Module with subroutines for structural energy integration. More...

Functions/Subroutines
subroutine	checkloss (objType, objId, time, Eloss, F, du)
	Prints out a warning if negative energy loss is detected. More...

subroutine, public	energyintegration (mech, time, dTime, linearStatic, doStiffDampE, ierr)
	Integrates the system energies for current time step. More...

subroutine, public	energyinitialization (mech, time, ierr)
	Initializes the energy integration variables. More...

subroutine	supelenergies (supel, gravVec, seaLevel, dTime, doStiffDampE, Epot, Ekin, Estr, Edmp, ierr)
	Calculates the system energy contributions from a superelement. More...

subroutine	supelloadenergies (supLoad, linearStatic, dTime, Einp)
	Calculates the incremental work done by a superelement load. More...

subroutine	forceenergies (force, linearStatic, dTime, Einp)
	Calculates the incremental work done by an external force. More...

subroutine	motionenergies (motion, linearStatic, dTime, Einp)
	Calculates the incremental work done by a prescribed motion. More...

subroutine	tireenergies (tire, gravVec, dTime, Epot, Ekin, Einp)
	Calculates energy contributions from a tire. More...

subroutine	springenergies (spr, linearStatic, time, dTime, Estr, Einp, Edmp, ierr)
	Computes strain energy, input energy and energy loss for a spring. More...

subroutine	damperenergies (dmp, time, dTime, Edmp)
	Calculates the incremental work done by a discrete damper. More...

subroutine	massenergies (mass, gravVec, dTime, Epot, Ekin)
	Calculates the kinetic and potential energy from a lumped mass. More...

subroutine	frictionenergies (friction, time, dTime, Edmp)
	Calculate the incremental work done by a joint friction. More...

subroutine	aeroenergy (aNode, Einp)
	Calculates the incremental work done by the aerodynamic force on a wind turbine blade node. More...

Detailed Description

Module with subroutines for structural energy integration.

This module contains a set of subroutines for calculating the structural energy contribution for each object of the meachanism.

Author: Bjorn Haugen

Date: 1 Oct 1997

Function/Subroutine Documentation

◆ aeroenergy()

subroutine energyintegrationmodule::aeroenergy	(	type(bladenode), intent(inout)	aNode,
		real(dp), intent(inout)	Einp
	)

Calculates the incremental work done by the aerodynamic force on a wind turbine blade node.

Parameters

aNode	Blade node to calculate energies for
Einp	Accumulated input energy from external forces and motions

Author: Knut Morten Okstad

Date: 22 Jan 2010

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◆ checkloss()

subroutine energyintegrationmodule::checkloss	(	character(len=*), intent(in)	objType,
		type(idtype), intent(in)	objId,
		real(dp), intent(in)	time,
		real(dp), intent(in)	Eloss,
		real(dp), intent(in)	F,
		real(dp), intent(in)	du
	)

private

Prints out a warning if negative energy loss is detected.

Parameters

[in]	objType	Type name of the object to print message for
[in]	objId	Id of the object to print message for
[in]	time	Current simulation time
[in]	Eloss	Energy loss value
[in]	F	Force value causing the energy loss
[in]	du	Displacement increment causing the energy loss

Author: Knut Morten Okstad

Date: 11 Jul 2014

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◆ damperenergies()

subroutine energyintegrationmodule::damperenergies	(	type(damperbasetype), intent(inout)	dmp,
		real(dp), intent(in)	time,
		real(dp), intent(in)	dTime,
		real(dp), intent(inout)	Edmp
	)

Calculates the incremental work done by a discrete damper.

Parameters

	dmp	Damper to calculate energies for
[in]	time	Current simulation time
[in]	dTime	Time increment size
	Edmp	Energy loss due to damping for the mechanism

Author: Bjorn Haugen

Date: 7 Dec 1999

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◆ energyinitialization()

subroutine, public energyintegrationmodule::energyinitialization	(	type(mechanismtype), intent(inout)	mech,
		real(dp), intent(in)	time,
		integer, intent(out)	ierr
	)

Initializes the energy integration variables.

Parameters

	mech	Mechanism components of the model
[in]	time	Current simulation time
[out]	ierr	Error flag

Author: Knut Morten Okstad

Date: 2 Jun 2004

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◆ energyintegration()

subroutine, public energyintegrationmodule::energyintegration	(	type(mechanismtype), intent(inout)	mech,
		real(dp), intent(in)	time,
		real(dp), intent(in)	dTime,
		logical, intent(in)	linearStatic,
		logical, intent(in)	doStiffDampE,
		integer, intent(out)	ierr
	)

Integrates the system energies for current time step.

Parameters

	mech	Mechanism components of the model
[in]	time	Current simulation time
[in]	dTime	Time increment size
[in]	linearStatic	If .true., we are doing a linear static analysis
[in]	doStiffDampE	If .true., use mean deformational displacement velocity when calculating energy loss due to stiffness proportional damping
[out]	ierr	Error flag

If dTime is zero, only the potential, kinetical and strain energies are computed. The remaining quantities are then identically zero.

Author: Knut Morten Okstad

Date: 2 Jun 2004

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◆ forceenergies()

subroutine energyintegrationmodule::forceenergies	(	type(forcetype), intent(inout)	force,
		logical, intent(in)	linearStatic,
		real(dp), intent(in)	dTime,
		real(dp), intent(inout)	Einp
	)

Calculates the incremental work done by an external force.

Parameters

	force	External force to calculate energy for
[in]	linearStatic	If .true., we are doing a linear static analysis
[in]	dTime	Time increment size
	Einp	Accumulated energy done by external forces

Author: Bjorn Haugen

Date: 14 Oct 1997

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◆ frictionenergies()

subroutine energyintegrationmodule::frictionenergies	(	type(frictiontype), intent(inout)	friction,
		real(dp), intent(in)	time,
		real(dp), intent(in)	dTime,
		real(dp), intent(inout)	Edmp
	)

Calculate the incremental work done by a joint friction.

Parameters

	friction	Friction to calculate energies for
[in]	time	Current simulation time
[in]	dTime	Time increment size
	Edmp	Energy loss due to damping for the mechanism

Author: Karl Erik Thoresen

Date: 1 Apr 1998

Author: Bjorn Haugen

Date: 7 Dec 1999

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◆ massenergies()

subroutine energyintegrationmodule::massenergies	(	type(masstype), intent(inout)	mass,
		real(dp), dimension(3), intent(in)	gravVec,
		real(dp), intent(in)	dTime,
		real(dp), intent(inout)	Epot,
		real(dp), intent(inout)	Ekin
	)

Calculates the kinetic and potential energy from a lumped mass.

Parameters

	mass	Point mass to calculate energies for
[in]	gravVec	Gravitation vector
[in]	dTime	Time increment size
	Epot	Accumulated potential energy for the mechanism
	Ekin	Accumulated kinetic energy for the mechanism

Author: Bjorn Haugen

Date: 14 Oct 1997

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◆ motionenergies()

subroutine energyintegrationmodule::motionenergies	(	type(motiontype), intent(inout)	motion,
		logical, intent(in)	linearStatic,
		real(dp), intent(in)	dTime,
		real(dp), intent(inout)	Einp
	)

Calculates the incremental work done by a prescribed motion.

Parameters

	motion	Prescribed motion to calculate energy for
[in]	linearStatic	If .true., we are doing a linear static analysis
[in]	dTime	Time increment size
	Einp	Accumulated energy done by external forces and motions

Author: Knut Morten Okstad

Date: 4 Oct 2005

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◆ springenergies()

subroutine energyintegrationmodule::springenergies	(	type(springbasetype), intent(inout)	spr,
		logical, intent(in)	linearStatic,
		real(dp), intent(in)	time,
		real(dp), intent(in)	dTime,
		real(dp), intent(inout)	Estr,
		real(dp), intent(inout)	Einp,
		real(dp), intent(inout)	Edmp,
		integer, intent(inout)	ierr
	)

Computes strain energy, input energy and energy loss for a spring.

