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Floating OWC example using the two rigid body approach v2 (#77)
* Adds Floating OWC Example * Adding the test17a.out file from WAMIT * Fixing the bemio.m file for the test17a.out WAMIT output * Fixing the bemio.m file for test17a.out: warnings off * Updated test17a.out WAMIT file * Updated bemio.m file * Modifying the .gitignore file to ignore the exception for the test17a.h5 file Deleting the test17a.out and adding the test17a.h5 file * Adding files from the original orificeModel example * Move products file * Removing MCR test case * Remove unnecessary nested folders and add floating OWC to test * Add back h5 file and readme * Asserts that MoorDyn is installed to run the OWC_W2W test * Updates to Matlab 2024b * Typo fix * Modifies the workflow to copy MoorDyn if OWC is being tested * Modifies the readMe file * Skips the OWC and MoorDyn tests for Ubuntu * fixed github workflows * fixed github workflows * Deleted calcTurbPower.m as it is no longer needed * fixed github workflows * fixed github workflows * fixed github workflows --------- Co-authored-by: jleonqu <jleonqu@sandia.gov> Co-authored-by: jtgrasb <87095491+jtgrasb@users.noreply.github.com>
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‎.github/workflows/run-tests-reusable.yml‎

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@@ -27,11 +27,14 @@ jobs:
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matrix:
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folder: ${{ fromJSON(inputs.folder) }}
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os: [ubuntu-latest, windows-latest]
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release: [R2023b]
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release: [R2024b]
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include: ${{ fromJSON(inputs.include) }}
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exclude:
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- os: ubuntu-latest
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folder: Mooring
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- os: ubuntu-latest
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folder: OWC
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- folder: Paraview_Visualization
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name: "${{ matrix.folder }} - ${{ matrix.os }} - ${{ matrix.release }}"
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timeout-minutes: 45
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steps:
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ref: ${{ inputs.base_ref }}
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path: './WEC-Sim'
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- name: Check out MoorDyn
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if: matrix.folder == 'Mooring'
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if: matrix.folder == 'Mooring' || matrix.folder == 'OWC'
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uses: actions/checkout@v4
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with:
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repository: WEC-Sim/MoorDyn
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path: './MoorDyn'
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- name: Copy MoorDyn Files
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if: matrix.folder == 'Mooring'
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if: matrix.folder == 'Mooring' || matrix.folder == 'OWC'
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run: |
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cp * ../WEC-Sim/source/functions/moorDyn
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ls ../WEC-Sim/source/functions/moorDyn

‎OWC/FloatingOWC_W2W/FloatingOWC_W2W/OWC_rigid.slx‎

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‎OWC/FloatingOWC_W2W/Mooring/lines.txt‎

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Mooring line data file for MoorDyn in libmoordyn.dll
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---------------------- LINE TYPES -----------------------------------------------------
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LineType Diam Mass/m EA BA/-zeta EI Cd Ca CdAx CaAx
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(-) (m) (kg/m) (N) (N-s/-) (N-m^2) (-) (-) (-) (-)
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Chain 0.032 34.82 1.5e6 -0.8 1e4 1.6 1.0 0.5 0.5
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---------------------------- BODIES -----------------------------------------------------
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ID Attachment X0 Y0 Z0 r0 p0 y0 Mass CG* I* Volume CdA* Ca
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(#) (-) (m) (m) (m) (deg) (deg) (deg) (kg) (m) (kg-m^2) (m^3) (m^2) (-)
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1 Coupled 0 0 -2.58 0 0 0 2.914e6 -31.96 1.53e9 2.9013e3 0 0
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---------------------- POINTS -----------------------------------------------------
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ID Attachment X Y Z Mass Volume CdA CA
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(#) (word/ID) (m) (m) (m) (kg) (mˆ3) (m^2) (-)
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1 Body1 -9.28 0 -2.58 0 0 0 0
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2 Fixed -211.2 0 -80.0 0 0 0 0
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3 Body1 4.64 8.04 -2.58 0 0 0 0
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4 Fixed 105.6 182.9 -80.0 0 0 0 0
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5 Body1 4.64 -8.04 -2.58 0 0 0 0
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6 Fixed 105.6 -182.9 -80.00 0 0 0 0
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7 Free -53 0 -25.00 4030.46 0.0305 0 1
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8 Free 26.5 45.9 -25.00 4030.46 0.0305 0 1
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9 Free 27.5 -45.9 -25.00 4030.46 0.0305 0 1
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10 Free -85 0 -15.00 36139.83 0.2241 0 1
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11 Free 42.5 73.61 -15.00 36139.83 0.2241 0 1
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12 Free 42.5 -73.61 -15.00 36139.83 0.2241 0 1
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---------------------- LINES -----------------------------------------------------
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ID LineType AttachA AttachB UnstrLen NumSegs LineOutputs
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(#) (-) (#) (#) (m) (-) (-)
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1 Chain 2 10 143.28 15 tp
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2 Chain 4 11 143.28 15 tp
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3 Chain 6 12 143.28 15 tp
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4 Chain 10 7 37.01 5 tp
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5 Chain 11 8 37.01 5 tp
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6 Chain 12 9 37.01 5 tp
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7 Chain 7 1 50.4 8 tp
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8 Chain 8 3 50.4 8 tp
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9 Chain 9 5 50.4 8 tp
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---------------------- SOLVER OPTIONS-----------------------------------------
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0.0005 dtM - time step to use in mooring integration
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0 WaveKin - wave kinematics flag (0=neglect, the only option currently supported)
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3.0e6 kBot - bottom stiffness
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3.0e5 cBot - bottom damping
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80 WtrDpth - water depth
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5.0 CdScaleIC - factor by which to scale drag coefficients during dynamic relaxation IC gen
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0.001 threshIC - threshold for IC con
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300.0 TmaxIC - max time for ic gen (s)
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2 writeLog - Write a log file
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0 WriteUnits - 0: do not write the units header on the output files
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-------------------------- OUTPUTS --------------------------------
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FairTen1
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FairTen2
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FairTen3
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FairTen3
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FairTen5
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FairTen6
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--------------------- need this line ------------------

