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Merge branch 'feature-rigidBody' into 'develop'

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ENH: Improvement to overset that allows multiple motion solvers

See merge request Development/openfoam!428
This commit is contained in:
Andrew Heather
2021-03-17 09:08:38 +00:00
parent 1050314b8c ec609b90b8
commit 853f50f7da
14 changed files with 181 additions and 84 deletions
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9
applications/solvers/multiphase/interFoam/overInterDyMFoam/overInterDyMFoam.C
View File

@ -97,9 +97,15 @@ int main(int argc, char *argv[])
dimensionedScalar("rAUf", dimTime/rho.dimensions(), 1.0)
);
if (correctPhi)
{
#include "correctPhi.H"
}
#include "createUf.H"
#include "setCellMask.H"
#include "setInterpolatedCells.H"
turbulence->validate();
if (!LTS)
@ -108,9 +114,6 @@ int main(int argc, char *argv[])
#include "setInitialDeltaT.H"
}
#include "setCellMask.H"
#include "setInterpolatedCells.H"
// * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * //
Info<< "\nStarting time loop\n" << endl;

1
src/dynamicMesh/motionSolvers/displacement/points0/points0MotionSolver.C
View File

@ -48,7 +48,6 @@ Foam::IOobject Foam::points0MotionSolver::points0IO(const polyMesh& mesh)
"points0",
IOobject::READ_IF_PRESENT
);
IOobject io
(
"points0",

35
src/dynamicMesh/motionSolvers/displacement/solidBody/solidBodyMotionFunctions/drivenLinearMotion/drivenLinearMotion.C
View File

@ -5,7 +5,7 @@
\\ / A nd | www.openfoam.com
\\/ M anipulation |
-------------------------------------------------------------------------------
Copyright (C) 2019-2020 OpenCFD Ltd.
Copyright (C) 2019-2021 OpenCFD Ltd.
-------------------------------------------------------------------------------
License
This file is part of OpenFOAM.
@ -55,27 +55,22 @@ Foam::solidBodyMotionFunctions::drivenLinearMotion::drivenLinearMotion
)
:
solidBodyMotionFunction(SBMFCoeffs, runTime),
CofGvelocity_(SBMFCoeffs.get<word>("CofGvelocity")),
normal_(SBMFCoeffs.getOrDefault<vector>("normal", Zero)),
CofGvel_
cOfGdisplacement_(SBMFCoeffs.get<word>("cOfGdisplacement")),
CofGdisp_
(
IOobject
(
CofGvelocity_,
cOfGdisplacement_,
time_.timeName(),
"uniform",
time_,
IOobject::READ_IF_PRESENT,
IOobject::AUTO_WRITE
),
dimensionedVector(dimless, Zero)
),
displacement_(Zero)
)
{
read(SBMFCoeffs);
if (mag(normal_) > SMALL)
{
normal_ /= (mag(normal_) + SMALL);
}
}
@ -84,24 +79,10 @@ Foam::solidBodyMotionFunctions::drivenLinearMotion::drivenLinearMotion
Foam::septernion
Foam::solidBodyMotionFunctions::drivenLinearMotion::transformation() const
{
scalar deltaT = time_.deltaT().value();
vector velocity = CofGvel_.value();
// Take out normal component
if (mag(normal_) > SMALL)
{
velocity = CofGvel_.value() - ((CofGvel_.value() & normal_)*normal_);
}
DebugInFunction << "Vel on plane :" << velocity << endl;
// Translation of centre of gravity with constant velocity
//const vector displacement = velocity*t;
displacement_ += velocity*deltaT;
DebugInFunction << "displacement :" << CofGdisp_.value() << endl;
quaternion R(1);
septernion TR(septernion(-displacement_)*R);
septernion TR(septernion(-CofGdisp_.value())*R);
DebugInFunction << "Time = " << time_.value()
<< " transformation: " << TR << endl;

12
src/dynamicMesh/motionSolvers/displacement/solidBody/solidBodyMotionFunctions/drivenLinearMotion/drivenLinearMotion.H
View File

@ -63,17 +63,11 @@ class drivenLinearMotion
{
// Private data
//- Name of the meshObject to dum CofG velocity
word CofGvelocity_;
//- Normal plane direction to restrict movement on a plane
vector normal_;
//- Name of the meshObject to dum CofG displacement
word cOfGdisplacement_;
//- Uniform vector to follow
uniformDimensionedVectorField CofGvel_;
//- Last displacement
mutable vector displacement_;
uniformDimensionedVectorField CofGdisp_;
// Private Member Functions

