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 Solve_Py(XBINPUT,XBOPTS, moduleName = None):
"""Nonlinear dynamic structural solver in Python. Assembly of matrices
is carried out with Fortran subroutines."""
"Check correct solution code"
assert XBOPTS.Solution.value == 312, ('NonlinearDynamic requested' +\
' with wrong solution code')
"Initialise beam"
XBINPUT, XBOPTS, NumNodes_tot, XBELEM, PosIni, PsiIni, XBNODE, NumDof \
= BeamInit.Static(XBINPUT,XBOPTS, moduleName)
# Solve static solution
XBOPTS.Solution.value = 112
PosDefor, PsiDefor = Solve_Py_Static(XBINPUT,XBOPTS, moduleName)
XBOPTS.Solution.value = 312
"Write deformed configuration to file"
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'
BeamIO.OutputElems(XBINPUT.NumElems, NumNodes_tot.value, XBELEM, \
PosDefor, PsiDefor, ofile, WriteMode)
"Initialise variables for dynamic analysis"
Time, NumSteps, ForceTime, ForcedVel, ForcedVelDot,\
PosDotDef, PsiDotDef,\
OutGrids, PosPsiTime, VelocTime, DynOut\
= BeamInit.Dynamic(XBINPUT,XBOPTS, moduleName)
# Delete unused vars
del 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')
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"
"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')
"Force at the first time-step"
Force = (XBINPUT.ForceStatic + XBINPUT.ForceDyn*ForceTime[0]).copy('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 += -np.dot(FglobalFull, Force_Dof)
#Separate assembly of follower and dead loads"
tmpForceTime=ForceTime[0].copy('F')
Qforces = XbeamLib.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)[0]
Qglobal -= Qforces
"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
"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*np.power((gamma + 0.5),2.0)
"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]
"Update transformation matrix for given angular velocity"
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)
"Predictor step"
X += dt*dXdt + (0.5-beta)*dXddt*dt**2
dXdt += (1.0-gamma)*dXddt*dt
dXddt[:] = 0.0
"Force at current time-step"
Force = (XBINPUT.ForceStatic + \
XBINPUT.ForceDyn*ForceTime[iStep+1]).copy('F')
"Reset convergence parameters"
Iter = 0
ResLog10 = 1.0
"Newton-Raphson loop"
while ( (ResLog10 > 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)
"update matrices"
BeamLib.Cbeam3_Asbly_Dynamic(XBINPUT, NumNodes_tot, XBELEM, XBNODE,\
PosIni, PsiIni, PosDefor, PsiDefor,\
PosDotDef, PsiDotDef, PosDotDotDef, PsiDotDotDef,\
Force, ForcedVel[iStep+1,:], ForcedVelDot[iStep+1,:],\
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 += np.dot(MglobalFull, dXddt) \
+ np.dot(Mvel,ForcedVelDot[iStep+1,:]) \
- np.dot(FglobalFull, Force_Dof)
#Separate assembly of follower and dead loads
tmpForceTime=ForceTime[iStep+1].copy('F')
Qforces = XbeamLib.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)[0]
Qglobal -= Qforces
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*np.power(dt,2.0))
"Solve for update"
DX[:] = np.dot(np.linalg.inv(Asys), -Qglobal)
"Corrector step"
X += DX
dXdt += DX*gamma/(beta*dt)
dXddt += DX/(beta*dt**2)
"Residual at first iteration"
if(Iter == 1):
Res0_Qglobal = max(max(abs(Qglobal)),1)
Res0_DeltaX = max(max(abs(DX)),1)
"Update residual and compute log10"
Res_Qglobal = max(abs(Qglobal))
Res_DeltaX = max(abs(DX))
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(DX)),ResLog10))
"END Netwon-Raphson"
"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[(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
"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()
if XBOPTS.PrintInfo.value==True:
sys.stdout.write(' ... done\n')
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):
"""Nonlinear static solver using Python to solve aeroelastic
equation. Assembly of structural matrices is carried out with
Fortran subroutines. Aerodynamics solved using PyAero.UVLM."""
assert XBOPTS.Solution.value == 112, ('NonlinearStatic requested' +
' with wrong solution code')
# 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])
XBOUT.cputime.append(time.clock()) # time.processor_time more appropriate
# Initialize beam.
XBINPUT, XBOPTS, NumNodes_tot, XBELEM, PosIni, PsiIni, XBNODE, NumDof \
= BeamInit.Static(XBINPUT,XBOPTS)
# Set initial conditions as undef config.
PosDefor = PosIni.copy(order='F')
PsiDefor = PsiIni.copy(order='F')
if XBOPTS.PrintInfo.value==True:
sys.stdout.write('Solve nonlinear static case in Python ... \n')
# Initialise structural eqn tensors.
KglobalFull = np.zeros((NumDof.value,NumDof.value),
ct.c_double, 'F'); ks = ct.c_int()
FglobalFull = np.zeros((NumDof.value,NumDof.value),
ct.c_double, 'F'); fs = ct.c_int()
DeltaS = np.zeros(NumDof.value, ct.c_double, 'F')
Qglobal = np.zeros(NumDof.value, ct.c_double, 'F')
x = np.zeros(NumDof.value, ct.c_double, 'F')
dxdt = np.zeros(NumDof.value, ct.c_double, 'F')
# Beam Load Step tensors
Force = np.zeros((XBINPUT.NumNodesTot,6),ct.c_double,'F')
ForceAero = np.zeros((XBINPUT.NumNodesTot,6),ct.c_double,'F')
iForceStep = np.zeros((NumNodes_tot.value,6), ct.c_double, 'F')
iForceStep_Dof = np.zeros(NumDof.value, ct.c_double, 'F')
# Initialze Aero.
Section = InitSection(VMOPTS,VMINPUT,AELAOPTS.ElasticAxis)
# Declare memory for Aero grid and velocities.
Zeta = np.zeros((Section.shape[0],PosDefor.shape[0],3),ct.c_double,'C')
ZetaDot = np.zeros((Section.shape[0],PosDefor.shape[0],3),ct.c_double,'C')
# Additional Aero solver variables.
AeroForces = np.zeros((VMOPTS.M.value+1,VMOPTS.N.value+1,3),ct.c_double,'C')
Gamma = np.zeros((VMOPTS.M.value,VMOPTS.N.value),ct.c_double,'C')
# Init external velocities.
Uext = InitSteadyExternalVels(VMOPTS,VMINPUT)
# Create zero triads for motion of reference frame.
VelA_A = np.zeros((3))
OmegaA_A = np.zeros((3))
# Create zero vectors for structural vars not used in static analysis.
PosDotDef = np.zeros_like(PosDefor, ct.c_double, 'F')
PsiDotDef = np.zeros_like(PsiDefor, ct.c_double, 'F')
# Define tecplot stuff.
FileName = Settings.OutputDir + Settings.OutputFileRoot + 'AeroGrid.dat'
Variables = ['X', 'Y', 'Z','Gamma']
FileObject = PostProcess.WriteAeroTecHeader(FileName,
'Default',
Variables)
# Start Load Loop.
for iLoadStep in range(XBOPTS.NumLoadSteps.value + XBOPTS.MaxIterations.value):
# The loads are applied at increements. When
# iLoadStep=XBOPTS.NumLoadSteps.value
# further XBOPTS.MaxIterations.value iterations are run to the
# aerodynamic loads to settle.
# @warning: the number of for loops should be larger then
# XBOPTS.NumLoadSteps.value, or full loading conditions will
# not be reached
# Reset convergence parameters and loads.
Iter = 0
ResLog10 = 0.0
Force[:,:] = 0.0
AeroForces[:,:,:] = 0.0
oldPos = PosDefor.copy(order='F')
oldPsi = PsiDefor.copy(order='F')
# Calculate aero loads.
if hasattr(XBINPUT, 'ForcedVel'):
CoincidentGrid(PosDefor, PsiDefor,
Section,
XBINPUT.ForcedVel[0,:3],
XBINPUT.ForcedVel[0,3:],
PosDotDef, PsiDotDef,
XBINPUT,
Zeta, ZetaDot,
np.zeros(3), XBINPUT.PsiA_G, # call from Couple_NlnFlightDyn
ctrlSurf = VMINPUT.ctrlSurf)
else:
CoincidentGrid(PosDefor, PsiDefor, Section, VelA_A,
OmegaA_A, PosDotDef, PsiDotDef, XBINPUT,
Zeta, ZetaDot,
np.zeros(3), XBINPUT.PsiA_G, # call from Couple_NlnFlightDyn
ctrlSurf = VMINPUT.ctrlSurf)
if hasattr(XBINPUT,'ForcedVel'):
ZetaStar, GammaStar = InitSteadyWake(VMOPTS,VMINPUT,Zeta,
XBINPUT.ForcedVel[0,:3])
else:
ZetaStar, GammaStar = InitSteadyWake(VMOPTS,VMINPUT,Zeta)
#>>>>>>>> HEAD
# Solve for AeroForces.
UVLMLib.Cpp_Solver_VLM(Zeta, ZetaDot, Uext, ZetaStar, VMOPTS,
AeroForces, Gamma, GammaStar)
# ========
# # Define AICs here for debgugging - Rob 16/08/2016
# AIC = np.zeros((VMOPTS.M.value*VMOPTS.N.value,
# VMOPTS.M.value*VMOPTS.N.value),
# ct.c_double,'C')
# BIC = np.zeros((VMOPTS.M.value*VMOPTS.N.value,
# VMOPTS.M.value*VMOPTS.N.value),
# ct.c_double,'C')
# # Solve for AeroForces.
# UVLMLib.Cpp_Solver_VLM(Zeta, ZetaDot, Uext, ZetaStar, VMOPTS,
# AeroForces, Gamma, GammaStar, AIC, BIC)
# <<<<<<<< rob
AeroForces[:,:,:] = AELAOPTS.AirDensity*AeroForces[:,:,:]
# Write solution to tecplot file.
if Settings.WriteOut==True and Settings.PlotTec==True:
PostProcess.WriteUVLMtoTec(FileObject,
Zeta,
ZetaStar,
Gamma,
GammaStar,
iLoadStep,
XBOPTS.NumLoadSteps.value,
iLoadStep*1.0,
Text = True)
# Map AeroForces to beam.
CoincidentGridForce(XBINPUT, PsiDefor, Section, AeroForces,
Force, PsiA_G=XBINPUT.PsiA_G)
# Add gravity loads.
# FoR A orientation is given by XBINPUT.PsiA_G
AddGravityLoads(Force,XBINPUT,XBELEM,AELAOPTS, PsiDefor,VMINPUT.c,
PsiA_G=XBINPUT.PsiA_G, FollowerForceRig=True)
# Apply factor corresponding to force step.
if iLoadStep < XBOPTS.NumLoadSteps.value:
iForceStep = (Force + XBINPUT.ForceStatic)*float( (iLoadStep+1) )/\
XBOPTS.NumLoadSteps.value
else:
# continue at full loading until equilibrium
iForceStep = Force + XBINPUT.ForceStatic
if XBOPTS.PrintInfo.value == True:
sys.stdout.write(' iLoad: %-10d\n' %(iLoadStep+1))
sys.stdout.write(' SubIter DeltaF DeltaX ResLog10\n')
# Start Newton Iteration.
while( (ResLog10 > np.log10(XBOPTS.MinDelta.value))
& (Iter < XBOPTS.MaxIterations.value) ):
Iter += 1
if XBOPTS.PrintInfo.value == True:
sys.stdout.write(' %-7d ' %(Iter))
# Set structural eqn tensors to zero
KglobalFull[:,:] = 0.0; ks = ct.c_int()
FglobalFull[:,:] = 0.0; fs = ct.c_int()
Qglobal[:] = 0.0
# Assemble matrices for static problem
BeamLib.Cbeam3_Asbly_Static(XBINPUT,
NumNodes_tot,
XBELEM,
XBNODE,
PosIni,
PsiIni,
PosDefor,
PsiDefor,
iForceStep,
NumDof,
ks,
KglobalFull,
fs,
FglobalFull,
Qglobal,
XBOPTS)
