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RBD: restraints: Corrected restraint force transformations

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From commit d4c479cb6447dbfd920bbe3e0204b70a1d5fbb03 in OpenFOAM-dev

The restraints generate either joint-local (tau) or global (fx) forces.
At the moment they all generate the latter. This change corrects three
of the four restraints so that the forces are in the gobal coordinate
system and not the local coordinate system of the body.

The problem with this is that the forward dynamics code then transforms
most of the forces back to the body local coordinate system. A better
solution would be to associate restraints which are more sensibly
defined in a local frame with the joints instead of the bodies, and
return the forces as part of the tau variable.
This commit is contained in:
Henry Weller
2018-01-08 10:58:00 +00:00
parent ea556aa7fc
commit c409ae7d90
14 changed files with 59 additions and 28 deletions
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6
src/rigidBodyDynamics/joints/composite/compositeJoint.H
View File

@ -2,7 +2,7 @@
========= |
\\ / F ield | OpenFOAM: The Open Source CFD Toolbox
\\ / O peration |
\\ / A nd | Copyright (C) 2016 OpenFOAM Foundation
\\ / A nd | Copyright (C) 2016-2017 OpenFOAM Foundation
\\/ M anipulation |
-------------------------------------------------------------------------------
License
@ -40,8 +40,8 @@ SourceFiles
\*---------------------------------------------------------------------------*/
#ifndef RBD_joints_composite_H
#define RBD_joints_composite_H
#ifndef compositeJoint_H
#define compositeJoint_H
#include "joint.H"

6
src/rigidBodyDynamics/joints/floating/floatingJoint.H
View File

@ -2,7 +2,7 @@
========= |
\\ / F ield | OpenFOAM: The Open Source CFD Toolbox
\\ / O peration |
\\ / A nd | Copyright (C) 2016 OpenFOAM Foundation
\\ / A nd | Copyright (C) 2016-2017 OpenFOAM Foundation
\\/ M anipulation |
-------------------------------------------------------------------------------
License
@ -40,8 +40,8 @@ SourceFiles
\*---------------------------------------------------------------------------*/
#ifndef RBD_joints_floating_H
#define RBD_joints_floating_H
#ifndef floatingJoint_H
#define floatingJoint_H
#include "compositeJoint.H"

6
src/rigidBodyDynamics/joints/null/nullJoint.H
View File

@ -2,7 +2,7 @@
========= |
\\ / F ield | OpenFOAM: The Open Source CFD Toolbox
\\ / O peration |
\\ / A nd | Copyright (C) 2016 OpenFOAM Foundation
\\ / A nd | Copyright (C) 2016-2017 OpenFOAM Foundation
\\/ M anipulation |
-------------------------------------------------------------------------------
License
@ -40,8 +40,8 @@ SourceFiles
\*---------------------------------------------------------------------------*/
#ifndef RBD_joints_null_H
#define RBD_joints_null_H
#ifndef nullJoint_H
#define nullJoint_H
#include "joint.H"

4
src/rigidBodyDynamics/restraints/linearAxialAngularSpring/linearAxialAngularSpring.C
View File

@ -2,7 +2,7 @@
========= |
\\ / F ield | OpenFOAM: The Open Source CFD Toolbox
\\ / O peration |
\\ / A nd | Copyright (C) 2016 OpenFOAM Foundation
\\ / A nd | Copyright (C) 2016-2017 OpenFOAM Foundation
\\/ M anipulation |
-------------------------------------------------------------------------------
License
@ -133,7 +133,7 @@ void Foam::RBD::restraints::linearAxialAngularSpring::restrain
}
// Accumulate the force for the restrained body
fx[bodyIndex_] += spatialVector(moment, Zero);
fx[bodyIndex_] += model_.X0(bodyID_).T() & spatialVector(moment, Zero);
}

4
src/rigidBodyDynamics/restraints/linearDamper/linearDamper.C
View File

@ -2,7 +2,7 @@
========= |
\\ / F ield | OpenFOAM: The Open Source CFD Toolbox
\\ / O peration |
\\ / A nd | Copyright (C) 2016 OpenFOAM Foundation
\\ / A nd | Copyright (C) 2016-2017 OpenFOAM Foundation
\\/ M anipulation |
-------------------------------------------------------------------------------
License
@ -85,7 +85,7 @@ void Foam::RBD::restraints::linearDamper::restrain
}
// Accumulate the force for the restrained body
fx[bodyIndex_] += spatialVector(Zero, force);
fx[bodyIndex_] += model_.X0(bodyID_).T() & spatialVector(Zero, force);
}

4
src/rigidBodyDynamics/restraints/sphericalAngularDamper/sphericalAngularDamper.C
View File

