def Solve_Py(XBINPUT,XBOPTS,VMOPTS,VMINPUT,AELAOPTS,**kwords):
"""
@brief Nonlinear dynamic solver using Python to solve aeroelastic equation.
@details Assembly of structural matrices is carried out with Fortran subroutines. Aerodynamics
solved using PyAero\.UVLM.
@param XBINPUT Beam inputs (for initialization in Python).
@param XBOPTS Beam solver options (for Fortran).
@param VMOPTS UVLM solver options (for C/C++).
@param VMINPUT UVLM solver inputs (for initialization in Python).
@param VMUNST Unsteady input information for aero solver.
@param AELAOPTS Options relevant to coupled aeroelastic simulations.
@param writeDict OrderedDict of 'name':tuple of outputs to write.
@todo: Add list of variables with description
"""
# Check correct solution code.
assert XBOPTS.Solution.value == 912, ('NonlinearFlightDynamic requested' +
' with wrong solution code')
# Check loads options
assert XBOPTS.FollowerForceRig.value == True, ('For NonlinearFlightDynamic '
'solution XBOPTS.FollowerForceRig = ct.c_bool(True) is required. \n'
'Note that gravity is treated as a dead load by default.')
# I/O options
XBOUT=DerivedTypes.Xboutput()
SaveDict=Settings.SaveDict
if 'SaveDict' in kwords: SaveDict=kwords['SaveDict']
if SaveDict['Format']=='h5':
Settings.WriteOut=False
Settings.PlotTec=False
OutList=[AELAOPTS, VMINPUT, VMOPTS, XBOPTS, XBINPUT, XBOUT]
#if VMINPUT.ctrlSurf!=None:
# for cc in range(len(VMINPUT.ctrlSurf)):
# OutList.append(VMINPUT.ctrlSurf[cc])
if SaveDict['SaveWake'] is True:
dirwake=SaveDict['OutputDir']+'wake'+SaveDict['OutputFileRoot']+'/'
os.system('mkdir -p %s' %dirwake)
XBOUT.dirwake=dirwake
XBOUT.cputime.append(time.clock()) # time.processor_time more appropriate
XBOUT.ForceDofList=[]
XBOUT.ForceRigidList=[]
#------------------ Initial Displacement/Forces: ImpStart vs Static Solution
# Initialise static beam data.
XBINPUT, XBOPTS, NumNodes_tot, XBELEM, PosIni, PsiIni, XBNODE, NumDof \
= BeamInit.Static(XBINPUT,XBOPTS)
# Calculate initial displacements.
if AELAOPTS.ImpStart == True:
PosDefor = PosIni.copy(order='F')
PsiDefor = PsiIni.copy(order='F')
# Extract forces
XBOUT.ForceStaticTotal = XBINPUT.ForceStatic.copy('F')
AddGravityLoads(XBOUT.ForceStaticTotal,XBINPUT,XBELEM,
AELAOPTS=None, # allows defining inertial/elastic axis
PsiDefor=PsiDefor,
chord = 0.0, # used to define inertial/elastic axis
PsiA_G=XBINPUT.PsiA_G,
FollowerForceRig=True)
ForceAero = 0.0*XBOUT.ForceStaticTotal.copy('C')
else:
XBOPTS.Solution.value = 112 # Modify options.
VMOPTS.Steady = ct.c_bool(True)
Rollup = VMOPTS.Rollup.value
VMOPTS.Rollup.value = False
if VMINPUT.ctrlSurf != None:
# open-loop control
for cc in range(len(VMINPUT.ctrlSurf)):
VMINPUT.ctrlSurf[cc].update(0.0,iStep=0)
