def Solve_Py(XBINPUT, XBOPTS, VMOPTS, VMINPUT, AELAOPTS, **kwords):
"""@brief Nonlinear dynamic solver using Python to solve aeroelastic
equation.
@details Assembly of structural matrices is carried out with
Fortran subroutines. Aerodynamics solved using PyAero\.UVLM.
@warning test outstanding: test for maintaining static deflections in
same conditions.
TODO: Maintain static deflections in same conditions.
@param XBINPUT Beam inputs (for initialization in Python).
@param XBOPTS Beam solver options (for Fortran).
@param VMOPTS UVLM solver options (for C/C++).
@param VMINPUT UVLM solver inputs (for initialization in Python).
@param VMUNST Unsteady input information for aero solver.
@param AELAOPTS Options relevant to coupled aeroelastic simulations.
@param writeDict OrderedDict of 'name':tuple of outputs to write.
"""
# Check correct solution code.
assert XBOPTS.Solution.value == 312, ('NonlinearDynamic requested' +
' with wrong solution code')
# Initialise static beam data.
XBINPUT, XBOPTS, NumNodes_tot, XBELEM, PosIni, PsiIni, XBNODE, NumDof \
= BeamInit.Static(XBINPUT,XBOPTS)
# Calculate initial displacements.
if AELAOPTS.ImpStart == False:
XBOPTS.Solution.value = 112 # Modify options.
VMOPTS.Steady = ct.c_bool(True)
Rollup = VMOPTS.Rollup.value
VMOPTS.Rollup.value = False
# Solve Static Aeroelastic.
PosDefor, PsiDefor, Zeta, ZetaStar, Gamma, GammaStar, Force = \
Static.Solve_Py(XBINPUT, XBOPTS, VMOPTS, VMINPUT, AELAOPTS)
XBOPTS.Solution.value = 312 # Reset options.
VMOPTS.Steady = ct.c_bool(False)
VMOPTS.Rollup.value = Rollup
elif AELAOPTS.ImpStart == True:
PosDefor = PosIni.copy(order='F')
PsiDefor = PsiIni.copy(order='F')
Force = np.zeros((XBINPUT.NumNodesTot, 6), ct.c_double, 'F')
# Write deformed configuration to file. TODO: tidy this away inside function.
ofile = Settings.OutputDir + Settings.OutputFileRoot + '_SOL312_def.dat'
if XBOPTS.PrintInfo == True:
sys.stdout.write('Writing file %s ... ' % (ofile))
fp = open(ofile, 'w')
fp.write('TITLE="Non-linear static solution: deformed geometry"\n')
fp.write('VARIABLES="iElem" "iNode" "Px" "Py" "Pz" "Rx" "Ry" "Rz"\n')
fp.close()
if XBOPTS.PrintInfo == True:
sys.stdout.write('done\n')
WriteMode = 'a'
# Write
BeamIO.OutputElems(XBINPUT.NumElems, NumNodes_tot.value, XBELEM, PosDefor,
PsiDefor, ofile, WriteMode)
# Initialise structural variables for dynamic analysis.
Time, NumSteps, ForceTime, ForcedVel, ForcedVelDot,\
PosDotDef, PsiDotDef,\
OutGrids, PosPsiTime, VelocTime, DynOut\
= BeamInit.Dynamic(XBINPUT,XBOPTS)
# Delete unused variables.
del ForceTime, OutGrids, VelocTime
# Write _force file
# ofile = Settings.OutputDir + Settings.OutputFileRoot + '_SOL312_force.dat'
# fp = open(ofile,'w')
# BeamIO.Write_force_File(fp, Time, ForceTime, ForcedVel, ForcedVelDot)
# fp.close()
# Write _vel file
#TODO: write _vel file
# Write .mrb file.
#TODO: write .mrb file
if XBOPTS.PrintInfo.value == True:
sys.stdout.write('Solve nonlinear dynamic case in Python ... \n')
# Initialise structural system tensors.
MglobalFull = np.zeros((NumDof.value, NumDof.value), ct.c_double, 'F')
CglobalFull = np.zeros((NumDof.value, NumDof.value), ct.c_double, 'F')
KglobalFull = np.zeros((NumDof.value, NumDof.value), ct.c_double, 'F')
FglobalFull = np.zeros((NumDof.value, NumDof.value), ct.c_double, 'F')
Asys = np.zeros((NumDof.value, NumDof.value), ct.c_double, 'F')
ms = ct.c_int()
cs = ct.c_int()
ks = ct.c_int()
fs = ct.c_int()
Mvel = np.zeros((NumDof.value, 6), ct.c_double, 'F')
Cvel = np.zeros((NumDof.value, 6), ct.c_double, 'F')
# X0 = np.zeros(NumDof.value, ct.c_double, 'F')
X = np.zeros(NumDof.value, ct.c_double, 'F')
DX = np.zeros(NumDof.value, ct.c_double, 'F')
dXdt = np.zeros(NumDof.value, ct.c_double, 'F')
dXddt = np.zeros(NumDof.value, ct.c_double, 'F')
Force_Dof = np.zeros(NumDof.value, ct.c_double, 'F')
Qglobal = np.zeros(NumDof.value, ct.c_double, 'F')
# Initialise rotation operators.
Unit = np.zeros((3, 3), ct.c_double, 'F')
for i in range(3):
Unit[i, i] = 1.0
Unit4 = np.zeros((4, 4), ct.c_double, 'F')
for i in range(4):
Unit4[i, i] = 1.0
Cao = Unit.copy('F')
Temp = Unit4.copy('F')
Quat = np.zeros(4, ct.c_double, 'F')
Quat[0] = 1.0
# Extract initial displacements and velocities.
BeamLib.Cbeam_Solv_Disp2State(NumNodes_tot, NumDof, XBINPUT, XBNODE,
PosDefor, PsiDefor, PosDotDef, PsiDotDef, X,
dXdt)
# Approximate initial accelerations.
PosDotDotDef = np.zeros((NumNodes_tot.value, 3), ct.c_double, 'F')
PsiDotDotDef = np.zeros((XBINPUT.NumElems, Settings.MaxElNod, 3),
ct.c_double, 'F')
# Assemble matrices for dynamic analysis.
BeamLib.Cbeam3_Asbly_Dynamic(XBINPUT, NumNodes_tot, XBELEM, XBNODE, PosIni,
PsiIni, PosDefor, PsiDefor, PosDotDef,
PsiDotDef, PosDotDotDef, PsiDotDotDef, Force,
ForcedVel[0, :], ForcedVelDot[0, :], NumDof,
Settings.DimMat, ms, MglobalFull, Mvel, cs,
CglobalFull, Cvel, ks, KglobalFull, fs,
FglobalFull, Qglobal, XBOPTS, Cao)
# Get force vector for unconstrained nodes (Force_Dof).
BeamLib.f_fem_m2v(ct.byref(NumNodes_tot), ct.byref(ct.c_int(6)),
Force.ctypes.data_as(ct.POINTER(ct.c_double)),
ct.byref(NumDof),
Force_Dof.ctypes.data_as(ct.POINTER(ct.c_double)),
XBNODE.Vdof.ctypes.data_as(ct.POINTER(ct.c_int)))
# Get RHS at initial condition.
Qglobal = Qglobal - np.dot(FglobalFull, Force_Dof)
# Initial Accel.
dXddt[:] = np.dot(np.linalg.inv(MglobalFull), -Qglobal)
# Record position of all grid points in global FoR at initial time step.
DynOut[0:NumNodes_tot.value, :] = PosDefor
# Record state of the selected node in initial deformed configuration.
PosPsiTime[0, :3] = PosDefor[-1, :]
PosPsiTime[0, 3:] = PsiDefor[-1, XBELEM.NumNodes[-1] - 1, :]
# Get gamma and beta for Newmark scheme.
gamma = 0.5 + XBOPTS.NewmarkDamp.value
beta = 0.25 * pow((gamma + 0.5), 2)
# Initialize Aero
Section = InitSection(VMOPTS, VMINPUT, AELAOPTS.ElasticAxis)
# Declare memory for Aero variables.
ZetaDot = np.zeros((Section.shape[0], PosDefor.shape[0], 3), ct.c_double,
'C')
K = VMOPTS.M.value * VMOPTS.N.value
AIC = np.zeros((K, K), ct.c_double, 'C')
BIC = np.zeros((K, K), ct.c_double, 'C')
AeroForces = np.zeros((VMOPTS.M.value + 1, VMOPTS.N.value + 1, 3),
ct.c_double, 'C')
# Initialise A-frame location and orientation to be zero
OriginA_G = np.zeros(3, ct.c_double, 'C')
PsiA_G = np.zeros(3, ct.c_double, 'C')
# Init external velocities.
Ufree = InitSteadyExternalVels(VMOPTS, VMINPUT)
# Init uninit vars if an impulsive start is specified.
if AELAOPTS.ImpStart == True:
Zeta = np.zeros((Section.shape[0], PosDefor.shape[0], 3), ct.c_double,
'C')
Gamma = np.zeros((VMOPTS.M.value, VMOPTS.N.value), ct.c_double, 'C')
# Generate surface, wake and gamma matrices.
CoincidentGrid(PosDefor, PsiDefor, Section, ForcedVel[0, :3],
ForcedVel[0, 3:], PosDotDef, PsiDotDef, XBINPUT, Zeta,
ZetaDot, OriginA_G, PsiA_G, VMINPUT.ctrlSurf)
# init wake grid and gamma matrix.
ZetaStar, GammaStar = InitSteadyWake(VMOPTS, VMINPUT, Zeta,
ForcedVel[0, :3])
# Init GammaDot
GammaDot = np.zeros_like(Gamma, ct.c_double, 'C')
# Define tecplot stuff
if Settings.PlotTec == True:
FileName = Settings.OutputDir + Settings.OutputFileRoot + 'AeroGrid.dat'
Variables = ['X', 'Y', 'Z', 'Gamma']
FileObject = PostProcess.WriteAeroTecHeader(FileName, 'Default',
Variables)
# Plot results of static analysis
PostProcess.WriteUVLMtoTec(FileObject,
Zeta,
ZetaStar,
Gamma,
GammaStar,
TimeStep=0,
NumTimeSteps=XBOPTS.NumLoadSteps.value,
Time=0.0,
Text=True)
# Open output file for writing
if 'writeDict' in kwords and Settings.WriteOut == True:
fp = OpenOutFile(writeDict, XBOPTS, Settings)
# Write initial outputs to file.
if 'writeDict' in kwords and Settings.WriteOut == True:
WriteToOutFile(writeDict, fp, Time[0], PosDefor, PsiDefor, PosIni,
PsiIni, XBELEM, ctrlSurf)
# END if write
# Time loop.
for iStep in range(NumSteps.value):
if XBOPTS.PrintInfo.value == True:
sys.stdout.write('Time: %-10.4e\n' % (Time[iStep + 1]))
sys.stdout.write(' SubIter DeltaF DeltaX ResLog10\n')
dt = Time[iStep + 1] - Time[iStep]
# Set dt for aero force calcs.
VMOPTS.DelTime = ct.c_double(dt)
# Save Gamma at iStep.
GammaSav = Gamma.copy(order='C')
# Force at current time-step
if iStep > 0 and AELAOPTS.Tight == False:
# zero aero forces.
AeroForces[:, :, :] = 0.0
# Update CRV.
PsiA_G = BeamLib.Cbeam3_quat2psi(Quat) # CRV at iStep
# Update origin.
OriginA_G[:] = OriginA_G[:] + ForcedVel[iStep - 1, :3] * dt
# Update control surface deflection.
if VMINPUT.ctrlSurf != None:
if 'mpcCont' in kwords:
uOpt = kwords['mpcCont'].getUopt(
getState(Gamma, GammaStar, GammaDot, X, dXdt))
VMINPUT.ctrlSurf.update(Time[iStep], uOpt[0, 0])
else:
VMINPUT.ctrlSurf.update(Time[iStep])
# Generate surface grid.
CoincidentGrid(PosDefor, PsiDefor, Section, ForcedVel[iStep, :3],
ForcedVel[iStep, 3:], PosDotDef, PsiDotDef, XBINPUT,
Zeta, ZetaDot, OriginA_G, PsiA_G, VMINPUT.ctrlSurf)
# Update wake geom
#'roll' data.
ZetaStar = np.roll(ZetaStar, 1, axis=0)
GammaStar = np.roll(GammaStar, 1, axis=0)
#overwrite grid points with TE.
ZetaStar[0, :] = Zeta[VMOPTS.M.value, :]
# overwrite Gamma with TE value from previous timestep.
GammaStar[0, :] = Gamma[VMOPTS.M.value - 1, :]
# Apply gust velocity.
if VMINPUT.gust != None:
Utot = Ufree + VMINPUT.gust.Vels(Zeta)
else:
Utot = Ufree
# Solve for AeroForces.
UVLMLib.Cpp_Solver_VLM(Zeta, ZetaDot, Utot, ZetaStar, VMOPTS,
AeroForces, Gamma, GammaStar, AIC, BIC)
# Get GammaDot.
GammaDot[:] = Gamma[:] - GammaSav[:]
# Apply density scaling.
AeroForces[:, :, :] = AELAOPTS.AirDensity * AeroForces[:, :, :]
if Settings.PlotTec == True:
PostProcess.WriteUVLMtoTec(
FileObject,
Zeta,
ZetaStar,
Gamma,
GammaStar,
TimeStep=iStep,
NumTimeSteps=XBOPTS.NumLoadSteps.value,
Time=Time[iStep],
Text=True)
# map AeroForces to beam.
CoincidentGridForce(XBINPUT, PsiDefor, Section, AeroForces, Force)
# Add gravity loads.
AddGravityLoads(Force, XBINPUT, XBELEM, AELAOPTS, PsiDefor,
VMINPUT.c)
#END if iStep > 0
# Quaternion update for orientation.
Temp = np.linalg.inv(Unit4 + 0.25 *
XbeamLib.QuadSkew(ForcedVel[iStep + 1, 3:]) * dt)
Quat = np.dot(
Temp,
np.dot(Unit4 - 0.25 * XbeamLib.QuadSkew(ForcedVel[iStep, 3:]) * dt,
Quat))
Quat = Quat / np.linalg.norm(Quat)
Cao = XbeamLib.Rot(Quat) # transformation matrix at iStep+1
if AELAOPTS.Tight == True:
# CRV at iStep+1
PsiA_G = BeamLib.Cbeam3_quat2psi(Quat)
# Origin at iStep+1
OriginA_G[:] = OriginA_G[:] + ForcedVel[iStep, :3] * dt
# Predictor step.
X = X + dt * dXdt + (0.5 - beta) * dXddt * pow(dt, 2.0)
dXdt = dXdt + (1.0 - gamma) * dXddt * dt
dXddt[:] = 0.0
# Reset convergence parameters.
Iter = 0
ResLog10 = 0.0
# Newton-Raphson loop.
while ((ResLog10 > np.log10(XBOPTS.MinDelta.value))
& (Iter < XBOPTS.MaxIterations.value)):
# set tensors to zero.
Qglobal[:] = 0.0
Mvel[:, :] = 0.0
Cvel[:, :] = 0.0
MglobalFull[:, :] = 0.0
CglobalFull[:, :] = 0.0
KglobalFull[:, :] = 0.0
FglobalFull[:, :] = 0.0
# Update counter.
Iter += 1
if XBOPTS.PrintInfo.value == True:
sys.stdout.write(' %-7d ' % (Iter))
# nodal diplacements and velocities from state vector.
BeamLib.Cbeam3_Solv_State2Disp(XBINPUT, NumNodes_tot, XBELEM,
XBNODE, PosIni, PsiIni, NumDof, X,
dXdt, PosDefor, PsiDefor, PosDotDef,
PsiDotDef)
# if tightly coupled is on then get new aeroforces.
if AELAOPTS.Tight == True:
# zero aero forces.
AeroForces[:, :, :] = 0.0
# Set gamma at t-1 to saved solution.
Gamma[:, :] = GammaSav[:, :]
# get new grid.
# The rigid-body DoFs (OriginA_G,PsiA_G,ForcedVel) at time step
# i+1 are used to converge the aeroelastic equations.
CoincidentGrid(PosDefor, PsiDefor, Section,
ForcedVel[iStep + 1, :3], ForcedVel[iStep + 1,
3:],
PosDotDef, PsiDotDef, XBINPUT, Zeta, ZetaDot,
OriginA_G, PsiA_G, VMINPUT.ctrlSurf)
# close wake.
ZetaStar[0, :] = Zeta[VMOPTS.M.value, :]
# save pereference and turn off rollup.
Rollup = VMOPTS.Rollup.value
VMOPTS.Rollup.value = False
# Solve for AeroForces.
UVLMLib.Cpp_Solver_VLM(Zeta, ZetaDot, Ufree, ZetaStar, VMOPTS,
AeroForces, Gamma, GammaStar, AIC, BIC)
# turn rollup back to original preference
VMOPTS.Rollup.value = Rollup
# apply density scaling.
AeroForces[:, :, :] = AELAOPTS.AirDensity * AeroForces[:, :, :]
# beam forces.
CoincidentGridForce(XBINPUT, PsiDefor, Section, AeroForces,
Force)
# Add gravity loads.
AddGravityLoads(Force, XBINPUT, XBELEM, AELAOPTS, PsiDefor,
VMINPUT.c)
#END if Tight
ForcedVelLoc = ForcedVel[iStep + 1, :].copy('F')
ForcedVelDotLoc = ForcedVelDot[iStep + 1, :].copy('F')
# Update matrices.
BeamLib.Cbeam3_Asbly_Dynamic(
XBINPUT, NumNodes_tot, XBELEM, XBNODE, PosIni, PsiIni,
PosDefor, PsiDefor, PosDotDef, PsiDotDef, PosDotDotDef,
PsiDotDotDef, Force, ForcedVelLoc, ForcedVelDotLoc, NumDof,
Settings.DimMat, ms, MglobalFull, Mvel, cs, CglobalFull, Cvel,
ks, KglobalFull, fs, FglobalFull, Qglobal, XBOPTS, Cao)
# Get force vector for unconstrained nodes (Force_Dof).
BeamLib.f_fem_m2v(
ct.byref(NumNodes_tot), ct.byref(ct.c_int(6)),
Force.ctypes.data_as(ct.POINTER(ct.c_double)),
ct.byref(NumDof),
Force_Dof.ctypes.data_as(ct.POINTER(ct.c_double)),
XBNODE.Vdof.ctypes.data_as(ct.POINTER(ct.c_int)))
# Solve for update vector.
# Residual.
Qglobal = Qglobal + np.dot(MglobalFull, dXddt) \
+ np.dot(Mvel,ForcedVelDotLoc) \
- np.dot(FglobalFull, Force_Dof)
if XBOPTS.PrintInfo.value == True:
sys.stdout.write('%-10.4e ' % (max(abs(Qglobal))))
# Calculate system matrix for update calculation.
Asys = KglobalFull \
+ CglobalFull*gamma/(beta*dt) \
+ MglobalFull/(beta*pow(dt,2.0))
# Solve for update.
DX[:] = np.dot(np.linalg.inv(Asys), -Qglobal)
# Corrector step.
X = X + DX
dXdt = dXdt + DX * gamma / (beta * dt)
dXddt = dXddt + DX / (beta * pow(dt, 2.0))
# Residual at first iteration.
if (Iter == 1):
Res0_Qglobal = max(abs(Qglobal)) + 1.e-16
Res0_DeltaX = max(abs(DX)) + 1.e-16
# Update residual and compute log10.
Res_Qglobal = max(abs(Qglobal)) + 1.e-16
Res_DeltaX = max(abs(DX)) + 1.e-16
ResLog10 = max([
np.log10(Res_Qglobal / Res0_Qglobal),
np.log10(Res_DeltaX / Res0_DeltaX)
])
if XBOPTS.PrintInfo.value == True:
sys.stdout.write('%-10.4e %8.4f\n' % (max(abs(DX)), ResLog10))
if ResLog10 > 2.0:
print("Residual growing! Exit Newton-Raphson...")
break
# END Netwon-Raphson.
if ResLog10 > 2.0:
print("Residual growing! Exit time-loop...")
debug = 'here'
del debug
break
# Update to converged nodal displacements and velocities.
BeamLib.Cbeam3_Solv_State2Disp(XBINPUT, NumNodes_tot, XBELEM, XBNODE,
PosIni, PsiIni, NumDof, X, dXdt,
PosDefor, PsiDefor, PosDotDef,
PsiDotDef)
PosPsiTime[iStep + 1, :3] = PosDefor[-1, :]
PosPsiTime[iStep + 1, 3:] = PsiDefor[-1, XBELEM.NumNodes[-1] - 1, :]
# Position of all grid points in global FoR.
i1 = (iStep + 1) * NumNodes_tot.value
i2 = (iStep + 2) * NumNodes_tot.value
DynOut[i1:i2, :] = PosDefor
# Write selected outputs
if 'writeDict' in kwords and Settings.WriteOut == True:
WriteToOutFile(writeDict, fp, Time[iStep + 1], PosDefor, PsiDefor,
PosIni, PsiIni, XBELEM, ctrlSurf)
# END if write.
# 'Rollup' due to external velocities. TODO: Must add gusts here!
ZetaStar[:, :] = ZetaStar[:, :] + VMINPUT.U_infty * dt
if VMINPUT.gust != None:
ZetaStar[:, :, :] = ZetaStar[:, :, :] + VMINPUT.gust.Vels(
ZetaStar) * dt
# END Time loop
# Write _dyn file.
ofile = Settings.OutputDir + Settings.OutputFileRoot + '_SOL312_dyn.dat'
fp = open(ofile, 'w')
BeamIO.Write_dyn_File(fp, Time, PosPsiTime)
fp.close()
# "Write _shape file"
# ofile = Settings.OutputDir + Settings.OutputFileRoot + '_SOL312_shape.dat'
# fp = open(ofile,'w')
# BeamIO.Write_shape_File(fp, len(Time), NumNodes_tot.value, Time, DynOut)
# fp.close()
# Close output file if it exists.
if 'writeDict' in kwords and Settings.WriteOut == True:
fp.close()
# Close Tecplot ascii FileObject.
if Settings.PlotTec == True:
PostProcess.CloseAeroTecFile(FileObject)
if XBOPTS.PrintInfo.value == True:
sys.stdout.write(' ... done\n')
# For interactive analysis at end of simulation set breakpoint.
pass
def Solve_Py(XBINPUT,XBOPTS,VMOPTS,VMINPUT,AELAOPTS,**kwords):
"""@brief Nonlinear dynamic solver using Python to solve aeroelastic
equation.