‎OWC/FloatingOWC_W2W/OWC_rigid.slx‎

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‎OWC/FloatingOWC_W2W/README.md‎

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# Oscillating Water Column
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**Authors:** Mohamed Shabara, Jeff Grasberger and Jorge Leon-Quiroga
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**Version:** WEC-Sim v6.1.x
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**Geometry:** Floating OWC Rigid Body Approach
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This model simulates a Floating Oscillating Water Column (OWC) device using a rigid-body approach.
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It incorporates performance curves for both a Wells Turbine and a generator, providing a realistic
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representation of their dynamic behavior. Additionally, the model accounts for the presence of a
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mooring system to ensure the stability of the floating body.
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An optimal control strategy is implemented to maximize turbine efficiency by dynamically adjusting system parameters based on operating speed.
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This model is based on the research detailed in:
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Shabara, Mohamed A., et al. "Optimal Control of Floating Oscillating Water Column Wave Energy Converters." 2025 American Control Conference (ACC), IEEE, 2025.
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**Acknowledgment:** This material is based upon work supported by the U.S.
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Department of Energy’s Office of Energy Efficiency and Renewable Energy
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under the Water Power Technologies Office Award Number DE-EE0008895

‎OWC/FloatingOWC_W2W/fitCurves.m‎

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function [phiInt, piInt, etaInt] = fitCurves(psiInstantaneous, psiVec, etaTurbVec, piVarVec, phiVec)
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% psiInstantaneous = clip(psiInstantaneous, min(psi), max(psi));
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if psiInstantaneous > max(psiVec)
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psiInstantaneous = max(psiVec);
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elseif psiInstantaneous < min(psiVec)
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psiInstantaneous = min(psiVec);
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end
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% Interpolate for the phi Value
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phiInt = interp1(psiVec, phiVec, psiInstantaneous);
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% Interpolate for the Pi Value
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piInt = interp1(psiVec, piVarVec, psiInstantaneous);
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% Interpolate for the eta Value
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etaInt = interp1(psiVec, etaTurbVec, psiInstantaneous);
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end

