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Updates to ODESolver and sixDOFODE classes

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Updates enable automatic handling of multiple calls to ODESolve::solve within a
single time step
This commit is contained in:
Vuko Vukcevic 2017-03-01 15:38:38 +01:00 committed by Hrvoje Jasak
parent 57b835967c
commit 7e0eee0f94
11 changed files with 221 additions and 133 deletions
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9
src/ODE/ODE/ODE.H
View file

@ -91,6 +91,15 @@ public:
//- Update ODE after the solution, advancing by delta
virtual void update(const scalar delta) = 0;
//- Member function for initialising the ODE state. Required for some
// ODE's (specifically sixDOFODE's) which might be called multiple
// times per single time-step. Called at the beginning of
// ODESolver::solve and does nothing by default
virtual void init()
{
// Does nothing by default
}
};

5
src/ODE/ODESolvers/ODESolver/ODESolver.C
View file

@ -52,8 +52,11 @@ void Foam::ODESolver::solve
const scalar xEnd,
const scalar eps,
scalar& hEst
) const
)
{
// Initialize ODE before solving
ode_.init();
const label MAXSTP = 10000;
scalar x = xStart;

8
src/ODE/ODESolvers/ODESolver/ODESolver.H
View file

@ -53,7 +53,7 @@ class ODESolver
protected:
// Private data
// Protected data
//- Reference to ODE
ODE& ode_;
@ -62,6 +62,8 @@ protected:
mutable scalarField dydx_;
private:
// Private Member Functions
//- Disallow default bitwise copy construct
@ -126,13 +128,13 @@ public:
) const = 0;
virtual void solve
void solve
(
const scalar xStart,
const scalar xEnd,
const scalar eps,
scalar& hEst
) const;
);
};

77
src/ODE/sixDOF/geometricSixDOF/geometricSixDOF.C
View file

@ -233,6 +233,39 @@ Foam::vector Foam::geometricSixDOF::dexpMap
}
// * * * * * * * * * * * Protected Member Functions * * * * * * * * * * * * * //
void Foam::geometricSixDOF::setState(const sixDOFODE& sd)
{
// First set the state in base class subobject
sixDOFODE::setState(sd);
// Cast sixDOFODE& to geometricSixDOF&
const geometricSixDOF& gsd = refCast<const geometricSixDOF>(sd);
// Set state variables for this class
Xrel_ = gsd.Xrel_;
U_ = gsd.U_;
Uaverage_ = gsd.Uaverage_;
rotation_ = gsd.rotation_;
omega_ = gsd.omega_;
omegaAverage_ = gsd.omegaAverage_;
// Copy ODE coefficients: this carries actual ODE state
// HJ, 23/Mar/2015
coeffs_ = gsd.coeffs_;
fixedSurge_ = gsd.fixedSurge_;
fixedSway_ = gsd.fixedSway_;
fixedHeave_ = gsd.fixedHeave_;
fixedRoll_ = gsd.fixedRoll_;
fixedPitch_ = gsd.fixedPitch_;
fixedYaw_ = gsd.fixedYaw_;
referentMotionConstraints_ = gsd.referentMotionConstraints_;
referentRotation_ = gsd.referentRotation_;
}
// * * * * * * * * * * * * * * * * Constructors * * * * * * * * * * * * * * //
Foam::geometricSixDOF::geometricSixDOF(const IOobject& io)
@ -310,18 +343,7 @@ Foam::geometricSixDOF::geometricSixDOF
const geometricSixDOF& gsd
)
:
sixDOFODE
(
IOobject
(
name,
gsd.dict().instance(),
gsd.dict().local(),
gsd.dict().db(),
IOobject::NO_READ,
IOobject::NO_WRITE
)
),
sixDOFODE(name, gsd),
Xrel_(gsd.Xrel_.name(), gsd.Xrel_),
U_(gsd.U_.name(), gsd.U_),
@ -399,37 +421,6 @@ const Foam::dimensionedVector& Foam::geometricSixDOF::Uaverage() const
}
void Foam::geometricSixDOF::setState(const sixDOFODE& sd)
{
// First set the state in base class subobject
sixDOFODE::setState(sd);
// Cast sixDOFODE& to geometricSixDOF&
const geometricSixDOF& gsd = refCast<const geometricSixDOF>(sd);
// Set state variables for this class
Xrel_ = gsd.Xrel_;
U_ = gsd.U_;
Uaverage_ = gsd.Uaverage_;
rotation_ = gsd.rotation_;
omega_ = gsd.omega_;
omegaAverage_ = gsd.omegaAverage_;
// Copy ODE coefficients: this carries actual ODE state
// HJ, 23/Mar/2015
coeffs_ = gsd.coeffs_;
fixedSurge_ = gsd.fixedSurge_;
fixedSway_ = gsd.fixedSway_;
fixedHeave_ = gsd.fixedHeave_;
fixedRoll_ = gsd.fixedRoll_;
fixedPitch_ = gsd.fixedPitch_;
fixedYaw_ = gsd.fixedYaw_;
referentMotionConstraints_ = gsd.referentMotionConstraints_;
referentRotation_ = gsd.referentRotation_;
}
const Foam::dimensionedVector& Foam::geometricSixDOF::omegaAverage() const
{
return omegaAverage_;

