def generate_multibody_file():
global end_of_fuselage_node
global LC
# LCR = gc.LagrangeConstraint()
# LCR.behaviour = 'lin_vel_node_wrtG'
# LCR.velocity = np.zeros((3,))
# LCR.body_number = 0
# LCR.node_number = flat_end_node[0]
# LCL = gc.LagrangeConstraint()
# LCL.behaviour = 'lin_vel_node_wrtG'
# LCL.velocity = np.zeros((3,))
# LCL.body_number = 0
# LCL.node_number = flat_end_node[1]
LCF = gc.LagrangeConstraint()
LCF.behaviour = 'lin_vel_node_wrtG'
LCF.velocity = np.zeros((3, ))
LCF.body_number = 0
LCF.node_number = end_of_fuselage_node
LCCR = gc.LagrangeConstraint()
LCCR.behaviour = 'lin_vel_node_wrtG'
LCCR.velocity = np.zeros((3, ))
LCCR.body_number = 0
LCCR.node_number = first_node_centre[0]
LCCL = gc.LagrangeConstraint()
LCCL.behaviour = 'lin_vel_node_wrtG'
LCCL.velocity = np.zeros((3, ))
LCCL.body_number = 0
LCCL.node_number = first_node_centre[1]
# LC = [LCR, LCL, LCF, LCCR, LCCL]
LC = [LCF, LCCR, LCCL]
MB1 = gc.BodyInformation()
MB1.body_number = 0
MB1.FoR_position = np.zeros((6, ))
MB1.FoR_velocity = np.zeros((6, ))
MB1.FoR_acceleration = np.zeros((6, ))
MB1.FoR_movement = 'free'
MB1.quat = np.array([1.0, 0.0, 0.0, 0.0])
MB = [MB1]
gc.generate_multibody_file(LC, MB, route, case_name)
def generate_multibody_file():
LC2 = gc.LagrangeConstraint()
LC2.behaviour = 'hinge_FoR'
LC2.rot_axis_AFoR = np.array([1.0, 0.0, 0.0])
LC2.body_FoR = 0
# LC2.node_number = int(0)
LC = []
LC.append(LC2)
MB1 = gc.BodyInformation()
MB1.body_number = 0
MB1.FoR_position = np.zeros((6, ))
MB1.FoR_velocity = np.zeros((6, ))
MB1.FoR_acceleration = np.zeros((6, ))
MB1.FoR_movement = 'free'
MB1.quat = np.array([1.0, 0.0, 0.0, 0.0])
MB = []
MB.append(MB1)
gc.clean_test_files(route, case_name)
gc.generate_multibody_file(LC, MB, route, case_name)
# Create the BC file
LC1 = gc.LagrangeConstraint()
LC1.behaviour = 'hinge_FoR'
LC1.body_FoR = 0
LC1.rot_axis_AFoR = np.array([0.0, 1.0, 0.0])
LC = []
LC.append(LC1)
MB1 = gc.BodyInformation()
MB1.body_number = 0
MB1.FoR_position = np.zeros((6, ), )
MB1.FoR_velocity = np.zeros((6, ), )
MB1.FoR_acceleration = np.zeros((6, ), )
MB1.FoR_movement = 'free'
# MB1.quat = algebra.euler2quat_ag(euler)
MB1.quat = np.array([1.0, 0.0, 0.0, 0.0])
MB = []
MB.append(MB1)
# Write files
gc.clean_test_files(SimInfo.solvers['SHARPy']['route'],
SimInfo.solvers['SHARPy']['case'])
SimInfo.generate_solver_file()
SimInfo.generate_dyn_file(n_tstep)
beam1.generate_h5_files(SimInfo.solvers['SHARPy']['route'],
SimInfo.solvers['SHARPy']['case'])
gc.generate_multibody_file(LC, MB, SimInfo.solvers['SHARPy']['route'],
SimInfo.solvers['SHARPy']['case'])
print("DONE")
def setUp(self):
nodes_per_elem = 3
# beam1: uniform and symmetric with aerodynamic properties equal to zero
nnodes1 = 11
length1 = 10.
