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Revise floating tower with MIT-Univ Porto design #164

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0d2fb79
moving yaml files to windio v2.1
Mar 17, 2026
668ab3a
update wisdem files for windio v2.1
Mar 17, 2026
5d5b4f5
update versioning and numpy v2 namespace
Mar 17, 2026
0bae18c
modernizing python versions and gha versions in CI script
Mar 17, 2026
5bd7bf6
fixing tests at OF v4.1.2 for now
Mar 17, 2026
13cc568
path to discon.so changed with update GHA versions
Mar 17, 2026
262b171
syncing with OpenFAST v4.2.1
Mar 18, 2026
2b5d331
new floating tower and some small controller param corrections
Mar 19, 2026
6649b94
credit MIT-Porto team for floating tower
Mar 19, 2026
2d761f0
correct height typo on tower and ensure consistent diameter at yaw be…
Mar 27, 2026
0f3f956
Update IEA-22MW_tower_st.dat with revised floating tower
tkbadtu Mar 31, 2026
a9f21e5
Update ESYSMooring_init.dat with revised floating tower
tkbadtu Mar 31, 2026
ccf592d
Update iea_22mw_rwt_floater_steps.htc with revised floating tower
tkbadtu Mar 31, 2026
529023b
Update iea_22mw_rwt_floater_master_dlb.htc with revised tower
tkbadtu Mar 31, 2026
cf8c2ed
Delete outputs/04_design_loads/HAWC2/IEA-22-280-RWT-Semi_DLB_directio…
tkbadtu Mar 31, 2026
b6ace67
Delete outputs/04_design_loads/HAWC2/IEA-22-280-RWT-Semi_DLB_directio…
tkbadtu Mar 31, 2026
d14584a
Delete outputs/04_design_loads/HAWC2/IEA-22-280-RWT-Semi_DLB_directio…
tkbadtu Mar 31, 2026
ec8018d
added updated design loads for the revised floating tower
tkbadtu Mar 31, 2026
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6 changes: 3 additions & 3 deletions .github/workflows/CI_IEA22.yml
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Expand Up @@ -12,11 +12,11 @@ jobs:
fail-fast: False
matrix:
os: ["ubuntu-latest"]
python-version: [3.9]
python-version: [3.13]

steps:
- uses: actions/checkout@v2
- uses: conda-incubator/setup-miniconda@v2
- uses: actions/checkout@v5
- uses: conda-incubator/setup-miniconda@v3
# https://github.com/marketplace/actions/setup-miniconda
with:
miniconda-version: "latest"
Expand Down
606 changes: 303 additions & 303 deletions HAWC2/IEA-22-280-RWT-Semi/ESYSMooring_init.dat
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62 changes: 31 additions & 31 deletions HAWC2/IEA-22-280-RWT-Semi/data/IEA-22MW_tower_st.dat
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72 changes: 36 additions & 36 deletions HAWC2/IEA-22-280-RWT-Semi/htc/_master/iea_22mw_rwt_floater_master_dlb.htc
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Original file line number Diff line number Diff line change
Expand Up @@ -197,44 +197,44 @@ begin new_htc_structure;
type timoschenko;
nbodies 1;
node_distribution c2_def;
damping_posdef 0.0 0.0 0.0 0.00272819 0.00273093 0.00773657 ; tuned to 0.5% critical damping on first 2 modes
damping_posdef 0.0 0.0 0.0 0.00197309 0.00197307 0.00889051 ; tuned to 0.5% critical damping on first 2 modes
begin timoschenko_input;
filename ./data/IEA-22MW_tower_st.dat;
set 1 1;
end timoschenko_input;
begin c2_def;
nsec 31;
sec 1 0.0 0.0 0.0 0.0;
sec 2 0.0 0.0 -3.1878898299999996 0.0;
sec 3 0.0 0.0 -8.22920397 0.0;
