def simBody(time,
Fex,
Fdamp,
dampType,
M,
Ma,
B,
c,
alpha,
beta,
moor=False,
dof=[1, 1, 1, 1, 1, 1]):
# Initial Conditions
y0 = [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
arg_f = [
M[0, 0], M[1, 1], M[2, 2], M[3, 3], M[4, 4], M[5, 5], M[0, 4], M[1, 3],
Ma[0, 0], Ma[1, 1], Ma[2, 2], Ma[3, 3], Ma[4, 4], Ma[5, 5], Ma[0, 4],
Ma[1, 3], B[0, 0], B[1, 1], B[2, 2], B[3, 3], B[4, 4], B[5, 5],
B[0, 4], B[1, 3], c[2, 2], c[3, 3], c[4, 4], Fex[0, 0], Fex[1, 0],
Fex[2, 0], Fex[3, 0], Fex[4, 0], Fex[5, 0]
]
for iA in range(0, len(alpha)):
y0.append(0.0)
arg_f.append(alpha[iA])
for iA in range(0, len(alpha)):
arg_f.append(beta[iA])
for i in range(6):
arg_f.append(0.0) # Placeholder for optional mooring force
t0 = time[0]
def f(t, y, args):
rhs = [0] * int((len(args) - 39) / 2 + 12) #Was 33 instead of 39
rhs[0] = y[6]
rhs[1] = y[7]
rhs[2] = y[8]
rhs[3] = y[9]
rhs[4] = y[10]
rhs[5] = y[11]
rhs[6] = (args[27] - args[-6] - (args[6] + args[14]) * rhs[10] -
args[16] * y[6] - args[22] * y[10]) / (args[0] + args[8])
rhs[7] = (args[28] - args[-5] - (args[7] + args[15]) * rhs[9] -
args[17] * y[7] - args[23] * y[9]) / (args[1] + args[9])
#rhs[8] = (args[29]-args[18]*y[8]-args[24]*y[2])/(args[2] + args[10])
rhs[8] = 0.0
I = ''
for iB in range(0, len(rhs) - 12):
I = I + ' - y[' + str(12 + iB) + ']'
rhs[iB + 12] = args[iB + (len(args) - 33) / 2 +
33] * y[iB + 2] + args[iB + 33] * y[1]
rhs[8] = eval('(args[29] - args[-4]-args[24]*y[2]' + I +
')/(args[2]+args[10])')
rhs[9] = (args[30] - args[-3] -
(args[7] + args[15]) * rhs[7] - args[19] * y[9] -
args[23] * y[7] - args[25] * y[3]) / (args[3] + args[11])
rhs[10] = (args[31] - args[-2] -
(args[6] + args[14]) * rhs[6] - args[20] * y[10] -
args[22] * y[6] - args[26] * y[4]) / (args[4] + args[12])
rhs[11] = (args[32] - args[-1] - args[21] * y[11]) / (args[5] +
args[13])
return rhs
r = sci.ode(f).set_integrator('lsoda', nsteps=50)
r.set_initial_value(y0, t0).set_f_params(arg_f)
t1 = time[-1]
dt = time[1] - time[0]
xx = np.zeros((6, len(time)))
vv = np.zeros((6, len(time)))
tim = np.array([0])
iF = 0
# Set-up Mooring
if moor:
moorLib = ms.simLinesInit()
while r.successful() and r.t < t1:
r.integrate(r.t + dt)
xx[:, iF] = r.y[0:6]
vv[:, iF] = r.y[6:12]
tim = np.append(time, r.t)
y0 = r.y
arg_f[27] = Fex[0, iF]
arg_f[28] = Fex[1, iF]
arg_f[29] = Fex[2, iF]
arg_f[30] = Fex[3, iF]
arg_f[31] = Fex[4, iF]
arg_f[32] = Fex[5, iF]
if moor:
if sum(dof) < 2:
arg_f[dof.index(1) - 6] = 0.1 * ms.simLines(
moorLib, xx[dof.index(1), iF], vv[dof.index(1), iF],
tim[iF], dt, dof)
else:
Fmoor = 0.1 * ms.simLines(moorLib, xx[:, iF], vv[:, iF],
tim[iF], dt, dof)
arg_f[-6] = Fmoor[0]
arg_f[-5] = Fmoor[1]
arg_f[-4] = Fmoor[2]
arg_f[-3] = Fmoor[3]
arg_f[-2] = Fmoor[4]
