aerodynamic plane Unit deg 1 Blade number 2 Radius m nearest inner calculation point is used Flap deflection angle in x y local aerodynamic plane Unit deg 3 Blade number 4 Flap number as specified in the dynstall mhhmagf section starting with Instantaneous lift coefficient Unit 1 Blade number 2 Radius m nearest inner calculation point is used Instantaneous drag coefficient Unit aero aero alfa aero aero beta aero Q aero 1 Blade number 2 Radius m nearest inner calculation point is used Instantaneous moment coefficient Unit 1 Blade number 2 Radius m nearest inner calculation point is used Lift force at calculation point Unit kN m 1 Blade number 2 Radius m nearest inner calculation point is used Drag force at calculation point Unit kN m 1 Blade number 2 Radius m nearest inner calculation point is used Aerodynamic moment at calculation point Unit kKNm m 1 Blade number 2 Radius m nearest inner calculation point is used aero secforce Aerodynamic force at calculation point Local aero coo Unit kN
69. pc_filename data hawc_pc 3 induction _ method 3 O none aerocalc_method le O ingen aerosections 301 ae_sets Te Je dix tiploss_ method dis O none dynstall_method Zs O none end aero from hub normal to rotor plane directed towards tower top 02 88 1l normal aerodynamic l med aerodynamic 1l normal l stig ye method 2 mhh method r r begin dll begin hawc_dll filename control basic_3ba_ct5 dll dil_subroutine regulation arraysizes 15 15 deltat 0 02 begin output general time 1 constraint bearingl shaft_rot 1 only 2 2 constraint bearing2 pitchi only 1 angle written to di 3 constraint bearing2 pitch2 only 1 angle written to dl 4 constraint bearing2 pitch3 only 1 angle written to dll 5 wind free_wind 1 0 0 0 0 120 0 6 7 8 general constant 1 44 Ke pitch 9 general constant 0 47 HRI pitch 10 general constant 0 00 Kd pitch 11 general constant 4 30e6 Kp torque 12 general constant 9 66e5 Ki torque 13 general constant 0 0 Kd torque 4 end output end hawc_dll begin hawc_dll filename control basic_3ba_ct5 dll dil_subroutine generator arraysizes 15 15 deltat 0 02 begin output general time dll inpvec 1 1 input til h2 dll no 1 plads no 1 general constant 0 0 constraint bea
70. r dat iec gust Gust generator according to IEC 61400 1 l gusi Dhs eog extreme operating gust ede extreme direction change ecg extreme coherent gust ecd extreme coherent gust with dir change ews extreme wind shear gust amplitude m s gust angle deg time start to m s duration m s Sub command block mann Block that must be included if the mann turbulence format is chosen Normal practice is to use all three turbulence components u v w but only the specified ee ei are used Obl Command name __ filename u Filename incl relative path to file containing mann turbulence u composant example turb mann u bin filename v Filename incl relative path to file containing mann turbulence v composant example turb mann v bin filename w Filename incl relative path to file containing mann turbulence w composant example turb mann w bin or dim_u Number of grid points 1 u direction Length between grid points in u direction RL Number of grid points 1 v direction Length between grid points in v direction Rs dim w Number of grid points 1 w direction Length between grid points in w direction su 4 _ scaling Ratio between standard deveation for specified composant related to turbulence intensity input specified in main wind command block 1 Ratio to u direction default 1 0 2 Ratio to v direction default 0 7 3 Ratio to w direction default 0
