def localElasticForces(PosDef, PsiDef,
PosIni, PsiIni,
XBELEM, NodeList):
"""@brief Approximate shear force and moments from local strain and
stiffness matrix.
@param PosDef Deformed nodal coordinates.
@param PsiDef Deformed nodal rotation vectors.
@param XBELEM Xbeam element derived type containing element data.
@param NodeList List of element numbers for strain approximation,
starts from zero.
@warning Untested.
"""
F = np.zeros((len(NodeList),6))
strains = localStrains(PosDef, PsiDef,
PosIni, PsiIni,
XBELEM, NodeList)
iOut = 0 # Output index
for iNode in NodeList:
iElem, iiElem = iNode2iElem(iNode, PosDef.shape[0]-1, XBELEM.NumNodes[0])
del iiElem
elemStrain = strains[iOut,:]
elemK = XBELEM.Stiff[iElem*6:(iElem+1)*6,:]
F[iOut,:] = np.dot(elemK,elemStrain)
iOut += 1
# END of iElem
return F
def CoincidentGridForce(XBINPUT, PsiDefor, Section, AeroForces,
BeamForces, PsiA_G=np.zeros(3)):
"""@brief Calculates aero forces and moments on the beam nodes from those on
the aerodynamic grid.
@param XBINPUT Beam input options.
@param PsiDefor Array of beam nodal rotations.
@param Section Array containing sectional camberline coordinates.
@param AeroForces Aerodynamic grid forces to be mapped to beam nodes.
@param BeamForces BeamForces to overwrite.
@param PsiA_G Attitude of a-frame w.r.t earth. Default zero.
@details All Beam forces calculated in in a-frame, while aero forces
are defined in earth frame."""
# Zero beam forces.
BeamForces[:,:] = 0.0
# Get transformation matrix between a-frame and earth.
CGa = Psi2TransMat(PsiA_G) # project from a -> G
CaG = CGa.T # project from G -> a
# Num Nodes
NumNodes = XBINPUT.NumNodesTot
# Get number of nodes per beam element.
NumNodesElem = XBINPUT.NumNodesElem
# Loop along beam length.
for iNode in range(NumNodes):
iElem, iiElem = iNode2iElem(iNode, NumNodes, NumNodesElem)
# Calculate transformation matrix for each node.
CaB = Psi2TransMat(PsiDefor[iElem,iiElem,:])
# Loop through each sectional coordinate.
for jSection in range(Section.shape[0]):
# Get Section coord and AeroForce in a-frame.
Section_A = np.dot(CaB,Section[jSection,:])
AeroForce_A = np.dot(CaG,AeroForces[jSection][iNode][:])
# Calc moment.
BeamForces[iNode,3:] += np.cross(Section_A,
AeroForce_A)
# Calc force.
BeamForces[iNode,:3] += AeroForce_A
def CoincidentGridForce(XBINPUT, PsiDefor, Section, AeroForces, BeamForces):
"""@brief Calculates aero forces and moments on the beam nodes from those on
the aerodynamic grid.
@param XBINPUT Beam input options.
@param PsiDefor Array of beam nodal rotations.
@param Section Array containing sectional camberline coordinates.
@param AeroForces Aerodynamic grid forces to be mapped to beam nodes.
@param BeamForces BeamForces to overwrite.
@details All Beam forces calculated in in a-frame, while aero forces
are defined in earth frame."""
# Zero beam forces.
BeamForces[:, :] = 0.0
# Get transformation matrix between a-frame and earth.
CGa = Psi2TransMat(XBINPUT.PsiA_G)
CaG = CGa.T
# Num Nodes
NumNodes = XBINPUT.NumNodesTot
# Get number of nodes per beam element.
NumNodesElem = XBINPUT.NumNodesElem
# Loop along beam length.
for iNode in range(NumNodes):
iElem, iiElem = iNode2iElem(iNode, NumNodes, NumNodesElem)
# Calculate transformation matrix for each node.
CaB = Psi2TransMat(PsiDefor[iElem, iiElem, :])
# Loop through each sectional coordinate.
for jSection in range(Section.shape[0]):
# Get Section coord and AeroForce in a-frame.
Section_A = np.dot(CaB, Section[jSection, :])
AeroForce_A = np.dot(CaG, AeroForces[jSection][iNode][:])
