From f0fdb6c725a6f5a08f7c871ce8c9dbb3d285b23e Mon Sep 17 00:00:00 2001 From: Jared Callaham Date: Thu, 3 Oct 2024 08:16:19 -0400 Subject: [PATCH] Fix BCs and geometry for pinball --- hydrogym/firedrake/envs/cylinder/flow.py | 2 +- hydrogym/firedrake/envs/pinball/fine.geo | 12 +- hydrogym/firedrake/envs/pinball/fine.msh | 298041 +++++++++++++----- hydrogym/firedrake/envs/pinball/flow.py | 10 +- hydrogym/firedrake/envs/pinball/medium.geo | 143 + hydrogym/firedrake/envs/pinball/medium.msh | 102956 ++++++ 6 files changed, 322966 insertions(+), 78198 deletions(-) create mode 100644 hydrogym/firedrake/envs/pinball/medium.geo create mode 100644 hydrogym/firedrake/envs/pinball/medium.msh diff --git a/hydrogym/firedrake/envs/cylinder/flow.py b/hydrogym/firedrake/envs/cylinder/flow.py index fd02b10..cc01ace 100644 --- a/hydrogym/firedrake/envs/cylinder/flow.py +++ b/hydrogym/firedrake/envs/cylinder/flow.py @@ -209,7 +209,7 @@ def cyl_velocity_field(self): theta = atan2(ufl.real(self.y), ufl.real(self.x)) # Angle from origin self.rad = fd.Constant(RADIUS) # Tangential velocity - return ufl.as_tensor((self.rad * sin(theta), self.rad * cos(theta))) + return ufl.as_tensor((-self.rad * sin(theta), self.rad * cos(theta))) class Cylinder(CylinderBase): diff --git a/hydrogym/firedrake/envs/pinball/fine.geo b/hydrogym/firedrake/envs/pinball/fine.geo index 9396b74..37664a9 100644 --- a/hydrogym/firedrake/envs/pinball/fine.geo +++ b/hydrogym/firedrake/envs/pinball/fine.geo @@ -1,9 +1,9 @@ n1 = 30.0; n2 = 5.0; -n3 = 3; -x_ninf = -6.0; -x_pinf = 20.0; -y_inf = 6.0; +n3 = 1.0; +x_ninf = -20.0; +x_pinf = 40.0; +y_inf = 30.0; // Cylinder points R = 0.5; @@ -15,7 +15,7 @@ Point(3) = { x0+0.0,y0+R, 0, 1/n1}; Point(4) = { x0-R,y0+0.0, 0, 1/n1}; Point(5) = { x0+0.0,y0-R, 0, 1/n1}; -x0 = 1.5*1.866*R; +x0 = 1.5*1.732*R; y0 = 1.5*R; Point(6) = { x0, y0, 0, 1/n1}; Point(7) = { x0+R,y0+0.0, 0, 1/n1}; @@ -23,7 +23,7 @@ Point(8) = { x0+0.0,y0+R, 0, 1/n1}; Point(9) = { x0-R,y0+0.0, 0, 1/n1}; 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9336 -21411 2 2 1 2 20 11829 838 -21412 2 2 1 2 8801 11716 643 -21413 2 2 1 2 11525 11527 9515 -21414 2 2 1 2 9680 11717 9678 -21415 2 2 1 2 10473 11761 8815 -21416 2 2 1 2 10113 11722 9982 -21417 2 2 1 2 10755 11724 10757 -21418 2 2 1 2 10451 11832 8824 -21419 2 2 1 2 10691 11585 10690 -21420 2 2 1 2 10752 11724 10751 -21421 2 2 1 2 9216 11573 9218 -21422 2 2 1 2 8926 11572 858 -21423 2 2 1 2 11573 