def Run_Cpp_Solver_VLM(VMOPTS, VMINPUT, VMUNST=None, AELOPTS=None):
# init grid
if VMUNST == None:
# Set up variables assuming no unsteady motion
VMUNST = MyStruct()
VMUNST.PsiA_G = np.array([0.0, 0.0, 0.0])
VMUNST.VelA_G = np.array([0.0, 0.0, 0.0])
VMUNST.OmegaA_G = np.array([0.0, 0.0, 0.0])
VMUNST.OriginA_G = np.array([0.0, 0.0, 0.0])
if AELOPTS == None:
# Set up defaults for grid generation.
AELOPTS = MyStruct()
AELOPTS.ElasticAxis = 0.0
# Initialise DerivedTypes for PyBeam initialization.
XBOPTS = DerivedTypes.Xbopts()
XBINPUT = DerivedTypes.Xbinput(2, VMOPTS.N.value, VMINPUT.b)
# Create a dummy stiffness matrix to avoid errors.
XBINPUT.BeamStiffness = np.eye(6, dtype=ct.c_double)
# Use PyBeam to define reference beam (elastic axis).
XBINPUT, XBOPTS, NumNodes_tot, XBELEM, PosIni, PsiIni,\
XBNODE, NumDof = BeamInit.Static(XBINPUT, XBOPTS)
# Delete unnecessary variables.
del XBELEM, XBNODE, NumDof
# Copy reference beam to current (deformed) variables.
PosDefor = PosIni.copy(order='F')
PsiDefor = PsiIni.copy(order='F')
# Declare empty array for beam DoF rates.
PosDotDef = np.zeros_like(PosDefor, ct.c_double, 'F')
PsiDotDef = np.zeros_like(PsiDefor, ct.c_double, 'F')
# Check the specified inputs from the PyAero have been properly applied.
assert NumNodes_tot.value - 1 == VMOPTS.N.value, "Initialisation wrong"
# Initialise section coordinates.
Section = InitSection(VMOPTS, VMINPUT, AELOPTS.ElasticAxis)
# Initialise origin and orientation of surface velocities in a-frame
CGa = Psi2TransMat(VMUNST.PsiA_G)
VelA_A = np.dot(CGa.T, VMUNST.VelA_G)
OmegaA_A = np.dot(CGa.T, VMUNST.OmegaA_G)
# Declare empty array for aerodynamic grid and velocities.
Zeta = np.zeros((VMOPTS.M.value + 1, VMOPTS.N.value + 1, 3), ct.c_double,
'C')
ZetaDot = np.zeros((VMOPTS.M.value + 1, VMOPTS.N.value + 1, 3),
ct.c_double, 'C')
# Initialise aerodynamic grid and velocities.
CoincidentGrid(PosDefor, PsiDefor, Section, VelA_A, OmegaA_A, PosDotDef,
PsiDotDef, XBINPUT, Zeta, ZetaDot, VMUNST.OriginA_G,
VMUNST.PsiA_G, VMINPUT.ctrlSurf)
# init wake
ZetaStar, GammaStar = InitSteadyWake(VMOPTS, VMINPUT, Zeta)
# init external velocities
Uext = InitSteadyExternalVels(VMOPTS, VMINPUT)