71. r section 1 1 Offset value default 0 0 j nsec Command that needs to present before the radius commands 1 Number of datasets specified be the radius command j radius Command that needs to be listed nsec times 1 z coordinate m 2 Tower radius at z coordinate m 38 Ris R 1597 ver 3 1 EN Sub command block tower shadow jet Block that must be included if the model based on the boundary layer equations for a jet is chosen This model is especially suited for downwind simulations or Command name __ tower_offset The tower shadow has its source at the global coordinate z axis The offset is the base point for section 1 1 Offset value default 0 0 nsec Command that needs to present before the radius commands 1 Number of datasets specified be the radius command radius Command that needs to be listed nsec times Zz coordinate m Tower radius at z coordinate m Cg drag coefficient of tower section normally 1 0 for circular section but this depends heavily on the reynold number Sub command block tower_shadow_potential_ 2 Block that must be included if the tower shadow method 3 is chosen This potential model is principally similar to the potential flow model described previously but differs in the way that the shadow source is moved and rotated in space as the tower coordinate system is moving and rotating The coordinate the shadow method is linked to is specified by the user e g the
72. rce pos Command that must be repeated nsource times This gives the position of the wake source in global coordinates Wake source position can also be given for down stream turbines These downstream turbines are however not used in the simulations 1 x pos m 2 y pos m 3 z pos m op data Operational conditions for the wake sources 1 Rotational speed rad s 2 Collective pitch angle deg Defined positive according to the blade root coo with z axis from root towards tip ble parameters Parameters used for the BLE model used for developing the wake deficit due to turbulent mixing 1 k default 0 001 2 k default 0 002 3 clean up parameter 0 intermediate files are kept 1 intermediate files are deleted default 1 microturb factors Paraemters used for scaling the added wake turbulence according to the deficit depth and depth derivative 1 km factor on deficit depth default 0 60 2 ky factor on depth derivative default 0 25 tint_ meander Turbulence intensity of the meander turbulence box If this command is not used then the default turbulence intensity from the general wind commands is used normal use 1 Turbulence intensity Sub command block tower_shadow_potential Block PV ons must be included if the potential flow tower shadow model is chosen Command name Explanation tower offset The tower shadow has its source at the global coordinate z axis The offset is the base point fo
73. ri_ x ri y x_sh m kg m m m m m m 2 10 As dataset 1 but stiff 0 00 100 0 0 224 18 224 180 0 10 100 0 0 224 18 224 180 0 1001 1 0 0 0 2 0 2 0 1 00 1 0 0 0 2 0 2 0 1 90 1 0 0 0 2 0 2 0 2 00 1 0 0 0 2 0 2 0 3 00 1 0 0 0 2 0 2 0 3 20 1 0 0 0 2 0 2 0 4 00 1 0 0 0 2 0 2 0 5 0191 1 0 0 0 2 0 2 0 More comments space r m x_cg y_cgri_x ri y x_sh m kg m m m m m m 3 10 as data set 1 but changed mass properties 0 00 1000 0 0 2 2418 2 2418 0 0 10 1000 0 0 2 2418 2 2418 0 0 1001 1 0 0 0 2 0 2 0 1 00 1 0 0 0 2 0 2 0 1 90 1 0 0 0 2 0 2 0 2 00 1 0 0 0 2 0 2 0 3 00 1 0 0 0 2 0 2 0 3 20 1 0 0 0 2 0 2 0 4 00 1 0 0 0 2 0 2 0 5 0191 1 0 0 0 2 0 2 0 Ris R 1597 ver 3 1 EN y_sh m Ooo0O0O0000 O y_sh m Oooo0O0000 O y_sh m OoOooOo0QO0O0000 E N mA2 ND D NN NN NN NN N E 10E 11 10E 11 10E 11 10E 11 10E 11 10E 11 10E 11 10E 11 10E 11 10E 11 N mA2 ND D NN NN NN NN N E 10E 16 10E 16 10E 16 10E 16 10E 16 10E 16 10E 16 10E 16 10E 16 10E 16 N mA2 ND D NN NN NN NN N 10E 11 10E 11 10E 11 10E 11 10E 11 10E 11 10E 11 10E 11 10E 11 10E 11 G N mA2 O0 CO CO CO CO O0 CO O0 CO CO G 10E 10 10E 10 10E 10 10E 10 10E 10 10E 10 10E 10 10E 10 10E 10 10E 10 N m 2 O0 CO CO CO CO O0 O0 O0 CO OO G 10E 15 10E 15 10E 15 10E 15 10E 15 10E 15 10E 15 10E 15 10E 15 10E 15
74. ringl shaft_rot 1 only 2 end output r begin actions body moment_int shaft 1 3 tower 10 end actions end hawc_dll generator moment between shaft nl My and tower top begin hawc_dll Risg R 1597 ver 3 1 EN 69 r r filename control basic 3ba_ct5 dll r dll_subroutine pitchservo arraysizes 15 15 deltat 0 02 begin output general time general step 5 0 0 0 0 02 dll inpvec 1 2 dll inpvec 33 dll inpvec 4 constraint bearing2 pitchl 1 only angle written to di constraint bearing2 pitch2 1 only angle written to di constraint bearing2 pitch3 1 only angle written to di end output begin actions body bearing_angle pitchl body bearing_angle pitch2 body bearing_angle pitch3 end actions end hawc_dll end dll begin output filename res 2MW wake data_format hawc_ascii buffer 1 general time aero azimuth 1 aero omega aero thrust aero power wind free_wind 1 80 0 0 0 60 0 wind free_wind 1 60 0 0 0 60 0
