mbsimflexiblebody 4.0.0 MBSim Flexible Body Module

1s_21_ancf.h
1 /* Copyright (C) 2004-2014 MBSim Development Team
2 *
3 * This library is free software; you can redistribute it and/or
4 * modify it under the terms of the GNU Lesser General Public
5 * License as published by the Free Software Foundation; either
6 * version 2.1 of the License, or (at your option) any later version.
7 *
8 * This library is distributed in the hope that it will be useful,
9 * but WITHOUT ANY WARRANTY; without even the implied warranty of
10 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
11 * Lesser General Public License for more details.
12 *
13 * You should have received a copy of the GNU Lesser General Public
14 * License along with this library; if not, write to the Free Software
15 * Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA
16 *
17 * Contact: thorsten.schindler@mytum.de
18 */
19
20 #ifndef _FLEXIBLE_BODY_1S_21_ANCF_H_
21 #define _FLEXIBLE_BODY_1S_21_ANCF_H_
22
23 #include "mbsimFlexibleBody/flexible_body/1s.h"
24
25 namespace MBSimFlexibleBody {
26
27 class NodeFrame;
28
43 class FlexibleBody1s21ANCF : public FlexibleBody1s {
44
45 public:
51 FlexibleBody1s21ANCF(const std::string &name, bool openStructure);
52
53 /* INHERITED INTERFACE OF FLEXIBLE BODY */
54 void updateM() override { }
55 void updateLLM() override { }
56
57 void BuildElements() override;
58
59 void GlobalVectorContribution(int n, const fmatvec::Vec& locVec, fmatvec::Vec& gloVec) override;
60 void GlobalMatrixContribution(int n, const fmatvec::Mat& locMat, fmatvec::Mat& gloMat) override;
61 void GlobalMatrixContribution(int n, const fmatvec::SymMat& locMat, fmatvec::SymMat& gloMat) override;
62
63 void updatePositions(Frame1s* frame) override;
64 void updateVelocities(Frame1s* frame) override;
65 void updateAccelerations(Frame1s* frame) override;
66 void updateJacobians(Frame1s* frame, int j=0) override;
67 void updateGyroscopicAccelerations(Frame1s* frame) override;
68
69 virtual void updatePositions(NodeFrame* frame);
70 virtual void updateVelocities(NodeFrame* frame);
71 virtual void updateAccelerations(NodeFrame* frame);
72 virtual void updateJacobians(NodeFrame* frame, int j=0);
73 virtual void updateGyroscopicAccelerations(NodeFrame* frame);
74 /****************************************/
75
76 /* INHERITED INTERFACE OF OBJECT */
77 void init(InitStage stage, const MBSim::InitConfigSet &config) override;
78 /***************************************************/
79
80 /* INHERITED INTERFACE OF ELEMENT */
81 void plot() override;
82 /***************************************************/
83
84 /* GETTER / SETTER */
85 void setNumberElements(int n);
86 void setEModul(double E_) { E = E_; }
87 void setCrossSectionalArea(double A_) { A = A_; }
88 void setMomentInertia(double I_) { I = I_; }
89 void setDensity(double rho_) { rho = rho_; }
90 void setCurlRadius(double rc_);
91 void setMaterialDamping(double deps_, double dkappa_);
92 void setEulerPerspective(bool Euler_, double v0_);
93 int getNumberElements(){ return Elements; }
94 /***************************************************/
95
99 void initInfo();
100
105 void initRelaxed(double alpha);
106
107 private:
111 int Elements;
112
116 double l0;
117
121 double E;
122
126 double A;
127
131 double I;
132
136 double rho;
137
141 double rc;
142
146 double deps;
147
151 double dkappa;
152
156 bool initialised;
157
161 double v0;
162
166 bool Euler;
167
171 void initM();
172
179 void BuildElement(const double& sGlobal, double& sLocal, int& currentElement);
180
181 fmatvec::Vec3 X;
182 double sOld;
183 };
184
185 }
186
187 #endif /* _FLEXIBLE_BODY_1S_21_ANCF_H_ */
MBSimFlexibleBody::FlexibleBody1s21ANCF::deps
double deps
coefficient of material longitudinal damping
Definition: 1s_21_ancf.h:146
MBSimFlexibleBody::FlexibleBody1s21ANCF::BuildElements
void BuildElements() override
references finite element coordinates to assembled coordinates
Definition: 1s_21_ancf.cc:255
MBSimFlexibleBody::FlexibleBody1s21ANCF::FlexibleBody1s21ANCF
FlexibleBody1s21ANCF(const std::string &name, bool openStructure)
constructor:
Definition: 1s_21_ancf.cc:39
MBSimFlexibleBody::FlexibleBody1s21ANCF::dkappa
double dkappa
coefficient of material longitudinal damping
Definition: 1s_21_ancf.h:151
MBSimFlexibleBody::FlexibleBody1s21ANCF::initInfo
void initInfo()
initialise beam only for giving information with respect to state, number elements,...
