Preparations

• Download git tool for Windows

– https://git-scm.com/download/win
• Install it with appropriate platform

NREL | 1
 Preparations – No Compilation

• Visit OpenFAST code on GitHub

– https://github.com/OpenFAST/openfast/releases/tag/v3.1.0
• Download the latest release (ver. 3.1.0)

• Then, download OpenFAST’s regression test

(-r-test) repository to given directory in a
shell command prompt
– git clone https://github.com/OpenFAST/r-test.git

• Highly recommend to read OpenFAST

Documentation
– https://openfast.readthedocs.io/en/main/

NREL | 2
 Preparations -Windows

• Download an open-source code for post-

processing, named as pyDatView
– https://github.com/ebranlard/pyDatView/releases

NREL | 3
 Preparations

• Visit OpenFAST code on GitHub

– https://github.com/OpenFAST/openfast
• Open a shell command prompt in given directory and download it
using the following command
– git clone https://github.com/OpenFAST/openfast.git
– Or git clone --recurse-submodules https://github.com/OpenFAST/openfast.git
(Second command line is automatically installed for both OpenFAST and r-test
repositories)

• Similarly, download
OpenFAST’s regression test (-
r-test) repository Click here to
copy the link
– git clone
https://github.com/OpenFAST/r-
test.git

NREL | 4
 Preparations

• Download and install an open-source code for post-processing,

named as pyDatView
– git clone --recurse-submodules https://github.com/ebranlard/pyDatView.git

• Note that your computer should have python/anaconda installation

NREL | 5
 Preparations - Compiling for Linux

• In the Linux terminal, install dependent packages via the following

command
– apt install git cmake libblas-dev liblapack-dev gfortran-10 g++

• Clone the repository from GitHub using git

– git clone https://github.com/OpenFAST/OpenFAST.git
– cd OpenFAST
– mkdir build
– cd build
– cmake ..
– make openfast

Ref: https://openfast.readthedocs.io/en/main/source/install/index.html#cmake-with-make-for-linux-macos

NREL | 6
Demonstration:
Onshore Wind Turbine –
5 MW Baseline
 NREL 5 MW Baseline Wind Turbine
Repower 5M Wind Turbine
• Fictitious, but representative,
multi-MW wind turbine
• Heavily influenced by REpower
5M prototype and DOWEC
project turbines
• Specifications include:
o Blade structural and
NREL 5 MW Turbine Properties
aerodynamic properties
o Nacelle and hub
o Drivetrain
o Tower
o Control system
▪ Generator torque
▪ Blade pitch

NREL | 8
 OpenFAST Modules

• ElastoDyn Structural dynamics

• BeamDyn
• AeroDyn Aerodynamics
• InflowWind Fluid inflow
• ServoDyn
• HydroDyn
• SubDyn
• MAP++ • Steady, 8 m/s wind
• MoorDyn • No shear
• FEAMooring • No control
• OrcaFlexInterface • Fixed rotational speed
• Blade, tower, and drivetrain DOFs
• IceFloe
• IceDyn
NREL | 9
 OpenFAST Input File Format

• Description
o Brief description, including options/units

• Keyword
o Variable name/identifier

• Value
o Numerical, logical, flag, or string

NREL | 10
OpenFAST Driver Input File

• TMax should allow convergence

• DT should resolve structural frequencies
(≤ 1/10 of the highest frequency DOF)

NREL | 11
OpenFAST Driver Input File

• CompElast=1: ElastoDyn without BeamDyn

• CompInflow=1: Inflow set by InflowWind
• CompAero=2: Aerodynamics computed by AeroDyn15
• Future releases
o Deprecate AeroDyn14
o Allow selection of “MHK=1” or “MHK=2”

NREL | 12
OpenFAST Driver Input File

• Specify module primary input files

o Path relative to folder containing .fst file
• Unused modules not specified

NREL | 13
OpenFAST Driver Input File

• Summary file prints inputs as read by the code

o Useful for debugging inputs
• SttsTime should balance screen updates with
time required to write to screen
• DT_Out can downsample calculated values
when writing to file

NREL | 14
OpenFAST Driver Input File

• Linearization=True enables linearization of the

full coupled solution
o Linearized equations can be output for
use in other models

NREL | 15
OpenFAST Driver Input File

• Visualization using VTK (Visualization ToolKit)

NREL | 16
ElastoDyn Primary Input File

• Specification of environmental conditions

moved to driver files in future release

NREL | 17
ElastoDyn Primary Input File

• Blade and tower bending DOFs enabled

• Drivetrain DOF enabled
• Generator and yaw DOFs disabled
o Fixed RPM specified
• Teeter and platform DOFs not applicable

