Maik JUSTUS: rotor bending fix
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mfranz
parent
e37b255095
commit
15754ccfc1
2 changed files with 26 additions and 47 deletions
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@ -17,12 +17,12 @@ Rotorpart::Rotorpart()
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_dt=0;
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#define set3(x,a,b,c) x[0]=a;x[1]=b;x[2]=c;
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set3 (_speed,1,0,0);
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set3 (_directionofzentipetalforce,1,0,0);
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set3 (_directionofcentripetalforce,1,0,0);
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set3 (_directionofrotorpart,0,1,0);
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set3 (_direction_of_movement,1,0,0);
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set3 (_last_torque,0,0,0);
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#undef set3
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_zentipetalforce=1;
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_centripetalforce=1;
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_maxpitch=.02;
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_minpitch=0;
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_maxcyclic=0.02;
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@ -87,7 +87,7 @@ void Rotorpart::inititeration(float dt,float *rot)
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//alpha is rotation about "normal cross dirofzentf"
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float dir[3];
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Math::cross3(_directionofzentipetalforce,_normal,dir);
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Math::cross3(_directionofcentripetalforce,_normal,dir);
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a=Math::dot3(rot,dir);
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_alphaalt -= a;
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_alphaalt= Math::clamp(_alphaalt,_alphamin,_alphamax);
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@ -173,7 +173,7 @@ void Rotorpart::setSpeed(float* p)
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void Rotorpart::setDirectionofZentipetalforce(float* p)
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{
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int i;
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for(i=0; i<3; i++) _directionofzentipetalforce[i] = p[i];
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for(i=0; i<3; i++) _directionofcentripetalforce[i] = p[i];
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}
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void Rotorpart::setDirectionofRotorPart(float* p)
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@ -199,7 +199,7 @@ void Rotorpart::setDdtOmega(float value)
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void Rotorpart::setZentipetalForce(float f)
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{
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_zentipetalforce=f;
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_centripetalforce=f;
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}
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void Rotorpart::setMinpitch(float f)
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@ -254,6 +254,7 @@ void Rotorpart::setC2(float f)
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void Rotorpart::setAlpha0(float f)
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{
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if (f>-0.01) f=-0.01; //half a degree bending
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_alpha0=f;
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}
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@ -372,7 +373,7 @@ float Rotorpart::calculateAlpha(float* v_rel_air, float rho,
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int i,n;
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for (i=0;i<3;i++)
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moment[i]=0;
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lift_moment=0;
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lift_moment=-_mass*_len; //*cos yaw * cos roll
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*torque=0;//
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if((_nextrp==NULL)||(_lastrp==NULL)||(_rotor==NULL))
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return 0.0;//not initialized. Can happen during startupt of flightgear
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@ -461,12 +462,10 @@ float Rotorpart::calculateAlpha(float* v_rel_air, float rho,
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if (returnlift!=NULL) *returnlift+=lift;
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}
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//as above, use 1st order approximation
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//float alpha=Math::atan2(lift_moment,_zentipetalforce * _len);
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//float alpha=Math::atan2(lift_moment,_centripetalforce * _len);
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float alpha;
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if ((_zentipetalforce >1e-8) || (_zentipetalforce <-1e-8))
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alpha=lift_moment/(_zentipetalforce * _len);
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else
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alpha=0;
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alpha=lift_moment/(_centripetalforce * _len - _mass * _len/_alpha0);
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//centripetalforce is >=0 and _alpha0<-0.01
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return (alpha);
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}
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@ -483,12 +482,11 @@ void Rotorpart::calcForce(float* v, float rho, float* out, float* torque,
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*torque_scalar=0;
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return;
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}
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_zentipetalforce=_mass*_len*_omega*_omega;
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_centripetalforce=_mass*_len*_omega*_omega;
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float vrel[3],vreldir[3];
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Math::sub3(_speed,v,vrel);
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float scalar_torque=0,alpha_alteberechnung=0;
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float scalar_torque=0;
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Math::unit3(vrel,vreldir);//direction of blade-movement rel. to air
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float delta=Math::asin(Math::dot3(_normal,vreldir));
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//Angle of blade which would produce no vertical force (where the
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//effective incidence is zero)
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@ -504,10 +502,6 @@ void Rotorpart::calcForce(float* v, float rho, float* out, float* torque,
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float alpha,factor; //alpha is the flapping angle
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//the new flapping angle will be the old flapping angle
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//+ factor *(alpha - "old flapping angle")
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if((_omega*10)>_omegan)
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//the rotor is rotaing quite fast.
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//(at least 10% of the nominal rotational speed)
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{
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alpha=calculateAlpha(v,rho,_incidence,cyc,0,&scalar_torque);
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//the incidence is a function of alpha (if _delta* != 0)
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//Therefore missing: wrap this function in an integrator
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@ -515,25 +509,10 @@ void Rotorpart::calcForce(float* v, float rho, float* out, float* torque,
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factor=_dt*_dynamic;
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if (factor>1) factor=1;
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}
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else //the rotor is not rotating or rotating very slowly
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{
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alpha=calculateAlpha(v,rho,_incidence,cyc,alpha_alteberechnung,
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&scalar_torque);
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//calculate drag etc., e. g. for deccelrating the rotor if engine
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//is off and omega <10%
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alpha = Math::clamp(alpha,_alphamin,_alphamax);
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float rel =_omega*10 / _omegan;
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alpha=rel * alpha + (1-rel)* _alpha0;
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factor=_dt*_dynamic/10;
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if (factor>1) factor=1;
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}
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float vz=Math::dot3(_normal,v); //the s
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float dirblade[3];
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Math::cross3(_normal,_directionofzentipetalforce,dirblade);
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Math::cross3(_normal,_directionofcentripetalforce,dirblade);
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float vblade=Math::abs(Math::dot3(dirblade,v));
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float tliftfactor=Math::sqrt(1+vblade*_translift);
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alpha=_alphaalt+(alpha-_alphaalt)*factor;
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_alpha=alpha;
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@ -544,8 +523,8 @@ void Rotorpart::calcForce(float* v, float rho, float* out, float* torque,
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float schwenkfactor=1-(Math::cos(_lastrp->getrealAlpha())-meancosalpha)*_rotor->getNumberOfParts()/4;
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//missing: consideration of rellenhinge
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float xforce = Math::cos(alpha)*_zentipetalforce;
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float zforce = schwenkfactor*Math::sin(alpha)*_zentipetalforce;
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float xforce = Math::cos(alpha)*_centripetalforce;
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float zforce = schwenkfactor*Math::sin(alpha)*_centripetalforce;
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*torque_scalar=scalar_torque;
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scalar_torque+= 0*_ddt_omega*_torque_of_inertia;
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float thetorque = scalar_torque;
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@ -554,7 +533,7 @@ void Rotorpart::calcForce(float* v, float rho, float* out, float* torque,
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for(i=0; i<3; i++) {
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_last_torque[i]=torque[i] = f*_normal[i]*thetorque;
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out[i] = _normal[i]*zforce*_rotor->getLiftFactor()
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+_directionofzentipetalforce[i]*xforce;
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+_directionofcentripetalforce[i]*xforce;
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}
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}
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@ -582,9 +561,9 @@ std::ostream & operator<<(std::ostream & out, const Rotorpart& rp)
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i( _torque_no_force)
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iv( _speed)
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iv( _direction_of_movement)
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iv( _directionofzentipetalforce)
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iv( _directionofcentripetalforce)
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iv( _directionofrotorpart)
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i( _zentipetalforce)
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i( _centripetalforce)
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i( _maxpitch)
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i( _minpitch)
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i( _maxcyclic)
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@ -85,9 +85,9 @@ namespace yasim {
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float _torque_no_force;
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float _speed[3];
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float _direction_of_movement[3];
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float _directionofzentipetalforce[3];
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float _directionofcentripetalforce[3];
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float _directionofrotorpart[3];
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float _zentipetalforce;
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float _centripetalforce;
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float _maxpitch;
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float _minpitch;
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float _maxcyclic;
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