def main():
po().prog_title('1.0.0')
start_time = time.time()
COUNTER = P['COUNTER']
DEL_T = P['DEL_T']
DSTEP = P['DSTEP']
TSTEP = P['TSTEP']
T = [DEL_T*i for i in xrange(COUNTER)]
RHO = P['RHO']
RE = P['RE']
SwiP = PC.SwimmerParameters(P['CE'], P['DELTA_CORE'], P['SW_KUTTA'])
GeoP = PC.GeoVDVParameters(P['N_BODY'], P['S'], P['C'], P['K'], P['EPSILON'])
MotP1 = PC.MotionParameters(0., 0., P['V0'], P['THETA_MAX'], P['F'], P['PHI'])
S1 = Swimmer(SwiP, GeoP, MotP1, COUNTER)
Swimmers = [S1]
po().calc_input(MotP1.THETA_MAX/np.pi*180.,RE,MotP1.THETA_MAX/np.pi*180.,DEL_T)
# Data points per cycle == 1/(F*DEL_T)
for i in xrange(COUNTER):
if i == 0:
po().initialize_output(T[i])
else:
if np.fmod(i,P['VERBOSITY']) == 0:
po().timestep_header(i,T[i])
for Swim in Swimmers:
Swim.Body.panel_positions(DSTEP, T[i])
Swim.Body.surface_kinematics(DSTEP, TSTEP, DEL_T, T[i], i)
Swim.edge_shed(DEL_T, i)
Swim.wake_shed(DEL_T, i)
quilt(Swimmers, RHO, DEL_T, i)
wake_rollup(Swimmers, DEL_T, i)
archive(S1.Body.AF.x_mid)
archive(S1.Body.AF.z_mid)
if np.fmod(i,P['VERBOSITY']) == 0:
po().solution_output(0,0,0,0,0,0)
po().solution_complete_output(i/float(COUNTER-1)*100.)
total_time = time.time()-start_time
print "Simulation time:", np.round(total_time, 3), "seconds"
graph.body_wake_plot(Swimmers)
def wake_shed(self, DEL_T, i):
"""Updates the positions of the Wake panels.
This should only be done once each time step for a swimmer.
Args:
DEL_T: Time step length.
i: Time step number.
Edge: Edge panel of separation.
Wake: Wake panels.
V0: Free-stream velocity.
"""
Edge = self.Edge
Wake = self.Wake
V0 = self.V0
# Initialize wake coordinates when i==1
if i == 1:
Wake.x[0, :] = Edge.x[-1, :]
Wake.y[0, :] = Edge.y[-1, :]
Wake.z[0, :] = Edge.z[-1, :]
# Wake.x[1:,:] = Wake.x[0,:] + np.arange(1,np.size(Wake.x))*(-V0)*DEL_T
# Wake.y[1:,:] = Wake.y[0,:] + np.arange(1,np.size(Wake.y))*(-V0)*DEL_T
Wake.x[1:, :] = Wake.x[0, :] + np.arange(
1, Wake.x.shape[1] + 1) * (-V0) * DEL_T
Wake.y[1:, :] = Wake.y[0, :]
Wake.z[1:, :] = Wake.z[0, :]
else:
archive(Wake.x, axis=0)
archive(Wake.y, axis=0)
archive(Wake.z, axis=0)
archive(Wake.mu, axis=0)
Wake.x[0, :] = Edge.x[-1, :]
Wake.y[0, :] = Edge.y[-1, :]
Wake.z[0, :] = Edge.z[-1, :]
Wake.mu[0, :] = Edge.mu
Wake.gamma[0, :] = -Wake.mu[0, :]
Wake.gamma[1:-1, :] = Wake.mu[:-1] - Wake.mu[1:, :]
Wake.gamma[-1, :] = Wake.mu[-1, :]
def wake_shed(self, DEL_T, i):
"""Updates the positions of the Wake panels.
This should only be done once each time step for a swimmer.
Args:
DEL_T: Time step length.
i: Time step number.
Edge: Edge panel of separation.
Wake: Wake panels.
V0: Free-stream velocity.
