Modules | |
| module | generalized_forces |
Generalized forces module. | |
Functions/Subroutines | |
| subroutine, public | generalized_forces::ADDforce_TSD (body1, body2, pt1, pt2, k, c, s0, handle) |
| Adds a linear TSD force to the model /param body1,body2 bodies between which the force acts. /param pt1,pt2 end points in the bodies for the TSD, expresed in the local reference frames of the bodies. /param k,c stiffness and damping coefficients of the TSD. /param s0 natural lenght of the TSD. | |
| subroutine, public | generalized_forces::ADDforce_Bump (body1, body2, pt1, pt2, k, c, s0, handle) |
| Adds a linear Bump Stop force to the model. It is equivalent to a TSD force with only compression. /param body1,body2 bodies between which the force acts. /param pt1,pt2 end points in the bodies for the Bump, expresed in the local reference frames of the bodies. /param k,c stiffness and damping coefficients of the Bump. /param s0 natural lenght of the Bump. | |
| subroutine, public | generalized_forces::ADDforce_TSDA (body1, body2, pt1, pt2, TSDA, TSDAs, TSDAsp, handle) |
| Adds a user provided TSDA force to the model /param body1,body2 bodies between which the force acts. /param pt1,pt2 end points in the bodies for the TSD, expresed in the local reference frames of the bodies. /param k,c stiffness and damping coefficients of the TSD. /param s0 natural lenght of the TSD. | |
| subroutine | generalized_forces::ADDforce_genericTSDA (body1, body2, pt1, pt2, k, c, s0, kind, TSDA, TSDAs, TSDAsp, handle) |
| Adds a linear generic TSD/bump/TSDA force to the model. It's not a user subroutine, it is intended for the solver /param body1,body2 bodies between which the force acts. /param pt1,pt2 end points in the bodies for the TSD, expresed in the local reference frames of the bodies. /param k,c stiffness and damping coefficients of the TSD. /param s0 natural lenght of the TSD. /param kind kind of TSD, (TSD=1,BUMP=2,TSDA=3). /param TSDA,TSDAs,TSDAsp pointers to the TSDA subroutine and derivatives. The TSDA provices the force over the distance. | |
| subroutine, public | generalized_forces::ADDforce_normal (body, pt_loc, km, cm, rad, hyster, handle) |
| Adds a linear normal contact force (Taken from MBSLIM) | |
| subroutine, public | generalized_forces::ADDforce_tireBasic (kappac, alfac, mux, muy, handle) |
| Adds tire to a normal contact over a wheel: linear model with saturation ellipse. The rotation axis of the wheel is assumed to be coincident with the local vector (/0.d0,1.d0,0.d0/). Completely taken from MBSLIM: http://lim.ii.udc.es. | |
| subroutine, public | generalized_forces::Modifyforce_TSDA (handle, k, c, s0) |
| subroutine, public | generalized_forces::GETforce_TSDA (handle, fs, F2) |
| Returns the longitudinal and vectorial forces exerted by a linear generic TSD/bump/TSDA in the current time. /param handle handle to the TSDA force, returned by ADDforce_TSD, ADDforce_Bump or ADDforce_TSDA. /param fs longitudinal force exerted by the TSDA. /param F2 vectorial force exerted by the TSDA on the body2. The force exerted on the body1 is F1=-F2. | |
| subroutine, public | generalized_forces::GETforce_normal (handle, mfn, Fn) |
| Returns the normal force exerted by normal force element in the current time. /param handle handle to the normal force, returned by ADDforce_normal. /param mfn longitudinal force exerted. /param Fn vectorial force exerted. | |
| subroutine, public | generalized_forces::GETforce_tireBasic (handle, Ftire) |
| Returns the normal and lateral force exerted by tireBasic element in the current time. The normal component corresponds to the force_normal element associated to the tire. /param handle handle to the tire force, returned by ADDforce_tireBasic. /param Ftire vectorial force exerted. | |
| subroutine, public | generalized_forces::genForce_1body (body, pt_loc, F) |
| Introduces a generic force acting over one body of the model. /param body body over which the force acts. /param pt_loc local point in the body. /param F applied force in global coordinates. | |
