swashpl.cc

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/* $Header: /var/cvs/mbdyn/mbdyn/mbdyn-1.0/mbdyn/elec/swashpl.cc,v 1.35 2017/01/12 14:46:22 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
 */

/* Swash plate */

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

#include <cmath>

#include "swashpl.h"


/* SwashPlate - begin */

SwashPlate::SwashPlate(unsigned int uL, const DofOwner* pDO,
                const ScalarDifferentialNode* pCollIn, // const DriveCaller* pColl,
                const ScalarDifferentialNode* pLongIn, // const DriveCaller* pLong,
                const ScalarDifferentialNode* pLatIn,  // const DriveCaller* pLat,
                const ScalarDifferentialNode* pN1,
                const ScalarDifferentialNode* pN2,
                const ScalarDifferentialNode* pN3,
                doublereal dDynCoef,
                doublereal dCyclFact,
                doublereal dCollFact,
                flag fCL,
                doublereal dCMin,
                doublereal dCMax,
                flag fFL,
                doublereal dFMin,
                doublereal dFMax,
                flag fLL,
                doublereal dLMin,
                doublereal dLMax,
                flag fOut)
: Elem(uL, fOut),
Genel(uL, pDO, fOut),
pCollectiveIn(pCollIn),   // Collective(pColl),
pLongitudinalIn(pLongIn), // Longitudinal(pLong),
pLateralIn(pLatIn),       // Lateral(pLat),
pNode1(pN1), pNode2(pN2), pNode3(pN3),
dDynamicCoef(dDynCoef),
dCyclicFactor(dCyclFact),
dCollectiveFactor(dCollFact),
fCollLimits(fCL), dCollMax(dCMax), dCollMin(dCMin),
fForeAftLimits(fFL), dForeAftMax(dFMax), dForeAftMin(dFMin),
fLatLimits(fLL), dLatMax(dLMax), dLatMin(dLMin)
{
        ASSERT(pCollectiveIn != NULL);
        ASSERT(pCollectiveIn->GetNodeType() == Node::ABSTRACT);
        ASSERT(pLongitudinalIn != NULL);
        ASSERT(pLongitudinalIn->GetNodeType() == Node::ABSTRACT);
        ASSERT(pLateralIn != NULL);
        ASSERT(pLateralIn->GetNodeType() == Node::ABSTRACT);

        ASSERT(pNode1 != NULL);
        ASSERT(pNode1->GetNodeType() == Node::ABSTRACT);
        ASSERT(pNode2 != NULL);
        ASSERT(pNode2->GetNodeType() == Node::ABSTRACT);
        ASSERT(pNode3 != NULL);
        ASSERT(pNode3->GetNodeType() == Node::ABSTRACT);

        ASSERT(dCyclicFactor != 0.);
        ASSERT(dCollectiveFactor != 0.);
        ASSERT(dDynamicCoef >= 0.);
}


SwashPlate::~SwashPlate(void)
{
        NO_OP;
}


/* Scrive il contributo dell'elemento al file di restart */
std::ostream&
SwashPlate::Restart(std::ostream& out) const
{
        Genel::Restart(out) << ", swash plate, "
                << pCollectiveIn->GetLabel() << ", ";
        // Collective.pGetDriveCaller()->Restart(out) << ", ";
        if (fCollLimits) {
                out << "limits, " << dCollMin << ", " << dCollMax << ", ";
        }
        out << pLongitudinalIn->GetLabel() << ", ";
        // Longitudinal.pGetDriveCaller()->Restart(out) << ", ";
        if (fForeAftLimits) {
                out << "limits, " << dForeAftMin << ", " << dForeAftMax << ", ";
        }
        out << pLateralIn->GetLabel() << ", ";
        // Lateral.pGetDriveCaller()->Restart(out) << ", ";
        if (fLatLimits) {
                out << "limits, " << dLatMin << ", " << dLatMax << ", ";
        }
        out << pNode1->GetLabel() << ", "
                << pNode2->GetLabel() << ", "
                << pNode3->GetLabel() << ", "
                << dDynamicCoef << ", "
                << dCyclicFactor << ", " << dCollectiveFactor << ';' << std::endl;

        return out;
}

/* assemblaggio jacobiano */
VariableSubMatrixHandler&
SwashPlate::AssJac(VariableSubMatrixHandler& WorkMat,
                doublereal dCoef,
                const VectorHandler& /* XCurr */ ,
                const VectorHandler& /* XPrimeCurr */ )
{
        DEBUGCOUT("Entering SwashPlate::AssJac()" << std::endl);

        /* Casting di WorkMat */
        SparseSubMatrixHandler& WM = WorkMat.SetSparse();
        WM.ResizeReset(14, 0);

        integer iCollFirstIndex = pCollectiveIn->iGetFirstIndex() + 1;
        integer iLongFirstIndex = pLongitudinalIn->iGetFirstIndex() + 1;
        integer iLatFirstIndex = pLateralIn->iGetFirstIndex() + 1;

        integer iNode1FirstIndex = pNode1->iGetFirstIndex() + 1;
        integer iNode2FirstIndex = pNode2->iGetFirstIndex() + 1;
        integer iNode3FirstIndex = pNode3->iGetFirstIndex() + 1;

