Bugfix: specified motion and 6-DOF constraints
This commit is contained in:
Hrvoje Jasak
parent
b4e1b80409
commit
0b7d84474f
17 changed files with 1816 additions and 54 deletions
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@ -74,11 +74,18 @@ Foam::dimensionedVector Foam::sixDOFqODE::A
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const HamiltonRodriguezRot& rotation
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) const
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{
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// Fix the global force for global rotation constraints
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dimensionedVector fAbs = force();
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vector& fAbsVal = fAbs.value();
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// Constrain rotation
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fAbsVal = constrainTranslation(fAbsVal);
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return
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(
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- (linSpringCoeffs_ & xR) // spring
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- (linDampingCoeffs_ & uR) // damping
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+ force()
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+ fAbs
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// To absolute
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+ (rotation.invR() & forceRelative())
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)/mass_;
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@ -95,18 +102,7 @@ Foam::dimensionedVector Foam::sixDOFqODE::OmegaDot
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dimensionedVector mAbs = moment();
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vector& mAbsVal = mAbs.value();
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if (fixedRoll_)
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{
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mAbsVal.x() = 0;
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}
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if (fixedPitch_)
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{
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mAbsVal.y() = 0;
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}
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if (fixedYaw_)
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{
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mAbsVal.z() = 0;
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}
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mAbsVal = constrainRotation(mAbsVal);
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return
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inv(momentOfInertia_)
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@ -128,6 +124,97 @@ Foam::dimensionedVector Foam::sixDOFqODE::E
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}
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Foam::vector Foam::sixDOFqODE::constrainRotation(vector& vec) const
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{
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vector consVec(vector::zero);
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// Constrain the vector in respect to referent or global coordinate system
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if (referentMotionConstraints_)
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{
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consVec = referentRotation_.R() & vec;
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if (fixedRoll_)
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{
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consVec.x() = 0;
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}
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if (fixedPitch_)
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{
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consVec.y() = 0;
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}
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if (fixedYaw_)
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{
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consVec.z() = 0;
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}
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consVec = referentRotation_.invR() & consVec;
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}
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else
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{
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consVec = vec;
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if (fixedRoll_)
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{
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consVec.x() = 0;
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}
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if (fixedPitch_)
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{
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consVec.y() = 0;
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}
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if (fixedYaw_)
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{
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consVec.z() = 0;
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}
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}
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return consVec;
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}
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Foam::vector Foam::sixDOFqODE::constrainTranslation(vector& vec) const
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{
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vector consVec(vector::zero);
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// Constrain the vector in respect to referent or global coordinate system
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if (referentMotionConstraints_)
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{
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consVec = referentRotation_.R() & vec;
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if (fixedSurge_)
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{
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consVec.x() = 0;
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}
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if (fixedSway_)
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{
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consVec.y() = 0;
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}
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if (fixedHeave_)
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{
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consVec.z() = 0;
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}
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consVec = referentRotation_.invR() & consVec;
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}
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else
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{
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consVec = vec;
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if (fixedSurge_)
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{
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consVec.x() = 0;
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}
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if (fixedSway_)
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{
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consVec.y() = 0;
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}
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if (fixedHeave_)
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{
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consVec.z() = 0;
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}
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}
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return consVec;
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}
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// * * * * * * * * * * * * * * * * Constructors * * * * * * * * * * * * * * //
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@ -167,7 +254,16 @@ Foam::sixDOFqODE::sixDOFqODE(const IOobject& io)
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fixedHeave_(lookup("fixedHeave")),
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fixedRoll_(lookup("fixedRoll")),
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fixedPitch_(lookup("fixedPitch")),
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fixedYaw_(lookup("fixedYaw"))
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fixedYaw_(lookup("fixedYaw")),
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referentMotionConstraints_
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(
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lookupOrDefault<Switch>
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(
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"referentMotionConstraints",
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false
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)
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),
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referentRotation_(vector::zero, 0)
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{
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setCoeffs();
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}
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@ -224,7 +320,9 @@ Foam::sixDOFqODE::sixDOFqODE
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fixedHeave_(sd.fixedHeave_),
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fixedRoll_(sd.fixedRoll_),
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fixedPitch_(sd.fixedPitch_),
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fixedYaw_(sd.fixedYaw_)
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fixedYaw_(sd.fixedYaw_),
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referentMotionConstraints_(sd.referentMotionConstraints_),
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referentRotation_(sd.referentRotation_)
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{}
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@ -299,22 +397,22 @@ void Foam::sixDOFqODE::derivatives
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dydx[4] = accel.y();
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dydx[5] = accel.z();
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// Add translational constraints by setting RHS of given components to zero
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if (fixedSurge_)
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{
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dydx[0] = 0; // Surge velocity
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dydx[3] = 0; // Surge acceleration
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}
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if (fixedSway_)
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{
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dydx[1] = 0; // Sway velocity
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dydx[4] = 0; // Sway acceleration
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}
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if (fixedHeave_)
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{
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dydx[2] = 0; // Heave velocity
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dydx[5] = 0; // Heave acceleration
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}
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// // Add translational constraints by setting RHS of given components to zero
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// if (fixedSurge_)
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// {
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// dydx[0] = 0; // Surge velocity
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// dydx[3] = 0; // Surge acceleration
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// }
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// if (fixedSway_)
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// {
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// dydx[1] = 0; // Sway velocity
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// dydx[4] = 0; // Sway acceleration
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// }
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// if (fixedHeave_)
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// {
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// dydx[2] = 0; // Heave velocity
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// dydx[5] = 0; // Heave acceleration
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// }
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// Set the derivatives for rotation
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dimensionedVector curOmega
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@ -324,6 +422,25 @@ void Foam::sixDOFqODE::derivatives
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vector(y[6], y[7], y[8])
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);
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// dimensionedVector curGlobalOmega = curRotation.invR() & curOmega;
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//
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// // Add rotational constraints by setting RHS of given components to zero
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// if (fixedRoll_)
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// {
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// curGlobalOmega.value().x() = 0;
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// }
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// if (fixedPitch_)
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// {
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// curGlobalOmega.value().y() = 0;
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// }
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// if (fixedYaw_)
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// {
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// curGlobalOmega.value().z() = 0;
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// }
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//
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//
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// curOmega = curRotation.R() & curGlobalOmega;
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const vector omegaDot = OmegaDot(curRotation, curOmega).value();
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dydx[6] = omegaDot.x();
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@ -335,19 +452,20 @@ void Foam::sixDOFqODE::derivatives
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dydx[11] = curRotation.eDot(curOmega.value(), 2);
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dydx[12] = curRotation.eDot(curOmega.value(), 3);
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// Add rotational constraints by setting RHS of given components to zero
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if (fixedRoll_)
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{
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dydx[10] = 0; // Roll axis (roll quaternion evolution RHS)
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}
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if (fixedPitch_)
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{
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dydx[11] = 0; // Pitch axis (pitch quaternion evolution RHS)
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}
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if (fixedYaw_)
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{
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dydx[12] = 0; // Yaw axis (yaw quaternion evolution RHS)
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}
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// // Add rotational constraints by setting RHS of given components to zero
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// if (fixedRoll_)
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// {
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// dydx[10] = 0; // Roll axis (roll quaternion evolution RHS)
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// }
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// if (fixedPitch_)
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// {
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// dydx[11] = 0; // Pitch axis (pitch quaternion evolution RHS)
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// }
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// if (fixedYaw_)
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// {
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// dydx[12] = 0; // Yaw axis (yaw quaternion evolution RHS)
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// }
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}
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@ -384,6 +502,12 @@ void Foam::sixDOFqODE::update(const scalar delta)
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Uval.y() = coeffs_[4];
