diff --git a/OndselSolver/CrankSlider2.mbd b/OndselSolver/CrankSlider2.mbd new file mode 100644 index 0000000..6b38c91 --- /dev/null +++ b/OndselSolver/CrankSlider2.mbd @@ -0,0 +1,297 @@ +----------------------------------------------------------------------------- + # [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 = 3.805252376198168; #mass [kg] + set: real volume_2 = 0.0004816775159744516; #volume [m^3] + + #body: 3 + set: integer body_3 = 3; #body label + set: real mass_3 = 15.238784954845523; #mass [kg] + set: real volume_3 = 0.0019289601208665218; #volume [m^3] + + #body: 4 + set: integer body_4 = 4; #body label + set: real mass_4 = 2.865603331977783; #mass [kg] + set: real volume_4 = 0.0003627345989845295; #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 = -0.06210573361337854; #X component of the absolute position [m] + set: real Py_1 = 0.048526435375479564; #Y component of the absolute position [m] + set: real Pz_1 = -4.033966837940965e-17; #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 = 0.011666006676941875; #X component of the absolute position [m] + set: real Py_2 = 0.15999999999999778; #Y component of the absolute position [m] + set: real Pz_2 = -1.2084363289349542e-19; #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 = 0.2111281366952498; #X component of the absolute position [m] + set: real Py_3 = 0.16; #Y component of the absolute position [m] + set: real Pz_3 = -2.0217697810416158e-18; #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 = -0.1812239275015207; #X component of the absolute position [m] + set: real Py_4 = 0.16000000169909329; #Y component of the absolute position [m] + set: real Pz_4 = -4.340477856936436e-12; #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 = 0.031674420620509; #moment of inertia [kg*m^2] + set: real Iyy_2 = 0.029604112147595; #moment of inertia [kg*m^2] + set: real Izz_2 = 0.002867529429125; #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 = 2.0843632893495426e-20; #Z component of the relative center of mass [m] + + #body 3: + set: real Ixx_3 = 0.09813066341583701; #moment of inertia [kg*m^2] + set: real Iyy_3 = 0.095433846761275; #moment of inertia [kg*m^2] + set: real Izz_3 = 0.077043262824289; #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 = 2.1769781041615487e-20; #Z component of the relative center of mass [m] + + #body 4: + set: real Ixx_4 = 0.010133521085753; #moment of inertia [kg*m^2] + set: real Iyy_4 = 0.006853402672398001; #moment of inertia [kg*m^2] + set: real Izz_4 = 0.00669113151275; #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 = -4.306356366563123e-20; #Z component of the relative center of mass [m] + + #----------------------------------------------------------------------------- + # [Nodes Block] + + begin: nodes; + + structural: structural_node_1, + static, + Px_1, Py_1, Pz_1, # [m] + 3, 0.0, 0.0, 1.0, 2, 0.0, 1.0, 0.0, # + Vx_1, Vy_1, Vz_1, # [m/s] + Wx_1, Wy_1, Wz_1; # [rad/s] + + structural: structural_node_2, + dynamic, + Px_2, Py_2, Pz_2, # [m] + 3, 0.0, 0.0, 1.0, 2, 0.0, 1.0, 0.0, # + Vx_2, Vy_2, Vz_2, # [m/s] + Wx_2, Wy_2, Wz_2; # [rad/s] + + structural: structural_node_3, + dynamic, + Px_3, Py_3, Pz_3, # [m] + 3, 0.0, 0.0, 1.0, 2, 0.0, 1.0, 0.0, # + Vx_3, Vy_3, Vz_3, # [m/s] + Wx_3, Wy_3, Wz_3; # [rad/s] + + structural: structural_node_4, + dynamic, + Px_4, Py_4, Pz_4, # [m] + 3, 0.0, 0.0, 1.0, 2, 0.0, 1.0, 0.0, # + Vx_4, Vy_4, Vz_4, # [m/s] + Wx_4, Wy_4, Wz_4; # [rad/s] + + end: nodes; + + #----------------------------------------------------------------------------- + # [Elements Block] + + begin: elements; + + #----------------------------------------------------------------------------- + # [Bodies] + + body: body_2, + structural_node_2, # + mass_2, # [kg] + Rx_2, Ry_2, Rz_2, # [m] + diag, Ixx_2, Iyy_2, Izz_2, # [kg*m^2] + orientation, 3, 1.0, 0.0, 0.0, 2, 0.0, 0.9999999999999999, 9.62964972193618e-35; + + body: body_3, + structural_node_3, # + mass_3, # [kg] + Rx_3, Ry_3, Rz_3, # [m] + diag, Ixx_3, Iyy_3, Izz_3, # [kg*m^2] + orientation, 3, 0.0, 0.0, 1.0, 2, 1.0, 0.0, 0.0; + + body: body_4, + structural_node_4, # + mass_4, # [kg] + Rx_4, Ry_4, Rz_4, # [m] + diag, Ixx_4, Iyy_4, Izz_4, # [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, # + -0.06210573361337854, 0.048526435375479564, -4.033966837940965e-17, # [m] + 3, 0.0, 0.0, 1.0, 2, 0.0, 1.0, 0.0; # + + joint: joint_2, + axial rotation, + structural_node_1, # + 0.2521057336133785, 0.11147356462452043, 0.13500000000000004, # [m] + orientation, 3, 0.0, 0.0, 1.0, 2, -1.0, 2.220446049250313e-16, 0.0, # + structural_node_3, # + -0.021128136695249794, 0.0, 0.135, # [m] + orientation, 3, 0.0, 0.0, 1.0, 2, -1.0, 2.220446049250313e-16, 0.0, # + string, "model::drive(1, Time)"; # [rad/s] + + joint: joint_3, + revolute hinge, + structural_node_2, # + 0.08833399332305812, 2.2168933355715126e-15, 0.065, # [m] + orientation, 3, 0.0, 0.0, 1.0, 2, -1.0, 2.220446049250313e-16, 0.0, # + structural_node_3, # + -0.11112813669524979, 0.0, 0.065, # [m] + orientation, 3, 0.0, 0.0, 1.0, 2, -1.0, 2.220446049250313e-16, 0.0; # + + joint: joint_4, + prismatic, + structural_node_1, # + orientation, 3, 0.0, 0.0, 1.0, 2, 0.0, 1.0, 0.0, #relative_orientation_matrix_1> + structural_node_4, # + orientation, 3, 0, 0, 1, 2, 0, 1, 0; #relative_orientation_matrix_2> + + joint: joint_5, + in line, + structural_node_1, # + 0.0, 0.11147355803101042, 2.4118673970779456e-17, # [m] + 3, -1.0, 1.1102230246251565e-16, -2.220446049250313e-16, 2, -1.1102230246251565e-16, 0.0, 1.0, # + structural_node_4, # + offset, 0.0, -8.292603282173139e-09, 4.340448411165876e-12; # [m] + + joint: joint_6, + in line, + structural_node_2, # + -0.1616660066769419, 2.2168933355715126e-15, 0.0, # [m] + 3, 0.0, -0.0, -1.0, 2, -1.0, -2.220446049250313e-16, 0.0, # + structural_node_4, # + offset, 0.031223927501520705, -1.69909327496498e-09, 7.275957614183426e-15; # [m] + + #----------------------------------------------------------------------------- + # [Drive callers] + + drive caller: 1, name,"drive:1", ramp, 10.0, 0.0, 1.0, 0.0; + + end: elements; + diff --git a/OndselSolver/DiagonalMatrix.h b/OndselSolver/DiagonalMatrix.h index 000ade8..e802b0c 100644 --- a/OndselSolver/DiagonalMatrix.h +++ b/OndselSolver/DiagonalMatrix.h @@ -25,7 +25,7 @@ namespace MbD { DiagonalMatrix(int count, const double& value) : Array(count, value) {} DiagonalMatrix(std::initializer_list list) : Array{ list } {} void atiputDiagonalMatrix(int i, std::shared_ptr diagMat); - DiagMatDsptr times(double factor); + DiagMatDsptr times(double factor); FColsptr timesFullColumn(FColsptr fullCol); FMatDsptr timesFullMatrix(FMatDsptr fullMat); int nrow() { diff --git a/OndselSolver/EndFrameqct.cpp b/OndselSolver/EndFrameqct.cpp index b0eb3f1..a55201a 100644 --- a/OndselSolver/EndFrameqct.cpp +++ b/OndselSolver/EndFrameqct.cpp @@ -322,3 +322,346 @@ namespace MbD { } } +EndFrameqct::EndFrameqct(const char* str) : EndFrameqc(str) { +} + +void EndFrameqct::initialize() +{ + EndFrameqc::initialize(); + rmem = std::make_shared>(3); + prmempt = std::make_shared>(3); + pprmemptpt = std::make_shared>(3); + aAme = FullMatrix::identitysptr(3); + pAmept = std::make_shared>(3, 3); + ppAmeptpt = std::make_shared>(3, 3); + pprOeOpEpt = std::make_shared>(3, 4); + pprOeOptpt = std::make_shared>(3); + ppAOepEpt = std::make_shared>(4); + ppAOeptpt = std::make_shared>(3, 3); +} + +void EndFrameqct::initializeLocally() +{ + if (!rmemBlks) { + rmem->zeroSelf(); + prmempt->zeroSelf(); + pprmemptpt->zeroSelf(); + } + if (!phiThePsiBlks) { + aAme->identity(); + pAmept->zeroSelf(); + ppAmeptpt->zeroSelf(); + } +} + +void EndFrameqct::initializeGlobally() +{ + if (rmemBlks) { + initprmemptBlks(); + initpprmemptptBlks(); + } + if (phiThePsiBlks) { + initpPhiThePsiptBlks(); + initppPhiThePsiptptBlks(); + } +} + +void EndFrameqct::initprmemptBlks() +{ + auto& mbdTime = this->root()->time; + prmemptBlks = std::make_shared< FullColumn>(3); + for (int i = 0; i < 3; i++) { + auto& disp = rmemBlks->at(i); + auto var = disp->differentiateWRT(mbdTime); + auto vel = var->simplified(var); + prmemptBlks->at(i) = vel; + } +} + +void EndFrameqct::initpprmemptptBlks() +{ + auto& mbdTime = this->root()->time; + pprmemptptBlks = std::make_shared< FullColumn>(3); + for (int i = 0; i < 3; i++) { + auto& vel = prmemptBlks->at(i); + auto var = vel->differentiateWRT(mbdTime); + auto acc = var->simplified(var); + pprmemptptBlks->at(i) = acc; + } +} + +void EndFrameqct::initpPhiThePsiptBlks() +{ + auto& mbdTime = this->root()->time; + pPhiThePsiptBlks = std::make_shared< FullColumn>(3); + for (int i = 0; i < 3; i++) { + auto& angle = phiThePsiBlks->at(i); + auto var = angle->differentiateWRT(mbdTime); + //std::cout << "var " << *var << std::endl; + auto vel = var->simplified(var); + //std::cout << "vel " << *vel << std::endl; + pPhiThePsiptBlks->at(i) = vel; + //std::cout << *angle << std::endl; + //std::cout << *vel << std::endl; + } +} + +void EndFrameqct::initppPhiThePsiptptBlks() +{ + auto& mbdTime = this->root()->time; + ppPhiThePsiptptBlks = std::make_shared< FullColumn>(3); + for (int i = 0; i < 3; i++) { + auto& angleVel = pPhiThePsiptBlks->at(i); + auto var = angleVel->differentiateWRT(mbdTime); + auto angleAcc = var->simplified(var); + ppPhiThePsiptptBlks->at(i) = angleAcc; + //std::cout << *angleVel << std::endl; + //std::cout << *angleAcc << std::endl; + } +} + +void EndFrameqct::postInput() +{ + this->evalrmem(); + this->evalAme(); + Item::postInput(); +} + +void EndFrameqct::calcPostDynCorrectorIteration() +{ + auto& rOmO = markerFrame->rOmO; + auto& aAOm = markerFrame->aAOm; + rOeO = rOmO->plusFullColumn(aAOm->timesFullColumn(rmem)); + auto& prOmOpE = markerFrame->prOmOpE; + auto& pAOmpE = markerFrame->pAOmpE; + for (int i = 0; i < 3; i++) + { + auto& prOmOpEi = prOmOpE->at(i); + auto& prOeOpEi = prOeOpE->at(i); + for (int j = 0; j < 4; j++) + { + auto prOeOpEij = prOmOpEi->at(j) + pAOmpE->at(j)->at(i)->timesFullColumn(rmem); + prOeOpEi->at(j) = prOeOpEij; + } + } + auto rpep = markerFrame->rpmp->plusFullColumn(markerFrame->aApm->timesFullColumn(rmem)); + pprOeOpEpE = EulerParameters::ppApEpEtimesColumn(rpep); + aAOe = aAOm->timesFullMatrix(aAme); + for (int i = 0; i < 4; i++) + { + pAOepE->at(i) = pAOmpE->at(i)->timesFullMatrix(aAme); + } + auto aApe = markerFrame->aApm->timesFullMatrix(aAme); + ppAOepEpE = EulerParameters::ppApEpEtimesMatrix(aApe); +} + +void EndFrameqct::prePosIC() +{ + time = this->root()->mbdTimeValue(); + this->evalrmem(); + this->evalAme(); + EndFrameqc::prePosIC(); +} + +void EndFrameqct::evalrmem() +{ + if (rmemBlks) { + for (int i = 0; i < 3; i++) + { + auto& expression = rmemBlks->at(i); + double value = expression->getValue(); + rmem->at(i) = value; + } + } +} + +void EndFrameqct::evalAme() +{ + if (phiThePsiBlks) { + auto phiThePsi = CREATE>::With(); + for (int i = 0; i < 3; i++) + { + auto& expression = phiThePsiBlks->at(i); + auto value = expression->getValue(); + phiThePsi->at(i) = value; + } + phiThePsi->calc(); + aAme = phiThePsi->aA; + } +} + +void EndFrameqct::preVelIC() +{ + time = this->root()->mbdTimeValue(); + this->evalrmem(); + this->evalAme(); + Item::preVelIC(); + this->evalprmempt(); + this->evalpAmept(); + auto& aAOm = markerFrame->aAOm; + prOeOpt = aAOm->timesFullColumn(prmempt); + pAOept = aAOm->timesFullMatrix(pAmept); +} + +void EndFrameqct::postVelIC() +{ + auto& pAOmpE = markerFrame->pAOmpE; + for (int i = 0; i < 3; i++) + { + auto& pprOeOpEpti = pprOeOpEpt->at(i); + for (int j = 0; j < 4; j++) + { + auto pprOeOpEptij = pAOmpE->at(j)->at(i)->dot(prmempt); + pprOeOpEpti->atiput(j, pprOeOpEptij); + } + } + for (int i = 0; i < 4; i++) + { + ppAOepEpt->atiput(i, pAOmpE->at(i)->timesFullMatrix(pAmept)); + } +} + +FColDsptr EndFrameqct::pAjOept(int j) +{ + return pAOept->column(j); +} + +FMatDsptr EndFrameqct::ppAjOepETpt(int jj) +{ + auto answer = std::make_shared>(4, 3); + for (int i = 0; i < 4; i++) + { + auto& answeri = answer->at(i); + auto& ppAOepEipt = ppAOepEpt->at(i); + for (int j = 0; j < 3; j++) + { + auto& answerij = ppAOepEipt->at(j)->at(jj); + answeri->atiput(j, answerij); + } + } + return answer; +} + +FColDsptr EndFrameqct::ppAjOeptpt(int j) +{ + return ppAOeptpt->column(j); +} + +double EndFrameqct::priOeOpt(int i) +{ + return prOeOpt->at(i); +} + +FRowDsptr EndFrameqct::ppriOeOpEpt(int i) +{ + return pprOeOpEpt->at(i); +} + +double EndFrameqct::ppriOeOptpt(int i) +{ + return pprOeOptpt->at(i); +} + +void EndFrameqct::evalprmempt() +{ + if (rmemBlks) { + for (int i = 0; i < 3; i++) + { + auto& derivative = prmemptBlks->at(i); + auto value = derivative->getValue(); + prmempt->at(i) = value; + } + } +} + +void EndFrameqct::evalpAmept() +{ + if (phiThePsiBlks) { + auto phiThePsi = CREATE>::With(); + auto phiThePsiDot = CREATE>::With(); + phiThePsiDot->phiThePsi = phiThePsi; + for (int i = 0; i < 3; i++) + { + auto& expression = phiThePsiBlks->at(i); + auto& derivative = pPhiThePsiptBlks->at(i); + auto value = expression->getValue(); + auto valueDot = derivative->getValue(); + phiThePsi->at(i) = value; + phiThePsiDot->at(i) = valueDot; + } + phiThePsi->calc(); + phiThePsiDot->calc(); + pAmept = phiThePsiDot->aAdot; + } +} + +void EndFrameqct::evalpprmemptpt() +{ + if (rmemBlks) { + for (int i = 0; i < 3; i++) + { + auto& secondDerivative = pprmemptptBlks->at(i); + auto value = secondDerivative->getValue(); + pprmemptpt->atiput(i, value); + } + } +} + +void EndFrameqct::evalppAmeptpt() +{ + if (phiThePsiBlks) { + auto phiThePsi = CREATE>::With(); + auto phiThePsiDot = CREATE>::With(); + phiThePsiDot->phiThePsi = phiThePsi; + auto phiThePsiDDot = CREATE>::With(); + phiThePsiDDot->phiThePsiDot = phiThePsiDot; + for (int i = 0; i < 3; i++) + { + auto& expression = phiThePsiBlks->at(i); + auto& derivative = pPhiThePsiptBlks->at(i); + auto& secondDerivative = ppPhiThePsiptptBlks->at(i); + auto value = expression->getValue(); + auto valueDot = derivative->getValue(); + auto valueDDot = secondDerivative->getValue(); + phiThePsi->atiput(i, value); + phiThePsiDot->atiput(i, valueDot); + phiThePsiDDot->atiput(i, valueDDot); + } + phiThePsi->calc(); + phiThePsiDot->calc(); + phiThePsiDDot->calc(); + ppAmeptpt = phiThePsiDDot->aAddot; + } +} + +FColDsptr EndFrameqct::rmeO() +{ + return