Description

This works exactly as ChBeamSectionEulerAdvancedGeneric, but adds the effect of Jyy Jzz rotational sectional inertias.

The Jxx inertia of the Euler base class is automatically computed from Jyy Jzz by the polar theorem.

#include <ChBeamSectionEuler.h>

Inheritance diagram for chrono::fea::ChBeamSectionRayleighAdvancedGeneric:

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Collaboration diagram for chrono::fea::ChBeamSectionRayleighAdvancedGeneric:

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Public Member Functions
	ChBeamSectionRayleighAdvancedGeneric (const double mAx, const double mTxx, const double mByy, const double mBzz, const double malpha, const double mCy, const double mCz, const double mSy, const double mSz, const double mmu, const double mJyy, const double mJzz, const double mJyz, const double mMy=0, const double mMz=0)

virtual void	SetInertiasPerUnitLength (const double mJyy, const double mJzz, const double mJyz)
	Set the Jyy Jzz Jyz components of the sectional inertia per unit length, in centerline reference, measured along centerline main axes. More...

virtual void	SetMainInertiasInMassReference (double Jmyy, double Jmzz, double phi)
	Set inertia moments, per unit length, as assumed computed in the Ym Zm "mass reference" frame, ie. More...

virtual void	GetMainInertiasInMassReference (double &Jmyy, double &Jmzz, double &phi)
	Get inertia moments, per unit length, as assumed computed in the Ym Zm "mass reference" frame, and the rotation phi of that frame, ie. More...

virtual void	ComputeInertiaMatrix (ChMatrixNM< double, 6, 6 > &M) override
	Compute the 6x6 sectional inertia matrix, as in {x_momentum,w_momentum}=[Mm]{xvel,wvel}.

virtual void	ComputeInertiaDampingMatrix (ChMatrixNM< double, 6, 6 > &Ri, const ChVector<> &mW) override
	Compute the 6x6 sectional inertia damping matrix [Ri] (gyroscopic matrix damping) More...

virtual void	ComputeInertiaStiffnessMatrix (ChMatrixNM< double, 6, 6 > &Ki, const ChVector<> &mWvel, const ChVector<> &mWacc, const ChVector<> &mXacc) override
	Compute the 6x6 sectional inertia stiffness matrix [Ki^]. More...

virtual void	ComputeQuadraticTerms (ChVector<> &mF, ChVector<> &mT, const ChVector<> &mW) override
	Compute the centrifugal term and gyroscopic term. More...

Public Member Functions inherited from chrono::fea::ChBeamSectionEulerAdvancedGeneric
	ChBeamSectionEulerAdvancedGeneric (const double mAx, const double mTxx, const double mByy, const double mBzz, const double malpha, const double mCy, const double mCz, const double mSy, const double mSz, const double mmu, const double mJxx, const double mMy=0, const double mMz=0)

virtual void	SetAxialRigidity (const double mv)
	Sets the axial rigidity, usually A*E for uniform elasticity, but for nonuniform elasticity here you can put a value ad-hoc from a preprocessor.

virtual void	SetXtorsionRigidity (const double mv)
	Sets the torsion rigidity, for torsion about X axis, at elastic center, usually J*G for uniform elasticity, but for nonuniform elasticity here you can put a value ad-hoc from a preprocessor.

virtual void	SetYbendingRigidity (const double mv)
	Sets the bending rigidity, for bending about Y axis, at elastic center, usually Iyy*E for uniform elasticity, but for nonuniform elasticity here you can put a value ad-hoc from a preprocessor.

virtual void	SetZbendingRigidity (const double mv)
	Sets the bending rigidity, for bending about Z axis, at elastic center, usually Izz*E for uniform elasticity, but for nonuniform elasticity here you can put a value ad-hoc from a preprocessor.

virtual void	SetSectionRotation (const double mv)
	Set the rotation in [rad], abour elastic center, of the Y Z axes for which the YbendingRigidity and ZbendingRigidity values are defined.

virtual void	SetCentroidY (const double mv)
	Sets the Y position of the elastic center respect to centerline.

