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Quick update with Bertrand Coconnier's fixes

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This commit is contained in:
Erik Hofman 2010-11-28 15:14:12 +01:00
parent ad51a9bde2
commit 1cf207e054
4 changed files with 92 additions and 39 deletions
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4
src/FDM/JSBSim/math/FGQuaternion.cpp
View file

@ -57,7 +57,7 @@ using std::endl;
namespace JSBSim {
static const char *IdSrc = "$Id: FGQuaternion.cpp,v 1.16 2010/06/30 03:13:40 jberndt Exp $";
static const char *IdSrc = "$Id: FGQuaternion.cpp,v 1.17 2010/11/28 13:15:26 bcoconni Exp $";
static const char *IdHdr = ID_QUATERNION;
//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
@ -146,8 +146,6 @@ FGQuaternion::FGQuaternion(const FGMatrix33& m) : mCacheValid(false)
data[2] = t*(m(3,1) - m(1,3));
data[3] = t*(m(1,2) - m(2,1));
ComputeDerivedUnconditional();
Normalize();
}

6
src/FDM/JSBSim/models/FGLGear.cpp
View file

@ -62,7 +62,7 @@ DEFINITIONS
GLOBAL DATA
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
static const char *IdSrc = "$Id: FGLGear.cpp,v 1.78 2010/10/07 03:45:40 jberndt Exp $";
static const char *IdSrc = "$Id: FGLGear.cpp,v 1.79 2010/11/28 13:20:47 bcoconni Exp $";
static const char *IdHdr = ID_LGEAR;
// Body To Structural (body frame is rotated 180 deg about Y and lengths are given in
@ -806,6 +806,10 @@ void FGLGear::bind(void)
property_name = base_property_name + "/static_friction_coeff";
fdmex->GetPropertyManager()->Tie( property_name.c_str(), &staticFCoeff );
property_name = base_property_name + "/rolling_friction_coeff";
fdmex->GetPropertyManager()->Tie( property_name.c_str(), &rollingFCoeff );
property_name = base_property_name + "/dynamic_friction_coeff";
fdmex->GetPropertyManager()->Tie( property_name.c_str(), &dynamicFCoeff );
if (eSteerType == stCaster) {
property_name = base_property_name + "/steering-angle-deg";

