def solve_hydrostatics(self, verbose=True):
if MPI:
n_cores = MPI.COMM_WORLD.Get_size()
max_cores = min(n_cores, self.max_cores)
rank = MPI.COMM_WORLD.Get_rank()
else:
n_cores = 1
max_cores = 1
rank = 0
if rank == 0:
mesh = meshk.Mesh(vertices=self._cpt_hydrobody.mesh.vertices,faces=self._cpt_hydrobody.mesh.faces)
hydrostatics = hydrok.Hydrostatics(
mesh,
cog = self.hydrobody.VAWT.GC_FloatingStructure,
mass = self.hydrobody.VAWT.m_FloatingStructure/1000.0,
rho_water = self.water_rho,
grav = self.grav
)
LL = self.hydrobody.VAWT.L_Pont + self.hydrobody.VAWT.D_OCol/2.0
pretension = self.grav*(hydrostatics.displacement*1000 - self._hydrobody.VAWT.m_FloatingStructure)
F1 = hydrok.Force(point=(-LL,0.0,-self.hydrobody.VAWT.H_Draft), value=(0.0,0.0,-pretension/3.0), mode='absolute')
F2 = hydrok.Force(point=(LL*np.cos(np.pi/3.0),-LL*np.sin(np.pi/3.0),-self.hydrobody.VAWT.H_Draft), value=(0.0,0.0,-pretension/3.0), mode='absolute')
F3 = hydrok.Force(point=(LL*np.cos(np.pi/3.0),LL*np.sin(np.pi/3.0),-self.hydrobody.VAWT.H_Draft), value=(0.0,0.0,-pretension/3.0), mode='absolute')
hydrostatics.add_force(F1)
hydrostatics.add_force(F2)
hydrostatics.add_force(F3)
self._hydrostatics = hydrostatics
hydrostatic_coeff = np.zeros((6,6), dtype=float)
hydrostatic_coeff[2,2] = hydrostatics.S33
hydrostatic_coeff[3,3] = hydrostatics.S44 \
- (self.hydrobody.VAWT.m_FloatingStructure - 1000.0*hydrostatics.displacement) \
*self.grav*self.hydrobody.VAWT.GC_FloatingStructure[2]
hydrostatic_coeff[4,4] = hydrostatics.S55 \
- (self.hydrobody.VAWT.m_FloatingStructure - 1000.0*hydrostatics.displacement) \
*self.grav*self.hydrobody.VAWT.GC_FloatingStructure[2]
self._hydrostatic_coeff = hydrostatic_coeff
self._pretension = pretension
if verbose:
print('\nHydrostatic stiffness matrix:')
print(pd.DataFrame(self._hydrostatic_coeff))
else:
self._hydrostatics = None
self._hydrostatic_coeff = None
self._pretension = None
def generate_boat() -> cpt.FloatingBody:
boat = cpt.FloatingBody.from_file("Simple_Model_Scaledby0.001 v5.stl",
file_format="stl",
name="hexagon")
#boat.translate([0,0,-.2032])
boat.show()
boat.add_all_rigid_body_dofs()
boat.keep_immersed_part()
# The computation of the RAO requires the values of the inertia matrix and the hydrostatic stiffness matrix.
if hs is not None and mm is not None:
# You can use Meshmagick to compute the hydrostatic stiffness matrix.
hsd = hs.Hydrostatics(mm.Mesh(boat.mesh.vertices,
boat.mesh.faces)).hs_data
m = hsd['disp_mass']
I = np.array([[hsd['Ixx'], -1 * hsd['Ixy'], -1 * hsd['Ixz']],
[-1 * hsd['Ixy'], hsd['Iyy'], -1 * hsd['Iyz']],
[-1 * hsd['Ixz'], -1 * hsd['Iyz'], hsd['Izz']]])
M = block_diag(m, m, m, I)
boat.mass = boat.add_dofs_labels_to_matrix(M)
kHS = block_diag(0, 0, hsd['stiffness_matrix'], 0)
print(kHS)
boat.hydrostatic_stiffness = boat.add_dofs_labels_to_matrix(kHS)
else:
# Alternatively, you can define these by hand
boat.mass = boat.add_dofs_labels_to_matrix([[1e6, 0, 0, 0, 0, 0],
[0, 1e6, 0, 0, 0, 0],
[0, 0, 1e6, 0, 0, 0],
[0, 0, 0, 1e7, 0, 2e5],
[0, 0, 0, 0, 4e7, 0],
[0, 0, 0, 2e5, 0, 5e7]])
boat.hydrostatic_stiffness = boat.add_dofs_labels_to_matrix(
[[0, 0, 0, 0, 0, 0], [0, 0, 0, 0, 0, 0], [0, 0, 3e6, 0, -7e6, 0],
[0, 0, 0, 2e7, 0, 0], [0, 0, -7e6, 0, 1e8, 0], [0, 0, 0, 0, 0,
0]])
return boat
def hydrostatics(myBodies, savepath=''):
'''
use meshmagick functions to calculate and output the hydrostatic stiffness,
interia, center of gravity, center of buoyancy and displaced volume of a
capytaine bodies. Output is saved to Hydrostatics.dat and KH.dat files in
the same manner as Nemoh
Example of output format:
Hydrostatics.dat:
XF = 0.000 - XG = 0.000
YF = 0.000 - YG = 0.000
ZF = -2.500 - ZG = -2.500
Displacement = 0.4999997E+03
Waterplane area = 0.1000002E+03
KH.dat:
0.0000000E+00 0.0000000E+00 0.0000000E+00 0.0000000E+00 0.0000000E+00 0.0000000E+00
0.0000000E+00 0.0000000E+00 0.0000000E+00 0.0000000E+00 0.0000000E+00 0.0000000E+00
0.0000000E+00 0.0000000E+00 0.9810053E+06 -0.1464844E-01 -0.5859375E-02 0.0000000E+00
0.0000000E+00 0.0000000E+00 -0.1464844E-01 0.8160803E+07 0.0000000E+00 0.0000000E+00
0.0000000E+00 0.0000000E+00 -0.5859375E-02 0.0000000E+00 0.8160810E+07 0.0000000E+00
0.0000000E+00 0.0000000E+00 0.0000000E+00 0.0000000E+00 0.0000000E+00 0.0000000E+00
Parameters
----------
myBodies : List
A list of capytaine floating bodies.
Returns
-------
None
'''
nbod = len(myBodies)
for i, body in enumerate(myBodies):
cg = body.center_of_mass
# use meshmagick to compute hydrostatic stiffness matrix
# NOTE: meshmagick currently has issue if a body is completely submerged (OSWEC base)
# See issues #7, #19 on meshmagick GitHub page.
# use try-except statement to catch this error use alternate function for cb/vo
body_mesh = mmm.Mesh(body.mesh.vertices,
body.mesh.faces,
name=body.mesh.name)
# try:
# body_hs = mmhs.Hydrostatics(working_mesh=body_mesh,
# cog=body.center_of_mass,
# rho_water=1023.0,
# grav=9.81)
# vo = body_hs.displacement_volume
# cb = body_hs.buoyancy_center
# khs = body_hs.hydrostatic_stiffness_matrix
# except:
# # Exception if body is fully submerged.
# # if fully submerged:
# # stiffness is 0 as small displacements do not change the displaced volume
# # displaced volume is the total mesh volume
# # center of buoyancy is equal to the center of gravity of the mesh with a constant density
# vo = body_mesh.volume
# khs = np.zeros((3,3))
# inertia = body_mesh.eval_plain_mesh_inertias()
# cb = inertia.gravity_center
body_hs = mmhs.Hydrostatics(working_mesh=body_mesh,
cog=body.center_of_mass,
rho_water=1023.0,
grav=9.81)
vo = body_hs.displacement_volume
cb = body_hs.buoyancy_center
khs = body_hs.hydrostatic_stiffness_matrix
# set file index
fileind = ''
if nbod != 1:
fileind = '_' + str(i)
# Write hydrostatic stiffness to KH.dat file as
khs_full = np.zeros((6, 6))
khs_full[2:5, 2:5] += khs
tmp = savepath + 'KH' + fileind + '.dat'
np.savetxt(tmp, khs_full)
# Write the other hydrostatics data to Hydrostatics.dat file
tmp = savepath + 'Hydrostatics' + fileind + '.dat'
# f = open(rf'{tmp}','w')
f = open(tmp, 'w')
for j in [0, 1, 2]:
line = f'XF = {cb[j]:7.3f} - XG = {cg[j]:7.3f} \n'
f.write(line)
line = f'Displacement = {vo:E}'
f.write(line)
f.close()
def body_hydrostatics(myBodies, savepath=''):
'''
use meshmagick functions to calculate and output the hydrostatic stiffness,
interia, center of gravity, center of buoyancy and displaced volume of a
capytaine bodies. Output is saved to Hydrostatics.dat and KH.dat files in
the same manner as Nemoh
Example of output format:
Hydrostatics.dat:
XF = 0.000 - XG = 0.000
YF = 0.000 - YG = 0.000
ZF = -2.500 - ZG = -2.500
Displacement = 0.4999997E+03
Waterplane area = 0.1000002E+03
KH.dat:
0.0000000E+00 0.0000000E+00 0.0000000E+00 0.0000000E+00 0.0000000E+00 0.0000000E+00
0.0000000E+00 0.0000000E+00 0.0000000E+00 0.0000000E+00 0.0000000E+00 0.0000000E+00
0.0000000E+00 0.0000000E+00 0.9810053E+06 -0.1464844E-01 -0.5859375E-02 0.0000000E+00
0.0000000E+00 0.0000000E+00 -0.1464844E-01 0.8160803E+07 0.0000000E+00 0.0000000E+00
0.0000000E+00 0.0000000E+00 -0.5859375E-02 0.0000000E+00 0.8160810E+07 0.0000000E+00
0.0000000E+00 0.0000000E+00 0.0000000E+00 0.0000000E+00 0.0000000E+00 0.0000000E+00
Parameters
----------
myBodies : List
A list of capytaine floating bodies.
