YASim: add MAC (mean aerodynamic chord) and c.g. calculations.
This commit is contained in:
Henning Stahlke
parent
574f2f907f
commit
3f0ef99c71
7 changed files with 146 additions and 73 deletions
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@ -57,8 +57,10 @@ Airplane::Airplane()
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_failureMsg = 0;
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_wingsN = 0;
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_cgMaxX = -1e6;
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_cgMinX = 1e6;
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_cgMax = -1e6;
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_cgMin = 1e6;
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_cgDesiredMax = 0.33f; // FIXME find reasonable default value
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_cgDesiredMin = 0.1f; // FIXME find reasonable default value
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}
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Airplane::~Airplane()
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@ -115,7 +117,7 @@ void Airplane::calcFuelWeights()
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}
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}
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void Airplane::getPilotAccel(float* out)
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const void Airplane::getPilotAccel(float* out)
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{
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State* s = _model.getState();
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@ -125,14 +127,13 @@ void Airplane::getPilotAccel(float* out)
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Math::vmul33(s->orient, out, out);
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out[0] = -out[0];
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// The regular acceleration
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float tmp[3];
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float acceleration[3];
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// Convert to aircraft coordinates
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Math::vmul33(s->orient, s->acc, tmp);
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tmp[1] = -tmp[1];
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tmp[2] = -tmp[2];
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Math::vmul33(s->orient, s->acc, acceleration);
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acceleration[1] = -acceleration[1];
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acceleration[2] = -acceleration[2];
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Math::add3(tmp, out, out);
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Math::add3(acceleration, out, out);
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// FIXME: rotational & centripetal acceleration needed
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}
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@ -240,10 +241,6 @@ void Airplane::addGear(Gear* gear)
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g->gear = gear;
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g->surf = 0;
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_gears.add(g);
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float pos[3];
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g->gear->getPosition(pos);
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if (pos[0] > _cgMaxX) _cgMaxX = pos[0];
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if (pos[0] < _cgMinX) _cgMinX = pos[0];
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}
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void Airplane::addThruster(Thruster* thruster, float mass, float* cg)
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@ -371,6 +368,9 @@ float Airplane::compileWing(Wing* w)
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_wingsN->getNode("wing-area", true)->setFloatValue(w->getArea());
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_wingsN->getNode("aspect-ratio", true)->setFloatValue(w->getAspectRatio());
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_wingsN->getNode("standard-mean-chord", true)->setFloatValue(w->getSMC());
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_wingsN->getNode("mac", true)->setFloatValue(w->getMAC());
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_wingsN->getNode("mac-x", true)->setFloatValue(w->getMACx());
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_wingsN->getNode("mac-y", true)->setFloatValue(w->getMACy());
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}
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float wgt = 0;
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@ -582,7 +582,6 @@ void Airplane::compile()
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RigidBody* body = _model.getBody();
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int firstMass = body->numMasses();
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SGPropertyNode_ptr baseN = fgGetNode("/fdm/yasim/model/wings", true);
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SGPropertyNode_ptr n;
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// Generate the point masses for the plane. Just use unitless
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// numbers for a first pass, then go back through and rescale to
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@ -594,6 +593,15 @@ void Airplane::compile()
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{
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if (baseN != 0) _wingsN = baseN->getChild("wing", 0, true);
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aeroWgt += compileWing(_wing);
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// convert % to absolute x coordinates
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_cgDesiredFront = _wing->getMACx() - _wing->getMAC()*_cgDesiredMin;
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_cgDesiredAft = _wing->getMACx() - _wing->getMAC()*_cgDesiredMax;
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if (baseN != 0) {
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SGPropertyNode_ptr n = fgGetNode("/fdm/yasim/model", true);
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n->getNode("cg-range-front", true)->setFloatValue(_cgDesiredFront);
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n->getNode("cg-range-aft", true)->setFloatValue(_cgDesiredAft);
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}
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}
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if (_tail)
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{
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@ -648,33 +656,35 @@ void Airplane::compile()
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ThrustRec* tr = (ThrustRec*)_thrusters.get(i);
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tr->handle = _model.addThruster(tr->thruster);
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}
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// Ground effect
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// If a double tapered wing is modelled with wing and mstab, wing must
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// be outboard to get correct wingspan.
