Abstract base class sixDOFODE
This commit is contained in:
Vuko Vukcevic
Hrvoje Jasak
parent
0642e99a97
commit
6436f1a496
7 changed files with 784 additions and 487 deletions
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@ -9,12 +9,12 @@ $(ODESolvers)/SIBS/SIBS.C
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$(ODESolvers)/SIBS/SIMPR.C
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$(ODESolvers)/SIBS/polyExtrapolate.C
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translationODE = translationODE
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$(translationODE)/translationODE.C
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sixDOF = sixDOF
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$(sixDOF)/finiteRotation/finiteRotation.C
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$(sixDOF)/sixDOFqODE/sixDOFqODE.C
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$(sixDOF)/sixDOFbodies/sixDOFbodies.C
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$(sixDOF)/sixDOFODE/sixDOFODE.C
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$(sixDOF)/sixDOFODE/newSixDOFODE.C
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LIB = $(FOAM_LIBBIN)/libODE
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73
src/ODE/sixDOF/sixDOFODE/newSixDOFODE.C
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73
src/ODE/sixDOF/sixDOFODE/newSixDOFODE.C
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@ -0,0 +1,73 @@
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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 "error.H"
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#include "objectRegistry.H"
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#include "sixDOFODE.H"
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// * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * //
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Foam::autoPtr<Foam::sixDOFODE> Foam::sixDOFODE::New(const IOobject& io)
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{
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word sixDOFODETypeName;
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// Get object registry
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const objectRegistry& database = io.db();
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// Check whether the dictionary is in the database
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if (database.foundObject<IOdictionary>(io.name()))
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{
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sixDOFODETypeName =
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word
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(
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database.lookupObject<IOdictionary>(io.name()).lookup("type")
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);
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}
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else
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{
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sixDOFODETypeName = word(IOdictionary(io).lookup("type"));
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}
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dictionaryConstructorTable::iterator cstrIter =
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dictionaryConstructorTablePtr_->find(sixDOFODETypeName);
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if (cstrIter == dictionaryConstructorTablePtr_->end())
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{
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FatalErrorIn
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(
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"sixDOFODE::New(const IOobject& io)"
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) << "Unknown sixDOFODE " << sixDOFODETypeName
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<< endl << endl
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<< "Valid sixDOFODE types are:" << endl
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<< dictionaryConstructorTablePtr_->toc()
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<< exit(FatalError);
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}
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return autoPtr<sixDOFODE>(cstrIter()(io));
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}
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// ************************************************************************* //
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252
src/ODE/sixDOF/sixDOFODE/sixDOFODE.C
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252
src/ODE/sixDOF/sixDOFODE/sixDOFODE.C
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@ -0,0 +1,252 @@
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/*---------------------------------------------------------------------------*\
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========= |
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\\ / F ield | foam-extend: Open Source CFD
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\\ / O peration | Version: 4.0
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\\ / A nd | Web: http://www.foam-extend.org
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\\/ M anipulation | For copyright notice see file Copyright
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-------------------------------------------------------------------------------
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License
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This file is part of foam-extend.
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foam-extend 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 3 of the License, or (at your
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option) any later version.
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foam-extend is distributed in the hope that it will be useful, but
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WITHOUT ANY WARRANTY; without even the implied warranty of
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
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General Public License 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 foam-extend. If not, see <http://www.gnu.org/licenses/>.
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Class
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sixDOFODE
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Description
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Abstract base class for six-degrees-of-freedom (6DOF) ordinary differential
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equations
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Author
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Dubravko Matijasevic, FSB Zagreb. All rights reserved.
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Hrvoje Jasak, FSB Zagreb. All rights reserved.
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Vuko Vukcevic, FSB Zagreb. All rights reserved.