11574 9218 -21424 2 2 1 2 10690 11588 10766 -21425 2 2 1 2 9218 11574 9220 -21426 2 2 1 2 839 11575 8925 -21427 2 2 1 2 10441 11576 10076 -21428 2 2 1 2 10422 11888 8931 -21429 2 2 1 2 11534 11867 1424 -21430 2 2 1 2 8899 11725 1460 -21431 2 2 1 2 11585 11588 10690 -21432 2 2 1 2 10539 11730 10542 -21433 2 2 1 2 10534 11767 10216 -21434 2 2 1 2 9636 11577 9634 -21435 2 2 1 2 8936 11744 606 -21436 2 2 1 2 10623 11735 10622 -21437 2 2 1 2 11787 11818 9636 -21438 2 2 1 2 8909 11854 10807 -21439 2 2 1 2 9877 11578 11237 -21440 2 2 1 2 10450 11895 10453 -21441 2 2 1 2 11393 11749 10254 -21442 2 2 1 2 9092 11719 10216 -21443 2 2 1 2 701 11728 8804 -21444 2 2 1 2 10314 11732 10148 -21445 2 2 1 2 9553 11579 9551 -21446 2 2 1 2 11215 11606 9809 -21447 2 2 1 2 10100 11596 11571 -21448 2 2 1 2 8851 11736 11671 -21449 2 2 1 2 10486 11905 10072 -21450 2 2 1 2 10081 11580 10323 -21451 2 2 1 2 10150 11732 10371 -21452 2 2 1 2 10349 11734 10350 -21453 2 2 1 2 10419 11778 8927 -21454 2 2 1 2 11352 11706 9854 -21455 2 2 1 2 9813 11604 11507 -21456 2 2 1 2 10930 11582 9338 -21457 2 2 1 2 10072 11905 10483 -21458 2 2 1 2 10881 11731 10882 -21459 2 2 1 2 10196 11736 10198 -21460 2 2 1 2 658 11583 657 -21461 2 2 1 2 10435 11907 647 -21462 2 2 1 2 8914 11754 11696 -21463 2 2 1 2 9036 11751 9032 -21464 2 2 1 2 656 11739 655 -21465 2 2 1 2 10221 11747 10220 -21466 2 2 1 2 1 11810 1343 -21467 2 2 1 2 9232 11584 9234 -21468 2 2 1 2 11584 11586 9234 -21469 2 2 1 2 10757 11776 11158 -21470 2 2 1 2 10257 11704 10258 -21471 2 2 1 2 44 11745 11744 -21472 2 2 1 2 9234 11586 9236 -21473 2 2 1 2 11282 11585 9540 -21474 2 2 1 2 10888 11612 10886 -21475 2 2 1 2 24 11810 1 -21476 2 2 1 2 11377 11909 8871 -21477 2 2 1 2 10470 11843 8831 -21478 2 2 1 2 9700 11743 9806 -21479 2 2 1 2 9707 11743 9702 -21480 2 2 1 2 9068 11587 9050 -21481 2 2 1 2 11467 11711 11166 -21482 2 2 1 2 8897 11654 11534 -21483 2 2 1 2 11282 11588 11585 -21484 2 2 1 2 9056 11751 10442 -21485 2 2 1 2 10379 11740 10243 -21486 2 2 1 2 10886 11617 10887 -21487 2 2 1 2 8879 11763 10504 -21488 2 2 1 2 10158 11741 11324 -21489 2 2 1 2 716 11656 11533 -21490 2 2 1 2 11612 11617 10886 -21491 2 2 1 2 10100 11588 11282 -21492 2 2 1 2 9940 11753 10315 -21493 2 2 1 2 10546 11591 10545 -21494 2 2 1 2 9923 11589 11236 -21495 2 2 1 2 671 11755 670 -21496 2 2 1 2 9948 11753 9883 -21497 2 2 1 2 11526 11710 10416 -21498 2 2 1 2 9570 11590 9568 -21499 2 2 1 2 11302 11740 10457 -21500 2 2 1 2 