# Get state vector from current deformation.
PosDot = np.zeros((NumNodes_tot.value,3), ct.c_double, 'F')
PsiDot = np.zeros((XBINPUT.NumElems,Settings.MaxElNod,3),
ct.c_double, 'F')
BeamLib.Cbeam_Solv_Disp2State(NumNodes_tot,
NumDof,
XBINPUT,
XBNODE,
PosDefor,
PsiDefor,
PosDot,
PsiDot,
x,
dxdt)
# Get forces on unconstrained nodes.
BeamLib.f_fem_m2v(ct.byref(NumNodes_tot),
ct.byref(ct.c_int(6)),
iForceStep.ctypes.data_as(ct.POINTER(ct.c_double)),
ct.byref(NumDof),
iForceStep_Dof.ctypes.data_as(ct.POINTER(ct.c_double)),
XBNODE.Vdof.ctypes.data_as(ct.POINTER(ct.c_int)) )
# Calculate \Delta RHS.
Qglobal = Qglobal - np.dot(FglobalFull, iForceStep_Dof)
# Calculate \Delta State Vector.
DeltaS = - np.dot(np.linalg.inv(KglobalFull), Qglobal)
if XBOPTS.PrintInfo.value == True:
sys.stdout.write('%-10.4e %-10.4e '
% (max(abs(Qglobal)),max(abs(DeltaS))))
# Update Solution.
BeamLib.Cbeam3_Solv_Update_Static(XBINPUT,
NumNodes_tot,
XBELEM,
XBNODE,
NumDof,
DeltaS,
PosIni,
PsiIni,
PosDefor,
PsiDefor)
# Record residual at first iteration.
if(Iter == 1):
Res0_Qglobal = max(abs(Qglobal)) + 1.e-16
Res0_DeltaX = max(abs(DeltaS)) + 1.e-16
# Update residual and compute log10
Res_Qglobal = max(abs(Qglobal)) + 1.e-16
Res_DeltaX = max(abs(DeltaS)) + 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('%8.4f\n' %(ResLog10))
# Stop the solution.
if(ResLog10 > 10.):
sys.stderr.write(' STOP\n')
sys.stderr.write(' The max residual is %e\n' %(ResLog10))
exit(1)
elif Res_DeltaX < 1.e-14:
break
# END Newton iteration
# Isolate Aerodynamic force
CoincidentGridForce(XBINPUT, PsiDefor, Section, AeroForces,
ForceAero, PsiA_G=XBINPUT.PsiA_G)
# After incremental loading continue until equilibrium reached
if iLoadStep >= XBOPTS.NumLoadSteps.value:
Pos_error = PosDefor - oldPos
Psi_error = PsiDefor - oldPsi
if( (np.linalg.norm(Pos_error)<=XBOPTS.MinDelta) & \
(np.linalg.norm(Psi_error)<=XBOPTS.MinDelta) ):
break
# END Load step loop
if XBOPTS.PrintInfo.value==True:
sys.stdout.write(' ... done\n')
if SaveDict['Format']!='h5':
# Write deformed configuration to file.
ofile = Settings.OutputDir + Settings.OutputFileRoot + '_SOL112_def.dat'
if XBOPTS.PrintInfo.value==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.value==True:
sys.stdout.write('done\n')
WriteMode = 'a'
#
BeamIO.OutputElems(XBINPUT.NumElems, NumNodes_tot.value, XBELEM,
PosDefor, PsiDefor, ofile, WriteMode)
# Print deformed configuration.
if XBOPTS.PrintInfo.value==True:
sys.stdout.write('--------------------------------------\n')
sys.stdout.write('NONLINEAR STATIC SOLUTION\n')
sys.stdout.write('%10s %10s %10s\n' %('X','Y','Z'))
for inodi in range(NumNodes_tot.value):
sys.stdout.write(' ')
for inodj in range(3):
sys.stdout.write('%12.5e' %(PosDefor[inodi,inodj]))
sys.stdout.write('\n')
sys.stdout.write('--------------------------------------\n')
# Close Tecplot ascii FileObject.
PostProcess.CloseAeroTecFile(FileObject)
# Drop output
XBOUT.drop( PosIni=PosIni, PsiIni=PsiIni,
PosDeforStatic=PosDefor, PsiDeforStatic=PsiDefor,
ZetaStatic=Zeta, ZetaStarStatic=ZetaStar,
GammaStatic=Gamma, GammaStarStatic=GammaStar,
ForceStaticTotal=iForceStep, ForceAeroStatic=ForceAero,
#iForceStepDebug=iForceStep,
Uext=Uext )
PyLibs.io.save.h5file( SaveDict['OutputDir'],
SaveDict['OutputFileRoot']+'.h5',
*OutList)
#>>>>>>> HEAD
#=======
if True:
# print and save deformed wing total force coefficients (may include
# gravity and other applied static loads). Coefficients in wind-axes.
cF = np.zeros((3))
for i in range(VMOPTS.M.value+1):
for j in range(VMOPTS.N.value+1):
cF += AeroForces[i,j,:]
Calpha=Psi2TransMat(np.array([VMINPUT.alpha, 0.0, 0.0]))
cF=np.dot(Calpha,cF)
cF=cF/( 0.5*AELAOPTS.AirDensity*np.linalg.norm(VMINPUT.U_infty)**2.0 \
*VMINPUT.c*XBINPUT.BeamLength)
print("Reference condition total force coefficients: {}".format(cF))
fileName = Settings.OutputDir + Settings.OutputFileRoot + 'refCf'
savemat(fileName,{'cF':cF})
#<<<<<<< rob
# Return solution
return XBOUT
def LoadAssembly(XBINPUT, XBELEM, XBNODE, XBOPTS, NumDof, \
PosIni, PsiIni, PosDefor, PsiDefor, \
Force_foll, Force_dead, CAG, iFactor):
"""@brief Assemble separate follower and dead loads.
@param XBINPUT Xbeam inputs.
@param XBELEM Xbeam element information.
@param XBNODE Xbeam nodal information.
@param XBOPTS Xbeam simulation options.
@param NumDof numbers of DoF in the problem.
@param PosInI nodal position at reference configuration.
@param PsiIni nodal CRV at reference configuration.
@param PosDefor nodal position at reference configuration.
@param PsiDefor nodal CRV at reference configuration.
@param Force_foll Matrix of applied nodal follower forces.
@param Force_dead Matrix of applied nodal dead forces.
@param CAG transformation matrix from inertial (G) to body-fixed frame (A).
@param iFactor factor to account for optional load stepping.
"""
# Initialise function variables
NumNodes_tot=ct.c_int((XBINPUT.NumNodesElem - 1)*XBINPUT.NumElems + 1)
KglobalFull_foll = np.zeros((NumDof.value,NumDof.value),\
ct.c_double, 'F'); ksf = ct.c_int()
FglobalFull_foll = np.zeros((NumDof.value,NumDof.value),\
ct.c_double, 'F'); fsf = ct.c_int()
FglobalFull_dead = np.zeros((NumDof.value,NumDof.value),\
ct.c_double, 'F'); fsd = ct.c_int()
Force_foll_Dof = np.zeros(NumDof.value, ct.c_double, 'F')
Force_dead_Dof = np.zeros(NumDof.value, ct.c_double, 'F')
# Assemble separate force coefficient matrices
BeamLib.Cbeam3_Asbly_Fglobal(XBINPUT, NumNodes_tot, XBELEM, XBNODE,\
PosIni, PsiIni, PosDefor, PsiDefor,\
Force_foll*iFactor,NumDof,\
ksf, KglobalFull_foll, fsf, FglobalFull_foll,\
fsd, FglobalFull_dead, CAG)
# Get follower and dead forces on constrained nodes
BeamLib.f_fem_m2v(ct.byref(NumNodes_tot),\
ct.byref(ct.c_int(6)),\
Force_foll.ctypes.data_as(ct.POINTER(ct.c_double)),\
ct.byref(NumDof),\
Force_foll_Dof.ctypes.data_as(ct.POINTER(ct.c_double)),\
XBNODE.Vdof.ctypes.data_as(ct.POINTER(ct.c_int)) )
BeamLib.f_fem_m2v(ct.byref(NumNodes_tot),\
ct.byref(ct.c_int(6)),\
Force_dead.ctypes.data_as(ct.POINTER(ct.c_double)),\
ct.byref(NumDof),\
Force_dead_Dof.ctypes.data_as(ct.POINTER(ct.c_double)),\
XBNODE.Vdof.ctypes.data_as(ct.POINTER(ct.c_int)) )
# Project follower and dead forces
Qforces = np.dot(FglobalFull_foll, Force_foll_Dof*iFactor) + np.dot(FglobalFull_dead, Force_dead_Dof*iFactor)
#--------------------------------------
# Repeat in case of rigid-body dynamics
if XBOPTS.Solution.value == 912:
FrigidFull_foll = np.zeros((6,NumDof.value+6), ct.c_double, 'F'); frf = ct.c_int()
FrigidFull_dead = np.zeros((6,NumDof.value+6), ct.c_double, 'F'); frd = ct.c_int()
Force_foll_All = np.zeros(NumDof.value+6, ct.c_double, 'F')
Force_dead_All = np.zeros(NumDof.value+6, ct.c_double, 'F')
# Assemble separate force coefficient matrices
BeamLib.Xbeam_Asbly_Frigid(XBINPUT, NumNodes_tot, XBELEM, XBNODE,\
PosIni, PsiIni, PosDefor, PsiDefor,\
NumDof, frf, FrigidFull_foll,\
frd, FrigidFull_dead, CAG)
# Get follower and dead forces on unconstrained nodes
BeamLib.f_fem_m2v_nofilter(ct.byref(NumNodes_tot),\
ct.byref(ct.c_int(6)),\
Force_foll.ctypes.data_as(ct.POINTER(ct.c_double)),\
ct.byref(ct.c_int(NumDof.value+6)),\
Force_foll_All.ctypes.data_as(ct.POINTER(ct.c_double)) )
BeamLib.f_fem_m2v_nofilter(ct.byref(NumNodes_tot),\
ct.byref(ct.c_int(6)),\
Force_dead.ctypes.data_as(ct.POINTER(ct.c_double)),\
ct.byref(ct.c_int(NumDof.value+6)),\
Force_dead_All.ctypes.data_as(ct.POINTER(ct.c_double)) )
# Project follower and dead forces
Qrigid = np.dot(FrigidFull_foll,Force_foll_All*iFactor) + np.dot(FrigidFull_dead,Force_dead_All*iFactor)
else:
Qrigid = 0.0
#------------------
# Return everything
return Qforces, KglobalFull_foll, Qrigid
def Solve_Py(XBINPUT, XBOPTS, moduleName=None):
"""Nonlinear dynamic structural solver in Python. Assembly of matrices
is carried out with Fortran subroutines."""
