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added stiffness props for hub and drivetrain, fixes #168 #169

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58f5628
added stiffness props for hub and drivetrain
fzahle Jun 25, 2026
e8f54a6
added missing tower elastic_properties for floater
fzahle Jun 26, 2026
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42 changes: 37 additions & 5 deletions windIO/IEA-22-280-RWT.yaml
View file
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Original file line number Diff line number Diff line change
Expand Up @@ -728,9 +728,10 @@ components:
spinner_gust_ws: 70.0
hub_material: cast_iron
spinner_material: glass_uniax
elastic_properties_mb:
system_mass: 120447.70224890654
system_inertia: [1882498.8832803261, 1198002.42618154, 1198002.42618154, 0.0, 0.0, 0.0]
elastic_properties:
mass: 122578.53995831522
inertia: [1916446.4655884118, 1218616.7387594716, 1218616.7387594716, 0.0, 0.0, 0.0]
location: [0.6596774438471478, 0.0, 0.0]
cd: 0.5
tower:
outer_shape:
Expand All @@ -747,6 +748,17 @@ components:
thickness:
grid: [0.0, 0.021339950396958213, 0.05508684863374078, 0.08883374687052335, 0.1225806451742466, 0.15632754341102914, 0.19007444171475243, 0.22382133995153497, 0.25756823818831753, 0.29131513649204077, 0.32506203472882333, 0.3588089330325465, 0.39255583126932914, 0.4263027295061117, 0.460049627809835, 0.4937965260466175, 0.5275434243503407, 0.5612903225871233, 0.5950372208239059, 0.6287841191276291, 0.6625310173644117, 0.6962779156011942, 0.7300248139049175, 0.7637717121417, 0.797518610445423, 0.8312655086822058, 0.8650124069189884, 0.8987593052227116, 0.9325062034594942, 0.9662531017632174, 1.0]
values: [0.06693667948991197, 0.0657205223939668, 0.06351493329530639, 0.061622565059606595, 0.06157094605240987, 0.060192055856069474, 0.06010935491737136, 0.05869787142742862, 0.05858091817360326, 0.05713335614043083, 0.05697830761612923, 0.0554904145092067, 0.05529254628422707, 0.05375904790846814, 0.05351244349797769, 0.051926653721110175, 0.051623725388870445, 0.04997689829782623, 0.04960763591844826, 0.04788769899446825, 0.047438671357998265, 0.045626745971738734, 0.04508184480811805, 0.04313680782593655, 0.04249986371535212, 0.04025991352805275, 0.04051397047416457, 0.038444152485609936, 0.0384440711088536, 0.0384440711088536, 0.0384440711088536]
elastic_properties:
stiffness_matrix:
grid: [0.0, 0.021339950396958213, 0.05508684863374078, 0.08883374687052335, 0.1225806451742466, 0.15632754341102914, 0.19007444171475243, 0.22382133995153497, 0.25756823818831753, 0.29131513649204077, 0.32506203472882333, 0.3588089330325465, 0.39255583126932914, 0.4263027295061117, 0.460049627809835, 0.4937965260466175, 0.5275434243503407, 0.5612903225871233, 0.5950372208239059, 0.6287841191276291, 0.6625310173644117, 0.6962779156011942, 0.7300248139049175, 0.7637717121417, 0.797518610445423, 0.8312655086822058, 0.8650124069189884, 0.8987593052227116, 0.9325062034594942, 0.9662531017632174, 1.0]
K44: [5106689465616.353, 5042108545477.53, 4868242065881.013, 4651956765544.676, 4441230244292.435, 4235232340100.391, 4032192572364.038, 3832204911662.1934, 3635364091299.148, 3441765834302.324, 3251507039066.2236, 3064685968304.409, 2881402322848.799, 2701757449357.6826, 2525853953527.49, 2353796496876.5527, 2185688923473.3433, 2021639993418.6104, 1861745277391.5596, 1706128483244.2153, 1554824932179.058, 1408066577167.4797, 1265519041938.851, 1128196737817.7595, 993459192347.8511, 857979804390.1047, 737832564527.5537, 662566714067.7698, 639759003540.2323, 639758671508.144, 639758671508.144]
