Description

Base class for all constitutive models of sections of Timoshenko beams.

To be used with ChElementBeamTaperedTimoshenko.

#include <ChBeamSectionTaperedTimoshenko.h>

Inheritance diagram for chrono::fea::ChBeamSectionTimoshenkoAdvancedGeneric:

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Collaboration diagram for chrono::fea::ChBeamSectionTimoshenkoAdvancedGeneric:

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Public Member Functions
	ChBeamSectionTimoshenkoAdvancedGeneric (const double mAx, const double mTxx, const double mByy, const double mBzz, const double mGAyy, const double mGAzz, const DampingCoefficients mdamping_coeff, 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=0, const double mQy=0, const double mQz=0, const double mMy=0, const double mMz=0)

virtual void	SetShearRigidityY (const double mv)
	Sets the shear rigidity, for shearing along Y axis, at shear center, usually Ayy*G for uniform elasticity, but for nonuniform elasticity here you can put a value ad-hoc from a preprocessor.

virtual void	SetShearRigidityZ (const double mv)
	Sets the shear rigidity, for shearing along Z axis, at shear center, usually Azz*G for uniform elasticity, but for nonuniform elasticity here you can put a value ad-hoc from a preprocessor.

virtual double	GetShearRigidityY () const
	Gets the shear rigidity, for shearing along Y axis at shear center, usually Ayy*G, but might be ad hoc.

virtual double	GetShearRigidityZ () const
	Gets the shear rigidity, for shearing along Z axis at shear center, usually Azz*G, but might be ad hoc.

virtual void	SetRayleighDamping (DampingCoefficients mdamping_coeff)
	Sets the damping parameters of section. More...

virtual DampingCoefficients	GetRayleighDamping () const
	Gets the damping parameters of section.

virtual void	SetInertiasPerUnitLength (const double mJyy, const double mJzz, const double mJyz, const double mQy, const double mQz)
	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 (const double Jmyy, const double Jmzz, const double Jmyz, const double mass_phi, const double Qmy, const double Qmz)
	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 &Jmyz, double &mass_phi, double &Qmy, double &Qmz)
	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 double	GetInertiaJxxPerUnitLengthInMassReference () const
	Get inertia moment per unit length Jxx_massref, as assumed computed in the "mass reference" frame, ie. More...

virtual double	GetInertiaJyyPerUnitLength () const
	Get the Jyy component of the sectional inertia per unit length, in centerline reference, measured along centerline main axes.

virtual double	GetInertiaJzzPerUnitLength () const
	Get the Jzz component of the sectional inertia per unit length, in centerline reference, measured along centerline main axes.

virtual double	GetInertiaJyzPerUnitLength () const
	Get the Jyz component of the sectional inertia per unit length, in centerline reference, measured along centerline main axes.

virtual double	GetInertiaQyPerUnitLength () const
	Get the Qy component of mass moment of area per unit length, in centerline reference, measured along centerline main axes.

virtual double	GetInertiaQzPerUnitLength () const
	Get the Qz component of mass moment of area per unit length, in centerline reference, measured along centerline main axes.

virtual void	SetArtificialFactorForShearDamping (double mv)
	Set the artificial correction factor for the structural damping model in the shear deformation, as default it's 1.0 and don't have any correction effect. More...

virtual double	GetArtificialFactorForShearDamping () const
	Get the artificial correction factor for the structural damping model in the shear deformation.

Public Member Functions inherited from 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)

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 (ChMatrix66d &M) override
	Compute the 6x6 sectional inertia matrix, as in {x_momentum,w_momentum}=[Mm]{xvel,wvel}.

virtual void	ComputeInertiaDampingMatrix (ChMatrix66d &Ri, const ChVector3d &mW) override
	Compute the 6x6 sectional inertia damping matrix [Ri] (gyroscopic matrix damping) More...

virtual void	ComputeInertiaStiffnessMatrix (ChMatrix66d &Ki, const ChVector3d &mWvel, const ChVector3d &mWacc, const ChVector3d &mXacc) override
	Compute the 6x6 sectional inertia stiffness matrix [Ki^]. More...

virtual void	ComputeQuadraticTerms (ChVector3d &mF, ChVector3d &mT, const ChVector3d &mW) override
	Compute the centrifugal term and gyroscopic term.

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	SetTorsionRigidityX (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	SetBendingRigidityY (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	SetBendingRigidityZ (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.

virtual double	GetTorsionRigidityX () const override
	Gets the torsion rigidity, for torsion about X axis at elastic center, usually J*G.

virtual double	GetBendingRigidityY () const override
	Gets the bending rigidity, for bending about Y axis at elastic center, usually Iyy*E.

virtual double	GetBendingRigidityZ () const override
	Gets the bending rigidity, for bending about Z axis at elastic center, usually Izz*E.

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 (ChVector3d &mFi, ChVector3d &mTi, const ChVector3d &mWvel, const ChVector3d &mWacc, const ChVector3d &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	SetRayleighDampingAlpha (double malpha)
	Set the "alpha" Rayleigh damping ratio, the mass-proportional structural damping in: R = alphaM + betaK.

double	GetRayleighDampingAlpha ()

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

double	GetRayleighDampingBeta ()

virtual void	SetRayleighDamping (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	GAyy
	shear regidity along yy, evaluated in the elastic center and elastic principal axis. GAyy=kyGA

double	GAzz
	shear regidity along zz, evaluated in the elastic center and elastic principal axis. GAzz=kzGA

double	Qy
	Mass moment of area, defined as : \( Q_{y} = \int_\Omega \rho z d\Omega \), \( Q_{z} = \int_\Omega \rho y d\Omega \),. More...

double	Qz
	mass moment of area along zz, in centerline reference, measured along centerline main axes

DampingCoefficients	rdamping_coeff
	Damping parameters. More...

double	artificial_factor_for_shear_damping = 1.0
	An artificial correction factor for the structural damping model in the shear deformation, as default it's 1.0 and don't have any correction effect. More...

