Subroutine Type

Modeling

Definition

Calculates the values for a user-defined input array element.

Use

<Reference_Array

    id                  = "30100100"

    type                = "U"

    num_element         = "6"

    usrsub_param_string = "USER(502,11401020,11701100,339.3,207)"

    usrsub_dll_name     = "NULL"

    usrsub_fnc_name     = "ARYSUB"

 />

Calling Syntax

Fortran

SUBROUTINE ARYSUB (ID, TIME, PAR, NPAR, DFLAG, IFLAG, NVALUE, VALUE)

C

void STDCALL ARYSUB (int *id, double *time, double *par, int *npar, int *dflag, int *iflag, int *nvalue, double *value)

Python

def ARYSUB(id, time, par, npar, dflag, iflag, nvalue):

MATLAB

function value = ARYSUB(id, time, par, npar, dflag, iflag, nvalue)

Input Arguments

[integer] ID

The array element identifier.

[double precision] TIME

The current simulation time.

[double precision] PAR

An array that contains the constant arguments from the list provided in the user-defined statement.

[integer] NPAR

The number of entries in the PAR array.

[logical] DFLAG

A Boolean variable that MotionSolve sets to true when it needs partial derivatives.  Otherwise, it is set to false.

[logical] IFLAG

A Boolean variable that MotionSolve sets to true when it needs to know on which functions CNFSUB depends. When the flag is set to false, then the values of the user-defined expressions are computed.

NVALUES

The number of values the user-defined Reference_Array contains.

Output Values

[double precision] VALUES

Output array that contains the values for the user-defined Reference_Array.

Example

This example describes how ARYSUB is used to calculate six state-dependent quantities that obey the following mathematical law:

is a 3x1 matrix that represents the displacement vector from the origin of a J Marker to the origin of the I Marker as measured in the global coordinate system.

is a 3x1 matrix that represents the time derivative of {X}.

is a 3x1 matrix that represents the small angle rotation of the I Marker with respect to the J Marker.

is a 3x1 matrix that represents angular velocity of the I Marker with respect to the J Marker as measured in the ground coordinate system.

are 3x3 diagonal matrices that are passed in to ARYSUB through the PAR array.

is a 3x1 matrix whose entries are defined as spline functions of the displacement X.

def ARYSUB(id, time, par, npar, dflag, iflag, nvalue)

    # Initialize outputs first 

    errflg = 0

    value = 6*[0.0]

    # Get I/J, the spline ids and [K]/[C] matrices from PAR

    Ipar = []

    ipar.append(int(par[1]))

    ipar.append(int(par[2]))

    kx_spl_id=int(par[3])

    ky_spl_id=int(par[4])

    kz_spl_id=int(par[5])

    ktx=par[6]

    kty=par[7]

    ktz=par[8]

    cx=par[9]

    cy=par[10]

    cz=par[11]

    ctx=par[12]

    cty=par[13]

    ctz=par[14]

    # Calculate AX(I,J),AY(I,J),AZ(I,J)

    [ax,errflg]=py_sysfnc("ax",ipar)

    [ay,errflg]=py_sysfnc("ay",ipar)

    [az,errflg]=py_sysfnc("az",ipar)

    #CalculateDX(I,J,J),DY(I,J,J),DZ(I,J,J)

    ipar.append(int(par[2]))

    [dx,errflg]=py_sysfnc("dx",ipar)

    [dy,errflg]=py_sysfnc("dy",ipar)

    [dz,errflg]=py_sysfnc("dz",ipar)

    #CalculateWX(I,J,J),WY(I,J,J),WZ(I,J,J)

    [wx,errflg]=py_sysfnc("wx",ipar)

    [wy,errflg]=py_sysfnc("wy",ipar)

    [wz,errflg]=py_sysfnc("wz",ipar)

    #CalculateVX(I,J,J,J),VY(I,J,J,J),VZ(I,J,J,J)

    ipar.append(int(par[2]))

    [vx,errflg]=py_sysfnc("vx",ipar)

    [vy,errflg]=py_sysfnc("vy",ipar)

    [vz,errflg]=py_sysfnc("vz",ipar)

    #Calculate{F(x)}

    [fx,errflg]=py_akispl(-dx,0.0,kx_spl_id,0)

    [fy,errflg]=py_akispl(-dy,0.0,ky_spl_id,0)

    [fz,errflg]=py_akispl(-dz,0.0,kz_spl_id,0)

    #{a}

    value[0]=fx-cx*vx

    value[1]=fy-cy*vy

    value[2]=fz-cz*vz

    #{b}

    value[3]=-ktx*ax-ctx*wx

    value[4]=-kty*ay-cty*wy

    value[5]=-ktz*az-ctz*wz

    return value

Comments

<Control_StateEqn

    id                  = "301001"

    type                = "USERSUB"

    x_array_id          = "30100200"

    y_array_id          = "30100300"

    u_array_id          = "30100100"

    num_state           = "2"

    num_output          = "1"

    is_static_hold      = "FALSE"

    usrsub_param_string = "USER(998,0,1,-10,.1,10,0,0,1)"

    usrsub_dll_name     = "NULL"

    usrsub_fnc_name     = "GSESUB"

    usrsub_der1_name    = "GSEXX"

    usrsub_der2_name    = "GSEXU"

    usrsub_der3_name    = "GSEYX"

 />

<Force_StateEqn

    id                  = "301001"

    type                = "USERSUB"

    x_array_id          = "535050504"

    y_array_id          = "535050508"

    u_array_id          = "535050505"

    num_state           = "2"

    num_output          = "6"

    usrsub_param_string = "USER(1001,100.,0.31625,0.0004,1.,5.,5,3,0.5,0.3,0.)"

    usrsub_dll_name     = "ms_csubdll"

    usrsub_fnc_name     = "YFOSUB"

    is_static_hold      = "FALSE"

    i_marker_id         = "30101020"

    j_floating_marker_id= "30102020"

    ref_marker_id       = "30102020"

 />

See Also:

Modeling Subroutines