# Solver variables.
Gamma = np.zeros((VMOPTS.M.value, VMOPTS.N.value), ct.c_double, 'C')
Forces = np.zeros((VMOPTS.M.value + 1, VMOPTS.N.value + 1, 3), ct.c_double,
'C')
# Solve
UVLMLib.Cpp_Solver_VLM(Zeta, ZetaDot, Uext, ZetaStar, VMOPTS, Forces,
Gamma, GammaStar)
# Print tecplot file to check wake and grid etc
Variables = ['X', 'Y', 'Z', 'Gamma']
# write header
Filename = Settings.OutputDir + Settings.OutputFileRoot + 'AeroGrid.dat'
FileObject = PostProcess.WriteAeroTecHeader(Filename, 'Default', Variables)
# write surface zone data
PostProcess.WriteAeroTecZone(FileObject, 'Surface', Zeta, -1, 0, 0.0,
Variables, False, Gamma)
# write wake data
PostProcess.WriteAeroTecZone(FileObject, 'Wake', ZetaStar, -1, 0, 0.0,
Variables, False, GammaStar)
# close file
PostProcess.CloseAeroTecFile(FileObject)
if Settings.WriteUVLMdebug == True:
debugFile = Settings.OutputDir + 'gamma_1degBeta.dat'
np.savetxt(debugFile, Gamma.flatten('C'))
# post process to get coefficients
return PostProcess.GetCoeffs(VMOPTS, Forces, VMINPUT, VMUNST.VelA_G)
def Run_Cpp_Solver_UVLM(VMOPTS,
VMINPUT,
VMUNST,
AELOPTS,
vOmegaHist=None,
eta0=None,
numNodesElem=2,
delEtaHist=None):
"""@brief UVLM solver with prescribed inputs.
@param vOmegaHist None, or np.array history of velocities of the A-frame, expressed in A-frame.
@param eta0 None, or tuple containing reference disps, rots, and gamma.
@param delEtaHist None, or tuple of np.array histories of underlying beam disps, rotations, vels, and rotvels in A-frame."""
# Initialise DerivedTypes for PyBeam initialisation.
XBOPTS = DerivedTypes.Xbopts()
if numNodesElem == 2:
beamElems = VMOPTS.N.value
elif numNodesElem == 3:
beamElems = int(VMOPTS.N.value / 2)
else:
raise ValueError('numNodesElem should be 2 or 3')
XBINPUT = DerivedTypes.Xbinput(numNodesElem, beamElems, VMINPUT.b)
# Create a dummy stiffness matrix to avoid errors.
XBINPUT.BeamStiffness = np.eye(6, 6, 0, ct.c_double)
# Use PyBeam to define reference beam (elastic axis).
XBINPUT, XBOPTS, NumNodes_tot, XBELEM, PosIni, PsiIni,\
XBNODE, NumDof = BeamInit.Static(XBINPUT, XBOPTS)
# Delete unnecessary variables.
del XBELEM, XBNODE, NumDof
# Copy reference beam to current (deformed) variables.
if eta0 is None:
PosDefor = PosIni.copy(order='F')
PsiDefor = PsiIni.copy(order='F')
else:
PosDefor = eta0[0] #+delEtaHist[0][:,:,0]
PsiDefor = eta0[1] #+delEtaHist[1][:,:,:,0]
if delEtaHist is None:
# Declare empty array for beam DoF rates.
PosDotDef = np.zeros_like(PosDefor, ct.c_double, 'F')
PsiDotDef = np.zeros_like(PsiDefor, ct.c_double, 'F')
else:
PosDotDef = delEtaHist[2][:, :, 0]
PsiDotDef = delEtaHist[3][:, :, :, 0]
# Check the specified inputs from the PyAero have been properly applied.
assert NumNodes_tot.value - 1 == VMOPTS.N.value, "Initialisation wrong"
# Initialise section coordinates.
Section = InitSection(VMOPTS, VMINPUT, AELOPTS.ElasticAxis)
# Initialise origin and orientation of surface velocities in a-frame
CGa = Psi2TransMat(VMUNST.PsiA_G)
if vOmegaHist is None:
VelA_A = np.dot(CGa.T, VMUNST.VelA_G)
OmegaA_A = np.dot(CGa.T, VMUNST.OmegaA_G)
else:
VelA_A = np.dot(CGa.T, vOmegaHist[0, 1:4])
OmegaA_A = np.dot(CGa.T, vOmegaHist[0, 4:7])
# Declare empty array for aerodynamic grid and velocities.
Zeta = np.zeros((VMOPTS.M.value + 1, VMOPTS.N.value + 1, 3), ct.c_double,
'C')
ZetaDot = np.zeros((VMOPTS.M.value + 1, VMOPTS.N.value + 1, 3),
ct.c_double, 'C')
