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Non-perpendicular hinge axis possible for multibody solver #299

Merged
merged 11 commits into from
Oct 30, 2024
Merged

Non-perpendicular hinge axis possible for multibody solver #299

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ab832f8
Test for non-perpen hinge axis added
kccwing Sep 10, 2024
d6e471c
Post processing fixes for for_pos
kccwing Sep 10, 2024
1cea00b
Hinge_for and hinge_node_for fixes for derivatives
kccwing Sep 10, 2024
648ebd3
Algebra functions for hinge axis
kccwing Sep 10, 2024
6372f17
Maintaining backwards compatibility for rot_axisA2
kccwing Sep 10, 2024
78a283c
Maintaining backwards compatibility for rot_axisA2
kccwing Sep 10, 2024
3b5ecad
Removing commented code for LM_C - B^TB terms
kccwing Sep 11, 2024
369c2dd
Cleaning up some code
ben-l-p Oct 4, 2024
b662a7f
Big fix to read rot_axisA2 as optional argument indeed
kccwing Oct 17, 2024
c89cd2e
avoid checking for equality of a list and string for custom yb_FoR input
kccwing Oct 18, 2024
7f36d54
Merge branch 'develop' into dev_hingeaxis
ben-l-p Oct 30, 2024
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12 changes: 6 additions & 6 deletions sharpy/controllers/bladepitchpid.py
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Original file line number Diff line number Diff line change
Expand Up @@ -423,7 +423,7 @@ def drive_train_model(self, aero_torque, ini_rot_vel, ini_rot_acc):

def compute_aero_torque(self, beam, struct_tstep):
# Compute total forces
total_forces = np.zeros((6))
total_forces = np.zeros(6)
for ibody in self.settings['blade_num_body']:
steady, unsteady, grav = struct_tstep.extract_resultants(beam,
force_type=['steady', 'unsteady', 'grav'],
Expand All @@ -436,9 +436,9 @@ def compute_aero_torque(self, beam, struct_tstep):
hub_node = beam.connectivities[hub_elem, 0]
hub_pos = struct_tstep.pos[hub_node, :]

hub_forces = np.zeros((6))
hub_forces[0:3] = total_forces[0:3].copy()
hub_forces[3:6] = total_forces[3:6] - np.cross(hub_pos, total_forces[0:3])
hub_forces = np.zeros(6)
hub_forces[:3] = total_forces[:3].copy()
hub_forces[3:6] = total_forces[3:6] - np.cross(hub_pos, total_forces[:3])

return hub_forces[5]

Expand All @@ -450,11 +450,11 @@ def compute_blade_pitch(beam, struct_tstep, tower_ibody=0, blade_ibody=1):
ielem, inode_in_elem = beam.node_master_elem[tt_node]
ca0b = algebra.crv2rotation(struct_tstep.psi[ielem, inode_in_elem, :])
cga0 = algebra.quat2rotation(struct_tstep.mb_quat[tower_ibody, :])
zg_tower_top = algebra.multiply_matrices(cga0, ca0b, np.array([0., 0., 1.]))
zg_tower_top = cga0 @ ca0b @ np.array([0., 0., 1.])

# blade root
cga = algebra.quat2rotation(struct_tstep.mb_quat[blade_ibody, :])
zg_hub = algebra.multiply_matrices(cga, np.array([0., 0., 1.]))
zg_hub = cga @ np.array([0., 0., 1.])

pitch = algebra.angle_between_vectors(zg_tower_top, zg_hub)
return pitch
22 changes: 20 additions & 2 deletions sharpy/postproc/aerogridplot.py
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Expand Up @@ -199,7 +199,16 @@ def plot_body(self):
counter += 1
coords[counter, :] = aero_tstep.zeta[i_surf][:, i_m, i_n]
if self.settings['include_rbm']:
coords[counter, :] += struct_tstep.for_pos[0:3]
#TODO: fix for lack of g frame description in nonlineardynamicmultibody.py
if struct_tstep.mb_dict is None:
coords[counter, :] += struct_tstep.for_pos[0:3]
else:
#TODO: uncomment for dynamic trim
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@ben-l-p ben-l-p Sep 10, 2024 •
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Does this need to be uncommented for dynamic trim, or can this be removed? (for this code and other similar comments in commit)

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nope, these fix the issue that multibody simulations used to have outputs in the local A frame. The commented out portion will be useful for dynamic trim, but I haven't quite decided how best to proceed with it so I left the pointers there

# try:
# cga = algebra.euler2rot([0, self.data.trimmed_values[0], 0])
# coords[counter, :] += np.dot(cga, struct_tstep.for_pos[0:3])
# except AttributeError:
coords[counter, :] += np.dot(struct_tstep.cga(), struct_tstep.for_pos[0:3])
if self.settings['include_forward_motion']:
coords[counter, 0] -= self.settings['dt']*self.ts*self.settings['u_inf']

