def compute(self, inputs, outputs):
frame3dd_opt = self.options["frame3dd_opt"]
# ------- node data ----------------
z = inputs["z"]
n = len(z)
node = np.arange(1, n + 1)
x = np.zeros(n)
y = np.zeros(n)
r = np.zeros(n)
nodes = pyframe3dd.NodeData(node, x, y, z, r)
# -----------------------------------
# ------ reaction data ------------
# rigid base
node = inputs["kidx"] + np.ones(len(inputs["kidx"])) # add one because 0-based index but 1-based node numbering
rigid = RIGID
reactions = pyframe3dd.ReactionData(
node, inputs["kx"], inputs["ky"], inputs["kz"], inputs["ktx"], inputs["kty"], inputs["ktz"], rigid
)
# -----------------------------------
# ------ frame element data ------------
element = np.arange(1, n)
N1 = np.arange(1, n)
N2 = np.arange(2, n + 1)
roll = np.zeros(n - 1)
# average across element b.c. frame3dd uses constant section elements
# TODO: Use nodal2sectional
Az = inputs["Az"]
Asx = inputs["Asx"]
Asy = inputs["Asy"]
Jz = inputs["Jz"]
Ixx = inputs["Ixx"]
Iyy = inputs["Iyy"]
E = inputs["E"]
G = inputs["G"]
rho = inputs["rho"]
elements = pyframe3dd.ElementData(element, N1, N2, Az, Asx, Asy, Jz, Ixx, Iyy, E, G, roll, rho)
# -----------------------------------
# ------ options ------------
dx = -1.0
options = pyframe3dd.Options(frame3dd_opt["shear"], frame3dd_opt["geom"], dx)
# -----------------------------------
# initialize frame3dd object
cylinder = pyframe3dd.Frame(nodes, reactions, elements, options)
# ------ add extra mass ------------
# extra node inertia data
N = inputs["midx"] + np.ones(len(inputs["midx"]))
add_gravity = True
cylinder.changeExtraNodeMass(
N,
inputs["m"],
inputs["mIxx"],
inputs["mIyy"],
inputs["mIzz"],
inputs["mIxy"],
inputs["mIxz"],
inputs["mIyz"],
inputs["mrhox"],
inputs["mrhoy"],
inputs["mrhoz"],
add_gravity,
)
# ------------------------------------
# ------- enable dynamic analysis ----------
Mmethod = 1
lump = 0
shift = 0.0
# Run twice the number of modes to ensure that we can ignore the torsional modes and still get the desired number of fore-aft, side-side modes
cylinder.enableDynamics(2 * NFREQ, Mmethod, lump, frame3dd_opt["tol"], shift)
# ----------------------------
# ------ static load case 1 ------------
# gravity in the X, Y, Z, directions (global)
gx = 0.0
gy = 0.0
gz = -gravity
load = pyframe3dd.StaticLoadCase(gx, gy, gz)
# point loads
nF = inputs["plidx"] + np.ones(len(inputs["plidx"]))
load.changePointLoads(nF, inputs["Fx"], inputs["Fy"], inputs["Fz"], inputs["Mxx"], inputs["Myy"], inputs["Mzz"])
# distributed loads
Px, Py, Pz = inputs["Pz"], inputs["Py"], -inputs["Px"] # switch to local c.s.
z = inputs["z"]
# trapezoidally distributed loads
EL = np.arange(1, n)
xx1 = xy1 = xz1 = np.zeros(n - 1)
xx2 = xy2 = xz2 = np.diff(z) - 1e-6 # subtract small number b.c. of precision
wx1 = Px[:-1]
wx2 = Px[1:]
wy1 = Py[:-1]
wy2 = Py[1:]
wz1 = Pz[:-1]
wz2 = Pz[1:]
load.changeTrapezoidalLoads(EL, xx1, xx2, wx1, wx2, xy1, xy2, wy1, wy2, xz1, xz2, wz1, wz2)
cylinder.addLoadCase(load)
# Debugging
# cylinder.write('temp.3dd')
# -----------------------------------
# run the analysis
displacements, forces, reactions, internalForces, mass, modal = cylinder.run()
iCase = 0
# mass
outputs["mass"] = mass.struct_mass
# natural frequncies
outputs["f1"] = modal.freq[0]
outputs["f2"] = modal.freq[1]
outputs["freqs"] = modal.freq[:NFREQ]
# Get all mode shapes in batch
NFREQ2 = int(NFREQ / 2)
freq_x, freq_y, mshapes_x, mshapes_y = util.get_xy_mode_shapes(
z, modal.freq, modal.xdsp, modal.ydsp, modal.zdsp, modal.xmpf, modal.ympf, modal.zmpf
)
outputs["x_mode_freqs"] = freq_x[:NFREQ2]
outputs["y_mode_freqs"] = freq_y[:NFREQ2]
outputs["x_mode_shapes"] = mshapes_x[:NFREQ2, :]
outputs["y_mode_shapes"] = mshapes_y[:NFREQ2, :]
# deflections due to loading (from cylinder top and wind/wave loads)
outputs["top_deflection"] = displacements.dx[iCase, n - 1] # in yaw-aligned direction
