"""Aerogrid
Aerogrid contains all the necessary routines to generate an aerodynamic
grid based on the input dictionaries.
"""
import ctypes as ct
import warnings
import numpy as np
import scipy.interpolate
import sharpy.utils.algebra as algebra
import sharpy.utils.cout_utils as cout
from sharpy.utils.datastructures import AeroTimeStepInfo
import sharpy.utils.generator_interface as gen_interface
from sharpy.aero.models.grid import Grid
[docs]class Aerogrid(Grid):
"""
``Aerogrid`` is the main object containing information of the grid of panels
It is created by the solver :class:`sharpy.solvers.aerogridloader.AerogridLoader`
"""
def __init__(self):
super().__init__()
self.dimensions_star = None
self.airfoil_db = dict()
self.grid_type = "aero"
self.n_control_surfaces = 0
self.cs_generators = []
def generate(self, data_dict, beam, settings, ts):
super().generate(data_dict, beam, settings, ts)
# write grid info to screen
self.output_info()
# allocating initial grid storage
self.ini_info = AeroTimeStepInfo(self.dimensions,
self.dimensions_star)
# load airfoils db
# for i_node in range(self.n_node):
for i_elem in range(self.n_elem):
for i_local_node in range(self.beam.num_node_elem):
try:
self.airfoil_db[self.data_dict['airfoil_distribution'][i_elem, i_local_node]]
except KeyError:
airfoil_coords = self.data_dict['airfoils'][str(self.data_dict['airfoil_distribution'][i_elem, i_local_node])]
self.airfoil_db[self.data_dict['airfoil_distribution'][i_elem, i_local_node]] = (
scipy.interpolate.interp1d(airfoil_coords[:, 0],
airfoil_coords[:, 1],
kind='quadratic',
copy=False,
fill_value='extrapolate',
assume_sorted=True))
try:
self.n_control_surfaces = np.sum(np.unique(self.data_dict['control_surface']) >= 0)
except KeyError:
pass
# Backward compatibility: check whether control surface deflection aero_settings have been specified. If not, create
# section with empty list, such that no cs generator is appended
try:
settings['control_surface_deflection']
except KeyError:
settings.update({'control_surface_deflection': ['']*self.n_control_surfaces})
# pad ctrl surfaces dict with empty strings if not defined
if len(settings['control_surface_deflection']) != self.n_control_surfaces:
undef_ctrl_sfcs = ['']*(self.n_control_surfaces - len(settings['control_surface_deflection']))
settings['control_surface_deflection'].extend(undef_ctrl_sfcs)
# initialise generators
with_error_initialising_cs = False
for i_cs in range(self.n_control_surfaces):
if settings['control_surface_deflection'][i_cs] == '':
self.cs_generators.append(None)
else:
cout.cout_wrap('Initialising Control Surface {:g} generator'.format(i_cs), 1)
# check that the control surface is not static
if self.data_dict['control_surface_type'][i_cs] == 0:
raise TypeError('Control surface {:g} is defined as static but there is a control surface generator'
'associated with it'.format(i_cs))
generator_type = gen_interface.generator_from_string(
settings['control_surface_deflection'][i_cs])
self.cs_generators.append(generator_type())
try:
self.cs_generators[i_cs].initialise(
settings['control_surface_deflection_generator_settings'][str(i_cs)])
except KeyError:
with_error_initialising_cs = True
cout.cout_wrap('Error, unable to locate a settings dictionary for control surface '
'{:g}'.format(i_cs), 4)
if with_error_initialising_cs:
raise KeyError('Unable to locate settings for at least one control surface.')
