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MoorDyn: Feature/syrope for polyester #3324

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a976072
Defined new variables of Syrope model
zhilongwei Apr 10, 2026
4244f33
1D interpolation from x and y arrays
zhilongwei Apr 10, 2026
fc7b738
Read Syrope settings
zhilongwei Apr 10, 2026
7fe99b9
Implementation for the Syrope model
zhilongwei Apr 10, 2026
38b3dc6
Allocate memory with stat
zhilongwei Apr 20, 2026
3acaa3c
Merge branch 'dev' of https://github.com/OpenFAST/openfast into featu…
zhilongwei Apr 21, 2026
f0549ea
Merge branch 'dev' of https://github.com/OpenFAST/openfast into featu…
zhilongwei May 1, 2026
25cca6d
Updated the error message in the SYROPE IC section
zhilongwei May 6, 2026
3c146e4
Line ID must be >=1 and used a robust way to read the ICs
zhilongwei May 6, 2026
94e001c
Removed unused varaibles WCK1 and WCK2
zhilongwei May 6, 2026
4dda4d2
Handle Syrope working-curve warnings without aborting MD_Init
zhilongwei May 6, 2026
d78fa63
New tests passed
zhilongwei May 6, 2026
aca2b2f
dl_1 denotes stretch instead of strain
zhilongwei May 7, 2026
494104c
Initialize Tmax and Tmean to zero
zhilongwei May 11, 2026
6974791
Check Syrope input validity
zhilongwei May 11, 2026
9951a30
Support relative path of the Syrope input files
zhilongwei May 11, 2026
5bf0452
Corrected error message when static stiffness is larger than dynamic …
zhilongwei May 18, 2026
b823678
Make sure all lines in the SYROPE IC section have Syrope line types
zhilongwei May 18, 2026
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329 changes: 313 additions & 16 deletions modules/moordyn/src/MoorDyn.f90
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Original file line number Diff line number Diff line change
Expand Up @@ -127,8 +127,11 @@ SUBROUTINE MD_Init(InitInp, u, p, x, xd, z, other, y, m, DTcoupling, InitOut, Er
CHARACTER(40) :: TempString3 !
CHARACTER(40) :: TempString4 !
CHARACTER(40) :: TempString5 !
CHARACTER(40) :: TempString6 !
CHARACTER(40) :: TempStrings(6) ! Array of 6 strings used when parsing comma-separated items
! CHARACTER(1024) :: FileName !
LOGICAL :: hasSyrope = .FALSE. ! flag for if a line type has a Syrope model specified
LOGICAL :: hasSyropeICs = .FALSE. ! flag for whether any line type uses Syrope model


REAL(DbKi) :: depth ! local water depth interpolated from bathymetry grid [m]
Expand All @@ -155,6 +158,16 @@ SUBROUTINE MD_Init(InitInp, u, p, x, xd, z, other, y, m, DTcoupling, InitOut, Er
INTEGER :: QuoteCh ! Character position.
CHARACTER(*), PARAMETER :: RoutineName = 'MD_Init'

! for Syrope working curves
CHARACTER(40) :: owcPath !
CHARACTER(40) :: wcFormula !
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@zhilongwei zhilongwei May 6, 2026

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I followed the same convention as for TempString1–TempString6, where TempString1 stores the path to the nonlinear stiffness lookup file. I assumed this is intentional, likely to limit the path length.

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@RyanDavies19 RyanDavies19 May 10, 2026

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I'll defer to @andrew-platt for path lengths

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@zhilongwei zhilongwei May 11, 2026

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Hi, it may be a good idea to allow longer path lengths. When I tried to support relative paths for the Syrope input files, the path length could easily exceed 40 characters.

REAL(DbKi) :: wcK1 !
REAL(DbKi) :: wcK2 !