"Check correct solution code"
assert XBOPTS.Solution.value == 312, ('NonlinearDynamic requested' +\
' with wrong solution code')
"Initialise beam"
XBINPUT, XBOPTS, NumNodes_tot, XBELEM, PosIni, PsiIni, XBNODE, NumDof \
= BeamInit.Static(XBINPUT,XBOPTS, moduleName)
# Solve static solution
XBOPTS.Solution.value = 112
PosDefor, PsiDefor = Solve_Py_Static(XBINPUT, XBOPTS, moduleName)
XBOPTS.Solution.value = 312
"Write deformed configuration to file"
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'
BeamIO.OutputElems(XBINPUT.NumElems, NumNodes_tot.value, XBELEM, \
PosDefor, PsiDefor, ofile, WriteMode)
"Initialise variables for dynamic analysis"
Time, NumSteps, ForceTime, ForcedVel, ForcedVelDot,\
PosDotDef, PsiDotDef,\
OutGrids, PosPsiTime, VelocTime, DynOut\
= BeamInit.Dynamic(XBINPUT,XBOPTS, moduleName)
# Delete unused vars
del 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')
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"
"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')
"Force at the first time-step"
Force = (XBINPUT.ForceStatic + XBINPUT.ForceDyn * ForceTime[0]).copy('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 += -np.dot(FglobalFull, Force_Dof)
#Separate assembly of follower and dead loads"
tmpForceTime = ForceTime[0].copy('F')
Qforces = XbeamLib.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)[0]
Qglobal -= Qforces
"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
"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 * np.power((gamma + 0.5), 2.0)
"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]
"Update transformation matrix for given angular velocity"
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)
"Predictor step"
X += dt * dXdt + (0.5 - beta) * dXddt * dt**2
dXdt += (1.0 - gamma) * dXddt * dt
dXddt[:] = 0.0
"Force at current time-step"
Force = (XBINPUT.ForceStatic + \
XBINPUT.ForceDyn*ForceTime[iStep+1]).copy('F')
"Reset convergence parameters"
Iter = 0
ResLog10 = 1.0
"Newton-Raphson loop"
while ( (ResLog10 > 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)
"update matrices"
BeamLib.Cbeam3_Asbly_Dynamic(XBINPUT, NumNodes_tot, XBELEM, XBNODE,\
PosIni, PsiIni, PosDefor, PsiDefor,\
PosDotDef, PsiDotDef, PosDotDotDef, PsiDotDotDef,\
Force, ForcedVel[iStep+1,:], ForcedVelDot[iStep+1,:],\
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 += np.dot(MglobalFull, dXddt) \
+ np.dot(Mvel,ForcedVelDot[iStep+1,:]) \
- np.dot(FglobalFull, Force_Dof)
#Separate assembly of follower and dead loads
tmpForceTime = ForceTime[iStep + 1].copy('F')
Qforces = XbeamLib.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)[0]
Qglobal -= Qforces
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*np.power(dt,2.0))
"Solve for update"
DX[:] = np.dot(np.linalg.inv(Asys), -Qglobal)
"Corrector step"
X += DX
dXdt += DX * gamma / (beta * dt)
dXddt += DX / (beta * dt**2)
"Residual at first iteration"
if (Iter == 1):
Res0_Qglobal = max(max(abs(Qglobal)), 1)
Res0_DeltaX = max(max(abs(DX)), 1)
"Update residual and compute log10"
Res_Qglobal = max(abs(Qglobal))
Res_DeltaX = max(abs(DX))
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(DX)), ResLog10))
"END Netwon-Raphson"
"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[(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
"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()
if XBOPTS.PrintInfo.value == True:
sys.stdout.write(' ... done\n')
def LoadAssembly(XBINPUT, XBELEM, XBNODE, XBOPTS, NumDof, \
PosIni, PsiIni, PosDefor, PsiDefor, \
Force_foll, Force_dead, CAG, iFactor):
"""@brief Assemble separate follower and dead loads.
@param XBINPUT Xbeam inputs.
@param XBELEM Xbeam element information.
@param XBNODE Xbeam nodal information.
@param XBOPTS Xbeam simulation options.
@param NumDof numbers of DoF in the problem.
@param PosInI nodal position at reference configuration.
@param PsiIni nodal CRV at reference configuration.
@param PosDefor nodal position at reference configuration.
@param PsiDefor nodal CRV at reference configuration.
@param Force_foll Matrix of applied nodal follower forces.
@param Force_dead Matrix of applied nodal dead forces.
@param CAG transformation matrix from inertial (G) to body-fixed frame (A).
@param iFactor factor to account for optional load stepping.
"""
# Initialise function variables
NumNodes_tot = ct.c_int((XBINPUT.NumNodesElem - 1) * XBINPUT.NumElems + 1)
KglobalFull_foll = np.zeros((NumDof.value,NumDof.value),\
ct.c_double, 'F')
ksf = ct.c_int()
FglobalFull_foll = np.zeros((NumDof.value,NumDof.value),\
ct.c_double, 'F')
fsf = ct.c_int()
FglobalFull_dead = np.zeros((NumDof.value,NumDof.value),\
ct.c_double, 'F')
fsd = ct.c_int()
Force_foll_Dof = np.zeros(NumDof.value, ct.c_double, 'F')
Force_dead_Dof = np.zeros(NumDof.value, ct.c_double, 'F')
# Assemble separate force coefficient matrices
BeamLib.Cbeam3_Asbly_Fglobal(XBINPUT, NumNodes_tot, XBELEM, XBNODE,\
PosIni, PsiIni, PosDefor, PsiDefor,\
Force_foll*iFactor,NumDof,\
ksf, KglobalFull_foll, fsf, FglobalFull_foll,\
fsd, FglobalFull_dead, CAG)
# Get follower and dead forces on constrained nodes
BeamLib.f_fem_m2v(ct.byref(NumNodes_tot),\
ct.byref(ct.c_int(6)),\
Force_foll.ctypes.data_as(ct.POINTER(ct.c_double)),\
ct.byref(NumDof),\
Force_foll_Dof.ctypes.data_as(ct.POINTER(ct.c_double)),\
XBNODE.Vdof.ctypes.data_as(ct.POINTER(ct.c_int)) )
BeamLib.f_fem_m2v(ct.byref(NumNodes_tot),\
ct.byref(ct.c_int(6)),\
Force_dead.ctypes.data_as(ct.POINTER(ct.c_double)),\
ct.byref(NumDof),\
Force_dead_Dof.ctypes.data_as(ct.POINTER(ct.c_double)),\
XBNODE.Vdof.ctypes.data_as(ct.POINTER(ct.c_int)) )
# Project follower and dead forces
Qforces = np.dot(FglobalFull_foll, Force_foll_Dof * iFactor) + np.dot(
FglobalFull_dead, Force_dead_Dof * iFactor)
#--------------------------------------
# Repeat in case of rigid-body dynamics
if XBOPTS.Solution.value == 912:
FrigidFull_foll = np.zeros((6, NumDof.value + 6), ct.c_double, 'F')
frf = ct.c_int()
FrigidFull_dead = np.zeros((6, NumDof.value + 6), ct.c_double, 'F')
frd = ct.c_int()
Force_foll_All = np.zeros(NumDof.value + 6, ct.c_double, 'F')
Force_dead_All = np.zeros(NumDof.value + 6, ct.c_double, 'F')
# Assemble separate force coefficient matrices
BeamLib.Xbeam_Asbly_Frigid(XBINPUT, NumNodes_tot, XBELEM, XBNODE,\
PosIni, PsiIni, PosDefor, PsiDefor,\
NumDof, frf, FrigidFull_foll,\
frd, FrigidFull_dead, CAG)
# Get follower and dead forces on unconstrained nodes
BeamLib.f_fem_m2v_nofilter(ct.byref(NumNodes_tot),\
ct.byref(ct.c_int(6)),\
Force_foll.ctypes.data_as(ct.POINTER(ct.c_double)),\
ct.byref(ct.c_int(NumDof.value+6)),\
Force_foll_All.ctypes.data_as(ct.POINTER(ct.c_double)) )
BeamLib.f_fem_m2v_nofilter(ct.byref(NumNodes_tot),\
ct.byref(ct.c_int(6)),\
Force_dead.ctypes.data_as(ct.POINTER(ct.c_double)),\
ct.byref(ct.c_int(NumDof.value+6)),\
Force_dead_All.ctypes.data_as(ct.POINTER(ct.c_double)) )
# Project follower and dead forces
Qrigid = np.dot(FrigidFull_foll, Force_foll_All * iFactor) + np.dot(
FrigidFull_dead, Force_dead_All * iFactor)
else:
Qrigid = 0.0
#------------------
# Return everything
return Qforces, KglobalFull_foll, Qrigid
def Solve_Py(XBINPUT, XBOPTS):
"""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')
#Initialise beam
XBINPUT, XBOPTS, NumNodes_tot, XBELEM, PosIni, PsiIni, XBNODE, NumDof \
= BeamInit.Static(XBINPUT,XBOPTS)
#Solve static
XBOPTS.Solution.value = 112
PosDefor, PsiDefor = Solve_Py_Static(XBINPUT, XBOPTS)
XBOPTS.Solution.value = 912
#Write deformed configuration to file
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'
BeamIO.OutputElems(XBINPUT.NumElems, NumNodes_tot.value, XBELEM, \
PosDefor, PsiDefor, ofile, WriteMode)
#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
ofile = Settings.OutputDir + Settings.OutputFileRoot + '_SOL912_force.dat'
fp = open(ofile, 'w')
BeamIO.Write_force_File(fp, Time, ForceTime, Vrel, VrelDot)
fp.close()
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 = np.zeros(4, ct.c_double, 'F')
Quat[0] = 1.0
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
Force = (XBINPUT.ForceStatic + XBINPUT.ForceDyn * ForceTime[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, \
(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
#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
dQddt[:] = 0.0
#Force at current time-step
Force = (XBINPUT.ForceStatic + \
XBINPUT.ForceDyn*ForceTime[iStep+1]).copy('F')
#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 = XbeamLib.Rot(Quat)
#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, \
(XBINPUT.ForceStatic_foll + XBINPUT.ForceDyn_foll*tmpForceTime), \
(XBINPUT.ForceStatic_dead + XBINPUT.ForceDyn_dead*tmpForceTime), \
Cao,1)
Qstruc -= tmpQforces
Qrigid -= tmpQrigid
#Compute residual
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[(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'))
#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()
if XBOPTS.PrintInfo.value == True:
sys.stdout.write(' ... done\n')
def Solve_Py(XBINPUT,XBOPTS):
"""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')
#Initialise beam
XBINPUT, XBOPTS, NumNodes_tot, XBELEM, PosIni, PsiIni, XBNODE, NumDof \
= BeamInit.Static(XBINPUT,XBOPTS)
#Solve static
XBOPTS.Solution.value = 112
PosDefor, PsiDefor = Solve_Py_Static(XBINPUT,XBOPTS)
XBOPTS.Solution.value = 912
#Write deformed configuration to file
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'
BeamIO.OutputElems(XBINPUT.NumElems, NumNodes_tot.value, XBELEM, \
PosDefor, PsiDefor, ofile, WriteMode)
#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
ofile = Settings.OutputDir + Settings.OutputFileRoot + '_SOL912_force.dat'
fp = open(ofile,'w')
BeamIO.Write_force_File(fp, Time, ForceTime, Vrel, VrelDot)
fp.close()
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 = np.zeros(4, ct.c_double, 'F'); Quat[0] = 1.0
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
Force = (XBINPUT.ForceStatic + XBINPUT.ForceDyn*ForceTime[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, \
(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
#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
dQddt[:] = 0.0
#Force at current time-step
Force = (XBINPUT.ForceStatic + \
XBINPUT.ForceDyn*ForceTime[iStep+1]).copy('F')
#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 = XbeamLib.Rot(Quat)
#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, \
(XBINPUT.ForceStatic_foll + XBINPUT.ForceDyn_foll*tmpForceTime), \
(XBINPUT.ForceStatic_dead + XBINPUT.ForceDyn_dead*tmpForceTime), \
Cao,1)
Qstruc -= tmpQforces
Qrigid -= tmpQrigid
#Compute residual
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[(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'))
#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()
if XBOPTS.PrintInfo.value==True:
sys.stdout.write(' ... done\n')
def assemble_GEBM_tensors( iStep,
NumDof, NumNodes_tot,
XBELEM, XBNODE,
XBINPUT, VMINPUT, XBOPTS,
AELAOPTS, VMOPTS,
tmpVrel,
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 ):
# utilities:
# (dummy variables to store unused output from assembly functions)
ms, mr = ct.c_int(), ct.c_int()
cs, cr = ct.c_int(), ct.c_int()
ks, kr = ct.c_int(), ct.c_int()
fs, fr = ct.c_int(), ct.c_int()
#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[:,:],Csys[:,:],Ksys[:,:],Asys[:,:],Qsys[:] = 0.0,0.0,0.0,0.0,0.0
#rigid-body velocities and orientation from state vector
Quat = dQdt[NumDof.value+6:].copy('F')
Quat = Quat/np.linalg.norm(Quat)
Cao = xbl.Rot(Quat) # input for xbeam assembly
Cqr = np.zeros((4,6), ct.c_double, 'F') # dummy: output for xbeam assembly
Cqq = np.zeros((4,4), ct.c_double, 'F') # dummy: output for xbeam assembly
#Update matrices and loads for structural dynamic analysis
tmpQuat=Quat.copy('F')
BeamLib.Cbeam3_Asbly_Dynamic(XBINPUT, NumNodes_tot, XBELEM, XBNODE, # in
PosIni, PsiIni, PosDefor, PsiDefor, # in
PosDotDef, PsiDotDef, PosDotDotDef, PsiDotDotDef, # in
Force, tmpVrel, 0*tmpVrel, # in
NumDof, Settings.DimMat, # out
ms, MssFull, Msr, # out
cs, CssFull, Csr, # out
ks, KssFull, fs, FstrucFull,Qstruc, # out
XBOPTS, Cao) # in
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, # in
PosIni, PsiIni, PosDefor, PsiDefor, # in
PosDotDef, PsiDotDef, PosDotDotDef, PsiDotDotDef, # in
tmpVrel, 0*tmpVrel, tmpQuat, # in
NumDof, Settings.DimMat, # out
mr, MrsFull, Mrr, # out
cr, CrsFull, Crr, Cqr, Cqq, # out
kr, KrsFull, fr, FrigidFull, Qrigid, # out
XBOPTS, Cao) # in
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)) )
#Assemble discrete system matrices with linearised quaternion equations
Unit4 = np.zeros((4,4), ct.c_double, 'F')
for i in range(4): Unit4[i,i] = 1.0
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[iStep,:,:] ),
(XBINPUT.ForceStatic_dead + XBINPUT.ForceDyn_dead[iStep,:,:] ),
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
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]
return Msys, Csys, Ksys, Qsys
def Solve_Py(XBINPUT,XBOPTS, moduleName = None):
"""Nonlinear static solver using Python to solve residual
equation. Assembly of matrices is carried out with Fortran subroutines."""
