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ENH: Improvement to overset that allows multiple motion solvers

Browse Source 
to operate with overset

1) Adding zoneMotion to rigidBodyMotion
2) Introducing PID to prescribedRotation restraint
3) Making drivenLinearMotion read total displacement
4) When drivenLinearMotion is used sixDof and rigid-body solvers
   write total displacement
This commit is contained in:
sergio
2021-03-01 19:25:21 -08:00
committed by Andrew Heather
parent 1050314b8c
commit da1e6ea8d0
13 changed files with 188 additions and 67 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;

14
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",
@ -71,6 +70,19 @@ Foam::IOobject Foam::points0MotionSolver::points0IO(const polyMesh& mesh)
io.rename("points");
}
// Choose the latest points if points0 is not present
// if (!io.typeHeaderOk<pointIOField>())
// {
// const word instance =
// mesh.time().findInstance
// (
// mesh.meshDir(),
// "points",
// IOobject::MUST_READ
// );
// io.instance() = instance;
// io.rename("points");
// }
return io;
}

29
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.
@ -56,26 +56,21 @@ Foam::solidBodyMotionFunctions::drivenLinearMotion::drivenLinearMotion
:
solidBodyMotionFunction(SBMFCoeffs, runTime),
CofGvelocity_(SBMFCoeffs.get<word>("CofGvelocity")),
normal_(SBMFCoeffs.getOrDefault<vector>("normal", Zero)),
CofGvel_
(
IOobject
(
CofGvelocity_,
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 :" << CofGvel_.value() << endl;
quaternion R(1);
septernion TR(septernion(-displacement_)*R);
septernion TR(septernion(-CofGvel_.value())*R);
DebugInFunction << "Time = " << time_.value()
<< " transformation: " << TR << endl;

6
src/dynamicMesh/motionSolvers/displacement/solidBody/solidBodyMotionFunctions/drivenLinearMotion/drivenLinearMotion.H
View File

@ -66,15 +66,9 @@ class drivenLinearMotion
//- Name of the meshObject to dum CofG velocity
word CofGvelocity_;
//- Normal plane direction to restrict movement on a plane
vector normal_;
//- Uniform vector to follow
uniformDimensionedVectorField CofGvel_;
//- Last displacement
mutable vector displacement_;
// 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();

56
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),
prevMom_(Zero),
error0_(Zero),
integral0_(Zero)
{
read(dict);
}
@ -123,23 +127,31 @@ 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 = moment*Inertia/model_.time().deltaTValue();
// vector moment
// (
// (
// Inertia
// * (omegaSet_.value(model_.time().value()) - omega)
// / model_.time().deltaTValue()/relax_
// & a
// )
// * a
// );
moment = relax_*moment + (1- relax_)*prevMom_;
if (model_.debug)
{
@ -149,12 +161,20 @@ 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);
prevMom_ = moment;
error0_ = error;
integral0_ = integral;
}
@ -180,6 +200,12 @@ 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 prevMom_;
//- 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
View File

@ -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
View File

@ -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 +120,10 @@ Foam::rigidBodyMeshMotion::rigidBodyMeshMotion
rhoInf_(1.0),
rhoName_(coeffDict().getOrDefault<word>("rho", "rho")),
ramp_(Function1<scalar>::NewIfPresent("ramp", coeffDict())),
curTimeIndex_(-1)
curTimeIndex_(-1),
CofGvelocity_(coeffDict().getOrDefault<word>("CofGvelocity", "none")),
bodyIdCofG_(coeffDict().getOrDefault<label>("bodyIdCofG", -1))
//points0_(points0IO(mesh))
{
if (rhoName_ == "rhoInf")
{
@ -208,7 +211,24 @@ Foam::rigidBodyMeshMotion::rigidBodyMeshMotion
Foam::tmp<Foam::pointField>
Foam::rigidBodyMeshMotion::curPoints() const
{
return points0() + pointDisplacement_.primitiveField();
//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 (CofGvelocity_ != "none")
{
if (bodyIdCofG_ != -1)
{
if
(
db().time().foundObject<uniformDimensionedVectorField>
(
CofGvelocity_
)
)
{
uniformDimensionedVectorField& disp =
db().time().lookupObjectRef<uniformDimensionedVectorField>
(
CofGvelocity_
);
disp.value() += model_.cCofR(bodyIdCofG_) - oldPos;
}
}
else
{
FatalErrorInFunction
<< "CofGvelocity is different of none." << endl
<< "The model need 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 velocity
word CofGvelocity_;
//- Body Id for the body to write CofG velocity
label bodyIdCofG_;
// Private Member Functions

7
src/sixDoFRigidBodyMotion/sixDoFRigidBodyMotionSolver/sixDoFRigidBodyMotionSolver.C
View File

@ -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();
@ -270,12 +272,13 @@ void Foam::sixDoFRigidBodyMotionSolver::solve()
)
)
{
uniformDimensionedVectorField& vel =
uniformDimensionedVectorField& disp =
db().time().lookupObjectRef<uniformDimensionedVectorField>
(
CofGvelocity_
);
vel = motion_.v();
disp += (motion_.centreOfRotation() - oldPos);
}
}
}

3
tutorials/multiphase/overInterDyMFoam/floatingBodyWithSpring/background/constant/dynamicMeshDict
View File

@ -27,7 +27,6 @@ solvers
cellSet c0;
CofGvelocity CofG;
normal (0 0 1);
}
cube
@ -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;
}