Protected Attributes inherited from chrono::fea::ChBeamSectionRayleighAdvancedGeneric
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

◆ ChBeamSectionTimoshenkoAdvancedGeneric()

chrono::fea::ChBeamSectionTimoshenkoAdvancedGeneric::ChBeamSectionTimoshenkoAdvancedGeneric	(	const double	mAx,
		const double	mTxx,
		const double	mByy,
		const double	mBzz,
		const double	mGAyy,
		const double	mGAzz,
		const DampingCoefficients	mdamping_coeff,
		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 = `0`,
		const double	mQy = `0`,
		const double	mQz = `0`,
		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
mGAyy	shear rigidity along yy
mGAzz	shear rigidity along zz
mdamping_coeff	damping coefficients
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 const
mQy	inertia Qy per unit lenght, in centerline reference, measured along centerline main axes
mQz	inertia Qz 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

◆ GetInertiaJxxPerUnitLengthInMassReference()

virtual double chrono::fea::ChBeamSectionTimoshenkoAdvancedGeneric::GetInertiaJxxPerUnitLengthInMassReference ( ) const

inlinevirtual

Get inertia moment per unit length Jxx_massref, as assumed computed in the "mass reference" frame, ie.

centered at the center of mass NOTE: To be safe, it is recommended to use GetMainInertiasInMassReference() instead, because Qmy,Qmz are ignored, although they are exactly zero in theory.

◆ GetMainInertiasInMassReference()

void chrono::fea::ChBeamSectionTimoshenkoAdvancedGeneric::GetMainInertiasInMassReference	(	double &	Jmyy,
		double &	Jmzz,
		double &	Jmyz,
		double &	mass_phi,
		double &	Qmy,
		double &	Qmz
	)

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.

◆ SetArtificialFactorForShearDamping()

virtual void chrono::fea::ChBeamSectionTimoshenkoAdvancedGeneric::SetArtificialFactorForShearDamping ( double mv )

inlinevirtual

Set the artificial correction factor for the structural damping model in the shear deformation, as default it's 1.0 and don't have any correction effect.

But when the numerical divergence occured, you could try to set this value be larger than 1.0 to improve the numerical stability in long-time simulation.

◆ SetInertiasPerUnitLength()

void chrono::fea::ChBeamSectionTimoshenkoAdvancedGeneric::SetInertiasPerUnitLength	(	const double	mJyy,
		const double	mJzz,
		const double	mJyz,
		const double	mQy,
		const double	mQz
	)

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::ChBeamSectionTimoshenkoAdvancedGeneric::SetMainInertiasInMassReference	(	const double	Jmyy,
		const double	Jmzz,
		const double	Jmyz,
		const double	mass_phi,
		const double	Qmy,
		const double	Qmz
	)

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.

◆ SetRayleighDamping()

virtual void chrono::fea::ChBeamSectionTimoshenkoAdvancedGeneric::SetRayleighDamping ( DampingCoefficients mdamping_coeff )

inlinevirtual

Sets the damping parameters of section.

You have a chance to assign different coefficients for axial, bending and torsion directions. This would be helpful for those anisotropic material, such as wind turbine blade.

Member Data Documentation

◆ artificial_factor_for_shear_damping

double chrono::fea::ChBeamSectionTimoshenkoAdvancedGeneric::artificial_factor_for_shear_damping = 1.0

protected

An artificial correction factor for the structural damping model in the shear deformation, as default it's 1.0 and don't have any correction effect.

But when the numerical divergence occured, you could try to set this value be larger than 1.0 to improve the numerical stability in long-time simulation.

◆ Qy

double chrono::fea::ChBeamSectionTimoshenkoAdvancedGeneric::Qy

protected

Mass moment of area, defined as : \( Q_{y} = \int_\Omega \rho z d\Omega \), \( Q_{z} = \int_\Omega \rho y d\Omega \),.

mass moment of area along yy, in centerline reference, measured along centerline main axes

◆ rdamping_coeff

DampingCoefficients chrono::fea::ChBeamSectionTimoshenkoAdvancedGeneric::rdamping_coeff

protected

Damping parameters.

You could assign different Rayleigh damping coefficients for different dimensions: axial, bending, torsion.

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

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

Description

Public Member Functions

Protected Attributes

Additional Inherited Members

Constructor & Destructor Documentation

◆ ChBeamSectionTimoshenkoAdvancedGeneric()

Member Function Documentation

◆ GetInertiaJxxPerUnitLengthInMassReference()

◆ GetMainInertiasInMassReference()

◆ SetArtificialFactorForShearDamping()

◆ SetInertiasPerUnitLength()

◆ SetMainInertiasInMassReference()

◆ SetRayleighDamping()

Member Data Documentation

◆ artificial_factor_for_shear_damping

◆ Qy

◆ rdamping_coeff