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Uval.z() = coeffs_[5];
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// Constrain velocity
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Uval = constrainTranslation(Uval);
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coeffs_[3] = Uval.x();
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coeffs_[4] = Uval.y();
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coeffs_[5] = Uval.z();
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// Update omega
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vector& omegaVal = omega_.value();
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@ -391,6 +515,12 @@ void Foam::sixDOFqODE::update(const scalar delta)
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omegaVal.y() = coeffs_[7];
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omegaVal.z() = coeffs_[8];
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// Constrain omega
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omegaVal = constrainRotation(omegaVal);
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coeffs_[6] = omegaVal.x();
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coeffs_[7] = omegaVal.y();
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coeffs_[8] = omegaVal.z();
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rotation_.updateRotation
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(
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HamiltonRodriguezRot
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@ -151,6 +151,12 @@ class sixDOFqODE
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//- Fixed yaw (rotation around z)
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Switch fixedYaw_;
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//- Restraints in referent coordinate system
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Switch referentMotionConstraints_;
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//- Rotation of referent coordinate system
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HamiltonRodriguezRot referentRotation_;
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// Private Member Functions
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@ -191,6 +197,14 @@ class sixDOFqODE
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const dimensionedVector& omega
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) const;
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//- Constrain rotation vector in referent or global coordinate
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// system
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vector constrainRotation(vector& vec) const;
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//- Constrain translation vector in referent or global coordinate
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// system
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vector constrainTranslation(vector& vec) const;
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public:
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@ -286,6 +300,9 @@ public:
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// coordinate system
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inline void setOmega(const vector& omega);
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//- Set referent coordinate system to apply constraints
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inline void setReferentRotation(const HamiltonRodriguezRot& rot);
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// Average motion per time-step
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@ -166,6 +166,14 @@ void Foam::sixDOFqODE::setOmega(const vector& omega)
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}
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void Foam::sixDOFqODE::setReferentRotation(const HamiltonRodriguezRot& rot)
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{
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referentRotation_ = rot;
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referentMotionConstraints_ = true;
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}
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const Foam::dimensionedVector& Foam::sixDOFqODE::Uaverage() const
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{
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return Uaverage_;
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@ -2,9 +2,16 @@ solidBodyMotionFunction/solidBodyMotionFunction.C
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solidBodyMotionFunction/newSolidBodyMotionFunction.C
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translation/translation.C
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graphMotion/graphMotion.C
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linearOscillation/linearOscillation.C
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rotatingOscillation/rotatingOscillation.C
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harmonicOscillation/harmonicOscillation.C
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SDA/SDA.C
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SKA/SKA.C
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constantVelocity/constantVelocity.C
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graphVelocity/graphVelocity.C
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LIB = $(FOAM_LIBBIN)/libsolidBodyMotion
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@ -116,7 +116,13 @@ Foam::septernion Foam::solidBodyMotionFunctions::SDA::velocity() const
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scalar t = time_.value();
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scalar dt = time_.deltaT().value();
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return (calcTransformation(t + dt) - calcTransformation(t))/dt;
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const septernion velocity
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(
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(calcTransformation(t).t() - calcTransformation(t - dt).t())/dt,
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(calcTransformation(t).r()/calcTransformation(t - dt).r())/dt
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);
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return velocity;
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}
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@ -129,7 +129,13 @@ Foam::septernion Foam::solidBodyMotionFunctions::SKA::velocity() const
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scalar t = time_.value();
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scalar dt = time_.deltaT().value();
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return (calcTransformation(t + dt) - calcTransformation(t))/dt;
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const septernion velocity
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(
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(calcTransformation(t).t() - calcTransformation(t - dt).t())/dt,
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(calcTransformation(t).r()/calcTransformation(t - dt).r())/dt
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);
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return velocity;
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}
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@ -0,0 +1,133 @@
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/*---------------------------------------------------------------------------*\
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========= |
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\\ / F ield | OpenFOAM: The Open Source CFD Toolbox
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\\ / O peration |
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\\ / A nd | Copyright held by original author
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\\/ M anipulation |
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-------------------------------------------------------------------------------
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License
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This file is part of OpenFOAM.
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OpenFOAM is free software; you can redistribute it and/or modify it
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under the terms of the GNU General Public License as published by the
|
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Free Software Foundation; either version 2 of the License, or (at your
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option) any later version.
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OpenFOAM is distributed in the hope that it will be useful, but WITHOUT
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ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or
|
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FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
|
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for more details.
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You should have received a copy of the GNU General Public License
|
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along with OpenFOAM; if not, write to the Free Software Foundation,
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Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA
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\*---------------------------------------------------------------------------*/
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#include "constantVelocity.H"
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#include "addToRunTimeSelectionTable.H"
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#include "mathematicalConstants.H"
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// * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * //
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namespace Foam
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{
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namespace solidBodyMotionFunctions
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{
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defineTypeNameAndDebug(constantVelocity, 0);
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addToRunTimeSelectionTable
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(
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solidBodyMotionFunction,
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constantVelocity,
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dictionary
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);
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}
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}
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// * * * * * * * * * * * * * Private Member Functions * * * * * * * * * * * //
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Foam::septernion
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Foam::solidBodyMotionFunctions::constantVelocity::calcTransformation
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(
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const scalar t
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) const
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{
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const vector translation = transVelocity_*(t - startMotionTime_);
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const vector rotation = rotVelocity_*(t - startMotionTime_);
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const quaternion R(rotation.x(), rotation.y(), rotation.z());
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const septernion TR
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(
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septernion(origin_ + translation)*R*septernion(-origin_)
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);
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return TR;
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}
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// * * * * * * * * * * * * * * * * Constructors * * * * * * * * * * * * * * //
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Foam::solidBodyMotionFunctions::constantVelocity::constantVelocity
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(
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const dictionary& SBMFCoeffs,
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const Time& runTime
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)
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:
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solidBodyMotionFunction(SBMFCoeffs, runTime)
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{
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read(SBMFCoeffs);
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}
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// * * * * * * * * * * * * * * * Member Functions * * * * * * * * * * * * * //
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Foam::septernion
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Foam::solidBodyMotionFunctions::constantVelocity::transformation() const
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{
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const scalar t = time_.value();
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const septernion TR = calcTransformation(t);
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Info<< "solidBodyMotionFunctions::constantVelocity::transformation(): "
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<< "Time = " << t << " transformation: " << TR << endl;
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return TR;
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}
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Foam::septernion
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Foam::solidBodyMotionFunctions::constantVelocity::velocity() const
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{
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const scalar t = time_.value();
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const scalar dt = time_.deltaT().value();
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const septernion velocity
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(
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(calcTransformation(t).t() - calcTransformation(t - dt).t())/dt,
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(calcTransformation(t).r()/calcTransformation(t - dt).r())/dt
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);
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return velocity;
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}
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bool Foam::solidBodyMotionFunctions::constantVelocity::read
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(
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const dictionary& SBMFCoeffs
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)
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{
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solidBodyMotionFunction::read(SBMFCoeffs);
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SBMFCoeffs_.lookup("origin") >> origin_;
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SBMFCoeffs_.lookup("translationalVelocity") >> transVelocity_;
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SBMFCoeffs_.lookup("rotationalVelocity") >> rotVelocity_;
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SBMFCoeffs_.lookup("startMotionTime") >> startMotionTime_;
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SBMFCoeffs_.lookup("inDegrees") >> inDegrees_;
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// Convert to radians if necessary
|
||||
rotVelocity_ *= inDegrees_ ? mathematicalConstant::pi/180.0 : 1;
|
||||
|
||||
return true;
|
||||
}
|
||||
|
||||
// ************************************************************************* //
|
||||
|
|
@ -0,0 +1,134 @@
|
|||
/*---------------------------------------------------------------------------*\
|
||||
========= |
|
||||
\\ / F ield | OpenFOAM: The Open Source CFD Toolbox
|
||||
\\ / O peration |
|
||||
\\ / A nd | Copyright held by original author
|
||||
\\/ M anipulation |
|
||||
-------------------------------------------------------------------------------
|
||||
License
|
||||
This file is part of OpenFOAM.
|
||||
|
||||
OpenFOAM is free software; you can redistribute it and/or modify it
|
||||
under the terms of the GNU General Public License as published by the
|
||||
Free Software Foundation; either version 2 of the License, or (at your
|
||||
option) any later version.
|
||||
|
||||
OpenFOAM is distributed in the hope that it will be useful, but WITHOUT
|
||||
ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or
|
||||
FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
|
||||
for more details.
|
||||
|
||||
You should have received a copy of the GNU General Public License
|
||||
along with OpenFOAM; if not, write to the Free Software Foundation,
|
||||
Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA
|
||||
|
||||
Class
|
||||
Foam::solidBodyMotionFunction::constantVelocity
|
||||
|
||||
Description
|
||||
Prescribed constant translational and angular velocity.
|
||||
|
||||
SourceFiles
|
||||
constantVelocity.C
|
||||
|
||||
Author
|
||||
Vuko Vukcevic, FMENA Zagreb. All rights reserved.