3
src/overset/include/setCellMask.H
View File

@ -32,15 +32,12 @@ Description
const cellCellStencilObject& overlap = Stencil::New(mesh);
const labelList& cellTypes = overlap.cellTypes();
//label nHoles = 0;
cellMask.primitiveFieldRef() = 1.0;
forAll(cellMask, cellI)
{
if (cellTypes[cellI] == cellCellStencil::HOLE)
{
cellMask[cellI] = 0.0;
//nHoles++;
}
}
cellMask.correctBoundaryConditions();

47
src/rigidBodyDynamics/restraints/prescribedRotation/prescribedRotation.C
View File

@ -5,7 +5,7 @@
\\ / A nd | www.openfoam.com
\\/ M anipulation |
-------------------------------------------------------------------------------
Copyright (C) 2018-2020 OpenCFD Ltd.
Copyright (C) 2018-2021 OpenCFD Ltd.
-------------------------------------------------------------------------------
License
This file is part of OpenFOAM.
@ -61,7 +61,11 @@ Foam::RBD::restraints::prescribedRotation::prescribedRotation
)
:
restraint(name, dict, model),
omegaSet_(model_.time(), "omega")
omegaSet_(model_.time(), "omega"),
omega_(Zero),
oldMom_(Zero),
error0_(Zero),
integral0_(Zero)
{
read(dict);
}
@ -82,7 +86,7 @@ void Foam::RBD::restraints::prescribedRotation::restrain
const rigidBodyModelState& state
) const
{
vector refDir = rotationTensor(vector(1, 0, 0), axis_) & vector(0, 1, 0);
vector refDir = rotationTensor(vector(1, 0, 0), axis_)&vector(0, 1, 0);
vector oldDir = refQ_ & refDir;
vector newDir = model_.X0(bodyID_).E() & refDir;
@ -123,23 +127,20 @@ void Foam::RBD::restraints::prescribedRotation::restrain
// Adding rotation to a given body
vector omega = model_.v(model_.master(bodyID_)).w();
scalar Inertia = mag(model_.I(model_.master(bodyID_)).Ic());
// from the definition of the angular momentum:
// moment = Inertia*ddt(omega)
const scalar relax = 0.5;
vector moment
(
(
relax
* Inertia
* (omegaSet_.value(model_.time().value()) - omega)
/ model_.time().deltaTValue()
& a
)
* a
);
vector error = omegaSet_.value(model_.time().value()) - omega;
vector integral = integral0_ + error;
vector derivative = (error - error0_);
vector moment = ((p_*error + i_*integral + d_*derivative)&a)*a;
moment *= Inertia/model_.time().deltaTValue();
moment = relax_*moment + (1- relax_)*oldMom_;
if (model_.debug)
{
@ -149,12 +150,20 @@ void Foam::RBD::restraints::prescribedRotation::restrain
<< " moment " << moment << endl
<< " oldDir " << oldDir << endl
<< " newDir " << newDir << endl
<< " inertia " << Inertia << endl
<< " error " << error << endl
<< " integral " << integral << endl
<< " derivative " << derivative << endl
<< " refDir " << refDir
<< endl;
}
// Accumulate the force for the restrained body
fx[bodyIndex_] += spatialVector(moment, Zero);
fx[bodyIndex_] += model_.X0(bodyID_).T() & spatialVector(moment, Zero);
oldMom_ = moment;
error0_ = error;
integral0_ = integral;
}
@ -180,6 +189,12 @@ bool Foam::RBD::restraints::prescribedRotation::read
const scalar magAxis(mag(axis_));
coeffs_.readEntry("relax", relax_);
coeffs_.readEntry("p", p_);
coeffs_.readEntry("i", i_);
coeffs_.readEntry("d", d_);
if (magAxis > VSMALL)
{
axis_ /= magAxis;

28
src/rigidBodyDynamics/restraints/prescribedRotation/prescribedRotation.H
View File