markerFrame->aAOm->timesFullColumn(rmem); +} + +FColDsptr EndFrameqct::rpep() +{ + auto& rpmp = markerFrame->rpmp; + auto& aApm = markerFrame->aApm; + auto rpep = rpmp->plusFullColumn(aApm->timesFullColumn(rmem)); + return rpep; +} + +void EndFrameqct::preAccIC() +{ + time = this->root()->mbdTimeValue(); + this->evalrmem(); + this->evalAme(); + Item::preVelIC(); + this->evalprmempt(); + this->evalpAmept(); + auto& aAOm = markerFrame->aAOm; + prOeOpt = aAOm->timesFullColumn(prmempt); + pAOept = aAOm->timesFullMatrix(pAmept); + Item::preAccIC(); + this->evalpprmemptpt(); + this->evalppAmeptpt(); + aAOm = markerFrame->aAOm; + pprOeOptpt = aAOm->timesFullColumn(pprmemptpt); + ppAOeptpt = aAOm->timesFullMatrix(ppAmeptpt); +} diff --git a/OndselSolver/FullRow.h b/OndselSolver/FullRow.h index 85712bf..d031bd9 100644 --- a/OndselSolver/FullRow.h +++ b/OndselSolver/FullRow.h @@ -172,6 +172,37 @@ namespace MbD { return answer; } template + inline std::shared_ptr> FullRow::clonesptr() + { + return std::make_shared>(*this); + } + template + inline double FullRow::dot(std::shared_ptr> vec) + { + int n = (int)this->size(); + double answer = 0.0; + for (int i = 0; i < n; i++) { + answer += this->at(i) * vec->at(i); + } + return answer; + } + template + inline std::shared_ptr> FullRow::dot(std::shared_ptr>>> vecvec) + { + auto ncol = (int)this->size(); + auto nelem = vecvec->at(0)->size(); + auto answer = std::make_shared>(nelem); + for (int k = 0; k < nelem; k++) { + auto sum = 0.0; + for (int i = 0; i < ncol; i++) + { + sum += this->at(i) * vecvec->at(i)->at(k); + } + answer->at(k) = sum; + } + return answer; + } + template inline std::ostream& FullRow::printOn(std::ostream& s) const { s << "FullRow{"; diff --git a/OndselSolver/FullVector.h b/OndselSolver/FullVector.h index 60a3bb7..02b0eb6 100644 --- a/OndselSolver/FullVector.h +++ b/OndselSolver/FullVector.h @@ -228,6 +228,46 @@ namespace MbD { return true; } template + inline std::shared_ptr> FullVector::clonesptr() + { + //Return shallow copy of *this wrapped in shared_ptr + assert(false); + return std::make_shared>(*this); + } + template + inline bool FullVector::isIncreasing() + { + return isIncreasingIfExceptionsAreLessThan(0.0); + } + template + inline bool FullVector::isIncreasingIfExceptionsAreLessThan(double tol) + { + //"Test if elements are increasing." + //"Ok if spoilers are less than tol." + auto next = this->at(0); + for (int i = 1; i < this->size(); i++) + { + auto previous = next; + next = this->at(i); + if (previous > next && (previous - tol > next)) return false; + } + return true; + } + template + inline bool FullVector::isDecreasingIfExceptionsAreLessThan(double tol) + { + //"Test if elements are increasing." + //"Ok if spoilers are less than tol." + auto next = this->at(0); + for (int i = 1; i < this->size(); i++) + { + auto previous = next; + next = this->at(i); + if (previous < next && (previous + tol < next)) return false; + } + return true; + } + template inline std::ostream& FullVector::printOn(std::ostream& s) const { s << "FullVec{"; diff --git a/OndselSolver/MBDynCase2.mbd b/OndselSolver/MBDynCase2.mbd new file mode 100644 index 0000000..4fcc7ef --- /dev/null +++ b/OndselSolver/MBDynCase2.mbd @@ -0,0 +1,297 @@ +#----------------------------------------------------------------------------- + # [Data Block] + + begin: data; + problem: initial value; + end: data; + + #----------------------------------------------------------------------------- + # [Problem Block] + + begin: initial value; + initial time: 0.0; + final time: 3.0; + 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 = 1.448636188351172; #mass [kg] + set: real volume_2 = 0.00018337166941154076; #volume [m^3] + + #body: 3 + set: integer body_3 = 3; #body label + set: real mass_3 = 2.8529486557067685; #mass [kg] + set: real volume_3 = 0.0003611327412287049; #volume [m^3] + + #body: 4 + set: integer body_4 = 4; #body label + set: real mass_4 = 10.859427202622141; #mass [kg] + set: real volume_4 = 0.0013746110383066003; #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 = -0.047537048944738425; #X component of the absolute position [m] + set: real Py_2 = 0.09742200410568831; #Y component of the absolute position [m] + set: real Pz_2 = -0.030293476812230588; #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 = 0.07099630277370235; #X component of the absolute position [m] + set: real Py_3 = -0.07364765799707981; #Y component of the absolute position [m] + set: real Pz_3 = 0.058407900823760565; #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 = 0.3723079639890564; #X component of the absolute position [m] + set: real Py_4 = 0.04333150035096042; #Y component of the absolute position [m] + set: real Pz_4 = 0.008140985321785409; #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 = 7.105427357601002e-18; #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 = 7.105427357601002e-18; #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 = 2.842170943040401e-17; #X component of the relative center of mass [m] + set: real Ry_3 = -1.4210854715202004e-17; #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 = 2.842170943040401e-16; #X component of the relative center of mass [m] + set: real Ry_4 = 2.1316282072803006e-17; #Y component of the relative center of mass [m] + set: real Rz_4 = 2.2737367544323206e-16; #Z component of the relative center of mass [m] + + #----------------------------------------------------------------------------- + # [Nodes Block] + + begin: nodes; + + structural: structural_node_1, + static, + Px_1, Py_1, Pz_1, # [m] + 3, 0.0, 0.0, 1.0, 2, 0.0, 1.0, 0.0, # + Vx_1, Vy_1, Vz_1, # [m/s] + Wx_1, Wy_1, Wz_1; # [rad/s] + + structural: structural_node_2, + dynamic, + Px_2, Py_2, Pz_2, # [m] + 3, 0.28116838555915347, -0.12674940821214617, 0.9512512425641977, 2, -0.12674940821214617, 0.9776506595433675, 0.16773125949652098, # + Vx_2, Vy_2, Vz_2, # [m/s] + Wx_2, Wy_2, Wz_2; # [rad/s] + + structural: structural_node_3, + dynamic, + Px_3, Py_3, Pz_3, # [m] + 3, -0.27178893568691503, -0.25783416049630004, 0.9271743741709766, 2, 0.014330116918634624, 0.9622501868990581, 0.271788935686915, # + Vx_3, Vy_3, Vz_3, # [m/s] + Wx_3, Wy_3, Wz_3; # [rad/s] + + structural: structural_node_4, + dynamic, + Px_4, Py_4, Pz_4, # [m] + 3, 0.2588190451025211, 0.0, 0.9659258262890682, 2, 0.0, 1.0, 0.0, # + Vx_4, Vy_4, Vz_4, # [m/s] + Wx_4, Wy_4, Wz_4; # [rad/s] + + end: nodes; + + #----------------------------------------------------------------------------- + # [Elements Block] + + begin: elements; + + #----------------------------------------------------------------------------- + # [Bodies] + + body: body_2, + structural_node_2, # + mass_2, # [kg] + Rx_2, Ry_2, Rz_2, # [m] + diag, Ixx_2, Iyy_2, Izz_2, # [kg*m^2] + orientation, 3, -0.0054384608129255385, 0.8559103374577453, 0.5150405937686557, 2, 0.9969290667160357, -0.0024978913689130133, 0.0023196850194898005; + + body: body_3, + structural_node_3, # + mass_3, # [kg] + Rx_3, Ry_3, Rz_3, # [m] + diag, Ixx_3, Iyy_3, Izz_3, # [kg*m^2] + orientation, 3, 0.9973238325492868, 0.0012847690482160057, -0.002629529780301787, 2, -0.00011328308715380375, 