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\*---------------------------------------------------------------------------*/
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#include "objectRegistry.H"
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#include "sixDOFODE.H"
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// * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * //
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namespace Foam
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{
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defineTypeNameAndDebug(sixDOFODE, 0);
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defineRunTimeSelectionTable(sixDOFODE, dictionary);
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}
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// * * * * * * * * * * * * Protected Member Functions * * * * * * * * * * * //
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void Foam::sixDOFODE::aitkensRelaxation
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(
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const scalar min,
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const scalar max
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)
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{
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// Calculate translational relax factor
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const scalar saveOldRelFacT = oldRelaxFactorT_;
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oldRelaxFactorT_ = relaxFactorT_;
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if(magSqr(A_[0] - An_[1] - A_[1] - An_[2]) > SMALL)
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{
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relaxFactorT_ = saveOldRelFacT + (saveOldRelFacT - 1)*
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(
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(A_[1] - An_[2])
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& (A_[0] - An_[1] - A_[1] - An_[2])
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)/
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magSqr(A_[0] - An_[1] - A_[1] - An_[2]);
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}
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else
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{
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relaxFactorT_ = min;
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}
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// Bound the relaxation factor for stability
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if (relaxFactorT_ > max)
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{
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relaxFactorT_ = max;
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}
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else if (relaxFactorT_ < min)
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{
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relaxFactorT_ = min;
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}
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// Calculate rotational relax factor
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const scalar saveOldRelFacR = oldRelaxFactorR_;
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oldRelaxFactorR_ = relaxFactorR_;
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if
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(
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magSqr(OmegaDot_[0] - OmegaDotn_[1] - OmegaDot_[1] - OmegaDotn_[2])
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> SMALL
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)
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{
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relaxFactorR_ = saveOldRelFacR
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+ (saveOldRelFacR - 1)*
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(
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(OmegaDot_[1] - OmegaDotn_[2])
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& (OmegaDot_[0] - OmegaDotn_[1] - OmegaDot_[1] - OmegaDotn_[2])
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)/
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magSqr(OmegaDot_[0] - OmegaDotn_[1] - OmegaDot_[1] - OmegaDotn_[2]);
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}
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else
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{
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relaxFactorR_ = min;
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}
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// Bound the relaxation factor for stability
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if(relaxFactorR_ > max)
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{
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relaxFactorR_ = max;
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}
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else if(relaxFactorR_ < min)
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{
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relaxFactorR_ = min;
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}
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}
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// * * * * * * * * * * * * * * * * Constructors * * * * * * * * * * * * * * //
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Foam::sixDOFODE::sixDOFODE(const IOobject& io)
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:
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IOdictionary(io),
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mass_(lookup("mass")),
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momentOfInertia_(lookup("momentOfInertia")),
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Xequilibrium_(lookup("equilibriumPosition")),
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linSpringCoeffs_(lookup("linearSpring")),
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linDampingCoeffs_(lookup("linearDamping")),
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relaxFactorT_(1.0),
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relaxFactorR_(1.0),
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oldRelaxFactorT_(1.0),
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oldRelaxFactorR_(1.0),
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A_(3, vector::zero),
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OmegaDot_(3, vector::zero),
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An_(3, vector::zero),
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OmegaDotn_(3, vector::zero),
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force_(lookup("force")),
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moment_(lookup("moment")),
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forceRelative_(lookup("forceRelative")),
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momentRelative_(lookup("momentRelative"))
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{}
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// * * * * * * * * * * * * * * * * Destructor * * * * * * * * * * * * * * * //
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Foam::sixDOFODE::~sixDOFODE()
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{}
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// * * * * * * * * * * * * * * * Member Functions * * * * * * * * * * * * * //
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void Foam::sixDOFODE::relaxAcceleration
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(
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const scalar minRelFactor,
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const scalar maxRelFactor
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)
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{
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if (mag(minRelFactor - maxRelFactor) < SMALL)
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{
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// Fixed relaxation
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relaxFactorT_ = minRelFactor;
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relaxFactorR_ = minRelFactor;
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}
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else
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{
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// Use Aitkens relaxation
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// Update Aitkens relaxation factor
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aitkensRelaxation(minRelFactor, maxRelFactor);
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// Update non relaxed accelerations
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An_[1] = An_[2];
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An_[2] = (force_/mass_).value();
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OmegaDotn_[1] = OmegaDotn_[2];
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OmegaDotn_[2] = (inv(momentOfInertia_) & moment_).value();
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}
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const vector Aold = A_[2];
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const vector OmegaDotold = OmegaDot_[2];
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force_.value() =
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Aold*mass_.value()
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+ relaxFactorT_*(force_.value() - Aold*mass_.value());
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moment_.value() =
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(momentOfInertia_.value() & OmegaDotold)
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+ relaxFactorR_*
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(
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moment_.value()
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- (momentOfInertia_.value() & OmegaDotold)
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);
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// Update relaxed old accelerations
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A_[0] = A_[1];
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A_[1] = A_[2];
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A_[2] = (force_/mass_).value();
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OmegaDot_[0] = OmegaDot_[1];
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OmegaDot_[1] = OmegaDot_[2];
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OmegaDot_[2] = (inv(momentOfInertia_) & moment_).value();
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}
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// * * * * * * * * * * * * * * * Friend Operators * * * * * * * * * * * * * //
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bool Foam::sixDOFODE::writeData(Ostream& os) const
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{
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os.writeKeyword("mass") << tab << mass_ << token::END_STATEMENT << nl;
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os.writeKeyword("momentOfInertia") << tab << momentOfInertia_
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<< token::END_STATEMENT << nl << nl;
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os.writeKeyword("equilibriumPosition") << tab << Xequilibrium_
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<< token::END_STATEMENT << nl;
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os.writeKeyword("linearSpring") << tab << linSpringCoeffs_
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<< token::END_STATEMENT << nl;
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os.writeKeyword("linearDamping") << tab << linDampingCoeffs_
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<< token::END_STATEMENT << nl << nl;
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os.writeKeyword("force") << tab << force_
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<< token::END_STATEMENT << nl;
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os.writeKeyword("moment") << tab << moment_
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<< token::END_STATEMENT << nl;
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os.writeKeyword("forceRelative") << tab << forceRelative_
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<< token::END_STATEMENT << nl;
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os.writeKeyword("momentRelative") << tab << momentRelative_
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<< token::END_STATEMENT << endl;
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return os.good();
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}
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// * * * * * * * * * * * * * * IOstream Operators * * * * * * * * * * * * * //
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Foam::Ostream& Foam::operator<<(Ostream& os, const sixDOFODE& sds)
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{
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sds.writeData(os);
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os.check("Ostream& operator<<(Ostream&, const sixDOFODE");
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return os;
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}
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// ************************************************************************* //
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395
src/ODE/sixDOF/sixDOFODE/sixDOFODE.H
Normal file
395
src/ODE/sixDOF/sixDOFODE/sixDOFODE.H
Normal file
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@ -0,0 +1,395 @@
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/*---------------------------------------------------------------------------*\
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========= |
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\\ / F ield | foam-extend: Open Source CFD
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\\ / O peration | Version: 4.0
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\\ / A nd | Web: http://www.foam-extend.org
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\\/ M anipulation | For copyright notice see file Copyright
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-------------------------------------------------------------------------------
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License
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This file is part of foam-extend.
