!-------------------------------------------------------------------------------------------------- !> @author Pratheek Shanthraj, Max-Planck-Institut für Eisenforschung GmbH !> @author Martin Diehl, Max-Planck-Institut für Eisenforschung GmbH !> @author Philip Eisenlohr, Max-Planck-Institut für Eisenforschung GmbH !> @brief Basic scheme solver !-------------------------------------------------------------------------------------------------- module spectral_mech_basic #include #include use PETScdmda use PETScsnes use prec, only: & pInt, & pReal use math, only: & math_I3 use spectral_utilities, only: & tSolutionState, & tSolutionParams implicit none private character (len=*), parameter, public :: & DAMASK_spectral_SolverBasic_label = 'basic' !-------------------------------------------------------------------------------------------------- ! derived types type(tSolutionParams), private :: params !-------------------------------------------------------------------------------------------------- ! PETSc data DM, private :: da SNES, private :: snes Vec, private :: solution_vec !-------------------------------------------------------------------------------------------------- ! common pointwise data real(pReal), private, dimension(:,:,:,:,:), allocatable :: F_lastInc, Fdot !-------------------------------------------------------------------------------------------------- ! stress, stiffness and compliance average etc. real(pReal), private, dimension(3,3) :: & F_aimDot = 0.0_pReal, & !< assumed rate of average deformation gradient F_aim = math_I3, & !< current prescribed deformation gradient F_aim_lastInc = math_I3, & !< previous average deformation gradient P_av = 0.0_pReal !< average 1st Piola--Kirchhoff stress character(len=1024), private :: incInfo !< time and increment information real(pReal), private, dimension(3,3,3,3) :: & C_volAvg = 0.0_pReal, & !< current volume average stiffness C_volAvgLastInc = 0.0_pReal, & !< previous volume average stiffness C_minMaxAvg = 0.0_pReal, & !< current (min+max)/2 stiffness C_minMaxAvgLastInc = 0.0_pReal, & !< previous (min+max)/2 stiffness S = 0.0_pReal !< current compliance (filled up with zeros) real(pReal), private :: & err_BC, & !< deviation from stress BC err_div !< RMS of div of P integer(pInt), private :: & totalIter = 0_pInt !< total iteration in current increment real(pReal), private, dimension(3,3) :: mask_stress = 0.0_pReal public :: & basic_init, & basic_solution, & basic_forward external :: & PETScErrorF ! is called in the CHKERRQ macro contains !-------------------------------------------------------------------------------------------------- !> @brief allocates all necessary fields and fills them with data, potentially from restart info !-------------------------------------------------------------------------------------------------- subroutine basic_init #if defined(__GFORTRAN__) || __INTEL_COMPILER >= 1800 use, intrinsic :: iso_fortran_env, only: & compiler_version, & compiler_options #endif use IO, only: & IO_intOut, & IO_read_realFile, & IO_timeStamp use debug, only: & debug_level, & debug_spectral, & debug_spectralRestart use FEsolving, only: & restartInc use numerics, only: & worldrank, & worldsize use homogenization, only: & materialpoint_F0 use DAMASK_interface, only: & getSolverJobName use spectral_utilities, only: & Utilities_constitutiveResponse, & Utilities_updateGamma, & Utilities_updateIPcoords, & wgt use mesh, only: & grid, & grid3 use math, only: & math_invSym3333 implicit none real(pReal), dimension(3,3,grid(1),grid(2),grid3) :: P real(pReal), dimension(3,3) :: & temp33_Real = 0.0_pReal PetscErrorCode :: ierr PetscScalar, pointer, dimension(:,:,:,:) :: F PetscInt, dimension(:), allocatable :: localK integer(pInt) :: proc character(len=1024) :: rankStr external :: & SNESSetOptionsPrefix, & SNESSetConvergenceTest, & DMDASNESSetFunctionLocal write(6,'(/,a)') ' <<<+- DAMASK_spectral_solverBasic init -+>>>' write(6,'(/,a)') ' Shanthraj et al., International Journal of Plasticity, 66:31–45, 2015' write(6,'(a,/)') ' https://doi.org/10.1016/j.ijplas.2014.02.006' write(6,'(a15,a)') ' Current time: ',IO_timeStamp() #include "compilation_info.f90" !