Module with subroutines for spring calculations. More...

Data Types
interface	addinspringforces
	Assembles system force vector contributions from a spring element. More...

Functions/Subroutines
subroutine, public	updatesprings (springs, joints, restart, ierr, updateLength, updateVar)
	Update all springs in the model. More...

subroutine	updatespringinterconn (springEl, includeStressStiff, ierr)
	Corrects spring force and stiffness according to interconnectivity. More...

subroutine, public	updatespringyields (yields, ierr)
	Updates the spring yield variables. More...

subroutine	calcspringforces (spr, triads, sDir, eV)
	Calculates system force vector contributions from a spring element. More...

subroutine	calcspringstiffness (spr, triads, sDir, cplStiff, scaleK, eM, includeStressStiff, haveStiffness)
	Calculates the stiffness matrix contributions from a spring element. More...

subroutine	couplespringforces (spr, cplStiff)
	Updates spring element forces due to explicit coupling. More...

subroutine	couplespringstiffness (spr, cplStiff, elMat, scaleK, d1)
	Updates a spring element stiffness matrix due to explicit coupling. More...

subroutine	addinstiffnessforces (FS, RF, spring, sam, ierr)
	Assembles system force vector contributions from a spring element. More...

subroutine	addindampingforces (FD, RF, spring, sam, alpha2, ierr)
	Assembles system force vector contributions from a spring element. More...

subroutine, public	addinspringstiffmat (includeStressStiff, scaleK, Nmat, spring, sam, ierr, Rhs)
	Assembles system stiffness contributions from a spring element. More...

Variables
integer, parameter	maxdofs_p = 60
	Max number of DOFs pr element. More...

real(dp), parameter	epszero_p = 1.0e-16_dp
	Equal to zero tolerance. More...

Detailed Description

Module with subroutines for spring calculations.

This module contains a set of subroutines for performing various computation tasks on the springtypemodule::springtype objects in the model (axial- and joint spring) during the dynamic or quasi-static simulation.

Function/Subroutine Documentation

◆ addindampingforces()

subroutine springroutinesmodule::addindampingforces	(	real(dp), dimension(:), intent(inout)	FD,
		real(dp), dimension(:), intent(inout)	RF,
		type(springtype), intent(in)	spring,
		type(samtype), intent(in)	sam,
		real(dp), intent(in)	alpha2,
		integer, intent(inout)	ierr
	)

Assembles system force vector contributions from a spring element.

Parameters

	FD	System damping force vector
	RF	System reaction forces associated with constrained DOFs
[in]	spring	The spring element to calculate damping forces for
[in]	sam	Data for managing system matrix assembly
[in]	alpha2	Stiffness-proportional damping coefficient
[out]	ierr	Error flag

This subroutine calculates the damping force contributions to the system force vector from the spring element assuming Rayleigh damping, and adds them into the system vectors FD and RF.

Author: Knut Morten Okstad

Date: 31 Oct 2014

◆ addinspringstiffmat()

subroutine, public springroutinesmodule::addinspringstiffmat	(	logical, intent(in)	includeStressStiff,
		real(dp), intent(in)	scaleK,
		type(sysmatrixtype), intent(inout)	Nmat,
		type(springtype), intent(in)	spring,
		type(samtype), intent(in)	sam,
		integer, intent(out)	ierr,
		real(dp), dimension(:), intent(inout), optional	Rhs
	)

Assembles system stiffness contributions from a spring element.

Parameters

[in]	includeStressStiff	If .true., include geometric stiffness
[in]	scaleK	Stiffness matrix scaling factor
	Nmat	System newton matrix
[in]	spring	The spring element to calculate stiffness matrix for
[in]	sam	Data for managing system matrix assembly
[out]	ierr	Error flag
	Rhs	System right-hand-side vector associated with the Newton matrix

This subroutine calculates the stiffness matrix for a spring element and adds it into the system Newton matrix Nmat, multiplied by a scaling factor, scaleK.

Author: Karl Erik Thoresen

Date: Feb 1999

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◆ addinstiffnessforces()

subroutine springroutinesmodule::addinstiffnessforces	(	real(dp), dimension(:), intent(inout)	FS,
		real(dp), dimension(:), intent(inout)	RF,
		type(springtype), intent(in)	spring,
		type(samtype), intent(in)	sam,
		integer, intent(inout)	ierr
	)

Assembles system force vector contributions from a spring element.

Parameters

	FS	System stiffness force vector
	RF	System reaction forces associated with constrained DOFs
[in]	spring	The spring element to calculate stiffness forces for
[in]	sam	Data for managing system matrix assembly
[out]	ierr	Error flag

This subroutine calculates the stiffness force contributions to the system force vector from the spring element, and adds them into the system vectors FS and RF.

Author: Karl Erik Thoresen

Date: Feb 1999

◆ calcspringforces()

subroutine springroutinesmodule::calcspringforces	(	type(springptrtype), dimension(:), intent(in)	spr,
		type(triadptrtype), dimension(:), intent(in)	triads,
		real(dp), dimension(:,:), intent(in)	sDir,
		real(dp), dimension(:), intent(out)	eV
	)

Calculates system force vector contributions from a spring element.

