#include <valve.h>

Inheritance diagram for Control_valve2:

Collaboration diagram for Control_valve2:

Public Member Functions
	Control_valve2 (unsigned int uL, const DofOwner pD, HydraulicFluid hf, const PressureNode p1, const PressureNode p2, const PressureNode p3, const PressureNode p4, doublereal A_max, doublereal Loss_a, const DriveCaller *pDC, flag fOut)

	~Control_valve2 (void)

virtual HydraulicElem::Type	GetHydraulicType (void) const

virtual std::ostream &	Restart (std::ostream &out) const

virtual unsigned int	iGetNumDof (void) const

virtual DofOrder::Order	GetDofType (unsigned int i) const

virtual void	WorkSpaceDim (integer piNumRows, integer piNumCols) const

VariableSubMatrixHandler &	AssJac (VariableSubMatrixHandler &WorkMat, doublereal dCoef, const VectorHandler &XCurr, const VectorHandler &XPrimeCurr)

SubVectorHandler &	AssRes (SubVectorHandler &WorkVec, doublereal dCoef, const VectorHandler &XCurr, const VectorHandler &XPrimeCurr)

virtual void	Output (OutputHandler &OH) const

virtual void	SetValue (DataManager pDM, VectorHandler &X, VectorHandler &XP, SimulationEntity::Hints ph=0)

virtual void	GetConnectedNodes (std::vector< const Node * > &connectedNodes) const

Public Member Functions inherited from Elem
	Elem (unsigned int uL, flag fOut)

virtual	~Elem (void)

virtual std::ostream &	DescribeDof (std::ostream &out, const char *prefix="", bool bInitial=false) const

virtual void	DescribeDof (std::vector< std::string > &desc, bool bInitial=false, int i=-1) const

virtual std::ostream &	DescribeEq (std::ostream &out, const char *prefix="", bool bInitial=false) const

virtual void	DescribeEq (std::vector< std::string > &desc, bool bInitial=false, int i=-1) const

virtual void	AssMats (VariableSubMatrixHandler &WorkMatA, VariableSubMatrixHandler &WorkMatB, const VectorHandler &XCurr, const VectorHandler &XPrimeCurr)

virtual bool	bInverseDynamics (void) const

void	SetInverseDynamicsFlags (unsigned uIDF)

unsigned	GetInverseDynamicsFlags (void) const

bool	bIsErgonomy (void) const

bool	bIsRightHandSide (void) const

virtual VariableSubMatrixHandler &	AssJac (VariableSubMatrixHandler &WorkMat, const VectorHandler &XCurr)

virtual SubVectorHandler &	AssRes (SubVectorHandler &WorkVec, const VectorHandler &XCurr, const VectorHandler &XPrimeCurr, const VectorHandler &XPrimePrimeCurr, InverseDynamics::Order iOrder=InverseDynamics::INVERSE_DYNAMICS)

virtual int	GetNumConnectedNodes (void) const

Public Member Functions inherited from WithLabel
	WithLabel (unsigned int uL=0, const std::string &sN="")

virtual	~WithLabel (void)

void	PutLabel (unsigned int uL)

void	PutName (const std::string &sN)

unsigned int	GetLabel (void) const

const std::string &	GetName (void) const

Public Member Functions inherited from SimulationEntity
	SimulationEntity (void)

virtual	~SimulationEntity (void)

virtual bool	bIsValidIndex (unsigned int i) const

virtual DofOrder::Order	GetEqType (unsigned int i) const

virtual Hint *	ParseHint (DataManager pDM, const char s) const

virtual void	BeforePredict (VectorHandler &, VectorHandler &, VectorHandler &, VectorHandler &) const

virtual void	AfterPredict (VectorHandler &X, VectorHandler &XP)

virtual void	Update (const VectorHandler &XCurr, const VectorHandler &XPrimeCurr)

virtual void	DerivativesUpdate (const VectorHandler &XCurr, const VectorHandler &XPrimeCurr)

virtual void	Update (const VectorHandler &XCurr, InverseDynamics::Order iOrder)

virtual void	AfterConvergence (const VectorHandler &X, const VectorHandler &XP)

virtual void	AfterConvergence (const VectorHandler &X, const VectorHandler &XP, const VectorHandler &XPP)

virtual unsigned int	iGetNumPrivData (void) const

virtual unsigned int	iGetPrivDataIdx (const char *s) const

virtual doublereal	dGetPrivData (unsigned int i) const

virtual std::ostream &	OutputAppend (std::ostream &out) const

virtual void	ReadInitialState (MBDynParser &HP)

