Aircraft/Generic/JSBSim/Systems: Added a generic airship mooring system.
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Anders Gidenstam
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319
Aircraft/Generic/JSBSim/Systems/airship-mooring.xml
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319
Aircraft/Generic/JSBSim/Systems/airship-mooring.xml
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<?xml version="1.0"?>
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<!--
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Airship nose cone and main wire mooring system for JSBSim.
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Copyright (C) 2008 - 2015 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="airship-mooring">
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<documentation>
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This system models a mast mooring system with a mooring cone connection
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and a mooring wire. The mooring cone MUST be located at the aircraft's
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visual reference point (VRP).
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Usage:
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Include the visual-reference-point-extensions system first.
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Define the following constant properties:
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For the mooring cone connection:
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mooring/mooring-spring-coeff-lbs_ft [lbs/ft]
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mooring/mooring-damping-coeff-lbs_fps [lbs*sec/ft]
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mooring/max-mooring-force-lbs [lbs]
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For the mooring wire:
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mooring/wire-spring-coeff-lbs_ft [lbs/ft]
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mooring/max-wire-force-lbs [lbs]
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mooring/max-winch-speed-fps [ft/sec]
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For the mooring cone connection:
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mooring/mooring-spring-coeff-lbs_ft
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mooring/mooring-damping-coeff-lbs_fps
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mooring/max-mooring-force-lbs
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Define the following external forces:
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<force name="mooring-coupling-north" frame="LOCAL">
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<location unit="M">
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{ VRP }
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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-coupling-east" frame="LOCAL">
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<location unit="M">
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{ VRP }
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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-coupling-down" frame="LOCAL">
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<location unit="M">
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{ VRP }
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</location>
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<direction>
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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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</direction>
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</force>
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The following control the mooring operation:
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mooring/wire-connected Connect the wire {0,1.0}
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mooring/winch-speed-fps Winch speed [ft/sec]
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mooring/initial-wire-length-ft [ft]
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Location of the mooring mast:
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mooring/latitude-deg
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mooring/longitude-deg
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mooring/altitude-ft
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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/wire-connected </property>
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<property value="0.0"> mooring/winch-speed-fps </property>
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<property value="0.0"> mooring/initial-wire-length-ft </property>
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<!-- Mooring mast 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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<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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<property> position/latitude-unit-distance-ft_deg </property>
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<difference>
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<property> mooring/latitude-deg </property>
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<property> position/vrp-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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<property> position/longitude-unit-distance-ft_deg </property>
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<difference>
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<property> mooring/longitude-deg </property>
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<property> position/vrp-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/vrp-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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<switch name="mooring/moored">
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<default value="0.0"/>
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<test logic="AND" value="1.0">
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mooring/wire-connected GE 1.0
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mooring/total-distance-ft LE 5.0
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</test>
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</switch>
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<fcs_function name="mooring/mooring-force-lbs">
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<function>
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<product>
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<property> mooring/moored </property>
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<property> mooring/mooring-spring-coeff-lbs_ft </property>
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<property> mooring/total-distance-ft </property>
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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-mooring-force-lbs </max>
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</clipto>
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</fcs_function>
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<switch name="mooring/winch-reset">
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<default value="-1.0"/>
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<test logic="AND" value="0.0">
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mooring/wire-connected GT 0.0
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</test>
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</switch>
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<pid name="mooring/wire-length-change-ft">
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<!-- NOTE: The plain integrator component does not reset. -->
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<input> mooring/winch-speed-fps </input>
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<kp> 0.00 </kp>
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<ki> 1.00 </ki>
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<kd> 0.00 </kd>
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<trigger> mooring/winch-reset </trigger>
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<clipto>
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<min>-mooring/initial-wire-length-ft </min>
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<max> 0.0 </max> <!-- Might not be wise. -->
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</clipto>
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</pid>
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<fcs_function name="mooring/wire-length-ft">
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<function>
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<sum>
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<property> mooring/initial-wire-length-ft </property>
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<property> mooring/wire-length-change-ft </property>
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</sum>
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</function>
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<clipto>
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<min> 0.0 </min>
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<max> mooring/initial-wire-length-ft </max> <!-- Might not be wise. -->
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</clipto>
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</fcs_function>
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<fcs_function name="mooring/wire-force-lbs">
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<function>
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<product>
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<property> mooring/wire-connected </property>
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<property> mooring/wire-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/wire-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-wire-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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<sum>
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<property> mooring/wire-force-lbs </property>
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<property> mooring/mooring-force-lbs </property>
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</sum>
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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/wire-connected </property>
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<sum>
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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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<property> mooring/moored </property>
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<property> mooring/mooring-damping-coeff-lbs_fps </property>
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<property> velocities/vrp-v-north-fps </property>
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</product>
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</sum>
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</product>
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</function>
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<output> external_reactions/mooring-coupling-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/wire-connected </property>
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<sum>
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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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<property> mooring/moored </property>
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<property> mooring/mooring-damping-coeff-lbs_fps </property>
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<property> velocities/vrp-v-east-fps </property>
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</product>
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</sum>
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</product>
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</function>
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<output> external_reactions/mooring-coupling-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/wire-connected </property>
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<sum>
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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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<property> mooring/moored </property>
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<property> mooring/mooring-damping-coeff-lbs_fps </property>
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<property> velocities/vrp-v-down-fps </property>
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</product>
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</sum>
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</product>
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</function>
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<output> external_reactions/mooring-coupling-down/magnitude </output>
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</fcs_function>
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</channel>
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</system>
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@ -0,0 +1,268 @@
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<?xml version="1.0"?>
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<!--
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Extension properties for the JSBSim visual reference point (VRP).
