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add torque constraint

This commit is contained in:
cosmic_power 2023-11-12 22:53:56 +08:00
parent 9101af1e35
commit a49dca571d
4 changed files with 17 additions and 10 deletions
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Parallel/TwoBar_constraint.output/TwoBar_constraint.sbr
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Parallel/TwoBar_constraint.output/TwoBar_constraint.sir
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Parallel/TwoBar_constraint.output/TwoBar_constraint.spckst
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@ -4,13 +4,15 @@
! State Sets
!**********************************************************************
stateset.begin ( $ST___Dummy__ )
stset.constr.f ( 1 , $L_1 ) = -1.9593886667068838E-01 ! Constraint forces
stset.constr.f ( 1 , $L_1 ) = 0.0000000000000000E+00 ! Constraint forces
stset.constr.f ( 2 , $L_1 ) = 0.0000000000000000E+00 ! Constraint forces
stset.constr.f ( 3 , $L_1 ) = -1.9593886667068838E-01 ! Constraint forces
stset.constr.f ( 4 , $L_1 ) = 0.0000000000000000E+00 ! Constraint forces
stset.joint.st.pos ( 1 , $J_Body2 ) = -1.0471975360365788E+00 ! Joint position states
stset.joint.st.vel ( 1 , $J_Body2 ) = -1.2566371900946920E+00 ! Joint velocity states
stateset.end ( $ST___Dummy__ )
stset.time ( $ST___Dummy__ ) = 2.0000000000000000E+00 ! Time
stset.model.data.redundancy ( $ST___Dummy__ ) = 'eJxjYGBgYMSCkywTzYyMLQ3MLU2TzZOTU43TUsxNLS1MDEzMDBONzBIBjboIczgAAAAAAAAA' ! Constraint redundancy data
stset.model.data.dependency ( $ST___Dummy__ ) = 'eJxjYGBgYETDSZaJZkbGlgbmlqbJ5snJqcZpKeamlhYmBiZmholGZokAjYIIcjQAAAAAAAAA' ! Solver state dependency data
stset.model.data.redundancy ( $ST___Dummy__ ) = 'eJxjZGBgYGSAAEYkbJySmmaammJobGmebJSWam5hZmpoYZiSaGBkZJqabGYEAJfiCMw4AAAAAAAAAA==' ! Constraint redundancy data
stset.model.data.dependency ( $ST___Dummy__ ) = 'eJxjYGBgYETDximpaaapKYbGlubJRmmp5hZmpoYWhimJBkZGpqnJZkYAl6IIyzQAAAAAAAAA' ! Solver state dependency data

19
Parallel/TwoBar_constraint.spck
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@ -12,7 +12,7 @@ version.build = 66
!**********************************************************************
gravity ( 1 ) = 0.0000000000000000E+00 ! Gravity
gravity ( 2 ) = 0.0000000000000000E+00 ! Gravity
gravity ( 3 ) = -9.8100000000000005E+00 ! Gravity
gravity ( 3 ) = 0.0000000000000000E+00 ! Gravity
vehicle.startvel = 0.0000000000000000E+00 ! Vehicle initial velocity
vehicle.applystartvel = 0 ! Apply vehicle initial velocity at solver start
glob.compat.flxnodeori = 0 ! Flexbody Node Orientation Method
@ -287,7 +287,6 @@ marker.pos ( 1 , $M_Body1_GC ) = { $G_DH1.$
joint.from ( $J_Body1 ) = $M_Isys ! From Marker
joint.to ( $J_Body1 ) = $M_Body1_BRF ! To Marker
joint.type ( $J_Body1 ) = 29 ! Type
joint.st.vel ( 1 , $J_Body1 ) = 0.0000000000000000E+00 ! Velocity
joint.par ( 1 , $J_Body1 ) = 3.0000000000000000E+00 ! [-] Axis of motion
joint.par ( 2 , $J_Body1 ) = { 30 deg } ! [rad] Angle at t = 0
joint.par ( 3 , $J_Body1 ) = 1.0000000000000001E-01 ! [rad] Amplitude
@ -387,8 +386,8 @@ marker.pos ( 1 , $M_Body2_GC ) = { $G_DH2.$
joint.from ( $J_Body2 ) = $M_Body1_Top ! From Marker
joint.to ( $J_Body2 ) = $M_Body2_BRF ! To Marker
joint.type ( $J_Body2 ) = 3 ! Type
joint.st.pos ( 1 , $J_Body2 ) = { -60 deg } ! Position
joint.st.vel ( 1 , $J_Body2 ) = 0.0000000000000000E+00 ! Velocity
joint.st.pos ( 1 , $J_Body2 ) = -1.0471975511965976E+00 ! Position
joint.st.vel ( 1 , $J_Body2 ) = -1.2566370614359172E+00 ! Velocity
prim.type ( $P_Body2_Joint ) = 2 ! Type
prim.ref ( $P_Body2_Joint ) = $M_Body2_BRF ! Reference Marker
@ -450,12 +449,17 @@ prim.par ( 11 , $P_Body2_Link ) = 0.00000000
constr.from ( $L_1 ) = $M_Isys ! From Marker
constr.to ( $L_1 ) = $M_Body2_Top ! To Marker
constr.type ( $L_1 ) = 25 ! Type
constr.par ( 1 , $L_1 ) = 0.0000000000000000E+00 ! [-] Lock Rotation in alpha
constr.par ( 2 , $L_1 ) = 0.0000000000000000E+00 ! [-] Lock Rotation in beta
constr.f ( 1 , $L_1 ) = 0.0000000000000000E+00 ! Forces
constr.f ( 2 , $L_1 ) = 0.0000000000000000E+00 ! Forces
constr.f ( 3 , $L_1 ) = 0.0000000000000000E+00 ! Forces
constr.f ( 4 , $L_1 ) = 0.0000000000000000E+00 ! Forces
constr.par ( 1 , $L_1 ) = 1.0000000000000000E+00 ! [-] Lock Rotation in alpha
constr.par ( 2 , $L_1 ) = 1.0000000000000000E+00 ! [-] Lock Rotation in beta
constr.par ( 3 , $L_1 ) = 0.0000000000000000E+00 ! [-] Lock Rotation in gamma
constr.par ( 4 , $L_1 ) = 0.0000000000000000E+00 ! [-] Lock Transl. in x of M_k
constr.par ( 5 , $L_1 ) = 1.0000000000000000E+00 ! [-] Lock Transl. in y of M_k
constr.par ( 6 , $L_1 ) = 1.0000000000000000E+00 ! [-] Lock Transl. in z of M_k
constr.par ( 7 , $L_1 ) = 0.0000000000000000E+00 ! [-] Rotation sequence
!**********************************************************************
! Sensors
@ -469,4 +473,5 @@ sensor.to ( $S_2 ) = $M_Body2_G
sensor.from ( $S_end ) = $M_Isys ! From Marker
sensor.to ( $S_end ) = $M_Body2_Top ! To Marker
model.data.redundancy = 'eJxjZGBgYGSAABgNAsYpqWmmqSmGxpbmyUZpqeYWZqaGFoYpiQZGRqapyWZGAJeWCMo4AAAAAAAAAA==' ! Constraint redundancy data
model.data.dependency = 'eJxjYGBgYETDximpaaapKYbGlubJRmmp5hZmpoYWhimJBkZGpqnJZkYAl6IIyzQAAAAAAAAA' ! Solver state dependency data