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numpy_stiffness_assembly.py
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numpy_stiffness_assembly.py
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import numpy as np
from numpy.linalg import norm
from scipy.sparse import csc_matrix
from termcolor import cprint
from pyconmech.frame_analysis.io_base import mu2G, G2mu
DOUBLE_EPS = 1e-14
DOUBLE_INF = 1e14
def axial_stiffness_matrix(L, A, E, cr1=np.inf, cr2=np.inf):
"""local stiffness matrix for a bar with only axial force at two ends
AE/L (u1 - u2) = F1
AE/L (u2 - u1) = F2
Virtual displacement (principle of virtual work) derivation:
(same result can be derived using variational method or Galerkin method,
which generalizes FEA to problems beyond structural mechanics.)
We use linear (C0) interpolation between (x1, phi1) and ((x1, phi2))
Thus the polynimial basis is [1, x]'
The interpolation polynomial gives:
[phi1, phi2]' = A [a0, a1]'
where A = [[1, x1], [1, x2]]
Inverting A gives:
Ainv = (1/(x2-x1)) [[x2, -x1], [-1, 1]]
Thus the *shape function* N:
N = [(x2-x)/(x2-x1), (x-x1)/(x2-x1)]
Thus, the displacement u can be interpolated over an element:
u = N d
where d is the nodal displacement dof of the element.
Strains are determined from displacements:
\epsilon = B d
where [B] = [\partial][N] = d/dx [(L-x)/L, x/L]= [-1/L, L]
Thus, the stiffness matrix
[k] = \int_0^L [B]^T E [B] A dx = AE [[1, -1], [-1, 1]]
Parameters
----------
L : [type]
bar element length
A : [type]
cross section area
E : [type]
Young's modulus
cr1: float
rotational stiffness at the first end of the beam, default to infinite (rigid joint)
cr2: float
rotational stiffness at the second end of the beam, default to infinite (rigid joint)
Return
------
K_ax_x : 2x2 numpy array
"""
K = np.ones([2,2])
K[0,1] = -1.
K[1,0] = -1.
d_inv = 0.0
if abs(cr1) < DOUBLE_EPS or abs(cr2) < DOUBLE_EPS:
# cr1 = cr2 = 0, fully released
d_inv = 0.0
else:
cr1_inv = 1/cr1 if cr1<DOUBLE_INF else 0.0
cr2_inv = 1/cr2 if cr2<DOUBLE_INF else 0.0
d_inv = 1.0 / (L/(E*A) + cr1_inv + cr2_inv)
K *= d_inv
return K
def torsional_stiffness_matrix(L, J, G, cr1=np.inf, cr2=np.inf):
"""[summary]
[Mx1, Mx2]' = ((GJ)/L) * [[1,-1], [-1,1]] [theta_x1, theta_x2]
Parameters
----------
L : [type]
bar element length
J : [type]
torsional constant, unit: length unit^4
In the case of circular, cylindrical shaft, it's equal to
the polar moment of inertia of the cross section.
G : [type]
modulus of rigidity
cr1: float
rotational stiffness at the first end of the beam, default to infinite (rigid joint)
cr2: float
rotational stiffness at the second end of the beam, default to infinite (rigid joint)
Return
------
K_tor_x : 2x2 numpy array
"""
return axial_stiffness_matrix(L, J, G, cr1=cr1, cr2=cr2)
def bending_stiffness_matrix(L, E, Iz, axis=2, cr1=np.inf, cr2=np.inf):
"""stiffness matrix of uniform beam element without the transverse shear deformation
Here the stress-strain (\sigma ~ \epsilon) turns into
bending moment-curvature (M ~ \kappa).
strain e_x = - y/\kappa = - y (d^2 v / d^2 x)
where \kappa is the radius of curvature
Then from \sigma_x = E e_x,
\sigma_x = - E y (d^2 v / d^2 x)
From moment equilibrium,
M_z = - \int_A \sigma_x y dA = E Iz (d^2 v / d^2 x)
where the lateral displacement v(x) = [N]{d} and \kappa = [B] {d}
nodal dof {d} = [v_1, theta_z1, v2, theta_z2]
[B] = d^2/d^2 x [N]
We use cubic curve interpolation (C1) and [N]'s each row represents
the Langrange's interpolation functions (polynomials of deg 3 in this case).
