From a49dca571d80917937577993a3da32e2743f1005 Mon Sep 17 00:00:00 2001 From: cosmic_power Date: Sun, 12 Nov 2023 22:53:56 +0800 Subject: [PATCH] add torque constraint --- .../TwoBar_constraint.sbr | Bin 102726 -> 100266 bytes .../TwoBar_constraint.sir | Bin 82752 -> 82988 bytes .../TwoBar_constraint.spckst | 8 +++++--- Parallel/TwoBar_constraint.spck | 19 +++++++++++------- 4 files changed, 17 insertions(+), 10 deletions(-) diff --git a/Parallel/TwoBar_constraint.output/TwoBar_constraint.sbr b/Parallel/TwoBar_constraint.output/TwoBar_constraint.sbr index 592c3a23bd4ad4cacd93e7c6f03ba0c3fe3c0c58..77a3b5fec71cdd579503c47fc1ce7ef3df20e36b 100644 GIT binary patch delta 10475 zcmZvBby!s07w$KMgyb-UG}1_ShqN?Ex3sjBH1mOiGz^CZ>5v9#>5vcv1XPd)Ns&$g zxdV*;?){!Sf1JJEcdd8rb@th7pLu3_bJ0p-(c&JW^YDo9bBXW(?6~*gwub)~q^SNb zjq`uuXmG=mnikv-*no@~HR{7f-0lO3GE}Wto5}7 zSVb_V*9;jV4il*2WB`7$G6J@A5U}@+28xMHrVG9`nr#u$Lclp9g2?_Rhax=$%xRBc zi2+yoB(RD-P|ZvXP&4p=ZEj6YW?CSU0RsN_7CIs(m_op`TUbhC02netz_ovLv_L)r 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58bad7f..c33d093 100644 --- a/Parallel/TwoBar_constraint.output/TwoBar_constraint.spckst +++ b/Parallel/TwoBar_constraint.output/TwoBar_constraint.spckst @@ -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 diff --git a/Parallel/TwoBar_constraint.spck b/Parallel/TwoBar_constraint.spck index 3ac0acb..cd937ab 100644 --- a/Parallel/TwoBar_constraint.spck +++ b/Parallel/TwoBar_constraint.spck @@ -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