|
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|
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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/>.
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Class
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sixDOFODE
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Description
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Abstract base class for six-degrees-of-freedom (6DOF) ordinary differential
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equations with a fat interface in order to provide representation of
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rotations in quaternions or rotation tensors.
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Author
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Dubravko Matijasevic, FSB Zagreb. All rights reserved.
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Hrvoje Jasak, FSB Zagreb. All rights reserved.
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Vuko Vukcevic, FSB Zagreb. All rights reserved.
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SourceFiles
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sixDOFODEI.H
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sixDOFODE.C
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newSixDOFODE.C
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\*---------------------------------------------------------------------------*/
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#ifndef sixDOFODE_H
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#define sixDOFODE_H
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#include "ODE.H"
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#include "IOdictionary.H"
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#include "dimensionedTypes.H"
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#include "autoPtr.H"
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#include "runTimeSelectionTables.H"
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// * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * //
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namespace Foam
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{
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class finiteRotation;
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class HamiltonRodriguezRot;
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/*---------------------------------------------------------------------------*\
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Class sixDOFODE Declaration
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\*---------------------------------------------------------------------------*/
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class sixDOFODE
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:
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public IOdictionary,
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public ODE
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{
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// Private data
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// Body data
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//- Mass
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dimensionedScalar mass_;
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//- Rotational moment of inertia around centre of mass
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// in body (relative) coordinates - aligned with main axes
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dimensionedDiagTensor momentOfInertia_;
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// Equilibrium position and spring/damping coefficients
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//- Spring equilibrium position for translation
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dimensionedVector Xequilibrium_;
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//- Linear spring coeffs
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dimensionedDiagTensor linSpringCoeffs_;
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//- Linear damping coeffs
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dimensionedDiagTensor linDampingCoeffs_;
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// Aitkens relaxation data members
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//- Translational relaxation factor
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scalar relaxFactorT_;
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//- Rotational relaxation factor
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scalar relaxFactorR_;
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//- Old translational relaxation factor
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scalar oldRelaxFactorT_;
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//- Old rotational relaxation factor
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scalar oldRelaxFactorR_;
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//- Accelerations from previous iterations
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// A_[2] is the old value, A_[1] old old, A_[0] old old old
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List<vector> A_;
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List<vector> OmegaDot_;
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//- Previos iteration non relaxed accelerations
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List<vector> An_;
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List<vector> OmegaDotn_;
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// External forces
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//- Force driving the motion in inertial coord. sys.
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dimensionedVector force_;
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//- Moment driving the motion in inertial coord. sys.
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dimensionedVector moment_;
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//- Force driving the motion in relative coord. sys.
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dimensionedVector forceRelative_;
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//- Moment driving the motion in relative coord. sys.
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dimensionedVector momentRelative_;
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// Private Member Functions
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//- Disallow default bitwise copy construct
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sixDOFODE(const sixDOFODE&);
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//- Disallow default bitwise assignment
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void operator=(const sixDOFODE&);
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protected:
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// Protected Member Functions
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//- Set ODE coefficients from position and rotation
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virtual void setCoeffs() = 0;
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//- Update Aitkens relaxation parameters
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void aitkensRelaxation(const scalar min, const scalar max);
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public:
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//- Run-time type information
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TypeName("sixDOFODE");
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// Declare run-time constructor selection table
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declareRunTimeSelectionTable
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(
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autoPtr,
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sixDOFODE,
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dictionary,
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(const IOobject& io),
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(io)
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);
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|
||||
// Constructors
|
||||
|
||||
//- Construct from dictionary
|
||||
sixDOFODE(const IOobject& io);
|
||||
|
||||
//- Return a clone, changing the name
|
||||
virtual autoPtr<sixDOFODE> clone(const word& name) const = 0;
|
||||
|
||||
|
||||
// Selectors
|
||||
|
||||
//- Return autoPtr to the selected sixDOFODE
|
||||
static autoPtr<sixDOFODE> New(const IOobject& io);
|
||||
|
||||
|
||||
// Destructor
|
||||
|
||||
virtual ~sixDOFODE();
|
||||
|
||||
|
||||
// Member Functions
|
||||
|
||||
// Access to common data
|
||||
|
||||
//- Return mass
|
||||
inline const dimensionedScalar& mass() const;
|
||||
|
||||
//- Return access to mass
|
||||
inline dimensionedScalar& mass();
|
||||
|
||||
//- Return moment of inertia
|
||||
inline const dimensionedDiagTensor& momentOfInertia() const;
|
||||
|
||||
//- Return access to moment of inertia
|
||||
inline dimensionedDiagTensor& momentOfInertia();
|
||||
|
||||
//- Return equilibrium position of origin
|
||||
inline const dimensionedVector& Xequilibrium() const;
|
||||
|
||||
//- Return access to equilibrium position of origin
|
||||
inline dimensionedVector& Xequilibrium();
|
||||
|
||||
|
||||
// Access to forces and moments
|
||||
|
||||
//- Return force in inertial coord. sys.