# Calc moment.
BeamForces[iNode, 3:] += np.cross(Section_A, AeroForce_A)
# Calc force.
BeamForces[iNode, :3] += AeroForce_A
# Initialize PosDefor, PsiDefor
PosDefor = np.zeros((N + 1, 3), dtype=ct.c_double, order='F')
PosDeforElem = np.zeros((NumElems, 3, 3), dtype=ct.c_double, order='F')
PsiDefor = np.zeros((NumElems, 3, 3), dtype=ct.c_double, order='F')
data = np.loadtxt(refFile, skiprows=2)
i0 = 0
for iElem in range(NumElems):
for i in range(numNodesElem):
PosDeforElem[iElem, i, :] = data[i0, 2:5]
PsiDefor[iElem, i, :] = data[i0, 5:8]
i0 += 1
# extract nodal information (PosDefor)
for iNode in range(N + 1):
iElem, iiElem = iNode2iElem(iNode, N + 1, numNodesElem)
PosDefor[iNode, :] = PosDeforElem[iElem, iiElem, :]
# get reference circulation strengths
refFile = Settings.OutputDir + 'M' + str(M) + 'N' + str(
N) + '_V25_alpha' + str(int(alpha * 180.0 / np.pi)) + '_Gamma0'
myDict = loadmat(refFile)
gam0 = myDict['Gamma0']
eta0 = (PosDefor, PsiDefor, gam0)
else:
eta0 = None
# Generate a history of beam DoF motions (in A-frame)
if beamDOFmotion:
delEtaHisty = np.zeros((12 * N, len(Time)))
def CoincidentGrid(PosDefor,
PsiDefor,
Section,
VelA_A,
OmegaA_A,
PosDotDef,
PsiDotDef,
XBINPUT,
AeroGrid,
AeroVels,
OriginA_G=None,
PsiA_G=None,
ctrlSurf=None):
"""@brief Creates aero grid and velocities
based on beam nodal information.
@param PosDefor Array of beam nodal displacements.
@param PsiDefor Array of beam nodal rotations.
@param Section Array containing sectional camberline coordinates.
@param VelA_A Velocity of a-frame projected in a-frame.
@param OmegaA_A Angular vel of a-frame projected in a-frame.
@param PosDotDef Array of beam nodal velocities.
@param PsiDotDef Array of beam nodal angular velocities.
@param XBINPUT Beam input options.
@param AeroGrid Aerodynamic grid to be updated.
@param AeroVels Aerodynamic grid velocities to be updated
@param OriginA_G Origin of a-frame.
@param PsiA_G Attitude of a-frame w.r.t earth.
@param ctrlSurf Control surface definition.
@details AeroGrid and AeroVels are projected in G-frame.
"""
NumNodes = PosDefor.shape[0]
NumNodesElem = XBINPUT.NumNodesElem
for iNode in range(PosDefor.shape[0]):
# Work out what element we are in.
iElem, iiElem = iNode2iElem(iNode, NumNodes, NumNodesElem)
# Calculate transformation matrix for each node.
CaB = Psi2TransMat(PsiDefor[iElem, iiElem, :])
# Loop through section coordinates.
for jSection in range(Section.shape[0]):
# Calculate instantaneous aero grid points
AeroGrid[jSection,iNode,:] = PosDefor[iNode,:] \
+ np.dot(CaB,Section[jSection,:])
# Calculate inertial angular velocity of B-frame projected in
# the B-frame.
Omega_B_B = (np.dot(Tangential(PsiDefor[iElem, iiElem, :]),
PsiDotDef[iElem, iiElem, :]) +
np.dot(CaB.T, OmegaA_A))
# Calculate inertial velocity at grid points (projected in A-frame).
AeroVels[jSection, iNode, :] = (
VelA_A + np.dot(Skew(OmegaA_A), PosDefor[iNode, :]) +
PosDotDef[iNode, :] +
np.dot(CaB, np.dot(Skew(Omega_B_B), Section[jSection, :])))
if (ctrlSurf != None and jSection > ctrlSurf.iMin
and jSection <= ctrlSurf.iMax and iNode >= ctrlSurf.jMin
and iNode <= ctrlSurf.jMax):
