Inheritance diagram for CyclocopterUniform1D:

Collaboration diagram for CyclocopterUniform1D:

Public Member Functions
	CyclocopterUniform1D (unsigned int uL, const DofOwner pDO, DataManager pDM, MBDynParser &HP)

virtual	~CyclocopterUniform1D (void)

virtual void	AfterConvergence (const VectorHandler &X, const VectorHandler &XP)

virtual void	Output (OutputHandler &OH) const

virtual SubVectorHandler &	AssRes (SubVectorHandler &WorkVec, doublereal dCoef, const VectorHandler &XCurr, const VectorHandler &XPrimeCurr)

virtual void	AddForce (const Elem pEl, const StructNode pNode, const Vec3 &F, const Vec3 &M, const Vec3 &X)

virtual Vec3	GetInducedVelocity (Elem::Type type, unsigned uLabel, unsigned uPnt, const Vec3 &X) const

virtual doublereal	GetW (const Vec3 &X) const

virtual doublereal	GetPsi (const Vec3 &X) const

virtual Mat3x3	GetRRotor (const Vec3 &X) const

Public Member Functions inherited from Elem
	Elem (unsigned int uL, flag fOut)

virtual	~Elem (void)

virtual std::ostream &	DescribeDof (std::ostream &out, const char *prefix="", bool bInitial=false) const

virtual void	DescribeDof (std::vector< std::string > &desc, bool bInitial=false, int i=-1) const

virtual std::ostream &	DescribeEq (std::ostream &out, const char *prefix="", bool bInitial=false) const

virtual void	DescribeEq (std::vector< std::string > &desc, bool bInitial=false, int i=-1) const

virtual DofOrder::Order	GetDofType (unsigned int) const

virtual void	AssMats (VariableSubMatrixHandler &WorkMatA, VariableSubMatrixHandler &WorkMatB, const VectorHandler &XCurr, const VectorHandler &XPrimeCurr)

virtual bool	bInverseDynamics (void) const

void	SetInverseDynamicsFlags (unsigned uIDF)

unsigned	GetInverseDynamicsFlags (void) const

bool	bIsErgonomy (void) const

bool	bIsRightHandSide (void) const

virtual VariableSubMatrixHandler &	AssJac (VariableSubMatrixHandler &WorkMat, const VectorHandler &XCurr)

virtual SubVectorHandler &	AssRes (SubVectorHandler &WorkVec, const VectorHandler &XCurr, const VectorHandler &XPrimeCurr, const VectorHandler &XPrimePrimeCurr, InverseDynamics::Order iOrder=InverseDynamics::INVERSE_DYNAMICS)

virtual int	GetNumConnectedNodes (void) const

Public Member Functions inherited from WithLabel
	WithLabel (unsigned int uL=0, const std::string &sN="")

virtual	~WithLabel (void)

void	PutLabel (unsigned int uL)

void	PutName (const std::string &sN)

unsigned int	GetLabel (void) const

const std::string &	GetName (void) const

Public Member Functions inherited from SimulationEntity
	SimulationEntity (void)

virtual	~SimulationEntity (void)

virtual bool	bIsValidIndex (unsigned int i) const

virtual DofOrder::Order	GetEqType (unsigned int i) const

virtual Hint *	ParseHint (DataManager pDM, const char s) const

virtual void	BeforePredict (VectorHandler &, VectorHandler &, VectorHandler &, VectorHandler &) const

virtual void	AfterPredict (VectorHandler &X, VectorHandler &XP)

virtual void	Update (const VectorHandler &XCurr, const VectorHandler &XPrimeCurr)

virtual void	DerivativesUpdate (const VectorHandler &XCurr, const VectorHandler &XPrimeCurr)

virtual void	Update (const VectorHandler &XCurr, InverseDynamics::Order iOrder)

virtual void	AfterConvergence (const VectorHandler &X, const VectorHandler &XP, const VectorHandler &XPP)

virtual std::ostream &	OutputAppend (std::ostream &out) const

virtual void	ReadInitialState (MBDynParser &HP)

