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Irregular CIC test for OSWEC (WEC-Sim#1484)
* Irregular CIC test for OSWEC - needs more work * Update OSWEC tests * changing fig size and legend defaults --------- Co-authored-by: jtgrasb <87095491+jtgrasb@users.noreply.github.com> Co-authored-by: Ruehl <kmruehl@sandia.gov>
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‎.gitignore‎

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!/tests/**/**/regularSS_org.mat
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!/tests/**/**/irregularSS_org.mat
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!/tests/**/**/irregularCIC_org.mat
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!/tests/**/**/irregularSpread_OSWEC_org.mat
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!/tests/**/**/RegYaw_org.mat
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!/tests/**/**/IrrYaw_org.mat
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‎tests/RegressionTests/IrregularWaves/irregularSpread_OSWEC/OSWEC.slx‎

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‎tests/RegressionTests/IrregularWaves/irregularSpread_OSWEC/irregularSpread_OSWEC_org.mat‎

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‎tests/RegressionTests/IrregularWaves/irregularSpread_OSWEC/runLoadIrregularSpread_OSWEC.m‎

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%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
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% Copyright 2014 the National Renewable Energy Laboratory and Sandia Corporation
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%
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% Licensed under the Apache License, Version 2.0 (the "License");
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% you may not use this file except in compliance with the License.
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% You may obtain a copy of the License at
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%
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% http://www.apache.org/licenses/LICENSE-2.0
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%
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% Unless required by applicable law or agreed to in writing, software
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% distributed under the License is distributed on an "AS IS" BASIS,
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% WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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% See the License for the specific language governing permissions and
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% limitations under the License.
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%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
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%% Run the WEC-Sim OSWEC Test Case for pitch DOF w/PTO
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% This script will run the OSWEC in WEC-Sim for irregular waves with Hs=2.5[m]
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% and Tp=8[s] and a default wave spread. The OSWEC WEC model has 2 bodies,
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% restricted to pitch motion only, and has PTO damping=12[kNm-s/rad].
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locdir=pwd;
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%% Run Simulation
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wecSim; % Run Simulation
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%% Post-Process Data
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% Body 1
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B1.WEC_Sim_new.time=output.bodies(1).time;
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Pshift1=output.bodies(1).position(1,5);
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B1.WEC_Sim_new.pitch=output.bodies(1).position(:,5)-Pshift1;
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%Body 2
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B2.WEC_Sim_new.time=output.bodies(2).time;
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Pshift2=output.bodies(2).position(1,5);
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B2.WEC_Sim_new.pitch=output.bodies(2).position(:,5)-Pshift2;
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% Relative Motion
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Rel.WEC_Sim_new.time=B1.WEC_Sim_new.time;
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Rel.WEC_Sim_new.pitch=B1.WEC_Sim_new.pitch-B2.WEC_Sim_new.pitch;
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% Spectrum
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Sp.WEC_Sim_new.m0 = calcSpectralMoment(waves.omega,waves.spectrum,0);
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Sp.WEC_Sim_new.m2 = calcSpectralMoment(waves.omega,waves.spectrum,2);
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%% Load Data
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irrSpreadouput_new=output; % Keeps the new run in the workspace
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load('irregularSpread_OSWEC_org.mat') % Load Previous WEC-Sim Data
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%% Post-Process Data
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% Body 1
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B1.WEC_Sim_org.time=output.bodies(1).time;
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Pshift1=output.bodies(1).position(1,5);
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B1.WEC_Sim_org.pitch=output.bodies(1).position(:,5)-Pshift1;
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%Body 2
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B2.WEC_Sim_org.time=output.bodies(2).time;
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Pshift2=output.bodies(2).position(1,5);
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B2.WEC_Sim_org.pitch=output.bodies(2).position(:,5)-Pshift2;
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% Relative Motion
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Rel.WEC_Sim_org.time=B1.WEC_Sim_org.time;
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Rel.WEC_Sim_org.pitch=B1.WEC_Sim_org.pitch-B2.WEC_Sim_org.pitch;
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% Spectrum
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Sp.WEC_Sim_org.m0 = calcSpectralMoment(waves.omega,waves.spectrum,0);
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Sp.WEC_Sim_org.m2 = calcSpectralMoment(waves.omega,waves.spectrum,2);
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clear Pshift1 Pshift2
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%% Quantify Maximum Difference Between Saved and Current WEC-Sim Runs
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[irregularSpread_OSWEC.B1_P_max ,irregularSpread_OSWEC.B1_P_I]=max(abs(B1.WEC_Sim_org.pitch-B1.WEC_Sim_new.pitch));
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[irregularSpread_OSWEC.B2_P_max ,irregularSpread_OSWEC.B2_P_I]=max(abs(B2.WEC_Sim_org.pitch-B2.WEC_Sim_new.pitch));
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[irregularSpread_OSWEC.Rel_P_max,irregularSpread_OSWEC.Rel_P_I]=max(abs(Rel.WEC_Sim_org.pitch-Rel.WEC_Sim_new.pitch));
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irregularSpread_OSWEC.B1 = B1;
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irregularSpread_OSWEC.B2 = B2;
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irregularSpread_OSWEC.Rel = Rel;
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irregularSpread_OSWEC.Sp = Sp;
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save('irregularSpread_OSWEC','irregularSpread_OSWEC')
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%% Plot Old vs. New Comparison
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if testCase.openCompare==1
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cd ../..
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plotOldNewOSWEC(B1,B2,Rel,[irregularSpread_OSWEC.B1_P_max ,irregularSpread_OSWEC.B1_P_I],...
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[irregularSpread_OSWEC.B2_P_max ,irregularSpread_OSWEC.B2_P_I],...
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[irregularSpread_OSWEC.Rel_P_max,irregularSpread_OSWEC.Rel_P_I],'irregularSpreadOSWEC');
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cd(locdir)
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end
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%% Clear output and .slx directory
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try
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rmdir('output','s')
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rmdir('slprj','s')
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delete('OSWEC.slx.autosave', 'OSWEC_sfun.mexmaci64')
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catch
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end