@ -2,7 +2,7 @@
========= |
\\ / F ield | OpenFOAM: The Open Source CFD Toolbox
\\ / O peration |
\\ / A nd | Copyright (C) 2016 OpenFOAM Foundation
\\ / A nd | Copyright (C) 2016-2017 OpenFOAM Foundation
\\/ M anipulation |
-------------------------------------------------------------------------------
License
@ -85,7 +85,7 @@ void Foam::RBD::restraints::sphericalAngularDamper::restrain
}
// Accumulate the force for the restrained body
fx[bodyIndex_] += spatialVector(moment, Zero);
fx[bodyIndex_] += model_.X0(bodyID_).T() & spatialVector(moment, Zero);
}

4
src/rigidBodyDynamics/rigidBodyModelState/rigidBodyModelState.C
View File

@ -2,7 +2,7 @@
========= |
\\ / F ield | OpenFOAM: The Open Source CFD Toolbox
\\ / O peration |
\\ / A nd | Copyright (C) 2016 OpenFOAM Foundation
\\ / A nd | Copyright (C) 2016-2017 OpenFOAM Foundation
\\/ M anipulation |
-------------------------------------------------------------------------------
License
@ -35,6 +35,7 @@ Foam::RBD::rigidBodyModelState::rigidBodyModelState
q_(model.nDoF(), Zero),
qDot_(model.nDoF(), Zero),
qDdot_(model.nDoF(), Zero),
t_(-1),
deltaT_(0)
{}
@ -48,6 +49,7 @@ Foam::RBD::rigidBodyModelState::rigidBodyModelState
q_(dict.lookupOrDefault("q", scalarField(model.nDoF(), Zero))),
qDot_(dict.lookupOrDefault("qDot", scalarField(model.nDoF(), Zero))),
qDdot_(dict.lookupOrDefault("qDdot", scalarField(model.nDoF(), Zero))),
t_(dict.lookupOrDefault<scalar>("t", -1)),
deltaT_(dict.lookupOrDefault<scalar>("deltaT", 0))
{}

15
src/rigidBodyDynamics/rigidBodyModelState/rigidBodyModelState.H
View File

@ -2,7 +2,7 @@
========= |
\\ / F ield | OpenFOAM: The Open Source CFD Toolbox
\\ / O peration |
\\ / A nd | Copyright (C) 2016 OpenFOAM Foundation
\\ / A nd | Copyright (C) 2016-2017 OpenFOAM Foundation
\\/ M anipulation |
-------------------------------------------------------------------------------
License
@ -76,6 +76,9 @@ class rigidBodyModelState
//- Joint acceleration
scalarField qDdot_;
//- The time
scalar t_;
//- The time-step used to integrate to this state
scalar deltaT_;
@ -102,14 +105,15 @@ public:
//- Return access to the joint position and orientation
inline const scalarField& q() const;
//- Return access to the joint quaternion
//- Return access to the joint velocity
inline const scalarField& qDot() const;
//- Return access to the joint acceleration
inline const scalarField& qDdot() const;
//- Return access to the time
inline scalar t() const;
//- Return access to the time-step
inline scalar deltaT() const;
@ -119,14 +123,15 @@ public:
//- Return access to the joint position and orientation
inline scalarField& q();
//- Return access to the joint quaternion
//- Return access to the joint velocity
inline scalarField& qDot();
//- Return access to the joint acceleration
inline scalarField& qDdot();
//- Return access to the time
inline scalar& t();
//- Return access to the time-step
inline scalar& deltaT();

14
src/rigidBodyDynamics/rigidBodyModelState/rigidBodyModelStateI.H
View File

@ -2,7 +2,7 @@
========= |
\\ / F ield | OpenFOAM: The Open Source CFD Toolbox
\\ / O peration |
\\ / A nd | Copyright (C) 2016 OpenFOAM Foundation
\\ / A nd | Copyright (C) 2016-2017 OpenFOAM Foundation
\\/ M anipulation |
-------------------------------------------------------------------------------
License
@ -43,6 +43,12 @@ inline const Foam::scalarField& Foam::RBD::rigidBodyModelState::qDdot() const
}
inline Foam::scalar Foam::RBD::rigidBodyModelState::t() const
{
return t_;
}
inline Foam::scalar Foam::RBD::rigidBodyModelState::deltaT() const
{
return deltaT_;
@ -73,4 +79,10 @@ inline Foam::scalar& Foam::RBD::rigidBodyModelState::deltaT()
}
inline Foam::scalar& Foam::RBD::rigidBodyModelState::t()
{
return t_;
}
// ************************************************************************* //