"""
Edge = self.Edge
Wake = self.Wake
V0 = self.V0
# Initialize wake coordinates when i==1
if i == 1:
Wake.x[0,:] = Edge.x[-1,:]
Wake.y[0,:] = Edge.y[-1,:]
Wake.z[0,:] = Edge.z[-1,:]
# Wake.x[1:,:] = Wake.x[0,:] + np.arange(1,np.size(Wake.x))*(-V0)*DEL_T
# Wake.y[1:,:] = Wake.y[0,:] + np.arange(1,np.size(Wake.y))*(-V0)*DEL_T
Wake.x[1:,:] = Wake.x[0,:] + np.arange(1,Wake.x.shape[1]+1)*(-V0)*DEL_T
Wake.y[1:,:] = Wake.y[0,:]
Wake.z[1:,:] = Wake.z[0,:]
else:
archive(Wake.x, axis=0)
archive(Wake.y, axis=0)
archive(Wake.z, axis=0)
archive(Wake.mu, axis=0)
Wake.x[0,:] = Edge.x[-1,:]
Wake.y[0,:] = Edge.y[-1,:]
Wake.z[0,:] = Edge.z[-1,:]
Wake.mu[0,:] = Edge.mu
Wake.gamma[0,:] = -Wake.mu[0,:]
Wake.gamma[1:-1,:] = Wake.mu[:-1]-Wake.mu[1:,:]
Wake.gamma[-1,:] = Wake.mu[-1,:]
def wake_shed(self, DEL_T, i):
"""Updates the positions of the Wake panels.
This should only be done once each time step for a swimmer.
Args:
DEL_T: Time step length.
i: Time step number.
Edge: Edge panel of separation.
Wake: Wake panels.
V0: Free-stream velocity.
"""
Edge = self.Edge
Wake = self.Wake
V0 = self.V0
if i == 0:
pass
elif i == 1:
# Initialize wake coordinates
Wake.x[0] = Edge.x[-1]
Wake.z[0] = Edge.z[-1]
Wake.x[1:] = Wake.x[0] + np.arange(1,np.size(Wake.x))*(-V0)*DEL_T
Wake.z[1:] = Wake.z[0]
elif i > 1:
archive(Wake.x)
archive(Wake.z)
archive(Wake.mu)
Wake.x[0] = Edge.x[-1]
Wake.z[0] = Edge.z[-1]
Wake.mu[0] = Edge.mu
Wake.gamma[0] = -Wake.mu[0]
Wake.gamma[1:-1] = Wake.mu[:-1]-Wake.mu[1:]
Wake.gamma[-1] = Wake.mu[-1]
po().calc_input(MotL[0].THETA_MAX/np.pi*180.,RE,MotL[0].THETA_MAX/np.pi*180.,DEL_T)
po().initialize_output(T[START_COUNTER])
outerCorr = 1
for i in xrange(START_COUNTER, COUNTER):
if i == 0:
for Swim in Swimmers:
Swim.Body.panel_positions(P, i)
Swim.Body.surface_kinematics(P, i)
Swim.edge_shed(DEL_T, i)
Swim.wake_shed(DEL_T, i)
solve_phi(Swimmers, P, i, outerCorr)
for Swim in Swimmers:
Swim.Body.force(P, i)
Swim.Body.free_swimming(P, i)
archive(Swim.Body.AF.x_mid)
archive(Swim.Body.AF.z_mid)
graph.plot_n_go(Swimmers, i, P)
DIO.write_data(P, i, DEL_T, SwiL, GeoL, MotL, Swimmers)
else:
if np.fmod(i, VERBOSITY) == 0:
po().timestep_header(i,T[i])
for Swim in Swimmers:
Swim.Body.panel_positions(P, i)
Swim.Body.surface_kinematics(P, i)
Swim.edge_shed(DEL_T, i)
Swim.wake_shed(DEL_T, i)
solve_phi(Swimmers, P, i, outerCorr)
wake_rollup(Swimmers, DEL_T, i, P)
for i in xrange(START_COUNTER, COUNTER):
if i == 0:
for Swim in Swimmers:
Swim.Body.panel_positions(DSTEP, T[i], P['THETA'][i],
P['HEAVE'][i])
Swim.Body.surface_kinematics(DSTEP, TSTEP, P['THETA_MINUS'][i],
P['THETA_PLUS'][i],
P['HEAVE_MINUS'][i],
P['HEAVE_PLUS'][i], DEL_T, T[i], i)
Swim.edge_shed(DEL_T, i)
Swim.wake_shed(DEL_T, i)
Swim.Body.force(P['THETA'][i], RHO, P['V0'], P['C'], 1.0, i)
solve_phi(Swimmers, RHO, DEL_T, i, outerCorr)
wake_rollup(Swimmers, DEL_T, i)
archive(Swimmers[0].Body.AF.x_mid)
archive(Swimmers[0].Body.AF.z_mid)
SolidP[0].nodes[:,
0] = (SolidP[0].nodesNew[:, 0] -
SolidP[0].nodesNew[0, 0]) * np.cos(P['THETA'][i])
SolidP[0].nodes[:,
1] = (SolidP[0].nodesNew[:, 0] -
SolidP[0].nodesNew[0, 0]) * np.sin(P['THETA'][i])
graph.plot_n_go(Swimmers[0].Edge, Swimmers[0].Body, SolidP[0], P['V0'],
P['T'][i], P['HEAVE'][i])
DIO.write_data(P, i, DEL_T, SwiP, GeoP, MotP, Swimmers, SolidP, FSIP,
PyFEAP)
else:
if np.fmod(i, P['VERBOSITY']) == 0:
po().timestep_header(i, T[i])
po().calc_input(MotP[0].THETA_MAX/np.pi*180.,RE,MotP[0].THETA_MAX/np.pi*180.,DEL_T)
po().initialize_output(P['T'][START_COUNTER])
outerCorr = 2
for i in xrange(START_COUNTER, COUNTER):
if i == 0:
for Swim in Swimmers:
Swim.Body.panel_positions(DSTEP, T[i], P['THETA'][i], P['HEAVE'][i])
Swim.Body.surface_kinematics(DSTEP, TSTEP, P['THETA_MINUS'][i], P['THETA_PLUS'][i], P['HEAVE_MINUS'][i], P['HEAVE_PLUS'][i], DEL_T, T[i], i)
Swim.edge_shed(DEL_T, i)
Swim.wake_shed(DEL_T, i)
Swim.Body.force(P['THETA'][i], RHO, P['V0'], P['C'], 1.0, i, P['SW_SV_FORCES'])
solve_phi(Swimmers, RHO, DEL_T, i, outerCorr)
wake_rollup(Swimmers, DEL_T, i, P)
archive(Swimmers[0].Body.AF.x_mid)
archive(Swimmers[0].Body.AF.z_mid)
SolidP[0].nodes[:,0] = (SolidP[0].nodesNew[:,0] - SolidP[0].nodesNew[0,0])*np.cos(P['THETA'][i])
SolidP[0].nodes[:,1] = (SolidP[0].nodesNew[:,0] - SolidP[0].nodesNew[0,0])*np.sin(P['THETA'][i])
graph.plot_n_go(Swimmers, P['V0'], P['T'][i], P['HEAVE'][i], i, P['SW_PLOT_FIG'])
DIO.write_data(P, i, DEL_T, SwiP, GeoP, MotP, Swimmers, SolidP, FSIP, PyFEAP)
else:
if np.fmod(i,P['VERBOSITY']) == 0:
po().timestep_header(i,T[i])
po().fsi_header()
FSIP[0].readFsiControls(P['FIXED_PT_RELAX'], P['N_OUTERCORR_MAX'])
FSIP[0].__init__(Swimmers[0].Body, SolidP[0])
outerCorr = 0
while True:
outerCorr += 1
def wake_shed(self, DEL_T, i):
"""Updates the positions of the Wake panels.
This should only be done once each time step for a swimmer.
Args:
DEL_T: Time step length.
i: Time step number.
Edge: Edge panel of separation.
Wake: Wake panels.
V0: Free-stream velocity.