‎tests/RegressionTests/IrregularWaves/irregularSpread_OSWEC/wecSimInputFile.m‎

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%% Simulation Data
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simu = simulationClass(); % Initialize Simulation Class
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simu.simMechanicsFile = 'OSWEC.slx'; % Specify Simulink Model File
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simu.explorer = 'off'; % Turn SimMechanics Explorer (on/off)
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simu.startTime = 0; % Simulation Start Time [s]
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simu.rampTime = 100; % Wave Ramp Time [s]
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simu.endTime = 200; % Simulation End Time [s]
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simu.solver = 'ode4'; % simu.solver = 'ode4' for fixed step & simu.solver = 'ode45' for variable step
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simu.dt = 0.1; % Simulation Time-Step [s]
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simu.cicEndTime = 30; % Specify CI Time [s]
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%% Wave Information
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% Irregular Waves using PM Spectrum with Directionality
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waves = waveClass('irregular'); % Initialize Wave Class and Specify Type
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waves.height = 2.5; % Significant Wave Height [m]
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waves.period = 8; % Peak Period [s]
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waves.spectrumType = 'PM'; % Specify Spectrum Type
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waves.direction = [0,30,90]; % Wave Directionality [deg]
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waves.spread = [0.1,0.2,0.7]; % Wave Directional Spreading [%]
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waves.phaseSeed = 1;
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%% Body Data
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% Flap
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body(1) = bodyClass('../../../../examples/OSWEC/hydroData/oswec.h5'); % Initialize bodyClass for Flap
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body(1).geometryFile = '../../../../examples/OSWEC/geometry/flap.stl'; % Geometry File
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body(1).mass = 127000; % User-Defined mass [kg]
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body(1).inertia = [1.85e6 1.85e6 1.85e6]; % Moment of Inertia [kg-m^2]
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% Base
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body(2) = bodyClass('../../../../examples/OSWEC/hydroData/oswec.h5'); % Initialize bodyClass for Base
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body(2).geometryFile = '../../../../examples/OSWEC/geometry/base.stl'; % Geometry File
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body(2).mass = 999; % Placeholder mass for a fixed body
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body(2).inertia = [999 999 999]; % Placeholder inertia for a fixed body
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%% PTO and Constraint Parameters
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% Fixed
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constraint(1)= constraintClass('Constraint1'); % Initialize ConstraintClass for Constraint1
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constraint(1).location = [0 0 -10]; % Constraint Location [m]
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% Rotational PTO
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pto(1) = ptoClass('PTO1'); % Initialize ptoClass for PTO1
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pto(1).stiffness = 0; % PTO Stiffness Coeff [Nm/rad]
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pto(1).damping = 12000; % PTO Damping Coeff [Nsm/rad]
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pto(1).location = [0 0 -8.9]; % PTO Location [m]

