Motor Class Reference

#include <motor.h>

Inheritance diagram for Motor:

Collaboration diagram for Motor:

Classes
struct	PrivData

Public Member Functions
	Motor (unsigned int uL, const DofOwner *pD, const StructNode *pN1, const StructNode *pN2, const ElectricNode *pV1, const ElectricNode *pV2, const Mat3x3 &Rn, doublereal dG, doublereal dl, DriveCaller *dR, doublereal i0, integer p, const DriveCaller *pM0, const DriveCaller *pM1, flag fOut)
virtual	~Motor (void)
virtual Electric::Type	GetElectricType (void) const
virtual unsigned int	iGetNumPrivData (void) const
virtual unsigned int	iGetPrivDataIdx (const char *s) const
virtual doublereal	dGetPrivData (unsigned int i) 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	SetInitialValue (VectorHandler &X)
virtual void	SetValue (DataManager *pDM, VectorHandler &X, VectorHandler &XP, SimulationEntity::Hints *h=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 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
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 Electric
	Electric (unsigned int uL, const DofOwner *pDO, flag fOut)
virtual	~Electric (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

Private Member Functions
doublereal	dGetOmega () const
doublereal	dGetVoltage () const
doublereal	dGetOmega (const Vec3 &n) const
Vec3	GetAxisOfRotation () const
doublereal	dGetPhiMechanical () const
doublereal	dGetPhiElectric (doublereal Phi_m) const

Private Attributes
const StructNode *	pStrNode1
const StructNode *	pStrNode2
const ElectricNode *	pVoltage1
const ElectricNode *	pVoltage2
Mat3x3	Rn
doublereal	dGain
doublereal	dL
DriveOwner	dR
integer	p
DriveOwner	M0
DriveOwner	M1
doublereal	M
doublereal	i
doublereal	iP
doublereal	Phi_m
doublereal	Phi_e

Static Private Attributes
static const int	iNumPrivData = 12
static const struct Motor::PrivData	rgPrivData [iNumPrivData]

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 Electric
enum	Type {   UNKNOWN = -1, ACCELEROMETER = 0, DISPLACEMENT, DISCRETECONTROL,   MOTOR, LASTELECTRICTYPE }
Protected Attributes inherited from WithLabel
unsigned int	uLabel
std::string	sName
Protected Attributes inherited from ToBeOutput
flag	fOutput

Detailed Description

Definition at line 64 of file motor.h.

Constructor & Destructor Documentation

Motor::Motor	(	unsigned int	uL,
		const DofOwner *	pD,
		const StructNode *	pN1,
		const StructNode *	pN2,
		const ElectricNode *	pV1,
		const ElectricNode *	pV2,
		const Mat3x3 &	Rn,
		doublereal	dG,
		doublereal	dl,
		DriveCaller *	dR,
		doublereal	i0,
		integer	p,
		const DriveCaller *	pM0,
		const DriveCaller *	pM1,
		flag	fOut
	)

Definition at line 84 of file motor.cc.

References dGain, DriveCaller::dGet(), dGetOmega(), dGetPhiElectric(), dGetPhiMechanical(), dGetVoltage(), grad::fabs(), i, iP, Phi_e, and Phi_m.

: Elem(uL, fOut), 
Electric(uL, pD, fOut),
pStrNode1(pN1), pStrNode2(pN2), pVoltage1(pV1), pVoltage2(pV2),
Rn(Rn), dGain(dG), dL(dL), dR(dR), p(p), M0(pM0), M1(pM1), M(i0 * dG), i(i0)
{
        const doublereal dU  = dGetVoltage();
        const doublereal omega = dGetOmega();

        iP = (dU - dGain * omega - dR->dGet(fabs(i)) * i) / dL;

        Phi_m = dGetPhiMechanical();
        Phi_e = dGetPhiElectric(Phi_m);
}

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Motor::~Motor ( void  )

virtual

Definition at line 107 of file motor.cc.

References NO_OP.

{
        NO_OP;
}

Member Function Documentation

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

virtual

Implements Elem.

Definition at line 166 of file motor.cc.

