1347 lines
50 KiB
Python
1347 lines
50 KiB
Python
from __future__ import annotations
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from collections.abc import Callable
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from dataclasses import dataclass
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from math import expm1, isfinite, log, sqrt
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from app.simulation.components.amesim.boundary.sources import AmesimPnpl01
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from app.simulation.components.amesim.flow.orifices import AmesimPnor001
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from app.simulation.components.amesim.flow.pipes import (
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AmesimPnl00r,
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AmesimPnl0001,
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AmesimPnl0002,
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)
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from app.simulation.core.equations import EquationResidual
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from app.simulation.core.ports import PortState, VariableRole
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from app.simulation.systems.network import SimulationNetwork
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class AlgebraicSolveError(RuntimeError):
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def __init__(self, message: str, diagnostics: "AlgebraicSolveDiagnostics") -> None:
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super().__init__(message)
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self.diagnostics = diagnostics
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@dataclass(frozen=True)
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class AlgebraicUnknown:
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component: str
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port: str
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variable: str
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role: VariableRole
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state: PortState
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@property
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def id(self) -> str:
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return f"{self.component}.{self.port}.{self.variable}"
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def read(self) -> float:
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return float(getattr(self.state, self.variable))
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def write(self, value: float) -> None:
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setattr(self.state, self.variable, float(value))
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@dataclass(frozen=True)
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class ExplicitFlowAssignment:
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equation_id: str
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unknown: AlgebraicUnknown
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evaluate: Callable[[], float] | None
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component: object | None = None
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equation_index: int | None = None
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@dataclass(frozen=True)
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class ExplicitFlowStage:
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assignments: tuple[ExplicitFlowAssignment, ...]
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@dataclass(frozen=True)
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class EffortAnchor:
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unknown: AlgebraicUnknown
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evaluate: Callable[[], float]
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@dataclass(frozen=True)
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class ConnectionEquationEvaluation:
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template: EquationResidual
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evaluate: Callable[[], float]
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@dataclass(frozen=True)
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class PnorPnl0001SeriesBinding:
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orifice: AmesimPnor001
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orifice_port: str
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pipe: AmesimPnl0001
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pipe_port: str
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@dataclass(frozen=True)
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class ClosedResistancePressureBinding:
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component: object
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port_name: str
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neighbor: object
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neighbor_port: str
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pressure_source_port: str | None
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@dataclass(frozen=True)
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class EffortEqualityGroup:
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variable: str
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members: tuple[AlgebraicUnknown, ...]
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anchors: tuple[EffortAnchor, ...]
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@dataclass(frozen=True)
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class UnilateralContactBinding:
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component: object
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algebraic_group: EffortEqualityGroup
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neighbor_force: AlgebraicUnknown
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algebraic_port: int
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force_sign: float
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@dataclass(frozen=True)
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class AlgebraicSolveDiagnostics:
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success: bool
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message: str
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evaluations: int
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pressure_scale: float
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flow_scale: float
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max_scaled_residual: float
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max_raw_residual: float
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def as_dict(self) -> dict[str, object]:
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return {
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"success": self.success,
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"message": self.message,
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"evaluations": self.evaluations,
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"pressureScale": self.pressure_scale,
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"flowScale": self.flow_scale,
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"maxScaledResidual": self.max_scaled_residual,
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"maxRawResidual": self.max_raw_residual,
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}
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class PressureFlowSolver:
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"""Solve the acausal pressure-flow subsystem for a compiled network."""
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def __init__(
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self,
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network: SimulationNetwork,
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*,
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residual_tolerance: float = 1e-7,
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max_evaluations: int = 500,
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) -> None:
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self.network = network
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self.residual_tolerance = residual_tolerance
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self.max_evaluations = max_evaluations
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self.unknowns = self._build_unknowns()
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self._unknowns_by_id = {unknown.id: unknown for unknown in self.unknowns}
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self._unknowns_by_variable = {
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variable: tuple(
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unknown
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for unknown in self.unknowns
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if unknown.variable == variable
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)
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for variable in ("p", "m_flow", "x", "v", "f")
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}
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self._component_equation_owners = tuple(network.components.values())
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self._estimated_flow_components = tuple(
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component
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for component in self._component_equation_owners
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if hasattr(component, "K_eff")
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)
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self._causal_contact_components = tuple(
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component
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for component in self._component_equation_owners
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if getattr(component, "clear_causal_contact", None) is not None
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)
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self._connection_equation_plan = tuple(
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ConnectionEquationEvaluation(
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template=equation,
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evaluate=self._equation_value_reader(equation),
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)
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for equation in network.connection_equation_residuals()
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)
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self._effort_groups = {
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variable: self._build_effort_equality_groups(variable)
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for variable in ("p", "x", "v")
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}
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self._pnor_pnl0001_series_plan = (
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self._build_pnor_pnl0001_series_plan()
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)
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self._closed_resistance_pressure_plan = (
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self._build_closed_resistance_pressure_plan()
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)
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self._unilateral_contact_plan = self._build_unilateral_contact_plan()
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self._explicit_flow_plan = self._build_explicit_flow_plan()
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self.last_diagnostics: AlgebraicSolveDiagnostics | None = None
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def _build_unknowns(self) -> tuple[AlgebraicUnknown, ...]:
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unknowns: list[AlgebraicUnknown] = []
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for component in self.network.components.values():
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for definition in component.port_definitions:
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if definition.kind != "physical":
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continue
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state = component.get_port(definition.name)
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for variable in definition.variables:
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if variable.role not in {"effort", "flow"}:
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continue
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unknowns.append(
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AlgebraicUnknown(
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component=component.name,
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port=definition.name,
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variable=variable.name,
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role=variable.role,
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state=state,
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)
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)
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return tuple(unknowns)
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@staticmethod
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def _port_key(variable: str, expected_variable: str) -> tuple[str, str] | None:
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try:
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component_name, port_name, variable_name = variable.rsplit(".", 2)
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except ValueError:
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return None
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if variable_name != expected_variable:
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return None
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return component_name, port_name
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def _seed_equal_efforts(
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self,
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variables: tuple[str, ...] = ("p", "x", "v"),
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) -> None:
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"""Lift state-owned efforts across their complete equality groups.