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if(_wing) {
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float gepos[3];
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// Ground effect
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// If a double tapered wing is modelled with wing and mstab, wing must
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// be outboard to get correct wingspan.
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float pos[3];
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float gespan = 0;
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gespan = _wing->getSpan();
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_wing->getBase(gepos);
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_wing->getBase(pos);
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if(!isVersionOrNewer( Version::YASIM_VERSION_2017_2 )) {
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//old code
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//float span = _length * Math::cos(_sweep) * Math::cos(_dihedral);
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//span = 2*(span + Math::abs(_base[2]));
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gespan -= 2*gepos[1]; // cut away base (y-distance)
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gespan += 2*Math::abs(gepos[2]); // add (wrong) z-distance
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gespan -= 2*pos[1]; // cut away base (y-distance)
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gespan += 2*Math::abs(pos[2]); // add (wrong) z-distance
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}
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if (baseN != 0)
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baseN->getChild("wing", 0)->getNode("gnd-eff-span", true)->setFloatValue(gespan);
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// where does the hard coded factor 0.15 come from?
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_model.setGroundEffect(gepos, gespan, 0.15f);
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_model.setGroundEffect(pos, gespan, 0.15f);
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}
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// solve function below resets failure message
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// so check if we have any problems and abort here
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if (_failureMsg) return;
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solveGear();
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calculateCGHardLimits();
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if(_wing && _tail) solve();
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else
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{
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@ -742,11 +752,24 @@ void Airplane::solveGear()
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}
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}
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void Airplane::calculateCGHardLimits()
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{
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_cgMax = -1e6;
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_cgMin = 1e6;
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for (int i = 0; i < _gears.size(); i++) {
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GearRec* gr = (GearRec*)_gears.get(i);
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float pos[3];
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gr->gear->getPosition(pos);
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if (pos[0] > _cgMax) _cgMax = pos[0];
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if (pos[0] < _cgMin) _cgMin = pos[0];
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}
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}
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void Airplane::initEngines()
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{
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for(int i=0; i<_thrusters.size(); i++) {
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ThrustRec* tr = (ThrustRec*)_thrusters.get(i);
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tr->thruster->init();
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tr->thruster->init();
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}
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}
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@ -835,7 +858,6 @@ void Airplane::runApproach()
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Math::vmul33(_approachState.orient, wind, wind);
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setFuelFraction(_approachFuel);
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setupWeights(true);
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// Run the thrusters until they get to a stable setting. FIXME:
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@ -1094,4 +1116,11 @@ void Airplane::solveHelicopter()
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}
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const float Airplane::getCGMAC()
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{
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float cg[3];
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_model.getBody()->getCG(cg);
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return (_wing->getMACx() - cg[0]) / _wing->getMAC();
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}
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}; // namespace yasim
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@ -33,11 +33,12 @@ public:
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void setPilotPos(float* pos) { Math::set3(pos, _pilotPos); }
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void getPilotPos(float* out) { Math::set3(_pilotPos, out); }
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void getPilotAccel(float* out);
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const void getPilotAccel(float* out);
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void setEmptyWeight(float weight) { _emptyWeight = weight; }
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void setWing(Wing* wing) { _wing = wing; }
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Wing* getWing() { return _wing; }
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void setTail(Wing* tail) { _tail = tail; }
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void addVStab(Wing* vstab) { _vstabs.add(vstab); }
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@ -64,56 +65,62 @@ public:
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void addSolutionWeight(bool approach, int idx, float wgt);
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int numGear() { return _gears.size(); }
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const int numGear() { return _gears.size(); }
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Gear* getGear(int g) { return ((GearRec*)_gears.get(g))->gear; }