References Vec3::Cross(), grad::Cross(), dGain, DriveOwner::dGet(), DriveOwner::dGetP(), dL, dR, grad::fabs(), Mat3x3::GetCol(), StructNode::GetgPCurr(), StructNode::GetRCurr(), StructNode::GetRRef(), StructNode::GetWCurr(), StructNode::GetWRef(), i, DofOwnerOwner::iGetFirstIndex(), StructDispNode::iGetFirstMomentumIndex(), StructDispNode::iGetFirstPositionIndex(), Node::iGetFirstRowIndex(), M, M0, M1, MatCross, Mat3x3::MulTM(), p, Phi_e, pStrNode1, pStrNode2, FullSubMatrixHandler::Put(), FullSubMatrixHandler::PutCoef(), FullSubMatrixHandler::PutColIndex(), FullSubMatrixHandler::PutRowIndex(), FullSubMatrixHandler::PutT(), pVoltage1, pVoltage2, FullSubMatrixHandler::ResizeReset(), Rn, VariableSubMatrixHandler::SetFull(), Mat3x3::Tens(), and WorkSpaceDim().

{
        FullSubMatrixHandler& WM = WorkMat.SetFull();

        /* Dimensiona e resetta la matrice di lavoro */
        integer iNumRows = 0;
        integer iNumCols = 0;
        WorkSpaceDim(&iNumRows, &iNumCols);
        WM.ResizeReset(iNumRows, iNumCols);

        integer iStrNode1FirstPosIdx = pStrNode1->iGetFirstPositionIndex() + 3;
        integer iStrNode2FirstPosIdx = pStrNode2->iGetFirstPositionIndex() + 3;
        integer iStrNode1FirstMomIdx = pStrNode1->iGetFirstMomentumIndex() + 3;
        integer iStrNode2FirstMomIdx = pStrNode2->iGetFirstMomentumIndex() + 3;
        integer iElecNode1FirstIndex = pVoltage1->iGetFirstRowIndex() + 1;
        integer iElecNode2FirstIndex = pVoltage2->iGetFirstRowIndex() + 1;
        integer iFirstIndex = iGetFirstIndex() + 1;

        for (integer iCnt = 1; iCnt <= 3; iCnt++) {
                WM.PutRowIndex(iCnt, iStrNode1FirstMomIdx + iCnt);
                WM.PutRowIndex(3+iCnt, iStrNode2FirstMomIdx + iCnt);

                WM.PutColIndex(iCnt, iStrNode1FirstPosIdx + iCnt);
                WM.PutColIndex(3+iCnt, iStrNode2FirstPosIdx + iCnt);
        }

        WM.PutRowIndex(7, iElecNode1FirstIndex);
        WM.PutRowIndex(8, iElecNode2FirstIndex);
        WM.PutRowIndex(9, iFirstIndex);

        WM.PutColIndex(7, iElecNode1FirstIndex);
        WM.PutColIndex(8, iElecNode2FirstIndex);
        WM.PutColIndex(9, iFirstIndex);