# Apply changes to Zeta and ZetaDot in a-frame due to control
# surface movement.
# Check if control surface indices are within range of grid
assert (ctrlSurf.iMin >= 0), 'CtrlSurf iMin less then zero'
assert (ctrlSurf.iMax < Section.shape[0]), (
'CtrlSurf iMax ' + 'greater than section iMax')
assert (ctrlSurf.jMin >= 0), 'CtrlSurf jMin less then zero'
assert (ctrlSurf.jMax < PosDefor.shape[0]), (
'CtrlSurf jMax ' + 'greater than section jMax')
# Determine hinge point
hingePoint = Section[ctrlSurf.iMin, :]
# Use a CRV to define rotation in sectional frame
hingeRot = np.array([ctrlSurf.beta, 0.0, 0.0])
hingeRotDot = np.array([ctrlSurf.betaDot, 0.0, 0.0])
# Find lever arm from hinge point
leverArm = Section[jSection, :] - hingePoint
# Deformed position of node in B-frame
CBBnew = Psi2TransMat(hingeRot)
newSectionPoint = hingePoint + np.dot(CBBnew, leverArm)
# Overwrite corresponding element in Aerogrid
AeroGrid[jSection, iNode, :] = (PosDefor[iNode, :] +
np.dot(CaB, newSectionPoint))
# Overwrite corresponding element in AeroVels
# There is an extra velocity contribution due to the rotation
# of the hinge, with reference frame Bnew. Hence,
# CBBnew * ( Omega_Bnew_Bnew X Point__Bnew), which is the
# velocity at a point on the flap due to the rotation
# of the hinge projected in the B-frame. is added.
# Note: Skew(hingeRotDot) is an acceptable definition of the
# angular rate as it corresponds to planar motion within the
# section. In general Skew(T(\psi)\dot{\psi}) is required.
# Warning: should omega_Bnew_Bnew (Skew(hingeRotDot))
# be an inertial velocity?
AeroVels[jSection, iNode, :] = (
VelA_A + np.dot(Skew(OmegaA_A), PosDefor[iNode, :]) +
PosDotDef[iNode, :] + np.dot(
CaB,
np.dot(Skew(Omega_B_B), newSectionPoint) +
np.dot(CBBnew, np.dot(Skew(hingeRotDot), leverArm))))
#END for jSection
#END for iNode
if ((OriginA_G is not None) and (PsiA_G is not None)):
# Get transformation from a-frame to earth frame.
CaG = Psi2TransMat(PsiA_G)
CGa = CaG.T
# Add the origin to grids in earth frame and transform velocities.
for iNode in range(PosDefor.shape[0]):
for jSection in range(Section.shape[0]):
AeroGrid[jSection,iNode,:] = OriginA_G + \
np.dot(
CGa, AeroGrid[jSection,iNode,:])
AeroVels[jSection,
iNode, :] = np.dot(CGa, AeroVels[jSection, iNode, :])
def localStrains(PosDef, PsiDef,
PosIni, PsiIni,
XBELEM, NodeList,
SO3 = False):
"""@brief Approximate strains at the midpoint of nodes.
@param PosDef Deformed nodal coordinates.
@param PsiDef Deformed nodal rotation vectors.
@param PosIni Initial (undeformed) nodal coordinates.
@param PsiIni Initial (undeformed) nodal rotation vectors.
@param XBELEM Xbeam element derived type containing element data.
@param NodeList List of node numbers for strain approximation at adjacent
midpoint in the direction of increasing node index,
starts from zero:
0---x---1---x---2---x---3-- ... --(NumNodes-1)
Strains are calculated at the x to the right of selected nodes.
@param SO3 Flag for use of the SO(3) manifold in CRV interpolation.
@details Assumes that all nodes are either two- or three- noded.
@warning Untested.
"""
strains = np.zeros((len(NodeList),6))
NumNodes = PosDef.shape[0]-1
NumNodesElem = XBELEM.NumNodes[0]
iOut = 0 # Output index
for iNode in NodeList:
if iNode == NumNodes or iNode == -1:
raise ValueError("Midpoint strain requested beyond final node.")
iElem, iiElem = iNode2iElem(iNode, NumNodes, NumNodesElem)
if NumNodesElem == 2:
if SO3 == True:
# Consistent calculation of midpoint strains using SO(3) manifold.
raise NotImplementedError("SO(3) manifold strains.")
