pzbeam2.cc

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/* $Header: /var/cvs/mbdyn/mbdyn/mbdyn-1.0/mbdyn/struct/pzbeam2.cc,v 1.30 2017/01/12 14:46:43 masarati Exp $ */
/* 
 * MBDyn (C) is a multibody analysis code. 
 * http://www.mbdyn.org
 *
 * Copyright (C) 1996-2017
 *
 * Pierangelo Masarati  <masarati@aero.polimi.it>
 * Paolo Mantegazza     <mantegazza@aero.polimi.it>
 *
 * Dipartimento di Ingegneria Aerospaziale - Politecnico di Milano
 * via La Masa, 34 - 20156 Milano, Italy
 * http://www.aero.polimi.it
 *
 * Changing this copyright notice is forbidden.
 *
 * This program is free software; you can redistribute it and/or modify
 * it under the terms of the GNU General Public License as published by
 * the Free Software Foundation (version 2 of the License).
 * 
 *
 * This program is distributed in the hope that it will be useful,
 * but WITHOUT ANY WARRANTY; without even the implied warranty of
 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
 * GNU General Public License for more details.
 *
 * You should have received a copy of the GNU General Public License
 * along with this program; if not, write to the Free Software
 * Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA  02111-1307  USA
 */

#include "mbconfig.h"           /* This goes first in every *.c,*.cc file */

#include "mynewmem.h"
#include "pzbeam2.h"

/* PiezoActuatorBeam2 - begin */

/* Funzioni di calcolo delle matrici */
void
PiezoActuatorBeam2::AssStiffnessMat(FullSubMatrixHandler& WMA,
                FullSubMatrixHandler& WMB,
                doublereal dCoef,
                const VectorHandler& XCurr,
                const VectorHandler& XPrimeCurr)
{
        DEBUGCOUT("Entering PiezoActuatorBeam2::AssStiffnessMat()" << std::endl);
        
   Beam2::AssStiffnessMat(WMA, WMB, dCoef, XCurr, XPrimeCurr);
   
   Mat3xN tmp1(iNumElec);
   Mat3xN tmp2(iNumElec);

   tmp1.LeftMult(R*dCoef, PiezoMat[STRAIN]);
   WMA.Sub(1, 13, tmp1);
   WMA.Add(7, 13, tmp1);
   tmp2.LeftMult(Mat3x3(MatCross, p - pNode[NODE1]->GetXCurr()), tmp1);
   WMA.Add(4, 13, tmp2); 
   tmp2.LeftMult(Mat3x3(MatCross, p - pNode[NODE2]->GetXCurr()), tmp1);
   WMA.Sub(10, 13, tmp2);
   
   tmp1.LeftMult(R*dCoef, PiezoMat[CURVAT]);
   WMA.Sub(4, 13, tmp1);
   WMA.Add(10, 13, tmp1);   
}


void
PiezoActuatorBeam2::AssStiffnessVec(SubVectorHandler& WorkVec,
                doublereal dCoef,
                const VectorHandler& XCurr,
                const VectorHandler& XPrimeCurr)
{
        DEBUGCOUT("Entering PiezoActuatorBeam2::AssStiffnessVec()" << std::endl);
        
        /*
         * Riceve il vettore gia' dimensionato e con gli indici a posto 
         * per scrivere il residuo delle equazioni di equilibrio dei tre nodi
         */
        
        /* 
         * Per la trattazione teorica, il riferimento e' il file ul-travi.tex 
         * (ora e' superato)
         */
        
        if (bFirstRes) {
                /*
                 * AfterPredict ha gia' calcolato tutto;
                 * bFirstRes viene resettato poi da Beam2::AssStiffnessVec
                 */

        } else {    
                for (integer iCnt = 1; iCnt <= iNumElec; iCnt++) {
                        V.Put(iCnt, pvElecDofs[iCnt-1]->dGetX());
                }
        }
        
        Beam2::AssStiffnessVec(WorkVec, dCoef, XCurr, XPrimeCurr);
}


void
PiezoActuatorBeam2::AddInternalForces(Vec6& AzLoc)
{
        AzLoc += Vec6(PiezoMat[STRAIN]*V, PiezoMat[CURVAT]*V);
}
      