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Dynamic components refresh their own ports before each closure, while
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connected algebraic ports retain values from the preceding RHS
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evaluation. State equations expose the current effort as
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``port.variable - target``; use that target as the authoritative anchor
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for every connected/equal pressure, displacement, and velocity port
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before evaluating explicit flow laws.
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"""
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self.propagate_equal_efforts(variables)
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def propagate_equal_efforts(self, variables: tuple[str, ...]) -> None:
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"""Propagate selected state-owned efforts without solving flows.
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Piston geometry needs current mechanical ``x``/``v`` before swept
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volume propagation, but pressure and flow equations can wait until the
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connected chamber has refreshed that volume.
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"""
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unknown = sorted(set(variables) - set(self._effort_groups))
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if unknown:
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raise ValueError("Unsupported effort variables: " + ", ".join(unknown))
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for variable in variables:
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self._seed_equal_effort(variable)
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def _build_effort_equality_groups(
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self,
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variable: str,
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) -> tuple[EffortEqualityGroup, ...]:
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effort_unknowns = {
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(unknown.component, unknown.port): unknown
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for unknown in self.unknowns
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if unknown.variable == variable
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}
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if not effort_unknowns:
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return ()
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parent = {key: key for key in effort_unknowns}
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def find(key: tuple[str, str]) -> tuple[str, str]:
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root = key
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while parent[root] != root:
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root = parent[root]
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while parent[key] != key:
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next_key = parent[key]
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parent[key] = root
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key = next_key
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return root
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def union(first: tuple[str, str], second: tuple[str, str]) -> None:
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first_root = find(first)
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second_root = find(second)
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if first_root != second_root:
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parent[second_root] = first_root
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for connection in self.network.connections:
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if connection.kind != "physical":
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continue
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first = connection.endpoint_a.key
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second = connection.endpoint_b.key
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if first in effort_unknowns and second in effort_unknowns:
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union(first, second)
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component_equations = {
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component.name: component.pressure_flow_equation_residuals()
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for component in self.network.components.values()
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}
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for equations in component_equations.values():
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for equation in equations:
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if equation.relation != "equal" or equation.role != "effort":
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continue
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endpoints = [
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endpoint
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for equation_variable in equation.variables
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if (
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(endpoint := self._port_key(equation_variable, variable))
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in effort_unknowns
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)
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]
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for endpoint in endpoints[1:]:
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union(endpoints[0], endpoint)
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members_by_root: dict[tuple[str, str], list[AlgebraicUnknown]] = {}
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for endpoint in effort_unknowns:
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members_by_root.setdefault(find(endpoint), []).append(
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effort_unknowns[endpoint]
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)
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anchors_by_root: dict[tuple[str, str], list[EffortAnchor]] = {}
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for equations in component_equations.values():
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for equation in equations:
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if equation.relation != "state" or equation.role != "effort":
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continue
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endpoints = [
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endpoint
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for equation_variable in equation.variables
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if (
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(endpoint := self._port_key(equation_variable, variable))
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in effort_unknowns
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)
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]
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if len(endpoints) != 1:
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continue
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endpoint = endpoints[0]
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unknown = effort_unknowns[endpoint]
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anchors_by_root.setdefault(find(endpoint), []).append(
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EffortAnchor(
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unknown=unknown,
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evaluate=self._equation_value_reader(equation),
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)
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)
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return tuple(
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EffortEqualityGroup(
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variable=variable,
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members=tuple(members),
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anchors=tuple(anchors_by_root.get(root, ())),
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)
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for root, members in members_by_root.items()
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)
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def _seed_equal_effort(self, variable: str) -> None:
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for group in self._effort_groups[variable]:
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members = group.members
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anchors = tuple(
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(anchor.unknown, anchor.unknown.read() - anchor.evaluate())
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for anchor in group.anchors
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)
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anchors = tuple(
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(unknown, value)
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for unknown, value in anchors
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if isfinite(value)
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)
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if anchors:
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# Keep each state-owned port current even when an invalid model
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# has conflicting anchors in one equality group.
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for unknown, target_value in anchors:
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unknown.write(target_value)
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anchor_values = [value for _unknown, value in anchors]
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effort_scale = max([abs(value) for value in anchor_values] + [1.0])
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if max(anchor_values) - min(anchor_values) > 1.0e-9 * effort_scale:
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# A conflicting multi-storage group is structurally invalid;
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# leave it for the residual solver/preparation diagnostics.
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continue
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target_value = sum(anchor_values) / len(anchor_values)
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for unknown in members:
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unknown.write(target_value)
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continue
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if variable == "p":
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seed = next(
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(
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unknown.read()
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for unknown in members
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if unknown.read() > 0.0
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),
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None,
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)
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if seed is None:
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continue
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else:
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seed = members[0].read()
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for unknown in members:
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if variable != "p" or unknown.read() <= 0.0:
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unknown.write(seed)
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def _connected_flow_unknown(
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self,
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component_name: str,
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port_name: str,
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variable: str,
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) -> AlgebraicUnknown | None:
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endpoint_key = (component_name, port_name)
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for connection in self.network.connections:
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if connection.kind != "physical":
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continue
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if connection.endpoint_a.key == endpoint_key:
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other = connection.endpoint_b
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elif connection.endpoint_b.key == endpoint_key:
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other = connection.endpoint_a
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else:
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continue
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return self._unknowns_by_id.get(
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f"{other.component}.{other.port}.{variable}"
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)
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return None
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@staticmethod
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def _bisect_contact_root(
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value_at,
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lower: float,
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upper: float,
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target: float,
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) -> float | None:
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lower_value = float(value_at(lower)) - target
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upper_value = float(value_at(upper)) - target
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tolerance = 1.0e-13 * max(abs(target), 1.0)
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if abs(lower_value) <= tolerance:
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return lower
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if abs(upper_value) <= tolerance:
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return upper
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if not isfinite(lower_value) or not isfinite(upper_value):
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return None
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if (lower_value < 0.0) == (upper_value < 0.0):
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return None
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for _iteration in range(100):
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middle = 0.5 * (lower + upper)
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middle_value = float(value_at(middle)) - target
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if abs(middle_value) <= tolerance:
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return middle
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if (lower_value < 0.0) == (middle_value < 0.0):
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lower = middle
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lower_value = middle_value
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else:
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upper = middle
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upper_value = middle_value
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return 0.5 * (lower + upper)
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def _contact_penetration_for_force(
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self,
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component,
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requested_force: float,
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current_penetration: float,
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) -> float | None:
|
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"""Invert one LSTP force law and select the root nearest its current state."""
