def Solve_F90(XBINPUT, XBOPTS):
"""@brief Nonlinear dynamic structural solver using f90 solve routine."""
#Check correct solution code
assert XBOPTS.Solution.value == 912, ('NonlinearDynamic (F90) requested' +\
' with wrong solution code')
#Initialise variables for static analysis
XBINPUT, XBOPTS, NumNodes_tot, XBELEM, PosIni, PsiIni, XBNODE, NumDof \
= BeamInit.Static(XBINPUT, XBOPTS)
#Change solution code to NonlinearStatic
XBOPTS.Solution.value = 112
#Set initial conditions as undef config
PosDefor = PosIni.copy(order='F')
PsiDefor = PsiIni.copy(order='F')
#Solve static
BeamLib.Cbeam3_Solv_NonlinearStatic(XBINPUT, XBOPTS, NumNodes_tot, XBELEM,\
PosIni, PsiIni, XBNODE, NumDof,\
PosDefor, PsiDefor)
#Change solution code back to NonlinearDynamic
XBOPTS.Solution.value = 912
#Write deformed configuration to file
ofile = Settings.OutputDir + Settings.OutputFileRoot + '_SOL912_def.dat'
if XBOPTS.PrintInfo == True:
sys.stdout.write('Writing file %s ... ' % (ofile))
fp = open(ofile, 'w')
fp.write('TITLE="Non-linear static solution: deformed geometry"\n')
fp.write('VARIABLES="iElem" "iNode" "Px" "Py" "Pz" "Rx" "Ry" "Rz"\n')
fp.close()
if XBOPTS.PrintInfo == True:
sys.stdout.write('done\n')
WriteMode = 'a'
BeamIO.OutputElems(XBINPUT.NumElems, NumNodes_tot.value, XBELEM, \
PosDefor, PsiDefor, ofile, WriteMode)
#Initialise variables for dynamic analysis
Time, NumSteps, ForceTime, ForcedVel, ForcedVelDot,\
PosDotDef, PsiDotDef,\
OutGrids, PosPsiTime, VelocTime, DynOut\
= BeamInit.Dynamic(XBINPUT,XBOPTS, NumNodes_tot)
# Delete unused variables.
del PosPsiTime, VelocTime
#Initialise quaternions for rigid-body dynamics
Quat = np.zeros(4, ct.c_double, 'F')
Quat[0] = 1.0
#Write _force file
ofile = Settings.OutputDir + Settings.OutputFileRoot + '_SOL912_force.dat'
fp = open(ofile, 'w')
BeamIO.Write_force_File(fp, Time, ForceTime, ForcedVel, ForcedVelDot)
fp.close()
#Solve dynamic using f90 solver
BeamLib.Xbeam_Solv_FreeNonlinDynamic(XBINPUT, XBOPTS, NumNodes_tot, XBELEM,\
PosIni, PsiIni, XBNODE, NumDof,\
PosDefor, PsiDefor, Quat,\
NumSteps, Time, ForceTime, ForcedVel, ForcedVelDot,\
PosDotDef, PsiDotDef, DynOut, OutGrids)
#Write _shape file
ofile = Settings.OutputDir + Settings.OutputFileRoot + '_SOL912_shape.dat'
fp = open(ofile, 'w')
BeamIO.Write_shape_File(fp, len(Time), NumNodes_tot.value, Time, DynOut)
fp.close()
#Write rigid-body velocities
ofile = Settings.OutputDir + Settings.OutputFileRoot + '_SOL912_rigid.dat'
fp = open(ofile, 'w')
BeamIO.Write_rigid_File(fp, Time, ForcedVel, ForcedVelDot)
fp.close()
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')
# Initialise static beam data.
XBINPUT, XBOPTS, NumNodes_tot, XBELEM, PosIni, PsiIni, XBNODE, NumDof \
= BeamInit.Static(XBINPUT,XBOPTS)
# 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')
# Write deformed configuration to file. TODO: tidy this away inside function.
ofile = Settings.OutputDir + Settings.OutputFileRoot + '_SOL912_def.dat'
if XBOPTS.PrintInfo==True:
sys.stdout.write('Writing file %s ... ' %(ofile))
fp = open(ofile,'w')
fp.write('TITLE="Non-linear static solution: deformed geometry"\n')
fp.write('VARIABLES="iElem" "iNode" "Px" "Py" "Pz" "Rx" "Ry" "Rz"\n')
fp.close()
if XBOPTS.PrintInfo==True:
sys.stdout.write('done\n')
WriteMode = 'a'
# Write
BeamIO.OutputElems(XBINPUT.NumElems, NumNodes_tot.value, XBELEM,
PosDefor, PsiDefor, ofile, WriteMode)
# 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
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. TODO: include initial AOA here
currVrel=Vrel[0,:].copy('F')
AOA = np.arctan(currVrel[2]/-currVrel[1])
Quat = xbl.Euler2Quat(AOA,0,0)
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')
#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:])