virtual void	SetCentroidZ (const double mv)
	Sets the Z position of the elastic center respect to centerline.

virtual void	SetShearCenterY (const double mv)
	Sets the Y position of the shear center respect to centerline.

virtual void	SetShearCenterZ (const double mv)
	Sets the Z position of the shear center respect to centerline.

virtual void	SetMassPerUnitLength (const double mv)
	Set mass per unit length, ex.SI units [kg/m] For uniform density it would be A*density, but for nonuniform density here you can put a value ad-hoc from a preprocessor.

virtual void	SetInertiaJxxPerUnitLength (const double mv)
	Set the Jxx component of the inertia per unit length (polar inertia), computed at centerline. More...

virtual void	SetInertiaJxxPerUnitLengthInMassReference (const double mv)
	Set inertia moment per unit length Jxx_massref, as assumed computed in the "mass reference" frame, ie. More...

virtual double	GetInertiaJxxPerUnitLengthInMassReference ()
	Get inertia moment per unit length Jxx_massref, as assumed computed in the "mass reference" frame, ie. More...

void	SetCenterOfMass (double my, double mz)
	"mass reference": set the displacement of the center of mass respect to the section centerline reference.

double	GetCenterOfMassY ()

double	GetCenterOfMassZ ()

virtual double	GetAxialRigidity () const override
	Gets the axial rigidity, usually A*E, but might be ad hoc.

virtual double	GetXtorsionRigidity () const override
	Gets the torsion rigidity, for torsion about X axis at elastic center, usually J*G, but might be ad hoc.

virtual double	GetYbendingRigidity () const override
	Gets the bending rigidity, for bending about Y axis at elastic center, usually Iyy*E, but might be ad hoc.

virtual double	GetZbendingRigidity () const override
	Gets the bending rigidity, for bending about Z axis at elastic center, usually Izz*E, but might be ad hoc.

virtual double	GetSectionRotation () const override
	Set the rotation of the Y Z section axes for which the YbendingRigidity and ZbendingRigidity are defined.

virtual double	GetCentroidY () const override
	Gets the Y position of the elastic center respect to centerline.

virtual double	GetCentroidZ () const override
	Gets the Z position of the elastic center respect to centerline.

virtual double	GetShearCenterY () const override
	Gets the Y position of the shear center respect to centerline.

virtual double	GetShearCenterZ () const override
	Gets the Z position of the shear center respect to centerline.

virtual double	GetMassPerUnitLength () const override
	Get mass per unit length, ex.SI units [kg/m].

virtual double	GetInertiaJxxPerUnitLength () const override
	Get the Jxx component of the inertia per unit length (polar inertia), at centerline.

Public Member Functions inherited from chrono::fea::ChBeamSectionEuler
virtual void	ComputeInertialForce (ChVector<> &mFi, ChVector<> &mTi, const ChVector<> &mWvel, const ChVector<> &mWacc, const ChVector<> &mXacc)
	Compute the total inertial forces (per unit length). More...

void	SetArtificialJyyJzzFactor (double mf)
	The Euler beam model has no rotational inertia per each section, assuming mass is concentrated on the centerline. More...

double	GetArtificialJyyJzzFactor ()

virtual void	SetBeamRaleyghDampingAlpha (double malpha)
	Set the "alpha" Rayleigh damping ratio, the mass-proportional structural damping in: R = alphaM + betaK

double	GetBeamRaleyghDampingAlpha ()

virtual void	SetBeamRaleyghDampingBeta (double mbeta)
	Set the "beta" Rayleigh damping ratio, the stiffness-proportional structural damping in: R = alphaM + betaK

double	GetBeamRaleyghDampingBeta ()

virtual void	SetBeamRaleyghDamping (double mbeta, double malpha=0)
	Set both beta and alpha coefficients in Rayleigh damping model: R = alphaM + betaK. More...