# shear and bending, one per element (convert from local to global c.s.)
Fz = forces.Nx[iCase, 1::2]
Vy = forces.Vy[iCase, 1::2]
Vx = -forces.Vz[iCase, 1::2]
Mzz = forces.Txx[iCase, 1::2]
Myy = forces.Myy[iCase, 1::2]
Mxx = -forces.Mzz[iCase, 1::2]
# Record total forces and moments
outputs["base_F"] = -1.0 * np.array([reactions.Fx.sum(), reactions.Fy.sum(), reactions.Fz.sum()])
outputs["base_M"] = -1.0 * np.array([reactions.Mxx.sum(), reactions.Myy.sum(), reactions.Mzz.sum()])
outputs["Fz_out"] = Fz
outputs["Vx_out"] = Vx
outputs["Vy_out"] = Vy
outputs["Mxx_out"] = Mxx
outputs["Myy_out"] = Myy
outputs["Mzz_out"] = Mzz
# axial and shear stress
d, _ = util.nodal2sectional(inputs["d"])
qdyn, _ = util.nodal2sectional(inputs["qdyn"])
##R = self.d/2.0
##x_stress = R*np.cos(self.theta_stress)
##y_stress = R*np.sin(self.theta_stress)
##axial_stress = Fz/self.Az + Mxx/self.Ixx*y_stress - Myy/self.Iyy*x_stress
# V = Vy*x_stress/R - Vx*y_stress/R # shear stress orthogonal to direction x,y
# shear_stress = 2. * V / self.Az # coefficient of 2 for a hollow circular section, but should be conservative for other shapes
outputs["axial_stress"] = (
Fz / inputs["Az"] - np.sqrt(Mxx ** 2 + Myy ** 2) / inputs["Iyy"] * d / 2.0
) # More conservative, just use the tilted bending and add total max shear as well at the same point, if you do not like it go back to the previous lines
outputs["shear_stress"] = (
2.0 * np.sqrt(Vx ** 2 + Vy ** 2) / inputs["Az"]
) # coefficient of 2 for a hollow circular section, but should be conservative for other shapes
# hoop_stress (Eurocode method)
L_reinforced = self.options["buckling_length"] * np.ones(Fz.shape)
outputs["hoop_stress_euro"] = hoopStressEurocode(inputs["z"], d, inputs["t"], L_reinforced, qdyn)
# Simpler hoop stress used in API calculations
outputs["hoop_stress"] = hoopStress(d, inputs["t"], qdyn)
def compute(self, inputs, outputs):
frame3dd_opt = self.options["frame3dd_opt"]
# ------- node data ----------------
z = inputs["z"]
n = len(z)
node = np.arange(1, n + 1)
x = np.zeros(n)
y = np.zeros(n)
r = np.zeros(n)
nodes = pyframe3dd.NodeData(node, x, y, z, r)
# -----------------------------------
# ------ reaction data ------------
# rigid base
node = inputs["kidx"] + np.ones(len(inputs["kidx"])) # add one because 0-based index but 1-based node numbering
rigid = RIGID
reactions = pyframe3dd.ReactionData(
node, inputs["kx"], inputs["ky"], inputs["kz"], inputs["ktx"], inputs["kty"], inputs["ktz"], rigid
)
# -----------------------------------
# ------ frame element data ------------
element = np.arange(1, n)
N1 = np.arange(1, n)
N2 = np.arange(2, n + 1)
roll = np.zeros(n - 1)
# Element properties
Az = inputs["Az"]
Asx = inputs["Asx"]
Asy = inputs["Asy"]
Jz = inputs["Jz"]
Ixx = inputs["Ixx"]
Iyy = inputs["Iyy"]
E = inputs["E"]
G = inputs["G"]
rho = inputs["rho"]
elements = pyframe3dd.ElementData(element, N1, N2, Az, Asx, Asy, Jz, Ixx, Iyy, E, G, roll, rho)
# -----------------------------------
# ------ options ------------
dx = -1.0
options = pyframe3dd.Options(frame3dd_opt["shear"], frame3dd_opt["geom"], dx)
# -----------------------------------
# initialize frame3dd object
cylinder = pyframe3dd.Frame(nodes, reactions, elements, options)
# ------ add extra mass ------------
# extra node inertia data
N = inputs["midx"] + np.ones(len(inputs["midx"]))
add_gravity = True
cylinder.changeExtraNodeMass(
N,
inputs["m"],
inputs["mIxx"],
inputs["mIyy"],
inputs["mIzz"],
inputs["mIxy"],
inputs["mIxz"],
inputs["mIyz"],
inputs["mrhox"],
inputs["mrhoy"],
inputs["mrhoz"],
add_gravity,
)
# ------------------------------------
# ------- enable dynamic analysis ----------
Mmethod = 1
lump = 0
shift = 0.0
# Run twice the number of modes to ensure that we can ignore the torsional modes and still get the desired number of fore-aft, side-side modes
cylinder.enableDynamics(2 * NFREQ, Mmethod, lump, frame3dd_opt["tol"], shift)
# ----------------------------
# ------ static load case 1 ------------
# gravity in the X, Y, Z, directions (global)
gx = 0.0
gy = 0.0
gz = -gravity
load = pyframe3dd.StaticLoadCase(gx, gy, gz)
# point loads
nF = inputs["plidx"] + np.ones(len(inputs["plidx"]))
load.changePointLoads(nF, inputs["Fx"], inputs["Fy"], inputs["Fz"], inputs["Mxx"], inputs["Myy"], inputs["Mzz"])
# distributed loads
Px, Py, Pz = inputs["Pz"], inputs["Py"], -inputs["Px"] # switch to local c.s.