Public Member Functions inherited from ToBeOutput
	ToBeOutput (flag fOut=fDefaultOut)

virtual	~ToBeOutput (void)

virtual void	OutputPrepare (OutputHandler &OH)

virtual void	Output (OutputHandler &OH, const VectorHandler &X, const VectorHandler &XP) const

virtual flag	fToBeOutput (void) const

virtual bool	bToBeOutput (void) const

virtual void	SetOutputFlag (flag f=flag(1))

Public Member Functions inherited from HydraulicElem
	HydraulicElem (unsigned int uL, const DofOwner pDO, HydraulicFluid hf, flag fOut)

virtual	~HydraulicElem (void)

virtual Elem::Type	GetElemType (void) const

Public Member Functions inherited from ElemWithDofs
	ElemWithDofs (unsigned int uL, const DofOwner *pDO, flag fOut)

virtual	~ElemWithDofs (void)

Public Member Functions inherited from DofOwnerOwner
	DofOwnerOwner (const DofOwner *pDO)

virtual	~DofOwnerOwner ()

virtual const DofOwner *	pGetDofOwner (void) const

virtual integer	iGetFirstIndex (void) const

virtual void	SetInitialValue (VectorHandler &X)

Public Member Functions inherited from DriveOwner
	DriveOwner (const DriveCaller *pDC=0)

	DriveOwner (const DriveOwner &drive)

virtual	~DriveOwner (void)

void	Set (const DriveCaller *pDC)

DriveCaller *	pGetDriveCaller (void) const

doublereal	dGet (const doublereal &dVar) const

doublereal	dGet (void) const

bool	bIsDifferentiable (void) const

doublereal	dGetP (const doublereal &dVar) const

doublereal	dGetP (void) const

Private Types
enum	{ N1 = 0, N2 = 1, N3 = 2, N4 = 3, LAST_N = 4 }

enum	{ Q12 = 0, Q34 = 1, Q13 = 2, Q24 = 3, Q14 = 4, Q23 = 5, LAST_Q = 6 }

Private Member Functions
void	Prepare (void)

Private Attributes
const PressureNode *	pNode [LAST_N]

doublereal	q [LAST_Q]

doublereal	dp [LAST_Q]

doublereal	density

doublereal	Stato

doublereal	Cd

doublereal	area_max

doublereal	loss_area

doublereal	area_min

doublereal	s_max

doublereal	f [LAST_N]

doublereal	A [LAST_Q]

Additional Inherited Members
Public Types inherited from Elem
enum	Type { UNKNOWN = -1, AIRPROPERTIES = 0, INDUCEDVELOCITY, AUTOMATICSTRUCTURAL, GRAVITY, BODY, JOINT, JOINT_REGULARIZATION, BEAM, PLATE, FORCE, INERTIA, ELECTRICBULK, ELECTRIC, THERMAL, HYDRAULIC, BULK, LOADABLE, DRIVEN, EXTERNAL, AEROMODAL, AERODYNAMIC, GENEL, SOCKETSTREAM_OUTPUT, RTAI_OUTPUT = SOCKETSTREAM_OUTPUT, LASTELEMTYPE }

Public Types inherited from SimulationEntity
typedef std::vector< Hint * >	Hints

Public Types inherited from ToBeOutput
enum	{ OUTPUT = 0x1U, OUTPUT_MASK = 0xFU, OUTPUT_PRIVATE = 0x10U, OUTPUT_PRIVATE_MASK = ~OUTPUT_MASK }

Public Types inherited from HydraulicElem
enum	Type { UNKNOWN = -1, MINOR_LOSS = 0, THREEWAYMINORLOSS, CONTROL_VALVE, DYNAMIC_CONTROL_VALVE, PRESSURE_FLOW_CONTROL_VALVE, PRESSURE_VALVE, FLOW_VALVE, ORIFICE, ACCUMULATOR, TANK, PIPE, DYNAMIC_PIPE, HYDRAULIC_ACTUATOR, ACTUATOR, LASTHYDRAULICTYPE }

Protected Attributes inherited from WithLabel
unsigned int	uLabel

std::string	sName

Protected Attributes inherited from ToBeOutput
flag	fOutput

Protected Attributes inherited from HydraulicElem
HydraulicFluid *	HF

Protected Attributes inherited from DriveOwner
DriveCaller *	pDriveCaller

Detailed Description

Definition at line 120 of file valve.h.