# Initialise aerodynamic grid and velocities.
CoincidentGrid(PosDefor, PsiDefor, Section, VelA_A, OmegaA_A, PosDotDef,
PsiDotDef, XBINPUT, Zeta, ZetaDot, VMUNST.OriginA_G,
VMUNST.PsiA_G, VMINPUT.ctrlSurf)
# Initialise wake for unsteady solution.
if vOmegaHist is None:
velForWake = VMUNST.VelA_G
else:
velForWake = vOmegaHist[0, 1:4]
ZetaStar, GammaStar = InitSteadyWake(VMOPTS, VMINPUT, Zeta, velForWake)
# Initialise external velocities.
Uext = InitSteadyExternalVels(VMOPTS, VMINPUT)
# Declare empty solver variables.
Forces = np.zeros_like(Zeta, ct.c_double, 'C')
Gamma = np.zeros((VMOPTS.M.value, VMOPTS.N.value), ct.c_double, 'C')
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')
if type(eta0) is tuple:
Gamma[:, :] = eta0[2]
for j in range(VMOPTS.N.value):
GammaStar[:, j] = Gamma[VMOPTS.M.value - 1, j]
# Open tecplot file object."
Variables = ['X', 'Y', 'Z', 'Gamma']
Filename = Settings.OutputDir + Settings.OutputFileRoot + 'AeroGrid.dat'
FileObject = PostProcess.WriteAeroTecHeader(Filename, 'Default', Variables)
# Initialise vector of time steps.
Time = np.arange(0.0, VMUNST.FinalTime, VMOPTS.DelTime.value)
# Create Array for storing time and coefficient data.
CoeffHistory = np.zeros((len(Time), 4))
# Loop through time steps.
for iTimeStep in range(len(Time)):
# Set forces array to zero (+= operator used in C++ library).
Forces[:, :, :] = 0.0
if iTimeStep > 0:
# Update geometry.
if vOmegaHist is None:
VMUNST.OriginA_G[:] += VMUNST.VelA_G[:] * VMOPTS.DelTime.value
# TODO: update OmegaA_A, PsiA_A in pitching problem.
else:
VMUNST.OriginA_G[:] += vOmegaHist[iTimeStep,
1:4] * VMOPTS.DelTime.value
VelA_A = vOmegaHist[iTimeStep, 1:4]
# TODO: update OmegaA_A, PsiA_G in pitching problem.
if type(eta0) is tuple:
PosDefor = eta0[0]
PsiDefor = eta0[1]
if type(delEtaHist) is tuple:
PosDefor = PosDefor + delEtaHist[0][:, :, iTimeStep]
PsiDefor = PsiDefor + delEtaHist[1][:, :, :, iTimeStep]
PosDotDef = delEtaHist[
2][:, :, iTimeStep] #TODO: PosDefor seems to be correct!
PsiDotDef = delEtaHist[3][:, :, :, iTimeStep]
# Update control surface defintion.
if VMINPUT.ctrlSurf is not None:
VMINPUT.ctrlSurf.update(Time[iTimeStep])
# Update aerodynamic surface.
CoincidentGrid(PosDefor, PsiDefor, Section, VelA_A, OmegaA_A,
PosDotDef, PsiDotDef, XBINPUT, Zeta, ZetaDot,
VMUNST.OriginA_G, VMUNST.PsiA_G, VMINPUT.ctrlSurf)
# Convect wake downstream.
ZetaStar = np.roll(ZetaStar, 1, axis=0)
GammaStar = np.roll(GammaStar, 1, axis=0)
# Overwrite 1st row with with new trailing-edge position.
ZetaStar[0, :] = Zeta[VMOPTS.M.value, :]