"Check correct solution code"
assert XBOPTS.Solution.value == 112, ('NonlinearStatic requested' +\
' with wrong solution code')
"Initialise beam"
XBINPUT, XBOPTS, NumNodes_tot, XBELEM, PosIni, PsiIni, XBNODE, NumDof \
= BeamInit.Static(XBINPUT,XBOPTS, moduleName)
"Set initial conditions as undef config"
PosDefor = PosIni.copy(order='F')
PsiDefor = PsiIni.copy(order='F')
if XBOPTS.PrintInfo.value==True:
sys.stdout.write('Solve nonlinear static case in Python ... \n')
"Initialise rotation operators"
Unit = np.zeros((3,3), ct.c_double, 'F')
for i in range(3):
Unit[i,i] = 1.0
Cao = Unit.copy('F')
"Initialise structural eqn tensors"
KglobalFull = np.zeros((NumDof.value,NumDof.value),\
ct.c_double, 'F'); ks = ct.c_int()
KglobalFull_foll = np.zeros((NumDof.value,NumDof.value),\
ct.c_double, 'F');
FglobalFull = np.zeros((NumDof.value,NumDof.value),\
ct.c_double, 'F'); fs = ct.c_int()
DeltaS = np.zeros(NumDof.value, ct.c_double, 'F')
Qglobal = np.zeros(NumDof.value, ct.c_double, 'F')
x = np.zeros(NumDof.value, ct.c_double, 'F')
dxdt = np.zeros(NumDof.value, ct.c_double, 'F')
"Load Step tensors"
iForceStep = np.zeros((NumNodes_tot.value,6), ct.c_double, 'F')
iForceStep_Dof = np.zeros(NumDof.value, ct.c_double, 'F')
"Start Load Loop"
for iLoadStep in range(XBOPTS.NumLoadSteps.value):
"Reset convergence parameters"
Iter = 0
ResLog10 = 1.0
"General load case"
iForceStep = XBINPUT.ForceStatic*float( (iLoadStep+1) / \
XBOPTS.NumLoadSteps.value)
if XBOPTS.PrintInfo.value == True:
sys.stdout.write(' iLoad: %-10d\n' %(iLoadStep+1))
sys.stdout.write(' SubIter DeltaF DeltaX ResLog10\n')
"Newton Iteration"
while( (ResLog10 > XBOPTS.MinDelta.value) \
& (Iter < XBOPTS.MaxIterations.value) ):
"Increment iteration counter"
Iter += 1
if XBOPTS.PrintInfo.value == True:
sys.stdout.write(' %-7d ' %(Iter))
"Set structural eqn tensors to zero"
KglobalFull[:,:] = 0.0; ks = ct.c_int()
KglobalFull_foll[:,:] = 0.0;
FglobalFull[:,:] = 0.0; fs = ct.c_int()
Qglobal[:] = 0.0
"Assemble matrices for static problem"
BeamLib.Cbeam3_Asbly_Static(XBINPUT, NumNodes_tot, XBELEM, XBNODE,\
PosIni, PsiIni, PosDefor, PsiDefor,\
iForceStep, NumDof,\
ks, KglobalFull, fs, FglobalFull, Qglobal,\
XBOPTS)
"Get state vector from current deformation"
PosDot = np.zeros((NumNodes_tot.value,3), ct.c_double, 'F') #R
PsiDot = np.zeros((XBINPUT.NumElems,Settings.MaxElNod,3),\
ct.c_double, 'F') #Psi
BeamLib.Cbeam_Solv_Disp2State(NumNodes_tot, NumDof, XBINPUT, XBNODE,\
PosDefor, PsiDefor, PosDot, PsiDot,
x, dxdt)
"Get forces on unconstrained nodes"
BeamLib.f_fem_m2v(ct.byref(NumNodes_tot),\
ct.byref(ct.c_int(6)),\
iForceStep.ctypes.data_as(ct.POINTER(ct.c_double)),\
ct.byref(NumDof),\
iForceStep_Dof.ctypes.data_as(ct.POINTER(ct.c_double)),\
XBNODE.Vdof.ctypes.data_as(ct.POINTER(ct.c_int)) )
"Calculate \Delta RHS"
Qglobal = Qglobal - np.dot(FglobalFull, iForceStep_Dof)
"Separate assembly of follower and dead loads"
Qforces, KglobalFull_foll = \
XbeamLib.LoadAssembly(XBINPUT, XBELEM, XBNODE, XBOPTS, NumDof, \
PosIni, PsiIni, PosDefor, PsiDefor, \
XBINPUT.ForceStatic_foll,XBINPUT.ForceStatic_dead, \
Cao, float((iLoadStep+1)/XBOPTS.NumLoadSteps.value))[:2]
KglobalFull += KglobalFull_foll
Qglobal -= Qforces
"Calculate \Delta State Vector"
DeltaS = - np.dot(np.linalg.inv(KglobalFull), Qglobal)
if XBOPTS.PrintInfo.value == True:
sys.stdout.write('%-10.4e %-10.4e ' \
% (max(abs(Qglobal)),max(abs(DeltaS))))
"Update Solution"
BeamLib.Cbeam3_Solv_Update_Static(XBINPUT, NumNodes_tot, XBELEM,\
XBNODE, NumDof, DeltaS,\
PosIni, PsiIni, PosDefor,PsiDefor)
"Residual at first iteration"
if(Iter == 1):
Res0_Qglobal = max(max(abs(Qglobal)),1)
Res0_DeltaX = max(max(abs(DeltaS)),1)
"Update residual and compute log10"
Res_Qglobal = max(abs(Qglobal))
Res_DeltaX = max(abs(DeltaS))
ResLog10 = max(Res_Qglobal/Res0_Qglobal, Res_DeltaX/Res0_DeltaX)
if XBOPTS.PrintInfo.value == True:
sys.stdout.write('%8.4f\n' %(ResLog10))
"Stop the solution"
if(ResLog10 > 1.e10):
sys.stderr.write(' STOP\n')
sys.stderr.write(' The max residual is %e\n' %(ResLog10))
exit(1)
"END Newton Loop"
"END Load Loop"
if XBOPTS.PrintInfo.value==True:
sys.stdout.write(' ... done\n')
"Write deformed configuration to file"
ofile = Settings.OutputDir + Settings.OutputFileRoot + '_SOL112_def.dat'
if XBOPTS.PrintInfo.value==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.value==True:
sys.stdout.write('done\n')
WriteMode = 'a'
BeamIO.OutputElems(XBINPUT.NumElems, NumNodes_tot.value, XBELEM, \
PosDefor, PsiDefor, ofile, WriteMode)
"Print deformed configuration"
if XBOPTS.PrintInfo.value==True:
sys.stdout.write('--------------------------------------\n')
sys.stdout.write('NONLINEAR STATIC SOLUTION\n')
sys.stdout.write('%10s %10s %10s\n' %('X','Y','Z'))
for inodi in range(NumNodes_tot.value):
sys.stdout.write(' ')
for inodj in range(3):
sys.stdout.write('%12.5e' %(PosDefor[inodi,inodj]))
sys.stdout.write('\n')
sys.stdout.write('--------------------------------------\n')
"Return solution as optional output argument"
return PosDefor, PsiDefor
def Solve_Py(XBINPUT,XBOPTS):
"""Nonlinear static solver using Python to solve residual
equation. Assembly of matrices is carried out with Fortran subroutines."""
