perfObjectFFRFreducedOrder.py

#+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
# This is an EXUDYN example
#
# Details:  Test for ObjectFFRFreducedOrder with python user function for reduced order equations of motion
#
# Author:   Johannes Gerstmayr 
# Date:     2020-05-13
#
# Copyright:This file is part of Exudyn. Exudyn is free software. You can redistribute it and/or modify it under the terms of the Exudyn license. See 'LICENSE.txt' for more details.
#
#+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++

import exudyn as exu
from exudyn.utilities import * #includes itemInterface and rigidBodyUtilities
import exudyn.graphics as graphics #only import if it does not conflict
from exudyn.FEM import *

useGraphics = True #without test
#+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
#you can erase the following lines and all exudynTestGlobals related operations if this is not intended to be used as TestModel:
try: #only if called from test suite
    from modelUnitTests import exudynTestGlobals #for globally storing test results
    useGraphics = exudynTestGlobals.useGraphics
except:
    class ExudynTestGlobals:
        pass
    exudynTestGlobals = ExudynTestGlobals()
    exudynTestGlobals.isPerformanceTest = False
#+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++


SC = exu.SystemContainer()
mbs = SC.AddSystem()

import numpy as np


#%%+++++++++++++++++++++++++++++++++++++++++++++++++++++
#Use FEMinterface to import FEM model and create FFRFreducedOrder object
fem = FEMinterface()
inputFileName = 'testData/rotorDiscTest' #runTestSuite.py is at another directory
#if useGraphics:
#    inputFileName = 'testData/rotorDiscTest'        #if executed in current directory

nodes=fem.ImportFromAbaqusInputFile(inputFileName+'.inp', typeName='Instance', name='rotor-1')

fem.ReadMassMatrixFromAbaqus(inputFileName+'MASS1.mtx')
fem.ReadStiffnessMatrixFromAbaqus(inputFileName+'STIF1.mtx')
fem.ScaleStiffnessMatrix(1e-2) #for larger deformations, stiffness is reduced to 1%

#nodeNumberUnbalance = 9  #on disc, max y-value
nodeNumberUnbalance = fem.GetNodeAtPoint(point=[0. , 0.19598444, 0.15])
#exu.Print("nodeNumberUnbalance =",nodeNumberUnbalance)
unbalance = 0.1
fem.AddNodeMass(nodeNumberUnbalance, unbalance)
#print(fem.GetMassMatrix()[8*3:11*3,:])

nModes = 8
fem.ComputeEigenmodes(nModes, excludeRigidBodyModes = 6, useSparseSolver = True)
#print("eigen freq.=", fem.GetEigenFrequenciesHz())

cms = ObjectFFRFreducedOrderInterface(fem)

objFFRF = cms.AddObjectFFRFreducedOrder(mbs, positionRef=[0,0,0], 
                                        initialVelocity=[0,0,0], initialAngularVelocity=[0,0,50*2*pi],
                                        color=[0.1,0.9,0.1,1.])

#%%+++++++++++++++++++++++++++++++++++++++++++++++++++++
#add markers and joints
nodeDrawSize = 0.0025 #for joint drawing

pLeft = [0,0,0]
pRight = [0,0,0.5]
nMid = fem.GetNodeAtPoint([0,0,0.25])
#print("nMid=",nMid)

mRB = mbs.AddMarker(MarkerNodeRigid(nodeNumber=objFFRF['nRigidBody']))
oGround = mbs.AddObject(ObjectGround(referencePosition= [0,0,0]))

mGroundPosLeft = mbs.AddMarker(MarkerBodyPosition(bodyNumber=oGround, localPosition=pLeft))
mGroundPosRight = mbs.AddMarker(MarkerBodyPosition(bodyNumber=oGround, localPosition=pRight))

#torque on reference frame:
#mbs.AddLoad(Torque(markerNumber=mRB, loadVector=[0,0,100*2*pi])) 

if False: #OPTIONAL: lock rigid body motion of reference frame (for tests):
    mbs.AddObject(GenericJoint(markerNumbers=[mGround, mRB], constrainedAxes=[1,1,1, 1,1,0]))

#++++++++++++++++++++++++++++++++++++++++++
#find nodes at left and right surface:
nodeListLeft = fem.GetNodesInPlane(pLeft, [0,0,1])
nodeListRight = fem.GetNodesInPlane(pRight, [0,0,1])
#nLeft = fem.GetNodeAtPoint(pLeft)
#nRight = fem.GetNodeAtPoint(pRight)


lenLeft = len(nodeListLeft)
lenRight = len(nodeListRight)
weightsLeft = np.array((1./lenLeft)*np.ones(lenLeft))
weightsRight = np.array((1./lenRight)*np.ones(lenRight))

addSupports = True
if addSupports:
    k = 2e8     #joint stiffness
    d = k*0.01  #joint damping