else:
# Using fortran routines
R0 = np.zeros((2,6))
R0[0,:3] = PosIni[iNode,:]
R0[0,3:] = PsiIni[iElem,iiElem,:]
R0[1,:3] = PosIni[iNode+1,:]
R0[1,3:] = PsiIni[iElem,iiElem+1,:]
Ri = np.zeros((2,6))
Ri[0,:3] = PosDef[iNode,:]
Ri[0,3:] = PsiDef[iElem,iiElem,:]
Ri[1,:3] = PosDef[iNode+1,:]
Ri[1,3:] = PsiDef[iElem,iiElem+1,:]
# Midpoint
z = 0.0
strainz = Cbeam3_strainz(R0, Ri, z)
# END if SO3
elif NumNodesElem == 3:
if SO3 == True:
raise NotImplementedError("Only available for 2-noded just now.")
else:
# Using fortran routines
R0 = np.zeros((3,6))
R0[0,:3] = PosIni[2*iElem,:]
R0[1,:3] = PosIni[2*iElem+2,:]
R0[2,:3] = PosIni[2*iElem+1,:]
R0[:,3:] = PsiIni[iElem]
Ri = np.zeros((3,6))
Ri[0,:3] = PosDef[2*iElem,:]
Ri[1,:3] = PosDef[2*iElem+2,:]
Ri[2,:3] = PosDef[2*iElem+1,:]
Ri[:,3:] = PsiDef[iElem]
if iiElem == 0:
z = -0.5 # mid-point adjacent to node iNode
elif iiElem == 1:
z = 0.5 # mid-point adjacent to node iNode
elif iiElem == 2:
raise ValueError("iiElem only 0, 1 for adjacent midpoint" +
"calculation.")
else:
raise ValueError("iiElem can only take 0, 1 or 2 for " +
"3-noded elements.")
strainz = Cbeam3_strainz(R0, Ri, z)
# END if SO(3)
else:
raise ValueError("Only 2- or 3-noded elements are supported.")
strains[iOut,:] = strainz
iOut += 1
# END for iElem
return strains
def CoincidentGrid(PosDefor, PsiDefor, Section,
VelA_A, OmegaA_A, PosDotDef, PsiDotDef,
XBINPUT, AeroGrid, AeroVels,
OriginA_a = None,
PsiA_G = None,
ctrlSurf = None):
"""@brief Creates aero grid and velocities
based on beam nodal information.
@param PosDefor Array of beam nodal displacements.
@param PsiDefor Array of beam nodal rotations.
@param Section Array containing sectional camberline coordinates.
@param VelA_A Velocity of a-frame projected in a-frame.
@param OmegaA_A Angular vel of a-frame projected in a-frame.
@param PosDotDef Array of beam nodal velocities.
@param PsiDotDef Array of beam nodal angular velocities.
@param XBINPUT Beam input options.
@param AeroGrid Aerodynamic grid to be updated.
@param AeroVels Aerodynamic grid velocities to be updated
@param OriginA_a Origin of a-frame (in a-frame components)
@param PsiA_G Attitude of a-frame w.r.t earth.
@param ctrlSurf Control surface definition.
@details AeroGrid and AeroVels are projected in G-frame.
"""
NumNodes = PosDefor.shape[0]
NumNodesElem = XBINPUT.NumNodesElem
if ctrlSurf != None: NumCtrlSurf = len(ctrlSurf)
for iNode in range(PosDefor.shape[0]):
# Work out what element we are in.
iElem, iiElem = iNode2iElem(iNode, NumNodes, NumNodesElem)
# Calculate transformation matrix for each node.
CaB = Psi2TransMat(PsiDefor[iElem,iiElem,:])
# Loop through section coordinates.
for jSection in range(Section.shape[0]):
# Calculate instantaneous aero grid points
AeroGrid[jSection,iNode,:] = PosDefor[iNode,:] \
+ np.dot(CaB,Section[jSection,:])
# Calculate inertial angular velocity of B-frame projected in
# the B-frame.
Omega_B_B = (np.dot(Tangential(PsiDefor[iElem,iiElem,:]),
PsiDotDef[iElem,iiElem,:])
+ np.dot(CaB.T, OmegaA_A))