"Check correct solution code"
assert XBOPTS.Solution.value == 112, ('NonlinearStatic requested' +\
' with wrong solution code')
"Initialise beam"
XBINPUT, XBOPTS, NumNodes_tot, XBELEM, PosIni, PsiIni, XBNODE, NumDof \
= BeamInit.Static(XBINPUT,XBOPTS)
"Set initial conditions as undef config"
PosDefor = PosIni.copy(order='F')
PsiDefor = PsiIni.copy(order='F')
if XBOPTS.PrintInfo.value==True:
sys.stdout.write('Solve nonlinear static case in Python ... \n')
"Initialise structural eqn tensors"
KglobalFull = np.zeros((NumDof.value,NumDof.value),\
ct.c_double, 'F'); ks = ct.c_int()
FglobalFull = np.zeros((NumDof.value,NumDof.value),\
ct.c_double, 'F'); fs = ct.c_int()
DeltaS = np.zeros(NumDof.value, ct.c_double, 'F')
Qglobal = np.zeros(NumDof.value, ct.c_double, 'F')
x = np.zeros(NumDof.value, ct.c_double, 'F')
dxdt = np.zeros(NumDof.value, ct.c_double, 'F')
"Load Step tensors"
iForceStep = np.zeros((NumNodes_tot.value,6), ct.c_double, 'F')
iForceStep_Dof = np.zeros(NumDof.value, ct.c_double, 'F')
"Start Load Loop"
for iLoadStep in range(XBOPTS.NumLoadSteps.value):
"Reset convergence parameters"
Iter = 0
ResLog10 = 0.0
iForceStep = XBINPUT.ForceStatic*float( (iLoadStep+1) / \
XBOPTS.NumLoadSteps.value)
if XBOPTS.PrintInfo.value == True:
sys.stdout.write(' iLoad: %-10d\n' %(iLoadStep+1))
sys.stdout.write(' SubIter DeltaF DeltaX ResLog10\n')
"Newton Iteration"
while( (ResLog10 > np.log10(XBOPTS.MinDelta.value)) \
& (Iter < XBOPTS.MaxIterations.value) ):
"Increment iteration counter"
Iter += 1
if XBOPTS.PrintInfo.value == True:
sys.stdout.write(' %-7d ' %(Iter))
"Set structural eqn tensors to zero"
KglobalFull[:,:] = 0.0; ks = ct.c_int()
FglobalFull[:,:] = 0.0; fs = ct.c_int()
Qglobal[:] = 0.0
"Assemble matrices for static problem"
BeamLib.Cbeam3_Asbly_Static(XBINPUT, NumNodes_tot, XBELEM, XBNODE,\
PosIni, PsiIni, PosDefor, PsiDefor,\
iForceStep, NumDof,\
ks, KglobalFull, fs, FglobalFull, Qglobal,\
XBOPTS)
"Get state vector from current deformation"
PosDot = np.zeros((NumNodes_tot.value,3), ct.c_double, 'F') #R
PsiDot = np.zeros((XBINPUT.NumElems,Settings.MaxElNod,3),\
ct.c_double, 'F') #Psi
BeamLib.Cbeam_Solv_Disp2State(NumNodes_tot, NumDof, XBINPUT, XBNODE,\
PosDefor, PsiDefor, PosDot, PsiDot,
x, dxdt)
"Get forces on unconstrained nodes"
BeamLib.f_fem_m2v(ct.byref(NumNodes_tot),\
ct.byref(ct.c_int(6)),\
iForceStep.ctypes.data_as(ct.POINTER(ct.c_double)),\
ct.byref(NumDof),\
iForceStep_Dof.ctypes.data_as(ct.POINTER(ct.c_double)),\
XBNODE.Vdof.ctypes.data_as(ct.POINTER(ct.c_int)) )
"Calculate \Delta RHS"
Qglobal = Qglobal - np.dot(FglobalFull, iForceStep_Dof)
"Calculate \Delta State Vector"
DeltaS = - np.dot(np.linalg.inv(KglobalFull), Qglobal)
if XBOPTS.PrintInfo.value == True:
sys.stdout.write('%-10.4e %-10.4e ' \
% (max(abs(Qglobal)),max(abs(DeltaS))))
"Update Solution"
BeamLib.Cbeam3_Solv_Update_Static(XBINPUT, NumNodes_tot, XBELEM,\
XBNODE, NumDof, DeltaS,\
PosIni, PsiIni, PosDefor,PsiDefor)
"Residual at first iteration"
if(Iter == 1):
Res0_Qglobal = max(abs(Qglobal)) + 1.e-16
Res0_DeltaX = max(abs(DeltaS)) + 1.e-16
"Update residual and compute log10"
Res_Qglobal = max(abs(Qglobal)) + 1.e-16
Res_DeltaX = max(abs(DeltaS)) + 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('%8.4f\n' %(ResLog10))
"Stop the solution"
if(ResLog10 > 10.):
sys.stderr.write(' STOP\n')
sys.stderr.write(' The max residual is %e\n' %(ResLog10))
exit(1)
"END Newton Loop"
"END Load Loop"
if XBOPTS.PrintInfo.value==True:
sys.stdout.write(' ... done\n')
"Write deformed configuration to file"
ofile = Settings.OutputDir + Settings.OutputFileRoot + '_SOL112_def.dat'
if XBOPTS.PrintInfo.value==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.value==True:
sys.stdout.write('done\n')
WriteMode = 'a'
BeamIO.OutputElems(XBINPUT.NumElems, NumNodes_tot.value, XBELEM, \
PosDefor, PsiDefor, ofile, WriteMode)
"Print deformed configuration"
if XBOPTS.PrintInfo.value==True:
sys.stdout.write('--------------------------------------\n')
sys.stdout.write('NONLINEAR STATIC SOLUTION\n')
sys.stdout.write('%10s %10s %10s\n' %('X','Y','Z'))
for inodi in range(NumNodes_tot.value):
sys.stdout.write(' ')
for inodj in range(3):
sys.stdout.write('%12.5e' %(PosDefor[inodi,inodj]))
sys.stdout.write('\n')
sys.stdout.write('--------------------------------------\n')
"Return solution as optional output argument"
return PosDefor, PsiDefor
def assemble_GEBM_tensors( iStep,
NumDof, Nconstr, NumNodes_tot,
XBELEM, XBNODE,
XBINPUT, VMINPUT, XBOPTS,
AELAOPTS, VMOPTS,
tmpVrel,
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 ):
Nsys = NumDof.value+10+Nconstr
# utilities:
# (dummy variables to store unused output from assembly functions)
ms, mr = ct.c_int(), ct.c_int()
cs, cr = ct.c_int(), ct.c_int()
ks, kr = ct.c_int(), ct.c_int()
fs, fr = ct.c_int(), ct.c_int()
#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[:,:],Csys[:,:],Ksys[:,:],Asys[:,:],Qsys[:] = 0.0,0.0,0.0,0.0,0.0
#rigid-body velocities and orientation from state vector
Quat = dQdt[NumDof.value+6:NumDof.value+10].copy('F')
Quat = Quat/np.linalg.norm(Quat)
Cao = xbl.Rot(Quat) # input for xbeam assembly
Cqr = np.zeros((4,6), ct.c_double, 'F') # dummy: output for xbeam assembly
Cqq = np.zeros((4,4), ct.c_double, 'F') # dummy: output for xbeam assembly
#Update matrices and loads for structural dynamic analysis
tmpQuat=Quat.copy('F')
BeamLib.Cbeam3_Asbly_Dynamic(XBINPUT, NumNodes_tot, XBELEM, XBNODE, # in
PosIni, PsiIni, PosDefor, PsiDefor, # in
PosDotDef, PsiDotDef, PosDotDotDef, PsiDotDotDef, # in
Force, tmpVrel, 0*tmpVrel, # in
NumDof, Settings.DimMat, # out
ms, MssFull, Msr, # out
cs, CssFull, Csr, # out
ks, KssFull, fs, FstrucFull,Qstruc, # out
XBOPTS, Cao) # in
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, # in
PosIni, PsiIni, PosDefor, PsiDefor, # in
PosDotDef, PsiDotDef, PosDotDotDef, PsiDotDotDef, # in
tmpVrel, 0*tmpVrel, tmpQuat, # in
NumDof, Settings.DimMat, # out
mr, MrsFull, Mrr, # out
cr, CrsFull, Crr, Cqr, Cqq, # out
kr, KrsFull, fr, FrigidFull, Qrigid, # out
XBOPTS, Cao) # in
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)) )
#Assemble discrete system matrices with linearised quaternion equations
Unit4 = np.zeros((4,4), ct.c_double, 'F')
for i in range(4): Unit4[i,i] = 1.0
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+10,NumDof.value+6:NumDof.value+10] = 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+10,NumDof.value:NumDof.value+6] = Cqr.copy('F')
Csys[NumDof.value+6:NumDof.value+10,NumDof.value+6:NumDof.value+10] = 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[iStep,:,:] ),
(XBINPUT.ForceStatic_dead + XBINPUT.ForceDyn_dead[iStep,:,:] ),
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:NumDof.value+10] = np.dot(Cqq,dQdt[NumDof.value+6:NumDof.value+10])
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
iiblock=[]
if XBNODE.Sflag.any():
# find perpendicular vectors to axis of rotation
XBINPUT.rvers=XBINPUT.rvers/np.linalg.norm(XBINPUT.rvers)
nvec=0
for ii in range(3):
svers = np.zeros((3,))
if XBINPUT.rvers[ii]<1e-9:
svers[ii]=1.0
break
#else:
# raise NameError('Develop robust way to find perpendicular vectors')
if np.all(np.abs(svers)<1e-9): raise NameError('Develop robust way to find perpendicular vectors')
tvers=np.cross(XBINPUT.rvers,svers)
#print('rvers:'+3*' %.3f'%tuple(XBINPUT.rvers))
#print('svers:'+3*' %.3f'%tuple(svers))
#print('tvers:'+3*' %.3f'%tuple(tvers))
#1/0
# 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)
#iirotfree=[NumDof.value+3+ii for ii in range(3)] # to add damping
# augment system
AugMat = 0.0*Msys # improve efficiency: preallocate this matrix
B = np.zeros((Nconstr,Nsys-Nconstr))
B[0,NumDof.value+3:NumDof.value+6]=svers
B[1,NumDof.value+3:NumDof.value+6]=tvers
BT=B.transpose()
#BTB=np.dot(BT,B)
AugMat[:Nsys-Nconstr,:Nsys-Nconstr]=XBINPUT.AugLagr_p*np.dot(BT,B)
AugMat[:Nsys-Nconstr,Nsys-Nconstr:]=XBINPUT.AugLagr_k*BT
AugMat[Nsys-Nconstr:,:Nsys-Nconstr]=XBINPUT.AugLagr_k*B
# block translational dof
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:
iirotfree=[NumDof.value+3+ii for ii in range(3)]
Csys[iirotfree,iirotfree] += XBINPUT.sph_joint_damping
Qsys[iirotfree] += XBINPUT.sph_joint_damping*dQdt[iirotfree]
# Augment Mass Matrix
Msys += AugMat
#Csys += AugMat
return Msys, Csys, Ksys, Qsys
def Solve_Py(XBINPUT,XBOPTS,VMOPTS,VMINPUT,AELAOPTS):
"""Nonlinear static solver using Python to solve aeroelastic
equation. Assembly of structural matrices is carried out with
Fortran subroutines. Aerodynamics solved using PyAero.UVLM."""
assert XBOPTS.Solution.value == 112, ('NonlinearStatic requested' +
' with wrong solution code')
# Initialize beam.
XBINPUT, XBOPTS, NumNodes_tot, XBELEM, PosIni, PsiIni, XBNODE, NumDof \
= BeamInit.Static(XBINPUT,XBOPTS)
# Set initial conditions as undef config.
PosDefor = PosIni.copy(order='F')
PsiDefor = PsiIni.copy(order='F')
if XBOPTS.PrintInfo.value==True:
sys.stdout.write('Solve nonlinear static case in Python ... \n')
# Initialise structural eqn tensors.
KglobalFull = np.zeros((NumDof.value,NumDof.value),
ct.c_double, 'F'); ks = ct.c_int()
FglobalFull = np.zeros((NumDof.value,NumDof.value),
ct.c_double, 'F'); fs = ct.c_int()
DeltaS = np.zeros(NumDof.value, ct.c_double, 'F')
Qglobal = np.zeros(NumDof.value, ct.c_double, 'F')
x = np.zeros(NumDof.value, ct.c_double, 'F')
dxdt = np.zeros(NumDof.value, ct.c_double, 'F')
# Beam Load Step tensors
iForceStep = np.zeros((NumNodes_tot.value,6), ct.c_double, 'F')
iForceStep_Dof = np.zeros(NumDof.value, ct.c_double, 'F')
# Initialze Aero.
Section = InitSection(VMOPTS,VMINPUT,AELAOPTS.ElasticAxis)
# Declare memory for Aero grid and velocities.
Zeta = np.zeros((Section.shape[0],PosDefor.shape[0],3),ct.c_double,'C')
ZetaDot = np.zeros((Section.shape[0],PosDefor.shape[0],3),ct.c_double,'C')
# Additional Aero solver variables.
AeroForces = np.zeros((VMOPTS.M.value+1,VMOPTS.N.value+1,3),ct.c_double,'C')
Gamma = np.zeros((VMOPTS.M.value,VMOPTS.N.value),ct.c_double,'C')
# Init external velocities.
Uext = InitSteadyExternalVels(VMOPTS,VMINPUT)
# Create zero triads for motion of reference frame.
VelA_A = np.zeros((3))
OmegaA_A = np.zeros((3))
# Create zero vectors for structural vars not used in static analysis.
PosDotDef = np.zeros_like(PosDefor, ct.c_double, 'F')
PsiDotDef = np.zeros_like(PsiDefor, ct.c_double, 'F')
