[BugFix] Nacelle position set inconsistently by glue code and AeroDyn driver

docs/source/user/aerodyn/driver.rst

@@ -149,7 +149,7 @@ Yawing occurs around the :math:`z_n` axis,  the rotor rotates about the :math:`x
 Two turbine input formats are supported:
 
 - basic (`BasicHAWTFormat=True`): Basic horizontal axis wind turbine (HAWT) format.
-  In this format, the turbine geometry is entirely determined by the number of blades (`NumBlades`), the hub radius (`HubRad`), the hub height  (`HubHt`), the overhang (`Overhang`), the shaft tilt (`ShftTilt`) and the precone (`Precone`), as shown in :numref:`fig:BasicGeometry`.
+  In this format, the turbine geometry is entirely determined by the number of blades (`NumBlades`), the hub radius (`HubRad`), the hub height  (`HubHt`), the overhang (`Overhang`), the shaft tilt (`ShftTilt`), the precone (`Precone`), and the vertical distance from the tower-top to the rotor shaft (`Twr2Shft`), as shown in :numref:`fig:BasicGeometry`.
   The definition of each parameter follows the ElastoDyn convention. For example, `HubRad` specifies the radius from the center-of-rotation to the blade root along the (possibly preconed) blade-pitch axis and must be greater than zero. `HubHt` specifies the elevation of the hub center above the ground for land-based wind turbines, above the mean sea level (MSL) for offshore wind turbines, or above the seabed for MHK turbines. `Overhang` specifies the distance along the (possibly tilted) rotor shaft between the tower centerline and hub center and is positive downwind (use a negative number for upwind rotors). `ShftTilt` is the angle (in degrees) between the rotor shaft and the horizontal plane, and positive `ShftTilt` means that the downwind end of the shaft is the highest (upwind turbines have negative `ShftTilt` for improved tower clearance). `Precone` is the angle (in degrees) between a flat rotor disk and the cone swept by the blades, positive downwind (upwind turbines have negative `Precone` for improved tower clearance).
 
   .. figure:: figs/ad_driver_geom.png
@@ -171,6 +171,7 @@ Two turbine input formats are supported:
               -7    Overhang(1)     - Overhang (m)
               -6    ShftTilt(1)     - Shaft tilt (deg)
               -4    Precone(1)      - Blade precone (deg)
+         3.09343    Twr2Shft(1)     - Vertical distance from the tower-top to the rotor shaft (m)
 
 
 - advanced (`BasicHAWTFormat=False`): The position and orientation of the tower base, nacelle, hub, and individual blades can be arbitrarily defined. This can be used for HAWT and any other turbine concepts. 
@@ -445,6 +446,7 @@ An example of an AeroDyn driver for a basic inflow, basic HAWT, and combined cas
               -7    Overhang(1)     - Overhang (m)
               -6    ShftTilt(1)     - Shaft tilt (deg)
               -4    Precone(1)      - Blade precone (deg)
+         3.09343    Twr2Shft(1)     - Vertical distance from the tower-top to the rotor shaft (m)
     ----- Turbine(1) Motion [used only when AnalysisType=1] ---------------------------------
     1               BaseMotionType(1)      - Type of motion prescribed for this base {0: fixed, 1: Sinusoidal motion, 2: arbitrary motion} (flag)
     1               DegreeOfFreedom(1)     - {1:xg, 2:yg, 3:zg, 4:theta_xg, 5:theta_yg, 6:theta_zg} [used only when BaseMotionType=1] (flag)

docs/source/user/aerodyn/examples/ad_driver_example.dvr

@@ -31,6 +31,7 @@ False           Echo         - Echo input parameters to "<rootname>.ech"?
           -7    Overhang(1)     - Overhang (m)
           -6    ShftTilt(1)     - Shaft tilt (deg)
           -4    Precone(1)      - Blade precone (deg)
+     3.09343    Twr2Shft(1)     - Vertical distance from the tower-top to the rotor shaft (m)
 ----- Turbine(1) Motion [used only when AnalysisType=1] ---------------------------------
 1               BaseMotionType(1)      - Type of motion prescribed for this base {0: fixed, 1: Sinusoidal motion, 2: arbitrary motion} (flag)
 1               DegreeOfFreedom(1)     - {1:xg, 2:yg, 3:zg, 4:theta_xg, 5:theta_yg, 6:theta_zg} [used only when BaseMotionType=1] (flag)