1.0027304733964244, 0.004450235157436283; + + body: body_4, + structural_node_4, # + mass_4, # [kg] + Rx_4, Ry_4, Rz_4, # [m] + diag, Ixx_4, Iyy_4, Izz_4, # [kg*m^2] + orientation, 3, -8.551421488581235e-05, 0.0, 0.9957768995806164, 2, 0.0, 1.0, 0.0; + + #----------------------------------------------------------------------------- + # [Joints] + + joint: joint_1, + clamp, + structural_node_1, # + -0.121, -1.218180697837851e-18, -0.08, # [m] + 3, 0.0, 0.0, 1.0, 2, 0.0, 1.0, 0.0; # + + joint: joint_2, + axial rotation, + structural_node_1, # + 0.0, 1.218180697837851e-18, 0.05, # [m] + orientation, 3, 0.0, 0.0, 1.0, 2, 0.0, 1.0, 0.0, # + structural_node_2, # + -0.03739853284269051, 0.0, 0.0032867622552210634, # [m] + orientation, 3, 5.204170427930421e-18, 0.0, 1.0, 2, guess, # + string, "model::drive(1, Time)"; # [rad/s] + + joint: joint_3, + revolute hinge, + structural_node_2, # + 0.03260146715730949, 1.4210854715202004e-17, 0.05328676225522106, # [m] + orientation, 3, 5.204170427930421e-18, 0.0, 1.0, 2, 0.0, 1.0, 0.0, # + structural_node_3, # + -0.1400000000000079, -1.0444978215673472e-15, 0.024999999999998038, # [m] + orientation, 3, -5.551115123125784e-17, -5.984795992119986e-17, 1.0, 2, guess; # + + joint: joint_4, + in line, + structural_node_3, # + 0.13999999999999133, 4.4231285301066236e-16, 9.79127889877418e-15, # [m] + 3, 2.7195091690402506e-15, 1.2586758486779817e-14, 1.0, 2, 0.6882367162699149, 0.7254861972346578, -1.1003185610451133e-14, # + structural_node_4, # + offset, -0.045580834634119244, -2.0299354019925886e-10, 1.2562251640702015e-08; # [m] + + joint: joint_5, + in line, + structural_node_1, # + 0.0, 1.2181806978377854e-18, 0.08, # [m] + 3, 1.0, -2.220446049250313e-16, 2.220446049250313e-16, 2, -2.220446049250313e-16, 0.0, 1.0, # + structural_node_4, # + offset, -0.045580834634119244, -2.0299354019925886e-10, 1.2562251640702015e-08; # [m] + + joint: joint_6, + prismatic, + structural_node_1, # + orientation, 3, 0.0, 0.0, 1.0, 2, 0.0, 1.0, 0.0, #relative_orientation_matrix_1> + structural_node_4, # + orientation, 3, 0, 0, 1, 2, 0, 1, 0; #relative_orientation_matrix_2> + + #----------------------------------------------------------------------------- + # [Drive callers] + + drive caller: 1, name,"drive:1", ramp, 6.28, 0.0, 1.0, 0.0; + + end: elements; + diff --git a/OndselSolver/MBDynCase2orig.mbd b/OndselSolver/MBDynCase2orig.mbd new file mode 100644 index 0000000..dd3512d --- /dev/null +++ b/OndselSolver/MBDynCase2orig.mbd @@ -0,0 +1,297 @@ +#----------------------------------------------------------------------------- + # [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 = 1.448636188351172; #mass [kg] + set: real volume_2 = 0.00018337166941154076; #volume [m^3] + + #body: 3 + set: integer body_3 = 3; #body label + set: real mass_3 = 2.8529486557067685; #mass [kg] + set: real volume_3 = 0.0003611327412287049; #volume [m^3] + + #body: 4 + set: integer body_4 = 4; #body label + set: real mass_4 = 10.859427202622141; #mass [kg] + set: real volume_4 = 0.0013746110383066003; #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 = -0.047537048944738425; #X component of the absolute position [m] + set: real Py_2 = 0.09742200410568831; #Y component of the absolute position [m] + set: real Pz_2 = -0.030293476812230588; #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 = 0.07099630277370235; #X component of the absolute position [m] + set: real Py_3 = -0.07364765799707981; #Y component of the absolute position [m] + set: real Pz_3 = 0.058407900823760565; #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 = 0.3723079639890564; #X component of the absolute position [m] + set: real Py_4 = 0.04333150035096042; #Y component of the absolute position [m] + set: real Pz_4 = 0.008140985321785409; #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 = 7.105427357601002e-18; #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 = 7.105427357601002e-18; #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 = 2.842170943040401e-17; #X component of the relative center of mass [m] + set: real Ry_3 = -1.4210854715202004e-17; #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 = 2.842170943040401e-16; #X component of the relative center of mass [m] + set: real Ry_4 = 2.1316282072803006e-17; #Y component of the relative center of mass [m] + set: real Rz_4 = 2.2737367544323206e-16; #Z component of the relative center of mass [m] + + #----------------------------------------------------------------------------- + # [Nodes Block] + + begin: nodes; + + structural: structural_node_1, + static, + Px_1, Py_1, Pz_1, # [m] + 3, 0.0, 0.0, 1.0, 2, 0.0, 1.0, 0.0, # + Vx_1, Vy_1, Vz_1, # [m/s] + Wx_1, Wy_1, Wz_1; # [rad/s] + + structural: structural_node_2, + dynamic, + Px_2, Py_2, Pz_2, # [m] + 3, 0.28116838555915347, -0.12674940821214617, 0.9512512425641977, 2, -0.12674940821214617, 0.9776506595433675, 0.16773125949652098, # + Vx_2, Vy_2, Vz_2, # [m/s] + Wx_2, Wy_2, Wz_2; # [rad/s] + + structural: structural_node_3, + dynamic, + Px_3, Py_3, Pz_3, # [m] + 3, -0.27178893568691503, -0.25783416049630004, 0.9271743741709766, 2, 0.014330116918634624, 0.9622501868990581, 0.271788935686915, # + Vx_3, Vy_3, Vz_3, # [m/s] + Wx_3, Wy_3, Wz_3; # [rad/s] + + structural: structural_node_4, + dynamic, + Px_4, Py_4, Pz_4, # [m] + 3, 0.2588190451025211, 0.0, 0.9659258262890682, 2, 0.0, 1.0, 0.0, # + Vx_4, Vy_4, Vz_4, # [m/s] + Wx_4, Wy_4, Wz_4; # [rad/s] + + end: nodes; + + #----------------------------------------------------------------------------- + # [Elements Block] + + begin: elements; + + #----------------------------------------------------------------------------- + # [Bodies] + + body: body_2, + structural_node_2, # + mass_2, # [kg] + Rx_2, Ry_2, Rz_2, # [m] + diag, Ixx_2, Iyy_2, Izz_2, # [kg*m^2] + orientation, 3, -0.0054384608129255385, 0.8559103374577453, 0.5150405937686557, 2, 0.9969290667160357, -0.0024978913689130133, 0.0023196850194898005; + + body: body_3, + structural_node_3, # + mass_3, # [kg] + Rx_3, Ry_3, Rz_3, # [m] + diag, Ixx_3, Iyy_3, Izz_3, # [kg*m^2] + orientation, 3, 0.9973238325492868, 0.0012847690482160057, -0.002629529780301787, 2, -0.00011328308715380375, 1.0027304733964244, 0.004450235157436283; + + body: body_4, + structural_node_4, # + mass_4, # [kg] + Rx_4, Ry_4, Rz_4, # [m] + diag, Ixx_4, Iyy_4, Izz_4, # [kg*m^2] + orientation, 3, -8.551421488581235e-05, 0.0, 0.9957768995806164, 2, 0.0, 1.0, 0.0; + + #----------------------------------------------------------------------------- + # [Joints] + + joint: joint_1, + clamp, + structural_node_1, # + -0.121, -1.218180697837851e-18, -0.08, # [m] + 3, 0.0, 0.0, 1.0, 2, 0.0, 1.0, 0.0; # + + joint: joint_2, + axial rotation, + structural_node_1, # + 0.0, 1.218180697837851e-18, 0.05, # [m] + orientation, 3, 0.0, 0.0, 1.0, 2, 0.0, 1.0, 0.0, # + structural_node_2, # + -0.03739853284269051, 0.0, 0.0032867622552210634, # [m] + orientation, 3, 5.204170427930421e-18, 0.0, 1.0, 2, guess, # + string, "model::drive(1, Time)"; # [rad/s] + + joint: joint_3, + revolute hinge, + structural_node_2, # + 0.03260146715730949, 1.4210854715202004e-17, 