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if not isfinite(requested_force):
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return None
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option = int(getattr(component, "discContactOption", 2.0))
|
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if option != 1:
|
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requested_force = max(requested_force, 0.0)
|
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stiffness = max(float(getattr(component, "kcont", 0.0)), 0.0)
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damping = max(float(getattr(component, "rcont", 0.0)), 0.0)
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damping_length = float(getattr(component, "Pdis", 0.0))
|
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relative_velocity = float(getattr(component, "penetration_velocity"))
|
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damping_term = damping * relative_velocity
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current_penetration = (
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max(float(current_penetration), 0.0)
|
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if isfinite(current_penetration)
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else 0.0
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)
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force_tolerance = 1.0e-12 * max(abs(requested_force), 1.0)
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|
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def raw_force(penetration: float) -> float:
|
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if penetration <= 0.0:
|
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return 0.0
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damping_fraction = (
|
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-expm1(-penetration / damping_length)
|
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if damping_length > 0.0
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else 1.0
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)
|
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return stiffness * penetration + damping_term * damping_fraction
|
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|
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def contact_force(penetration: float) -> float:
|
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force = raw_force(penetration)
|
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return force if option == 1 else max(force, 0.0)
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|
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candidates: list[float] = []
|
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|
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def add_candidate(penetration: float | None) -> None:
|
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if penetration is None or not isfinite(penetration) or penetration < 0.0:
|
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return
|
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if abs(contact_force(penetration) - requested_force) > force_tolerance:
|
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return
|
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if not any(
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abs(penetration - candidate)
|
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<= 1.0e-12 * max(abs(penetration), abs(candidate), 1.0e-18)
|
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for candidate in candidates
|
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):
|
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candidates.append(penetration)
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|
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add_candidate(current_penetration)
|
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add_candidate(0.0)
|
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if option != 1 and requested_force == 0.0:
|
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return min(
|
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candidates or [0.0],
|
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key=lambda penetration: abs(penetration - current_penetration),
|
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)
|
|
|
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if damping_length <= 0.0:
|
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if stiffness > 0.0:
|
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penetration = (requested_force - damping_term) / stiffness
|
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if penetration > 0.0:
|
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add_candidate(penetration)
|
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elif abs(requested_force - damping_term) <= force_tolerance:
|
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add_candidate(max(current_penetration, 1.0e-18))
|
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elif stiffness > 0.0:
|
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critical_penetration: float | None = None
|
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if damping_term < -stiffness * damping_length:
|
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critical_penetration = damping_length * log(
|
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-damping_term / (stiffness * damping_length)
|
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)
|
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add_candidate(critical_penetration)
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|
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upper = max(
|
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current_penetration,
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damping_length,
|
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abs(requested_force) / stiffness,
|
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critical_penetration or 0.0,
|
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1.0e-18,
|
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)
|
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for _iteration in range(100):
|
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upper_value = raw_force(upper)
|
|
if isfinite(upper_value) and upper_value >= requested_force:
|
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break
|
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upper *= 2.0
|
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else:
|
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upper = float("nan")
|
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|
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if isfinite(upper):
|
|
if critical_penetration is not None:
|
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add_candidate(
|
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self._bisect_contact_root(
|
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raw_force,
|
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0.0,
|
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critical_penetration,
|
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requested_force,
|
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)
|
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)
|
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add_candidate(
|
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self._bisect_contact_root(
|
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raw_force,
|
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critical_penetration,
|
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upper,
|
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requested_force,
|
|
)
|
|
)
|
|
else:
|
|
add_candidate(
|
|
self._bisect_contact_root(
|
|
raw_force,
|
|
0.0,
|
|
upper,
|
|
requested_force,
|
|
)
|
|
)
|
|
elif damping_term != 0.0:
|
|
upper = max(current_penetration, damping_length, 1.0e-18)
|
|
for _iteration in range(100):
|
|
upper_value = raw_force(upper)
|
|
crossed = (
|
|
upper_value >= requested_force
|
|
if damping_term > 0.0
|
|
else upper_value <= requested_force
|
|
)
|
|
if isfinite(upper_value) and crossed:
|
|
add_candidate(
|
|
self._bisect_contact_root(
|
|
raw_force,
|
|
0.0,
|
|
upper,
|
|
requested_force,
|
|
)
|
|
)
|
|
break
|
|
upper *= 2.0
|
|
|
|
if not candidates:
|
|
return None
|
|
return min(
|
|
candidates,
|
|
key=lambda penetration: abs(penetration - current_penetration),
|
|
)
|
|
|
|
def _apply_unilateral_contact_binding(
|
|
self,
|
|
binding: UnilateralContactBinding,
|
|
) -> bool:
|
|
component = binding.component
|
|
requested_force = binding.force_sign * binding.neighbor_force.read()
|
|
if int(getattr(component, "discContactOption", 2.0)) != 1:
|
|
requested_force = max(requested_force, 0.0)
|
|
cached_penetration = getattr(component, "_causal_penetration", None)
|
|
penetration = self._contact_penetration_for_force(
|
|
component,
|
|
requested_force,
|
|
(
|
|
float(cached_penetration)
|
|
if cached_penetration is not None
|
|
else float(getattr(component, "penetration"))
|
|
),
|
|
)
|
|
if penetration is None:
|
|
component.clear_causal_contact()
|
|
return False
|
|
|
|
gap0 = float(getattr(component, "gap0", 0.0))
|
|
if binding.algebraic_port == 1:
|
|
target = component.port_2.x + gap0 + penetration
|
|
else:
|
|
target = component.port_1.x - gap0 - penetration
|
|
for unknown in binding.algebraic_group.members:
|
|
unknown.write(target)
|
|
component.set_causal_contact(
|
|
penetration=penetration,
|
|
force=requested_force,
|
|
)
|
|
return True
|
|
|
|
def _refresh_unilateral_contacts(
|
|
self,
|
|
bindings: tuple[UnilateralContactBinding, ...],
|
|
) -> None:
|
|
for binding in bindings:
|
|
self._apply_unilateral_contact_binding(binding)
|
|
|
|
def _build_unilateral_contact_plan(
|
|
self,
|
|
) -> tuple[UnilateralContactBinding, ...]:
|
|
"""Compile contacts that can eliminate one algebraic coordinate."""