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Hook* getHook() { return _model.getHook(); }
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int numHitches() { return _hitches.size(); }
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const int numHitches() { return _hitches.size(); }
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Hitch* getHitch(int h);
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Rotorgear* getRotorgear() { return _model.getRotorgear(); }
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Launchbar* getLaunchbar() { return _model.getLaunchbar(); }
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int numThrusters() { return _thrusters.size(); }
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const int numThrusters() { return _thrusters.size(); }
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Thruster* getThruster(int n) {
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return ((ThrustRec*)_thrusters.get(n))->thruster; }
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int numTanks() { return _tanks.size(); }
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const int numTanks() { return _tanks.size(); }
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void setFuelFraction(float frac); // 0-1, total amount of fuel
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// get fuel in kg
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float getFuel(int tank) { return ((Tank*)_tanks.get(tank))->fill; }
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const float getFuel(int tank) { return ((Tank*)_tanks.get(tank))->fill; }
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// set fuel in kg
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float setFuel(int tank, float fuel) { return ((Tank*)_tanks.get(tank))->fill = fuel; }
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// get fuel density in kg/m^3
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float getFuelDensity(int tank) { return ((Tank*)_tanks.get(tank))->density; }
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float getTankCapacity(int tank) { return ((Tank*)_tanks.get(tank))->cap; }
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const float getFuelDensity(int tank) { return ((Tank*)_tanks.get(tank))->density; }
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const float getTankCapacity(int tank) { return ((Tank*)_tanks.get(tank))->cap; }
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void compile(); // generate point masses & such, then solve
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void initEngines();
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void stabilizeThrust();
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// Solution output values
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int getSolutionIterations() { return _solutionIterations; }
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float getDragCoefficient() { return _dragFactor; }
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float getLiftRatio() { return _liftRatio; }
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float getCruiseAoA() { return _cruiseAoA; }
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float getTailIncidence() { return _tailIncidence; }
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float getApproachElevator() { return _approachElevator.val; }
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const int getSolutionIterations() { return _solutionIterations; }
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const float getDragCoefficient() { return _dragFactor; }
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const float getLiftRatio() { return _liftRatio; }
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const float getCruiseAoA() { return _cruiseAoA; }
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const float getTailIncidence() { return _tailIncidence; }
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const float getApproachElevator() { return _approachElevator.val; }
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const char* getFailureMsg() { return _failureMsg; }
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static void setupState(const float aoa, const float speed, const float gla, yasim::State* s); // utility
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void loadApproachControls() { loadControls(_approachControls); }
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void loadCruiseControls() { loadControls(_cruiseControls); }
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float getCGMinX() { return _cgMinX; }
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float getCGMaxX() { return _cgMaxX; }
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const float getCGHardLimitXMin() { return _cgMin; } // get min x-coordinate for c.g (from main gear)
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const float getCGHardLimitXMax() { return _cgMax; } // get max x-coordinate for c.g (from nose gear)
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const float getCGMAC(); // return c.g. x as fraction of MAC
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// set desired range for C.G. in % of MAC, 0% = leading edge, 100% trailing edge
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void setDesiredCGRangeInPercentOfMAC(float MACPercentMin, float MACPercentMax) { _cgDesiredMin = MACPercentMin; _cgDesiredMax = MACPercentMax; }
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const float getCGSoftLimitXMin() { return _cgDesiredAft; } // get x-coordinate limit calculated from MAC and setCGRange values
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const float getCGSoftLimitXMax() { return _cgDesiredFront; } // get x-coordinate limit calculated from MAC and setCGRange values
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void setAutoBallast(bool allowed) { _autoBallast = allowed; }
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private:
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struct Tank { float pos[3]; float cap; float fill;
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float density; int handle; };
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float density; int handle; };
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struct Fuselage { float front[3], back[3], width, taper, mid, _cx, _cy, _cz, _idrag;
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Vector surfs; };
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Vector surfs; };
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struct GearRec { Gear* gear; Surface* surf; float wgt; };
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struct ThrustRec { Thruster* thruster;
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int handle; float cg[3]; float mass; };
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int handle; float cg[3]; float mass; };
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struct Control { int control; float val; };
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struct WeightRec { int handle; Surface* surf; };
