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MBDynCaseJose.mbd .mov

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Aik-Siong Koh
2023-10-25 14:56:40 -06:00
parent 4360daddf3
commit 19ec0259b9
3 changed files with 3511 additions and 5 deletions
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OndselSolver/MBDynCaseJose.mbd Normal file
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#-----------------------------------------------------------------------------
# [Data Block]
begin: data;
problem: initial value;
end: data;
#-----------------------------------------------------------------------------
# [Problem Block]
begin: initial value;
initial time: 0.0;
final time: 8.0;
time step: 0.01;
max iterations: 100;
tolerance: 1e-06;
derivatives tolerance: 0.0001;
derivatives max iterations: 100;
derivatives coefficient: auto;
end: initial value;
#-----------------------------------------------------------------------------
# [Control Data Block]
begin: control data;
max iterations: 1000;
default orientation: euler321;
omega rotates: no;
print: none;
initial stiffness: 1.0, 1.0;
structural nodes: 4;
rigid bodies: 3;
joints: 6;
end: control data;
#-----------------------------------------------------------------------------
# [Design Variables]
#Generic bodies
#body: 2
set: integer body_2 = 2; #body label
set: real mass_2 = 1.4486361883511718; #mass [kg]
set: real volume_2 = 0.00018337166941154073; #volume [m^3]
#body: 3
set: integer body_3 = 3; #body label
set: real mass_3 = 2.852948655706769; #mass [kg]
set: real volume_3 = 0.00036113274122870494; #volume [m^3]
#body: 4
set: integer body_4 = 4; #body label
set: real mass_4 = 10.859427202622149; #mass [kg]
set: real volume_4 = 0.001374611038306601; #volume [m^3]
#Nodes
#node: 1
set: integer structural_node_1 = 1; #node label
#node: 2
set: integer structural_node_2 = 2; #node label
#node: 3
set: integer structural_node_3 = 3; #node label
#node: 4
set: integer structural_node_4 = 4; #node label
#Joints
#joint: 1
set: integer joint_1 = 1; #joint label
#joint: 2
set: integer joint_2 = 2; #joint label
#joint: 3
set: integer joint_3 = 3; #joint label
#joint: 4
set: integer joint_4 = 4; #joint label
#joint: 5
set: integer joint_5 = 5; #joint label
#joint: 6
set: integer joint_6 = 6; #joint label
#Nodes: initial conditions
#node: 1
set: real Px_1 = -0.121; #X component of the absolute position [m]
set: real Py_1 = -1.218180697837851e-18; #Y component of the absolute position [m]
set: real Pz_1 = -0.08; #Z component of the absolute position [m]
set: real Vx_1 = 0.0; #X component of the absolute velocity [m/s]
set: real Vy_1 = 0.0; #Y component of the absolute velocity [m/s]
set: real Vz_1 = 0.0; #Z component of the absolute velocity [m/s]
set: real Wx_1 = 0.0; #X component of the absolute angular velocity [rad/s]
set: real Wy_1 = 0.0; #Y component of the absolute angular velocity [rad/s]
set: real Wz_1 = 0.0; #Z component of the absolute angular velocity [rad/s]
#node: 2
set: real Px_2 = -0.04942161873703145; #X component of the absolute position [m]
set: real Py_2 = 0.10494947176309491; #Y component of the absolute position [m]
set: real Pz_2 = -0.03019496284287986; #Z component of the absolute position [m]
set: real Vx_2 = 0.0; #X component of the absolute velocity [m/s]
set: real Vy_2 = 0.0; #Y component of the absolute velocity [m/s]
set: real Vz_2 = 0.0; #Z component of the absolute velocity [m/s]
set: real Wx_2 = 0.0; #X component of the absolute angular velocity [rad/s]
set: real Wy_2 = 0.0; #Y component of the absolute angular velocity [rad/s]
set: real Wz_2 = 0.0; #Z component of the absolute angular velocity [rad/s]
#node: 3
set: real Px_3 = 0.0745132790133479; #X component of the absolute position [m]
set: real Py_3 = -0.07931074487337057; #Y component of the absolute position [m]
set: real Pz_3 = 0.047693362858105263; #Z component of the absolute position [m]
set: real Vx_3 = 0.0; #X component of the absolute velocity [m/s]
set: real Vy_3 = 0.0; #Y component of the absolute velocity [m/s]
