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ENH: sixDoFRigidBodyMotion. Adding linearSphericalAngularSpring restraint.

Browse Source 
Moving maximum iteration FatalErrorIn check after constraint while loop.

Adding currentOrientation function to give access to Q, but safely and
with a more descriptive name for the function.
This commit is contained in:
graham
2010-01-29 15:20:42 +00:00
parent 79a14c4b7c
commit 8f44357555
8 changed files with 297 additions and 30 deletions
Download Patch File Download Diff File Expand all files Collapse all files

1
src/postProcessing/functionObjects/forces/Make/files
View File

@ -16,6 +16,7 @@ sDoFRBMR = $(sDoFRBM)/sixDoFRigidBodyMotionRestraint
$(sDoFRBMR)/sixDoFRigidBodyMotionRestraint/sixDoFRigidBodyMotionRestraint.C
$(sDoFRBMR)/sixDoFRigidBodyMotionRestraint/newSixDoFRigidBodyMotionRestraint.C
$(sDoFRBMR)/linearSpring/linearSpring.C
$(sDoFRBMR)/linearSphericalAngularSpring/linearSphericalAngularSpring.C
sDoFRBMC = $(sDoFRBM)/sixDoFRigidBodyMotionConstraint

44
src/postProcessing/functionObjects/forces/pointPatchFields/derived/sixDoFRigidBodyMotion/sixDoFRigidBodyMotion.C
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@ -45,7 +45,7 @@ void Foam::sixDoFRigidBodyMotion::applyRestraints()
restraints_[rI].restrain(*this, rP, rF, rM);
Info<< "Restraint " << rI << " force " << rF << endl;
// Info<< "Restraint " << rI << " force " << rF << endl;
a() += rF/mass_;
@ -71,26 +71,11 @@ void Foam::sixDoFRigidBodyMotion::applyConstraints(scalar deltaT)
do
{
iter++;
if (iter > maxConstraintIters_)
{
FatalErrorIn
(
"Foam::sixDoFRigidBodyMotion::applyConstraints"
"(scalar deltaT)"
)
<< nl << "Maximum number of constraint iterations ("
<< maxConstraintIters_ << ") exceeded." << nl
<< exit(FatalError);
}
allConverged = true;
forAll(constraints_, cI)
{
Info<< nl << "Constraint " << cI << endl;
// Info<< nl << "Constraint " << cI << endl;
// constraint position
point cP = vector::zero;
@ -121,12 +106,27 @@ void Foam::sixDoFRigidBodyMotion::applyConstraints(scalar deltaT)
cMA += cM + ((cP - centreOfMass()) ^ cF);
}
} while(!allConverged);
} while(!allConverged && ++iter < maxConstraintIters_);
Info<< "Constraints converged in " << iter << " iterations" << nl
<< "Constraint force: " << cFA << nl
<< "Constraint moment: " << cMA
<< endl;
if (iter >= maxConstraintIters_)
{
FatalErrorIn
(
"Foam::sixDoFRigidBodyMotion::applyConstraints"
"(scalar deltaT)"
)
<< nl << "Maximum number of sixDoFRigidBodyMotion constraint "
<< "iterations (" << maxConstraintIters_ << ") exceeded." << nl
<< exit(FatalError);
}
else
{
Info<< "sixDoFRigidBodyMotion constraints converged in "
<< iter << " iterations" << nl
// << "Constraint force: " << cFA << nl
// << "Constraint moment: " << cMA
<< endl;
}
// Add the constrain forces and moments to the motion state variables
a() += cFA/mass_;

4
src/postProcessing/functionObjects/forces/pointPatchFields/derived/sixDoFRigidBodyMotion/sixDoFRigidBodyMotion.H
View File

@ -272,6 +272,10 @@ public:
// motion state
inline point currentPosition(const point& refPt) const;
//- Transform the given reference state direction by the current
// motion state
inline point currentOrientation(const vector& refDir) const;
//- Predict the position of the supplied point after deltaT
// given the current motion state and the additional supplied
// force and moment