        WM.PutItem(1, iCollFirstIndex, iCollFirstIndex, dCoef);
        WM.PutItem(2, iLongFirstIndex, iLongFirstIndex, dCoef);
        WM.PutItem(3, iLatFirstIndex, iLatFirstIndex, dCoef);

        doublereal d = dDynamicCoef + dCoef;

        WM.PutItem(4, iNode1FirstIndex, iNode1FirstIndex, d);
        WM.PutItem(5, iNode2FirstIndex, iNode2FirstIndex, d);
        WM.PutItem(6, iNode3FirstIndex, iNode3FirstIndex, d);

        d = dCollectiveFactor;

        WM.PutItem(7, iNode1FirstIndex, iCollFirstIndex, -d);
        WM.PutItem(8, iNode2FirstIndex, iCollFirstIndex, -d);
        WM.PutItem(9, iNode3FirstIndex, iCollFirstIndex, -d);

        d = dCollectiveFactor*dCyclicFactor;

        WM.PutItem(10, iNode1FirstIndex, iLongFirstIndex, d);

        d /= 2.;

        WM.PutItem(11, iNode2FirstIndex, iLongFirstIndex, -d);
        WM.PutItem(12, iNode3FirstIndex, iLongFirstIndex, -d);

        d *= sqrt(3.);

        WM.PutItem(13, iNode2FirstIndex, iLongFirstIndex, d);
        WM.PutItem(14, iNode3FirstIndex, iLongFirstIndex, -d);

        return WorkMat;
}


/* assemblaggio residuo */
SubVectorHandler&
SwashPlate::AssRes(SubVectorHandler& WorkVec,
                doublereal /* dCoef */ ,
                const VectorHandler& XCurr,
                const VectorHandler& XPrimeCurr)
{
        DEBUGCOUT("Entering SwashPlate::AssRes()" << std::endl);

        /* Dimensiona e resetta la matrice di lavoro */
        WorkVec.ResizeReset(6);

        integer iCollFirstIndex = pCollectiveIn->iGetFirstIndex() + 1;
        integer iLongFirstIndex = pLongitudinalIn->iGetFirstIndex() + 1;
        integer iLatFirstIndex = pLateralIn->iGetFirstIndex() + 1;

        integer iNode1FirstIndex = pNode1->iGetFirstIndex() + 1;
        integer iNode2FirstIndex = pNode2->iGetFirstIndex() + 1;
        integer iNode3FirstIndex = pNode3->iGetFirstIndex() + 1;

        WorkVec.PutRowIndex(1, iCollFirstIndex);
        WorkVec.PutRowIndex(2, iLongFirstIndex);
        WorkVec.PutRowIndex(3, iLatFirstIndex);

        WorkVec.PutRowIndex(4, iNode1FirstIndex);
        WorkVec.PutRowIndex(5, iNode2FirstIndex);
        WorkVec.PutRowIndex(6, iNode3FirstIndex);

        doublereal dXColl = XCurr(iCollFirstIndex);
        doublereal dXLong = XCurr(iLongFirstIndex);
        doublereal dXLat = XCurr(iLatFirstIndex);

        WorkVec.PutCoef(1, -dXColl);
        WorkVec.PutCoef(2, -dXLong);
        WorkVec.PutCoef(3, -dXLat);

        /* Limits on pitch angles */
        if (fCollLimits) {
                if (dXColl > dCollMax) {
                        dXColl = dCollMax;
                } else if (dXColl < dCollMin) {
                        dXColl = dCollMin;
                }
        }

        if (fForeAftLimits) {
                if (dXLong > dForeAftMax) {
                        dXLong = dForeAftMax;
                } else if (dXLong < dForeAftMin) {
                        dXLong = dForeAftMin;
                }
        }

        if (fLatLimits) {
                if (dXLat > dLatMax) {
                        dXLat = dLatMax;
                } else if (dXLat < dLatMin) {
                        dXLat = dLatMin;
                }
        }

        WorkVec.PutCoef(4, dCollectiveFactor*(dXColl - dCyclicFactor*dXLong)
                        - XCurr(iNode1FirstIndex) - dDynamicCoef*XPrimeCurr(iNode1FirstIndex));
        WorkVec.PutCoef(5, dCollectiveFactor*(dXColl + dCyclicFactor*(.5*dXLong - sqrt(3.)/2.*dXLat))
                        - XCurr(iNode2FirstIndex) - dDynamicCoef*XPrimeCurr(iNode2FirstIndex));
        WorkVec.PutCoef(6, dCollectiveFactor*(dXColl + dCyclicFactor*(.5*dXLong + sqrt(3.)/2.*dXLat))
                        - XCurr(iNode3FirstIndex) - dDynamicCoef*XPrimeCurr(iNode3FirstIndex));

        return WorkVec;
}

void
SwashPlate::SetInitialValue(VectorHandler& /* X */ )
{
        NO_OP;
}

/* SwashPlate - end */