16
src/ODE/sixDOF/geometricSixDOF/geometricSixDOF.H
View file

@ -182,6 +182,16 @@ class geometricSixDOF
vector dexpMap(const vector& rotInc, const vector& omega) const;
protected:
// Protected Member Functions
// Non-access control for setting state variables
//- Set ODE parameters from another ODE
virtual void setState(const sixDOFODE&);
public:
// Run-time type information
@ -246,12 +256,6 @@ public:
virtual const dimensionedVector& Uaverage() const;
// Non-access control for setting state variables
//- Set ODE parameters from another ODE
virtual void setState(const sixDOFODE&);
// Average motion per time-step
//- Return average rotational velocity in relative coordinate

79
src/ODE/sixDOF/quaternionSixDOF/quaternionSixDOF.C
View file

@ -190,6 +190,40 @@ void Foam::quaternionSixDOF::constrainTranslation(vector& vec) const
}
// * * * * * * * * * * * Protected Member Functions * * * * * * * * * * * * * //
void Foam::quaternionSixDOF::setState(const sixDOFODE& sd)
{
// First set the state in base class subobject
sixDOFODE::setState(sd);
// Cast sixDOFODE& to quaternionSixDOF&
const quaternionSixDOF& qsd = refCast<const quaternionSixDOF>(sd);
// Set state variables for this class
Xrel_ = qsd.Xrel_;
U_ = qsd.U_;
Uaverage_ = qsd.Uaverage_;
rotation_ = qsd.rotation_;
omega_ = qsd.omega_;
omegaAverage_ = qsd.omegaAverage_;
omegaAverageAbsolute_ = qsd.omegaAverageAbsolute_;
// Copy ODE coefficients: this carries actual ODE state
// HJ, 23/Mar/2015
coeffs_ = qsd.coeffs_;
fixedSurge_ = qsd.fixedSurge_;
fixedSway_ = qsd.fixedSway_;
fixedHeave_ = qsd.fixedHeave_;
fixedRoll_ = qsd.fixedRoll_;
fixedPitch_ = qsd.fixedPitch_;
fixedYaw_ = qsd.fixedYaw_;
referentMotionConstraints_ = qsd.referentMotionConstraints_;
referentRotation_ = qsd.referentRotation_;
}
// * * * * * * * * * * * * * * * * Constructors * * * * * * * * * * * * * * //
Foam::quaternionSixDOF::quaternionSixDOF(const IOobject& io)
@ -260,18 +294,7 @@ Foam::quaternionSixDOF::quaternionSixDOF
const quaternionSixDOF& qsd
)
:
sixDOFODE
(
IOobject
(
name,
qsd.dict().instance(),
qsd.dict().local(),
qsd.dict().db(),
IOobject::NO_READ,
IOobject::NO_WRITE
)
),
sixDOFODE(name, qsd),
Xrel_(qsd.Xrel_.name(), qsd.Xrel_),
U_(qsd.U_.name(), qsd.U_),
@ -354,38 +377,6 @@ const Foam::dimensionedVector& Foam::quaternionSixDOF::Uaverage() const
}
void Foam::quaternionSixDOF::setState(const sixDOFODE& sd)
{
// First set the state in base class subobject
sixDOFODE::setState(sd);
// Cast sixDOFODE& to quaternionSixDOF&
const quaternionSixDOF& qsd = refCast<const quaternionSixDOF>(sd);
// Set state variables for this class
Xrel_ = qsd.Xrel_;
U_ = qsd.U_;
Uaverage_ = qsd.Uaverage_;
rotation_ = qsd.rotation_;
omega_ = qsd.omega_;
omegaAverage_ = qsd.omegaAverage_;
omegaAverageAbsolute_ = qsd.omegaAverageAbsolute_;
// Copy ODE coefficients: this carries actual ODE state
// HJ, 23/Mar/2015
coeffs_ = qsd.coeffs_;
fixedSurge_ = qsd.fixedSurge_;
fixedSway_ = qsd.fixedSway_;
fixedHeave_ = qsd.fixedHeave_;
fixedRoll_ = qsd.fixedRoll_;
fixedPitch_ = qsd.fixedPitch_;
fixedYaw_ = qsd.fixedYaw_;
referentMotionConstraints_ = qsd.referentMotionConstraints_;
referentRotation_ = qsd.referentRotation_;
}
const Foam::dimensionedVector& Foam::quaternionSixDOF::omegaAverage() const
{
return omegaAverage_;