! for Syrope line initial conditions
REAL(DbKi) :: Tmax0
REAL(DbKi) :: Tmean0


! Initialize Err stat
ErrStat = ErrID_None
Expand Down Expand Up @@ -371,6 +384,21 @@ SUBROUTINE MD_Init(InitInp, u, p, x, xd, z, other, y, m, DTcoupling, InitOut, Er
p%nLines = p%nLines + 1
Line = NextLine(i)
END DO

else if ((INDEX(Line, "SYROPE IC") > 0) ) then ! if Syrope Line initial conditions

IF (wordy > 1) print *, " Reading Syrope line initial conditions: ";

! skip following two lines (label line and unit line)
Line = NextLine(i)
Line = NextLine(i)

! find how many elements of this type there are
Line = NextLine(i)
DO while (INDEX(Line, "---") == 0) ! while we DON'T find another header line
p%nSyropeLineICs = p%nSyropeLineICs + 1
Line = NextLine(i)
END DO

else if (INDEX(Line, "EXTERNAL LOADS") > 0) then ! if external load and damping header

Expand Down Expand Up @@ -698,25 +726,76 @@ SUBROUTINE MD_Init(InitInp, u, p, x, xd, z, other, y, m, DTcoupling, InitOut, Er

! process stiffness coefficients
CALL SplitByBars(tempString1, N, tempStrings)
if (N > 3) then
CALL SetErrStat( ErrID_Fatal, 'A line type EA entry can have at most 3 (bar-separated) values.', ErrStat, ErrMsg, RoutineName )
CALL CleanUp()
RETURN
else if (N==3) then ! visco-elastic case, load dependent dynamic stiffness!
m%LineTypeList(l)%ElasticMod = 3

! check if the first entry follows the pattern "SYROPE:<filepath>" for a Syrope model
! if so, enable the Syrope model for this line type
tempString5 = adjustl(tempStrings(1))
! check length of tempString5 to out-of-bounds error
hasSyrope = (len(tempString5) > 7) .and. (tempString5(1:7) == 'SYROPE:')

if (hasSyrope) then
if (N /= 3) then
CALL SetErrStat( ErrID_Fatal, 'A line type EA entry for a SYROPE model must have exactly 3 (bar-separated) values.', ErrStat, ErrMsg, RoutineName )
CALL CleanUp()
RETURN
end if

m%LineTypeList(l)%ElasticMod = 4
read(tempStrings(2), *) m%LineTypeList(l)%alphaMBL
read(tempStrings(3), *) m%LineTypeList(l)%vbeta
else if (N==2) then ! visco-elastic case, constant dynamic stiffness!
m%LineTypeList(l)%ElasticMod = 2
read(tempStrings(2), *) m%LineTypeList(l)%EA_D
else
m%LineTypeList(l)%ElasticMod = 1 ! normal case
end if
! get the regular/static coefficient or relation in all cases (can be from a lookup table)
CALL getCoefficientOrCurve(tempStrings(1), m%LineTypeList(l)%EA, &

tempString6 = adjustl(tempString5(8:)) ! get the filepath of the SYROPE curves

CALL MD_ReadSyropeWorkingCurves(tempString6, owcPath, wcFormula, wcK1, wcK2, ErrStat2, ErrMsg2)

if (ErrStat2 /= ErrID_None ) then
CALL SetErrStat( ErrID_Fatal, 'Failed to read SYROPE working curves for line type '//trim(Num2LStr(l))//'. Check error message for details.', ErrStat, ErrMsg, RoutineName )
CALL CleanUp()
RETURN
end if

if (wordy > 0) print *, " Read Syrope working curve for Line type ", trim(Num2LStr(l))

if (trim(wcFormula) == 'LINEAR') then
m%LineTypeList(l)%syropeWCForm = 1
else if (trim(wcFormula) == 'QUADRATIC') then
m%LineTypeList(l)%syropeWCForm = 2
else if (trim(wcFormula) == 'EXP') then
m%LineTypeList(l)%syropeWCForm = 3
end if
m%LineTypeList(l)%syropeWCK1 = wcK1
m%LineTypeList(l)%syropeWCK2 = wcK2