Member Enumeration Documentation

anonymous enum

private

Enumerator
N1
N2
N3
N4
LAST_N

Definition at line 136 of file valve.h.

anonymous enum

private

Enumerator
Q12
Q34
Q13
Q24
Q14
Q23
LAST_Q

Definition at line 143 of file valve.h.

              {
                 Q12 = 0,
                 Q34 = 1,
                 Q13 = 2,
                 Q24 = 3,
 #ifdef VALVE_6
                 Q14 = 4,
                 Q23 = 5,
                 LAST_Q = 6
 #else /* !VALVE_6 */
                 LAST_Q = 4
 #endif /* !VALVE_6 */
         };

Constructor & Destructor Documentation

Control_valve2::Control_valve2	(	unsigned int	uL,
		const DofOwner *	pD,
		HydraulicFluid *	hf,
		const PressureNode *	p1,
		const PressureNode *	p2,
		const PressureNode *	p3,
		const PressureNode *	p4,
		doublereal	A_max,
		doublereal	Loss_a,
		const DriveCaller *	pDC,
		flag	fOut
	)

Definition at line 330 of file valve.cc.

References area_max, ASSERT, Cd, Node::HYDRAULIC, loss_area, N1, N2, N3, N4, and pNode.

 : Elem(uL, fOut),
 HydraulicElem(uL, pDO, hf, fOut),
 DriveOwner(pDC),
 area_max(A_max), loss_area(Loss_A), area_min(area_max*loss_area)
 {
         pNode[N1] = p1;
         pNode[N2] = p2;
         pNode[N3] = p3;
         pNode[N4] = p4;
         
         ASSERT(pNode[N1] != NULL);
         ASSERT(pNode[N1]->GetNodeType() == Node::HYDRAULIC);
         ASSERT(pNode[N2] != NULL);
         ASSERT(pNode[N2]->GetNodeType() == Node::HYDRAULIC);
         ASSERT(pNode[N3] != NULL);
         ASSERT(pNode[N3]->GetNodeType() == Node::HYDRAULIC);
         ASSERT(pNode[N4] != NULL);
         ASSERT(pNode[N4]->GetNodeType() == Node::HYDRAULIC);
 
         ASSERT(area_max > std::numeric_limits<doublereal>::epsilon());
         ASSERT(loss_area > 1.e-9);      /* 
                                          * se = 0. occorre fare un elemento
                                          * apposta con solo 2 dof
                                          */
    
         Cd = .611; /* coefficiente di perdita */
 }

Control_valve2::~Control_valve2 ( void )

Definition at line 365 of file valve.cc.

References NO_OP.

 {
         NO_OP;
 }

Member Function Documentation

VariableSubMatrixHandler & Control_valve2::AssJac	(	VariableSubMatrixHandler &	WorkMat,
		doublereal	dCoef,
		const VectorHandler &	XCurr,
		const VectorHandler &	XPrimeCurr
	)

virtual

Implements Elem.

Definition at line 404 of file valve.cc.

References A, a, Cd, DEBUGCOUT, density, grad::fabs(), DofOwnerOwner::iGetFirstIndex(), LAST_N, LAST_Q, pNode, FullSubMatrixHandler::PutCoef(), FullSubMatrixHandler::PutColIndex(), FullSubMatrixHandler::PutRowIndex(), q, FullSubMatrixHandler::ResizeReset(), VariableSubMatrixHandler::SetFull(), and WorkSpaceDim().