sec 4 0.0 0.0 -13.270518110000001 0.0;
sec 5 0.0 0.0 -18.311832260000003 0.0;
sec 6 0.0 0.0 -23.3531464 0.0;
sec 7 0.0 0.0 -28.394460549999998 0.0;
sec 8 0.0 0.0 -33.43577469 0.0;
sec 9 0.0 0.0 -38.47708883 0.0;
sec 10 0.0 0.0 -43.51840298 0.0;
sec 11 0.0 0.0 -48.55971712 0.0;
sec 12 0.0 0.0 -53.60103126999999 0.0;
sec 13 0.0 0.0 -58.642345410000004 0.0;
sec 14 0.0 0.0 -63.68365955 0.0;
sec 15 0.0 0.0 -68.7249737 0.0;
sec 16 0.0 0.0 -73.76628784 0.0;
sec 17 0.0 0.0 -78.80760199 0.0;
sec 18 0.0 0.0 -83.84891613 0.0;
sec 19 0.0 0.0 -88.89023027 0.0;
sec 20 0.0 0.0 -93.93154442 0.0;
sec 21 0.0 0.0 -98.97285856 0.0;
sec 22 0.0 0.0 -104.0141727 0.0;
sec 23 0.0 0.0 -109.05548685 0.0;
sec 24 0.0 0.0 -114.09680098999999 0.0;
sec 25 0.0 0.0 -119.13811514 0.0;
sec 26 0.0 0.0 -124.17942928 0.0;
sec 27 0.0 0.0 -129.22074342 0.0;
sec 28 0.0 0.0 -134.26205757 0.0;
sec 29 0.0 0.0 -139.30337171 0.0;
sec 30 0.0 0.0 -144.34468586 0.0;
sec 31 0.0 0.0 -149.386 0.0;
sec 2 0.0 0.0 -3.1884999999999999e+00 0.0;
sec 3 0.0 0.0 -8.2294999999999998e+00 0.0;
sec 4 0.0 0.0 -1.3271500000000000e+01 0.0;
sec 5 0.0 0.0 -1.8312500000000000e+01 0.0;
sec 6 0.0 0.0 -2.2352499999999999e+01 0.0;
sec 7 0.0 0.0 -2.7393500000000000e+01 0.0;
sec 8 0.0 0.0 -3.2435499999999998e+01 0.0;
sec 9 0.0 0.0 -3.7476500000000001e+01 0.0;
sec 10 0.0 0.0 -4.2517499999999998e+01 0.0;
sec 11 0.0 0.0 -4.7559500000000000e+01 0.0;
sec 12 0.0 0.0 -5.2600499999999997e+01 0.0;
sec 13 0.0 0.0 -5.7641500000000001e+01 0.0;
sec 14 0.0 0.0 -6.2683500000000002e+01 0.0;
sec 15 0.0 0.0 -6.7724500000000006e+01 0.0;
sec 16 0.0 0.0 -7.2765500000000003e+01 0.0;
sec 17 0.0 0.0 -7.7807500000000005e+01 0.0;
sec 18 0.0 0.0 -8.2848500000000001e+01 0.0;
sec 19 0.0 0.0 -8.7889499999999998e+01 0.0;
sec 20 0.0 0.0 -9.2931500000000000e+01 0.0;
sec 21 0.0 0.0 -9.7972499999999997e+01 0.0;
sec 22 0.0 0.0 -1.0301349999999999e+02 0.0;
sec 23 0.0 0.0 -1.0805450000000000e+02 0.0;
sec 24 0.0 0.0 -1.1309650000000001e+02 0.0;
sec 25 0.0 0.0 -1.1813750000000000e+02 0.0;
sec 26 0.0 0.0 -1.2317850000000000e+02 0.0;
sec 27 0.0 0.0 -1.2822049999999999e+02 0.0;
sec 28 0.0 0.0 -1.3326150000000001e+02 0.0;
sec 29 0.0 0.0 -1.3830250000000001e+02 0.0;
sec 30 0.0 0.0 -1.4334450000000001e+02 0.0;
sec 31 0.0 0.0 -1.4938600000000000e+02 0.0;
end c2_def;
end main_body;
begin main_body;
Expand Down Expand Up @@ -784,8 +784,8 @@ begin wind;
begin tower_shadow_potential_2;
tower_mbdy_link tower;
nsec 2;
radius 0.0 5.0; radius at base
radius 149.386 3.5;
radius 0.0 6.0; radius at base
radius 149.386 3.0;
end tower_shadow_potential_2;
end wind;
;
Expand All @@ -794,8 +794,8 @@ begin aerodrag; tower drag
mbdy_name tower;
aerodrag_sections uniform 10;
nsec 2;
sec 0.0 10.0 0.5;
sec 149.386 7.0 0.5;
sec 0.0 12.0 0.5;
sec 149.386 6.0 0.5;
end aerodrag_element;
begin aerodrag_element;
mbdy_name connector;
Expand Down Expand Up @@ -1148,7 +1148,7 @@ begin dll;
arraysizes_update 15 6;
begin init; Variables passed into initialization function
constant 1 6.0; Tower radius at tower bottom [m]
constant 2 3.5; Tower radius at tower top [m]
constant 2 3.0; Tower radius at tower top [m]
constant 3 3; Number of points to check [-]
end init;
begin output; Variables passed into update function