Public Member Functions inherited from ToBeOutput
	ToBeOutput (flag fOut=fDefaultOut)

virtual	~ToBeOutput (void)

virtual void	OutputPrepare (OutputHandler &OH)

virtual void	Output (OutputHandler &OH, const VectorHandler &X, const VectorHandler &XP) const

virtual flag	fToBeOutput (void) const

virtual bool	bToBeOutput (void) const

virtual void	SetOutputFlag (flag f=flag(1))

Public Member Functions inherited from CyclocopterInflow
	CyclocopterInflow (unsigned int uL, const DofOwner *pDO)

virtual	~CyclocopterInflow (void)

virtual Elem::Type	GetElemType (void) const

virtual InducedVelocity::Type	GetInducedVelocityType (void) const

virtual std::ostream &	Restart (std::ostream &out) const

virtual void	SetValue (DataManager pDM, VectorHandler &X, VectorHandler &XP, SimulationEntity::Hints ph)

virtual void	SetInitialValue (VectorHandler &X)

virtual void	GetConnectedNodes (std::vector< const Node * > &connectedNodes) const

virtual unsigned int	iGetInitialNumDof (void) const

virtual void	InitialWorkSpaceDim (integer piNumRows, integer piNumCols) const

VariableSubMatrixHandler &	InitialAssJac (VariableSubMatrixHandler &WorkMat, const VectorHandler &XCurr)

SubVectorHandler &	InitialAssRes (SubVectorHandler &WorkVec, const VectorHandler &XCurr)

Public Member Functions inherited from UserDefinedElem
	UserDefinedElem (unsigned uLabel, const DofOwner *pDO)

virtual	~UserDefinedElem (void)

bool	NeedsAirProperties (void) const

void	NeedsAirProperties (bool yesno)

virtual AerodynamicElem::Type	GetAerodynamicElemType (void) const

Public Member Functions inherited from InitialAssemblyElem
	InitialAssemblyElem (unsigned int uL, flag fOut)

virtual	~InitialAssemblyElem (void)

Public Member Functions inherited from SubjectToInitialAssembly
	SubjectToInitialAssembly (void)

virtual	~SubjectToInitialAssembly (void)

Public Member Functions inherited from AerodynamicElem
	AerodynamicElem (unsigned int uL, const DofOwner *pDO, flag fOut)

virtual	~AerodynamicElem (void)

virtual const InducedVelocity *	pGetInducedVelocity (void) const

Public Member Functions inherited from ElemWithDofs
	ElemWithDofs (unsigned int uL, const DofOwner *pDO, flag fOut)

virtual	~ElemWithDofs (void)

Public Member Functions inherited from DofOwnerOwner
	DofOwnerOwner (const DofOwner *pDO)

virtual	~DofOwnerOwner ()

virtual const DofOwner *	pGetDofOwner (void) const

virtual integer	iGetFirstIndex (void) const

Public Member Functions inherited from AirPropOwner
	AirPropOwner (void)

virtual	~AirPropOwner (void)

virtual void	PutAirProperties (const AirProperties *pAP)

virtual flag	fGetAirVelocity (Vec3 &Velocity, const Vec3 &X) const

virtual doublereal	dGetAirDensity (const Vec3 &X) const

virtual doublereal	dGetAirPressure (const Vec3 &X) const

virtual doublereal	dGetAirTemperature (const Vec3 &X) const

virtual doublereal	dGetSoundSpeed (const Vec3 &X) const

virtual bool	GetAirProps (const Vec3 &X, doublereal &rho, doublereal &c, doublereal &p, doublereal &T) const

Public Member Functions inherited from ElemGravityOwner
	ElemGravityOwner (unsigned int uL, flag fOut)

virtual	~ElemGravityOwner (void)

virtual doublereal	dGetM (void) const

Vec3	GetS (void) const

Mat3x3	GetJ (void) const

Vec3	GetB (void) const

Vec3	GetG (void) const

Public Member Functions inherited from GravityOwner
	GravityOwner (void)

virtual	~GravityOwner (void)

void	PutGravity (const Gravity *pG)

virtual bool	bGetGravity (const Vec3 &X, Vec3 &Acc) const

Public Member Functions inherited from InducedVelocity
	InducedVelocity (unsigned int uL, const StructNode pCraft, ResForceSet *ppres, flag fOut)

virtual	~InducedVelocity (void)