! get the original working curve from the loopup table owcPath
CALL getCoefficientOrCurve(owcPath, m%LineTypeList(l)%EA, &
m%LineTypeList(l)%nEApoints, &
m%LineTypeList(l)%stiffXs, &
m%LineTypeList(l)%stiffYs, ErrStat2, ErrMsg2)

hasSyrope = .false. ! reset hasSyrope flag for later use when processing

else ! process other visco-elastic or normal cases

if (N > 3) then
CALL SetErrStat( ErrID_Fatal, 'A line type EA entry can have at most 3 (bar-separated) values.', ErrStat, ErrMsg, RoutineName )
CALL CleanUp()
RETURN
else if (N==3) then ! visco-elastic case, load dependent dynamic stiffness!
m%LineTypeList(l)%ElasticMod = 3
read(tempStrings(2), *) m%LineTypeList(l)%alphaMBL
read(tempStrings(3), *) m%LineTypeList(l)%vbeta
else if (N==2) then ! visco-elastic case, constant dynamic stiffness!
m%LineTypeList(l)%ElasticMod = 2
read(tempStrings(2), *) m%LineTypeList(l)%EA_D
else
m%LineTypeList(l)%ElasticMod = 1 ! normal case
end if
! get the regular/static coefficient or relation in all cases (can be from a lookup table)
CALL getCoefficientOrCurve(tempStrings(1), m%LineTypeList(l)%EA, &
m%LineTypeList(l)%nEApoints, &
m%LineTypeList(l)%stiffXs, &
m%LineTypeList(l)%stiffYs, ErrStat2, ErrMsg2)
end if


! process damping coefficients
Expand Down Expand Up @@ -1688,6 +1767,60 @@ SUBROUTINE MD_Init(InitInp, u, p, x, xd, z, other, y, m, DTcoupling, InitOut, Er
IF (wordy > 0) print *, "Set up Line", l, "of type", m%LineList(l)%PropsIdNum

END DO ! l = 1,p%nLines

!-------------------------------------------------------------------------------------------
else if ((INDEX(Line, "SYROPE IC") > 0) ) then ! if Syrope initial conditions header
hasSyropeICs = .false.
do l = 1, p%nLineTypes
if (m%LineTypeList(l)%ElasticMod == 4) then
hasSyropeICs = .true.
exit
end if
end do

if (.not. hasSyropeICs) then
CALL SetErrStat( ErrID_Warn, 'No line type with Syrope model is defined, but SYROPE IC section is present.' , ErrStat, ErrMsg, RoutineName )
end if

if (wordy > 0) print *, " Reading Syrope line initial inputs"

! skip following two lines (label line and unit line)
Line = NextLine(i)
Line = NextLine(i)

DO l = 1, p%nSyropeLineICs

!read into a line
Line = NextLine(i)

! count commas to determine how many line IDs specified for this IC
N = count(transfer(Line, 'a', len(Line)) == ",") + 1 ! number of line IDs given

! check for correct number of columns in current line
IF ( CountWords( Line ) /= N+2 ) THEN
CALL SetErrStat( ErrID_Fatal, ' Unable to parse line failure '//trim(Num2LStr(l))//' on row '//trim(Num2LStr(i))//' in input file. Row has wrong number of columns. Must be 5 columns.', ErrStat, ErrMsg, RoutineName )
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@zhilongwei zhilongwei May 6, 2026

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I simply copyed the similar syntex from the line failure section and forgot to update the error message.

