.. _testmodels-superelementrigidjointtest: ***************************** superElementRigidJointTest.py ***************************** You can view and download this file on Github: `superElementRigidJointTest.py `_ .. code-block:: python :linenos: #+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ # 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 * 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 nodes=fem.ImportFromAbaqusInputFile(inputFileName+'.inp', typeName='Instance', name='rotor-1') fem.ReadMassMatrixFromAbaqus(inputFileName+'MASS1.mtx') fem.ReadStiffnessMatrixFromAbaqus(inputFileName+'STIF1.mtx') fem.ScaleStiffnessMatrix(1e-3) #for larger deformations, stiffness is reduced to 1% nodeNumberUnbalance = 9 #on disc, max y-value unbalance = 0.1 fem.AddNodeMass(nodeNumberUnbalance, unbalance) nModes = 20 fem.ComputeEigenmodes(nModes, excludeRigidBodyModes = 6, useSparseSolver = True) #print("eigen freq.=", fem.GetEigenFrequenciesHz()) cms = ObjectFFRFreducedOrderInterface(fem) #user functions should be defined outside of class: def UFmassFFRFreducedOrder(mbs, t, itemIndex, qReduced, qReduced_t): return cms.UFmassFFRFreducedOrder(exu, mbs, t, qReduced, qReduced_t) def UFforceFFRFreducedOrder(mbs, t, itemIndex, qReduced, qReduced_t): return cms.UFforceFFRFreducedOrder(exu, mbs, t, qReduced, qReduced_t) objFFRF = cms.AddObjectFFRFreducedOrderWithUserFunctions(exu, mbs, positionRef=[0,0,0], eulerParametersRef=eulerParameters0, initialVelocity=[0,0,0], initialAngularVelocity=[0,0,0*50*2*pi], gravity = [0,-9.81,0], UFforce=UFforceFFRFreducedOrder, UFmassMatrix=UFmassFFRFreducedOrder, color=[0.1,0.9,0.1,1.]) cms2 = ObjectFFRFreducedOrderInterface(fem) #user functions should be defined outside of class: def UFmassFFRFreducedOrder2(mbs, t, itemIndex, qReduced, qReduced_t): return cms2.UFmassFFRFreducedOrder(exu, mbs, t, qReduced, qReduced_t) def UFforceFFRFreducedOrder2(mbs, t, itemIndex, qReduced, qReduced_t): return cms2.UFforceFFRFreducedOrder(exu, mbs, t, qReduced, qReduced_t) objFFRF2 = cms2.AddObjectFFRFreducedOrderWithUserFunctions(exu, mbs, positionRef=[0,0,0.5], eulerParametersRef=eulerParameters0, initialVelocity=[0,0,0], initialAngularVelocity=[0,0,0*50*2*pi], gravity = [0,-9.81,0], UFforce=UFforceFFRFreducedOrder2, UFmassMatrix=UFmassFFRFreducedOrder2, color=[0.1,0.9,0.1,1.]) #draw one mode: #mbs.SetNodeParameter(nodeNumber = objFFRF['nGenericODE2'], parameterName='initialCoordinates', value=[0.1]+[0]*(nModes-1)) # mbs.SetNodeParameter(nodeNumber = objFFRF2['nRigidBody'], parameterName='initialCoordinates', value=[0,0,0.5]+[0]*4) #+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ #add markers and joints nodeDrawSize = 0.0025 #for joint drawing pLeft = [0,0,0] pRight = [0,0,0.5] pLeft2 = [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(MarkerBodyRigid(bodyNumber=oGround, localPosition=pLeft)) mGroundPosRight = mbs.AddMarker(MarkerBodyRigid(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]) #print("nodeListLeft=",nodeListLeft) #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*10*0.01 #joint stiffness d = k*0.01 #joint damping useGenericJoint = 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)) mLeft2 = mbs.AddMarker(MarkerSuperElementPosition(bodyNumber=objFFRF2['oFFRFreducedOrder'], meshNodeNumbers=np.array(nodeListLeft), #these are the meshNodeNumbers weightingFactors=weightsLeft)) mLeftRigid = mbs.AddMarker(MarkerSuperElementRigid(bodyNumber=objFFRF['oFFRFreducedOrder'], #referencePosition=pLeft, #deprecated