Source code for sharpy.solvers.dynamiccoupled

import ctypes as ct
import time
import copy
import threading
import logging
import concurrent.futures
import queue

import numpy as np

import as mapping
import sharpy.utils.cout_utils as cout
import sharpy.utils.solver_interface as solver_interface
import sharpy.utils.controller_interface as controller_interface
from sharpy.utils.solver_interface import solver, BaseSolver
import sharpy.utils.settings as settings_utils
import sharpy.utils.algebra as algebra
import sharpy.utils.exceptions as exc
import as network_interface
import sharpy.utils.generator_interface as gen_interface

[docs]@solver class DynamicCoupled(BaseSolver): """ The :class:`~sharpy.solvers.dynamiccoupled.DynamicCoupled` solver couples the aerodynamic and structural solvers of choice to march forward in time the aeroelastic system's solution. Using the :class:`~sharpy.solvers.dynamiccoupled.DynamicCoupled` solver requires that an instance of the ``StaticCoupled`` solver is called in the SHARPy solution ``flow`` when defining the problem case. Input data (from external controllers) can be received and data sent using the SHARPy network interface, specified through the setting ``network_settings`` of this solver. For more detail on how to send and receive data see the :class:`` documentation. Changes to the structural properties or external forces that depend on the instantaneous situation of the system can be applied through ``runtime_generators``. These runtime generators are parsed through dictionaries, with the key being the name of the generator and the value the settings for such generator. The currently available ``runtime_generators`` are :class:`~sharpy.generators.externalforces.ExternalForces` and :class:`~sharpy.generators.modifystructure.ModifyStructure`. """ solver_id = 'DynamicCoupled' solver_classification = 'Coupled' settings_types = dict() settings_default = dict() settings_description = dict() settings_options = dict() settings_types['print_info'] = 'bool' settings_default['print_info'] = True settings_description['print_info'] = 'Write status to screen' settings_types['structural_solver'] = 'str' settings_default['structural_solver'] = None settings_description['structural_solver'] = 'Structural solver to use in the coupled simulation' settings_types['structural_solver_settings'] = 'dict' settings_default['structural_solver_settings'] = None settings_description['structural_solver_settings'] = 'Dictionary of settings for the structural solver' settings_types['aero_solver'] = 'str' settings_default['aero_solver'] = None settings_description['aero_solver'] = 'Aerodynamic solver to use in the coupled simulation' settings_types['aero_solver_settings'] = 'dict' settings_default['aero_solver_settings'] = None settings_description['aero_solver_settings'] = 'Dictionary of settings for the aerodynamic solver' settings_types['n_time_steps'] = 'int' settings_default['n_time_steps'] = None settings_description['n_time_steps'] = 'Number of time steps for the simulation' settings_types['dt'] = 'float' settings_default['dt'] = None settings_description['dt'] = 'Time step' settings_types['fsi_substeps'] = 'int' settings_default['fsi_substeps'] = 70 settings_description['fsi_substeps'] = 'Max iterations in the FSI loop' settings_types['fsi_tolerance'] = 'float' settings_default['fsi_tolerance'] = 1e-5 settings_description['fsi_tolerance'] = 'Convergence threshold for the FSI loop' settings_types['structural_substeps'] = 'int' settings_default['structural_substeps'] = 0 # 0 is normal coupled sim. settings_description['structural_substeps'] = 'Number of extra structural time steps per aero time step. ``0`` ' \ 'is a fully coupled simulation.' settings_types['relaxation_factor'] = 'float' settings_default['relaxation_factor'] = 0.2 settings_description['relaxation_factor'] = 'Relaxation parameter in the FSI iteration. ``0`` is no relaxation ' \ 'and -> ``1`` is very relaxed' settings_types['final_relaxation_factor'] = 