|
|
|
|
position_groups = {
|
|
unknown.id: group
|
|
for group in self._effort_groups["x"]
|
|
for unknown in group.members
|
|
}
|
|
bindings: list[UnilateralContactBinding] = []
|
|
for component in self.network.components.values():
|
|
if component.model_type != "amesim_lstp00a":
|
|
continue
|
|
first_neighbor = self._connected_flow_unknown(
|
|
component.name,
|
|
"port_1",
|
|
"f",
|
|
)
|
|
second_neighbor = self._connected_flow_unknown(
|
|
component.name,
|
|
"port_2",
|
|
"f",
|
|
)
|
|
first_group = position_groups.get(f"{component.name}.port_1.x")
|
|
second_group = position_groups.get(f"{component.name}.port_2.x")
|
|
if (
|
|
first_group is None
|
|
or second_group is None
|
|
or first_group is second_group
|
|
):
|
|
continue
|
|
if not first_group.anchors and first_neighbor is not None:
|
|
binding = UnilateralContactBinding(
|
|
component=component,
|
|
algebraic_group=first_group,
|
|
neighbor_force=first_neighbor,
|
|
algebraic_port=1,
|
|
force_sign=-1.0,
|
|
)
|
|
elif not second_group.anchors and second_neighbor is not None:
|
|
binding = UnilateralContactBinding(
|
|
component=component,
|
|
algebraic_group=second_group,
|
|
neighbor_force=second_neighbor,
|
|
algebraic_port=2,
|
|
force_sign=1.0,
|
|
)
|
|
else:
|
|
# With both coordinates state-owned, penetration is a dynamic
|
|
# result rather than an algebraic active-set choice.
|
|
continue
|
|
bindings.append(binding)
|
|
|
|
return tuple(bindings)
|
|
|
|
def _seed_unilateral_contacts(
|
|
self,
|
|
) -> tuple[UnilateralContactBinding, ...]:
|
|
"""Apply compiled local contact eliminations for the current state."""
|
|
|
|
bindings: list[UnilateralContactBinding] = []
|
|
bound_group_ids: set[int] = set()
|
|
for binding in self._unilateral_contact_plan:
|
|
group_id = id(binding.algebraic_group)
|
|
if group_id in bound_group_ids:
|
|
# One relative contact law may eliminate a free coordinate.
|
|
# Any other contact sharing that coordinate must remain in the
|
|
# nonlinear system or the projections would overwrite each
|
|
# other and make root selection order-dependent.
|
|
continue
|
|
if self._apply_unilateral_contact_binding(binding):
|
|
bindings.append(binding)
|
|
bound_group_ids.add(group_id)
|
|
|
|
return tuple(bindings)
|
|
|
|
def _flow_unknowns_for_equation(self, equation) -> tuple[AlgebraicUnknown, ...]:
|
|
return tuple(
|
|
self._unknowns_by_id[variable]
|
|
for variable in equation.variables
|
|
if variable in self._unknowns_by_id
|
|
and self._unknowns_by_id[variable].role == "flow"
|
|
)
|
|
|
|
def _equation_value_reader(self, equation) -> Callable[[], float]:
|
|
if equation.owner == "connection":
|
|
if len(equation.variables) != 2:
|
|
raise ValueError(
|
|
f"Connection equation {equation.id} must contain two variables."
|
|
)
|
|
first = self._unknowns_by_id[equation.variables[0]]
|
|
second = self._unknowns_by_id[equation.variables[1]]
|
|
if equation.relation == "sumToZero":
|
|
return lambda: first.read() + second.read()
|
|
if equation.relation == "equal":
|
|
return lambda: first.read() - second.read()
|
|
raise ValueError(
|
|
f"Unsupported connection equation relation: {equation.relation}."
|
|
)
|
|
|
|
component = self.network.components[equation.owner_id]
|
|
equation_id = equation.id
|
|
equation_ids = tuple(
|
|
current.id
|
|
for current in component.pressure_flow_equation_residuals()
|
|
)
|
|
try:
|
|
equation_index = equation_ids.index(equation_id)
|
|
except ValueError as exc:
|
|
raise RuntimeError(
|
|
f"Compiled algebraic equation disappeared at runtime: {equation_id}."
|
|
) from exc
|
|
|
|
def read_component_equation() -> float:
|
|
current_equations = component.pressure_flow_equation_residuals()
|
|
if (
|
|
equation_index >= len(current_equations)
|
|
or current_equations[equation_index].id != equation_id
|
|
):
|
|
raise RuntimeError(
|
|
f"Compiled algebraic equation disappeared at runtime: {equation_id}."