# Initial Accel.
dQddt[:] = np.dot(np.linalg.inv(Msys), -Qsys)
#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 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_G = np.zeros(3,ct.c_double,'C')
PsiA_G = 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_G, 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:
FileName = Settings.OutputDir + Settings.OutputFileRoot + 'AeroGrid.dat'
Variables = ['X', 'Y', 'Z','Gamma']
FileObject = PostProcess.WriteAeroTecHeader(FileName,
'Default',
Variables)
# Plot results of static analysis
PostProcess.WriteUVLMtoTec(FileObject,
Zeta,
ZetaStar,
Gamma,
GammaStar,
TimeStep = 0,
NumTimeSteps = XBOPTS.NumLoadSteps.value,
Time = 0.0,
Text = True)
# Open output file for writing
if 'writeDict' in kwords and Settings.WriteOut == True:
writeDict = kwords['writeDict']
ofile = Settings.OutputDir + \
Settings.OutputFileRoot + \
'_SOL912_out.dat'
fp = open(ofile,'w')
fp.write("{:<14}".format("Time"))
for output in writeDict.keys():
fp.write("{:<14}".format(output))
fp.write("\n")
fp.flush()
# Write initial outputs to file.
if 'writeDict' in kwords and Settings.WriteOut == True:
locForces = None # Stops recalculation of forces
fp.write("{:<14,e}".format(Time[0]))
for myStr in writeDict.keys():
if re.search(r'^R_.',myStr):
if re.search(r'^R_._.', myStr):
index = int(myStr[4])
elif re.search(r'root', myStr):
index = 0
elif re.search(r'tip', myStr):
index = -1
else:
raise IOError("Node index not recognised.")
if myStr[2] == 'x':
component = 0
elif myStr[2] == 'y':
component = 1
elif myStr[2] == 'z':
component = 2
else:
raise IOError("Displacement component not recognised.")
fp.write("{:<14,e}".format(PosDefor[index,component]))
elif re.search(r'^M_.',myStr):
if re.search(r'^M_._.', myStr):
index = int(myStr[4])
elif re.search(r'root', myStr):
index = 0
elif re.search(r'tip', myStr):
index = -1
else:
raise IOError("Node index not recognised.")
if myStr[2] == 'x':
component = 0
elif myStr[2] == 'y':
component = 1
elif myStr[2] == 'z':
component = 2
else:
raise IOError("Moment component not recognised.")
if locForces == None:
locForces = BeamIO.localElasticForces(PosDefor,
PsiDefor,
PosIni,
PsiIni,
XBELEM,
[index])
fp.write("{:<14,e}".format(locForces[0,3+component]))
else:
raise IOError("writeDict key not recognised.")
# END for myStr
fp.write("\n")
fp.flush()
# END if write
# 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 diplacements 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)
# 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.
currVrel=Vrel[iStep-1,:].copy('F')
OriginA_G[:] = OriginA_G[:] + currVrel[:3]*dt
# Update control surface deflection.
if VMINPUT.ctrlSurf != None:
VMINPUT.ctrlSurf.update(Time[iStep])
# Generate surface grid.
currVrel=Vrel[iStep,:].copy('F')
CoincidentGrid(PosDefor, PsiDefor, Section, currVrel[:3],
currVrel[3:], PosDotDef, PsiDotDef, XBINPUT,
Zeta, ZetaDot, OriginA_G, 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:
PostProcess.WriteUVLMtoTec(FileObject,
Zeta,
ZetaStar,
Gamma,
GammaStar,
TimeStep = iStep,
NumTimeSteps = XBOPTS.NumLoadSteps.value,
Time = Time[iStep],
Text = True)
# map AeroForces to beam.
CoincidentGridForce(XBINPUT, PsiDefor, Section, AeroForces,
Force)
# 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')
#END if iStep > 0
#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 diplacements 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)
#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 Netwon-Raphson.
#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'))
# Write selected outputs
# tidy this away using function.
if 'writeDict' in kwords and Settings.WriteOut == True:
locForces = None # Stops recalculation of forces
fp.write("{:<14,e}".format(Time[iStep+1]))
for myStr in writeDict.keys():
if re.search(r'^R_.',myStr):
if re.search(r'^R_._.', myStr):
index = int(myStr[4])
elif re.search(r'root', myStr):
index = 0
elif re.search(r'tip', myStr):
index = -1
else:
raise IOError("Node index not recognised.")
if myStr[2] == 'x':
component = 0
elif myStr[2] == 'y':
component = 1
elif myStr[2] == 'z':
component = 2
else:
raise IOError("Displacement component not recognised.")
fp.write("{:<14,e}".format(PosDefor[index,component]))
elif re.search(r'^M_.',myStr):
if re.search(r'^M_._.', myStr):
index = int(myStr[4])
elif re.search(r'root', myStr):
index = 0
elif re.search(r'tip', myStr):
index = -1
else:
raise IOError("Node index not recognised.")
if myStr[2] == 'x':
component = 0
elif myStr[2] == 'y':
component = 1
elif myStr[2] == 'z':
component = 2
else:
raise IOError("Moment component not recognised.")
if locForces == None:
locForces = BeamIO.localElasticForces(PosDefor,
PsiDefor,
PosIni,
PsiIni,
XBELEM,
[index])
fp.write("{:<14,e}".format(locForces[0,3+component]))
else:
raise IOError("writeDict key not recognised.")
