Module with subroutines for superelement calculations. More...

Functions/Subroutines
subroutine	setsupelsvelacc (sups, sam, velGlobal, accGlobal)
	Extracts local velocities and accelerations for the superelements. More...

subroutine	buildfinitvelacc (sup, beta, gamma, h)
	Calculates deformational velocities and accelerations. More...

subroutine	incsupelsgendofs (sups, solinc, useTotalInc)
	Increments the generalized DOFs for all superelements. More...

subroutine	updatesupels (sups, supLoads, env, beta, gamma, time, timeStep, istep, iter, newPositions, ierr)
	Updates all superelements in the model based on the computed state. More...

subroutine	updatesupelsstatic (sups, supLoads, env, time, iter, linInc, ierr)
	Updates all superelements in the model based on the computed state. More...

subroutine, private	updatesupelload (Q, S, supLoad, ierr)
	Adds the superelement loads to the system external load vector. More...

subroutine	updatesupeldamping (sups, engs, alpha, ierr)
	Updates the superelement damping matrices. More...

subroutine	updateseaenvironment (env, triads, sups, time, iter, ierr)
	Updates the current sea state. More...

subroutine, private	calcmorisonforces (sup, env, time, istep, iter, ierr)
	Calculates Morison force contributions for a two-noded beam element. More...

subroutine, private	calcbuoyancyforces (sup, env, time, iter, ierr)
	Calculates buoyancy forces and associated load correction stiffness. More...

subroutine	addinsupforces (sam, sups, FSk, FDk, FIk, Qk, RFk, ierr)
	Adds superelement forces into corresponding system force vectors. More...

subroutine	addinstaticsupforces (sam, sups, FSk, Qk, RFk, ierr)
	Adds superelement forces into corresponding system force vectors. More...

subroutine	addinsupmat (supMat, sysMat, sup, sam, err, sysRhs, scale)
	Adds a superelement matrix into the equivalent system matrix. More...

subroutine	comptanstiff (sup, ierr)
	Computes the tangential superelement stiffness matrix. More...

subroutine	buildsupnewtonmat (newTangent, scaleM, scaleC, scaleK, sup, ierr)
	Computes the superelement Newton matrix. More...

subroutine, private	scaledmatmul (m, n, alpha, A, X, Y, ldA)
	Calculates the scaled matrix-vector product Y = αAX. More...

Detailed Description

Module with subroutines for superelement calculations.

This module contains a set of subroutines for performing various computation tasks on the supeltypemodule::supeltype objects in the model during the dynamic or quasi-static simulation.

Function/Subroutine Documentation

◆ addinstaticsupforces()

subroutine supelroutinesmodule::addinstaticsupforces	(	type(samtype), intent(in)	sam,
		type(supeltype), dimension(:), intent(in)	sups,
		real(dp), dimension(:), intent(inout)	FSk,
		real(dp), dimension(:), intent(inout)	Qk,
		real(dp), dimension(:), intent(inout)	RFk,
		integer, intent(out)	ierr
	)

Adds superelement forces into corresponding system force vectors.

Parameters

[in]	sam	Data for managing system matrix assembly
[in]	sups	All superelements in the model
	FSk	Internal stiffness force vector
	Qk	External force vector (gravitation loads)
	RFk	Reaction forces
[out]	ierr	Error flag

This subroutine only considers the static forces, the stiffness and external forces.

Author: Knut Morten Okstad

Date: 5 June 2002

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◆ addinsupforces()

subroutine supelroutinesmodule::addinsupforces	(	type(samtype), intent(in)	sam,
		type(supeltype), dimension(:), intent(in)	sups,
		real(dp), dimension(:), intent(inout)	FSk,
		real(dp), dimension(:), intent(inout)	FDk,
		real(dp), dimension(:), intent(inout)	FIk,
		real(dp), dimension(:), intent(inout)	Qk,
		real(dp), dimension(:), intent(inout)	RFk,
		integer, intent(out)	ierr
	)

Adds superelement forces into corresponding system force vectors.