16
src/ODE/sixDOF/quaternionSixDOF/quaternionSixDOF.H
View file

@ -158,6 +158,16 @@ class quaternionSixDOF
void constrainTranslation(vector& vec) const;
protected:
// Protected Member Functions
// Non-access control for setting state variables
//- Set ODE parameters from another ODE
virtual void setState(const sixDOFODE&);
public:
// Run-time type information
@ -211,12 +221,6 @@ public:
virtual const dimensionedVector& Uaverage() const;
// Non-access control for setting state variables
//- Set ODE parameters from another ODE
virtual void setState(const sixDOFODE&);
// Average motion per time-step
//- Return average rotational velocity in relative coordinate

2
src/ODE/sixDOF/sixDOFODE/newSixDOFODE.C
View file

@ -27,7 +27,7 @@ Class
Description
Abstract base class for six-degrees-of-freedom (6DOF) ordinary differential
equations
equations with necessary interface for two-way coupling with CFD solvers.
Author
Dubravko Matijasevic, FSB Zagreb. All rights reserved.

95
src/ODE/sixDOF/sixDOFODE/sixDOFODE.C
View file

@ -26,7 +26,7 @@ Class
Description
Abstract base class for six-degrees-of-freedom (6DOF) ordinary differential
equations
equations with necessary interface for two-way coupling with CFD solvers.
Author
Dubravko Matijasevic, FSB Zagreb. All rights reserved.
@ -119,6 +119,27 @@ void Foam::sixDOFODE::aitkensRelaxation
}
// * * * * * * * * * * * Protected Member Functions * * * * * * * * * * * * * //
void Foam::sixDOFODE::setState(const sixDOFODE& sd)
{
// Set state does not copy AList_, AOld_, relaxFactor_ and relaxFactorOld_.
// In case of multiple updates, overwriting Aitkens relaxation parameters
// would invalidate the underrelaxation. IG, 5/May/2016
mass_ = sd.mass_;
momentOfInertia_ = sd.momentOfInertia_;
Xequilibrium_ = sd.Xequilibrium_;
linSpringCoeffs_ = sd.linSpringCoeffs_;
linDampingCoeffs_ = sd.linDampingCoeffs_;
force_ = sd.force_;
moment_ = sd.moment_;
forceRelative_ = sd.forceRelative_;
momentRelative_ = sd.momentRelative_;
}
// * * * * * * * * * * * * * * * * Constructors * * * * * * * * * * * * * * //
Foam::sixDOFODE::sixDOFODE(const IOobject& io)
@ -146,7 +167,42 @@ Foam::sixDOFODE::sixDOFODE(const IOobject& io)
force_(dict_.lookup("force")),
moment_(dict_.lookup("moment")),
forceRelative_(dict_.lookup("forceRelative")),
momentRelative_(dict_.lookup("momentRelative"))
momentRelative_(dict_.lookup("momentRelative")),
curTimeIndex_(-1),
oldStatePtr_()
{}
Foam::sixDOFODE::sixDOFODE(const word& name, const sixDOFODE& sd)
:
ODE(),
dict_(sd.dict_),
mass_(sd.mass_),
momentOfInertia_(sd.momentOfInertia_),
Xequilibrium_(sd.Xequilibrium_),
linSpringCoeffs_(sd.linSpringCoeffs_),
linDampingCoeffs_(sd.linDampingCoeffs_),
relaxFactorT_(1.0),
relaxFactorR_(1.0),
oldRelaxFactorT_(1.0),
oldRelaxFactorR_(1.0),
A_(3, vector::zero),
OmegaDot_(3, vector::zero),
An_(3, vector::zero),
OmegaDotn_(3, vector::zero),
force_(sd.force_),
moment_(sd.moment_),
forceRelative_(sd.forceRelative_),
momentRelative_(sd.momentRelative_),
curTimeIndex_(-1),
oldStatePtr_()
{}
@ -216,23 +272,30 @@ void Foam::sixDOFODE::relaxAcceleration
}
void Foam::sixDOFODE::setState(const sixDOFODE& sd)
void Foam::sixDOFODE::init()
{
// Set state does not copy AList_, AOld_, relaxFactor_ and
// relaxFactorOld_. In case of multiple updates, overwriting Aitkens
// relaxation parameters would invalidate the underrelaxation.
// IG, 5/May/2016
mass_ = sd.mass_;
momentOfInertia_ = sd.momentOfInertia_;
// Get time index
const label timeIndex = dict().time().timeIndex();
Xequilibrium_ = sd.Xequilibrium_;
linSpringCoeffs_ = sd.linSpringCoeffs_;
linDampingCoeffs_ = sd.linDampingCoeffs_;
if (curTimeIndex_ < timeIndex)
{
// First call in this time index, store data
oldStatePtr_ = this->clone(dict().name() + "_0");
force_ = sd.force_;
moment_ = sd.moment_;
forceRelative_ = sd.forceRelative_;
momentRelative_ = sd.momentRelative_;
Info<< "First 6DOF solution within a time step, storing old data..."
<< endl;
}
else
{
// Multiple calls in this time index, reset this data
this->setState(oldStatePtr_());
Info<< "Repeated 6DOF solution within a time step, restoring data..."
<< endl;
}
// Update local time index
curTimeIndex_ = timeIndex;
}