Expand Down Expand Up @@ -313,7 +322,16 @@ def plot_wake(self):
counter += 1
coords[counter, :] = self.data.aero.timestep_info[self.ts].zeta_star[i_surf][:, i_m, i_n]
if self.settings['include_rbm']:
coords[counter, :] += self.data.structure.timestep_info[self.ts].for_pos[0:3]
#TODO: fix for lack of g frame description in nonlineardynamicmultibody.py
if self.data.structure.timestep_info[self.ts].mb_dict is None:
coords[counter, :] += self.data.structure.timestep_info[self.ts].for_pos[0:3]
else:
#TODO: uncomment for dynamic trim
# try:
# cga = algebra.euler2rot([0, self.data.trimmed_values[0], 0])
# coords[counter, :] += np.dot(cga, self.data.structure.timestep_info[self.ts].for_pos[0:3])
# except AttributeError:
coords[counter, :] += np.dot(self.data.structure.timestep_info[self.ts].cga(), self.data.structure.timestep_info[self.ts].for_pos[0:3])
if self.settings['include_forward_motion']:
coords[counter, 0] -= self.settings['dt']*self.ts*self.settings['u_inf']

Expand Down
18 changes: 12 additions & 6 deletions sharpy/postproc/beamplot.py
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Expand Up @@ -124,7 +124,6 @@ def write_beam(self, it):
num_nodes = self.data.structure.num_node
num_elem = self.data.structure.num_elem

coords = np.zeros((num_nodes, 3))
conn = np.zeros((num_elem, 3), dtype=int)
node_id = np.zeros((num_nodes,), dtype=int)
elem_id = np.zeros((num_elem,), dtype=int)
Expand All @@ -148,6 +147,18 @@ def write_beam(self, it):
# coordinates of corners
coords = tstep.glob_pos(include_rbm=self.settings['include_rbm'])

if tstep.mb_dict is None:
pass
else:
#TODO: fix for lack of g frame description in nonlineardynamicmultibody.py
for i_node in range(tstep.num_node):
#TODO: uncomment for dynamic trim
# try:
# c = algebra.euler2rot([0, self.data.trimmed_values[0], 0])
# except AttributeError:
c = self.data.structure.timestep_info[0].cga()
coords[i_node, :] += np.dot(c, tstep.for_pos[0:3])

# check if I can output gravity forces
with_gravity = False
try:
Expand All @@ -172,9 +183,6 @@ def write_beam(self, it):
pass

# count number of arguments
postproc_cell_keys = tstep.postproc_cell.keys()
postproc_cell_vals = tstep.postproc_cell.values()
postproc_cell_scalar = []
postproc_cell_vector = []
postproc_cell_6vector = []
for k, v in tstep.postproc_cell.items():
Expand All @@ -189,8 +197,6 @@ def write_beam(self, it):
else:
raise AttributeError('Only scalar and 3-vector types supported in beamplot')
# count number of arguments
postproc_node_keys = tstep.postproc_node.keys()
postproc_node_vals = tstep.postproc_node.values()
postproc_node_scalar = []
postproc_node_vector = []
postproc_node_6vector = []
Expand Down
22 changes: 22 additions & 0 deletions sharpy/postproc/writevariablestime.py
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Expand Up @@ -265,6 +265,28 @@ def write(self, it):
for ivariable in range(len(self.settings['structure_variables'])):
if self.settings['structure_variables'][ivariable] == '':
continue
#TODO: fix for lack of g frame description in nonlineardynamicmultibody.py
if tstep.mb_dict is None:
var = getattr(tstep, self.settings['structure_variables'][ivariable])
else:
if self.settings['structure_variables'][ivariable] == 'for_pos':
import sharpy.utils.algebra as ag
#TODO: uncomment for dynamic trim
# try:
# # import pdb
# # pdb.set_trace()
# cga = ag.euler2rot([0, self.data.trimmed_values[0], 0])
# cag = cga.T
# tstep.for_pos[0:3] = np.dot(cga,tstep.for_pos[0:3])
# var = getattr(tstep, self.settings['structure_variables'][ivariable]).copy()
# tstep.for_pos[0:3] = np.dot(cag,tstep.for_pos[0:3])
# except AttributeError:
t0step = self.data.structure.timestep_info[0]
tstep.for_pos[0:3] = np.dot(t0step.cga(), tstep.for_pos[0:3])
var = getattr(tstep, self.settings['structure_variables'][ivariable]).copy()
tstep.for_pos[0:3] = np.dot(t0step.cag(), tstep.for_pos[0:3])
else:
var = getattr(tstep, self.settings['structure_variables'][ivariable])
var = getattr(tstep, self.settings['structure_variables'][ivariable])
num_indices = len(var.shape)
if num_indices == 1:
Expand Down
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