plate according to Reissner-Mindlin with moving frame of reference More...

#include <2s_13.h>

Inheritance diagram for MBSimFlexibleBody::FlexibleBody2s13:

Public Types
enum	LockType { innerring , outerring }
	condensation setting for clamping to rigid body motion

Public Types inherited from MBSim::Element
enum	InitStage

Public Member Functions
	FlexibleBody2s13 (const std::string &name)
	constructor More...

	~FlexibleBody2s13 () override=default
	destructor

void	updateh (int j=0) override

void	updatedhdz () override

void	updateM () override

void	updateLLM () override

void	plot () override

void	setRadius (double Ri_, double Ra_)

void	setEModul (double E_)

void	setPoissonRatio (double nu_)

void	setThickness (const fmatvec::Vec &d_)

fmatvec::Vec	getThickness () const

void	setDensity (double rho_)

int	getReferenceDegreesOfFreedom () const

int	getRadialNumberOfElements () const

int	getAzimuthalNumberOfElements () const

double	getInnerRadius () const

double	getOuterRadius () const

double	getAzimuthalDegree () const

double	getRadialDegree () const

fmatvec::SqrMat3 &	evalA ()

fmatvec::SqrMat3 &	evalG ()

void	setReferenceInertia (double m0_, fmatvec::SymMat3 J0_)

void	setLockType (LockType LT_)

void	setNumberElements (int nr_, int nj_)
	set number of elements in radial and azimuthal direction More...

double	computePotentialEnergy () override

virtual fmatvec::Vec	transformCW (const fmatvec::Vec &WrPoint)=0
	transform Cartesian to cylinder system More...

void	resetUpToDate () override

void	updateExt ()

const fmatvec::Vec &	evalqExt ()

const fmatvec::Vec &	evaluExt ()

virtual fmatvec::Vec3	evalPosition ()

virtual fmatvec::SqrMat3	evalOrientation ()

Public Member Functions inherited from MBSimFlexibleBody::FlexibleBody2s
	FlexibleBody2s (const std::string &name)
	constructor: More...

void	init (InitStage stage, const MBSim::InitConfigSet &config) override

void	plot () override

void	addFrame (Frame2s *frame)

virtual void	updatePositions (Frame2s *frame)

virtual void	updateVelocities (Frame2s *frame)

virtual void	updateAccelerations (Frame2s *frame)

virtual void	updateJacobians (Frame2s *frame, int j=0)

virtual void	updateGyroscopicAccelerations (Frame2s *frame)

void	setOpenMBVSpineExtrusion (const std::shared_ptr< OpenMBV::SpineExtrusion > &body)

Public Member Functions inherited from MBSimFlexibleBody::FlexibleBodyContinuum< fmatvec::Vec2 >
	FlexibleBodyContinuum (const std::string &name)
	constructor More...

void	setContourNodes (const std::vector< fmatvec::Vec2 > nodes)

void	setNodeOffset (const fmatvec::Vec2 nodeOffset_)

fmatvec::Vec2	getNodeOffset () const

Public Member Functions inherited from MBSimFlexibleBody::FlexibleBody
	FlexibleBody (const std::string &name)
	constructor More...

	~FlexibleBody () override
	destructor

void	updateqd () override

void	updateh (int k=0) override

void	updateM () override

void	updatedhdz () override

void	initializeUsingXML (xercesc::DOMElement *element) override

void	init (InitStage stage, const MBSim::InitConfigSet &config) override

virtual double	computeKineticEnergy ()

virtual double	computePotentialEnergy ()

void	setFrameOfReference (MBSim::Frame *frame) override

virtual void	setq0 (const fmatvec::Vec &q0_)

virtual void	setu0 (const fmatvec::Vec &u0_)

virtual void	BuildElements ()=0
	references finite element coordinates to assembled coordinates More...

const fmatvec::Vec &	getqElement (int i)

const fmatvec::Vec &	getuElement (int i)

virtual fmatvec::Vec3	getAngles (int i)

virtual fmatvec::Vec3	getDerivativeOfAngles (int i)

virtual void	GlobalVectorContribution (int CurrentElement, const fmatvec::Vec &locVec, fmatvec::Vec &gloVec)=0
	insert 'local' information in global vectors More...

virtual void	GlobalMatrixContribution (int CurrentElement, const fmatvec::Mat &locMat, fmatvec::Mat &gloMat)=0
	insert 'local' information in global matrices More...