-------------------------------------------------------------------------------------------------- ! allocate global fields allocate (F_lastInc (3,3,grid(1),grid(2),grid3),source = 0.0_pReal) allocate (Fdot (3,3,grid(1),grid(2),grid3),source = 0.0_pReal) !-------------------------------------------------------------------------------------------------- ! initialize solver specific parts of PETSc call SNESCreate(PETSC_COMM_WORLD,snes,ierr); CHKERRQ(ierr) call SNESSetOptionsPrefix(snes,'mech_',ierr);CHKERRQ(ierr) allocate(localK(worldsize), source = 0); localK(worldrank+1) = grid3 do proc = 1, worldsize call MPI_Bcast(localK(proc),1,MPI_INTEGER,proc-1,PETSC_COMM_WORLD,ierr) enddo call DMDACreate3d(PETSC_COMM_WORLD, & DM_BOUNDARY_NONE, DM_BOUNDARY_NONE, DM_BOUNDARY_NONE, & ! cut off stencil at boundary DMDA_STENCIL_BOX, & ! Moore (26) neighborhood around central point grid(1),grid(2),grid(3), & ! global grid 1 , 1, worldsize, & 9, 0, & ! #dof (F tensor), ghost boundary width (domain overlap) [grid(1)],[grid(2)],localK, & ! local grid da,ierr) ! handle, error CHKERRQ(ierr) call SNESSetDM(snes,da,ierr); CHKERRQ(ierr) ! connect snes to da call DMsetFromOptions(da,ierr); CHKERRQ(ierr) call DMsetUp(da,ierr); CHKERRQ(ierr) call DMcreateGlobalVector(da,solution_vec,ierr); CHKERRQ(ierr) ! global solution vector (grid x 9, i.e. every def grad tensor) call DMDASNESsetFunctionLocal(da,INSERT_VALUES,Basic_formResidual,PETSC_NULL_SNES,ierr) ! residual vector of same shape as solution vector CHKERRQ(ierr) call SNESsetConvergenceTest(snes,Basic_converged,PETSC_NULL_SNES,PETSC_NULL_FUNCTION,ierr) ! specify custom convergence check function "_converged" CHKERRQ(ierr) call SNESsetFromOptions(snes,ierr); CHKERRQ(ierr) ! pull it all together with additional CLI arguments !-------------------------------------------------------------------------------------------------- ! init fields call DMDAVecGetArrayF90(da,solution_vec,F,ierr); CHKERRQ(ierr) ! get the data out of PETSc to work with restart: if (restartInc > 0_pInt) then if (iand(debug_level(debug_spectral),debug_spectralRestart) /= 0) then write(6,'(/,a,'//IO_intOut(restartInc)//',a)') & 'reading values of increment ', restartInc, ' from file' flush(6) endif write(rankStr,'(a1,i0)')'_',worldrank call IO_read_realFile(777,'F'//trim(rankStr),trim(getSolverJobName()),size(F)) read (777,rec=1) F; close (777) call IO_read_realFile(777,'F_lastInc'//trim(rankStr),trim(getSolverJobName()),size(F_lastInc)) read (777,rec=1) F_lastInc; close (777) call IO_read_realFile(777,'F_aimDot',trim(getSolverJobName()),size(F_aimDot)) read (777,rec=1) F_aimDot; close (777) F_aim = reshape(sum(sum(sum(F,dim=4),dim=3),dim=2) * wgt, [3,3]) ! average of F F_aim_lastInc = sum(sum(sum(F_lastInc,dim=5),dim=4),dim=3) * wgt ! average of F_lastInc elseif (restartInc == 0_pInt) then restart F_lastInc = spread(spread(spread(math_I3,3,grid(1)),4,grid(2)),5,grid3) ! initialize to identity F = reshape(F_lastInc,[9,grid(1),grid(2),grid3]) endif restart materialpoint_F0 = reshape(F_lastInc, [3,3,1,product(grid(1:2))*grid3]) ! set starting condition for materialpoint_stressAndItsTangent call Utilities_updateIPcoords(reshape(F,shape(F_lastInc))) call Utilities_constitutiveResponse(P,temp33_Real,C_volAvg,C_minMaxAvg, & ! stress field, stress avg, global average of stiffness and (min+max)/2 reshape(F,shape(F_lastInc)), & ! target F 0.0_pReal, & ! time increment math_I3) ! no rotation of boundary condition call DMDAVecRestoreArrayF90(da,solution_vec,F,ierr); CHKERRQ(ierr) ! write data back to PETSc ! QUESTION: why not writing back right after reading (l.189)? restartRead: if (restartInc > 0_pInt) then ! QUESTION: are those values not calc'ed by constitutiveResponse? why reading from file? if (iand(debug_level(debug_spectral),debug_spectralRestart) /= 0 .and. worldrank == 0_pInt) & write(6,'(/,a,'//IO_intOut(restartInc)//',a)') & 'reading more values of increment ', restartInc, ' from file' flush(6) call IO_read_realFile(777,'C_volAvg',trim(getSolverJobName()),size(C_volAvg)) read (777,rec=1) C_volAvg; close (777) call IO_read_realFile(777,'C_volAvgLastInc',trim(getSolverJobName()),size(C_volAvgLastInc)) read (777,rec=1) C_volAvgLastInc; close (777) call IO_read_realFile(777,'C_ref',trim(getSolverJobName()),size(C_minMaxAvg)) read (777,rec=1) C_minMaxAvg; close (777) endif restartRead call Utilities_updateGamma(C_minMaxAvg,.true.) end subroutine basic_init !