Thus, the stiffness matrix [k] = int_0^L (E Iz d^2[N]) dx
Parameters
----------
L : [type]
[description]
E : [type]
[description]
Iz : [type]
moment of inertia of the section about the z axis
Iz = \int_A y^2 dA
axis: int
1 = local y axis , 2 = local z axis, default to 2
cr1: float
rotational stiffness at the first end of the beam, default to infinite (rigid joint)
cr2: float
rotational stiffness at the second end of the beam, default to infinite (rigid joint)
Return
------
K_bend_z : 4x4 numpy array
"""
K = np.zeros([4,4])
sign = 1. if axis==2 else -1.
assert abs(E) > DOUBLE_EPS and abs(Iz) > DOUBLE_EPS
a1 = cr1*L/E*Iz # k1 = a1 * EI/L
a2 = cr2*L/E*Iz # k2 = a2 * EI/L
# a = a1*a2 / (a1*a2 + 4*a1 + 4*a2 + 12)
# aa = a * (1 + (a1+a2)/(a1*a2))
# a2_2 = a * (1 + 2/a2)
# a2_3 = a * (1 + 3/a2)
# a1_2 = a * (1 + 2/a1)
# a1_3 = a * (1 + 3/a1)
if abs(a1) < DOUBLE_INF and abs(a2) < DOUBLE_INF:
a_demo = a1*a2 + 4*a1 + 4*a2 + 12
a = a1*a2 / a_demo
aa = (a1*a2 + a1 +a2) / a_demo
a2_2 = (a2 + 2)*a1 / a_demo
a2_3 = (a2 + 3)*a1 / a_demo
a1_2 = (a1 + 2)*a2 / a_demo
a1_3 = (a1 + 3)*a2 / a_demo
elif abs(a1) < DOUBLE_EPS and abs(a2) > DOUBLE_INF:
# a1=0, a2 = inf
# a = a1 / (a1 + 4)
a = 0.0
aa = 0.25
a2_2 = 0.0
a2_3 = 0.0
a1_2 = 0.5
a1_3 = 0.75
elif abs(a2) < DOUBLE_EPS and abs(a1) > DOUBLE_INF:
a = 0.0
aa = 0.25
a1_2 = 0.0
a1_3 = 0.0
a2_2 = 0.5
a2_3 = 0.75
else:
assert abs(a1) > DOUBLE_EPS and abs(a2) > DOUBLE_EPS
inv_a1 = 0.0 if abs(a1) > DOUBLE_INF else 1/a1
inv_a2 = 0.0 if abs(a2) > DOUBLE_INF else 1/a2
inv_a_demo = 1+4*inv_a1+4*inv_a2+12*inv_a1*inv_a2
a = 1 / inv_a_demo
aa = (1+inv_a1+inv_a2) / inv_a_demo
a2_2 = (1+2*inv_a1) / inv_a_demo
a2_3 = (1+3*inv_a1) / inv_a_demo
a1_2 = (1+2*inv_a2) / inv_a_demo
a1_3 = (1+3*inv_a2) / inv_a_demo
# * the original rigid end formula
# K[0,:] = np.array([12., sign*6*L, -12., sign*6*L])
# K[1,:] = np.array([sign*6*L, 4*(L**2), sign*-6*L, 2*(L**2)])
# K[2,:] = -K[0,:]
# K[3,:] = np.array([sign*6*L, 2*(L**2), -sign*6*L, 4*(L**2)])
# K *= (E*Iz/L**3)
# * the modified formula for joint rotational stiffness
# See [GMZ] p.394
K[0,:] = np.array([12./L**2*aa, sign*6/L*a2_2, -12./L**2*aa, sign*6/L*a1_2])
K[1,:] = np.array([sign*6/L*a2_2, 4*a2_3, sign*(-6/L)*a2_2, 2*a])
K[2,:] = -K[0,:]
K[3,:] = np.array([sign*6/L*a1_2, 2*a, sign*(-6/L)*a1_2, 4*a1_3])
K *= E*Iz/L
return K
def create_local_stiffness_matrix(L, A, Jx, Iy, Iz, E, mu, ct1=[np.inf for _ in range(3)], ct2=[np.inf for _ in range(3)],
cr1=[np.inf for _ in range(3)], cr2=[np.inf for _ in range(3)]):
"""complete 12x12 stiffness matrix for a bisymmetrical member.
