Ring

Collaboration diagram for Ring:

Author

Jørgen Haavind Jensen

Date

Q3 2011 JHJ: Initial version.

Todo:

Complete documentation of conf. params and check example file.

Example configuration excerpt

<Lib
   LibName            = "marine_elements"
   SimObject          = "RbCable/Ring"
   Name               = "C"
   Length             = "20"
   numElements        = "7"
   AlphaN             = "1.0"
   BetaN              = "1.0"
   EpsilonN           = "0.0001"
   AlphaM             = "1.0"
   BetaM              = "1.0"
   EpsilonM           = "0.0001"
   AlphaT             = "1.0"
   BetaT              = "1.0"
   EpsilonT           = "0.0001"
   Weight             = "200"
   Radius             = "0.1"
   BouyancyFactor     = "0.1"
   CentrePosInit      = "0.0,0.0,0.0"
   Damping_Tangential = "0.01"
   Damping_Normal     = "1.2"
/>

Input Ports

If addinional connections are specified in configuration parameters, then the following are the simObjects input ports:

Name	Width	Description
Force<1>...Force<NumConnectors>	<NumInputsPerConnector>	Additional connections

Output Ports

If addinional connections are specified in configuration parameters, then the following are the simObjects output ports:

Name	Width	Description
ConnectorPos<1>...Force<NumConnectors>	<NumInputsPerConnector>	Additional connections

Configuration parameters

Name	Width	Description
Length	1	Length of cable
numElements	1	Number of internal mass elements.
AlphaN	1	...
BetaN	1	...
EpsilonN	1	...
AlphaM	1	...
BetaM	1	...
EpsilonM	1	...
AlphaT	1	...
BetaT	1	...
EpsilonT	1	...
Weight	1	Weight of the cable.
Radius	1	Radius of the cable.
BouyancyFactor	1	... (Default: 0.1)
CentrePosInit	1	... (Default: "0.0,0.0,0.0")
AdditionalConnectors	1	Whether or not there are additional connectors. If there are, NumConnectors and NumInputsPerConnector needs to be set (Default: false)
NumConnectors	1	Number of additional connectors (Default: 0)
NumInputsPerConnector	1	Width of additional connectors (Default: 0)
Damping_Tangential	1	Tangential damping coefficient. (Default: 0)
Damping_Normal	1	Normal damping coefficient. (Default: 0)

Initial conditions

Name	Width	Description
pos<i>	3	Position of point \(i \in {1\cdots\text{numElements}}\).
vel<i>	3	Velocity of point \(i \in {1\cdots\text{numElements}}\).
theta<i>	4	Orientation in quaternion of point \(i \in {1\cdots\text{numElements}}\)..
omega<i>	3	Angular velocity in rad per second of point \(i \in {1\cdots\text{numElements}}\)..

Full example file

<Contents>
   <OBJECTS>
      <Lib
         LibName            = "marine_elements"
         SimObject          = "RbCable/Ring"
         Name               = "C"
         Length             = "20"
         numElements        = "7"
         AlphaN             = "1.0"
         BetaN              = "1.0"
         EpsilonN           = "0.0001"
         AlphaM             = "1.0"
         BetaM              = "1.0"
         EpsilonM           = "0.0001"
         AlphaT             = "1.0"
         BetaT              = "1.0"
         EpsilonT           = "0.0001"
         Weight             = "200"
         Radius             = "0.1"
         BouyancyFactor     = "0.1"
         CentrePosInit      = "0.0,0.0,0.0"
         Damping_Tangential = "0.01"
         Damping_Normal     = "1.2"
      />
   </OBJECTS>
 
   <INTERCONNECTIONS>
      <Connection
      />
   </INTERCONNECTIONS>
 
   <INITIALIZATION>
      <InitialCondition
      />
   </INITIALIZATION>
 
   <INTEGRATION>
      <Engine
         IntegratorMethod           = "2"
         NumCores                   = "1"
         TOutput                    = "0, 1, 10"
         LogStates                  = "0"
         Stepsize                   = "1e-4"
         HMax                       = "100"
         HMin                       = "1e-6"
         AbsTol                     = "1e-7"
         RelTol                     = "1e-7"
         UseRSSNormInsteadOfInfNorm = "0"
         FileOutput                 = "objects:all"
      />
   </INTEGRATION>
</Contents>