-------------------------------------------------------------------------------------------------- !> @brief solution for the Basic scheme with internal iterations !-------------------------------------------------------------------------------------------------- type(tSolutionState) function basic_solution(incInfoIn,timeinc,timeinc_old,stress_BC,rotation_BC) use IO, only: & IO_error use numerics, only: & update_gamma use spectral_utilities, only: & tBoundaryCondition, & Utilities_maskedCompliance, & Utilities_updateGamma use FEsolving, only: & restartWrite, & terminallyIll implicit none !-------------------------------------------------------------------------------------------------- ! input data for solution character(len=*), intent(in) :: & incInfoIn real(pReal), intent(in) :: & timeinc, & !< increment time for current solution timeinc_old !< increment time of last successful increment type(tBoundaryCondition), intent(in) :: & stress_BC real(pReal), dimension(3,3), intent(in) :: rotation_BC !-------------------------------------------------------------------------------------------------- ! PETSc Data PetscErrorCode :: ierr SNESConvergedReason :: reason external :: & SNESsolve incInfo = incInfoIn !-------------------------------------------------------------------------------------------------- ! update stiffness (and gamma operator) S = Utilities_maskedCompliance(rotation_BC,stress_BC%maskLogical,C_volAvg) if (update_gamma) call Utilities_updateGamma(C_minMaxAvg,restartWrite) !-------------------------------------------------------------------------------------------------- ! set module wide availabe data mask_stress = stress_BC%maskFloat params%stress_BC = stress_BC%values params%rotation_BC = rotation_BC params%timeinc = timeinc params%timeincOld = timeinc_old !-------------------------------------------------------------------------------------------------- ! solve BVP call SNESsolve(snes,PETSC_NULL_VEC,solution_vec,ierr); CHKERRQ(ierr) !-------------------------------------------------------------------------------------------------- ! check convergence call SNESGetConvergedReason(snes,reason,ierr); CHKERRQ(ierr) basic_solution%converged = reason > 0 basic_solution%iterationsNeeded = totalIter basic_solution%termIll = terminallyIll terminallyIll = .false. if (reason == -4) call IO_error(893_pInt) ! MPI error end function basic_solution !-------------------------------------------------------------------------------------------------- !> @brief forms the basic residual vector !-------------------------------------------------------------------------------------------------- subroutine Basic_formResidual(in,x_scal,f_scal,dummy,ierr) use numerics, only: & itmax, & itmin use mesh, only: & grid, & grid3 use math, only: & math_rotate_backward33, & math_mul3333xx33 use debug, only: & debug_level, & debug_spectral, & debug_spectralRotation use spectral_utilities, only: & tensorField_real, & utilities_FFTtensorForward, & utilities_fourierGammaConvolution, & utilities_FFTtensorBackward, & Utilities_constitutiveResponse, & Utilities_divergenceRMS use IO, only: & IO_intOut use FEsolving, only: & terminallyIll implicit none DMDALocalInfo, dimension(DMDA_LOCAL_INFO_SIZE) :: in PetscScalar, & dimension(3,3, XG_RANGE,YG_RANGE,ZG_RANGE), intent(in) :: x_scal !< what is this? PetscScalar, & dimension(3,3, X_RANGE,Y_RANGE,Z_RANGE), intent(out) :: f_scal !< what is this? PetscInt :: & PETScIter, & nfuncs PetscObject :: dummy PetscErrorCode :: ierr real(pReal), dimension(3,3) :: & deltaF_aim call SNESGetNumberFunctionEvals(snes,nfuncs,ierr); CHKERRQ(ierr) call SNESGetIterationNumber(snes,PETScIter,ierr); CHKERRQ(ierr) if (nfuncs == 0 .and. PETScIter == 0) totalIter = -1_pInt ! new increment !