z = inputs["z"]
# trapezoidally distributed loads
EL = np.arange(1, n)
xx1 = xy1 = xz1 = np.zeros(n - 1)
xx2 = xy2 = xz2 = np.diff(z) - 1e-6 # subtract small number b.c. of precision
wx1 = Px[:-1]
wx2 = Px[1:]
wy1 = Py[:-1]
wy2 = Py[1:]
wz1 = Pz[:-1]
wz2 = Pz[1:]
load.changeTrapezoidalLoads(EL, xx1, xx2, wx1, wx2, xy1, xy2, wy1, wy2, xz1, xz2, wz1, wz2)
cylinder.addLoadCase(load)
# Debugging
# cylinder.write('temp.3dd')
# -----------------------------------
# run the analysis
displacements, forces, reactions, internalForces, mass, modal = cylinder.run()
ic = 0
# mass
outputs["mass"] = mass.struct_mass
# natural frequncies
outputs["f1"] = modal.freq[0]
outputs["f2"] = modal.freq[1]
outputs["structural_frequencies"] = modal.freq[:NFREQ]
# Get all mode shapes in batch
NFREQ2 = int(NFREQ / 2)
freq_x, freq_y, freq_z, mshapes_x, mshapes_y, mshapes_z = util.get_xyz_mode_shapes(
z, modal.freq, modal.xdsp, modal.ydsp, modal.zdsp, modal.xmpf, modal.ympf, modal.zmpf
)
outputs["fore_aft_freqs"] = freq_x[:NFREQ2]
outputs["side_side_freqs"] = freq_y[:NFREQ2]
outputs["torsion_freqs"] = freq_z[:NFREQ2]
outputs["fore_aft_modes"] = mshapes_x[:NFREQ2, :]
outputs["side_side_modes"] = mshapes_y[:NFREQ2, :]
outputs["torsion_modes"] = mshapes_z[:NFREQ2, :]
# deflections due to loading (from cylinder top and wind/wave loads)
outputs["tower_deflection"] = np.sqrt(
displacements.dx[ic, :] ** 2 + displacements.dy[ic, :] ** 2
) # in yaw-aligned direction
outputs["top_deflection"] = outputs["tower_deflection"][-1]
# Record total forces and moments
ibase = 2 * int(inputs["kidx"].max())
outputs["base_F"] = -np.r_[-forces.Vz[ic, ibase], forces.Vy[ic, ibase], forces.Nx[ic, ibase]]
outputs["base_M"] = -np.r_[-forces.Mzz[ic, ibase], forces.Myy[ic, ibase], forces.Txx[ic, ibase]]
# Forces and moments along the structure
outputs["tower_Fz"] = forces.Nx[ic, 1::2]
outputs["tower_Vx"] = -forces.Vz[ic, 1::2]
outputs["tower_Vy"] = forces.Vy[ic, 1::2]
outputs["tower_Mxx"] = -forces.Mzz[ic, 1::2]
outputs["tower_Myy"] = forces.Myy[ic, 1::2]
outputs["tower_Mzz"] = forces.Txx[ic, 1::2]
elements = pyframe3dd.ElementData(ielement, N1, N2, Ax, Asy, Asz, Jx, Iy, Iz, E, G, roll, density) # 2 ----------------------------------- # 3 ------ other data ------------ shear = True # 1: include shear deformation geom = True # 1: include geometric stiffness dx = 20.0 # x-axis increment for internal forces other = pyframe3dd.Options(shear, geom, dx) # 3 ----------------------------------- # 4 ------ initialize frame3dd object frame = pyframe3dd.Frame(nodes, reactions, elements, other) # 4 ----------------------------------- # 5 ------ static load case 1 ------------ # gravity in the X, Y, Z, directions (global) gx = 0.0 gy = 0.0 gz = -9806.33 load = pyframe3dd.StaticLoadCase(gx, gy, gz) # point load nF = np.array([1]) Fx = np.array([100.0]) Fy = np.array([-200.0]) Fz = np.array([-100.0])
def compute(self, inputs, outputs):
# Unpack variables
opt = self.options["options"]
n_attach = opt["mooring"]["n_attach"]
m_rna = float(inputs["rna_mass"])
cg_rna = inputs["rna_cg"]
I_rna = inputs["rna_I"]
I_trans = inputs["transition_piece_I"]
fairlead_joints = inputs["mooring_fairlead_joints"]
mooringF = inputs["mooring_neutral_load"]
# Create frame3dd instance: nodes, elements, reactions, and options
for frame in ["tower", "system"]:
nodes = inputs[frame + "_nodes"]
nnode = np.where(nodes[:, 0] == NULL)[0][0]
nodes = nodes[:nnode, :]
rnode = np.zeros(nnode) # inputs[frame + "_Rnode"][:nnode]
Fnode = inputs[frame + "_Fnode"][:nnode, :]
Mnode = np.zeros((nnode, 3))
ihub = np.argmax(nodes[:, 2]) - 1
itrans = util.closest_node(nodes, inputs["transition_node"])
N1 = np.int_(inputs[frame + "_elem_n1"])
nelem = np.where(N1 == NULL)[0][0]
N1 = N1[:nelem]
N2 = np.int_(inputs[frame + "_elem_n2"][:nelem])
A = inputs[frame + "_elem_A"][:nelem]
Asx = inputs[frame + "_elem_Asx"][:nelem]
Asy = inputs[frame + "_elem_Asy"][:nelem]
Ixx = inputs[frame + "_elem_Ixx"][:nelem]
Iyy = inputs[frame + "_elem_Iyy"][:nelem]
Izz = inputs[frame + "_elem_Izz"][:nelem]
rho = inputs[frame + "_elem_rho"][:nelem]
E = inputs[frame + "_elem_E"][:nelem]
G = inputs[frame + "_elem_G"][:nelem]
roll = np.zeros(nelem)
inodes = np.arange(nnode) + 1
node_obj = pyframe3dd.NodeData(inodes, nodes[:, 0], nodes[:, 1],
nodes[:, 2], rnode)
ielem = np.arange(nelem) + 1
elem_obj = pyframe3dd.ElementData(ielem, N1 + 1, N2 + 1, A, Asx,
Asy, Izz, Ixx, Iyy, E, G, roll,
rho)