|
|
)
|
|
return float(current_equations[equation_index].value)
|
|
|
|
return read_component_equation
|
|
def _pressure_flow_equation_residuals(self) -> tuple[EquationResidual, ...]:
|
|
"""Evaluate live values through a precompiled connector topology."""
|
|
component_residuals = tuple(
|
|
residual
|
|
for component in self._component_equation_owners
|
|
for residual in component.pressure_flow_equation_residuals()
|
|
)
|
|
connection_residuals = tuple(
|
|
EquationResidual(
|
|
id=item.template.id,
|
|
owner=item.template.owner,
|
|
owner_id=item.template.owner_id,
|
|
relation=item.template.relation,
|
|
variables=item.template.variables,
|
|
value=item.evaluate(),
|
|
role=item.template.role,
|
|
)
|
|
for item in self._connection_equation_plan
|
|
)
|
|
return component_residuals + connection_residuals
|
|
|
|
|
|
def _explicit_flow_assignment(
|
|
self,
|
|
equation,
|
|
unknown: AlgebraicUnknown,
|
|
) -> ExplicitFlowAssignment:
|
|
if equation.owner == "connection":
|
|
return ExplicitFlowAssignment(
|
|
equation_id=equation.id,
|
|
unknown=unknown,
|
|
evaluate=self._equation_value_reader(equation),
|
|
)
|
|
|
|
component = self.network.components[equation.owner_id]
|
|
equations = component.pressure_flow_equation_residuals()
|
|
equation_ids = tuple(current.id for current in equations)
|
|
try:
|
|
equation_index = equation_ids.index(equation.id)
|
|
except ValueError as exc:
|
|
raise RuntimeError(
|
|
f"Compiled algebraic equation disappeared at runtime: {equation.id}."
|
|
) from exc
|
|
return ExplicitFlowAssignment(
|
|
equation_id=equation.id,
|
|
unknown=unknown,
|
|
evaluate=None,
|
|
component=component,
|
|
equation_index=equation_index,
|
|
)
|
|
|
|
def _build_explicit_flow_plan(self) -> tuple[ExplicitFlowStage, ...]:
|
|
"""Compile flow causalization into independent dependency stages."""
|
|
|
|
stages: list[ExplicitFlowStage] = []
|
|
seeded_ids: set[str] = set()
|
|
|
|
initial_assignments: list[ExplicitFlowAssignment] = []
|
|
for component in self.network.components.values():
|
|
for equation in component.pressure_flow_equation_residuals():
|
|
if equation.relation != "constitutive" or equation.role != "flow":
|
|
continue
|
|
flow_unknowns = self._flow_unknowns_for_equation(equation)
|
|
if len(flow_unknowns) != 1:
|
|
continue
|
|
unknown = flow_unknowns[0]
|
|
if unknown.id in seeded_ids:
|
|
continue
|
|
initial_assignments.append(
|
|
self._explicit_flow_assignment(equation, unknown)
|
|
)
|
|
seeded_ids.add(unknown.id)
|
|
if initial_assignments:
|
|
stages.append(ExplicitFlowStage(tuple(initial_assignments)))
|
|
|
|
equations = self._pressure_flow_equation_residuals()
|
|
while True:
|
|
stage_assignments: list[ExplicitFlowAssignment] = []
|
|
stage_unknown_ids: set[str] = set()
|
|
for equation in equations:
|
|
if equation.role != "flow" or equation.relation not in {
|
|
"constitutive",
|
|
"sumToZero",
|
|
}:
|
|
continue
|
|
flow_unknowns = self._flow_unknowns_for_equation(equation)
|
|
if not flow_unknowns:
|
|
continue
|
|
if len({unknown.variable for unknown in flow_unknowns}) != 1:
|
|
continue
|
|
unseeded = tuple(
|
|
unknown
|
|
for unknown in flow_unknowns
|
|
if unknown.id not in seeded_ids
|
|
)
|
|
if len(unseeded) != 1:
|
|
continue
|
|
unknown = unseeded[0]
|
|
if unknown.id in stage_unknown_ids:
|
|
continue
|
|
stage_assignments.append(
|
|
self._explicit_flow_assignment(equation, unknown)
|
|
)
|
|
stage_unknown_ids.add(unknown.id)
|
|
if stage_assignments:
|
|
stages.append(ExplicitFlowStage(tuple(stage_assignments)))
|
|
seeded_ids.update(stage_unknown_ids)
|
|
continue
|
|
|
|
fallback_assignment: ExplicitFlowAssignment | None = None
|
|
for equation in equations:
|
|
if equation.role != "flow" or equation.relation not in {
|
|
"constitutive",
|
|
"sumToZero",
|
|
}:
|
|
continue
|
|
flow_unknowns = self._flow_unknowns_for_equation(equation)
|
|
unseeded = tuple(
|
|
unknown
|
|
for unknown in flow_unknowns
|
|
if unknown.id not in seeded_ids
|
|
)
|
|
if len(unseeded) <= 1:
|
|
continue
|
|
if len({unknown.variable for unknown in flow_unknowns}) != 1:
|
|
continue
|
|
unknown = unseeded[-1]
|
|
fallback_assignment = self._explicit_flow_assignment(
|
|
equation,
|
|
unknown,
|
|
)
|
|
seeded_ids.add(unknown.id)
|
|
break
|
|
if fallback_assignment is None:
|
|
break
|
|
stages.append(ExplicitFlowStage((fallback_assignment,)))
|
|
|
|
return tuple(stages)
|
|
|
|
|
|
@staticmethod
|
|
def _evaluate_explicit_flow_stage(
|
|
assignments: tuple[ExplicitFlowAssignment, ...],
|
|
) -> dict[str, float]:
|
|
values: dict[str, float] = {}
|
|
assignments_by_component: dict[object, list[ExplicitFlowAssignment]] = {}
|
|
for assignment in assignments:
|
|
if assignment.component is None:
|
|
assert assignment.evaluate is not None
|
|
values[assignment.equation_id] = assignment.evaluate()
|
|
continue
|
|
assignments_by_component.setdefault(assignment.component, []).append(
|
|
assignment
|
|
)
|
|
|
|
for component, component_assignments in assignments_by_component.items():
|
|
equations = component.pressure_flow_equation_residuals()
|
|
for assignment in component_assignments:
|
|
assert assignment.equation_index is not None
|
|
equation_index = assignment.equation_index
|
|
if (
|
|
equation_index >= len(equations)
|
|
or equations[equation_index].id != assignment.equation_id
|
|
):
|
|
raise RuntimeError(
|
|
"Compiled algebraic equation disappeared at runtime: "
|
|
f"{assignment.equation_id}."