6
src/rigidBodyDynamics/rigidBodyModelState/rigidBodyModelStateIO.C
View File

@ -2,7 +2,7 @@
========= |
\\ / F ield | OpenFOAM: The Open Source CFD Toolbox
\\ / O peration |
\\ / A nd | Copyright (C) 2016 OpenFOAM Foundation
\\ / A nd | Copyright (C) 2016-2017 OpenFOAM Foundation
\\/ M anipulation |
-------------------------------------------------------------------------------
License
@ -33,6 +33,7 @@ void Foam::RBD::rigidBodyModelState::write(dictionary& dict) const
dict.add("q", q_);
dict.add("qDot", qDot_);
dict.add("qDdot", qDdot_);
dict.add("t", t_);
dict.add("deltaT", deltaT_);
}
@ -42,6 +43,7 @@ void Foam::RBD::rigidBodyModelState::write(Ostream& os) const
os.writeKeyword("q") << q_ << token::END_STATEMENT << nl;
os.writeKeyword("qDot") << qDot_ << token::END_STATEMENT << nl;
os.writeKeyword("qDdot") << qDdot_ << token::END_STATEMENT << nl;
os.writeKeyword("t") << t_ << token::END_STATEMENT << nl;
os.writeKeyword("deltaT") << deltaT_ << token::END_STATEMENT << nl;
}
@ -57,6 +59,7 @@ Foam::Istream& Foam::RBD::operator>>
is >> state.q_
>> state.qDot_
>> state.qDdot_
>> state.t_
>> state.deltaT_;
// Check state of Istream
@ -79,6 +82,7 @@ Foam::Ostream& Foam::RBD::operator<<
os << state.q_
<< token::SPACE << state.qDot_
<< token::SPACE << state.qDdot_
<< token::SPACE << state.t_
<< token::SPACE << state.deltaT_;
// Check state of Ostream

7
src/rigidBodyDynamics/rigidBodyMotion/rigidBodyMotion.C
View File

@ -2,7 +2,7 @@
========= |
\\ / F ield | OpenFOAM: The Open Source CFD Toolbox
\\ / O peration |
\\ / A nd | Copyright (C) 2016 OpenFOAM Foundation
\\ / A nd | Copyright (C) 2016-2017 OpenFOAM Foundation
\\/ M anipulation |
-------------------------------------------------------------------------------
License
@ -140,15 +140,18 @@ void Foam::RBD::rigidBodyMotion::forwardDynamics
void Foam::RBD::rigidBodyMotion::solve
(
scalar deltaT,
const scalar t,
const scalar deltaT,
const scalarField& tau,
const Field<spatialVector>& fx
)
{
motionState_.t() = t;
motionState_.deltaT() = deltaT;
if (motionState0_.deltaT() < SMALL)
{
motionState0_.t() = t;
motionState0_.deltaT() = deltaT;
}

7
src/rigidBodyDynamics/rigidBodyMotion/rigidBodyMotion.H
View File

@ -2,7 +2,7 @@
========= |
\\ / F ield | OpenFOAM: The Open Source CFD Toolbox
\\ / O peration |
\\ / A nd | Copyright (C) 2016 OpenFOAM Foundation
\\ / A nd | Copyright (C) 2016-2017 OpenFOAM Foundation
\\/ M anipulation |
-------------------------------------------------------------------------------
License
@ -169,10 +169,11 @@ public:
) const;
//- Integrate velocities, orientation and position
// for the given time-step
// for the given time and time-step
void solve
(
scalar deltaT,
const scalar t,
const scalar deltaT,
const scalarField& tau,
const Field<spatialVector>& fx
);

2
src/rigidBodyMeshMotion/rigidBodyMeshMotion/rigidBodyMeshMotion.C
View File

@ -259,6 +259,7 @@ void Foam::rigidBodyMeshMotion::solve()
{
model_.solve
(
t.value(),
t.deltaTValue(),
scalarField(model_.nDoF(), Zero),
Field<spatialVector>(model_.nBodies(), Zero)
@ -288,6 +289,7 @@ void Foam::rigidBodyMeshMotion::solve()
model_.solve
(
t.value(),
t.deltaTValue(),
scalarField(model_.nDoF(), Zero),
fx

2
src/rigidBodyMeshMotion/rigidBodyMeshMotionSolver/rigidBodyMeshMotionSolver.C
View File

@ -207,6 +207,7 @@ void Foam::rigidBodyMeshMotionSolver::solve()
{
model_.solve
(
t.value(),
t.deltaTValue(),
scalarField(model_.nDoF(), Zero),
Field<spatialVector>(model_.nBodies(), Zero)
@ -236,6 +237,7 @@ void Foam::rigidBodyMeshMotionSolver::solve()
model_.solve
(
t.value(),
t.deltaTValue(),
scalarField(model_.nDoF(), Zero),
fx