# TODO: Hydro_K + Mooring_K for tower (system too?)
rid = np.array([itrans]) # np.array([np.argmin(nodes[:, 2])])
Rx = Ry = Rz = Rxx = Ryy = Rzz = np.array([RIGID])
react_obj = pyframe3dd.ReactionData(rid + 1,
Rx,
Ry,
Rz,
Rxx,
Ryy,
Rzz,
rigid=RIGID)
frame3dd_opt = opt["WISDEM"]["FloatingSE"]["frame3dd"]
opt_obj = pyframe3dd.Options(frame3dd_opt["shear"],
frame3dd_opt["geom"], -1.0)
myframe = pyframe3dd.Frame(node_obj, react_obj, elem_obj, opt_obj)
# Added mass
m_trans = float(inputs["transition_piece_mass"])
if frame == "tower":
# TODO: Added mass and stiffness
m_trans += float(inputs["platform_mass"])
cg_trans = inputs["transition_node"] - inputs[
"platform_center_of_mass"]
else:
cg_trans = np.zeros(3)
add_gravity = True
mID = np.array([itrans, ihub], dtype=np.int_).flatten()
m_add = np.array([m_trans, m_rna]).flatten()
I_add = np.c_[I_trans, I_rna]
cg_add = np.c_[cg_trans, cg_rna]
myframe.changeExtraNodeMass(
mID + 1,
m_add,
I_add[0, :],
I_add[1, :],
I_add[2, :],
I_add[3, :],
I_add[4, :],
I_add[5, :],
cg_add[0, :],
cg_add[1, :],
cg_add[2, :],
add_gravity,
)
# Dynamics
if frame == "tower" and frame3dd_opt["modal"]:
Mmethod = 1
lump = 0
shift = 0.0
myframe.enableDynamics(2 * NFREQ, Mmethod, lump,
frame3dd_opt["tol"], shift)
# Initialize loading with gravity, mooring line forces, and buoyancy (already in nodal forces)
gx = gy = 0.0
gz = -gravity
load_obj = pyframe3dd.StaticLoadCase(gx, gy, gz)
if frame == "system":
for k in range(n_attach):
ind = util.closest_node(nodes, fairlead_joints[k, :])
Fnode[ind, :] += mooringF[k, :]
Fnode[ihub, :] += inputs["rna_F"]
Mnode[ihub, :] += inputs["rna_M"]
nF = np.where(np.abs(Fnode).sum(axis=1) > 0.0)[0]
load_obj.changePointLoads(nF + 1, Fnode[nF, 0], Fnode[nF, 1],
Fnode[nF, 2], Mnode[nF, 0], Mnode[nF, 1],
Mnode[nF, 2])
# Add the load case and run
myframe.addLoadCase(load_obj)
# myframe.write(frame + ".3dd")
displacements, forces, reactions, internalForces, mass, modal = myframe.run(
)
# natural frequncies
if frame == "tower" and frame3dd_opt["modal"]:
outputs[frame + "_freqs"] = modal.freq[:NFREQ]
# Get all mode shapes in batch
NFREQ2 = int(NFREQ / 2)
freq_x, freq_y, mshapes_x, mshapes_y = util.get_xy_mode_shapes(
nodes[:, 2], modal.freq, modal.xdsp, modal.ydsp,
modal.zdsp, modal.xmpf, modal.ympf, modal.zmpf)
outputs[frame + "_fore_aft_freqs"] = freq_x[:NFREQ2]
outputs[frame + "_side_side_freqs"] = freq_y[:NFREQ2]
outputs[frame + "_fore_aft_modes"] = mshapes_x[:NFREQ2, :]
outputs[frame + "_side_side_modes"] = mshapes_y[:NFREQ2, :]
# Determine forces
F_sum = -1.0 * np.array(
[reactions.Fx.sum(),
reactions.Fy.sum(),
reactions.Fz.sum()])
M_sum = -1.0 * np.array([
reactions.Mxx.sum(),
reactions.Myy.sum(),
reactions.Mzz.sum()
])
L = np.sqrt(np.sum((nodes[N2, :] - nodes[N1, :])**2, axis=1))
def compute(self, inputs, outputs):
PBEAM = False
# Unpack inputs
x_ref = inputs['blade_ref_axis'][:,0] # from PS to SS
y_ref = inputs['blade_ref_axis'][:,1] # from LE to TE
z_ref = inputs['blade_ref_axis'][:,2] # from root to tip
r = util.arc_length(inputs['blade_ref_axis'])
blade_length = r[-1]
theta = inputs['theta']
chord = inputs['chord']
x_sc = inputs['x_sc']
y_sc = inputs['y_sc']
A = inputs['A']
rhoA = inputs['rhoA']
rhoJ = inputs['rhoJ']
GJ = inputs['GJ']
EA = inputs['EA']
EIxx = inputs['EIxx'] # edge (rotation about x)
EIyy = inputs['EIyy'] # flap (rotation about y)
EIxy = inputs['EIxy']
lateral_clearance = 0.5*inputs['lateral_clearance'][0]
vertical_clearance = inputs['vertical_clearance'][0]
max_strains = inputs['max_strains'][0]
max_rot = inputs['max_root_rot_deg'][0]
max_LV = inputs['max_LV'][0]
mass_car_4axle = inputs['max_flatcar_weight_4axle'][0]
mass_car_8axle = inputs['max_flatcar_weight_8axle'][0]
flatcar_tc_length = inputs['flatcar_tc_length'][0]
#------- Get turn radius geometry for horizontal and vertical curves
# Horizontal turns- defined as a degree of arc assuming a 100ft "chord"
# https://trn.trains.com/railroads/ask-trains/2011/01/measuring-track-curvature
angleH_rad = np.deg2rad(inputs['horizontal_angle_deg'][0])
r_curveH = spc.foot * 100. /(2.*np.sin(0.5*angleH_rad))
arcsH = r / r_curveH
# Vertical curves on hills and sags defined directly by radius
r_curveV = inputs['min_vertical_radius'][0]