0.05328676225522106, # [m] + orientation, 3, 5.204170427930421e-18, 0.0, 1.0, 2, 0.0, 1.0, 0.0, # + structural_node_3, # + -0.1400000000000079, -1.0444978215673472e-15, 0.024999999999998038, # [m] + orientation, 3, -5.551115123125784e-17, -5.984795992119986e-17, 1.0, 2, guess; # + + joint: joint_4, + in line, + structural_node_3, # + 0.13999999999999133, 4.4231285301066236e-16, 9.79127889877418e-15, # [m] + 3, 2.7195091690402506e-15, 1.2586758486779817e-14, 1.0, 2, 0.6882367162699149, 0.7254861972346578, -1.1003185610451133e-14, # + structural_node_4, # + offset, -0.045580834634119244, -2.0299354019925886e-10, 1.2562251640702015e-08; # [m] + + joint: joint_5, + in line, + structural_node_1, # + 0.0, 1.2181806978377854e-18, 0.08, # [m] + 3, 1.0, -2.220446049250313e-16, 2.220446049250313e-16, 2, -2.220446049250313e-16, 0.0, 1.0, # + structural_node_4, # + offset, -0.045580834634119244, -2.0299354019925886e-10, 1.2562251640702015e-08; # [m] + + joint: joint_6, + prismatic, + structural_node_1, # + orientation, 3, 0.0, 0.0, 1.0, 2, 0.0, 1.0, 0.0, #relative_orientation_matrix_1> + structural_node_4, # + orientation, 3, 0, 0, 1, 2, 0, 1, 0; #relative_orientation_matrix_2> + + #----------------------------------------------------------------------------- + # [Drive callers] + + drive caller: 1, name,"drive:1", ramp, 6.28, 0.0, 1.0, 0.0; + + end: elements; + diff --git a/OndselSolver/MBDynCaseDebug1.mbd b/OndselSolver/MBDynCaseDebug1.mbd new file mode 100644 index 0000000..77c3018 --- /dev/null +++ b/OndselSolver/MBDynCaseDebug1.mbd @@ -0,0 +1,321 @@ +#----------------------------------------------------------------------------- + # [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: orientation matrix; + omega rotates: no; + print: none; + initial stiffness: 1.0, 1.0; + structural nodes: 5; + 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 = 0.24147734685710437; #mass [kg] + set: real volume_2 = 3.056675276672207e-05; #volume [m^3] + + #body: 4 + set: integer body_4 = 4; #body label + set: real mass_4 = 0.11253654770310718; #mass [kg] + set: real volume_4 = 1.4245132620646478e-05; #volume [m^3] + + #body: 5 + set: integer body_5 = 5; #body label + set: real mass_5 = 0.11253654770310723; #mass [kg] + set: real volume_5 = 1.4245132620646483e-05; #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 + + #node: 5 + set: integer structural_node_5 = 5; #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: 7 + set: integer joint_7 = 7; #joint label + + #Nodes: initial conditions + + #node: 1 + set: real Px_1 = 0.16912189837562464; #X component of the absolute position [m] + set: real Py_1 = -0.10055206743263254; #Y component of the absolute position [m] + set: real Pz_1 = 0.07867737409397452; #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 = 0.018683478687078307; #X component of the absolute position [m] + set: real Py_2 = -0.05533171845235879; #Y component of the absolute position [m] + set: real Pz_2 = 0.1768528076947657; #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 = 0.2890983348369078; #X component of the absolute position [m] + set: real Py_3 = -0.06156645049450425; #Y component of the absolute position [m] + set: real Pz_3 = 0.09724597715885096; #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 = 0.11637356459110539; #X component of the absolute position [m] + set: real Py_4 = -0.019655254070140387; #Y component of the absolute position [m] + set: real Pz_4 = 0.20651079866339145; #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] + + #node: 5 + set: real Px_5 = 0.15064540729834192; #X component of the absolute position [m] + set: real Py_5 = -0.020536937096322302; #Y component of the absolute position [m] + set: real Pz_5 = 0.06548008210568429; #Z component of the absolute position [m] + + set: real Vx_5 = 0.0; #X component of the absolute velocity [m/s] + set: real Vy_5 = 0.0; #Y component of the absolute velocity [m/s] + set: real Vz_5 = 0.0; #Z component of the absolute velocity [m/s] + + set: real Wx_5 = 0.0; #X component of the absolute angular velocity [rad/s] + set: real Wy_5 = 0.0; #Y component of the absolute angular velocity [rad/s] + set: real Wz_5 = 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 = 6.927961737800001e-05; #moment of inertia [kg*m^2] + set: real Iyy_2 = 5.6689424982e-05; #moment of inertia [kg*m^2] + set: real Izz_2 = 2.9053392577e-05; #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 4: + set: real Ixx_4 = 7.9157004521e-05; #moment of inertia [kg*m^2] + set: real Iyy_4 = 7.769349168e-05; #moment of inertia [kg*m^2] + set: real Izz_4 = 3.339121993e-06; #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] + + #body 5: + set: real Ixx_5 = 7.9157004521e-05; #moment of inertia [kg*m^2] + set: real Iyy_5 = 7.769349168e-05; #moment of inertia [kg*m^2] + set: real Izz_5 = 3.339121993e-06; #moment of inertia [kg*m^2] + + set: real Rx_5 = 0.0; #X component of the relative center of mass [m] + set: real Ry_5 = 0.0; #Y component of the relative center of mass [m] + set: real Rz_5 = 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, # [m] + 3, -0.3539135011019427, 0.9158836712023025, 0.18947911379030236, 2, -0.5084786583487672, -0.018385530501657588, -0.8608782877224926, # + Vx_1, Vy_1, Vz_1, # [m/s] + Wx_1, Wy_1, Wz_1; # [rad/s] + + structural: structural_node_2, + dynamic, + Px_2, Py_2, Pz_2, # [m] + 3, 0.0, 0.0, 1.0, 2, 0.0, 1.0, 0.0, # + Vx_2, Vy_2, Vz_2, # [m/s] + Wx_2, Wy_2, Wz_2; # [rad/s] + + structural: structural_node_3, + static, + Px_3, Py_3, Pz_3, # [m] + 3, 0.0, 0.0, 1.0, 2, 0.0, 1.0, 0.0, # + Vx_3, Vy_3, Vz_3, # [m/s] + Wx_3, Wy_3, Wz_3; # [rad/s] + + structural: structural_node_4, + dynamic, + Px_4, Py_4, Pz_4, # [m] + 3, 0.0, 0.0, 1.0, 2, 0.0, 1.0, 0.0, # + Vx_4, Vy_4, Vz_4, # [m/s] + Wx_4, Wy_4, Wz_4; # [rad/s] + + structural: structural_node_5, + dynamic, + Px_5, Py_5, Pz_5, # [m] + 3, 0.0, 0.0, 1.0, 2, 0.0, 1.0, 0.0, # + Vx_5, Vy_5, Vz_5, # [m/s] + Wx_5, Wy_5, Wz_5; # [rad/s] + + end: nodes; + + #----------------------------------------------------------------------------- + # [Elements Block] + + begin: elements; + + #----------------------------------------------------------------------------- + # [Bodies] + + body: body_2, + structural_node_2, # + mass_2, # [kg] + Rx_2, Ry_2, Rz_2, # [m] + diag, Ixx_2, Iyy_2, Izz_2, # [kg*m^2] + orientation, 3, -0.35, 0.91, 0.21, 2, 0.78, 0.4, -0.47; + + body: body_4, + structural_node_4, # + mass_4, # [kg] + Rx_4, Ry_4, Rz_4, # [m] + diag, Ixx_4, Iyy_4, Izz_4, # [kg*m^2] + orientation, 3, 0.78, 0.4, -0.47, 2, -0.36, 0.91, 0.19; + + body: body_5, + structural_node_5, # + mass_5, # [kg] + Rx_5, Ry_5, Rz_5, # [m] + diag, Ixx_5, Iyy_5, Izz_5, # [kg*m^2] + orientation, 3, -0.36, 0.91, 0.19, 2, 0.78, 0.4, -0.47; + + #----------------------------------------------------------------------------- + # [Joints] + + joint: joint_1, + clamp, + structural_node_1, # + 0.16912189837562464, -0.10055206743263254, 0.07867737409397452, # [m] + 3, -0.3539135011019427, 0.9158836712023025, 0.18947911379030236, 2, -0.5084786583487672, -0.018385530501657588, -0.8608782877224926; # + + joint: joint_2, + axial