-------------------------------------------------------------------------------------------------- ! begin of new iteration newIteration: if (totalIter <= PETScIter) then totalIter = totalIter + 1_pInt write(6,'(1x,a,3(a,'//IO_intOut(itmax)//'))') & trim(incInfo), ' @ Iteration ', itmin, '≤',totalIter, '≤', itmax if (iand(debug_level(debug_spectral),debug_spectralRotation) /= 0) & write(6,'(/,a,/,3(3(f12.7,1x)/))',advance='no') & ' deformation gradient aim (lab) =', transpose(math_rotate_backward33(F_aim,params%rotation_BC)) write(6,'(/,a,/,3(3(f12.7,1x)/))',advance='no') & ' deformation gradient aim =', transpose(F_aim) flush(6) endif newIteration !-------------------------------------------------------------------------------------------------- ! evaluate constitutive response call Utilities_constitutiveResponse(f_scal,P_av,C_volAvg,C_minMaxAvg, & x_scal,params%timeinc, params%rotation_BC) call MPI_Allreduce(MPI_IN_PLACE,terminallyIll,1,MPI_LOGICAL,MPI_LOR,PETSC_COMM_WORLD,ierr) !-------------------------------------------------------------------------------------------------- ! stress BC handling deltaF_aim = math_mul3333xx33(S, P_av - params%stress_BC) F_aim = F_aim - deltaF_aim err_BC = maxval(abs(mask_stress * (P_av - params%stress_BC))) ! mask = 0.0 when no stress bc !-------------------------------------------------------------------------------------------------- ! updated deformation gradient using fix point algorithm of basic scheme tensorField_real = 0.0_pReal tensorField_real(1:3,1:3,1:grid(1),1:grid(2),1:grid3) = f_scal call utilities_FFTtensorForward() ! FFT forward of global "tensorField_real" err_div = Utilities_divergenceRMS() ! divRMS of tensorField_fourier call utilities_fourierGammaConvolution(math_rotate_backward33(deltaF_aim,params%rotation_BC)) ! convolution of Gamma and tensorField_fourier, with arg call utilities_FFTtensorBackward() ! FFT backward of global tensorField_fourier !-------------------------------------------------------------------------------------------------- ! constructing residual f_scal = tensorField_real(1:3,1:3,1:grid(1),1:grid(2),1:grid3) ! Gamma*P gives correction towards div(P) = 0, so needs to be zero, too end subroutine Basic_formResidual !-------------------------------------------------------------------------------------------------- !> @brief convergence check !-------------------------------------------------------------------------------------------------- subroutine Basic_converged(snes_local,PETScIter,xnorm,snorm,fnorm,reason,dummy,ierr) use numerics, only: & itmax, & itmin, & err_div_tolRel, & err_div_tolAbs, & err_stress_tolRel, & err_stress_tolAbs use FEsolving, only: & terminallyIll implicit none SNES :: snes_local PetscInt :: PETScIter PetscReal :: & xnorm, & snorm, & fnorm SNESConvergedReason :: reason PetscObject :: dummy PetscErrorCode :: ierr real(pReal) :: & divTol, & BCTol divTol = max(maxval(abs(P_av))*err_div_tolRel ,err_div_tolAbs) BCTol = max(maxval(abs(P_av))*err_stress_tolRel,err_stress_tolAbs) converged: if ((totalIter >= itmin .and. & all([ err_div/divTol, & err_BC /BCTol ] < 1.0_pReal)) & .or. terminallyIll) then reason = 1 elseif (totalIter >= itmax) then converged reason = -1 else converged reason = 0 endif converged !-------------------------------------------------------------------------------------------------- ! report write(6,'(1/,a)') ' ... reporting .............................................................' write(6,'(1/,a,f12.2,a,es8.2,a,es9.2,a)') ' error divergence = ', & err_div/divTol, ' (',err_div,' / m, tol = ',divTol,')' write(6,'(a,f12.2,a,es8.2,a,es9.2,a)') ' error stress BC = ', & err_BC/BCTol, ' (',err_BC, ' Pa, tol = ',BCTol,')' write(6,'(/,a)') ' ===========================================================================' flush(6) end subroutine Basic_converged !-------------------------------------------------------------------------------------------------- !> @brief forwarding routine !> @details find new boundary conditions and best F estimate for end of current timestep !