self.add_timestep()
self.generate_mapping()
self.generate_zeta(self.beam, self.aero_settings, ts)
if 'polars' in self.data_dict:
import sharpy.aero.utils.airfoilpolars as ap
self.polars = []
nairfoils = np.amax(self.data_dict['airfoil_distribution']) + 1
for iairfoil in range(nairfoils):
new_polar = ap.Polar()
new_polar.initialise(data_dict['polars'][str(iairfoil)])
self.polars.append(new_polar)
def output_info(self):
cout.cout_wrap('The aerodynamic grid contains %u surfaces' % self.n_surf, 1)
for i_surf in range(self.n_surf):
cout.cout_wrap(' Surface %u, M=%u, N=%u' % (i_surf,
self.dimensions[i_surf, 0],
self.dimensions[i_surf, 1]), 1)
cout.cout_wrap(' Wake %u, M=%u, N=%u' % (i_surf,
self.dimensions_star[i_surf, 0],
self.dimensions_star[i_surf, 1]))
cout.cout_wrap(' In total: %u bound panels' % (sum(self.dimensions[:, 0]*
self.dimensions[:, 1])))
cout.cout_wrap(' In total: %u wake panels' % (sum(self.dimensions_star[:, 0]*
self.dimensions_star[:, 1])))
cout.cout_wrap(' Total number of panels = %u' % (sum(self.dimensions[:, 0]*
self.dimensions[:, 1]) +
sum(self.dimensions_star[:, 0]*
self.dimensions_star[:, 1])))
def calculate_dimensions(self):
super().calculate_dimensions()
self.dimensions_star = self.dimensions.copy()
self.dimensions_star[:, 0] = self.aero_settings['mstar']
def generate_zeta_timestep_info(self, structure_tstep, aero_tstep, beam, settings, it=None, dt=None):
if it is None:
it = len(beam.timestep_info) - 1
global_node_in_surface = []
for i_surf in range(self.n_surf):
global_node_in_surface.append([])
# check that we have control surface information
try:
self.data_dict['control_surface']
with_control_surfaces = True
except KeyError:
with_control_surfaces = False
# check that we have sweep information
try:
self.data_dict['sweep']
except KeyError:
self.data_dict['sweep'] = np.zeros_like(self.data_dict['twist'])
# Define first_twist for backwards compatibility
if 'first_twist' not in self.data_dict:
self.data_dict['first_twist'] = [True]*self.data_dict['surface_m'].shape[0]
# one surface per element
for i_elem in range(self.n_elem):
i_surf = self.data_dict['surface_distribution'][i_elem]
# check if we have to generate a surface here
if i_surf == -1:
continue
for i_local_node in range(len(self.beam.elements[i_elem].global_connectivities)):
i_global_node = self.beam.elements[i_elem].global_connectivities[i_local_node]
# i_global_node = self.beam.elements[i_elem].global_connectivities[
# self.beam.elements[i_elem].ordering[i_local_node]]
if not self.data_dict['aero_node'][i_global_node]:
continue
if i_global_node in global_node_in_surface[i_surf]:
continue
else:
global_node_in_surface[i_surf].append(i_global_node)
# master_elem, master_elem_node = beam.master[i_elem, i_local_node, :]
# if master_elem < 0:
# master_elem = i_elem
# master_elem_node = i_local_node
# find the i_surf and i_n data from the mapping
i_n = -1
ii_surf = -1
for i in range(len(self.struct2aero_mapping[i_global_node])):
i_n = self.struct2aero_mapping[i_global_node][i]['i_n']
ii_surf = self.struct2aero_mapping[i_global_node][i]['i_surf']
if ii_surf == i_surf:
break
# make sure it found it
if i_n == -1 or ii_surf == -1:
raise AssertionError('Error 12958: Something failed with the mapping in aerogrid.py. Check/report!')
# control surface implementation
control_surface_info = None
if with_control_surfaces:
# 1) check that this node and elem have a control surface
if self.data_dict['control_surface'][i_elem, i_local_node] >= 0:
i_control_surface = self.data_dict['control_surface'][i_elem, i_local_node]
# 2) type of control surface + write info
control_surface_info = dict()
if self.data_dict['control_surface_type'][i_control_surface] == 0:
control_surface_info['type'] = 'static'
control_surface_info['deflection'] = self.data_dict['control_surface_deflection'][i_control_surface]
control_surface_info['chord'] = self.data_dict['control_surface_chord'][i_control_surface]
try:
control_surface_info['hinge_coords'] = self.data_dict['control_surface_hinge_coords'][i_control_surface]
except KeyError:
control_surface_info['hinge_coords'] = None