rotation, + structural_node_1, # + 1.0407603667772492e-11, -0.05247682460581396, -0.00025357557055826873, # [m] + orientation, 3, 1.1102230246251565e-16, -1.0, 0.0, 2, guess, # + structural_node_2, # + 0.006998226646402806, -0.00490348349806041, 0.007426083408032554, # [m] + orientation, 3, 0.5084786344413901, 0.01838554762064229, 0.8608783014778036, 2, guess, # + string, "model::drive(1, Time)"; # [rad/s] + + joint: joint_3, + clamp, + structural_node_3, # + 0.2890983348369078, -0.06156645049450425, 0.09724597715885096, # [m] + 3, 0.0, 0.0, 1.0, 2, 0.0, 1.0, 0.0; # + + joint: joint_4, + revolute hinge, + structural_node_2, # + -0.0011629534118987692, 0.02262071327533141, 0.01746668757489371, # [m] + orientation, 3, 0.5084786344412178, 0.018385547620640152, 0.8608783014779054, 2, guess, # + structural_node_4, # + -0.031347177833029705, -0.01617494903756937, 0.018860685712244078, # [m] + orientation, 3, 0.5084786455601428, 0.018385495401303797, 0.860878296025734, 2, guess; # + + joint: joint_5, + revolute hinge, + structural_node_4, # + 0.03388957106083931, 0.016266876514581658, -0.01455629423212079, # [m] + orientation, 3, 0.50847864556046, 0.0183854954014063, 0.8608782960255446, 2, guess, # + structural_node_5, # + -0.016813818553224735, 0.036484433510506876, 0.003343892503690739, # [m] + orientation, 3, 0.5084787180221569, 0.01838550036990011, 0.8608782531198544, 2, guess; # + + joint: joint_7, + revolute hinge, + structural_node_3, # + 1.1368683772161603e-16, 0.0, -1.4210854715202004e-17, # [m] + orientation, 3, 0.5094306516594838, 0.018659363391322903, 0.8603093858070039, 2, guess, # + structural_node_5, # + 0.014271424963118534, -0.03657636101236503, -0.007648283769292526, # [m] + orientation, 3, 0.5084787180221835, 0.018385500369866165, 0.8608782531198396, 2, guess; # + + #----------------------------------------------------------------------------- + # [Drive callers] + + drive caller: 1, name,"drive:1", ramp, 5.0, 0.25, 4.0, 0.0; + + end: elements; + diff --git a/OndselSolver/MBDynCaseDebug2.mbd b/OndselSolver/MBDynCaseDebug2.mbd new file mode 100644 index 0000000..3312e1b --- /dev/null +++ b/OndselSolver/MBDynCaseDebug2.mbd @@ -0,0 +1,320 @@ +#----------------------------------------------------------------------------- + # [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: orientation matrix; + omega rotates: no; + print: none; + initial stiffness: 1.0, 1.0; + structural nodes: 5; + 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 = 0.24147734685710437; #mass [kg] + set: real volume_2 = 3.056675276672207e-05; #volume [m^3] + + #body: 4 + set: integer body_4 = 4; #body label + set: real mass_4 = 0.11253654770310718; #mass [kg] + set: real volume_4 = 1.4245132620646478e-05; #volume [m^3] + + #body: 5 + set: integer body_5 = 5; #body label + set: real mass_5 = 0.11253654770310723; #mass [kg] + set: real volume_5 = 1.4245132620646483e-05; #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 + + #node: 5 + set: integer structural_node_5 = 5; #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 = 0.16912189837562464; #X component of the absolute position [m] + set: real Py_1 = -0.10055206743263254; #Y component of the absolute position [m] + set: real Pz_1 = 0.07867737409397452; #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 = 0.018683478687078307; #X component of the absolute position [m] + set: real Py_2 = -0.05533171845235879; #Y component of the absolute position [m] + set: real Pz_2 = 0.1768528076947657; #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 = 0.2890983348369078; #X component of the absolute position [m] + set: real Py_3 = -0.06156645049450425; #Y component of the absolute position [m] + set: real Pz_3 = 0.09724597715885096; #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 = 0.11637356459110539; #X component of the absolute position [m] + set: real Py_4 = -0.019655254070140387; #Y component of the absolute position [m] + set: real Pz_4 = 0.20651079866339145; #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] + + #node: 5 + set: real Px_5 = 0.15064540729834192; #X component of the absolute position [m] + set: real Py_5 = -0.020536937096322302; #Y component of the absolute position [m] + set: real Pz_5 = 0.06548008210568429; #Z component of the absolute position [m] + + set: real Vx_5 = 0.0; #X component of the absolute velocity [m/s] + set: real Vy_5 = 0.0; #Y component of the absolute velocity [m/s] + set: real Vz_5 = 0.0; #Z component of the absolute velocity [m/s] + + set: real Wx_5 = 0.0; #X component of the absolute angular velocity [rad/s] + set: real Wy_5 = 0.0; #Y component of the absolute angular velocity [rad/s] + set: real Wz_5 = 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 = 6.927961737800001e-05; #moment of inertia [kg*m^2] + set: real Iyy_2 = 5.6689424982e-05; #moment of inertia [kg*m^2] + set: real Izz_2 = 2.9053392577e-05; #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 4: + set: real Ixx_4 = 7.9157004521e-05; #moment of inertia [kg*m^2] + set: real Iyy_4 = 7.769349168e-05; #moment of inertia [kg*m^2] + set: real Izz_4 = 3.339121993e-06; #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] + + #body 5: + set: real Ixx_5 = 7.9157004521e-05; #moment of inertia [kg*m^2] + set: real Iyy_5 = 7.769349168e-05; #moment of inertia [kg*m^2] + set: real Izz_5 = 3.339121993e-06; #moment of inertia [kg*m^2] + + set: real Rx_5 = 0.0; #X component of the relative center of mass [m] + set: real Ry_5 = 0.0; #Y component of the relative center of mass [m] + set: real Rz_5 = 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, # [m] + 3, -0.3539135011019427, 0.9158836712023025, 0.18947911379030236, 2, -0.5084786583487672, -0.018385530501657588, -0.8608782877224926, # + Vx_1, Vy_1, Vz_1, # [m/s] + Wx_1, Wy_1, Wz_1; # [rad/s] + + structural: structural_node_2, + dynamic, + Px_2, Py_2, Pz_2, # [m] + 3, 0.0, 0.0, 1.0, 2, 0.0, 1.0, 0.0, # + Vx_2, Vy_2, Vz_2, # [m/s] + Wx_2, Wy_2, Wz_2; # [rad/s] + + structural: structural_node_3, + static, + Px_3, Py_3, Pz_3, # [m] + 3, 0.0, 0.0, 1.0, 2, 0.0, 1.0, 0.0, # + Vx_3, Vy_3, Vz_3, # [m/s] + Wx_3, Wy_3, Wz_3; # [rad/s] + + structural: structural_node_4, + dynamic, + Px_4, Py_4, Pz_4, # [m] + 3, 0.0, 0.0, 1.0, 2, 0.0, 1.0, 0.0, # + Vx_4, Vy_4, Vz_4, # [m/s] + Wx_4, Wy_4, Wz_4; # [rad/s] + + structural: structural_node_5, + dynamic, + Px_5, Py_5, Pz_5, # [m] + 3, 0.0, 0.0, 1.0, 2, 0.0, 1.0, 0.0, # + Vx_5, Vy_5, Vz_5, # [m/s] + Wx_5, Wy_5, Wz_5; # [rad/s] + + end: nodes; + + #----------------------------------------------------------------------------- + # [Elements Block] + + begin: elements; + + #----------------------------------------------------------------------------- + # [Bodies] + + body: body_2, + structural_node_2, # + mass_2, # [kg] + Rx_2, Ry_2, Rz_2, # [m] + diag, Ixx_2, Iyy_2, Izz_2, # [kg*m^2] + orientation, 3, -0.35, 0.91, 0.21, 2, 0.78, 0.4, -0.47; + + body: body_4, + structural_node_4, # + mass_4, # [kg] + Rx_4, Ry_4, Rz_4, # [m] + diag, Ixx_4, Iyy_4, Izz_4, # [kg*m^2] + orientation, 3, 0.78, 0.4, -0.47, 2, -0.36, 0.91, 0.19; + + body: body_5, + structural_node_5, # + mass_5, # [kg] + Rx_5, Ry_5, Rz_5, # [m] + diag, Ixx_5, Iyy_5, Izz_5, # [kg*m^2] + orientation, 3, -0.36, 0.91, 0.19, 2, 0.78, 0.4, -0.47; + + #----------------------------------------------------------------------------- + # [Joints] + + joint: joint_1, + clamp, + structural_node_1, # + 0.16912189837562464, -0.10055206743263254, 0.07867737409397452, # [m] + 3, -0.3539135011019427, 0.9158836712023025, 0.18947911379030236, 2, -0.5084786583487672, -0.018385530501657588, -0.8608782877224926; # + + joint: joint_2, + axial rotation, + structural_node_1, # + 1.0407603667772492e-11, -0.05247682460581396, -0.00025357557055826873, # [m] + orientation, 3, 1.1102230246251565e-16, -1.0, 0.0, 2, guess, # + structural_node_2, # + 0.006998226646402806, -0.00490348349806041, 0.007426083408032554, # [m] + orientation, 3, 0.5084786344413901, 0.01838554762064229, 0.8608783014778036, 2, guess, # + string, "model::drive(1, Time)"; # [rad/s] + + joint: joint_3, + clamp, + structural_node_3, # + 0.2890983348369078, -0.06156645049450425, 0.09724597715885096, # [m] + 3, 0.0, 0.0, 1.0, 2, 0.0, 1.0, 0.0; # + + joint: joint_4, + revolute hinge, + structural_node_2, # + -0.0011629534118987692, 0.02262071327533141, 0.01746668757489371, # [m] + orientation, 3, 0.5084786344412178, 0.018385547620640152, 0.8608783014779054, 2, guess, # + structural_node_4, # + -0.031347177833029705, -0.01617494903756937, 0.018860685712244078, # [m] + orientation, 3, 0.5084786455601428, 0.018385495401303797, 0.860878296025734, 2, guess; # + + joint: joint_5, + revolute hinge, + structural_node_4, # + 0.03388957106083931, 0.016266876514581658, -0.01455629423212079, # [m] + orientation, 3, 0.50847864556046, 0.0183854954014063, 0.8608782960255446, 2, guess, # + structural_node_5, # + -0.016813818553224735, 0.036484433510506876, 0.003343892503690739, # [m] + orientation, 3, 0.5084787180221569, 0.01838550036990011, 0.8608782531198544, 2, guess; # + + joint: joint_6, + in line, + structural_node_3, # + 0.0, 0.0, 0.0, # [m] + 3, 0.5094306516594838, 0.018659363391322903, 0.8603093858070039, 2, guess, # + structural_node_5, # + offset, 0.014271424963118534, -0.03657636101236503, -0.007648283769292526; # [m] + + #----------------------------------------------------------------------------- + # [Drive callers] + + drive caller: 1, name,"drive:1", ramp, 5.0, 0.25, 4.0, 0.0; + + end: elements; + diff --git a/OndselSolver/cirpendu2.asmt b/OndselSolver/cirpendu2.asmt new file mode 100644 index 0000000..c22387d --- /dev/null +++ b/OndselSolver/cirpendu2.asmt @@ -0,0 +1,479 @@ +freeCAD: 3D CAD with Motion Simulation by askoh.com +Assembly + Notes + (Text string: 'CAD: Copyright (C) 2000-2004, Aik-Siong Koh, All Rights Reserved.A rectangular beam is connected to ground with a spherical (ball) joint. The beam is allowed to swing under gravity like a circular pendulum. A second beam is connected to ground with a spherical joint. A third beam is connected to the second beam with a spherical joint. The double beam is allowed to swing under gravity like a double circular pendulum.If the instructions below are too brief, review the Notes in projectile.asm and circular.asm.To load the example for a quick look:Click File/Open/Assembly/ to get a dialog. Enter *.asm for a list of assemblies. Select cirpendu.asm. To create the assembly from scratch:To create three pendulums:Create an empty assembly and populate it with three beams (Assembly1Part1, Assembly1Part2, Assembly1Part3) each of dimensions (1.0d, 0.2d, 0.2d). Set the density of each beam to (10.0d). To mark joint attachment points:Create a marker (Assembly1Marker1) at the assembly origin. Create a second marker (Assembly1Marker2) on the assembly at (2.0d, 0.0d, 0.0d).On the first beam, create a marker (Assembly1Part1Marker1) at (-0.1d, 0.1d, -0.1d) relative to the z-face. On the second beam, create a marker (Assembly1Part2Marker1) at (-0.1d, 0.1d, -0.1d) and another (Assembly1Part2Marker2) at (1.1d, 0.1d, -0.1d) relative to the z-face. On the third beam, create a marker (Assembly1Part3Marker1) at (-0.1d, 0.1d, -0.1d) relative to the z-face.To create the joints:Connect (Assembly1Marker1) to (Assembly1Part1Marker1) with spherical joint (Assembly1Joint1).Connect (Assembly1Marker2) to (Assembly1Part2Marker1) with spherical joint (Assembly1Joint2).Connect (Assembly1Part2Marker2) to (Assembly1Part3Marker1) with spherical joint (Assembly1Joint3).To set the initial conditions:It is possible to set the initial positions and initial velocities of the beams precisely by RightClick/PositionPart/Direction/ and RightClick/Velocity/ over any part marker.To set gravity:Click Dynamic/Gravity/ for the gravity dialog. Enter (0.0d, -9.81d, 0.0d).The assembly is now ready for simulation, animation and plotting.You can run a Quasi Static simulation to find the static equillibrium configuration of the system.' runs: (Core.RunArray runs: #(423 61 14 5 12 1 2 37 105 36 1 26 190 32 526 21 289 30 177 15 242) values: #(nil #underline #(#underline #bold) #underline #(#underline #bold) #underline nil #(#bold #large) nil #(#bold #large) nil #bold nil #bold nil #bold nil #bold nil #bold nil))) + Name + Assembly1 + Position3D + 0.0 0.0 0.0 + RotationMatrix + 1.0 0.0 0.0 + 0.0 1.0 0.0 + 0.0 0.0 1.0 + Velocity3D + 0.0 0.0 0.0 + Omega3D + 0.0 0.0 0.0 + RefPoints + RefPoint + Position3D + 0.0 0.0 0.0 + RotationMatrix + 1.0 0.0 0.0 + 0.0 1.0 0.0 + 0.0 0.0 1.0 + Markers + Marker + Name + Marker1 + Position3D + 0.0 0.0 0.0 + RotationMatrix + 1.0 0.0 0.0 + 0.0 1.0 0.0 + 0.0 0.0 1.0 + RefPoint + Position3D + 0.0 0.0 0.0 + RotationMatrix + 1.0 0.0 0.0 + 0.0 1.0 0.0 + 0.0 0.0 1.0 + Markers + Marker + Name + Marker2 + Position3D + 2.0 0.0 0.0 + RotationMatrix + 1.0 0.0 0.0 + 0.0 1.0 0.0 + 0.0 0.0 1.0 + RefCurves + RefSurfaces + Parts + Part + Name + Part1 + Position3D + 0.075361038039341 -0.13946746153845 -0.069782100879329 + RotationMatrix + 0.97956840390193 0.19934227605259 0.026615767041217 + -0.19968164043209 0.94829781884184 0.24669513423284 + 0.023937095717083 -0.24696943891498 0.96872757351623 + Velocity3D + 0.0 0.0 0.0 + Omega3D + 0.0 0.0 0.0 + FeatureOrder + Extrusion + zStart + 0.0 + zEnd + 0.2 + Sketch + Name + Sketch1 + Position3D + 0.0 0.0 0.0 + RotationMatrix + 1.0 0.0 0.0 + 0.0 1.0 0.0 + 0.0 0.0 1.0 + Graphics + Rectangle + Position2D + 0.0 0.0 + Angle + 0.0 + xLength + 1.0 + yLength + 0.2 + PrincipalMassMarker + Name + MassMarker + Position3D + 0.5 0.1 0.1 + RotationMatrix + 1.0 -1.2490009027033e-16 0.0 + -1.7333369499485e-33 -1.3877787807814e-17 -1.0 + 1.2490009027033e-16 1.0 -1.3877787807814e-17 + Mass + 0.4 + MomentOfInertias + 0.0026666666666667 0.034666666666667 0.034666666666667 + Density + 10.0 + RefPoints + RefPoint + Position3D + 0.0 0.0 0.2 + RotationMatrix + 1.0 0.0 0.0 + 0.0 1.0 0.0 + 0.0 0.0 1.0 + Markers + Marker + Name + Marker1 + Position3D + -0.1000000024274 0.1000000024274 -0.1000000024274 + RotationMatrix + 1.000000024274 -2.4286128663675e-17 3.816391647149e-17 + -6.3317406873153e-17 1.000000024274 -5.5511151231258e-17 + 3.4694469519536e-17 -8.3266726846887e-17 1.000000024274 + RefPoint + Position3D + 0.0 0.0 0.2 + RotationMatrix + 1.0 0.0 