# Calculate inertial velocity at grid points (projected in A-frame).
AeroVels[jSection,iNode,:] = (VelA_A
+ np.dot(Skew(OmegaA_A),PosDefor[iNode,:])
+ PosDotDef[iNode,:]
+ np.dot(CaB, np.dot(
Skew(Omega_B_B), Section[jSection,:])))
#<<<<<<< HEAD
# Control Surface Update
if ctrlSurf != None:
for cc in range(NumCtrlSurf):
if (jSection > ctrlSurf[cc].iMin and jSection <= ctrlSurf[cc].iMax and
iNode >= ctrlSurf[cc].jMin and iNode <= ctrlSurf[cc].jMax):
# Apply changes to Zeta and ZetaDot in a-frame due to control
# surface movement.
# Check if control surface indices are within range of grid
assert (ctrlSurf[cc].iMin >= 0), 'CtrlSurf iMin less then zero'
assert (ctrlSurf[cc].iMax < Section.shape[0]), ('CtrlSurf iMax '
+ 'greater than section iMax')
assert (ctrlSurf[cc].jMin >= 0), 'CtrlSurf jMin less then zero'
assert (ctrlSurf[cc].jMax < PosDefor.shape[0]), ('CtrlSurf jMax '
+ 'greater than section jMax')
# Determine hinge point
hingePoint = Section[ctrlSurf[cc].iMin,:]
# Use a CRV to define rotation in sectional frame
hingeRot = np.array([ctrlSurf[cc].beta, 0.0, 0.0])
hingeRotDot = np.array([ctrlSurf[cc].betaDot, 0.0, 0.0])
#print('Beta detected static: %f' %ctrlSurf[cc].beta)
#print('BetaDot detected static: %f' %ctrlSurf[cc].betaDot)
#1/0
# Find lever arm from hinge point
leverArm = Section[jSection,:] - hingePoint
# Deformed position of node in B-frame
CBBnew = Psi2TransMat(hingeRot)
newSectionPoint = hingePoint + np.dot(CBBnew,leverArm)
# Overwrite corresponding element in Aerogrid
AeroGrid[jSection,iNode,:] = (PosDefor[iNode,:]
+ np.dot(CaB,newSectionPoint))
# Overwrite corresponding element in AeroVels
# There is an extra velocity contribution due to the rotation
# of the hinge, with reference frame Bnew. Hence,
# CBBnew * ( Omega_Bnew_Bnew X Point__Bnew), which is the
# velocity at a point on the flap due to the rotation
# of the hinge projected in the B-frame. is added.
# Note: Skew(hingeRotDot) is an acceptable definition of the
# angular rate as it corresponds to planar motion within the
# section. In general Skew(T(\psi)\dot{\psi}) is required.
# Warning: should omega_Bnew_Bnew (Skew(hingeRotDot))
# be an inertial velocity?
AeroVels[jSection,iNode,:] = (VelA_A
+ np.dot(Skew(OmegaA_A),PosDefor[iNode,:])
+ PosDotDef[iNode,:]
+ np.dot(CaB,
np.dot(Skew(Omega_B_B), newSectionPoint)
+ np.dot(CBBnew,
np.dot(Skew(hingeRotDot),
leverArm))))