/* Costruttore normale */
PiezoActuatorBeam2::PiezoActuatorBeam2(unsigned int uL,
                const StructNode* pN1, const StructNode* pN2,
                const Vec3& F1, const Vec3& F2,
                const Mat3x3& R1, const Mat3x3& R2,
                const Mat3x3& r,
                const ConstitutiveLaw6D* pd,
                int iEl,
                const ScalarDifferentialNode **pEDof,
                const Mat3xN& Te, const Mat3xN& Tk,
                OrientationDescription ood,
                flag fOut)
: Elem(uL, fOut),
Beam2(uL, pN1, pN2, F1, F2, R1, R2, r, pd, ood, fOut),
iNumElec(iEl), pvElecDofs(pEDof), V(iEl)
{
        ASSERT(iNumElec > 0);
        ASSERT(pvElecDofs != NULL);

#ifdef DEBUG
        for (int i = iNumElec; i-- > 0; ) {
                ASSERT(pvElecDofs[i] != NULL);
        }   
#endif /* DEBUG */
        
        PiezoMat[STRAIN].Copy(Te);
        PiezoMat[CURVAT].Copy(Tk);
}

   
/* Distruttore banale */
PiezoActuatorBeam2::~PiezoActuatorBeam2(void)
{
        ASSERT(pvElecDofs != NULL);
        SAFEDELETEARR(pvElecDofs);
}

    
/* Contributo al file di restart */
std::ostream&
PiezoActuatorBeam2::Restart(std::ostream& out) const
{
        Restart_(out);
        return out << "/* piezoelectric actuator NOT IMPLEMENTED YET */ ;"
                << std::endl;
}


/*
 * Dimensioni del workspace; sono 36 righe perche' se genera anche le
 * forze d'inerzia consistenti deve avere accesso alle righe di definizione
 * della quantita' di moto 
 */
void
PiezoActuatorBeam2::WorkSpaceDim(integer* piNumRows, integer* piNumCols) const
{
        *piNumRows = 12;
        *piNumCols = 18+iNumElec;
}


/* Settings iniziali, prima della prima soluzione */
void
PiezoActuatorBeam2::SetValue(DataManager *pDM,
                VectorHandler& X, VectorHandler& XP,
                SimulationEntity::Hints *ph)
{
        /* se proprio non serve, si puo' eliminare */
        Beam2::SetValue(pDM, X, XP, ph);
}


/* Prepara i parametri di riferimento dopo la predizione */
void
PiezoActuatorBeam2::AfterPredict(VectorHandler& X, VectorHandler& XP)
{
        /*
         * Calcola le deformazioni, aggiorna il legame costitutivo
         * e crea la FDE
         */
        for (integer iCnt = 1; iCnt <= iNumElec; iCnt++) {
                V.Put(iCnt, pvElecDofs[iCnt-1]->dGetX());
        }
        
        Beam2::AfterPredict(X, XP);
}


/* assemblaggio jacobiano */
VariableSubMatrixHandler&
PiezoActuatorBeam2::AssJac(VariableSubMatrixHandler& WorkMat,
                doublereal dCoef,
                const VectorHandler& XCurr,
                const VectorHandler& XPrimeCurr)
{
        DEBUGCOUT("Entering PiezoActuatorBeam2::AssJac();"
                        " will result in call to AssStiffnessMat()" << std::endl);
        
        integer iNode1FirstMomIndex = pNode[NODE1]->iGetFirstMomentumIndex();
        integer iNode1FirstPosIndex = pNode[NODE1]->iGetFirstPositionIndex();
        integer iNode2FirstMomIndex = pNode[NODE2]->iGetFirstMomentumIndex();
        integer iNode2FirstPosIndex = pNode[NODE2]->iGetFirstPositionIndex();
        
        FullSubMatrixHandler& WM = WorkMat.SetFull();
        
        /* Dimensiona la matrice, la azzera e pone gli indici corretti */
        WM.ResizeReset(12, 12+iNumElec);
        
        for (int iCnt = 1; iCnt <= 6; iCnt++) {
                WM.PutRowIndex(iCnt, iNode1FirstMomIndex+iCnt);
                WM.PutColIndex(iCnt, iNode1FirstPosIndex+iCnt);
                WM.PutRowIndex(6+iCnt, iNode2FirstMomIndex+iCnt);
                WM.PutColIndex(6+iCnt, iNode2FirstPosIndex+iCnt);
        }
        
        for (int iCnt = 1; iCnt <= iNumElec; iCnt++) {
                WM.PutColIndex(12+iCnt,
                                pvElecDofs[iCnt-1]->iGetFirstColIndex()+1);
        }   
        