mass_per_unit_length = 0.1
mass_iner = 1e-4
EA = 1e9
GA = 1e9
GJ = 1e3
EI = 1e4
# Create beam1
beam1 = gc.AeroelasticInformation()
# Structural information
beam1.StructuralInformation.num_node = nnodes1
beam1.StructuralInformation.num_node_elem = nodes_per_elem
beam1.StructuralInformation.compute_basic_num_elem()
beam1.StructuralInformation.set_to_zero(beam1.StructuralInformation.num_node_elem, beam1.StructuralInformation.num_node, beam1.StructuralInformation.num_elem)
node_pos = np.zeros((nnodes1, 3), )
node_pos[:, 0] = np.linspace(0.0, length1, nnodes1)
beam1.StructuralInformation.generate_uniform_sym_beam(node_pos, mass_per_unit_length, mass_iner, EA, GA, GJ, EI, num_node_elem = 3, y_BFoR = 'y_AFoR', num_lumped_mass=2)
beam1.StructuralInformation.boundary_conditions[0] = 1
beam1.StructuralInformation.boundary_conditions[-1] = -1
beam1.StructuralInformation.lumped_mass_nodes = np.array([0, nnodes1-1], dtype=int)
beam1.StructuralInformation.lumped_mass = np.array([2., 1.])
beam1.StructuralInformation.lumped_mass_inertia = np.zeros((2, 3, 3),)
beam1.StructuralInformation.lumped_mass_position = np.zeros((2, 3),)
# Aerodynamic information
airfoil = np.zeros((1, 20, 2),)
airfoil[0, :, 0] = np.linspace(0., 1., 20)
beam1.AerodynamicInformation.create_one_uniform_aerodynamics(
beam1.StructuralInformation,
chord=1.,
twist=0.,
sweep=0.,
num_chord_panels=4,
m_distribution='uniform',
elastic_axis=0.5,
num_points_camber=20,
airfoil=airfoil)
# SOLVER CONFIGURATION
SimInfo = gc.SimulationInformation()
SimInfo.set_default_values()
SimInfo.define_uinf(np.array([0.0,1.0,0.0]), 10.)
SimInfo.solvers['SHARPy']['flow'] = ['BeamLoader',
'AerogridLoader',
'StaticCoupled',
'DynamicCoupled']
self.name = 'fix_node_velocity_wrtG'
SimInfo.solvers['SHARPy']['case'] = self.name
SimInfo.solvers['SHARPy']['write_screen'] = 'off'
SimInfo.solvers['SHARPy']['route'] = folder + '/'
SimInfo.set_variable_all_dicts('dt', 0.1)
SimInfo.set_variable_all_dicts('rho', 0.0)
SimInfo.set_variable_all_dicts('velocity_field_input', SimInfo.solvers['SteadyVelocityField'])
SimInfo.set_variable_all_dicts('folder', folder + '/output/')
SimInfo.solvers['BeamLoader']['unsteady'] = 'on'
SimInfo.solvers['AerogridLoader']['unsteady'] = 'on'
SimInfo.solvers['AerogridLoader']['mstar'] = 2
SimInfo.solvers['AerogridLoader']['wake_shape_generator'] = 'StraightWake'
SimInfo.solvers['AerogridLoader']['wake_shape_generator_input'] = {'u_inf':10.,
'u_inf_direction': np.array([0., 1., 0.]),
'dt': 0.1}
SimInfo.solvers['NonLinearStatic']['print_info'] = False
SimInfo.solvers['StaticCoupled']['structural_solver'] = 'NonLinearStatic'
SimInfo.solvers['StaticCoupled']['structural_solver_settings'] = SimInfo.solvers['NonLinearStatic']