virtual unsigned int	iGetNumPrivData (void) const

virtual unsigned int	iGetPrivDataIdx (const char *s) const

virtual doublereal	dGetPrivData (unsigned int i) const

virtual bool	bSectionalForces (void) const

virtual unsigned int	iGetNumDof (void) const

virtual const Vec3 &	GetXCurr (void) const

virtual const Vec3 &	GetForces (void) const

virtual const Vec3 &	GetMoments (void) const

virtual void	AddSectionalForce (Elem::Type type, const Elem *pEl, unsigned uPnt, const Vec3 &F, const Vec3 &M, doublereal dW, const Vec3 &X, const Mat3x3 &R, const Vec3 &V, const Vec3 &W)

virtual void	ResetForce (void)

virtual void	WorkSpaceDim (integer piNumRows, integer piNumCols) const

virtual VariableSubMatrixHandler &	AssJac (VariableSubMatrixHandler &WorkMat, doublereal dCoef, const VectorHandler &XCurr, const VectorHandler &XPrimeCurr)

Protected Attributes
Vec3	RRot3

Mat3x3	RRotor

doublereal	dUindMeanPrev

bool	bFlagIsFirstBlade

doublereal	dAzimuth

doublereal	dAzimuthPrev

doublereal	dTz

doublereal	dTzMean

Vec3	F

Vec3	FMean

Vec3	FMeanOut

unsigned int	iStepCounter

doublereal	Uk

doublereal	Uk_1

doublereal	Uk_2

doublereal	Yk

doublereal	Yk_1

doublereal	Yk_2

Protected Attributes inherited from WithLabel
unsigned int	uLabel

std::string	sName

Protected Attributes inherited from ToBeOutput
flag	fOutput

Protected Attributes inherited from CyclocopterInflow
const StructNode *	pRotor

bool	bFlagAverage

doublereal	dRadius

doublereal	dSpan

doublereal	dArea

doublereal	dKappa

DriveOwner	Weight

doublereal	dWeight

Mat3x3	RRot

Mat3x3	RRotorTranspose

doublereal	dUindMean

doublereal	a1

doublereal	a2

doublereal	b0

doublereal	b1

doublereal	b2

Protected Attributes inherited from UserDefinedElem
bool	needsAirProperties

Protected Attributes inherited from AirPropOwner
const AirProperties *	pAirProperties

Protected Attributes inherited from GravityOwner
Gravity *	pGravity

Protected Attributes inherited from InducedVelocity
const StructNode *	pCraft

ExternResForces	Res

ResForceSet **	ppRes

Additional Inherited Members
Public Types inherited from Elem
enum	Type { UNKNOWN = -1, AIRPROPERTIES = 0, INDUCEDVELOCITY, AUTOMATICSTRUCTURAL, GRAVITY, BODY, JOINT, JOINT_REGULARIZATION, BEAM, PLATE, FORCE, INERTIA, ELECTRICBULK, ELECTRIC, THERMAL, HYDRAULIC, BULK, LOADABLE, DRIVEN, EXTERNAL, AEROMODAL, AERODYNAMIC, GENEL, SOCKETSTREAM_OUTPUT, RTAI_OUTPUT = SOCKETSTREAM_OUTPUT, LASTELEMTYPE }

Public Types inherited from SimulationEntity
typedef std::vector< Hint * >	Hints

Public Types inherited from ToBeOutput
enum	{ OUTPUT = 0x1U, OUTPUT_MASK = 0xFU, OUTPUT_PRIVATE = 0x10U, OUTPUT_PRIVATE_MASK = ~OUTPUT_MASK }

Public Types inherited from AerodynamicElem
enum	Type { UNKNOWN = -1, INDUCEDVELOCITY = 0, AEROMODAL, AERODYNAMICBODY, AERODYNAMICBEAM, AERODYNAMICEXTERNAL, AERODYNAMICEXTERNALMODAL, AERODYNAMICLOADABLE, AIRCRAFTINSTRUMENTS, GENERICFORCE, LASTAEROTYPE }

Public Types inherited from InducedVelocity
enum	Type { UNKNOWN = -1, USER_DEFINED = 0x01000000U, ROTOR = 0x10000000U, NO = (0U \| ROTOR), UNIFORM = (1U \| ROTOR), GLAUERT = (2U \| ROTOR), MANGLER = (3U \| ROTOR), DYNAMICINFLOW = (4U \| ROTOR), PETERS_HE = (5U \| ROTOR), CYCLOCOPTER = (11U \| ROTOR), LASTROTORTYPE }