Returns
-------
None
'''
nbod = len(myBodies)
for i, body in enumerate(myBodies):
cg = body.center_of_mass
# use meshmagick to compute hydrostatic stiffness matrix
# NOTE: meshmagick currently has issue if a body is copmletely submerged (OSWEC base)
# use try-except statement to catch this error use alternate function for cb/vo
# if completely submerged, stiffness is 0
body_mesh = mmm.Mesh(body.mesh.vertices,
body.mesh.faces,
name=body.mesh.name)
try:
body_hs = mmhs.Hydrostatics(working_mesh=body_mesh,
cog=body.center_of_mass,
rho_water=1023.0,
grav=9.81)
vo = body_hs.displacement_volume
cb = body_hs.buoyancy_center
khs = body_hs.hydrostatic_stiffness_matrix
except:
# Exception if body is fully submerged
vo = body_mesh.volume
cb = cg
hs_s = [0, 0, 0, 0, 0, 0]
khs = np.zeros((3, 3))
# set file index
fileind = ''
if nbod != 1:
fileind = '_' + str(i)
# set file path based on where call_capytaine is called from (using ncFName)
# filepath = ''
# if savepath is not '':
# filepath,tmp = os.path.split(ncFName)
# Write hydrostatic stiffness to KH.dat file as
khs_full = np.zeros((6, 6))
khs_full[2:5, 2:5] += khs
tmp = savepath + 'KH' + fileind + '.dat'
np.savetxt(tmp, khs_full)
# Write the other hydrostatics data to Hydrostatics.dat file
tmp = savepath + 'Hydrostatics' + fileind + '.dat'
# f = open(rf'{tmp}','w')
f = open(tmp, 'w')
for j in [0, 1, 2]:
line = f'XF = {cb[j]:7.3f} - XG = {cg[j]:7.3f} \n'
f.write(line)
line = f'Displacement = {vo:E}'
f.write(line)
f.close()
np.set_printoptions(linewidth=160)
import meshmagick.hydrostatics as hs
import meshmagick.mesh as mm
from scipy.linalg import block_diag
import matplotlib.pyplot as plt
bem_solver = cpt.BEMSolver()
body = cpt.FloatingBody.from_file("PEARLmesh_sharmi v1v4.stl",
file_format="stl")
body.add_all_rigid_body_dofs()
body.keep_immersed_part()
hsd = hs.Hydrostatics(mm.Mesh(body.mesh.vertices, body.mesh.faces)).hs_data
# Inertial properties for neutrally buoyant constant density body
#you can use meshmagick to find inertia matrix but they use constant density
#alternatively use a CAD software to acqurie inertia matrix
m = 130.78
I = np.array([[34.298, 1.133E-10, 0], [1.133E-10, 34.303, 0], [0, 0, 33.331]])
M = block_diag(m, m, m, I)
body.mass = body.add_dofs_labels_to_matrix(M)
# print(body.mass)
# Hydrostatics
kHS = block_diag(0, 0, hsd['stiffness_matrix'], 0)
body.hydrostatic_stiffness = body.add_dofs_labels_to_matrix(kHS)
# change omega values
# Initialize floating body
r = 1.0
sphere = cpt.Sphere(
radius=r, # Dimension
center=(0, 0, 0), # Position
nphi=20,
ntheta=20, # Fineness of the mesh
)
sphere.add_all_rigid_body_dofs()
# Visualize the body
# sphere.show()
# Create a hydrostatics body in Meshmagick
hsd = hs.Hydrostatics(mm.Mesh(sphere.mesh.vertices, sphere.mesh.faces),
cog=(0, 0, 0),
rho_water=rho_water,
grav=g).hs_data
# Inertial properties for neutrally buoyant constant density body
m = hsd['disp_mass']
I = np.array([[hsd['Ixx'], -1 * hsd['Ixy'], -1 * hsd['Ixz']],
[-1 * hsd['Ixy'], hsd['Iyy'], -1 * hsd['Iyz']],
[-1 * hsd['Ixz'], -1 * hsd['Iyz'], hsd['Izz']]])