# Define tecplot stuff.
FileName = Settings.OutputDir + Settings.OutputFileRoot + 'AeroGrid.dat'
Variables = ['X', 'Y', 'Z','Gamma']
FileObject = PostProcess.WriteAeroTecHeader(FileName,
'Default',
Variables)
# Start Load Loop.
for iLoadStep in range(XBOPTS.NumLoadSteps.value):
# Reset convergence parameters and loads.
Iter = 0
ResLog10 = 0.0
XBINPUT.ForceStatic[:,:] = 0.0
AeroForces[:,:,:] = 0.0
# Calculate aero loads.
if hasattr(XBINPUT, 'ForcedVel'):
CoincidentGrid(PosDefor,
PsiDefor,
Section,
XBINPUT.ForcedVel[0,:3],
XBINPUT.ForcedVel[0,3:],
PosDotDef,
PsiDotDef,
XBINPUT,
Zeta,
ZetaDot,
ctrlSurf = VMINPUT.ctrlSurf)
else:
CoincidentGrid(PosDefor, PsiDefor, Section, VelA_A,
OmegaA_A, PosDotDef, PsiDotDef, XBINPUT,
Zeta, ZetaDot,
ctrlSurf = VMINPUT.ctrlSurf)
if hasattr(XBINPUT,'ForcedVel'):
ZetaStar, GammaStar = InitSteadyWake(VMOPTS,VMINPUT,Zeta,XBINPUT.ForcedVel[0,:3])
else:
ZetaStar, GammaStar = InitSteadyWake(VMOPTS,VMINPUT,Zeta)
# Solve for AeroForces.
UVLMLib.Cpp_Solver_VLM(Zeta, ZetaDot, Uext, ZetaStar, VMOPTS,
AeroForces, Gamma, GammaStar)
AeroForces[:,:,:] = AELAOPTS.AirDensity*AeroForces[:,:,:]
# Write solution to tecplot file.
PostProcess.WriteUVLMtoTec(FileObject,
Zeta,
ZetaStar,
Gamma,
GammaStar,
iLoadStep,
XBOPTS.NumLoadSteps.value,
iLoadStep*1.0,
Text = True)
# Map AeroForces to beam.
CoincidentGridForce(XBINPUT, PsiDefor, Section, AeroForces,
XBINPUT.ForceStatic)
# Add gravity loads.
AddGravityLoads(XBINPUT.ForceStatic,XBINPUT,XBELEM,AELAOPTS,
PsiDefor,VMINPUT.c)
# Apply factor corresponding to force step.
iForceStep = XBINPUT.ForceStatic*float( (iLoadStep+1) ) / \
XBOPTS.NumLoadSteps.value
if XBOPTS.PrintInfo.value == True:
sys.stdout.write(' iLoad: %-10d\n' %(iLoadStep+1))
sys.stdout.write(' SubIter DeltaF DeltaX ResLog10\n')
# Start Newton Iteration.
while( (ResLog10 > np.log10(XBOPTS.MinDelta.value))
& (Iter < XBOPTS.MaxIterations.value) ):
Iter += 1
if XBOPTS.PrintInfo.value == True:
sys.stdout.write(' %-7d ' %(Iter))
# Set structural eqn tensors to zero
KglobalFull[:,:] = 0.0; ks = ct.c_int()
FglobalFull[:,:] = 0.0; fs = ct.c_int()
Qglobal[:] = 0.0
# Assemble matrices for static problem
BeamLib.Cbeam3_Asbly_Static(XBINPUT,
NumNodes_tot,
XBELEM,
XBNODE,
PosIni,
PsiIni,
PosDefor,
PsiDefor,
iForceStep,
NumDof,
ks,
KglobalFull,
fs,
FglobalFull,
Qglobal,
XBOPTS)
# Get state vector from current deformation.
PosDot = np.zeros((NumNodes_tot.value,3), ct.c_double, 'F')
PsiDot = np.zeros((XBINPUT.NumElems,Settings.MaxElNod,3),
ct.c_double, 'F')
BeamLib.Cbeam_Solv_Disp2State(NumNodes_tot,
NumDof,
XBINPUT,
XBNODE,
PosDefor,
PsiDefor,
PosDot,
PsiDot,
x,
dxdt)
# Get forces on unconstrained nodes.
BeamLib.f_fem_m2v(ct.byref(NumNodes_tot),
ct.byref(ct.c_int(6)),
iForceStep.ctypes.data_as(ct.POINTER(ct.c_double)),
ct.byref(NumDof),
iForceStep_Dof.ctypes.data_as(ct.POINTER(ct.c_double)),
XBNODE.Vdof.ctypes.data_as(ct.POINTER(ct.c_int)) )
# Calculate \Delta RHS.
Qglobal = Qglobal - np.dot(FglobalFull, iForceStep_Dof)
# Calculate \Delta State Vector.
DeltaS = - np.dot(np.linalg.inv(KglobalFull), Qglobal)
if XBOPTS.PrintInfo.value == True:
sys.stdout.write('%-10.4e %-10.4e '
% (max(abs(Qglobal)),max(abs(DeltaS))))
# Update Solution.
BeamLib.Cbeam3_Solv_Update_Static(XBINPUT,
NumNodes_tot,
XBELEM,
XBNODE,
NumDof,
DeltaS,
PosIni,
PsiIni,
PosDefor,
PsiDefor)
# Record residual at first iteration.
if(Iter == 1):
Res0_Qglobal = max(abs(Qglobal)) + 1.e-16
Res0_DeltaX = max(abs(DeltaS)) + 1.e-16
# Update residual and compute log10
Res_Qglobal = max(abs(Qglobal)) + 1.e-16
Res_DeltaX = max(abs(DeltaS)) + 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('%8.4f\n' %(ResLog10))
# Stop the solution.
if(ResLog10 > 10.):
sys.stderr.write(' STOP\n')
sys.stderr.write(' The max residual is %e\n' %(ResLog10))
exit(1)
elif Res_DeltaX < 1.e-14:
break
# END Newton iteration
# END Load step loop
if XBOPTS.PrintInfo.value==True:
sys.stdout.write(' ... done\n')
# Write deformed configuration to file.
ofile = Settings.OutputDir + Settings.OutputFileRoot + '_SOL112_def.dat'
if XBOPTS.PrintInfo.value==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.value==True:
sys.stdout.write('done\n')
WriteMode = 'a'
BeamIO.OutputElems(XBINPUT.NumElems, NumNodes_tot.value, XBELEM,
PosDefor, PsiDefor, ofile, WriteMode)
# Print deformed configuration.
if XBOPTS.PrintInfo.value==True:
sys.stdout.write('--------------------------------------\n')
sys.stdout.write('NONLINEAR STATIC SOLUTION\n')
sys.stdout.write('%10s %10s %10s\n' %('X','Y','Z'))
for inodi in range(NumNodes_tot.value):
sys.stdout.write(' ')
for inodj in range(3):
sys.stdout.write('%12.5e' %(PosDefor[inodi,inodj]))
sys.stdout.write('\n')
sys.stdout.write('--------------------------------------\n')
# Close Tecplot ascii FileObject.
PostProcess.CloseAeroTecFile(FileObject)
# Return solution
return PosDefor, PsiDefor, Zeta, ZetaStar, Gamma, GammaStar, iForceStep
def Solve_Py(XBINPUT,XBOPTS, moduleName = None, 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 == 312, ('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, moduleName)
# Solve static solution
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:
XBOPTS.Solution.value = 112
XBSTA = Solve_Py_Static(XBINPUT, XBOPTS, moduleName, SaveDict=SaveDict)
XBOPTS.Solution.value = 312
# 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
XBOUT.ForceStaticTotal=XBSTA.ForceStaticTotal # includes gravity loads
del XBSTA
#Write deformed configuration to file
if SaveDict['Format']=='dat':
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'
BeamIO.OutputElems(XBINPUT.NumElems, NumNodes_tot.value, XBELEM, \
PosDefor, PsiDefor, ofile, WriteMode)
else:
XBOUT.drop( PosIni=PosIni, PsiIni=PsiIni, PosDeforStatic=PosDefor.copy(),
PsiDeforStatic=PsiDefor.copy())
PyLibs.io.save.h5file(SaveDict['OutputDir'],SaveDict['OutputFileRoot']+'.h5',
*OutList)
#"Initialise variables for dynamic analysis"
Time, NumSteps, ForceTime, ForcedVel, ForcedVelDot,\
PosDotDef, PsiDotDef,\
OutGrids, PosPsiTime, VelocTime, DynOut\
= BeamInit.Dynamic(XBINPUT,XBOPTS, moduleName)
# Delete unused vars
del OutGrids, VelocTime
#"Write _force file"
if SaveDict['Format']=='dat':
ofile = Settings.OutputDir + Settings.OutputFileRoot + '_SOL312_force.dat'
fp = open(ofile,'w')
BeamIO.Write_force_File(fp, Time, ForceTime, ForcedVel, ForcedVelDot)
fp.close()
# sm write class
XBOUT.Time=Time
XBOUT.Vrel=ForcedVel
XBOUT.VrelDot=ForcedVelDot
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')
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
Quat = psi2quat(XBINPUT.PsiA_G)
XBOUT.QuatList.append(Quat)
#"Extract initial displacements and velocities"
BeamLib.Cbeam_Solv_Disp2State(NumNodes_tot, NumDof, XBINPUT, XBNODE,\
PosDefor, PsiDefor, PosDotDef, PsiDotDef,
X, dXdt)
#"Approximate initial accelerations"
#"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')
#"Force at the first time-step"
# Note: rank of Force increased after removing ForceTime
Force = (XBOUT.ForceStaticTotal + XBINPUT.ForceDyn[0,:,:]).copy('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)
#store initial matrices for eigenvalues analysis
XBOUT.M0 = MglobalFull.copy()
XBOUT.C0 = CglobalFull.copy()
XBOUT.K0 = KglobalFull.copy()
#"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 += -np.dot(FglobalFull, Force_Dof)
#Separate assembly of follower and dead loads"
tmpForceTime=ForceTime[0].copy('F')
Qforces = 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)[0]
Qglobal -= Qforces
#"Initial Accel"
dXddt[:] = np.dot(np.linalg.inv(MglobalFull), -Qglobal)
#embed()
#dXddt[iiblock]=0.0
#"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*np.power((gamma + 0.5),2.0)
#"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]
#"Update transformation matrix for given angular velocity"
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)
#"Predictor step"
X += dt*dXdt + (0.5-beta)*dXddt*dt**2
dXdt += (1.0-gamma)*dXddt*dt
dXddt[:] = 0.0
# Force calculation: moved in while as depending on PsiDefor
#Force=(XBINPUT.ForceStatic+XBINPUT.ForceDyn*ForceTime[iStep+1]).copy('F')
#Force=(XBINPUT.ForceStatic+XBINPUT.ForceDyn[iStep+1,:,:]).copy('F')
#"Reset convergence parameters"
Iter = 0
ResLog10 = 1.0
#"Newton-Raphson loop"
while ( (ResLog10 > 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)
# update force
Force = (XBINPUT.ForceStatic+XBINPUT.ForceDyn[iStep+1,:,:]).copy('F')
AddGravityLoads(Force, XBINPUT, XBELEM,
AELAOPTS=None, # allows defining inertial/elastic axis
PsiDefor=PsiDefor,
chord = 0.0, # used to define inertial/elastic axis
PsiA_G=XbeamLib.quat2psi(Quat),
FollowerForceRig=XBOPTS.FollowerForceRig.value)
#"update matrices"
BeamLib.Cbeam3_Asbly_Dynamic(XBINPUT, NumNodes_tot, XBELEM, XBNODE,\
PosIni, PsiIni, PosDefor, PsiDefor,\
PosDotDef, PsiDotDef, PosDotDotDef, PsiDotDotDef,\
Force, ForcedVel[iStep+1,:], ForcedVelDot[iStep+1,:],\
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)) )
Q1 = np.dot(MglobalFull, dXddt)
Q2 = np.dot(Mvel,ForcedVelDot[iStep+1,:])
Q3 = - np.dot(FglobalFull, Force_Dof)
#"Solve for update vector"
#"Residual"
Qglobal += np.dot(MglobalFull, dXddt) \
+ np.dot(Mvel,ForcedVelDot[iStep+1,:]) \
- np.dot(FglobalFull, Force_Dof)
#Separate assembly of follower and dead loads
tmpForceTime=ForceTime[iStep+1].copy('F')
Qforces = XbeamLib.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)[0]
Qglobal -= Qforces
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*np.power(dt,2.0))
#"Solve for update"
DX[:] = np.dot(np.linalg.inv(Asys), -Qglobal)
#"Corrector step"
X += DX
dXdt += DX*gamma/(beta*dt)
dXddt += DX/(beta*dt**2)
#"Residual at first iteration"
if(Iter == 1):
Res0_Qglobal = max(max(abs(Qglobal)),1)
Res0_DeltaX = max(max(abs(DX)),1)
#"Update residual and compute log10"
Res_Qglobal = max(abs(Qglobal))
Res_DeltaX = max(abs(DX))
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(DX)),ResLog10))
#"END Netwon-Raphson"
#"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[(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
# sm I/O: FoR A velocities/accelerations
XBOUT.QuatList.append(Quat)
XBOUT.DynOut=DynOut
XBOUT.PsiList.append(PsiDefor.copy())
XBOUT.cputime.append( time.clock() - XBOUT.cputime[0] )
if SaveDict['SaveProgress'] and SaveDict['Format']=='h5':
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 _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()
else:
XBINPUT.ForceDyn = XBINPUT.ForceDyn + XBINPUT.ForceDyn_foll + XBINPUT.ForceDyn_dead
PyLibs.io.save.h5file(SaveDict['OutputDir'], SaveDict['OutputFileRoot']+'.h5',
*OutList)
if XBOPTS.PrintInfo.value==True:
sys.stdout.write(' ... done\n')
return XBOUT
def Solve_Py(XBINPUT,XBOPTS, moduleName = None, SaveDict=Settings.SaveDict):
"""Nonlinear static solver using Python to solve residual
equation. Assembly of matrices is carried out with Fortran subroutines."""