@details Assembly of structural matrices is carried out with
Fortran subroutines. Aerodynamics solved using PyAero\.UVLM.
@param XBINPUT Beam inputs (for initialization in Python).
@param XBOPTS Beam solver options (for Fortran).
@param VMOPTS UVLM solver options (for C/C++).
@param VMINPUT UVLM solver inputs (for initialization in Python).
@param VMUNST Unsteady input information for aero solver.
@param AELAOPTS Options relevant to coupled aeroelastic simulations.
@param writeDict OrderedDict of 'name':tuple of outputs to write.
"""
# Check correct solution code.
assert XBOPTS.Solution.value == 912, ('NonlinearFlightDynamic requested' +
' with wrong solution code')
# I/O management
XBOUT=DerivedTypes.Xboutput()
SaveDict=Settings.SaveDict
if 'SaveDict' in kwords: SaveDict=kwords['SaveDict']
if SaveDict['Format']=='h5':
Settings.WriteOut=False
Settings.PlotTec=False
OutList=[AELAOPTS, VMINPUT, VMOPTS, XBOPTS, XBINPUT, XBOUT]
#if VMINPUT.ctrlSurf!=None:
# for cc in range(len(VMINPUT.ctrlSurf)):
# OutList.append(VMINPUT.ctrlSurf[cc])
if SaveDict['SaveWake'] is True:
dirwake=SaveDict['OutputDir']+'wake'+SaveDict['OutputFileRoot']+'/'
os.system('mkdir -p %s' %dirwake)
XBOUT.dirwake=dirwake
XBOUT.cputime.append(time.clock()) # time.processor_time more appropriate but equivalent
# for debugging
XBOUT.ForceDofList=[]
XBOUT.ForceRigidList=[]
# Initialise static beam data.
XBINPUT, XBOPTS, NumNodes_tot, XBELEM, PosIni, PsiIni, XBNODE, NumDof \
= BeamInit.Static(XBINPUT,XBOPTS)
# special BCs
SphFlag=False
if XBNODE.Sflag.any(): SphFlag=True
# Debugging Flags
if 'HardCodeAero' in kwords: HardCodeAero=kwords['HardCodeAero']
SaveExtraVariables = False
#------------------------- Initial Displacement: ImpStart vs Static Solution
# Calculate initial displacements.
if AELAOPTS.ImpStart == False:
XBOPTS.Solution.value = 112 # Modify options.
VMOPTS.Steady = ct.c_bool(True)
Rollup = VMOPTS.Rollup.value
VMOPTS.Rollup.value = False
# Solve Static Aeroelastic.
PosDefor, PsiDefor, Zeta, ZetaStar, Gamma, GammaStar, Force = \
Static.Solve_Py(XBINPUT, XBOPTS, VMOPTS, VMINPUT, AELAOPTS)
XBOPTS.Solution.value = 912 # Reset options.
VMOPTS.Steady = ct.c_bool(False)
VMOPTS.Rollup.value = Rollup
elif AELAOPTS.ImpStart == True:
PosDefor = PosIni.copy(order='F')
PsiDefor = PsiIni.copy(order='F')
Force = np.zeros((XBINPUT.NumNodesTot,6),ct.c_double,'F')
if SaveDict['Format']!='h5':
write_SOL912_def(XBOPTS,XBINPUT,XBELEM,NumNodes_tot,PosDefor,PsiDefor,SaveDict)
else:
XBOUT.PosDeforStatic=PosDefor.copy()
XBOUT.PsiDeforStatic=PsiDefor.copy()
XBOUT.ForceTotStatic = Force.copy()
#------------------------------------------------ Initialise Dynamic Problem
# Initialise structural variables for dynamic analysis.
Time, NumSteps, ForceTime, Vrel, VrelDot,\
PosDotDef, PsiDotDef,\
OutGrids, PosPsiTime, VelocTime, DynOut\
= BeamInit.Dynamic(XBINPUT,XBOPTS)
# Delete unused variables.
del OutGrids, VelocTime
# sm I/O
### why forced velocity with Sol912 ???
### If forced velocities are prescribed, then is Sol312
XBOUT.PosDefor=PosDefor # ...SOL912_def.dat
XBOUT.PsiDefor=PsiDefor
XBOUT.ForceTime_force=ForceTime # ...SOL912_force.dat
XBOUT.Vrel_force=Vrel
XBOUT.VrelDot_force=VrelDot
if XBOPTS.PrintInfo.value==True:
sys.stdout.write('Solve nonlinear dynamic case in Python ... \n')
#------------------------------------------------------ Initialise Variables
#Initialise structural system tensors
MssFull = np.zeros((NumDof.value,NumDof.value), ct.c_double, 'F')
CssFull = np.zeros((NumDof.value,NumDof.value), ct.c_double, 'F')
KssFull = np.zeros((NumDof.value,NumDof.value), ct.c_double, 'F')
FstrucFull = np.zeros((NumDof.value,NumDof.value), ct.c_double, 'F')
ms = ct.c_int()
cs = ct.c_int()
ks = ct.c_int()
fs = ct.c_int()
Msr = np.zeros((NumDof.value,6), ct.c_double, 'F')
Csr = np.zeros((NumDof.value,6), ct.c_double, 'F')
X = np.zeros(NumDof.value, ct.c_double, 'F')
dXdt = np.zeros(NumDof.value, ct.c_double, 'F')
Force_Dof = np.zeros(NumDof.value, ct.c_double, 'F')
Qstruc = np.zeros(NumDof.value, ct.c_double, 'F')
#Initialise rigid-body system tensors
MrsFull = np.zeros((6,NumDof.value), ct.c_double, 'F')
CrsFull = np.zeros((6,NumDof.value), ct.c_double, 'F')
KrsFull = np.zeros((6,NumDof.value), ct.c_double, 'F')
FrigidFull = np.zeros((6,NumDof.value+6), ct.c_double, 'F')
mr = ct.c_int()
cr = ct.c_int()
kr = ct.c_int()
fr = ct.c_int()
Mrr = np.zeros((6,6), ct.c_double, 'F')
Crr = np.zeros((6,6), ct.c_double, 'F')
Qrigid = np.zeros(6, ct.c_double, 'F')
#Initialise full system tensors
Q = np.zeros(NumDof.value+6+4, ct.c_double, 'F')
DQ = np.zeros(NumDof.value+6+4, ct.c_double, 'F')
dQdt = np.zeros(NumDof.value+6+4, ct.c_double, 'F')
dQddt = np.zeros(NumDof.value+6+4, ct.c_double, 'F')
Force_All = np.zeros(NumDof.value+6, ct.c_double, 'F')
Msys = np.zeros((NumDof.value+6+4,NumDof.value+6+4), ct.c_double, 'F')
Csys = np.zeros((NumDof.value+6+4,NumDof.value+6+4), ct.c_double, 'F')
Ksys = np.zeros((NumDof.value+6+4,NumDof.value+6+4), ct.c_double, 'F')
Asys = np.zeros((NumDof.value+6+4,NumDof.value+6+4), ct.c_double, 'F')
Qsys = np.zeros(NumDof.value+6+4, ct.c_double, 'F')
#---------------------------------------------------- Start Dynamic Solution
#Initialise rotation operators. TODO: include initial AOA here
currVrel=Vrel[0,:].copy('F')
# Initialise attitude:
Quat = xbl.psi2quat(XBINPUT.PsiA_G)
#Quat= XBINPUT.quat0
#### sm debug
XBOUT.Quat0=Quat
XBOUT.currVel0=currVrel
Cao = xbl.Rot(Quat)
ACoa = np.zeros((6,6), ct.c_double, 'F')
ACoa[:3,:3] = np.transpose(Cao)
ACoa[3:,3:] = np.transpose(Cao)
Cqr = np.zeros((4,6), ct.c_double, 'F')
Cqq = np.zeros((4,4), ct.c_double, 'F')
Unit4 = np.zeros((4,4), ct.c_double, 'F')
for i in range(4):
Unit4[i,i] = 1.0
# Extract initial displacements and velocities.
BeamLib.Cbeam_Solv_Disp2State(NumNodes_tot, NumDof, XBINPUT, XBNODE,
PosDefor, PsiDefor, PosDotDef, PsiDotDef,
X, dXdt)
# Approximate initial accelerations.
PosDotDotDef = np.zeros((NumNodes_tot.value,3),ct.c_double,'F')
PsiDotDotDef = np.zeros((XBINPUT.NumElems,Settings.MaxElNod,3),
ct.c_double, 'F')
#Populate state vector
Q[:NumDof.value]=X.copy('F')
dQdt[:NumDof.value]=dXdt.copy('F')
dQdt[NumDof.value:NumDof.value+6] = Vrel[0,:].copy('F')
dQdt[NumDof.value+6:]= Quat.copy('F')
#Force at the first time-step
#Force += (XBINPUT.ForceDyn*ForceTime[0]).copy('F')
Force += (XBINPUT.ForceDyn[0,:,:]).copy('F')
#Assemble matrices and loads for structural dynamic analysis
currVrel=Vrel[0,:].copy('F')
tmpQuat=Quat.copy('F')
BeamLib.Cbeam3_Asbly_Dynamic(XBINPUT, NumNodes_tot, XBELEM, XBNODE,
PosIni, PsiIni, PosDefor, PsiDefor,
PosDotDef, PsiDotDef, PosDotDotDef, PsiDotDotDef,
Force, currVrel, 0*currVrel,
NumDof, Settings.DimMat,
ms, MssFull, Msr,
cs, CssFull, Csr,
ks, KssFull, fs, FstrucFull,
Qstruc, XBOPTS, Cao)
BeamLib.f_fem_m2v(ct.byref(NumNodes_tot),
ct.byref(ct.c_int(6)),
Force.ctypes.data_as(ct.POINTER(ct.c_double)),
ct.byref(NumDof),
Force_Dof.ctypes.data_as(ct.POINTER(ct.c_double)),
XBNODE.Vdof.ctypes.data_as(ct.POINTER(ct.c_int)) )
Qstruc -= np.dot(FstrucFull, Force_Dof)
#Assemble matrices for rigid-body dynamic analysis
BeamLib.Xbeam_Asbly_Dynamic(XBINPUT, NumNodes_tot, XBELEM, XBNODE,
PosIni, PsiIni, PosDefor, PsiDefor,
PosDotDef, PsiDotDef, PosDotDotDef, PsiDotDotDef,
currVrel, 0*currVrel, tmpQuat,
NumDof, Settings.DimMat,
mr, MrsFull, Mrr,
cr, CrsFull, Crr, Cqr, Cqq,
kr, KrsFull, fr, FrigidFull,
Qrigid, XBOPTS, Cao)
BeamLib.f_fem_m2v_nofilter(ct.byref(NumNodes_tot),
ct.byref(ct.c_int(6)),
Force.ctypes.data_as(ct.POINTER(ct.c_double)),
ct.byref(ct.c_int(NumDof.value+6)),
Force_All.ctypes.data_as(ct.POINTER(ct.c_double)) )
Qrigid -= np.dot(FrigidFull, Force_All)
# #Separate assembly of follower and dead loads
# tmpForceTime=ForceTime[0].copy('F')
# tmpQforces,Dummy,tmpQrigid = xbl.LoadAssembly(XBINPUT, XBELEM, XBNODE, XBOPTS, NumDof,
# PosIni, PsiIni, PosDefor, PsiDefor,
# (XBINPUT.ForceStatic_foll + XBINPUT.ForceDyn_foll*tmpForceTime),
# (XBINPUT.ForceStatic_dead + XBINPUT.ForceDyn_dead*tmpForceTime),
# Cao,1)
#
# Qstruc -= tmpQforces
# Qrigid -= tmpQrigid
#Assemble system matrices
Msys[:NumDof.value,:NumDof.value] = MssFull.copy('F')
Msys[:NumDof.value,NumDof.value:NumDof.value+6] = Msr.copy('F')
Msys[NumDof.value:NumDof.value+6,:NumDof.value] = MrsFull.copy('F')
Msys[NumDof.value:NumDof.value+6,NumDof.value:NumDof.value+6] = Mrr.copy('F')
Msys[NumDof.value+6:,NumDof.value+6:] = Unit4.copy('F')
Qsys[:NumDof.value] = Qstruc
Qsys[NumDof.value:NumDof.value+6] = Qrigid
Qsys[NumDof.value+6:] = np.dot(Cqq,dQdt[NumDof.value+6:])
# special BCs
if SphFlag:
# block translations
iiblock = [ ii for ii in range(NumDof.value,NumDof.value+3) ]
# block rotations
iifree=[] # free rotational dof
for ii in range(3):
if XBINPUT.EnforceAngVel_FoRA[ii] is True:
iiblock.append(NumDof.value+3+ii)
else:
iifree.append(NumDof.value+3+ii)
# block dof
Msys[iiblock,:] = 0.0
Msys[iiblock,iiblock] = 1.0
Qsys[iiblock] = 0.0
# add damp at the spherical joints
if XBINPUT.sph_joint_damping is not None:
Qsys[iifree]+= XBINPUT.sph_joint_damping*dQdt[iifree]
# add structural damping term
if XBINPUT.str_damping_model is not None:
Cdamp = XBINPUT.str_damping_param['alpha'] * MssFull + \
XBINPUT.str_damping_param['beta'] * KssFull
Qsys[:NumDof.value] += np.dot( Cdamp, dQdt[:NumDof.value] )
pass
#store initial matrices for eigenvalues analysis
XBOUT.MssFull0 = MssFull.copy()
XBOUT.CssFull0 = CssFull.copy()
XBOUT.KssFull0 = KssFull.copy()
# Initial Accel.
###dQddt[:] = np.dot(np.linalg.inv(Msys), -Qsys)
dQddt[:] = np.linalg.solve(Msys,-Qsys)
XBOUT.dQddt0=dQddt.copy()
#Record position of all grid points in global FoR at initial time step
DynOut[0:NumNodes_tot.value,:] = PosDefor
#Position/rotation of the selected node in initial deformed configuration
PosPsiTime[0,:3] = PosDefor[-1,:]
PosPsiTime[0,3:] = PsiDefor[-1,XBELEM.NumNodes[-1]-1,:]
#Get gamma and beta for Newmark scheme
gamma = 0.5 + XBOPTS.NewmarkDamp.value
beta = 0.25*(gamma + 0.5)**2
#---------------------------------------------- Initialise Aerodynamic Force
# Initialise Aero
Section = InitSection(VMOPTS,VMINPUT,AELAOPTS.ElasticAxis)
# Declare memory for Aero variables.
ZetaDot = np.zeros((Section.shape[0],PosDefor.shape[0],3),ct.c_double,'C')
K = VMOPTS.M.value*VMOPTS.N.value
AIC = np.zeros((K,K),ct.c_double,'C')
BIC = np.zeros((K,K),ct.c_double,'C')
AeroForces = np.zeros((VMOPTS.M.value+1,VMOPTS.N.value+1,3),ct.c_double,'C')
# Initialise A-frame location and orientation to be zero.
OriginA_a = np.zeros(3,ct.c_double,'C')
PsiA_G = XBINPUT.PsiA_G.copy() #xbl.quat2psi(Quat) # CRV at iStep
# Init external velocities.
Ufree = InitSteadyExternalVels(VMOPTS,VMINPUT)
if AELAOPTS.ImpStart == True:
Zeta = np.zeros((Section.shape[0],PosDefor.shape[0],3),ct.c_double,'C')
Gamma = np.zeros((VMOPTS.M.value,VMOPTS.N.value),ct.c_double,'C')
# Generate surface, wake and gamma matrices.
CoincidentGrid(PosDefor, PsiDefor, Section, currVrel[:3],
currVrel[3:], PosDotDef, PsiDotDef, XBINPUT,
Zeta, ZetaDot, OriginA_a, PsiA_G,
VMINPUT.ctrlSurf)
# init wake grid and gamma matrix.
ZetaStar, GammaStar = InitSteadyWake(VMOPTS,VMINPUT,Zeta,currVrel[:3])
# sm save
#XBOUT.Zeta0 = Zeta.copy('C')
#XBOUT.ZetaStar0 = ZetaStar.copy('C')
#XBOUT.ZetaStarList.append(np.float32( ZetaStar.copy('C') ))
# Define TecPlot stuff
if Settings.PlotTec==True:
FileObject=write_TecPlot(Zeta, ZetaStar, Gamma, GammaStar, NumSteps.value, 0, Time[0], SaveDict)
if 'writeDict' in kwords and Settings.WriteOut == True:
fp= write_SOL912_out(Time[0], PosDefor, PsiDefor, PosIni, PsiIni, XBELEM, kwords['writeDict'], SaveDict)
# sm write class
XBOUT.QuatList.append(Quat.copy())
XBOUT.CRVList.append(PsiA_G)
XBOUT.PosIni=PosIni
XBOUT.PsiIni=PsiIni
XBOUT.AsysListStart=[]
XBOUT.AsysListEnd=[]
XBOUT.MsysList=[]
XBOUT.CsysList=[]
XBOUT.KsysList=[]
#---------------------------------------------------------------- Time loop
for iStep in range(NumSteps.value):
if XBOPTS.PrintInfo.value==True:
sys.stdout.write('Time: %-10.4e\n' %(Time[iStep+1]))
sys.stdout.write(' SubIter DeltaF DeltaX ResLog10\n')
#calculate dt
dt = Time[iStep+1] - Time[iStep]
# Set dt for aero force calcs.
VMOPTS.DelTime = ct.c_double(dt)
#Predictor step
Q += dt*dQdt + (0.5-beta)*dQddt*np.power(dt,2.0)
dQdt += (1.0-gamma)*dQddt*dt
dQddt[:] = 0.0
# Quaternion update for orientation.
Quat = dQdt[NumDof.value+6:].copy('F')
Quat = Quat/np.linalg.norm(Quat)
Cao = xbl.Rot(Quat)
#nodal displacements and velocities from state vector
X=Q[:NumDof.value].copy('F')
dXdt=dQdt[:NumDof.value].copy('F');
BeamLib.Cbeam3_Solv_State2Disp(XBINPUT,NumNodes_tot,XBELEM,XBNODE,
PosIni,PsiIni,NumDof,X,dXdt,
PosDefor,PsiDefor,PosDotDef,PsiDotDef)
#------------------------------------------------------- Aero Force Loop
# Force at current time-step. TODO: Check communication flow.
if iStep > 0 and AELAOPTS.Tight == False:
# zero aero forces.
AeroForces[:,:,:] = 0.0
# Update CRV.
PsiA_G = xbl.quat2psi(Quat) # CRV at iStep
# Update origin.
# sm: origin position projected in FoR A
currVrel=Vrel[iStep-1,:].copy('F')
OriginA_a[:] = OriginA_a[:] + currVrel[:3]*dt #sm: OriginA_a initialised to zero
# Update control surface deflection.
if VMINPUT.ctrlSurf != None:
# open-loop control
for cc in range(len(VMINPUT.ctrlSurf)):
VMINPUT.ctrlSurf[cc].update(Time[iStep],iStep=iStep)
# Generate surface grid.
currVrel=Vrel[iStep,:].copy('F')
CoincidentGrid(PosDefor, PsiDefor, Section, currVrel[:3],
currVrel[3:], PosDotDef, PsiDotDef, XBINPUT,
Zeta, ZetaDot, OriginA_a, PsiA_G,
VMINPUT.ctrlSurf)
# Update wake geom
#'roll' data.
ZetaStar = np.roll(ZetaStar,1,axis = 0)
GammaStar = np.roll(GammaStar,1,axis = 0)
#overwrite grid points with TE.