        AssStiffnessMat(WM, WM, dCoef, XCurr, XPrimeCurr);
        
        return WorkMat;        
}


/* Contributo allo jacobiano durante l'assemblaggio iniziale */
VariableSubMatrixHandler&
PiezoActuatorBeam2::InitialAssJac(VariableSubMatrixHandler& WorkMat,
                                 const VectorHandler& XCurr)
{
        return Beam2::InitialAssJac(WorkMat, XCurr);
}


/* Contributo al residuo durante l'assemblaggio iniziale */
SubVectorHandler&
PiezoActuatorBeam2::InitialAssRes(SubVectorHandler& WorkVec,
                                 const VectorHandler& XCurr)
{
        return Beam2::InitialAssRes(WorkVec, XCurr);
}

/* PiezoActuatorBeam2 - end */


/* PiezoActuatorVEBeam2 - begin */

/* Funzioni di calcolo delle matrici */
void
PiezoActuatorVEBeam2::AssStiffnessMat(FullSubMatrixHandler& WMA,
                FullSubMatrixHandler& WMB,
                doublereal dCoef,
                const VectorHandler& XCurr,
                const VectorHandler& XPrimeCurr)
{
        DEBUGCOUT("Entering PiezoActuatorVEBeam2::AssStiffnessMat()" << std::endl);
        
        ViscoElasticBeam2::AssStiffnessMat(WMA, WMB, dCoef, XCurr, XPrimeCurr);
        
        Mat3xN tmp1(iNumElec);
        Mat3xN tmp2(iNumElec);
        
        tmp1.LeftMult(R*dCoef, PiezoMat[STRAIN]);
        WMA.Sub(1, 13, tmp1);
        WMA.Add(7, 13, tmp1);
        
        tmp2.LeftMult(Mat3x3(MatCross, p - pNode[NODE1]->GetXCurr()), tmp1);
        WMA.Add(4, 13, tmp2); 

        tmp2.LeftMult(Mat3x3(MatCross, p - pNode[NODE2]->GetXCurr()), tmp1);
        WMA.Sub(10, 13, tmp2);
   
        tmp1.LeftMult(R*dCoef, PiezoMat[CURVAT]);
        WMA.Sub(4, 13, tmp1);
        WMA.Add(10, 13, tmp1);   
}


void
PiezoActuatorVEBeam2::AssStiffnessVec(SubVectorHandler& WorkVec,
                doublereal dCoef,
                const VectorHandler& XCurr,
                const VectorHandler& XPrimeCurr)
{
        DEBUGCOUT("Entering PiezoActuatorVEBeam2::AssStiffnessVec()" << std::endl);
        
        /*
         * Riceve il vettore gia' dimensionato e con gli indici a posto 
         * per scrivere il residuo delle equazioni di equilibrio dei due nodi
         */
        
        /*
         * Per la trattazione teorica, il riferimento e' il file ul-travi.tex 
         * (ora e' superato)
         */
        
        if (bFirstRes) {
                /*
                 * AfterPredict ha gia' calcolato tutto;
                 * bFirstRes viene resettato da
                 * ViscoElasticBeam2::AssStiffnessVec
                 */

        } else {
                for (integer iCnt = 1; iCnt <= iNumElec; iCnt++) {
                        V.Put(iCnt, pvElecDofs[iCnt-1]->dGetX());
                }
        }
        
        ViscoElasticBeam2::AssStiffnessVec(WorkVec, dCoef, XCurr, XPrimeCurr);
}


void
PiezoActuatorVEBeam2::AddInternalForces(Vec6& AzLoc)
{
        AzLoc += Vec6(PiezoMat[STRAIN]*V, PiezoMat[CURVAT]*V);
}


/* Costruttore normale */
PiezoActuatorVEBeam2::PiezoActuatorVEBeam2(unsigned int uL,
                const StructNode* pN1, const StructNode* pN2,
                const Vec3& F1, const Vec3& F2,
                const Mat3x3& R1, const Mat3x3& R2,
                const Mat3x3& r,
                const ConstitutiveLaw6D* pD,
                int iEl,
                const ScalarDifferentialNode **pEDof,
                const Mat3xN& Te, const Mat3xN& Tk,
                OrientationDescription ood,
                flag fOut)
: Elem(uL, fOut),
ViscoElasticBeam2(uL, pN1, pN2, F1, F2, R1, R2, r, pD, ood, fOut),
iNumElec(iEl), pvElecDofs(pEDof), V(iEl)
{
        ASSERT(iNumElec > 0);
        ASSERT(pvElecDofs != NULL);