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struct SolveWeight { bool approach; int idx; float wgt; };
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@ -136,7 +143,8 @@ private:
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float normFactor(float f);
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void updateGearState();
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void setupWeights(bool isApproach);
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void calculateCGHardLimits();
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Model _model;
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ControlMap _controls;
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@ -187,9 +195,13 @@ private:
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Control _approachElevator;
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const char* _failureMsg;
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// hard limits for cg from gear positions
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float _cgMaxX;
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float _cgMinX;
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float _cgMax; // hard limits for cg from gear position
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float _cgMin; // hard limits for cg from gear position
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float _cgDesiredMax; // desired cg max in %MAC from config
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float _cgDesiredMin; // desired cg min in %MAC from config
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float _cgDesiredFront; // calculated desired cg x max
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float _cgDesiredAft; // calculated desired cg x min
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bool _autoBallast = false;
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};
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}; // namespace yasim
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@ -133,11 +133,12 @@ void FGFDM::init()
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// write some compile time information to property tree
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_yasimN->getNode("config-version",true)->setIntValue(_airplane.getVersion());
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_yasimN->getNode("model/cg-x-min",true)->setFloatValue(_airplane.getCGMinX());
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_yasimN->getNode("model/cg-x-max",true)->setFloatValue(_airplane.getCGMaxX());
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_yasimN->getNode("model/cg-x-min",true)->setFloatValue(_airplane.getCGHardLimitXMin());
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_yasimN->getNode("model/cg-x-max",true)->setFloatValue(_airplane.getCGHardLimitXMax());
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// prepare nodes for write at runtime
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_cg_x = _yasimN->getNode("cg-x-m", true);
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_cg_xmacN = _yasimN->getNode("cg-x-mac", true);
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_cg_y = _yasimN->getNode("cg-y-m", true);
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_cg_z = _yasimN->getNode("cg-z-m", true);
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_vxN = _yasimN->getNode("velocities/v-x", true);
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@ -258,6 +259,10 @@ void FGFDM::startElement(const char* name, const XMLAttributes &atts)
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if( !_airplane.isVersionOrNewer( Version::YASIM_VERSION_CURRENT ) ) {
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SG_LOG(SG_FLIGHT, SG_DEV_ALERT, "This aircraft does not use the latest yasim configuration version.");
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}
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_airplane.setDesiredCGRangeInPercentOfMAC(attrf(a, "cg-min", 0.1f), attrf(a, "cg-max", 0.3f)); //FIXME find reasonable defaults
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if (attrb(a, "auto-ballast")) {
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_airplane.setAutoBallast(true);
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}
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} else if(eq(name, "approach")) {
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float spd, alt = 0;
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if (a->hasAttribute("speed")) { spd = attrf(a, "speed") * KTS2MPS; }
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@ -691,6 +696,7 @@ void FGFDM::setOutputProperties(float dt)
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_cg_x->setFloatValue(cg[0]);
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_cg_y->setFloatValue(cg[1]);
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_cg_z->setFloatValue(cg[2]);
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_cg_xmacN->setFloatValue(_airplane.getCGMAC());
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State* s = _airplane.getModel()->getState();
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float v[3], acc[3], rot[3], racc[3];
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@ -118,6 +118,7 @@ private:
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SGPropertyNode_ptr _arxN;
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SGPropertyNode_ptr _aryN;
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SGPropertyNode_ptr _arzN;
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SGPropertyNode_ptr _cg_xmacN;
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};
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}; // namespace yasim
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@ -212,6 +212,13 @@ void Wing::compile()
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// wingspan in y-direction (not for vstab)
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_wingspan = Math::abs(2*_tip[1]);
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_aspectRatio = _wingspan / _meanChord;
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_netSpan = Math::abs(2*(_tip[1]-_base[1]));
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// http://www.nasascale.org/p2/wp-content/uploads/mac-calculator.htm
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const float commonFactor = _chord*(0.5+_taper)/(3*_chord*(1+_taper));
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_mac = _chord-(2*_chord*(1-_taper)*commonFactor);
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_macRootDistance = _netSpan*commonFactor;
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_macX = _base[0]-Math::tan(_sweep) * _macRootDistance + _mac/2;
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// The wing's Y axis will be the "left" vector. The Z axis will
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// be perpendicular to this and the local (!) X axis, because we
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@ -17,28 +17,28 @@ public:
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// Do we mirror ourselves about the XZ plane?
