From 8f443575554f70c69f6b2786e1453839b8268713 Mon Sep 17 00:00:00 2001
From: graham <g.macpherson@opencfd.co.uk>
Date: Fri, 29 Jan 2010 15:20:42 +0000
Subject: [PATCH] ENH: sixDoFRigidBodyMotion. Adding
linearSphericalAngularSpring restraint.
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.
---
.../functionObjects/forces/Make/files | 1 +
.../sixDoFRigidBodyMotion.C | 44 +++---
.../sixDoFRigidBodyMotion.H | 4 +
.../fixedLine/fixedLine.C | 8 +-
.../fixedPlane/fixedPlane.C | 8 +-
.../sixDoFRigidBodyMotionI.H | 9 ++
.../linearSphericalAngularSpring.C | 128 ++++++++++++++++++
.../linearSphericalAngularSpring.H | 125 +++++++++++++++++
8 files changed, 297 insertions(+), 30 deletions(-)
create mode 100644 src/postProcessing/functionObjects/forces/pointPatchFields/derived/sixDoFRigidBodyMotion/sixDoFRigidBodyMotionRestraint/linearSphericalAngularSpring/linearSphericalAngularSpring.C
create mode 100644 src/postProcessing/functionObjects/forces/pointPatchFields/derived/sixDoFRigidBodyMotion/sixDoFRigidBodyMotionRestraint/linearSphericalAngularSpring/linearSphericalAngularSpring.H
diff --git a/src/postProcessing/functionObjects/forces/Make/files b/src/postProcessing/functionObjects/forces/Make/files
index 0f366f30ad1..f0304ea6f04 100644
--- a/src/postProcessing/functionObjects/forces/Make/files
+++ b/src/postProcessing/functionObjects/forces/Make/files
@@ -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
diff --git a/src/postProcessing/functionObjects/forces/pointPatchFields/derived/sixDoFRigidBodyMotion/sixDoFRigidBodyMotion.C b/src/postProcessing/functionObjects/forces/pointPatchFields/derived/sixDoFRigidBodyMotion/sixDoFRigidBodyMotion.C
index cdfe5ffc226..66e76833bfd 100644
--- a/src/postProcessing/functionObjects/forces/pointPatchFields/derived/sixDoFRigidBodyMotion/sixDoFRigidBodyMotion.C
+++ b/src/postProcessing/functionObjects/forces/pointPatchFields/derived/sixDoFRigidBodyMotion/sixDoFRigidBodyMotion.C
@@ -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_;
diff --git a/src/postProcessing/functionObjects/forces/pointPatchFields/derived/sixDoFRigidBodyMotion/sixDoFRigidBodyMotion.H b/src/postProcessing/functionObjects/forces/pointPatchFields/derived/sixDoFRigidBodyMotion/sixDoFRigidBodyMotion.H
index fd3078ed9e1..343403eb0a8 100644
--- a/src/postProcessing/functionObjects/forces/pointPatchFields/derived/sixDoFRigidBodyMotion/sixDoFRigidBodyMotion.H
+++ b/src/postProcessing/functionObjects/forces/pointPatchFields/derived/sixDoFRigidBodyMotion/sixDoFRigidBodyMotion.H
@@ -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
diff --git a/src/postProcessing/functionObjects/forces/pointPatchFields/derived/sixDoFRigidBodyMotion/sixDoFRigidBodyMotionConstraint/fixedLine/fixedLine.C b/src/postProcessing/functionObjects/forces/pointPatchFields/derived/sixDoFRigidBodyMotion/sixDoFRigidBodyMotionConstraint/fixedLine/fixedLine.C
index 290531ba9e1..b5cee9ecc2c 100644
--- a/src/postProcessing/functionObjects/forces/pointPatchFields/derived/sixDoFRigidBodyMotion/sixDoFRigidBodyMotionConstraint/fixedLine/fixedLine.C
+++ b/src/postProcessing/functionObjects/forces/pointPatchFields/derived/sixDoFRigidBodyMotion/sixDoFRigidBodyMotionConstraint/fixedLine/fixedLine.C
@@ -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);
diff --git a/src/postProcessing/functionObjects/forces/pointPatchFields/derived/sixDoFRigidBodyMotion/sixDoFRigidBodyMotionConstraint/fixedPlane/fixedPlane.C b/src/postProcessing/functionObjects/forces/pointPatchFields/derived/sixDoFRigidBodyMotion/sixDoFRigidBodyMotionConstraint/fixedPlane/fixedPlane.C
index 29734967bd1..fad22e7c13c 100644
--- a/src/postProcessing/functionObjects/forces/pointPatchFields/derived/sixDoFRigidBodyMotion/sixDoFRigidBodyMotionConstraint/fixedPlane/fixedPlane.C
+++ b/src/postProcessing/functionObjects/forces/pointPatchFields/derived/sixDoFRigidBodyMotion/sixDoFRigidBodyMotionConstraint/fixedPlane/fixedPlane.C
@@ -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);
diff --git a/src/postProcessing/functionObjects/forces/pointPatchFields/derived/sixDoFRigidBodyMotion/sixDoFRigidBodyMotionI.H b/src/postProcessing/functionObjects/forces/pointPatchFields/derived/sixDoFRigidBodyMotion/sixDoFRigidBodyMotionI.H
index 146282749e6..18607cc86f7 100644
--- a/src/postProcessing/functionObjects/forces/pointPatchFields/derived/sixDoFRigidBodyMotion/sixDoFRigidBodyMotionI.H
+++ b/src/postProcessing/functionObjects/forces/pointPatchFields/derived/sixDoFRigidBodyMotion/sixDoFRigidBodyMotionI.H
@@ -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());
diff --git a/src/postProcessing/functionObjects/forces/pointPatchFields/derived/sixDoFRigidBodyMotion/sixDoFRigidBodyMotionRestraint/linearSphericalAngularSpring/linearSphericalAngularSpring.C b/src/postProcessing/functionObjects/forces/pointPatchFields/derived/sixDoFRigidBodyMotion/sixDoFRigidBodyMotionRestraint/linearSphericalAngularSpring/linearSphericalAngularSpring.C
new file mode 100644
index 00000000000..0d7d2bddca1
--- /dev/null
+++ b/src/postProcessing/functionObjects/forces/pointPatchFields/derived/sixDoFRigidBodyMotion/sixDoFRigidBodyMotionRestraint/linearSphericalAngularSpring/linearSphericalAngularSpring.C
@@ -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;
+}
+
+// ************************************************************************* //
diff --git a/src/postProcessing/functionObjects/forces/pointPatchFields/derived/sixDoFRigidBodyMotion/sixDoFRigidBodyMotionRestraint/linearSphericalAngularSpring/linearSphericalAngularSpring.H b/src/postProcessing/functionObjects/forces/pointPatchFields/derived/sixDoFRigidBodyMotion/sixDoFRigidBodyMotionRestraint/linearSphericalAngularSpring/linearSphericalAngularSpring.H
new file mode 100644
index 00000000000..d43b264cf9e
--- /dev/null
+++ b/src/postProcessing/functionObjects/forces/pointPatchFields/derived/sixDoFRigidBodyMotion/sixDoFRigidBodyMotionRestraint/linearSphericalAngularSpring/linearSphericalAngularSpring.H
@@ -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
+
+// ************************************************************************* //
--
GitLab