‎OWC/FloatingOWC_W2W/fittingFunctions.m‎

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function [psi, etaTurb, phi, piVar] = fittingFunctions()
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% Curve splitting
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psi1 = [0.008, 0.009];
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mu_turb1 = [0, 0.100];
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m1 = (mu_turb1(2) - mu_turb1(1)) / (psi1(2) - psi1(1));
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q1 = mu_turb1(1) - m1 * psi1(1);
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psi2 = [0.009, 0.0128];
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mu_turb2 = [0.100, 0.200];
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m2 = (mu_turb2(2) - mu_turb2(1)) / (psi2(2) - psi2(1));
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q2 = mu_turb2(1) - m2 * psi2(1);
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psi3 = [0.0128, 0.0199];
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mu_turb3 = [0.200, 0.300];
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m3 = (mu_turb3(2) - mu_turb3(1)) / (psi3(2) - psi3(1));
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q3 = mu_turb3(1) - m3 * psi3(1);
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psi4 = [0.0199, 0.0404];
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mu_turb4 = [0.300, 0.500];
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m4 = (mu_turb4(2) - mu_turb4(1)) / (psi4(2) - psi4(1));
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q4 = mu_turb4(1) - m4 * psi4(1);
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psi5 = [0.0404, 0.0634, 0.0878];
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mu_turb5 = [0.500, 0.595, 0.500];
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pp = polyfit(psi5, mu_turb5, 2);
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psi6 = [0.0878, 0.1141];
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mu_turb6 = [0.500, 0.300];
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m6 = (mu_turb6(2) - mu_turb6(1)) / (psi6(2) - psi6(1));
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q6 = mu_turb6(1) - m6 * psi6(1);
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psi7 = [0.1141, 0.1192];
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mu_turb7 = [0.300, 0.273];
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m7 = (mu_turb7(2) - mu_turb7(1)) / (psi7(2) - psi7(1));
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q7 = mu_turb7(1) - m7 * psi7(1);
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psi9 = [0.2122, 0.3];
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mu_turb9 = [0.0016, 0.0];
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m9 = (mu_turb9(2) - mu_turb9(1)) / (psi9(2) - psi9(1));
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q9 = mu_turb9(1) - m9 * psi9(1);
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psi10 = [0.1, 0.114];
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Pi_turb = [0.3156, 0.3170];
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m10 = (Pi_turb(2) - Pi_turb(1)) / (psi10(2) - psi10(1));
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q10 = Pi_turb(1) - m10*psi10(1);
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m = [m1, m2, m3, m4, 0, m6, m7, 0, m9, m10];
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q = [q1, q2, q3, q4, 0, q6, q7, 0, q9, q10];
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% Compute the dimensionless functions
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psi = linspace(-0.3, 0.3, 5000);
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etaTurb = zeros('like',psi);
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phi = zeros('like',psi);
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piVar = zeros('like',psi);
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for ii = 1:length(psi)
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PSI = abs(psi(ii));
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if PSI >= .008 && PSI < 0.009
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ETA_turb = m(1) * PSI + q(1);
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elseif PSI >= .009 && PSI < 0.0128
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ETA_turb = m(2) * PSI + q(2);
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elseif PSI >= .0128 && PSI < 0.0199
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ETA_turb = m(3) * PSI + q(3);
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elseif PSI >= .0199 && PSI <= 0.0404
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ETA_turb = m(4) * PSI + q(4);
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elseif PSI > .0404 && PSI < 0.0878
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ETA_turb = pp(1) * PSI^2 + pp(2) * PSI + pp(3);
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elseif PSI >= .0878 && PSI < 0.1141
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ETA_turb = m(6) * PSI + q(6);
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elseif PSI >= .1141 && PSI <= 0.1192
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ETA_turb = m(7) * PSI + q(7);
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elseif PSI >= .1192 && PSI <= 0.2122
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ETA_turb = 200.6*exp(PSI*-55.35);
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elseif PSI > .2122 && PSI <= 0.3
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ETA_turb = m(9) * PSI + q(9);
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else
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ETA_turb = 0;
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end
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etaTurb(ii) = ETA_turb;
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end
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for ii = 1:length(psi)
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PSI = abs(psi(ii));
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if PSI >= 0 && PSI <= 0.1
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PHI = 0.7750*PSI;
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else
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corr = 0.00167;
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PHI = -2.503*PSI^2 + 1.608*PSI - 0.05664 - corr;
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end
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phi(ii) = PHI;
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if PSI > .1 && PSI <= 0.114
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piVar(ii) = (m(10) * PSI + q(10)) / 100;
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else
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piVar(ii) = etaTurb(ii) * PSI * PHI;
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end
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end
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end

‎OWC/FloatingOWC_W2W/genPower.m‎

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function P_gen = genPower(omega, T_ctrl, TgenMax, PgenTated)
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term1 = 6.280e-10 * omega^5 - 1.003e-6 * omega^4 + 4.416e-4 * omega^3 - 0.07028 * omega^2 + 2.106 * omega;
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term2 = -0.06941 * T_ctrl^2 - 6.014 * T_ctrl - 4.664e-8 * omega^4 * T_ctrl + 1.79e-8 * omega^3 * T_ctrl^2;
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term3 = + 2.089e-5 * omega^3 * T_ctrl - 9.816e-6 * omega^2 * T_ctrl^2 - 0.003354 * omega^2 * T_ctrl;
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term4 = + 0.001292 * omega * T_ctrl^2 + 1.189 * omega * T_ctrl - 139.3;
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tmp = term1 + term2 + term3 + term4;
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P_gen = min(tmp, TgenMax * omega);
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end

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