|
||||
|
||||
\*---------------------------------------------------------------------------*/
|
||||
|
||||
#ifndef constantVelocity_H
|
||||
#define constantVelocity_H
|
||||
|
||||
#include "solidBodyMotionFunction.H"
|
||||
#include "primitiveFields.H"
|
||||
#include "point.H"
|
||||
|
||||
// * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * //
|
||||
|
||||
namespace Foam
|
||||
{
|
||||
namespace solidBodyMotionFunctions
|
||||
{
|
||||
|
||||
/*---------------------------------------------------------------------------*\
|
||||
Class constantVelocity Declaration
|
||||
\*---------------------------------------------------------------------------*/
|
||||
|
||||
class constantVelocity
|
||||
:
|
||||
public solidBodyMotionFunction
|
||||
{
|
||||
// Private data
|
||||
|
||||
//- Centre of gravity
|
||||
point origin_;
|
||||
|
||||
//- Translational velocity vector
|
||||
vector transVelocity_;
|
||||
|
||||
//- Rotational velocity vector
|
||||
vector rotVelocity_;
|
||||
|
||||
//- Start motion time
|
||||
scalar startMotionTime_;
|
||||
|
||||
//- Is the rotational velocity given in degrees/sec
|
||||
Switch inDegrees_;
|
||||
|
||||
|
||||
// Private Member Functions
|
||||
|
||||
//- Disallow copy construct
|
||||
constantVelocity(const constantVelocity&);
|
||||
|
||||
//- Disallow default bitwise assignment
|
||||
void operator=(const constantVelocity&);
|
||||
|
||||
//- Calculate tranformation
|
||||
septernion calcTransformation(const scalar t) const;
|
||||
|
||||
|
||||
public:
|
||||
|
||||
//- Runtime type information
|
||||
TypeName("constantVelocity");
|
||||
|
||||
|
||||
// Constructors
|
||||
|
||||
//- Construct from components
|
||||
constantVelocity
|
||||
(
|
||||
const dictionary& SBMFCoeffs,
|
||||
const Time& runTime
|
||||
);
|
||||
|
||||
|
||||
//- Destructor
|
||||
virtual ~constantVelocity()
|
||||
{}
|
||||
|
||||
|
||||
// Member Functions
|
||||
|
||||
//- Return the solid-body motion transformation septernion
|
||||
virtual septernion transformation() const;
|
||||
|
||||
//- Return the solid-body motion velocity
|
||||
virtual septernion velocity() const;
|
||||
|
||||
//- Update properties from given dictionary
|
||||
virtual bool read(const dictionary& SBMFCoeffs);
|
||||
};
|
||||
|
||||
|
||||
// * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * //
|
||||
|
||||
} // End namespace solidBodyMotionFunctions
|
||||
} // End namespace Foam
|
||||
|
||||
// * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * //
|
||||
|
||||
#endif
|
||||
|
||||
// ************************************************************************* //
|
||||
|
|
@ -0,0 +1,281 @@
|
|||
/*---------------------------------------------------------------------------*\
|
||||
========= |
|
||||
\\ / F ield | OpenFOAM: The Open Source CFD Toolbox
|
||||
\\ / O peration |
|
||||
\\ / A nd | Copyright held by original author
|
||||
\\/ M anipulation |
|
||||
-------------------------------------------------------------------------------
|
||||
License
|
||||
This file is part of OpenFOAM.
|
||||
|
||||
OpenFOAM is free software; you can redistribute it and/or modify it
|
||||
under the terms of the GNU General Public License as published by the
|
||||
Free Software Foundation; either version 2 of the License, or (at your
|
||||
option) any later version.
|
||||
|
||||
OpenFOAM is distributed in the hope that it will be useful, but WITHOUT
|
||||
ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or
|
||||
FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
|
||||
for more details.
|
||||
|
||||
You should have received a copy of the GNU General Public License
|
||||
along with OpenFOAM; if not, write to the Free Software Foundation,
|
||||
Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA
|
||||
|
||||
\*---------------------------------------------------------------------------*/
|
||||
|
||||
#include "graphMotion.H"
|
||||
#include "addToRunTimeSelectionTable.H"
|
||||
#include "mathematicalConstants.H"
|
||||
#include "interpolateXY.H"
|
||||
#include "IFstream.H"
|
||||
|
||||
// * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * //
|
||||
|
||||
namespace Foam
|
||||
{
|
||||
namespace solidBodyMotionFunctions
|
||||
{
|
||||
|
||||
defineTypeNameAndDebug(graphMotion, 0);
|
||||
addToRunTimeSelectionTable(solidBodyMotionFunction, graphMotion, dictionary);
|
||||
|
||||
}
|
||||
}
|
||||
|
||||
// * * * * * * * * * * * * * Private Member Functions * * * * * * * * * * * //
|
||||
|
||||
Foam::septernion
|
||||
Foam::solidBodyMotionFunctions::graphMotion::calcTransformation
|
||||
(
|
||||
const scalar t
|
||||
) const
|
||||
{
|
||||
const vector translation
|
||||
(
|
||||
interpolateXY(t, surge_.x(), surge_.y()),
|
||||
interpolateXY(t, sway_.x(), sway_.y()),
|
||||
interpolateXY(t, heave_.x(), heave_.y())
|
||||
);
|
||||
|
||||
vector rotation
|
||||
(
|
||||
interpolateXY(t, roll_.x(), roll_.y()),
|
||||
interpolateXY(t, pitch_.x(), pitch_.y()),
|
||||
interpolateXY(t, yaw_.x(), yaw_.y())
|
||||
);
|
||||
|
||||
if (inDegrees_)
|
||||
{
|
||||
const scalar piBy180 = mathematicalConstant::pi/180.0;
|
||||
|
||||
rotation *= piBy180;
|
||||
}
|
||||
|
||||
const quaternion R(rotation.x(), rotation.y(), rotation.z());
|
||||
const septernion TR
|
||||
(
|
||||
septernion(origin_ + translation)*R*septernion(-origin_)
|
||||
);
|
||||
|
||||
return TR;
|
||||
}
|
||||
|
||||
// * * * * * * * * * * * * * * * * Constructors * * * * * * * * * * * * * * //
|
||||
|
||||
Foam::solidBodyMotionFunctions::graphMotion::graphMotion
|
||||
(
|
||||
const dictionary& SBMFCoeffs,
|
||||
const Time& runTime
|
||||
)
|
||||
:
|
||||
solidBodyMotionFunction(SBMFCoeffs, runTime),
|
||||
surge_
|
||||
(
|
||||
"surge",
|
||||
"t",
|
||||
"eta1Dot",
|
||||
IFstream
|
||||
(
|
||||
time_.path()/time_.caseConstant()/
|
||||
word(SBMFCoeffs_.lookup("surge"))
|
||||
)()
|
||||
),
|
||||
sway_
|
||||
(
|
||||
"sway",
|
||||
"t",
|
||||
"eta2Dot",
|
||||
IFstream
|
||||
(
|
||||
time_.path()/time_.caseConstant()/
|
||||
word(SBMFCoeffs_.lookup("sway"))
|
||||
)()
|
||||
),
|
||||
heave_
|
||||
(
|
||||
"heave",
|
||||
"t",
|
||||
"eta3Dot",
|
||||
IFstream
|
||||
(
|
||||
time_.path()/time_.caseConstant()/
|
||||
word(SBMFCoeffs_.lookup("heave"))
|
||||
)()
|
||||
),
|
||||
roll_
|
||||
(
|
||||
"roll",
|
||||
"t",
|
||||
"eta4Dot",
|
||||
IFstream
|
||||
(
|
||||
time_.path()/time_.caseConstant()/
|
||||
word(SBMFCoeffs_.lookup("roll"))
|
||||
)()
|
||||
),
|
||||
pitch_
|
||||
(
|
||||
"pitch",
|
||||
"t",
|
||||
"eta5Dot",
|
||||
IFstream
|
||||
(
|
||||
time_.path()/time_.caseConstant()/
|
||||
word(SBMFCoeffs_.lookup("pitch"))
|
||||
)()
|
||||
),
|
||||
yaw_
|
||||
(
|
||||
"yaw",
|
||||
"t",
|
||||
"eta6Dot",
|
||||
IFstream
|
||||
(
|
||||
time_.path()/time_.caseConstant()/
|
||||
word(SBMFCoeffs_.lookup("yaw"))
|
||||
)()
|
||||
)
|
||||
{
|
||||
read(SBMFCoeffs);
|
||||
}
|
||||
|
||||
// * * * * * * * * * * * * * * * Member Functions * * * * * * * * * * * * * //
|
||||
|
||||
Foam::septernion
|
||||
Foam::solidBodyMotionFunctions::graphMotion::transformation() const
|
||||
{
|
||||
const scalar t = time_.value();
|
||||
const septernion TR = calcTransformation(t);
