From b8632543082b94c0dbfae470d08342ffdd3ea912 Mon Sep 17 00:00:00 2001 From: Vaggelis Papoutsis Date: Wed, 11 Dec 2019 20:33:37 +0200 Subject: [PATCH] ENH: New adjont shape optimisation functionality MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit The adjoint library is enhanced with new functionality enabling automated shape optimisation loops. A parameterisation scheme based on volumetric B-Splines is introduced, the control points of which act as the design variables in the optimisation loop [1, 2]. The control points of the volumetric B-Splines boxes can be defined in either Cartesian or cylindrical coordinates. The entire loop (solution of the flow and adjoint equations, computation of sensitivity derivatives, update of the design variables and mesh) is run within adjointOptimisationFoam. A number of methods to update the design variables are implemented, including popular Quasi-Newton methods like BFGS and methods capable of handling constraints like loop using the SQP or constraint projection. The software was developed by PCOpt/NTUA and FOSS GP, with contributions from Dr. Evangelos Papoutsis-Kiachagias, Konstantinos Gkaragounis, Professor Kyriakos Giannakoglou, Andy Heather [1] E.M. Papoutsis-Kiachagias, N. Magoulas, J. Mueller, C. Othmer, K.C. Giannakoglou: 'Noise Reduction in Car Aerodynamics using a Surrogate Objective Function and the Continuous Adjoint Method with Wall Functions', Computers & Fluids, 122:223-232, 2015 [2] E. M. Papoutsis-Kiachagias, V. G. Asouti, K. C. Giannakoglou, K. Gkagkas, S. Shimokawa, E. Itakura: ‘Multi-point aerodynamic shape optimization of cars based on continuous adjoint’, Structural and Multidisciplinary Optimization, 59(2):675–694, 2019 --- .../adjointOptimisationFoam.C | 4 - .../cumulativeDisplacement/Make/files | 3 + .../cumulativeDisplacement/Make/options | 11 + .../cumulativeDisplacement/createFields.H | 16 + .../cumulativeDisplacement.C | 161 ++ .../writeActiveDesignVariables/Make/files | 3 + .../writeActiveDesignVariables/Make/options | 14 + .../writeActiveDesignVariables.C | 110 + .../optimisation/writeMorpherCPs/Make/files | 3 + .../optimisation/writeMorpherCPs/Make/options | 13 + .../writeMorpherCPs/writeMorpherCPs.C | 83 + .../zeroATCcells/pointCells/pointCells.C | 26 +- .../adjointOptimisation/adjoint/Make/files | 66 +- .../displacementMethod/displacementMethod.C | 136 + .../displacementMethod/displacementMethod.H | 171 ++ .../displacementMethoddisplacementLaplacian.C | 192 ++ .../displacementMethoddisplacementLaplacian.H | 128 + 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mode 100644 tutorials/incompressible/adjointOptimisationFoam/shapeOptimisation/sbend/turbulent/primalAdjointFullSetup/system/controlDict create mode 100644 tutorials/incompressible/adjointOptimisationFoam/shapeOptimisation/sbend/turbulent/primalAdjointFullSetup/system/decomposeParDict create mode 100644 tutorials/incompressible/adjointOptimisationFoam/shapeOptimisation/sbend/turbulent/primalAdjointFullSetup/system/fvSchemes create mode 100644 tutorials/incompressible/adjointOptimisationFoam/shapeOptimisation/sbend/turbulent/primalAdjointFullSetup/system/fvSolution create mode 100644 tutorials/incompressible/adjointOptimisationFoam/shapeOptimisation/sbend/turbulent/primalAdjointFullSetup/system/optimisationDict diff --git a/applications/solvers/incompressible/adjointOptimisationFoam/adjointOptimisationFoam.C b/applications/solvers/incompressible/adjointOptimisationFoam/adjointOptimisationFoam.C index 44f5ef61ab..3ba1833051 100644 --- a/applications/solvers/incompressible/adjointOptimisationFoam/adjointOptimisationFoam.C +++ b/applications/solvers/incompressible/adjointOptimisationFoam/adjointOptimisationFoam.C @@ -55,10 +55,6 @@ int main(int argc, char *argv[]) for (om++; !om.end(); om++) { - Info<< "* * * * * * * * * * * * * * * * * * *" << endl; - Info<< "Time = " << runTime.timeName() << endl; - Info<< "* * * * * * * * * * * * * * * * * * *" << endl; - if (om.update()) { // Update design variables and solve all primal equations diff --git a/applications/utilities/postProcessing/optimisation/cumulativeDisplacement/Make/files