|
||||
inline const dimensionedVector& force() const;
|
||||
|
||||
//- Return access to force in inertial coord. sys.
|
||||
inline dimensionedVector& force();
|
||||
|
||||
//- Return moment in inertial coord. sys.
|
||||
inline const dimensionedVector& moment() const;
|
||||
|
||||
//- Return access to moment in inertial coord. sys.
|
||||
inline dimensionedVector& moment();
|
||||
|
||||
//- Return force in relative coord. sys.
|
||||
inline const dimensionedVector& forceRelative() const;
|
||||
|
||||
//- Return access to force in relative coord. sys.
|
||||
inline dimensionedVector& forceRelative();
|
||||
|
||||
//- Return moment in relative coord. sys.
|
||||
inline const dimensionedVector& momentRelative() const;
|
||||
|
||||
//- Return access to moment in relative coord. sys.
|
||||
inline dimensionedVector& momentRelative();
|
||||
|
||||
//- Return total force in inertial coord. sys.
|
||||
inline dimensionedVector forceTotal() const;
|
||||
|
||||
//- Return total moment in inertial coord. sys.
|
||||
inline dimensionedVector momentTotal() const;
|
||||
|
||||
//- Relax the force (acceleration) using Aitkens or fixed relaxation
|
||||
void relaxAcceleration
|
||||
(
|
||||
const scalar minRelFactor,
|
||||
const scalar maxRelFactor
|
||||
);
|
||||
|
||||
|
||||
// Virtual interface for 6DOF motion state
|
||||
|
||||
// Variables in relative coordinate system
|
||||
|
||||
//- Return displacement in translated coordinate system
|
||||
// relative to spring equilibrium
|
||||
virtual const dimensionedVector& Xrel() const = 0;
|
||||
|
||||
//- Return rotational velocity in relative coordinate system
|
||||
virtual const dimensionedVector& omega() const = 0;
|
||||
|
||||
|
||||
// Displacement and rotation in the absolute coordinate system
|
||||
|
||||
//- Return position of origin in absolute coordinate system
|
||||
virtual dimensionedVector X() const = 0;
|
||||
|
||||
//- Return velocity of origin
|
||||
virtual const dimensionedVector& U() const = 0;
|
||||
|
||||
//- Return average velocity of origin for the previous time-step
|
||||
virtual const dimensionedVector& Uaverage() const = 0;
|
||||
|
||||
//- Return finite rotation
|
||||
virtual const finiteRotation& rotation() const = 0;
|
||||
|
||||
//- Return rotational vector of body
|
||||
virtual vector rotVector() const = 0;
|
||||
|
||||
//- Return rotation angle of body
|
||||
virtual dimensionedScalar rotAngle() const = 0;
|
||||
|
||||
|
||||
// Non-access control for setting state variables
|
||||
|
||||
//- Set position of origin
|
||||
virtual void setXrel(const vector& x) = 0;
|
||||
|
||||
//- Set velocity of origin
|
||||
virtual void setU(const vector& u) = 0;
|
||||
|
||||
//- Set rotational angle in relative coordinate system
|
||||
virtual void setRotation(const HamiltonRodriguezRot& rot) = 0;
|
||||
|
||||
//- Set rotational velocity in relative coordinate system
|
||||
virtual void setOmega(const vector& omega) = 0;
|
||||
|
||||
//- Set referent coordinate system to apply constraints
|
||||
virtual void setReferentRotation
|
||||
(
|
||||
const HamiltonRodriguezRot& rot
|
||||
) = 0;
|
||||
|
||||
|
||||
// Average motion per time-step
|
||||
|
||||
//- Return average rotational vector of body
|
||||
virtual vector rotVectorAverage() const = 0;
|
||||
|
||||
//- Return average rotational velocity in relative coordinate
|
||||
// system
|
||||
virtual const dimensionedVector& omegaAverage() const = 0;
|
||||
|
||||
//- Return average rotational velocity in absolute coordinate
|
||||
// system
|
||||
virtual const dimensionedVector&
|
||||
omegaAverageAbsolute() const = 0;
|
||||
|
||||
|
||||
// Rotations
|
||||
|
||||
//- Return rotation tensor to relative coordinate system
|
||||
virtual tensor toRelative() const = 0;
|
||||
|
||||
//- Return rotation tensor to absolute coordinate system
|
||||
virtual tensor toAbsolute() const = 0;
|
||||
|
||||
//- Return transformation tensor between new and previous
|
||||
// rotation
|
||||
virtual const tensor& rotIncrementTensor() const = 0;
|
||||
|
||||
//- Set ODE parameters from another ODE
|
||||