Protected Member Functions inherited from CyclocopterInflow
void	SetFilterCoefficients (doublereal dOmegaFilter, doublereal dDeltaT)

Protected Member Functions inherited from ElemGravityOwner
virtual Vec3	GetS_int (void) const

virtual Mat3x3	GetJ_int (void) const

virtual Vec3	GetB_int (void) const

virtual Vec3	GetG_int (void) const

Detailed Description

Definition at line 558 of file module-cyclocopter.cc.

Constructor & Destructor Documentation

CyclocopterUniform1D::CyclocopterUniform1D	(	unsigned int	uL,
		const DofOwner *	pDO,
		DataManager *	pDM,
		MBDynParser &	HP
	)

Definition at line 633 of file module-cyclocopter.cc.

 : Elem(uL, flag(0)),
 CyclocopterInflow(uL, pDO),
 RRot3(::Zero3),
 RRotor(::Eye3),
 dUindMeanPrev(0.),
 bFlagIsFirstBlade(true),
 dAzimuth(0.), dAzimuthPrev(0.),
 dTz(0.), dTzMean(0.),
 F(::Zero3), FMean(::Zero3), FMeanOut(::Zero3),
 iStepCounter(0),
 Uk(0.), Uk_1(0.), Uk_2(0.), Yk(0.), Yk_1(0.), Yk_2(0.)
 {
         if (HP.IsKeyWord("help")) {
                 silent_cout(
 "                                                                       \n"
 "Module:        Cyclocopter                                             \n"
 "Author:        Pierangelo Masarati <pierangelo.masarati@polimi.it>     \n"
 "based on work by                                                       \n"
 "               Mattia Mattaboni <mattia.mattaboni@mail.polimi.it>      \n"
 "Organization:  Dipartimento di Scienze e Tecnologie Aerospaziali       \n"
 "               Politecnico di Milano                                   \n"
 "               http://www.aero.polimi.it/                              \n"
 " Description:  This module implements induced velocity models          \n"
 "               for cycloidal rotors.                                   \n"
 "                                                                       \n"
 "       All rights reserved.                                            \n"
 "\n"
 " Usage:\n"
 "       user element: <label> , cycloidal uniform 1D ,\n"
 "               <aircraft_node_label> ,\n"
 "               [ orientation , (OrientationMatrix) <orientation> , ]\n"
 "               <rotor_node_label>\n"
 "               (bool) <average> ,\n"
 "               <rotor_radius> ,\n"
 "               <blade_span>\n"
 "               [ , delay , (DriveCaller) <delay> ]\n"
 "               [ , omegacut , <cut_frequency> ]\n"
 "               [ , kappa , <hover_correction_coefficient> ]\n"
 "               [ , timestep , <time_step> ]\n"
 "               [ , <output_data> ]\n"
 "       ;\n"
                         << std::endl);
 
                 if (!HP.IsArg()) {
                         /*
                          * Exit quietly if nothing else is provided
                          */
                         throw NoErr(MBDYN_EXCEPT_ARGS);
                 }
         }
 
         if (!ReadRotorData(pDM, HP, uLabel, pCraft, RRot, pRotor)) {
                 throw ErrGeneric(MBDYN_EXCEPT_ARGS);
         }
 
         DriveCaller *pdW = 0;
         doublereal dOmegaFilter;
         doublereal dDeltaT;
         if (!ReadUniform(pDM, HP, uLabel, bFlagAverage, dRadius, dSpan, pdW, dOmegaFilter, dKappa, dDeltaT)) {
                 throw ErrGeneric(MBDYN_EXCEPT_ARGS);
         }
 
         ppRes = ReadResSets(pDM, HP);
 
         SetOutputFlag(pDM->fReadOutput(HP, Elem::INDUCEDVELOCITY));
 
         dArea = 2*dRadius*dSpan;
         Weight.Set(pdW);
 
         SetFilterCoefficients(dOmegaFilter, dDeltaT);
 }

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CyclocopterUniform1D::~CyclocopterUniform1D ( void )

virtual

Definition at line 707 of file module-cyclocopter.cc.