# #=======
# if (ctrlSurf != None and
# jSection > ctrlSurf.iMin and jSection <= ctrlSurf.iMax and
# iNode >= ctrlSurf.jMin and iNode <= ctrlSurf.jMax):
# # Apply changes to Zeta and ZetaDot in a-frame due to control
# # surface movement.
# # Check if control surface indices are within range of grid
# assert (ctrlSurf.iMin >= 0), 'CtrlSurf iMin less then zero'
# assert (ctrlSurf.iMax < Section.shape[0]), ('CtrlSurf iMax '
# + 'greater than section iMax')
# assert (ctrlSurf.jMin >= 0), 'CtrlSurf jMin less then zero'
# assert (ctrlSurf.jMax < PosDefor.shape[0]), ('CtrlSurf jMax '
# + 'greater than section jMax')
# # Determine hinge point
# hingePoint = Section[ctrlSurf.iMin,:]
# # Use a CRV to define rotation in sectional frame
# hingeRot = np.array([ctrlSurf.beta, 0.0, 0.0])
# hingeRotDot = np.array([ctrlSurf.betaDot, 0.0, 0.0])
# # Find lever arm from hinge point
# leverArm = Section[jSection,:] - hingePoint
# # Deformed position of node in B-frame
# CBBnew = Psi2TransMat(hingeRot)
# newSectionPoint = hingePoint + np.dot(CBBnew,leverArm)
# # Overwrite corresponding element in Aerogrid
# AeroGrid[jSection,iNode,:] = (PosDefor[iNode,:]
# + np.dot(CaB,newSectionPoint))
# # Overwrite corresponding element in AeroVels
# # There is an extra velocity contribution due to the rotation
# # of the hinge, with reference frame Bnew. Hence,
# # CBBnew * ( Omega_Bnew_Bnew X Point__Bnew), which is the
# # velocity at a point on the flap due to the rotation
# # of the hinge projected in the B-frame. is added.
# # Note: Skew(hingeRotDot) is an acceptable definition of the
# # angular rate as it corresponds to planar motion within the
# # section. In general Skew(T(\psi)\dot{\psi}) is required.
# # Warning: should omega_Bnew_Bnew (Skew(hingeRotDot))
# # be an inertial velocity?
# AeroVels[jSection,iNode,:] = (VelA_A
# + np.dot(Skew(OmegaA_A),PosDefor[iNode,:])
# + PosDotDef[iNode,:]
# + np.dot(CaB,
# np.dot(Skew(Omega_B_B), newSectionPoint)
# + np.dot(CBBnew,
# np.dot(Skew(hingeRotDot),
# leverArm))))
# >>>>>>> rob/master
#END for jSection
#END for iNode
if ( (OriginA_a != None) and (PsiA_G != None) ):
# Get transformation from a-frame to earth frame.
#CaG = Psi2TransMat(PsiA_G)
#CGa = CaG.T #] sm: this rotated, doesn't project
CGa = Psi2TransMat(PsiA_G)
### sm: convert OriginA_a into FoR G components
OriginA_G=np.dot(CGa,OriginA_a)
for iNode in range(PosDefor.shape[0]):
for jSection in range(Section.shape[0]):
AeroGrid[jSection,iNode,:] = OriginA_G + \
np.dot(
CGa, AeroGrid[jSection,iNode,:])
AeroVels[jSection,iNode,:] = np.dot(
CGa, AeroVels[jSection,iNode,:])
def CoincidentGrid(PosDefor, PsiDefor, Section,
VelA_A, OmegaA_A, PosDotDef, PsiDotDef,
XBINPUT, AeroGrid, AeroVels,
OriginA_G = None,
PsiA_G = None,
ctrlSurf = None):
"""@brief Creates aero grid and velocities
centred on beam nodes.
@param PosDefor Array of beam nodal displacements.
@param PsiDefor Array of beam nodal rotations.
@param Section Array containing sectional camberline coordinates.
@param VelA_A Velocity of a-frame projected in a-frame.
@param OmegaA_A Angular vel of a-frame projected in a-frame.
@param PosDotDef Array of beam nodal velocities.
@param PsiDotDef Array of beam nodal angular velocities.
@param XBINPUT Beam input options.
@param AeroGrid Aerodynamic grid to be updated.
@param AeroVels Aerodynamic grid velocities to be updated
@param OriginA_G Origin of a-frame.
@param PsiA_G Attitude of a-frame w.r.t earth.
@param ctrlSurf Control surface definition.
@details AeroGrid and AeroVels are projected in G-frame.
"""
NumNodes = PosDefor.shape[0]
NumNodesElem = XBINPUT.NumNodesElem
for iNode in range(PosDefor.shape[0]):
# Work out what element we are in.
iElem, iiElem = iNode2iElem(iNode, NumNodes, NumNodesElem)
# Calculate transformation matrix for each node.
CaB = Psi2TransMat(PsiDefor[iElem,iiElem,:])
# Loop through section coordinates.
for jSection in range(Section.shape[0]):
# Calculate instantaneous aero grid points
AeroGrid[jSection,iNode,:] = PosDefor[iNode,:] \
+ np.dot(CaB,Section[jSection,:])
# Calculate inertial angular velocity of B-frame projected in
# the B-frame.
Omega_B_B = (np.dot(Tangential(PsiDefor[iElem,iiElem,:]),
PsiDotDef[iElem,iiElem,:])
+ np.dot(CaB.T, OmegaA_A))