'float' settings_default['final_relaxation_factor'] = 0.0 settings_description['final_relaxation_factor'] = 'Relaxation factor reached in ``relaxation_steps`` with ' \ '``dynamic_relaxation`` on' settings_types['minimum_steps'] = 'int' settings_default['minimum_steps'] = 3 settings_description['minimum_steps'] = 'Number of minimum FSI iterations before convergence' settings_types['relaxation_steps'] = 'int' settings_default['relaxation_steps'] = 100 settings_description['relaxation_steps'] = 'Length of the relaxation factor ramp between ``relaxation_factor`` ' \ 'and ``final_relaxation_factor`` with ``dynamic_relaxation`` on' settings_types['dynamic_relaxation'] = 'bool' settings_default['dynamic_relaxation'] = False settings_description['dynamic_relaxation'] = 'Controls if relaxation factor is modified during the FSI iteration ' \ 'process' settings_types['postprocessors'] = 'list(str)' settings_default['postprocessors'] = list() settings_description['postprocessors'] = 'List of the postprocessors to run at the end of every time step' settings_types['postprocessors_settings'] = 'dict' settings_default['postprocessors_settings'] = dict() settings_description['postprocessors_settings'] = 'Dictionary with the applicable settings for every ' \ '' \ '``postprocessor``. Every ``postprocessor`` needs its entry, ' \ 'even if empty' settings_types['controller_id'] = 'dict' settings_default['controller_id'] = dict() settings_description['controller_id'] = 'Dictionary of id of every controller (key) and its type (value)' settings_types['controller_settings'] = 'dict' settings_default['controller_settings'] = dict() settings_description['controller_settings'] = 'Dictionary with settings (value) of every controller id (key)' settings_types['cleanup_previous_solution'] = 'bool' settings_default['cleanup_previous_solution'] = False settings_description['cleanup_previous_solution'] = 'Controls if previous ``timestep_info`` arrays are ' \ 'reset before running the solver' settings_types['include_unsteady_force_contribution'] = 'bool' settings_default['include_unsteady_force_contribution'] = False settings_description['include_unsteady_force_contribution'] = 'If on, added mass contribution is added to the ' \ 'forces. This depends on the time derivative of ' \ 'the bound circulation. Check ``filter_gamma_dot`` ' \ 'in the aero solver' settings_types['steps_without_unsteady_force'] = 'int' settings_default['steps_without_unsteady_force'] = 0 settings_description['steps_without_unsteady_force'] = 'Number of initial timesteps that don\'t include unsteady ' \ 'forces contributions. This avoids oscillations due to ' \ 'no perfectly trimmed initial conditions' settings_types['pseudosteps_ramp_unsteady_force'] = 'int' settings_default['pseudosteps_ramp_unsteady_force'] = 0 settings_description['pseudosteps_ramp_unsteady_force'] = 'Length of the ramp with which unsteady force ' \ 'contribution is introduced every time step during ' \ 'the FSI iteration process' settings_types['correct_forces_method'] = 'str' settings_default['correct_forces_method'] = '' settings_description['correct_forces_method'] = 'Function used to correct aerodynamic forces. ' \ 'See :py:mod:`sharpy.generators.polaraeroforces`' settings_options['correct_forces_method'] = ['EfficiencyCorrection', 'PolarCorrection'] settings_types['correct_forces_settings'] = 'dict' settings_default['correct_forces_settings'] = {} settings_description['correct_forces_settings'] = 'Settings for corrected forces evaluation' settings_types['network_settings'] = 'dict' settings_default['network_settings'] = dict() settings_description['network_settings'] = 'Network settings. See ' \ ':class:`` for supported ' \ 'entries' settings_types['runtime_generators'] = 'dict' settings_default['runtime_generators'] = dict() settings_description['runtime_generators'] = 'The dictionary keys are the runtime generators to be used. ' \ 'The dictionary values are dictionaries