References NO_OP.

 {
         NO_OP;
 }

Member Function Documentation

void CyclocopterUniform1D::AddForce	(	const Elem *	pEl,
		const StructNode *	pNode,
		const Vec3 &	F,
		const Vec3 &	M,
		const Vec3 &	X
	)

virtual

Reimplemented from InducedVelocity.

Definition at line 819 of file module-cyclocopter.cc.

References ResForces::AddForce(), InducedVelocity::AddForce(), ResForces::AddForces(), grad::atan2(), bFlagIsFirstBlade, ToBeOutput::bToBeOutput(), dAzimuth, StructDispNode::GetXCurr(), CyclocopterInflow::pRotor, InducedVelocity::Res, and CyclocopterInflow::RRotorTranspose.

 {
 
         /* colcolo la posizione azimutale della prima pala */
         if (bFlagIsFirstBlade == true) {
                 Vec3 XRel(RRotorTranspose*(X - pRotor->GetXCurr()));
                 doublereal d1 = XRel(2);
                 doublereal d2 = XRel(3);
                 dAzimuth = atan2(d2, d1);
                 bFlagIsFirstBlade = false;
         }
 
 
         /* Sole se deve fare l'output calcola anche il momento */
         if (bToBeOutput()) {
                 Res.AddForces(F, M, X);
                 InducedVelocity::AddForce(pEl, pNode, F, M, X);
 
         } else {
                 Res.AddForce(F);
         }
 }

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void CyclocopterUniform1D::AfterConvergence	(	const VectorHandler &	X,
		const VectorHandler &	XP
	)

virtual

Reimplemented from CyclocopterInflow.

Definition at line 742 of file module-cyclocopter.cc.

References InducedVelocity::AfterConvergence(), CyclocopterInflow::bFlagAverage, bFlagIsFirstBlade, copysign(), CyclocopterInflow::dArea, dAzimuth, dAzimuthPrev, DriveOwner::dGet(), AirPropOwner::dGetAirDensity(), CyclocopterInflow::dKappa, dTz, dTzMean, CyclocopterInflow::dUindMean, dUindMeanPrev, CyclocopterInflow::dWeight, F, FMean, FMeanOut, WithLabel::GetLabel(), InducedVelocity::GetXCurr(), iStepCounter, grad::sqrt(), Uk, Uk_1, Uk_2, CyclocopterInflow::Weight, Yk, Yk_1, Yk_2, and Zero3.

 {
         bFlagIsFirstBlade = true;
         /* calcolo la forza media sul giro generata dal rotore */
         dTzMean += dTz;
         FMean += F;
         iStepCounter++;
         // if ((dAzimuth > 0. && dAzimuthPrev < 0.) || (dAzimuth < 0. && dAzimuthPrev > 0.)) {
         if ((dAzimuth > 0. && dAzimuthPrev < 0.)) {
                 FMean /= iStepCounter;
                 FMeanOut = FMean;
                 if (bFlagAverage) {
                         dTzMean = dTzMean/iStepCounter;
                         doublereal dRho = dGetAirDensity(GetXCurr());
                         dUindMean = dKappa*copysign(std::sqrt(std::abs(dTzMean)/(2*dRho*dArea)), dTzMean);
                         dUindMean = (1 - dWeight)*dUindMean + dWeight*dUindMeanPrev;
                         dTzMean = 0.;
                 }
                 FMean = ::Zero3;
                 iStepCounter = 0;
         }
         dAzimuthPrev = dAzimuth;
 
         /* aggiorno ingressi e uscite del filtro */
         Yk_2 = Yk_1;
         Yk_1 = Yk;
         Uk_2 = Uk_1;
         Uk_1 = Uk;
 
         dUindMeanPrev = dUindMean;
 
         dWeight = Weight.dGet();
         if (dWeight < 0.) {
                 silent_cout("Rotor(" << GetLabel() << "): "
                         "delay < 0.0; using 0.0" << std::endl);
                 dWeight = 0.;
         } else if (dWeight > 1.) {
                 silent_cout("Rotor(" << GetLabel() << "): "
                         "delay > 1.0; using 1.0" << std::endl);
                 dWeight = 1.;
         }
 
         InducedVelocity::AfterConvergence(X, XP);
 }

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SubVectorHandler & CyclocopterUniform1D::AssRes	(	SubVectorHandler &	WorkVec,
		doublereal	dCoef,
		const VectorHandler &	XCurr,
		const VectorHandler &	XPrimeCurr
	)

virtual

Implements Elem.