‎tests/RegressionTests/IrregularWaves/printPlotIrregular.m‎

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load('./irregularSS/irregularSS.mat') % Load WEC-Sim Run Data
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%% Plot Heave Comparisons
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h=figure('units','normalized','outerposition',[0 0 1 1]);
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h=figure('units','normalized');
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% First Row = All simulations, all times
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% Second Row = All simulations, t=350-400s
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xlim([0 200])
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ylim([-2 2])
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l=legend('"irregular"','"irregular" with State Space');
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set(l,'Position',[0.765 0.86 0.07 0.05],'Units','normalized',...
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'FontSize',12);
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set(l,'Units','normalized','FontSize',12);
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subplot(2,3,6)
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m = plot(irregularCIC.Rel.WEC_Sim_new.time(find( irregularCIC.Rel.WEC_Sim_new.time==startTime):end),...

‎tests/RegressionTests/RegularWaves/printPlotRegular.m‎

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load('./regularSS/regularSS.mat')
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%% Plot Heave Comparisons
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h=figure('units','normalized','outerposition',[0 0 1 1]);
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h=figure('units','normalized');
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% First Row = All simulations, all times
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% Second Row = All simulations, t=350-400s
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xlim([0 150])
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ylim([-2 2])
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l=legend('"regular"','"regularCIC"','"regularCIC" with State Space');
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set(l,'Position',[0.765 0.84 0.07 0.07],'Units','normalized',...
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'FontSize',12);
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set(l,'Units','normalized','FontSize',12);
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subplot(2,3,6)
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m=plot( regular.Rel.WEC_Sim_new.time(find( regular.Rel.WEC_Sim_new.time==startTime):end),...

‎tests/RegressionTests/plotOldNew.m‎

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% titstr: Title string to be displayed
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function plotOldNew(B1,B2,Rel,InfoDiffB1, InfoDiffB2, InfoDiffRel,titstr)
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h=figure('units','normalized','outerposition',[0 0 1 1]);
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h=figure('units','normalized');
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% figure;
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subplot(2,3,1)
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%First Column: Body 1 Heave
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xlim([0 200])
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ylim([-2 2])
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l=legend('WEC-Sim Org','WEC-Sim New');
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set(l,'Position',[0.92 0.90 0.07 0.07],'Units','normalized',...
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'FontSize',12);
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set(l,'Units','normalized','FontSize',12);
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subplot(2,3,6)
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m=plot(Rel.WEC_Sim_org.time(find(Rel.WEC_Sim_org.time==startTime):end),...

