CFX-FSI 120 Lect-05 6DOF

Chapter 5
6-DOF Rigid Body Solver
Solving FSI Applications

using Workbench, ANSYS
Mechanical and CFX
ANSYS, Inc. Proprietary
2009 ANSYS, Inc. All rights reserved.
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Rigid Body FSI
Training Manual
6-DOF solutions available as -feature in version 12

Fluid forces/torques on a body auto-calculated
Body response included in flow solution
Either via mesh motion or via immersed solid
Simplified FSI case where body does not change shape
under fluid load
Can make assumptions about its behaviour
Does not need the expense of a full structural simulation

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Rigid Body Dynamics
Training Manual
Forces and torques acting on a rigid body can be

summed and assumed to act on/about the centre of mass
Chasles Theorem: The general displacement of a rigid
body is a linear motion of a origin point plus a rotation
around the origin point
Can separate translation and rotation

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Rigid Translation
Training Manual
Translational equation of motion, applied to Centre of

Mass
P mx = Linear Momentum
dP
mx G F
dt
x G = Acceleration about centre of mass
F FAero mg [kSpring ( x x so )] FExt

Discretized using implicit Newmark integration scheme
Default integration parameters give 2nd order accuracy
Advantage over previous explicit CEL implementation
Can add influence of external spring or external force to

F
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Rigid Rotation
Training Manual
Rotational equation of motion about Centre of Mass
d d ( I B )
M
dt
dt
= Angular Momentum
= Moment of Inertia tensor
d ( IB )
B I B I B
dt
B I 1 ( M B B I B )
M B M Aero [kSpring ( so )] M Ext
Two methods of discretization available

Simo-Wong [1] (Default. Second order, iteratively conservative)
First Order Backward Euler
Can add influence of external torsion spring or external

torque to MExt
[1] Simo, J.C., Wong, K.K., Unconditionally Stable Algorithms for Rigid Body Dynamics that exactly Preserves
Energy and Momentum, Int. J. Num. Methods in Eng., vol. 31, 19-52 (1991)
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Creating a Rigid Body in CFX-Pre
Training Manual
Enable Beta Features

Case Options > General
Insert a Rigid Body into the

Flow Analysis

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Rigid Body Basic Settings
Training Manual
Mass
Rigid body mass
Location
The 2D boundary region of the rigid body
Coord Frame
Must create a Coord Frame at the centre
of mass and select here
Cannot constrain a body to rotate about
a point
Mass Moment of Inertia

Enter components for the Mass Moment
of Inertia tensor
See next slides
As calculated with respect to the rigid
body coordinate frame
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Note: Until a service pack is

available for version 12.0 dont use
Coord 0 as the Coord Frame, even if
it is located at the centre of mass
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Mass Moment of Inertia Tensor
Training Manual
This tensor describes an objects resistance to changes in

its rotation rate
I
I
I
xx
xy
xz
I I yx
I zx
I yy
I zy
I yz
I zz
Its a symmetric tensor, so Ixy = Iyx

Hence only 6 components are entered on the Basic Settings panel
Ixx describes the moment of inertia around the x-axis when

the objects are rotated around the x-axis
Non-zero when you have rotation about the x-axis
Ixy describes the moment of inertia around the y-axis when

the objects are rotated around the x-axis, etc
Non-zero when you have rotation about the x and y axis
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Mass Moment of Inertia Tensor
Training Manual
For rotation about only the y-axis, the tensor simplifies

to:
0 0
I 0 I yy
0 0
0
0
0
For rotation about the x and y axes we have:

I xx
I I yx
0
I xy
I yy
0
0
0
0
See http://en.wikipedia.org/wiki/Moment_of_inertia for

detailed background on mass moment of inertia
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Rigid Body Dynamics
Training Manual
External Forces / Torques

- Use Spring or Value option
- Spring:
- Set Origin coords and Spring Constant
- Value
- Enter Cartesian components (can use CEL
expressions)
Degrees of Freedom
Select Translational / Rotational DOF
Default is None need to set at least one
DOF
Enter Gravity Vector

Acts at the centre of mass as set by Coord
Frame
Should be consistent with Domain gravity
(if specified in the Domain)
Everything specified in Rigid Body

Coord Frame
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Rigid Body Initialization
Training Manual
All state variables defining

rigid body can be initialized in
terms of the rigid body
coordinate frame
Default behaviour is to use
Automatic
Assumes quiescent conditions
unless a previous solution is
provided to restart from