# Calculate inertial velocity at grid points (projected in A-frame).
AeroVels[jSection,iNode,:] = (VelA_A
+ np.dot(Skew(OmegaA_A),PosDefor[iNode,:])
+ PosDotDef[iNode,:]
+ np.dot(CaB, np.dot(
Skew(Omega_B_B), Section[jSection,:])))
if (ctrlSurf != None and
jSection > ctrlSurf.iMin and jSection <= ctrlSurf.iMax and
iNode >= ctrlSurf.jMin and iNode <= ctrlSurf.jMax):
# Apply changes to Zeta and ZetaDot in a-frame due to control
# surface movement.
# Check if control surface indices are within range of grid
assert (ctrlSurf.iMin >= 0), 'CtrlSurf iMin less then zero'
assert (ctrlSurf.iMax < Section.shape[0]), ('CtrlSurf iMax '
+ 'greater than section iMax')
assert (ctrlSurf.jMin >= 0), 'CtrlSurf jMin less then zero'
assert (ctrlSurf.jMax < PosDefor.shape[0]), ('CtrlSurf jMax '
+ 'greater than section jMax')
# Determine hinge point
hingePoint = Section[ctrlSurf.iMin,:]
# Use a CRV to define rotation in sectional frame
hingeRot = np.array([ctrlSurf.beta, 0.0, 0.0])
hingeRotDot = np.array([ctrlSurf.betaDot, 0.0, 0.0])
# Find lever arm from hinge point
leverArm = Section[jSection,:] - hingePoint
# Deformed position of node in B-frame
CBBnew = Psi2TransMat(hingeRot)
newSectionPoint = hingePoint + np.dot(CBBnew,leverArm)
# Overwrite corresponding element in Aerogrid
AeroGrid[jSection,iNode,:] = (PosDefor[iNode,:]
+ np.dot(CaB,newSectionPoint))
# Overwrite corresponding element in AeroVels
# There is an extra velocity contribution due to the rotation
# of the hinge, with reference frame Bnew. Hence,
# CBBnew * ( Omega_Bnew_Bnew X Point__Bnew), which is the
# velocity at a point on the flap due to the rotation
# of the hinge projected in the B-frame. is added.
AeroVels[jSection,iNode,:] = (VelA_A
+ np.dot(Skew(OmegaA_A),PosDefor[iNode,:])
+ PosDotDef[iNode,:]
+ np.dot(CaB,
np.dot(Skew(Omega_B_B), newSectionPoint)
+ np.dot(CBBnew,
np.dot(Skew(hingeRotDot),
leverArm))))
#END for jSection
#END for iNode
if ( (OriginA_G != None) and (PsiA_G != None) ):
# Get transformation from a-frame to earth frame.
CaG = Psi2TransMat(PsiA_G)
CGa = CaG.T
# Add the origin to grids in earth frame and transform velocities.
for iNode in range(PosDefor.shape[0]):
for jSection in range(Section.shape[0]):
AeroGrid[jSection,iNode,:] = OriginA_G + \
np.dot(
CGa, AeroGrid[jSection,iNode,:])
AeroVels[jSection,iNode,:] = np.dot(
CGa, AeroVels[jSection,iNode,:])
# Initialize PosDefor, PsiDefor
PosDefor = np.zeros((N+1,3),dtype=ct.c_double, order='F')
PosDeforElem = np.zeros((NumElems,3,3),dtype=ct.c_double, order='F')
PsiDefor = np.zeros((NumElems,3,3),dtype=ct.c_double, order='F')
data = np.loadtxt(refFile, skiprows=2)
i0=0
for iElem in range(NumElems):
for i in range(numNodesElem):
PosDeforElem[iElem,i,:] = data[i0,2:5]
PsiDefor[iElem,i,:] = data[i0,5:8]
i0+=1
# extract nodal information (PosDefor)
for iNode in range(N+1):
iElem, iiElem = iNode2iElem(iNode, N+1, numNodesElem)
PosDefor[iNode,:] = PosDeforElem[iElem,iiElem,:]
# get reference circulation strengths
refFile = Settings.OutputDir + 'M' + str(M) + 'N' + str(N) + '_V25_alpha' + str(int(alpha*180.0/np.pi)) + '_Gamma0'
myDict = loadmat(refFile)
gam0 = myDict['Gamma0']
eta0 = (PosDefor, PsiDefor, gam0)
else:
eta0 = None
# Generate a history of beam DoF motions (in A-frame)
if beamDOFmotion:
delEtaHisty = np.zeros((12*N,len(Time)))
PosDefHist=np.zeros((N+1,3,len(Time)),dtype=ct.c_double, order='F')
def localFstifz(PosDef, PsiDef,
PosIni, PsiIni,
XBELEM, NodeList,
SO3 = False):
"""@brief Approximate element stiffness force
@param PosDef Deformed nodal coordinates.
