int ActuatorCorot::update()
{
if (theChannel == 0) {
if (this->setupConnection() != 0) {
opserr << "ActuatorCorot::update() - "
<< "failed to setup connection\n";
return -1;
}
}
// determine dsp in basic system
const Vector &dsp1 = theNodes[0]->getTrialDisp();
const Vector &dsp2 = theNodes[1]->getTrialDisp();
// initial offsets
d21[0] = L;
d21[1] = 0.0;
d21[2] = 0.0;
// update offsets in basic system due to nodal displacements
for (int i=0; i<numDIM; i++) {
d21[0] += (dsp2(i)-dsp1(i))*R(0,i);
d21[1] += (dsp2(i)-dsp1(i))*R(1,i);
d21[2] += (dsp2(i)-dsp1(i))*R(2,i);
}
// compute new length and deformation
Ln = sqrt(d21[0]*d21[0] + d21[1]*d21[1] + d21[2]*d21[2]);
db(0) = Ln - L;
return 0;
}
const Vector& ElasticTimoshenkoBeam2d::getResistingForce()
{
// zero the residual
theVector.Zero();
// get global trial displacements
const Vector &dsp1 = theNodes[0]->getTrialDisp();
const Vector &dsp2 = theNodes[1]->getTrialDisp();
static Vector ug(6);
for (int i=0; i<3; i++) {
ug(i) = dsp1(i);
ug(i+3) = dsp2(i);
}
// transform response from the global to the local system
ul.addMatrixVector(0.0, Tgl, ug, 1.0);
// get the resisting forces in local system
ql.addMatrixVector(0.0, kl, ul, 1.0);
// add P-Delta moments to local forces
if ((ql(0) != 0.0) && (nlGeo == 1))
ql.addMatrixVector(1.0, klgeo, ul, ql(0));
// add effects of element loads, ql = ql(ul) + ql0
ql.addVector(1.0, ql0, 1.0);
// determine resisting forces in global system
theVector.addMatrixTransposeVector(0.0, Tgl, ql, 1.0);
return theVector;
}
int TwoNodeLink::update()
{
int errCode = 0;
// get global trial response
const Vector &dsp1 = theNodes[0]->getTrialDisp();
const Vector &dsp2 = theNodes[1]->getTrialDisp();
const Vector &vel1 = theNodes[0]->getTrialVel();
const Vector &vel2 = theNodes[1]->getTrialVel();
int numDOF2 = numDOF/2;
Vector ug(numDOF), ugdot(numDOF), uldot(numDOF);
for (int i=0; i<numDOF2; i++) {
ug(i) = dsp1(i); ugdot(i) = vel1(i);
ug(i+numDOF2) = dsp2(i); ugdot(i+numDOF2) = vel2(i);
}
// transform response from the global to the local system
ul.addMatrixVector(0.0, Tgl, ug, 1.0);
uldot.addMatrixVector(0.0, Tgl, ugdot, 1.0);
// transform response from the local to the basic system
ub.addMatrixVector(0.0, Tlb, ul, 1.0);
ubdot.addMatrixVector(0.0, Tlb, uldot, 1.0);
//ub = (Tlb*Tgl)*ug;
//ubdot = (Tlb*Tgl)*ugdot;
// set trial response for material models
for (int i=0; i<numDir; i++)
errCode += theMaterials[i]->setTrialStrain(ub(i),ubdot(i));
return errCode;
}
int YamamotoBiaxialHDR::update()
{
// get global trial displacements and velocities
const Vector &dsp1 = theNodes[0]->getTrialDisp();
const Vector &dsp2 = theNodes[1]->getTrialDisp();
static Vector globalDisp(12), globalDispDot(12);
for (int i=0; i<6; i++) {
globalDisp(i) = dsp1(i);
globalDisp(i+6) = dsp2(i);
}
static Vector localDispDot(12);
// transform response from the global to the local system
localDisp = Tgl*globalDisp;
// transform response from the local to the basic system
basicDisp = Tlb*localDisp;
// calculate shear forces and stiffnesses in basic y- and z-direction
// get trial shear forces of hysteretic component
basicForce.Zero();
basicStiff.Zero();
this->setTrialStrain(basicDisp);
basicForce(1) = this->getStress(0);
basicForce(2) = this->getStress(1);
basicStiff(1,1) = this->getTangent(0);
basicStiff(2,2) = this->getTangent(1);
//check print
//opserr << "basicStiff: " << basicStiff << endln;
return 0;
}
const Matrix& ElasticTimoshenkoBeam2d::getTangentStiff()
{
// zero the matrix
theMatrix.Zero();
if (nlGeo == 0) {
// transform from local to global system
theMatrix.addMatrixTripleProduct(0.0, Tgl, kl, 1.0);
} else {
// initialize local stiffness matrix
static Matrix klTot(6,6);
klTot.addMatrix(0.0, kl, 1.0);
// get global trial displacements
const Vector &dsp1 = theNodes[0]->getTrialDisp();