# Overwrite Gamma with TE value from previous time step.
GammaStar[0, :] = Gamma[VMOPTS.M.value - 1, :]
# END if iTimeStep > 1
# Calculate forces on aerodynamic grid.
if iTimeStep == 0:
sav = VMOPTS.NewAIC
VMOPTS.NewAIC = ct.c_bool(True)
UVLMLib.Cpp_Solver_VLM(Zeta, ZetaDot, Uext, ZetaStar, VMOPTS, Forces,
Gamma, GammaStar, AIC, BIC)
if iTimeStep == 0:
VMOPTS.NewAIC = sav
del sav
#print(PostProcess.GetCoeffs(VMOPTS, Forces, VMINPUT, VMUNST.VelA_G))
CoeffHistory[iTimeStep, 0] = Time[iTimeStep]
CoeffHistory[iTimeStep,
1:] = PostProcess.GetCoeffs(VMOPTS, Forces, VMINPUT,
VMUNST.VelA_G)
# Write aerodynamic surface data as tecplot zone data.
PostProcess.WriteAeroTecZone(FileObject, 'Surface', Zeta,\
iTimeStep, len(Time),\
Time[iTimeStep], Variables, False, Gamma)
# Write wake data as tecplot zone data.
PostProcess.WriteAeroTecZone(FileObject, 'Wake', ZetaStar,\
iTimeStep, len(Time),\
Time[iTimeStep], \
Variables, False, GammaStar)
# Rollup due to external velocities.
ZetaStar[:, :] += VMINPUT.U_infty * VMOPTS.DelTime.value
# END for iTimeStep
# Close tecplot file object.
PostProcess.CloseAeroTecFile(FileObject)
# write geometry and circ dist. to file for matlab
if iTimeStep == len(Time) - 1 and False:
savemat('/home/rjs10/Desktop/uvlmOut.mat', {
'zeta': Zeta.flatten('C'),
'zetaW': ZetaStar.flatten('C'),
'gamma': Gamma.flatten('C'),
'gammaW': GammaStar.flatten('C')
},
False,
oned_as='column')
return CoeffHistory
def Run_Cpp_Solver_UVLM(VMOPTS, VMINPUT, VMUNST, AELOPTS):
"""@brief UVLM solver with prescribed inputs."""
# Initialise DerivedTypes for PyBeam initialisation.
XBOPTS = DerivedTypes.Xbopts()
XBINPUT = DerivedTypes.Xbinput(2, VMOPTS.N.value, VMINPUT.b)
# Create a dummy stiffness matrix to avoid errors.
XBINPUT.BeamStiffness = np.eye(6, 6, 0, ct.c_double)
# Use PyBeam to define reference beam (elastic axis).
XBINPUT, XBOPTS, NumNodes_tot, XBELEM, PosIni, PsiIni,\
XBNODE, NumDof = BeamInit.Static(XBINPUT, XBOPTS)
# Delete unnecessary variables.
del XBELEM, XBNODE, NumDof
# Copy reference beam to current (deformed) variables.
PosDefor = PosIni.copy(order='F')
PsiDefor = PsiIni.copy(order='F')
# Declare empty array for beam DoF rates.
PosDotDef = np.zeros_like(PosDefor, ct.c_double, 'F')
PsiDotDef = np.zeros_like(PsiDefor, ct.c_double, 'F')
# Check the specified inputs from the PyAero have been properly applied.
assert NumNodes_tot.value - 1 == VMOPTS.N.value, "Initialisation wrong"
# Initialise section coordinates.
Section = InitSection(VMOPTS, VMINPUT, AELOPTS.ElasticAxis)
# Initialise origin and orientation of surface velocities in a-frame
CGa = Psi2TransMat(VMUNST.PsiA_G)
VelA_A = np.dot(CGa.T, VMUNST.VelA_G)
OmegaA_A = np.dot(CGa.T, VMUNST.OmegaA_G)
# Declare empty array for aerodynamic grid and velocities.
Zeta = np.zeros((VMOPTS.M.value + 1, VMOPTS.N.value + 1, 3), ct.c_double,
'C')
ZetaDot = np.zeros((VMOPTS.M.value + 1, VMOPTS.N.value + 1, 3),
ct.c_double, 'C')