ZetaStar[0,:] = Zeta[VMOPTS.M.value,:]
# overwrite Gamma with TE value from previous timestep.
GammaStar[0,:] = Gamma[VMOPTS.M.value-1,:]
# Apply gust velocity.
if VMINPUT.gust != None:
Utot = Ufree + VMINPUT.gust.Vels(Zeta)
else:
Utot = Ufree
# Solve for AeroForces
UVLMLib.Cpp_Solver_VLM(Zeta, ZetaDot, Utot, ZetaStar, VMOPTS,
AeroForces, Gamma, GammaStar, AIC, BIC)
# Apply density scaling
AeroForces[:,:,:] = AELAOPTS.AirDensity*AeroForces[:,:,:]
if Settings.PlotTec==True:
FileObject=write_TecPlot(Zeta, ZetaStar, Gamma, GammaStar, NumSteps.value, iStep,
Time[iStep], SaveDict,FileObject=FileObject)
# map AeroForces to beam.
CoincidentGridForce(XBINPUT, PsiDefor, Section, AeroForces,
Force, PsiA_G)
ForceAero = Force.copy('C')
# Add gravity loads.
AddGravityLoads(Force, XBINPUT, XBELEM, AELAOPTS,
PsiDefor, VMINPUT.c)
# Add thrust and other point loads
#Force += (XBINPUT.ForceStatic + XBINPUT.ForceDyn*ForceTime[iStep+1]).copy('F')
Force += (XBINPUT.ForceStatic + XBINPUT.ForceDyn[iStep+1,:,:]).copy('F')
# sm: here to avoid crash at first time-step
XBOUT.ForceAeroList.append(ForceAero.copy('C'))
#END if iStep > 0
# sm: save aero data
if ( SaveDict['SaveWake']==True and
iStep%SaveDict['SaveWakeFreq'] == 0 ):
nfile=iStep//SaveDict['SaveWakeFreq']
hdwake=h5py.File(dirwake+'%.4d.h5'%nfile,'w')
hdwake['iStep']=iStep
hdwake['Zeta']= np.float32(Zeta.copy('C'))
hdwake['ZetaStar']= np.float32(ZetaStar.copy('C'))
hdwake.close()
#XBOUT.ZetaList.append( np.float32(Zeta.copy('C')) )
#XBOUT.ZetaStarList.append( np.float32(ZetaStar.copy('C')) )
#XBOUT.GammaStarList.append(GammaStar.copy('C'))
#XBOUT.GammaList.append(Gamma.copy('C'))
#Reset convergence parameters
Iter = 0
ResLog10 = 1.0
#Newton-Raphson loop
while ( (ResLog10 > XBOPTS.MinDelta.value) & (Iter < XBOPTS.MaxIterations.value) ):
#set tensors to zero
MssFull[:,:] = 0.0; CssFull[:,:] = 0.0
KssFull[:,:] = 0.0; FstrucFull[:,:] = 0.0
Msr[:,:] = 0.0; Csr[:,:] = 0.0
Qstruc[:] = 0.0
MrsFull[:,:] = 0.0; CrsFull[:,:] = 0.0
KrsFull[:,:] = 0.0; FrigidFull[:,:] = 0.0
Mrr[:,:] = 0.0; Crr[:,:] = 0.0
Qrigid[:] = 0.0
Msys[:,:] = 0.0; Csys[:,:] = 0.0
Ksys[:,:] = 0.0; Asys[:,:] = 0.0
Qsys[:] = 0.0
# Update counter.
Iter += 1
if XBOPTS.PrintInfo.value==True: sys.stdout.write(' %-7d ' %(Iter))
# Nodal displacements and velocities from state vector
X=Q[:NumDof.value].copy('F')
dXdt=dQdt[:NumDof.value].copy('F');
BeamLib.Cbeam3_Solv_State2Disp(XBINPUT, NumNodes_tot,
XBELEM, XBNODE,
PosIni, PsiIni,
NumDof, X, dXdt,
PosDefor, PsiDefor,
PosDotDef, PsiDotDef)
#rigid-body velocities and orientation from state vector
Vrel[iStep+1,:] = dQdt[NumDof.value:NumDof.value+6].copy('F')
VrelDot[iStep+1,:] = dQddt[NumDof.value:NumDof.value+6].copy('F')
Quat = dQdt[NumDof.value+6:].copy('F')
Quat = Quat/np.linalg.norm(Quat)
Cao = xbl.Rot(Quat)
#Update matrices and loads for structural dynamic analysis
tmpVrel=Vrel[iStep+1,:].copy('F')
tmpQuat=Quat.copy('F')
BeamLib.Cbeam3_Asbly_Dynamic(XBINPUT, NumNodes_tot, XBELEM, XBNODE,
PosIni, PsiIni, PosDefor, PsiDefor,
PosDotDef, PsiDotDef, PosDotDotDef, PsiDotDotDef,
Force, tmpVrel, 0*tmpVrel,
NumDof, Settings.DimMat,
ms, MssFull, Msr,
cs, CssFull, Csr,
ks, KssFull, fs, FstrucFull,
Qstruc, XBOPTS, Cao)
BeamLib.f_fem_m2v(ct.byref(NumNodes_tot),
ct.byref(ct.c_int(6)),
Force.ctypes.data_as(ct.POINTER(ct.c_double)),
ct.byref(NumDof),
Force_Dof.ctypes.data_as(ct.POINTER(ct.c_double)),
XBNODE.Vdof.ctypes.data_as(ct.POINTER(ct.c_int)) )
#Update matrices for rigid-body dynamic analysis
BeamLib.Xbeam_Asbly_Dynamic(XBINPUT, NumNodes_tot, XBELEM, XBNODE,
PosIni, PsiIni, PosDefor, PsiDefor,
PosDotDef, PsiDotDef, PosDotDotDef, PsiDotDotDef,
tmpVrel, 0*tmpVrel, tmpQuat,
NumDof, Settings.DimMat,
mr, MrsFull, Mrr,
cr, CrsFull, Crr, Cqr, Cqq,
kr, KrsFull, fs, FrigidFull,
Qrigid, XBOPTS, Cao)
BeamLib.f_fem_m2v_nofilter(ct.byref(NumNodes_tot),
ct.byref(ct.c_int(6)),
Force.ctypes.data_as(ct.POINTER(ct.c_double)),
ct.byref(ct.c_int(NumDof.value+6)),
Force_All.ctypes.data_as(ct.POINTER(ct.c_double)) )
#Residual at first iteration
if(Iter == 1):
Res0_Qglobal = max(max(abs(Qsys)),1)
Res0_DeltaX = max(max(abs(DQ)),1)
#Assemble discrete system matrices with linearised quaternion equations
Msys[:NumDof.value,:NumDof.value] = MssFull.copy('F')
Msys[:NumDof.value,NumDof.value:NumDof.value+6] = Msr.copy('F')
Msys[NumDof.value:NumDof.value+6,:NumDof.value] = MrsFull.copy('F')
Msys[NumDof.value:NumDof.value+6,NumDof.value:NumDof.value+6] = Mrr.copy('F')
Msys[NumDof.value+6:,NumDof.value+6:] = Unit4.copy('F')
Csys[:NumDof.value,:NumDof.value] = CssFull.copy('F')
Csys[:NumDof.value,NumDof.value:NumDof.value+6] = Csr.copy('F')
Csys[NumDof.value:NumDof.value+6,:NumDof.value] = CrsFull.copy('F')
Csys[NumDof.value:NumDof.value+6,NumDof.value:NumDof.value+6] = Crr.copy('F')
Csys[NumDof.value+6:,NumDof.value:NumDof.value+6] = Cqr.copy('F')
Csys[NumDof.value+6:,NumDof.value+6:] = Cqq.copy('F')
Ksys[:NumDof.value,:NumDof.value] = KssFull.copy('F')
Ksys[NumDof.value:NumDof.value+6,:NumDof.value] = KrsFull.copy('F')
# #Separate assembly of follower and dead loads
# tmpForceTime=ForceTime[iStep+1].copy('F')
# tmpQforces,Dummy,tmpQrigid = xbl.LoadAssembly(XBINPUT, XBELEM, XBNODE, XBOPTS, NumDof, \
# PosIni, PsiIni, PosDefor, PsiDefor, \
# (XBINPUT.ForceStatic_foll + XBINPUT.ForceDyn_foll*tmpForceTime), \
# (XBINPUT.ForceStatic_dead + XBINPUT.ForceDyn_dead*tmpForceTime), \
# Cao,1)
#
# Qstruc -= tmpQforces
# Qrigid -= tmpQrigid
#Compute residual to solve update vector
Qstruc += -np.dot(FstrucFull, Force_Dof)
Qrigid += -np.dot(FrigidFull, Force_All)
Qsys[:NumDof.value] = Qstruc
Qsys[NumDof.value:NumDof.value+6] = Qrigid
Qsys[NumDof.value+6:] = np.dot(Cqq,dQdt[NumDof.value+6:])
Qsys += np.dot(Msys,dQddt)
# include damping
if XBINPUT.str_damping_model == 'prop':
Cdamp = XBINPUT.str_damping_param['alpha'] * MssFull + \
XBINPUT.str_damping_param['beta'] * KssFull
Csys[:NumDof.value,:NumDof.value] += Cdamp
Qsys[:NumDof.value] += np.dot(Cdamp, dQdt[:NumDof.value])
# special BCs
if SphFlag:
Msys[iiblock,:] = 0.0
Msys[iiblock,iiblock] = 1.0
Csys[iiblock,:] = 0.0
Ksys[iiblock,:] = 0.0
Qsys[iiblock] = 0.0
if XBINPUT.sph_joint_damping is not None:
Csys[iifree,iifree] += XBINPUT.sph_joint_damping
Qsys[iifree] += XBINPUT.sph_joint_damping*dQdt[iifree]
#Calculate system matrix for update calculation
Asys = Ksys + Csys*gamma/(beta*dt) + Msys/(beta*dt**2)
#Compute correction
###DQ[:] = np.dot(np.linalg.inv(Asys), -Qsys)
DQ[:] = np.linalg.solve(Asys,-Qsys)
Q += DQ
dQdt += DQ*gamma/(beta*dt)
dQddt += DQ/(beta*dt**2)
#Update convergence criteria
if XBOPTS.PrintInfo.value==True:
sys.stdout.write('%-10.4e ' %(max(abs(Qsys))))
Res_Qglobal = max(abs(Qsys))
Res_DeltaX = max(abs(DQ))
ResLog10 = max(Res_Qglobal/Res0_Qglobal,Res_DeltaX/Res0_DeltaX)
if XBOPTS.PrintInfo.value==True:
sys.stdout.write('%-10.4e %8.4f\n' %(max(abs(DQ)),ResLog10))
if SaveExtraVariables is True:
if Iter == 1:
XBOUT.AsysListStart.append(Asys.copy())
if ( (ResLog10 < XBOPTS.MinDelta.value) or (Iter >= XBOPTS.MaxIterations.value) ):
XBOUT.AsysListEnd.append(Asys.copy())
XBOUT.MsysList.append(Msys.copy())
XBOUT.CsysList.append(Csys.copy())
XBOUT.KsysList.append(Ksys.copy())
# END Netwon-Raphson.
# sm debug:
# save forcing terms:
XBOUT.ForceDofList.append( np.dot(FstrucFull, Force_Dof).copy() )
XBOUT.ForceRigidList.append( np.dot(FrigidFull, Force_All).copy() )
#update to converged nodal displacements and velocities
X=Q[:NumDof.value].copy('F')
dXdt=dQdt[:NumDof.value].copy('F');
BeamLib.Cbeam3_Solv_State2Disp(XBINPUT, NumNodes_tot, XBELEM, XBNODE,
PosIni, PsiIni, NumDof, X, dXdt,\
PosDefor, PsiDefor, PosDotDef, PsiDotDef)
PosPsiTime[iStep+1,:3] = PosDefor[-1,:]
PosPsiTime[iStep+1,3:] = PsiDefor[-1,XBELEM.NumNodes[-1]-1,:]
#Position of all grid points in global FoR
i1 = (iStep+1)*NumNodes_tot.value
i2 = (iStep+2)*NumNodes_tot.value
DynOut[i1:i2,:] = PosDefor
#Export rigid-body velocities/accelerations
if XBOPTS.OutInaframe.value==True:
Vrel[iStep,:] = dQdt[NumDof.value:NumDof.value+6].copy('F')
VrelDot[iStep,:] = dQddt[NumDof.value:NumDof.value+6].copy('F')
else:
Quat = dQdt[NumDof.value+6:].copy('F')
Quat = Quat/np.linalg.norm(Quat)
Cao = xbl.Rot(Quat)
ACoa[:3,:3] = np.transpose(Cao)
ACoa[3:,3:] = np.transpose(Cao)
Vrel[iStep,:] = np.dot(ACoa,dQdt[NumDof.value:NumDof.value+6].copy('F'))
VrelDot[iStep,:] = np.dot(ACoa,dQddt[NumDof.value:NumDof.value+6].copy('F'))
if 'writeDict' in kwords and Settings.WriteOut == True:
fp= write_SOL912_out(Time[iStep+1], PosDefor, PsiDefor, PosIni, PsiIni, XBELEM,
kwords['writeDict'], SaveDict, FileObject=fp)
# 'Rollup' due to external velocities. TODO: Must add gusts here!
ZetaStar[:,:] = ZetaStar[:,:] + VMINPUT.U_infty*dt
# sm: append outputs
XBOUT.QuatList.append(Quat.copy())
XBOUT.CRVList.append(PsiA_G.copy())
# sm I/O: FoR A velocities/accelerations
XBOUT.Time=Time # ...dyn.dat
#XBOUT.PosPsiTime = PosPsiTime
XBOUT.DynOut=DynOut # ...shape.dat
XBOUT.Vrel=Vrel # ...rigid.dat
XBOUT.VrelDot=VrelDot
#XBOUT.PosPsiTime=PosPsiTime
XBOUT.PsiList.append(PsiDefor.copy())
XBOUT.cputime.append( time.clock() - XBOUT.cputime[0] )
if SaveDict['SaveProgress']:
iisave=np.arange(1,NumSteps.value,np.ceil(NumSteps.value/SaveDict['NumSavePoints']))
if any(iisave==iStep):
PyLibs.io.save.h5file(SaveDict['OutputDir'], SaveDict['OutputFileRoot']+'.h5',
*OutList)
# END Time loop
if SaveDict['Format'] != 'h5':
write_SOL912_final(Time, PosPsiTime, NumNodes_tot, DynOut, Vrel, VrelDot, SaveDict)
# Close output file if it exists.
if 'writeDict' in kwords and Settings.WriteOut == True:
fp.close()
# Close TecPlot ASCII FileObject.
if Settings.PlotTec==True:
PostProcess.CloseAeroTecFile(FileObject)
if XBOPTS.PrintInfo.value==True:
sys.stdout.write(' ... done\n')
# For interactive analysis at end of simulation set breakpoint.
pass
# sm I/O: FoR A velocities/accelerations
XBOUT.Time=Time # ...dyn.dat
XBOUT.PosPsiTime = PosPsiTime
XBOUT.DynOut=DynOut # ...sgape.dat
XBOUT.Vrel=Vrel # ...rigid.dat
XBOUT.VrelDot=VrelDot
XBOUT.PosPsiTime=PosPsiTime
if SaveDict['SaveWake'] is True:
#XBOUT.dirwake=dirwake
XBOUT.NTwake=NumSteps.value//SaveDict['SaveWakeFreq']
#saveh5(SaveDict, AELAOPTS, VMINPUT, VMOPTS, XBOPTS, XBINPUT, XBOUT )
PyLibs.io.save.h5file(SaveDict['OutputDir'], SaveDict['OutputFileRoot']+'.h5', *OutList)
return XBOUT
def Solve_Py(XBINPUT,XBOPTS,VMOPTS,VMINPUT,AELAOPTS,**kwords):
"""@brief Nonlinear dynamic solver using Python to solve aeroelastic
equation.
@details Assembly of structural matrices is carried out with
Fortran subroutines. Aerodynamics solved using PyAero\.UVLM.
@param XBINPUT Beam inputs (for initialization in Python).
@param XBOPTS Beam solver options (for Fortran).
@param VMOPTS UVLM solver options (for C/C++).
@param VMINPUT UVLM solver inputs (for initialization in Python).
@param VMUNST Unsteady input information for aero solver.
@param AELAOPTS Options relevant to coupled aeroelastic simulations.
@param writeDict OrderedDict of 'name':tuple of outputs to write.
"""
# Check correct solution code.
assert XBOPTS.Solution.value == 912, ('NonlinearFlightDynamic requested' +
' with wrong solution code')
# Initialise static beam data.
XBINPUT, XBOPTS, NumNodes_tot, XBELEM, PosIni, PsiIni, XBNODE, NumDof \
= BeamInit.Static(XBINPUT,XBOPTS)
# Calculate initial displacements.
if AELAOPTS.ImpStart == False:
XBOPTS.Solution.value = 112 # Modify options.
VMOPTS.Steady = ct.c_bool(True)
Rollup = VMOPTS.Rollup.value
VMOPTS.Rollup.value = False
# Solve Static Aeroelastic.
PosDefor, PsiDefor, Zeta, ZetaStar, Gamma, GammaStar, Force = \
Static.Solve_Py(XBINPUT, XBOPTS, VMOPTS, VMINPUT, AELAOPTS)
XBOPTS.Solution.value = 912 # Reset options.
VMOPTS.Steady = ct.c_bool(False)
VMOPTS.Rollup.value = Rollup
elif AELAOPTS.ImpStart == True:
PosDefor = PosIni.copy(order='F')
PsiDefor = PsiIni.copy(order='F')
Force = np.zeros((XBINPUT.NumNodesTot,6),ct.c_double,'F')
# Write deformed configuration to file. TODO: tidy this away inside function.
ofile = Settings.OutputDir + Settings.OutputFileRoot + '_SOL912_def.dat'
if XBOPTS.PrintInfo==True:
sys.stdout.write('Writing file %s ... ' %(ofile))
fp = open(ofile,'w')
fp.write('TITLE="Non-linear static solution: deformed geometry"\n')
fp.write('VARIABLES="iElem" "iNode" "Px" "Py" "Pz" "Rx" "Ry" "Rz"\n')
fp.close()
if XBOPTS.PrintInfo==True:
sys.stdout.write('done\n')
WriteMode = 'a'
# Write
BeamIO.OutputElems(XBINPUT.NumElems, NumNodes_tot.value, XBELEM,
PosDefor, PsiDefor, ofile, WriteMode)
# Initialise structural variables for dynamic analysis.
Time, NumSteps, ForceTime, Vrel, VrelDot,\
PosDotDef, PsiDotDef,\
OutGrids, PosPsiTime, VelocTime, DynOut\
= BeamInit.Dynamic(XBINPUT,XBOPTS)
# Delete unused variables.
del OutGrids, VelocTime
if XBOPTS.PrintInfo.value==True:
sys.stdout.write('Solve nonlinear dynamic case in Python ... \n')
#Initialise structural system tensors
MssFull = np.zeros((NumDof.value,NumDof.value), ct.c_double, 'F')
CssFull = np.zeros((NumDof.value,NumDof.value), ct.c_double, 'F')
KssFull = np.zeros((NumDof.value,NumDof.value), ct.c_double, 'F')
FstrucFull = np.zeros((NumDof.value,NumDof.value), ct.c_double, 'F')
ms = ct.c_int()
cs = ct.c_int()
ks = ct.c_int()
fs = ct.c_int()
Msr = np.zeros((NumDof.value,6), ct.c_double, 'F')
Csr = np.zeros((NumDof.value,6), ct.c_double, 'F')
X = np.zeros(NumDof.value, ct.c_double, 'F')
dXdt = np.zeros(NumDof.value, ct.c_double, 'F')
Force_Dof = np.zeros(NumDof.value, ct.c_double, 'F')
Qstruc = np.zeros(NumDof.value, ct.c_double, 'F')
#Initialise rigid-body system tensors
MrsFull = np.zeros((6,NumDof.value), ct.c_double, 'F')
CrsFull = np.zeros((6,NumDof.value), ct.c_double, 'F')
KrsFull = np.zeros((6,NumDof.value), ct.c_double, 'F')
FrigidFull = np.zeros((6,NumDof.value+6), ct.c_double, 'F')
mr = ct.c_int()
cr = ct.c_int()
kr = ct.c_int()
fr = ct.c_int()
Mrr = np.zeros((6,6), ct.c_double, 'F')
Crr = np.zeros((6,6), ct.c_double, 'F')
Qrigid = np.zeros(6, ct.c_double, 'F')
#Initialise full system tensors
Q = np.zeros(NumDof.value+6+4, ct.c_double, 'F')
DQ = np.zeros(NumDof.value+6+4, ct.c_double, 'F')
dQdt = np.zeros(NumDof.value+6+4, ct.c_double, 'F')
dQddt = np.zeros(NumDof.value+6+4, ct.c_double, 'F')
Force_All = np.zeros(NumDof.value+6, ct.c_double, 'F')
Msys = np.zeros((NumDof.value+6+4,NumDof.value+6+4), ct.c_double, 'F')
Csys = np.zeros((NumDof.value+6+4,NumDof.value+6+4), ct.c_double, 'F')
Ksys = np.zeros((NumDof.value+6+4,NumDof.value+6+4), ct.c_double, 'F')
Asys = np.zeros((NumDof.value+6+4,NumDof.value+6+4), ct.c_double, 'F')
Qsys = np.zeros(NumDof.value+6+4, ct.c_double, 'F')
#Initialise rotation operators. TODO: include initial AOA here
currVrel=Vrel[0,:].copy('F')
AOA = np.arctan(currVrel[2]/-currVrel[1])
Quat = xbl.Euler2Quat(AOA,0,0)
Cao = xbl.Rot(Quat)
ACoa = np.zeros((6,6), ct.c_double, 'F')
ACoa[:3,:3] = np.transpose(Cao)
ACoa[3:,3:] = np.transpose(Cao)
Cqr = np.zeros((4,6), ct.c_double, 'F')
Cqq = np.zeros((4,4), ct.c_double, 'F')
Unit4 = np.zeros((4,4), ct.c_double, 'F')
for i in range(4):
Unit4[i,i] = 1.0
# Extract initial displacements and velocities.
BeamLib.Cbeam_Solv_Disp2State(NumNodes_tot, NumDof, XBINPUT, XBNODE,
PosDefor, PsiDefor, PosDotDef, PsiDotDef,
X, dXdt)