# Solve Static Aeroelastic.
# Note: output force includes gravity loads
#PosDefor, PsiDefor, Zeta, ZetaStar, Gamma, GammaStar, Force = \
# Static.Solve_Py(XBINPUT, XBOPTS, VMOPTS, VMINPUT, AELAOPTS)
XBSTA=Static.Solve_Py(XBINPUT, XBOPTS, VMOPTS, VMINPUT, AELAOPTS)
# Extract forces
XBOUT.ForceStaticTotal=XBSTA.ForceStaticTotal.copy(order='F') # gravity/aero/applied
ForceAero = XBSTA.ForceAeroStatic.copy(order='C')
# Define Pos/Psi as fortran array (crash otherwise)
PosDefor=XBSTA.PosDeforStatic.copy(order='F')
PsiDefor=XBSTA.PsiDeforStatic.copy(order='F')
XBOUT.PosDeforStatic = XBSTA.PosDeforStatic
XBOUT.PsiDeforStatic = XBSTA.PsiDeforStatic
# Wake variables
Zeta=XBSTA.ZetaStatic
ZetaStar=XBSTA.ZetaStarStatic
Gamma=XBSTA.GammaStatic
GammaStar=XBSTA.GammaStarStatic
del XBSTA
XBOPTS.Solution.value = 912 # Reset options.
VMOPTS.Steady = ct.c_bool(False)
VMOPTS.Rollup.value = Rollup
# Save output
if SaveDict['Format']=='dat':
write_SOL912_def(XBOPTS,XBINPUT,XBELEM,NumNodes_tot,PosDefor,PsiDefor,SaveDict)
else: # HDF5
XBOUT.drop( PosIni=PosIni, PsiIni=PsiIni,PosDeforStatic=PosDefor.copy(),
PsiDeforStatic=PsiDefor.copy() )
XBOUT.ForceAeroList.append( ForceAero )
PyLibs.io.save.h5file(SaveDict['OutputDir'],
SaveDict['OutputFileRoot']+'.h5', *OutList)
#------------------------------------------- Initialise Structural Variables
# Build arrays for dynamic analysis
# 1. initial accelerations {Pos/Psi}DotDotDef approximated to zero
# 2. {Pos/Psi}DotDotDef remain zero
( Time, NumSteps, ForceTime, Vrel, VrelDot, PosDotDef, PsiDotDef,
OutGrids, PosPsiTime, VelocTime, DynOut ) = BeamInit.Dynamic( XBINPUT, XBOPTS)
del OutGrids, VelocTime
PosDotDotDef = np.zeros((NumNodes_tot.value,3),ct.c_double,'F')
PsiDotDotDef = np.zeros((XBINPUT.NumElems,Settings.MaxElNod,3),ct.c_double, 'F')
# Allocate memory for GEBM tensors:
# 1. all set to zero
# 2. all arrays as ct_c_double with Fortran ordering
( MssFull, CssFull, KssFull, FstrucFull, Qstruc,
MrsFull, CrsFull, KrsFull, FrigidFull, Qrigid,
Mrr, Crr, Msr, Csr,
Force_Dof, Force_All,
X, dXdt, Q, DQ, dQdt, dQddt,
Msys, Csys, Ksys, Asys, Qsys ) = init_GEBM_tensors(NumDof)
# Extract initial displacements (and velocities ?).
# 1. also for non impulsive start, this step only populates X...
BeamLib.Cbeam_Solv_Disp2State(NumNodes_tot, NumDof, XBINPUT, XBNODE,
PosDefor, PsiDefor, PosDotDef, PsiDotDef,
X, dXdt)
# Assemble Tensors for Dynamic Solution
# 1. extract variables used twice or more (Quat, currVel)
# 2. update Force
# 3. Populate state vectors (Q, dQdt)
if XBINPUT.PsiA_G_dyn != None: PsiA_G = XBINPUT.PsiA_G_dyn.copy()
else: PsiA_G = XBINPUT.PsiA_G.copy()
Quat=xbl.psi2quat(PsiA_G)
currVrel=Vrel[0,:].copy('F') # also shared by aero initialisation
# ForceStatic will include aero only in the non-impulsive case
Force = XBOUT.ForceStaticTotal.copy('F') + XBINPUT.ForceDyn[0,:,:].copy('F')