|
|
)
|
|
values[assignment.equation_id] = float(
|
|
equations[equation_index].value
|
|
)
|
|
return values
|
|
|
|
def _solve_explicit_flow_unknowns(
|
|
self,
|
|
variables: tuple[str, ...] = ("f", "m_flow"),
|
|
) -> set[str]:
|
|
"""Execute staged flow/force assignments without repeated equations."""
|
|
|
|
selected = frozenset(variables)
|
|
for unknown in self.unknowns:
|
|
if unknown.variable in selected:
|
|
unknown.write(0.0)
|
|
|
|
seeded_ids: set[str] = set()
|
|
for stage in self._explicit_flow_plan:
|
|
assignments = tuple(
|
|
assignment
|
|
for assignment in stage.assignments
|
|
if assignment.unknown.variable in selected
|
|
)
|
|
values = self._evaluate_explicit_flow_stage(assignments)
|
|
targets = tuple(
|
|
(
|
|
assignment,
|
|
assignment.unknown.read() - values[assignment.equation_id],
|
|
)
|
|
for assignment in assignments
|
|
)
|
|
for assignment, target_value in targets:
|
|
if not isfinite(target_value):
|
|
continue
|
|
assignment.unknown.write(target_value)
|
|
seeded_ids.add(assignment.unknown.id)
|
|
return seeded_ids
|
|
|
|
def _build_closed_resistance_pressure_plan(
|
|
self,
|
|
) -> tuple[ClosedResistancePressureBinding, ...]:
|
|
"""Compile sealed resistance ends whose zero-flow pressure is known."""
|
|
|
|
bindings: list[ClosedResistancePressureBinding] = []
|
|
connected: dict[tuple[str, str], tuple[str, str]] = {}
|
|
for connection in self.network.connections:
|
|
if connection.kind != "physical" or connection.domain != "pneumatic":
|
|
continue
|
|
first, second = connection.endpoints
|
|
connected[first.key] = second.key
|
|
connected[second.key] = first.key
|
|
|
|
for component in self.network.components.values():
|
|
if not isinstance(component, (AmesimPnl00r, AmesimPnl0001)):
|
|
continue
|
|
for port_name in component.ports:
|
|
neighbor_key = connected.get((component.name, port_name))
|
|
if neighbor_key is None:
|
|
continue
|
|
neighbor = self.network.components[neighbor_key[0]]
|
|
if not isinstance(neighbor, AmesimPnpl01):
|
|
continue
|
|
if isinstance(component, AmesimPnl0002):
|
|
pressure_source_port = None
|
|
elif isinstance(component, AmesimPnl0001):
|
|
if port_name != "port_1":
|
|
continue
|
|
pressure_source_port = None
|
|
else:
|
|
pressure_source_port = (
|
|
"port_2" if port_name == "port_1" else "port_1"
|
|
)
|
|
bindings.append(
|
|
ClosedResistancePressureBinding(
|
|
component=component,
|
|
port_name=port_name,
|
|
neighbor=neighbor,
|
|
neighbor_port=neighbor_key[1],
|
|
pressure_source_port=pressure_source_port,
|
|
)
|
|
)
|
|
return tuple(bindings)
|
|
|
|
def _seed_closed_resistance_pressures(self) -> None:
|
|
"""Seed a sealed resistance end at its zero-flow pressure.
|
|
|
|
A PNPL01 fixes flow, not pressure. Starting a dead-ended Darcy branch
|
|
with the plug-side pressure at the medium reference can otherwise put
|
|
the nonlinear solver on the singular square-root part of the inverse
|
|
flow law. At zero flow, these AMESim pipe resistances have exactly zero
|
|
pressure drop, which gives a deterministic and physically exact seed.
|
|
"""
|
|
|
|
for binding in self._closed_resistance_pressure_plan:
|
|
component = binding.component
|
|
pressure = (
|
|
component.properties().p
|
|
if binding.pressure_source_port is None
|
|
else component.get_port(binding.pressure_source_port).p
|
|
)
|
|
component.get_port(binding.port_name).p = pressure
|
|
binding.neighbor.get_port(binding.neighbor_port).p = pressure
|
|
|
|
def _build_pnor_pnl0001_series_plan(
|
|
self,
|
|
) -> tuple[PnorPnl0001SeriesBinding, ...]:
|
|
bindings: list[PnorPnl0001SeriesBinding] = []
|
|
for connection in self.network.connections:
|
|
first_endpoint, second_endpoint = connection.endpoints
|
|
first = self.network.components[first_endpoint.component]
|
|
second = self.network.components[second_endpoint.component]
|
|
if isinstance(first, AmesimPnor001) and isinstance(second, AmesimPnl0001):
|
|
orifice, orifice_port = first, first_endpoint.port
|
|
pipe, pipe_port = second, second_endpoint.port
|
|
elif isinstance(second, AmesimPnor001) and isinstance(first, AmesimPnl0001):
|
|
orifice, orifice_port = second, second_endpoint.port
|
|
pipe, pipe_port = first, first_endpoint.port
|
|
else:
|
|
continue
|
|
if isinstance(pipe, AmesimPnl0002) or pipe_port != "port_1":
|
|
continue
|
|
bindings.append(
|
|
PnorPnl0001SeriesBinding(
|
|
orifice=orifice,
|
|
orifice_port=orifice_port,
|
|
pipe=pipe,
|
|
pipe_port=pipe_port,
|
|
)
|
|
)
|
|
return tuple(bindings)
|
|
|
|
def _seed_pnor_pnl0001_series_pressures(self) -> None:
|
|
"""Causalize the pressure between a PNOR001 and PNL0001 R port."""