SimInfo.solvers['StaticCoupled']['aero_solver'] = 'StaticUvlm'
SimInfo.solvers['StaticCoupled']['aero_solver_settings'] = SimInfo.solvers['StaticUvlm']
SimInfo.solvers['WriteVariablesTime']['structure_nodes'] = np.array([0, int((nnodes1-1)/2), -1], dtype = int)
SimInfo.solvers['WriteVariablesTime']['structure_variables'] = ['pos']
SimInfo.solvers['BeamPlot']['include_FoR'] = True
SimInfo.solvers['NonLinearDynamicMultibody']['relaxation_factor'] = 0.0
SimInfo.solvers['NonLinearDynamicMultibody']['min_delta'] = 1e-5
SimInfo.solvers['NonLinearDynamicMultibody']['max_iterations'] = 200
SimInfo.solvers['NonLinearDynamicMultibody']['newmark_damp'] = 1e-3
# SimInfo.solvers['NonLinearDynamicMultibody']['gravity_on'] = 'off'
SimInfo.solvers['NonLinearDynamicMultibody']['relaxation_factor'] = 0.0
SimInfo.solvers['DynamicCoupled']['structural_solver'] = 'NonLinearDynamicMultibody'
SimInfo.solvers['DynamicCoupled']['structural_solver_settings'] = SimInfo.solvers['NonLinearDynamicMultibody']
SimInfo.solvers['DynamicCoupled']['aero_solver'] = 'StepUvlm'
SimInfo.solvers['DynamicCoupled']['aero_solver_settings'] = SimInfo.solvers['StepUvlm']
SimInfo.solvers['DynamicCoupled']['postprocessors'] = ['WriteVariablesTime', 'BeamPlot', 'AerogridPlot']
SimInfo.solvers['DynamicCoupled']['postprocessors_settings'] = {'WriteVariablesTime': SimInfo.solvers['WriteVariablesTime'],
'BeamPlot': SimInfo.solvers['BeamPlot'],
'AerogridPlot': SimInfo.solvers['AerogridPlot']}
ntimesteps = 10
SimInfo.define_num_steps(ntimesteps)
# Define dynamic simulation
SimInfo.with_forced_vel = False
SimInfo.with_dynamic_forces = False
LC2 = gc.LagrangeConstraint()
LC2.behaviour = 'lin_vel_node_wrtG'
LC2.velocity = np.zeros((ntimesteps, 3))
LC2.velocity[:int(ntimesteps/2),1] = 0.5
LC2.velocity[int(ntimesteps/2):,1] = -0.5
LC2.body_number = 0
LC2.node_number = int((nnodes1-1)/2)
LC = []
# LC.append(LC1)
LC.append(LC2)
# Define the multibody infromation for the tower and the rotor
MB1 = gc.BodyInformation()
MB1.body_number = 0
MB1.FoR_position = np.zeros((6,),)
MB1.FoR_velocity = np.zeros((6,),)
MB1.FoR_acceleration = np.zeros((6,),)
MB1.FoR_movement = 'free'
MB1.quat = np.array([1.0,0.0,0.0,0.0])
MB = []
MB.append(MB1)
gc.clean_test_files(
SimInfo.solvers['SHARPy']['route'],
SimInfo.solvers['SHARPy']['case'])
SimInfo.generate_solver_file()
SimInfo.generate_dyn_file(ntimesteps)
beam1.generate_h5_files(
SimInfo.solvers['SHARPy']['route'],
SimInfo.solvers['SHARPy']['case'])
gc.generate_multibody_file(LC,
MB,SimInfo.solvers['SHARPy']['route'],
SimInfo.solvers['SHARPy']['case'])
def setUp(self):
import sharpy.utils.generate_cases as gc
deg2rad = np.pi/180.
# Structural properties
mass_per_unit_length = 1.