# Approximate initial accelerations.
PosDotDotDef = np.zeros((NumNodes_tot.value,3),ct.c_double,'F')
PsiDotDotDef = np.zeros((XBINPUT.NumElems,Settings.MaxElNod,3),
ct.c_double, 'F')
#Populate state vector
Q[:NumDof.value]=X.copy('F')
dQdt[:NumDof.value]=dXdt.copy('F')
dQdt[NumDof.value:NumDof.value+6] = Vrel[0,:].copy('F')
dQdt[NumDof.value+6:]= Quat.copy('F')
#Force at the first time-step
Force += (XBINPUT.ForceDyn*ForceTime[0]).copy('F')
#Assemble matrices and loads for structural dynamic analysis
currVrel=Vrel[0,:].copy('F')
tmpQuat=Quat.copy('F')
BeamLib.Cbeam3_Asbly_Dynamic(XBINPUT, NumNodes_tot, XBELEM, XBNODE,\
PosIni, PsiIni, PosDefor, PsiDefor,\
PosDotDef, PsiDotDef, PosDotDotDef, PsiDotDotDef,\
Force, currVrel, 0*currVrel,\
NumDof, Settings.DimMat,\
ms, MssFull, Msr,\
cs, CssFull, Csr,\
ks, KssFull, fs, FstrucFull,\
Qstruc, XBOPTS, Cao)
BeamLib.f_fem_m2v(ct.byref(NumNodes_tot),\
ct.byref(ct.c_int(6)),\
Force.ctypes.data_as(ct.POINTER(ct.c_double)),\
ct.byref(NumDof),\
Force_Dof.ctypes.data_as(ct.POINTER(ct.c_double)),\
XBNODE.Vdof.ctypes.data_as(ct.POINTER(ct.c_int)) )
Qstruc -= np.dot(FstrucFull, Force_Dof)
#Assemble matrices for rigid-body dynamic analysis
BeamLib.Xbeam_Asbly_Dynamic(XBINPUT, NumNodes_tot, XBELEM, XBNODE,\
PosIni, PsiIni, PosDefor, PsiDefor,\
PosDotDef, PsiDotDef, PosDotDotDef, PsiDotDotDef,\
currVrel, 0*currVrel, tmpQuat,\
NumDof, Settings.DimMat,\
mr, MrsFull, Mrr,\
cr, CrsFull, Crr, Cqr, Cqq,\
kr, KrsFull, fr, FrigidFull,\
Qrigid, XBOPTS, Cao)
BeamLib.f_fem_m2v_nofilter(ct.byref(NumNodes_tot),\
ct.byref(ct.c_int(6)),\
Force.ctypes.data_as(ct.POINTER(ct.c_double)),\
ct.byref(ct.c_int(NumDof.value+6)),\
Force_All.ctypes.data_as(ct.POINTER(ct.c_double)) )
Qrigid -= np.dot(FrigidFull, Force_All)
# #Separate assembly of follower and dead loads
# tmpForceTime=ForceTime[0].copy('F')
# tmpQforces,Dummy,tmpQrigid = xbl.LoadAssembly(XBINPUT, XBELEM, XBNODE, XBOPTS, NumDof, \
# PosIni, PsiIni, PosDefor, PsiDefor, \
# (XBINPUT.ForceStatic_foll + XBINPUT.ForceDyn_foll*tmpForceTime), \
# (XBINPUT.ForceStatic_dead + XBINPUT.ForceDyn_dead*tmpForceTime), \
# Cao,1)
#
# Qstruc -= tmpQforces
# Qrigid -= tmpQrigid
#Assemble system matrices
Msys[:NumDof.value,:NumDof.value] = MssFull.copy('F')
Msys[:NumDof.value,NumDof.value:NumDof.value+6] = Msr.copy('F')
Msys[NumDof.value:NumDof.value+6,:NumDof.value] = MrsFull.copy('F')
Msys[NumDof.value:NumDof.value+6,NumDof.value:NumDof.value+6] = Mrr.copy('F')
Msys[NumDof.value+6:,NumDof.value+6:] = Unit4.copy('F')
Qsys[:NumDof.value] = Qstruc
Qsys[NumDof.value:NumDof.value+6] = Qrigid
Qsys[NumDof.value+6:] = np.dot(Cqq,dQdt[NumDof.value+6:])
# Initial Accel.
dQddt[:] = np.dot(np.linalg.inv(Msys), -Qsys)
#Record position of all grid points in global FoR at initial time step
DynOut[0:NumNodes_tot.value,:] = PosDefor
#Position/rotation of the selected node in initial deformed configuration
PosPsiTime[0,:3] = PosDefor[-1,:]
PosPsiTime[0,3:] = PsiDefor[-1,XBELEM.NumNodes[-1]-1,:]
#Get gamma and beta for Newmark scheme
gamma = 0.5 + XBOPTS.NewmarkDamp.value
beta = 0.25*(gamma + 0.5)**2
# Initialise Aero
Section = InitSection(VMOPTS,VMINPUT,AELAOPTS.ElasticAxis)
# Declare memory for Aero variables.
ZetaDot = np.zeros((Section.shape[0],PosDefor.shape[0],3),ct.c_double,'C')
K = VMOPTS.M.value*VMOPTS.N.value
AIC = np.zeros((K,K),ct.c_double,'C')
BIC = np.zeros((K,K),ct.c_double,'C')
AeroForces = np.zeros((VMOPTS.M.value+1,VMOPTS.N.value+1,3),ct.c_double,'C')
# Initialise A-frame location and orientation to be zero.
OriginA_G = np.zeros(3,ct.c_double,'C')
PsiA_G = xbl.quat2psi(Quat) # CRV at iStep
# Init external velocities.
Ufree = InitSteadyExternalVels(VMOPTS,VMINPUT)
if AELAOPTS.ImpStart == True:
Zeta = np.zeros((Section.shape[0],PosDefor.shape[0],3),ct.c_double,'C')
Gamma = np.zeros((VMOPTS.M.value,VMOPTS.N.value),ct.c_double,'C')
# Generate surface, wake and gamma matrices.
CoincidentGrid(PosDefor, PsiDefor, Section, currVrel[:3],
currVrel[3:], PosDotDef, PsiDotDef, XBINPUT,
Zeta, ZetaDot, OriginA_G, PsiA_G,
VMINPUT.ctrlSurf)
# init wake grid and gamma matrix.
ZetaStar, GammaStar = InitSteadyWake(VMOPTS,VMINPUT,Zeta,currVrel[:3])
# Define tecplot stuff
if Settings.PlotTec==True:
FileName = Settings.OutputDir + Settings.OutputFileRoot + 'AeroGrid.dat'
Variables = ['X', 'Y', 'Z','Gamma']
FileObject = PostProcess.WriteAeroTecHeader(FileName,
'Default',
Variables)
# Plot results of static analysis
PostProcess.WriteUVLMtoTec(FileObject,
Zeta,
ZetaStar,
Gamma,
GammaStar,
TimeStep = 0,
NumTimeSteps = XBOPTS.NumLoadSteps.value,
Time = 0.0,
Text = True)
# Open output file for writing
if 'writeDict' in kwords and Settings.WriteOut == True:
writeDict = kwords['writeDict']
ofile = Settings.OutputDir + \
Settings.OutputFileRoot + \
'_SOL912_out.dat'
fp = open(ofile,'w')
fp.write("{:<14}".format("Time"))
for output in writeDict.keys():
fp.write("{:<14}".format(output))
fp.write("\n")
fp.flush()
# Write initial outputs to file.
if 'writeDict' in kwords and Settings.WriteOut == True:
locForces = None # Stops recalculation of forces
fp.write("{:<14,e}".format(Time[0]))
for myStr in writeDict.keys():
if re.search(r'^R_.',myStr):
if re.search(r'^R_._.', myStr):
index = int(myStr[4])
elif re.search(r'root', myStr):
index = 0
elif re.search(r'tip', myStr):
index = -1
else:
raise IOError("Node index not recognised.")
if myStr[2] == 'x':
component = 0
elif myStr[2] == 'y':
component = 1
elif myStr[2] == 'z':
component = 2
else:
raise IOError("Displacement component not recognised.")
fp.write("{:<14,e}".format(PosDefor[index,component]))
elif re.search(r'^M_.',myStr):
if re.search(r'^M_._.', myStr):
index = int(myStr[4])
elif re.search(r'root', myStr):
index = 0
elif re.search(r'tip', myStr):
index = -1
else:
raise IOError("Node index not recognised.")
if myStr[2] == 'x':
component = 0
elif myStr[2] == 'y':
component = 1
elif myStr[2] == 'z':
component = 2
else:
raise IOError("Moment component not recognised.")
if locForces == None:
locForces = BeamIO.localElasticForces(PosDefor,
PsiDefor,
PosIni,
PsiIni,
XBELEM,
[index])
fp.write("{:<14,e}".format(locForces[0,3+component]))
else:
raise IOError("writeDict key not recognised.")
# END for myStr
fp.write("\n")
fp.flush()
# END if write
# Time loop.
for iStep in range(NumSteps.value):
if XBOPTS.PrintInfo.value==True:
sys.stdout.write('Time: %-10.4e\n' %(Time[iStep+1]))
sys.stdout.write(' SubIter DeltaF DeltaX ResLog10\n')
#calculate dt
dt = Time[iStep+1] - Time[iStep]
# Set dt for aero force calcs.
VMOPTS.DelTime = ct.c_double(dt)
#Predictor step
Q += dt*dQdt + (0.5-beta)*dQddt*np.power(dt,2.0)
dQdt += (1.0-gamma)*dQddt*dt
dQddt[:] = 0.0
# Quaternion update for orientation.
Quat = dQdt[NumDof.value+6:].copy('F')
Quat = Quat/np.linalg.norm(Quat)
Cao = xbl.Rot(Quat)
#nodal diplacements and velocities from state vector
X=Q[:NumDof.value].copy('F')
dXdt=dQdt[:NumDof.value].copy('F');
BeamLib.Cbeam3_Solv_State2Disp(XBINPUT,NumNodes_tot,XBELEM,XBNODE,
PosIni,PsiIni,NumDof,X,dXdt,
PosDefor,PsiDefor,PosDotDef,PsiDotDef)
# Force at current time-step. TODO: Check communication flow.
if iStep > 0 and AELAOPTS.Tight == False:
# zero aero forces.
AeroForces[:,:,:] = 0.0
# Update CRV.
PsiA_G = xbl.quat2psi(Quat) # CRV at iStep
# Update origin.
currVrel=Vrel[iStep-1,:].copy('F')
OriginA_G[:] = OriginA_G[:] + currVrel[:3]*dt
# Update control surface deflection.
if VMINPUT.ctrlSurf != None:
VMINPUT.ctrlSurf.update(Time[iStep])
# Generate surface grid.
currVrel=Vrel[iStep,:].copy('F')
CoincidentGrid(PosDefor, PsiDefor, Section, currVrel[:3],
currVrel[3:], PosDotDef, PsiDotDef, XBINPUT,
Zeta, ZetaDot, OriginA_G, PsiA_G,
VMINPUT.ctrlSurf)
# Update wake geom
#'roll' data.
ZetaStar = np.roll(ZetaStar,1,axis = 0)
GammaStar = np.roll(GammaStar,1,axis = 0)
#overwrite grid points with TE.
ZetaStar[0,:] = Zeta[VMOPTS.M.value,:]
# overwrite Gamma with TE value from previous timestep.
GammaStar[0,:] = Gamma[VMOPTS.M.value-1,:]
# Apply gust velocity.
if VMINPUT.gust != None:
Utot = Ufree + VMINPUT.gust.Vels(Zeta)
else:
Utot = Ufree
# Solve for AeroForces
UVLMLib.Cpp_Solver_VLM(Zeta, ZetaDot, Utot, ZetaStar, VMOPTS,
AeroForces, Gamma, GammaStar, AIC, BIC)
# Apply density scaling
AeroForces[:,:,:] = AELAOPTS.AirDensity*AeroForces[:,:,:]
if Settings.PlotTec==True:
PostProcess.WriteUVLMtoTec(FileObject,
Zeta,
ZetaStar,
Gamma,
GammaStar,
TimeStep = iStep,
NumTimeSteps = XBOPTS.NumLoadSteps.value,
Time = Time[iStep],
Text = True)
# map AeroForces to beam.
CoincidentGridForce(XBINPUT, PsiDefor, Section, AeroForces,
Force)
# Add gravity loads.
AddGravityLoads(Force, XBINPUT, XBELEM, AELAOPTS,
PsiDefor, VMINPUT.c)
# Add thrust and other point loads
Force += (XBINPUT.ForceStatic +
XBINPUT.ForceDyn*ForceTime[iStep+1]).copy('F')
#END if iStep > 0
#Reset convergence parameters
Iter = 0
ResLog10 = 1.0
#Newton-Raphson loop
while ( (ResLog10 > XBOPTS.MinDelta.value) \
& (Iter < XBOPTS.MaxIterations.value) ):
#set tensors to zero
MssFull[:,:] = 0.0; CssFull[:,:] = 0.0
KssFull[:,:] = 0.0; FstrucFull[:,:] = 0.0
Msr[:,:] = 0.0; Csr[:,:] = 0.0
Qstruc[:] = 0.0
MrsFull[:,:] = 0.0; CrsFull[:,:] = 0.0
KrsFull[:,:] = 0.0; FrigidFull[:,:] = 0.0
Mrr[:,:] = 0.0; Crr[:,:] = 0.0
Qrigid[:] = 0.0
Msys[:,:] = 0.0; Csys[:,:] = 0.0
Ksys[:,:] = 0.0; Asys[:,:] = 0.0;
Qsys[:] = 0.0
# Update counter.
Iter += 1
if XBOPTS.PrintInfo.value==True:
sys.stdout.write(' %-7d ' %(Iter))
#nodal diplacements and velocities from state vector
X=Q[:NumDof.value].copy('F')
dXdt=dQdt[:NumDof.value].copy('F');
BeamLib.Cbeam3_Solv_State2Disp(XBINPUT,
NumNodes_tot,
XBELEM,
XBNODE,
PosIni,
PsiIni,
NumDof,
X,
dXdt,
PosDefor,
PsiDefor,
PosDotDef,
PsiDotDef)
#rigid-body velocities and orientation from state vector
Vrel[iStep+1,:] = dQdt[NumDof.value:NumDof.value+6].copy('F')
VrelDot[iStep+1,:] = dQddt[NumDof.value:NumDof.value+6].copy('F')
Quat = dQdt[NumDof.value+6:].copy('F')
Quat = Quat/np.linalg.norm(Quat)
Cao = xbl.Rot(Quat)
#Update matrices and loads for structural dynamic analysis
tmpVrel=Vrel[iStep+1,:].copy('F')
tmpQuat=Quat.copy('F')
BeamLib.Cbeam3_Asbly_Dynamic(XBINPUT, NumNodes_tot, XBELEM, XBNODE,\
PosIni, PsiIni, PosDefor, PsiDefor,\
PosDotDef, PsiDotDef, PosDotDotDef, PsiDotDotDef,\
Force, tmpVrel, 0*tmpVrel,\
NumDof, Settings.DimMat,\
ms, MssFull, Msr,\
cs, CssFull, Csr,\
ks, KssFull, fs, FstrucFull,\
Qstruc, XBOPTS, Cao)
BeamLib.f_fem_m2v(ct.byref(NumNodes_tot),\
ct.byref(ct.c_int(6)),\
Force.ctypes.data_as(ct.POINTER(ct.c_double)),\
ct.byref(NumDof),\
Force_Dof.ctypes.data_as(ct.POINTER(ct.c_double)),\
XBNODE.Vdof.ctypes.data_as(ct.POINTER(ct.c_int)) )
#Update matrices for rigid-body dynamic analysis
BeamLib.Xbeam_Asbly_Dynamic(XBINPUT, NumNodes_tot, XBELEM, XBNODE,\
PosIni, PsiIni, PosDefor, PsiDefor,\
PosDotDef, PsiDotDef, PosDotDotDef, PsiDotDotDef,\
tmpVrel, 0*tmpVrel, tmpQuat,\
NumDof, Settings.DimMat,\
mr, MrsFull, Mrr,\
cr, CrsFull, Crr, Cqr, Cqq,\
kr, KrsFull, fs, FrigidFull,\
Qrigid, XBOPTS, Cao)
BeamLib.f_fem_m2v_nofilter(ct.byref(NumNodes_tot),\
ct.byref(ct.c_int(6)),\
Force.ctypes.data_as(ct.POINTER(ct.c_double)),\
ct.byref(ct.c_int(NumDof.value+6)),\
Force_All.ctypes.data_as(ct.POINTER(ct.c_double)) )
#Residual at first iteration
if(Iter == 1):
Res0_Qglobal = max(max(abs(Qsys)),1)
Res0_DeltaX = max(max(abs(DQ)),1)
#Assemble discrete system matrices with linearised quaternion equations
Msys[:NumDof.value,:NumDof.value] = MssFull.copy('F')
Msys[:NumDof.value,NumDof.value:NumDof.value+6] = Msr.copy('F')
Msys[NumDof.value:NumDof.value+6,:NumDof.value] = MrsFull.copy('F')
Msys[NumDof.value:NumDof.value+6,NumDof.value:NumDof.value+6] = Mrr.copy('F')
Msys[NumDof.value+6:,NumDof.value+6:] = Unit4.copy('F')
Csys[:NumDof.value,:NumDof.value] = CssFull.copy('F')
Csys[:NumDof.value,NumDof.value:NumDof.value+6] = Csr.copy('F')
Csys[NumDof.value:NumDof.value+6,:NumDof.value] = CrsFull.copy('F')
Csys[NumDof.value:NumDof.value+6,NumDof.value:NumDof.value+6] = Crr.copy('F')
Csys[NumDof.value+6:,NumDof.value:NumDof.value+6] = Cqr.copy('F')
Csys[NumDof.value+6:,NumDof.value+6:] = Cqq.copy('F')
Ksys[:NumDof.value,:NumDof.value] = KssFull.copy('F')
Ksys[NumDof.value:NumDof.value+6,:NumDof.value] = KrsFull.copy('F')
# #Separate assembly of follower and dead loads
# tmpForceTime=ForceTime[iStep+1].copy('F')
# tmpQforces,Dummy,tmpQrigid = xbl.LoadAssembly(XBINPUT, XBELEM, XBNODE, XBOPTS, NumDof, \
# PosIni, PsiIni, PosDefor, PsiDefor, \
# (XBINPUT.ForceStatic_foll + XBINPUT.ForceDyn_foll*tmpForceTime), \
# (XBINPUT.ForceStatic_dead + XBINPUT.ForceDyn_dead*tmpForceTime), \
# Cao,1)
#
# Qstruc -= tmpQforces
# Qrigid -= tmpQrigid
#Compute residual to solve update vector
Qstruc += -np.dot(FstrucFull, Force_Dof)
Qrigid += -np.dot(FrigidFull, Force_All)
Qsys[:NumDof.value] = Qstruc
Qsys[NumDof.value:NumDof.value+6] = Qrigid
Qsys[NumDof.value+6:] = np.dot(Cqq,dQdt[NumDof.value+6:])
Qsys += np.dot(Msys,dQddt)
#Calculate system matrix for update calculation
Asys = Ksys + \
Csys*gamma/(beta*dt) + \
Msys/(beta*dt**2)
#Compute correction
DQ[:] = np.dot(np.linalg.inv(Asys), -Qsys)
Q += DQ
dQdt += DQ*gamma/(beta*dt)
dQddt += DQ/(beta*dt**2)
#Update convergence criteria
if XBOPTS.PrintInfo.value==True:
sys.stdout.write('%-10.4e ' %(max(abs(Qsys))))
Res_Qglobal = max(abs(Qsys))
Res_DeltaX = max(abs(DQ))
ResLog10 = max(Res_Qglobal/Res0_Qglobal,Res_DeltaX/Res0_DeltaX)
if XBOPTS.PrintInfo.value==True:
sys.stdout.write('%-10.4e %8.4f\n' %(max(abs(DQ)),ResLog10))
# END Netwon-Raphson.
#update to converged nodal displacements and velocities
X=Q[:NumDof.value].copy('F')
dXdt=dQdt[:NumDof.value].copy('F');
BeamLib.Cbeam3_Solv_State2Disp(XBINPUT, NumNodes_tot, XBELEM, XBNODE,
PosIni, PsiIni, NumDof, X, dXdt,\
PosDefor, PsiDefor, PosDotDef, PsiDotDef)
PosPsiTime[iStep+1,:3] = PosDefor[-1,:]
PosPsiTime[iStep+1,3:] = PsiDefor[-1,XBELEM.NumNodes[-1]-1,:]
#Position of all grid points in global FoR
i1 = (iStep+1)*NumNodes_tot.value
i2 = (iStep+2)*NumNodes_tot.value
DynOut[i1:i2,:] = PosDefor
#Export rigid-body velocities/accelerations
if XBOPTS.OutInaframe.value==True:
Vrel[iStep,:] = dQdt[NumDof.value:NumDof.value+6].copy('F')
VrelDot[iStep,:] = dQddt[NumDof.value:NumDof.value+6].copy('F')
else:
Quat = dQdt[NumDof.value+6:].copy('F')
Quat = Quat/np.linalg.norm(Quat)
Cao = xbl.Rot(Quat)
ACoa[:3,:3] = np.transpose(Cao)
ACoa[3:,3:] = np.transpose(Cao)
Vrel[iStep,:] = np.dot(ACoa,dQdt[NumDof.value:NumDof.value+6].copy('F'))
VrelDot[iStep,:] = np.dot(ACoa,dQddt[NumDof.value:NumDof.value+6].copy('F'))
# Write selected outputs
# tidy this away using function.
if 'writeDict' in kwords and Settings.WriteOut == True:
locForces = None # Stops recalculation of forces
fp.write("{:<14,e}".format(Time[iStep+1]))
for myStr in writeDict.keys():
if re.search(r'^R_.',myStr):
if re.search(r'^R_._.', myStr):
index = int(myStr[4])
elif re.search(r'root', myStr):
index = 0
elif re.search(r'tip', myStr):
index = -1
else:
raise IOError("Node index not recognised.")
if myStr[2] == 'x':
component = 0
elif myStr[2] == 'y':
component = 1
elif myStr[2] == 'z':
component = 2
else:
raise IOError("Displacement component not recognised.")
fp.write("{:<14,e}".format(PosDefor[index,component]))
elif re.search(r'^M_.',myStr):
if re.search(r'^M_._.', myStr):
index = int(myStr[4])
elif re.search(r'root', myStr):
index = 0
elif re.search(r'tip', myStr):
index = -1
else:
raise IOError("Node index not recognised.")
if myStr[2] == 'x':
component = 0
elif myStr[2] == 'y':
component = 1
elif myStr[2] == 'z':
component = 2
else:
raise IOError("Moment component not recognised.")
if locForces == None:
locForces = BeamIO.localElasticForces(PosDefor,
PsiDefor,
PosIni,
PsiIni,
XBELEM,
[index])
fp.write("{:<14,e}".format(locForces[0,3+component]))
else:
raise IOError("writeDict key not recognised.")
# END for myStr
fp.write("\n")
fp.flush()
# 'Rollup' due to external velocities. TODO: Must add gusts here!
ZetaStar[:,:] = ZetaStar[:,:] + VMINPUT.U_infty*dt
# END Time loop
# Write _dyn file.
ofile = Settings.OutputDir + Settings.OutputFileRoot + '_SOL912_dyn.dat'
fp = open(ofile,'w')
BeamIO.Write_dyn_File(fp, Time, PosPsiTime)
fp.close()
#Write _shape file
ofile = Settings.OutputDir + Settings.OutputFileRoot + '_SOL912_shape.dat'
fp = open(ofile,'w')
BeamIO.Write_shape_File(fp, len(Time), NumNodes_tot.value, Time, DynOut)
fp.close()
#Write rigid-body velocities
ofile = Settings.OutputDir + Settings.OutputFileRoot + '_SOL912_rigid.dat'
fp = open(ofile,'w')
BeamIO.Write_rigid_File(fp, Time, Vrel, VrelDot)
fp.close()
# Close output file if it exists.
if 'writeDict' in kwords and Settings.WriteOut == True:
fp.close()
# Close Tecplot ascii FileObject.
if Settings.PlotTec==True:
PostProcess.CloseAeroTecFile(FileObject)
if XBOPTS.PrintInfo.value==True:
sys.stdout.write(' ... done\n')
# For interactive analysis at end of simulation set breakpoint.
pass
def zetaDotSubMat(r, psi, rDot, psiDot, v_a, omega_a, psi_G2a, xi, xiDot, iLin, jLin, nBeam, nSection):
"""@brief create submatrix(3,N_states) for the linearized velocity at any
point on the surface, zeta, defined by beam DoFs R and Psi, and the
cross-sectional coordinate xi.