arcsV = r / r_curveV
# ----------
#---------- Put airfoil cross sections into principle axes
# Determine principal C.S. (with swap of x, y for profile c.s.)
EIxx_cs , EIyy_cs = EIyy.copy() , EIxx.copy()
x_sc_cs , y_sc_cs = y_sc.copy() , x_sc.copy()
EIxy_cs = EIxy.copy()
# translate to elastic center
EIxx_cs -= y_sc_cs**2 * EA
EIyy_cs -= x_sc_cs**2 * EA
EIxy_cs -= x_sc_cs * y_sc_cs * EA
# get rotation angle
alpha = 0.5*np.arctan2(2*EIxy_cs, EIyy_cs-EIxx_cs)
# get moments and positions in principal axes
EI11 = EIxx_cs - EIxy_cs*np.tan(alpha)
EI22 = EIyy_cs + EIxy_cs*np.tan(alpha)
ca = np.cos(alpha)
sa = np.sin(alpha)
def rotate(x,y):
x2 = x*ca + y*sa
y2 = -x*sa + y*ca
return x2, y2
# Now store alpha for later use in degrees
alpha = np.rad2deg(alpha)
# -------------------
# ---------- Frame3dd blade prep
# Nodes: Prep data, but node x,y,z will shift for vertical and horizontal curves
rad = np.zeros(self.n_span) # 'radius' of rigidity at node- set to zero
inode = 1+np.arange(self.n_span) # Node numbers (will convert to 1-based indexing later)
L = np.diff(r)
# Reactions: attachment at root
ireact = np.array([inode[0]])
rigid = 1e16
pinned = rigid*np.ones(1)
reactions = pyframe3dd.ReactionData(ireact, pinned, pinned, pinned, pinned, pinned, pinned, float(rigid))
# Element data
ielem = np.arange(1, self.n_span) # Element Numbers
N1 = np.arange(1, self.n_span) # Node number start
N2 = np.arange(2, self.n_span+1) # Node number finish
E = EA / A
rho = rhoA / A
J = rhoJ / rho
G = GJ / J
Ix = EIyy / E if PBEAM else EI11 / E
Iy = EIxx / E if PBEAM else EI22 / E
Asx = Asy = 1e-6*np.ones(ielem.shape) # Unused when shear=False
# Have to convert nodal values to find average at center of element
Abar,_ = util.nodal2sectional(A)
Ebar,_ = util.nodal2sectional(E)
rhobar,_ = util.nodal2sectional(rho)
Jbar,_ = util.nodal2sectional(J)
Gbar,_ = util.nodal2sectional(G)
Ixbar,_ = util.nodal2sectional(Ix)
Iybar,_ = util.nodal2sectional(Iy)
# Angle of element principal axes relative to global coordinate system
# Global c.s. is blade with z from root to tip, y from ss to ps, and x from LE to TE (TE points up)
# Local element c.s. is airfoil (twist + principle rotation)
if PBEAM:
roll = np.zeros(theta.shape)
else:
roll,_ = util.nodal2sectional(theta + alpha)
elements = pyframe3dd.ElementData(ielem, N1, N2, Abar, Asx, Asy, Jbar, Ixbar, Iybar, Ebar, Gbar, roll, rhobar)
# Frame3dd options: no need for shear, axial stiffening, or higher resolution force calculations
options = pyframe3dd.Options(False, False, -1)
#-----------
#------ Airfoil positions at which to measure strain
# Find the cross sectional points furthest from the elastic center at each spanwise location to be used for strain measurement
xps = np.zeros(self.n_span)
xss = np.zeros(self.n_span)
yps = np.zeros(self.n_span)
yss = np.zeros(self.n_span)
xle = np.zeros(self.n_span)
xte = np.zeros(self.n_span)
yle = np.zeros(self.n_span)
yte = np.zeros(self.n_span)
for i in range(self.n_span):
## Rotate the profiles to the blade reference system
profile_i = inputs['coord_xy_interp'][i,:,:]
profile_i_rot = np.column_stack(util.rotate(inputs['pitch_axis'][i], 0., profile_i[:,0], profile_i[:,1], np.radians(theta[i])))
# normalize
profile_i_rot[:,0] -= min(profile_i_rot[:,0])
profile_i_rot = profile_i_rot/ max(profile_i_rot[:,0])
profile_i_rot_precomp = profile_i_rot.copy()
idx_s = 0
idx_le_precomp = np.argmax(profile_i_rot_precomp[:,0])
if idx_le_precomp != 0:
if profile_i_rot_precomp[0,0] == profile_i_rot_precomp[-1,0]:
idx_s = 1
profile_i_rot_precomp = np.row_stack((profile_i_rot_precomp[idx_le_precomp:], profile_i_rot_precomp[idx_s:idx_le_precomp,:]))
profile_i_rot_precomp[:,1] -= profile_i_rot_precomp[np.argmin(profile_i_rot_precomp[:,0]),1]
# # renormalize
profile_i_rot_precomp[:,0] -= min(profile_i_rot_precomp[:,0])
profile_i_rot_precomp = profile_i_rot_precomp/ max(profile_i_rot_precomp[:,0])
if profile_i_rot_precomp[-1,0] != 1.:
profile_i_rot_precomp = np.row_stack((profile_i_rot_precomp, profile_i_rot_precomp[0,:]))
# 'web' at trailing edge needed for flatback airfoils
if profile_i_rot_precomp[0,1] != profile_i_rot_precomp[-1,1] and profile_i_rot_precomp[0,0] == profile_i_rot_precomp[-1,0]:
flatback = True
else:
flatback = False
xnode = profile_i_rot_precomp[:,0]
xnode_pa = xnode - inputs['pitch_axis'][i]
ynode = profile_i_rot_precomp[:,1]
theta_rad = theta[i] * np.pi / 180.