        const doublereal i = XCurr(iFirstIndex);
        const Mat3x3& R1 = pStrNode1->GetRCurr();
        const Mat3x3& R2 = pStrNode2->GetRCurr();
        const Mat3x3& R1_0 = pStrNode1->GetRRef();
        const Mat3x3& R2_0 = pStrNode2->GetRRef();
        const Vec3& omega1 = pStrNode1->GetWCurr();
        const Vec3& omega2 = pStrNode2->GetWCurr();
        const Vec3& omega1_0 = pStrNode1->GetWRef();
        const Vec3& omega2_0 = pStrNode2->GetWRef();
        const Vec3& gP1 = pStrNode1->GetgPCurr();
        const Vec3& gP2 = pStrNode2->GetgPCurr();
        const Mat3x3 DeltaR = Rn.MulTM(R1.MulTM(R2));
        const Vec3 dDeltaR21_dg1_T = -R2.GetCol(1).Cross(R1_0 * Rn.GetCol(2));
        const Vec3 dDeltaR21_dg2_T = R2_0.GetCol(1).Cross(R1 * Rn.GetCol(2));
        const Vec3 dDeltaR11_dg1_T = -R2.GetCol(1).Cross(R1_0 * Rn.GetCol(1));
        const Vec3 dDeltaR11_dg2_T = R2_0.GetCol(1).Cross(R1 * Rn.GetCol(1));
        const doublereal a0 = DeltaR(1, 1) * DeltaR(1, 1) + DeltaR(2, 1) * DeltaR(2, 1);
        const Vec3 dPhi_dg1_T = (dDeltaR21_dg1_T * DeltaR(1, 1) - dDeltaR11_dg1_T * DeltaR(2, 1)) / a0;
        const Vec3 dPhi_dg2_T = (dDeltaR21_dg2_T * DeltaR(1, 1) - dDeltaR11_dg2_T * DeltaR(2, 1)) / a0;
        const doublereal dM0_dPhi = M0.dGetP(Phi_e) * p;
        const doublereal dM1_dPhi = M1.dGetP(Phi_e) * p;
        const Vec3 dM0_dg1_T = dPhi_dg1_T * dM0_dPhi;
        const Vec3 dM0_dg2_T = dPhi_dg2_T * dM0_dPhi;
        const Vec3 dM1_dg1_T = dPhi_dg1_T * dM1_dPhi;
        const Vec3 dM1_dg2_T = dPhi_dg2_T * dM1_dPhi;
        const Vec3 dM_dg1_T = dM0_dg1_T + dM1_dg1_T * i;
        const Vec3 dM_dg2_T = dM0_dg2_T + dM1_dg2_T * i;
        const Mat3x3 dC1_dg1 = Mat3x3(MatCross, R1_0 * Rn.GetCol(3) * M) - (R1 * Rn.GetCol(3)).Tens(dM_dg1_T);
        const Mat3x3 dC1_dg2 = (-(R1 * Rn.GetCol(3))).Tens(dM_dg2_T);
        const Vec3 dC1_di = -(R1 * Rn.GetCol(3) * (dGain + M1.dGet(Phi_e)));
        const Vec3 dOmega_dg1_T = (omega1 - omega2).Cross(R1_0 * Rn.GetCol(3)) - (gP1 * 0.5 + omega1_0).Cross(R1 * Rn.GetCol(3));
        const doublereal di1_di = -1;
        const doublereal di2_di = 1;
        const Vec3 dOmega_dgP1_T = -(R1 * Rn.GetCol(3));
        const Vec3 dOmega_dg2_T = (gP2 * 0.5 + omega2_0).Cross(R1 * Rn.GetCol(3));
        const Vec3 dOmega_dgP2_T = R1 * Rn.GetCol(3);
        const Vec3 dfi_dg1_T = dOmega_dg1_T * (-dGain);
        const Vec3 dfi_dgP1_T = dOmega_dgP1_T * (-dGain);
        const Vec3 dfi_dg2_T = dOmega_dg2_T * (-dGain);
        const Vec3 dfi_dgP2_T = dOmega_dgP2_T * (-dGain);
        const doublereal dfi_du1 = -1;
        const doublereal dfi_du2 = 1;
        const doublereal abs_i = fabs(i);
        const doublereal dfi_di = -dR.dGet(abs_i) - dR.dGetP(abs_i) * i;
        const doublereal dfi_diP = -dL;

        WM.Put(1, 1, dC1_dg1 * (-dCoef));
        WM.Put(1, 4, dC1_dg2 * (-dCoef));
        WM.Put(4, 1, dC1_dg1 * dCoef);
        WM.Put(4, 4, dC1_dg2 * dCoef);
        WM.Put(1, 9, dC1_di * (-dCoef));
        WM.Put(4, 9, dC1_di * dCoef);
        WM.PutCoef(7, 9, -dCoef * di1_di);
        WM.PutCoef(8, 9, -dCoef * di2_di);
        WM.PutT(9, 1, -dfi_dgP1_T - dfi_dg1_T * dCoef);
        WM.PutT(9, 4, -dfi_dgP2_T - dfi_dg2_T * dCoef);
        WM.PutCoef(9, 7, -dCoef * dfi_du1);
        WM.PutCoef(9, 8, -dCoef * dfi_du2);
        WM.PutCoef(9, 9, -dfi_diP - dCoef * dfi_di);

        return WorkMat;
}

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

virtual

Implements Elem.

Definition at line 267 of file motor.cc.

References dGain, DriveOwner::dGet(), dGetOmega(), dGetPhiElectric(), dGetPhiMechanical(), dGetVoltage(), dL, dR, grad::fabs(), Mat3x3::GetCol(), StructNode::GetRCurr(), i, DofOwnerOwner::iGetFirstIndex(), StructDispNode::iGetFirstMomentumIndex(), Node::iGetFirstRowIndex(), iP, M, M0, M1, Phi_e, Phi_m, pStrNode1, pStrNode2, VectorHandler::Put(), VectorHandler::PutCoef(), SubVectorHandler::PutRowIndex(), pVoltage1, pVoltage2, VectorHandler::ResizeReset(), Rn, and WorkSpaceDim().