with the settings ' \ 'needed by each generator.' settings_types['nonlifting_body_interactions'] = 'bool' settings_default['nonlifting_body_interactions'] = False settings_description['nonlifting_body_interactions'] = 'Effect of Nonlifting Bodies on Lifting bodies are considered' settings_table = settings_utils.SettingsTable() __doc__ += settings_table.generate(settings_types, settings_default, settings_description, settings_options) def __init__(self): = None self.settings = None self.structural_solver = None self.aero_solver = None self.print_info = False self.res = 0.0 self.res_dqdt = 0.0 self.res_dqddt = 0.0 self.previous_force = None self.dt = 0. self.substep_dt = 0. self.initial_n_substeps = None self.predictor = False self.residual_table = None self.postprocessors = dict() self.with_postprocessors = False self.controllers = None self.time_aero = 0. self.time_struc = 0. self.correct_forces = False self.correct_forces_generator = None self.logger = logging.getLogger(__name__) # used with the network interface # variables to send and receive self.network_loader = None self.set_of_variables = None self.runtime_generators = dict() self.with_runtime_generators = False
[docs] def get_g(self): """ Getter for ``g``, the gravity value """ return self.structural_solver.settings['gravity']
[docs] def set_g(self, new_g): """ Setter for ``g``, the gravity value """ self.structural_solver.settings['gravity'] = ct.c_double(new_g)
[docs] def get_rho(self): """ Getter for ``rho``, the density value """ return self.aero_solver.settings['rho']
[docs] def set_rho(self, new_rho): """ Setter for ``rho``, the density value """ self.aero_solver.settings['rho'] = ct.c_double(new_rho)
[docs] def initialise(self, data, custom_settings=None, restart=False): """ Controls the initialisation process of the solver, including processing the settings and initialising the aero and structural solvers, postprocessors and controllers. """ = data if custom_settings is None: self.settings = data.settings[self.solver_id] else: self.settings = custom_settings settings_utils.to_custom_types(self.settings, self.settings_types, self.settings_default, options=self.settings_options) self.original_settings = copy.deepcopy(self.settings) self.dt = self.settings['dt'] self.substep_dt = ( self.dt/(self.settings['structural_substeps'] + 1)) self.initial_n_substeps = self.settings['structural_substeps'] self.print_info = self.settings['print_info'] if self.settings['cleanup_previous_solution']: # if there's data in timestep_info[>0], copy the last one to # timestep_info[0] and remove the rest self.cleanup_timestep_info() if not restart: self.structural_solver = solver_interface.initialise_solver( self.settings['structural_solver']) self.aero_solver = solver_interface.initialise_solver( self.settings['aero_solver']) self.structural_solver.initialise(, self.settings['structural_solver_settings'], restart=restart) self.aero_solver.initialise(, self.settings['aero_solver_settings'], restart=restart) = # initialise postprocessors if self.settings['postprocessors']: self.with_postprocessors = True # Remove previous postprocessors not required on restart old_list = list(self.postprocessors.keys()) for old_list_name in old_list: if old_list_name not in self.settings['postprocessors']: del self.postprocessors[old_list_name] for postproc in self.settings['postprocessors']: if not postproc in self.postprocessors.keys(): self.postprocessors[postproc] = solver_interface.initialise_solver( postproc) self.postprocessors[postproc].initialise(, self.settings['postprocessors_settings'][postproc], caller=self, restart=restart) # initialise controllers self.with_controllers = False if self.settings['controller_id']: self.with_controllers = True # Remove previous controllers not required on restart if self.controllers is not None: old_list = list(self.controllers.keys()) for old_list_name in old_list: if old_list_name not in self.settings['controller_id']: del