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ENC: sixDoFRigidBodyMotion. Adding linearAxialAngularSpring restraint.

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This commit is contained in:
graham
2010-02-01 19:59:15 +00:00
parent f8cad124c7
commit f26b41ef0c
6 changed files with 326 additions and 2 deletions
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1
src/postProcessing/functionObjects/forces/Make/files
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@ -17,6 +17,7 @@ $(sDoFRBMR)/sixDoFRigidBodyMotionRestraint/sixDoFRigidBodyMotionRestraint.C
$(sDoFRBMR)/sixDoFRigidBodyMotionRestraint/newSixDoFRigidBodyMotionRestraint.C
$(sDoFRBMR)/linearSpring/linearSpring.C
$(sDoFRBMR)/sphericalAngularSpring/sphericalAngularSpring.C
$(sDoFRBMR)/linearAxialAngularSpring/linearAxialAngularSpring.C
sDoFRBMC = $(sDoFRBM)/sixDoFRigidBodyMotionConstraint

2
src/postProcessing/functionObjects/forces/pointPatchFields/derived/sixDoFRigidBodyMotion/sixDoFRigidBodyMotionConstraint/fixedOrientation/fixedOrientation.C
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@ -139,7 +139,7 @@ bool Foam::sixDoFRigidBodyMotionConstraints::fixedOrientation::constrain
constraintMomentIncrement +=
-relaxationFactor_
*theta*axis
*motion.momentOfInertia()[cmpt]/sqr(deltaT);
*motion.momentOfInertia()[cmpt]/sqr(deltaT);
}
constraintPosition = motion.centreOfMass();

1
src/postProcessing/functionObjects/forces/pointPatchFields/derived/sixDoFRigidBodyMotion/sixDoFRigidBodyMotionConstraint/fixedOrientation/fixedOrientation.H
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@ -64,6 +64,7 @@ class fixedOrientation
//- Reference orientation where there is no moment
tensor fixedOrientation_;
public:
//- Runtime type information

193
src/postProcessing/functionObjects/forces/pointPatchFields/derived/sixDoFRigidBodyMotion/sixDoFRigidBodyMotionRestraint/linearAxialAngularSpring/linearAxialAngularSpring.C Normal file
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@ -0,0 +1,193 @@
/*---------------------------------------------------------------------------*\
========= |
\\ / 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 "linearAxialAngularSpring.H"
#include "addToRunTimeSelectionTable.H"
#include "sixDoFRigidBodyMotion.H"
#include "transform.H"
// * * * * * * * * * * * * * * Static Data Members * * * * * * * * * * * * * //
namespace Foam
{
namespace sixDoFRigidBodyMotionRestraints
{
defineTypeNameAndDebug(linearAxialAngularSpring, 0);
addToRunTimeSelectionTable
(
sixDoFRigidBodyMotionRestraint,
linearAxialAngularSpring,
dictionary
);
};
};
// * * * * * * * * * * * * * * * * Constructors * * * * * * * * * * * * * * //
Foam::sixDoFRigidBodyMotionRestraints::linearAxialAngularSpring::
linearAxialAngularSpring
(
const dictionary& sDoFRBMRDict
)
:
sixDoFRigidBodyMotionRestraint(sDoFRBMRDict),
refQ_(),
axis_(),
stiffness_(),
damping_()
{
read(sDoFRBMRDict);
}
// * * * * * * * * * * * * * * * * Destructors * * * * * * * * * * * * * * * //
Foam::sixDoFRigidBodyMotionRestraints::linearAxialAngularSpring::
~linearAxialAngularSpring()
{}
// * * * * * * * * * * * * * * Member Functions * * * * * * * * * * * * * * //
void
Foam::sixDoFRigidBodyMotionRestraints::linearAxialAngularSpring::restrain
(
const sixDoFRigidBodyMotion& motion,
vector& restraintPosition,
vector& restraintForce,
vector& restraintMoment
) const
{
vector refDir = rotationTensor(vector(1, 0 ,0), axis_) & vector(0, 1, 0);
vector oldDir = refQ_ & refDir;
vector newDir = motion.currentOrientation(refDir);
if (mag(oldDir & axis_) > 0.95 || mag(newDir & axis_) > 0.95)
{
// Directions getting close to the axis, change reference
refDir = rotationTensor(vector(1, 0 ,0), axis_) & vector(0, 0, 1);
vector oldDir = refQ_ & refDir;
vector newDir = motion.currentOrientation(refDir);
}
// Removing any axis component from oldDir and newDir and normalising
oldDir -= (axis_ & oldDir)*axis_;
oldDir /= mag(oldDir);
newDir -= (axis_ & newDir)*axis_;
newDir /= mag(newDir);
scalar theta = mag(acos(oldDir & newDir));
// Temporary axis with sign information.
vector a = (oldDir ^ newDir);
// Remove any component that is not along axis that may creep in
a = (a & axis_)*axis_;
scalar magA = mag(a);
if (magA > VSMALL)
{
a /= magA;
}
else
{
a = vector::zero;
}
// Damping of along axis angular velocity only
restraintMoment = -stiffness_*theta*a - damping_*(motion.omega() & a)*a;
restraintForce = vector::zero;
// Not needed to be altered as restraintForce is zero, but set to
// centreOfMass to be sure of no spurious moment
restraintPosition = motion.centreOfMass();
}
bool Foam::sixDoFRigidBodyMotionRestraints::linearAxialAngularSpring::read
(
const dictionary& sDoFRBMRDict
)
{
sixDoFRigidBodyMotionRestraint::read(sDoFRBMRDict);
refQ_ = sDoFRBMRCoeffs_.lookupOrDefault<tensor>("referenceOrientation", I);
if (mag(mag(refQ_) - sqrt(3.0)) > 1e-9)
{
FatalErrorIn
(
"Foam::sixDoFRigidBodyMotionRestraints::linearAxialAngularSpring::"
"read"
"("
"const dictionary& sDoFRBMRDict"
")"
)
<< "referenceOrientation " << refQ_ << " is not a rotation tensor. "
<< "mag(referenceOrientation) - sqrt(3) = "
<< mag(refQ_) - sqrt(3.0) << nl
<< exit(FatalError);
}
axis_ = sDoFRBMRCoeffs_.lookup("axis");
scalar magAxis(mag(axis_));
if (magAxis > VSMALL)
{
axis_ /= magAxis;
}
else
{
FatalErrorIn
(
"Foam::sixDoFRigidBodyMotionRestraints::linearAxialAngularSpring::"
"read"
"("
"const dictionary& sDoFRBMCDict"
")"
)
<< "axis has zero length"
<< abort(FatalError);
}
sDoFRBMRCoeffs_.lookup("stiffness") >> stiffness_;
sDoFRBMRCoeffs_.lookup("damping") >> damping_;
return true;
}
// ************************************************************************* //