elif self.data_dict['control_surface_type'][i_control_surface] == 1:
control_surface_info['type'] = 'dynamic'
control_surface_info['chord'] = self.data_dict['control_surface_chord'][i_control_surface]
try:
control_surface_info['hinge_coords'] = self.data_dict['control_surface_hinge_coords'][i_control_surface]
except KeyError:
control_surface_info['hinge_coords'] = None
params = {'it': it}
control_surface_info['deflection'], control_surface_info['deflection_dot'] = \
self.cs_generators[i_control_surface](params)
elif self.data_dict['control_surface_type'][i_control_surface] == 2:
control_surface_info['type'] = 'controlled'
try:
old_deflection = self.data.aero.timestep_info[-1].control_surface_deflection[i_control_surface]
except AttributeError:
try:
old_deflection = aero_tstep.control_surface_deflection[i_control_surface]
except IndexError:
old_deflection = self.data_dict['control_surface_deflection'][i_control_surface]
try:
control_surface_info['deflection'] = aero_tstep.control_surface_deflection[i_control_surface]
except IndexError:
control_surface_info['deflection'] = self.data_dict['control_surface_deflection'][i_control_surface]
if dt is not None:
control_surface_info['deflection_dot'] = (
(control_surface_info['deflection'] - old_deflection)/dt)
else:
control_surface_info['deflection_dot'] = 0.0
control_surface_info['chord'] = self.data_dict['control_surface_chord'][i_control_surface]
try:
control_surface_info['hinge_coords'] = self.data_dict['control_surface_hinge_coords'][i_control_surface]
except KeyError:
control_surface_info['hinge_coords'] = None
else:
raise NotImplementedError(str(self.data_dict['control_surface_type'][i_control_surface]) +
' control surfaces are not yet implemented')
node_info = dict()
node_info['i_node'] = i_global_node
node_info['i_local_node'] = i_local_node
node_info['chord'] = self.data_dict['chord'][i_elem, i_local_node]
node_info['eaxis'] = self.data_dict['elastic_axis'][i_elem, i_local_node]
node_info['twist'] = self.data_dict['twist'][i_elem, i_local_node]
node_info['sweep'] = self.data_dict['sweep'][i_elem, i_local_node]
node_info['M'] = self.dimensions[i_surf, 0]
node_info['M_distribution'] = self.data_dict['m_distribution'].decode('ascii')
node_info['airfoil'] = self.data_dict['airfoil_distribution'][i_elem, i_local_node]
node_info['control_surface'] = control_surface_info
node_info['beam_coord'] = structure_tstep.pos[i_global_node, :]
node_info['pos_dot'] = structure_tstep.pos_dot[i_global_node, :]
node_info['beam_psi'] = structure_tstep.psi[i_elem, i_local_node, :]
node_info['psi_dot'] = structure_tstep.psi_dot[i_elem, i_local_node, :]
node_info['for_delta'] = beam.frame_of_reference_delta[i_elem, i_local_node, :]
node_info['elem'] = beam.elements[i_elem]
node_info['for_pos'] = structure_tstep.for_pos
node_info['cga'] = structure_tstep.cga()
if node_info['M_distribution'].lower() == 'user_defined':
ielem_in_surf = i_elem - np.sum(self.surface_distribution < i_surf)
node_info['user_defined_m_distribution'] = self.data_dict['user_defined_m_distribution'][str(i_surf)][:, ielem_in_surf, i_local_node]
(aero_tstep.zeta[i_surf][:, :, i_n],
aero_tstep.zeta_dot[i_surf][:, :, i_n]) = (
generate_strip(node_info,
self.airfoil_db,
self.aero_settings['aligned_grid'],
orientation_in=self.aero_settings['freestream_dir'],
calculate_zeta_dot=True))
# set junction boundary conditions for later phantom cell creation in UVLM
if "junction_boundary_condition" in self.data_dict:
if np.any(self.data_dict["junction_boundary_condition"] >= 0):
self.generate_phantom_panels_at_junction(aero_tstep)
def generate_phantom_panels_at_junction(self, aero_tstep):
for i_surf in range(self.n_surf):
aero_tstep.flag_zeta_phantom[0, i_surf] = self.data_dict["junction_boundary_condition"][0,i_surf]
[docs] @staticmethod
def compute_gamma_dot(dt, tstep, previous_tsteps):
r"""
Computes the temporal derivative of circulation (gamma) using finite differences.
It will use a first order approximation for the first evaluation
(when ``len(previous_tsteps) == 1``), and then second order ones.