xnode_no_theta = xnode_pa * np.cos(-theta_rad) - ynode * np.sin(-theta_rad)
ynode_no_theta = xnode_pa * np.sin(-theta_rad) + ynode * np.cos(-theta_rad)
xnode_dim_no_theta = xnode_no_theta * chord[i]
ynode_dim_no_theta = ynode_no_theta * chord[i]
xnode_dim = xnode_dim_no_theta * np.cos(theta_rad) - ynode_dim_no_theta * np.sin(theta_rad)
ynode_dim = xnode_dim_no_theta * np.sin(theta_rad) + ynode_dim_no_theta * np.cos(theta_rad)
yss[i] = max(ynode_dim) - y_sc_cs[i]
yps[i] = y_sc_cs[i] - min(ynode_dim)
xte[i] = max(xnode_dim) - x_sc_cs[i]
xle[i] = x_sc_cs[i] - min(xnode_dim)
# Put these sectional points in airfoil principle directions
xps_cs, yps_cs = yps, xps
xss_cs, yss_cs = yss, xss
ps1, ps2 = rotate(xps_cs, yps_cs)
ss1, ss2 = rotate(xss_cs, yss_cs)
xle_cs, yle_cs = yle, xle
xte_cs, yte_cs = yte, xte
le1, le2 = rotate(xle_cs, yle_cs)
te1, te2 = rotate(xte_cs, yte_cs)
#----------------
#-------- Horizontal curve where we select blade support nodes on flat cars
# Gravity field orientation
gy = -gravity
gx = gz = 0.0
# Set clearance boundary
r_envelopeH = r_curveH + lateral_clearance*np.array([-1, 1])
# Use blade shape and clearance envelope to determine node position limits
r_envelopeH_inner1 = r_envelopeH.min() + yss
r_envelopeH_inner2 = r_envelopeH.min() + yps
r_envelopeH_outer1 = r_envelopeH.max() - yps
r_envelopeH_outer2 = r_envelopeH.max() - yss
# Find rotation angles that keep blade within inner boundary
# Function that does the structural analysis to be called during optimization
def rotate_blade(ang):
# Node location starting points when curving towards SS
# (towards the LEFT with LE pointed down and standing at the root looking at tip)
x_rot1, z_rot1 = util.rotate(r_curveH, 0.0, r_curveH + x_ref, z_ref, ang[0])
# Node location starting points when curving towards PS
# (towards the RIGHT with LE pointed down and standing at the root looking at tip)
x_rot2, z_rot2 = util.rotate(-r_curveH, 0.0, -r_curveH + x_ref, z_ref, ang[1])
# Check solved blade shape against envelope
r_check1 = np.sqrt( x_rot1**2 + z_rot1**2)
r_check2 = np.sqrt( x_rot2**2 + z_rot2**2)
# Formulate as constraints for SLSQP
cboundary = (np.sum( np.maximum(r_envelopeH_inner1 - r_check1, 0.0) ) +
np.sum( np.maximum(r_envelopeH_inner2 - r_check2, 0.0) ) )
return -cboundary
# Initiliaze scipy minimization to find the right angle- biggest deflection that keeps blade away from inner envelope
const = {}
const['type'] = 'ineq'
const['fun'] = rotate_blade
bounds = [np.deg2rad(max_rot)*np.r_[0,1], np.deg2rad(max_rot)*np.r_[-1,0]]
x0 = np.deg2rad( max_rot*np.array([1.0, -1.0]) )
result = minimize(lambda x: -np.sum(np.abs(x)), x0, method='slsqp', bounds=bounds, tol=1e-3, constraints=const)
# Now rotate blade at optimized angle
# Node location starting points when curving towards SS
# (towards the LEFT with LE pointed down and standing at the root looking at tip)
x_rot1, z_rot1 = util.rotate(r_curveH, 0.0, r_curveH + x_ref, z_ref, result.x[0])
nodes1 = pyframe3dd.NodeData(inode, x_rot1, y_ref, z_rot1, rad)
# Node location starting points when curving towards PS
# (towards the RIGHT with LE pointed down and standing at the root looking at tip)
x_rot2, z_rot2 = util.rotate(-r_curveH, 0.0, -r_curveH + x_ref, z_ref, result.x[1])
nodes2 = pyframe3dd.NodeData(inode, x_rot2, y_ref, z_rot2, rad)
# Initialize Frame3dd objects
blade1 = pyframe3dd.Frame(nodes1, reactions, elements, options)
blade2 = pyframe3dd.Frame(nodes2, reactions, elements, options)
# Tolerance for envelop compliance checking
tol = 3e-1
# Function that does the structural analysis to be called during optimization
def run_hcurve(FrIn, optFlag=True):
Fr = FrIn.reshape((self.n_span-1, 2))
# Will only worry about radial loads
Fy = Mx = My = Mz = np.zeros(self.n_span-1)
# Output containers
RF_derailH = np.zeros(2) # Derailment reaction force
r_check = np.zeros((self.n_span, 2)) # Envelope constraint
strainPS = np.zeros((self.n_span, 2))
strainSS = np.zeros((self.n_span, 2))
# Look over bend to PS/SS cases
for k in range(2):
if k == 0:
blade, r_outer, angs = blade1, r_envelopeH_outer1, arcsH[1:]
else:
blade, r_outer, angs = blade2, r_envelopeH_outer2, np.pi-arcsH[1:]
# Load case: gravity + blade bending to conform to outer boundary
load = pyframe3dd.StaticLoadCase(gx, gy, gz)
# Put radial loads in x,z plane
Fx = -1e4*Fr[:,k]*np.cos(angs)
Fz = -1e4*Fr[:,k]*np.sin(angs)
load.changePointLoads(inode[1:], Fx, Fy, Fz, Mx, My, Mz)
# Add load case to Frame3DD objects and run
blade.clearLoadCases()
blade.addLoadCase(load)
# Run the case
displacements, forces, forces_rxn, internalForces, mass, modal = blade.run()
# Check solved blade shape against envelope
r_check[:,k] = np.sqrt( (blade.nx+displacements.dx[0,:])**2 + (blade.nz+displacements.dz[0,:])**2) - r_outer
# Derailing reaction force on root node
# - Lateral force on wheels (multiply by 0.5 for 2 wheel sets)
# - Moment around axis perpendicular to ground
RF_derailH[k] = 0.5*np.sqrt(forces_rxn.Fx**2 + forces_rxn.Fz**2) + np.abs(forces_rxn.Myy)/flatcar_tc_length
