prescribedRotation.H

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/*---------------------------------------------------------------------------*\
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-------------------------------------------------------------------------------
    Copyright (C) 2021 OpenCFD Ltd.
-------------------------------------------------------------------------------
License
    This file is part of OpenFOAM.
 
    OpenFOAM is free software: you can redistribute it and/or modify it
    under the terms of the GNU General Public License as published by
    the Free Software Foundation, either version 3 of the License, or
    (at your option) any later version.
 
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    FITNESS FOR A PARTICULAR PURPOSE.  See the GNU General Public License
    for more details.
 
    You should have received a copy of the GNU General Public License
    along with OpenFOAM.  If not, see <http://www.gnu.org/licenses/>.
 
Class
    Foam::RBD::restraints::prescribedRotation
 
Group
    grpRigidBodyDynamicsRestraints
 
Description
    Restraint setting angular velocity of the rigid body.
    Developed from the linear axial angular spring restraint.
 
    Adds a rotation along given axis to the body.
    Used for a combination of 6DOF bodies where one is driven by 6DOF and
    the other attached to it using specified rotation
    in the local reference frame.
 
Usage
    \table
        Property     | Description                  | Required | Default value
        referenceOrientation | Orientation          | no       | I
        axis         | Rotation axis (in reference) | yes      |
        omega        | Angular velocity (rad/s)     | yes      |
        relax        | Relax moment with previous iter | yes
        p            | Propoptional corrector for PDI | yes
        d            | Differential corrector for PDI | yes
        i            | Integral corrector for PDI     | yes
    \endtable
 
SourceFiles
    prescribedRotation.C
 
\*---------------------------------------------------------------------------*/
 
#ifndef prescribedRotation_H
#define prescribedRotation_H
 
#include "rigidBodyRestraint.H"
#include "Function1.H"
 
// * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * //
 
namespace Foam
{
namespace RBD
{
namespace restraints
{
 
/*---------------------------------------------------------------------------*\
                   Class prescribedRotation Declaration
\*---------------------------------------------------------------------------*/
 
class prescribedRotation
:
    public restraint
{
    // Private data
 
        //- Reference orientation where there is no moment
        tensor refQ_;
 
        //- Global unit axis around which the motion is sprung
        vector axis_;
 
        //- Rotational velocity [rad/sec]
        autoPtr<Function1<vector>> omegaSet_;
 
        //- Cache omega
        mutable vector omega_;
 
        //- Cache previous momentum
        mutable vector oldMom_;
 
        //- Relax momentum
        scalar relax_;
 
        //- PID constants
 
            mutable vector error0_;
 
            mutable vector integral0_;
 
            mutable scalar p_;
 
            mutable scalar i_;
 
            mutable scalar d_;
 
public:
 
    //- Runtime type information
    TypeName("prescribedRotation");
 
 
    // Constructors
 
        //- Construct from components
        prescribedRotation
        (
            const word& name,
            const dictionary& dict,
            const rigidBodyModel& model
        );
 
        //- Construct and return a clone
        virtual autoPtr<restraint> clone() const
        {
            return autoPtr<restraint>
            (
                new prescribedRotation(*this)
            );
        }
 
 
    //- Destructor
    virtual ~prescribedRotation();
 
 
    // Member Functions
 
        //- Accumulate the retraint internal joint forces into the tau field and
        //  external forces into the fx field
        virtual void restrain
        (
            scalarField& tau,
            Field<spatialVector>& fx,
            const rigidBodyModelState& state
        ) const;
 
        //- Update properties from given dictionary
        virtual bool read(const dictionary& dict);
 
        //- Write
        virtual void write(Ostream&) const;
};
 
 
// * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * //
 
} // End namespace restraints
} // End namespace RBD
} // End namespace Foam
 
// * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * //
 
#endif
 
// ************************************************************************* //