|
||||
|
||||
Info<< "solidBodyMotionFunctions::graphMotion::transformation(): "
|
||||
<< "Time = " << t << " transformation: " << TR << endl;
|
||||
|
||||
return TR;
|
||||
}
|
||||
|
||||
|
||||
Foam::septernion
|
||||
Foam::solidBodyMotionFunctions::graphMotion::velocity() const
|
||||
{
|
||||
const scalar t = time_.value();
|
||||
const scalar dt = time_.deltaT().value();
|
||||
|
||||
const septernion velocity
|
||||
(
|
||||
(calcTransformation(t).t() - calcTransformation(t - dt).t())/dt,
|
||||
(calcTransformation(t).r()/calcTransformation(t - dt).r())/dt
|
||||
);
|
||||
|
||||
return velocity;
|
||||
}
|
||||
|
||||
|
||||
bool Foam::solidBodyMotionFunctions::graphMotion::read
|
||||
(
|
||||
const dictionary& SBMFCoeffs
|
||||
)
|
||||
{
|
||||
solidBodyMotionFunction::read(SBMFCoeffs);
|
||||
|
||||
SBMFCoeffs_.lookup("origin") >> origin_;
|
||||
SBMFCoeffs_.lookup("inDegrees") >> inDegrees_;
|
||||
|
||||
word surge = SBMFCoeffs_.lookup("surge");
|
||||
word sway = SBMFCoeffs_.lookup("sway");
|
||||
word heave = SBMFCoeffs_.lookup("heave");
|
||||
word roll = SBMFCoeffs_.lookup("roll");
|
||||
word pitch = SBMFCoeffs_.lookup("pitch");
|
||||
word yaw = SBMFCoeffs_.lookup("yaw");
|
||||
|
||||
surge_ = graph
|
||||
(
|
||||
"surge",
|
||||
"t",
|
||||
"eta1Dot",
|
||||
IFstream
|
||||
(
|
||||
time_.path()/time_.caseConstant()/
|
||||
surge
|
||||
)()
|
||||
);
|
||||
sway_ = graph
|
||||
(
|
||||
"sway",
|
||||
"t",
|
||||
"eta2Dot",
|
||||
IFstream
|
||||
(
|
||||
time_.path()/time_.caseConstant()/
|
||||
sway
|
||||
)()
|
||||
);
|
||||
heave_ = graph
|
||||
(
|
||||
"heave",
|
||||
"t",
|
||||
"eta3Dot",
|
||||
IFstream
|
||||
(
|
||||
time_.path()/time_.caseConstant()/
|
||||
heave
|
||||
)()
|
||||
);
|
||||
roll_ = graph
|
||||
(
|
||||
"roll",
|
||||
"t",
|
||||
"eta4Dot",
|
||||
IFstream
|
||||
(
|
||||
time_.path()/time_.caseConstant()/
|
||||
roll
|
||||
)()
|
||||
);
|
||||
pitch_ = graph
|
||||
(
|
||||
"pitch",
|
||||
"t",
|
||||
"eta5Dot",
|
||||
IFstream
|
||||
(
|
||||
time_.path()/time_.caseConstant()/
|
||||
pitch
|
||||
)()
|
||||
);
|
||||
yaw_ = graph
|
||||
(
|
||||
"yaw",
|
||||
"t",
|
||||
"eta6Dot",
|
||||
IFstream
|
||||
(
|
||||
time_.path()/time_.caseConstant()/
|
||||
yaw
|
||||
)()
|
||||
);
|
||||
|
||||
return true;
|
||||
}
|
||||
|
||||
// ************************************************************************* //
|
||||
|
|
@ -0,0 +1,144 @@
|
|||
/*---------------------------------------------------------------------------*\
|
||||
========= |
|
||||
\\ / F ield | OpenFOAM: The Open Source CFD Toolbox
|
||||
\\ / O peration |
|
||||
\\ / A nd | Copyright held by original author
|
||||
\\/ M anipulation |
|
||||
-------------------------------------------------------------------------------
|
||||
License
|
||||
This file is part of OpenFOAM.
|
||||
|
||||
OpenFOAM is free software; you can redistribute it and/or modify it
|
||||
under the terms of the GNU General Public License as published by the
|
||||
Free Software Foundation; either version 2 of the License, or (at your
|
||||
option) any later version.
|
||||
|
||||
OpenFOAM is distributed in the hope that it will be useful, but WITHOUT
|
||||
ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or
|
||||
FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
|
||||
for more details.
|
||||
|
||||
You should have received a copy of the GNU General Public License
|
||||
along with OpenFOAM; if not, write to the Free Software Foundation,
|
||||
Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA
|
||||
|
||||
Class
|
||||
Foam::solidBodyMotionFunction::graphMotion
|
||||
|
||||
Description
|
||||
Prescribed translational and rotational motion given graphs for surge,
|
||||
sway, heave, roll, pitch and yaw. Hence, the motion (parts of trajectory) is
|
||||
given in graphs, not the velocity.
|
||||
|
||||
SourceFiles
|
||||
graphMotion.C
|
||||
|
||||
Author
|
||||
Vuko Vukcevic, FMENA Zagreb. All rights reserved.
|
||||
|
||||
\*---------------------------------------------------------------------------*/
|
||||
|
||||
#ifndef graphMotion_H
|
||||
#define graphMotion_H
|
||||
|
||||
#include "solidBodyMotionFunction.H"
|
||||
#include "graph.H"
|
||||
|
||||
|
||||
// * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * //
|
||||
|
||||
namespace Foam
|
||||
{
|
||||
namespace solidBodyMotionFunctions
|
||||
{
|
||||
|
||||
/*---------------------------------------------------------------------------*\
|
||||
Class graphMotion Declaration
|
||||
\*---------------------------------------------------------------------------*/
|
||||
|
||||
class graphMotion
|
||||
:
|
||||
public solidBodyMotionFunction
|
||||
{
|
||||
// Private data
|
||||
|
||||
//- Centre of gravity
|
||||
point origin_;
|
||||
|
||||
|
||||
// Prescribed translation members
|
||||
|
||||
// - Graph for surge translational motion (x-translation)
|
||||
graph surge_;
|
||||
|
||||
// - Graph for sway translational motion (y-translation)
|
||||
graph sway_;
|
||||
|
||||
// - Graph for heave translational motion (z-translation)
|
||||
graph heave_;
|
||||
|
||||
|
||||
// Prescribed rotation members
|
||||
|
||||
// - Graph for roll rotational motion (x-rotation)
|
||||
graph roll_;
|
||||
|
||||
// - Graph for pitch rotational motion (y-rotation)
|
||||
graph pitch_;
|
||||
|
||||
// - Graph for yaw rotational motion (z-rotation)
|
||||
graph yaw_;
|
||||
|
||||
//- Is the rotational velocity given in degrees/sec
|
||||
Switch inDegrees_;
|
||||
|
||||
|
||||
//- Member functions
|
||||
|
||||
//- Calculate transformation septernion
|
||||
septernion calcTransformation(const scalar t) const;
|
||||
|
||||
|
||||
public:
|
||||
|
||||
//- Runtime type information
|
||||
TypeName("graphMotion");
|
||||
|
||||
|
||||
// Constructors
|
||||
|
||||
//- Construct from components
|
||||
graphMotion
|
||||
(
|
||||
const dictionary& SBMFCoeffs,
|
||||
const Time& runTime
|
||||
);
|
||||
|
||||
|
||||
//- Destructor
|
||||
virtual ~graphMotion()
|
||||
{}
|
||||
|
||||
|
||||
// Member Functions
|
||||
|
||||
//- Return the solid-body motion transformation septernion
|
||||
virtual septernion transformation() const;
|
||||
|
||||
//- Return the solid-body motion velocity
|
||||
virtual septernion velocity() const;
|
||||
|
||||
//- Update properties from given dictionary
|
||||
virtual bool read(const dictionary& SBMFCoeffs);
|
||||
};
|
||||
|
||||
// * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * //
|
||||
|
||||
} // End namespace solidBodyMotionFunctions
|
||||
} // End namespace Foam
|
||||
|
||||
// * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * //
|
||||
|
||||
#endif
|
||||
|
||||
// ************************************************************************* //
|
||||
|
|
@ -0,0 +1,317 @@
|
|||
/*---------------------------------------------------------------------------*\
|
||||
========= |
|
||||
\\ / F ield | OpenFOAM: The Open Source CFD Toolbox
|
||||
\\ / O peration |
|
||||
\\ / A nd | Copyright held by original author
|
||||
\\/ M anipulation |
|
||||
-------------------------------------------------------------------------------
|
||||
License
|
||||
This file is part of OpenFOAM.