Since for small displacements the axial force effects, torsion,
and bending about each axis are uncoupled, the influence coeff
**relating** these effects are zero.
Parameters
----------
L : float
element length
A : float
cross section area
Jx : float
torsional constant, unit: length unit^4
In the case of circular, cylindrical shaft, it's equal to
the polar moment of inertia of the cross section.
Iy : float
moment of inertia \int_A z^2 dA
Iz : float
moment of inertia \int_A y^2 dA
E : float
Young's modulus
mu : float
Poisson ratio
ct1 : list of three float
[Tx, Ty, Tz]
translational spring stiffness at joint 1, set to 0 will release the corresponding dof
default to np.inf (rigid joint)
ct2 : list of three float
[Tx, Ty, Tz]
translational spring stiffness at joint 2, set to 0 will release the corresponding dof
default to np.inf (rigid joint)
cr1 : list of three float
[Rx, Ry, Rz]
rotational spring stiffness at joint 1, set to 0 will release the corresponding dof
default to np.inf (rigid joint)
cr2 : list of three float
[Rx, Ry, Rz]
rotational spring stiffness at joint 2, set to 0 will release the corresponding dof
default to np.inf (rigid joint)
Returns
-------
K : 12x12 numpy array
"""
assert ct1[1] > DOUBLE_INF and ct2[1] > DOUBLE_INF, 'local y axis translational dof release not implemented!'
assert ct1[2] > DOUBLE_INF and ct2[2] > DOUBLE_INF, 'local z axis translational dof release not implemented!'
# for i in range(3):
# assert abs(cr1[i]) < DOUBLE_EPS or abs(cr1[i]) > DOUBLE_INF, '{} | rotational stiffness has some bugs, not fully supported yet'.format(cr1[i])
# assert abs(cr2[i]) < DOUBLE_EPS or abs(cr2[i]) > DOUBLE_INF, '{} | rotational stiffness has some bugs, not fully supported yet'.format(cr2[i])
G = mu2G(mu, E)
# Fx1, Fx2 : u1, u2
# 0, 6 : 0, 6
axial_x_k = axial_stiffness_matrix(L, A, E, cr1=ct1[0], cr2=ct2[0])
# Mx1, Mx2 : \theta_x1, \theta_x2
# 3, 9 : 3, 9
tor_x_k = torsional_stiffness_matrix(L, Jx, G, cr1=cr1[0], cr2=cr2[0])
# Fy1, Mz1, Fy2, Mz2 : v1, \theta_z1, v2, \theta_z2
# 1, 5, 7, 11 : 1, 5, 7, 11
bend_z_k = bending_stiffness_matrix(L, E, Iz, axis=2, cr1=cr1[2], cr2=cr2[2])
# Fz1, My1, Fz2, My2 : v1, \theta_z1, v2, \theta_z2
# 2, 4, 8, 10 : 2, 4, 8, 10
bend_y_k = bending_stiffness_matrix(L, E, Iz, axis=1, cr1=cr1[1], cr2=cr2[1])
K = np.zeros([12,12])
K[np.ix_([0,6], [0,6])] += axial_x_k
K[np.ix_([3,9], [3,9])] += tor_x_k
K[np.ix_([1,5,7,11], [1,5,7,11])] += bend_z_k
K[np.ix_([2,4,8,10], [2,4,8,10])] += bend_y_k
return K
def global2local_transf_matrix(end_vert_u, end_vert_v, rot_y2x=0.0):
assert len(end_vert_u) == len(end_vert_v)
assert len(end_vert_u) == 2 or len(end_vert_u) == 3
dim = len(end_vert_u)
L = norm(end_vert_u-end_vert_v)
if L < DOUBLE_EPS:
raise ValueError('Bar length too small!: Node {} - Node {}'.format(end_vert_u, end_vert_v))
# by convention, the new x axis is along the element's direction
# directional cosine of the new x axis in the global world frame
c_x = (end_vert_v[0] - end_vert_u[0])/L
c_y = (end_vert_v[1] - end_vert_u[1])/L
R = np.zeros([3,3])
if rot_y2x != 0.0:
raise NotImplementedError('rotation around local axis not implemented!')