# Initialise aerodynamic grid and velocities.
CoincidentGrid(PosDefor, PsiDefor, Section, VelA_A, OmegaA_A, PosDotDef,
PsiDotDef, XBINPUT, Zeta, ZetaDot, VMUNST.OriginA_G,
VMUNST.PsiA_G, VMINPUT.ctrlSurf)
# Initialise wake for unsteady solution.
ZetaStar, GammaStar = InitSteadyWake(VMOPTS, VMINPUT, Zeta, VMUNST.VelA_G)
# Initialise external velocities.
Uext = InitSteadyExternalVels(VMOPTS, VMINPUT)
# Declare empty solver variables.
Forces = np.zeros_like(Zeta, ct.c_double, 'C')
Gamma = np.zeros((VMOPTS.M.value, VMOPTS.N.value), ct.c_double, 'C')
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')
# Open tecplot file object."
Variables = ['X', 'Y', 'Z', 'Gamma']
Filename = Settings.OutputDir + Settings.OutputFileRoot + 'AeroGrid.dat'
FileObject = PostProcess.WriteAeroTecHeader(Filename, 'Default', Variables)
# Initialise vector of time steps.
Time = np.arange(0.0, VMUNST.FinalTime + VMUNST.DelTime, VMUNST.DelTime)
# Create Array for storing time and coefficient data.
CoeffHistory = np.zeros((len(Time), 4))
# Loop through time steps.
for iTimeStep in range(len(Time)):
# Set forces array to zero (+= operator used in C++ library).
Forces[:, :, :] = 0.0
if iTimeStep > 0:
# Update geometry.
VMUNST.OriginA_G[:] += VMUNST.VelA_G[:] * VMUNST.DelTime
# TODO: update OmegaA_A in pitching problem.
# Update control surface defintion.
if VMINPUT.ctrlSurf != None:
VMINPUT.ctrlSurf.update(Time[iTimeStep])
# Update aerodynamic surface.
CoincidentGrid(PosDefor, PsiDefor, Section, VelA_A, OmegaA_A,
PosDotDef, PsiDotDef, XBINPUT, Zeta, ZetaDot,
VMUNST.OriginA_G, VMUNST.PsiA_G, VMINPUT.ctrlSurf)
# Convect wake downstream.
ZetaStar = np.roll(ZetaStar, 1, axis=0)
GammaStar = np.roll(GammaStar, 1, axis=0)
# Overwrite 1st row with with new trailing-edge position.
ZetaStar[0, :] = Zeta[VMOPTS.M.value, :]
# Overwrite Gamma with TE value from previous time step.
GammaStar[0, :] = Gamma[VMOPTS.M.value - 1, :]
# set NewAIC to false.
if VMINPUT.ctrlSurf == False:
VMOPTS.NewAIC = ct.c_bool(False)
# END if iTimeStep > 1
# Calculate forces on aerodynamic grid.
UVLMLib.Cpp_Solver_VLM(Zeta, ZetaDot, Uext, ZetaStar, VMOPTS, Forces,
Gamma, GammaStar, AIC, BIC)
#print(PostProcess.GetCoeffs(VMOPTS, Forces, VMINPUT, VMUNST.VelA_G))
CoeffHistory[iTimeStep, 0] = Time[iTimeStep]
CoeffHistory[iTimeStep,
1:] = PostProcess.GetCoeffs(VMOPTS, Forces, VMINPUT,
VMUNST.VelA_G)
# Write aerodynamic surface data as tecplot zone data.
PostProcess.WriteAeroTecZone(FileObject, 'Surface', Zeta,\
iTimeStep, len(Time),\
Time[iTimeStep], Variables, False, Gamma)
# Write wake data as tecplot zone data.
PostProcess.WriteAeroTecZone(FileObject, 'Wake', ZetaStar,\
iTimeStep, len(Time),\
Time[iTimeStep], \
Variables, False, GammaStar)
# Rollup due to external velocities.
ZetaStar[:, :] += VMINPUT.U_infty * VMOPTS.DelTime.value
# END for iTimeStep
# Close tecplot file object.
PostProcess.CloseAeroTecFile(FileObject)
return CoeffHistory