{
        /* Dimensiona e resetta la matrice di lavoro */
        integer iNumRows = 0;
        integer iNumCols = 0;
        WorkSpaceDim(&iNumRows, &iNumCols);
        WorkVec.ResizeReset(iNumRows);

        integer iStrNode1FirstIndex = pStrNode1->iGetFirstMomentumIndex() + 3;
        integer iStrNode2FirstIndex = pStrNode2->iGetFirstMomentumIndex() + 3;
        integer iElecNode1FirstIndex = pVoltage1->iGetFirstRowIndex() + 1;
        integer iElecNode2FirstIndex = pVoltage2->iGetFirstRowIndex() + 1;
        integer iFirstIndex = iGetFirstIndex() + 1;

        for (integer iCnt = 1; iCnt <= 3; iCnt++) {
                WorkVec.PutRowIndex(iCnt, iStrNode1FirstIndex + iCnt);
                WorkVec.PutRowIndex(3+iCnt, iStrNode2FirstIndex + iCnt);
        }

        WorkVec.PutRowIndex(7, iElecNode1FirstIndex);
        WorkVec.PutRowIndex(8, iElecNode2FirstIndex);
        WorkVec.PutRowIndex(9, iFirstIndex);

        Phi_m = dGetPhiMechanical();
        Phi_e = dGetPhiElectric(Phi_m);        
        i = XCurr(iFirstIndex);
        iP = XPrimeCurr(iFirstIndex);
        M = M0.dGet(Phi_e) + (dGain + M1.dGet(Phi_e)) * i;

        const Mat3x3& R1 = pStrNode1->GetRCurr();
        const Vec3 n(R1 * Rn.GetCol(3));
        const doublereal dU  = dGetVoltage();
        const Vec3 C(n * M);
        const doublereal Omega = dGetOmega(n);

        WorkVec.Put(1, -C);
        WorkVec.Put(4, C);
        WorkVec.PutCoef(7, -i);
        WorkVec.PutCoef(8, i);
        WorkVec.PutCoef(9, dU - dGain * Omega - dL * iP - dR.dGet(fabs(i)) * i);
      
        return WorkVec;
}

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doublereal Motor::dGetOmega ( void  ) const

inlineprivate

Definition at line 326 of file motor.cc.

References GetAxisOfRotation().

Referenced by AssRes(), dGetPrivData(), and Motor().

                                  {
        return dGetOmega(GetAxisOfRotation());
}

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doublereal Motor::dGetOmega ( const Vec3 &  n ) const

inlineprivate

Definition at line 318 of file motor.cc.

References StructNode::GetWCurr(), pStrNode1, and pStrNode2.

                                                    {
        return  TmpDir * (pStrNode2->GetWCurr() - pStrNode1->GetWCurr());
}

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doublereal Motor::dGetPhiElectric ( doublereal  Phi_m ) const

inlineprivate

Definition at line 338 of file motor.cc.

References ASSERT, M_PI, p, and Phi_e.

Referenced by AssRes(), dGetPrivData(), and Motor().

                                                        {
        doublereal Phi_e = fmod(p * Phi_m, 2 * M_PI);

        if (Phi_e < 0.) {
                Phi_e += 2 * M_PI;
        }

        ASSERT(Phi_e >= 0 && Phi_e <= 2 * M_PI);

        return Phi_e;
}

doublereal Motor::dGetPhiMechanical ( ) const

inlineprivate

Definition at line 330 of file motor.cc.

References grad::atan2(), Mat3x3::GetCol(), StructNode::GetRCurr(), Mat3x3::MulTV(), pStrNode1, pStrNode2, and Rn.

Referenced by AssRes(), dGetPrivData(), and Motor().

                                          {
        const Mat3x3& R1 = pStrNode1->GetRCurr();
        const Mat3x3& R2 = pStrNode2->GetRCurr();
        const Vec3 DeltaR_e1 = Rn.MulTV(R1.MulTV(R2.GetCol(1)));

        return atan2(DeltaR_e1(2), DeltaR_e1(1));
}

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doublereal Motor::dGetPrivData ( unsigned int  i ) const

virtual

Reimplemented from SimulationEntity.

Definition at line 397 of file motor.cc.

References DriveOwner::dGet(), dGetOmega(), dGetPhiElectric(), dGetPhiMechanical(), dGetVoltage(), dR, grad::fabs(), i, iP, M, M0, M1, and MBDYN_EXCEPT_ARGS.