useAlternativeApproach=True, meshNodeNumbers=np.array(nodeListLeft), #these are the meshNodeNumbers weightingFactors=weightsLeft)) mRightRigid = mbs.AddMarker(MarkerSuperElementRigid(bodyNumber=objFFRF['oFFRFreducedOrder'], #referencePosition=pRight, #deprecated useAlternativeApproach=True, meshNodeNumbers=np.array(nodeListRight), #these are the meshNodeNumbers weightingFactors=weightsRight)) mLeftRigid2 = mbs.AddMarker(MarkerSuperElementRigid(bodyNumber=objFFRF2['oFFRFreducedOrder'], #referencePosition=pLeft, #deprecated useAlternativeApproach=True, meshNodeNumbers=np.array(nodeListLeft), #these are the meshNodeNumbers weightingFactors=weightsLeft)) if useGenericJoint: # oSJleft = mbs.AddObject(CartesianSpringDamper(markerNumbers=[mLeftRigid, mGroundPosLeft], # stiffness=[k,k,k], damping=[d,d,d])) # oSJright = mbs.AddObject(CartesianSpringDamper(markerNumbers=[mRight,mGroundPosRight], # stiffness=[k,k,0], damping=[d,d,d])) # oSJleft = mbs.AddObject(RigidBodySpringDamper(markerNumbers=[mLeftRigid, mGroundPosLeft], # stiffness=0.1*k*np.eye(6), damping=0.01*d*np.eye(6))) oSJleft = mbs.AddObject(GenericJoint(markerNumbers=[mLeftRigid, mGroundPosLeft], constrainedAxes=[1,1,1,1,1,1], visualization=VGenericJoint(axesRadius=0.02))) oSJleft2 = mbs.AddObject(GenericJoint(markerNumbers=[mRightRigid, mLeftRigid2], constrainedAxes=[1,1,1*1,1,1,1], visualization=VGenericJoint(axesRadius=0.02))) # oSJright = mbs.AddObject(CartesianSpringDamper(markerNumbers=[mRightRigid, mLeftRigid2], # stiffness=[k,k,k], damping=[d,d,d])) # oSJright = mbs.AddObject(CartesianSpringDamper(markerNumbers=[mRight, mLeft2], # stiffness=[k,k,k], 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.Displacement SC.visualizationSettings.contour.outputVariableComponent = 1 #y-component #SC.visualizationSettings.contour.automaticRange = False SC.visualizationSettings.contour.reduceRange = False #SC.visualizationSettings.contour.maxValue = 0 #SC.visualizationSettings.contour.minValue = -1 simulationSettings.solutionSettings.solutionInformation = "ObjectFFRFreducedOrder test" h=1e-3 tEnd = 0.005 #standard:0.005 if not useGraphics: #test suite: simulationSettings.solutionSettings.writeSolutionToFile = False tEnd = 0.005 h=1e-3 simulationSettings.timeIntegration.numberOfSteps = int(tEnd/h) simulationSettings.timeIntegration.endTime = tEnd simulationSettings.solutionSettings.solutionWritePeriod = h simulationSettings.timeIntegration.verboseMode = 1 #simulationSettings.timeIntegration.verboseModeFile = 0 simulationSettings.timeIntegration.newton.useModifiedNewton = True simulationSettings.solutionSettings.sensorsWritePeriod = h simulationSettings.solutionSettings.coordinatesSolutionFileName = "solution/coordinatesSolutionCMStest.txt" useIndex2 = False simulationSettings.timeIntegration.generalizedAlpha.useIndex2Constraints = useIndex2 simulationSettings.timeIntegration.generalizedAlpha.useNewmark = useIndex2 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) if useGraphics: SC.WaitForRenderEngineStopFlag() exu.StopRenderer() #safely close rendering window! lastRenderState = SC.GetRenderState() #store model view for next simulation #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 superElementRigidJointTest=',result) exudynTestGlobals.testError = result - (0.015217208913989071) exudynTestGlobals.testResult = result ##++++++++++++++++++++++++++++++++++++++++++++++q+++++++ #plot results if useGraphics: mbs.PlotSensor(sDisp, components=1, closeAll=True, labels=['uMid,linear'])