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Copyright (C) 2015 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="visual-reference-point-extensions">
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<channel name="position">
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<fcs_function name="position/vrp-cg-altitude-offset-ft">
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<documentation>
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Altitude offset of the visual reference point w.r.t. the centre of gravity.
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FIXME: Verify the roll dependence.
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</documentation>
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<function>
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<sum>
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<product>
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<value>-0.083333333</value>
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<difference>
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<property>metrics/visualrefpoint-x-in</property>
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<property>inertia/cg-x-in</property>
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</difference>
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<sin>
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<property>attitude/pitch-rad</property>
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</sin>
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</product>
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<product>
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<value>0.083333333</value>
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<difference>
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<property>metrics/visualrefpoint-z-in</property>
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<property>inertia/cg-z-in</property>
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</difference>
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<cos>
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<property>attitude/pitch-rad</property>
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</cos>
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</product>
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<product>
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<value>-0.083333333</value>
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<difference>
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<property>metrics/visualrefpoint-y-in</property>
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<property>inertia/cg-y-in</property>
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</difference>
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<sin>
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<property>attitude/roll-rad</property>
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</sin>
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</product>
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<!-- product>
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<value>0.083333333</value>
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<difference>
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<property>metrics/visualrefpoint-z-in</property>
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<property>inertia/cg-z-in</property>
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</difference>
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<cos>
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<property>attitude/roll-rad</property>
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</cos>
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</product -->
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</sum>
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</function>
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</fcs_function>
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<fcs_function name="position/vrp-altitude-ft">
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<documentation>
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Altitude of the visual reference point.
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</documentation>
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<function>
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<sum>
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<property>position/h-sl-ft</property>
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<property>position/vrp-cg-altitude-offset-ft</property>
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</sum>
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</function>
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</fcs_function>
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<fcs_function name="position/vrp-altitude-agl-ft">
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<documentation>
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Distance between the visual reference point and the ground surface.
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</documentation>
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<function>
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<sum>
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<property>position/h-agl-ft</property>
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<property>position/vrp-cg-altitude-offset-ft</property>
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</sum>
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</function>
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</fcs_function>
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<fcs_function name="position/vrp-latitude-deg">
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<documentation>
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Latitude of the visual reference point.
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Based on the geocentric to geodetic conversion
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vrp-latitude-deg = atan(tan(vrp-gc-latitude_deg)/(1-f)^2))
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where for WGS 84 f = 1.0/298.25722.
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</documentation>
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||||
<function>
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<product>
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||||
<value>57.29578</value>
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<atan>
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<product>
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<tan>
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||||
<product>
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||||
<value>0.017453293</value>
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<property>position/vrp-gc-latitude_deg</property>
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</product>
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</tan>
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<value>1.0067395</value>
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</product>
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</atan>
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</product>
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</function>
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</fcs_function>
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<fcs_function name="position/vrp-longitude-deg">
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<documentation>
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Longitude of the visual reference point.
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</documentation>
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<function>
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<property>position/vrp-longitude_deg</property>
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</function>
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</fcs_function>
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||||
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<fcs_function name="position/latitude-unit-distance-ft_deg">
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<documentation>
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Feet per degree of latitude at the present position.
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The conversion is based on
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http://gis.stackexchange.com/questions/75528/length-of-a-degree-where-do-the-terms-in-this-formula-come-from
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but further truncated.