{
        switch (iIndex) {
        case 1:
                return dGetOmega();
        case 2:
                return M;
        case 3:
                return dGetOmega() * M;
        case 4:
                return dGetVoltage();
        case 5:
                return i;
        case 6:
                return iP;
        case 7:
                return dGetVoltage() * i;
        case 8:
                return dGetPhiMechanical();
        case 9:
                return dGetPhiElectric(dGetPhiMechanical());
        case 10:
                return M0.dGet(dGetPhiElectric(dGetPhiMechanical()));
        case 11:
                return M1.dGet(dGetPhiElectric(dGetPhiMechanical())) * i;
        case 12:
                return dR.dGet(fabs(i));
        default:
                throw ErrGeneric(MBDYN_EXCEPT_ARGS);
        }
}

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doublereal Motor::dGetVoltage ( ) const

inlineprivate

Definition at line 314 of file motor.cc.

References ScalarDifferentialNode::dGetX(), pVoltage1, and pVoltage2.

Referenced by AssRes(), dGetPrivData(), and Motor().

                                    {
        return pVoltage2->dGetX() - pVoltage1->dGetX();
}

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Vec3 Motor::GetAxisOfRotation ( ) const

inlineprivate

Definition at line 322 of file motor.cc.

References Mat3x3::GetCol(), StructNode::GetRCurr(), pStrNode1, and Rn.

Referenced by dGetOmega().

                                    {
    return pStrNode1->GetRCurr() * Rn.GetCol(3);
}

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

virtual

Reimplemented from Elem.

Definition at line 372 of file motor.cc.

References pStrNode1, pStrNode2, pVoltage1, and pVoltage2.

                                                                           {
        connectedNodes.resize(4);
        connectedNodes[0] = pStrNode1;
        connectedNodes[1] = pStrNode2;
        connectedNodes[2] = pVoltage1;
        connectedNodes[3] = pVoltage2;
};

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

virtual

Reimplemented from Elem.

Definition at line 153 of file motor.cc.

References DofOrder::DIFFERENTIAL.

{
        return DofOrder::DIFFERENTIAL;
}

Electric::Type Motor::GetElectricType ( void  ) const

virtual

Implements Electric.

Definition at line 112 of file motor.cc.

References Electric::MOTOR.

{
        return Electric::MOTOR;
}

unsigned int Motor::iGetNumDof ( void  ) const

virtual

Reimplemented from Elem.

Definition at line 147 of file motor.cc.

{
        return 1;
}

unsigned int Motor::iGetNumPrivData ( void  ) const

virtual

Reimplemented from SimulationEntity.

Definition at line 381 of file motor.cc.

References iNumPrivData.

{
        return iNumPrivData;
}

unsigned int Motor::iGetPrivDataIdx ( const char *  s ) const

virtual

Reimplemented from SimulationEntity.

Definition at line 386 of file motor.cc.

References i, Motor::PrivData::index, iNumPrivData, and rgPrivData.

{
        for (int i = 0; i < iNumPrivData; ++i ) {
                if (0 == strcmp(rgPrivData[i].name, s)) {
                        return rgPrivData[i].index;
                }
        }

        return 0;
}

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

virtual

Implements Elem.

Definition at line 119 of file motor.cc.

References dGain, dL, dR, WithLabel::GetLabel(), i, M0, M1, p, DriveOwner::pGetDriveCaller(), pStrNode1, pStrNode2, pVoltage1, pVoltage2, DriveCaller::Restart(), and Rn.

{
        out << "electric: " << GetLabel()
                << ", motor, "
                << pStrNode1->GetLabel() << ", "
                << "orientation, " << Rn << ", "
                << pStrNode2->GetLabel() << ", "
                << pVoltage1->GetLabel() << ", "
                << pVoltage2->GetLabel() << ", "
                << dGain << ", "
                << dL << ", ";

        dR.pGetDriveCaller()->Restart(out);

        out << ", initial current, " << i << ", M0, ";

        M0.pGetDriveCaller()->Restart(out);

        out << ", M1, ";

        M1.pGetDriveCaller()->Restart(out);

        out << ", terminal pairs, " << p << ";" << std::endl;

        return out;                
}

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void Motor::SetInitialValue ( VectorHandler &  X )

virtual

Initialize state vector used in initial assembly. May set internal states of the element. Do not rely on being always called, because initial assembly could be implicitly or explicitly skipped

Reimplemented from DofOwnerOwner.