8909 11757 660 -21501 2 2 1 2 659 11757 8807 -21502 2 2 1 2 10114 11592 10115 -21503 2 2 1 2 10645 11779 9036 -21504 2 2 1 2 9574 11594 9572 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10120 11651 11598 -21599 2 2 1 2 10452 11663 10233 -21600 2 2 1 2 9917 11618 11196 -21601 2 2 1 2 9606 11620 9604 -21602 2 2 1 2 11537 11703 8859 -21603 2 2 1 2 9106 11790 9104 -21604 2 2 1 2 9762 11695 11207 -21605 2 2 1 2 10615 11843 10470 -21606 2 2 1 2 9606 11621 11620 -21607 2 2 1 2 9608 11621 9606 -21608 2 2 1 2 1366 11817 8868 -21609 2 2 1 2 10106 11623 10175 -21610 2 2 1 2 9894 11842 10553 -21611 2 2 1 2 10233 11666 10234 -21612 2 2 1 2 10038 11784 11382 -21613 2 2 1 2 10471 11855 8845 -21614 2 2 1 2 10228 11624 10109 -21615 2 2 1 2 10612 11826 10611 -21616 2 2 1 2 11553 11569 9340 -21617 2 2 1 2 10489 11826 10491 -21618 2 2 1 2 688 11807 687 -21619 2 2 1 2 10757 11827 10756 -21620 2 2 1 2 10492 11858 11622 -21621 2 2 1 2 11245 11622 8921 -21622 2 2 1 2 1347 11814 1348 -21623 2 2 1 2 10993 11625 11150 -21624 2 2 1 2 9802 11824 11043 -21625 2 2 1 2 11663 11666 10233 -21626 2 2 1 2 618 11825 8848 -21627 2 2 1 2 8885 11825 619 -21628 2 2 1 2 675 11626 674 -21629 2 2 1 2 10304 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1 2 1461 11649 1462 -21724 2 2 1 2 10120 11648 11285 -21725 2 2 1 2 692 11650 691 -21726 2 2 1 2 10272 11865 10276 -21727 2 2 1 2 9615 11682 11623 -21728 2 2 1 2 10881 11712 11467 -21729 2 2 1 2 9854 11821 11318 -21730 2 2 1 2 10230 11651 10119 -21731 2 2 1 2 8922 11906 11508 -21732 2 2 1 2 11165 11754 8914 -21733 2 2 1 2 11571 11596 9336 -21734 2 2 1 2 10442 11751 10406 -21735 2 2 1 2 11752 11795 11373 -21736 2 2 1 2 9017 11652 9015 -21737 2 2 1 2 11604 11695 10360 -21738 2 2 1 2 10666 11653 10663 -21739 2 2 1 2 11064 11654 8897 -21740 2 2 1 2 10285 11895 11389 -21741 2 2 1 2 10966 11655 10972 -21742 2 2 1 2 10124 11659 10280 -21743 2 2 1 2 717 11656 716 -21744 2 2 1 2 8857 11657 176 -21745 2 2 1 2 9983 11905 10460 -21746 2 2 1 2 11508 11803 8798 -21747 2 2 1 2 10740 11660 10743 -21748 2 2 1 2 10649 11742 11692 -21749 2 2 1 2 10655 11741 11513 -21750 2 2 1 2 608 11658 607 -21751 2 2 1 2 10417 11733 8875 -21752 2 2 1 2 9762 11750 11695 -21753 2 2 1 2 9670 11662 9668 -21754 2 2 1 2 10122 11661 10322 -21755 2 2 1 2 10495 11738 10293 -21756 2 2 1 2 8890 11665 10632 -21757 2 2 1 2 8906 11828 11780 -21758 2 2 1 2 8835 11738 10495 -21759 2 2 1 2 1394 11664 1395 -21760 2 2 1 2 8879 11823 11763 -21761 2 2 1 2 11320 11663 9594 -21762 2 2 1 2 10795 11674 10957 -21763 2 2 1 2 11320 11666 11663 -21764 2 2 1 2 9061 11670 9064 -21765 2 2 1 2 10222 11804 11726 -21766 2 2 1 2 10375 11668 10082 -21767 2 2 1 2 10188 11666 11320 -21768 2 2 1 2 10231 11669 10097 -21769 2 2 1 2 8846 11673 1471 -21770 2 2 1 2 11609 11693 10248 -21771 2 2 1 2 9682 11756 9680 -21772 2 2 1 2 1435 11671 1436 -21773 2 2 1 2 11582 11624 9338 -21774 2 2 1 2 10147 11672 10006 -21775 2 2 1 2 10993 11713 11625 -21776 2 2 1 2 8811 11674 11162 -21777 2 2 1 2 10270 11675 10321 -21778 2 2 1 2 10086 11833 10436 -21779 2 2 1 2 11064 11721 11654 -21780 2 2 1 2 8925 11872 11335 -21781 2 2 1 2 675 11715 11626 -21782 2 2 1 2 11151 11900 11852 -21783 2 2 1 2 9093 11676 9095 -21784 2 2 1 2 11591 11758 9891 -21785 2 2 1 2 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@@ -24,11 +24,11 @@ class Pinball(FlowConfig): CYLINDER = (5, 6, 7) rad = 0.5 - x0 = [0.0, rad * 1.5 * 1.866, rad * 1.5 * 1.866] + x0 = [0.0, rad * 1.5 * 1.732, rad * 1.5 * 1.732] y0 = [0.0, 1.5 * rad, -1.5 * rad] - MAX_CONTROL = 0.5 * np.pi - TAU = 1.0 # TODO: Tune this based on vortex shedding period + MAX_CONTROL = 10.0 # TODO: Limit this based on literature + TAU = 0.05 # TODO: Tune this based on vortex shedding period MESH_DIR = os.path.abspath(f"{__file__}/..") @@ -56,7 +56,7 @@ def init_bcs(self, function_spaces=None): ufl.real(self.x - self.x0[cyl_idx])) # Angle from center of cylinder # Tangential velocity - u_bc = ufl.as_tensor((self.rad * sin(theta), self.rad * cos(theta))) + u_bc = ufl.as_tensor((-self.rad * sin(theta), self.rad * cos(theta))) sub_domain = self.CYLINDER[cyl_idx] self.bcu_actuation.append(ScaledDirichletBC(V, u_bc, sub_domain)) diff --git a/hydrogym/firedrake/envs/pinball/medium.geo b/hydrogym/firedrake/envs/pinball/medium.geo new file mode 100644 index 0000000..fc60b2a --- /dev/null +++ b/hydrogym/firedrake/envs/pinball/medium.geo @@ -0,0 +1,143 @@ +n1 = 30.0; +n2 = 5.0; +n3 = 3.0; +x_ninf = -6.0; +x_pinf = 20.0; +y_inf = 6.0; + +// Cylinder points +R = 0.5; +x0 = 0.0; +y0 = 0.0; +Point(1) = { x0, y0, 0, 1/n1}; +Point(2) = { x0+R,y0+0.0, 0, 1/n1}; +Point(3) = { x0+0.0,y0+R, 0, 1/n1}; +Point(4) = { x0-R,y0+0.0, 0, 1/n1}; +Point(5) = { x0+0.0,y0-R, 0, 1/n1}; + +x0 = 1.5*1.732*R; +y0 = 1.5*R; +Point(6) = { x0, y0, 0, 1/n1}; +Point(7) = { x0+R,y0+0.0, 0, 1/n1}; +Point(8) = { x0+0.0,y0+R, 0, 1/n1}; +Point(9) = { x0-R,y0+0.0, 0, 1/n1}; +Point(10) = { x0+0.0,y0-R, 