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psl_purdue_dem_lecture02_hardparticlecontactmodel
C. Wassgren, Purdue University 1
DEM Modeling: Lecture 02
Introduction to the Hard-Particle Algorithm
Collision Model
C. Wassgren, Purdue University 2
Introduction
? Hard particle simulations are deterministic - given the
same initial conditions the final results will be the same
– the state of every particle in the system and all particle
interactions are determined using physical laws
? The term “hard-particle” refers to the fact that particles
are considered to be perfectly rigid
– ? particles do not deform during a collision
– ? collisions occur instantaneously
– ? only binary (two particle) collisions occur
? Used most often for modeling dilute, energetic granular
flows
C. Wassgren, Purdue University 3
x ≡ position
ω ≡ angular velocity
m ≡ mass
r ≡ radius
I ≡ moment of inertia
J ≡ impulse of momentum
acting on particle 1 due
to collision with particle 2
≡ unit vector pointing from the
center of particle 1 to the center
of particle 2
y
x
z
x1
x2
m2, r2, I2m1, r1, I1
ω1
ω2
J
n?
n?
Collision Dynamics
collisiont
dt= ∫J F
Assuming spheres
? I = 2/5mr2
C. Wassgren, Purdue University 4
Collision Dynamics…
? Unit normal vector for the contact (assuming spheres)
? Velocity of particle 2 relative to particle 1 at the point of
contact
2 1
2 1
?
?
=
?
x x
n
x x
( )
( ) ( )
1, 1 1 1
2, 2 2 2
2, 1, 2 1 2 2 1 1
?
?
? ?
C
C
C C C
r
r
r r
= + ×
= + × ?
? = ? = ? ? × + ×
x x ω n
x x ω n
x x x x x ω n ω n
? ?
? ?
? ? ? ? ?
C. Wassgren, Purdue University 5
Collision Dynamics…
? Unit tangential vector for the contact
– perpendicular to unit normal and points in the direction of the
relative contact velocity just prior to the collision
? Normal and tangential components of the impact velocity
( ) ( )? ? ? ?C C C? ? ?? = ? ? + ? ?x x n n x s s? ? ?
?
?
C
C
n
s
= ? ?
= ? ?
x n
x s
? ?
? ?
( )
( )
? ?
?
? ?
C C
C C
? ?
? ?
? ? ? ?
=
? ? ? ?
x x n n
s
x x n n
? ?
? ?
C. Wassgren, Purdue University 6
Collision Dynamics…
? Conservation of linear momentum for each particle
? Co
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