"""
Edge = self.Edge
Wake = self.Wake
V0 = self.V0
# Initialize wake coordinates when i==1
if i == 1:
Wake.x[0] = Edge.x[-1]
Wake.z[0] = Edge.z[-1]
Wake.x[1:] = Wake.x[0] + np.arange(1,np.size(Wake.x))*(-V0)*DEL_T
Wake.z[1:] = Wake.z[0]
else:
archive(Wake.x)
archive(Wake.z)
archive(Wake.mu)
Wake.x[0] = Edge.x[-1]
Wake.z[0] = Edge.z[-1]
Wake.mu[0] = Edge.mu
Wake.gamma[0] = -Wake.mu[0]
Wake.gamma[1:-1] = Wake.mu[:-1]-Wake.mu[1:]
Wake.gamma[-1] = Wake.mu[-1]
# def influence_matrices(self, i):
# """Constructs the influence coefficient matrices.
#
# Args:
# i: Time step number.
# Body: Body of the swimmer.
# Edge: Edge panel of separation.
# Wake: Wake panels.
# """
# Body = self.Body
# Edge = self.Edge
# Wake = self.Wake
#
# # Tangential and normal body panels and panel length calculations
# (xp1,xp2,zp) = transformation(Body.AF.x_col,Body.AF.z_col,Body.AF.x,Body.AF.z)
#
# # Body source singularities influencing the body
# # Transpose so that row elements represent the effect on the (row number)th panel
# Body.phi_s = np.transpose((xp1 * np.log(xp1**2 + zp**2) - xp2 * np.log(xp2**2 + zp**2) \
# + 2*zp*(np.arctan2(zp,xp2) - np.arctan2(zp,xp1)))/(4*np.pi))
#
# # Body doublet singularities influencing body itself
# # Transpose similar to phi_s
# Body.phi_db = np.transpose(-(np.arctan2(zp,xp2)\
# - np.arctan2(zp,xp1))/(2*np.pi))
#
# # Edge doublet influencing the body
# (xp1,xp2,zp) = transformation(Body.AF.x_col,Body.AF.z_col,Edge.x,Edge.z)
#
# if i > 0: # No wake panels until i==1
# # Wake doublets influencing the body
# (xp1_w,xp2_w,zp_w) = transformation(Body.AF.x_col,Body.AF.z_col,Wake.x[:i+1],Wake.z[:i+1])
# # Join edge and wake doublet influences into a single matrix
# xp1 = np.insert(xp1, Edge.N, xp1_w, axis=0)
# xp2 = np.insert(xp2, Edge.N, xp2_w, axis=0)
# zp = np.insert(zp, Edge.N, zp_w, axis=0)
#
# Body.phi_dw = np.transpose(-(np.arctan2(zp,xp2) \
# -np.arctan2(zp,xp1))/(2*np.pi))
#
# def kutta(self, RHO, DEL_T, i):
# """Applies Kutta condition to the swimmer's trailing edge.
#
# Args:
# RHO: Fluid density.
# SW_KUTTA: Switch for either explicit (0) or unsteady (1) Kutta
# condition.
# DEL_T: Time step length.
# i: Time step number.
# Body: Body of the swimmer.
# Edge: Edge panel of separation.
# Wake: Wake panels.
# """
# SW_KUTTA = self.SW_KUTTA
# Body = self.Body
# Edge = self.Edge
# Wake = self.Wake
#
# n_iter = 0
# mu_guess = np.empty(2) # [0] is current guess, [1] is previous
# delta_cp = np.empty(2) # [0] is current delta_cp, [1] is previous
#
# while True:
# n_iter += 1
#
# if n_iter == 1:
# # Begin with explicit Kutta condition as first guess
# # Construct the augmented body matrix by combining body and trailing edge panel arrays
# c = np.zeros((Body.N,Body.N))
# c[:,0] = -Body.phi_dw[:,0] # c contains the explicit Kutta condition (first and last columns)
# c[:,-1] = Body.phi_dw[:,0]
# Body.phi_dinv = np.linalg.inv(Body.phi_db + c)
# # Get rhs
# if i == 1:
# rhs = -np.dot(Body.phi_s,Body.sigma)
# else:
# rhs = -np.dot(Body.phi_s,Body.sigma) - np.dot(Body.phi_dw[:,1:],Wake.mu[:i])
# # Solve for body doublet strengths using