Expand Down
72 changes: 36 additions & 36 deletions HAWC2/IEA-22-280-RWT-Semi/htc/iea_22mw_rwt_floater_steps.htc
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Original file line number Diff line number Diff line change
Expand Up @@ -198,44 +198,44 @@ begin new_htc_structure;
type timoschenko;
nbodies 1;
node_distribution c2_def;
damping_posdef 0.0 0.0 0.0 0.00272819 0.00273093 0.00773657 ; tuned to 0.5% critical damping on first 2 modes
damping_posdef 0.0 0.0 0.0 0.00197309 0.00197307 0.00889051 ; tuned to 0.5% critical damping on first 2 modes
begin timoschenko_input;
filename ./data/IEA-22MW_tower_st.dat;
set 1 1;
end timoschenko_input;
begin c2_def;
nsec 31;
sec 1 0.0 0.0 0.0 0.0;
sec 2 0.0 0.0 -3.1878898299999996 0.0;
sec 3 0.0 0.0 -8.22920397 0.0;
sec 4 0.0 0.0 -13.270518110000001 0.0;
sec 5 0.0 0.0 -18.311832260000003 0.0;
sec 6 0.0 0.0 -23.3531464 0.0;
sec 7 0.0 0.0 -28.394460549999998 0.0;
sec 8 0.0 0.0 -33.43577469 0.0;
sec 9 0.0 0.0 -38.47708883 0.0;
sec 10 0.0 0.0 -43.51840298 0.0;
sec 11 0.0 0.0 -48.55971712 0.0;
sec 12 0.0 0.0 -53.60103126999999 0.0;
sec 13 0.0 0.0 -58.642345410000004 0.0;
sec 14 0.0 0.0 -63.68365955 0.0;
sec 15 0.0 0.0 -68.7249737 0.0;
sec 16 0.0 0.0 -73.76628784 0.0;
sec 17 0.0 0.0 -78.80760199 0.0;
sec 18 0.0 0.0 -83.84891613 0.0;
sec 19 0.0 0.0 -88.89023027 0.0;
sec 20 0.0 0.0 -93.93154442 0.0;
sec 21 0.0 0.0 -98.97285856 0.0;
sec 22 0.0 0.0 -104.0141727 0.0;
sec 23 0.0 0.0 -109.05548685 0.0;
sec 24 0.0 0.0 -114.09680098999999 0.0;
sec 25 0.0 0.0 -119.13811514 0.0;
sec 26 0.0 0.0 -124.17942928 0.0;
sec 27 0.0 0.0 -129.22074342 0.0;
sec 28 0.0 0.0 -134.26205757 0.0;
sec 29 0.0 0.0 -139.30337171 0.0;
sec 30 0.0 0.0 -144.34468586 0.0;
sec 31 0.0 0.0 -149.386 0.0;
sec 2 0.0 0.0 -3.1884999999999999e+00 0.0;
sec 3 0.0 0.0 -8.2294999999999998e+00 0.0;
sec 4 0.0 0.0 -1.3271500000000000e+01 0.0;
sec 5 0.0 0.0 -1.8312500000000000e+01 0.0;
sec 6 0.0 0.0 -2.2352499999999999e+01 0.0;
sec 7 0.0 0.0 -2.7393500000000000e+01 0.0;
sec 8 0.0 0.0 -3.2435499999999998e+01 0.0;
sec 9 0.0 0.0 -3.7476500000000001e+01 0.0;
sec 10 0.0 0.0 -4.2517499999999998e+01 0.0;
sec 11 0.0 0.0 -4.7559500000000000e+01 0.0;
sec 12 0.0 0.0 -5.2600499999999997e+01 0.0;
sec 13 0.0 0.0 -5.7641500000000001e+01 0.0;
sec 14 0.0 0.0 -6.2683500000000002e+01 0.0;
sec 15 0.0 0.0 -6.7724500000000006e+01 0.0;
sec 16 0.0 0.0 -7.2765500000000003e+01 0.0;
sec 17 0.0 0.0 -7.7807500000000005e+01 0.0;
sec 18 0.0 0.0 -8.2848500000000001e+01 0.0;
sec 19 0.0 0.0 -8.7889499999999998e+01 0.0;
sec 20 0.0 0.0 -9.2931500000000000e+01 0.0;
sec 21 0.0 0.0 -9.7972499999999997e+01 0.0;
sec 22 0.0 0.0 -1.0301349999999999e+02 0.0;
sec 23 0.0 0.0 -1.0805450000000000e+02 0.0;
sec 24 0.0 0.0 -1.1309650000000001e+02 0.0;
sec 25 0.0 0.0 -1.1813750000000000e+02 0.0;
sec 26 0.0 0.0 -1.2317850000000000e+02 0.0;
sec 27 0.0 0.0 -1.2822049999999999e+02 0.0;
sec 28 0.0 0.0 -1.3326150000000001e+02 0.0;
sec 29 0.0 0.0 -1.3830250000000001e+02 0.0;
sec 30 0.0 0.0 -1.4334450000000001e+02 0.0;
sec 31 0.0 0.0 -1.4938600000000000e+02 0.0;
end c2_def;
end main_body;
begin main_body;
Expand Down Expand Up @@ -799,8 +799,8 @@ wind_ramp_abs 1150.0 1150.1 0.0 1.0;
begin tower_shadow_potential_2;