    useSpringDamper = True

    mLeft = mbs.AddMarker(MarkerSuperElementPosition(bodyNumber=objFFRF['oFFRFreducedOrder'], 
                                                    meshNodeNumbers=np.array(nodeListLeft), #these are the meshNodeNumbers
                                                    weightingFactors=weightsLeft))
    mRight = mbs.AddMarker(MarkerSuperElementPosition(bodyNumber=objFFRF['oFFRFreducedOrder'], 
                                                    meshNodeNumbers=np.array(nodeListRight), #these are the meshNodeNumbers 
                                                    weightingFactors=weightsRight))
    if useSpringDamper:
        oSJleft = mbs.AddObject(CartesianSpringDamper(markerNumbers=[mLeft, mGroundPosLeft],
                                            stiffness=[k,k,k], damping=[d,d,d]))
        oSJright = mbs.AddObject(CartesianSpringDamper(markerNumbers=[mRight,mGroundPosRight],
                                            stiffness=[k,k,0], damping=[d,d,d]))
    else:
        oSJleft = mbs.AddObject(SphericalJoint(markerNumbers=[mGroundPosLeft,mLeft], visualization=VObjectJointSpherical(jointRadius=nodeDrawSize)))
        oSJright= mbs.AddObject(SphericalJoint(markerNumbers=[mGroundPosRight,mRight], visualization=VObjectJointSpherical(jointRadius=nodeDrawSize)))
                                                    

#%%+++++++++++++++++++++++++++++++++++++++++++++++++++++
fileDir = 'solution/'
sDisp=mbs.AddSensor(SensorSuperElement(bodyNumber=objFFRF['oFFRFreducedOrder'], meshNodeNumber=nMid, #meshnode number!
                         storeInternal=True, #fileName=fileDir+'nMidDisplacementCMS'+str(nModes)+'Test.txt', 
                         outputVariableType = exu.OutputVariableType.Displacement))

sAngVel=mbs.AddSensor(SensorNode(nodeNumber=objFFRF['nRigidBody'], 
                         storeInternal=True, #fileName=fileDir+'nRigidBodyAngVelCMS'+str(nModes)+'Test.txt', 
                         outputVariableType = exu.OutputVariableType.AngularVelocity))

mbs.Assemble()

simulationSettings = exu.SimulationSettings()

SC.visualizationSettings.nodes.defaultSize = nodeDrawSize
SC.visualizationSettings.nodes.drawNodesAsPoint = False
SC.visualizationSettings.connectors.defaultSize = 2*nodeDrawSize

SC.visualizationSettings.nodes.show = True
SC.visualizationSettings.nodes.showBasis = True #of rigid body node of reference frame
SC.visualizationSettings.nodes.basisSize = 0.12
SC.visualizationSettings.bodies.deformationScaleFactor = 1 #use this factor to scale the deformation of modes

SC.visualizationSettings.openGL.showFaceEdges = True
SC.visualizationSettings.openGL.showFaces = True

SC.visualizationSettings.sensors.show = True
SC.visualizationSettings.sensors.drawSimplified = False
SC.visualizationSettings.sensors.defaultSize = 0.01
SC.visualizationSettings.markers.drawSimplified = False
SC.visualizationSettings.markers.show = True
SC.visualizationSettings.markers.defaultSize = 0.01

SC.visualizationSettings.loads.drawSimplified = False

SC.visualizationSettings.contour.outputVariable = exu.OutputVariableType.DisplacementLocal
SC.visualizationSettings.contour.outputVariableComponent = 1 #y-component

simulationSettings.solutionSettings.solutionInformation = "ObjectFFRFreducedOrder test"

h=1e-4
tEnd = 2
#if useGraphics:
#    tEnd = 0.1

simulationSettings.timeIntegration.numberOfSteps = int(tEnd/h)
simulationSettings.timeIntegration.endTime = tEnd
simulationSettings.solutionSettings.solutionWritePeriod = 0.1
simulationSettings.solutionSettings.writeSolutionToFile = False
simulationSettings.timeIntegration.verboseMode = 1
#simulationSettings.timeIntegration.verboseModeFile = 3
simulationSettings.timeIntegration.newton.useModifiedNewton = True

simulationSettings.solutionSettings.sensorsWritePeriod = 0.1
simulationSettings.solutionSettings.coordinatesSolutionFileName = "solution/coordinatesSolutionCMStest.txt"

simulationSettings.timeIntegration.generalizedAlpha.spectralRadius = 0.5 #SHOULD work with 0.9 as well
simulationSettings.displayStatistics = True
simulationSettings.displayComputationTime = True

#create animation:
#simulationSettings.solutionSettings.recordImagesInterval = 0.0002
#SC.visualizationSettings.exportImages.saveImageFileName = "animation/frame"

if useGraphics:
    exu.StartRenderer()
    if 'renderState' in exu.sys: SC.SetRenderState(exu.sys['renderState']) #load last model view

    mbs.WaitForUserToContinue() #press space to continue

mbs.SolveDynamic(simulationSettings)
    

# data = np.loadtxt(fileDir+'nMidDisplacementCMS'+str(nModes)+'Test.txt', comments='#', delimiter=',')
data = mbs.GetSensorStoredData(sDisp)
result = abs(data).sum()
#pos = mbs.GetObjectOutputBody(objFFRF['oFFRFreducedOrder'],exu.OutputVariableType.Position, localPosition=[0,0,0])
exu.Print('solution of perfObjectFFRFreducedOrder=',result)

#factor 0.05: make error smaller, as there are small changes for different runs (because of scipy sparse eigenvalue solver!)
exudynTestGlobals.testResult = result

if useGraphics:
    SC.WaitForRenderEngineStopFlag()
    exu.StopRenderer() #safely close rendering window!
    lastRenderState = SC.GetRenderState() #store model view for next simulation