 {
         DEBUGCOUT("Entering Control_valve2::AssJac()" << std::endl);
         
         FullSubMatrixHandler& WM = WorkMat.SetFull();
         integer iNumRows, iNumCols;
         WorkSpaceDim(&iNumRows, &iNumCols);
         WM.ResizeReset(iNumRows, iNumCols);
 
         integer iFirstIndex = iGetFirstIndex();
         
         for (int i = 0; i < LAST_N; i++) {
                 WM.PutRowIndex(1+i, pNode[i]->iGetFirstRowIndex()+1);
                 WM.PutColIndex(1+i, pNode[i]->iGetFirstColIndex()+1);
         }
 
         for (int i = 1; i <= LAST_Q; i++) {
                 WM.PutRowIndex(4+i, iFirstIndex+i);
                 WM.PutColIndex(4+i, iFirstIndex+i);
         }
         
         doublereal dKappa = 2.*Cd*Cd*density;
 
         /* Q12 */
         WM.PutCoef(1, 5, -1.);
         WM.PutCoef(2, 5,  1.);
         
         doublereal a = A[0]*A[0];
         WM.PutCoef(5, 1, -a);
         WM.PutCoef(5, 2,  a);
 
         /* Q34 */
         WM.PutCoef(3, 6, -1.);
         WM.PutCoef(4, 6,  1.);
         
         a = A[1]*A[1];
         WM.PutCoef(6, 3, -a);
         WM.PutCoef(6, 4,  a);
         
         /* Q13 */
         WM.PutCoef(1, 7, -1.);
         WM.PutCoef(3, 7,  1.);
         
         a = A[2]*A[2];
         WM.PutCoef(7, 1, -a);
         WM.PutCoef(7, 3,  a);
         
         /* Q24 */
         WM.PutCoef(2, 8, -1.);
         WM.PutCoef(4, 8,  1.);
         
         a = A[3]*A[3];
         WM.PutCoef(8, 2, -a);
         WM.PutCoef(8, 4,  a);
 
 #ifdef VALVE_6
         /* Q14 */
         WM.PutCoef(1, 9, -1.);
         WM.PutCoef(4, 9,  1.);
         
         a = A[4]*A[4];
         WM.PutCoef(9, 1, -a);
         WM.PutCoef(9, 4,  a);
         
         /* Q23 */
         WM.PutCoef(2, 10, -1.);
         WM.PutCoef(3, 10,  1.);
         
         a = A[5]*A[5];
         WM.PutCoef(10, 2, -a);
         WM.PutCoef(10, 3,  a);
 #endif /* VALVE_6 */
 
         for (int i = 0; i < LAST_Q; i++) {
                 WM.PutCoef(5+i, 5+i, 2.*fabs(q[i])/dKappa);
         }
         
         return WorkMat;
 }

Here is the call graph for this function:

SubVectorHandler & Control_valve2::AssRes	(	SubVectorHandler &	WorkVec,
		doublereal	dCoef,
		const VectorHandler &	XCurr,
		const VectorHandler &	XPrimeCurr
	)

virtual

Implements Elem.

Definition at line 542 of file valve.cc.

References A, Cd, DEBUGCOUT, density, dp, f, grad::fabs(), DofOwnerOwner::iGetFirstIndex(), Node::iGetFirstRowIndex(), LAST_N, LAST_Q, N1, N2, N3, N4, pNode, Prepare(), SubVectorHandler::PutItem(), q, Q12, Q13, Q14, Q23, Q24, Q34, VectorHandler::Resize(), and WorkSpaceDim().

 {
         DEBUGCOUT("Entering Control_valve2::AssRes()" << std::endl);
         
         integer iNumRows, iNumCols;
         WorkSpaceDim(&iNumRows, &iNumCols);
         WorkVec.Resize(iNumRows);
         
         integer iFirstIndex = iGetFirstIndex()+1;
 
         integer iNodeRowIndex[LAST_N];
         for (int i = 0; i < LAST_N; i++) {
                 iNodeRowIndex[i] = pNode[i]->iGetFirstRowIndex()+1;
         }
 
         Prepare();
         doublereal dKappa = 2.*Cd*Cd*density;
         
         for (int i = 0; i < LAST_Q; i++) {
                 q[i] = XCurr(iFirstIndex+i);
         }
 