self.controllers[old_list_name] for controller_id, controller_type in self.settings['controller_id'].items(): if self.controllers is not None: if not controller_id in self.controllers.keys(): self.controllers[controller_id] = ( controller_interface.initialise_controller(controller_type)) else: self.controllers = dict() self.controllers[controller_id] = ( controller_interface.initialise_controller(controller_type)) self.controllers[controller_id].initialise(, self.settings['controller_settings'][controller_id], controller_id, restart=restart) # print information header if self.print_info: self.residual_table = cout.TablePrinter(8, 12, ['g', 'f', 'g', 'f', 'f', 'f', 'e', 'e']) self.residual_table.field_length[0] = 5 self.residual_table.field_length[1] = 6 self.residual_table.field_length[2] = 4 self.residual_table.print_header(['ts', 't', 'iter', 'struc ratio', 'iter time', 'residual vel', 'FoR_vel(x)', 'FoR_vel(z)']) # Define the function to correct aerodynamic forces if self.settings['correct_forces_method'] != '': self.correct_forces = True self.correct_forces_generator = gen_interface.generator_from_string(self.settings['correct_forces_method'])() self.correct_forces_generator.initialise(in_dict=self.settings['correct_forces_settings'],,, rho=self.settings['aero_solver_settings']['rho'], vortex_radius=self.settings['aero_solver_settings']['vortex_radius'], output_folder = # check for empty dictionary if self.settings['network_settings']: self.network_loader = network_interface.NetworkLoader() self.network_loader.initialise(in_settings=self.settings['network_settings']) # initialise runtime generators if self.settings['runtime_generators']: self.with_runtime_generators = True # Remove previous runtime generators not required on restart old_list = list(self.runtime_generators.keys()) for old_list_name in old_list: if old_list_name not in self.settings['runtime_generators']: del self.runtime_generators[old_list_name] for rg_id, param in self.settings['runtime_generators'].items(): if not rg_id in self.runtime_generators.keys(): gen = gen_interface.generator_from_string(rg_id) self.runtime_generators[rg_id] = gen() self.runtime_generators[rg_id].initialise(param,, restart=restart)
def cleanup_timestep_info(self): if max(len(, len( > 1: self.remove_old_timestep_info( self.remove_old_timestep_info( if self.settings['nonlifting_body_interactions']: self.remove_old_timestep_info( = 0 def remove_old_timestep_info(self, tstep_info): # copy last info to first tstep_info[0] = tstep_info[-1].copy() # delete all the rest while len(tstep_info) - 1: del tstep_info[-1]
[docs] def process_controller_output(self, controlled_state): """ This function modified the solver properties and parameters as requested from the controller. This keeps the main loop much cleaner, while allowing for flexibility Please, if you add options in here, always code the possibility of that specific option not being there without the code complaining to the user. If it possible, use the same Key for the new setting as for the setting in the solver. For example, if you want to modify the `structural_substeps` variable in settings, use that Key in the `info` dictionary. As a convention: a value of None returns the value to the initial one specified in settings, while the key not being in the dict is ignored, so if any change was made before, it will stay there. """ try: info = controlled_state['info'] except KeyError: return controlled_state['structural'], controlled_state['aero'] # general copy-if-exists, restore if == None for info_k, info_v in info.items(): if info_k in self.settings: if info_v is not None: self.settings[info_k] = info_v else: self.settings[info_k] = self.original_settings[info_k] # specifics of every option for info_k, info_v in info.items(): if info_k in self.settings: if info_k == 'structural_substeps': if info_v is not None: self.substep_dt = ( self.settings['dt']/( self.settings['structural_substeps'] + 1)) elif info_k == 'structural_solver': if info_v is not None: self.structural_solver = solver_interface.initialise_solver( info['structural_solver']) self.structural_solver.initialise(, self.settings['structural_solver_settings']) elif info_k == 'rotor_vel': for lc in self.structural_solver.lc_list: if lc._lc_id == 'hinge_node_FoR_pitch': lc.set_rotor_vel(info_v) elif info_k == 'pitch_vel': for lc in self.structural_solver.lc_list: if lc._lc_id == 'hinge_node_FoR_pitch': lc.set_pitch_vel(info_v) return controlled_state['structural'], controlled_state['aero']