set: real Vz_3 = 0.0; #Z component of the absolute velocity [m/s]
set: real Wx_3 = 0.0; #X component of the absolute angular velocity [rad/s]
set: real Wy_3 = 0.0; #Y component of the absolute angular velocity [rad/s]
set: real Wz_3 = 0.0; #Z component of the absolute angular velocity [rad/s]
#node: 4
set: real Px_4 = 0.3575148357029521; #X component of the absolute position [m]
set: real Py_4 = 0.043331500350960436; #Y component of the absolute position [m]
set: real Pz_4 = 0.10422397969746418; #Z component of the absolute position [m]
set: real Vx_4 = 0.0; #X component of the absolute velocity [m/s]
set: real Vy_4 = 0.0; #Y component of the absolute velocity [m/s]
set: real Vz_4 = 0.0; #Z component of the absolute velocity [m/s]
set: real Wx_4 = 0.0; #X component of the absolute angular velocity [rad/s]
set: real Wy_4 = 0.0; #Y component of the absolute angular velocity [rad/s]
set: real Wz_4 = 0.0; #Z component of the absolute angular velocity [rad/s]
#-----------------------------------------------------------------------------
# [Intermediate Variables]
#Moments of inertia and relative center of mass
#body 2:
set: real Ixx_2 = 0.0028717510150880004; #moment of inertia [kg*m^2]
set: real Iyy_2 = 0.002864447840812; #moment of inertia [kg*m^2]
set: real Izz_2 = 0.0007089594589930001; #moment of inertia [kg*m^2]
set: real Rx_2 = 0.0; #X component of the relative center of mass [m]
set: real Ry_2 = 0.0; #Y component of the relative center of mass [m]
set: real Rz_2 = 0.0; #Z component of the relative center of mass [m]
#body 3:
set: real Ixx_3 = 0.033837921987970004; #moment of inertia [kg*m^2]
set: real Iyy_3 = 0.033715148099504; #moment of inertia [kg*m^2]
set: real Izz_3 = 0.001956310318013; #moment of inertia [kg*m^2]
set: real Rx_3 = 0.0; #X component of the relative center of mass [m]
set: real Ry_3 = 0.0; #Y component of the relative center of mass [m]
set: real Rz_3 = 0.0; #Z component of the relative center of mass [m]
#body 4:
set: real Ixx_4 = 0.07706742098794901; #moment of inertia [kg*m^2]
set: real Iyy_4 = 0.066351815798527; #moment of inertia [kg*m^2]
set: real Izz_4 = 0.061792350456255; #moment of inertia [kg*m^2]
set: real Rx_4 = 0.0; #X component of the relative center of mass [m]
set: real Ry_4 = 0.0; #Y component of the relative center of mass [m]
set: real Rz_4 = 0.0; #Z component of the relative center of mass [m]
#-----------------------------------------------------------------------------
# [Nodes Block]
begin: nodes;
structural: structural_node_1,
static,
Px_1, Py_1, Pz_1, #<absolute_position> [m]
3, 0.0, 0.0, 1.0, 2, 0.0, 1.0, 0.0, #<absolute_orientation_matrix>
Vx_1, Vy_1, Vz_1, #<absolute_velocity> [m/s]
Wx_1, Wy_1, Wz_1; #<absolute_angular_velocity> [rad/s]
structural: structural_node_2,
dynamic,
Px_2, Py_2, Pz_2, #<absolute_position> [m]
3, 0.24321034680169393, 0.08852132690137694, 0.9659258262890683, 2, -0.3420201433256683, 0.9396926207859085, -1.8041124150158794e-16, #<absolute_orientation_matrix>
Vx_2, Vy_2, Vz_2, #<absolute_velocity> [m/s]
Wx_2, Wy_2, Wz_2; #<absolute_angular_velocity> [rad/s]
structural: structural_node_3,
dynamic,
Px_3, Py_3, Pz_3, #<absolute_position> [m]
3, -0.17364817766693005, -3.122502256758253e-16, 0.9848077530122081, 2, 0.17101007166283402, 0.9848077530122081, 0.030153689607046008, #<absolute_orientation_matrix>
Vx_3, Vy_3, Vz_3, #<absolute_velocity> [m/s]
Wx_3, Wy_3, Wz_3; #<absolute_angular_velocity> [rad/s]
structural: structural_node_4,
dynamic,
Px_4, Py_4, Pz_4, #<absolute_position> [m]
3, 0.0, 0.0, 1.0, 2, 0.0, 1.0, 0.0, #<absolute_orientation_matrix>
Vx_4, Vy_4, Vz_4, #<absolute_velocity> [m/s]
Wx_4, Wy_4, Wz_4; #<absolute_angular_velocity> [rad/s]
end: nodes;
#-----------------------------------------------------------------------------
# [Elements Block]
begin: elements;
#-----------------------------------------------------------------------------
# [Bodies]
body: body_2,
structural_node_2, #<node_label>
mass_2, #<mass> [kg]
Rx_2, Ry_2, Rz_2, #<relative_center_of_mass> [m]
diag, Ixx_2, Iyy_2, Izz_2, #<inertia_matrix> [kg*m^2]