 #ifdef VALVE_6
         f[N1] = q[Q12]+q[Q13]+q[Q14];
         f[N2] = -q[Q12]+q[Q23]+q[Q24];
         f[N3] = -q[Q13]-q[Q23]+q[Q34];
         f[N4] = -q[Q14]-q[Q24]-q[Q34];
 #else /* !VALVE_6 */
         f[N1] = q[Q12]+q[Q13];
         f[N2] = -q[Q12]+q[Q24];
         f[N3] = -q[Q13]+q[Q34];
         f[N4] = -q[Q24]-q[Q34];
 #endif /* !VALVE_6 */
 
         for (int i = 0; i < LAST_N; i++) {
                 WorkVec.PutItem(1+i, iNodeRowIndex[i], f[i]);
         }
         
         for (int i = 0; i < LAST_Q; i++) {
                 WorkVec.PutItem(5+i, iFirstIndex+i, 
                         A[i]*A[i]*dp[i]-q[i]*fabs(q[i])/dKappa);
         }
 
         return WorkVec;
 }

Here is the call graph for this function:

virtual void Control_valve2::GetConnectedNodes ( std::vector< const Node * > & connectedNodes ) const

inlinevirtual

Reimplemented from Elem.

Definition at line 211 of file valve.h.

References N1, N2, N3, N4, and pNode.

                                                                                       {
                 connectedNodes.resize(4);
                 connectedNodes[0] = pNode[N1];
                 connectedNodes[1] = pNode[N2];
                 connectedNodes[2] = pNode[N3];
                 connectedNodes[3] = pNode[N4];
         };

DofOrder::Order Control_valve2::GetDofType ( unsigned int i ) const

virtual

Reimplemented from Elem.

Definition at line 390 of file valve.cc.

References DofOrder::ALGEBRAIC, ASSERT, and iGetNumDof().

 {
         ASSERT(i >= 0 && i < iGetNumDof());
         return DofOrder::ALGEBRAIC;
 }

Here is the call graph for this function:

HydraulicElem::Type Control_valve2::GetHydraulicType ( void ) const

virtual

Implements HydraulicElem.

Definition at line 372 of file valve.cc.

References HydraulicElem::CONTROL_VALVE.

 {
         return HydraulicElem::CONTROL_VALVE;
 }

unsigned int Control_valve2::iGetNumDof ( void ) const

virtual

Reimplemented from Elem.

Definition at line 385 of file valve.cc.

References LAST_Q.

Referenced by GetDofType().

 {
         return LAST_Q;
 }

void Control_valve2::Output ( OutputHandler & OH ) const

virtual

Reimplemented from ToBeOutput.

Definition at line 592 of file valve.cc.

References ToBeOutput::bToBeOutput(), f, WithLabel::GetLabel(), OutputHandler::Hydraulic(), N1, N2, N3, N4, and Stato.

 {
         if (bToBeOutput()) { 
                 std::ostream& out = OH.Hydraulic();
                 out << std::setw(8) << GetLabel()
                         << " " << Stato 
                         << " " << -f[N1] << " " << -f[N2] 
                         << " " << -f[N3] << " " << -f[N4] << std::endl;
         }   
 }

Here is the call graph for this function:

void Control_valve2::Prepare ( void )

private

Definition at line 488 of file valve.cc.

References A, area_max, area_min, density, DriveCaller::dGet(), HydraulicFluid::dGetDensity(), ScalarAlgebraicNode::dGetX(), dp, HydraulicElem::HF, LAST_N, N1, N2, N3, N4, DriveOwner::pGetDriveCaller(), pNode, Q12, Q13, Q14, Q23, Q24, Q34, and Stato.

Referenced by AssRes(), and SetValue().

 {
         doublereal p[LAST_N];
         doublereal pm = 0.;
 
         for (int i = 0; i < LAST_N; i++) {
                 p[i] = pNode[i]->dGetX();
                 pm += p[i];
         }
         pm /= 4.;
 
         density = HF->dGetDensity(pm);
         
         dp[Q12] = p[N1]-p[N2];
         dp[Q34] = p[N3]-p[N4];
         dp[Q13] = p[N1]-p[N3];
         dp[Q24] = p[N2]-p[N4];
 #ifdef VALVE_6
         dp[Q14] = p[N1]-p[N4];
         dp[Q23] = p[N2]-p[N3];
 #endif /* VALVE_6 */
 
         Stato = pGetDriveCaller()->dGet();
         if (Stato > 0.) { 
                 if (Stato > 1.) {
                         Stato = 1.;
                 }
 
