227 lines
7.9 KiB
XML
227 lines
7.9 KiB
XML
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<?xml version="1.0"?>
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<!--
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Short S.23 flying boat flight model for JSBSim.
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Copyright (C) 2010 Anders Gidenstam (anders(at)gidenstam.org)
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This program is free software; you can redistribute it and/or modify
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it under the terms of the GNU General Public License as published by
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the Free Software Foundation; either version 2 of the License, or
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(at your option) any later version.
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This program is distributed in the hope that it will be useful,
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but WITHOUT ANY WARRANTY; without even the implied warranty of
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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GNU General Public License for more details.
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You should have received a copy of the GNU General Public License
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along with this program; if not, write to the Free Software
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Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
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-->
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<system name="mooring-jsbsim">
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<documentation>
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This system models a mooring system with a fixed length mooring line.
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NOTE: Currently the system only works in FlightGear and require that the
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mooring bollard is located at the visual reference point (VRP).
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Usage:
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Define the following properties:
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mooring/rope-spring-coeff-lbs_ft
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mooring/max-rope-force-lbs
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mooring/rope-length-ft
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Define the following external forces:
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<force name="mooring-north" frame="LOCAL">
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<location unit="">
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<x> 0.0 </x>
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<y> 0.0 </y>
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<z> 0.0 </z>
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</location>
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<direction>
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<x> 1.0 </x>
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<y> 0.0 </y>
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<z> 0.0 </z>
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</direction>
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</force>
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<force name="mooring-east" frame="LOCAL">
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<location unit="">
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<x> 0.0 </x>
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<y> 0.0 </y>
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<z> 0.0 </z>
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</location>
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<direction>
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<x> 0.0 </x>
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<y> 1.0 </y>
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<z> 0.0 </z>
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</direction>
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</force>
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<force name="mooring-down" frame="LOCAL">
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<location unit="">
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<x> 0.0 </x>
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<y> 0.0 </y>
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<z> 1.0 </z>
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</location>
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<direction>
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<x> 1.0 </x>
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<y> 0.0 </y>
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<z> 0.0 </z>
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</direction>
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</force>
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</documentation>
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<!-- INTERFACE PROPERTIES -->
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<!-- Mooring actions -->
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<property value="0.0"> mooring/mooring-connected </property>
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<!-- Mooring buoy location. Note: Geodetic latitude and altitude. -->
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<property value="0.0"> mooring/latitude-deg </property>
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<property value="0.0"> mooring/longitude-deg </property>
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<property value="0.0"> mooring/altitude-ft </property>
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<!-- Mooring rope -->
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<property value="952"> mooring/rope-spring-coeff-lbs_ft </property>
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<property value="2000"> mooring/max-rope-force-lbs </property>
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<property value="35"> mooring/rope-length-ft </property>
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<channel name="Mooring Forces">
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<fcs_function name="mooring/latitude-diff-ft">
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<function>
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<product>
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<value> -364560.0 </value>
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<difference>
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<property> /position/latitude-deg </property>
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<property> mooring/latitude-deg </property>
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</difference>
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</product>
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</function>
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</fcs_function>
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<fcs_function name="mooring/longitude-diff-ft">
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<function>
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<product>
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<value> -364560.0 </value> <!-- Bougus conversion factor. -->
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<difference>
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<property> /position/longitude-deg </property>
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<property> mooring/longitude-deg </property>
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</difference>
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</product>
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</function>
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</fcs_function>
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<fcs_function name="mooring/altitude-diff-ft">
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<function>
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<difference>
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<property> /position/altitude-ft </property>
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<property> mooring/altitude-ft </property>
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</difference>
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</function>
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</fcs_function>
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<fcs_function name="mooring/total-distance-ft">
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<function>
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<pow>
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<sum>
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<pow>
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<property> mooring/latitude-diff-ft </property>
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<value> 2.0 </value>
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</pow>
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<pow>
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<property> mooring/longitude-diff-ft </property>
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<value> 2.0 </value>
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</pow>
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<pow>
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<property> mooring/altitude-diff-ft </property>
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<value> 2.0 </value>
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</pow>
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</sum>
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<value> 0.5 </value>
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</pow>
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</function>
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</fcs_function>
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<fcs_function name="mooring/rope-force-lbs">
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<function>
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<product>
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<property> mooring/mooring-connected </property>
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<property> mooring/rope-spring-coeff-lbs_ft </property>
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<max>
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<difference>
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<property> mooring/total-distance-ft </property>
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<property> mooring/rope-length-ft </property>
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</difference>
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<value> 0.0 </value>
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</max>
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</product>
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</function>
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<clipto>
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<min> 0.0 </min>
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<max> mooring/max-rope-force-lbs </max>
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</clipto>
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</fcs_function>
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<fcs_function name="mooring/total-force-lbs">
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<function>
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<property> mooring/rope-force-lbs </property>
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</function>
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</fcs_function>
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<fcs_function name="mooring/force-north-lbs">
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<function>
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<product>
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<property> mooring/mooring-connected </property>
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<product>
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<property> mooring/total-force-lbs </property>
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<quotient>
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<property> mooring/latitude-diff-ft </property>
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<property> mooring/total-distance-ft </property>
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</quotient>
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</product>
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</product>
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</function>
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<output> external_reactions/mooring-north/magnitude </output>
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</fcs_function>
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<fcs_function name="mooring/force-east-lbs">
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<function>
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<product>
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<property> mooring/mooring-connected </property>
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<product>
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<property> mooring/total-force-lbs </property>
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<quotient>
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<property> mooring/longitude-diff-ft </property>
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<property> mooring/total-distance-ft </property>
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</quotient>
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</product>
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</product>
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</function>
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<output> external_reactions/mooring-east/magnitude </output>
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</fcs_function>
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<fcs_function name="mooring/force-down-lbs">
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<function>
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<product>
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<property> mooring/mooring-connected </property>
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<product>
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<property> mooring/total-force-lbs </property>
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<quotient>
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<property> mooring/altitude-diff-ft </property>
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<property> mooring/total-distance-ft </property>
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</quotient>
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</product>
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</product>
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</function>
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<output> external_reactions/mooring-down/magnitude </output>
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</fcs_function>
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</channel>
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</system>
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