Q[:NumDof.value]=X.copy('F')
dQdt[:NumDof.value]=dXdt.copy('F')
dQdt[NumDof.value:NumDof.value+6] = currVrel.copy('F')
dQdt[NumDof.value+6:]= Quat.copy('F')
(Msys, Csys, Ksys, Qsys) = assemble_GEBM_tensors(
0, # iStep
NumDof, NumNodes_tot,
XBELEM, XBNODE,
XBINPUT, VMINPUT, XBOPTS,
AELAOPTS, VMOPTS,
currVrel,
PosIni, PsiIni,
PosDefor, PsiDefor,
PosDotDef, PsiDotDef,
PosDotDotDef, PsiDotDotDef,
Force,
MssFull, CssFull, KssFull, FstrucFull,
Msr, Csr,
Force_Dof, Qstruc,
MrsFull, CrsFull, KrsFull, FrigidFull,
Mrr, Crr, Qrigid,
Q, dQdt, dQddt,
Force_All,
Msys, Csys, Ksys, Asys, Qsys )
# I/O
DynOut[0:NumNodes_tot.value,:] = PosDefor # nodal position
PosPsiTime[0,:3] = PosDefor[-1,:] # nodal position
PosPsiTime[0,3:] = PsiDefor[-1,XBELEM.NumNodes[-1]-1,:] # nodal CRV
XBOUT.drop( Vrel=Vrel, VrelDot=VrelDot, ForceTime=ForceTime,
AsysListStart =[], AsysListEnd=[],
MsysList=[], CsysList=[], KsysList=[])
XBOUT.QuatList.append(Quat.copy())
XBOUT.CRVList.append( PsiA_G.copy())
XBOUT.drop( Msys0 = Msys.copy(), Csys0 = Csys.copy(),
Ksys0 = Ksys.copy(), Qsys0 = Qsys.copy())
#--------------------------------------------------------------------- Initialise UVLM variables
# 1. Section properties
Section = InitSection(VMOPTS,VMINPUT,AELAOPTS.ElasticAxis)
# Declare memory for Aero variables.
K = VMOPTS.M.value*VMOPTS.N.value
ZetaDot = np.zeros((Section.shape[0],PosDefor.shape[0],3),ct.c_double,'C')
AIC = np.zeros((K,K),ct.c_double,'C')
BIC = np.zeros((K,K),ct.c_double,'C')
AeroForces = np.zeros((VMOPTS.M.value+1,VMOPTS.N.value+1,3),ct.c_double,'C')
# Initialise A-frame location and orientation to be zero.
OriginA_a = np.zeros(3,ct.c_double,'C')
#PsiA_G=XBINPUT.PsiA_G.copy()
# Init external velocities.
Ufree = InitSteadyExternalVels(VMOPTS,VMINPUT)
if AELAOPTS.ImpStart == True:
Zeta = np.zeros((Section.shape[0],PosDefor.shape[0],3),ct.c_double,'C')
Gamma = np.zeros((VMOPTS.M.value,VMOPTS.N.value),ct.c_double,'C')
# Generate surface, wake and gamma matrices.
CoincidentGrid(PosDefor, PsiDefor, Section, currVrel[:3],
currVrel[3:], PosDotDef, PsiDotDef, XBINPUT,
Zeta, ZetaDot, OriginA_a, PsiA_G,
VMINPUT.ctrlSurf)
# init wake grid and gamma matrix.
ZetaStar, GammaStar = InitSteadyWake(VMOPTS,VMINPUT,Zeta,currVrel[:3])
# Define TecPlot stuff
if Settings.PlotTec==True:
FileObject=write_TecPlot( Zeta, ZetaStar, Gamma, GammaStar, NumSteps.value, 0, Time[0],
SaveDict)
if 'writeDict' in kwords and Settings.WriteOut == True:
fp= write_SOL912_out( Time[0], PosDefor, PsiDefor, PosIni, PsiIni, XBELEM,
kwords['writeDict'], SaveDict)
#------------------------------------------------------------------------------- Time-Loop Start
if XBOPTS.PrintInfo.value==True:
sys.stdout.write('Solve nonlinear dynamic case in Python ... \n')