0.0 + 0.0 1.0 0.0 + 0.0 0.0 1.0 + Markers + Marker + Name + Marker2 + Position3D + 1.1000000267014 0.1000000024274 -0.1000000024274 + RotationMatrix + 1.000000024274 -2.4286128663675e-17 3.816391647149e-17 + -6.3317406873153e-17 1.000000024274 -5.5511151231258e-17 + 3.4694469519536e-17 -8.3266726846887e-17 1.000000024274 + RefCurves + RefSurfaces + Part + Name + Part2 + Position3D + 2.0209377081553 -0.1319291205212 -0.1102556902653 + RotationMatrix + 0.55674806769482 0.73479971428477 -0.38742866311762 + -0.81281824047061 0.57809729875424 -0.071624165833276 + 0.17134204701809 0.35478570019107 0.91911316488427 + Velocity3D + 0.0 0.0 0.0 + Omega3D + 0.0 0.0 0.0 + FeatureOrder + Extrusion + zStart + 0.0 + zEnd + 0.2 + Sketch + Name + Sketch1 + Position3D + 0.0 0.0 0.0 + RotationMatrix + 1.0 0.0 0.0 + 0.0 1.0 0.0 + 0.0 0.0 1.0 + Graphics + Rectangle + Position2D + 0.0 0.0 + Angle + 0.0 + xLength + 1.0 + yLength + 0.2 + PrincipalMassMarker + Name + MassMarker + Position3D + 0.5 0.1 0.1 + RotationMatrix + 1.0 -1.2490009027033e-16 0.0 + -1.7333369499485e-33 -1.3877787807814e-17 -1.0 + 1.2490009027033e-16 1.0 -1.3877787807814e-17 + Mass + 0.4 + MomentOfInertias + 0.0026666666666667 0.034666666666667 0.034666666666667 + Density + 10.0 + RefPoints + RefPoint + Position3D + 0.0 0.0 0.2 + RotationMatrix + 1.0 0.0 0.0 + 0.0 1.0 0.0 + 0.0 0.0 1.0 + Markers + Marker + Name + Marker1 + Position3D + -0.099999988500851 0.099999988500851 -0.099999988500851 + RotationMatrix + 0.99999988500851 1.0408340855861e-16 0.0 + 6.9388939039072e-18 0.99999988500851 -1.6653345369377e-16 + 2.7755575615629e-17 -2.7755575615629e-16 0.99999988500851 + RefPoint + Position3D + 0.0 0.0 0.2 + RotationMatrix + 1.0 0.0 0.0 + 0.0 1.0 0.0 + 0.0 0.0 1.0 + Markers + Marker + Name + Marker2 + Position3D + 1.0999998735094 0.099999988500851 -0.099999988500851 + RotationMatrix + 0.99999988500851 1.0408340855861e-16 0.0 + 6.9388939039072e-18 0.99999988500851 -1.6653345369377e-16 + 2.7755575615629e-17 -2.7755575615629e-16 0.99999988500851 + RefCurves + RefSurfaces + Part + Name + Part3 + Position3D + 2.7827634979193 -0.86905753791015 0.28008794547098 + RotationMatrix + 0.98436323127974 0.013348790789345 -0.17564406818614 + 0.0023070601132681 -0.99801598022949 -0.062918842012596 + -0.17613547734102 0.061529773208054 -0.9824410316303 + Velocity3D + 0.0 0.0 0.0 + Omega3D + 0.0 0.0 0.0 + FeatureOrder + Extrusion + zStart + 0.0 + zEnd + 0.2 + Sketch + Name + Sketch1 + Position3D + 0.0 0.0 0.0 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The shortest link (crank) is attached to the ground with a revolute joint. Its other end is attached to the coupler link. The coupler link is further connected to the rocker link. The rocker link completes the loop by connecting back to ground at a different location. The crank is give a rotary motion so that the coupler and rocker produce some oscillating motion. A wide range of possible motions are produced by changing the linkage lengths or attachment locations. Units are SI units. Angles are in radians.If the instructions below are too brief, refer to the Notes in projectile.asm and circular.asm.To load the example for a quick look:Click File/Open/Assembly/ to get a dialog. Enter *.asm for a list of assemblies. Select fourbar.asm. To create the assembly from scratch:To create crank, coupler and rocker:Create an empty assembly and populate it with three rectangular links (Assembly1Part1, Assembly1Part2, Assembly1Part3). Their dimensions are (1.0d, 0.2d, 0.1d), (2.0d, 0.2d, 0.1d) and (1.5d, 0.2d, 0.1d). Arrange them from left to right in the xy quadrant. To mark joint attachment points:On the assembly, create a marker (Assembly1Marker1) at (0.0d, 0.0d, 0.0d) and another (Assembly1Marker2) at (2.0d, 0.0d, 0.0d). On the first link, create a marker (Assembly1Part1Marker1) at (0.1d, 0.1d, 0.0d) and another (Assembly1Part1Marker2) at (0.9d, 0.1d, 0.0d) relative to the z-face. On the second link, create a marker (Assembly1Part2Marker1) at (0.1d, 0.1d, -0.1d) and another (Assembly1Part2Marker2) at (1.9d, 0.1d, -0.1d) relative to the z-face. On the third link, create a marker (Assembly1Part3Marker1) at (0.1d, 0.1d, 0.0d) and another (Assembly1Part3Marker2) at (1.4d, 0.1d, 0.0d) relative to the z-face. To create the joints:Connect (Assembly1Marker1) to (Assembly1Part1Marker1) with revolute joint (Assembly1Joint1).Connect (Assembly1Part1Marker2) to (Assembly1Part2Marker1) with revolute joint (Assembly1Joint2).Connect (Assembly1Part2Marker2) to (Assembly1Part3Marker1) with revolute joint (Assembly1Joint3).Connect (Assembly1Part3Marker2) to (Assembly1Marker2) with revolute joint (Assembly1Joint4).To apply motion to the crank:Apply rotation motion (Assembly1Motion1) to (Assembly1Joint1). Enter 2.0d*pi*time.The assembly is now ready for simulation, animation and plotting.Known problems:Depending on the input state of the system, the solver with converge on one of several solutions for the assembly. If the solution is not one desired, move the links by dragging and rotating them so that they are near the desired solution. Then resimulate and the solver should find the desired solution.' runs: (Core.RunArray runs: #(662 63 14 5 12 1 2 37 89 11 4 36 1 36 259 32 626 21 384 29 152 15 306) values: #(nil #underline #(#underline #bold) #underline #(#underline #bold) #underline nil #(#bold #large) nil #bold nil #(#bold #large) nil #bold nil #bold nil #bold nil #bold nil #bold nil))) + Name + Assembly1 + Position3D + 0.0 0.0 0.0 + RotationMatrix + 1.0 0.0 0.0 + 0.0 1.0 0.0 + 0.0 0.0 1.0 + Velocity3D + 0.0 0.0 -3.92889708655e-32 + Omega3D + -1.2325951644068e-32 6.9388939039072e-18 -8.8817841970011e-16 + RefPoints + RefPoint + Position3D + 0.0 0.0 0.0 + RotationMatrix + 1.0 0.0 0.0 + 0.0 1.0 0.0 + 0.0 0.0 1.0 + Markers + Marker + Name + Marker1 + Position3D + 2.0 0.0 0.0 + RotationMatrix + 1.0 0.0 0.0 + 0.0 1.0 0.0 + 0.0 0.0 1.0 + RefPoint + Position3D + 0.0 0.0 0.0 + RotationMatrix + 1.0 0.0 0.0 + 0.0 1.0 0.0 + 0.0 0.0 1.0 + Markers + Marker + Name + Marker2 + Position3D + 0.0 0.0 0.0 + RotationMatrix + 1.0 0.0 0.0 + 0.0 1.0 0.0 + 0.0 0.0 1.0 + RefCurves + RefSurfaces + Parts + Part + Name + Part1 + Position3D + -0.10000000000001 -0.1 -0.1 + RotationMatrix + 1.0 -7.9645710363513e-15 0.0 + 7.9645710363513e-15 1.0 0.0 + 0.0 0.0 1.0 + Velocity3D + 0.62831853071798 -0.62831853071801 1.2517657822302e-15 + Omega3D + -1.2624026985831e-31 6.9388939039072e-18 6.2831853071797 + FeatureOrder + Extrusion + zStart + 0.0 + zEnd + 0.1 + Sketch + Name + Sketch1 + Position3D + 0.0 0.0 0.0 + RotationMatrix + 1.0 0.0 0.0 + 0.0 1.0 0.0 + 0.0 0.0 1.0 + Graphics + Rectangle + Position2D + 0.0 0.0 + Angle + 0.0 + xLength + 1.0 + yLength + 0.2 + PrincipalMassMarker + Name + MassMarker + Position3D + 0.5 0.1 0.05 + RotationMatrix + 1.0 0.0 0.0 + 0.0 1.0 0.0 + 0.0 0.0 1.0 + Mass + 0.2 + MomentOfInertias + 8.3333333333333e-4 0.016833333333333 0.017333333333333 + Density + 10.0 + RefPoints + RefPoint + Position3D + 0.0 0.0 0.1 + RotationMatrix + 1.0 0.0 0.0 + 0.0 1.0 0.0 + 0.0 0.0 1.0 + Markers + Marker + Name + Marker1 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