docs/source/user/aerodyn/examples/ad_driver_multiple.dvr

@@ -71,6 +71,7 @@ True            HAWTprojection(1)      - True if turbine is a horizontal axis tu
           -7    Overhang(2)     - Overhang (m)
           -6    ShftTilt(2)     - Shaft tilt (deg)
           -4    Precone(2)      - Blade precone (deg)
+     3.09343    Twr2Shft(2)     - Vertical distance from the tower-top to the rotor shaft (m)
 ----- Turbine(2) Motion [used only when AnalysisType=1] ---------------------------------
 0               BaseMotionType(2)      - Type of motion prescribed for this base {0: fixed, 1: Sinusoidal motion, 2: arbitrary motion} (flag)
 0               DegreeOfFreedom(2)     - {1:xt, 2:yt, 3:zt, 4:theta_xt, 5:theta_yt, 6:theta_zt} [used only when BaseMotionType=1] (flag)

docs/source/user/api_change.rst

@@ -34,6 +34,7 @@ OpenFAST                                      30   WtrDpth         50         Wt
 OpenFAST                                      31   MSL2SWL         0          MSL2SWL           - Offset between still-water level and mean sea level (m) [positive upward]
 AeroDyn 15                                    40   UAStartRad      0.25       UAStartRad        - Starting radius for dynamic stall (fraction of rotor radius) [used only when AFAeroMod=2; if line is missing UAStartRad=0]
 AeroDyn 15                                    41   UAEndRad        0.95       UAEndRad          - Ending radius for dynamic stall (fraction of rotor radius) [used only when AFAeroMod=2; if line is missing UAEndRad=1]
+AeroDyn driver                                34   Twr2Shft        3.09343    Twr2Shft          - Vertical distance from the tower-top to the rotor shaft (m)
 AirFoilTables                                 12\* alphaUpper      5.0        alphaUpper        ! Angle of attack at upper boundary of fully-attached region. (deg) [used only when UAMod=5] ! THIS IS AN OPTIONAL LINE; if omitted, it will be calculated from the polar data
 AirFoilTables                                 13\* alphaLower      \-3.0      alphaLower        ! Angle of attack at lower boundary of fully-attached region. (deg) [used only when UAMod=5] ! THIS IS AN OPTIONAL LINE; if omitted, it will be calculated from the polar data 		   
 AirFoilTables                                 42\* UACutout_delta  "DEFAULT"  UACutout_delta    ! Delta angle of attack below UACutout where unsteady aerodynamics begin to turn off (blend with steady solution) (deg) [Specifying the string "Default" sets UACutout_delta to 5 degrees] ! THIS IS AN OPTIONAL LINE; if omitted, it will be set to its default value

modules/aerodyn/src/AeroDyn_Driver_Subs.f90

@@ -435,6 +435,8 @@ subroutine Init_AeroDyn(iCase, dvr, AD, dt, InitOutData, errStat, errMsg)
          endif
          InitInData%rotors(iWT)%HubPosition    = wt%hub%ptMesh%Position(:,1)
          InitInData%rotors(iWT)%HubOrientation = wt%hub%ptMesh%RefOrientation(:,:,1)
+         InitInData%rotors(iWT)%NacellePosition    = wt%nac%ptMesh%Position(:,1)
+         InitInData%rotors(iWT)%NacelleOrientation = wt%nac%ptMesh%RefOrientation(:,:,1)
          do k=1,wt%numBlades
             InitInData%rotors(iWT)%BladeRootOrientation(:,:,k) = wt%bld(k)%ptMesh%RefOrientation(:,:,1)
             InitInData%rotors(iWT)%BladeRootPosition(:,k)      = wt%bld(k)%ptMesh%Position(:,1)
@@ -1255,7 +1257,7 @@ subroutine Dvr_ReadInputFile(fileName, dvr, errStat, errMsg )
    character(10) :: sWT
    character(15) :: sBld
    ! Basic inputs
-   real(ReKi) :: hubRad, hubHt, overhang, shftTilt, precone ! Basic inputs when basicHAWTFormat is true
+   real(ReKi) :: hubRad, hubHt, overhang, shftTilt, precone, twr2Shft ! Basic inputs when basicHAWTFormat is true
    real(ReKi) :: nacYaw, bldPitch, rotSpeed
    ErrStat = ErrID_None
    ErrMsg  = ''
@@ -1348,6 +1350,7 @@ subroutine Dvr_ReadInputFile(fileName, dvr, errStat, errMsg )
          call ParseVar(FileInfo_In, CurLine, 'overhang'//sWT       , overhang          , errStat2, errMsg2 , unEc); if(Failed()) return
          call ParseVar(FileInfo_In, CurLine, 'shftTilt'//sWT       , shftTilt          , errStat2, errMsg2 , unEc); if(Failed()) return
          call ParseVar(FileInfo_In, CurLine, 'precone'//sWT        , precone           , errStat2, errMsg2 , unEc); if(Failed()) return
+         call ParseVar(FileInfo_In, CurLine, 'twr2Shft'//sWT       , twr2Shft          , errStat2, errMsg2 , unEc); if(Failed()) return
 