‎tests/RegressionTests/plotOldNewOSWEC.m‎

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%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
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% Copyright 2014 the National Renewable Energy Laboratory and Sandia Corporation
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%
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% Licensed under the Apache License, Version 2.0 (the "License");
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% you may not use this file except in compliance with the License.
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% You may obtain a copy of the License at
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%
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% http://www.apache.org/licenses/LICENSE-2.0
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%
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% Unless required by applicable law or agreed to in writing, software
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% distributed under the License is distributed on an "AS IS" BASIS,
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% WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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% See the License for the specific language governing permissions and
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% limitations under the License.
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%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
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%% Plot Old vs. New Output Comparison
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% This script is called to plot the heave motion of body 1, 2, and relative
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% motion between them for the new simulation and the stored run for the
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% OSWEC.
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% INPUTS:
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% B1: Body 1 data structure
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% B2: Body 2 data structure
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% Rel: Relative motion data structure
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% InfoDiffB1: A 2-element vector specifying (1) the max difference
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% (max(abs(old-new))) of body 1 pitch, and (2) the time at which it occurs.
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% InfoDiffB2: Same for body 2
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% InfoDiffRel: Same for relative body motions
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% titstr: Title string to be displayed
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function plotOldNewOSWEC(B1,B2,Rel,InfoDiffB1, InfoDiffB2, InfoDiffRel,titstr)
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h=figure('units','normalized');
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% figure;
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subplot(2,3,1)
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%First Column: Body 1 Pitch
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startTime = 100;
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subplot(2,3,1)
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n=plot(B1.WEC_Sim_org.time,B1.WEC_Sim_org.pitch,'r:',...
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B1.WEC_Sim_new.time,B1.WEC_Sim_new.pitch,'k-');
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xlabel('time(s)')
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ylabel('Pitch(rad)')
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title(strcat(titstr,'Flap Pitch DOF 12PTO'))
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str1=['Max Diff = ' num2str(InfoDiffB1(1)) ' rad'];
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str2=['at time = ' num2str(B1.WEC_Sim_org.time(InfoDiffB1(2))) 's'];
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a=text(10,1.5,str1);set(a,'FontSize',12)
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a=text(10,1.2,str2);set(a,'FontSize',12)
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b=get(n(1),'LineWidth')+1;
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set(n(1),'LineWidth',b)
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xlim([0 200])
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ylim([-0.3 0.3])
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subplot(2,3,4)
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m=plot(B1.WEC_Sim_org.time(find(B1.WEC_Sim_org.time==startTime):end),...
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B1.WEC_Sim_org.pitch(find(B1.WEC_Sim_org.time==startTime):end),'r:',...
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B1.WEC_Sim_new.time(find(B1.WEC_Sim_new.time==startTime):end),...
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B1.WEC_Sim_new.pitch(find(B1.WEC_Sim_new.time==startTime):end),'k-');
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a=get(m(1),'LineWidth')+1;
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set(m(1),'LineWidth',a)
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xlabel('time(s)')
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ylabel('Pitch(rad)')
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xlim([100 200])
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ylim([-0.3 0.3])
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%Second Column: Body 2 Pitch
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subplot(2,3,2)
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n=plot(B2.WEC_Sim_org.time,B2.WEC_Sim_org.pitch,'r:',...
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B2.WEC_Sim_new.time,B2.WEC_Sim_new.pitch,'k-');
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xlabel('time(s)')
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ylabel('Pitch(rad)')
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title(strcat(titstr, 'Base Pitch DOF 12PTO'))
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str1=['Max Diff = ' num2str(InfoDiffB2(1)) ' m'];
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str2=['at time = ' num2str(B1.WEC_Sim_org.time(InfoDiffB2(2))) 's'];
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a=text(10,0.18,str1);set(a,'FontSize',12)
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a=text(10,0.15,str2);set(a,'FontSize',12)
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b=get(n(1),'LineWidth')+1;
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set(n(1),'LineWidth',b)
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xlim([0 200])
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ylim([-0.1 0.1])
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subplot(2,3,5)
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m=plot(B2.WEC_Sim_org.time(find(B2.WEC_Sim_org.time==startTime):end),...
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B2.WEC_Sim_org.pitch(find(B2.WEC_Sim_org.time==startTime):end),'r:',...
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B2.WEC_Sim_new.time(find(B2.WEC_Sim_new.time==startTime):end),...
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B2.WEC_Sim_new.pitch(find(B2.WEC_Sim_new.time==startTime):end),'k-');
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a=get(m(1),'LineWidth')+1;
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set(m(1),'LineWidth',a)
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xlabel('time(s)')
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ylabel('Pitch(rad)')
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xlim([100 200])
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ylim([-0.1 0.1])
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%Third Column: Relative Pitch
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subplot(2,3,3)
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n=plot(Rel.WEC_Sim_org.time,Rel.WEC_Sim_org.pitch,'r:',...
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Rel.WEC_Sim_new.time,Rel.WEC_Sim_new.pitch,'k-');
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xlabel('time(s)')
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ylabel('Pitch(rad)')
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title(strcat(titstr, ' Relative Pitch DOF 12PTO'))
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str1=['Max Diff = ' num2str(InfoDiffRel(1)) ' m'];
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str2=['at time = ' num2str(Rel.WEC_Sim_org.time(InfoDiffRel(2))) 's'];
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a=text(10,1.5,str1);set(a,'FontSize',12)
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a=text(10,1.2,str2);set(a,'FontSize',12)
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b=get(n(1),'LineWidth')+1;
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set(n(1),'LineWidth',b)
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xlim([0 200])
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ylim([-0.3 0.3])
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l=legend('WEC-Sim Org','WEC-Sim New');
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set(l,'Units','normalized','FontSize',12);
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subplot(2,3,6)
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m=plot(Rel.WEC_Sim_org.time(find(Rel.WEC_Sim_org.time==startTime):end),...
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Rel.WEC_Sim_org.pitch(find(Rel.WEC_Sim_org.time==startTime):end),'r:',...
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Rel.WEC_Sim_new.time(find(Rel.WEC_Sim_new.time==startTime):end),...
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Rel.WEC_Sim_new.pitch(find(Rel.WEC_Sim_new.time==startTime):end),'k-');
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a=get(m(1),'LineWidth')+1;
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set(m(1),'LineWidth',a)
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xlabel('time(s)')
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ylabel('Pitch(rad)')
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xlim([100 200])
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ylim([-0.3 0.3])
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end

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