Public Member Functions inherited from chrono::fea::ChBeamSection
void	SetDrawShape (std::shared_ptr< ChBeamSectionShape > mshape)
	Set the graphical representation for this section. More...

std::shared_ptr< ChBeamSectionShape >	GetDrawShape () const
	Get the drawing shape of this section (i.e.a 2D profile used for drawing 3D tesselation and visualization) By default a thin square section, use SetDrawShape() to change it.

void	SetDrawThickness (double thickness_y, double thickness_z)
	Shortcut: adds a ChBeamSectionShapeRectangular for visualization as a centered rectangular beam, and sets its width/height. More...

void	SetDrawCircularRadius (double draw_rad)
	Shortcut: adds a ChBeamSectionShapeCircular for visualization as a centered circular beam, and sets its radius. More...

void	SetCircular (bool ic)
	OBSOLETE only for backward compability

Protected Attributes
double	Jzz

double	Jyy

double	Jyz

Protected Attributes inherited from chrono::fea::ChBeamSectionEulerAdvancedGeneric
double	Ax

double	Txx

double	Byy

double	Bzz

double	alpha

double	Cy

double	Cz

double	Sy

double	Sz

double	mu

double	Jxx

double	My

double	Mz

Protected Attributes inherited from chrono::fea::ChBeamSectionEuler
double	rdamping_beta

double	rdamping_alpha

double	JzzJyy_factor

Additional Inherited Members
Public Attributes inherited from chrono::fea::ChBeamSectionEuler
bool	compute_inertia_damping_matrix = true
	Flag that turns on/off the computation of the [Ri] 'gyroscopic' inertial damping matrix. More...

bool	compute_inertia_stiffness_matrix = true
	Flag that turns on/off the computation of the [Ki] inertial stiffness matrix. More...

bool	compute_Ri_Ki_by_num_diff = false
	Flag for computing the Ri and Ki matrices via numerical differentiation even if an analytical expression is provided. More...

Constructor & Destructor Documentation

◆ ChBeamSectionRayleighAdvancedGeneric()

chrono::fea::ChBeamSectionRayleighAdvancedGeneric::ChBeamSectionRayleighAdvancedGeneric	(	const double	mAx,
		const double	mTxx,
		const double	mByy,
		const double	mBzz,
		const double	malpha,
		const double	mCy,
		const double	mCz,
		const double	mSy,
		const double	mSz,
		const double	mmu,
		const double	mJyy,
		const double	mJzz,
		const double	mJyz,
		const double	mMy = `0`,
		const double	mMz = `0`
	)

inline

Parameters

mAx	axial rigidity
mTxx	torsion rigidity
mByy	bending regidity about yy
mBzz	bending rigidity about zz
malpha	section rotation about elastic center [rad]
mCy	elastic center y displacement respect to centerline
mCz	elastic center z displacement respect to centerline
mSy	shear center y displacement respect to centerline
mSz	shear center z displacement respect to centerline
mmu	mass per unit length
mJyy	inertia Jyy per unit lenght, in centerline reference, measured along centerline main axes
mJzz	inertia Jzz per unit lenght, in centerline reference, measured along centerline main axes
mJyz	inertia Jyz per unit lenght, in centerline reference, measured along centerline main axes
mMy	mass center y displacement respect to centerline
mMz	mass center z displacement respect to centerline

Member Function Documentation

◆ ComputeInertiaDampingMatrix()

void chrono::fea::ChBeamSectionRayleighAdvancedGeneric::ComputeInertiaDampingMatrix	(	ChMatrixNM< double, 6, 6 > &	Ri,
		const ChVector<> &	mW
	)

overridevirtual

Compute the 6x6 sectional inertia damping matrix [Ri] (gyroscopic matrix damping)

Parameters

Ri	6x6 sectional inertial-damping (gyroscopic damping) matrix values here
mW	current angular velocity of section, in material frame

Reimplemented from chrono::fea::ChBeamSectionEulerAdvancedGeneric.