Parameters

[in]	sam	Data for managing system matrix assembly
[in]	sups	All superelements in the model
	FSk	Internal stiffness force vector
	FDk	Internal damping force vector
	FIk	Internal internal force vector
	Qk	External force vector (gravitation loads)
	RFk	Reaction forces
[out]	ierr	Error flag

Author: Bjorn Haugen

Date: December 2001

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◆ addinsupmat()

subroutine supelroutinesmodule::addinsupmat	(	real(dp), dimension(:,:), intent(in)	supMat,
		type(sysmatrixtype), intent(inout)	sysMat,
		type(supeltype), intent(in)	sup,
		type(samtype), intent(in)	sam,
		integer, intent(out)	err,
		real(dp), dimension(:), intent(inout), optional	sysRhs,
		real(dp), intent(in), optional	scale
	)

Adds a superelement matrix into the equivalent system matrix.

Parameters

[in]	supMat	The superelement matrix to add into the system
	sysMat	System coefficient matrix (stiffness, mass, ...)
[in]	sup	The superelement the provided matrix is associated with
[in]	sam	Data for managing system matrix assembly
[out]	err	Error flag
	sysRhs	System right-hand-side vector
[in]	scale	Optional scaling factor for the matrix to add

This subroutine transforms the superelement matrix supMat to the system directions for each DOF associated with it, and then adds it into the system matrix sysMat. If any of the superelement DOFs are prescribed, the associated force contributions are added into the system force vector sysRhs, if present.

Author: Karl Erik Thoresen

Date: Januar 1999

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◆ buildfinitvelacc()

subroutine supelroutinesmodule::buildfinitvelacc	(	type(supeltype), intent(inout)	sup,
		real(dp), intent(in)	beta,
		real(dp), intent(in)	gamma,
		real(dp), intent(in)	h
	)

Calculates deformational velocities and accelerations.

Parameters

	sup	The superelement to calculate velocity/acceleration for
[in]	beta	Newmark time integration parameter
[in]	gamma	Newmark time integration parameter
[in]	h	Current time increment size

This subroutine integrates the deformational velocities and accelerations based on the Newmark integration parameters and the state at the previous time step.

Author: Knut Morten Okstad

Date: 6 Jul 2006

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◆ buildsupnewtonmat()

subroutine supelroutinesmodule::buildsupnewtonmat	(	logical, intent(in)	newTangent,
		real(dp), intent(in)	scaleM,
		real(dp), intent(in)	scaleC,
		real(dp), intent(in)	scaleK,
		type(supeltype), intent(inout)	sup,
		integer, intent(out)	ierr
	)

Computes the superelement Newton matrix.

Parameters

[in]	newTangent	If .true., the tangential stiffness is updated
[in]	scaleM	Mass matrix scaling factor
[in]	scaleC	Damping matrix scaling factor
[in]	scaleK	Stiffness matrix scaling factor
	sup	The superelement to calculate tangent stiffness for
[out]	ierr	Error flag

The Newton matrix is a linear combination of the stiffness-, damping- (if any) and stiffness matrices of the superelement.

Author: Knut Morten Okstad

Date: 10 Apr 2019

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◆ calcbuoyancyforces()

subroutine, private supelroutinesmodule::calcbuoyancyforces	(	type(supeltype), intent(inout)	sup,
		type(environmenttype), intent(inout)	env,
		real(dp), intent(in)	time,
		integer, intent(in)	iter,
		integer, intent(inout)	ierr
	)

private

Calculates buoyancy forces and associated load correction stiffness.

Parameters

	sup	Superelement to calculate buoyancy forces for
	env	Environmental data
[in]	time	Current simulation time
[in]	iter	Iteration counter
	ierr	Error flag

For a (partly) submerged body.

Author: Knut Morten Okstad

Date: 2 Jul 2008

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◆ calcmorisonforces()

subroutine, private supelroutinesmodule::calcmorisonforces	(	type(supeltype), intent(inout)	sup,
		type(environmenttype), intent(inout)	env,
		real(dp), intent(in)	time,
		integer, intent(in)	istep,
		integer, intent(in)	iter,
		integer, intent(inout)	ierr
	)

private

Calculates Morison force contributions for a two-noded beam element.