|
||||
|
||||
OpenFOAM is free software; you can redistribute it and/or modify it
|
||||
under the terms of the GNU General Public License as published by the
|
||||
Free Software Foundation; either version 2 of the License, or (at your
|
||||
option) any later version.
|
||||
|
||||
OpenFOAM is distributed in the hope that it will be useful, but WITHOUT
|
||||
ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or
|
||||
FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
|
||||
for more details.
|
||||
|
||||
You should have received a copy of the GNU General Public License
|
||||
along with OpenFOAM; if not, write to the Free Software Foundation,
|
||||
Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA
|
||||
|
||||
\*---------------------------------------------------------------------------*/
|
||||
|
||||
#include "graphVelocity.H"
|
||||
#include "addToRunTimeSelectionTable.H"
|
||||
#include "mathematicalConstants.H"
|
||||
#include "interpolateXY.H"
|
||||
#include "IFstream.H"
|
||||
|
||||
// * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * //
|
||||
|
||||
namespace Foam
|
||||
{
|
||||
namespace solidBodyMotionFunctions
|
||||
{
|
||||
|
||||
defineTypeNameAndDebug(graphVelocity, 0);
|
||||
addToRunTimeSelectionTable(solidBodyMotionFunction, graphVelocity, dictionary);
|
||||
|
||||
}
|
||||
}
|
||||
|
||||
// * * * * * * * * * * * * * Private Member Functions * * * * * * * * * * * //
|
||||
|
||||
Foam::vector
|
||||
Foam::solidBodyMotionFunctions::graphVelocity::translationalVelocity() const
|
||||
{
|
||||
const scalar t = time_.value() - time_.deltaT().value()/2;
|
||||
|
||||
return vector
|
||||
(
|
||||
interpolateXY(t, surge_.x(), surge_.y()),
|
||||
interpolateXY(t, sway_.x(), sway_.y()),
|
||||
interpolateXY(t, heave_.x(), heave_.y())
|
||||
);
|
||||
}
|
||||
|
||||
|
||||
Foam::vector
|
||||
Foam::solidBodyMotionFunctions::graphVelocity::rotationalVelocity() const
|
||||
{
|
||||
const scalar t = time_.value() - time_.deltaT().value()/2;
|
||||
|
||||
scalar rollVelocity = interpolateXY(t, roll_.x(), roll_.y());
|
||||
scalar pitchVelocity = interpolateXY(t, pitch_.x(), pitch_.y());
|
||||
scalar yawVelocity = interpolateXY(t, yaw_.x(), yaw_.y());
|
||||
|
||||
if (inDegrees_)
|
||||
{
|
||||
const scalar piBy180 = mathematicalConstant::pi/180.0;
|
||||
|
||||
rollVelocity *= piBy180;
|
||||
pitchVelocity *= piBy180;
|
||||
yawVelocity *= piBy180;
|
||||
}
|
||||
|
||||
return vector(rollVelocity, pitchVelocity, yawVelocity);
|
||||
}
|
||||
|
||||
|
||||
Foam::septernion
|
||||
Foam::solidBodyMotionFunctions::graphVelocity::calcTransformation() const
|
||||
{
|
||||
// Integrate velocity to get position
|
||||
if(localTimeIndex_ != time_.timeIndex())
|
||||
{
|
||||
// Set old translation and rotation to the previous state
|
||||
translationOld_ = translation_;
|
||||
rotationOld_ = rotation_;
|
||||
|
||||
const scalar dt = time_.deltaT().value();
|
||||
|
||||
translation_ += translationalVelocity()*dt;
|
||||
rotation_ += rotationalVelocity()*dt;
|
||||
|
||||
localTimeIndex_ = time_.timeIndex();
|
||||
}
|
||||
|
||||
const quaternion R(rotation_.x(), rotation_.y(), rotation_.z());
|
||||
const septernion TR
|
||||
(
|
||||
septernion(origin_ + translation_)*R*septernion(-origin_)
|
||||
);
|
||||
|
||||
return TR;
|
||||
}
|
||||
|
||||
// * * * * * * * * * * * * * * * * Constructors * * * * * * * * * * * * * * //
|
||||
|
||||
Foam::solidBodyMotionFunctions::graphVelocity::graphVelocity
|
||||
(
|
||||
const dictionary& SBMFCoeffs,
|
||||
const Time& runTime
|
||||
)
|
||||
:
|
||||
solidBodyMotionFunction(SBMFCoeffs, runTime),
|
||||
translation_(vector::zero),
|
||||
rotation_(vector::zero),
|
||||
translationOld_(vector::zero),
|
||||
rotationOld_(vector::zero),
|
||||
localTimeIndex_(-1),
|
||||
surge_
|
||||
(
|
||||
"surge",
|
||||
"t",
|
||||
"eta1Dot",
|
||||
IFstream
|
||||
(
|
||||
time_.path()/time_.caseConstant()/
|
||||
word(SBMFCoeffs_.lookup("surge"))
|
||||
)()
|
||||
),
|
||||
sway_
|
||||
(
|
||||
"sway",
|
||||
"t",
|
||||
"eta2Dot",
|
||||
IFstream
|
||||
(
|
||||
time_.path()/time_.caseConstant()/
|
||||
word(SBMFCoeffs_.lookup("sway"))
|
||||
)()
|
||||
),
|
||||
heave_
|
||||
(
|
||||
"heave",
|
||||
"t",
|
||||
"eta3Dot",
|
||||
IFstream
|
||||
(
|
||||
time_.path()/time_.caseConstant()/
|
||||
word(SBMFCoeffs_.lookup("heave"))
|
||||
)()
|
||||
),
|
||||
roll_
|
||||
(
|
||||
"roll",
|
||||
"t",
|
||||
"eta4Dot",
|
||||
IFstream
|
||||
(
|
||||
time_.path()/time_.caseConstant()/
|
||||
word(SBMFCoeffs_.lookup("roll"))
|
||||
)()
|
||||
),
|
||||
pitch_
|
||||
(
|
||||
"pitch",
|
||||
"t",
|
||||
"eta5Dot",
|
||||
IFstream
|
||||
(
|
||||
time_.path()/time_.caseConstant()/
|
||||
word(SBMFCoeffs_.lookup("pitch"))
|
||||
)()
|
||||
),
|
||||
yaw_
|
||||
(
|
||||
"yaw",
|
||||
"t",
|
||||
"eta6Dot",
|
||||
IFstream
|
||||
(
|
||||
time_.path()/time_.caseConstant()/
|
||||
word(SBMFCoeffs_.lookup("yaw"))
|
||||
)()
|
||||
)
|
||||
{
|
||||
read(SBMFCoeffs);
|
||||
}
|
||||
|
||||
// * * * * * * * * * * * * * * * Member Functions * * * * * * * * * * * * * //
|
||||
|
||||
Foam::septernion
|
||||
Foam::solidBodyMotionFunctions::graphVelocity::transformation() const
|
||||
{
|
||||
const septernion TR = calcTransformation();
|
||||
|
||||
Info<< "solidBodyMotionFunctions::graphVelocity::transformation(): "
|
||||
<< "Time = " << time_.value() << " transformation: " << TR << endl;
|
||||
|
||||
return TR;
|
||||
}
|
||||
|
||||
|
||||
Foam::septernion
|
||||
Foam::solidBodyMotionFunctions::graphVelocity::velocity() const
|
||||
{
|
||||
const scalar dt = time_.deltaT().value();
|
||||
|
||||
const septernion TR = calcTransformation();
|
||||
|
||||
const quaternion ROld(rotationOld_.x(), rotationOld_.y(), rotationOld_.z());
|
||||
const septernion TROld
|
||||
(
|
||||
septernion(origin_ + translationOld_)*ROld*septernion(-origin_)
|
||||
);
|
||||
|
||||
return septernion
|
||||
(
|
||||
(TR.t() - TROld.t())/dt,
|
||||
(TR.r()/TROld.r())/dt
|
||||
);
|
||||
}
|
||||
|
||||
|
||||
bool Foam::solidBodyMotionFunctions::graphVelocity::read
|
||||
(
|
||||
const dictionary& SBMFCoeffs
|
||||
)
|
||||
{
|
||||
solidBodyMotionFunction::read(SBMFCoeffs);
|
||||
|
||||
SBMFCoeffs_.lookup("origin") >> origin_;
|
||||
SBMFCoeffs_.lookup("inDegrees") >> inDegrees_;
|
||||
|
||||
word surge = SBMFCoeffs_.lookup("surge");
|
||||
word sway = SBMFCoeffs_.lookup("sway");
|
||||
word heave = SBMFCoeffs_.lookup("heave");
|
||||
word roll = SBMFCoeffs_.lookup("roll");
|
||||
word pitch = SBMFCoeffs_.lookup("pitch");
|
||||
word yaw = SBMFCoeffs_.lookup("yaw");
|
||||
|
||||
surge_ = graph
|
||||