8
src/postProcessing/functionObjects/forces/pointPatchFields/derived/sixDoFRigidBodyMotion/sixDoFRigidBodyMotionConstraint/fixedLine/fixedLine.C
View File

@ -89,16 +89,16 @@ bool Foam::sixDoFRigidBodyMotionConstraints::fixedLine::constrain
constraintPosition = motion.currentPosition(refPt_);
Info<< "current position " << constraintPosition << nl
<< "next predictedPosition " << predictedPosition
<< endl;
// Info<< "current position " << constraintPosition << nl
// << "next predictedPosition " << predictedPosition
// << endl;
// Vector from reference point to predicted point
vector rC = predictedPosition - refPt_;
vector error = rC - ((rC) & dir_)*dir_;
Info<< "error " << error << endl;
// Info<< "error " << error << endl;
constraintForceIncrement =
-relaxationFactor_*error*motion.mass()/sqr(deltaT);

8
src/postProcessing/functionObjects/forces/pointPatchFields/derived/sixDoFRigidBodyMotion/sixDoFRigidBodyMotionConstraint/fixedPlane/fixedPlane.C
View File

@ -92,13 +92,13 @@ bool Foam::sixDoFRigidBodyMotionConstraints::fixedPlane::constrain
constraintPosition = motion.currentPosition(refPt);
Info<< "current position " << constraintPosition << nl
<< "next predictedPosition " << predictedPosition
<< endl;
// Info<< "current position " << constraintPosition << nl
// << "next predictedPosition " << predictedPosition
// << endl;
vector error = ((predictedPosition - refPt) & n)*n;
Info<< "error " << error << endl;
// Info<< "error " << error << endl;
constraintForceIncrement =
-relaxationFactor_*error*motion.mass()/sqr(deltaT);

9
src/postProcessing/functionObjects/forces/pointPatchFields/derived/sixDoFRigidBodyMotion/sixDoFRigidBodyMotionI.H
View File

@ -223,6 +223,15 @@ inline Foam::point Foam::sixDoFRigidBodyMotion::currentPosition
}
inline Foam::point Foam::sixDoFRigidBodyMotion::currentOrientation
(
const vector& refDir
) const
{
return (Q() & refDir);
}
inline Foam::vector Foam::sixDoFRigidBodyMotion::omega() const
{
return Q() & (inv(momentOfInertia_) & pi());

128
src/postProcessing/functionObjects/forces/pointPatchFields/derived/sixDoFRigidBodyMotion/sixDoFRigidBodyMotionRestraint/linearSphericalAngularSpring/linearSphericalAngularSpring.C Normal file
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@ -0,0 +1,128 @@
/*---------------------------------------------------------------------------*\
========= |
\\ / F ield | OpenFOAM: The Open Source CFD Toolbox
\\ / O peration |
\\ / A nd | Copyright (C) 1991-2009 OpenCFD Ltd.
\\/ 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 "linearSphericalAngularSpring.H"
#include "addToRunTimeSelectionTable.H"
#include "sixDoFRigidBodyMotion.H"
// * * * * * * * * * * * * * * Static Data Members * * * * * * * * * * * * * //
namespace Foam
{
namespace sixDoFRigidBodyMotionRestraints
{
defineTypeNameAndDebug(linearSphericalAngularSpring, 0);
addToRunTimeSelectionTable
(
sixDoFRigidBodyMotionRestraint,
linearSphericalAngularSpring,
dictionary
);
};
};
// * * * * * * * * * * * * * * * * Constructors * * * * * * * * * * * * * * //
Foam::sixDoFRigidBodyMotionRestraints::linearSphericalAngularSpring::
linearSphericalAngularSpring
(
const dictionary& sDoFRBMRDict
)
:
sixDoFRigidBodyMotionRestraint(sDoFRBMRDict),
refDir_(),
stiffness_(),
damping_()
{
read(sDoFRBMRDict);
}
// * * * * * * * * * * * * * * * * Destructors * * * * * * * * * * * * * * * //
Foam::sixDoFRigidBodyMotionRestraints::linearSphericalAngularSpring::
~linearSphericalAngularSpring()
{}
// * * * * * * * * * * * * * * Member Functions * * * * * * * * * * * * * * //
void
Foam::sixDoFRigidBodyMotionRestraints::linearSphericalAngularSpring::restrain
(
const sixDoFRigidBodyMotion& motion,
vector& restraintPosition,
vector& restraintForce,
vector& restraintMoment
) const
{
vector curDir = motion.currentOrientation(refDir_);
vector a = refDir_ ^ curDir;
scalar magA = mag(a);
scalar theta = 0;
if (magA > VSMALL)
{
a /= magA;
theta = acos(curDir & refDir_);
}
else
{
a = vector::zero;
}
restraintMoment = -stiffness_*theta*a - damping_*motion.omega();
restraintForce = vector::zero;
// Not needed to be altered as restraintForce is zero, but set to
// centre of mass to be sure of no spurious moment
restraintPosition = motion.centreOfMass();
}
bool Foam::sixDoFRigidBodyMotionRestraints::linearSphericalAngularSpring ::read
(
const dictionary& sDoFRBMRDict
)
{
sixDoFRigidBodyMotionRestraint::read(sDoFRBMRDict);
sDoFRBMRCoeffs_.lookup("referenceDirection") >> refDir_;
sDoFRBMRCoeffs_.lookup("stiffness") >> stiffness_;
sDoFRBMRCoeffs_.lookup("damping") >> damping_;
return true;
}
// ************************************************************************* //