                 A[Q12] = Stato*area_max+2.*area_min;
                 A[Q34] = Stato*area_max+2.*area_min;
                 A[Q13] = area_min;
                 A[Q24] = area_min;
         } else {
                 if (Stato < -1.) {
                         Stato = -1.;
                 }
 
                 A[Q12] = 2.*area_min;
                 A[Q34] = 2.*area_min;
                 A[Q13] = -Stato*area_max+area_min;
                 A[Q24] = -Stato*area_max+area_min;
         }
         
         /*
          * vale sempre area_min (lo genero ogni volta perche' magari
          * la si puo' far dipendere da qualche parametro
          */
 #ifdef VALVE_6
         A[Q14] = area_min;
         A[Q23] = area_min;
 #endif /* VALVE_6 */
 }

Here is the call graph for this function:

std::ostream & Control_valve2::Restart ( std::ostream & out ) const

virtual

Implements Elem.

Definition at line 379 of file valve.cc.

 {
         return out << "Control_valve2 not implemented yet!" << std::endl;
 }

void Control_valve2::SetValue	(	DataManager *	pDM,
		VectorHandler &	X,
		VectorHandler &	XP,
		SimulationEntity::Hints *	ph = `0`
	)

virtual

Reimplemented from SimulationEntity.

Definition at line 604 of file valve.cc.

References A, Cd, copysign(), density, dp, grad::fabs(), DofOwnerOwner::iGetFirstIndex(), LAST_Q, Prepare(), VectorHandler::PutCoef(), and grad::sqrt().

 {
         integer iFirstIndex = iGetFirstIndex()+1;
         
         const_cast<Control_valve2 *>(this)->Prepare();
 
         for (int i = 0; i < LAST_Q; i++) {
 
                 /*
                  * q = sign(Dp)*Cd*A*sqrt(2.*rho*abs(Dp))
                  */
                 
                 X.PutCoef(iFirstIndex+i, 
                         Cd*A[i]*copysign(sqrt(2.*density*fabs(dp[i])), dp[i]));
         }
 }

Here is the call graph for this function:

void Control_valve2::WorkSpaceDim	(	integer *	piNumRows,
		integer *	piNumCols
	)		const

virtual

Implements Elem.

Definition at line 397 of file valve.cc.

References LAST_Q.

Referenced by AssJac(), and AssRes().

 {
         *piNumRows = 4+LAST_Q; 
         *piNumCols = 4+LAST_Q;
 }

Member Data Documentation

doublereal Control_valve2::A[LAST_Q]

private

Definition at line 169 of file valve.h.

Referenced by AssJac(), AssRes(), Prepare(), and SetValue().

doublereal Control_valve2::area_max

private

Definition at line 164 of file valve.h.

Referenced by Control_valve2(), and Prepare().

doublereal Control_valve2::area_min

private

Definition at line 166 of file valve.h.

Referenced by Prepare().

doublereal Control_valve2::Cd

private

Definition at line 163 of file valve.h.

Referenced by AssJac(), AssRes(), Control_valve2(), and SetValue().

doublereal Control_valve2::density

private

Definition at line 160 of file valve.h.

Referenced by AssJac(), AssRes(), Prepare(), and SetValue().

doublereal Control_valve2::dp[LAST_Q]

private

Definition at line 159 of file valve.h.

Referenced by AssRes(), Prepare(), and SetValue().

doublereal Control_valve2::f[LAST_N]

private

Definition at line 168 of file valve.h.

Referenced by AssRes(), and Output().

doublereal Control_valve2::loss_area

private

Definition at line 165 of file valve.h.

Referenced by Control_valve2().

const PressureNode* Control_valve2::pNode[LAST_N]

private

Definition at line 157 of file valve.h.

Referenced by AssJac(), AssRes(), Control_valve2(), GetConnectedNodes(), and Prepare().

doublereal Control_valve2::q[LAST_Q]

private

Definition at line 158 of file valve.h.

Referenced by AssJac(), and AssRes().

doublereal Control_valve2::s_max

private

Definition at line 167 of file valve.h.

doublereal Control_valve2::Stato

private

Definition at line 162 of file valve.h.

Referenced by Output(), and Prepare().

The documentation for this class was generated from the following files:

Public Member Functions

Private Types

Private Member Functions

Private Attributes

Additional Inherited Members

Detailed Description

Member Enumeration Documentation

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation