ANCF shells (demo_FEA_shellsANCF_3423.cpp)

Tutorial that teaches how to use the FEA module to perform FEA dynamics for shells of ANCF type.

// =============================================================================
// PROJECT CHRONO - http://projectchrono.org
//
// Copyright (c) 2014 projectchrono.org
// All rights reserved.
//
// Use of this source code is governed by a BSD-style license that can be found
// in the LICENSE file at the top level of the distribution and at
// http://projectchrono.org/license-chrono.txt.
//
// =============================================================================
// Authors: Milad Rakhsha, Radu Serban
// =============================================================================
//
// Demo on using ANCF shell elements
//
// =============================================================================
#include "chrono/physics/ChBodyEasy.h"
#include "chrono/physics/ChSystemSMC.h"
#include "chrono/fea/ChElementShellANCF_3423.h"
#include "chrono/fea/ChLinkNodeSlopeFrame.h"
#include "chrono/fea/ChLinkNodeFrame.h"
#include "chrono/fea/ChMesh.h"
#include "chrono/assets/ChVisualShapeFEA.h"
#include "chrono/solver/ChIterativeSolverLS.h"
#include "chrono_irrlicht/ChVisualSystemIrrlicht.h"
using namespace chrono;
using namespace chrono::fea;
using namespace chrono::irrlicht;
int main(int argc, char* argv[]) {
std::cout << "Copyright (c) 2017 projectchrono.org\nChrono version: " << CHRONO_VERSION << std::endl;
sys.SetNumThreads(std::min(4, ChOMP::GetNumProcs()), 0, 1);
std::cout << "-----------------------------------------------------------\n";
std::cout << "-----------------------------------------------------------\n";
std::cout << " ANCF Shell Elements demo with implicit integration \n";
std::cout << "-----------------------------------------------------------\n";
// Create a mesh, that is a container for groups of elements and their referenced nodes.
auto my_mesh = chrono_types::make_shared<ChMesh>();
// Geometry of the plate
double plate_lenght_x = 1;
double plate_lenght_y = 0.1;
double plate_lenght_z = 0.01;
// Specification of the mesh
int numDiv_x = 10;
int numDiv_y = 4;
int N_x = numDiv_x + 1;
int N_y = numDiv_y + 1;
// Number of elements in the z direction is considered as 1
int TotalNumElements = numDiv_x * numDiv_y;
int TotalNumNodes = N_x * N_y;
// For uniform mesh
double dx = plate_lenght_x / numDiv_x;
double dy = plate_lenght_y / numDiv_y;
double dz = plate_lenght_z;
// Create and add the nodes
for (int i = 0; i < TotalNumNodes; i++) {
// Node location
double loc_x = (i % N_x) * dx;
double loc_y = (i / N_x) % N_y * dy;
double loc_z = 0;
// Node direction
double dir_x = 0;
double dir_y = 0;
double dir_z = 1;
// Create the node
auto node =
chrono_types::make_shared<ChNodeFEAxyzD>(ChVector3d(loc_x, loc_y, loc_z), ChVector3d(dir_x, dir_y, dir_z));
node->SetMass(0);
// Fix all nodes along the axis X=0
if (i % (numDiv_x + 1) == 0)
node->SetFixed(true);
// Add node to mesh
my_mesh->AddNode(node);
}
// Get a handle to the tip node.
auto nodetip = std::dynamic_pointer_cast<ChNodeFEAxyzD>(my_mesh->GetNode(TotalNumNodes - 1));
// Create an orthotropic material.
// All layers for all elements share the same material.
double rho = 500;
ChVector3d E(2.1e7, 2.1e7, 2.1e7);
ChVector3d nu(0.3, 0.3, 0.3);
ChVector3d G(8.0769231e6, 8.0769231e6, 8.0769231e6);
auto mat = chrono_types::make_shared<ChMaterialShellANCF>(rho, E, nu, G);
// Create the elements
for (int i = 0; i < TotalNumElements; i++) {
// Adjacent nodes
int node0 = (i / numDiv_x) * N_x + i % numDiv_x;
int node1 = (i / numDiv_x) * N_x + i % numDiv_x + 1;
int node2 = (i / numDiv_x) * N_x + i % numDiv_x + 1 + N_x;
int node3 = (i / numDiv_x) * N_x + i % numDiv_x + N_x;
// Create the element and set its nodes.
auto element = chrono_types::make_shared<ChElementShellANCF_3423>();
element->SetNodes(std::dynamic_pointer_cast<ChNodeFEAxyzD>(my_mesh->GetNode(node0)),
std::dynamic_pointer_cast<ChNodeFEAxyzD>(my_mesh->GetNode(node1)),
std::dynamic_pointer_cast<ChNodeFEAxyzD>(my_mesh->GetNode(node2)),
std::dynamic_pointer_cast<ChNodeFEAxyzD>(my_mesh->GetNode(node3)));
// Set element dimensions
element->SetDimensions(dx, dy);
// Add a single layers with a fiber angle of 0 degrees.
element->AddLayer(dz, 0 * CH_DEG_TO_RAD, mat);
// Set other element properties
element->SetAlphaDamp(0.0); // Structural damping for this element
// Add element to mesh
my_mesh->AddElement(element);
}
// Add the mesh to the system
sys.Add(my_mesh);
// -------------------------------------
// Options for visualization in irrlicht
// -------------------------------------
auto visualizemeshA = chrono_types::make_shared<ChVisualShapeFEA>(my_mesh);
visualizemeshA->SetFEMdataType(ChVisualShapeFEA::DataType::NODE_SPEED_NORM);
visualizemeshA->SetColorscaleMinMax(0.0, 5.50);
visualizemeshA->SetShrinkElements(true, 0.85);
visualizemeshA->SetSmoothFaces(true);
my_mesh->AddVisualShapeFEA(visualizemeshA);
auto visualizemeshB = chrono_types::make_shared<ChVisualShapeFEA>(my_mesh);
visualizemeshB->SetFEMdataType(ChVisualShapeFEA::DataType::SURFACE);
visualizemeshB->SetWireframe(true);
visualizemeshB->SetDrawInUndeformedReference(true);
my_mesh->AddVisualShapeFEA(visualizemeshB);
auto visualizemeshC = chrono_types::make_shared<ChVisualShapeFEA>(my_mesh);
visualizemeshC->SetFEMglyphType(ChVisualShapeFEA::GlyphType::NODE_DOT_POS);
visualizemeshC->SetFEMdataType(ChVisualShapeFEA::DataType::NONE);
visualizemeshC->SetSymbolsThickness(0.004);
my_mesh->AddVisualShapeFEA(visualizemeshC);
auto visualizemeshD = chrono_types::make_shared<ChVisualShapeFEA>(my_mesh);
visualizemeshD->SetFEMglyphType(ChVisualShapeFEA::GlyphType::ELEM_TENS_STRAIN);
visualizemeshD->SetFEMdataType(ChVisualShapeFEA::DataType::NONE);
visualizemeshD->SetSymbolsScale(1);
visualizemeshD->SetColorscaleMinMax(-0.5, 5);
visualizemeshD->SetZbufferHide(false);
my_mesh->AddVisualShapeFEA(visualizemeshD);
// Create the Irrlicht visualization system
auto vis = chrono_types::make_shared<ChVisualSystemIrrlicht>();
vis->SetCameraVertical(CameraVerticalDir::Z);
vis->SetWindowSize(800, 600);
vis->SetWindowTitle("ANCF Shells");
vis->Initialize();
vis->AddLogo();
vis->AddSkyBox();
vis->AddTypicalLights();
vis->AddCamera(ChVector3d(0.4, 0.3, 0.1), ChVector3d(0.0, 0.0, -0.1));
vis->AttachSystem(&sys);
// ----------------------------------
// Perform a dynamic time integration
// ----------------------------------
// Set up solver
auto solver = chrono_types::make_shared<ChSolverMINRES>();
sys.SetSolver(solver);
solver->SetMaxIterations(100);
solver->SetTolerance(1e-10);
solver->EnableDiagonalPreconditioner(true);
// Set up integrator
auto stepper = chrono_types::make_shared<ChTimestepperHHT>(&sys);
sys.SetTimestepper(stepper);
// Alternative way of changing the integrator:
stepper->SetAlpha(-0.2);
stepper->SetMaxIters(5);
stepper->SetAbsTolerances(1e-2);
stepper->SetStepControl(true);
stepper->SetMinStepSize(1e-4);
// Simulation loop
while (vis->Run()) {
vis->BeginScene();
vis->Render();
vis->EndScene();
sys.DoStepDynamics(0.01);
}
return 0;
}
void Add(std::shared_ptr< ChPhysicsItem > item)
Attach an arbitrary ChPhysicsItem (e.g.
Definition: ChSystem.cpp:196
virtual void SetNumThreads(int num_threads_chrono, int num_threads_collision=0, int num_threads_eigen=0)
Set the number of OpenMP threads used by Chrono itself, Eigen, and the collision detection system.
Definition: ChSystem.cpp:373
void SetTimestepper(std::shared_ptr< ChTimestepper > stepper)
Set the timestepper object to be used for time integration.
Definition: ChSystem.h:90
__host__ __device__ int min(int a, int b)
Return the minimum of two integer numbers.
Definition: custom_math.h:64
Namespace with classes for the Irrlicht module.
Definition: ChApiIrr.h:47
void SetGravitationalAcceleration(const ChVector3d &gacc)
Set the gravitational acceleration vector.
Definition: ChSystem.h:148
int DoStepDynamics(double step_size)
Advance the dynamics simulation by a single time step of given length.
Definition: ChSystem.cpp:1635
Class for a physical system in which contact is modeled using a smooth (penalty-based) method.
Definition: ChSystemSMC.h:30
ChVector3< double > ChVector3d
Alias for double-precision vectors.
Definition: ChVector3.h:283
virtual void SetSolver(std::shared_ptr< ChSolver > newsolver)
Attach a solver (derived from ChSolver) for use by this system.
Definition: ChSystem.cpp:319
Main namespace for the Chrono package.
Definition: ChCamera.cpp:17
Namespace for FEA classes.
Definition: ChVisualShapeFEA.h:28