virtual void	GlobalMatrixContribution (int CurrentElement, const fmatvec::SymMat &locMat, fmatvec::SymMat &gloMat)=0
	insert 'local' information in global matrices More...

void	setMassProportionalDamping (const double d_)
	Jacobians and gyroscopes for contour or external frame are set by implementation class. More...

void	addFrame (MBSim::ContourFrame *frame)

void	addFrame (MBSim::FixedRelativeFrame *frame)

void	addContour (MBSim::Contour *contour) override

virtual void	exportPositionVelocity (const std::string &filenamePos, const std::string &filenameVel=std::string(), const int &deg=3, const bool &writePsFile=false)
	interpolates the position and optional the velocity coordinates of the flexible body with Nurbs-package and exports the nurbs curve in the specified file More...

virtual void	importPositionVelocity (const std::string &filenamePos, const std::string &filenameVel=std::string())
	imports the interpolated position and optional the velocity files (created with exportPositionVelocity) and fits the rigid and flexible coordinate dofs and optional the translatory velocity components of flexible body to the imported nurbs curve More...

void	resetUpToDate () override

void	addFrame (NodeBasedFrame *frame)

Public Member Functions inherited from MBSimFlexibleBody::NodeBasedBody
	NodeBasedBody (const std::string &name)

void	resetUpToDate () override

virtual void	updatePositions (int i)

virtual void	updateVelocities (int i)

virtual void	updateAccelerations (int i)

virtual void	updateJacobians (int i, int j=0)

virtual void	updateGyroscopicAccelerations (int i)

virtual void	updateStresses (int i)

const fmatvec::Vec3 &	evalNodalPosition (int i)

const fmatvec::Vec3 &	evalNodalVelocity (int i)

const fmatvec::Vec3 &	evalNodalAcceleration (int i)

const fmatvec::Mat3xV &	evalNodalJacobianOfTranslation (int i, int j=0)

const fmatvec::Vec3 &	evalNodalGyroscopicAccelerationOfTranslation (int i)

const fmatvec::Vec3 &	evalNodalDisplacement (int i)

const fmatvec::Vector< fmatvec::Fixed< 6 >, double > &	evalNodalStress (int i)

fmatvec::SqrMat3 &	getNodalOrientation (int i, bool check=true)

fmatvec::Vec3 &	getNodalAngularVelocity (int i, bool check=true)

fmatvec::Vec3 &	getNodalAngularAcceleration (int i, bool check=true)

fmatvec::Mat3xV &	getNodalJacobianOfRotation (int i, int j=0, bool check=true)

fmatvec::Vec3 &	getNodalGyroscopicAccelerationOfRotation (int i, bool check=true)

void	addFrame (NodeBasedFrame *frame)

void	init (InitStage stage, const MBSim::InitConfigSet &config) override

int	getNumberOfNodes ()

int	getNodeIndex (int nodeNumber) const

Public Member Functions inherited from MBSim::Body
	Body (const std::string &name)

void	plot () override

void	setDynamicSystemSolver (DynamicSystemSolver *sys) override

void	init (InitStage stage, const InitConfigSet &config) override

void	createPlotGroup () override

virtual Contour *	getContour (const std::string &name, bool check=true) const

virtual Frame *	getFrame (const std::string &name, bool check=true) const

virtual Frame *	getFrameOfReference ()

virtual const Frame *	getFrameOfReference () const

virtual void	setFrameOfReference (Frame *frame)

int	frameIndex (const Frame *frame_) const

int	contourIndex (const Contour *contour_) const

Element *	getChildByContainerAndName (const std::string &container, const std::string &name) const override

virtual void	addFrame (Frame *frame)

virtual void	addContour (Contour *contour)