(
|
||||
"surge",
|
||||
"t",
|
||||
"eta1Dot",
|
||||
IFstream
|
||||
(
|
||||
time_.path()/time_.caseConstant()/
|
||||
surge
|
||||
)()
|
||||
);
|
||||
sway_ = graph
|
||||
(
|
||||
"sway",
|
||||
"t",
|
||||
"eta2Dot",
|
||||
IFstream
|
||||
(
|
||||
time_.path()/time_.caseConstant()/
|
||||
sway
|
||||
)()
|
||||
);
|
||||
heave_ = graph
|
||||
(
|
||||
"heave",
|
||||
"t",
|
||||
"eta3Dot",
|
||||
IFstream
|
||||
(
|
||||
time_.path()/time_.caseConstant()/
|
||||
heave
|
||||
)()
|
||||
);
|
||||
roll_ = graph
|
||||
(
|
||||
"roll",
|
||||
"t",
|
||||
"eta4Dot",
|
||||
IFstream
|
||||
(
|
||||
time_.path()/time_.caseConstant()/
|
||||
roll
|
||||
)()
|
||||
);
|
||||
pitch_ = graph
|
||||
(
|
||||
"pitch",
|
||||
"t",
|
||||
"eta5Dot",
|
||||
IFstream
|
||||
(
|
||||
time_.path()/time_.caseConstant()/
|
||||
pitch
|
||||
)()
|
||||
);
|
||||
yaw_ = graph
|
||||
(
|
||||
"yaw",
|
||||
"t",
|
||||
"eta6Dot",
|
||||
IFstream
|
||||
(
|
||||
time_.path()/time_.caseConstant()/
|
||||
yaw
|
||||
)()
|
||||
);
|
||||
|
||||
return true;
|
||||
}
|
||||
|
||||
// ************************************************************************* //
|
||||
|
|
@ -0,0 +1,168 @@
|
|||
/*---------------------------------------------------------------------------*\
|
||||
========= |
|
||||
\\ / F ield | OpenFOAM: The Open Source CFD Toolbox
|
||||
\\ / O peration |
|
||||
\\ / A nd | Copyright held by original author
|
||||
\\/ M anipulation |
|
||||
-------------------------------------------------------------------------------
|
||||
License
|
||||
This file is part of OpenFOAM.
|
||||
|
||||
OpenFOAM is free software; you can redistribute it and/or modify it
|
||||
under the terms of the GNU General Public License as published by the
|
||||
Free Software Foundation; either version 2 of the License, or (at your
|
||||
option) any later version.
|
||||
|
||||
OpenFOAM is distributed in the hope that it will be useful, but WITHOUT
|
||||
ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or
|
||||
FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
|
||||
for more details.
|
||||
|
||||
You should have received a copy of the GNU General Public License
|
||||
along with OpenFOAM; if not, write to the Free Software Foundation,
|
||||
Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA
|
||||
|
||||
Class
|
||||
Foam::solidBodyMotionFunction::graphVelocity
|
||||
|
||||
Description
|
||||
Prescribed translational and rotational velocity given graphs for surge,
|
||||
sway, heave, roll, pitch and yaw. Hence, the velocity is given in graphs,
|
||||
not the motion (trajectory).
|
||||
|
||||
SourceFiles
|
||||
graphVelocity.C
|
||||
|
||||
Author
|
||||
Vuko Vukcevic, FMENA Zagreb. All rights reserved.
|
||||
|
||||
\*---------------------------------------------------------------------------*/
|
||||
|
||||
#ifndef graphVelocity_H
|
||||
#define graphVelocity_H
|
||||
|
||||
#include "solidBodyMotionFunction.H"
|
||||
#include "graph.H"
|
||||
#include "primitiveFields.H"
|
||||
#include "point.H"
|
||||
|
||||
|
||||
// * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * //
|
||||
|
||||
namespace Foam
|
||||
{
|
||||
namespace solidBodyMotionFunctions
|
||||
{
|
||||
|
||||
/*---------------------------------------------------------------------------*\
|
||||
Class graphVelocity Declaration
|
||||
\*---------------------------------------------------------------------------*/
|
||||
|
||||
class graphVelocity
|
||||
:
|
||||
public solidBodyMotionFunction
|
||||
{
|
||||
// Private data
|
||||
|
||||
//- Centre of gravity
|
||||
point origin_;
|
||||
|
||||
//- Integrated translation
|
||||
mutable vector translation_;
|
||||
|
||||
//- Integrated rotation
|
||||
mutable vector rotation_;
|
||||
|
||||
//- Integrated old translation
|
||||
mutable vector translationOld_;
|
||||
|
||||
//- Integrated old rotation
|
||||
mutable vector rotationOld_;
|
||||
|
||||
//- Time index, avoid integrating more than once per time step
|
||||
mutable label localTimeIndex_;
|
||||
|
||||
|
||||
// Prescribed translation members
|
||||
|
||||
// - Graph for surge translational velocity (x-translation)
|
||||
graph surge_;
|
||||
|
||||
// - Graph for sway translational velocity (y-translation)
|
||||
graph sway_;
|
||||
|
||||
// - Graph for heave translational motion (z-translation)
|
||||
graph heave_;
|
||||
|
||||
|
||||
// Prescribed rotation members
|
||||
|
||||
// - Graph for roll rotational velocity (x-rotation)
|
||||
graph roll_;
|
||||
|
||||
// - Graph for pitch rotational velocity (y-rotation)
|
||||
graph pitch_;
|
||||
|
||||
// - Graph for yaw rotational velocity (z-rotation)
|
||||
graph yaw_;
|
||||
|
||||
//- Is the rotational velocity given in degrees/sec
|
||||
Switch inDegrees_;
|
||||
|
||||
|
||||
//- Member functions
|
||||
|
||||
//- Return translational velocity vector
|
||||
vector translationalVelocity() const;
|
||||
|
||||
// -Return rotational velocity vector
|
||||
vector rotationalVelocity() const;
|
||||
|
||||
//- Calculate transformation septernion
|
||||
septernion calcTransformation() const;
|
||||
|
||||
|
||||
public:
|
||||
|
||||
//- Runtime type information
|
||||
TypeName("graphVelocity");
|
||||
|
||||
|
||||
// Constructors
|
||||
|
||||
//- Construct from components
|
||||
graphVelocity
|
||||
(
|
||||
const dictionary& SBMFCoeffs,
|
||||
const Time& runTime
|
||||
);
|
||||
|
||||
|
||||
//- Destructor
|
||||
virtual ~graphVelocity()
|
||||
{}
|
||||
|
||||
|
||||
// Member Functions
|
||||
|
||||
//- Return the solid-body motion transformation septernion
|
||||
virtual septernion transformation() const;
|
||||
|
||||
//- Return the solid-body motion velocity
|
||||
virtual septernion velocity() const;
|
||||
|
||||
//- Update properties from given dictionary
|
||||
virtual bool read(const dictionary& SBMFCoeffs);
|
||||
};
|
||||
|
||||
|
||||
// * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * //
|
||||
|
||||
} // End namespace solidBodyMotionFunctions
|
||||
} // End namespace Foam
|
||||
|
||||
// * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * //
|
||||
|
||||
#endif
|
||||
|
||||
// ************************************************************************* //
|
||||
|
|
@ -0,0 +1,216 @@
|
|||
/*---------------------------------------------------------------------------*\
|
||||
========= |
|
||||
\\ / F ield | OpenFOAM: The Open Source CFD Toolbox
|
||||
\\ / O peration |
|
||||
\\ / A nd | Copyright held by original author
|
||||
\\/ M anipulation |
|
||||
-------------------------------------------------------------------------------
|
||||
License
|
||||
This file is part of OpenFOAM.
|
||||
|
||||
OpenFOAM is free software; you can redistribute it and/or modify it
|
||||
under the terms of the GNU General Public License as published by the
|
||||
Free Software Foundation; either version 2 of the License, or (at your
|
||||
option) any later version.
|
||||
|
||||
OpenFOAM is distributed in the hope that it will be useful, but WITHOUT
|
||||
ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or
|
||||
FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
|
||||
for more details.
|
||||
|
||||
You should have received a copy of the GNU General Public License
|
||||
along with OpenFOAM; if not, write to the Free Software Foundation,
|
||||
Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA
|
||||
|
||||
\*---------------------------------------------------------------------------*/
|
||||
|
||||
#include "harmonicOscillation.H"
|
||||
#include "addToRunTimeSelectionTable.H"
|
||||
#include "mathematicalConstants.H"
|
||||
|
||||
// * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * //
|
||||
|
||||
namespace Foam
|
||||
{
|
||||
namespace solidBodyMotionFunctions
|
||||
{
|
||||
|
||||
defineTypeNameAndDebug(harmonicOscillation, 0);
|
||||
addToRunTimeSelectionTable
|
||||
(
|
||||
solidBodyMotionFunction,
|
||||
harmonicOscillation,
|
||||
dictionary
|
||||
);
|
||||
|
||||
}
|
||||
}
|
||||
|
||||
// * * * * * * * * * * * * * Private Member Functions * * * * * * * * * * * //
|
||||
|
||||
Foam::septernion
|
||||
Foam::solidBodyMotionFunctions::harmonicOscillation::calcTransformation
|
||||
(
|
||||
const scalar t
|
||||
) const
|
||||
{
|
||||
const vector translation =
|
||||
cmptMultiply
|
||||
(
|
||||
transAmplitudes_,
|
||||
vector
|
||||
(
|
||||
sin(transAngularFreq_.x()*t + transPhaseAngles_.x()),
|
||||
sin(transAngularFreq_.y()*t + transPhaseAngles_.y()),
|
||||
sin(transAngularFreq_.z()*t + transPhaseAngles_.z())
|
||||
)
|
||||
);
|
||||
|
||||
|
||||
const vector rotation =
|
||||
cmptMultiply
|
||||
(
|
||||
rotAmplitudes_,
|
||||
vector
|
||||
(
|
||||
sin(rotAngularFreq_.x()*t + rotPhaseAngles_.x()),
|
||||
sin(rotAngularFreq_.y()*t + rotPhaseAngles_.y()),
|
||||
sin(rotAngularFreq_.z()*t + rotPhaseAngles_.z())
|
||||
)
|
||||
);
|
||||
|
||||
const quaternion R(rotation.x(), rotation.y(), rotation.z());
|
||||
const septernion TR
|
||||
(
|
||||
septernion(origin_ + translation)*R*septernion(-origin_)
|
||||
);
|
||||
|
||||
return TR;
|
||||
}
|
||||
|
||||
// * * * * * * * * * * * * * * * * Constructors * * * * * * * * * * * * * * //
|
||||
|
||||
Foam::solidBodyMotionFunctions::harmonicOscillation::harmonicOscillation
|
||||
(
|
||||
const dictionary& SBMFCoeffs,
|
||||
const Time& runTime
|
||||
)
|
||||
:
|
||||
solidBodyMotionFunction(SBMFCoeffs, runTime)
|
||||
{
|
||||
read(SBMFCoeffs);
|
||||
}
|
||||
|
||||
// * * * * * * * * * * * * * * * Member Functions * * * * * * * * * * * * * //
|
||||
|
||||
Foam::septernion
|
||||
Foam::solidBodyMotionFunctions::harmonicOscillation::transformation() const
|
||||
{
|
||||
const scalar t = time_.value();
|
||||
|
||||
const septernion TR = calcTransformation(t);
|
||||
|
||||
Info<< "solidBodyMotionFunctions::harmonicOscillation::transformation(): "
|
||||
<< "Time = " << t << " transformation: " << TR << endl;
|
||||
|
||||
return TR;
|
||||
}
|
||||
|
||||
|
||||
Foam::septernion
|
||||
Foam::solidBodyMotionFunctions::harmonicOscillation::velocity() const
|
||||
{
|
||||
const scalar t = time_.value();
|
||||
const scalar dt = time_.deltaT().value();
|
||||
|
||||
const septernion velocity
|
||||
(
|
||||
(calcTransformation(t).t() - calcTransformation(t - dt).t())/dt,
|
||||
(calcTransformation(t).r()/calcTransformation(t - dt).r())/dt
|
||||
);
|
||||
|
||||
return velocity;
|
||||
}
|
||||
|
||||
|
||||
bool Foam::solidBodyMotionFunctions::harmonicOscillation::read
|
||||
(
|
||||
const dictionary& SBMFCoeffs
|
||||
)
|
||||
{
|
||||
solidBodyMotionFunction::read(SBMFCoeffs);
|
||||
|
||||
SBMFCoeffs_.lookup("origin") >> origin_;
|
||||
SBMFCoeffs_.lookup("translationalAmplitudes") >> transAmplitudes_;
|
||||
SBMFCoeffs_.lookup("translationalAngularFrequencies") >> transAngularFreq_;
|
||||
SBMFCoeffs_.lookup("translationalPhaseAngles") >> transPhaseAngles_;
|
||||
SBMFCoeffs_.lookup("rotationalAmplitudes") >> rotAmplitudes_;
|
||||
SBMFCoeffs_.lookup("rotationalAngularFrequencies") >> rotAngularFreq_;
|
||||
SBMFCoeffs_.lookup("rotationalPhaseAngles") >> rotPhaseAngles_;
|
||||
SBMFCoeffs_.lookup("inDegrees") >> inDegrees_;
|
||||
|
||||
// Sanity check for negative frequencies
|
||||
if
|
||||
(
|
||||
transAngularFreq_.x() < -SMALL
|
||||
|| transAngularFreq_.y() < -SMALL
|
||||
|| transAngularFreq_.z() < -SMALL
|
||||
|| rotAngularFreq_.x() < -SMALL
|
||||
|| rotAngularFreq_.y() < -SMALL
|
||||
|| rotAngularFreq_.z() < -SMALL
|
||||
)
|
||||
{
|
||||
FatalErrorIn
|
||||
(
|
||||
"harmonicOscillation::read"
|
||||
"(\n"
|
||||
" const fvMesh& mesh\n"
|
||||
" const dictionary& dict\n"
|
||||
")"
|
||||
) << "Negative angular frequency detected."
|
||||
<< abort(FatalError);
|
||||
}
|
||||
|
||||
// Convert to radians if necessary, printing data
|
||||
if (inDegrees_)
|
||||
{
|
||||
const scalar piBy180 = mathematicalConstant::pi/180.0;
|
||||
|
||||
transPhaseAngles_ *= piBy180;
|
||||
rotAmplitudes_ *= piBy180;
|
||||
rotPhaseAngles_ *= piBy180;
|
||||
|
||||
Info<< "Data in degrees converted:" << nl
|
||||
<< "translationalPhaseAngles = " << transPhaseAngles_ << nl
|
||||
<< "rotationalAmplitudes = " << rotAmplitudes_ << nl
|
||||
<< "rotationalPhaseAngles = " << rotPhaseAngles_ << endl;
|
||||
}
|
||||
|
||||
// Count prescribed rotations: only two harmonic rotations can be prescribed
|
||||
label nRot = 0;
|
||||
|
||||
// Rotation
|
||||
mag(rotAmplitudes_.x()) > SMALL ? ++nRot : /* null expression */ 0 ;
|
||||
mag(rotAmplitudes_.y()) > SMALL ? ++nRot : /* null expression */ 0 ;
|
||||
mag(rotAmplitudes_.z()) > SMALL ? ++nRot : /* null expression */ 0 ;
|
||||
|
||||
// Check if more than two rotations prescribed
|
||||
if (nRot > 2)
|
||||
{
|
||||
FatalErrorIn
|
||||
(
|
||||
"harmonicOscillation::read"
|
||||
"(\n"
|
||||
" const fvMesh& mesh\n"
|
||||
" const dictionary& dict\n"
|
||||
")"
|
||||
) << "Only two harmonic rotations can be prescribed. Prescribing "
|
||||
<< "more than two yields unphysical results. "
|
||||
<< abort(FatalError);
|
||||
}
|
||||
|
||||
return true;
|
||||
}
|
||||
|
||||
|
||||
// ************************************************************************* //
|
||||
|
|
@ -0,0 +1,151 @@
|
|||
/*---------------------------------------------------------------------------*\
|
||||
========= |
|
||||
\\ / F ield | OpenFOAM: The Open Source CFD Toolbox
|
||||
\\ / O peration |
|
||||
\\ / A nd | Copyright held by original author
|
||||
\\/ M anipulation |
|
||||
-------------------------------------------------------------------------------
|
||||
License
|
||||
This file is part of OpenFOAM.
