def testGetInertia(self):
from proteus import Domain
from proteus import SpatialTools as st
from proteus.mprans import SpatialTools as mst
from proteus.mprans import BodyDynamics as bd
# parameters
domain2D = Domain.PlanarStraightLineGraphDomain()
pos = np.array([1.0, 1.0, 0.0])
dim = (0.3, 0.385)
dt, substeps = 0.001, 20
caisson = mst.Rectangle(domain=domain2D, dim=dim, coords=[pos[0], pos[1]])
caisson2D = bd.CaissonBody(shape=caisson, substeps=substeps)
mst.assembleDomain(domain2D)
c2d = caisson2D
c2d.nd = 2
mass = c2d.mass = 50.0
pivot = np.array([(caisson.vertices[0][0]+caisson.vertices[1][0])*0.5, caisson.vertices[0][1], 0.0])
d = dx, dy, dz = pivot - caisson.barycenter
# inertia transformation with different pivot
Ix = (old_div((dim[0]**2),12.)) + dy**2
Iy = (old_div((dim[1]**2),12.)) + dx**2
It = Ix + Iy
I = It*mass
I1 = c2d.getInertia(vec=(0.,0.,1.), pivot=pivot)
npt.assert_equal(I, I1)
def testOverturningModule(self):
from proteus import Domain
from proteus import SpatialTools as st
from proteus.mprans import SpatialTools as mst
from proteus.mprans import BodyDynamics as bd
# parameters
domain2D = Domain.PlanarStraightLineGraphDomain()
pos = np.array([1.0, 1.0, 0.0])
dim = (0.3, 0.385)
dt, substeps = 0.001, 20
caisson = mst.Rectangle(domain=domain2D, dim=dim, coords=[pos[0], pos[1]])
caisson2D = bd.CaissonBody(shape=caisson, substeps=substeps)
mst.assembleDomain(domain2D)
c2d = caisson2D
c2d.nd = 2
dt_sub = c2d.dt_sub = float(old_div(dt,substeps))
Krot = 200000.
Crot = 2000.
c2d.Krot, c2d.Crot = Krot, Crot
c2d.substeps, c2d.dt, c2d.ang_acc = substeps, dt, c2d.getAngularAcceleration()
c2d.setFriction(friction=True, m_static=0.0, m_dynamic=0.0, tolerance=0.000001, grainSize=0.02)
rotation, last_rotation = c2d.Shape.coords_system, c2d.Shape.coords_system
ang_vel, last_ang_vel = np.array([0., 0., 0.]), np.array([0., 0., 0.])
F = Fx, Fy, Fz = np.array([200., -300., 0.0])
M = np.array([0., 0., 10.0])
init_barycenter, last_position = pos, pos
c2d.F, c2d.M, c2d.init_barycenter, c2d.last_position = F, M, init_barycenter, last_position
eps = 10.**-30
mass = c2d.mass = 50.0
# moment and inertia transformations
pivot = c2d.pivot_friction = np.array([(caisson.vertices[0][0]+caisson.vertices[1][0])*0.5, caisson.vertices[0][1], 0.0])
barycenter = caisson.barycenter
distance = dx, dy, dz = pivot - barycenter
Mpivot = np.array([0., 0., dx*Fy-dy*Fx]) # Moment calculated in pivot
Mp = M - Mpivot # Moment transformation through the new pivot
Ix = (old_div((dim[0]**2),12.)) + dy**2
Iy = (old_div((dim[1]**2),12.)) + dx**2
It = Ix + Iy
I = It*mass
c2d.springs = True
# runge-kutta calculation
c2d.scheme = 'Runge_Kutta'
rz0, vrz0 = atan2(last_rotation[0,1], last_rotation[0,0]), last_ang_vel[2]
arz0 = old_div((Mp[2] - Crot*vrz0 - Krot*rz0), I)
rz, vrz, arz = bd.runge_kutta(rz0, vrz0, arz0, dt_sub, substeps, Mp[2], Krot, Crot, I, False)
# calculation with bodydynamics mopdule
c2d.cV_init = c2d.cV = c2d.cV_last = caisson.vertices
c2d.inertia = c2d.getInertia(pivot=pivot)
c2d.overturning_module(dt)
# test
ang_disp = rz - rz0
npt.assert_equal(c2d.ang_disp[2], ang_disp)
npt.assert_equal(c2d.ang_vel[2], vrz)
npt.assert_equal(c2d.ang_acc[2], arz)
width = opts.width # The 3rd dimension
mass = opts.mass #kg
volume = float(dimx * dimy * width)
density = float(mass / volume) #kg/m3
I = mass * (dimx**2. + dimy**2.) / 12.