arg_f[-1] = Fmoor[5]
r.set_f_params(arg_f)
iF = iF + 1
tim = np.delete(tim, -1)
# Close Mooring
if moor:
ms.simClose(moorLib)
del moorLib
return tim, xx, vv
def simBodyReg1DOF(time,
Fex,
Fdamp,
dampType,
M,
c,
Ma,
Bhyd,
moor=False,
dof=[0, 0, 1, 0, 0, 0]):
# Ramp function for Fex
ramp = 0.5 * (1 + np.tanh(2 * np.pi / 10.0 * time - np.pi))
Fex = Fex * ramp
# Initial Conditions
y0 = [0.0, 0.0]
arg_f = [M, c, Ma, Bhyd, Fex[0], 0.0]
if dampType == 0:
arg_f[5] = Fdamp
arg_f.append(0.0) # Placeholder for optional mooring force
t0 = time[0]
# Define System
def fC(t, y, args):
rhs = [0] * 2
rhs[0] = y[1]
rhs[1] = (args[4] - args[-1] - args[3] * y[1] - args[5] -
args[1] * y[0]) / (args[0] + args[2])
return rhs
def fL(t, y, args):
rhs = [0] * 2
rhs[0] = y[1]
rhs[1] = (args[4] - args[-1] - (args[3] + args[5][1]) * y[1] -
(args[1] + args[5][2]) * y[0]) / (args[0] + args[2] +
args[5][0])
return rhs
# Define Tuning
def ptoForce(r, Fdamp, Fe, c, Bhyd):
vel = r.y[1]
pos = r.y[0]
Fwa = Fe - c * pos - Bhyd * vel
if vel < 0.0:
Fpto = 0.0
elif vel > 0.02:
Fpto = Fdamp
else:
Fcom = np.array([Fdamp, Fwa])
Fcom = np.array([Fcom.min(), 0.0])
Fpto = Fcom.max()
return Fpto
if dampType == 0:
r = sci.ode(fL).set_integrator('dopri5')
else:
r = sci.ode(fC).set_integrator('dopri5')
r.set_initial_value(y0, t0).set_f_params(arg_f)
t1 = time[-1]
dt = time[1] - time[0]
z = np.array([0])
v = np.array([0])
Fp = np.array([0])
tim = np.array([0])
iF = 0
# Set-up Mooring
if moor:
moorLib = ms.simLinesInit()
while r.successful() and r.t < t1:
r.integrate(r.t + dt)
z = np.append(z, r.y[0])
v = np.append(v, r.y[1])
tim = np.append(time, r.t)
y0 = r.y
arg_f[4] = Fex[iF]
if dampType == 1:
dummy = ptoForce(r, Fdamp, Fex[iF], c, Bhyd)
arg_f[5] = dummy
Fp = np.append(Fp, dummy)
else:
Fp = np.append(Fp, Fdamp[1] * r.y[1])
if moor:
arg_f[-1] = 0.1 * ms.simLines(moorLib, z[iF], v[iF], tim[iF], dt,
dof)
r.set_f_params(arg_f)
iF = iF + 1
tim = np.delete(tim, -1)
# Close Mooring
if moor:
ms.simClose(moorLib)
del moorLib
return tim, z, v, Fp
def simBody1DOF(time,
Fex,
Fdamp,
dampType,
M,
Mainf,
c,
alpha,
beta,
moor=False,
dof=[0, 0, 1, 0, 0, 0]):
# Initial Conditions
y0 = [0.0, 0.0]
arg_f = [M, Mainf, c, Fex[0], 0.0]
if dampType == 0:
arg_f[4] = Fdamp
for iA in range(0, len(alpha)):
y0.append(0.0)
arg_f.append(alpha[iA])
for iA in range(0, len(alpha)):
arg_f.append(beta[iA])
arg_f.append(0.0) # Placeholder for optional mooring force
t0 = time[0]
# Define System
def fC(t, y, args):
rhs = [0] * int((len(args) - 5) / 2 + 2)
rhs[0] = y[1]
rhs[1] = 0.0
I = ''
for iB in range(0, len(rhs) - 2):
I = I + '-y[' + str(2 + iB) + ']'
rhs[iB + 2] = args[iB + (len(args) - 5) / 2 +
5] * y[iB + 2] + args[iB + 5] * y[1]