Definition at line 351 of file motor.cc.

References i, and DofOwnerOwner::iGetFirstIndex().

{
        const integer iFirstIndex = iGetFirstIndex() + 1;
 
        X(iFirstIndex) = i;
}

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void Motor::SetValue ( DataManager *  pDM, VectorHandler &  X, VectorHandler &  XP, SimulationEntity::Hints *  h = 0  )

virtual

Reimplemented from SimulationEntity.

Definition at line 359 of file motor.cc.

References i, DofOwnerOwner::iGetFirstIndex(), and iP.

{
        const integer iFirstIndex = iGetFirstIndex() + 1;

        X(iFirstIndex) = i;
        XP(iFirstIndex) = iP;
}

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

virtual

Implements Elem.

Definition at line 159 of file motor.cc.

Referenced by AssJac(), and AssRes().

{
        *piNumRows = 9;
        *piNumCols = 9;
}

Member Data Documentation

doublereal Motor::dGain

private

Definition at line 72 of file motor.h.

Referenced by AssJac(), AssRes(), Motor(), and Restart().

doublereal Motor::dL

private

Definition at line 73 of file motor.h.

Referenced by AssJac(), AssRes(), and Restart().

DriveOwner Motor::dR

private

Definition at line 74 of file motor.h.

Referenced by AssJac(), AssRes(), dGetPrivData(), and Restart().

doublereal Motor::i

private

Definition at line 85 of file motor.h.

Referenced by AssJac(), AssRes(), dGetPrivData(), iGetPrivDataIdx(), Motor(), Restart(), SetInitialValue(), and SetValue().

const int Motor::iNumPrivData = 12

staticprivate

Definition at line 87 of file motor.h.

Referenced by iGetNumPrivData(), and iGetPrivDataIdx().

doublereal Motor::iP

private

Definition at line 85 of file motor.h.

Referenced by AssRes(), dGetPrivData(), Motor(), and SetValue().

doublereal Motor::M

private

Definition at line 85 of file motor.h.

Referenced by AssJac(), AssRes(), and dGetPrivData().

DriveOwner Motor::M0

private

Definition at line 76 of file motor.h.

Referenced by AssJac(), AssRes(), dGetPrivData(), and Restart().

DriveOwner Motor::M1

private

Definition at line 76 of file motor.h.

Referenced by AssJac(), AssRes(), dGetPrivData(), and Restart().

integer Motor::p

private

Definition at line 75 of file motor.h.

Referenced by AssJac(), dGetPhiElectric(), and Restart().

doublereal Motor::Phi_e

private

Definition at line 85 of file motor.h.

Referenced by AssJac(), AssRes(), dGetPhiElectric(), and Motor().

doublereal Motor::Phi_m

private

Definition at line 85 of file motor.h.

Referenced by AssRes(), and Motor().

const StructNode* Motor::pStrNode1

private

Definition at line 66 of file motor.h.

Referenced by AssJac(), AssRes(), dGetOmega(), dGetPhiMechanical(), GetAxisOfRotation(), GetConnectedNodes(), and Restart().

const StructNode* Motor::pStrNode2

private

Definition at line 67 of file motor.h.

Referenced by AssJac(), AssRes(), dGetOmega(), dGetPhiMechanical(), GetConnectedNodes(), and Restart().

const ElectricNode* Motor::pVoltage1

private

Definition at line 68 of file motor.h.

Referenced by AssJac(), AssRes(), dGetVoltage(), GetConnectedNodes(), and Restart().

const ElectricNode* Motor::pVoltage2

private

Definition at line 69 of file motor.h.

Referenced by AssJac(), AssRes(), dGetVoltage(), GetConnectedNodes(), and Restart().

const Motor::PrivData Motor::rgPrivData

staticprivate

Initial value:

= {
        {1, "omega"},
        {2, "M"},
        {3, "Pmech"},
        {4, "U"},
        {5, "i"},
        {6, "iP"},
        {7, "Pel"},
        {8, "Phimech"},
        {9, "Phiel"},
        {10, "M0"},
        {11, "M1"},
        {12, "R"}
}

Definition at line 69 of file motor.cc.

Referenced by iGetPrivDataIdx().

Mat3x3 Motor::Rn

private

Definition at line 71 of file motor.h.

Referenced by AssJac(), AssRes(), dGetPhiMechanical(), GetAxisOfRotation(), and Restart().

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

• motor.h
• motor.cc