K55: [5106689465616.353, 5042108545477.53, 4868242065881.013, 4651956765544.676, 4441230244292.435, 4235232340100.391, 4032192572364.038, 3832204911662.1934, 3635364091299.148, 3441765834302.324, 3251507039066.2236, 3064685968304.409, 2881402322848.799, 2701757449357.6826, 2525853953527.49, 2353796496876.5527, 2185688923473.3433, 2021639993418.6104, 1861745277391.5596, 1706128483244.2153, 1554824932179.058, 1408066577167.4797, 1265519041938.851, 1128196737817.7595, 993459192347.8511, 857979804390.1047, 737832564527.5537, 662566714067.7698, 639759003540.2323, 639758671508.144, 639758671508.144]
K66: [4049604746233.7676, 3998392076563.6816, 3860515958243.6426, 3689001715076.928, 3521895583723.901, 3358539245699.6104, 3197528709884.682, 3038938494948.119, 2882843724400.2246, 2729320306601.743, 2578445081979.5156, 2430295972865.3965, 2284952042019.0977, 2142493657340.642, 2003002185147.2996, 1866560622023.106, 1733251316314.3613, 1603160514780.958, 1476364004971.5066, 1352959887212.6628, 1232976171217.9932, 1116596795693.8115, 1003556600257.509, 894660013089.4833, 787813139531.8458, 680377984881.353, 585101223670.3501, 525415404255.74133, 507328889807.4042, 507328626505.9582, 507328626505.9582]
inertia_matrix:
grid: [0.0, 0.021339950396958213, 0.05508684863374078, 0.08883374687052335, 0.1225806451742466, 0.15632754341102914, 0.19007444171475243, 0.22382133995153497, 0.25756823818831753, 0.29131513649204077, 0.32506203472882333, 0.3588089330325465, 0.39255583126932914, 0.4263027295061117, 0.460049627809835, 0.4937965260466175, 0.5275434243503407, 0.5612903225871233, 0.5950372208239059, 0.6287841191276291, 0.6625310173644117, 0.6962779156011942, 0.7300248139049175, 0.7637717121417, 0.797518610445423, 0.8312655086822058, 0.8650124069189884, 0.8987593052227116, 0.9325062034594942, 0.9662531017632174, 1.0]
mass: [16249.131599475118, 16040.93058473263, 15549.377936201185, 15071.803732885608, 14705.82737948099, 14360.65985254867, 14012.129985349235, 13660.14784281365, 13304.612716256794, 12945.411810351477, 12582.418566479411, 12215.49062571488, 11844.467083568084, 11469.165401506238, 11089.376204770466, 10704.85959514309, 10315.331408084245, 9920.467933232263, 9519.847752753105, 9113.04379445577, 8699.276865190546, 8278.206755650055, 7847.543029996954, 7409.151001851857, 6951.671575768958, 6490.705330977209, 6076.938478144969, 5769.384947605469, 5652.085883639368, 5652.08291190599, 5652.08291190599]
structural_damping:
mu: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
reference_axis:
x:
grid: [0.0, 0.021339950396958213, 0.05508684863374078, 0.08883374687052335, 0.1225806451742466, 0.15632754341102914, 0.19007444171475243, 0.22382133995153497, 0.25756823818831753, 0.29131513649204077, 0.32506203472882333, 0.3588089330325465, 0.39255583126932914, 0.4263027295061117, 0.460049627809835, 0.4937965260466175, 0.5275434243503407, 0.5612903225871233, 0.5950372208239059, 0.6287841191276291, 0.6625310173644117, 0.6962779156011942, 0.7300248139049175, 0.7637717121417, 0.797518610445423, 0.8312655086822058, 0.8650124069189884, 0.8987593052227116, 0.9325062034594942, 0.9662531017632174, 1.0]
Expand All @@ -773,6 +785,17 @@ components:
thickness:
grid: [0.0, 0.4787234042553192, 0.5343698854337152, 0.5900163666121112, 0.6456628477905073, 0.7013093289689034, 0.7569558101472994, 0.8404255319148937, 0.8682487725040916, 0.9238952536824877, 1.0]
values: [0.09155189915401028, 0.09155189915401028, 0.09155187902556057, 0.09155187902556057, 0.08820560019735345, 0.08321335722051108, 0.08321335722051108, 0.07739952125002308, 0.07739952125002308, 0.07202572967355356, 0.07202572967355356]
elastic_properties:
stiffness_matrix:
grid: [0.0, 0.4787234042553192, 0.5343698854337152, 0.5900163666121112, 0.6456628477905073, 0.7013093289689034, 0.7569558101472994, 0.8404255319148937, 0.8682487725040916, 0.9238952536824877, 1.0]
K44: [6995378721099.471, 6995378347193.173, 6995377599380.541, 6933184918297.132, 6715740073041.131, 6467349097569.502, 6265565128568.225, 6048081307172.086, 5838470983656.497, 5636761858441.389, 5535824766954.305]
K55: [6995378721099.471, 6995378347193.173, 6995377599380.541, 6933184918297.132, 6715740073041.131, 6467349097569.502, 6265565128568.225, 6048081307172.086, 5838470983656.497, 5636761858441.389, 5535824766954.305]
K66: [5547335325831.88, 5547335029324.186, 5547334436308.77, 5498015640209.625, 5325581877921.617, 5128607834372.615, 4968593146954.603, 4796128476587.465, 4629907490039.602, 4469952153744.021, 4389909040194.7637]
inertia_matrix:
grid: [0.0, 0.4787234042553192, 0.5343698854337152, 0.5900163666121112, 0.6456628477905073, 0.7013093289689034, 0.7569558101472994, 0.8404255319148937, 0.8682487725040916, 0.9238952536824877, 1.0]
mass: [6359761.628110837, 6359761.628110837, 3265297.480722085, 1653971953.3388643, 3307773073.344395, 1653886536.6721976, 0.0]
structural_damping:
mu: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
reference_axis:
x:
grid: [0.0, 0.4787234042553192, 0.5343698854337152, 0.5900163666121112, 0.6456628477905073, 0.7013093289689034, 0.7569558101472994, 0.8404255319148937, 0.8682487725040916, 0.9238952536824877, 1.0]
Expand Down Expand Up @@ -818,6 +841,17 @@ components:
length: 3.047
radius: 4.89
mass: 508040.0
elastic_properties:
mass: 1269142.1515156208
inertia: [1439492.7568028048, 1210703.919458931, 1210703.919458931]
location: [2.5705]
elastic_properties:
mass: 1565246.0573682103
inertia: [7879464.992976278, 13805664.00701906, 13760725.222866781, 895374.0360722919, 3728621.677003672, -331117.91000210214]
inertia_tt: [40382417.22072738, 113661607.75713204, 81137518.30230355, -3.4924596548080444e-10, 50512766.23067972, 290709.0818100001]
location: [-6.5603272005118995, -0.08719596280566998, 4.556071947643628]
spring_constant: 12239370193.748405
damping_coefficient: 29559437.42328122
airfoils:
- name: FFA-W3-211
coordinates:
Expand Down Expand Up @@ -1533,5 +1567,3 @@ control:
pitch_actuator_frequency: 6.2831
pitch_actuator_damping: 0.707
yaw_rate: 0.49847328176381617
max_allowable_blade_tip_speed: 105.0
peak_thrust_shaving: 0.8
29 changes: 24 additions & 5 deletions windIO/IEA-22-280-RWT_Floater.yaml
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -728,9 +728,10 @@ components:
spinner_gust_ws: 70.0
hub_material: cast_iron
spinner_material: glass_uniax
elastic_properties_mb:
system_mass: 120447.70224890654
system_inertia: [1882498.8832803261, 1198002.42618154, 1198002.42618154, 0.0, 0.0, 0.0]
elastic_properties:
mass: 122578.53995831522
inertia: [1916446.4655884118, 1218616.7387594716, 1218616.7387594716, 0.0, 0.0, 0.0]
location: [0.6596774438471478, 0.0, 0.0]
cd: 0.5
tower:
outer_shape:
Expand All @@ -747,6 +748,15 @@ components:
thickness:
grid: [0.0, 0.021488021026384082, 0.05546045759342254, 0.08943963338612398, 0.12341206995316241, 0.15063854163156656, 0.18461097819860506, 0.2185901539913065, 0.2525625905583449, 0.28653502712538337, 0.3205142029180848, 0.3544866394851232, 0.3884590760521617, 0.4224382518448631, 0.4564106884119015, 0.49038312497894, 0.5243623007716414, 0.5583347373386799, 0.5923071739057183, 0.6262863496984197, 0.6602587862654582, 0.6942312228324966, 0.728203659399535, 0.7621828351922364, 0.7961552717592748, 0.8301277083263132, 0.8641068841190147, 0.8980793206860531, 0.9320517572530915, 0.966030933045793, 1.0]