45
src/ODE/sixDOF/sixDOFODE/sixDOFODE.H
View file

@ -26,8 +26,7 @@ Class
Description
Abstract base class for six-degrees-of-freedom (6DOF) ordinary differential
equations with a fat interface in order to provide representation of
rotations in quaternions or rotation tensors.
equations with necessary interface for two-way coupling with CFD solvers.
Author
Dubravko Matijasevic, FSB Zagreb. All rights reserved.
@ -55,9 +54,6 @@ SourceFiles
namespace Foam
{
class finiteRotation;
class HamiltonRodriguezRot;
/*---------------------------------------------------------------------------*\
Class sixDOFODE Declaration
\*---------------------------------------------------------------------------*/
@ -118,7 +114,7 @@ class sixDOFODE
List<vector> OmegaDotn_;
// External forces
// External forces and moments
//- Force driving the motion in inertial coord. sys.
dimensionedVector force_;
@ -133,6 +129,20 @@ class sixDOFODE
dimensionedVector momentRelative_;
// Private data used to control multiple ODE updates per time step
// Note: Before solving the ODE from the top level, we will store the
// previous state if this is the first update in a given time step. The
// state will be kept as the pointer to sixDOFODE, which is not optimal
// because we are keeping track of some unnecessary data. We could use
// more elegant and efficient code design. VV, 1/Mar/2017.
//- Local time index
label curTimeIndex_;
//- Pointer to the sixDOFODE object carrying old state
autoPtr<sixDOFODE> oldStatePtr_;
// Private Member Functions
// Copy control
@ -150,6 +160,16 @@ class sixDOFODE
void aitkensRelaxation(const scalar min, const scalar max);
protected:
// Protected Member Functions
// Non-access control for setting state variables
//- Set ODE parameters from another ODE
virtual void setState(const sixDOFODE&);
public:
//- Run-time type information
@ -173,6 +193,9 @@ public:
//- Construct from dictionary
sixDOFODE(const IOobject& io);
//- Copy construct given new name
sixDOFODE(const word& name, const sixDOFODE& sd);
//- Return a clone, changing the name
virtual autoPtr<sixDOFODE> clone(const word& name) const = 0;
@ -284,12 +307,6 @@ public:
virtual const dimensionedVector& Uaverage() const = 0;
// Non-access control for setting state variables
//- Set ODE parameters from another ODE
virtual void setState(const sixDOFODE&);
// Average motion per time-step
//- Return average rotational velocity in relative coordinate
@ -341,6 +358,10 @@ public:
//- Update ODE after the solution, advancing by delta
virtual void update(const scalar delta) = 0;
//- Initialise ODE before solving, handling multiple calls per
// single time step
virtual void init();
// Write control

2
src/ODE/sixDOF/sixDOFODE/sixDOFODEI.H
View file

@ -26,7 +26,7 @@ Class
Description
Abstract base class for six-degrees-of-freedom (6DOF) ordinary differential
equations
equations with necessary interface for two-way coupling with CFD solvers.
Author
Dubravko Matijasevic, FSB Zagreb. All rights reserved.