Public Member Functions inherited from MBSim::Object
	Object (const std::string &name)

void	plot () override

virtual void	updateqRef (fmatvec::Vec &qRef)

virtual void	updateqdRef (fmatvec::Vec &qdRef)

virtual void	updatedqRef (fmatvec::Vec &dqRef)

virtual void	updateuRef (fmatvec::Vec &uRef)

virtual void	updateuallRef (fmatvec::Vec &uallRef)

virtual void	updateudRef (fmatvec::Vec &udRef)

virtual void	updateduRef (fmatvec::Vec &duRef)

virtual void	updateudallRef (fmatvec::Vec &udallRef)

virtual void	updatehRef (fmatvec::Vec &hRef, int i=0)

virtual void	updatedhdqRef (fmatvec::Mat &dhdqRef, int i=0)

virtual void	updatedhduRef (fmatvec::SqrMat &dhduRef, int i=0)

virtual void	updatedhdtRef (fmatvec::Vec &dhdtRef, int i=0)

virtual void	updaterRef (fmatvec::Vec &ref, int i=0)

virtual void	updaterdtRef (fmatvec::Vec &ref)

virtual void	updateTRef (fmatvec::Mat &ref)

virtual void	updateMRef (fmatvec::SymMat &ref)

virtual void	updateLLMRef (fmatvec::SymMat &ref)

void	init (InitStage stage, const InitConfigSet &config) override

virtual void	initz ()

virtual void	writez (H5::GroupBase *group)

virtual void	readz0 (H5::GroupBase *group)

virtual void	updateLLM ()

virtual void	setUpInverseKinetics ()

void	createPlotGroup () override

Public Member Functions inherited from MBSim::Element
	Element (const std::string &name)

virtual void	setDynamicSystemSolver (DynamicSystemSolver *sys)

virtual void	plot ()

virtual void	plotAtSpecialEvent ()

const std::string &	getName () const

void	setName (const std::string &str)

DynamicSystemSolver *	getDynamicSystemSolver ()

virtual void	init (InitStage stage, const InitConfigSet &config=InitConfigSet())

virtual void	createPlotGroup ()

H5::GroupBase *	getPlotGroup ()

bool	getPlotFeature (const PlotFeatureEnum &pf)

virtual void	setPlotFeature (const PlotFeatureEnum &pf, bool value)

void	setPlotFeatureForChildren (const PlotFeatureEnum &pf, bool value)

void	setPlotFeatureRecursive (const PlotFeatureEnum &pf, bool value)

void	setPlotAttribute (const std::string &name, const T &value, PlotAttributeStorage storage=PlotAttributeStorage::attribute)

T *	getByPath (const std::string &path, bool initialCaller=true) const

std::string	getPath (const Element *relTo=nullptr, std::string sep="/") const

virtual Element *	getChildByContainerAndName (const std::string &container, const std::string &name) const

std::vector< Element * >	getDependencies () const

int	computeLevel ()

Protected Member Functions
void	BuildElement (const fmatvec::Vec &s)
	detect involved element for contact description More...

virtual void	initMatrices ()=0
	calculate the matrices for the first time More...

virtual void	updateAG ()=0
	update the transformation matrices A and G More...

double	computeThickness (const double &r_)

Protected Attributes
int	Elements
	total number of elements

int	NodeDofs
	elastic dof per node

int	RefDofs
	dof of moving frame of reference

double	E
	Young's modulus.

double	nu
	Poisson ratio.

double	rho
	density

fmatvec::Vec	d
	parameterization of thickness over radius function: d(0) + d(1)r + d(2)r*r More...

double	Ri
	inner and outer radius of disk

double	Ra

double	dr
	radial and azimuthal length of an FE

double	dj

double	m0
	mass of the attached shaft

fmatvec::SymMat3	J0
	inertia of the attached shaft in local coordinates

int	degV
	degree of surface interpolation in radial and azimuthal direction More...

int	degU

int	drawDegree
	number of points drawn between nodes

std::vector< fmatvec::Vec >	ElementalNodes
	vector of boundary data of the FE (r1,j1,r2,j2)

int	currentElement
	number of element currently involved in contact calculations

fmatvec::SymMat	MConst
	constant part of the mass matrix

fmatvec::SymMat	K
	stiffness matrix

int	nr
	number of elements in radial and azimuthal direction, number of FE nodes

int	nj

int	Nodes

fmatvec::Mat	NodeCoordinates
	matrix mapping nodes and coordinates (size number of nodes x number of node coordinates) More...

fmatvec::Matrix< fmatvec::General, fmatvec::Ref, fmatvec::Ref, int >	ElementNodeList
	matrix mapping elements and nodes (size number of elements x number of nodes per elements) More...

int	Dofs
	total dof of disk with reference movement and elastic deformation but without including bearing

LockType	LType
	Dirichlet boundary condition concerning reference movement. More...