values: [0.118225, 0.118225, 0.113191, 0.107086, 0.101219, 0.095529, 0.089934, 0.084557, 0.079579, 0.074789, 0.073361, 0.071914, 0.070489, 0.06902, 0.06756, 0.066073, 0.064599, 0.063076, 0.061535, 0.059966, 0.058392, 0.056728, 0.055083, 0.053392, 0.051695, 0.05008, 0.048672, 0.047376, 0.04586, 0.044524, 0.044524]
elastic_properties:
stiffness_matrix:
grid: [0.0, 0.021488, 0.05546, 0.08944, 0.123412, 0.150639, 0.184611, 0.21859, 0.252563, 0.286535, 0.320514, 0.354487, 0.388459, 0.422438, 0.456411, 0.490383, 0.524362, 0.558335, 0.592307, 0.626286, 0.660259, 0.694231, 0.728204, 0.762183, 0.796155, 0.830128, 0.864107, 0.898079, 0.932052, 0.966031, 1.0]
K44: [1.557708e+13, 1.557708e+13, 1.493265e+13, 1.414890e+13, 1.339340e+13, 1.265853e+13, 1.193386e+13, 1.123549e+13, 1.051546e+13, 9.862011e+12, 8.632798e+12, 8.423624e+12, 7.323873e+12, 7.156481e+12, 6.166404e+12, 6.002299e+12, 5.134014e+12, 4.979370e+12, 4.204921e+12, 4.066318e+12, 3.382122e+12, 3.251664e+12, 2.664375e+12, 2.547847e+12, 2.054256e+12, 1.961453e+12, 1.557498e+12, 1.510689e+12, 1.253647e+12, 1.050128e+12, 7.386824e+11]
K55: [1.557708e+13, 1.557708e+13, 1.493265e+13, 1.414890e+13, 1.339340e+13, 1.265853e+13, 1.193386e+13, 1.123549e+13, 1.051546e+13, 9.862011e+12, 8.632798e+12, 8.423624e+12, 7.323873e+12, 7.156481e+12, 6.166404e+12, 6.002299e+12, 5.134014e+12, 4.979370e+12, 4.204921e+12, 4.066318e+12, 3.382122e+12, 3.251664e+12, 2.664375e+12, 2.547847e+12, 2.054256e+12, 1.961453e+12, 1.557498e+12, 1.510689e+12, 1.253647e+12, 1.050128e+12, 7.386824e+11]
K66: [1.235263e+13, 1.235263e+13, 1.184159e+13, 1.122008e+13, 1.062096e+13, 1.003822e+13, 9.463554e+12, 8.909741e+12, 8.338758e+12, 7.820575e+12, 6.845809e+12, 6.679934e+12, 5.807831e+12, 5.675090e+12, 4.889958e+12, 4.759823e+12, 4.071273e+12, 3.948640e+12, 3.334503e+12, 3.224590e+12, 2.682023e+12, 2.578570e+12, 2.112850e+12, 2.020442e+12, 1.629025e+12, 1.555432e+12, 1.235096e+12, 1.197976e+12, 9.941424e+11, 8.327514e+11, 5.857752e+11]
inertia_matrix:
grid: [0.0, 0.021488, 0.05546, 0.08944, 0.123412, 0.150639, 0.184611, 0.21859, 0.252563, 0.286535, 0.320514, 0.354487, 0.388459, 0.422438, 0.456411, 0.490383, 0.524362, 0.558335, 0.592307, 0.626286, 0.660259, 0.694231, 0.728204, 0.762183, 0.796155, 0.830128, 0.864107, 0.898079, 0.932052, 0.966031, 1.0]
mass: [3.464258e+04, 3.464258e+04, 3.318155e+04, 3.140802e+04, 2.970189e+04, 2.804561e+04, 2.641543e+04, 2.484730e+04, 2.334129e+04, 2.192119e+04, 2.070194e+04, 2.026247e+04, 1.908292e+04, 1.867241e+04, 1.751677e+04, 1.710432e+04, 1.599385e+04, 1.558182e+04, 1.448720e+04, 1.408168e+04, 1.301015e+04, 1.259556e+04, 1.155741e+04, 1.115216e+04, 1.015860e+04, 9.793832e+03, 8.898400e+03, 8.651291e+03, 7.955447e+03, 7.352923e+03, 6.539284e+03]
reference_axis:
x:
grid: [0.0, 1.0]
Expand Down Expand Up @@ -1118,6 +1128,17 @@ components:
length: 3.047
radius: 4.89
mass: 508040.0
elastic_properties:
mass: 1269142.1515156208
inertia: [1439492.7568028048, 1210703.919458931, 1210703.919458931]
location: [2.5705]
elastic_properties:
mass: 1565246.0573682103
inertia: [7879464.992976278, 13805664.00701906, 13760725.222866781, 895374.0360722919, 3728621.677003672, -331117.91000210214]
inertia_tt: [40382417.22072738, 113661607.75713204, 81137518.30230355, -3.4924596548080444e-10, 50512766.23067972, 290709.0818100001]
location: [-6.5603272005118995, -0.08719596280566998, 4.556071947643628]
spring_constant: 12239370193.748405
damping_coefficient: 29559437.42328122
airfoils:
- name: FFA-W3-211
coordinates:
Expand Down Expand Up @@ -1833,5 +1854,3 @@ control:
pitch_actuator_frequency: 6.2831
pitch_actuator_damping: 0.707
yaw_rate: 0.49847328176381617
max_allowable_blade_tip_speed: 105.0
peak_thrust_shaving: 0.8
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