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void setMirror(bool mirror) { _mirror = mirror; }
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bool isMirrored() { return _mirror; };
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const bool isMirrored() { return _mirror; };
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// Wing geometry in local coordinates:
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// base point of wing
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void setBase(const float* base) { Math::set3(base, _base); }
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void getBase(float* base) { Math::set3(_base, base); };
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const void getBase(float* base) { Math::set3(_base, base); };
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// dist. ALONG wing (not span!)
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void setLength(float length) { _length = length; }
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float getLength() { return _length; };
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const float getLength() { return _length; };
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// at base, measured along X axis
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void setChord(float chord) { _chord = chord; }
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float getChord() { return _chord; };
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const float getChord() { return _chord; };
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// fraction of chord at wing tip, 0..1
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void setTaper(float taper) { _taper = taper; }
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float getTaper() { return _taper; };
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const float getTaper() { return _taper; };
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// radians
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void setSweep(float sweep) { _sweep = sweep; }
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float getSweep() { return _sweep; };
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||||
const float getSweep() { return _sweep; };
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||||
// radians, positive is "up"
|
||||
void setDihedral(float dihedral) { _dihedral = dihedral; }
|
||||
float getDihedral() { return _dihedral; };
|
||||
const float getDihedral() { return _dihedral; };
|
||||
|
||||
void setIncidence(float incidence);
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||||
void setTwist(float angle) { _twist = angle; }
|
||||
|
|
@ -67,27 +67,31 @@ public:
|
|||
|
||||
// Compile the thing into a bunch of Surface objects
|
||||
void compile();
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||||
void getTip(float* tip) { Math::set3(_tip, tip);};
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||||
const void getTip(float* tip) { Math::set3(_tip, tip);};
|
||||
|
||||
// valid only after Wing::compile() was called
|
||||
float getSpan() { return _wingspan; };
|
||||
float getArea() { return _wingspan*_meanChord; };
|
||||
float getAspectRatio() { return _aspectRatio; };
|
||||
float getSMC() { return _meanChord; };
|
||||
const float getSpan() { return _wingspan; };
|
||||
const float getArea() { return _wingspan*_meanChord; };
|
||||
const float getAspectRatio() { return _aspectRatio; };
|
||||
const float getSMC() { return _meanChord; };
|
||||
const float getMAC() { return _mac; }; // get length of MAC
|
||||
const float getMACx() { return _macX; }; // get x-coord of MAC leading edge
|
||||
const float getMACy() { return _base[1]+_macRootDistance; }; // get y-coord of MAC leading edge
|
||||
|
||||
int numSurfaces() { return _surfs.size(); }
|
||||
|
||||
const int numSurfaces() { return _surfs.size(); }
|
||||
Surface* getSurface(int n) { return ((SurfRec*)_surfs.get(n))->surface; }
|
||||
float getSurfaceWeight(int n) { return ((SurfRec*)_surfs.get(n))->weight; }
|
||||
const float getSurfaceWeight(int n) { return ((SurfRec*)_surfs.get(n))->weight; }
|
||||
|
||||
// The overall drag coefficient for the wing as a whole. Units are
|
||||
// arbitrary.
|
||||
void setDragScale(float scale);
|
||||
float getDragScale() { return _dragScale; }
|
||||
const float getDragScale() { return _dragScale; }
|
||||
|
||||
// The ratio of force along the Z (lift) direction of each wing
|
||||
// segment to that along the X (drag) direction.