tower_mbdy_link tower;
nsec 2;
radius 0.0 5.0; radius at base
radius 149.386 3.5;
radius 0.0 6.0; radius at base
radius 149.386 3.0;
end tower_shadow_potential_2;
end wind;
;
Expand All @@ -809,8 +809,8 @@ begin aerodrag; tower drag
mbdy_name tower;
aerodrag_sections uniform 10;
nsec 2;
sec 0.0 10.0 0.5;
sec 149.386 7.0 0.5;
sec 0.0 12.0 0.5;
sec 149.386 6.0 0.5;
end aerodrag_element;
begin aerodrag_element;
mbdy_name connector;
Expand Down Expand Up @@ -1163,7 +1163,7 @@ begin dll;
arraysizes_update 15 6;
begin init; Variables passed into initialization function
constant 1 6.0; Tower radius at tower bottom [m]
constant 2 3.5; Tower radius at tower top [m]
constant 2 3.0; Tower radius at tower top [m]
constant 3 3; Number of points to check [-]
end init;
begin output; Variables passed into update function
Expand Down
1 change: 1 addition & 0 deletions OpenFAST/IEA-22-280-RWT-Monopile/IEA-22-280-RWT_ElastoDyn.dat
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Expand Up @@ -73,6 +73,7 @@ True PtfmYDOF - Platform yaw rotation DOF (flag)
0.0 TipMass(3) - Tip-brake mass, blade 3 (kg) [unused for 2 blades]
120447.70224890654 HubMass - Hub mass (kg)
1882498.8832803261 HubIner - Hub inertia about rotor axis [3 blades] or teeter axis [2 blades] (kg m^2)
0 HubIner_Teeter - Hub inertia about teeter axis (2-blades) (kg m^2)
3117597.5395135996 GenIner - Generator inertia about HSS (kg m^2)
821239.8004933242 NacMass - Nacelle mass (kg)
52470672.30243715 NacYIner - Nacelle inertia about yaw axis (kg m^2)
Expand Down
2 changes: 1 addition & 1 deletion OpenFAST/IEA-22-280-RWT-Monopile/IEA-22-280-RWT_ServoDyn.dat
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Expand Up @@ -74,7 +74,7 @@ True GenTiStp - Method to stop the generator {T: timed usin
---------------------- CABLE CONTROL -------------------------------------------
0 CCmode - Cable control mode {0: none, 4: user-defined from Simulink/Labview, 5: user-defined from Bladed-style DLL} (switch)
---------------------- BLADED INTERFACE ---------------------------------------- [used only with Bladed Interface]
"/usr/share/miniconda3/envs/test/lib/libdiscon.so" DLL_FileName - Name/location of the dynamic library {.dll [Windows] or .so [Linux]} in the Bladed-DLL format (-) [used only with Bladed Interface]
"/home/runner/miniconda3/envs/test/lib/libdiscon.so" DLL_FileName - Name/location of the dynamic library {.dll [Windows] or .so [Linux]} in the Bladed-DLL format (-) [used only with Bladed Interface]
"IEA-22-280-RWT_DISCON.IN" DLL_InFile - Name of input file sent to the DLL (-) [used only with Bladed Interface]
"DISCON" DLL_ProcName - Name of procedure in DLL to be called (-) [case sensitive; used only with DLL Interface]
default DLL_DT - Communication interval for dynamic library (s) (or "default") [used only with Bladed Interface]
Expand Down
17 changes: 9 additions & 8 deletions OpenFAST/IEA-22-280-RWT-Semi/IEA-22-280-RWT-Semi_ElastoDyn.dat
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Original file line number Diff line number Diff line change
Expand Up @@ -65,25 +65,26 @@ True PtfmYDOF - Platform yaw rotation DOF (flag)
15.0 TowerBsHt - Height of tower base relative to ground level [onshore], MSL [offshore wind or floating MHK], or seabed [fixed MHK] (meters)