[docs] def run(self, **kwargs): """ Run the time stepping procedure with controllers and postprocessors included. """ solvers = settings_utils.set_value_or_default(kwargs, 'solvers', None) if self.network_loader is not None: self.set_of_variables = self.network_loader.get_inout_variables() incoming_queue = queue.Queue(maxsize=1) outgoing_queue = queue.Queue(maxsize=1) finish_event = threading.Event() with concurrent.futures.ThreadPoolExecutor(max_workers=2) as executor: netloop = executor.submit(self.network_loop, incoming_queue, outgoing_queue, finish_event) timeloop = executor.submit(self.time_loop, incoming_queue, outgoing_queue, finish_event, solvers) # TODO: improve exception handling to get exceptions when they happen from each thread for t1 in [netloop, timeloop]: try: t1.result() except Exception as e: print(e) raise Exception else: self.time_loop(solvers=solvers) if self.print_info: cout.cout_wrap('...Finished', 1) for postproc in self.postprocessors: try: self.postprocessors[postproc].shutdown() except AttributeError: pass return
def network_loop(self, in_queue, out_queue, finish_event): # runs in a separate thread from time_loop() out_network, in_network = self.network_loader.get_networks() out_network.set_queue(out_queue) in_network.set_message_length(self.set_of_variables.input_msg_len) in_network.set_queue(in_queue) previous_queue_empty = True while not finish_event.is_set(): # selector version events = if out_network.queue.empty() and not previous_queue_empty: out_network.set_selector_events_mask('r') previous_queue_empty = True elif not out_network.queue.empty() and previous_queue_empty: out_network.set_selector_events_mask('w') previous_queue_empty = False try: for key, mask in events: except KeyboardInterrupt: break # close sockets in_network.close() out_network.close() def time_loop(self, in_queue=None, out_queue=None, finish_event=None, solvers=None): self.logger.debug('Inside time loop') # dynamic simulations start at tstep == 1, 0 is reserved for the initial state for in range( len(, self.settings['n_time_steps'] + 1): initial_time = time.perf_counter() # network only # get input from the other thread if in_queue:'Time Loop - Waiting for input') values = in_queue.get() # should be list of tuples self.logger.debug('Time loop - received {}'.format(values)) self.set_of_variables.update_timestep(, values) structural_kstep =[-1].copy() aero_kstep =[-1].copy() if self.settings['nonlifting_body_interactions']: nl_body_kstep =[-1].copy() else: nl_body_kstep = None self.logger.debug('Time step {}'.format( # Add the controller here if self.with_controllers: state = {'structural': structural_kstep, 'aero': aero_kstep} for k, v in self.controllers.items(): state = v.control(, state) # this takes care of the changes in options for the solver structural_kstep, aero_kstep = self.process_controller_output( state) # Add external forces if self.with_runtime_generators: structural_kstep.runtime_steady_forces.fill(0.) structural_kstep.runtime_unsteady_forces.fill(0.) params = dict() params['data'] = params['struct_tstep'] = structural_kstep params['aero_tstep'] = aero_kstep params['fsi_substep'] = -1 for id, runtime_generator in self.runtime_generators.items(): runtime_generator.generate(params) self.time_aero = 0.0 self.time_struc = 0.0 # Copy the controlled states so that the interpolation does not # destroy the previous information controlled_structural_kstep = structural_kstep.copy() controlled_aero_kstep = aero_kstep.copy() for k in range(self.settings['fsi_substeps'] + 1): if (k == self.settings['fsi_substeps'] and self.settings['fsi_substeps']): print_res = 0 if self.res == 0. else np.log10(self.res) print_res_dqdt = 0 if self.res_dqdt == 0. else np.log10(self.res_dqdt) cout.cout_wrap(("The FSI solver did not converge!!! residuals: %f %f" % (print_res, print_res_dqdt))) self.aero_solver.update_custom_grid( structural_kstep, aero_kstep, nl_body_kstep) break # generate new grid (already rotated) aero_kstep = controlled_aero_kstep.copy() self.aero_solver.update_custom_grid( structural_kstep, aero_kstep, nl_body_kstep) # compute unsteady contribution force_coeff = 0.0 unsteady_contribution = False if self.settings['include_unsteady_force_contribution']: if > self.settings['steps_without_unsteady_force']: unsteady_contribution = True if k < self.settings['pseudosteps_ramp_unsteady_force']: force_coeff = k/self.settings['pseudosteps_ramp_unsteady_force'] else: force_coeff = 1. previous_runtime_steady_forces = structural_kstep.runtime_steady_forces.astype(dtype=ct.c_double, order='F', copy=True) previous_runtime_unsteady_forces = structural_kstep.runtime_unsteady_forces.astype(dtype=ct.c_double, order='F', copy=True) # Add external forces if self.with_runtime_generators: structural_kstep.runtime_steady_forces.fill(0.) structural_kstep.runtime_unsteady_forces.fill(0.) params = dict() params['data'] = params['struct_tstep'] = structural_kstep params['aero_tstep'] = aero_kstep params['fsi_substep'] = k for id, runtime_generator in self.runtime_generators.items(): runtime_generator.generate(params) # run the solver ini_time_aero = time.perf_counter() =, structural_step=structural_kstep, convect_wake=True, unsteady_contribution=unsteady_contribution, nl_body_tstep = nl_body_kstep) self.time_aero += time.perf_counter() - ini_time_aero previous_kstep = structural_kstep.copy() structural_kstep = controlled_structural_kstep.copy() structural_kstep.runtime_steady_forces = previous_kstep.runtime_steady_forces.astype(dtype=ct.c_double, order='F', copy=True) structural_kstep.runtime_unsteady_forces = previous_kstep.runtime_unsteady_forces.astype(dtype=ct.c_double, order='F', copy=True) previous_kstep.runtime_steady_forces = previous_runtime_steady_forces.astype(dtype=ct.c_double, order='F', copy=True) previous_kstep.runtime_unsteady_forces = previous_runtime_unsteady_forces.astype(dtype=ct.c_double, order='F', copy=True) # move the aerodynamic surface according the the structural one self.aero_solver.update_custom_grid( structural_kstep, aero_kstep, nl_body_kstep) self.map_forces(aero_kstep, structural_kstep, nl_body_kstep = nl_body_kstep, unsteady_forces_coeff = force_coeff) # relaxation relax_factor = self.relaxation_factor(k) relax(, structural_kstep, previous_kstep, relax_factor) # check if nan anywhere. # if yes, raise exception if np.isnan(structural_kstep.steady_applied_forces).any(): raise exc.NotConvergedSolver('NaN found in steady_applied_forces!') if np.isnan(structural_kstep.unsteady_applied_forces).any(): raise exc.NotConvergedSolver('NaN found in unsteady_applied_forces!') copy_structural_kstep = structural_kstep.copy() ini_time_struc = time.perf_counter() for i_substep in range( self.settings['structural_substeps'] + 1): # run structural solver coeff = ((i_substep + 1)/ (self.settings['structural_substeps'] + 1)) structural_kstep = self.interpolate_timesteps([-1], step1=copy_structural_kstep, out_step=structural_kstep, coeff=coeff) = structural_step=structural_kstep, dt=self.substep_dt) self.time_struc += time.perf_counter() - ini_time_struc # check convergence if self.convergence(k, structural_kstep, previous_kstep, self.structural_solver, self.aero_solver, self.with_runtime_generators): # move the aerodynamic surface according to the structural one self.aero_solver.update_custom_grid(structural_kstep, aero_kstep, nl_body_tstep = nl_body_kstep) break # move the aerodynamic