Rigid Bar Cable

A Rigid Bar Cable (RBC) SimObject.

Collaboration diagram for Rigid Bar Cable:

Author

Nina A H Madsen

Date

19.06.2009 NAHM: Initial version.

Review issues:

0014 — `Cable/RigidBarCable` binds both `ForceBa` and `ForceBb` to the same slot, and reads neither

Warning

This SimObject does not work as intended.

Example configuration excerpt

<Lib
   LibName            = "marine_elements"
   SimObject          = "Cable/RigidBarCable"
   Name               = "RBC"
   BarMass            = "100"
   BarLength          = "10"
   OmegaNL            = "0"
   ZetaNL             = "0"
   OmegaN             = "0"
   ZetaN              = "0"
   FixedFixed         = "1"
   Kei                = "0.1"
   Ked                = "0.1"
   Kep                = "0.1"
   NofBarElements     = "3"
 
/>

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.
ForceB1a...ForceB<NofBarElements>a	3	...
ForceB1b...ForceB<NofBarElements>b	3	...

Output Ports

Name	Width	Description
ForceA	3	The force acting on end point A.
ForceB	3	The force acting on end point B.
PosR0...PosR<NofBarElements>	3	Position of each bar node (NofBarElements + 1 nodes, numbered from 0).
VelR0...VelR<NofBarElements>	3	Velocity of each bar node (NofBarElements + 1 nodes, numbered from 0).

Configuration parameters

Name	Width	Description
BarMass	1	Mass of bar.
BarLength	1	Length of bar.
OmegaNL	1	...
ZetaNL	1	...
OmegaN	1	...
ZetaN	1	...
FixedFixed	1	...
Kei	1	...
Ked	1	...
Kep	1	...
NofBarElements	1	...

Initial conditions

Name	Width	Description
VecR	3*<NofBarElements>	.
VecRDot	3*<NofBarElements>	...
VecB	3*<NofBarElements>	...
VecBDot	3*<NofBarElements>	...
EndNodeSum	3	...

Full example file

<Contents>
   <OBJECTS>
      <Lib
        LibName="environment"
        SimObject="Environment"
        Name="Env"
        Waves.Model="Component"
        Waves.NumWaves="0"
        Bathymetry.Depth="500"
        Current.Model = "Constant"
        Current.Vector = "0,0,0"
        />
 
      <Lib
         LibName            = "marine_elements"
         SimObject          = "Cable/RigidBarCable"
         Name               = "RBC"
         BarMass            = "100"
         BarLength          = "10"
         OmegaNL            = "0"
         ZetaNL             = "0"
         OmegaN             = "0"
         ZetaN              = "0"
         FixedFixed         = "1"
         Kei                = "0.1"
         Ked                = "0.1"
         Kep                = "0.1"
         NofBarElements     = "3"
      />
   </OBJECTS>
 
   <INTERCONNECTIONS>
      <Connection
         RBC.PosA = "0,0,0"
         RBC.PosB = "0,0,10"
         RBC.VelA = "0,0,0"
         RBC.VelB = "0,0,0"
         RBC.ForceB1a = "0,0,0"
         RBC.ForceB1b = "0,0,0"
         RBC.ForceB2a = "0,0,0"
         RBC.ForceB2b = "0,0,0"
         RBC.ForceB3a = "0,0,0"
         RBC.ForceB3b = "0,0,0"
      />
   </INTERCONNECTIONS>
 
   <INITIALIZATION>
      <InitialCondition
      />
   </INITIALIZATION>
 
   <SIMULATION>
      <Timing TStart="0" TEnd="10"/>
      <Integrator Method="RK45_i" NumCores="1" LogStates="0" UseRSSNorm="0">
      </Integrator>
      <!-- TODO migrate_v3: FileOutput="objects:states" -> configure via <OBSERVERS> section -->
   </SIMULATION>
</Contents>

This SimObject is referred to as Cable/RigidBarCable