virtual void setState(const sixDOFODE&) = 0;
|
||||
|
||||
|
||||
// ODE parameters
|
||||
|
||||
//- Return number of equations
|
||||
virtual label nEqns() const = 0;
|
||||
|
||||
//- Return access to coefficients
|
||||
virtual scalarField& coeffs() = 0;
|
||||
|
||||
//- Return reference to coefficients
|
||||
virtual const scalarField& coeffs() const = 0;
|
||||
|
||||
//- Evaluate derivatives
|
||||
virtual void derivatives
|
||||
(
|
||||
const scalar x,
|
||||
const scalarField& y,
|
||||
scalarField& dydx
|
||||
) const = 0;
|
||||
|
||||
//- Evaluate Jacobian
|
||||
virtual void jacobian
|
||||
(
|
||||
const scalar x,
|
||||
const scalarField& y,
|
||||
scalarField& dfdx,
|
||||
scalarSquareMatrix& dfdy
|
||||
) const = 0;
|
||||
|
||||
//- Update ODE after the solution, advancing by delta
|
||||
virtual void update(const scalar delta) = 0;
|
||||
|
||||
|
||||
// Write control
|
||||
|
||||
//- writeData member function required by regIOobject
|
||||
virtual bool writeData(Ostream&) const;
|
||||
|
||||
|
||||
// Ostream operator
|
||||
|
||||
friend Ostream& operator<<(Ostream&, const sixDOFODE&);
|
||||
};
|
||||
|
||||
|
||||
// * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * //
|
||||
|
||||
} // End namespace Foam
|
||||
|
||||
// * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * //
|
||||
|
||||
#include "sixDOFODEI.H"
|
||||
|
||||
// * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * //
|
||||
|
||||
#endif
|
||||
|
||||
// ************************************************************************* //
|
||||
|
|
@ -21,74 +21,104 @@ License
|
|||
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
|
||||
translationODE
|
||||
|
||||
Description
|
||||
Ordinary differential equation for three degrees of freedom
|
||||
solid body translation
|
||||
|
||||
Author
|
||||
Hrvoje Jasak
|
||||
Dubravko Matijasevic
|
||||
|
||||
\*---------------------------------------------------------------------------*/
|
||||
|
||||
|
||||
// * * * * * * * * * * * * * * * Member Functions * * * * * * * * * * * * * //
|
||||
|
||||
const Foam::dimensionedScalar& Foam::translationODE::mass() const
|
||||
const Foam::dimensionedScalar& Foam::sixDOFODE::mass() const
|
||||
{
|
||||
return mass_;
|
||||
}
|
||||
|
||||
|
||||
const Foam::dimensionedVector& Foam::translationODE::Xrel() const
|
||||
Foam::dimensionedScalar& Foam::sixDOFODE::mass()
|
||||
{
|
||||
return Xrel_;
|
||||
return mass_;
|
||||
}
|
||||
|
||||
|
||||
Foam::dimensionedVector Foam::translationODE::X() const
|
||||
const Foam::dimensionedDiagTensor& Foam::sixDOFODE::momentOfInertia() const
|
||||
{
|
||||
return xEquilibrium_ + Xrel();
|
||||
return momentOfInertia_;
|
||||
}
|
||||
|
||||
|
||||
const Foam::dimensionedVector& Foam::translationODE::U() const
|
||||
Foam::dimensionedDiagTensor& Foam::sixDOFODE::momentOfInertia()
|
||||
{
|
||||
return U_;
|
||||
return momentOfInertia_;
|
||||
}
|
||||
|
||||
|
||||
const Foam::dimensionedVector& Foam::translationODE::Uold() const
|
||||
const Foam::dimensionedVector& Foam::sixDOFODE::Xequilibrium() const
|
||||
{
|
||||
return Uold_;
|
||||
return Xequilibrium_;
|
||||
}
|
||||
|
||||
|
||||
Foam::dimensionedVector Foam::translationODE::A() const
|
||||
Foam::dimensionedVector& Foam::sixDOFODE::Xequilibrium()
|
||||
{
|
||||
return A(Xrel(), U());
|
||||
return Xequilibrium_;
|
||||
}
|
||||
|
||||
|
||||
Foam::dimensionedVector Foam::translationODE::Uaverage() const
|
||||
{
|
||||
return 0.5*(U_ + Uold_);
|
||||
}
|
||||
|
||||
|
||||
const Foam::dimensionedVector& Foam::translationODE::force() const
|
||||
const Foam::dimensionedVector& Foam::sixDOFODE::force() const
|
||||
{
|
||||
return force_;
|
||||
}
|
||||
|
||||
|
||||
Foam::dimensionedVector& Foam::translationODE::force()
|
||||
Foam::dimensionedVector& Foam::sixDOFODE::force()
|
||||
{
|
||||
return force_;
|
||||
}
|
||||
|
||||
|
||||
const Foam::dimensionedVector& Foam::sixDOFODE::moment() const
|
||||
{
|
||||
return moment_;
|
||||
}
|
||||
|
||||
|
||||
Foam::dimensionedVector& Foam::sixDOFODE::moment()
|
||||
{
|
||||
return moment_;
|
||||
}
|
||||
