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Commit ff68498d authored by Giacomo Dieci's avatar Giacomo Dieci
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validation section, errors on vertical shear

parent 62102533
Branches validation-vbm
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__pycache__/libs.cpython-39.pyc
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internalLoads.py
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......@@ -109,6 +109,7 @@ pvd_name = 'patchFields/'+\
# +'vtu/patchFields_'+ \
# '0.0994949115796907729'+'.vtu'
pvd_name = os.path.join(folder, pvd_name)
time_foamstar=[]
......@@ -150,9 +151,9 @@ with open(dissMassFile, 'r') as f:
count = 0
k += 1
sections['0']['REFPOINT'][0] = 100
# sections['0']['REFPOINT'][0] = 100
print('Initialisation : reading cell centers at first time step \n')
print('Initialisation : reading cell centers within section cut at first time step \n')
file_name = 'patchFields/'+\
'vtu/body_'+ \
......@@ -182,19 +183,7 @@ angles = motionData[ini,4:7].reshape(3)
# motion in R0 and angles in Rb
CoR = motion + CoRInitial # CoR in R0
# faceIDs, faceCfs=cellPoints(output, CoR, angles) # TODO check reference frame transformation, start from fixed and transform total force
# alpha=np.array(output.GetCellData().GetArray("alpha.water")) ## les valeurs au centre des cellules
print('Initialisation : selection of cells within section cut')
##Conversion au point des cellules
# converter = vtk.vtkCellDataToPointData()
# converter.SetInputConnection(reader.GetOutputPort() )
# converter.Update()
# PressurePoints = np.array(converter.GetOutput().GetPointData().GetArray("p")) ##Valeurs points cellules
# faceIDs = np.loadtxt('tmp/faceIDs.txt')
# faceWeights = np.loadtxt('tmp/faceWeights.txt')
......@@ -233,7 +222,12 @@ time = []
shearSection = np.zeros(( len(time_foamstar) , 3 ))
momentSection = np.zeros(( len(time_foamstar) , 3 ))
IACS = False
fluidForces = np.zeros(( len(time_foamstar) , 3 ))
fluidMoments = np.zeros(( len(time_foamstar) , 3 ))
IACS = True
ShearStress = False
reCalcBodyAcc = False
print('\n Cut point : ' + str(cutPoint) + '\n')
......@@ -256,7 +250,9 @@ for dt in range(0,len(time_foamstar)):
output = reader.GetOutput()
Pressure=np.array(output.GetCellData().GetArray("p")) ## les valeurs au centre des cellules
# Shear=np.array(output.GetCellData().GetArray("wallShearStress")) ## les valeurs au centre des cellules
if ShearStress:
Shear=np.array(output.GetCellData().GetArray("wallShearStress")) ## les valeurs au centre des cellules
ii = np.where(motionData[:,0]==float(time_foamstar[dt]))
......@@ -273,26 +269,33 @@ for dt in range(0,len(time_foamstar)):
CoR = motion+np.dot(P0b,CoRInitial)
fluidForces = np.zeros(3)
fluidMoments = np.zeros(3)
# fluidForces = np.zeros(3)
# fluidMoments = np.zeros(3)
for iface in range(0,len(faceIDs)):
faceID = faceIDs[iface]
# Shear[faceID,:] = np.dot( np.transpose(P0b),\
# Shear[faceID,:] ) # TODO : check if wall shear stress is given in R0 or Rb
if ShearStress:
Shear[faceID,:] = np.dot( np.transpose(P0b),\
Shear[faceID,:] ) # TODO : check if wall shear stress is given in R0 or Rb
f1 = Pressure[faceID]*faceSf[iface,:]*faceWeights[iface] # TODO : check connectivity of Pressure field and faceIDs
# f2 = Shear[faceID,:]*faceWeights[iface]
f2 = np.zeros(3)
fluidForces += f1 + f2
fluidMoments += np.cross( faceCfs[iface], f1 ) + np.cross( faceCfs[iface], f2 )
fluidForces[0] *= 2
fluidForces[1] = 0
fluidForces[2] *= 2
if ShearStress:
f2 = Shear[faceID,:]*faceWeights[iface]
