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Nasal hitch.nas: Update by D-NXKT and Bea Wolf

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Benedikt Wolf 2023-12-13 17:32:32 +01:00
parent 9e9c0252f7
commit 476a7bccb5
1 changed files with 26 additions and 13 deletions
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39
Nasal/towing/hitch.nas
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@ -2,7 +2,7 @@
# TOWING NASAL CODE
#
# original version by D-NXKT up to version 30.12.2014
# updates by Benedikt Wolf and D-NXKT, version 01/2023
# updates by Bea Wolf and D-NXKT, version 12/2023
#
#
# Purpose of this routine:
@ -1315,8 +1315,20 @@ var winch = func (open){
if ( winch_hash.clutched.getBoolValue() ) {
if( winch_hash.type == 0 ){
# Concept: force is given
forcetow_N = force_setting;
# Concept: force is conrolled
towlength_new_m = towlength_m - spoolspeed * delta_t;
delta_towlength_m = distance - towlength_new_m;
var delta_spoolspeed = spool_acceleration * delta_t;
spoolspeed = spoolspeed + delta_spoolspeed ;
if ( spoolspeed > spool_max ) spoolspeed = spool_max;
if ( delta_towlength_m < 0. ) {
forcetow_N = 0.;
}
else{
forcetow_N = elastic_constant * delta_towlength_m / towlength_new_m;
}
} else if ( winch_hash.type == 1 ){
# Concept: regulate force to reach target speed
@ -1328,13 +1340,12 @@ var winch = func (open){
forcetow_N -= acceleration_N_s * delta_t;
}
}
# New towlength is distance from hook to winch; previous towlength is stored in winch_hash.towlength_m
towlength_new_m = distance;
delta_towlength_m = -1 * ( distance - towlength_m );
spoolspeed = delta_towlength_m / delta_t;
}
# New towlength is distance from hook to winch; previous towlength is stored in winch_hash.towlength_m
towlength_new_m = distance;
delta_towlength_m = -1 * ( distance - towlength_m );
spoolspeed = delta_towlength_m / delta_t;
} else { # un-clutched
# --- experimental --- #
towlength_new_m = towlength_m - spoolspeed * delta_t;
@ -1355,12 +1366,14 @@ var winch = func (open){
spoolspeed = spoolspeed - delta_spoolspeed;
if ( spoolspeed < - unspool_max ) spoolspeed = - unspool_max;
#if ( delta_towlength_m < 0. ) {
# forcetow_N = 0.;
#}
if ( delta_towlength_m < 0. ) {
forcetow_N = 0.;
}
else{
forcetow_N = elastic_constant * delta_towlength_m / towlength_new_m;
}
}
if ( forcetow_N > max_force_N ) {
forcetow_N = max_force_N;
var towlength_new_m = distance / ( forcetow_N / elastic_constant + 1. );