125
src/postProcessing/functionObjects/forces/pointPatchFields/derived/sixDoFRigidBodyMotion/sixDoFRigidBodyMotionRestraint/linearSphericalAngularSpring/linearSphericalAngularSpring.H Normal file
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@ -0,0 +1,125 @@
/*---------------------------------------------------------------------------*\
========= |
\\ / F ield | OpenFOAM: The Open Source CFD Toolbox
\\ / O peration |
\\ / A nd | Copyright (C) 1991-2009 OpenCFD Ltd.
\\/ 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::sixDoFRigidBodyMotionRestraints::linearSphericalAngularSpring
Description
sixDoFRigidBodyMotionRestraints model. Linear spherical angular spring.
SourceFiles
linearSphericalAngularSpring.C
\*---------------------------------------------------------------------------*/
#ifndef linearSphericalAngularSpring_H
#define linearSphericalAngularSpring_H
#include "sixDoFRigidBodyMotionRestraint.H"
#include "point.H"
// * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * //
namespace Foam
{
namespace sixDoFRigidBodyMotionRestraints
{
/*---------------------------------------------------------------------------*\
Class linearSphericalAngularSpring Declaration
\*---------------------------------------------------------------------------*/
class linearSphericalAngularSpring
:
public sixDoFRigidBodyMotionRestraint
{
// Private data
// Reference direction there is no spring reaction torque
vector refDir_;
//- Spring stiffness coefficient (Nm/rad)
scalar stiffness_;
//- Damping coefficient (Nms/rad)
scalar damping_;
public:
//- Runtime type information
TypeName("linearSphericalAngularSpring");
// Constructors
//- Construct from components
linearSphericalAngularSpring
(
const dictionary& sDoFRBMRDict
);
//- Construct and return a clone
virtual autoPtr<sixDoFRigidBodyMotionRestraint> clone() const
{
return autoPtr<sixDoFRigidBodyMotionRestraint>
(
new linearSphericalAngularSpring(*this)
);
}
// Destructor
virtual ~linearSphericalAngularSpring();
// Member Functions
//- Calculate the restraint position, force and moment.
// Global reference frame vectors.
virtual void restrain
(
const sixDoFRigidBodyMotion& motion,
vector& restraintPosition,
vector& restraintForce,
vector& restraintMoment
) const;
//- Update properties from given dictionary
virtual bool read(const dictionary& sDoFRBMRCoeff);
};
// * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * //
} // End namespace solidBodyMotionFunctions
} // End namespace Foam
// * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * //
#endif
// ************************************************************************* //