75. s DAMPING SHAFT Rayleigh damping proportionality factors for the mass matrix 1 Bending about x axis 2 Bending about y axis 3 Bending about z axis Rayleigh damping proportionality factors for the stiffness matrix 4 Bending about x axis 5 Bending about y axis 6 Bending about z axis DAMPING TOWER Rayleigh damping proportionality factors for the mass matrix 1 Bending about x axis 2 Bending about y axis 3 Bending about z axis Rayleigh damping proportionality factors for the stiffness matrix 4 Bending about x axis 5 Bending about y axis 6 Bending about z axis NODE PEADE Command that must be repeated for every node on the blade Node numbers must increase continuously The nodes should be placed in the center of elasticity of the blade Blade number Node number x coordinate m y coordinate m z coordinate m NODE NACELLE Command that must be repeated for every node on the shaft Node numbers must increase continuously 1 Node number 2 x coordinate m 3 y coordinate m 4 z coordinate m NODE TOWER Command that must be repeated for every node on the tower Node numbers must increase continuously 1 Node number 2 x coordinate m 3 y coordinate m 4 z coordinate m TYPES BLADE_STRUCTURE_3 Specification of actual structural blade data sets for a 3 bladed turbine The data set must be available in the HAWC stexl file 1 Set number for blade 1 2 Set number for blade 2 3 Set number for blade 3 26 Risg
76. s at a given number of structures Subcommand aerodrag_element Command block that can be repeated as many times as needed In this command block aerodynamic drag calculation points are set up for a given main body body name l Main body name to which the hydrodynamic mbdy name calculation points are linked 1 Distribution method uniform only possibility 2 Number of calculation points min 2 T ul 1 Number of sections given below sec This command must be repeated nsec times 1 Distance along the main body c2 def line Positive directed from node 1 to node last Internally this distance is normalized with the distance for the last section so calculation points are ensured in the endpoints of the structure Let the distance of the last point be 1 0 or same length as the main_body to avoid confusion Ca drag coefficient default 1 0 Width of structure diameter update states Logical parameter that determines whethe the movement of the structure is included or not 1 parameter 1 states are updated default O not updated Input commands that must be present 46 Riso R 1597 ver 3 1 EN Hydrodynamics Main command block hydro In this command block hydrodynamic forces calculated using Morisons formula is set up Sub command block water_properties gravity l Gravity acceleration used for calcultion of buoyancy forces Default 9 81 m s 1 Mud level m in global z coordi
77. s are used that refers to the specific body name and not the main body name 1 Main body identification name must be unique 1 Element type used options are timoschenko Li nbodies 1 Number of bodies the main body is divided into especially used for blades when large deformation effetcs needs attention Equal number of elements on each body eventually extra elements are placed on the first body node distribution 1 Distribution method of nodes and elements Options are e uniform nnodes Where uniform ensures equal element length and nnodes are the node numbers e c2 def which ensures a node a every station defined with the sub command block c2 def damping Rayleigh damping parameters containing factors that are multiplied to the mass and stiffness matrix respectfully l M y copy main body Command that can be used if properties from a previously defined body shall be copied The name command still have to be present all other data are overwritten 1 Main body identification name of main body that is copied gravity Specification of gravity directed towards zg NB this gravity command only affects the present main body Default 9 81 m s Sub sub command block timoschenko_input Block containing information about location of the file containing distributed beam property data and the data set requested filename 1 Filename incl relative path to file where the distributed beam input data are li