# Element shear and bending, one per element, which are already in principle directions in Hansen's notation
# Zero-ing out axial stress as there shouldn't be any for pure beam bending
Fz = np.r_[-forces.Nx[ 0,0], forces.Nx[ 0, 1::2]]
M1 = np.r_[-forces.Myy[0,0], forces.Myy[0, 1::2]]
M2 = np.r_[ forces.Mzz[0,0], -forces.Mzz[0, 1::2]]
if PBEAM: M1,M2 = rotate(M1,M2)
# Compute strain at the two points: pressure/suction side extremes
strainPS[:,k] = -(M1/EI11*ps2 - M2/EI22*ps1 + Fz/EA) # negative sign because Hansen c3 is opposite of Precomp z
strainSS[:,k] = -(M1/EI11*ss2 - M2/EI22*ss1 + Fz/EA)
if optFlag:
# First constraint is compliance with outer boundary
cboundary = np.maximum(r_check, 0)
# Second constraint is reaction forces for derailment:
crxn = np.maximum(RF_derailH - (0.5 * mass_car_8axle * gravity)/max_LV, 0.0)
# Third constraint is keeping the strains reasonable
cstrainPS = np.maximum(np.abs(strainPS) - max_strains, 0.0)
cstrainSS = np.maximum(np.abs(strainSS) - max_strains, 0.0)
# Accumulate constraints
cons = np.array([np.sum(cboundary) , np.sum(crxn) , np.sum(cstrainPS) , np.sum(cstrainSS)])
return -cons
else:
return RF_derailH, strainPS, strainSS
# Initiliaze scipy minimization: Minimize force applied that keeps blade within all constraints
const = {}
const['type'] = 'ineq'
const['fun'] = run_hcurve
npts = 2*(self.n_span-1)
bounds = [(0.0, 1e2)]*npts
x0 = 1e2*np.ones(npts)
result = minimize(lambda x: np.sum(np.abs(x)), x0, method='slsqp', bounds=bounds,
tol=1e-3, constraints=const, options={'maxiter': 100} )
# if result.success:
# Evaluate optimized solution
RF_derailH, strainPS, strainSS = run_hcurve(result.x, optFlag=False)
# Express derailing force as a constraint
outputs['constr_LV_4axle_horiz'] = RF_derailH / (0.5 * mass_car_4axle * gravity) / max_LV
outputs['constr_LV_8axle_horiz'] = RF_derailH / (0.5 * mass_car_8axle * gravity) / max_LV
# Strain constraint outputs
outputs['constr_strainPS'] = np.max(np.abs(strainPS) / max_strains, axis = 1)
outputs['constr_strainSS'] = np.max(np.abs(strainSS) / max_strains, axis = 1)
# else:
# outputs['LV_constraint_4axle_horiz'] = 2.
# outputs['LV_constraint_8axle_horiz'] = 2.
# outputs['constr_strainPS'] = 2. * np.ones([npts,2])
# outputs['constr_strainSS'] = 2. * np.ones([npts,2])
# print('The optimization cannot satisfy the blade rail transport constraints.')
'''
def compute(self, inputs, outputs):
frame3dd_opt = self.options['frame3dd_opt']
# ------- node data ----------------
z = inputs['z']
n = len(z)
node = np.arange(1, n + 1)
x = np.zeros(n)
y = np.zeros(n)
r = np.zeros(n)
nodes = pyframe3dd.NodeData(node, x, y, z, r)
# -----------------------------------
# ------ reaction data ------------
# rigid base
node = inputs['kidx'] + np.ones(
len(inputs['kidx']
)) # add one because 0-based index but 1-based node numbering
rigid = RIGID
reactions = pyframe3dd.ReactionData(node, inputs['kx'], inputs['ky'],
inputs['kz'], inputs['ktx'],
inputs['kty'], inputs['ktz'],
rigid)
# -----------------------------------
# ------ frame element data ------------
element = np.arange(1, n)
N1 = np.arange(1, n)
N2 = np.arange(2, n + 1)
roll = np.zeros(n - 1)
# average across element b.c. frame3dd uses constant section elements
# TODO: Use nodal2sectional
Az = inputs['Az']
Asx = inputs['Asx']
Asy = inputs['Asy']
Jz = inputs['Jz']
Ixx = inputs['Ixx']
Iyy = inputs['Iyy']
E = inputs['E']
G = inputs['G']
rho = inputs['rho']
elements = pyframe3dd.ElementData(element, N1, N2, Az, Asx, Asy, Jz,
Ixx, Iyy, E, G, roll, rho)
# -----------------------------------
# ------ options ------------
dx = -1.0
options = pyframe3dd.Options(frame3dd_opt['shear'],
frame3dd_opt['geom'], dx)
# -----------------------------------
# initialize frame3dd object
cylinder = pyframe3dd.Frame(nodes, reactions, elements, options)
# ------ add extra mass ------------
# extra node inertia data
N = inputs['midx'] + np.ones(len(inputs['midx']))
add_gravity = True
cylinder.changeExtraNodeMass(N, inputs['m'], inputs['mIxx'],
inputs['mIyy'], inputs['mIzz'],
inputs['mIxy'], inputs['mIxz'],
inputs['mIyz'], inputs['mrhox'],
inputs['mrhoy'], inputs['mrhoz'],
add_gravity)
# ------------------------------------
# ------- enable dynamic analysis ----------
Mmethod = 1
lump = 0
shift = 0.0
cylinder.enableDynamics(NFREQ, Mmethod, lump, frame3dd_opt['tol'],
shift)
# ----------------------------
# ------ static load case 1 ------------
# gravity in the X, Y, Z, directions (global)
gx = 0.0
gy = 0.0
gz = -gravity
load = pyframe3dd.StaticLoadCase(gx, gy, gz)
# point loads
nF = inputs['plidx'] + np.ones(len(inputs['plidx']))
load.changePointLoads(nF, inputs['Fx'], inputs['Fy'], inputs['Fz'],
inputs['Mxx'], inputs['Myy'], inputs['Mzz'])
# distributed loads
Px, Py, Pz = inputs['Pz'], inputs['Py'], -inputs[
'Px'] # switch to local c.s.