Parameters

	sup	The beam element to calculate Morison forces for
	env	Environmental data
[in]	time	Current simulation time
[in]	istep	Time increment counter
[in]	iter	Iteration counter
	ierr	Error flag

Author: Knut Morten Okstad

Date: 24 Sep 2019

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◆ comptanstiff()

subroutine supelroutinesmodule::comptanstiff	(	type(supeltype), intent(inout)	sup,
		integer, intent(out)	ierr
	)

Computes the tangential superelement stiffness matrix.

Parameters

	sup	The superelement to calculate tangent stiffness for
[out]	ierr	Error flag

Author: Dag Rune Christensen

Date: 23 Oct 1997

Author: Bjorn Haugen

Date: 3 Oct 2003

Author: Knut Morten Okstad

Date: 10 Apr 2019

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◆ incsupelsgendofs()

subroutine supelroutinesmodule::incsupelsgendofs	(	type(supeltype), dimension(:), intent(inout)	sups,
		real(dp), dimension(:), intent(in)	solinc,
		logical, intent(in), optional	useTotalInc
	)

Increments the generalized DOFs for all superelements.

Parameters

	sups	All superelements in the model
[in]	solinc	Current global solution increment
[in]	useTotalInc	If .true., update from previous solution state

Author: Bjorn Haugen

Date: 16 Nov 2001

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◆ scaledmatmul()

subroutine, private supelroutinesmodule::scaledmatmul	(	integer, intent(in)	m,
		integer, intent(in)	n,
		real(dp), intent(in)	alpha,
		real(dp), dimension(:,:), intent(in)	A,
		real(dp), dimension(:), intent(in)	X,
		real(dp), dimension(:), intent(out)	Y,
		integer, intent(in), optional	ldA
	)

private

Calculates the scaled matrix-vector product Y = α*A*X.

Parameters

[in]	m	Number of rows in matrix A
[in]	n	Number of columns in matrix A and length of vector X.
[in]	alpha	Scaling factor, α
[in]	A	The matrix to multiply with
[in]	X	The vector to multiply with
[out]	Y	The output vector
[in]	ldA	Leading dimension of matrix A

This is just a convenience wrapper over the BLAS subroutine DGEMV.

Author: Knut Morten Okstad

Date: 21 Oct 2019

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◆ setsupelsvelacc()

subroutine supelroutinesmodule::setsupelsvelacc	(	type(supeltype), dimension(:), intent(inout)	sups,
		type(samtype), intent(in)	sam,
		real(dp), dimension(:), intent(in)	velGlobal,
		real(dp), dimension(:), intent(in)	accGlobal
	)

Extracts local velocities and accelerations for the superelements.

Parameters

	sups	All superelements in the model
[in]	sam	Data for managing system matrix assembly
[in]	velGlobal	Global velocity vector
[in]	accGlobal	Global acceleration vector

This subroutine extracts the local velocities and accelerations (uld and uldd, respectively) from the given global velocity and acceleration vectors for all superelements.

Author: Bjorn Haugen

Date: 16 Nov 2001

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◆ updateseaenvironment()

subroutine supelroutinesmodule::updateseaenvironment	(	type(environmenttype), intent(inout)	env,
		type(triadtype), dimension(:), intent(in)	triads,
		type(supeltype), dimension(:), intent(in)	sups,
		real(dp), intent(in)	time,
		integer, intent(in)	iter,
		integer, intent(out)	ierr
	)

Updates the current sea state.

Parameters

	env	Environmental data
[in]	triads	All triads in the model
[in]	sups	All superelements in the model
[in]	time	Current physical time
[in]	iter	Iteration counter
[out]	ierr	Error flag

Author: Knut Morten Okstad

Date: 23 Oct 2008

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◆ updatesupeldamping()

subroutine supelroutinesmodule::updatesupeldamping	(	type(supeltype), dimension(:), intent(inout)	sups,
		type(enginetype), dimension(:), intent(inout)	engs,
		real(dp), dimension(2), intent(in)	alpha,
		integer, intent(out)	ierr
	)

Updates the superelement damping matrices.