◆ ComputeInertiaStiffnessMatrix()

void chrono::fea::ChBeamSectionRayleighAdvancedGeneric::ComputeInertiaStiffnessMatrix	(	ChMatrixNM< double, 6, 6 > &	Ki,
		const ChVector<> &	mWvel,
		const ChVector<> &	mWacc,
		const ChVector<> &	mXacc
	)

overridevirtual

Compute the 6x6 sectional inertia stiffness matrix [Ki^].

Parameters

Ki	6x6 sectional inertial-stiffness matrix [Ki^] values here
mWvel	current angular velocity of section, in material frame
mWacc	current angular acceleration of section, in material frame
mXacc	current acceleration of section, in material frame (not absolute!)

Reimplemented from chrono::fea::ChBeamSectionEulerAdvancedGeneric.

◆ ComputeQuadraticTerms()

void chrono::fea::ChBeamSectionRayleighAdvancedGeneric::ComputeQuadraticTerms	(	ChVector<> &	mF,
		ChVector<> &	mT,
		const ChVector<> &	mW
	)

overridevirtual

Compute the centrifugal term and gyroscopic term.

Parameters

mF	centrifugal term (if any) returned here
mT	gyroscopic term returned here
mW	current angular velocity of section, in material frame

Reimplemented from chrono::fea::ChBeamSectionEulerAdvancedGeneric.

◆ GetMainInertiasInMassReference()

void chrono::fea::ChBeamSectionRayleighAdvancedGeneric::GetMainInertiasInMassReference	(	double &	Jmyy,
		double &	Jmzz,
		double &	phi
	)

virtual

Get inertia moments, per unit length, as assumed computed in the Ym Zm "mass reference" frame, and the rotation phi of that frame, ie.

inertias centered at the center of mass and rotated by phi angle to match the main axes of inertia: \( Jm_{yy} = \int_\Omega \rho z_{m}^2 d\Omega \), \( Jm_{zz} = \int_\Omega \rho y_{m}^2 d\Omega \). Assuming the center of mass is already set.

◆ SetInertiasPerUnitLength()

void chrono::fea::ChBeamSectionRayleighAdvancedGeneric::SetInertiasPerUnitLength	(	const double	mJyy,
		const double	mJzz,
		const double	mJyz
	)

virtual

Set the Jyy Jzz Jyz components of the sectional inertia per unit length, in centerline reference, measured along centerline main axes.

These are defined as: \( J_{yy} = \int_\Omega \rho z^2 d\Omega \), also Jyy = Mm(4,4) \( J_{zz} = \int_\Omega \rho y^2 d\Omega \), also Jzz = Mm(5,5) \( J_{yz} = \int_\Omega \rho y z d\Omega \), also Jyz = -Mm(4,5) = -Mm(5,4) It is not needed to enter also Jxx because Jxx=(Jzz+Jyy) by the polar theorem.

◆ SetMainInertiasInMassReference()

void chrono::fea::ChBeamSectionRayleighAdvancedGeneric::SetMainInertiasInMassReference	(	double	Jmyy,
		double	Jmzz,
		double	phi
	)

virtual

Set inertia moments, per unit length, as assumed computed in the Ym Zm "mass reference" frame, ie.

centered at the center of mass and rotated by phi angle to match the main axes of inertia: \( Jm_{yy} = \int_\Omega \rho z_{m}^2 d\Omega \), \( Jm_{zz} = \int_\Omega \rho y_{m}^2 d\Omega \). Assuming the center of mass is already set.

The documentation for this class was generated from the following files:

/builds/uwsbel/chrono/src/chrono/fea/ChBeamSectionEuler.h
/builds/uwsbel/chrono/src/chrono/fea/ChBeamSectionEuler.cpp

Description

Public Member Functions

Protected Attributes

Additional Inherited Members

Constructor & Destructor Documentation

◆ ChBeamSectionRayleighAdvancedGeneric()

Member Function Documentation

◆ ComputeInertiaDampingMatrix()

◆ ComputeInertiaStiffnessMatrix()

◆ ComputeQuadraticTerms()

◆ GetMainInertiasInMassReference()

◆ SetInertiasPerUnitLength()

◆ SetMainInertiasInMassReference()