|
|
|
|
from scipy.optimize import brentq
|
|
|
|
for binding in self._pnor_pnl0001_series_plan:
|
|
orifice = binding.orifice
|
|
orifice_port = binding.orifice_port
|
|
pipe = binding.pipe
|
|
pipe_port = binding.pipe_port
|
|
|
|
orifice_other = "port_2" if orifice_port == "port_1" else "port_1"
|
|
pressure_a = orifice.get_port(orifice_other).p
|
|
pressure_b = pipe.properties().p
|
|
lower = min(pressure_a, pressure_b)
|
|
upper = max(pressure_a, pressure_b)
|
|
|
|
def mismatch(intermediate_pressure: float) -> float:
|
|
if orifice_port == "port_2":
|
|
orifice_flow_into_connection = -orifice.mass_flow(
|
|
pressure_a,
|
|
intermediate_pressure,
|
|
)
|
|
else:
|
|
orifice_flow_into_connection = orifice.mass_flow(
|
|
intermediate_pressure,
|
|
pressure_a,
|
|
)
|
|
pipe_flow_into_connection = pipe.mass_flow(
|
|
intermediate_pressure,
|
|
pressure_b,
|
|
pipe.properties().T,
|
|
)
|
|
return orifice_flow_into_connection + pipe_flow_into_connection
|
|
|
|
lower_value = mismatch(lower)
|
|
upper_value = mismatch(upper)
|
|
if lower_value == 0.0:
|
|
pressure = lower
|
|
elif upper_value == 0.0:
|
|
pressure = upper
|
|
elif (lower_value < 0.0) == (upper_value < 0.0):
|
|
continue
|
|
else:
|
|
pressure = float(
|
|
brentq(
|
|
mismatch,
|
|
lower,
|
|
upper,
|
|
xtol=1.0e-6,
|
|
rtol=1.0e-12,
|
|
maxiter=32,
|
|
)
|
|
)
|
|
orifice.get_port(orifice_port).p = pressure
|
|
pipe.get_port(pipe_port).p = pressure
|
|
|
|
def _scales(self) -> dict[str, float]:
|
|
pressure_scale = max(
|
|
[
|
|
abs(unknown.read())
|
|
for unknown in self._unknowns_by_variable["p"]
|
|
if unknown.read() > 0.0
|
|
]
|
|
+ [1e5]
|
|
)
|
|
estimated_flows = [
|
|
abs(float(getattr(component, "K_eff"))) * sqrt(pressure_scale)
|
|
for component in self._estimated_flow_components
|
|
]
|
|
mass_flow_scale = max(
|
|
estimated_flows
|
|
+ [
|
|
abs(unknown.read())
|
|
for unknown in self._unknowns_by_variable["m_flow"]
|
|
]
|
|
+ [1e-3]
|
|
)
|
|
return {
|
|
"p": pressure_scale,
|
|
"m_flow": mass_flow_scale,
|
|
"x": max(
|
|
[abs(unknown.read()) for unknown in self._unknowns_by_variable["x"]]
|
|
+ [1.0]
|
|
),
|
|
"v": max(
|
|
[abs(unknown.read()) for unknown in self._unknowns_by_variable["v"]]
|
|
+ [1.0]
|
|
),
|
|
"f": max(
|
|
[abs(unknown.read()) for unknown in self._unknowns_by_variable["f"]]
|
|
+ [1.0]
|
|
),
|
|
}
|
|
|
|
def solve(
|
|
self,
|
|
*,
|
|
effort_variables: tuple[str, ...] = ("p", "x", "v"),
|
|
) -> AlgebraicSolveDiagnostics:
|
|
try:
|
|
import numpy as np
|
|
from scipy.optimize import least_squares
|
|
except ImportError as exc:
|
|
raise RuntimeError(
|
|
"Topology-driven simulation requires SciPy; install requirements.txt."
|
|
) from exc
|
|
|
|
for component in self._causal_contact_components:
|
|
component.clear_causal_contact()
|
|
|
|
self._seed_equal_efforts(effort_variables)
|
|
self._seed_closed_resistance_pressures()
|
|
self._seed_pnor_pnl0001_series_pressures()
|
|
self._solve_explicit_flow_unknowns()
|
|
contact_bindings = self._seed_unilateral_contacts()
|
|
if contact_bindings:
|
|
self._solve_explicit_flow_unknowns(("f",))
|
|
self._refresh_unilateral_contacts(contact_bindings)
|
|
scales = self._scales()
|
|
pressure_scale = scales["p"]
|
|
flow_scale = scales["m_flow"]
|
|
unknown_scales = {
|
|
unknown.id: (
|
|
max(abs(unknown.read()), 1.0)
|
|
if unknown.variable == "f"
|
|
else scales.get(unknown.variable, max(abs(unknown.read()), 1.0))
|
|
)
|
|
for unknown in self.unknowns
|
|
}
|
|
def variable_scale(unknown: AlgebraicUnknown) -> float:
|
|
return unknown_scales[unknown.id]
|
|
|
|
seeded_equations = self._pressure_flow_equation_residuals()
|
|
|
|
def initial_equation_scale(equation) -> float:
|
|
variable_names = [
|
|
variable.rsplit(".", 1)[-1]
|
|
for variable in equation.variables
|
|
]
|
|
if equation.role == "flow":
|
|
force_scales = [
|
|
unknown_scales[variable]
|
|
for variable in equation.variables
|
|
if variable in self._unknowns_by_id
|
|
and self._unknowns_by_id[variable].variable == "f"
|
|
]
|
|
if force_scales:
|
|
# Freeze force scaling per equation. A 1e17 N source must
|
|
# not hide an unrelated 40 N piston/contact imbalance in a
|
|
# different mechanical branch.
|
|
return max(force_scales + [abs(float(equation.value)), 1.0])
|
|
return flow_scale
|
|
if equation.role == "effort":
|
|
if "x" in variable_names:
|
|
return scales["x"]
|
|
if "v" in variable_names:
|
|
return scales["v"]
|
|
return pressure_scale
|
|
return max([scales.get(name, 1.0) for name in variable_names] + [1.0])
|
|
|
|
equation_scales = {
|
|
equation.id: initial_equation_scale(equation)
|
|
for equation in seeded_equations
|
|
}
|
|
|
|
def equation_scale(equation) -> float:
|
|
cached = equation_scales.get(equation.id)
|
|
if cached is not None:
|
|
return cached
|
|
return initial_equation_scale(equation)
|
|
|
|
seeded_scaled = [
|
|
abs(equation.value / equation_scale(equation))
|
|
for equation in seeded_equations
|
|
]
|
|
seeded_max_scaled_residual = max(seeded_scaled, default=0.0)
|
|
seeded_unknown_values = [
|
|
(unknown, unknown.read()) for unknown in self.unknowns
|
|
]
|
|
seeded_unknowns_are_feasible = all(
|
|
isfinite(value)
|
|
and (unknown.variable != "p" or value >= 1.0)
|
|
for unknown, value in seeded_unknown_values
|
|
)
|
|
if (
|
|
seeded_unknowns_are_feasible
|
|
and all(isfinite(value) for value in seeded_scaled)
|
|
and seeded_max_scaled_residual <= self.residual_tolerance
|
|
):
|
|
diagnostics = AlgebraicSolveDiagnostics(
|
|
success=True,
|
|
message="Seeded pressure-flow state satisfies the residual tolerance.",
|
|
evaluations=0,
|
|
pressure_scale=pressure_scale,
|
|
flow_scale=flow_scale,
|
|
max_scaled_residual=seeded_max_scaled_residual,
|
|
max_raw_residual=max(
|
|
(abs(item.value) for item in seeded_equations),
|
|
default=0.0,
|
|
),
|
|
)
|
|
self.last_diagnostics = diagnostics
|
|
return diagnostics
|
|
|
|
positive_pressures = [
|
|
unknown.read()
|
|
for unknown in self._unknowns_by_variable["p"]
|
|
if unknown.read() > 0.0
|
|
]
|
|
fallback_pressure = (
|
|
sum(positive_pressures) / len(positive_pressures)
|
|
if positive_pressures
|
|
else pressure_scale
|
|
)
|
|
|
|
# A causal contact retains its small relative penetration around the
|
|
# current absolute port coordinates. Keep that local coordinate during
|
|
# nonlinear fallback: the contact law remains responsive to optimizer
|
|
# increments, while a sub-ULP penetration is not lost by subtracting two
|
|
# large absolute displacements.
|
|
|
|
x0 = np.asarray(
|
|
[
|
|
(
|
|
unknown.read()
|
|
if unknown.variable != "p" or unknown.read() > 0.0
|
|
else fallback_pressure
|
|
)
|
|
/ variable_scale(unknown)
|
|
for unknown in self.unknowns
|
|
],
|
|
dtype=float,
|
|
)
|
|
lower = np.asarray(
|
|
[
|
|
1.0 / pressure_scale if unknown.variable == "p" else -np.inf
|
|
for unknown in self.unknowns
|
|
]
|
|
)
|
|
upper = np.full(len(self.unknowns), np.inf)
|
|
|
|
def assign(values) -> None:
|
|
for unknown, value in zip(self.unknowns, values):
|
|
unknown.write(float(value) * variable_scale(unknown))
|
|
|
|
def scaled_residuals(values):
|
|
assign(values)
|
|
self._refresh_unilateral_contacts(contact_bindings)
|
|
equations = self._pressure_flow_equation_residuals()
|
|
return np.asarray(
|
|
[
|
|
equation.value / equation_scale(equation)
|
|
for equation in equations
|
|
],
|
|
dtype=float,
|
|
)
|
|
|
|
result = least_squares(
|
|
scaled_residuals,
|
|
x0,
|
|
bounds=(lower, upper),
|
|
x_scale="jac",
|
|
ftol=1e-10,
|
|
xtol=1e-10,
|
|
gtol=1e-10,
|
|
max_nfev=self.max_evaluations,
|
|
)
|
|
assign(result.x)
|
|
self._refresh_unilateral_contacts(contact_bindings)
|
|
equations = self._pressure_flow_equation_residuals()
|
|
scaled = [
|
|
abs(
|
|
equation.value / equation_scale(equation)
|
|
)
|
|
for equation in equations
|
|
]
|
|
max_scaled_residual = max(scaled, default=0.0)
|
|
residuals_converged = (
|
|
all(isfinite(value) for value in scaled)
|
|
and max_scaled_residual <= self.residual_tolerance
|
|
)
|
|
optimizer_status_is_acceptable = bool(result.success) or int(result.status) == 0
|
|
success = residuals_converged and optimizer_status_is_acceptable
|
|
diagnostics = AlgebraicSolveDiagnostics(
|
|
success=success,
|
|
message=str(result.message),
|
|
evaluations=int(result.nfev),
|
|
pressure_scale=pressure_scale,
|
|
flow_scale=flow_scale,
|
|
max_scaled_residual=max_scaled_residual,
|
|
max_raw_residual=max((abs(item.value) for item in equations), default=0.0),
|
|
)
|
|
self.last_diagnostics = diagnostics
|
|
if not success:
|
|
raise AlgebraicSolveError(
|
|
"Pressure-flow equations did not converge to the requested tolerance.",
|
|
diagnostics,
|
|
)
|
|
return diagnostics
|