| subroutine | generalized_forces::genStiffDamp_1body (body, pt_loc, F, dFdr, dFdrp) |
Introduces a generic stiffness damping term over one body of the model. /param body body over which the force acts. /param pt_loc local point in the body. /param F applied force in global coordinates. /param K elemental stiffness matrix, given by  . /param C elemental damping matrix, given by  . | |
| subroutine | generalized_forces::genForce_2body (body1, body2, pt1_loc, pt2_loc, F2) |
| Introduces a generic action/reaction force acting over two bodies of the model. /param body1,body2 bodies between which the force acts. /param pt1_loc,pt2_loc end points in the bodies given in local coordinates of body1 and body2 respectively. /param F1 value of the force over the body1, -F1 acts over body2. | |
| subroutine | generalized_forces::genStiffDamp_2body (body1, body2, pt1_loc, pt2_loc, F2, dF2dr1, dF2dr2, dF2dr1p, dF2dr2p) |
| Introduces a generic stiffness damping term over over two bodies of the model.one body of the model. /param body body over which the force acts. /param pt_loc local point in the body. /param F applied force in global coordinates. /param K elemental stiffness matrix, given by . /param C elemental damping matrix, given by . | |
| subroutine, public | generalized_forces::evalgenforces (t) |
| Subroutine to evaluate the generalized forces of the system. | |
| subroutine, public | generalized_forces::evalgenstiffdamp (t) |
| Subroutine to evaluate the generalized stiffness and damping of the system. | |
| subroutine | generalized_forces::gravity_ctorque_forces |
| Subroutine to evaluate the gravity forces of the system. It's not a user routine. | |
| subroutine | generalized_forces::ctorque_stiffdamp |
| Subroutine to evaluate the gravity stiffness and damping of the system. It's not a user routine. | |
| subroutine | generalized_forces::libraryforces (t) |
| Subroutine to evaluate the library forces of the system. | |
| subroutine | generalized_forces::librarystiffdamp (t) |
| Subroutine to evaluate the library stiffness and damping of the system. | |
| subroutine | generalized_forces::AssembleQbody (n, F, p, Q) |
| Subroutine to form the local generalized force over one body Function to get the generalized force of one body when torque, force and Euler parameters of this body are given. | |
| subroutine | generalized_forces::AssembleKCbody (pt, p, F, dFdq, dFdqp, K, C) |
| Subroutine to form the local generalized stiffness and damping over one body. | |
| subroutine | generalized_forces::AssembleKC2body (pt1, pt2, p1, p2, F2, dF2dq1, dF2dq2, dF2dqp1, dF2dqp2, K, C) |
| Subroutine to form the local generalized stiffness and damping over two bodies. | |
| subroutine, public | generalized_forces::generalized_forces_Setup |
| Generalized forces module setup. | |
Variables | |
| REAL(8), dimension(:), allocatable, public | generalized_forces::Qgen |
| REAL(8), dimension(:,:), allocatable, public | generalized_forces::PROTECTED |
| REAL(8), dimension(:,:), allocatable, public | generalized_forces::Kgen |
| REAL(8), dimension(:,:), allocatable, public | generalized_forces::Cgen |
| REAL(8), dimension(:), allocatable | generalized_forces::Qgrav |
| REAL(8), dimension(:,:), allocatable | generalized_forces::Kgrav |
| REAL(8), dimension(:,:), allocatable | generalized_forces::Cgrav |
| INTEGER | generalized_forces::nforce_TSDA = 0 |
| INTEGER | generalized_forces::nforce_normal = 0 |
| INTEGER | generalized_forces::nforce_tirebasic = 0 |
| TYPE(typeforce_TSDA), dimension(:), allocatable | generalized_forces::force_TSDA |
| TYPE(typeforce_normal), dimension(:), allocatable | generalized_forces::force_normal |
| TYPE(typeforce_tirebasic), dimension(:), allocatable | generalized_forces::force_tirebasic |
| INTEGER, parameter | generalized_forces::kindTSD = 1 |
| INTEGER, parameter | generalized_forces::kindBUMP = 2 |
| INTEGER, parameter | generalized_forces::kindTSDA = 3 |
