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.

Warning

This SimObject does not work as intended.

The model takes no gravity, buoyancy, current or wave load: it has no Environment. Owner ruling R110 brings the wave surface (R66) and the wave excitation (R67) to it only where its documentation puts it near the surface, and nothing here does, so it takes neither (MARE-0313).

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.

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"
      />
   </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