b/applications/utilities/postProcessing/optimisation/cumulativeDisplacement/Make/files new file mode 100644 index 0000000000..d3bd51a25a --- /dev/null +++ b/applications/utilities/postProcessing/optimisation/cumulativeDisplacement/Make/files @@ -0,0 +1,3 @@ +cumulativeDisplacement.C + +EXE = $(FOAM_APPBIN)/cumulativeDisplacement diff --git a/applications/utilities/postProcessing/optimisation/cumulativeDisplacement/Make/options b/applications/utilities/postProcessing/optimisation/cumulativeDisplacement/Make/options new file mode 100644 index 0000000000..7e96f0b932 --- /dev/null +++ b/applications/utilities/postProcessing/optimisation/cumulativeDisplacement/Make/options @@ -0,0 +1,11 @@ +EXE_INC = \ + -I$(LIB_SRC)/dynamicMesh/dynamicFvMesh/lnInclude \ + -I$(LIB_SRC)/dynamicMesh/dynamicMesh/lnInclude \ + -I$(LIB_SRC)/meshTools/lnInclude \ + -I$(LIB_SRC)/finiteVolume/lnInclude + +EXE_LIBS = \ + -ldynamicFvMesh \ + -ldynamicMesh \ + -lmeshTools \ + -lfiniteVolume diff --git a/applications/utilities/postProcessing/optimisation/cumulativeDisplacement/createFields.H b/applications/utilities/postProcessing/optimisation/cumulativeDisplacement/createFields.H new file mode 100644 index 0000000000..0fee3dd334 --- /dev/null +++ b/applications/utilities/postProcessing/optimisation/cumulativeDisplacement/createFields.H @@ -0,0 +1,16 @@ + pointField points0 + ( + pointIOField + ( + IOobject + ( + "points", + mesh.time().constant(), + polyMesh::meshSubDir, + mesh, + IOobject::MUST_READ, + IOobject::NO_WRITE, + false + ) + ) + ); diff --git a/applications/utilities/postProcessing/optimisation/cumulativeDisplacement/cumulativeDisplacement.C b/applications/utilities/postProcessing/optimisation/cumulativeDisplacement/cumulativeDisplacement.C new file mode 100644 index 0000000000..703c8c40fe --- /dev/null +++ b/applications/utilities/postProcessing/optimisation/cumulativeDisplacement/cumulativeDisplacement.C @@ -0,0 +1,161 @@ +/*---------------------------------------------------------------------------*\ + ========= | + \\ / F ield | OpenFOAM: The Open Source CFD Toolbox + \\ / O peration | + \\ / A nd | www.openfoam.com + \\/ M anipulation | +------------------------------------------------------------------------------- + Copyright (C) 2007-2019 PCOpt/NTUA + Copyright (C) 2013-2019 FOSS GP + Copyright (C) 2019 OpenCFD Ltd. +------------------------------------------------------------------------------- +License + This file is part of OpenFOAM. + + OpenFOAM is free software: you can redistribute it and/or modify it + under the terms of the GNU General Public License as published by + the Free Software Foundation, either version 3 of the License, or + (at your option) any later version. + + OpenFOAM is distributed in the hope that it will be useful, but WITHOUT + ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or + FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License + for more details. + + You should have received a copy of the GNU General Public License + along with OpenFOAM. If not, see . + +Application + cumulativeDisplacement + +Description + Computes and writes the difference between the mesh points in each time + instance and the ones in the constant folder. Additionally, the projection + of this difference to the normal point vectors of the initial mesh is also + written + +\*---------------------------------------------------------------------------*/ + +#include "fvCFD.H" +#include "emptyFvPatch.H" +#include "coupledFvPatch.H" +#include "pointMesh.H" +#include "pointPatchField.H" +#include "pointPatchFieldsFwd.H" +#include "syncTools.H" + +// * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * // + +int main(int argc, char *argv[]) +{ + timeSelector::addOptions(); + + #include "addRegionOption.H" + + #include "setRootCase.H" + #include "createTime.H" + instantList timeDirs = timeSelector::select0(runTime, args); + #include "createNamedMesh.H" + #include "createFields.H" + + // polyPatch::pointNormals will give the wrong result for points + // belonging to multiple patches or patch-processorPatch intersections. + // Keeping a mesh-wide field