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Rigid Body Mesh Motion
Training Manual
After creating the rigid body, set

mesh motion parameters on
boundaries, subdomains and/or
interfaces
Option = Rigid Body Solution
Rigid Body = <Location>
Motion Constraints
Ignore Translations
Ignore Rotations
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Rigid Body Mesh Motion Example
Training Manual
Ship hull example

2-DOF
Rotation about y-axis
Translation along the zaxis
A subdomain moves with

the rigid body so that
near-wall mesh quality
can be maintained
See EX4 in the examples
folder

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Training Manual
Hull wall boundary mesh motion defined by the Rigid Body

Solution

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Training Manual
Subdomain mesh motion also defined by the Rigid Body Solution

Hull and subdomain rotate and translate together as a rigid body

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Training Manual
A Domain Interface is used between the subdomain and the rest of

the domain
The subdomain side of the interface uses the same mesh motion
setting as the subdomain and hull

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Training Manual
The other side of the interface uses the Rigid Body Solution to set
the mesh motion, but Ignore Rotations is selected
The mesh slides at the domain interface so rotational motion is not

transmitted to the outer domain
Translational motion is passed and absorbed by the outer domain
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Training Manual
This example demonstrates

the preferred topology when
rotation about a single axis
is included
For rotation about multiple
axes surround the rigid body
with a sphere when
significant rotation occurs

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Rigid Body Solver Control
Training Manual
Solver Control > Advanced Options

Update Frequency
Every Time Step Explicit
Every Coefficient Loop Implicit
Must combine with expert parameter
meshdisp each coefiter = t
Fully implicit option important for large

timestep use and cases with high
virtual-mass (body-mass ratio)
Can use Under Relaxation Factors

for steady state simulations
Dont restart with Under Relaxation < 1
Currently not permitted for transients
Use default Integration Method

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Rigid Body Solution

Training Manual
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Limitations
Training Manual
Limitations will be addressed when available as a fully

released feature
CEL access of rigid body variables
Cannot access displacements / rotations of the centre of mass
in CEL
Available in User FORTRAN
However, can access mesh displacement information on the

boundaries
Attach monitor point to a node
Use callbacks to query mesh displacements/position on boundaries
Use of 6-DOF in moving reference frames

Not available in rotating frames
Can use stationary frames with rotating mesh, as in
previous example
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CFX-FSI 120 Lect-05 6DOF

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Chapter 5

6-DOF Rigid Body Solver

Solving FSI Applications

6-DOF Rigid Body Solver

Rigid Body FSI

6-DOF solutions available as -feature in version 12

ANSYS, Inc. Proprietary

6-DOF Rigid Body Solver

Rigid Body Dynamics

Forces and torques acting on a rigid body can be

ANSYS, Inc. Proprietary

6-DOF Rigid Body Solver

Translational equation of motion, applied to Centre of

x G = Acceleration about centre of mass

F FAero mg [kSpring ( x x so )] FExt

Can add influence of external spring or external force to

6-DOF Rigid Body Solver

Rotational equation of motion about Centre of Mass

= Moment of Inertia tensor

M B M Aero [kSpring ( so )] M Ext

Two methods of discretization available

Can add influence of external torsion spring or external

6-DOF Rigid Body Solver

Creating a Rigid Body in CFX-Pre

Enable Beta Features

Insert a Rigid Body into the

ANSYS, Inc. Proprietary

6-DOF Rigid Body Solver

Rigid Body Basic Settings

Mass Moment of Inertia

Note: Until a service pack is

6-DOF Rigid Body Solver

Mass Moment of Inertia Tensor

This tensor describes an objects resistance to changes in

Its a symmetric tensor, so Ixy = Iyx

Ixx describes the moment of inertia around the x-axis when

Ixy describes the moment of inertia around the y-axis when

6-DOF Rigid Body Solver

Mass Moment of Inertia Tensor

For rotation about only the y-axis, the tensor simplifies

For rotation about the x and y axes we have:

See http://en.wikipedia.org/wiki/Moment_of_inertia for

6-DOF Rigid Body Solver

Rigid Body Dynamics

External Forces / Torques

Enter Gravity Vector

Everything specified in Rigid Body

6-DOF Rigid Body Solver

Rigid Body Initialization

All state variables defining

ANSYS, Inc. Proprietary

6-DOF Rigid Body Solver

Rigid Body Mesh Motion

After creating the rigid body, set

6-DOF Rigid Body Solver

Rigid Body Mesh Motion Example

Ship hull example

A subdomain moves with

ANSYS, Inc. Proprietary

6-DOF Rigid Body Solver

Rigid Body Mesh Motion Example

Hull wall boundary mesh motion defined by the Rigid Body

ANSYS, Inc. Proprietary