|
||||
void setLiftRatio(float ratio);
|
||||
float getLiftRatio() { return _liftRatio; }
|
||||
const float getLiftRatio() { return _liftRatio; }
|
||||
|
||||
private:
|
||||
void interp(const float* v1, const float* v2, const float frac, float* out);
|
||||
|
|
@ -114,6 +118,10 @@ private:
|
|||
// calculated from above
|
||||
float _tip[3];
|
||||
float _meanChord; // std. mean chord
|
||||
float _mac; // mean aerodynamic chord length
|
||||
float _macRootDistance; // y-distance of mac from root
|
||||
float _macX; // x-coordinate of mac (leading edge)
|
||||
float _netSpan;
|
||||
float _wingspan;
|
||||
float _aspectRatio;
|
||||
|
||||
|
|
|
|||
|
|
@ -237,7 +237,9 @@ int main(int argc, char** argv)
|
|||
}
|
||||
}
|
||||
else {
|
||||
printf("Solution results:");
|
||||
printf("==========================\n");
|
||||
printf("= YASim solution results =\n");
|
||||
printf("==========================\n");
|
||||
float aoa = a->getCruiseAoA() * RAD2DEG;
|
||||
float tail = -1 * a->getTailIncidence() * RAD2DEG;
|
||||
float drag = 1000 * a->getDragCoefficient();
|
||||
|
|
@ -247,18 +249,26 @@ int main(int argc, char** argv)
|
|||
|
||||
float SI_inertia[9];
|
||||
a->getModel()->getBody()->getInertiaMatrix(SI_inertia);
|
||||
float MAC = a->getWing()->getMAC();
|
||||
float MACx = a->getWing()->getMACx();
|
||||
float MACy = a->getWing()->getMACy();
|
||||
|
||||
printf(" Iterations: %d\n", a->getSolutionIterations());
|
||||
printf(" Drag Coefficient: %f\n", drag);
|
||||
printf(" Lift Ratio: %f\n", a->getLiftRatio());
|
||||
printf(" Cruise AoA: %f\n", aoa);
|
||||
printf(" Tail Incidence: %f\n", tail);
|
||||
printf("Approach Elevator: %f\n", a->getApproachElevator());
|
||||
printf(" CG: x:%.3f, y:%.3f, z:%.3f\n\n", cg[0], cg[1], cg[2]);
|
||||
printf("Inertia tensor [kg*m^2], origo at CG:\n");
|
||||
printf(" Cruise AoA: %f deg\n", aoa);
|
||||
printf(" Tail Incidence: %f deg\n", tail);
|
||||
printf("Approach Elevator: %f\n\n", a->getApproachElevator());
|
||||
printf(" CG: x:%.3f, y:%.3f, z:%.3f\n", cg[0], cg[1], cg[2]);
|
||||
printf(" Wing MAC (*1): x:%.2f, y:%.2f, length:%.1f \n", MACx, MACy, MAC);
|
||||
printf(" CG-x rel. MAC: %.3f\n", a->getCGMAC());
|
||||
printf(" CG-x desired: %.3f < %.3f < %.3f \n", a->getCGSoftLimitXMin(), cg[0], a->getCGSoftLimitXMax());
|
||||
|
||||
printf("\nInertia tensor [kg*m^2], origo at CG:\n\n");
|
||||
printf(" %7.3f, %7.3f, %7.3f\n", SI_inertia[0], SI_inertia[1], SI_inertia[2]);
|
||||
printf(" %7.3f, %7.3f, %7.3f\n", SI_inertia[3], SI_inertia[4], SI_inertia[5]);
|
||||
printf(" %7.3f, %7.3f, %7.3f\n", SI_inertia[6], SI_inertia[7], SI_inertia[8]);
|
||||
printf("\n(*1) MAC calculation works on <wing> only! Numbers will be wrong for segmented wings, e.g. <wing>+<mstab>.\n");
|
||||
}
|
||||
delete fdm;
|
||||
return 0;
|
||||
|
|
|
|||
Loading…
Reference in a new issue