Parameters

[in]	spr	Array of all base springs in current (axial) spring element
[in]	triads	Array of triads connected to the axial spring
[in]	sDir	Direction vector for axial spring
[out]	eV	Element force vector

Author: Knut Morten Okstad

Date: 31 Oct 2014

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◆ calcspringstiffness()

subroutine springroutinesmodule::calcspringstiffness	(	type(springptrtype), dimension(:), intent(in)	spr,
		type(triadptrtype), dimension(:), intent(in)	triads,
		real(dp), dimension(:,:), intent(in)	sDir,
		real(dp), dimension(:), intent(in), pointer	cplStiff,
		real(dp), intent(in)	scaleK,
		real(dp), dimension(:,:), intent(out)	eM,
		logical, intent(in)	includeStressStiff,
		logical, intent(inout)	haveStiffness
	)

Calculates the stiffness matrix contributions from a spring element.

Parameters

[in]	spr	Array of all base springs in current (axial) spring element
[in]	triads	Array of triads connected to the axial spring
[in]	sDir	Direction vector for axial spring
[in]	cplStiff	Explicit coupling stiffness coefficients
[in]	scaleK	Stiffness scaling factor
[out]	eM	Element stiffness matrix
[in]	includeStressStiff	If .true., account for geometric stiffness
	haveStiffness	If .true., a non-zero spring stiffness was detected

Author: Knut Morten Okstad

Date: 31 Oct 2014

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◆ couplespringforces()

subroutine springroutinesmodule::couplespringforces	(	type(springptrtype), dimension(:), intent(inout)	spr,
		real(dp), dimension(:), intent(in)	cplStiff
	)

Updates spring element forces due to explicit coupling.

Parameters

	spr	Array of all base springs in current (axial) spring element
[in]	cplStiff	Explicit coupling stiffness coefficients

Author: Knut Morten Okstad

Date: 2 Jul 2010

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◆ couplespringstiffness()

subroutine springroutinesmodule::couplespringstiffness	(	type(springptrtype), dimension(:), intent(in)	spr,
		real(dp), dimension(:), intent(in)	cplStiff,
		real(dp), dimension(:,:), intent(inout)	elMat,
		real(dp), intent(in)	scaleK,
		integer, intent(in), optional	d1
	)

Updates a spring element stiffness matrix due to explicit coupling.

Parameters

	spr	Array of all base springs in current (axial) spring element
[in]	cplStiff	Explicit coupling stiffness coefficients
	elMat	Element stiffness matrix
[in]	scaleK	Stiffness scaling factor
[in]	d1	Number of DOFs in the first triad connected to spring element

Author: Knut Morten Okstad

Date: 2 Jul 2010

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◆ updatespringinterconn()

subroutine springroutinesmodule::updatespringinterconn	(	type(springtype), intent(inout)	springEl,
		logical, intent(in)	includeStressStiff,
		integer, intent(inout)	ierr
	)

Corrects spring force and stiffness according to interconnectivity.

Parameters

	springEl	The spring element to update stiffness and force for
[in]	includeStressStiff	If .true., account for geometric stiffness
	ierr	Error flag

Author: Bjorn Haugen

Date: 27 May 2004; Knut Morten Okstad; 27 Jun 2014

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◆ updatesprings()

subroutine, public springroutinesmodule::updatesprings	(	type(springtype), dimension(:), intent(inout)	springs,
		type(masterslavejointtype), dimension(:), intent(inout)	joints,
		logical, intent(in)	restart,
		integer, intent(inout)	ierr,
		logical, intent(in), optional	updateLength,
		logical, intent(in), optional	updateVar
	)

Update all springs in the model.

Parameters

	springs	Array of all spring elements in the model
	joints	Array of all joints in the model
[in]	restart	If .true., axial spring forces are not updated
	ierr	Error flag
[in]	updateLength	If .true. (default), all spring length variables are updated first, before updating the other variables
[in]	updateVar	If .true. (default), all spring variables are updated

The length (and direction) of all axial springs are updated first. Then, all the remaining spring variables are updated. This is to ensure that sensors measuring spring length are up to date before they are used by engines. Note that for joint springs, the spring length coincides with the corresponding joint variable of the owner joint and thus needs not to be updated here.

Author: Knut Morten Okstad

Date: 11 June 2002

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◆ updatespringyields()

subroutine, public springroutinesmodule::updatespringyields	(	type(springyieldtype), dimension(:), intent(inout)	yields,
		integer, intent(inout)	ierr
	)

Updates the spring yield variables.

Parameters

yields	Array of all spring yield objects in the model
ierr	Error flag

Author: Bjorn Haugen

Date: 11 Jul 2005

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Variable Documentation

◆ epszero_p

real(dp), parameter springroutinesmodule::epszero_p = 1.0e-16_dp

private

Equal to zero tolerance.

◆ maxdofs_p

integer, parameter springroutinesmodule::maxdofs_p = 60

private

Max number of DOFs pr element.

Data Types

Functions/Subroutines

Variables

Detailed Description

Function/Subroutine Documentation

◆ addindampingforces()

◆ addinspringstiffmat()

◆ addinstiffnessforces()

◆ calcspringforces()

◆ calcspringstiffness()

◆ couplespringforces()

◆ couplespringstiffness()

◆ updatespringinterconn()

◆ updatesprings()

◆ updatespringyields()

Variable Documentation

◆ epszero_p

◆ maxdofs_p