const Vector &dsp2 = theNodes[1]->getTrialDisp();
static Vector ug(6);
for (int i=0; i<3; i++) {
ug(i) = dsp1(i);
ug(i+3) = dsp2(i);
}
// transform response from the global to the local system
ul.addMatrixVector(0.0, Tgl, ug, 1.0);
// get the resisting forces in local system
ql.addMatrixVector(0.0, kl, ul, 1.0);
// add geometric stiffness to local stiffness
if (ql(0) != 0.0)
klTot.addMatrix(1.0, klgeo, ql(0));
// transform from local to global system
theMatrix.addMatrixTripleProduct(0.0, Tgl, klTot, 1.0);
}
return theMatrix;
}
int ElastomericBearingBoucWen2d::update()
{
// get global trial displacements and velocities
const Vector &dsp1 = theNodes[0]->getTrialDisp();
const Vector &dsp2 = theNodes[1]->getTrialDisp();
const Vector &vel1 = theNodes[0]->getTrialVel();
const Vector &vel2 = theNodes[1]->getTrialVel();
static Vector ug(6), ugdot(6), uldot(6), ubdot(3);
for (int i=0; i<3; i++) {
ug(i) = dsp1(i); ugdot(i) = vel1(i);
ug(i+3) = dsp2(i); ugdot(i+3) = vel2(i);
}
// transform response from the global to the local system
ul.addMatrixVector(0.0, Tgl, ug, 1.0);
uldot.addMatrixVector(0.0, Tgl, ugdot, 1.0);
// transform response from the local to the basic system
ub.addMatrixVector(0.0, Tlb, ul, 1.0);
ubdot.addMatrixVector(0.0, Tlb, uldot, 1.0);
// 1) get axial force and stiffness in basic x-direction
theMaterials[0]->setTrialStrain(ub(0), ubdot(0));
qb(0) = theMaterials[0]->getStress();
kb(0,0) = theMaterials[0]->getTangent();
// 2) calculate shear force and stiffness in basic y-direction
// get displacement increment (trial - commited)
double delta_ub = ub(1) - ubC(1);
if (fabs(delta_ub) > 0.0) {
// get yield displacement
double uy = qYield/k0;
// calculate hysteretic evolution parameter z using Newton-Raphson
int iter = 0;
double zAbs, tmp1, f, Df, delta_z;
do {
zAbs = fabs(z);
if (zAbs == 0.0) // check because of negative exponents
zAbs = DBL_EPSILON;
tmp1 = gamma + beta*sgn(z*delta_ub);
// function and derivative
f = z - zC - delta_ub/uy*(A - pow(zAbs,eta)*tmp1);
Df = 1.0 + delta_ub/uy*eta*pow(zAbs,eta-1.0)*sgn(z)*tmp1;
// issue warning if derivative Df is zero
if (fabs(Df) <= DBL_EPSILON) {
opserr << "WARNING: ElastomericBearingBoucWen2d::update() - "
<< "zero derivative in Newton-Raphson scheme for "
<< "hysteretic evolution parameter z.\n";
return -1;
}
// advance one step
delta_z = f/Df;
z -= delta_z;
iter++;
} while ((fabs(delta_z) >= tol) && (iter < maxIter));
// issue warning if Newton-Raphson scheme did not converge
if (iter >= maxIter) {
opserr << "WARNING: ElastomericBearingBoucWen2d::update() - "
<< "did not find the hysteretic evolution parameter z after "
<< iter << " iterations and norm: " << fabs(delta_z) << endln;
return -2;
}
// get derivative of hysteretic evolution parameter * uy
dzdu = A - pow(fabs(z),eta)*(gamma + beta*sgn(z*delta_ub));
// set shear force
qb(1) = qYield*z + k2*ub(1) + k3*sgn(ub(1))*pow(fabs(ub(1)),mu);
// set tangent stiffness
kb(1,1) = k0*dzdu + k2 + k3*mu*pow(fabs(ub(1)),mu-1.0);
}
// 3) get moment and stiffness about basic z-direction
theMaterials[1]->setTrialStrain(ub(2), ubdot(2));
qb(2) = theMaterials[1]->getStress();
kb(2,2) = theMaterials[1]->getTangent();
return 0;
}
int SingleFPSimple2d::update()
{
// get global trial displacements and velocities
const Vector &dsp1 = theNodes[0]->getTrialDisp();
const Vector &dsp2 = theNodes[1]->getTrialDisp();
const Vector &vel1 = theNodes[0]->getTrialVel();
const Vector &vel2 = theNodes[1]->getTrialVel();
static Vector ug(6), ugdot(6), uldot(6), ubdot(3);
for (int i=0; i<3; i++) {
ug(i) = dsp1(i); ugdot(i) = vel1(i);
ug(i+3) = dsp2(i); ugdot(i+3) = vel2(i);
}
// transform response from the global to the local system
ul = Tgl*ug;
uldot = Tgl*ugdot;
// transform response from the local to the basic system
ub = Tlb*ul;
ubdot = Tlb*uldot;
// get absolute velocity