surface according the the structural one self.aero_solver.update_custom_grid(structural_kstep, aero_kstep, nl_body_tstep = nl_body_kstep) self.aero_solver.add_step()[-1] = aero_kstep.copy() if self.settings['nonlifting_body_interactions']:[-1] = nl_body_kstep.copy() self.structural_solver.add_step()[-1] = structural_kstep.copy() final_time = time.perf_counter() if self.print_info: print_res = 0 if self.res_dqdt == 0. else np.log10(self.res_dqdt) self.residual_table.print_line([,*self.dt, k, self.time_struc/(self.time_aero + self.time_struc), final_time - initial_time, print_res, structural_kstep.for_vel[0], structural_kstep.for_vel[2], np.sum(structural_kstep.steady_applied_forces[:, 0]), np.sum(structural_kstep.steady_applied_forces[:, 2])]) ([].total_forces[0:3],[].total_forces[3:6]) = ( self.structural_solver.extract_resultants([])) # run postprocessors if self.with_postprocessors: for postproc in self.postprocessors: = self.postprocessors[postproc].run(online=True, solvers=solvers) # network only # put result back in queue if out_queue: self.logger.debug('Time loop - about to get out variables from data') self.set_of_variables.get_value( if out_queue.full(): # clear the queue such that it always contains the latest time step out_queue.get() # clear item from queue self.logger.debug('Data output Queue is full - clearing output') out_queue.put(self.set_of_variables) if finish_event: finish_event.set()'Time loop - Complete')
[docs] def convergence(self, k, tstep, previous_tstep, struct_solver, aero_solver, with_runtime_generators): r""" Check convergence in the FSI loop. Convergence is determined as: .. math:: \epsilon_q^k = \frac{|| q^k - q^{k - 1} ||}{q^0} .. math:: \epsilon_\dot{q}^k = \frac{|| \dot{q}^k - \dot{q}^{k - 1} ||}{\dot{q}^0} FSI converged if :math:`\epsilon_q^k < \mathrm{FSI\ tolerance}` and :math:`\epsilon_\dot{q}^k < \mathrm{FSI\ tolerance}` """ # check for non-convergence if not all(np.isfinite(tstep.q)): import pdb pdb.set_trace() raise Exception( '***Not converged! There is a NaN value in the forces!') if not k: # save the value of the vectors for normalising later self.base_q = np.linalg.norm(tstep.q.copy()) self.base_dqdt = np.linalg.norm(tstep.dqdt.copy()) if self.base_dqdt == 0: self.base_dqdt = 1. if with_runtime_generators: self.base_res_forces = np.linalg.norm(tstep.runtime_steady_forces + tstep.runtime_unsteady_forces) if self.base_res_forces == 0: self.base_res_forces = 1. return False # Check the special case of no aero and no runtime generators if (aero_solver.solver_id.lower() == "noaero"\ or struct_solver.solver_id.lower() == "nostructural")\ and not with_runtime_generators: return True # relative residuals self.res = (np.linalg.norm(tstep.q- previous_tstep.q)/ self.base_q) self.res_dqdt = (np.linalg.norm(tstep.dqdt- previous_tstep.dqdt)/ self.base_dqdt) if with_runtime_generators: res_forces = (np.linalg.norm(tstep.runtime_steady_forces - previous_tstep.runtime_steady_forces + tstep.runtime_unsteady_forces - previous_tstep.runtime_unsteady_forces)/ self.base_res_forces) else: res_forces = 0. # we don't want this to converge before introducing the gamma_dot forces! if self.settings['include_unsteady_force_contribution']: if k < self.settings['pseudosteps_ramp_unsteady_force'] \ and > self.settings['steps_without_unsteady_force']: return False # convergence rigid_solver = False if "rigid" in struct_solver.solver_id.lower(): rigid_solver = True elif "NonLinearDynamicMultibody" == struct_solver.solver_id.lower() and struct_solver.settings['rigid_bodies']: rigid_solver = True if k > self.settings['minimum_steps'] - 1: if self.res < self.settings['fsi_tolerance'] or rigid_solver: if self.res_dqdt < self.settings['fsi_tolerance']: if res_forces < self.settings['fsi_tolerance']: return True