CALL CleanUp()
RETURN
END IF

! parse out entries: SyropeLineID Tmax Tmean
IF (ErrStat2 == 0) THEN
READ(Line,*,IOSTAT=ErrStat2) TempIDnums(1:N), Tmax0, Tmean0
END IF

DO il = 1, N
if (TempIDnums(il) <= p%nLines) then ! ensure line ID is in range
DO j = 1, m%LineList(TempIDnums(il))%N
m%LineList(TempIDnums(il))%Tmax(j) = Tmax0
m%LineList(TempIDnums(il))%Tmean(j) = Tmean0
END DO
else
CALL SetErrStat( ErrID_Fatal, ' Unable to parse Syrope line initial conditions '//trim(Num2LStr(l))//'. Line number '//TRIM(Int2LStr(TempIDnums(il)))//' out of bounds.', ErrStat, ErrMsg, RoutineName )
CALL CleanUp()
return
endif
END DO
END DO

!-------------------------------------------------------------------------------------------
else if (INDEX(Line, "EXTERNAL LOADS") > 0) then ! if external load header
Expand Down Expand Up @@ -2668,8 +2801,8 @@ SUBROUTINE MD_Init(InitInp, u, p, x, xd, z, other, y, m, DTcoupling, InitOut, Er
! print *, m%LineList(l)%r(:,I)
END DO

! if using viscoelastic model, initialize the internal states
if (m%LineList(l)%ElasticMod == 2) then
! if using viscoelastic model or Syrope model, initialize the internal states
if (m%LineList(l)%ElasticMod == 2 .or. m%LineList(l)%ElasticMod == 4) then
do I = 1,N
x%states(m%LineStateIs1(l) + 6*N-6 + I-1) = m%LineList(l)%dl_1(I) ! should be zero
end do
Expand Down Expand Up @@ -4914,4 +5047,168 @@ SUBROUTINE MD_JacobianPConstrState( t, u, p, x, xd, z, OtherState, y, m, ErrStat
END IF
END SUBROUTINE MD_JacobianPConstrState

SUBROUTINE MD_ReadSyropeWorkingCurves(inputString, owcPath, wcFormula, k1, k2, ErrStat3, ErrMsg3)

CHARACTER(*), INTENT(IN) :: inputString
CHARACTER(*), INTENT(OUT) :: owcPath
CHARACTER(*), INTENT(OUT) :: wcFormula
REAL(DbKi), INTENT(OUT) :: k1
REAL(DbKi), INTENT(OUT) :: k2

INTEGER(IntKi), INTENT(OUT) :: ErrStat3
CHARACTER(*), INTENT(OUT) :: ErrMsg3

! local variables
TYPE(FileInfoType) :: FileInfo
CHARACTER(1024) :: NextLine
CHARACTER(64) :: OptString
CHARACTER(256) :: OptValue
LOGICAL :: FoundOWC = .false.
LOGICAL :: FoundWCFormula = .false.
LOGICAL :: FoundK1 = .false.
LOGICAL :: FoundK2 = .false.
CHARACTER(*), PARAMETER :: RoutineName = 'MD_ReadSyropeWorkingCurves'

INTEGER(IntKi) :: i, ios
INTEGER(IntKi) :: ErrStat4
CHARACTER(1024) :: ErrMsg4

! initialize outputs
owcPath = ''
wcFormula = ''
k1 = 0.0_DbKi
k2 = 0.0_DbKi
ErrStat3 = ErrID_None
ErrMsg3 = ''

! read file

CALL ProcessComFile(inputString, FileInfo, ErrStat4, ErrMsg4)
IF (ErrStat4 /= ErrID_None) THEN
CALL SetErrStat(ErrID_Fatal, &
'Error processing Syrope working curve file ' // TRIM(inputString) // ': ' // TRIM(ErrMsg4), &
ErrStat3, ErrMsg3, RoutineName)
RETURN
END IF

CALL WrScr(' Loading SYROPE working curves from ' // TRIM(inputString))

! parse lines
DO i = 1, FileInfo%NumLines

NextLine = TRIM(FileInfo%Lines(i))
IF (LEN_TRIM(NextLine) == 0) CYCLE

READ(NextLine, *, IOSTAT=ios) OptValue, OptString
IF (ios /= 0) THEN
CALL SetErrStat(ErrID_Fatal, &
'Failed to read options in Syrope working curve file ' // TRIM(inputString) // '.', &
ErrStat3, ErrMsg3, RoutineName)
RETURN
END IF

CALL Conv2UC(OptString)