78. sibility 2 Number of section min 2 damping k factor l Rayleigh kind of damping Factor the linear stiffness coefficients are multiplied with to obtain the damping coefficients When the factor is 1 0 the vibration is critically damped for the rigid mainbody connected to the spring and dampers le sett 1 Set number in datafile that is used Input commands that must be present Command can be repeated as many times as desired Data format of the soil spring datafile In the file which is a text file different distributed springs can be defined Each set is located after the sign followed by the set number Within a set the following data needs to be present spring type can be axial lateral or rotation_z line 2 nrow ndefl nrow is number of rows ndefl is number of deflections colums line 3 3 nrow z_global F 1 F 2 First colum is the spring location global z coordinate The following colums are Force length at the different deflection Stations First deflection must be zero The forces are assumed symmetrical around the zero deflection Riso R 1597 ver 3 1 EN 49 An example is given below This is a nonlinear soil spring demonstration file 1 lateral 5 4 OOOO 0 0 OOOO 0 0 rotation z 5 4 0 0 10 20 30 40 50 O OO OTOoOO 0 0 1 15 15 15 15 15 0 1 150 150 150 150 150 0 1 150 150 15
79. sted example data hawc2 st dat de set 1 Set number 2 Sub set number 16 Riso R 1597 ver 3 1 EN Sub sub command block c2 def In this command block the definition of the centerline of the main body is described position of the half chord when the main_ body is a blade The input data given with the sec commands below is used to define a continous differentiable line in space using akima spline functions This centerline is used as basis for local coordinate system definitions for sections along the structure If a straight line is requested a minimum of three points of this line must be present Position and orientation of half chord point related to main body coo Yc2 Section c2_def center x y z 03 MP a i C 2 oe Master body coo center Figure 2 Illustration of c2_def coordinate system related to main body coordinates Obl Must be the present before a sec command 1 Number of section commands given below Command that must be repeated nsec times Minimum 4 times 1 Number X pos m y pos m Z pos m 0 deg Angle between local x axis and main body x axis in the main body x y coordinate plane For a straight blade this angle 1s the aerodynamic twist Note that the sign is positive around the z axis which is opposite to traditional notation for etc a pitch angle Format definition of file including distributed beam properties The format of this
80. t last can be specified which ensures that the last node on the main_body 1s used last must be used for now first or internal nodes doesn t work for now body2 1 Main body name of the main body that is fixed to body1 with bearing properties 2 Node number of body2 that is used for the constraint last can be specified which ensures that the last node on the main body is used 1 must be used for now last or internal nodes doesn t work for now bearing vector Vector to which the free rotation is possible The direction of this vector also defines the coo to which the output angle is defined 1 Coo system used for vector definition 0O global 1 body1 2 body2 2 X axis 3 y axis Z axis Sub sub command bearing2 This constraint allows a rotation where the angle is directly specified by an external dll action command Explanation Identification name body1 1 Main body name to which the next main body is fixed with bearing2 properties 2 Node number of bodyl that is used for the constraint last can be specified which ensures that the last node on the main_body 1s used last must be used for now first or internal nodes doesn t work for now body2 1 Main body name of the main body that is fixed to body1 with bearing properties 2 Node number of body2 that is used for the constraint last can be specified which ensures that the last node o