fmatvec::RangeV	ILocked
	index of condensated dofs

fmatvec::Vec	qext
	position and velocity with respect to Dofs

fmatvec::Vec	uext

fmatvec::SqrMat3	A
	transformation matrix of coordinates of the moving frame of reference into the reference frame

fmatvec::SqrMat3	G
	transformation matrix of the time derivates of the angles into tho angular velocity in reference coordinates

fmatvec::Mat	Jext

NurbsDisk2s *	contour
	contour for contact description

bool	updExt

bool	updAG

Protected Attributes inherited from MBSimFlexibleBody::FlexibleBodyContinuum< fmatvec::Vec2 >
std::vector< fmatvec::Vec2 >	userContourNodes
	grid for contact point detection

fmatvec::Vec2	nodeOffset
	offset of the ROTNODE from the TRANSNODE

Protected Attributes inherited from MBSimFlexibleBody::FlexibleBody
std::vector< DiscretizationInterface * >	discretization
	stl-vector of discretizations/finite elements

std::vector< fmatvec::Vec >	qElement
	stl-vector of finite element wise positions

std::vector< fmatvec::Vec >	uElement
	stl-vector of finite element wise velocities

double	d_massproportional
	damping factor for mass proportion, see BodyFlexible::setMassProportionalDamping()

bool	updEle
	vector of contour parameters each describing a frame More...

Protected Attributes inherited from MBSimFlexibleBody::NodeBasedBody
std::vector< fmatvec::Vec3 >	WrOP

std::vector< fmatvec::Vec3 >	WvP

std::vector< fmatvec::Vec3 >	Wom

std::vector< fmatvec::Vec3 >	WaP

std::vector< fmatvec::Vec3 >	Wpsi

std::vector< fmatvec::Vec3 >	WjP

std::vector< fmatvec::Vec3 >	WjR

std::vector< fmatvec::Vec3 >	disp

std::vector< fmatvec::SqrMat3 >	AWK

std::vector< fmatvec::Mat3xV >	WJP [2]

std::vector< fmatvec::Mat3xV >	WJR [2]

std::vector< bool >	updNodalPos

std::vector< bool >	updNodalVel

std::vector< bool >	updNodalAcc

std::vector< bool >	updNodalGA

std::vector< bool >	updNodalStress

std::vector< bool >	updNodalJac [2]

std::vector< fmatvec::Vector< fmatvec::Fixed< 6 >, double > >	sigma

int	nn {0}

std::vector< int >	nodeMap

std::vector< int >	nodeNumbers

Protected Attributes inherited from MBSim::Body
std::vector< Frame * >	frame

Frame *	R

fmatvec::Mat3xV	PJT [2]

Protected Attributes inherited from MBSim::Object
int	qSize

int	uSize [2]

int	hSize [2]

int	qInd

fmatvec::Vec	q

fmatvec::Vec	q0

fmatvec::Vec	qd

fmatvec::Vec	h [2]

fmatvec::Mat	dhdq

fmatvec::Mat	T

fmatvec::SymMat	M

fmatvec::SymMat	LLM

Protected Attributes inherited from MBSim::Element
std::string	name

std::string	path

MBXMLUtils::DOMEvalException	domEvalError

DynamicSystemSolver *	ds

H5::VectorSerie< double > *	plotVectorSerie

std::vector< double >	plotVector

std::vector< std::string >	plotColumns

H5::GroupBase *	plotGroup

std::vector< Element * >	dependency

PlotFeatureMap	plotFeature

Additional Inherited Members
Public Attributes inherited from MBSim::Element
	resolveStringRef

	preInit

	plotting

	unknownStage

Detailed Description

plate according to Reissner-Mindlin with moving frame of reference

Author: Kilian Grundl; Thorsten Schindler

Date: 2010-04-23 initial commit (Schindler / Grundl); 2010-08-12 revision (Schindler)

The plate lies in the xy-plane of its reference frame. The z-vector is its "normal". Thus the radial and the azimuthal component give the x- and y- coordinates where the z-coordinate is defined by the thickness parameterization. (neglecting the flexible dofs)

Constructor & Destructor Documentation

◆ FlexibleBody2s13()

MBSimFlexibleBody::FlexibleBody2s13::FlexibleBody2s13 ( const std::string & name )

constructor

Parameters

name of body

Member Function Documentation

◆ BuildElement()

void MBSimFlexibleBody::FlexibleBody2s13::BuildElement ( const fmatvec::Vec & s )

protected

detect involved element for contact description

Parameters

parametrisation vector (radial / azimuthal)

◆ computePotentialEnergy()

double MBSimFlexibleBody::FlexibleBody2s13::computePotentialEnergy ( )

inlineoverridevirtual

Returns: potential energy

Reimplemented from MBSimFlexibleBody::FlexibleBody.