@ -5,7 +5,7 @@
\\ / A nd | www.openfoam.com
\\/ M anipulation |
-------------------------------------------------------------------------------
Copyright (C) 2018 OpenCFD Ltd.
Copyright (C) 2021 OpenCFD Ltd.
-------------------------------------------------------------------------------
License
This file is part of OpenFOAM.
@ -44,6 +44,10 @@ Usage
referenceOrientation | Orientation | no | I
axis | Rotation axis (in reference) | yes |
omega | Angular velocity (rad/s) | yes |
relax | Relax moment with prevoius iter | yes
p | Propoptional corrector for PDI | yes
d | Differencial corrector for PDI | yes
i | Integral corrector for PDI | yes
\endtable
SourceFiles
@ -85,6 +89,26 @@ class prescribedRotation
//- Rotational velocity [rad/sec]
TimeFunction1<vector> omegaSet_;
//- Cache omega
mutable vector omega_;
//- Cache previous momentum
mutable vector oldMom_;
//- Relax momentum
scalar relax_;
//- PID constants
mutable vector error0_;
mutable vector integral0_;
mutable scalar p_;
mutable scalar i_;
mutable scalar d_;
public:
@ -137,7 +161,7 @@ public:
// * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * //
} // End namespace RBD
} // End namespace restraints
} // End namespace RBD
} // End namespace Foam

17
src/rigidBodyDynamics/rigidBodyMotion/rigidBodyMotion.C
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@ -186,6 +186,23 @@ void Foam::RBD::rigidBodyMotion::status(const label bodyID) const
}
const Foam::vector Foam::RBD::rigidBodyMotion::vCofR(const label bodyID) const
{
const spatialVector velCofR(v(bodyID, Zero));
return velCofR.l();
}
const Foam::vector Foam::RBD::rigidBodyMotion::cCofR(const label bodyID) const
{
const spatialTransform CofR(X0(bodyID));
return CofR.r();
}
Foam::tmp<Foam::pointField> Foam::RBD::rigidBodyMotion::transformPoints
(
const label bodyID,

6
src/rigidBodyDynamics/rigidBodyMotion/rigidBodyMotion.H
View File

@ -189,6 +189,12 @@ public:
//- Report the status of the motion of the given body
void status(const label bodyID) const;
//- Report linear velocity of the given body
const vector vCofR(const label bodyID) const;
//- Report CofR of the given body
const vector cCofR(const label bodyID) const;
// Transformations

60
src/rigidBodyMeshMotion/rigidBodyMeshMotion/rigidBodyMeshMotion.C
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@ -6,7 +6,7 @@
\\/ M anipulation |
-------------------------------------------------------------------------------
Copyright (C) 2016-2017 OpenFOAM Foundation
Copyright (C) 2016-2020 OpenCFD Ltd.
Copyright (C) 2016-2021 OpenCFD Ltd.
-------------------------------------------------------------------------------
License
This file is part of OpenFOAM.
@ -120,7 +120,12 @@ Foam::rigidBodyMeshMotion::rigidBodyMeshMotion
rhoInf_(1.0),
rhoName_(coeffDict().getOrDefault<word>("rho", "rho")),
ramp_(Function1<scalar>::NewIfPresent("ramp", coeffDict())),
curTimeIndex_(-1)
curTimeIndex_(-1),
cOfGdisplacement_
(
coeffDict().getOrDefault<word>("cOfGdisplacement", "none")
),
bodyIdCofG_(coeffDict().getOrDefault<label>("bodyIdCofG", -1))
{
if (rhoName_ == "rhoInf")
{
@ -208,7 +213,22 @@ Foam::rigidBodyMeshMotion::rigidBodyMeshMotion
Foam::tmp<Foam::pointField>
Foam::rigidBodyMeshMotion::curPoints() const
{
return points0() + pointDisplacement_.primitiveField();
tmp<pointField> newPoints(points0() + pointDisplacement_.primitiveField());
if (moveAllCells())
{
return newPoints;
}
else
{
tmp<pointField> ttransformedPts(new pointField(mesh().points()));
pointField& transformedPts = ttransformedPts.ref();
UIndirectList<point>(transformedPts, pointIDs()) =
pointField(newPoints.ref(), pointIDs());
return ttransformedPts;
}
}
@ -240,6 +260,8 @@ void Foam::rigidBodyMeshMotion::solve()
ramp*t.lookupObject<uniformDimensionedVectorField>("g").value();
}
vector oldPos = model_.cCofR(bodyIdCofG_);
if (test_)
{
const label nIter(coeffDict().get<label>("nIter"));
@ -288,6 +310,36 @@ void Foam::rigidBodyMeshMotion::solve()
fx
);
}
if (cOfGdisplacement_ != "none")
{
if (bodyIdCofG_ != -1)
{
if
(
db().time().foundObject<uniformDimensionedVectorField>
(
cOfGdisplacement_
)
)
{
auto& disp =
db().time().lookupObjectRef<uniformDimensionedVectorField>
(
cOfGdisplacement_
);
disp.value() += model_.cCofR(bodyIdCofG_) - oldPos;
}
}
else
{
FatalErrorInFunction
<< "CofGdisplacement is different to none." << endl
<< "The model needs the entry body reference Id: bodyIdCofG."
<< exit(FatalError);
}
}
}
if (Pstream::master() && model_.report())
@ -320,8 +372,8 @@ void Foam::rigidBodyMeshMotion::solve()
pointDisplacement_.primitiveFieldRef() =
model_.transformPoints(bodyIDs, weights, points0()) - points0();
}
}
// Displacement has changed. Update boundary conditions
pointConstraints::New
(