#"Check correct solution code"
assert XBOPTS.Solution.value == 112, ('NonlinearStatic requested' +\
' with wrong solution code')
# I/O management
Settings.SaveDict=SaveDict # overwrite for compatibility with 'dat' format output
XBOUT=DerivedTypes.Xboutput()
OutList=[XBOPTS, XBINPUT, XBOUT]
#"Initialise beam"
XBINPUT, XBOPTS, NumNodes_tot, XBELEM, PosIni, PsiIni, XBNODE, NumDof \
= BeamInit.Static(XBINPUT,XBOPTS, moduleName)
# debug
XBOUT.xbnode=XBNODE
XBOUT.xbelem=XBELEM
#"Set initial conditions as undef config"
PosDefor = PosIni.copy(order='F')
PsiDefor = PsiIni.copy(order='F')
if XBOPTS.PrintInfo.value==True:
sys.stdout.write('Solve nonlinear static case in Python ... \n')
# Determine orientatin of FoR A w.r.t. G (for gravity loads)
Quat = psi2quat(XBINPUT.PsiA_G)
Cao = Rot(Quat)
#"Initialise structural eqn tensors"
KglobalFull = np.zeros((NumDof.value,NumDof.value),\
ct.c_double, 'F'); ks = ct.c_int()
KglobalFull_foll = np.zeros((NumDof.value,NumDof.value),\
ct.c_double, 'F');
FglobalFull = np.zeros((NumDof.value,NumDof.value),\
ct.c_double, 'F'); fs = ct.c_int()
DeltaS = np.zeros(NumDof.value, ct.c_double, 'F')
Qglobal = np.zeros(NumDof.value, ct.c_double, 'F')
x = np.zeros(NumDof.value, ct.c_double, 'F')
dxdt = np.zeros(NumDof.value, ct.c_double, 'F')
# Add Gravity
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)
#"Load Step tensors"
iForceStep = np.zeros((NumNodes_tot.value,6), ct.c_double, 'F')
iForceStep_Dof = np.zeros(NumDof.value, ct.c_double, 'F')
rpar=1.1 # amplification factor
IncrPercent=np.array([ rpar**(ii) for ii in range(XBOPTS.NumLoadSteps.value) ])
step00=1./np.sum(IncrPercent)
IncrPercent=IncrPercent*step00
assert np.sum(IncrPercent)-1.0<1e-10, 'Algorithm for determining step-'\
'size of boundary displacements failed. Try reducing the number of steps'
#"Start Load Loop"
# NumLoadsSteps doubled if forced displacements are enforced in the solution:
# - the first NumLoadsSteps increase the applied load
# - the last NumLoadsSteps increase the applied displacements at the boundaries
if len(XBINPUT.ForcedDisp)==0:
Nsteps = XBOPTS.NumLoadSteps.value
else:
#NumDispSteps=XBOPTS.NumLoadSteps.value
#Nsteps = NumDispSteps+XBOPTS.NumLoadSteps.value
Nsteps = 2* XBOPTS.NumLoadSteps.value
# At each iLoadStep>=XBOPTS.NumLoadSteps.value, an amount of
# displacement, determined through the IncrPercent factor, is enforced
# at the boundary. IncrPercent can be arbitrary but should also be such
# that the sum of each IncrPercent=1.
# The initial steps should be very small, so as to avoid the solution
# to jump to a different branch.
# Different models are possible:
## equally distributed: requires a lot of loads steps
#IncrPercent=1./NumDispSteps*np.ones((NumDispSteps,))
## exponential distribution: guarantees very small initial steps but
# reduces the total number of steps
#rpar=1.3 # amplification factor
#IncrPercent=np.array([ rpar**(ii) for ii in range(NumDispSteps) ])
#step00=1./np.sum(IncrPercent)
#IncrPercent=IncrPercent*step00
XBOUT.CondK=[]
#for iLoadStep in range(XBOPTS.NumLoadSteps.value):
for iLoadStep in range(Nsteps):
#"Reset convergence parameters"
Iter = 0
ResLog10 = 1.0
if iLoadStep<XBOPTS.NumLoadSteps.value:
# Gradually increase the static load
IncrHere=IncrPercent[iLoadStep]
iForceStep=iForceStep+IncrHere*XBOUT.ForceStaticTotal
# mid node
midNode=int((XBINPUT.NumNodesTot-1)/2)
#print('R0\tR1\tdR\tRguess\tIncOld\tIncHere')
#print(6*'%.4f\t'\
# %( PosDefor_0[midNode,2],
# PosDefor_1[midNode,2],
# (PosDefor_1-PosDefor_0)[midNode,2],
# PosDefor[midNode,2],
# IncrPercent[iLoadStep-1],
# IncrHere))
else: #if iLoadStep>=XBOPTS.NumLoadSteps.value:
# Enforce displacement at the boundary
IncrHere=IncrPercent[iLoadStep-XBOPTS.NumLoadSteps.value]
# update displacements (also initial guess)
print('IncrPercent (displacements are cumulative)=%f' %IncrHere)
PosDefor = ForceDisplacement(PosIni,PosDefor,XBINPUT.ForcedDisp,
XBINPUT.PsiA_G,factor=IncrHere)
# debug forced displacements
#import matplotlib.pyplot as plt
#plt.plot(PosIni[:,0],PosIni[:,2],'k',marker='s')
#plt.plot(PosDefor[:,0],PosDefor[:,2],'r',marker='o')
#plt.show()
if XBOPTS.PrintInfo.value == True:
sys.stdout.write(' iLoad: %-10d\n' %(iLoadStep+1))
sys.stdout.write(' SubIter DeltaF DeltaX ResLog10\n')
#"Newton Iteration"
while( (ResLog10 > XBOPTS.MinDelta.value) \
& (Iter < XBOPTS.MaxIterations.value) ):
#"Increment iteration counter"
Iter += 1
if XBOPTS.PrintInfo.value == True:
sys.stdout.write(' %-7d ' %(Iter))
#"Set structural eqn tensors to zero"
KglobalFull[:,:] = 0.0; ks = ct.c_int()
KglobalFull_foll[:,:] = 0.0;
FglobalFull[:,:] = 0.0; fs = ct.c_int()
Qglobal[:] = 0.0
#"Assemble matrices for static problem"
BeamLib.Cbeam3_Asbly_Static(XBINPUT, NumNodes_tot, XBELEM, XBNODE,\
PosIni, PsiIni, PosDefor, PsiDefor,\
iForceStep, NumDof,\
ks, KglobalFull, fs, FglobalFull, Qglobal,\
XBOPTS, Cao)
#"Get forces on unconstrained nodes"
BeamLib.f_fem_m2v(ct.byref(NumNodes_tot),\
ct.byref(ct.c_int(6)),\
iForceStep.ctypes.data_as(ct.POINTER(ct.c_double)),\
ct.byref(NumDof),\
iForceStep_Dof.ctypes.data_as(ct.POINTER(ct.c_double)),\
XBNODE.Vdof.ctypes.data_as(ct.POINTER(ct.c_int)) )
#"Separate assembly of follower and dead loads"
Qforces, KglobalFull_foll = \
XbeamLib.LoadAssembly(XBINPUT, XBELEM, XBNODE, XBOPTS, NumDof, \
PosIni, PsiIni, PosDefor, PsiDefor, \
XBINPUT.ForceStatic_foll,XBINPUT.ForceStatic_dead, \
Cao, float((iLoadStep+1)/XBOPTS.NumLoadSteps.value))[:2]
KglobalFull += KglobalFull_foll
Qglobal = Qglobal -Qforces -np.dot(FglobalFull,iForceStep_Dof)
if iLoadStep==0 and Iter==1:
XBOUT.K0=KglobalFull.copy()
XBOUT.Q0=Qglobal.copy()
#"Calculate \Delta State Vector"
DeltaS = - np.linalg.solve(KglobalFull, Qglobal)