@param PsiDef Deformed nodal rotation vectors.
@param PosIni Initial (undeformed) nodal coordinates.
@param PsiIni Initial (undeformed) nodal rotation vectors.
@param XBELEM Xbeam element derived type containing element data.
@param NodeList List of node numbers for strain approximation at adjacent
midpoint in the direction of increasing node index,
starts from zero:
0---x---1---x---2---x---3-- ... --(NumNodes-1)
Strains are calculated at the x to the right of selected nodes.
@param SO3 Flag for use of the SO(3) manifold in CRV interpolation.
@details Assumes that all nodes are either two- or three- noded.
@warning Untested.
"""
from PyBeam.Utils.BeamLib import Cbeam3_fstifz
Fstiff = np.zeros((len(NodeList),6))
NumNodes = PosDef.shape[0]-1
NumNodesElem = XBELEM.NumNodes[0]
iOut = 0 # Output index
for iNode in NodeList:
if iNode == NumNodes or iNode == -1:
raise ValueError("Midpoint strain requested beyond final node.")
iElem, iiElem = iNode2iElem(iNode, NumNodes, NumNodesElem)
elemK = XBELEM.Stiff[iElem*6:(iElem+1)*6,:]
if NumNodesElem == 2:
if SO3 == True:
# Consistent calculation of midpoint strains using SO(3) manifold.
raise NotImplementedError("SO(3) manifold strains.")
else:
# Using fortran routines
R0 = np.zeros((2,6))
R0[0,:3] = PosIni[iNode,:]
R0[0,3:] = PsiIni[iElem,iiElem,:]
R0[1,:3] = PosIni[iNode+1,:]
R0[1,3:] = PsiIni[iElem,iiElem+1,:]
Ri = np.zeros((2,6))
Ri[0,:3] = PosDef[iNode,:]
Ri[0,3:] = PsiDef[iElem,iiElem,:]
Ri[1,:3] = PosDef[iNode+1,:]
Ri[1,3:] = PsiDef[iElem,iiElem+1,:]
# Midpoint
z = 0.0
fstifz = Cbeam3_fstifz(R0, Ri, elemK, z)
# END if SO3
elif NumNodesElem == 3:
if SO3 == True:
raise NotImplementedError("Only available for 2-noded just now.")
else:
# Using fortran routines
R0 = np.zeros((3,6))
R0[0,:3] = PosIni[2*iElem,:]
R0[1,:3] = PosIni[2*iElem+2,:]
R0[2,:3] = PosIni[2*iElem+1,:]
R0[:,3:] = PsiIni[iElem]
Ri = np.zeros((3,6))
Ri[0,:3] = PosDef[2*iElem,:]
Ri[1,:3] = PosDef[2*iElem+2,:]
Ri[2,:3] = PosDef[2*iElem+1,:]
Ri[:,3:] = PsiDef[iElem]
if iiElem == 0:
z = -0.5 # mid-point adjacent to node iNode
elif iiElem == 1:
z = 0.5 # mid-point adjacent to node iNode
elif iiElem == 2:
raise ValueError("iiElem only 0, 1 for adjacent midpoint" +
"calculation.")
else:
raise ValueError("iiElem can only take 0, 1 or 2 for " +
"3-noded elements.")
#----------------------- sm: working only for moments.
fstifz = Cbeam3_fstifz(R0, Ri, elemK, z)
# link top function
#cbeam3_fstif = BeamLib.__lib_cbeam3_MOD_cbeam3_fstif
#
# prepare I/O
#ctNNE = ct.c_int(NumNodesElem)
#ctR0 = np.zeros((,),ct.c_double,'F')
#ctRi
#ctKelem
#ctQstiff = np.zeros( () )
# --------------------- sm end
# END if SO(3)
else:
raise ValueError("Only 2- or 3-noded elements are supported.")
Fstiff[iOut,:] = fstifz
iOut += 1
# END for iElem
return Fstiff
