Robotran C Documentation

Modal analysis

Linearization of the model around the equilibrium configuration.
Computation of the system eigenmodes.
For more information, see Robotran theoritical framework.

Code sample

For running the modal analysis, insert the following code in your main script and adapt it to your need :

/* * * * * * * * * * * * * * * * * * * * * * * * * * * * * * *
/* MODAL ANALYSIS *
/* * * * * * * * * * * * * * * * * * * * * * * * * * * * * * */
MbsModal *mbs_modal;
mbs_data->process = 4;
mbs_modal = mbs_new_modal(mbs_data);
// modal options (see documentations for additional options)
mbs_modal->options->save_result = 1;
mbs_modal->options->save_anim = 1;
mbs_modal->options->mode_ampl=0.2;
mbs_modal->options->verbose = 1;
mbs_run_modal(mbs_modal, mbs_data);
mbs_delete_modal(mbs_modal, mbs_data);

Use

The modal analysis is performed by the function mbs_run_modal().

The user specifies the desired options of the modal analysis in MbsModalOptions structure. The results are written to files at the end of computation.

You should call successively :

mbs_delete_modal
void mbs_delete_modal(MbsModal *mo, MbsData *s)
Free the MbsModal structure (pointers table, ...)
Definition: mbs_modal.c:649
MbsModalOptions::mode_ampl
double mode_ampl
amplification factor for the animation of the modes, application dependent [default = 0....
Definition: mbs_modal_struct.h:21
MbsModalOptions::save_result
int save_result
no = 0, yes = 1, flag to save the modal results summary [default = 1]
Definition: mbs_modal_struct.h:18
MbsModalOptions::verbose
int verbose
no = 0, yes = 1, [default = 1]
Definition: mbs_modal_struct.h:20
MbsModal::options
MbsModalOptions * options
Definition: mbs_modal_struct.h:77
MbsModal
Definition: mbs_modal_struct.h:75
MbsModalOptions::save_anim
int save_anim
no = 0, yes = 1, flag to save and generate the animation for the modes [default = 0]
Definition: mbs_modal_struct.h:19
mbs_new_modal
MbsModal * mbs_new_modal(MbsData *s)
Create a new modal structure.
Definition: mbs_modal.c:27
MbsData::process
int process
Flag that indicate which module is currently running (1=partitioning, 2=equilibrium,...
Definition: mbs_data.h:264
mbs_run_modal
int mbs_run_modal(MbsModal *mo, MbsData *s)
Run the Modal Analysis.
Definition: mbs_modal.c:106