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</documentation>
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||||
<function>
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||||
<product>
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||||
<value>3.2808399</value>
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<!-- Approximate WGS 84 meters per latitude deg. -->
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<sum>
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||||
<value>111132.92</value>
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<product>
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||||
<value>-559.82</value>
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||||
<cos>
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||||
<product>
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||||
<value>2.0</value>
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||||
<value>0.017453293</value>
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||||
<property>position/vrp-latitude-deg</property>
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</product>
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||||
</cos>
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||||
</product>
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||||
</sum>
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||||
</product>
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</function>
|
||||
</fcs_function>
|
||||
|
||||
<fcs_function name="position/longitude-unit-distance-ft_deg">
|
||||
<documentation>
|
||||
Feet per degree of longitude at the present position.
|
||||
|
||||
The conversion is based on
|
||||
http://gis.stackexchange.com/questions/75528/length-of-a-degree-where-do-the-terms-in-this-formula-come-from
|
||||
but further truncated.
|
||||
</documentation>
|
||||
<function>
|
||||
<product>
|
||||
<value>3.2808399</value>
|
||||
<!-- Approximate WGS 84 meters per longitude deg. -->
|
||||
<sum>
|
||||
<product>
|
||||
<value>111412.84</value>
|
||||
<cos>
|
||||
<product>
|
||||
<value>0.017453293</value>
|
||||
<property>position/vrp-latitude-deg</property>
|
||||
</product>
|
||||
</cos>
|
||||
</product>
|
||||
<product>
|
||||
<value>-93.5</value>
|
||||
<cos>
|
||||
<product>
|
||||
<value>3.0</value>
|
||||
<value>0.017453293</value>
|
||||
<property>position/vrp-latitude-deg</property>
|
||||
</product>
|
||||
</cos>
|
||||
</product>
|
||||
</sum>
|
||||
</product>
|
||||
</function>
|
||||
</fcs_function>
|
||||
|
||||
</channel>
|
||||
|
||||
<channel name="velocities">
|
||||
<!-- NOTE:
|
||||
Computing the velocity by derivating the position is probably not
|
||||
the best way.
|
||||
-->
|
||||
|
||||
<pid name="velocities/vrp-v-north-deg_sec">
|
||||
<documentation>
|
||||
</documentation>
|
||||
<input>position/vrp-latitude-deg</input>
|
||||
<kp>0.0</kp>
|
||||
<ki>0.0</ki>
|
||||
<kd>1.0</kd>
|
||||
</pid>
|
||||
|
||||
<fcs_function name="velocities/vrp-v-north-fps">
|
||||
<documentation>
|
||||
The conversion from degrees of latitude per second to ft/sec is based on
|
||||
http://gis.stackexchange.com/questions/75528/length-of-a-degree-where-do-the-terms-in-this-formula-come-from
|
||||
but further truncated.
|
||||
</documentation>
|
||||
<function>
|
||||
<product>
|
||||
<property>position/latitude-unit-distance-ft_deg</property>
|
||||
<property>velocities/vrp-v-north-deg_sec</property>
|
||||
</product>
|
||||
</function>
|
||||
</fcs_function>
|
||||
|
||||
<pid name="velocities/vrp-v-east-deg_sec">
|
||||
<documentation>
|
||||
</documentation>
|
||||
<input>position/vrp-longitude-deg</input>
|
||||
<kp>0.0</kp>
|
||||
<ki>0.0</ki>
|
||||
<kd>1.0</kd>
|
||||
</pid>
|
||||
|
||||
<fcs_function name="velocities/vrp-v-east-fps">
|
||||
<documentation>
|
||||
The conversion from degrees of longitude per second to ft/sec is based on
|
||||
http://gis.stackexchange.com/questions/75528/length-of-a-degree-where-do-the-terms-in-this-formula-come-from
|
||||
but further truncated.
|
||||
</documentation>
|
||||
<function>
|
||||
<product>
|
||||
<property>position/longitude-unit-distance-ft_deg</property>
|
||||
<property>velocities/vrp-v-east-deg_sec</property>
|
||||
</product>
|
||||
</function>
|
||||
</fcs_function>
|
||||
|
||||
<pid name="velocities/vrp-v-down-fps">
|
||||
<documentation>
|
||||
</documentation>
|
||||
<input>position/vrp-altitude-ft</input>
|
||||
<kp>0.0</kp>
|
||||
<ki>0.0</ki>
|
||||
<kd>-1.0</kd>
|
||||
</pid>
|
||||
|
||||
</channel>
|
||||
|
||||
</system>
|
||||
Loading…
Reference in a new issue