81. th angle zero downwards deg Axial induction coefficient at a position on the rotor Unit 1 Radius m s 2 Azimuth angle zero downwards deg Tangential induction coefficient at a position on the rotor Unit 1 Radius m s 2 Azimuth angle zero downwards induc a norm induc am norm deg Axial velocity used in normalization expression of rotor thrust coefficients The average axial wind velocity incl induction Unit m s No parameters Tangential velocity used in normalization expression of torque coefficient Average tangential velocity at a given radius Unit m s 1 Radius m Local induced velocity at calculation point No Unit m s 1 Coordinates system l local aero coo 2 blade ref system 3 global 4 rotor polar Blade number Dof number 1 Vx 2 V 3 V Radius m nearest inner calculation point is used No Riso R 1597 ver 3 1 EN Label option Label option aero inflow angle Angle of attack rotation angle of profile No related to polar coordinates not pitching Unit deg 1 Blade number 2 Radius m nearest inner calculation point is used aero dcldalfa Gradient dCl da Unit deg 1 Blade number 2 Radius m nearest inner calculation point is used aero dcddalfa Gradient dCd da Unit deg 1 Blade number 2 Radius m nearest inner calculation point is used Ris R 1597 ver 3 1 EN 6l wind wind related commands
82. the DLL to the core This block can be repeated as many times as desired Reference number to DLL 1s same order as listed starting with number 1 di filename 1 Filename incl relative path of the DLL example DLL control dll d dll subroutine 1 Name of subroutine in DLL that is addressed remember to specify the name in the DLL with small letters i arraysizes l size of array with outgoing data 2 size of array with ingoing data deltat 1 Time between dll calls Must correspond to the simulation sample frequency or be a multiple of the time step size If deltat 0 0 or the deltat command line 1s omitted the HAWC2 code calls the dll subroutine at every time step Sub command block output In this block the same block the same sensors are available as when data results are written to a file with the main block command output The order of the sensors in the data array is continuously increased as more sensors are added 30 Riso R 1597 ver 3 1 EN Sub command block actions In this command block variables inside the HAWC2 code is changed depending of the specifications An action commands creates a handle to the HAWC2 model to which a variable in the input array from the DLL is linked INB in the command name two separate words are present _Obl _ Command name Explanation aero beta The flap angle beta is set for a trailing edge flap section is the mhhmagf stall model is used The angle is positive towards
83. the pressure side of the profile Unit is deg 1 Blade number 2 Flap section number body force ext An external force is placed on the structure Unit is N 1 body name node number composant 1 F 2 Fy 3 F body moment ext An external moment 1s placed on the structure Unit is Nm 1 body name 2 node number 3 composant 1 M 2 M 3 M body force int An external force with a reaction component is placed on the structure Unit is N 1 body name for action force 2 node number 3 composant 1 F 2 Fy 3 F 4 body name for reaction force 5 Node number body moment int An external moment with a reaction component is placed on the structure Unit is N 1 body name for action moment 2 node number 3 composant 1 Mx 2 M 3 M 4 body name for reaction moment 5 Node number body bearing angle A bearing either defined through the new structure format through bearing2 or through the old structure format spitchl pitch angle for blade 1 spitch2 pitch angle for blade 2 The angle limits are so far 0 90deg 1 Bearing name mbdy force ext An external force is placed on the structure Unit is N 1 main body name node number on main body 3 composant 1 F 2 Fy 3 F if negative number the force is inserted with opposite sign 4 coordinate system possible options are mbdy name global local local means local element coo on the inner e