Definition at line 788 of file module-cyclocopter.cc.

 {
         /* UNIFORM induced velocity (Moble version)*/
         /* Trasporta della matrice di rotazione del rotore */
         RRotor = pCraft->GetRCurr()*RRot;
         RRot3 = RRotor.GetVec(3);
         RRotorTranspose = RRotor.Transpose();
         /* Forze nel sistema rotore */
         F = RRotorTranspose*Res.Force();
         dTz = RRot3*Res.Force();
         if (!bFlagAverage) {
                 /* filtro le forze */
                 Uk = dTz;
                 Yk = -Yk_1*a1 - Yk_2*a2 + Uk*b0 + Uk_1*b1 + Uk_2*b2;
                 dTz = Yk;
                 doublereal dRho = dGetAirDensity(GetXCurr());
                 dUindMean = dKappa*copysign(std::sqrt(std::abs(dTz)/(2*dRho*dArea)), dTz);
 
                 dUindMean = (1 - dWeight)*dUindMean + dWeight*dUindMeanPrev;
         }
 
         ResetForce();
         WorkVec.Resize(0);
 
         return WorkVec;
 }

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Vec3 CyclocopterUniform1D::GetInducedVelocity	(	Elem::Type	type,
		unsigned	uLabel,
		unsigned	uPnt,
		const Vec3 &	X
	)		const

virtual

Implements InducedVelocity.

Definition at line 843 of file module-cyclocopter.cc.

References CyclocopterInflow::dUindMean, and RRot3.

 {
         return RRot3*dUindMean;
 }

virtual doublereal CyclocopterUniform1D::GetPsi ( const Vec3 & X ) const

inlinevirtual

Definition at line 624 of file module-cyclocopter.cc.

                                                        {
                 return 0.;
         };

virtual Mat3x3 CyclocopterUniform1D::GetRRotor ( const Vec3 & X ) const

inlinevirtual

Definition at line 628 of file module-cyclocopter.cc.

References Zero3x3.

                                                       {
                 return ::Zero3x3;
         };

virtual doublereal CyclocopterUniform1D::GetW ( const Vec3 & X ) const

inlinevirtual

Definition at line 620 of file module-cyclocopter.cc.

                                                      {
                 return 0.;
         };

void CyclocopterUniform1D::Output ( OutputHandler & OH ) const

virtual

Reimplemented from CyclocopterInflow.

Definition at line 713 of file module-cyclocopter.cc.

References ToBeOutput::bToBeOutput(), dAzimuth, CyclocopterInflow::dUindMean, FMeanOut, ResForces::Force(), WithLabel::GetLabel(), iStepCounter, OutputHandler::Loadable(), ResForces::Moment(), InducedVelocity::ppRes, InducedVelocity::Res, and CyclocopterInflow::RRotorTranspose.

 {
         if (bToBeOutput()) {
                 OH.Loadable()
                         << std::setw(8) << GetLabel()   /* 1 */
                         << " " << RRotorTranspose*Res.Force()     /* 2-4 */
                         << " " << RRotorTranspose*Res.Moment()    /* 5-7 */
                         << " " << dUindMean                      /* 8 */
                         << " " << dAzimuth                       /* 9 */
                         << " " << iStepCounter                   /* 10 */
                         << " " << "0."                   /* 11 */
                         << " " << "0."                   /* 12 */
                         << " " << "0."                   /* 13 */
                         << " " << FMeanOut                       /* 14 */
                         << std::endl;
 
                 /* FIXME: check for parallel stuff ... */
                 for (int i = 0; ppRes && ppRes[i]; i++) {
                         OH.Loadable()
                                 << std::setw(8) << GetLabel()
                                 << ":" << ppRes[i]->GetLabel()
                                 << " " << ppRes[i]->pRes->Force()
                                 << " " << ppRes[i]->pRes->Moment()
                                 << std::endl;
                 }
         }
 }