def map_forces(self, aero_kstep, structural_kstep, nl_body_kstep = None, unsteady_forces_coeff=1.0): # set all forces to 0 structural_kstep.steady_applied_forces.fill(0.0) structural_kstep.unsteady_applied_forces.fill(0.0) # aero forces to structural forces struct_forces = mapping.aero2struct_force_mapping( aero_kstep.forces,, aero_kstep.zeta, structural_kstep.pos, structural_kstep.psi,,, structural_kstep.cag(), dynamic_struct_forces = unsteady_forces_coeff*mapping.aero2struct_force_mapping( aero_kstep.dynamic_forces,, aero_kstep.zeta, structural_kstep.pos, structural_kstep.psi,,, structural_kstep.cag(), if self.correct_forces: struct_forces = \ self.correct_forces_generator.generate(aero_kstep=aero_kstep, structural_kstep=structural_kstep, struct_forces=struct_forces, aero_kstep.aero_steady_forces_beam_dof = struct_forces structural_kstep.postproc_node['aero_steady_forces'] = struct_forces structural_kstep.postproc_node['aero_unsteady_forces'] = dynamic_struct_forces # if self.settings['nonlifting_body_interactions']: # struct_forces += mapping.aero2struct_force_mapping( # nl_body_kstep.forces, #, # nl_body_kstep.zeta, # structural_kstep.pos, # structural_kstep.psi, #, #, # structural_kstep.cag(), # # prescribed forces + aero forces # prescribed forces + aero forces + runtime generated structural_kstep.steady_applied_forces += struct_forces structural_kstep.steady_applied_forces += structural_kstep.steady_applied_forces += structural_kstep.runtime_steady_forces structural_kstep.unsteady_applied_forces += dynamic_struct_forces if len( > 0: structural_kstep.unsteady_applied_forces +=[max( - 1, 0)]['dynamic_forces'] structural_kstep.unsteady_applied_forces += structural_kstep.runtime_unsteady_forces # Apply unsteady force coefficient structural_kstep.unsteady_applied_forces *= unsteady_forces_coeff def relaxation_factor(self, k): initial = self.settings['relaxation_factor'] if not self.settings['dynamic_relaxation']: return initial final = self.settings['final_relaxation_factor'] if k >= self.settings['relaxation_steps']: return final value = initial + (final - initial)/self.settings['relaxation_steps']*k return value
[docs] @staticmethod def interpolate_timesteps(step0, step1, out_step, coeff): """ Performs a linear interpolation between step0 and step1 based on coeff in [0, 1]. 0 means info in out_step == step0 and 1 out_step == step1. Quantities interpolated: * `steady_applied_forces` * `unsteady_applied_forces` * `velocity` input in Lagrange constraints """ if not 0.0 <= coeff <= 1.0: return out_step # forces out_step.steady_applied_forces[:] = ( (1.0 - coeff)*step0.steady_applied_forces + (coeff)*(step1.steady_applied_forces)) out_step.unsteady_applied_forces[:] = ( (1.0 - coeff)*step0.unsteady_applied_forces + (coeff)*(step1.unsteady_applied_forces)) # multibody if necessary if out_step.mb_dict is not None: for key in step1.mb_dict.keys(): if 'constraint_' in key: try: out_step.mb_dict[key]['velocity'][:] = ( (1.0 - coeff)*step0.mb_dict[key]['velocity'] + (coeff)*step1.mb_dict[key]['velocity']) except KeyError: pass return out_step
def teardown(self): self.structural_solver.teardown() self.aero_solver.teardown() if self.with_postprocessors: for pp in self.postprocessors.values(): pp.teardown() if self.with_controllers: for cont in self.controllers.values(): cont.teardown() if self.with_runtime_generators: for rg in self.runtime_generators.values(): rg.teardown()
def relax(beam, timestep, previous_timestep, coeff): timestep.steady_applied_forces = ((1.0 - coeff)*timestep.steady_applied_forces + coeff*previous_timestep.steady_applied_forces) timestep.unsteady_applied_forces = ((1.0 - coeff)*timestep.unsteady_applied_forces + coeff*previous_timestep.unsteady_applied_forces) timestep.runtime_steady_forces = ((1.0 - coeff)*timestep.runtime_steady_forces + coeff*previous_timestep.runtime_steady_forces) timestep.runtime_unsteady_forces = ((1.0 - coeff)*timestep.runtime_unsteady_forces + coeff*previous_timestep.runtime_unsteady_forces) def normalise_quaternion(tstep): tstep.dqdt[-4:] = algebra.unit_vector(tstep.dqdt[-4:]) tstep.quat = tstep.dqdt[-4:].astype(dtype=ct.c_double, order='F', copy=True)