#ifdef DEBUG
        for (int i = iNumElec; i-- > 0; ) {
                ASSERT(pvElecDofs[i] != NULL);
        }
#endif /* DEBUG */
        
        PiezoMat[STRAIN].Copy(Te);
        PiezoMat[CURVAT].Copy(Tk);
}


/* Distruttore banale */
PiezoActuatorVEBeam2::~PiezoActuatorVEBeam2(void)
{
        ASSERT(pvElecDofs != NULL);
        SAFEDELETEARR(pvElecDofs);
}


/* Contributo al file di restart */
std::ostream&
PiezoActuatorVEBeam2::Restart(std::ostream& out) const
{
        Restart_(out);
        return out << "/* piezoelectric actuator NOT IMPLEMENTED YET */ ;"
                << std::endl;
}


/*
 * Dimensioni del workspace
 */
void
PiezoActuatorVEBeam2::WorkSpaceDim(integer* piNumRows,
                integer* piNumCols) const
{
        *piNumRows = 12;
        *piNumCols = 12+iNumElec;
}


/* Settings iniziali, prima della prima soluzione */
void
PiezoActuatorVEBeam2::SetValue(DataManager *pDM,
                VectorHandler& X, VectorHandler& XP,
                SimulationEntity::Hints *ph)
{
        /* se proprio non serve, si puo' eliminare */
        ViscoElasticBeam2::SetValue(pDM, X, XP, ph);
}


/* Prepara i parametri di riferimento dopo la predizione */
void
PiezoActuatorVEBeam2::AfterPredict(VectorHandler& X, VectorHandler& XP)
{
        /*
         * Calcola le deformazioni, aggiorna il legame costitutivo
         * e crea la FDE
         */
        for (integer iCnt = 1; iCnt <= iNumElec; iCnt++) {
                V.Put(iCnt, pvElecDofs[iCnt-1]->dGetX());
        }
        
        ViscoElasticBeam2::AfterPredict(X, XP);
}


/* assemblaggio jacobiano */
VariableSubMatrixHandler&
PiezoActuatorVEBeam2::AssJac(VariableSubMatrixHandler& WorkMat,
                doublereal dCoef,
                const VectorHandler& XCurr,
                const VectorHandler& XPrimeCurr)
{
        DEBUGCOUT("Entering PiezoActuatorVEBeam2::AssJac();"
                        " will result in call to AssStiffnessMat()" << std::endl);
        
        integer iNode1FirstMomIndex = pNode[NODE1]->iGetFirstMomentumIndex();
        integer iNode1FirstPosIndex = pNode[NODE1]->iGetFirstPositionIndex();
        integer iNode2FirstMomIndex = pNode[NODE2]->iGetFirstMomentumIndex();
        integer iNode2FirstPosIndex = pNode[NODE2]->iGetFirstPositionIndex();
        
        FullSubMatrixHandler& WM = WorkMat.SetFull();
        
        /* Dimensiona la matrice, la azzera e pone gli indici corretti */
        WM.ResizeReset(12, 12+iNumElec);
        
        for (int iCnt = 1; iCnt <= 6; iCnt++) {
                WM.PutRowIndex(iCnt, iNode1FirstMomIndex+iCnt);
                WM.PutColIndex(iCnt, iNode1FirstPosIndex+iCnt);
                WM.PutRowIndex(6+iCnt, iNode2FirstMomIndex+iCnt);
                WM.PutColIndex(6+iCnt, iNode2FirstPosIndex+iCnt);
        }
        
        for (int iCnt = 1; iCnt <= iNumElec; iCnt++) {
                WM.PutColIndex(12+iCnt,
                                pvElecDofs[iCnt-1]->iGetFirstColIndex()+1);
        }
        
        AssStiffnessMat(WM, WM, dCoef, XCurr, XPrimeCurr);
        
        return WorkMat;        
}


/* Contributo allo jacobiano durante l'assemblaggio iniziale */
VariableSubMatrixHandler&
PiezoActuatorVEBeam2::InitialAssJac(VariableSubMatrixHandler& WorkMat,
                const VectorHandler& XCurr)
{
        return ViscoElasticBeam2::InitialAssJac(WorkMat, XCurr);
}


/* Contributo al residuo durante l'assemblaggio iniziale */
SubVectorHandler&
PiezoActuatorVEBeam2::InitialAssRes(SubVectorHandler& WorkVec,
                const VectorHandler& XCurr)
{
        return ViscoElasticBeam2::InitialAssRes(WorkVec, XCurr);
}

/* PiezoActuatorVEBeam2 - end */