|
||||
|
||||
const Foam::dimensionedVector& Foam::sixDOFODE::forceRelative() const
|
||||
{
|
||||
return forceRelative_;
|
||||
}
|
||||
|
||||
|
||||
Foam::dimensionedVector& Foam::sixDOFODE::forceRelative()
|
||||
{
|
||||
return forceRelative_;
|
||||
}
|
||||
|
||||
|
||||
const Foam::dimensionedVector& Foam::sixDOFODE::momentRelative() const
|
||||
{
|
||||
return momentRelative_;
|
||||
}
|
||||
|
||||
|
||||
Foam::dimensionedVector& Foam::sixDOFODE::momentRelative()
|
||||
{
|
||||
return momentRelative_;
|
||||
}
|
||||
|
||||
|
||||
Foam::dimensionedVector Foam::sixDOFODE::forceTotal() const
|
||||
{
|
||||
return force_ + (this->toAbsolute() & forceRelative_);
|
||||
}
|
||||
|
||||
|
||||
Foam::dimensionedVector Foam::sixDOFODE::momentTotal() const
|
||||
{
|
||||
return moment_ + (this->toAbsolute() & momentRelative_);
|
||||
}
|
||||
|
||||
|
||||
// ************************************************************************* //
|
||||
|
|
@ -1,202 +0,0 @@
|
|||
/*---------------------------------------------------------------------------*\
|
||||
========= |
|
||||
\\ / F ield | foam-extend: Open Source CFD
|
||||
\\ / O peration | Version: 4.0
|
||||
\\ / 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
|
||||
translationODE
|
||||
|
||||
Description
|
||||
Ordinary differential equation for three degrees of freedom
|
||||
solid body motion
|
||||
|
||||
Author
|
||||
Hrvoje Jasak
|
||||
Dubravko Matijasevic
|
||||
|
||||
\*---------------------------------------------------------------------------*/
|
||||
|
||||
#include "translationODE.H"
|
||||
#include "objectRegistry.H"
|
||||
#include "foamTime.H"
|
||||
|
||||
// * * * * * * * * * * * * * * Static Data Members * * * * * * * * * * * * * //
|
||||
|
||||
// namespace Foam
|
||||
// {
|
||||
// defineTypeNameAndDebug(translationODE, 0);
|
||||
// }
|
||||
|
||||
// * * * * * * * * * * * * * Private Member Functions * * * * * * * * * * * //
|
||||
|
||||
void Foam::translationODE::setCoeffs()
|
||||
{
|
||||
// Set ODE coefficients from position and rotation
|
||||
|
||||
// Linear displacement in relative coordinate system
|
||||
{
|
||||
const vector& xVal = Xrel_.value();
|
||||
coeffs_[0] = xVal.x();
|
||||
coeffs_[1] = xVal.y();
|
||||
coeffs_[2] = xVal.z();
|
||||
}
|
||||
|
||||
// Linear velocity in relative coordinate system
|
||||
{
|
||||
const vector& uVal = U_.value();
|
||||
coeffs_[3] = uVal.x();
|
||||
coeffs_[4] = uVal.y();
|
||||
coeffs_[5] = uVal.z();
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
Foam::dimensionedVector Foam::translationODE::A
|
||||
(
|
||||
const dimensionedVector& xR,
|
||||
const dimensionedVector& uR
|
||||
) const
|
||||
{
|
||||
return
|
||||
(
|
||||
- (linSpringCoeffs_ & xR) // spring
|
||||
- (linDampingCoeffs_ & uR) // damping
|
||||
+ force()
|
||||
)/mass_; // gravity
|
||||
}
|
||||
|
||||
|
||||
// * * * * * * * * * * * * * * * * Constructors * * * * * * * * * * * * * * //
|
||||
|
||||
// Construct from components
|
||||
Foam::translationODE::translationODE
|
||||
(
|
||||
const IOobject& io
|
||||
)
|
||||
:
|
||||
IOdictionary(io),
|
||||
mass_(lookup("mass")),
|
||||
xEquilibrium_(lookup("equilibriumPosition")),
|
||||
linSpringCoeffs_(lookup("linearSpring")),
|
||||
linDampingCoeffs_(lookup("linearDamping")),
|
||||
Xrel_(lookup("Xrel")),
|
||||
U_(lookup("U")),
|
||||
Uold_(lookup("Uold")),
|
||||
force_(lookup("force")),
|
||||
coeffs_(6, 0.0)
|
||||
{
|
||||
setCoeffs();
|
||||
}
|
||||
|
||||
|
||||
// * * * * * * * * * * * * * * * * Destructor * * * * * * * * * * * * * * * //
|
||||
|
||||
Foam::translationODE::~translationODE()
|
||||
{}
|
||||
|
||||
|
||||
// * * * * * * * * * * * * * * * Member Functions * * * * * * * * * * * * * //
|
||||
|
||||
void Foam::translationODE::derivatives
|
||||
(
|
||||
const scalar x,
|
||||
const scalarField& y,
|
||||
scalarField& dydx
|
||||
) const
|
||||
{
|
||||
// Set the derivatives for displacement
|
||||
dydx[0] = y[3];
|
||||
dydx[1] = y[4];
|
||||
dydx[2] = y[5];
|
||||
|
||||
dimensionedVector curX("curX", dimLength, vector(y[0], y[1], y[2]));
|
||||