#Get gamma and beta for Newmark scheme
gamma = 0.5 + XBOPTS.NewmarkDamp.value
beta = 0.25*(gamma + 0.5)**2
# Initial Accelerations:
# 1. These can be non-zero (e.g Impulsive start or unbalanced start: in these cases, the
# structure has an initially undeformed/statically-deformed configuration, with zero velocities
# but accelerations are non-zero).
# 2. lagged solution compensates for Msys mal-conditioned
if XBOPTS.RigidDynamics is False and AELAOPTS.ImpStart is False:
lagsol=True
if lagsol==True: dQddt[:] = lagsolver(Msys,-Qsys,MaxIter=1)
else: dQddt[:] = np.linalg.solve(Msys,-Qsys)
else:
# solve only rigid body dynamics
dQddt[:NumDof.value]=0.0
dQddt[NumDof.value:]=np.linalg.solve( Msys[NumDof.value:,NumDof.value:],
-Qsys[NumDof.value:] )
XBOUT.dQddt0=dQddt.copy()
for iStep in range(1,NumSteps.value+1):
# Note len(Time)=NumSteps+1
if XBOPTS.PrintInfo.value==True:
sys.stdout.write('Time: %-10.4e\n' %(Time[iStep]))
sys.stdout.write(' SubIter DeltaF DeltaX ResLog10\n')
#calculate dt
dt = Time[iStep]-Time[iStep-1]
VMOPTS.DelTime = ct.c_double(dt)
#Predictor step
Q += dt*dQdt + (0.5-beta)*dQddt*np.power(dt,2.0)
dQdt += (1.0-gamma)*dQddt*dt
### Corrector
# 1. assume initial guess for the acceleration dQddt(iStep) = dQddt(iStep-1)
Q += beta*dQddt*dt**2
dQdt += gamma*dQddt*dt
#nodal displacements and velocities from state vector
X=Q[:NumDof.value].copy('F')
dXdt=dQdt[:NumDof.value].copy('F');
BeamLib.Cbeam3_Solv_State2Disp(XBINPUT,NumNodes_tot,XBELEM,XBNODE,
PosIni,PsiIni,NumDof,X,dXdt,
PosDefor,PsiDefor,PosDotDef,PsiDotDef)
#Reset convergence parameters
Iter = 0
ResLog10 = 1.0
AELAMinRes=0.0
# Residual at previous time-step
# warning: the convergence check is not well implemented: these variables are going to be
# equal to 1 always.
if XBOPTS.RigidDynamics==False: iicheck=[ii for ii in range(NumDof.value+10)]
else: iicheck=[ii for ii in range(NumDof.value, NumDof.value+10)]
Res0_Qglobal = max(max(abs(Qsys[iicheck])),1)
Res0_DeltaX = max(max(abs(DQ[iicheck])),1)
#---------------------------------------------------------------------------- Newton-Raphson
while ( (ResLog10 > XBOPTS.MinDelta.value) & (Iter < XBOPTS.MaxIterations.value) ):
# Unpack state variables
Vrel[iStep,:] = dQdt[NumDof.value:NumDof.value+6].copy('F')
VrelDot[iStep,:] = dQddt[NumDof.value:NumDof.value+6].copy('F')
Quat = dQdt[NumDof.value+6:].copy('F')
Quat = Quat/np.linalg.norm(Quat)
X=Q[:NumDof.value].copy('F')
dXdt=dQdt[:NumDof.value].copy('F')
Cao = xbl.Rot(Quat)
PsiA_G = xbl.quat2psi(Quat)
# Aero Force
# The aerodynamic force is update until the residual does not fall below a prescribed
# factor, AELAMinRes. This is evaluated after Iter=0 to access the value of the residual
# ResLog10. According to the setting AELAOPTS.MinRes, AELAOPTS.MaxRes, AELAOPTS.LimRes
# the threshold can then be lowered or raised.
if Iter==1: AELAMinRes = set_res_tight( ResLog10, AELAOPTS.MinRes,
AELAOPTS.MaxRes,AELAOPTS.LimRes)
if (AELAOPTS.Tight == False) and (ResLog10>AELAMinRes or Iter==0):
Force, Zeta, ZetaStar, Gamma, GammaStar = update_UVLMsol( iStep, dt, Time, Force,
XBINPUT, VMINPUT, XBELEM, AELAOPTS, VMOPTS,
PsiA_G, Vrel[iStep,:].copy('F'), OriginA_a, Section,
PosDefor, PsiDefor, PosDotDef, PsiDotDef,
Ufree, AIC, BIC,
AeroForces, Zeta, ZetaDot, ZetaStar, Gamma, GammaStar )
ForceAero = Force.copy()
