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Maik: add unbalance and testing of rotor ground contact

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andy 2007-05-25 21:15:59 +00:00
parent e21d51c4bb
commit 96f7bd90de
5 changed files with 103 additions and 3 deletions
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1
src/FDM/YASim/FGFDM.cpp
View file

@ -718,6 +718,7 @@ Rotor* FGFDM::parseRotor(XMLAttributes* a, const char* type)
w->setTeeterdamp(attrf(a,"teeterdamp",.0001));
w->setMaxteeterdamp(attrf(a,"maxteeterdamp",1000));
w->setRelLenTeeterHinge(attrf(a,"rellenteeterhinge",0.01));
w->setBalance(attrf(a,"balance",1.0));
if(attrb(a,"ccw"))
w->setCcw(1);
if(attrb(a,"sharedflaphinge"))

72
src/FDM/YASim/Rotor.cpp
View file

@ -1,6 +1,7 @@
#include <simgear/debug/logstream.hxx>
#include "Math.hpp"
#include <Main/fg_props.hxx>
#include "Surface.hpp"
#include "Rotorpart.hpp"
#include "Glue.hpp"
@ -132,6 +133,10 @@ Rotor::Rotor()
_cyclic_factor=1;
_lift_factor=_f_ge=_f_vs=_f_tl=1;
_rotor_correction_factor=.65;
_balance1=1;
_balance2=1;
_properties_tied=0;
_num_ground_contact_pos=0;
}
Rotor::~Rotor()
@ -141,6 +146,14 @@ Rotor::~Rotor()
Rotorpart* r = (Rotorpart*)_rotorparts.get(i);
delete r;
}
//untie the properties
if(_properties_tied)
{
SGPropertyNode * node = fgGetNode("/rotors", true)->getNode(_name,true);
node->untie("balance-ext");
node->untie("balance-int");
_properties_tied=0;
}
}
void Rotor::inititeration(float dt,float omegarel,float ddt_omegarel,float *rot)
@ -262,7 +275,7 @@ int Rotor::getValueforFGSet(int j,char *text,float *f)
if (j==3)
{
sprintf(text,"/rotors/%s/rpm", _name);
*f=_omega/2/pi*60;
*f=(_balance1>-1)?_omega/2/pi*60:0;
}
else
if (j==4)
@ -282,8 +295,8 @@ int Rotor::getValueforFGSet(int j,char *text,float *f)
}
else if (j==7)
{
sprintf(text,"/rotors/%s/debug/vortexstate",_name);
*f=_vortex_state;
sprintf(text,"/rotors/%s/balance", _name);
*f=_balance1;
}
else if (j==8)
{
@ -310,6 +323,7 @@ int Rotor::getValueforFGSet(int j,char *text,float *f)
+360*b/_number_of_blades*(_ccw?1:-1);
if (*f>360) *f-=360;
if (*f<0) *f+=360;
if (_balance1<=-1) *f=0;
int k,l;
float rk,rl,p;
p=(*f/90);
@ -530,6 +544,11 @@ void Rotor::setSharedFlapHinge(bool s)
_shared_flap_hinge=s;
}
void Rotor::setBalance(float b)
{
_balance1=b;
}
void Rotor::setC2(float value)
{
_c2=value;
@ -706,8 +725,35 @@ void Rotor::findGroundEffectAltitude(Ground * ground_cb,State *s)
_ground_effect_altitude=findGroundEffectAltitude(ground_cb,s,
_groundeffectpos[0],_groundeffectpos[1],
_groundeffectpos[2],_groundeffectpos[3]);
testForRotorGroundContact(ground_cb,s);
}
void Rotor::testForRotorGroundContact(Ground * ground_cb,State *s)
{
int i;
for (i=0;i<_num_ground_contact_pos;i++)
{
double pt[3],h;
s->posLocalToGlobal(_ground_contact_pos[i], pt);
// Ask for the ground plane in the global coordinate system
double global_ground[4];
float global_vel[3];
ground_cb->getGroundPlane(pt, global_ground, global_vel);
// find h, the distance to the ground
// The ground plane transformed to the local frame.
float ground[4];
s->planeGlobalToLocal(global_ground, ground);
h = ground[3] - Math::dot3(_ground_contact_pos[i], ground);
// Now h is the distance from _ground_contact_pos[i] to ground
if (h<0)
{
_balance1 -= (-h)/_diameter/_num_ground_contact_pos;
_balance1 = (_balance1<-1)?-1:_balance1;
}
}
}
float Rotor::findGroundEffectAltitude(Ground * ground_cb,State *s,
float *pos0,float *pos1,float *pos2,float *pos3,
int iteration,float a0,float a1,float a2,float a3)
@ -913,6 +959,17 @@ void Rotor::compile()
// now directions[0] is perpendicular to the _normal.and has a length
// of 1. if _forward is already normalized and perpendicular to the
// normal, directions[0] will be the same
_num_ground_contact_pos=(_number_of_parts<16)?_number_of_parts:16;
for (i=0;i<_num_ground_contact_pos;i++)
{
float help[3];
float s = Math::sin(pi*2*_num_ground_contact_pos/i);
float c = Math::cos(pi*2*_num_ground_contact_pos/i);
Math::mul3(c*_diameter,directions[0],_ground_contact_pos[i]);
Math::mul3(s*_diameter,directions[1],help);
Math::add3(help,_ground_contact_pos[i],_ground_contact_pos[i]);
Math::add3(_base,_ground_contact_pos[i],_ground_contact_pos[i]);
}
for (i=0;i<4;i++)
{
Math::mul3(_diameter*0.7,directions[i],_groundeffectpos[i]);
@ -1000,6 +1057,7 @@ void Rotor::compile()
rp->setRelamp(relamp);
rp->setDirectionofRotorPart(direction);
rp->setTorqueOfInertia(_torque_of_inertia/_number_of_parts);
rp->setDirection(2*pi*i/_number_of_parts);
}
for (i=0;i<_number_of_parts;i++)
{
@ -1103,6 +1161,14 @@ void Rotor::compile()
}
rps[0]->setOmega(0);
writeInfo();
//tie the properties
/* After reset these values are totally wrong. I have to find out why
SGPropertyNode * node = fgGetNode("/rotors", true)->getNode(_name,true);
node->tie("balance_ext",SGRawValuePointer<float>(&_balance2),false);
node->tie("balance_int",SGRawValuePointer<float>(&_balance1));
_properties_tied=1;
*/
}
std::ostream & operator<<(std::ostream & out, Rotor& r)
{