IF (OptString == 'OWC') THEN
owcPath = TRIM(OptValue)
FoundOWC = .true.
ELSE IF (OptString == 'WCTYPE') THEN
wcFormula = TRIM(OptValue)
FoundWCFormula = .true.
ELSE IF (OptString == 'K1') THEN
READ(OptValue, *, IOSTAT=ios) k1
IF (ios /= 0) THEN
CALL SetErrStat(ErrID_Fatal, &
'Invalid K1 value in Syrope working curve file ' // TRIM(inputString) // '.', &
ErrStat3, ErrMsg3, RoutineName)
RETURN
END IF
FoundK1 = .true.
ELSE IF (OptString == 'K2') THEN
READ(OptValue, *, IOSTAT=ios) k2
IF (ios /= 0) THEN
CALL SetErrStat(ErrID_Fatal, &
'Invalid K2 value in Syrope working curve file ' // TRIM(inputString) // '.', &
ErrStat3, ErrMsg3, RoutineName)
RETURN
END IF
FoundK2 = .true.
ELSE
CALL SetErrStat(ErrID_Warn, &
'Unknown keyword "' // TRIM(OptString) // '" in Syrope working curve file ' // TRIM(inputString) // '.', &
ErrStat3, ErrMsg3, RoutineName)
END IF

END DO

! required checks
IF (.NOT. FoundOWC) THEN
CALL SetErrStat(ErrID_Fatal, &
'OWC option not found in Syrope working curve file ' // TRIM(inputString) // '.', &
ErrStat3, ErrMsg3, RoutineName)
RETURN
END IF

IF (.NOT. FoundWCFormula) THEN
CALL SetErrStat(ErrID_Fatal, &
'WCTYPE option not found in Syrope working curve file ' // TRIM(inputString) // '.', &
ErrStat3, ErrMsg3, RoutineName)
RETURN
END IF

IF (.NOT. FoundK1) THEN
CALL SetErrStat(ErrID_Fatal, &
'K1 option not found in Syrope working curve file ' // TRIM(inputString) // '.', &
ErrStat3, ErrMsg3, RoutineName)
RETURN
END IF

IF (.NOT. FoundK2) THEN
CALL SetErrStat(ErrID_Fatal, &
'K2 option not found in Syrope working curve file ' // TRIM(inputString) // '.', &
ErrStat3, ErrMsg3, RoutineName)
RETURN
END IF

! validate formula
CALL Conv2UC(wcFormula)

IF (wcFormula == 'LINEAR') THEN

IF (k1 < 0.0_DbKi) THEN
CALL SetErrStat(ErrID_Fatal, &
'LINEAR working curve requires k1 >= 0.', &
ErrStat3, ErrMsg3, RoutineName)
RETURN
END IF

ELSE IF (wcFormula == 'QUADRATIC') THEN

IF (k1 < 0.0_DbKi .OR. k1 >= 1.0_DbKi .OR. k2 <= 0.0_DbKi .OR. k2 > 1.0_DbKi) THEN
CALL SetErrStat(ErrID_Fatal, &
'QUADRATIC working curve requires 0 <= k1 < 1 and 0 < k2 <= 1.', &
ErrStat3, ErrMsg3, RoutineName)
RETURN
END IF

ELSE IF (wcFormula == 'EXP') THEN

IF (k1 < 0.0_DbKi .OR. k1 >= 1.0_DbKi .OR. k2 <= 0.0_DbKi) THEN
CALL SetErrStat(ErrID_Fatal, &
'EXP working curve requires 0 <= k1 < 1 and k2 > 0.', &
ErrStat3, ErrMsg3, RoutineName)
RETURN
END IF

ELSE

CALL SetErrStat(ErrID_Fatal, &
'Invalid WCTYPE value "' // TRIM(wcFormula) // '" in Syrope working curve file ' // TRIM(inputString) // '.', &
ErrStat3, ErrMsg3, RoutineName)
RETURN

END IF

END SUBROUTINE MD_ReadSyropeWorkingCurves

END MODULE MoorDyn
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