Rigid body cable

Rigid body cable.

Collaboration diagram for Rigid body cable:

Author

Jørgen Haavind Jensen

Date

21.06.2011 JHJ: Initial version.

Review issues:

0010 — `RbCable/RBCable` has no force output for end A, and the RbCable group's force-port case is unsettled

Example configuration excerpt

<Lib
  LibName          = "marine_elements"
  SimObject        = "RMCable/RBCable"
  Name             = "C"
  numElements      = "7"
  Alpha            = "1.0"
  Beta             = "1.0"
  Epsilon          = "0.0001"
  BendingStiffness = "0"
  LinearDamping    = "0"
/>

Input Ports

Name	Width	Description
posA	3	Position of end point A.
posB	3	Position of end point B.
velA	3	Velocity of end point A.
velB	3	Velocity of end point B.

Output Ports

Name	Width	Description
forceB	3	The force acting on end point B.

Configuration parameters

Name	Width	Description
numElements	1	Number of internal mass elements.
Alpha	1	...
Beta	1	...
Epsilon	1	...
BendingStiffness	1	...
LinearDamping	1	...

Initial conditions

Name	Width	Description
pos[i]	3	Position of point \(i \in {0\cdots\text{numElements}-1}\).
vel[i]	3	Velocity of point \(i \in {0\cdots\text{numElements}-1}\).

Full example file

<Contents>
   <OBJECTS>
      <Lib
        LibName="environment"
        SimObject="Environment"
        Name="Environment"
        Waves.Model="Component"
        Waves.NumWaves="0"
        Bathymetry.Depth="500"
        Current.Model = "Constant"
        Current.Vector = "1,0,0"
        />
      <Lib
         LibName            = "marine_elements"
         SimObject          = "RbCable/RBCable"
         Name               = "C"
         numElements        = "4"
         Alpha              = "0.9"
         Beta               = "0.9"
         Epsilon            = "1e-6"
         BendingStiffness   = "0"
         LinearDamping      = "0"
      />
   </OBJECTS>
 
   <INTERCONNECTIONS>
      <Connection
         C.posA = "0,1,0"
         C.posB = "0,1,12"
         C.velA = "0,0,0"
         C.velB = "0,0,0"
      />
   </INTERCONNECTIONS>
 
   <INITIALIZATION>
      <InitialCondition
         C.pos0 = "0,1,0"
         C.pos1 = "0,1,1"
         C.pos2 = "0,1,2"
         C.pos3 = "0,1,3"
         C.vel0 = "0,0,0"
         C.vel1 = "0,0,0"
         C.vel2 = "0,0,0"
         C.vel3 = "0,0,0"
      />
   </INITIALIZATION>
 
   <SIMULATION>
      <Timing TStart="0" TEnd="10"/>
      <Integrator Method="RK45_i" NumCores="1" LogStates="0" UseRSSNorm="0">
        <StepControl Step="1e-4" StepMax="100" StepMin="1e-6" AbsTol="1e-7" RelTol="1e-7"/>
      </Integrator>
      <!-- TODO migrate_v3: FileOutput="objects:states" -> configure via <OBSERVERS> section -->
   </SIMULATION>
</Contents>