else: Force[:,:] = ForceAero
# Add gravity loads.
AddGravityLoads(Force, XBINPUT, XBELEM, AELAOPTS, PsiDefor,
VMINPUT.c, PsiA_G, FollowerForceRig=True)
# Add prescribed loads
Force += (XBINPUT.ForceStatic + XBINPUT.ForceDyn[iStep,:,:]).copy('F')
# Dead forces are defined in FoR G, follower in FoR A.
# None follows the structure as it deflects
#Update matrices and loads for structural dynamic analysis
BeamLib.Cbeam3_Solv_State2Disp(XBINPUT, NumNodes_tot,
XBELEM, XBNODE,
PosIni, PsiIni,
NumDof, X, dXdt,
PosDefor, PsiDefor,
PosDotDef, PsiDotDef)
(Msys, Csys, Ksys, Qsys) = assemble_GEBM_tensors(
iStep,
NumDof, NumNodes_tot,
XBELEM, XBNODE,
XBINPUT, VMINPUT, XBOPTS,
AELAOPTS, VMOPTS,
Vrel[iStep,:].copy('F') ,
PosIni, PsiIni,
PosDefor, PsiDefor,
PosDotDef, PsiDotDef,
PosDotDotDef, PsiDotDotDef,
Force,
MssFull, CssFull, KssFull, FstrucFull,
Msr, Csr,
Force_Dof, Qstruc,
MrsFull, CrsFull, KrsFull, FrigidFull,
Mrr, Crr, Qrigid,
Q, dQdt, dQddt,
Force_All,
Msys, Csys, Ksys, Asys, Qsys )
#Calculate system matrix for update calculation
Asys = Ksys + Csys*gamma/(beta*dt) + Msys/(beta*dt**2)
#Compute correction
if XBOPTS.RigidDynamics==False:
DQ[:] = np.linalg.solve(Asys,-Qsys)
else:
DQ[:NumDof.value]=0.0
### correction is zero, no need of this
#Qsys[NumDof.value:NumDof.value+6]+=np.dot(
# Ksys[NumDof.value:NumDof.value+6,:NumDof.value],
# DQ[:NumDof.value] )
DQ[NumDof.value:]=np.linalg.solve( Asys[NumDof.value:,NumDof.value:],
-Qsys[NumDof.value:])
Q += DQ
dQdt += DQ*gamma/(beta*dt)
dQddt += DQ/(beta*dt**2)
#Update convergence criteria
Res_Qglobal = max(abs(Qsys[iicheck]))
Res_DeltaX = max(abs(DQ[iicheck]))
ResLog10 = max(Res_Qglobal/Res0_Qglobal, Res_DeltaX/Res0_DeltaX)
# Update counter.
Iter += 1
if XBOPTS.PrintInfo.value==True:
sys.stdout.write( ' %-7d %-10.4e %-10.4e %8.4f\n'
%(Iter, max(abs(Qsys)), max(abs(DQ)), ResLog10) )