mass_iner = 1e-4
EA = 1e9
GA = 1e9
GJ = 1e9
EI = 1e9
# Beam1
global nnodes1
nnodes1 = 11
l1 = 1.0
m1 = 1.0
theta_ini1 = 90.*deg2rad
# Beam2
nnodes2 = nnodes1
l2 = l1
m2 = m1
theta_ini2 = 00.*deg2rad
# airfoils
airfoil = np.zeros((1,20,2),)
airfoil[0,:,0] = np.linspace(0.,1.,20)
# Simulation
numtimesteps = 10
dt = 0.01
# Create the structure
beam1 = gc.AeroelasticInformation()
r1 = np.linspace(0.0, l1, nnodes1)
node_pos1 = np.zeros((nnodes1,3),)
node_pos1[:, 0] = r1*np.sin(theta_ini1)
node_pos1[:, 2] = -r1*np.cos(theta_ini1)
beam1.StructuralInformation.generate_uniform_sym_beam(node_pos1, mass_per_unit_length, mass_iner, EA, GA, GJ, EI, num_node_elem = 3, y_BFoR = 'y_AFoR', num_lumped_mass=1)
beam1.StructuralInformation.body_number = np.zeros((beam1.StructuralInformation.num_elem,), dtype = int)
beam1.StructuralInformation.boundary_conditions[0] = 1
beam1.StructuralInformation.boundary_conditions[-1] = -1
beam1.StructuralInformation.lumped_mass_nodes = np.array([nnodes1-1], dtype = int)
beam1.StructuralInformation.lumped_mass = np.ones((1,))*m1
beam1.StructuralInformation.lumped_mass_inertia = np.zeros((1,3,3))
beam1.StructuralInformation.lumped_mass_position = np.zeros((1,3))
beam1.AerodynamicInformation.create_one_uniform_aerodynamics(
beam1.StructuralInformation,
chord = 1.,
twist = 0.,
sweep = 0.,
num_chord_panels = 4,
m_distribution = 'uniform',
elastic_axis = 0.25,
num_points_camber = 20,
airfoil = airfoil)
beam2 = gc.AeroelasticInformation()
r2 = np.linspace(0.0, l2, nnodes2)
node_pos2 = np.zeros((nnodes2,3),)
node_pos2[:, 0] = r2*np.sin(theta_ini2) + node_pos1[-1, 0]
node_pos2[:, 2] = -r2*np.cos(theta_ini2) + node_pos1[-1, 2]
beam2.StructuralInformation.generate_uniform_sym_beam(node_pos2, mass_per_unit_length, mass_iner, EA, GA, GJ, EI, num_node_elem = 3, y_BFoR = 'y_AFoR', num_lumped_mass=1)
beam2.StructuralInformation.body_number = np.zeros((beam1.StructuralInformation.num_elem,), dtype = int)
beam2.StructuralInformation.boundary_conditions[0] = 1
beam2.StructuralInformation.boundary_conditions[-1] = -1
beam2.StructuralInformation.lumped_mass_nodes = np.array([nnodes2-1], dtype = int)
beam2.StructuralInformation.lumped_mass = np.ones((1,))*m2
beam2.StructuralInformation.lumped_mass_inertia = np.zeros((1,3,3))
beam2.StructuralInformation.lumped_mass_position = np.zeros((1,3))
beam2.AerodynamicInformation.create_one_uniform_aerodynamics(
beam2.StructuralInformation,
chord = 1.,
twist = 0.,
sweep = 0.,
num_chord_panels = 4,
m_distribution = 'uniform',
elastic_axis = 0.25,
num_points_camber = 20,
airfoil = airfoil)
beam1.assembly(beam2)
# Simulation details
SimInfo = gc.SimulationInformation()
SimInfo.set_default_values()
SimInfo.define_uinf(np.array([0.0,1.0,0.0]), 1.)
SimInfo.solvers['SHARPy']['flow'] = ['BeamLoader',
'AerogridLoader',
# 'InitializeMultibody',
'DynamicCoupled']
global name
name = 'double_pendulum_geradin'
SimInfo.solvers['SHARPy']['case'] = 'double_pendulum_geradin'
SimInfo.solvers['SHARPy']['write_screen'] = 'off'
SimInfo.solvers['SHARPy']['route'] = os.path.abspath(os.path.dirname(os.path.realpath(__file__))) + '/'
SimInfo.solvers['SHARPy']['log_folder'] = os.path.abspath(os.path.dirname(os.path.realpath(__file__))) + '/'
SimInfo.set_variable_all_dicts('dt', dt)
SimInfo.define_num_steps(numtimesteps)
SimInfo.set_variable_all_dicts('rho', 0.0)