z = inputs['z']
# trapezoidally distributed loads
EL = np.arange(1, n)
xx1 = xy1 = xz1 = np.zeros(n - 1)
xx2 = xy2 = xz2 = np.diff(
z) - 1e-6 # subtract small number b.c. of precision
wx1 = Px[:-1]
wx2 = Px[1:]
wy1 = Py[:-1]
wy2 = Py[1:]
wz1 = Pz[:-1]
wz2 = Pz[1:]
load.changeTrapezoidalLoads(EL, xx1, xx2, wx1, wx2, xy1, xy2, wy1, wy2,
xz1, xz2, wz1, wz2)
cylinder.addLoadCase(load)
# Debugging
#cylinder.write('temp.3dd')
# -----------------------------------
# run the analysis
displacements, forces, reactions, internalForces, mass, modal = cylinder.run(
)
iCase = 0
# mass
outputs['mass'] = mass.struct_mass
# natural frequncies
outputs['f1'] = modal.freq[0]
outputs['f2'] = modal.freq[1]
outputs['freqs'] = modal.freq
# Get all mode shapes in batch
freq_x, freq_y, mshapes_x, mshapes_y = util.get_mode_shapes(
z, modal.freq, modal.xdsp, modal.ydsp, modal.zdsp, modal.xmpf,
modal.ympf, modal.zmpf)
outputs['x_mode_freqs'] = freq_x
outputs['y_mode_freqs'] = freq_y
outputs['x_mode_shapes'] = mshapes_x
outputs['y_mode_shapes'] = mshapes_y
# deflections due to loading (from cylinder top and wind/wave loads)
outputs['top_deflection'] = displacements.dx[
iCase, n - 1] # in yaw-aligned direction
# shear and bending, one per element (convert from local to global c.s.)
Fz = forces.Nx[iCase, 1::2]
Vy = forces.Vy[iCase, 1::2]
Vx = -forces.Vz[iCase, 1::2]
Mzz = forces.Txx[iCase, 1::2]
Myy = forces.Myy[iCase, 1::2]
Mxx = -forces.Mzz[iCase, 1::2]
# Record total forces and moments
outputs['base_F'] = -1.0 * np.array(
[reactions.Fx.sum(),
reactions.Fy.sum(),
reactions.Fz.sum()])
outputs['base_M'] = -1.0 * np.array(
[reactions.Mxx.sum(),
reactions.Myy.sum(),
reactions.Mzz.sum()])
outputs['Fz_out'] = Fz
outputs['Vx_out'] = Vx
outputs['Vy_out'] = Vy
outputs['Mxx_out'] = Mxx
outputs['Myy_out'] = Myy
outputs['Mzz_out'] = Mzz
# axial and shear stress
d, _ = util.nodal2sectional(inputs['d'])
qdyn, _ = util.nodal2sectional(inputs['qdyn'])
##R = self.d/2.0
##x_stress = R*np.cos(self.theta_stress)
##y_stress = R*np.sin(self.theta_stress)
##axial_stress = Fz/self.Az + Mxx/self.Ixx*y_stress - Myy/self.Iyy*x_stress
# V = Vy*x_stress/R - Vx*y_stress/R # shear stress orthogonal to direction x,y
# shear_stress = 2. * V / self.Az # coefficient of 2 for a hollow circular section, but should be conservative for other shapes
outputs['axial_stress'] = Fz / inputs['Az'] - np.sqrt(
Mxx**2 + Myy**2
) / inputs[
'Iyy'] * d / 2.0 #More conservative, just use the tilted bending and add total max shear as well at the same point, if you do not like it go back to the previous lines
outputs['shear_stress'] = 2. * np.sqrt(Vx**2 + Vy**2) / inputs[
'Az'] # coefficient of 2 for a hollow circular section, but should be conservative for other shapes
# hoop_stress (Eurocode method)
L_reinforced = self.options['buckling_length'] * np.ones(Fz.shape)
outputs['hoop_stress_euro'] = hoopStressEurocode(
inputs['z'], d, inputs['t'], L_reinforced, qdyn)
# Simpler hoop stress used in API calculations
outputs['hoop_stress'] = hoopStress(d, inputs['t'], qdyn)
