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========= |
\\ / F ield | OpenFOAM: The Open Source CFD Toolbox
\\ / O peration | Website: https://openfoam.org
\\ / A nd | Copyright (C) 2011-2026 OpenFOAM Foundation
\\/ M anipulation |
-------------------------------------------------------------------------------
License
This file is part of OpenFOAM.
OpenFOAM is free software: you can redistribute it and/or modify it
under the terms of the GNU General Public License as published by
the Free Software Foundation, either version 3 of the License, or
(at your option) any later version.
OpenFOAM is distributed in the hope that it will be useful, but WITHOUT
ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or
FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
for more details.
You should have received a copy of the GNU General Public License
along with OpenFOAM. If not, see <http://www.gnu.org/licenses/>.
\*---------------------------------------------------------------------------*/
#include "SDA.H"
#include "addToRunTimeSelectionTable.H"
#include "mathematicalConstants.H"
using namespace Foam::constant::mathematical;
// * * * * * * * * * * * * * * Static Data Members * * * * * * * * * * * * * //
namespace Foam
{
namespace solidBodyMotionFunctions
{
defineTypeNameAndDebug(SDA, 0);
addToRunTimeSelectionTable(solidBodyMotionFunction, SDA, dictionary);
}
}
// * * * * * * * * * * * * * * * * Constructors * * * * * * * * * * * * * * //
Foam::solidBodyMotionFunctions::SDA::SDA
(
const word& name,
const dictionary& SBMFCoeffs,
const Time& runTime
)
:
solidBodyMotionFunction(name, SBMFCoeffs, runTime),
CofG_(SBMFCoeffs_.lookup("CofG"))
{
SBMFCoeffs_.lookup("CofG") >> CofG_;
SBMFCoeffs_.lookup("lambda") >> lambda_;
SBMFCoeffs_.lookup("rollAmax") >> rollAmax_;
SBMFCoeffs_.lookup("rollAmin") >> rollAmin_;
SBMFCoeffs_.lookup("heaveA") >> heaveA_;
SBMFCoeffs_.lookup("swayA") >> swayA_;
SBMFCoeffs_.lookup("Q") >> Q_;
SBMFCoeffs_.lookup("Tp") >> Tp_;
SBMFCoeffs_.lookup("Tpn") >> Tpn_;
SBMFCoeffs_.lookup("dTi") >> dTi_;
SBMFCoeffs_.lookup("dTp") >> dTp_;
// Rescale parameters according to the given scale parameter
if (lambda_ > 1 + small)
{
heaveA_ /= lambda_;
swayA_ /= lambda_;
Tp_ /= sqrt(lambda_);
Tpn_ /= sqrt(lambda_);
dTi_ /= sqrt(lambda_);
dTp_ /= sqrt(lambda_);
}
}
// * * * * * * * * * * * * * * * * Destructor * * * * * * * * * * * * * * * //
Foam::solidBodyMotionFunctions::SDA::~SDA()
{}
// * * * * * * * * * * * * * * Member Functions * * * * * * * * * * * * * * //
Foam::septernion Foam::solidBodyMotionFunctions::SDA::transformation() const
{
scalar time = time_.value();
scalar Tpi = Tp_ + dTp_*(time/dTi_); // Current roll period [sec]
scalar wr = twoPi/Tpi; // Current Freq [/sec]
// Current Phase for roll [rad]
scalar r = dTp_/dTi_;
scalar u = Tp_ + r*time;
scalar phr = twoPi*((Tp_/u - 1) + log(mag(u)) - log(Tp_))/r;
// Current Phase for Sway [rad]
scalar phs = phr + pi;
// Current Phase for Heave [rad]
scalar phh = phr + piByTwo;
scalar rollA = max(rollAmax_*exp(-sqr(Tpi - Tpn_)/(2*Q_)), rollAmin_);
vector T
(
0,
swayA_*(sin(wr*time + phs) - sin(phs)),
heaveA_*(sin(wr*time + phh) - sin(phh))
);
quaternion R(quaternion::XYZ, vector(rollA*sin(wr*time + phr), 0, 0));
septernion TR(septernion(-CofG_ - T)*R*septernion(CofG_));
DebugInFunction << "Time = " << time << " transformation: " << TR << endl;
return TR;
}
// ************************************************************************* //
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