rhs[1] = eval('(args[3]-args[4]-args[-1]-args[2]*y[0]' + I +
')/(args[0]+args[1])')
return rhs
def fL(t, y, args):
rhs = [0] * int((len(args) - 5) / 2 + 2)
rhs[0] = y[1]
rhs[1] = 0.0
I = ''
for iB in range(0, len(rhs) - 2):
I = I + '-y[' + str(2 + iB) + ']'
rhs[iB + 2] = args[iB + (len(args) - 5) / 2 +
5] * y[iB + 2] + args[iB + 5] * y[1]
rhs[1] = eval(
'(args[3]-args[-1]-args[4][1]*y[1]-(args[2]+args[4][2])*y[0]' + I +
')/(args[0]+args[1]+args[4][0])')
return rhs
# Define Tuning
def ptoForce(r, Fdamp, Fe, c):
vel = r.y[1]
pos = r.y[0]
nI = len(r.y) - 2
I = 0.0
for iI in range(0, nI):
I = I + r.y[iI + 2]
Fwa = Fe - c * pos - I
if vel < 0.0:
Fpto = 0.0
elif vel > 0.02:
Fpto = Fdamp
else:
Fcom = np.array([Fdamp, Fwa])
Fcom = np.array([Fcom.min(), 0.0])
Fpto = Fcom.max()
return Fpto
# Set-up System
if dampType == 0:
r = sci.ode(fL).set_integrator('dopri5')
else:
r = sci.ode(fC).set_integrator('dopri5')
r.set_initial_value(y0, t0).set_f_params(arg_f)
t1 = time[-1]
dt = time[1] - time[0]
z = np.zeros(len(time))
Fp = np.zeros(len(time))
v = np.zeros(len(time))
tim = np.zeros(len(time))
iF = 0
# Set-up Mooring
if moor:
moorLib = ms.simLinesInit()
# Time integration
while r.successful() and r.t < t1:
r.integrate(r.t + dt)
z[iF] = r.y[0]
v[iF] = r.y[1]
tim[iF] = r.t
arg_f[3] = Fex[iF]
if dampType == 0:
Fp[iF] = Fdamp[1] * v[iF]
else:
dummy = ptoForce(r, Fdamp, Fex[iF], c)
arg_f[4] = dummy
Fp[iF] = dummy
if moor:
arg_f[-1] = 0.1 * ms.simLines(moorLib, z[iF], v[iF], tim[iF], dt,
dof)
#print('{:f}'.format(test))
r.set_f_params(arg_f)
iF = iF + 1
# Close Mooring
if moor:
ms.simClose(moorLib)
del moorLib
return tim, z, v, Fp
def simBody(time,Fex,Fdamp,dampType,M,Ma,B,c,alpha,beta,moor=False,dof=[1,1,1,1,1,1]):
# Initial Conditions
y0 = [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
arg_f = [M[0,0],M[1,1],M[2,2],M[3,3],M[4,4],M[5,5],M[0,4],M[1,3],
Ma[0,0],Ma[1,1],Ma[2,2],Ma[3,3],Ma[4,4],Ma[5,5],Ma[0,4],Ma[1,3],
B[0,0],B[1,1],B[2,2],B[3,3],B[4,4],B[5,5],B[0,4],B[1,3],
c[2,2],c[3,3],c[4,4],Fex[0,0],Fex[1,0],Fex[2,0],Fex[3,0],
Fex[4,0],Fex[5,0]]
for iA in range(0,len(alpha)):
y0.append(0.0)
arg_f.append(alpha[iA])
for iA in range(0,len(alpha)):
arg_f.append(beta[iA])
for i in range(6):
arg_f.append(0.0) # Placeholder for optional mooring force
t0 = time[0]
def f(t, y, args):
rhs = [0]*int((len(args)-33)/2 + 12)
rhs[0] = y[6]
rhs[1] = y[7]
rhs[2] = y[8]
rhs[3] = y[9]
rhs[4] = y[10]
rhs[5] = y[11]
rhs[6] = (args[27]-args[-6]-(args[6]+args[14])*rhs[10]-args[16]*y[6]-args[22]*y[10])/(args[0] + args[8])
rhs[7] = (args[28]-args[-5]-(args[7]+args[15])*rhs[9]-args[17]*y[7]-args[23]*y[9])/(args[1] + args[9])
#rhs[8] = (args[29]-args[18]*y[8]-args[24]*y[2])/(args[2] + args[10])
rhs[8] = 0.0
I = ''