# It=(dimx**2.+dimy**2.)/12.
# --- Shape properties setup
caisson = st.Rectangle(domain, dim=dim, coords=coords)
caisson.vertices[0][0] = xc1
caisson.vertices[0][1] = yc1
caisson.vertices[1][0] = xc2
caisson.vertices[1][1] = yc2
# --- Body properties setup
caisson2D = bd.CaissonBody(shape=caisson, substeps=20)
free_x = (0.0, 0.0, 0.0) # Translational DOFs
free_r = (0.0, 0.0, 0.0) # Rotational DOFs
m_static = opts.m_static # Static friction
m_dynamic = opts.m_dynamic # Dynamic friction
if opts.movingDomain == True:
free_x = (1.0, 1.0, 0.0) # Translational DOFs
if opts.overturning == True:
free_r = (0.0, 0.0, 1.0) # Rotational DOFs
caisson2D.setMass(mass)
caisson2D.setConstraints(free_x=free_x, free_r=free_r)
caisson2D.setFriction(friction=opts.friction,
m_static=m_static,
m_dynamic=m_dynamic,
tolerance=he / (float(10**6)),
grainSize=opts.d50)
def testFrictionModule(self):
from proteus import Domain
from proteus import SpatialTools as st
from proteus.mprans import SpatialTools as mst
from proteus.mprans import BodyDynamics as bd
#########################
# 1st case #
#########################
# When sliding is true and caisson already experiences plastic displacements
# parameters
domain2D = Domain.PlanarStraightLineGraphDomain()
pos = np.array([1.0, 1.0, 0.0])
dim = (0.3, 0.385)
dt, substeps = 0.001, 20
caisson = mst.Rectangle(domain=domain2D, dim=dim, coords=[pos[0], pos[1]])
caisson2D = bd.CaissonBody(shape=caisson, substeps=substeps)
mst.assembleDomain(domain2D)
c2d = caisson2D
c2d.nd = 2
dt_sub = c2d.dt_sub = float(old_div(dt,substeps))
Ix = (old_div((dim[0]**2),12.))
Iy = (old_div((dim[1]**2),12.))
It = Ix + Iy
mass = 50.0
c2d.mass, c2d.It = mass, It
K = Kx, Ky, Kz = [200000., 250000., 0.0]
C = Cx, Cy, Cz = [2000., 4000., 0.0]
c2d.Kx, c2d.Ky, c2d.Kz, c2d.Cx, c2d.Cy, c2d.Cz = Kx, Ky, Kz, Cx, Cy, Cz
c2d.substeps, c2d.dt, c2d.acceleration = substeps, dt, c2d.getAcceleration()
m_static, m_dynamic = 0.6, 0.4
c2d.setFriction(friction=True, m_static=m_static, m_dynamic=m_dynamic, tolerance=0.000001, grainSize=0.02)
# sliding == True. dynamic sign and dynamic friction
F = Fx, Fy, Fz = np.array([200., -300., 0.0])
disp = np.array([0.001, 0.001, 0.0])
init_barycenter, last_position, last_velocity = pos, pos+disp, np.array([0.05, 0.07, 0.0])
c2d.last_uxEl = pos[0]+disp[0]-init_barycenter[0]
c2d.F, c2d.init_barycenter, c2d.last_position, c2d.last_velocity = F, init_barycenter, last_position, last_velocity
eps = 10.**-30
sign_static, sign_dynamic = old_div(Fx,abs(Fx+eps)), old_div(last_velocity[0],abs(last_velocity[0]+eps))
c2d.sliding, sign, m = True, sign_dynamic, m_dynamic
# vertical calculation and frictional force
uy0, vy0 = (last_position[1] - init_barycenter[1]), last_velocity[1]
ay0 = old_div((Fy - Cy*vy0 - Ky*uy0), mass)
uy, vy, ay = bd.runge_kutta(uy0, vy0, ay0, dt_sub, substeps, Fy, Ky, Cy, mass, False)
Rx = -Kx*(last_position[0]-init_barycenter[0])
Ry = -Ky*uy
Ftan = -sign*abs(Ry)*m
if Ftan == 0.0:
Ftan = -sign*abs(Fy)*m
# runge-kutta calculation
c2d.scheme = 'Runge_Kutta'
ux0, uz0 = last_position[0] - init_barycenter[0], last_position[2] - init_barycenter[2]
vx0, vz0 = last_velocity[0], last_velocity[2]
Fh = Fx+Ftan
Kx, Cx = 0.0, 0.0
ax0, az0 = old_div((Fh - Cx*vx0 - Kx*ux0), mass) , old_div((Fz - Cz*vz0 - Kz*uz0), mass)
ux, vx, ax = bd.runge_kutta(ux0, vx0, ax0, dt_sub, substeps, Fh, Kx, Cx, mass, True)