107
src/FDM/JSBSim/models/FGPropagate.cpp
View file

@ -71,7 +71,7 @@ using namespace std;
namespace JSBSim {
static const char *IdSrc = "$Id: FGPropagate.cpp,v 1.73 2010/11/18 12:38:06 jberndt Exp $";
static const char *IdSrc = "$Id: FGPropagate.cpp,v 1.74 2010/11/28 13:02:43 bcoconni Exp $";
static const char *IdHdr = ID_PROPAGATE;
/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
@ -454,6 +454,55 @@ void FGPropagate::Integrate( FGQuaternion& Integrand,
}
}
//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
// Evaluates the rates (translation or rotation) that the friction forces have
// to resist to. This includes the external forces and moments as well as the
// relative movement between the aircraft and the ground.
// Erin Catto's paper (see ref [6]) only supports Euler integration scheme and
// this algorithm has been adapted to handle the multistep algorithms that
// JSBSim supports (i.e. Trapezoidal, Adams-Bashforth 2, 3 and 4). The capacity
// to handle the multistep integration schemes adds some complexity but it
// significantly helps stabilizing the friction forces.
void FGPropagate::EvaluateRateToResistTo(FGColumnVector3& vdot,
const FGColumnVector3& Val,
const FGColumnVector3& ValDot,
const FGColumnVector3& LocalTerrainVal,
deque <FGColumnVector3>& dqValDot,
const double dt,
const eIntegrateType integration_type)
{
switch(integration_type) {
case eAdamsBashforth4:
vdot = ValDot + Ti2b * (-59.*dqValDot[0]+37.*dqValDot[1]-9.*dqValDot[2])/55.;
if (dt > 0.) // Zeroes out the relative movement between aircraft and ground
vdot += 24.*(Val - Tec2b * LocalTerrainVal) / (55.*dt);
break;
case eAdamsBashforth3:
vdot = ValDot + Ti2b * (-16.*dqValDot[0]+5.*dqValDot[1])/23.;
if (dt > 0.) // Zeroes out the relative movement between aircraft and ground
vdot += 12.*(Val - Tec2b * LocalTerrainVal) / (23.*dt);
break;
case eAdamsBashforth2:
vdot = ValDot - Ti2b * dqValDot[0]/3.;
if (dt > 0.) // Zeroes out the relative movement between aircraft and ground
vdot += 2.*(Val - Tec2b * LocalTerrainVal) / (3.*dt);
break;
case eTrapezoidal:
vdot = ValDot + Ti2b * dqValDot[0];
if (dt > 0.) // Zeroes out the relative movement between aircraft and ground
vdot += 2.*(Val - Tec2b * LocalTerrainVal) / dt;
break;
case eRectEuler:
vdot = ValDot;
if (dt > 0.) // Zeroes out the relative movement between aircraft and ground
vdot += (Val - Tec2b * LocalTerrainVal) / dt;
break;
case eNone:
break;
}
}
//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
// Resolves the contact forces just before integrating the EOM.
// This routine is using Lagrange multipliers and the projected Gauss-Seidel
@ -472,58 +521,52 @@ void FGPropagate::ResolveFrictionForces(double dt)
const double invMass = 1.0 / FDMExec->GetMassBalance()->GetMass();
const FGMatrix33& Jinv = FDMExec->GetMassBalance()->GetJinv();
vector <FGColumnVector3> JacF, JacM;
vector<double> lambda, lambdaMin, lambdaMax;
FGColumnVector3 vdot, wdot;
FGColumnVector3 Fc, Mc;
int n = 0, i;
int n = 0;
// Compiles data from the ground reactions to build up the jacobian matrix
for (MultiplierIterator it=MultiplierIterator(FDMExec->GetGroundReactions()); *it; ++it, n++) {
JacF.push_back((*it)->ForceJacobian);
JacM.push_back((*it)->MomentJacobian);
lambda.push_back((*it)->value);
lambdaMax.push_back((*it)->Max);
lambdaMin.push_back((*it)->Min);
}
// If no gears are in contact with the ground then return
if (!n) return;
vector<double> a(n*n); // Will contain J*M^-1*J^T
vector<double> eta(n);
vector<double> lambda(n);
vector<double> lambdaMin(n);
vector<double> lambdaMax(n);
// Initializes the Lagrange multipliers
i = 0;
for (MultiplierIterator it=MultiplierIterator(FDMExec->GetGroundReactions()); *it; ++it, i++) {
lambda[i] = (*it)->value;
lambdaMax[i] = (*it)->Max;
lambdaMin[i] = (*it)->Min;
}
vdot = vUVWdot;
wdot = vPQRdot;
if (dt > 0.) {
// Instruct the algorithm to zero out the relative movement between the
// aircraft and the ground.
vdot += (VState.vUVW - Tec2b * LocalTerrainVelocity) / dt;
wdot += (VState.vPQR - Tec2b * LocalTerrainAngularVelocity) / dt;
}
vector<double> rhs(n);
// Assemble the linear system of equations
for (i=0; i < n; i++) {
for (int i=0; i < n; i++) {
for (int j=0; j < i; j++)
a[i*n+j] = a[j*n+i]; // Takes advantage of the symmetry of J^T*M^-1*J
for (int j=i; j < n; j++)
a[i*n+j] = DotProduct(JacF[i],invMass*JacF[j])+DotProduct(JacM[i],Jinv*JacM[j]);
}
// Assemble the RHS member
// Translation
EvaluateRateToResistTo(vdot, VState.vUVW, vUVWdot, LocalTerrainVelocity,
VState.dqUVWidot, dt, integrator_translational_rate);
// Rotation
EvaluateRateToResistTo(wdot, VState.vPQR, vPQRdot, LocalTerrainAngularVelocity,
VState.dqPQRidot, dt, integrator_rotational_rate);
// Prepare the linear system for the Gauss-Seidel algorithm :
// divide every line of 'a' and eta by a[i,i]. This is in order to save
// 1. Compute the right hand side member 'rhs'
// 2. Divide every line of 'a' and 'lhs' by a[i,i]. This is in order to save
// a division computation at each iteration of Gauss-Seidel.
for (i=0; i < n; i++) {
for (int i=0; i < n; i++) {
double d = 1.0 / a[i*n+i];
eta[i] = -(DotProduct(JacF[i],vdot)+DotProduct(JacM[i],wdot))*d;
rhs[i] = -(DotProduct(JacF[i],vdot)+DotProduct(JacM[i],wdot))*d;
for (int j=0; j < n; j++)
a[i*n+j] *= d;
}
@ -532,9 +575,9 @@ void FGPropagate::ResolveFrictionForces(double dt)
for (int iter=0; iter < 50; iter++) {
double norm = 0.;
for (i=0; i < n; i++) {
for (int i=0; i < n; i++) {
double lambda0 = lambda[i];
double dlambda = eta[i];
double dlambda = rhs[i];
for (int j=0; j < n; j++)
dlambda -= a[i*n+j]*lambda[j];
@ -553,7 +596,7 @@ void FGPropagate::ResolveFrictionForces(double dt)
Fc.InitMatrix();
Mc.InitMatrix();
for (i=0; i< n; i++) {
for (int i=0; i< n; i++) {
Fc += lambda[i]*JacF[i];
Mc += lambda[i]*JacM[i];
}
@ -565,7 +608,7 @@ void FGPropagate::ResolveFrictionForces(double dt)
// Save the value of the Lagrange multipliers to accelerate the convergence
// of the Gauss-Seidel algorithm at next iteration.
i = 0;
int i = 0;
for (MultiplierIterator it=MultiplierIterator(FDMExec->GetGroundReactions()); *it; ++it)
(*it)->value = lambda[i++];

12
src/FDM/JSBSim/models/FGPropagate.h
View file

@ -49,7 +49,7 @@ INCLUDES
DEFINITIONS
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
#define ID_PROPAGATE "$Id: FGPropagate.h,v 1.52 2010/10/31 04:48:46 jberndt Exp $"
#define ID_PROPAGATE "$Id: FGPropagate.h,v 1.53 2010/11/28 13:02:43 bcoconni Exp $"
/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
FORWARD DECLARATIONS
@ -102,7 +102,7 @@ CLASS DOCUMENTATION
@endcode
@author Jon S. Berndt, Mathias Froehlich
@version $Id: FGPropagate.h,v 1.52 2010/10/31 04:48:46 jberndt Exp $
@version $Id: FGPropagate.h,v 1.53 2010/11/28 13:02:43 bcoconni Exp $
*/
/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
@ -666,6 +666,14 @@ private:
double dt,
eIntegrateType integration_type);
void EvaluateRateToResistTo(FGColumnVector3& vdot,
const FGColumnVector3& Val,
const FGColumnVector3& ValDot,
const FGColumnVector3& LocalTerrainVal,
deque <FGColumnVector3>& dqValDot,
const double dt,
const eIntegrateType integration_type);
void ResolveFrictionForces(double dt);
void UpdateLocationMatrices(void);