# END for myStr
fp.write("\n")
fp.flush()
# 'Rollup' due to external velocities. TODO: Must add gusts here!
ZetaStar[:,:] = ZetaStar[:,:] + VMINPUT.U_infty*dt
# END Time loop
# Write _dyn file.
ofile = Settings.OutputDir + Settings.OutputFileRoot + '_SOL912_dyn.dat'
fp = open(ofile,'w')
BeamIO.Write_dyn_File(fp, Time, PosPsiTime)
fp.close()
#Write _shape file
ofile = Settings.OutputDir + Settings.OutputFileRoot + '_SOL912_shape.dat'
fp = open(ofile,'w')
BeamIO.Write_shape_File(fp, len(Time), NumNodes_tot.value, Time, DynOut)
fp.close()
#Write rigid-body velocities
ofile = Settings.OutputDir + Settings.OutputFileRoot + '_SOL912_rigid.dat'
fp = open(ofile,'w')
BeamIO.Write_rigid_File(fp, Time, Vrel, VrelDot)
fp.close()
# 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
def Solve_Py(XBINPUT, XBOPTS):
"""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')
#Initialise beam
XBINPUT, XBOPTS, NumNodes_tot, XBELEM, PosIni, PsiIni, XBNODE, NumDof \
= BeamInit.Static(XBINPUT,XBOPTS)
#Solve static
XBOPTS.Solution.value = 112
PosDefor, PsiDefor = Solve_Py_Static(XBINPUT, XBOPTS)
XBOPTS.Solution.value = 912
#Write deformed configuration to file
ofile = Settings.OutputDir + Settings.OutputFileRoot + '_SOL912_def.dat'
if XBOPTS.PrintInfo == True:
sys.stdout.write('Writing file %s ... ' % (ofile))
fp = open(ofile, 'w')
fp.write('TITLE="Non-linear static solution: deformed geometry"\n')
fp.write('VARIABLES="iElem" "iNode" "Px" "Py" "Pz" "Rx" "Ry" "Rz"\n')
fp.close()
if XBOPTS.PrintInfo == True:
sys.stdout.write('done\n')
WriteMode = 'a'
BeamIO.OutputElems(XBINPUT.NumElems, NumNodes_tot.value, XBELEM, \
PosDefor, PsiDefor, ofile, WriteMode)
#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
ofile = Settings.OutputDir + Settings.OutputFileRoot + '_SOL912_force.dat'
fp = open(ofile, 'w')
BeamIO.Write_force_File(fp, Time, ForceTime, Vrel, VrelDot)
fp.close()
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 = np.zeros(4, ct.c_double, 'F')
Quat[0] = 1.0
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
Force = (XBINPUT.ForceStatic + XBINPUT.ForceDyn * ForceTime[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, \
(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:])
#Initial Accel
dQddt[:] = np.dot(np.linalg.inv(Msys), -Qsys)
#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
#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
dQddt[:] = 0.0
#Force at current time-step
Force = (XBINPUT.ForceStatic + \
XBINPUT.ForceDyn*ForceTime[iStep+1]).copy('F')
#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 diplacements 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)
#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, \
(XBINPUT.ForceStatic_foll + XBINPUT.ForceDyn_foll*tmpForceTime), \
(XBINPUT.ForceStatic_dead + XBINPUT.ForceDyn_dead*tmpForceTime), \
Cao,1)
Qstruc -= tmpQforces
Qrigid -= tmpQrigid
#Compute residual
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)
#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 Netwon-Raphson
#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'))
#END Time loop
#Write _dyn file
ofile = Settings.OutputDir + Settings.OutputFileRoot + '_SOL912_dyn.dat'
fp = open(ofile, 'w')
BeamIO.Write_dyn_File(fp, Time, PosPsiTime)
fp.close()
#Write _shape file
ofile = Settings.OutputDir + Settings.OutputFileRoot + '_SOL912_shape.dat'
fp = open(ofile, 'w')
BeamIO.Write_shape_File(fp, len(Time), NumNodes_tot.value, Time, DynOut)
fp.close()
#Write rigid-body velocities
ofile = Settings.OutputDir + Settings.OutputFileRoot + '_SOL912_rigid.dat'
fp = open(ofile, 'w')
BeamIO.Write_rigid_File(fp, Time, Vrel, VrelDot)
fp.close()
if XBOPTS.PrintInfo.value == True:
sys.stdout.write(' ... done\n')