uz, vz, az = bd.runge_kutta(uz0, vz0, az0, dt_sub, substeps, Fz, Kz, Cz, mass, False)
# bodydynamics calculation
c2d.friction_module(dt)
# tests
npt.assert_equal(c2d.ux, ux)
EL1, PL1 = 0.0, 1.0 # elastic and plastic motion parameters
npt.assert_equal(c2d.EL, EL1)
npt.assert_equal(c2d.PL, PL1)
#########################
# 2nd case #
#########################
# When sliding is false but the caisson starts to experience sliding motion
# parameters
domain2D = Domain.PlanarStraightLineGraphDomain()
pos = np.array([1.0, 1.0, 0.0])
dim = (0.3, 0.385)
dt, substeps = 0.001, 20
caisson = mst.Rectangle(domain=domain2D, dim=dim, coords=[pos[0], pos[1]])
caisson2D = bd.CaissonBody(shape=caisson, substeps=substeps)
mst.assembleDomain(domain2D)
c2d = caisson2D
c2d.nd = 2
dt_sub = c2d.dt_sub = float(old_div(dt,substeps))
Ix = (old_div((dim[0]**2),12.))
Iy = (old_div((dim[1]**2),12.))
It = Ix + Iy
mass = 50.0
c2d.mass, c2d.It = mass, It
K = Kx, Ky, Kz = [200000., 250000., 0.0]
C = Cx, Cy, Cz = [2000., 4000., 0.0]
c2d.Kx, c2d.Ky, c2d.Kz, c2d.Cx, c2d.Cy, c2d.Cz = Kx, Ky, Kz, Cx, Cy, Cz
c2d.substeps, c2d.dt, c2d.acceleration = substeps, dt, c2d.getAcceleration()
m_static, m_dynamic = 0.6, 0.4
c2d.setFriction(friction=True, m_static=m_static, m_dynamic=m_dynamic, tolerance=0.000001, grainSize=0.02)
# sliding == False. static sign and static friction
F = Fx, Fy, Fz = np.array([200., -300., 0.0])
disp = np.array([0.001, 0.001, 0.0])
init_barycenter, last_position, last_velocity = pos, pos+disp, np.array([0.05, 0.07, 0.0])
c2d.last_uxEl = pos[0]+disp[0]-init_barycenter[0]
c2d.F, c2d.init_barycenter, c2d.last_position, c2d.last_velocity = F, init_barycenter, last_position, last_velocity
eps = 10.**-30
sign_static, sign_dynamic = old_div(Fx,abs(Fx+eps)), old_div(last_velocity[0],abs(last_velocity[0]+eps))
c2d.sliding, sign, m = False, sign_static, m_static
# vertical calculation and frictional force
uy0, vy0 = (last_position[1] - init_barycenter[1]), last_velocity[1]
ay0 = old_div((Fy - Cy*vy0 - Ky*uy0), mass)
uy, vy, ay = bd.runge_kutta(uy0, vy0, ay0, dt_sub, substeps, Fy, Ky, Cy, mass, False)
Rx = -Kx*(last_position[0]-init_barycenter[0])
Ry = -Ky*uy
Ftan = -sign*abs(Ry)*m
if Ftan == 0.0:
Ftan = -sign*abs(Fy)*m
# runge-kutta calculation
c2d.scheme = 'Runge_Kutta'
ux0, uz0 = last_position[0] - init_barycenter[0], last_position[2] - init_barycenter[2]
vx0, vz0 = last_velocity[0], last_velocity[2]
Fh = Fx+Ftan
Kx, Cx = 0.0, 0.0
ax0, az0 = old_div((Fh - Cx*vx0 - Kx*ux0), mass) , old_div((Fz - Cz*vz0 - Kz*uz0), mass)
ux, vx, ax = bd.runge_kutta(ux0, vx0, ax0, dt_sub, substeps, Fh, Kx, Cx, mass, True)
uz, vz, az = bd.runge_kutta(uz0, vz0, az0, dt_sub, substeps, Fz, Kz, Cz, mass, False)
# bodydynamics calculation
c2d.friction_module(dt)
# tests
npt.assert_equal(c2d.ux, ux)
EL1, PL1 = 0.0, 1.0 # elastic and plastic motion parameters
npt.assert_equal(c2d.EL, EL1)
npt.assert_equal(c2d.PL, PL1)
#########################
# 3rd case #
#########################
# When caisson experiences vibration motion
# parameters
domain2D = Domain.PlanarStraightLineGraphDomain()
pos = np.array([1.0, 1.0, 0.0])
dim = (0.3, 0.385)
dt, substeps = 0.001, 20
caisson = mst.Rectangle(domain=domain2D, dim=dim, coords=[pos[0], pos[1]])
caisson2D = bd.CaissonBody(shape=caisson, substeps=substeps)
mst.assembleDomain(domain2D)
c2d = caisson2D
c2d.nd = 2
dt_sub = c2d.dt_sub = float(old_div(dt,substeps))
Ix = (old_div((dim[0]**2),12.))