fluidForces[dt,:] += f1 + f2
fluidMoments[dt,:] += np.cross( faceCfs[iface], f1 ) + np.cross( faceCfs[iface], f2 )
fluidForces[dt,0] *= 2
fluidForces[dt,1] = 0
fluidForces[dt,2] *= 2
fluidMoments[0] = 0
fluidMoments[1] *= 2
fluidMoments[2] = 0
fluidMoments[dt,0] = 0
fluidMoments[dt,1] *= 2
fluidMoments[dt,2] = 0
####
......@@ -309,41 +312,47 @@ for dt in range(0,len(time_foamstar)):
mg = np.dot( inertiaSection[:3,:3] , np.dot( np.transpose(P0b),\
g ).reshape(3) )
####
# mg = massSection*np.dot( np.transpose(P0b),\
# g ).reshape(3)
# TODO : check cogSection, i.e. Rb or R0
# mgMoment = massSection * np.dot( lib.skew_matrix(cogSection), np.dot( np.transpose(P0b),\
# g ) ).reshape(3)
# inertia = np.dot( P0b, massSection*linearAcc)
# inertia -= np.dot( m_uc, angAcc )
# ftheta1 = np.dot( np.transpose(-np.dot( P0b, m_uc )) , linearAcc ) # TODO check
# ftheta2 = np.dot( inertiaSection[3:,3:] , angAcc )
# inertiaAng = ftheta1+ftheta2
# Qvtheta = -np.dot( lib.skew_matrix( omg ), np.dot( inertiaSection[3:,3:] , omg ) )
# ftheta = inertiaAng - Qvtheta
# Qv = np.dot( lib.skew_matrix( np.dot( P0b , omg) ), np.dot( P0b, m_uc) )
# Qv = np.dot( Qv, omg )
# Qv = -np.dot( np.transpose(P0b), Qv )
####
time = np.append(time, float(time_foamstar[dt]))
##
shearSection[dt,:] = fluidForces #+ mg - np.dot( np.transpose(P0b) , inertia[:3] )
shearSection[dt,:] = fluidForces[dt,:] + mg - np.dot( np.transpose(P0b) , inertia[:3] )
##
momentSection[dt,:] = fluidMoments + np.dot( lib.skew_matrix(cogSection) , mg ) -\
momentSection[dt,:] = fluidMoments[dt,:] + np.dot( lib.skew_matrix(cogSection) , mg ) -\
inertia[3:] - np.dot( lib.skew_matrix(uc) , shearSection[dt] )
####
if reCalcBodyAcc: # TODO correction on this part
tol = 1e-6
maxiter = 1000
error = 1
iteration = 1
while error > tol and iteration < maxiter:
aux1 = np.dot( P0b , - shearSection[dt,:] + fluidForces[dt,:] + mg)
aux2 = fluidMoments[dt,:] + np.dot( lib.skew_matrix(cogSection) , mg ) -\
np.dot( lib.skew_matrix(uc) , shearSection[dt] ) - momentSection[dt,:]
aux = np.hstack(( aux1 , aux2 ))
aux = aux + Qv
AccRecalc = np.linalg.solve( inertiaSection , aux )
inertia = np.dot( inertiaSection , AccRecalc ) - Qv
shearSection[dt,:] = fluidForces[dt,:] + mg - np.dot( np.transpose(P0b) , inertia[:3] )
##
momentSection[dt,:] = fluidMoments[dt,:] + np.dot( lib.skew_matrix(cogSection) , mg ) -\
inertia[3:] - np.dot( lib.skew_matrix(uc) , shearSection[dt] )
error = np.linalg.norm(Acc-AccRecalc)
Acc = AccRecalc
print('Recalculate Body Acceleration error :'+str(error))
iteration += 1
## IACS convention
......@@ -367,66 +376,134 @@ ax = fig.add_subplot(111, projection='3d')
ax.plot3D(faceCfs[:,0], faceCfs[:,1], faceCfs[:,2], 'bo')
ax.set_box_aspect([ub - lb for lb, ub in (getattr(ax, f'get_{a}lim')() for a in 'xyz')])
# res = os.path.join(folder, 'fz.dat')
# res = np.loadtxt(res, skiprows=4)
res = os.path.join(folder, 'fz.dat')
res = np.loadtxt(res, skiprows=4)
# t = res[:, 0]
# fz = res[:,5]
t = res[:, 0]
fz = res[:,5]
# plt.figure()
# plt.plot(time, -shearSection[:,2], 'r--')
# plt.plot(t, fz, 'k--')
# plt.xlim(min(time), max(time))
# # plt.ylim(-300, 300)
# plt.grid()
# plt.xlabel('Time (s)')
# plt.ylabel('Shear (N)')
plt.figure()
plt.plot(time, shearSection[:,2], 'r--')
plt.plot(t, fz, 'k--')
plt.xlim(min(time), max(time))
plt.ylim(-200, 200)
plt.grid()
plt.xlabel('Time (s)')
plt.ylabel('Shear z (N)')
plt.legend(['internalLoads-python','foamStar'])
####
# res = os.path.join(folder, 'my.dat')
# res = np.loadtxt(res, skiprows=4)
res = os.path.join(folder, 'fx.dat')