Definition: 1s_21_ancf.cc:302
MBSimFlexibleBody::FlexibleBody1s
tbd
Definition: 1s.h:33
MBSimFlexibleBody::Frame1s
Definition: frame_1s.h:27
MBSimFlexibleBody::FlexibleBody1s21ANCF::rho
double rho
material density
Definition: 1s_21_ancf.h:136
MBSimFlexibleBody::FlexibleBody1s21ANCF::GlobalMatrixContribution
void GlobalMatrixContribution(int n, const fmatvec::Mat &locMat, fmatvec::Mat &gloMat) override
insert 'local' information in global matrices
Definition: 1s_21_ancf.cc:53
MBSimFlexibleBody::FlexibleBody1s21ANCF::initialised
bool initialised
flag for testing if beam is initialised
Definition: 1s_21_ancf.h:156
MBSimFlexibleBody::FlexibleBody1s21ANCF::I
double I
moment of inertia of cross-section
Definition: 1s_21_ancf.h:131
MBSimFlexibleBody::FlexibleBody1s21ANCF::l0
double l0
length of one finite element
Definition: 1s_21_ancf.h:116
MBSimFlexibleBody::FlexibleBody1s21ANCF::BuildElement
void BuildElement(const double &sGlobal, double &sLocal, int &currentElement)
detect current finite element
Definition: 1s_21_ancf.cc:273
MBSimFlexibleBody::FlexibleBody1s21ANCF::A
double A
cross-section area
Definition: 1s_21_ancf.h:126
MBSimFlexibleBody::FlexibleBody1s21ANCF::initM
void initM()
initialize mass matrix and calculate Cholesky decomposition
Definition: 1s_21_ancf.cc:289
MBSimFlexibleBody::FlexibleBody1s::openStructure
bool openStructure
flag for open (cantilever beam) or closed (rings) structures
Definition: 1s.h:73
MBSimFlexibleBody::FlexibleBody1s21ANCF::Elements
int Elements
number of finite elements used for discretisation
Definition: 1s_21_ancf.h:111
MBSimFlexibleBody::FlexibleBody1s21ANCF::initRelaxed
void initRelaxed(double alpha)
initialise beam state concerning a straight cantilever setting or a circle shaped ring
Definition: 1s_21_ancf.cc:313
MBSim::Element::InitStage
InitStage
MBSimFlexibleBody::FlexibleBody1s21ANCF::E
double E
modulus of linear elasticity
Definition: 1s_21_ancf.h:121
MBSim::Element::name
std::string name
MBSim::Body::frame
std::vector< Frame * > frame
MBSimFlexibleBody::FlexibleBody1s21ANCF::v0
double v0
Euler perspective: constant longitudinal velocity.
Definition: 1s_21_ancf.h:161
MBSimFlexibleBody::FlexibleBody1s21ANCF
Absolute Nodal Coordinate Formulation for flexible planar beams.
Definition: 1s_21_ancf.h:43
MBSimFlexibleBody::FlexibleBody1s21ANCF::rc
double rc
radius of undeformed shape
Definition: 1s_21_ancf.h:141
MBSimFlexibleBody::FlexibleBody1s21ANCF::Euler
bool Euler
Euler perspective: true if set.
Definition: 1s_21_ancf.h:166
MBSimFlexibleBody::NodeFrame
cartesian frame on nodes of flexible bodies
Definition: node_frame.h:31
MBSimFlexibleBody::FlexibleBody1s21ANCF::GlobalVectorContribution
void GlobalVectorContribution(int n, const fmatvec::Vec &locVec, fmatvec::Vec &gloVec) override
insert 'local' information in global vectors
Definition: 1s_21_ancf.cc:41