dimensionedVector curU("curU", dimLength/dimTime, vector(y[3], y[4], y[5]));
|
||||
|
||||
const vector& accel = A(curX, curU).value();
|
||||
|
||||
dydx[3] = accel.x();
|
||||
dydx[4] = accel.y();
|
||||
dydx[5] = accel.z();
|
||||
}
|
||||
|
||||
|
||||
void Foam::translationODE::jacobian
|
||||
(
|
||||
const scalar x,
|
||||
const scalarField& y,
|
||||
scalarField& dfdx,
|
||||
scalarSquareMatrix& dfdy
|
||||
) const
|
||||
{
|
||||
notImplemented("translationODE::jacobian(...) const");
|
||||
}
|
||||
|
||||
|
||||
void Foam::translationODE::update(const scalar delta)
|
||||
{
|
||||
// Update position
|
||||
vector& Xval = Xrel_.value();
|
||||
|
||||
Xval.x() = coeffs_[0];
|
||||
Xval.y() = coeffs_[1];
|
||||
Xval.z() = coeffs_[2];
|
||||
|
||||
// Update velocity
|
||||
Uold_ = U_;
|
||||
|
||||
vector& Uval = U_.value();
|
||||
|
||||
Uval.x() = coeffs_[3];
|
||||
Uval.y() = coeffs_[4];
|
||||
Uval.z() = coeffs_[5];
|
||||
}
|
||||
|
||||
|
||||
bool Foam::translationODE::writeData(Ostream& os) const
|
||||
{
|
||||
os << *this;
|
||||
return os.good();
|
||||
}
|
||||
|
||||
|
||||
// * * * * * * * * * * * * * * * IOstream Operators * * * * * * * * * * * * //
|
||||
|
||||
Foam::Ostream& Foam::operator<<(Ostream& os, const translationODE& sds)
|
||||
{
|
||||
os.writeKeyword("mass") << sds.mass_ << token::END_STATEMENT << endl;
|
||||
os.writeKeyword("equilibriumPosition") << sds.xEquilibrium_
|
||||
<< token::END_STATEMENT << endl;
|
||||
os.writeKeyword("linearSpring") << sds.linSpringCoeffs_
|
||||
<< token::END_STATEMENT << endl;
|
||||
os.writeKeyword("linearDamping") << sds.linDampingCoeffs_
|
||||
<< token::END_STATEMENT << endl;
|
||||
|
||||
os.writeKeyword("Xrel") << sds.Xrel() << token::END_STATEMENT << endl;
|
||||
os.writeKeyword("U") << sds.U() << token::END_STATEMENT << endl;
|
||||
os.writeKeyword("Uold") << tab << sds.Uold() << token::END_STATEMENT << nl;
|
||||
|
||||
os.writeKeyword("force") << sds.force() << token::END_STATEMENT << endl;
|
||||
|
||||
return os;
|
||||
}
|
||||
|
||||
|
||||
// ************************************************************************* //
|
||||
|
|
@ -1,251 +0,0 @@
|
|||
/*---------------------------------------------------------------------------*\
|
||||
========= |
|
||||
\\ / F ield | foam-extend: Open Source CFD
|
||||
\\ / O peration | Version: 4.0
|
||||
\\ / 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
|
||||
translationODE
|
||||
|
||||
Description
|
||||
Ordinary differential equation for three degrees of freedom solid
|
||||
body translation
|
||||
|
||||
Author
|
||||
Hrvoje Jasak
|
||||
Dubravko Matijasevic
|
||||
|
||||
SourceFiles
|
||||
translationODEI.H
|
||||
translationODE.C
|
||||
|
||||
\*---------------------------------------------------------------------------*/
|
||||
|
||||
#ifndef translationODE_H
|
||||
#define translationODE_H
|
||||
|
||||
#include "ODE.H"
|
||||
#include "IOdictionary.H"
|
||||
#include "dimensionedTypes.H"
|
||||
#include "dimensionedDiagTensor.H"
|
||||
|
||||
// * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * //
|
||||
|
||||
namespace Foam
|
||||
{
|
||||
|
||||
/*---------------------------------------------------------------------------*\
|
||||
Class translationODE Declaration
|
||||
\*---------------------------------------------------------------------------*/
|
||||
|
||||
class translationODE
|
||||
:
|
||||
public IOdictionary,
|
||||
public ODE
|
||||
{
|
||||
// Private data
|
||||
|
||||
// Body data
|
||||
|
||||
//- Mass
|
||||
dimensionedScalar mass_;
|
||||
|
||||
|
||||
// Platform variables
|
||||
|
||||
//- Spring equilibrium position for translation
|
||||
const dimensionedVector xEquilibrium_;
|
||||
|
||||
//- Linear spring coeffs
|
||||
const dimensionedDiagTensor linSpringCoeffs_;
|
||||
|
||||
//- Linear damping coeffs
|
||||
const dimensionedDiagTensor linDampingCoeffs_;
|
||||
|
||||
|
||||
// Body position and rotation variables
|
||||
|
||||
//- Displacement relative to spring equilibrium
|
||||
dimensionedVector Xrel_;
|
||||
|
||||
//- Velocity of mass centroid
|
||||
dimensionedVector U_;