129
src/postProcessing/functionObjects/forces/pointPatchFields/derived/sixDoFRigidBodyMotion/sixDoFRigidBodyMotionRestraint/linearAxialAngularSpring/linearAxialAngularSpring.H Normal file
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@ -0,0 +1,129 @@
/*---------------------------------------------------------------------------*\
========= |
\\ / 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::linearAxialAngularSpring
Description
sixDoFRigidBodyMotionRestraints model. Linear axial angular spring.
SourceFiles
linearAxialAngularSpring.C
\*---------------------------------------------------------------------------*/
#ifndef linearAxialAngularSpring_H
#define linearAxialAngularSpring_H
#include "sixDoFRigidBodyMotionRestraint.H"
#include "point.H"
#include "tensor.H"
// * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * //
namespace Foam
{
namespace sixDoFRigidBodyMotionRestraints
{
/*---------------------------------------------------------------------------*\
Class linearAxialAngularSpring Declaration
\*---------------------------------------------------------------------------*/
class linearAxialAngularSpring
:
public sixDoFRigidBodyMotionRestraint
{
// Private data
//- Reference orientation where there is no moment
tensor refQ_;
//- Global unit axis around which the motion is sprung
vector axis_;
//- Spring stiffness coefficient (Nm/rad)
scalar stiffness_;
//- Damping coefficient (Nms/rad)
scalar damping_;
public:
//- Runtime type information
TypeName("linearAxialAngularSpring");
// Constructors
//- Construct from components
linearAxialAngularSpring
(
const dictionary& sDoFRBMRDict
);
//- Construct and return a clone
virtual autoPtr<sixDoFRigidBodyMotionRestraint> clone() const
{
return autoPtr<sixDoFRigidBodyMotionRestraint>
(
new linearAxialAngularSpring(*this)
);
}
// Destructor
virtual ~linearAxialAngularSpring();
// 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
// ************************************************************************* //

2
src/postProcessing/functionObjects/forces/pointPatchFields/derived/sixDoFRigidBodyMotion/sixDoFRigidBodyMotionRestraint/sphericalAngularSpring/sphericalAngularSpring.C
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@ -126,7 +126,7 @@ bool Foam::sixDoFRigidBodyMotionRestraints::sphericalAngularSpring::read
{
FatalErrorIn
(
"Foam::sixDoFRigidBodyMotionConstraints::sphericalAngularSpring::"
"Foam::sixDoFRigidBodyMotionRestraints::sphericalAngularSpring::"
"read"
"("
"const dictionary& sDoFRBMRDict"