if 3 == dim:
c_z = (end_vert_v[2] - end_vert_u[2]) / L
# TODO rotaxis
if abs(abs(c_z) - 1.0) < DOUBLE_EPS:
# the element is parallel to global z axis
# cross product is not defined, in this case
# it's just a rotation about the global z axis
# in x-y plane
R[0, 2] = -c_z
R[1, 1] = 1
R[2, 0] = c_z
else:
# local x_axis = element's vector
new_x = np.array([c_x, c_y, c_z])
# local y axis = cross product with global z axis
new_y = -np.cross(new_x, [0,0,1.0])
new_y /= norm(new_y)
new_z = np.cross(new_x, new_y)
R[0, :] = new_x
R[1, :] = new_y
R[2, :] = new_z
# R = R * rot_axis;
elif 2 == dim:
R[0,:] = [c_x, c_y, 0]
R[1,:] = [-c_y, c_x, 0]
R[2,2] = 1.0
# TODO check rotaxis
return R
def turn_diagblock(R3):
"""compile a 4x4 block-diagonal matrix
Parameters
----------
R3 : 3x3 numpy array
Returns
-------
12x12 numpy array
"""
R = np.zeros((12,12))
for i in range(4):
R[i*3:(i+1)*3, i*3:(i+1)*3] = R3
return R
###############################################
def assemble_global_stiffness_matrix(k_list, nV, id_map, exist_e_ids=[]):
"""assemble element stiffness matrix into a sparse system stiffness matrix
Parameters
----------
k_list : list of np array
a list of equal-sized global stiffness matrix
nV : int
number of vertices, used to compute total dof for sizing
the output sparse matrix
id_map : np array
(nEx(2xnode_dof)) idex matrix:
M[element index] = [nodal dof index]
e.g. for a single beam
M[0, :] = [0, 1, 2, 3, 4, 5]
Return
------
Ksp : scipy.sparse.csc_matrix
https://docs.scipy.org/doc/scipy-0.15.1/reference/generated/scipy.sparse.csc_matrix.html#scipy.sparse.csc_matrix
"""
node_dof = 6
total_dof = node_dof * nV
if len(exist_e_ids)==0:
exist_e_ids = range(len(k_list))
else:
assert set(exist_e_ids) <= set(range(len(k_list)))
row = []
col = []
data = []
for e_id in exist_e_ids:
Ke = k_list[e_id]
assert Ke.shape == (node_dof*2, node_dof*2)
for i in range(node_dof*2):
for j in range(node_dof*2):
if abs(Ke[i,j]) > DOUBLE_EPS:
row.append(id_map[e_id, i])
col.append(id_map[e_id, j])
data.append(Ke[i,j])
Ksp = csc_matrix((data, (row, col)), shape=(total_dof, total_dof), dtype=float)
return Ksp
###############################################
def compute_lumped_uniformly_distributed_load(w_G, R_LG, L):
"""Use fixed-end beam formula to lump uniformly distributed load
to equivalent nodal loads
Parameters
----------
w_G : np array of size (3,)
uniformly distributed load vector in the global coordinate
unit: force unit / length unit
R_LG : np array of size (3,3)
element local2global transformation matrix
L : float
element length
"""
assert 3 == w_G.shape[0]
lumped_L = np.zeros(12)
# nodal force
lumped_L[:3] = w_G*L/2
lumped_L[6:9] = w_G*L/2
# transform global load density to local density
w_L = R_LG.dot(w_G)
# node 0, 1 local moment
M_L0 = np.array([0, -w_L[2]*(L**2)/12., w_L[1]*(L**2)/12.])
M_L1 = -M_L0
R_GL = R_LG.T
lumped_L[3:6] = R_GL.dot(M_L0)
lumped_L[9:12] = R_GL.dot(M_L1)
return lumped_L
###############################################