.. _testmodels-objectffrftest2: ****************** objectFFRFTest2.py ****************** You can view and download this file on Github: `objectFFRFTest2.py `_ .. code-block:: python :linenos: #+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ # This is an EXUDYN example # # Details: Test for ObjectFFRF with C++ implementation user function for reduced order equations of motion # NOTE: this is a development file, with lots of unstructured code; just kept for consistency! # # 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 * import numpy as np 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() #+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ SC = exu.SystemContainer() mbs = SC.AddSystem() #+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ #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 unbalance = 0.1 fem.AddNodeMass(nodeNumberUnbalance, unbalance) nModes = 8 fem.ComputeEigenmodes(nModes, excludeRigidBodyModes = 6, useSparseSolver = True) #print("eigen freq.=", fem.GetEigenFrequenciesHz()) ffrf = ObjectFFRFinterface(fem) ##user functions should be defined outside of class: #def UFmassFFRF(t, qReduced, qReduced_t): # return cms.UFmassFFRF(exu, mbs, t, qReduced, qReduced_t) # #def UFforceFFRF(t, qReduced, qReduced_t): # return cms.UFforceFFRF(exu, mbs, t, qReduced, qReduced_t) objFFRF = ffrf.AddObjectFFRF(exu, mbs, positionRef=[0,0,0], eulerParametersRef=eulerParameters0, initialVelocity=[0,0,0], initialAngularVelocity=[0,0,50*2*pi], gravity = [0,-0*9.81,0], #UFforce=UFforceFFRFreducedOrder, UFmassMatrix=UFmassFFRFreducedOrder, 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])) #++++++++++++++++++++++++++++++++++++++++++ #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['oFFRF'], meshNodeNumbers=np.array(nodeListLeft), #these are the meshNodeNumbers weightingFactors=weightsLeft)) mRight = mbs.AddMarker(MarkerSuperElementPosition(bodyNumber=objFFRF['oFFRF'], 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/' #keep files, as they are checked in the .git repo: sDisp=mbs.AddSensor(SensorSuperElement(bodyNumber=objFFRF['oFFRF'], meshNodeNumber=nMid, #meshnode number! storeInternal=True,#fileName=fileDir+'nMidDisplacementFFRFtest.txt', outputVariableType = exu.OutputVariableType.Displacement)) sAngVel=mbs.AddSensor(SensorNode(nodeNumber=objFFRF['nRigidBody'], storeInternal=True,#fileName=fileDir+'nRigidBodyAngVelFFRFtest.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 = "ObjectFFRF test" simulationSettings.solutionSettings.writeSolutionToFile=False h=1e-4 tEnd = 0.0025 if useGraphics: tEnd = 0.0025 simulationSettings.timeIntegration.numberOfSteps = int(tEnd/h) simulationSettings.timeIntegration.endTime = tEnd simulationSettings.solutionSettings.solutionWritePeriod = h simulationSettings.timeIntegration.verboseMode = 1 #simulationSettings.timeIntegration.verboseModeFile = 3 simulationSettings.timeIntegration.newton.useModifiedNewton = True simulationSettings.solutionSettings.sensorsWritePeriod = h simulationSettings.solutionSettings.coordinatesSolutionFileName = "solution/coordinatesSolutionFFRFtest.txt" simulationSettings.solutionSettings.writeSolutionToFile=False 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 'lastRenderState' in vars(): SC.SetRenderState(lastRenderState) #load last model view mbs.WaitForUserToContinue() #press space to continue mbs.SolveDynamic(simulationSettings) #data = np.loadtxt(fileDir+'nMidDisplacementFFRFtest.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 ObjectFFRFtest2=',result) exudynTestGlobals.testError = result - (0.03552188069017914) #2022-02-20: changed to internal sensor storage; 2020-05-26 (tEnd=0.0025, h=1e-4): 0.03553746369388042 exudynTestGlobals.testResult = result if useGraphics: SC.WaitForRenderEngineStopFlag() exu.StopRenderer() #safely close rendering window! lastRenderState = SC.GetRenderState() #store model view for next simulation ##++++++++++++++++++++++++++++++++++++++++++++++q+++++++ #plot results if useGraphics: mbs.PlotSensor([fileDir+'nMidDisplacementCMS8.txt',sDisp], components=1, closeAll=True) # import matplotlib.pyplot as plt # import matplotlib.ticker as ticker # cList=['r-','g-','b-','k-','c-','r:','g:','b:','k:','c:'] # data = np.loadtxt(fileDir+'nMidDisplacementCMS8.txt', comments='#', delimiter=',') #new result from this file # plt.plot(data[:,0], data[:,2], cList[1],label='uMid,CMS8') #numerical solution, 1 == x-direction # data = np.loadtxt(fileDir+'nMidDisplacementFFRFtest.txt', comments='#', delimiter=',') # plt.plot(data[:,0], data[:,2], cList[2],label='uMid,FFRF') #numerical solution, 1 == x-direction # ax=plt.gca() # get current axes # ax.grid(True, 'major', 'both') # ax.xaxis.set_major_locator(ticker.MaxNLocator(10)) #use maximum of 8 ticks on y-axis # ax.yaxis.set_major_locator(ticker.MaxNLocator(10)) #use maximum of 8 ticks on y-axis # plt.tight_layout() # plt.legend() # plt.show()