M = block_diag(m, m, m, I)
sphere.mass = sphere.add_dofs_labels_to_matrix(M)
print(sphere.mass)
assert np.isclose(m, 1 / 2 * 4 / 3 * r**3 * np.pi * rho_water, rtol=1e-1)
def __init__(self, mesh, f0, num_freq, modes, run_bem=True,
cog=None, kinematics=None,
name=None, wrk_dir=None, verbose=True):
self.params = dict()
if not isinstance(f0, (float,int)):
raise TypeError('f0 must be of type float or int')
self.params['f0'] = f0
if not isinstance(num_freq, int):
raise TypeError('num_freq must be of type int')
self.params['num_freq'] = num_freq
freq = np.arange(1, num_freq+1)*f0
assert len(modes) == 6 # TODO times number of bodies
assert isinstance(modes, (np.ndarray, list))
modes = np.asarray(modes)
# assert np.all(np.isin(modes,[0,1])) # TODO
self.params['modes'] = modes.tolist()
if cog is not None:
raise NotImplementedError
else:
cog = [0,0,0]
self.kinematics = kinematics
if name is None:
date_str = datetime.datetime.now().strftime('%Y%m%d%H%M%S%f')
name = 'wec_{:}'.format(date_str)
if not isinstance(name, str):
raise TypeError('Name must be a string')
self.params['name'] = name
if wrk_dir is None:
wrk_dir = os.path.join('.',self.params['name'])
elif wrk_dir is False:
wrk_dir = tempfile.mkdtemp()
if not isinstance(wrk_dir, str):
raise TypeError('wrk_dir must be of type str')
self.params['wrk_dir'] = wrk_dir
os.makedirs(self.params['wrk_dir'], exist_ok=True)
if verbose is not True:
raise NotImplementedError
else:
log_file = os.path.join(self.params['wrk_dir'], 'log.txt')
logging.basicConfig(filename=log_file)
self.files = dict()
self.files['geo'] = os.path.join(self.params['wrk_dir'],
self.params['name'] + '.geo')
self.files['stl'] = os.path.join(self.params['wrk_dir'],
self.params['name'] + '.stl')
if isinstance(mesh,str):
warnings.warn("Using existing STL file")
elif isinstance(mesh,meshio._mesh.Mesh):
mesh.write(self.files['stl'])
else:
raise TypeError('Must be an STL file path or meshio mesh object')
self.fb = cpy.FloatingBody.from_file(self.files['stl'],
name=self.params['name'])
self.fb.keep_immersed_part()
self.fb.add_all_rigid_body_dofs()
tmp_mesh = mm.Mesh(self.fb.mesh.vertices,
self.fb.mesh.faces)
self.hsa = hs.Hydrostatics(tmp_mesh,
cog=cog,
mass=None, # TODO
rho_water=1e3, # TODO
verbose=True)
hsd = self.hsa.hs_data
m = hsd['disp_mass']
I = np.array([[hsd['Ixx'], -1*hsd['Ixy'], -1*hsd['Ixz']],
[-1*hsd['Ixy'], hsd['Iyy'], -1*hsd['Iyz']],
[-1*hsd['Ixz'], -1*hsd['Iyz'], hsd['Izz']]])
M = block_diag(m, m, m, I) # TODO - scale inertias if mass is specified by user
self.fb.mass = self.fb.add_dofs_labels_to_matrix(M)
kHS = block_diag(0,0,hsd['stiffness_matrix'],0)
self.fb.hydrostatic_stiffness = self.fb.add_dofs_labels_to_matrix(kHS)
assert isinstance(run_bem, (bool,str))
if run_bem == True:
self.run_bem(freq)
self.write_bem()
elif isinstance(run_bem, str):
self.hydro = self.__read_bem__(run_bem)
self.files['json'] = os.path.join(self.params['wrk_dir'],
self.params['name'] + '.json')
with open(self.files['json'], "w") as outfile:
json.dump(self.params, outfile, sort_keys=True, indent=4)