> possibly writing restart information, triggering of state increment in DAMASK, and updating of IPcoordinates !-------------------------------------------------------------------------------------------------- subroutine Basic_forward(guess,timeinc,timeinc_old,loadCaseTime,deformation_BC,stress_BC,rotation_BC) use math, only: & math_mul33x33 ,& math_rotate_backward33 use numerics, only: & worldrank use homogenization, only: & materialpoint_F0 use mesh, only: & grid, & grid3 use CPFEM2, only: & CPFEM_age use spectral_utilities, only: & Utilities_calculateRate, & Utilities_forwardField, & Utilities_updateIPcoords, & tBoundaryCondition, & cutBack use IO, only: & IO_write_JobRealFile use FEsolving, only: & restartWrite implicit none logical, intent(in) :: & guess real(pReal), intent(in) :: & timeinc_old, & timeinc, & loadCaseTime !< remaining time of current load case type(tBoundaryCondition), intent(in) :: & stress_BC, & deformation_BC real(pReal), dimension(3,3), intent(in) ::& rotation_BC PetscErrorCode :: ierr PetscScalar, dimension(:,:,:,:), pointer :: F character(len=32) :: rankStr call DMDAVecGetArrayF90(da,solution_vec,F,ierr); CHKERRQ(ierr) if (cutBack) then C_volAvg = C_volAvgLastInc ! QUESTION: where is this required? C_minMaxAvg = C_minMaxAvgLastInc ! QUESTION: where is this required? else !-------------------------------------------------------------------------------------------------- ! restart information for spectral solver if (restartWrite) then ! QUESTION: where is this logical properly set? write(6,'(/,a)') ' writing converged results for restart' flush(6) if (worldrank == 0_pInt) then call IO_write_jobRealFile(777,'C_volAvg',size(C_volAvg)) write (777,rec=1) C_volAvg; close(777) call IO_write_jobRealFile(777,'C_volAvgLastInc',size(C_volAvgLastInc)) write (777,rec=1) C_volAvgLastInc; close(777) call IO_write_jobRealFile(777,'F_aimDot',size(F_aimDot)) write (777,rec=1) F_aimDot; close(777) endif write(rankStr,'(a1,i0)')'_',worldrank call IO_write_jobRealFile(777,'F'//trim(rankStr),size(F)) ! writing deformation gradient field to file write (777,rec=1) F; close (777) call IO_write_jobRealFile(777,'F_lastInc'//trim(rankStr),size(F_lastInc)) ! writing F_lastInc field to file write (777,rec=1) F_lastInc; close (777) endif call CPFEM_age() ! age state and kinematics call utilities_updateIPcoords(F) C_volAvgLastInc = C_volAvg C_minMaxAvgLastInc = C_minMaxAvg F_aimDot = merge(stress_BC%maskFloat*(F_aim-F_aim_lastInc)/timeinc_old, 0.0_pReal, guess) F_aim_lastInc = F_aim !-------------------------------------------------------------------------------------------------- ! calculate rate for aim if (deformation_BC%myType=='l') then ! calculate F_aimDot from given L and current F F_aimDot = & F_aimDot + deformation_BC%maskFloat * math_mul33x33(deformation_BC%values, F_aim_lastInc) elseif(deformation_BC%myType=='fdot') then ! F_aimDot is prescribed F_aimDot = & F_aimDot + deformation_BC%maskFloat * deformation_BC%values elseif (deformation_BC%myType=='f') then ! aim at end of load case is prescribed F_aimDot = & F_aimDot + deformation_BC%maskFloat * (deformation_BC%values - F_aim_lastInc)/loadCaseTime endif Fdot = Utilities_calculateRate(guess, & F_lastInc,reshape(F,[3,3,grid(1),grid(2),grid3]),timeinc_old, & math_rotate_backward33(F_aimDot,rotation_BC)) F_lastInc = reshape(F, [3,3,grid(1),grid(2),grid3]) ! winding F forward materialpoint_F0 = reshape(F_lastInc, [3,3,1,product(grid(1:2))*grid3]) ! set starting condition for materialpoint_stressAndItsTangent endif !-------------------------------------------------------------------------------------------------- ! update average and local deformation gradients F_aim = F_aim_lastInc + F_aimDot * timeinc F = reshape(Utilities_forwardField(timeinc,F_lastInc,Fdot, & ! estimate of F at end of time+timeinc that matches rotated F_aim on average math_rotate_backward33(F_aim,rotation_BC)),[9,grid(1),grid(2),grid3]) call DMDAVecRestoreArrayF90(da,solution_vec,F,ierr); CHKERRQ(ierr) end subroutine Basic_forward end module spectral_mech_basic