to allow easy reduction using syncTools. + // A bit expensive? Better way? + vectorField pointNormals(mesh.nPoints(), vector::zero); + for (const fvPatch& patch : mesh.boundary()) + { + // Each local patch point belongs to these local patch faces. + // Local numbering + const labelListList& patchPointFaces = patch.patch().pointFaces(); + if (!isA(patch) && !isA(patch)) + { + const labelList& meshPoints = patch.patch().meshPoints(); + const vectorField nf(patch.nf()); + forAll(meshPoints, ppI) + { + const labelList& pointFaces = patchPointFaces[ppI]; + forAll(pointFaces, pfI) + { + const label& localFaceIndex = pointFaces[pfI]; + pointNormals[meshPoints[ppI]] += nf[localFaceIndex]; + } + } + } + } + // Sum from all processors + syncTools::syncPointList + ( + mesh, pointNormals, plusEqOp(), vector::zero + ); + pointNormals /= mag(pointNormals) + VSMALL; + + forAll(timeDirs, timeI) + { + runTime.setTime(timeDirs[timeI], timeI); + Info<< "Time = " << runTime.timeName() << endl; + mesh.readUpdate(); + + const pointMesh& pMesh(pointMesh::New(mesh)); + // Point displacement projected to the + // unit point normal of the initial geometry + pointScalarField normalDisplacement + ( + IOobject + ( + "normalDisplacement", + runTime.timeName(), + mesh, + IOobject::NO_READ, + IOobject::AUTO_WRITE + ), + pMesh, + dimensionedScalar(dimless, Zero) + ); + // Point displacement as a vector + pointVectorField displacement + ( + IOobject + ( + "displacement", + runTime.timeName(), + mesh, + IOobject::NO_READ, + IOobject::AUTO_WRITE + ), + pMesh, + dimensionedVector(dimless, Zero) + ); + + Info<< "Calculating cumulative mesh movement for time " + << runTime.timeName() << endl; + // Normal displacement + const pointField& meshPoints = mesh.points(); + forAll(mesh.boundary(), pI) + { + const polyPatch& patch = mesh.boundaryMesh()[pI]; + const labelList& localPoints = patch.meshPoints(); + forAll(localPoints, ppI) + { + label pointI = localPoints[ppI]; + normalDisplacement[pointI] = + (meshPoints[pointI] - points0[pointI]) + & pointNormals[pointI]; + } + } + normalDisplacement.write(); + // Vectorial displacement + displacement.primitiveFieldRef() = meshPoints - points0; + displacement.write(); + } + + // Print execution time + mesh.time().printExecutionTime(Info); + + Info<< "End\n" << endl; + + return(0); +} + + +// ************************************************************************* // diff --git a/applications/utilities/preProcessing/optimisation/writeActiveDesignVariables/Make/files b/applications/utilities/preProcessing/optimisation/writeActiveDesignVariables/Make/files new file mode 100644 index 0000000000..c6e8c8fb9d --- /dev/null +++ b/applications/utilities/preProcessing/optimisation/writeActiveDesignVariables/Make/files @@ -0,0 +1,3 @@ +writeActiveDesignVariables.C + +EXE = $(FOAM_APPBIN)/writeActiveDesignVariables diff --git a/applications/utilities/preProcessing/optimisation/writeActiveDesignVariables/Make/options b/applications/utilities/preProcessing/optimisation/writeActiveDesignVariables/Make/options new file mode 100644 index 0000000000..f5b51c5ca7 --- /dev/null +++ b/applications/utilities/preProcessing/optimisation/writeActiveDesignVariables/Make/options @@ -0,0 +1,14 @@ +EXE_INC = \ + -I$(LIB_SRC)/finiteVolume/lnInclude \ + -I$(LIB_SRC)/meshTools/lnInclude \ + -I$(LIB_SRC)/finiteVolume/cfdTools \ + -I$(LIB_SRC)/dynamicMesh/lnInclude \ + -I$(LIB_SRC)/optimisation/adjointOptimisation/adjoint/lnInclude + +EXE_LIBS = \ + -lfiniteVolume \ + -lmeshTools \ + -lfvOptions \ + -ldynamicMesh \ + -lfvMotionSolvers \ + -ladjointOptimisation diff --git a/applications/utilities/preProcessing/optimisation/writeActiveDesignVariables/writeActiveDesignVariables.C b/applications/utilities/preProcessing/optimisation/writeActiveDesignVariables/writeActiveDesignVariables.C new file mode 100644 index 0000000000..753130420a --- /dev/null +++ b/applications/utilities/preProcessing/optimisation/writeActiveDesignVariables/writeActiveDesignVariables.C @@ -0,0 +1,110 @@ +/*---------------------------------------------------------------------------*\ + ========= | + \\ / F ield | OpenFOAM: The Open Source CFD Toolbox + \\ / O peration | + \\ / A nd | www.openfoam.com + \\/ M anipulation | +------------------------------------------------------------------------------- + Copyright (C) 2007-2019 PCOpt/NTUA + Copyright (C) 2013-2019 FOSS GP + Copyright (C) 2019 OpenCFD Ltd. +------------------------------------------------------------------------------- +License + This file is part of OpenFOAM. + + OpenFOAM is free software: you can redistribute it and/or modify it + under the terms of the GNU General Public License as published by + the Free Software Foundation, either version 3 of the License, or + (at your option) any later version. + + OpenFOAM is distributed in the hope that it will be useful, but WITHOUT + ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or + FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License + for more details. + + You should have received a copy of the GNU General Public License + along with OpenFOAM. If not, see . + +Application + writeActiveDesignVariables + +Description + Writes the active design variables based on the selected parameterisation + scheme, as read from the meshMovement part of optimisationDict. + Keeps a back-up of the original optimisationDict in + system/optimisationDict.org, as comments in the dict will be lost. + +\*---------------------------------------------------------------------------*/ + +#include "fvCFD.H" +#include "optMeshMovement.H" +#include "updateMethod.H" +#include "OFstream.H" + +// * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * // + +int main(int argc, char *argv[]) +{ + #include "setRootCase.H" + #include "createTime.H" + #include "createMesh.H" + + IOdictionary optDict + ( + IOobject + ( + "optimisationDict", + mesh.time().caseSystem(), + mesh, + IOobject::MUST_READ_IF_MODIFIED, + IOobject::NO_WRITE + ) + ); + + // Back-up old optimisationDict, to maintain potential comments in it + if (Pstream::master()) + { + cp(optDict.objectPath(), optDict.objectPath() + ".org"); + } + + // Construct mesh movement object and grab active design variables + // Will exit with error if not implemented for this type + const dictionary& movementDict = + optDict.subDict("optimisation").subDict("meshMovement"); + // Empty patch list will do + labelList patchIDs(0); + autoPtr movementPtr + (optMeshMovement::New(mesh, movementDict, patchIDs)); + const labelList activeDesignVariables = + movementPtr().getActiveDesignVariables(); + + // Construct update method to grab the type + dictionary& updateMethodDict = + optDict.subDict("optimisation").subDict("updateMethod"); + autoPtr updMethod(updateMethod::New(mesh, updateMethodDict)); + + // Add to appropriate dictionary (creates it if it does not exist) + dictionary& coeffsDict = updateMethodDict.subDictOrAdd(updMethod().type()); + coeffsDict.add + ( + "activeDesignVariables", + activeDesignVariables, + true + ); + + // Write modified dictionary + optDict.regIOobject::writeObject + ( + IOstream::ASCII, + IOstream::currentVersion, + IOstream::UNCOMPRESSED, + true + ); + + Info<< "End\n" << endl; + + return 0; +} + + +// ************************************************************************* // diff --git a/applications/utilities/preProcessing/optimisation/writeMorpherCPs/Make/files b/applications/utilities/preProcessing/optimisation/writeMorpherCPs/Make/files new file mode 100644 index 0000000000..335b32e0e3 --- /dev/null +++ b/applications/utilities/preProcessing/optimisation/writeMorpherCPs/Make/files @@ -0,0 +1,3 @@ +writeMorpherCPs.C + +EXE = $(FOAM_APPBIN)/writeMorpherCPs diff --git a/applications/utilities/preProcessing/optimisation/writeMorpherCPs/Make/options b/applications/utilities/preProcessing/optimisation/writeMorpherCPs/Make/options new file mode 100644 index 0000000000..b434e5669b --- /dev/null +++ b/applications/utilities/preProcessing/optimisation/writeMorpherCPs/Make/options @@ -0,0 +1,13 @@ +EXE_INC = \ + -I$(LIB_SRC)/finiteVolume/lnInclude \ + -I$(LIB_SRC)/meshTools/lnInclude \ + -I$(LIB_SRC)/finiteVolume/cfdTools \ + -I$(LIB_SRC)/optimisation/adjointOptimisation/adjoint/lnInclude + +EXE_LIBS = \ + -lfiniteVolume \ + -lmeshTools \ + -lfvOptions \ + -ldynamicMesh \ + -lfvMotionSolvers \ + -ladjointOptimisation diff --git a/applications/utilities/preProcessing/optimisation/writeMorpherCPs/writeMorpherCPs.C b/applications/utilities/preProcessing/optimisation/writeMorpherCPs/writeMorpherCPs.C new file mode 100644 index 0000000000..2b70f30568 --- /dev/null +++ b/applications/utilities/preProcessing/optimisation/writeMorpherCPs/writeMorpherCPs.C @@ -0,0 +1,83 @@ +/*---------------------------------------------------------------------------*\ + ========= | + \\ / F ield | OpenFOAM: The Open Source CFD Toolbox + \\ / O peration | + \\ / A nd | www.openfoam.com + \\/ M anipulation | +------------------------------------------------------------------------------- + Copyright (C) 2007-2019 PCOpt/NTUA + Copyright (C) 2013-2019 FOSS GP + Copyright (C) 2019 OpenCFD Ltd. +------------------------------------------------------------------------------- +License + This file is part of OpenFOAM. + + OpenFOAM is free software: you can redistribute it and/or modify it + under the terms of the GNU General Public License as published by + the Free Software Foundation, either version 3 of the License, or + (at your option) any later version. + + OpenFOAM is distributed in the hope that it will be useful, but WITHOUT + ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or + FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License + for more details. + + You should have received a copy of the GNU General Public License + along with OpenFOAM. If not, see . + +Application + writeMorpherCPs + +Description + Writes the NURBS3DVolume control points corresponding to dynamicMeshDict + to csv files. Parametric coordinates are not computed. + +\*---------------------------------------------------------------------------*/ + +#include "fvCFD.H" +#include "NURBS3DVolume.H" + +// * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * // + +int main(int argc, char *argv[]) +{ + #include "setRootCase.H" + #include "createTime.H" + #include "createMesh.H" + + IOdictionary dict + ( + IOobject + ( + "dynamicMeshDict", + mesh.time().constant(), + mesh, + IOobject::MUST_READ_IF_MODIFIED, + IOobject::NO_WRITE + ) + ); + + const dictionary& coeffDict = + dict.subDict("volumetricBSplinesMotionSolverCoeffs"); + + wordList controlBoxes(coeffDict.get("controlBoxes")); + + forAll(controlBoxes, iNURB) + { + // Creating an object writes the control points in the + // constructor + NURBS3DVolume::New + ( + coeffDict.subDict(controlBoxes[iNURB]), + mesh, + false // do not compute parametric coordinates + ); + } + + Info<< "End\n" << endl; + + return 0; +} + + +// ************************************************************************* // diff --git a/src/optimisation/adjointOptimisation/adjoint/ATCModel/zeroATCcells/pointCells/pointCells.C b/src/optimisation/adjointOptimisation/adjoint/ATCModel/zeroATCcells/pointCells/pointCells.C index 17db910b4c..b46ae6c328 100644 --- a/src/optimisation/adjointOptimisation/adjoint/ATCModel/zeroATCcells/pointCells/pointCells.C +++ b/src/optimisation/adjointOptimisation/adjoint/ATCModel/zeroATCcells/pointCells/pointCells.C @@ -52,6 +52,9 @@ pointCells::pointCells : zeroATCcells(mesh, dict) { + boolList isZeroed(mesh_.nCells(), false); + labelList zeroedIDs(mesh_.nCells(), -1); + label i(0); forAll(mesh_.boundary(), patchI) { const fvPatch& patch = mesh_.boundary()[patchI]; @@ -65,7 +68,14 @@ pointCells::pointCells for (const label pointI : meshPoints) { const labelList& pointCells = mesh_.pointCells()[pointI]; - zeroATCcells_.append(pointCells); + for (const label cellI : pointCells) + { + if (!isZeroed[cellI]) + { + zeroedIDs[i++] = cellI; + isZeroed[cellI] = true; + } + } } } } @@ -76,14 +86,22 @@ pointCells::pointCells if (zoneID != -1) { const labelList& zoneCells = mesh_.cellZones()[zoneID]; - zeroATCcells_.append(zoneCells); + for (const label cellI : zoneCells) + { + if (!isZeroed[cellI]) + { + zeroedIDs[i++] = cellI; + isZeroed[cellI] = true; + } + } } } - /* + zeroedIDs.setSize(i); + zeroATCcells_ = zeroedIDs; + label size = zeroATCcells_.size(); reduce(size, sumOp