84. tor l mbdy name or old input if old htc structure format 1s applied 2 mbdy coo component 1 x 2 y 3 z If negative the opposite direction used Not used together with old htc structure input specify a dummy number link Linker between structural blades and aerodynamic blades There must be same number of link commands as nblades 1 blade number 2 link chooser options are e mbdy c2 def used with new structure format e blade c2 def used with old structure format see description below in this chapter mbdy name with new structure format not used to anything with old structure format ae filename Filename incl relative path to file containing aerodynamic layout data example data hawc2 ae dat Filename incl relative path to file containing profile coefficients example data hawc2 pc dat Choice between which induction method that shall be used O none 1 normal dynamic induction aerocalc method Choice between which aerodynamic load calculation method that shall be used 0 none 1 normal aerosections Number of aerodynamic calculation points at a blade The distribution is performed automatically using a cosinus transformation which gives closest spacing at root and tip 1 Number of points at each blade ae sets Set number from ae filename that is linked to blade 1 2 nblades 1 set for blade number 1 2 set for blade number 2 nblades set for blade number nblades tiploss_method C
85. umber 3 Node number on element 4 coordinate system 1 body 2 global 3 element M My M moment vector defined to output Unit kNm 1 body number 2 Element number 3 Node number on element 4 coordinate system 1 body NO m momentvec body 2 global 3 element x y z deflection vector within a body defined to output Unit m 1 body number 2 Element number 3 Node number on element 4 coordinate system 1 body body node defl 2 global 3 element Ox Oy 0z rotations within a body define No to output Unit rad 1 body number 2 Element number 3 Node number on element 4 coordinate system 1 body 2 global 3 element body node rot body Pitchangle of pitch bearing defined with the old htc structure is defined to output 1 Unit 1 rad 2 deg 2 Pitch bearing number Pitch velocity of pitch bearing defined with the old htc structure is defined to output 1 Unit 1 rad s 2 deg s 2 Pitch bearing number State vector position velocity or accelertion of a given on an element is defined to output state pos position vel velocity acc acceleration body name element number Zra distance between node 1 and 2 divided by element length coordinate system 1 global pitchangle body pitchspeed body node state Riso R 1597 ver 3 1 EN 57 aero aerodynamic related commands Command 1 Explanation Label option aero time Simulation time to
86. unction two Mann turbulence boxed must be used One for the meandering turbulence which is a box containing atmospheric turbulence but generated with a course resolution in the v w plane grid size of 1 rotor diameter It is important that the turbulence vectors at the individual grid points represent a mean value covering a grid cube It is also important that the total size of the box is large enough to cover the different wake sources including their meandering path The resolution in the u direction should be as fine a possible The other turbulence box that is needed is a box representing the micro scale turbulence from the wake of the upstream turbine The resolution of this box should be fine e g 128x128 points in the v w plane which should cover 1 rotor diameter The resolution in the u direction should also be fine but a short length of the box e g min 2 5Diameter is OK The two turbulence boxed are included by the following sub commands begin mann_meanderturb parameters are identical to the normal Mann turbulence box see above end mann_meanderturb begin mann_microturb parameters are identical to the normal Mann turbulence box see above end mann_microturb The rest of the wake commands are given in the following table Riso R 1597 ver 3 1 EN 37 Obl Command name j nsource 1 Number of wake sources If 0 is used the wake module is by passed no source positions can be given in this case sou