Parameters

	sups	All superelements in the model
	engs	All general functions in the model
[in]	alpha	Global structural damping parameters
[out]	ierr	Error flag

Effective with time-dependent structural damping coefficients. This subroutine also updates the time-dependent stiffness scaling factor.

Author: Knut Morten Okstad

Date: 1 Dec 2010

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◆ updatesupelload()

subroutine, private supelroutinesmodule::updatesupelload	(	real(dp), dimension(:), intent(inout)	Q,
		real(dp), dimension(:,:), intent(in)	S,
		type(supelloadtype), intent(inout)	supLoad,
		integer, intent(inout)	ierr
	)

private

Adds the superelement loads to the system external load vector.

Parameters

Q	System external load vector
S	Normalized superelement load vectors
supLoad	The superelement load object to assemble
ierr	Error flag

This subroutine updates the amplitude of the superelement load and adds its contribution to the external force vector of the global system.

Author: Knut Morten okstad

Date: 8 Apr 2008

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◆ updatesupels()

subroutine supelroutinesmodule::updatesupels	(	type(supeltype), dimension(:), intent(inout)	sups,
		type(supelloadtype), dimension(:), intent(inout)	supLoads,
		type(environmenttype), intent(inout)	env,
		real(dp), intent(in)	beta,
		real(dp), intent(in)	gamma,
		real(dp), intent(in)	time,
		real(dp), intent(in)	timeStep,
		integer, intent(in)	istep,
		integer, intent(in)	iter,
		logical, intent(in)	newPositions,
		integer, intent(inout)	ierr
	)

Updates all superelements in the model based on the computed state.

Parameters

	sups	All superelements in the model
	supLoads	All superelement loads in the model
	env	Environmental data
[in]	beta	Newmark time integration parameter
[in]	gamma	Newmark time integration parameter
[in]	time	Current physical time
[in]	timeStep	Current time increment size
[in]	istep	Time increment counter
[in]	iter	Iteration counter
[in]	newPositions	If .true., the position variables have been updated
	ierr	Error flag

This subroutine updates the superelement objects:

the deflection vector, Finit, is established
superelement forces are calculated and transformed to system directions
the total nodal forces are calculated in system directions

Author: Karl Erik Thoresen

Date: Sep 1999

Author: Knut Morten Okstad

Date: Nov 2001

Author: Knut Morten Okstad

Date: Feb 2002

Author: Knut Morten Okstad

Date: Apr 2008

Author: Knut Morten Okstad

Date: Aug 2011

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◆ updatesupelsstatic()

subroutine supelroutinesmodule::updatesupelsstatic	(	type(supeltype), dimension(:), intent(inout)	sups,
		type(supelloadtype), dimension(:), intent(inout)	supLoads,
		type(environmenttype), intent(inout)	env,
		real(dp), intent(in)	time,
		integer, intent(in)	iter,
		integer, intent(in), optional	linInc,
		integer, intent(inout)	ierr
	)

Updates all superelements in the model based on the computed state.

Parameters

	sups	All superelements in the model
	supLoads	All superelement loads in the model
	env	Environmental data
[in]	time	Current physical time
[in]	iter	Iteration counter
[in]	linInc	Option for linear (1) or incremental (2) deformations
	ierr	Error flag

This subroutine updates the superelement objects statically. It is used in place of supelroutinesmodule::updatesupels in a quasi-static simulation.

Author: Knut Morten Okstad

Date: 5 June 2002

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Functions/Subroutines

Detailed Description

Function/Subroutine Documentation

◆ addinstaticsupforces()

◆ addinsupforces()

◆ addinsupmat()

◆ buildfinitvelacc()

◆ buildsupnewtonmat()

◆ calcbuoyancyforces()

◆ calcmorisonforces()

◆ comptanstiff()

◆ incsupelsgendofs()

◆ scaledmatmul()

◆ setsupelsvelacc()

◆ updateseaenvironment()

◆ updatesupeldamping()

◆ updatesupelload()

◆ updatesupels()

◆ updatesupelsstatic()