# END Netwon-Raphson.
#----------------------------------------------------------------------- Terminate time-Loop
# Unpack state variables
Vrel[iStep,:] = dQdt[NumDof.value:NumDof.value+6].copy('F')
VrelDot[iStep,:] = dQddt[NumDof.value:NumDof.value+6].copy('F')
Quat = dQdt[NumDof.value+6:].copy('F')
Quat = Quat/np.linalg.norm(Quat)
X=Q[:NumDof.value].copy('F')
dXdt=dQdt[:NumDof.value].copy('F')
Cao = xbl.Rot(Quat)
PsiA_G = xbl.quat2psi(Quat)
# sm: here to avoid crash at first time-step
if AELAOPTS.Tight == False:
XBOUT.ForceAeroList.append(ForceAero.copy('C'))
# sm: save aero data
if ( SaveDict['SaveWake']==True and
iStep%SaveDict['SaveWakeFreq'] == 0 ):
nfile=iStep//SaveDict['SaveWakeFreq']
hdwake=h5py.File(dirwake+'%.4d.h5'%nfile,'w')
hdwake['iStep']=iStep
hdwake['Zeta']= np.float32(Zeta.copy('C'))
hdwake['ZetaStar']= np.float32(ZetaStar.copy('C'))
hdwake.close()
# sm debug:
#XBOUT.ForceDofList.append( np.dot(FstrucFull, Force_Dof).copy() )
XBOUT.ForceRigidList.append( np.dot(FrigidFull, Force_All).copy() )
#update to converged nodal displacements and velocities
X=Q[:NumDof.value].copy('F')
dXdt=dQdt[:NumDof.value].copy('F');
BeamLib.Cbeam3_Solv_State2Disp(XBINPUT, NumNodes_tot, XBELEM, XBNODE,
PosIni, PsiIni, NumDof, X, dXdt,\
PosDefor, PsiDefor, PosDotDef, PsiDotDef)
PosPsiTime[iStep,:3] = PosDefor[-1,:]
PosPsiTime[iStep,3:] = PsiDefor[-1,XBELEM.NumNodes[-1]-1,:]
#Position of all grid points in global FoR
i1 = (iStep)*NumNodes_tot.value
i2 = (iStep+1)*NumNodes_tot.value
DynOut[i1:i2,:] = PosDefor
#Export rigid-body velocities/accelerations
if XBOPTS.OutInaframe.value==False:
ACoa = np.zeros((6,6), ct.c_double, 'F')
ACoa[:3,:3] = np.transpose(Cao)
ACoa[3:,3:] = np.transpose(Cao)
Vrel[iStep,:] = np.dot(ACoa,dQdt[NumDof.value:NumDof.value+6].copy('F'))
VrelDot[iStep,:] = np.dot(ACoa,dQddt[NumDof.value:NumDof.value+6].copy('F'))
if 'writeDict' in kwords and Settings.WriteOut == True:
fp= write_SOL912_out(Time[iStep], PosDefor, PsiDefor, PosIni, PsiIni, XBELEM,
kwords['writeDict'], SaveDict, FileObject=fp)
# 'Rollup' due to external velocities. TODO: Must add gusts here!
ZetaStar[:,:] = ZetaStar[:,:] + VMINPUT.U_infty*dt
# sm: append outputs
# sm I/O: FoR A velocities/accelerations
XBOUT.drop( Time=Time, DynOut=DynOut, Vrel=Vrel, VrelDot=VrelDot )
XBOUT.PsiList.append(PsiDefor.copy())
XBOUT.QuatList.append(Quat.copy())
XBOUT.CRVList.append(PsiA_G.copy())
XBOUT.cputime.append( time.clock() - XBOUT.cputime[0] )
if SaveDict['SaveProgress']:
iisave=np.arange(1,NumSteps.value,np.ceil(NumSteps.value/SaveDict['NumSavePoints']))
if any(iisave==iStep):
PyLibs.io.save.h5file(SaveDict['OutputDir'], SaveDict['OutputFileRoot']+'.h5',
*OutList)
# END Time loop
if SaveDict['Format'] == 'dat':
write_SOL912_final(Time, PosPsiTime, NumNodes_tot, DynOut, Vrel, VrelDot, SaveDict)
# Close output file if it exists.
if 'writeDict' in kwords and Settings.WriteOut == True:
fp.close()
# Close TecPlot ASCII FileObject.
if Settings.PlotTec==True:
PostProcess.CloseAeroTecFile(FileObject)
if XBOPTS.PrintInfo.value==True:
sys.stdout.write(' ... done\n')
# sm I/O: FoR A velocities/accelerations
XBOUT.drop( Time=Time, PosPsiTime=PosPsiTime, DynOut=DynOut, Vrel=Vrel, VrelDot=VrelDot )
if SaveDict['SaveWake'] is True:
XBOUT.NTwake=NumSteps.value//SaveDict['SaveWakeFreq']
PyLibs.io.save.h5file(SaveDict['OutputDir'], SaveDict['OutputFileRoot']+'.h5', *OutList)
return XBOUT
def 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,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