double ubdotAbs = sqrt(pow(ubdot(1)/Reff*ub(1),2) + pow(ubdot(1),2));
// 1) get axial force and stiffness in basic x-direction
double ub0Old = theMaterials[0]->getStrain();
theMaterials[0]->setTrialStrain(ub(0),ubdot(0));
qb(0) = theMaterials[0]->getStress();
kb(0,0) = theMaterials[0]->getTangent();
// check for uplift
if (qb(0) >= 0.0) {
kb = kbInit;
if (qb(0) > 0.0) {
theMaterials[0]->setTrialStrain(ub0Old,0.0);
kb(0,0) *= DBL_EPSILON;
kb(2,2) *= DBL_EPSILON;
// update plastic displacement
ubPlastic = ub(1);
}
qb.Zero();
return 0;
}
// 2) calculate shear force and stiffness in basic y-direction
int iter = 0;
double qb1Old = 0.0;
do {
// save old shear force
qb1Old = qb(1);
// get normal and friction (yield) forces
double N = -qb(0) + qb(1)/Reff*ub(1) - qb(1)*ul(2);
theFrnMdl->setTrial(N, ubdotAbs);
double qYield = (theFrnMdl->getFrictionForce());
// get stiffness of elastic component
double k2 = N/Reff;
// get initial stiffness of hysteretic component
double k0 = qYield/uy;
// get trial shear force of hysteretic component
double qTrial = k0*(ub(1) - ubPlasticC);
// compute yield criterion of hysteretic component
double qTrialNorm = fabs(qTrial);
double Y = qTrialNorm - qYield;
// elastic step -> no updates required
if (Y <= 0.0) {
// set shear force
qb(1) = qTrial + k2*ub(1) - N*ul(2);
// set tangent stiffness
kb(1,1) = k0 + k2;
}
// plastic step -> return mapping
else {
// compute consistency parameter
double dGamma = Y/k0;
// update plastic displacement
ubPlastic = ubPlasticC + dGamma*qTrial/qTrialNorm;
// set shear force
qb(1) = qYield*qTrial/qTrialNorm + k2*ub(1) - N*ul(2);
// set tangent stiffness
kb(1,1) = k2;
}
iter++;
} while ((fabs(qb(1)-qb1Old) >= tol) && (iter < maxIter));
// issue warning if iteration did not converge
if (iter >= maxIter) {
opserr << "WARNING: SingleFPSimple2d::update() - did not find the shear force after "
<< iter << " iterations and norm: " << fabs(qb(1)-qb1Old) << endln;
return -1;
}
// 3) get moment and stiffness in basic z-direction
theMaterials[1]->setTrialStrain(ub(2),ubdot(2));
qb(2) = theMaterials[1]->getStress();
kb(2,2) = theMaterials[1]->getTangent();
return 0;
}
int ElastomericBearing2d::update()
{
// get global trial displacements and velocities
const Vector &dsp1 = theNodes[0]->getTrialDisp();
const Vector &dsp2 = theNodes[1]->getTrialDisp();
const Vector &vel1 = theNodes[0]->getTrialVel();
const Vector &vel2 = theNodes[1]->getTrialVel();
static Vector ug(6), ugdot(6), uldot(6), ubdot(3);
for (int i=0; i<3; i++) {
ug(i) = dsp1(i); ugdot(i) = vel1(i);
ug(i+3) = dsp2(i); ugdot(i+3) = vel2(i);
}
// transform response from the global to the local system
ul = Tgl*ug;
uldot = Tgl*ugdot;
// transform response from the local to the basic system
ub = Tlb*ul;
ubdot = Tlb*uldot;
// 1) get axial force and stiffness in basic x-direction
theMaterials[0]->setTrialStrain(ub(0),ubdot(0));
qb(0) = theMaterials[0]->getStress();
kb(0,0) = theMaterials[0]->getTangent();
// 2) calculate shear force and stiffness in basic y-direction
// get trial shear force of hysteretic component
double qTrial = k0*(ub(1) - ubPlasticC);
// compute yield criterion of hysteretic component
double qTrialNorm = fabs(qTrial);
double Y = qTrialNorm - qYield;
// elastic step -> no updates required
if (Y <= 0.0) {
// set shear force
qb(1) = qTrial + k2*ub(1);
// set tangent stiffness
kb(1,1) = k0 + k2;
}
// plastic step -> return mapping
else {
// compute consistency parameter
double dGamma = Y/k0;
// update plastic displacement
ubPlastic = ubPlasticC + dGamma*qTrial/qTrialNorm;
// set shear force
qb(1) = qYield*qTrial/qTrialNorm + k2*ub(1);
// set tangent stiffness
kb(1,1) = k2;
}
// 3) get moment and stiffness in basic z-direction
theMaterials[1]->setTrialStrain(ub(2),ubdot(2));
qb(2) = theMaterials[1]->getStress();
kb(2,2) = theMaterials[1]->getTangent();
return 0;
}
