vawt-bodydrive.mbd

### MBDyn input file for socket based coupling 
# -one rotational point BODY0

set:	real Theta0 = pi/6.; 		# start angle of vawt
set:	real R = 2.5;				# rotational radius
set:	real Theta = 5. * 6. / R;	# (initial) rotational speed
set:	real dt = 0.0033;			# time step delta
set:	real Weight = 100;			# [kg] weight per wing
set:	integer N = 2;				# number of wings

begin: data;
	problem: initial value;
end: data;

begin: initial value;
	initial time: 0.;
	final time: 0.5;
	time step: dt;

	max iterations: 100;
	tolerance: 1.e-6;

	linear solver: 
		naive;

	output: iterations;
	
  derivatives tolerance: 1e-1;
  derivatives max iterations: 20;

end: initial value;

begin: control data;
	structural nodes: 
		+2    # 
	;
	rigid bodies:
		+1    # 
	;
	joints:
		+2    # 
	;
	forces: 1;

	default output: all, reference frames;
end: control data;

set: integer GROUND = 1;
set: integer BODY0 = 2;

reference: GROUND,
	reference, global, null,
	reference, global, eye,
	reference, global, null,
	reference, global, null;

reference: BODY0,
	reference, GROUND, null,
	reference, GROUND, euler123, 0., 0., Theta0-Theta*dt,	# initial rotation
	reference, GROUND, null,
	reference, GROUND, null;

begin: nodes;
	structural: 1000+GROUND, static,
		null,
		eye,
		null,
		null;

	structural: 1000+BODY0, dynamic,
		reference, BODY0, null,
		reference, BODY0, eye,
		reference, BODY0, null,
		reference, BODY0, 0., 0., Theta;
end: nodes;

begin: elements;
	joint: 1, clamp, 1000+GROUND, node, node;

	body: 1, 1000+BODY0, 
		Weight*N,
		reference, node, R, 0.,0.,
		null;

### rotation by 'revolute hinge'
	joint: 2, revolute hinge,
		1000+GROUND,
			position, null,
        1000+BODY0,
			reference, GROUND, null,							# rotating point position
                hinge, #reference, node, 
                   1, 1.,0.,0., 2, 0.,1.,0. ;

	force: 3, external structural,
		socket,
		create, yes,
		port, 7771,
		coupling,
#			loose,
			tight,
#			staggered,
		reference node, 1000+GROUND,
		labels, no,
		orientation, orientation matrix, # default
		use reference node forces , no,
		1,
			1000+BODY0;

end: elements;