0, 1/n1}; + +x0 = 1.5*1.732*R; +y0 = -1.5*R; +Point(11) = { x0, y0, 0, 1/n1}; +Point(12) = { x0+0.5,y0+0.0, 0, 1/n1}; +Point(13) = { x0+0.0,y0+0.5, 0, 1/n1}; +Point(14) = { x0-0.5,y0+0.0, 0, 1/n1}; +Point(15) = { x0+0.0,y0-0.5, 0, 1/n1}; + +// Boundaries +Point(16) = {x_ninf, -y_inf, 0, 1/n3}; +Point(17) = {x_ninf, 0, 0, 1/n3}; +Point(18) = {x_ninf, y_inf, 0, 1/n3}; +Point(19) = {x_pinf, -y_inf, 0, 1/n3}; +Point(20) = {x_pinf, 0, 0, 1/n2}; +Point(21) = {x_pinf, y_inf, 0, 1/n3}; + +// High-resolution points in near-wake +y0 = 1.5*R; +Point(22) = {5.0, y0, 0, 1/n1}; +Point(23) = {5.0, 0.0, 0, 1/n1}; +Point(24) = {5.0, -y0, 0, 1/n1}; +Point(25) = {x_pinf, y0, 0, 1/n2}; +Point(26) = {x_pinf, 0.0, 0, 1/n2}; +Point(27) = {x_pinf, -y0, 0, 1/n2}; + +// Cylinder Lines +Circle(1) = {2, 1, 3}; +Circle(2) = {3, 1, 4}; +Circle(3) = {4, 1, 5}; +Circle(4) = {5, 1, 2}; + +Circle(5) = {7, 6, 8}; +Circle(6) = {8, 6, 9}; +Circle(7) = {9, 6, 10}; +Circle(8) = {10, 6, 7}; + +Circle(9) = {12, 11, 13}; +Circle(10) = {13, 11, 14}; +Circle(11) = {14, 11, 15}; +Circle(12) = {15, 11, 12}; + + +//+ +Line(13) = {18, 21}; +//+ +Line(14) = {21, 25}; +//+ +Line(15) = {25, 20}; +//+ +Line(16) = {20, 27}; +//+ +Line(17) = {27, 19}; +//+ +Line(18) = {19, 16}; +//+ +Line(19) = {16, 17}; +//+ +Line(20) = {17, 18}; +//+ +Line(21) = {17, 4}; +//+ +Line(22) = {5, 14}; +//+ +Line(23) = {3, 9}; +//+ +Line(24) = {7, 22}; +//+ +Line(25) = {12, 24}; +//+ +Line(26) = {24, 23}; +//+ +Line(27) = {23, 22}; +//+ +Line(28) = {22, 25}; +//+ +Line(29) = {23, 20}; +//+ +Line(30) = {24, 27}; +//+ +Line(31) = {2, 23}; +//+ +Curve Loop(1) = {13, 14, -28, -24, 5, 6, -23, 2, -21, 20}; +//+ +Plane Surface(1) = {1}; +//+ +Curve Loop(2) = {7, 8, 24, -27, -31, 1, 23}; +//+ +Plane Surface(2) = {2}; +//+ +Curve Loop(3) = {28, 15, -29, 27}; +//+ +Plane Surface(3) = {3}; +//+ +Curve Loop(4) = {16, -30, 26, 29}; +//+ +Plane Surface(4) = {4}; +//+ +Curve Loop(5) = {31, -26, -25, 9, 10, -22, 4}; +//+ +Plane Surface(5) = {5}; +//+ +Curve Loop(6) = {21, 3, 22, 11, 12, 25, 30, 17, 18, 19}; +//+ +Plane Surface(6) = {6}; +//+ +Physical Surface("Fluid", 1) = {1, 3, 4, 2, 5, 6}; +//+ +Physical Curve("Inlet", 2) = {20, 19}; +//+ +Physical Curve("Freestream", 3) = {13, 18}; +//+ +Physical Curve("Outlet", 4) = {14, 15, 16, 17}; +//+ +Physical Curve("Cyl1", 5) = {2, 1, 4, 3}; +//+ +Physical Curve("Cyl2", 6) = {6, 5, 8, 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