@param r Position vector on beam, defined in the a-frame.
@param psi CRV of orientation of beam cross-section.
@param rDot Velocity of beam at r, defined in the a-frame.
@param psiDot Time rate of change of psi.
@param v_a Velocity of a-frame, defined in the a-frame.
@param omega_a Angular vel of a-frame, defined in a-frame.
@param psi_G2a CRV of orientation of a-frame relative to earth.
@param xi Cross-sectional coordinate, defined in B-frame.
@param xiDot Time rate of change of xi, defined in B-frame.
@param iLin index of xi on the sectional DoF used for the linear analysis.
@param jLin index of R on the beam DoF used for the linear analysis.
@param nBeam Number of points on the beam axis.
@param nSection Number of points in the section definition.
@returns subMat Linear transformation from FBD + sectional DoFs to surface
velocity (G-frame) at point r_0 + C_Ga*(R + C(Psi)*xi).
@details This routine calculates the matrix corresponding to any point
on the beam axis and corresponding cross-section.
Interpolation of the primary beam and section DoFs may pre-
or post- multiply this matrix in an aeroelastic analysis.
"""
# Total states on RHS of matrix
nStates = 2 * 6 * nBeam + 9 + 2 * 3 * nSection
# Initialise subMat
subMat = np.zeros((3, nStates))
# term 1: \delta(C^{Ga}v_a)
cGa = xbl.Psi2TransMat(psi_G2a)
skewVa = xbl.Skew(v_a)
tangGa = xbl.Tangential(psi_G2a)
# term for \delta \psi_{Ga}
subMat[:, 2 * 6 * nBeam + 6 : 2 * 6 * nBeam + 9 : 1] += -np.dot(cGa, np.dot(skewVa, tangGa))
# term for \delta v_a
subMat[:, 2 * 6 * nBeam : 2 * 6 * nBeam + 3 : 1] += cGa
# term 2: \delta(C^{Ga} \tilde{\Omega_a_a} R_a)
skewOmAa = xbl.Skew(omega_a)
skewRa = xbl.Skew(r)
# term for \delta \psi_{Ga}
subMat[:, 2 * 6 * nBeam + 6 : 2 * 6 * nBeam + 9 : 1] += -np.dot(cGa, np.dot(xbl.Skew(np.dot(skewOmAa, r)), tangGa))
# term for \delta \Omega_a_a
subMat[:, 2 * 6 * nBeam + 3 : 2 * 6 * nBeam + 6 : 1] += -np.dot(cGa, skewRa)
# term for \delta R_a
subMat[:, 6 * jLin : 6 * jLin + 3 : 1] += np.dot(cGa, skewOmAa)
# term 3: \delta(C^{Ga}\tilde{\Omega_a_a}C^{aB}\xi_B)
cAb = xbl.Psi2TransMat(psi)
skewXi = xbl.Skew(xi)
tangAb = xbl.Tangential(psi)
# term for \delta \psi_{Ga}
subMat[:, 2 * 6 * nBeam + 6 : 2 * 6 * nBeam + 9 : 1] += -np.dot(
cGa, np.dot(xbl.Skew(np.dot(skewOmAa, np.dot(cAb, xi))), tangGa)
)
# term for \delta \Omega_a_a
subMat[:, 2 * 6 * nBeam + 3 : 2 * 6 * nBeam + 6 : 1] += -np.dot(cGa, xbl.Skew(np.dot(cAb, xi)))
# term for \delta \psi_{aB}
subMat[:, 6 * jLin + 3 : 6 * jLin + 6 : 1] += -np.dot(cGa, np.dot(skewOmAa, np.dot(cAb, np.dot(skewXi, tangAb))))
# term for \delta xi_B
subMat[:, 2 * 6 * nBeam + 9 + 3 * iLin : 2 * 6 * nBeam + 9 + 3 * iLin + 3 : 1] += np.dot(cGa, np.dot(skewOmAa, cAb))
# term 4: \delta(C^{Ga}\dot{R}_a)
skewRdot = xbl.Skew(rDot)
# term for \delta \psi_{Ga}
subMat[:, 2 * 6 * nBeam + 6 : 2 * 6 * nBeam + 9 : 1] += -np.dot(cGa, np.dot(skewRdot, tangGa))
# term for \delta \dot{R}_a
subMat[:, 6 * nBeam + 6 * jLin : 6 * nBeam + 6 * jLin + 3 : 1] += cGa
# term 5: \delta(C^{Ga}C^{aB}\dot{\xi}_B)
skewXiDot = xbl.Skew(xiDot)
# term for \delta \psi_{Ga}
subMat[:, 2 * 6 * nBeam + 6 : 2 * 6 * nBeam + 9 : 1] += -np.dot(cGa, np.dot(xbl.Skew(np.dot(cAb, xiDot)), tangGa))
# term for \delta \psi_{aB}
subMat[:, 6 * jLin + 3 : 6 * jLin + 6 : 1] += -np.dot(cGa, np.dot(cAb, np.dot(skewXiDot, tangAb)))
# term for \delta \dot{\xi}_B
subMat[:, 2 * 6 * nBeam + 9 + 3 * nSection + 3 * iLin : 2 * 6 * nBeam + 9 + 3 * nSection + 3 * iLin + 3] += np.dot(
cGa, cAb
)
# term 6: \delta(C^{Ga}C^{aB}\tilde{T(\psi_{aB})\dot{\psi}_{aB}\xi_B)
# Note: eqn. rearranged to \delta(-C^{Ga}C^{aB}\tilde{\xi}T(\psi_{aB})\dot{\psi}_{aB})
# term for \delta \psi_{Ga}
subMat[:, 2 * 6 * nBeam + 6 : 2 * 6 * nBeam + 9 : 1] += np.dot(
cGa, np.dot(xbl.Skew(np.dot(cAb, np.dot(skewXi, np.dot(tangAb, psiDot)))), tangGa)
)
# term for \delta \psi_{aB}
subMat[:, 6 * jLin + 3 : 6 * jLin + 6 : 1] += np.dot(
cGa, np.dot(cAb, np.dot(xbl.Skew(np.dot(skewXi, np.dot(tangAb, psiDot))), tangAb))
)
# term for \delta \xi_B
subMat[:, 2 * 6 * nBeam + 9 + 3 * iLin : 2 * 6 * nBeam + 9 + 3 * iLin + 3 : 1] += np.dot(
cGa, np.dot(cAb, xbl.Skew(np.dot(tangAb, psiDot)))
)
# term for \delta T(\psi_{aB})\dot{\psi_{aB}}
subMat[:, 6 * jLin + 3 : 6 * jLin + 6 : 1] += -np.dot(cGa, np.dot(cAb, np.dot(skewXi, xbl.a1(psi, psiDot))))
# term for \delta \dot{\psi}_{aB}
subMat[:, 6 * nBeam + 6 * jLin + 3 : 6 * nBeam + 6 * jLin + 6 : 1] += -np.dot(
cGa, np.dot(cAb, np.dot(skewXi, tangAb))
)
return subMat
def Solve_Py(XBINPUT,XBOPTS,VMOPTS,VMINPUT,AELAOPTS,**kwords):
"""@brief Nonlinear dynamic solver using Python to solve aeroelastic
equation.
@details Assembly of structural matrices is carried out with
Fortran subroutines. Aerodynamics solved using PyAero\.UVLM.
@warning test outstanding: test for maintaining static deflections in
same conditions.
TODO: Maintain static deflections in same conditions.
@param XBINPUT Beam inputs (for initialization in Python).
@param XBOPTS Beam solver options (for Fortran).
@param VMOPTS UVLM solver options (for C/C++).
@param VMINPUT UVLM solver inputs (for initialization in Python).
@param VMUNST Unsteady input information for aero solver.
@param AELAOPTS Options relevant to coupled aeroelastic simulations.
kwords:
@param writeDict OrderedDict of of outputs to write.
@param mpcCont Instance of PyMPC.MPC class.
"""
# Check correct solution code.
assert XBOPTS.Solution.value == 312, ('NonlinearDynamic requested' +
' with wrong solution code')
# Initialise static beam data.
XBINPUT, XBOPTS, NumNodes_tot, XBELEM, PosIni, PsiIni, XBNODE, NumDof \
= BeamInit.Static(XBINPUT,XBOPTS)
# Calculate initial displacements.
if AELAOPTS.ImpStart == False:
XBOPTS.Solution.value = 112 # Modify options.
VMOPTS.Steady = ct.c_bool(True)
Rollup = VMOPTS.Rollup.value
VMOPTS.Rollup.value = False
# Solve Static Aeroelastic.
PosDefor, PsiDefor, Zeta, ZetaStar, Gamma, GammaStar, Force = \
Static.Solve_Py(XBINPUT, XBOPTS, VMOPTS, VMINPUT, AELAOPTS)
XBOPTS.Solution.value = 312 # Reset options.
VMOPTS.Steady = ct.c_bool(False)
VMOPTS.Rollup.value = Rollup
elif AELAOPTS.ImpStart == True:
PosDefor = PosIni.copy(order='F')
PsiDefor = PsiIni.copy(order='F')
Force = np.zeros((XBINPUT.NumNodesTot,6),ct.c_double,'F')
# Write deformed configuration to file. TODO: tidy this away inside function.
ofile = Settings.OutputDir + Settings.OutputFileRoot + '_SOL312_def.dat'
if XBOPTS.PrintInfo==True:
sys.stdout.write('Writing file %s ... ' %(ofile))
fp = open(ofile,'w')
fp.write('TITLE="Non-linear static solution: deformed geometry"\n')
fp.write('VARIABLES="iElem" "iNode" "Px" "Py" "Pz" "Rx" "Ry" "Rz"\n')
fp.close()
if XBOPTS.PrintInfo==True:
sys.stdout.write('done\n')
WriteMode = 'a'
# Write
BeamIO.OutputElems(XBINPUT.NumElems, NumNodes_tot.value, XBELEM,
PosDefor, PsiDefor, ofile, WriteMode)
# Initialise structural variables for dynamic analysis.
Time, NumSteps, ForceTime, ForcedVel, ForcedVelDot,\
PosDotDef, PsiDotDef,\
OutGrids, PosPsiTime, VelocTime, DynOut\
= BeamInit.Dynamic(XBINPUT,XBOPTS)
# Delete unused variables.
del ForceTime, OutGrids, VelocTime
# Write _force file
# ofile = Settings.OutputDir + Settings.OutputFileRoot + '_SOL312_force.dat'
# fp = open(ofile,'w')
# BeamIO.Write_force_File(fp, Time, ForceTime, ForcedVel, ForcedVelDot)
# fp.close()
# Write _vel file
#TODO: write _vel file
# Write .mrb file.
#TODO: write .mrb file
if XBOPTS.PrintInfo.value==True:
sys.stdout.write('Solve nonlinear dynamic case in Python ... \n')
# Initialise structural system tensors.
MglobalFull = np.zeros((NumDof.value,NumDof.value), ct.c_double, 'F')
CglobalFull = np.zeros((NumDof.value,NumDof.value), ct.c_double, 'F')
KglobalFull = np.zeros((NumDof.value,NumDof.value), ct.c_double, 'F')
FglobalFull = np.zeros((NumDof.value,NumDof.value), ct.c_double, 'F')
Asys = np.zeros((NumDof.value,NumDof.value), ct.c_double, 'F')
ms = ct.c_int()
cs = ct.c_int()
ks = ct.c_int()
fs = ct.c_int()
Mvel = np.zeros((NumDof.value,6), ct.c_double, 'F')
Cvel = np.zeros((NumDof.value,6), ct.c_double, 'F')
# X0 = np.zeros(NumDof.value, ct.c_double, 'F')
X = np.zeros(NumDof.value, ct.c_double, 'F')
DX = np.zeros(NumDof.value, ct.c_double, 'F')
dXdt = np.zeros(NumDof.value, ct.c_double, 'F')
dXddt = np.zeros(NumDof.value, ct.c_double, 'F')
Force_Dof = np.zeros(NumDof.value, ct.c_double, 'F')
Qglobal = np.zeros(NumDof.value, ct.c_double, 'F')
# Initialise rotation operators.
Unit = np.zeros((3,3), ct.c_double, 'F')
for i in range(3):
Unit[i,i] = 1.0
Unit4 = np.zeros((4,4), ct.c_double, 'F')
for i in range(4):
Unit4[i,i] = 1.0
Cao = Unit.copy('F')
Temp = Unit4.copy('F')
Quat = np.zeros(4, ct.c_double, 'F')
Quat[0] = 1.0
# Extract initial displacements and velocities.
BeamLib.Cbeam_Solv_Disp2State(NumNodes_tot, NumDof, XBINPUT, XBNODE,
PosDefor, PsiDefor, PosDotDef, PsiDotDef,
X, dXdt)
# Approximate initial accelerations.
PosDotDotDef = np.zeros((NumNodes_tot.value,3),ct.c_double,'F')
PsiDotDotDef = np.zeros((XBINPUT.NumElems,Settings.MaxElNod,3),
ct.c_double, 'F')
# Assemble matrices for dynamic analysis.
BeamLib.Cbeam3_Asbly_Dynamic(XBINPUT, NumNodes_tot, XBELEM, XBNODE,
PosIni, PsiIni, PosDefor, PsiDefor,
PosDotDef, PsiDotDef, PosDotDotDef, PsiDotDotDef,
Force, ForcedVel[0,:], ForcedVelDot[0,:],
NumDof, Settings.DimMat,
ms, MglobalFull, Mvel,
cs, CglobalFull, Cvel,
ks, KglobalFull, fs, FglobalFull,
Qglobal, XBOPTS, Cao)
# Get force vector for unconstrained nodes (Force_Dof).
BeamLib.f_fem_m2v(ct.byref(NumNodes_tot),
ct.byref(ct.c_int(6)),
Force.ctypes.data_as(ct.POINTER(ct.c_double)),
ct.byref(NumDof),
Force_Dof.ctypes.data_as(ct.POINTER(ct.c_double)),
XBNODE.Vdof.ctypes.data_as(ct.POINTER(ct.c_int)) )
# Get RHS at initial condition.
Qglobal = Qglobal - np.dot(FglobalFull, Force_Dof)
# Initial Accel.
dXddt[:] = np.dot(np.linalg.inv(MglobalFull), -Qglobal)
# Record position of all grid points in global FoR at initial time step.
DynOut[0:NumNodes_tot.value,:] = PosDefor
# Record state of the selected node in initial deformed configuration.
PosPsiTime[0,:3] = PosDefor[-1,:]
PosPsiTime[0,3:] = PsiDefor[-1,XBELEM.NumNodes[-1]-1,:]
# Get gamma and beta for Newmark scheme.
gamma = 0.5 + XBOPTS.NewmarkDamp.value
beta = 0.25*pow((gamma + 0.5),2)
# Initialize Aero
Section = InitSection(VMOPTS,VMINPUT,AELAOPTS.ElasticAxis)
# Declare memory for Aero variables.
ZetaDot = np.zeros((Section.shape[0],PosDefor.shape[0],3),ct.c_double,'C')
K = VMOPTS.M.value*VMOPTS.N.value
AIC = np.zeros((K,K),ct.c_double,'C')
BIC = np.zeros((K,K),ct.c_double,'C')
AeroForces = np.zeros((VMOPTS.M.value+1,VMOPTS.N.value+1,3),ct.c_double,'C')
# Initialise A-frame location and orientation to be zero
OriginA_G = np.zeros(3,ct.c_double,'C')
PsiA_G = np.zeros(3,ct.c_double,'C')
# Init external velocities.
Ufree = InitSteadyExternalVels(VMOPTS,VMINPUT)
# Init uninit vars if an impulsive start is specified.
if AELAOPTS.ImpStart == True:
Zeta = np.zeros((Section.shape[0],PosDefor.shape[0],3),ct.c_double,'C')
Gamma = np.zeros((VMOPTS.M.value,VMOPTS.N.value),ct.c_double,'C')
# Generate surface, wake and gamma matrices.
CoincidentGrid(PosDefor, PsiDefor, Section, ForcedVel[0,:3],
ForcedVel[0,3:], PosDotDef, PsiDotDef, XBINPUT,
Zeta, ZetaDot, OriginA_G, PsiA_G,
VMINPUT.ctrlSurf)
# init wake grid and gamma matrix.
ZetaStar, GammaStar = InitSteadyWake(VMOPTS,VMINPUT,Zeta,ForcedVel[0,:3])
# Init GammaDot
GammaDot = np.zeros_like(Gamma, ct.c_double, 'C')
# Define tecplot stuff
if Settings.PlotTec==True:
FileName = Settings.OutputDir + Settings.OutputFileRoot + 'AeroGrid.dat'
Variables = ['X', 'Y', 'Z','Gamma']
FileObject = PostProcess.WriteAeroTecHeader(FileName,
'Default',
Variables)
# Plot results of static analysis
PostProcess.WriteUVLMtoTec(FileObject,
Zeta,
ZetaStar,
Gamma,
GammaStar,
TimeStep = 0,
NumTimeSteps = XBOPTS.NumLoadSteps.value,
Time = 0.0,
Text = False)
# Open output file for writing
if 'writeDict' in kwords and Settings.WriteOut == True:
fp = OpenOutFile(kwords['writeDict'], XBOPTS, Settings)
# Write initial outputs to file.
if 'writeDict' in kwords and Settings.WriteOut == True:
WriteToOutFile(kwords['writeDict'],
fp,
Time[0],
PosDefor,
PsiDefor,
PosIni,
PsiIni,
XBELEM,
ctrlSurf,
kwords['mpcCont'])
# END if write
# Time loop.
for iStep in range(NumSteps.value):
if XBOPTS.PrintInfo.value==True:
sys.stdout.write('Time: %-10.4e\n' %(Time[iStep+1]))
sys.stdout.write(' SubIter DeltaF DeltaX ResLog10\n')
dt = Time[iStep+1] - Time[iStep]
# Set dt for aero force calcs.
VMOPTS.DelTime = ct.c_double(dt)
# Save Gamma at iStep.
GammaSav = Gamma.copy(order = 'C')
# Force at current time-step
if iStep > 0 and AELAOPTS.Tight == False:
# zero aero forces.
AeroForces[:,:,:] = 0.0
# Update CRV.
PsiA_G = xbl.quat2psi(Quat) # CRV at iStep
# Update origin.
OriginA_G[:] = OriginA_G[:] + ForcedVel[iStep-1,:3]*dt
# Update control surface deflection.
if VMINPUT.ctrlSurf != None:
if 'mpcCont' in kwords and kwords['mpcCont'] != None:
uOpt = kwords['mpcCont'].getUopt(
getState(Gamma,GammaStar,GammaDot,X,dXdt) )
VMINPUT.ctrlSurf.update(Time[iStep],uOpt[0,0])
else:
VMINPUT.ctrlSurf.update(Time[iStep])
# Generate surface grid.
CoincidentGrid(PosDefor, PsiDefor, Section, ForcedVel[iStep,:3],
ForcedVel[iStep,3:], PosDotDef, PsiDotDef, XBINPUT,
Zeta, ZetaDot, OriginA_G, PsiA_G,
VMINPUT.ctrlSurf)
# Update wake geom
#'roll' data.
ZetaStar = np.roll(ZetaStar,1,axis = 0)
GammaStar = np.roll(GammaStar,1,axis = 0)
#overwrite grid points with TE.