NREL | 18
ElastoDyn Primary Input File

• Specify initial angles, displacements, and motions

• Fixed rotor speed of 9 rpm
• Platform inputs not used for onshore turbine

NREL | 19
ElastoDyn Primary Input File

• Specify turbine geometry

• Platform inputs not used for onshore turbine NREL | 20
ElastoDyn Primary Input File

• Specify turbine mass and inertia

• Platform inputs not used for onshore turbine

NREL | 21
ElastoDyn Primary Input File

• Specify blade structural input files

• BldFile(3) ignored for 2-bladed rotor

NREL | 22
ElastoDyn Primary Input File

• Specifications for teetering rotors

NREL | 23
ElastoDyn Primary Input File

• Gearbox and drivetrain specifications,

including drivetrain rotational flexibility

NREL | 24
ElastoDyn Primary Input File

• Furling properties (currently unused)

NREL | 25
ElastoDyn Primary Input File

• Specify tower structural input file

NREL | 26
ElastoDyn Primary Input File

• Specify formatting of outputs

written to file

NREL | 27
ElastoDyn Primary Input File

• List of user-selectable outputs

(not comprehensive)

NREL | 28
AeroDyn Primary Input File

• WakeMod options include steady and dynamic

BEM and OLAF (vortex model)
• AFAeroMod options include steady and unsteady
aerodynamics models

NREL | 29
AeroDyn Primary Input File

• Options to calculate tower influence and loads

NREL | 30
 AeroDyn Primary Input File

• Cavitation check for MHK turbines

• Future releases will include options to
calculate buoyancy and added mass

NREL | 31
 AeroDyn Primary Input File

• Future releases will specify environmental

conditions in driver input files

NREL | 32
 AeroDyn Primary Input File

• BEM options, including optional correction

models

NREL | 33
AeroDyn Primary Input File

• Dynamic BEM, OLAF, and unsteady

aerodynamics model options

NREL | 34
AeroDyn Primary Input File

• Specify airfoil input file format and names

NREL | 35
AeroDyn Primary Input File

• Specify blade input files

NREL | 36
AeroDyn Primary Input File

• Tower geometric and

aerodynamic properties
• Future releases will
include buoyancy and
added mass properties
for tower, hub, and
nacelle

NREL | 37
AeroDyn Primary Input File

• Specify formatting of outputs written

to file
• Select blade/tower nodes for output

NREL | 38
AeroDyn Primary Input File

• User-selectable outputs

NREL | 39
InflowWind Primary Input File

• Type of wind specification

o Steady
o Uniform
o TurbSim
o Bladed
o HAWC
o Etc.

NREL | 40
InflowWind Primary Input File

• Steady wind speed, reference

height, and shear exponent

NREL | 41
 Supporting Files

• ElastoDyn blade structural properties

• ElastoDyn tower structural properties
• AeroDyn blade geometric properties
• AeroDyn blade aerodynamic properties

NREL | 42
 Running OpenFAST

• In a terminal, navigate to the folder containing the relevant

OpenFAST executable for your system and the simulation
input files
• For Mac users, run OpenFAST using the following command
for the onshore example
➢ ./openfast_Mac “Onshore/5MW_Onshore.fst”
• For Windows users, run OpenFAST using the following
command for the onshore example
➢ openfast_Windows.exe Onshore\5MW_Onshore.fst
• For Linux users, run OpenFAST using the following command
for the onshore example
➢ ./openfast_Linux Onshore/5MW_Onshore.fst

NREL | 43
 OpenFAST Outputs

• Summary files
o OpenFAST (5MW_Onshore.sum)
o ElastoDyn (5MW_Onshore_ED.sum)
o AeroDyn (5MW_Onshore_AD.sum)
• Output file
o 5MW_Onshore.out

NREL | 44
OpenFAST Outputs

NREL | 45
 OpenFAST Post Processing

Two post-processing tools using Matlab and Python languages are being
actively developed and supported.

https://github.com/OpenFAST

NREL | 46
 OpenFAST GitHub Resources
OpenFAST Documentation https://openfast.readthedocs.io/en/main/index.html

OpenFAST GitHub repository https://github.com/OpenFAST/openfast NREL | 47

 OpenFAST GitHub Resources
Discussion Forum: https://wind.nrel.gov/forum/wind/index.php
Highly recommended to find useful information before posting questions on
GitHub or this forum?