Parameters

	spr	Spring to calculate energies for
[in]	linearStatic	If .true., we are doing a linear static analysis
[in]	time	Current simulation time
[in]	dTime	Time increment size
	Estr	Accumulated elastic strain energy for the mechanism
	Einp	Accumulated input energy from external forces and motions
	Edmp	Energy loss due to damping for the mechanism
	ierr	Error flag

Author: Bjorn Haugen

Date: 1 Oct 1997

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◆ supelenergies()

subroutine energyintegrationmodule::supelenergies	(	type(supeltype), intent(inout)	supel,
		real(dp), dimension(3), intent(in)	gravVec,
		real(dp), intent(in)	seaLevel,
		real(dp), intent(in)	dTime,
		logical, intent(in)	doStiffDampE,
		real(dp), intent(inout)	Epot,
		real(dp), intent(inout)	Ekin,
		real(dp), intent(inout)	Estr,
		real(dp), intent(inout)	Edmp,
		integer, intent(inout)	ierr
	)

Calculates the system energy contributions from a superelement.

Parameters

	supel	Superelement to calculate energies for
[in]	gravVec	Gravitation vector
[in]	seaLevel	Current sea level
[in]	dTime	Time increment size
[in]	doStiffDampE	If .true., use mean deformational displacement velocity when calculating energy loss due to stiffness proportional damping
	Epot	Accumulated potential energy for the mechanism
	Ekin	Accumulated kinetic energy for the mechanism
	Estr	Accumulated elastic strain energy for the mechanism
	Edmp	Energy loss due to damping for the mechanism
	ierr	Error flag

The following contributions are included:

Potential energy
Kinetic energy
Elastic strain energy
Damping loss

Author: Bjorn Haugen

Date: 13 Oct 1999

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◆ supelloadenergies()

subroutine energyintegrationmodule::supelloadenergies	(	type(supelloadtype), intent(inout)	supLoad,
		logical, intent(in)	linearStatic,
		real(dp), intent(in)	dTime,
		real(dp), intent(inout)	Einp
	)

Calculates the incremental work done by a superelement load.

Parameters

	supLoad	Superelement load to calculate energy for
[in]	linearStatic	If .true., we are doing a linear static analysis
[in]	dTime	Time increment size
	Einp	Accumulated energy done by external forces

Author: Knut Morten Okstad

Date: 17 Apr 2008

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◆ tireenergies()

subroutine energyintegrationmodule::tireenergies	(	type(tiretype), intent(inout)	tire,
		real(dp), dimension(3), intent(in)	gravVec,
		real(dp), intent(in)	dTime,
		real(dp), intent(inout)	Epot,
		real(dp), intent(inout)	Ekin,
		real(dp), intent(inout)	Einp
	)

Calculates energy contributions from a tire.

Parameters

	tire	Tire to calculate energies for
[in]	gravVec	Gravitation vector
[in]	dTime	Time increment size
	Epot	Accumulated potential energy for the mechanism
	Ekin	Accumulated kinetic energy for the mechanism
	Einp	Accumulated input energy from external forces and motions

The kinetic and potential energy from the tire mass is calculated, as well as the incremental work done by the tire force from previous to current time step.

Author: Bjorn Haugen

Date: 31 Oct 2002

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Functions/Subroutines

Detailed Description

Function/Subroutine Documentation

◆ aeroenergy()

◆ checkloss()

◆ damperenergies()

◆ energyinitialization()

◆ energyintegration()

◆ forceenergies()

◆ frictionenergies()

◆ massenergies()

◆ motionenergies()

◆ springenergies()

◆ supelenergies()

◆ supelloadenergies()

◆ tireenergies()