res = np.loadtxt(res, skiprows=4)
t = res[:, 0]
fx = res[:,5]
plt.figure()
plt.plot(time, shearSection[:,0], 'r--')
plt.plot(t, fx, 'k--')
plt.xlim(min(time), max(time))
# plt.ylim(-200, 200)
plt.grid()
plt.xlabel('Time (s)')
plt.ylabel('Shear x (N)')
plt.legend(['internalLoads-python','foamStar'])
# t = res[:, 0]
# my = res[:,5]
# plt.figure()
# plt.plot(time, momentSection[:,1], 'r--')
# plt.plot(t, -my, 'k--')
# plt.xlim(min(time), max(time))
# plt.ylim(-600, 400)
# plt.grid()
# plt.xlabel('Time (s)')
# plt.ylabel('Moment (N.m)')
res = os.path.join(folder, 'forces.dat')
res = np.loadtxt(res, skiprows=3)
####
t = res [:, 0]
forces = res[:,1:4]
for i in range(0, len(t)):
res = os.path.join(folder, 'my.dat')
res = np.loadtxt(res, skiprows=4)
t = res[:, 0]
my = res[:,5]
plt.figure()
plt.plot(time, momentSection[:,1], 'r--')
plt.plot(t, my, 'k--')
plt.xlim(min(time), max(time))
plt.ylim(400, -200)
plt.grid()
plt.xlabel('Time (s)')
plt.ylabel('Vertical Bending Moment VBM (N.m)')
plt.legend(['internalLoads-python','foamStar'])
########################################
res = os.path.join(folder, 'fFluid.dat')
res = np.loadtxt(res, skiprows=4)
t = res[:, 0]
forces = res[:,13:16]
fluidForcesR0 = np.zeros(( len(time_foamstar) , 3 ))
for i in range(0, len(time_foamstar)):
angles = motionData[i,4:7].reshape(3)
ii = np.where(motionData[:,0]==float(time_foamstar[i]))
angles = motionData[ii,4:7].reshape(3)
P0b = lib.rotation_matrix(angles[0],angles[1],angles[2])
forces[i,:] = np.dot( np.transpose(P0b) , forces[i,:] )
fluidForces[i,:] = np.dot( P0b , fluidForces[i,:] )
plt.figure()
plt.plot(time, shearSection[:,2]/2, 'r--')
plt.plot(time, fluidForces[:,2], 'r--')
plt.plot(t, forces[:,2], 'k--')
plt.xlim(min(time), max(time))
plt.ylim(1000, 1500)
plt.grid()
plt.xlabel('Time (s)')
plt.ylabel('Force Z (N)')
plt.ylabel('Fluid force Z (N)')
plt.figure()
plt.plot(time, shearSection[:,0]/2, 'r--')
plt.plot(time, fluidForces[:,0], 'r--')
plt.plot(t, forces[:,0], 'k--')
plt.xlim(min(time), max(time))
plt.ylim(0, 200)
plt.grid()
plt.xlabel('Time (s)')
plt.ylabel('Force X (N)')
plt.ylabel('Fluid force X (N)')
########################################
# res = os.path.join(folder, 'forces.dat')
# res = np.loadtxt(res, skiprows=3)
# t = res [:, 0]
# forces = res[:,1:4]
# for i in range(0, len(t)):
# angles = motionData[i,4:7].reshape(3)
# P0b = lib.rotation_matrix(angles[0],angles[1],angles[2])
# forces[i,:] = np.dot( np.transpose(P0b) , forces[i,:] )
# plt.figure()
# plt.plot(time, shearSection[:,2]/2, 'r--')
# plt.plot(t, forces[:,2], 'k--')
# plt.xlim(min(time), max(time))
# plt.grid()
# plt.xlabel('Time (s)')
# plt.ylabel('Force Z (N)')
# plt.figure()
# plt.plot(time, shearSection[:,0]/2, 'r--')
# plt.plot(t, forces[:,0], 'k--')
# plt.xlim(min(time), max(time))
# plt.grid()
# plt.xlabel('Time (s)')
# plt.ylabel('Force X (N)')
......
libs.py
+ 1
− 2
View file @ ff68498d
......@@ -228,7 +228,6 @@ def find_and_keep_faces(output, cutPoint, CoR, angles):
# zCut = cutPoint[2] # Assuming cutPoint is a 3D vector
xCut = cutPoint[0] # Assuming cutPoint is a 3D vector
# Lists to store face IDs and weights for each patch
faceWeights = []
faceIDs = []
......@@ -262,7 +261,7 @@ def find_and_keep_faces(output, cutPoint, CoR, angles):
faceIDs=np.append(faceIDs, faceI)
if count == cellIds.GetNumberOfIds():
faceWeights=np.append(faceWeights, 1.0)
center = center/cellIds.GetNumberOfIds()
......
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