GitHub issues

MHK forum

NREL | 48
Thank You

Q&A
Demonstration:
Floating Offshore Wind Turbine –
OC4 Semisubmersible
 OC4 Semi-Submersible FOWT
• Reference OC4 semi-submersible
floating offshore wind turbine
• Specifications include:
o Blade structural and
aerodynamic properties
o Nacelle and hub
o Drivetrain
o Tower
o Control system
▪ Generator torque
OC4 Semi-submersible FOWT with NREL 5-
▪ Blade pitch
MW Reference Wind Turbine
o Platform properties
o Mooring line

Robertson et. al. (2014). Definition of the Semisubmersible Floating

System for Phase II of OC4. Technical Report NREL/TP-5000-60601 NREL | 51
 Specification of OC4 Semi-Submersible FOWT
Mooring System Properties OC4 Semi-submersible Floating Platform
Hydrodynamic Properties

Robertson et. al. (2014). Definition of the Semisubmersible Floating

System for Phase II of OC4. Technical Report NREL/TP-5000-60601 NREL | 52
 OC4-OC6 International Collaboration – Result Overview
◼ From the most comprehensive benchmark
study to date is the Offshore Code (OC)
Comparison Collaboration project (Hywind:
OC3&4 and DeepCwind semisubmersible:
OC4,5,6), most of the engineering tools shows:
• The potential flow and Morison-only solvers
within the wave-frequency region provided the
similar results for the semisubmersible
platform.
• The viscous drag loads achieved with
calculating the Morison drag terms for each
member compared to approximation with a
global drag matrix is significant difference.
• Mean and slow drift caused by wave
excitation varies significantly between the
numerical codes.
• Heave response is improved when dynamic
pressure on heave plates is included in the
Morison-only approach.
• There is significant difference for moorings
using the dynamic method vs. the quasi-static
method, particularly in frequencies above the
linear wave range. Ref: Robertson et al. (2017). OC5 Project Phase II: Validation
Ref: Otter et al. (2021), “A review of modelling techniques of Global Loads of the DeepCwind Floating Semisubmersible
for floating offshore wind turbines”. Wind Energy;1–27 Wind Turbine. Energy Procedia, Vol.137: 37-58 NREL | 53
 OC4-OC6 International Collaboration – Result Overview
◼ Compared to experiment data, most of the
engineering tools shows:
• Ultimate and fatigue loads were
underpredicted.
• The largest underpredictions were found at
the low-frequency responses in pitch and
surge due to inaccuracies in the nonlinear
difference-frequency loads; codes that used
second order hydrodynamics achieved the
closest result, but still underpredicted loads.
• Differences in aerodynamics were masked by
the differences in hydrodynamic loads; without
an uncertainty assessment the researchers
found it difficult to accurately quantify the
differences in the results between
experimental and numerical simulations.
• Some nonlinear loads could have been
caused by the cables for the load cells on the
model.
Ref: Otter et al. (2021)

Ref: Robertson et al. (2020) NREL | 54

 OpenFAST Modules

• ElastoDyn Structural dynamics • Similar setting can

• BeamDyn be referred to the
previous onshore
• AeroDyn Aerodynamics demonstration
• InflowWind Fluid inflow
• ServoDyn Control and electrical-drive dynamics
• HydroDyn Hydrodynamic loads
• SubDyn
• MAP++ Mooring line with multi-segmented,
• MoorDyn quasi-static solver
• FEAMooring • Steady, 8 m/s wind
• No shear
• OrcaFlexInterface
• White noise spectrum (irregular)
• IceFloe • Blade pitch and variable-speed control
• IceDyn • Blade, tower, drivetrain, and platform DOFs
• 3 catenary mooring lines NREL | 55
 OpenFAST Example Folder

• This file needs to be in

the same folder as the
executable file

• Replace the
executable file
depending on
your platform

NREL | 56
OpenFAST Driver Input File

• TMax should allow convergence

• DT should resolve structural frequencies
(≤ 1/10 of the highest frequency DOF)

• CompElast=1: ElastoDyn without BeamDyn

• CompInflow=1: Inflow set by InflowWind
• CompAero=2: Aerodynamics computed by AeroDyn15*
• CompServo = 1: Compute control and electrical-drive dynamics
• CompHydro = 1: Compute hydrodynamic loads using HydroDyn
• CompMooring = 3: Compute mooring loads using MoorDyn
• There are the MAP++ or FEAMooring inputs if you want to
play around
NREL | 57
OpenFAST Driver Input File

• Specify module primary input files

o Path relative to folder containing .fst file
• Unused modules not specified

• Refer the setting meaning of other parameters

from the previous demonstration as needed

NREL | 58
HydroDyn Input File

• Specify water density and depth

• WaveMod = 3: Specify wave type - white noise

spectrum
o Can be still water, regular wave w/wo
user-defined wave phase,
JONSWAP/Pierson-Moskowitz spectrum,
user wave spectrum, wave elevation time
history, externally generated full wave-
kinematics time series
o Depend on PotMod option,
aforementioned wave types may not be
valid
NREL | 59
HydroDyn Input File