for iB in range(0,len(rhs) - 12):
I = I + ' - y[' + str(12+iB) + ']'
rhs[iB+12] = args[iB+(len(args)-33)/2+33]*y[iB+2]+args[iB+33]*y[1]
rhs[8] = eval('(args[29] - args[-4]-args[24]*y[2]' + I + ')/(args[2]+args[10])')
rhs[9] = (args[30]-args[-3]-(args[7]+args[15])*rhs[7]-args[19]*y[9]-args[23]*y[7]-args[25]*y[3])/(args[3] + args[11])
rhs[10] = (args[31]-args[-2]-(args[6]+args[14])*rhs[6]-args[20]*y[10]-args[22]*y[6]-args[26]*y[4])/(args[4] + args[12])
rhs[11] = (args[32]-args[-1]-args[21]*y[11])/(args[5] + args[13])
return rhs
r = sci.ode(f).set_integrator('lsoda',nsteps = 50)
r.set_initial_value(y0, t0).set_f_params(arg_f)
t1 = time[-1]
dt = time[1]-time[0]
xx = np.zeros((6,len(time)))
vv = np.zeros((6,len(time)))
tim = np.array([0])
iF = 0
# Set-up Mooring
if moor:
moorLib = ms.simLinesInit()
while r.successful() and r.t < t1:
r.integrate(r.t+dt)
xx[:,iF] = r.y[0:6]
vv[:,iF] = r.y[6:12]
tim = np.append(time,r.t)
y0 = r.y
arg_f[27] = Fex[0,iF]
arg_f[28] = Fex[1,iF]
arg_f[29] = Fex[2,iF]
arg_f[30] = Fex[3,iF]
arg_f[31] = Fex[4,iF]
arg_f[32] = Fex[5,iF]
if moor:
if sum(dof)<2:
arg_f[dof.index(1)-6] = 0.1 * ms.simLines(moorLib,xx[dof.index(1),iF],vv[dof.index(1),iF],tim[iF],dt,dof)
else:
Fmoor = 0.1 * ms.simLines(moorLib,xx[:,iF],vv[:,iF],tim[iF],dt,dof)
arg_f[-6] = Fmoor[0]
arg_f[-5] = Fmoor[1]
arg_f[-4] = Fmoor[2]
arg_f[-3] = Fmoor[3]
arg_f[-2] = Fmoor[4]
arg_f[-1] = Fmoor[5]
r.set_f_params(arg_f)
iF = iF + 1
tim = np.delete(tim,-1)
# Close Mooring
if moor:
ms.simClose(moorLib)
del moorLib
return tim,xx,vv
def simBody1DOF(time,Fex,Fdamp,dampType,M,Mainf,c,alpha,beta,moor=False,dof=[0,0,1,0,0,0]):
# Initial Conditions
y0 = [0.0, 0.0]
arg_f = [M,Mainf,c,Fex[0],0.0]
if dampType==0:
arg_f[4] = Fdamp
for iA in range(0,len(alpha)):
y0.append(0.0)
arg_f.append(alpha[iA])
for iA in range(0,len(alpha)):
arg_f.append(beta[iA])
arg_f.append(0.0) # Placeholder for optional mooring force
t0 = time[0]
# Define System
def fC(t, y, args):
rhs = [0]*int((len(args)-5)/2+2)
rhs[0] = y[1]
rhs[1] = 0.0
I = ''
for iB in range(0,len(rhs)-2):
I = I + '-y[' + str(2+iB) + ']'
rhs[iB+2] = args[iB+(len(args)-5)/2+5]*y[iB+2]+args[iB+5]*y[1]
rhs[1] = eval('(args[3]-args[4]-args[-1]-args[2]*y[0]' + I + ')/(args[0]+args[1])')
return rhs
def fL(t, y, args):
rhs = [0]*int((len(args)-5)/2+2)
rhs[0] = y[1]
rhs[1] = 0.0
I = ''
for iB in range(0,len(rhs)-2):
I = I + '-y[' + str(2+iB) + ']'
rhs[iB+2] = args[iB+(len(args)-5)/2+5]*y[iB+2]+args[iB+5]*y[1]
rhs[1] = eval('(args[3]-args[-1]-args[4]*y[1]-args[2]*y[0]' + I + ')/(args[0]+args[1])')
return rhs
# Define Tuning
def ptoForce(r,Fdamp,Fe,c):
vel = r.y[1]
pos = r.y[0]
nI = len(r.y)-2
I = 0.0
for iI in range(0,nI):
I = I + r.y[iI+2]
Fwa = Fe-c*pos-I
if vel<0.0:
Fpto = 0.0
elif vel>0.02:
Fpto = Fdamp
else:
Fcom = np.array([Fdamp,Fwa])
Fcom = np.array([Fcom.min(),0.0])
Fpto = Fcom.max()
return Fpto
# Set-up System
if dampType == 0:
r = sci.ode(fL).set_integrator('dopri5')
else:
r = sci.ode(fC).set_integrator('dopri5')
r.set_initial_value(y0, t0).set_f_params(arg_f)
t1 = time[-1]
dt = time[1]-time[0]
z = np.zeros(len(time))
Fp = np.zeros(len(time))
v = np.zeros(len(time))
tim = np.zeros(len(time))
iF = 0
# Set-up Mooring
if moor:
moorLib = ms.simLinesInit()
# Time integration
while r.successful() and r.t < t1:
r.integrate(r.t+dt)
z[iF] = r.y[0]
v[iF] = r.y[1]
tim[iF] = r.t
arg_f[3] = Fex[iF]
if dampType == 0:
Fp[iF] = Fdamp*v[iF]
else:
dummy = ptoForce(r,Fdamp,Fex[iF],c)
arg_f[4] = dummy
Fp[iF] = dummy
if moor:
arg_f[-1] = 0.1 * ms.simLines(moorLib,z[iF],v[iF],tim[iF],dt,dof)
#print('{:f}'.format(test))
r.set_f_params(arg_f)
iF = iF + 1
# Close Mooring
if moor:
ms.simClose(moorLib)
del moorLib
return tim,z,v,Fp
def simBodyReg1DOF(time,Fex,Fdamp,dampType,M,c,Ma,Bhyd,moor=False,dof=[0,0,1,0,0,0]):
# Ramp function for Fex
ramp = 0.5*(1+np.tanh(2*np.pi/10.0*time-np.pi))
Fex = Fex*ramp
# Initial Conditions
y0 = [0.0, 0.0]
arg_f = [M,c,Ma,Bhyd,Fex[0],0.0]
if dampType == 0:
arg_f[5] = Fdamp
arg_f.append(0.0) # Placeholder for optional mooring force
t0 = time[0]
# Define System
def fC(t, y, args):
rhs = [0]*2
rhs[0] = y[1]
rhs[1] = (args[4] - args[-1] - args[3]*y[1] - args[5] - args[1]*y[0])/(args[0] + args[2])
return rhs
def fL(t, y, args):
rhs = [0]*2
rhs[0] = y[1]
rhs[1] = (args[4] - args[-1] - args[3]*y[1] - args[5]*y[1] - args[1]*y[0])/(args[0] + args[2])
return rhs
# Define Tuning
def ptoForce(r,Fdamp,Fe,c,Bhyd):
vel = r.y[1]
pos = r.y[0]
Fwa = Fe-c*pos-Bhyd*vel
if vel<0.0:
Fpto = 0.0
elif vel>0.02:
Fpto = Fdamp
else:
Fcom = np.array([Fdamp,Fwa])
Fcom = np.array([Fcom.min(),0.0])
Fpto = Fcom.max()
return Fpto
if dampType == 0:
r = sci.ode(fL).set_integrator('dopri5')
else:
r = sci.ode(fC).set_integrator('dopri5')
r.set_initial_value(y0, t0).set_f_params(arg_f)
t1 = time[-1]
dt = time[1]-time[0]
z = np.array([0])
v = np.array([0])
Fp = np.array([0])
tim = np.array([0])
iF = 0
# Set-up Mooring
if moor:
moorLib = ms.simLinesInit()
while r.successful() and r.t < t1:
r.integrate(r.t+dt)
z = np.append(z,r.y[0])
v = np.append(v,r.y[1])
tim = np.append(time,r.t)
y0 = r.y
arg_f[4] = Fex[iF]
if dampType == 1:
dummy = ptoForce(r,Fdamp,Fex[iF],c,Bhyd)
arg_f[5] = dummy
Fp = np.append(Fp,dummy)
else:
Fp = np.append(Fp,Fdamp*r.y[1])
if moor:
arg_f[-1] = 0.1 * ms.simLines(moorLib,z[iF],v[iF],tim[iF],dt,dof)
r.set_f_params(arg_f)
iF = iF + 1
tim = np.delete(tim,-1)
# Close Mooring
if moor:
ms.simClose(moorLib)
del moorLib
return tim,z,v,Fp