87. utput global version HAWC2MB 4 8 08 02 2007 TJUL mbdy actions force moment commands updated with sign possibility on force component l global version HAWC2MB 4 9 12 02 2007 TJUL new error message in turbulence input reader 19 02 2007 TJUL New potential flow tower shadow model where source is linked to tower motion global version HAWC2MB 5 0 26 02 2007 TJUL New mbdy state_rot output option orientation in euler angles defined through the rotation order xyz l global version HAWC2MB 5 1 27 02 2007 TJUL Correction of method used to calculate mbdy state_rot rotation in general l New mbdy state_rot output option orientation in euler angles defined through the rotation order yxz l Small adjustements in DLL_output to avoid array out of bounds when long mbdy names are used l global version HAWC2MB 5 2 02 03 2007 ANMH TJUL Bug fixed related to continue_on_no_convergence criteria l TJUL HAWC2MB version echoed to screen before input is read 10 Ris R 1597 ver 3 1 EN global version HAWC2MB global version HAWC2MB global version HAWC2MB global version HAWC2MB global version HAWC2MB global version HAWC2MB global version HAWC2MB global version HAWC2MB global version HAWC2MB global version HAWC2MB global version HAWC2MB global version HAWC2MB global version HAWC2MB Riso R 1597 ver 3 1 EN oy ha 8 3 4 13 21 21 29 10 16 18 23 26
88. wind free_wind 1 40 0 0 0 60 0 wind free_wind 1 20 0 0 0 60 0 wind free_wind 1 0 0 0 0 60 0 wind free_wind 1 20 0 0 0 60 0 wind free_wind 1 40 0 0 0 60 0 wind free_wind 60 0 0 0 60 0 wind free _ wind 1 80 0 0 0 60 0 aero alfa 1 10 0 aero alfa 1 20 0 aero alfa 1 24 0 aero alfa 1 30 0 aero alfa 1 39 0 aero alfa 2 24 0 aero alfa 3 24 0 aero vrel 1 23 0 aero vrel DOS aero vrel 24 0 aero induc 4 2 B98 aero induc 4 2 24 aero secforce 2 39 aero secforce 2 JO aero secforce 2 L57 aero secforce 2 24 aero secforce 1 2 39 aero windspeed 4 1 2 39 wind_wake wake_pos 1 mbdy momentvec tower tower Tower bottom mbdy forcevec tower tower Tower botttom mbdy momentvec tower 9 2 tower Tower top yaw bearing mbdy forcevec tower 9 2 tower Tower top yaw bearing mbdy momentvec shaft 3 1 shaft Shaft lst main bearing mbdy forcevec shaft 3 1 shaft Shaft lst main bearing mbdy momentvec bladel 1 1 bladel Bladel root mody momentvec bladel 4 1 bladel Bladel SG pos 3 08 mbdy forcevec bladel 1 1 bladel Bladel root mody momentvec bladel 12 1 bladel Bladel rad 50 mody momentvec blade3 1 1 blade3 Blade3 root constraint bearing2 pitchl 5 constraint bearing2 pitch2 5 constraint bearing2 pitch3 5 constraint bearingl shaft_rot 2 mbdy state pos tower 1 0 0 global Position tower bottom mbdy state pos tower 9 1 0 global Position tower top mbdy state pos bladel 14
89. y that is fixed to body 1 Node number of body2 that is used for the constraint last can be specified which ensures that the last node on the main body 1s used 1 must be used for now last or internal nodes doesn t work for now Sub sub command fix2 This constraint fix a node 1 on a main body to ground in x y z direction The direction that is free or fixed is optional _Obl _ Command name EA E Main body name to which node 1 is fixed dof ce in global coo that is fixed in translation 1 x direction 0 free 1 fixed 2 y direction 0 free 1 fixed 3 z direction O free 1 fixed Sub sub command fix3 This constraint fix a node to ground in tx ty tz rotation direction The rotation direction that is free or fixed is optional EEE Command name Command name Explanation saas body Main body name to which node 1 is fixed 5 Node number Direction in global coo that is fixed in rotation 1 tx rot direction 0 free 1 fixed 2 ty rot direction 0 free 1 fixed 3 tz rot direction 0 free 1 fixed 22 Ris R 1597 ver 3 1 EN Sub sub command bearing1 Constraint with properties as a bearing without friction A sensor with same identification name as the constraint 1s set up for output purpose Explanation Identification name F body1 1 Main body name to which the next main body is fixed with bearing properties 2 Node number of bodyl that is used for the constrain

How 2 HAWC2, the user's manual

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