# @warning: on very stiff problem, using a matrix inversion is more
# robust then using np.linalg.solve. A least-squares solver can also
# be used.
#if np.linalg.cond(KglobalFull)>1e20:
# Sol=np.linalg.lstsq(KglobalFull, -Qglobal)
# DeltaS=Sol[0]
# Krank=Sol[2]
# sing_val=Sol[3]
# if Krank<NumDof.value:
# raise NameError('Singular matrix')
#else:
# #DeltaS = - np.dot(np.linalg.inv(KglobalFull), Qglobal)
# DeltaS = - np.linalg.solve(KglobalFull, Qglobal)
if XBOPTS.PrintInfo.value == True:
sys.stdout.write(2*'%-10.4e '%(max(abs(Qglobal)),
max(abs(DeltaS))))
#Residual at first iteration
if(Iter == 1):
Res0_Qglobal = max(max(abs(Qglobal)),1)
Res0_DeltaX = max(max(abs(DeltaS)),1)
#Update residual and compute log10
Res_Qglobal = max(abs(Qglobal))
Res_DeltaX = max(abs(DeltaS))
ResLog10 = max(Res_Qglobal/Res0_Qglobal, Res_DeltaX/Res0_DeltaX)
if XBOPTS.PrintInfo.value == True:
sys.stdout.write('%8.4f\n' %(ResLog10))
# Update Solution (PosDefor/PsiDefor) for next iter
BeamLib.Cbeam3_Solv_Update_Static(XBINPUT, NumNodes_tot, XBELEM,\
XBNODE, NumDof, DeltaS,\
PosIni, PsiIni, PosDefor,PsiDefor)
'''
#### Floor constrained
Cao=RotCRV(XBINPUT.PsiA_G)
for nn in range(NumNodes_tot.value):
posG=np.dot(Cao,PosDefor[nn,:])
if posG[2]<0.0:
posG[2]=0.0
PosDefor[nn,:]=np.dot(Cao.T,posG)
'''
#"Stop the solution"
if(ResLog10 > 1.e10):
sys.stderr.write(' STOP\n')
sys.stderr.write(' The max residual is %e\n' %(ResLog10))
return XBOUT
exit(1)
#"END Newton Loop"
#"END Load Loop"
if XBOPTS.PrintInfo.value==True:
sys.stdout.write(' ... done\n')
# Prepare output
XBOUT.drop( PosIni=PosIni,PsiIni=PsiIni,PosDeforStatic=PosDefor.copy(),
PsiDeforStatic=PsiDefor.copy(), K=KglobalFull.copy())
#"Print deformed configuration"
if XBOPTS.PrintInfo.value==True:
sys.stdout.write('--------------------------------------\n')
sys.stdout.write('NONLINEAR STATIC SOLUTION\n')
sys.stdout.write('%10s %10s %10s\n' %('X','Y','Z'))
for inodi in range(NumNodes_tot.value):
sys.stdout.write(' ')
for inodj in range(3):
sys.stdout.write('%12.5e' %(PosDefor[inodi,inodj]))
sys.stdout.write('\n')
sys.stdout.write('--------------------------------------\n')
if SaveDict['Format']=='dat':
#"Write deformed configuration to file"
ofile = Settings.OutputDir + Settings.OutputFileRoot + '_SOL112_def.dat'
if XBOPTS.PrintInfo.value==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.value==True:
sys.stdout.write('done\n')
WriteMode = 'a'
BeamIO.OutputElems(XBINPUT.NumElems, NumNodes_tot.value, XBELEM, \
PosDefor, PsiDefor, ofile, WriteMode)
else:
PyLibs.io.save.h5file(SaveDict['OutputDir'], SaveDict['OutputFileRoot']+'.h5',
*OutList)
#"Return solution as optional output argument"
return XBOUT #PosDefor, PsiDefor
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.
@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):
"""Nonlinear static solver using Python to solve aeroelastic
equation. Assembly of structural matrices is carried out with
Fortran subroutines. Aerodynamics solved using PyAero.UVLM."""
assert XBOPTS.Solution.value == 112, "NonlinearStatic requested" + " with wrong solution code"
# Initialize beam.
XBINPUT, XBOPTS, NumNodes_tot, XBELEM, PosIni, PsiIni, XBNODE, NumDof = BeamInit.Static(XBINPUT, XBOPTS)
# Set initial conditions as undef config.
PosDefor = PosIni.copy(order="F")
PsiDefor = PsiIni.copy(order="F")
if XBOPTS.PrintInfo.value == True:
sys.stdout.write("Solve nonlinear static case in Python ... \n")
# Initialise structural eqn tensors.
KglobalFull = np.zeros((NumDof.value, NumDof.value), ct.c_double, "F")
ks = ct.c_int()
FglobalFull = np.zeros((NumDof.value, NumDof.value), ct.c_double, "F")
fs = ct.c_int()
DeltaS = np.zeros(NumDof.value, ct.c_double, "F")
Qglobal = np.zeros(NumDof.value, ct.c_double, "F")
x = np.zeros(NumDof.value, ct.c_double, "F")
dxdt = np.zeros(NumDof.value, ct.c_double, "F")
# Beam Load Step tensors
iForceStep = np.zeros((NumNodes_tot.value, 6), ct.c_double, "F")
iForceStep_Dof = np.zeros(NumDof.value, ct.c_double, "F")
# Initialze Aero.
Section = InitSection(VMOPTS, VMINPUT, AELAOPTS.ElasticAxis)
# Declare memory for Aero grid and velocities.
Zeta = np.zeros((Section.shape[0], PosDefor.shape[0], 3), ct.c_double, "C")
ZetaDot = np.zeros((Section.shape[0], PosDefor.shape[0], 3), ct.c_double, "C")
# Additional Aero solver variables.
AeroForces = np.zeros((VMOPTS.M.value + 1, VMOPTS.N.value + 1, 3), ct.c_double, "C")
Gamma = np.zeros((VMOPTS.M.value, VMOPTS.N.value), ct.c_double, "C")
# Init external velocities.
Uext = InitSteadyExternalVels(VMOPTS, VMINPUT)
# Create zero triads for motion of reference frame.
VelA_A = np.zeros((3))
OmegaA_A = np.zeros((3))
# Create zero vectors for structural vars not used in static analysis.
PosDotDef = np.zeros_like(PosDefor, ct.c_double, "F")
PsiDotDef = np.zeros_like(PsiDefor, ct.c_double, "F")
# Define tecplot stuff.
FileName = Settings.OutputDir + Settings.OutputFileRoot + "AeroGrid.dat"
Variables = ["X", "Y", "Z", "Gamma"]
FileObject = PostProcess.WriteAeroTecHeader(FileName, "Default", Variables)
# Start Load Loop.
for iLoadStep in range(XBOPTS.NumLoadSteps.value):
# Reset convergence parameters and loads.
Iter = 0
ResLog10 = 0.0
XBINPUT.ForceStatic[:, :] = 0.0
AeroForces[:, :, :] = 0.0
# Calculate aero loads.
if hasattr(XBINPUT, "ForcedVel"):
CoincidentGrid(
PosDefor,
PsiDefor,
Section,
XBINPUT.ForcedVel[0, :3],
XBINPUT.ForcedVel[0, 3:],
PosDotDef,
PsiDotDef,
XBINPUT,
Zeta,
ZetaDot,
ctrlSurf=VMINPUT.ctrlSurf,
)
else:
CoincidentGrid(
PosDefor,
PsiDefor,
Section,
VelA_A,
OmegaA_A,
PosDotDef,
PsiDotDef,
XBINPUT,
Zeta,
ZetaDot,
ctrlSurf=VMINPUT.ctrlSurf,
)
if hasattr(XBINPUT, "ForcedVel"):
ZetaStar, GammaStar = InitSteadyWake(VMOPTS, VMINPUT, Zeta, XBINPUT.ForcedVel[0, :3])
else:
ZetaStar, GammaStar = InitSteadyWake(VMOPTS, VMINPUT, Zeta)
# Solve for AeroForces.
UVLMLib.Cpp_Solver_VLM(Zeta, ZetaDot, Uext, ZetaStar, VMOPTS, AeroForces, Gamma, GammaStar)
AeroForces[:, :, :] = AELAOPTS.AirDensity * AeroForces[:, :, :]
# Write solution to tecplot file.
PostProcess.WriteUVLMtoTec(
FileObject,
Zeta,
ZetaStar,
Gamma,
GammaStar,
iLoadStep,
XBOPTS.NumLoadSteps.value,
iLoadStep * 1.0,
Text=True,
)
# Map AeroForces to beam.
CoincidentGridForce(XBINPUT, PsiDefor, Section, AeroForces, XBINPUT.ForceStatic)
# Add gravity loads.
AddGravityLoads(XBINPUT.ForceStatic, XBINPUT, XBELEM, AELAOPTS, PsiDefor, VMINPUT.c)
# Apply factor corresponding to force step.
iForceStep = XBINPUT.ForceStatic * float((iLoadStep + 1)) / XBOPTS.NumLoadSteps.value
if XBOPTS.PrintInfo.value == True:
sys.stdout.write(" iLoad: %-10d\n" % (iLoadStep + 1))
sys.stdout.write(" SubIter DeltaF DeltaX ResLog10\n")
# Start Newton Iteration.
while (ResLog10 > np.log10(XBOPTS.MinDelta.value)) & (Iter < XBOPTS.MaxIterations.value):
Iter += 1
if XBOPTS.PrintInfo.value == True:
sys.stdout.write(" %-7d " % (Iter))
# Set structural eqn tensors to zero
KglobalFull[:, :] = 0.0
ks = ct.c_int()
FglobalFull[:, :] = 0.0
fs = ct.c_int()
Qglobal[:] = 0.0
# Assemble matrices for static problem
BeamLib.Cbeam3_Asbly_Static(
XBINPUT,
NumNodes_tot,
XBELEM,
XBNODE,
PosIni,
PsiIni,
PosDefor,
PsiDefor,
iForceStep,
NumDof,
ks,
KglobalFull,
fs,
FglobalFull,
Qglobal,
XBOPTS,
)
# Get state vector from current deformation.
PosDot = np.zeros((NumNodes_tot.value, 3), ct.c_double, "F")
PsiDot = np.zeros((XBINPUT.NumElems, Settings.MaxElNod, 3), ct.c_double, "F")
BeamLib.Cbeam_Solv_Disp2State(
NumNodes_tot, NumDof, XBINPUT, XBNODE, PosDefor, PsiDefor, PosDot, PsiDot, x, dxdt
)
# Get forces on unconstrained nodes.
BeamLib.f_fem_m2v(
ct.byref(NumNodes_tot),
ct.byref(ct.c_int(6)),
iForceStep.ctypes.data_as(ct.POINTER(ct.c_double)),
ct.byref(NumDof),
iForceStep_Dof.ctypes.data_as(ct.POINTER(ct.c_double)),
XBNODE.Vdof.ctypes.data_as(ct.POINTER(ct.c_int)),
)
# Calculate \Delta RHS.
Qglobal = Qglobal - np.dot(FglobalFull, iForceStep_Dof)
# Calculate \Delta State Vector.
DeltaS = -np.dot(np.linalg.inv(KglobalFull), Qglobal)
if XBOPTS.PrintInfo.value == True:
sys.stdout.write("%-10.4e %-10.4e " % (max(abs(Qglobal)), max(abs(DeltaS))))
# Update Solution.
BeamLib.Cbeam3_Solv_Update_Static(
XBINPUT, NumNodes_tot, XBELEM, XBNODE, NumDof, DeltaS, PosIni, PsiIni, PosDefor, PsiDefor
)
# Record residual at first iteration.
if Iter == 1:
Res0_Qglobal = max(abs(Qglobal)) + 1.0e-16
Res0_DeltaX = max(abs(DeltaS)) + 1.0e-16
# Update residual and compute log10
Res_Qglobal = max(abs(Qglobal)) + 1.0e-16
Res_DeltaX = max(abs(DeltaS)) + 1.0e-16
ResLog10 = max([np.log10(Res_Qglobal / Res0_Qglobal), np.log10(Res_DeltaX / Res0_DeltaX)])
if XBOPTS.PrintInfo.value == True:
sys.stdout.write("%8.4f\n" % (ResLog10))
# Stop the solution.
if ResLog10 > 10.0:
sys.stderr.write(" STOP\n")
sys.stderr.write(" The max residual is %e\n" % (ResLog10))
exit(1)
elif Res_DeltaX < 1.0e-14:
break
# END Newton iteration
# END Load step loop
if XBOPTS.PrintInfo.value == True:
sys.stdout.write(" ... done\n")
# Write deformed configuration to file.
ofile = Settings.OutputDir + Settings.OutputFileRoot + "_SOL112_def.dat"
if XBOPTS.PrintInfo.value == 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.value == True:
sys.stdout.write("done\n")
WriteMode = "a"
BeamIO.OutputElems(XBINPUT.NumElems, NumNodes_tot.value, XBELEM, PosDefor, PsiDefor, ofile, WriteMode)
# Print deformed configuration.
if XBOPTS.PrintInfo.value == True:
sys.stdout.write("--------------------------------------\n")
sys.stdout.write("NONLINEAR STATIC SOLUTION\n")
sys.stdout.write("%10s %10s %10s\n" % ("X", "Y", "Z"))
for inodi in range(NumNodes_tot.value):
sys.stdout.write(" ")
for inodj in range(3):
sys.stdout.write("%12.5e" % (PosDefor[inodi, inodj]))
sys.stdout.write("\n")
sys.stdout.write("--------------------------------------\n")
# Close Tecplot ascii FileObject.
PostProcess.CloseAeroTecFile(FileObject)
# Return solution
return PosDefor, PsiDefor, Zeta, ZetaStar, Gamma, GammaStar, iForceStep
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