|
||||
|
||||
//- Velocity of mass centroid at previous time-step
|
||||
dimensionedVector Uold_;
|
||||
|
||||
|
||||
// External forces
|
||||
|
||||
//- Force driving the motion
|
||||
dimensionedVector force_;
|
||||
|
||||
|
||||
//- ODE coefficients
|
||||
scalarField coeffs_;
|
||||
|
||||
|
||||
// Private Member Functions
|
||||
|
||||
//- Disallow default bitwise copy construct
|
||||
translationODE(const translationODE&);
|
||||
|
||||
//- Disallow default bitwise assignment
|
||||
void operator=(const translationODE&);
|
||||
|
||||
|
||||
//- Set ODE coefficients from position and rotation
|
||||
inline void setCoeffs();
|
||||
|
||||
|
||||
// Variables in relative coordinate system (solved for)
|
||||
|
||||
//- Return acceleration in relative coordinate system
|
||||
// given current values of relative displacement and velocity
|
||||
dimensionedVector A
|
||||
(
|
||||
const dimensionedVector& xR,
|
||||
const dimensionedVector& uR
|
||||
) const;
|
||||
|
||||
|
||||
public:
|
||||
|
||||
// //- Runtime type information
|
||||
// TypeName("translationODE");
|
||||
|
||||
|
||||
// Constructors
|
||||
|
||||
//- Construct from dictionary
|
||||
translationODE(const IOobject& io);
|
||||
|
||||
|
||||
// Destructor
|
||||
|
||||
virtual ~translationODE();
|
||||
|
||||
|
||||
// Member Functions
|
||||
|
||||
//- Return mass
|
||||
inline const dimensionedScalar& mass() const;
|
||||
|
||||
|
||||
// Variables in relative coordinate system (solved for)
|
||||
|
||||
//- Return displacement in relative coordinate system
|
||||
inline const dimensionedVector& Xrel() const;
|
||||
|
||||
|
||||
// Displacement and rotation in the absolute coordinate system
|
||||
|
||||
//- Return position of origin in absolute coordinate system
|
||||
inline dimensionedVector X() const;
|
||||
|
||||
//- Return velocity of origin
|
||||
inline const dimensionedVector& U() const;
|
||||
|
||||
//- Return velocity of origin for the previous time-step
|
||||
inline const dimensionedVector& Uold() const;
|
||||
|
||||
//- Return acceleration of origin
|
||||
inline dimensionedVector A() const;
|
||||
|
||||
|
||||
// Average motion per time-step
|
||||
|
||||
//- Return average velocity of origin
|
||||
inline dimensionedVector Uaverage() const;
|
||||
|
||||
|
||||
// Force
|
||||
|
||||
//- Return force
|
||||
inline const dimensionedVector& force() const;
|
||||
|
||||
//- Return access to force
|
||||
inline dimensionedVector& force();
|
||||
|
||||
|
||||
// ODE parameters
|
||||
|
||||
//- Return number of equations
|
||||
virtual label nEqns() const
|
||||
{
|
||||
return 6;
|
||||
}
|
||||
|
||||
//- Return reference to interpolation coefficients
|
||||
virtual scalarField& coeffs()
|
||||
{
|
||||
return coeffs_;
|
||||
}
|
||||
|
||||
//- Return reference to interpolation coefficients
|
||||
virtual const scalarField& coeffs() const
|
||||
{
|
||||
return coeffs_;
|
||||
}
|
||||
|
||||
//- Return derivatives
|
||||
virtual void derivatives
|
||||
(
|
||||
const scalar x,
|
||||
const scalarField& y,
|
||||
scalarField& dydx
|
||||
) const;
|
||||
|
||||
//- Return Jacobian
|
||||
virtual void jacobian
|
||||
(
|
||||
const scalar x,
|
||||
const scalarField& y,
|
||||
scalarField& dfdx,
|
||||
scalarSquareMatrix& dfdy
|
||||
) const;
|
||||
|
||||
//- Update ODE after the solution, advancing by delta
|
||||
virtual void update(const scalar delta);
|
||||
|
||||
|
||||
//- WriteData member function required by regIOobject
|
||||
bool writeData(Ostream&) const;
|
||||
|
||||
|
||||
// Ostream operator
|
||||
|
||||
friend Ostream& operator<<(Ostream&, const translationODE&);
|
||||
};
|
||||
|
||||
|
||||
// * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * //
|
||||
|
||||
} // End namespace Foam
|
||||
|
||||
// * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * //
|
||||
|
||||
#include "translationODEI.H"
|
||||
|
||||
// * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * //
|
||||
|
||||
#endif
|
||||
|
||||
// ************************************************************************* //
|
||||
Reference in a new issue