orientation, 3, -6.071532165918825e-17, -2.775557561562891e-17, 1.0, 2, 1.1102230246251565e-16, 1.0, 2.775557561562892e-17;
body: body_3,
structural_node_3, #<node_label>
mass_3, #<mass> [kg]
Rx_3, Ry_3, Rz_3, #<relative_center_of_mass> [m]
diag, Ixx_3, Iyy_3, Izz_3, #<inertia_matrix> [kg*m^2]
orientation, 3, -4.119968255444917e-18, -1.734723475976807e-18, 1.0, 2, -3.573502826499754e-36, 1.0, 1.734723475976807e-18;
body: body_4,
structural_node_4, #<node_label>
mass_4, #<mass> [kg]
Rx_4, Ry_4, Rz_4, #<relative_center_of_mass> [m]
diag, Ixx_4, Iyy_4, Izz_4, #<inertia_matrix> [kg*m^2]
orientation, 3, 0.0, 0.0, 1.0, 2, 0.0, 1.0, 0.0;
#-----------------------------------------------------------------------------
# [Joints]
joint: joint_1,
clamp,
structural_node_1, #<node_label>
-0.121, -1.218180697837851e-18, -0.08, #<absolute_pin_position> [m]
3, 0.0, 0.0, 1.0, 2, 0.0, 1.0, 0.0; #<absolute_orientation_matrix>
joint: joint_2,
axial rotation,
1,#<node_1>
0.0, 1.218180697837851e-18, 0.05, #<relative_offset_1> [m]
orientation, 3, 0.0, 0.0, 1.0, 2, 0.0, 1.0, 0.0, #<relative_orientation_matrix_1>
2, #<node_2>
-0.03739853284269052, 0.0, 0.0032867622552210526, #<relative_offset_2> [m]
orientation, 3, -6.678685382510707e-17, -2.0816681711721682e-17, 1.0, 2, guess, #<relative_orientation_matrix_2>
string, "model::drive(1, Time)"; #<angular_velocity> [rad/s]
joint: joint_3,
revolute hinge,
structural_node_2, #<node_1_label>
0.03260146715730951, 0.0, 0.05328676225522103, #<relative_position_1> [m]
orientation, 3, -6.678685382510707e-17, -2.0816681711721682e-17, 1.0, 2, 1.1102230246251565e-16, 1.0, 2.0816681711721688e-17, #<relative_pin_orientation_matrix_1>
structural_node_3, #<node_2_label>
-0.14000000000000795, -1.0302869668521452e-15, 0.024999999999998076, #<relative_position_2> [m]
orientation, 3, -4.119968255444917e-18, -0.0, 1.0, 2, guess; #<relative_pin_orientation_matrix_2>
joint: joint_4,
in line,
structural_node_3, #<node_1_label>
0.13999999999999274, -9.25814980234918e-16, 4.0323300254385686e-15, #<relative_line_position> [m]
3, -5.818367705906288e-15, -7.134403807651544e-16, 1.0, 2, 0.9848077530122082, 0.1736481776669303, 5.853861248646238e-15, #<relative_orientation>
structural_node_4, #<node_2_label>
offset, -0.045580834634119466, -2.0299355441011357e-10, 1.2562251569647742e-08; #<relative_offset> [m]
joint: joint_5,
prismatic,
structural_node_1, #<node_1_label>
orientation, 3, 0.0, 0.0, 1.0, 2, 0.0, 1.0, 0.0, #relative_orientation_matrix_1>
structural_node_4, #<node_2_label>
orientation, 3, 0, 0, 1, 2, 0, 1, 0; #relative_orientation_matrix_2>
joint: joint_6,
in line,
structural_node_1, #<node_1_label>
0.0, 1.218180697837851e-18, 0.071, #<relative_line_position> [m]
3, 1.0, 0.0, 2.220446049250313e-16, 2, 0.0, 1.0, 0.0, #<relative_orientation>
structural_node_4, #<node_2_label>
offset, 0.0, 0.0, 0.0; #<relative_offset> [m]
#-----------------------------------------------------------------------------
# [Drive callers]
drive caller: 1, name,"drive:1", cosine, 0.25, 3.1416, 10.0, half, 0.0;
end: elements;

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OndselSolver/OndselSolver.cpp
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@@ -25,11 +25,12 @@ void runSpMat();
int main()
{
ASMTAssembly::readWriteFile("piston.asmt");
MBDynSystem::runFile("MBDynCase.mbd"); //To be completed
MBDynSystem::runFile("crank_slider.mbd"); //To be completed
//ASMTAssembly::runSinglePendulumSuperSimplified(); //Mass is missing
//ASMTAssembly::runSinglePendulumSuperSimplified2(); //DOF has infinite acceleration due to zero mass and inertias
////ASMTAssembly::readWriteFile("piston.asmt");
//MBDynSystem::runFile("MBDynCaseJose.mbd");
//MBDynSystem::runFile("MBDynCase.mbd");
//MBDynSystem::runFile("crank_slider.mbd");
////ASMTAssembly::runSinglePendulumSuperSimplified(); //Mass is missing
////ASMTAssembly::runSinglePendulumSuperSimplified2(); //DOF has infinite acceleration due to zero mass and inertias
ASMTAssembly::runSinglePendulumSimplified();
ASMTAssembly::runSinglePendulum();
ASMTAssembly::runFile("piston.asmt");