ZetaStar[0,:] = Zeta[VMOPTS.M.value,:]
# overwrite Gamma with TE value from previous timestep.
GammaStar[0,:] = Gamma[VMOPTS.M.value-1,:]
# Apply gust velocity.
if VMINPUT.gust != None:
Utot = Ufree + VMINPUT.gust.Vels(Zeta)
else:
Utot = Ufree
# Solve for AeroForces.
UVLMLib.Cpp_Solver_VLM(Zeta, ZetaDot, Utot, ZetaStar, VMOPTS,
AeroForces, Gamma, GammaStar, AIC, BIC)
# Get GammaDot.
GammaDot[:] = Gamma[:] - GammaSav[:]
# Apply density scaling.
AeroForces[:,:,:] = AELAOPTS.AirDensity*AeroForces[:,:,:]
if Settings.PlotTec==True:
PostProcess.WriteUVLMtoTec(FileObject,
Zeta - OriginA_G[:],
ZetaStar - OriginA_G[:],
Gamma,
GammaStar,
TimeStep = iStep,
NumTimeSteps = XBOPTS.NumLoadSteps.value,
Time = Time[iStep],
Text = False)
# map AeroForces to beam.
CoincidentGridForce(XBINPUT, PsiDefor, Section, AeroForces,
Force)
# Add gravity loads.
AddGravityLoads(Force, XBINPUT, XBELEM, AELAOPTS,
PsiDefor, VMINPUT.c)
#END if iStep > 0
# Quaternion update for orientation.
Temp = np.linalg.inv(Unit4 + 0.25*xbl.QuadSkew(ForcedVel[iStep+1,3:])*dt)
Quat = np.dot(Temp, np.dot(Unit4 - 0.25*xbl.QuadSkew(ForcedVel[iStep,3:])*dt, Quat))
Quat = Quat/np.linalg.norm(Quat)
Cao = xbl.Rot(Quat) # transformation matrix at iStep+1
if AELAOPTS.Tight == True:
# CRV at iStep+1
PsiA_G = xbl.quat2psi(Quat)
# Origin at iStep+1
OriginA_G[:] = OriginA_G[:] + ForcedVel[iStep,:3]*dt
GammaSav = Gamma.copy(order = 'C')
# Predictor step.
X = X + dt*dXdt + (0.5-beta)*dXddt*pow(dt,2.0)
dXdt = dXdt + (1.0-gamma)*dXddt*dt
dXddt[:] = 0.0
# Reset convergence parameters.
Iter = 0
ResLog10 = 0.0
# Newton-Raphson loop.
while ( (ResLog10 > np.log10(XBOPTS.MinDelta.value))
& (Iter < XBOPTS.MaxIterations.value) ):
# set tensors to zero.
Qglobal[:] = 0.0
Mvel[:,:] = 0.0
Cvel[:,:] = 0.0
MglobalFull[:,:] = 0.0
CglobalFull[:,:] = 0.0
KglobalFull[:,:] = 0.0
FglobalFull[:,:] = 0.0
# Update counter.
Iter += 1
if XBOPTS.PrintInfo.value==True:
sys.stdout.write(' %-7d ' %(Iter))
# nodal diplacements and velocities from state vector.
BeamLib.Cbeam3_Solv_State2Disp(XBINPUT,
NumNodes_tot,
XBELEM,
XBNODE,
PosIni,
PsiIni,
NumDof,
X,
dXdt,
PosDefor,
PsiDefor,
PosDotDef,
PsiDotDef)
# if tightly coupled is on then get new aeroforces.
if AELAOPTS.Tight == True:
# zero aero forces.
AeroForces[:,:,:] = 0.0
# Set gamma at t-1 to saved solution.
Gamma[:,:] = GammaSav[:,:]
# get new grid.
# The rigid-body DoFs (OriginA_G,PsiA_G,ForcedVel) at time step
# i+1 are used to converge the aeroelastic equations.
CoincidentGrid(PosDefor, PsiDefor, Section, ForcedVel[iStep+1,:3],
ForcedVel[iStep+1,3:], PosDotDef, PsiDotDef, XBINPUT,
Zeta, ZetaDot, OriginA_G, PsiA_G,
VMINPUT.ctrlSurf)
# close wake.
ZetaStar[0,:] = Zeta[VMOPTS.M.value,:]
# save pereference and turn off rollup.
Rollup = VMOPTS.Rollup.value
VMOPTS.Rollup.value = False
# Solve for AeroForces.
UVLMLib.Cpp_Solver_VLM(Zeta, ZetaDot, Ufree, ZetaStar, VMOPTS,
AeroForces, Gamma, GammaStar, AIC, BIC)
# turn rollup back to original preference
VMOPTS.Rollup.value = Rollup
# apply density scaling.
AeroForces[:,:,:] = AELAOPTS.AirDensity*AeroForces[:,:,:]
# beam forces.
CoincidentGridForce(XBINPUT, PsiDefor, Section, AeroForces,
Force)
# Add gravity loads.
AddGravityLoads(Force,XBINPUT,XBELEM,AELAOPTS,
PsiDefor,VMINPUT.c)
#END if Tight
ForcedVelLoc = ForcedVel[iStep+1,:].copy('F')
ForcedVelDotLoc = ForcedVelDot[iStep+1,:].copy('F')
# Update matrices.
BeamLib.Cbeam3_Asbly_Dynamic(XBINPUT, NumNodes_tot, XBELEM, XBNODE,
PosIni, PsiIni, PosDefor, PsiDefor,
PosDotDef, PsiDotDef, PosDotDotDef, PsiDotDotDef,
Force, ForcedVelLoc, ForcedVelDotLoc,
NumDof, Settings.DimMat,
ms, MglobalFull, Mvel,
cs, CglobalFull, Cvel,
ks, KglobalFull, fs, FglobalFull,
Qglobal, XBOPTS, Cao)
# Get force vector for unconstrained nodes (Force_Dof).
BeamLib.f_fem_m2v(ct.byref(NumNodes_tot),
ct.byref(ct.c_int(6)),
Force.ctypes.data_as(ct.POINTER(ct.c_double)),
ct.byref(NumDof),
Force_Dof.ctypes.data_as(ct.POINTER(ct.c_double)),
XBNODE.Vdof.ctypes.data_as(ct.POINTER(ct.c_int)) )
# Solve for update vector.
# Residual.
Qglobal = Qglobal + np.dot(MglobalFull, dXddt) \
+ np.dot(Mvel,ForcedVelDotLoc) \
- np.dot(FglobalFull, Force_Dof)
if XBOPTS.PrintInfo.value==True:
sys.stdout.write('%-10.4e ' %(max(abs(Qglobal))))
# Calculate system matrix for update calculation.
Asys = KglobalFull \
+ CglobalFull*gamma/(beta*dt) \
+ MglobalFull/(beta*pow(dt,2.0))
# Solve for update.
DX[:] = np.dot(np.linalg.inv(Asys), -Qglobal)
# Corrector step.
X = X + DX
dXdt = dXdt + DX*gamma/(beta*dt)
dXddt = dXddt + DX/(beta*pow(dt,2.0))
# Residual at first iteration.
if(Iter == 1):
Res0_Qglobal = max(abs(Qglobal)) + 1.e-16
Res0_DeltaX = max(abs(DX)) + 1.e-16
# Update residual and compute log10.
Res_Qglobal = max(abs(Qglobal)) + 1.e-16
Res_DeltaX = max(abs(DX)) + 1.e-16
ResLog10 = max([np.log10(Res_Qglobal/Res0_Qglobal),
np.log10(Res_DeltaX/Res0_DeltaX)])
if XBOPTS.PrintInfo.value==True:
sys.stdout.write('%-10.4e %8.4f\n' %(max(abs(DX)),ResLog10))
if ResLog10 > 2.0:
print("Residual growing! Exit Newton-Raphson...")
break
# END Netwon-Raphson.
if ResLog10 > 2.0:
print("Residual growing! Exit time-loop...")
debug = 'here'
del debug
break
# Update to converged nodal displacements and velocities.
BeamLib.Cbeam3_Solv_State2Disp(XBINPUT, NumNodes_tot, XBELEM, XBNODE,
PosIni, PsiIni, NumDof, X, dXdt,
PosDefor, PsiDefor, PosDotDef, PsiDotDef)
PosPsiTime[iStep+1,:3] = PosDefor[-1,:]
PosPsiTime[iStep+1,3:] = PsiDefor[-1,XBELEM.NumNodes[-1]-1,:]
# Position of all grid points in global FoR.
i1 = (iStep+1)*NumNodes_tot.value
i2 = (iStep+2)*NumNodes_tot.value
DynOut[i1:i2,:] = PosDefor
# Write selected outputs
if 'writeDict' in kwords and Settings.WriteOut == True:
WriteToOutFile(writeDict,
fp,
Time[iStep+1],
PosDefor,
PsiDefor,
PosIni,
PsiIni,
XBELEM,
ctrlSurf,
kwords['mpcCont'])
# END if write.
ZetaStar[:,:] = ZetaStar[:,:] + VMINPUT.U_infty*dt
if VMINPUT.gust != None:
ZetaStar[:,:,:] = ZetaStar[:,:,:] + VMINPUT.gust.Vels(ZetaStar)*dt
# END Time loop
# Write _dyn file.
ofile = Settings.OutputDir + Settings.OutputFileRoot + '_SOL312_dyn.dat'
fp = open(ofile,'w')
BeamIO.Write_dyn_File(fp, Time, PosPsiTime)
fp.close()
# "Write _shape file"
# ofile = Settings.OutputDir + Settings.OutputFileRoot + '_SOL312_shape.dat'
# fp = open(ofile,'w')
# BeamIO.Write_shape_File(fp, len(Time), NumNodes_tot.value, Time, DynOut)
# fp.close()
# Close output file if it exists.
if 'writeDict' in kwords and Settings.WriteOut == True:
fp.close()
# Close Tecplot ascii FileObject.
if Settings.PlotTec==True:
PostProcess.CloseAeroTecFile(FileObject)
if XBOPTS.PrintInfo.value==True:
sys.stdout.write(' ... done\n')
# For interactive analysis at end of simulation set breakpoint.
pass
def Solve_Py(XBINPUT,XBOPTS,VMOPTS,VMINPUT,AELAOPTS,**kwords):
"""
@brief Nonlinear dynamic solver using Python to solve aeroelastic equation.
@details Assembly of structural matrices is carried out with Fortran subroutines. Aerodynamics
solved using PyAero\.UVLM.
@param XBINPUT Beam inputs (for initialization in Python).
@param XBOPTS Beam solver options (for Fortran).
@param VMOPTS UVLM solver options (for C/C++).
@param VMINPUT UVLM solver inputs (for initialization in Python).
@param VMUNST Unsteady input information for aero solver.
@param AELAOPTS Options relevant to coupled aeroelastic simulations.
@param writeDict OrderedDict of 'name':tuple of outputs to write.
@todo: Add list of variables with description
"""
# Check correct solution code.
assert XBOPTS.Solution.value == 912, ('NonlinearFlightDynamic requested' +
' with wrong solution code')
# Check loads options
assert XBOPTS.FollowerForceRig.value == True, ('For NonlinearFlightDynamic '
'solution XBOPTS.FollowerForceRig = ct.c_bool(True) is required. \n'
'Note that gravity is treated as a dead load by default.')
# I/O options
XBOUT=DerivedTypes.Xboutput()
SaveDict=Settings.SaveDict
if 'SaveDict' in kwords: SaveDict=kwords['SaveDict']
if SaveDict['Format']=='h5':
Settings.WriteOut=False
Settings.PlotTec=False
OutList=[AELAOPTS, VMINPUT, VMOPTS, XBOPTS, XBINPUT, XBOUT]
#if VMINPUT.ctrlSurf!=None:
# for cc in range(len(VMINPUT.ctrlSurf)):
# OutList.append(VMINPUT.ctrlSurf[cc])
if SaveDict['SaveWake'] is True:
dirwake=SaveDict['OutputDir']+'wake'+SaveDict['OutputFileRoot']+'/'
os.system('mkdir -p %s' %dirwake)
XBOUT.dirwake=dirwake
XBOUT.cputime.append(time.clock()) # time.processor_time more appropriate
XBOUT.ForceDofList=[]
XBOUT.ForceRigidList=[]
#------------------ Initial Displacement/Forces: ImpStart vs Static Solution
# Initialise static beam data.
XBINPUT, XBOPTS, NumNodes_tot, XBELEM, PosIni, PsiIni, XBNODE, NumDof \
= BeamInit.Static(XBINPUT,XBOPTS)
# Calculate initial displacements.
if AELAOPTS.ImpStart == True:
PosDefor = PosIni.copy(order='F')
PsiDefor = PsiIni.copy(order='F')
# Extract forces
XBOUT.ForceStaticTotal = XBINPUT.ForceStatic.copy('F')
AddGravityLoads(XBOUT.ForceStaticTotal,XBINPUT,XBELEM,
AELAOPTS=None, # allows defining inertial/elastic axis
PsiDefor=PsiDefor,
chord = 0.0, # used to define inertial/elastic axis
PsiA_G=XBINPUT.PsiA_G,
FollowerForceRig=True)
ForceAero = 0.0*XBOUT.ForceStaticTotal.copy('C')
else:
XBOPTS.Solution.value = 112 # Modify options.
VMOPTS.Steady = ct.c_bool(True)
Rollup = VMOPTS.Rollup.value
VMOPTS.Rollup.value = False
if VMINPUT.ctrlSurf != None:
# open-loop control
for cc in range(len(VMINPUT.ctrlSurf)):
VMINPUT.ctrlSurf[cc].update(0.0,iStep=0)
# Solve Static Aeroelastic.
# Note: output force includes gravity loads
#PosDefor, PsiDefor, Zeta, ZetaStar, Gamma, GammaStar, Force = \
# Static.Solve_Py(XBINPUT, XBOPTS, VMOPTS, VMINPUT, AELAOPTS)
XBSTA=Static.Solve_Py(XBINPUT, XBOPTS, VMOPTS, VMINPUT, AELAOPTS)
# Extract forces
XBOUT.ForceStaticTotal=XBSTA.ForceStaticTotal.copy(order='F') # gravity/aero/applied
ForceAero = XBSTA.ForceAeroStatic.copy(order='C')
# Define Pos/Psi as fortran array (crash otherwise)
PosDefor=XBSTA.PosDeforStatic.copy(order='F')
PsiDefor=XBSTA.PsiDeforStatic.copy(order='F')
XBOUT.PosDeforStatic = XBSTA.PosDeforStatic
XBOUT.PsiDeforStatic = XBSTA.PsiDeforStatic
# Wake variables
Zeta=XBSTA.ZetaStatic
ZetaStar=XBSTA.ZetaStarStatic
Gamma=XBSTA.GammaStatic
GammaStar=XBSTA.GammaStarStatic
del XBSTA
XBOPTS.Solution.value = 912 # Reset options.
VMOPTS.Steady = ct.c_bool(False)
VMOPTS.Rollup.value = Rollup
# Save output
if SaveDict['Format']=='dat':
write_SOL912_def(XBOPTS,XBINPUT,XBELEM,NumNodes_tot,PosDefor,PsiDefor,SaveDict)
else: # HDF5
XBOUT.drop( PosIni=PosIni, PsiIni=PsiIni,PosDeforStatic=PosDefor.copy(),
PsiDeforStatic=PsiDefor.copy() )
XBOUT.ForceAeroList.append( ForceAero )
PyLibs.io.save.h5file(SaveDict['OutputDir'],
SaveDict['OutputFileRoot']+'.h5', *OutList)
#------------------------------------------- Initialise Structural Variables
# Build arrays for dynamic analysis
# 1. initial accelerations {Pos/Psi}DotDotDef approximated to zero
# 2. {Pos/Psi}DotDotDef remain zero
( Time, NumSteps, ForceTime, Vrel, VrelDot, PosDotDef, PsiDotDef,
OutGrids, PosPsiTime, VelocTime, DynOut ) = BeamInit.Dynamic( XBINPUT, XBOPTS)
del OutGrids, VelocTime
PosDotDotDef = np.zeros((NumNodes_tot.value,3),ct.c_double,'F')
PsiDotDotDef = np.zeros((XBINPUT.NumElems,Settings.MaxElNod,3),ct.c_double, 'F')
# Allocate memory for GEBM tensors:
# 1. all set to zero
# 2. all arrays as ct_c_double with Fortran ordering
( MssFull, CssFull, KssFull, FstrucFull, Qstruc,
MrsFull, CrsFull, KrsFull, FrigidFull, Qrigid,
Mrr, Crr, Msr, Csr,
Force_Dof, Force_All,
X, dXdt, Q, DQ, dQdt, dQddt,
Msys, Csys, Ksys, Asys, Qsys ) = init_GEBM_tensors(NumDof)
# Extract initial displacements (and velocities ?).
# 1. also for non impulsive start, this step only populates X...
BeamLib.Cbeam_Solv_Disp2State(NumNodes_tot, NumDof, XBINPUT, XBNODE,
PosDefor, PsiDefor, PosDotDef, PsiDotDef,
X, dXdt)
# Assemble Tensors for Dynamic Solution
# 1. extract variables used twice or more (Quat, currVel)
# 2. update Force
# 3. Populate state vectors (Q, dQdt)
if XBINPUT.PsiA_G_dyn != None: PsiA_G = XBINPUT.PsiA_G_dyn.copy()
else: PsiA_G = XBINPUT.PsiA_G.copy()
Quat=xbl.psi2quat(PsiA_G)
currVrel=Vrel[0,:].copy('F') # also shared by aero initialisation
# ForceStatic will include aero only in the non-impulsive case
Force = XBOUT.ForceStaticTotal.copy('F') + XBINPUT.ForceDyn[0,:,:].copy('F')
Q[:NumDof.value]=X.copy('F')
dQdt[:NumDof.value]=dXdt.copy('F')
dQdt[NumDof.value:NumDof.value+6] = currVrel.copy('F')
dQdt[NumDof.value+6:]= Quat.copy('F')
(Msys, Csys, Ksys, Qsys) = assemble_GEBM_tensors(
0, # iStep
NumDof, NumNodes_tot,
XBELEM, XBNODE,
XBINPUT, VMINPUT, XBOPTS,
AELAOPTS, VMOPTS,
currVrel,
PosIni, PsiIni,
PosDefor, PsiDefor,
PosDotDef, PsiDotDef,
PosDotDotDef, PsiDotDotDef,
Force,
MssFull, CssFull, KssFull, FstrucFull,
Msr, Csr,
Force_Dof, Qstruc,
MrsFull, CrsFull, KrsFull, FrigidFull,
Mrr, Crr, Qrigid,
Q, dQdt, dQddt,
Force_All,
Msys, Csys, Ksys, Asys, Qsys )
# I/O
DynOut[0:NumNodes_tot.value,:] = PosDefor # nodal position
PosPsiTime[0,:3] = PosDefor[-1,:] # nodal position
PosPsiTime[0,3:] = PsiDefor[-1,XBELEM.NumNodes[-1]-1,:] # nodal CRV
XBOUT.drop( Vrel=Vrel, VrelDot=VrelDot, ForceTime=ForceTime,
AsysListStart =[], AsysListEnd=[],
MsysList=[], CsysList=[], KsysList=[])
XBOUT.QuatList.append(Quat.copy())
XBOUT.CRVList.append( PsiA_G.copy())
XBOUT.drop( Msys0 = Msys.copy(), Csys0 = Csys.copy(),
Ksys0 = Ksys.copy(), Qsys0 = Qsys.copy())
#--------------------------------------------------------------------- Initialise UVLM variables
# 1. Section properties
Section = InitSection(VMOPTS,VMINPUT,AELAOPTS.ElasticAxis)
# Declare memory for Aero variables.
K = VMOPTS.M.value*VMOPTS.N.value
ZetaDot = np.zeros((Section.shape[0],PosDefor.shape[0],3),ct.c_double,'C')
AIC = np.zeros((K,K),ct.c_double,'C')
BIC = np.zeros((K,K),ct.c_double,'C')
AeroForces = np.zeros((VMOPTS.M.value+1,VMOPTS.N.value+1,3),ct.c_double,'C')
# Initialise A-frame location and orientation to be zero.
OriginA_a = np.zeros(3,ct.c_double,'C')
#PsiA_G=XBINPUT.PsiA_G.copy()
# Init external velocities.
Ufree = InitSteadyExternalVels(VMOPTS,VMINPUT)
if AELAOPTS.ImpStart == True:
Zeta = np.zeros((Section.shape[0],PosDefor.shape[0],3),ct.c_double,'C')
Gamma = np.zeros((VMOPTS.M.value,VMOPTS.N.value),ct.c_double,'C')
# Generate surface, wake and gamma matrices.
CoincidentGrid(PosDefor, PsiDefor, Section, currVrel[:3],
currVrel[3:], PosDotDef, PsiDotDef, XBINPUT,
Zeta, ZetaDot, OriginA_a, PsiA_G,
VMINPUT.ctrlSurf)
# init wake grid and gamma matrix.
ZetaStar, GammaStar = InitSteadyWake(VMOPTS,VMINPUT,Zeta,currVrel[:3])
# Define TecPlot stuff
if Settings.PlotTec==True:
FileObject=write_TecPlot( Zeta, ZetaStar, Gamma, GammaStar, NumSteps.value, 0, Time[0],
SaveDict)
if 'writeDict' in kwords and Settings.WriteOut == True:
fp= write_SOL912_out( Time[0], PosDefor, PsiDefor, PosIni, PsiIni, XBELEM,
kwords['writeDict'], SaveDict)
#------------------------------------------------------------------------------- Time-Loop Start
if XBOPTS.PrintInfo.value==True:
sys.stdout.write('Solve nonlinear dynamic case in Python ... \n')
#Get gamma and beta for Newmark scheme
gamma = 0.5 + XBOPTS.NewmarkDamp.value
beta = 0.25*(gamma + 0.5)**2
# Initial Accelerations:
# 1. These can be non-zero (e.g Impulsive start or unbalanced start: in these cases, the
# structure has an initially undeformed/statically-deformed configuration, with zero velocities
# but accelerations are non-zero).
# 2. lagged solution compensates for Msys mal-conditioned
if XBOPTS.RigidDynamics is False and AELAOPTS.ImpStart is False:
lagsol=True
if lagsol==True: dQddt[:] = lagsolver(Msys,-Qsys,MaxIter=1)
else: dQddt[:] = np.linalg.solve(Msys,-Qsys)
else:
# solve only rigid body dynamics
dQddt[:NumDof.value]=0.0
dQddt[NumDof.value:]=np.linalg.solve( Msys[NumDof.value:,NumDof.value:],
-Qsys[NumDof.value:] )
XBOUT.dQddt0=dQddt.copy()
for iStep in range(1,NumSteps.value+1):
# Note len(Time)=NumSteps+1
if XBOPTS.PrintInfo.value==True:
sys.stdout.write('Time: %-10.4e\n' %(Time[iStep]))
sys.stdout.write(' SubIter DeltaF DeltaX ResLog10\n')
#calculate dt
dt = Time[iStep]-Time[iStep-1]
VMOPTS.DelTime = ct.c_double(dt)
#Predictor step
Q += dt*dQdt + (0.5-beta)*dQddt*np.power(dt,2.0)
dQdt += (1.0-gamma)*dQddt*dt
### Corrector
# 1. assume initial guess for the acceleration dQddt(iStep) = dQddt(iStep-1)
Q += beta*dQddt*dt**2
dQdt += gamma*dQddt*dt
#nodal displacements and velocities from state vector
X=Q[:NumDof.value].copy('F')
dXdt=dQdt[:NumDof.value].copy('F');
BeamLib.Cbeam3_Solv_State2Disp(XBINPUT,NumNodes_tot,XBELEM,XBNODE,
PosIni,PsiIni,NumDof,X,dXdt,
PosDefor,PsiDefor,PosDotDef,PsiDotDef)
#Reset convergence parameters
Iter = 0
ResLog10 = 1.0
AELAMinRes=0.0
# Residual at previous time-step
# warning: the convergence check is not well implemented: these variables are going to be
# equal to 1 always.
if XBOPTS.RigidDynamics==False: iicheck=[ii for ii in range(NumDof.value+10)]
else: iicheck=[ii for ii in range(NumDof.value, NumDof.value+10)]
Res0_Qglobal = max(max(abs(Qsys[iicheck])),1)
Res0_DeltaX = max(max(abs(DQ[iicheck])),1)
#---------------------------------------------------------------------------- Newton-Raphson
while ( (ResLog10 > XBOPTS.MinDelta.value) & (Iter < XBOPTS.MaxIterations.value) ):
# Unpack state variables
Vrel[iStep,:] = dQdt[NumDof.value:NumDof.value+6].copy('F')
VrelDot[iStep,:] = dQddt[NumDof.value:NumDof.value+6].copy('F')
Quat = dQdt[NumDof.value+6:].copy('F')
Quat = Quat/np.linalg.norm(Quat)
X=Q[:NumDof.value].copy('F')
dXdt=dQdt[:NumDof.value].copy('F')
Cao = xbl.Rot(Quat)
PsiA_G = xbl.quat2psi(Quat)
# Aero Force
# The aerodynamic force is update until the residual does not fall below a prescribed
# factor, AELAMinRes. This is evaluated after Iter=0 to access the value of the residual
# ResLog10. According to the setting AELAOPTS.MinRes, AELAOPTS.MaxRes, AELAOPTS.LimRes
# the threshold can then be lowered or raised.
if Iter==1: AELAMinRes = set_res_tight( ResLog10, AELAOPTS.MinRes,
AELAOPTS.MaxRes,AELAOPTS.LimRes)
if (AELAOPTS.Tight == False) and (ResLog10>AELAMinRes or Iter==0):
Force, Zeta, ZetaStar, Gamma, GammaStar = update_UVLMsol( iStep, dt, Time, Force,
XBINPUT, VMINPUT, XBELEM, AELAOPTS, VMOPTS,
PsiA_G, Vrel[iStep,:].copy('F'), OriginA_a, Section,
PosDefor, PsiDefor, PosDotDef, PsiDotDef,
Ufree, AIC, BIC,
AeroForces, Zeta, ZetaDot, ZetaStar, Gamma, GammaStar )
ForceAero = Force.copy()