◆ computeThickness()

double MBSimFlexibleBody::FlexibleBody2s13::computeThickness ( const double & r_ )

protected

Returns: thickness of disk at radial coordinate

Parameters

radial coordinate

◆ initMatrices()

virtual void MBSimFlexibleBody::FlexibleBody2s13::initMatrices ( )

protectedpure virtual

calculate the matrices for the first time

Implemented in MBSimFlexibleBody::FlexibleBody2s13Disk, and MBSimFlexibleBody::FlexibleBody2s13MFRMindlin.

◆ plot()

void MBSimFlexibleBody::FlexibleBody2s13::plot ( )

overridevirtual

Reimplemented from MBSimFlexibleBody::FlexibleBody2s.

◆ setNumberElements()

void MBSimFlexibleBody::FlexibleBody2s13::setNumberElements	(	int	nr_,
		int	nj_
	)

set number of elements in radial and azimuthal direction

Parameters

radial	number of elements
azimuthal	number of elements

◆ transformCW()

virtual fmatvec::Vec MBSimFlexibleBody::FlexibleBody2s13::transformCW ( const fmatvec::Vec & WrPoint )

pure virtual

transform Cartesian to cylinder system

Parameters

Cartesian vector in world system of plate

Returns: cylindrical coordinates

Implemented in MBSimFlexibleBody::FlexibleBody2s13Disk, and MBSimFlexibleBody::FlexibleBody2s13MFRMindlin.

◆ updateAG()

virtual void MBSimFlexibleBody::FlexibleBody2s13::updateAG ( )

protectedpure virtual

update the transformation matrices A and G

Implemented in MBSimFlexibleBody::FlexibleBody2s13Disk, and MBSimFlexibleBody::FlexibleBody2s13MFRMindlin.

◆ updateLLM()

void MBSimFlexibleBody::FlexibleBody2s13::updateLLM ( )

inlineoverridevirtual

Reimplemented from MBSim::Object.

Member Data Documentation

◆ d

fmatvec::Vec MBSimFlexibleBody::FlexibleBody2s13::d

protected

parameterization of thickness over radius function: d(0) + d(1)*r + d(2)*r*r

Remarks: vector must have length 3

◆ degV

int MBSimFlexibleBody::FlexibleBody2s13::degV

protected

degree of surface interpolation in radial and azimuthal direction

both degrees have to be smaller than 8

◆ ElementNodeList

fmatvec::Matrix<fmatvec::General,fmatvec::Ref,fmatvec::Ref,int> MBSimFlexibleBody::FlexibleBody2s13::ElementNodeList

protected

matrix mapping elements and nodes (size number of elements x number of nodes per elements)

ElementNodeList(Element,LocalNodeNumber) = globalNodeNumber;

◆ LType

LockType MBSimFlexibleBody::FlexibleBody2s13::LType

protected

Dirichlet boundary condition concerning reference movement.

possible settings: innering/outerring

◆ NodeCoordinates

fmatvec::Mat MBSimFlexibleBody::FlexibleBody2s13::NodeCoordinates

protected

matrix mapping nodes and coordinates (size number of nodes x number of node coordinates)

NodeCoordinates(GlobalNodeNumber,0) = radius (at the node) NodeCoordinates(GlobalNodeNumber,1) = angle (at the node)

The documentation for this class was generated from the following files:

/mbsim-env/mbsim/modules/mbsimFlexibleBody/mbsimFlexibleBody/flexible_body/2s_13.h
/mbsim-env/mbsim/modules/mbsimFlexibleBody/mbsimFlexibleBody/flexible_body/2s_13.cc

Public Types

Public Member Functions

Protected Member Functions

Protected Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ FlexibleBody2s13()

Member Function Documentation

◆ BuildElement()

◆ computePotentialEnergy()

◆ computeThickness()

◆ initMatrices()

◆ plot()

◆ setNumberElements()

◆ transformCW()

◆ updateAG()

◆ updateLLM()

Member Data Documentation

◆ d

◆ degV

◆ ElementNodeList

◆ LType

◆ NodeCoordinates