Iy = (old_div((dim[1]**2),12.))
It = Ix + Iy
mass = 50.0
c2d.mass, c2d.It = mass, It
K = Kx, Ky, Kz = [200000., 250000., 0.0]
C = Cx, Cy, Cz = [2000., 4000., 0.0]
c2d.Kx, c2d.Ky, c2d.Kz, c2d.Cx, c2d.Cy, c2d.Cz = Kx, Ky, Kz, Cx, Cy, Cz
c2d.substeps, c2d.dt, c2d.acceleration = substeps, dt, c2d.getAcceleration()
m_static, m_dynamic = 0.6, 0.4
c2d.setFriction(friction=True, m_static=m_static, m_dynamic=m_dynamic, tolerance=0.000001, grainSize=0.02)
# sliding == False. static sign and static friction. Kx and Cx different from 0!
F = Fx, Fy, Fz = np.array([200., -300., 0.0])
disp = np.array([0.00001, 0.00001, 0.0])
init_barycenter, last_position, last_velocity = pos, pos+disp, np.array([0.05, 0.07, 0.0])
c2d.last_uxEl = pos[0]+disp[0]-init_barycenter[0]
c2d.F, c2d.init_barycenter, c2d.last_position, c2d.last_velocity = F, init_barycenter, last_position, last_velocity
eps = 10.**-30
sign_static, sign_dynamic = old_div(Fx,abs(Fx+eps)), old_div(last_velocity[0],abs(last_velocity[0]+eps))
c2d.sliding, sign, m = False, sign_static, m_static
# vertical calculation and frictional force
uy0, vy0 = (last_position[1] - init_barycenter[1]), last_velocity[1]
ay0 = old_div((Fy - Cy*vy0 - Ky*uy0), mass)
uy, vy, ay = bd.runge_kutta(uy0, vy0, ay0, dt_sub, substeps, Fy, Ky, Cy, mass, False)
Rx = -Kx*(last_position[0]-init_barycenter[0])
Ry = -Ky*uy
Ftan = -sign*abs(Ry)*m
if Ftan == 0.0:
Ftan = -sign*abs(Fy)*m
# runge-kutta calculation
c2d.scheme = 'Runge_Kutta'
ux0, uz0 = last_position[0] - init_barycenter[0], last_position[2] - init_barycenter[2]
vx0, vz0 = last_velocity[0], last_velocity[2]
Fh = Fx
ax0, az0 = old_div((Fh - Cx*vx0 - Kx*ux0), mass) , old_div((Fz - Cz*vz0 - Kz*uz0), mass)
ux, vx, ax = bd.runge_kutta(ux0, vx0, ax0, dt_sub, substeps, Fh, Kx, Cx, mass, True)
uz, vz, az = bd.runge_kutta(uz0, vz0, az0, dt_sub, substeps, Fz, Kz, Cz, mass, False)
# bodydynamics calculation
c2d.friction_module(dt)
# tests
npt.assert_equal(c2d.ux, ux)
EL1, PL1 = 1.0, 0.0 # elastic and plastic motion parameters
npt.assert_equal(c2d.EL, EL1)
npt.assert_equal(c2d.PL, PL1)