else: Force[:,:] = ForceAero
# Add gravity loads.
AddGravityLoads(Force, XBINPUT, XBELEM, AELAOPTS, PsiDefor,
VMINPUT.c, PsiA_G, FollowerForceRig=True)
# Add prescribed loads
Force += (XBINPUT.ForceStatic + XBINPUT.ForceDyn[iStep,:,:]).copy('F')
# Dead forces are defined in FoR G, follower in FoR A.
# None follows the structure as it deflects
#Update matrices and loads for structural dynamic analysis
BeamLib.Cbeam3_Solv_State2Disp(XBINPUT, NumNodes_tot,
XBELEM, XBNODE,
PosIni, PsiIni,
NumDof, X, dXdt,
PosDefor, PsiDefor,
PosDotDef, PsiDotDef)
(Msys, Csys, Ksys, Qsys) = assemble_GEBM_tensors(
iStep,
NumDof, NumNodes_tot,
XBELEM, XBNODE,
XBINPUT, VMINPUT, XBOPTS,
AELAOPTS, VMOPTS,
Vrel[iStep,:].copy('F') ,
PosIni, PsiIni,
PosDefor, PsiDefor,
PosDotDef, PsiDotDef,
PosDotDotDef, PsiDotDotDef,
Force,
MssFull, CssFull, KssFull, FstrucFull,
Msr, Csr,
Force_Dof, Qstruc,
MrsFull, CrsFull, KrsFull, FrigidFull,
Mrr, Crr, Qrigid,
Q, dQdt, dQddt,
Force_All,
Msys, Csys, Ksys, Asys, Qsys )
#Calculate system matrix for update calculation
Asys = Ksys + Csys*gamma/(beta*dt) + Msys/(beta*dt**2)
#Compute correction
if XBOPTS.RigidDynamics==False:
DQ[:] = np.linalg.solve(Asys,-Qsys)
else:
DQ[:NumDof.value]=0.0
### correction is zero, no need of this
#Qsys[NumDof.value:NumDof.value+6]+=np.dot(
# Ksys[NumDof.value:NumDof.value+6,:NumDof.value],
# DQ[:NumDof.value] )
DQ[NumDof.value:]=np.linalg.solve( Asys[NumDof.value:,NumDof.value:],
-Qsys[NumDof.value:])
Q += DQ
dQdt += DQ*gamma/(beta*dt)
dQddt += DQ/(beta*dt**2)
#Update convergence criteria
Res_Qglobal = max(abs(Qsys[iicheck]))
Res_DeltaX = max(abs(DQ[iicheck]))
ResLog10 = max(Res_Qglobal/Res0_Qglobal, Res_DeltaX/Res0_DeltaX)
# Update counter.
Iter += 1
if XBOPTS.PrintInfo.value==True:
sys.stdout.write( ' %-7d %-10.4e %-10.4e %8.4f\n'
%(Iter, max(abs(Qsys)), max(abs(DQ)), ResLog10) )
# END Netwon-Raphson.
#----------------------------------------------------------------------- Terminate time-Loop
# Unpack state variables
Vrel[iStep,:] = dQdt[NumDof.value:NumDof.value+6].copy('F')
VrelDot[iStep,:] = dQddt[NumDof.value:NumDof.value+6].copy('F')
Quat = dQdt[NumDof.value+6:].copy('F')
Quat = Quat/np.linalg.norm(Quat)
X=Q[:NumDof.value].copy('F')
dXdt=dQdt[:NumDof.value].copy('F')
Cao = xbl.Rot(Quat)
PsiA_G = xbl.quat2psi(Quat)
# sm: here to avoid crash at first time-step
if AELAOPTS.Tight == False:
XBOUT.ForceAeroList.append(ForceAero.copy('C'))
# sm: save aero data
if ( SaveDict['SaveWake']==True and
iStep%SaveDict['SaveWakeFreq'] == 0 ):
nfile=iStep//SaveDict['SaveWakeFreq']
hdwake=h5py.File(dirwake+'%.4d.h5'%nfile,'w')
hdwake['iStep']=iStep
hdwake['Zeta']= np.float32(Zeta.copy('C'))
hdwake['ZetaStar']= np.float32(ZetaStar.copy('C'))
hdwake.close()
# sm debug:
#XBOUT.ForceDofList.append( np.dot(FstrucFull, Force_Dof).copy() )
XBOUT.ForceRigidList.append( np.dot(FrigidFull, Force_All).copy() )
#update to converged nodal displacements and velocities
X=Q[:NumDof.value].copy('F')
dXdt=dQdt[:NumDof.value].copy('F');
BeamLib.Cbeam3_Solv_State2Disp(XBINPUT, NumNodes_tot, XBELEM, XBNODE,
PosIni, PsiIni, NumDof, X, dXdt,\
PosDefor, PsiDefor, PosDotDef, PsiDotDef)
PosPsiTime[iStep,:3] = PosDefor[-1,:]
PosPsiTime[iStep,3:] = PsiDefor[-1,XBELEM.NumNodes[-1]-1,:]
#Position of all grid points in global FoR
i1 = (iStep)*NumNodes_tot.value
i2 = (iStep+1)*NumNodes_tot.value
DynOut[i1:i2,:] = PosDefor
#Export rigid-body velocities/accelerations
if XBOPTS.OutInaframe.value==False:
ACoa = np.zeros((6,6), ct.c_double, 'F')
ACoa[:3,:3] = np.transpose(Cao)
ACoa[3:,3:] = np.transpose(Cao)
Vrel[iStep,:] = np.dot(ACoa,dQdt[NumDof.value:NumDof.value+6].copy('F'))
VrelDot[iStep,:] = np.dot(ACoa,dQddt[NumDof.value:NumDof.value+6].copy('F'))
if 'writeDict' in kwords and Settings.WriteOut == True:
fp= write_SOL912_out(Time[iStep], PosDefor, PsiDefor, PosIni, PsiIni, XBELEM,
kwords['writeDict'], SaveDict, FileObject=fp)
# 'Rollup' due to external velocities. TODO: Must add gusts here!
ZetaStar[:,:] = ZetaStar[:,:] + VMINPUT.U_infty*dt
# sm: append outputs
# sm I/O: FoR A velocities/accelerations
XBOUT.drop( Time=Time, DynOut=DynOut, Vrel=Vrel, VrelDot=VrelDot )
XBOUT.PsiList.append(PsiDefor.copy())
XBOUT.QuatList.append(Quat.copy())
XBOUT.CRVList.append(PsiA_G.copy())
XBOUT.cputime.append( time.clock() - XBOUT.cputime[0] )
if SaveDict['SaveProgress']:
iisave=np.arange(1,NumSteps.value,np.ceil(NumSteps.value/SaveDict['NumSavePoints']))
if any(iisave==iStep):
PyLibs.io.save.h5file(SaveDict['OutputDir'], SaveDict['OutputFileRoot']+'.h5',
*OutList)
# END Time loop
if SaveDict['Format'] == 'dat':
write_SOL912_final(Time, PosPsiTime, NumNodes_tot, DynOut, Vrel, VrelDot, SaveDict)
# Close output file if it exists.
if 'writeDict' in kwords and Settings.WriteOut == True:
fp.close()
# Close TecPlot ASCII FileObject.
if Settings.PlotTec==True:
PostProcess.CloseAeroTecFile(FileObject)
if XBOPTS.PrintInfo.value==True:
sys.stdout.write(' ... done\n')
# sm I/O: FoR A velocities/accelerations
XBOUT.drop( Time=Time, PosPsiTime=PosPsiTime, DynOut=DynOut, Vrel=Vrel, VrelDot=VrelDot )
if SaveDict['SaveWake'] is True:
XBOUT.NTwake=NumSteps.value//SaveDict['SaveWakeFreq']
PyLibs.io.save.h5file(SaveDict['OutputDir'], SaveDict['OutputFileRoot']+'.h5', *OutList)
return XBOUT
def zetaDotSubMat(r, psi, rDot, psiDot, v_a, omega_a, psi_G2a, xi, xiDot, iLin,
jLin, nBeam, nSection):
"""@brief create submatrix(3,N_states) for the linearized velocity at any
point on the surface, zeta, defined by beam DoFs R and Psi, and the
cross-sectional coordinate xi.
@param r Position vector on beam, defined in the a-frame.
@param psi CRV of orientation of beam cross-section.
@param rDot Velocity of beam at r, defined in the a-frame.
@param psiDot Time rate of change of psi.
@param v_a Velocity of a-frame, defined in the a-frame.
@param omega_a Angular vel of a-frame, defined in a-frame.
@param psi_G2a CRV of orientation of a-frame relative to earth.
@param xi Cross-sectional coordinate, defined in B-frame.
@param xiDot Time rate of change of xi, defined in B-frame.
@param iLin index of xi on the sectional DoF used for the linear analysis.
@param jLin index of R on the beam DoF used for the linear analysis.
@param nBeam Number of points on the beam axis.
@param nSection Number of points in the section definition.
@returns subMat Linear transformation from FBD + sectional DoFs to surface
velocity (G-frame) at point r_0 + C_Ga*(R + C(Psi)*xi).
@details This routine calculates the matrix corresponding to any point
on the beam axis and corresponding cross-section.
Interpolation of the primary beam and section DoFs may pre-
or post- multiply this matrix in an aeroelastic analysis.
"""
# Total states on RHS of matrix
nStates = 2 * 6 * nBeam + 9 + 2 * 3 * nSection
# Initialise subMat
subMat = np.zeros((3, nStates))
# term 1: \delta(C^{Ga}v_a)
cGa = xbl.Psi2TransMat(psi_G2a)
skewVa = xbl.Skew(v_a)
tangGa = xbl.Tangential(psi_G2a)
# term for \delta \psi_{Ga}
subMat[:, 2 * 6 * nBeam + 6:2 * 6 * nBeam +
9:1] += -np.dot(cGa, np.dot(skewVa, tangGa))
# term for \delta v_a
subMat[:, 2 * 6 * nBeam:2 * 6 * nBeam + 3:1] += cGa
# term 2: \delta(C^{Ga} \tilde{\Omega_a_a} R_a)
skewOmAa = xbl.Skew(omega_a)
skewRa = xbl.Skew(r)
# term for \delta \psi_{Ga}
subMat[:, 2 * 6 * nBeam + 6:2 * 6 * nBeam +
9:1] += -np.dot(cGa, np.dot(xbl.Skew(np.dot(skewOmAa, r)), tangGa))
# term for \delta \Omega_a_a
subMat[:, 2 * 6 * nBeam + 3:2 * 6 * nBeam + 6:1] += -np.dot(cGa, skewRa)
# term for \delta R_a
subMat[:, 6 * jLin:6 * jLin + 3:1] += np.dot(cGa, skewOmAa)
# term 3: \delta(C^{Ga}\tilde{\Omega_a_a}C^{aB}\xi_B)
cAb = xbl.Psi2TransMat(psi)
skewXi = xbl.Skew(xi)
tangAb = xbl.Tangential(psi)
# term for \delta \psi_{Ga}
subMat[:, 2 * 6 * nBeam + 6:2 * 6 * nBeam + 9:1] += -np.dot(
cGa, np.dot(xbl.Skew(np.dot(skewOmAa, np.dot(cAb, xi))), tangGa))
# term for \delta \Omega_a_a
subMat[:, 2 * 6 * nBeam + 3:2 * 6 * nBeam +
6:1] += -np.dot(cGa, xbl.Skew(np.dot(cAb, xi)))
# term for \delta \psi_{aB}
subMat[:, 6 * jLin + 3:6 * jLin + 6:1] += -np.dot(
cGa, np.dot(skewOmAa, np.dot(cAb, np.dot(skewXi, tangAb))))
# term for \delta xi_B
subMat[:, 2 * 6 * nBeam + 9 + 3 * iLin:2 * 6 * nBeam + 9 + 3 * iLin +
3:1] += np.dot(cGa, np.dot(skewOmAa, cAb))
# term 4: \delta(C^{Ga}\dot{R}_a)
skewRdot = xbl.Skew(rDot)
# term for \delta \psi_{Ga}
subMat[:, 2 * 6 * nBeam + 6:2 * 6 * nBeam +
9:1] += -np.dot(cGa, np.dot(skewRdot, tangGa))
# term for \delta \dot{R}_a
subMat[:, 6 * nBeam + 6 * jLin:6 * nBeam + 6 * jLin + 3:1] += cGa
# term 5: \delta(C^{Ga}C^{aB}\dot{\xi}_B)
skewXiDot = xbl.Skew(xiDot)
# term for \delta \psi_{Ga}
subMat[:, 2 * 6 * nBeam + 6:2 * 6 * nBeam +
9:1] += -np.dot(cGa, np.dot(xbl.Skew(np.dot(cAb, xiDot)), tangGa))
# term for \delta \psi_{aB}
subMat[:, 6 * jLin + 3:6 * jLin +
6:1] += -np.dot(cGa, np.dot(cAb, np.dot(skewXiDot, tangAb)))
# term for \delta \dot{\xi}_B
subMat[:, 2 * 6 * nBeam + 9 + 3 * nSection + 3 * iLin:2 * 6 * nBeam + 9 +
3 * nSection + 3 * iLin + 3] += np.dot(cGa, cAb)
# term 6: \delta(C^{Ga}C^{aB}\tilde{T(\psi_{aB})\dot{\psi}_{aB}\xi_B)
# Note: eqn. rearranged to \delta(-C^{Ga}C^{aB}\tilde{\xi}T(\psi_{aB})\dot{\psi}_{aB})
# term for \delta \psi_{Ga}
subMat[:, 2 * 6 * nBeam + 6:2 * 6 * nBeam + 9:1] += np.dot(
cGa,
np.dot(xbl.Skew(np.dot(cAb, np.dot(skewXi, np.dot(tangAb, psiDot)))),
tangGa))
# term for \delta \psi_{aB}
subMat[:, 6 * jLin + 3:6 * jLin + 6:1] += np.dot(
cGa,
np.dot(
cAb,
np.dot(xbl.Skew(np.dot(skewXi, np.dot(tangAb, psiDot))), tangAb)))
# term for \delta \xi_B
subMat[:, 2 * 6 * nBeam + 9 + 3 * iLin:2 * 6 * nBeam + 9 + 3 * iLin +
3:1] += np.dot(cGa, np.dot(cAb, xbl.Skew(np.dot(tangAb, psiDot))))
# term for \delta T(\psi_{aB})\dot{\psi_{aB}}
subMat[:, 6 * jLin + 3:6 * jLin + 6:1] += -np.dot(
cGa, np.dot(cAb, np.dot(skewXi, xbl.a1(psi, psiDot))))
# term for \delta \dot{\psi}_{aB}
subMat[:, 6 * nBeam + 6 * jLin + 3:6 * nBeam + 6 * jLin +
6:1] += -np.dot(cGa, np.dot(cAb, np.dot(skewXi, tangAb)))
return subMat
def Solve_Py(XBINPUT,XBOPTS,SaveDict=Settings.SaveDict):
"""Nonlinear dynamic structural solver in Python. Assembly of matrices
is carried out with Fortran subroutines."""
#Check correct solution code
assert XBOPTS.Solution.value == 912, ('NonlinearDynamic requested' +\
' with wrong solution code')
# I/O management
Settings.SaveDict=SaveDict # overwrite for compatibility with 'dat' format output
XBOUT=DerivedTypes.Xboutput()
XBOUT.cputime.append(time.clock())
if SaveDict['Format']=='h5':
Settings.WriteOut=False
Settings.PlotTec=False
OutList=[XBOPTS, XBINPUT, XBOUT]
#Initialise beam
XBINPUT, XBOPTS, NumNodes_tot, XBELEM, PosIni, PsiIni, XBNODE, NumDof \
= BeamInit.Static(XBINPUT,XBOPTS)
# Solve static
# Note: gravity loads added according to XBINPUT.PsiA_G into Solve_Py_Static
if XBOPTS.ImpStart==True:
PosDefor = PosIni.copy(order='F')
PsiDefor = PsiIni.copy(order='F')
XBOUT.ForceStaticTotal = XBINPUT.ForceStatic.copy('F')
AddGravityLoads(XBOUT.ForceStaticTotal,XBINPUT,XBELEM,
AELAOPTS=None, # allows defining inertial/elastic axis
PsiDefor=PsiDefor,
chord=0.0, # used to define inertial/elastic axis
PsiA_G=XBINPUT.PsiA_G,
FollowerForceRig=XBOPTS.FollowerForceRig.value)
else:
if XBNODE.Sflag.any():
raise NameError('Static solution with spherical joint not '
'implemented and/or possible!')
XBOPTS.Solution.value = 112
XBSTA = Solve_Py_Static(XBINPUT, XBOPTS, SaveDict=SaveDict)
XBOPTS.Solution.value = 912
PosDefor=XBSTA.PosDeforStatic.copy(order='F')
PsiDefor=XBSTA.PsiDeforStatic.copy(order='F')
XBOUT.PosDeforStatic =XBSTA.PosDeforStatic
XBOUT.PsiDeforStatic =XBSTA.PsiDeforStatic
XBOUT.ForceStaticTotal=XBSTA.ForceStaticTotal # includes gravity
del XBSTA
if SaveDict['Format']=='dat':
PyLibs.io.dat.write_SOL912_def(XBOPTS,XBINPUT,XBELEM,
NumNodes_tot,PosDefor,PsiDefor,SaveDict)
## sm I/O
#XBOUT.PosDefor=PosDefor
#XBOUT.PsiDefor=PsiDefor
#Initialise variables for dynamic analysis
Time, NumSteps, ForceTime, Vrel, VrelDot,\
PosDotDef, PsiDotDef,\
OutGrids, PosPsiTime, VelocTime, DynOut = BeamInit.Dynamic(XBINPUT,XBOPTS)
# Delete unused variables.
del OutGrids, VelocTime
#Write _force file
if SaveDict['Format']=='dat':
PyLibs.io.dat.write_SOL912_force(XBOPTS,XBINPUT,XBELEM,
Time, ForceTime, Vrel, VrelDot)
