Primitive forces module. More...
Functions/Subroutines | |
| subroutine | TSD (s, sp, s0, k, c, fs) |
| Primitive force of a linear translational spring-damper. | |
| subroutine | Bump (s, sp, s0, k, c, fs) |
| Primitive force of a linear translational Bump-stop. | |
| subroutine | Bump_s (s, s0, k, dfsds) |
| Derivative of the primitive force of a linear translational Bump-stop wrt the distance. | |
| subroutine | Bump_sp (s, s0, c, dfsdsp) |
| Derivative of the primitive force of a linear translational Bump-stop wrt the distance derivative. | |
| subroutine | normal_contact (km, s0, s, cm, vp, hyster_cm, nfl, fr, F) |
| Primitive normal contact model. | |
| subroutine | normal_contact_r_rp (km, cm, rp, hyster, nfl, dFdr, dFdrp, dfr_dr, dfr_drp) |
| Primitive normal contact derivatives. | |
| subroutine | tireBasic (kappac, alfac, mux, muy, u, v, w, up, vp, wp, vc, fr, nfl, Ref, Fneum, Kneum, Cneum) |
| Completely taken from MBSLIM: http://lim.ii.udc.es. Primitive basic linearized tire model. | |
| REAL(8), dimension(3) | omega_global (u, v, w, up, vp, wp, domega_duvw, domega_dupvpwp) |
| Completely taken from MBSLIM: http://lim.ii.udc.es. Auxiliary function for tireBasic. | |
Detailed Description
Primitive forces module.
This module:
1)Contains computational routines for primitive forces.
Function/Subroutine Documentation
| subroutine primitive_forces::Bump | ( | REAL(8),intent(in) | s, |
| REAL(8),intent(in) | sp, | ||
| REAL(8),intent(in) | s0, | ||
| REAL(8),intent(in) | k, | ||
| REAL(8),intent(in) | c, | ||
| REAL(8),intent(out) | fs | ||
| ) |
Primitive force of a linear translational Bump-stop.
- Parameters:
-
s length of the spring sp derivative of the lenght of the spring s0 size of the bump, the force only acts if the bump is compressed. k the stiffness of the spring c the damping ratio of the damper fs spring longitudinal force
| subroutine primitive_forces::Bump_s | ( | real(8),intent(in) | s, |
| real(8),intent(in) | s0, | ||
| real(8),intent(in) | k, | ||
| real(8),intent(out) | dfsds | ||
| ) |
Derivative of the primitive force of a linear translational Bump-stop wrt the distance.
- Parameters:
-
s length of the spring s0 size of the bump, the force only acts if the bump is compressed. k the stiffness of the spring dfsds spring longitudinal force
| subroutine primitive_forces::Bump_sp | ( | real(8),intent(in) | s, |
| real(8),intent(in) | s0, | ||
| real(8),intent(in) | c, | ||
| real(8),intent(out) | dfsdsp | ||
| ) |
Derivative of the primitive force of a linear translational Bump-stop wrt the distance derivative.
- Parameters:
-
s length of the spring s0 size of the bump, the force only acts if the bump is compressed. c the damping ratio of the damper dfsdsp spring longitudinal force
| subroutine primitive_forces::normal_contact | ( | REAL(8),intent(in) | km, |
| REAL(8),intent(in) | s0, | ||
| REAL(8),intent(in) | s, | ||
| REAL(8),intent(in) | cm, | ||
| REAL(8),dimension(3),intent(in) | vp, | ||
| REAL(8),intent(in) | hyster_cm, | ||
| REAL(8),dimension(3),intent(in) | nfl, | ||
| REAL(8),intent(out) | fr, | ||
| REAL(8),dimension(3),intent(out) | F | ||
| ) |
Primitive normal contact model.
| subroutine primitive_forces::normal_contact_r_rp | ( | REAL(8),intent(in) | km, |
| REAL(8),intent(in) | cm, | ||
| REAL(8),dimension(3),intent(in) | rp, | ||
| REAL(8),intent(in) | hyster, | ||
| REAL(8),dimension(3),intent(in) | nfl, | ||
| REAL(8),dimension(3,3),intent(out) | dFdr, | ||
| REAL(8),dimension(3,3),intent(out) | dFdrp, | ||
| REAL(8),dimension(3),intent(out),optional | dfr_dr, | ||
| REAL(8),dimension(3),intent(out),optional | dfr_drp | ||
| ) |
Primitive normal contact derivatives.
| REAL(8),dimension(3) primitive_forces::omega_global | ( | REAL(8),dimension(3),intent(in) | u, |
| REAL(8),dimension(3),intent(in) | v, | ||
| REAL(8),dimension(3),intent(in) | w, | ||
| REAL(8),dimension(3),intent(in) | up, | ||
| REAL(8),dimension(3),intent(in) | vp, | ||
| REAL(8),dimension(3),intent(in) | wp, | ||
| REAL(8),dimension(3,9),intent(out),optional | domega_duvw, | ||
| REAL(8),dimension(3,9),intent(out),optional | domega_dupvpwp | ||
| ) |
Completely taken from MBSLIM: http://lim.ii.udc.es. Auxiliary function for tireBasic.
| subroutine primitive_forces::tireBasic | ( | REAL(8),intent(in) | kappac, |
| REAL(8),intent(in) | alfac, | ||
| REAL(8),intent(in) | mux, | ||
| REAL(8),intent(in) | muy, | ||
| REAL(8),dimension(3),intent(in) | u, | ||
| REAL(8),dimension(3),intent(in) | v, | ||
| REAL(8),dimension(3),intent(in) | w, | ||
| REAL(8),dimension(3),intent(in) | up, | ||
| REAL(8),dimension(3),intent(in) | vp, | ||
| REAL(8),dimension(3),intent(in) | wp, | ||
| REAL(8),dimension(3),intent(in) | vc, | ||
| REAL(8),intent(in) | fr, | ||
| REAL(8),dimension(3),intent(in) | nfl, | ||
| REAL(8),intent(in) | Ref, | ||
| REAL(8),dimension(3),intent(out) | Fneum, | ||
| REAL(8),dimension(3,12),intent(out),optional | Kneum, | ||
| REAL(8),dimension(3,12),intent(out),optional | Cneum | ||
| ) |
Completely taken from MBSLIM: http://lim.ii.udc.es. Primitive basic linearized tire model.
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| subroutine primitive_forces::TSD | ( | REAL(8),intent(in) | s, |
| REAL(8),intent(in) | sp, | ||
| REAL(8),intent(in) | s0, | ||
| REAL(8),intent(in) | k, | ||
| REAL(8),intent(in) | c, | ||
| REAL(8),intent(out) | fs | ||
| ) |
Primitive force of a linear translational spring-damper.
- Parameters:
-
s length of the spring sp derivative of the lenght of the spring s0 natural length of the spring k the stiffness of the spring c the damping ratio of the damper fs spring longitudinal force