8
src/FDM/YASim/Rotor.hpp
View file

@ -31,6 +31,8 @@ private:
int _number_of_blades;
int _number_of_segments;
int _number_of_parts;
float _balance1;
float _balance2;
public:
Rotor();
@ -118,8 +120,11 @@ public:
float *getGravDirection() {return _grav_direction;}
void writeInfo();
void setSharedFlapHinge(bool s);
void setBalance(float b);
float getBalance(){ return (_balance1>0)?_balance1*_balance2:_balance1;}
private:
void testForRotorGroundContact (Ground * ground_cb,State *s);
void strncpy(char *dest,const char *src,int maxlen);
void interp(float* v1, float* v2, float frac, float* out);
float calcStall(float incidence,float speed);
@ -131,6 +136,8 @@ private:
float delta3,float mass,float translift,float rellenhinge,float len);
float _base[3];
float _groundeffectpos[4][3];
float _ground_contact_pos[16][3];
int _num_ground_contact_pos;
float _ground_effect_altitude;
//some postions, where to calcualte the ground effect
float _normal[3];//the normal vector (direction of rotormast, pointing up)
@ -202,6 +209,7 @@ private:
float _phi;
bool _shared_flap_hinge;
float _grav_direction[3];
int _properties_tied;
};
std::ostream & operator<<(std::ostream & out, /*const*/ Rotor& r);

22
src/FDM/YASim/Rotorpart.cpp
View file

@ -63,6 +63,8 @@ Rotorpart::Rotorpart()
_rel_len_blade_start=0;
_torque=0;
_rotor_correction_factor=0.6;
_direction=0;
_balance=1;
}
void Rotorpart::inititeration(float dt,float *rot)
@ -88,6 +90,16 @@ void Rotorpart::inititeration(float dt,float *rot)
a=Math::dot3(rot,dir);
_alphaalt -= a;
_alphaalt= Math::clamp(_alphaalt,_alphamin,_alphamax);
//unbalance
float b;
b=_rotor->getBalance();
float s =Math::sin(_phi+_direction);
float c =Math::cos(_phi+_direction);
if (s>0)
_balance=(b>0)?(1.-s*(1.-b)):(1.-s)*(1.+b);
else
_balance=(b>0)?1.:1.+b;
}
void Rotorpart::setRotor(Rotor *rotor)
@ -179,6 +191,11 @@ void Rotorpart::setDirectionofRotorPart(float* p)
for(i=0; i<3; i++) _directionofrotorpart[i] = p[i];
}
void Rotorpart::setDirection(float direction)
{
_direction=direction;
}
void Rotorpart::setOmega(float value)
{
_omega=value;
@ -535,6 +552,11 @@ void Rotorpart::calcForce(float* v, float rho, float* out, float* torque,
float schwenkfactor=1-(Math::cos(_lastrp->getrealAlpha())-meancosalpha)*_rotor->getNumberOfParts()/4;
//missing: consideration of rellenhinge
//add the unbalance
_centripetalforce*=_balance;
scalar_torque*=_balance;
float xforce = Math::cos(alpha)*_centripetalforce;
float zforce = schwenkfactor*Math::sin(alpha)*_centripetalforce;
*torque_scalar=scalar_torque;

3
src/FDM/YASim/Rotorpart.hpp
View file

@ -74,6 +74,7 @@ namespace yasim {
void setTorqueOfInertia(float toi);
void writeInfo(std::ostringstream &buffer);
void setSharedFlapHinge(bool s);
void setDirection(float direction);
float getAlphaAlt() {return _alphaalt;}
private:
@ -119,6 +120,8 @@ namespace yasim {
int _alpha2type;
float _rotor_correction_factor;
bool _shared_flap_hinge;
float _direction;
float _balance;
};
std::ostream & operator<<(std::ostream & out, const Rotorpart& rp);
}; // namespace yasim