0. PtfmCMxt - Downwind distance from the ground level [onshore], MSL [offshore wind or floating MHK], or seabed [fixed MHK] to the platform CM (meters)
0. PtfmCMyt - Lateral distance from the ground level [onshore], MSL [offshore wind or floating MHK], or seabed [fixed MHK] to the platform CM (meters)
-15.249336035816686 PtfmCMzt - Vertical distance from the ground level [onshore], MSL [offshore wind or floating MHK], or seabed [fixed MHK] to the platform CM (meters)
-15.237906504856934 PtfmCMzt - Vertical distance from the ground level [onshore], MSL [offshore wind or floating MHK], or seabed [fixed MHK] to the platform CM (meters)
0.0 PtfmRefzt - Vertical distance from the ground level [onshore], MSL [offshore wind or floating MHK], or seabed [fixed MHK] to the platform reference point (meters)
---------------------- MASS AND INERTIA ----------------------------------------
0.0 TipMass(1) - Tip-brake mass, blade 1 (kg)
0.0 TipMass(2) - Tip-brake mass, blade 2 (kg)
0.0 TipMass(3) - Tip-brake mass, blade 3 (kg) [unused for 2 blades]
120447.70224890654 HubMass - Hub mass (kg)
1882498.8832803261 HubIner - Hub inertia about rotor axis [3 blades] or teeter axis [2 blades] (kg m^2)
0 HubIner_Teeter - Hub inertia about teeter axis (2-blades) (kg m^2)
3117597.5395135996 GenIner - Generator inertia about HSS (kg m^2)
821239.8004933242 NacMass - Nacelle mass (kg)
52470672.30243715 NacYIner - Nacelle inertia about yaw axis (kg m^2)
28740.99049474962 YawBrMass - Yaw bearing mass (kg)
21192873.81819036 PtfmMass - Platform mass (kg)
23047439074.835854 PtfmRIner - Platform inertia for roll tilt rotation about the platform CM (kg m^2)
23057720276.500664 PtfmPIner - Platform inertia for pitch tilt rotation about the platform CM (kg m^2)
43304880891.6618 PtfmYIner - Platform inertia for yaw rotation about the platform CM (kg m^2)
0.0 PtfmXYIner - Platform xy moment of inertia about the platform CM (=-int(xydm)) (kg m^2)
0.0 PtfmYZIner - Platform yz moment of inertia about the platform CM (=-int(yzdm)) (kg m^2)
0.0 PtfmXZIner - Platform xz moment of inertia about the platform CM (=-int(xzdm)) (kg m^2)
20185787.40537031 PtfmMass - Platform mass (kg)
21683320978.456272 PtfmRIner - Platform inertia for roll tilt rotation about the platform CM (kg m^2)
21692935055.143482 PtfmPIner - Platform inertia for pitch tilt rotation about the platform CM (kg m^2)
40589842881.02959 PtfmYIner - Platform inertia for yaw rotation about the platform CM (kg m^2)
12071685.244150221 PtfmXYIner - Platform xy moment of inertia about the platform CM (=-int(xydm)) (kg m^2)
-4752948.9584643785 PtfmYZIner - Platform yz moment of inertia about the platform CM (=-int(yzdm)) (kg m^2)
54089.385139290054 PtfmXZIner - Platform xz moment of inertia about the platform CM (=-int(xzdm)) (kg m^2)
---------------------- BLADE ---------------------------------------------------
50 BldNodes - Number of blade nodes (per blade) used for analysis (-)
"../IEA-22-280-RWT/IEA-22-280-RWT_ElastoDyn_blade.dat" BldFile1 - Name of file containing properties for blade 1 (quoted string)
Expand Down
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