# sm I/O
### why forced velocity with Sol912 ???
### If forced velocities are prescribed, then is Sol312
XBOUT.Time_force=Time # ...SOL912_force.dat
XBOUT.ForceTime_force=ForceTime
XBOUT.Vrel_force=Vrel
XBOUT.VrelDot_force=VrelDot
# debugging
XBOUT.KsysList=[]
XBOUT.MsysList=[]
#---------------------------------------------------- Start Dynamic Solution
if XBOPTS.PrintInfo.value==True:
sys.stdout.write('Solve nonlinear dynamic case in Python ... \n')
#Initialise structural system tensors
MssFull = np.zeros((NumDof.value,NumDof.value), ct.c_double, 'F')
CssFull = np.zeros((NumDof.value,NumDof.value), ct.c_double, 'F')
KssFull = np.zeros((NumDof.value,NumDof.value), ct.c_double, 'F')
FstrucFull = np.zeros((NumDof.value,NumDof.value), ct.c_double, 'F')
ms = ct.c_int()
cs = ct.c_int()
ks = ct.c_int()
fs = ct.c_int()
Msr = np.zeros((NumDof.value,6), ct.c_double, 'F')
Csr = np.zeros((NumDof.value,6), ct.c_double, 'F')
X = np.zeros(NumDof.value, ct.c_double, 'F')
dXdt = np.zeros(NumDof.value, ct.c_double, 'F')
Force_Dof = np.zeros(NumDof.value, ct.c_double, 'F')
Qstruc = np.zeros(NumDof.value, ct.c_double, 'F')
#Initialise rigid-body system tensors
MrsFull = np.zeros((6,NumDof.value), ct.c_double, 'F')
CrsFull = np.zeros((6,NumDof.value), ct.c_double, 'F')
KrsFull = np.zeros((6,NumDof.value), ct.c_double, 'F')
FrigidFull = np.zeros((6,NumDof.value+6), ct.c_double, 'F')
mr = ct.c_int()
cr = ct.c_int()
kr = ct.c_int()
fr = ct.c_int()
Mrr = np.zeros((6,6), ct.c_double, 'F')
Crr = np.zeros((6,6), ct.c_double, 'F')
Qrigid = np.zeros(6, ct.c_double, 'F')
#Initialise full system tensors
Q = np.zeros(NumDof.value+6+4, ct.c_double, 'F')
DQ = np.zeros(NumDof.value+6+4, ct.c_double, 'F')
dQdt = np.zeros(NumDof.value+6+4, ct.c_double, 'F')
dQddt = np.zeros(NumDof.value+6+4, ct.c_double, 'F')
Force_All = np.zeros(NumDof.value+6, ct.c_double, 'F')
Msys = np.zeros((NumDof.value+6+4,NumDof.value+6+4), ct.c_double, 'F')
Csys = np.zeros((NumDof.value+6+4,NumDof.value+6+4), ct.c_double, 'F')
Ksys = np.zeros((NumDof.value+6+4,NumDof.value+6+4), ct.c_double, 'F')
Asys = np.zeros((NumDof.value+6+4,NumDof.value+6+4), ct.c_double, 'F')
Qsys = np.zeros(NumDof.value+6+4, ct.c_double, 'F')
#Initialise rotation operators
Quat = xbl.psi2quat(XBINPUT.PsiA_G)
Cao = XbeamLib.Rot(Quat)
ACoa = np.zeros((6,6), ct.c_double, 'F')
Cqr = np.zeros((4,6), ct.c_double, 'F')
Cqq = np.zeros((4,4), ct.c_double, 'F')
Unit4 = np.zeros((4,4), ct.c_double, 'F')
for i in range(4): Unit4[i,i] = 1.0
#Extract initial displacements and velocities
BeamLib.Cbeam_Solv_Disp2State(NumNodes_tot, NumDof, XBINPUT, XBNODE,
PosDefor, PsiDefor, PosDotDef, PsiDotDef,
X, dXdt)
#Initialise accelerations as zero arrays
PosDotDotDef = np.zeros((NumNodes_tot.value,3),ct.c_double,'F')
PsiDotDotDef = np.zeros((XBINPUT.NumElems,Settings.MaxElNod,3),
ct.c_double, 'F')
#Populate state vector
Q[:NumDof.value]=X.copy('F')
dQdt[:NumDof.value]=dXdt.copy('F')
dQdt[NumDof.value:NumDof.value+6] = Vrel[0,:].copy('F')
dQdt[NumDof.value+6:]= Quat.copy('F')
# Force at the first time-step
# Gravity needs including for correctly computing the accelerations at the
# 1st time-step
# Note: rank of Force increased after removing ForceTime
#Force = (XBINPUT.ForceStatic + XBINPUT.ForceDyn*ForceTime[0]).copy('F')
#Force = (XBINPUT.ForceStatic + XBINPUT.ForceDyn[0,:,:]).copy('F')
Force = (XBOUT.ForceStaticTotal + XBINPUT.ForceDyn[0,:,:]).copy('F')
#Assemble matrices and loads for structural dynamic analysis
tmpVrel=Vrel[0,:].copy('F')
tmpQuat=Quat.copy('F')
BeamLib.Cbeam3_Asbly_Dynamic(XBINPUT, NumNodes_tot, XBELEM, XBNODE,
PosIni, PsiIni, PosDefor, PsiDefor,
PosDotDef, PsiDotDef, PosDotDotDef, PsiDotDotDef,
Force, tmpVrel, 0*tmpVrel,
NumDof, Settings.DimMat,
ms, MssFull, Msr,
cs, CssFull, Csr,
ks, KssFull, fs, FstrucFull,
Qstruc, XBOPTS, Cao)
BeamLib.f_fem_m2v(ct.byref(NumNodes_tot),\
ct.byref(ct.c_int(6)),\
Force.ctypes.data_as(ct.POINTER(ct.c_double)),\
ct.byref(NumDof),\
Force_Dof.ctypes.data_as(ct.POINTER(ct.c_double)),\
XBNODE.Vdof.ctypes.data_as(ct.POINTER(ct.c_int)) )
Qstruc -= np.dot(FstrucFull, Force_Dof)
#Assemble matrices for rigid-body dynamic analysis
BeamLib.Xbeam_Asbly_Dynamic(XBINPUT, NumNodes_tot, XBELEM, XBNODE,\
PosIni, PsiIni, PosDefor, PsiDefor,\
PosDotDef, PsiDotDef, PosDotDotDef, PsiDotDotDef,\
tmpVrel, 0*tmpVrel, tmpQuat,\
NumDof, Settings.DimMat,\
mr, MrsFull, Mrr,\
cr, CrsFull, Crr, Cqr, Cqq,\
kr, KrsFull, fr, FrigidFull,\
Qrigid, XBOPTS, Cao)
BeamLib.f_fem_m2v_nofilter(ct.byref(NumNodes_tot),\
ct.byref(ct.c_int(6)),\
Force.ctypes.data_as(ct.POINTER(ct.c_double)),\
ct.byref(ct.c_int(NumDof.value+6)),\
Force_All.ctypes.data_as(ct.POINTER(ct.c_double)) )
Qrigid -= np.dot(FrigidFull, Force_All)
#Separate assembly of follower and dead loads
tmpForceTime=ForceTime[0].copy('F')
tmpQforces,Dummy,tmpQrigid = XbeamLib.LoadAssembly(XBINPUT, XBELEM, XBNODE, XBOPTS, NumDof, \
PosIni, PsiIni, PosDefor, PsiDefor, \
### sm increased rank of ForceDyn_*
#(XBINPUT.ForceStatic_foll + XBINPUT.ForceDyn_foll*tmpForceTime), \
#(XBINPUT.ForceStatic_dead + XBINPUT.ForceDyn_dead*tmpForceTime), \
(XBINPUT.ForceStatic_foll + XBINPUT.ForceDyn_foll[0,:,:]), \
(XBINPUT.ForceStatic_dead + XBINPUT.ForceDyn_dead[0,:,:]), \
Cao,1)
Qstruc -= tmpQforces
Qrigid -= tmpQrigid
#Assemble system matrices
Msys[:NumDof.value,:NumDof.value] = MssFull.copy('F')
Msys[:NumDof.value,NumDof.value:NumDof.value+6] = Msr.copy('F')
Msys[NumDof.value:NumDof.value+6,:NumDof.value] = MrsFull.copy('F')
Msys[NumDof.value:NumDof.value+6,NumDof.value:NumDof.value+6] = Mrr.copy('F')
Msys[NumDof.value+6:,NumDof.value+6:] = Unit4.copy('F')
Qsys[:NumDof.value] = Qstruc
Qsys[NumDof.value:NumDof.value+6] = Qrigid
Qsys[NumDof.value+6:] = np.dot(Cqq,dQdt[NumDof.value+6:])
# -------------------------------------------------------------------
# special BCs
iiblock=[]
if XBNODE.Sflag.any():
# block translations (redundant:)
for ii in range(3):
if XBINPUT.EnforceTraVel_FoRA[ii] == True: iiblock.append(NumDof.value+ii)
# block rotations
iirotfree=[] # free rotational dof
for ii in range(3):
if XBINPUT.EnforceAngVel_FoRA[ii] is True: iiblock.append(NumDof.value+3+ii)
else: iirotfree.append(NumDof.value+3+ii)
if len(iiblock)>0:
Msys[iiblock,:] = 0.0
Msys[:,iiblock] = 0.0
Msys[iiblock,iiblock] = 1.0
Csys[iiblock,:] = 0.0
Ksys[iiblock,:] = 0.0
Qsys[iiblock] = 0.0
if XBINPUT.sph_joint_damping is not None:
Csys[iirotfree,iirotfree] += XBINPUT.sph_joint_damping
Qsys[iirotfree] += XBINPUT.sph_joint_damping*dQdt[iirotfree]
#from IPython import embed; embed()
# add structural damping term
if XBINPUT.str_damping_model is not None:
Cdamp = XBINPUT.str_damping_param['alpha'] * MssFull + \
XBINPUT.str_damping_param['beta'] * KssFull
Qsys[:NumDof.value] += np.dot( Cdamp, dQdt[:NumDof.value] )
pass
# -------------------------------------------------------------------
#store initial matrices for eigenvalues analysis
XBOUT.Msys0 = Msys.copy()
XBOUT.Csys0 = Csys.copy()
XBOUT.Ksys0 = Ksys.copy()
XBOUT.Qsys0 = Qsys.copy()
#Initial Accel
#dQddt[:] = np.dot(np.linalg.inv(Msys), -Qsys)
#dQddt[:] = np.linalg.solve(Msys,-Qsys) # most correct but inaccurate / Msys ill-conditioned
# solve only rigid body dynamics
dQddt[:NumDof.value]=0.0
dQddt[NumDof.value:]=np.linalg.solve( Msys[NumDof.value:,NumDof.value:],
-Qsys[NumDof.value:] )
XBOUT.dQddt0=dQddt.copy()
#Record position of all grid points in global FoR at initial time step
DynOut[0:NumNodes_tot.value,:] = PosDefor
#Position/rotation of the selected node in initial deformed configuration
PosPsiTime[0,:3] = PosDefor[-1,:]
PosPsiTime[0,3:] = PsiDefor[-1,XBELEM.NumNodes[-1]-1,:]
#Get gamma and beta for Newmark scheme
gamma = 0.5 + XBOPTS.NewmarkDamp.value
beta = 0.25*(gamma + 0.5)**2
# sm write class
XBOUT.QuatList.append(Quat)
XBOUT.PosIni=PosIni
XBOUT.PsiIni=PsiIni
XBOUT.AsysListStart=[]
XBOUT.AsysListEnd=[]
XBOUT.MsysList=[]
XBOUT.CsysList=[]
XBOUT.KsysList=[]
#Time loop
for iStep in range(NumSteps.value):
if XBOPTS.PrintInfo.value==True:
sys.stdout.write(' Time: %-10.4e\n' %(Time[iStep+1]))
sys.stdout.write(' SubIter DeltaF DeltaX ResLog10\n')
#calculate dt
dt = Time[iStep+1] - Time[iStep]
###Predictor step
Q += dt*dQdt + (0.5-beta)*dQddt*dt**2
dQdt += (1.0-gamma)*dQddt*dt
### Corrector
#dQddt[:] = 0.0 # initial guess for acceleration at next time-step is zero
Q += beta*dQddt*dt**2
dQdt += gamma*dQddt*dt
#Reset convergence parameters
Iter = 0
ResLog10 = 1.0
#Newton-Raphson loop
while ( (ResLog10 > XBOPTS.MinDelta.value) \
& (Iter < XBOPTS.MaxIterations.value) ):
#set tensors to zero
MssFull[:,:] = 0.0; CssFull[:,:] = 0.0
KssFull[:,:] = 0.0; FstrucFull[:,:] = 0.0
Msr[:,:] = 0.0; Csr[:,:] = 0.0
Qstruc[:] = 0.0
MrsFull[:,:] = 0.0; CrsFull[:,:] = 0.0
KrsFull[:,:] = 0.0; FrigidFull[:,:] = 0.0
Mrr[:,:] = 0.0; Crr[:,:] = 0.0
Qrigid[:] = 0.0
Msys[:,:] = 0.0; Csys[:,:] = 0.0
Ksys[:,:] = 0.0; Asys[:,:] = 0.0;
Qsys[:] = 0.0
#Update counter
Iter += 1
if XBOPTS.PrintInfo.value==True:
sys.stdout.write(' %-7d ' %(Iter))
#nodal displacements and velocities from state vector
X=Q[:NumDof.value].copy('F')
dXdt=dQdt[:NumDof.value].copy('F');
BeamLib.Cbeam3_Solv_State2Disp(XBINPUT, NumNodes_tot, XBELEM, XBNODE,
PosIni, PsiIni, NumDof, X, dXdt,\
PosDefor, PsiDefor, PosDotDef, PsiDotDef)
#rigid-body velocities and orientation from state vector
Vrel[iStep+1,:] = dQdt[NumDof.value:NumDof.value+6].copy('F')
VrelDot[iStep+1,:] = dQddt[NumDof.value:NumDof.value+6].copy('F')
Quat = dQdt[NumDof.value+6:].copy('F')
Quat = Quat/np.linalg.norm(Quat)
Cao = XbeamLib.Rot(Quat)
### sm: removed ForceTime and increased rank of ForceDyn
# Note: do not add gravity load here!
#Force at current time-step
#Force = (XBINPUT.ForceStatic+XBINPUT.ForceDyn*ForceTime[iStep+1]).copy('F')
Force = (XBINPUT.ForceStatic+XBINPUT.ForceDyn[iStep+1,:,:]).copy('F')
# Add gravity loads (accounting for new orientation)
AddGravityLoads(Force, XBINPUT, XBELEM,
AELAOPTS=None, # allows defining inertial/elastic axis
PsiDefor=PsiDefor,
chord = 0.0, # used to define inertial/elastic axis
PsiA_G=xbl.quat2psi(Quat),
FollowerForceRig=XBOPTS.FollowerForceRig.value)
#Assemble matrices and loads for structural dynamic analysis
tmpVrel=Vrel[iStep+1,:].copy('F')
tmpQuat=Quat.copy('F')
BeamLib.Cbeam3_Asbly_Dynamic(XBINPUT, NumNodes_tot, XBELEM, XBNODE,\
PosIni, PsiIni, PosDefor, PsiDefor,\
PosDotDef, PsiDotDef, PosDotDotDef, PsiDotDotDef,\
Force, tmpVrel, 0*tmpVrel,\
NumDof, Settings.DimMat,\
ms, MssFull, Msr,\
cs, CssFull, Csr,\
ks, KssFull, fs, FstrucFull,\
Qstruc, XBOPTS, Cao)
BeamLib.f_fem_m2v(ct.byref(NumNodes_tot),\
ct.byref(ct.c_int(6)),\
Force.ctypes.data_as(ct.POINTER(ct.c_double)),\
ct.byref(NumDof),\
Force_Dof.ctypes.data_as(ct.POINTER(ct.c_double)),\
XBNODE.Vdof.ctypes.data_as(ct.POINTER(ct.c_int)) )
#Assemble matrices for rigid-body dynamic analysis
BeamLib.Xbeam_Asbly_Dynamic(XBINPUT, NumNodes_tot, XBELEM, XBNODE,\
PosIni, PsiIni, PosDefor, PsiDefor,\
PosDotDef, PsiDotDef, PosDotDotDef, PsiDotDotDef,\
tmpVrel, 0*tmpVrel, tmpQuat,\
NumDof, Settings.DimMat,\
mr, MrsFull, Mrr,\
cr, CrsFull, Crr, Cqr, Cqq,\
kr, KrsFull, fs, FrigidFull,\
Qrigid, XBOPTS, Cao)
BeamLib.f_fem_m2v_nofilter(ct.byref(NumNodes_tot),\
ct.byref(ct.c_int(6)),\
Force.ctypes.data_as(ct.POINTER(ct.c_double)),\
ct.byref(ct.c_int(NumDof.value+6)),\
Force_All.ctypes.data_as(ct.POINTER(ct.c_double)) )
#Residual at first iteration
if(Iter == 1):
Res0_Qglobal = max(max(abs(Qsys)),1)
Res0_DeltaX = max(max(abs(DQ)),1)
#Assemble discrete system matrices with linearised quaternion equations
Msys[:NumDof.value,:NumDof.value] = MssFull.copy('F')
Msys[:NumDof.value,NumDof.value:NumDof.value+6] = Msr.copy('F')
Msys[NumDof.value:NumDof.value+6,:NumDof.value] = MrsFull.copy('F')
Msys[NumDof.value:NumDof.value+6,NumDof.value:NumDof.value+6] = Mrr.copy('F')
Msys[NumDof.value+6:,NumDof.value+6:] = Unit4.copy('F')
Csys[:NumDof.value,:NumDof.value] = CssFull.copy('F')
Csys[:NumDof.value,NumDof.value:NumDof.value+6] = Csr.copy('F')
Csys[NumDof.value:NumDof.value+6,:NumDof.value] = CrsFull.copy('F')
Csys[NumDof.value:NumDof.value+6,NumDof.value:NumDof.value+6] = Crr.copy('F')
Csys[NumDof.value+6:,NumDof.value:NumDof.value+6] = Cqr.copy('F')
Csys[NumDof.value+6:,NumDof.value+6:] = Cqq.copy('F')
Ksys[:NumDof.value,:NumDof.value] = KssFull.copy('F')
Ksys[NumDof.value:NumDof.value+6,:NumDof.value] = KrsFull.copy('F')
#Separate assembly of follower and dead loads
#tmpForceTime=ForceTime[iStep+1].copy('F')
tmpQforces,Dummy,tmpQrigid = XbeamLib.LoadAssembly(XBINPUT, XBELEM, XBNODE, XBOPTS, NumDof, \
PosIni, PsiIni, PosDefor, PsiDefor, \
### sm: increased rank of ForceDyn_*
#(XBINPUT.ForceStatic_foll + XBINPUT.ForceDyn_foll*tmpForceTime), \
#(XBINPUT.ForceStatic_dead + XBINPUT.ForceDyn_dead*tmpForceTime), \
(XBINPUT.ForceStatic_foll + XBINPUT.ForceDyn_foll[iStep+1,:,:] ), \
(XBINPUT.ForceStatic_dead + XBINPUT.ForceDyn_dead[iStep+1,:,:] ), \
Cao,1)
Qstruc -= tmpQforces
Qrigid -= tmpQrigid
#Compute residual
Qstruc += -np.dot(FstrucFull, Force_Dof)
Qrigid += -np.dot(FrigidFull, Force_All)
# final of last iter
XBOUT.Qstruc=Qstruc.copy()
XBOUT.Qrigid=Qrigid.copy()
# final of initial iter
if iStep==0:
XBOUT.Qstruc0=Qstruc.copy()
XBOUT.Qrigid0=Qrigid.copy()
Qsys[:NumDof.value] = Qstruc
Qsys[NumDof.value:NumDof.value+6] = Qrigid
Qsys[NumDof.value+6:] = np.dot(Cqq,dQdt[NumDof.value+6:])
Qsys += np.dot(Msys,dQddt)
# include damping
if XBINPUT.str_damping_model == 'prop':
Cdamp = XBINPUT.str_damping_param['alpha'] * MssFull + \
XBINPUT.str_damping_param['beta'] * KssFull
Csys[:NumDof.value,:NumDof.value] += Cdamp
Qsys[:NumDof.value] += np.dot(Cdamp, dQdt[:NumDof.value])
# special BCs
# if SphFlag:
if len(iiblock)>0: # allow to enforce only attitude while keeping velocity free
Msys[iiblock,:] = 0.0
Msys[iiblock,iiblock] = 1.0
Csys[iiblock,:] = 0.0
Ksys[iiblock,:] = 0.0
Qsys[iiblock] = 0.0
if XBINPUT.sph_joint_damping is not None:
Csys[iirotfree,iirotfree] += XBINPUT.sph_joint_damping
Qsys[iirotfree] += XBINPUT.sph_joint_damping*dQdt[iirotfree]
#XBOUT.Msys=Msys.copy('F')
#XBOUT.Qsys=Qsys.copy('F')
#XBOUT.Csys=Csys.copy('F')
#XBOUT.Ksys=Ksys.copy('F')
#Calculate system matrix for update calculation
Asys = Ksys + Csys*gamma/(beta*dt) + Msys/(beta*dt**2)
#Compute correction
DQ[:] = np.dot(np.linalg.inv(Asys), -Qsys)
Q += DQ
dQdt += DQ*gamma/(beta*dt)
dQddt += DQ/(beta*dt**2)
#Update convergence criteria
if XBOPTS.PrintInfo.value==True:
sys.stdout.write('%-10.4e ' %(max(abs(Qsys))))
Res_Qglobal = max(abs(Qsys))
Res_DeltaX = max(abs(DQ))
ResLog10 = max(Res_Qglobal/Res0_Qglobal,Res_DeltaX/Res0_DeltaX)
if XBOPTS.PrintInfo.value==True:
sys.stdout.write('%-10.4e %8.4f\n' %(max(abs(DQ)),ResLog10))
#END Newton-Raphson
# debug
#XBOUT.ForceRigidList.append( np.dot(FrigidFull, Force_All).copy() )
#update to converged nodal displacements and velocities
X=Q[:NumDof.value].copy('F')
dXdt=dQdt[:NumDof.value].copy('F');
BeamLib.Cbeam3_Solv_State2Disp(XBINPUT, NumNodes_tot, XBELEM, XBNODE,
PosIni, PsiIni, NumDof, X, dXdt,\
PosDefor, PsiDefor, PosDotDef, PsiDotDef)
PosPsiTime[iStep+1,:3] = PosDefor[(NumNodes_tot.value-1)/2+1,:]
PosPsiTime[iStep+1,3:] = PsiDefor[-1,XBELEM.NumNodes[-1]-1,:]
#Position of all grid points in global FoR
i1 = (iStep+1)*NumNodes_tot.value
i2 = (iStep+2)*NumNodes_tot.value
DynOut[i1:i2,:] = PosDefor
#Export rigid-body velocities/accelerations
if XBOPTS.OutInaframe.value==True:
Vrel[iStep+1,:] = dQdt[NumDof.value:NumDof.value+6].copy('F')
VrelDot[iStep+1,:] = dQddt[NumDof.value:NumDof.value+6].copy('F')
else:
Quat = dQdt[NumDof.value+6:].copy('F')
Quat = Quat/np.linalg.norm(Quat)
Cao = XbeamLib.Rot(Quat)
ACoa[:3,:3] = np.transpose(Cao)
ACoa[3:,3:] = np.transpose(Cao)
Vrel[iStep+1,:] = np.dot(ACoa,dQdt[NumDof.value:NumDof.value+6].copy('F'))
VrelDot[iStep+1,:] = np.dot(ACoa,dQddt[NumDof.value:NumDof.value+6].copy('F'))
# sm: append outputs
XBOUT.QuatList.append(Quat.copy())
# sm I/O: FoR A velocities/accelerations
XBOUT.Time=Time # ...dyn.dat
#XBOUT.PosPsiTime = PosPsiTime
XBOUT.DynOut=DynOut # ...shape.dat
XBOUT.Vrel=Vrel # ...rigid.dat
XBOUT.VrelDot=VrelDot
#XBOUT.PosPsiTime=PosPsiTime
XBOUT.PsiList.append(PsiDefor.copy())
XBOUT.cputime.append( time.clock() - XBOUT.cputime[0] )
if SaveDict['SaveProgress']:
iisave=np.arange(1,NumSteps.value,np.ceil(NumSteps.value/SaveDict['NumSavePoints']))
if any(iisave==iStep):
PyLibs.io.save.h5file(SaveDict['OutputDir'], SaveDict['OutputFileRoot']+'.h5',
*OutList)
#END Time loop
if SaveDict['Format'] == 'dat':
PyLibs.io.dat.write_SOL912_final(Time, PosPsiTime,
NumNodes_tot, DynOut, Vrel, VrelDot, SaveDict)
if XBOPTS.PrintInfo.value==True:
sys.stdout.write(' ... done\n')
# sm I/O: FoR A velocities/accelerations
XBOUT.Time=Time # ...dyn.dat
XBOUT.PosPsiTime = PosPsiTime
XBOUT.DynOut=DynOut # ...shape.dat
XBOUT.Vrel=Vrel # ...rigid.dat
XBOUT.VrelDot=VrelDot
XBOUT.PosPsiTime=PosPsiTime
# save h5
XBINPUT.ForceDyn = XBINPUT.ForceDyn + XBINPUT.ForceDyn_foll + XBINPUT.ForceDyn_dead
del(XBINPUT.ForceDyn_dead)
del(XBINPUT.ForceDyn_foll)
PyLibs.io.save.h5file(SaveDict['OutputDir'], SaveDict['OutputFileRoot']+'.h5', *OutList)
return XBOUT