          shftTilt=-shftTilt*Pi/180._ReKi ! deg 2 rad, NOTE: OpenFAST convention sign wrong around y 
          precone=precone*Pi/180._ReKi ! deg 2 rad
@@ -1358,8 +1361,8 @@ subroutine Dvr_ReadInputFile(fileName, dvr, errStat, errMsg )
          wt%hasTower          = .True.
          wt%HAWTprojection    = .True.
          wt%twr%origin_t      = 0.0_ReKi ! Exactly at the base
-         wt%nac%origin_t      = (/ 0.0_ReKi                , 0.0_ReKi, hubHt + overhang * sin(shftTilt)       /) ! NOTE WE DON'T HAVE TWR2SHAFT to approximate
-         wt%hub%origin_n      = (/ overhang * cos(shftTilt), 0.0_ReKi, -overhang * sin(shftTilt) /)              ! IDEM
+         wt%nac%origin_t      = (/ 0.0_ReKi                , 0.0_ReKi, hubHt - twr2Shft + overhang * sin(shftTilt)       /)
+         wt%hub%origin_n      = (/ overhang * cos(shftTilt), 0.0_ReKi, -overhang * sin(shftTilt) + twr2shft /)              ! IDEM
          wt%hub%orientation_n = (/ 0.0_ReKi,  shftTilt, 0.0_ReKi  /)
 
          ! blades

modules/aerodyn/src/AeroDyn_Registry.txt

@@ -42,7 +42,7 @@ typedef	^	RotInitInputType	ReKi	HubPosition	{3}	-	-	"X-Y-Z reference position of
 typedef	^	RotInitInputType	R8Ki	HubOrientation	{3}{3}	-	-	"DCM reference orientation of hub"	-
 typedef	^	RotInitInputType	ReKi	BladeRootPosition	{:}{:}	-	-	"X-Y-Z reference position of each blade root (3 x NumBlades)"	m
 typedef	^	RotInitInputType	R8Ki	BladeRootOrientation	{:}{:}{:}	-	-	"DCM reference orientation of blade roots (3x3 x NumBlades)"	-
-typedef	^	RotInitInputType	R8Ki	NacellePosition	{3}	-	-	"X-Y-Z reference position of hub"	m
+typedef	^	RotInitInputType	R8Ki	NacellePosition	{3}	-	-	"X-Y-Z reference position of nacelle"	m
 typedef	^	RotInitInputType	R8Ki	NacelleOrientation	{3}{3}	-	-	"DCM reference orientation of nacelle"	-
 typedef	^	RotInitInputType	IntKi	AeroProjMod   	-	0	-	"Flag to switch between different projection models"	-
 

modules/aerodyn/src/AeroDyn_Types.f90

@@ -57,7 +57,7 @@ MODULE AeroDyn_Types
     REAL(R8Ki) , DIMENSION(1:3,1:3)  :: HubOrientation      !< DCM reference orientation of hub [-]
     REAL(ReKi) , DIMENSION(:,:), ALLOCATABLE  :: BladeRootPosition      !< X-Y-Z reference position of each blade root (3 x NumBlades) [m]
     REAL(R8Ki) , DIMENSION(:,:,:), ALLOCATABLE  :: BladeRootOrientation      !< DCM reference orientation of blade roots (3x3 x NumBlades) [-]
-    REAL(R8Ki) , DIMENSION(1:3)  :: NacellePosition      !< X-Y-Z reference position of hub [m]
+    REAL(R8Ki) , DIMENSION(1:3)  :: NacellePosition      !< X-Y-Z reference position of nacelle [m]
     REAL(R8Ki) , DIMENSION(1:3,1:3)  :: NacelleOrientation      !< DCM reference orientation of nacelle [-]
     INTEGER(IntKi)  :: AeroProjMod = 0      !< Flag to switch between different projection models [-]
   END TYPE RotInitInputType