• Recommend “0.1<=WaveDT<=1.0”
• Specify wave height and period
• Define wave direction

NREL | 60
HydroDyn Input File

• No current condition in this example

• PotMod = 1: Use hydrodynamic coefficients

from third-party program (WAMIT format)
• Enable to use any potential flow code
(NEMOH, Capytaine, AQWA,
OrcaWave,HAMS, etc.) if their output can
be converted to WAMIT format
• Refer to BEMRosette code convert from
NEMOH to WAMIT

NREL | 61
HydroDyn Input File

• RdtnMod = 1: Radiation memory-effect model

based on convolution integral approach
• If RdtnMod = 2: state-space is used to
consider radiation memory-effect.
• Then, additional state-space matrix inputs
are required from WAMIT directory

NREL | 62
HydroDyn Input File

• Specify directory of WAMIT input

o Require .1, .3, .hst files for linear
hydrodynamic solver
o For 2nd-order potential forces on the
platform (specified by DiffQTF and
SumQTF), it requires additional WAMIT
outputs.

NREL | 63
HydroDyn Input File

• Platform specifications such as its COG w.r.t

body reference point (0,0,0), platform volume,
and its buoyancy location

• From lines 68-93, users can specify additional

stiffness and damping (linear and quadratic)
matrices, force vector

NREL | 64
HydroDyn Input File

• To model viscous drag effect on platform

structure, we could use hybrid model
(potential flow + Morison element)
• Or users can use Morison element only to
model their supporting structures as lattice
structure - need to specify proper drag and
added-mass coefficients
• From lines 93-221 of this HydroDyn input
file, it shows us how to specify Morison
elements of OC4 platform (Cross brace,
main column, upper/base columns), drag
coefficients

NREL | 65
HydroDyn Input File

• Specify ballast specification as shown the

figure below

• Specify output variables for post-

processing and analysis
NREL | 66
 MoorDyn Input File

• Specify line properties line diameter,

mass per unit length, extensional
stiffness, etc.

MoorDyn Documentation: https://moordyn.readthedocs.io/en/latest/ NREL | 67

 MoorDyn Input File

• Specify connection locations:

o Fairlead location: connection point at the
platform structure via “Vessel” type
o Anchor location: at seabed via “Fixed”
type

MoorDyn Documentation: https://moordyn.readthedocs.io/en/latest/ NREL | 68

 MoorDyn Input File

• Specify no. mooring line (3 ones in this

example), its unstretched length, no. elements
per mooring line
o Need to specify proper no. elements per
mooring line to get convergence result
o Specify proper connection nodes per each
line

MoorDyn Documentation: https://moordyn.readthedocs.io/en/latest/ NREL | 69

 ServoDyn Input File

• PCMode = 5: compute blade pitch control using

user-defined from Bladed-style DLL
o Can compute blade pitch control using
user-defined from “PitchCntrl” routine or
from Simulink/Labview
o TPCOn = 0: time to activate blade pitch control

MoorDyn Documentation: https://moordyn.readthedocs.io/en/latest/ NREL | 70

 ServoDyn Input File

• VSContrl = 5 : compute variable-speed control

using user-defined from Bladed-style DLL
o Can compute variable-speed control using
user-defined from “UserVSCont” routine or
from Simulink/Labview

• GenEff = 94.4 : Consider generator efficiency

ServoDyn Documentation: https://openfast.readthedocs.io/en/main/source/user/servodyn/index.html NREL | 71

 ServoDyn Input File

• Refer to OpenFAST documentation for these

setting. Not use in this demonstration

ServoDyn Documentation: https://openfast.readthedocs.io/en/main/source/user/servodyn/index.html NREL | 72

 ServoDyn Input File

• Specify the path of user-defined from Bladed-

style DLL
• Mac OS and Linux need a different compiled
DISCON lib (Linux: .so extension; Mac: .dylib
extension)

ServoDyn Documentation: https://openfast.readthedocs.io/en/main/source/user/servodyn/index.html NREL | 73

 Running OpenFAST

• In a terminal, navigate to the folder containing the relevant

OpenFAST executable for your system and the simulation
input files
• For Mac users, run OpenFAST using the following command
for the onshore example
➢ ./openfast_Mac
“Offshore_OC4/5MW_OC4Semi_WSt_WavesWN.fst”
• For Windows users, run OpenFAST using the following
command for the onshore example
➢ openfast_Windows.exe
Offshore_OC4\5MW_OC4Semi_WSt_WavesWN.fst
• For Linux users, run OpenFAST using the following command
for the onshore example
➢ ./openfast_Linux
Offshore_OC4/5MW_OC4Semi_WSt_WavesWN.fst
NREL | 74
OpenFAST Outputs

NREL | 75