|
||||
|
||||
OpenFOAM is free software; you can redistribute it and/or modify it
|
||||
under the terms of the GNU General Public License as published by the
|
||||
Free Software Foundation; either version 2 of the License, or (at your
|
||||
option) any later version.
|
||||
|
||||
OpenFOAM is distributed in the hope that it will be useful, but WITHOUT
|
||||
ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or
|
||||
FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
|
||||
for more details.
|
||||
|
||||
You should have received a copy of the GNU General Public License
|
||||
along with OpenFOAM; if not, write to the Free Software Foundation,
|
||||
Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA
|
||||
|
||||
Class
|
||||
Foam::solidBodyMotionFunctions::harmonicOscillation
|
||||
|
||||
Description
|
||||
Prescribed translational and rotational harmonic motion.
|
||||
The motion is of the following form: x = x_a*sin(omega*t + phi_x).
|
||||
Hence, velocities go with cosine instead of sine.
|
||||
|
||||
SourceFiles
|
||||
harmonicOscillation.C
|
||||
|
||||
Author
|
||||
Vuko Vukcevic, FMENA Zagreb. All rights reserved.
|
||||
|
||||
\*---------------------------------------------------------------------------*/
|
||||
|
||||
#ifndef harmonicOscillation_H
|
||||
#define harmonicOscillation_H
|
||||
|
||||
#include "solidBodyMotionFunction.H"
|
||||
#include "primitiveFields.H"
|
||||
#include "point.H"
|
||||
|
||||
// * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * //
|
||||
|
||||
namespace Foam
|
||||
{
|
||||
namespace solidBodyMotionFunctions
|
||||
{
|
||||
|
||||
/*---------------------------------------------------------------------------*\
|
||||
Class harmonicOscillation Declaration
|
||||
\*---------------------------------------------------------------------------*/
|
||||
|
||||
class harmonicOscillation
|
||||
:
|
||||
public solidBodyMotionFunction
|
||||
{
|
||||
// Private data
|
||||
|
||||
//- Centre of gravity
|
||||
point origin_;
|
||||
|
||||
|
||||
// Prescribed translation members
|
||||
|
||||
//- Translational amplitudes
|
||||
vector transAmplitudes_;
|
||||
|
||||
//- Translational angular frequencies
|
||||
vector transAngularFreq_;
|
||||
|
||||
//- Translational phase angles
|
||||
vector transPhaseAngles_;
|
||||
|
||||
|
||||
// Prescribed rotation members
|
||||
|
||||
//- Rotational amplitudes
|
||||
vector rotAmplitudes_;
|
||||
|
||||
//- Rotational angular frequencies
|
||||
vector rotAngularFreq_;
|
||||
|
||||
//- Rotational phase angles
|
||||
vector rotPhaseAngles_;
|
||||
|
||||
//- Is the rotational velocity given in degrees/sec
|
||||
Switch inDegrees_;
|
||||
|
||||
|
||||
// Private Member Functions
|
||||
|
||||
//- Disallow copy construct
|
||||
harmonicOscillation(const harmonicOscillation&);
|
||||
|
||||
//- Disallow default bitwise assignment
|
||||
void operator=(const harmonicOscillation&);
|
||||
|
||||
//- Calculate tranformation
|
||||
septernion calcTransformation(const scalar t) const;
|
||||
|
||||
|
||||
public:
|
||||
|
||||
//- Runtime type information
|
||||
TypeName("harmonicOscillation");
|
||||
|
||||
|
||||
// Constructors
|
||||
|
||||
//- Construct from components
|
||||
harmonicOscillation
|
||||
(
|
||||
const dictionary& SBMFCoeffs,
|
||||
const Time& runTime
|
||||
);
|
||||
|
||||
|
||||
//- Destructor
|
||||
virtual ~harmonicOscillation()
|
||||
{}
|
||||
|
||||
|
||||
// Member Functions
|
||||
|
||||
//- Return the solid-body motion transformation septernion
|
||||
virtual septernion transformation() const;
|
||||
|
||||
//- Return the solid-body motion velocity
|
||||
virtual septernion velocity() const;
|
||||
|
||||
//- Update properties from given dictionary
|
||||
virtual bool read(const dictionary& SBMFCoeffs);
|
||||
};
|
||||
|
||||
|
||||
// * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * //
|
||||
|
||||
} // End namespace solidBodyMotionFunctions
|
||||
} // End namespace Foam
|
||||
|
||||
// * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * //
|
||||
|
||||
#endif
|
||||
|
||||
// ************************************************************************* //
|
||||
|
|
@ -102,7 +102,7 @@ Foam::solidBodyMotionFunctions::linearOscillation::velocity() const
|
|||
|
||||
septernion TV
|
||||
(
|
||||
(calcPosition(t + dt) - calcPosition(t))/dt,
|
||||
(calcPosition(t) - calcPosition(t - dt))/dt,
|
||||
quaternion::zero
|
||||
);
|
||||
|
||||
|
|
|
|||
|
|
@ -114,15 +114,23 @@ transformation() const
|
|||
return TR;
|
||||
}
|
||||
|
||||
|
||||
Foam::septernion
|
||||
Foam::solidBodyMotionFunctions::rotatingOscillation::velocity() const
|
||||
{
|
||||
scalar t = time_.value();
|
||||
scalar dt = time_.deltaT().value();
|
||||
|
||||
return (calcTransformation(t + dt) - calcTransformation(t))/dt;
|
||||
const septernion velocity
|
||||
(
|
||||
(calcTransformation(t).t() - calcTransformation(t - dt).t())/dt,
|
||||
(calcTransformation(t).r()/calcTransformation(t - dt).r())/dt
|
||||
);
|
||||
|
||||
return velocity;
|
||||
}
|
||||
|
||||
|
||||
bool Foam::solidBodyMotionFunctions::rotatingOscillation::read
|
||||
(
|
||||
const dictionary& SBMFCoeffs
|
||||
|
|
@ -137,4 +145,5 @@ bool Foam::solidBodyMotionFunctions::rotatingOscillation::read
|
|||
return true;
|
||||
}
|
||||
|
||||
|
||||
// ************************************************************************* //
|
||||
|
|
|
|||
|
|
@ -1,3 +1,37 @@
|
|||
/*---------------------------------------------------------------------------*\
|
||||
========= |
|
||||
\\ / F ield | foam-extend: Open Source CFD
|
||||
\\ / O peration | Version: 3.2
|
||||
\\ / A nd | Web: http://www.foam-extend.org
|
||||
\\/ M anipulation | For copyright notice see file Copyright
|
||||
-------------------------------------------------------------------------------
|
||||
License
|
||||
This file is part of foam-extend.
|
||||
|
||||
foam-extend is free software: you can redistribute it and/or modify it
|
||||
under the terms of the GNU General Public License as published by the
|
||||
Free Software Foundation, either version 3 of the License, or (at your
|
||||
option) any later version.
|
||||
|
||||
foam-extend is distributed in the hope that it will be useful, but
|
||||
WITHOUT ANY WARRANTY; without even the implied warranty of
|
||||
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
|
||||
General Public License for more details.
|
||||
|
||||
You should have received a copy of the GNU General Public License
|
||||
along with foam-extend. If not, see <http://www.gnu.org/licenses/>.
|
||||
|
||||
Class
|
||||
Foam::solidBodyMotionFunctions::rotatingOscillation
|
||||
|
||||
Description
|
||||
Rotating oscillation motion function
|
||||
|
||||
SourceFiles
|
||||
rotatingOscillation.C
|
||||
|
||||
\*---------------------------------------------------------------------------*/
|
||||
|
||||
#ifndef rotatingOscillation_H
|
||||
#define rotatingOscillation_H
|
||||
|
||||
|
|
@ -40,6 +74,7 @@ class rotatingOscillation
|
|||
//- Disallow default bitwise assignment
|
||||
void operator=(const rotatingOscillation&);
|
||||
|
||||
|
||||
//- Calculate position
|
||||
vector calcPosition(const scalar t) const;
|
||||
|
||||
|
|
|
|||
Reference in a new issue