explicit Kutta
# Body.mu = np.dot(Body.phi_dinv,rhs)
# # First mu_guess (from explicit Kutta)
# mu_guess[0] = Body.mu[-1]-Body.mu[0]
#
# else:
# if n_iter == 2: # Make a second initial guess
# # Update phi_dinv so it no longer includes explicit Kutta condition
# Body.phi_dinv = np.linalg.inv(Body.phi_db)
#
# mu_guess[1] = mu_guess[0]
# delta_cp[1] = delta_cp[0]
# mu_guess[0] = 0.8*mu_guess[1] # Multiply first (explicit) guess by arbitrary constant to get second guess
#
# else: # Newton method to get delta_cp == 0
# # Get slope, which is change in delta_cp divided by change in mu_guess
# slope = (delta_cp[0]-delta_cp[1])/(mu_guess[0]-mu_guess[1])
# mu_guess[1] = mu_guess[0]
# delta_cp[1] = delta_cp[0]
# mu_guess[0] = mu_guess[1] - delta_cp[0]/slope
#
# # Form right-hand side including mu_guess as an influence
# if i == 1:
# rhs = -np.dot(Body.phi_s,Body.sigma) - np.squeeze(np.dot(Body.phi_dw,mu_guess[0]))
# else:
# rhs = -np.dot(Body.phi_s,Body.sigma) - np.dot(Body.phi_dw,np.insert(Wake.mu[:i],0,mu_guess[0]))
#
# Body.mu = np.dot(Body.phi_dinv,rhs)
#
#
# Body.pressure(RHO, DEL_T, i)
# if SW_KUTTA == 0:
# break
# delta_cp[0] = np.absolute(Body.cp[-1]-Body.cp[0])
# if delta_cp[0] < 0.0001:
# break
#
# # mu_past used in differencing for pressure
# Body.mu_past[1,:] = Body.mu_past[0,:]
# Body.mu_past[0,:] = Body.mu
#
# Edge.mu = mu_guess[0]
# Edge.gamma[0] = -Edge.mu
# Edge.gamma[1] = Edge.mu
#
# # Get gamma of body panels for use in wake rollup
# Body.gamma[0] = -Body.mu[0]
# Body.gamma[1:-1] = Body.mu[:-1]-Body.mu[1:]
# Body.gamma[-1] = Body.mu[-1]
#
# def wake_rollup(self, DEL_T, i):
# """Performs wake rollup on a swimmer's wake panels.
#
# Args:
# DEL_T: Time step length.
# i: Time step number.
# Body: Body of the swimmer.
# Edge: Edge panel of separation.
# Wake: Wake panels.
# DELTA_CORE: Constant used to avoid singularities when getting too close
# to other panels.
# """
# Body = self.Body
# Edge = self.Edge
# Wake = self.Wake
# DELTA_CORE = self.DELTA_CORE
#
# # Wake panels initialize when i==2
# if i == 0:
# pass
#
# else:
#
# NT = i # Number of targets (wake panel points that are rolling up)
#
# vx = np.zeros(NT)
# vz = np.zeros(NT)
#
# # Coordinate transformation for body panels influencing wake
# (xp1,xp2,zp) = transformation(Wake.x[1:i+1],Wake.z[1:i+1],Body.AF.x,Body.AF.z)
#
# # Angle of normal vector with respect to global z-axis
# (nx,nz) = panel_vectors(Body.AF.x,Body.AF.z)[2:4]
# beta = np.arctan2(-nx,nz)
#
# # Katz-Plotkin eqns 10.20 and 10.21 for body source influence
# dummy1 = np.transpose(np.log((xp1**2+zp**2)/(xp2**2+zp**2))/(4*np.pi))
# dummy2 = np.transpose((np.arctan2(zp,xp2)-np.arctan2(zp,xp1))/(2*np.pi))
#
# # Rotate back to global coordinates
# dummy3 = dummy1*np.cos(beta) - dummy2*np.sin(beta)
# dummy4 = dummy1*np.sin(beta) + dummy2*np.cos(beta)
#
# # Finish eqns 10.20 and 10.21 for induced velocity by multiplying with Body.sigma
# vx = np.dot(dummy3,Body.sigma)
# vz = np.dot(dummy4,Body.sigma)
#
# # Formation of (x-x0) and (z-z0) matrices, similar to xp1/xp2/zp but coordinate transformation is not necessary
# NI = Body.N+1
# xp = np.repeat(Wake.x[1:i+1,np.newaxis].T,NI,0) - np.repeat(Body.AF.x[:,np.newaxis],NT,1)
# zp = np.repeat(Wake.z[1:i+1,np.newaxis].T,NI,0) - np.repeat(Body.AF.z[:,np.newaxis],NT,1)
#
# # Find distance r_b between each influence/target
# r_b = np.sqrt(xp**2+zp**2)
#
# # Katz-Plotkin eqns 10.9 and 10.10 for body doublet (represented as point vortices) influence
# dummy1 = np.transpose(zp/(2*np.pi*(r_b**2+DELTA_CORE**2)))
# dummy2 = np.transpose(-xp/(2*np.pi*(r_b**2+DELTA_CORE**2)))
#
# # Finish eqns 10.9 and 10.10 by multiplying with Body.gamma, add to induced velocity
# vx += np.dot(dummy1,Body.gamma)
# vz += np.dot(dummy2,Body.gamma)
#
# # Formation of (x-x0) and (z-z0) matrices, similar to xp1/xp2/zp but coordinate transformation is not necessary
# NI = Edge.N+1
# xp = np.repeat(Wake.x[1:i+1,np.newaxis].T,NI,0) - np.repeat(Edge.x[:,np.newaxis],NT,1)
# zp = np.repeat(Wake.z[1:i+1,np.newaxis].T,NI,0) - np.repeat(Edge.z[:,np.newaxis],NT,1)
#
# # Find distance r_e between each influence/target
# r_e = np.sqrt(xp**2+zp**2)
#
# # Katz-Plotkin eqns 10.9 and 10.10 for edge (as point vortices) influence
# dummy1 = np.transpose(zp/(2*np.pi*(r_e**2+DELTA_CORE**2)))
# dummy2 = np.transpose(-xp/(2*np.pi*(r_e**2+DELTA_CORE**2)))
#
# # Finish eqns 10.9 and 10.10 by multiplying with Edge.gamma, add to induced velocity
# vx += np.dot(dummy1,Edge.gamma)
# vz += np.dot(dummy2,Edge.gamma)
#
# # Formation of (x-x0) and (z-z0) matrices, similar to xp1/xp2/zp but coordinate transformation is not necessary
# NI = i+1
# xp = np.repeat(Wake.x[1:i+1,np.newaxis].T,NI,0) - np.repeat(Wake.x[:i+1,np.newaxis],NT,1)
# zp = np.repeat(Wake.z[1:i+1,np.newaxis].T,NI,0) - np.repeat(Wake.z[:i+1,np.newaxis],NT,1)
#
# # Find distance r_w between each influence/target
# r_w = np.sqrt(xp**2+zp**2)
#
# # Katz-Plotkin eqns 10.9 and 10.10 for wake (as point vortices) influence
# dummy1 = np.transpose(zp/(2*np.pi*(r_w**2+DELTA_CORE**2)))
# dummy2 = np.transpose(-xp/(2*np.pi*(r_w**2+DELTA_CORE**2)))
#
# # Finish eqns 10.9 and 10.10 by multiplying with Wake.gamma, add to induced velocity
# vx += np.dot(dummy1,Wake.gamma[:i+1])
# vz += np.dot(dummy2,Wake.gamma[:i+1])
#
# # Modify wake with the total induced velocity
# Wake.x[1:i+1] += vx*DEL_T
# Wake.z[1:i+1] += vz*DEL_T
MotL[0].THETA_MAX / np.pi * 180., DEL_T)
po().initialize_output(T[START_COUNTER])
outerCorr = 1
for i in xrange(START_COUNTER, COUNTER):
if i == 0:
for Swim in Swimmers:
Swim.Body.panel_positions(P, i)
Swim.Body.surface_kinematics(P, i)
Swim.edge_shed(DEL_T, i)
Swim.wake_shed(DEL_T, i)
solve_phi(Swimmers, P, i, outerCorr)
for Swim in Swimmers:
Swim.Body.force(P, i)
Swim.Body.free_swimming(P, i)
archive(Swim.Body.AF.x_mid)
archive(Swim.Body.AF.z_mid)
graph.plot_n_go(Swimmers, i, P)
DIO.write_data(P, i, DEL_T, SwiL, GeoL, MotL, Swimmers)
else:
if np.fmod(i, VERBOSITY) == 0:
po().timestep_header(i, T[i])
for Swim in Swimmers:
Swim.Body.panel_positions(P, i)
Swim.Body.surface_kinematics(P, i)
Swim.edge_shed(DEL_T, i)
Swim.wake_shed(DEL_T, i)
solve_phi(Swimmers, P, i, outerCorr)
wake_rollup(Swimmers, DEL_T, i, P)