9
src/rigidBodyMeshMotion/rigidBodyMeshMotion/rigidBodyMeshMotion.H
View File

@ -6,7 +6,7 @@
\\/ M anipulation |
-------------------------------------------------------------------------------
Copyright (C) 2016-2017 OpenFOAM Foundation
Copyright (C) 2020 OpenCFD Ltd.
Copyright (C) 2021 OpenCFD Ltd.
-------------------------------------------------------------------------------
License
This file is part of OpenFOAM.
@ -128,6 +128,13 @@ class rigidBodyMeshMotion
//- Current time index (used for updating)
label curTimeIndex_;
//- Name of the uniformVectorField for CofG displacement
word cOfGdisplacement_;
//- Body Id for the body to write CofG displacement
label bodyIdCofG_;
// Private Member Functions

15
src/sixDoFRigidBodyMotion/sixDoFRigidBodyMotionSolver/sixDoFRigidBodyMotionSolver.C
View File

@ -107,7 +107,7 @@ Foam::sixDoFRigidBodyMotionSolver::sixDoFRigidBodyMotionSolver
dimensionedScalar(dimless, Zero)
),
curTimeIndex_(-1),
CofGvelocity_(coeffDict().getOrDefault<word>("CofGvelocity", "none"))
cOfGdisplacement_(coeffDict().getOrDefault<word>("cOfGdisplacement", "none"))
{
if (rhoName_ == "rhoInf")
{
@ -243,6 +243,8 @@ void Foam::sixDoFRigidBodyMotionSolver::solve()
forcesDict.add("rho", rhoName_);
forcesDict.add("CofR", motion_.centreOfRotation());
vector oldPos = motion_.centreOfRotation();
functionObjects::forces f("forces", db(), forcesDict);
f.calcForcesMoment();
@ -260,22 +262,23 @@ void Foam::sixDoFRigidBodyMotionSolver::solve()
t.deltaT0Value()
);
if (CofGvelocity_ != "none")
if (cOfGdisplacement_ != "none")
{
if
(
db().time().foundObject<uniformDimensionedVectorField>
(
CofGvelocity_
cOfGdisplacement_
)
)
{
uniformDimensionedVectorField& vel =
auto& disp =
db().time().lookupObjectRef<uniformDimensionedVectorField>
(
CofGvelocity_
cOfGdisplacement_
);
vel = motion_.v();
disp += (motion_.centreOfRotation() - oldPos);
}
}
}

4
src/sixDoFRigidBodyMotion/sixDoFRigidBodyMotionSolver/sixDoFRigidBodyMotionSolver.H
View File

@ -94,8 +94,8 @@ class sixDoFRigidBodyMotionSolver
//- Current time index (used for updating)
label curTimeIndex_;
//- Name of the uniformVectorField for CofG velocity
word CofGvelocity_;
//- Name of the uniformVectorField for CofG displacement
word cOfGdisplacement_;
// Private Member Functions

7
tutorials/multiphase/overInterDyMFoam/floatingBodyWithSpring/background/constant/dynamicMeshDict
View File

@ -26,8 +26,7 @@ solvers
solidBodyMotionFunction drivenLinearMotion;
cellSet c0;
CofGvelocity CofG;
normal (0 0 1);
cOfGdisplacement CofG;
}
cube
@ -42,7 +41,7 @@ solvers
outerDistance 1001.0;
centreOfMass (0.5 0.5 0.4);
CofGvelocity CofG;
cOfGdisplacement CofG;
// Cuboid dimensions
Lx 0.24;
@ -101,7 +100,7 @@ solvers
sixDoFRigidBodyMotionRestraint linearSpring;
anchor (0 0.5 0.4);
refAttachmentPt (0.5 0.5 0.4);
stiffness 100;
stiffness 300;
damping 0;
restLength 0;
}