SimInfo.set_variable_all_dicts('velocity_field_input', SimInfo.solvers['SteadyVelocityField'])
SimInfo.set_variable_all_dicts('output', os.path.abspath(os.path.dirname(os.path.realpath(__file__))) + '/output/')
SimInfo.solvers['BeamLoader']['unsteady'] = 'on'
SimInfo.solvers['AerogridLoader']['unsteady'] = 'on'
SimInfo.solvers['AerogridLoader']['mstar'] = 2
SimInfo.solvers['WriteVariablesTime']['FoR_number'] = np.array([0, 1], dtype = int)
SimInfo.solvers['WriteVariablesTime']['FoR_variables'] = ['mb_quat']
SimInfo.solvers['WriteVariablesTime']['structure_nodes'] = np.array([nnodes1-1, nnodes1+nnodes2-1], dtype = int)
SimInfo.solvers['WriteVariablesTime']['structure_variables'] = ['pos']
SimInfo.solvers['NonLinearDynamicMultibody']['gravity_on'] = True
SimInfo.solvers['NonLinearDynamicMultibody']['newmark_damp'] = 0.15
SimInfo.solvers['BeamPlot']['include_FoR'] = True
SimInfo.solvers['DynamicCoupled']['structural_solver'] = 'NonLinearDynamicMultibody'
SimInfo.solvers['DynamicCoupled']['structural_solver_settings'] = SimInfo.solvers['NonLinearDynamicMultibody']
SimInfo.solvers['DynamicCoupled']['aero_solver'] = 'StepUvlm'
SimInfo.solvers['DynamicCoupled']['aero_solver_settings'] = SimInfo.solvers['StepUvlm']
SimInfo.solvers['DynamicCoupled']['postprocessors'] = ['WriteVariablesTime', 'BeamPlot', 'AerogridPlot']
SimInfo.solvers['DynamicCoupled']['postprocessors_settings'] = {'WriteVariablesTime': SimInfo.solvers['WriteVariablesTime'],
'BeamPlot': SimInfo.solvers['BeamPlot'],
'AerogridPlot': SimInfo.solvers['AerogridPlot']}
SimInfo.solvers['DynamicCoupled']['postprocessors_settings']['WriteVariablesTime']['folder'] = os.path.abspath(os.path.dirname(os.path.realpath(__file__))) + '/output/'
SimInfo.solvers['DynamicCoupled']['postprocessors_settings']['BeamPlot']['folder'] = os.path.abspath(os.path.dirname(os.path.realpath(__file__))) + '/output/'
SimInfo.solvers['DynamicCoupled']['postprocessors_settings']['AerogridPlot']['folder'] = os.path.abspath(os.path.dirname(os.path.realpath(__file__))) + '/output/'
SimInfo.with_forced_vel = False
SimInfo.with_dynamic_forces = False
# Create the MB and BC files
LC1 = gc.LagrangeConstraint()
LC1.behaviour = 'hinge_FoR'
LC1.body_FoR = 0
LC1.rot_axis_AFoR = np.array([0.0,1.0,0.0])
LC2 = gc.LagrangeConstraint()
LC2.behaviour = 'hinge_node_FoR'
LC2.node_in_body = nnodes1-1
LC2.body = 0
LC2.body_FoR = 1
LC2.rot_axisB = np.array([0.0,1.0,0.0])
LC = []
LC.append(LC1)
LC.append(LC2)
MB1 = gc.BodyInformation()
MB1.body_number = 0
MB1.FoR_position = np.zeros((6,),)
MB1.FoR_velocity = np.zeros((6,),)
MB1.FoR_acceleration = np.zeros((6,),)
MB1.FoR_movement = 'free'
MB1.quat = np.array([1.0,0.0,0.0,0.0])
MB2 = gc.BodyInformation()
MB2.body_number = 1
MB2.FoR_position = np.array([node_pos2[0, 0], node_pos2[0, 1], node_pos2[0, 2], 0.0, 0.0, 0.0])
MB2.FoR_velocity = np.zeros((6,),)
MB2.FoR_acceleration = np.zeros((6,),)
MB2.FoR_movement = 'free'
MB2.quat = np.array([1.0,0.0,0.0,0.0])
MB = []
MB.append(MB1)
MB.append(MB2)
# Write files
gc.clean_test_files(SimInfo.solvers['SHARPy']['route'], SimInfo.solvers['SHARPy']['case'])
SimInfo.generate_solver_file()
SimInfo.generate_dyn_file(numtimesteps)
beam1.generate_h5_files(SimInfo.solvers['SHARPy']['route'], SimInfo.solvers['SHARPy']['case'])
gc.generate_multibody_file(LC, MB,SimInfo.solvers['SHARPy']['route'], SimInfo.solvers['SHARPy']['case'])