.. math:: \left.\frac{d\Gamma}{dt}\right|^n \approx \lim_{\Delta t \rightarrow 0}\frac{\Gamma^n-\Gamma^{n-1}}{\Delta t}
For the second time step and onwards, the following second order approximation is used:
.. math:: \left.\frac{d\Gamma}{dt}\right|^n \approx \lim_{\Delta t \rightarrow 0}\frac{3\Gamma^n -4\Gamma^{n-1}+\Gamma^{n-2}}{2\Delta t}
Args:
dt (float): delta time for the finite differences
tstep (AeroTimeStepInfo): tstep at time n (current)
previous_tsteps (list(AeroTimeStepInfo)): previous tstep structure in order: ``[n-N,..., n-2, n-1]``
Returns:
float: first derivative of circulation with respect to time
See Also:
.. py:class:: sharpy.utils.datastructures.AeroTimeStepInfo
"""
# Check whether the iteration is part of FSI (ie the input is a k-step) or whether it is an only aerodynamic
# simulation
part_of_fsi = True
try:
if tstep is previous_tsteps[-1]:
part_of_fsi = False
except IndexError:
for i_surf in range(tstep.n_surf):
tstep.gamma_dot[i_surf].fill(0.0)
return
if len(previous_tsteps) == 0:
for i_surf in range(tstep.n_surf):
tstep.gamma_dot[i_surf].fill(0.0)
# elif len(previous_tsteps) == 1:
# # first order
# # f'(n) = (f(n) - f(n - 1))/dx
# for i_surf in range(tstep.n_surf):
# tstep.gamma_dot[i_surf] = (tstep.gamma[i_surf] - previous_tsteps[-1].gamma[i_surf])/dt
# else:
# # second order
# for i_surf in range(tstep.n_surf):
# if (not np.isfinite(tstep.gamma[i_surf]).any()) or \
# (not np.isfinite(previous_tsteps[-1].gamma[i_surf]).any()) or \
# (not np.isfinite(previous_tsteps[-2].gamma[i_surf]).any()):
# raise ArithmeticError('NaN found in gamma')
# if part_of_fsi:
# tstep.gamma_dot[i_surf] = (3.0*tstep.gamma[i_surf]
# - 4.0*previous_tsteps[-1].gamma[i_surf]
# + previous_tsteps[-2].gamma[i_surf])/(2.0*dt)
# else:
# tstep.gamma_dot[i_surf] = (3.0*tstep.gamma[i_surf]
# - 4.0*previous_tsteps[-2].gamma[i_surf]
# + previous_tsteps[-3].gamma[i_surf])/(2.0*dt)
if part_of_fsi:
for i_surf in range(tstep.n_surf):
tstep.gamma_dot[i_surf] = (tstep.gamma[i_surf] - previous_tsteps[-1].gamma[i_surf])/dt
else:
for i_surf in range(tstep.n_surf):
tstep.gamma_dot[i_surf] = (tstep.gamma[i_surf] - previous_tsteps[-2].gamma[i_surf])/dt
def generate_strip(node_info, airfoil_db, aligned_grid,
orientation_in=np.array([1, 0, 0]),
calculate_zeta_dot = False,
first_twist=True):
"""
Returns a strip of panels in ``A`` frame of reference, it has to be then rotated to
simulate angles of attack, etc
"""
strip_coordinates_a_frame = np.zeros((3, node_info['M'] + 1), dtype=ct.c_double)
strip_coordinates_b_frame = np.zeros((3, node_info['M'] + 1), dtype=ct.c_double)
zeta_dot_a_frame = np.zeros((3, node_info['M'] + 1), dtype=ct.c_double)
# airfoil coordinates
# we are going to store everything in the x-z plane of the b
# FoR, so that the transformation Cab rotates everything in place.
if node_info['M_distribution'] == 'uniform':
strip_coordinates_b_frame[1, :] = np.linspace(0.0, 1.0, node_info['M'] + 1)
elif node_info['M_distribution'] == '1-cos':
domain = np.linspace(0, 1.0, node_info['M'] + 1)
strip_coordinates_b_frame[1, :] = 0.5*(1.0 - np.cos(domain*np.pi))
elif node_info['M_distribution'].lower() == 'user_defined':
strip_coordinates_b_frame[1,:] = node_info['user_defined_m_distribution']
else:
raise NotImplemented('M_distribution is ' + node_info['M_distribution'] +
' and it is not yet supported')
strip_coordinates_b_frame[2, :] = airfoil_db[node_info['airfoil']](
strip_coordinates_b_frame[1, :])
# elastic axis correction
for i_M in range(node_info['M'] + 1):
strip_coordinates_b_frame[1, i_M] -= node_info['eaxis']
# chord_line_b_frame = strip_coordinates_b_frame[:, -1] - strip_coordinates_b_frame[:, 0]
cs_velocity = np.zeros_like(strip_coordinates_b_frame)
# control surface deflection
if node_info['control_surface'] is not None:
b_frame_hinge_coords = strip_coordinates_b_frame[:, node_info['M'] - node_info['control_surface']['chord']]
# support for different hinge location for fully articulated control surfaces
if node_info['control_surface']['hinge_coords'] is not None:
# make sure the hinge coordinates are only applied when M == cs_chord
if not node_info['M'] - node_info['control_surface']['chord'] == 0:
node_info['control_surface']['hinge_coords'] = None
else:
b_frame_hinge_coords = node_info['control_surface']['hinge_coords']
for i_M in range(node_info['M'] - node_info['control_surface']['chord'], node_info['M'] + 1):
relative_coords = strip_coordinates_b_frame[:, i_M] - b_frame_hinge_coords
# rotate the control surface
relative_coords = np.dot(algebra.rotation3d_x(-node_info['control_surface']['deflection']),
relative_coords)
# deflection velocity
try:
cs_velocity[:, i_M] += np.cross(np.array([-node_info['control_surface']['deflection_dot'], 0.0, 0.0]),
relative_coords)
except KeyError:
pass
# restore coordinates
relative_coords += b_frame_hinge_coords
# substitute with new coordinates
strip_coordinates_b_frame[:, i_M] = relative_coords
# chord scaling
strip_coordinates_b_frame *= node_info['chord']
# twist transformation (rotation around x_b axis)
if np.abs(node_info['twist']) > 1e-6:
Ctwist = algebra.rotation3d_x(node_info['twist'])
else:
Ctwist = np.eye(3)
# Cab transformation
Cab = algebra.crv2rotation(node_info['beam_psi'])
rot_angle = algebra.angle_between_vectors_sign(orientation_in, Cab[:, 1], Cab[:, 2])
if np.sign(np.dot(orientation_in, Cab[:, 1])) >= 0:
rot_angle += 0.0
else:
rot_angle += -2*np.pi
Crot = algebra.rotation3d_z(-rot_angle)
c_sweep = np.eye(3)
if np.abs(node_info['sweep']) > 1e-6:
c_sweep = algebra.rotation3d_z(node_info['sweep'])
# transformation from beam to beam prime (with sweep and twist)
for i_M in range(node_info['M'] + 1):
if first_twist:
strip_coordinates_b_frame[:, i_M] = np.dot(c_sweep, np.dot(Crot,
np.dot(Ctwist, strip_coordinates_b_frame[:, i_M])))
else:
strip_coordinates_b_frame[:, i_M] = np.dot(Ctwist, np.dot(Crot,
np.dot(c_sweep, strip_coordinates_b_frame[:, i_M])))
strip_coordinates_a_frame[:, i_M] = np.dot(Cab, strip_coordinates_b_frame[:, i_M])
cs_velocity[:, i_M] = np.dot(Cab, cs_velocity[:, i_M])
# zeta_dot
if calculate_zeta_dot:
# velocity due to pos_dot
for i_M in range(node_info['M'] + 1):
zeta_dot_a_frame[:, i_M] += node_info['pos_dot']
# velocity due to psi_dot
omega_a = algebra.crv_dot2omega(node_info['beam_psi'], node_info['psi_dot'])
for i_M in range(node_info['M'] + 1):
zeta_dot_a_frame[:, i_M] += (
np.dot(algebra.skew(omega_a), strip_coordinates_a_frame[:, i_M]))
# control surface deflection velocity contribution
try:
if node_info['control_surface'] is not None:
node_info['control_surface']['deflection_dot']
for i_M in range(node_info['M'] + 1):
zeta_dot_a_frame[:, i_M] += cs_velocity[:, i_M]
except KeyError:
pass
else:
zeta_dot_a_frame = np.zeros((3, node_info['M'] + 1), dtype=ct.c_double)
# add node coords
for i_M in range(node_info['M'] + 1):
strip_coordinates_a_frame[:, i_M] += node_info['beam_coord']
# add quarter-chord disp
delta_c = (strip_coordinates_a_frame[:, -1] - strip_coordinates_a_frame[:, 0])/node_info['M']
if node_info['M_distribution'] == 'uniform':
for i_M in range(node_info['M'] + 1):
strip_coordinates_a_frame[:, i_M] += 0.25*delta_c
else:
warnings.warn("No quarter chord disp of grid for non-uniform grid distributions implemented", UserWarning)
# rotation from a to g
for i_M in range(node_info['M'] + 1):
strip_coordinates_a_frame[:, i_M] = np.dot(node_info['cga'],
strip_coordinates_a_frame[:, i_M])
zeta_dot_a_frame[:, i_M] = np.dot(node_info['cga'],
zeta_dot_a_frame[:, i_M])
return strip_coordinates_a_frame, zeta_dot_a_frame